diff --git a/.github/ISSUE_TEMPLATE/enhancement.md b/.github/ISSUE_TEMPLATE/enhancement.md
deleted file mode 100644
index 330b9b11015..00000000000
--- a/.github/ISSUE_TEMPLATE/enhancement.md
+++ /dev/null
@@ -1,8 +0,0 @@
----
-name: Enhancement
-about: For openpilot enhancement suggestions
-title: ''
-labels: 'enhancement'
-assignees: ''
----
-
diff --git a/.github/workflows/auto-cache/action.yaml b/.github/workflows/auto-cache/action.yaml
deleted file mode 100644
index 377b1eedcde..00000000000
--- a/.github/workflows/auto-cache/action.yaml
+++ /dev/null
@@ -1,58 +0,0 @@
-name: 'automatically cache based on current runner'
-
-inputs:
-  path:
-    description: 'path to cache'
-    required: true
-  key:
-    description: 'key'
-    required: true
-  restore-keys:
-    description: 'restore-keys'
-    required: true
-  save:
-    description: 'whether to save the cache'
-    default: 'true'
-    required: false
-outputs:
-  cache-hit:
-    description: 'cache hit occurred'
-    value: ${{ (contains(runner.name, 'nsc') && steps.ns-cache.outputs.cache-hit) ||
-               (!contains(runner.name, 'nsc') && inputs.save != 'false' && steps.gha-cache.outputs.cache-hit) ||
-               (!contains(runner.name, 'nsc') && inputs.save == 'false' && steps.gha-cache-ro.outputs.cache-hit) }}
-
-runs:
-  using: "composite"
-  steps:
-    - name: setup namespace cache
-      id: ns-cache
-      if: ${{ contains(runner.name, 'nsc') }}
-      uses: namespacelabs/nscloud-cache-action@v1
-      with:
-        path: ${{ inputs.path }}
-
-    - name: setup github cache
-      id: gha-cache
-      if: ${{ !contains(runner.name, 'nsc') && inputs.save != 'false' }}
-      uses: 'actions/cache@v4'
-      with:
-        path: ${{ inputs.path }}
-        key: ${{ inputs.key }}
-        restore-keys: ${{ inputs.restore-keys }}
-
-    - name: setup github cache
-      id: gha-cache-ro
-      if: ${{ !contains(runner.name, 'nsc') && inputs.save == 'false' }}
-      uses: 'actions/cache/restore@v4'
-      with:
-        path: ${{ inputs.path }}
-        key: ${{ inputs.key }}
-        restore-keys: ${{ inputs.restore-keys }}
-
-    # make the directory manually in case we didn't get a hit, so it doesn't fail on future steps
-    - id: scons-cache-setup
-      shell: bash
-      run: |
-        mkdir -p ${{ inputs.path }}
-        sudo chmod -R 777 ${{ inputs.path }}
-        sudo chown -R $USER ${{ inputs.path }}
diff --git a/.github/workflows/auto_pr_review.yaml b/.github/workflows/auto_pr_review.yaml
index c6a1cb98219..99c3a258c64 100644
--- a/.github/workflows/auto_pr_review.yaml
+++ b/.github/workflows/auto_pr_review.yaml
@@ -11,12 +11,12 @@ jobs:
       pull-requests: write
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v6
       with:
         submodules: false
 
     # Label PRs
-    - uses: actions/labeler@v5.0.0
+    - uses: actions/labeler@v6
       with:
         dot: true
         configuration-path: .github/labeler.yaml
@@ -33,20 +33,3 @@ jobs:
         change-to: ${{ github.base_ref }}
         already-exists-action: close_this
         already-exists-comment: "Your PR should be made against the `master` branch"
-
-    # Welcome comment
-    - name: "First timers PR"
-      uses: actions/first-interaction@v1
-      if: github.event.pull_request.head.repo.full_name != 'commaai/openpilot'
-      with:
-        repo-token: ${{ secrets.GITHUB_TOKEN }}
-        pr-message: |
-            <!-- _(run_id **${{ github.run_id }}**)_ -->
-            Thanks for contributing to openpilot! In order for us to review your PR as quickly as possible, check the following:
-            * Convert your PR to a draft unless it's ready to review
-            * Read the [contributing docs](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md)
-            * Before marking as "ready for review", ensure:
-              * the goal is clearly stated in the description
-              * all the tests are passing
-              * the change is [something we merge](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md#what-gets-merged)
-              * include a route or your device' dongle ID if relevant
diff --git a/.github/workflows/badges.yaml b/.github/workflows/badges.yaml
index cd30e4f3708..9b99c4f1fe7 100644
--- a/.github/workflows/badges.yaml
+++ b/.github/workflows/badges.yaml
@@ -5,9 +5,7 @@ on:
   workflow_dispatch:
 
 env:
-  BASE_IMAGE: openpilot-base
-  DOCKER_REGISTRY: ghcr.io/commaai
-  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $DOCKER_REGISTRY/$BASE_IMAGE:latest /bin/bash -c
+  PYTHONPATH: ${{ github.workspace }}
 
 jobs:
   badges:
@@ -17,13 +15,13 @@ jobs:
     permissions:
       contents: write
     steps:
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v6
       with:
         submodules: true
-    - uses: ./.github/workflows/setup-with-retry
+    - run: ./tools/op.sh setup
     - name: Push badges
       run: |
-        ${{ env.RUN }} "python3 selfdrive/ui/translations/create_badges.py"
+        python3 selfdrive/ui/translations/create_badges.py
 
         rm .gitattributes
 
diff --git a/.github/workflows/ci_weekly_report.yaml b/.github/workflows/ci_weekly_report.yaml
deleted file mode 100644
index 37a46b20968..00000000000
--- a/.github/workflows/ci_weekly_report.yaml
+++ /dev/null
@@ -1,101 +0,0 @@
-name: weekly CI test report
-on:
-  schedule:
-    - cron: '37 9 * * 1' # 9:37AM UTC -> 2:37AM PST every monday
-  workflow_dispatch:
-    inputs:
-      ci_runs:
-        description: 'The amount of runs to trigger in CI test report'
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
-env:
-  CI_RUNS: ${{ github.event.inputs.ci_runs || '50' }}
-
-jobs:
-  setup:
-    if: github.repository == 'commaai/openpilot'
-    runs-on: ubuntu-latest
-    outputs:
-      ci_runs: ${{ steps.ci_runs_setup.outputs.matrix }}
-    steps:
-      - id: ci_runs_setup
-        name: CI_RUNS=${{ env.CI_RUNS }}
-        run: |
-          matrix=$(python3 -c "import json; print(json.dumps({ 'run_number' : list(range(${{ env.CI_RUNS }})) }))")
-          echo "matrix=$matrix" >> $GITHUB_OUTPUT
-
-  ci_matrix_run:
-    needs: [ setup ]
-    strategy:
-      fail-fast: false
-      matrix: ${{fromJSON(needs.setup.outputs.ci_runs)}}
-    uses: commaai/openpilot/.github/workflows/ci_weekly_run.yaml@master
-    with:
-      run_number: ${{ matrix.run_number }}
-
-  report:
-    needs: [ci_matrix_run]
-    runs-on: ubuntu-latest
-    if: always() && github.repository == 'commaai/openpilot'
-    steps:
-      - name: Get job results
-        uses: actions/github-script@v7
-        id: get-job-results
-        with:
-          script: |
-            const jobs = await github
-              .paginate("GET /repos/{owner}/{repo}/actions/runs/{run_id}/attempts/{attempt}/jobs", {
-                owner: "commaai",
-                repo: "${{ github.event.repository.name }}",
-                run_id: "${{ github.run_id }}",
-                attempt: "${{ github.run_attempt }}",
-              })
-            var report = {}
-            jobs.slice(1, jobs.length-1).forEach(job => {
-              if (job.conclusion === "skipped") return;
-              const jobName = job.name.split(" / ")[2];
-              const runRegex = /\((.*?)\)/;
-              const run = job.name.match(runRegex)[1];
-              report[jobName] = report[jobName] || { successes: [], failures: [], canceled: [] };
-              switch (job.conclusion) {
-                case "success":
-                  report[jobName].successes.push({ "run_number": run, "link": job.html_url}); break;
-                case "failure":
-                  report[jobName].failures.push({ "run_number": run, "link": job.html_url }); break;
-                case "canceled":
-                  report[jobName].canceled.push({ "run_number": run, "link": job.html_url }); break;
-              }
-            });
-            return JSON.stringify({"jobs": report});
-
-      - name: Add job results to summary
-        env:
-          JOB_RESULTS: ${{ fromJSON(steps.get-job-results.outputs.result) }}
-        run: |
-          cat <<EOF >> template.html
-          <table>
-            <thead>
-              <tr>
-                <th></th>
-                <th>Job</th>
-                <th>✅ Passing</th>
-                <th>❌ Failure Details</th>
-              </tr>
-            </thead>
-            <tbody>
-              {% for key in jobs.keys() %}<tr>
-                <td>{% for i in range(5) %}{% if i+1 <= (5 * jobs[key]["successes"]|length // ${{ env.CI_RUNS }}) %}🟩{% else %}🟥{% endif %}{% endfor%}</td>
-                <td>{{ key }}</td>
-                <td>{{ 100 * jobs[key]["successes"]|length // ${{ env.CI_RUNS }} }}%</td>
-                <td>{% if jobs[key]["failures"]|length > 0 %}<details>{% for failure in jobs[key]["failures"] %}<a href="{{ failure['link'] }}">Log for run #{{ failure['run_number'] }}</a><br>{% endfor %}</details>{% else %}{% endif %}</td>
-                </td>
-              </tr>{% endfor %}
-          </table>
-          EOF
-
-          pip install jinja2-cli
-          echo $JOB_RESULTS | jinja2 template.html > report.html
-          echo "# CI Test Report - ${{ env.CI_RUNS }} Runs" >> $GITHUB_STEP_SUMMARY
-          cat report.html >> $GITHUB_STEP_SUMMARY
diff --git a/.github/workflows/ci_weekly_run.yaml b/.github/workflows/ci_weekly_run.yaml
deleted file mode 100644
index acd24de1639..00000000000
--- a/.github/workflows/ci_weekly_run.yaml
+++ /dev/null
@@ -1,17 +0,0 @@
-name: weekly CI test run
-on:
-  workflow_call:
-    inputs:
-      run_number:
-        required: true
-        type: string
-
-concurrency:
-  group: ci-run-${{ inputs.run_number }}-${{ github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  tests:
-    uses: commaai/openpilot/.github/workflows/tests.yaml@master
-    with:
-      run_number: ${{ inputs.run_number }}
diff --git a/.github/workflows/compile-openpilot/action.yaml b/.github/workflows/compile-openpilot/action.yaml
deleted file mode 100644
index 4015746c0e3..00000000000
--- a/.github/workflows/compile-openpilot/action.yaml
+++ /dev/null
@@ -1,21 +0,0 @@
-name: 'compile openpilot'
-
-runs:
-  using: "composite"
-  steps:
-    - shell: bash
-      name: Build openpilot with all flags
-      run: |
-        ${{ env.RUN }} "scons -j$(nproc)"
-        ${{ env.RUN }} "release/check-dirty.sh"
-    - shell: bash
-      name: Cleanup scons cache and rebuild
-      run: |
-          ${{ env.RUN }} "rm -rf /tmp/scons_cache/* && \
-                          scons -j$(nproc) --cache-populate"
-    - name: Save scons cache
-      uses: actions/cache/save@v4
-      if: github.ref == 'refs/heads/master'
-      with:
-        path: .ci_cache/scons_cache
-        key: scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
diff --git a/.github/workflows/diff_report.yaml b/.github/workflows/diff_report.yaml
new file mode 100644
index 00000000000..2ddb8509449
--- /dev/null
+++ b/.github/workflows/diff_report.yaml
@@ -0,0 +1,45 @@
+name: diff report
+
+on:
+  pull_request_target:
+    types: [opened, synchronize, reopened]
+
+jobs:
+  comment:
+    name: comment
+    runs-on: ubuntu-latest
+    timeout-minutes: 10
+    permissions:
+      contents: read
+      pull-requests: write
+      actions: read
+    steps:
+    - name: Wait for process replay
+      id: wait
+      continue-on-error: true
+      uses: lewagon/wait-on-check-action@v1.3.4
+      with:
+        ref: ${{ github.event.pull_request.head.sha }}
+        check-name: process replay
+        repo-token: ${{ secrets.GITHUB_TOKEN }}
+        allowed-conclusions: success,failure
+        wait-interval: 20
+    - name: Download diff
+      if: steps.wait.outcome == 'success'
+      uses: dawidd6/action-download-artifact@v6
+      with:
+        github_token: ${{ secrets.GITHUB_TOKEN }}
+        workflow: tests.yaml
+        workflow_conclusion: ''
+        pr: ${{ github.event.number }}
+        name: diff_report_${{ github.event.number }}
+        path: .
+        allow_forks: true
+    - name: Comment on PR
+      if: steps.wait.outcome == 'success'
+      uses: thollander/actions-comment-pull-request@v2
+      with:
+        filePath: diff_report.txt
+        comment_tag: diff_report
+        pr_number: ${{ github.event.number }}
+        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
diff --git a/.github/workflows/docs.yaml b/.github/workflows/docs.yaml
index 92c311829c0..d9e35de214a 100644
--- a/.github/workflows/docs.yaml
+++ b/.github/workflows/docs.yaml
@@ -2,8 +2,6 @@ name: docs
 
 on:
   push:
-    branches:
-      - master
   pull_request:
   workflow_call:
     inputs:
@@ -22,19 +20,19 @@ jobs:
     steps:
     - uses: commaai/timeout@v1
 
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v6
       with:
         submodules: true
 
     # Build
     - name: Build docs
       run: |
-        # TODO: can we install just the "docs" dependency group without the normal deps?
-        pip install mkdocs
-        mkdocs build
+        git lfs pull
+        pip install zensical
+        python scripts/docs.py build
 
     # Push to docs.comma.ai
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v6
       if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
       with:
         path: openpilot-docs
diff --git a/.github/workflows/jenkins-pr-trigger.yaml b/.github/workflows/jenkins-pr-trigger.yaml
index 14e2fdf49ba..fdd26253fad 100644
--- a/.github/workflows/jenkins-pr-trigger.yaml
+++ b/.github/workflows/jenkins-pr-trigger.yaml
@@ -5,7 +5,44 @@ on:
     types: [created, edited]
 
 jobs:
-  # TODO: gc old branches in a separate job in this workflow
+  cleanup-branches:
+    runs-on: ubuntu-latest
+    permissions:
+      contents: write
+    steps:
+      - name: Delete stale Jenkins branches
+        uses: actions/github-script@v8
+        with:
+          script: |
+            const cutoff = Date.now() - 24 * 60 * 60 * 1000;
+            const prefixes = ['tmp-jenkins', '__jenkins'];
+
+            for await (const response of github.paginate.iterator(github.rest.repos.listBranches, {
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              per_page: 100,
+            })) {
+              for (const branch of response.data) {
+                if (!prefixes.some(p => branch.name.startsWith(p))) continue;
+
+                const { data: commit } = await github.rest.repos.getCommit({
+                  owner: context.repo.owner,
+                  repo: context.repo.repo,
+                  ref: branch.commit.sha,
+                });
+
+                const commitDate = new Date(commit.commit.committer.date).getTime();
+                if (commitDate < cutoff) {
+                  console.log(`Deleting branch: ${branch.name} (last commit: ${commit.commit.committer.date})`);
+                  await github.rest.git.deleteRef({
+                    owner: context.repo.owner,
+                    repo: context.repo.repo,
+                    ref: `heads/${branch.name}`,
+                  });
+                }
+              }
+            }
+
   scan-comments:
     runs-on: ubuntu-latest
     if: ${{ github.event.issue.pull_request }}
@@ -15,7 +52,7 @@ jobs:
     steps:
     - name: Check for trigger phrase
       id: check_comment
-      uses: actions/github-script@v7
+      uses: actions/github-script@v8
       with:
         script: |
           const triggerPhrase = "trigger-jenkins";
@@ -35,7 +72,7 @@ jobs:
 
     - name: Checkout repository
       if: steps.check_comment.outputs.result == 'true'
-      uses: actions/checkout@v4
+      uses: actions/checkout@v6
       with:
         ref: refs/pull/${{ github.event.issue.number }}/head
 
@@ -49,7 +86,7 @@ jobs:
 
     - name: Delete trigger comment
       if: steps.check_comment.outputs.result == 'true' && always()
-      uses: actions/github-script@v7
+      uses: actions/github-script@v8
       with:
         script: |
           await github.rest.issues.deleteComment({
diff --git a/.github/workflows/mici_raylib_ui_preview.yaml b/.github/workflows/mici_raylib_ui_preview.yaml
deleted file mode 100644
index 707825b1ac4..00000000000
--- a/.github/workflows/mici_raylib_ui_preview.yaml
+++ /dev/null
@@ -1,151 +0,0 @@
-name: "mici raylib ui preview"
-on:
-  push:
-    branches:
-      - master
-  pull_request_target:
-    types: [assigned, opened, synchronize, reopened, edited]
-    branches:
-      - 'master'
-    paths:
-      - 'selfdrive/assets/**'
-      - 'selfdrive/ui/**'
-      - 'system/ui/**'
-  workflow_dispatch:
-
-env:
-  UI_JOB_NAME: "Create mici raylib UI Report"
-  REPORT_NAME: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
-  SHA: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.sha || github.event.pull_request.head.sha }}
-  BRANCH_NAME: "openpilot/pr-${{ github.event.number }}-mici-raylib-ui"
-  MASTER_BRANCH_NAME: "openpilot_master_ui_mici_raylib"
-  # All report files are pushed here
-  REPORT_FILES_BRANCH_NAME: "mici-raylib-ui-reports"
-
-jobs:
-  preview:
-    if: github.repository == 'commaai/openpilot'
-    name: preview
-    runs-on: ubuntu-latest
-    timeout-minutes: 20
-    permissions:
-      contents: read
-      pull-requests: write
-      actions: read
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          submodules: true
-
-      - name: Waiting for ui generation to end
-        uses: lewagon/wait-on-check-action@v1.3.4
-        with:
-          ref: ${{ env.SHA }}
-          check-name: ${{ env.UI_JOB_NAME }}
-          repo-token: ${{ secrets.GITHUB_TOKEN }}
-          allowed-conclusions: success
-          wait-interval: 20
-
-      - name: Getting workflow run ID
-        id: get_run_id
-        run: |
-          echo "run_id=$(curl https://api.github.com/repos/${{ github.repository }}/commits/${{ env.SHA }}/check-runs | jq -r '.check_runs[] | select(.name == "${{ env.UI_JOB_NAME }}") | .html_url | capture("(?<number>[0-9]+)") | .number')" >> $GITHUB_OUTPUT
-
-      - name: Getting proposed ui  # filename: pr_ui/mici_ui_replay.mp4
-        id: download-artifact
-        uses: dawidd6/action-download-artifact@v6
-        with:
-          github_token: ${{ secrets.GITHUB_TOKEN }}
-          run_id: ${{ steps.get_run_id.outputs.run_id }}
-          search_artifacts: true
-          name: mici-raylib-report-1-${{ env.REPORT_NAME }}
-          path: ${{ github.workspace }}/pr_ui
-
-      - name: Getting master ui  # filename: master_ui_raylib/mici_ui_replay.mp4
-        uses: actions/checkout@v4
-        with:
-          repository: commaai/ci-artifacts
-          ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
-          path: ${{ github.workspace }}/master_ui_raylib
-          ref: ${{ env.MASTER_BRANCH_NAME }}
-
-      - name: Saving new master ui
-        if: github.ref == 'refs/heads/master' && github.event_name == 'push'
-        working-directory: ${{ github.workspace }}/master_ui_raylib
-        run: |
-          git checkout --orphan=new_master_ui_mici_raylib
-          git rm -rf *
-          git branch -D ${{ env.MASTER_BRANCH_NAME }}
-          git branch -m ${{ env.MASTER_BRANCH_NAME }}
-          git config user.name "GitHub Actions Bot"
-          git config user.email "<>"
-          mv ${{ github.workspace }}/pr_ui/* .
-          git add .
-          git commit -m "mici raylib video for commit ${{ env.SHA }}"
-          git push origin ${{ env.MASTER_BRANCH_NAME }} --force
-
-      - name: Setup FFmpeg
-        uses: AnimMouse/setup-ffmpeg@ae28d57dabbb148eff63170b6bf7f2b60062cbae
-
-      - name: Finding diff
-        if: github.event_name == 'pull_request_target'
-        id: find_diff
-        run: |
-          # Find the video file from PR
-          pr_video="${{ github.workspace }}/pr_ui/mici_ui_replay_proposed.mp4"
-          mv "${{ github.workspace }}/pr_ui/mici_ui_replay.mp4" "$pr_video"
-
-          master_video="${{ github.workspace }}/pr_ui/mici_ui_replay_master.mp4"
-          mv "${{ github.workspace }}/master_ui_raylib/mici_ui_replay.mp4" "$master_video"
-
-          # Run report
-          export PYTHONPATH=${{ github.workspace }}
-          baseurl="https://github.com/commaai/ci-artifacts/raw/refs/heads/${{ env.BRANCH_NAME }}"
-          diff_exit_code=0
-          python3 ${{ github.workspace }}/selfdrive/ui/tests/diff/diff.py "${{ github.workspace }}/pr_ui/mici_ui_replay_master.mp4" "${{ github.workspace }}/pr_ui/mici_ui_replay_proposed.mp4" "diff.html" --basedir "$baseurl" --no-open || diff_exit_code=$?
-
-          # Copy diff report files
-          cp ${{ github.workspace }}/selfdrive/ui/tests/diff/report/diff.html ${{ github.workspace }}/pr_ui/
-          cp ${{ github.workspace }}/selfdrive/ui/tests/diff/report/diff.mp4 ${{ github.workspace }}/pr_ui/
-
-          REPORT_URL="https://commaai.github.io/ci-artifacts/diff_pr_${{ github.event.number }}.html"
-          if [ $diff_exit_code -eq 0 ]; then
-            DIFF="✅ Videos are identical! [View Diff Report]($REPORT_URL)"
-          else
-            DIFF="❌ <strong>Videos differ!</strong> [View Diff Report]($REPORT_URL)"
-          fi
-          echo "DIFF=$DIFF" >> "$GITHUB_OUTPUT"
-
-      - name: Saving proposed ui
-        if: github.event_name == 'pull_request_target'
-        working-directory: ${{ github.workspace }}/master_ui_raylib
-        run: |
-          # Overwrite PR branch w/ proposed ui, and master ui at this point in time for future reference
-          git config user.name "GitHub Actions Bot"
-          git config user.email "<>"
-          git checkout --orphan=${{ env.BRANCH_NAME }}
-          git rm -rf *
-          mv ${{ github.workspace }}/pr_ui/* .
-          git add .
-          git commit -m "mici raylib video for PR #${{ github.event.number }}"
-          git push origin ${{ env.BRANCH_NAME }} --force
-
-          # Append diff report to report files branch
-          git fetch origin ${{ env.REPORT_FILES_BRANCH_NAME }}
-          git checkout ${{ env.REPORT_FILES_BRANCH_NAME }}
-          cp ${{ github.workspace }}/selfdrive/ui/tests/diff/report/diff.html diff_pr_${{ github.event.number }}.html
-          git add diff_pr_${{ github.event.number }}.html
-          git commit -m "mici raylib ui diff report for PR #${{ github.event.number }}" || echo "No changes to commit"
-          git push origin ${{ env.REPORT_FILES_BRANCH_NAME }}
-
-      - name: Comment Video on PR
-        if: github.event_name == 'pull_request_target'
-        uses: thollander/actions-comment-pull-request@v2
-        with:
-          message: |
-            <!-- _(run_id_video_mici_raylib **${{ github.run_id }}**)_ -->
-            ## mici raylib UI Preview
-            ${{ steps.find_diff.outputs.DIFF }}
-          comment_tag: run_id_video_mici_raylib
-          pr_number: ${{ github.event.number }}
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
diff --git a/.github/workflows/model_review.yaml b/.github/workflows/model_review.yaml
index 0e1825864c2..2775dbc5743 100644
--- a/.github/workflows/model_review.yaml
+++ b/.github/workflows/model_review.yaml
@@ -16,23 +16,23 @@ jobs:
     if: github.repository == 'commaai/openpilot'
     steps:
       - name: Checkout
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6
+        with:
+          submodules: true
       - name: Checkout master
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6
         with:
           ref: master
           path: base
       - run: git lfs pull
       - run: cd base && git lfs pull
 
-      - run: pip install onnx
-
       - name: scripts/reporter.py
         id: report
         run: |
           echo "content<<EOF" >> $GITHUB_OUTPUT
           echo "## Model Review" >> $GITHUB_OUTPUT
-          MASTER_PATH=${{ github.workspace }}/base python scripts/reporter.py >> $GITHUB_OUTPUT
+          PYTHONPATH=${{ github.workspace }} MASTER_PATH=${{ github.workspace }}/base python scripts/reporter.py >> $GITHUB_OUTPUT
           echo "EOF" >> $GITHUB_OUTPUT
 
       - name: Post model report comment
diff --git a/.github/workflows/prebuilt.yaml b/.github/workflows/prebuilt.yaml
index d8963ec89f4..ecf1e8503ae 100644
--- a/.github/workflows/prebuilt.yaml
+++ b/.github/workflows/prebuilt.yaml
@@ -6,7 +6,7 @@ on:
 
 env:
   DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
-  BUILD: selfdrive/test/docker_build.sh prebuilt
+  BUILD: selfdrive/test/docker_build.sh
 
 jobs:
   build_prebuilt:
@@ -28,8 +28,8 @@ jobs:
         wait-interval: 30
         running-workflow-name: 'build prebuilt'
         repo-token: ${{ secrets.GITHUB_TOKEN }}
-        check-regexp: ^((?!.*(build master-ci).*).)*$
-    - uses: actions/checkout@v4
+        check-regexp: ^((?!.*(build master-ci|create badges).*).)*$
+    - uses: actions/checkout@v6
       with:
         submodules: true
     - run: git lfs pull
diff --git a/.github/workflows/raylib_ui_preview.yaml b/.github/workflows/raylib_ui_preview.yaml
deleted file mode 100644
index 18880e8a17a..00000000000
--- a/.github/workflows/raylib_ui_preview.yaml
+++ /dev/null
@@ -1,175 +0,0 @@
-name: "raylib ui preview"
-on:
-  push:
-    branches:
-      - master
-  pull_request_target:
-    types: [assigned, opened, synchronize, reopened, edited]
-    branches:
-      - 'master'
-    paths:
-      - 'selfdrive/assets/**'
-      - 'selfdrive/ui/**'
-      - 'system/ui/**'
-  workflow_dispatch:
-
-env:
-  UI_JOB_NAME: "Create raylib UI Report"
-  REPORT_NAME: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
-  SHA: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.sha || github.event.pull_request.head.sha }}
-  BRANCH_NAME: "openpilot/pr-${{ github.event.number }}-raylib-ui"
-
-jobs:
-  preview:
-    if: github.repository == 'commaai/openpilot'
-    name: preview
-    runs-on: ubuntu-latest
-    timeout-minutes: 20
-    permissions:
-      contents: read
-      pull-requests: write
-      actions: read
-    steps:
-      - name: Waiting for ui generation to start
-        run: sleep 30
-
-      - name: Waiting for ui generation to end
-        uses: lewagon/wait-on-check-action@v1.3.4
-        with:
-          ref: ${{ env.SHA }}
-          check-name: ${{ env.UI_JOB_NAME }}
-          repo-token: ${{ secrets.GITHUB_TOKEN }}
-          allowed-conclusions: success
-          wait-interval: 20
-
-      - name: Getting workflow run ID
-        id: get_run_id
-        run: |
-          echo "run_id=$(curl https://api.github.com/repos/${{ github.repository }}/commits/${{ env.SHA }}/check-runs | jq -r '.check_runs[] | select(.name == "${{ env.UI_JOB_NAME }}") | .html_url | capture("(?<number>[0-9]+)") | .number')" >> $GITHUB_OUTPUT
-
-      - name: Getting proposed ui
-        id: download-artifact
-        uses: dawidd6/action-download-artifact@v6
-        with:
-          github_token: ${{ secrets.GITHUB_TOKEN }}
-          run_id: ${{ steps.get_run_id.outputs.run_id }}
-          search_artifacts: true
-          name: raylib-report-1-${{ env.REPORT_NAME }}
-          path: ${{ github.workspace }}/pr_ui
-
-      - name: Getting master ui
-        uses: actions/checkout@v4
-        with:
-          repository: commaai/ci-artifacts
-          ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
-          path: ${{ github.workspace }}/master_ui_raylib
-          ref: openpilot_master_ui_raylib
-
-      - name: Saving new master ui
-        if: github.ref == 'refs/heads/master' && github.event_name == 'push'
-        working-directory: ${{ github.workspace }}/master_ui_raylib
-        run: |
-          git checkout --orphan=new_master_ui_raylib
-          git rm -rf *
-          git branch -D openpilot_master_ui_raylib
-          git branch -m openpilot_master_ui_raylib
-          git config user.name "GitHub Actions Bot"
-          git config user.email "<>"
-          mv ${{ github.workspace }}/pr_ui/*.png .
-          git add .
-          git commit -m "raylib screenshots for commit ${{ env.SHA }}"
-          git push origin openpilot_master_ui_raylib --force
-
-      - name: Finding diff
-        if: github.event_name == 'pull_request_target'
-        id: find_diff
-        run: >-
-          sudo apt-get update && sudo apt-get install -y imagemagick
-
-          scenes=$(find ${{ github.workspace }}/pr_ui/*.png -type f -printf "%f\n" | cut -d '.' -f 1 | grep -v 'pair_device')
-          A=($scenes)
-
-          DIFF=""
-          TABLE="<details><summary>All Screenshots</summary>"
-          TABLE="${TABLE}<table>"
-
-          for ((i=0; i<${#A[*]}; i=i+1));
-          do
-            # Check if the master file exists
-            if [ ! -f "${{ github.workspace }}/master_ui_raylib/${A[$i]}.png" ]; then
-              # This is a new file in PR UI that doesn't exist in master
-              DIFF="${DIFF}<details open>"
-              DIFF="${DIFF}<summary>${A[$i]} : \$\${\\color{cyan}\\text{NEW}}\$\$</summary>"
-              DIFF="${DIFF}<table>"
-
-              DIFF="${DIFF}<tr>"
-              DIFF="${DIFF}  <td> <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
-              DIFF="${DIFF}</tr>"
-
-              DIFF="${DIFF}</table>"
-              DIFF="${DIFF}</details>"
-            elif ! compare -fuzz 2% -highlight-color DeepSkyBlue1 -lowlight-color Black -compose Src ${{ github.workspace }}/master_ui_raylib/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png; then
-              convert ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png -transparent black mask.png
-              composite mask.png ${{ github.workspace }}/master_ui_raylib/${A[$i]}.png composite_diff.png
-              convert -delay 100 ${{ github.workspace }}/master_ui_raylib/${A[$i]}.png composite_diff.png -loop 0 ${{ github.workspace }}/pr_ui/${A[$i]}_diff.gif
-
-              mv ${{ github.workspace }}/master_ui_raylib/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}_master_ref.png
-
-              DIFF="${DIFF}<details open>"
-              DIFF="${DIFF}<summary>${A[$i]} : \$\${\\color{red}\\text{DIFFERENT}}\$\$</summary>"
-              DIFF="${DIFF}<table>"
-
-              DIFF="${DIFF}<tr>"
-              DIFF="${DIFF}  <td> master <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_master_ref.png\"> </td>"
-              DIFF="${DIFF}  <td> proposed <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
-              DIFF="${DIFF}</tr>"
-
-              DIFF="${DIFF}<tr>"
-              DIFF="${DIFF}  <td> diff <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_diff.png\"> </td>"
-              DIFF="${DIFF}  <td> composite diff <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_diff.gif\"> </td>"
-              DIFF="${DIFF}</tr>"
-
-              DIFF="${DIFF}</table>"
-              DIFF="${DIFF}</details>"
-            else
-              rm -f ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png
-            fi
-
-            INDEX=$(($i % 2))
-            if [[ $INDEX -eq 0 ]]; then
-              TABLE="${TABLE}<tr>"
-            fi
-            TABLE="${TABLE}  <td> <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
-            if [[ $INDEX -eq 1 || $(($i + 1)) -eq ${#A[*]} ]]; then
-              TABLE="${TABLE}</tr>"
-            fi
-          done
-
-          TABLE="${TABLE}</table></details>"
-
-          echo "DIFF=$DIFF$TABLE" >> "$GITHUB_OUTPUT"
-
-      - name: Saving proposed ui
-        if: github.event_name == 'pull_request_target'
-        working-directory: ${{ github.workspace }}/master_ui_raylib
-        run: |
-          git config user.name "GitHub Actions Bot"
-          git config user.email "<>"
-          git checkout --orphan=${{ env.BRANCH_NAME }}
-          git rm -rf *
-          mv ${{ github.workspace }}/pr_ui/* .
-          git add .
-          git commit -m "raylib screenshots for PR #${{ github.event.number }}"
-          git push origin ${{ env.BRANCH_NAME }} --force
-
-      - name: Comment Screenshots on PR
-        if: github.event_name == 'pull_request_target'
-        uses: thollander/actions-comment-pull-request@v2
-        with:
-          message: |
-            <!-- _(run_id_screenshots_raylib **${{ github.run_id }}**)_ -->
-            ## raylib UI Preview
-            ${{ steps.find_diff.outputs.DIFF }}
-          comment_tag: run_id_screenshots_raylib
-          pr_number: ${{ github.event.number }}
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
diff --git a/.github/workflows/release.yaml b/.github/workflows/release.yaml
index 0f4ce6cb3a7..a90f064b82c 100644
--- a/.github/workflows/release.yaml
+++ b/.github/workflows/release.yaml
@@ -7,20 +7,12 @@ on:
 jobs:
   build_masterci:
     name: build master-ci
-    env:
-      ImageOS: ubuntu24
-    container:
-      image: ghcr.io/commaai/openpilot-base:latest
     runs-on: ubuntu-latest
     if: github.repository == 'commaai/openpilot'
     permissions:
       checks: read
       contents: write
     steps:
-    - name: Install wait-on-check-action dependencies
-      run: |
-        sudo apt-get update
-        sudo apt-get install -y libyaml-dev
     - name: Wait for green check mark
       if: ${{ github.event_name == 'schedule' }}
       uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
@@ -29,14 +21,11 @@ jobs:
         wait-interval: 30
         running-workflow-name: 'build master-ci'
         repo-token: ${{ secrets.GITHUB_TOKEN }}
-        check-regexp: ^((?!.*(build prebuilt).*).)*$
+        check-regexp: ^((?!.*(build prebuilt|create badges).*).)*$
     - uses: actions/checkout@v4
       with:
         submodules: true
         fetch-depth: 0
-    - name: Pull LFS
-      run: |
-        git config --global --add safe.directory '*'
-        git lfs pull
+    - run: ./tools/op.sh setup
     - name: Push master-ci
       run: BRANCH=__nightly release/build_stripped.sh
diff --git a/.github/workflows/repo-maintenance.yaml b/.github/workflows/repo-maintenance.yaml
index 7bb91c0ca4f..f829415f4ee 100644
--- a/.github/workflows/repo-maintenance.yaml
+++ b/.github/workflows/repo-maintenance.yaml
@@ -6,60 +6,50 @@ on:
   workflow_dispatch:
 
 env:
-  BASE_IMAGE: openpilot-base
-  BUILD: selfdrive/test/docker_build.sh base
-  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
+  PYTHONPATH: ${{ github.workspace }}
 
 jobs:
-  update_translations:
-    runs-on: ubuntu-latest
-    if: github.repository == 'commaai/openpilot'
-    steps:
-      - uses: actions/checkout@v4
-      - uses: ./.github/workflows/setup-with-retry
-      - name: Update translations
-        run: |
-          ${{ env.RUN }} "python3 selfdrive/ui/update_translations.py --vanish"
-      - name: Create Pull Request
-        uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
-        with:
-          author: Vehicle Researcher <user@comma.ai>
-          commit-message: "Update translations"
-          title: "[bot] Update translations"
-          body: "Automatic PR from repo-maintenance -> update_translations"
-          branch: "update-translations"
-          base: "master"
-          delete-branch: true
-          labels: bot
-
   package_updates:
     name: package_updates
     runs-on: ubuntu-latest
-    container:
-      image: ghcr.io/commaai/openpilot-base:latest
     if: github.repository == 'commaai/openpilot'
     steps:
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v6
       with:
         submodules: true
+    - run: ./tools/op.sh setup
     - name: uv lock
+      run: uv lock --upgrade
+    - name: uv pip tree
+      id: pip_tree
       run: |
-        python3 -m ensurepip --upgrade
-        pip3 install uv
-        uv lock --upgrade
+        echo 'PIP_TREE<<EOF' >> $GITHUB_OUTPUT
+        uv pip tree >> $GITHUB_OUTPUT
+        echo 'EOF' >> $GITHUB_OUTPUT
+    - name: venv size
+      id: venv_size
+      run: |
+        echo 'VENV_SIZE<<EOF' >> $GITHUB_OUTPUT
+        echo "Total: $(du -sh .venv | cut -f1)" >> $GITHUB_OUTPUT
+        echo "" >> $GITHUB_OUTPUT
+        echo "Top 10 by size:" >> $GITHUB_OUTPUT
+        du -sh .venv/lib/python*/site-packages/* 2>/dev/null \
+          | grep -v '\.dist-info' \
+          | grep -v '__pycache__' \
+          | sort -rh \
+          | head -10 \
+          | while IFS=$'\t' read size path; do echo "$size  ${path##*/}"; done >> $GITHUB_OUTPUT
+        echo 'EOF' >> $GITHUB_OUTPUT
     - name: bump submodules
       run: |
-        git config --global --add safe.directory '*'
         git submodule update --remote
         git add .
     - name: update car docs
       run: |
-        export PYTHONPATH="$PWD"
-        scons -j$(nproc) --minimal opendbc_repo
         python selfdrive/car/docs.py
         git add docs/CARS.md
     - name: Create Pull Request
-      uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
+      uses: peter-evans/create-pull-request@c0f553fe549906ede9cf27b5156039d195d2ece0
       with:
         author: Vehicle Researcher <user@comma.ai>
         token: ${{ secrets.ACTIONS_CREATE_PR_PAT }}
@@ -68,5 +58,16 @@ jobs:
         branch: auto-package-updates
         base: master
         delete-branch: true
-        body: 'Automatic PR from repo-maintenance -> package_updates'
+        body: |
+          Automatic PR from repo-maintenance -> package_updates
+
+          ```
+          $ du -sh .venv && du -sh .venv/lib/python*/site-packages/* | sort -rh | head -10
+          ${{ steps.venv_size.outputs.VENV_SIZE }}
+          ```
+
+          ```
+          $ uv pip tree
+          ${{ steps.pip_tree.outputs.PIP_TREE }}
+          ```
         labels: bot
diff --git a/.github/workflows/setup-with-retry/action.yaml b/.github/workflows/setup-with-retry/action.yaml
deleted file mode 100644
index 98a3913600b..00000000000
--- a/.github/workflows/setup-with-retry/action.yaml
+++ /dev/null
@@ -1,52 +0,0 @@
-name: 'openpilot env setup, with retry on failure'
-
-inputs:
-  docker_hub_pat:
-    description: 'Auth token for Docker Hub, required for BuildJet jobs'
-    required: false
-    default: ''
-  sleep_time:
-    description: 'Time to sleep between retries'
-    required: false
-    default: 30
-
-outputs:
-  duration:
-    description: 'Duration of the setup process in seconds'
-    value: ${{ steps.get_duration.outputs.duration }}
-
-runs:
-  using: "composite"
-  steps:
-    - id: start_time
-      shell: bash
-      run: echo "START_TIME=$(date +%s)" >> $GITHUB_ENV
-    - id: setup1
-      uses: ./.github/workflows/setup
-      continue-on-error: true
-      with:
-        is_retried: true
-    - if: steps.setup1.outcome == 'failure'
-      shell: bash
-      run: sleep ${{ inputs.sleep_time }}
-    - id: setup2
-      if: steps.setup1.outcome == 'failure'
-      uses: ./.github/workflows/setup
-      continue-on-error: true
-      with:
-        is_retried: true
-    - if: steps.setup2.outcome == 'failure'
-      shell: bash
-      run: sleep ${{ inputs.sleep_time }}
-    - id: setup3
-      if: steps.setup2.outcome == 'failure'
-      uses: ./.github/workflows/setup
-      with:
-        is_retried: true
-    - id: get_duration
-      shell: bash
-      run: |
-        END_TIME=$(date +%s)
-        DURATION=$((END_TIME - START_TIME))
-        echo "Total duration: $DURATION seconds"
-        echo "duration=$DURATION" >> $GITHUB_OUTPUT
diff --git a/.github/workflows/setup/action.yaml b/.github/workflows/setup/action.yaml
deleted file mode 100644
index 818060c3b01..00000000000
--- a/.github/workflows/setup/action.yaml
+++ /dev/null
@@ -1,56 +0,0 @@
-name: 'openpilot env setup'
-
-inputs:
-  is_retried:
-    description: 'A mock param that asserts that we use the setup-with-retry instead of this action directly'
-    required: false
-    default: 'false'
-
-runs:
-  using: "composite"
-  steps:
-    # assert that this action is retried using the setup-with-retry
-    - shell: bash
-      if: ${{ inputs.is_retried == 'false' }}
-      run: |
-        echo "You should not run this action directly. Use setup-with-retry instead"
-        exit 1
-
-    - shell: bash
-      name: No retries!
-      run: |
-        if [ "${{ github.run_attempt }}" -gt 1 ]; then
-          echo -e "\033[0;31m##################################################"
-          echo -e "\033[0;31m    Retries not allowed! Fix the flaky test!      "
-          echo -e "\033[0;31m##################################################\033[0m"
-          exit 1
-        fi
-
-    # do this after checkout to ensure our custom LFS config is used to pull from GitLab
-    - shell: bash
-      run: git lfs pull
-
-    # build cache
-    - id: date
-      shell: bash
-      run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
-    - shell: bash
-      run: echo "$CACHE_COMMIT_DATE"
-    - id: scons-cache
-      uses: ./.github/workflows/auto-cache
-      with:
-        path: .ci_cache/scons_cache
-        key: scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
-        restore-keys: |
-          scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}
-          scons-${{ runner.arch }}
-    # as suggested here: https://github.com/moby/moby/issues/32816#issuecomment-910030001
-    - id: normalize-file-permissions
-      shell: bash
-      name: Normalize file permissions to ensure a consistent docker build cache
-      run: |
-        find . -type f -executable -not -perm 755 -exec chmod 755 {} \;
-        find . -type f -not -executable -not -perm 644 -exec chmod 644 {} \;
-    # build our docker image
-    - shell: bash
-      run: eval ${{ env.BUILD }}
diff --git a/.github/workflows/stale.yaml b/.github/workflows/stale.yaml
index 1ecd114dc44..cb7c0ac0764 100644
--- a/.github/workflows/stale.yaml
+++ b/.github/workflows/stale.yaml
@@ -13,7 +13,7 @@ jobs:
   stale:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/stale@v9
+      - uses: actions/stale@v10
         with:
           exempt-all-milestones: true
 
@@ -34,7 +34,7 @@ jobs:
   stale_drafts:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/stale@v9
+      - uses: actions/stale@v10
         with:
           exempt-all-milestones: true
 
diff --git a/.github/workflows/tests.yaml b/.github/workflows/tests.yaml
index f0028841a08..91a8e5c3244 100644
--- a/.github/workflows/tests.yaml
+++ b/.github/workflows/tests.yaml
@@ -18,15 +18,8 @@ concurrency:
   cancel-in-progress: true
 
 env:
-  PYTHONWARNINGS: error
-  BASE_IMAGE: openpilot-base
-  AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }}
-
-  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
-  BUILD: selfdrive/test/docker_build.sh base
-
-  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
-
+  CI: 1
+  PYTHONPATH: ${{ github.workspace }}
   PYTEST: pytest --continue-on-collection-errors --durations=0 -n logical
 
 jobs:
@@ -36,12 +29,13 @@ jobs:
       (github.repository == 'commaai/openpilot') &&
       ((github.event_name != 'pull_request') ||
       (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
+      && fromJSON('["namespace-profile-amd64-8x16"]')
       || fromJSON('["ubuntu-24.04"]') }}
     env:
       STRIPPED_DIR: /tmp/releasepilot
+      PYTHONPATH: /tmp/releasepilot
     steps:
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v6
       with:
         submodules: true
     - name: Getting LFS files
@@ -53,75 +47,34 @@ jobs:
     - name: Build devel
       timeout-minutes: 1
       run: TARGET_DIR=$STRIPPED_DIR release/build_stripped.sh
-    - uses: ./.github/workflows/setup-with-retry
+    - run: ./tools/op.sh setup
     - name: Build openpilot and run checks
-      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
-      run: |
-        cd $STRIPPED_DIR
-        ${{ env.RUN }} "python3 system/manager/build.py"
+      timeout-minutes: 30
+      working-directory: ${{ env.STRIPPED_DIR }}
+      run: python3 system/manager/build.py
     - name: Run tests
       timeout-minutes: 1
-      run: |
-        cd $STRIPPED_DIR
-        ${{ env.RUN }} "release/check-dirty.sh"
+      working-directory: ${{ env.STRIPPED_DIR }}
+      run: release/check-dirty.sh
     - name: Check submodules
       if: github.repository == 'commaai/openpilot'
       timeout-minutes: 3
       run: release/check-submodules.sh
 
-  build:
-    runs-on: ${{
-      (github.repository == 'commaai/openpilot') &&
-      ((github.event_name != 'pull_request') ||
-      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - name: Setup docker push
-      if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
-      run: |
-        echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
-        $DOCKER_LOGIN
-    - uses: ./.github/workflows/setup-with-retry
-    - uses: ./.github/workflows/compile-openpilot
-      timeout-minutes: 30
-
   build_mac:
     name: build macOS
-    if: false # tmp disable due to brew install not working
     runs-on: ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-macos-8x14' || 'macos-latest' }}
     steps:
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v6
       with:
         submodules: true
-    - run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
-    - name: Homebrew cache
-      uses: ./.github/workflows/auto-cache
-      with:
-        path: ~/Library/Caches/Homebrew
-        key: brew-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
-        restore-keys: |
-          brew-macos-${{ env.CACHE_COMMIT_DATE }}
-          brew-macos
-    - name: Install dependencies
-      run: ./tools/mac_setup.sh
-      env:
-        PYTHONWARNINGS: default  # package install has DeprecationWarnings
-        HOMEBREW_DISPLAY_INSTALL_TIMES: 1
-    - run: git lfs pull
-    - name: Getting scons cache
-      uses: ./.github/workflows/auto-cache
-      with:
-        path: /tmp/scons_cache
-        key: scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
-        restore-keys: |
-          scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}
-          scons-${{ runner.arch }}-macos
+    - name: Remove Homebrew from environment
+      run: |
+        FILTERED=$(echo "$PATH" | tr ':' '\n' | grep -v '/opt/homebrew' | tr '\n' ':')
+        echo "PATH=${FILTERED}/usr/local/bin:/usr/bin:/bin:/usr/sbin:/sbin" >> $GITHUB_ENV
+    - run: ./tools/op.sh setup
     - name: Building openpilot
-      run: . .venv/bin/activate && scons -j$(nproc)
+      run: scons
 
   static_analysis:
     name: static analysis
@@ -129,18 +82,16 @@ jobs:
       (github.repository == 'commaai/openpilot') &&
       ((github.event_name != 'pull_request') ||
       (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
+      && fromJSON('["namespace-profile-amd64-8x16"]')
       || fromJSON('["ubuntu-24.04"]') }}
-    env:
-      PYTHONWARNINGS: default
     steps:
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v6
       with:
         submodules: true
-    - uses: ./.github/workflows/setup-with-retry
+    - run: ./tools/op.sh setup
     - name: Static analysis
       timeout-minutes: 1
-      run: ${{ env.RUN }} "scripts/lint/lint.sh"
+      run: scripts/lint/lint.sh
 
   unit_tests:
     name: unit tests
@@ -148,24 +99,22 @@ jobs:
       (github.repository == 'commaai/openpilot') &&
       ((github.event_name != 'pull_request') ||
       (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
+      && fromJSON('["namespace-profile-amd64-8x16"]')
       || fromJSON('["ubuntu-24.04"]') }}
     steps:
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v6
       with:
         submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-      id: setup-step
+    - run: ./tools/op.sh setup
     - name: Build openpilot
-      run: ${{ env.RUN }} "scons -j$(nproc)"
+      run: scons -j$(nproc)
     - name: Run unit tests
-      timeout-minutes: ${{ contains(runner.name, 'nsc') && ((steps.setup-step.outputs.duration < 18) && 1 || 2) || 20 }}
+      timeout-minutes: ${{ contains(runner.name, 'nsc') && 2 || 20 }}
       run: |
-        ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
-                        # Pre-compile Python bytecode so each pytest worker doesn't need to
-                        $PYTEST --collect-only -m 'not slow' -qq && \
-                        MAX_EXAMPLES=1 $PYTEST -m 'not slow' && \
-                        chmod -R 777 /tmp/comma_download_cache"
+        source selfdrive/test/setup_xvfb.sh
+        # Pre-compile Python bytecode so each pytest worker doesn't need to
+        $PYTEST --collect-only -m 'not slow' -qq
+        MAX_EXAMPLES=1 $PYTEST -m 'not slow'
 
   process_replay:
     name: process replay
@@ -173,48 +122,65 @@ jobs:
       (github.repository == 'commaai/openpilot') &&
       ((github.event_name != 'pull_request') ||
       (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
+      && fromJSON('["namespace-profile-amd64-8x16"]')
       || fromJSON('["ubuntu-24.04"]') }}
     steps:
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v6
       with:
         submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-      id: setup-step
-    - name: Cache test routes
-      id: dependency-cache
-      uses: actions/cache@v4
-      with:
-        path: .ci_cache/comma_download_cache
-        key: proc-replay-${{ hashFiles('selfdrive/test/process_replay/ref_commit', 'selfdrive/test/process_replay/test_processes.py') }}
+    - run: ./tools/op.sh setup
     - name: Build openpilot
-      run: |
-        ${{ env.RUN }} "scons -j$(nproc)"
+      run: scons -j$(nproc)
     - name: Run replay
-      timeout-minutes: ${{ contains(runner.name, 'nsc') && (steps.dependency-cache.outputs.cache-hit == 'true') && ((steps.setup-step.outputs.duration < 18) && 1 || 2) || 20 }}
-      run: |
-        ${{ env.RUN }} "selfdrive/test/process_replay/test_processes.py -j$(nproc) && \
-                        chmod -R 777 /tmp/comma_download_cache"
+      timeout-minutes: ${{ contains(runner.name, 'nsc') && 2 || 20 }}
+      continue-on-error: ${{ github.ref == 'refs/heads/master' }}
+      run: selfdrive/test/process_replay/test_processes.py -j$(nproc)
     - name: Print diff
       id: print-diff
       if: always()
       run: cat selfdrive/test/process_replay/diff.txt
-    - uses: actions/upload-artifact@v4
+    - name: Print diff report
+      if: always()
+      run: cat selfdrive/test/process_replay/diff_report.txt
+    - uses: actions/upload-artifact@v6
       if: always()
       continue-on-error: true
       with:
         name: process_replay_diff.txt
         path: selfdrive/test/process_replay/diff.txt
-    - name: Upload reference logs
-      if: false # TODO: move this to github instead of azure
+    - name: Upload diff report
+      uses: actions/upload-artifact@v6
+      if: always() && github.event_name == 'pull_request'
+      continue-on-error: true
+      with:
+        name: diff_report_${{ github.event.number }}
+        path: selfdrive/test/process_replay/diff_report.txt
+    - name: Checkout ci-artifacts
+      if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
+      uses: actions/checkout@v4
+      with:
+        repository: commaai/ci-artifacts
+        ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
+        path: ${{ github.workspace }}/ci-artifacts
+    - name: Push refs
+      if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
+      working-directory: ${{ github.workspace }}/ci-artifacts
       run: |
-        ${{ env.RUN }} "unset PYTHONWARNINGS && AZURE_TOKEN='$AZURE_TOKEN' python3 selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
+        git config user.name "GitHub Actions Bot"
+        git config user.email "<>"
+        git fetch origin process-replay || true
+        git checkout process-replay 2>/dev/null || git checkout --orphan process-replay
+        cp ${{ github.workspace }}/selfdrive/test/process_replay/fakedata/*.zst .
+        echo "${{ github.sha }}" > ref_commit
+        git add .
+        git commit -m "process-replay refs for ${{ github.repository }}@${{ github.sha }}" || echo "No changes to commit"
+        git push origin process-replay --force
     - name: Run regen
       if: false
       timeout-minutes: 4
-      run: |
-        ${{ env.RUN }} "ONNXCPU=1 $PYTEST selfdrive/test/process_replay/test_regen.py && \
-                        chmod -R 777 /tmp/comma_download_cache"
+      env:
+        ONNXCPU: 1
+      run: $PYTEST selfdrive/test/process_replay/test_regen.py
 
   simulator_driving:
     name: simulator driving
@@ -222,73 +188,44 @@ jobs:
       (github.repository == 'commaai/openpilot') &&
       ((github.event_name != 'pull_request') ||
       (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
+      && fromJSON('["namespace-profile-amd64-8x16"]')
       || fromJSON('["ubuntu-24.04"]') }}
     if: false  # FIXME: Started to timeout recently
     steps:
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v6
       with:
         submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-      id: setup-step
+    - run: ./tools/op.sh setup
     - name: Build openpilot
-      run: |
-        ${{ env.RUN }} "scons -j$(nproc)"
+      run: scons -j$(nproc)
     - name: Driving test
-      timeout-minutes: ${{ (steps.setup-step.outputs.duration < 18) && 1 || 2 }}
+      timeout-minutes: 2
       run: |
-        ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
-                        source selfdrive/test/setup_vsound.sh && \
-                        CI=1 pytest -s tools/sim/tests/test_metadrive_bridge.py"
-
-  create_raylib_ui_report:
-    name: Create raylib UI Report
-    runs-on: ${{
-      (github.repository == 'commaai/openpilot') &&
-      ((github.event_name != 'pull_request') ||
-      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          submodules: true
-      - uses: ./.github/workflows/setup-with-retry
-      - name: Build openpilot
-        run: ${{ env.RUN }} "scons -j$(nproc)"
-      - name: Create raylib UI Report
-        run: >
-          ${{ env.RUN }} "PYTHONWARNINGS=ignore &&
-                          source selfdrive/test/setup_xvfb.sh &&
-                          python3 selfdrive/ui/tests/test_ui/raylib_screenshots.py"
-      - name: Upload Raylib UI Report
-        uses: actions/upload-artifact@v4
-        with:
-          name: raylib-report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
-          path: selfdrive/ui/tests/test_ui/raylib_report/screenshots
+        source selfdrive/test/setup_xvfb.sh
+        pytest -s tools/sim/tests/test_metadrive_bridge.py
 
-  create_mici_raylib_ui_report:
-    name: Create mici raylib UI Report
+  create_ui_report:
+    name: Create UI Report
     runs-on: ${{
       (github.repository == 'commaai/openpilot') &&
       ((github.event_name != 'pull_request') ||
       (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
+      && fromJSON('["namespace-profile-amd64-8x16"]')
       || fromJSON('["ubuntu-24.04"]') }}
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
         with:
           submodules: true
-      - uses: ./.github/workflows/setup-with-retry
+      - run: ./tools/op.sh setup
       - name: Build openpilot
-        run: ${{ env.RUN }} "scons -j$(nproc)"
-      - name: Create mici raylib UI Report
-        run: >
-          ${{ env.RUN }} "PYTHONWARNINGS=ignore &&
-                          source selfdrive/test/setup_xvfb.sh &&
-                          WINDOWED=1 python3 selfdrive/ui/tests/diff/replay.py"
-      - name: Upload Raylib UI Report
-        uses: actions/upload-artifact@v4
+        run: scons -j$(nproc)
+      - name: Create UI Report
+        run: |
+          source selfdrive/test/setup_xvfb.sh
+          python3 selfdrive/ui/tests/diff/replay.py
+          python3 selfdrive/ui/tests/diff/replay.py --big
+      - name: Upload UI Report
+        uses: actions/upload-artifact@v6
         with:
-          name: mici-raylib-report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
+          name: ui-report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
           path: selfdrive/ui/tests/diff/report
diff --git a/.github/workflows/ui_preview.yaml b/.github/workflows/ui_preview.yaml
new file mode 100644
index 00000000000..72ced498522
--- /dev/null
+++ b/.github/workflows/ui_preview.yaml
@@ -0,0 +1,175 @@
+name: "ui preview"
+on:
+  push:
+    branches:
+      - master
+  pull_request_target:
+    types: [assigned, opened, synchronize, reopened, edited]
+    branches:
+      - 'master'
+    paths:
+      - 'selfdrive/assets/**'
+      - 'selfdrive/ui/**'
+      - 'system/ui/**'
+  workflow_dispatch:
+
+env:
+  UI_JOB_NAME: "Create UI Report"
+  REPORT_NAME: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
+  SHA: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.sha || github.event.pull_request.head.sha }}
+  BRANCH_NAME: "openpilot/pr-${{ github.event.number }}-ui-preview"
+  REPORT_FILES_BRANCH_NAME: "mici-raylib-ui-reports"
+
+  # variant:video_prefix:master_branch
+  VARIANTS: "mici:mici_ui_replay:openpilot_master_ui_mici_raylib big:tizi_ui_replay:openpilot_master_ui_big_raylib"
+
+jobs:
+  preview:
+    if: github.repository == 'commaai/openpilot'
+    name: preview
+    runs-on: ubuntu-latest
+    timeout-minutes: 20
+    permissions:
+      contents: read
+      pull-requests: write
+      actions: read
+    steps:
+      - uses: actions/checkout@v6
+        with:
+          submodules: true
+
+      - name: Waiting for ui generation to end
+        uses: lewagon/wait-on-check-action@v1.3.4
+        with:
+          ref: ${{ env.SHA }}
+          check-name: ${{ env.UI_JOB_NAME }}
+          repo-token: ${{ secrets.GITHUB_TOKEN }}
+          allowed-conclusions: success
+          wait-interval: 20
+
+      - name: Getting workflow run ID
+        id: get_run_id
+        run: |
+          echo "run_id=$(curl https://api.github.com/repos/${{ github.repository }}/commits/${{ env.SHA }}/check-runs | jq -r '.check_runs[] | select(.name == "${{ env.UI_JOB_NAME }}") | .html_url | capture("(?<number>[0-9]+)") | .number')" >> $GITHUB_OUTPUT
+
+      - name: Getting proposed ui
+        uses: dawidd6/action-download-artifact@v6
+        with:
+          github_token: ${{ secrets.GITHUB_TOKEN }}
+          run_id: ${{ steps.get_run_id.outputs.run_id }}
+          search_artifacts: true
+          name: ui-report-1-${{ env.REPORT_NAME }}
+          path: ${{ github.workspace }}/pr_ui
+
+      - name: Getting mici master ui
+        uses: actions/checkout@v6
+        with:
+          repository: commaai/ci-artifacts
+          ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
+          path: ${{ github.workspace }}/master_mici
+          ref: openpilot_master_ui_mici_raylib
+
+      - name: Getting big master ui
+        uses: actions/checkout@v6
+        with:
+          repository: commaai/ci-artifacts
+          ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
+          path: ${{ github.workspace }}/master_big
+          ref: openpilot_master_ui_big_raylib
+
+      - name: Saving new master ui
+        if: github.ref == 'refs/heads/master' && github.event_name == 'push'
+        run: |
+          for variant in $VARIANTS; do
+            IFS=':' read -r name video branch <<< "$variant"
+            master_dir="${{ github.workspace }}/master_${name}"
+            cd "$master_dir"
+            git checkout --orphan=new_branch
+            git rm -rf *
+            git branch -D "$branch"
+            git branch -m "$branch"
+            git config user.name "GitHub Actions Bot"
+            git config user.email "<>"
+            cp "${{ github.workspace }}/pr_ui/${video}.mp4" .
+            git add .
+            git commit -m "${name} video for commit ${{ env.SHA }}"
+            git push origin "$branch" --force
+          done
+
+      - name: Setup FFmpeg
+        uses: AnimMouse/setup-ffmpeg@ae28d57dabbb148eff63170b6bf7f2b60062cbae
+
+      - name: Finding diffs
+        if: github.event_name == 'pull_request_target'
+        id: find_diff
+        run: |
+          export PYTHONPATH=${{ github.workspace }}
+          baseurl="https://github.com/commaai/ci-artifacts/raw/refs/heads/${{ env.BRANCH_NAME }}"
+
+          COMMENT=""
+          for variant in $VARIANTS; do
+            IFS=':' read -r name video _ <<< "$variant"
+            diff_name="${name}_diff"
+
+            mv "${{ github.workspace }}/pr_ui/${video}.mp4" "${{ github.workspace }}/pr_ui/${video}_proposed.mp4"
+            cp "${{ github.workspace }}/master_${name}/${video}.mp4" "${{ github.workspace }}/pr_ui/${video}_master.mp4"
+
+            diff_exit_code=0
+            python3 ${{ github.workspace }}/selfdrive/ui/tests/diff/diff.py \
+              "${{ github.workspace }}/pr_ui/${video}_master.mp4" \
+              "${{ github.workspace }}/pr_ui/${video}_proposed.mp4" \
+              "${diff_name}.html" --basedir "$baseurl" --no-open || diff_exit_code=$?
+
+            cp "${{ github.workspace }}/selfdrive/ui/tests/diff/report/${diff_name}.html" "${{ github.workspace }}/pr_ui/"
+            cp "${{ github.workspace }}/selfdrive/ui/tests/diff/report/${diff_name}.mp4" "${{ github.workspace }}/pr_ui/"
+
+            REPORT_URL="https://commaai.github.io/ci-artifacts/${diff_name}_pr_${{ github.event.number }}.html"
+            if [ $diff_exit_code -eq 0 ]; then
+              COMMENT+="**${name}**: Videos are identical! [View Diff Report]($REPORT_URL)"$'\n'
+            else
+              COMMENT+="**${name}**: ⚠️ <strong>Videos differ!</strong> [View Diff Report]($REPORT_URL)"$'\n'
+            fi
+          done
+
+          {
+            echo "COMMENT<<EOF"
+            echo "$COMMENT"
+            echo "EOF"
+          } >> "$GITHUB_OUTPUT"
+
+      - name: Saving proposed ui
+        if: github.event_name == 'pull_request_target'
+        working-directory: ${{ github.workspace }}/master_mici
+        run: |
+          git config user.name "GitHub Actions Bot"
+          git config user.email "<>"
+          git checkout --orphan=${{ env.BRANCH_NAME }}
+          git rm -rf *
+          mv ${{ github.workspace }}/pr_ui/* .
+          git add .
+          git commit -m "ui videos for PR #${{ github.event.number }}"
+          git push origin ${{ env.BRANCH_NAME }} --force
+
+          # Append diff reports to report files branch
+          git fetch origin ${{ env.REPORT_FILES_BRANCH_NAME }}
+          git checkout ${{ env.REPORT_FILES_BRANCH_NAME }}
+          for variant in $VARIANTS; do
+            IFS=':' read -r name _ _ <<< "$variant"
+            diff_name="${name}_diff"
+            cp "${{ github.workspace }}/selfdrive/ui/tests/diff/report/${diff_name}.html" "${diff_name}_pr_${{ github.event.number }}.html"
+            git add "${diff_name}_pr_${{ github.event.number }}.html"
+          done
+          git commit -m "ui diff reports for PR #${{ github.event.number }}" || echo "No changes to commit"
+          git push origin ${{ env.REPORT_FILES_BRANCH_NAME }}
+
+      - name: Comment on PR
+        if: github.event_name == 'pull_request_target'
+        uses: thollander/actions-comment-pull-request@v2
+        with:
+          message: |
+            <!-- _(run_id_ui_preview **${{ github.run_id }}**)_ -->
+            ## UI Preview
+            ${{ steps.find_diff.outputs.COMMENT }}
+          comment_tag: run_id_ui_preview
+          pr_number: ${{ github.event.number }}
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
diff --git a/.gitignore b/.gitignore
index e4992a3d055..689d1d6c29c 100644
--- a/.gitignore
+++ b/.gitignore
@@ -13,13 +13,13 @@ venv/
 a.out
 .hypothesis
 .cache/
-
-/docs_site/
+bin/
 
 *.mp4
 *.dylib
 *.DSYM
 *.d
+*.pem
 *.pyc
 *.pyo
 .*.swp
@@ -39,11 +39,15 @@ a.out
 *.mo
 *_pyx.cpp
 *.stats
+*.pkl
+*.pkl*
 config.json
-clcache
 compile_commands.json
 compare_runtime*.html
+selfdrive/modeld/models/tg_compiled_flags.json
 
+# build artifacts
+docs_site/
 selfdrive/pandad/pandad
 cereal/services.h
 cereal/gen
@@ -56,42 +60,31 @@ system/camerad/test/ae_gray_test
 .coverage*
 coverage.xml
 htmlcov
-pandaextra
-
-.mypy_cache/
-flycheck_*
-
-cppcheck_report.txt
-comma*.sh
-
-selfdrive/modeld/models/*.pkl
 
 # openpilot log files
 *.bz2
 *.zst
+*.rlog
 
 build/
 
 !**/.gitkeep
 
-poetry.toml
-Pipfile
 
 ### VisualStudioCode ###
+*.vsix
+.history
+.ionide
 .vscode/*
+.history/
 !.vscode/settings.json
 !.vscode/tasks.json
 !.vscode/launch.json
 !.vscode/extensions.json
 !.vscode/*.code-snippets
 
-# Local History for Visual Studio Code
-.history/
-
-# Built Visual Studio Code Extensions
-*.vsix
-
-### VisualStudioCode Patch ###
-# Ignore all local history of files
-.history
-.ionide
+# agents
+.claude/
+.context/
+PLAN.md
+TASK.md
diff --git a/.python-version b/.python-version
new file mode 100644
index 00000000000..28d9a01b1fa
--- /dev/null
+++ b/.python-version
@@ -0,0 +1 @@
+3.12.13
diff --git a/.vscode/launch.json b/.vscode/launch.json
index f090061c42b..151b757dabb 100644
--- a/.vscode/launch.json
+++ b/.vscode/launch.json
@@ -52,6 +52,9 @@
       "type": "lldb",
       "request": "attach",
       "pid": "${command:pickMyProcess}",
+      "sourceMap": {
+        ".": "${workspaceFolder}/opendbc/safety"
+      },
       "initCommands": [
         "script import time; time.sleep(3)"
       ]
diff --git a/Dockerfile.openpilot b/Dockerfile.openpilot
index 106a06e3a20..72d874b022b 100644
--- a/Dockerfile.openpilot
+++ b/Dockerfile.openpilot
@@ -1,14 +1,38 @@
-FROM ghcr.io/commaai/openpilot-base:latest
+FROM ubuntu:24.04
 
 ENV PYTHONUNBUFFERED=1
 
-ENV OPENPILOT_PATH=/home/batman/openpilot
+ENV DEBIAN_FRONTEND=noninteractive
+RUN apt-get update && \
+    apt-get install -y --no-install-recommends sudo tzdata locales && \
+    rm -rf /var/lib/apt/lists/*
 
+RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
+ENV LANG=en_US.UTF-8
+ENV LANGUAGE=en_US:en
+ENV LC_ALL=en_US.UTF-8
+
+ENV NVIDIA_VISIBLE_DEVICES=all
+ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
+
+ARG USER=batman
+ARG USER_UID=1001
+RUN useradd -m -s /bin/bash -u $USER_UID $USER
+RUN usermod -aG sudo $USER
+RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
+USER $USER
+
+ENV OPENPILOT_PATH=/home/$USER/openpilot
 RUN mkdir -p ${OPENPILOT_PATH}
 WORKDIR ${OPENPILOT_PATH}
 
-COPY . ${OPENPILOT_PATH}/
+COPY --chown=$USER . ${OPENPILOT_PATH}/
+
+ENV UV_BIN="/home/$USER/.local/bin/"
+ENV VIRTUAL_ENV=${OPENPILOT_PATH}/.venv
+ENV PATH="$UV_BIN:$VIRTUAL_ENV/bin:$PATH"
+RUN tools/setup_dependencies.sh && \
+    sudo rm -rf /var/lib/apt/lists/*
 
-ENV UV_BIN="/home/batman/.local/bin/"
-ENV PATH="$UV_BIN:$PATH"
-RUN UV_PROJECT_ENVIRONMENT=$VIRTUAL_ENV uv run scons --cache-readonly -j$(nproc)
+USER root
+RUN git config --global --add safe.directory '*'
diff --git a/Dockerfile.openpilot_base b/Dockerfile.openpilot_base
deleted file mode 100644
index 44d8d95e95d..00000000000
--- a/Dockerfile.openpilot_base
+++ /dev/null
@@ -1,81 +0,0 @@
-FROM ubuntu:24.04
-
-ENV PYTHONUNBUFFERED=1
-
-ENV DEBIAN_FRONTEND=noninteractive
-RUN apt-get update && \
-    apt-get install -y --no-install-recommends sudo tzdata locales ssh pulseaudio xvfb x11-xserver-utils gnome-screenshot python3-tk python3-dev && \
-    rm -rf /var/lib/apt/lists/*
-
-RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
-ENV LANG=en_US.UTF-8
-ENV LANGUAGE=en_US:en
-ENV LC_ALL=en_US.UTF-8
-
-COPY tools/install_ubuntu_dependencies.sh /tmp/tools/
-RUN /tmp/tools/install_ubuntu_dependencies.sh && \
-    rm -rf /var/lib/apt/lists/* /tmp/* && \
-    cd /usr/lib/gcc/arm-none-eabi/* && \
-    rm -rf arm/ thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
-
-# Add OpenCL
-RUN apt-get update && apt-get install -y --no-install-recommends \
-    apt-utils \
-    alien \
-    unzip \
-    tar \
-    curl \
-    xz-utils \
-    dbus \
-    gcc-arm-none-eabi \
-    tmux \
-    vim \
-    libx11-6 \
-    wget \
-  && rm -rf /var/lib/apt/lists/*
-
-RUN mkdir -p /tmp/opencl-driver-intel && \
-    cd /tmp/opencl-driver-intel && \
-    wget https://github.com/intel/llvm/releases/download/2024-WW14/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
-    wget https://github.com/oneapi-src/oneTBB/releases/download/v2021.12.0/oneapi-tbb-2021.12.0-lin.tgz && \
-    mkdir -p /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
-    cd /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
-    tar -zxvf /tmp/opencl-driver-intel/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
-    mkdir -p /etc/OpenCL/vendors && \
-    echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64/libintelocl.so > /etc/OpenCL/vendors/intel_expcpu.icd && \
-    cd /opt/intel && \
-    tar -zxvf /tmp/opencl-driver-intel/oneapi-tbb-2021.12.0-lin.tgz && \
-    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
-    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
-    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so.12 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
-    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so.2 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
-    mkdir -p /etc/ld.so.conf.d && \
-    echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 > /etc/ld.so.conf.d/libintelopenclexp.conf && \
-    ldconfig -f /etc/ld.so.conf.d/libintelopenclexp.conf && \
-    cd / && \
-    rm -rf /tmp/opencl-driver-intel
-
-ENV NVIDIA_VISIBLE_DEVICES=all
-ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
-ENV QTWEBENGINE_DISABLE_SANDBOX=1
-
-RUN dbus-uuidgen > /etc/machine-id
-
-ARG USER=batman
-ARG USER_UID=1001
-RUN useradd -m -s /bin/bash -u $USER_UID $USER
-RUN usermod -aG sudo $USER
-RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
-USER $USER
-
-COPY --chown=$USER pyproject.toml uv.lock /home/$USER
-COPY --chown=$USER tools/install_python_dependencies.sh /home/$USER/tools/
-
-ENV VIRTUAL_ENV=/home/$USER/.venv
-ENV PATH="$VIRTUAL_ENV/bin:$PATH"
-RUN cd /home/$USER && \
-    tools/install_python_dependencies.sh && \
-    rm -rf tools/ pyproject.toml uv.lock .cache
-
-USER root
-RUN sudo git config --global --add safe.directory /tmp/openpilot
diff --git a/Jenkinsfile b/Jenkinsfile
index 73fa74c1cde..39175d89e37 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -22,7 +22,7 @@ shopt -s huponexit # kill all child processes when the shell exits
 
 export CI=1
 export PYTHONWARNINGS=error
-export LOGPRINT=debug
+#export LOGPRINT=debug # this has gotten too spammy...
 export TEST_DIR=${env.TEST_DIR}
 export SOURCE_DIR=${env.SOURCE_DIR}
 export GIT_BRANCH=${env.GIT_BRANCH}
@@ -167,7 +167,7 @@ node {
   env.GIT_COMMIT = checkout(scm).GIT_COMMIT
 
   def excludeBranches = ['__nightly', 'devel', 'devel-staging', 'release3', 'release3-staging',
-                         'release-tici', 'release-tizi', 'release-tizi-staging', 'testing-closet*', 'hotfix-*']
+                         'release-tici', 'release-tizi', 'release-tizi-staging', 'release-mici-staging', 'testing-closet*', 'hotfix-*']
   def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')
 
   if (env.BRANCH_NAME != 'master' && !env.BRANCH_NAME.contains('__jenkins_loop_')) {
@@ -179,7 +179,7 @@ node {
   try {
     if (env.BRANCH_NAME == 'devel-staging') {
       deviceStage("build release-tizi-staging", "tizi-needs-can", [], [
-        step("build release-tizi-staging", "RELEASE_BRANCH=release-tizi-staging $SOURCE_DIR/release/build_release.sh"),
+        step("build release-tizi-staging", "RELEASE_BRANCH=release-tizi-staging $SOURCE_DIR/release/build_release.sh && git push -f origin release-tizi-staging:release-mici-staging"),
       ])
     }
 
@@ -210,30 +210,23 @@ node {
       'HW + Unit Tests': {
         deviceStage("tizi-hardware", "tizi-common", ["UNSAFE=1"], [
           step("build", "cd system/manager && ./build.py"),
-          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
           step("test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"),
           step("test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py", [diffPaths: ["system/loggerd/"]]),
           step("test manager", "pytest system/manager/test/test_manager.py"),
         ])
       },
-      'loopback': {
-        deviceStage("loopback", "tizi-loopback", ["UNSAFE=1"], [
-          step("build openpilot", "cd system/manager && ./build.py"),
-          step("test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
-        ])
-      },
       'camerad OX03C10': {
         deviceStage("OX03C10", "tizi-ox03c10", ["UNSAFE=1"], [
           step("build", "cd system/manager && ./build.py"),
-          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
-          step("test exposure", "pytest system/camerad/test/test_exposure.py"),
+          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"),
+          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 90]),
         ])
       },
       'camerad OS04C10': {
         deviceStage("OS04C10", "tici-os04c10", ["UNSAFE=1"], [
           step("build", "cd system/manager && ./build.py"),
-          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
-          step("test exposure", "pytest system/camerad/test/test_exposure.py"),
+          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"),
+          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 90]),
         ])
       },
       'sensord': {
@@ -251,11 +244,9 @@ node {
       'tizi': {
         deviceStage("tizi", "tizi", ["UNSAFE=1"], [
           step("build openpilot", "cd system/manager && ./build.py"),
-          step("test pandad loopback", "SINGLE_PANDA=1 pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
+          step("test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
           step("test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"),
           step("test amp", "pytest system/hardware/tici/tests/test_amplifier.py"),
-          // TODO: enable once new AGNOS is available
-          // step("test esim", "pytest system/hardware/tici/tests/test_esim.py"),
           step("test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py", [diffPaths: ["system/qcomgpsd/"]]),
         ])
       },
diff --git a/README.md b/README.md
index a77a80935d5..a1f494c33cf 100644
--- a/README.md
+++ b/README.md
@@ -17,7 +17,7 @@
   <span> · </span>
   <a href="https://discord.comma.ai">Community</a>
   <span> · </span>
-  <a href="https://comma.ai/shop">Try it on a comma 3X</a>
+  <a href="https://comma.ai/shop">Try it on a comma four</a>
 </h3>
 
 Quick start: `bash <(curl -fsSL openpilot.comma.ai)`
@@ -42,10 +42,10 @@ Using openpilot in a car
 ------
 
 To use openpilot in a car, you need four things:
-1. **Supported Device:** a comma 3X, available at [comma.ai/shop](https://comma.ai/shop/comma-3x).
-2. **Software:** The setup procedure for the comma 3X allows users to enter a URL for custom software. Use the URL `openpilot.comma.ai` to install the release version.
+1. **Supported Device:** a comma four, available at [comma.ai/shop/comma-four](https://www.comma.ai/shop/comma-four).
+2. **Software:** The setup procedure for the comma four allows users to enter a URL for custom software. Use the URL `openpilot.comma.ai` to install the release version.
 3. **Supported Car:** Ensure that you have one of [the 275+ supported cars](docs/CARS.md).
-4. **Car Harness:** You will also need a [car harness](https://comma.ai/shop/car-harness) to connect your comma 3X to your car.
+4. **Car Harness:** You will also need a [car harness](https://comma.ai/shop/car-harness) to connect your comma four to your car.
 
 We have detailed instructions for [how to install the harness and device in a car](https://comma.ai/setup). Note that it's possible to run openpilot on [other hardware](https://blog.comma.ai/self-driving-car-for-free/), although it's not plug-and-play.
 
diff --git a/RELEASES.md b/RELEASES.md
index 30283514009..55141710d07 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,3 +1,18 @@
+Version 0.11.1 (2026-04-22)
+========================
+* New driver monitoring model
+* Improved image processing pipeline for driver camera
+* Rivian R1S and R1T 2025 support thanks to lukasloetkolben!
+
+Version 0.11.0 (2026-03-17)
+========================
+* New driving model #36798
+  * Fully trained using a learned simulator
+  * Improved longitudinal performance in Experimental mode
+* Reduce comma four standby power usage by 77% to 52 mW
+* Kia K7 2017 support thanks to royjr!
+* Lexus LS 2018 support thanks to Hacheoy!
+
 Version 0.10.3 (2025-12-17)
 ========================
 * New driving model #36249
diff --git a/SConstruct b/SConstruct
index 094503cfa79..119209dcdbb 100644
--- a/SConstruct
+++ b/SConstruct
@@ -4,9 +4,11 @@ import sys
 import sysconfig
 import platform
 import shlex
+import importlib
 import numpy as np
 
 import SCons.Errors
+from SCons.Defaults import _stripixes
 
 SCons.Warnings.warningAsException(True)
 
@@ -14,11 +16,8 @@ Decider('MD5-timestamp')
 
 SetOption('num_jobs', max(1, int(os.cpu_count()/2)))
 
-AddOption('--kaitai', action='store_true', help='Regenerate kaitai struct parsers')
-AddOption('--asan', action='store_true', help='turn on ASAN')
-AddOption('--ubsan', action='store_true', help='turn on UBSan')
-AddOption('--mutation', action='store_true', help='generate mutation-ready code')
 AddOption('--ccflags', action='store', type='string', default='', help='pass arbitrary flags over the command line')
+AddOption('--verbose', action='store_true', default=False, help='show full build commands')
 AddOption('--minimal',
           action='store_false',
           dest='extras',
@@ -29,7 +28,6 @@ AddOption('--minimal',
 arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
 if platform.system() == "Darwin":
   arch = "Darwin"
-  brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip()
 elif arch == "aarch64" and os.path.isfile('/TICI'):
   arch = "larch64"
 assert arch in [
@@ -39,6 +37,48 @@ assert arch in [
   "Darwin",   # macOS arm64 (x86 not supported)
 ]
 
+pkg_names = ['bzip2', 'capnproto', 'eigen', 'ffmpeg', 'libjpeg', 'libyuv', 'ncurses', 'zeromq', 'zstd']
+pkgs = [importlib.import_module(name) for name in pkg_names]
+
+
+# ***** enforce a whitelist of system libraries *****
+# this prevents silently relying on a 3rd party package,
+# e.g. apt-installed libusb. all libraries should either
+# be distributed with all Linux distros and macOS, or
+# vendored in commaai/dependencies.
+allowed_system_libs = {
+  "EGL", "GLESv2", "GL",
+  "Qt5Charts", "Qt5Core", "Qt5Gui", "Qt5Widgets",
+  "dl", "drm", "gbm", "m", "pthread",
+}
+
+def _resolve_lib(env, name):
+  for d in env.Flatten(env.get('LIBPATH', [])):
+    p = Dir(str(d)).abspath
+    for ext in ('.a', '.so', '.dylib'):
+      f = File(os.path.join(p, f'lib{name}{ext}'))
+      if f.exists() or f.has_builder():
+        return name
+  if name in allowed_system_libs:
+    return name
+  raise SCons.Errors.UserError(f"Unexpected non-vendored library '{name}'")
+
+def _libflags(target, source, env, for_signature):
+  libs = []
+  lp = env.subst('$LIBLITERALPREFIX')
+  for lib in env.Flatten(env.get('LIBS', [])):
+    if isinstance(lib, str):
+      if os.sep in lib or lib.startswith('#'):
+        libs.append(File(lib))
+      elif lib.startswith('-') or (lp and lib.startswith(lp)):
+        libs.append(lib)
+      else:
+        libs.append(_resolve_lib(env, lib))
+    else:
+      libs.append(lib)
+  return _stripixes(env['LIBLINKPREFIX'], libs, env['LIBLINKSUFFIX'],
+                    env['LIBPREFIXES'], env['LIBSUFFIXES'], env, env['LIBLITERALPREFIX'])
+
 env = Environment(
   ENV={
     "PATH": os.environ['PATH'],
@@ -47,15 +87,13 @@ env = Environment(
     "ACADOS_PYTHON_INTERFACE_PATH": Dir("#third_party/acados/acados_template").abspath,
     "TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer"
   },
-  CC='clang',
-  CXX='clang++',
   CCFLAGS=[
     "-g",
     "-fPIC",
     "-O2",
     "-Wunused",
     "-Werror",
-    "-Wshadow",
+    "-Wshadow" if arch in ("Darwin", "larch64") else "-Wshadow=local",
     "-Wno-unknown-warning-option",
     "-Wno-inconsistent-missing-override",
     "-Wno-c99-designator",
@@ -74,7 +112,7 @@ env = Environment(
     "#third_party/acados/include/blasfeo/include",
     "#third_party/acados/include/hpipm/include",
     "#third_party/catch2/include",
-    "#third_party/libyuv/include",
+    [x.INCLUDE_DIR for x in pkgs],
   ],
   LIBPATH=[
     "#common",
@@ -82,8 +120,8 @@ env = Environment(
     "#third_party",
     "#selfdrive/pandad",
     "#rednose/helpers",
-    f"#third_party/libyuv/{arch}/lib",
     f"#third_party/acados/{arch}/lib",
+    [x.LIB_DIR for x in pkgs],
   ],
   RPATH=[],
   CYTHONCFILESUFFIX=".cpp",
@@ -92,13 +130,14 @@ env = Environment(
   tools=["default", "cython", "compilation_db", "rednose_filter"],
   toolpath=["#site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
 )
+if arch != "larch64":
+  env['_LIBFLAGS'] = _libflags
 
 # Arch-specific flags and paths
 if arch == "larch64":
-  env.Append(CPPPATH=["#third_party/opencl/include"])
+  env["CC"] = "clang"
+  env["CXX"] = "clang++"
   env.Append(LIBPATH=[
-    "/usr/local/lib",
-    "/system/vendor/lib64",
     "/usr/lib/aarch64-linux-gnu",
   ])
   arch_flags = ["-D__TICI__", "-mcpu=cortex-a57"]
@@ -106,30 +145,10 @@ if arch == "larch64":
   env.Append(CXXFLAGS=arch_flags)
 elif arch == "Darwin":
   env.Append(LIBPATH=[
-    f"{brew_prefix}/lib",
-    f"{brew_prefix}/opt/openssl@3.0/lib",
-    f"{brew_prefix}/opt/llvm/lib/c++",
     "/System/Library/Frameworks/OpenGL.framework/Libraries",
   ])
   env.Append(CCFLAGS=["-DGL_SILENCE_DEPRECATION"])
   env.Append(CXXFLAGS=["-DGL_SILENCE_DEPRECATION"])
-  env.Append(CPPPATH=[
-    f"{brew_prefix}/include",
-    f"{brew_prefix}/opt/openssl@3.0/include",
-  ])
-else:
-  env.Append(LIBPATH=[
-    "/usr/lib",
-    "/usr/local/lib",
-  ])
-
-# Sanitizers and extra CCFLAGS from CLI
-if GetOption('asan'):
-  env.Append(CCFLAGS=["-fsanitize=address", "-fno-omit-frame-pointer"])
-  env.Append(LINKFLAGS=["-fsanitize=address"])
-elif GetOption('ubsan'):
-  env.Append(CCFLAGS=["-fsanitize=undefined"])
-  env.Append(LINKFLAGS=["-fsanitize=undefined"])
 
 _extra_cc = shlex.split(GetOption('ccflags') or '')
 if _extra_cc:
@@ -139,6 +158,22 @@ if _extra_cc:
 if arch != "Darwin":
   env.Append(LINKFLAGS=["-Wl,--as-needed", "-Wl,--no-undefined"])
 
+# Shorter build output: show brief descriptions instead of full commands.
+# Full command lines are still printed on failure by scons.
+if not GetOption('verbose'):
+  for action, short in (
+    ("CC",     "CC"),
+    ("CXX",    "CXX"),
+    ("LINK",   "LINK"),
+    ("SHCC",   "CC"),
+    ("SHCXX",  "CXX"),
+    ("SHLINK", "LINK"),
+    ("AR",     "AR"),
+    ("RANLIB", "RANLIB"),
+    ("AS",     "AS"),
+  ):
+    env[f"{action}COMSTR"] = f"  [{short}] $TARGET"
+
 # progress output
 node_interval = 5
 node_count = 0
@@ -150,10 +185,9 @@ if os.environ.get('SCONS_PROGRESS'):
   Progress(progress_function, interval=node_interval)
 
 # ********** Cython build environment **********
-py_include = sysconfig.get_paths()['include']
 envCython = env.Clone()
-envCython["CPPPATH"] += [py_include, np.get_include()]
-envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-shadow", "-Wno-deprecated-declarations"]
+envCython["CPPPATH"] += [sysconfig.get_paths()['include'], np.get_include()]
+envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-cpp", "-Wno-shadow", "-Wno-deprecated-declarations"]
 envCython["CCFLAGS"].remove("-Werror")
 
 envCython["LIBS"] = []
@@ -185,7 +219,6 @@ Export('common')
 env_swaglog = env.Clone()
 env_swaglog['CXXFLAGS'].append('-DSWAGLOG="\\"common/swaglog.h\\""')
 SConscript(['msgq_repo/SConscript'], exports={'env': env_swaglog})
-SConscript(['opendbc_repo/SConscript'], exports={'env': env_swaglog})
 
 SConscript(['cereal/SConscript'])
 
@@ -202,7 +235,6 @@ SConscript(['rednose/SConscript'])
 
 # Build system services
 SConscript([
-  'system/ubloxd/SConscript',
   'system/loggerd/SConscript',
 ])
 
@@ -212,12 +244,23 @@ if arch == "larch64":
 # Build openpilot
 SConscript(['third_party/SConscript'])
 
-SConscript(['selfdrive/SConscript'])
+# Build selfdrive
+SConscript([
+  'selfdrive/pandad/SConscript',
+  'selfdrive/controls/lib/lateral_mpc_lib/SConscript',
+  'selfdrive/controls/lib/longitudinal_mpc_lib/SConscript',
+  'selfdrive/locationd/SConscript',
+  'selfdrive/modeld/SConscript',
+  'selfdrive/ui/SConscript',
+])
 
-if Dir('#tools/cabana/').exists() and GetOption('extras'):
-  SConscript(['tools/replay/SConscript'])
-  if arch != "larch64":
-    SConscript(['tools/cabana/SConscript'])
+# Build tools
+if arch != "larch64":
+  SConscript([
+    'tools/replay/SConscript',
+    'tools/cabana/SConscript',
+    'tools/jotpluggler/SConscript',
+  ])
 
 
 env.CompilationDatabase('compile_commands.json')
diff --git a/cereal/SConscript b/cereal/SConscript
index a58a9490ce6..de7ca0d7214 100644
--- a/cereal/SConscript
+++ b/cereal/SConscript
@@ -4,7 +4,7 @@ cereal_dir = Dir('.')
 gen_dir = Dir('gen')
 
 # Build cereal
-schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp', 'custom.capnp']
+schema_files = ['log.capnp', 'car.capnp', 'deprecated.capnp', 'custom.capnp']
 env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files],
             schema_files,
             f"capnpc --src-prefix={cereal_dir.path} $SOURCES -o c++:{gen_dir.path}/cpp/")
@@ -13,7 +13,7 @@ cereal = env.Library('cereal', [f'gen/cpp/{s}.c++' for s in schema_files])
 
 # Build messaging
 services_h = env.Command(['services.h'], ['services.py'], 'python3 ' + cereal_dir.path + '/services.py > $TARGET')
-env.Program('messaging/bridge', ['messaging/bridge.cc', 'messaging/msgq_to_zmq.cc'], LIBS=[msgq, common, 'pthread'])
+env.Program('messaging/bridge', ['messaging/bridge.cc', 'messaging/msgq_to_zmq.cc', 'messaging/bridge_zmq.cc'], LIBS=[msgq, common, 'pthread'])
 
 socketmaster = env.Library('socketmaster', ['messaging/socketmaster.cc'])
 
diff --git a/cereal/legacy.capnp b/cereal/deprecated.capnp
similarity index 71%
rename from cereal/legacy.capnp
rename to cereal/deprecated.capnp
index a8fa5e4a1f7..45ce25c6827 100644
--- a/cereal/legacy.capnp
+++ b/cereal/deprecated.capnp
@@ -3,7 +3,7 @@ $Cxx.namespace("cereal");
 
 @0x80ef1ec4889c2a63;
 
-# legacy.capnp: a home for deprecated structs
+# deprecated.capnp: a home for deprecated structs
 
 struct LogRotate @0x9811e1f38f62f2d1 {
   segmentNum @0 :Int32;
@@ -571,4 +571,219 @@ struct LidarPts @0xe3d6685d4e9d8f7a {
   pkt @4 :Data;
 }
 
+struct LiveTracksDEPRECATED @0xb16f60103159415a {
+  trackId @0 :Int32;
+  dRel @1 :Float32;
+  yRel @2 :Float32;
+  vRel @3 :Float32;
+  aRel @4 :Float32;
+  timeStamp @5 :Float32;
+  status @6 :Float32;
+  currentTime @7 :Float32;
+  stationary @8 :Bool;
+  oncoming @9 :Bool;
+}
+
+struct LiveMpcData @0x92a5e332a85f32a0 {
+  x @0 :List(Float32);
+  y @1 :List(Float32);
+  psi @2 :List(Float32);
+  curvature @3 :List(Float32);
+  qpIterations @4 :UInt32;
+  calculationTime @5 :UInt64;
+  cost @6 :Float64;
+}
+
+struct LiveLongitudinalMpcData @0xe7e17c434f865ae2 {
+  xEgo @0 :List(Float32);
+  vEgo @1 :List(Float32);
+  aEgo @2 :List(Float32);
+  xLead @3 :List(Float32);
+  vLead @4 :List(Float32);
+  aLead @5 :List(Float32);
+  aLeadTau @6 :Float32;    # lead accel time constant
+  qpIterations @7 :UInt32;
+  mpcId @8 :UInt32;
+  calculationTime @9 :UInt64;
+  cost @10 :Float64;
+}
+
+struct DriverStateDEPRECATED @0xb83c6cc593ed0a00 {
+  frameId @0 :UInt32;
+  modelExecutionTime @14 :Float32;
+  dspExecutionTime @16 :Float32;
+  rawPredictions @15 :Data;
+
+  faceOrientation @3 :List(Float32);
+  facePosition @4 :List(Float32);
+  faceProb @5 :Float32;
+  leftEyeProb @6 :Float32;
+  rightEyeProb @7 :Float32;
+  leftBlinkProb @8 :Float32;
+  rightBlinkProb @9 :Float32;
+  faceOrientationStd @11 :List(Float32);
+  facePositionStd @12 :List(Float32);
+  sunglassesProb @13 :Float32;
+  poorVision @17 :Float32;
+  partialFace @18 :Float32;
+  distractedPose @19 :Float32;
+  distractedEyes @20 :Float32;
+  eyesOnRoad @21 :Float32;
+  phoneUse @22 :Float32;
+  occludedProb @23 :Float32;
+
+  readyProb @24 :List(Float32);
+  notReadyProb @25 :List(Float32);
+
+  irPwrDEPRECATED @10 :Float32;
+  descriptorDEPRECATED @1 :List(Float32);
+  stdDEPRECATED @2 :Float32;
+}
+
+struct NavModelData @0xac3de5c437be057a {
+  frameId @0 :UInt32;
+  locationMonoTime @6 :UInt64;
+  modelExecutionTime @1 :Float32;
+  dspExecutionTime @2 :Float32;
+  features @3 :List(Float32);
+  # predicted future position
+  position @4 :XYData;
+  desirePrediction @5 :List(Float32);
+
+  # All SI units and in device frame
+  struct XYData @0xbe09e615b2507e26 {
+    x @0 :List(Float32);
+    y @1 :List(Float32);
+    xStd @2 :List(Float32);
+    yStd @3 :List(Float32);
+  }
+}
+
+struct AndroidBuildInfo @0xfe2919d5c21f426c {
+  board @0 :Text;
+  bootloader @1 :Text;
+  brand @2 :Text;
+  device @3 :Text;
+  display @4 :Text;
+  fingerprint @5 :Text;
+  hardware @6 :Text;
+  host @7 :Text;
+  id @8 :Text;
+  manufacturer @9 :Text;
+  model @10 :Text;
+  product @11 :Text;
+  radioVersion @12 :Text;
+  serial @13 :Text;
+  supportedAbis @14 :List(Text);
+  tags @15 :Text;
+  time @16 :Int64;
+  type @17 :Text;
+  user @18 :Text;
+
+  versionCodename @19 :Text;
+  versionRelease @20 :Text;
+  versionSdk @21 :Int32;
+  versionSecurityPatch @22 :Text;
+}
+
+struct AndroidSensor @0x9b513b93a887dbcd {
+  id @0 :Int32;
+  name @1 :Text;
+  vendor @2 :Text;
+  version @3 :Int32;
+  handle @4 :Int32;
+  type @5 :Int32;
+  maxRange @6 :Float32;
+  resolution @7 :Float32;
+  power @8 :Float32;
+  minDelay @9 :Int32;
+  fifoReservedEventCount @10 :UInt32;
+  fifoMaxEventCount @11 :UInt32;
+  stringType @12 :Text;
+  maxDelay @13 :Int32;
+}
 
+struct IosBuildInfo @0xd97e3b28239f5580 {
+  appVersion @0 :Text;
+  appBuild @1 :UInt32;
+  osVersion @2 :Text;
+  deviceModel @3 :Text;
+}
+
+enum FrameTypeDEPRECATED @0xa37f0d8558e193fd {
+  unknown @0;
+  neo @1;
+  chffrAndroid @2;
+  front @3;
+}
+
+struct AndroidCaptureResult @0xbcc3efbac41d2048 {
+  sensitivity @0 :Int32;
+  frameDuration @1 :Int64;
+  exposureTime @2 :Int64;
+  rollingShutterSkew @3 :UInt64;
+  colorCorrectionTransform @4 :List(Int32);
+  colorCorrectionGains @5 :List(Float32);
+  displayRotation @6 :Int8;
+}
+
+enum UsbPowerModeDEPRECATED @0xa8883583b32c9877 {
+  none @0;
+  client @1;
+  cdp @2;
+  dcp @3;
+}
+
+struct LateralINDIState @0x939463348632375e {
+  active @0 :Bool;
+  steeringAngleDeg @1 :Float32;
+  steeringRateDeg @2 :Float32;
+  steeringAccelDeg @3 :Float32;
+  rateSetPoint @4 :Float32;
+  accelSetPoint @5 :Float32;
+  accelError @6 :Float32;
+  delayedOutput @7 :Float32;
+  delta @8 :Float32;
+  output @9 :Float32;
+  saturated @10 :Bool;
+  steeringAngleDesiredDeg @11 :Float32;
+  steeringRateDesiredDeg @12 :Float32;
+}
+
+struct LateralLQRState @0x9024e2d790c82ade {
+  active @0 :Bool;
+  steeringAngleDeg @1 :Float32;
+  i @2 :Float32;
+  output @3 :Float32;
+  lqrOutput @4 :Float32;
+  saturated @5 :Bool;
+  steeringAngleDesiredDeg @6 :Float32;
+}
+
+struct LateralCurvatureState @0xad9d8095c06f7c61 {
+  active @0 :Bool;
+  actualCurvature @1 :Float32;
+  desiredCurvature @2 :Float32;
+  error @3 :Float32;
+  p @4 :Float32;
+  i @5 :Float32;
+  f @6 :Float32;
+  output @7 :Float32;
+  saturated @8 :Bool;
+}
+
+struct LateralPlannerSolution @0x84caeca5a6b4acfe {
+  x @0 :List(Float32);
+  y @1 :List(Float32);
+  yaw @2 :List(Float32);
+  yawRate @3 :List(Float32);
+  xStd @4 :List(Float32);
+  yStd @5 :List(Float32);
+  yawStd @6 :List(Float32);
+  yawRateStd @7 :List(Float32);
+}
+
+struct GpsTrajectory @0x8cfeb072f5301000 {
+  x @0 :List(Float32);
+  y @1 :List(Float32);
+}
diff --git a/cereal/log.capnp b/cereal/log.capnp
index 3a6432c84df..c0ee33743af 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -2,7 +2,7 @@ using Cxx = import "./include/c++.capnp";
 $Cxx.namespace("cereal");
 
 using Car = import "car.capnp";
-using Legacy = import "legacy.capnp";
+using Deprecated = import "deprecated.capnp";
 using Custom = import "custom.capnp";
 
 @0xf3b1f17e25a4285b;
@@ -68,12 +68,12 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     longitudinalManeuver @30;
     steerTempUnavailableSilent @31;
     resumeRequired @32;
-    preDriverDistracted @33;
-    promptDriverDistracted @34;
-    driverDistracted @35;
-    preDriverUnresponsive @36;
-    promptDriverUnresponsive @37;
-    driverUnresponsive @38;
+    driverDistracted1 @33;
+    driverDistracted2 @34;
+    driverDistracted3 @35;
+    driverUnresponsive1 @36;
+    driverUnresponsive2 @37;
+    driverUnresponsive3 @38;
     belowSteerSpeed @39;
     lowBattery @40;
     accFaulted @41;
@@ -87,6 +87,8 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     laneChange @50;
     lowMemory @51;
     stockAeb @52;
+    stockLkas @98;
+    lateralManeuver @99;
     ldw @53;
     carUnrecognized @54;
     invalidLkasSetting @55;
@@ -190,66 +192,16 @@ struct InitData {
     espVersion @3 :Text;
   }
 
-  # ***** deprecated stuff *****
-  gctxDEPRECATED @1 :Text;
-  androidBuildInfo @5 :AndroidBuildInfo;
-  androidSensorsDEPRECATED @6 :List(AndroidSensor);
-  chffrAndroidExtraDEPRECATED @7 :ChffrAndroidExtra;
-  iosBuildInfoDEPRECATED @14 :IosBuildInfo;
-
-  struct AndroidBuildInfo {
-    board @0 :Text;
-    bootloader @1 :Text;
-    brand @2 :Text;
-    device @3 :Text;
-    display @4 :Text;
-    fingerprint @5 :Text;
-    hardware @6 :Text;
-    host @7 :Text;
-    id @8 :Text;
-    manufacturer @9 :Text;
-    model @10 :Text;
-    product @11 :Text;
-    radioVersion @12 :Text;
-    serial @13 :Text;
-    supportedAbis @14 :List(Text);
-    tags @15 :Text;
-    time @16 :Int64;
-    type @17 :Text;
-    user @18 :Text;
-
-    versionCodename @19 :Text;
-    versionRelease @20 :Text;
-    versionSdk @21 :Int32;
-    versionSecurityPatch @22 :Text;
-  }
-
-  struct AndroidSensor {
-    id @0 :Int32;
-    name @1 :Text;
-    vendor @2 :Text;
-    version @3 :Int32;
-    handle @4 :Int32;
-    type @5 :Int32;
-    maxRange @6 :Float32;
-    resolution @7 :Float32;
-    power @8 :Float32;
-    minDelay @9 :Int32;
-    fifoReservedEventCount @10 :UInt32;
-    fifoMaxEventCount @11 :UInt32;
-    stringType @12 :Text;
-    maxDelay @13 :Int32;
-  }
-
   struct ChffrAndroidExtra {
     allCameraCharacteristics @0 :Map(Text, Text);
   }
 
-  struct IosBuildInfo {
-    appVersion @0 :Text;
-    appBuild @1 :UInt32;
-    osVersion @2 :Text;
-    deviceModel @3 :Text;
+  deprecated :group {
+    gctx @1 :Text;
+    androidBuildInfo @5 :Deprecated.AndroidBuildInfo;
+    androidSensors @6 :List(Deprecated.AndroidSensor);
+    chffrAndroidExtra @7 :ChffrAndroidExtra;
+    iosBuildInfo @14 :Deprecated.IosBuildInfo;
   }
 }
 
@@ -278,13 +230,6 @@ struct FrameData {
 
   temperaturesC @24 :List(Float32);
 
-  enum FrameTypeDEPRECATED {
-    unknown @0;
-    neo @1;
-    chffrAndroid @2;
-    front @3;
-  }
-
   sensor @26 :ImageSensor;
   enum ImageSensor {
     unknown @0;
@@ -293,26 +238,19 @@ struct FrameData {
     os04c10 @3;
   }
 
-  frameLengthDEPRECATED @3 :Int32;
-  globalGainDEPRECATED @5 :Int32;
-  frameTypeDEPRECATED @7 :FrameTypeDEPRECATED;
-  androidCaptureResultDEPRECATED @9 :AndroidCaptureResult;
-  lensPosDEPRECATED @11 :Int32;
-  lensSagDEPRECATED @12 :Float32;
-  lensErrDEPRECATED @13 :Float32;
-  lensTruePosDEPRECATED @14 :Float32;
-  focusValDEPRECATED @16 :List(Int16);
-  focusConfDEPRECATED @17 :List(UInt8);
-  sharpnessScoreDEPRECATED @18 :List(UInt16);
-  recoverStateDEPRECATED @19 :Int32;
-  struct AndroidCaptureResult {
-    sensitivity @0 :Int32;
-    frameDuration @1 :Int64;
-    exposureTime @2 :Int64;
-    rollingShutterSkew @3 :UInt64;
-    colorCorrectionTransform @4 :List(Int32);
-    colorCorrectionGains @5 :List(Float32);
-    displayRotation @6 :Int8;
+  deprecated :group {
+    frameLength @3 :Int32;
+    globalGain @5 :Int32;
+    frameType @7 :Deprecated.FrameTypeDEPRECATED;
+    androidCaptureResult @9 :Deprecated.AndroidCaptureResult;
+    lensPos @11 :Int32;
+    lensSag @12 :Float32;
+    lensErr @13 :Float32;
+    lensTruePos @14 :Float32;
+    focusVal @16 :List(Int16);
+    focusConf @17 :List(UInt8);
+    sharpnessScore @18 :List(UInt16);
+    recoverState @19 :Int32;
   }
 }
 
@@ -335,13 +273,8 @@ struct GPSNMEAData {
   nmea @2 :Text;
 }
 
-# android sensor_event_t
 struct SensorEventData {
-  version @0 :Int32;
-  sensor @1 :Int32;
-  type @2 :Int32;
   timestamp @3 :Int64;
-  uncalibratedDEPRECATED @10 :Bool;
 
   union {
     acceleration @4 :SensorVec;
@@ -359,7 +292,10 @@ struct SensorEventData {
 
   struct SensorVec {
     v @0 :List(Float32);
-    status @1 :Int8;
+
+    deprecated :group {
+      status @1 :Int8;
+    }
   }
 
   enum SensorSource {
@@ -376,6 +312,14 @@ struct SensorEventData {
     lsm6ds3trc @10;
     mmc5603nj @11;
   }
+
+  # formerly based on android sensor_event_t
+  deprecated :group {
+    version @0 :Int32;
+    sensor @1 :Int32;
+    type @2 :Int32;
+    uncalibrated @10 :Bool;
+  }
 }
 
 # android struct GpsLocation
@@ -461,7 +405,10 @@ struct CanData {
   address @0 :UInt32;
   dat     @2 :Data;
   src     @3 :UInt8;
-  busTimeDEPRECATED @1 :UInt16;
+
+  deprecated :group {
+    busTime @1 :UInt16;
+  }
 }
 
 struct DeviceState @0xa4d8b5af2aa492eb {
@@ -498,7 +445,8 @@ struct DeviceState @0xa4d8b5af2aa492eb {
   pmicTempC @39 :List(Float32);
   intakeTempC @46 :Float32;
   exhaustTempC @47 :Float32;
-  caseTempC @48 :Float32;
+  gnssTempC @48 :Float32;
+  bottomSocTempC @50 :Float32;
   maxTempC @44 :Float32;  # max of other temps, used to control fan
   thermalZones @38 :List(ThermalZone);
   thermalStatus @14 :ThermalStatus;
@@ -550,26 +498,27 @@ struct DeviceState @0xa4d8b5af2aa492eb {
     wwanRx @1 :Int64;
   }
 
-  # deprecated
-  cpu0DEPRECATED @0 :UInt16;
-  cpu1DEPRECATED @1 :UInt16;
-  cpu2DEPRECATED @2 :UInt16;
-  cpu3DEPRECATED @3 :UInt16;
-  memDEPRECATED @4 :UInt16;
-  gpuDEPRECATED @5 :UInt16;
-  batDEPRECATED @6 :UInt32;
-  pa0DEPRECATED @21 :UInt16;
-  cpuUsagePercentDEPRECATED @20 :Int8;
-  batteryStatusDEPRECATED @9 :Text;
-  batteryVoltageDEPRECATED @16 :Int32;
-  batteryTempCDEPRECATED @29 :Float32;
-  batteryPercentDEPRECATED @8 :Int16;
-  batteryCurrentDEPRECATED @15 :Int32;
-  chargingErrorDEPRECATED @17 :Bool;
-  chargingDisabledDEPRECATED @18 :Bool;
-  usbOnlineDEPRECATED @12 :Bool;
-  ambientTempCDEPRECATED @30 :Float32;
-  nvmeTempCDEPRECATED @35 :List(Float32);
+  deprecated :group {
+    cpu0 @0 :UInt16;
+    cpu1 @1 :UInt16;
+    cpu2 @2 :UInt16;
+    cpu3 @3 :UInt16;
+    mem @4 :UInt16;
+    gpu @5 :UInt16;
+    bat @6 :UInt32;
+    pa0 @21 :UInt16;
+    cpuUsagePercent @20 :Int8;
+    batteryStatus @9 :Text;
+    batteryVoltage @16 :Int32;
+    batteryTempC @29 :Float32;
+    batteryPercent @8 :Int16;
+    batteryCurrent @15 :Int32;
+    chargingError @17 :Bool;
+    chargingDisabled @18 :Bool;
+    usbOnline @12 :Bool;
+    ambientTempC @30 :Float32;
+    nvmeTempC @35 :List(Float32);
+  }
 }
 
 struct PandaState @0xa7649e2575e4591e {
@@ -591,6 +540,7 @@ struct PandaState @0xa7649e2575e4591e {
   harnessStatus @21 :HarnessStatus;
   sbu1Voltage @35 :Float32;
   sbu2Voltage @36 :Float32;
+  soundOutputLevel @37 :UInt16;
 
   # can health
   canState0 @29 :PandaCanState;
@@ -609,6 +559,11 @@ struct PandaState @0xa7649e2575e4591e {
   voltage @0 :UInt32;
   current @1 :UInt32;
 
+  # these fields are not used by openpilot, but they're
+  # reserved for forks building alternate experiences.
+  controlsAllowedRESERVED1 @38 :Bool;
+  controlsAllowedRESERVED2 @39 :Bool;
+
   enum FaultStatus {
     none @0;
     faultTemp @1;
@@ -705,15 +660,17 @@ struct PandaState @0xa7649e2575e4591e {
     }
   }
 
-  gasInterceptorDetectedDEPRECATED @4 :Bool;
-  startedSignalDetectedDEPRECATED @5 :Bool;
-  hasGpsDEPRECATED @6 :Bool;
-  gmlanSendErrsDEPRECATED @9 :UInt32;
-  fanSpeedRpmDEPRECATED @11 :UInt16;
-  usbPowerModeDEPRECATED @12 :PeripheralState.UsbPowerModeDEPRECATED;
-  safetyParamDEPRECATED @20 :Int16;
-  safetyParam2DEPRECATED @26 :UInt32;
-  fanStallCountDEPRECATED @34 :UInt8;
+  deprecated :group {
+    gasInterceptorDetected @4 :Bool;
+    startedSignalDetected @5 :Bool;
+    hasGps @6 :Bool;
+    gmlanSendErrs @9 :UInt32;
+    fanSpeedRpm @11 :UInt16;
+    usbPowerMode @12 :Deprecated.UsbPowerModeDEPRECATED;
+    safetyParam @20 :Int16;
+    safetyParam2 @26 :UInt32;
+    fanStallCount @34 :UInt8;
+  }
 }
 
 struct PeripheralState {
@@ -722,12 +679,8 @@ struct PeripheralState {
   current @2 :UInt32;
   fanSpeedRpm @3 :UInt16;
 
-  usbPowerModeDEPRECATED @4 :UsbPowerModeDEPRECATED;
-  enum UsbPowerModeDEPRECATED @0xa8883583b32c9877 {
-    none @0;
-    client @1;
-    cdp @2;
-    dcp @3;
+  deprecated :group {
+    usbPowerMode @4 :Deprecated.UsbPowerModeDEPRECATED;
   }
 }
 
@@ -756,19 +709,22 @@ struct RadarState @0x9a185389d6fdd05f {
     radar @14 :Bool;
     radarTrackId @15 :Int32 = -1;
 
-    aLeadDEPRECATED @5 :Float32;
+    deprecated :group {
+      aLead @5 :Float32;
+    }
   }
 
-  # deprecated
-  ftMonoTimeDEPRECATED @7 :UInt64;
-  warpMatrixDEPRECATED @0 :List(Float32);
-  angleOffsetDEPRECATED @1 :Float32;
-  calStatusDEPRECATED @2 :Int8;
-  calCycleDEPRECATED @8 :Int32;
-  calPercDEPRECATED @9 :Int8;
-  canMonoTimesDEPRECATED @10 :List(UInt64);
-  cumLagMsDEPRECATED @5 :Float32;
-  radarErrorsDEPRECATED @12 :List(Car.RadarData.ErrorDEPRECATED);
+  deprecated :group {
+    ftMonoTime @7 :UInt64;
+    warpMatrix @0 :List(Float32);
+    angleOffset @1 :Float32;
+    calStatus @2 :Int8;
+    calCycle @8 :Int32;
+    calPerc @9 :Int8;
+    canMonoTimes @10 :List(UInt64);
+    cumLagMs @5 :Float32;
+    radarErrors @12 :List(Car.RadarData.ErrorDEPRECATED);
+  }
 }
 
 struct LiveCalibrationData {
@@ -786,10 +742,6 @@ struct LiveCalibrationData {
   wideFromDeviceEuler @10 :List(Float32);
   height @12 :List(Float32);
 
-  warpMatrixDEPRECATED @0 :List(Float32);
-  calStatusDEPRECATED @1 :Int8;
-  warpMatrix2DEPRECATED @5 :List(Float32);
-  warpMatrixBigDEPRECATED @6 :List(Float32);
 
   enum Status {
     uncalibrated @0;
@@ -797,19 +749,13 @@ struct LiveCalibrationData {
     invalid @2;
     recalibrating @3;
   }
-}
 
-struct LiveTracksDEPRECATED {
-  trackId @0 :Int32;
-  dRel @1 :Float32;
-  yRel @2 :Float32;
-  vRel @3 :Float32;
-  aRel @4 :Float32;
-  timeStamp @5 :Float32;
-  status @6 :Float32;
-  currentTime @7 :Float32;
-  stationary @8 :Bool;
-  oncoming @9 :Bool;
+  deprecated :group {
+    warpMatrix @0 :List(Float32);
+    calStatus @1 :Int8;
+    warpMatrix2 @5 :List(Float32);
+    warpMatrixBig @6 :List(Float32);
+  }
 }
 
 struct SelfdriveState {
@@ -872,25 +818,9 @@ struct ControlsState @0x97ff69c53601abf1 {
     debugState @59 :LateralDebugState;
     torqueState @60 :LateralTorqueState;
 
-    curvatureStateDEPRECATED @65 :LateralCurvatureState;
-    lqrStateDEPRECATED @55 :LateralLQRState;
-    indiStateDEPRECATED @52 :LateralINDIState;
-  }
-
-  struct LateralINDIState {
-    active @0 :Bool;
-    steeringAngleDeg @1 :Float32;
-    steeringRateDeg @2 :Float32;
-    steeringAccelDeg @3 :Float32;
-    rateSetPoint @4 :Float32;
-    accelSetPoint @5 :Float32;
-    accelError @6 :Float32;
-    delayedOutput @7 :Float32;
-    delta @8 :Float32;
-    output @9 :Float32;
-    saturated @10 :Bool;
-    steeringAngleDesiredDeg @11 :Float32;
-    steeringRateDesiredDeg @12 :Float32;
+    curvatureStateDEPRECATED @65 :Deprecated.LateralCurvatureState;
+    lqrStateDEPRECATED @55 :Deprecated.LateralLQRState;
+    indiStateDEPRECATED @52 :Deprecated.LateralINDIState;
   }
 
   struct LateralPIDState {
@@ -922,16 +852,6 @@ struct ControlsState @0x97ff69c53601abf1 {
     version @12 :Int32;
    }
 
-  struct LateralLQRState {
-    active @0 :Bool;
-    steeringAngleDeg @1 :Float32;
-    i @2 :Float32;
-    output @3 :Float32;
-    lqrOutput @4 :Float32;
-    saturated @5 :Bool;
-    steeringAngleDesiredDeg @6 :Float32;
-  }
-
   struct LateralAngleState {
     active @0 :Bool;
     steeringAngleDeg @1 :Float32;
@@ -940,18 +860,6 @@ struct ControlsState @0x97ff69c53601abf1 {
     steeringAngleDesiredDeg @4 :Float32;
   }
 
-  struct LateralCurvatureState {
-    active @0 :Bool;
-    actualCurvature @1 :Float32;
-    desiredCurvature @2 :Float32;
-    error @3 :Float32;
-    p @4 :Float32;
-    i @5 :Float32;
-    f @6 :Float32;
-    output @7 :Float32;
-    saturated @8 :Bool;
-  }
-
   struct LateralDebugState {
     active @0 :Bool;
     steeringAngleDeg @1 :Float32;
@@ -959,58 +867,59 @@ struct ControlsState @0x97ff69c53601abf1 {
     saturated @3 :Bool;
   }
 
-  # deprecated
-  vEgoDEPRECATED @0 :Float32;
-  vEgoRawDEPRECATED @32 :Float32;
-  aEgoDEPRECATED @1 :Float32;
-  canMonoTimeDEPRECATED @16 :UInt64;
-  radarStateMonoTimeDEPRECATED @17 :UInt64;
-  mdMonoTimeDEPRECATED @18 :UInt64;
-  yActualDEPRECATED @6 :Float32;
-  yDesDEPRECATED @7 :Float32;
-  upSteerDEPRECATED @8 :Float32;
-  uiSteerDEPRECATED @9 :Float32;
-  ufSteerDEPRECATED @34 :Float32;
-  aTargetMinDEPRECATED @10 :Float32;
-  aTargetMaxDEPRECATED @11 :Float32;
-  rearViewCamDEPRECATED @23 :Bool;
-  driverMonitoringOnDEPRECATED @43 :Bool;
-  hudLeadDEPRECATED @14 :Int32;
-  alertSoundDEPRECATED @45 :Text;
-  angleModelBiasDEPRECATED @27 :Float32;
-  gpsPlannerActiveDEPRECATED @40 :Bool;
-  decelForTurnDEPRECATED @47 :Bool;
-  decelForModelDEPRECATED @54 :Bool;
-  awarenessStatusDEPRECATED @26 :Float32;
-  angleSteersDEPRECATED @13 :Float32;
-  vCurvatureDEPRECATED @46 :Float32;
-  mapValidDEPRECATED @49 :Bool;
-  jerkFactorDEPRECATED @12 :Float32;
-  steerOverrideDEPRECATED @20 :Bool;
-  steeringAngleDesiredDegDEPRECATED @29 :Float32;
-  canMonoTimesDEPRECATED @21 :List(UInt64);
-  desiredCurvatureRateDEPRECATED @62 :Float32;
-  canErrorCounterDEPRECATED @57 :UInt32;
-  vPidDEPRECATED @2 :Float32;
-  alertBlinkingRateDEPRECATED @42 :Float32;
-  alertText1DEPRECATED @24 :Text;
-  alertText2DEPRECATED @25 :Text;
-  alertStatusDEPRECATED @38 :SelfdriveState.AlertStatus;
-  alertSizeDEPRECATED @39 :SelfdriveState.AlertSize;
-  alertTypeDEPRECATED @44 :Text;
-  alertSound2DEPRECATED @56 :Car.CarControl.HUDControl.AudibleAlert;
-  engageableDEPRECATED @41 :Bool;  # can OP be engaged?
-  stateDEPRECATED @31 :SelfdriveState.OpenpilotState;
-  enabledDEPRECATED @19 :Bool;
-  activeDEPRECATED @36 :Bool;
-  experimentalModeDEPRECATED @64 :Bool;
-  personalityDEPRECATED @66 :LongitudinalPersonality;
-  vCruiseDEPRECATED @22 :Float32;  # actual set speed
-  vCruiseClusterDEPRECATED @63 :Float32;  # set speed to display in the UI
-  startMonoTimeDEPRECATED @48 :UInt64;
-  cumLagMsDEPRECATED @15 :Float32;
-  aTargetDEPRECATED @35 :Float32;
-  vTargetLeadDEPRECATED @3 :Float32;
+  deprecated :group {
+    vEgo @0 :Float32;
+    vEgoRaw @32 :Float32;
+    aEgo @1 :Float32;
+    canMonoTime @16 :UInt64;
+    radarStateMonoTime @17 :UInt64;
+    mdMonoTime @18 :UInt64;
+    yActual @6 :Float32;
+    yDes @7 :Float32;
+    upSteer @8 :Float32;
+    uiSteer @9 :Float32;
+    ufSteer @34 :Float32;
+    aTargetMin @10 :Float32;
+    aTargetMax @11 :Float32;
+    rearViewCam @23 :Bool;
+    driverMonitoringOn @43 :Bool;
+    hudLead @14 :Int32;
+    alertSound @45 :Text;
+    angleModelBias @27 :Float32;
+    gpsPlannerActive @40 :Bool;
+    decelForTurn @47 :Bool;
+    decelForModel @54 :Bool;
+    awarenessStatus @26 :Float32;
+    angleSteers @13 :Float32;
+    vCurvature @46 :Float32;
+    mapValid @49 :Bool;
+    jerkFactor @12 :Float32;
+    steerOverride @20 :Bool;
+    steeringAngleDesiredDeg @29 :Float32;
+    canMonoTimes @21 :List(UInt64);
+    desiredCurvatureRate @62 :Float32;
+    canErrorCounter @57 :UInt32;
+    vPid @2 :Float32;
+    alertBlinkingRate @42 :Float32;
+    alertText1 @24 :Text;
+    alertText2 @25 :Text;
+    alertStatus @38 :SelfdriveState.AlertStatus;
+    alertSize @39 :SelfdriveState.AlertSize;
+    alertType @44 :Text;
+    alertSound2 @56 :Car.CarControl.HUDControl.AudibleAlert;
+    engageable @41 :Bool;  # can OP be engaged?
+    state @31 :SelfdriveState.OpenpilotState;
+    enabled @19 :Bool;
+    active @36 :Bool;
+    experimentalMode @64 :Bool;
+    personality @66 :LongitudinalPersonality;
+    vCruise @22 :Float32;  # actual set speed
+    vCruiseCluster @63 :Float32;  # set speed to display in the UI
+    startMonoTime @48 :UInt64;
+    cumLagMs @15 :Float32;
+    aTarget @35 :Float32;
+    vTargetLead @3 :Float32;
+  }
 }
 
 struct DrivingModelData {
@@ -1086,16 +995,10 @@ struct ModelDataV2 {
   meta @12 :MetaData;
   confidence @23: ConfidenceClass;
 
-  # Model perceived motion
-  temporalPoseDEPRECATED @21 :Pose;
-
   # e2e lateral planner
   action @26: Action;
 
-  gpuExecutionTimeDEPRECATED @17 :Float32;
-  navEnabledDEPRECATED @22 :Bool;
-  locationMonoTimeDEPRECATED @24 :UInt64;
-  lateralPlannerSolutionDEPRECATED @25: LateralPlannerSolution;
+  lateralPlannerSolutionDEPRECATED @25: Deprecated.LateralPlannerSolution;
 
   struct LeadDataV2 {
     prob @0 :Float32; # probability that car is your lead at time t
@@ -1137,10 +1040,11 @@ struct ModelDataV2 {
     laneChangeDirection @9 :LaneChangeDirection;
 
 
-    # deprecated
-    brakeDisengageProbDEPRECATED @2 :Float32;
-    gasDisengageProbDEPRECATED @3 :Float32;
-    steerOverrideProbDEPRECATED @4 :Float32;
+    deprecated :group {
+      brakeDisengageProb @2 :Float32;
+      gasDisengageProb @3 :Float32;
+      steerOverrideProb @4 :Float32;
+    }
   }
 
   enum ConfidenceClass {
@@ -1168,22 +1072,18 @@ struct ModelDataV2 {
     rotStd @3 :List(Float32); # std rad/s in device frame
   }
 
-  struct LateralPlannerSolution {
-    x @0 :List(Float32);
-    y @1 :List(Float32);
-    yaw @2 :List(Float32);
-    yawRate @3 :List(Float32);
-    xStd @4 :List(Float32);
-    yStd @5 :List(Float32);
-    yawStd @6 :List(Float32);
-    yawRateStd @7 :List(Float32);
-  }
-
   struct Action {
     desiredCurvature @0 :Float32;
     desiredAcceleration @1 :Float32;
     shouldStop @2 :Bool;
   }
+
+  deprecated :group {
+    temporalPose @21 :Pose;
+    gpuExecutionTime @17 :Float32;
+    navEnabled @22 :Bool;
+    locationMonoTime @24 :UInt64;
+  }
 }
 
 struct EncodeIndex {
@@ -1238,6 +1138,10 @@ struct DriverAssistance {
   # FCW, AEB, etc. will go here
 }
 
+struct LateralManeuverPlan {
+  desiredCurvature @0 :Float32;  # 1/m
+}
+
 struct LongitudinalPlan @0xe00b5b3eba12876c {
   modelMonoTime @9 :UInt64;
   hasLead @7 :Bool;
@@ -1265,38 +1169,35 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
     e2e @4;
   }
 
-  # deprecated
-  vCruiseDEPRECATED @16 :Float32;
-  aCruiseDEPRECATED @17 :Float32;
-  vTargetDEPRECATED @3 :Float32;
-  vTargetFutureDEPRECATED @14 :Float32;
-  vStartDEPRECATED @26 :Float32;
-  aStartDEPRECATED @27 :Float32;
-  vMaxDEPRECATED @20 :Float32;
-  radarStateMonoTimeDEPRECATED @10 :UInt64;
-  jerkFactorDEPRECATED @6 :Float32;
-  hasLeftLaneDEPRECATED @23 :Bool;
-  hasRightLaneDEPRECATED @24 :Bool;
-  aTargetMinDEPRECATED @4 :Float32;
-  aTargetMaxDEPRECATED @5 :Float32;
-  lateralValidDEPRECATED @0 :Bool;
-  longitudinalValidDEPRECATED @2 :Bool;
-  dPolyDEPRECATED @1 :List(Float32);
-  laneWidthDEPRECATED @11 :Float32;
-  vCurvatureDEPRECATED @21 :Float32;
-  decelForTurnDEPRECATED @22 :Bool;
-  mapValidDEPRECATED @25 :Bool;
-  radarValidDEPRECATED @28 :Bool;
-  radarCanErrorDEPRECATED @30 :Bool;
-  commIssueDEPRECATED @31 :Bool;
-  eventsDEPRECATED @13 :List(Car.OnroadEventDEPRECATED);
-  gpsTrajectoryDEPRECATED @12 :GpsTrajectory;
-  gpsPlannerActiveDEPRECATED @19 :Bool;
-  personalityDEPRECATED @36 :LongitudinalPersonality;
-
-  struct GpsTrajectory {
-    x @0 :List(Float32);
-    y @1 :List(Float32);
+
+  deprecated :group {
+    vCruise @16 :Float32;
+    aCruise @17 :Float32;
+    vTarget @3 :Float32;
+    vTargetFuture @14 :Float32;
+    vStart @26 :Float32;
+    aStart @27 :Float32;
+    vMax @20 :Float32;
+    radarStateMonoTime @10 :UInt64;
+    jerkFactor @6 :Float32;
+    hasLeftLane @23 :Bool;
+    hasRightLane @24 :Bool;
+    aTargetMin @4 :Float32;
+    aTargetMax @5 :Float32;
+    lateralValid @0 :Bool;
+    longitudinalValid @2 :Bool;
+    dPoly @1 :List(Float32);
+    laneWidth @11 :Float32;
+    vCurvature @21 :Float32;
+    decelForTurn @22 :Bool;
+    mapValid @25 :Bool;
+    radarValid @28 :Bool;
+    radarCanError @30 :Bool;
+    commIssue @31 :Bool;
+    events @13 :List(Car.OnroadEventDEPRECATED);
+    gpsTrajectory @12 :Deprecated.GpsTrajectory;
+    gpsPlannerActive @19 :Bool;
+    personality @36 :LongitudinalPersonality;
   }
 }
 struct UiPlan {
@@ -1307,11 +1208,7 @@ struct UiPlan {
 
 struct LateralPlan @0xe1e9318e2ae8b51e {
   modelMonoTime @31 :UInt64;
-  laneWidthDEPRECATED @0 :Float32;
-  lProbDEPRECATED @5 :Float32;
-  rProbDEPRECATED @7 :Float32;
   dPathPoints @20 :List(Float32);
-  dProbDEPRECATED @21 :Float32;
 
   mpcSolutionValid @9 :Bool;
   desire @17 :Desire;
@@ -1333,24 +1230,29 @@ struct LateralPlan @0xe1e9318e2ae8b51e {
     u @1 :List(Float32);
   }
 
-  # deprecated
-  curvatureDEPRECATED @22 :Float32;
-  curvatureRateDEPRECATED @23 :Float32;
-  rawCurvatureDEPRECATED @24 :Float32;
-  rawCurvatureRateDEPRECATED @25 :Float32;
-  cProbDEPRECATED @3 :Float32;
-  dPolyDEPRECATED @1 :List(Float32);
-  cPolyDEPRECATED @2 :List(Float32);
-  lPolyDEPRECATED @4 :List(Float32);
-  rPolyDEPRECATED @6 :List(Float32);
-  modelValidDEPRECATED @12 :Bool;
-  commIssueDEPRECATED @15 :Bool;
-  posenetValidDEPRECATED @16 :Bool;
-  sensorValidDEPRECATED @14 :Bool;
-  paramsValidDEPRECATED @10 :Bool;
-  steeringAngleDegDEPRECATED @8 :Float32; # deg
-  steeringRateDegDEPRECATED @13 :Float32; # deg/s
-  angleOffsetDegDEPRECATED @11 :Float32;
+  deprecated :group {
+    laneWidth @0 :Float32;
+    lProb @5 :Float32;
+    rProb @7 :Float32;
+    dProb @21 :Float32;
+    curvature @22 :Float32;
+    curvatureRate @23 :Float32;
+    rawCurvature @24 :Float32;
+    rawCurvatureRate @25 :Float32;
+    cProb @3 :Float32;
+    dPoly @1 :List(Float32);
+    cPoly @2 :List(Float32);
+    lPoly @4 :List(Float32);
+    rPoly @6 :List(Float32);
+    modelValid @12 :Bool;
+    commIssue @15 :Bool;
+    posenetValid @16 :Bool;
+    sensorValid @14 :Bool;
+    paramsValid @10 :Bool;
+    steeringAngleDeg @8 :Float32;  # deg
+    steeringRateDeg @13 :Float32;  # deg/s
+    angleOffsetDeg @11 :Float32;
+  }
 }
 
 struct LiveLocationKalman {
@@ -1423,6 +1325,8 @@ struct LivePose {
   posenetOK @5 :Bool = false;
   sensorsOK @6 :Bool = false;
 
+  timestamp @8 :UInt64;
+
   debugFilterState @7 :FilterState;
 
   struct XYZMeasurement {
@@ -1477,6 +1381,11 @@ struct ProcLog {
 
     cmdline @15 :List(Text);
     exe @16 :Text;
+
+    # from /proc/<pid>/smaps_rollup (proportional/private memory)
+    memPss @17 :UInt64;        # Pss — shared pages split by mapper count
+    memPssAnon @18 :UInt64;    # Pss_Anon — private anonymous (heap, stack)
+    memPssShmem @19 :UInt64;   # Pss_Shmem — proportional MSGQ/tmpfs share
   }
 
   struct CPUTimes {
@@ -1538,7 +1447,10 @@ struct GnssMeasurements {
     # Satellite position and velocity [x,y,z]
     satPos @7 :List(Float64);
     satVel @8 :List(Float64);
-    ephemerisSourceDEPRECATED @9 :EphemerisSourceDEPRECATED;
+
+    deprecated :group {
+      ephemerisSource @9 :EphemerisSourceDEPRECATED;
+    }
   }
 
   struct EphemerisSourceDEPRECATED {
@@ -1693,7 +1605,6 @@ struct UbloxGnss {
 
     iDot @26 :Float64;
     codesL2 @27 :Float64;
-    gpsWeekDEPRECATED @28 :Float64;
     l2 @29 :Float64;
 
     svAcc @30 :Float64;
@@ -1713,6 +1624,10 @@ struct UbloxGnss {
     towCount @40 :UInt32;
     toeWeek @41 :UInt16;
     tocWeek @42 :UInt16;
+
+    deprecated :group {
+      gpsWeek @28 :Float64;
+    }
   }
 
   struct IonoData {
@@ -1791,7 +1706,6 @@ struct UbloxGnss {
     age @17 :UInt8;
 
     svHealth @18 :UInt8;
-    tkDEPRECATED @19 :UInt16;
     tb @20 :UInt16;
 
     tauN @21 :Float64;
@@ -1803,12 +1717,16 @@ struct UbloxGnss {
     p3 @26 :UInt8;
     p4 @27 :UInt8;
 
-    freqNumDEPRECATED @28 :UInt32;
 
     n4 @29 :UInt8;
     nt @30 :UInt16;
     freqNum @31 :Int16;
     tkSeconds @32 :UInt32;
+
+    deprecated :group {
+      tk @19 :UInt16;
+      freqNum @28 :UInt32;
+    }
   }
 }
 
@@ -2109,34 +2027,12 @@ struct QcomGnss @0xde94674b07ae51c1 {
 struct Clocks {
   wallTimeNanos @3 :UInt64;  # unix epoch time
 
-  bootTimeNanosDEPRECATED @0 :UInt64;
-  monotonicNanosDEPRECATED @1 :UInt64;
-  monotonicRawNanosDEPRECATD @2 :UInt64;
-  modemUptimeMillisDEPRECATED @4 :UInt64;
-}
-
-struct LiveMpcData {
-  x @0 :List(Float32);
-  y @1 :List(Float32);
-  psi @2 :List(Float32);
-  curvature @3 :List(Float32);
-  qpIterations @4 :UInt32;
-  calculationTime @5 :UInt64;
-  cost @6 :Float64;
-}
-
-struct LiveLongitudinalMpcData {
-  xEgo @0 :List(Float32);
-  vEgo @1 :List(Float32);
-  aEgo @2 :List(Float32);
-  xLead @3 :List(Float32);
-  vLead @4 :List(Float32);
-  aLead @5 :List(Float32);
-  aLeadTau @6 :Float32;    # lead accel time constant
-  qpIterations @7 :UInt32;
-  mpcId @8 :UInt32;
-  calculationTime @9 :UInt64;
-  cost @10 :Float64;
+  deprecated :group {
+    bootTimeNanos @0 :UInt64;
+    monotonicNanos @1 :UInt64;
+    monotonicRawNanos @2 :UInt64;
+    modemUptimeMillis @4 :UInt64;
+  }
 }
 
 struct Joystick {
@@ -2161,54 +2057,29 @@ struct DriverStateV2 {
     facePosition @2 :List(Float32);
     facePositionStd @3 :List(Float32);
     faceProb @4 :Float32;
-    leftEyeProb @5 :Float32;
-    rightEyeProb @6 :Float32;
-    leftBlinkProb @7 :Float32;
-    rightBlinkProb @8 :Float32;
-    sunglassesProb @9 :Float32;
+    eyesVisibleProb @14 :Float32;
+    eyesClosedProb @15 :Float32;
     phoneProb @13 :Float32;
-    notReadyProbDEPRECATED @12 :List(Float32);
-    occludedProbDEPRECATED @10 :Float32;
-    readyProbDEPRECATED @11 :List(Float32);
-  }
 
-  dspExecutionTimeDEPRECATED @2 :Float32;
-  poorVisionProbDEPRECATED @4 :Float32;
-}
+    deprecated :group {
+      leftEyeProb @5 :Float32;
+      rightEyeProb @6 :Float32;
+      leftBlinkProb @7 :Float32;
+      rightBlinkProb @8 :Float32;
+      sunglassesProb @9 :Float32;
+      notReadyProb @12 :List(Float32);
+      occludedProb @10 :Float32;
+      readyProb @11 :List(Float32);
+    }
+  }
 
-struct DriverStateDEPRECATED @0xb83c6cc593ed0a00 {
-  frameId @0 :UInt32;
-  modelExecutionTime @14 :Float32;
-  dspExecutionTime @16 :Float32;
-  rawPredictions @15 :Data;
-
-  faceOrientation @3 :List(Float32);
-  facePosition @4 :List(Float32);
-  faceProb @5 :Float32;
-  leftEyeProb @6 :Float32;
-  rightEyeProb @7 :Float32;
-  leftBlinkProb @8 :Float32;
-  rightBlinkProb @9 :Float32;
-  faceOrientationStd @11 :List(Float32);
-  facePositionStd @12 :List(Float32);
-  sunglassesProb @13 :Float32;
-  poorVision @17 :Float32;
-  partialFace @18 :Float32;
-  distractedPose @19 :Float32;
-  distractedEyes @20 :Float32;
-  eyesOnRoad @21 :Float32;
-  phoneUse @22 :Float32;
-  occludedProb @23 :Float32;
-
-  readyProb @24 :List(Float32);
-  notReadyProb @25 :List(Float32);
-
-  irPwrDEPRECATED @10 :Float32;
-  descriptorDEPRECATED @1 :List(Float32);
-  stdDEPRECATED @2 :Float32;
+  deprecated :group {
+    dspExecutionTime @2 :Float32;
+    poorVisionProb @4 :Float32;
+  }
 }
 
-struct DriverMonitoringState @0xb83cda094a1da284 {
+struct DriverMonitoringStateDEPRECATED @0xb83cda094a1da284 {
   events @18 :List(OnroadEvent);
   faceDetected @1 :Bool;
   isDistracted @2 :Bool;
@@ -2226,12 +2097,83 @@ struct DriverMonitoringState @0xb83cda094a1da284 {
   isActiveMode @16 :Bool;
   isRHD @4 :Bool;
   uncertainCount @19 :UInt32;
-  phoneProbOffset @20 :Float32;
-  phoneProbValidCount @21 :UInt32;
 
-  isPreviewDEPRECATED @15 :Bool;
-  rhdCheckedDEPRECATED @5 :Bool;
-  eventsDEPRECATED @0 :List(Car.OnroadEventDEPRECATED);
+  deprecated :group {
+    phoneProbOffset @20 :Float32;
+    phoneProbValidCount @21 :UInt32;
+    isPreview @15 :Bool;
+    rhdChecked @5 :Bool;
+    events @0 :List(Car.OnroadEventDEPRECATED);
+  }
+}
+
+struct DriverMonitoringState {
+  lockout @0 :Bool;
+  alertCountLockoutPercent @1 :Int8;
+  alertTimeLockoutPercent @2 :Int8;
+
+  alwaysOn @3 :Bool;
+  alwaysOnLockout @4 :Bool;
+
+  alertLevel @5 :AlertLevel;
+  activePolicy @6 :MonitoringPolicy;
+  isRHD @7 :Bool;
+  rhdCalibration @8 :CalibrationState;
+
+  visionPolicyState @9 :VisionPolicyState;
+  wheeltouchPolicyState @10 :WheeltouchPolicyState;
+
+  enum AlertLevel {
+    # ordinal must match the name to prevent bugs
+    # comparing against the raw ordinal value
+    none @0;
+    one @1;
+    two @2;
+    three @3;
+  }
+
+  enum MonitoringPolicy {
+    wheeltouch @0;
+    vision @1;
+  }
+
+  struct VisionPolicyState {
+    awarenessPercent @0 :Int8;
+    awarenessStep @1 :Float32;
+    isDistracted @2 :Bool;
+    distractedTypes @3 :DistractedTypes;
+
+    faceDetected @4 :Bool;
+    pose @5 :Pose;
+    wheeltouchFallbackPercent @6 :Int8;
+    uncertainOffroadAlertPercent @7 :Int8;
+
+    struct DistractedTypes {
+      pose @0: Bool;
+      eye @1: Bool;
+      phone @2: Bool;
+    }
+
+    struct Pose {
+      pitch @0 :Float32;
+      yaw @1 :Float32;
+      pitchCalib @2 :CalibrationState;
+      yawCalib @3 :CalibrationState;
+      calibrated @4 :Bool;
+      uncertainty @5 :Float32;
+    }
+  }
+
+  struct WheeltouchPolicyState {
+    awarenessPercent @0 :Int8;
+    awarenessStep @1 :Float32;
+    driverInteracting @2 :Bool;
+  }
+
+  struct CalibrationState {
+    calibratedPercent @0 :Int8;
+    offset @1 :Float32;
+  }
 }
 
 struct Boot {
@@ -2240,8 +2182,10 @@ struct Boot {
   commands @5 :Map(Text, Data);
   launchLog @3 :Text;
 
-  lastKmsgDEPRECATED @1 :Data;
-  lastPmsgDEPRECATED @2 :Data;
+  deprecated :group {
+    lastKmsg @1 :Data;
+    lastPmsg @2 :Data;
+  }
 }
 
 struct LiveParametersData {
@@ -2266,13 +2210,16 @@ struct LiveParametersData {
   steerRatioValid @19 :Bool = true;
   stiffnessFactorValid @20 :Bool = true;
 
-  yawRateDEPRECATED @7 :Float32;
-  filterStateDEPRECATED @15 :LiveLocationKalman.Measurement;
 
   struct FilterState {
     value @0 : List(Float64);
     std @1 : List(Float64);
   }
+
+  deprecated :group {
+    yawRate @7 :Float32;
+    filterState @15 :LiveLocationKalman.Measurement;
+  }
 }
 
 struct LiveTorqueParametersData {
@@ -2442,25 +2389,6 @@ struct MapRenderState {
   frameId @2: UInt32;
 }
 
-struct NavModelData {
-  frameId @0 :UInt32;
-  locationMonoTime @6 :UInt64;
-  modelExecutionTime @1 :Float32;
-  dspExecutionTime @2 :Float32;
-  features @3 :List(Float32);
-  # predicted future position
-  position @4 :XYData;
-  desirePrediction @5 :List(Float32);
-
-  # All SI units and in device frame
-  struct XYData {
-    x @0 :List(Float32);
-    y @1 :List(Float32);
-    xStd @2 :List(Float32);
-    yStd @3 :List(Float32);
-  }
-}
-
 struct EncodeData {
   idx @0 :EncodeIndex;
   data @1 :Data;
@@ -2485,7 +2413,9 @@ struct SoundPressure @0xdc24138990726023 {
   soundPressureWeighted @3 :Float32;
   soundPressureWeightedDb @1 :Float32;
 
-  filteredSoundPressureWeightedDbDEPRECATED @2 :Float32;
+  deprecated :group {
+    filteredSoundPressureWeightedDb @2 :Float32;
+  }
 }
 
 struct AudioData {
@@ -2519,7 +2449,6 @@ struct Event {
     boot @60 :Boot;
 
     # ********** openpilot daemon msgs **********
-    gpsNMEA @3 :GPSNMEAData;
     can @5 :List(CanData);
     controlsState @7 :ControlsState;
     selfdriveState @130 :SelfdriveState;
@@ -2544,7 +2473,6 @@ struct Event {
     qcomGnss @31 :QcomGnss;
     gpsLocationExternal @48 :GpsLocationData;
     gpsLocation @21 :GpsLocationData;
-    gnssMeasurements @91 :GnssMeasurements;
     liveParameters @61 :LiveParametersData;
     liveTorqueParameters @94 :LiveTorqueParametersData;
     liveDelay @146 : LiveDelayData;
@@ -2552,7 +2480,7 @@ struct Event {
     thumbnail @66: Thumbnail;
     onroadEvents @134: List(OnroadEvent);
     carParams @69: Car.CarParams;
-    driverMonitoringState @71: DriverMonitoringState;
+    driverMonitoringState @151 :DriverMonitoringState;
     livePose @129 :LivePose;
     modelV2 @75 :ModelDataV2;
     drivingModelData @128 :DrivingModelData;
@@ -2578,7 +2506,6 @@ struct Event {
     # systems stuff
     androidLog @20 :AndroidLogEntry;
     managerState @78 :ManagerState;
-    uploaderState @79 :UploaderState;
     procLog @33 :ProcLog;
     clocks @35 :Clocks;
     deviceState @6 :DeviceState;
@@ -2588,12 +2515,6 @@ struct Event {
     # touch frame
     touch @135 :List(Touch);
 
-    # navigation
-    navInstruction @82 :NavInstruction;
-    navRoute @83 :NavRoute;
-    navThumbnail @84: Thumbnail;
-    mapRenderState @105: MapRenderState;
-
     # UI services
     uiDebug @102 :UIDebug;
 
@@ -2602,6 +2523,8 @@ struct Event {
     bookmarkButton @148 :UserBookmark;
     audioFeedback @149 :AudioFeedback;
 
+    lateralManeuverPlan @150 :LateralManeuverPlan;
+
     # *********** debug ***********
     testJoystick @52 :Joystick;
     roadEncodeData @86 :EncodeData;
@@ -2647,51 +2570,59 @@ struct Event {
     customReserved19 @145 :Custom.CustomReserved19;
 
     # *********** legacy + deprecated ***********
-    model @9 :Legacy.ModelData; # TODO: rename modelV2 and mark this as deprecated
-    liveMpcDEPRECATED @36 :LiveMpcData;
-    liveLongitudinalMpcDEPRECATED @37 :LiveLongitudinalMpcData;
-    liveLocationKalmanLegacyDEPRECATED @51 :Legacy.LiveLocationData;
-    orbslamCorrectionDEPRECATED @45 :Legacy.OrbslamCorrection;
-    liveUIDEPRECATED @14 :Legacy.LiveUI;
+    model @9 :Deprecated.ModelData; # TODO: rename modelV2 and mark this as deprecated
+    liveMpcDEPRECATED @36 :Deprecated.LiveMpcData;
+    liveLongitudinalMpcDEPRECATED @37 :Deprecated.LiveLongitudinalMpcData;
+    liveLocationKalmanDeprecatedDEPRECATED @51 :Deprecated.LiveLocationData;
+    orbslamCorrectionDEPRECATED @45 :Deprecated.OrbslamCorrection;
+    liveUIDEPRECATED @14 :Deprecated.LiveUI;
     sensorEventDEPRECATED @4 :SensorEventData;
-    liveEventDEPRECATED @8 :List(Legacy.LiveEventData);
-    liveLocationDEPRECATED @25 :Legacy.LiveLocationData;
-    ethernetDataDEPRECATED @26 :List(Legacy.EthernetPacket);
-    cellInfoDEPRECATED @28 :List(Legacy.CellInfo);
-    wifiScanDEPRECATED @29 :List(Legacy.WifiScan);
-    uiNavigationEventDEPRECATED @50 :Legacy.UiNavigationEvent;
+    liveEventDEPRECATED @8 :List(Deprecated.LiveEventData);
+    liveLocationDEPRECATED @25 :Deprecated.LiveLocationData;
+    ethernetDataDEPRECATED @26 :List(Deprecated.EthernetPacket);
+    cellInfoDEPRECATED @28 :List(Deprecated.CellInfo);
+    wifiScanDEPRECATED @29 :List(Deprecated.WifiScan);
+    uiNavigationEventDEPRECATED @50 :Deprecated.UiNavigationEvent;
     liveMapDataDEPRECATED @62 :LiveMapDataDEPRECATED;
-    gpsPlannerPointsDEPRECATED @40 :Legacy.GPSPlannerPoints;
-    gpsPlannerPlanDEPRECATED @41 :Legacy.GPSPlannerPlan;
+    gpsPlannerPointsDEPRECATED @40 :Deprecated.GPSPlannerPoints;
+    gpsPlannerPlanDEPRECATED @41 :Deprecated.GPSPlannerPlan;
     applanixRawDEPRECATED @42 :Data;
-    androidGnssDEPRECATED @30 :Legacy.AndroidGnss;
-    lidarPtsDEPRECATED @32 :Legacy.LidarPts;
-    navStatusDEPRECATED @38 :Legacy.NavStatus;
-    trafficEventsDEPRECATED @43 :List(Legacy.TrafficEvent);
-    liveLocationTimingDEPRECATED @44 :Legacy.LiveLocationData;
-    liveLocationCorrectedDEPRECATED @46 :Legacy.LiveLocationData;
-    navUpdateDEPRECATED @27 :Legacy.NavUpdate;
-    orbObservationDEPRECATED @47 :List(Legacy.OrbObservation);
-    locationDEPRECATED @49 :Legacy.LiveLocationData;
-    orbOdometryDEPRECATED @53 :Legacy.OrbOdometry;
-    orbFeaturesDEPRECATED @54 :Legacy.OrbFeatures;
-    applanixLocationDEPRECATED @55 :Legacy.LiveLocationData;
-    orbKeyFrameDEPRECATED @56 :Legacy.OrbKeyFrame;
-    orbFeaturesSummaryDEPRECATED @58 :Legacy.OrbFeaturesSummary;
-    featuresDEPRECATED @10 :Legacy.CalibrationFeatures;
-    kalmanOdometryDEPRECATED @65 :Legacy.KalmanOdometry;
-    uiLayoutStateDEPRECATED @57 :Legacy.UiLayoutState;
+    androidGnssDEPRECATED @30 :Deprecated.AndroidGnss;
+    lidarPtsDEPRECATED @32 :Deprecated.LidarPts;
+    navStatusDEPRECATED @38 :Deprecated.NavStatus;
+    trafficEventsDEPRECATED @43 :List(Deprecated.TrafficEvent);
+    liveLocationTimingDEPRECATED @44 :Deprecated.LiveLocationData;
+    liveLocationCorrectedDEPRECATED @46 :Deprecated.LiveLocationData;
+    navUpdateDEPRECATED @27 :Deprecated.NavUpdate;
+    orbObservationDEPRECATED @47 :List(Deprecated.OrbObservation);
+    locationDEPRECATED @49 :Deprecated.LiveLocationData;
+    orbOdometryDEPRECATED @53 :Deprecated.OrbOdometry;
+    orbFeaturesDEPRECATED @54 :Deprecated.OrbFeatures;
+    applanixLocationDEPRECATED @55 :Deprecated.LiveLocationData;
+    orbKeyFrameDEPRECATED @56 :Deprecated.OrbKeyFrame;
+    orbFeaturesSummaryDEPRECATED @58 :Deprecated.OrbFeaturesSummary;
+    featuresDEPRECATED @10 :Deprecated.CalibrationFeatures;
+    kalmanOdometryDEPRECATED @65 :Deprecated.KalmanOdometry;
+    uiLayoutStateDEPRECATED @57 :Deprecated.UiLayoutState;
     pandaStateDEPRECATED @12 :PandaState;
-    driverStateDEPRECATED @59 :DriverStateDEPRECATED;
+    driverStateDEPRECATED @59 :Deprecated.DriverStateDEPRECATED;
     sensorEventsDEPRECATED @11 :List(SensorEventData);
     lateralPlanDEPRECATED @64 :LateralPlan;
-    navModelDEPRECATED @104 :NavModelData;
+    navModelDEPRECATED @104 :Deprecated.NavModelData;
     uiPlanDEPRECATED @106 :UiPlan;
     liveLocationKalmanDEPRECATED @72 :LiveLocationKalman;
-    liveTracksDEPRECATED @16 :List(LiveTracksDEPRECATED);
+    liveTracksDEPRECATED @16 :List(Deprecated.LiveTracksDEPRECATED);
     onroadEventsDEPRECATED @68: List(Car.OnroadEventDEPRECATED);
     gyroscope2DEPRECATED @100 :SensorEventData;
     accelerometer2DEPRECATED @101 :SensorEventData;
     temperatureSensor2DEPRECATED @123 :SensorEventData;
+    driverMonitoringStateDEPRECATED @71 :DriverMonitoringStateDEPRECATED;
+    gpsNMEADEPRECATED @3 :GPSNMEAData;
+    uploaderStateDEPRECATED @79 :UploaderState;
+    navInstructionDEPRECATED @82 :NavInstruction;
+    navRouteDEPRECATED @83 :NavRoute;
+    navThumbnailDEPRECATED @84 :Thumbnail;
+    gnssMeasurementsDEPRECATED @91 :GnssMeasurements;
+    mapRenderStateDEPRECATED @105: MapRenderState;
   }
 }
diff --git a/cereal/messaging/__init__.py b/cereal/messaging/__init__.py
index 0ad846f0f45..2c925b4cc40 100644
--- a/cereal/messaging/__init__.py
+++ b/cereal/messaging/__init__.py
@@ -1,10 +1,8 @@
 # must be built with scons
-from msgq.ipc_pyx import Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, \
-                                set_fake_prefix, get_fake_prefix, delete_fake_prefix, wait_for_one_event
-from msgq.ipc_pyx import MultiplePublishersError, IpcError
-from msgq import fake_event_handle, drain_sock_raw
+from msgq import fake_event_handle, drain_sock_raw, MultiplePublishersError, IpcError, \
+                 Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, \
+                 set_fake_prefix, get_fake_prefix, delete_fake_prefix, wait_for_one_event
 import msgq
-
 import os
 import capnp
 import time
@@ -13,7 +11,7 @@
 
 from cereal import log
 from cereal.services import SERVICE_LIST
-from openpilot.common.util import MovingAverage
+from openpilot.common.utils import MovingAverage
 
 NO_TRAVERSAL_LIMIT = 2**64-1
 
diff --git a/cereal/messaging/bridge.cc b/cereal/messaging/bridge.cc
index 69ecd188e19..77823c413ac 100644
--- a/cereal/messaging/bridge.cc
+++ b/cereal/messaging/bridge.cc
@@ -25,15 +25,16 @@ void msgq_to_zmq(const std::vector<std::string> &endpoints, const std::string &i
 }
 
 void zmq_to_msgq(const std::vector<std::string> &endpoints, const std::string &ip) {
-  auto poller = std::make_unique<ZMQPoller>();
-  auto pub_context = std::make_unique<MSGQContext>();
-  auto sub_context = std::make_unique<ZMQContext>();
-  std::map<SubSocket *, PubSocket *> sub2pub;
+  auto poller = std::make_unique<BridgeZmqPoller>();
+  auto pub_context = std::make_unique<Context>();
+  auto sub_context = std::make_unique<BridgeZmqContext>();
+  std::map<BridgeZmqSubSocket *, PubSocket *> sub2pub;
 
   for (auto endpoint : endpoints) {
-    auto pub_sock = new MSGQPubSocket();
-    auto sub_sock = new ZMQSubSocket();
-    pub_sock->connect(pub_context.get(), endpoint);
+    auto pub_sock = new PubSocket();
+    auto sub_sock = new BridgeZmqSubSocket();
+    size_t queue_size = services.at(endpoint).queue_size;
+    pub_sock->connect(pub_context.get(), endpoint, true, queue_size);
     sub_sock->connect(sub_context.get(), endpoint, ip, false);
 
     poller->registerSocket(sub_sock);
diff --git a/cereal/messaging/bridge_zmq.cc b/cereal/messaging/bridge_zmq.cc
new file mode 100644
index 00000000000..5c56673b472
--- /dev/null
+++ b/cereal/messaging/bridge_zmq.cc
@@ -0,0 +1,170 @@
+#include "cereal/messaging/bridge_zmq.h"
+
+#include <cassert>
+#include <cstring>
+#include <unistd.h>
+
+static size_t fnv1a_hash(const std::string &str) {
+  const size_t fnv_prime = 0x100000001b3;
+  size_t hash_value = 0xcbf29ce484222325;
+  for (char c : str) {
+    hash_value ^= (unsigned char)c;
+    hash_value *= fnv_prime;
+  }
+  return hash_value;
+}
+
+// FIXME: This is a hack to get the port number from the socket name, might have collisions.
+static int get_port(std::string endpoint) {
+  size_t hash_value = fnv1a_hash(endpoint);
+  int start_port = 8023;
+  int max_port = 65535;
+  return start_port + (hash_value % (max_port - start_port));
+}
+
+BridgeZmqContext::BridgeZmqContext() {
+  context = zmq_ctx_new();
+}
+
+BridgeZmqContext::~BridgeZmqContext() {
+  if (context != nullptr) {
+    zmq_ctx_term(context);
+  }
+}
+
+void BridgeZmqMessage::init(size_t sz) {
+  size = sz;
+  data = new char[size];
+}
+
+void BridgeZmqMessage::init(char *d, size_t sz) {
+  size = sz;
+  data = new char[size];
+  memcpy(data, d, size);
+}
+
+void BridgeZmqMessage::close() {
+  if (size > 0) {
+    delete[] data;
+  }
+  data = nullptr;
+  size = 0;
+}
+
+BridgeZmqMessage::~BridgeZmqMessage() {
+  close();
+}
+
+int BridgeZmqSubSocket::connect(BridgeZmqContext *context, std::string endpoint, std::string address, bool conflate, bool check_endpoint) {
+  sock = zmq_socket(context->getRawContext(), ZMQ_SUB);
+  if (sock == nullptr) {
+    return -1;
+  }
+
+  zmq_setsockopt(sock, ZMQ_SUBSCRIBE, "", 0);
+
+  if (conflate) {
+    int arg = 1;
+    zmq_setsockopt(sock, ZMQ_CONFLATE, &arg, sizeof(int));
+  }
+
+  int reconnect_ivl = 500;
+  zmq_setsockopt(sock, ZMQ_RECONNECT_IVL_MAX, &reconnect_ivl, sizeof(reconnect_ivl));
+
+  full_endpoint = "tcp://" + address + ":";
+  if (check_endpoint) {
+    full_endpoint += std::to_string(get_port(endpoint));
+  } else {
+    full_endpoint += endpoint;
+  }
+
+  return zmq_connect(sock, full_endpoint.c_str());
+}
+
+void BridgeZmqSubSocket::setTimeout(int timeout) {
+  zmq_setsockopt(sock, ZMQ_RCVTIMEO, &timeout, sizeof(int));
+}
+
+Message *BridgeZmqSubSocket::receive(bool non_blocking) {
+  zmq_msg_t msg;
+  assert(zmq_msg_init(&msg) == 0);
+
+  int flags = non_blocking ? ZMQ_DONTWAIT : 0;
+  int rc = zmq_msg_recv(&msg, sock, flags);
+
+  Message *ret = nullptr;
+  if (rc >= 0) {
+    ret = new BridgeZmqMessage;
+    ret->init((char *)zmq_msg_data(&msg), zmq_msg_size(&msg));
+  }
+
+  zmq_msg_close(&msg);
+  return ret;
+}
+
+BridgeZmqSubSocket::~BridgeZmqSubSocket() {
+  if (sock != nullptr) {
+    zmq_close(sock);
+  }
+}
+
+int BridgeZmqPubSocket::connect(BridgeZmqContext *context, std::string endpoint, bool check_endpoint) {
+  sock = zmq_socket(context->getRawContext(), ZMQ_PUB);
+  if (sock == nullptr) {
+    return -1;
+  }
+
+  full_endpoint = "tcp://*:";
+  if (check_endpoint) {
+    full_endpoint += std::to_string(get_port(endpoint));
+  } else {
+    full_endpoint += endpoint;
+  }
+
+  // ZMQ pub sockets cannot be shared between processes, so we need to ensure pid stays the same.
+  pid = getpid();
+
+  return zmq_bind(sock, full_endpoint.c_str());
+}
+
+int BridgeZmqPubSocket::sendMessage(Message *message) {
+  assert(pid == getpid());
+  return zmq_send(sock, message->getData(), message->getSize(), ZMQ_DONTWAIT);
+}
+
+int BridgeZmqPubSocket::send(char *data, size_t size) {
+  assert(pid == getpid());
+  return zmq_send(sock, data, size, ZMQ_DONTWAIT);
+}
+
+BridgeZmqPubSocket::~BridgeZmqPubSocket() {
+  if (sock != nullptr) {
+    zmq_close(sock);
+  }
+}
+
+void BridgeZmqPoller::registerSocket(BridgeZmqSubSocket *socket) {
+  assert(num_polls + 1 < (sizeof(polls) / sizeof(polls[0])));
+  polls[num_polls].socket = socket->getRawSocket();
+  polls[num_polls].events = ZMQ_POLLIN;
+
+  sockets.push_back(socket);
+  num_polls++;
+}
+
+std::vector<BridgeZmqSubSocket *> BridgeZmqPoller::poll(int timeout) {
+  std::vector<BridgeZmqSubSocket *> ret;
+
+  int rc = zmq_poll(polls, num_polls, timeout);
+  if (rc < 0) {
+    return ret;
+  }
+
+  for (size_t i = 0; i < num_polls; i++) {
+    if (polls[i].revents) {
+      ret.push_back(sockets[i]);
+    }
+  }
+
+  return ret;
+}
diff --git a/cereal/messaging/bridge_zmq.h b/cereal/messaging/bridge_zmq.h
new file mode 100644
index 00000000000..ebdbc56c245
--- /dev/null
+++ b/cereal/messaging/bridge_zmq.h
@@ -0,0 +1,72 @@
+#pragma once
+
+#include <cstddef>
+#include <string>
+#include <vector>
+
+#include <zmq.h>
+
+#include "msgq/ipc.h"
+
+class BridgeZmqContext {
+public:
+  BridgeZmqContext();
+  void *getRawContext() { return context; }
+  ~BridgeZmqContext();
+
+private:
+  void *context = nullptr;
+};
+
+class BridgeZmqMessage : public Message {
+public:
+  void init(size_t size);
+  void init(char *data, size_t size);
+  void close();
+  size_t getSize() { return size; }
+  char *getData() { return data; }
+  ~BridgeZmqMessage();
+
+private:
+  char *data = nullptr;
+  size_t size = 0;
+};
+
+class BridgeZmqSubSocket {
+public:
+  int connect(BridgeZmqContext *context, std::string endpoint, std::string address, bool conflate = false, bool check_endpoint = true);
+  void setTimeout(int timeout);
+  Message *receive(bool non_blocking = false);
+  void *getRawSocket() { return sock; }
+  ~BridgeZmqSubSocket();
+
+private:
+  void *sock = nullptr;
+  std::string full_endpoint;
+};
+
+class BridgeZmqPubSocket {
+public:
+  int connect(BridgeZmqContext *context, std::string endpoint, bool check_endpoint = true);
+  int sendMessage(Message *message);
+  int send(char *data, size_t size);
+  void *getRawSocket() { return sock; }
+  ~BridgeZmqPubSocket();
+
+private:
+  void *sock = nullptr;
+  std::string full_endpoint;
+  int pid = -1;
+};
+
+class BridgeZmqPoller {
+public:
+  void registerSocket(BridgeZmqSubSocket *socket);
+  std::vector<BridgeZmqSubSocket *> poll(int timeout);
+
+private:
+  static constexpr size_t MAX_BRIDGE_ZMQ_POLLERS = 128;
+  std::vector<BridgeZmqSubSocket *> sockets;
+  zmq_pollitem_t polls[MAX_BRIDGE_ZMQ_POLLERS] = {};
+  size_t num_polls = 0;
+};
diff --git a/cereal/messaging/msgq_to_zmq.cc b/cereal/messaging/msgq_to_zmq.cc
index ce626f2aad3..5e7ea222739 100644
--- a/cereal/messaging/msgq_to_zmq.cc
+++ b/cereal/messaging/msgq_to_zmq.cc
@@ -2,6 +2,7 @@
 
 #include <cassert>
 
+#include "cereal/services.h"
 #include "common/util.h"
 
 extern ExitHandler do_exit;
@@ -21,14 +22,14 @@ static std::string recv_zmq_msg(void *sock) {
 }
 
 void MsgqToZmq::run(const std::vector<std::string> &endpoints, const std::string &ip) {
-  zmq_context = std::make_unique<ZMQContext>();
-  msgq_context = std::make_unique<MSGQContext>();
+  zmq_context = std::make_unique<BridgeZmqContext>();
+  msgq_context = std::make_unique<Context>();
 
   // Create ZMQPubSockets for each endpoint
   for (const auto &endpoint : endpoints) {
     auto &socket_pair = socket_pairs.emplace_back();
     socket_pair.endpoint = endpoint;
-    socket_pair.pub_sock = std::make_unique<ZMQPubSocket>();
+    socket_pair.pub_sock = std::make_unique<BridgeZmqPubSocket>();
     int ret = socket_pair.pub_sock->connect(zmq_context.get(), endpoint);
     if (ret != 0) {
       printf("Failed to create ZMQ publisher for [%s]: %s\n", endpoint.c_str(), zmq_strerror(zmq_errno()));
@@ -48,7 +49,7 @@ void MsgqToZmq::run(const std::vector<std::string> &endpoints, const std::string
 
       for (auto sub_sock : msgq_poller->poll(100)) {
         // Process messages for each socket
-        ZMQPubSocket *pub_sock = sub2pub.at(sub_sock);
+        BridgeZmqPubSocket *pub_sock = sub2pub.at(sub_sock);
         for (int i = 0; i < MAX_MESSAGES_PER_SOCKET; ++i) {
           auto msg = std::unique_ptr<Message>(sub_sock->receive(true));
           if (!msg) break;
@@ -71,7 +72,7 @@ void MsgqToZmq::zmqMonitorThread() {
   // Set up ZMQ monitor for each pub socket
   for (int i = 0; i < socket_pairs.size(); ++i) {
     std::string addr = "inproc://op-bridge-monitor-" + std::to_string(i);
-    zmq_socket_monitor(socket_pairs[i].pub_sock->sock, addr.c_str(), ZMQ_EVENT_ACCEPTED | ZMQ_EVENT_DISCONNECTED);
+    zmq_socket_monitor(socket_pairs[i].pub_sock->getRawSocket(), addr.c_str(), ZMQ_EVENT_ACCEPTED | ZMQ_EVENT_DISCONNECTED);
 
     void *monitor_socket = zmq_socket(zmq_context->getRawContext(), ZMQ_PAIR);
     zmq_connect(monitor_socket, addr.c_str());
@@ -108,7 +109,8 @@ void MsgqToZmq::zmqMonitorThread() {
           if (++pair.connected_clients == 1) {
             // Create new MSGQ subscriber socket and map to ZMQ publisher
             pair.sub_sock = std::make_unique<MSGQSubSocket>();
-            pair.sub_sock->connect(msgq_context.get(), pair.endpoint, "127.0.0.1");
+            size_t queue_size = services.at(pair.endpoint).queue_size;
+            pair.sub_sock->connect(msgq_context.get(), pair.endpoint, "127.0.0.1", false, true, queue_size);
             sub2pub[pair.sub_sock.get()] = pair.pub_sock.get();
             registerSockets();
           }
@@ -128,7 +130,7 @@ void MsgqToZmq::zmqMonitorThread() {
 
   // Clean up monitor sockets
   for (int i = 0; i < pollitems.size(); ++i) {
-    zmq_socket_monitor(socket_pairs[i].pub_sock->sock, nullptr, 0);
+    zmq_socket_monitor(socket_pairs[i].pub_sock->getRawSocket(), nullptr, 0);
     zmq_close(pollitems[i].socket);
   }
   cv.notify_one();
diff --git a/cereal/messaging/msgq_to_zmq.h b/cereal/messaging/msgq_to_zmq.h
index ebdbe5df690..64f3a2173e7 100644
--- a/cereal/messaging/msgq_to_zmq.h
+++ b/cereal/messaging/msgq_to_zmq.h
@@ -7,9 +7,8 @@
 #include <string>
 #include <vector>
 
-#define private public
 #include "msgq/impl_msgq.h"
-#include "msgq/impl_zmq.h"
+#include "cereal/messaging/bridge_zmq.h"
 
 class MsgqToZmq {
 public:
@@ -22,16 +21,16 @@ class MsgqToZmq {
 
   struct SocketPair {
     std::string endpoint;
-    std::unique_ptr<ZMQPubSocket> pub_sock;
+    std::unique_ptr<BridgeZmqPubSocket> pub_sock;
     std::unique_ptr<MSGQSubSocket> sub_sock;
     int connected_clients = 0;
   };
 
-  std::unique_ptr<MSGQContext> msgq_context;
-  std::unique_ptr<ZMQContext> zmq_context;
+  std::unique_ptr<Context> msgq_context;
+  std::unique_ptr<BridgeZmqContext> zmq_context;
   std::mutex mutex;
   std::condition_variable cv;
   std::unique_ptr<MSGQPoller> msgq_poller;
-  std::map<SubSocket *, ZMQPubSocket *> sub2pub;
+  std::map<SubSocket *, BridgeZmqPubSocket *> sub2pub;
   std::vector<SocketPair> socket_pairs;
 };
diff --git a/cereal/messaging/tests/test_messaging.py b/cereal/messaging/tests/test_messaging.py
index 583eb8b0d86..afdab8a51f4 100644
--- a/cereal/messaging/tests/test_messaging.py
+++ b/cereal/messaging/tests/test_messaging.py
@@ -5,7 +5,7 @@
 import random
 import threading
 import time
-from parameterized import parameterized
+from openpilot.common.parameterized import parameterized
 import pytest
 
 from cereal import log, car
diff --git a/cereal/messaging/tests/test_services.py b/cereal/messaging/tests/test_services.py
index 8bfd2ea978a..3320723fec8 100644
--- a/cereal/messaging/tests/test_services.py
+++ b/cereal/messaging/tests/test_services.py
@@ -1,7 +1,7 @@
 import os
 import tempfile
 from typing import Dict
-from parameterized import parameterized
+from openpilot.common.parameterized import parameterized
 
 import cereal.services as services
 from cereal.services import SERVICE_LIST
diff --git a/cereal/services.py b/cereal/services.py
index e7350aceac0..c2d38d852db 100755
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -24,10 +24,7 @@ def __init__(self, should_log: bool, frequency: float, decimation: Optional[int]
   # note: the "EncodeIdx" packets will still be in the log
   "gyroscope": (True, 104., 104),
   "accelerometer": (True, 104., 104),
-  "magnetometer": (True, 25.),
-  "lightSensor": (True, 100., 100),
   "temperatureSensor": (True, 2., 200),
-  "gpsNMEA": (True, 9.),
   "deviceState": (True, 2., 1),
   "touch": (True, 20., 1),
   "can": (True, 100., 2053, QueueSize.BIG),  # decimation gives ~3 msgs in a full segment
@@ -39,8 +36,8 @@ def __init__(self, should_log: bool, frequency: float, decimation: Optional[int]
   "roadEncodeIdx": (False, 20., 1),
   "liveTracks": (True, 20.),
   "sendcan": (True, 100., 139, QueueSize.MEDIUM),
-  "logMessage": (True, 0.),
-  "errorLogMessage": (True, 0., 1),
+  "logMessage": (True, 0., None, QueueSize.BIG),
+  "errorLogMessage": (True, 0., 1, QueueSize.BIG),
   "liveCalibration": (True, 4., 4),
   "liveTorqueParameters": (True, 4., 1),
   "liveDelay": (True, 4., 1),
@@ -49,13 +46,13 @@ def __init__(self, should_log: bool, frequency: float, decimation: Optional[int]
   "carControl": (True, 100., 10),
   "carOutput": (True, 100., 10),
   "longitudinalPlan": (True, 20., 10),
+  "lateralManeuverPlan": (True, 20.),
   "driverAssistance": (True, 20., 20),
   "procLog": (True, 0.5, 15, QueueSize.BIG),
   "gpsLocationExternal": (True, 10., 10),
   "gpsLocation": (True, 1., 1),
   "ubloxGnss": (True, 10.),
   "qcomGnss": (True, 2.),
-  "gnssMeasurements": (True, 10., 10),
   "clocks": (True, 0.1, 1),
   "ubloxRaw": (True, 20.),
   "livePose": (True, 20., 4),
@@ -74,10 +71,6 @@ def __init__(self, should_log: bool, frequency: float, decimation: Optional[int]
   "drivingModelData": (True, 20., 10),
   "modelV2": (True, 20., None, QueueSize.BIG),
   "managerState": (True, 2., 1),
-  "uploaderState": (True, 0., 1),
-  "navInstruction": (True, 1., 10),
-  "navRoute": (True, 0.),
-  "navThumbnail": (True, 0.),
   "qRoadEncodeIdx": (False, 20.),
   "userBookmark": (True, 0., 1),
   "soundPressure": (True, 10., 10),
@@ -100,8 +93,6 @@ def __init__(self, should_log: bool, frequency: float, decimation: Optional[int]
   "livestreamRoadEncodeData": (False, 20., None, QueueSize.MEDIUM),
   "livestreamDriverEncodeData": (False, 20., None, QueueSize.MEDIUM),
   "customReservedRawData0": (True, 0.),
-  "customReservedRawData1": (True, 0.),
-  "customReservedRawData2": (True, 0.),
 }
 SERVICE_LIST = {name: Service(*vals) for
                 idx, (name, vals) in enumerate(_services.items())}
diff --git a/common/.gitignore b/common/.gitignore
deleted file mode 100644
index ce1da4c53c0..00000000000
--- a/common/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-*.cpp
diff --git a/common/SConscript b/common/SConscript
index c771ee78b7f..c9bd1c72d13 100644
--- a/common/SConscript
+++ b/common/SConscript
@@ -1,11 +1,10 @@
-Import('env', 'envCython', 'arch')
+Import('env', 'envCython')
 
 common_libs = [
   'params.cc',
   'swaglog.cc',
   'util.cc',
   'ratekeeper.cc',
-  'clutil.cc',
 ]
 
 _common = env.Library('common', common_libs, LIBS="json11")
@@ -19,11 +18,6 @@ if GetOption('extras'):
 # Cython bindings
 params_python = envCython.Program('params_pyx.so', 'params_pyx.pyx', LIBS=envCython['LIBS'] + [_common, 'zmq', 'json11'])
 
-SConscript([
-  'transformations/SConscript',
-])
-
-Import('transformations_python')
-common_python = [params_python, transformations_python]
+common_python = [params_python]
 
 Export('common_python')
diff --git a/common/api.py b/common/api.py
index 7ea278038d5..ebf0290d154 100644
--- a/common/api.py
+++ b/common/api.py
@@ -42,14 +42,16 @@ def get_token(self, payload_extra=None, expiry_hours=1):
     return token
 
 
-def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
+def api_get(endpoint, method='GET', timeout=None, access_token=None, session=None, **params):
   headers = {}
   if access_token is not None:
     headers['Authorization'] = "JWT " + access_token
 
   headers['User-Agent'] = "openpilot-" + get_version()
 
-  return requests.request(method, API_HOST + "/" + endpoint, timeout=timeout, headers=headers, params=params)
+  # TODO: add session to Api
+  req = requests if session is None else session
+  return req.request(method, API_HOST + "/" + endpoint, timeout=timeout, headers=headers, params=params)
 
 
 def get_key_pair() -> tuple[str, str, str] | tuple[None, None, None]:
diff --git a/common/clutil.cc b/common/clutil.cc
deleted file mode 100644
index f8381a7e092..00000000000
--- a/common/clutil.cc
+++ /dev/null
@@ -1,98 +0,0 @@
-#include "common/clutil.h"
-
-#include <cassert>
-#include <iostream>
-#include <memory>
-
-#include "common/util.h"
-#include "common/swaglog.h"
-
-namespace {  // helper functions
-
-template <typename Func, typename Id, typename Name>
-std::string get_info(Func get_info_func, Id id, Name param_name) {
-  size_t size = 0;
-  CL_CHECK(get_info_func(id, param_name, 0, NULL, &size));
-  std::string info(size, '\0');
-  CL_CHECK(get_info_func(id, param_name, size, info.data(), NULL));
-  return info;
-}
-inline std::string get_platform_info(cl_platform_id id, cl_platform_info name) { return get_info(&clGetPlatformInfo, id, name); }
-inline std::string get_device_info(cl_device_id id, cl_device_info name) { return get_info(&clGetDeviceInfo, id, name); }
-
-void cl_print_info(cl_platform_id platform, cl_device_id device) {
-  size_t work_group_size = 0;
-  cl_device_type device_type = 0;
-  clGetDeviceInfo(device, CL_DEVICE_MAX_WORK_GROUP_SIZE, sizeof(work_group_size), &work_group_size, NULL);
-  clGetDeviceInfo(device, CL_DEVICE_TYPE, sizeof(device_type), &device_type, NULL);
-  const char *type_str = "Other...";
-  switch (device_type) {
-    case CL_DEVICE_TYPE_CPU: type_str ="CL_DEVICE_TYPE_CPU"; break;
-    case CL_DEVICE_TYPE_GPU: type_str = "CL_DEVICE_TYPE_GPU"; break;
-    case CL_DEVICE_TYPE_ACCELERATOR: type_str = "CL_DEVICE_TYPE_ACCELERATOR"; break;
-  }
-
-  LOGD("vendor: %s", get_platform_info(platform, CL_PLATFORM_VENDOR).c_str());
-  LOGD("platform version: %s", get_platform_info(platform, CL_PLATFORM_VERSION).c_str());
-  LOGD("profile: %s", get_platform_info(platform, CL_PLATFORM_PROFILE).c_str());
-  LOGD("extensions: %s", get_platform_info(platform, CL_PLATFORM_EXTENSIONS).c_str());
-  LOGD("name: %s", get_device_info(device, CL_DEVICE_NAME).c_str());
-  LOGD("device version: %s", get_device_info(device, CL_DEVICE_VERSION).c_str());
-  LOGD("max work group size: %zu", work_group_size);
-  LOGD("type = %d, %s", (int)device_type, type_str);
-}
-
-void cl_print_build_errors(cl_program program, cl_device_id device) {
-  cl_build_status status;
-  clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_STATUS, sizeof(status), &status, NULL);
-  size_t log_size;
-  clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_LOG, 0, NULL, &log_size);
-  std::string log(log_size, '\0');
-  clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_LOG, log_size, &log[0], NULL);
-
-  LOGE("build failed; status=%d, log: %s", status, log.c_str());
-}
-
-}  // namespace
-
-cl_device_id cl_get_device_id(cl_device_type device_type) {
-  cl_uint num_platforms = 0;
-  CL_CHECK(clGetPlatformIDs(0, NULL, &num_platforms));
-  std::unique_ptr<cl_platform_id[]> platform_ids = std::make_unique<cl_platform_id[]>(num_platforms);
-  CL_CHECK(clGetPlatformIDs(num_platforms, &platform_ids[0], NULL));
-
-  for (size_t i = 0; i < num_platforms; ++i) {
-    LOGD("platform[%zu] CL_PLATFORM_NAME: %s", i, get_platform_info(platform_ids[i], CL_PLATFORM_NAME).c_str());
-
-    // Get first device
-    if (cl_device_id device_id = NULL; clGetDeviceIDs(platform_ids[i], device_type, 1, &device_id, NULL) == 0 && device_id) {
-      cl_print_info(platform_ids[i], device_id);
-      return device_id;
-    }
-  }
-  LOGE("No valid openCL platform found");
-  assert(0);
-  return nullptr;
-}
-
-cl_context cl_create_context(cl_device_id device_id) {
-  return CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
-}
-
-void cl_release_context(cl_context context) {
-  clReleaseContext(context);
-}
-
-cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args) {
-  return cl_program_from_source(ctx, device_id, util::read_file(path), args);
-}
-
-cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args) {
-  const char *csrc = src.c_str();
-  cl_program prg = CL_CHECK_ERR(clCreateProgramWithSource(ctx, 1, &csrc, NULL, &err));
-  if (int err = clBuildProgram(prg, 1, &device_id, args, NULL, NULL); err != 0) {
-    cl_print_build_errors(prg, device_id);
-    assert(0);
-  }
-  return prg;
-}
diff --git a/common/clutil.h b/common/clutil.h
deleted file mode 100644
index b364e79d45b..00000000000
--- a/common/clutil.h
+++ /dev/null
@@ -1,28 +0,0 @@
-#pragma once
-
-#ifdef __APPLE__
-#include <OpenCL/cl.h>
-#else
-#include <CL/cl.h>
-#endif
-
-#include <string>
-
-#define CL_CHECK(_expr)          \
-  do {                           \
-    assert(CL_SUCCESS == (_expr)); \
-  } while (0)
-
-#define CL_CHECK_ERR(_expr)           \
-  ({                                  \
-    cl_int err = CL_INVALID_VALUE;    \
-    __typeof__(_expr) _ret = _expr;   \
-    assert(_ret&& err == CL_SUCCESS); \
-    _ret;                             \
-  })
-
-cl_device_id cl_get_device_id(cl_device_type device_type);
-cl_context cl_create_context(cl_device_id device_id);
-void cl_release_context(cl_context context);
-cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args = nullptr);
-cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args);
diff --git a/common/file_chunker.py b/common/file_chunker.py
new file mode 100644
index 00000000000..ac9ddbb3848
--- /dev/null
+++ b/common/file_chunker.py
@@ -0,0 +1,37 @@
+import math
+import os
+from pathlib import Path
+
+CHUNK_SIZE = 45 * 1024 * 1024  # 45MB, under GitHub's 50MB limit
+
+def get_chunk_name(name, idx, num_chunks):
+  return f"{name}.chunk{idx+1:02d}of{num_chunks:02d}"
+
+def get_manifest_path(name):
+  return f"{name}.chunkmanifest"
+
+def get_chunk_paths(path, file_size):
+  num_chunks = math.ceil(file_size / CHUNK_SIZE)
+  return [get_manifest_path(path)] + [get_chunk_name(path, i, num_chunks) for i in range(num_chunks)]
+
+def chunk_file(path, targets):
+  manifest_path, *chunk_paths = targets
+  with open(path, 'rb') as f:
+    data = f.read()
+  actual_num_chunks = max(1, math.ceil(len(data) / CHUNK_SIZE))
+  assert len(chunk_paths) >= actual_num_chunks, f"Allowed {len(chunk_paths)} chunks but needs at least {actual_num_chunks}, for path {path}"
+  for i, chunk_path in enumerate(chunk_paths):
+    with open(chunk_path, 'wb') as f:
+      f.write(data[i * CHUNK_SIZE:(i + 1) * CHUNK_SIZE])
+  Path(manifest_path).write_text(str(len(chunk_paths)))
+  os.remove(path)
+
+
+def read_file_chunked(path):
+  manifest_path = get_manifest_path(path)
+  if os.path.isfile(manifest_path):
+    num_chunks = int(Path(manifest_path).read_text().strip())
+    return b''.join(Path(get_chunk_name(path, i, num_chunks)).read_bytes() for i in range(num_chunks))
+  if os.path.isfile(path):
+    return Path(path).read_bytes()
+  raise FileNotFoundError(path)
diff --git a/common/filter_simple.py b/common/filter_simple.py
index 212e1a8f409..b28c3d68f59 100644
--- a/common/filter_simple.py
+++ b/common/filter_simple.py
@@ -28,7 +28,7 @@ def update(self, x):
     scale = self.dt / (1.0 / 60.0)  # tuned at 60 fps
     self.velocity.x += (x - self.x) * self.bounce * scale * self.dt
     self.velocity.update(0.0)
-    if abs(self.velocity.x) < 1e-5:
+    if abs(self.velocity.x) < 1e-3:
       self.velocity.x = 0.0
     self.x += self.velocity.x
     return self.x
diff --git a/common/git.py b/common/git.py
index 2296fa7088b..6b662e57191 100644
--- a/common/git.py
+++ b/common/git.py
@@ -4,27 +4,27 @@
 
 
 @cache
-def get_commit(cwd: str = None, branch: str = "HEAD") -> str:
+def get_commit(cwd: str | None = None, branch: str = "HEAD") -> str:
   return run_cmd_default(["git", "rev-parse", branch], cwd=cwd)
 
 
 @cache
-def get_commit_date(cwd: str = None, commit: str = "HEAD") -> str:
+def get_commit_date(cwd: str | None = None, commit: str = "HEAD") -> str:
   return run_cmd_default(["git", "show", "--no-patch", "--format='%ct %ci'", commit], cwd=cwd)
 
 
 @cache
-def get_short_branch(cwd: str = None) -> str:
+def get_short_branch(cwd: str | None = None) -> str:
   return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "HEAD"], cwd=cwd)
 
 
 @cache
-def get_branch(cwd: str = None) -> str:
+def get_branch(cwd: str | None = None) -> str:
   return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "--symbolic-full-name", "@{u}"], cwd=cwd)
 
 
 @cache
-def get_origin(cwd: str = None) -> str:
+def get_origin(cwd: str | None = None) -> str:
   try:
     local_branch = run_cmd(["git", "name-rev", "--name-only", "HEAD"], cwd=cwd)
     tracking_remote = run_cmd(["git", "config", "branch." + local_branch + ".remote"], cwd=cwd)
@@ -34,7 +34,7 @@ def get_origin(cwd: str = None) -> str:
 
 
 @cache
-def get_normalized_origin(cwd: str = None) -> str:
+def get_normalized_origin(cwd: str | None = None) -> str:
   return get_origin(cwd) \
     .replace("git@", "", 1) \
     .replace(".git", "", 1) \
diff --git a/common/i2c.py b/common/i2c.py
new file mode 100644
index 00000000000..1dfaa659ad3
--- /dev/null
+++ b/common/i2c.py
@@ -0,0 +1,81 @@
+import os
+import fcntl
+import ctypes
+
+# I2C constants from /usr/include/linux/i2c-dev.h
+I2C_SLAVE = 0x0703
+I2C_SLAVE_FORCE = 0x0706
+I2C_SMBUS = 0x0720
+
+# SMBus transfer types
+I2C_SMBUS_READ = 1
+I2C_SMBUS_WRITE = 0
+I2C_SMBUS_BYTE_DATA = 2
+I2C_SMBUS_I2C_BLOCK_DATA = 8
+
+I2C_SMBUS_BLOCK_MAX = 32
+
+
+class _I2cSmbusData(ctypes.Union):
+  _fields_ = [
+    ("byte", ctypes.c_uint8),
+    ("word", ctypes.c_uint16),
+    ("block", ctypes.c_uint8 * (I2C_SMBUS_BLOCK_MAX + 2)),
+  ]
+
+
+class _I2cSmbusIoctlData(ctypes.Structure):
+  _fields_ = [
+    ("read_write", ctypes.c_uint8),
+    ("command", ctypes.c_uint8),
+    ("size", ctypes.c_uint32),
+    ("data", ctypes.POINTER(_I2cSmbusData)),
+  ]
+
+
+class SMBus:
+  def __init__(self, bus: int):
+    self._fd = os.open(f'/dev/i2c-{bus}', os.O_RDWR)
+
+  def __enter__(self) -> 'SMBus':
+    return self
+
+  def __exit__(self, *args) -> None:
+    self.close()
+
+  def close(self) -> None:
+    if hasattr(self, '_fd') and self._fd >= 0:
+      os.close(self._fd)
+      self._fd = -1
+
+  def _set_address(self, addr: int, force: bool = False) -> None:
+    ioctl_arg = I2C_SLAVE_FORCE if force else I2C_SLAVE
+    fcntl.ioctl(self._fd, ioctl_arg, addr)
+
+  def _smbus_access(self, read_write: int, command: int, size: int, data: _I2cSmbusData) -> None:
+    ioctl_data = _I2cSmbusIoctlData(read_write, command, size, ctypes.pointer(data))
+    fcntl.ioctl(self._fd, I2C_SMBUS, ioctl_data)
+
+  def read_byte_data(self, addr: int, register: int, force: bool = False) -> int:
+    self._set_address(addr, force)
+    data = _I2cSmbusData()
+    self._smbus_access(I2C_SMBUS_READ, register, I2C_SMBUS_BYTE_DATA, data)
+    return int(data.byte)
+
+  def write_byte_data(self, addr: int, register: int, value: int, force: bool = False) -> None:
+    self._set_address(addr, force)
+    data = _I2cSmbusData()
+    data.byte = value & 0xFF
+    self._smbus_access(I2C_SMBUS_WRITE, register, I2C_SMBUS_BYTE_DATA, data)
+
+  def read_i2c_block_data(self, addr: int, register: int, length: int, force: bool = False) -> list[int]:
+    self._set_address(addr, force)
+    if not (0 <= length <= I2C_SMBUS_BLOCK_MAX):
+      raise ValueError(f"length must be 0..{I2C_SMBUS_BLOCK_MAX}")
+
+    data = _I2cSmbusData()
+    data.block[0] = length
+    self._smbus_access(I2C_SMBUS_READ, register, I2C_SMBUS_I2C_BLOCK_DATA, data)
+    read_len = int(data.block[0]) or length
+    read_len = min(read_len, length)
+    return [int(b) for b in data.block[1 : read_len + 1]]
diff --git a/common/mat.h b/common/mat.h
deleted file mode 100644
index 8e10d619717..00000000000
--- a/common/mat.h
+++ /dev/null
@@ -1,85 +0,0 @@
-#pragma once
-
-typedef struct vec3 {
-  float v[3];
-} vec3;
-
-typedef struct vec4 {
-  float v[4];
-} vec4;
-
-typedef struct mat3 {
-  float v[3*3];
-} mat3;
-
-typedef struct mat4 {
-  float v[4*4];
-} mat4;
-
-static inline mat3 matmul3(const mat3 &a, const mat3 &b) {
-  mat3 ret = {{0.0}};
-  for (int r=0; r<3; r++) {
-    for (int c=0; c<3; c++) {
-      float v = 0.0;
-      for (int k=0; k<3; k++) {
-        v += a.v[r*3+k] * b.v[k*3+c];
-      }
-      ret.v[r*3+c] = v;
-    }
-  }
-  return ret;
-}
-
-static inline vec3 matvecmul3(const mat3 &a, const vec3 &b) {
-  vec3 ret = {{0.0}};
-  for (int r=0; r<3; r++) {
-    for (int c=0; c<3; c++) {
-      ret.v[r] += a.v[r*3+c] * b.v[c];
-    }
-  }
-  return ret;
-}
-
-static inline mat4 matmul(const mat4 &a, const mat4 &b) {
-  mat4 ret = {{0.0}};
-  for (int r=0; r<4; r++) {
-    for (int c=0; c<4; c++) {
-      float v = 0.0;
-      for (int k=0; k<4; k++) {
-        v += a.v[r*4+k] * b.v[k*4+c];
-      }
-      ret.v[r*4+c] = v;
-    }
-  }
-  return ret;
-}
-
-static inline vec4 matvecmul(const mat4 &a, const vec4 &b) {
-  vec4 ret = {{0.0}};
-  for (int r=0; r<4; r++) {
-    for (int c=0; c<4; c++) {
-      ret.v[r] += a.v[r*4+c] * b.v[c];
-    }
-  }
-  return ret;
-}
-
-// scales the input and output space of a transformation matrix
-// that assumes pixel-center origin.
-static inline mat3 transform_scale_buffer(const mat3 &in, float s) {
-  // in_pt = ( transform(out_pt/s + 0.5) - 0.5) * s
-
-  mat3 transform_out = {{
-    1.0f/s, 0.0f, 0.5f,
-    0.0f, 1.0f/s, 0.5f,
-    0.0f, 0.0f, 1.0f,
-  }};
-
-  mat3 transform_in = {{
-    s,  0.0f, -0.5f*s,
-    0.0f, s, -0.5f*s,
-    0.0f, 0.0f, 1.0f,
-  }};
-
-  return matmul3(transform_in, matmul3(in, transform_out));
-}
diff --git a/common/parameterized.py b/common/parameterized.py
new file mode 100644
index 00000000000..7cd21bb9c5e
--- /dev/null
+++ b/common/parameterized.py
@@ -0,0 +1,47 @@
+import sys
+import pytest
+import inspect
+
+
+class parameterized:
+  @staticmethod
+  def expand(cases):
+    cases = list(cases)
+
+    if not cases:
+      return lambda func: pytest.mark.skip("no parameterized cases")(func)
+
+    def decorator(func):
+      params = [p for p in inspect.signature(func).parameters if p != 'self']
+      normalized = [c if isinstance(c, tuple) else (c,) for c in cases]
+      # Infer arg count from first case so extra params (e.g. from @given) are left untouched
+      expand_params = params[: len(normalized[0])]
+      if len(expand_params) == 1:
+        return pytest.mark.parametrize(expand_params[0], [c[0] for c in normalized])(func)
+      return pytest.mark.parametrize(', '.join(expand_params), normalized)(func)
+
+    return decorator
+
+
+def parameterized_class(attrs, input_list=None):
+  if isinstance(attrs, list) and (not attrs or isinstance(attrs[0], dict)):
+    params_list = attrs
+  else:
+    assert input_list is not None
+    attr_names = (attrs,) if isinstance(attrs, str) else tuple(attrs)
+    params_list = [dict(zip(attr_names, v if isinstance(v, (tuple, list)) else (v,), strict=False)) for v in input_list]
+
+  def decorator(cls):
+    globs = sys._getframe(1).f_globals
+    for i, params in enumerate(params_list):
+      name = f"{cls.__name__}_{i}"
+      new_cls = type(name, (cls,), dict(params))
+      new_cls.__module__ = cls.__module__
+      new_cls.__test__ = True  # override inherited False so pytest collects this subclass
+      globs[name] = new_cls
+    # Don't collect the un-parametrised base, but return it so outer decorators
+    # (e.g. @pytest.mark.skip) land on it and propagate to subclasses via MRO.
+    cls.__test__ = False
+    return cls
+
+  return decorator
diff --git a/common/params_keys.h b/common/params_keys.h
index d6104e74977..b81a373d087 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -82,6 +82,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"LiveParametersV2", {PERSISTENT, BYTES}},
     {"LiveTorqueParameters", {PERSISTENT | DONT_LOG, BYTES}},
     {"LocationFilterInitialState", {PERSISTENT, BYTES}},
+    {"LateralManeuverMode", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
     {"LongitudinalManeuverMode", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
     {"LongitudinalPersonality", {PERSISTENT, INT, std::to_string(static_cast<int>(cereal::LongitudinalPersonality::STANDARD))}},
     {"NetworkMetered", {PERSISTENT, BOOL}},
diff --git a/common/pid.py b/common/pid.py
index e3fa8afdf40..b3d64d6fcdc 100644
--- a/common/pid.py
+++ b/common/pid.py
@@ -3,15 +3,9 @@
 
 class PIDController:
   def __init__(self, k_p, k_i, k_d=0., pos_limit=1e308, neg_limit=-1e308, rate=100):
-    self._k_p = k_p
-    self._k_i = k_i
-    self._k_d = k_d
-    if isinstance(self._k_p, Number):
-      self._k_p = [[0], [self._k_p]]
-    if isinstance(self._k_i, Number):
-      self._k_i = [[0], [self._k_i]]
-    if isinstance(self._k_d, Number):
-      self._k_d = [[0], [self._k_d]]
+    self._k_p: list[list[float]] = [[0], [k_p]] if isinstance(k_p, Number) else k_p
+    self._k_i: list[list[float]] = [[0], [k_i]] if isinstance(k_i, Number) else k_i
+    self._k_d: list[list[float]] = [[0], [k_d]] if isinstance(k_d, Number) else k_d
 
     self.set_limits(pos_limit, neg_limit)
 
diff --git a/common/prefix.h b/common/prefix.h
index 2612c05d4fc..de3a94d71f2 100644
--- a/common/prefix.h
+++ b/common/prefix.h
@@ -13,7 +13,11 @@ class OpenpilotPrefix {
     if (prefix.empty()) {
       prefix = util::random_string(15);
     }
-    msgq_path = Path::shm_path() + "/" + prefix;
+#ifdef __APPLE__
+    msgq_path = "/tmp/msgq_" + prefix;
+#else
+    msgq_path = "/dev/shm/msgq_" + prefix;
+#endif
     bool ret = util::create_directories(msgq_path, 0777);
     assert(ret);
     setenv("OPENPILOT_PREFIX", prefix.c_str(), 1);
@@ -23,14 +27,14 @@ class OpenpilotPrefix {
     auto param_path = Params().getParamPath();
     if (util::file_exists(param_path)) {
       std::string real_path = util::readlink(param_path);
-      system(util::string_format("rm %s -rf", real_path.c_str()).c_str());
+      util::check_system(util::string_format("rm %s -rf", real_path.c_str()));
       unlink(param_path.c_str());
     }
     if (getenv("COMMA_CACHE") == nullptr) {
-      system(util::string_format("rm %s -rf", Path::download_cache_root().c_str()).c_str());
+      util::check_system(util::string_format("rm %s -rf", Path::download_cache_root().c_str()));
     }
-    system(util::string_format("rm %s -rf", Path::comma_home().c_str()).c_str());
-    system(util::string_format("rm %s -rf", msgq_path.c_str()).c_str());
+    util::check_system(util::string_format("rm %s -rf", Path::comma_home().c_str()));
+    util::check_system(util::string_format("rm %s -rf", msgq_path.c_str()));
     unsetenv("OPENPILOT_PREFIX");
   }
 
diff --git a/common/prefix.py b/common/prefix.py
index b19ce1472b1..d0a5f926286 100644
--- a/common/prefix.py
+++ b/common/prefix.py
@@ -1,4 +1,5 @@
 import os
+import platform
 import shutil
 import uuid
 
@@ -9,9 +10,10 @@
 from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
 
 class OpenpilotPrefix:
-  def __init__(self, prefix: str = None, create_dirs_on_enter: bool = True, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False):
+  def __init__(self, prefix: str | None = None, create_dirs_on_enter: bool = True, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False):
     self.prefix = prefix if prefix else str(uuid.uuid4().hex[0:15])
-    self.msgq_path = os.path.join(Paths.shm_path(), "msgq_" + self.prefix)
+    shm_path = "/tmp" if platform.system() == "Darwin" else "/dev/shm"
+    self.msgq_path = os.path.join(shm_path, "msgq_" + self.prefix)
     self.create_dirs_on_enter = create_dirs_on_enter
     self.clean_dirs_on_exit = clean_dirs_on_exit
     self.shared_download_cache = shared_download_cache
diff --git a/common/ratekeeper.cc b/common/ratekeeper.cc
index 7e63815168d..a79acd7d516 100644
--- a/common/ratekeeper.cc
+++ b/common/ratekeeper.cc
@@ -6,9 +6,9 @@
 #include "common/timing.h"
 #include "common/util.h"
 
-RateKeeper::RateKeeper(const std::string &name, float rate, float print_delay_threshold)
-    : name(name),
-      print_delay_threshold(std::max(0.f, print_delay_threshold)) {
+RateKeeper::RateKeeper(const std::string &name_, float rate, float print_delay_threshold_)
+    : name(name_),
+      print_delay_threshold(std::max(0.f, print_delay_threshold_)) {
   interval = 1 / rate;
   last_monitor_time = seconds_since_boot();
   next_frame_time = last_monitor_time + interval;
diff --git a/common/realtime.py b/common/realtime.py
index 57926b4c4fa..0b14681021c 100644
--- a/common/realtime.py
+++ b/common/realtime.py
@@ -6,7 +6,7 @@
 
 from setproctitle import getproctitle
 
-from openpilot.common.util import MovingAverage
+from openpilot.common.utils import MovingAverage
 from openpilot.system.hardware import PC
 
 
diff --git a/common/tests/test_util.cc b/common/tests/test_util.cc
index de87fa3e064..d927b98a4d1 100644
--- a/common/tests/test_util.cc
+++ b/common/tests/test_util.cc
@@ -36,7 +36,7 @@ TEST_CASE("util::read_file") {
     REQUIRE(util::read_file(filename).empty());
 
     std::string content = random_bytes(64 * 1024);
-    write(fd, content.c_str(), content.size());
+    REQUIRE(write(fd, content.c_str(), content.size()) == (ssize_t)content.size());
     std::string ret = util::read_file(filename);
     bool equal = (ret == content);
     REQUIRE(equal);
@@ -114,12 +114,12 @@ TEST_CASE("util::safe_fwrite") {
 }
 
 TEST_CASE("util::create_directories") {
-  system("rm /tmp/test_create_directories -rf");
+  REQUIRE(system("rm /tmp/test_create_directories -rf") == 0);
   std::string dir = "/tmp/test_create_directories/a/b/c/d/e/f";
 
-  auto check_dir_permissions = [](const std::string &dir, mode_t mode) -> bool {
+  auto check_dir_permissions = [](const std::string &path, mode_t mode) -> bool {
     struct stat st = {};
-    return stat(dir.c_str(), &st) == 0 && (st.st_mode & S_IFMT) == S_IFDIR && (st.st_mode & (S_IRWXU | S_IRWXG | S_IRWXO)) == mode;
+    return stat(path.c_str(), &st) == 0 && (st.st_mode & S_IFMT) == S_IFDIR && (st.st_mode & (S_IRWXU | S_IRWXG | S_IRWXO)) == mode;
   };
 
   SECTION("create_directories") {
@@ -132,7 +132,7 @@ TEST_CASE("util::create_directories") {
   }
   SECTION("a file exists with the same name") {
     REQUIRE(util::create_directories(dir, 0755));
-    int f = open((dir + "/file").c_str(), O_RDWR | O_CREAT);
+    int f = open((dir + "/file").c_str(), O_RDWR | O_CREAT, 0644);
     REQUIRE(f != -1);
     close(f);
     REQUIRE(util::create_directories(dir + "/file", 0755) == false);
diff --git a/common/time_helpers.py b/common/time_helpers.py
index 8564e270c2b..c709182d455 100644
--- a/common/time_helpers.py
+++ b/common/time_helpers.py
@@ -2,6 +2,7 @@
 from pathlib import Path
 
 MIN_DATE = datetime.datetime(year=2025, month=2, day=21)
+MAX_DATE = datetime.datetime(year=2035, month=1, day=1)
 
 def min_date():
   # on systemd systems, the default time is the systemd build time
@@ -12,4 +13,4 @@ def min_date():
   return MIN_DATE
 
 def system_time_valid():
-  return datetime.datetime.now() > min_date()
+  return min_date() < datetime.datetime.now() < MAX_DATE
diff --git a/common/transformations/.gitignore b/common/transformations/.gitignore
deleted file mode 100644
index a67290f09ae..00000000000
--- a/common/transformations/.gitignore
+++ /dev/null
@@ -1,2 +0,0 @@
-transformations
-transformations.cpp
diff --git a/common/transformations/SConscript b/common/transformations/SConscript
deleted file mode 100644
index 4ac73a165e4..00000000000
--- a/common/transformations/SConscript
+++ /dev/null
@@ -1,5 +0,0 @@
-Import('env', 'envCython')
-
-transformations = env.Library('transformations', ['orientation.cc', 'coordinates.cc'])
-transformations_python = envCython.Program('transformations.so', 'transformations.pyx')
-Export('transformations', 'transformations_python')
diff --git a/common/transformations/coordinates.cc b/common/transformations/coordinates.cc
deleted file mode 100644
index f3f10e547f5..00000000000
--- a/common/transformations/coordinates.cc
+++ /dev/null
@@ -1,100 +0,0 @@
-#define _USE_MATH_DEFINES
-
-#include "common/transformations/coordinates.hpp"
-
-#include <iostream>
-#include <cmath>
-#include <eigen3/Eigen/Dense>
-
-double a = 6378137; // lgtm [cpp/short-global-name]
-double b = 6356752.3142; // lgtm [cpp/short-global-name]
-double esq = 6.69437999014 * 0.001; // lgtm [cpp/short-global-name]
-double e1sq = 6.73949674228 * 0.001;
-
-
-static Geodetic to_degrees(Geodetic geodetic){
-  geodetic.lat = RAD2DEG(geodetic.lat);
-  geodetic.lon = RAD2DEG(geodetic.lon);
-  return geodetic;
-}
-
-static Geodetic to_radians(Geodetic geodetic){
-  geodetic.lat = DEG2RAD(geodetic.lat);
-  geodetic.lon = DEG2RAD(geodetic.lon);
-  return geodetic;
-}
-
-
-ECEF geodetic2ecef(const Geodetic &geodetic) {
-  auto g = to_radians(geodetic);
-  double xi = sqrt(1.0 - esq * pow(sin(g.lat), 2));
-  double x = (a / xi + g.alt) * cos(g.lat) * cos(g.lon);
-  double y = (a / xi + g.alt) * cos(g.lat) * sin(g.lon);
-  double z = (a / xi * (1.0 - esq) + g.alt) * sin(g.lat);
-  return {x, y, z};
-}
-
-Geodetic ecef2geodetic(const ECEF &e) {
-  // Convert from ECEF to geodetic using Ferrari's methods
-  // https://en.wikipedia.org/wiki/Geographic_coordinate_conversion#Ferrari.27s_solution
-  double x = e.x;
-  double y = e.y;
-  double z = e.z;
-
-  double r = sqrt(x * x + y * y);
-  double Esq = a * a - b * b;
-  double F = 54 * b * b * z * z;
-  double G = r * r + (1 - esq) * z * z - esq * Esq;
-  double C = (esq * esq * F * r * r) / (pow(G, 3));
-  double S = cbrt(1 + C + sqrt(C * C + 2 * C));
-  double P = F / (3 * pow((S + 1 / S + 1), 2) * G * G);
-  double Q = sqrt(1 + 2 * esq * esq * P);
-  double r_0 = -(P * esq * r) / (1 + Q) + sqrt(0.5 * a * a*(1 + 1.0 / Q) - P * (1 - esq) * z * z / (Q * (1 + Q)) - 0.5 * P * r * r);
-  double U = sqrt(pow((r - esq * r_0), 2) + z * z);
-  double V = sqrt(pow((r - esq * r_0), 2) + (1 - esq) * z * z);
-  double Z_0 = b * b * z / (a * V);
-  double h = U * (1 - b * b / (a * V));
-
-  double lat = atan((z + e1sq * Z_0) / r);
-  double lon = atan2(y, x);
-
-  return to_degrees({lat, lon, h});
-}
-
-LocalCoord::LocalCoord(const Geodetic &geodetic, const ECEF &e) {
-  init_ecef <<  e.x, e.y, e.z;
-
-  auto g = to_radians(geodetic);
-
-  ned2ecef_matrix <<
-    -sin(g.lat)*cos(g.lon), -sin(g.lon), -cos(g.lat)*cos(g.lon),
-    -sin(g.lat)*sin(g.lon), cos(g.lon), -cos(g.lat)*sin(g.lon),
-    cos(g.lat), 0, -sin(g.lat);
-  ecef2ned_matrix = ned2ecef_matrix.transpose();
-}
-
-NED LocalCoord::ecef2ned(const ECEF &e) {
-  Eigen::Vector3d ecef;
-  ecef << e.x, e.y, e.z;
-
-  Eigen::Vector3d ned = (ecef2ned_matrix * (ecef - init_ecef));
-  return {ned[0], ned[1], ned[2]};
-}
-
-ECEF LocalCoord::ned2ecef(const NED &n) {
-  Eigen::Vector3d ned;
-  ned << n.n, n.e, n.d;
-
-  Eigen::Vector3d ecef = (ned2ecef_matrix * ned) + init_ecef;
-  return {ecef[0], ecef[1], ecef[2]};
-}
-
-NED LocalCoord::geodetic2ned(const Geodetic &g) {
-  ECEF e = ::geodetic2ecef(g);
-  return ecef2ned(e);
-}
-
-Geodetic LocalCoord::ned2geodetic(const NED &n) {
-  ECEF e = ned2ecef(n);
-  return ::ecef2geodetic(e);
-}
diff --git a/common/transformations/coordinates.hpp b/common/transformations/coordinates.hpp
deleted file mode 100644
index dc8ff7a4b6a..00000000000
--- a/common/transformations/coordinates.hpp
+++ /dev/null
@@ -1,43 +0,0 @@
-#pragma once
-
-#include <eigen3/Eigen/Dense>
-
-#define DEG2RAD(x) ((x) * M_PI / 180.0)
-#define RAD2DEG(x) ((x) * 180.0 / M_PI)
-
-struct ECEF {
-  double x, y, z;
-  Eigen::Vector3d to_vector() const {
-    return Eigen::Vector3d(x, y, z);
-  }
-};
-
-struct NED {
-  double n, e, d;
-  Eigen::Vector3d to_vector() const {
-    return Eigen::Vector3d(n, e, d);
-  }
-};
-
-struct Geodetic {
-  double lat, lon, alt;
-  bool radians=false;
-};
-
-ECEF geodetic2ecef(const Geodetic &g);
-Geodetic ecef2geodetic(const ECEF &e);
-
-class LocalCoord {
-public:
-  Eigen::Matrix3d ned2ecef_matrix;
-  Eigen::Matrix3d ecef2ned_matrix;
-  Eigen::Vector3d init_ecef;
-  LocalCoord(const Geodetic &g, const ECEF &e);
-  LocalCoord(const Geodetic &g) : LocalCoord(g, ::geodetic2ecef(g)) {}
-  LocalCoord(const ECEF &e) : LocalCoord(::ecef2geodetic(e), e) {}
-
-  NED ecef2ned(const ECEF &e);
-  ECEF ned2ecef(const NED &n);
-  NED geodetic2ned(const Geodetic &g);
-  Geodetic ned2geodetic(const NED &n);
-};
diff --git a/common/transformations/orientation.cc b/common/transformations/orientation.cc
deleted file mode 100644
index fb5e47a86a3..00000000000
--- a/common/transformations/orientation.cc
+++ /dev/null
@@ -1,144 +0,0 @@
-#define _USE_MATH_DEFINES
-
-#include <iostream>
-#include <cmath>
-#include <eigen3/Eigen/Dense>
-
-#include "common/transformations/orientation.hpp"
-#include "common/transformations/coordinates.hpp"
-
-Eigen::Quaterniond ensure_unique(const Eigen::Quaterniond &quat) {
-  if (quat.w() > 0){
-    return quat;
-  } else {
-    return Eigen::Quaterniond(-quat.w(), -quat.x(), -quat.y(), -quat.z());
-  }
-}
-
-Eigen::Quaterniond euler2quat(const Eigen::Vector3d &euler) {
-  Eigen::Quaterniond q;
-
-  q = Eigen::AngleAxisd(euler(2), Eigen::Vector3d::UnitZ())
-    * Eigen::AngleAxisd(euler(1), Eigen::Vector3d::UnitY())
-    * Eigen::AngleAxisd(euler(0), Eigen::Vector3d::UnitX());
-  return ensure_unique(q);
-}
-
-
-Eigen::Vector3d quat2euler(const Eigen::Quaterniond &quat) {
-  // TODO: switch to eigen implementation if the range of the Euler angles doesn't matter anymore
-  // Eigen::Vector3d euler = quat.toRotationMatrix().eulerAngles(2, 1, 0);
-  // return {euler(2), euler(1), euler(0)};
-  double gamma = atan2(2 * (quat.w() * quat.x() + quat.y() * quat.z()), 1 - 2 * (quat.x()*quat.x() + quat.y()*quat.y()));
-  double asin_arg_clipped = std::clamp(2 * (quat.w() * quat.y() - quat.z() * quat.x()), -1.0, 1.0);
-  double theta = asin(asin_arg_clipped);
-  double psi = atan2(2 * (quat.w() * quat.z() + quat.x() * quat.y()), 1 - 2 * (quat.y()*quat.y() + quat.z()*quat.z()));
-  return {gamma, theta, psi};
-}
-
-Eigen::Matrix3d quat2rot(const Eigen::Quaterniond &quat) {
-  return quat.toRotationMatrix();
-}
-
-Eigen::Quaterniond rot2quat(const Eigen::Matrix3d &rot) {
-  return ensure_unique(Eigen::Quaterniond(rot));
-}
-
-Eigen::Matrix3d euler2rot(const Eigen::Vector3d &euler) {
-  return quat2rot(euler2quat(euler));
-}
-
-Eigen::Vector3d rot2euler(const Eigen::Matrix3d &rot) {
-  return quat2euler(rot2quat(rot));
-}
-
-Eigen::Matrix3d rot_matrix(double roll, double pitch, double yaw) {
-  return euler2rot({roll, pitch, yaw});
-}
-
-Eigen::Matrix3d rot(const Eigen::Vector3d &axis, double angle) {
-  Eigen::Quaterniond q;
-  q = Eigen::AngleAxisd(angle, axis);
-  return q.toRotationMatrix();
-}
-
-
-Eigen::Vector3d ecef_euler_from_ned(const ECEF &ecef_init, const Eigen::Vector3d &ned_pose) {
-  /*
-    Using Rotations to Build Aerospace Coordinate Systems
-    Don Koks
-    https://apps.dtic.mil/dtic/tr/fulltext/u2/a484864.pdf
-  */
-  LocalCoord converter = LocalCoord(ecef_init);
-  Eigen::Vector3d zero = ecef_init.to_vector();
-
-  Eigen::Vector3d x0 = converter.ned2ecef({1, 0, 0}).to_vector() - zero;
-  Eigen::Vector3d y0 = converter.ned2ecef({0, 1, 0}).to_vector() - zero;
-  Eigen::Vector3d z0 = converter.ned2ecef({0, 0, 1}).to_vector() - zero;
-
-  Eigen::Vector3d x1 = rot(z0, ned_pose(2)) * x0;
-  Eigen::Vector3d y1 = rot(z0, ned_pose(2)) * y0;
-  Eigen::Vector3d z1 = rot(z0, ned_pose(2)) * z0;
-
-  Eigen::Vector3d x2 = rot(y1, ned_pose(1)) * x1;
-  Eigen::Vector3d y2 = rot(y1, ned_pose(1)) * y1;
-  Eigen::Vector3d z2 = rot(y1, ned_pose(1)) * z1;
-
-  Eigen::Vector3d x3 = rot(x2, ned_pose(0)) * x2;
-  Eigen::Vector3d y3 = rot(x2, ned_pose(0)) * y2;
-
-
-  x0 = Eigen::Vector3d(1, 0, 0);
-  y0 = Eigen::Vector3d(0, 1, 0);
-  z0 = Eigen::Vector3d(0, 0, 1);
-
-  double psi = atan2(x3.dot(y0), x3.dot(x0));
-  double theta = atan2(-x3.dot(z0), sqrt(pow(x3.dot(x0), 2) + pow(x3.dot(y0), 2)));
-
-  y2 = rot(z0, psi) * y0;
-  z2 = rot(y2, theta) * z0;
-
-  double phi = atan2(y3.dot(z2), y3.dot(y2));
-
-  return {phi, theta, psi};
-}
-
-Eigen::Vector3d ned_euler_from_ecef(const ECEF &ecef_init, const Eigen::Vector3d &ecef_pose) {
-  /*
-    Using Rotations to Build Aerospace Coordinate Systems
-    Don Koks
-    https://apps.dtic.mil/dtic/tr/fulltext/u2/a484864.pdf
-  */
-  LocalCoord converter = LocalCoord(ecef_init);
-
-  Eigen::Vector3d x0 = Eigen::Vector3d(1, 0, 0);
-  Eigen::Vector3d y0 = Eigen::Vector3d(0, 1, 0);
-  Eigen::Vector3d z0 = Eigen::Vector3d(0, 0, 1);
-
-  Eigen::Vector3d x1 = rot(z0, ecef_pose(2)) * x0;
-  Eigen::Vector3d y1 = rot(z0, ecef_pose(2)) * y0;
-  Eigen::Vector3d z1 = rot(z0, ecef_pose(2)) * z0;
-
-  Eigen::Vector3d x2 = rot(y1, ecef_pose(1)) * x1;
-  Eigen::Vector3d y2 = rot(y1, ecef_pose(1)) * y1;
-  Eigen::Vector3d z2 = rot(y1, ecef_pose(1)) * z1;
-
-  Eigen::Vector3d x3 = rot(x2, ecef_pose(0)) * x2;
-  Eigen::Vector3d y3 = rot(x2, ecef_pose(0)) * y2;
-
-  Eigen::Vector3d zero = ecef_init.to_vector();
-  x0 = converter.ned2ecef({1, 0, 0}).to_vector() - zero;
-  y0 = converter.ned2ecef({0, 1, 0}).to_vector() - zero;
-  z0 = converter.ned2ecef({0, 0, 1}).to_vector() - zero;
-
-  double psi = atan2(x3.dot(y0), x3.dot(x0));
-  double theta = atan2(-x3.dot(z0), sqrt(pow(x3.dot(x0), 2) + pow(x3.dot(y0), 2)));
-
-  y2 = rot(z0, psi) * y0;
-  z2 = rot(y2, theta) * z0;
-
-  double phi = atan2(y3.dot(z2), y3.dot(y2));
-
-  return {phi, theta, psi};
-}
-
diff --git a/common/transformations/orientation.hpp b/common/transformations/orientation.hpp
deleted file mode 100644
index 0874a0a814b..00000000000
--- a/common/transformations/orientation.hpp
+++ /dev/null
@@ -1,17 +0,0 @@
-#pragma once
-#include <eigen3/Eigen/Dense>
-#include "common/transformations/coordinates.hpp"
-
-
-Eigen::Quaterniond ensure_unique(const Eigen::Quaterniond &quat);
-
-Eigen::Quaterniond euler2quat(const Eigen::Vector3d &euler);
-Eigen::Vector3d quat2euler(const Eigen::Quaterniond &quat);
-Eigen::Matrix3d quat2rot(const Eigen::Quaterniond &quat);
-Eigen::Quaterniond rot2quat(const Eigen::Matrix3d &rot);
-Eigen::Matrix3d euler2rot(const Eigen::Vector3d &euler);
-Eigen::Vector3d rot2euler(const Eigen::Matrix3d &rot);
-Eigen::Matrix3d rot_matrix(double roll, double pitch, double yaw);
-Eigen::Matrix3d rot(const Eigen::Vector3d &axis, double angle);
-Eigen::Vector3d ecef_euler_from_ned(const ECEF &ecef_init, const Eigen::Vector3d &ned_pose);
-Eigen::Vector3d ned_euler_from_ecef(const ECEF &ecef_init, const Eigen::Vector3d &ecef_pose);
diff --git a/common/transformations/tests/test_coordinates.py b/common/transformations/tests/test_coordinates.py
index 11a6bf70eef..0b5d1c36dfb 100644
--- a/common/transformations/tests/test_coordinates.py
+++ b/common/transformations/tests/test_coordinates.py
@@ -102,3 +102,36 @@ def test_ned_batch(self):
     np.testing.assert_allclose(converter.ned2ecef(ned_offsets_batch),
                                                            ecef_positions_offset_batch,
                                                            rtol=1e-9, atol=1e-7)
+
+  def test_errors(self):
+    # Test wrong shape/type for geodetic2ecef
+    # numpy_wrap raises IndexError for scalar input
+    with np.testing.assert_raises(IndexError):
+      coord.geodetic2ecef(1.0)
+
+    with np.testing.assert_raises_regex(ValueError, "Geodetic must be size 3"):
+      coord.geodetic2ecef([0, 0])
+
+    with np.testing.assert_raises_regex(ValueError, "Geodetic must be size 3"):
+      coord.geodetic2ecef([0, 0, 0, 0])
+
+    with np.testing.assert_raises(TypeError):
+      coord.geodetic2ecef(['a', 'b', 'c'])
+
+    # Test LocalCoord constructor errors
+    with np.testing.assert_raises(ValueError):
+      coord.LocalCoord.from_geodetic([0, 0])
+
+    with np.testing.assert_raises(ValueError):
+      coord.LocalCoord.from_geodetic(1)
+
+    with np.testing.assert_raises(TypeError):
+      coord.LocalCoord.from_geodetic(['a', 'b', 'c'])
+
+    # Test wrong shape/type for ecef2geodetic
+    with np.testing.assert_raises(ValueError):
+      coord.ecef2geodetic([1, 2])
+    with np.testing.assert_raises(ValueError):
+      coord.ecef2geodetic([1, 2, 3, 4])
+    with np.testing.assert_raises(IndexError):
+      coord.ecef2geodetic(1.0)
diff --git a/common/transformations/tests/test_orientation.py b/common/transformations/tests/test_orientation.py
index 55fbc6581e3..1bf94115c83 100644
--- a/common/transformations/tests/test_orientation.py
+++ b/common/transformations/tests/test_orientation.py
@@ -1,4 +1,5 @@
 import numpy as np
+import pytest
 
 from openpilot.common.transformations.orientation import euler2quat, quat2euler, euler2rot, rot2euler, \
                                                rot2quat, quat2rot, \
@@ -59,3 +60,32 @@ def test_euler_ned(self):
       np.testing.assert_allclose(ned_eulers[i], ned_euler_from_ecef(ecef_positions[i], eulers[i]), rtol=1e-7)
       #np.testing.assert_allclose(eulers[i], ecef_euler_from_ned(ecef_positions[i], ned_eulers[i]), rtol=1e-7)
     # np.testing.assert_allclose(ned_eulers, ned_euler_from_ecef(ecef_positions, eulers), rtol=1e-7)
+
+  def test_inputs(self):
+    with pytest.raises(ValueError):
+      euler2quat([1, 2])
+
+    with pytest.raises(ValueError):
+      quat2rot([1, 2, 3])
+
+    with pytest.raises(IndexError):
+      rot2quat(np.zeros((2, 2)))
+
+  def test_euler_rot_consistency(self):
+    rpy = [0.1, 0.2, 0.3]
+    R = euler2rot(rpy)
+
+    # R -> q -> R
+    q = rot2quat(R)
+    R_new = quat2rot(q)
+    np.testing.assert_allclose(R, R_new, atol=1e-15)
+
+    # q -> R -> Euler (quat2euler) -> R
+    rpy_new = quat2euler(q)
+    R_new2 = euler2rot(rpy_new)
+    np.testing.assert_allclose(R, R_new2, atol=1e-15)
+
+    # R -> Euler (rot2euler) -> R
+    rpy_from_rot = rot2euler(R)
+    R_new3 = euler2rot(rpy_from_rot)
+    np.testing.assert_allclose(R, R_new3, atol=1e-15)
diff --git a/common/transformations/transformations.pxd b/common/transformations/transformations.pxd
deleted file mode 100644
index fe32e18deac..00000000000
--- a/common/transformations/transformations.pxd
+++ /dev/null
@@ -1,72 +0,0 @@
-# cython: language_level=3
-from libcpp cimport bool
-
-cdef extern from "orientation.cc":
-  pass
-
-cdef extern from "orientation.hpp":
-  cdef cppclass Quaternion "Eigen::Quaterniond":
-    Quaternion()
-    Quaternion(double, double, double, double)
-    double w()
-    double x()
-    double y()
-    double z()
-
-  cdef cppclass Vector3 "Eigen::Vector3d":
-    Vector3()
-    Vector3(double, double, double)
-    double operator()(int)
-
-  cdef cppclass Matrix3 "Eigen::Matrix3d":
-    Matrix3()
-    Matrix3(double*)
-
-    double operator()(int, int)
-
-  Quaternion euler2quat(const Vector3 &)
-  Vector3 quat2euler(const Quaternion &)
-  Matrix3 quat2rot(const Quaternion &)
-  Quaternion rot2quat(const Matrix3 &)
-  Vector3 rot2euler(const Matrix3 &)
-  Matrix3 euler2rot(const Vector3 &)
-  Matrix3 rot_matrix(double, double, double)
-  Vector3 ecef_euler_from_ned(const ECEF &, const Vector3 &)
-  Vector3 ned_euler_from_ecef(const ECEF &, const Vector3 &)
-
-
-cdef extern from "coordinates.cc":
-  cdef struct ECEF:
-    double x
-    double y
-    double z
-
-  cdef struct NED:
-    double n
-    double e
-    double d
-
-  cdef struct Geodetic:
-    double lat
-    double lon
-    double alt
-    bool radians
-
-  ECEF geodetic2ecef(const Geodetic &)
-  Geodetic ecef2geodetic(const ECEF &)
-
-  cdef cppclass LocalCoord_c "LocalCoord":
-    Matrix3 ned2ecef_matrix
-    Matrix3 ecef2ned_matrix
-
-    LocalCoord_c(const Geodetic &, const ECEF &)
-    LocalCoord_c(const Geodetic &)
-    LocalCoord_c(const ECEF &)
-
-    NED ecef2ned(const ECEF &)
-    ECEF ned2ecef(const NED &)
-    NED geodetic2ned(const Geodetic &)
-    Geodetic ned2geodetic(const NED &)
-
-cdef extern from "coordinates.hpp":
-  pass
diff --git a/common/transformations/transformations.py b/common/transformations/transformations.py
new file mode 100644
index 00000000000..5cb6220f95e
--- /dev/null
+++ b/common/transformations/transformations.py
@@ -0,0 +1,342 @@
+import numpy as np
+
+
+# Constants
+a = 6378137.0
+b = 6356752.3142
+esq = 6.69437999014e-3
+e1sq = 6.73949674228e-3
+
+
+def geodetic2ecef_single(g):
+  """
+  Convert geodetic coordinates (latitude, longitude, altitude) to ECEF.
+  """
+  try:
+    if len(g) != 3:
+      raise ValueError("Geodetic must be size 3")
+  except TypeError:
+    raise ValueError("Geodetic must be a sequence of length 3") from None
+
+  lat, lon, alt = g
+  lat = np.radians(lat)
+  lon = np.radians(lon)
+  xi = np.sqrt(1.0 - esq * np.sin(lat)**2)
+  x = (a / xi + alt) * np.cos(lat) * np.cos(lon)
+  y = (a / xi + alt) * np.cos(lat) * np.sin(lon)
+  z = (a / xi * (1.0 - esq) + alt) * np.sin(lat)
+  return np.array([x, y, z])
+
+
+def ecef2geodetic_single(e):
+  """
+  Convert ECEF to geodetic coordinates using Ferrari's solution.
+  """
+  x, y, z = e
+  r = np.sqrt(x**2 + y**2)
+  Esq = a**2 - b**2
+  F = 54 * b**2 * z**2
+  G = r**2 + (1 - esq) * z**2 - esq * Esq
+  C = (esq**2 * F * r**2) / (G**3)
+  S = np.cbrt(1 + C + np.sqrt(C**2 + 2 * C))
+  P = F / (3 * (S + 1 / S + 1)**2 * G**2)
+  Q = np.sqrt(1 + 2 * esq**2 * P)
+  r_0 = -(P * esq * r) / (1 + Q) + np.sqrt(0.5 * a**2 * (1 + 1.0 / Q) - P * (1 - esq) * z**2 / (Q * (1 + Q)) - 0.5 * P * r**2)
+  U = np.sqrt((r - esq * r_0)**2 + z**2)
+  V = np.sqrt((r - esq * r_0)**2 + (1 - esq) * z**2)
+  Z_0 = b**2 * z / (a * V)
+  h = U * (1 - b**2 / (a * V))
+  lat = np.arctan((z + e1sq * Z_0) / r)
+  lon = np.arctan2(y, x)
+  return np.array([np.degrees(lat), np.degrees(lon), h])
+
+
+def euler2quat_single(euler):
+  """
+  Convert Euler angles (roll, pitch, yaw) to a quaternion.
+  Rotation order: Z-Y-X (yaw, pitch, roll).
+  """
+  phi, theta, psi = euler
+
+  c_phi, s_phi = np.cos(phi / 2), np.sin(phi / 2)
+  c_theta, s_theta = np.cos(theta / 2), np.sin(theta / 2)
+  c_psi, s_psi = np.cos(psi / 2), np.sin(psi / 2)
+
+  w = c_phi * c_theta * c_psi + s_phi * s_theta * s_psi
+  x = s_phi * c_theta * c_psi - c_phi * s_theta * s_psi
+  y = c_phi * s_theta * c_psi + s_phi * c_theta * s_psi
+  z = c_phi * c_theta * s_psi - s_phi * s_theta * c_psi
+
+  if w < 0:
+    return np.array([-w, -x, -y, -z])
+  return np.array([w, x, y, z])
+
+
+def quat2euler_single(q):
+  """
+  Convert a quaternion to Euler angles (roll, pitch, yaw).
+  """
+  w, x, y, z = q
+  gamma = np.arctan2(2 * (w * x + y * z), 1 - 2 * (x**2 + y**2))
+  sin_arg = 2 * (w * y - z * x)
+  sin_arg = np.clip(sin_arg, -1.0, 1.0)
+  theta = np.arcsin(sin_arg)
+  psi = np.arctan2(2 * (w * z + x * y), 1 - 2 * (y**2 + z**2))
+  return np.array([gamma, theta, psi])
+
+
+def quat2rot_single(q):
+  """
+  Convert a quaternion to a 3x3 rotation matrix.
+  """
+  w, x, y, z = q
+  xx, yy, zz = x * x, y * y, z * z
+  xy, xz, yz = x * y, x * z, y * z
+  wx, wy, wz = w * x, w * y, w * z
+
+  mat = np.array([
+    [1 - 2 * (yy + zz), 2 * (xy - wz), 2 * (xz + wy)],
+    [2 * (xy + wz), 1 - 2 * (xx + zz), 2 * (yz - wx)],
+    [2 * (xz - wy), 2 * (yz + wx), 1 - 2 * (xx + yy)]
+  ])
+  return mat
+
+
+def rot2quat_single(rot):
+  """
+  Convert a 3x3 rotation matrix to a quaternion.
+  """
+  trace = np.trace(rot)
+  if trace > 0:
+    s = 0.5 / np.sqrt(trace + 1.0)
+    w = 0.25 / s
+    x = (rot[2, 1] - rot[1, 2]) * s
+    y = (rot[0, 2] - rot[2, 0]) * s
+    z = (rot[1, 0] - rot[0, 1]) * s
+  else:
+    if rot[0, 0] > rot[1, 1] and rot[0, 0] > rot[2, 2]:
+      s = 2.0 * np.sqrt(1.0 + rot[0, 0] - rot[1, 1] - rot[2, 2])
+      w = (rot[2, 1] - rot[1, 2]) / s
+      x = 0.25 * s
+      y = (rot[0, 1] + rot[1, 0]) / s
+      z = (rot[0, 2] + rot[2, 0]) / s
+    elif rot[1, 1] > rot[2, 2]:
+      s = 2.0 * np.sqrt(1.0 + rot[1, 1] - rot[0, 0] - rot[2, 2])
+      w = (rot[0, 2] - rot[2, 0]) / s
+      x = (rot[0, 1] + rot[1, 0]) / s
+      y = 0.25 * s
+      z = (rot[1, 2] + rot[2, 1]) / s
+    else:
+      s = 2.0 * np.sqrt(1.0 + rot[2, 2] - rot[0, 0] - rot[1, 1])
+      w = (rot[1, 0] - rot[0, 1]) / s
+      x = (rot[0, 2] + rot[2, 0]) / s
+      y = (rot[1, 2] + rot[2, 1]) / s
+      z = 0.25 * s
+
+  if w < 0:
+    return np.array([-w, -x, -y, -z])
+  return np.array([w, x, y, z])
+
+
+def euler2rot_single(euler):
+  """
+  Convert Euler angles (roll, pitch, yaw) to a 3x3 rotation matrix.
+  Rotation order: Z-Y-X (yaw, pitch, roll).
+  """
+  phi, theta, psi = euler
+
+  cx, sx = np.cos(phi), np.sin(phi)
+  cy, sy = np.cos(theta), np.sin(theta)
+  cz, sz = np.cos(psi), np.sin(psi)
+
+  Rx = np.array([[1, 0, 0], [0, cx, -sx], [0, sx, cx]])
+  Ry = np.array([[cy, 0, sy], [0, 1, 0], [-sy, 0, cy]])
+  Rz = np.array([[cz, -sz, 0], [sz, cz, 0], [0, 0, 1]])
+
+  return Rz @ Ry @ Rx
+
+
+def rot2euler_single(rot):
+  """
+  Convert a 3x3 rotation matrix to Euler angles (roll, pitch, yaw).
+  """
+  return quat2euler_single(rot2quat_single(rot))
+
+
+def rot_matrix(roll, pitch, yaw):
+  """
+  Create a 3x3 rotation matrix from roll, pitch, and yaw angles.
+  """
+  return euler2rot_single([roll, pitch, yaw])
+
+
+def axis_angle_to_rot(axis, angle):
+  """
+  Convert an axis-angle representation to a 3x3 rotation matrix.
+  """
+  c = np.cos(angle / 2)
+  s = np.sin(angle / 2)
+  q = np.array([c, s*axis[0], s*axis[1], s*axis[2]])
+  return quat2rot_single(q)
+
+
+class LocalCoord:
+  """
+  A class to handle conversions between ECEF and local NED coordinates.
+  """
+  def __init__(self, geodetic=None, ecef=None):
+    """
+    Initialize LocalCoord with either geodetic or ECEF coordinates.
+    """
+    if geodetic is not None:
+      self.init_ecef = geodetic2ecef_single(geodetic)
+      lat, lon, _ = geodetic
+    elif ecef is not None:
+      self.init_ecef = np.array(ecef)
+      lat, lon, _ = ecef2geodetic_single(ecef)
+    else:
+      raise ValueError("Must provide geodetic or ecef")
+
+    lat = np.radians(lat)
+    lon = np.radians(lon)
+
+    self.ned2ecef_matrix = np.array([
+      [-np.sin(lat) * np.cos(lon), -np.sin(lon), -np.cos(lat) * np.cos(lon)],
+      [-np.sin(lat) * np.sin(lon), np.cos(lon), -np.cos(lat) * np.sin(lon)],
+      [np.cos(lat), 0, -np.sin(lat)]
+    ])
+    self.ecef2ned_matrix = self.ned2ecef_matrix.T
+
+  @classmethod
+  def from_geodetic(cls, geodetic):
+    """
+    Create a LocalCoord instance from geodetic coordinates.
+    """
+    return cls(geodetic=geodetic)
+
+  @classmethod
+  def from_ecef(cls, ecef):
+    """
+    Create a LocalCoord instance from ECEF coordinates.
+    """
+    return cls(ecef=ecef)
+
+  def ecef2ned_single(self, ecef):
+    """
+    Convert a single ECEF point to NED coordinates relative to the origin.
+    """
+    return self.ecef2ned_matrix @ (ecef - self.init_ecef)
+
+  def ned2ecef_single(self, ned):
+    """
+    Convert a single NED point to ECEF coordinates.
+    """
+    return self.ned2ecef_matrix @ ned + self.init_ecef
+
+  def geodetic2ned_single(self, geodetic):
+    """
+    Convert a single geodetic point to NED coordinates.
+    """
+    ecef = geodetic2ecef_single(geodetic)
+    return self.ecef2ned_single(ecef)
+
+  def ned2geodetic_single(self, ned):
+    """
+    Convert a single NED point to geodetic coordinates.
+    """
+    ecef = self.ned2ecef_single(ned)
+    return ecef2geodetic_single(ecef)
+
+  @property
+  def ned_from_ecef_matrix(self):
+    """
+    Returns the rotation matrix from ECEF to NED coordinates.
+    """
+    return self.ecef2ned_matrix
+
+  @property
+  def ecef_from_ned_matrix(self):
+    """
+    Returns the rotation matrix from NED to ECEF coordinates.
+    """
+    return self.ned2ecef_matrix
+
+
+def ecef_euler_from_ned_single(ecef_init, ned_pose):
+  """
+  Convert NED Euler angles (roll, pitch, yaw) at a given ECEF origin
+  to equivalent ECEF Euler angles.
+  """
+  converter = LocalCoord(ecef=ecef_init)
+  zero = np.array(ecef_init)
+
+  x0 = converter.ned2ecef_single([1, 0, 0]) - zero
+  y0 = converter.ned2ecef_single([0, 1, 0]) - zero
+  z0 = converter.ned2ecef_single([0, 0, 1]) - zero
+
+  phi, theta, psi = ned_pose
+
+  x1 = axis_angle_to_rot(z0, psi) @ x0
+  y1 = axis_angle_to_rot(z0, psi) @ y0
+  z1 = axis_angle_to_rot(z0, psi) @ z0
+
+  x2 = axis_angle_to_rot(y1, theta) @ x1
+  y2 = axis_angle_to_rot(y1, theta) @ y1
+  z2 = axis_angle_to_rot(y1, theta) @ z1
+
+  x3 = axis_angle_to_rot(x2, phi) @ x2
+  y3 = axis_angle_to_rot(x2, phi) @ y2
+
+  x0 = np.array([1.0, 0, 0])
+  y0 = np.array([0, 1.0, 0])
+  z0 = np.array([0, 0, 1.0])
+
+  psi_out = np.arctan2(np.dot(x3, y0), np.dot(x3, x0))
+  theta_out = np.arctan2(-np.dot(x3, z0), np.sqrt(np.dot(x3, x0)**2 + np.dot(x3, y0)**2))
+
+  y2 = axis_angle_to_rot(z0, psi_out) @ y0
+  z2 = axis_angle_to_rot(y2, theta_out) @ z0
+
+  phi_out = np.arctan2(np.dot(y3, z2), np.dot(y3, y2))
+
+  return np.array([phi_out, theta_out, psi_out])
+
+
+def ned_euler_from_ecef_single(ecef_init, ecef_pose):
+  """
+  Convert ECEF Euler angles (roll, pitch, yaw) at a given ECEF origin
+  to equivalent NED Euler angles.
+  """
+  converter = LocalCoord(ecef=ecef_init)
+
+  x0 = np.array([1.0, 0, 0])
+  y0 = np.array([0, 1.0, 0])
+  z0 = np.array([0, 0, 1.0])
+
+  phi, theta, psi = ecef_pose
+
+  x1 = axis_angle_to_rot(z0, psi) @ x0
+  y1 = axis_angle_to_rot(z0, psi) @ y0
+  z1 = axis_angle_to_rot(z0, psi) @ z0
+
+  x2 = axis_angle_to_rot(y1, theta) @ x1
+  y2 = axis_angle_to_rot(y1, theta) @ y1
+  z2 = axis_angle_to_rot(y1, theta) @ z1
+
+  x3 = axis_angle_to_rot(x2, phi) @ x2
+  y3 = axis_angle_to_rot(x2, phi) @ y2
+
+  zero = np.array(ecef_init)
+  x0 = converter.ned2ecef_single([1, 0, 0]) - zero
+  y0 = converter.ned2ecef_single([0, 1, 0]) - zero
+  z0 = converter.ned2ecef_single([0, 0, 1]) - zero
+
+  psi_out = np.arctan2(np.dot(x3, y0), np.dot(x3, x0))
+  theta_out = np.arctan2(-np.dot(x3, z0), np.sqrt(np.dot(x3, x0)**2 + np.dot(x3, y0)**2))
+
+  y2 = axis_angle_to_rot(z0, psi_out) @ y0
+  z2 = axis_angle_to_rot(y2, theta_out) @ z0
+
+  phi_out = np.arctan2(np.dot(y3, z2), np.dot(y3, y2))
+
+  return np.array([phi_out, theta_out, psi_out])
diff --git a/common/transformations/transformations.pyx b/common/transformations/transformations.pyx
deleted file mode 100644
index ae045c369d7..00000000000
--- a/common/transformations/transformations.pyx
+++ /dev/null
@@ -1,173 +0,0 @@
-# distutils: language = c++
-# cython: language_level = 3
-from openpilot.common.transformations.transformations cimport Matrix3, Vector3, Quaternion
-from openpilot.common.transformations.transformations cimport ECEF, NED, Geodetic
-
-from openpilot.common.transformations.transformations cimport euler2quat as euler2quat_c
-from openpilot.common.transformations.transformations cimport quat2euler as quat2euler_c
-from openpilot.common.transformations.transformations cimport quat2rot as quat2rot_c
-from openpilot.common.transformations.transformations cimport rot2quat as rot2quat_c
-from openpilot.common.transformations.transformations cimport euler2rot as euler2rot_c
-from openpilot.common.transformations.transformations cimport rot2euler as rot2euler_c
-from openpilot.common.transformations.transformations cimport rot_matrix as rot_matrix_c
-from openpilot.common.transformations.transformations cimport ecef_euler_from_ned as ecef_euler_from_ned_c
-from openpilot.common.transformations.transformations cimport ned_euler_from_ecef as ned_euler_from_ecef_c
-from openpilot.common.transformations.transformations cimport geodetic2ecef as geodetic2ecef_c
-from openpilot.common.transformations.transformations cimport ecef2geodetic as ecef2geodetic_c
-from openpilot.common.transformations.transformations cimport LocalCoord_c
-
-
-import numpy as np
-cimport numpy as np
-
-cdef np.ndarray[double, ndim=2] matrix2numpy(Matrix3 m):
-    return np.array([
-        [m(0, 0), m(0, 1), m(0, 2)],
-        [m(1, 0), m(1, 1), m(1, 2)],
-        [m(2, 0), m(2, 1), m(2, 2)],
-    ])
-
-cdef Matrix3 numpy2matrix(np.ndarray[double, ndim=2, mode="fortran"] m):
-    assert m.shape[0] == 3
-    assert m.shape[1] == 3
-    return Matrix3(<double*>m.data)
-
-cdef ECEF list2ecef(ecef):
-    cdef ECEF e
-    e.x = ecef[0]
-    e.y = ecef[1]
-    e.z = ecef[2]
-    return e
-
-cdef NED list2ned(ned):
-    cdef NED n
-    n.n = ned[0]
-    n.e = ned[1]
-    n.d = ned[2]
-    return n
-
-cdef Geodetic list2geodetic(geodetic):
-    cdef Geodetic g
-    g.lat = geodetic[0]
-    g.lon = geodetic[1]
-    g.alt = geodetic[2]
-    return g
-
-def euler2quat_single(euler):
-    cdef Vector3 e = Vector3(euler[0], euler[1], euler[2])
-    cdef Quaternion q = euler2quat_c(e)
-    return [q.w(), q.x(), q.y(), q.z()]
-
-def quat2euler_single(quat):
-    cdef Quaternion q = Quaternion(quat[0], quat[1], quat[2], quat[3])
-    cdef Vector3 e = quat2euler_c(q)
-    return [e(0), e(1), e(2)]
-
-def quat2rot_single(quat):
-    cdef Quaternion q = Quaternion(quat[0], quat[1], quat[2], quat[3])
-    cdef Matrix3 r = quat2rot_c(q)
-    return matrix2numpy(r)
-
-def rot2quat_single(rot):
-    cdef Matrix3 r = numpy2matrix(np.asfortranarray(rot, dtype=np.double))
-    cdef Quaternion q = rot2quat_c(r)
-    return [q.w(), q.x(), q.y(), q.z()]
-
-def euler2rot_single(euler):
-    cdef Vector3 e = Vector3(euler[0], euler[1], euler[2])
-    cdef Matrix3 r = euler2rot_c(e)
-    return matrix2numpy(r)
-
-def rot2euler_single(rot):
-    cdef Matrix3 r = numpy2matrix(np.asfortranarray(rot, dtype=np.double))
-    cdef Vector3 e = rot2euler_c(r)
-    return [e(0), e(1), e(2)]
-
-def rot_matrix(roll, pitch, yaw):
-    return matrix2numpy(rot_matrix_c(roll, pitch, yaw))
-
-def ecef_euler_from_ned_single(ecef_init, ned_pose):
-    cdef ECEF init = list2ecef(ecef_init)
-    cdef Vector3 pose = Vector3(ned_pose[0], ned_pose[1], ned_pose[2])
-
-    cdef Vector3 e = ecef_euler_from_ned_c(init, pose)
-    return [e(0), e(1), e(2)]
-
-def ned_euler_from_ecef_single(ecef_init, ecef_pose):
-    cdef ECEF init = list2ecef(ecef_init)
-    cdef Vector3 pose = Vector3(ecef_pose[0], ecef_pose[1], ecef_pose[2])
-
-    cdef Vector3 e = ned_euler_from_ecef_c(init, pose)
-    return [e(0), e(1), e(2)]
-
-def geodetic2ecef_single(geodetic):
-    cdef Geodetic g = list2geodetic(geodetic)
-    cdef ECEF e = geodetic2ecef_c(g)
-    return [e.x, e.y, e.z]
-
-def ecef2geodetic_single(ecef):
-    cdef ECEF e = list2ecef(ecef)
-    cdef Geodetic g = ecef2geodetic_c(e)
-    return [g.lat, g.lon, g.alt]
-
-
-cdef class LocalCoord:
-    cdef LocalCoord_c * lc
-
-    def __init__(self, geodetic=None, ecef=None):
-        assert (geodetic is not None) or (ecef is not None)
-        if geodetic is not None:
-            self.lc = new LocalCoord_c(list2geodetic(geodetic))
-        elif ecef is not None:
-            self.lc = new LocalCoord_c(list2ecef(ecef))
-
-    @property
-    def ned2ecef_matrix(self):
-        return matrix2numpy(self.lc.ned2ecef_matrix)
-
-    @property
-    def ecef2ned_matrix(self):
-        return matrix2numpy(self.lc.ecef2ned_matrix)
-
-    @property
-    def ned_from_ecef_matrix(self):
-        return self.ecef2ned_matrix
-
-    @property
-    def ecef_from_ned_matrix(self):
-        return self.ned2ecef_matrix
-
-    @classmethod
-    def from_geodetic(cls, geodetic):
-        return cls(geodetic=geodetic)
-
-    @classmethod
-    def from_ecef(cls, ecef):
-        return cls(ecef=ecef)
-
-    def ecef2ned_single(self, ecef):
-        assert self.lc
-        cdef ECEF e = list2ecef(ecef)
-        cdef NED n = self.lc.ecef2ned(e)
-        return [n.n, n.e, n.d]
-
-    def ned2ecef_single(self, ned):
-        assert self.lc
-        cdef NED n = list2ned(ned)
-        cdef ECEF e = self.lc.ned2ecef(n)
-        return [e.x, e.y, e.z]
-
-    def geodetic2ned_single(self, geodetic):
-        assert self.lc
-        cdef Geodetic g = list2geodetic(geodetic)
-        cdef NED n = self.lc.geodetic2ned(g)
-        return [n.n, n.e, n.d]
-
-    def ned2geodetic_single(self, ned):
-        assert self.lc
-        cdef NED n = list2ned(ned)
-        cdef Geodetic g = self.lc.ned2geodetic(n)
-        return [g.lat, g.lon, g.alt]
-
-    def __dealloc__(self):
-        del self.lc
diff --git a/common/util.cc b/common/util.cc
index 26a2bd60bc4..84b47e187ee 100644
--- a/common/util.cc
+++ b/common/util.cc
@@ -181,9 +181,9 @@ bool file_exists(const std::string& fn) {
 }
 
 static bool createDirectory(std::string dir, mode_t mode) {
-  auto verify_dir = [](const std::string& dir) -> bool {
+  auto verify_dir = [](const std::string& path) -> bool {
     struct stat st = {};
-    return (stat(dir.c_str(), &st) == 0 && (st.st_mode & S_IFMT) == S_IFDIR);
+    return (stat(path.c_str(), &st) == 0 && (st.st_mode & S_IFMT) == S_IFDIR);
   };
   // remove trailing /'s
   while (dir.size() > 1 && dir.back() == '/') {
@@ -288,7 +288,7 @@ std::string strip(const std::string &str) {
 std::string check_output(const std::string& command) {
   char buffer[128];
   std::string result;
-  std::unique_ptr<FILE, decltype(&pclose)> pipe(popen(command.c_str(), "r"), pclose);
+  std::unique_ptr<FILE, int(*)(FILE*)> pipe(popen(command.c_str(), "r"), pclose);
 
   if (!pipe) {
     return "";
@@ -303,7 +303,7 @@ std::string check_output(const std::string& command) {
 
 bool system_time_valid() {
   // Default to August 26, 2024
-  tm min_tm = {.tm_year = 2024 - 1900, .tm_mon = 7, .tm_mday = 26};
+  tm min_tm = {.tm_mday = 26, .tm_mon = 7, .tm_year = 2024 - 1900};
   time_t min_date = mktime(&min_tm);
 
   struct stat st;
diff --git a/common/util.h b/common/util.h
index f46db4d9fa2..e4483ee7a57 100644
--- a/common/util.h
+++ b/common/util.h
@@ -96,6 +96,13 @@ bool create_directories(const std::string &dir, mode_t mode);
 
 std::string check_output(const std::string& command);
 
+inline void check_system(const std::string& cmd) {
+  int ret = std::system(cmd.c_str());
+  if (ret != 0) {
+    fprintf(stderr, "system command failed (%d): %s\n", ret, cmd.c_str());
+  }
+}
+
 bool system_time_valid();
 
 inline void sleep_for(const int milliseconds) {
diff --git a/common/util.py b/common/util.py
deleted file mode 100644
index e6ddb46e7b9..00000000000
--- a/common/util.py
+++ /dev/null
@@ -1,46 +0,0 @@
-import os
-import subprocess
-
-def sudo_write(val: str, path: str) -> None:
-  try:
-    with open(path, 'w') as f:
-      f.write(str(val))
-  except PermissionError:
-    os.system(f"sudo chmod a+w {path}")
-    try:
-      with open(path, 'w') as f:
-        f.write(str(val))
-    except PermissionError:
-      # fallback for debugfs files
-      os.system(f"sudo su -c 'echo {val} > {path}'")
-
-def sudo_read(path: str) -> str:
-  try:
-    return subprocess.check_output(f"sudo cat {path}", shell=True, encoding='utf8').strip()
-  except Exception:
-    return ""
-
-class MovingAverage:
-  def __init__(self, window_size: int):
-    self.window_size: int = window_size
-    self.buffer: list[float] = [0.0] * window_size
-    self.index: int = 0
-    self.count: int = 0
-    self.sum: float = 0.0
-
-  def add_value(self, new_value: float):
-    # Update the sum: subtract the value being replaced and add the new value
-    self.sum -= self.buffer[self.index]
-    self.buffer[self.index] = new_value
-    self.sum += new_value
-
-    # Update the index in a circular manner
-    self.index = (self.index + 1) % self.window_size
-
-    # Track the number of added values (for partial windows)
-    self.count = min(self.count + 1, self.window_size)
-
-  def get_average(self) -> float:
-    if self.count == 0:
-      return float('nan')
-    return self.sum / self.count
diff --git a/common/utils.py b/common/utils.py
index 71b29a0c4eb..28b9274d825 100644
--- a/common/utils.py
+++ b/common/utils.py
@@ -7,14 +7,82 @@
 import functools
 from subprocess import Popen, PIPE, TimeoutExpired
 import zstandard as zstd
-from openpilot.common.swaglog import cloudlog
 
 LOG_COMPRESSION_LEVEL = 10  # little benefit up to level 15. level ~17 is a small step change
 
+class Timer:
+  """Simple lap timer for profiling sequential operations."""
+
+  def __init__(self):
+    self._start = self._lap = time.monotonic()
+    self._sections = {}
+
+  def lap(self, name):
+    now = time.monotonic()
+    self._sections[name] = now - self._lap
+    self._lap = now
+
+  @property
+  def total(self):
+    return time.monotonic() - self._start
+
+  def fmt(self, duration):
+    parts = ", ".join(f"{k}={v:.2f}s" + (f" ({duration/v:.0f}x)" if k == 'render' and v > 0 else "") for k, v in self._sections.items())
+    total = self.total
+    realtime = f"{duration/total:.1f}x realtime" if total > 0 else "N/A"
+    return f"{duration}s in {total:.1f}s ({realtime}) | {parts}"
+
+def sudo_write(val: str, path: str) -> None:
+  try:
+    with open(path, 'w') as f:
+      f.write(str(val))
+  except PermissionError:
+    os.system(f"sudo chmod a+w {path}")
+    try:
+      with open(path, 'w') as f:
+        f.write(str(val))
+    except PermissionError:
+      # fallback for debugfs files
+      os.system(f"sudo su -c 'echo {val} > {path}'")
+
+
+def sudo_read(path: str) -> str:
+  try:
+    return subprocess.check_output(f"sudo cat {path}", shell=True, encoding='utf8').strip()
+  except Exception:
+    return ""
+
+
+class MovingAverage:
+  def __init__(self, window_size: int):
+    self.window_size: int = window_size
+    self.buffer: list[float] = [0.0] * window_size
+    self.index: int = 0
+    self.count: int = 0
+    self.sum: float = 0.0
+
+  def add_value(self, new_value: float):
+    # Update the sum: subtract the value being replaced and add the new value
+    self.sum -= self.buffer[self.index]
+    self.buffer[self.index] = new_value
+    self.sum += new_value
+
+    # Update the index in a circular manner
+    self.index = (self.index + 1) % self.window_size
+
+    # Track the number of added values (for partial windows)
+    self.count = min(self.count + 1, self.window_size)
+
+  def get_average(self) -> float:
+    if self.count == 0:
+      return float('nan')
+    return self.sum / self.count
+
 
 class CallbackReader:
   """Wraps a file, but overrides the read method to also
   call a callback function with the number of bytes read so far."""
+
   def __init__(self, f, callback, *args):
     self.f = f
     self.callback = callback
@@ -63,11 +131,11 @@ def get_upload_stream(filepath: str, should_compress: bool) -> tuple[io.Buffered
     return compressed_stream, compressed_size
 
 
-# remove all keys that end in DEPRECATED
+# remove all keys that end in DEPRECATED, plus any "deprecated" group
 def strip_deprecated_keys(d):
   for k in list(d.keys()):
     if isinstance(k, str):
-      if k.endswith('DEPRECATED'):
+      if k.endswith('DEPRECATED') or k == 'deprecated':
         d.pop(k)
       elif isinstance(d[k], dict):
         strip_deprecated_keys(d[k])
@@ -99,6 +167,92 @@ def managed_proc(cmd: list[str], env: dict[str, str]):
       proc.kill()
 
 
+def tabulate(tabular_data, headers=(), tablefmt="simple", floatfmt="g", stralign="left", numalign=None):
+  rows = [list(row) for row in tabular_data]
+
+  def fmt(val):
+    if isinstance(val, str):
+      return val
+    if isinstance(val, (bool, int)):
+      return str(val)
+    try:
+      return format(val, floatfmt)
+    except (TypeError, ValueError):
+      return str(val)
+
+  formatted = [[fmt(c) for c in row] for row in rows]
+  hdrs = [str(h) for h in headers] if headers else None
+
+  ncols = max((len(r) for r in formatted), default=0)
+  if hdrs:
+    ncols = max(ncols, len(hdrs))
+  if ncols == 0:
+    return ""
+
+  for r in formatted:
+    r.extend([""] * (ncols - len(r)))
+  if hdrs:
+    hdrs.extend([""] * (ncols - len(hdrs)))
+
+  widths = [0] * ncols
+  if hdrs:
+    for i in range(ncols):
+      widths[i] = len(hdrs[i])
+  for row in formatted:
+    for i in range(ncols):
+      widths[i] = max(widths[i], max(len(ln) for ln in row[i].split('\n')))
+
+  def _align(s, w):
+    if stralign == "center":
+      return s.center(w)
+    return s.ljust(w)
+
+  if tablefmt == "html":
+    parts = ["<table>"]
+    if hdrs:
+      parts.append("<thead>")
+      parts.append("<tr>" + "".join(f"<th>{h}</th>" for h in hdrs) + "</tr>")
+      parts.append("</thead>")
+    parts.append("<tbody>")
+    for row in formatted:
+      parts.append("<tr>" + "".join(f"<td>{c}</td>" for c in row) + "</tr>")
+    parts.append("</tbody>")
+    parts.append("</table>")
+    return "\n".join(parts)
+
+  if tablefmt == "simple_grid":
+    def _sep(left, mid, right):
+      return left + mid.join("\u2500" * (w + 2) for w in widths) + right
+
+    top, mid_sep, bot = _sep("\u250c", "\u252c", "\u2510"), _sep("\u251c", "\u253c", "\u2524"), _sep("\u2514", "\u2534", "\u2518")
+
+    def _fmt_row(cells):
+      split = [c.split('\n') for c in cells]
+      nlines = max(len(s) for s in split)
+      for s in split:
+        s.extend([""] * (nlines - len(s)))
+      return ["\u2502" + "\u2502".join(f" {_align(split[i][li], widths[i])} " for i in range(ncols)) + "\u2502" for li in range(nlines)]
+
+    lines = [top]
+    if hdrs:
+      lines.extend(_fmt_row(hdrs))
+      lines.append(mid_sep)
+    for ri, row in enumerate(formatted):
+      lines.extend(_fmt_row(row))
+      lines.append(mid_sep if ri < len(formatted) - 1 else bot)
+    return "\n".join(lines)
+
+  # simple
+  gap = "  "
+  lines = []
+  if hdrs:
+    lines.append(gap.join(h.ljust(w) for h, w in zip(hdrs, widths, strict=True)))
+    lines.append(gap.join("-" * w for w in widths))
+  for row in formatted:
+    lines.append(gap.join(_align(row[i], widths[i]) for i in range(ncols)))
+  return "\n".join(lines)
+
+
 def retry(attempts=3, delay=1.0, ignore_failure=False):
   def decorator(func):
     @functools.wraps(func)
@@ -107,11 +261,11 @@ def wrapper(*args, **kwargs):
         try:
           return func(*args, **kwargs)
         except Exception:
-          cloudlog.exception(f"{func.__name__} failed, trying again")
+          print(f"{func.__name__} failed, trying again")
           time.sleep(delay)
 
       if ignore_failure:
-        cloudlog.error(f"{func.__name__} failed after retry")
+        print(f"{func.__name__} failed after retry")
       else:
         raise Exception(f"{func.__name__} failed after retry")
     return wrapper
diff --git a/common/version.h b/common/version.h
index c489ecc578e..41440556c54 100644
--- a/common/version.h
+++ b/common/version.h
@@ -1 +1 @@
-#define COMMA_VERSION "0.10.3"
+#define COMMA_VERSION "0.11.1"
diff --git a/conftest.py b/conftest.py
index 7e40ec3ed7a..a01ddc2f6bd 100644
--- a/conftest.py
+++ b/conftest.py
@@ -10,7 +10,6 @@
 # TODO: pytest-cpp doesn't support FAIL, and we need to create test translations in sessionstart
 # pending https://github.com/pytest-dev/pytest-cpp/pull/147
 collect_ignore = [
-  "selfdrive/ui/tests/test_translations",
   "selfdrive/test/process_replay/test_processes.py",
   "selfdrive/test/process_replay/test_regen.py",
 ]
diff --git a/docs/CARS.md b/docs/CARS.md
index e0d61cd4157..f50ed2a7ef5 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -4,23 +4,25 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 325 Supported Cars
+# 333 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|Setup Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
 |Acura|ILX 2016-18|Technology Plus Package or AcuraWatch Plus|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2016-18">Buy Here</a></sub></details>|||
 |Acura|ILX 2019|All|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2019">Buy Here</a></sub></details>|||
-|Acura|MDX 2025|All except Type S|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2025">Buy Here</a></sub></details>|||
+|Acura|MDX 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|43 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2022-24">Buy Here</a></sub></details>|||
+|Acura|MDX 2025-26|All except Type S|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2025-26">Buy Here</a></sub></details>|||
 |Acura|RDX 2016-18|AcuraWatch Plus or Advance Package|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2016-18">Buy Here</a></sub></details>|||
 |Acura|RDX 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2019-21">Buy Here</a></sub></details>|||
-|Acura|TLX 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2021">Buy Here</a></sub></details>|||
-|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
-|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
-|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
-|Audi|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
-|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
-|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
-|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim, without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Acura|TLX 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2021-22">Buy Here</a></sub></details>|||
+|Acura|TLX 2025|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2025">Buy Here</a></sub></details>|||
+|Audi[<sup>11</sup>](#footnotes)|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
+|Audi[<sup>11</sup>](#footnotes)|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
+|Audi[<sup>11</sup>](#footnotes)|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
+|Audi[<sup>11</sup>](#footnotes)|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
+|Audi[<sup>11</sup>](#footnotes)|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
+|Audi[<sup>11</sup>](#footnotes)|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
+|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim, without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV 2022-23">Buy Here</a></sub></details>|||
 |Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Equinox 2019-22">Buy Here</a></sub></details>|||
 |Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Silverado 1500 2020-21">Buy Here</a></sub></details>|||
@@ -30,34 +32,34 @@ A supported vehicle is one that just works when you install a comma device. All
 |Chrysler|Pacifica 2021-23|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica 2021-23">Buy Here</a></sub></details>|||
 |Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2017-18">Buy Here</a></sub></details>|||
 |Chrysler|Pacifica Hybrid 2019-25|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2019-25">Buy Here</a></sub></details>|||
-|comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|<a href="https://youtu.be/VT-i3yRsX2s?t=2736" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
+|comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|<a href="https://youtu.be/VT-i3yRsX2s?t=2736" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|CUPRA[<sup>11</sup>](#footnotes)|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
 |Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Dodge Durango 2020-21">Buy Here</a></sub></details>|||
 |Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Bronco Sport 2021-24">Buy Here</a></sub></details>|||
 |Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2020-22">Buy Here</a></sub></details>|||
-|Ford|Escape 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|Escape 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
 |Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Hybrid 2020-22">Buy Here</a></sub></details>|||
-|Ford|Escape Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Hybrid 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|Escape Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Hybrid 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
 |Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Plug-in Hybrid 2020-22">Buy Here</a></sub></details>|||
-|Ford|Escape Plug-in Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Plug-in Hybrid 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Ford|Expedition 2022-24|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Expedition 2022-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|Escape Plug-in Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Plug-in Hybrid 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
+|Ford|Expedition 2022-24|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Expedition 2022-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
 |Ford|Explorer 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Explorer 2020-24">Buy Here</a></sub></details>|||
 |Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Explorer Hybrid 2020-24">Buy Here</a></sub></details>|||
-|Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 Hybrid 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
+|Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 Hybrid 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
 |Ford|Focus 2018[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus 2018">Buy Here</a></sub></details>|||
 |Ford|Focus Hybrid 2018[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus Hybrid 2018">Buy Here</a></sub></details>|||
 |Ford|Kuga 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga 2020-23">Buy Here</a></sub></details>|||
 |Ford|Kuga Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2020-23">Buy Here</a></sub></details>|||
-|Ford|Kuga Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|Kuga Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
 |Ford|Kuga Plug-in Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Plug-in Hybrid 2020-23">Buy Here</a></sub></details>|||
-|Ford|Kuga Plug-in Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Plug-in Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|Kuga Plug-in Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Plug-in Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
 |Ford|Maverick 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick 2022">Buy Here</a></sub></details>|||
 |Ford|Maverick 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick 2023-24">Buy Here</a></sub></details>|||
 |Ford|Maverick Hybrid 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick Hybrid 2022">Buy Here</a></sub></details>|||
 |Ford|Maverick Hybrid 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick Hybrid 2023-24">Buy Here</a></sub></details>|||
-|Ford|Mustang Mach-E 2021-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Mustang Mach-E 2021-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Ford|Ranger 2024|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Ranger 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|Mustang Mach-E 2021-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Mustang Mach-E 2021-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
+|Ford|Ranger 2024|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Ranger 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
 |Genesis|G70 2018|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G70 2018">Buy Here</a></sub></details>|||
 |Genesis|G70 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G70 2019-21">Buy Here</a></sub></details>|||
 |Genesis|G70 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G70 2022-23">Buy Here</a></sub></details>|||
@@ -72,18 +74,18 @@ A supported vehicle is one that just works when you install a comma device. All
 |Genesis|GV70 Electrified (Australia Only) 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV70 Electrified (Australia Only) 2022">Buy Here</a></sub></details>|||
 |Genesis|GV70 Electrified (with HDA II) 2023-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV70 Electrified (with HDA II) 2023-24">Buy Here</a></sub></details>|||
 |Genesis|GV80 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV80 2023">Buy Here</a></sub></details>|||
-|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=GMC Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=GMC Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Honda|Accord 2023-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2023-25">Buy Here</a></sub></details>|||
 |Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
 |Honda|Accord Hybrid 2023-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2023-25">Buy Here</a></sub></details>|||
 |Honda|City (Brazil only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|14 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023">Buy Here</a></sub></details>|||
-|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Honda|Civic 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Honda|Civic 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
 |Honda|Civic Hatchback 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
-|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Honda|Civic Hatchback Hybrid 2025-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025-26">Buy Here</a></sub></details>|||
 |Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
 |Honda|Civic Hybrid 2025-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hybrid 2025-26">Buy Here</a></sub></details>|||
@@ -91,7 +93,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|15 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2017-22">Buy Here</a></sub></details>|||
 |Honda|CR-V 2023-26|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2023-26">Buy Here</a></sub></details>|||
 |Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2017-22">Buy Here</a></sub></details>|||
-|Honda|CR-V Hybrid 2023-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2023-25">Buy Here</a></sub></details>|||
+|Honda|CR-V Hybrid 2023-26|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2023-26">Buy Here</a></sub></details>|||
 |Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda e 2020">Buy Here</a></sub></details>|||
 |Honda|Fit 2018-20|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Fit 2018-20">Buy Here</a></sub></details>|||
 |Honda|Freed 2020|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Freed 2020">Buy Here</a></sub></details>|||
@@ -102,6 +104,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|N-Box 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|11 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda N-Box 2018">Buy Here</a></sub></details>|||
 |Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2018-20">Buy Here</a></sub></details>|||
 |Honda|Odyssey 2021-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|43 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2021-26">Buy Here</a></sub></details>|||
+|Honda|Odyssey (Singapore) 2021|Honda Sensing|openpilot|19 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey (Singapore) 2021">Buy Here</a></sub></details>|||
+|Honda|Odyssey (Taiwan) 2018-19|Honda Sensing|openpilot|19 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey (Taiwan) 2018-19">Buy Here</a></sub></details>|||
 |Honda|Passport 2019-25|All|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2019-25">Buy Here</a></sub></details>|||
 |Honda|Passport 2026|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2026">Buy Here</a></sub></details>|||
 |Honda|Pilot 2016-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2016-22">Buy Here</a></sub></details>|||
@@ -113,9 +117,9 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Custin 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Custin 2023">Buy Here</a></sub></details>|||
 |Hyundai|Elantra 2017-18|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra 2017-18">Buy Here</a></sub></details>|||
 |Hyundai|Elantra 2019|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra 2019">Buy Here</a></sub></details>|||
-|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Hyundai|Elantra GT 2017-20|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra GT 2017-20">Buy Here</a></sub></details>|||
-|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Genesis 2015-16">Buy Here</a></sub></details>|||
 |Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai i30 2017-19">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq 5 (Southeast Asia and Europe only) 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (Southeast Asia and Europe only) 2022-24">Buy Here</a></sub></details>|||
@@ -131,17 +135,17 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona 2020">Buy Here</a></sub></details>|||
 |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric 2018-21">Buy Here</a></sub></details>|||
 |Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric 2022-23">Buy Here</a></sub></details>|||
-|Hyundai|Kona Electric (with HDA II, Korea only) 2023|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Hyundai|Kona Electric (with HDA II, Korea only) 2023|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Hybrid 2020">Buy Here</a></sub></details>|||
 |Hyundai|Nexo 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Nexo 2021">Buy Here</a></sub></details>|||
-|Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Hyundai|Santa Cruz 2022-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Cruz 2022-24">Buy Here</a></sub></details>|||
-|Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe 2019-20">Buy Here</a></sub></details>|<a href="https://youtu.be/bjDR0YjM__s" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Hyundai|Santa Fe 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe 2019-20">Buy Here</a></sub></details>|<a href="https://youtu.be/bjDR0YjM__s" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Hyundai|Santa Fe 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Hyundai|Santa Fe Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe Hybrid 2022-23">Buy Here</a></sub></details>|||
 |Hyundai|Santa Fe Plug-in Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe Plug-in Hybrid 2022-23">Buy Here</a></sub></details>|||
 |Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Sonata 2018-19">Buy Here</a></sub></details>|||
-|Hyundai|Sonata 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Sonata 2020-23">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Hyundai|Sonata 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Sonata 2020-23">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Hyundai|Sonata Hybrid 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Sonata Hybrid 2020-23">Buy Here</a></sub></details>|||
 |Hyundai|Staria 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Staria 2023">Buy Here</a></sub></details>|||
 |Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson 2021">Buy Here</a></sub></details>|||
@@ -151,8 +155,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Tucson Hybrid 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson Hybrid 2022-24">Buy Here</a></sub></details>|||
 |Hyundai|Tucson Plug-in Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson Plug-in Hybrid 2024">Buy Here</a></sub></details>|||
 |Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Veloster 2019-20">Buy Here</a></sub></details>|||
-|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Jeep Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Jeep Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Jeep Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Jeep Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Kia|Carnival 2022-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival 2022-24">Buy Here</a></sub></details>|||
 |Kia|Carnival (China only) 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival (China only) 2023">Buy Here</a></sub></details>|||
 |Kia|Ceed 2019-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Ceed 2019-21">Buy Here</a></sub></details>|||
@@ -163,17 +167,18 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Forte 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Forte 2022-23">Buy Here</a></sub></details>|||
 |Kia|K5 2021-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K5 2021-24">Buy Here</a></sub></details>|||
 |Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K5 Hybrid 2020-22">Buy Here</a></sub></details>|||
+|Kia|K7 2017|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K7 2017">Buy Here</a></sub></details>|||
 |Kia|K8 Hybrid (with HDA II) 2023|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K8 Hybrid (with HDA II) 2023">Buy Here</a></sub></details>|||
-|Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2020">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2021">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2022">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Kia|Niro EV (with HDA II) 2025|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV (with HDA II) 2025">Buy Here</a></sub></details>|||
+|Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2020">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2021">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2022">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Kia|Niro EV (with HDA II) 2024-25|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV (with HDA II) 2024-25">Buy Here</a></sub></details>|||
 |Kia|Niro EV (without HDA II) 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV (without HDA II) 2023-25">Buy Here</a></sub></details>|||
 |Kia|Niro Hybrid 2018|Smart Cruise Control (SCC)|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Hybrid 2018">Buy Here</a></sub></details>|||
 |Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Hybrid 2021">Buy Here</a></sub></details>|||
 |Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Hybrid 2022">Buy Here</a></sub></details>|||
-|Kia|Niro Hybrid 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Hybrid 2023">Buy Here</a></sub></details>|||
+|Kia|Niro Hybrid 2023-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Hybrid 2023-24">Buy Here</a></sub></details>|||
 |Kia|Niro Plug-in Hybrid 2018-19|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Plug-in Hybrid 2018-19">Buy Here</a></sub></details>|||
 |Kia|Niro Plug-in Hybrid 2020|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Plug-in Hybrid 2020">Buy Here</a></sub></details>|||
 |Kia|Niro Plug-in Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Plug-in Hybrid 2021">Buy Here</a></sub></details>|||
@@ -182,25 +187,26 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Optima 2019-20">Buy Here</a></sub></details>|||
 |Kia|Optima Hybrid 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Optima Hybrid 2019">Buy Here</a></sub></details>|||
 |Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Seltos 2021">Buy Here</a></sub></details>|||
-|Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Kia|Sorento 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2021-23">Buy Here</a></sub></details>|||
 |Kia|Sorento Hybrid 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento Hybrid 2021-23">Buy Here</a></sub></details>|||
 |Kia|Sorento Plug-in Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>|||
 |Kia|Sportage 2023-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sportage 2023-24">Buy Here</a></sub></details>|||
 |Kia|Sportage Hybrid 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sportage Hybrid 2023">Buy Here</a></sub></details>|||
-|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Stinger 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Stinger 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Kia|Stinger 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Stinger 2022-23">Buy Here</a></sub></details>|||
 |Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Telluride 2020-22">Buy Here</a></sub></details>|||
 |Lexus|CT Hybrid 2017-18|Lexus Safety System+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus CT Hybrid 2017-18">Buy Here</a></sub></details>|||
 |Lexus|ES 2017-18|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES 2017-18">Buy Here</a></sub></details>|||
 |Lexus|ES 2019-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES 2019-25">Buy Here</a></sub></details>|||
 |Lexus|ES Hybrid 2017-18|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES Hybrid 2017-18">Buy Here</a></sub></details>|||
-|Lexus|ES Hybrid 2019-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES Hybrid 2019-25">Buy Here</a></sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Lexus|ES Hybrid 2019-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES Hybrid 2019-25">Buy Here</a></sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Lexus|GS F 2016|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus GS F 2016">Buy Here</a></sub></details>|||
 |Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus IS 2017-19">Buy Here</a></sub></details>|||
 |Lexus|IS 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus IS 2022-24">Buy Here</a></sub></details>|||
 |Lexus|LC 2024-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus LC 2024-25">Buy Here</a></sub></details>|||
+|Lexus|LS 2018|All except Lexus Safety System+ A|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus LS 2018">Buy Here</a></sub></details>|||
 |Lexus|NX 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus NX 2018-19">Buy Here</a></sub></details>|||
 |Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus NX 2020-21">Buy Here</a></sub></details>|||
 |Lexus|NX Hybrid 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus NX Hybrid 2018-19">Buy Here</a></sub></details>|||
@@ -216,42 +222,44 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lexus|UX Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus UX Hybrid 2019-24">Buy Here</a></sub></details>|||
 |Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator 2020-24">Buy Here</a></sub></details>|||
 |Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>|||
-|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|MAN[<sup>11</sup>](#footnotes)|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|MAN[<sup>11</sup>](#footnotes)|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-5 2022-25">Buy Here</a></sub></details>|||
-|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Nissan[<sup>5</sup>](#footnotes)|Altima 2019-20, 2024|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-20, 2024">Buy Here</a></sub></details>|||
-|Nissan[<sup>5</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Nissan[<sup>5</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Rogue 2018-20">Buy Here</a></sub></details>|||
-|Nissan[<sup>5</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
+|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Nissan[<sup>5</sup>](#footnotes)|Altima 2019-20, 2024|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-20, 2024">Buy Here</a></sub></details>|||
+|Nissan[<sup>5</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Nissan[<sup>5</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Rogue 2018-20">Buy Here</a></sub></details>|||
+|Nissan[<sup>5</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
 |Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 1500 2019-24">Buy Here</a></sub></details>|||
-|Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
-|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
+|Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
+|Rivian|R1S 2025|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2025">Buy Here</a></sub></details>|||
+|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
+|Rivian|R1T 2025|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2025">Buy Here</a></sub></details>|||
+|SEAT[<sup>11</sup>](#footnotes)|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
+|SEAT[<sup>11</sup>](#footnotes)|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
 |Subaru|Ascent 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Forester 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Legacy 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Outback 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Škoda|Fabia 2022-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Fabia 2022-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
-|Škoda|Kamiq 2021-23[<sup>11,13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
-|Škoda|Karoq 2019-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||
-|Škoda|Kodiaq 2017-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kodiaq 2017-23">Buy Here</a></sub></details>|||
-|Škoda|Octavia 2015-19[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia 2015-19">Buy Here</a></sub></details>|||
-|Škoda|Octavia RS 2016[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia RS 2016">Buy Here</a></sub></details>|||
-|Škoda|Octavia Scout 2017-19[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia Scout 2017-19">Buy Here</a></sub></details>|||
-|Škoda|Scala 2020-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Scala 2020-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
-|Škoda|Superb 2015-22[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Superb 2015-22">Buy Here</a></sub></details>|||
-|Tesla[<sup>9</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>|||
-|Tesla[<sup>9</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>|||
-|Tesla[<sup>9</sup>](#footnotes)|Model Y (with HW3) 2020-23[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW3) 2020-23">Buy Here</a></sub></details>|||
-|Tesla[<sup>9</sup>](#footnotes)|Model Y (with HW4) 2024-25[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW4) 2024-25">Buy Here</a></sub></details>|||
+|Škoda|Fabia 2022-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Fabia 2022-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
+|Škoda|Kamiq 2021-23[<sup>12,14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
+|Škoda[<sup>11</sup>](#footnotes)|Karoq 2019-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||
+|Škoda[<sup>11</sup>](#footnotes)|Kodiaq 2017-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kodiaq 2017-23">Buy Here</a></sub></details>|||
+|Škoda[<sup>11</sup>](#footnotes)|Octavia 2015-19[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia 2015-19">Buy Here</a></sub></details>|||
+|Škoda[<sup>11</sup>](#footnotes)|Octavia RS 2016[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia RS 2016">Buy Here</a></sub></details>|||
+|Škoda[<sup>11</sup>](#footnotes)|Octavia Scout 2017-19[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia Scout 2017-19">Buy Here</a></sub></details>|||
+|Škoda|Scala 2020-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Scala 2020-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
+|Škoda[<sup>11</sup>](#footnotes)|Superb 2015-22[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Superb 2015-22">Buy Here</a></sub></details>|||
+|Tesla[<sup>9</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>|||
+|Tesla[<sup>9</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>|||
+|Tesla[<sup>9</sup>](#footnotes)|Model Y (with HW3) 2020-23[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW3) 2020-23">Buy Here</a></sub></details>|||
+|Tesla[<sup>9</sup>](#footnotes)|Model Y (with HW4) 2024-25[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW4) 2024-25">Buy Here</a></sub></details>|||
 |Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Alphard 2019-20">Buy Here</a></sub></details>|||
 |Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Alphard Hybrid 2021">Buy Here</a></sub></details>|||
 |Toyota|Avalon 2016|Toyota Safety Sense P|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2016">Buy Here</a></sub></details>|||
@@ -264,78 +272,78 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|C-HR 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR 2021">Buy Here</a></sub></details>|||
 |Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR Hybrid 2017-20">Buy Here</a></sub></details>|||
 |Toyota|C-HR Hybrid 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR Hybrid 2021-22">Buy Here</a></sub></details>|||
-|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>10</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>10</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>10</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2021-24">Buy Here</a></sub></details>|||
-|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Toyota|Camry Hybrid 2021-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry Hybrid 2021-24">Buy Here</a></sub></details>|||
 |Toyota|Corolla 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla 2017-19">Buy Here</a></sub></details>|||
-|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla 2020-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla 2020-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Cross (Non-US only) 2020-23">Buy Here</a></sub></details>|||
 |Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Cross Hybrid (Non-US only) 2020-22">Buy Here</a></sub></details>|||
-|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Hatchback 2019-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Hatchback 2019-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Hybrid 2020-22">Buy Here</a></sub></details>|||
 |Toyota|Corolla Hybrid (South America only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Hybrid (South America only) 2020-23">Buy Here</a></sub></details>|||
-|Toyota|Highlander 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander 2017-19">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Highlander 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander 2017-19">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander 2020-23">Buy Here</a></sub></details>|||
 |Toyota|Highlander Hybrid 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander Hybrid 2017-19">Buy Here</a></sub></details>|||
 |Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander Hybrid 2020-23">Buy Here</a></sub></details>|||
 |Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Mirai 2021">Buy Here</a></sub></details>|||
-|Toyota|Prius 2016|Toyota Safety Sense P|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 2016">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|Prius 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|Prius Prime 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius Prime 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius Prime 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Prius 2016|Toyota Safety Sense P|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 2016">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Toyota|Prius 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Toyota|Prius Prime 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius Prime 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius Prime 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Toyota|Prius v 2017|Toyota Safety Sense P|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius v 2017">Buy Here</a></sub></details>|||
 |Toyota|RAV4 2016|Toyota Safety Sense P|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2016">Buy Here</a></sub></details>|||
 |Toyota|RAV4 2017-18|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2017-18">Buy Here</a></sub></details>|||
-|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=wJxjDd42gGA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=wJxjDd42gGA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Toyota|RAV4 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2022">Buy Here</a></sub></details>|||
 |Toyota|RAV4 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2023-25">Buy Here</a></sub></details>|||
-|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2016">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|RAV4 Hybrid 2017-18|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2016">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Toyota|RAV4 Hybrid 2017-18|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2019-21">Buy Here</a></sub></details>|||
-|Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|RAV4 Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|Sienna 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas 2018-23">Buy Here</a></sub></details>|||
-|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
-|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen California 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Caravelle 2020">Buy Here</a></sub></details>|||
-|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Golf 2014-20">Buy Here</a></sub></details>|||
-|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
-|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTD 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTE 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTI 2015-21">Buy Here</a></sub></details>|||
-|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
-|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Jetta 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2018-23">Buy Here</a></sub></details>|||
-|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen|Passat 2015-22[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat Alltrack 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat GTE 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo 2018-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
-|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
-|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Cross 2021">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
-|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Roc 2018-23">Buy Here</a></sub></details>|||
-|Volkswagen|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Taos 2022-24">Buy Here</a></sub></details>|||
-|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont 2018-22">Buy Here</a></sub></details>|||
-|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
-|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont X 2021-22">Buy Here</a></sub></details>|||
-|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan 2018-24">Buy Here</a></sub></details>|||
-|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Touran 2016-23">Buy Here</a></sub></details>|||
+|Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Toyota|RAV4 Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Toyota|Sienna 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>11</sup>](#footnotes)|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>11</sup>](#footnotes)|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>11</sup>](#footnotes)|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>11</sup>](#footnotes)|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>11</sup>](#footnotes)|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas 2018-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen California 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Caravelle 2020">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>11</sup>](#footnotes)|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>11</sup>](#footnotes)|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>11</sup>](#footnotes)|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Golf 2014-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTD 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTE 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTI 2015-21">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>11</sup>](#footnotes)|Jetta 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2019-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen|Passat 2015-22[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat Alltrack 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat GTE 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo 2018-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
+|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
+|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Cross 2021">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
+|Volkswagen[<sup>11</sup>](#footnotes)|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Roc 2018-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Taos 2022-24">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont 2018-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont X 2021-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan 2018-24">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Touran 2016-23">Buy Here</a></sub></details>|||
 
 ### Footnotes
-<sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `nightly-dev`. <br />
+<sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `nightly-dev`. <br />
 <sup>2</sup>Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in North and South America/Southeast Asia. <br />
 <sup>3</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/gm" target="_blank">GM</a>. <br />
 <sup>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
@@ -345,11 +353,12 @@ A supported vehicle is one that just works when you install a comma device. All
 <sup>8</sup>Some 2023 model years have HW4. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
 <sup>9</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/tesla" target="_blank">Tesla</a>. <br />
 <sup>10</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
-<sup>11</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
-<sup>12</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
-<sup>13</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma four functionality. <br />
-<sup>14</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
-<sup>15</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
+<sup>11</sup>The J533 harness plugs in at the CAN gateway under the dashboard, just above the steering column. More information can be found at <a href="https://docs.howtocomma.com/docs/j533-harness-install" target="_blank">this guide</a>. <br />
+<sup>12</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
+<sup>13</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
+<sup>14</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma four functionality. <br />
+<sup>15</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
+<sup>16</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
 
 ## Community Maintained Cars
 Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
diff --git a/docs/CONTRIBUTING.md b/docs/CONTRIBUTING.md
index 7583095eaf4..3d39420c01b 100644
--- a/docs/CONTRIBUTING.md
+++ b/docs/CONTRIBUTING.md
@@ -13,13 +13,13 @@ Development is coordinated through [Discord](https://discord.comma.ai) and GitHu
 ## What contributions are we looking for?
 
 **openpilot's priorities are [safety](SAFETY.md), stability, quality, and features, in that order.**
-openpilot is part of comma's mission to *solve self-driving cars while delivering shippable intermediaries*, and all development is towards that goal. 
+openpilot is part of comma's mission to *solve self-driving cars while delivering shippable intermediaries*, and all development is towards that goal.
 
 ### What gets merged?
 
 The probability of a pull request being merged is a function of its value to the project and the effort it will take us to get it merged.
 If a PR offers *some* value but will take lots of time to get merged, it will be closed.
-Simple, well-tested bug fixes are the easiest to merge, and new features are the hardest to get merged. 
+Simple, well-tested bug fixes are the easiest to merge, and new features are the hardest to get merged.
 
 All of these are examples of good PRs:
 * typo fix: https://github.com/commaai/openpilot/pull/30678
@@ -29,17 +29,17 @@ All of these are examples of good PRs:
 
 ### What doesn't get merged?
 
-* **style changes**: code is art, and it's up to the author to make it beautiful 
+* **style changes**: code is art, and it's up to the author to make it beautiful
 * **500+ line PRs**: clean it up, break it up into smaller PRs, or both
 * **PRs without a clear goal**: every PR must have a singular and clear goal
 * **UI design**: we do not have a good review process for this yet
 * **New features**: We believe openpilot is mostly feature-complete, and the rest is a matter of refinement and fixing bugs. As a result of this, most feature PRs will be immediately closed, however the beauty of open source is that forks can and do offer features that upstream openpilot doesn't.
-* **Negative expected value**: This a class of PRs that makes an improvement, but the risk or validation costs more than the improvement. The risk can be mitigated by first getting a failing test merged.
+* **Negative expected value**: This is a class of PRs that makes an improvement, but the risk or validation costs more than the improvement. The risk can be mitigated by first getting a failing test merged.
 
 ### First contribution
 
 [Projects / openpilot bounties](https://github.com/orgs/commaai/projects/26/views/1?pane=info) is the best place to get started and goes in-depth on what's expected when working on a bounty.
-There's lot of bounties that don't require a comma 3X or a car.
+There are a lot of bounties that don't require a comma four or a car.
 
 ## Pull Requests
 
diff --git a/docs/DEVELOPMENT.md b/docs/DEVELOPMENT.md
new file mode 100644
index 00000000000..e803a3fb8a3
--- /dev/null
+++ b/docs/DEVELOPMENT.md
@@ -0,0 +1,24 @@
+# Docs development
+
+The `docs/` tree is the source for [docs.comma.ai](https://docs.comma.ai).
+The site is updated on pushes to master by this [workflow](../.github/workflows/docs.yaml).
+
+Those commands must be run in the root directory of openpilot, **not /docs**
+
+**1. Install the docs dependencies**
+``` bash
+uv pip install .[docs]
+```
+
+**2. Build the new site**
+``` bash
+docs build
+```
+
+**3. Run the new site locally**
+``` bash
+docs serve
+```
+
+References:
+* https://zensical.org/docs/
diff --git a/docs/README.md b/docs/README.md
deleted file mode 100644
index 08dd4fa8bcc..00000000000
--- a/docs/README.md
+++ /dev/null
@@ -1,26 +0,0 @@
-# openpilot docs
-
-This is the source for [docs.comma.ai](https://docs.comma.ai).
-The site is updated on pushes to master by this [workflow](../.github/workflows/docs.yaml).
-
-## Development
-NOTE: Those commands must be run in the root directory of openpilot, **not /docs**
-
-**1. Install the docs dependencies**
-``` bash
-pip install .[docs]
-```
-
-**2. Build the new site**
-``` bash
-mkdocs build
-```
-
-**3. Run the new site locally**
-``` bash
-mkdocs serve
-```
-
-References:
-* https://www.mkdocs.org/getting-started/
-* https://github.com/ntno/mkdocs-terminal
diff --git a/docs/assets/comma-logo.png b/docs/assets/comma-logo.png
new file mode 120000
index 00000000000..2838d92bfb1
--- /dev/null
+++ b/docs/assets/comma-logo.png
@@ -0,0 +1 @@
+../../selfdrive/assets/icons_mici/settings/comma_icon.png
\ No newline at end of file
diff --git a/docs/car-porting/brand-port.md b/docs/car-porting/brand-port.md
deleted file mode 100644
index a3daa7a8485..00000000000
--- a/docs/car-porting/brand-port.md
+++ /dev/null
@@ -1,5 +0,0 @@
-# Developing a car brand port
-
-A brand port is a port of openpilot to a substantially new car brand or platform within a brand.
-
-Here's an example of one: https://github.com/commaai/openpilot/pull/23331.
diff --git a/docs/car-porting/car-state-signals.md b/docs/car-porting/car-state-signals.md
deleted file mode 100644
index 669bd0ee237..00000000000
--- a/docs/car-porting/car-state-signals.md
+++ /dev/null
@@ -1,65 +0,0 @@
-# CarState signals
-
-## Required for basic lateral control
-
-* `brakePressed`
-* `cruiseState`
-* `doorOpen`
-* `espDisabled`
-* `gasPressed`
-* `gearShifter`
-* `leftBlinker` / `rightBlinker`
-* `seatbeltUnlatched`
-* `standstill`
-* `steeringAngleDeg`
-* `steeringPressed`
-* `steeringTorque`
-* `steerFaultPermanent`
-* `steerFaultTemporary`
-* `vCruise`
-* `wheelSpeeds.[fl|fr|rl|rr]`: Speed of each of the car's four wheels, in m/s. The car's CAN bus often broadcasts the
-speed in kph, so the helper function `parse_wheel_speeds` performs this conversion by default.
-
-## Recommended / Required for openpilot longitudinal control
-
-* `accFaulted`
-* `espActive`
-* `parkingBrake`
-
-## Application Dependent
-
-* `blockPcmEnable`
-* `buttonEnable`
-* `brakeHoldActive`
-* `carFaultedNonCritical`
-* `invalidLkasSetting`
-* `lowSpeedAlert`
-* `regenBraking`
-* `steeringAngleOffsetDeg`
-* `steeringDisengage`
-* `steeringTorqueEps`
-* `stockLkas`
-* `vCruiseCluster`
-* `vEgoCluster`
-* `vehicleSensorsInvalid`
-
-## Automatically populated
-
-* `buttonEvents`
-
-These values are populated automatically by `parse_wheel_speeds`:
-
-* `aEgo`: Acceleration of the ego vehicle, Kalman filtered derivative of `vEgo`.
-* `vEgo`: Speed of the ego vehicle, Kalman filtered from `vEgoRaw`.
-* `vEgoRaw`: Speed of the ego vehicle, based on the average of all four wheel speeds, unfiltered.
-
-## Optional
-
-* `brake`
-* `charging`
-* `fuelGauge`
-* `leftBlindspot` / `rightBlindspot`
-* `steeringRateDeg`
-* `stockAeb`
-* `stockFcw`
-* `yawRate`
diff --git a/docs/car-porting/model-port.md b/docs/car-porting/model-port.md
deleted file mode 100644
index e148a40ecb1..00000000000
--- a/docs/car-porting/model-port.md
+++ /dev/null
@@ -1,5 +0,0 @@
-# Developing a car model port
-
-A model port is a port of openpilot to a new car model within an already supported brand. Model ports are easier than brand ports because the car's existing APIs are already known.
-
-Here's an example of one: https://github.com/commaai/openpilot/pull/30672/.
diff --git a/docs/car-porting/reverse-engineering.md b/docs/car-porting/reverse-engineering.md
deleted file mode 100644
index 128ec8e7769..00000000000
--- a/docs/car-porting/reverse-engineering.md
+++ /dev/null
@@ -1,85 +0,0 @@
-# Stimulus-Response Tests
-
-These are example test drives that can help identify the CAN bus messaging necessary for ADAS control. Each scripted
-test should be done in a separate route (ignition cycle). These tests are a guide, not necessarily exhaustive.
-
-While testing, constant power to the comma device is highly recommended, using [comma power](https://comma.ai/shop/comma-power) if
-necessary to make sure all test activity is fully captured and for ease of uploading. If constant power isn't
-available, keep the ignition on for at least one minute after your test to make sure power loss doesn't result
-in loss of the last minute of testing data.
-
-## Stationary ignition-only tests, part 1
-
-1. Ignition on, but don't start engine, remain in Park
-2. Open and close each door in a defined order: driver, passenger, rear left, rear right
-3. Re-enter the vehicle, close the driver's door, and fasten the driver's seatbelt
-4. Slowly press and release the accelerator pedal 3 times
-5. Slowly press and release the brake pedal 3 times
-6. Hold the brake and move the gearshift to reverse, then neutral, then drive, then sport/eco/etc if applicable
-7. Return to Park, ignition off
-
-Brake-pressed information may show up in several messages and signals, both as on/off states and as a percentage or
-pressure. It may reflect a switch on the driver's brake pedal, or a pressure-threshold state, or signals to turn on
-the rear brake lights. Start by identifying all the potential signals, and confirm while driving with ACC later.
-
-Locate signals for all four door states if possible, but some cars only expose the driver's door state on the ADAS bus.
-Driver/passenger door signals may or may not change positions for LHD vs RHD cars. For cars where only the driver's
-door signal is available, the same signal may follow the driver.
-
-## Stationary ignition-only tests, part 2
-
-1. Ignition on, but don't start engine, remain in Park
-2. Press each ACC button in a defined order: main switch on/off, set, resume, cancel, accel, decel, gap adjust
-3. Set the left turn signal for about five seconds
-4. Operate the left turn signal one time in its touch-to-pass mode
-5. Set the right turn signal for about five seconds
-6. Operate the right turn signal one time in its touch-to-pass mode
-7. Set the hazard / emergency indicator switch for about five seconds
-8. Ignition off
-
-Your vehicle may have a momentary-press main ACC switch or a physical toggle that remains set. Actual ACC engagement
-isn't necessary for purposes of detecting the ACC button presses.
-
-## Steering angle and steering torque tests
-
-Power steering should be available. On ICE cars, engine RPM may be present.
-
-1. Ignition on, start engine if applicable, remain in Park
-2. Rotate the steering wheel as follows, with a few seconds pause between each step
-   * Start as close to exact center as possible
-   * Turn to 45 degrees right and hold
-   * Turn to 90 degrees right and hold
-   * Turn to 180 degrees right and hold
-   * Turn to full lock right and hold, with firm pressure against lock
-   * Release the wheel and allow it to bounce back slightly from lock
-   * Turn to 180 degrees left and hold
-   * Return to center and release
-3. Ignition off
-
-Performing the full test to the right, followed by an abbreviated test to the left, helps give additional confirmation
-of signal scale, and sign/direction for both the steering wheel angle and driver input torque signals.
-
-## Low speed / parking lot driving tests
-
-Before this test, drive to a place like an empty parking lot where you are free to drive in a series of curves.
-
-1. Ignition on, start engine if applicable, prepare to drive
-2. Slowly (10-20mph at most) drive a figure-8 if possible, or at least one sharp left and one sharp right.
-3. Come to a complete stop
-4. When and where safe, drive in reverse for a short distance (10-15 feet)
-5. Park the car in a safe place, ignition off
-
-## High speed / highway driving tests
-
-Select a place and time where you can safely set cruise control at normal travel speeds with little interference from
-traffic ahead, and safely test the response of your factory lane guidance system.
-
-1. Ignition on, start engine if applicable, prepare to drive
-2. When safely able, engage adaptive cruise control below 50 mph
-3. When safely able, use the ACC buttons to accelerate to 50mph, then 55mph, then 60mph
-4. Disengage adaptive cruise
-5. When safely able, allow your factory lane guidance to prevent lane departures, 2-3 times on both the left and right
-
-The series of setpoints can be adjusted to local traffic regulations, and of course metric units. The specific cruise
-setpoints are useful for locating the ACC HUD signals later, and confirming their precise scaling. When the car reaches
-and holds the setpoint, that can also provide additional confirmation of wheel speed scaling.
diff --git a/docs/concepts/glossary.md b/docs/concepts/glossary.md
index a09b0f07853..4f4dd54756c 100644
--- a/docs/concepts/glossary.md
+++ b/docs/concepts/glossary.md
@@ -1,9 +1,3 @@
 # openpilot glossary
 
-* **onroad**: openpilot's system state while ignition is on
-* **offroad**: openpilot's system state while ignition is off
-* **route**: a route is a recording of an onroad session
-* **segment**: routes are split into one minute chunks called segments.
-* **comma connect**: the web viewer for all your routes; check it out at [connect.comma.ai](https://connect.comma.ai).
-* **panda**: this is the secondary processor on the device that implements the functional safety and directly talks to the car over CAN. See the [panda repo](https://github.com/commaai/panda).
-* **comma 3X**: the latest hardware by comma.ai for running openpilot. more info at [comma.ai/shop](https://comma.ai/shop).
+{{GLOSSARY_DEFINITIONS}}
diff --git a/docs/concepts/logs.md b/docs/concepts/logs.md
index 46ab2897df9..e533d362972 100644
--- a/docs/concepts/logs.md
+++ b/docs/concepts/logs.md
@@ -6,9 +6,9 @@ Check out our [Python library](https://github.com/commaai/openpilot/blob/master/
 
 For each segment, openpilot records the following log types:
 
-## rlog.bz2
+## rlog.zst
 
-rlogs contain all the messages passed amongst openpilot's processes. See [cereal/services.py](https://github.com/commaai/cereal/blob/master/services.py) for a list of all the logged services. They're a bzip2 archive of the serialized capnproto messages.
+rlogs contain all the messages passed amongst openpilot's processes. See [cereal/services.py](https://github.com/commaai/openpilot/blob/master/cereal/services.py) for a list of all the logged services. They're a zstd archive of the serialized [Cap’n Proto](https://capnproto.org/) messages.
 
 ## {f,e,d}camera.hevc
 
@@ -18,12 +18,10 @@ Each camera stream is H.265 encoded and written to its respective file.
 * `ecamera.hevc` is the wide road camera
 * `dcamera.hevc` is the driver camera
 
-## qlog.bz2 & qcamera.ts
+## qlog.zst & qcamera.ts
 
 qlogs are a decimated subset of the rlogs. Check out [cereal/services.py](https://github.com/commaai/cereal/blob/master/services.py) for the decimation.
 
-
 qcameras are H.264 encoded, lower res versions of the fcamera.hevc. The video shown in [comma connect](https://connect.comma.ai/) is from the qcameras.
 
-
-qlogs and qcameras are designed to be small enough to upload instantly on slow internet and store forever, yet useful enough for most analysis and debugging.
+qlogs and qcameras are designed to be small enough to upload instantly on slow internet, yet useful enough for most analysis and debugging.
diff --git a/docs/contributing/feedback.md b/docs/contributing/feedback.md
new file mode 100644
index 00000000000..335d24e13a8
--- /dev/null
+++ b/docs/contributing/feedback.md
@@ -0,0 +1,36 @@
+# How to Give Feedback
+
+Feedback is one of the highest leverage ways to contribute to openpilot as a user.
+
+## Driving
+
+Got feedback about how your car drives?
+Join the community Discord, then use the form in `#submit-feedback`.
+
+Before posting feedback, please ensure:
+
+- **openpilot is up to date** you should be on the latest openpilot release or nightly
+- **both road-facing cameras have a clear view** your windshield is clean, lenses are clean, etc.
+- **your device is mounted properly** your device must be mounted horizontally center and relatively high on the windshield
+
+## Driver Monitoring
+
+If you find DM annoying while being perfectly attentive, these are likely false positives and we want to fix them!
+In general, driver monitoring feedback is very actionable, and we can fix your complaint within a release cycle.
+
+To post your feedback:
+
+1. Join the [community Discord](https://discord.comma.ai).
+2. If driver camera recording is toggled off, temporarily enable driver camera recording in the settings until you reproduce the issue.
+3. Using comma connect, identify the relevant segment and upload the segment's logs and driver camera.
+4. Post the segment in the `#openpilot-experience` channel on Discord with a good description.
+
+Before posting feedback, please ensure:
+
+- **openpilot is up to date** you should be on the latest openpilot release or nightly
+- **the driver camera has a clear view of the driver** ensure nothing blocks view of the driver (e.g. a cable), the lens is clean, etc.
+- **your device is mounted properly** your device must be mounted horizontally center and relatively high on the windshield
+
+## Other bugs
+
+Got an issue with something else? Open an issue on our [GitHub issue tracker](https://github.com/commaai/openpilot/issues/new/choose).
diff --git a/docs/contributing/roadmap.md b/docs/contributing/roadmap.md
index 1262017a0b8..ae27a5461ca 100644
--- a/docs/contributing/roadmap.md
+++ b/docs/contributing/roadmap.md
@@ -7,25 +7,11 @@ This is the roadmap for the next major openpilot releases. Also check out
 * [Bounties](https://comma.ai/bounties) for paid individual issues
 * [#current-projects](https://discord.com/channels/469524606043160576/1249579909739708446) in Discord for discussion on work-in-progress projects
 
-## openpilot 0.10
-
-openpilot 0.10 will be the first release with a driving policy trained in
-a [learned simulator](https://youtu.be/EqQNZXqzFSI).
-
-* Driving model trained in a learned simulator
-* Always-on driver monitoring (behind a toggle)
-* GPS removed from the driving stack
-* 100KB qlogs
-* `nightly` pushed after 1000 hours of hardware-in-the-loop testing
-* Car interface code moved into [opendbc](https://github.com/commaai/opendbc)
-* openpilot on PC for Linux x86, Linux arm64, and Mac (Apple Silicon)
-
 ## openpilot 1.0
 
 openpilot 1.0 will feature a fully end-to-end driving policy.
 
 * End-to-end longitudinal control in Chill mode
-* Automatic Emergency Braking (AEB)
 * Driver monitoring with sleep detection
 * Rolling updates/releases pushed out by CI
 * [panda safety 1.0](https://github.com/orgs/commaai/projects/27)
diff --git a/docs/css/tooltip.css b/docs/css/tooltip.css
deleted file mode 100644
index b9a54f793f9..00000000000
--- a/docs/css/tooltip.css
+++ /dev/null
@@ -1,44 +0,0 @@
-[data-tooltip] {
-  position: relative;
-  display: inline-block;
-  border-bottom: 1px dotted black;
-}
-
-[data-tooltip] .tooltip-content {
-  width: max-content;
-  max-width: 25em;
-  position: absolute;
-  top: 100%;
-  left: 50%;
-  transform: translateX(-50%);
-  background-color: white;
-  color: #404040;
-  box-shadow: 0 4px 14px 0 rgba(0,0,0,.2), 0 0 0 1px rgba(0,0,0,.05);
-  padding: 10px;
-  font: 14px/1.5 Lato, proxima-nova, Helvetica Neue, Arial, sans-serif;
-  text-decoration: none;
-  opacity: 0;
-  visibility: hidden;
-  transition: opacity 0.1s, visibility 0s;
-  z-index: 1000;
-  pointer-events: none; /* Prevent accidental interaction */
-}
-
-[data-tooltip]:hover .tooltip-content {
-  opacity: 1;
-  visibility: visible;
-  pointer-events: auto; /* Allow interaction when visible */
-}
-
-.tooltip-content .tooltip-glossary-link {
-  display: inline-block;
-  margin-top: 8px;
-  font-size: 12px;
-  color: #007bff;
-  text-decoration: none;
-}
-
-.tooltip-content .tooltip-glossary-link:hover {
-  color: #0056b3;
-  text-decoration: underline;
-}
diff --git a/docs/ext/glossary.py b/docs/ext/glossary.py
new file mode 100644
index 00000000000..9bbf3c78d71
--- /dev/null
+++ b/docs/ext/glossary.py
@@ -0,0 +1,216 @@
+import posixpath
+import re
+import tomllib
+import xml.etree.ElementTree as ET
+from pathlib import Path
+
+from markdown.extensions import Extension
+from markdown.preprocessors import Preprocessor
+from markdown.treeprocessors import Treeprocessor
+
+from zensical.extensions.links import LinksTreeprocessor
+
+GlossaryTerm = tuple[str, re.Pattern[str], str]
+
+GLOSSARY_FILE = Path(__file__).with_name("glossary.toml")
+GLOSSARY_PAGE = "concepts/glossary.md"
+GLOSSARY_PLACEHOLDER = "{{GLOSSARY_DEFINITIONS}}"
+
+SKIP_TAGS = {
+  "a",
+  "code",
+  "h1",
+  "h2",
+  "h3",
+  "h4",
+  "h5",
+  "h6",
+  "kbd",
+  "pre",
+  "script",
+  "style",
+}
+
+def clean_tooltip(description: str) -> str:
+  text = re.sub(r"\[([^\]]+)]\([^)]+\)", r"\1", description)
+  text = re.sub(r"`([^`]+)`", r"\1", text)
+  text = re.sub(r"[*_~]", "", text)
+  return re.sub(r"\s+", " ", text).strip()
+
+
+def load_glossary() -> tuple[list[GlossaryTerm], str]:
+  with GLOSSARY_FILE.open("rb") as f:
+    glossary_data = tomllib.load(f).get("glossary", {})
+
+  glossary: list[GlossaryTerm] = []
+  rendered = []
+  for key, value in glossary_data.items():
+    label = str(key).strip().replace("_", " ")
+    description = str(value).strip()
+    if not description:
+      continue
+
+    slug = label.replace(" ", "-").replace("_", "-").lower()
+    glossary.append((slug, re.compile(rf"(?<!\w){re.escape(label)}(?!\w)", re.IGNORECASE), clean_tooltip(description)))
+    rendered.append(f'* <span id="{slug}"></span>**{label}**: {description}')
+
+  return glossary, "\n".join(rendered)
+
+
+class GlossaryPreprocessor(Preprocessor):
+  def __init__(self, md, glossary: str):
+    super().__init__(md)
+    self.glossary = glossary
+
+  def run(self, lines: list[str]) -> list[str]:
+    markdown = "\n".join(lines)
+    if GLOSSARY_PLACEHOLDER not in markdown:
+      return lines
+    return markdown.replace(GLOSSARY_PLACEHOLDER, self.glossary).splitlines()
+
+
+class GlossaryTreeprocessor(Treeprocessor):
+  def __init__(self, md, glossary: list[GlossaryTerm]):
+    super().__init__(md)
+    self.glossary = glossary
+    self.seen: set[str] = set()
+
+  def run(self, root: ET.Element) -> None:
+    at = self.md.treeprocessors.get_index_for_name("zrelpath")
+    processor = self.md.treeprocessors[at]
+    if not isinstance(processor, LinksTreeprocessor):
+      raise TypeError("Links processor not registered")
+    if processor.path == GLOSSARY_PAGE:
+      return
+
+    self.seen.clear()
+    glossary_href = f"{posixpath.relpath(GLOSSARY_PAGE, posixpath.dirname(processor.path) or '.')}#"
+    self._walk(root, glossary_href)
+
+  def _walk(self, element: ET.Element, glossary_href: str) -> None:
+    if element.tag in SKIP_TAGS or element.attrib.get("data-glossary-skip") is not None:
+      return
+
+    self._replace(element, glossary_href)
+
+    idx = 0
+    while idx < len(element):
+      child = element[idx]
+      self._walk(child, glossary_href)
+      idx = self._replace(element, glossary_href, idx) + 1
+
+  def _replace(self, parent: ET.Element, glossary_href: str, index: int | None = None) -> int:
+    child = None if index is None else parent[index]
+    text = parent.text if child is None else child.tail
+    pieces = self._pieces(text or "", glossary_href)
+    if not pieces:
+      return -1 if index is None else index
+
+    if child is None:
+      parent.text = pieces[0] if isinstance(pieces[0], str) else ""
+      # Insert replacements for parent.text before the first existing child.
+      insert_at = -1
+    else:
+      assert index is not None
+      child.tail = pieces[0] if isinstance(pieces[0], str) else ""
+      insert_at = index
+
+    start = 1 if isinstance(pieces[0], str) else 0
+    previous = child
+
+    for piece in pieces[start:]:
+      if isinstance(piece, str):
+        previous.tail = (previous.tail or "") + piece
+        continue
+
+      insert_at += 1
+      parent.insert(insert_at, piece)
+      previous = piece
+
+    return insert_at
+
+  def _pieces(self, text: str, glossary_href: str) -> list[str | ET.Element]:
+    if not text.strip():
+      return []
+
+    pieces: list[str | ET.Element] = []
+    cursor = 0
+
+    while True:
+      best = None
+      for slug, pattern, tooltip in self.glossary:
+        if slug in self.seen:
+          continue
+
+        found = pattern.search(text, cursor)
+        if found is None:
+          continue
+
+        candidate = (slug, tooltip, found.start(), found.end())
+        if best is None:
+          best = candidate
+          continue
+
+        _, _, best_start, best_end = best
+        _, _, current_start, current_end = candidate
+        if current_start < best_start:
+          best = candidate
+          continue
+
+        if current_start == best_start and current_end - current_start > best_end - best_start:
+          best = candidate
+
+      if best is None:
+        break
+
+      slug, tooltip, start, end = best
+      if start > cursor:
+        pieces.append(text[cursor:start])
+
+      link = ET.Element(
+        "a",
+        {
+          "class": "glossary-term",
+          "data-glossary-term": "",
+          "href": f"{glossary_href}{slug}",
+        },
+      )
+      ET.SubElement(link, "span", {"class": "glossary-term__label"}).text = text[start:end]
+      ET.SubElement(
+        link,
+        "span",
+        {
+          "class": "glossary-term__tooltip",
+          "data-search-exclude": "",
+        },
+      ).text = tooltip
+      pieces.append(link)
+      self.seen.add(slug)
+      cursor = end
+
+    if not pieces:
+      return []
+    if cursor < len(text):
+      pieces.append(text[cursor:])
+    return pieces
+
+
+class GlossaryExtension(Extension):
+  def extendMarkdown(self, md) -> None:
+    md.registerExtension(self)
+    glossary, rendered = load_glossary()
+
+    md.preprocessors.register(
+      GlossaryPreprocessor(md, rendered),
+      "docs-ext-glossary-preprocessor",
+      27,
+    )
+    md.treeprocessors.register(
+      GlossaryTreeprocessor(md, glossary),
+      "docs-ext-glossary-treeprocessor",
+      0,
+    )
+
+
+def makeExtension(**kwargs) -> GlossaryExtension:
+  return GlossaryExtension(**kwargs)
diff --git a/docs/ext/glossary.toml b/docs/ext/glossary.toml
new file mode 100644
index 00000000000..62408d9dddf
--- /dev/null
+++ b/docs/ext/glossary.toml
@@ -0,0 +1,8 @@
+[glossary]
+onroad = "openpilot's system state while ignition is on."
+offroad = "openpilot's system state while ignition is off."
+route = "A route is a recording of an onroad session."
+segment = "Routes are split into one minute chunks called segments."
+"comma connect" = "The web viewer for all your routes; check it out at [connect.comma.ai](https://connect.comma.ai)."
+panda = "The secondary processor on the device that implements the functional safety and directly talks to the car over CAN. See the [panda repo](https://github.com/commaai/panda)."
+"comma four" = "The latest hardware by comma.ai for running openpilot. More info at [comma.ai/shop/comma-four](https://www.comma.ai/shop/comma-four)."
diff --git a/docs/getting-started/what-is-openpilot.md b/docs/getting-started/what-is-openpilot.md
deleted file mode 100644
index b3c56c8410d..00000000000
--- a/docs/getting-started/what-is-openpilot.md
+++ /dev/null
@@ -1,12 +0,0 @@
-# What is openpilot?
-
-[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW), and Lane Departure Warning (LDW) for a growing variety of [supported car makes, models, and model years](https://github.com/commaai/openpilot/blob/master/docs/CARS.md). In addition, while openpilot is engaged, a camera-based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration](https://github.com/commaai/openpilot/blob/master/docs/INTEGRATION.md) and [limitations](https://github.com/commaai/openpilot/blob/master/docs/LIMITATIONS.md).
-
-
-## How do I use it?
-
-openpilot is designed to be used on the comma 3X.
-
-## How does it work?
-
-In short, openpilot uses the car's existing APIs for the built-in [ADAS](https://en.wikipedia.org/wiki/Advanced_driver-assistance_system) system and simply provides better acceleration, braking, and steering inputs than the stock system.
diff --git a/docs/hooks/glossary.py b/docs/hooks/glossary.py
deleted file mode 100644
index e2fa3d51e04..00000000000
--- a/docs/hooks/glossary.py
+++ /dev/null
@@ -1,68 +0,0 @@
-import re
-import tomllib
-
-def load_glossary(file_path="docs/glossary.toml"):
-  with open(file_path, "rb") as f:
-    glossary_data = tomllib.load(f)
-  return glossary_data.get("glossary", {})
-
-def generate_anchor_id(name):
-  return name.replace(" ", "-").replace("_", "-").lower()
-
-def format_markdown_term(name, definition):
-  anchor_id = generate_anchor_id(name)
-  markdown = f"* [**{name.replace('_', ' ').title()}**](#{anchor_id})"
-  if definition.get("abbreviation"):
-    markdown += f" *({definition['abbreviation']})*"
-  if definition.get("description"):
-    markdown += f": {definition['description']}\n"
-  return markdown
-
-def glossary_markdown(vocabulary):
-  markdown = ""
-  for category, terms in vocabulary.items():
-    markdown += f"## {category.replace('_', ' ').title()}\n\n"
-    for name, definition in terms.items():
-      markdown += format_markdown_term(name, definition)
-  return markdown
-
-def format_tooltip_html(term_key, definition, html):
-  display_term = term_key.replace("_", " ").title()
-  clean_description = re.sub(r"\[(.+)]\(.+\)", r"\1", definition["description"])
-  glossary_link = (
-    f"<a href='/concepts/glossary#{term_key}' class='tooltip-glossary-link' title='View in glossary'>Glossary🔗</a>"
-  )
-  return re.sub(
-    re.escape(display_term),
-    lambda
-    match: f"<span data-tooltip>{match.group(0)}<span class='tooltip-content'>{clean_description} {glossary_link}</span></span>",
-    html,
-    flags=re.IGNORECASE,
-  )
-
-def apply_tooltip(_term_key, _definition, pattern, html):
-  return re.sub(
-    pattern,
-    lambda match: format_tooltip_html(_term_key, _definition, match.group(0)),
-    html,
-    flags=re.IGNORECASE,
-  )
-
-def tooltip_html(vocabulary, html):
-  for _category, terms in vocabulary.items():
-    for term_key, definition in terms.items():
-      if definition.get("description"):
-        pattern = rf"(?<!\w){re.escape(term_key.replace('_', ' ').title())}(?![^<]*<\/a>)(?!\([^)]*\))"
-        html = apply_tooltip(term_key, definition, pattern, html)
-  return html
-
-# Page Hooks
-def on_page_markdown(markdown, **kwargs):
-  glossary = load_glossary()
-  return markdown.replace("{{GLOSSARY_DEFINITIONS}}", glossary_markdown(glossary))
-
-def on_page_content(html, **kwargs):
-  if kwargs.get("page").title == "Glossary":
-    return html
-  glossary = load_glossary()
-  return tooltip_html(glossary, html)
diff --git a/docs/car-porting/what-is-a-car-port.md b/docs/how-to/car-port.md
similarity index 65%
rename from docs/car-porting/what-is-a-car-port.md
rename to docs/how-to/car-port.md
index 55cce94da1f..ca565e53f6d 100644
--- a/docs/car-porting/what-is-a-car-port.md
+++ b/docs/how-to/car-port.md
@@ -8,7 +8,7 @@ A car port enables openpilot support on a particular car. Each car model openpil
 
 # Structure of a car port
 
-Virtually all car-specific code is contained in two other repositories: [opendbc](https://github.com/commaai/opendbc) and [panda](https://github.com/commaai/panda).
+All car-specific code is contained in the [opendbc](https://github.com/commaai/opendbc) project.
 
 ## opendbc
 
@@ -21,10 +21,10 @@ Each car brand is supported by a standard interface structure in `opendbc/car/[b
 * `values.py`: Limits for actuation, general constants for cars, and supported car documentation
 * `radar_interface.py`: Interface for parsing radar points from the car, if applicable
 
-## panda
+## safety
 
-* `board/safety/safety_[brand].h`: Brand-specific safety logic
-* `tests/safety/test_[brand].py`: Brand-specific safety CI tests
+* `opendbc/safety/modes/[brand].h`: Brand-specific safety logic
+* `opendbc/safety/tests/test_[brand].py`: Brand-specific safety CI tests
 
 ## openpilot
 
@@ -32,8 +32,20 @@ For historical reasons, openpilot still contains a small amount of car-specific
 
 * `selfdrive/car/car_specific.py`: Brand-specific event logic
 
-# Overview
+# How do I port car?
 
 [Jason Young](https://github.com/jyoung8607) gave a talk at COMMA_CON with an overview of the car porting process. The talk is available on YouTube:
 
 https://www.youtube.com/watch?v=XxPS5TpTUnI
+
+## Brand Port
+
+A brand port is a port of openpilot to a substantially new car brand or platform within a brand.
+
+Here's an example of one: https://github.com/commaai/openpilot/pull/23331.
+
+## Model Port
+
+A model port is a port of openpilot to a new car model within an already supported brand. Model ports are easier than brand ports because the car's existing APIs are already known.
+
+Here's an example of one: https://github.com/commaai/openpilot/pull/30672/.
diff --git a/docs/how-to/connect-to-comma.md b/docs/how-to/connect-to-comma.md
index 5f02e115994..e4e322f111b 100644
--- a/docs/how-to/connect-to-comma.md
+++ b/docs/how-to/connect-to-comma.md
@@ -1,15 +1,15 @@
-# connect to a comma 3X
+# connect to a comma 3X or comma four
 
-A comma 3X is a normal [Linux](https://github.com/commaai/agnos-builder) computer that exposes [SSH](https://wiki.archlinux.org/title/Secure_Shell) and a [serial console](https://wiki.archlinux.org/title/Working_with_the_serial_console).
+A comma device is a normal [Linux](https://github.com/commaai/agnos-builder) computer that exposes [SSH](https://wiki.archlinux.org/title/Secure_Shell) and a [serial console](https://wiki.archlinux.org/title/Working_with_the_serial_console).
 
 ## Serial Console
 
-On both the comma three and 3X, the serial console is accessible from the main OBD-C port.
-Connect the comma 3X to your computer with a normal USB C cable, or use a [comma serial](https://comma.ai/shop/comma-serial) for steady 12V power.
+On the comma 3X, the serial console is accessible from the main OBD-C port, forwarded through the panda.
+Access it using `panda/scripts/som_debug.sh`.
 
-On the comma three, the serial console is exposed through a UART-to-USB chip, and `tools/scripts/serial.sh` can be used to connect.
+comma four also exposes a serial console, albeit through an internal debug connector. Dedicated debug hardware coming soon to the comma shop.
 
-On the comma 3X, the serial console is accessible through the [panda](https://github.com/commaai/panda) using the `panda/tests/som_debug.sh` script.
+Login to the default user with:
 
   * Username: `comma`
   * Password: `comma`
@@ -25,7 +25,7 @@ In order to SSH into your device, you'll need a GitHub account with SSH keys. Se
     * Port: `22`
 
 Here's an example command for connecting to your device using its tethered connection:<br />
-`ssh comma@192.168.43.1`
+`ssh comma@192.168.43.1 -i ~/.ssh/my_github_key`
 
 For doing development work on device, it's recommended to use [SSH agent forwarding](https://docs.github.com/en/developers/overview/using-ssh-agent-forwarding).
 
@@ -45,7 +45,7 @@ In order to use ADB on your device, you'll need to perform the following steps u
     * Here's an example command for connecting to your device using its tethered connection: `adb connect 192.168.43.1:5555`
 
 > [!NOTE]
-> The default port for ADB is 5555 on the comma 3X.
+> The default port for ADB is 5555.
 
 For more info on ADB, see the [Android Debug Bridge (ADB) documentation](https://developer.android.com/tools/adb).
 
@@ -55,7 +55,7 @@ The public keys are only fetched from your GitHub account once. In order to upda
 
 The `id_rsa` key in this directory only works while your device is in the setup state with no software installed. After installation, that default key will be removed.
 
-#### ssh.comma.ai proxy
+## ssh.comma.ai proxy
 
 With a [comma prime subscription](https://comma.ai/connect), you can SSH into your comma device from anywhere.
 
@@ -79,6 +79,7 @@ Host ssh.comma.ai
 ```
 ssh -i ~/.ssh/my_github_key -o ProxyCommand="ssh -i ~/.ssh/my_github_key -W %h:%p -p %p %h@ssh.comma.ai" comma@ffffffffffffffff
 ```
+
 (Replace `ffffffffffffffff` with your dongle_id)
 
 ### ssh.comma.ai host key fingerprint
diff --git a/docs/how-to/replay-a-drive.md b/docs/how-to/replay-a-drive.md
index b0db36a46f0..a11b29dcc4e 100644
--- a/docs/how-to/replay-a-drive.md
+++ b/docs/how-to/replay-a-drive.md
@@ -8,7 +8,7 @@ Replaying is a critical tool for openpilot development and debugging.
 Just run `tools/replay/replay --demo`.
 
 ## Replaying CAN data
-*Hardware required: jungle and comma 3X*
+*Hardware required: jungle and comma four*
 
 1. Connect your PC to a jungle.
 2.
diff --git a/docs/how-to/turn-the-speed-blue.md b/docs/how-to/turn-the-speed-blue.md
index 644c35e0abe..bc1d6340129 100644
--- a/docs/how-to/turn-the-speed-blue.md
+++ b/docs/how-to/turn-the-speed-blue.md
@@ -3,7 +3,7 @@
 
 In 30 minutes, we'll get an openpilot development environment set up on your computer and make some changes to openpilot's UI.
 
-And if you have a comma 3X, we'll deploy the change to your device for testing.
+And if you have a comma four, we'll deploy the change to your device for testing.
 
 ## 1. Set up your development environment
 
diff --git a/docs/index.md b/docs/index.md
deleted file mode 120000
index 74ea27aeeb6..00000000000
--- a/docs/index.md
+++ /dev/null
@@ -1 +0,0 @@
-getting-started/what-is-openpilot.md
\ No newline at end of file
diff --git a/docs/index.md b/docs/index.md
new file mode 100644
index 00000000000..6fab2b979b1
--- /dev/null
+++ b/docs/index.md
@@ -0,0 +1,12 @@
+# What is openpilot?
+
+[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW), and Lane Departure Warning (LDW) for a growing variety of [supported car makes, models, and model years](https://github.com/commaai/openpilot/blob/master/docs/CARS.md). In addition, while openpilot is engaged, a camera-based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration](https://github.com/commaai/openpilot/blob/master/docs/INTEGRATION.md) and [limitations](https://github.com/commaai/openpilot/blob/master/docs/LIMITATIONS.md).
+
+
+## How do I use it?
+
+openpilot is designed to be used on the comma four.
+
+## How does it work?
+
+In short, openpilot uses the car's existing APIs for the built-in [ADAS](https://en.wikipedia.org/wiki/Advanced_driver-assistance_system) system and simply provides better acceleration, braking, and steering inputs than the stock system.
diff --git a/docs/stylesheets/extra.css b/docs/stylesheets/extra.css
new file mode 100644
index 00000000000..36ce354af10
--- /dev/null
+++ b/docs/stylesheets/extra.css
@@ -0,0 +1,42 @@
+.md-logo img {
+  filter: invert(1);
+}
+
+.glossary-term {
+  position: relative;
+  color: inherit;
+  text-decoration: none;
+}
+
+.glossary-term__label {
+  border-bottom: 1px dotted currentColor;
+}
+
+.glossary-term__tooltip {
+  position: absolute;
+  top: calc(100% + 0.4rem);
+  left: 50%;
+  width: max-content;
+  max-width: min(30rem, 80vw);
+  padding: 0.65rem 0.8rem;
+  border-radius: 0.6rem;
+  background: rgb(26 26 26 / 96%);
+  color: white;
+  box-shadow: 0 0.6rem 1.8rem rgb(0 0 0 / 22%);
+  font-size: 0.85rem;
+  line-height: 1.45;
+  opacity: 0;
+  pointer-events: none;
+  transform: translateX(-50%) translateY(-0.15rem);
+  transition: opacity 120ms ease, transform 120ms ease;
+  visibility: hidden;
+  z-index: 20;
+}
+
+.glossary-term:hover .glossary-term__tooltip,
+.glossary-term:focus-visible .glossary-term__tooltip,
+.glossary-term:focus-within .glossary-term__tooltip {
+  opacity: 1;
+  transform: translateX(-50%) translateY(0);
+  visibility: visible;
+}
diff --git a/launch_chffrplus.sh b/launch_chffrplus.sh
index d4689aae53a..5e7b4fa0db8 100755
--- a/launch_chffrplus.sh
+++ b/launch_chffrplus.sh
@@ -7,6 +7,7 @@ source "$DIR/launch_env.sh"
 function agnos_init {
   # TODO: move this to agnos
   sudo rm -f /data/etc/NetworkManager/system-connections/*.nmmeta
+  rm -f /data/scons_cache/config.lock
 
   # set success flag for current boot slot
   sudo abctl --set_success
diff --git a/launch_env.sh b/launch_env.sh
index fcbee2ff8d3..e409a80dd40 100755
--- a/launch_env.sh
+++ b/launch_env.sh
@@ -16,7 +16,7 @@ export VECLIB_MAXIMUM_THREADS=1
 export QCOM_PRIORITY=12
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="15.1"
+  export AGNOS_VERSION="17.2"
 fi
 
 export STAGING_ROOT="/data/safe_staging"
diff --git a/mkdocs.yml b/mkdocs.yml
deleted file mode 100644
index 550f807aca0..00000000000
--- a/mkdocs.yml
+++ /dev/null
@@ -1,44 +0,0 @@
-site_name: openpilot docs
-repo_url: https://github.com/commaai/openpilot/
-site_url: https://docs.comma.ai
-
-exclude_docs: README.md
-
-strict: true
-docs_dir: docs
-site_dir: docs_site/
-
-hooks:
-  - docs/hooks/glossary.py
-extra_css:
-  - css/tooltip.css
-theme:
-  name: readthedocs
-  navigation_depth: 3
-
-nav:
-  - Getting Started:
-    - What is openpilot?: getting-started/what-is-openpilot.md
-  - How-to:
-    - Turn the speed blue: how-to/turn-the-speed-blue.md
-    - Connect to a comma 3X: how-to/connect-to-comma.md
-    # - Make your first pull request: how-to/make-first-pr.md
-    #- Replay a drive: how-to/replay-a-drive.md
-  - Concepts:
-    - Logs: concepts/logs.md
-    - Safety: concepts/safety.md
-    - Glossary: concepts/glossary.md
-  - Car Porting:
-    - What is a car port?: car-porting/what-is-a-car-port.md
-    - Porting a car brand: car-porting/brand-port.md
-    - Porting a car model: car-porting/model-port.md
-  - Contributing:
-    - Roadmap: contributing/roadmap.md
-    #- Architecture: contributing/architecture.md
-    - Contributing Guide →: https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md
-  - Links:
-    - Blog →: https://blog.comma.ai
-    - Bounties →: https://comma.ai/bounties
-    - GitHub →: https://github.com/commaai
-    - Discord →: https://discord.comma.ai
-    - X →: https://x.com/comma_ai
diff --git a/msgq_repo b/msgq_repo
index 6abe47bc98b..b7688b9bd73 160000
--- a/msgq_repo
+++ b/msgq_repo
@@ -1 +1 @@
-Subproject commit 6abe47bc98b83338b6ea04a87a6b2b5c65d09630
+Subproject commit b7688b9bd731dea4520adf248bf1eb49b6dde776
diff --git a/opendbc_repo b/opendbc_repo
index 39773a987ea..6123dde9f67 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 39773a987eaefd680c6befa390d7898945daf2e7
+Subproject commit 6123dde9f67259aa3c8b1fa962f242f522bdd5a4
diff --git a/panda b/panda
index 1ffad74f88e..b19b66a6f0a 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 1ffad74f88e5683d9cd7c472e823928e28037e9e
+Subproject commit b19b66a6f0a246729953cb19390dbee1e93610b2
diff --git a/pyproject.toml b/pyproject.toml
index d5dc95e1b1a..d7af83d4075 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -1,11 +1,11 @@
 [project]
 name = "openpilot"
-requires-python = ">= 3.11, < 3.13"
+requires-python = ">= 3.12.3, < 3.13"
 license = {text = "MIT License"}
 version = "0.1.0"
 description = "an open source driver assistance system"
 authors = [
-  {name ="Vehicle Researcher", email="user@comma.ai"}
+  {name = "Vehicle Researcher", email="user@comma.ai"}
 ]
 
 dependencies = [
@@ -14,42 +14,44 @@ dependencies = [
   "pyserial",     # pigeond + qcomgpsd
   "requests",     # many one-off uses
   "sympy",        # rednose + friends
-  "crcmod",       # cars + qcomgpsd
+  "crcmod-plus",  # cars + qcomgpsd
   "tqdm",         # cars (fw_versions.py) on start + many one-off uses
 
-  # hardwared
-  "smbus2", # configuring amp
-
   # core
   "cffi",
   "scons",
-  "pycapnp==2.1.0",
+  "pycapnp",
   "Cython",
   "setuptools",
   "numpy >=2.0",
 
+  # vendored native dependencies
+  "bzip2 @ git+https://github.com/commaai/dependencies.git@release-bzip2#subdirectory=bzip2",
+  "capnproto @ git+https://github.com/commaai/dependencies.git@release-capnproto#subdirectory=capnproto",
+  "eigen @ git+https://github.com/commaai/dependencies.git@release-eigen#subdirectory=eigen",
+  "ffmpeg @ git+https://github.com/commaai/dependencies.git@release-ffmpeg#subdirectory=ffmpeg",
+  "libjpeg @ git+https://github.com/commaai/dependencies.git@release-libjpeg#subdirectory=libjpeg",
+  "libyuv @ git+https://github.com/commaai/dependencies.git@release-libyuv#subdirectory=libyuv",
+  "zstd @ git+https://github.com/commaai/dependencies.git@release-zstd#subdirectory=zstd",
+  "ncurses @ git+https://github.com/commaai/dependencies.git@release-ncurses#subdirectory=ncurses",
+  "zeromq @ git+https://github.com/commaai/dependencies.git@release-zeromq#subdirectory=zeromq",
+  "libusb @ git+https://github.com/commaai/dependencies.git@release-libusb#subdirectory=libusb",
+  "git-lfs @ git+https://github.com/commaai/dependencies.git@release-git-lfs#subdirectory=git-lfs",
+  "gcc-arm-none-eabi @ git+https://github.com/commaai/dependencies.git@release-gcc-arm-none-eabi#subdirectory=gcc-arm-none-eabi",
+
   # body / webrtcd
+  "av",
   "aiohttp",
   "aiortc",
-  # aiortc does not put an upper bound on pyopenssl and is now incompatible
-  # with the latest release
-  "pyopenssl < 24.3.0",
-  "pyaudio",
-
-  # ubloxd (TODO: just use struct)
-  "kaitaistruct",
 
   # panda
   "libusb1",
   "spidev; platform_system == 'Linux'",
 
-  # modeld
-  "onnx >= 1.14.0",
-
   # logging
   "pyzmq",
   "sentry-sdk",
-  "xattr", # used in place of 'os.getxattr' for macos compatibility
+  "xattr",  # used in place of 'os.getxattr' for macOS compatibility
 
   # athena
   "PyJWT",
@@ -58,7 +60,6 @@ dependencies = [
 
   # acados deps
   "casadi >=3.6.6",  # 3.12 fixed in 3.6.6
-  "future-fstrings",
 
   # joystickd
   "inputs",
@@ -72,61 +73,42 @@ dependencies = [
   "zstandard",
 
   # ui
-  "raylib < 5.5.0.3", # TODO: unpin when they fix https://github.com/electronstudio/raylib-python-cffi/issues/186
+  "raylib > 5.5.0.3",
   "qrcode",
-  "mapbox-earcut",
+  "jeepney",
+  "pillow",
 ]
 
 [project.optional-dependencies]
 docs = [
   "Jinja2",
-  "natsort",
-  "mkdocs",
+  "zensical",
 ]
 
 testing = [
   "coverage",
   "hypothesis ==6.47.*",
-  "mypy",
+  "ty",
   "pytest",
   "pytest-cpp",
   "pytest-subtests",
   # https://github.com/pytest-dev/pytest-xdist/pull/1229
   "pytest-xdist @ git+https://github.com/sshane/pytest-xdist@2b4372bd62699fb412c4fe2f95bf9f01bd2018da",
-  "pytest-timeout",
-  "pytest-randomly",
   "pytest-asyncio",
   "pytest-mock",
-  "pytest-repeat",
   "ruff",
   "codespell",
   "pre-commit-hooks",
 ]
 
 dev = [
-  "av",
-  "azure-identity",
-  "azure-storage-blob",
-  "dbus-next", # TODO: remove once we moved everything to jeepney
-  "dictdiffer",
-  "jeepney",
   "matplotlib",
   "opencv-python-headless",
-  "parameterized >=0.8, <0.9",
-  "pyautogui",
-  "pygame",
-  "pyopencl; platform_machine != 'aarch64'", # broken on arm64
-  "pytools>=2025.1.6; platform_machine != 'aarch64'",
-  "pywinctl",
-  "pyprof2calltree",
-  "tabulate",
-  "types-requests",
-  "types-tabulate",
 ]
 
 tools = [
-  "metadrive-simulator @ https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal-0.4.2.4/metadrive_simulator-0.4.2.4-py3-none-any.whl ; (platform_machine != 'aarch64')",
-  "dearpygui>=2.1.0; (sys_platform != 'linux' or platform_machine != 'aarch64')", # not vended for linux aarch64
+  "imgui  @ git+https://github.com/commaai/dependencies.git@release-imgui#subdirectory=imgui",
+  "metadrive-simulator @ git+https://github.com/commaai/metadrive.git@minimal ; (platform_machine != 'aarch64')",
 ]
 
 [project.urls]
@@ -149,7 +131,6 @@ cpp_files = "test_*"
 cpp_harness = "selfdrive/test/cpp_harness.py"
 python_files = "test_*.py"
 asyncio_default_fixture_loop_scope = "function"
-#timeout = "30"  # you get this long by default
 markers = [
   "slow: tests that take awhile to run and can be skipped with -m 'not slow'",
   "tici: tests that are only meant to run on the C3/C3X",
@@ -158,65 +139,19 @@ markers = [
 testpaths = [
   "common",
   "selfdrive",
-  "system/manager",
-  "system/updated",
-  "system/athena",
-  "system/camerad",
-  "system/hardware",
-  "system/loggerd",
-  "system/tests",
-  "system/ubloxd",
-  "system/webrtc",
-  "tools/lib/tests",
-  "tools/replay",
-  "tools/cabana",
-  "cereal/messaging/tests",
+  "system",
+  "tools",
+  "cereal",
 ]
 
 [tool.codespell]
 quiet-level = 3
 # if you've got a short variable name that's getting flagged, add it here
-ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn,ws,uint,grey,deque,stdio,amin,BA,LITE,atEnd,UIs,errorString,arange,FocusIn,od,tim,relA,hist,copyable,jupyter,thead,TGE,abl,lite"
+ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn,ws,uint,grey,deque,stdio,amin,BA,LITE,atEnd,UIs,errorString,arange,FocusIn,od,tim,relA,hist,copyable,jupyter,thead,TGE,abl,lite,ser"
 builtin = "clear,rare,informal,code,names,en-GB_to_en-US"
-skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, *.po, uv.lock, *.onnx, ./cereal/gen/*, */c_generated_code/*, docs/assets/*, tools/plotjuggler/layouts/*, selfdrive/assets/offroad/mici_fcc.html"
+skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, *.po, uv.lock, *.onnx, *.pem, ./cereal/gen/*, */c_generated_code/*, docs/assets/*, tools/plotjuggler/layouts/*, selfdrive/assets/offroad/mici_fcc.html"
 
-[tool.mypy]
-python_version = "3.11"
-exclude = [
-  "cereal/",
-  "msgq/",
-  "msgq_repo/",
-  "opendbc/",
-  "opendbc_repo/",
-  "panda/",
-  "rednose/",
-  "rednose_repo/",
-  "tinygrad/",
-  "tinygrad_repo/",
-  "teleoprtc/",
-  "teleoprtc_repo/",
-  "third_party/",
-]
-
-# third-party packages
-ignore_missing_imports=true
-
-# helpful warnings
-warn_redundant_casts=true
-warn_unreachable=true
-warn_unused_ignores=true
-
-# restrict dynamic typing
-warn_return_any=true
-
-# allow implicit optionals for default args
-implicit_optional = true
-
-local_partial_types=true
-explicit_package_bases=true
-disable_error_code = "annotation-unchecked"
-
-# https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml
+# https://docs.astral.sh/ruff/configuration/#using-pyprojecttoml
 [tool.ruff]
 indent-width = 2
 lint.select = [
@@ -271,6 +206,50 @@ lint.flake8-implicit-str-concat.allow-multiline = false
 "pyray.is_mouse_button_pressed".msg = "This can miss events. Use Widget._handle_mouse_press"
 "pyray.is_mouse_button_released".msg = "This can miss events. Use Widget._handle_mouse_release"
 "pyray.draw_text".msg = "Use a function (such as rl.draw_font_ex) that takes font as an argument"
+"pyray.draw_texture".msg = "Use rl.draw_texture_ex for float position support"
 
 [tool.ruff.format]
 quote-style = "preserve"
+
+[tool.ty.src]
+exclude = [
+  "cereal/",
+  "msgq/",
+  "msgq_repo/",
+  "opendbc/",
+  "opendbc_repo/",
+  "panda/",
+  "rednose/",
+  "rednose_repo/",
+  "tinygrad/",
+  "tinygrad_repo/",
+  "teleoprtc/",
+  "teleoprtc_repo/",
+  "third_party/",
+]
+
+[tool.ty.rules]
+# Ignore unresolved imports for Cython-compiled modules (.pyx)
+unresolved-import = "ignore"
+# Ignore unresolved attributes - many from capnp and Cython modules
+unresolved-attribute = "ignore"
+# Ignore invalid method overrides - signature variance issues
+invalid-method-override = "ignore"
+# Ignore possibly-missing-attribute - too many false positives
+possibly-missing-attribute = "ignore"
+# Ignore invalid assignment - often intentional monkey-patching
+invalid-assignment = "ignore"
+# Ignore no-matching-overload - numpy/ctypes overload matching issues
+no-matching-overload = "ignore"
+# Ignore invalid-argument-type - many false positives from raylib, ctypes, numpy
+invalid-argument-type = "ignore"
+# Ignore call-non-callable - false positives from dynamic types
+call-non-callable = "ignore"
+# Ignore unsupported-operator - false positives from dynamic types
+unsupported-operator = "ignore"
+# Ignore not-subscriptable - false positives from dynamic types
+not-subscriptable = "ignore"
+# not-iterable errors are now fixed
+
+[tool.uv]
+python-preference = "only-managed"
diff --git a/rednose_repo b/rednose_repo
index 7fddc8e6d49..7ffefa3d881 160000
--- a/rednose_repo
+++ b/rednose_repo
@@ -1 +1 @@
-Subproject commit 7fddc8e6d49def83c952a78673179bdc62789214
+Subproject commit 7ffefa3d8811a842f8ec97d311103ce3a45dfae0
diff --git a/release/README.md b/release/README.md
index fb651fa05ad..7aeea9fe4af 100644
--- a/release/README.md
+++ b/release/README.md
@@ -4,18 +4,17 @@
 ## release checklist
 
 ### Go to staging
-- [ ] make a GitHub issue to track release
+- [ ] make a GitHub issue to track release with this checklist
 - [ ] create release master branch
-- [ ] update RELEASES.md
+  - [ ] create a branch from upstream master named `zerotentwo` for release `v0.10.2`
+  - [ ] revert risky commits (double check with autonomy team)
+  - [ ] push the new branch
+- [ ] push to staging:
+  - [ ] make sure you are on the newly created release master branch (`zerotentwo`)
+  - [ ] run `BRANCH=devel-staging release/build_stripped.sh`. Jenkins will then automatically build staging on device, run `test_onroad` and update the staging branch
 - [ ] bump version on master: `common/version.h` and `RELEASES.md`
-- [ ] build new userdata partition from `release3-staging`
 - [ ] post on Discord, tag `@release crew`
 
-Updating staging:
-1. either rebase on master or cherry-pick changes
-2. run this to update: `BRANCH=devel-staging release/build_devel.sh`
-3. build new userdata partition from `release3-staging`
-
 ### Go to release
 - [ ] before going to release, test the following:
   - [ ] update from previous release -> new release
@@ -26,7 +25,7 @@ Updating staging:
   - [ ] check sentry, MTBF, etc.
   - [ ] stress test passes in production
 - [ ] publish the blog post
-- [ ] `git reset --hard origin/release3-staging`
+- [ ] `git reset --hard origin/release-mici-staging`
 - [ ] tag the release: `git tag v0.X.X <commit-hash> && git push origin v0.X.X`
 - [ ] create GitHub release
 - [ ] final test install on `openpilot.comma.ai`
diff --git a/release/build_release.sh b/release/build_release.sh
index 220da05c17d..7bc6732c685 100755
--- a/release/build_release.sh
+++ b/release/build_release.sh
@@ -72,8 +72,7 @@ find . -name '*.pyc' -delete
 find . -name 'moc_*' -delete
 find . -name '__pycache__' -delete
 rm -rf .sconsign.dblite Jenkinsfile release/
-rm selfdrive/modeld/models/driving_vision.onnx
-rm selfdrive/modeld/models/driving_policy.onnx
+rm -f selfdrive/modeld/models/*.onnx
 
 find third_party/ -name '*x86*' -exec rm -r {} +
 find third_party/ -name '*Darwin*' -exec rm -r {} +
diff --git a/release/pack.py b/release/pack.py
index 92ff68fe761..8831a0b34dc 100755
--- a/release/pack.py
+++ b/release/pack.py
@@ -12,12 +12,13 @@
 
 
 DIRS = ['cereal', 'openpilot']
-EXTS = ['.png', '.py', '.ttf', '.capnp', '.json', '.fnt', '.mo']
+EXTS = ['.png', '.py', '.ttf', '.capnp', '.json', '.fnt', '.mo', '.po']
+EXCLUDE = ['selfdrive/assets/training', 'third_party/raylib/raylib_repo/examples']
 INTERPRETER = '/usr/bin/env python3'
 
 
 def copy(src, dest):
-  if any(src.endswith(ext) for ext in EXTS):
+  if any(src.endswith(ext) for ext in EXTS) and not any(exc in src for exc in EXCLUDE):
     shutil.copy2(src, dest, follow_symlinks=True)
 
 
@@ -28,6 +29,8 @@ def copy(src, dest):
   parser.add_argument('module', help="the module to target, e.g. 'openpilot.system.ui.spinner'")
   args = parser.parse_args()
 
+  print('WARNING: copying all files! make sure to run scons and git tree is clean')
+
   if not args.output:
     args.output = args.module
 
diff --git a/scripts/ci_results.py b/scripts/ci_results.py
new file mode 100755
index 00000000000..a133541c69c
--- /dev/null
+++ b/scripts/ci_results.py
@@ -0,0 +1,212 @@
+#!/usr/bin/env python3
+"""Fetch CI results from GitHub Actions and Jenkins."""
+
+import argparse
+import json
+import subprocess
+import time
+import urllib.error
+import urllib.request
+from datetime import datetime
+
+JENKINS_URL = "https://jenkins.comma.life"
+DEFAULT_TIMEOUT = 1800  # 30 minutes
+POLL_INTERVAL = 30  # seconds
+LOG_TAIL_LINES = 10  # lines of log to include for failed jobs
+
+
+def get_git_info():
+  branch = subprocess.check_output(["git", "rev-parse", "--abbrev-ref", "HEAD"], text=True).strip()
+  commit = subprocess.check_output(["git", "rev-parse", "HEAD"], text=True).strip()
+  return branch, commit
+
+
+def get_github_actions_status(commit_sha):
+  result = subprocess.run(
+    ["gh", "run", "list", "--commit", commit_sha, "--workflow", "tests.yaml", "--json", "databaseId,status,conclusion"],
+    capture_output=True, text=True, check=True
+  )
+  runs = json.loads(result.stdout)
+  if not runs:
+    return None, None
+
+  run_id = runs[0]["databaseId"]
+  result = subprocess.run(
+    ["gh", "run", "view", str(run_id), "--json", "jobs"],
+    capture_output=True, text=True, check=True
+  )
+  data = json.loads(result.stdout)
+  jobs = {job["name"]: {"status": job["status"], "conclusion": job["conclusion"],
+                        "duration": format_duration(job) if job["conclusion"] not in ("skipped", None) and job.get("startedAt") else "",
+                        "id": job["databaseId"]}
+          for job in data.get("jobs", [])}
+  return jobs, run_id
+
+
+def get_github_job_log(run_id, job_id):
+  result = subprocess.run(
+    ["gh", "run", "view", str(run_id), "--job", str(job_id), "--log-failed"],
+    capture_output=True, text=True
+  )
+  lines = result.stdout.strip().split('\n')
+  return '\n'.join(lines[-LOG_TAIL_LINES:]) if len(lines) > LOG_TAIL_LINES else result.stdout.strip()
+
+
+def format_duration(job):
+  start = datetime.fromisoformat(job["startedAt"].replace("Z", "+00:00"))
+  end = datetime.fromisoformat(job["completedAt"].replace("Z", "+00:00"))
+  secs = int((end - start).total_seconds())
+  return f"{secs // 60}m {secs % 60}s"
+
+
+def get_jenkins_status(branch, commit_sha):
+  base_url = f"{JENKINS_URL}/job/openpilot/job/{branch}"
+  try:
+    # Get list of recent builds
+    with urllib.request.urlopen(f"{base_url}/api/json?tree=builds[number,url]", timeout=10) as resp:
+      builds = json.loads(resp.read().decode()).get("builds", [])
+
+    # Find build matching commit
+    for build in builds[:20]:  # check last 20 builds
+      with urllib.request.urlopen(f"{build['url']}api/json", timeout=10) as resp:
+        data = json.loads(resp.read().decode())
+        for action in data.get("actions", []):
+          if action.get("_class") == "hudson.plugins.git.util.BuildData":
+            build_sha = action.get("lastBuiltRevision", {}).get("SHA1", "")
+            if build_sha.startswith(commit_sha) or commit_sha.startswith(build_sha):
+              # Get stages info
+              stages = []
+              try:
+                with urllib.request.urlopen(f"{build['url']}wfapi/describe", timeout=10) as resp2:
+                  wf_data = json.loads(resp2.read().decode())
+                  stages = [{"name": s["name"], "status": s["status"]} for s in wf_data.get("stages", [])]
+              except urllib.error.HTTPError:
+                pass
+              return {
+                "number": data["number"],
+                "in_progress": data.get("inProgress", False),
+                "result": data.get("result"),
+                "url": data.get("url", ""),
+                "stages": stages,
+              }
+    return None  # no build found for this commit
+  except urllib.error.HTTPError:
+    return None  # branch doesn't exist on Jenkins
+
+
+def get_jenkins_log(build_url):
+  url = f"{build_url}consoleText"
+  with urllib.request.urlopen(url, timeout=30) as resp:
+    text = resp.read().decode(errors='replace')
+    lines = text.strip().split('\n')
+    return '\n'.join(lines[-LOG_TAIL_LINES:]) if len(lines) > LOG_TAIL_LINES else text.strip()
+
+
+def is_complete(gh_status, jenkins_status):
+  gh_done = gh_status is None or all(j["status"] == "completed" for j in gh_status.values())
+  jenkins_done = jenkins_status is None or not jenkins_status.get("in_progress", True)
+  return gh_done and jenkins_done
+
+
+def status_icon(status, conclusion=None):
+  if status == "completed":
+    return ":white_check_mark:" if conclusion == "success" else ":x:"
+  return ":hourglass:" if status == "in_progress" else ":grey_question:"
+
+
+def format_markdown(gh_status, gh_run_id, jenkins_status, commit_sha, branch):
+  lines = ["# CI Results", "",
+           f"**Branch**: {branch}",
+           f"**Commit**: {commit_sha[:7]}",
+           f"**Generated**: {datetime.now().strftime('%Y-%m-%d %H:%M:%S')}", ""]
+
+  lines.extend(["## GitHub Actions", "", "| Job | Status | Duration |", "|-----|--------|----------|"])
+  failed_gh_jobs = []
+  if gh_status:
+    for job_name, job in gh_status.items():
+      icon = status_icon(job["status"], job.get("conclusion"))
+      conclusion = job.get("conclusion") or job["status"]
+      lines.append(f"| {job_name} | {icon} {conclusion} | {job.get('duration', '')} |")
+      if job.get("conclusion") == "failure":
+        failed_gh_jobs.append((job_name, job.get("id")))
+  else:
+    lines.append("| - | No workflow runs found | |")
+
+  lines.extend(["", "## Jenkins", "", "| Stage | Status |", "|-------|--------|"])
+  failed_jenkins_stages = []
+  if jenkins_status:
+    stages = jenkins_status.get("stages", [])
+    if stages:
+      for stage in stages:
+        icon = ":white_check_mark:" if stage["status"] == "SUCCESS" else (
+          ":x:" if stage["status"] == "FAILED" else ":hourglass:")
+        lines.append(f"| {stage['name']} | {icon} {stage['status'].lower()} |")
+        if stage["status"] == "FAILED":
+          failed_jenkins_stages.append(stage["name"])
+      # Show overall build status if still in progress
+      if jenkins_status["in_progress"]:
+        lines.append("| (build in progress) | :hourglass: in_progress |")
+    else:
+      icon = ":hourglass:" if jenkins_status["in_progress"] else (
+        ":white_check_mark:" if jenkins_status["result"] == "SUCCESS" else ":x:")
+      status = "in progress" if jenkins_status["in_progress"] else (jenkins_status["result"] or "unknown")
+      lines.append(f"| #{jenkins_status['number']} | {icon} {status.lower()} |")
+    if jenkins_status.get("url"):
+      lines.append(f"\n[View build]({jenkins_status['url']})")
+  else:
+    lines.append("| - | No builds found for branch |")
+
+  if failed_gh_jobs or failed_jenkins_stages:
+    lines.extend(["", "## Failure Logs", ""])
+
+  for job_name, job_id in failed_gh_jobs:
+    lines.append(f"### GitHub Actions: {job_name}")
+    log = get_github_job_log(gh_run_id, job_id)
+    lines.extend(["", "```", log, "```", ""])
+
+  for stage_name in failed_jenkins_stages:
+    lines.append(f"### Jenkins: {stage_name}")
+    log = get_jenkins_log(jenkins_status["url"])
+    lines.extend(["", "```", log, "```", ""])
+
+  return "\n".join(lines) + "\n"
+
+
+def main():
+  parser = argparse.ArgumentParser(description="Fetch CI results from GitHub Actions and Jenkins")
+  parser.add_argument("--wait", action="store_true", help="Wait for CI to complete")
+  parser.add_argument("--timeout", type=int, default=DEFAULT_TIMEOUT, help="Timeout in seconds (default: 1800)")
+  parser.add_argument("-o", "--output", default="ci_results.md", help="Output file (default: ci_results.md)")
+  parser.add_argument("--branch", help="Branch to check (default: current branch)")
+  parser.add_argument("--commit", help="Commit SHA to check (default: HEAD)")
+  args = parser.parse_args()
+
+  branch, commit = get_git_info()
+  branch = args.branch or branch
+  commit = args.commit or commit
+  print(f"Fetching CI results for {branch} @ {commit[:7]}")
+
+  start_time = time.monotonic()
+  while True:
+    gh_status, gh_run_id = get_github_actions_status(commit)
+    jenkins_status = get_jenkins_status(branch, commit) if branch != "HEAD" else None
+
+    if not args.wait or is_complete(gh_status, jenkins_status):
+      break
+
+    elapsed = time.monotonic() - start_time
+    if elapsed >= args.timeout:
+      print(f"Timeout after {int(elapsed)}s")
+      break
+
+    print(f"CI still running, waiting {POLL_INTERVAL}s... ({int(elapsed)}s elapsed)")
+    time.sleep(POLL_INTERVAL)
+
+  content = format_markdown(gh_status, gh_run_id, jenkins_status, commit, branch)
+  with open(args.output, "w") as f:
+    f.write(content)
+  print(f"Results written to {args.output}")
+
+
+if __name__ == "__main__":
+  main()
diff --git a/scripts/docs.py b/scripts/docs.py
new file mode 100644
index 00000000000..d60bfb791f6
--- /dev/null
+++ b/scripts/docs.py
@@ -0,0 +1,63 @@
+"""
+  wrapper that materializes symlinks in docs/ before build
+
+  we can delete this once zensical supports symlinks:
+  https://github.com/zensical/backlog/issues/55
+"""
+import os
+import shutil
+import signal
+import sys
+from pathlib import Path
+
+REPO_ROOT = Path(__file__).resolve().parent.parent
+DOCS_DIR = REPO_ROOT / "docs"
+SITE_DIR = REPO_ROOT / "docs_site"
+sys.path.insert(0, str(REPO_ROOT))
+# Local docs build helpers live under docs/ so they stay near the content
+# source. The wrapper prunes them from docs_site/ after build.
+sys.path.insert(0, str(DOCS_DIR))
+
+
+def _materialize(docs: Path) -> dict[Path, str]:
+  originals: dict[Path, str] = {}
+  for link in docs.rglob("*"):
+    if not link.is_symlink():
+      continue
+    target = link.resolve()
+    if not target.is_file():
+      continue
+    originals[link] = os.readlink(link)
+    link.unlink()
+    shutil.copy2(target, link)
+  return originals
+
+
+def _restore(originals: dict[Path, str]) -> None:
+  for link, target in originals.items():
+    link.unlink(missing_ok=True)
+    os.symlink(target, link)
+
+
+def _raise_interrupt(*_):
+  raise KeyboardInterrupt
+
+
+def _prune_site_output() -> None:
+  shutil.rmtree(SITE_DIR / "ext", ignore_errors=True)
+
+
+def main() -> None:
+  signal.signal(signal.SIGTERM, _raise_interrupt)
+  originals = _materialize(DOCS_DIR)
+  try:
+    from zensical.main import cli
+    cli(standalone_mode=False)
+    if len(sys.argv) > 1 and sys.argv[1] == "build":
+      _prune_site_output()
+  finally:
+    _restore(originals)
+
+
+if __name__ == "__main__":
+  main()
diff --git a/scripts/lint/lint.sh b/scripts/lint/lint.sh
index 578c63cd189..5581171e8fe 100755
--- a/scripts/lint/lint.sh
+++ b/scripts/lint/lint.sh
@@ -55,7 +55,7 @@ function run_tests() {
   run "check_nomerge_comments" $DIR/check_nomerge_comments.sh $ALL_FILES
 
   if [[ -z "$FAST" ]]; then
-    run "mypy" mypy $PYTHON_FILES
+    run "ty" ty check
     run "codespell" codespell $ALL_FILES
   fi
 
@@ -69,7 +69,7 @@ function help() {
   echo ""
   echo -e "${BOLD}${UNDERLINE}Tests:${NC}"
   echo -e "  ${BOLD}ruff${NC}"
-  echo -e "  ${BOLD}mypy${NC}"
+  echo -e "  ${BOLD}ty${NC}"
   echo -e "  ${BOLD}codespell${NC}"
   echo -e "  ${BOLD}check_added_large_files${NC}"
   echo -e "  ${BOLD}check_shebang_scripts_are_executable${NC}"
@@ -81,11 +81,11 @@ function help() {
   echo "          Specify tests to skip separated by spaces"
   echo ""
   echo -e "${BOLD}${UNDERLINE}Examples:${NC}"
-  echo "  op lint mypy ruff"
-  echo "          Only run the mypy and ruff tests"
+  echo "  op lint ty ruff"
+  echo "          Only run the ty and ruff tests"
   echo ""
-  echo "  op lint --skip mypy ruff"
-  echo "          Skip the mypy and ruff tests"
+  echo "  op lint --skip ty ruff"
+  echo "          Skip the ty and ruff tests"
   echo ""
   echo "  op lint"
   echo "          Run all the tests"
diff --git a/scripts/reporter.py b/scripts/reporter.py
index 903fcc89111..93b71761a9e 100755
--- a/scripts/reporter.py
+++ b/scripts/reporter.py
@@ -1,31 +1,39 @@
 #!/usr/bin/env python3
 import os
 import glob
-import onnx
+
+from tinygrad.nn.onnx import OnnxPBParser
 
 BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
+
 MASTER_PATH = os.getenv("MASTER_PATH", BASEDIR)
 MODEL_PATH = "/selfdrive/modeld/models/"
 
+
+class MetadataOnnxPBParser(OnnxPBParser):
+  def _parse_ModelProto(self) -> dict:
+    obj = {"metadata_props": []}
+    for fid, wire_type in self._parse_message(self.reader.len):
+      match fid:
+        case 14:
+          obj["metadata_props"].append(self._parse_StringStringEntryProto())
+        case _:
+          self.reader.skip_field(wire_type)
+    return obj
+
+
 def get_checkpoint(f):
-  model = onnx.load(f)
-  metadata = {prop.key: prop.value for prop in model.metadata_props}
+  model = MetadataOnnxPBParser(f).parse()
+  metadata = {prop["key"]: prop["value"] for prop in model["metadata_props"]}
   return metadata['model_checkpoint'].split('/')[0]
 
+
 if __name__ == "__main__":
   print("| | master | PR branch |")
   print("|-| -----  | --------- |")
 
   for f in glob.glob(BASEDIR + MODEL_PATH + "/*.onnx"):
-    # TODO: add checkpoint to DM
-    if "dmonitoring" in f:
-      continue
-
     fn = os.path.basename(f)
     master = get_checkpoint(MASTER_PATH + MODEL_PATH + fn)
     pr = get_checkpoint(BASEDIR + MODEL_PATH + fn)
-    print(
-      "|", fn, "|",
-      f"[{master}](https://reporter.comma.life/experiment/{master})", "|",
-      f"[{pr}](https://reporter.comma.life/experiment/{pr})", "|"
-    )
+    print("|", fn, "|", f"[{master}](https://reporterv2.comma.life/{master})", "|", f"[{pr}](https://reporterv2.comma.life/{pr})", "|")
diff --git a/selfdrive/SConscript b/selfdrive/SConscript
deleted file mode 100644
index 55f347c44eb..00000000000
--- a/selfdrive/SConscript
+++ /dev/null
@@ -1,6 +0,0 @@
-SConscript(['pandad/SConscript'])
-SConscript(['controls/lib/lateral_mpc_lib/SConscript'])
-SConscript(['controls/lib/longitudinal_mpc_lib/SConscript'])
-SConscript(['locationd/SConscript'])
-SConscript(['modeld/SConscript'])
-SConscript(['ui/SConscript'])
diff --git a/selfdrive/assets/.gitignore b/selfdrive/assets/.gitignore
index fffd4b4ed9c..2d97f8b111f 100644
--- a/selfdrive/assets/.gitignore
+++ b/selfdrive/assets/.gitignore
@@ -1,4 +1,2 @@
-*.cc
 fonts/*.fnt
 fonts/*.png
-translations_assets.qrc
diff --git a/selfdrive/assets/fonts/process.py b/selfdrive/assets/fonts/process.py
index ddc8b3a8682..30ccf9ca551 100755
--- a/selfdrive/assets/fonts/process.py
+++ b/selfdrive/assets/fonts/process.py
@@ -11,7 +11,7 @@
 
 GLYPH_PADDING = 6
 EXTRA_CHARS = "–‑✓×°§•X⚙✕◀▶✔⌫⇧␣○●↳çêüñ–‑✓×°§•€£¥"
-UNIFONT_LANGUAGES = {"ar", "th", "zh-CHT", "zh-CHS", "ko", "ja"}
+UNIFONT_LANGUAGES = {"th", "zh-CHT", "zh-CHS", "ko", "ja"}
 
 
 def _languages():
diff --git a/selfdrive/assets/icons_mici/adb_short.png b/selfdrive/assets/icons_mici/adb_short.png
new file mode 100644
index 00000000000..c49226c858a
--- /dev/null
+++ b/selfdrive/assets/icons_mici/adb_short.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:263598da73c577c01cebd31ae78f45969ef8b335be1a5f55d54a696bb2982c0a
+size 2062
diff --git a/selfdrive/assets/icons_mici/alerts_bell.png b/selfdrive/assets/icons_mici/alerts_bell.png
new file mode 100644
index 00000000000..5d775425ebf
--- /dev/null
+++ b/selfdrive/assets/icons_mici/alerts_bell.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ce1d357acadd798939b398cce1761ceb05564b44f2a5bc6865c7842e60e79f2
+size 1474
diff --git a/selfdrive/assets/icons_mici/alerts_pill.png b/selfdrive/assets/icons_mici/alerts_pill.png
new file mode 100644
index 00000000000..29ab2ad5b3f
--- /dev/null
+++ b/selfdrive/assets/icons_mici/alerts_pill.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3fe73cd1a24c05346a9b4a02e4f900a314c83a422beb38b0f88f91389582cd4
+size 3960
diff --git a/selfdrive/assets/icons_mici/body.png b/selfdrive/assets/icons_mici/body.png
new file mode 100644
index 00000000000..2f7bb779d18
--- /dev/null
+++ b/selfdrive/assets/icons_mici/body.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b45f88128430fb50ef51c8e08b8e2a1c8fbe0b5c3a08de9f5d9d59bc1edc82e
+size 4545
diff --git a/selfdrive/assets/icons_mici/buttons/button_circle_hover.png b/selfdrive/assets/icons_mici/buttons/button_circle_hover.png
deleted file mode 100644
index 5cae1521065..00000000000
--- a/selfdrive/assets/icons_mici/buttons/button_circle_hover.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:20024203288f144633014422e16119278477099f24fba5c155a804a1864a26b4
-size 7511
diff --git a/selfdrive/assets/icons_mici/buttons/button_circle_pressed.png b/selfdrive/assets/icons_mici/buttons/button_circle_pressed.png
new file mode 100644
index 00000000000..9db0c2cd811
--- /dev/null
+++ b/selfdrive/assets/icons_mici/buttons/button_circle_pressed.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70d4236bcfd3aa8f100b81179c1e0f193c6ffbd84769c4a516be4381e62b270a
+size 18666
diff --git a/selfdrive/assets/icons_mici/buttons/button_circle_red_hover.png b/selfdrive/assets/icons_mici/buttons/button_circle_red_hover.png
deleted file mode 100644
index 3696334d5e2..00000000000
--- a/selfdrive/assets/icons_mici/buttons/button_circle_red_hover.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:279c1d8f95eb9f4a3058dff76b0f316ce9eef7bc8f4296936ad25fd08703ce13
-size 10380
diff --git a/selfdrive/assets/icons_mici/buttons/button_circle_red_pressed.png b/selfdrive/assets/icons_mici/buttons/button_circle_red_pressed.png
new file mode 100644
index 00000000000..e61a678c1c3
--- /dev/null
+++ b/selfdrive/assets/icons_mici/buttons/button_circle_red_pressed.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed07f72339cf1c3926a2cb7314f9baa099bcdb3f8bc89a9084661b71334b0526
+size 32599
diff --git a/selfdrive/assets/icons_mici/buttons/button_rectangle.png b/selfdrive/assets/icons_mici/buttons/button_rectangle.png
index 230c537d6dc..4ccf6995b19 100644
--- a/selfdrive/assets/icons_mici/buttons/button_rectangle.png
+++ b/selfdrive/assets/icons_mici/buttons/button_rectangle.png
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:ffb293236f5f8f7da44b5a3c4c0b72e86c4e1fdb04f89c94507af008ff7de139
-size 8210
+oid sha256:5dedb4139a7ddeafcdaf050144769e490643820db726201a15250e1042eb6d15
+size 7982
diff --git a/selfdrive/assets/icons_mici/buttons/button_rectangle_disabled.png b/selfdrive/assets/icons_mici/buttons/button_rectangle_disabled.png
index 76e75d5421e..5e891588f5f 100644
--- a/selfdrive/assets/icons_mici/buttons/button_rectangle_disabled.png
+++ b/selfdrive/assets/icons_mici/buttons/button_rectangle_disabled.png
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:bda53863c9a46c50a1e2920a76c2d2f1fe4df8a94b8d2e26f5d83eef3a9c3bd3
-size 3627
+oid sha256:d527dcff61fa66902681706b4916586244b8cf0520086ac980ff782ab2d99ce7
+size 4778
diff --git a/selfdrive/assets/icons_mici/buttons/button_rectangle_hover.png b/selfdrive/assets/icons_mici/buttons/button_rectangle_hover.png
deleted file mode 100644
index a9fd28cc35e..00000000000
--- a/selfdrive/assets/icons_mici/buttons/button_rectangle_hover.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:6b55e43c50e805ac5e8357e5943374ed02d756cefa3aaffb58c568a0b125c30b
-size 7750
diff --git a/selfdrive/assets/icons_mici/buttons/button_rectangle_pressed.png b/selfdrive/assets/icons_mici/buttons/button_rectangle_pressed.png
index 779c219fcbd..2cbf1cedb87 100644
--- a/selfdrive/assets/icons_mici/buttons/button_rectangle_pressed.png
+++ b/selfdrive/assets/icons_mici/buttons/button_rectangle_pressed.png
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:5528e9c041b824f005bf1ef6e49b2dbbc4ba10f994b0726d2a17a4fbf8c80f55
-size 21379
+oid sha256:c6b1b0f1270a596b5ac150dee8ade54794de55b2033a529d4a17176f688aa6f0
+size 56738
diff --git a/selfdrive/assets/icons_mici/buttons/button_side_back.png b/selfdrive/assets/icons_mici/buttons/button_side_back.png
deleted file mode 100644
index 3d648d34f1a..00000000000
--- a/selfdrive/assets/icons_mici/buttons/button_side_back.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:9df44871e9f5fa910622b0b92205b92a54d137dbdc3827b92e8622d85ff2e08e
-size 5189
diff --git a/selfdrive/assets/icons_mici/buttons/button_side_back_pressed.png b/selfdrive/assets/icons_mici/buttons/button_side_back_pressed.png
deleted file mode 100644
index e431cb0c739..00000000000
--- a/selfdrive/assets/icons_mici/buttons/button_side_back_pressed.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:013b368b38b17d9b2ef6aaf0f498f672deed95888084b7287f42bdfba617cbb6
-size 10142
diff --git a/selfdrive/assets/icons_mici/buttons/button_side_check.png b/selfdrive/assets/icons_mici/buttons/button_side_check.png
deleted file mode 100644
index 820b2360665..00000000000
--- a/selfdrive/assets/icons_mici/buttons/button_side_check.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:8fd563eec78d5ce4a8204c2f596789e1090cb3e26a35b4ffeacee4ab61968538
-size 8303
diff --git a/selfdrive/assets/icons_mici/buttons/button_side_check_pressed.png b/selfdrive/assets/icons_mici/buttons/button_side_check_pressed.png
deleted file mode 100644
index 6c38508af95..00000000000
--- a/selfdrive/assets/icons_mici/buttons/button_side_check_pressed.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:0be8d5eddcd9f87acbf1daccf446be6218522120f64aee1ee0a3c0b31560f076
-size 15761
diff --git a/selfdrive/assets/icons_mici/buttons/toggle_dot_disabled.png b/selfdrive/assets/icons_mici/buttons/toggle_dot_disabled.png
index 0e21bc1b5ae..1ff4db45a55 100644
--- a/selfdrive/assets/icons_mici/buttons/toggle_dot_disabled.png
+++ b/selfdrive/assets/icons_mici/buttons/toggle_dot_disabled.png
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:613af9ed79bb26c60fbd19c094214f0881736c0e293f6d000b530cde0478a273
-size 2470
+oid sha256:89ac033d879beeb0a7fa1919838e0ec64b1a625a4aafc14f7b990c607a79b676
+size 2220
diff --git a/selfdrive/assets/icons_mici/exclamation_point.png b/selfdrive/assets/icons_mici/exclamation_point.png
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index f122349b82b..a43bcb3b993 100644
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index c0e5e8619e7..676b0b4d710 100644
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diff --git a/selfdrive/car/CARS_template.md b/selfdrive/car/CARS_template.md
index cd352b2edeb..bc335b6bd33 100644
--- a/selfdrive/car/CARS_template.md
+++ b/selfdrive/car/CARS_template.md
@@ -1,6 +1,6 @@
 {% set footnote_tag = '[<sup>{}</sup>](#footnotes)' %}
 {% set star_icon = '[![star](assets/icon-star-{}.svg)](##)' %}
-{% set video_icon = '<a href="{}" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>' %}
+{% set video_icon = '<a href="{}" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>' %}
 {# Force hardware column wider by using a blank image with max width. #}
 {% set width_tag = '<a href="##"><img width=2000></a>%s<br>&nbsp;' %}
 {% set hardware_col_name = 'Hardware Needed' %}
diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py
index 6210983d972..86494afc7a0 100644
--- a/selfdrive/car/car_specific.py
+++ b/selfdrive/car/car_specific.py
@@ -1,7 +1,8 @@
 from cereal import car, log
-import cereal.messaging as messaging
 from opendbc.car import DT_CTRL, structs
+from opendbc.car.car_helpers import interfaces
 from opendbc.car.interfaces import MAX_CTRL_SPEED
+from opendbc.car.toyota.values import ToyotaFlags
 
 from openpilot.selfdrive.selfdrived.events import Events
 
@@ -11,33 +12,6 @@
 NetworkLocation = structs.CarParams.NetworkLocation
 
 
-# TODO: the goal is to abstract this file into the CarState struct and make events generic
-class MockCarState:
-  def __init__(self):
-    self.sm = messaging.SubMaster(['gpsLocation', 'gpsLocationExternal'])
-
-  def update(self, CS: car.CarState):
-    self.sm.update(0)
-    gps_sock = 'gpsLocationExternal' if self.sm.recv_frame['gpsLocationExternal'] > 1 else 'gpsLocation'
-
-    CS.vEgo = self.sm[gps_sock].speed
-    CS.vEgoRaw = self.sm[gps_sock].speed
-
-    return CS
-
-
-BRAND_EXTRA_GEARS = {
-  'ford': [GearShifter.low, GearShifter.manumatic],
-  'nissan': [GearShifter.brake],
-  'chrysler': [GearShifter.low],
-  'honda': [GearShifter.sport],
-  'toyota': [GearShifter.sport],
-  'gm': [GearShifter.sport, GearShifter.low, GearShifter.eco, GearShifter.manumatic],
-  'volkswagen': [GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
-  'hyundai': [GearShifter.sport, GearShifter.manumatic]
-}
-
-
 class CarSpecificEvents:
   def __init__(self, CP: structs.CarParams):
     self.CP = CP
@@ -48,14 +22,12 @@ def __init__(self, CP: structs.CarParams):
     self.silent_steer_warning = True
 
   def update(self, CS: car.CarState, CS_prev: car.CarState, CC: car.CarControl):
-    extra_gears = BRAND_EXTRA_GEARS.get(self.CP.brand, None)
-
     if self.CP.brand in ('body', 'mock'):
-      events = Events()
+      return Events()
 
-    elif self.CP.brand == 'chrysler':
-      events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears)
+    events = self.create_common_events(CS, CS_prev)
 
+    if self.CP.brand == 'chrysler':
       # Low speed steer alert hysteresis logic
       if self.CP.minSteerSpeed > 0. and CS.vEgo < (self.CP.minSteerSpeed + 0.5):
         self.low_speed_alert = True
@@ -65,8 +37,6 @@ def update(self, CS: car.CarState, CS_prev: car.CarState, CC: car.CarControl):
         events.add(EventName.belowSteerSpeed)
 
     elif self.CP.brand == 'honda':
-      events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears, pcm_enable=False)
-
       if self.CP.pcmCruise and CS.vEgo < self.CP.minEnableSpeed:
         events.add(EventName.belowEngageSpeed)
 
@@ -87,11 +57,9 @@ def update(self, CS: car.CarState, CS_prev: car.CarState, CC: car.CarControl):
 
     elif self.CP.brand == 'toyota':
       # TODO: when we check for unexpected disengagement, check gear not S1, S2, S3
-      events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears)
-
       if self.CP.openpilotLongitudinalControl:
         # Only can leave standstill when planner wants to move
-        if CS.cruiseState.standstill and not CS.brakePressed and CC.cruiseControl.resume:
+        if CS.cruiseState.standstill and not CS.brakePressed and (CC.cruiseControl.resume or self.CP.flags & ToyotaFlags.HYBRID.value):
           events.add(EventName.resumeRequired)
         if CS.vEgo < self.CP.minEnableSpeed:
           events.add(EventName.belowEngageSpeed)
@@ -103,8 +71,6 @@ def update(self, CS: car.CarState, CS_prev: car.CarState, CC: car.CarControl):
             events.add(EventName.manualRestart)
 
     elif self.CP.brand == 'gm':
-      events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears, pcm_enable=self.CP.pcmCruise)
-
       # Enabling at a standstill with brake is allowed
       # TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs
       if CS.vEgo < self.CP.minEnableSpeed and not (CS.standstill and CS.brake >= 20 and
@@ -114,8 +80,6 @@ def update(self, CS: car.CarState, CS_prev: car.CarState, CC: car.CarControl):
         events.add(EventName.resumeRequired)
 
     elif self.CP.brand == 'volkswagen':
-      events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears, pcm_enable=self.CP.pcmCruise)
-
       if self.CP.openpilotLongitudinalControl:
         if CS.vEgo < self.CP.minEnableSpeed + 0.5:
           events.add(EventName.belowEngageSpeed)
@@ -123,27 +87,26 @@ def update(self, CS: car.CarState, CS_prev: car.CarState, CC: car.CarControl):
           events.add(EventName.speedTooLow)
 
       # TODO: this needs to be implemented generically in carState struct
-      # if CC.eps_timer_soft_disable_alert:  # type: ignore[attr-defined]
+      # if CC.eps_timer_soft_disable_alert:
       #   events.add(EventName.steerTimeLimit)
 
-    elif self.CP.brand == 'hyundai':
-      events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears, pcm_enable=self.CP.pcmCruise, allow_button_cancel=False)
-
-    else:
-      events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears)
-
     return events
 
-  def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState, extra_gears: list | None = None, pcm_enable=True,
-                           allow_button_cancel=True):
+  def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState):
     events = Events()
 
+    CI = interfaces[self.CP.carFingerprint]
+    # TODO: cleanup the honda-specific logic
+    pcm_enable = self.CP.pcmCruise and self.CP.brand != 'honda'
+    # TODO: on some hyundai cars, the cancel button is also the pause/resume button,
+    # so only use it for cancel when running openpilot longitudinal
+    allow_button_cancel = self.CP.brand != 'hyundai'
+
     if CS.doorOpen:
       events.add(EventName.doorOpen)
     if CS.seatbeltUnlatched:
       events.add(EventName.seatbeltNotLatched)
-    if CS.gearShifter != GearShifter.drive and (extra_gears is None or
-       CS.gearShifter not in extra_gears):
+    if CS.gearShifter != GearShifter.drive and CS.gearShifter not in CI.DRIVABLE_GEARS:
       events.add(EventName.wrongGear)
     if CS.gearShifter == GearShifter.reverse:
       events.add(EventName.reverseGear)
@@ -157,6 +120,8 @@ def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState, extr
       events.add(EventName.stockFcw)
     if CS.stockAeb:
       events.add(EventName.stockAeb)
+    if CS.stockLkas:
+      events.add(EventName.stockLkas)
     if CS.vEgo > MAX_CTRL_SPEED:
       events.add(EventName.speedTooHigh)
     if CS.cruiseState.nonAdaptive:
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index 27b04ae65e7..b64210514a6 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -19,7 +19,6 @@
 from opendbc.car.interfaces import CarInterfaceBase, RadarInterfaceBase
 from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp
 from openpilot.selfdrive.car.cruise import VCruiseHelper
-from openpilot.selfdrive.car.car_specific import MockCarState
 
 REPLAY = "REPLAY" in os.environ
 
@@ -91,7 +90,6 @@ def __init__(self, CI=None, RI=None) -> None:
           break
 
       alpha_long_allowed = self.params.get_bool("AlphaLongitudinalEnabled")
-      num_pandas = len(messaging.recv_one_retry(self.sm.sock['pandaStates']).pandaStates)
 
       cached_params = None
       cached_params_raw = self.params.get("CarParamsCache")
@@ -99,7 +97,7 @@ def __init__(self, CI=None, RI=None) -> None:
         with car.CarParams.from_bytes(cached_params_raw) as _cached_params:
           cached_params = _cached_params
 
-      self.CI = get_car(*self.can_callbacks, obd_callback(self.params), alpha_long_allowed, is_release, num_pandas, cached_params)
+      self.CI = get_car(*self.can_callbacks, obd_callback(self.params), alpha_long_allowed, is_release, cached_params)
       self.RI = interfaces[self.CI.CP.carFingerprint].RadarInterface(self.CI.CP)
       self.CP = self.CI.CP
 
@@ -118,7 +116,7 @@ def __init__(self, CI=None, RI=None) -> None:
       safety_config.safetyModel = structs.CarParams.SafetyModel.noOutput
       self.CP.safetyConfigs = [safety_config]
 
-    if self.CP.secOcRequired and not is_release:
+    if self.CP.secOcRequired:
       # Copy user key if available
       try:
         with open("/cache/params/SecOCKey") as f:
@@ -150,7 +148,6 @@ def __init__(self, CI=None, RI=None) -> None:
     self.params.put_nonblocking("CarParamsCache", cp_bytes)
     self.params.put_nonblocking("CarParamsPersistent", cp_bytes)
 
-    self.mock_carstate = MockCarState()
     self.v_cruise_helper = VCruiseHelper(self.CP)
 
     self.is_metric = self.params.get_bool("IsMetric")
@@ -167,8 +164,6 @@ def state_update(self) -> tuple[car.CarState, structs.RadarDataT | None]:
 
     # Update carState from CAN
     CS = self.CI.update(can_list)
-    if self.CP.brand == 'mock':
-      CS = self.mock_carstate.update(CS)
 
     # Update radar tracks from CAN
     RD: structs.RadarDataT | None = self.RI.update(can_list)
diff --git a/selfdrive/car/tests/.gitignore b/selfdrive/car/tests/.gitignore
deleted file mode 100644
index 192fb0945ec..00000000000
--- a/selfdrive/car/tests/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-*.bz2
diff --git a/selfdrive/car/tests/big_cars_test.sh b/selfdrive/car/tests/big_cars_test.sh
index 863b8bead04..bb6e82dd0eb 100755
--- a/selfdrive/car/tests/big_cars_test.sh
+++ b/selfdrive/car/tests/big_cars_test.sh
@@ -6,7 +6,6 @@ cd $BASEDIR
 
 export MAX_EXAMPLES=300
 export INTERNAL_SEG_CNT=300
-export FILEREADER_CACHE=1
 export INTERNAL_SEG_LIST=selfdrive/car/tests/test_models_segs.txt
 
 cd selfdrive/car/tests && pytest test_models.py test_car_interfaces.py
diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py
index 24d2faa0db1..1bc59326a20 100644
--- a/selfdrive/car/tests/test_car_interfaces.py
+++ b/selfdrive/car/tests/test_car_interfaces.py
@@ -1,7 +1,7 @@
 import os
 import hypothesis.strategies as st
 from hypothesis import Phase, given, settings
-from parameterized import parameterized
+from openpilot.common.parameterized import parameterized
 
 from cereal import car
 from opendbc.car import DT_CTRL
diff --git a/selfdrive/car/tests/test_cruise_speed.py b/selfdrive/car/tests/test_cruise_speed.py
index aa70e49f5d6..bfb060874d1 100644
--- a/selfdrive/car/tests/test_cruise_speed.py
+++ b/selfdrive/car/tests/test_cruise_speed.py
@@ -2,7 +2,7 @@
 import itertools
 import numpy as np
 
-from parameterized import parameterized_class
+from openpilot.common.parameterized import parameterized_class
 from cereal import log
 from openpilot.selfdrive.car.cruise import VCruiseHelper, V_CRUISE_MIN, V_CRUISE_MAX, V_CRUISE_INITIAL, IMPERIAL_INCREMENT
 from cereal import car
@@ -93,7 +93,7 @@ def test_rising_edge_enable(self):
         self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False)
 
       # Expected diff on enabling. Speed should not change on falling edge of pressed
-      assert not pressed == self.v_cruise_helper.v_cruise_kph == self.v_cruise_helper.v_cruise_kph_last
+      assert (not pressed) == (self.v_cruise_helper.v_cruise_kph == self.v_cruise_helper.v_cruise_kph_last)
 
   def test_resume_in_standstill(self):
     """
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index 94f5b332319..a7f3d68c149 100644
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -6,7 +6,7 @@
 from collections import defaultdict, Counter
 import hypothesis.strategies as st
 from hypothesis import Phase, given, settings
-from parameterized import parameterized_class
+from openpilot.common.parameterized import parameterized_class
 
 from opendbc.car import DT_CTRL, gen_empty_fingerprint, structs
 from opendbc.car.can_definitions import CanData
diff --git a/selfdrive/controls/.gitignore b/selfdrive/controls/.gitignore
deleted file mode 100644
index 22a371d8ffd..00000000000
--- a/selfdrive/controls/.gitignore
+++ /dev/null
@@ -1,2 +0,0 @@
-calibration_param
-traces
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 9e31ac15268..e1d9650d724 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -37,7 +37,7 @@ def __init__(self) -> None:
     self.CI = interfaces[self.CP.carFingerprint](self.CP)
 
     self.sm = messaging.SubMaster(['liveDelay', 'liveParameters', 'liveTorqueParameters', 'modelV2', 'selfdriveState',
-                                   'liveCalibration', 'livePose', 'longitudinalPlan', 'carState', 'carOutput',
+                                   'liveCalibration', 'livePose', 'longitudinalPlan', 'lateralManeuverPlan', 'carState', 'carOutput',
                                    'driverMonitoringState', 'onroadEvents', 'driverAssistance'], poll='selfdriveState')
     self.pm = messaging.PubMaster(['carControl', 'controlsState'])
 
@@ -116,7 +116,10 @@ def state_control(self):
 
     # Steering PID loop and lateral MPC
     # Reset desired curvature to current to avoid violating the limits on engage
-    new_desired_curvature = model_v2.action.desiredCurvature if CC.latActive else self.curvature
+    if self.sm.valid['lateralManeuverPlan']:
+      new_desired_curvature = self.sm['lateralManeuverPlan'].desiredCurvature if CC.latActive else self.curvature
+    else:
+      new_desired_curvature = model_v2.action.desiredCurvature if CC.latActive else self.curvature
     self.desired_curvature, curvature_limited = clip_curvature(CS.vEgo, self.desired_curvature, new_desired_curvature, lp.roll)
     lat_delay = self.sm["liveDelay"].lateralDelay + LAT_SMOOTH_SECONDS
 
@@ -190,7 +193,7 @@ def publish(self, CC, lac_log):
     cs.upAccelCmd = float(self.LoC.pid.p)
     cs.uiAccelCmd = float(self.LoC.pid.i)
     cs.ufAccelCmd = float(self.LoC.pid.f)
-    cs.forceDecel = bool((self.sm['driverMonitoringState'].awarenessStatus < 0.) or
+    cs.forceDecel = bool((self.sm['driverMonitoringState'].alertLevel == log.DriverMonitoringState.AlertLevel.three) or
                          (self.sm['selfdriveState'].state == State.softDisabling))
 
     lat_tuning = self.CP.lateralTuning.which()
diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py
index bf6dd04f603..1e2fb27b51d 100644
--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/selfdrive/controls/lib/drive_helpers.py
@@ -39,19 +39,17 @@ def clip_curvature(v_ego, prev_curvature, new_curvature, roll) -> tuple[float, b
   return float(new_curvature), limited_accel or limited_max_curv
 
 
-def get_accel_from_plan(speeds, accels, t_idxs, action_t=DT_MDL, vEgoStopping=0.05):
+def get_accel_from_plan(speeds, accels, t_idxs, action_t=DT_MDL, vEgoStopping=0.3):
   if len(speeds) == len(t_idxs):
     v_now = speeds[0]
     a_now = accels[0]
     v_target = np.interp(action_t, t_idxs, speeds)
     a_target = 2 * (v_target - v_now) / (action_t) - a_now
-    v_target_1sec = np.interp(action_t + 1.0, t_idxs, speeds)
   else:
+    v_now = 0.0
     v_target = 0.0
-    v_target_1sec = 0.0
     a_target = 0.0
-  should_stop = (v_target < vEgoStopping and
-                 v_target_1sec < vEgoStopping)
+  should_stop = (v_now < vEgoStopping and a_target < 0.1)
   return a_target, should_stop
 
 def curv_from_psis(psi_target, psi_rate, vego, action_t):
diff --git a/selfdrive/controls/lib/latcontrol_angle.py b/selfdrive/controls/lib/latcontrol_angle.py
index 808c9a659aa..a7d04032487 100644
--- a/selfdrive/controls/lib/latcontrol_angle.py
+++ b/selfdrive/controls/lib/latcontrol_angle.py
@@ -11,7 +11,7 @@ class LatControlAngle(LatControl):
   def __init__(self, CP, CI, dt):
     super().__init__(CP, CI, dt)
     self.sat_check_min_speed = 5.
-    self.use_steer_limited_by_safety = CP.brand == "tesla"
+    self.use_steer_limited_by_safety = CP.brand in ("tesla", "hyundai")
 
   def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, curvature_limited, lat_delay):
     angle_log = log.ControlsState.LateralAngleState.new_message()
diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index 0ba38736db4..903700d4b3c 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -59,34 +59,35 @@ def update_limits(self):
   def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, curvature_limited, lat_delay):
     pid_log = log.ControlsState.LateralTorqueState.new_message()
     pid_log.version = VERSION
+    measured_curvature = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll)
+    measurement = measured_curvature * CS.vEgo ** 2
+    future_desired_lateral_accel = desired_curvature * CS.vEgo ** 2
+    self.lat_accel_request_buffer.append(future_desired_lateral_accel)
+
+    roll_compensation = params.roll * ACCELERATION_DUE_TO_GRAVITY
+    curvature_deadzone = abs(VM.calc_curvature(math.radians(self.steering_angle_deadzone_deg), CS.vEgo, 0.0))
+    lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2
+
+    delay_frames = int(np.clip(lat_delay / self.dt + 1, 1, self.lat_accel_request_buffer_len))
+    expected_lateral_accel = self.lat_accel_request_buffer[-delay_frames]
+    setpoint = expected_lateral_accel
+    error = setpoint - measurement
+
+    lookahead_idx = int(np.clip(-delay_frames + self.lookahead_frames, -self.lat_accel_request_buffer_len+1, -2))
+    raw_lateral_jerk = (self.lat_accel_request_buffer[lookahead_idx+1] - self.lat_accel_request_buffer[lookahead_idx-1]) / (2 * self.dt)
+    desired_lateral_jerk = self.jerk_filter.update(raw_lateral_jerk)
+    gravity_adjusted_future_lateral_accel = future_desired_lateral_accel - roll_compensation
+    ff = gravity_adjusted_future_lateral_accel
+    # latAccelOffset corrects roll compensation bias from device roll misalignment relative to car roll
+    ff -= self.torque_params.latAccelOffset
+    ff += get_friction(error + JERK_GAIN * desired_lateral_jerk, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
+
     if not active:
       output_torque = 0.0
       pid_log.active = False
     else:
-      measured_curvature = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll)
-      roll_compensation = params.roll * ACCELERATION_DUE_TO_GRAVITY
-      curvature_deadzone = abs(VM.calc_curvature(math.radians(self.steering_angle_deadzone_deg), CS.vEgo, 0.0))
-      lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2
-
-      delay_frames = int(np.clip(lat_delay / self.dt, 1, self.lat_accel_request_buffer_len))
-      expected_lateral_accel = self.lat_accel_request_buffer[-delay_frames]
-      lookahead_idx = int(np.clip(-delay_frames + self.lookahead_frames, -self.lat_accel_request_buffer_len+1, -2))
-      raw_lateral_jerk = (self.lat_accel_request_buffer[lookahead_idx+1] - self.lat_accel_request_buffer[lookahead_idx-1]) / (2 * self.dt)
-      desired_lateral_jerk = self.jerk_filter.update(raw_lateral_jerk)
-      future_desired_lateral_accel = desired_curvature * CS.vEgo ** 2
-      self.lat_accel_request_buffer.append(future_desired_lateral_accel)
-      gravity_adjusted_future_lateral_accel = future_desired_lateral_accel - roll_compensation
-      setpoint = expected_lateral_accel
-
-      measurement = measured_curvature * CS.vEgo ** 2
-      error = setpoint - measurement
-
       # do error correction in lateral acceleration space, convert at end to handle non-linear torque responses correctly
       pid_log.error = float(error)
-      ff = gravity_adjusted_future_lateral_accel
-      # latAccelOffset corrects roll compensation bias from device roll misalignment relative to car roll
-      ff -= self.torque_params.latAccelOffset
-      ff += get_friction(error + JERK_GAIN * desired_lateral_jerk, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
 
       freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
       output_lataccel = self.pid.update(pid_log.error, speed=CS.vEgo, feedforward=ff, freeze_integrator=freeze_integrator)
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
index 164b965142c..7a6c02a538d 100644
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
@@ -1,4 +1,4 @@
-Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'pandad_python', 'np_version')
+Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'np_version')
 
 gen = "c_generated_code"
 
@@ -67,7 +67,7 @@ lenv.Clean(generated_files, Dir(gen))
 generated_long = lenv.Command(generated_files,
                               source_list,
                               f"cd {Dir('.').abspath} && python3 long_mpc.py")
-lenv.Depends(generated_long, [msgq_python, common_python, pandad_python])
+lenv.Depends(generated_long, [msgq_python, common_python])
 
 lenv["CFLAGS"].append("-DACADOS_WITH_QPOASES")
 lenv["CXXFLAGS"].append("-DACADOS_WITH_QPOASES")
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
index 3f9d8245bd5..efdef9dd71b 100755
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
@@ -22,7 +22,8 @@
 EXPORT_DIR = os.path.join(LONG_MPC_DIR, "c_generated_code")
 JSON_FILE = os.path.join(LONG_MPC_DIR, "acados_ocp_long.json")
 
-SOURCES = ['lead0', 'lead1', 'cruise', 'e2e']
+LongitudinalPlanSource = log.LongitudinalPlan.LongitudinalPlanSource
+MPC_SOURCES = (LongitudinalPlanSource.lead0, LongitudinalPlanSource.lead1, LongitudinalPlanSource.cruise)
 
 X_DIM = 3
 U_DIM = 1
@@ -35,7 +36,7 @@
 X_EGO_COST = 0.
 V_EGO_COST = 0.
 A_EGO_COST = 0.
-J_EGO_COST = 5.0
+J_EGO_COST = 5.
 A_CHANGE_COST = 200.
 DANGER_ZONE_COST = 100.
 CRASH_DISTANCE = .25
@@ -43,7 +44,6 @@
 LIMIT_COST = 1e6
 ACADOS_SOLVER_TYPE = 'SQP_RTI'
 
-
 # Fewer timestamps don't hurt performance and lead to
 # much better convergence of the MPC with low iterations
 N = 12
@@ -57,6 +57,7 @@
 STOP_DISTANCE = 6.0
 CRUISE_MIN_ACCEL = -1.2
 CRUISE_MAX_ACCEL = 1.6
+MIN_X_LEAD_FACTOR = 0.5
 
 def get_jerk_factor(personality=log.LongitudinalPersonality.standard):
   if personality==log.LongitudinalPersonality.relaxed:
@@ -85,20 +86,12 @@ def get_stopped_equivalence_factor(v_lead):
 def get_safe_obstacle_distance(v_ego, t_follow):
   return (v_ego**2) / (2 * COMFORT_BRAKE) + t_follow * v_ego + STOP_DISTANCE
 
-def desired_follow_distance(v_ego, v_lead, t_follow=None):
-  if t_follow is None:
-    t_follow = get_T_FOLLOW()
-  return get_safe_obstacle_distance(v_ego, t_follow) - get_stopped_equivalence_factor(v_lead)
-
-
 def gen_long_model():
   model = AcadosModel()
   model.name = MODEL_NAME
 
-  # set up states & controls
-  x_ego = SX.sym('x_ego')
-  v_ego = SX.sym('v_ego')
-  a_ego = SX.sym('a_ego')
+  # states
+  x_ego, v_ego, a_ego = SX.sym('x_ego'), SX.sym('v_ego'), SX.sym('a_ego')
   model.x = vertcat(x_ego, v_ego, a_ego)
 
   # controls
@@ -115,10 +108,10 @@ def gen_long_model():
   a_min = SX.sym('a_min')
   a_max = SX.sym('a_max')
   x_obstacle = SX.sym('x_obstacle')
-  prev_a = SX.sym('prev_a')
+  a_prev = SX.sym('a_prev')
   lead_t_follow = SX.sym('lead_t_follow')
   lead_danger_factor = SX.sym('lead_danger_factor')
-  model.p = vertcat(a_min, a_max, x_obstacle, prev_a, lead_t_follow, lead_danger_factor)
+  model.p = vertcat(a_min, a_max, x_obstacle, a_prev, lead_t_follow, lead_danger_factor)
 
   # dynamics model
   f_expl = vertcat(v_ego, a_ego, j_ego)
@@ -126,7 +119,6 @@ def gen_long_model():
   model.f_expl_expr = f_expl
   return model
 
-
 def gen_long_ocp():
   ocp = AcadosOcp()
   ocp.model = gen_long_model()
@@ -151,7 +143,7 @@ def gen_long_ocp():
 
   a_min, a_max = ocp.model.p[0], ocp.model.p[1]
   x_obstacle = ocp.model.p[2]
-  prev_a = ocp.model.p[3]
+  a_prev = ocp.model.p[3]
   lead_t_follow = ocp.model.p[4]
   lead_danger_factor = ocp.model.p[5]
 
@@ -168,7 +160,7 @@ def gen_long_ocp():
            x_ego,
            v_ego,
            a_ego,
-           a_ego - prev_a,
+           a_ego - a_prev,
            j_ego]
   ocp.model.cost_y_expr = vertcat(*costs)
   ocp.model.cost_y_expr_e = vertcat(*costs[:-1])
@@ -222,30 +214,31 @@ def gen_long_ocp():
 
 
 class LongitudinalMpc:
-  def __init__(self, mode='acc', dt=DT_MDL):
-    self.mode = mode
+  def __init__(self, dt=DT_MDL):
     self.dt = dt
     self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N)
     self.reset()
-    self.source = SOURCES[2]
+    self.source = LongitudinalPlanSource.cruise
 
   def reset(self):
-    # self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N)
     self.solver.reset()
-    # self.solver.options_set('print_level', 2)
+
+    self.x_sol = np.zeros((N+1, X_DIM))
+    self.u_sol = np.zeros((N, 1))
     self.v_solution = np.zeros(N+1)
     self.a_solution = np.zeros(N+1)
-    self.prev_a = np.array(self.a_solution)
     self.j_solution = np.zeros(N)
+    self.a_prev = np.array(self.a_solution)
     self.yref = np.zeros((N+1, COST_DIM))
+
     for i in range(N):
       self.solver.cost_set(i, "yref", self.yref[i])
     self.solver.cost_set(N, "yref", self.yref[N][:COST_E_DIM])
-    self.x_sol = np.zeros((N+1, X_DIM))
-    self.u_sol = np.zeros((N,1))
+
     self.params = np.zeros((N+1, PARAM_DIM))
     for i in range(N+1):
       self.solver.set(i, 'x', np.zeros(X_DIM))
+
     self.last_cloudlog_t = 0
     self.status = False
     self.crash_cnt = 0.0
@@ -276,16 +269,9 @@ def set_cost_weights(self, cost_weights, constraint_cost_weights):
 
   def set_weights(self, prev_accel_constraint=True, personality=log.LongitudinalPersonality.standard):
     jerk_factor = get_jerk_factor(personality)
-    if self.mode == 'acc':
-      a_change_cost = A_CHANGE_COST if prev_accel_constraint else 0
-      cost_weights = [X_EGO_OBSTACLE_COST, X_EGO_COST, V_EGO_COST, A_EGO_COST, jerk_factor * a_change_cost, jerk_factor * J_EGO_COST]
-      constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, DANGER_ZONE_COST]
-    elif self.mode == 'blended':
-      a_change_cost = 40.0 if prev_accel_constraint else 0
-      cost_weights = [0., 0.1, 0.2, 5.0, a_change_cost, 1.0]
-      constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, DANGER_ZONE_COST]
-    else:
-      raise NotImplementedError(f'Planner mode {self.mode} not recognized in planner cost set')
+    a_change_cost = A_CHANGE_COST if prev_accel_constraint else 0
+    cost_weights = [X_EGO_OBSTACLE_COST, X_EGO_COST, V_EGO_COST, A_EGO_COST, jerk_factor * a_change_cost, jerk_factor * J_EGO_COST]
+    constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, DANGER_ZONE_COST]
     self.set_cost_weights(cost_weights, constraint_cost_weights)
 
   def set_cur_state(self, v, a):
@@ -320,14 +306,14 @@ def process_lead(self, lead):
 
     # MPC will not converge if immediate crash is expected
     # Clip lead distance to what is still possible to brake for
-    min_x_lead = ((v_ego + v_lead)/2) * (v_ego - v_lead) / (-ACCEL_MIN * 2)
+    min_x_lead = MIN_X_LEAD_FACTOR * (v_ego + v_lead) * (v_ego - v_lead) / (-ACCEL_MIN * 2)
     x_lead = np.clip(x_lead, min_x_lead, 1e8)
     v_lead = np.clip(v_lead, 0.0, 1e8)
     a_lead = np.clip(a_lead, -10., 5.)
     lead_xv = self.extrapolate_lead(x_lead, v_lead, a_lead, a_lead_tau)
     return lead_xv
 
-  def update(self, radarstate, v_cruise, x, v, a, j, personality=log.LongitudinalPersonality.standard):
+  def update(self, radarstate, v_cruise, personality=log.LongitudinalPersonality.standard):
     t_follow = get_T_FOLLOW(personality)
     v_ego = self.x0[1]
     self.status = radarstate.leadOne.status or radarstate.leadTwo.status
@@ -341,56 +327,28 @@ def update(self, radarstate, v_cruise, x, v, a, j, personality=log.LongitudinalP
     lead_0_obstacle = lead_xv_0[:,0] + get_stopped_equivalence_factor(lead_xv_0[:,1])
     lead_1_obstacle = lead_xv_1[:,0] + get_stopped_equivalence_factor(lead_xv_1[:,1])
 
-    self.params[:,0] = ACCEL_MIN
-    self.params[:,1] = ACCEL_MAX
+    # Fake an obstacle for cruise, this ensures smooth acceleration to set speed
+    # when the leads are no factor.
+    v_lower = v_ego + (T_IDXS * CRUISE_MIN_ACCEL * 1.05)
+    # TODO does this make sense when max_a is negative?
+    v_upper = v_ego + (T_IDXS * CRUISE_MAX_ACCEL * 1.05)
+    v_cruise_clipped = np.clip(v_cruise * np.ones(N+1), v_lower, v_upper)
+    cruise_obstacle = np.cumsum(T_DIFFS * v_cruise_clipped) + get_safe_obstacle_distance(v_cruise_clipped, t_follow)
 
-    # Update in ACC mode or ACC/e2e blend
-    if self.mode == 'acc':
-      self.params[:,5] = LEAD_DANGER_FACTOR
+    x_obstacles = np.column_stack([lead_0_obstacle, lead_1_obstacle, cruise_obstacle])
+    self.source = MPC_SOURCES[np.argmin(x_obstacles[0])]
 
-      # Fake an obstacle for cruise, this ensures smooth acceleration to set speed
-      # when the leads are no factor.
-      v_lower = v_ego + (T_IDXS * CRUISE_MIN_ACCEL * 1.05)
-      # TODO does this make sense when max_a is negative?
-      v_upper = v_ego + (T_IDXS * CRUISE_MAX_ACCEL * 1.05)
-      v_cruise_clipped = np.clip(v_cruise * np.ones(N+1),
-                                 v_lower,
-                                 v_upper)
-      cruise_obstacle = np.cumsum(T_DIFFS * v_cruise_clipped) + get_safe_obstacle_distance(v_cruise_clipped, t_follow)
-      x_obstacles = np.column_stack([lead_0_obstacle, lead_1_obstacle, cruise_obstacle])
-      self.source = SOURCES[np.argmin(x_obstacles[0])]
-
-      # These are not used in ACC mode
-      x[:], v[:], a[:], j[:] = 0.0, 0.0, 0.0, 0.0
-
-    elif self.mode == 'blended':
-      self.params[:,5] = 1.0
-
-      x_obstacles = np.column_stack([lead_0_obstacle,
-                                     lead_1_obstacle])
-      cruise_target = T_IDXS * np.clip(v_cruise, v_ego - 2.0, 1e3) + x[0]
-      xforward = ((v[1:] + v[:-1]) / 2) * (T_IDXS[1:] - T_IDXS[:-1])
-      x = np.cumsum(np.insert(xforward, 0, x[0]))
-
-      x_and_cruise = np.column_stack([x, cruise_target])
-      x = np.min(x_and_cruise, axis=1)
-
-      self.source = 'e2e' if x_and_cruise[1,0] < x_and_cruise[1,1] else 'cruise'
-
-    else:
-      raise NotImplementedError(f'Planner mode {self.mode} not recognized in planner update')
-
-    self.yref[:,1] = x
-    self.yref[:,2] = v
-    self.yref[:,3] = a
-    self.yref[:,5] = j
+    self.yref[:,:] = 0.0
     for i in range(N):
       self.solver.set(i, "yref", self.yref[i])
     self.solver.set(N, "yref", self.yref[N][:COST_E_DIM])
 
+    self.params[:,0] = ACCEL_MIN
+    self.params[:,1] = ACCEL_MAX
     self.params[:,2] = np.min(x_obstacles, axis=1)
-    self.params[:,3] = np.copy(self.prev_a)
+    self.params[:,3] = np.copy(self.a_prev)
     self.params[:,4] = t_follow
+    self.params[:,5] = LEAD_DANGER_FACTOR
 
     self.run()
     if (np.any(lead_xv_0[FCW_IDXS,0] - self.x_sol[FCW_IDXS,0] < CRASH_DISTANCE) and
@@ -399,18 +357,7 @@ def update(self, radarstate, v_cruise, x, v, a, j, personality=log.LongitudinalP
     else:
       self.crash_cnt = 0
 
-    # Check if it got within lead comfort range
-    # TODO This should be done cleaner
-    if self.mode == 'blended':
-      if any((lead_0_obstacle - get_safe_obstacle_distance(self.x_sol[:,1], t_follow))- self.x_sol[:,0] < 0.0):
-        self.source = 'lead0'
-      if any((lead_1_obstacle - get_safe_obstacle_distance(self.x_sol[:,1], t_follow))- self.x_sol[:,0] < 0.0) and \
-         (lead_1_obstacle[0] - lead_0_obstacle[0]):
-        self.source = 'lead1'
-
   def run(self):
-    # t0 = time.monotonic()
-    # reset = 0
     for i in range(N+1):
       self.solver.set(i, 'p', self.params[i])
     self.solver.constraints_set(0, "lbx", self.x0)
@@ -422,13 +369,6 @@ def run(self):
     self.time_linearization = float(self.solver.get_stats('time_lin')[0])
     self.time_integrator = float(self.solver.get_stats('time_sim')[0])
 
-    # qp_iter = self.solver.get_stats('statistics')[-1][-1] # SQP_RTI specific
-    # print(f"long_mpc timings: tot {self.solve_time:.2e}, qp {self.time_qp_solution:.2e}, lin {self.time_linearization:.2e}, \
-    # integrator {self.time_integrator:.2e}, qp_iter {qp_iter}")
-    # res = self.solver.get_residuals()
-    # print(f"long_mpc residuals: {res[0]:.2e}, {res[1]:.2e}, {res[2]:.2e}, {res[3]:.2e}")
-    # self.solver.print_statistics()
-
     for i in range(N+1):
       self.x_sol[i] = self.solver.get(i, 'x')
     for i in range(N):
@@ -438,7 +378,7 @@ def run(self):
     self.a_solution = self.x_sol[:,2]
     self.j_solution = self.u_sol[:,0]
 
-    self.prev_a = np.interp(T_IDXS + self.dt, T_IDXS, self.a_solution)
+    self.a_prev = np.interp(T_IDXS + self.dt, T_IDXS, self.a_solution)
 
     t = time.monotonic()
     if self.solution_status != 0:
@@ -446,12 +386,8 @@ def run(self):
         self.last_cloudlog_t = t
         cloudlog.warning(f"Long mpc reset, solution_status: {self.solution_status}")
       self.reset()
-      # reset = 1
-    # print(f"long_mpc timings: total internal {self.solve_time:.2e}, external: {(time.monotonic() - t0):.2e} qp {self.time_qp_solution:.2e}, \
-    # lin {self.time_linearization:.2e} qp_iter {qp_iter}, reset {reset}")
 
 
 if __name__ == "__main__":
   ocp = gen_long_ocp()
   AcadosOcpSolver.generate(ocp, json_file=JSON_FILE)
-  # AcadosOcpSolver.build(ocp.code_export_directory, with_cython=True)
diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index 34fc85f8a55..64de1a8fda1 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -9,13 +9,12 @@
 from openpilot.common.realtime import DT_MDL
 from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState
-from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc
+from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc, LongitudinalPlanSource
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC
 from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, get_accel_from_plan
 from openpilot.selfdrive.car.cruise import V_CRUISE_MAX, V_CRUISE_UNSET
 from openpilot.common.swaglog import cloudlog
 
-LON_MPC_STEP = 0.2  # first step is 0.2s
 A_CRUISE_MAX_VALS = [1.6, 1.2, 0.8, 0.6]
 A_CRUISE_MAX_BP = [0., 10.0, 25., 40.]
 CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N]
@@ -26,14 +25,12 @@
 _A_TOTAL_MAX_V = [1.7, 3.2]
 _A_TOTAL_MAX_BP = [20., 40.]
 
-
 def get_max_accel(v_ego):
   return np.interp(v_ego, A_CRUISE_MAX_BP, A_CRUISE_MAX_VALS)
 
 def get_coast_accel(pitch):
   return np.sin(pitch) * -5.65 - 0.3  # fitted from data using xx/projects/allow_throttle/compute_coast_accel.py
 
-
 def limit_accel_in_turns(v_ego, angle_steers, a_target, CP):
   """
   This function returns a limited long acceleration allowed, depending on the existing lateral acceleration
@@ -52,8 +49,6 @@ class LongitudinalPlanner:
   def __init__(self, CP, init_v=0.0, init_a=0.0, dt=DT_MDL):
     self.CP = CP
     self.mpc = LongitudinalMpc(dt=dt)
-    # TODO remove mpc modes when TR released
-    self.mpc.mode = 'acc'
     self.fcw = False
     self.dt = dt
     self.allow_throttle = True
@@ -67,7 +62,6 @@ def __init__(self, CP, init_v=0.0, init_a=0.0, dt=DT_MDL):
     self.v_desired_trajectory = np.zeros(CONTROL_N)
     self.a_desired_trajectory = np.zeros(CONTROL_N)
     self.j_desired_trajectory = np.zeros(CONTROL_N)
-    self.solverExecutionTime = 0.0
 
   @staticmethod
   def parse_model(model_msg):
@@ -90,8 +84,6 @@ def parse_model(model_msg):
     return x, v, a, j, throttle_prob
 
   def update(self, sm):
-    mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc'
-
     if len(sm['carControl'].orientationNED) == 3:
       accel_coast = get_coast_accel(sm['carControl'].orientationNED[1])
     else:
@@ -113,12 +105,9 @@ def update(self, sm):
     # No change cost when user is controlling the speed, or when standstill
     prev_accel_constraint = not (reset_state or sm['carState'].standstill)
 
-    if mode == 'acc':
-      accel_clip = [ACCEL_MIN, get_max_accel(v_ego)]
-      steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg
-      accel_clip = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_clip, self.CP)
-    else:
-      accel_clip = [ACCEL_MIN, ACCEL_MAX]
+    accel_clip = [ACCEL_MIN, get_max_accel(v_ego)]
+    steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg
+    accel_clip = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_clip, self.CP)
 
     if reset_state:
       self.v_desired_filter.x = v_ego
@@ -127,7 +116,7 @@ def update(self, sm):
 
     # Prevent divergence, smooth in current v_ego
     self.v_desired_filter.x = max(0.0, self.v_desired_filter.update(v_ego))
-    x, v, a, j, throttle_prob = self.parse_model(sm['modelV2'])
+    _, _, _, _, throttle_prob = self.parse_model(sm['modelV2'])
     # Don't clip at low speeds since throttle_prob doesn't account for creep
     self.allow_throttle = throttle_prob > ALLOW_THROTTLE_THRESHOLD or v_ego <= MIN_ALLOW_THROTTLE_SPEED
 
@@ -141,7 +130,7 @@ def update(self, sm):
 
     self.mpc.set_weights(prev_accel_constraint, personality=sm['selfdriveState'].personality)
     self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired)
-    self.mpc.update(sm['radarState'], v_cruise, x, v, a, j, personality=sm['selfdriveState'].personality)
+    self.mpc.update(sm['radarState'], v_cruise, personality=sm['selfdriveState'].personality)
 
     self.v_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.v_solution)
     self.a_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.a_solution)
@@ -163,12 +152,14 @@ def update(self, sm):
     output_a_target_e2e = sm['modelV2'].action.desiredAcceleration
     output_should_stop_e2e = sm['modelV2'].action.shouldStop
 
-    if mode == 'acc':
+    if sm['selfdriveState'].experimentalMode:
+      output_a_target = min(output_a_target_e2e, output_a_target_mpc)
+      self.output_should_stop = output_should_stop_e2e or output_should_stop_mpc
+      if output_a_target < output_a_target_mpc:
+        self.mpc.source = LongitudinalPlanSource.e2e
+    else:
       output_a_target = output_a_target_mpc
       self.output_should_stop = output_should_stop_mpc
-    else:
-      output_a_target = min(output_a_target_mpc, output_a_target_e2e)
-      self.output_should_stop = output_should_stop_e2e or output_should_stop_mpc
 
     for idx in range(2):
       accel_clip[idx] = np.clip(accel_clip[idx], self.prev_accel_clip[idx] - 0.05, self.prev_accel_clip[idx] + 0.05)
diff --git a/selfdrive/controls/tests/test_following_distance.py b/selfdrive/controls/tests/test_following_distance.py
index 0fd543dd605..1eb88d72067 100644
--- a/selfdrive/controls/tests/test_following_distance.py
+++ b/selfdrive/controls/tests/test_following_distance.py
@@ -1,13 +1,18 @@
 import pytest
 import itertools
-from parameterized import parameterized_class
+from openpilot.common.parameterized import parameterized_class
 
 from cereal import log
 
-from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import desired_follow_distance, get_T_FOLLOW
+from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import get_safe_obstacle_distance, get_stopped_equivalence_factor, get_T_FOLLOW
 from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver
 
 
+def desired_follow_distance(v_ego, v_lead, t_follow=None):
+  if t_follow is None:
+    t_follow = get_T_FOLLOW()
+  return get_safe_obstacle_distance(v_ego, t_follow) - get_stopped_equivalence_factor(v_lead)
+
 def run_following_distance_simulation(v_lead, t_end=100.0, e2e=False, personality=0):
   man = Maneuver(
     '',
@@ -37,4 +42,5 @@ def test_following_distance(self):
     simulation_steady_state = run_following_distance_simulation(v_lead, e2e=self.e2e, personality=self.personality)
     correct_steady_state = desired_follow_distance(v_lead, v_lead, get_T_FOLLOW(self.personality))
     err_ratio = 0.2 if self.e2e else 0.1
-    assert simulation_steady_state == pytest.approx(correct_steady_state, abs=err_ratio * correct_steady_state + .5)
+    abs_err_margin = 0.5 if v_lead > 0.0 else 1.15
+    assert simulation_steady_state == pytest.approx(correct_steady_state, abs=err_ratio * correct_steady_state + abs_err_margin)
diff --git a/selfdrive/controls/tests/test_latcontrol.py b/selfdrive/controls/tests/test_latcontrol.py
index 354c7f00add..5c3381edce2 100644
--- a/selfdrive/controls/tests/test_latcontrol.py
+++ b/selfdrive/controls/tests/test_latcontrol.py
@@ -1,4 +1,4 @@
-from parameterized import parameterized
+from openpilot.common.parameterized import parameterized
 
 from cereal import car, log
 from opendbc.car.car_helpers import interfaces
diff --git a/selfdrive/controls/tests/test_latcontrol_torque_buffer.py b/selfdrive/controls/tests/test_latcontrol_torque_buffer.py
new file mode 100644
index 00000000000..ab1d2c7b36c
--- /dev/null
+++ b/selfdrive/controls/tests/test_latcontrol_torque_buffer.py
@@ -0,0 +1,36 @@
+from openpilot.common.parameterized import parameterized
+
+from cereal import car, log
+from opendbc.car.car_helpers import interfaces
+from opendbc.car.toyota.values import CAR as TOYOTA
+from opendbc.car.vehicle_model import VehicleModel
+from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque, LAT_ACCEL_REQUEST_BUFFER_SECONDS
+
+def get_controller(car_name):
+  CarInterface = interfaces[car_name]
+  CP = CarInterface.get_non_essential_params(car_name)
+  CI = CarInterface(CP)
+  VM = VehicleModel(CP)
+  controller = LatControlTorque(CP.as_reader(), CI, DT_CTRL)
+  return controller, VM
+
+class TestLatControlTorqueBuffer:
+
+  @parameterized.expand([(TOYOTA.TOYOTA_COROLLA_TSS2,)])
+  def test_request_buffer_consistency(self, car_name):
+    buffer_steps = int(LAT_ACCEL_REQUEST_BUFFER_SECONDS / DT_CTRL)
+    controller, VM = get_controller(car_name)
+
+    CS = car.CarState.new_message()
+    CS.vEgo = 30
+    CS.steeringPressed = False
+    params = log.LiveParametersData.new_message()
+
+    for _ in range(buffer_steps):
+      controller.update(True, CS, VM, params, False, 0.001, False, 0.2)
+    assert all(val != 0 for val in controller.lat_accel_request_buffer)
+
+    for _ in range(buffer_steps):
+      controller.update(False, CS, VM, params, False, 0.0, False, 0.2)
+    assert all(val == 0 for val in controller.lat_accel_request_buffer)
diff --git a/selfdrive/controls/tests/test_torqued_lat_accel_offset.py b/selfdrive/controls/tests/test_torqued_lat_accel_offset.py
index 84389856b64..2f95d7c14f7 100644
--- a/selfdrive/controls/tests/test_torqued_lat_accel_offset.py
+++ b/selfdrive/controls/tests/test_torqued_lat_accel_offset.py
@@ -50,8 +50,10 @@ def simulate_straight_road_msgs(est):
   lat_accels = TORQUE_TUNE.latAccelFactor * steer_torques
   for t, steer_torque, lat_accel in zip(ts, steer_torques, lat_accels, strict=True):
     carOutput.actuatorsOutput.torque = float(-steer_torque)
-    livePose.orientationNED.x = float(np.deg2rad(ROLL_BIAS_DEG))
-    livePose.angularVelocityDevice.z = float(lat_accel / V_EGO)
+    livePose.orientationNED = {'x': float(np.deg2rad(ROLL_BIAS_DEG)), 'valid': True}
+    livePose.angularVelocityDevice = {'z': float(lat_accel / V_EGO), 'valid': True}
+    livePose.inputsOK, livePose.sensorsOK, livePose.posenetOK = True, True, True
+    livePose.timestamp = int(t * 1e9)
     for which, msg in (('carControl', carControl), ('carOutput', carOutput), ('carState', carState), ('livePose', livePose)):
       est.handle_log(t, which, msg)
 
diff --git a/selfdrive/debug/car/fw_versions.py b/selfdrive/debug/car/fw_versions.py
index 6ae10d2fb23..5fb65e6972d 100755
--- a/selfdrive/debug/car/fw_versions.py
+++ b/selfdrive/debug/car/fw_versions.py
@@ -45,8 +45,6 @@
       extra[(Ecu.unknown, 0x750, i)] = []
     extra = {"any": {"debug": extra}}
 
-  num_pandas = len(messaging.recv_one_retry(pandaStates_sock).pandaStates)
-
   t = time.monotonic()
   print("Getting vin...")
   set_obd_multiplexing(True)
@@ -56,7 +54,7 @@
   print()
 
   t = time.monotonic()
-  fw_vers = get_fw_versions(*can_callbacks, set_obd_multiplexing, query_brand=args.brand, extra=extra, num_pandas=num_pandas, progress=True)
+  fw_vers = get_fw_versions(*can_callbacks, set_obd_multiplexing, query_brand=args.brand, extra=extra, progress=True)
   _, candidates = match_fw_to_car(fw_vers, vin)
 
   print()
diff --git a/selfdrive/debug/car/hyundai_enable_radar_points.py b/selfdrive/debug/car/hyundai_enable_radar_points.py
index 93f5949eac2..df150a5224d 100755
--- a/selfdrive/debug/car/hyundai_enable_radar_points.py
+++ b/selfdrive/debug/car/hyundai_enable_radar_points.py
@@ -101,11 +101,11 @@ class ConfigValues(NamedTuple):
   uds_client = UdsClient(panda, 0x7D0, bus=args.bus)
 
   print("\n[START DIAGNOSTIC SESSION]")
-  session_type : SESSION_TYPE = 0x07 # type: ignore
+  session_type : SESSION_TYPE = 0x07
   uds_client.diagnostic_session_control(session_type)
 
   print("[HARDWARE/SOFTWARE VERSION]")
-  fw_version_data_id : DATA_IDENTIFIER_TYPE = 0xf100 # type: ignore
+  fw_version_data_id : DATA_IDENTIFIER_TYPE = 0xf100
   fw_version = uds_client.read_data_by_identifier(fw_version_data_id)
   print(fw_version)
   if fw_version not in SUPPORTED_FW_VERSIONS.keys():
@@ -113,7 +113,7 @@ class ConfigValues(NamedTuple):
     sys.exit(1)
 
   print("[GET CONFIGURATION]")
-  config_data_id : DATA_IDENTIFIER_TYPE = 0x0142 # type: ignore
+  config_data_id : DATA_IDENTIFIER_TYPE = 0x0142
   current_config = uds_client.read_data_by_identifier(config_data_id)
   config_values = SUPPORTED_FW_VERSIONS[fw_version]
   new_config = config_values.default_config if args.default else config_values.tracks_enabled
diff --git a/selfdrive/debug/car/vw_mqb_config.py b/selfdrive/debug/car/vw_mqb_config.py
index 3c55642e40b..13ee7786d9b 100755
--- a/selfdrive/debug/car/vw_mqb_config.py
+++ b/selfdrive/debug/car/vw_mqb_config.py
@@ -55,7 +55,7 @@ class ACCESS_TYPE_LEVEL_1(IntEnum):
     sw_ver = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_VERSION_NUMBER).decode("utf-8")
     component = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.SYSTEM_NAME_OR_ENGINE_TYPE).decode("utf-8")
     odx_file = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.ODX_FILE).decode("utf-8").rstrip('\x00')
-    current_coding = uds_client.read_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING)  # type: ignore
+    current_coding = uds_client.read_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING)
     coding_text = current_coding.hex()
 
     print("\nEPS diagnostic data\n")
@@ -126,9 +126,9 @@ class ACCESS_TYPE_LEVEL_1(IntEnum):
     new_coding = current_coding[0:coding_byte] + new_byte.to_bytes(1, "little") + current_coding[coding_byte+1:]
 
     try:
-      seed = uds_client.security_access(ACCESS_TYPE_LEVEL_1.REQUEST_SEED)  # type: ignore
+      seed = uds_client.security_access(ACCESS_TYPE_LEVEL_1.REQUEST_SEED)
       key = struct.unpack("!I", seed)[0] + 28183  # yeah, it's like that
-      uds_client.security_access(ACCESS_TYPE_LEVEL_1.SEND_KEY, struct.pack("!I", key))  # type: ignore
+      uds_client.security_access(ACCESS_TYPE_LEVEL_1.SEND_KEY, struct.pack("!I", key))
     except (NegativeResponseError, MessageTimeoutError):
       print("Security access failed!")
       print("Open the hood and retry (disables the \"diagnostic firewall\" on newer vehicles)")
@@ -148,7 +148,7 @@ class ACCESS_TYPE_LEVEL_1(IntEnum):
       uds_client.write_data_by_identifier(DATA_IDENTIFIER_TYPE.PROGRAMMING_DATE, prog_date)
       tester_num = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.CALIBRATION_REPAIR_SHOP_CODE_OR_CALIBRATION_EQUIPMENT_SERIAL_NUMBER)
       uds_client.write_data_by_identifier(DATA_IDENTIFIER_TYPE.REPAIR_SHOP_CODE_OR_TESTER_SERIAL_NUMBER, tester_num)
-      uds_client.write_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING, new_coding)  # type: ignore
+      uds_client.write_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING, new_coding)
     except (NegativeResponseError, MessageTimeoutError):
       print("Writing new configuration failed!")
       print("Make sure the comma processes are stopped: tmux kill-session -t comma")
@@ -156,7 +156,7 @@ class ACCESS_TYPE_LEVEL_1(IntEnum):
 
     try:
       # Read back result just to make 100% sure everything worked
-      current_coding_text = uds_client.read_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING).hex()  # type: ignore
+      current_coding_text = uds_client.read_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING).hex()
       print(f"   New coding:   {current_coding_text}")
     except (NegativeResponseError, MessageTimeoutError):
       print("Reading back updated coding failed!")
diff --git a/selfdrive/debug/cpu_usage_stat.py b/selfdrive/debug/cpu_usage_stat.py
index 397e9f35f52..089685103f7 100755
--- a/selfdrive/debug/cpu_usage_stat.py
+++ b/selfdrive/debug/cpu_usage_stat.py
@@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-# type: ignore
 '''
 System tools like top/htop can only show current cpu usage values, so I write this script to do statistics jobs.
   Features:
diff --git a/selfdrive/debug/cycle_alerts.py b/selfdrive/debug/cycle_alerts.py
index 11e75a7a8e3..4b1def4fc64 100755
--- a/selfdrive/debug/cycle_alerts.py
+++ b/selfdrive/debug/cycle_alerts.py
@@ -30,9 +30,9 @@ def cycle_alerts(duration=200, is_metric=False):
     (EventName.accFaulted, ET.IMMEDIATE_DISABLE),
 
     # DM sequence
-    (EventName.preDriverDistracted, ET.WARNING),
-    (EventName.promptDriverDistracted, ET.WARNING),
-    (EventName.driverDistracted, ET.WARNING),
+    (EventName.driverDistracted1, ET.WARNING),
+    (EventName.driverDistracted2, ET.WARNING),
+    (EventName.driverDistracted3, ET.WARNING),
   ]
 
   # debug alerts
@@ -99,8 +99,7 @@ def cycle_alerts(duration=200, is_metric=False):
       alert = AM.process_alerts(frame, [])
       print(alert)
       for _ in range(duration):
-        dat = messaging.new_message()
-        dat.init('selfdriveState')
+        dat = messaging.new_message('selfdriveState')
         dat.selfdriveState.enabled = False
 
         if alert:
@@ -112,8 +111,7 @@ def cycle_alerts(duration=200, is_metric=False):
           dat.selfdriveState.alertSound = alert.audible_alert
         pm.send('selfdriveState', dat)
 
-        dat = messaging.new_message()
-        dat.init('deviceState')
+        dat = messaging.new_message('deviceState')
         dat.deviceState.started = True
         pm.send('deviceState', dat)
 
diff --git a/selfdrive/debug/debug_fw_fingerprinting_offline.py b/selfdrive/debug/debug_fw_fingerprinting_offline.py
index d841e91053d..d36b350bbcd 100755
--- a/selfdrive/debug/debug_fw_fingerprinting_offline.py
+++ b/selfdrive/debug/debug_fw_fingerprinting_offline.py
@@ -44,7 +44,7 @@ def main(route: str | None, addrs: list[int], rxoffset: int | None):
   parser = argparse.ArgumentParser(description='View back and forth ISO-TP communication between various ECUs given an address')
   parser.add_argument('route', nargs='?', help='Route name, live if not specified')
   parser.add_argument('--addrs', nargs='*', default=[], help='List of tx address to view (0x7e0 for engine)')
-  parser.add_argument('--rxoffset', default='')
+  parser.add_argument('--rxoffset', default='0x8')
   args = parser.parse_args()
 
   addrs = [int(addr, base=16) if addr.startswith('0x') else int(addr) for addr in args.addrs]
diff --git a/selfdrive/debug/fingerprint_from_route.py b/selfdrive/debug/fingerprint_from_route.py
index 179ff4c8383..5fd46f5b767 100755
--- a/selfdrive/debug/fingerprint_from_route.py
+++ b/selfdrive/debug/fingerprint_from_route.py
@@ -28,11 +28,12 @@ def get_fingerprint(lr):
 
   # TODO: also print the fw fingerprint merged with the existing ones
   # show FW fingerprint
-  print("\nFW fingerprint:\n")
-  for f in fw:
-    print(f"    (Ecu.{f.ecu}, {hex(f.address)}, {None if f.subAddress == 0 else f.subAddress}): [")
-    print(f"      {f.fwVersion},")
-    print("    ],")
+  if fw:
+    print("\nFW fingerprint:\n")
+    for f in fw:
+      print(f"    (Ecu.{f.ecu}, {hex(f.address)}, {None if f.subAddress == 0 else f.subAddress}): [")
+      print(f"      {f.fwVersion},")
+      print("    ],")
   print()
   print(f"VIN: {vin}")
 
diff --git a/selfdrive/debug/fuzz_fw_fingerprint.py b/selfdrive/debug/fuzz_fw_fingerprint.py
index fa99e6bfbe8..b4276c0c1af 100755
--- a/selfdrive/debug/fuzz_fw_fingerprint.py
+++ b/selfdrive/debug/fuzz_fw_fingerprint.py
@@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-# type: ignore
 import random
 from collections import defaultdict
 
diff --git a/selfdrive/debug/measure_torque_time_to_max.py b/selfdrive/debug/measure_torque_time_to_max.py
index 7052dccf7de..e99aeae464b 100755
--- a/selfdrive/debug/measure_torque_time_to_max.py
+++ b/selfdrive/debug/measure_torque_time_to_max.py
@@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-# type: ignore
 
 import os
 import argparse
diff --git a/selfdrive/debug/mem_usage.py b/selfdrive/debug/mem_usage.py
new file mode 100755
index 00000000000..bc0e97e7cae
--- /dev/null
+++ b/selfdrive/debug/mem_usage.py
@@ -0,0 +1,238 @@
+#!/usr/bin/env python3
+import argparse
+import os
+from collections import defaultdict
+
+import numpy as np
+
+from openpilot.common.utils import tabulate
+from openpilot.tools.lib.logreader import LogReader
+
+DEMO_ROUTE = "5beb9b58bd12b691/0000010a--a51155e496"
+MB = 1024 * 1024
+TABULATE_OPTS = dict(tablefmt="simple_grid", stralign="center", numalign="center")
+
+
+def _get_procs():
+  from openpilot.selfdrive.test.test_onroad import PROCS
+  return PROCS
+
+
+def is_openpilot_proc(name):
+  if any(p in name for p in _get_procs()):
+    return True
+  # catch openpilot processes not in PROCS (athenad, manager, etc.)
+  return 'openpilot' in name or name.startswith(('selfdrive.', 'system.'))
+
+
+def get_proc_name(proc):
+  if len(proc.cmdline) > 0:
+    return list(proc.cmdline)[0]
+  return proc.name
+
+
+def pct(val_mb, total_mb):
+  return val_mb / total_mb * 100 if total_mb else 0
+
+
+def has_pss(proc_logs):
+  """Check if logs contain PSS data (new field, not in old logs)."""
+  try:
+    for proc in proc_logs[-1].procLog.procs:
+      if proc.memPss > 0:
+        return True
+  except AttributeError:
+    pass
+  return False
+
+
+def print_summary(proc_logs, device_states):
+  mem = proc_logs[-1].procLog.mem
+  total = mem.total / MB
+  used = (mem.total - mem.available) / MB
+  cached = mem.cached / MB
+  shared = mem.shared / MB
+  buffers = mem.buffers / MB
+
+  lines = [
+    f"  Total: {total:.0f} MB",
+    f"  Used (total-avail): {used:.0f} MB ({pct(used, total):.0f}%)",
+    f"  Cached: {cached:.0f} MB ({pct(cached, total):.0f}%)    Buffers: {buffers:.0f} MB ({pct(buffers, total):.0f}%)",
+    f"  Shared/MSGQ: {shared:.0f} MB ({pct(shared, total):.0f}%)",
+  ]
+
+  if device_states:
+    mem_pcts = [m.deviceState.memoryUsagePercent for m in device_states]
+    lines.append(f"  deviceState memory: {np.min(mem_pcts)}-{np.max(mem_pcts)}% (avg {np.mean(mem_pcts):.0f}%)")
+
+  print("\n-- Memory Summary --")
+  print("\n".join(lines))
+  return total
+
+
+def collect_per_process_mem(proc_logs, use_pss):
+  """Collect per-process memory samples. Returns {name: {metric: [values_per_sample_in_MB]}}."""
+  by_proc = defaultdict(lambda: defaultdict(list))
+
+  for msg in proc_logs:
+    sample = defaultdict(lambda: defaultdict(float))
+    for proc in msg.procLog.procs:
+      name = get_proc_name(proc)
+      sample[name]['rss'] += proc.memRss / MB
+      if use_pss:
+        sample[name]['pss'] += proc.memPss / MB
+        sample[name]['pss_anon'] += proc.memPssAnon / MB
+        sample[name]['pss_shmem'] += proc.memPssShmem / MB
+
+    for name, metrics in sample.items():
+      for metric, val in metrics.items():
+        by_proc[name][metric].append(val)
+
+  return by_proc
+
+
+def _has_pss_detail(by_proc) -> bool:
+  """Check if any process has non-zero pss_anon/pss_shmem (unavailable on some kernels)."""
+  return any(sum(v.get('pss_anon', [])) > 0 or sum(v.get('pss_shmem', [])) > 0 for v in by_proc.values())
+
+
+def process_table_rows(by_proc, total_mb, use_pss, show_detail):
+  """Build table rows. Returns (rows, total_row)."""
+  mem_key = 'pss' if use_pss else 'rss'
+  rows = []
+  for name in sorted(by_proc, key=lambda n: np.mean(by_proc[n][mem_key]), reverse=True):
+    m = by_proc[name]
+    vals = m[mem_key]
+    avg = round(np.mean(vals))
+    row = [name, f"{avg} MB", f"{round(np.max(vals))} MB", f"{round(pct(avg, total_mb), 1)}%"]
+    if show_detail:
+      row.append(f"{round(np.mean(m['pss_anon']))} MB")
+      row.append(f"{round(np.mean(m['pss_shmem']))} MB")
+    rows.append(row)
+
+  # Total row
+  total_row = None
+  if by_proc:
+    max_samples = max(len(v[mem_key]) for v in by_proc.values())
+    totals = []
+    for i in range(max_samples):
+      s = sum(v[mem_key][i] for v in by_proc.values() if i < len(v[mem_key]))
+      totals.append(s)
+    avg_total = round(np.mean(totals))
+    total_row = ["TOTAL", f"{avg_total} MB", f"{round(np.max(totals))} MB", f"{round(pct(avg_total, total_mb), 1)}%"]
+    if show_detail:
+      total_row.append(f"{round(sum(np.mean(v['pss_anon']) for v in by_proc.values()))} MB")
+      total_row.append(f"{round(sum(np.mean(v['pss_shmem']) for v in by_proc.values()))} MB")
+
+  return rows, total_row
+
+
+def print_process_tables(op_procs, other_procs, total_mb, use_pss):
+  all_procs = {**op_procs, **other_procs}
+  show_detail = use_pss and _has_pss_detail(all_procs)
+
+  header = ["process", "avg", "max", "%"]
+  if show_detail:
+    header += ["anon", "shmem"]
+
+  op_rows, op_total = process_table_rows(op_procs, total_mb, use_pss, show_detail)
+  # filter other: >5MB avg and not bare interpreter paths (test infra noise)
+  other_filtered = {n: v for n, v in other_procs.items()
+                    if np.mean(v['pss' if use_pss else 'rss']) > 5.0
+                    and os.path.basename(n.split()[0]) not in ('python', 'python3')}
+  other_rows, other_total = process_table_rows(other_filtered, total_mb, use_pss, show_detail)
+
+  rows = op_rows
+  if op_total:
+    rows.append(op_total)
+  if other_rows:
+    sep_width = len(header)
+    rows.append([""] * sep_width)
+    rows.extend(other_rows)
+    if other_total:
+      other_total[0] = "TOTAL (other)"
+      rows.append(other_total)
+
+  metric = "PSS (no shared double-count)" if use_pss else "RSS (includes shared, overcounts)"
+  print(f"\n-- Per-Process Memory: {metric} --")
+  print(tabulate(rows, header, **TABULATE_OPTS))
+
+
+def print_memory_accounting(proc_logs, op_procs, other_procs, total_mb, use_pss):
+  last = proc_logs[-1].procLog.mem
+  used = (last.total - last.available) / MB
+  shared = last.shared / MB
+  cached_buf = (last.buffers + last.cached) / MB - shared  # shared (MSGQ) is in Cached; separate it
+  msgq = shared
+
+  mem_key = 'pss' if use_pss else 'rss'
+  op_total = sum(v[mem_key][-1] for v in op_procs.values()) if op_procs else 0
+  other_total = sum(v[mem_key][-1] for v in other_procs.values()) if other_procs else 0
+  proc_sum = op_total + other_total
+  remainder = used - (cached_buf + msgq) - proc_sum
+
+  if not use_pss:
+    # RSS double-counts shared; add back once to partially correct
+    remainder += shared
+
+  header = ["", "MB", "%", ""]
+  label = "PSS" if use_pss else "RSS*"
+  rows = [
+    ["Used (total - avail)", f"{used:.0f}", f"{pct(used, total_mb):.1f}", "memory in use by the system"],
+    ["  Cached + Buffers", f"{cached_buf:.0f}", f"{pct(cached_buf, total_mb):.1f}", "pagecache + fs metadata, reclaimable"],
+    ["  MSGQ (shared)", f"{msgq:.0f}", f"{pct(msgq, total_mb):.1f}", "/dev/shm tmpfs, also in process PSS"],
+    [f"  openpilot {label}", f"{op_total:.0f}", f"{pct(op_total, total_mb):.1f}", "sum of openpilot process memory"],
+    [f"  other {label}", f"{other_total:.0f}", f"{pct(other_total, total_mb):.1f}", "sum of non-openpilot process memory"],
+    ["  kernel/ION/GPU", f"{remainder:.0f}", f"{pct(remainder, total_mb):.1f}", "slab, ION/DMA-BUF, GPU, page tables"],
+  ]
+  note = "" if use_pss else " (*RSS overcounts shared mem)"
+  print(f"\n-- Memory Accounting (last sample){note} --")
+  print(tabulate(rows, header, tablefmt="simple_grid", stralign="right"))
+
+
+def print_report(proc_logs, device_states=None):
+  """Print full memory analysis report. Can be called from tests or CLI."""
+  if not proc_logs:
+    print("No procLog messages found")
+    return
+
+  print(f"{len(proc_logs)} procLog samples, {len(device_states or [])} deviceState samples")
+
+  use_pss = has_pss(proc_logs)
+  if not use_pss:
+    print("  (no PSS data — re-record with updated proclogd for accurate numbers)")
+
+  total_mb = print_summary(proc_logs, device_states or [])
+
+  by_proc = collect_per_process_mem(proc_logs, use_pss)
+  op_procs = {n: v for n, v in by_proc.items() if is_openpilot_proc(n)}
+  other_procs = {n: v for n, v in by_proc.items() if not is_openpilot_proc(n)}
+
+  print_process_tables(op_procs, other_procs, total_mb, use_pss)
+  print_memory_accounting(proc_logs, op_procs, other_procs, total_mb, use_pss)
+
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description="Analyze memory usage from route logs")
+  parser.add_argument("route", nargs="?", default=None, help="route ID or local rlog path")
+  parser.add_argument("--demo", action="store_true", help=f"use demo route ({DEMO_ROUTE})")
+  args = parser.parse_args()
+
+  if args.demo:
+    route = DEMO_ROUTE
+  elif args.route:
+    route = args.route
+  else:
+    parser.error("provide a route or use --demo")
+
+  print(f"Reading logs from: {route}")
+
+  proc_logs = []
+  device_states = []
+  for msg in LogReader(route):
+    if msg.which() == 'procLog':
+      proc_logs.append(msg)
+    elif msg.which() == 'deviceState':
+      device_states.append(msg)
+
+  print_report(proc_logs, device_states)
diff --git a/selfdrive/debug/print_docs_diff.py b/selfdrive/debug/print_docs_diff.py
index 388acf3af58..c7850939f07 100755
--- a/selfdrive/debug/print_docs_diff.py
+++ b/selfdrive/debug/print_docs_diff.py
@@ -11,7 +11,7 @@
 STAR_ICON = '<a href="##"><img valign="top" ' + \
             'src="https://media.githubusercontent.com/media/commaai/openpilot/master/docs/assets/icon-star-{}.svg" width="22" /></a>'
 VIDEO_ICON = '<a href="{}" target="_blank">' + \
-             '<img height="18px" src="https://media.githubusercontent.com/media/commaai/openpilot/master/docs/assets/icon-youtube.svg"></img></a>'
+             '<img height="18px" src="https://media.githubusercontent.com/media/commaai/openpilot/master/docs/assets/icon-youtube.svg" /></a>'
 COLUMNS = "|" + "|".join([column.value for column in Column]) + "|"
 COLUMN_HEADER = "|---|---|---|{}|".format("|".join([":---:"] * (len(Column) - 3)))
 ARROW_SYMBOL = "➡️"
diff --git a/selfdrive/debug/test_fw_query_on_routes.py b/selfdrive/debug/test_fw_query_on_routes.py
index 1216b7299f0..ab539e4feba 100755
--- a/selfdrive/debug/test_fw_query_on_routes.py
+++ b/selfdrive/debug/test_fw_query_on_routes.py
@@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-# type: ignore
 
 from collections import defaultdict
 import argparse
diff --git a/selfdrive/locationd/.gitignore b/selfdrive/locationd/.gitignore
deleted file mode 100644
index 1a8c72388ad..00000000000
--- a/selfdrive/locationd/.gitignore
+++ /dev/null
@@ -1,2 +0,0 @@
-params_learner
-paramsd
diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py
index 03c044982e3..036f5822d25 100755
--- a/selfdrive/locationd/calibrationd.py
+++ b/selfdrive/locationd/calibrationd.py
@@ -47,7 +47,7 @@
 
 
 def is_calibration_valid(rpy: np.ndarray) -> bool:
-  return (PITCH_LIMITS[0] < rpy[1] < PITCH_LIMITS[1]) and (YAW_LIMITS[0] < rpy[2] < YAW_LIMITS[1])  # type: ignore
+  return (PITCH_LIMITS[0] < rpy[1] < PITCH_LIMITS[1]) and (YAW_LIMITS[0] < rpy[2] < YAW_LIMITS[1])
 
 
 def sanity_clip(rpy: np.ndarray) -> np.ndarray:
@@ -92,7 +92,7 @@ def reset(self, rpy_init: np.ndarray = RPY_INIT,
                   valid_blocks: int = 0,
                   wide_from_device_euler_init: np.ndarray = WIDE_FROM_DEVICE_EULER_INIT,
                   height_init: np.ndarray = HEIGHT_INIT,
-                  smooth_from: np.ndarray = None) -> None:
+                  smooth_from: np.ndarray | None = None) -> None:
     if not np.isfinite(rpy_init).all():
       self.rpy = RPY_INIT.copy()
     else:
diff --git a/selfdrive/locationd/helpers.py b/selfdrive/locationd/helpers.py
index 2a3ac8b8610..73c4d8bf352 100644
--- a/selfdrive/locationd/helpers.py
+++ b/selfdrive/locationd/helpers.py
@@ -94,7 +94,7 @@ def is_calculable(self) -> bool:
   def add_point(self, x: float, y: float) -> None:
     raise NotImplementedError
 
-  def get_points(self, num_points: int = None) -> Any:
+  def get_points(self, num_points: int | None = None) -> Any:
     points = np.vstack([x.arr for x in self.buckets.values()])
     if num_points is None:
       return points
diff --git a/selfdrive/locationd/lagd.py b/selfdrive/locationd/lagd.py
index d7834f7f1fd..6232404c30d 100755
--- a/selfdrive/locationd/lagd.py
+++ b/selfdrive/locationd/lagd.py
@@ -24,13 +24,29 @@
 MAX_YAW_RATE_SANITY_CHECK = 1.0
 MIN_NCC = 0.95
 MAX_LAG = 1.0
+MIN_LAG = 0.15
 MAX_LAG_STD = 0.1
 MAX_LAT_ACCEL = 2.0
 MAX_LAT_ACCEL_DIFF = 0.6
+MIN_LAT_ACCEL_RANGE = 0.5
 MIN_CONFIDENCE = 0.7
 CORR_BORDER_OFFSET = 5
 LAG_CANDIDATE_CORR_THRESHOLD = 0.9
-
+SMOOTH_K = 5
+SMOOTH_SIGMA = 1.0
+
+
+def masked_symmetric_moving_average(x: np.ndarray, mask: np.ndarray, k: int, sigma: float) -> np.ndarray:
+  assert k >= 1 and k % 2 == 1, "k must be positive and odd"
+  pad = k // 2
+  i = np.arange(k) - pad
+  w = np.exp(-0.5 * (i / sigma) ** 2)
+  w /= w.sum()
+  xp = np.pad(x * mask, pad, mode="edge")
+  mp = np.pad(mask, pad, mode="edge")
+  num = np.convolve(xp, w, mode="valid")
+  den = np.convolve(mp, w, mode="valid")
+  return np.divide(num, den, out=np.full_like(num, np.nan, dtype=np.float64), where=den != 0)
 
 def masked_normalized_cross_correlation(expected_sig: np.ndarray, actual_sig: np.ndarray, mask: np.ndarray, n: int):
   """
@@ -215,7 +231,7 @@ def get_msg(self, valid: bool, debug: bool = False) -> capnp._DynamicStructBuild
       liveDelay.status = log.LiveDelayData.Status.unestimated
 
     if liveDelay.status == log.LiveDelayData.Status.estimated:
-      liveDelay.lateralDelay = valid_mean_lag
+      liveDelay.lateralDelay = min(MAX_LAG, max(MIN_LAG, valid_mean_lag))
     else:
       liveDelay.lateralDelay = self.initial_lag
 
@@ -293,12 +309,15 @@ def update_estimate(self):
 
     times, desired, actual, okay = self.points.get()
     # check if there are any new valid data points since the last update
-    is_valid = self.points_valid()
+    is_valid = self.points_valid() and (actual.max() - actual.min() >= MIN_LAT_ACCEL_RANGE)
     if self.last_estimate_t != 0 and times[0] <= self.last_estimate_t:
       new_values_start_idx = next(-i for i, t in enumerate(reversed(times)) if t <= self.last_estimate_t)
       is_valid = is_valid and not (new_values_start_idx == 0 or not np.any(okay[new_values_start_idx:]))
 
-    delay, corr, confidence = self.actuator_delay(desired, actual, okay, self.dt, MAX_LAG)
+    desired = masked_symmetric_moving_average(desired, okay, SMOOTH_K, SMOOTH_SIGMA)
+    actual = masked_symmetric_moving_average(actual, okay, SMOOTH_K, SMOOTH_SIGMA)
+
+    delay, corr, confidence = self.actuator_delay(desired, actual, okay, self.dt, MIN_LAG, MAX_LAG)
     if corr < self.min_ncc or confidence < self.min_confidence or not is_valid:
       return
 
@@ -306,27 +325,28 @@ def update_estimate(self):
     self.last_estimate_t = self.t
 
   @staticmethod
-  def actuator_delay(expected_sig: np.ndarray, actual_sig: np.ndarray, mask: np.ndarray, dt: float, max_lag: float) -> tuple[float, float, float]:
+  def actuator_delay(expected_sig: np.ndarray, actual_sig: np.ndarray, mask: np.ndarray,
+                     dt: float, min_lag: float, max_lag: float) -> tuple[float, float, float]:
     assert len(expected_sig) == len(actual_sig)
-    max_lag_samples = int(max_lag / dt)
-    padded_size = fft_next_good_size(len(expected_sig) + max_lag_samples)
+    min_lag_samples, max_lag_samples, one_sec_samples = int(round(min_lag / dt)), int(round(max_lag / dt)), int(round(1.0 / dt))
+    padded_size = fft_next_good_size(len(expected_sig) + max(max_lag_samples, one_sec_samples))
 
     ncc = masked_normalized_cross_correlation(expected_sig, actual_sig, mask, padded_size)
 
-    # only consider lags from 0 to max_lag
-    roi = np.s_[len(expected_sig) - 1: len(expected_sig) - 1 + max_lag_samples]
-    extended_roi = np.s_[roi.start - CORR_BORDER_OFFSET: roi.stop + CORR_BORDER_OFFSET]
-    roi_ncc = ncc[roi]
-    extended_roi_ncc = ncc[extended_roi]
+    # only consider lags from ranges:
+    roi = np.s_[len(expected_sig) - 1 + min_lag_samples: len(expected_sig) - 1 + max_lag_samples] # min_lag - max_lag range
+    threshold_roi = np.s_[len(expected_sig) - 1: len(expected_sig) - 1 + one_sec_samples] # 0 - 1 second range
+    confidence_roi = np.s_[threshold_roi.start - CORR_BORDER_OFFSET: threshold_roi.stop + CORR_BORDER_OFFSET] # threshold range +/- border
+    roi_ncc, confidence_roi_ncc, threshold_roi_ncc = ncc[roi], ncc[confidence_roi], ncc[threshold_roi]
 
     max_corr_index = np.argmax(roi_ncc)
     corr = roi_ncc[max_corr_index]
-    lag = parabolic_peak_interp(roi_ncc, max_corr_index) * dt
+    lag = parabolic_peak_interp(roi_ncc, max_corr_index) * dt + min_lag
 
     # to estimate lag confidence, gather all high-correlation candidates and see how spread they are
     # if e.g. 0.8 and 0.4 are both viable, this is an ambiguous case
-    ncc_thresh = (roi_ncc.max() - roi_ncc.min()) * LAG_CANDIDATE_CORR_THRESHOLD + roi_ncc.min()
-    good_lag_candidate_mask = extended_roi_ncc >= ncc_thresh
+    ncc_thresh = (threshold_roi_ncc.max() - threshold_roi_ncc.min()) * LAG_CANDIDATE_CORR_THRESHOLD + threshold_roi_ncc.min()
+    good_lag_candidate_mask = confidence_roi_ncc >= ncc_thresh
     good_lag_candidate_edges = np.diff(good_lag_candidate_mask.astype(int), prepend=0, append=0)
     starts, ends = np.where(good_lag_candidate_edges == 1)[0], np.where(good_lag_candidate_edges == -1)[0] - 1
     run_idx = np.searchsorted(starts, max_corr_index + CORR_BORDER_OFFSET, side='right') - 1
diff --git a/selfdrive/locationd/locationd.py b/selfdrive/locationd/locationd.py
index f6a0935ed97..57aecb22e73 100755
--- a/selfdrive/locationd/locationd.py
+++ b/selfdrive/locationd/locationd.py
@@ -28,6 +28,9 @@
 INPUT_INVALID_RECOVERY = 10.0 # ~10 secs to resume after exceeding allowed bad inputs by one
 POSENET_STD_INITIAL_VALUE = 10.0
 POSENET_STD_HIST_HALF = 20
+CAM_ODO_POSE_DELAY = 0.1 # dependent on the vision model context frames and temporal frequency (current model is 5 fps with 2 context frames)
+CAM_ODO_ROT_STD_MULT = 10
+CAM_ODO_TRANS_STD_MULT = 4
 
 
 def calculate_invalid_input_decay(invalid_limit, recovery_time, frequency):
@@ -155,6 +158,8 @@ def handle_log(self, t: float, which: str, msg: capnp._DynamicStructReader) -> H
         self.device_from_calib = rot_from_euler(calib)
 
     elif which == "cameraOdometry":
+      # camera odometry is delayed depending on the model context frames and temporal frequency
+      t = msg.timestampEof * 1e-9 - CAM_ODO_POSE_DELAY
       if not self._validate_timestamp(t):
         return HandleLogResult.TIMING_INVALID
 
@@ -177,8 +182,8 @@ def handle_log(self, t: float, which: str, msg: capnp._DynamicStructReader) -> H
       self.posenet_stds[-1] = trans_calib_std[0]
 
       # Multiply by N to avoid to high certainty in kalman filter because of temporally correlated noise
-      rot_calib_std *= 10
-      trans_calib_std *= 2
+      rot_calib_std *= CAM_ODO_ROT_STD_MULT
+      trans_calib_std *= CAM_ODO_TRANS_STD_MULT
 
       rot_device_std = rotate_std(self.device_from_calib, rot_calib_std)
       trans_device_std = rotate_std(self.device_from_calib, trans_calib_std)
@@ -234,6 +239,7 @@ def get_msg(self, sensors_valid: bool, inputs_valid: bool, filter_valid: bool):
     livePose.inputsOK = inputs_valid
     livePose.posenetOK = not std_spike or self.car_speed <= 5.0
     livePose.sensorsOK = sensors_valid
+    livePose.timestamp = int(np.nan_to_num(self.kf.t) * 1e9)
 
     return msg
 
diff --git a/selfdrive/locationd/models/pose_kf.py b/selfdrive/locationd/models/pose_kf.py
index 020e51ad6e5..a8ff80c7130 100755
--- a/selfdrive/locationd/models/pose_kf.py
+++ b/selfdrive/locationd/models/pose_kf.py
@@ -47,13 +47,13 @@ class PoseKalman(KalmanFilter):
   # process noise
   Q = np.diag([0.001**2, 0.001**2, 0.001**2,
                0.01**2, 0.01**2, 0.01**2,
-               0.1**2, 0.1**2, 0.1**2,
+               0.085**2, 0.085**2, 0.085**2,
                (0.005 / 100)**2, (0.005 / 100)**2, (0.005 / 100)**2,
                3**2, 3**2, 3**2,
                0.005**2, 0.005**2, 0.005**2])
 
   obs_noise = {ObservationKind.PHONE_GYRO: np.diag([0.025**2, 0.025**2, 0.025**2]),
-               ObservationKind.PHONE_ACCEL: np.diag([.5**2, .5**2, .5**2]),
+               ObservationKind.PHONE_ACCEL: np.diag([0.75**2, 0.75**2, 0.75**2]),
                ObservationKind.CAMERA_ODO_TRANSLATION: np.diag([0.5**2, 0.5**2, 0.5**2]),
                ObservationKind.CAMERA_ODO_ROTATION: np.diag([0.05**2, 0.05**2, 0.05**2])}
 
diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py
index b4084fe5bc9..0489ae41744 100755
--- a/selfdrive/locationd/paramsd.py
+++ b/selfdrive/locationd/paramsd.py
@@ -65,6 +65,7 @@ def reset(self, t: float | None):
 
   def handle_log(self, t: float, which: str, msg: capnp._DynamicStructReader):
     if which == 'livePose':
+      t = msg.timestamp * 1e-9
       device_pose = Pose.from_live_pose(msg)
       calibrated_pose = self.calibrator.build_calibrated_pose(device_pose)
 
@@ -127,8 +128,8 @@ def handle_log(self, t: float, which: str, msg: capnp._DynamicStructReader):
 
     if not self.active:
       # Reset time when stopped so uncertainty doesn't grow
-      self.kf.filter.set_filter_time(t)  # type: ignore
-      self.kf.filter.reset_rewind()      # type: ignore
+      self.kf.filter.set_filter_time(t)
+      self.kf.filter.reset_rewind()
 
   def get_msg(self, valid: bool, debug: bool = False) -> capnp._DynamicStructBuilder:
     x = self.kf.x
diff --git a/selfdrive/locationd/test/.gitignore b/selfdrive/locationd/test/.gitignore
deleted file mode 100644
index 89f9ac04aac..00000000000
--- a/selfdrive/locationd/test/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-out/
diff --git a/selfdrive/locationd/test/test_lagd.py b/selfdrive/locationd/test/test_lagd.py
index a3dfce9c296..6249e6b04b8 100644
--- a/selfdrive/locationd/test/test_lagd.py
+++ b/selfdrive/locationd/test/test_lagd.py
@@ -19,8 +19,8 @@
 def process_messages(estimator, lag_frames, n_frames, vego=20.0, rejection_threshold=0.0):
   for i in range(n_frames):
     t = i * estimator.dt
-    desired_la = np.cos(10 * t) * 0.1
-    actual_la = np.cos(10 * (t - lag_frames * estimator.dt)) * 0.1
+    desired_la = np.cos(10 * t) * 0.3
+    actual_la = np.cos(10 * (t - lag_frames * estimator.dt)) * 0.3
 
     # if sample is masked out, set it to desired value (no lag)
     rejected = random.uniform(0, 1) < rejection_threshold
@@ -97,7 +97,7 @@ def test_empty_estimator(self):
     assert msg.liveDelay.calPerc == 0
 
   def test_estimator_basics(self, subtests):
-    for lag_frames in range(5):
+    for lag_frames in range(3, 10):
       with subtests.test(msg=f"lag_frames={lag_frames}"):
         mocked_CP = car.CarParams(steerActuatorDelay=0.8)
         estimator = LateralLagEstimator(mocked_CP, DT, min_recovery_buffer_sec=0.0, min_yr=0.0)
@@ -111,7 +111,7 @@ def test_estimator_basics(self, subtests):
         assert msg.liveDelay.calPerc == 100
 
   def test_estimator_masking(self):
-    mocked_CP, lag_frames = car.CarParams(steerActuatorDelay=0.8), random.randint(1, 19)
+    mocked_CP, lag_frames = car.CarParams(steerActuatorDelay=0.8), random.randint(3, 19)
     estimator = LateralLagEstimator(mocked_CP, DT, min_recovery_buffer_sec=0.0, min_yr=0.0, min_valid_block_count=1)
     process_messages(estimator, lag_frames, (int(MIN_OKAY_WINDOW_SEC / DT) + BLOCK_SIZE) * 2, rejection_threshold=0.4)
     msg = estimator.get_msg(True)
@@ -120,7 +120,6 @@ def test_estimator_masking(self):
     assert msg.liveDelay.calPerc == 100
 
   @pytest.mark.skipif(PC, reason="only on device")
-  @pytest.mark.timeout(60)
   def test_estimator_performance(self):
     mocked_CP = car.CarParams(steerActuatorDelay=0.8)
     estimator = LateralLagEstimator(mocked_CP, DT)
diff --git a/selfdrive/locationd/test/test_locationd_scenarios.py b/selfdrive/locationd/test/test_locationd_scenarios.py
index 0ea7ac183f2..69f2ca2821b 100644
--- a/selfdrive/locationd/test/test_locationd_scenarios.py
+++ b/selfdrive/locationd/test/test_locationd_scenarios.py
@@ -3,6 +3,7 @@
 from enum import Enum
 
 from openpilot.tools.lib.logreader import LogReader
+from openpilot.selfdrive.locationd.lagd import masked_symmetric_moving_average
 from openpilot.selfdrive.test.process_replay.migration import migrate_all
 from openpilot.selfdrive.test.process_replay.process_replay import replay_process_with_name
 
@@ -15,6 +16,7 @@
   'inputs_flag': ['inputsOK'],
   'sensors_flag': ['sensorsOK'],
 }
+SMOOTH_FIELDS = ['yaw_rate', 'roll']
 JUNK_IDX = 100
 CONSISTENT_SPIKES_COUNT = 10
 
@@ -32,6 +34,8 @@ class Scenario(Enum):
 
 
 def get_select_fields_data(logs):
+  def sig_smooth(signal):
+    return masked_symmetric_moving_average(signal, np.ones_like(signal), 5, 1.0)
   def get_nested_keys(msg, keys):
     val = None
     for key in keys:
@@ -44,6 +48,8 @@ def get_nested_keys(msg, keys):
       data[key].append(get_nested_keys(msg, fields))
   for key in data:
     data[key] = np.array(data[key][JUNK_IDX:], dtype=float)
+    if key in SMOOTH_FIELDS:
+      data[key] = sig_smooth(data[key])
   return data
 
 
@@ -110,7 +116,7 @@ def test_base(self):
     """
     orig_data, replayed_data = run_scenarios(Scenario.BASE, self.logs)
     assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.35))
-    assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.55))
+    assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.35))
 
   def test_gyro_off(self):
     """
@@ -135,7 +141,7 @@ def test_gyro_spike(self):
     """
     orig_data, replayed_data = run_scenarios(Scenario.GYRO_SPIKE_MIDWAY, self.logs)
     assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.35))
-    assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.55))
+    assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.35))
     assert np.all(replayed_data['inputs_flag'] == orig_data['inputs_flag'])
     assert np.all(replayed_data['sensors_flag'] == orig_data['sensors_flag'])
 
@@ -169,7 +175,7 @@ def test_accel_spike(self):
     """
     orig_data, replayed_data = run_scenarios(Scenario.ACCEL_SPIKE_MIDWAY, self.logs)
     assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.35))
-    assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.55))
+    assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.35))
 
   def test_single_timing_spike(self):
     """
diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py
index 3f9b846e822..9a2b6c17b16 100755
--- a/selfdrive/locationd/torqued.py
+++ b/selfdrive/locationd/torqued.py
@@ -33,7 +33,7 @@
 MIN_ENGAGE_BUFFER = 2  # secs
 
 VERSION = 1  # bump this to invalidate old parameter caches
-ALLOWED_CARS = ['toyota', 'hyundai', 'rivian', 'honda']
+ALLOWED_CARS = ['toyota', 'hyundai', 'rivian', 'honda', 'volkswagen']
 
 
 def slope2rot(slope):
@@ -180,7 +180,9 @@ def handle_log(self, t, which, msg):
       self.lag = msg.lateralDelay
     # calculate lateral accel from past steering torque
     elif which == "livePose":
-      if len(self.raw_points['steer_torque']) == self.hist_len:
+      is_valid = msg.angularVelocityDevice.valid and msg.orientationNED.valid and msg.inputsOK and msg.sensorsOK and msg.posenetOK
+      if len(self.raw_points['steer_torque']) == self.hist_len and is_valid:
+        t = msg.timestamp * 1e-9
         device_pose = Pose.from_live_pose(msg)
         calibrated_pose = self.calibrator.build_calibrated_pose(device_pose)
         angular_velocity_calibrated = calibrated_pose.angular_velocity
diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index 8b33a457f20..76fef75bae0 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -1,70 +1,118 @@
-import os
 import glob
+import json
+import os
+from itertools import product
+from SCons.Script import Value
+from openpilot.common.file_chunker import chunk_file, get_chunk_paths
+from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
+from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE, DM_INPUT_SIZE
+from openpilot.selfdrive.modeld.constants import ModelConstants
+from openpilot.selfdrive.modeld.helpers import CompileConfig
+from tinygrad import Device
+
+CAMERA_CONFIGS = [
+  (_ar_ox_fisheye.width, _ar_ox_fisheye.height),  # tici: 1928x1208
+  (_os_fisheye.width, _os_fisheye.height),        # mici: 1344x760
+]
+MODELD_CONFIGS = [CompileConfig(cam_w, cam_h, prepare_only, 'driving_')
+                  for (cam_w, cam_h), prepare_only in product(CAMERA_CONFIGS, [True, False])]
+DM_WARP_CONFIGS = [CompileConfig(cam_w, cam_h, True, 'dm_') for cam_w, cam_h in CAMERA_CONFIGS]
 
-Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'visionipc', 'transformations')
+Import('env', 'arch')
+chunker_file = File("#common/file_chunker.py")
 lenv = env.Clone()
-lenvCython = envCython.Clone()
 
-libs = [cereal, messaging, visionipc, common, 'capnp', 'kj', 'pthread']
-frameworks = []
+tinygrad_root = env.Dir("#").abspath
+tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=tinygrad_root)
+                  if 'pycache' not in x and os.path.isfile(os.path.join(tinygrad_root, x))]
 
-common_src = [
-  "models/commonmodel.cc",
-  "transforms/loadyuv.cc",
-  "transforms/transform.cc",
-]
+def estimate_pickle_max_size(onnx_size):
+  return 1.2 * onnx_size  + 10 * 1024 * 1024  # 20% + 10MB is plenty
 
-# OpenCL is a framework on Mac
-if arch == "Darwin":
-  frameworks += ['OpenCL']
+# get fastest TG config
+available = set(Device.get_available_devices())
+if 'CUDA' in available:
+  tg_backend = 'CUDA'
+  tg_flags = f'DEV={tg_backend}'
+elif 'QCOM' in available:
+  tg_backend = 'QCOM'
+  tg_flags = f'DEV={tg_backend} FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1'
 else:
-  libs += ['OpenCL']
+  tg_backend = 'CPU' if arch == 'Darwin' else 'CPU:LLVM'
+  # THREADS=0 is need to prevent bug: https://github.com/tinygrad/tinygrad/issues/14689
+  tg_flags = f'DEV={tg_backend} THREADS=0'
+
+def write_tg_compiled_flags(target, source, env):
+  with open(str(target[0]), "w") as f:
+    json.dump({"DEV": tg_backend}, f)
+    f.write("\n")
 
-# Set path definitions
-for pathdef, fn in {'TRANSFORM': 'transforms/transform.cl', 'LOADYUV': 'transforms/loadyuv.cl'}.items():
-  for xenv in (lenv, lenvCython):
-    xenv['CXXFLAGS'].append(f'-D{pathdef}_PATH=\\"{File(fn).abspath}\\"')
+compiled_flags_node = lenv.Command(
+  File("models/tg_compiled_flags.json").abspath,
+  tinygrad_files + [Value(tg_backend)],
+  write_tg_compiled_flags,
+)
 
-# Compile cython
-cython_libs = envCython["LIBS"] + libs
-commonmodel_lib = lenv.Library('commonmodel', common_src)
-lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks)
-tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=env.Dir("#").abspath) if 'pycache' not in x]
+# tinygrad calls brew which needs a $HOME in the env
+mac_brew_string = f'HOME={os.path.expanduser("~")}' if arch == 'Darwin' else ''
 
 # Get model metadata
 for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
   fn = File(f"models/{model_name}").abspath
   script_files = [File(Dir("#selfdrive/modeld").File("get_model_metadata.py").abspath)]
-  cmd = f'python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
-  lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files + script_files, cmd)
+  cmd = f'{tg_flags} {mac_brew_string} python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
+  lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files + script_files + [compiled_flags_node], cmd)
+
+image_flag = {
+     'larch64': 'IMAGE=2',
+}.get(arch, 'IMAGE=0')
+modeld_dir = Dir("#selfdrive/modeld").abspath
+compile_modeld_script = [File(f"{modeld_dir}/compile_modeld.py")]
+compile_dm_warp_script = [File(f"{modeld_dir}/compile_dm_warp.py")]
+driving_onnx_deps = [File(f"models/{m}.onnx").abspath for m in ['driving_vision', 'driving_policy']]
+driving_metadata_deps = [File(f"models/{m}_metadata.pkl").abspath for m in ['driving_vision', 'driving_policy']]
+
+model_w, model_h = MEDMODEL_INPUT_SIZE
+frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ
+for cfg in MODELD_CONFIGS:
+  cmd = (f'{tg_flags} {mac_brew_string} {image_flag} python3 {modeld_dir}/compile_modeld.py '
+         f'--model-size {model_w}x{model_h} '
+         f'--nv12 {",".join(str(x) for x in cfg.nv12)} '
+         f'--vision-onnx {File("models/driving_vision.onnx").abspath} '
+         f'--policy-onnx {File("models/driving_policy.onnx").abspath} '
+         f'--output {cfg.pkl_path} --frame-skip {frame_skip}'
+         + (' --prepare-only' if cfg.prepare_only else ''))
+  node = lenv.Command(cfg.pkl_path, tinygrad_files + compile_modeld_script + driving_onnx_deps + driving_metadata_deps + [chunker_file, compiled_flags_node], cmd)
+  onnx_sizes_sum = sum(os.path.getsize(f) for f in driving_onnx_deps)
+  chunk_targets = get_chunk_paths(cfg.pkl_path, estimate_pickle_max_size(onnx_sizes_sum))
+  def do_chunk(target, source, env, pkl=cfg.pkl_path, chunks=chunk_targets):
+    chunk_file(pkl, chunks)
+  lenv.Command(chunk_targets, node, do_chunk)
+
+dm_w, dm_h = DM_INPUT_SIZE
+for cfg in DM_WARP_CONFIGS:
+  cmd = (f'{tg_flags} {mac_brew_string} {image_flag} python3 {modeld_dir}/compile_dm_warp.py '
+         f'--nv12 {",".join(str(x) for x in cfg.nv12)} --warp-to {dm_w}x{dm_h} '
+         f'--output {cfg.pkl_path}')
+  lenv.Command(cfg.pkl_path, tinygrad_files + compile_dm_warp_script + compile_modeld_script + [compiled_flags_node], cmd)
 
 def tg_compile(flags, model_name):
   pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"'
   fn = File(f"models/{model_name}").abspath
+  pkl = fn + "_tinygrad.pkl"
+  onnx_path = fn + ".onnx"
+  chunk_targets = get_chunk_paths(pkl, estimate_pickle_max_size(os.path.getsize(onnx_path)))
+  compile_node = lenv.Command(
+    pkl,
+    [onnx_path] + tinygrad_files + [chunker_file, compiled_flags_node],
+    f'{pythonpath_string} {flags} {image_flag} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {pkl}',
+  )
+  def do_chunk(target, source, env):
+    chunk_file(pkl, chunk_targets)
   return lenv.Command(
-    fn + "_tinygrad.pkl",
-    [fn + ".onnx"] + tinygrad_files,
-    f'{pythonpath_string} {flags} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {fn}_tinygrad.pkl'
+    chunk_targets,
+    compile_node,
+    do_chunk,
   )
 
-# Compile small models
-for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
-  flags = {
-    'larch64': 'DEV=QCOM FLOAT16=1 NOLOCALS=1 IMAGE=2 JIT_BATCH_SIZE=0',
-    'Darwin': f'DEV=CPU HOME={os.path.expanduser("~")}', # tinygrad calls brew which needs a $HOME in the env
-  }.get(arch, 'DEV=CPU CPU_LLVM=1')
-  tg_compile(flags, model_name)
-
-# Compile BIG model if USB GPU is available
-if "USBGPU" in os.environ:
-  import subprocess
-  # because tg doesn't support multi-process
-  devs = subprocess.check_output('python3 -c "from tinygrad import Device; print(list(Device.get_available_devices()))"', shell=True, cwd=env.Dir('#').abspath)
-  if b"AMD" in devs:
-    print("USB GPU detected... building")
-    flags = "DEV=AMD AMD_IFACE=USB AMD_LLVM=1 NOLOCALS=0 IMAGE=0"
-    bp = tg_compile(flags, "big_driving_policy")
-    bv = tg_compile(flags, "big_driving_vision")
-    lenv.SideEffect('lock', [bp, bv])  # tg doesn't support multi-process so build serially
-  else:
-    print("USB GPU not detected... skipping")
+tg_compile(tg_flags, 'dmonitoring_model')
diff --git a/selfdrive/modeld/compile_dm_warp.py b/selfdrive/modeld/compile_dm_warp.py
new file mode 100755
index 00000000000..2713cccf413
--- /dev/null
+++ b/selfdrive/modeld/compile_dm_warp.py
@@ -0,0 +1,54 @@
+#!/usr/bin/env python3
+import argparse
+import pickle
+import time
+
+from tinygrad.tensor import Tensor
+from tinygrad.device import Device
+from tinygrad.engine.jit import TinyJit
+
+from openpilot.selfdrive.modeld.compile_modeld import NV12Frame, warp_perspective_tinygrad, _parse_size, _parse_nv12
+
+
+def make_warp_dm(nv12: NV12Frame, dm_w, dm_h):
+  cam_w, cam_h, stride, _, _, _ = nv12
+  stride_pad = stride - cam_w
+
+  def warp_dm(input_frame, M_inv):
+    M_inv = M_inv.to(Device.DEFAULT).realize()
+    return warp_perspective_tinygrad(input_frame[:cam_h*stride], M_inv,
+                                     (dm_w, dm_h), (cam_h, cam_w), stride_pad).reshape(-1, dm_h * dm_w)
+  return warp_dm
+
+
+def compile_dm_warp(nv12: NV12Frame, dm_w, dm_h, pkl_path):
+  print(f"Compiling DM warp for {nv12.width}x{nv12.height} -> {dm_w}x{dm_h}...")
+
+  warp_dm_jit = TinyJit(make_warp_dm(nv12, dm_w, dm_h), prune=True)
+
+  for i in range(10):
+    frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8').realize()
+    M_inv = Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')
+    Device.default.synchronize()
+    st = time.perf_counter()
+    warp_dm_jit(frame, M_inv).realize()
+    mt = time.perf_counter()
+    Device.default.synchronize()
+    et = time.perf_counter()
+    print(f"  [{i+1}/10] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms")
+
+  with open(pkl_path, "wb") as f:
+    pickle.dump(warp_dm_jit, f)
+  print(f"  Saved to {pkl_path}")
+
+
+if __name__ == "__main__":
+  p = argparse.ArgumentParser()
+  p.add_argument('--nv12', type=_parse_nv12, required=True,
+                 help=f'NV12 frame layout: {",".join(NV12Frame._fields)}')
+  p.add_argument('--warp-to', type=_parse_size, required=True, help='DM input WxH')
+  p.add_argument('--output', required=True)
+  args = p.parse_args()
+
+  dm_w, dm_h = args.warp_to
+  compile_dm_warp(args.nv12, dm_w, dm_h, args.output)
diff --git a/selfdrive/modeld/compile_modeld.py b/selfdrive/modeld/compile_modeld.py
new file mode 100755
index 00000000000..1e05ae30a48
--- /dev/null
+++ b/selfdrive/modeld/compile_modeld.py
@@ -0,0 +1,253 @@
+#!/usr/bin/env python3
+import argparse
+import pickle
+import time
+from functools import partial
+from collections import namedtuple
+
+import numpy as np
+from tinygrad.tensor import Tensor
+from tinygrad.helpers import Context
+from tinygrad.device import Device
+from tinygrad.engine.jit import TinyJit
+from tinygrad.nn.onnx import OnnxRunner
+
+# https://github.com/tinygrad/tinygrad/issues/15682
+from tinygrad.uop.ops import UOp, Ops
+_orig = UOp.__reduce__
+UOp.__reduce__ = lambda self: (UOp.unique, ()) if self.op is Ops.UNIQUE else _orig(self)
+
+
+NV12Frame = namedtuple("NV12Frame", ['width', 'height', 'stride', 'y_height', 'uv_height', 'size'])
+
+UV_SCALE_MATRIX = np.array([[0.5, 0, 0], [0, 0.5, 0], [0, 0, 1]], dtype=np.float32)
+UV_SCALE_MATRIX_INV = np.linalg.inv(UV_SCALE_MATRIX)
+
+
+def warp_perspective_tinygrad(src_flat, M_inv, dst_shape, src_shape, stride_pad):
+  w_dst, h_dst = dst_shape
+  h_src, w_src = src_shape
+
+  x = Tensor.arange(w_dst).reshape(1, w_dst).expand(h_dst, w_dst).reshape(-1)
+  y = Tensor.arange(h_dst).reshape(h_dst, 1).expand(h_dst, w_dst).reshape(-1)
+
+  # inline 3x3 matmul as elementwise to avoid reduce op (enables fusion with gather)
+  src_x = M_inv[0, 0] * x + M_inv[0, 1] * y + M_inv[0, 2]
+  src_y = M_inv[1, 0] * x + M_inv[1, 1] * y + M_inv[1, 2]
+  src_w = M_inv[2, 0] * x + M_inv[2, 1] * y + M_inv[2, 2]
+
+  src_x = src_x / src_w
+  src_y = src_y / src_w
+
+  x_nn_clipped = Tensor.round(src_x).clip(0, w_src - 1).cast('int')
+  y_nn_clipped = Tensor.round(src_y).clip(0, h_src - 1).cast('int')
+  idx = y_nn_clipped * (w_src + stride_pad) + x_nn_clipped
+
+  return src_flat[idx]
+
+
+def frames_to_tensor(frames):
+  H = (frames.shape[0] * 2) // 3
+  W = frames.shape[1]
+  in_img1 = Tensor.cat(frames[0:H:2, 0::2],
+                       frames[1:H:2, 0::2],
+                       frames[0:H:2, 1::2],
+                       frames[1:H:2, 1::2],
+                       frames[H:H+H//4].reshape((H//2, W//2)),
+                       frames[H+H//4:H+H//2].reshape((H//2, W//2)), dim=0).reshape((6, H//2, W//2))
+  return in_img1
+
+
+def make_frame_prepare(nv12: NV12Frame, model_w, model_h):
+  cam_w, cam_h, stride, y_height, uv_height, _ = nv12
+  uv_offset = stride * y_height
+  stride_pad = stride - cam_w
+
+  def frame_prepare_tinygrad(input_frame, M_inv):
+    # UV_SCALE @ M_inv @ UV_SCALE_INV simplifies to elementwise scaling
+    M_inv_uv = M_inv * Tensor([[1.0, 1.0, 0.5], [1.0, 1.0, 0.5], [2.0, 2.0, 1.0]])
+    # deinterleave NV12 UV plane (UVUV... -> separate U, V)
+    uv = input_frame[uv_offset:uv_offset + uv_height * stride].reshape(uv_height, stride)
+    with Context(SPLIT_REDUCEOP=0):
+      y = warp_perspective_tinygrad(input_frame[:cam_h*stride],
+                                    M_inv, (model_w, model_h),
+                                    (cam_h, cam_w), stride_pad).realize()
+      u = warp_perspective_tinygrad(uv[:cam_h//2, :cam_w:2].flatten(),
+                                    M_inv_uv, (model_w//2, model_h//2),
+                                    (cam_h//2, cam_w//2), 0).realize()
+      v = warp_perspective_tinygrad(uv[:cam_h//2, 1:cam_w:2].flatten(),
+                                    M_inv_uv, (model_w//2, model_h//2),
+                                    (cam_h//2, cam_w//2), 0).realize()
+    yuv = y.cat(u).cat(v).reshape((model_h * 3 // 2, model_w))
+    tensor = frames_to_tensor(yuv)
+    return tensor
+  return frame_prepare_tinygrad
+
+
+def make_input_queues(vision_input_shapes, policy_input_shapes, frame_skip):
+  img = vision_input_shapes['img']  # (1, 12, 128, 256)
+  n_frames = img[1] // 6
+  img_buf_shape = (frame_skip * (n_frames - 1) + 1, 6, img[2], img[3])
+
+  fb = policy_input_shapes['features_buffer']  # (1, 25, 512)
+  dp = policy_input_shapes['desire_pulse']  # (1, 25, 8)
+  tc = policy_input_shapes['traffic_convention']  # (1, 2)
+
+  npy = {
+    'desire': np.zeros(dp[2], dtype=np.float32),
+    'traffic_convention': np.zeros(tc, dtype=np.float32),
+    'tfm': np.zeros((3, 3), dtype=np.float32),
+    'big_tfm': np.zeros((3, 3), dtype=np.float32),
+  }
+  input_queues = {
+    'img_q': Tensor.zeros(img_buf_shape, dtype='uint8').contiguous().realize(),
+    'big_img_q': Tensor.zeros(img_buf_shape, dtype='uint8').contiguous().realize(),
+    'feat_q': Tensor.zeros(frame_skip * (fb[1] - 1) + 1, fb[0], fb[2]).contiguous().realize(),
+    'desire_q': Tensor.zeros(frame_skip * dp[1], dp[0], dp[2]).contiguous().realize(),
+    **{k: Tensor(v, device='NPY').realize() for k, v in npy.items()},
+  }
+  return input_queues, npy
+
+
+def shift_and_sample(buf, new_val, sample_fn):
+  buf.assign(buf[1:].cat(new_val, dim=0).contiguous())
+  return sample_fn(buf)
+
+
+def sample_skip(buf, frame_skip):
+  return buf[::frame_skip].contiguous().flatten(0, 1).unsqueeze(0)
+
+
+def sample_desire(buf, frame_skip):
+  return buf.reshape(-1, frame_skip, *buf.shape[1:]).max(1).flatten(0, 1).unsqueeze(0)
+
+
+def make_run_policy(vision_runner, policy_runner, nv12: NV12Frame, model_w, model_h,
+                    vision_features_slice, frame_skip, prepare_only=False):
+  frame_prepare = make_frame_prepare(nv12, model_w, model_h)
+  sample_skip_fn = partial(sample_skip, frame_skip=frame_skip)
+  sample_desire_fn = partial(sample_desire, frame_skip=frame_skip)
+
+  def run_policy(img_q, big_img_q, feat_q, desire_q, desire, traffic_convention, tfm, big_tfm, frame, big_frame):
+    tfm = tfm.to(Device.DEFAULT)
+    big_tfm = big_tfm.to(Device.DEFAULT)
+    desire = desire.to(Device.DEFAULT)
+    traffic_convention = traffic_convention.to(Device.DEFAULT)
+    Tensor.realize(tfm, big_tfm, desire, traffic_convention)
+
+    img = shift_and_sample(img_q, frame_prepare(frame, tfm).unsqueeze(0), sample_skip_fn)
+    big_img = shift_and_sample(big_img_q, frame_prepare(big_frame, big_tfm).unsqueeze(0), sample_skip_fn)
+
+    if prepare_only:
+      return img, big_img
+
+    vision_out = next(iter(vision_runner({'img': img, 'big_img': big_img}).values())).cast('float32')
+
+    new_feat = vision_out[:, vision_features_slice].reshape(1, -1).unsqueeze(0)
+    feat_buf = shift_and_sample(feat_q, new_feat, sample_skip_fn)
+    desire_buf = shift_and_sample(desire_q, desire.reshape(1, 1, -1), sample_desire_fn)
+
+    inputs = {'features_buffer': feat_buf, 'desire_pulse': desire_buf, 'traffic_convention': traffic_convention}
+    policy_out = next(iter(policy_runner(inputs).values())).cast('float32')
+
+    return vision_out, policy_out
+  return run_policy
+
+
+def compile_modeld(nv12: NV12Frame, model_w, model_h, prepare_only, frame_skip,
+                   vision_onnx, policy_onnx, pkl_path):
+  from get_model_metadata import metadata_path_for
+
+  print(f"Compiling combined policy JIT for {nv12.width}x{nv12.height} (prepare_only={prepare_only})...")
+
+  vision_runner = OnnxRunner(vision_onnx)
+  policy_runner = OnnxRunner(policy_onnx)
+
+  with open(metadata_path_for(vision_onnx), 'rb') as f:
+    vision_metadata = pickle.load(f)
+    vision_features_slice = vision_metadata['output_slices']['hidden_state']
+    vision_input_shapes = vision_metadata['input_shapes']
+  with open(metadata_path_for(policy_onnx), 'rb') as f:
+    policy_input_shapes = pickle.load(f)['input_shapes']
+
+  _run = make_run_policy(vision_runner, policy_runner, nv12, model_w, model_h,
+                         vision_features_slice, frame_skip, prepare_only)
+  run_policy_jit = TinyJit(_run, prune=True)
+
+  N_RUNS = 3
+  SEED = 42
+
+  def random_inputs_run_fn(fn, seed, test_val=None, test_buffers=None, expect_match=True):
+    input_queues, npy = make_input_queues(vision_input_shapes, policy_input_shapes, frame_skip)
+    np.random.seed(seed)
+    Tensor.manual_seed(seed)
+
+    for i in range(N_RUNS):
+      frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8').realize()
+      big_frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8').realize()
+      for v in npy.values():
+        v[:] = np.random.randn(*v.shape).astype(v.dtype)
+      Device.default.synchronize()
+      st = time.perf_counter()
+      outs = fn(**input_queues, frame=frame, big_frame=big_frame)
+      mt = time.perf_counter()
+      for o in outs:
+        # .realize() not needed once jitted, but needed for unjitted fn
+        o.realize()
+      Device.default.synchronize()
+      et = time.perf_counter()
+      print(f"  [{i+1}/{N_RUNS}] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms")
+
+    val = [np.copy(v.numpy()) for v in outs]
+    buffers = [np.copy(v.numpy().copy()) for v in input_queues.values()]
+
+    if test_val is not None:
+      match = all(np.array_equal(a, b) for a, b in zip(val, test_val, strict=True))
+      assert match == expect_match, f"outputs {'differ from' if expect_match else 'match'} baseline (seed={seed})"
+    if test_buffers is not None:
+      match = all(np.array_equal(a, b) for a, b in zip(buffers, test_buffers, strict=True))
+      assert match == expect_match, f"buffers {'differ from' if expect_match else 'match'} baseline (seed={seed})"
+    return fn, val, buffers
+
+  print('run unjitted')
+  _, test_val, test_buffers = random_inputs_run_fn(_run, seed=SEED)
+  print('capture + replay')
+  run_policy_jit, _, _ = random_inputs_run_fn(run_policy_jit, SEED, test_val, test_buffers)
+
+  print('pickle round trip')
+  with open(pkl_path, "wb") as f:
+    pickle.dump(run_policy_jit, f)
+    print(f"  Saved to {pkl_path}")
+  with open(pkl_path, "rb") as f:
+    run_policy_jit = pickle.load(f)
+  random_inputs_run_fn(run_policy_jit, SEED, test_val, test_buffers, expect_match=True)
+  random_inputs_run_fn(run_policy_jit, SEED+1, test_val, test_buffers, expect_match=False)
+
+
+def _parse_size(s):
+  w, h = s.lower().split('x')
+  return int(w), int(h)
+
+
+def _parse_nv12(s):
+  parts = s.split(',')
+  assert len(parts) == len(NV12Frame._fields), \
+    f"--nv12 expects {','.join(NV12Frame._fields)} (got {s!r})"
+  return NV12Frame(*(int(x) for x in parts))
+
+
+if __name__ == "__main__":
+  p = argparse.ArgumentParser()
+  p.add_argument('--model-size', type=_parse_size, required=True, help='model input WxH')
+  p.add_argument('--nv12', type=_parse_nv12, required=True,
+                 help=f'NV12 frame layout: {",".join(NV12Frame._fields)}')
+  p.add_argument('--vision-onnx', required=True)
+  p.add_argument('--policy-onnx', required=True)
+  p.add_argument('--output', required=True)
+  p.add_argument('--prepare-only', action='store_true')
+  p.add_argument('--frame-skip', type=int, required=True)
+  args = p.parse_args()
+
+  model_w, model_h = args.model_size
+  compile_modeld(args.nv12, model_w, model_h, args.prepare_only, args.frame_skip,
+                 args.vision_onnx, args.policy_onnx, args.output)
diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py
index fca762c69bf..18a79136ae6 100755
--- a/selfdrive/modeld/dmonitoringmodeld.py
+++ b/selfdrive/modeld/dmonitoringmodeld.py
@@ -1,13 +1,12 @@
 #!/usr/bin/env python3
 import os
-from openpilot.system.hardware import TICI
-os.environ['DEV'] = 'QCOM' if TICI else 'CPU'
+from openpilot.selfdrive.modeld.helpers import MODELS_DIR, CompileConfig, set_tinygrad_backend_from_compiled_flags
+set_tinygrad_backend_from_compiled_flags()
+
 from tinygrad.tensor import Tensor
-from tinygrad.dtype import dtypes
 import time
 import pickle
 import numpy as np
-from pathlib import Path
 
 from cereal import messaging
 from cereal.messaging import PubMaster, SubMaster
@@ -16,50 +15,52 @@
 from openpilot.common.realtime import config_realtime_process
 from openpilot.common.transformations.model import dmonitoringmodel_intrinsics
 from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
-from openpilot.selfdrive.modeld.models.commonmodel_pyx import CLContext, MonitoringModelFrame
+from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
+from openpilot.common.file_chunker import read_file_chunked
 from openpilot.selfdrive.modeld.parse_model_outputs import sigmoid, safe_exp
-from openpilot.selfdrive.modeld.runners.tinygrad_helpers import qcom_tensor_from_opencl_address
 
 PROCESS_NAME = "selfdrive.modeld.dmonitoringmodeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
-MODEL_PKL_PATH = Path(__file__).parent / 'models/dmonitoring_model_tinygrad.pkl'
-METADATA_PATH = Path(__file__).parent / 'models/dmonitoring_model_metadata.pkl'
-
+MODEL_PKL_PATH = MODELS_DIR / 'dmonitoring_model_tinygrad.pkl'
+METADATA_PATH = MODELS_DIR / 'dmonitoring_model_metadata.pkl'
 
 class ModelState:
   inputs: dict[str, np.ndarray]
   output: np.ndarray
 
-  def __init__(self, cl_ctx):
+  def __init__(self, cam_w: int, cam_h: int):
     with open(METADATA_PATH, 'rb') as f:
       model_metadata = pickle.load(f)
       self.input_shapes = model_metadata['input_shapes']
       self.output_slices = model_metadata['output_slices']
 
-    self.frame = MonitoringModelFrame(cl_ctx)
     self.numpy_inputs = {
       'calib': np.zeros(self.input_shapes['calib'], dtype=np.float32),
     }
 
+    self.warp_inputs_np = {'transform': np.zeros((3,3), dtype=np.float32)}
+    self.warp_inputs = {k: Tensor(v, device='NPY') for k,v in self.warp_inputs_np.items()}
+    self.frame_buf_params = get_nv12_info(cam_w, cam_h)
     self.tensor_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()}
-    with open(MODEL_PKL_PATH, "rb") as f:
-      self.model_run = pickle.load(f)
+    self._blob_cache : dict[int, Tensor] = {}
+    self.model_run = pickle.loads(read_file_chunked(str(MODEL_PKL_PATH)))
+    with open(CompileConfig(cam_w, cam_h, prefix='dm_', prepare_only=True).pkl_path, "rb") as f:
+      self.image_warp = pickle.load(f)
 
   def run(self, buf: VisionBuf, calib: np.ndarray, transform: np.ndarray) -> tuple[np.ndarray, float]:
     self.numpy_inputs['calib'][0,:] = calib
 
     t1 = time.perf_counter()
 
-    input_img_cl = self.frame.prepare(buf, transform.flatten())
-    if TICI:
-      # The imgs tensors are backed by opencl memory, only need init once
-      if 'input_img' not in self.tensor_inputs:
-        self.tensor_inputs['input_img'] = qcom_tensor_from_opencl_address(input_img_cl.mem_address, self.input_shapes['input_img'], dtype=dtypes.uint8)
-    else:
-      self.tensor_inputs['input_img'] = Tensor(self.frame.buffer_from_cl(input_img_cl).reshape(self.input_shapes['input_img']), dtype=dtypes.uint8).realize()
+    ptr = buf.data.ctypes.data
+    # There is a ringbuffer of imgs, just cache tensors pointing to all of them
+    if ptr not in self._blob_cache:
+      self._blob_cache[ptr] = Tensor.from_blob(ptr, (self.frame_buf_params[3],), dtype='uint8')
 
+    self.warp_inputs_np['transform'][:] = transform[:]
+    self.tensor_inputs['input_img'] = self.image_warp(self._blob_cache[ptr], self.warp_inputs['transform']).realize()
 
-    output = self.model_run(**self.tensor_inputs).contiguous().realize().uop.base.buffer.numpy()
+    output = self.model_run(**self.tensor_inputs).contiguous().realize().uop.base.buffer.numpy().flatten()
 
     t2 = time.perf_counter()
     return output, t2 - t1
@@ -74,7 +75,7 @@ def parse_model_output(model_output):
     face_descs = model_output[f'face_descs_{ds_suffix}']
     parsed[f'face_descs_{ds_suffix}'] = face_descs[:, :-6]
     parsed[f'face_descs_{ds_suffix}_std'] = safe_exp(face_descs[:, -6:])
-    for key in ['face_prob', 'left_eye_prob', 'right_eye_prob','left_blink_prob', 'right_blink_prob', 'sunglasses_prob', 'using_phone_prob']:
+    for key in ['face_prob', 'eyes_visible_prob', 'eyes_closed_prob', 'using_phone_prob']:
       parsed[f'{key}_{ds_suffix}'] = sigmoid(model_output[f'{key}_{ds_suffix}'])
   return parsed
 
@@ -84,11 +85,8 @@ def fill_driver_data(msg, model_output, ds_suffix):
   msg.facePosition = model_output[f'face_descs_{ds_suffix}'][0, 3:5].tolist()
   msg.facePositionStd = model_output[f'face_descs_{ds_suffix}_std'][0, 3:5].tolist()
   msg.faceProb = model_output[f'face_prob_{ds_suffix}'][0, 0].item()
-  msg.leftEyeProb = model_output[f'left_eye_prob_{ds_suffix}'][0, 0].item()
-  msg.rightEyeProb = model_output[f'right_eye_prob_{ds_suffix}'][0, 0].item()
-  msg.leftBlinkProb = model_output[f'left_blink_prob_{ds_suffix}'][0, 0].item()
-  msg.rightBlinkProb = model_output[f'right_blink_prob_{ds_suffix}'][0, 0].item()
-  msg.sunglassesProb = model_output[f'sunglasses_prob_{ds_suffix}'][0, 0].item()
+  msg.eyesVisibleProb = model_output[f'eyes_visible_prob_{ds_suffix}'][0, 0].item()
+  msg.eyesClosedProb = model_output[f'eyes_closed_prob_{ds_suffix}'][0, 0].item()
   msg.phoneProb = model_output[f'using_phone_prob_{ds_suffix}'][0, 0].item()
 
 def get_driverstate_packet(model_output, frame_id: int, location_ts: int, exec_time: float, gpu_exec_time: float):
@@ -107,17 +105,16 @@ def get_driverstate_packet(model_output, frame_id: int, location_ts: int, exec_t
 def main():
   config_realtime_process(7, 5)
 
-  cl_context = CLContext()
-  model = ModelState(cl_context)
-  cloudlog.warning("models loaded, dmonitoringmodeld starting")
-
   cloudlog.warning("connecting to driver stream")
-  vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_DRIVER, True, cl_context)
+  vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_DRIVER, True)
   while not vipc_client.connect(False):
     time.sleep(0.1)
   assert vipc_client.is_connected()
   cloudlog.warning(f"connected with buffer size: {vipc_client.buffer_len}")
 
+  model = ModelState(vipc_client.width, vipc_client.height)
+  cloudlog.warning("models loaded, dmonitoringmodeld starting")
+
   sm = SubMaster(["liveCalibration"])
   pm = PubMaster(["driverStateV2"])
 
diff --git a/selfdrive/modeld/get_model_metadata.py b/selfdrive/modeld/get_model_metadata.py
index 2001d23d752..ee08e9fb145 100755
--- a/selfdrive/modeld/get_model_metadata.py
+++ b/selfdrive/modeld/get_model_metadata.py
@@ -1,36 +1,58 @@
 #!/usr/bin/env python3
 import sys
 import pathlib
-import onnx
 import codecs
 import pickle
 from typing import Any
 
-def get_name_and_shape(value_info:onnx.ValueInfoProto) -> tuple[str, tuple[int,...]]:
-  shape = tuple([int(dim.dim_value) for dim in value_info.type.tensor_type.shape.dim])
-  name = value_info.name
+from tinygrad.nn.onnx import OnnxPBParser
+
+def metadata_path_for(onnx_path) -> pathlib.Path:
+  p = pathlib.Path(onnx_path)
+  return p.parent / (p.stem + '_metadata.pkl')
+
+
+class MetadataOnnxPBParser(OnnxPBParser):
+  def _parse_ModelProto(self) -> dict:
+    obj: dict[str, Any] = {"graph": {"input": [], "output": []}, "metadata_props": []}
+    for fid, wire_type in self._parse_message(self.reader.len):
+      match fid:
+        case 7:
+          obj["graph"] = self._parse_GraphProto()
+        case 14:
+          obj["metadata_props"].append(self._parse_StringStringEntryProto())
+        case _:
+          self.reader.skip_field(wire_type)
+    return obj
+
+
+def get_name_and_shape(value_info: dict[str, Any]) -> tuple[str, tuple[int, ...]]:
+  shape = tuple(int(dim) if isinstance(dim, int) else 0 for dim in value_info["parsed_type"].shape)
+  name = value_info["name"]
   return name, shape
 
-def get_metadata_value_by_name(model:onnx.ModelProto, name:str) -> str | Any:
-  for prop in model.metadata_props:
-    if prop.key == name:
-      return prop.value
+
+def get_metadata_value_by_name(model: dict[str, Any], name: str) -> str | Any:
+  for prop in model["metadata_props"]:
+    if prop["key"] == name:
+      return prop["value"]
   return None
 
+
 if __name__ == "__main__":
   model_path = pathlib.Path(sys.argv[1])
-  model = onnx.load(str(model_path))
+  model = MetadataOnnxPBParser(model_path).parse()
   output_slices = get_metadata_value_by_name(model, 'output_slices')
   assert output_slices is not None, 'output_slices not found in metadata'
 
   metadata = {
     'model_checkpoint': get_metadata_value_by_name(model, 'model_checkpoint'),
     'output_slices': pickle.loads(codecs.decode(output_slices.encode(), "base64")),
-    'input_shapes': dict([get_name_and_shape(x) for x in model.graph.input]),
-    'output_shapes': dict([get_name_and_shape(x) for x in model.graph.output])
+    'input_shapes': dict(get_name_and_shape(x) for x in model["graph"]["input"]),
+    'output_shapes': dict(get_name_and_shape(x) for x in model["graph"]["output"]),
   }
 
-  metadata_path = model_path.parent / (model_path.stem + '_metadata.pkl')
+  metadata_path = metadata_path_for(model_path)
   with open(metadata_path, 'wb') as f:
     pickle.dump(metadata, f)
 
diff --git a/selfdrive/modeld/helpers.py b/selfdrive/modeld/helpers.py
new file mode 100644
index 00000000000..e5d731f34ba
--- /dev/null
+++ b/selfdrive/modeld/helpers.py
@@ -0,0 +1,31 @@
+import json
+import os
+from dataclasses import dataclass
+from pathlib import Path
+
+from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
+
+MODELS_DIR = Path(__file__).resolve().parent / 'models'
+COMPILED_FLAGS_PATH = MODELS_DIR / 'tg_compiled_flags.json'
+
+
+def set_tinygrad_backend_from_compiled_flags() -> None:
+  if os.path.isfile(COMPILED_FLAGS_PATH):
+    with open(COMPILED_FLAGS_PATH) as f:
+      os.environ['DEV'] = str(json.load(f)['DEV'])
+
+
+@dataclass
+class CompileConfig:
+  cam_w: int
+  cam_h: int
+  prepare_only: bool
+  prefix: str
+
+  @property
+  def pkl_path(self):
+    return str(MODELS_DIR / f'{self.prefix}{"warp_" if self.prepare_only else ""}{self.cam_w}x{self.cam_h}_tinygrad.pkl')
+
+  @property
+  def nv12(self):
+    return (self.cam_w, self.cam_h, *get_nv12_info(self.cam_w, self.cam_h))
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 006eeef6f5e..73ed19ec943 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -1,19 +1,18 @@
 #!/usr/bin/env python3
 import os
-from openpilot.system.hardware import TICI
-os.environ['DEV'] = 'QCOM' if TICI else 'CPU'
+from openpilot.selfdrive.modeld.helpers import MODELS_DIR, CompileConfig, set_tinygrad_backend_from_compiled_flags
+set_tinygrad_backend_from_compiled_flags()
+
 USBGPU = "USBGPU" in os.environ
 if USBGPU:
   os.environ['DEV'] = 'AMD'
   os.environ['AMD_IFACE'] = 'USB'
 from tinygrad.tensor import Tensor
-from tinygrad.dtype import dtypes
 import time
 import pickle
 import numpy as np
 import cereal.messaging as messaging
 from cereal import car, log
-from pathlib import Path
 from cereal.messaging import PubMaster, SubMaster
 from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
 from opendbc.car.car_helpers import get_demo_car_params
@@ -22,29 +21,29 @@
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.realtime import config_realtime_process, DT_MDL
 from openpilot.common.transformations.camera import DEVICE_CAMERAS
+from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
 from openpilot.common.transformations.model import get_warp_matrix
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
 from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value, get_curvature_from_plan
 from openpilot.selfdrive.modeld.parse_model_outputs import Parser
+from openpilot.selfdrive.modeld.compile_modeld import make_input_queues
 from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
+from openpilot.common.file_chunker import read_file_chunked
 from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
-from openpilot.selfdrive.modeld.models.commonmodel_pyx import DrivingModelFrame, CLContext
-from openpilot.selfdrive.modeld.runners.tinygrad_helpers import qcom_tensor_from_opencl_address
 
 
 PROCESS_NAME = "selfdrive.modeld.modeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 
-VISION_PKL_PATH = Path(__file__).parent / 'models/driving_vision_tinygrad.pkl'
-POLICY_PKL_PATH = Path(__file__).parent / 'models/driving_policy_tinygrad.pkl'
-VISION_METADATA_PATH = Path(__file__).parent / 'models/driving_vision_metadata.pkl'
-POLICY_METADATA_PATH = Path(__file__).parent / 'models/driving_policy_metadata.pkl'
+VISION_METADATA_PATH = MODELS_DIR / 'driving_vision_metadata.pkl'
+POLICY_METADATA_PATH = MODELS_DIR / 'driving_policy_metadata.pkl'
 
-LAT_SMOOTH_SECONDS = 0.1
+LAT_SMOOTH_SECONDS = 0.0
 LONG_SMOOTH_SECONDS = 0.3
 MIN_LAT_CONTROL_SPEED = 0.3
 
 
+
 def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
                           lat_action_t: float, long_action_t: float, v_ego: float) -> log.ModelDataV2.Action:
     plan = model_output['plan'][0]
@@ -77,106 +76,36 @@ def __init__(self, vipc=None):
     if vipc is not None:
       self.frame_id, self.timestamp_sof, self.timestamp_eof = vipc.frame_id, vipc.timestamp_sof, vipc.timestamp_eof
 
-class InputQueues:
-  def __init__ (self, model_fps, env_fps, n_frames_input):
-    assert env_fps % model_fps == 0
-    assert env_fps >= model_fps
-    self.model_fps = model_fps
-    self.env_fps = env_fps
-    self.n_frames_input = n_frames_input
-
-    self.dtypes = {}
-    self.shapes = {}
-    self.q = {}
-
-  def update_dtypes_and_shapes(self, input_dtypes, input_shapes) -> None:
-    self.dtypes.update(input_dtypes)
-    if self.env_fps == self.model_fps:
-      self.shapes.update(input_shapes)
-    else:
-      for k in input_shapes:
-        shape = list(input_shapes[k])
-        if 'img' in k:
-          n_channels = shape[1] // self.n_frames_input
-          shape[1] = (self.env_fps // self.model_fps + (self.n_frames_input - 1)) * n_channels
-        else:
-          shape[1] = (self.env_fps // self.model_fps) * shape[1]
-        self.shapes[k] = tuple(shape)
-
-  def reset(self) -> None:
-    self.q = {k: np.zeros(self.shapes[k], dtype=self.dtypes[k]) for k in self.dtypes.keys()}
-
-  def enqueue(self, inputs:dict[str, np.ndarray]) -> None:
-    for k in inputs.keys():
-      if inputs[k].dtype != self.dtypes[k]:
-        raise ValueError(f'supplied input <{k}({inputs[k].dtype})> has wrong dtype, expected {self.dtypes[k]}')
-      input_shape = list(self.shapes[k])
-      input_shape[1] = -1
-      single_input = inputs[k].reshape(tuple(input_shape))
-      sz = single_input.shape[1]
-      self.q[k][:,:-sz] = self.q[k][:,sz:]
-      self.q[k][:,-sz:] = single_input
-
-  def get(self, *names) -> dict[str, np.ndarray]:
-    if self.env_fps == self.model_fps:
-      return {k: self.q[k] for k in names}
-    else:
-      out = {}
-      for k in names:
-        shape = self.shapes[k]
-        if 'img' in k:
-          n_channels = shape[1] // (self.env_fps // self.model_fps + (self.n_frames_input - 1))
-          out[k] = np.concatenate([self.q[k][:, s:s+n_channels] for s in np.linspace(0, shape[1] - n_channels, self.n_frames_input, dtype=int)], axis=1)
-        elif 'pulse' in k:
-          # any pulse within interval counts
-          out[k] = self.q[k].reshape((shape[0], shape[1] * self.model_fps // self.env_fps, self.env_fps // self.model_fps, -1)).max(axis=2)
-        else:
-          idxs = np.arange(-1, -shape[1], -self.env_fps // self.model_fps)[::-1]
-          out[k] = self.q[k][:, idxs]
-      return out
 
 class ModelState:
-  frames: dict[str, DrivingModelFrame]
-  inputs: dict[str, np.ndarray]
-  output: np.ndarray
   prev_desire: np.ndarray  # for tracking the rising edge of the pulse
 
-  def __init__(self, context: CLContext):
+  def __init__(self, cam_w: int, cam_h: int):
     with open(VISION_METADATA_PATH, 'rb') as f:
       vision_metadata = pickle.load(f)
       self.vision_input_shapes =  vision_metadata['input_shapes']
       self.vision_input_names = list(self.vision_input_shapes.keys())
       self.vision_output_slices = vision_metadata['output_slices']
-      vision_output_size = vision_metadata['output_shapes']['outputs'][1]
 
     with open(POLICY_METADATA_PATH, 'rb') as f:
       policy_metadata = pickle.load(f)
       self.policy_input_shapes =  policy_metadata['input_shapes']
       self.policy_output_slices = policy_metadata['output_slices']
-      policy_output_size = policy_metadata['output_shapes']['outputs'][1]
 
-    self.frames = {name: DrivingModelFrame(context, ModelConstants.MODEL_RUN_FREQ//ModelConstants.MODEL_CONTEXT_FREQ) for name in self.vision_input_names}
     self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
 
-    # policy inputs
-    self.numpy_inputs = {k: np.zeros(self.policy_input_shapes[k], dtype=np.float32) for k in self.policy_input_shapes}
-    self.full_input_queues = InputQueues(ModelConstants.MODEL_CONTEXT_FREQ, ModelConstants.MODEL_RUN_FREQ, ModelConstants.N_FRAMES)
-    for k in ['desire_pulse', 'features_buffer']:
-      self.full_input_queues.update_dtypes_and_shapes({k: self.numpy_inputs[k].dtype}, {k: self.numpy_inputs[k].shape})
-    self.full_input_queues.reset()
-
-    # img buffers are managed in openCL transform code
-    self.vision_inputs: dict[str, Tensor] = {}
-    self.vision_output = np.zeros(vision_output_size, dtype=np.float32)
-    self.policy_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()}
-    self.policy_output = np.zeros(policy_output_size, dtype=np.float32)
+    self.frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ
+    self.input_queues, self.npy = make_input_queues(self.vision_input_shapes, self.policy_input_shapes, self.frame_skip)
+    self.full_frames : dict[str, Tensor] = {}
+    self._blob_cache : dict[int, Tensor] = {}
     self.parser = Parser()
-
-    with open(VISION_PKL_PATH, "rb") as f:
-      self.vision_run = pickle.load(f)
-
-    with open(POLICY_PKL_PATH, "rb") as f:
-      self.policy_run = pickle.load(f)
+    self.frame_buf_params = {k: get_nv12_info(cam_w, cam_h) for k in ('img', 'big_img')}
+    self.run_policy = pickle.loads(read_file_chunked(CompileConfig(cam_w, cam_h, prefix='driving_', prepare_only=False).pkl_path))
+    self.warp_enqueue = pickle.loads(read_file_chunked(CompileConfig(cam_w, cam_h, prefix='driving_', prepare_only=True).pkl_path))
+    self.warp_enqueue(
+      **self.input_queues,
+      frame=Tensor.zeros(self.frame_buf_params['img'][3], dtype='uint8').contiguous().realize(),
+      big_frame=Tensor.zeros(self.frame_buf_params['big_img'][3], dtype='uint8').contiguous().realize())
 
   def slice_outputs(self, model_outputs: np.ndarray, output_slices: dict[str, slice]) -> dict[str, np.ndarray]:
     parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in output_slices.items()}
@@ -184,41 +113,39 @@ def slice_outputs(self, model_outputs: np.ndarray, output_slices: dict[str, slic
 
   def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
                 inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
+    for key in bufs.keys():
+      ptr = bufs[key].data.ctypes.data
+      yuv_size = self.frame_buf_params[key][3]
+      # There is a ringbuffer of imgs, just cache tensors pointing to all of them
+      cache_key = (key, ptr)
+      if cache_key not in self._blob_cache:
+        self._blob_cache[cache_key] = Tensor.from_blob(ptr, (yuv_size,), dtype='uint8')
+      self.full_frames[key] = self._blob_cache[cache_key]
+
     # Model decides when action is completed, so desire input is just a pulse triggered on rising edge
     inputs['desire_pulse'][0] = 0
-    new_desire = np.where(inputs['desire_pulse'] - self.prev_desire > .99, inputs['desire_pulse'], 0)
+    self.npy['desire'][:] = np.where(inputs['desire_pulse'] - self.prev_desire > .99, inputs['desire_pulse'], 0)
     self.prev_desire[:] = inputs['desire_pulse']
-
-    imgs_cl = {name: self.frames[name].prepare(bufs[name], transforms[name].flatten()) for name in self.vision_input_names}
-
-    if TICI and not USBGPU:
-      # The imgs tensors are backed by opencl memory, only need init once
-      for key in imgs_cl:
-        if key not in self.vision_inputs:
-          self.vision_inputs[key] = qcom_tensor_from_opencl_address(imgs_cl[key].mem_address, self.vision_input_shapes[key], dtype=dtypes.uint8)
-    else:
-      for key in imgs_cl:
-        frame_input = self.frames[key].buffer_from_cl(imgs_cl[key]).reshape(self.vision_input_shapes[key])
-        self.vision_inputs[key] = Tensor(frame_input, dtype=dtypes.uint8).realize()
+    self.npy['traffic_convention'][:] = inputs['traffic_convention']
+    self.npy['tfm'][:,:] = transforms['img'][:,:]
+    self.npy['big_tfm'][:,:] = transforms['big_img'][:,:]
 
     if prepare_only:
+      self.warp_enqueue(**self.input_queues, frame=self.full_frames['img'], big_frame=self.full_frames['big_img'])
       return None
 
-    self.vision_output = self.vision_run(**self.vision_inputs).contiguous().realize().uop.base.buffer.numpy()
-    vision_outputs_dict = self.parser.parse_vision_outputs(self.slice_outputs(self.vision_output, self.vision_output_slices))
-
-    self.full_input_queues.enqueue({'features_buffer': vision_outputs_dict['hidden_state'], 'desire_pulse': new_desire})
-    for k in ['desire_pulse', 'features_buffer']:
-      self.numpy_inputs[k][:] = self.full_input_queues.get(k)[k]
-    self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention']
-
-    self.policy_output = self.policy_run(**self.policy_inputs).contiguous().realize().uop.base.buffer.numpy()
-    policy_outputs_dict = self.parser.parse_policy_outputs(self.slice_outputs(self.policy_output, self.policy_output_slices))
+    vision_output, policy_output = self.run_policy(
+      **self.input_queues, frame=self.full_frames['img'], big_frame=self.full_frames['big_img']
+    )
 
+    vision_output = vision_output.numpy().flatten()
+    policy_output = policy_output.numpy().flatten()
+    vision_outputs_dict = self.parser.parse_vision_outputs(self.slice_outputs(vision_output, self.vision_output_slices))
+    policy_outputs_dict = self.parser.parse_policy_outputs(self.slice_outputs(policy_output, self.policy_output_slices))
     combined_outputs_dict = {**vision_outputs_dict, **policy_outputs_dict}
-    if SEND_RAW_PRED:
-      combined_outputs_dict['raw_pred'] = np.concatenate([self.vision_output.copy(), self.policy_output.copy()])
 
+    if SEND_RAW_PRED:
+      combined_outputs_dict['raw_pred'] = np.concatenate([vision_output.copy(), policy_output.copy()])
     return combined_outputs_dict
 
 
@@ -230,13 +157,6 @@ def main(demo=False):
     # also need to move the aux USB interrupts for good timings
     config_realtime_process(7, 54)
 
-  st = time.monotonic()
-  cloudlog.warning("setting up CL context")
-  cl_context = CLContext()
-  cloudlog.warning("CL context ready; loading model")
-  model = ModelState(cl_context)
-  cloudlog.warning(f"models loaded in {time.monotonic() - st:.1f}s, modeld starting")
-
   # visionipc clients
   while True:
     available_streams = VisionIpcClient.available_streams("camerad", block=False)
@@ -247,8 +167,8 @@ def main(demo=False):
     time.sleep(.1)
 
   vipc_client_main_stream = VisionStreamType.VISION_STREAM_WIDE_ROAD if main_wide_camera else VisionStreamType.VISION_STREAM_ROAD
-  vipc_client_main = VisionIpcClient("camerad", vipc_client_main_stream, True, cl_context)
-  vipc_client_extra = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_WIDE_ROAD, False, cl_context)
+  vipc_client_main = VisionIpcClient("camerad", vipc_client_main_stream, True)
+  vipc_client_extra = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_WIDE_ROAD, False)
   cloudlog.warning(f"vision stream set up, main_wide_camera: {main_wide_camera}, use_extra_client: {use_extra_client}")
 
   while not vipc_client_main.connect(False):
@@ -260,6 +180,11 @@ def main(demo=False):
   if use_extra_client:
     cloudlog.warning(f"connected extra cam with buffer size: {vipc_client_extra.buffer_len} ({vipc_client_extra.width} x {vipc_client_extra.height})")
 
+  st = time.monotonic()
+  cloudlog.warning("loading model")
+  model = ModelState(vipc_client_main.width, vipc_client_main.height)
+  cloudlog.warning(f"models loaded in {time.monotonic() - st:.1f}s, modeld starting")
+
   # messaging
   pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry"])
   sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl", "liveDelay"])
@@ -377,7 +302,9 @@ def main(demo=False):
       drivingdata_send = messaging.new_message('drivingModelData')
       posenet_send = messaging.new_message('cameraOdometry')
 
-      action = get_action_from_model(model_output, prev_action, lat_delay + DT_MDL, long_delay + DT_MDL, v_ego)
+      frame_delay = DT_MDL # compensate for time passed since the frame was captured: current_time - timestamp_eof is 50ms on average
+      action_delay = DT_MDL / 2 # middle of the interval between model output (current state) and next frame (expected state)
+      action = get_action_from_model(model_output, prev_action, lat_delay + frame_delay + action_delay, long_delay + frame_delay + action_delay, v_ego)
       prev_action = action
       fill_model_msg(drivingdata_send, modelv2_send, model_output, action,
                      publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
diff --git a/selfdrive/modeld/models/commonmodel.cc b/selfdrive/modeld/models/commonmodel.cc
deleted file mode 100644
index d3341e76ec3..00000000000
--- a/selfdrive/modeld/models/commonmodel.cc
+++ /dev/null
@@ -1,64 +0,0 @@
-#include "selfdrive/modeld/models/commonmodel.h"
-
-#include <cmath>
-#include <cstring>
-
-#include "common/clutil.h"
-
-DrivingModelFrame::DrivingModelFrame(cl_device_id device_id, cl_context context, int _temporal_skip) : ModelFrame(device_id, context) {
-  input_frames = std::make_unique<uint8_t[]>(buf_size);
-  temporal_skip = _temporal_skip;
-  input_frames_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buf_size, NULL, &err));
-  img_buffer_20hz_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (temporal_skip+1)*frame_size_bytes, NULL, &err));
-  region.origin = temporal_skip * frame_size_bytes;
-  region.size = frame_size_bytes;
-  last_img_cl = CL_CHECK_ERR(clCreateSubBuffer(img_buffer_20hz_cl, CL_MEM_READ_WRITE, CL_BUFFER_CREATE_TYPE_REGION, &region, &err));
-
-  loadyuv_init(&loadyuv, context, device_id, MODEL_WIDTH, MODEL_HEIGHT);
-  init_transform(device_id, context, MODEL_WIDTH, MODEL_HEIGHT);
-}
-
-cl_mem* DrivingModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) {
-  run_transform(yuv_cl, MODEL_WIDTH, MODEL_HEIGHT, frame_width, frame_height, frame_stride, frame_uv_offset, projection);
-
-  for (int i = 0; i < temporal_skip; i++) {
-    CL_CHECK(clEnqueueCopyBuffer(q, img_buffer_20hz_cl, img_buffer_20hz_cl, (i+1)*frame_size_bytes, i*frame_size_bytes, frame_size_bytes, 0, nullptr, nullptr));
-  }
-  loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, last_img_cl);
-
-  copy_queue(&loadyuv, q, img_buffer_20hz_cl, input_frames_cl, 0, 0, frame_size_bytes);
-  copy_queue(&loadyuv, q, last_img_cl, input_frames_cl, 0, frame_size_bytes, frame_size_bytes);
-
-  // NOTE: Since thneed is using a different command queue, this clFinish is needed to ensure the image is ready.
-  clFinish(q);
-  return &input_frames_cl;
-}
-
-DrivingModelFrame::~DrivingModelFrame() {
-  deinit_transform();
-  loadyuv_destroy(&loadyuv);
-  CL_CHECK(clReleaseMemObject(input_frames_cl));
-  CL_CHECK(clReleaseMemObject(img_buffer_20hz_cl));
-  CL_CHECK(clReleaseMemObject(last_img_cl));
-  CL_CHECK(clReleaseCommandQueue(q));
-}
-
-
-MonitoringModelFrame::MonitoringModelFrame(cl_device_id device_id, cl_context context) : ModelFrame(device_id, context) {
-  input_frames = std::make_unique<uint8_t[]>(buf_size);
-  input_frame_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buf_size, NULL, &err));
-
-  init_transform(device_id, context, MODEL_WIDTH, MODEL_HEIGHT);
-}
-
-cl_mem* MonitoringModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) {
-  run_transform(yuv_cl, MODEL_WIDTH, MODEL_HEIGHT, frame_width, frame_height, frame_stride, frame_uv_offset, projection);
-  clFinish(q);
-  return &y_cl;
-}
-
-MonitoringModelFrame::~MonitoringModelFrame() {
-  deinit_transform();
-  CL_CHECK(clReleaseMemObject(input_frame_cl));
-  CL_CHECK(clReleaseCommandQueue(q));
-}
diff --git a/selfdrive/modeld/models/commonmodel.h b/selfdrive/modeld/models/commonmodel.h
deleted file mode 100644
index 176d7eb6dcf..00000000000
--- a/selfdrive/modeld/models/commonmodel.h
+++ /dev/null
@@ -1,97 +0,0 @@
-#pragma once
-
-#include <cfloat>
-#include <cstdlib>
-#include <cassert>
-
-#include <memory>
-
-#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
-#ifdef __APPLE__
-#include <OpenCL/cl.h>
-#else
-#include <CL/cl.h>
-#endif
-
-#include "common/mat.h"
-#include "selfdrive/modeld/transforms/loadyuv.h"
-#include "selfdrive/modeld/transforms/transform.h"
-
-class ModelFrame {
-public:
-  ModelFrame(cl_device_id device_id, cl_context context) {
-    q = CL_CHECK_ERR(clCreateCommandQueue(context, device_id, 0, &err));
-  }
-  virtual ~ModelFrame() {}
-  virtual cl_mem* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) { return NULL; }
-  uint8_t* buffer_from_cl(cl_mem *in_frames, int buffer_size) {
-    CL_CHECK(clEnqueueReadBuffer(q, *in_frames, CL_TRUE, 0, buffer_size, input_frames.get(), 0, nullptr, nullptr));
-    clFinish(q);
-    return &input_frames[0];
-  }
-
-  int MODEL_WIDTH;
-  int MODEL_HEIGHT;
-  int MODEL_FRAME_SIZE;
-  int buf_size;
-
-protected:
-  cl_mem y_cl, u_cl, v_cl;
-  Transform transform;
-  cl_command_queue q;
-  std::unique_ptr<uint8_t[]> input_frames;
-
-  void init_transform(cl_device_id device_id, cl_context context, int model_width, int model_height) {
-    y_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, model_width * model_height, NULL, &err));
-    u_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (model_width / 2) * (model_height / 2), NULL, &err));
-    v_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (model_width / 2) * (model_height / 2), NULL, &err));
-    transform_init(&transform, context, device_id);
-  }
-
-  void deinit_transform() {
-    transform_destroy(&transform);
-    CL_CHECK(clReleaseMemObject(v_cl));
-    CL_CHECK(clReleaseMemObject(u_cl));
-    CL_CHECK(clReleaseMemObject(y_cl));
-  }
-
-  void run_transform(cl_mem yuv_cl, int model_width, int model_height, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) {
-    transform_queue(&transform, q,
-        yuv_cl, frame_width, frame_height, frame_stride, frame_uv_offset,
-        y_cl, u_cl, v_cl, model_width, model_height, projection);
-  }
-};
-
-class DrivingModelFrame : public ModelFrame {
-public:
-  DrivingModelFrame(cl_device_id device_id, cl_context context, int _temporal_skip);
-  ~DrivingModelFrame();
-  cl_mem* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection);
-
-  const int MODEL_WIDTH = 512;
-  const int MODEL_HEIGHT = 256;
-  const int MODEL_FRAME_SIZE = MODEL_WIDTH * MODEL_HEIGHT * 3 / 2;
-  const int buf_size = MODEL_FRAME_SIZE * 2; // 2 frames are temporal_skip frames apart
-  const size_t frame_size_bytes = MODEL_FRAME_SIZE * sizeof(uint8_t);
-
-private:
-  LoadYUVState loadyuv;
-  cl_mem img_buffer_20hz_cl, last_img_cl, input_frames_cl;
-  cl_buffer_region region;
-  int temporal_skip;
-};
-
-class MonitoringModelFrame : public ModelFrame {
-public:
-  MonitoringModelFrame(cl_device_id device_id, cl_context context);
-  ~MonitoringModelFrame();
-  cl_mem* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection);
-
-  const int MODEL_WIDTH = 1440;
-  const int MODEL_HEIGHT = 960;
-  const int MODEL_FRAME_SIZE = MODEL_WIDTH * MODEL_HEIGHT;
-  const int buf_size = MODEL_FRAME_SIZE;
-
-private:
-  cl_mem input_frame_cl;
-};
diff --git a/selfdrive/modeld/models/commonmodel.pxd b/selfdrive/modeld/models/commonmodel.pxd
deleted file mode 100644
index 4ac64d91720..00000000000
--- a/selfdrive/modeld/models/commonmodel.pxd
+++ /dev/null
@@ -1,27 +0,0 @@
-# distutils: language = c++
-
-from msgq.visionipc.visionipc cimport cl_device_id, cl_context, cl_mem
-
-cdef extern from "common/mat.h":
-  cdef struct mat3:
-    float v[9]
-
-cdef extern from "common/clutil.h":
-  cdef unsigned long CL_DEVICE_TYPE_DEFAULT
-  cl_device_id cl_get_device_id(unsigned long)
-  cl_context cl_create_context(cl_device_id)
-  void cl_release_context(cl_context)
-
-cdef extern from "selfdrive/modeld/models/commonmodel.h":
-  cppclass ModelFrame:
-    int buf_size
-    unsigned char * buffer_from_cl(cl_mem*, int);
-    cl_mem * prepare(cl_mem, int, int, int, int, mat3)
-
-  cppclass DrivingModelFrame:
-    int buf_size
-    DrivingModelFrame(cl_device_id, cl_context, int)
-
-  cppclass MonitoringModelFrame:
-    int buf_size
-    MonitoringModelFrame(cl_device_id, cl_context)
diff --git a/selfdrive/modeld/models/commonmodel_pyx.pxd b/selfdrive/modeld/models/commonmodel_pyx.pxd
deleted file mode 100644
index 0bb798625be..00000000000
--- a/selfdrive/modeld/models/commonmodel_pyx.pxd
+++ /dev/null
@@ -1,13 +0,0 @@
-# distutils: language = c++
-
-from msgq.visionipc.visionipc cimport cl_mem
-from msgq.visionipc.visionipc_pyx cimport CLContext as BaseCLContext
-
-cdef class CLContext(BaseCLContext):
-  pass
-
-cdef class CLMem:
-  cdef cl_mem * mem
-
-  @staticmethod
-  cdef create(void*)
diff --git a/selfdrive/modeld/models/commonmodel_pyx.pyx b/selfdrive/modeld/models/commonmodel_pyx.pyx
deleted file mode 100644
index 5b7d11bc71a..00000000000
--- a/selfdrive/modeld/models/commonmodel_pyx.pyx
+++ /dev/null
@@ -1,74 +0,0 @@
-# distutils: language = c++
-# cython: c_string_encoding=ascii, language_level=3
-
-import numpy as np
-cimport numpy as cnp
-from libc.string cimport memcpy
-from libc.stdint cimport uintptr_t
-
-from msgq.visionipc.visionipc cimport cl_mem
-from msgq.visionipc.visionipc_pyx cimport VisionBuf, CLContext as BaseCLContext
-from .commonmodel cimport CL_DEVICE_TYPE_DEFAULT, cl_get_device_id, cl_create_context, cl_release_context
-from .commonmodel cimport mat3, ModelFrame as cppModelFrame, DrivingModelFrame as cppDrivingModelFrame, MonitoringModelFrame as cppMonitoringModelFrame
-
-
-cdef class CLContext(BaseCLContext):
-  def __cinit__(self):
-    self.device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT)
-    self.context = cl_create_context(self.device_id)
-
-  def __dealloc__(self):
-    if self.context:
-      cl_release_context(self.context)
-
-cdef class CLMem:
-  @staticmethod
-  cdef create(void * cmem):
-    mem = CLMem()
-    mem.mem = <cl_mem*> cmem
-    return mem
-
-  @property
-  def mem_address(self):
-    return <uintptr_t>(self.mem)
-
-def cl_from_visionbuf(VisionBuf buf):
-  return CLMem.create(<void*>&buf.buf.buf_cl)
-
-
-cdef class ModelFrame:
-  cdef cppModelFrame * frame
-  cdef int buf_size
-
-  def __dealloc__(self):
-    del self.frame
-
-  def prepare(self, VisionBuf buf, float[:] projection):
-    cdef mat3 cprojection
-    memcpy(cprojection.v, &projection[0], 9*sizeof(float))
-    cdef cl_mem * data
-    data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection)
-    return CLMem.create(data)
-
-  def buffer_from_cl(self, CLMem in_frames):
-    cdef unsigned char * data2
-    data2 = self.frame.buffer_from_cl(in_frames.mem, self.buf_size)
-    return np.asarray(<cnp.uint8_t[:self.buf_size]> data2)
-
-
-cdef class DrivingModelFrame(ModelFrame):
-  cdef cppDrivingModelFrame * _frame
-
-  def __cinit__(self, CLContext context, int temporal_skip):
-    self._frame = new cppDrivingModelFrame(context.device_id, context.context, temporal_skip)
-    self.frame = <cppModelFrame*>(self._frame)
-    self.buf_size = self._frame.buf_size
-
-cdef class MonitoringModelFrame(ModelFrame):
-  cdef cppMonitoringModelFrame * _frame
-
-  def __cinit__(self, CLContext context):
-    self._frame = new cppMonitoringModelFrame(context.device_id, context.context)
-    self.frame = <cppModelFrame*>(self._frame)
-    self.buf_size = self._frame.buf_size
-
diff --git a/selfdrive/modeld/models/dmonitoring_model.onnx b/selfdrive/modeld/models/dmonitoring_model.onnx
index 9b1c4a18347..628f3857969 100644
--- a/selfdrive/modeld/models/dmonitoring_model.onnx
+++ b/selfdrive/modeld/models/dmonitoring_model.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:3446bf8b22e50e47669a25bf32460ae8baf8547037f346753e19ecbfcf6d4e59
-size 6954368
+oid sha256:2fd471febb6e973313ac0d0c6755f6410c1937ba92230b58a433761e8c883072
+size 7364290
diff --git a/selfdrive/modeld/models/driving_policy.onnx b/selfdrive/modeld/models/driving_policy.onnx
index e0eb918125e..611ae9fe85f 100644
--- a/selfdrive/modeld/models/driving_policy.onnx
+++ b/selfdrive/modeld/models/driving_policy.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:f8fe9a71b0fd428a045a82ed50790179f77aa664391198f078e11e7b2cb2c2d7
-size 13926324
+oid sha256:78477124cbf3ffe30fa951ebada8410b43c4242c6054584d656f1d329b067e15
+size 14060847
diff --git a/selfdrive/modeld/models/driving_vision.onnx b/selfdrive/modeld/models/driving_vision.onnx
index 76c96670a92..6c9fc4c84d3 100644
--- a/selfdrive/modeld/models/driving_vision.onnx
+++ b/selfdrive/modeld/models/driving_vision.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:1dc66bc06f250b577653ccbeaa2c6521b3d46749f601d0a1a366419e929ca438
-size 46271942
+oid sha256:ee29ee5bce84d1ce23e9ff381280de9b4e4d96d2934cd751740354884e112c66
+size 46877473
diff --git a/selfdrive/modeld/parse_model_outputs.py b/selfdrive/modeld/parse_model_outputs.py
index 038f51ca9cf..a0b45d2a981 100644
--- a/selfdrive/modeld/parse_model_outputs.py
+++ b/selfdrive/modeld/parse_model_outputs.py
@@ -110,9 +110,11 @@ def parse_vision_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndar
     return outs
 
   def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
-    plan_mhp = self.is_mhp(outs, 'plan',  ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH)
+    plan_mhp = self.is_mhp(outs, 'plan', ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH)
     plan_in_N, plan_out_N = (ModelConstants.PLAN_MHP_N, ModelConstants.PLAN_MHP_SELECTION) if plan_mhp else (0, 0)
     self.parse_mdn('plan', outs, in_N=plan_in_N, out_N=plan_out_N, out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH))
+    if 'planplus' in outs:
+      self.parse_mdn('planplus', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH))
     self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))
     return outs
 
diff --git a/selfdrive/modeld/runners/tinygrad_helpers.py b/selfdrive/modeld/runners/tinygrad_helpers.py
deleted file mode 100644
index 776381341cf..00000000000
--- a/selfdrive/modeld/runners/tinygrad_helpers.py
+++ /dev/null
@@ -1,8 +0,0 @@
-
-from tinygrad.tensor import Tensor
-from tinygrad.helpers import to_mv
-
-def qcom_tensor_from_opencl_address(opencl_address, shape, dtype):
-  cl_buf_desc_ptr = to_mv(opencl_address, 8).cast('Q')[0]
-  rawbuf_ptr = to_mv(cl_buf_desc_ptr, 0x100).cast('Q')[20] # offset 0xA0 is a raw gpu pointer.
-  return Tensor.from_blob(rawbuf_ptr, shape, dtype=dtype, device='QCOM')
diff --git a/selfdrive/modeld/transforms/loadyuv.cc b/selfdrive/modeld/transforms/loadyuv.cc
deleted file mode 100644
index c93f5cd0381..00000000000
--- a/selfdrive/modeld/transforms/loadyuv.cc
+++ /dev/null
@@ -1,76 +0,0 @@
-#include "selfdrive/modeld/transforms/loadyuv.h"
-
-#include <cassert>
-#include <cstdio>
-#include <cstring>
-
-void loadyuv_init(LoadYUVState* s, cl_context ctx, cl_device_id device_id, int width, int height) {
-  memset(s, 0, sizeof(*s));
-
-  s->width = width;
-  s->height = height;
-
-  char args[1024];
-  snprintf(args, sizeof(args),
-           "-cl-fast-relaxed-math -cl-denorms-are-zero "
-           "-DTRANSFORMED_WIDTH=%d -DTRANSFORMED_HEIGHT=%d",
-           width, height);
-  cl_program prg = cl_program_from_file(ctx, device_id, LOADYUV_PATH, args);
-
-  s->loadys_krnl = CL_CHECK_ERR(clCreateKernel(prg, "loadys", &err));
-  s->loaduv_krnl = CL_CHECK_ERR(clCreateKernel(prg, "loaduv", &err));
-  s->copy_krnl = CL_CHECK_ERR(clCreateKernel(prg, "copy", &err));
-
-  // done with this
-  CL_CHECK(clReleaseProgram(prg));
-}
-
-void loadyuv_destroy(LoadYUVState* s) {
-  CL_CHECK(clReleaseKernel(s->loadys_krnl));
-  CL_CHECK(clReleaseKernel(s->loaduv_krnl));
-  CL_CHECK(clReleaseKernel(s->copy_krnl));
-}
-
-void loadyuv_queue(LoadYUVState* s, cl_command_queue q,
-                   cl_mem y_cl, cl_mem u_cl, cl_mem v_cl,
-                   cl_mem out_cl) {
-  cl_int global_out_off = 0;
-
-  CL_CHECK(clSetKernelArg(s->loadys_krnl, 0, sizeof(cl_mem), &y_cl));
-  CL_CHECK(clSetKernelArg(s->loadys_krnl, 1, sizeof(cl_mem), &out_cl));
-  CL_CHECK(clSetKernelArg(s->loadys_krnl, 2, sizeof(cl_int), &global_out_off));
-
-  const size_t loadys_work_size = (s->width*s->height)/8;
-  CL_CHECK(clEnqueueNDRangeKernel(q, s->loadys_krnl, 1, NULL,
-                               &loadys_work_size, NULL, 0, 0, NULL));
-
-  const size_t loaduv_work_size = ((s->width/2)*(s->height/2))/8;
-  global_out_off += (s->width*s->height);
-
-  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 0, sizeof(cl_mem), &u_cl));
-  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 1, sizeof(cl_mem), &out_cl));
-  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 2, sizeof(cl_int), &global_out_off));
-
-  CL_CHECK(clEnqueueNDRangeKernel(q, s->loaduv_krnl, 1, NULL,
-                               &loaduv_work_size, NULL, 0, 0, NULL));
-
-  global_out_off += (s->width/2)*(s->height/2);
-
-  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 0, sizeof(cl_mem), &v_cl));
-  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 1, sizeof(cl_mem), &out_cl));
-  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 2, sizeof(cl_int), &global_out_off));
-
-  CL_CHECK(clEnqueueNDRangeKernel(q, s->loaduv_krnl, 1, NULL,
-                               &loaduv_work_size, NULL, 0, 0, NULL));
-}
-
-void copy_queue(LoadYUVState* s, cl_command_queue q, cl_mem src, cl_mem dst,
-                 size_t src_offset, size_t dst_offset, size_t size) {
-  CL_CHECK(clSetKernelArg(s->copy_krnl, 0, sizeof(cl_mem), &src));
-  CL_CHECK(clSetKernelArg(s->copy_krnl, 1, sizeof(cl_mem), &dst));
-  CL_CHECK(clSetKernelArg(s->copy_krnl, 2, sizeof(cl_int), &src_offset));
-  CL_CHECK(clSetKernelArg(s->copy_krnl, 3, sizeof(cl_int), &dst_offset));
-  const size_t copy_work_size = size/8;
-  CL_CHECK(clEnqueueNDRangeKernel(q, s->copy_krnl, 1, NULL,
-                              &copy_work_size, NULL, 0, 0, NULL));
-}
\ No newline at end of file
diff --git a/selfdrive/modeld/transforms/loadyuv.cl b/selfdrive/modeld/transforms/loadyuv.cl
deleted file mode 100644
index 970187a6d70..00000000000
--- a/selfdrive/modeld/transforms/loadyuv.cl
+++ /dev/null
@@ -1,47 +0,0 @@
-#define UV_SIZE ((TRANSFORMED_WIDTH/2)*(TRANSFORMED_HEIGHT/2))
-
-__kernel void loadys(__global uchar8 const * const Y,
-                     __global uchar * out,
-                     int out_offset)
-{
-    const int gid = get_global_id(0);
-    const int ois = gid * 8;
-    const int oy = ois / TRANSFORMED_WIDTH;
-    const int ox = ois % TRANSFORMED_WIDTH;
-
-    const uchar8 ys = Y[gid];
-
-    // 02
-    // 13
-
-    __global uchar* outy0;
-    __global uchar* outy1;
-    if ((oy & 1) == 0) {
-      outy0 = out + out_offset; //y0
-      outy1 = out + out_offset + UV_SIZE*2; //y2
-    } else {
-      outy0 = out + out_offset + UV_SIZE; //y1
-      outy1 = out + out_offset + UV_SIZE*3; //y3
-    }
-
-    vstore4(ys.s0246, 0, outy0 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2);
-    vstore4(ys.s1357, 0, outy1 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2);
-}
-
-__kernel void loaduv(__global uchar8 const * const in,
-                     __global uchar8 * out,
-                     int out_offset)
-{
-  const int gid = get_global_id(0);
-  const uchar8 inv = in[gid];
-  out[gid + out_offset / 8] = inv;
-}
-
-__kernel void copy(__global uchar8 * in,
-                   __global uchar8 * out,
-                   int in_offset,
-                   int out_offset)
-{
-  const int gid = get_global_id(0);
-  out[gid + out_offset / 8] = in[gid + in_offset / 8];
-}
diff --git a/selfdrive/modeld/transforms/loadyuv.h b/selfdrive/modeld/transforms/loadyuv.h
deleted file mode 100644
index 659059cd25e..00000000000
--- a/selfdrive/modeld/transforms/loadyuv.h
+++ /dev/null
@@ -1,20 +0,0 @@
-#pragma once
-
-#include "common/clutil.h"
-
-typedef struct {
-  int width, height;
-  cl_kernel loadys_krnl, loaduv_krnl, copy_krnl;
-} LoadYUVState;
-
-void loadyuv_init(LoadYUVState* s, cl_context ctx, cl_device_id device_id, int width, int height);
-
-void loadyuv_destroy(LoadYUVState* s);
-
-void loadyuv_queue(LoadYUVState* s, cl_command_queue q,
-                   cl_mem y_cl, cl_mem u_cl, cl_mem v_cl,
-                   cl_mem out_cl);
-
-
-void copy_queue(LoadYUVState* s, cl_command_queue q, cl_mem src, cl_mem dst,
-                 size_t src_offset, size_t dst_offset, size_t size);
\ No newline at end of file
diff --git a/selfdrive/modeld/transforms/transform.cc b/selfdrive/modeld/transforms/transform.cc
deleted file mode 100644
index 305643cf42e..00000000000
--- a/selfdrive/modeld/transforms/transform.cc
+++ /dev/null
@@ -1,97 +0,0 @@
-#include "selfdrive/modeld/transforms/transform.h"
-
-#include <cassert>
-#include <cstring>
-
-#include "common/clutil.h"
-
-void transform_init(Transform* s, cl_context ctx, cl_device_id device_id) {
-  memset(s, 0, sizeof(*s));
-
-  cl_program prg = cl_program_from_file(ctx, device_id, TRANSFORM_PATH, "");
-  s->krnl = CL_CHECK_ERR(clCreateKernel(prg, "warpPerspective", &err));
-  // done with this
-  CL_CHECK(clReleaseProgram(prg));
-
-  s->m_y_cl = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_WRITE, 3*3*sizeof(float), NULL, &err));
-  s->m_uv_cl = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_WRITE, 3*3*sizeof(float), NULL, &err));
-}
-
-void transform_destroy(Transform* s) {
-  CL_CHECK(clReleaseMemObject(s->m_y_cl));
-  CL_CHECK(clReleaseMemObject(s->m_uv_cl));
-  CL_CHECK(clReleaseKernel(s->krnl));
-}
-
-void transform_queue(Transform* s,
-                     cl_command_queue q,
-                     cl_mem in_yuv, int in_width, int in_height, int in_stride, int in_uv_offset,
-                     cl_mem out_y, cl_mem out_u, cl_mem out_v,
-                     int out_width, int out_height,
-                     const mat3& projection) {
-  const int zero = 0;
-
-  // sampled using pixel center origin
-  // (because that's how fastcv and opencv does it)
-
-  mat3 projection_y = projection;
-
-  // in and out uv is half the size of y.
-  mat3 projection_uv = transform_scale_buffer(projection, 0.5);
-
-  CL_CHECK(clEnqueueWriteBuffer(q, s->m_y_cl, CL_TRUE, 0, 3*3*sizeof(float), (void*)projection_y.v, 0, NULL, NULL));
-  CL_CHECK(clEnqueueWriteBuffer(q, s->m_uv_cl, CL_TRUE, 0, 3*3*sizeof(float), (void*)projection_uv.v, 0, NULL, NULL));
-
-  const int in_y_width = in_width;
-  const int in_y_height = in_height;
-  const int in_y_px_stride = 1;
-  const int in_uv_width = in_width/2;
-  const int in_uv_height = in_height/2;
-  const int in_uv_px_stride = 2;
-  const int in_u_offset = in_uv_offset;
-  const int in_v_offset = in_uv_offset + 1;
-
-  const int out_y_width = out_width;
-  const int out_y_height = out_height;
-  const int out_uv_width = out_width/2;
-  const int out_uv_height = out_height/2;
-
-  CL_CHECK(clSetKernelArg(s->krnl, 0, sizeof(cl_mem), &in_yuv));  // src
-  CL_CHECK(clSetKernelArg(s->krnl, 1, sizeof(cl_int), &in_stride));  // src_row_stride
-  CL_CHECK(clSetKernelArg(s->krnl, 2, sizeof(cl_int), &in_y_px_stride));  // src_px_stride
-  CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &zero));  // src_offset
-  CL_CHECK(clSetKernelArg(s->krnl, 4, sizeof(cl_int), &in_y_height));  // src_rows
-  CL_CHECK(clSetKernelArg(s->krnl, 5, sizeof(cl_int), &in_y_width));  // src_cols
-  CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_y));  // dst
-  CL_CHECK(clSetKernelArg(s->krnl, 7, sizeof(cl_int), &out_y_width));  // dst_row_stride
-  CL_CHECK(clSetKernelArg(s->krnl, 8, sizeof(cl_int), &zero));  // dst_offset
-  CL_CHECK(clSetKernelArg(s->krnl, 9, sizeof(cl_int), &out_y_height));  // dst_rows
-  CL_CHECK(clSetKernelArg(s->krnl, 10, sizeof(cl_int), &out_y_width));  // dst_cols
-  CL_CHECK(clSetKernelArg(s->krnl, 11, sizeof(cl_mem), &s->m_y_cl));  // M
-
-  const size_t work_size_y[2] = {(size_t)out_y_width, (size_t)out_y_height};
-
-  CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL,
-                              (const size_t*)&work_size_y, NULL, 0, 0, NULL));
-
-  const size_t work_size_uv[2] = {(size_t)out_uv_width, (size_t)out_uv_height};
-
-  CL_CHECK(clSetKernelArg(s->krnl, 2, sizeof(cl_int), &in_uv_px_stride));  // src_px_stride
-  CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &in_u_offset));  // src_offset
-  CL_CHECK(clSetKernelArg(s->krnl, 4, sizeof(cl_int), &in_uv_height));  // src_rows
-  CL_CHECK(clSetKernelArg(s->krnl, 5, sizeof(cl_int), &in_uv_width));  // src_cols
-  CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_u));  // dst
-  CL_CHECK(clSetKernelArg(s->krnl, 7, sizeof(cl_int), &out_uv_width));  // dst_row_stride
-  CL_CHECK(clSetKernelArg(s->krnl, 8, sizeof(cl_int), &zero));  // dst_offset
-  CL_CHECK(clSetKernelArg(s->krnl, 9, sizeof(cl_int), &out_uv_height));  // dst_rows
-  CL_CHECK(clSetKernelArg(s->krnl, 10, sizeof(cl_int), &out_uv_width));  // dst_cols
-  CL_CHECK(clSetKernelArg(s->krnl, 11, sizeof(cl_mem), &s->m_uv_cl));  // M
-
-  CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL,
-                              (const size_t*)&work_size_uv, NULL, 0, 0, NULL));
-  CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &in_v_offset));  // src_ofset
-  CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_v));  // dst
-
-  CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL,
-                              (const size_t*)&work_size_uv, NULL, 0, 0, NULL));
-}
diff --git a/selfdrive/modeld/transforms/transform.cl b/selfdrive/modeld/transforms/transform.cl
deleted file mode 100644
index 2ca25920cd1..00000000000
--- a/selfdrive/modeld/transforms/transform.cl
+++ /dev/null
@@ -1,54 +0,0 @@
-#define INTER_BITS 5
-#define INTER_TAB_SIZE (1 << INTER_BITS)
-#define INTER_SCALE 1.f / INTER_TAB_SIZE
-
-#define INTER_REMAP_COEF_BITS 15
-#define INTER_REMAP_COEF_SCALE (1 << INTER_REMAP_COEF_BITS)
-
-__kernel void warpPerspective(__global const uchar * src,
-                              int src_row_stride, int src_px_stride, int src_offset, int src_rows, int src_cols,
-                              __global uchar * dst,
-                              int dst_row_stride, int dst_offset, int dst_rows, int dst_cols,
-                              __constant float * M)
-{
-    int dx = get_global_id(0);
-    int dy = get_global_id(1);
-
-    if (dx < dst_cols && dy < dst_rows)
-    {
-        float X0 = M[0] * dx + M[1] * dy + M[2];
-        float Y0 = M[3] * dx + M[4] * dy + M[5];
-        float W = M[6] * dx + M[7] * dy + M[8];
-        W = W != 0.0f ? INTER_TAB_SIZE / W : 0.0f;
-        int X = rint(X0 * W), Y = rint(Y0 * W);
-
-        int sx = convert_short_sat(X >> INTER_BITS);
-        int sy = convert_short_sat(Y >> INTER_BITS);
-
-        short sx_clamp = clamp(sx, 0, src_cols - 1);
-        short sx_p1_clamp = clamp(sx + 1, 0, src_cols - 1);
-        short sy_clamp = clamp(sy, 0, src_rows - 1);
-        short sy_p1_clamp = clamp(sy + 1, 0, src_rows - 1);
-        int v0 = convert_int(src[mad24(sy_clamp, src_row_stride, src_offset + sx_clamp*src_px_stride)]);
-        int v1 = convert_int(src[mad24(sy_clamp, src_row_stride, src_offset + sx_p1_clamp*src_px_stride)]);
-        int v2 = convert_int(src[mad24(sy_p1_clamp, src_row_stride, src_offset + sx_clamp*src_px_stride)]);
-        int v3 = convert_int(src[mad24(sy_p1_clamp, src_row_stride, src_offset + sx_p1_clamp*src_px_stride)]);
-
-        short ay = (short)(Y & (INTER_TAB_SIZE - 1));
-        short ax = (short)(X & (INTER_TAB_SIZE - 1));
-        float taby = 1.f/INTER_TAB_SIZE*ay;
-        float tabx = 1.f/INTER_TAB_SIZE*ax;
-
-        int dst_index = mad24(dy, dst_row_stride, dst_offset + dx);
-
-        int itab0 = convert_short_sat_rte( (1.0f-taby)*(1.0f-tabx) * INTER_REMAP_COEF_SCALE );
-        int itab1 = convert_short_sat_rte( (1.0f-taby)*tabx * INTER_REMAP_COEF_SCALE );
-        int itab2 = convert_short_sat_rte( taby*(1.0f-tabx) * INTER_REMAP_COEF_SCALE );
-        int itab3 = convert_short_sat_rte( taby*tabx * INTER_REMAP_COEF_SCALE );
-
-        int val = v0 * itab0 +  v1 * itab1 + v2 * itab2 + v3 * itab3;
-
-        uchar pix = convert_uchar_sat((val + (1 << (INTER_REMAP_COEF_BITS-1))) >> INTER_REMAP_COEF_BITS);
-        dst[dst_index] = pix;
-    }
-}
diff --git a/selfdrive/modeld/transforms/transform.h b/selfdrive/modeld/transforms/transform.h
deleted file mode 100644
index 771a7054b35..00000000000
--- a/selfdrive/modeld/transforms/transform.h
+++ /dev/null
@@ -1,25 +0,0 @@
-#pragma once
-
-#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
-#ifdef __APPLE__
-#include <OpenCL/cl.h>
-#else
-#include <CL/cl.h>
-#endif
-
-#include "common/mat.h"
-
-typedef struct {
-  cl_kernel krnl;
-  cl_mem m_y_cl, m_uv_cl;
-} Transform;
-
-void transform_init(Transform* s, cl_context ctx, cl_device_id device_id);
-
-void transform_destroy(Transform* transform);
-
-void transform_queue(Transform* s, cl_command_queue q,
-                     cl_mem yuv, int in_width, int in_height, int in_stride, int in_uv_offset,
-                     cl_mem out_y, cl_mem out_u, cl_mem out_v,
-                     int out_width, int out_height,
-                     const mat3& projection);
diff --git a/selfdrive/monitoring/README.md b/selfdrive/monitoring/README.md
deleted file mode 100644
index 2a29ea06b5a..00000000000
--- a/selfdrive/monitoring/README.md
+++ /dev/null
@@ -1,15 +0,0 @@
-# driver monitoring (DM)
-
-Uploading driver-facing camera footage is opt-in, but it is encouraged to opt-in to improve the DM model. You can always change your preference using the "Record and Upload Driver Camera" toggle.
-
-## Troubleshooting
-
-Before creating a bug report, go through these troubleshooting steps.
-
-* Ensure the driver-facing camera has a good view of the driver in normal driving positions.
- * This can be checked in Settings -> Device -> Preview Driver Camera (when car is off).
-* If the camera can't see the driver, the device should be re-mounted.
-
-## Bug report
-
-In order for us to look into DM bug reports, we'll need the driver-facing camera footage. If you don't normally have this enabled, simply enable the toggle for a single drive. Also ensure the "Upload Raw Logs" toggle is enabled before going for a drive.
diff --git a/selfdrive/monitoring/dmonitoringd.py b/selfdrive/monitoring/dmonitoringd.py
index 1ac2c2dcbab..415853513ed 100755
--- a/selfdrive/monitoring/dmonitoringd.py
+++ b/selfdrive/monitoring/dmonitoringd.py
@@ -2,7 +2,7 @@
 import cereal.messaging as messaging
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process
-from openpilot.selfdrive.monitoring.helpers import DriverMonitoring
+from openpilot.selfdrive.monitoring.policy import DriverMonitoring
 
 
 def dmonitoringd_thread():
@@ -24,7 +24,7 @@ def dmonitoringd_thread():
 
     valid = sm.all_checks()
     if demo_mode and sm.valid['driverStateV2']:
-      DM.run_step(sm, demo=demo_mode)
+      DM.run_step(sm, demo=True)
     elif valid:
       DM.run_step(sm, demo=demo_mode)
 
@@ -39,8 +39,8 @@ def dmonitoringd_thread():
 
     # save rhd virtual toggle every 5 mins
     if (sm['driverStateV2'].frameId % 6000 == 0 and not demo_mode and
-     DM.wheelpos.prob_offseter.filtered_stat.n > DM.settings._WHEELPOS_FILTER_MIN_COUNT and
-     DM.wheel_on_right == (DM.wheelpos.prob_offseter.filtered_stat.M > DM.settings._WHEELPOS_THRESHOLD)):
+     DM.wheelpos_offsetter.filtered_stat.n > DM.settings._WHEELPOS_FILTER_MIN_COUNT and
+     DM.wheel_on_right == (DM.wheelpos_offsetter.filtered_stat.M > DM.settings._WHEELPOS_THRESHOLD)):
       params.put_bool_nonblocking("IsRhdDetected", DM.wheel_on_right)
 
 def main():
diff --git a/selfdrive/monitoring/helpers.py b/selfdrive/monitoring/helpers.py
deleted file mode 100644
index 3377ce6c683..00000000000
--- a/selfdrive/monitoring/helpers.py
+++ /dev/null
@@ -1,480 +0,0 @@
-from math import atan2
-import numpy as np
-
-from cereal import car, log
-import cereal.messaging as messaging
-from openpilot.selfdrive.selfdrived.events import Events
-from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
-from openpilot.common.realtime import DT_DMON
-from openpilot.common.filter_simple import FirstOrderFilter
-from openpilot.common.params import Params
-from openpilot.common.stat_live import RunningStatFilter
-from openpilot.common.transformations.camera import DEVICE_CAMERAS
-from openpilot.system.hardware import HARDWARE
-
-EventName = log.OnroadEvent.EventName
-
-# ******************************************************************************************
-#  NOTE: To fork maintainers.
-#  Disabling or nerfing safety features will get you and your users banned from our servers.
-#  We recommend that you do not change these numbers from the defaults.
-# ******************************************************************************************
-
-class DRIVER_MONITOR_SETTINGS:
-  def __init__(self, device_type):
-    self._DT_DMON = DT_DMON
-    # ref (page15-16): https://eur-lex.europa.eu/legal-content/EN/TXT/PDF/?uri=CELEX:42018X1947&rid=2
-    self._AWARENESS_TIME = 30. # passive wheeltouch total timeout
-    self._AWARENESS_PRE_TIME_TILL_TERMINAL = 15.
-    self._AWARENESS_PROMPT_TIME_TILL_TERMINAL = 6.
-    self._DISTRACTED_TIME = 11. # active monitoring total timeout
-    self._DISTRACTED_PRE_TIME_TILL_TERMINAL = 8.
-    self._DISTRACTED_PROMPT_TIME_TILL_TERMINAL = 6.
-
-    self._FACE_THRESHOLD = 0.7
-    self._EYE_THRESHOLD = 0.65
-    self._SG_THRESHOLD = 0.9
-    self._BLINK_THRESHOLD = 0.865
-
-    self._PHONE_THRESH = 0.75 if device_type == 'mici' else 0.4
-    self._PHONE_THRESH2 = 15.0
-    self._PHONE_MAX_OFFSET = 0.06
-    self._PHONE_MIN_OFFSET = 0.025
-    self._PHONE_DATA_AVG = 0.05
-    self._PHONE_DATA_VAR = 3*0.005
-    self._PHONE_MAX_COUNT = int(360 / self._DT_DMON)
-
-    self._POSE_PITCH_THRESHOLD = 0.3133
-    self._POSE_PITCH_THRESHOLD_SLACK = 0.3237
-    self._POSE_PITCH_THRESHOLD_STRICT = self._POSE_PITCH_THRESHOLD
-    self._POSE_YAW_THRESHOLD = 0.4020
-    self._POSE_YAW_THRESHOLD_SLACK = 0.5042
-    self._POSE_YAW_THRESHOLD_STRICT = self._POSE_YAW_THRESHOLD
-    self._PITCH_NATURAL_OFFSET = 0.011 # initial value before offset is learned
-    self._PITCH_NATURAL_THRESHOLD = 0.449
-    self._YAW_NATURAL_OFFSET = 0.075 # initial value before offset is learned
-    self._PITCH_NATURAL_VAR = 3*0.01
-    self._YAW_NATURAL_VAR = 3*0.05
-    self._PITCH_MAX_OFFSET = 0.124
-    self._PITCH_MIN_OFFSET = -0.0881
-    self._YAW_MAX_OFFSET = 0.289
-    self._YAW_MIN_OFFSET = -0.0246
-
-    self._DCAM_UNCERTAIN_ALERT_THRESHOLD = 0.1
-    self._DCAM_UNCERTAIN_ALERT_COUNT = int(60  / self._DT_DMON)
-    self._DCAM_UNCERTAIN_RESET_COUNT = int(20  / self._DT_DMON)
-    self._POSESTD_THRESHOLD = 0.3
-    self._HI_STD_FALLBACK_TIME = int(10  / self._DT_DMON)  # fall back to wheel touch if model is uncertain for 10s
-    self._DISTRACTED_FILTER_TS = 0.25  # 0.6Hz
-    self._ALWAYS_ON_ALERT_MIN_SPEED = 11
-
-    self._POSE_CALIB_MIN_SPEED = 13  # 30 mph
-    self._POSE_OFFSET_MIN_COUNT = int(60 / self._DT_DMON)  # valid data counts before calibration completes, 1min cumulative
-    self._POSE_OFFSET_MAX_COUNT = int(360 / self._DT_DMON)  # stop deweighting new data after 6 min, aka "short term memory"
-
-    self._WHEELPOS_CALIB_MIN_SPEED = 11
-    self._WHEELPOS_THRESHOLD = 0.5
-    self._WHEELPOS_FILTER_MIN_COUNT = int(15 / self._DT_DMON) # allow 15 seconds to converge wheel side
-    self._WHEELPOS_DATA_AVG = 0.03
-    self._WHEELPOS_DATA_VAR = 3*5.5e-5
-    self._WHEELPOS_MAX_COUNT = -1
-
-    self._RECOVERY_FACTOR_MAX = 5.  # relative to minus step change
-    self._RECOVERY_FACTOR_MIN = 1.25  # relative to minus step change
-
-    self._MAX_TERMINAL_ALERTS = 3  # not allowed to engage after 3 terminal alerts
-    self._MAX_TERMINAL_DURATION = int(30 / self._DT_DMON)  # not allowed to engage after 30s of terminal alerts
-
-class DistractedType:
-
-  NOT_DISTRACTED = 0
-  DISTRACTED_POSE = 1 << 0
-  DISTRACTED_BLINK = 1 << 1
-  DISTRACTED_PHONE = 1 << 2
-
-class DriverPose:
-  def __init__(self, settings):
-    pitch_filter_raw_priors = (settings._PITCH_NATURAL_OFFSET, settings._PITCH_NATURAL_VAR, 2)
-    yaw_filter_raw_priors = (settings._YAW_NATURAL_OFFSET, settings._YAW_NATURAL_VAR, 2)
-    self.yaw = 0.
-    self.pitch = 0.
-    self.roll = 0.
-    self.yaw_std = 0.
-    self.pitch_std = 0.
-    self.roll_std = 0.
-    self.pitch_offseter = RunningStatFilter(raw_priors=pitch_filter_raw_priors, max_trackable=settings._POSE_OFFSET_MAX_COUNT)
-    self.yaw_offseter = RunningStatFilter(raw_priors=yaw_filter_raw_priors, max_trackable=settings._POSE_OFFSET_MAX_COUNT)
-    self.calibrated = False
-    self.low_std = True
-    self.cfactor_pitch = 1.
-    self.cfactor_yaw = 1.
-
-class DriverProb:
-  def __init__(self, raw_priors, max_trackable):
-    self.prob = 0.
-    self.prob_offseter = RunningStatFilter(raw_priors=raw_priors, max_trackable=max_trackable)
-    self.prob_calibrated = False
-
-class DriverBlink:
-  def __init__(self):
-    self.left = 0.
-    self.right = 0.
-
-
-# model output refers to center of undistorted+leveled image
-EFL = 598.0 # focal length in K
-cam = DEVICE_CAMERAS[("tici", "ar0231")] # corrected image has same size as raw
-W, H = (cam.dcam.width, cam.dcam.height)  # corrected image has same size as raw
-
-def face_orientation_from_net(angles_desc, pos_desc, rpy_calib):
-  # the output of these angles are in device frame
-  # so from driver's perspective, pitch is up and yaw is right
-
-  pitch_net, yaw_net, roll_net = angles_desc
-
-  face_pixel_position = ((pos_desc[0]+0.5)*W, (pos_desc[1]+0.5)*H)
-  yaw_focal_angle = atan2(face_pixel_position[0] - W//2, EFL)
-  pitch_focal_angle = atan2(face_pixel_position[1] - H//2, EFL)
-
-  pitch = pitch_net + pitch_focal_angle
-  yaw = -yaw_net + yaw_focal_angle
-
-  # no calib for roll
-  pitch -= rpy_calib[1]
-  yaw -= rpy_calib[2]
-  return roll_net, pitch, yaw
-
-
-class DriverMonitoring:
-  def __init__(self, rhd_saved=False, settings=None, always_on=False):
-    # init policy settings
-    self.settings = settings if settings is not None else DRIVER_MONITOR_SETTINGS(device_type=HARDWARE.get_device_type())
-
-    # init driver status
-    wheelpos_filter_raw_priors = (self.settings._WHEELPOS_DATA_AVG, self.settings._WHEELPOS_DATA_VAR, 2)
-    phone_filter_raw_priors = (self.settings._PHONE_DATA_AVG, self.settings._PHONE_DATA_VAR, 2)
-    self.wheelpos = DriverProb(raw_priors=wheelpos_filter_raw_priors, max_trackable=self.settings._WHEELPOS_MAX_COUNT)
-    self.phone = DriverProb(raw_priors=phone_filter_raw_priors, max_trackable=self.settings._PHONE_MAX_COUNT)
-    self.pose = DriverPose(settings=self.settings)
-    self.blink = DriverBlink()
-
-    self.always_on = always_on
-    self.distracted_types = []
-    self.driver_distracted = False
-    self.driver_distraction_filter = FirstOrderFilter(0., self.settings._DISTRACTED_FILTER_TS, self.settings._DT_DMON)
-    self.wheel_on_right = False
-    self.wheel_on_right_last = None
-    self.wheel_on_right_default = rhd_saved
-    self.face_detected = False
-    self.terminal_alert_cnt = 0
-    self.terminal_time = 0
-    self.step_change = 0.
-    self.active_monitoring_mode = True
-    self.is_model_uncertain = False
-    self.hi_stds = 0
-    self.threshold_pre = self.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL / self.settings._DISTRACTED_TIME
-    self.threshold_prompt = self.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL / self.settings._DISTRACTED_TIME
-    self.dcam_uncertain_cnt = 0
-    self.dcam_uncertain_alerted = False # once per drive
-    self.dcam_reset_cnt = 0
-
-    self.params = Params()
-    self.too_distracted = self.params.get_bool("DriverTooDistracted")
-
-    self._reset_awareness()
-    self._set_timers(active_monitoring=True)
-    self._reset_events()
-
-  def _reset_awareness(self):
-    self.awareness = 1.
-    self.awareness_active = 1.
-    self.awareness_passive = 1.
-
-  def _reset_events(self):
-    self.current_events = Events()
-
-  def _set_timers(self, active_monitoring):
-    if self.active_monitoring_mode and self.awareness <= self.threshold_prompt:
-      if active_monitoring:
-        self.step_change = self.settings._DT_DMON / self.settings._DISTRACTED_TIME
-      else:
-        self.step_change = 0.
-      return  # no exploit after orange alert
-    elif self.awareness <= 0.:
-      return
-
-    if active_monitoring:
-      # when falling back from passive mode to active mode, reset awareness to avoid false alert
-      if not self.active_monitoring_mode:
-        self.awareness_passive = self.awareness
-        self.awareness = self.awareness_active
-
-      self.threshold_pre = self.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL / self.settings._DISTRACTED_TIME
-      self.threshold_prompt = self.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL / self.settings._DISTRACTED_TIME
-      self.step_change = self.settings._DT_DMON / self.settings._DISTRACTED_TIME
-      self.active_monitoring_mode = True
-    else:
-      if self.active_monitoring_mode:
-        self.awareness_active = self.awareness
-        self.awareness = self.awareness_passive
-
-      self.threshold_pre = self.settings._AWARENESS_PRE_TIME_TILL_TERMINAL / self.settings._AWARENESS_TIME
-      self.threshold_prompt = self.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL / self.settings._AWARENESS_TIME
-      self.step_change = self.settings._DT_DMON / self.settings._AWARENESS_TIME
-      self.active_monitoring_mode = False
-
-  def _set_policy(self, brake_disengage_prob, car_speed):
-    bp = brake_disengage_prob
-    k1 = max(-0.00156*((car_speed-16)**2)+0.6, 0.2)
-    bp_normal = max(min(bp / k1, 0.5),0)
-    self.pose.cfactor_pitch = np.interp(bp_normal, [0, 0.5],
-                                           [self.settings._POSE_PITCH_THRESHOLD_SLACK,
-                                            self.settings._POSE_PITCH_THRESHOLD_STRICT]) / self.settings._POSE_PITCH_THRESHOLD
-    self.pose.cfactor_yaw = np.interp(bp_normal, [0, 0.5],
-                                           [self.settings._POSE_YAW_THRESHOLD_SLACK,
-                                            self.settings._POSE_YAW_THRESHOLD_STRICT]) / self.settings._POSE_YAW_THRESHOLD
-
-  def _get_distracted_types(self):
-    distracted_types = []
-
-    if not self.pose.calibrated:
-      pitch_error = self.pose.pitch - self.settings._PITCH_NATURAL_OFFSET
-      yaw_error = self.pose.yaw - self.settings._YAW_NATURAL_OFFSET
-    else:
-      pitch_error = self.pose.pitch - min(max(self.pose.pitch_offseter.filtered_stat.mean(),
-                                                       self.settings._PITCH_MIN_OFFSET), self.settings._PITCH_MAX_OFFSET)
-      yaw_error = self.pose.yaw - min(max(self.pose.yaw_offseter.filtered_stat.mean(),
-                                                    self.settings._YAW_MIN_OFFSET), self.settings._YAW_MAX_OFFSET)
-    pitch_error = 0 if pitch_error > 0 else abs(pitch_error) # no positive pitch limit
-    yaw_error = abs(yaw_error)
-
-    pitch_threshold = self.settings._POSE_PITCH_THRESHOLD * self.pose.cfactor_pitch if self.pose.calibrated else self.settings._PITCH_NATURAL_THRESHOLD
-    yaw_threshold = self.settings._POSE_YAW_THRESHOLD * self.pose.cfactor_yaw
-
-    if pitch_error > pitch_threshold or yaw_error > yaw_threshold:
-      distracted_types.append(DistractedType.DISTRACTED_POSE)
-
-    if (self.blink.left + self.blink.right)*0.5 > self.settings._BLINK_THRESHOLD:
-      distracted_types.append(DistractedType.DISTRACTED_BLINK)
-
-    if self.phone.prob_calibrated:
-      using_phone = self.phone.prob > max(min(self.phone.prob_offseter.filtered_stat.M, self.settings._PHONE_MAX_OFFSET), self.settings._PHONE_MIN_OFFSET) \
-                                      * self.settings._PHONE_THRESH2
-    else:
-      using_phone = self.phone.prob > self.settings._PHONE_THRESH
-    if using_phone:
-      distracted_types.append(DistractedType.DISTRACTED_PHONE)
-
-    return distracted_types
-
-  def _update_states(self, driver_state, cal_rpy, car_speed, op_engaged, standstill, demo_mode=False):
-    rhd_pred = driver_state.wheelOnRightProb
-    # calibrates only when there's movement and either face detected
-    if car_speed > self.settings._WHEELPOS_CALIB_MIN_SPEED and (driver_state.leftDriverData.faceProb > self.settings._FACE_THRESHOLD or
-                                          driver_state.rightDriverData.faceProb > self.settings._FACE_THRESHOLD):
-      self.wheelpos.prob_offseter.push_and_update(rhd_pred)
-
-    self.wheelpos.prob_calibrated = self.wheelpos.prob_offseter.filtered_stat.n > self.settings._WHEELPOS_FILTER_MIN_COUNT
-
-    if self.wheelpos.prob_calibrated or demo_mode:
-      self.wheel_on_right = self.wheelpos.prob_offseter.filtered_stat.M > self.settings._WHEELPOS_THRESHOLD
-    else:
-      self.wheel_on_right = self.wheel_on_right_default # use default/saved if calibration is unfinished
-    # make sure no switching when engaged
-    if op_engaged and self.wheel_on_right_last is not None and self.wheel_on_right_last != self.wheel_on_right and not demo_mode:
-      self.wheel_on_right = self.wheel_on_right_last
-    driver_data = driver_state.rightDriverData if self.wheel_on_right else driver_state.leftDriverData
-    if not all(len(x) > 0 for x in (driver_data.faceOrientation, driver_data.facePosition,
-                                    driver_data.faceOrientationStd, driver_data.facePositionStd)):
-      return
-
-    self.face_detected = driver_data.faceProb > self.settings._FACE_THRESHOLD
-    self.pose.roll, self.pose.pitch, self.pose.yaw = face_orientation_from_net(driver_data.faceOrientation, driver_data.facePosition, cal_rpy)
-    if self.wheel_on_right:
-      self.pose.yaw *= -1
-    self.wheel_on_right_last = self.wheel_on_right
-    self.pose.pitch_std = driver_data.faceOrientationStd[0]
-    self.pose.yaw_std = driver_data.faceOrientationStd[1]
-    model_std_max = max(self.pose.pitch_std, self.pose.yaw_std)
-    self.pose.low_std = model_std_max < self.settings._POSESTD_THRESHOLD
-    self.blink.left = driver_data.leftBlinkProb * (driver_data.leftEyeProb > self.settings._EYE_THRESHOLD) \
-                      * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
-    self.blink.right = driver_data.rightBlinkProb * (driver_data.rightEyeProb > self.settings._EYE_THRESHOLD) \
-                      * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
-    self.phone.prob = driver_data.phoneProb
-
-    self.distracted_types = self._get_distracted_types()
-    self.driver_distracted = (DistractedType.DISTRACTED_PHONE in self.distracted_types
-                              or DistractedType.DISTRACTED_POSE in self.distracted_types
-                              or DistractedType.DISTRACTED_BLINK in self.distracted_types) \
-                              and driver_data.faceProb > self.settings._FACE_THRESHOLD and self.pose.low_std
-    self.driver_distraction_filter.update(self.driver_distracted)
-
-    # update offseter
-    # only update when driver is actively driving the car above a certain speed
-    if self.face_detected and car_speed > self.settings._POSE_CALIB_MIN_SPEED and self.pose.low_std and (not op_engaged or not self.driver_distracted):
-      self.pose.pitch_offseter.push_and_update(self.pose.pitch)
-      self.pose.yaw_offseter.push_and_update(self.pose.yaw)
-      self.phone.prob_offseter.push_and_update(self.phone.prob)
-
-    self.pose.calibrated = self.pose.pitch_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT and \
-                           self.pose.yaw_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT
-    self.phone.prob_calibrated = self.phone.prob_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT
-
-    if self.face_detected and not self.driver_distracted:
-      if model_std_max > self.settings._DCAM_UNCERTAIN_ALERT_THRESHOLD:
-        if not standstill:
-          self.dcam_uncertain_cnt += 1
-          self.dcam_reset_cnt = 0
-      else:
-        self.dcam_reset_cnt += 1
-        if self.dcam_reset_cnt > self.settings._DCAM_UNCERTAIN_RESET_COUNT:
-          self.dcam_uncertain_cnt = 0
-
-    self.is_model_uncertain = self.hi_stds > self.settings._HI_STD_FALLBACK_TIME
-    self._set_timers(self.face_detected and not self.is_model_uncertain)
-    if self.face_detected and not self.pose.low_std and not self.driver_distracted:
-      self.hi_stds += 1
-    elif self.face_detected and self.pose.low_std:
-      self.hi_stds = 0
-
-  def _update_events(self, driver_engaged, op_engaged, standstill, wrong_gear, car_speed):
-    self._reset_events()
-    # Block engaging until ignition cycle after max number or time of distractions
-    if self.terminal_alert_cnt >= self.settings._MAX_TERMINAL_ALERTS or \
-       self.terminal_time >= self.settings._MAX_TERMINAL_DURATION:
-      if not self.too_distracted:
-        self.params.put_bool_nonblocking("DriverTooDistracted", True)
-      self.too_distracted = True
-
-    # Always-on distraction lockout is temporary
-    if self.too_distracted or (self.always_on and self.awareness <= self.threshold_prompt):
-      self.current_events.add(EventName.tooDistracted)
-
-    always_on_valid = self.always_on and not wrong_gear
-    if (driver_engaged and self.awareness > 0 and not self.active_monitoring_mode) or \
-       (not always_on_valid and not op_engaged) or \
-       (always_on_valid and not op_engaged and self.awareness <= 0):
-      # always reset on disengage with normal mode; disengage resets only on red if always on
-      self._reset_awareness()
-      return
-
-    driver_attentive = self.driver_distraction_filter.x < 0.37
-    awareness_prev = self.awareness
-
-    if (driver_attentive and self.face_detected and self.pose.low_std and self.awareness > 0):
-      if driver_engaged:
-        self._reset_awareness()
-        return
-      # only restore awareness when paying attention and alert is not red
-      self.awareness = min(self.awareness + ((self.settings._RECOVERY_FACTOR_MAX-self.settings._RECOVERY_FACTOR_MIN)*
-                                             (1.-self.awareness)+self.settings._RECOVERY_FACTOR_MIN)*self.step_change, 1.)
-      if self.awareness == 1.:
-        self.awareness_passive = min(self.awareness_passive + self.step_change, 1.)
-      # don't display alert banner when awareness is recovering and has cleared orange
-      if self.awareness > self.threshold_prompt:
-        return
-
-    _reaching_audible = self.awareness - self.step_change <= self.threshold_prompt
-    _reaching_terminal = self.awareness - self.step_change <= 0
-    standstill_orange_exemption = standstill and _reaching_audible
-    always_on_red_exemption = always_on_valid and not op_engaged and _reaching_terminal
-    always_on_lowspeed_exemption = always_on_valid and not op_engaged and car_speed < self.settings._ALWAYS_ON_ALERT_MIN_SPEED
-
-    certainly_distracted = self.driver_distraction_filter.x > 0.63 and self.driver_distracted and self.face_detected
-    maybe_distracted = self.hi_stds > self.settings._HI_STD_FALLBACK_TIME or not self.face_detected
-
-    if certainly_distracted or maybe_distracted:
-      # should always be counting if distracted unless at standstill (lowspeed for always-on) and reaching orange
-      # also will not be reaching 0 if DM is active when not engaged
-      if not (standstill_orange_exemption or always_on_red_exemption or (always_on_lowspeed_exemption and _reaching_audible)):
-        self.awareness = max(self.awareness - self.step_change, -0.1)
-
-    alert = None
-    if self.awareness <= 0.:
-      # terminal red alert: disengagement required
-      alert = EventName.driverDistracted if self.active_monitoring_mode else EventName.driverUnresponsive
-      self.terminal_time += 1
-      if awareness_prev > 0.:
-        self.terminal_alert_cnt += 1
-    elif self.awareness <= self.threshold_prompt:
-      # prompt orange alert
-      alert = EventName.promptDriverDistracted if self.active_monitoring_mode else EventName.promptDriverUnresponsive
-    elif self.awareness <= self.threshold_pre and not always_on_lowspeed_exemption:
-      # pre green alert
-      alert = EventName.preDriverDistracted if self.active_monitoring_mode else EventName.preDriverUnresponsive
-
-    if alert is not None:
-      self.current_events.add(alert)
-
-    if self.dcam_uncertain_cnt > self.settings._DCAM_UNCERTAIN_ALERT_COUNT and not self.dcam_uncertain_alerted:
-      set_offroad_alert("Offroad_DriverMonitoringUncertain", True)
-      self.dcam_uncertain_alerted = True
-
-
-  def get_state_packet(self, valid=True):
-    # build driverMonitoringState packet
-    dat = messaging.new_message('driverMonitoringState', valid=valid)
-    dat.driverMonitoringState = {
-      "events": self.current_events.to_msg(),
-      "faceDetected": self.face_detected,
-      "isDistracted": self.driver_distracted,
-      "distractedType": sum(self.distracted_types),
-      "awarenessStatus": self.awareness,
-      "posePitchOffset": self.pose.pitch_offseter.filtered_stat.mean(),
-      "posePitchValidCount": self.pose.pitch_offseter.filtered_stat.n,
-      "poseYawOffset": self.pose.yaw_offseter.filtered_stat.mean(),
-      "poseYawValidCount": self.pose.yaw_offseter.filtered_stat.n,
-      "phoneProbOffset": self.phone.prob_offseter.filtered_stat.mean(),
-      "phoneProbValidCount": self.phone.prob_offseter.filtered_stat.n,
-      "stepChange": self.step_change,
-      "awarenessActive": self.awareness_active,
-      "awarenessPassive": self.awareness_passive,
-      "isLowStd": self.pose.low_std,
-      "hiStdCount": self.hi_stds,
-      "isActiveMode": self.active_monitoring_mode,
-      "isRHD": self.wheel_on_right,
-      "uncertainCount": self.dcam_uncertain_cnt,
-    }
-    return dat
-
-  def run_step(self, sm, demo=False):
-    if demo:
-      highway_speed = 30
-      enabled = True
-      wrong_gear = False
-      standstill = False
-      driver_engaged = False
-      brake_disengage_prob = 1.0
-      rpyCalib = [0., 0., 0.]
-    else:
-      highway_speed = sm['carState'].vEgo
-      enabled = sm['selfdriveState'].enabled
-      wrong_gear = sm['carState'].gearShifter not in (car.CarState.GearShifter.drive, car.CarState.GearShifter.low)
-      standstill = sm['carState'].standstill
-      driver_engaged = sm['carState'].steeringPressed or sm['carState'].gasPressed
-      brake_disengage_prob = sm['modelV2'].meta.disengagePredictions.brakeDisengageProbs[0] # brake disengage prob in next 2s
-      rpyCalib = sm['liveCalibration'].rpyCalib
-    self._set_policy(
-      brake_disengage_prob=brake_disengage_prob,
-      car_speed=highway_speed,
-    )
-
-    # Parse data from dmonitoringmodeld
-    self._update_states(
-      driver_state=sm['driverStateV2'],
-      cal_rpy=rpyCalib,
-      car_speed=highway_speed,
-      op_engaged=enabled,
-      standstill=standstill,
-      demo_mode=demo,
-    )
-
-    # Update distraction events
-    self._update_events(
-      driver_engaged=driver_engaged,
-      op_engaged=enabled,
-      standstill=standstill,
-      wrong_gear=wrong_gear,
-      car_speed=highway_speed
-    )
diff --git a/selfdrive/monitoring/policy.py b/selfdrive/monitoring/policy.py
new file mode 100644
index 00000000000..acfbca258f3
--- /dev/null
+++ b/selfdrive/monitoring/policy.py
@@ -0,0 +1,426 @@
+from collections import defaultdict
+from math import atan2, radians
+import numpy as np
+
+from cereal import car, log
+import cereal.messaging as messaging
+from openpilot.common.realtime import DT_DMON
+from openpilot.common.filter_simple import FirstOrderFilter
+from openpilot.common.params import Params
+from openpilot.common.stat_live import RunningStatFilter
+from openpilot.common.transformations.camera import DEVICE_CAMERAS
+
+AlertLevel = log.DriverMonitoringState.AlertLevel
+MonitoringPolicy = log.DriverMonitoringState.MonitoringPolicy
+
+def to_percent(v):
+  return int(min(max(v * 100., 0.), 100.))
+
+# ******************************************************************************************
+#  NOTE: To fork maintainers.
+#  Disabling or nerfing safety features will get you and your users banned from our servers.
+#  We recommend that you do not change these numbers from the defaults.
+# ******************************************************************************************
+
+class DRIVER_MONITOR_SETTINGS:
+  def __init__(self):
+    # https://eur-lex.europa.eu/legal-content/EN/TXT/PDF/?uri=CELEX:42018X1947&rid=2
+    self._WHEELTOUCH_POLICY_ALERT_1_TIMEOUT = 15.
+    self._WHEELTOUCH_POLICY_ALERT_2_TIMEOUT = 24.
+    self._WHEELTOUCH_POLICY_ALERT_3_TIMEOUT = 30.
+    # https://cdn.euroncap.com/cars/assets/euro_ncap_protocol_safe_driving_driver_engagement_v11_a30e874152.pdf
+    self._VISION_POLICY_ALERT_1_TIMEOUT = 3.
+    self._VISION_POLICY_ALERT_2_TIMEOUT = 5.
+    self._VISION_POLICY_ALERT_3_TIMEOUT = 11.
+
+    self._TIMEOUT_RECOVERY_FACTOR_MAX = 5.
+    self._TIMEOUT_RECOVERY_FACTOR_MIN = 1.25
+
+    self._MAX_TERMINAL_ALERTS = 3  # not allowed to engage after 3 terminal alerts
+    self._MAX_TERMINAL_DURATION = int(30 / DT_DMON)  # not allowed to engage after 30s of terminal alerts
+
+    self._FACE_THRESHOLD = 0.7
+    self._EYE_THRESHOLD = 0.5
+    self._BLINK_THRESHOLD = 0.5
+    self._PHONE_THRESH = 0.5
+    self._POSE_PITCH_THRESHOLD = 0.3133
+    self._POSE_PITCH_THRESHOLD_SLACK = 0.3237
+    self._POSE_PITCH_THRESHOLD_STRICT = self._POSE_PITCH_THRESHOLD
+    self._POSE_YAW_THRESHOLD = 0.4020
+    self._POSE_YAW_THRESHOLD_SLACK = 0.5042
+    self._POSE_YAW_THRESHOLD_STRICT = self._POSE_YAW_THRESHOLD
+    self._POSE_YAW_MIN_STEER_DEG = 30
+    self._POSE_YAW_STEER_FACTOR = 0.15
+    self._POSE_YAW_STEER_MAX_OFFSET = 0.3927
+    self._PITCH_NATURAL_OFFSET = 0.011 # initial value before offset is learned
+    self._PITCH_NATURAL_THRESHOLD = 0.449
+    self._YAW_NATURAL_OFFSET = 0.075 # initial value before offset is learned
+    self._PITCH_NATURAL_VAR = 3*0.01
+    self._YAW_NATURAL_VAR = 3*0.05
+    self._PITCH_MAX_OFFSET = 0.124
+    self._PITCH_MIN_OFFSET = -0.0881
+    self._YAW_MAX_OFFSET = 0.289
+    self._YAW_MIN_OFFSET = -0.0246
+
+    self._DCAM_UNCERTAIN_ALERT_THRESHOLD = 0.1
+    self._DCAM_UNCERTAIN_ALERT_COUNT = int(60  / DT_DMON)
+    self._DCAM_UNCERTAIN_RESET_COUNT = int(20  / DT_DMON)
+    self._HI_STD_THRESHOLD = 0.3
+    self._HI_STD_FALLBACK_TIME = int(10  / DT_DMON)  # fall back to wheel touch if model is uncertain for 10s
+    self._DISTRACTED_FILTER_TS = 0.25  # 0.6Hz
+
+    self._POSE_CALIB_MIN_SPEED = 13  # 30 mph
+    self._POSE_OFFSET_MIN_COUNT = int(60 / DT_DMON)  # valid data counts before calibration completes, 1min cumulative
+    self._POSE_OFFSET_MAX_COUNT = int(360 / DT_DMON)  # stop deweighting new data after 6 min, aka "short term memory"
+    self._WHEELPOS_CALIB_MIN_SPEED = 11
+    self._WHEELPOS_THRESHOLD = 0.5
+    self._WHEELPOS_FILTER_MIN_COUNT = int(15 / DT_DMON) # allow 15 seconds to converge wheel side
+    self._WHEELPOS_DATA_AVG = 0.03
+    self._WHEELPOS_DATA_VAR = 3*5.5e-5
+    self._WHEELPOS_MAX_COUNT = -1
+
+class DriverPose:
+  def __init__(self, settings):
+    pitch_filter_raw_priors = (settings._PITCH_NATURAL_OFFSET, settings._PITCH_NATURAL_VAR, 2)
+    yaw_filter_raw_priors = (settings._YAW_NATURAL_OFFSET, settings._YAW_NATURAL_VAR, 2)
+    self.yaw = 0.
+    self.pitch = 0.
+    self.pitch_offsetter = RunningStatFilter(raw_priors=pitch_filter_raw_priors, max_trackable=settings._POSE_OFFSET_MAX_COUNT)
+    self.yaw_offsetter = RunningStatFilter(raw_priors=yaw_filter_raw_priors, max_trackable=settings._POSE_OFFSET_MAX_COUNT)
+    self.calibrated = False
+    self.low_std = True
+    self.cfactor_pitch = 1.
+    self.cfactor_yaw = 1.
+    self.steer_yaw_offset = 0.
+
+# model output refers to center of undistorted+leveled image
+ref_undistorted_cam = DEVICE_CAMERAS[("tici", "ar0231")].dcam
+dcam_undistorted_FL = 598.0
+dcam_undistorted_W, dcam_undistorted_H = (ref_undistorted_cam.width, ref_undistorted_cam.height)
+
+def face_orientation_from_model(orient_model, pos_model, rpy_calib):
+  pitch_model = orient_model[0]
+  yaw_model = orient_model[1]
+
+  face_pixel_position = ((pos_model[0]+0.5)*dcam_undistorted_W, (pos_model[1]+0.5)*dcam_undistorted_H)
+  yaw_focal_angle = atan2(face_pixel_position[0] - dcam_undistorted_W//2, dcam_undistorted_FL)
+  pitch_focal_angle = atan2(face_pixel_position[1] - dcam_undistorted_H//2, dcam_undistorted_FL)
+
+  pitch = pitch_model + pitch_focal_angle
+  yaw = -yaw_model + yaw_focal_angle
+
+  pitch -= rpy_calib[1]
+  yaw -= rpy_calib[2]
+  return pitch, yaw
+
+
+class DriverMonitoring:
+  def __init__(self, rhd_saved=False, settings=None, always_on=False):
+    # init policy settings
+    self.settings = settings if settings is not None else DRIVER_MONITOR_SETTINGS()
+
+    # init driver status
+    wheelpos_filter_raw_priors = (self.settings._WHEELPOS_DATA_AVG, self.settings._WHEELPOS_DATA_VAR, 2)
+    self.wheelpos_offsetter = RunningStatFilter(raw_priors=wheelpos_filter_raw_priors, max_trackable=self.settings._WHEELPOS_MAX_COUNT)
+    self.pose = DriverPose(settings=self.settings)
+    self.blink_prob = 0.
+    self.phone_prob = 0.
+
+    self.alert_level = AlertLevel.none
+    self.always_on = always_on
+    self.distracted_types = defaultdict(bool)
+    self.driver_distracted = False
+    self.driver_distraction_filter = FirstOrderFilter(0., self.settings._DISTRACTED_FILTER_TS, DT_DMON)
+    self.wheel_on_right = False
+    self.wheel_on_right_last = None
+    self.wheel_on_right_default = rhd_saved
+    self.face_detected = False
+    self.terminal_alert_cnt = 0
+    self.terminal_time = 0
+    self.step_change = 0.
+    self.active_policy = MonitoringPolicy.vision
+    self.driver_interacting = False
+    self.is_model_uncertain = False
+    self.hi_stds = 0
+    self.model_std_max = 0.
+    self.threshold_alert_1 = 0.
+    self.threshold_alert_2 = 0.
+    self.dcam_uncertain_cnt = 0
+    self.dcam_reset_cnt = 0
+    self.too_distracted = Params().get_bool("DriverTooDistracted")
+
+    self._reset_awareness()
+    self._set_policy(MonitoringPolicy.vision)
+
+  def _reset_awareness(self):
+    self.awareness = 1.
+    self.last_vision_awareness = 1.
+    self.last_wheeltouch_awareness = 1.
+
+  def _set_policy(self, target_policy):
+    if self.active_policy == MonitoringPolicy.vision and self.awareness <= self.threshold_alert_2:
+      if target_policy == MonitoringPolicy.vision:
+        self.step_change = DT_DMON / self.settings._VISION_POLICY_ALERT_3_TIMEOUT
+      else:
+        self.step_change = 0.
+      return  # no exploit after orange alert
+    elif self.awareness <= 0.:
+      return
+
+    if target_policy == MonitoringPolicy.vision:
+      # when falling back from passive mode to active mode, reset awareness to avoid false alert
+      if self.active_policy != MonitoringPolicy.vision:
+        self.last_wheeltouch_awareness = self.awareness
+        self.awareness = self.last_vision_awareness
+
+      self.threshold_alert_1 = 1. - self.settings._VISION_POLICY_ALERT_1_TIMEOUT / self.settings._VISION_POLICY_ALERT_3_TIMEOUT
+      self.threshold_alert_2 = 1. - self.settings._VISION_POLICY_ALERT_2_TIMEOUT / self.settings._VISION_POLICY_ALERT_3_TIMEOUT
+      self.step_change = DT_DMON / self.settings._VISION_POLICY_ALERT_3_TIMEOUT
+      self.active_policy = MonitoringPolicy.vision
+    else:
+      if self.active_policy == MonitoringPolicy.vision:
+        self.last_vision_awareness = self.awareness
+        self.awareness = self.last_wheeltouch_awareness
+
+      self.threshold_alert_1 = 1. - self.settings._WHEELTOUCH_POLICY_ALERT_1_TIMEOUT / self.settings._WHEELTOUCH_POLICY_ALERT_3_TIMEOUT
+      self.threshold_alert_2 = 1. - self.settings._WHEELTOUCH_POLICY_ALERT_2_TIMEOUT / self.settings._WHEELTOUCH_POLICY_ALERT_3_TIMEOUT
+      self.step_change = DT_DMON / self.settings._WHEELTOUCH_POLICY_ALERT_3_TIMEOUT
+      self.active_policy = MonitoringPolicy.wheeltouch
+
+  def _set_pose_strictness(self, brake_disengage_prob, car_speed):
+    bp = brake_disengage_prob
+    k1 = max(-0.00156*((car_speed-16)**2)+0.6, 0.2)
+    bp_normal = max(min(bp / k1, 0.5),0)
+    self.pose.cfactor_pitch = np.interp(bp_normal, [0, 0.5],
+                                           [self.settings._POSE_PITCH_THRESHOLD_SLACK,
+                                            self.settings._POSE_PITCH_THRESHOLD_STRICT]) / self.settings._POSE_PITCH_THRESHOLD
+    self.pose.cfactor_yaw = np.interp(bp_normal, [0, 0.5],
+                                           [self.settings._POSE_YAW_THRESHOLD_SLACK,
+                                            self.settings._POSE_YAW_THRESHOLD_STRICT]) / self.settings._POSE_YAW_THRESHOLD
+
+  def _get_distracted_types(self):
+    self.distracted_types = defaultdict(bool)
+
+    if not self.pose.calibrated:
+      pitch_error = self.pose.pitch - self.settings._PITCH_NATURAL_OFFSET
+      yaw_error = self.pose.yaw - self.settings._YAW_NATURAL_OFFSET
+    else:
+      pitch_error = self.pose.pitch - min(max(self.pose.pitch_offsetter.filtered_stat.mean(),
+                                                       self.settings._PITCH_MIN_OFFSET), self.settings._PITCH_MAX_OFFSET)
+      yaw_error = self.pose.yaw - min(max(self.pose.yaw_offsetter.filtered_stat.mean(),
+                                                    self.settings._YAW_MIN_OFFSET), self.settings._YAW_MAX_OFFSET)
+    pitch_error = 0 if pitch_error > 0 else abs(pitch_error) # no positive pitch limit
+
+    if yaw_error * self.pose.steer_yaw_offset > 0: # unidirectional
+      yaw_error = max(abs(yaw_error) - min(abs(self.pose.steer_yaw_offset), self.settings._POSE_YAW_STEER_MAX_OFFSET), 0.)
+    else:
+      yaw_error = abs(yaw_error)
+
+    pitch_threshold = self.settings._POSE_PITCH_THRESHOLD * self.pose.cfactor_pitch if self.pose.calibrated else self.settings._PITCH_NATURAL_THRESHOLD
+    yaw_threshold = self.settings._POSE_YAW_THRESHOLD * self.pose.cfactor_yaw
+
+    self.distracted_types['pose'] = bool((pitch_error > pitch_threshold) or (yaw_error > yaw_threshold))
+    self.distracted_types['eye'] = bool(self.blink_prob > self.settings._BLINK_THRESHOLD)
+    self.distracted_types['phone'] = bool(self.phone_prob > self.settings._PHONE_THRESH)
+
+  def _update_states(self, driver_state, cal_rpy, car_speed, op_engaged, standstill, demo_mode=False, steering_angle_deg=0.):
+    rhd_pred = driver_state.wheelOnRightProb
+    # calibrates only when there's movement and either face detected
+    if car_speed > self.settings._WHEELPOS_CALIB_MIN_SPEED and (driver_state.leftDriverData.faceProb > self.settings._FACE_THRESHOLD or
+                                          driver_state.rightDriverData.faceProb > self.settings._FACE_THRESHOLD):
+      self.wheelpos_offsetter.push_and_update(rhd_pred)
+
+    wheelpos_calibrated = self.wheelpos_offsetter.filtered_stat.n >= self.settings._WHEELPOS_FILTER_MIN_COUNT
+
+    if wheelpos_calibrated or demo_mode:
+      self.wheel_on_right = self.wheelpos_offsetter.filtered_stat.M > self.settings._WHEELPOS_THRESHOLD
+    else:
+      self.wheel_on_right = self.wheel_on_right_default # use default/saved if calibration is unfinished
+    # make sure no switching when engaged
+    if op_engaged and self.wheel_on_right_last is not None and self.wheel_on_right_last != self.wheel_on_right and not demo_mode:
+      self.wheel_on_right = self.wheel_on_right_last
+    driver_data = driver_state.rightDriverData if self.wheel_on_right else driver_state.leftDriverData
+    if not all(len(x) > 0 for x in (driver_data.faceOrientation, driver_data.facePosition,
+                                    driver_data.faceOrientationStd, driver_data.facePositionStd)):
+      return
+
+    self.face_detected = driver_data.faceProb > self.settings._FACE_THRESHOLD
+    self.pose.pitch, self.pose.yaw = face_orientation_from_model(driver_data.faceOrientation, driver_data.facePosition, cal_rpy)
+    steer_d = max(abs(steering_angle_deg) - self.settings._POSE_YAW_MIN_STEER_DEG, 0.)
+    self.pose.steer_yaw_offset = radians(steer_d) * -np.sign(steering_angle_deg) * self.settings._POSE_YAW_STEER_FACTOR
+    if self.wheel_on_right:
+      self.pose.yaw *= -1
+      self.pose.steer_yaw_offset *= -1
+    self.wheel_on_right_last = self.wheel_on_right
+    self.model_std_max = max(driver_data.faceOrientationStd[0], driver_data.faceOrientationStd[1])
+    self.pose.low_std = self.model_std_max < self.settings._HI_STD_THRESHOLD
+    self.blink_prob = driver_data.eyesClosedProb * (driver_data.eyesVisibleProb > self.settings._EYE_THRESHOLD)
+    self.phone_prob = driver_data.phoneProb
+
+    self._get_distracted_types()
+    self.driver_distracted = any(self.distracted_types.values()) and driver_data.faceProb > self.settings._FACE_THRESHOLD and self.pose.low_std
+    self.driver_distraction_filter.update(self.driver_distracted)
+
+    # only update offsetter when driver is actively driving the car above a certain speed
+    if self.face_detected and car_speed > self.settings._POSE_CALIB_MIN_SPEED and self.pose.low_std and (not op_engaged or not self.driver_distracted):
+      self.pose.pitch_offsetter.push_and_update(self.pose.pitch)
+      self.pose.yaw_offsetter.push_and_update(self.pose.yaw)
+
+    self.pose.calibrated = self.pose.pitch_offsetter.filtered_stat.n >= self.settings._POSE_OFFSET_MIN_COUNT and \
+                           self.pose.yaw_offsetter.filtered_stat.n >= self.settings._POSE_OFFSET_MIN_COUNT
+
+    if self.face_detected and not self.driver_distracted:
+      dcam_uncertain = self.model_std_max > self.settings._DCAM_UNCERTAIN_ALERT_THRESHOLD
+      if dcam_uncertain and not standstill:
+        self.dcam_uncertain_cnt += 1
+        self.dcam_reset_cnt = 0
+      else:
+        self.dcam_reset_cnt += 1
+        if self.dcam_reset_cnt > self.settings._DCAM_UNCERTAIN_RESET_COUNT:
+          self.dcam_uncertain_cnt = 0
+
+    self.is_model_uncertain = self.hi_stds >= self.settings._HI_STD_FALLBACK_TIME
+    self._set_policy(MonitoringPolicy.vision if self.face_detected and not self.is_model_uncertain else MonitoringPolicy.wheeltouch)
+    if self.face_detected and not self.pose.low_std and not self.driver_distracted:
+      self.hi_stds += 1
+    elif self.face_detected and self.pose.low_std:
+      self.hi_stds = 0
+
+  def _update_events(self, driver_engaged, op_engaged, standstill, wrong_gear):
+    self.alert_level = AlertLevel.none
+    self.driver_interacting = driver_engaged
+
+    if self.terminal_alert_cnt >= self.settings._MAX_TERMINAL_ALERTS or \
+       self.terminal_time >= self.settings._MAX_TERMINAL_DURATION:
+      self.too_distracted = True
+
+    always_on_valid = self.always_on and not wrong_gear
+    if (self.driver_interacting and self.awareness > 0 and self.active_policy == MonitoringPolicy.wheeltouch) or \
+       (not always_on_valid and not op_engaged) or \
+       (always_on_valid and not op_engaged and self.awareness <= 0):
+      # always reset on disengage with normal mode; disengage resets only on red if always on
+      self._reset_awareness()
+      return
+
+    awareness_prev = self.awareness
+    _reaching_alert_1 = self.awareness - self.step_change <= self.threshold_alert_1
+    _reaching_alert_3 = self.awareness - self.step_change <= 0
+    standstill_exemption = standstill and _reaching_alert_1
+    always_on_exemption = always_on_valid and not op_engaged and _reaching_alert_3
+
+    if self.awareness > 0 and \
+       ((self.driver_distraction_filter.x < 0.37 and self.face_detected and self.pose.low_std) or standstill_exemption):
+      if self.driver_interacting:
+        self._reset_awareness()
+        return
+      # only restore awareness when paying attention and alert is not red
+      self.awareness = min(self.awareness + ((self.settings._TIMEOUT_RECOVERY_FACTOR_MAX-self.settings._TIMEOUT_RECOVERY_FACTOR_MIN)*
+                                             (1.-self.awareness)+self.settings._TIMEOUT_RECOVERY_FACTOR_MIN)*self.step_change, 1.)
+      if self.awareness == 1.:
+        self.last_wheeltouch_awareness = min(self.last_wheeltouch_awareness + self.step_change, 1.)
+      # don't display alert banner when awareness is recovering and has cleared orange
+      if self.awareness > self.threshold_alert_2:
+        return
+
+    certainly_distracted = self.driver_distraction_filter.x > 0.63 and self.driver_distracted and self.face_detected
+    maybe_distracted = self.is_model_uncertain or not self.face_detected
+
+    if certainly_distracted or maybe_distracted:
+      # should always be counting if distracted unless at standstill and reaching green
+      # also will not be reaching 0 if DM is active when not engaged
+      if not (standstill_exemption or always_on_exemption):
+        self.awareness = max(self.awareness - self.step_change, -0.1)
+
+    if self.awareness <= 0.:
+      # terminal alert: disengagement required
+      self.alert_level = AlertLevel.three
+      self.terminal_time += 1
+      if awareness_prev > 0.:
+        self.terminal_alert_cnt += 1
+    elif self.awareness <= self.threshold_alert_2:
+      self.alert_level = AlertLevel.two
+    elif self.awareness <= self.threshold_alert_1:
+      self.alert_level = AlertLevel.one
+
+  def get_state_packet(self, valid=True):
+    # build driverMonitoringState packet
+    dat = messaging.new_message('driverMonitoringState', valid=valid)
+    dm = dat.driverMonitoringState
+
+    dm.lockout = self.too_distracted
+    dm.alertCountLockoutPercent = to_percent(self.terminal_alert_cnt / self.settings._MAX_TERMINAL_ALERTS)
+    dm.alertTimeLockoutPercent = to_percent(self.terminal_time / self.settings._MAX_TERMINAL_DURATION)
+    dm.alwaysOn = self.always_on
+    dm.alwaysOnLockout = self.always_on and self.awareness <= self.threshold_alert_2
+    dm.alertLevel = self.alert_level
+    dm.activePolicy = self.active_policy
+    dm.isRHD = self.wheel_on_right
+    dm.rhdCalibration.calibratedPercent = to_percent(self.wheelpos_offsetter.filtered_stat.n / self.settings._WHEELPOS_FILTER_MIN_COUNT)
+    dm.rhdCalibration.offset = self.wheelpos_offsetter.filtered_stat.M
+
+    dm.visionPolicyState.awarenessPercent = to_percent(self.last_vision_awareness if self.active_policy != MonitoringPolicy.vision else self.awareness)
+    dm.visionPolicyState.awarenessStep = self.step_change if self.active_policy == MonitoringPolicy.vision else 0.
+    dm.visionPolicyState.isDistracted = self.driver_distracted
+    dm.visionPolicyState.distractedTypes.pose = self.distracted_types['pose']
+    dm.visionPolicyState.distractedTypes.eye = self.distracted_types['eye']
+    dm.visionPolicyState.distractedTypes.phone = self.distracted_types['phone']
+    dm.visionPolicyState.faceDetected = self.face_detected
+    dm.visionPolicyState.pose.pitch = self.pose.pitch
+    dm.visionPolicyState.pose.yaw = self.pose.yaw
+    dm.visionPolicyState.pose.calibrated = self.pose.calibrated
+    dm.visionPolicyState.pose.pitchCalib.calibratedPercent = to_percent(self.pose.pitch_offsetter.filtered_stat.n / self.settings._POSE_OFFSET_MIN_COUNT)
+    dm.visionPolicyState.pose.pitchCalib.offset = self.pose.pitch_offsetter.filtered_stat.M
+    dm.visionPolicyState.pose.yawCalib.calibratedPercent = to_percent(self.pose.yaw_offsetter.filtered_stat.n / self.settings._POSE_OFFSET_MIN_COUNT)
+    dm.visionPolicyState.pose.yawCalib.offset = self.pose.yaw_offsetter.filtered_stat.M
+    dm.visionPolicyState.pose.uncertainty = self.model_std_max
+    dm.visionPolicyState.wheeltouchFallbackPercent = to_percent(self.hi_stds / self.settings._HI_STD_FALLBACK_TIME)
+    dm.visionPolicyState.uncertainOffroadAlertPercent = to_percent(self.dcam_uncertain_cnt / self.settings._DCAM_UNCERTAIN_ALERT_COUNT)
+
+    dm.wheeltouchPolicyState.awarenessPercent = to_percent(self.last_wheeltouch_awareness if self.active_policy == MonitoringPolicy.vision else self.awareness)
+    dm.wheeltouchPolicyState.awarenessStep = 0. if self.active_policy == MonitoringPolicy.vision else self.step_change
+    dm.wheeltouchPolicyState.driverInteracting = self.driver_interacting
+    return dat
+
+  def run_step(self, sm, demo=False):
+    if demo:
+      car_speed = 30
+      enabled = True
+      wrong_gear = False
+      standstill = False
+      driver_engaged = False
+      brake_disengage_prob = 1.0
+      steering_angle_deg = 0.0
+      rpyCalib = [0., 0., 0.]
+    else:
+      car_speed = sm['carState'].vEgo
+      enabled = sm['selfdriveState'].enabled
+      wrong_gear = sm['carState'].gearShifter not in (car.CarState.GearShifter.drive, car.CarState.GearShifter.low)
+      standstill = sm['carState'].standstill
+      driver_engaged = sm['carState'].steeringPressed or sm['carState'].gasPressed
+      brake_disengage_prob = sm['modelV2'].meta.disengagePredictions.brakeDisengageProbs[0] # brake disengage prob in next 2s
+      steering_angle_deg = sm['carState'].steeringAngleDeg
+      rpyCalib = sm['liveCalibration'].rpyCalib
+
+    self._set_pose_strictness(
+      brake_disengage_prob=brake_disengage_prob,
+      car_speed=car_speed,
+    )
+
+    # Parse data from dmonitoringmodeld
+    self._update_states(
+      driver_state=sm['driverStateV2'],
+      cal_rpy=rpyCalib,
+      car_speed=car_speed,
+      op_engaged=enabled,
+      standstill=standstill,
+      demo_mode=demo,
+      steering_angle_deg=steering_angle_deg,
+    )
+
+    # Update distraction events
+    self._update_events(
+      driver_engaged=driver_engaged,
+      op_engaged=enabled,
+      standstill=standstill,
+      wrong_gear=wrong_gear,
+    )
diff --git a/selfdrive/monitoring/test_monitoring.py b/selfdrive/monitoring/test_monitoring.py
index 6ea9b80283f..948931cb290 100644
--- a/selfdrive/monitoring/test_monitoring.py
+++ b/selfdrive/monitoring/test_monitoring.py
@@ -2,27 +2,24 @@
 
 from cereal import log
 from openpilot.common.realtime import DT_DMON
-from openpilot.selfdrive.monitoring.helpers import DriverMonitoring, DRIVER_MONITOR_SETTINGS
-from openpilot.system.hardware import HARDWARE
+from openpilot.selfdrive.monitoring.policy import DriverMonitoring, DRIVER_MONITOR_SETTINGS
 
 EventName = log.OnroadEvent.EventName
-dm_settings = DRIVER_MONITOR_SETTINGS(device_type=HARDWARE.get_device_type())
+dm_settings = DRIVER_MONITOR_SETTINGS()
 
 TEST_TIMESPAN = 120  # seconds
-DISTRACTED_SECONDS_TO_ORANGE = dm_settings._DISTRACTED_TIME - dm_settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL + 1
-DISTRACTED_SECONDS_TO_RED = dm_settings._DISTRACTED_TIME + 1
-INVISIBLE_SECONDS_TO_ORANGE = dm_settings._AWARENESS_TIME - dm_settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL + 1
-INVISIBLE_SECONDS_TO_RED = dm_settings._AWARENESS_TIME + 1
+DISTRACTED_SECONDS_TO_ORANGE = dm_settings._VISION_POLICY_ALERT_2_TIMEOUT + 1
+DISTRACTED_SECONDS_TO_RED = dm_settings._VISION_POLICY_ALERT_3_TIMEOUT + 1
+INVISIBLE_SECONDS_TO_ORANGE = dm_settings._WHEELTOUCH_POLICY_ALERT_2_TIMEOUT + 1
+INVISIBLE_SECONDS_TO_RED = dm_settings._WHEELTOUCH_POLICY_ALERT_3_TIMEOUT + 1
 
 def make_msg(face_detected, distracted=False, model_uncertain=False):
   ds = log.DriverStateV2.new_message()
   ds.leftDriverData.faceOrientation = [0., 0., 0.]
   ds.leftDriverData.facePosition = [0., 0.]
   ds.leftDriverData.faceProb = 1. * face_detected
-  ds.leftDriverData.leftEyeProb = 1.
-  ds.leftDriverData.rightEyeProb = 1.
-  ds.leftDriverData.leftBlinkProb = 1. * distracted
-  ds.leftDriverData.rightBlinkProb = 1. * distracted
+  ds.leftDriverData.eyesVisibleProb = 1.
+  ds.leftDriverData.eyesClosedProb = 1. * distracted
   ds.leftDriverData.faceOrientationStd = [1.*model_uncertain, 1.*model_uncertain, 1.*model_uncertain]
   ds.leftDriverData.facePositionStd = [1.*model_uncertain, 1.*model_uncertain]
   # TODO: test both separately when e2e is used
@@ -36,7 +33,7 @@ def make_msg(face_detected, distracted=False, model_uncertain=False):
 msg_DISTRACTED = make_msg(True, distracted=True)
 msg_ATTENTIVE_UNCERTAIN = make_msg(True, model_uncertain=True)
 msg_DISTRACTED_UNCERTAIN = make_msg(True, distracted=True, model_uncertain=True)
-msg_DISTRACTED_BUT_SOMEHOW_UNCERTAIN = make_msg(True, distracted=True, model_uncertain=dm_settings._POSESTD_THRESHOLD*1.5)
+msg_DISTRACTED_BUT_SOMEHOW_UNCERTAIN = make_msg(True, distracted=True, model_uncertain=dm_settings._HI_STD_THRESHOLD*1.5)
 
 # driver interaction with car
 car_interaction_DETECTED = True
@@ -52,49 +49,49 @@ def make_msg(face_detected, distracted=False, model_uncertain=False):
 class TestMonitoring:
   def _run_seq(self, msgs, interaction, engaged, standstill):
     DM = DriverMonitoring()
-    events = []
+    alert_lvls = []
     for idx in range(len(msgs)):
       DM._update_states(msgs[idx], [0, 0, 0], 0, engaged[idx], standstill[idx])
       # cal_rpy and car_speed don't matter here
 
       # evaluate events at 10Hz for tests
-      DM._update_events(interaction[idx], engaged[idx], standstill[idx], 0, 0)
-      events.append(DM.current_events)
-    assert len(events) == len(msgs), f"got {len(events)} for {len(msgs)} driverState input msgs"
-    return events, DM
+      DM._update_events(interaction[idx], engaged[idx], standstill[idx], 0)
+      alert_lvls.append(DM.alert_level)
+    assert len(alert_lvls) == len(msgs), f"got {len(alert_lvls)} for {len(msgs)} driverState input msgs"
+    return alert_lvls, DM
 
-  def _assert_no_events(self, events):
-    assert all(not len(e) for e in events)
 
   # engaged, driver is attentive all the time
   def test_fully_aware_driver(self):
-    events, _ = self._run_seq(always_attentive, always_false, always_true, always_false)
-    self._assert_no_events(events)
+    alert_lvls, d_status = self._run_seq(always_attentive, always_false, always_true, always_false)
+    assert all(a == 0 for a in alert_lvls)
+    assert d_status.active_policy == log.DriverMonitoringState.MonitoringPolicy.vision
 
   # engaged, driver is distracted and does nothing
   def test_fully_distracted_driver(self):
-    events, d_status = self._run_seq(always_distracted, always_false, always_true, always_false)
-    assert len(events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL)/2/DT_DMON)]) == 0
-    assert events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL + \
-                    ((d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL-d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == \
-                    EventName.preDriverDistracted
-    assert events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL + \
-                    ((d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == EventName.promptDriverDistracted
-    assert events[int((d_status.settings._DISTRACTED_TIME + \
-                    ((TEST_TIMESPAN-10-d_status.settings._DISTRACTED_TIME)/2))/DT_DMON)].names[0] == EventName.driverDistracted
+    alert_lvls, d_status = self._run_seq(always_distracted, always_false, always_true, always_false)
+    s = d_status.settings
+    assert alert_lvls[int(s._VISION_POLICY_ALERT_1_TIMEOUT / 2 / DT_DMON)] == 0
+    assert alert_lvls[int((s._VISION_POLICY_ALERT_1_TIMEOUT + \
+                    (s._VISION_POLICY_ALERT_2_TIMEOUT - s._VISION_POLICY_ALERT_1_TIMEOUT) / 2) / DT_DMON)] == 1
+    assert alert_lvls[int((s._VISION_POLICY_ALERT_2_TIMEOUT + \
+                    (s._VISION_POLICY_ALERT_3_TIMEOUT - s._VISION_POLICY_ALERT_2_TIMEOUT) / 2) / DT_DMON)] == 2
+    assert alert_lvls[int((s._VISION_POLICY_ALERT_3_TIMEOUT + \
+                    (TEST_TIMESPAN - 10 - s._VISION_POLICY_ALERT_3_TIMEOUT) / 2) / DT_DMON)] == 3
     assert isinstance(d_status.awareness, float)
 
   # engaged, no face detected the whole time, no action
   def test_fully_invisible_driver(self):
-    events, d_status = self._run_seq(always_no_face, always_false, always_true, always_false)
-    assert len(events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL)/2/DT_DMON)]) == 0
-    assert events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL + \
-                      ((d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL-d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == \
-                      EventName.preDriverUnresponsive
-    assert events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL + \
-                      ((d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == EventName.promptDriverUnresponsive
-    assert events[int((d_status.settings._AWARENESS_TIME + \
-                      ((TEST_TIMESPAN-10-d_status.settings._AWARENESS_TIME)/2))/DT_DMON)].names[0] == EventName.driverUnresponsive
+    alert_lvls, d_status = self._run_seq(always_no_face, always_false, always_true, always_false)
+    s = d_status.settings
+    assert alert_lvls[int(s._WHEELTOUCH_POLICY_ALERT_1_TIMEOUT / 2 / DT_DMON)] == 0
+    assert alert_lvls[int((s._WHEELTOUCH_POLICY_ALERT_1_TIMEOUT + \
+                    (s._WHEELTOUCH_POLICY_ALERT_2_TIMEOUT - s._WHEELTOUCH_POLICY_ALERT_1_TIMEOUT) / 2) / DT_DMON)] == 1
+    assert alert_lvls[int((s._WHEELTOUCH_POLICY_ALERT_2_TIMEOUT + \
+                    (s._WHEELTOUCH_POLICY_ALERT_3_TIMEOUT - s._WHEELTOUCH_POLICY_ALERT_2_TIMEOUT) / 2) / DT_DMON)] == 2
+    assert alert_lvls[int((s._WHEELTOUCH_POLICY_ALERT_3_TIMEOUT + \
+                    (TEST_TIMESPAN - 10 - s._WHEELTOUCH_POLICY_ALERT_3_TIMEOUT) / 2) / DT_DMON)] == 3
+    assert d_status.active_policy == log.DriverMonitoringState.MonitoringPolicy.wheeltouch
 
   # engaged, down to orange, driver pays attention, back to normal; then down to orange, driver touches wheel
   #  - should have short orange recovery time and no green afterwards; wheel touch only recovers when paying attention
@@ -105,13 +102,13 @@ def test_normal_driver(self):
                 [msg_ATTENTIVE] * (int(TEST_TIMESPAN/DT_DMON)-int((DISTRACTED_SECONDS_TO_ORANGE*3+2)/DT_DMON))
     interaction_vector = [car_interaction_NOT_DETECTED] * int(DISTRACTED_SECONDS_TO_ORANGE*3/DT_DMON) + \
                          [car_interaction_DETECTED] * (int(TEST_TIMESPAN/DT_DMON)-int(DISTRACTED_SECONDS_TO_ORANGE*3/DT_DMON))
-    events, _ = self._run_seq(ds_vector, interaction_vector, always_true, always_false)
-    assert len(events[int(DISTRACTED_SECONDS_TO_ORANGE*0.5/DT_DMON)]) == 0
-    assert events[int((DISTRACTED_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0] == EventName.promptDriverDistracted
-    assert len(events[int(DISTRACTED_SECONDS_TO_ORANGE*1.5/DT_DMON)]) == 0
-    assert events[int((DISTRACTED_SECONDS_TO_ORANGE*3-0.1)/DT_DMON)].names[0] == EventName.promptDriverDistracted
-    assert events[int((DISTRACTED_SECONDS_TO_ORANGE*3+0.1)/DT_DMON)].names[0] == EventName.promptDriverDistracted
-    assert len(events[int((DISTRACTED_SECONDS_TO_ORANGE*3+2.5)/DT_DMON)]) == 0
+    alert_lvls, _ = self._run_seq(ds_vector, interaction_vector, always_true, always_false)
+    assert alert_lvls[int(DISTRACTED_SECONDS_TO_ORANGE*0.5/DT_DMON)] == 0
+    assert alert_lvls[int((DISTRACTED_SECONDS_TO_ORANGE-0.1)/DT_DMON)] == 2
+    assert alert_lvls[int(DISTRACTED_SECONDS_TO_ORANGE*1.5/DT_DMON)] == 0
+    assert alert_lvls[int((DISTRACTED_SECONDS_TO_ORANGE*3-0.1)/DT_DMON)] == 2
+    assert alert_lvls[int((DISTRACTED_SECONDS_TO_ORANGE*3+0.1)/DT_DMON)] == 2
+    assert alert_lvls[int((DISTRACTED_SECONDS_TO_ORANGE*3+2.5)/DT_DMON)] == 0
 
   # engaged, down to orange, driver dodges camera, then comes back still distracted, down to red, \
   #                          driver dodges, and then touches wheel to no avail, disengages and reengages
@@ -129,11 +126,11 @@ def test_biggest_comma_fan(self):
                                                         = [True] * int(1/DT_DMON)
     op_vector[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+2.5)/DT_DMON):int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+3)/DT_DMON)] \
                                                         = [False] * int(0.5/DT_DMON)
-    events, _ = self._run_seq(ds_vector, interaction_vector, op_vector, always_false)
-    assert events[int((DISTRACTED_SECONDS_TO_ORANGE+0.5*_invisible_time)/DT_DMON)].names[0] == EventName.promptDriverDistracted
-    assert events[int((DISTRACTED_SECONDS_TO_RED+1.5*_invisible_time)/DT_DMON)].names[0] == EventName.driverDistracted
-    assert events[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+1.5)/DT_DMON)].names[0] == EventName.driverDistracted
-    assert len(events[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+3.5)/DT_DMON)]) == 0
+    alert_lvls, _ = self._run_seq(ds_vector, interaction_vector, op_vector, always_false)
+    assert alert_lvls[int((DISTRACTED_SECONDS_TO_ORANGE+0.5*_invisible_time)/DT_DMON)] == 2
+    assert alert_lvls[int((DISTRACTED_SECONDS_TO_RED+1.5*_invisible_time)/DT_DMON)] == 3
+    assert alert_lvls[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+1.5)/DT_DMON)] == 3
+    assert alert_lvls[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+3.5)/DT_DMON)] == 0
 
   # engaged, invisible driver, down to orange, driver touches wheel; then down to orange again, driver appears
   #  - both actions should clear the alert, but momentary appearance should not
@@ -144,16 +141,16 @@ def test_sometimes_transparent_commuter(self):
     ds_vector[int((2*INVISIBLE_SECONDS_TO_ORANGE+1)/DT_DMON):int((2*INVISIBLE_SECONDS_TO_ORANGE+1+_visible_time)/DT_DMON)] = \
                                                                                              [msg_ATTENTIVE] * int(_visible_time/DT_DMON)
     interaction_vector[int((INVISIBLE_SECONDS_TO_ORANGE)/DT_DMON):int((INVISIBLE_SECONDS_TO_ORANGE+1)/DT_DMON)] = [True] * int(1/DT_DMON)
-    events, _ = self._run_seq(ds_vector, interaction_vector, 2*always_true, 2*always_false)
-    assert len(events[int(INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)]) == 0
-    assert events[int((INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0] == EventName.promptDriverUnresponsive
-    assert len(events[int((INVISIBLE_SECONDS_TO_ORANGE+0.1)/DT_DMON)]) == 0
+    alert_lvls, _ = self._run_seq(ds_vector, interaction_vector, 2*always_true, 2*always_false)
+    assert alert_lvls[int(INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)] == 0
+    assert alert_lvls[int((INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)] == 2
+    assert alert_lvls[int((INVISIBLE_SECONDS_TO_ORANGE+0.1)/DT_DMON)] == 0
     if _visible_time == 0.5:
-      assert events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)].names[0] == EventName.promptDriverUnresponsive
-      assert events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)].names[0] == EventName.preDriverUnresponsive
+      assert alert_lvls[int((INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)] == 2
+      assert alert_lvls[int((INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)] == 1
     elif _visible_time == 10:
-      assert events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)].names[0] == EventName.promptDriverUnresponsive
-      assert len(events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)]) == 0
+      assert alert_lvls[int((INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)] == 2
+      assert alert_lvls[int((INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)] == 0
 
   # engaged, invisible driver, down to red, driver appears and then touches wheel, then disengages/reengages
   #  - only disengage will clear the alert
@@ -165,19 +162,19 @@ def test_last_second_responder(self):
     ds_vector[int(INVISIBLE_SECONDS_TO_RED/DT_DMON):int((INVISIBLE_SECONDS_TO_RED+_visible_time)/DT_DMON)] = [msg_ATTENTIVE] * int(_visible_time/DT_DMON)
     interaction_vector[int((INVISIBLE_SECONDS_TO_RED+_visible_time)/DT_DMON):int((INVISIBLE_SECONDS_TO_RED+_visible_time+1)/DT_DMON)] = [True] * int(1/DT_DMON)
     op_vector[int((INVISIBLE_SECONDS_TO_RED+_visible_time+1)/DT_DMON):int((INVISIBLE_SECONDS_TO_RED+_visible_time+0.5)/DT_DMON)] = [False] * int(0.5/DT_DMON)
-    events, _ = self._run_seq(ds_vector, interaction_vector, op_vector, always_false)
-    assert len(events[int(INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)]) == 0
-    assert events[int((INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0] == EventName.promptDriverUnresponsive
-    assert events[int((INVISIBLE_SECONDS_TO_RED-0.1)/DT_DMON)].names[0] == EventName.driverUnresponsive
-    assert events[int((INVISIBLE_SECONDS_TO_RED+0.5*_visible_time)/DT_DMON)].names[0] == EventName.driverUnresponsive
-    assert events[int((INVISIBLE_SECONDS_TO_RED+_visible_time+0.5)/DT_DMON)].names[0] == EventName.driverUnresponsive
-    assert len(events[int((INVISIBLE_SECONDS_TO_RED+_visible_time+1+0.1)/DT_DMON)]) == 0
+    alert_lvls, _ = self._run_seq(ds_vector, interaction_vector, op_vector, always_false)
+    assert alert_lvls[int(INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)] == 0
+    assert alert_lvls[int((INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)] == 2
+    assert alert_lvls[int((INVISIBLE_SECONDS_TO_RED-0.1)/DT_DMON)] == 3
+    assert alert_lvls[int((INVISIBLE_SECONDS_TO_RED+0.5*_visible_time)/DT_DMON)] == 3
+    assert alert_lvls[int((INVISIBLE_SECONDS_TO_RED+_visible_time+0.5)/DT_DMON)] == 3
+    assert alert_lvls[int((INVISIBLE_SECONDS_TO_RED+_visible_time+1+0.1)/DT_DMON)] == 0
 
   # disengaged, always distracted driver
   #  - dm should stay quiet when not engaged
   def test_pure_dashcam_user(self):
-    events, _ = self._run_seq(always_distracted, always_false, always_false, always_false)
-    assert sum(len(event) for event in events) == 0
+    alert_lvls, _ = self._run_seq(always_distracted, always_false, always_false, always_false)
+    assert all(a == 0 for a in alert_lvls)
 
   # engaged, car stops at traffic light, down to orange, no action, then car starts moving
   #  - should only reach green when stopped, but continues counting down on launch
@@ -185,22 +182,31 @@ def test_long_traffic_light_victim(self):
     _redlight_time = 60  # seconds
     standstill_vector = always_true[:]
     standstill_vector[int(_redlight_time/DT_DMON):] = [False] * int((TEST_TIMESPAN-_redlight_time)/DT_DMON)
-    events, d_status = self._run_seq(always_distracted, always_false, always_true, standstill_vector)
-    assert events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL+1)/DT_DMON)].names[0] == \
-                                                                                                                    EventName.preDriverDistracted
-    assert events[int((_redlight_time-0.1)/DT_DMON)].names[0] == EventName.preDriverDistracted
-    assert events[int((_redlight_time+0.5)/DT_DMON)].names[0] == EventName.promptDriverDistracted
+    alert_lvls, d_status = self._run_seq(always_distracted, always_false, always_true, standstill_vector)
+    s = d_status.settings
+    assert alert_lvls[int((_redlight_time-0.1)/DT_DMON)] == 0
+    _alert_1_to_2 = s._VISION_POLICY_ALERT_2_TIMEOUT - s._VISION_POLICY_ALERT_1_TIMEOUT
+    assert alert_lvls[int((_redlight_time+0.5)/DT_DMON)] == 1
+    assert alert_lvls[int((_redlight_time+_alert_1_to_2+0.5)/DT_DMON)] == 2
+
+  # engaged, distracted while moving, then car stops after reaching orange
+  #  - should reset timer to pre green at standstill
+  def test_distracted_then_stops(self):
+    _stop_time = DISTRACTED_SECONDS_TO_ORANGE + 1  # stop 1 second after reaching orange
+    standstill_vector = always_false[:]
+    standstill_vector[int(_stop_time/DT_DMON):] = [True] * int((TEST_TIMESPAN-_stop_time)/DT_DMON)
+    alert_lvls, _ = self._run_seq(always_distracted, always_false, always_true, standstill_vector)
+    # just before and briefly after stopping: orange alert; goes away quickly after stopped
+    assert alert_lvls[int((_stop_time+0.1)/DT_DMON)] == 2
+    assert alert_lvls[int((_stop_time+0.5)/DT_DMON)] == 0
 
   # engaged, model is somehow uncertain and driver is distracted
   #  - should fall back to wheel touch after uncertain alert
   def test_somehow_indecisive_model(self):
     ds_vector = [msg_DISTRACTED_BUT_SOMEHOW_UNCERTAIN] * int(TEST_TIMESPAN/DT_DMON)
     interaction_vector = always_false[:]
-    events, d_status = self._run_seq(ds_vector, interaction_vector, always_true, always_false)
-    assert EventName.preDriverUnresponsive in \
-                              events[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME-0.1)/DT_DMON)].names
-    assert EventName.promptDriverUnresponsive in \
-                              events[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names
-    assert EventName.driverUnresponsive in \
-                              events[int((INVISIBLE_SECONDS_TO_RED-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names
-
+    alert_lvls, d_status = self._run_seq(ds_vector, interaction_vector, always_true, always_false)
+    s = d_status.settings
+    assert alert_lvls[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*s._HI_STD_FALLBACK_TIME-0.1)/DT_DMON)] == 1
+    assert alert_lvls[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*s._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)] == 2
+    assert alert_lvls[int((INVISIBLE_SECONDS_TO_RED-1+DT_DMON*s._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)] == 3
diff --git a/selfdrive/pandad/.gitignore b/selfdrive/pandad/.gitignore
index f7226cdb876..cb292405c9f 100644
--- a/selfdrive/pandad/.gitignore
+++ b/selfdrive/pandad/.gitignore
@@ -1,3 +1,3 @@
 pandad
 pandad_api_impl.cpp
-tests/test_pandad_usbprotocol
+tests/test_pandad_canprotocol
diff --git a/selfdrive/pandad/SConscript b/selfdrive/pandad/SConscript
index 58777cafe96..fd59db98537 100644
--- a/selfdrive/pandad/SConscript
+++ b/selfdrive/pandad/SConscript
@@ -1,13 +1,10 @@
-Import('env', 'envCython', 'common', 'messaging')
+Import('env', 'arch', 'common', 'messaging')
 
-libs = ['usb-1.0', common, messaging, 'pthread']
-panda = env.Library('panda', ['panda.cc', 'panda_comms.cc', 'spi.cc'])
+if arch != "Darwin":
+  libs = [common, messaging, 'pthread']
+  panda = env.Library('panda', ['panda.cc', 'spi.cc'])
 
-env.Program('pandad', ['main.cc', 'pandad.cc', 'panda_safety.cc'], LIBS=[panda] + libs)
-env.Library('libcan_list_to_can_capnp', ['can_list_to_can_capnp.cc'])
+  env.Program('pandad', ['main.cc', 'pandad.cc', 'panda_safety.cc'], LIBS=[panda] + libs)
 
-pandad_python = envCython.Program('pandad_api_impl.so', 'pandad_api_impl.pyx', LIBS=["can_list_to_can_capnp", 'capnp', 'kj'] + envCython["LIBS"])
-Export('pandad_python')
-
-if GetOption('extras'):
-  env.Program('tests/test_pandad_usbprotocol', ['tests/test_pandad_usbprotocol.cc'], LIBS=[panda] + libs)
+  if GetOption('extras'):
+    env.Program('tests/test_pandad_canprotocol', ['tests/test_pandad_canprotocol.cc'], LIBS=[panda] + libs)
diff --git a/selfdrive/pandad/__init__.py b/selfdrive/pandad/__init__.py
index cc680e16765..0c17e886a2e 100644
--- a/selfdrive/pandad/__init__.py
+++ b/selfdrive/pandad/__init__.py
@@ -1,4 +1,3 @@
-# Cython, now uses scons to build
 from openpilot.selfdrive.pandad.pandad_api_impl import can_list_to_can_capnp, can_capnp_to_list
 assert can_list_to_can_capnp
 assert can_capnp_to_list
diff --git a/selfdrive/pandad/can_list_to_can_capnp.cc b/selfdrive/pandad/can_list_to_can_capnp.cc
deleted file mode 100644
index f2cf1534533..00000000000
--- a/selfdrive/pandad/can_list_to_can_capnp.cc
+++ /dev/null
@@ -1,50 +0,0 @@
-#include "cereal/messaging/messaging.h"
-#include "selfdrive/pandad/can_types.h"
-
-void can_list_to_can_capnp_cpp(const std::vector<CanFrame> &can_list, std::string &out, bool sendcan, bool valid) {
-  MessageBuilder msg;
-  auto event = msg.initEvent(valid);
-
-  auto canData = sendcan ? event.initSendcan(can_list.size()) : event.initCan(can_list.size());
-  int j = 0;
-  for (auto it = can_list.begin(); it != can_list.end(); it++, j++) {
-    auto c = canData[j];
-    c.setAddress(it->address);
-    c.setDat(kj::arrayPtr((uint8_t*)it->dat.data(), it->dat.size()));
-    c.setSrc(it->src);
-  }
-  const uint64_t msg_size = capnp::computeSerializedSizeInWords(msg) * sizeof(capnp::word);
-  out.resize(msg_size);
-  kj::ArrayOutputStream output_stream(kj::ArrayPtr<capnp::byte>((unsigned char *)out.data(), msg_size));
-  capnp::writeMessage(output_stream, msg);
-}
-
-// Converts a vector of Cap'n Proto serialized can strings into a vector of CanData structures.
-void can_capnp_to_can_list_cpp(const std::vector<std::string> &strings, std::vector<CanData> &can_list, bool sendcan) {
-  AlignedBuffer aligned_buf;
-  can_list.reserve(strings.size());
-
-  for (const auto &str : strings) {
-    // extract the messages
-    capnp::FlatArrayMessageReader reader(aligned_buf.align(str.data(), str.size()));
-    cereal::Event::Reader event = reader.getRoot<cereal::Event>();
-
-    auto frames = sendcan ? event.getSendcan() : event.getCan();
-
-    // Add new CanData entry
-    CanData &can_data = can_list.emplace_back();
-    can_data.nanos = event.getLogMonoTime();
-    can_data.frames.reserve(frames.size());
-
-    // Populate CAN frames
-    for (const auto &frame : frames) {
-      CanFrame &can_frame = can_data.frames.emplace_back();
-      can_frame.src = frame.getSrc();
-      can_frame.address = frame.getAddress();
-
-      // Copy CAN data
-      auto dat = frame.getDat();
-      can_frame.dat.assign(dat.begin(), dat.end());
-    }
-  }
-}
diff --git a/selfdrive/pandad/can_types.h b/selfdrive/pandad/can_types.h
deleted file mode 100644
index 5fae581cfae..00000000000
--- a/selfdrive/pandad/can_types.h
+++ /dev/null
@@ -1,15 +0,0 @@
-#pragma once
-
-#include <vector>
-#include <cstdint>
-
-struct CanFrame {
-  long src;
-  uint32_t address;
-  std::vector<uint8_t> dat;
-};
-
-struct CanData {
-  uint64_t nanos;
-  std::vector<CanFrame> frames;
-};
\ No newline at end of file
diff --git a/selfdrive/pandad/main.cc b/selfdrive/pandad/main.cc
index b63d884a45e..ef30d6037c2 100644
--- a/selfdrive/pandad/main.cc
+++ b/selfdrive/pandad/main.cc
@@ -16,7 +16,7 @@ int main(int argc, char *argv[]) {
     assert(err == 0);
   }
 
-  std::vector<std::string> serials(argv + 1, argv + argc);
-  pandad_main_thread(serials);
+  std::string serial = (argc > 1) ? argv[1] : "";
+  pandad_main_thread(serial);
   return 0;
 }
diff --git a/selfdrive/pandad/panda.cc b/selfdrive/pandad/panda.cc
index 93e139f0ec1..edc2228c0c7 100644
--- a/selfdrive/pandad/panda.cc
+++ b/selfdrive/pandad/panda.cc
@@ -12,19 +12,9 @@
 
 const bool PANDAD_MAXOUT = getenv("PANDAD_MAXOUT") != nullptr;
 
-Panda::Panda(std::string serial, uint32_t bus_offset) : bus_offset(bus_offset) {
-  // try USB first, then SPI
-  try {
-    handle = std::make_unique<PandaUsbHandle>(serial);
-    LOGW("connected to %s over USB", serial.c_str());
-  } catch (std::exception &e) {
-#ifndef __APPLE__
-    handle = std::make_unique<PandaSpiHandle>(serial);
-    LOGW("connected to %s over SPI", serial.c_str());
-#else
-    throw e;
-#endif
-  }
+Panda::Panda(std::string serial) {
+  handle = std::make_unique<PandaSpiHandle>(serial);
+  LOGW("connected to %s over SPI", serial.c_str());
 
   hw_type = get_hw_type();
   can_reset_communications();
@@ -42,20 +32,8 @@ std::string Panda::hw_serial() {
   return handle->hw_serial;
 }
 
-std::vector<std::string> Panda::list(bool usb_only) {
-  std::vector<std::string> serials = PandaUsbHandle::list();
-
-#ifndef __APPLE__
-  if (!usb_only) {
-    for (const auto &s : PandaSpiHandle::list()) {
-      if (std::find(serials.begin(), serials.end(), s) == serials.end()) {
-        serials.push_back(s);
-      }
-    }
-  }
-#endif
-
-  return serials;
+std::vector<std::string> Panda::list() {
+  return PandaSpiHandle::list();
 }
 
 void Panda::set_safety_model(cereal::CarParams::SafetyModel safety_model, uint16_t safety_param) {
@@ -195,7 +173,7 @@ void Panda::pack_can_buffer(const capnp::List<cereal::CanData>::Reader &can_data
   for (const auto &cmsg : can_data_list) {
     // check if the message is intended for this panda
     uint8_t bus = cmsg.getSrc();
-    if (bus < bus_offset || bus >= (bus_offset + PANDA_BUS_OFFSET)) {
+    if (bus >= PANDA_BUS_OFFSET) {
       continue;
     }
     auto can_data = cmsg.getDat();
@@ -207,7 +185,7 @@ void Panda::pack_can_buffer(const capnp::List<cereal::CanData>::Reader &can_data
     header.addr = cmsg.getAddress();
     header.extended = (cmsg.getAddress() >= 0x800) ? 1 : 0;
     header.data_len_code = data_len_code;
-    header.bus = bus - bus_offset;
+    header.bus = bus;
     header.checksum = 0;
 
     memcpy(&send_buf[pos], (uint8_t *)&header, sizeof(can_header));
@@ -283,7 +261,7 @@ bool Panda::unpack_can_buffer(uint8_t *data, uint32_t &size, std::vector<can_fra
 
     can_frame &canData = out_vec.emplace_back();
     canData.address = header.addr;
-    canData.src = header.bus + bus_offset;
+    canData.src = header.bus;
     if (header.rejected) {
       canData.src += CAN_REJECTED_BUS_OFFSET;
     }
diff --git a/selfdrive/pandad/panda.h b/selfdrive/pandad/panda.h
index 5cbce44f281..1a066dc5fb7 100644
--- a/selfdrive/pandad/panda.h
+++ b/selfdrive/pandad/panda.h
@@ -45,20 +45,19 @@ struct can_frame {
 
 class Panda {
 private:
-  std::unique_ptr<PandaCommsHandle> handle;
+  std::unique_ptr<PandaSpiHandle> handle;
 
 public:
-  Panda(std::string serial="", uint32_t bus_offset=0);
+  Panda(std::string serial);
 
   cereal::PandaState::PandaType hw_type = cereal::PandaState::PandaType::UNKNOWN;
-  const uint32_t bus_offset;
 
   bool connected();
   bool comms_healthy();
   std::string hw_serial();
 
   // Static functions
-  static std::vector<std::string> list(bool usb_only=false);
+  static std::vector<std::string> list();
 
   // Panda functionality
   cereal::PandaState::PandaType get_hw_type();
@@ -91,7 +90,7 @@ class Panda {
   uint8_t receive_buffer[RECV_SIZE + sizeof(can_header) + 64];
   uint32_t receive_buffer_size = 0;
 
-  Panda(uint32_t bus_offset) : bus_offset(bus_offset) {}
+  Panda() {}
   void pack_can_buffer(const capnp::List<cereal::CanData>::Reader &can_data_list,
                          std::function<void(uint8_t *, size_t)> write_func);
   bool unpack_can_buffer(uint8_t *data, uint32_t &size, std::vector<can_frame> &out_vec);
diff --git a/selfdrive/pandad/panda_comms.cc b/selfdrive/pandad/panda_comms.cc
deleted file mode 100644
index 8a20f397d31..00000000000
--- a/selfdrive/pandad/panda_comms.cc
+++ /dev/null
@@ -1,227 +0,0 @@
-#include "selfdrive/pandad/panda.h"
-
-#include <cassert>
-#include <stdexcept>
-#include <memory>
-
-#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) : PandaCommsHandle(serial) {
-  // init libusb
-  ssize_t num_devices;
-  libusb_device **dev_list = NULL;
-  int err = 0;
-  ctx = init_usb_ctx();
-  if (!ctx) { goto fail; }
-
-  // connect by serial
-  num_devices = libusb_get_device_list(ctx, &dev_list);
-  if (num_devices < 0) { goto fail; }
-  for (size_t i = 0; i < num_devices; ++i) {
-    libusb_device_descriptor desc;
-    libusb_get_device_descriptor(dev_list[i], &desc);
-    if (desc.idVendor == 0x3801 && desc.idProduct == 0xddcc) {
-      int ret = libusb_open(dev_list[i], &dev_handle);
-      if (dev_handle == NULL || ret < 0) { goto fail; }
-
-      unsigned char desc_serial[26] = { 0 };
-      ret = libusb_get_string_descriptor_ascii(dev_handle, desc.iSerialNumber, desc_serial, std::size(desc_serial));
-      if (ret < 0) { goto fail; }
-
-      hw_serial = std::string((char *)desc_serial, ret);
-      if (serial.empty() || serial == hw_serial) {
-        break;
-      }
-      libusb_close(dev_handle);
-      dev_handle = NULL;
-    }
-  }
-  if (dev_handle == NULL) 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 != NULL) {
-    libusb_free_device_list(dev_list, 1);
-  }
-  cleanup();
-  throw std::runtime_error("Error connecting to panda");
-}
-
-PandaUsbHandle::~PandaUsbHandle() {
-  std::lock_guard lk(hw_lock);
-  cleanup();
-  connected = false;
-}
-
-void PandaUsbHandle::cleanup() {
-  if (dev_handle) {
-    libusb_release_interface(dev_handle, 0);
-    libusb_close(dev_handle);
-  }
-
-  if (ctx) {
-    libusb_exit(ctx);
-  }
-}
-
-std::vector<std::string> PandaUsbHandle::list() {
-  static std::unique_ptr<libusb_context, decltype(&libusb_exit)> context(init_usb_ctx(), libusb_exit);
-  // init libusb
-  ssize_t num_devices;
-  libusb_device **dev_list = NULL;
-  std::vector<std::string> serials;
-  if (!context) { return serials; }
-
-  num_devices = libusb_get_device_list(context.get(), &dev_list);
-  if (num_devices < 0) {
-    LOGE("libusb can't get device list");
-    goto finish;
-  }
-  for (size_t i = 0; i < num_devices; ++i) {
-    libusb_device *device = dev_list[i];
-    libusb_device_descriptor desc;
-    libusb_get_device_descriptor(device, &desc);
-    if (desc.idVendor == 0x3801 && desc.idProduct == 0xddcc) {
-      libusb_device_handle *handle = NULL;
-      int ret = libusb_open(device, &handle);
-      if (ret < 0) { goto finish; }
-
-      unsigned char desc_serial[26] = { 0 };
-      ret = libusb_get_string_descriptor_ascii(handle, desc.iSerialNumber, desc_serial, std::size(desc_serial));
-      libusb_close(handle);
-      if (ret < 0) { goto finish; }
-
-      serials.push_back(std::string((char *)desc_serial, ret));
-    }
-  }
-
-finish:
-  if (dev_list != NULL) {
-    libusb_free_device_list(dev_list, 1);
-  }
-  return serials;
-}
-
-void 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;
-  }
-  // TODO: check other errors, is simply retrying okay?
-}
-
-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, NULL, 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 {
-    // Try sending can messages. If the receive buffer on the panda is full it will NAK
-    // and libusb will try again. After 5ms, it will time out. We will 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; // timeout is okay to exit, recv still happened
-    } 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 9c452faf6da..cdfb5019b62 100644
--- a/selfdrive/pandad/panda_comms.h
+++ b/selfdrive/pandad/panda_comms.h
@@ -6,67 +6,20 @@
 #include <string>
 #include <vector>
 
-#ifndef __APPLE__
-#include <linux/spi/spidev.h>
-#endif
-
-#include <libusb-1.0/libusb.h>
-
 
 #define TIMEOUT 0
 #define SPI_BUF_SIZE 2048
 
 
-// comms base class
-class PandaCommsHandle {
+class PandaSpiHandle {
 public:
-  PandaCommsHandle(std::string serial) {}
-  virtual ~PandaCommsHandle() {}
-  virtual void cleanup() = 0;
-
   std::string hw_serial;
   std::atomic<bool> connected = true;
   std::atomic<bool> comms_healthy = true;
-  static std::vector<std::string> list();
-
-  // HW communication
-  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 = NULL;
-  libusb_device_handle *dev_handle = NULL;
-  std::recursive_mutex hw_lock;
-  void handle_usb_issue(int err, const char func[]);
-};
-
-#ifndef __APPLE__
-struct __attribute__((packed)) spi_header {
-  uint8_t sync;
-  uint8_t endpoint;
-  uint16_t tx_len;
-  uint16_t max_rx_len;
-};
-
-class PandaSpiHandle : public PandaCommsHandle {
-public:
   PandaSpiHandle(std::string serial);
   ~PandaSpiHandle();
+
   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);
@@ -81,13 +34,19 @@ class PandaSpiHandle : public PandaCommsHandle {
   uint8_t rx_buf[SPI_BUF_SIZE];
   inline static std::recursive_mutex hw_lock;
 
+  struct __attribute__((packed)) spi_header {
+    uint8_t sync;
+    uint8_t endpoint;
+    uint16_t tx_len;
+    uint16_t max_rx_len;
+  };
+
   int wait_for_ack(uint8_t ack, uint8_t tx, unsigned int timeout, unsigned int length);
   int bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t rx_len, unsigned int timeout);
   int spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len, unsigned int timeout);
   int spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len, unsigned int timeout);
-  int lltransfer(spi_ioc_transfer &t);
+  int lltransfer(struct spi_ioc_transfer &t);
 
   spi_header header;
   uint32_t xfer_count = 0;
 };
-#endif
diff --git a/selfdrive/pandad/panda_safety.cc b/selfdrive/pandad/panda_safety.cc
index b089503417d..32d129bc2e7 100644
--- a/selfdrive/pandad/panda_safety.cc
+++ b/selfdrive/pandad/panda_safety.cc
@@ -23,19 +23,15 @@ void PandaSafety::updateMultiplexingMode() {
   // Initialize to ELM327 without OBD multiplexing for initial fingerprinting
   if (!initialized_) {
     prev_obd_multiplexing_ = false;
-    for (int i = 0; i < pandas_.size(); ++i) {
-      pandas_[i]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, 1U);
-    }
+    panda_->set_safety_model(cereal::CarParams::SafetyModel::ELM327, 1U);
     initialized_ = true;
   }
 
   // Switch between multiplexing modes based on the OBD multiplexing request
   bool obd_multiplexing_requested = params_.getBool("ObdMultiplexingEnabled");
   if (obd_multiplexing_requested != prev_obd_multiplexing_) {
-    for (int i = 0; i < pandas_.size(); ++i) {
-      const uint16_t safety_param = (i > 0 || !obd_multiplexing_requested) ? 1U : 0U;
-      pandas_[i]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, safety_param);
-    }
+    const uint16_t safety_param = obd_multiplexing_requested ? 0U : 1U;
+    panda_->set_safety_model(cereal::CarParams::SafetyModel::ELM327, safety_param);
     prev_obd_multiplexing_ = obd_multiplexing_requested;
     params_.putBool("ObdMultiplexingChanged", true);
   }
@@ -65,17 +61,10 @@ void PandaSafety::setSafetyMode(const std::string &params_string) {
   auto safety_configs = car_params.getSafetyConfigs();
   uint16_t alternative_experience = car_params.getAlternativeExperience();
 
-  for (int i = 0; i < pandas_.size(); ++i) {
-    // Default to SILENT safety model if not specified
-    cereal::CarParams::SafetyModel safety_model = cereal::CarParams::SafetyModel::SILENT;
-    uint16_t safety_param = 0U;
-    if (i < safety_configs.size()) {
-      safety_model = safety_configs[i].getSafetyModel();
-      safety_param = safety_configs[i].getSafetyParam();
-    }
+  cereal::CarParams::SafetyModel safety_model = safety_configs[0].getSafetyModel();
+  uint16_t safety_param = safety_configs[0].getSafetyParam();
 
-    LOGW("Panda %d: setting safety model: %d, param: %d, alternative experience: %d", i, (int)safety_model, safety_param, alternative_experience);
-    pandas_[i]->set_alternative_experience(alternative_experience);
-    pandas_[i]->set_safety_model(safety_model, safety_param);
-  }
+  LOGW("setting safety model: %d, param: %d, alternative experience: %d", (int)safety_model, safety_param, alternative_experience);
+  panda_->set_alternative_experience(alternative_experience);
+  panda_->set_safety_model(safety_model, safety_param);
 }
diff --git a/selfdrive/pandad/pandad.cc b/selfdrive/pandad/pandad.cc
index 2fd4a4def24..f0f13d32e74 100644
--- a/selfdrive/pandad/pandad.cc
+++ b/selfdrive/pandad/pandad.cc
@@ -1,6 +1,5 @@
 #include "selfdrive/pandad/pandad.h"
 
-#include <algorithm>
 #include <array>
 #include <bitset>
 #include <cassert>
@@ -18,45 +17,24 @@
 #include "common/util.h"
 #include "system/hardware/hw.h"
 
-// -- Multi-panda conventions --
-// Ordering:
-// - The internal panda will always be the first panda
-// - Consecutive pandas will be sorted based on panda type, and then serial number
-// Connecting:
-// - If a panda connection is dropped, pandad will reconnect to all pandas
-// - If a panda is added, we will only reconnect when we are offroad
-// CAN buses:
-// - Each panda will have its block of 4 buses. E.g.: the second panda will use
-//   bus numbers 4, 5, 6 and 7
-// - The internal panda will always be used for accessing the OBD2 port,
-//   and thus firmware queries
-// Safety:
-// - SafetyConfig is a list, which is mapped to the connected pandas
-// - If there are more pandas connected than there are SafetyConfigs,
-//   the excess pandas will remain in "silent" or "noOutput" mode
-// Ignition:
-// - If any of the ignition sources in any panda is high, ignition is high
-
 #define MAX_IR_PANDA_VAL 50
 #define CUTOFF_IL 400
 #define SATURATE_IL 1000
 
 ExitHandler do_exit;
 
-bool check_all_connected(const std::vector<Panda *> &pandas) {
-  for (const auto& panda : pandas) {
-    if (!panda->connected()) {
-      do_exit = true;
-      return false;
-    }
+bool check_connected(Panda *panda) {
+  if (!panda->connected()) {
+    do_exit = true;
+    return false;
   }
   return true;
 }
 
-Panda *connect(std::string serial="", uint32_t index=0) {
+Panda *connect(std::string serial) {
   std::unique_ptr<Panda> panda;
   try {
-    panda = std::make_unique<Panda>(serial, (index * PANDA_BUS_OFFSET));
+    panda = std::make_unique<Panda>(serial);
   } catch (std::exception &e) {
     return nullptr;
   }
@@ -78,7 +56,7 @@ Panda *connect(std::string serial="", uint32_t index=0) {
   return panda.release();
 }
 
-void can_send_thread(std::vector<Panda *> pandas, bool fake_send) {
+void can_send_thread(Panda *panda, bool fake_send) {
   util::set_thread_name("pandad_can_send");
 
   AlignedBuffer aligned_buf;
@@ -88,7 +66,7 @@ void can_send_thread(std::vector<Panda *> pandas, bool fake_send) {
   subscriber->setTimeout(100);
 
   // run as fast as messages come in
-  while (!do_exit && check_all_connected(pandas)) {
+  while (!do_exit && check_connected(panda)) {
     std::unique_ptr<Message> msg(subscriber->receive());
     if (!msg) {
       continue;
@@ -99,25 +77,20 @@ void can_send_thread(std::vector<Panda *> pandas, bool fake_send) {
 
     // Don't send if older than 1 second
     if ((nanos_since_boot() - event.getLogMonoTime() < 1e9) && !fake_send) {
-      for (const auto& panda : pandas) {
-        LOGT("sending sendcan to panda: %s", (panda->hw_serial()).c_str());
-        panda->can_send(event.getSendcan());
-        LOGT("sendcan sent to panda: %s", (panda->hw_serial()).c_str());
-      }
+      LOGT("sending sendcan to panda: %s", (panda->hw_serial()).c_str());
+      panda->can_send(event.getSendcan());
+      LOGT("sendcan sent to panda: %s", (panda->hw_serial()).c_str());
     } else {
       LOGE("sendcan too old to send: %" PRIu64 ", %" PRIu64, nanos_since_boot(), event.getLogMonoTime());
     }
   }
 }
 
-void can_recv(std::vector<Panda *> &pandas, PubMaster *pm) {
+void can_recv(Panda *panda, PubMaster *pm) {
   static std::vector<can_frame> raw_can_data;
   {
-    bool comms_healthy = true;
     raw_can_data.clear();
-    for (const auto& panda : pandas) {
-      comms_healthy &= panda->can_receive(raw_can_data);
-    }
+    bool comms_healthy = panda->can_receive(raw_can_data);
 
     MessageBuilder msg;
     auto evt = msg.initEvent();
@@ -157,6 +130,7 @@ void fill_panda_state(cereal::PandaState::Builder &ps, cereal::PandaState::Panda
   ps.setSpiErrorCount(health.spi_error_count_pkt);
   ps.setSbu1Voltage(health.sbu1_voltage_mV / 1000.0f);
   ps.setSbu2Voltage(health.sbu2_voltage_mV / 1000.0f);
+  ps.setSoundOutputLevel(health.sound_output_level_pkt);
 }
 
 void fill_panda_can_state(cereal::PandaState::PandaCanState::Builder &cs, const can_health_t &can_health) {
@@ -187,102 +161,72 @@ void fill_panda_can_state(cereal::PandaState::PandaCanState::Builder &cs, const
   cs.setCanCoreResetCnt(can_health.can_core_reset_cnt);
 }
 
-std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *> &pandas, bool is_onroad, bool spoofing_started) {
-  bool ignition_local = false;
-  const uint32_t pandas_cnt = pandas.size();
-
+std::optional<bool> send_panda_states(PubMaster *pm, Panda *panda, bool is_onroad, bool spoofing_started) {
   // build msg
   MessageBuilder msg;
   auto evt = msg.initEvent();
-  auto pss = evt.initPandaStates(pandas_cnt);
+  auto pss = evt.initPandaStates(1);
 
-  std::vector<health_t> pandaStates;
-  pandaStates.reserve(pandas_cnt);
-
-  std::vector<std::array<can_health_t, PANDA_CAN_CNT>> pandaCanStates;
-  pandaCanStates.reserve(pandas_cnt);
+  auto health_opt = panda->get_state();
+  if (!health_opt) {
+    return std::nullopt;
+  }
 
-  const bool red_panda_comma_three = (pandas.size() == 2) &&
-                                     (pandas[0]->hw_type == cereal::PandaState::PandaType::DOS) &&
-                                     (pandas[1]->hw_type == cereal::PandaState::PandaType::RED_PANDA);
+  health_t health = *health_opt;
 
-  for (const auto& panda : pandas){
-    auto health_opt = panda->get_state();
-    if (!health_opt) {
+  std::array<can_health_t, PANDA_CAN_CNT> can_health{};
+  for (uint32_t i = 0; i < PANDA_CAN_CNT; i++) {
+    auto can_health_opt = panda->get_can_state(i);
+    if (!can_health_opt) {
       return std::nullopt;
     }
+    can_health[i] = *can_health_opt;
+  }
 
-    health_t health = *health_opt;
-
-    std::array<can_health_t, PANDA_CAN_CNT> can_health{};
-    for (uint32_t i = 0; i < PANDA_CAN_CNT; i++) {
-      auto can_health_opt = panda->get_can_state(i);
-      if (!can_health_opt) {
-        return std::nullopt;
-      }
-      can_health[i] = *can_health_opt;
-    }
-    pandaCanStates.push_back(can_health);
-
-    if (spoofing_started) {
-      health.ignition_line_pkt = 1;
-    }
-
-    // on comma three setups with a red panda, the dos can
-    // get false positive ignitions due to the harness box
-    // without a harness connector, so ignore it
-    if (red_panda_comma_three && (panda->hw_type == cereal::PandaState::PandaType::DOS)) {
-      health.ignition_line_pkt = 0;
-    }
-
-    ignition_local |= ((health.ignition_line_pkt != 0) || (health.ignition_can_pkt != 0));
-
-    pandaStates.push_back(health);
+  if (spoofing_started) {
+    health.ignition_line_pkt = 1;
   }
 
-  for (uint32_t i = 0; i < pandas_cnt; i++) {
-    auto panda = pandas[i];
-    const auto &health = pandaStates[i];
+  bool ignition_local = ((health.ignition_line_pkt != 0) || (health.ignition_can_pkt != 0));
 
-    // Make sure CAN buses are live: safety_setter_thread does not work if Panda CAN are silent and there is only one other CAN node
-    if (health.safety_mode_pkt == (uint8_t)(cereal::CarParams::SafetyModel::SILENT)) {
-      panda->set_safety_model(cereal::CarParams::SafetyModel::NO_OUTPUT);
-    }
+  // Make sure CAN buses are live: safety_setter_thread does not work if Panda CAN are silent and there is only one other CAN node
+  if (health.safety_mode_pkt == (uint8_t)(cereal::CarParams::SafetyModel::SILENT)) {
+    panda->set_safety_model(cereal::CarParams::SafetyModel::NO_OUTPUT);
+  }
 
-    bool power_save_desired = !ignition_local;
-    if (health.power_save_enabled_pkt != power_save_desired) {
-      panda->set_power_saving(power_save_desired);
-    }
+  bool power_save_desired = !ignition_local;
+  if (health.power_save_enabled_pkt != power_save_desired) {
+    panda->set_power_saving(power_save_desired);
+  }
 
-    // set safety mode to NO_OUTPUT when car is off or we're not onroad. ELM327 is an alternative if we want to leverage athenad/connect
-    bool should_close_relay = !ignition_local || !is_onroad;
-    if (should_close_relay && (health.safety_mode_pkt != (uint8_t)(cereal::CarParams::SafetyModel::NO_OUTPUT))) {
-      panda->set_safety_model(cereal::CarParams::SafetyModel::NO_OUTPUT);
-    }
+  // set safety mode to NO_OUTPUT when car is off or we're not onroad. ELM327 is an alternative if we want to leverage athenad/connect
+  bool should_close_relay = !ignition_local || !is_onroad;
+  if (should_close_relay && (health.safety_mode_pkt != (uint8_t)(cereal::CarParams::SafetyModel::NO_OUTPUT))) {
+    panda->set_safety_model(cereal::CarParams::SafetyModel::NO_OUTPUT);
+  }
 
-    if (!panda->comms_healthy()) {
-      evt.setValid(false);
-    }
+  if (!panda->comms_healthy()) {
+    evt.setValid(false);
+  }
 
-    auto ps = pss[i];
-    fill_panda_state(ps, panda->hw_type, health);
+  auto ps = pss[0];
+  fill_panda_state(ps, panda->hw_type, health);
 
-    auto cs = std::array{ps.initCanState0(), ps.initCanState1(), ps.initCanState2()};
-    for (uint32_t j = 0; j < PANDA_CAN_CNT; j++) {
-      fill_panda_can_state(cs[j], pandaCanStates[i][j]);
-    }
+  auto cs = std::array{ps.initCanState0(), ps.initCanState1(), ps.initCanState2()};
+  for (uint32_t j = 0; j < PANDA_CAN_CNT; j++) {
+    fill_panda_can_state(cs[j], can_health[j]);
+  }
 
-    // Convert faults bitset to capnp list
-    std::bitset<sizeof(health.faults_pkt) * 8> fault_bits(health.faults_pkt);
-    auto faults = ps.initFaults(fault_bits.count());
+  // Convert faults bitset to capnp list
+  std::bitset<sizeof(health.faults_pkt) * 8> fault_bits(health.faults_pkt);
+  auto faults = ps.initFaults(fault_bits.count());
 
-    size_t j = 0;
-    for (size_t f = size_t(cereal::PandaState::FaultType::RELAY_MALFUNCTION);
-         f <= size_t(cereal::PandaState::FaultType::HEARTBEAT_LOOP_WATCHDOG); f++) {
-      if (fault_bits.test(f)) {
-        faults.set(j, cereal::PandaState::FaultType(f));
-        j++;
-      }
+  size_t j = 0;
+  for (size_t f = size_t(cereal::PandaState::FaultType::RELAY_MALFUNCTION);
+       f <= size_t(cereal::PandaState::FaultType::HEARTBEAT_LOOP_WATCHDOG); f++) {
+    if (fault_bits.test(f)) {
+      faults.set(j, cereal::PandaState::FaultType(f));
+      j++;
     }
   }
 
@@ -323,49 +267,25 @@ void send_peripheral_state(Panda *panda, PubMaster *pm) {
   pm->send("peripheralState", msg);
 }
 
-void process_panda_state(std::vector<Panda *> &pandas, PubMaster *pm, bool engaged, bool is_onroad, bool spoofing_started) {
-  std::vector<std::string> connected_serials;
-  for (Panda *p : pandas) {
-    connected_serials.push_back(p->hw_serial());
+void process_panda_state(Panda *panda, PubMaster *pm, bool engaged, bool is_onroad, bool spoofing_started) {
+  auto ignition_opt = send_panda_states(pm, panda, is_onroad, spoofing_started);
+  if (!ignition_opt) {
+    LOGE("Failed to get ignition_opt");
+    return;
   }
 
-  {
-    auto ignition_opt = send_panda_states(pm, pandas, is_onroad, spoofing_started);
-    if (!ignition_opt) {
-      LOGE("Failed to get ignition_opt");
-      return;
-    }
-
-    // check if we should have pandad reconnect
-    if (!ignition_opt.value()) {
-      bool comms_healthy = true;
-      for (const auto &panda : pandas) {
-        comms_healthy &= panda->comms_healthy();
-      }
-
-      if (!comms_healthy) {
-        LOGE("Reconnecting, communication to pandas not healthy");
-        do_exit = true;
-
-      } else {
-        // check for new pandas
-        for (std::string &s : Panda::list(true)) {
-          if (!std::count(connected_serials.begin(), connected_serials.end(), s)) {
-            LOGW("Reconnecting to new panda: %s", s.c_str());
-            do_exit = true;
-            break;
-          }
-        }
-      }
-    }
-
-    for (const auto &panda : pandas) {
-      panda->send_heartbeat(engaged);
+  // check if we should have pandad reconnect
+  if (!ignition_opt.value()) {
+    if (!panda->comms_healthy()) {
+      LOGE("Reconnecting, communication to panda not healthy");
+      do_exit = true;
     }
   }
+
+  panda->send_heartbeat(engaged);
 }
 
-void process_peripheral_state(Panda *panda, PubMaster *pm, bool no_fan_control) {
+void process_peripheral_state(Panda *panda, PubMaster *pm, bool no_fan_control, bool is_onroad) {
   static Params params;
   static SubMaster sm({"deviceState", "driverCameraState"});
 
@@ -375,6 +295,8 @@ void process_peripheral_state(Panda *panda, PubMaster *pm, bool no_fan_control)
   static int prev_ir_pwr = 999;
   static uint32_t prev_frame_id = UINT32_MAX;
   static bool driver_view = false;
+  static bool not_car = false;
+  static bool not_car_checked = false;
 
   // TODO: can we merge these?
   static FirstOrderFilter integ_lines_filter(0, 30.0, 0.05);
@@ -420,39 +342,53 @@ void process_peripheral_state(Panda *panda, PubMaster *pm, bool no_fan_control)
       ir_pwr = 0;
     }
 
+    // turn off IR leds if body
+    if (!not_car_checked && is_onroad) {
+      std::string cp_bytes = params.get("CarParams");
+      if (cp_bytes.size() > 0) {
+        AlignedBuffer aligned_buf;
+        capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
+        cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
+        not_car = CP.getNotCar();
+        not_car_checked = true;
+      }
+    }
+    if (not_car) {
+      ir_pwr = 0;
+    }
+
     if (ir_pwr != prev_ir_pwr || sm.frame % 100 == 0) {
-      int16_t ir_panda = util::map_val(ir_pwr, 0, 100, 0, MAX_IR_PANDA_VAL); 
+      int16_t ir_panda = util::map_val(ir_pwr, 0, 100, 0, MAX_IR_PANDA_VAL);
       panda->set_ir_pwr(ir_panda);
-      Hardware::set_ir_power(ir_pwr); 
+      Hardware::set_ir_power(ir_pwr);
       prev_ir_pwr = ir_pwr;
     }
   }
 }
 
-void pandad_run(std::vector<Panda *> &pandas) {
+void pandad_run(Panda *panda) {
   const bool no_fan_control = getenv("NO_FAN_CONTROL") != nullptr;
   const bool spoofing_started = getenv("STARTED") != nullptr;
   const bool fake_send = getenv("FAKESEND") != nullptr;
 
   // Start the CAN send thread
-  std::thread send_thread(can_send_thread, pandas, fake_send);
+  std::thread send_thread(can_send_thread, panda, fake_send);
 
   Params params;
   RateKeeper rk("pandad", 100);
   SubMaster sm({"selfdriveState"});
   PubMaster pm({"can", "pandaStates", "peripheralState"});
-  PandaSafety panda_safety(pandas);
-  Panda *peripheral_panda = pandas[0];
+  PandaSafety panda_safety(panda);
   bool engaged = false;
   bool is_onroad = false;
 
   // Main loop: receive CAN data and process states
-  while (!do_exit && check_all_connected(pandas)) {
-    can_recv(pandas, &pm);
+  while (!do_exit && check_connected(panda)) {
+    can_recv(panda, &pm);
 
     // Process peripheral state at 20 Hz
     if (rk.frame() % 5 == 0) {
-      process_peripheral_state(peripheral_panda, &pm, no_fan_control);
+      process_peripheral_state(panda, &pm, no_fan_control, is_onroad);
     }
 
     // Process panda state at 10 Hz
@@ -460,25 +396,23 @@ void pandad_run(std::vector<Panda *> &pandas) {
       sm.update(0);
       engaged = sm.allAliveAndValid({"selfdriveState"}) && sm["selfdriveState"].getSelfdriveState().getEnabled();
       is_onroad = params.getBool("IsOnroad");
-      process_panda_state(pandas, &pm, engaged, is_onroad, spoofing_started);
+      process_panda_state(panda, &pm, engaged, is_onroad, spoofing_started);
       panda_safety.configureSafetyMode(is_onroad);
     }
 
     // Send out peripheralState at 2Hz
     if (rk.frame() % 50 == 0) {
-      send_peripheral_state(peripheral_panda, &pm);
+      send_peripheral_state(panda, &pm);
     }
 
-    // Forward logs from pandas to cloudlog if available
-    for (auto *panda : pandas) {
-      std::string log = panda->serial_read();
-      if (!log.empty()) {
-        if (log.find("Register 0x") != std::string::npos) {
-          // Log register divergent faults as errors
-          LOGE("%s", log.c_str());
-        } else {
-          LOGD("%s", log.c_str());
-        }
+    // Forward logs from panda to cloudlog if available
+    std::string log = panda->serial_read();
+    if (!log.empty()) {
+      if (log.find("Register 0x") != std::string::npos) {
+        // Log register divergent faults as errors
+        LOGE("%s", log.c_str());
+      } else {
+        LOGD("%s", log.c_str());
       }
     }
 
@@ -487,52 +421,38 @@ void pandad_run(std::vector<Panda *> &pandas) {
 
   // Close relay on exit to prevent a fault
   if (is_onroad && !engaged) {
-    for (auto &p : pandas) {
-      if (p->connected()) {
-        p->set_safety_model(cereal::CarParams::SafetyModel::NO_OUTPUT);
-      }
+    if (panda->connected()) {
+      panda->set_safety_model(cereal::CarParams::SafetyModel::NO_OUTPUT);
     }
   }
 
   send_thread.join();
 }
 
-void pandad_main_thread(std::vector<std::string> serials) {
-  if (serials.size() == 0) {
-    serials = Panda::list();
+void pandad_main_thread(std::string serial) {
+  if (serial.empty()) {
+    auto serials = Panda::list();
 
-    if (serials.size() == 0) {
+    if (serials.empty()) {
       LOGW("no pandas found, exiting");
       return;
     }
+    serial = serials[0];
   }
 
-  std::string serials_str;
-  for (int i = 0; i < serials.size(); i++) {
-    serials_str += serials[i];
-    if (i < serials.size() - 1) serials_str += ", ";
-  }
-  LOGW("connecting to pandas: %s", serials_str.c_str());
-
-  // connect to all provided serials
-  std::vector<Panda *> pandas;
-  for (int i = 0; i < serials.size() && !do_exit; /**/) {
-    Panda *p = connect(serials[i], i);
-    if (!p) {
-      util::sleep_for(100);
-      continue;
-    }
+  LOGW("connecting to panda: %s", serial.c_str());
 
-    pandas.push_back(p);
-    ++i;
+  Panda *panda = nullptr;
+  while (!do_exit) {
+    panda = connect(serial);
+    if (panda) break;
+    util::sleep_for(100);
   }
 
   if (!do_exit) {
-    LOGW("connected to all pandas");
-    pandad_run(pandas);
+    LOGW("connected to panda");
+    pandad_run(panda);
   }
 
-  for (Panda *panda : pandas) {
-    delete panda;
-  }
+  delete panda;
 }
diff --git a/selfdrive/pandad/pandad.h b/selfdrive/pandad/pandad.h
index 637807e0749..aa10d1ae4b1 100644
--- a/selfdrive/pandad/pandad.h
+++ b/selfdrive/pandad/pandad.h
@@ -1,16 +1,15 @@
 #pragma once
 
 #include <string>
-#include <vector>
 
 #include "common/params.h"
 #include "selfdrive/pandad/panda.h"
 
-void pandad_main_thread(std::vector<std::string> serials);
+void pandad_main_thread(std::string serial);
 
 class PandaSafety {
 public:
-  PandaSafety(const std::vector<Panda *> &pandas) : pandas_(pandas) {}
+  PandaSafety(Panda *panda) : panda_(panda) {}
   void configureSafetyMode(bool is_onroad);
 
 private:
@@ -22,6 +21,6 @@ class PandaSafety {
   bool log_once_ = false;
   bool safety_configured_ = false;
   bool prev_obd_multiplexing_ = false;
-  std::vector<Panda *> pandas_;
+  Panda *panda_;
   Params params_;
 };
diff --git a/selfdrive/pandad/pandad.py b/selfdrive/pandad/pandad.py
index d75af283f2c..df2b4f7ee89 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, FW_PATH
+from panda import Panda, PandaDFU, PandaProtocolMismatch, McuType, 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(panda: Panda) -> bytes:
+def get_expected_signature() -> bytes:
   try:
-    fn = os.path.join(FW_PATH, panda.get_mcu_type().config.app_fn)
+    fn = os.path.join(FW_PATH, McuType.H7.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(panda)
+  fw_signature = get_expected_signature()
   internal_panda = panda.is_internal()
 
   panda_version = "bootstub" if panda.bootstub else panda.get_version()
@@ -110,46 +110,35 @@ def signal_handler(signum, frame):
 
       cloudlog.info(f"{len(panda_serials)} panda(s) found, connecting - {panda_serials}")
 
-      # Flash pandas
-      pandas: list[Panda] = []
-      for serial in panda_serials:
-        pandas.append(flash_panda(serial))
+      # Flash the first panda
+      panda_serial = panda_serials[0]
+      panda = flash_panda(panda_serial)
 
       # Ensure internal panda is present if expected
-      internal_pandas = [panda for panda in pandas if panda.is_internal()]
-      if HARDWARE.has_internal_panda() and len(internal_pandas) == 0:
+      if HARDWARE.has_internal_panda() and not panda.is_internal():
         cloudlog.error("Internal panda is missing, trying again")
         no_internal_panda_count += 1
         continue
       no_internal_panda_count = 0
 
-      # sort pandas to have deterministic order
-      # * the internal one is always first
-      # * then sort by hardware type
-      # * as a last resort, sort by serial number
-      pandas.sort(key=lambda x: (not x.is_internal(), x.get_type(), x.get_usb_serial()))
-      panda_serials = [p.get_usb_serial() for p in pandas]
-
-      # log panda fw versions
-      params.put("PandaSignatures", b','.join(p.get_signature() for p in pandas))
-
-      for panda in pandas:
-        # check health for lost heartbeat
-        health = panda.health()
-        if health["heartbeat_lost"]:
-          params.put_bool("PandaHeartbeatLost", True)
-          cloudlog.event("heartbeat lost", deviceState=health, serial=panda.get_usb_serial())
-        if health["som_reset_triggered"]:
-          params.put_bool("PandaSomResetTriggered", True)
-          cloudlog.event("panda.som_reset_triggered", health=health, serial=panda.get_usb_serial())
-
-        if first_run:
-          # reset panda to ensure we're in a good state
-          cloudlog.info(f"Resetting panda {panda.get_usb_serial()}")
-          panda.reset(reconnect=True)
-
-      for p in pandas:
-        p.close()
+      # log panda fw version
+      params.put("PandaSignatures", panda.get_signature())
+
+      # check health for lost heartbeat
+      health = panda.health()
+      if health["heartbeat_lost"]:
+        params.put_bool("PandaHeartbeatLost", True)
+        cloudlog.event("heartbeat lost", deviceState=health, serial=panda.get_usb_serial())
+      if health["som_reset_triggered"]:
+        params.put_bool("PandaSomResetTriggered", True)
+        cloudlog.event("panda.som_reset_triggered", health=health, serial=panda.get_usb_serial())
+
+      if first_run:
+        # reset panda to ensure we're in a good state
+        cloudlog.info(f"Resetting panda {panda.get_usb_serial()}")
+        panda.reset(reconnect=True)
+
+      panda.close()
     # TODO: wrap all panda exceptions in a base panda exception
     except (usb1.USBErrorNoDevice, usb1.USBErrorPipe):
       # a panda was disconnected while setting everything up. let's try again
@@ -166,7 +155,7 @@ def signal_handler(signum, frame):
 
     # run pandad with all connected serials as arguments
     os.environ['MANAGER_DAEMON'] = 'pandad'
-    process = subprocess.Popen(["./pandad", *panda_serials], cwd=os.path.join(BASEDIR, "selfdrive/pandad"))
+    process = subprocess.Popen(["./pandad", panda_serial], cwd=os.path.join(BASEDIR, "selfdrive/pandad"))
     process.wait()
 
 
diff --git a/selfdrive/pandad/pandad_api_impl.py b/selfdrive/pandad/pandad_api_impl.py
new file mode 100644
index 00000000000..75a7ba484e1
--- /dev/null
+++ b/selfdrive/pandad/pandad_api_impl.py
@@ -0,0 +1,88 @@
+import time
+from cereal import log
+
+NO_TRAVERSAL_LIMIT = 2**64 - 1
+
+# Cache schema fields for faster access (avoids string lookup on each field access)
+_cached_reader_fields = None  # (address_field, dat_field, src_field) for reading
+_cached_writer_fields = None  # (address_field, dat_field, src_field) for writing
+
+
+def _get_reader_fields(schema):
+  """Get cached schema field objects for reading."""
+  global _cached_reader_fields
+  if _cached_reader_fields is None:
+    fields = schema.fields
+    _cached_reader_fields = (fields['address'], fields['dat'], fields['src'])
+  return _cached_reader_fields
+
+
+def _get_writer_fields(schema):
+  """Get cached schema field objects for writing."""
+  global _cached_writer_fields
+  if _cached_writer_fields is None:
+    fields = schema.fields
+    _cached_writer_fields = (fields['address'], fields['dat'], fields['src'])
+  return _cached_writer_fields
+
+
+def can_list_to_can_capnp(can_msgs, msgtype='can', valid=True):
+  """Convert list of CAN messages to Cap'n Proto serialized bytes.
+
+  Args:
+    can_msgs: List of tuples [(address, data_bytes, src), ...]
+    msgtype: 'can' or 'sendcan'
+    valid: Whether the event is valid
+
+  Returns:
+    Cap'n Proto serialized bytes
+  """
+  global _cached_writer_fields
+
+  dat = log.Event.new_message(valid=valid, logMonoTime=int(time.monotonic() * 1e9))
+  can_data = dat.init(msgtype, len(can_msgs))
+
+  # Cache schema fields on first call
+  if _cached_writer_fields is None and len(can_msgs) > 0:
+    _cached_writer_fields = _get_writer_fields(can_data[0].schema)
+
+  if _cached_writer_fields is not None:
+    addr_f, dat_f, src_f = _cached_writer_fields
+    for i, msg in enumerate(can_msgs):
+      f = can_data[i]
+      f._set_by_field(addr_f, msg[0])
+      f._set_by_field(dat_f, msg[1])
+      f._set_by_field(src_f, msg[2])
+
+  return dat.to_bytes()
+
+
+def can_capnp_to_list(strings, msgtype='can'):
+  """Convert Cap'n Proto serialized bytes to list of CAN messages.
+
+  Args:
+    strings: Tuple/list of serialized Cap'n Proto bytes
+    msgtype: 'can' or 'sendcan'
+
+  Returns:
+    List of tuples [(nanos, [(address, data, src), ...]), ...]
+  """
+  global _cached_reader_fields
+  result = []
+
+  for s in strings:
+    with log.Event.from_bytes(s, traversal_limit_in_words=NO_TRAVERSAL_LIMIT) as event:
+      frames = getattr(event, msgtype)
+
+      # Cache schema fields on first frame for faster access
+      if _cached_reader_fields is None and len(frames) > 0:
+        _cached_reader_fields = _get_reader_fields(frames[0].schema)
+
+      if _cached_reader_fields is not None:
+        addr_f, dat_f, src_f = _cached_reader_fields
+        frame_list = [(f._get_by_field(addr_f), f._get_by_field(dat_f), f._get_by_field(src_f)) for f in frames]
+      else:
+        frame_list = []
+
+      result.append((event.logMonoTime, frame_list))
+  return result
diff --git a/selfdrive/pandad/pandad_api_impl.pyx b/selfdrive/pandad/pandad_api_impl.pyx
deleted file mode 100644
index aaecb8a594e..00000000000
--- a/selfdrive/pandad/pandad_api_impl.pyx
+++ /dev/null
@@ -1,56 +0,0 @@
-# distutils: language = c++
-# cython: language_level=3
-from cython.operator cimport dereference as deref, preincrement as preinc
-from libcpp.vector cimport vector
-from libcpp.string cimport string
-from libcpp cimport bool
-from libc.stdint cimport uint8_t, uint32_t, uint64_t
-
-cdef extern from "selfdrive/pandad/can_types.h":
-  cdef struct CanFrame:
-    long src
-    uint32_t address
-    vector[uint8_t] dat
-
-  cdef struct CanData:
-    uint64_t nanos
-    vector[CanFrame] frames
-
-cdef extern from "can_list_to_can_capnp.cc":
-  void can_list_to_can_capnp_cpp(const vector[CanFrame] &can_list, string &out, bool sendcan, bool valid) nogil
-  void can_capnp_to_can_list_cpp(const vector[string] &strings, vector[CanData] &can_data, bool sendcan)
-
-def can_list_to_can_capnp(can_msgs, msgtype='can', valid=True):
-  cdef CanFrame *f
-  cdef vector[CanFrame] can_list
-  cdef uint32_t cpp_can_msgs_len = len(can_msgs)
-
-  with nogil:
-    can_list.reserve(cpp_can_msgs_len)
-
-  for can_msg in can_msgs:
-    f = &(can_list.emplace_back())
-    f.address = can_msg[0]
-    f.dat = can_msg[1]
-    f.src = can_msg[2]
-
-  cdef string out
-  cdef bool is_sendcan = (msgtype == 'sendcan')
-  cdef bool is_valid = valid
-  with nogil:
-    can_list_to_can_capnp_cpp(can_list, out, is_sendcan, is_valid)
-  return out
-
-def can_capnp_to_list(strings, msgtype='can'):
-  cdef vector[CanData] data
-  can_capnp_to_can_list_cpp(strings, data, msgtype == 'sendcan')
-
-  result = []
-  cdef CanData *d
-  cdef vector[CanData].iterator it = data.begin()
-  while it != data.end():
-    d = &deref(it)
-    frames = [(f.address, (<char *>&f.dat[0])[:f.dat.size()], f.src) for f in d.frames]
-    result.append((d.nanos, frames))
-    preinc(it)
-  return result
diff --git a/selfdrive/pandad/spi.cc b/selfdrive/pandad/spi.cc
index b6ee57801a3..f54c26e5069 100644
--- a/selfdrive/pandad/spi.cc
+++ b/selfdrive/pandad/spi.cc
@@ -1,4 +1,3 @@
-#ifndef __APPLE__
 #include <sys/file.h>
 #include <sys/ioctl.h>
 #include <linux/spi/spidev.h>
@@ -33,7 +32,7 @@ const std::string SPI_DEVICE = "/dev/spidev0.0";
 
 class LockEx {
 public:
-  LockEx(int fd, std::recursive_mutex &m) : fd(fd), m(m) {
+  LockEx(int fd_, std::recursive_mutex &m_) : fd(fd_), m(m_) {
     m.lock();
     flock(fd, LOCK_EX);
   }
@@ -55,7 +54,7 @@ class LockEx {
          util::hexdump(tx_buf, std::min((int)header.tx_len, 8)).c_str()); \
       } while (0)
 
-PandaSpiHandle::PandaSpiHandle(std::string serial) : PandaCommsHandle(serial) {
+PandaSpiHandle::PandaSpiHandle(std::string serial) {
   int ret;
   const int uid_len = 12;
   uint8_t uid[uid_len] = {0};
@@ -407,4 +406,3 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
   if (ret >= 0) ret = -1;
   return ret;
 }
-#endif
diff --git a/selfdrive/pandad/tests/test_pandad.py b/selfdrive/pandad/tests/test_pandad.py
index 88d3939a6ad..6a5840d4875 100644
--- a/selfdrive/pandad/tests/test_pandad.py
+++ b/selfdrive/pandad/tests/test_pandad.py
@@ -78,22 +78,6 @@ def test_internal_panda_reset(self):
 
     assert any(Panda(s).is_internal() for s in Panda.list())
 
-  def test_best_case_startup_time(self):
-    # run once so we're up to date
-    self._run_test(60)
-
-    ts = []
-    for _ in range(10):
-      # should be nearly instant this time
-      dt = self._run_test(5)
-      ts.append(dt)
-
-    # 5s for USB (due to enumeration)
-    # - 0.2s pandad -> pandad
-    # - plus some buffer
-    print("startup times", ts, sum(ts) / len(ts))
-    assert 0.1 < (sum(ts)/len(ts)) < 0.7
-
   def test_old_spi_protocol(self):
     # flash firmware with old SPI protocol
     self._flash_bootstub(os.path.join(HERE, "bootstub.panda_h7_spiv0.bin"))
diff --git a/selfdrive/pandad/tests/test_pandad_usbprotocol.cc b/selfdrive/pandad/tests/test_pandad_canprotocol.cc
similarity index 87%
rename from selfdrive/pandad/tests/test_pandad_usbprotocol.cc
rename to selfdrive/pandad/tests/test_pandad_canprotocol.cc
index 11f7184efdb..8499a1aab86 100644
--- a/selfdrive/pandad/tests/test_pandad_usbprotocol.cc
+++ b/selfdrive/pandad/tests/test_pandad_canprotocol.cc
@@ -1,13 +1,15 @@
 #define CATCH_CONFIG_MAIN
 #define CATCH_CONFIG_ENABLE_BENCHMARKING
 
+#include <climits>
+
 #include "catch2/catch.hpp"
 #include "cereal/messaging/messaging.h"
 #include "common/util.h"
 #include "selfdrive/pandad/panda.h"
 
 struct PandaTest : public Panda {
-  PandaTest(uint32_t bus_offset, int can_list_size, cereal::PandaState::PandaType hw_type);
+  PandaTest(int can_list_size, cereal::PandaState::PandaType hw_type);
   void test_can_send();
   void test_can_recv(uint32_t chunk_size = 0);
   void test_chunked_can_recv();
@@ -19,8 +21,8 @@ struct PandaTest : public Panda {
   capnp::List<cereal::CanData>::Reader can_data_list;
 };
 
-PandaTest::PandaTest(uint32_t bus_offset_, int can_list_size, cereal::PandaState::PandaType hw_type) : can_list_size(can_list_size), Panda(bus_offset_) {
-  this->hw_type = hw_type;
+PandaTest::PandaTest(int can_list_size_, cereal::PandaState::PandaType hw_type_) : can_list_size(can_list_size_), Panda() {
+  this->hw_type = hw_type_;
   int data_limit = ((hw_type == cereal::PandaState::PandaType::RED_PANDA) ? std::size(dlc_to_len) : 8);
   // prepare test data
   for (int i = 0; i < data_limit; ++i) {
@@ -40,7 +42,7 @@ PandaTest::PandaTest(uint32_t bus_offset_, int can_list_size, cereal::PandaState
     uint32_t id = util::random_int(0, std::size(dlc_to_len) - 1);
     const std::string &dat = test_data[dlc_to_len[id]];
     can.setAddress(i);
-    can.setSrc(util::random_int(0, 2) + bus_offset);
+    can.setSrc(util::random_int(0, 2));
     can.setDat(kj::ArrayPtr((uint8_t *)dat.data(), dat.size()));
     total_pakets_size += sizeof(can_header) + dat.size();
   }
@@ -103,9 +105,8 @@ void PandaTest::test_can_recv(uint32_t rx_chunk_size) {
 }
 
 TEST_CASE("send/recv CAN 2.0 packets") {
-  auto bus_offset = GENERATE(0, 4);
   auto can_list_size = GENERATE(1, 3, 5, 10, 30, 60, 100, 200);
-  PandaTest test(bus_offset, can_list_size, cereal::PandaState::PandaType::DOS);
+  PandaTest test(can_list_size, cereal::PandaState::PandaType::DOS);
 
   SECTION("can_send") {
     test.test_can_send();
@@ -119,9 +120,8 @@ TEST_CASE("send/recv CAN 2.0 packets") {
 }
 
 TEST_CASE("send/recv CAN FD packets") {
-  auto bus_offset = GENERATE(0, 4);
   auto can_list_size = GENERATE(1, 3, 5, 10, 30, 60, 100, 200);
-  PandaTest test(bus_offset, can_list_size, cereal::PandaState::PandaType::RED_PANDA);
+  PandaTest test(can_list_size, cereal::PandaState::PandaType::RED_PANDA);
 
   SECTION("can_send") {
     test.test_can_send();
diff --git a/selfdrive/pandad/tests/test_pandad_loopback.py b/selfdrive/pandad/tests/test_pandad_loopback.py
index eff70d2544d..fd4a99be628 100644
--- a/selfdrive/pandad/tests/test_pandad_loopback.py
+++ b/selfdrive/pandad/tests/test_pandad_loopback.py
@@ -13,12 +13,11 @@
 from openpilot.common.params import Params
 from openpilot.common.timeout import Timeout
 from openpilot.selfdrive.pandad import can_list_to_can_capnp
-from openpilot.system.hardware import TICI
 from openpilot.selfdrive.test.helpers import with_processes
 
 
 @retry(attempts=3)
-def setup_pandad(num_pandas):
+def setup_pandad():
   params = Params()
   params.clear_all()
   params.put_bool("IsOnroad", False)
@@ -29,16 +28,12 @@ def setup_pandad(num_pandas):
         any(ps.pandaType == log.PandaState.PandaType.unknown for ps in sm['pandaStates']):
       sm.update(1000)
 
-  found_pandas = len(sm['pandaStates'])
-  assert num_pandas == found_pandas, "connected pandas ({found_pandas}) doesn't match expected panda count ({num_pandas}). \
-                                      connect another panda for multipanda tests."
-
   # pandad safety setting relies on these params
   cp = car.CarParams.new_message()
 
   safety_config = car.CarParams.SafetyConfig.new_message()
   safety_config.safetyModel = car.CarParams.SafetyModel.allOutput
-  cp.safetyConfigs = [safety_config]*num_pandas
+  cp.safetyConfigs = [safety_config]
 
   params.put_bool("IsOnroad", True)
   params.put_bool("FirmwareQueryDone", True)
@@ -49,12 +44,12 @@ def setup_pandad(num_pandas):
     while any(ps.safetyModel != car.CarParams.SafetyModel.allOutput for ps in sm['pandaStates']):
       sm.update(1000)
 
-def send_random_can_messages(sendcan, count, num_pandas=1):
+def send_random_can_messages(sendcan, count):
   sent_msgs = defaultdict(set)
   for _ in range(count):
     to_send = []
     for __ in range(random.randrange(20)):
-      bus = random.choice([b for b in range(3*num_pandas) if b % 4 != 3])
+      bus = random.choice(range(3))
       addr = random.randrange(1, 1<<29)
       dat = bytes(random.getrandbits(8) for _ in range(random.randrange(1, 9)))
       if (addr, dat) in sent_msgs[bus]:
@@ -74,8 +69,7 @@ def setup_class(cls):
 
   @with_processes(['pandad'])
   def test_loopback(self):
-    num_pandas = 2 if TICI and "SINGLE_PANDA" not in os.environ else 1
-    setup_pandad(num_pandas)
+    setup_pandad()
 
     sendcan = messaging.pub_sock('sendcan')
     can = messaging.sub_sock('can', conflate=False, timeout=100)
@@ -86,7 +80,7 @@ def test_loopback(self):
     for i in range(n):
       print(f"pandad loopback {i}/{n}")
 
-      sent_msgs = send_random_can_messages(sendcan, random.randrange(20, 100), num_pandas)
+      sent_msgs = send_random_can_messages(sendcan, random.randrange(20, 100))
 
       sent_loopback = copy.deepcopy(sent_msgs)
       sent_loopback.update({k+128: copy.deepcopy(v) for k, v in sent_msgs.items()})
diff --git a/selfdrive/pandad/tests/test_pandad_spi.py b/selfdrive/pandad/tests/test_pandad_spi.py
index da4b181993d..69dfb67e933 100644
--- a/selfdrive/pandad/tests/test_pandad_spi.py
+++ b/selfdrive/pandad/tests/test_pandad_spi.py
@@ -22,7 +22,7 @@ def setup_class(cls):
 
   @with_processes(['pandad'])
   def test_spi_corruption(self, subtests):
-    setup_pandad(1)
+    setup_pandad()
 
     sendcan = messaging.pub_sock('sendcan')
     socks = {s: messaging.sub_sock(s, conflate=False, timeout=100) for s in ('can', 'pandaStates', 'peripheralState')}
diff --git a/selfdrive/selfdrived/alertmanager.py b/selfdrive/selfdrived/alertmanager.py
index 251d32ba9a2..385c276a948 100644
--- a/selfdrive/selfdrived/alertmanager.py
+++ b/selfdrive/selfdrived/alertmanager.py
@@ -13,7 +13,7 @@
   OFFROAD_ALERTS = json.load(f)
 
 
-def set_offroad_alert(alert: str, show_alert: bool, extra_text: str = None) -> None:
+def set_offroad_alert(alert: str, show_alert: bool, extra_text: str | None = None) -> None:
   if show_alert:
     a = copy.copy(OFFROAD_ALERTS[alert])
     a['extra'] = extra_text or ''
diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py
index c6dbcccbee4..99e25571bd1 100755
--- a/selfdrive/selfdrived/events.py
+++ b/selfdrive/selfdrived/events.py
@@ -409,6 +409,11 @@ def invalid_lkas_setting_alert(CP: car.CarParams, CS: car.CarState, sm: messagin
                                        "Ensure road ahead is clear"),
   },
 
+  EventName.lateralManeuver: {
+    ET.WARNING: longitudinal_maneuver_alert,
+    ET.PERMANENT: NormalPermanentAlert("Lateral Maneuver Mode"),
+  },
+
   EventName.selfdriveInitializing: {
     ET.NO_ENTRY: NoEntryAlert("System Initializing"),
   },
@@ -477,6 +482,10 @@ def invalid_lkas_setting_alert(CP: car.CarParams, CS: car.CarState, sm: messagin
     ET.NO_ENTRY: NoEntryAlert("Stock AEB: Risk of Collision"),
   },
 
+  EventName.stockLkas: {
+    ET.NO_ENTRY: NoEntryAlert("Stock LKAS: Lane Departure Detected"),
+  },
+
   EventName.fcw: {
     ET.PERMANENT: Alert(
       "BRAKE!",
@@ -503,7 +512,7 @@ def invalid_lkas_setting_alert(CP: car.CarParams, CS: car.CarState, sm: messagin
       Priority.LOW, VisualAlert.steerRequired, AudibleAlert.prompt, 1.8),
   },
 
-  EventName.preDriverDistracted: {
+  EventName.driverDistracted1: {
     ET.PERMANENT: Alert(
       "Pay Attention",
       "",
@@ -511,7 +520,7 @@ def invalid_lkas_setting_alert(CP: car.CarParams, CS: car.CarState, sm: messagin
       Priority.LOW, VisualAlert.none, AudibleAlert.none, .1),
   },
 
-  EventName.promptDriverDistracted: {
+  EventName.driverDistracted2: {
     ET.PERMANENT: Alert(
       "Pay Attention",
       "Driver Distracted",
@@ -519,7 +528,7 @@ def invalid_lkas_setting_alert(CP: car.CarParams, CS: car.CarState, sm: messagin
       Priority.MID, VisualAlert.steerRequired, AudibleAlert.promptDistracted, .1),
   },
 
-  EventName.driverDistracted: {
+  EventName.driverDistracted3: {
     ET.PERMANENT: Alert(
       "DISENGAGE IMMEDIATELY",
       "Driver Distracted",
@@ -527,7 +536,7 @@ def invalid_lkas_setting_alert(CP: car.CarParams, CS: car.CarState, sm: messagin
       Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.warningImmediate, .1),
   },
 
-  EventName.preDriverUnresponsive: {
+  EventName.driverUnresponsive1: {
     ET.PERMANENT: Alert(
       "Touch Steering Wheel: No Face Detected",
       "",
@@ -535,7 +544,7 @@ def invalid_lkas_setting_alert(CP: car.CarParams, CS: car.CarState, sm: messagin
       Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .1),
   },
 
-  EventName.promptDriverUnresponsive: {
+  EventName.driverUnresponsive2: {
     ET.PERMANENT: Alert(
       "Touch Steering Wheel",
       "Driver Unresponsive",
@@ -543,7 +552,7 @@ def invalid_lkas_setting_alert(CP: car.CarParams, CS: car.CarState, sm: messagin
       Priority.MID, VisualAlert.steerRequired, AudibleAlert.promptDistracted, .1),
   },
 
-  EventName.driverUnresponsive: {
+  EventName.driverUnresponsive3: {
     ET.PERMANENT: Alert(
       "DISENGAGE IMMEDIATELY",
       "Driver Unresponsive",
@@ -932,13 +941,13 @@ def invalid_lkas_setting_alert(CP: car.CarParams, CS: car.CarState, sm: messagin
   # - CAN data is received, but some message are not received at the right frequency
   # If you're not writing a new car port, this is usually cause by faulty wiring
   EventName.canError: {
-    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("CAN Error"),
+    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Unknown Vehicle Variant"),
     ET.PERMANENT: Alert(
-      "CAN Error: Check Connections",
+      "Unknown Vehicle Variant",
       "",
       AlertStatus.normal, AlertSize.small,
       Priority.LOW, VisualAlert.none, AudibleAlert.none, 1., creation_delay=1.),
-    ET.NO_ENTRY: NoEntryAlert("CAN Error: Check Connections"),
+    ET.NO_ENTRY: NoEntryAlert("Unknown Vehicle Variant"),
   },
 
   EventName.canBusMissing: {
@@ -1023,14 +1032,14 @@ def invalid_lkas_setting_alert(CP: car.CarParams, CS: car.CarState, sm: messagin
 
 if HARDWARE.get_device_type() == 'mici':
   EVENTS.update({
-    EventName.preDriverDistracted: {
+    EventName.driverDistracted1: {
       ET.PERMANENT: Alert(
         "Pay Attention",
         "",
         AlertStatus.normal, AlertSize.small,
         Priority.LOW, VisualAlert.none, AudibleAlert.none, 2),
     },
-    EventName.promptDriverDistracted: {
+    EventName.driverDistracted2: {
       ET.PERMANENT: Alert(
         "Pay Attention",
         "Driver Distracted",
@@ -1103,7 +1112,7 @@ def invalid_lkas_setting_alert(CP: car.CarParams, CS: car.CarState, sm: messagin
 
   for i, alerts in EVENTS.items():
     for et, alert in alerts.items():
-      if callable(alert):
+      if not isinstance(alert, Alert):
         alert = alert(CP, CS, sm, False, 1, log.LongitudinalPersonality.standard)
       alerts_by_type[et][alert.priority].append(event_names[i])
 
diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index 997c7e37701..110b0b722ec 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -38,6 +38,8 @@
 EventName = log.OnroadEvent.EventName
 ButtonType = car.CarState.ButtonEvent.Type
 SafetyModel = car.CarParams.SafetyModel
+AlertLevel = log.DriverMonitoringState.AlertLevel
+MonitoringPolicy = log.DriverMonitoringState.MonitoringPolicy
 
 IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput)
 
@@ -74,7 +76,7 @@ def __init__(self, CP=None):
     # TODO: de-couple selfdrived with card/conflate on carState without introducing controls mismatches
     self.car_state_sock = messaging.sub_sock('carState', timeout=20)
 
-    ignore = self.sensor_packets + self.gps_packets + ['alertDebug']
+    ignore = self.sensor_packets + self.gps_packets + ['alertDebug', 'lateralManeuverPlan']
     if SIMULATION:
       ignore += ['driverCameraState', 'managerState']
     if REPLAY:
@@ -83,7 +85,8 @@ def __init__(self, CP=None):
     self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
                                    'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'livePose', 'liveDelay',
                                    'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
-                                   'controlsState', 'carControl', 'driverAssistance', 'alertDebug', 'userBookmark', 'audioFeedback'] + \
+                                   'controlsState', 'carControl', 'driverAssistance', 'alertDebug', 'userBookmark', 'audioFeedback',
+                                   'lateralManeuverPlan'] + \
                                    self.camera_packets + self.sensor_packets + self.gps_packets,
                                   ignore_alive=ignore, ignore_avg_freq=ignore,
                                   ignore_valid=ignore, frequency=int(1/DT_CTRL))
@@ -119,6 +122,8 @@ def __init__(self, CP=None):
     self.experimental_mode = False
     self.personality = self.params.get("LongitudinalPersonality", return_default=True)
     self.recalibrating_seen = False
+    self.dm_lockout_set = False
+    self.dm_uncertain_alerted = False
     self.state_machine = StateMachine()
     self.rk = Ratekeeper(100, print_delay_threshold=None)
 
@@ -148,7 +153,10 @@ def update_events(self, CS):
       self.events.add(EventName.joystickDebug)
       self.startup_event = None
 
-    if self.sm.recv_frame['alertDebug'] > 0:
+    if self.sm.recv_frame['lateralManeuverPlan'] > 0:
+      self.events.add(EventName.lateralManeuver)
+      self.startup_event = None
+    elif self.sm.recv_frame['alertDebug'] > 0:
       self.events.add(EventName.longitudinalManeuver)
       self.startup_event = None
 
@@ -178,8 +186,27 @@ def update_events(self, CS):
     if not self.CP.pcmCruise and CS.vCruise > 250 and resume_pressed:
       self.events.add(EventName.resumeBlocked)
 
+    # Handle DM
     if not self.CP.notCar:
-      self.events.add_from_msg(self.sm['driverMonitoringState'].events)
+      # Block engaging until ignition cycle after max number or time of distractions
+      if self.sm['driverMonitoringState'].lockout and not self.dm_lockout_set:
+        self.params.put_bool_nonblocking("DriverTooDistracted", True)
+        self.dm_lockout_set = True
+      # No entry conditions
+      if self.sm['driverMonitoringState'].lockout or self.sm['driverMonitoringState'].alwaysOnLockout:
+        self.events.add(EventName.tooDistracted)
+      # Alerts
+      vision_dm = self.sm['driverMonitoringState'].activePolicy == MonitoringPolicy.vision
+      if self.sm['driverMonitoringState'].alertLevel == AlertLevel.one:
+        self.events.add(EventName.driverDistracted1 if vision_dm else EventName.driverUnresponsive1)
+      elif self.sm['driverMonitoringState'].alertLevel == AlertLevel.two:
+        self.events.add(EventName.driverDistracted2 if vision_dm else EventName.driverUnresponsive2)
+      elif self.sm['driverMonitoringState'].alertLevel == AlertLevel.three:
+        self.events.add(EventName.driverDistracted3 if vision_dm else EventName.driverUnresponsive3)
+      # Warn consistent DM uncertainty
+      if self.sm['driverMonitoringState'].visionPolicyState.uncertainOffroadAlertPercent >= 100 and not self.dm_uncertain_alerted:
+        set_offroad_alert("Offroad_DriverMonitoringUncertain", True)
+        self.dm_uncertain_alerted = True
 
     # Add car events, ignore if CAN isn't valid
     if CS.canValid:
@@ -188,7 +215,7 @@ def update_events(self, CS):
 
       if self.CP.notCar:
         # wait for everything to init first
-        if self.sm.frame > int(5. / DT_CTRL) and self.initialized:
+        if self.sm.frame > int(2. / DT_CTRL) and self.initialized:
           # body always wants to enable
           self.events.add(EventName.pcmEnable)
 
diff --git a/selfdrive/test/.gitignore b/selfdrive/test/.gitignore
index 5801faadf4e..b8c6bebd953 100644
--- a/selfdrive/test/.gitignore
+++ b/selfdrive/test/.gitignore
@@ -3,7 +3,7 @@ docker_out/
 
 process_replay/diff.txt
 process_replay/model_diff.txt
+process_replay/fakedata/
 valgrind_logs.txt
 
-*.bz2
 *.hevc
diff --git a/selfdrive/test/docker_build.sh b/selfdrive/test/docker_build.sh
index 4d58a1507c2..8d1fa822498 100755
--- a/selfdrive/test/docker_build.sh
+++ b/selfdrive/test/docker_build.sh
@@ -1,12 +1,14 @@
 #!/usr/bin/env bash
 set -e
 
-# To build sim and docs, you can run the following to mount the scons cache to the same place as in CI:
-# mkdir -p .ci_cache/scons_cache
-# sudo mount --bind /tmp/scons_cache/ .ci_cache/scons_cache
-
 SCRIPT_DIR=$(dirname "$0")
 OPENPILOT_DIR=$SCRIPT_DIR/../../
+
+DOCKER_IMAGE=openpilot
+DOCKER_FILE=Dockerfile.openpilot
+DOCKER_REGISTRY=ghcr.io/commaai
+COMMIT_SHA=$(git rev-parse HEAD)
+
 if [ -n "$TARGET_ARCHITECTURE" ]; then
   PLATFORM="linux/$TARGET_ARCHITECTURE"
   TAG_SUFFIX="-$TARGET_ARCHITECTURE"
@@ -15,9 +17,11 @@ else
   TAG_SUFFIX=""
 fi
 
-source $SCRIPT_DIR/docker_common.sh $1 "$TAG_SUFFIX"
+LOCAL_TAG=$DOCKER_IMAGE$TAG_SUFFIX
+REMOTE_TAG=$DOCKER_REGISTRY/$LOCAL_TAG
+REMOTE_SHA_TAG=$DOCKER_REGISTRY/$LOCAL_TAG:$COMMIT_SHA
 
-DOCKER_BUILDKIT=1 docker buildx build --provenance false --pull --platform $PLATFORM --load --cache-to type=inline --cache-from type=registry,ref=$REMOTE_TAG -t $DOCKER_IMAGE:latest -t $REMOTE_TAG -t $LOCAL_TAG -f $OPENPILOT_DIR/$DOCKER_FILE $OPENPILOT_DIR
+DOCKER_BUILDKIT=1 docker buildx build --provenance false --pull --platform $PLATFORM --load -t $DOCKER_IMAGE:latest -t $REMOTE_TAG -t $LOCAL_TAG -f $OPENPILOT_DIR/$DOCKER_FILE $OPENPILOT_DIR
 
 if [ -n "$PUSH_IMAGE" ]; then
   docker push $REMOTE_TAG
diff --git a/selfdrive/test/docker_common.sh b/selfdrive/test/docker_common.sh
deleted file mode 100644
index 2887fff74bc..00000000000
--- a/selfdrive/test/docker_common.sh
+++ /dev/null
@@ -1,18 +0,0 @@
-if [ "$1" = "base" ]; then
-  export DOCKER_IMAGE=openpilot-base
-  export DOCKER_FILE=Dockerfile.openpilot_base
-elif [ "$1" = "prebuilt" ]; then
-  export DOCKER_IMAGE=openpilot-prebuilt
-  export DOCKER_FILE=Dockerfile.openpilot
-else
-  echo "Invalid docker build image: '$1'"
-  exit 1
-fi
-
-export DOCKER_REGISTRY=ghcr.io/commaai
-export COMMIT_SHA=$(git rev-parse HEAD)
-
-TAG_SUFFIX=$2
-LOCAL_TAG=$DOCKER_IMAGE$TAG_SUFFIX
-REMOTE_TAG=$DOCKER_REGISTRY/$LOCAL_TAG
-REMOTE_SHA_TAG=$DOCKER_REGISTRY/$LOCAL_TAG:$COMMIT_SHA
diff --git a/selfdrive/test/fuzzy_generation.py b/selfdrive/test/fuzzy_generation.py
index 94eb0dfaa62..9f028a8fc8d 100644
--- a/selfdrive/test/fuzzy_generation.py
+++ b/selfdrive/test/fuzzy_generation.py
@@ -44,10 +44,10 @@ def rec(field_type: capnp.lib.capnp._DynamicStructReader) -> st.SearchStrategy:
     except capnp.lib.capnp.KjException:
       return self.generate_struct(field.schema)
 
-  def generate_struct(self, schema: capnp.lib.capnp._StructSchema, event: str = None) -> st.SearchStrategy[dict[str, Any]]:
+  def generate_struct(self, schema: capnp.lib.capnp._StructSchema, event: str | None = None) -> st.SearchStrategy[dict[str, Any]]:
     single_fill: tuple[str, ...] = (event,) if event else (self.draw(st.sampled_from(schema.union_fields)),) if schema.union_fields else ()
-    fields_to_generate = schema.non_union_fields + single_fill
-    return st.fixed_dictionaries({field: self.generate_field(schema.fields[field]) for field in fields_to_generate if not field.endswith('DEPRECATED')})
+    fields_to_generate = [f for f in schema.non_union_fields + single_fill if not f.endswith('DEPRECATED') and f != 'deprecated']
+    return st.fixed_dictionaries({field: self.generate_field(schema.fields[field]) for field in fields_to_generate})
 
   @staticmethod
   @cache
diff --git a/selfdrive/test/helpers.py b/selfdrive/test/helpers.py
index 81635aa31f6..5dfc1c3ec8d 100644
--- a/selfdrive/test/helpers.py
+++ b/selfdrive/test/helpers.py
@@ -37,6 +37,43 @@ def wrap(self, *args, **kwargs):
   return wrap
 
 
+def collect_logs(services, duration):
+  socks = [messaging.sub_sock(s, conflate=False, timeout=100) for s in services]
+  logs = []
+  start = time.monotonic()
+  while time.monotonic() - start < duration:
+    for s in socks:
+      logs.extend(messaging.drain_sock(s))
+  return logs
+
+
+@contextlib.contextmanager
+def log_collector(services):
+  """Background thread that continuously drains messages from services.
+     Use when the main thread needs to do blocking work (e.g. capturing images)."""
+  socks = [messaging.sub_sock(s, conflate=False, timeout=100) for s in services]
+  raw_logs = []
+  lock = threading.Lock()
+  stop_event = threading.Event()
+
+  def _drain():
+    while not stop_event.is_set():
+      for s in socks:
+        msgs = messaging.drain_sock(s)
+        if msgs:
+          with lock:
+            raw_logs.extend(msgs)
+      time.sleep(0.01)
+
+  thread = threading.Thread(target=_drain, daemon=True)
+  thread.start()
+  try:
+    yield raw_logs, lock
+  finally:
+    stop_event.set()
+    thread.join(timeout=2)
+
+
 @contextlib.contextmanager
 def processes_context(processes, init_time=0, ignore_stopped=None):
   ignore_stopped = [] if ignore_stopped is None else ignore_stopped
diff --git a/selfdrive/test/longitudinal_maneuvers/maneuver.py b/selfdrive/test/longitudinal_maneuvers/maneuver.py
index dfd5b3e109b..ba0379f2d72 100644
--- a/selfdrive/test/longitudinal_maneuvers/maneuver.py
+++ b/selfdrive/test/longitudinal_maneuvers/maneuver.py
@@ -60,7 +60,8 @@ def evaluate(self):
                             log['distance_lead'],
                             log['speed'],
                             speed_lead,
-                            log['acceleration']]))
+                            log['acceleration'],
+                            log['d_rel']]))
 
       if d_rel < .4 and (self.only_radar or prob_lead > 0.5):
         print("Crashed!!!!")
diff --git a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py
index ab1800b4fbb..90bc46b187d 100644
--- a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py
+++ b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py
@@ -1,5 +1,5 @@
 import itertools
-from parameterized import parameterized_class
+from openpilot.common.parameterized import parameterized_class
 
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import STOP_DISTANCE
 from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver
diff --git a/selfdrive/test/process_replay/.gitignore b/selfdrive/test/process_replay/.gitignore
deleted file mode 100644
index a35cd58d415..00000000000
--- a/selfdrive/test/process_replay/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-fakedata/
diff --git a/selfdrive/test/process_replay/README.md b/selfdrive/test/process_replay/README.md
index dc801e4285c..28f3b7cd2a5 100644
--- a/selfdrive/test/process_replay/README.md
+++ b/selfdrive/test/process_replay/README.md
@@ -5,7 +5,7 @@ Process replay is a regression test designed to identify any changes in the outp
 If the test fails, make sure that you didn't unintentionally change anything. If there are intentional changes, the reference logs will be updated.
 
 Use `test_processes.py` to run the test locally.
-Use `FILEREADER_CACHE='1' test_processes.py` to cache log files.
+Log files are cached by default. Use `DISABLE_FILEREADER_CACHE='1' test_processes.py` to disable caching.
 
 Currently the following processes are tested:
 
@@ -22,7 +22,7 @@ Currently the following processes are tested:
 ### Usage
 ```
 Usage: test_processes.py [-h] [--whitelist-procs PROCS] [--whitelist-cars CARS] [--blacklist-procs PROCS]
-                         [--blacklist-cars CARS] [--ignore-fields FIELDS] [--ignore-msgs MSGS] [--update-refs] [--upload-only]
+                         [--blacklist-cars CARS] [--ignore-fields FIELDS] [--ignore-msgs MSGS] [--update-refs]
 Regression test to identify changes in a process's output
 optional arguments:
   -h, --help            show this help message and exit
@@ -33,7 +33,6 @@ optional arguments:
   --ignore-fields IGNORE_FIELDS         Extra fields or msgs to ignore (e.g. driverMonitoringState.events)
   --ignore-msgs IGNORE_MSGS             Msgs to ignore (e.g. onroadEvents)
   --update-refs                         Updates reference logs using current commit
-  --upload-only                         Skips testing processes and uploads logs from previous test run
 ```
 
 ## Forks
diff --git a/selfdrive/test/process_replay/compare_logs.py b/selfdrive/test/process_replay/compare_logs.py
index 13d51a636f1..4c522c9150d 100755
--- a/selfdrive/test/process_replay/compare_logs.py
+++ b/selfdrive/test/process_replay/compare_logs.py
@@ -3,13 +3,16 @@
 import math
 import capnp
 import numbers
-import dictdiffer
 from collections import Counter
 
 from openpilot.tools.lib.logreader import LogReader
 
 EPSILON = sys.float_info.epsilon
 
+_DynamicStructReader = capnp.lib.capnp._DynamicStructReader
+_DynamicListReader = capnp.lib.capnp._DynamicListReader
+_DynamicEnum = capnp.lib.capnp._DynamicEnum
+
 
 def remove_ignored_fields(msg, ignore):
   msg = msg.as_builder()
@@ -39,6 +42,61 @@ def remove_ignored_fields(msg, ignore):
   return msg
 
 
+def _diff_capnp(r1, r2, path, tolerance):
+  """Walk two capnp struct readers and yield (action, dotted_path, value) diffs.
+
+  Floats are compared with the given tolerance (combined absolute+relative).
+  """
+  schema = r1.schema
+
+  for fname in schema.non_union_fields:
+    child_path = path + (fname,)
+    v1 = getattr(r1, fname)
+    v2 = getattr(r2, fname)
+    yield from _diff_capnp_values(v1, v2, child_path, tolerance)
+
+  if schema.union_fields:
+    w1, w2 = r1.which(), r2.which()
+    if w1 != w2:
+      yield 'change', '.'.join(path), (w1, w2)
+    else:
+      child_path = path + (w1,)
+      v1, v2 = getattr(r1, w1), getattr(r2, w2)
+      yield from _diff_capnp_values(v1, v2, child_path, tolerance)
+
+
+def _diff_capnp_values(v1, v2, path, tolerance):
+  if isinstance(v1, _DynamicStructReader):
+    yield from _diff_capnp(v1, v2, path, tolerance)
+
+  elif isinstance(v1, _DynamicListReader):
+    dot = '.'.join(path)
+    n1, n2 = len(v1), len(v2)
+    n = min(n1, n2)
+    for i in range(n):
+      yield from _diff_capnp_values(v1[i], v2[i], path + (str(i),), tolerance)
+    if n2 > n:
+      yield 'add', dot, [(i, v2[i]) for i in range(n, n2)]
+    if n1 > n:
+      yield 'remove', dot, list(reversed([(i, v1[i]) for i in range(n, n1)]))
+
+  elif isinstance(v1, _DynamicEnum):
+    s1, s2 = str(v1), str(v2)
+    if s1 != s2:
+      yield 'change', '.'.join(path), (s1, s2)
+
+  elif isinstance(v1, float):
+    if not (v1 == v2 or (
+      math.isfinite(v1) and math.isfinite(v2) and
+      abs(v1 - v2) <= max(tolerance, tolerance * max(abs(v1), abs(v2)))
+    )):
+      yield 'change', '.'.join(path), (v1, v2)
+
+  else:
+    if v1 != v2:
+      yield 'change', '.'.join(path), (v1, v2)
+
+
 def compare_logs(log1, log2, ignore_fields=None, ignore_msgs=None, tolerance=None,):
   if ignore_fields is None:
     ignore_fields = []
@@ -65,26 +123,7 @@ def compare_logs(log1, log2, ignore_fields=None, ignore_msgs=None, tolerance=Non
     msg2 = remove_ignored_fields(msg2, ignore_fields)
 
     if msg1.to_bytes() != msg2.to_bytes():
-      msg1_dict = msg1.as_reader().to_dict(verbose=True)
-      msg2_dict = msg2.as_reader().to_dict(verbose=True)
-
-      dd = dictdiffer.diff(msg1_dict, msg2_dict, ignore=ignore_fields)
-
-      # Dictdiffer only supports relative tolerance, we also want to check for absolute
-      # TODO: add this to dictdiffer
-      def outside_tolerance(diff):
-        try:
-          if diff[0] == "change":
-            a, b = diff[2]
-            finite = math.isfinite(a) and math.isfinite(b)
-            if finite and isinstance(a, numbers.Number) and isinstance(b, numbers.Number):
-              return abs(a - b) > max(tolerance, tolerance * max(abs(a), abs(b)))
-        except TypeError:
-          pass
-        return True
-
-      dd = list(filter(outside_tolerance, dd))
-
+      dd = list(_diff_capnp(msg1.as_reader(), msg2.as_reader(), (), tolerance))
       diff.extend(dd)
   return diff
 
diff --git a/selfdrive/test/process_replay/diff_report.py b/selfdrive/test/process_replay/diff_report.py
new file mode 100644
index 00000000000..5da78657f48
--- /dev/null
+++ b/selfdrive/test/process_replay/diff_report.py
@@ -0,0 +1,94 @@
+import os
+from collections import defaultdict
+
+from opendbc.car.tests.car_diff import format_diff, format_numeric_diffs
+from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs
+from openpilot.selfdrive.test.process_replay.process_replay import PROC_REPLAY_DIR
+
+
+class MsgWrap:
+  """Adapter so to_dict() includes defaults"""
+  def __init__(self, msg):
+    self._msg = msg
+  def to_dict(self) -> dict:
+    return self._msg.to_dict(verbose=True)
+
+
+def diff_process(cfg, ref_msgs, new_msgs) -> tuple | None:
+  ref = defaultdict(list)
+  new = defaultdict(list)
+  for m in ref_msgs:
+    if m.which() in cfg.subs:
+      ref[m.which()].append(m)
+  for m in new_msgs:
+    if m.which() in cfg.subs:
+      new[m.which()].append(m)
+
+  diffs = []
+  for sub in cfg.subs:
+    if len(ref[sub]) != len(new[sub]):
+      diffs.append((f"{sub} (message count)", 0, (len(ref[sub]), len(new[sub])), 0))
+    for i, (r, n) in enumerate(zip(ref[sub], new[sub], strict=False)):
+      for d in compare_logs([r], [n], cfg.ignore, tolerance=cfg.tolerance):
+        if d[0] == "change":
+          a, b = d[2]
+          if a != a and b != b:
+            continue
+          diffs.append((d[1], i, d[2], r.logMonoTime))
+        elif d[0] in ("add", "remove"):
+          for item in d[2]:
+            if item[1] != item[1]:
+              continue
+            diffs.append((f"{d[1]}.{item[0]}", i, (d[0], item[1]), r.logMonoTime))
+  return (diffs, ref, new) if diffs else None
+
+
+def diff_format(diffs, ref, new, field) -> list[str]:
+  if any(part.isdigit() for part in field.split(".")):
+    return format_numeric_diffs(diffs)
+  msg_type = field.split(".")[0]
+  ref_ts = [(m.logMonoTime, MsgWrap(m)) for m in ref.get(msg_type, [])]
+  new_wrapped = [MsgWrap(m) for m in new.get(msg_type, [])]
+  if not ref_ts or not new_wrapped:
+    return format_numeric_diffs(diffs)
+  return format_diff(diffs, ref_ts, new_wrapped, field)
+
+
+def diff_report(replay_diffs, segments) -> None:
+  seg_to_plat = {seg: plat for plat, seg in segments}
+
+  with_diffs, errors, n_passed = [], [], 0
+  for seg, proc, data in replay_diffs:
+    plat = seg_to_plat.get(seg, "UNKNOWN")
+    if data is None:
+      n_passed += 1
+    elif isinstance(data, str):
+      errors.append((plat, seg, proc, data))
+    else:
+      with_diffs.append((plat, seg, proc, data))
+
+  icon = "⚠️" if with_diffs else "✅"
+  lines = [
+    "## Process replay diff report",
+    "Replays driving segments through this PR and compares the behavior to master.",
+    "Please review any changes carefully to ensure they are expected.\n",
+    f"{icon}  {len(with_diffs)} changed, {n_passed} passed, {len(errors)} errors",
+  ]
+
+  for plat, seg, proc, err in errors:
+    lines.append(f"\nERROR {plat} - {seg} [{proc}]: {err}")
+
+  if with_diffs:
+    lines.append("<details><summary><b>Show changes</b></summary>\n\n```")
+    for plat, seg, proc, (diffs, ref, new) in with_diffs:
+      lines.append(f"\n{plat} - {seg} [{proc}]")
+      by_field = defaultdict(list)
+      for d in diffs:
+        by_field[d[0]].append(d)
+      for field, fd in sorted(by_field.items()):
+        lines.append(f"\n  {field} ({len(fd)} diffs)")
+        lines.extend(diff_format(fd, ref, new, field))
+    lines.append("```\n</details>")
+
+  with open(os.path.join(PROC_REPLAY_DIR, "diff_report.txt"), "w") as f:
+    f.write("\n".join(lines))
diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py
index 33b363cfd94..12a9664a54e 100644
--- a/selfdrive/test/process_replay/migration.py
+++ b/selfdrive/test/process_replay/migration.py
@@ -1,5 +1,6 @@
 from collections import defaultdict
 from collections.abc import Callable
+from typing import cast
 import capnp
 import functools
 import traceback
@@ -38,6 +39,7 @@ def migrate_all(lr: LogIterable, manager_states: bool = False, panda_states: boo
     migrate_controlsState,
     migrate_carState,
     migrate_liveLocationKalman,
+    migrate_livePose,
     migrate_liveTracks,
     migrate_driverAssistance,
     migrate_drivingModelData,
@@ -67,7 +69,7 @@ def migrate(lr: LogIterable, migration_funcs: list[MigrationFunc]):
     if migration.product in grouped: # skip if product already exists
       continue
 
-    sorted_indices = sorted(ii for i in migration.inputs for ii in grouped[i])
+    sorted_indices = sorted(ii for i in cast(list[str], migration.inputs) for ii in grouped.get(i, []))
     msg_gen = [(i, lr[i]) for i in sorted_indices]
     r_ops, a_ops, d_ops = migration(msg_gen)
     replace_ops.extend(r_ops)
@@ -96,6 +98,17 @@ def wrapper(*args, **kwargs):
   return decorator
 
 
+def migrate_onroad_event(event: capnp.lib.capnp._DynamicStructReader):
+  event_dict = event.to_dict()
+  try:
+    return log.OnroadEvent(**event_dict)
+  except capnp.lib.capnp.KjException as e:
+    # Ignore legacy events the current schema no longer defines.
+    if "enum has no such enumerant" in str(e):
+      return None
+    raise
+
+
 @migration(inputs=["longitudinalPlan", "carParams"])
 def migrate_longitudinalPlan(msgs):
   ops = []
@@ -174,6 +187,7 @@ def migrate_liveLocationKalman(msgs):
     m = messaging.new_message('livePose')
     m.valid = msg.valid
     m.logMonoTime = msg.logMonoTime
+    m.livePose.timestamp = msg.logMonoTime
     for field in ["orientationNED", "velocityDevice", "accelerationDevice", "angularVelocityDevice"]:
       lp_field, llk_field = getattr(m.livePose, field), getattr(msg.liveLocationKalmanDEPRECATED, field)
       lp_field.x, lp_field.y, lp_field.z = llk_field.value or nans
@@ -185,6 +199,21 @@ def migrate_liveLocationKalman(msgs):
   return ops, [], []
 
 
+@migration(inputs=["livePose"])
+def migrate_livePose(msgs):
+  ops = []
+  needs_migration = all(msg.livePose.timestamp == 0 for _, msg in msgs if msg.which() == 'livePose')
+  if not needs_migration:
+    return [], [], []
+
+  for index, msg in msgs:
+    if msg.which() == "livePose":
+      new_msg = msg.as_builder()
+      new_msg.livePose.timestamp = msg.logMonoTime
+      ops.append((index, new_msg.as_reader()))
+  return ops, [], []
+
+
 @migration(inputs=["controlsState"], product="selfdriveState")
 def migrate_controlsState(msgs):
   add_ops = []
@@ -196,7 +225,7 @@ def migrate_controlsState(msgs):
     for field in ("enabled", "active", "state", "engageable", "alertText1", "alertText2",
                   "alertStatus", "alertSize", "alertType", "experimentalMode",
                   "personality"):
-      setattr(ss, field, getattr(msg.controlsState, field+"DEPRECATED"))
+      setattr(ss, field, getattr(msg.controlsState.deprecated, field))
     add_ops.append(m.as_reader())
   return [], add_ops, []
 
@@ -209,10 +238,10 @@ def migrate_carState(msgs):
     if msg.which() == 'controlsState':
       last_cs = msg
     elif msg.which() == 'carState' and last_cs is not None:
-      if last_cs.controlsState.vCruiseDEPRECATED - msg.carState.vCruise > 0.1:
+      if last_cs.controlsState.deprecated.vCruise - msg.carState.vCruise > 0.1:
         msg = msg.as_builder()
-        msg.carState.vCruise = last_cs.controlsState.vCruiseDEPRECATED
-        msg.carState.vCruiseCluster = last_cs.controlsState.vCruiseClusterDEPRECATED
+        msg.carState.vCruise = last_cs.controlsState.deprecated.vCruise
+        msg.carState.vCruiseCluster = last_cs.controlsState.deprecated.vCruiseCluster
         ops.append((index, msg.as_reader()))
   return ops, [], []
 
@@ -274,7 +303,7 @@ def migrate_pandaStates(msgs):
   safety_param_migration = {
     "TOYOTA_PRIUS": EPS_SCALE["TOYOTA_PRIUS"] | ToyotaSafetyFlags.STOCK_LONGITUDINAL,
     "TOYOTA_RAV4": EPS_SCALE["TOYOTA_RAV4"] | ToyotaSafetyFlags.ALT_BRAKE,
-    "KIA_EV6": HyundaiSafetyFlags.EV_GAS | HyundaiSafetyFlags.CANFD_LKA_STEERING,
+    "KIA_EV6": HyundaiSafetyFlags.EV_GAS | HyundaiSafetyFlags.CANFD_LKA_STEER_MSG,
     "CHEVROLET_VOLT": GMSafetyFlags.EV,
     "CHEVROLET_BOLT_EUV": GMSafetyFlags.EV | GMSafetyFlags.HW_CAM,
   }
@@ -418,9 +447,6 @@ def migrate_sensorEvents(msgs):
       m.logMonoTime = msg.logMonoTime
 
       m_dat = getattr(m, sensor_service)
-      m_dat.version = evt.version
-      m_dat.sensor = evt.sensor
-      m_dat.type = evt.type
       m_dat.source = evt.source
       m_dat.timestamp = evt.timestamp
       setattr(m_dat, evt.which(), getattr(evt, evt.which()))
@@ -438,12 +464,13 @@ def migrate_onroadEvents(msgs):
     for event in msg.onroadEventsDEPRECATED:
       try:
         if not str(event.name).endswith('DEPRECATED'):
-          # dict converts name enum into string representation
-          onroadEvents.append(log.OnroadEvent(**event.to_dict()))
+          migrated_event = migrate_onroad_event(event)
+          if migrated_event is not None:
+            onroadEvents.append(migrated_event)
       except RuntimeError:  # Member was null
         traceback.print_exc()
 
-    new_msg = messaging.new_message('onroadEvents', len(msg.onroadEventsDEPRECATED))
+    new_msg = messaging.new_message('onroadEvents', len(onroadEvents))
     new_msg.valid = msg.valid
     new_msg.logMonoTime = msg.logMonoTime
     new_msg.onroadEvents = onroadEvents
@@ -452,21 +479,41 @@ def migrate_onroadEvents(msgs):
   return ops, [], []
 
 
-@migration(inputs=["driverMonitoringState"])
+@migration(inputs=["driverMonitoringStateDEPRECATED"])
 def migrate_driverMonitoringState(msgs):
   ops = []
   for index, msg in msgs:
-    msg = msg.as_builder()
-    events = []
-    for event in msg.driverMonitoringState.eventsDEPRECATED:
-      try:
-        if not str(event.name).endswith('DEPRECATED'):
-          # dict converts name enum into string representation
-          events.append(log.OnroadEvent(**event.to_dict()))
-      except RuntimeError:  # Member was null
-        traceback.print_exc()
-
-    msg.driverMonitoringState.events = events
-    ops.append((index, msg.as_reader()))
+    old = msg.driverMonitoringStateDEPRECATED
+    new_msg = messaging.new_message('driverMonitoringState', valid=msg.valid, logMonoTime=msg.logMonoTime)
+    dm = new_msg.driverMonitoringState
+    dm.isRHD = old.isRHD
+    dm.activePolicy = log.DriverMonitoringState.MonitoringPolicy.vision if old.isActiveMode else \
+                          log.DriverMonitoringState.MonitoringPolicy.wheeltouch
+
+    AlertLevel = log.DriverMonitoringState.AlertLevel
+    event_to_alert_level = {
+      'driverDistracted1': AlertLevel.one, 'driverUnresponsive1': AlertLevel.one,
+      'driverDistracted2': AlertLevel.two, 'driverUnresponsive2': AlertLevel.two,
+      'driverDistracted3': AlertLevel.three, 'driverUnresponsive3': AlertLevel.three,
+      'tooDistracted': AlertLevel.three,
+    }
+    for event in old.events:
+      level = event_to_alert_level.get(str(event.name))
+      if level is not None:
+        dm.alertLevel = level
+        break
+
+    dm.visionPolicyState.awarenessPercent = int(max(0, min(100, (old.awarenessStatus if old.isActiveMode else old.awarenessActive) * 100)))
+    dm.visionPolicyState.awarenessStep = old.stepChange if old.isActiveMode else 0.
+    dm.visionPolicyState.isDistracted = old.isDistracted
+    dm.visionPolicyState.faceDetected = old.faceDetected
+    dm.visionPolicyState.pose.pitchCalib.offset = old.posePitchOffset
+    dm.visionPolicyState.pose.pitchCalib.calibratedPercent = int(min(100, old.posePitchValidCount / 600 * 100))
+    dm.visionPolicyState.pose.yawCalib.offset = old.poseYawOffset
+    dm.visionPolicyState.pose.yawCalib.calibratedPercent = int(min(100, old.poseYawValidCount / 600 * 100))
+    dm.visionPolicyState.pose.calibrated = old.posePitchValidCount >= 600 and old.poseYawValidCount >= 600
+    dm.wheeltouchPolicyState.awarenessPercent = int(max(0, min(100, (old.awarenessPassive if old.isActiveMode else old.awarenessStatus) * 100)))
+    dm.wheeltouchPolicyState.awarenessStep = 0. if old.isActiveMode else old.stepChange
+    ops.append((index, new_msg.as_reader()))
 
   return ops, [], []
diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py
index 9ba599bac9c..880dc2138c2 100755
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@@ -9,7 +9,7 @@
 
 import matplotlib.pyplot as plt
 import numpy as np
-from tabulate import tabulate
+from openpilot.common.utils import tabulate
 
 from openpilot.common.git import get_commit
 from openpilot.system.hardware import PC
@@ -34,8 +34,8 @@
 
 EXEC_TIMINGS = [
   # model, instant max, average max
-  ("modelV2", 0.035, 0.025),
-  ("driverStateV2", 0.02, 0.015),
+  ("modelV2", 0.05, 0.028),
+  ("driverStateV2", 0.05, 0.018),
 ]
 
 def get_log_fn(test_route, ref="master"):
@@ -76,7 +76,7 @@ def generate_report(proposed, master, tmp, commit):
                      (lambda x: get_idx_if_non_empty(x.wheelOnRightProb), "wheelOnRightProb"),
                      (lambda x: get_idx_if_non_empty(x.leftDriverData.faceProb), "leftDriverData.faceProb"),
                      (lambda x: get_idx_if_non_empty(x.leftDriverData.faceOrientation, 0), "leftDriverData.faceOrientation0"),
-                     (lambda x: get_idx_if_non_empty(x.leftDriverData.leftBlinkProb), "leftDriverData.leftBlinkProb"),
+                     (lambda x: get_idx_if_non_empty(x.leftDriverData.eyesClosedProb), "leftDriverData.eyesClosedProb"),
                      (lambda x: get_idx_if_non_empty(x.leftDriverData.phoneProb), "leftDriverData.phoneProb"),
                      (lambda x: get_idx_if_non_empty(x.rightDriverData.faceProb), "rightDriverData.faceProb"),
                     ], "driverStateV2")
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index 1144b7955e7..a74dfcbb436 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -4,6 +4,7 @@
 import copy
 import heapq
 import signal
+import numpy as np
 from collections import Counter
 from dataclasses import dataclass, field
 from itertools import islice
@@ -23,6 +24,7 @@
 from openpilot.common.prefix import OpenpilotPrefix
 from openpilot.common.timeout import Timeout
 from openpilot.common.realtime import DT_CTRL
+from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state, available_streams
 from openpilot.selfdrive.test.process_replay.migration import migrate_all
@@ -143,6 +145,7 @@ def __init__(self, cfg: ProcessConfig):
     self.cfg = copy.deepcopy(cfg)
     self.process = copy.deepcopy(managed_processes[cfg.proc_name])
     self.msg_queue: list[capnp._DynamicStructReader] = []
+    self.last_input_log_mono_time: int = -1
     self.cnt = 0
     self.pm: messaging.PubMaster | None = None
     self.sockets: list[messaging.SubSocket] | None = None
@@ -203,7 +206,8 @@ def _setup_vision_ipc(self, all_msgs: LogIterable, frs: dict[str, Any]):
       if meta.camera_state in self.cfg.vision_pubs:
         assert frs[meta.camera_state].pix_fmt == 'nv12'
         frame_size = (frs[meta.camera_state].w, frs[meta.camera_state].h)
-        vipc_server.create_buffers(meta.stream, 2, *frame_size)
+        stride, y_height, _, yuv_size = get_nv12_info(frame_size[0], frame_size[1])
+        vipc_server.create_buffers_with_sizes(meta.stream, 2, frame_size[0], frame_size[1], yuv_size, stride, stride * y_height)
     vipc_server.start_listener()
 
     self.vipc_server = vipc_server
@@ -264,6 +268,7 @@ def get_output_msgs(self, start_time: int):
       ms = messaging.drain_sock(socket)
       for m in ms:
         m = m.as_builder()
+        assert start_time > 0, "start_time must be positive"
         m.logMonoTime = start_time + int(self.cfg.processing_time * 1e9)
         output_msgs.append(m.as_reader())
     return output_msgs
@@ -290,17 +295,28 @@ def run_step(self, msg: capnp._DynamicStructReader, frs: dict[str, FrameReader]
           trigger_empty_recv = any(m.which() == self.cfg.main_pub for m in self.msg_queue)
 
         # get output msgs from previous inputs
-        output_msgs = self.get_output_msgs(msg.logMonoTime)
+        output_msgs = self.get_output_msgs(self.last_input_log_mono_time)
 
         for m in self.msg_queue:
           self.pm.send(m.which(), m.as_builder())
+          self.last_input_log_mono_time = max(self.last_input_log_mono_time, m.logMonoTime)
           # send frames if needed
           if self.vipc_server is not None and m.which() in self.cfg.vision_pubs:
             camera_state = getattr(m, m.which())
             camera_meta = meta_from_camera_state(m.which())
             assert frs is not None
             img = frs[m.which()].get(camera_state.frameId)
-            self.vipc_server.send(camera_meta.stream, img.flatten().tobytes(),
+
+            h, w = frs[m.which()].h, frs[m.which()].w
+            stride, y_height, _, yuv_size = get_nv12_info(w, h)
+            uv_offset = stride * y_height
+            padded_img = np.zeros(((uv_offset //stride) + (h // 2), stride))
+            padded_img[:h, :w] = img[:h * w].reshape((-1, w))
+            padded_img[uv_offset // stride:uv_offset // stride + h // 2, :w] = img[h * w:].reshape((-1, w))
+            img_bytes = np.zeros((yuv_size,), dtype=np.uint8)
+            img_bytes[:padded_img.size] = padded_img.flatten()
+
+            self.vipc_server.send(camera_meta.stream, img_bytes.tobytes(),
                                   camera_state.frameId, camera_state.timestampSof, camera_state.timestampEof)
         self.msg_queue = []
 
@@ -496,6 +512,7 @@ def selfdrived_config_callback(params, cfg, lr):
     ignore=["logMonoTime"],
     should_recv_callback=MessageBasedRcvCallback("cameraOdometry"),
     tolerance=NUMPY_TOLERANCE,
+    processing_time=0.01,
   ),
   ProcessConfig(
     proc_name="paramsd",
@@ -610,9 +627,9 @@ def replay_process_with_name(name: str | Iterable[str], lr: LogIterable, *args,
 
 
 def replay_process(
-  cfg: ProcessConfig | Iterable[ProcessConfig], lr: LogIterable, frs: dict[str, FrameReader] = None,
-  fingerprint: str = None, return_all_logs: bool = False, custom_params: dict[str, Any] = None,
-  captured_output_store: dict[str, dict[str, str]] = None, disable_progress: bool = False
+  cfg: ProcessConfig | Iterable[ProcessConfig], lr: LogIterable, frs: dict[str, FrameReader] | None = None,
+  fingerprint: str | None = None, return_all_logs: bool = False, custom_params: dict[str, Any] | None = None,
+  captured_output_store: dict[str, dict[str, str]] | None = None, disable_progress: bool = False
 ) -> list[capnp._DynamicStructReader]:
   if isinstance(cfg, Iterable):
     cfgs = list(cfg)
@@ -699,7 +716,7 @@ def _replay_multi_process(
 
     # flush last set of messages from each process
     for container in containers:
-      last_time = log_msgs[-1].logMonoTime if len(log_msgs) > 0 else int(time.monotonic() * 1e9)
+      last_time = container.last_input_log_mono_time if container.last_input_log_mono_time > 0 else int(time.monotonic() * 1e9)
       log_msgs.extend(container.get_output_msgs(last_time))
   finally:
     for container in containers:
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
deleted file mode 100644
index 4a58e321fc5..00000000000
--- a/selfdrive/test/process_replay/ref_commit
+++ /dev/null
@@ -1 +0,0 @@
-e0ad86508edb61b3eaa1b84662c515d2c3368295
\ No newline at end of file
diff --git a/selfdrive/test/process_replay/regen.py b/selfdrive/test/process_replay/regen.py
index ec35a5c3acf..c501a4b2508 100755
--- a/selfdrive/test/process_replay/regen.py
+++ b/selfdrive/test/process_replay/regen.py
@@ -16,7 +16,7 @@
 
 
 def regen_segment(
-  lr: LogIterable, frs: dict[str, Any] = None,
+  lr: LogIterable, frs: dict[str, Any] | None = None,
   processes: Iterable[ProcessConfig] = CONFIGS, disable_tqdm: bool = False
 ) -> list[capnp._DynamicStructReader]:
   all_msgs = sorted(lr, key=lambda m: m.logMonoTime)
diff --git a/selfdrive/test/process_replay/test_fuzzy.py b/selfdrive/test/process_replay/test_fuzzy.py
index 723112163eb..6989f8957fe 100644
--- a/selfdrive/test/process_replay/test_fuzzy.py
+++ b/selfdrive/test/process_replay/test_fuzzy.py
@@ -2,7 +2,7 @@
 import os
 from hypothesis import given, HealthCheck, Phase, settings
 import hypothesis.strategies as st
-from parameterized import parameterized
+from openpilot.common.parameterized import parameterized
 
 from cereal import log
 from opendbc.car.toyota.values import CAR as TOYOTA
diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py
index 59e1ae054e3..bc0085534c1 100755
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@@ -3,18 +3,21 @@
 import concurrent.futures
 import os
 import sys
+import traceback
 from collections import defaultdict
 from tqdm import tqdm
 from typing import Any
 
 from opendbc.car.car_helpers import interface_names
 from openpilot.common.git import get_commit
-from openpilot.tools.lib.openpilotci import get_url, upload_file
+from openpilot.tools.lib.openpilotci import get_url
 from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_diff
+from openpilot.selfdrive.test.process_replay.diff_report import diff_process, diff_report
 from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, PROC_REPLAY_DIR, FAKEDATA, replay_process, \
                                                                    check_most_messages_valid
 from openpilot.tools.lib.filereader import FileReader
 from openpilot.tools.lib.logreader import LogReader, save_log
+from openpilot.tools.lib.url_file import URLFile
 
 source_segments = [
   ("HYUNDAI", "02c45f73a2e5c6e9|2021-01-01--19-08-22--1"),     # HYUNDAI.HYUNDAI_SONATA
@@ -64,26 +67,23 @@
 # dashcamOnly makes don't need to be tested until a full port is done
 excluded_interfaces = ["mock", "body", "psa"]
 
-BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
+BASE_URL = "https://raw.githubusercontent.com/commaai/ci-artifacts/refs/heads/process-replay/"
 REF_COMMIT_FN = os.path.join(PROC_REPLAY_DIR, "ref_commit")
 EXCLUDED_PROCS = {"modeld", "dmonitoringmodeld"}
 
 
 def run_test_process(data):
   segment, cfg, args, cur_log_fn, ref_log_path, lr_dat = data
-  res = None
-  if not args.upload_only:
-    lr = LogReader.from_bytes(lr_dat)
-    res, log_msgs = test_process(cfg, lr, segment, ref_log_path, cur_log_fn, args.ignore_fields, args.ignore_msgs)
-    # save logs so we can upload when updating refs
-    save_log(cur_log_fn, log_msgs)
-
-  if args.update_refs or args.upload_only:
-    print(f'Uploading: {os.path.basename(cur_log_fn)}')
-    assert os.path.exists(cur_log_fn), f"Cannot find log to upload: {cur_log_fn}"
-    upload_file(cur_log_fn, os.path.basename(cur_log_fn))
-    os.remove(cur_log_fn)
-  return (segment, cfg.proc_name, res)
+  ref_log_msgs = list(LogReader(ref_log_path))
+  lr = LogReader.from_bytes(lr_dat)
+  res, log_msgs = test_process(cfg, lr, segment, ref_log_msgs, cur_log_fn, args.ignore_fields, args.ignore_msgs)
+  # save logs so we can update refs
+  save_log(cur_log_fn, log_msgs)
+  try:
+    diff_data = diff_process(cfg, ref_log_msgs, log_msgs)
+  except Exception:
+    diff_data = traceback.format_exc()
+  return (segment, cfg.proc_name, res, diff_data)
 
 
 def get_log_data(segment):
@@ -92,14 +92,12 @@ def get_log_data(segment):
     return (segment, f.read())
 
 
-def test_process(cfg, lr, segment, ref_log_path, new_log_path, ignore_fields=None, ignore_msgs=None):
+def test_process(cfg, lr, segment, ref_log_msgs, new_log_path, ignore_fields=None, ignore_msgs=None):
   if ignore_fields is None:
     ignore_fields = []
   if ignore_msgs is None:
     ignore_msgs = []
 
-  ref_log_msgs = list(LogReader(ref_log_path))
-
   try:
     log_msgs = replay_process(cfg, lr, disable_progress=True)
   except Exception as e:
@@ -142,8 +140,6 @@ def test_process(cfg, lr, segment, ref_log_path, new_log_path, ignore_fields=Non
                       help="Msgs to ignore (e.g. carEvents)")
   parser.add_argument("--update-refs", action="store_true",
                       help="Updates reference logs using current commit")
-  parser.add_argument("--upload-only", action="store_true",
-                      help="Skips testing processes and uploads logs from previous test run")
   parser.add_argument("-j", "--jobs", type=int, default=max(cpu_count - 2, 1),
                       help="Max amount of parallel jobs")
   args = parser.parse_args()
@@ -153,18 +149,16 @@ def test_process(cfg, lr, segment, ref_log_path, new_log_path, ignore_fields=Non
   tested_cars = {c.upper() for c in tested_cars}
 
   full_test = (tested_procs == all_procs) and (tested_cars == all_cars) and all(len(x) == 0 for x in (args.ignore_fields, args.ignore_msgs))
-  upload = args.update_refs or args.upload_only
   os.makedirs(os.path.dirname(FAKEDATA), exist_ok=True)
 
-  if upload:
+  if args.update_refs:
     assert full_test, "Need to run full test when updating refs"
 
   try:
     with open(REF_COMMIT_FN) as f:
       ref_commit = f.read().strip()
   except FileNotFoundError:
-    print("Couldn't find reference commit")
-    sys.exit(1)
+    ref_commit = URLFile(BASE_URL + "ref_commit", cache=False).read().decode().strip()
 
   cur_commit = get_commit()
   if not cur_commit:
@@ -179,12 +173,11 @@ def test_process(cfg, lr, segment, ref_log_path, new_log_path, ignore_fields=Non
 
   log_paths: defaultdict[str, dict[str, dict[str, str]]] = defaultdict(lambda: defaultdict(dict))
   with concurrent.futures.ProcessPoolExecutor(max_workers=args.jobs) as pool:
-    if not args.upload_only:
-      download_segments = [seg for car, seg in segments if car in tested_cars]
-      log_data: dict[str, LogReader] = {}
-      p1 = pool.map(get_log_data, download_segments)
-      for segment, lr in tqdm(p1, desc="Getting Logs", total=len(download_segments)):
-        log_data[segment] = lr
+    download_segments = [seg for car, seg in segments if car in tested_cars]
+    log_data: dict[str, LogReader] = {}
+    p1 = pool.map(get_log_data, download_segments)
+    for segment, lr in tqdm(p1, desc="Getting Logs", total=len(download_segments)):
+      log_data[segment] = lr
 
     pool_args: Any = []
     for car_brand, segment in segments:
@@ -199,35 +192,39 @@ def test_process(cfg, lr, segment, ref_log_path, new_log_path, ignore_fields=Non
         if cfg.proc_name not in ('card', 'controlsd', 'lagd') and car_brand not in ('HYUNDAI', 'TOYOTA'):
           continue
 
-        cur_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{cur_commit}.zst")
+        cur_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{cur_commit}.zst".replace("|", "_"))
         if args.update_refs:  # reference logs will not exist if routes were just regenerated
-          ref_log_path = get_url(*segment.rsplit("--", 1,), "rlog.zst")
+          route, seg_num = segment.rsplit("--", 1)
+          ref_log_path = get_url(route, seg_num, "rlog.zst")
         else:
-          ref_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{ref_commit}.zst")
+          ref_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{ref_commit}.zst".replace("|", "_"))
           ref_log_path = ref_log_fn if os.path.exists(ref_log_fn) else BASE_URL + os.path.basename(ref_log_fn)
 
-        dat = None if args.upload_only else log_data[segment]
-        pool_args.append((segment, cfg, args, cur_log_fn, ref_log_path, dat))
+        pool_args.append((segment, cfg, args, cur_log_fn, ref_log_path, log_data[segment]))
 
         log_paths[segment][cfg.proc_name]['ref'] = ref_log_path
         log_paths[segment][cfg.proc_name]['new'] = cur_log_fn
 
     results: Any = defaultdict(dict)
+    diffs: list = []
     p2 = pool.map(run_test_process, pool_args)
-    for (segment, proc, result) in tqdm(p2, desc="Running Tests", total=len(pool_args)):
-      if not args.upload_only:
-        results[segment][proc] = result
+    for (segment, proc, result, diff_data) in tqdm(p2, desc="Running Tests", total=len(pool_args)):
+      results[segment][proc] = result
+      diffs.append((segment, proc, diff_data))
 
   diff_short, diff_long, failed = format_diff(results, log_paths, ref_commit)
-  if not upload:
+  if not args.update_refs:
     with open(os.path.join(PROC_REPLAY_DIR, "diff.txt"), "w") as f:
       f.write(diff_long)
     print(diff_short)
 
+    try:
+      diff_report(diffs, segments)
+    except Exception:
+      print(f"failed to generate diff report:\n{traceback.format_exc()}")
+
     if failed:
       print("TEST FAILED")
-      print("\n\nTo push the new reference logs for this commit run:")
-      print("./test_processes.py --upload-only")
     else:
       print("TEST SUCCEEDED")
 
diff --git a/selfdrive/test/process_replay/test_regen.py b/selfdrive/test/process_replay/test_regen.py
index 5f26daf786c..f4942e486ca 100644
--- a/selfdrive/test/process_replay/test_regen.py
+++ b/selfdrive/test/process_replay/test_regen.py
@@ -1,4 +1,4 @@
-from parameterized import parameterized
+from openpilot.common.parameterized import parameterized
 
 from openpilot.selfdrive.test.process_replay.regen import regen_segment
 from openpilot.selfdrive.test.process_replay.process_replay import check_openpilot_enabled
diff --git a/selfdrive/test/setup_vsound.sh b/selfdrive/test/setup_vsound.sh
deleted file mode 100755
index aab14997448..00000000000
--- a/selfdrive/test/setup_vsound.sh
+++ /dev/null
@@ -1,10 +0,0 @@
-#!/usr/bin/env bash
-
-{
-  #start pulseaudio daemon
-  sudo pulseaudio -D
-
-  # create a virtual null audio and set it to default device
-  sudo pactl load-module module-null-sink sink_name=virtual_audio
-  sudo pactl set-default-sink virtual_audio
-} > /dev/null 2>&1
diff --git a/selfdrive/test/setup_xvfb.sh b/selfdrive/test/setup_xvfb.sh
index 692b84d65f0..c1b74a850ee 100755
--- a/selfdrive/test/setup_xvfb.sh
+++ b/selfdrive/test/setup_xvfb.sh
@@ -2,7 +2,11 @@
 
 # Sets up a virtual display for running map renderer and simulator without an X11 display
 
-DISP_ID=99
+if uname -r | grep -q "WSL2"; then
+  DISP_ID=0 # WSLg uses display :0
+else
+  DISP_ID=99 # Standard Xvfb display
+fi
 export DISPLAY=:$DISP_ID
 
 sudo Xvfb $DISPLAY -screen 0 2160x1080x24 2>/dev/null &
@@ -15,5 +19,4 @@ do
 done
 
 touch ~/.Xauthority
-export XDG_SESSION_TYPE="x11"
-xset -q
\ No newline at end of file
+export XDG_SESSION_TYPE="x11"
\ No newline at end of file
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index f57751c0674..1129a1a2ff1 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -8,7 +8,7 @@
 import numpy as np
 from collections import Counter, defaultdict
 from pathlib import Path
-from tabulate import tabulate
+from openpilot.common.utils import tabulate
 
 from cereal import log
 import cereal.messaging as messaging
@@ -56,7 +56,7 @@
   "selfdrive.ui.soundd": 3.0,
   "selfdrive.ui.feedback.feedbackd": 1.0,
   "selfdrive.monitoring.dmonitoringd": 4.0,
-  "system.proclogd": 3.0,
+  "system.proclogd": 7.0,
   "system.logmessaged": 1.0,
   "system.tombstoned": 0,
   "system.journald": 1.0,
@@ -282,9 +282,12 @@ def test_memory_usage(self):
     print("\n------------------------------------------------")
     print("--------------- Memory Usage -------------------")
     print("------------------------------------------------")
+
+    from openpilot.selfdrive.debug.mem_usage import print_report
+    print_report(self.msgs['procLog'], self.msgs['deviceState'])
+
     offset = int(SERVICE_LIST['deviceState'].frequency * LOG_OFFSET)
     mems = [m.deviceState.memoryUsagePercent for m in self.msgs['deviceState'][offset:]]
-    print("Overall memory usage: ", mems)
     print("MSGQ (/dev/shm/) usage: ", subprocess.check_output(["du", "-hs", "/dev/shm"]).split()[0].decode())
 
     # check for big leaks. note that memory usage is
@@ -339,10 +342,15 @@ def test_camera_sync(self, subtests):
 
         start, end = min(first_fid), min(last_fid)
         for i in range(end-start):
-          ts = {c: round(self.ts[c]['timestampSof'][i]/1e6, 1) for c in cams}
+          # road and wide cameras (first two) should be synced within 2ms
+          ts = {c: round(self.ts[c]['timestampSof'][i]/1e6, 1) for c in cams[:2]}
           diff = (max(ts.values()) - min(ts.values()))
           assert diff < 2, f"Cameras not synced properly: frame_id={start+i}, {diff=:.1f}ms, {ts=}"
 
+          # driver camera should be staggered ~25ms from road camera
+          offset_ms = abs(self.ts[cams[2]]['timestampSof'][i] - self.ts[cams[0]]['timestampSof'][i]) / 1e6
+          assert 20 < offset_ms < 30, f"driver camera stagger out of range at frame {start+i}: {offset_ms:.1f}ms"
+
   def test_camera_encoder_matches(self, subtests):
     # sanity check that the frame metadata is consistent with the encoded frames
     pairs = [('roadCameraState', 'roadEncodeIdx'),
diff --git a/selfdrive/test/update_ci_routes.py b/selfdrive/test/update_ci_routes.py
index 2bf06b48603..54e1c88718f 100755
--- a/selfdrive/test/update_ci_routes.py
+++ b/selfdrive/test/update_ci_routes.py
@@ -19,7 +19,7 @@
 
 DEST = OpenpilotCIContainer
 
-def upload_route(path: str, exclude_patterns: Iterable[str] = None) -> None:
+def upload_route(path: str, exclude_patterns: Iterable[str] | None = None) -> None:
   if exclude_patterns is None:
     exclude_patterns = [r'dcamera\.hevc']
 
diff --git a/selfdrive/ui/.gitignore b/selfdrive/ui/.gitignore
index 945928f6178..30ae77d885e 100644
--- a/selfdrive/ui/.gitignore
+++ b/selfdrive/ui/.gitignore
@@ -1 +1,4 @@
 installer/installers/*
+
+tests/diff/report
+.coverage
diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript
index 0de3e13c011..1a662e6b245 100644
--- a/selfdrive/ui/SConscript
+++ b/selfdrive/ui/SConscript
@@ -1,6 +1,3 @@
-import os
-import re
-import json
 from pathlib import Path
 Import('env', 'arch', 'common')
 
@@ -8,7 +5,7 @@ Import('env', 'arch', 'common')
 generator = File("#selfdrive/assets/fonts/process.py")
 source_files = Glob("#selfdrive/assets/fonts/*.ttf") + Glob("#selfdrive/assets/fonts/*.otf")
 output_files = [
-  (f.abspath.split('.')[0] + ".fnt", f.abspath.split('.')[0] + ".png")
+  (f"#{Path(f.path).with_suffix('.fnt')}", f"#{Path(f.path).with_suffix('.png')}")
   for f in source_files
   if "NotoColor" not in f.name
 ]
@@ -18,54 +15,41 @@ env.Command(
   action=f"python3 {generator}",
 )
 
-# compile gettext .po -> .mo translations
-with open(File("translations/languages.json").abspath) as f:
-  languages = json.loads(f.read())
 
-po_sources = [f"#selfdrive/ui/translations/app_{l}.po" for l in languages.values()]
-po_sources = [src for src in po_sources if os.path.exists(File(src).abspath)]
-mo_targets = [src.replace(".po", ".mo") for src in po_sources]
-mo_build = []
-for src, tgt in zip(po_sources, mo_targets):
-  mo_build.append(env.Command(tgt, src, "msgfmt -o $TARGET $SOURCE"))
-mo_alias = env.Alias('mo', mo_build)
-env.AlwaysBuild(mo_alias)
-
-if GetOption('extras'):
+if GetOption('extras') and arch == "larch64":
   # build installers
-  if arch != "Darwin":
-    raylib_env = env.Clone()
-    raylib_env['LIBPATH'] += [f'#third_party/raylib/{arch}/']
-    raylib_env['LINKFLAGS'].append('-Wl,-strip-debug')
-
-    raylib_libs = common + ["raylib"]
-    if arch == "larch64":
-      raylib_libs += ["GLESv2", "EGL", "gbm", "drm"]
-    else:
-      raylib_libs += ["GL"]
-
-    release = "release3"
-    installers = [
-      ("openpilot", release),
-      ("openpilot_test", f"{release}-staging"),
-      ("openpilot_nightly", "nightly"),
-      ("openpilot_internal", "nightly-dev"),
-    ]
-
-    cont = raylib_env.Command("installer/continue_openpilot.o", "installer/continue_openpilot.sh",
+  raylib_env = env.Clone()
+  raylib_env['LIBPATH'] += [f'#third_party/raylib/{arch}/']
+  raylib_env['LINKFLAGS'].append('-Wl,-strip-debug')
+
+  raylib_libs = common + ["raylib"]
+  if arch == "larch64":
+    raylib_libs += ["GLESv2", "EGL", "gbm", "drm"]
+  else:
+    raylib_libs += ["GL"]
+
+  release = "release3"
+  installers = [
+    ("openpilot", release),
+    ("openpilot_test", f"{release}-staging"),
+    ("openpilot_nightly", "nightly"),
+    ("openpilot_internal", "nightly-dev"),
+  ]
+
+  cont = raylib_env.Command("installer/continue_openpilot.o", "installer/continue_openpilot.sh",
+                            "ld -r -b binary -o $TARGET $SOURCE")
+  inter = raylib_env.Command("installer/inter_ttf.o", "installer/inter-ascii.ttf",
+                             "ld -r -b binary -o $TARGET $SOURCE")
+  inter_bold = raylib_env.Command("installer/inter_bold.o", "../assets/fonts/Inter-Bold.ttf",
                               "ld -r -b binary -o $TARGET $SOURCE")
-    inter = raylib_env.Command("installer/inter_ttf.o", "installer/inter-ascii.ttf",
-                               "ld -r -b binary -o $TARGET $SOURCE")
-    inter_bold = raylib_env.Command("installer/inter_bold.o", "../assets/fonts/Inter-Bold.ttf",
-                                "ld -r -b binary -o $TARGET $SOURCE")
-    inter_light = raylib_env.Command("installer/inter_light.o", "../assets/fonts/Inter-Light.ttf",
-                                "ld -r -b binary -o $TARGET $SOURCE")
-    for name, branch in installers:
-      d = {'BRANCH': f"'\"{branch}\"'"}
-      if "internal" in name:
-        d['INTERNAL'] = "1"
-
-      obj = raylib_env.Object(f"installer/installers/installer_{name}.o", ["installer/installer.cc"], CPPDEFINES=d)
-      f = raylib_env.Program(f"installer/installers/installer_{name}", [obj, cont, inter, inter_bold, inter_light], LIBS=raylib_libs)
-      # keep installers small
-      assert f[0].get_size() < 1900*1e3, f[0].get_size()
+  inter_light = raylib_env.Command("installer/inter_light.o", "../assets/fonts/Inter-Light.ttf",
+                              "ld -r -b binary -o $TARGET $SOURCE")
+  for name, branch in installers:
+    d = {'BRANCH': f"'\"{branch}\"'"}
+    if "internal" in name:
+      d['INTERNAL'] = "1"
+
+    obj = raylib_env.Object(f"installer/installers/installer_{name}.o", ["installer/installer.cc"], CPPDEFINES=d)
+    f = raylib_env.Program(f"installer/installers/installer_{name}", [obj, cont, inter, inter_bold, inter_light], LIBS=raylib_libs)
+    # keep installers small
+    assert f[0].get_size() < 2500*1e3, f[0].get_size()
diff --git a/docs/glossary.toml b/selfdrive/ui/body/__init__.py
similarity index 100%
rename from docs/glossary.toml
rename to selfdrive/ui/body/__init__.py
diff --git a/selfdrive/ui/body/animations.py b/selfdrive/ui/body/animations.py
new file mode 100644
index 00000000000..c40f7ecdefe
--- /dev/null
+++ b/selfdrive/ui/body/animations.py
@@ -0,0 +1,278 @@
+from dataclasses import dataclass
+from enum import Enum
+import time
+
+
+class AnimationMode(Enum):
+  ONCE_FORWARD = 1
+  ONCE_FORWARD_BACKWARD = 2
+  REPEAT_FORWARD = 3
+  REPEAT_FORWARD_BACKWARD = 4
+
+
+@dataclass
+class Animation:
+  frames: list[list[tuple[int, int]]]
+  starting_frames: list[list[tuple[int, int]]] | None = None  # played once before the main loop
+  frame_duration: float = 0.15       # seconds each frame is shown
+  mode: AnimationMode = AnimationMode.REPEAT_FORWARD_BACKWARD
+  repeat_interval: float = 5.0      # seconds between animation restarts (only for REPEAT modes)
+  hold_end: float = 0.0             # seconds to hold the last frame before playing backward (only for *_BACKWARD modes)
+  left_turn_remove: list[tuple[int, int]] | None = None   # dots to remove from frame when turning left
+  right_turn_remove: list[tuple[int, int]] | None = None   # dots to remove from frame when turning right
+
+
+# --- Animation Helper Functions ---
+
+def _mirror(dots: list[tuple[int, int]]) -> list[tuple[int, int]]:
+  """Mirror a component from the left side of the face to the right"""
+  return [(r, 15 - c) for r, c in dots]
+
+
+def _mirror_no_flip(dots: list[tuple[int, int]]) -> list[tuple[int, int]]:
+  """Move a component to the mirrored position on the right half without flipping its shape."""
+  min_c = min(c for _, c in dots)
+  max_c = max(c for _, c in dots)
+  return [(r, 15 - max_c - min_c + c) for r, c in dots]
+
+
+def _shift(dots: list[tuple[int, int]], rc: tuple[int, int]) -> list[tuple[int, int]]:
+  dr, dc = rc
+  return [(r + dr, c + dc) for r, c in dots]
+
+
+def _make_frame(left_eye: list[tuple[int, int]], right_eye: list[tuple[int, int]],
+                left_brow: list[tuple[int, int]], right_brow: list[tuple[int, int]],
+                mouth: list[tuple[int, int]]) -> list[tuple[int, int]]:
+  return left_eye + left_brow + right_eye + right_brow + mouth
+
+
+# --- Animation Helper Components ---
+
+# Eyes (left side)
+EYE_OPEN = [
+        (2, 2), (2, 3),
+(3, 1), (3, 2), (3, 3), (3, 4),
+(4, 1), (4, 2), (4, 3), (4, 4),
+        (5, 2), (5, 3)
+]
+EYE_HALF = [
+(4, 1), (4, 2), (4, 3), (4, 4),
+        (5, 2), (5, 3)
+]
+EYE_CLOSED = [
+(4, 1),                 (4, 4),
+        (5, 2), (5, 3),
+]
+EYE_LEFT_LOOK = [
+        (2, 2), (2, 3),
+(3, 1), (3, 2),
+(4, 1), (4, 2),
+        (5, 2), (5, 3),
+]
+EYE_RIGHT_LOOK = [
+        (2, 2), (2, 3),
+                (3, 3), (3, 4),
+                (4, 3), (4, 4),
+        (5, 2), (5, 3),
+]
+
+# Eyebrows (left side)
+BROW_HIGH = [
+        (0, 1), (0, 2),
+(1, 0),
+]
+BROW_LOWERED = [
+        (1, 1), (1, 2),
+(2, 0)
+]
+BROW_STRAIGHT = [(1, 0), (1, 1), (1, 2)]
+BROW_DOWN = [
+(0, 1), (0, 2),
+                (1, 3)
+]
+
+# Mouths (centered, not mirrored)
+MOUTH_SMILE = [
+(6, 6),                 (6, 9),
+        (7, 7), (7, 8),
+]
+MOUTH_NORMAL = [(7, 7), (7, 8)]
+MOUTH_SAD = [
+        (6, 7), (6, 8),
+(7, 6),                 (7, 9)
+]
+
+# --- Animations ---
+
+NORMAL = Animation(
+  frames=[
+    _make_frame(EYE_OPEN, _mirror(EYE_OPEN), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+    _make_frame(EYE_HALF, _mirror(EYE_HALF), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+    _make_frame(EYE_CLOSED, _mirror(EYE_CLOSED), BROW_LOWERED, _mirror(BROW_LOWERED), MOUTH_SMILE),
+  ],
+  left_turn_remove=[
+    (3, 3), (3, 4),
+    (4, 3), (4, 4),
+  ] + _mirror_no_flip([
+    (3, 1), (3, 2),
+    (4, 1), (4, 2),
+  ]),
+  right_turn_remove=[
+    (3, 1), (3, 2),
+    (4, 1), (4, 2),
+  ] + _mirror_no_flip([
+    (3, 3), (3, 4),
+    (4, 3), (4, 4),
+  ])
+)
+
+ASLEEP = Animation(
+  frames=[
+    _make_frame(EYE_CLOSED, _mirror(EYE_CLOSED), [], [], MOUTH_NORMAL),
+  ],
+)
+
+SLEEPY = Animation(
+  frames=[
+    _make_frame(EYE_CLOSED, _mirror(EYE_CLOSED), _shift(BROW_STRAIGHT, (1, 0)), [], MOUTH_NORMAL),
+    _make_frame(EYE_HALF, _mirror(EYE_CLOSED), BROW_LOWERED, [], MOUTH_NORMAL),
+    _make_frame(EYE_OPEN, _mirror(EYE_CLOSED), BROW_HIGH, [], MOUTH_NORMAL)
+  ],
+  frame_duration=0.25,
+  mode=AnimationMode.ONCE_FORWARD_BACKWARD,
+  repeat_interval=10,
+  hold_end=1.5,
+)
+
+INQUISITIVE = Animation(
+  frames=[
+    _make_frame(EYE_OPEN, _mirror(EYE_OPEN), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+
+    _make_frame(EYE_LEFT_LOOK, _mirror(EYE_RIGHT_LOOK), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+    _make_frame(_shift(EYE_LEFT_LOOK, (0, -1)), _shift(_mirror(EYE_RIGHT_LOOK), (0, -1)), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+    _make_frame(_shift(EYE_LEFT_LOOK, (0, -1)), _shift(_mirror(EYE_RIGHT_LOOK), (0, -1)), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+    _make_frame(_shift(EYE_LEFT_LOOK, (0, -1)), _shift(_mirror(EYE_RIGHT_LOOK), (0, -1)), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+    _make_frame(EYE_LEFT_LOOK, _mirror(EYE_RIGHT_LOOK), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+
+    _make_frame(EYE_RIGHT_LOOK, _mirror(EYE_LEFT_LOOK), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+    _make_frame(_shift(EYE_RIGHT_LOOK, (0, 1)), _shift(_mirror(EYE_LEFT_LOOK), (0, 1)), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+    _make_frame(_shift(EYE_RIGHT_LOOK, (0, 1)), _shift(_mirror(EYE_LEFT_LOOK), (0, 1)), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+    _make_frame(_shift(EYE_RIGHT_LOOK, (0, 1)), _shift(_mirror(EYE_LEFT_LOOK), (0, 1)), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+    _make_frame(EYE_RIGHT_LOOK, _mirror(EYE_LEFT_LOOK), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+
+    _make_frame(EYE_OPEN, _mirror(EYE_OPEN), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+  ],
+  mode=AnimationMode.REPEAT_FORWARD,
+  frame_duration=0.15,
+  repeat_interval=10
+)
+
+WINK = Animation(
+  frames=[
+    _make_frame(EYE_OPEN, _mirror(EYE_OPEN), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+    _make_frame(EYE_OPEN, _mirror(EYE_CLOSED), BROW_HIGH, _mirror(_shift(BROW_DOWN, (0, 2))), MOUTH_SMILE),
+  ],
+  mode=AnimationMode.ONCE_FORWARD_BACKWARD,
+  frame_duration=0.75,
+)
+
+
+# --- Face Animator Class ---
+
+class FaceAnimator:
+  def __init__(self, animation: Animation):
+    self._animation = animation
+    self._next: Animation | None = None
+    self._start_time = time.monotonic()
+    self._rewinding = False
+    self._rewind_start: float = 0.0
+    self._rewind_from: int = 0
+    self._seen_nonzero = False
+
+  def set_animation(self, animation: Animation):
+    if animation is not self._animation:
+      self._next = animation
+
+  def get_dots(self) -> list[tuple[int, int]]:
+    now = time.monotonic()
+    elapsed = now - self._start_time
+
+    # Handle rewind for forward-only animations
+    if self._rewinding:
+      rewind_elapsed = now - self._rewind_start
+      frames_back = round(rewind_elapsed / self._animation.frame_duration)
+      frame_index = self._rewind_from - frames_back
+      if frame_index <= 0:
+        return self._switch_to_next(now)
+      return self._animation.frames[frame_index]
+
+    # Play starting frames first (once)
+    starting = self._animation.starting_frames or []
+    starting_duration = len(starting) * self._animation.frame_duration
+    if starting and elapsed < starting_duration:
+      frame_index = min(int(elapsed / self._animation.frame_duration), len(starting) - 1)
+      return starting[frame_index]
+
+    # Main loop
+    loop_elapsed = elapsed - starting_duration if starting else elapsed
+    frame_index = _get_frame_index(self._animation, loop_elapsed, gap_first=bool(starting))
+
+    if frame_index != 0:
+      self._seen_nonzero = True
+
+    if self._next is not None:
+      if frame_index == 0 and (len(self._animation.frames) == 1 or self._seen_nonzero):
+        return self._switch_to_next(now)
+      # No natural return to frame 0 — start rewinding
+      if self._animation.mode in (AnimationMode.ONCE_FORWARD, AnimationMode.REPEAT_FORWARD):
+        self._rewinding = True
+        self._rewind_start = now
+        self._rewind_from = frame_index
+
+    return self._animation.frames[frame_index]
+
+  def _switch_to_next(self, now: float) -> list[tuple[int, int]]:
+    self._animation = self._next
+    self._next = None
+    self._rewinding = False
+    self._seen_nonzero = False
+    self._start_time = now
+    return self._animation.frames[0]
+
+
+def _get_frame_index(animation: Animation, elapsed: float, gap_first: bool = False) -> int:
+  """Get the current frame index given elapsed time and animation mode."""
+  num_frames = len(animation.frames)
+  if num_frames == 1:
+    return 0
+
+  fd = animation.frame_duration
+  has_backward = animation.mode in (AnimationMode.ONCE_FORWARD_BACKWARD, AnimationMode.REPEAT_FORWARD_BACKWARD)
+  repeats = animation.mode in (AnimationMode.REPEAT_FORWARD, AnimationMode.REPEAT_FORWARD_BACKWARD)
+
+  forward_duration = num_frames * fd
+  backward_frames = max(num_frames - 2, 0) if has_backward else 0
+  hold = animation.hold_end if has_backward else 0.0
+  cycle_duration = forward_duration + hold + backward_frames * fd
+
+  if not repeats:
+    t = min(elapsed, cycle_duration)
+  else:
+    t = (elapsed + cycle_duration if gap_first else elapsed) % animation.repeat_interval
+
+  # Forward phase
+  if t < forward_duration:
+    return min(int(t / fd), num_frames - 1)
+  t -= forward_duration
+
+  # Hold at last frame
+  if t < hold:
+    return num_frames - 1
+  t -= hold
+
+  # Backward phase
+  if backward_frames and t < backward_frames * fd:
+    return num_frames - 2 - min(int(t / fd), backward_frames - 1)
+
+  return 0 if has_backward else num_frames - 1
diff --git a/selfdrive/ui/body/layouts/__init__.py b/selfdrive/ui/body/layouts/__init__.py
new file mode 100644
index 00000000000..e69de29bb2d
diff --git a/selfdrive/ui/body/layouts/onroad.py b/selfdrive/ui/body/layouts/onroad.py
new file mode 100644
index 00000000000..d7e9f419cca
--- /dev/null
+++ b/selfdrive/ui/body/layouts/onroad.py
@@ -0,0 +1,93 @@
+import time
+import pyray as rl
+
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.label import UnifiedLabel
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.selfdrive.ui.body.animations import FaceAnimator, ASLEEP, INQUISITIVE, NORMAL, SLEEPY
+
+GRID_COLS = 16
+GRID_ROWS = 8
+DOT_RADIUS = 50 if gui_app.big_ui() else 10
+
+IDLE_TIMEOUT = 30.0        # seconds of no joystick input before playing INQUISITIVE
+IDLE_STEER_THRESH = 0.5    # degrees — below this counts as no input
+IDLE_SPEED_THRESH = 0.01   # m/s — below this counts as no input
+
+
+# This class is used both in BIG (tizi) and small (mici) UIs
+class BodyLayout(Widget):
+  def __init__(self):
+    super().__init__()
+    self._animator = FaceAnimator(ASLEEP)
+    self._turning_left = False
+    self._turning_right = False
+    self._last_input_time = time.monotonic()
+    self._was_active = False
+    self._offroad_label = UnifiedLabel("turn on ignition to use", 95 if gui_app.big_ui() else 45, FontWeight.DISPLAY,
+                                       alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
+                                       alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
+
+  def draw_dot_grid(self, rect: rl.Rectangle, dots: list[tuple[int, int]], color: rl.Color):
+    spacing = min(rect.height / GRID_ROWS, rect.width / GRID_COLS)
+
+    grid_w = (GRID_COLS - 1) * spacing
+    grid_h = (GRID_ROWS - 1) * spacing
+
+    offset_x = rect.x + (rect.width - grid_w) / 2
+    offset_y = rect.y + (rect.height - grid_h) / 2
+
+    for row, col in dots:
+      x = int(offset_x + col * spacing)
+      y = int(offset_y + row * spacing)
+      rl.draw_circle(x, y, DOT_RADIUS, color)
+
+  def _update_state(self):
+    super()._update_state()
+
+    sm = ui_state.sm
+
+    if ui_state.is_onroad():
+      if not self._was_active:
+        self._last_input_time = time.monotonic()
+        self._was_active = True
+
+      cs = sm['carState']
+      has_input = abs(cs.steeringAngleDeg) > IDLE_STEER_THRESH or abs(cs.vEgo) > IDLE_SPEED_THRESH
+      if has_input:
+        self._last_input_time = time.monotonic()
+
+      if time.monotonic() - self._last_input_time > IDLE_TIMEOUT:
+        self._animator.set_animation(INQUISITIVE)
+      else:
+        self._animator.set_animation(NORMAL)
+    else:
+      self._was_active = False
+      self._animator.set_animation(ASLEEP)
+
+    steer = sm['testJoystick'].axes[1] if len(sm['testJoystick'].axes) > 1 else 0
+    self._turning_left = steer <= -0.05
+    self._turning_right = steer >= 0.05
+
+  # play animation on screen tap
+  def _handle_mouse_release(self, mouse_pos):
+    super()._handle_mouse_release(mouse_pos)
+    if not self._was_active:
+      self._animator.set_animation(SLEEPY)
+
+  def _render(self, rect: rl.Rectangle):
+    dots = self._animator.get_dots()
+    animation = self._animator._animation
+    if self._turning_left and animation.left_turn_remove:
+      remove_set = set(animation.left_turn_remove)
+      dots = [d for d in dots if d not in remove_set]
+    elif self._turning_right and animation.right_turn_remove:
+      remove_set = set(animation.right_turn_remove)
+      dots = [d for d in dots if d not in remove_set]
+    self.draw_dot_grid(rect, dots, rl.WHITE)
+
+    if ui_state.is_offroad():
+      rl.draw_rectangle(int(self.rect.x), int(self.rect.y), int(self.rect.width), int(self.rect.height), rl.Color(0, 0, 0, 175))
+      upper_half = rl.Rectangle(rect.x, rect.y, rect.width, rect.height / 2)
+      self._offroad_label.render(upper_half)
diff --git a/selfdrive/ui/installer/installer.cc b/selfdrive/ui/installer/installer.cc
index 072fa4e24b0..0832fbb628d 100644
--- a/selfdrive/ui/installer/installer.cc
+++ b/selfdrive/ui/installer/installer.cc
@@ -30,7 +30,7 @@ const std::string VALID_CACHE_PATH = "/data/.openpilot_cache";
 
 #define TMP_INSTALL_PATH "/data/tmppilot"
 
-const int FONT_SIZE = 120;
+const int FONT_SIZE = 160;
 
 extern const uint8_t str_continue[] asm("_binary_selfdrive_ui_installer_continue_openpilot_sh_start");
 extern const uint8_t str_continue_end[] asm("_binary_selfdrive_ui_installer_continue_openpilot_sh_end");
@@ -48,7 +48,7 @@ Font font_display;
 const bool tici_device = Hardware::get_device_type() == cereal::InitData::DeviceType::TICI ||
                          Hardware::get_device_type() == cereal::InitData::DeviceType::TIZI;
 
-std::vector<std::string> tici_prebuilt_branches = {"release3", "release-tizi", "release3-staging", "nightly", "nightly-dev"};
+std::vector<std::string> tici_prebuilt_branches = {"release3", "release-tici", "release3-staging", "nightly", "nightly-dev"};
 std::string migrated_branch;
 
 void branchMigration() {
@@ -88,7 +88,7 @@ void finishInstall() {
       int text_width = MeasureText(m, FONT_SIZE);
       DrawTextEx(font_display, m, (Vector2){(float)(GetScreenWidth() - text_width)/2 + FONT_SIZE, (float)(GetScreenHeight() - FONT_SIZE)/2}, FONT_SIZE, 0, WHITE);
     } else {
-      DrawTextEx(font_display, "finishing setup", (Vector2){8, 10}, 82, 0, WHITE);
+      DrawTextEx(font_display, "finishing setup", (Vector2){12, 0}, 77, 0, (Color){255, 255, 255, (unsigned char)(255 * 0.9)});
     }
   EndDrawing();
   util::sleep_for(60 * 1000);
@@ -106,10 +106,10 @@ void renderProgress(int progress) {
       DrawRectangleRec(bar, (Color){70, 91, 234, 255});
       DrawTextEx(font_inter, (std::to_string(progress) + "%").c_str(), (Vector2){150, 670}, 85, 0, WHITE);
     } else {
-      DrawTextEx(font_display, "installing", (Vector2){8, 10}, 82, 0, WHITE);
+      DrawTextEx(font_display, "installing...", (Vector2){12, 0}, 77, 0, (Color){255, 255, 255, (unsigned char)(255 * 0.9)});
       const std::string percent_str = std::to_string(progress) + "%";
-      DrawTextEx(font_roman, percent_str.c_str(), (Vector2){6, (float)(GetScreenHeight() - 128 + 18)}, 128, 0,
-                 (Color){255, 255, 255, (unsigned char)(255 * 0.9 * 0.35)});
+      DrawTextEx(font_inter, percent_str.c_str(), (Vector2){12, (float)(GetScreenHeight() - 154 + 20)}, 154, 0,
+                 (Color){255, 255, 255, (unsigned char)(255 * 0.9 * 0.65)});
     }
 
   EndDrawing();
@@ -144,6 +144,7 @@ int cachedFetch(const std::string &cache) {
   LOGD("Fetching with cache: %s", cache.c_str());
 
   run(util::string_format("cp -rp %s %s", cache.c_str(), TMP_INSTALL_PATH).c_str());
+  run(util::string_format("cd %s && git remote set-url origin %s", TMP_INSTALL_PATH, GIT_URL.c_str()).c_str());
   run(util::string_format("cd %s && git remote set-branches --add origin %s", TMP_INSTALL_PATH, migrated_branch.c_str()).c_str());
 
   renderProgress(10);
diff --git a/selfdrive/ui/layouts/home.py b/selfdrive/ui/layouts/home.py
index cd6ae600ef3..183c2d45888 100644
--- a/selfdrive/ui/layouts/home.py
+++ b/selfdrive/ui/layouts/home.py
@@ -39,7 +39,7 @@ def __init__(self):
 
     self.current_state = HomeLayoutState.HOME
     self.last_refresh = 0
-    self.settings_callback: callable | None = None
+    self.settings_callback: Callable[[], None] | None = None
 
     self.update_available = False
     self.alert_count = 0
@@ -62,6 +62,7 @@ def __init__(self):
     self._setup_callbacks()
 
   def show_event(self):
+    super().show_event()
     self._exp_mode_button.show_event()
     self.last_refresh = time.monotonic()
     self._refresh()
diff --git a/selfdrive/ui/layouts/main.py b/selfdrive/ui/layouts/main.py
index 702854f98a7..672f5463d97 100644
--- a/selfdrive/ui/layouts/main.py
+++ b/selfdrive/ui/layouts/main.py
@@ -2,13 +2,14 @@
 from enum import IntEnum
 import cereal.messaging as messaging
 from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.widgets import Widget
 from openpilot.selfdrive.ui.layouts.sidebar import Sidebar, SIDEBAR_WIDTH
 from openpilot.selfdrive.ui.layouts.home import HomeLayout
 from openpilot.selfdrive.ui.layouts.settings.settings import SettingsLayout, PanelType
 from openpilot.selfdrive.ui.onroad.augmented_road_view import AugmentedRoadView
 from openpilot.selfdrive.ui.ui_state import device, ui_state
-from openpilot.system.ui.widgets import Widget
 from openpilot.selfdrive.ui.layouts.onboarding import OnboardingWindow
+from openpilot.selfdrive.ui.body.layouts.onroad import BodyLayout
 
 
 class MainState(IntEnum):
@@ -28,7 +29,9 @@ def __init__(self):
     self._prev_onroad = False
 
     # Initialize layouts
-    self._layouts = {MainState.HOME: HomeLayout(), MainState.SETTINGS: SettingsLayout(), MainState.ONROAD: AugmentedRoadView()}
+    self._home_layout = HomeLayout()
+    self._home_body_layout = BodyLayout()
+    self._layouts = {MainState.HOME: self._home_layout, MainState.SETTINGS: SettingsLayout(), MainState.ONROAD: AugmentedRoadView()}
 
     self._sidebar_rect = rl.Rectangle(0, 0, 0, 0)
     self._content_rect = rl.Rectangle(0, 0, 0, 0)
@@ -36,10 +39,12 @@ def __init__(self):
     # Set callbacks
     self._setup_callbacks()
 
-    # Start onboarding if terms or training not completed
+    gui_app.push_widget(self)
+
+    # Start onboarding if terms or training not completed, make sure to push after self
     self._onboarding_window = OnboardingWindow()
     if not self._onboarding_window.completed:
-      gui_app.set_modal_overlay(self._onboarding_window)
+      gui_app.push_widget(self._onboarding_window)
 
   def _render(self, _):
     self._handle_onroad_transition()
@@ -52,14 +57,18 @@ def _setup_callbacks(self):
     self._layouts[MainState.HOME]._setup_widget.set_open_settings_callback(lambda: self.open_settings(PanelType.FIREHOSE))
     self._layouts[MainState.HOME].set_settings_callback(lambda: self.open_settings(PanelType.TOGGLES))
     self._layouts[MainState.SETTINGS].set_callbacks(on_close=self._set_mode_for_state)
-    self._layouts[MainState.ONROAD].set_click_callback(self._on_onroad_clicked)
+
+    for layout in (self._layouts[MainState.ONROAD], self._home_body_layout):
+      layout.set_click_callback(self._on_onroad_clicked)
+
     device.add_interactive_timeout_callback(self._set_mode_for_state)
+    ui_state.add_on_body_changed_callbacks(self._on_body_changed)
 
   def _update_layout_rects(self):
     self._sidebar_rect = rl.Rectangle(self._rect.x, self._rect.y, SIDEBAR_WIDTH, self._rect.height)
 
     x_offset = SIDEBAR_WIDTH if self._sidebar.is_visible else 0
-    self._content_rect = rl.Rectangle(self._rect.y + x_offset, self._rect.y, self._rect.width - x_offset, self._rect.height)
+    self._content_rect = rl.Rectangle(self._rect.x + x_offset, self._rect.y, self._rect.width - x_offset, self._rect.height)
 
   def _handle_onroad_transition(self):
     if ui_state.started != self._prev_onroad:
@@ -68,6 +77,12 @@ def _handle_onroad_transition(self):
       self._set_mode_for_state()
 
   def _set_mode_for_state(self):
+    # Don't go onroad if body, home is onroad
+    if ui_state.is_body:
+      self._set_current_layout(MainState.HOME)
+      self._sidebar.set_visible(not ui_state.ignition)
+      return
+
     if ui_state.started:
       # Don't hide sidebar from interactive timeout
       if self._current_mode != MainState.ONROAD:
@@ -99,6 +114,10 @@ def _on_bookmark_clicked(self):
   def _on_onroad_clicked(self):
     self._sidebar.set_visible(not self._sidebar.is_visible)
 
+  def _on_body_changed(self):
+    self._layouts[MainState.HOME] = self._home_body_layout if ui_state.is_body else self._home_layout
+    self._set_mode_for_state()
+
   def _render_main_content(self):
     # Render sidebar
     if self._sidebar.is_visible:
diff --git a/selfdrive/ui/layouts/onboarding.py b/selfdrive/ui/layouts/onboarding.py
index 5d61c1c95a3..37205b0e26a 100644
--- a/selfdrive/ui/layouts/onboarding.py
+++ b/selfdrive/ui/layouts/onboarding.py
@@ -81,6 +81,9 @@ def _handle_mouse_release(self, mouse_pos):
         if self._completed_callback:
           self._completed_callback()
 
+        # NOTE: this pops OnboardingWindow during real onboarding
+        gui_app.pop_widget()
+
   def _update_state(self):
     if len(self._image_objs):
       self._textures.append(gui_app._load_texture_from_image(self._image_objs.pop(0)))
@@ -88,7 +91,7 @@ def _update_state(self):
   def _render(self, _):
     # Safeguard against fast tapping
     step = min(self._step, len(self._textures) - 1)
-    rl.draw_texture(self._textures[step], 0, 0, rl.WHITE)
+    rl.draw_texture_ex(self._textures[step], rl.Vector2(0, 0), 0.0, 1.0, rl.WHITE)
 
     # progress bar
     if 0 < step < len(STEP_RECTS) - 1:
@@ -194,11 +197,10 @@ def _on_terms_accepted(self):
     ui_state.params.put("HasAcceptedTerms", terms_version)
     self._state = OnboardingState.ONBOARDING
     if self._training_done:
-      gui_app.set_modal_overlay(None)
+      gui_app.pop_widget()
 
   def _on_completed_training(self):
     ui_state.params.put("CompletedTrainingVersion", training_version)
-    gui_app.set_modal_overlay(None)
 
   def _render(self, _):
     if self._training_guide is None:
diff --git a/selfdrive/ui/layouts/settings/developer.py b/selfdrive/ui/layouts/settings/developer.py
index 646c817508d..2a823b57d71 100644
--- a/selfdrive/ui/layouts/settings/developer.py
+++ b/selfdrive/ui/layouts/settings/developer.py
@@ -67,6 +67,13 @@ def __init__(self):
       callback=self._on_long_maneuver_mode,
     )
 
+    self._lat_maneuver_toggle = toggle_item(
+      lambda: tr("Lateral Maneuver Mode"),
+      description="",
+      initial_state=self._params.get_bool("LateralManeuverMode"),
+      callback=self._on_lat_maneuver_mode,
+    )
+
     self._alpha_long_toggle = toggle_item(
       lambda: tr("openpilot Longitudinal Control (Alpha)"),
       description=lambda: tr(DESCRIPTIONS["alpha_longitudinal"]),
@@ -89,6 +96,7 @@ def __init__(self):
       self._ssh_keys,
       self._joystick_toggle,
       self._long_maneuver_toggle,
+      self._lat_maneuver_toggle,
       self._alpha_long_toggle,
       self._ui_debug_toggle,
     ], line_separator=True, spacing=0)
@@ -100,6 +108,7 @@ def _render(self, rect):
     self._scroller.render(rect)
 
   def show_event(self):
+    super().show_event()
     self._scroller.show_event()
     self._update_toggles()
 
@@ -108,7 +117,7 @@ def _update_toggles(self):
 
     # Hide non-release toggles on release builds
     # TODO: we can do an onroad cycle, but alpha long toggle requires a deinit function to re-enable radar and not fault
-    for item in (self._joystick_toggle, self._long_maneuver_toggle, self._alpha_long_toggle):
+    for item in (self._joystick_toggle, self._long_maneuver_toggle, self._lat_maneuver_toggle, self._alpha_long_toggle):
       item.set_visible(not self._is_release)
 
     # CP gating
@@ -122,11 +131,9 @@ def _update_toggles(self):
 
       long_man_enabled = ui_state.has_longitudinal_control and ui_state.is_offroad()
       self._long_maneuver_toggle.action_item.set_enabled(long_man_enabled)
-      if not long_man_enabled:
-        self._long_maneuver_toggle.action_item.set_state(False)
-        self._params.put_bool("LongitudinalManeuverMode", False)
     else:
       self._long_maneuver_toggle.action_item.set_enabled(False)
+      self._lat_maneuver_toggle.action_item.set_enabled(False)
       self._alpha_long_toggle.set_visible(False)
 
     # TODO: make a param control list item so we don't need to manage internal state as much here
@@ -136,6 +143,7 @@ def _update_toggles(self):
       ("SshEnabled", self._ssh_toggle),
       ("JoystickDebugMode", self._joystick_toggle),
       ("LongitudinalManeuverMode", self._long_maneuver_toggle),
+      ("LateralManeuverMode", self._lat_maneuver_toggle),
       ("AlphaLongitudinalEnabled", self._alpha_long_toggle),
       ("ShowDebugInfo", self._ui_debug_toggle),
     ):
@@ -156,15 +164,27 @@ def _on_joystick_debug_mode(self, state: bool):
     self._params.put_bool("JoystickDebugMode", state)
     self._params.put_bool("LongitudinalManeuverMode", False)
     self._long_maneuver_toggle.action_item.set_state(False)
+    self._params.put_bool("LateralManeuverMode", False)
+    self._lat_maneuver_toggle.action_item.set_state(False)
 
   def _on_long_maneuver_mode(self, state: bool):
     self._params.put_bool("LongitudinalManeuverMode", state)
     self._params.put_bool("JoystickDebugMode", False)
     self._joystick_toggle.action_item.set_state(False)
+    self._params.put_bool("LateralManeuverMode", False)
+    self._lat_maneuver_toggle.action_item.set_state(False)
+
+  def _on_lat_maneuver_mode(self, state: bool):
+    self._params.put_bool("LateralManeuverMode", state)
+    self._params.put_bool("ExperimentalMode", False)
+    self._params.put_bool("JoystickDebugMode", False)
+    self._joystick_toggle.action_item.set_state(False)
+    self._params.put_bool("LongitudinalManeuverMode", False)
+    self._long_maneuver_toggle.action_item.set_state(False)
 
   def _on_alpha_long_enabled(self, state: bool):
     if state:
-      def confirm_callback(result: int):
+      def confirm_callback(result: DialogResult):
         if result == DialogResult.CONFIRM:
           self._params.put_bool("AlphaLongitudinalEnabled", True)
           self._params.put_bool("OnroadCycleRequested", True)
@@ -176,8 +196,8 @@ def confirm_callback(result: int):
       content = (f"<h1>{self._alpha_long_toggle.title}</h1><br>" +
                  f"<p>{self._alpha_long_toggle.description}</p>")
 
-      dlg = ConfirmDialog(content, tr("Enable"), rich=True)
-      gui_app.set_modal_overlay(dlg, callback=confirm_callback)
+      dlg = ConfirmDialog(content, tr("Enable"), rich=True, callback=confirm_callback)
+      gui_app.push_widget(dlg)
 
     else:
       self._params.put_bool("AlphaLongitudinalEnabled", False)
diff --git a/selfdrive/ui/layouts/settings/device.py b/selfdrive/ui/layouts/settings/device.py
index 00ae6a188ea..5c3dae869be 100644
--- a/selfdrive/ui/layouts/settings/device.py
+++ b/selfdrive/ui/layouts/settings/device.py
@@ -9,7 +9,6 @@
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.selfdrive.ui.layouts.onboarding import TrainingGuide
 from openpilot.selfdrive.ui.widgets.pairing_dialog import PairingDialog
-from openpilot.system.hardware import TICI
 from openpilot.system.ui.lib.application import FontWeight, gui_app
 from openpilot.system.ui.lib.multilang import multilang, tr, tr_noop
 from openpilot.system.ui.widgets import Widget, DialogResult
@@ -34,8 +33,6 @@ def __init__(self):
 
     self._params = Params()
     self._select_language_dialog: MultiOptionDialog | None = None
-    self._driver_camera: DriverCameraDialog | None = None
-    self._pair_device_dialog: PairingDialog | None = None
     self._fcc_dialog: HtmlModal | None = None
     self._training_guide: TrainingGuide | None = None
 
@@ -45,7 +42,8 @@ def __init__(self):
     ui_state.add_offroad_transition_callback(self._offroad_transition)
 
   def _initialize_items(self):
-    self._pair_device_btn = button_item(lambda: tr("Pair Device"), lambda: tr("PAIR"), lambda: tr(DESCRIPTIONS['pair_device']), callback=self._pair_device)
+    self._pair_device_btn = button_item(lambda: tr("Pair Device"), lambda: tr("PAIR"), lambda: tr(DESCRIPTIONS['pair_device']),
+                                        callback=lambda: gui_app.push_widget(PairingDialog()))
     self._pair_device_btn.set_visible(lambda: not ui_state.prime_state.is_paired())
 
     self._reset_calib_btn = button_item(lambda: tr("Reset Calibration"), lambda: tr("RESET"), lambda: tr(DESCRIPTIONS['reset_calibration']),
@@ -60,50 +58,44 @@ def _initialize_items(self):
       text_item(lambda: tr("Serial"), self._params.get("HardwareSerial") or (lambda: tr("N/A"))),
       self._pair_device_btn,
       button_item(lambda: tr("Driver Camera"), lambda: tr("PREVIEW"), lambda: tr(DESCRIPTIONS['driver_camera']),
-                  callback=self._show_driver_camera, enabled=ui_state.is_offroad),
+                  callback=lambda: gui_app.push_widget(DriverCameraDialog()), enabled=ui_state.is_offroad),
       self._reset_calib_btn,
       button_item(lambda: tr("Review Training Guide"), lambda: tr("REVIEW"), lambda: tr(DESCRIPTIONS['review_guide']),
                   self._on_review_training_guide, enabled=ui_state.is_offroad),
-      regulatory_btn := button_item(lambda: tr("Regulatory"), lambda: tr("VIEW"), callback=self._on_regulatory, enabled=ui_state.is_offroad),
+      button_item(lambda: tr("Regulatory"), lambda: tr("VIEW"), callback=self._on_regulatory, enabled=ui_state.is_offroad),
       button_item(lambda: tr("Change Language"), lambda: tr("CHANGE"), callback=self._show_language_dialog),
       self._power_off_btn,
     ]
-    regulatory_btn.set_visible(TICI)
     return items
 
   def _offroad_transition(self):
     self._power_off_btn.action_item.right_button.set_visible(ui_state.is_offroad())
 
   def show_event(self):
+    super().show_event()
     self._scroller.show_event()
 
   def _render(self, rect):
     self._scroller.render(rect)
 
   def _show_language_dialog(self):
-    def handle_language_selection(result: int):
-      if result == 1 and self._select_language_dialog:
+    def handle_language_selection(result: DialogResult):
+      if result == DialogResult.CONFIRM and self._select_language_dialog:
         selected_language = multilang.languages[self._select_language_dialog.selection]
         multilang.change_language(selected_language)
         self._update_calib_description()
       self._select_language_dialog = None
 
     self._select_language_dialog = MultiOptionDialog(tr("Select a language"), multilang.languages, multilang.codes[multilang.language],
-                                                     option_font_weight=FontWeight.UNIFONT)
-    gui_app.set_modal_overlay(self._select_language_dialog, callback=handle_language_selection)
-
-  def _show_driver_camera(self):
-    if not self._driver_camera:
-      self._driver_camera = DriverCameraDialog()
-
-    gui_app.set_modal_overlay(self._driver_camera, callback=lambda result: setattr(self, '_driver_camera', None))
+                                                     option_font_weight=FontWeight.UNIFONT, callback=handle_language_selection)
+    gui_app.push_widget(self._select_language_dialog)
 
   def _reset_calibration_prompt(self):
     if ui_state.engaged:
-      gui_app.set_modal_overlay(alert_dialog(tr("Disengage to Reset Calibration")))
+      gui_app.push_widget(alert_dialog(tr("Disengage to Reset Calibration")))
       return
 
-    def reset_calibration(result: int):
+    def reset_calibration(result: DialogResult):
       # Check engaged again in case it changed while the dialog was open
       if ui_state.engaged or result != DialogResult.CONFIRM:
         return
@@ -116,8 +108,8 @@ def reset_calibration(result: int):
       self._params.put_bool("OnroadCycleRequested", True)
       self._update_calib_description()
 
-    dialog = ConfirmDialog(tr("Are you sure you want to reset calibration?"), tr("Reset"))
-    gui_app.set_modal_overlay(dialog, callback=reset_calibration)
+    dialog = ConfirmDialog(tr("Are you sure you want to reset calibration?"), tr("Reset"), callback=reset_calibration)
+    gui_app.push_widget(dialog)
 
   def _update_calib_description(self):
     desc = tr(DESCRIPTIONS['reset_calibration'])
@@ -169,42 +161,34 @@ def _update_calib_description(self):
 
   def _reboot_prompt(self):
     if ui_state.engaged:
-      gui_app.set_modal_overlay(alert_dialog(tr("Disengage to Reboot")))
+      gui_app.push_widget(alert_dialog(tr("Disengage to Reboot")))
       return
 
-    dialog = ConfirmDialog(tr("Are you sure you want to reboot?"), tr("Reboot"))
-    gui_app.set_modal_overlay(dialog, callback=self._perform_reboot)
+    def perform_reboot(result: DialogResult):
+      if not ui_state.engaged and result == DialogResult.CONFIRM:
+        self._params.put_bool_nonblocking("DoReboot", True)
 
-  def _perform_reboot(self, result: int):
-    if not ui_state.engaged and result == DialogResult.CONFIRM:
-      self._params.put_bool_nonblocking("DoReboot", True)
+    dialog = ConfirmDialog(tr("Are you sure you want to reboot?"), tr("Reboot"), callback=perform_reboot)
+    gui_app.push_widget(dialog)
 
   def _power_off_prompt(self):
     if ui_state.engaged:
-      gui_app.set_modal_overlay(alert_dialog(tr("Disengage to Power Off")))
+      gui_app.push_widget(alert_dialog(tr("Disengage to Power Off")))
       return
 
-    dialog = ConfirmDialog(tr("Are you sure you want to power off?"), tr("Power Off"))
-    gui_app.set_modal_overlay(dialog, callback=self._perform_power_off)
+    def perform_power_off(result: DialogResult):
+      if not ui_state.engaged and result == DialogResult.CONFIRM:
+        self._params.put_bool_nonblocking("DoShutdown", True)
 
-  def _perform_power_off(self, result: int):
-    if not ui_state.engaged and result == DialogResult.CONFIRM:
-      self._params.put_bool_nonblocking("DoShutdown", True)
-
-  def _pair_device(self):
-    if not self._pair_device_dialog:
-      self._pair_device_dialog = PairingDialog()
-    gui_app.set_modal_overlay(self._pair_device_dialog, callback=lambda result: setattr(self, '_pair_device_dialog', None))
+    dialog = ConfirmDialog(tr("Are you sure you want to power off?"), tr("Power Off"), callback=perform_power_off)
+    gui_app.push_widget(dialog)
 
   def _on_regulatory(self):
     if not self._fcc_dialog:
       self._fcc_dialog = HtmlModal(os.path.join(BASEDIR, "selfdrive/assets/offroad/fcc.html"))
-    gui_app.set_modal_overlay(self._fcc_dialog)
+    gui_app.push_widget(self._fcc_dialog)
 
   def _on_review_training_guide(self):
     if not self._training_guide:
-      def completed_callback():
-        gui_app.set_modal_overlay(None)
-
-      self._training_guide = TrainingGuide(completed_callback=completed_callback)
-    gui_app.set_modal_overlay(self._training_guide)
+      self._training_guide = TrainingGuide()
+    gui_app.push_widget(self._training_guide)
diff --git a/selfdrive/ui/layouts/settings/firehose.py b/selfdrive/ui/layouts/settings/firehose.py
index ea83e962e61..f28f4e3386b 100644
--- a/selfdrive/ui/layouts/settings/firehose.py
+++ b/selfdrive/ui/layouts/settings/firehose.py
@@ -1,7 +1,7 @@
 import pyray as rl
 
 from openpilot.system.ui.lib.application import gui_app, FontWeight, FONT_SCALE
-from openpilot.system.ui.lib.multilang import tr, trn, tr_noop
+from openpilot.system.ui.lib.multilang import tr, tr_noop
 from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
 from openpilot.system.ui.lib.wrap_text import wrap_text
@@ -65,12 +65,13 @@ def _render_content(self, rect: rl.Rectangle, scroll_offset: float) -> int:
     y = self._draw_wrapped_text(x, y, w, status_text, gui_app.font(FontWeight.BOLD), 60, status_color)
     y += 20 + 20
 
+    # TODO: add back once reliable
     # Contribution count (if available)
-    if self._segment_count > 0:
-      contrib_text = trn("{} segment of your driving is in the training dataset so far.",
-                         "{} segments of your driving is in the training dataset so far.", self._segment_count).format(self._segment_count)
-      y = self._draw_wrapped_text(x, y, w, contrib_text, gui_app.font(FontWeight.BOLD), 52, rl.WHITE)
-      y += 20 + 20
+    #if self._segment_count > 0:
+    #  contrib_text = trn("{} segment of your driving is in the training dataset so far.",
+    #                     "{} segments of your driving is in the training dataset so far.", self._segment_count).format(self._segment_count)
+    #  y = self._draw_wrapped_text(x, y, w, contrib_text, gui_app.font(FontWeight.BOLD), 52, rl.WHITE)
+    #  y += 20 + 20
 
     # Separator
     rl.draw_rectangle(x, y, w, 2, self.GRAY)
diff --git a/selfdrive/ui/layouts/settings/settings.py b/selfdrive/ui/layouts/settings/settings.py
index 72d3a4bafe3..68f45df77d0 100644
--- a/selfdrive/ui/layouts/settings/settings.py
+++ b/selfdrive/ui/layouts/settings/settings.py
@@ -145,20 +145,18 @@ def _draw_current_panel(self, rect: rl.Rectangle):
     if panel.instance:
       panel.instance.render(content_rect)
 
-  def _handle_mouse_release(self, mouse_pos: MousePos) -> bool:
+  def _handle_mouse_release(self, mouse_pos: MousePos) -> None:
     # Check close button
     if rl.check_collision_point_rec(mouse_pos, self._close_btn_rect):
       if self._close_callback:
         self._close_callback()
-      return True
+      return
 
     # Check navigation buttons
     for panel_type, panel_info in self._panels.items():
       if rl.check_collision_point_rec(mouse_pos, panel_info.button_rect):
         self.set_current_panel(panel_type)
-        return True
-
-    return False
+        return
 
   def set_current_panel(self, panel_type: PanelType):
     if panel_type != self._current_panel:
diff --git a/selfdrive/ui/layouts/settings/software.py b/selfdrive/ui/layouts/settings/software.py
index e0df8f27056..83a66ef3bd0 100644
--- a/selfdrive/ui/layouts/settings/software.py
+++ b/selfdrive/ui/layouts/settings/software.py
@@ -80,6 +80,7 @@ def __init__(self):
     ], line_separator=True, spacing=0)
 
   def show_event(self):
+    super().show_event()
     self._scroller.show_event()
 
   def _render(self, rect):
@@ -165,12 +166,12 @@ def _on_download_update(self):
       os.system("pkill -SIGHUP -f system.updated.updated")
 
   def _on_uninstall(self):
-    def handle_uninstall_confirmation(result):
+    def handle_uninstall_confirmation(result: DialogResult):
       if result == DialogResult.CONFIRM:
         ui_state.params.put_bool("DoUninstall", True)
 
-    dialog = ConfirmDialog(tr("Are you sure you want to uninstall?"), tr("Uninstall"))
-    gui_app.set_modal_overlay(dialog, callback=handle_uninstall_confirmation)
+    dialog = ConfirmDialog(tr("Are you sure you want to uninstall?"), tr("Uninstall"), callback=handle_uninstall_confirmation)
+    gui_app.push_widget(dialog)
 
   def _on_install_update(self):
     # Trigger reboot to install update
@@ -189,9 +190,8 @@ def _on_select_branch(self):
         branches.insert(0, b)
 
     current_target = ui_state.params.get("UpdaterTargetBranch") or ""
-    self._branch_dialog = MultiOptionDialog(tr("Select a branch"), branches, current_target)
 
-    def handle_selection(result):
+    def handle_selection(result: DialogResult):
       # Confirmed selection
       if result == DialogResult.CONFIRM and self._branch_dialog is not None and self._branch_dialog.selection:
         selection = self._branch_dialog.selection
@@ -200,4 +200,5 @@ def handle_selection(result):
         os.system("pkill -SIGUSR1 -f system.updated.updated")
       self._branch_dialog = None
 
-    gui_app.set_modal_overlay(self._branch_dialog, callback=handle_selection)
+    self._branch_dialog = MultiOptionDialog(tr("Select a branch"), branches, current_target, callback=handle_selection)
+    gui_app.push_widget(self._branch_dialog)
diff --git a/selfdrive/ui/layouts/settings/toggles.py b/selfdrive/ui/layouts/settings/toggles.py
index 7fae2dfd244..711392bdb02 100644
--- a/selfdrive/ui/layouts/settings/toggles.py
+++ b/selfdrive/ui/layouts/settings/toggles.py
@@ -148,6 +148,7 @@ def _update_state(self):
       ui_state.personality = personality
 
   def show_event(self):
+    super().show_event()
     self._scroller.show_event()
     self._update_toggles()
 
@@ -214,7 +215,7 @@ def _update_experimental_mode_icon(self):
   def _handle_experimental_mode_toggle(self, state: bool):
     confirmed = self._params.get_bool("ExperimentalModeConfirmed")
     if state and not confirmed:
-      def confirm_callback(result: int):
+      def confirm_callback(result: DialogResult):
         if result == DialogResult.CONFIRM:
           self._params.put_bool("ExperimentalMode", True)
           self._params.put_bool("ExperimentalModeConfirmed", True)
@@ -225,8 +226,8 @@ def confirm_callback(result: int):
       # show confirmation dialog
       content = (f"<h1>{self._toggles['ExperimentalMode'].title}</h1><br>" +
                  f"<p>{self._toggles['ExperimentalMode'].description}</p>")
-      dlg = ConfirmDialog(content, tr("Enable"), rich=True)
-      gui_app.set_modal_overlay(dlg, callback=confirm_callback)
+      dlg = ConfirmDialog(content, tr("Enable"), rich=True, callback=confirm_callback)
+      gui_app.push_widget(dlg)
     else:
       self._update_experimental_mode_icon()
       self._params.put_bool("ExperimentalMode", state)
diff --git a/selfdrive/ui/layouts/sidebar.py b/selfdrive/ui/layouts/sidebar.py
index 050cd795bff..a7f3a46279b 100644
--- a/selfdrive/ui/layouts/sidebar.py
+++ b/selfdrive/ui/layouts/sidebar.py
@@ -161,14 +161,14 @@ def _draw_buttons(self, rect: rl.Rectangle):
     # Settings button
     settings_down = mouse_down and rl.check_collision_point_rec(mouse_pos, SETTINGS_BTN)
     tint = Colors.BUTTON_PRESSED if settings_down else Colors.BUTTON_NORMAL
-    rl.draw_texture(self._settings_img, int(SETTINGS_BTN.x), int(SETTINGS_BTN.y), tint)
+    rl.draw_texture_ex(self._settings_img, rl.Vector2(SETTINGS_BTN.x, SETTINGS_BTN.y), 0.0, 1.0, tint)
 
     # Home/Flag button
     flag_pressed = mouse_down and rl.check_collision_point_rec(mouse_pos, HOME_BTN)
     button_img = self._flag_img if ui_state.started else self._home_img
 
     tint = Colors.BUTTON_PRESSED if (ui_state.started and flag_pressed) else Colors.BUTTON_NORMAL
-    rl.draw_texture(button_img, int(HOME_BTN.x), int(HOME_BTN.y), tint)
+    rl.draw_texture_ex(button_img, rl.Vector2(HOME_BTN.x, HOME_BTN.y), 0.0, 1.0, tint)
 
     # Microphone button
     if self._recording_audio:
@@ -178,8 +178,8 @@ def _draw_buttons(self, rect: rl.Rectangle):
       bg_color = rl.Color(Colors.DANGER.r, Colors.DANGER.g, Colors.DANGER.b, int(255 * 0.65)) if mic_pressed else Colors.DANGER
 
       rl.draw_rectangle_rounded(self._mic_indicator_rect, 1, 10, bg_color)
-      rl.draw_texture(self._mic_img, int(self._mic_indicator_rect.x + (self._mic_indicator_rect.width - self._mic_img.width) / 2),
-                      int(self._mic_indicator_rect.y + (self._mic_indicator_rect.height - self._mic_img.height) / 2), Colors.WHITE)
+      rl.draw_texture_ex(self._mic_img, rl.Vector2(self._mic_indicator_rect.x + (self._mic_indicator_rect.width - self._mic_img.width) / 2,
+                         self._mic_indicator_rect.y + (self._mic_indicator_rect.height - self._mic_img.height) / 2), 0.0, 1.0, Colors.WHITE)
 
   def _draw_network_indicator(self, rect: rl.Rectangle):
     # Signal strength dots
diff --git a/selfdrive/ui/lib/prime_state.py b/selfdrive/ui/lib/prime_state.py
index e1ef387bf77..1aed949bee9 100644
--- a/selfdrive/ui/lib/prime_state.py
+++ b/selfdrive/ui/lib/prime_state.py
@@ -1,5 +1,6 @@
 from enum import IntEnum
 import os
+import requests
 import threading
 import time
 
@@ -29,6 +30,7 @@ class PrimeState:
   def __init__(self):
     self._params = Params()
     self._lock = threading.Lock()
+    self._session = requests.Session()  # reuse session to reduce SSL handshake overhead
     self.prime_type: PrimeType = self._load_initial_state()
 
     self._running = False
@@ -50,7 +52,7 @@ def _fetch_prime_status(self) -> None:
 
     try:
       identity_token = get_token(dongle_id)
-      response = api_get(f"v1.1/devices/{dongle_id}", timeout=self.API_TIMEOUT, access_token=identity_token)
+      response = api_get(f"v1.1/devices/{dongle_id}", timeout=self.API_TIMEOUT, access_token=identity_token, session=self._session)
       if response.status_code == 200:
         data = response.json()
         is_paired = data.get("is_paired", False)
diff --git a/selfdrive/ui/mici/layouts/home.py b/selfdrive/ui/mici/layouts/home.py
index 9152bdc7fa7..cbe7ec29f07 100644
--- a/selfdrive/ui/mici/layouts/home.py
+++ b/selfdrive/ui/mici/layouts/home.py
@@ -1,17 +1,21 @@
+import datetime
 import time
 
 from cereal import log
 import pyray as rl
 from collections.abc import Callable
-from openpilot.system.ui.widgets.label import gui_label, MiciLabel, UnifiedLabel
 from openpilot.system.ui.widgets import Widget
-from openpilot.system.ui.lib.application import gui_app, FontWeight, DEFAULT_TEXT_COLOR, MousePos
+from openpilot.system.ui.widgets.layouts import HBoxLayout
+from openpilot.system.ui.widgets.icon_widget import IconWidget
+from openpilot.system.ui.widgets.label import UnifiedLabel, gui_label
+from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
 from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.system.ui.text import wrap_text
-from openpilot.system.version import training_version, RELEASE_BRANCHES
+from openpilot.system.version import RELEASE_BRANCHES
 
 HEAD_BUTTON_FONT_SIZE = 40
 HOME_PADDING = 8
+SETTINGS_ZONE_WIDTH = 280
+ALERTS_ZONE_WIDTH = 180
 
 NetworkType = log.DeviceState.NetworkType
 
@@ -26,61 +30,95 @@
 }
 
 
-class DeviceStatus(Widget):
+class AlertsPill(Widget):
+  ICON_OFFSET = 12
+  COUNT_OFFSET = 40
+
   def __init__(self):
     super().__init__()
-    self.set_rect(rl.Rectangle(0, 0, 300, 175))
-    self._update_state()
-    self._version_text = self._get_version_text()
+    self.set_rect(rl.Rectangle(0, 0, 104, 52))
 
-    self._do_welcome()
+    self._pill_bg_txt = gui_app.texture("icons_mici/alerts_pill.png", 104, 52)
+    self._warning_txt = gui_app.texture("icons_mici/offroad_alerts/red_warning.png", 36, 36)
+    self._alert_count_callback: Callable[[], int] | None = None
 
-  def _do_welcome(self):
-    ui_state.params.put("CompletedTrainingVersion", training_version)
+  def set_alert_count_callback(self, callback: Callable[[], int] | None):
+    self._alert_count_callback = callback
 
-  def refresh(self):
-    self._update_state()
-    self._version_text = self._get_version_text()
+  def _render(self, _):
+    alert_count = self._alert_count_callback() if self._alert_count_callback else 0
+    if alert_count > 0:
+      pill_w, pill_h = self._pill_bg_txt.width, self._pill_bg_txt.height
+      rl.draw_texture_ex(self._pill_bg_txt, rl.Vector2(self.rect.x, self.rect.y), 0.0, 1.0, rl.WHITE)
 
-  def _get_version_text(self) -> str:
-    brand = "openpilot"
-    description = ui_state.params.get("UpdaterCurrentDescription")
-    return f"{brand} {description}" if description else brand
+      warn_x = self.rect.x + self.ICON_OFFSET
+      warn_y = self.rect.y + (pill_h - self._warning_txt.height) / 2
+      rl.draw_texture_ex(self._warning_txt, rl.Vector2(warn_x, warn_y), 0.0, 1.0, rl.WHITE)
 
-  def _update_state(self):
-    # TODO: refresh function that can be called periodically, not at 60 fps, so we can update version
-    # update system status
-    self._system_status = "SYSTEM READY ✓" if ui_state.panda_type != log.PandaState.PandaType.unknown else "BOOTING UP..."
+      count_rect = rl.Rectangle(self.rect.x + self.COUNT_OFFSET, self.rect.y, pill_w - self.COUNT_OFFSET, pill_h)
+      gui_label(count_rect, str(alert_count), font_size=36,
+                alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
+                alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
+
+
+class NetworkIcon(Widget):
+  def __init__(self):
+    super().__init__()
+    self.set_rect(rl.Rectangle(0, 0, 54, 44))  # max size of all icons
+    self._net_type = NetworkType.none
+    self._net_strength = 0
+
+    self._wifi_slash_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_slash.png", 50, 44)
+    self._wifi_none_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_none.png", 50, 37)
+    self._wifi_low_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_low.png", 50, 37)
+    self._wifi_medium_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_medium.png", 50, 37)
+    self._wifi_full_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_full.png", 50, 37)
 
-    # update network status
-    strength = ui_state.sm['deviceState'].networkStrength.raw
-    strength_text = "● " * strength + "○ " * (4 - strength)  # ◌ also works
-    network_type = NETWORK_TYPES[ui_state.sm['deviceState'].networkType.raw]
-    self._network_status = f"{network_type} {strength_text}"
+    self._cell_none_txt = gui_app.texture("icons_mici/settings/network/cell_strength_none.png", 54, 36)
+    self._cell_low_txt = gui_app.texture("icons_mici/settings/network/cell_strength_low.png", 54, 36)
+    self._cell_medium_txt = gui_app.texture("icons_mici/settings/network/cell_strength_medium.png", 54, 36)
+    self._cell_high_txt = gui_app.texture("icons_mici/settings/network/cell_strength_high.png", 54, 36)
+    self._cell_full_txt = gui_app.texture("icons_mici/settings/network/cell_strength_full.png", 54, 36)
+
+  def _update_state(self):
+    device_state = ui_state.sm['deviceState']
+    self._net_type = device_state.networkType
+    strength = device_state.networkStrength
+    self._net_strength = max(0, min(5, strength.raw + 1)) if strength.raw > 0 else 0
 
   def _render(self, _):
-    # draw status
-    status_rect = rl.Rectangle(self._rect.x, self._rect.y, self._rect.width, 40)
-    gui_label(status_rect, self._system_status, font_size=HEAD_BUTTON_FONT_SIZE, color=DEFAULT_TEXT_COLOR,
-              font_weight=FontWeight.BOLD, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
+    if self._net_type == NetworkType.wifi:
+      # There is no 1
+      draw_net_txt = {0: self._wifi_none_txt,
+                      2: self._wifi_low_txt,
+                      3: self._wifi_medium_txt,
+                      4: self._wifi_full_txt,
+                      5: self._wifi_full_txt}.get(self._net_strength, self._wifi_low_txt)
+    elif self._net_type in (NetworkType.cell2G, NetworkType.cell3G, NetworkType.cell4G, NetworkType.cell5G):
+      draw_net_txt = {0: self._cell_none_txt,
+                      2: self._cell_low_txt,
+                      3: self._cell_medium_txt,
+                      4: self._cell_high_txt,
+                      5: self._cell_full_txt}.get(self._net_strength, self._cell_none_txt)
+    else:
+      draw_net_txt = self._wifi_slash_txt
 
-    # draw network status
-    network_rect = rl.Rectangle(self._rect.x, self._rect.y + 60, self._rect.width, 40)
-    gui_label(network_rect, self._network_status, font_size=40, color=DEFAULT_TEXT_COLOR,
-              font_weight=FontWeight.MEDIUM, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
+    draw_x = self._rect.x + (self._rect.width - draw_net_txt.width) / 2
+    draw_y = self._rect.y + (self._rect.height - draw_net_txt.height) / 2
 
-    # draw version
-    version_font_size = 30
-    version_rect = rl.Rectangle(self._rect.x, self._rect.y + 140, self._rect.width + 20, 40)
-    wrapped_text = '\n'.join(wrap_text(self._version_text, version_font_size, version_rect.width))
-    gui_label(version_rect, wrapped_text, font_size=version_font_size, color=DEFAULT_TEXT_COLOR,
-              font_weight=FontWeight.MEDIUM, alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT)
+    if draw_net_txt == self._wifi_slash_txt:
+      # Offset by difference in height between slashless and slash icons to make center align match
+      draw_y -= (self._wifi_slash_txt.height - self._wifi_none_txt.height) / 2
+
+    rl.draw_texture_ex(draw_net_txt, rl.Vector2(draw_x, draw_y), 0.0, 1.0, rl.Color(255, 255, 255, int(255 * 0.9)))
 
 
 class MiciHomeLayout(Widget):
   def __init__(self):
     super().__init__()
     self._on_settings_click: Callable | None = None
+    self._on_alerts_click: Callable | None = None
+    self._alert_count_callback: Callable[[], int] | None = None
 
     self._last_refresh = 0
     self._mouse_down_t: None | float = None
@@ -90,35 +128,30 @@ def __init__(self):
     self._version_text = None
     self._experimental_mode = False
 
-    self._settings_txt = gui_app.texture("icons_mici/settings.png", 48, 48)
-    self._experimental_txt = gui_app.texture("icons_mici/experimental_mode.png", 48, 48)
-    self._mic_txt = gui_app.texture("icons_mici/microphone.png", 48, 48)
+    self._experimental_icon = IconWidget("icons_mici/experimental_mode.png", (48, 48))
+    self._mic_icon = IconWidget("icons_mici/microphone.png", (32, 46))
+    self._body_icon = IconWidget("icons_mici/body.png", (54, 37))
 
-    self._net_type = NETWORK_TYPES.get(NetworkType.none)
-    self._net_strength = 0
+    self._alerts_pill = AlertsPill()
 
-    self._wifi_slash_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_slash.png", 50, 44)
-    self._wifi_none_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_none.png", 50, 44)
-    self._wifi_low_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_low.png", 50, 44)
-    self._wifi_medium_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_medium.png", 50, 44)
-    self._wifi_full_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_full.png", 50, 44)
-
-    self._cell_none_txt = gui_app.texture("icons_mici/settings/network/cell_strength_none.png", 55, 35)
-    self._cell_low_txt = gui_app.texture("icons_mici/settings/network/cell_strength_low.png", 55, 35)
-    self._cell_medium_txt = gui_app.texture("icons_mici/settings/network/cell_strength_medium.png", 55, 35)
-    self._cell_high_txt = gui_app.texture("icons_mici/settings/network/cell_strength_high.png", 55, 35)
-    self._cell_full_txt = gui_app.texture("icons_mici/settings/network/cell_strength_full.png", 55, 35)
-
-    self._openpilot_label = MiciLabel("openpilot", font_size=96, color=rl.Color(255, 255, 255, int(255 * 0.9)), font_weight=FontWeight.DISPLAY)
-    self._version_label = MiciLabel("", font_size=36, font_weight=FontWeight.ROMAN)
-    self._large_version_label = MiciLabel("", font_size=64, color=rl.GRAY, font_weight=FontWeight.ROMAN)
-    self._date_label = MiciLabel("", font_size=36, color=rl.GRAY, font_weight=FontWeight.ROMAN)
+    self._status_bar_layout = HBoxLayout([
+      IconWidget("icons_mici/settings.png", (48, 48), opacity=0.9),
+      NetworkIcon(),
+      self._experimental_icon,
+      self._body_icon,
+      self._mic_icon,
+    ], spacing=18)
+
+    self._openpilot_label = UnifiedLabel("openpilot", font_size=96, font_weight=FontWeight.DISPLAY, max_width=480, wrap_text=False)
+    self._version_label = UnifiedLabel("", font_size=36, font_weight=FontWeight.ROMAN, max_width=480, wrap_text=False)
+    self._large_version_label = UnifiedLabel("", font_size=64, text_color=rl.GRAY, font_weight=FontWeight.ROMAN, max_width=480, wrap_text=False)
+    self._date_label = UnifiedLabel("", font_size=36, text_color=rl.GRAY, font_weight=FontWeight.ROMAN, max_width=480, wrap_text=False)
     self._branch_label = UnifiedLabel("", font_size=36, text_color=rl.GRAY, font_weight=FontWeight.ROMAN, scroll=True)
-    self._version_commit_label = MiciLabel("", font_size=36, color=rl.GRAY, font_weight=FontWeight.ROMAN)
+    self._version_commit_label = UnifiedLabel("", font_size=36, text_color=rl.GRAY, font_weight=FontWeight.ROMAN, max_width=480, wrap_text=False)
 
   def show_event(self):
+    super().show_event()
     self._version_text = self._get_version_text()
-    self._update_network_status(ui_state.sm['deviceState'])
     self._update_params()
 
   def _update_params(self):
@@ -142,40 +175,47 @@ def _update_state(self):
         self._did_long_press = True
 
     if rl.get_time() - self._last_refresh > 5.0:
-      device_state = ui_state.sm['deviceState']
-      self._update_network_status(device_state)
-
       # Update version text
       self._version_text = self._get_version_text()
       self._last_refresh = rl.get_time()
       self._update_params()
 
-  def _update_network_status(self, device_state):
-    self._net_type = device_state.networkType
-    strength = device_state.networkStrength
-    self._net_strength = max(0, min(5, strength.raw + 1)) if strength.raw > 0 else 0
-
-  def set_callbacks(self, on_settings: Callable | None = None):
+  def set_callbacks(self, on_settings: Callable | None = None, on_alerts: Callable | None = None,
+                    alert_count_callback: Callable[[], int] | None = None):
     self._on_settings_click = on_settings
+    self._on_alerts_click = on_alerts
+    self._alert_count_callback = alert_count_callback
+    self._alerts_pill.set_alert_count_callback(alert_count_callback)
 
   def _handle_mouse_release(self, mouse_pos: MousePos):
     if not self._did_long_press:
-      if self._on_settings_click:
-        self._on_settings_click()
+      relative_x = mouse_pos.x - self.rect.x
+      has_alerts = self._alert_count_callback and self._alert_count_callback() > 0
+      if relative_x < SETTINGS_ZONE_WIDTH:
+        if self._on_settings_click:
+          self._on_settings_click()
+      elif has_alerts and relative_x > self.rect.width - ALERTS_ZONE_WIDTH:
+        if self._on_alerts_click:
+          self._on_alerts_click()
     self._did_long_press = False
 
   def _get_version_text(self) -> tuple[str, str, str, str] | None:
-    description = ui_state.params.get("UpdaterCurrentDescription")
+    version = ui_state.params.get("Version")
+    branch = ui_state.params.get("GitBranch")
+    commit = ui_state.params.get("GitCommit")
 
-    if description is not None and len(description) > 0:
-      # Expect "version / branch / commit / date"; be tolerant of other formats
-      try:
-        version, branch, commit, date = description.split(" / ")
-        return version, branch, commit, date
-      except Exception:
-        return None
+    if not all((version, branch, commit)):
+      return None
 
-    return None
+    commit_date_raw = ui_state.params.get("GitCommitDate")
+    try:
+      # GitCommitDate format from get_commit_date(): '%ct %ci' e.g. "'1708012345 2024-02-15 ...'"
+      unix_ts = int(commit_date_raw.strip("'").split()[0])
+      date_str = datetime.datetime.fromtimestamp(unix_ts).strftime("%b %d")
+    except (ValueError, IndexError, TypeError, AttributeError):
+      date_str = ""
+
+    return version, branch, commit[:7], date_str
 
   def _render(self, _):
     # TODO: why is there extra space here to get it to be flush?
@@ -192,12 +232,12 @@ def _render(self, _):
       self._version_label.render()
 
       self._date_label.set_text(" " + self._version_text[3])
-      self._date_label.set_position(version_pos.x + self._version_label.rect.width + 10, version_pos.y)
+      self._date_label.set_position(version_pos.x + self._version_label.text_width + 10, version_pos.y)
       self._date_label.render()
 
-      self._branch_label.set_max_width(gui_app.width - self._version_label.rect.width - self._date_label.rect.width - 32)
+      self._branch_label.set_max_width(gui_app.width - self._version_label.text_width - self._date_label.text_width - 32)
       self._branch_label.set_text(" " + ("release" if release_branch else self._version_text[1]))
-      self._branch_label.set_position(version_pos.x + self._version_label.rect.width + self._date_label.rect.width + 20, version_pos.y)
+      self._branch_label.set_position(version_pos.x + self._version_label.text_width + self._date_label.text_width + 20, version_pos.y)
       self._branch_label.render()
 
       if not release_branch:
@@ -206,60 +246,15 @@ def _render(self, _):
         self._version_commit_label.set_position(version_pos.x, version_pos.y + self._date_label.font_size + 7)
         self._version_commit_label.render()
 
-    self._render_bottom_status_bar()
-
-  def _render_bottom_status_bar(self):
     # ***** Center-aligned bottom section icons *****
+    self._experimental_icon.set_visible(self._experimental_mode)
+    self._mic_icon.set_visible(ui_state.recording_audio)
+    self._body_icon.set_visible(ui_state.is_body)
 
-    # TODO: refactor repeated icon drawing into a small loop
-    ITEM_SPACING = 18
-    Y_CENTER = 24
+    footer_rect = rl.Rectangle(self.rect.x + HOME_PADDING, self.rect.y + self.rect.height - 48, self.rect.width - HOME_PADDING, 48)
+    self._status_bar_layout.render(footer_rect)
 
-    last_x = self.rect.x + HOME_PADDING
-
-    # Draw settings icon in bottom left corner
-    rl.draw_texture(self._settings_txt, int(last_x), int(self._rect.y + self.rect.height - self._settings_txt.height / 2 - Y_CENTER),
-                    rl.Color(255, 255, 255, int(255 * 0.9)))
-    last_x = last_x + self._settings_txt.width + ITEM_SPACING
-
-    # draw network
-    if self._net_type == NetworkType.wifi:
-      # There is no 1
-      draw_net_txt = {0: self._wifi_none_txt,
-                      2: self._wifi_low_txt,
-                      3: self._wifi_medium_txt,
-                      4: self._wifi_full_txt,
-                      5: self._wifi_full_txt}.get(self._net_strength, self._wifi_low_txt)
-      rl.draw_texture(draw_net_txt, int(last_x),
-                      int(self._rect.y + self.rect.height - draw_net_txt.height / 2 - Y_CENTER), rl.Color(255, 255, 255, int(255 * 0.9)))
-      last_x += draw_net_txt.width + ITEM_SPACING
-
-    elif self._net_type in (NetworkType.cell2G, NetworkType.cell3G, NetworkType.cell4G, NetworkType.cell5G):
-      draw_net_txt = {0: self._cell_none_txt,
-                      2: self._cell_low_txt,
-                      3: self._cell_medium_txt,
-                      4: self._cell_high_txt,
-                      5: self._cell_full_txt}.get(self._net_strength, self._cell_none_txt)
-      rl.draw_texture(draw_net_txt, int(last_x),
-                      int(self._rect.y + self.rect.height - draw_net_txt.height / 2 - Y_CENTER), rl.Color(255, 255, 255, int(255 * 0.9)))
-      last_x += draw_net_txt.width + ITEM_SPACING
-
-    else:
-      # No network
-      # Offset by difference in height between slashless and slash icons to make center align match
-      rl.draw_texture(self._wifi_slash_txt, int(last_x), int(self._rect.y + self.rect.height - self._wifi_slash_txt.height / 2 -
-                                                             (self._wifi_slash_txt.height - self._wifi_none_txt.height) / 2 - Y_CENTER),
-                      rl.Color(255, 255, 255, 255))
-      last_x += self._wifi_slash_txt.width + ITEM_SPACING
-
-    # draw experimental icon
-    if self._experimental_mode:
-      rl.draw_texture(self._experimental_txt, int(last_x),
-                      int(self._rect.y + self.rect.height - self._experimental_txt.height / 2 - Y_CENTER), rl.Color(255, 255, 255, 255))
-      last_x += self._experimental_txt.width + ITEM_SPACING
-
-    # draw microphone icon when recording audio is enabled
-    if ui_state.recording_audio:
-      rl.draw_texture(self._mic_txt, int(last_x),
-                      int(self._rect.y + self.rect.height - self._mic_txt.height / 2 - Y_CENTER), rl.Color(255, 255, 255, 255))
-      last_x += self._mic_txt.width + ITEM_SPACING
+    # TODO: add alignment to hboxlayout and add to there
+    self._alerts_pill.set_position(self.rect.x + self.rect.width - self._alerts_pill.rect.width - HOME_PADDING,
+                                   self.rect.y + self.rect.height - self._alerts_pill.rect.height)
+    self._alerts_pill.render()
diff --git a/selfdrive/ui/mici/layouts/main.py b/selfdrive/ui/mici/layouts/main.py
index b52f9ed39a0..badfbe315e0 100644
--- a/selfdrive/ui/mici/layouts/main.py
+++ b/selfdrive/ui/mici/layouts/main.py
@@ -1,5 +1,4 @@
 import pyray as rl
-from enum import IntEnum
 import cereal.messaging as messaging
 from openpilot.selfdrive.ui.mici.layouts.home import MiciHomeLayout
 from openpilot.selfdrive.ui.mici.layouts.settings.settings import SettingsLayout
@@ -7,6 +6,7 @@
 from openpilot.selfdrive.ui.mici.onroad.augmented_road_view import AugmentedRoadView
 from openpilot.selfdrive.ui.ui_state import device, ui_state
 from openpilot.selfdrive.ui.mici.layouts.onboarding import OnboardingWindow
+from openpilot.selfdrive.ui.body.layouts.onroad import BodyLayout
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.scroller import Scroller
 from openpilot.system.ui.lib.application import gui_app
@@ -15,18 +15,12 @@
 ONROAD_DELAY = 2.5  # seconds
 
 
-class MainState(IntEnum):
-  MAIN = 0
-  SETTINGS = 1
-
-
-class MiciMainLayout(Widget):
+class MiciMainLayout(Scroller):
   def __init__(self):
-    super().__init__()
+    super().__init__(snap_items=True, spacing=0, pad=0, scroll_indicator=False, edge_shadows=False)
 
     self._pm = messaging.PubMaster(['bookmarkButton'])
 
-    self._current_mode: MainState | None = None
     self._prev_onroad = False
     self._prev_standstill = False
     self._onroad_time_delay: float | None = None
@@ -36,51 +30,64 @@ def __init__(self):
     self._home_layout = MiciHomeLayout()
     self._alerts_layout = MiciOffroadAlerts()
     self._settings_layout = SettingsLayout()
-    self._onroad_layout = AugmentedRoadView(bookmark_callback=self._on_bookmark_clicked)
+    self._car_onroad_layout = AugmentedRoadView(bookmark_callback=self._on_bookmark_clicked)
+    self._body_onroad_layout = BodyLayout()
 
     # Initialize widget rects
-    for widget in (self._home_layout, self._settings_layout, self._alerts_layout, self._onroad_layout):
+    for widget in (self._home_layout, self._alerts_layout, self._settings_layout,
+                   self._car_onroad_layout, self._body_onroad_layout):
       # TODO: set parent rect and use it if never passed rect from render (like in Scroller)
       widget.set_rect(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
 
-    self._scroller = Scroller([
+    self._scroller.add_widgets([
       self._alerts_layout,
       self._home_layout,
-      self._onroad_layout,
-    ], spacing=0, pad_start=0, pad_end=0)
+      self._car_onroad_layout,
+      self._body_onroad_layout,
+    ])
     self._scroller.set_reset_scroll_at_show(False)
 
     # Disable scrolling when onroad is interacting with bookmark
-    self._scroller.set_scrolling_enabled(lambda: not self._onroad_layout.is_swiping_left())
-
-    self._layouts = {
-      MainState.MAIN: self._scroller,
-      MainState.SETTINGS: self._settings_layout,
-    }
+    self._scroller.set_scrolling_enabled(lambda: not self._car_onroad_layout.is_swiping_left())
 
     # Set callbacks
     self._setup_callbacks()
 
-    # Start onboarding if terms or training not completed
-    self._onboarding_window = OnboardingWindow()
+    gui_app.add_nav_stack_tick(self._handle_transitions)
+    gui_app.push_widget(self)
+
+    # Start onboarding if terms or training not completed, make sure to push after self
+    self._onboarding_window = OnboardingWindow(lambda: gui_app.pop_widgets_to(self))
     if not self._onboarding_window.completed:
-      gui_app.set_modal_overlay(self._onboarding_window)
+      gui_app.push_widget(self._onboarding_window)
+
+  @property
+  def _onroad_layout(self) -> Widget:
+    # For scroll_to
+    return self._body_onroad_layout if ui_state.is_body else self._car_onroad_layout
 
   def _setup_callbacks(self):
-    self._home_layout.set_callbacks(on_settings=self._on_settings_clicked)
-    self._settings_layout.set_callbacks(on_close=self._on_settings_closed)
-    self._onroad_layout.set_click_callback(lambda: self._scroll_to(self._home_layout))
-    device.add_interactive_timeout_callback(self._set_mode_for_started)
+    self._home_layout.set_callbacks(
+      on_settings=lambda: gui_app.push_widget(self._settings_layout),
+      on_alerts=lambda: self._scroll_to(self._alerts_layout),
+      alert_count_callback=self._alerts_layout.active_alerts,
+    )
+    for layout in (self._car_onroad_layout, self._body_onroad_layout):
+      layout.set_click_callback(lambda: self._scroll_to(self._home_layout))
+
+    device.add_interactive_timeout_callback(self._on_interactive_timeout)
+    ui_state.add_on_body_changed_callbacks(self._on_body_changed)
 
   def _scroll_to(self, layout: Widget):
     layout_x = int(layout.rect.x)
     self._scroller.scroll_to(layout_x, smooth=True)
 
-  def _render(self, _):
-    # Initial show event
-    if self._current_mode is None:
-      self._set_mode(MainState.MAIN)
+  def _update_state(self):
+    super()._update_state()
+    # TODO: Hack to run alert updates while not in view. Add a nav stack tick?
+    self._alerts_layout._update_state()
 
+  def _render(self, _):
     if not self._setup:
       if self._alerts_layout.active_alerts() > 0:
         self._scroller.scroll_to(self._alerts_layout.rect.x)
@@ -89,61 +96,53 @@ def _render(self, _):
       self._setup = True
 
     # Render
-    if self._current_mode == MainState.MAIN:
-      self._scroller.render(self._rect)
-
-    elif self._current_mode == MainState.SETTINGS:
-      self._settings_layout.render(self._rect)
-
-    self._handle_transitions()
-
-  def _set_mode(self, mode: MainState):
-    if mode != self._current_mode:
-      if self._current_mode is not None:
-        self._layouts[self._current_mode].hide_event()
-      self._layouts[mode].show_event()
-      self._current_mode = mode
+    super()._render(self._rect)
 
   def _handle_transitions(self):
+    # Don't pop if onboarding
+    if gui_app.widget_in_stack(self._onboarding_window):
+      return
+
     if ui_state.started != self._prev_onroad:
       self._prev_onroad = ui_state.started
 
+      # onroad: after delay, pop nav stack and scroll to onroad
+      # offroad: immediately scroll to home, but don't pop nav stack (can stay in settings)
       if ui_state.started:
         self._onroad_time_delay = rl.get_time()
       else:
-        self._set_mode_for_started(True)
+        self._scroll_to(self._home_layout)
 
-    # delay so we show home for a bit after starting
+    # FIXME: these two pops can interrupt user interacting in the settings
     if self._onroad_time_delay is not None and rl.get_time() - self._onroad_time_delay >= ONROAD_DELAY:
-      self._set_mode_for_started(True)
+      gui_app.pop_widgets_to(self, lambda: self._scroll_to(self._onroad_layout))
       self._onroad_time_delay = None
 
+    # When car leaves standstill, pop nav stack and scroll to onroad
     CS = ui_state.sm["carState"]
     if not CS.standstill and self._prev_standstill:
-      self._set_mode(MainState.MAIN)
-      self._scroll_to(self._onroad_layout)
+      gui_app.pop_widgets_to(self, lambda: self._scroll_to(self._onroad_layout))
     self._prev_standstill = CS.standstill
 
-  def _set_mode_for_started(self, onroad_transition: bool = False):
+  def _on_interactive_timeout(self):
+    # Don't pop if onboarding
+    if gui_app.widget_in_stack(self._onboarding_window):
+      return
+
     if ui_state.started:
-      CS = ui_state.sm["carState"]
-      # Only go onroad if car starts or is not at a standstill
-      if not CS.standstill or onroad_transition:
-        self._set_mode(MainState.MAIN)
-        self._scroll_to(self._onroad_layout)
+      # Don't pop if at standstill
+      if not ui_state.sm["carState"].standstill:
+        gui_app.pop_widgets_to(self, lambda: self._scroll_to(self._onroad_layout))
     else:
-      # Stay in settings if car turns off while in settings
-      if not onroad_transition or self._current_mode != MainState.SETTINGS:
-        self._set_mode(MainState.MAIN)
-        self._scroll_to(self._home_layout)
-
-  def _on_settings_clicked(self):
-    self._set_mode(MainState.SETTINGS)
-
-  def _on_settings_closed(self):
-    self._set_mode(MainState.MAIN)
+      # Screen turns off on timeout offroad, so pop immediately without animation
+      gui_app.pop_widgets_to(self, instant=True)
+      self._scroll_to(self._home_layout)
 
   def _on_bookmark_clicked(self):
     user_bookmark = messaging.new_message('bookmarkButton')
     user_bookmark.valid = True
     self._pm.send('bookmarkButton', user_bookmark)
+
+  def _on_body_changed(self):
+    self._car_onroad_layout.set_visible(not ui_state.is_body)
+    self._body_onroad_layout.set_visible(ui_state.is_body)
diff --git a/selfdrive/ui/mici/layouts/offroad_alerts.py b/selfdrive/ui/mici/layouts/offroad_alerts.py
index 60f64b31b06..0dae5d20759 100644
--- a/selfdrive/ui/mici/layouts/offroad_alerts.py
+++ b/selfdrive/ui/mici/layouts/offroad_alerts.py
@@ -144,7 +144,7 @@ def _render(self, _):
       bg_texture = self._bg_small_pressed if self.is_pressed else self._bg_small
 
     # Draw background
-    rl.draw_texture(bg_texture, int(self._rect.x), int(self._rect.y), rl.WHITE)
+    rl.draw_texture_ex(bg_texture, rl.Vector2(self._rect.x, self._rect.y), 0.0, 1.0, rl.WHITE)
 
     # Calculate text area (left side, avoiding icon on right)
     title_width = self.ALERT_WIDTH - (self.ALERT_PADDING * 2) - self.ICON_SIZE - self.ICON_MARGIN
@@ -183,22 +183,20 @@ def _render(self, _):
       icon_texture = self._icon_orange
     icon_x = self._rect.x + self.ALERT_WIDTH - self.ALERT_PADDING - self.ICON_SIZE
     icon_y = self._rect.y + self.ALERT_PADDING
-    rl.draw_texture(icon_texture, int(icon_x), int(icon_y), rl.WHITE)
+    rl.draw_texture_ex(icon_texture, rl.Vector2(icon_x, icon_y), 0.0, 1.0, rl.WHITE)
 
 
-class MiciOffroadAlerts(Widget):
+class MiciOffroadAlerts(Scroller):
   """Offroad alerts layout with vertical scrolling."""
 
   def __init__(self):
-    super().__init__()
+    # Create vertical scroller
+    super().__init__(horizontal=False, spacing=12, pad=0)
     self.params = Params()
     self.sorted_alerts: list[AlertData] = []
     self.alert_items: list[AlertItem] = []
     self._last_refresh = 0.0
 
-    # Create vertical scroller
-    self._scroller = Scroller([], horizontal=False, spacing=12, pad_start=0, pad_end=0, snap_items=False)
-
     # Create empty state label
     self._empty_label = UnifiedLabel(tr("no alerts"), 65, FontWeight.DISPLAY, rl.WHITE,
                                      alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
@@ -289,7 +287,7 @@ def refresh(self) -> int:
 
   def show_event(self):
     """Reset scroll position when shown and refresh alerts."""
-    self._scroller.show_event()
+    super().show_event()
     self._last_refresh = time.monotonic()
     self.refresh()
 
diff --git a/selfdrive/ui/mici/layouts/onboarding.py b/selfdrive/ui/mici/layouts/onboarding.py
index d3588134111..054d719bd6c 100644
--- a/selfdrive/ui/mici/layouts/onboarding.py
+++ b/selfdrive/ui/mici/layouts/onboarding.py
@@ -1,34 +1,27 @@
-from enum import IntEnum
-
-import weakref
 import math
 import numpy as np
+import qrcode
 import pyray as rl
+from collections.abc import Callable
 from openpilot.common.filter_simple import FirstOrderFilter
-from openpilot.system.hardware import HARDWARE
 from openpilot.system.ui.lib.application import FontWeight, gui_app
 from openpilot.system.ui.widgets import Widget
-from openpilot.system.ui.widgets.button import SmallButton, SmallCircleIconButton
-from openpilot.system.ui.widgets.label import UnifiedLabel
-from openpilot.system.ui.widgets.slider import SmallSlider
-from openpilot.system.ui.mici_setup import TermsHeader, TermsPage as SetupTermsPage
-from openpilot.selfdrive.ui.ui_state import ui_state, device
-from openpilot.selfdrive.ui.mici.onroad.driver_state import DriverStateRenderer
-from openpilot.selfdrive.ui.mici.onroad.driver_camera_dialog import DriverCameraDialog
+from openpilot.system.ui.widgets.button import SmallCircleIconButton
+from openpilot.system.ui.widgets.scroller import NavScroller, Scroller
+from openpilot.system.ui.widgets.nav_widget import NavWidget
+from openpilot.system.ui.mici_setup import GreyBigButton, BigPillButton
 from openpilot.system.ui.widgets.label import gui_label
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.version import terms_version, training_version
+from openpilot.selfdrive.ui.ui_state import ui_state, device
+from openpilot.selfdrive.ui.mici.widgets.dialog import BigConfirmationCircleButton
+from openpilot.selfdrive.ui.mici.onroad.driver_state import DriverStateRenderer
+from openpilot.selfdrive.ui.mici.onroad.driver_camera_dialog import BaseDriverCameraDialog
 
 
-class OnboardingState(IntEnum):
-  TERMS = 0
-  ONBOARDING = 1
-  DECLINE = 2
-
-
-class DriverCameraSetupDialog(DriverCameraDialog):
+class DriverCameraSetupDialog(BaseDriverCameraDialog):
   def __init__(self):
-    super().__init__(no_escape=True)
+    super().__init__()
     self.driver_state_renderer = DriverStateRenderer(inset=True)
     self.driver_state_renderer.set_rect(rl.Rectangle(0, 0, 120, 120))
     self.driver_state_renderer.load_icons()
@@ -42,7 +35,7 @@ def _render(self, rect):
       gui_label(rect, tr("camera starting"), font_size=64, font_weight=FontWeight.BOLD,
                 alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
       rl.end_scissor_mode()
-      return -1
+      return
 
     # Position dmoji on opposite side from driver
     is_rhd = self.driver_state_renderer.is_rhd
@@ -55,91 +48,64 @@ def _render(self, rect):
     self._draw_face_detection(rect)
 
     rl.end_scissor_mode()
-    return -1
 
 
-class TrainingGuidePreDMTutorial(SetupTermsPage):
-  def __init__(self, continue_callback):
-    super().__init__(continue_callback, continue_text="continue")
-    self._title_header = TermsHeader("driver monitoring setup", gui_app.texture("icons_mici/setup/green_dm.png", 60, 60))
+class TrainingGuidePreDMTutorial(NavScroller):
+  def __init__(self, continue_callback: Callable[[], None]):
+    super().__init__()
+
+    continue_button = BigPillButton("next")
+    continue_button.set_click_callback(continue_callback)
 
-    self._dm_label = UnifiedLabel("Next, we'll ensure comma four is mounted properly.\n\nIf it does not have a clear view of the driver, " +
-                                  "unplug and remount before continuing.", 42,
-                                  FontWeight.ROMAN)
+    self._scroller.add_widgets([
+      GreyBigButton("driver monitoring\ncheck", "scroll to continue",
+                    gui_app.texture("icons_mici/setup/green_dm.png", 64, 64)),
+      GreyBigButton("", "Next, we'll check if comma four can detect the driver properly."),
+      GreyBigButton("", "openpilot uses the cabin camera to check if the driver is distracted."),
+      GreyBigButton("", "If it does not have a clear view of the driver, unplug and remount before continuing."),
+      continue_button,
+    ])
 
   def show_event(self):
     super().show_event()
     # Get driver monitoring model ready for next step
-    ui_state.params.put_bool("IsDriverViewEnabled", True)
+    ui_state.params.put_bool_nonblocking("IsDriverViewEnabled", True)
 
-  @property
-  def _content_height(self):
-    return self._dm_label.rect.y + self._dm_label.rect.height - self._scroll_panel.get_offset()
-
-  def _render_content(self, scroll_offset):
-    self._title_header.render(rl.Rectangle(
-      self._rect.x + 16,
-      self._rect.y + 16 + scroll_offset,
-      self._title_header.rect.width,
-      self._title_header.rect.height,
-    ))
-
-    self._dm_label.render(rl.Rectangle(
-      self._rect.x + 16,
-      self._title_header.rect.y + self._title_header.rect.height + 16,
-      self._rect.width - 32,
-      self._dm_label.get_content_height(int(self._rect.width - 32)),
-    ))
-
-
-class DMBadFaceDetected(SetupTermsPage):
-  def __init__(self, continue_callback, back_callback):
-    super().__init__(continue_callback, back_callback, continue_text="power off")
-    self._title_header = TermsHeader("make sure comma four can see your face", gui_app.texture("icons_mici/setup/orange_dm.png", 60, 60))
-    self._dm_label = UnifiedLabel("Re-mount if your face is occluded or driver monitoring has difficulty tracking your face.", 42, FontWeight.ROMAN)
 
-  @property
-  def _content_height(self):
-    return self._dm_label.rect.y + self._dm_label.rect.height - self._scroll_panel.get_offset()
-
-  def _render_content(self, scroll_offset):
-    self._title_header.render(rl.Rectangle(
-      self._rect.x + 16,
-      self._rect.y + 16 + scroll_offset,
-      self._title_header.rect.width,
-      self._title_header.rect.height,
-    ))
-
-    self._dm_label.render(rl.Rectangle(
-      self._rect.x + 16,
-      self._title_header.rect.y + self._title_header.rect.height + 16,
-      self._rect.width - 32,
-      self._dm_label.get_content_height(int(self._rect.width - 32)),
-    ))
-
-
-class TrainingGuideDMTutorial(Widget):
+class DMBadFaceDetected(NavScroller):
+  def __init__(self):
+    super().__init__()
+
+    back_button = BigPillButton("back")
+    back_button.set_click_callback(self.dismiss)
+
+    self._scroller.add_widgets([
+      GreyBigButton("looking for driver", "make sure comma\nfour can see your face",
+                    gui_app.texture("icons_mici/setup/orange_dm.png", 64, 64)),
+      GreyBigButton("", "Remount if your face is blocked, or driver monitoring has difficulty tracking your face."),
+      back_button,
+    ])
+
+
+class TrainingGuideDMTutorial(NavWidget):
   PROGRESS_DURATION = 4
   LOOKING_THRESHOLD_DEG = 30.0
 
-  def __init__(self, continue_callback):
+  def __init__(self, continue_callback: Callable[[], None]):
     super().__init__()
-    self._back_button = SmallCircleIconButton(gui_app.texture("icons_mici/setup/driver_monitoring/dm_question.png", 48, 48))
-    self._back_button.set_click_callback(self._show_bad_face_page)
-    self._good_button = SmallCircleIconButton(gui_app.texture("icons_mici/setup/driver_monitoring/dm_check.png", 48, 35))
 
-    # Wrap the continue callback to restore settings
-    def wrapped_continue_callback():
-      device.set_offroad_brightness(None)
-      continue_callback()
+    self._back_button = SmallCircleIconButton(gui_app.texture("icons_mici/setup/driver_monitoring/dm_question.png", 28, 48))
+    self._back_button.set_click_callback(lambda: gui_app.push_widget(self._bad_face_page))
+    self._back_button.set_touch_valid_callback(lambda: self.enabled and not self.is_dismissing)  # for nav stack
+    self._good_button = SmallCircleIconButton(gui_app.texture("icons_mici/setup/driver_monitoring/dm_check.png", 42, 42))
+    self._good_button.set_touch_valid_callback(lambda: self.enabled and not self.is_dismissing)  # for nav stack
 
-    self._good_button.set_click_callback(wrapped_continue_callback)
+    self._good_button.set_click_callback(continue_callback)
     self._good_button.set_enabled(False)
 
     self._progress = FirstOrderFilter(0.0, 0.5, 1 / gui_app.target_fps)
     self._dialog = DriverCameraSetupDialog()
-    self._bad_face_page = DMBadFaceDetected(HARDWARE.shutdown, self._hide_bad_face_page)
-    self._should_show_bad_face_page = False
+    self._bad_face_page = DMBadFaceDetected()
 
     # Disable driver monitoring model when device times out for inactivity
     def inactivity_callback():
@@ -147,27 +113,15 @@ def inactivity_callback():
 
     device.add_interactive_timeout_callback(inactivity_callback)
 
-  def _show_bad_face_page(self):
-    self._bad_face_page.show_event()
-    self.hide_event()
-    self._should_show_bad_face_page = True
-
-  def _hide_bad_face_page(self):
-    self._bad_face_page.hide_event()
-    self.show_event()
-    self._should_show_bad_face_page = False
-
   def show_event(self):
     super().show_event()
     self._dialog.show_event()
     self._progress.x = 0.0
 
-    device.set_offroad_brightness(100)
-
   def _update_state(self):
     super()._update_state()
-    if device.awake:
-      ui_state.params.put_bool("IsDriverViewEnabled", True)
+    if device.awake and not ui_state.params.get_bool("IsDriverViewEnabled"):
+      ui_state.params.put_bool_nonblocking("IsDriverViewEnabled", True)
 
     sm = ui_state.sm
     if sm.recv_frame.get("driverMonitoringState", 0) == 0:
@@ -183,7 +137,8 @@ def _update_state(self):
       looking_center = False
 
     # stay at 100% once reached
-    if (dm_state.faceDetected and looking_center) or self._progress.x > 0.99:
+    in_bad_face = gui_app.get_active_widget() == self._bad_face_page
+    if ((dm_state.visionPolicyState.faceDetected and looking_center) or self._progress.x > 0.99) and not in_bad_face:
       slow = self._progress.x < 0.25
       duration = self.PROGRESS_DURATION * 2 if slow else self.PROGRESS_DURATION
       self._progress.x += 1.0 / (duration * gui_app.target_fps)
@@ -194,13 +149,12 @@ def _update_state(self):
     self._good_button.set_enabled(self._progress.x >= 0.999)
 
   def _render(self, _):
-    if self._should_show_bad_face_page:
-      return self._bad_face_page.render(self._rect)
-
     self._dialog.render(self._rect)
 
-    rl.draw_rectangle_gradient_v(int(self._rect.x), int(self._rect.y + self._rect.height - 80),
-                                 int(self._rect.width), 80, rl.BLANK, rl.BLACK)
+    gradient_y = int(self._rect.y + self._rect.height - 80)
+    gradient_h = int(self._rect.y) + int(self._rect.height) - gradient_y
+    rl.draw_rectangle_gradient_v(int(self._rect.x), gradient_y,
+                                 int(self._rect.width), gradient_h, rl.BLANK, rl.BLACK)
 
     # draw white ring around dm icon to indicate progress
     ring_thickness = 8
@@ -237,253 +191,197 @@ def _render(self, _):
       ring_color,
     )
 
-    self._back_button.render(rl.Rectangle(
-      self._rect.x + 8,
-      self._rect.y + self._rect.height - self._back_button.rect.height,
-      self._back_button.rect.width,
-      self._back_button.rect.height,
-    ))
-
-    self._good_button.render(rl.Rectangle(
-      self._rect.x + self._rect.width - self._good_button.rect.width - 8,
-      self._rect.y + self._rect.height - self._good_button.rect.height,
-      self._good_button.rect.width,
-      self._good_button.rect.height,
-    ))
+    if self._dialog._camera_view.frame:
+      self._back_button.render(rl.Rectangle(
+        self._rect.x + 8,
+        self._rect.y + self._rect.height - self._back_button.rect.height,
+        self._back_button.rect.width,
+        self._back_button.rect.height,
+      ))
+
+      self._good_button.render(rl.Rectangle(
+        self._rect.x + self._rect.width - self._good_button.rect.width - 8,
+        self._rect.y + self._rect.height - self._good_button.rect.height,
+        self._good_button.rect.width,
+        self._good_button.rect.height,
+      ))
 
     # rounded border
+    rl.begin_scissor_mode(int(self._rect.x), int(self._rect.y), int(self._rect.width), int(self._rect.height))
     rl.draw_rectangle_rounded_lines_ex(self._rect, 0.2 * 1.02, 10, 50, rl.BLACK)
+    rl.end_scissor_mode()
 
 
-class TrainingGuideRecordFront(SetupTermsPage):
-  def __init__(self, continue_callback):
-    def on_back():
-      ui_state.params.put_bool("RecordFront", False)
+class TrainingGuideRecordFront(NavScroller):
+  def __init__(self, continue_callback: Callable[[], None]):
+    super().__init__()
+
+    def on_accept():
+      ui_state.params.put_bool_nonblocking("RecordFront", True)
       continue_callback()
 
-    def on_continue():
-      ui_state.params.put_bool("RecordFront", True)
+    def on_decline():
+      ui_state.params.put_bool_nonblocking("RecordFront", False)
       continue_callback()
 
-    super().__init__(on_continue, back_callback=on_back, back_text="no", continue_text="yes")
-    self._title_header = TermsHeader("improve driver monitoring", gui_app.texture("icons_mici/setup/green_dm.png", 60, 60))
+    self._accept_button = BigConfirmationCircleButton("allow data uploading", gui_app.texture("icons_mici/setup/driver_monitoring/dm_check.png", 64, 64),
+                                                      on_accept, exit_on_confirm=False)
 
-    self._dm_label = UnifiedLabel("Do you want to upload driver camera data?", 42,
-                                  FontWeight.ROMAN)
+    self._decline_button = BigConfirmationCircleButton("no, don't upload", gui_app.texture("icons_mici/setup/cancel.png", 64, 64), on_decline,
+                                                       exit_on_confirm=False)
 
-  def show_event(self):
-    super().show_event()
-    # Disable driver monitoring model after last step
-    ui_state.params.put_bool("IsDriverViewEnabled", False)
+    self._scroller.add_widgets([
+      GreyBigButton("driver camera data", "do you want to share video data for training?",
+                    gui_app.texture("icons_mici/setup/green_dm.png", 64, 64)),
+      GreyBigButton("", "Sharing your data with comma helps improve openpilot for everyone."),
+      self._accept_button,
+      self._decline_button,
+    ])
 
-  @property
-  def _content_height(self):
-    return self._dm_label.rect.y + self._dm_label.rect.height - self._scroll_panel.get_offset()
-
-  def _render_content(self, scroll_offset):
-    self._title_header.render(rl.Rectangle(
-      self._rect.x + 16,
-      self._rect.y + 16 + scroll_offset,
-      self._title_header.rect.width,
-      self._title_header.rect.height,
-    ))
-
-    self._dm_label.render(rl.Rectangle(
-      self._rect.x + 16,
-      self._title_header.rect.y + self._title_header.rect.height + 16,
-      self._rect.width - 32,
-      self._dm_label.get_content_height(int(self._rect.width - 32)),
-    ))
-
-
-class TrainingGuideAttentionNotice(SetupTermsPage):
-  def __init__(self, continue_callback):
-    super().__init__(continue_callback, continue_text="continue")
-    self._title_header = TermsHeader("driver assistance", gui_app.texture("icons_mici/setup/warning.png", 60, 60))
-    self._warning_label = UnifiedLabel("1. openpilot is a driver assistance system.\n\n" +
-                                       "2. You must pay attention at all times.\n\n" +
-                                       "3. You must be ready to take over at any time.\n\n" +
-                                       "4. You are fully responsible for driving the car.", 42,
-                                       FontWeight.ROMAN)
 
-  @property
-  def _content_height(self):
-    return self._warning_label.rect.y + self._warning_label.rect.height - self._scroll_panel.get_offset()
-
-  def _render_content(self, scroll_offset):
-    self._title_header.render(rl.Rectangle(
-      self._rect.x + 16,
-      self._rect.y + 16 + scroll_offset,
-      self._title_header.rect.width,
-      self._title_header.rect.height,
-    ))
-
-    self._warning_label.render(rl.Rectangle(
-      self._rect.x + 16,
-      self._title_header.rect.y + self._title_header.rect.height + 16,
-      self._rect.width - 32,
-      self._warning_label.get_content_height(int(self._rect.width - 32)),
-    ))
-
-
-class TrainingGuide(Widget):
-  def __init__(self, completed_callback=None):
+class TrainingGuideAttentionNotice(Scroller):
+  def __init__(self, continue_callback: Callable[[], None]):
     super().__init__()
-    self._completed_callback = completed_callback
-    self._step = 0
 
-    self_ref = weakref.ref(self)
+    continue_button = BigPillButton("next")
+    continue_button.set_click_callback(continue_callback)
 
-    def on_continue():
-      if obj := self_ref():
-        obj._advance_step()
+    self._scroller.add_widgets([
+      GreyBigButton("what is openpilot?", "scroll to continue",
+                    gui_app.texture("icons_mici/setup/green_info.png", 64, 64)),
+      GreyBigButton("", "1. openpilot is a driver assistance system."),
+      GreyBigButton("", "2. You must pay attention at all times."),
+      GreyBigButton("", "3. You must be ready to take over at any time."),
+      GreyBigButton("", "4. You are fully responsible for driving the car."),
+      continue_button,
+    ])
 
-    self._steps = [
-      TrainingGuideAttentionNotice(continue_callback=on_continue),
-      TrainingGuidePreDMTutorial(continue_callback=on_continue),
-      TrainingGuideDMTutorial(continue_callback=on_continue),
-      TrainingGuideRecordFront(continue_callback=on_continue),
-    ]
 
-  def show_event(self):
-    super().show_event()
-    device.set_override_interactive_timeout(300)
+class TrainingGuide(NavWidget):
+  def __init__(self, completed_callback: Callable[[], None]):
+    super().__init__()
 
-  def hide_event(self):
-    super().hide_event()
-    device.set_override_interactive_timeout(None)
+    self._steps = [
+      TrainingGuideAttentionNotice(continue_callback=lambda: gui_app.push_widget(self._steps[1])),
+      TrainingGuidePreDMTutorial(continue_callback=lambda: gui_app.push_widget(self._steps[2])),
+      TrainingGuideDMTutorial(continue_callback=lambda: gui_app.push_widget(self._steps[3])),
+      TrainingGuideRecordFront(continue_callback=completed_callback),
+    ]
 
-  def _advance_step(self):
-    if self._step < len(self._steps) - 1:
-      self._step += 1
-      self._steps[self._step].show_event()
-    else:
-      self._step = 0
-      if self._completed_callback:
-        self._completed_callback()
+    self._child(self._steps[0])
+    self._steps[0].set_enabled(lambda: self.enabled and not self.is_dismissing)  # for nav stack
 
   def _render(self, _):
-    if self._step < len(self._steps):
-      self._steps[self._step].render(self._rect)
-    return -1
+    self._steps[0].render(self._rect)
 
 
-class DeclinePage(Widget):
-  def __init__(self, back_callback=None):
+class QRCodeWidget(Widget):
+  def __init__(self, url: str, size: int = 170):
     super().__init__()
-    self._uninstall_slider = SmallSlider("uninstall openpilot", self._on_uninstall)
+    self.set_rect(rl.Rectangle(0, 0, size, size))
+    self._size = size
+    self._qr_texture: rl.Texture | None = None
+    self._generate_qr(url)
 
-    self._back_button = SmallButton("back")
-    self._back_button.set_click_callback(back_callback)
+  def _generate_qr(self, url: str):
+    qr = qrcode.QRCode(version=1, error_correction=qrcode.constants.ERROR_CORRECT_L, box_size=10, border=0)
+    qr.add_data(url)
+    qr.make(fit=True)
 
-    self._warning_header = TermsHeader("you must accept the\nterms to use openpilot",
-                                       gui_app.texture("icons_mici/setup/red_warning.png", 66, 60))
+    pil_img = qr.make_image(fill_color="white", back_color="black").convert('RGBA')
+    img_array = np.array(pil_img, dtype=np.uint8)
 
-  def _on_uninstall(self):
-    ui_state.params.put_bool("DoUninstall", True)
-    gui_app.request_close()
+    rl_image = rl.Image()
+    rl_image.data = rl.ffi.cast("void *", img_array.ctypes.data)
+    rl_image.width = pil_img.width
+    rl_image.height = pil_img.height
+    rl_image.mipmaps = 1
+    rl_image.format = rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_R8G8B8A8
+
+    self._qr_texture = rl.load_texture_from_image(rl_image)
 
   def _render(self, _):
-    self._warning_header.render(rl.Rectangle(
-      self._rect.x + 16,
-      self._rect.y + 16,
-      self._warning_header.rect.width,
-      self._warning_header.rect.height,
-    ))
-
-    self._back_button.set_opacity(1 - self._uninstall_slider.slider_percentage)
-    self._back_button.render(rl.Rectangle(
-      self._rect.x + 8,
-      self._rect.y + self._rect.height - self._back_button.rect.height,
-      self._back_button.rect.width,
-      self._back_button.rect.height,
-    ))
-
-    self._uninstall_slider.render(rl.Rectangle(
-      self._rect.x + self._rect.width - self._uninstall_slider.rect.width,
-      self._rect.y + self._rect.height - self._uninstall_slider.rect.height,
-      self._uninstall_slider.rect.width,
-      self._uninstall_slider.rect.height,
-    ))
-
-
-class TermsPage(SetupTermsPage):
-  def __init__(self, on_accept=None, on_decline=None):
-    super().__init__(on_accept, on_decline, "decline")
-
-    info_txt = gui_app.texture("icons_mici/setup/green_info.png", 60, 60)
-    self._title_header = TermsHeader("terms & conditions", info_txt)
-
-    self._terms_label = UnifiedLabel("You must accept the Terms and Conditions to use openpilot. " +
-                                     "Read the latest terms at https://comma.ai/terms before continuing.", 36,
-                                     FontWeight.ROMAN)
+    if self._qr_texture:
+      scale = self._size / self._qr_texture.height
+      rl.draw_texture_ex(self._qr_texture, rl.Vector2(round(self._rect.x), round(self._rect.y)), 0.0, scale, rl.WHITE)
 
-  @property
-  def _content_height(self):
-    return self._terms_label.rect.y + self._terms_label.rect.height - self._scroll_panel.get_offset()
+  def __del__(self):
+    if self._qr_texture and self._qr_texture.id != 0:
+      rl.unload_texture(self._qr_texture)
+
+
+class TermsPage(Scroller):
+  def __init__(self, on_accept, on_decline):
+    super().__init__()
 
-  def _render_content(self, scroll_offset):
-    self._title_header.set_position(self._rect.x + 16, self._rect.y + 12 + scroll_offset)
-    self._title_header.render()
+    self._accept_button = BigConfirmationCircleButton("accept\nterms", gui_app.texture("icons_mici/setup/driver_monitoring/dm_check.png", 64, 64), on_accept)
+    self._decline_button = BigConfirmationCircleButton("decline &\nuninstall", gui_app.texture("icons_mici/setup/cancel.png", 64, 64), on_decline,
+                                                       red=True, exit_on_confirm=False)
 
-    self._terms_label.render(rl.Rectangle(
-      self._rect.x + 16,
-      self._title_header.rect.y + self._title_header.rect.height + self.ITEM_SPACING,
-      self._rect.width - 100,
-      self._terms_label.get_content_height(int(self._rect.width - 100)),
-    ))
+    self._terms_header = GreyBigButton("terms and\nconditions", "scroll to continue",
+                                       gui_app.texture("icons_mici/setup/green_info.png", 64, 64))
+    self._must_accept_card = GreyBigButton("", "You must accept the Terms & Conditions to use openpilot.")
+
+    self._scroller.add_widgets([
+      self._terms_header,
+      GreyBigButton("swipe for QR code", "or go to https://comma.ai/terms",
+                    gui_app.texture("icons_mici/setup/small_slider/slider_arrow.png", 64, 56, flip_x=True)),
+      QRCodeWidget("https://comma.ai/terms"),
+      self._must_accept_card,
+      self._accept_button,
+      self._decline_button,
+    ])
+
+  def _render(self, _):
+    rl.draw_rectangle_rec(self._rect, rl.BLACK)
+    super()._render(_)
 
 
 class OnboardingWindow(Widget):
-  def __init__(self):
+  def __init__(self, completed_callback: Callable[[], None]):
     super().__init__()
+    self._completed_callback = completed_callback
     self._accepted_terms: bool = ui_state.params.get("HasAcceptedTerms") == terms_version
     self._training_done: bool = ui_state.params.get("CompletedTrainingVersion") == training_version
 
-    self._state = OnboardingState.TERMS if not self._accepted_terms else OnboardingState.ONBOARDING
-
-    self.set_rect(rl.Rectangle(0, 0, 458, gui_app.height))
+    self.set_rect(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
 
     # Windows
-    self._terms = TermsPage(on_accept=self._on_terms_accepted, on_decline=self._on_terms_declined)
+    self._terms = TermsPage(on_accept=self._on_terms_accepted, on_decline=self._on_uninstall)
+    self._terms.set_enabled(lambda: self.enabled)  # for nav stack
     self._training_guide = TrainingGuide(completed_callback=self._on_completed_training)
-    self._decline_page = DeclinePage(back_callback=self._on_decline_back)
+    self._training_guide.set_enabled(lambda: self.enabled)  # for nav stack
+
+  def _on_uninstall(self):
+    ui_state.params.put_bool("DoUninstall", True)
 
   def show_event(self):
     super().show_event()
     device.set_override_interactive_timeout(300)
+    device.set_offroad_brightness(100)
 
   def hide_event(self):
     super().hide_event()
+    # FIXME: when nav stack sends hide event to widget 2 below on push, this needs to be moved
     device.set_override_interactive_timeout(None)
+    device.set_offroad_brightness(None)
 
   @property
   def completed(self) -> bool:
     return self._accepted_terms and self._training_done
 
-  def _on_terms_declined(self):
-    self._state = OnboardingState.DECLINE
-
-  def _on_decline_back(self):
-    self._state = OnboardingState.TERMS
-
   def close(self):
-    ui_state.params.put_bool("IsDriverViewEnabled", False)
-    gui_app.set_modal_overlay(None)
+    ui_state.params.put_bool_nonblocking("IsDriverViewEnabled", False)
+    self._completed_callback()
 
   def _on_terms_accepted(self):
     ui_state.params.put("HasAcceptedTerms", terms_version)
-    self._state = OnboardingState.ONBOARDING
+    gui_app.push_widget(self._training_guide)
 
   def _on_completed_training(self):
     ui_state.params.put("CompletedTrainingVersion", training_version)
     self.close()
 
   def _render(self, _):
-    if self._state == OnboardingState.TERMS:
-      self._terms.render(self._rect)
-    elif self._state == OnboardingState.ONBOARDING:
-      self._training_guide.render(self._rect)
-    elif self._state == OnboardingState.DECLINE:
-      self._decline_page.render(self._rect)
-    return -1
+    rl.draw_rectangle_rec(self._rect, rl.BLACK)
+    self._terms.render(self._rect)
diff --git a/selfdrive/ui/mici/layouts/settings/developer.py b/selfdrive/ui/mici/layouts/settings/developer.py
index 8fc63e89637..3a587f12421 100644
--- a/selfdrive/ui/mici/layouts/settings/developer.py
+++ b/selfdrive/ui/mici/layouts/settings/developer.py
@@ -1,56 +1,63 @@
-import pyray as rl
-from collections.abc import Callable
-
 from openpilot.common.time_helpers import system_time_valid
-from openpilot.system.ui.widgets.scroller import Scroller
-from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigToggle, BigParamControl
+from openpilot.system.ui.widgets.scroller import NavScroller
+from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigToggle, BigParamControl, BigCircleParamControl
 from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigInputDialog
 from openpilot.system.ui.lib.application import gui_app
-from openpilot.system.ui.widgets import NavWidget
 from openpilot.selfdrive.ui.layouts.settings.common import restart_needed_callback
 from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.selfdrive.ui.widgets.ssh_key import SshKeyAction
+from openpilot.selfdrive.ui.widgets.ssh_key import SshKeyFetcher
 
 
-class DeveloperLayoutMici(NavWidget):
-  def __init__(self, back_callback: Callable):
+class DeveloperLayoutMici(NavScroller):
+  def __init__(self):
     super().__init__()
-    self.set_back_callback(back_callback)
+    self._ssh_fetcher = SshKeyFetcher(ui_state.params)
 
     def github_username_callback(username: str):
       if username:
-        ssh_keys = SshKeyAction()
-        ssh_keys._fetch_ssh_key(username)
-        if not ssh_keys._error_message:
-          self._ssh_keys_btn.set_value(username)
-        else:
-          dlg = BigDialog("", ssh_keys._error_message)
-          gui_app.set_modal_overlay(dlg)
+        self._ssh_keys_btn.set_value("Loading...")
+        self._ssh_keys_btn.set_enabled(False)
+
+        def on_response(error):
+          self._ssh_keys_btn.set_enabled(True)
+          if error is None:
+            self._ssh_keys_btn.set_value(username)
+          else:
+            self._ssh_keys_btn.set_value("Not set")
+            gui_app.push_widget(BigDialog("", error))
+
+        self._ssh_fetcher.fetch(username, on_response)
+      else:
+        self._ssh_fetcher.clear()
+        self._ssh_keys_btn.set_value("Not set")
 
     def ssh_keys_callback():
       github_username = ui_state.params.get("GithubUsername") or ""
-      dlg = BigInputDialog("enter GitHub username", github_username, confirm_callback=github_username_callback)
+      dlg = BigInputDialog("enter GitHub username...", github_username, minimum_length=0, confirm_callback=github_username_callback)
       if not system_time_valid():
-        dlg = BigDialog("Please connect to Wi-Fi to fetch your key", "")
-        gui_app.set_modal_overlay(dlg)
+        dlg = BigDialog("", "Please connect to Wi-Fi to fetch your key.")
+        gui_app.push_widget(dlg)
         return
-      gui_app.set_modal_overlay(dlg)
+      gui_app.push_widget(dlg)
 
-    txt_ssh = gui_app.texture("icons_mici/settings/developer/ssh.png", 77, 44)
+    txt_ssh = gui_app.texture("icons_mici/settings/developer/ssh.png", 56, 64)
     github_username = ui_state.params.get("GithubUsername") or ""
     self._ssh_keys_btn = BigButton("SSH keys", "Not set" if not github_username else github_username, icon=txt_ssh)
     self._ssh_keys_btn.set_click_callback(ssh_keys_callback)
 
     # adb, ssh, ssh keys, debug mode, joystick debug mode, longitudinal maneuver mode, ip address
     # ******** Main Scroller ********
-    self._adb_toggle = BigParamControl("enable ADB", "AdbEnabled")
-    self._ssh_toggle = BigParamControl("enable SSH", "SshEnabled")
+    self._adb_toggle = BigCircleParamControl(gui_app.texture("icons_mici/adb_short.png", 82, 82), "AdbEnabled", icon_offset=(0, 12))
+    self._ssh_toggle = BigCircleParamControl(gui_app.texture("icons_mici/ssh_short.png", 82, 82), "SshEnabled", icon_offset=(0, 12))
     self._joystick_toggle = BigToggle("joystick debug mode",
                                       initial_state=ui_state.params.get_bool("JoystickDebugMode"),
                                       toggle_callback=self._on_joystick_debug_mode)
     self._long_maneuver_toggle = BigToggle("longitudinal maneuver mode",
                                            initial_state=ui_state.params.get_bool("LongitudinalManeuverMode"),
                                            toggle_callback=self._on_long_maneuver_mode)
+    self._lat_maneuver_toggle = BigToggle("lateral maneuver mode",
+                                          initial_state=ui_state.params.get_bool("LateralManeuverMode"),
+                                          toggle_callback=self._on_lat_maneuver_mode)
     self._alpha_long_toggle = BigToggle("alpha longitudinal",
                                         initial_state=ui_state.params.get_bool("AlphaLongitudinalEnabled"),
                                         toggle_callback=self._on_alpha_long_enabled)
@@ -58,15 +65,16 @@ def ssh_keys_callback():
                                               toggle_callback=lambda checked: (gui_app.set_show_touches(checked),
                                                                                gui_app.set_show_fps(checked)))
 
-    self._scroller = Scroller([
+    self._scroller.add_widgets([
       self._adb_toggle,
       self._ssh_toggle,
       self._ssh_keys_btn,
       self._joystick_toggle,
       self._long_maneuver_toggle,
+      self._lat_maneuver_toggle,
       self._alpha_long_toggle,
       self._debug_mode_toggle,
-    ], snap_items=False)
+    ])
 
     # Toggle lists
     self._refresh_toggles = (
@@ -74,12 +82,13 @@ def ssh_keys_callback():
       ("SshEnabled", self._ssh_toggle),
       ("JoystickDebugMode", self._joystick_toggle),
       ("LongitudinalManeuverMode", self._long_maneuver_toggle),
+      ("LateralManeuverMode", self._lat_maneuver_toggle),
       ("AlphaLongitudinalEnabled", self._alpha_long_toggle),
       ("ShowDebugInfo", self._debug_mode_toggle),
     )
     onroad_blocked_toggles = (self._adb_toggle, self._joystick_toggle)
-    release_blocked_toggles = (self._joystick_toggle, self._long_maneuver_toggle, self._alpha_long_toggle)
-    engaged_blocked_toggles = (self._long_maneuver_toggle, self._alpha_long_toggle)
+    release_blocked_toggles = (self._joystick_toggle, self._long_maneuver_toggle, self._lat_maneuver_toggle, self._alpha_long_toggle)
+    engaged_blocked_toggles = (self._long_maneuver_toggle, self._lat_maneuver_toggle, self._alpha_long_toggle)
 
     # Hide non-release toggles on release builds
     for item in release_blocked_toggles:
@@ -100,14 +109,14 @@ def ssh_keys_callback():
 
     ui_state.add_offroad_transition_callback(self._update_toggles)
 
+  def _update_state(self):
+    super()._update_state()
+    self._ssh_fetcher.update()
+
   def show_event(self):
     super().show_event()
-    self._scroller.show_event()
     self._update_toggles()
 
-  def _render(self, rect: rl.Rectangle):
-    self._scroller.render(rect)
-
   def _update_toggles(self):
     ui_state.update_params()
 
@@ -122,11 +131,9 @@ def _update_toggles(self):
 
       long_man_enabled = ui_state.has_longitudinal_control and ui_state.is_offroad()
       self._long_maneuver_toggle.set_enabled(long_man_enabled)
-      if not long_man_enabled:
-        self._long_maneuver_toggle.set_checked(False)
-        ui_state.params.put_bool("LongitudinalManeuverMode", False)
     else:
       self._long_maneuver_toggle.set_enabled(False)
+      self._lat_maneuver_toggle.set_enabled(False)
       self._alpha_long_toggle.set_visible(False)
 
     # Refresh toggles from params to mirror external changes
@@ -137,11 +144,24 @@ def _on_joystick_debug_mode(self, state: bool):
     ui_state.params.put_bool("JoystickDebugMode", state)
     ui_state.params.put_bool("LongitudinalManeuverMode", False)
     self._long_maneuver_toggle.set_checked(False)
+    ui_state.params.put_bool("LateralManeuverMode", False)
+    self._lat_maneuver_toggle.set_checked(False)
 
   def _on_long_maneuver_mode(self, state: bool):
     ui_state.params.put_bool("LongitudinalManeuverMode", state)
     ui_state.params.put_bool("JoystickDebugMode", False)
     self._joystick_toggle.set_checked(False)
+    ui_state.params.put_bool("LateralManeuverMode", False)
+    self._lat_maneuver_toggle.set_checked(False)
+    restart_needed_callback(state)
+
+  def _on_lat_maneuver_mode(self, state: bool):
+    ui_state.params.put_bool("LateralManeuverMode", state)
+    ui_state.params.put_bool("ExperimentalMode", False)
+    ui_state.params.put_bool("JoystickDebugMode", False)
+    self._joystick_toggle.set_checked(False)
+    ui_state.params.put_bool("LongitudinalManeuverMode", False)
+    self._long_maneuver_toggle.set_checked(False)
     restart_needed_callback(state)
 
   def _on_alpha_long_enabled(self, state: bool):
diff --git a/selfdrive/ui/mici/layouts/settings/device.py b/selfdrive/ui/mici/layouts/settings/device.py
index 988c823a994..3c165b5bb35 100644
--- a/selfdrive/ui/mici/layouts/settings/device.py
+++ b/selfdrive/ui/mici/layouts/settings/device.py
@@ -1,6 +1,5 @@
 import os
 import threading
-import json
 import pyray as rl
 from enum import IntEnum
 from collections.abc import Callable
@@ -8,30 +7,46 @@
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
 from openpilot.common.time_helpers import system_time_valid
-from openpilot.system.ui.widgets.scroller import Scroller
-from openpilot.system.ui.lib.scroll_panel2 import GuiScrollPanel2
+from openpilot.system.ui.widgets.scroller import NavRawScrollPanel, NavScroller
 from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigCircleButton
-from openpilot.selfdrive.ui.mici.widgets.dialog import BigMultiOptionDialog, BigDialog, BigConfirmationDialogV2
+from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigConfirmationDialog
 from openpilot.selfdrive.ui.mici.widgets.pairing_dialog import PairingDialog
 from openpilot.selfdrive.ui.mici.onroad.driver_camera_dialog import DriverCameraDialog
-from openpilot.selfdrive.ui.mici.layouts.onboarding import TrainingGuide
+from openpilot.selfdrive.ui.mici.layouts.onboarding import TrainingGuide, TermsPage
 from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
 from openpilot.system.ui.lib.multilang import tr
-from openpilot.system.ui.widgets import Widget, NavWidget
-from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.system.ui.widgets.label import MiciLabel
+from openpilot.system.ui.widgets import Widget
+from openpilot.selfdrive.ui.ui_state import device, ui_state
+from openpilot.system.ui.widgets.label import UnifiedLabel
 from openpilot.system.ui.widgets.html_render import HtmlModal, HtmlRenderer
 from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID
 
 
-class MiciFccModal(NavWidget):
-  BACK_TOUCH_AREA_PERCENTAGE = 0.1
+class ReviewTermsPage(TermsPage, NavScroller):
+  """TermsPage with NavWidget swipe-to-dismiss for reviewing in device settings."""
+  def __init__(self):
+    super().__init__(on_accept=self.dismiss, on_decline=self.dismiss)
+    self._terms_header.set_visible(False)
+    self._must_accept_card.set_visible(False)
+    self._accept_button.set_visible(False)
+    self._decline_button.set_visible(False)
+
+
+class ReviewTrainingGuide(TrainingGuide):
+  def show_event(self):
+    super().show_event()
+    device.set_override_interactive_timeout(300)
 
+  def hide_event(self):
+    super().hide_event()
+    device.set_override_interactive_timeout(None)
+    ui_state.params.put_bool_nonblocking("IsDriverViewEnabled", False)
+
+
+class MiciFccModal(NavRawScrollPanel):
   def __init__(self, file_path: str | None = None, text: str | None = None):
     super().__init__()
-    self.set_back_callback(lambda: gui_app.set_modal_overlay(None))
     self._content = HtmlRenderer(file_path=file_path, text=text)
-    self._scroll_panel = GuiScrollPanel2(horizontal=False)
     self._fcc_logo = gui_app.texture("icons_mici/settings/device/fcc_logo.png", 76, 64)
 
   def _render(self, rect: rl.Rectangle):
@@ -48,37 +63,32 @@ def _render(self, rect: rl.Rectangle):
 
     rl.draw_texture_ex(self._fcc_logo, fcc_pos, 0.0, 1.0, rl.WHITE)
 
-    return -1
-
 
-def _engaged_confirmation_callback(callback: Callable, action_text: str):
+def _engaged_confirmation_click(callback: Callable, action_text: str, icon: rl.Texture, exit_on_confirm: bool = True, red: bool = False):
   if not ui_state.engaged:
     def confirm_callback():
       # Check engaged again in case it changed while the dialog was open
+      # TODO: if true, we stay on the dialog if not exit_on_confirm until normal onroad timeout
       if not ui_state.engaged:
         callback()
 
-    red = False
-    if action_text == "power off":
-      icon = "icons_mici/settings/device/power.png"
-      red = True
-    elif action_text == "reboot":
-      icon = "icons_mici/settings/device/reboot.png"
-    elif action_text == "reset":
-      icon = "icons_mici/settings/device/lkas.png"
-    elif action_text == "uninstall":
-      icon = "icons_mici/settings/device/uninstall.png"
-    else:
-      # TODO: check
-      icon = "icons_mici/settings/comma_icon.png"
-
-    dlg: BigConfirmationDialogV2 | BigDialog = BigConfirmationDialogV2(f"slide to\n{action_text.lower()}", icon, red=red,
-                                                                       exit_on_confirm=action_text == "reset",
-                                                                       confirm_callback=confirm_callback)
-    gui_app.set_modal_overlay(dlg)
+    gui_app.push_widget(BigConfirmationDialog(f"slide to\n{action_text.lower()}", icon, confirm_callback, exit_on_confirm=exit_on_confirm, red=red))
   else:
-    dlg = BigDialog(f"Disengage to {action_text}", "")
-    gui_app.set_modal_overlay(dlg)
+    gui_app.push_widget(BigDialog("", f"Disengage to {action_text}"))
+
+
+class EngagedConfirmationCircleButton(BigCircleButton):
+  def __init__(self, title: str, icon: rl.Texture, callback: Callable[[], None], exit_on_confirm: bool = True,
+               red: bool = False, icon_offset: tuple[int, int] = (0, 0)):
+    super().__init__(icon, red, icon_offset)
+    self.set_click_callback(lambda: _engaged_confirmation_click(callback, title, icon, exit_on_confirm=exit_on_confirm, red=red))
+
+
+class EngagedConfirmationButton(BigButton):
+  def __init__(self, text: str, action_text: str, icon: rl.Texture, callback: Callable[[], None],
+               exit_on_confirm: bool = True, red: bool = False):
+    super().__init__(text, "", icon)
+    self.set_click_callback(lambda: _engaged_confirmation_click(callback, action_text, icon, exit_on_confirm=exit_on_confirm, red=red))
 
 
 class DeviceInfoLayoutMici(Widget):
@@ -88,14 +98,15 @@ def __init__(self):
     self.set_rect(rl.Rectangle(0, 0, 360, 180))
 
     params = Params()
-    header_color = rl.Color(255, 255, 255, int(255 * 0.9))
     subheader_color = rl.Color(255, 255, 255, int(255 * 0.9 * 0.65))
     max_width = int(self._rect.width - 20)
-    self._dongle_id_label = MiciLabel("device ID", 48, width=max_width, color=header_color, font_weight=FontWeight.DISPLAY)
-    self._dongle_id_text_label = MiciLabel(params.get("DongleId") or 'N/A', 32, width=max_width, color=subheader_color, font_weight=FontWeight.ROMAN)
+    self._dongle_id_label = UnifiedLabel("device ID", 48, max_width=max_width, font_weight=FontWeight.DISPLAY, wrap_text=False)
+    self._dongle_id_text_label = UnifiedLabel(params.get("DongleId") or 'N/A', 32, max_width=max_width, text_color=subheader_color,
+                                              font_weight=FontWeight.ROMAN, wrap_text=False)
 
-    self._serial_number_label = MiciLabel("serial", 48, color=header_color, font_weight=FontWeight.DISPLAY)
-    self._serial_number_text_label = MiciLabel(params.get("HardwareSerial") or 'N/A', 32, width=max_width, color=subheader_color, font_weight=FontWeight.ROMAN)
+    self._serial_number_label = UnifiedLabel("serial", 48, max_width=max_width, font_weight=FontWeight.DISPLAY, wrap_text=False)
+    self._serial_number_text_label = UnifiedLabel(params.get("HardwareSerial") or 'N/A', 32, max_width=max_width, text_color=subheader_color,
+                                                  font_weight=FontWeight.ROMAN, wrap_text=False)
 
   def _render(self, _):
     self._dongle_id_label.set_position(self._rect.x + 20, self._rect.y - 10)
@@ -119,9 +130,14 @@ class UpdaterState(IntEnum):
 
 class PairBigButton(BigButton):
   def __init__(self):
-    super().__init__("pair", "connect.comma.ai", "icons_mici/settings/comma_icon.png")
+    super().__init__("pair", "connect.comma.ai", gui_app.texture("icons_mici/settings/comma_icon.png", 33, 60))
+
+  def _get_label_font_size(self):
+    return 64
 
   def _update_state(self):
+    super()._update_state()
+
     if ui_state.prime_state.is_paired():
       self.set_text("paired")
       if ui_state.prime_state.is_prime():
@@ -140,12 +156,12 @@ def _handle_mouse_release(self, mouse_pos: MousePos):
       return
     dlg: BigDialog | PairingDialog
     if not system_time_valid():
-      dlg = BigDialog(tr("Please connect to Wi-Fi to complete initial pairing"), "")
+      dlg = BigDialog("", tr("Please connect to Wi-Fi to complete initial pairing."))
     elif UNREGISTERED_DONGLE_ID == (ui_state.params.get("DongleId") or UNREGISTERED_DONGLE_ID):
-      dlg = BigDialog(tr("Device must be registered with the comma.ai backend to pair"), "")
+      dlg = BigDialog("", tr("Device must be registered with the comma.ai backend to pair."))
     else:
       dlg = PairingDialog()
-    gui_app.set_modal_overlay(dlg)
+    gui_app.push_widget(dlg)
 
 
 UPDATER_TIMEOUT = 10.0  # seconds to wait for updater to respond
@@ -153,8 +169,8 @@ def _handle_mouse_release(self, mouse_pos: MousePos):
 
 class UpdateOpenpilotBigButton(BigButton):
   def __init__(self):
-    self._txt_update_icon = gui_app.texture("icons_mici/settings/device/update.png", 64, 64)
-    self._txt_reboot_icon = gui_app.texture("icons_mici/settings/device/reboot.png", 64, 64)
+    self._txt_update_icon = gui_app.texture("icons_mici/settings/device/update.png", 64, 75)
+    self._txt_reboot_icon = gui_app.texture("icons_mici/settings/device/reboot.png", 64, 70)
     self._txt_up_to_date_icon = gui_app.texture("icons_mici/settings/device/up_to_date.png", 64, 64)
     super().__init__("update openpilot", "", self._txt_update_icon)
 
@@ -169,9 +185,11 @@ def offroad_transition(self):
       self.set_enabled(True)
 
   def _handle_mouse_release(self, mouse_pos: MousePos):
+    super()._handle_mouse_release(mouse_pos)
+
     if not system_time_valid():
-      dlg = BigDialog(tr("Please connect to Wi-Fi to update"), "")
-      gui_app.set_modal_overlay(dlg)
+      dlg = BigDialog("", tr("Please connect to Wi-Fi to update."))
+      gui_app.push_widget(dlg)
       return
 
     self.set_enabled(False)
@@ -196,6 +214,8 @@ def set_value(self, value: str):
       self.set_text("update openpilot")
 
   def _update_state(self):
+    super()._update_state()
+
     if ui_state.started:
       self.set_enabled(False)
       return
@@ -222,7 +242,7 @@ def _update_state(self):
 
       if self._waiting_for_updater_t is not None and rl.get_time() - self._waiting_for_updater_t > UPDATER_TIMEOUT:
         self.set_rotate_icon(False)
-        self.set_value("updater failed to respond")
+        self.set_value("updater failed\nto respond")
         self._state = UpdaterState.IDLE
         self._hide_value_t = rl.get_time()
 
@@ -265,13 +285,11 @@ def _update_state(self):
       self._waiting_for_updater_t = None
 
 
-class DeviceLayoutMici(NavWidget):
-  def __init__(self, back_callback: Callable):
+class DeviceLayoutMici(NavScroller):
+  def __init__(self):
     super().__init__()
 
     self._fcc_dialog: HtmlModal | None = None
-    self._driver_camera: DriverCameraDialog | None = None
-    self._training_guide: TrainingGuide | None = None
 
     def power_off_callback():
       ui_state.params.put_bool("DoShutdown", True)
@@ -291,93 +309,49 @@ def reset_calibration_callback():
     def uninstall_openpilot_callback():
       ui_state.params.put_bool("DoUninstall", True)
 
-    reset_calibration_btn = BigButton("reset calibration", "", "icons_mici/settings/device/lkas.png")
-    reset_calibration_btn.set_click_callback(lambda: _engaged_confirmation_callback(reset_calibration_callback, "reset"))
+    reset_calibration_btn = EngagedConfirmationButton("reset calibration", "reset", gui_app.texture("icons_mici/settings/device/lkas.png", 122, 64),
+                                                      reset_calibration_callback)
 
-    uninstall_openpilot_btn = BigButton("uninstall openpilot", "", "icons_mici/settings/device/uninstall.png")
-    uninstall_openpilot_btn.set_click_callback(lambda: _engaged_confirmation_callback(uninstall_openpilot_callback, "uninstall"))
+    uninstall_openpilot_btn = EngagedConfirmationButton("uninstall openpilot", "uninstall",
+                                                        gui_app.texture("icons_mici/settings/device/uninstall.png", 64, 64),
+                                                        uninstall_openpilot_callback, exit_on_confirm=False)
 
-    reboot_btn = BigCircleButton("icons_mici/settings/device/reboot.png", red=False)
-    reboot_btn.set_click_callback(lambda: _engaged_confirmation_callback(reboot_callback, "reboot"))
+    reboot_btn = EngagedConfirmationCircleButton("reboot", gui_app.texture("icons_mici/settings/device/reboot.png", 64, 70),
+                                                 reboot_callback, exit_on_confirm=False)
 
-    self._power_off_btn = BigCircleButton("icons_mici/settings/device/power.png", red=True)
-    self._power_off_btn.set_click_callback(lambda: _engaged_confirmation_callback(power_off_callback, "power off"))
+    self._power_off_btn = EngagedConfirmationCircleButton("power off", gui_app.texture("icons_mici/settings/device/power.png", 64, 66),
+                                                          power_off_callback, exit_on_confirm=False, red=True)
+    self._power_off_btn.set_visible(lambda: not ui_state.ignition)
 
-    self._load_languages()
-
-    def language_callback():
-      def selected_language_callback():
-        selected_language = dlg.get_selected_option()
-        ui_state.params.put("LanguageSetting", self._languages[selected_language])
-
-      current_language_name = ui_state.params.get("LanguageSetting")
-      current_language = next(name for name, lang in self._languages.items() if lang == current_language_name)
-
-      dlg = BigMultiOptionDialog(list(self._languages), default=current_language, right_btn_callback=selected_language_callback)
-      gui_app.set_modal_overlay(dlg)
-
-    # lang_button = BigButton("change language", "", "icons_mici/settings/device/language.png")
-    # lang_button.set_click_callback(language_callback)
-
-    regulatory_btn = BigButton("regulatory info", "", "icons_mici/settings/device/info.png")
+    regulatory_btn = BigButton("regulatory info", "", gui_app.texture("icons_mici/settings/device/info.png", 64, 64))
     regulatory_btn.set_click_callback(self._on_regulatory)
 
-    driver_cam_btn = BigButton("driver camera preview", "", "icons_mici/settings/device/cameras.png")
-    driver_cam_btn.set_click_callback(self._show_driver_camera)
+    driver_cam_btn = BigButton("driver\ncamera preview", "", gui_app.texture("icons_mici/settings/device/cameras.png", 64, 64))
+    driver_cam_btn.set_click_callback(lambda: gui_app.push_widget(DriverCameraDialog()))
     driver_cam_btn.set_enabled(lambda: ui_state.is_offroad())
 
-    review_training_guide_btn = BigButton("review training guide", "", "icons_mici/settings/device/info.png")
-    review_training_guide_btn.set_click_callback(self._on_review_training_guide)
+    review_training_guide_btn = BigButton("review\ntraining guide", "", gui_app.texture("icons_mici/settings/device/info.png", 64, 64))
+    review_training_guide_btn.set_click_callback(lambda: gui_app.push_widget(ReviewTrainingGuide(completed_callback=lambda: gui_app.pop_widgets_to(self))))
     review_training_guide_btn.set_enabled(lambda: ui_state.is_offroad())
 
-    self._scroller = Scroller([
+    terms_btn = BigButton("terms &\nconditions", "", gui_app.texture("icons_mici/settings/device/info.png", 64, 64))
+    terms_btn.set_click_callback(lambda: gui_app.push_widget(ReviewTermsPage()))
+
+    self._scroller.add_widgets([
       DeviceInfoLayoutMici(),
       UpdateOpenpilotBigButton(),
       PairBigButton(),
       review_training_guide_btn,
       driver_cam_btn,
-      # lang_button,
+      terms_btn,
+      regulatory_btn,
       reset_calibration_btn,
       uninstall_openpilot_btn,
-      regulatory_btn,
       reboot_btn,
       self._power_off_btn,
-    ], snap_items=False)
-
-    # Set up back navigation
-    self.set_back_callback(back_callback)
-
-    # Hide power off button when onroad
-    ui_state.add_offroad_transition_callback(self._offroad_transition)
+    ])
 
   def _on_regulatory(self):
     if not self._fcc_dialog:
       self._fcc_dialog = MiciFccModal(os.path.join(BASEDIR, "selfdrive/assets/offroad/mici_fcc.html"))
-    gui_app.set_modal_overlay(self._fcc_dialog, callback=setattr(self, '_fcc_dialog', None))
-
-  def _offroad_transition(self):
-    self._power_off_btn.set_visible(ui_state.is_offroad())
-
-  def _show_driver_camera(self):
-    if not self._driver_camera:
-      self._driver_camera = DriverCameraDialog()
-    gui_app.set_modal_overlay(self._driver_camera, callback=lambda result: setattr(self, '_driver_camera', None))
-
-  def _on_review_training_guide(self):
-    if not self._training_guide:
-      def completed_callback():
-        gui_app.set_modal_overlay(None)
-
-      self._training_guide = TrainingGuide(completed_callback=completed_callback)
-    gui_app.set_modal_overlay(self._training_guide, callback=lambda result: setattr(self, '_training_guide', None))
-
-  def _load_languages(self):
-    with open(os.path.join(BASEDIR, "selfdrive/ui/translations/languages.json")) as f:
-      self._languages = json.load(f)
-
-  def show_event(self):
-    super().show_event()
-    self._scroller.show_event()
-
-  def _render(self, rect: rl.Rectangle):
-    self._scroller.render(rect)
+    gui_app.push_widget(self._fcc_dialog)
diff --git a/selfdrive/ui/mici/layouts/settings/firehose.py b/selfdrive/ui/mici/layouts/settings/firehose.py
index 10e52bb3b4e..4c27a909f96 100644
--- a/selfdrive/ui/mici/layouts/settings/firehose.py
+++ b/selfdrive/ui/mici/layouts/settings/firehose.py
@@ -1,3 +1,4 @@
+import requests
 import threading
 import time
 import pyray as rl
@@ -12,7 +13,8 @@
 from openpilot.system.ui.lib.wrap_text import wrap_text
 from openpilot.system.ui.lib.scroll_panel2 import GuiScrollPanel2
 from openpilot.system.ui.lib.multilang import tr, trn, tr_noop
-from openpilot.system.ui.widgets import Widget, NavWidget
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.scroller import NavRawScrollPanel
 
 TITLE = tr_noop("Firehose Mode")
 DESCRIPTION = tr_noop(
@@ -44,6 +46,7 @@ class FirehoseLayoutBase(Widget):
   def __init__(self):
     super().__init__()
     self._params = Params()
+    self._session = requests.Session()  # reuse session to reduce SSL handshake overhead
     self._segment_count = self._get_segment_count()
 
     self._scroll_panel = GuiScrollPanel2(horizontal=False)
@@ -78,12 +81,12 @@ def _get_segment_count(self) -> int:
   def _render(self, rect: rl.Rectangle):
     # compute total content height for scrolling
     content_height = self._measure_content_height(rect)
-    scroll_offset = round(self._scroll_panel.update(rect, content_height))
+    scroll_offset = self._scroll_panel.update(rect, content_height)
 
     # start drawing with offset
-    x = int(rect.x + 40)
-    y = int(rect.y + 40 + scroll_offset)
-    w = int(rect.width - 80)
+    x = rect.x + 40
+    y = rect.y + 40 + scroll_offset
+    w = rect.width - 80
 
     # Title
     title_text = tr(TITLE)
@@ -97,7 +100,7 @@ def _render(self, rect: rl.Rectangle):
     y += 20
 
     # Separator
-    rl.draw_rectangle(x, y, w, 2, self.GRAY)
+    rl.draw_rectangle_rec(rl.Rectangle(x, y, w, 2), self.GRAY)
     y += 20
 
     # Status
@@ -113,7 +116,7 @@ def _render(self, rect: rl.Rectangle):
       y += 20
 
     # Separator
-    rl.draw_rectangle(x, y, w, 2, self.GRAY)
+    rl.draw_rectangle_rec(rl.Rectangle(x, y, w, 2), self.GRAY)
     y += 20
 
     # Instructions intro
@@ -130,9 +133,6 @@ def _render(self, rect: rl.Rectangle):
       y = self._draw_wrapped_text(x, y, w, tr(answer), gui_app.font(FontWeight.ROMAN), 32, self.LIGHT_GRAY)
       y += 20
 
-    # return value not used by NavWidget
-    return -1
-
   def _draw_wrapped_text(self, x, y, width, text, font, font_size, color):
     wrapped = wrap_text(font, text, font_size, width)
     for line in wrapped:
@@ -203,7 +203,7 @@ def _fetch_firehose_stats(self):
       if not dongle_id or dongle_id == UNREGISTERED_DONGLE_ID:
         return
       identity_token = get_token(dongle_id)
-      response = api_get(f"v1/devices/{dongle_id}/firehose_stats", access_token=identity_token)
+      response = api_get(f"v1/devices/{dongle_id}/firehose_stats", access_token=identity_token, session=self._session)
       if response.status_code == 200:
         data = response.json()
         self._segment_count = data.get("firehose", 0)
@@ -218,9 +218,5 @@ def _update_loop(self):
       time.sleep(self.UPDATE_INTERVAL)
 
 
-class FirehoseLayout(FirehoseLayoutBase, NavWidget):
-  BACK_TOUCH_AREA_PERCENTAGE = 0.1
-
-  def __init__(self, back_callback):
-    super().__init__()
-    self.set_back_callback(back_callback)
+class FirehoseLayout(NavRawScrollPanel, FirehoseLayoutBase):
+  pass
diff --git a/selfdrive/ui/mici/layouts/settings/network/__init__.py b/selfdrive/ui/mici/layouts/settings/network/__init__.py
index 1faf49311a7..ddbab4b478c 100644
--- a/selfdrive/ui/mici/layouts/settings/network/__init__.py
+++ b/selfdrive/ui/mici/layouts/settings/network/__init__.py
@@ -1,184 +1,60 @@
 import pyray as rl
-from enum import IntEnum
-from collections.abc import Callable
 
-from openpilot.system.ui.widgets.scroller import Scroller
-from openpilot.selfdrive.ui.mici.layouts.settings.network.wifi_ui import WifiUIMici
-from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigMultiToggle, BigToggle, BigParamControl
-from openpilot.selfdrive.ui.mici.widgets.dialog import BigInputDialog
-from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.selfdrive.ui.lib.prime_state import PrimeType
+from openpilot.selfdrive.ui.mici.layouts.settings.network.wifi_ui import WifiIcon
+from openpilot.selfdrive.ui.mici.widgets.button import BigButton
 from openpilot.system.ui.lib.application import gui_app
-from openpilot.system.ui.widgets import NavWidget
-from openpilot.system.ui.lib.wifi_manager import WifiManager, Network, MeteredType
+from openpilot.system.ui.lib.wifi_manager import WifiManager, ConnectStatus, SecurityType, normalize_ssid
 
 
-class NetworkPanelType(IntEnum):
-  NONE = 0
-  WIFI = 1
+class WifiNetworkButton(BigButton):
+  def __init__(self, wifi_manager: WifiManager):
+    self._wifi_manager = wifi_manager
+    self._lock_txt = gui_app.texture("icons_mici/settings/network/new/lock.png", 28, 36)
+    self._draw_lock = False
 
+    self._wifi_slash_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_slash.png", 64, 56)
+    self._wifi_low_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_low.png", 64, 47)
+    self._wifi_medium_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_medium.png", 64, 47)
+    self._wifi_full_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_full.png", 64, 47)
 
-class NetworkLayoutMici(NavWidget):
-  def __init__(self, back_callback: Callable):
-    super().__init__()
-
-    self._current_panel = NetworkPanelType.WIFI
-    self.set_back_enabled(lambda: self._current_panel == NetworkPanelType.NONE)
-
-    self._wifi_manager = WifiManager()
-    self._wifi_manager.set_active(False)
-    self._wifi_ui = WifiUIMici(self._wifi_manager, back_callback=lambda: self._switch_to_panel(NetworkPanelType.NONE))
-
-    self._wifi_manager.add_callbacks(
-      networks_updated=self._on_network_updated,
-    )
-
-    _tethering_icon = "icons_mici/settings/network/tethering.png"
-
-    # ******** Tethering ********
-    def tethering_toggle_callback(checked: bool):
-      self._tethering_toggle_btn.set_enabled(False)
-      self._network_metered_btn.set_enabled(False)
-      self._wifi_manager.set_tethering_active(checked)
-
-    self._tethering_toggle_btn = BigToggle("enable tethering", "", toggle_callback=tethering_toggle_callback)
-
-    def tethering_password_callback(password: str):
-      if password:
-        self._wifi_manager.set_tethering_password(password)
-
-    def tethering_password_clicked():
-      tethering_password = self._wifi_manager.tethering_password
-      dlg = BigInputDialog("enter password...", tethering_password, minimum_length=8,
-                           confirm_callback=tethering_password_callback)
-      gui_app.set_modal_overlay(dlg)
-
-    txt_tethering = gui_app.texture(_tethering_icon, 64, 53)
-    self._tethering_password_btn = BigButton("tethering password", "", txt_tethering)
-    self._tethering_password_btn.set_click_callback(tethering_password_clicked)
-
-    # ******** IP Address ********
-    self._ip_address_btn = BigButton("IP Address", "Not connected")
-
-    # ******** Network Metered ********
-    def network_metered_callback(value: str):
-      self._network_metered_btn.set_enabled(False)
-      metered = {
-        'default': MeteredType.UNKNOWN,
-        'metered': MeteredType.YES,
-        'unmetered': MeteredType.NO
-      }.get(value, MeteredType.UNKNOWN)
-      self._wifi_manager.set_current_network_metered(metered)
-
-    # TODO: signal for current network metered type when changing networks, this is wrong until you press it once
-    # TODO: disable when not connected
-    self._network_metered_btn = BigMultiToggle("network usage", ["default", "metered", "unmetered"], select_callback=network_metered_callback)
-    self._network_metered_btn.set_enabled(False)
-
-    wifi_button = BigButton("wi-fi")
-    wifi_button.set_click_callback(lambda: self._switch_to_panel(NetworkPanelType.WIFI))
-
-    # ******** Advanced settings ********
-    # ******** Roaming toggle ********
-    self._roaming_btn = BigParamControl("enable roaming", "GsmRoaming", toggle_callback=self._toggle_roaming)
-
-    # ******** APN settings ********
-    self._apn_btn = BigButton("apn settings", "edit")
-    self._apn_btn.set_click_callback(self._edit_apn)
-
-    # ******** Cellular metered toggle ********
-    self._cellular_metered_btn = BigParamControl("cellular metered", "GsmMetered", toggle_callback=self._toggle_cellular_metered)
-
-    # Main scroller ----------------------------------
-    self._scroller = Scroller([
-      wifi_button,
-      self._network_metered_btn,
-      self._tethering_toggle_btn,
-      self._tethering_password_btn,
-      # /* Advanced settings
-      self._roaming_btn,
-      self._apn_btn,
-      self._cellular_metered_btn,
-      # */
-      self._ip_address_btn,
-    ], snap_items=False)
-
-    # Set initial config
-    roaming_enabled = ui_state.params.get_bool("GsmRoaming")
-    metered = ui_state.params.get_bool("GsmMetered")
-    self._wifi_manager.update_gsm_settings(roaming_enabled, ui_state.params.get("GsmApn") or "", metered)
-
-    # Set up back navigation
-    self.set_back_callback(back_callback)
+    super().__init__("wi-fi", "not connected", self._wifi_slash_txt, scroll=True)
 
   def _update_state(self):
     super()._update_state()
 
-    # If not using prime SIM, show GSM settings and enable IPv4 forwarding
-    show_cell_settings = ui_state.prime_state.get_type() in (PrimeType.NONE, PrimeType.LITE)
-    self._wifi_manager.set_ipv4_forward(show_cell_settings)
-    self._roaming_btn.set_visible(show_cell_settings)
-    self._apn_btn.set_visible(show_cell_settings)
-    self._cellular_metered_btn.set_visible(show_cell_settings)
-
-  def show_event(self):
-    super().show_event()
-    self._current_panel = NetworkPanelType.NONE
-    self._wifi_ui.show_event()
-    self._scroller.show_event()
-
-  def hide_event(self):
-    super().hide_event()
-    self._wifi_ui.hide_event()
-
-  def _toggle_roaming(self, checked: bool):
-    self._wifi_manager.update_gsm_settings(checked, ui_state.params.get("GsmApn") or "", ui_state.params.get_bool("GsmMetered"))
-
-  def _edit_apn(self):
-    def update_apn(apn: str):
-      apn = apn.strip()
-      if apn == "":
-        ui_state.params.remove("GsmApn")
-      else:
-        ui_state.params.put("GsmApn", apn)
-
-      self._wifi_manager.update_gsm_settings(ui_state.params.get_bool("GsmRoaming"), apn, ui_state.params.get_bool("GsmMetered"))
-
-    current_apn = ui_state.params.get("GsmApn") or ""
-    dlg = BigInputDialog("enter APN", current_apn, minimum_length=0, confirm_callback=update_apn)
-    gui_app.set_modal_overlay(dlg)
-
-  def _toggle_cellular_metered(self, checked: bool):
-    self._wifi_manager.update_gsm_settings(ui_state.params.get_bool("GsmRoaming"), ui_state.params.get("GsmApn") or "", checked)
-
-  def _on_network_updated(self, networks: list[Network]):
-    # Update tethering state
-    tethering_active = self._wifi_manager.is_tethering_active()
-    # TODO: use real signals (like activated/settings changed, etc.) to speed up re-enabling buttons
-    self._tethering_toggle_btn.set_enabled(True)
-    self._network_metered_btn.set_enabled(lambda: not tethering_active and bool(self._wifi_manager.ipv4_address))
-    self._tethering_toggle_btn.set_checked(tethering_active)
-
-    # Update IP address
-    self._ip_address_btn.set_value(self._wifi_manager.ipv4_address or "Not connected")
-
-    # Update network metered
-    self._network_metered_btn.set_value(
-      {
-        MeteredType.UNKNOWN: 'default',
-        MeteredType.YES: 'metered',
-        MeteredType.NO: 'unmetered'
-      }.get(self._wifi_manager.current_network_metered, 'default'))
-
-  def _switch_to_panel(self, panel_type: NetworkPanelType):
-    if panel_type == NetworkPanelType.WIFI:
-      self._wifi_ui.show_event()
-    self._current_panel = panel_type
-
-  def _render(self, rect: rl.Rectangle):
-    self._wifi_manager.process_callbacks()
-
-    if self._current_panel == NetworkPanelType.WIFI:
-      self._wifi_ui.render(rect)
+    # Update wi-fi button with ssid and ip address
+    # TODO: make sure we handle hidden ssids
+    wifi_state = self._wifi_manager.wifi_state
+    display_network = next((n for n in self._wifi_manager.networks if n.ssid == wifi_state.ssid), None)
+    if wifi_state.status == ConnectStatus.CONNECTING:
+      self.set_text(normalize_ssid(wifi_state.ssid or "wi-fi"))
+      self.set_value("starting" if self._wifi_manager.is_tethering_active() else "connecting...")
+    elif wifi_state.status == ConnectStatus.CONNECTED:
+      self.set_text(normalize_ssid(wifi_state.ssid or "wi-fi"))
+      self.set_value(self._wifi_manager.ipv4_address or "obtaining IP...")
+    else:
+      display_network = None
+      self.set_text("wi-fi")
+      self.set_value("not connected")
+
+    if display_network is not None:
+      strength = WifiIcon.get_strength_icon_idx(display_network.strength)
+      self.set_icon(self._wifi_full_txt if strength == 2 else self._wifi_medium_txt if strength == 1 else self._wifi_low_txt)
+      self._draw_lock = display_network.security_type not in (SecurityType.OPEN, SecurityType.UNSUPPORTED)
+    elif self._wifi_manager.is_tethering_active():
+      # takes a while to get Network
+      self.set_icon(self._wifi_full_txt)
+      self._draw_lock = True
     else:
-      self._scroller.render(rect)
+      self.set_icon(self._wifi_slash_txt)
+      self._draw_lock = False
+
+  def _draw_content(self, btn_y: float):
+    super()._draw_content(btn_y)
+    # Render lock icon at lower right of wifi icon if secured
+    if self._draw_lock:
+      icon_x = self._rect.x + self._rect.width - 30 - self._txt_icon.width
+      icon_y = btn_y + 30
+      lock_x = icon_x + self._txt_icon.width - self._lock_txt.width + 7
+      lock_y = icon_y + self._txt_icon.height - self._lock_txt.height + 8
+      rl.draw_texture_ex(self._lock_txt, (lock_x, lock_y), 0.0, 1.0, rl.WHITE)
diff --git a/selfdrive/ui/mici/layouts/settings/network/network_layout.py b/selfdrive/ui/mici/layouts/settings/network/network_layout.py
new file mode 100644
index 00000000000..9f6fae4b5f8
--- /dev/null
+++ b/selfdrive/ui/mici/layouts/settings/network/network_layout.py
@@ -0,0 +1,154 @@
+from openpilot.system.ui.widgets.scroller import NavScroller
+from openpilot.selfdrive.ui.mici.layouts.settings.network import WifiNetworkButton
+from openpilot.selfdrive.ui.mici.layouts.settings.network.wifi_ui import WifiUIMici
+from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigMultiToggle, BigParamControl, BigToggle
+from openpilot.selfdrive.ui.mici.widgets.dialog import BigInputDialog
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.selfdrive.ui.lib.prime_state import PrimeType
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.lib.wifi_manager import WifiManager, Network, MeteredType
+
+
+class NetworkLayoutMici(NavScroller):
+  def __init__(self):
+    super().__init__()
+
+    self._wifi_manager = WifiManager()
+    self._wifi_manager.set_active(False)
+    self._wifi_ui = WifiUIMici(self._wifi_manager)
+
+    self._wifi_manager.add_callbacks(
+      networks_updated=self._on_network_updated,
+    )
+
+    # ******** Tethering ********
+    def tethering_toggle_callback(checked: bool):
+      self._tethering_toggle_btn.set_enabled(False)
+      self._tethering_password_btn.set_enabled(False)
+      self._network_metered_btn.set_enabled(False)
+      self._wifi_manager.set_tethering_active(checked)
+
+    self._tethering_toggle_btn = BigToggle("enable tethering", "", toggle_callback=tethering_toggle_callback)
+
+    def tethering_password_callback(password: str):
+      if password:
+        self._tethering_toggle_btn.set_enabled(False)
+        self._tethering_password_btn.set_enabled(False)
+        self._wifi_manager.set_tethering_password(password)
+
+    def tethering_password_clicked():
+      tethering_password = self._wifi_manager.tethering_password
+      dlg = BigInputDialog("enter password...", tethering_password, minimum_length=8,
+                           confirm_callback=tethering_password_callback)
+      gui_app.push_widget(dlg)
+
+    txt_tethering = gui_app.texture("icons_mici/settings/network/tethering.png", 64, 54)
+    self._tethering_password_btn = BigButton("tethering password", "", txt_tethering)
+    self._tethering_password_btn.set_click_callback(tethering_password_clicked)
+
+    # ******** Network Metered ********
+    def network_metered_callback(value: str):
+      self._network_metered_btn.set_enabled(False)
+      metered = {
+        'default': MeteredType.UNKNOWN,
+        'metered': MeteredType.YES,
+        'unmetered': MeteredType.NO
+      }.get(value, MeteredType.UNKNOWN)
+      self._wifi_manager.set_current_network_metered(metered)
+
+    # TODO: signal for current network metered type when changing networks, this is wrong until you press it once
+    # TODO: disable when not connected
+    self._network_metered_btn = BigMultiToggle("network usage", ["default", "metered", "unmetered"], select_callback=network_metered_callback)
+    self._network_metered_btn.set_enabled(False)
+
+    self._wifi_button = WifiNetworkButton(self._wifi_manager)
+    self._wifi_button.set_click_callback(lambda: gui_app.push_widget(self._wifi_ui))
+
+    # ******** Advanced settings ********
+    # ******** Roaming toggle ********
+    self._roaming_btn = BigParamControl("enable roaming", "GsmRoaming", toggle_callback=self._toggle_roaming)
+
+    # ******** APN settings ********
+    self._apn_btn = BigButton("apn settings", "edit")
+    self._apn_btn.set_click_callback(self._edit_apn)
+
+    # ******** Cellular metered toggle ********
+    self._cellular_metered_btn = BigParamControl("cellular metered", "GsmMetered", toggle_callback=self._toggle_cellular_metered)
+
+    # Main scroller ----------------------------------
+    self._scroller.add_widgets([
+      self._wifi_button,
+      self._network_metered_btn,
+      self._tethering_toggle_btn,
+      self._tethering_password_btn,
+      # /* Advanced settings
+      self._roaming_btn,
+      self._apn_btn,
+      self._cellular_metered_btn,
+      # */
+    ])
+
+    # Set initial config
+    roaming_enabled = ui_state.params.get_bool("GsmRoaming")
+    metered = ui_state.params.get_bool("GsmMetered")
+    self._wifi_manager.update_gsm_settings(roaming_enabled, ui_state.params.get("GsmApn") or "", metered)
+
+  def _update_state(self):
+    super()._update_state()
+
+    # If not using prime SIM, show GSM settings and enable IPv4 forwarding
+    show_cell_settings = ui_state.prime_state.get_type() in (PrimeType.NONE, PrimeType.LITE)
+    self._wifi_manager.set_ipv4_forward(show_cell_settings)
+    self._roaming_btn.set_visible(show_cell_settings)
+    self._apn_btn.set_visible(show_cell_settings)
+    self._cellular_metered_btn.set_visible(show_cell_settings)
+
+  def show_event(self):
+    super().show_event()
+    self._wifi_manager.set_active(True)
+
+    # Process wifi callbacks while at any point in the nav stack
+    gui_app.add_nav_stack_tick(self._wifi_manager.process_callbacks)
+
+  def hide_event(self):
+    super().hide_event()
+    self._wifi_manager.set_active(False)
+
+    gui_app.remove_nav_stack_tick(self._wifi_manager.process_callbacks)
+
+  def _toggle_roaming(self, checked: bool):
+    self._wifi_manager.update_gsm_settings(checked, ui_state.params.get("GsmApn") or "", ui_state.params.get_bool("GsmMetered"))
+
+  def _edit_apn(self):
+    def update_apn(apn: str):
+      apn = apn.strip()
+      if apn == "":
+        ui_state.params.remove("GsmApn")
+      else:
+        ui_state.params.put("GsmApn", apn)
+
+      self._wifi_manager.update_gsm_settings(ui_state.params.get_bool("GsmRoaming"), apn, ui_state.params.get_bool("GsmMetered"))
+
+    current_apn = ui_state.params.get("GsmApn") or ""
+    dlg = BigInputDialog("enter APN...", current_apn, minimum_length=0, confirm_callback=update_apn)
+    gui_app.push_widget(dlg)
+
+  def _toggle_cellular_metered(self, checked: bool):
+    self._wifi_manager.update_gsm_settings(ui_state.params.get_bool("GsmRoaming"), ui_state.params.get("GsmApn") or "", checked)
+
+  def _on_network_updated(self, networks: list[Network]):
+    # Update tethering state
+    tethering_active = self._wifi_manager.is_tethering_active()
+    # TODO: use real signals (like activated/settings changed, etc.) to speed up re-enabling buttons
+    self._tethering_toggle_btn.set_enabled(True)
+    self._tethering_password_btn.set_enabled(True)
+    self._network_metered_btn.set_enabled(lambda: not tethering_active and bool(self._wifi_manager.ipv4_address))
+    self._tethering_toggle_btn.set_checked(tethering_active)
+
+    # Update network metered
+    self._network_metered_btn.set_value(
+      {
+        MeteredType.UNKNOWN: 'default',
+        MeteredType.YES: 'metered',
+        MeteredType.NO: 'unmetered'
+      }.get(self._wifi_manager.current_network_metered, 'default'))
diff --git a/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py b/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py
index 374539c4ce6..006027e258d 100644
--- a/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py
+++ b/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py
@@ -4,411 +4,339 @@
 from collections.abc import Callable
 
 from openpilot.common.swaglog import cloudlog
-from openpilot.system.ui.widgets.label import UnifiedLabel
-from openpilot.selfdrive.ui.mici.widgets.dialog import BigMultiOptionDialog, BigInputDialog, BigDialogOptionButton, BigConfirmationDialogV2
+from openpilot.selfdrive.ui.mici.widgets.dialog import BigInputDialog, BigConfirmationDialog
+from openpilot.selfdrive.ui.mici.widgets.button import BigButton, LABEL_COLOR
 from openpilot.system.ui.lib.application import gui_app, MousePos, FontWeight
-from openpilot.system.ui.widgets import Widget, NavWidget
-from openpilot.system.ui.lib.wifi_manager import WifiManager, Network, SecurityType
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.scroller import NavScroller
+from openpilot.system.ui.lib.wifi_manager import WifiManager, Network, SecurityType, normalize_ssid
 
 
-def normalize_ssid(ssid: str) -> str:
-  return ssid.replace("’", "'")  # for iPhone hotspots
+class LoadingAnimation(Widget):
+  RADIUS = 8
+  SPACING = 24  # center-to-center: diameter (16) + gap (8)
+  Y_MAG = 11.2
 
+  def __init__(self):
+    super().__init__()
+    w = self.SPACING * 2 + self.RADIUS * 2
+    h = self.RADIUS * 2 + int(self.Y_MAG)
+    self.set_rect(rl.Rectangle(0, 0, w, h))
 
-class LoadingAnimation(Widget):
   def _render(self, _):
-    cx = int(self._rect.x + 70)
-    cy = int(self._rect.y + self._rect.height / 2 - 50)
-
-    y_mag = 20
-    anim_scale = 5
-    spacing = 28
+    # Balls rest at bottom center; bounce upward
+    base_x = int(self._rect.x + self._rect.width / 2)
+    base_y = int(self._rect.y + self._rect.height - self.RADIUS)
 
     for i in range(3):
-      x = cx - spacing + i * spacing
-      y = int(cy + min(math.sin((rl.get_time() - i * 0.2) * anim_scale) * y_mag, 0))
-      alpha = int(np.interp(cy - y, [0, y_mag], [255 * 0.45, 255 * 0.9]))
-      rl.draw_circle(x, y, 10, rl.Color(255, 255, 255, alpha))
+      x = base_x + (i - 1) * self.SPACING
+      y = int(base_y + min(math.sin((rl.get_time() - i * 0.2) * 4) * self.Y_MAG, 0))
+      alpha = int(np.interp(base_y - y, [0, self.Y_MAG], [255 * 0.45, 255 * 0.9]))
+      rl.draw_circle(x, y, self.RADIUS, rl.Color(255, 255, 255, alpha))
 
 
 class WifiIcon(Widget):
-  def __init__(self):
+  def __init__(self, network: Network):
     super().__init__()
-    self.set_rect(rl.Rectangle(0, 0, 89, 64))
+    self.set_rect(rl.Rectangle(0, 0, 48 + 5, 36 + 5))
 
-    self._wifi_slash_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_slash.png", 89, 64)
-    self._wifi_none_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_none.png", 89, 64)
-    self._wifi_low_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_low.png", 89, 64)
-    self._wifi_medium_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_medium.png", 89, 64)
-    self._wifi_full_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_full.png", 89, 64)
-    self._lock_txt = gui_app.texture("icons_mici/settings/network/new/lock.png", 23, 32)
+    self._wifi_slash_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_slash.png", 48, 42)
+    self._wifi_low_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_low.png", 48, 36)
+    self._wifi_medium_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_medium.png", 48, 36)
+    self._wifi_full_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_full.png", 48, 36)
+    self._lock_txt = gui_app.texture("icons_mici/settings/network/new/lock.png", 21, 27)
 
-    self._network: Network | None = None
-    self._scale = 1.0
+    self._network: Network = network
+    self._network_missing = False  # if network disappeared from scan results
 
-  def set_current_network(self, network: Network):
+  def update_network(self, network: Network):
     self._network = network
 
-  def set_scale(self, scale: float):
-    self._scale = scale
+  def set_network_missing(self, missing: bool):
+    self._network_missing = missing
 
-  def _render(self, _):
-    if self._network is None:
-      return
+  @staticmethod
+  def get_strength_icon_idx(strength: int) -> int:
+    return round(strength / 100 * 2)
 
+  def _render(self, _):
     # Determine which wifi strength icon to use
-    strength = round(self._network.strength / 100 * 4)
-    if strength == 4:
+    strength = self.get_strength_icon_idx(self._network.strength)
+    if self._network_missing:
+      strength_icon = self._wifi_slash_txt
+    elif strength == 2:
       strength_icon = self._wifi_full_txt
-    elif strength == 3:
+    elif strength == 1:
       strength_icon = self._wifi_medium_txt
-    elif strength == 2:
-      strength_icon = self._wifi_low_txt
-    elif self._network.strength < 0:
-      strength_icon = self._wifi_slash_txt
     else:
-      strength_icon = self._wifi_none_txt
+      strength_icon = self._wifi_low_txt
 
-    icon_x = int(self._rect.x + (self._rect.width - strength_icon.width * self._scale) // 2)
-    icon_y = int(self._rect.y + (self._rect.height - strength_icon.height * self._scale) // 2)
-    rl.draw_texture_ex(strength_icon, (icon_x, icon_y), 0.0, self._scale, rl.WHITE)
+    rl.draw_texture_ex(strength_icon, (self._rect.x, self._rect.y + self._rect.height - strength_icon.height), 0.0, 1.0, rl.WHITE)
 
     # Render lock icon at lower right of wifi icon if secured
     if self._network.security_type not in (SecurityType.OPEN, SecurityType.UNSUPPORTED):
-      lock_scale = self._scale * 1.1
-      lock_x = int(icon_x + 1 + strength_icon.width * self._scale - self._lock_txt.width * lock_scale / 2)
-      lock_y = int(icon_y + 1 + strength_icon.height * self._scale - self._lock_txt.height * lock_scale / 2)
-      rl.draw_texture_ex(self._lock_txt, (lock_x, lock_y), 0.0, lock_scale, rl.WHITE)
+      lock_x = self._rect.x + self._rect.width - self._lock_txt.width
+      lock_y = self._rect.y + self._rect.height - self._lock_txt.height + 6
+      rl.draw_texture_ex(self._lock_txt, (lock_x, lock_y), 0.0, 1.0, rl.WHITE)
 
 
-class WifiItem(BigDialogOptionButton):
-  LEFT_MARGIN = 20
+class WifiButton(BigButton):
+  LABEL_PADDING = 98
+  LABEL_WIDTH = 402 - 98 - 28  # button width - left padding - right padding
+  SUB_LABEL_WIDTH = 402 - BigButton.LABEL_HORIZONTAL_PADDING * 2
 
-  def __init__(self, network: Network):
-    super().__init__(network.ssid)
-
-    self.set_rect(rl.Rectangle(0, 0, gui_app.width, self.HEIGHT))
-
-    self._selected_txt = gui_app.texture("icons_mici/settings/network/new/wifi_selected.png", 48, 96)
-
-    self._network = network
-    self._wifi_icon = WifiIcon()
-    self._wifi_icon.set_current_network(network)
+  def __init__(self, network: Network, wifi_manager: WifiManager):
+    super().__init__(normalize_ssid(network.ssid), scroll=True)
 
-  def set_current_network(self, network: Network):
     self._network = network
-    self._wifi_icon.set_current_network(network)
-
-  def _render(self, _):
-    if self._network.is_connected:
-      selected_x = int(self._rect.x - self._selected_txt.width / 2)
-      selected_y = int(self._rect.y + (self._rect.height - self._selected_txt.height) / 2)
-      rl.draw_texture(self._selected_txt, selected_x, selected_y, rl.WHITE)
-
-    self._wifi_icon.set_scale((1.0 if self._selected else 0.65) * 0.7)
-    self._wifi_icon.render(rl.Rectangle(
-      self._rect.x + self.LEFT_MARGIN,
-      self._rect.y,
-      self.SELECTED_HEIGHT,
-      self._rect.height
-    ))
-
-    if self._selected:
-      self._label.set_font_size(self.SELECTED_HEIGHT)
-      self._label.set_color(rl.Color(255, 255, 255, int(255 * 0.9)))
-      self._label.set_font_weight(FontWeight.DISPLAY)
-    else:
-      self._label.set_font_size(self.HEIGHT)
-      self._label.set_color(rl.Color(255, 255, 255, int(255 * 0.58)))
-      self._label.set_font_weight(FontWeight.DISPLAY_REGULAR)
+    self._wifi_manager = wifi_manager
 
-    label_offset = self.LEFT_MARGIN + self._wifi_icon.rect.width + 20
-    label_rect = rl.Rectangle(self._rect.x + label_offset, self._rect.y, self._rect.width - label_offset, self._rect.height)
-    self._label.set_text(normalize_ssid(self._network.ssid))
-    self._label.render(label_rect)
+    self._wifi_icon = WifiIcon(network)
+    self._forget_btn = ForgetButton(self._forget_network)
+    self._check_txt = gui_app.texture("icons_mici/setup/driver_monitoring/dm_check.png", 32, 32)
 
+    # Eager state (not sourced from Network)
+    self._network_missing = False
+    self._network_forgetting = False
+    self._wrong_password = False
 
-class ConnectButton(Widget):
-  def __init__(self):
-    super().__init__()
-    self._bg_txt = gui_app.texture("icons_mici/settings/network/new/connect_button.png", 410, 100)
-    self._bg_pressed_txt = gui_app.texture("icons_mici/settings/network/new/connect_button_pressed.png", 410, 100)
-    self._bg_full_txt = gui_app.texture("icons_mici/settings/network/new/full_connect_button.png", 520, 100)
-    self._bg_full_pressed_txt = gui_app.texture("icons_mici/settings/network/new/full_connect_button_pressed.png", 520, 100)
-
-    self._full: bool = False
+  def update_network(self, network: Network):
+    self._network = network
+    self._wifi_icon.update_network(network)
 
-    self._label = UnifiedLabel("", 36, FontWeight.MEDIUM, rl.Color(255, 255, 255, int(255 * 0.9)),
-                               alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
-                               alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
+    # We can assume network is not missing if got new Network
+    self._network_missing = False
+    self._wifi_icon.set_network_missing(False)
+    if self._is_connected or self._is_connecting:
+      self._wrong_password = False
 
   @property
-  def full(self) -> bool:
-    return self._full
+  def network_forgetting(self) -> bool:
+    return self._network_forgetting
 
-  def set_full(self, full: bool):
-    self._full = full
-    self.set_rect(rl.Rectangle(0, 0, 520 if self._full else 410, 100))
-
-  def set_label(self, text: str):
-    self._label.set_text(text)
+  def _forget_network(self):
+    if self._network_forgetting:
+      return
 
-  def _render(self, _):
-    if self._full:
-      bg_txt = self._bg_full_pressed_txt if self.is_pressed and self.enabled else self._bg_full_txt
-    else:
-      bg_txt = self._bg_pressed_txt if self.is_pressed and self.enabled else self._bg_txt
+    self._network_forgetting = True
+    self._wifi_manager.forget_connection(self._network.ssid)
 
-    rl.draw_texture(bg_txt, int(self._rect.x), int(self._rect.y), rl.WHITE)
+  def on_forgotten(self):
+    self._network_forgetting = False
 
-    self._label.set_text_color(rl.Color(255, 255, 255, int(255 * 0.9) if self.enabled else int(255 * 0.9 * 0.65)))
-    self._label.render(self._rect)
+  def set_network_missing(self, missing: bool):
+    self._network_missing = missing
+    self._wifi_icon.set_network_missing(missing)
 
+  def set_wrong_password(self):
+    self._wrong_password = True
+    self.trigger_shake()
 
-class ForgetButton(Widget):
-  HORIZONTAL_MARGIN = 8
+  @property
+  def network(self) -> Network:
+    return self._network
 
-  def __init__(self, forget_network: Callable, open_network_manage_page):
-    super().__init__()
-    self._forget_network = forget_network
-    self._open_network_manage_page = open_network_manage_page
+  @property
+  def _show_forget_btn(self):
+    if self._network.is_tethering or self._network_forgetting:
+      return False
 
-    self._bg_txt = gui_app.texture("icons_mici/settings/network/new/forget_button.png", 100, 100)
-    self._bg_pressed_txt = gui_app.texture("icons_mici/settings/network/new/forget_button_pressed.png", 100, 100)
-    self._trash_txt = gui_app.texture("icons_mici/settings/network/new/trash.png", 32, 36)
-    self.set_rect(rl.Rectangle(0, 0, 100 + self.HORIZONTAL_MARGIN * 2, 100))
+    return (self._is_saved and not self._wrong_password) or self._is_connecting
 
   def _handle_mouse_release(self, mouse_pos: MousePos):
+    if self._show_forget_btn and rl.check_collision_point_rec(mouse_pos, self._forget_btn.rect):
+      return
     super()._handle_mouse_release(mouse_pos)
-    dlg = BigConfirmationDialogV2("slide to forget", "icons_mici/settings/network/new/trash.png", red=True,
-                                  confirm_callback=self._forget_network)
-    gui_app.set_modal_overlay(dlg, callback=self._open_network_manage_page)
 
-  def _render(self, _):
-    bg_txt = self._bg_pressed_txt if self.is_pressed else self._bg_txt
-    rl.draw_texture(bg_txt, int(self._rect.x + self.HORIZONTAL_MARGIN), int(self._rect.y), rl.WHITE)
+  def _get_label_font_size(self):
+    return 48
 
-    trash_x = int(self._rect.x + (self._rect.width - self._trash_txt.width) // 2)
-    trash_y = int(self._rect.y + (self._rect.height - self._trash_txt.height) // 2)
-    rl.draw_texture(self._trash_txt, trash_x, trash_y, rl.WHITE)
+  def _draw_content(self, btn_y: float):
+    self._label.set_color(LABEL_COLOR)
+    label_rect = rl.Rectangle(self._rect.x + self.LABEL_PADDING, btn_y + self.LABEL_VERTICAL_PADDING,
+                              self.LABEL_WIDTH, self._rect.height - self.LABEL_VERTICAL_PADDING * 2)
+    self._label.render(label_rect)
 
+    if self.value:
+      sub_label_x = self._rect.x + self.LABEL_HORIZONTAL_PADDING
+      label_y = btn_y + self._rect.height - self.LABEL_VERTICAL_PADDING
+      sub_label_w = self.SUB_LABEL_WIDTH - (self._forget_btn.rect.width if self._show_forget_btn else 0)
+      sub_label_height = self._sub_label.get_content_height(sub_label_w)
 
-class NetworkInfoPage(NavWidget):
-  def __init__(self, wifi_manager, connect_callback: Callable, forget_callback: Callable, open_network_manage_page: Callable):
-    super().__init__()
-    self._wifi_manager = wifi_manager
+      if self._is_connected and not self._network_forgetting:
+        check_y = int(label_y - sub_label_height + (sub_label_height - self._check_txt.height) / 2)
+        rl.draw_texture_ex(self._check_txt, rl.Vector2(sub_label_x, check_y), 0.0, 1.0, rl.Color(255, 255, 255, int(255 * 0.9 * 0.65)))
+        sub_label_x += self._check_txt.width + 14
 
-    self.set_rect(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
+      sub_label_rect = rl.Rectangle(sub_label_x, label_y - sub_label_height, sub_label_w, sub_label_height)
+      self._sub_label.render(sub_label_rect)
 
-    self._wifi_icon = WifiIcon()
-    self._forget_btn = ForgetButton(lambda: forget_callback(self._network.ssid) if self._network is not None else None,
-                                    open_network_manage_page)
-    self._connect_btn = ConnectButton()
-    self._connect_btn.set_click_callback(lambda: connect_callback(self._network.ssid) if self._network is not None else None)
+    # Wifi icon
+    self._wifi_icon.render(rl.Rectangle(
+      self._rect.x + 30,
+      btn_y + 30,
+      self._wifi_icon.rect.width,
+      self._wifi_icon.rect.height,
+    ))
 
-    self._title = UnifiedLabel("", 64, FontWeight.DISPLAY, rl.Color(255, 255, 255, int(255 * 0.9)),
-                               alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE, scroll=True)
-    self._subtitle = UnifiedLabel("", 36, FontWeight.ROMAN, rl.Color(255, 255, 255, int(255 * 0.9 * 0.65)),
-                                  alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
+    # Forget button
+    if self._show_forget_btn:
+      self._forget_btn.render(rl.Rectangle(
+        self._rect.x + self._rect.width - self._forget_btn.rect.width,
+        btn_y + self._rect.height - self._forget_btn.rect.height,
+        self._forget_btn.rect.width,
+        self._forget_btn.rect.height,
+      ))
 
-    self.set_back_callback(lambda: gui_app.set_modal_overlay(None))
+  def set_touch_valid_callback(self, touch_callback: Callable[[], bool]) -> None:
+    super().set_touch_valid_callback(lambda: touch_callback() and not self._forget_btn.is_pressed)
+    self._forget_btn.set_touch_valid_callback(touch_callback)
 
-    # State
-    self._network: Network | None = None
-    self._connecting: Callable[[], str | None] | None = None
+  @property
+  def _is_saved(self):
+    return self._wifi_manager.is_connection_saved(self._network.ssid)
 
-  def show_event(self):
-    super().show_event()
-    self._title.reset_scroll()
-
-  def update_networks(self, networks: dict[str, Network]):
-    # update current network from latest scan results
-    for ssid, network in networks.items():
-      if self._network is not None and ssid == self._network.ssid:
-        self.set_current_network(network)
-        break
-    else:
-      # network disappeared, close page
-      gui_app.set_modal_overlay(None)
+  @property
+  def _is_connecting(self):
+    return self._wifi_manager.connecting_to_ssid == self._network.ssid
+
+  @property
+  def _is_connected(self):
+    return self._wifi_manager.connected_ssid == self._network.ssid
 
   def _update_state(self):
     super()._update_state()
-    # Modal overlays stop main UI rendering, so we need to call here
-    self._wifi_manager.process_callbacks()
-
-    if self._network is None:
-      return
-
-    self._connect_btn.set_full(not self._network.is_saved and not self._is_connecting)
-    if self._is_connecting:
-      self._connect_btn.set_label("connecting...")
-      self._connect_btn.set_enabled(False)
-    elif self._network.is_connected:
-      self._connect_btn.set_label("connected")
-      self._connect_btn.set_enabled(False)
-    elif self._network.security_type == SecurityType.UNSUPPORTED:
-      self._connect_btn.set_label("connect")
-      self._connect_btn.set_enabled(False)
-    else:  # saved or unknown
-      self._connect_btn.set_label("connect")
-      self._connect_btn.set_enabled(True)
-
-    self._title.set_text(normalize_ssid(self._network.ssid))
-    if self._network.security_type == SecurityType.OPEN:
-      self._subtitle.set_text("open")
-    elif self._network.security_type == SecurityType.UNSUPPORTED:
-      self._subtitle.set_text("unsupported")
-    else:
-      self._subtitle.set_text("secured")
 
-  def set_current_network(self, network: Network):
-    self._network = network
-    self._wifi_icon.set_current_network(network)
+    if any((self._network_missing, self._is_connecting, self._is_connected, self._network_forgetting,
+            self._network.security_type == SecurityType.UNSUPPORTED)):
+      self.set_enabled(False)
+      self._sub_label.set_color(rl.Color(255, 255, 255, int(255 * 0.585)))
+      self._sub_label.set_font_weight(FontWeight.ROMAN)
+
+      if self._network_forgetting:
+        self.set_value("forgetting...")
+      elif self._is_connecting:
+        self.set_value("starting..." if self._network.is_tethering else "connecting...")
+      elif self._is_connected:
+        self.set_value("tethering" if self._network.is_tethering else "connected")
+      elif self._network_missing:
+        # after connecting/connected since NM will still attempt to connect/stay connected for a while
+        self.set_value("not in range")
+      else:
+        self.set_value("unsupported")
 
-  def set_connecting(self, is_connecting: Callable[[], str | None]):
-    self._connecting = is_connecting
+    else:  # saved, wrong password, or unknown
+      self.set_value("wrong password" if self._wrong_password else "connect")
+      self.set_enabled(True)
+      self._sub_label.set_color(rl.Color(255, 255, 255, int(255 * 0.9)))
+      self._sub_label.set_font_weight(FontWeight.SEMI_BOLD)
 
-  @property
-  def _is_connecting(self):
-    if self._connecting is None or self._network is None:
-      return False
-    is_connecting = self._connecting() == self._network.ssid
-    return is_connecting
 
-  def _render(self, _):
-    self._wifi_icon.render(rl.Rectangle(
-      self._rect.x + 32,
-      self._rect.y + (self._rect.height - self._connect_btn.rect.height - self._wifi_icon.rect.height) / 2,
-      self._wifi_icon.rect.width,
-      self._wifi_icon.rect.height,
-    ))
+class ForgetButton(Widget):
+  MARGIN = 12  # bottom and right
 
-    self._title.render(rl.Rectangle(
-      self._rect.x + self._wifi_icon.rect.width + 32 + 32,
-      self._rect.y + 32 - 16,
-      self._rect.width - (self._wifi_icon.rect.width + 32 + 32),
-      64,
-    ))
+  def __init__(self, forget_network: Callable):
+    super().__init__()
+    self._forget_network = forget_network
 
-    self._subtitle.render(rl.Rectangle(
-      self._rect.x + self._wifi_icon.rect.width + 32 + 32,
-      self._rect.y + 32 + 64 - 16,
-      self._rect.width - (self._wifi_icon.rect.width + 32 + 32),
-      48,
-    ))
+    self._bg_txt = gui_app.texture("icons_mici/settings/network/new/forget_button.png", 84, 84)
+    self._bg_pressed_txt = gui_app.texture("icons_mici/settings/network/new/forget_button_pressed.png", 84, 84)
+    self._trash_txt = gui_app.texture("icons_mici/settings/network/new/trash.png", 29, 35)
+    self.set_rect(rl.Rectangle(0, 0, 84 + self.MARGIN * 2, 84 + self.MARGIN * 2))
 
-    self._connect_btn.render(rl.Rectangle(
-      self._rect.x + 8,
-      self._rect.y + self._rect.height - self._connect_btn.rect.height,
-      self._connect_btn.rect.width,
-      self._connect_btn.rect.height,
-    ))
+  def _handle_mouse_release(self, mouse_pos: MousePos):
+    super()._handle_mouse_release(mouse_pos)
+    dlg = BigConfirmationDialog("slide to forget", gui_app.texture("icons_mici/settings/network/new/trash.png", 54, 64), self._forget_network, red=True)
+    gui_app.push_widget(dlg)
 
-    if not self._connect_btn.full:
-      self._forget_btn.render(rl.Rectangle(
-        self._rect.x + self._rect.width - self._forget_btn.rect.width,
-        self._rect.y + self._rect.height - self._forget_btn.rect.height,
-        self._forget_btn.rect.width,
-        self._forget_btn.rect.height,
-      ))
+  def _render(self, _):
+    bg_txt = self._bg_pressed_txt if self.is_pressed else self._bg_txt
+    rl.draw_texture_ex(bg_txt, (self._rect.x + (self._rect.width - self._bg_txt.width) / 2,
+                                self._rect.y + (self._rect.height - self._bg_txt.height) / 2), 0, 1.0, rl.WHITE)
 
-    return -1
+    trash_x = self._rect.x + (self._rect.width - self._trash_txt.width) / 2
+    trash_y = self._rect.y + (self._rect.height - self._trash_txt.height) / 2
+    rl.draw_texture_ex(self._trash_txt, (trash_x, trash_y), 0, 1.0, rl.WHITE)
 
 
-class WifiUIMici(BigMultiOptionDialog):
-  # Wait this long after user interacts with widget to update network list
-  INACTIVITY_TIMEOUT = 1
+class ScanningButton(BigButton):
+  def __init__(self):
+    super().__init__("", "searching for networks")
+    self.set_enabled(False)
+    self._loading_animation = LoadingAnimation()
 
-  def __init__(self, wifi_manager: WifiManager, back_callback: Callable):
-    super().__init__([], None, None, right_btn_callback=None)
+  def _draw_content(self, btn_y: float):
+    super()._draw_content(btn_y)
+    anim = self._loading_animation
+    x = self._rect.x + self._rect.width - anim.rect.width - 40
+    y = btn_y + self._rect.height - anim.rect.height - 30
+    anim.set_position(x, y)
+    anim.render()
 
-    # Set up back navigation
-    self.set_back_callback(back_callback)
 
-    self._network_info_page = NetworkInfoPage(wifi_manager, self._connect_to_network, self._forget_network, self._open_network_manage_page)
-    self._network_info_page.set_connecting(lambda: self._connecting)
+class WifiUIMici(NavScroller):
+  def __init__(self, wifi_manager: WifiManager):
+    super().__init__()
 
-    self._loading_animation = LoadingAnimation()
+    self._scanning_btn = ScanningButton()
 
     self._wifi_manager = wifi_manager
-    self._connecting: str | None = None
     self._networks: dict[str, Network] = {}
 
-    # widget state
-    self._last_interaction_time = -float('inf')
-    self._restore_selection = False
-
     self._wifi_manager.add_callbacks(
       need_auth=self._on_need_auth,
-      activated=self._on_activated,
       forgotten=self._on_forgotten,
       networks_updated=self._on_network_updated,
-      disconnected=self._on_disconnected,
     )
 
+  @property
+  def any_network_forgetting(self) -> bool:
+    # TODO: deactivate before forget and add DISCONNECTING state
+    return any(btn.network_forgetting for btn in self._scroller.items if isinstance(btn, WifiButton))
+
   def show_event(self):
-    # Call super to prepare scroller; selection scroll is handled dynamically
+    # Re-sort scroller items and update from latest scan results
     super().show_event()
     self._wifi_manager.set_active(True)
-    self._last_interaction_time = -float('inf')
-
-  def hide_event(self):
-    super().hide_event()
-    self._wifi_manager.set_active(False)
-
-  def _open_network_manage_page(self, result=None):
-    self._network_info_page.update_networks(self._networks)
-    gui_app.set_modal_overlay(self._network_info_page)
-
-  def _forget_network(self, ssid: str):
-    network = self._networks.get(ssid)
-    if network is None:
-      cloudlog.warning(f"Trying to forget unknown network: {ssid}")
-      return
-
-    self._wifi_manager.forget_connection(network.ssid)
+    self._networks = {n.ssid: n for n in self._wifi_manager.networks}
+    self._update_buttons(re_sort=True)
 
   def _on_network_updated(self, networks: list[Network]):
     self._networks = {network.ssid: network for network in networks}
     self._update_buttons()
-    self._network_info_page.update_networks(self._networks)
 
-  def _update_buttons(self):
-    # Don't update buttons while user is actively interacting
-    if rl.get_time() - self._last_interaction_time < self.INACTIVITY_TIMEOUT:
-      return
+  def _update_buttons(self, re_sort: bool = False):
+    # Update existing buttons, add new ones to the end
+    existing = {btn.network.ssid: btn for btn in self._scroller.items if isinstance(btn, WifiButton)}
 
     for network in self._networks.values():
-      # pop and re-insert to eliminate stuttering on update (prevents position lost for a frame)
-      network_button_idx = next((i for i, btn in enumerate(self._scroller._items) if btn.option == network.ssid), None)
-      if network_button_idx is not None:
-        network_button = self._scroller._items.pop(network_button_idx)
-        # Update network on existing button
-        network_button.set_current_network(network)
+      if network.ssid in existing:
+        existing[network.ssid].update_network(network)
       else:
-        network_button = WifiItem(network)
-
-      self.add_button(network_button)
-
-    # remove networks no longer present
-    self._scroller._items[:] = [btn for btn in self._scroller._items if btn.option in self._networks]
-
-    # try to restore previous selection to prevent jumping from adding/removing/reordering buttons
-    self._restore_selection = True
+        btn = WifiButton(network, self._wifi_manager)
+        btn.set_click_callback(lambda ssid=network.ssid: self._connect_to_network(ssid))
+        self._scroller.add_widget(btn)
+
+    if re_sort:
+      # Remove stale buttons and sort to match scan order, preserving eager state
+      btn_map = {btn.network.ssid: btn for btn in self._scroller.items if isinstance(btn, WifiButton)}
+      self._scroller.items[:] = [btn_map[ssid] for ssid in self._networks if ssid in btn_map]
+    else:
+      # Mark networks no longer in scan results (display handled by _update_state)
+      for btn in self._scroller.items:
+        if isinstance(btn, WifiButton) and btn.network.ssid not in self._networks:
+          btn.set_network_missing(True)
+
+    # Keep scanning button at the end
+    items = self._scroller.items
+    if self._scanning_btn in items:
+      items.append(items.pop(items.index(self._scanning_btn)))
+    else:
+      self._scroller.add_widget(self._scanning_btn)
 
   def _connect_with_password(self, ssid: str, password: str):
-    if password:
-      self._connecting = ssid
-      self._wifi_manager.connect_to_network(ssid, password)
-      self._update_buttons()
-
-  def _on_option_selected(self, option: str, smooth_scroll: bool = True):
-    super()._on_option_selected(option, smooth_scroll)
-
-    # only open if button is already selected
-    if option in self._networks and option == self._selected_option:
-      self._network_info_page.set_current_network(self._networks[option])
-      self._open_network_manage_page()
+    self._wifi_manager.connect_to_network(ssid, password)
+    self._move_network_to_front(ssid, scroll=True)
 
   def _connect_to_network(self, ssid: str):
     network = self._networks.get(ssid)
@@ -416,47 +344,48 @@ def _connect_to_network(self, ssid: str):
       cloudlog.warning(f"Trying to connect to unknown network: {ssid}")
       return
 
-    if network.is_saved:
-      self._connecting = network.ssid
+    if self._wifi_manager.is_connection_saved(network.ssid):
       self._wifi_manager.activate_connection(network.ssid)
-      self._update_buttons()
     elif network.security_type == SecurityType.OPEN:
-      self._connecting = network.ssid
       self._wifi_manager.connect_to_network(network.ssid, "")
-      self._update_buttons()
     else:
       self._on_need_auth(network.ssid, False)
+      return
+
+    self._move_network_to_front(ssid, scroll=True)
 
   def _on_need_auth(self, ssid, incorrect_password=True):
-    hint = "incorrect password..." if incorrect_password else "enter password..."
-    dlg = BigInputDialog(hint, "", minimum_length=8,
+    if incorrect_password:
+      for btn in self._scroller.items:
+        if isinstance(btn, WifiButton) and btn.network.ssid == ssid:
+          btn.set_wrong_password()
+          break
+      return
+
+    dlg = BigInputDialog("enter password...", "", minimum_length=8,
                          confirm_callback=lambda _password: self._connect_with_password(ssid, _password))
-    # go back to the manage network page
-    gui_app.set_modal_overlay(dlg, self._open_network_manage_page)
+    gui_app.push_widget(dlg)
+
+  def _on_forgotten(self, ssid):
+    # For eager UI forget
+    for btn in self._scroller.items:
+      if isinstance(btn, WifiButton) and btn.network.ssid == ssid:
+        btn.on_forgotten()
 
-  def _on_activated(self):
-    self._connecting = None
+  def _move_network_to_front(self, ssid: str | None, scroll: bool = False):
+    # Move connecting/connected network to the front with animation
+    front_btn_idx = next((i for i, btn in enumerate(self._scroller.items)
+                          if isinstance(btn, WifiButton) and
+                          btn.network.ssid == ssid), None) if ssid else None
 
-  def _on_forgotten(self):
-    self._connecting = None
+    if front_btn_idx is not None and front_btn_idx > 0:
+      self._scroller.move_item(front_btn_idx, 0)
 
-  def _on_disconnected(self):
-    self._connecting = None
+      if scroll:
+        # Scroll to the new position of the network
+        self._scroller.scroll_to(self._scroller.scroll_panel.get_offset(), smooth=True)
 
   def _update_state(self):
     super()._update_state()
-    if self.is_pressed:
-      self._last_interaction_time = rl.get_time()
-
-  def _render(self, _):
-    # Update Scroller layout and restore current selection whenever buttons are updated, before first render
-    current_selection = self.get_selected_option()
-    if self._restore_selection and current_selection in self._networks:
-      self._scroller._layout()
-      BigMultiOptionDialog._on_option_selected(self, current_selection, smooth_scroll=False)
-      self._restore_selection = None
-
-    super()._render(_)
 
-    if not self._networks:
-      self._loading_animation.render(self._rect)
+    self._move_network_to_front(self._wifi_manager.wifi_state.ssid)
diff --git a/selfdrive/ui/mici/layouts/settings/settings.py b/selfdrive/ui/mici/layouts/settings/settings.py
index a452777748e..4ccc5ba139a 100644
--- a/selfdrive/ui/mici/layouts/settings/settings.py
+++ b/selfdrive/ui/mici/layouts/settings/settings.py
@@ -1,54 +1,45 @@
-import pyray as rl
-from dataclasses import dataclass
-from enum import IntEnum
-from collections.abc import Callable
-
 from openpilot.common.params import Params
-from openpilot.system.ui.widgets.scroller import Scroller
+from openpilot.system.ui.widgets.scroller import NavScroller
 from openpilot.selfdrive.ui.mici.widgets.button import BigButton
 from openpilot.selfdrive.ui.mici.layouts.settings.toggles import TogglesLayoutMici
-from openpilot.selfdrive.ui.mici.layouts.settings.network import NetworkLayoutMici
+from openpilot.selfdrive.ui.mici.layouts.settings.network.network_layout import NetworkLayoutMici
 from openpilot.selfdrive.ui.mici.layouts.settings.device import DeviceLayoutMici, PairBigButton
 from openpilot.selfdrive.ui.mici.layouts.settings.developer import DeveloperLayoutMici
 from openpilot.selfdrive.ui.mici.layouts.settings.firehose import FirehoseLayout
 from openpilot.system.ui.lib.application import gui_app, FontWeight
-from openpilot.system.ui.widgets import Widget, NavWidget
-
 
-class PanelType(IntEnum):
-  TOGGLES = 0
-  NETWORK = 1
-  DEVICE = 2
-  DEVELOPER = 3
-  USER_MANUAL = 4
-  FIREHOSE = 5
 
+class SettingsBigButton(BigButton):
+  def _get_label_font_size(self):
+    return 64
 
-@dataclass
-class PanelInfo:
-  name: str
-  instance: Widget
 
-
-class SettingsLayout(NavWidget):
+class SettingsLayout(NavScroller):
   def __init__(self):
     super().__init__()
     self._params = Params()
-    self._current_panel = None  # PanelType.DEVICE
 
-    toggles_btn = BigButton("toggles", "", "icons_mici/settings/toggles_icon.png")
-    toggles_btn.set_click_callback(lambda: self._set_current_panel(PanelType.TOGGLES))
-    network_btn = BigButton("network", "", "icons_mici/settings/network/wifi_strength_full.png")
-    network_btn.set_click_callback(lambda: self._set_current_panel(PanelType.NETWORK))
-    device_btn = BigButton("device", "", "icons_mici/settings/device_icon.png")
-    device_btn.set_click_callback(lambda: self._set_current_panel(PanelType.DEVICE))
-    developer_btn = BigButton("developer", "", "icons_mici/settings/developer_icon.png")
-    developer_btn.set_click_callback(lambda: self._set_current_panel(PanelType.DEVELOPER))
+    toggles_panel = TogglesLayoutMici()
+    toggles_btn = SettingsBigButton("toggles", "", gui_app.texture("icons_mici/settings.png", 64, 64))
+    toggles_btn.set_click_callback(lambda: gui_app.push_widget(toggles_panel))
+
+    network_panel = NetworkLayoutMici()
+    network_btn = SettingsBigButton("network", "", gui_app.texture("icons_mici/settings/network/wifi_strength_full.png", 76, 56))
+    network_btn.set_click_callback(lambda: gui_app.push_widget(network_panel))
 
-    firehose_btn = BigButton("firehose", "", "icons_mici/settings/comma_icon.png")
-    firehose_btn.set_click_callback(lambda: self._set_current_panel(PanelType.FIREHOSE))
+    device_panel = DeviceLayoutMici()
+    device_btn = SettingsBigButton("device", "", gui_app.texture("icons_mici/settings/device_icon.png", 72, 58))
+    device_btn.set_click_callback(lambda: gui_app.push_widget(device_panel))
 
-    self._scroller = Scroller([
+    developer_panel = DeveloperLayoutMici()
+    developer_btn = SettingsBigButton("developer", "", gui_app.texture("icons_mici/settings/developer_icon.png", 64, 60))
+    developer_btn.set_click_callback(lambda: gui_app.push_widget(developer_panel))
+
+    firehose_panel = FirehoseLayout()
+    firehose_btn = SettingsBigButton("firehose", "", gui_app.texture("icons_mici/settings/firehose.png", 52, 62))
+    firehose_btn.set_click_callback(lambda: gui_app.push_widget(firehose_panel))
+
+    self._scroller.add_widgets([
       toggles_btn,
       network_btn,
       device_btn,
@@ -56,58 +47,6 @@ def __init__(self):
       #BigDialogButton("manual", "", "icons_mici/settings/manual_icon.png", "Check out the mici user\nmanual at comma.ai/setup"),
       firehose_btn,
       developer_btn,
-    ], snap_items=False)
-
-    # Set up back navigation
-    self.set_back_callback(self.close_settings)
-    self.set_back_enabled(lambda: self._current_panel is None)
-
-    self._panels = {
-      PanelType.TOGGLES: PanelInfo("Toggles", TogglesLayoutMici(back_callback=lambda: self._set_current_panel(None))),
-      PanelType.NETWORK: PanelInfo("Network", NetworkLayoutMici(back_callback=lambda: self._set_current_panel(None))),
-      PanelType.DEVICE: PanelInfo("Device", DeviceLayoutMici(back_callback=lambda: self._set_current_panel(None))),
-      PanelType.DEVELOPER: PanelInfo("Developer", DeveloperLayoutMici(back_callback=lambda: self._set_current_panel(None))),
-      PanelType.FIREHOSE: PanelInfo("Firehose", FirehoseLayout(back_callback=lambda: self._set_current_panel(None))),
-    }
+    ])
 
     self._font_medium = gui_app.font(FontWeight.MEDIUM)
-
-    # Callbacks
-    self._close_callback: Callable | None = None
-
-  def show_event(self):
-    super().show_event()
-    self._set_current_panel(None)
-    self._scroller.show_event()
-    if self._current_panel is not None:
-      self._panels[self._current_panel].instance.show_event()
-
-  def hide_event(self):
-    super().hide_event()
-    if self._current_panel is not None:
-      self._panels[self._current_panel].instance.hide_event()
-
-  def set_callbacks(self, on_close: Callable):
-    self._close_callback = on_close
-
-  def _render(self, rect: rl.Rectangle):
-    if self._current_panel is not None:
-      self._draw_current_panel()
-    else:
-      self._scroller.render(rect)
-
-  def _draw_current_panel(self):
-    panel = self._panels[self._current_panel]
-    panel.instance.render(self._rect)
-
-  def _set_current_panel(self, panel_type: PanelType | None):
-    if panel_type != self._current_panel:
-      if self._current_panel is not None:
-        self._panels[self._current_panel].instance.hide_event()
-      self._current_panel = panel_type
-      if self._current_panel is not None:
-        self._panels[self._current_panel].instance.show_event()
-
-  def close_settings(self):
-    if self._close_callback:
-      self._close_callback()
diff --git a/selfdrive/ui/mici/layouts/settings/toggles.py b/selfdrive/ui/mici/layouts/settings/toggles.py
index c16504fac8b..acb502fda0a 100644
--- a/selfdrive/ui/mici/layouts/settings/toggles.py
+++ b/selfdrive/ui/mici/layouts/settings/toggles.py
@@ -1,21 +1,17 @@
-import pyray as rl
-from collections.abc import Callable
 from cereal import log
 
-from openpilot.system.ui.widgets.scroller import Scroller
+from openpilot.system.ui.widgets.scroller import NavScroller
 from openpilot.selfdrive.ui.mici.widgets.button import BigParamControl, BigMultiParamToggle
 from openpilot.system.ui.lib.application import gui_app
-from openpilot.system.ui.widgets import NavWidget
 from openpilot.selfdrive.ui.layouts.settings.common import restart_needed_callback
 from openpilot.selfdrive.ui.ui_state import ui_state
 
 PERSONALITY_TO_INT = log.LongitudinalPersonality.schema.enumerants
 
 
-class TogglesLayoutMici(NavWidget):
-  def __init__(self, back_callback: Callable):
+class TogglesLayoutMici(NavScroller):
+  def __init__(self):
     super().__init__()
-    self.set_back_callback(back_callback)
 
     self._personality_toggle = BigMultiParamToggle("driving personality", "LongitudinalPersonality", ["aggressive", "standard", "relaxed"])
     self._experimental_btn = BigParamControl("experimental mode", "ExperimentalMode")
@@ -26,7 +22,7 @@ def __init__(self, back_callback: Callable):
     record_mic = BigParamControl("record & upload mic audio", "RecordAudio", toggle_callback=restart_needed_callback)
     enable_openpilot = BigParamControl("enable openpilot", "OpenpilotEnabledToggle", toggle_callback=restart_needed_callback)
 
-    self._scroller = Scroller([
+    self._scroller.add_widgets([
       self._personality_toggle,
       self._experimental_btn,
       is_metric_toggle,
@@ -35,7 +31,7 @@ def __init__(self, back_callback: Callable):
       record_front,
       record_mic,
       enable_openpilot,
-    ], snap_items=False)
+    ])
 
     # Toggle lists
     self._refresh_toggles = (
@@ -69,7 +65,6 @@ def _update_state(self):
 
   def show_event(self):
     super().show_event()
-    self._scroller.show_event()
     self._update_toggles()
 
   def _update_toggles(self):
@@ -90,6 +85,3 @@ def _update_toggles(self):
     # Refresh toggles from params to mirror external changes
     for key, item in self._refresh_toggles:
       item.set_checked(ui_state.params.get_bool(key))
-
-  def _render(self, rect: rl.Rectangle):
-    self._scroller.render(rect)
diff --git a/selfdrive/ui/mici/onroad/alert_renderer.py b/selfdrive/ui/mici/onroad/alert_renderer.py
index 7ee83ff8806..7b006aaaeaa 100644
--- a/selfdrive/ui/mici/onroad/alert_renderer.py
+++ b/selfdrive/ui/mici/onroad/alert_renderer.py
@@ -111,10 +111,10 @@ def __init__(self):
     self._load_icons()
 
   def _load_icons(self):
-    self._txt_turn_signal_left = gui_app.texture('icons_mici/onroad/turn_signal_left.png', 100, 91)
-    self._txt_turn_signal_right = gui_app.texture('icons_mici/onroad/turn_signal_right.png', 100, 91)
-    self._txt_blind_spot_left = gui_app.texture('icons_mici/onroad/blind_spot_left.png', 108, 128)
-    self._txt_blind_spot_right = gui_app.texture('icons_mici/onroad/blind_spot_right.png', 108, 128)
+    self._txt_turn_signal_left = gui_app.texture('icons_mici/onroad/turn_signal_left.png', 104, 96)
+    self._txt_turn_signal_right = gui_app.texture('icons_mici/onroad/turn_signal_left.png', 104, 96, flip_x=True)
+    self._txt_blind_spot_left = gui_app.texture('icons_mici/onroad/blind_spot_left.png', 134, 150)
+    self._txt_blind_spot_right = gui_app.texture('icons_mici/onroad/blind_spot_left.png', 134, 150, flip_x=True)
 
   def get_alert(self, sm: messaging.SubMaster) -> Alert | None:
     """Generate the current alert based on selfdrive state."""
@@ -258,8 +258,8 @@ def _draw_icons(self, alert_layout: AlertLayout) -> None:
     else:
       icon_alpha = int(min(self._turn_signal_alpha_filter.x, 255))
 
-    rl.draw_texture(alert_layout.icon.texture, pos_x, int(self._rect.y + alert_layout.icon.margin_y),
-                    rl.Color(255, 255, 255, int(icon_alpha * self._alpha_filter.x)))
+    rl.draw_texture_ex(alert_layout.icon.texture, rl.Vector2(pos_x, self._rect.y + alert_layout.icon.margin_y), 0.0, 1.0,
+                       rl.Color(255, 255, 255, int(icon_alpha * self._alpha_filter.x)))
 
   def _draw_background(self, alert: Alert) -> None:
     # draw top gradient for alert text at top
diff --git a/selfdrive/ui/mici/onroad/augmented_road_view.py b/selfdrive/ui/mici/onroad/augmented_road_view.py
index 71ca03cccfa..63e976caee7 100644
--- a/selfdrive/ui/mici/onroad/augmented_road_view.py
+++ b/selfdrive/ui/mici/onroad/augmented_road_view.py
@@ -126,7 +126,7 @@ def _render(self, _):
     if self._offset_filter.x > 0:
       icon_x = self.rect.x + self.rect.width - round(self._offset_filter.x)
       icon_y = self.rect.y + (self.rect.height - self._icon.height) / 2  # Vertically centered
-      rl.draw_texture(self._icon, int(icon_x), int(icon_y), rl.WHITE)
+      rl.draw_texture_ex(self._icon, rl.Vector2(icon_x, icon_y), 0.0, 1.0, rl.WHITE)
 
 
 class AugmentedRoadView(CameraView):
@@ -174,6 +174,8 @@ def _update_state(self):
     # update offroad label
     if ui_state.panda_type == log.PandaState.PandaType.unknown:
       self._offroad_label.set_text("system booting")
+    elif ui_state.ignition and not ui_state.started:
+      self._offroad_label.set_text("openpilot can't start\ncheck alerts")
     else:
       self._offroad_label.set_text("start the car to\nuse openpilot")
 
@@ -247,7 +249,7 @@ def _render(self, _):
     # Draw darkened background and text if not onroad
     if not ui_state.started:
       rl.draw_rectangle(int(self.rect.x), int(self.rect.y), int(self.rect.width), int(self.rect.height), rl.Color(0, 0, 0, 175))
-      self._offroad_label.render(self._content_rect)
+      self._offroad_label.render(self._rect)
 
     # publish uiDebug
     msg = messaging.new_message('uiDebug')
@@ -354,7 +356,7 @@ def _calc_frame_matrix(self, rect: rl.Rectangle) -> np.ndarray:
 
 if __name__ == "__main__":
   gui_app.init_window("OnRoad Camera View")
-  road_camera_view = AugmentedRoadView(ROAD_CAM)
+  road_camera_view = AugmentedRoadView(lambda: None, stream_type=ROAD_CAM)
   print("***press space to switch camera view***")
   try:
     for _ in gui_app.render():
diff --git a/selfdrive/ui/mici/onroad/cameraview.py b/selfdrive/ui/mici/onroad/cameraview.py
index 89a4926ce9a..62fcfd0654e 100644
--- a/selfdrive/ui/mici/onroad/cameraview.py
+++ b/selfdrive/ui/mici/onroad/cameraview.py
@@ -155,11 +155,11 @@ def _offroad_transition(self):
       # Prevent old frames from showing when going onroad. Qt has a separate thread
       # which drains the VisionIpcClient SubSocket for us. Re-connecting is not enough
       # and only clears internal buffers, not the message queue.
-      self.frame = None
       self.available_streams.clear()
       if self.client:
         del self.client
       self.client = VisionIpcClient(self._name, self._stream_type, conflate=True)
+    self.frame = None
 
   def _set_placeholder_color(self, color: rl.Color):
     """Set a placeholder color to be drawn when no frame is available."""
diff --git a/selfdrive/ui/mici/onroad/driver_camera_dialog.py b/selfdrive/ui/mici/onroad/driver_camera_dialog.py
index bab3d6e6f1d..58b209bdf62 100644
--- a/selfdrive/ui/mici/onroad/driver_camera_dialog.py
+++ b/selfdrive/ui/mici/onroad/driver_camera_dialog.py
@@ -1,19 +1,15 @@
 import pyray as rl
-from cereal import log, messaging
+from cereal import car, log, messaging
 from msgq.visionipc import VisionStreamType
 from openpilot.selfdrive.ui.mici.onroad.cameraview import CameraView
 from openpilot.selfdrive.ui.mici.onroad.driver_state import DriverStateRenderer
 from openpilot.selfdrive.ui.ui_state import ui_state, device
-from openpilot.selfdrive.selfdrived.events import EVENTS, ET
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.lib.multilang import tr
-from openpilot.system.ui.widgets import NavWidget
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.nav_widget import NavWidget
 from openpilot.system.ui.widgets.label import gui_label
 
-EventName = log.OnroadEvent.EventName
-
-EVENT_TO_INT = EventName.schema.enumerants
-
 
 class DriverCameraView(CameraView):
   def _calc_frame_matrix(self, rect: rl.Rectangle):
@@ -24,26 +20,20 @@ def _calc_frame_matrix(self, rect: rl.Rectangle):
     return base
 
 
-class DriverCameraDialog(NavWidget):
-  def __init__(self, no_escape=False):
+class BaseDriverCameraDialog(Widget):
+  # Not a NavWidget so training guide can use this without back navigation
+  def __init__(self):
     super().__init__()
     self._camera_view = DriverCameraView("camerad", VisionStreamType.VISION_STREAM_DRIVER)
     self.driver_state_renderer = DriverStateRenderer(lines=True)
     self.driver_state_renderer.set_rect(rl.Rectangle(0, 0, 200, 200))
     self.driver_state_renderer.load_icons()
     self._pm: messaging.PubMaster | None = None
-    if not no_escape:
-      # TODO: this can grow unbounded, should be given some thought
-      device.add_interactive_timeout_callback(lambda: gui_app.set_modal_overlay(None))
-    self.set_back_callback(lambda: gui_app.set_modal_overlay(None))
-    self.set_back_enabled(not no_escape)
 
     # Load eye icons
     self._eye_fill_texture = None
     self._eye_orange_texture = None
     self._eye_size = 74
-    self._glasses_texture = None
-    self._glasses_size = 171
 
     self._load_eye_textures()
 
@@ -87,7 +77,7 @@ def _render(self, rect):
                 alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
       rl.end_scissor_mode()
       self._publish_alert_sound(None)
-      return -1
+      return
 
     driver_data = self._draw_face_detection(rect)
     if driver_data is not None:
@@ -105,18 +95,21 @@ def _render(self, rect):
     self._render_dm_alerts(rect)
 
     rl.end_scissor_mode()
-    return -1
+    return
 
   def _publish_alert_sound(self, dm_state):
     """Publish selfdriveState with only alertSound field set"""
     if self._pm is None:
       return
 
+    AudibleAlert = car.CarControl.HUDControl.AudibleAlert
+    ALERT_SOUNDS = {
+      'two': AudibleAlert.promptDistracted,
+      'three': AudibleAlert.warningImmediate,
+    }
     msg = messaging.new_message('selfdriveState')
-    if dm_state is not None and len(dm_state.events):
-      event_name = EVENT_TO_INT[dm_state.events[0].name]
-      if event_name is not None and event_name in EVENTS and ET.PERMANENT in EVENTS[event_name]:
-        msg.selfdriveState.alertSound = EVENTS[event_name][ET.PERMANENT].audible_alert
+    if dm_state is not None:
+      msg.selfdriveState.alertSound = ALERT_SOUNDS.get(str(dm_state.alertLevel), AudibleAlert.none)
     self._pm.send('selfdriveState', msg)
 
   def _render_dm_alerts(self, rect: rl.Rectangle):
@@ -124,29 +117,31 @@ def _render_dm_alerts(self, rect: rl.Rectangle):
     dm_state = ui_state.sm["driverMonitoringState"]
     self._publish_alert_sound(dm_state)
 
+    is_vision = dm_state.activePolicy == log.DriverMonitoringState.MonitoringPolicy.vision
+    awareness_pct = dm_state.visionPolicyState.awarenessPercent if is_vision else dm_state.wheeltouchPolicyState.awarenessPercent
     gui_label(rl.Rectangle(rect.x + 2, rect.y + 2, rect.width, rect.height),
-              f"Awareness: {dm_state.awarenessStatus * 100:.0f}%", font_size=44, font_weight=FontWeight.MEDIUM,
+              f"Awareness: {awareness_pct:.0f}%", font_size=44, font_weight=FontWeight.MEDIUM,
               alignment=rl.GuiTextAlignment.TEXT_ALIGN_RIGHT,
               alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
               color=rl.Color(0, 0, 0, 180))
-    gui_label(rect, f"Awareness: {dm_state.awarenessStatus * 100:.0f}%", font_size=44, font_weight=FontWeight.MEDIUM,
+    gui_label(rect, f"Awareness: {awareness_pct:.0f}%", font_size=44, font_weight=FontWeight.MEDIUM,
               alignment=rl.GuiTextAlignment.TEXT_ALIGN_RIGHT,
               alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
               color=rl.Color(255, 255, 255, int(255 * 0.9)))
 
-    if not dm_state.events:
+    if dm_state.alertLevel == log.DriverMonitoringState.AlertLevel.none:
       return
 
-    # Show first event (only one should be active at a time)
-    event_name_str = str(dm_state.events[0].name).split('.')[-1]
+    # Show alert level
+    alert_level_str = f"{'Pay Attention' if is_vision else 'Touch Wheel'} - level {dm_state.alertLevel}"
     alignment = rl.GuiTextAlignment.TEXT_ALIGN_RIGHT if self.driver_state_renderer.is_rhd else rl.GuiTextAlignment.TEXT_ALIGN_LEFT
 
     shadow_rect = rl.Rectangle(rect.x + 2, rect.y + 2, rect.width, rect.height)
-    gui_label(shadow_rect, event_name_str, font_size=40, font_weight=FontWeight.BOLD,
+    gui_label(shadow_rect, alert_level_str, font_size=40, font_weight=FontWeight.BOLD,
               alignment=alignment,
               alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM,
               color=rl.Color(0, 0, 0, 180))
-    gui_label(rect, event_name_str, font_size=40, font_weight=FontWeight.BOLD,
+    gui_label(rect, alert_level_str, font_size=40, font_weight=FontWeight.BOLD,
               alignment=alignment,
               alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM,
               color=rl.Color(255, 255, 255, int(255 * 0.9)))
@@ -157,13 +152,11 @@ def _load_eye_textures(self):
       self._eye_fill_texture = gui_app.texture("icons_mici/onroad/eye_fill.png", self._eye_size, self._eye_size)
     if self._eye_orange_texture is None:
       self._eye_orange_texture = gui_app.texture("icons_mici/onroad/eye_orange.png", self._eye_size, self._eye_size)
-    if self._glasses_texture is None:
-      self._glasses_texture = gui_app.texture("icons_mici/onroad/glasses.png", self._glasses_size, self._glasses_size)
 
   def _draw_face_detection(self, rect: rl.Rectangle):
     dm_state = ui_state.sm["driverMonitoringState"]
     driver_data = self.driver_state_renderer.get_driver_data()
-    if not dm_state.faceDetected:
+    if not dm_state.visionPolicyState.faceDetected:
       return
 
     # Get face position and orientation
@@ -205,39 +198,36 @@ def _draw_eyes(self, rect: rl.Rectangle, driver_data):
     eye_offset_x = 10
     eye_offset_y = 10
     eye_spacing = self._eye_size + 15
+    eyes_prob = driver_data.eyesVisibleProb
 
     left_eye_x = rect.x + eye_offset_x
     left_eye_y = rect.y + eye_offset_y
-    left_eye_prob = driver_data.leftEyeProb
 
     right_eye_x = rect.x + eye_offset_x + eye_spacing
     right_eye_y = rect.y + eye_offset_y
-    right_eye_prob = driver_data.rightEyeProb
 
     # Draw eyes with opacity based on probability
-    for eye_x, eye_y, eye_prob in [(left_eye_x, left_eye_y, left_eye_prob), (right_eye_x, right_eye_y, right_eye_prob)]:
-      fill_opacity = eye_prob
-      orange_opacity = 1.0 - eye_prob
-
+    fill_opacity = eyes_prob
+    orange_opacity = 1.0 - eyes_prob
+    for eye_x, eye_y in [(left_eye_x, left_eye_y), (right_eye_x, right_eye_y)]:
       rl.draw_texture_v(self._eye_orange_texture, (eye_x, eye_y), rl.Color(255, 255, 255, int(255 * orange_opacity)))
       rl.draw_texture_v(self._eye_fill_texture, (eye_x, eye_y), rl.Color(255, 255, 255, int(255 * fill_opacity)))
 
-    # Draw sunglasses indicator based on sunglasses probability
-    # Position glasses centered between the two eyes at top left
-    glasses_x = rect.x + eye_offset_x - 4
-    glasses_y = rect.y
-    glasses_pos = rl.Vector2(glasses_x, glasses_y)
-    glasses_prob = driver_data.sunglassesProb
-    rl.draw_texture_v(self._glasses_texture, glasses_pos, rl.Color(70, 80, 161, int(255 * glasses_prob)))
+
+class DriverCameraDialog(NavWidget, BaseDriverCameraDialog):
+  def __init__(self):
+    super().__init__()
+    # TODO: this can grow unbounded, should be given some thought
+    device.add_interactive_timeout_callback(gui_app.pop_widget)
 
 
 if __name__ == "__main__":
   gui_app.init_window("Driver Camera View (mici)")
 
   driver_camera_view = DriverCameraDialog()
+  gui_app.push_widget(driver_camera_view)
   try:
     for _ in gui_app.render():
       ui_state.update()
-      driver_camera_view.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
   finally:
     driver_camera_view.close()
diff --git a/selfdrive/ui/mici/onroad/driver_state.py b/selfdrive/ui/mici/onroad/driver_state.py
index 356d7ac832c..69ada3dae99 100644
--- a/selfdrive/ui/mici/onroad/driver_state.py
+++ b/selfdrive/ui/mici/onroad/driver_state.py
@@ -7,10 +7,12 @@
 from openpilot.system.ui.widgets import Widget
 from openpilot.selfdrive.ui.ui_state import ui_state
 
+
 AlertSize = log.SelfdriveState.AlertSize
 
 DEBUG = False
 
+# TODO: Only left for DM preview, remove
 LOOKING_CENTER_THRESHOLD_UPPER = math.radians(6)
 LOOKING_CENTER_THRESHOLD_LOWER = math.radians(3)
 
@@ -33,6 +35,8 @@ def __init__(self, lines: bool = False, inset: bool = False):
     self._is_active = False
     self._is_rhd = False
     self._face_detected = False
+    self._face_pitch = 0.
+    self._face_yaw = 0.
     self._should_draw = False
     self._force_active = False
     self._looking_center = False
@@ -59,9 +63,7 @@ def load_icons(self):
 
     self._dm_person = gui_app.texture("icons_mici/onroad/driver_monitoring/dm_person.png", cone_and_person_size, cone_and_person_size)
     self._dm_cone = gui_app.texture("icons_mici/onroad/driver_monitoring/dm_cone.png", cone_and_person_size, cone_and_person_size)
-    center_size = round(36 / self.BASE_SIZE * self._rect.width)
-    self._dm_center = gui_app.texture("icons_mici/onroad/driver_monitoring/dm_center.png", center_size, center_size)
-    self._dm_background = gui_app.texture("icons_mici/onroad/driver_monitoring/dm_background.png", self._rect.width, self._rect.height)
+    self._dm_background = gui_app.texture("icons_mici/onroad/driver_monitoring/dm_background.png", int(self._rect.width), int(self._rect.height))
 
   def set_should_draw(self, should_draw: bool):
     self._should_draw = should_draw
@@ -88,15 +90,14 @@ def _render(self, _):
     if DEBUG:
       rl.draw_rectangle_lines_ex(self._rect, 1, rl.RED)
 
-    rl.draw_texture(self._dm_background,
-                    int(self._rect.x),
-                    int(self._rect.y),
-                    rl.Color(255, 255, 255, int(255 * self._fade_filter.x)))
+    rl.draw_texture_ex(self._dm_background,
+                       rl.Vector2(self._rect.x, self._rect.y), 0.0, 1.0,
+                       rl.Color(255, 255, 255, int(255 * self._fade_filter.x)))
 
-    rl.draw_texture(self._dm_person,
-                    int(self._rect.x + (self._rect.width - self._dm_person.width) / 2),
-                    int(self._rect.y + (self._rect.height - self._dm_person.height) / 2),
-                    rl.Color(255, 255, 255, int(255 * 0.9 * self._fade_filter.x)))
+    rl.draw_texture_ex(self._dm_person,
+                       rl.Vector2(self._rect.x + (self._rect.width - self._dm_person.width) / 2,
+                                  self._rect.y + (self._rect.height - self._dm_person.height) / 2), 0.0, 1.0,
+                       rl.Color(255, 255, 255, int(255 * 0.9 * self._fade_filter.x)))
 
     if self.effective_active:
       source_rect = rl.Rectangle(0, 0, self._dm_cone.width, self._dm_cone.height)
@@ -114,16 +115,7 @@ def _render(self, _):
           dest_rect,
           rl.Vector2(dest_rect.width / 2, dest_rect.height / 2),
           self._rotation_filter.x - 90,
-          rl.Color(255, 255, 255, int(255 * self._fade_filter.x * (1 - self._looking_center_filter.x))),
-        )
-
-        rl.draw_texture_ex(
-          self._dm_center,
-          (int(self._rect.x + (self._rect.width - self._dm_center.width) / 2),
-           int(self._rect.y + (self._rect.height - self._dm_center.height) / 2)),
-          0,
-          1.0,
-          rl.Color(255, 255, 255, int(255 * self._fade_filter.x * self._looking_center_filter.x)),
+          rl.Color(255, 255, 255, int(255 * self._fade_filter.x)),
         )
 
       else:
@@ -163,9 +155,11 @@ def get_driver_data(self):
     sm = ui_state.sm
 
     dm_state = sm["driverMonitoringState"]
-    self._is_active = dm_state.isActiveMode
+    self._is_active = dm_state.activePolicy == log.DriverMonitoringState.MonitoringPolicy.vision
     self._is_rhd = dm_state.isRHD
-    self._face_detected = dm_state.faceDetected
+    self._face_detected = dm_state.visionPolicyState.faceDetected
+    self._face_pitch = dm_state.visionPolicyState.pose.pitch + math.radians(6) # calib or DM pose is not accurate, add a fake upward pitch to bias forward
+    self._face_yaw = -dm_state.visionPolicyState.pose.yaw # undo sign flip in face_orientation_from_model to match UI convention
 
     driverstate = sm["driverStateV2"]
     driver_data = driverstate.rightDriverData if self._is_rhd else driverstate.leftDriverData
@@ -173,15 +167,9 @@ def get_driver_data(self):
 
   def _update_state(self):
     # Get monitoring state
-    driver_data = self.get_driver_data()
-    driver_orient = driver_data.faceOrientation
-
-    if len(driver_orient) != 3:
-      return
-
-    pitch, yaw, roll = driver_orient
-    pitch = self._pitch_filter.update(pitch)
-    yaw = self._yaw_filter.update(yaw)
+    _ = self.get_driver_data()
+    pitch = self._pitch_filter.update(self._face_pitch)
+    yaw = self._yaw_filter.update(self._face_yaw)
 
     # hysteresis on looking center
     if abs(pitch) < LOOKING_CENTER_THRESHOLD_LOWER and abs(yaw) < LOOKING_CENTER_THRESHOLD_LOWER:
@@ -193,7 +181,6 @@ def _update_state(self):
     if DEBUG:
       pitchd = math.degrees(pitch)
       yawd = math.degrees(yaw)
-      rolld = math.degrees(roll)
 
       rl.draw_line_ex((0, 100), (200, 100), 3, rl.RED)
       rl.draw_line_ex((0, 120), (200, 120), 3, rl.RED)
@@ -201,13 +188,11 @@ def _update_state(self):
 
       pitch_x = 100 + pitchd
       yaw_x = 100 + yawd
-      roll_x = 100 + rolld
       rl.draw_circle(int(pitch_x), 100, 5, rl.GREEN)
       rl.draw_circle(int(yaw_x), 120, 5, rl.GREEN)
-      rl.draw_circle(int(roll_x), 140, 5, rl.GREEN)
 
     # filter head rotation, handling wrap-around
-    rotation = math.degrees(math.atan2(pitch, yaw))
+    rotation = math.degrees(math.atan2(pitch * 2, yaw))  # reduce yaw sensitivity
     angle_diff = rotation - self._rotation_filter.x
     angle_diff = ((angle_diff + 180) % 360) - 180
     self._rotation_filter.update(self._rotation_filter.x + angle_diff)
diff --git a/selfdrive/ui/mici/onroad/hud_renderer.py b/selfdrive/ui/mici/onroad/hud_renderer.py
index 7f489ccf981..7f69ea94331 100644
--- a/selfdrive/ui/mici/onroad/hud_renderer.py
+++ b/selfdrive/ui/mici/onroad/hud_renderer.py
@@ -49,8 +49,8 @@ def __init__(self):
     self._turn_intent_alpha_filter = FirstOrderFilter(0, 0.05, 1 / gui_app.target_fps)
     self._turn_intent_rotation_filter = FirstOrderFilter(0, 0.1, 1 / gui_app.target_fps)
 
-    self._txt_turn_intent_left: rl.Texture = gui_app.texture('icons_mici/turn_intent_left.png', 50, 19)
-    self._txt_turn_intent_right: rl.Texture = gui_app.texture('icons_mici/turn_intent_right.png', 50, 19)
+    self._txt_turn_intent_left: rl.Texture = gui_app.texture('icons_mici/turn_intent_left.png', 50, 20)
+    self._txt_turn_intent_right: rl.Texture = gui_app.texture('icons_mici/turn_intent_left.png', 50, 20, flip_x=True)
 
   def _render(self, _):
     if self._turn_intent_alpha_filter.x > 1e-2:
@@ -120,7 +120,7 @@ def __init__(self):
 
     self._txt_wheel: rl.Texture = gui_app.texture('icons_mici/wheel.png', 50, 50)
     self._txt_wheel_critical: rl.Texture = gui_app.texture('icons_mici/wheel_critical.png', 50, 50)
-    self._txt_exclamation_point: rl.Texture = gui_app.texture('icons_mici/exclamation_point.png', 44, 44)
+    self._txt_exclamation_point: rl.Texture = gui_app.texture('icons_mici/exclamation_point.png', 9, 44)
 
     self._wheel_alpha_filter = FirstOrderFilter(0, 0.05, 1 / gui_app.target_fps)
     self._wheel_y_filter = FirstOrderFilter(0, 0.1, 1 / gui_app.target_fps)
@@ -153,7 +153,7 @@ def _update_state(self) -> None:
 
     v_cruise_cluster = car_state.vCruiseCluster
     set_speed = (
-      controls_state.vCruiseDEPRECATED if v_cruise_cluster == 0.0 else v_cruise_cluster
+      controls_state.deprecated.vCruise if v_cruise_cluster == 0.0 else v_cruise_cluster
     )
     engaged = sm['selfdriveState'].enabled
     if (set_speed != self.set_speed and engaged) or (engaged and not self._engaged):
@@ -172,8 +172,7 @@ def _update_state(self) -> None:
   def _render(self, rect: rl.Rectangle) -> None:
     """Render HUD elements to the screen."""
 
-    if ui_state.sm['controlsState'].lateralControlState.which() != 'angleState':
-      self._torque_bar.render(rect)
+    self._torque_bar.render(rect)
 
     if self.is_cruise_set:
       self._draw_set_speed(rect)
@@ -220,7 +219,7 @@ def _draw_steering_wheel(self, rect: rl.Rectangle) -> None:
       EXCLAMATION_POINT_SPACING = 10
       exclamation_pos_x = pos_x - self._txt_exclamation_point.width / 2 + wheel_txt.width / 2 + EXCLAMATION_POINT_SPACING
       exclamation_pos_y = pos_y - self._txt_exclamation_point.height / 2
-      rl.draw_texture(self._txt_exclamation_point, int(exclamation_pos_x), int(exclamation_pos_y), rl.WHITE)
+      rl.draw_texture_ex(self._txt_exclamation_point, rl.Vector2(exclamation_pos_x, exclamation_pos_y), 0.0, 1.0, rl.WHITE)
 
   def _draw_set_speed(self, rect: rl.Rectangle) -> None:
     """Draw the MAX speed indicator box."""
diff --git a/selfdrive/ui/mici/onroad/torque_bar.py b/selfdrive/ui/mici/onroad/torque_bar.py
index d7c9f27a92d..1338c8dfb35 100644
--- a/selfdrive/ui/mici/onroad/torque_bar.py
+++ b/selfdrive/ui/mici/onroad/torque_bar.py
@@ -145,6 +145,9 @@ def get_cap(left: bool, a_deg: float):
   return pts
 
 
+DEFAULT_MAX_LAT_ACCEL = 3.0  # m/s^2
+
+
 class TorqueBar(Widget):
   def __init__(self, demo: bool = False):
     super().__init__()
@@ -165,16 +168,23 @@ def _update_state(self):
       controls_state = ui_state.sm['controlsState']
       car_state = ui_state.sm['carState']
       live_parameters = ui_state.sm['liveParameters']
-      lateral_acceleration = controls_state.curvature * car_state.vEgo ** 2 - live_parameters.roll * ACCELERATION_DUE_TO_GRAVITY
-      # TODO: pull from carparams
-      max_lateral_acceleration = 3
+      car_control = ui_state.sm['carControl']
 
-      # from selfdrived
+      # Include lateral accel error in estimated torque utilization
       actual_lateral_accel = controls_state.curvature * car_state.vEgo ** 2
       desired_lateral_accel = controls_state.desiredCurvature * car_state.vEgo ** 2
       accel_diff = (desired_lateral_accel - actual_lateral_accel)
 
-      self._torque_filter.update(min(max(lateral_acceleration / max_lateral_acceleration + accel_diff, -1), 1))
+      # Include road roll in estimated torque utilization
+      # Roll is less accurate near standstill, so reduce its effect at low speed
+      roll_compensation = live_parameters.roll * ACCELERATION_DUE_TO_GRAVITY * np.interp(car_state.vEgo, [5, 15], [0.0, 1.0])
+      lateral_acceleration = actual_lateral_accel - roll_compensation
+      max_lateral_acceleration = ui_state.CP.maxLateralAccel if ui_state.CP else DEFAULT_MAX_LAT_ACCEL
+
+      if not car_control.latActive:
+        self._torque_filter.update(0.0)
+      else:
+        self._torque_filter.update(np.clip((lateral_acceleration + accel_diff) / max_lateral_acceleration, -1, 1))
     else:
       self._torque_filter.update(-ui_state.sm['carOutput'].actuatorsOutput.torque)
 
diff --git a/selfdrive/ui/mici/tests/test_widget_leaks.py b/selfdrive/ui/mici/tests/test_widget_leaks.py
new file mode 100755
index 00000000000..e35cb447768
--- /dev/null
+++ b/selfdrive/ui/mici/tests/test_widget_leaks.py
@@ -0,0 +1,119 @@
+import pyray as rl
+rl.set_config_flags(rl.ConfigFlags.FLAG_WINDOW_HIDDEN)
+import gc
+import weakref
+import pytest
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.widgets import Widget
+
+# mici dialogs
+from openpilot.selfdrive.ui.mici.layouts.onboarding import TrainingGuide as MiciTrainingGuide, OnboardingWindow as MiciOnboardingWindow
+from openpilot.selfdrive.ui.mici.onroad.driver_camera_dialog import DriverCameraDialog as MiciDriverCameraDialog
+from openpilot.selfdrive.ui.mici.widgets.pairing_dialog import PairingDialog as MiciPairingDialog
+from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigConfirmationDialog, BigInputDialog
+from openpilot.selfdrive.ui.mici.layouts.settings.device import MiciFccModal
+
+# tici dialogs
+from openpilot.selfdrive.ui.onroad.driver_camera_dialog import DriverCameraDialog as TiciDriverCameraDialog
+from openpilot.selfdrive.ui.layouts.onboarding import OnboardingWindow as TiciOnboardingWindow
+from openpilot.selfdrive.ui.widgets.pairing_dialog import PairingDialog as TiciPairingDialog
+from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog
+from openpilot.system.ui.widgets.option_dialog import MultiOptionDialog
+from openpilot.system.ui.widgets.html_render import HtmlModal
+from openpilot.system.ui.widgets.keyboard import Keyboard
+
+# FIXME: known small leaks not worth worrying about at the moment
+KNOWN_LEAKS = {
+  "openpilot.selfdrive.ui.mici.onroad.driver_camera_dialog.DriverCameraView",
+  "openpilot.selfdrive.ui.mici.layouts.onboarding.TermsPage",
+  "openpilot.selfdrive.ui.mici.layouts.onboarding.TrainingGuide",
+  "openpilot.selfdrive.ui.mici.layouts.onboarding.DeclinePage",
+  "openpilot.selfdrive.ui.mici.layouts.onboarding.OnboardingWindow",
+  "openpilot.selfdrive.ui.onroad.driver_state.DriverStateRenderer",
+  "openpilot.selfdrive.ui.onroad.driver_camera_dialog.DriverCameraDialog",
+  "openpilot.selfdrive.ui.layouts.onboarding.TermsPage",
+  "openpilot.selfdrive.ui.layouts.onboarding.DeclinePage",
+  "openpilot.selfdrive.ui.layouts.onboarding.OnboardingWindow",
+  "openpilot.system.ui.widgets.confirm_dialog.ConfirmDialog",
+  "openpilot.system.ui.widgets.label.Label",
+  "openpilot.system.ui.widgets.button.Button",
+  "openpilot.system.ui.widgets.html_render.HtmlRenderer",
+  "openpilot.system.ui.widgets.nav_widget.NavBar",
+  "openpilot.selfdrive.ui.mici.layouts.settings.device.MiciFccModal",
+  "openpilot.system.ui.widgets.inputbox.InputBox",
+  "openpilot.system.ui.widgets.scroller_tici.Scroller",
+  "openpilot.system.ui.widgets.label.UnifiedLabel",
+  "openpilot.system.ui.widgets.mici_keyboard.MiciKeyboard",
+  "openpilot.selfdrive.ui.mici.widgets.dialog.BigConfirmationDialog",
+  "openpilot.system.ui.widgets.keyboard.Keyboard",
+  "openpilot.system.ui.widgets.slider.BigSlider",
+  "openpilot.selfdrive.ui.mici.widgets.dialog.BigInputDialog",
+  "openpilot.system.ui.widgets.option_dialog.MultiOptionDialog",
+}
+
+
+def get_child_widgets(widget: Widget) -> list[Widget]:
+  children = []
+  for val in widget.__dict__.values():
+    items = val if isinstance(val, (list, tuple)) else (val,)
+    children.extend(w for w in items if isinstance(w, Widget))
+  return children
+
+
+@pytest.mark.skip(reason="segfaults")
+def test_dialogs_do_not_leak():
+  gui_app.init_window("ref-test")
+
+  leaked_widgets = set()
+
+  for ctor in (
+    # mici
+    MiciDriverCameraDialog, MiciPairingDialog,
+    lambda: MiciTrainingGuide(lambda: None),
+    lambda: MiciOnboardingWindow(lambda: None),
+    lambda: BigDialog("test", "test"),
+    lambda: BigConfirmationDialog("test", gui_app.texture("icons_mici/settings/network/new/trash.png", 54, 64), lambda: None),
+    lambda: BigInputDialog("test"),
+    lambda: MiciFccModal(text="test"),
+    # tici
+    TiciDriverCameraDialog, TiciOnboardingWindow, TiciPairingDialog, Keyboard,
+    lambda: ConfirmDialog("test", "ok"),
+    lambda: MultiOptionDialog("test", ["a", "b"]),
+    lambda: HtmlModal(text="test"),
+  ):
+    widget = ctor()
+    all_refs = [weakref.ref(w) for w in get_child_widgets(widget) + [widget]]
+
+    del widget
+
+    for ref in all_refs:
+      if ref() is not None:
+        obj = ref()
+        name = f"{type(obj).__module__}.{type(obj).__qualname__}"
+        leaked_widgets.add(name)
+
+        print(f"\n===  Widget {name} alive after del")
+        print("  Referrers:")
+        for r in gc.get_referrers(obj):
+          if r is obj:
+            continue
+
+          if hasattr(r, '__self__') and r.__self__ is not obj:
+            print(f"    bound method: {type(r.__self__).__qualname__}.{r.__name__}")
+          elif hasattr(r, '__func__'):
+            print(f"    method: {r.__name__}")
+          else:
+            print(f"    {type(r).__module__}.{type(r).__qualname__}")
+        del obj
+
+  gui_app.close()
+
+  unexpected = leaked_widgets - KNOWN_LEAKS
+  assert not unexpected, f"New leaked widgets: {unexpected}"
+
+  fixed = KNOWN_LEAKS - leaked_widgets
+  assert not fixed, f"These leaks are fixed, remove from KNOWN_LEAKS: {fixed}"
+
+
+if __name__ == "__main__":
+  test_dialogs_do_not_leak()
diff --git a/selfdrive/ui/mici/widgets/button.py b/selfdrive/ui/mici/widgets/button.py
index be08e0fee37..058c351fb63 100644
--- a/selfdrive/ui/mici/widgets/button.py
+++ b/selfdrive/ui/mici/widgets/button.py
@@ -1,11 +1,11 @@
+import math
 import pyray as rl
 from typing import Union
 from enum import Enum
 from collections.abc import Callable
 from openpilot.system.ui.widgets import Widget
-from openpilot.system.ui.widgets.label import MiciLabel
+from openpilot.system.ui.widgets.label import UnifiedLabel
 from openpilot.system.ui.widgets.scroller import DO_ZOOM
-from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
 from openpilot.common.filter_simple import BounceFilter
 
@@ -16,8 +16,7 @@
 
 SCROLLING_SPEED_PX_S = 50
 COMPLICATION_SIZE    = 36
-LABEL_COLOR          = rl.WHITE
-LABEL_HORIZONTAL_PADDING = 40
+LABEL_COLOR          = rl.Color(255, 255, 255, int(255 * 0.9))
 COMPLICATION_GREY    = rl.Color(0xAA, 0xAA, 0xAA, 255)
 PRESSED_SCALE = 1.15 if DO_ZOOM else 1.07
 
@@ -29,50 +28,51 @@ class ScrollState(Enum):
 
 
 class BigCircleButton(Widget):
-  def __init__(self, icon: str, red: bool = False):
+  def __init__(self, icon: rl.Texture, red: bool = False, icon_offset: tuple[int, int] = (0, 0)):
     super().__init__()
     self._red = red
+    self._icon_offset = icon_offset
 
     # State
     self.set_rect(rl.Rectangle(0, 0, 180, 180))
-    self._press_state_enabled = True
     self._scale_filter = BounceFilter(1.0, 0.1, 1 / gui_app.target_fps)
+    self._click_delay = 0.075
 
     # Icons
-    self._txt_icon = gui_app.texture(icon, 64, 53)
+    self._txt_icon = icon
     self._txt_btn_disabled_bg = gui_app.texture("icons_mici/buttons/button_circle_disabled.png", 180, 180)
 
     self._txt_btn_bg = gui_app.texture("icons_mici/buttons/button_circle.png", 180, 180)
-    self._txt_btn_pressed_bg = gui_app.texture("icons_mici/buttons/button_circle_hover.png", 180, 180)
+    self._txt_btn_pressed_bg = gui_app.texture("icons_mici/buttons/button_circle_pressed.png", 180, 180)
 
     self._txt_btn_red_bg = gui_app.texture("icons_mici/buttons/button_circle_red.png", 180, 180)
-    self._txt_btn_red_pressed_bg = gui_app.texture("icons_mici/buttons/button_circle_red_hover.png", 180, 180)
+    self._txt_btn_red_pressed_bg = gui_app.texture("icons_mici/buttons/button_circle_red_pressed.png", 180, 180)
 
-  def set_enable_pressed_state(self, pressed: bool):
-    self._press_state_enabled = pressed
+  def _draw_content(self, btn_y: float):
+    # draw icon
+    icon_color = rl.Color(255, 255, 255, int(255 * 0.9)) if self.enabled else rl.Color(255, 255, 255, int(255 * 0.35))
+    rl.draw_texture_ex(self._txt_icon, (self._rect.x + (self._rect.width - self._txt_icon.width) / 2 + self._icon_offset[0],
+                                        btn_y + (self._rect.height - self._txt_icon.height) / 2 + self._icon_offset[1]), 0, 1.0, icon_color)
 
   def _render(self, _):
     # draw background
     txt_bg = self._txt_btn_bg if not self._red else self._txt_btn_red_bg
     if not self.enabled:
       txt_bg = self._txt_btn_disabled_bg
-    elif self.is_pressed and self._press_state_enabled:
+    elif self.is_pressed:
       txt_bg = self._txt_btn_pressed_bg if not self._red else self._txt_btn_red_pressed_bg
 
-    scale = self._scale_filter.update(PRESSED_SCALE if self.is_pressed and self._press_state_enabled else 1.0)
+    scale = self._scale_filter.update(PRESSED_SCALE if self.is_pressed else 1.0)
     btn_x = self._rect.x + (self._rect.width * (1 - scale)) / 2
     btn_y = self._rect.y + (self._rect.height * (1 - scale)) / 2
     rl.draw_texture_ex(txt_bg, (btn_x, btn_y), 0, scale, rl.WHITE)
 
-    # draw icon
-    icon_color = rl.WHITE if self.enabled else rl.Color(255, 255, 255, int(255 * 0.35))
-    rl.draw_texture(self._txt_icon, int(self._rect.x + (self._rect.width - self._txt_icon.width) / 2),
-                    int(self._rect.y + (self._rect.height - self._txt_icon.height) / 2), icon_color)
+    self._draw_content(btn_y)
 
 
 class BigCircleToggle(BigCircleButton):
-  def __init__(self, icon: str, toggle_callback: Callable = None):
-    super().__init__(icon, False)
+  def __init__(self, icon: rl.Texture, toggle_callback: Callable | None = None, icon_offset: tuple[int, int] = (0, 0)):
+    super().__init__(icon, False, icon_offset=icon_offset)
     self._toggle_callback = toggle_callback
 
     # State
@@ -80,7 +80,7 @@ def __init__(self, icon: str, toggle_callback: Callable = None):
 
     # Icons
     self._txt_toggle_enabled = gui_app.texture("icons_mici/buttons/toggle_dot_enabled.png", 66, 66)
-    self._txt_toggle_disabled = gui_app.texture("icons_mici/buttons/toggle_dot_disabled.png", 70, 70)  # TODO: why discrepancy?
+    self._txt_toggle_disabled = gui_app.texture("icons_mici/buttons/toggle_dot_disabled.png", 66, 66)
 
   def set_checked(self, checked: bool):
     self._checked = checked
@@ -92,49 +92,47 @@ def _handle_mouse_release(self, mouse_pos: MousePos):
     if self._toggle_callback:
       self._toggle_callback(self._checked)
 
-  def _render(self, _):
-    super()._render(_)
+  def _draw_content(self, btn_y: float):
+    super()._draw_content(btn_y)
 
     # draw status icon
-    rl.draw_texture(self._txt_toggle_enabled if self._checked else self._txt_toggle_disabled,
-                    int(self._rect.x + (self._rect.width - self._txt_toggle_enabled.width) / 2),
-                    int(self._rect.y + 5), rl.WHITE)
+    rl.draw_texture_ex(self._txt_toggle_enabled if self._checked else self._txt_toggle_disabled,
+                       (self._rect.x + (self._rect.width - self._txt_toggle_enabled.width) / 2, btn_y + 5),
+                       0, 1.0, rl.WHITE)
 
 
 class BigButton(Widget):
+  LABEL_HORIZONTAL_PADDING = 40
+  LABEL_VERTICAL_PADDING = 23  # visually matches 30 in figma
+
   """A lightweight stand-in for the Qt BigButton, drawn & updated each frame."""
 
-  def __init__(self, text: str, value: str = "", icon: Union[str, rl.Texture] = ""):
+  def __init__(self, text: str, value: str = "", icon: Union[rl.Texture, None] = None, scroll: bool = False):
     super().__init__()
     self.set_rect(rl.Rectangle(0, 0, 402, 180))
     self.text = text
     self.value = value
-    self.set_icon(icon)
+    self._txt_icon = icon
+    self._scroll = scroll
 
     self._scale_filter = BounceFilter(1.0, 0.1, 1 / gui_app.target_fps)
+    self._click_delay = 0.075
+    self._shake_start: float | None = None
+    self._grow_animation_until: float | None = None
 
     self._rotate_icon_t: float | None = None
 
-    self._label_font = gui_app.font(FontWeight.DISPLAY)
-    self._value_font = gui_app.font(FontWeight.ROMAN)
-
-    self._label = MiciLabel(text, font_size=self._get_label_font_size(), width=int(self._rect.width - LABEL_HORIZONTAL_PADDING * 2),
-                            font_weight=FontWeight.DISPLAY, color=LABEL_COLOR,
-                            alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM, wrap_text=True)
-    self._sub_label = MiciLabel(value, font_size=COMPLICATION_SIZE, width=int(self._rect.width - LABEL_HORIZONTAL_PADDING * 2),
-                                font_weight=FontWeight.ROMAN, color=COMPLICATION_GREY,
-                                alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM, wrap_text=True)
+    self._label = UnifiedLabel(text, font_size=self._get_label_font_size(), font_weight=FontWeight.BOLD,
+                               text_color=LABEL_COLOR, alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM, scroll=scroll,
+                               line_height=0.9)
+    self._sub_label = UnifiedLabel(value, font_size=COMPLICATION_SIZE, font_weight=FontWeight.ROMAN,
+                                   text_color=COMPLICATION_GREY, alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM)
+    self._update_label_layout()
 
     self._load_images()
 
-    # internal state
-    self._scroll_offset = 0       # in pixels
-    self._needs_scroll = measure_text_cached(self._label_font, text, self._get_label_font_size()).x + 25 > self._rect.width
-    self._scroll_timer = 0
-    self._scroll_state = ScrollState.PRE_SCROLL
-
-  def set_icon(self, icon: Union[str, rl.Texture]):
-    self._txt_icon = gui_app.texture(icon, 64, 64) if isinstance(icon, str) and len(icon) else icon
+  def set_icon(self, icon: Union[rl.Texture, None]):
+    self._txt_icon = icon
 
   def set_rotate_icon(self, rotate: bool):
     if rotate and self._rotate_icon_t is not None:
@@ -145,30 +143,37 @@ def _load_images(self):
     self._txt_default_bg = gui_app.texture("icons_mici/buttons/button_rectangle.png", 402, 180)
     self._txt_pressed_bg = gui_app.texture("icons_mici/buttons/button_rectangle_pressed.png", 402, 180)
     self._txt_disabled_bg = gui_app.texture("icons_mici/buttons/button_rectangle_disabled.png", 402, 180)
-    self._txt_hover_bg = gui_app.texture("icons_mici/buttons/button_rectangle_hover.png", 402, 180)
+
+  def set_touch_valid_callback(self, touch_callback: Callable[[], bool]) -> None:
+    super().set_touch_valid_callback(lambda: touch_callback() and self._grow_animation_until is None)
+
+  def _width_hint(self) -> int:
+    # Single line if scrolling, so hide behind icon if exists
+    icon_size = self._txt_icon.width if self._txt_icon and self._scroll and self.value else 0
+    return int(self._rect.width - self.LABEL_HORIZONTAL_PADDING * 2 - icon_size)
 
   def _get_label_font_size(self):
-    if len(self.text) < 12:
-      font_size = 64
-    elif len(self.text) < 17:
-      font_size = 48
-    elif len(self.text) < 20:
-      font_size = 42
+    if len(self.text) <= 18:
+      return 48
     else:
-      font_size = 36
+      return 42
 
+  def _update_label_layout(self):
+    self._label.set_font_size(self._get_label_font_size())
     if self.value:
-      font_size -= 20
-
-    return font_size
+      self._label.set_alignment_vertical(rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP)
+    else:
+      self._label.set_alignment_vertical(rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM)
 
   def set_text(self, text: str):
     self.text = text
     self._label.set_text(text)
+    self._update_label_layout()
 
   def set_value(self, value: str):
     self.value = value
     self._sub_label.set_text(value)
+    self._update_label_layout()
 
   def get_value(self) -> str:
     return self.value
@@ -176,64 +181,60 @@ def get_value(self) -> str:
   def get_text(self):
     return self.text
 
-  def _update_state(self):
-    # hold on text for a bit, scroll, hold again, reset
-    if self._needs_scroll:
-      """`dt` should be seconds since last frame (rl.get_frame_time())."""
-      # TODO: this comment is generated by GPT, prob wrong and misused
-      dt = rl.get_frame_time()
-
-      self._scroll_timer += dt
-      if self._scroll_state == ScrollState.PRE_SCROLL:
-        if self._scroll_timer < 0.5:
-          return
-        self._scroll_state = ScrollState.SCROLLING
-        self._scroll_timer = 0
-
-      elif self._scroll_state == ScrollState.SCROLLING:
-        self._scroll_offset -= SCROLLING_SPEED_PX_S * dt
-        # reset when text has completely left the button + 50 px gap
-        # TODO: use global constant for 30+30 px gap
-        # TODO: add std Widget padding option integrated into the self._rect
-        full_len = measure_text_cached(self._label_font, self.text, self._get_label_font_size()).x + 30 + 30
-        if self._scroll_offset < (self._rect.width - full_len):
-          self._scroll_state = ScrollState.POST_SCROLL
-          self._scroll_timer = 0
-
-      elif self._scroll_state == ScrollState.POST_SCROLL:
-        # wait for a bit before starting to scroll again
-        if self._scroll_timer < 0.75:
-          return
-        self._scroll_state = ScrollState.PRE_SCROLL
-        self._scroll_timer = 0
-        self._scroll_offset = 0
+  def trigger_shake(self):
+    self._shake_start = rl.get_time()
+
+  def trigger_grow_animation(self, duration: float = 0.65):
+    self._grow_animation_until = rl.get_time() + duration
+
+  @property
+  def _shake_offset(self) -> float:
+    SHAKE_DURATION = 0.5
+    SHAKE_AMPLITUDE = 24.0
+    SHAKE_FREQUENCY = 32.0
+    if self._shake_start is None:
+      return 0.0
+    t = rl.get_time() - self._shake_start
+    if t > SHAKE_DURATION:
+      return 0.0
+    decay = 1.0 - t / SHAKE_DURATION
+    return decay * SHAKE_AMPLITUDE * math.sin(t * SHAKE_FREQUENCY)
+
+  def set_position(self, x: float, y: float) -> None:
+    super().set_position(x + self._shake_offset, y)
+
+  def _handle_background(self) -> tuple[rl.Texture, float, float, float]:
+    if self._grow_animation_until is not None:
+      if rl.get_time() >= self._grow_animation_until:
+        self._grow_animation_until = None
 
-  def _render(self, _):
     # draw _txt_default_bg
     txt_bg = self._txt_default_bg
     if not self.enabled:
       txt_bg = self._txt_disabled_bg
     elif self.is_pressed:
-      txt_bg = self._txt_hover_bg
+      txt_bg = self._txt_pressed_bg
 
-    scale = self._scale_filter.update(PRESSED_SCALE if self.is_pressed else 1.0)
+    scale = self._scale_filter.update(PRESSED_SCALE if self.is_pressed or self._grow_animation_until is not None else 1.0)
     btn_x = self._rect.x + (self._rect.width * (1 - scale)) / 2
     btn_y = self._rect.y + (self._rect.height * (1 - scale)) / 2
-    rl.draw_texture_ex(txt_bg, (btn_x, btn_y), 0, scale, rl.WHITE)
+    return txt_bg, btn_x, btn_y, scale
 
+  def _draw_content(self, btn_y: float):
     # LABEL ------------------------------------------------------------------
-    lx = self._rect.x + LABEL_HORIZONTAL_PADDING
-    ly = btn_y + self._rect.height - 33  # - 40# - self._get_label_font_size() / 2
-
-    if self.value:
-      self._sub_label.set_position(lx, ly)
-      ly -= self._sub_label.font_size + 9
-      self._sub_label.render()
+    label_x = self._rect.x + self.LABEL_HORIZONTAL_PADDING
 
     label_color = LABEL_COLOR if self.enabled else rl.Color(255, 255, 255, int(255 * 0.35))
     self._label.set_color(label_color)
-    self._label.set_position(lx, ly)
-    self._label.render()
+    label_rect = rl.Rectangle(label_x, btn_y + self.LABEL_VERTICAL_PADDING, self._width_hint(),
+                              self._rect.height - self.LABEL_VERTICAL_PADDING * 2)
+    self._label.render(label_rect)
+
+    if self.value:
+      label_y = btn_y + self.LABEL_VERTICAL_PADDING + self._label.get_content_height(self._width_hint())
+      sub_label_height = btn_y + self._rect.height - self.LABEL_VERTICAL_PADDING - label_y
+      sub_label_rect = rl.Rectangle(label_x, label_y, self._width_hint(), sub_label_height)
+      self._sub_label.render(sub_label_rect)
 
     # ICON -------------------------------------------------------------------
     if self._txt_icon:
@@ -241,23 +242,35 @@ def _render(self, _):
       if self._rotate_icon_t is not None:
         rotation = (rl.get_time() - self._rotate_icon_t) * 180
 
-      # drop top right with 30px padding
+      # draw top right with 30px padding
       x = self._rect.x + self._rect.width - 30 - self._txt_icon.width / 2
-      y = self._rect.y + 30 + self._txt_icon.height / 2
+      y = btn_y + 30 + self._txt_icon.height / 2
       source_rec = rl.Rectangle(0, 0, self._txt_icon.width, self._txt_icon.height)
-      dest_rec = rl.Rectangle(int(x), int(y), self._txt_icon.width, self._txt_icon.height)
+      dest_rec = rl.Rectangle(x, y, self._txt_icon.width, self._txt_icon.height)
       origin = rl.Vector2(self._txt_icon.width / 2, self._txt_icon.height / 2)
-      rl.draw_texture_pro(self._txt_icon, source_rec, dest_rec, origin, rotation, rl.WHITE)
+      rl.draw_texture_pro(self._txt_icon, source_rec, dest_rec, origin, rotation, rl.Color(255, 255, 255, int(255 * 0.9)))
+
+  def _render(self, _):
+    txt_bg, btn_x, btn_y, scale = self._handle_background()
+
+    if self._scroll:
+      # draw black background since images are transparent
+      scaled_rect = rl.Rectangle(btn_x, btn_y, self._rect.width * scale, self._rect.height * scale)
+      rl.draw_rectangle_rounded(scaled_rect, 0.4, 7, rl.Color(0, 0, 0, int(255 * 0.5)))
+
+      self._draw_content(btn_y)
+      rl.draw_texture_ex(txt_bg, (btn_x, btn_y), 0, scale, rl.WHITE)
+    else:
+      rl.draw_texture_ex(txt_bg, (btn_x, btn_y), 0, scale, rl.WHITE)
+      self._draw_content(btn_y)
 
 
 class BigToggle(BigButton):
-  def __init__(self, text: str, value: str = "", initial_state: bool = False, toggle_callback: Callable = None):
+  def __init__(self, text: str, value: str = "", initial_state: bool = False, toggle_callback: Callable | None = None):
     super().__init__(text, value, "")
     self._checked = initial_state
     self._toggle_callback = toggle_callback
 
-    self._label.set_font_size(48)
-
   def _load_images(self):
     super()._load_images()
     self._txt_enabled_toggle = gui_app.texture("icons_mici/buttons/toggle_pill_enabled.png", 84, 66)
@@ -275,35 +288,30 @@ def _handle_mouse_release(self, mouse_pos: MousePos):
   def _draw_pill(self, x: float, y: float, checked: bool):
     # draw toggle icon top right
     if checked:
-      rl.draw_texture(self._txt_enabled_toggle, int(x), int(y), rl.WHITE)
+      rl.draw_texture_ex(self._txt_enabled_toggle, (x, y), 0, 1.0, rl.WHITE)
     else:
-      rl.draw_texture(self._txt_disabled_toggle, int(x), int(y), rl.WHITE)
+      rl.draw_texture_ex(self._txt_disabled_toggle, (x, y), 0, 1.0, rl.WHITE)
 
-  def _render(self, _):
-    super()._render(_)
+  def _draw_content(self, btn_y: float):
+    super()._draw_content(btn_y)
 
     x = self._rect.x + self._rect.width - self._txt_enabled_toggle.width
-    y = self._rect.y
+    y = btn_y
     self._draw_pill(x, y, self._checked)
 
 
 class BigMultiToggle(BigToggle):
-  def __init__(self, text: str, options: list[str], toggle_callback: Callable = None,
-               select_callback: Callable = None):
+  def __init__(self, text: str, options: list[str], toggle_callback: Callable | None = None,
+               select_callback: Callable | None = None):
     super().__init__(text, "", toggle_callback=toggle_callback)
     assert len(options) > 0
     self._options = options
     self._select_callback = select_callback
 
-    self._label.set_width(int(self._rect.width - LABEL_HORIZONTAL_PADDING * 2 - self._txt_enabled_toggle.width))
-    # TODO: why isn't this automatic?
-    self._label.set_font_size(self._get_label_font_size())
-
     self.set_value(self._options[0])
 
-  def _get_label_font_size(self):
-    font_size = super()._get_label_font_size()
-    return font_size - 6
+  def _width_hint(self) -> int:
+    return int(self._rect.width - self.LABEL_HORIZONTAL_PADDING * 2 - self._txt_enabled_toggle.width)
 
   def _handle_mouse_release(self, mouse_pos: MousePos):
     super()._handle_mouse_release(mouse_pos)
@@ -313,22 +321,60 @@ def _handle_mouse_release(self, mouse_pos: MousePos):
     if self._select_callback:
       self._select_callback(self.value)
 
-  def _render(self, _):
-    BigButton._render(self, _)
+  def _draw_content(self, btn_y: float):
+    # don't draw pill from BigToggle
+    BigButton._draw_content(self, btn_y)
 
     checked_idx = self._options.index(self.value)
 
     x = self._rect.x + self._rect.width - self._txt_enabled_toggle.width
-    y = self._rect.y
+    y = btn_y
 
     for i in range(len(self._options)):
       self._draw_pill(x, y, checked_idx == i)
       y += 35
 
 
+class GreyBigButton(BigButton):
+  """Users should manage newlines with this class themselves"""
+
+  LABEL_HORIZONTAL_PADDING = 30
+
+  def __init__(self, *args, **kwargs):
+    super().__init__(*args, **kwargs)
+    self.set_touch_valid_callback(lambda: False)
+
+    self._rect.width = 476
+
+    self._label.set_font_size(36)
+    self._label.set_font_weight(FontWeight.BOLD)
+    self._label.set_line_height(1.0)
+
+    self._sub_label.set_font_size(36)
+    self._sub_label.set_text_color(rl.Color(255, 255, 255, int(255 * 0.9)))
+    self._sub_label.set_font_weight(FontWeight.DISPLAY_REGULAR)
+    self._sub_label.set_alignment_vertical(rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE if not self._label.text else
+                                           rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM)
+    self._sub_label.set_line_height(0.95)
+
+  @property
+  def LABEL_VERTICAL_PADDING(self):
+    return BigButton.LABEL_VERTICAL_PADDING if self._label.text else 18
+
+  def _width_hint(self) -> int:
+    return int(self._rect.width - self.LABEL_HORIZONTAL_PADDING * 2)
+
+  def _get_label_font_size(self):
+    return 36
+
+  def _render(self, _):
+    rl.draw_rectangle_rounded(self._rect, 0.4, 10, rl.Color(255, 255, 255, int(255 * 0.15)))
+    self._draw_content(self._rect.y)
+
+
 class BigMultiParamToggle(BigMultiToggle):
-  def __init__(self, text: str, param: str, options: list[str], toggle_callback: Callable = None,
-               select_callback: Callable = None):
+  def __init__(self, text: str, param: str, options: list[str], toggle_callback: Callable | None = None,
+               select_callback: Callable | None = None):
     super().__init__(text, options, toggle_callback, select_callback)
     self._param = param
 
@@ -345,7 +391,7 @@ def _handle_mouse_release(self, mouse_pos: MousePos):
 
 
 class BigParamControl(BigToggle):
-  def __init__(self, text: str, param: str, toggle_callback: Callable = None):
+  def __init__(self, text: str, param: str, toggle_callback: Callable | None = None):
     super().__init__(text, "", toggle_callback=toggle_callback)
     self.param = param
     self.params = Params()
@@ -361,8 +407,9 @@ def refresh(self):
 
 # TODO: param control base class
 class BigCircleParamControl(BigCircleToggle):
-  def __init__(self, icon: str, param: str, toggle_callback: Callable = None):
-    super().__init__(icon, toggle_callback)
+  def __init__(self, icon: rl.Texture, param: str, toggle_callback: Callable | None = None,
+               icon_offset: tuple[int, int] = (0, 0)):
+    super().__init__(icon, toggle_callback, icon_offset=icon_offset)
     self._param = param
     self.params = Params()
     self.set_checked(self.params.get_bool(self._param, False))
diff --git a/selfdrive/ui/mici/widgets/dialog.py b/selfdrive/ui/mici/widgets/dialog.py
index 3d9aa3f9e24..ed1466449b2 100644
--- a/selfdrive/ui/mici/widgets/dialog.py
+++ b/selfdrive/ui/mici/widgets/dialog.py
@@ -3,18 +3,14 @@
 import pyray as rl
 from typing import Union
 from collections.abc import Callable
-from typing import cast
-from openpilot.selfdrive.ui.mici.widgets.side_button import SideButton
-from openpilot.system.ui.widgets import Widget, NavWidget, DialogResult
-from openpilot.system.ui.widgets.label import UnifiedLabel, gui_label
+from openpilot.system.ui.widgets.nav_widget import NavWidget
+from openpilot.system.ui.widgets.label import UnifiedLabel
 from openpilot.system.ui.widgets.mici_keyboard import MiciKeyboard
 from openpilot.system.ui.lib.text_measure import measure_text_cached
-from openpilot.system.ui.lib.wrap_text import wrap_text
 from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
-from openpilot.system.ui.widgets.scroller import Scroller
 from openpilot.system.ui.widgets.slider import RedBigSlider, BigSlider
 from openpilot.common.filter_simple import FirstOrderFilter
-from openpilot.selfdrive.ui.mici.widgets.button import BigButton
+from openpilot.selfdrive.ui.mici.widgets.button import BigCircleButton, BigButton, GreyBigButton
 
 DEBUG = False
 
@@ -22,135 +18,80 @@
 
 
 class BigDialogBase(NavWidget, abc.ABC):
-  def __init__(self, right_btn: str | None = None, right_btn_callback: Callable | None = None):
+  def __init__(self):
     super().__init__()
-    self._ret = DialogResult.NO_ACTION
     self.set_rect(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
-    self.set_back_callback(lambda: setattr(self, '_ret', DialogResult.CANCEL))
 
-    self._right_btn = None
-    if right_btn:
-      def right_btn_callback_wrapper():
-        gui_app.set_modal_overlay(None)
-        if right_btn_callback:
-          right_btn_callback()
 
-      self._right_btn = SideButton(right_btn)
-      self._right_btn.set_click_callback(right_btn_callback_wrapper)
-      # move to right side
-      self._right_btn._rect.x = self._rect.x + self._rect.width - self._right_btn._rect.width
-
-  def _render(self, _) -> DialogResult:
-    """
-    Allows `gui_app.set_modal_overlay(BigDialog(...))`.
-    The overlay runner keeps calling until result != NO_ACTION.
-    """
-    if self._right_btn:
-      self._right_btn.set_position(self._right_btn._rect.x, self._rect.y)
-      self._right_btn.render()
-
-    return self._ret
+class BigDialog(BigDialogBase):
+  def __init__(self, title: str, description: str, icon: Union[rl.Texture, None] = None):
+    super().__init__()
+    self._card = GreyBigButton(title, description, icon)
 
+  def _render(self, _):
+    self._card.render(rl.Rectangle(
+      self._rect.x + self._rect.width / 2 - self._card.rect.width / 2,
+      self._rect.y + self._rect.height / 2 - self._card.rect.height / 2,
+      self._card.rect.width,
+      self._card.rect.height,
+    ))
 
-class BigDialog(BigDialogBase):
-  def __init__(self,
-               title: str,
-               description: str,
-               right_btn: str | None = None,
-               right_btn_callback: Callable | None = None):
-    super().__init__(right_btn, right_btn_callback)
-    self._title = title
-    self._description = description
 
-  def _render(self, _) -> DialogResult:
-    super()._render(_)
-
-    # draw title
-    # TODO: we desperately need layouts
-    # TODO: coming up with these numbers manually is a pain and not scalable
-    # TODO: no clue what any of these numbers mean. VBox and HBox would remove all of this shite
-    max_width = self._rect.width - PADDING * 2
-    if self._right_btn:
-      max_width -= self._right_btn._rect.width
-
-    title_wrapped = '\n'.join(wrap_text(gui_app.font(FontWeight.BOLD), self._title, 50, int(max_width)))
-    title_size = measure_text_cached(gui_app.font(FontWeight.BOLD), title_wrapped, 50)
-    text_x_offset = 0
-    title_rect = rl.Rectangle(int(self._rect.x + text_x_offset + PADDING),
-                              int(self._rect.y + PADDING),
-                              int(max_width),
-                              int(title_size.y))
-    gui_label(title_rect, title_wrapped, 50, font_weight=FontWeight.BOLD,
-              alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
-
-    # draw description
-    desc_wrapped = '\n'.join(wrap_text(gui_app.font(FontWeight.MEDIUM), self._description, 30, int(max_width)))
-    desc_size = measure_text_cached(gui_app.font(FontWeight.MEDIUM), desc_wrapped, 30)
-    desc_rect = rl.Rectangle(int(self._rect.x + text_x_offset + PADDING),
-                             int(self._rect.y + self._rect.height / 3),
-                             int(max_width),
-                             int(desc_size.y))
-    # TODO: text align doesn't seem to work properly with newlines
-    gui_label(desc_rect, desc_wrapped, 30, font_weight=FontWeight.MEDIUM,
-              alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
-
-    return self._ret
-
-
-class BigConfirmationDialogV2(BigDialogBase):
-  def __init__(self, title: str, icon: str, red: bool = False,
-               exit_on_confirm: bool = True,
-               confirm_callback: Callable | None = None):
+class BigConfirmationDialog(BigDialogBase):
+  def __init__(self, title: str, icon: rl.Texture, confirm_callback: Callable[[], None],
+               exit_on_confirm: bool = True, red: bool = False):
     super().__init__()
     self._confirm_callback = confirm_callback
     self._exit_on_confirm = exit_on_confirm
 
-    icon_txt = gui_app.texture(icon, 64, 53)
     self._slider: BigSlider | RedBigSlider
     if red:
-      self._slider = RedBigSlider(title, icon_txt, confirm_callback=self._on_confirm)
+      self._slider = self._child(RedBigSlider(title, icon, confirm_callback=self._on_confirm))
     else:
-      self._slider = BigSlider(title, icon_txt, confirm_callback=self._on_confirm)
-    self._slider.set_enabled(lambda: not self._swiping_away)
+      self._slider = self._child(BigSlider(title, icon, confirm_callback=self._on_confirm))
+    self._slider.set_enabled(lambda: self.enabled and not self.is_dismissing)  # for nav stack + NavWidget
 
   def _on_confirm(self):
-    if self._confirm_callback:
-      self._confirm_callback()
     if self._exit_on_confirm:
-      self._ret = DialogResult.CONFIRM
+      self.dismiss(self._confirm_callback)
+    elif self._confirm_callback:
+      self._confirm_callback()
 
   def _update_state(self):
     super()._update_state()
-    if self._swiping_away and not self._slider.confirmed:
+    if self.is_dismissing and not self._slider.confirmed:
       self._slider.reset()
 
-  def _render(self, _) -> DialogResult:
+  def _render(self, _):
     self._slider.render(self._rect)
-    return self._ret
 
 
 class BigInputDialog(BigDialogBase):
   BACK_TOUCH_AREA_PERCENTAGE = 0.2
   BACKSPACE_RATE = 25  # hz
+  TEXT_INPUT_SIZE = 35
 
   def __init__(self,
                hint: str,
                default_text: str = "",
                minimum_length: int = 1,
-               confirm_callback: Callable[[str], None] = None):
-    super().__init__(None, None)
+               confirm_callback: Callable[[str], None] | None = None,
+               auto_return_to_letters: str = ""):
+    super().__init__()
     self._hint_label = UnifiedLabel(hint, font_size=35, text_color=rl.Color(255, 255, 255, int(255 * 0.35)),
                                     font_weight=FontWeight.MEDIUM)
-    self._keyboard = MiciKeyboard()
+    self._keyboard = MiciKeyboard(auto_return_to_letters=auto_return_to_letters)
     self._keyboard.set_text(default_text)
+    self._keyboard.set_enabled(lambda: self.enabled and not self.is_dismissing)  # for nav stack + NavWidget
     self._minimum_length = minimum_length
 
     self._backspace_held_time: float | None = None
 
-    self._backspace_img = gui_app.texture("icons_mici/settings/keyboard/backspace.png", 44, 44)
+    self._backspace_img = gui_app.texture("icons_mici/settings/keyboard/backspace.png", 42, 36)
     self._backspace_img_alpha = FirstOrderFilter(0, 0.05, 1 / gui_app.target_fps)
 
-    self._enter_img = gui_app.texture("icons_mici/settings/keyboard/confirm.png", 44, 44)
+    self._enter_img = gui_app.texture("icons_mici/settings/keyboard/enter.png", 76, 62)
+    self._enter_disabled_img = gui_app.texture("icons_mici/settings/keyboard/enter_disabled.png", 76, 62)
     self._enter_img_alpha = FirstOrderFilter(0, 0.05, 1 / gui_app.target_fps)
 
     # rects for top buttons
@@ -158,14 +99,17 @@ def __init__(self,
     self._top_right_button_rect = rl.Rectangle(0, 0, 0, 0)
 
     def confirm_callback_wrapper():
-      self._ret = DialogResult.CONFIRM
-      if confirm_callback:
-        confirm_callback(self._keyboard.text())
+      text = self._keyboard.text()
+      self.dismiss((lambda: confirm_callback(text)) if confirm_callback else None)
     self._confirm_callback = confirm_callback_wrapper
 
   def _update_state(self):
     super()._update_state()
 
+    if self.is_dismissing:
+      self._backspace_held_time = None
+      return
+
     last_mouse_event = gui_app.last_mouse_event
     if last_mouse_event.left_down and rl.check_collision_point_rec(last_mouse_event.pos, self._top_right_button_rect) and self._backspace_img_alpha.x > 1:
       if self._backspace_held_time is None:
@@ -179,64 +123,60 @@ def _update_state(self):
       self._backspace_held_time = None
 
   def _render(self, _):
-    text_input_size = 35
-
     # draw current text so far below everything. text floats left but always stays in view
     text = self._keyboard.text()
     candidate_char = self._keyboard.get_candidate_character()
-    text_size = measure_text_cached(gui_app.font(FontWeight.ROMAN), text + candidate_char or self._hint_label.text, text_input_size)
-    text_x = PADDING * 2 + self._enter_img.width
+    text_size = measure_text_cached(gui_app.font(FontWeight.ROMAN), text + candidate_char or self._hint_label.text, self.TEXT_INPUT_SIZE)
 
-    # text needs to move left if we're at the end where right button is
-    text_rect = rl.Rectangle(text_x,
-                             int(self._rect.y + PADDING),
-                             # clip width to right button when in view
-                             int(self._rect.width - text_x - PADDING * 2 - self._enter_img.width + 5),  # TODO: why 5?
-                             int(text_size.y))
-
-    # draw rounded background for text input
     bg_block_margin = 5
-    text_field_rect = rl.Rectangle(text_rect.x - bg_block_margin, text_rect.y - bg_block_margin,
-                                   text_rect.width + bg_block_margin * 2, text_input_size + bg_block_margin * 2)
+    text_x = PADDING / 2 + self._enter_img.width + PADDING
+    text_field_rect = rl.Rectangle(text_x, self._rect.y + PADDING - bg_block_margin,
+                                   self._rect.width - text_x * 2,
+                                   text_size.y)
 
     # draw text input
     # push text left with a gradient on left side if too long
-    if text_size.x > text_rect.width:
-      text_x -= text_size.x - text_rect.width
+    if text_size.x > text_field_rect.width:
+      text_x -= text_size.x - text_field_rect.width
 
-    rl.begin_scissor_mode(int(text_rect.x), int(text_rect.y), int(text_rect.width), int(text_rect.height))
-    rl.draw_text_ex(gui_app.font(FontWeight.ROMAN), text, rl.Vector2(text_x, text_rect.y), text_input_size, 0, rl.WHITE)
+    rl.begin_scissor_mode(int(text_field_rect.x), int(text_field_rect.y), int(text_field_rect.width), int(text_field_rect.height))
+    rl.draw_text_ex(gui_app.font(FontWeight.ROMAN), text, rl.Vector2(text_x, text_field_rect.y), self.TEXT_INPUT_SIZE, 0, rl.WHITE)
 
     # draw grayed out character user is hovering over
     if candidate_char:
-      candidate_char_size = measure_text_cached(gui_app.font(FontWeight.ROMAN), candidate_char, text_input_size)
+      candidate_char_size = measure_text_cached(gui_app.font(FontWeight.ROMAN), candidate_char, self.TEXT_INPUT_SIZE)
       rl.draw_text_ex(gui_app.font(FontWeight.ROMAN), candidate_char,
-                      rl.Vector2(min(text_x + text_size.x, text_rect.x + text_rect.width) - candidate_char_size.x, text_rect.y),
-                      text_input_size, 0, rl.Color(255, 255, 255, 128))
+                      rl.Vector2(min(text_x + text_size.x, text_field_rect.x + text_field_rect.width) - candidate_char_size.x, text_field_rect.y),
+                      self.TEXT_INPUT_SIZE, 0, rl.Color(255, 255, 255, 128))
 
     rl.end_scissor_mode()
 
     # draw gradient on left side to indicate more text
-    if text_size.x > text_rect.width:
-      rl.draw_rectangle_gradient_h(int(text_rect.x), int(text_rect.y), 80, int(text_rect.height),
-                                   rl.BLACK, rl.BLANK)
+    if text_size.x > text_field_rect.width:
+      rl.draw_rectangle_gradient_ex(rl.Rectangle(text_field_rect.x, text_field_rect.y, 80, text_field_rect.height),
+                                    rl.BLACK, rl.BLANK, rl.BLANK, rl.BLACK)
 
     # draw cursor
+    blink_alpha = (math.sin(rl.get_time() * 6) + 1) / 2
     if text:
-      blink_alpha = (math.sin(rl.get_time() * 6) + 1) / 2
-      cursor_x = min(text_x + text_size.x + 3, text_rect.x + text_rect.width)
-      rl.draw_rectangle_rounded(rl.Rectangle(int(cursor_x), int(text_rect.y), 4, int(text_size.y)),
-                                1, 4, rl.Color(255, 255, 255, int(255 * blink_alpha)))
+      cursor_x = min(text_x + text_size.x + 3, text_field_rect.x + text_field_rect.width)
+    else:
+      cursor_x = text_field_rect.x - 6
+    rl.draw_rectangle_rounded(rl.Rectangle(cursor_x, text_field_rect.y, 4, text_size.y),
+                              1, 4, rl.Color(255, 255, 255, int(255 * blink_alpha)))
 
     # draw backspace icon with nice fade
     self._backspace_img_alpha.update(255 * bool(text))
     if self._backspace_img_alpha.x > 1:
       color = rl.Color(255, 255, 255, int(self._backspace_img_alpha.x))
-      rl.draw_texture(self._backspace_img, int(self._rect.width - self._enter_img.width - 15), int(text_field_rect.y), color)
+      rl.draw_texture_ex(self._backspace_img, rl.Vector2(self._rect.width - self._backspace_img.width - 27, self._rect.y + 14), 0.0, 1.0, color)
 
     if not text and self._hint_label.text and not candidate_char:
       # draw description if no text entered yet and not drawing candidate char
-      self._hint_label.render(text_field_rect)
+      hint_rect = rl.Rectangle(text_field_rect.x, text_field_rect.y,
+                               self._rect.width - text_field_rect.x - PADDING,
+                               text_field_rect.height)
+      self._hint_label.render(hint_rect)
 
     # TODO: move to update state
     # make rect take up entire area so it's easier to click
@@ -244,10 +184,12 @@ def _render(self, _):
     self._top_right_button_rect = rl.Rectangle(text_field_rect.x + text_field_rect.width, self._rect.y,
                                                self._rect.width - (text_field_rect.x + text_field_rect.width), self._top_left_button_rect.height)
 
-    self._enter_img_alpha.update(255 if (len(text) >= self._minimum_length) else 255 * 0.35)
-    if self._enter_img_alpha.x > 1:
-      color = rl.Color(255, 255, 255, int(self._enter_img_alpha.x))
-      rl.draw_texture(self._enter_img, int(self._rect.x + 15), int(text_field_rect.y), color)
+    # draw enter button
+    self._enter_img_alpha.update(255 if len(text) >= self._minimum_length else 0)
+    color = rl.Color(255, 255, 255, int(self._enter_img_alpha.x))
+    rl.draw_texture_ex(self._enter_img, rl.Vector2(self._rect.x + PADDING / 2, self._rect.y), 0.0, 1.0, color)
+    color = rl.Color(255, 255, 255, 255 - int(self._enter_img_alpha.x))
+    rl.draw_texture_ex(self._enter_disabled_img, rl.Vector2(self._rect.x + PADDING / 2, self._rect.y), 0.0, 1.0, color)
 
     # keyboard goes over everything
     self._keyboard.render(self._rect)
@@ -255,16 +197,17 @@ def _render(self, _):
     # draw debugging rect bounds
     if DEBUG:
       rl.draw_rectangle_lines_ex(text_field_rect, 1, rl.Color(100, 100, 100, 255))
-      rl.draw_rectangle_lines_ex(text_rect, 1, rl.Color(0, 255, 0, 255))
       rl.draw_rectangle_lines_ex(self._top_right_button_rect, 1, rl.Color(0, 255, 0, 255))
       rl.draw_rectangle_lines_ex(self._top_left_button_rect, 1, rl.Color(0, 255, 0, 255))
 
-    return self._ret
-
   def _handle_mouse_press(self, mouse_pos: MousePos):
     super()._handle_mouse_press(mouse_pos)
     # TODO: need to track where press was so enter and back can activate on release rather than press
     #  or turn into icon widgets :eyes_open:
+
+    if self.is_dismissing:
+      return
+
     # handle backspace icon click
     if rl.check_collision_point_rec(mouse_pos, self._top_right_button_rect) and self._backspace_img_alpha.x > 254:
       self._keyboard.backspace()
@@ -273,131 +216,6 @@ def _handle_mouse_press(self, mouse_pos: MousePos):
       self._confirm_callback()
 
 
-class BigDialogOptionButton(Widget):
-  HEIGHT = 64
-  SELECTED_HEIGHT = 74
-
-  def __init__(self, option: str):
-    super().__init__()
-    self.option = option
-    self.set_rect(rl.Rectangle(0, 0, int(gui_app.width / 2 + 220), self.HEIGHT))
-
-    self._selected = False
-
-    self._label = UnifiedLabel(option, font_size=70, text_color=rl.Color(255, 255, 255, int(255 * 0.58)),
-                               font_weight=FontWeight.DISPLAY_REGULAR, alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE,
-                               scroll=True)
-
-  def show_event(self):
-    super().show_event()
-    self._label.reset_scroll()
-
-  def set_selected(self, selected: bool):
-    self._selected = selected
-    self._rect.height = self.SELECTED_HEIGHT if selected else self.HEIGHT
-
-  def _render(self, _):
-    if DEBUG:
-      rl.draw_rectangle_lines_ex(self._rect, 1, rl.Color(0, 255, 0, 255))
-
-    # FIXME: offset x by -45 because scroller centers horizontally
-    if self._selected:
-      self._label.set_font_size(self.SELECTED_HEIGHT)
-      self._label.set_color(rl.Color(255, 255, 255, int(255 * 0.9)))
-      self._label.set_font_weight(FontWeight.DISPLAY)
-    else:
-      self._label.set_font_size(self.HEIGHT)
-      self._label.set_color(rl.Color(255, 255, 255, int(255 * 0.58)))
-      self._label.set_font_weight(FontWeight.DISPLAY_REGULAR)
-
-    self._label.render(self._rect)
-
-
-class BigMultiOptionDialog(BigDialogBase):
-  BACK_TOUCH_AREA_PERCENTAGE = 0.1
-
-  def __init__(self, options: list[str], default: str | None,
-               right_btn: str | None = 'check', right_btn_callback: Callable[[], None] = None):
-    super().__init__(right_btn, right_btn_callback=right_btn_callback)
-    self._options = options
-    if default is not None:
-      assert default in options
-
-    self._default_option: str = default or (options[0] if len(options) > 0 else "")
-    self._selected_option: str = self._default_option
-    self._last_selected_option: str = self._selected_option
-
-    self._scroller = Scroller([], horizontal=False, pad_start=100, pad_end=100, spacing=0, snap_items=True)
-    if self._right_btn is not None:
-      self._scroller.set_enabled(lambda: not cast(Widget, self._right_btn).is_pressed)
-
-    for option in options:
-      self.add_button(BigDialogOptionButton(option))
-
-  def add_button(self, button: BigDialogOptionButton):
-    def click_callback(_btn=button):
-      self._on_option_selected(_btn.option)
-
-    button.set_click_callback(click_callback)
-    self._scroller.add_widget(button)
-
-  def show_event(self):
-    super().show_event()
-    self._scroller.show_event()
-    self._on_option_selected(self._default_option)
-
-  def get_selected_option(self) -> str:
-    return self._selected_option
-
-  def _on_option_selected(self, option: str, smooth_scroll: bool = True):
-    y_pos = 0.0
-    for btn in self._scroller._items:
-      btn = cast(BigDialogOptionButton, btn)
-      if btn.option == option:
-        rect_center_y = self._rect.y + self._rect.height / 2
-        if btn._selected:
-          height = btn.rect.height
-        else:
-          # when selecting an option under current, account for changing heights
-          btn_center_y = btn.rect.y + btn.rect.height / 2  # not accurate, just to determine direction
-          height_offset = BigDialogOptionButton.SELECTED_HEIGHT - BigDialogOptionButton.HEIGHT
-          height = (BigDialogOptionButton.HEIGHT - height_offset) if rect_center_y < btn_center_y else BigDialogOptionButton.SELECTED_HEIGHT
-        y_pos = rect_center_y - (btn.rect.y + height / 2)
-        break
-
-    self._scroller.scroll_to(-y_pos, smooth=smooth_scroll)
-
-  def _selected_option_changed(self):
-    pass
-
-  def _update_state(self):
-    super()._update_state()
-
-    # get selection by whichever button is closest to center
-    center_y = self._rect.y + self._rect.height / 2
-    closest_btn = (None, float('inf'))
-    for btn in self._scroller._items:
-      dist_y = abs((btn.rect.y + btn.rect.height / 2) - center_y)
-      if dist_y < closest_btn[1]:
-        closest_btn = (btn, dist_y)
-
-    if closest_btn[0]:
-      for btn in self._scroller._items:
-        btn.set_selected(btn.option == closest_btn[0].option)
-      self._selected_option = closest_btn[0].option
-
-    # Signal to subclasses if selection changed
-    if self._selected_option != self._last_selected_option:
-      self._selected_option_changed()
-      self._last_selected_option = self._selected_option
-
-  def _render(self, _):
-    super()._render(_)
-    self._scroller.render(self._rect)
-
-    return self._ret
-
-
 class BigDialogButton(BigButton):
   def __init__(self, text: str, value: str = "", icon: Union[str, rl.Texture] = "", description: str = ""):
     super().__init__(text, value, icon)
@@ -407,4 +225,16 @@ def _handle_mouse_release(self, mouse_pos: MousePos):
     super()._handle_mouse_release(mouse_pos)
 
     dlg = BigDialog(self.text, self._description)
-    gui_app.set_modal_overlay(dlg)
+    gui_app.push_widget(dlg)
+
+
+class BigConfirmationCircleButton(BigCircleButton):
+  def __init__(self, title: str, icon: rl.Texture, confirm_callback: Callable[[], None], exit_on_confirm: bool = True,
+               red: bool = False, icon_offset: tuple[int, int] = (0, 0)):
+    super().__init__(icon, red, icon_offset)
+
+    def show_confirm_dialog():
+      gui_app.push_widget(BigConfirmationDialog(title, icon, confirm_callback,
+                                                exit_on_confirm=exit_on_confirm, red=red))
+
+    self.set_click_callback(show_confirm_dialog)
diff --git a/selfdrive/ui/mici/widgets/pairing_dialog.py b/selfdrive/ui/mici/widgets/pairing_dialog.py
index e064205d599..a18b26ec024 100644
--- a/selfdrive/ui/mici/widgets/pairing_dialog.py
+++ b/selfdrive/ui/mici/widgets/pairing_dialog.py
@@ -7,9 +7,9 @@
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.params import Params
 from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.system.ui.widgets import NavWidget
+from openpilot.system.ui.widgets.nav_widget import NavWidget
 from openpilot.system.ui.lib.application import FontWeight, gui_app
-from openpilot.system.ui.widgets.label import MiciLabel
+from openpilot.system.ui.widgets.label import UnifiedLabel
 
 
 class PairingDialog(NavWidget):
@@ -19,14 +19,12 @@ class PairingDialog(NavWidget):
 
   def __init__(self):
     super().__init__()
-    self.set_back_callback(lambda: gui_app.set_modal_overlay(None))
     self._params = Params()
     self._qr_texture: rl.Texture | None = None
     self._last_qr_generation = float("-inf")
 
-    self._txt_pair = gui_app.texture("icons_mici/settings/device/pair.png", 84, 64)
-    self._pair_label = MiciLabel("pair with comma connect", 48, font_weight=FontWeight.BOLD,
-                                 color=rl.Color(255, 255, 255, int(255 * 0.9)), line_height=40, wrap_text=True)
+    self._txt_pair = gui_app.texture("icons_mici/settings/device/pair.png", 33, 60)
+    self._pair_label = UnifiedLabel("pair with comma connect", font_size=48, font_weight=FontWeight.BOLD, line_height=0.8)
 
   def _get_pairing_url(self) -> str:
     try:
@@ -69,24 +67,22 @@ def _check_qr_refresh(self) -> None:
 
   def _update_state(self):
     super()._update_state()
-    if ui_state.prime_state.is_paired():
-      self._playing_dismiss_animation = True
+    if ui_state.prime_state.is_paired() and not self.is_dismissing:
+      self.dismiss()
 
-  def _render(self, rect: rl.Rectangle) -> int:
+  def _render(self, rect: rl.Rectangle):
     self._check_qr_refresh()
 
     self._render_qr_code()
 
     label_x = self._rect.x + 8 + self._rect.height + 24
-    self._pair_label.set_width(int(self._rect.width - label_x))
+    self._pair_label.set_max_width(int(self._rect.width - label_x))
     self._pair_label.set_position(label_x, self._rect.y + 16)
     self._pair_label.render()
 
     rl.draw_texture_ex(self._txt_pair, rl.Vector2(label_x, self._rect.y + self._rect.height - self._txt_pair.height - 16),
                        0.0, 1.0, rl.Color(255, 255, 255, int(255 * 0.35)))
 
-    return -1
-
   def _render_qr_code(self) -> None:
     if not self._qr_texture:
       error_font = gui_app.font(FontWeight.BOLD)
@@ -96,7 +92,7 @@ def _render_qr_code(self) -> None:
       return
 
     scale = self._rect.height / self._qr_texture.height
-    pos = rl.Vector2(self._rect.x + 8, self._rect.y)
+    pos = rl.Vector2(round(self._rect.x + 8), round(self._rect.y))
     rl.draw_texture_ex(self._qr_texture, pos, 0.0, scale, rl.WHITE)
 
   def __del__(self):
@@ -107,10 +103,9 @@ def __del__(self):
 if __name__ == "__main__":
   gui_app.init_window("pairing device")
   pairing = PairingDialog()
+  gui_app.push_widget(pairing)
   try:
     for _ in gui_app.render():
-      result = pairing.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
-      if result != -1:
-        break
+      pass
   finally:
     del pairing
diff --git a/selfdrive/ui/mici/widgets/side_button.py b/selfdrive/ui/mici/widgets/side_button.py
deleted file mode 100644
index 4803b6d208c..00000000000
--- a/selfdrive/ui/mici/widgets/side_button.py
+++ /dev/null
@@ -1,31 +0,0 @@
-import pyray as rl
-from openpilot.system.ui.widgets import Widget
-from openpilot.system.ui.lib.application import gui_app
-
-# ---------------------------------------------------------------------------
-#  Constants extracted from the original Qt style
-# ---------------------------------------------------------------------------
-# TODO: this should be corrected, but Scroller relies on this being incorrect :/
-WIDTH, HEIGHT = 112, 240
-
-
-class SideButton(Widget):
-  def __init__(self, btn_type: str):
-    super().__init__()
-    self.type = btn_type
-    self.set_rect(rl.Rectangle(0, 0, WIDTH, HEIGHT))
-
-    # load pre-rendered button images
-    if btn_type not in ("check", "back"):
-      btn_type = "back"
-    btn_img_path = f"icons_mici/buttons/button_side_{btn_type}.png"
-    btn_img_pressed_path = f"icons_mici/buttons/button_side_{btn_type}_pressed.png"
-    self._txt_btn, self._txt_btn_back = gui_app.texture(btn_img_path, 100, 224), gui_app.texture(btn_img_pressed_path, 100, 224)
-
-  def _render(self, _) -> bool:
-    x = int(self._rect.x + 12)
-    y = int(self._rect.y + (self._rect.height - self._txt_btn.height) / 2)
-    rl.draw_texture(self._txt_btn if not self.is_pressed else self._txt_btn_back,
-                    x, y, rl.WHITE)
-
-    return False
diff --git a/selfdrive/ui/onroad/augmented_road_view.py b/selfdrive/ui/onroad/augmented_road_view.py
index 1f202141c38..17d89fbd509 100644
--- a/selfdrive/ui/onroad/augmented_road_view.py
+++ b/selfdrive/ui/onroad/augmented_road_view.py
@@ -221,6 +221,7 @@ def _calc_frame_matrix(self, rect: rl.Rectangle) -> np.ndarray:
 if __name__ == "__main__":
   gui_app.init_window("OnRoad Camera View")
   road_camera_view = AugmentedRoadView(ROAD_CAM)
+  gui_app.push_widget(road_camera_view)
   print("***press space to switch camera view***")
   try:
     for _ in gui_app.render():
@@ -229,6 +230,5 @@ def _calc_frame_matrix(self, rect: rl.Rectangle) -> np.ndarray:
         if WIDE_CAM in road_camera_view.available_streams:
           stream = ROAD_CAM if road_camera_view.stream_type == WIDE_CAM else WIDE_CAM
           road_camera_view.switch_stream(stream)
-      road_camera_view.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
   finally:
     road_camera_view.close()
diff --git a/selfdrive/ui/onroad/driver_camera_dialog.py b/selfdrive/ui/onroad/driver_camera_dialog.py
index f69ad8c49cf..e66e04b8241 100644
--- a/selfdrive/ui/onroad/driver_camera_dialog.py
+++ b/selfdrive/ui/onroad/driver_camera_dialog.py
@@ -14,7 +14,7 @@ def __init__(self):
     super().__init__("camerad", VisionStreamType.VISION_STREAM_DRIVER)
     self.driver_state_renderer = DriverStateRenderer()
     # TODO: this can grow unbounded, should be given some thought
-    device.add_interactive_timeout_callback(lambda: gui_app.set_modal_overlay(None))
+    device.add_interactive_timeout_callback(gui_app.pop_widget)
     ui_state.params.put_bool("IsDriverViewEnabled", True)
 
   def hide_event(self):
@@ -24,7 +24,7 @@ def hide_event(self):
 
   def _handle_mouse_release(self, _):
     super()._handle_mouse_release(_)
-    gui_app.set_modal_overlay(None)
+    gui_app.pop_widget()
 
   def __del__(self):
     self.close()
@@ -103,9 +103,9 @@ def _calc_frame_matrix(self, rect: rl.Rectangle) -> np.ndarray:
   gui_app.init_window("Driver Camera View")
 
   driver_camera_view = DriverCameraDialog()
+  gui_app.push_widget(driver_camera_view)
   try:
     for _ in gui_app.render():
       ui_state.update()
-      driver_camera_view.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
   finally:
     driver_camera_view.close()
diff --git a/selfdrive/ui/onroad/driver_state.py b/selfdrive/ui/onroad/driver_state.py
index 7b3181d1ac5..5b09e471b52 100644
--- a/selfdrive/ui/onroad/driver_state.py
+++ b/selfdrive/ui/onroad/driver_state.py
@@ -114,7 +114,7 @@ def _update_state(self):
 
     # Get monitoring state
     dm_state = sm["driverMonitoringState"]
-    self.is_active = dm_state.isActiveMode
+    self.is_active = dm_state.activePolicy == log.DriverMonitoringState.MonitoringPolicy.vision
     self.is_rhd = dm_state.isRHD
 
     # Update fade state (smoother transition between active/inactive)
diff --git a/selfdrive/ui/onroad/exp_button.py b/selfdrive/ui/onroad/exp_button.py
index e5d81714130..9a92ebc3c35 100644
--- a/selfdrive/ui/onroad/exp_button.py
+++ b/selfdrive/ui/onroad/exp_button.py
@@ -50,7 +50,7 @@ def _render(self, rect: rl.Rectangle) -> None:
 
     texture = self._txt_exp if self._held_or_actual_mode() else self._txt_wheel
     rl.draw_circle(center_x, center_y, self._rect.width / 2, self._black_bg)
-    rl.draw_texture(texture, center_x - texture.width // 2, center_y - texture.height // 2, self._white_color)
+    rl.draw_texture_ex(texture, rl.Vector2(center_x - texture.width / 2, center_y - texture.height / 2), 0.0, 1.0, self._white_color)
 
   def _held_or_actual_mode(self):
     now = time.monotonic()
diff --git a/selfdrive/ui/onroad/hud_renderer.py b/selfdrive/ui/onroad/hud_renderer.py
index 79f150deea0..73df8b39618 100644
--- a/selfdrive/ui/onroad/hud_renderer.py
+++ b/selfdrive/ui/onroad/hud_renderer.py
@@ -86,7 +86,7 @@ def _update_state(self) -> None:
 
     v_cruise_cluster = car_state.vCruiseCluster
     self.set_speed = (
-      controls_state.vCruiseDEPRECATED if v_cruise_cluster == 0.0 else v_cruise_cluster
+      controls_state.deprecated.vCruise if v_cruise_cluster == 0.0 else v_cruise_cluster
     )
     self.is_cruise_set = 0 < self.set_speed < SET_SPEED_NA
     self.is_cruise_available = self.set_speed != -1
diff --git a/selfdrive/ui/soundd.py b/selfdrive/ui/soundd.py
index d88410ada35..8225efabf9a 100644
--- a/selfdrive/ui/soundd.py
+++ b/selfdrive/ui/soundd.py
@@ -18,14 +18,16 @@
 SAMPLE_BUFFER = 4096 # (approx 100ms)
 MAX_VOLUME = 1.0
 MIN_VOLUME = 0.1
+ALERT_RAMP_TIME = 4 # seconds to ramp to max volume for warningImmediate
 SELFDRIVE_STATE_TIMEOUT = 5 # 5 seconds
 FILTER_DT = 1. / (micd.SAMPLE_RATE / micd.FFT_SAMPLES)
 
-AMBIENT_DB = 30 # DB where MIN_VOLUME is applied
+AMBIENT_DB = 24 # DB where MIN_VOLUME is applied
 DB_SCALE = 30 # AMBIENT_DB + DB_SCALE is where MAX_VOLUME is applied
 
 VOLUME_BASE = 20
 if HARDWARE.get_device_type() == "tizi":
+  AMBIENT_DB = 30
   VOLUME_BASE = 10
 
 AudibleAlert = car.CarControl.HUDControl.AudibleAlert
@@ -68,6 +70,9 @@ def __init__(self):
     self.current_volume = MIN_VOLUME
     self.current_sound_frame = 0
 
+    self.ramp_start_volume = MIN_VOLUME
+    self.ramp_start_time = 0.
+
     self.selfdrive_timeout_alert = False
 
     self.spl_filter_weighted = FirstOrderFilter(0, 2.5, FILTER_DT, initialized=False)
@@ -116,6 +121,9 @@ def callback(self, data_out: np.ndarray, frames: int, time, status) -> None:
   def update_alert(self, new_alert):
     current_alert_played_once = self.current_alert == AudibleAlert.none or self.current_sound_frame > len(self.loaded_sounds[self.current_alert])
     if self.current_alert != new_alert and (new_alert != AudibleAlert.none or current_alert_played_once):
+      if new_alert == AudibleAlert.warningImmediate:
+        self.ramp_start_volume = self.current_volume
+        self.ramp_start_time = time.monotonic()
       self.current_alert = new_alert
       self.current_sound_frame = 0
 
@@ -154,12 +162,19 @@ def soundd_thread(self):
       while True:
         sm.update(0)
 
-        if sm.updated['soundPressure'] and self.current_alert == AudibleAlert.none: # only update volume filter when not playing alert
+        # Always update volume, even when alert is playing
+        if sm.updated['soundPressure']:
           self.spl_filter_weighted.update(sm["soundPressure"].soundPressureWeightedDb)
           self.current_volume = self.calculate_volume(float(self.spl_filter_weighted.x))
 
         self.get_audible_alert(sm)
 
+        # Ramp up immediate warning sound over 4s
+        if self.current_alert == AudibleAlert.warningImmediate:
+          elapsed = time.monotonic() - self.ramp_start_time
+          ramp_vol = float(np.interp(elapsed, [0, ALERT_RAMP_TIME], [self.ramp_start_volume, MAX_VOLUME]))
+          self.current_volume = max(self.current_volume, ramp_vol)
+
         rk.keep_time()
 
         assert stream.active
diff --git a/selfdrive/ui/tests/.gitignore b/selfdrive/ui/tests/.gitignore
deleted file mode 100644
index 98f2a5e8ce9..00000000000
--- a/selfdrive/ui/tests/.gitignore
+++ /dev/null
@@ -1,9 +0,0 @@
-test
-test_translations
-test_ui/report_1
-test_ui/raylib_report
-
-diff/*.mp4
-diff/*.html
-diff/.coverage
-diff/htmlcov/
diff --git a/selfdrive/ui/tests/diff/diff.py b/selfdrive/ui/tests/diff/diff.py
index be7af5438a7..974edb42a36 100755
--- a/selfdrive/ui/tests/diff/diff.py
+++ b/selfdrive/ui/tests/diff/diff.py
@@ -2,33 +2,27 @@
 import os
 import sys
 import subprocess
-import tempfile
-import base64
 import webbrowser
 import argparse
 from pathlib import Path
 from openpilot.common.basedir import BASEDIR
 
 DIFF_OUT_DIR = Path(BASEDIR) / "selfdrive" / "ui" / "tests" / "diff" / "report"
+HTML_TEMPLATE_PATH = Path(__file__).with_name("diff_template.html")
 
 
-def extract_frames(video_path, output_dir):
-  output_pattern = str(output_dir / "frame_%04d.png")
-  cmd = ['ffmpeg', '-i', video_path, '-vsync', '0', output_pattern, '-y']
-  subprocess.run(cmd, capture_output=True, check=True)
-  frames = sorted(output_dir.glob("frame_*.png"))
-  return frames
-
-
-def compare_frames(frame1_path, frame2_path):
-  result = subprocess.run(['cmp', '-s', frame1_path, frame2_path])
-  return result.returncode == 0
-
-
-def frame_to_data_url(frame_path):
-  with open(frame_path, 'rb') as f:
-    data = f.read()
-  return f"data:image/png;base64,{base64.b64encode(data).decode()}"
+def extract_framehashes(video_path):
+  cmd = ['ffmpeg', '-i', video_path, '-map', '0:v:0', '-vsync', '0', '-f', 'framehash', '-hash', 'md5', '-']
+  result = subprocess.run(cmd, capture_output=True, text=True, check=True)
+  hashes = []
+  for line in result.stdout.splitlines():
+    if not line or line.startswith('#'):
+      continue
+    parts = line.split(',')
+    if len(parts) < 4:
+      continue
+    hashes.append(parts[-1].strip())
+  return hashes
 
 
 def create_diff_video(video1, video2, output_path):
@@ -38,42 +32,24 @@ def create_diff_video(video1, video2, output_path):
   subprocess.run(cmd, capture_output=True, check=True)
 
 
-def find_differences(video1, video2):
-  with tempfile.TemporaryDirectory() as tmpdir:
-    tmpdir = Path(tmpdir)
-
-    print(f"Extracting frames from {video1}...")
-    frames1_dir = tmpdir / "frames1"
-    frames1_dir.mkdir()
-    frames1 = extract_frames(video1, frames1_dir)
+def find_differences(video1, video2) -> tuple[list[int], tuple[int, int]]:
+  print(f"Hashing frames from {video1}...")
+  hashes1 = extract_framehashes(video1)
 
-    print(f"Extracting frames from {video2}...")
-    frames2_dir = tmpdir / "frames2"
-    frames2_dir.mkdir()
-    frames2 = extract_frames(video2, frames2_dir)
+  print(f"Hashing frames from {video2}...")
+  hashes2 = extract_framehashes(video2)
 
-    if len(frames1) != len(frames2):
-      print(f"WARNING: Frame count mismatch: {len(frames1)} vs {len(frames2)}")
-      min_frames = min(len(frames1), len(frames2))
-      frames1 = frames1[:min_frames]
-      frames2 = frames2[:min_frames]
+  print(f"Comparing {len(hashes1)} frames...")
+  different_frames = []
 
-    print(f"Comparing {len(frames1)} frames...")
-    different_frames = []
-    frame_data = []
+  for i, (h1, h2) in enumerate(zip(hashes1, hashes2, strict=False)):
+    if h1 != h2:
+      different_frames.append(i)
 
-    for i, (f1, f2) in enumerate(zip(frames1, frames2, strict=False)):
-      is_different = not compare_frames(f1, f2)
-      if is_different:
-        different_frames.append(i)
+  return different_frames, (len(hashes1), len(hashes2))
 
-      if i < 10 or i >= len(frames1) - 10 or is_different:
-        frame_data.append({'index': i, 'different': is_different, 'frame1_url': frame_to_data_url(f1), 'frame2_url': frame_to_data_url(f2)})
 
-    return different_frames, frame_data, len(frames1)
-
-
-def generate_html_report(video1, video2, basedir, different_frames, frame_data, total_frames):
+def generate_html_report(videos: tuple[str, str], basedir: str, different_frames: list[int], frame_counts: tuple[int, int], diff_video_name):
   chunks = []
   if different_frames:
     current_chunk = [different_frames[0]]
@@ -85,71 +61,28 @@ def generate_html_report(video1, video2, basedir, different_frames, frame_data,
         current_chunk = [different_frames[i]]
     chunks.append(current_chunk)
 
+  total_frames = max(frame_counts)
+  frame_delta = frame_counts[1] - frame_counts[0]
+  different_total = len(different_frames) + abs(frame_delta)
+
   result_text = (
     f"✅ Videos are identical! ({total_frames} frames)"
-    if len(different_frames) == 0
-    else f"❌ Found {len(different_frames)} different frames out of {total_frames} total ({(len(different_frames) / total_frames * 100):.1f}%)"
+    if different_total == 0
+    else f"❌ Found {different_total} different frames out of {total_frames} total ({different_total / total_frames * 100:.1f}%)."
+    + (f" Video {'2' if frame_delta > 0 else '1'} is longer by {abs(frame_delta)} frames." if frame_delta != 0 else "")
   )
 
-  html = f"""<h2>UI Diff</h2>
-<table>
-<tr>
-<td width='33%'>
-  <p><strong>Video 1</strong></p>
-  <video id='video1' width='100%' autoplay muted loop onplay='syncVideos()'>
-    <source src='{os.path.join(basedir, os.path.basename(video1))}' type='video/mp4'>
-    Your browser does not support the video tag.
-  </video>
-</td>
-<td width='33%'>
-  <p><strong>Video 2</strong></p>
-  <video id='video2' width='100%' autoplay muted loop onplay='syncVideos()'>
-    <source src='{os.path.join(basedir, os.path.basename(video2))}' type='video/mp4'>
-    Your browser does not support the video tag.
-  </video>
-</td>
-<td width='33%'>
-  <p><strong>Pixel Diff</strong></p>
-  <video id='diffVideo' width='100%' autoplay muted loop>
-    <source src='{os.path.join(basedir, 'diff.mp4')}' type='video/mp4'>
-    Your browser does not support the video tag.
-  </video>
-</td>
-</tr>
-</table>
-<script>
-function syncVideos() {{
-  const video1 = document.getElementById('video1');
-  const video2 = document.getElementById('video2');
-  const diffVideo = document.getElementById('diffVideo');
-  video1.currentTime = video2.currentTime = diffVideo.currentTime;
-}}
-video1.addEventListener('timeupdate', () => {{
-  if (Math.abs(video1.currentTime - video2.currentTime) > 0.1) {{
-    video2.currentTime = video1.currentTime;
-  }}
-  if (Math.abs(video1.currentTime - diffVideo.currentTime) > 0.1) {{
-    diffVideo.currentTime = video1.currentTime;
-  }}
-}});
-video2.addEventListener('timeupdate', () => {{
-  if (Math.abs(video2.currentTime - video1.currentTime) > 0.1) {{
-    video1.currentTime = video2.currentTime;
-  }}
-  if (Math.abs(video2.currentTime - diffVideo.currentTime) > 0.1) {{
-    diffVideo.currentTime = video2.currentTime;
-  }}
-}});
-diffVideo.addEventListener('timeupdate', () => {{
-  if (Math.abs(diffVideo.currentTime - video1.currentTime) > 0.1) {{
-    video1.currentTime = diffVideo.currentTime;
-    video2.currentTime = diffVideo.currentTime;
-  }}
-}});
-</script>
-<hr>
-<p><strong>Results:</strong> {result_text}</p>
-"""
+  # Load HTML template and replace placeholders
+  html = HTML_TEMPLATE_PATH.read_text()
+  placeholders = {
+    "VIDEO1_SRC": os.path.join(basedir, os.path.basename(videos[0])),
+    "VIDEO2_SRC": os.path.join(basedir, os.path.basename(videos[1])),
+    "DIFF_SRC": os.path.join(basedir, diff_video_name),
+    "RESULT_TEXT": result_text,
+  }
+  for key, value in placeholders.items():
+    html = html.replace(f"${key}", value)
+
   return html
 
 
@@ -163,6 +96,9 @@ def main():
 
   args = parser.parse_args()
 
+  if not args.output.lower().endswith('.html'):
+    args.output += '.html'
+
   os.makedirs(DIFF_OUT_DIR, exist_ok=True)
 
   print("=" * 60)
@@ -173,18 +109,19 @@ def main():
   print(f"Output: {args.output}")
   print()
 
-  # Create diff video
-  diff_video_path = os.path.join(os.path.dirname(args.output), DIFF_OUT_DIR / "diff.mp4")
+  # Create diff video with name derived from output HTML
+  diff_video_name = Path(args.output).stem + '.mp4'
+  diff_video_path = str(DIFF_OUT_DIR / diff_video_name)
   create_diff_video(args.video1, args.video2, diff_video_path)
 
-  different_frames, frame_data, total_frames = find_differences(args.video1, args.video2)
+  different_frames, frame_counts = find_differences(args.video1, args.video2)
 
   if different_frames is None:
     sys.exit(1)
 
   print()
   print("Generating HTML report...")
-  html = generate_html_report(args.video1, args.video2, args.basedir, different_frames, frame_data, total_frames)
+  html = generate_html_report((args.video1, args.video2), args.basedir, different_frames, frame_counts, diff_video_name)
 
   with open(DIFF_OUT_DIR / args.output, 'w') as f:
     f.write(html)
@@ -194,7 +131,8 @@ def main():
     print(f"Opening {args.output} in browser...")
     webbrowser.open(f'file://{os.path.abspath(DIFF_OUT_DIR / args.output)}')
 
-  return 0 if len(different_frames) == 0 else 1
+  extra_frames = abs(frame_counts[0] - frame_counts[1])
+  return 0 if (len(different_frames) + extra_frames) == 0 else 1
 
 
 if __name__ == "__main__":
diff --git a/selfdrive/ui/tests/diff/diff_template.html b/selfdrive/ui/tests/diff/diff_template.html
new file mode 100644
index 00000000000..3f1de105120
--- /dev/null
+++ b/selfdrive/ui/tests/diff/diff_template.html
@@ -0,0 +1,80 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+  <meta charset="UTF-8">
+  <meta name="viewport" content="width=device-width, initial-scale=1.0">
+  <title>UI Diff Report</title>
+  <style>
+    h1, h2, h3, h4 {
+      margin: 0.5em 0 0.25em;
+    }
+    #videoTable {
+      width: 100%;
+    }
+    @media (max-width: 800px) {
+      #videoTable tr {
+        display: flex;
+        flex-direction: column;
+      }
+      #videoTable td {
+        width: 100% !important;
+      }
+    }
+  </style>
+</head>
+<body>
+  <h2>UI Diff</h2>
+  <table id='videoTable'></table>
+  <hr>
+  <p><strong>Results:</strong> $RESULT_TEXT</p>
+  <script>
+    const videoDefs = [
+      { id: 'video1', title: 'Video 1', src: '$VIDEO1_SRC', sync: true },
+      { id: 'video2', title: 'Video 2', src: '$VIDEO2_SRC', sync: true },
+      { id: 'diffVideo', title: 'Pixel Diff', src: '$DIFF_SRC', sync: false },
+    ];
+
+    const row = document.getElementById('videoTable').insertRow();
+    videoDefs.forEach(({ id, title, src, sync }) => {
+      const td = row.insertCell();
+      td.width = '33%';
+      td.innerHTML = `<h4>${title}</h4>
+        <video id='${id}' width='100%' autoplay muted ${sync ? "onplay='syncVideos()'" : ''}>
+          <source src='${src}' type='video/mp4'>
+          Your browser does not support the video tag.
+        </video>`;
+    });
+
+    const videos = videoDefs.map(({ id }) => document.getElementById(id));
+
+    const isEnded = (v) => v.ended || (Number.isFinite(v.duration) && v.currentTime >= (v.duration - 0.05));
+    const playAll = () => videos.forEach((v) => v.play());
+
+    function syncVideos() {
+      const t = Math.min(...videos.map((v) => v.currentTime));
+      videos.forEach((v) => { v.currentTime = t; });
+      playAll();
+    }
+
+    function handleEnded(endedVideo) {
+      endedVideo.pause();
+      if (videos.every(isEnded)) {
+        videos.forEach((v) => { v.currentTime = 0; });
+        playAll();
+      }
+    }
+
+    videos.forEach((v) => {
+      v.addEventListener('timeupdate', () => {
+        videos.forEach((other) => {
+          if (other !== v && !isEnded(other) && Math.abs(v.currentTime - other.currentTime) > 0.1) {
+            other.currentTime = v.currentTime;
+            if (other.paused) other.play();
+          }
+        });
+      });
+      v.addEventListener('ended', () => handleEnded(v));
+    });
+  </script>
+</body>
+</html>
diff --git a/selfdrive/ui/tests/diff/replay.py b/selfdrive/ui/tests/diff/replay.py
index 9da157660e6..b38026048dd 100755
--- a/selfdrive/ui/tests/diff/replay.py
+++ b/selfdrive/ui/tests/diff/replay.py
@@ -1,42 +1,25 @@
 #!/usr/bin/env python3
 import os
-import time
+import argparse
 import coverage
 import pyray as rl
-from dataclasses import dataclass
-from openpilot.selfdrive.ui.tests.diff.diff import DIFF_OUT_DIR
-
-os.environ["RECORD"] = "1"
-if "RECORD_OUTPUT" not in os.environ:
-  os.environ["RECORD_OUTPUT"] = "mici_ui_replay.mp4"
-
-os.environ["RECORD_OUTPUT"] = os.path.join(DIFF_OUT_DIR, os.environ["RECORD_OUTPUT"])
 
+from tqdm import tqdm
+from typing import Literal
+from collections.abc import Callable
+from cereal.messaging import PubMaster
+from openpilot.common.api import Api
+from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
+from openpilot.common.prefix import OpenpilotPrefix
+from openpilot.selfdrive.ui.tests.diff.diff import DIFF_OUT_DIR
+from openpilot.system.updated.updated import parse_release_notes
 from openpilot.system.version import terms_version, training_version
-from openpilot.system.ui.lib.application import gui_app, MousePos, MouseEvent
-from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.selfdrive.ui.mici.layouts.main import MiciMainLayout
-
-FPS = 60
-HEADLESS = os.getenv("WINDOWED", "0") == "1"
-
-
-@dataclass
-class DummyEvent:
-  click: bool = False
-  # TODO: add some kind of intensity
-  swipe_left: bool = False
-  swipe_right: bool = False
-  swipe_down: bool = False
 
+LayoutVariant = Literal["mici", "tizi"]
 
-SCRIPT = [
-  (0, DummyEvent()),
-  (FPS * 1, DummyEvent(click=True)),
-  (FPS * 2, DummyEvent(click=True)),
-  (FPS * 3, DummyEvent()),
-]
+FPS = 60
+HEADLESS = os.getenv("WINDOWED", "0") != "1"
 
 
 def setup_state():
@@ -44,68 +27,84 @@ def setup_state():
   params.put("HasAcceptedTerms", terms_version)
   params.put("CompletedTrainingVersion", training_version)
   params.put("DongleId", "test123456789")
+  # Combined description for layouts that still use it (BIG home, settings/software)
   params.put("UpdaterCurrentDescription", "0.10.1 / test-branch / abc1234 / Nov 30")
-  return None
-
-
-def inject_click(coords):
-  events = []
-  x, y = coords[0]
-  events.append(MouseEvent(pos=MousePos(x, y), slot=0, left_pressed=True, left_released=False, left_down=False, t=time.monotonic()))
-  for x, y in coords[1:]:
-    events.append(MouseEvent(pos=MousePos(x, y), slot=0, left_pressed=False, left_released=False, left_down=True, t=time.monotonic()))
-  x, y = coords[-1]
-  events.append(MouseEvent(pos=MousePos(x, y), slot=0, left_pressed=False, left_released=True, left_down=False, t=time.monotonic()))
-
-  with gui_app._mouse._lock:
-    gui_app._mouse._events.extend(events)
-
-
-def handle_event(event: DummyEvent):
-  if event.click:
-    inject_click([(gui_app.width // 2, gui_app.height // 2)])
-  if event.swipe_left:
-    inject_click([(gui_app.width * 3 // 4, gui_app.height // 2),
-                  (gui_app.width // 4, gui_app.height // 2),
-                  (0, gui_app.height // 2)])
-  if event.swipe_right:
-    inject_click([(gui_app.width // 4, gui_app.height // 2),
-                  (gui_app.width * 3 // 4, gui_app.height // 2),
-                  (gui_app.width, gui_app.height // 2)])
-  if event.swipe_down:
-    inject_click([(gui_app.width // 2, gui_app.height // 4),
-                  (gui_app.width // 2, gui_app.height * 3 // 4),
-                  (gui_app.width // 2, gui_app.height)])
-
-
-def run_replay():
+  params.put("UpdaterCurrentReleaseNotes", parse_release_notes(BASEDIR))
+  # Params for mici home
+  params.put("Version", "0.10.1")
+  params.put("GitBranch", "test-branch")
+  params.put("GitCommit", "abc12340ff9131237ba23a1d0fbd8edf9c80e87")
+  params.put("GitCommitDate", "'1732924800 2024-11-30 00:00:00 +0000'")
+
+  # Patch Api.get_token to return a static token so the pairing QR code is deterministic across runs
+  Api.get_token = lambda self, payload_extra=None, expiry_hours=0: "test_token"
+
+
+def run_replay(variant: LayoutVariant) -> None:
+  if HEADLESS:
+    rl.set_config_flags(rl.ConfigFlags.FLAG_WINDOW_HIDDEN)
+    os.environ["OFFSCREEN"] = "1"  # Run UI without FPS limit (set before importing gui_app)
+
   setup_state()
   os.makedirs(DIFF_OUT_DIR, exist_ok=True)
 
-  if not HEADLESS:
-    rl.set_config_flags(rl.FLAG_WINDOW_HIDDEN)
-  gui_app.init_window("ui diff test", fps=FPS)
-  main_layout = MiciMainLayout()
-  main_layout.set_rect(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
-
-  frame = 0
-  script_index = 0
+  from openpilot.selfdrive.ui.ui_state import ui_state, device  # Import within OpenpilotPrefix context so param values are setup correctly
+  from openpilot.system.ui.lib.application import gui_app  # Import here for accurate coverage
+  from openpilot.selfdrive.ui.tests.diff.replay_script import build_script
 
-  for should_render in gui_app.render():
-    while script_index < len(SCRIPT) and SCRIPT[script_index][0] == frame:
-      _, event = SCRIPT[script_index]
-      handle_event(event)
-      script_index += 1
+  gui_app.init_window("ui diff test", fps=FPS)
 
-    ui_state.update()
+  # Dynamically import main layout based on variant
+  if variant == "mici":
+    from openpilot.selfdrive.ui.mici.layouts.main import MiciMainLayout as MainLayout
+  else:
+    from openpilot.selfdrive.ui.layouts.main import MainLayout
+  main_layout = MainLayout()
 
-    if should_render:
-      main_layout.render()
+  # Disable interactive timeout — replay clicks use left_down=False so they never reset the timer,
+  # and after 30s of real wall-clock time the settings panel would close automatically.
+  device.set_override_interactive_timeout(99999)
 
-    frame += 1
+  pm = PubMaster(["deviceState", "pandaStates", "driverStateV2", "selfdriveState"])
+  script = build_script(pm, main_layout, variant)
+  script_index = 0
 
-    if script_index >= len(SCRIPT):
-      break
+  send_fn: Callable | None = None
+  frame = 0
+  # Override raylib timing functions to return deterministic values based on frame count instead of real time
+  rl.get_frame_time = lambda: 1.0 / FPS
+  rl.get_time = lambda: frame / FPS
+
+  # Main loop to replay events and render frames
+  with tqdm(total=script[-1][0] + 1, desc="Replaying", unit="frame", disable=bool(os.getenv("CI"))) as pbar:
+    for _ in gui_app.render():
+      # Handle all events for the current frame
+      while script_index < len(script) and script[script_index][0] == frame:
+        _, event = script[script_index]
+        # Call setup function, if any
+        if event.setup:
+          event.setup()
+        # Send mouse events to the application
+        if event.mouse_events:
+          with gui_app._mouse._lock:
+            gui_app._mouse._events.extend(event.mouse_events)
+        # Update persistent send function
+        if event.send_fn is not None:
+          send_fn = event.send_fn
+        # Move to next script event
+        script_index += 1
+
+      # Keep sending cereal messages for persistent states (onroad, alerts)
+      if send_fn:
+        send_fn()
+
+      ui_state.update()
+
+      frame += 1
+      pbar.update(1)
+
+      if script_index >= len(script):
+        break
 
   gui_app.close()
 
@@ -114,14 +113,35 @@ def run_replay():
 
 
 def main():
-  cov = coverage.coverage(source=['openpilot.selfdrive.ui.mici'])
-  with cov.collect():
-    run_replay()
-  cov.stop()
-  cov.save()
-  cov.report()
-  cov.html_report(directory=os.path.join(DIFF_OUT_DIR, 'htmlcov'))
-  print("HTML report: htmlcov/index.html")
+  parser = argparse.ArgumentParser()
+  parser.add_argument('--big', action='store_true', help='Use big UI layout (tizi/tici) instead of mici layout')
+  args = parser.parse_args()
+
+  variant: LayoutVariant = 'tizi' if args.big else 'mici'
+
+  if args.big:
+    os.environ["BIG"] = "1"
+  os.environ["RECORD"] = "1"
+  os.environ["RECORD_QUALITY"] = "0"  # Use CRF 0 ("lossless" encode) for deterministic output across different machines
+  os.environ["RECORD_OUTPUT"] = os.path.join(DIFF_OUT_DIR, os.environ.get("RECORD_OUTPUT", f"{variant}_ui_replay.mp4"))
+
+  print(f"Running {variant} UI replay...")
+  with OpenpilotPrefix():
+    sources = ["openpilot.system.ui"]
+    if variant == "mici":
+      sources.append("openpilot.selfdrive.ui.mici")
+      omit = ["**/*tizi*", "**/*tici*"]  # exclude files containing "tizi" or "tici"
+    else:
+      sources.extend(["openpilot.selfdrive.ui.layouts", "openpilot.selfdrive.ui.onroad", "openpilot.selfdrive.ui.widgets"])
+      omit = ["**/*mici*"]  # exclude files containing "mici"
+    cov = coverage.Coverage(source=sources, omit=omit)
+    with cov.collect():
+      run_replay(variant)
+    cov.save()
+    cov.report()
+    directory = os.path.join(DIFF_OUT_DIR, f"htmlcov-{variant}")
+    cov.html_report(directory=directory)
+    print(f"HTML report: {directory}/index.html")
 
 
 if __name__ == "__main__":
diff --git a/selfdrive/ui/tests/diff/replay_script.py b/selfdrive/ui/tests/diff/replay_script.py
new file mode 100644
index 00000000000..c53d2f116bf
--- /dev/null
+++ b/selfdrive/ui/tests/diff/replay_script.py
@@ -0,0 +1,523 @@
+from __future__ import annotations
+from typing import TYPE_CHECKING
+from collections.abc import Callable
+from dataclasses import dataclass
+
+import math
+
+from cereal import car, log, messaging
+from cereal.messaging import PubMaster
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.params import Params
+from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
+from openpilot.selfdrive.ui.lib.prime_state import PrimeType
+from openpilot.selfdrive.ui.tests.diff.replay import FPS, LayoutVariant
+from openpilot.system.updated.updated import parse_release_notes
+
+# Default frames to wait after events
+WAIT_LONG = FPS
+WAIT_SHORT = FPS // 2
+FAST_CLICK = FPS // 6
+
+# Direction vectors for drag gestures
+DIR_LEFT = (-1, 0)
+DIR_RIGHT = (1, 0)
+DIR_UP = (0, -1)
+DIR_DOWN = (0, 1)
+
+AlertSize = log.SelfdriveState.AlertSize
+AlertStatus = log.SelfdriveState.AlertStatus
+
+BRANCH_NAME = "this-is-a-really-super-mega-ultra-max-extreme-ultimate-long-branch-name"
+
+
+@dataclass
+class ScriptEvent:
+  if TYPE_CHECKING:
+    # Only import for type checking to avoid excluding the application code from coverage
+    from openpilot.system.ui.lib.application import MouseEvent
+
+  setup: Callable | None = None  # Setup function to run prior to adding mouse events
+  mouse_events: list[MouseEvent] | None = None  # Mouse events to send to the application on this event's frame
+  send_fn: Callable | None = None  # When set, the main loop uses this as the new persistent sender
+
+
+ScriptEntry = tuple[int, ScriptEvent]  # (frame, event)
+
+
+class Script:
+  def __init__(self, fps: int) -> None:
+    self.fps = fps
+    self.frame = 0
+    self.entries: list[ScriptEntry] = []
+
+  def get_frame_time(self) -> float:
+    return self.frame / self.fps
+
+  def add(self, event: ScriptEvent, before: int = 0, after: int = 0) -> None:
+    """Add event to the script, optionally with the given number of frames to wait before or after the event."""
+    self.frame += before
+    self.entries.append((self.frame, event))
+    self.frame += after
+
+  def end(self) -> None:
+    """Add a final empty event to mark the end of the script."""
+    self.add(ScriptEvent())  # Without this, it will just end on the last event without waiting for any specified delay after it
+
+  def wait(self, frames: int) -> None:
+    """Add a delay for the given number of frames followed by an empty event."""
+    self.add(ScriptEvent(), before=frames)
+
+  def setup(self, fn: Callable, wait_after: int = WAIT_SHORT) -> None:
+    """Add a setup function to be called immediately followed by a delay of the given number of frames."""
+    self.add(ScriptEvent(setup=fn), after=wait_after)
+
+  def set_send(self, fn: Callable, wait_after: int = WAIT_SHORT) -> None:
+    """Set a new persistent send function to be called every frame."""
+    self.add(ScriptEvent(send_fn=fn), after=wait_after)
+
+  def click(self, x: int, y: int, wait_after: int = WAIT_SHORT, wait_between: int = 2) -> None:
+    """Add a click event to the script for the given position and specify frames to wait between mouse events or after the click."""
+    # NOTE: By default we wait a couple frames between mouse events so pressed states will be rendered
+    from openpilot.system.ui.lib.application import MouseEvent, MousePos
+
+    mouse_down = MouseEvent(pos=MousePos(x, y), slot=0, left_pressed=True, left_released=False, left_down=False, t=self.get_frame_time())
+    self.add(ScriptEvent(mouse_events=[mouse_down]), after=wait_between)
+    mouse_up = MouseEvent(pos=MousePos(x, y), slot=0, left_pressed=False, left_released=True, left_down=False, t=self.get_frame_time())
+    self.add(ScriptEvent(mouse_events=[mouse_up]), after=wait_after)
+
+  def drag(self, start_x: int, start_y: int, direction: tuple[int, int], distance: int, duration_frames: int, wait_after: int = WAIT_LONG) -> None:
+    """Add a drag gesture to the script from start position in the specified direction by the given distance over the given number of frames."""
+    from openpilot.system.ui.lib.application import MouseEvent, MousePos
+
+    # Calculate delta and end position based on direction and distance
+    delta_x, delta_y = direction[0] * distance, direction[1] * distance
+    end_x, end_y = start_x + delta_x, start_y + delta_y
+
+    # Mouse down at start
+    mouse_down = MouseEvent(pos=MousePos(start_x, start_y), slot=0, left_pressed=True, left_released=False, left_down=True, t=self.get_frame_time())
+    self.add(ScriptEvent(mouse_events=[mouse_down]), after=1)
+
+    # Interpolate positions over duration_frames
+    for i in range(1, duration_frames):
+      t = i / duration_frames
+      x, y = int(start_x + delta_x * t), int(start_y + delta_y * t)
+      mouse_move = MouseEvent(pos=MousePos(x, y), slot=0, left_pressed=False, left_released=False, left_down=True, t=self.get_frame_time())
+      self.add(ScriptEvent(mouse_events=[mouse_move]), after=1)
+
+    # Mouse up at end
+    mouse_up = MouseEvent(pos=MousePos(end_x, end_y), slot=0, left_pressed=False, left_released=True, left_down=False, t=self.get_frame_time())
+    self.add(ScriptEvent(mouse_events=[mouse_up]), after=wait_after)
+
+
+# --- Setup functions ---
+
+
+def set_prime_state(prime_type: PrimeType) -> None:
+  from openpilot.selfdrive.ui.ui_state import ui_state
+  ui_state.prime_state.set_type(prime_type)
+
+
+def setup_offroad_alerts() -> None:
+  set_offroad_alert("Offroad_TemperatureTooHigh", True, extra_text='99C')
+  set_offroad_alert("Offroad_ExcessiveActuation", True, extra_text='longitudinal')
+  set_offroad_alert("Offroad_IsTakingSnapshot", True)
+
+
+def setup_update_available(available: bool = True) -> None:
+  params = Params()
+  params.put_bool("UpdateAvailable", available)
+  params.put("UpdaterAvailableBranches", ",".join(["test-branch", "test-branch-2", BRANCH_NAME]))
+  if available:
+    params.put("UpdaterNewDescription", f"0.10.2 / {BRANCH_NAME} / 0a1b2c3 / Jan 01")
+    params.put("UpdaterNewReleaseNotes", parse_release_notes(BASEDIR))
+    params.put("UpdaterTargetBranch", BRANCH_NAME)
+  else:
+    params.remove("UpdaterNewDescription")
+    params.remove("UpdaterNewReleaseNotes")
+    params.remove("UpdaterTargetBranch")
+
+
+def setup_calibration_params() -> None:
+  params = Params()
+  # live calibration
+  calib = messaging.new_message('liveCalibration')
+  calib.liveCalibration.calStatus = log.LiveCalibrationData.Status.calibrated
+  calib.liveCalibration.rpyCalib = [0.0, math.radians(2.5), math.radians(-1.2)]
+  params.put("CalibrationParams", calib.to_bytes())
+  # live delay
+  delay = messaging.new_message('liveDelay')
+  delay.liveDelay.calPerc = 75
+  params.put("LiveDelay", delay.to_bytes())
+  # live torque parameters
+  torque = messaging.new_message('liveTorqueParameters')
+  torque.liveTorqueParameters.useParams = True
+  torque.liveTorqueParameters.calPerc = 60
+  params.put("LiveTorqueParameters", torque.to_bytes())
+
+
+def setup_developer_params() -> None:
+  CP = car.CarParams()
+  CP.alphaLongitudinalAvailable = True
+  Params().put("CarParamsPersistent", CP.to_bytes())
+
+
+# --- Send functions ---
+
+def send_onroad(pm: PubMaster) -> None:
+  ds = messaging.new_message('deviceState')
+  ds.deviceState.started = True
+  ds.deviceState.networkType = log.DeviceState.NetworkType.wifi
+
+  ps = messaging.new_message('pandaStates', 1)
+  ps.pandaStates[0].pandaType = log.PandaState.PandaType.dos
+  ps.pandaStates[0].ignitionLine = True
+
+  pm.send('deviceState', ds)
+  pm.send('pandaStates', ps)
+
+
+def make_network_state_setup(pm: PubMaster, network_type) -> Callable:
+  def _send() -> None:
+    ds = messaging.new_message('deviceState')
+    ds.deviceState.networkType = network_type
+    pm.send('deviceState', ds)
+  return _send
+
+
+def make_alert_setup(pm: PubMaster, size, text1, text2, status) -> Callable:
+  def _send() -> None:
+    alert = messaging.new_message('selfdriveState')
+    ss = alert.selfdriveState
+    ss.alertSize = size
+    ss.alertText1 = text1
+    ss.alertText2 = text2
+    ss.alertStatus = status
+    pm.send('selfdriveState', alert)
+  return _send
+
+
+def test_onroad_alerts(script: Script, pm: PubMaster) -> None:
+  """Go through various alert types and sizes and add them to the script to test alert rendering.
+    Each alert is sent as a separate event with a delay in between."""
+  # Small alert (normal)
+  script.set_send(make_alert_setup(pm, AlertSize.small, "Small Alert", "This is a small alert", AlertStatus.normal))
+  # Medium alert (userPrompt)
+  script.set_send(make_alert_setup(pm, AlertSize.mid, "Medium Alert", "This is a medium alert", AlertStatus.userPrompt))
+  # Full alert (critical)
+  script.set_send(make_alert_setup(pm, AlertSize.full, "DISENGAGE IMMEDIATELY", "Driver Distracted", AlertStatus.critical))
+  # Full alert multiline
+  script.set_send(make_alert_setup(pm, AlertSize.full, "Reverse\nGear", "", AlertStatus.normal))
+  # Full alert long text
+  script.set_send(make_alert_setup(pm, AlertSize.full, "TAKE CONTROL IMMEDIATELY", "Calibration Invalid: Remount Device & Recalibrate", AlertStatus.userPrompt))
+
+
+# --- Script builders ---
+
+def build_mici_script(pm: PubMaster, main_layout, script: Script) -> None:
+  """Build the replay script for the mici layout."""
+  from openpilot.system.ui.lib.application import gui_app
+
+  width, height = gui_app.width, gui_app.height
+  center = (width // 2, height // 2)
+  right = (width * 4 // 5, height // 2)
+  left = (width // 5, height // 2)
+  top = (width // 2, height // 10)
+  bottom = (width // 2, height * 9 // 10)
+
+  DURATION = 5
+  SWIPE_WAIT = FPS * 3 // 4
+
+  def click(times: int = 1, wait_after: int = WAIT_SHORT) -> None:
+    """Click at the center of the screen the given number of times with optional delay after."""
+    for _ in range(times):
+      script.click(*center, wait_after=wait_after)
+
+  def press(x: int, y: int, duration_frames: int = DURATION, wait_after: int = WAIT_SHORT) -> None:
+    """Perform a drag with no movement to simulate a left_down mouse event at the given position for the specified duration and delay after."""
+    script.drag(x, y, (0, 0), 0, duration_frames, wait_after=wait_after)
+
+  def swipe_left(distance: int = right[0] - left[0], duration_frames: int = DURATION, wait_after: int = SWIPE_WAIT) -> None:
+    """Drag from right edge to left (scroll right / slide confirmation)."""
+    script.drag(*right, DIR_LEFT, distance, duration_frames, wait_after)
+
+  def swipe_right(distance: int = right[0] - left[0], duration_frames: int = DURATION, wait_after: int = SWIPE_WAIT) -> None:
+    """Drag from left edge to right (scroll left)."""
+    script.drag(*left, DIR_RIGHT, distance, duration_frames, wait_after)
+
+  def swipe_down(distance: int = bottom[1] - top[1], duration_frames: int = DURATION, wait_after: int = SWIPE_WAIT) -> None:
+    """Drag from top edge to bottom (scroll up / go back)."""
+    script.drag(*top, DIR_DOWN, distance, duration_frames, wait_after)
+
+  def swipe_up(distance: int = bottom[1] - top[1], duration_frames: int = DURATION, wait_after: int = SWIPE_WAIT) -> None:
+    """Drag from bottom edge to top (scroll down)."""
+    script.drag(*bottom, DIR_UP, distance, duration_frames, wait_after)
+
+  ActionFn = Callable[[], None] | None
+  Cases = list[ActionFn]
+
+  def run_actions(*actions: ActionFn, after_each: ActionFn = None) -> None:
+    """Helper function to run a sequence of actions in order for interaction tests, calling after_each callback after each action if provided."""
+    for action in actions:
+      if action is not None:
+        action()
+      if after_each is not None:
+        after_each()
+
+  def explore_setting(*actions: ActionFn) -> None:
+    """Helper function to open a settings item, run the given actions, and go back."""
+    run_actions(click, *actions, swipe_down)  # open, interact, go back
+
+  def scroll_through_cases(cases: Cases) -> None:
+    """Helper function to explore a panel by calling the interaction callbacks for each item/page before swiping to the next one."""
+    run_actions(*cases, after_each=lambda: swipe_left(210, 10))  # swipe to roughly the center of the next toggle after each case
+
+  def interact_keyboard() -> None:
+    """Interact with the keyboard in various ways to test different actions and states.
+    Assumes it's a password keyboard with 8 characters required. Closes by pressing confirm at the end."""
+    KEY = (250, 160)  # key in the middle of the keyboard ('G')
+    SHIFT = (50, 210)
+    NUMBERS = (480, 210)
+    SPACE = (500, 160)
+    BACKSPACE = (490, 30)
+    CONFIRM = (50, 30)
+    # Begin interactions
+    press(*CONFIRM, wait_after=FAST_CLICK)  # confirm while disabled should do nothing
+    swipe_left(duration_frames=FPS // 2)  # swipe to type
+    swipe_up(duration_frames=FPS // 2)  # swipe out of keyboard (nothing typed)
+    # press various keys to test different states:
+    for key in [
+      SHIFT, KEY, KEY, SHIFT, SHIFT, KEY, KEY,  # test casing (upper, lower, caps lock)
+      SPACE, SPACE, BACKSPACE, BACKSPACE,  # test multiple space and backspace
+      NUMBERS, KEY, center, SHIFT, KEY  # test numbers and symbols
+    ]:
+      press(*key, wait_after=FAST_CLICK)
+    # press confirm to close
+    script.wait(WAIT_SHORT)  # wait for confirm to enable
+    press(*CONFIRM)
+
+  toggle_cases: Cases = [
+    lambda: click(times=3, wait_after=FAST_CLICK),  # first toggle is personality, which has 3 states
+    None, None, None, None, None, None,  # skip other toggles to save time
+    lambda: click(times=2, wait_after=FAST_CLICK),  # test final toggle (enable openpilot)
+  ]
+
+  network_cases: Cases = [
+    explore_setting,  # select wifi (just open and close)
+    None, None,
+    lambda: run_actions(click, interact_keyboard),  # tether password keyboard
+  ]
+
+  device_cases: Cases = [
+    None,
+    click,  # update
+    explore_setting,  # pairing (just open and close)
+    lambda: explore_setting(
+      # training guide
+      lambda: swipe_left(width * 2), click,  # first page, click next
+      lambda: swipe_left(width * 2), swipe_down  # second page, go back (TODO: make driver cam preview work)
+    ),
+    None,  # TODO: preview driver camera; enabling this causes MultiplePublishersError later in onroad alert tests
+    lambda: explore_setting(swipe_left),  # terms & conditions (swipe to view QR code)
+    lambda: explore_setting(lambda: swipe_up(height * 3), lambda: swipe_down(height * 3)),  # regulatory info
+    lambda: run_actions(click, lambda: swipe_left(width)),  # reset calibration confirm (goes back automatically)
+    lambda: explore_setting(lambda: swipe_left(width)),  # uninstall
+    lambda: run_actions(
+      lambda: explore_setting(lambda: swipe_left(width)),  # reboot
+      lambda: script.click(430, 120), lambda: swipe_left(width), swipe_down,  # shutdown
+    ),
+  ]
+
+  developer_cases: Cases = [
+    lambda: click(times=2, wait_after=FAST_CLICK),  # toggle ssh mode
+    explore_setting,  # SSH keys keyboard (just open and close)
+    None,  # joystick mode
+    lambda: click(wait_after=FAST_CLICK),  # longitudinal maneuver mode (disabled; should do nothing)
+    lambda: click(times=2, wait_after=FAST_CLICK),  # toggle UI debug mode
+  ]
+
+  settings_cases: Cases = [
+    lambda: scroll_through_cases(toggle_cases),
+    lambda: scroll_through_cases(network_cases),
+    lambda: scroll_through_cases(device_cases),
+    lambda: script.wait(WAIT_SHORT),  # pairing
+    lambda: run_actions(lambda: swipe_up(height * 3), lambda: swipe_down(height * 3)),  # firehose (scroll down and back up)
+    lambda: scroll_through_cases(developer_cases),
+  ]
+
+  # === Homescreen === #
+  script.wait(WAIT_SHORT)
+  swipe_left(width, wait_after=WAIT_SHORT)  # onroad screen
+  swipe_right(width, wait_after=WAIT_SHORT)  # back to home
+
+  # === Offroad Alerts ===
+  def setup_offroad_alerts_and_refresh() -> None:
+    """Setup function to trigger offroad alerts and force a refresh on the alerts layout."""
+    setup_offroad_alerts()
+    main_layout._alerts_layout.refresh()
+
+  swipe_right(width, wait_after=WAIT_SHORT)  # open alerts
+  script.setup(setup_offroad_alerts_and_refresh)  # show alerts
+  swipe_up(height)  # scroll alerts
+  swipe_left(width, wait_after=WAIT_SHORT)  # close alerts
+
+  # === Settings === #
+  click()  # open settings
+  scroll_through_cases([lambda case=case: explore_setting(case) for case in settings_cases])  # explore settings
+  swipe_down()  # back to home
+
+  # === Onroad ===
+  script.set_send(lambda: send_onroad(pm))
+  swipe_left(width, wait_after=WAIT_SHORT)  # onroad screen
+  test_onroad_alerts(script, pm)
+  swipe_right(width)  # back to home
+
+  script.end()
+
+
+def build_tizi_script(pm: PubMaster, main_layout, script: Script) -> None:
+  """Build the replay script for the tizi layout."""
+
+  def make_home_refresh_setup(fn: Callable) -> Callable:
+    """Return setup function that calls the given function to modify state and forces an immediate refresh on the home layout."""
+    from openpilot.selfdrive.ui.layouts.main import MainState
+
+    def setup():
+      fn()
+      main_layout._layouts[MainState.HOME].last_refresh = 0
+
+    return setup
+
+  def add_prime_state_setup(prime_type: PrimeType) -> None:
+    script.set_send(lambda: set_prime_state(prime_type))
+
+  def do_onboarding() -> None:
+    """Click through the training guide and close."""
+    from openpilot.selfdrive.ui.layouts.onboarding import STEP_RECTS
+    step = 0
+    for step_rect in STEP_RECTS:
+      if step < len(STEP_RECTS) - 1:
+        script.click(int(step_rect.x), int(step_rect.y), wait_after=FAST_CLICK)
+      else:
+        script.click(950, 900)  # On the last step, click Finish instead of restart
+      step += 1
+
+  def type_keyboard() -> None:
+    """Types 8 characters using the big keyboard to test different layouts and interactions."""
+    KEY = (150, 430)  # e.g. 'Q' key
+    SHIFT = (150, 750)  # also symbols key in number mode
+    NUMBERS = (150, 950)
+    SPACE = (1060, 950)
+    BACKSPACE = (2000, 780)
+    for key in [
+      SHIFT, KEY, KEY, SHIFT, SHIFT, KEY, KEY,  # test casing (upper, lower, caps lock)
+      SPACE, SPACE, BACKSPACE, BACKSPACE,  # test multiple space and backspace
+      NUMBERS, KEY, KEY, SHIFT, KEY, KEY  # test numbers and symbols
+    ]:
+      script.click(*key, wait_after=FAST_CLICK)
+
+  # TODO: Better way of organizing the events
+
+  # === Homescreen ===
+  script.set_send(make_network_state_setup(pm, log.DeviceState.NetworkType.wifi))
+  # Go through different prime state layouts
+  add_prime_state_setup(PrimeType.LITE)
+  add_prime_state_setup(PrimeType.NONE)
+  add_prime_state_setup(PrimeType.UNPAIRED)
+
+  # === Update Available (auto-transitions via HomeLayout refresh) ===
+  script.setup(make_home_refresh_setup(setup_update_available))
+
+  # === Offroad Alerts (auto-transitions via HomeLayout refresh, overrides update) ===
+  script.setup(make_home_refresh_setup(setup_offroad_alerts))
+  script.click(620, 950)  # close alerts
+
+  # === Settings (click sidebar settings button) ===
+  script.click(150, 90)
+
+  # === Settings - Device ===
+  # pair device
+  script.click(2000, 450)  # pair device
+  script.click(110, 110)  # close pairing dialog
+  add_prime_state_setup(PrimeType.NONE)  # changed from unpaired to hide pair device button
+  # calibration
+  script.setup(setup_calibration_params, wait_after=0)
+  script.click(1000, 620)  # expand calibration description
+  script.click(2000, 620)  # reset calibration confirmation
+  script.click(1500, 750)  # confirm reset
+  script.click(1000, 620)  # collapse calibration description
+  # training guide
+  script.click(2000, 800)  # open training guide
+  do_onboarding()
+  # regulatory info
+  script.click(2000, 970)  # regulatory button
+  script.click(2000, 970)  # OK
+
+  # === Settings - Network ===
+  script.click(278, 450)
+  # TODO: mock networks
+  script.click(1880, 100)  # advanced network settings
+
+  # Keyboard (tethering password)
+  script.click(2000, 420, wait_after=FAST_CLICK)  # open tether password keyboard
+  script.click(2000, 950, wait_after=FAST_CLICK)  # click confirm (disabled, should not close)
+  script.click(2000, 115)  # cancel (close without typing)
+  script.click(2000, 420, wait_after=FAST_CLICK)  # open keyboard again
+  type_keyboard()  # test various keyboard layouts and interactions
+  script.click(2050, 250, wait_after=FAST_CLICK)  # toggle show/hide password
+  script.click(2000, 950)  # confirm (close keyboard)
+
+  script.click(630, 80)  # back from advanced network
+
+  # === Settings - Toggles ===
+  script.click(278, 600)
+  script.click(1200, 280)  # expand experimental mode description
+
+  # === Settings - Software ===
+  script.setup(lambda: setup_update_available(False), wait_after=0)  # start with no update available
+  script.click(278, 720)  # software
+  for _ in range(2):
+    script.click(720, 120)  # toggle current release notes
+  script.setup(setup_update_available)  # set update available
+  for _ in range(2):
+    script.click(720, 450)  # toggle new release notes
+  script.click(2000, 630)  # open select branch dialog
+  script.click(1000, 300)  # select 1st option
+  script.click(1600, 900)  # confirm selection
+  script.click(2000, 800)  # uninstall
+  script.click(650, 750)  # cancel uninstall
+
+  # === Settings - Firehose ===
+  script.click(278, 845)
+
+  # === Settings - Developer (set CarParamsPersistent first) ===
+  script.setup(setup_developer_params, wait_after=0)
+  script.click(278, 950)
+  script.click(1930, 470)  # SSH keys (keyboard)
+  script.click(1930, 115)  # click cancel on keyboard
+  script.click(2000, 960)  # toggle alpha long
+  script.click(1500, 875)  # confirm
+
+  # === Close settings ===
+  script.click(250, 160)
+
+  # === Onroad ===
+  script.set_send(lambda: send_onroad(pm))
+  script.click(1000, 500)  # click onroad to toggle sidebar
+  test_onroad_alerts(script, pm)
+
+  # End
+  script.end()
+
+
+def build_script(pm: PubMaster, main_layout, variant: LayoutVariant) -> list[ScriptEntry]:
+  """Build the replay script for the appropriate layout variant and return list of script entries."""
+  print(f"Building {variant} replay script...")
+
+  script = Script(FPS)
+  builder = build_tizi_script if variant == 'tizi' else build_mici_script
+  builder(pm, main_layout, script)
+
+  print(f"Built replay script with {len(script.entries)} events and {script.frame} frames ({script.get_frame_time():.2f} seconds)")
+
+  return script.entries
diff --git a/selfdrive/ui/tests/profile_onroad.py b/selfdrive/ui/tests/profile_onroad.py
index fde4f25ffed..18194d73630 100755
--- a/selfdrive/ui/tests/profile_onroad.py
+++ b/selfdrive/ui/tests/profile_onroad.py
@@ -83,7 +83,6 @@ def mock_update(timeout=None):
 
   gui_app.init_window("UI Profiling", fps=600)
   main_layout = MiciMainLayout()
-  main_layout.set_rect(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
 
   print("Running...")
   patch_submaster(message_chunks)
@@ -95,15 +94,13 @@ def mock_update(timeout=None):
   yuv_buffer_size = W * H + (W // 2) * (H // 2) * 2
   yuv_data = np.random.randint(0, 256, yuv_buffer_size, dtype=np.uint8).tobytes()
   with cProfile.Profile() as pr:
-    for should_render in gui_app.render():
+    for _ in gui_app.render():
       if ui_state.sm.frame >= len(message_chunks):
         break
       if ui_state.sm.frame % 3 == 0:
         eof = int((ui_state.sm.frame % 3) * 0.05 * 1e9)
         vipc.send(VisionStreamType.VISION_STREAM_ROAD, yuv_data, ui_state.sm.frame % 3, eof, eof)
       ui_state.update()
-      if should_render:
-        main_layout.render()
     pr.dump_stats(f'{args.output}_deterministic.stats')
 
   rl.close_window()
diff --git a/selfdrive/ui/tests/test_translations.py b/selfdrive/ui/tests/test_translations.py
index 3177814f9f0..fba595acadb 100644
--- a/selfdrive/ui/tests/test_translations.py
+++ b/selfdrive/ui/tests/test_translations.py
@@ -1,124 +1,106 @@
-import pytest
 import json
-import os
 import re
-import xml.etree.ElementTree as ET
 import string
-import requests
-from parameterized import parameterized_class
-from openpilot.system.ui.lib.multilang import TRANSLATIONS_DIR, LANGUAGES_FILE
-
-with open(str(LANGUAGES_FILE)) as f:
-  translation_files = json.load(f)
-
-UNFINISHED_TRANSLATION_TAG = "<translation type=\"unfinished\""  # non-empty translations can be marked unfinished
-LOCATION_TAG = "<location "
-FORMAT_ARG = re.compile("%[0-9]+")
-
-
-@pytest.mark.skip("TODO: update for raylib")
-@parameterized_class(("name", "file"), translation_files.items())
-class TestTranslations:
-  name: str
-  file: str
-
-  @staticmethod
-  def _read_translation_file(path, file):
-    tr_file = os.path.join(path, f"{file}.ts")
-    with open(tr_file) as f:
-      return f.read()
-
-  def test_missing_translation_files(self):
-    assert os.path.exists(os.path.join(str(TRANSLATIONS_DIR), f"{self.file}.ts")), \
-                    f"{self.name} has no XML translation file, run selfdrive/ui/update_translations.py"
-
-  @pytest.mark.skip("Only test unfinished translations before going to release")
-  def test_unfinished_translations(self):
-    cur_translations = self._read_translation_file(TRANSLATIONS_DIR, self.file)
-    assert UNFINISHED_TRANSLATION_TAG not in cur_translations, \
-                    f"{self.file} ({self.name}) translation file has unfinished translations. Finish translations or mark them as completed in Qt Linguist"
-
-  def test_vanished_translations(self):
-    cur_translations = self._read_translation_file(TRANSLATIONS_DIR, self.file)
-    assert "<translation type=\"vanished\">" not in cur_translations, \
-                    f"{self.file} ({self.name}) translation file has obsolete translations. Run selfdrive/ui/update_translations.py --vanish to remove them"
-
-  def test_finished_translations(self):
-    """
-      Tests ran on each translation marked "finished"
-      Plural:
-      - that any numerus (plural) translations have all plural forms non-empty
-      - that the correct format specifier is used (%n)
-      Non-plural:
-      - that translation is not empty
-      - that translation format arguments are consistent
-    """
-    tr_xml = ET.parse(os.path.join(TRANSLATIONS_DIR, f"{self.file}.ts"))
-
-    for context in tr_xml.getroot():
-      for message in context.iterfind("message"):
-        translation = message.find("translation")
-        source_text = message.find("source").text
-
-        # Do not test unfinished translations
-        if translation.get("type") == "unfinished":
-          continue
+from pathlib import Path
+
+import pytest
+
+from openpilot.selfdrive.ui.translations.potools import parse_po
+from openpilot.system.ui.lib.multilang import LANGUAGES_FILE, TRANSLATIONS_DIR
+
+PERCENT_PLACEHOLDER_RE = re.compile(r"%(?:n|\d+)")
+BAD_ENTITY_RE = re.compile(r'@(\w+);')
+LINE_NUMBER_REF_RE = re.compile(r'^#:\s+.+:\d+(?:\s|$)')
+FORMATTER = string.Formatter()
+PO_DIR = Path(str(TRANSLATIONS_DIR))
+
+with LANGUAGES_FILE.open(encoding='utf-8') as f:
+  TRANSLATION_LANGUAGES = json.load(f)
+
+
+def extract_placeholders(text: str) -> list[str]:
+  placeholders = PERCENT_PLACEHOLDER_RE.findall(text)
 
-        if message.get("numerus") == "yes":
-          numerusform = [t.text for t in translation.findall("numerusform")]
+  try:
+    parsed = list(FORMATTER.parse(text))
+  except ValueError as e:
+    raise AssertionError(f"invalid brace formatting in {text!r}: {e}") from e
 
-          for nf in numerusform:
-            assert nf is not None, f"Ensure all plural translation forms are completed: {source_text}"
-            assert "%n" in nf, "Ensure numerus argument (%n) exists in translation."
-            assert FORMAT_ARG.search(nf) is None, f"Plural translations must use %n, not %1, %2, etc.: {numerusform}"
+  for _, field_name, format_spec, conversion in parsed:
+    if field_name is None:
+      continue
 
-        else:
-          assert translation.text is not None, f"Ensure translation is completed: {source_text}"
+    token = "{"
+    token += field_name
+    if conversion:
+      token += f"!{conversion}"
+    if format_spec:
+      token += f":{format_spec}"
+    token += "}"
+    placeholders.append(token)
 
-          source_args = FORMAT_ARG.findall(source_text)
-          translation_args = FORMAT_ARG.findall(translation.text)
-          assert sorted(source_args) == sorted(translation_args), \
-                           f"Ensure format arguments are consistent: `{source_text}` vs. `{translation.text}`"
+  return sorted(placeholders)
 
-  def test_no_locations(self):
-    for line in self._read_translation_file(TRANSLATIONS_DIR, self.file).splitlines():
-      assert not line.strip().startswith(LOCATION_TAG), \
-                       f"Line contains location tag: {line.strip()}, remove all line numbers."
 
-  def test_entities_error(self):
-    cur_translations = self._read_translation_file(TRANSLATIONS_DIR, self.file)
-    matches = re.findall(r'@(\w+);', cur_translations)
-    assert len(matches) == 0, f"The string(s) {matches} were found with '@' instead of '&'"
+def load_po_text(po_path: Path) -> str:
+  return po_path.read_text(encoding='utf-8')
 
-  def test_bad_language(self):
-    IGNORED_WORDS = {'pédale'}
 
-    match = re.search(r'([a-zA-Z]{2,3})', self.file)
-    assert match, f"{self.name} - could not parse language"
+@pytest.mark.parametrize("language_code", sorted(TRANSLATION_LANGUAGES.values()))
+def test_translation_file_exists(language_code: str):
+  po_path = PO_DIR / f"app_{language_code}.po"
+  assert po_path.exists(), f"missing translation file: {po_path}"
 
-    try:
-      response = requests.get(
-        f"https://raw.githubusercontent.com/LDNOOBW/List-of-Dirty-Naughty-Obscene-and-Otherwise-Bad-Words/master/{match.group(1)}"
+
+@pytest.mark.parametrize("po_path", sorted(PO_DIR.glob("app_*.po")), ids=lambda p: p.name)
+def test_translation_placeholders_are_preserved(po_path: Path):
+  _, entries = parse_po(po_path)
+  language = po_path.stem.removeprefix("app_")
+
+  for entry in entries:
+    source_placeholders = extract_placeholders(entry.msgid)
+
+    if entry.is_plural:
+      plural_placeholders = extract_placeholders(entry.msgid_plural)
+      message = (
+        f"{language}: source plural placeholders do not match singular for "
+        + f"{entry.msgid!r}: {source_placeholders} vs {plural_placeholders}"
       )
-      response.raise_for_status()
-    except requests.exceptions.HTTPError as e:
-      if e.response is not None and e.response.status_code == 429:
-        pytest.skip("word list rate limited")
-      raise
-
-    banned_words = {line.strip() for line in response.text.splitlines()}
-
-    for context in ET.parse(os.path.join(TRANSLATIONS_DIR, f"{self.file}.ts")).getroot():
-      for message in context.iterfind("message"):
-        translation = message.find("translation")
-        if translation.get("type") == "unfinished":
+      assert plural_placeholders == source_placeholders, message
+
+      for idx, msgstr in sorted(entry.msgstr_plural.items()):
+        if not msgstr:
           continue
 
-        translation_text = " ".join([t.text for t in translation.findall("numerusform")]) if message.get("numerus") == "yes" else translation.text
+        translated_placeholders = extract_placeholders(msgstr)
+        message = (
+          f"{language}: plural form {idx} changes placeholders for {entry.msgid!r}: "
+          + f"expected {source_placeholders}, got {translated_placeholders}"
+        )
+        assert translated_placeholders == source_placeholders, message
+    else:
+      if not entry.msgstr:
+        continue
+
+      translated_placeholders = extract_placeholders(entry.msgstr)
+      message = (
+        f"{language}: translation changes placeholders for {entry.msgid!r}: "
+        + f"expected {source_placeholders}, got {translated_placeholders}"
+      )
+      assert translated_placeholders == source_placeholders, message
+
+
+@pytest.mark.parametrize("po_path", sorted(PO_DIR.glob("app_*.po")), ids=lambda p: p.name)
+def test_translation_refs_do_not_include_line_numbers(po_path: Path):
+  for line in load_po_text(po_path).splitlines():
+    assert not LINE_NUMBER_REF_RE.match(line), (
+      f"{po_path.name}: line-number source reference found: {line}"
+    )
 
-        if not translation_text:
-          continue
 
-        words = set(translation_text.translate(str.maketrans('', '', string.punctuation + '%n')).lower().split())
-        bad_words_found = words & (banned_words - IGNORED_WORDS)
-        assert not bad_words_found, f"Bad language found in {self.name}: '{translation_text}'. Bad word(s): {', '.join(bad_words_found)}"
+@pytest.mark.parametrize("po_path", sorted(PO_DIR.glob("app_*.po")), ids=lambda p: p.name)
+def test_translation_entities_are_valid(po_path: Path):
+  matches = BAD_ENTITY_RE.findall(load_po_text(po_path))
+  assert not matches, (
+    f"{po_path.name}: found '@...;' entity typo(s): {', '.join(sorted(set(matches)))}"
+  )
diff --git a/selfdrive/ui/tests/test_ui/print_mouse_coords.py b/selfdrive/ui/tests/test_ui/print_mouse_coords.py
deleted file mode 100755
index 1e88ce57d3e..00000000000
--- a/selfdrive/ui/tests/test_ui/print_mouse_coords.py
+++ /dev/null
@@ -1,36 +0,0 @@
-#!/usr/bin/env python3
-"""
-Simple script to print mouse coordinates on Ubuntu.
-Run with: python print_mouse_coords.py
-Press Ctrl+C to exit.
-"""
-
-from pynput import mouse
-
-print("Mouse coordinate printer - Press Ctrl+C to exit")
-print("Click to set the top left origin")
-
-origin: tuple[int, int] | None = None
-clicks: list[tuple[int, int]] = []
-
-
-def on_click(x, y, button, pressed):
-  global origin, clicks
-  if pressed:  # Only on mouse down, not up
-    if origin is None:
-      origin = (x, y)
-      print(f"Origin set to: {x},{y}")
-    else:
-      rel_x = x - origin[0]
-      rel_y = y - origin[1]
-      clicks.append((rel_x, rel_y))
-      print(f"Clicks: {clicks}")
-
-
-if __name__ == "__main__":
-  try:
-    # Start mouse listener
-    with mouse.Listener(on_click=on_click) as listener:
-      listener.join()
-  except KeyboardInterrupt:
-    print("\nExiting...")
diff --git a/selfdrive/ui/tests/test_ui/raylib_screenshots.py b/selfdrive/ui/tests/test_ui/raylib_screenshots.py
deleted file mode 100755
index 481ac111beb..00000000000
--- a/selfdrive/ui/tests/test_ui/raylib_screenshots.py
+++ /dev/null
@@ -1,317 +0,0 @@
-#!/usr/bin/env python3
-import os
-import sys
-import shutil
-import time
-import pathlib
-from collections import namedtuple
-
-import pyautogui
-import pywinctl
-
-from cereal import car, log
-from cereal import messaging
-from cereal.messaging import PubMaster
-from openpilot.common.basedir import BASEDIR
-from openpilot.common.params import Params
-from openpilot.common.prefix import OpenpilotPrefix
-from openpilot.selfdrive.test.helpers import with_processes
-from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
-from openpilot.system.updated.updated import parse_release_notes
-from openpilot.system.version import terms_version, training_version
-
-AlertSize = log.SelfdriveState.AlertSize
-AlertStatus = log.SelfdriveState.AlertStatus
-
-TEST_DIR = pathlib.Path(__file__).parent
-TEST_OUTPUT_DIR = TEST_DIR / "raylib_report"
-SCREENSHOTS_DIR = TEST_OUTPUT_DIR / "screenshots"
-UI_DELAY = 0.5
-
-BRANCH_NAME = "this-is-a-really-super-mega-ultra-max-extreme-ultimate-long-branch-name"
-VERSION = f"0.10.1 / {BRANCH_NAME} / 7864838 / Oct 03"
-
-# Offroad alerts to test
-OFFROAD_ALERTS = ['Offroad_IsTakingSnapshot']
-
-
-def put_update_params(params: Params):
-  params.put("UpdaterCurrentReleaseNotes", parse_release_notes(BASEDIR))
-  params.put("UpdaterNewReleaseNotes", parse_release_notes(BASEDIR))
-  params.put("UpdaterTargetBranch", BRANCH_NAME)
-
-
-def setup_homescreen(click, pm: PubMaster):
-  pass
-
-
-def setup_homescreen_update_available(click, pm: PubMaster):
-  params = Params()
-  params.put_bool("UpdateAvailable", True)
-  put_update_params(params)
-  setup_offroad_alert(click, pm)
-
-
-def setup_settings(click, pm: PubMaster):
-  click(100, 100)
-
-
-def close_settings(click, pm: PubMaster):
-  click(240, 216)
-
-
-def setup_settings_network(click, pm: PubMaster):
-  setup_settings(click, pm)
-  click(278, 450)
-
-
-def setup_settings_network_advanced(click, pm: PubMaster):
-  setup_settings_network(click, pm)
-  click(1880, 100)
-
-
-def setup_settings_toggles(click, pm: PubMaster):
-  setup_settings(click, pm)
-  click(278, 600)
-
-
-def setup_settings_software(click, pm: PubMaster):
-  put_update_params(Params())
-  setup_settings(click, pm)
-  click(278, 720)
-
-
-def setup_settings_software_download(click, pm: PubMaster):
-  params = Params()
-  # setup_settings_software but with "DOWNLOAD" button to test long text
-  params.put("UpdaterState", "idle")
-  params.put_bool("UpdaterFetchAvailable", True)
-  setup_settings_software(click, pm)
-
-
-def setup_settings_software_release_notes(click, pm: PubMaster):
-  setup_settings_software(click, pm)
-  click(588, 110)  # expand description for current version
-
-
-def setup_settings_software_branch_switcher(click, pm: PubMaster):
-  setup_settings_software(click, pm)
-  params = Params()
-  params.put("UpdaterAvailableBranches", f"master,nightly,release,{BRANCH_NAME}")
-  params.put("GitBranch", BRANCH_NAME)  # should be on top
-  params.put("UpdaterTargetBranch", "nightly")  # should be selected
-  click(1984, 449)
-
-
-def setup_settings_firehose(click, pm: PubMaster):
-  setup_settings(click, pm)
-  click(278, 845)
-
-
-def setup_settings_developer(click, pm: PubMaster):
-  CP = car.CarParams()
-  CP.alphaLongitudinalAvailable = True  # show alpha long control toggle
-  Params().put("CarParamsPersistent", CP.to_bytes())
-
-  setup_settings(click, pm)
-  click(278, 950)
-
-
-def setup_keyboard(click, pm: PubMaster):
-  setup_settings_developer(click, pm)
-  click(1930, 470)
-
-
-def setup_pair_device(click, pm: PubMaster):
-  click(1950, 800)
-
-
-def setup_offroad_alert(click, pm: PubMaster):
-  put_update_params(Params())
-  set_offroad_alert("Offroad_TemperatureTooHigh", True, extra_text='99C')
-  set_offroad_alert("Offroad_ExcessiveActuation", True, extra_text='longitudinal')
-  for alert in OFFROAD_ALERTS:
-    set_offroad_alert(alert, True)
-
-  setup_settings(click, pm)
-  close_settings(click, pm)
-
-
-def setup_confirmation_dialog(click, pm: PubMaster):
-  setup_settings(click, pm)
-  click(1985, 791)  # reset calibration
-
-
-def setup_experimental_mode_description(click, pm: PubMaster):
-  setup_settings_toggles(click, pm)
-  click(1200, 280)  # expand description for experimental mode
-
-
-def setup_openpilot_long_confirmation_dialog(click, pm: PubMaster):
-  setup_settings_developer(click, pm)
-  click(2000, 960)  # toggle openpilot longitudinal control
-
-
-def setup_onroad(click, pm: PubMaster):
-  ds = messaging.new_message('deviceState')
-  ds.deviceState.started = True
-
-  ps = messaging.new_message('pandaStates', 1)
-  ps.pandaStates[0].pandaType = log.PandaState.PandaType.dos
-  ps.pandaStates[0].ignitionLine = True
-
-  driverState = messaging.new_message('driverStateV2')
-  driverState.driverStateV2.leftDriverData.faceOrientation = [0, 0, 0]
-
-  for _ in range(5):
-    pm.send('deviceState', ds)
-    pm.send('pandaStates', ps)
-    pm.send('driverStateV2', driverState)
-    ds.clear_write_flag()
-    ps.clear_write_flag()
-    driverState.clear_write_flag()
-    time.sleep(0.05)
-
-
-def setup_onroad_sidebar(click, pm: PubMaster):
-  setup_onroad(click, pm)
-  click(100, 100)  # open sidebar
-
-
-def setup_onroad_alert(click, pm: PubMaster, size: log.SelfdriveState.AlertSize, text1: str, text2: str, status: log.SelfdriveState.AlertStatus):
-  setup_onroad(click, pm)
-  alert = messaging.new_message('selfdriveState')
-  ss = alert.selfdriveState
-  ss.alertSize = size
-  ss.alertText1 = text1
-  ss.alertText2 = text2
-  ss.alertStatus = status
-  for _ in range(5):
-    pm.send('selfdriveState', alert)
-    alert.clear_write_flag()
-    time.sleep(0.05)
-
-
-def setup_onroad_small_alert(click, pm: PubMaster):
-  setup_onroad_alert(click, pm, AlertSize.small, "Small Alert", "This is a small alert", AlertStatus.normal)
-
-
-def setup_onroad_medium_alert(click, pm: PubMaster):
-  setup_onroad_alert(click, pm, AlertSize.mid, "Medium Alert", "This is a medium alert", AlertStatus.userPrompt)
-
-
-def setup_onroad_full_alert(click, pm: PubMaster):
-  setup_onroad_alert(click, pm, AlertSize.full, "DISENGAGE IMMEDIATELY", "Driver Distracted", AlertStatus.critical)
-
-
-def setup_onroad_full_alert_multiline(click, pm: PubMaster):
-  setup_onroad_alert(click, pm, AlertSize.full, "Reverse\nGear", "", AlertStatus.normal)
-
-
-def setup_onroad_full_alert_long_text(click, pm: PubMaster):
-  setup_onroad_alert(click, pm, AlertSize.full, "TAKE CONTROL IMMEDIATELY", "Calibration Invalid: Remount Device & Recalibrate", AlertStatus.userPrompt)
-
-
-CASES = {
-  "homescreen": setup_homescreen,
-  "homescreen_paired": setup_homescreen,
-  "homescreen_prime": setup_homescreen,
-  "homescreen_update_available": setup_homescreen_update_available,
-  "homescreen_unifont": setup_homescreen,
-  "settings_device": setup_settings,
-  "settings_network": setup_settings_network,
-  "settings_network_advanced": setup_settings_network_advanced,
-  "settings_toggles": setup_settings_toggles,
-  "settings_software": setup_settings_software,
-  "settings_software_download": setup_settings_software_download,
-  "settings_software_release_notes": setup_settings_software_release_notes,
-  "settings_software_branch_switcher": setup_settings_software_branch_switcher,
-  "settings_firehose": setup_settings_firehose,
-  "settings_developer": setup_settings_developer,
-  "keyboard": setup_keyboard,
-  "pair_device": setup_pair_device,
-  "offroad_alert": setup_offroad_alert,
-  "confirmation_dialog": setup_confirmation_dialog,
-  "experimental_mode_description": setup_experimental_mode_description,
-  "openpilot_long_confirmation_dialog": setup_openpilot_long_confirmation_dialog,
-  "onroad": setup_onroad,
-  "onroad_sidebar": setup_onroad_sidebar,
-  "onroad_small_alert": setup_onroad_small_alert,
-  "onroad_medium_alert": setup_onroad_medium_alert,
-  "onroad_full_alert": setup_onroad_full_alert,
-  "onroad_full_alert_multiline": setup_onroad_full_alert_multiline,
-  "onroad_full_alert_long_text": setup_onroad_full_alert_long_text,
-}
-
-
-class TestUI:
-  def __init__(self):
-    os.environ["SCALE"] = os.getenv("SCALE", "1")
-    os.environ["BIG"] = "1"
-    sys.modules["mouseinfo"] = False
-
-  def setup(self):
-    # Seed minimal offroad state
-    self.pm = PubMaster(["deviceState", "pandaStates", "driverStateV2", "selfdriveState"])
-    ds = messaging.new_message('deviceState')
-    ds.deviceState.networkType = log.DeviceState.NetworkType.wifi
-    for _ in range(5):
-      self.pm.send('deviceState', ds)
-      ds.clear_write_flag()
-      time.sleep(0.05)
-    time.sleep(0.5)
-    try:
-      self.ui = pywinctl.getWindowsWithTitle("UI")[0]
-    except Exception as e:
-      print(f"failed to find ui window, assuming that it's in the top left (for Xvfb) {e}")
-      self.ui = namedtuple("bb", ["left", "top", "width", "height"])(0, 0, 2160, 1080)
-
-  def screenshot(self, name: str):
-    full_screenshot = pyautogui.screenshot()
-    cropped = full_screenshot.crop((self.ui.left, self.ui.top, self.ui.left + self.ui.width, self.ui.top + self.ui.height))
-    cropped.save(SCREENSHOTS_DIR / f"{name}.png")
-
-  def click(self, x: int, y: int, *args, **kwargs):
-    pyautogui.mouseDown(self.ui.left + x, self.ui.top + y, *args, **kwargs)
-    time.sleep(0.01)
-    pyautogui.mouseUp(self.ui.left + x, self.ui.top + y, *args, **kwargs)
-
-  @with_processes(["ui"])
-  def test_ui(self, name, setup_case):
-    self.setup()
-    time.sleep(UI_DELAY)  # wait for UI to start
-    setup_case(self.click, self.pm)
-    self.screenshot(name)
-
-
-def create_screenshots():
-  if TEST_OUTPUT_DIR.exists():
-    shutil.rmtree(TEST_OUTPUT_DIR)
-  SCREENSHOTS_DIR.mkdir(parents=True)
-
-  t = TestUI()
-  for name, setup in CASES.items():
-    with OpenpilotPrefix():
-      params = Params()
-      params.put("DongleId", "123456789012345")
-
-      # Set branch name
-      params.put("UpdaterCurrentDescription", VERSION)
-      params.put("UpdaterNewDescription", VERSION)
-
-      # Set terms and training version (to skip onboarding)
-      params.put("HasAcceptedTerms", terms_version)
-      params.put("CompletedTrainingVersion", training_version)
-
-      if name == "homescreen_paired":
-        params.put("PrimeType", 0)  # NONE
-      elif name == "homescreen_prime":
-        params.put("PrimeType", 2)  # LITE
-      elif name == "homescreen_unifont":
-        params.put("LanguageSetting", "zh-CHT")  # Traditional Chinese
-
-      t.test_ui(name, setup)
-
-
-if __name__ == "__main__":
-  create_screenshots()
diff --git a/selfdrive/ui/tests/test_ui/template.html b/selfdrive/ui/tests/test_ui/template.html
deleted file mode 100644
index 68df5879e66..00000000000
--- a/selfdrive/ui/tests/test_ui/template.html
+++ /dev/null
@@ -1,34 +0,0 @@
-<html>
-
-<style>
- .column {
-  float: left;
-  width: 50%;
-  padding: 5px;
-}
-
-.row::after {
-  content: "";
-  clear: both;
-  display: table;
-} 
-
-.image {
-  width: 100%;
-}
-
-</style>
-
-{% for name, (image, ref_image) in cases.items() %}
-
-<h1>{{name}}</h1>
-<div class="row">
-  <div class="column">
-    <img class="image" src="{{ image }}"  />
-  </div>
-</div>
-
-<br>
-
-{% endfor %}
-</html>
\ No newline at end of file
diff --git a/selfdrive/ui/translations/app.pot b/selfdrive/ui/translations/app.pot
index abb6940a549..0872ed538e3 100644
--- a/selfdrive/ui/translations/app.pot
+++ b/selfdrive/ui/translations/app.pot
@@ -1,1130 +1,823 @@
-# SOME DESCRIPTIVE TITLE.
-# Copyright (C) YEAR THE PACKAGE'S COPYRIGHT HOLDER
-# This file is distributed under the same license as the PACKAGE package.
-# FIRST AUTHOR <EMAIL@ADDRESS>, YEAR.
-#
-#, fuzzy
 msgid ""
 msgstr ""
-"Project-Id-Version: PACKAGE VERSION\n"
-"Report-Msgid-Bugs-To: \n"
-"POT-Creation-Date: 2025-10-23 00:51-0700\n"
-"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n"
-"Last-Translator: FULL NAME <EMAIL@ADDRESS>\n"
-"Language-Team: LANGUAGE <LL@li.org>\n"
-"Language: \n"
-"MIME-Version: 1.0\n"
 "Content-Type: text/plain; charset=UTF-8\n"
-"Content-Transfer-Encoding: 8bit\n"
-"Plural-Forms: nplurals=INTEGER; plural=EXPRESSION;\n"
 
-#: system/ui/widgets/html_render.py:263 system/ui/widgets/confirm_dialog.py:93
-#: selfdrive/ui/layouts/sidebar.py:127
-#, python-format
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/html_render.py
 msgid "OK"
 msgstr ""
 
-#: system/ui/widgets/confirm_dialog.py:23 system/ui/widgets/option_dialog.py:35
-#: system/ui/widgets/keyboard.py:81 system/ui/widgets/network.py:318
-#, python-format
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/keyboard.py
+#: system/ui/widgets/network.py
+#: system/ui/widgets/option_dialog.py
 msgid "Cancel"
 msgstr ""
 
-#: system/ui/widgets/option_dialog.py:36
-#, python-format
-msgid "Select"
-msgstr ""
-
-#: system/ui/widgets/network.py:74 system/ui/widgets/network.py:95
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Advanced"
 msgstr ""
 
-#: system/ui/widgets/network.py:99 selfdrive/ui/layouts/onboarding.py:147
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+#: system/ui/widgets/network.py
 msgid "Back"
 msgstr ""
 
-#: system/ui/widgets/network.py:120
-#, python-format
+#: system/ui/widgets/network.py
+msgid "Enter APN"
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "leave blank for automatic configuration"
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "Enter SSID"
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "Enter new tethering password"
+msgstr ""
+
+#: system/ui/widgets/network.py
 msgid "Enable Tethering"
 msgstr ""
 
-#: system/ui/widgets/network.py:123 system/ui/widgets/network.py:139
-#, python-format
+#: system/ui/widgets/network.py
 msgid "EDIT"
 msgstr ""
 
-#: system/ui/widgets/network.py:124
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Tethering Password"
 msgstr ""
 
-#: system/ui/widgets/network.py:129
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enable Roaming"
 msgstr ""
 
-#: system/ui/widgets/network.py:134
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Cellular Metered"
 msgstr ""
 
-#: system/ui/widgets/network.py:135
-#, python-format
-msgid "Prevent large data uploads when on a metered cellular connection"
+#: system/ui/widgets/network.py
+msgid "APN Setting"
 msgstr ""
 
-#: system/ui/widgets/network.py:139
-#, python-format
-msgid "APN Setting"
+#: system/ui/widgets/network.py
+msgid "Wi-Fi Network Metered"
 msgstr ""
 
-#: system/ui/widgets/network.py:142
-#, python-format
+#: system/ui/widgets/network.py
+msgid "Enter password"
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "Scanning Wi-Fi networks..."
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "CONNECTING..."
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "Forget"
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "Prevent large data uploads when on a metered cellular connection"
+msgstr ""
+
+#: system/ui/widgets/network.py
 msgid "default"
 msgstr ""
 
-#: system/ui/widgets/network.py:142
-#, python-format
+#: system/ui/widgets/network.py
 msgid "metered"
 msgstr ""
 
-#: system/ui/widgets/network.py:142
-#, python-format
+#: system/ui/widgets/network.py
 msgid "unmetered"
 msgstr ""
 
-#: system/ui/widgets/network.py:144
-#, python-format
-msgid "Wi-Fi Network Metered"
-msgstr ""
-
-#: system/ui/widgets/network.py:144
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered Wi-Fi connection"
 msgstr ""
 
-#: system/ui/widgets/network.py:150
-#, python-format
+#: system/ui/widgets/network.py
 msgid "IP Address"
 msgstr ""
 
-#: system/ui/widgets/network.py:155
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Hidden Network"
 msgstr ""
 
-#: system/ui/widgets/network.py:155 selfdrive/ui/layouts/sidebar.py:73
-#: selfdrive/ui/layouts/sidebar.py:134 selfdrive/ui/layouts/sidebar.py:136
-#: selfdrive/ui/layouts/sidebar.py:138
-#, python-format
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/network.py
 msgid "CONNECT"
 msgstr ""
 
-#: system/ui/widgets/network.py:204
-#, python-format
-msgid "Enter APN"
+#: system/ui/widgets/network.py
+msgid "Wrong password"
 msgstr ""
 
-#: system/ui/widgets/network.py:204
-#, python-format
-msgid "leave blank for automatic configuration"
+#: system/ui/widgets/network.py
+msgid "FORGETTING..."
 msgstr ""
 
-#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
-#, python-format
-msgid "Enter password"
+#: system/ui/widgets/network.py
+msgid "for \"{}\""
 msgstr ""
 
-#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
-#, python-format
-msgid "for \"{}\""
+#: system/ui/widgets/network.py
+msgid "Forget Wi-Fi Network \"{}\"?"
 msgstr ""
 
-#: system/ui/widgets/network.py:241
-#, python-format
-msgid "Enter SSID"
+#: system/ui/widgets/list_view.py
+msgid "Error"
 msgstr ""
 
-#: system/ui/widgets/network.py:254
-#, python-format
-msgid "Enter new tethering password"
+#: system/ui/widgets/option_dialog.py
+msgid "Select"
 msgstr ""
 
-#: system/ui/widgets/network.py:310
-#, python-format
-msgid "Scanning Wi-Fi networks..."
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."
 msgstr ""
 
-#: system/ui/widgets/network.py:314
-#, python-format
-msgid "Wrong password"
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Maximize your training data uploads to improve openpilot's driving models."
 msgstr ""
 
-#: system/ui/widgets/network.py:318 system/ui/widgets/network.py:451
-#, python-format
-msgid "Forget"
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Finish Setup"
 msgstr ""
 
-#: system/ui/widgets/network.py:319
-#, python-format
-msgid "Forget Wi-Fi Network \"{}\"?"
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Pair device"
 msgstr ""
 
-#: system/ui/widgets/network.py:369
-#, python-format
-msgid "CONNECTING..."
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Open"
 msgstr ""
 
-#: system/ui/widgets/network.py:373
-#, python-format
-msgid "FORGETTING..."
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "🔥 Firehose Mode 🔥"
 msgstr ""
 
-#: system/ui/widgets/list_view.py:123 system/ui/widgets/list_view.py:160
-#, python-format
-msgid "Error"
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Please connect to Wi-Fi to complete initial pairing"
 msgstr ""
 
-#: selfdrive/ui/widgets/pairing_dialog.py:103
-#, python-format
-msgid "Pair your device to your comma account"
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
+msgid "Close"
 msgstr ""
 
-#: selfdrive/ui/widgets/pairing_dialog.py:128
-#, python-format
-msgid "Go to https://connect.comma.ai on your phone"
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
+msgid "Snooze Update"
 msgstr ""
 
-#: selfdrive/ui/widgets/pairing_dialog.py:129
-#, python-format
-msgid "Click \"add new device\" and scan the QR code on the right"
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
+msgid "Acknowledge Excessive Actuation"
 msgstr ""
 
-#: selfdrive/ui/widgets/pairing_dialog.py:130
-#, python-format
-msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
+msgid "Reboot and Update"
 msgstr ""
 
-#: selfdrive/ui/widgets/pairing_dialog.py:161
-#, python-format
-msgid "QR Code Error"
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
+msgid "No release notes available."
 msgstr ""
 
-#: selfdrive/ui/widgets/ssh_key.py:29
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "LOADING"
 msgstr ""
 
-#: selfdrive/ui/widgets/ssh_key.py:30
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "ADD"
 msgstr ""
 
-#: selfdrive/ui/widgets/ssh_key.py:31
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "REMOVE"
 msgstr ""
 
-#: selfdrive/ui/widgets/ssh_key.py:89
-#, python-format
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "Request timed out"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "Enter your GitHub username"
 msgstr ""
 
-#: selfdrive/ui/widgets/ssh_key.py:114
-#, python-format
-msgid "No SSH keys found"
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "No SSH keys found for user '{}'"
 msgstr ""
 
-#: selfdrive/ui/widgets/ssh_key.py:123
-#, python-format
-msgid "Request timed out"
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "Pair your device to your comma account"
 msgstr ""
 
-#: selfdrive/ui/widgets/ssh_key.py:126
-#, python-format
-msgid "No SSH keys found for user '{}'"
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "Go to https://connect.comma.ai on your phone"
 msgstr ""
 
-#: selfdrive/ui/widgets/prime.py:33
-#, python-format
-msgid "Upgrade Now"
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "Click \"add new device\" and scan the QR code on the right"
 msgstr ""
 
-#: selfdrive/ui/widgets/prime.py:38
-#, python-format
-msgid "Become a comma prime member at connect.comma.ai"
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "QR Code Error"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "Upgrade Now"
 msgstr ""
 
-#: selfdrive/ui/widgets/prime.py:44
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "PRIME FEATURES:"
 msgstr ""
 
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Remote access"
 msgstr ""
 
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "24/7 LTE connectivity"
 msgstr ""
 
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "1 year of drive storage"
 msgstr ""
 
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Remote snapshots"
 msgstr ""
 
-#: selfdrive/ui/widgets/prime.py:62
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "✓ SUBSCRIBED"
 msgstr ""
 
-#: selfdrive/ui/widgets/prime.py:63
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "comma prime"
 msgstr ""
 
-#: selfdrive/ui/widgets/exp_mode_button.py:50
-#, python-format
-msgid "EXPERIMENTAL MODE ON"
-msgstr ""
-
-#: selfdrive/ui/widgets/exp_mode_button.py:50
-#, python-format
-msgid "CHILL MODE ON"
-msgstr ""
-
-#: selfdrive/ui/widgets/offroad_alerts.py:104
-#, python-format
-msgid "Close"
-msgstr ""
-
-#: selfdrive/ui/widgets/offroad_alerts.py:106
-#, python-format
-msgid "Snooze Update"
-msgstr ""
-
-#: selfdrive/ui/widgets/offroad_alerts.py:109
-#, python-format
-msgid "Acknowledge Excessive Actuation"
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "Become a comma prime member at connect.comma.ai"
 msgstr ""
 
-#: selfdrive/ui/widgets/offroad_alerts.py:112
-#, python-format
-msgid "Reboot and Update"
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
+msgid "EXPERIMENTAL MODE ON"
 msgstr ""
 
-#: selfdrive/ui/widgets/offroad_alerts.py:320
-#, python-format
-msgid "No release notes available."
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
+msgid "CHILL MODE ON"
 msgstr ""
 
-#: selfdrive/ui/widgets/setup.py:19
-#, python-format
-msgid "Pair device"
+#: openpilot/selfdrive/ui/layouts/home.py
+msgid "UPDATE"
 msgstr ""
 
-#: selfdrive/ui/widgets/setup.py:20
-#, python-format
-msgid "Open"
-msgstr ""
+#: openpilot/selfdrive/ui/layouts/home.py
+msgid "{} ALERT"
+msgid_plural "{} ALERTS"
+msgstr[0] ""
+msgstr[1] ""
 
-#: selfdrive/ui/widgets/setup.py:22
-#, python-format
-msgid "🔥 Firehose Mode 🔥"
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "Welcome to openpilot"
 msgstr ""
 
-#: selfdrive/ui/widgets/setup.py:44
-#, python-format
-msgid "Finish Setup"
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "You must accept the Terms and Conditions to use openpilot. Read the latest terms at https://comma.ai/terms before continuing."
 msgstr ""
 
-#: selfdrive/ui/widgets/setup.py:48 selfdrive/ui/layouts/settings/device.py:24
-#, python-format
-msgid ""
-"Pair your device with comma connect (connect.comma.ai) and claim your comma "
-"prime offer."
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "Decline"
 msgstr ""
 
-#: selfdrive/ui/widgets/setup.py:75
-#, python-format
-msgid ""
-"Maximize your training data uploads to improve openpilot's driving models."
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "Agree"
 msgstr ""
 
-#: selfdrive/ui/widgets/setup.py:91
-#, python-format
-msgid "Please connect to Wi-Fi to complete initial pairing"
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "You must accept the Terms and Conditions in order to use openpilot."
 msgstr ""
 
-#: selfdrive/ui/layouts/home.py:155
-#, python-format
-msgid "UPDATE"
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "Decline, uninstall openpilot"
 msgstr ""
 
-#: selfdrive/ui/layouts/home.py:169
-#, python-format
-msgid "{} ALERT"
-msgid_plural "{} ALERTS"
-msgstr[0] ""
-msgstr[1] ""
-
-#: selfdrive/ui/layouts/sidebar.py:43
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "--"
 msgstr ""
 
-#: selfdrive/ui/layouts/sidebar.py:44
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "Wi-Fi"
 msgstr ""
 
-#: selfdrive/ui/layouts/sidebar.py:45
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ETH"
 msgstr ""
 
-#: selfdrive/ui/layouts/sidebar.py:46
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "2G"
 msgstr ""
 
-#: selfdrive/ui/layouts/sidebar.py:47
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "3G"
 msgstr ""
 
-#: selfdrive/ui/layouts/sidebar.py:48
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "LTE"
 msgstr ""
 
-#: selfdrive/ui/layouts/sidebar.py:49
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "5G"
 msgstr ""
 
-#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
-#: selfdrive/ui/layouts/sidebar.py:127 selfdrive/ui/layouts/sidebar.py:129
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "TEMP"
 msgstr ""
 
-#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "GOOD"
 msgstr ""
 
-#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:144
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "VEHICLE"
 msgstr ""
 
-#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:136
-#: selfdrive/ui/layouts/sidebar.py:144
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ONLINE"
 msgstr ""
 
-#: selfdrive/ui/layouts/sidebar.py:73 selfdrive/ui/layouts/sidebar.py:134
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "OFFLINE"
 msgstr ""
 
-#: selfdrive/ui/layouts/sidebar.py:117
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "Unknown"
 msgstr ""
 
-#: selfdrive/ui/layouts/sidebar.py:129
-msgid "HIGH"
-msgstr ""
-
-#: selfdrive/ui/layouts/sidebar.py:138
-msgid "ERROR"
-msgstr ""
-
-#: selfdrive/ui/layouts/sidebar.py:142
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "NO"
 msgstr ""
 
-#: selfdrive/ui/layouts/sidebar.py:142
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "PANDA"
 msgstr ""
 
-#: selfdrive/ui/layouts/onboarding.py:111
-#, python-format
-msgid "Welcome to openpilot"
-msgstr ""
-
-#: selfdrive/ui/layouts/onboarding.py:112
-#, python-format
-msgid ""
-"You must accept the Terms and Conditions to use openpilot. Read the latest "
-"terms at https://comma.ai/terms before continuing."
-msgstr ""
-
-#: selfdrive/ui/layouts/onboarding.py:115
-#, python-format
-msgid "Decline"
-msgstr ""
-
-#: selfdrive/ui/layouts/onboarding.py:116
-#, python-format
-msgid "Agree"
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "HIGH"
 msgstr ""
 
-#: selfdrive/ui/layouts/onboarding.py:145
-#, python-format
-msgid "You must accept the Terms and Conditions in order to use openpilot."
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "ERROR"
 msgstr ""
 
-#: selfdrive/ui/layouts/onboarding.py:148
-#, python-format
-msgid "Decline, uninstall openpilot"
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)"
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/firehose.py:18
-msgid "Firehose Mode"
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down."
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/firehose.py:20
-msgid ""
-"openpilot learns to drive by watching humans, like you, drive.\n"
-"\n"
-"Firehose Mode allows you to maximize your training data uploads to improve "
-"openpilot's driving models. More data means bigger models, which means "
-"better Experimental Mode."
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Review the rules, features, and limitations of openpilot"
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/firehose.py:25
-msgid ""
-"For maximum effectiveness, bring your device inside and connect to a good "
-"USB-C adapter and Wi-Fi weekly.\n"
-"\n"
-"Firehose Mode can also work while you're driving if connected to a hotspot "
-"or unlimited SIM card.\n"
-"\n"
-"\n"
-"Frequently Asked Questions\n"
-"\n"
-"Does it matter how or where I drive? Nope, just drive as you normally "
-"would.\n"
-"\n"
-"Do all of my segments get pulled in Firehose Mode? No, we selectively pull a "
-"subset of your segments.\n"
-"\n"
-"What's a good USB-C adapter? Any fast phone or laptop charger should be "
-"fine.\n"
-"\n"
-"Does it matter which software I run? Yes, only upstream openpilot (and "
-"particular forks) are able to be used for training."
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/firehose.py:111
-#, python-format
-msgid "{} segment of your driving is in the training dataset so far."
-msgid_plural "{} segments of your driving is in the training dataset so far."
-msgstr[0] ""
-msgstr[1] ""
-
-#: selfdrive/ui/layouts/settings/firehose.py:138
-#, python-format
-msgid "ACTIVE"
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Select a language"
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/firehose.py:140
-#, python-format
-msgid "INACTIVE: connect to an unmetered network"
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Are you sure you want to reset calibration?"
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/developer.py:15
-msgid ""
-"ADB (Android Debug Bridge) allows connecting to your device over USB or over "
-"the network. See https://docs.comma.ai/how-to/connect-to-comma for more info."
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Reset"
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/developer.py:19
-msgid ""
-"Warning: This grants SSH access to all public keys in your GitHub settings. "
-"Never enter a GitHub username other than your own. A comma employee will "
-"NEVER ask you to add their GitHub username."
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "<br><br>Steering lag calibration is complete."
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/developer.py:23
-msgid ""
-"<b>WARNING: openpilot longitudinal control is in alpha for this car and will "
-"disable Automatic Emergency Braking (AEB).</b><br><br>On this car, openpilot "
-"defaults to the car's built-in ACC instead of openpilot's longitudinal "
-"control. Enable this to switch to openpilot longitudinal control. Enabling "
-"Experimental mode is recommended when enabling openpilot longitudinal "
-"control alpha. Changing this setting will restart openpilot if the car is "
-"powered on."
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Are you sure you want to reboot?"
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/developer.py:39
-#, python-format
-msgid "Enable ADB"
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Reboot"
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/developer.py:48
-#, python-format
-msgid "Enable SSH"
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Are you sure you want to power off?"
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/developer.py:53
-#, python-format
-msgid "SSH Keys"
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Power Off"
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/developer.py:56
-#, python-format
-msgid "Joystick Debug Mode"
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Pair Device"
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/developer.py:64
-#, python-format
-msgid "Longitudinal Maneuver Mode"
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "PAIR"
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/developer.py:71
-#, python-format
-msgid "openpilot Longitudinal Control (Alpha)"
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Reset Calibration"
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/developer.py:166
-#: selfdrive/ui/layouts/settings/toggles.py:228
-#, python-format
-msgid "Enable"
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "RESET"
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/software.py:20
-#, python-format
-msgid "never"
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Dongle ID"
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/software.py:31
-#, python-format
-msgid "now"
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Serial"
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/software.py:34
-#, python-format
-msgid "{} minute ago"
-msgid_plural "{} minutes ago"
-msgstr[0] ""
-msgstr[1] ""
-
-#: selfdrive/ui/layouts/settings/software.py:37
-#, python-format
-msgid "{} hour ago"
-msgid_plural "{} hours ago"
-msgstr[0] ""
-msgstr[1] ""
-
-#: selfdrive/ui/layouts/settings/software.py:40
-#, python-format
-msgid "{} day ago"
-msgid_plural "{} days ago"
-msgstr[0] ""
-msgstr[1] ""
-
-#: selfdrive/ui/layouts/settings/software.py:48
-#, python-format
-msgid "Updates are only downloaded while the car is off."
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Driver Camera"
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/software.py:49
-#, python-format
-msgid "Current Version"
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "PREVIEW"
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/software.py:50
-#, python-format
-msgid "Download"
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Review Training Guide"
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/software.py:50
-#: selfdrive/ui/layouts/settings/software.py:107
-#: selfdrive/ui/layouts/settings/software.py:118
-#: selfdrive/ui/layouts/settings/software.py:147
-#, python-format
-msgid "CHECK"
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "REVIEW"
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/software.py:53
-#, python-format
-msgid "Install Update"
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Regulatory"
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/software.py:53
-#: selfdrive/ui/layouts/settings/software.py:136
-#, python-format
-msgid "INSTALL"
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "VIEW"
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/software.py:61
-#, python-format
-msgid "Target Branch"
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Change Language"
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/software.py:61
-#, python-format
-msgid "SELECT"
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "CHANGE"
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/software.py:72
-#: selfdrive/ui/layouts/settings/software.py:163
-#, python-format
-msgid "Uninstall"
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Disengage to Reset Calibration"
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/software.py:72
-#, python-format
-msgid "UNINSTALL"
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "<br><br>Steering lag calibration is {}% complete."
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/software.py:106
-#, python-format
-msgid "failed to check for update"
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Disengage to Reboot"
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/software.py:109
-#, python-format
-msgid "update available"
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Disengage to Power Off"
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/software.py:110
-#, python-format
-msgid "DOWNLOAD"
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "N/A"
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/software.py:115
-#, python-format
-msgid "up to date, last checked {}"
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid " Steering torque response calibration is complete."
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/software.py:117
-#, python-format
-msgid "up to date, last checked never"
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid " Your device is pointed {:.1f}° {} and {:.1f}° {}."
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/software.py:163
-#, python-format
-msgid "Are you sure you want to uninstall?"
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "down"
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/software.py:183
-#, python-format
-msgid "Select a branch"
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "up"
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/device.py:25
-msgid ""
-"Preview the driver facing camera to ensure that driver monitoring has good "
-"visibility. (vehicle must be off)"
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "left"
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/device.py:26
-msgid ""
-"openpilot requires the device to be mounted within 4° left or right and "
-"within 5° up or 9° down."
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "right"
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/device.py:27
-msgid "Review the rules, features, and limitations of openpilot"
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid " Steering torque response calibration is {}% complete."
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/device.py:48
-#, python-format
-msgid "Pair Device"
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
+msgid "Firehose Mode"
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/device.py:48
-#, python-format
-msgid "PAIR"
-msgstr ""
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
+msgid "{} segment of your driving is in the training dataset so far."
+msgid_plural "{} segments of your driving is in the training dataset so far."
+msgstr[0] ""
+msgstr[1] ""
 
-#: selfdrive/ui/layouts/settings/device.py:51
-#, python-format
-msgid "Reset Calibration"
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "Enable ADB"
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/device.py:51
-#, python-format
-msgid "RESET"
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "Enable SSH"
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/device.py:55
-#: selfdrive/ui/layouts/settings/device.py:175
-#, python-format
-msgid "Reboot"
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "SSH Keys"
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/device.py:55
-#: selfdrive/ui/layouts/settings/device.py:187
-#, python-format
-msgid "Power Off"
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "Joystick Debug Mode"
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/device.py:59
-#, python-format
-msgid "Dongle ID"
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "Longitudinal Maneuver Mode"
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/device.py:59
-#: selfdrive/ui/layouts/settings/device.py:60
-#, python-format
-msgid "N/A"
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "openpilot Longitudinal Control (Alpha)"
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/device.py:60
-#, python-format
-msgid "Serial"
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "UI Debug Mode"
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/device.py:62
-#, python-format
-msgid "Driver Camera"
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable"
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/device.py:62
-#, python-format
-msgid "PREVIEW"
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "checking..."
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/device.py:65
-#, python-format
-msgid "Review Training Guide"
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "downloading..."
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/device.py:65
-#, python-format
-msgid "REVIEW"
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "finalizing update..."
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/device.py:67
-#, python-format
-msgid "Regulatory"
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "never"
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/device.py:67
-#, python-format
-msgid "VIEW"
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "now"
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/device.py:68
-#, python-format
-msgid "Change Language"
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "CHECK"
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/device.py:68
-#, python-format
-msgid "CHANGE"
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Are you sure you want to uninstall?"
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/device.py:91
-#, python-format
-msgid "Select a language"
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Uninstall"
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/device.py:103
-#, python-format
-msgid "Disengage to Reset Calibration"
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Select a branch"
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/device.py:119
-#, python-format
-msgid "Are you sure you want to reset calibration?"
-msgstr ""
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "{} minute ago"
+msgid_plural "{} minutes ago"
+msgstr[0] ""
+msgstr[1] ""
 
-#: selfdrive/ui/layouts/settings/device.py:119
-#, python-format
-msgid "Reset"
-msgstr ""
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "{} hour ago"
+msgid_plural "{} hours ago"
+msgstr[0] ""
+msgstr[1] ""
 
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
-msgid " Your device is pointed {:.1f}° {} and {:.1f}° {}."
-msgstr ""
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "{} day ago"
+msgid_plural "{} days ago"
+msgstr[0] ""
+msgstr[1] ""
 
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
-msgid "down"
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Updates are only downloaded while the car is off."
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
-msgid "up"
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Current Version"
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/device.py:134
-#, python-format
-msgid "left"
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Download"
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/device.py:134
-#, python-format
-msgid "right"
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Install Update"
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/device.py:146
-#, python-format
-msgid "<br><br>Steering lag calibration is {}% complete."
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "INSTALL"
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/device.py:148
-#, python-format
-msgid "<br><br>Steering lag calibration is complete."
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Target Branch"
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/device.py:158
-#, python-format
-msgid " Steering torque response calibration is {}% complete."
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "SELECT"
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/device.py:160
-#, python-format
-msgid " Steering torque response calibration is complete."
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "failed to check for update"
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/device.py:165
-#, python-format
-msgid ""
-"openpilot is continuously calibrating, resetting is rarely required. "
-"Resetting calibration will restart openpilot if the car is powered on."
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "UNINSTALL"
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/device.py:172
-#, python-format
-msgid "Disengage to Reboot"
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "update available"
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/device.py:175
-#, python-format
-msgid "Are you sure you want to reboot?"
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "DOWNLOAD"
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/device.py:184
-#, python-format
-msgid "Disengage to Power Off"
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "up to date, last checked never"
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/device.py:187
-#, python-format
-msgid "Are you sure you want to power off?"
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "up to date, last checked {}"
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/settings.py:62
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Device"
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/settings.py:63
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Network"
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/settings.py:64
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Toggles"
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/settings.py:65
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Software"
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/settings.py:66
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Firehose"
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/settings.py:67
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Developer"
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/toggles.py:17
-msgid ""
-"Use the openpilot system for adaptive cruise control and lane keep driver "
-"assistance. Your attention is required at all times to use this feature."
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "When enabled, pressing the accelerator pedal will disengage openpilot."
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/toggles.py:20
-msgid "When enabled, pressing the accelerator pedal will disengage openpilot."
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable driver monitoring even when openpilot is not engaged."
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/toggles.py:22
-msgid ""
-"Standard is recommended. In aggressive mode, openpilot will follow lead cars "
-"closer and be more aggressive with the gas and brake. In relaxed mode "
-"openpilot will stay further away from lead cars. On supported cars, you can "
-"cycle through these personalities with your steering wheel distance button."
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Upload data from the driver facing camera and help improve the driver monitoring algorithm."
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/toggles.py:27
-msgid ""
-"Receive alerts to steer back into the lane when your vehicle drifts over a "
-"detected lane line without a turn signal activated while driving over 31 mph "
-"(50 km/h)."
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Display speed in km/h instead of mph."
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/toggles.py:30
-msgid "Enable driver monitoring even when openpilot is not engaged."
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/toggles.py:31
-msgid ""
-"Upload data from the driver facing camera and help improve the driver "
-"monitoring algorithm."
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Driving Personality"
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/toggles.py:32
-msgid "Display speed in km/h instead of mph."
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Changing this setting will restart openpilot if the car is powered on."
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/toggles.py:33
-msgid ""
-"Record and store microphone audio while driving. The audio will be included "
-"in the dashcam video in comma connect."
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/toggles.py:46
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable openpilot"
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/toggles.py:52
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Experimental Mode"
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/toggles.py:58
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Disengage on Accelerator Pedal"
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/toggles.py:64
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable Lane Departure Warnings"
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/toggles.py:70
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Always-On Driver Monitoring"
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/toggles.py:76
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Record and Upload Driver Camera"
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/toggles.py:82
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Record and Upload Microphone Audio"
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/toggles.py:88
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Use Metric System"
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/toggles.py:96
-#, python-format
-msgid "Driving Personality"
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "openpilot longitudinal control may come in a future update."
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Aggressive"
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Standard"
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Relaxed"
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/toggles.py:125
-#, python-format
-msgid "Changing this setting will restart openpilot if the car is powered on."
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/toggles.py:158
-#, python-format
-msgid ""
-"openpilot defaults to driving in chill mode. Experimental mode enables alpha-"
-"level features that aren't ready for chill mode. Experimental features are "
-"listed below:<br><h4>End-to-End Longitudinal Control</h4><br>Let the driving "
-"model control the gas and brakes. openpilot will drive as it thinks a human "
-"would, including stopping for red lights and stop signs. Since the driving "
-"model decides the speed to drive, the set speed will only act as an upper "
-"bound. This is an alpha quality feature; mistakes should be expected."
-"<br><h4>New Driving Visualization</h4><br>The driving visualization will "
-"transition to the road-facing wide-angle camera at low speeds to better show "
-"some turns. The Experimental mode logo will also be shown in the top right "
-"corner."
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/toggles.py:181
-#, python-format
-msgid ""
-"Experimental mode is currently unavailable on this car since the car's stock "
-"ACC is used for longitudinal control."
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/toggles.py:183
-#, python-format
-msgid "openpilot longitudinal control may come in a future update."
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/toggles.py:186
-#, python-format
-msgid ""
-"An alpha version of openpilot longitudinal control can be tested, along with "
-"Experimental mode, on non-release branches."
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode."
 msgstr ""
 
-#: selfdrive/ui/layouts/settings/toggles.py:189
-#, python-format
-msgid ""
-"Enable the openpilot longitudinal control (alpha) toggle to allow "
-"Experimental mode."
+#: openpilot/selfdrive/ui/onroad/driver_camera_dialog.py
+msgid "camera starting"
 msgstr ""
 
-#: selfdrive/ui/onroad/hud_renderer.py:148
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "MAX"
 msgstr ""
 
-#: selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "km/h"
 msgstr ""
 
-#: selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "mph"
 msgstr ""
 
-#: selfdrive/ui/onroad/driver_camera_dialog.py:34
-#, python-format
-msgid "camera starting"
-msgstr ""
-
-#: selfdrive/ui/onroad/alert_renderer.py:51
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "openpilot Unavailable"
 msgstr ""
 
-#: selfdrive/ui/onroad/alert_renderer.py:52
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "Waiting to start"
 msgstr ""
 
-#: selfdrive/ui/onroad/alert_renderer.py:58
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "TAKE CONTROL IMMEDIATELY"
 msgstr ""
 
-#: selfdrive/ui/onroad/alert_renderer.py:59
-#: selfdrive/ui/onroad/alert_renderer.py:65
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "System Unresponsive"
 msgstr ""
 
-#: selfdrive/ui/onroad/alert_renderer.py:66
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "Reboot Device"
 msgstr ""
+
diff --git a/selfdrive/ui/translations/app_ar.po b/selfdrive/ui/translations/app_ar.po
deleted file mode 100644
index 608389fc07d..00000000000
--- a/selfdrive/ui/translations/app_ar.po
+++ /dev/null
@@ -1,1218 +0,0 @@
-# Arabic translations for PACKAGE package.
-# Copyright (C) 2025 THE PACKAGE'S COPYRIGHT HOLDER
-# This file is distributed under the same license as the PACKAGE package.
-# Automatically generated, 2025.
-#
-msgid ""
-msgstr ""
-"Project-Id-Version: PACKAGE VERSION\n"
-"Report-Msgid-Bugs-To: \n"
-"POT-Creation-Date: 2025-10-23 00:50-0700\n"
-"PO-Revision-Date: 2025-10-22 16:32-0700\n"
-"Last-Translator: Automatically generated\n"
-"Language-Team: none\n"
-"Language: ar\n"
-"MIME-Version: 1.0\n"
-"Content-Type: text/plain; charset=UTF-8\n"
-"Content-Transfer-Encoding: 8bit\n"
-"Plural-Forms: nplurals=6; plural=n==0?0:n==1?1:n==2?2:(n%100>=3 && "
-"n%100<=10)?3:(n%100>=11 && n%100<=99)?4:5;\n"
-
-#: selfdrive/ui/layouts/settings/device.py:160
-#, python-format
-msgid " Steering torque response calibration is complete."
-msgstr " اكتملت معايرة استجابة عزم التوجيه."
-
-#: selfdrive/ui/layouts/settings/device.py:158
-#, python-format
-msgid " Steering torque response calibration is {}% complete."
-msgstr " اكتملت معايرة استجابة عزم التوجيه بنسبة {}٪."
-
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
-msgid " Your device is pointed {:.1f}° {} and {:.1f}° {}."
-msgstr " جهازك موجه بمقدار {:.1f}° {} و {:.1f}° {}."
-
-#: selfdrive/ui/layouts/sidebar.py:43
-msgid "--"
-msgstr "--"
-
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
-msgid "1 year of drive storage"
-msgstr "سنة واحدة من تخزين القيادة"
-
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
-msgid "24/7 LTE connectivity"
-msgstr "اتصال LTE على مدار الساعة"
-
-#: selfdrive/ui/layouts/sidebar.py:46
-msgid "2G"
-msgstr "2G"
-
-#: selfdrive/ui/layouts/sidebar.py:47
-msgid "3G"
-msgstr "3G"
-
-#: selfdrive/ui/layouts/sidebar.py:49
-msgid "5G"
-msgstr "5G"
-
-#: selfdrive/ui/layouts/settings/developer.py:23
-msgid ""
-"<b>WARNING: openpilot longitudinal control is in alpha for this car and will "
-"disable Automatic Emergency Braking (AEB).</b><br><br>On this car, openpilot "
-"defaults to the car's built-in ACC instead of openpilot's longitudinal "
-"control. Enable this to switch to openpilot longitudinal control. Enabling "
-"Experimental mode is recommended when enabling openpilot longitudinal "
-"control alpha. Changing this setting will restart openpilot if the car is "
-"powered on."
-msgstr ""
-"<b>تحذير: التحكم الطولي لـ openpilot في مرحلة ألفا لهذه السيارة وسيُعطّل نظام "
-"الكبح التلقائي في حالات الطوارئ (AEB).</b><br><br>في هذه السيارة، يعتمد "
-"openpilot افتراضياً على نظام ACC المدمج بدلاً من التحكم الطولي لـ openpilot. "
-"فعّل هذا الخيار للتبديل إلى التحكم الطولي لـ openpilot. يُنصح بتمكين وضع "
-"التجربة عند تفعيل نسخة ألفا من التحكم الطولي. تغيير هذا الإعداد سيعيد تشغيل "
-"openpilot إذا كانت السيارة قيد التشغيل."
-
-#: selfdrive/ui/layouts/settings/device.py:148
-#, python-format
-msgid "<br><br>Steering lag calibration is complete."
-msgstr "<br><br>اكتملت معايرة تأخر التوجيه."
-
-#: selfdrive/ui/layouts/settings/device.py:146
-#, python-format
-msgid "<br><br>Steering lag calibration is {}% complete."
-msgstr "<br><br>اكتملت معايرة تأخر التوجيه بنسبة {}٪."
-
-#: selfdrive/ui/layouts/settings/firehose.py:138
-#, python-format
-msgid "ACTIVE"
-msgstr "نشط"
-
-#: selfdrive/ui/layouts/settings/developer.py:15
-msgid ""
-"ADB (Android Debug Bridge) allows connecting to your device over USB or over "
-"the network. See https://docs.comma.ai/how-to/connect-to-comma for more info."
-msgstr ""
-"يتيح ADB (Android Debug Bridge) الاتصال بجهازك عبر USB أو عبر الشبكة. راجع "
-"https://docs.comma.ai/how-to/connect-to-comma لمزيد من المعلومات."
-
-#: selfdrive/ui/widgets/ssh_key.py:30
-msgid "ADD"
-msgstr "إضافة"
-
-#: system/ui/widgets/network.py:139
-#, python-format
-msgid "APN Setting"
-msgstr "إعداد APN"
-
-#: selfdrive/ui/widgets/offroad_alerts.py:109
-#, python-format
-msgid "Acknowledge Excessive Actuation"
-msgstr "تأكيد التشغيل المفرط"
-
-#: system/ui/widgets/network.py:74 system/ui/widgets/network.py:95
-#, python-format
-msgid "Advanced"
-msgstr "متقدم"
-
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
-msgid "Aggressive"
-msgstr "عدواني"
-
-#: selfdrive/ui/layouts/onboarding.py:116
-#, python-format
-msgid "Agree"
-msgstr "موافقة"
-
-#: selfdrive/ui/layouts/settings/toggles.py:70
-#, python-format
-msgid "Always-On Driver Monitoring"
-msgstr "مراقبة السائق دائماً"
-
-#: selfdrive/ui/layouts/settings/toggles.py:186
-#, python-format
-msgid ""
-"An alpha version of openpilot longitudinal control can be tested, along with "
-"Experimental mode, on non-release branches."
-msgstr ""
-"يمكن اختبار نسخة ألفا من التحكم الطولي لـ openpilot، مع وضع التجربة، على "
-"الفروع غير الإصدارية."
-
-#: selfdrive/ui/layouts/settings/device.py:187
-#, python-format
-msgid "Are you sure you want to power off?"
-msgstr "هل أنت متأكد أنك تريد إيقاف التشغيل؟"
-
-#: selfdrive/ui/layouts/settings/device.py:175
-#, python-format
-msgid "Are you sure you want to reboot?"
-msgstr "هل أنت متأكد أنك تريد إعادة التشغيل؟"
-
-#: selfdrive/ui/layouts/settings/device.py:119
-#, python-format
-msgid "Are you sure you want to reset calibration?"
-msgstr "هل أنت متأكد أنك تريد إعادة ضبط المعايرة؟"
-
-#: selfdrive/ui/layouts/settings/software.py:163
-#, python-format
-msgid "Are you sure you want to uninstall?"
-msgstr "هل أنت متأكد أنك تريد إلغاء التثبيت؟"
-
-#: system/ui/widgets/network.py:99 selfdrive/ui/layouts/onboarding.py:147
-#, python-format
-msgid "Back"
-msgstr "رجوع"
-
-#: selfdrive/ui/widgets/prime.py:38
-#, python-format
-msgid "Become a comma prime member at connect.comma.ai"
-msgstr "انضم إلى comma prime عبر connect.comma.ai"
-
-#: selfdrive/ui/widgets/pairing_dialog.py:130
-#, python-format
-msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
-msgstr "ثبّت connect.comma.ai على شاشتك الرئيسية لاستخدامه كتطبيق"
-
-#: selfdrive/ui/layouts/settings/device.py:68
-#, python-format
-msgid "CHANGE"
-msgstr "تغيير"
-
-#: selfdrive/ui/layouts/settings/software.py:50
-#: selfdrive/ui/layouts/settings/software.py:107
-#: selfdrive/ui/layouts/settings/software.py:118
-#: selfdrive/ui/layouts/settings/software.py:147
-#, python-format
-msgid "CHECK"
-msgstr "تحقق"
-
-#: selfdrive/ui/widgets/exp_mode_button.py:50
-#, python-format
-msgid "CHILL MODE ON"
-msgstr "وضع الهدوء مُفعل"
-
-#: system/ui/widgets/network.py:155 selfdrive/ui/layouts/sidebar.py:73
-#: selfdrive/ui/layouts/sidebar.py:134 selfdrive/ui/layouts/sidebar.py:136
-#: selfdrive/ui/layouts/sidebar.py:138
-#, python-format
-msgid "CONNECT"
-msgstr "CONNECT"
-
-#: system/ui/widgets/network.py:369
-#, python-format
-msgid "CONNECTING..."
-msgstr "CONNECTING..."
-
-#: system/ui/widgets/confirm_dialog.py:23 system/ui/widgets/option_dialog.py:35
-#: system/ui/widgets/keyboard.py:81 system/ui/widgets/network.py:318
-#, python-format
-msgid "Cancel"
-msgstr "إلغاء"
-
-#: system/ui/widgets/network.py:134
-#, python-format
-msgid "Cellular Metered"
-msgstr "خلوي بتعرفة محدودة"
-
-#: selfdrive/ui/layouts/settings/device.py:68
-#, python-format
-msgid "Change Language"
-msgstr "تغيير اللغة"
-
-#: selfdrive/ui/layouts/settings/toggles.py:125
-#, python-format
-msgid "Changing this setting will restart openpilot if the car is powered on."
-msgstr ""
-"سيؤدي تغيير هذا الإعداد إلى إعادة تشغيل openpilot إذا كانت السيارة قيد "
-"التشغيل."
-
-#: selfdrive/ui/widgets/pairing_dialog.py:129
-#, python-format
-msgid "Click \"add new device\" and scan the QR code on the right"
-msgstr "اضغط \"إضافة جهاز جديد\" ثم امسح رمز QR على اليمين"
-
-#: selfdrive/ui/widgets/offroad_alerts.py:104
-#, python-format
-msgid "Close"
-msgstr "إغلاق"
-
-#: selfdrive/ui/layouts/settings/software.py:49
-#, python-format
-msgid "Current Version"
-msgstr "الإصدار الحالي"
-
-#: selfdrive/ui/layouts/settings/software.py:110
-#, python-format
-msgid "DOWNLOAD"
-msgstr "تنزيل"
-
-#: selfdrive/ui/layouts/onboarding.py:115
-#, python-format
-msgid "Decline"
-msgstr "رفض"
-
-#: selfdrive/ui/layouts/onboarding.py:148
-#, python-format
-msgid "Decline, uninstall openpilot"
-msgstr "رفض، وإلغاء تثبيت openpilot"
-
-#: selfdrive/ui/layouts/settings/settings.py:67
-msgid "Developer"
-msgstr "المطور"
-
-#: selfdrive/ui/layouts/settings/settings.py:62
-msgid "Device"
-msgstr "الجهاز"
-
-#: selfdrive/ui/layouts/settings/toggles.py:58
-#, python-format
-msgid "Disengage on Accelerator Pedal"
-msgstr "فصل عند الضغط على دواسة الوقود"
-
-#: selfdrive/ui/layouts/settings/device.py:184
-#, python-format
-msgid "Disengage to Power Off"
-msgstr "افصل لإيقاف التشغيل"
-
-#: selfdrive/ui/layouts/settings/device.py:172
-#, python-format
-msgid "Disengage to Reboot"
-msgstr "افصل لإعادة التشغيل"
-
-#: selfdrive/ui/layouts/settings/device.py:103
-#, python-format
-msgid "Disengage to Reset Calibration"
-msgstr "افصل لإعادة ضبط المعايرة"
-
-#: selfdrive/ui/layouts/settings/toggles.py:32
-msgid "Display speed in km/h instead of mph."
-msgstr "عرض السرعة بالكيلومتر/ساعة بدلاً من الميل/ساعة."
-
-#: selfdrive/ui/layouts/settings/device.py:59
-#, python-format
-msgid "Dongle ID"
-msgstr "معرّف الدونجل"
-
-#: selfdrive/ui/layouts/settings/software.py:50
-#, python-format
-msgid "Download"
-msgstr "تنزيل"
-
-#: selfdrive/ui/layouts/settings/device.py:62
-#, python-format
-msgid "Driver Camera"
-msgstr "كاميرا السائق"
-
-#: selfdrive/ui/layouts/settings/toggles.py:96
-#, python-format
-msgid "Driving Personality"
-msgstr "شخصية القيادة"
-
-#: system/ui/widgets/network.py:123 system/ui/widgets/network.py:139
-#, python-format
-msgid "EDIT"
-msgstr "تعديل"
-
-#: selfdrive/ui/layouts/sidebar.py:138
-msgid "ERROR"
-msgstr "خطأ"
-
-#: selfdrive/ui/layouts/sidebar.py:45
-msgid "ETH"
-msgstr "ETH"
-
-#: selfdrive/ui/widgets/exp_mode_button.py:50
-#, python-format
-msgid "EXPERIMENTAL MODE ON"
-msgstr "وضع التجربة مُفعل"
-
-#: selfdrive/ui/layouts/settings/developer.py:166
-#: selfdrive/ui/layouts/settings/toggles.py:228
-#, python-format
-msgid "Enable"
-msgstr "تمكين"
-
-#: selfdrive/ui/layouts/settings/developer.py:39
-#, python-format
-msgid "Enable ADB"
-msgstr "تمكين ADB"
-
-#: selfdrive/ui/layouts/settings/toggles.py:64
-#, python-format
-msgid "Enable Lane Departure Warnings"
-msgstr "تمكين تحذيرات مغادرة المسار"
-
-#: system/ui/widgets/network.py:129
-#, python-format
-msgid "Enable Roaming"
-msgstr "تمكين التجوال"
-
-#: selfdrive/ui/layouts/settings/developer.py:48
-#, python-format
-msgid "Enable SSH"
-msgstr "تمكين SSH"
-
-#: system/ui/widgets/network.py:120
-#, python-format
-msgid "Enable Tethering"
-msgstr "تمكين الربط"
-
-#: selfdrive/ui/layouts/settings/toggles.py:30
-msgid "Enable driver monitoring even when openpilot is not engaged."
-msgstr "تمكين مراقبة السائق حتى عندما لا يكون openpilot مُشغلاً."
-
-#: selfdrive/ui/layouts/settings/toggles.py:46
-#, python-format
-msgid "Enable openpilot"
-msgstr "تمكين openpilot"
-
-#: selfdrive/ui/layouts/settings/toggles.py:189
-#, python-format
-msgid ""
-"Enable the openpilot longitudinal control (alpha) toggle to allow "
-"Experimental mode."
-msgstr "فعّل تبديل التحكم الطولي (ألفا) لـ openpilot للسماح بوضع التجربة."
-
-#: system/ui/widgets/network.py:204
-#, python-format
-msgid "Enter APN"
-msgstr "أدخل APN"
-
-#: system/ui/widgets/network.py:241
-#, python-format
-msgid "Enter SSID"
-msgstr "أدخل SSID"
-
-#: system/ui/widgets/network.py:254
-#, python-format
-msgid "Enter new tethering password"
-msgstr "أدخل كلمة مرور الربط الجديدة"
-
-#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
-#, python-format
-msgid "Enter password"
-msgstr "أدخل كلمة المرور"
-
-#: selfdrive/ui/widgets/ssh_key.py:89
-#, python-format
-msgid "Enter your GitHub username"
-msgstr "أدخل اسم مستخدم GitHub الخاص بك"
-
-#: system/ui/widgets/list_view.py:123 system/ui/widgets/list_view.py:160
-#, python-format
-msgid "Error"
-msgstr "خطأ"
-
-#: selfdrive/ui/layouts/settings/toggles.py:52
-#, python-format
-msgid "Experimental Mode"
-msgstr "وضع التجربة"
-
-#: selfdrive/ui/layouts/settings/toggles.py:181
-#, python-format
-msgid ""
-"Experimental mode is currently unavailable on this car since the car's stock "
-"ACC is used for longitudinal control."
-msgstr ""
-"وضع التجربة غير متاح حالياً في هذه السيارة لأن نظام ACC الأصلي يُستخدم للتحكم "
-"الطولي."
-
-#: system/ui/widgets/network.py:373
-#, python-format
-msgid "FORGETTING..."
-msgstr "جارٍ النسيان..."
-
-#: selfdrive/ui/widgets/setup.py:44
-#, python-format
-msgid "Finish Setup"
-msgstr "إنهاء الإعداد"
-
-#: selfdrive/ui/layouts/settings/settings.py:66
-msgid "Firehose"
-msgstr "Firehose"
-
-#: selfdrive/ui/layouts/settings/firehose.py:18
-msgid "Firehose Mode"
-msgstr "وضع Firehose"
-
-#: selfdrive/ui/layouts/settings/firehose.py:25
-msgid ""
-"For maximum effectiveness, bring your device inside and connect to a good "
-"USB-C adapter and Wi-Fi weekly.\n"
-"\n"
-"Firehose Mode can also work while you're driving if connected to a hotspot "
-"or unlimited SIM card.\n"
-"\n"
-"\n"
-"Frequently Asked Questions\n"
-"\n"
-"Does it matter how or where I drive? Nope, just drive as you normally "
-"would.\n"
-"\n"
-"Do all of my segments get pulled in Firehose Mode? No, we selectively pull a "
-"subset of your segments.\n"
-"\n"
-"What's a good USB-C adapter? Any fast phone or laptop charger should be "
-"fine.\n"
-"\n"
-"Does it matter which software I run? Yes, only upstream openpilot (and "
-"particular forks) are able to be used for training."
-msgstr ""
-"لأقصى فعالية، أحضر جهازك إلى الداخل واتصل بمحوّل USB‑C جيد وبشبكة Wi‑Fi "
-"أسبوعياً.\n"
-"\n"
-"يمكن أن يعمل وضع Firehose أيضاً أثناء القيادة إذا كنت متصلاً بنقطة اتصال أو "
-"بشريحة غير محدودة.\n"
-"\n"
-"\n"
-"الأسئلة الشائعة\n"
-"\n"
-"هل يهم كيف أو أين أقود؟ لا، قد بقدر المعتاد.\n"
-"\n"
-"هل يتم سحب كل مقاطعي في وضع Firehose؟ لا، نقوم بسحب مجموعة فرعية من "
-"المقاطع.\n"
-"\n"
-"ما هو محول USB‑C الجيد؟ أي شاحن هاتف أو حاسب محمول سريع سيكون مناسباً.\n"
-"\n"
-"هل يهم أي برنامج أشغّل؟ نعم، فقط openpilot الأصلي (وبعض التفرعات المحددة) "
-"يمكن استخدامه للتدريب."
-
-#: system/ui/widgets/network.py:318 system/ui/widgets/network.py:451
-#, python-format
-msgid "Forget"
-msgstr "نسيان"
-
-#: system/ui/widgets/network.py:319
-#, python-format
-msgid "Forget Wi-Fi Network \"{}\"?"
-msgstr "هل تريد نسيان شبكة Wi‑Fi \"{}\"؟"
-
-#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
-msgid "GOOD"
-msgstr "جيد"
-
-#: selfdrive/ui/widgets/pairing_dialog.py:128
-#, python-format
-msgid "Go to https://connect.comma.ai on your phone"
-msgstr "اذهب إلى https://connect.comma.ai على هاتفك"
-
-#: selfdrive/ui/layouts/sidebar.py:129
-msgid "HIGH"
-msgstr "مرتفع"
-
-#: system/ui/widgets/network.py:155
-#, python-format
-msgid "Hidden Network"
-msgstr "شبكة مخفية"
-
-#: selfdrive/ui/layouts/settings/firehose.py:140
-#, python-format
-msgid "INACTIVE: connect to an unmetered network"
-msgstr "غير نشط: اتصل بشبكة غير محدودة التعرفة"
-
-#: selfdrive/ui/layouts/settings/software.py:53
-#: selfdrive/ui/layouts/settings/software.py:136
-#, python-format
-msgid "INSTALL"
-msgstr "تثبيت"
-
-#: system/ui/widgets/network.py:150
-#, python-format
-msgid "IP Address"
-msgstr "عنوان IP"
-
-#: selfdrive/ui/layouts/settings/software.py:53
-#, python-format
-msgid "Install Update"
-msgstr "تثبيت التحديث"
-
-#: selfdrive/ui/layouts/settings/developer.py:56
-#, python-format
-msgid "Joystick Debug Mode"
-msgstr "وضع تصحيح عصا التحكم"
-
-#: selfdrive/ui/widgets/ssh_key.py:29
-msgid "LOADING"
-msgstr "جارٍ التحميل"
-
-#: selfdrive/ui/layouts/sidebar.py:48
-msgid "LTE"
-msgstr "LTE"
-
-#: selfdrive/ui/layouts/settings/developer.py:64
-#, python-format
-msgid "Longitudinal Maneuver Mode"
-msgstr "وضع المناورة الطولية"
-
-#: selfdrive/ui/onroad/hud_renderer.py:148
-#, python-format
-msgid "MAX"
-msgstr "أقصى"
-
-#: selfdrive/ui/widgets/setup.py:75
-#, python-format
-msgid ""
-"Maximize your training data uploads to improve openpilot's driving models."
-msgstr "زد من تحميل بيانات التدريب لتحسين نماذج قيادة openpilot."
-
-#: selfdrive/ui/layouts/settings/device.py:59
-#: selfdrive/ui/layouts/settings/device.py:60
-#, python-format
-msgid "N/A"
-msgstr "غير متوفر"
-
-#: selfdrive/ui/layouts/sidebar.py:142
-msgid "NO"
-msgstr "لا"
-
-#: selfdrive/ui/layouts/settings/settings.py:63
-msgid "Network"
-msgstr "الشبكة"
-
-#: selfdrive/ui/widgets/ssh_key.py:114
-#, python-format
-msgid "No SSH keys found"
-msgstr "لم يتم العثور على مفاتيح SSH"
-
-#: selfdrive/ui/widgets/ssh_key.py:126
-#, python-format
-msgid "No SSH keys found for user '{}'"
-msgstr "لم يتم العثور على مفاتيح SSH للمستخدم '{}'"
-
-#: selfdrive/ui/widgets/offroad_alerts.py:320
-#, python-format
-msgid "No release notes available."
-msgstr "لا توجد ملاحظات إصدار متاحة."
-
-#: selfdrive/ui/layouts/sidebar.py:73 selfdrive/ui/layouts/sidebar.py:134
-msgid "OFFLINE"
-msgstr "غير متصل"
-
-#: system/ui/widgets/html_render.py:263 system/ui/widgets/confirm_dialog.py:93
-#: selfdrive/ui/layouts/sidebar.py:127
-#, python-format
-msgid "OK"
-msgstr "موافق"
-
-#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:136
-#: selfdrive/ui/layouts/sidebar.py:144
-msgid "ONLINE"
-msgstr "متصل"
-
-#: selfdrive/ui/widgets/setup.py:20
-#, python-format
-msgid "Open"
-msgstr "فتح"
-
-#: selfdrive/ui/layouts/settings/device.py:48
-#, python-format
-msgid "PAIR"
-msgstr "إقران"
-
-#: selfdrive/ui/layouts/sidebar.py:142
-msgid "PANDA"
-msgstr "PANDA"
-
-#: selfdrive/ui/layouts/settings/device.py:62
-#, python-format
-msgid "PREVIEW"
-msgstr "معاينة"
-
-#: selfdrive/ui/widgets/prime.py:44
-#, python-format
-msgid "PRIME FEATURES:"
-msgstr "ميزات PRIME:"
-
-#: selfdrive/ui/layouts/settings/device.py:48
-#, python-format
-msgid "Pair Device"
-msgstr "إقران الجهاز"
-
-#: selfdrive/ui/widgets/setup.py:19
-#, python-format
-msgid "Pair device"
-msgstr "إقران الجهاز"
-
-#: selfdrive/ui/widgets/pairing_dialog.py:103
-#, python-format
-msgid "Pair your device to your comma account"
-msgstr "قم بإقران جهازك بحساب comma"
-
-#: selfdrive/ui/widgets/setup.py:48 selfdrive/ui/layouts/settings/device.py:24
-#, python-format
-msgid ""
-"Pair your device with comma connect (connect.comma.ai) and claim your comma "
-"prime offer."
-msgstr ""
-"أقرِن جهازك مع comma connect (connect.comma.ai) واحصل على عرض comma prime."
-
-#: selfdrive/ui/widgets/setup.py:91
-#, python-format
-msgid "Please connect to Wi-Fi to complete initial pairing"
-msgstr "يرجى الاتصال بشبكة Wi‑Fi لإكمال الاقتران الأولي"
-
-#: selfdrive/ui/layouts/settings/device.py:55
-#: selfdrive/ui/layouts/settings/device.py:187
-#, python-format
-msgid "Power Off"
-msgstr "إيقاف التشغيل"
-
-#: system/ui/widgets/network.py:144
-#, python-format
-msgid "Prevent large data uploads when on a metered Wi-Fi connection"
-msgstr "منع رفع البيانات الكبيرة عند الاتصال بشبكة Wi‑Fi محدودة التعرفة"
-
-#: system/ui/widgets/network.py:135
-#, python-format
-msgid "Prevent large data uploads when on a metered cellular connection"
-msgstr "منع رفع البيانات الكبيرة عند الاتصال الخلوي محدود التعرفة"
-
-#: selfdrive/ui/layouts/settings/device.py:25
-msgid ""
-"Preview the driver facing camera to ensure that driver monitoring has good "
-"visibility. (vehicle must be off)"
-msgstr ""
-"عاين كاميرا مواجهة السائق للتأكد من أن مراقبة السائق تتم برؤية جيدة. (يجب أن "
-"تكون المركبة متوقفة)"
-
-#: selfdrive/ui/widgets/pairing_dialog.py:161
-#, python-format
-msgid "QR Code Error"
-msgstr "خطأ في رمز QR"
-
-#: selfdrive/ui/widgets/ssh_key.py:31
-msgid "REMOVE"
-msgstr "إزالة"
-
-#: selfdrive/ui/layouts/settings/device.py:51
-#, python-format
-msgid "RESET"
-msgstr "إعادة ضبط"
-
-#: selfdrive/ui/layouts/settings/device.py:65
-#, python-format
-msgid "REVIEW"
-msgstr "مراجعة"
-
-#: selfdrive/ui/layouts/settings/device.py:55
-#: selfdrive/ui/layouts/settings/device.py:175
-#, python-format
-msgid "Reboot"
-msgstr "إعادة التشغيل"
-
-#: selfdrive/ui/onroad/alert_renderer.py:66
-#, python-format
-msgid "Reboot Device"
-msgstr "إعادة تشغيل الجهاز"
-
-#: selfdrive/ui/widgets/offroad_alerts.py:112
-#, python-format
-msgid "Reboot and Update"
-msgstr "إعادة التشغيل والتحديث"
-
-#: selfdrive/ui/layouts/settings/toggles.py:27
-msgid ""
-"Receive alerts to steer back into the lane when your vehicle drifts over a "
-"detected lane line without a turn signal activated while driving over 31 mph "
-"(50 km/h)."
-msgstr ""
-"استقبال تنبيهات للتوجيه للعودة إلى المسار عند انحراف المركبة فوق خط المسار "
-"المُكتشف بدون إشارة انعطاف مفعّلة أثناء القيادة فوق 31 ميل/س (50 كم/س)."
-
-#: selfdrive/ui/layouts/settings/toggles.py:76
-#, python-format
-msgid "Record and Upload Driver Camera"
-msgstr "تسجيل ورفع فيديو كاميرا السائق"
-
-#: selfdrive/ui/layouts/settings/toggles.py:82
-#, python-format
-msgid "Record and Upload Microphone Audio"
-msgstr "تسجيل ورفع صوت الميكروفون"
-
-#: selfdrive/ui/layouts/settings/toggles.py:33
-msgid ""
-"Record and store microphone audio while driving. The audio will be included "
-"in the dashcam video in comma connect."
-msgstr ""
-"تسجيل وتخزين صوت الميكروفون أثناء القيادة. سيُدرج الصوت في فيديو الكاميرا "
-"الأمامية في comma connect."
-
-#: selfdrive/ui/layouts/settings/device.py:67
-#, python-format
-msgid "Regulatory"
-msgstr "لوائح"
-
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
-msgid "Relaxed"
-msgstr "مسترخٍ"
-
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
-msgid "Remote access"
-msgstr "وصول عن بُعد"
-
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
-msgid "Remote snapshots"
-msgstr "لقطات عن بُعد"
-
-#: selfdrive/ui/widgets/ssh_key.py:123
-#, python-format
-msgid "Request timed out"
-msgstr "انتهت مهلة الطلب"
-
-#: selfdrive/ui/layouts/settings/device.py:119
-#, python-format
-msgid "Reset"
-msgstr "إعادة ضبط"
-
-#: selfdrive/ui/layouts/settings/device.py:51
-#, python-format
-msgid "Reset Calibration"
-msgstr "إعادة ضبط المعايرة"
-
-#: selfdrive/ui/layouts/settings/device.py:65
-#, python-format
-msgid "Review Training Guide"
-msgstr "مراجعة دليل التدريب"
-
-#: selfdrive/ui/layouts/settings/device.py:27
-msgid "Review the rules, features, and limitations of openpilot"
-msgstr "مراجعة قواعد وميزات وحدود openpilot"
-
-#: selfdrive/ui/layouts/settings/software.py:61
-#, python-format
-msgid "SELECT"
-msgstr "اختيار"
-
-#: selfdrive/ui/layouts/settings/developer.py:53
-#, python-format
-msgid "SSH Keys"
-msgstr "مفاتيح SSH"
-
-#: system/ui/widgets/network.py:310
-#, python-format
-msgid "Scanning Wi-Fi networks..."
-msgstr "جارٍ مسح شبكات Wi‑Fi..."
-
-#: system/ui/widgets/option_dialog.py:36
-#, python-format
-msgid "Select"
-msgstr "اختيار"
-
-#: selfdrive/ui/layouts/settings/software.py:183
-#, python-format
-msgid "Select a branch"
-msgstr "اختر فرعاً"
-
-#: selfdrive/ui/layouts/settings/device.py:91
-#, python-format
-msgid "Select a language"
-msgstr "اختر لغة"
-
-#: selfdrive/ui/layouts/settings/device.py:60
-#, python-format
-msgid "Serial"
-msgstr "الرقم التسلسلي"
-
-#: selfdrive/ui/widgets/offroad_alerts.py:106
-#, python-format
-msgid "Snooze Update"
-msgstr "تأجيل التحديث"
-
-#: selfdrive/ui/layouts/settings/settings.py:65
-msgid "Software"
-msgstr "البرمجيات"
-
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
-msgid "Standard"
-msgstr "قياسي"
-
-#: selfdrive/ui/layouts/settings/toggles.py:22
-msgid ""
-"Standard is recommended. In aggressive mode, openpilot will follow lead cars "
-"closer and be more aggressive with the gas and brake. In relaxed mode "
-"openpilot will stay further away from lead cars. On supported cars, you can "
-"cycle through these personalities with your steering wheel distance button."
-msgstr ""
-"يوصى بالوضع القياسي. في الوضع العدواني، سيتبع openpilot السيارات الأمامية عن "
-"قرب وسيكون أكثر شدة في الوقود والفرامل. في الوضع المسترخي سيبقى بعيداً أكثر "
-"عن السيارات الأمامية. في السيارات المدعومة، يمكنك التنقل بين هذه الشخصيات "
-"بزر مسافة المقود."
-
-#: selfdrive/ui/onroad/alert_renderer.py:59
-#: selfdrive/ui/onroad/alert_renderer.py:65
-#, python-format
-msgid "System Unresponsive"
-msgstr "النظام لا يستجيب"
-
-#: selfdrive/ui/onroad/alert_renderer.py:58
-#, python-format
-msgid "TAKE CONTROL IMMEDIATELY"
-msgstr "تولَّ السيطرة فوراً"
-
-#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
-#: selfdrive/ui/layouts/sidebar.py:127 selfdrive/ui/layouts/sidebar.py:129
-msgid "TEMP"
-msgstr "الحرارة"
-
-#: selfdrive/ui/layouts/settings/software.py:61
-#, python-format
-msgid "Target Branch"
-msgstr "الفرع المستهدف"
-
-#: system/ui/widgets/network.py:124
-#, python-format
-msgid "Tethering Password"
-msgstr "كلمة مرور الربط"
-
-#: selfdrive/ui/layouts/settings/settings.py:64
-msgid "Toggles"
-msgstr "مفاتيح التبديل"
-
-#: selfdrive/ui/layouts/settings/software.py:72
-#, python-format
-msgid "UNINSTALL"
-msgstr "إلغاء التثبيت"
-
-#: selfdrive/ui/layouts/home.py:155
-#, python-format
-msgid "UPDATE"
-msgstr "تحديث"
-
-#: selfdrive/ui/layouts/settings/software.py:72
-#: selfdrive/ui/layouts/settings/software.py:163
-#, python-format
-msgid "Uninstall"
-msgstr "إلغاء التثبيت"
-
-#: selfdrive/ui/layouts/sidebar.py:117
-msgid "Unknown"
-msgstr "غير معروف"
-
-#: selfdrive/ui/layouts/settings/software.py:48
-#, python-format
-msgid "Updates are only downloaded while the car is off."
-msgstr "يتم تنزيل التحديثات فقط عندما تكون السيارة متوقفة."
-
-#: selfdrive/ui/widgets/prime.py:33
-#, python-format
-msgid "Upgrade Now"
-msgstr "الترقية الآن"
-
-#: selfdrive/ui/layouts/settings/toggles.py:31
-msgid ""
-"Upload data from the driver facing camera and help improve the driver "
-"monitoring algorithm."
-msgstr ""
-"ارفع بيانات من كاميرا مواجهة السائق وساعد في تحسين خوارزمية مراقبة السائق."
-
-#: selfdrive/ui/layouts/settings/toggles.py:88
-#, python-format
-msgid "Use Metric System"
-msgstr "استخدام النظام المتري"
-
-#: selfdrive/ui/layouts/settings/toggles.py:17
-msgid ""
-"Use the openpilot system for adaptive cruise control and lane keep driver "
-"assistance. Your attention is required at all times to use this feature."
-msgstr ""
-"استخدم نظام openpilot للتحكم الذكي بالسرعة والمساعدة على البقاء داخل المسار. "
-"يتطلب استخدام هذه الميزة انتباهك الكامل في جميع الأوقات."
-
-#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:144
-msgid "VEHICLE"
-msgstr "المركبة"
-
-#: selfdrive/ui/layouts/settings/device.py:67
-#, python-format
-msgid "VIEW"
-msgstr "عرض"
-
-#: selfdrive/ui/onroad/alert_renderer.py:52
-#, python-format
-msgid "Waiting to start"
-msgstr "بانتظار البدء"
-
-#: selfdrive/ui/layouts/settings/developer.py:19
-msgid ""
-"Warning: This grants SSH access to all public keys in your GitHub settings. "
-"Never enter a GitHub username other than your own. A comma employee will "
-"NEVER ask you to add their GitHub username."
-msgstr ""
-"تحذير: يمنح هذا وصول SSH إلى جميع المفاتيح العامة في إعدادات GitHub الخاصة "
-"بك. لا تُدخل مطلقاً اسم مستخدم GitHub غير اسمك. لن يطلب منك موظف في comma أبداً "
-"إضافة اسم مستخدمهم."
-
-#: selfdrive/ui/layouts/onboarding.py:111
-#, python-format
-msgid "Welcome to openpilot"
-msgstr "مرحباً بك في openpilot"
-
-#: selfdrive/ui/layouts/settings/toggles.py:20
-msgid "When enabled, pressing the accelerator pedal will disengage openpilot."
-msgstr "عند التمكين، سيؤدي الضغط على دواسة الوقود إلى فصل openpilot."
-
-#: selfdrive/ui/layouts/sidebar.py:44
-msgid "Wi-Fi"
-msgstr "Wi‑Fi"
-
-#: system/ui/widgets/network.py:144
-#, python-format
-msgid "Wi-Fi Network Metered"
-msgstr "شبكة Wi‑Fi محدودة التعرفة"
-
-#: system/ui/widgets/network.py:314
-#, python-format
-msgid "Wrong password"
-msgstr "كلمة مرور خاطئة"
-
-#: selfdrive/ui/layouts/onboarding.py:145
-#, python-format
-msgid "You must accept the Terms and Conditions in order to use openpilot."
-msgstr "يجب عليك قبول الشروط والأحكام لاستخدام openpilot."
-
-#: selfdrive/ui/layouts/onboarding.py:112
-#, python-format
-msgid ""
-"You must accept the Terms and Conditions to use openpilot. Read the latest "
-"terms at https://comma.ai/terms before continuing."
-msgstr ""
-"يجب عليك قبول الشروط والأحكام لاستخدام openpilot. اقرأ أحدث الشروط على "
-"https://comma.ai/terms قبل المتابعة."
-
-#: selfdrive/ui/onroad/driver_camera_dialog.py:34
-#, python-format
-msgid "camera starting"
-msgstr "بدء تشغيل الكاميرا"
-
-#: selfdrive/ui/widgets/prime.py:63
-#, python-format
-msgid "comma prime"
-msgstr "comma prime"
-
-#: system/ui/widgets/network.py:142
-#, python-format
-msgid "default"
-msgstr "افتراضي"
-
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
-msgid "down"
-msgstr "أسفل"
-
-#: selfdrive/ui/layouts/settings/software.py:106
-#, python-format
-msgid "failed to check for update"
-msgstr "فشل التحقق من وجود تحديث"
-
-#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
-#, python-format
-msgid "for \"{}\""
-msgstr "لـ \"{}\""
-
-#: selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
-msgid "km/h"
-msgstr "كم/س"
-
-#: system/ui/widgets/network.py:204
-#, python-format
-msgid "leave blank for automatic configuration"
-msgstr "اتركه فارغاً للإعداد التلقائي"
-
-#: selfdrive/ui/layouts/settings/device.py:134
-#, python-format
-msgid "left"
-msgstr "يسار"
-
-#: system/ui/widgets/network.py:142
-#, python-format
-msgid "metered"
-msgstr "محدود التعرفة"
-
-#: selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
-msgid "mph"
-msgstr "ميل/س"
-
-#: selfdrive/ui/layouts/settings/software.py:20
-#, python-format
-msgid "never"
-msgstr "أبداً"
-
-#: selfdrive/ui/layouts/settings/software.py:31
-#, python-format
-msgid "now"
-msgstr "الآن"
-
-#: selfdrive/ui/layouts/settings/developer.py:71
-#, python-format
-msgid "openpilot Longitudinal Control (Alpha)"
-msgstr "التحكم الطولي لـ openpilot (ألفا)"
-
-#: selfdrive/ui/onroad/alert_renderer.py:51
-#, python-format
-msgid "openpilot Unavailable"
-msgstr "openpilot غير متاح"
-
-#: selfdrive/ui/layouts/settings/toggles.py:158
-#, python-format
-msgid ""
-"openpilot defaults to driving in chill mode. Experimental mode enables alpha-"
-"level features that aren't ready for chill mode. Experimental features are "
-"listed below:<br><h4>End-to-End Longitudinal Control</h4><br>Let the driving "
-"model control the gas and brakes. openpilot will drive as it thinks a human "
-"would, including stopping for red lights and stop signs. Since the driving "
-"model decides the speed to drive, the set speed will only act as an upper "
-"bound. This is an alpha quality feature; mistakes should be expected."
-"<br><h4>New Driving Visualization</h4><br>The driving visualization will "
-"transition to the road-facing wide-angle camera at low speeds to better show "
-"some turns. The Experimental mode logo will also be shown in the top right "
-"corner."
-msgstr ""
-"يعمل openpilot افتراضياً في وضع الهدوء. يفعّل وضع التجربة ميزات بمستوى ألفا "
-"غير الجاهزة لوضع الهدوء. الميزات التجريبية مدرجة أدناه:<br><h4>التحكم الطولي "
-"من طرف لطرف</h4><br>دع نموذج القيادة يتحكم في الوقود والفرامل. سيقود "
-"openpilot كما يظن أن الإنسان سيقود، بما في ذلك التوقف عند الإشارات الحمراء "
-"وعلامات التوقف. بما أن نموذج القيادة يقرر السرعة، فإن السرعة المضبوطة تعمل "
-"كحد أعلى فقط. هذه ميزة بجودة ألفا؛ يُتوقع حدوث أخطاء.<br><h4>تصوير قيادة "
-"جديد</h4><br>سينتقل عرض القيادة إلى الكاميرا الواسعة المواجهة للطريق عند "
-"السرعات المنخفضة لإظهار بعض المنعطفات بشكل أفضل. كما سيظهر شعار وضع التجربة "
-"في الزاوية العلوية اليمنى."
-
-#: selfdrive/ui/layouts/settings/device.py:165
-#, python-format
-msgid ""
-"openpilot is continuously calibrating, resetting is rarely required. "
-"Resetting calibration will restart openpilot if the car is powered on."
-msgstr ""
-"يقوم openpilot بالمعايرة بشكل مستمر، ونادراً ما تتطلب إعادة الضبط. ستؤدي "
-"إعادة ضبط المعايرة إلى إعادة تشغيل openpilot إذا كانت السيارة قيد التشغيل."
-
-#: selfdrive/ui/layouts/settings/firehose.py:20
-msgid ""
-"openpilot learns to drive by watching humans, like you, drive.\n"
-"\n"
-"Firehose Mode allows you to maximize your training data uploads to improve "
-"openpilot's driving models. More data means bigger models, which means "
-"better Experimental Mode."
-msgstr ""
-"يتعلم openpilot القيادة بمشاهدة البشر، مثلك، يقودون.\n"
-"\n"
-"يتيح وضع Firehose زيادة تحميل بيانات التدريب لتحسين نماذج قيادة openpilot. "
-"المزيد من البيانات يعني نماذج أكبر، مما يعني وضع تجربة أفضل."
-
-#: selfdrive/ui/layouts/settings/toggles.py:183
-#, python-format
-msgid "openpilot longitudinal control may come in a future update."
-msgstr "قد يأتي التحكم الطولي لـ openpilot في تحديث مستقبلي."
-
-#: selfdrive/ui/layouts/settings/device.py:26
-msgid ""
-"openpilot requires the device to be mounted within 4° left or right and "
-"within 5° up or 9° down."
-msgstr ""
-"يتطلب openpilot تركيب الجهاز ضمن 4° يساراً أو يميناً وضمن 5° للأعلى أو 9° "
-"للأسفل."
-
-#: selfdrive/ui/layouts/settings/device.py:134
-#, python-format
-msgid "right"
-msgstr "يمين"
-
-#: system/ui/widgets/network.py:142
-#, python-format
-msgid "unmetered"
-msgstr "غير محدود"
-
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
-msgid "up"
-msgstr "أعلى"
-
-#: selfdrive/ui/layouts/settings/software.py:117
-#, python-format
-msgid "up to date, last checked never"
-msgstr "محدّث، آخر تحقق: أبداً"
-
-#: selfdrive/ui/layouts/settings/software.py:115
-#, python-format
-msgid "up to date, last checked {}"
-msgstr "محدّث، آخر تحقق {}"
-
-#: selfdrive/ui/layouts/settings/software.py:109
-#, python-format
-msgid "update available"
-msgstr "تحديث متاح"
-
-#: selfdrive/ui/layouts/home.py:169
-#, python-format
-msgid "{} ALERT"
-msgid_plural "{} ALERTS"
-msgstr[0] "{} تنبيه"
-msgstr[1] "{} تنبيه"
-msgstr[2] "{} تنبيهان"
-msgstr[3] "{} تنبيهات"
-msgstr[4] "{} تنبيهات"
-msgstr[5] "{} تنبيه"
-
-#: selfdrive/ui/layouts/settings/software.py:40
-#, python-format
-msgid "{} day ago"
-msgid_plural "{} days ago"
-msgstr[0] "قبل {} يوم"
-msgstr[1] "قبل {} يوم"
-msgstr[2] "قبل {} يومين"
-msgstr[3] "قبل {} أيام"
-msgstr[4] "قبل {} أيام"
-msgstr[5] "قبل {} يوم"
-
-#: selfdrive/ui/layouts/settings/software.py:37
-#, python-format
-msgid "{} hour ago"
-msgid_plural "{} hours ago"
-msgstr[0] "قبل {} ساعة"
-msgstr[1] "قبل {} ساعة"
-msgstr[2] "قبل {} ساعتين"
-msgstr[3] "قبل {} ساعات"
-msgstr[4] "قبل {} ساعات"
-msgstr[5] "قبل {} ساعة"
-
-#: selfdrive/ui/layouts/settings/software.py:34
-#, python-format
-msgid "{} minute ago"
-msgid_plural "{} minutes ago"
-msgstr[0] "قبل {} دقيقة"
-msgstr[1] "قبل {} دقيقة"
-msgstr[2] "قبل {} دقيقتين"
-msgstr[3] "قبل {} دقائق"
-msgstr[4] "قبل {} دقائق"
-msgstr[5] "قبل {} دقيقة"
-
-#: selfdrive/ui/layouts/settings/firehose.py:111
-#, python-format
-msgid "{} segment of your driving is in the training dataset so far."
-msgid_plural "{} segments of your driving is in the training dataset so far."
-msgstr[0] "{} مقطع من قيادتك ضمن مجموعة بيانات التدريب حتى الآن."
-msgstr[1] "{} مقطع من قيادتك ضمن مجموعة بيانات التدريب حتى الآن."
-msgstr[2] "{} مقطعان من قيادتك ضمن مجموعة بيانات التدريب حتى الآن."
-msgstr[3] "{} مقاطع من قيادتك ضمن مجموعة بيانات التدريب حتى الآن."
-msgstr[4] "{} مقاطع من قيادتك ضمن مجموعة بيانات التدريب حتى الآن."
-msgstr[5] "{} مقطع من قيادتك ضمن مجموعة بيانات التدريب حتى الآن."
-
-#: selfdrive/ui/widgets/prime.py:62
-#, python-format
-msgid "✓ SUBSCRIBED"
-msgstr "✓ مشترك"
-
-#: selfdrive/ui/widgets/setup.py:22
-#, python-format
-msgid "🔥 Firehose Mode 🔥"
-msgstr "🔥 وضع Firehose 🔥"
diff --git a/selfdrive/ui/translations/app_de.po b/selfdrive/ui/translations/app_de.po
index f32c27a9efb..287ecde1a01 100644
--- a/selfdrive/ui/translations/app_de.po
+++ b/selfdrive/ui/translations/app_de.po
@@ -1,1221 +1,825 @@
-# German translations for PACKAGE package.
-# Copyright (C) 2025 THE PACKAGE'S COPYRIGHT HOLDER
-# This file is distributed under the same license as the PACKAGE package.
-# Automatically generated, 2025.
-#
 msgid ""
 msgstr ""
-"Project-Id-Version: PACKAGE VERSION\n"
-"Report-Msgid-Bugs-To: \n"
-"POT-Creation-Date: 2025-10-23 00:50-0700\n"
-"PO-Revision-Date: 2025-10-20 16:35-0700\n"
-"Last-Translator: Automatically generated\n"
-"Language-Team: none\n"
-"Language: de\n"
-"MIME-Version: 1.0\n"
 "Content-Type: text/plain; charset=UTF-8\n"
-"Content-Transfer-Encoding: 8bit\n"
+"Language: de\n"
 "Plural-Forms: nplurals=2; plural=(n != 1);\n"
 
-#: selfdrive/ui/layouts/settings/device.py:160
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid " Steering torque response calibration is complete."
 msgstr " Die Lenkmoment-Reaktionskalibrierung ist abgeschlossen."
 
-#: selfdrive/ui/layouts/settings/device.py:158
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid " Steering torque response calibration is {}% complete."
 msgstr " Die Lenkmoment-Reaktionskalibrierung ist zu {}% abgeschlossen."
 
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid " Your device is pointed {:.1f}° {} and {:.1f}° {}."
 msgstr " Ihr Gerät ist um {:.1f}° {} und {:.1f}° {} ausgerichtet."
 
-#: selfdrive/ui/layouts/sidebar.py:43
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "--"
 msgstr "--"
 
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "1 year of drive storage"
 msgstr "1 Jahr Fahrtdatenspeicherung"
 
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "24/7 LTE connectivity"
 msgstr "24/7 LTE‑Verbindung"
 
-#: selfdrive/ui/layouts/sidebar.py:46
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "2G"
 msgstr "2G"
 
-#: selfdrive/ui/layouts/sidebar.py:47
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "3G"
 msgstr "3G"
 
-#: selfdrive/ui/layouts/sidebar.py:49
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "5G"
 msgstr "5G"
 
-#: selfdrive/ui/layouts/settings/developer.py:23
-msgid ""
-"<b>WARNING: openpilot longitudinal control is in alpha for this car and will "
-"disable Automatic Emergency Braking (AEB).</b><br><br>On this car, openpilot "
-"defaults to the car's built-in ACC instead of openpilot's longitudinal "
-"control. Enable this to switch to openpilot longitudinal control. Enabling "
-"Experimental mode is recommended when enabling openpilot longitudinal "
-"control alpha. Changing this setting will restart openpilot if the car is "
-"powered on."
-msgstr ""
-"<b>WARNUNG: Die Längsregelung von openpilot befindet sich für dieses "
-"Fahrzeug in der Alpha-Phase und deaktiviert das automatische Notbremssystem "
-"(AEB).</b><br><br>Auf diesem Fahrzeug verwendet openpilot standardmäßig den "
-"integrierten ACC statt der openpilot-Längsregelung. Aktivieren Sie dies, um "
-"auf die openpilot-Längsregelung umzuschalten. Das Aktivieren des "
-"Experimentalmodus wird empfohlen, wenn Sie die openpilot-Längsregelung "
-"(Alpha) aktivieren."
-
-#: selfdrive/ui/layouts/settings/device.py:148
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "<br><br>Steering lag calibration is complete."
 msgstr "<br><br>Kalibrierung der Lenkverzögerung abgeschlossen."
 
-#: selfdrive/ui/layouts/settings/device.py:146
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "<br><br>Steering lag calibration is {}% complete."
 msgstr "<br><br>Kalibrierung der Lenkverzögerung zu {}% abgeschlossen."
 
-#: selfdrive/ui/layouts/settings/firehose.py:138
-#, python-format
-msgid "ACTIVE"
-msgstr "AKTIV"
-
-#: selfdrive/ui/layouts/settings/developer.py:15
-msgid ""
-"ADB (Android Debug Bridge) allows connecting to your device over USB or over "
-"the network. See https://docs.comma.ai/how-to/connect-to-comma for more info."
-msgstr ""
-"ADB (Android Debug Bridge) ermöglicht die Verbindung mit Ihrem Gerät über "
-"USB oder über das Netzwerk. Siehe https://docs.comma.ai/how-to/connect-to-"
-"comma für weitere Informationen."
-
-#: selfdrive/ui/widgets/ssh_key.py:30
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "ADD"
 msgstr "HINZUFÜGEN"
 
-#: system/ui/widgets/network.py:139
-#, python-format
+#: system/ui/widgets/network.py
 msgid "APN Setting"
 msgstr "APN‑Einstellung"
 
-#: selfdrive/ui/widgets/offroad_alerts.py:109
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Acknowledge Excessive Actuation"
 msgstr "Übermäßige Betätigung bestätigen"
 
-#: system/ui/widgets/network.py:74 system/ui/widgets/network.py:95
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Advanced"
 msgstr "Erweitert"
 
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Aggressive"
 msgstr "Aggressiv"
 
-#: selfdrive/ui/layouts/onboarding.py:116
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Agree"
 msgstr "Zustimmen"
 
-#: selfdrive/ui/layouts/settings/toggles.py:70
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Always-On Driver Monitoring"
 msgstr "Immer aktive Fahrerüberwachung"
 
-#: selfdrive/ui/layouts/settings/toggles.py:186
-#, python-format
-msgid ""
-"An alpha version of openpilot longitudinal control can be tested, along with "
-"Experimental mode, on non-release branches."
-msgstr ""
-"Eine Alpha-Version der openpilot-Längsregelung kann zusammen mit dem "
-"Experimentalmodus auf Nicht-Release-Zweigen getestet werden."
-
-#: selfdrive/ui/layouts/settings/device.py:187
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Are you sure you want to power off?"
 msgstr "Sind Sie sicher, dass Sie ausschalten möchten?"
 
-#: selfdrive/ui/layouts/settings/device.py:175
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Are you sure you want to reboot?"
 msgstr "Sind Sie sicher, dass Sie neu starten möchten?"
 
-#: selfdrive/ui/layouts/settings/device.py:119
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Are you sure you want to reset calibration?"
 msgstr "Sind Sie sicher, dass Sie die Kalibrierung zurücksetzen möchten?"
 
-#: selfdrive/ui/layouts/settings/software.py:163
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Are you sure you want to uninstall?"
 msgstr "Sind Sie sicher, dass Sie deinstallieren möchten?"
 
-#: system/ui/widgets/network.py:99 selfdrive/ui/layouts/onboarding.py:147
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+#: system/ui/widgets/network.py
 msgid "Back"
 msgstr "Zurück"
 
-#: selfdrive/ui/widgets/prime.py:38
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Become a comma prime member at connect.comma.ai"
 msgstr "Werden Sie comma prime Mitglied auf connect.comma.ai"
 
-#: selfdrive/ui/widgets/pairing_dialog.py:130
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
-msgstr ""
-"Fügen Sie connect.comma.ai Ihrem Startbildschirm hinzu, um es wie eine App "
-"zu verwenden"
+msgstr "Fügen Sie connect.comma.ai Ihrem Startbildschirm hinzu, um es wie eine App zu verwenden"
 
-#: selfdrive/ui/layouts/settings/device.py:68
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "CHANGE"
 msgstr "ÄNDERN"
 
-#: selfdrive/ui/layouts/settings/software.py:50
-#: selfdrive/ui/layouts/settings/software.py:107
-#: selfdrive/ui/layouts/settings/software.py:118
-#: selfdrive/ui/layouts/settings/software.py:147
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "CHECK"
 msgstr "PRÜFEN"
 
-#: selfdrive/ui/widgets/exp_mode_button.py:50
-#, python-format
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
 msgid "CHILL MODE ON"
 msgstr "CHILL‑MODUS AKTIV"
 
-#: system/ui/widgets/network.py:155 selfdrive/ui/layouts/sidebar.py:73
-#: selfdrive/ui/layouts/sidebar.py:134 selfdrive/ui/layouts/sidebar.py:136
-#: selfdrive/ui/layouts/sidebar.py:138
-#, python-format
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/network.py
 msgid "CONNECT"
 msgstr "VERBINDUNG"
 
-#: system/ui/widgets/network.py:369
-#, python-format
+#: system/ui/widgets/network.py
 msgid "CONNECTING..."
 msgstr "VERBINDUNG"
 
-#: system/ui/widgets/confirm_dialog.py:23 system/ui/widgets/option_dialog.py:35
-#: system/ui/widgets/keyboard.py:81 system/ui/widgets/network.py:318
-#, python-format
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/keyboard.py
+#: system/ui/widgets/network.py
+#: system/ui/widgets/option_dialog.py
 msgid "Cancel"
 msgstr "Abbrechen"
 
-#: system/ui/widgets/network.py:134
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Cellular Metered"
 msgstr "Getaktete Mobilfunkverbindung"
 
-#: selfdrive/ui/layouts/settings/device.py:68
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Change Language"
 msgstr "Sprache ändern"
 
-#: selfdrive/ui/layouts/settings/toggles.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Changing this setting will restart openpilot if the car is powered on."
-msgstr ""
-" Durch Ändern dieser Einstellung wird openpilot neu gestartet, wenn das Auto "
-"eingeschaltet ist."
+msgstr " Durch Ändern dieser Einstellung wird openpilot neu gestartet, wenn das Auto eingeschaltet ist."
 
-#: selfdrive/ui/widgets/pairing_dialog.py:129
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Click \"add new device\" and scan the QR code on the right"
 msgstr "Klicken Sie auf \"add new device\" und scannen Sie den QR‑Code rechts"
 
-#: selfdrive/ui/widgets/offroad_alerts.py:104
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Close"
 msgstr "Schließen"
 
-#: selfdrive/ui/layouts/settings/software.py:49
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Current Version"
 msgstr "Aktuelle Version"
 
-#: selfdrive/ui/layouts/settings/software.py:110
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "DOWNLOAD"
 msgstr "HERUNTERLADEN"
 
-#: selfdrive/ui/layouts/onboarding.py:115
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Decline"
 msgstr "Ablehnen"
 
-#: selfdrive/ui/layouts/onboarding.py:148
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Decline, uninstall openpilot"
 msgstr "Ablehnen, openpilot deinstallieren"
 
-#: selfdrive/ui/layouts/settings/settings.py:67
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Developer"
 msgstr "Entwickler"
 
-#: selfdrive/ui/layouts/settings/settings.py:62
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Device"
 msgstr "Gerät"
 
-#: selfdrive/ui/layouts/settings/toggles.py:58
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Disengage on Accelerator Pedal"
 msgstr "Beim Gaspedal deaktivieren"
 
-#: selfdrive/ui/layouts/settings/device.py:184
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Disengage to Power Off"
 msgstr "Zum Ausschalten deaktivieren"
 
-#: selfdrive/ui/layouts/settings/device.py:172
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Disengage to Reboot"
 msgstr "Zum Neustart deaktivieren"
 
-#: selfdrive/ui/layouts/settings/device.py:103
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Disengage to Reset Calibration"
 msgstr "Zum Zurücksetzen der Kalibrierung deaktivieren"
 
-#: selfdrive/ui/layouts/settings/toggles.py:32
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Display speed in km/h instead of mph."
 msgstr "Geschwindigkeit in km/h statt mph anzeigen."
 
-#: selfdrive/ui/layouts/settings/device.py:59
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Dongle ID"
 msgstr "Dongle-ID"
 
-#: selfdrive/ui/layouts/settings/software.py:50
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Download"
 msgstr "Herunterladen"
 
-#: selfdrive/ui/layouts/settings/device.py:62
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Driver Camera"
 msgstr "Fahrerkamera"
 
-#: selfdrive/ui/layouts/settings/toggles.py:96
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Driving Personality"
 msgstr "Fahrstil"
 
-#: system/ui/widgets/network.py:123 system/ui/widgets/network.py:139
-#, python-format
+#: system/ui/widgets/network.py
 msgid "EDIT"
 msgstr "BEARBEITEN"
 
-#: selfdrive/ui/layouts/sidebar.py:138
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ERROR"
 msgstr "FEHLER"
 
-#: selfdrive/ui/layouts/sidebar.py:45
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ETH"
 msgstr "ETH"
 
-#: selfdrive/ui/widgets/exp_mode_button.py:50
-#, python-format
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
 msgid "EXPERIMENTAL MODE ON"
 msgstr "EXPERIMENTALMODUS AKTIV"
 
-#: selfdrive/ui/layouts/settings/developer.py:166
-#: selfdrive/ui/layouts/settings/toggles.py:228
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable"
 msgstr "Aktivieren"
 
-#: selfdrive/ui/layouts/settings/developer.py:39
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Enable ADB"
 msgstr "ADB aktivieren"
 
-#: selfdrive/ui/layouts/settings/toggles.py:64
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable Lane Departure Warnings"
 msgstr "Spurverlassenswarnungen aktivieren"
 
-#: system/ui/widgets/network.py:129
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enable Roaming"
-msgstr "openpilot aktivieren"
+msgstr "Roaming aktivieren"
 
-#: selfdrive/ui/layouts/settings/developer.py:48
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Enable SSH"
 msgstr "SSH aktivieren"
 
-#: system/ui/widgets/network.py:120
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enable Tethering"
-msgstr "Spurverlassenswarnungen aktivieren"
+msgstr "Tethering aktivieren"
 
-#: selfdrive/ui/layouts/settings/toggles.py:30
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable driver monitoring even when openpilot is not engaged."
 msgstr "Fahrerüberwachung auch aktivieren, wenn openpilot nicht aktiv ist."
 
-#: selfdrive/ui/layouts/settings/toggles.py:46
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable openpilot"
 msgstr "openpilot aktivieren"
 
-#: selfdrive/ui/layouts/settings/toggles.py:189
-#, python-format
-msgid ""
-"Enable the openpilot longitudinal control (alpha) toggle to allow "
-"Experimental mode."
-msgstr ""
-"Den Schalter für die openpilot-Längsregelung (Alpha) aktivieren, um den "
-"Experimentalmodus zu erlauben."
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode."
+msgstr "Den Schalter für die openpilot-Längsregelung (Alpha) aktivieren, um den Experimentalmodus zu erlauben."
 
-#: system/ui/widgets/network.py:204
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter APN"
 msgstr "APN eingeben"
 
-#: system/ui/widgets/network.py:241
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter SSID"
 msgstr "SSID eingeben"
 
-#: system/ui/widgets/network.py:254
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter new tethering password"
 msgstr "Neues Tethering‑Passwort eingeben"
 
-#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter password"
 msgstr "Passwort eingeben"
 
-#: selfdrive/ui/widgets/ssh_key.py:89
-#, python-format
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "Enter your GitHub username"
 msgstr "Geben Sie Ihren GitHub‑Benutzernamen ein"
 
-#: system/ui/widgets/list_view.py:123 system/ui/widgets/list_view.py:160
-#, python-format
+#: system/ui/widgets/list_view.py
 msgid "Error"
 msgstr "Fehler"
 
-#: selfdrive/ui/layouts/settings/toggles.py:52
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Experimental Mode"
 msgstr "Experimentalmodus"
 
-#: selfdrive/ui/layouts/settings/toggles.py:181
-#, python-format
-msgid ""
-"Experimental mode is currently unavailable on this car since the car's stock "
-"ACC is used for longitudinal control."
-msgstr ""
-"Der Experimentalmodus ist derzeit auf diesem Fahrzeug nicht verfügbar, da "
-"der serienmäßige ACC für die Längsregelung verwendet wird."
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
+msgstr "Der Experimentalmodus ist derzeit auf diesem Fahrzeug nicht verfügbar, da der serienmäßige ACC für die Längsregelung verwendet wird."
 
-#: system/ui/widgets/network.py:373
-#, python-format
+#: system/ui/widgets/network.py
 msgid "FORGETTING..."
 msgstr "WIRD VERGESSEN..."
 
-#: selfdrive/ui/widgets/setup.py:44
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Finish Setup"
 msgstr "Einrichtung abschließen"
 
-#: selfdrive/ui/layouts/settings/settings.py:66
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Firehose"
-msgstr "Firehose"
+msgstr "Datenstrom"
 
-#: selfdrive/ui/layouts/settings/firehose.py:18
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
 msgid "Firehose Mode"
 msgstr "Firehose‑Modus"
 
-#: selfdrive/ui/layouts/settings/firehose.py:25
-msgid ""
-"For maximum effectiveness, bring your device inside and connect to a good "
-"USB-C adapter and Wi-Fi weekly.\n"
-"\n"
-"Firehose Mode can also work while you're driving if connected to a hotspot "
-"or unlimited SIM card.\n"
-"\n"
-"\n"
-"Frequently Asked Questions\n"
-"\n"
-"Does it matter how or where I drive? Nope, just drive as you normally "
-"would.\n"
-"\n"
-"Do all of my segments get pulled in Firehose Mode? No, we selectively pull a "
-"subset of your segments.\n"
-"\n"
-"What's a good USB-C adapter? Any fast phone or laptop charger should be "
-"fine.\n"
-"\n"
-"Does it matter which software I run? Yes, only upstream openpilot (and "
-"particular forks) are able to be used for training."
-msgstr ""
-"Für maximale Wirksamkeit bringen Sie Ihr Gerät regelmäßig ins Haus und "
-"verbinden es wöchentlich mit einem guten USB‑C‑Adapter und WLAN.\n"
-"\n"
-"Der Firehose‑Modus kann auch während der Fahrt funktionieren, wenn eine "
-"Verbindung zu einem Hotspot oder einer unbegrenzten SIM besteht.\n"
-"\n"
-"\n"
-"Häufig gestellte Fragen\n"
-"\n"
-"Spielt es eine Rolle, wie oder wo ich fahre? Nein, fahren Sie einfach wie "
-"gewöhnlich.\n"
-"\n"
-"Werden alle meine Segmente im Firehose‑Modus abgeholt? Nein, wir ziehen "
-"selektiv eine Teilmenge Ihrer Segmente.\n"
-"\n"
-"Was ist ein guter USB‑C‑Adapter? Jeder schnelle Telefon‑ oder Laptoplader "
-"sollte ausreichen.\n"
-"\n"
-"Spielt es eine Rolle, welche Software ich verwende? Ja, nur "
-"Upstream‑openpilot (und bestimmte Forks) können für das Training verwendet "
-"werden."
-
-#: system/ui/widgets/network.py:318 system/ui/widgets/network.py:451
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Forget"
 msgstr "Vergessen"
 
-#: system/ui/widgets/network.py:319
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Forget Wi-Fi Network \"{}\"?"
 msgstr "WLAN‑Netz „{}“ vergessen?"
 
-#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "GOOD"
 msgstr "GUT"
 
-#: selfdrive/ui/widgets/pairing_dialog.py:128
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Go to https://connect.comma.ai on your phone"
 msgstr "Gehen Sie auf Ihrem Telefon zu https://connect.comma.ai"
 
-#: selfdrive/ui/layouts/sidebar.py:129
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "HIGH"
 msgstr "HOCH"
 
-#: system/ui/widgets/network.py:155
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Hidden Network"
-msgstr "Netzwerk"
-
-#: selfdrive/ui/layouts/settings/firehose.py:140
-#, python-format
-msgid "INACTIVE: connect to an unmetered network"
-msgstr "INAKTIV: Mit einem unlimitierten Netzwerk verbinden"
+msgstr "Verstecktes Netzwerk"
 
-#: selfdrive/ui/layouts/settings/software.py:53
-#: selfdrive/ui/layouts/settings/software.py:136
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "INSTALL"
 msgstr "INSTALLIEREN"
 
-#: system/ui/widgets/network.py:150
-#, python-format
+#: system/ui/widgets/network.py
 msgid "IP Address"
 msgstr "IP‑Adresse"
 
-#: selfdrive/ui/layouts/settings/software.py:53
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Install Update"
 msgstr "Update installieren"
 
-#: selfdrive/ui/layouts/settings/developer.py:56
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Joystick Debug Mode"
 msgstr "Joystick‑Debugmodus"
 
-#: selfdrive/ui/widgets/ssh_key.py:29
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "LOADING"
 msgstr "LADEN"
 
-#: selfdrive/ui/layouts/sidebar.py:48
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "LTE"
 msgstr "LTE"
 
-#: selfdrive/ui/layouts/settings/developer.py:64
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Longitudinal Maneuver Mode"
 msgstr "Längsmanövermodus"
 
-#: selfdrive/ui/onroad/hud_renderer.py:148
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "MAX"
-msgstr "MAX"
+msgstr "MAX."
 
-#: selfdrive/ui/widgets/setup.py:75
-#, python-format
-msgid ""
-"Maximize your training data uploads to improve openpilot's driving models."
-msgstr ""
-"Maximieren Sie Ihre Trainingsdaten‑Uploads, um die Fahrmodelle von openpilot "
-"zu verbessern."
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Maximize your training data uploads to improve openpilot's driving models."
+msgstr "Maximieren Sie Ihre Trainingsdaten‑Uploads, um die Fahrmodelle von openpilot zu verbessern."
 
-#: selfdrive/ui/layouts/settings/device.py:59
-#: selfdrive/ui/layouts/settings/device.py:60
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "N/A"
 msgstr "k. A."
 
-#: selfdrive/ui/layouts/sidebar.py:142
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "NO"
 msgstr "KEIN"
 
-#: selfdrive/ui/layouts/settings/settings.py:63
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Network"
 msgstr "Netzwerk"
 
-#: selfdrive/ui/widgets/ssh_key.py:114
-#, python-format
-msgid "No SSH keys found"
-msgstr "Keine SSH‑Schlüssel gefunden"
-
-#: selfdrive/ui/widgets/ssh_key.py:126
-#, python-format
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "No SSH keys found for user '{}'"
-msgstr "Keine SSH‑Schlüssel für Benutzer '{username}' gefunden"
+msgstr "Keine SSH‑Schlüssel für Benutzer '{}' gefunden"
 
-#: selfdrive/ui/widgets/offroad_alerts.py:320
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "No release notes available."
 msgstr "Keine Versionshinweise verfügbar."
 
-#: selfdrive/ui/layouts/sidebar.py:73 selfdrive/ui/layouts/sidebar.py:134
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "OFFLINE"
-msgstr "OFFLINE"
+msgstr "GETRENNT"
 
-#: system/ui/widgets/html_render.py:263 system/ui/widgets/confirm_dialog.py:93
-#: selfdrive/ui/layouts/sidebar.py:127
-#, python-format
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/html_render.py
 msgid "OK"
 msgstr "OK"
 
-#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:136
-#: selfdrive/ui/layouts/sidebar.py:144
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ONLINE"
-msgstr "ONLINE"
+msgstr "VERBUNDEN"
 
-#: selfdrive/ui/widgets/setup.py:20
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Open"
 msgstr "Öffnen"
 
-#: selfdrive/ui/layouts/settings/device.py:48
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "PAIR"
 msgstr "KOPPELN"
 
-#: selfdrive/ui/layouts/sidebar.py:142
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "PANDA"
 msgstr "PANDA"
 
-#: selfdrive/ui/layouts/settings/device.py:62
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "PREVIEW"
 msgstr "VORSCHAU"
 
-#: selfdrive/ui/widgets/prime.py:44
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "PRIME FEATURES:"
 msgstr "PRIME‑FUNKTIONEN:"
 
-#: selfdrive/ui/layouts/settings/device.py:48
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Pair Device"
 msgstr "Gerät koppeln"
 
-#: selfdrive/ui/widgets/setup.py:19
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Pair device"
 msgstr "Gerät koppeln"
 
-#: selfdrive/ui/widgets/pairing_dialog.py:103
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Pair your device to your comma account"
 msgstr "Koppeln Sie Ihr Gerät mit Ihrem comma‑Konto"
 
-#: selfdrive/ui/widgets/setup.py:48 selfdrive/ui/layouts/settings/device.py:24
-#, python-format
-msgid ""
-"Pair your device with comma connect (connect.comma.ai) and claim your comma "
-"prime offer."
-msgstr ""
-"Koppeln Sie Ihr Gerät mit comma connect (connect.comma.ai) und lösen Sie Ihr "
-"comma‑prime‑Angebot ein."
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."
+msgstr "Koppeln Sie Ihr Gerät mit comma connect (connect.comma.ai) und lösen Sie Ihr comma‑prime‑Angebot ein."
 
-#: selfdrive/ui/widgets/setup.py:91
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Please connect to Wi-Fi to complete initial pairing"
 msgstr "Bitte mit WLAN verbinden, um das erste Koppeln abzuschließen"
 
-#: selfdrive/ui/layouts/settings/device.py:55
-#: selfdrive/ui/layouts/settings/device.py:187
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Power Off"
 msgstr "Ausschalten"
 
-#: system/ui/widgets/network.py:144
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered Wi-Fi connection"
-msgstr ""
+msgstr "Verhindern Sie das Hochladen großer Datenmengen bei einer getakteten WLAN-Verbindung"
 
-#: system/ui/widgets/network.py:135
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered cellular connection"
-msgstr ""
+msgstr "Verhindern Sie das Hochladen großer Datenmengen bei einer getakteten Mobilfunkverbindung"
 
-#: selfdrive/ui/layouts/settings/device.py:25
-msgid ""
-"Preview the driver facing camera to ensure that driver monitoring has good "
-"visibility. (vehicle must be off)"
-msgstr ""
-"Vorschau der Fahrer‑Kamera, um sicherzustellen, dass die Fahrerüberwachung "
-"gute Sicht hat. (Fahrzeug muss ausgeschaltet sein)"
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)"
+msgstr "Vorschau der Fahrer‑Kamera, um sicherzustellen, dass die Fahrerüberwachung gute Sicht hat. (Fahrzeug muss ausgeschaltet sein)"
 
-#: selfdrive/ui/widgets/pairing_dialog.py:161
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "QR Code Error"
 msgstr "QR‑Code‑Fehler"
 
-#: selfdrive/ui/widgets/ssh_key.py:31
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "REMOVE"
 msgstr "ENTFERNEN"
 
-#: selfdrive/ui/layouts/settings/device.py:51
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "RESET"
 msgstr "ZURÜCKSETZEN"
 
-#: selfdrive/ui/layouts/settings/device.py:65
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "REVIEW"
 msgstr "ANSEHEN"
 
-#: selfdrive/ui/layouts/settings/device.py:55
-#: selfdrive/ui/layouts/settings/device.py:175
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Reboot"
 msgstr "Neustart"
 
-#: selfdrive/ui/onroad/alert_renderer.py:66
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "Reboot Device"
 msgstr "Gerät neu starten"
 
-#: selfdrive/ui/widgets/offroad_alerts.py:112
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Reboot and Update"
 msgstr "Neustarten und aktualisieren"
 
-#: selfdrive/ui/layouts/settings/toggles.py:27
-msgid ""
-"Receive alerts to steer back into the lane when your vehicle drifts over a "
-"detected lane line without a turn signal activated while driving over 31 mph "
-"(50 km/h)."
-msgstr ""
-"Erhalten Sie Warnungen, um zurück in die Spur zu lenken, wenn Ihr Fahrzeug "
-"ohne Blinker über eine erkannte Spurlinie driftet und über 31 mph (50 km/h) "
-"fährt."
-
-#: selfdrive/ui/layouts/settings/toggles.py:76
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Record and Upload Driver Camera"
 msgstr "Fahrerkamera aufzeichnen und hochladen"
 
-#: selfdrive/ui/layouts/settings/toggles.py:82
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Record and Upload Microphone Audio"
 msgstr "Mikrofonton aufzeichnen und hochladen"
 
-#: selfdrive/ui/layouts/settings/toggles.py:33
-msgid ""
-"Record and store microphone audio while driving. The audio will be included "
-"in the dashcam video in comma connect."
-msgstr ""
-"Mikrofonton während der Fahrt aufzeichnen und speichern. Die Audiospur wird "
-"im Dashcam‑Video in comma connect enthalten sein."
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."
+msgstr "Mikrofonton während der Fahrt aufzeichnen und speichern. Die Audiospur wird im Dashcam‑Video in comma connect enthalten sein."
 
-#: selfdrive/ui/layouts/settings/device.py:67
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Regulatory"
 msgstr "Vorschriften"
 
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Relaxed"
 msgstr "Entspannt"
 
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Remote access"
 msgstr "Fernzugriff"
 
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Remote snapshots"
 msgstr "Remote‑Schnappschüsse"
 
-#: selfdrive/ui/widgets/ssh_key.py:123
-#, python-format
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "Request timed out"
 msgstr "Zeitüberschreitung bei der Anfrage"
 
-#: selfdrive/ui/layouts/settings/device.py:119
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Reset"
 msgstr "Zurücksetzen"
 
-#: selfdrive/ui/layouts/settings/device.py:51
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Reset Calibration"
 msgstr "Kalibrierung zurücksetzen"
 
-#: selfdrive/ui/layouts/settings/device.py:65
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Review Training Guide"
 msgstr "Trainingsanleitung ansehen"
 
-#: selfdrive/ui/layouts/settings/device.py:27
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Review the rules, features, and limitations of openpilot"
-msgstr ""
-"Überprüfen Sie die Regeln, Funktionen und Einschränkungen von openpilot"
+msgstr "Überprüfen Sie die Regeln, Funktionen und Einschränkungen von openpilot"
 
-#: selfdrive/ui/layouts/settings/software.py:61
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "SELECT"
-msgstr ""
+msgstr "WÄHLEN"
 
-#: selfdrive/ui/layouts/settings/developer.py:53
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "SSH Keys"
 msgstr "SSH‑Schlüssel"
 
-#: system/ui/widgets/network.py:310
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Scanning Wi-Fi networks..."
 msgstr "WLAN‑Netzwerke werden gesucht..."
 
-#: system/ui/widgets/option_dialog.py:36
-#, python-format
+#: system/ui/widgets/option_dialog.py
 msgid "Select"
 msgstr "Auswählen"
 
-#: selfdrive/ui/layouts/settings/software.py:183
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Select a branch"
-msgstr ""
+msgstr "Zweig auswählen"
 
-#: selfdrive/ui/layouts/settings/device.py:91
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Select a language"
 msgstr "Sprache auswählen"
 
-#: selfdrive/ui/layouts/settings/device.py:60
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Serial"
 msgstr "Seriennummer"
 
-#: selfdrive/ui/widgets/offroad_alerts.py:106
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Snooze Update"
 msgstr "Update verschieben"
 
-#: selfdrive/ui/layouts/settings/settings.py:65
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Software"
-msgstr "Software"
+msgstr "Softwarebereich"
 
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Standard"
-msgstr "Standard"
+msgstr "Standardmodus"
 
-#: selfdrive/ui/layouts/settings/toggles.py:22
-msgid ""
-"Standard is recommended. In aggressive mode, openpilot will follow lead cars "
-"closer and be more aggressive with the gas and brake. In relaxed mode "
-"openpilot will stay further away from lead cars. On supported cars, you can "
-"cycle through these personalities with your steering wheel distance button."
-msgstr ""
-"Standard wird empfohlen. Im aggressiven Modus folgt openpilot "
-"vorausfahrenden Fahrzeugen näher und ist beim Gasgeben und Bremsen "
-"aggressiver. Im entspannten Modus bleibt openpilot weiter entfernt. Bei "
-"unterstützten Fahrzeugen können Sie mit der Abstandstaste am Lenkrad "
-"zwischen diesen Profilen wechseln."
-
-#: selfdrive/ui/onroad/alert_renderer.py:59
-#: selfdrive/ui/onroad/alert_renderer.py:65
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "System Unresponsive"
 msgstr "System reagiert nicht"
 
-#: selfdrive/ui/onroad/alert_renderer.py:58
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "TAKE CONTROL IMMEDIATELY"
 msgstr "SOFORT DIE KONTROLLE ÜBERNEHMEN"
 
-#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
-#: selfdrive/ui/layouts/sidebar.py:127 selfdrive/ui/layouts/sidebar.py:129
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "TEMP"
-msgstr "TEMP"
+msgstr "TEMP."
 
-#: selfdrive/ui/layouts/settings/software.py:61
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Target Branch"
-msgstr ""
+msgstr "Zielzweig"
 
-#: system/ui/widgets/network.py:124
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Tethering Password"
 msgstr "Tethering‑Passwort"
 
-#: selfdrive/ui/layouts/settings/settings.py:64
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Toggles"
 msgstr "Schalter"
 
-#: selfdrive/ui/layouts/settings/software.py:72
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "UI Debug Mode"
+msgstr "UI-Debug-Modus"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "UNINSTALL"
 msgstr "DEINSTALLIEREN"
 
-#: selfdrive/ui/layouts/home.py:155
-#, python-format
+#: openpilot/selfdrive/ui/layouts/home.py
 msgid "UPDATE"
-msgstr "UPDATE"
+msgstr "AKTUALISIEREN"
 
-#: selfdrive/ui/layouts/settings/software.py:72
-#: selfdrive/ui/layouts/settings/software.py:163
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Uninstall"
 msgstr "Deinstallieren"
 
-#: selfdrive/ui/layouts/sidebar.py:117
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "Unknown"
 msgstr "Unbekannt"
 
-#: selfdrive/ui/layouts/settings/software.py:48
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Updates are only downloaded while the car is off."
 msgstr "Updates werden nur heruntergeladen, wenn das Auto aus ist."
 
-#: selfdrive/ui/widgets/prime.py:33
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Upgrade Now"
 msgstr "Jetzt abonnieren"
 
-#: selfdrive/ui/layouts/settings/toggles.py:31
-msgid ""
-"Upload data from the driver facing camera and help improve the driver "
-"monitoring algorithm."
-msgstr ""
-"Daten von der Fahrer‑Kamera hochladen und den Fahrerüberwachungs‑Algorithmus "
-"verbessern."
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Upload data from the driver facing camera and help improve the driver monitoring algorithm."
+msgstr "Daten von der Fahrer‑Kamera hochladen und den Fahrerüberwachungs‑Algorithmus verbessern."
 
-#: selfdrive/ui/layouts/settings/toggles.py:88
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Use Metric System"
 msgstr "Metersystem verwenden"
 
-#: selfdrive/ui/layouts/settings/toggles.py:17
-msgid ""
-"Use the openpilot system for adaptive cruise control and lane keep driver "
-"assistance. Your attention is required at all times to use this feature."
-msgstr ""
-"Verwenden Sie openpilot für adaptive Geschwindigkeitsregelung und "
-"Spurhalteassistenz. Ihre Aufmerksamkeit ist jederzeit erforderlich, um diese "
-"Funktion zu nutzen."
-
-#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:144
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "VEHICLE"
 msgstr "FAHRZEUG"
 
-#: selfdrive/ui/layouts/settings/device.py:67
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "VIEW"
 msgstr "ANSEHEN"
 
-#: selfdrive/ui/onroad/alert_renderer.py:52
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "Waiting to start"
 msgstr "Warten auf Start"
 
-#: selfdrive/ui/layouts/settings/developer.py:19
-msgid ""
-"Warning: This grants SSH access to all public keys in your GitHub settings. "
-"Never enter a GitHub username other than your own. A comma employee will "
-"NEVER ask you to add their GitHub username."
-msgstr ""
-"Warnung: Dies gewährt SSH‑Zugriff auf alle öffentlichen Schlüssel in Ihren "
-"GitHub‑Einstellungen. Geben Sie niemals einen anderen GitHub‑Benutzernamen "
-"als Ihren eigenen ein. Ein comma‑Mitarbeiter wird Sie NIEMALS bitten, seinen "
-"GitHub‑Benutzernamen hinzuzufügen."
-
-#: selfdrive/ui/layouts/onboarding.py:111
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Welcome to openpilot"
 msgstr "Willkommen bei openpilot"
 
-#: selfdrive/ui/layouts/settings/toggles.py:20
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "When enabled, pressing the accelerator pedal will disengage openpilot."
 msgstr "Wenn aktiviert, deaktiviert das Drücken des Gaspedals openpilot."
 
-#: selfdrive/ui/layouts/sidebar.py:44
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "Wi-Fi"
 msgstr "WLAN"
 
-#: system/ui/widgets/network.py:144
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Wi-Fi Network Metered"
 msgstr "Getaktetes WLAN‑Netzwerk"
 
-#: system/ui/widgets/network.py:314
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Wrong password"
 msgstr "Falsches Passwort"
 
-#: selfdrive/ui/layouts/onboarding.py:145
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "You must accept the Terms and Conditions in order to use openpilot."
-msgstr ""
-"Sie müssen die Nutzungsbedingungen akzeptieren, um openpilot zu verwenden."
+msgstr "Sie müssen die Nutzungsbedingungen akzeptieren, um openpilot zu verwenden."
 
-#: selfdrive/ui/layouts/onboarding.py:112
-#, python-format
-msgid ""
-"You must accept the Terms and Conditions to use openpilot. Read the latest "
-"terms at https://comma.ai/terms before continuing."
-msgstr ""
-"Sie müssen die Nutzungsbedingungen akzeptieren, um openpilot zu verwenden. "
-"Lesen Sie die aktuellen Bedingungen unter https://comma.ai/terms, bevor Sie "
-"fortfahren."
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "You must accept the Terms and Conditions to use openpilot. Read the latest terms at https://comma.ai/terms before continuing."
+msgstr "Sie müssen die Nutzungsbedingungen akzeptieren, um openpilot zu verwenden. Lesen Sie die aktuellen Bedingungen unter https://comma.ai/terms, bevor Sie fortfahren."
 
-#: selfdrive/ui/onroad/driver_camera_dialog.py:34
-#, python-format
+#: openpilot/selfdrive/ui/onroad/driver_camera_dialog.py
 msgid "camera starting"
 msgstr "Kamera startet"
 
-#: selfdrive/ui/widgets/prime.py:63
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "checking..."
+msgstr "Überprüfung..."
+
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "comma prime"
 msgstr "comma prime"
 
-#: system/ui/widgets/network.py:142
-#, python-format
+#: system/ui/widgets/network.py
 msgid "default"
 msgstr "Standard"
 
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "down"
 msgstr "unten"
 
-#: selfdrive/ui/layouts/settings/software.py:106
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "downloading..."
+msgstr "Herunterladen..."
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "failed to check for update"
 msgstr "Überprüfung auf Updates fehlgeschlagen"
 
-#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "finalizing update..."
+msgstr "Update wird finalisiert..."
+
+#: system/ui/widgets/network.py
 msgid "for \"{}\""
 msgstr "für „{}“"
 
-#: selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "km/h"
 msgstr "km/h"
 
-#: system/ui/widgets/network.py:204
-#, python-format
+#: system/ui/widgets/network.py
 msgid "leave blank for automatic configuration"
 msgstr "für automatische Konfiguration leer lassen"
 
-#: selfdrive/ui/layouts/settings/device.py:134
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "left"
 msgstr "links"
 
-#: system/ui/widgets/network.py:142
-#, python-format
+#: system/ui/widgets/network.py
 msgid "metered"
 msgstr "getaktet"
 
-#: selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "mph"
 msgstr "mph"
 
-#: selfdrive/ui/layouts/settings/software.py:20
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "never"
 msgstr "nie"
 
-#: selfdrive/ui/layouts/settings/software.py:31
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "now"
 msgstr "jetzt"
 
-#: selfdrive/ui/layouts/settings/developer.py:71
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "openpilot Longitudinal Control (Alpha)"
 msgstr "openpilot Längsregelung (Alpha)"
 
-#: selfdrive/ui/onroad/alert_renderer.py:51
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "openpilot Unavailable"
 msgstr "openpilot nicht verfügbar"
 
-#: selfdrive/ui/layouts/settings/toggles.py:158
-#, python-format
-msgid ""
-"openpilot defaults to driving in chill mode. Experimental mode enables alpha-"
-"level features that aren't ready for chill mode. Experimental features are "
-"listed below:<br><h4>End-to-End Longitudinal Control</h4><br>Let the driving "
-"model control the gas and brakes. openpilot will drive as it thinks a human "
-"would, including stopping for red lights and stop signs. Since the driving "
-"model decides the speed to drive, the set speed will only act as an upper "
-"bound. This is an alpha quality feature; mistakes should be expected."
-"<br><h4>New Driving Visualization</h4><br>The driving visualization will "
-"transition to the road-facing wide-angle camera at low speeds to better show "
-"some turns. The Experimental mode logo will also be shown in the top right "
-"corner."
-msgstr ""
-"openpilot fährt standardmäßig im Chill‑Modus. Der Experimentalmodus "
-"aktiviert Funktionen im Alpha‑Status, die für den Chill‑Modus noch nicht "
-"bereit sind. Die experimentellen Funktionen sind unten aufgeführt:"
-"<br><h4>End-to‑End‑Längsregelung</h4><br>Das Fahrmodell steuert Gas und "
-"Bremse. openpilot fährt so, wie es einen Menschen einschätzt, einschließlich "
-"Anhalten an roten Ampeln und Stoppschildern. Da das Modell die "
-"Geschwindigkeit bestimmt, dient die eingestellte Geschwindigkeit nur als "
-"Obergrenze. Dies ist eine Alpha‑Funktion; Fehler sind zu erwarten."
-"<br><h4>Neue Fahrvisualisierung</h4><br>Die Visualisierung wechselt bei "
-"niedriger Geschwindigkeit auf die nach vorn gerichtete Weitwinkelkamera, um "
-"manche Kurven besser zu zeigen. Das Experimentalmodus‑Logo wird außerdem "
-"oben rechts angezeigt."
-
-#: selfdrive/ui/layouts/settings/device.py:165
-#, python-format
-msgid ""
-"openpilot is continuously calibrating, resetting is rarely required. "
-"Resetting calibration will restart openpilot if the car is powered on."
-msgstr ""
-" Durch Ändern dieser Einstellung wird openpilot neu gestartet, wenn das Auto "
-"eingeschaltet ist."
-
-#: selfdrive/ui/layouts/settings/firehose.py:20
-msgid ""
-"openpilot learns to drive by watching humans, like you, drive.\n"
-"\n"
-"Firehose Mode allows you to maximize your training data uploads to improve "
-"openpilot's driving models. More data means bigger models, which means "
-"better Experimental Mode."
-msgstr ""
-"openpilot lernt das Fahren, indem es Menschen wie Sie beobachtet.\n"
-"\n"
-"Der Firehose‑Modus ermöglicht es Ihnen, Ihre Trainingsdaten‑Uploads zu "
-"maximieren, um die Fahrmodelle von openpilot zu verbessern. Mehr Daten "
-"bedeuten größere Modelle – und damit einen besseren Experimentalmodus."
-
-#: selfdrive/ui/layouts/settings/toggles.py:183
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "openpilot longitudinal control may come in a future update."
 msgstr "Die openpilot‑Längsregelung könnte in einem zukünftigen Update kommen."
 
-#: selfdrive/ui/layouts/settings/device.py:26
-msgid ""
-"openpilot requires the device to be mounted within 4° left or right and "
-"within 5° up or 9° down."
-msgstr ""
-"openpilot erfordert, dass das Gerät innerhalb von 4° nach links oder rechts "
-"und innerhalb von 5° nach oben oder 9° nach unten montiert ist."
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down."
+msgstr "openpilot erfordert, dass das Gerät innerhalb von 4° nach links oder rechts und innerhalb von 5° nach oben oder 9° nach unten montiert ist."
 
-#: selfdrive/ui/layouts/settings/device.py:134
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "right"
 msgstr "rechts"
 
-#: system/ui/widgets/network.py:142
-#, python-format
+#: system/ui/widgets/network.py
 msgid "unmetered"
 msgstr "unbegrenzt"
 
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "up"
 msgstr "oben"
 
-#: selfdrive/ui/layouts/settings/software.py:117
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "up to date, last checked never"
 msgstr "Aktuell, zuletzt geprüft: nie"
 
-#: selfdrive/ui/layouts/settings/software.py:115
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "up to date, last checked {}"
 msgstr "Aktuell, zuletzt geprüft: {}"
 
-#: selfdrive/ui/layouts/settings/software.py:109
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "update available"
 msgstr "Update verfügbar"
 
-#: selfdrive/ui/layouts/home.py:169
-#, python-format
+#: openpilot/selfdrive/ui/layouts/home.py
 msgid "{} ALERT"
 msgid_plural "{} ALERTS"
 msgstr[0] "{} WARNUNG"
 msgstr[1] "{} WARNUNGEN"
 
-#: selfdrive/ui/layouts/settings/software.py:40
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "{} day ago"
 msgid_plural "{} days ago"
 msgstr[0] "vor {} Tag"
 msgstr[1] "vor {} Tagen"
 
-#: selfdrive/ui/layouts/settings/software.py:37
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "{} hour ago"
 msgid_plural "{} hours ago"
 msgstr[0] "vor {} Stunde"
 msgstr[1] "vor {} Stunden"
 
-#: selfdrive/ui/layouts/settings/software.py:34
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "{} minute ago"
 msgid_plural "{} minutes ago"
 msgstr[0] "vor {} Minute"
 msgstr[1] "vor {} Minuten"
 
-#: selfdrive/ui/layouts/settings/firehose.py:111
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
 msgid "{} segment of your driving is in the training dataset so far."
 msgid_plural "{} segments of your driving is in the training dataset so far."
 msgstr[0] "{} Segment Ihrer Fahrten ist bisher im Trainingsdatensatz."
 msgstr[1] "{} Segmente Ihrer Fahrten sind bisher im Trainingsdatensatz."
 
-#: selfdrive/ui/widgets/prime.py:62
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "✓ SUBSCRIBED"
 msgstr "✓ ABONNIERT"
 
-#: selfdrive/ui/widgets/setup.py:22
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "🔥 Firehose Mode 🔥"
 msgstr "🔥 Firehose‑Modus 🔥"
+
diff --git a/selfdrive/ui/translations/app_en.po b/selfdrive/ui/translations/app_en.po
index 6fbb537aff4..9f99c42b111 100644
--- a/selfdrive/ui/translations/app_en.po
+++ b/selfdrive/ui/translations/app_en.po
@@ -1,1207 +1,825 @@
-# English translations for PACKAGE package.
-# Copyright (C) 2025 THE PACKAGE'S COPYRIGHT HOLDER
-# This file is distributed under the same license as the PACKAGE package.
-# Automatically generated, 2025.
-#
 msgid ""
 msgstr ""
-"Project-Id-Version: PACKAGE VERSION\n"
-"Report-Msgid-Bugs-To: \n"
-"POT-Creation-Date: 2025-10-23 00:50-0700\n"
-"PO-Revision-Date: 2025-10-21 18:18-0700\n"
-"Last-Translator: Automatically generated\n"
-"Language-Team: none\n"
-"Language: en\n"
-"MIME-Version: 1.0\n"
 "Content-Type: text/plain; charset=UTF-8\n"
-"Content-Transfer-Encoding: 8bit\n"
+"Language: en\n"
 "Plural-Forms: nplurals=2; plural=(n != 1);\n"
 
-#: selfdrive/ui/layouts/settings/device.py:160
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid " Steering torque response calibration is complete."
 msgstr " Steering torque response calibration is complete."
 
-#: selfdrive/ui/layouts/settings/device.py:158
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid " Steering torque response calibration is {}% complete."
 msgstr " Steering torque response calibration is {}% complete."
 
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid " Your device is pointed {:.1f}° {} and {:.1f}° {}."
 msgstr " Your device is pointed {:.1f}° {} and {:.1f}° {}."
 
-#: selfdrive/ui/layouts/sidebar.py:43
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "--"
 msgstr "--"
 
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "1 year of drive storage"
 msgstr "1 year of drive storage"
 
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "24/7 LTE connectivity"
 msgstr "24/7 LTE connectivity"
 
-#: selfdrive/ui/layouts/sidebar.py:46
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "2G"
 msgstr "2G"
 
-#: selfdrive/ui/layouts/sidebar.py:47
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "3G"
 msgstr "3G"
 
-#: selfdrive/ui/layouts/sidebar.py:49
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "5G"
 msgstr "5G"
 
-#: selfdrive/ui/layouts/settings/developer.py:23
-msgid ""
-"<b>WARNING: openpilot longitudinal control is in alpha for this car and will "
-"disable Automatic Emergency Braking (AEB).</b><br><br>On this car, openpilot "
-"defaults to the car's built-in ACC instead of openpilot's longitudinal "
-"control. Enable this to switch to openpilot longitudinal control. Enabling "
-"Experimental mode is recommended when enabling openpilot longitudinal "
-"control alpha. Changing this setting will restart openpilot if the car is "
-"powered on."
-msgstr ""
-"<b>WARNING: openpilot longitudinal control is in alpha for this car and will "
-"disable Automatic Emergency Braking (AEB).</b><br><br>On this car, openpilot "
-"defaults to the car's built-in ACC instead of openpilot's longitudinal "
-"control. Enable this to switch to openpilot longitudinal control. Enabling "
-"Experimental mode is recommended when enabling openpilot longitudinal "
-"control alpha. Changing this setting will restart openpilot if the car is "
-"powered on."
-
-#: selfdrive/ui/layouts/settings/device.py:148
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "<br><br>Steering lag calibration is complete."
 msgstr "<br><br>Steering lag calibration is complete."
 
-#: selfdrive/ui/layouts/settings/device.py:146
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "<br><br>Steering lag calibration is {}% complete."
 msgstr "<br><br>Steering lag calibration is {}% complete."
 
-#: selfdrive/ui/layouts/settings/firehose.py:138
-#, python-format
-msgid "ACTIVE"
-msgstr "ACTIVE"
-
-#: selfdrive/ui/layouts/settings/developer.py:15
-msgid ""
-"ADB (Android Debug Bridge) allows connecting to your device over USB or over "
-"the network. See https://docs.comma.ai/how-to/connect-to-comma for more info."
-msgstr ""
-"ADB (Android Debug Bridge) allows connecting to your device over USB or over "
-"the network. See https://docs.comma.ai/how-to/connect-to-comma for more info."
-
-#: selfdrive/ui/widgets/ssh_key.py:30
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "ADD"
 msgstr "ADD"
 
-#: system/ui/widgets/network.py:139
-#, python-format
+#: system/ui/widgets/network.py
 msgid "APN Setting"
 msgstr "APN Setting"
 
-#: selfdrive/ui/widgets/offroad_alerts.py:109
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Acknowledge Excessive Actuation"
 msgstr "Acknowledge Excessive Actuation"
 
-#: system/ui/widgets/network.py:74 system/ui/widgets/network.py:95
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Advanced"
 msgstr "Advanced"
 
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Aggressive"
 msgstr "Aggressive"
 
-#: selfdrive/ui/layouts/onboarding.py:116
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Agree"
 msgstr "Agree"
 
-#: selfdrive/ui/layouts/settings/toggles.py:70
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Always-On Driver Monitoring"
 msgstr "Always-On Driver Monitoring"
 
-#: selfdrive/ui/layouts/settings/toggles.py:186
-#, python-format
-msgid ""
-"An alpha version of openpilot longitudinal control can be tested, along with "
-"Experimental mode, on non-release branches."
-msgstr ""
-"An alpha version of openpilot longitudinal control can be tested, along with "
-"Experimental mode, on non-release branches."
-
-#: selfdrive/ui/layouts/settings/device.py:187
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Are you sure you want to power off?"
 msgstr "Are you sure you want to power off?"
 
-#: selfdrive/ui/layouts/settings/device.py:175
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Are you sure you want to reboot?"
 msgstr "Are you sure you want to reboot?"
 
-#: selfdrive/ui/layouts/settings/device.py:119
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Are you sure you want to reset calibration?"
 msgstr "Are you sure you want to reset calibration?"
 
-#: selfdrive/ui/layouts/settings/software.py:163
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Are you sure you want to uninstall?"
 msgstr "Are you sure you want to uninstall?"
 
-#: system/ui/widgets/network.py:99 selfdrive/ui/layouts/onboarding.py:147
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+#: system/ui/widgets/network.py
 msgid "Back"
 msgstr "Back"
 
-#: selfdrive/ui/widgets/prime.py:38
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Become a comma prime member at connect.comma.ai"
 msgstr "Become a comma prime member at connect.comma.ai"
 
-#: selfdrive/ui/widgets/pairing_dialog.py:130
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
 msgstr "Bookmark connect.comma.ai to your home screen to use it like an app"
 
-#: selfdrive/ui/layouts/settings/device.py:68
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "CHANGE"
 msgstr "CHANGE"
 
-#: selfdrive/ui/layouts/settings/software.py:50
-#: selfdrive/ui/layouts/settings/software.py:107
-#: selfdrive/ui/layouts/settings/software.py:118
-#: selfdrive/ui/layouts/settings/software.py:147
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "CHECK"
 msgstr "CHECK"
 
-#: selfdrive/ui/widgets/exp_mode_button.py:50
-#, python-format
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
 msgid "CHILL MODE ON"
 msgstr "CHILL MODE ON"
 
-#: system/ui/widgets/network.py:155 selfdrive/ui/layouts/sidebar.py:73
-#: selfdrive/ui/layouts/sidebar.py:134 selfdrive/ui/layouts/sidebar.py:136
-#: selfdrive/ui/layouts/sidebar.py:138
-#, python-format
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/network.py
 msgid "CONNECT"
 msgstr "CONNECT"
 
-#: system/ui/widgets/network.py:369
-#, python-format
+#: system/ui/widgets/network.py
 msgid "CONNECTING..."
 msgstr "CONNECTING..."
 
-#: system/ui/widgets/confirm_dialog.py:23 system/ui/widgets/option_dialog.py:35
-#: system/ui/widgets/keyboard.py:81 system/ui/widgets/network.py:318
-#, python-format
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/keyboard.py
+#: system/ui/widgets/network.py
+#: system/ui/widgets/option_dialog.py
 msgid "Cancel"
 msgstr "Cancel"
 
-#: system/ui/widgets/network.py:134
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Cellular Metered"
 msgstr "Cellular Metered"
 
-#: selfdrive/ui/layouts/settings/device.py:68
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Change Language"
 msgstr "Change Language"
 
-#: selfdrive/ui/layouts/settings/toggles.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Changing this setting will restart openpilot if the car is powered on."
 msgstr "Changing this setting will restart openpilot if the car is powered on."
 
-#: selfdrive/ui/widgets/pairing_dialog.py:129
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Click \"add new device\" and scan the QR code on the right"
 msgstr "Click \"add new device\" and scan the QR code on the right"
 
-#: selfdrive/ui/widgets/offroad_alerts.py:104
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Close"
 msgstr "Close"
 
-#: selfdrive/ui/layouts/settings/software.py:49
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Current Version"
 msgstr "Current Version"
 
-#: selfdrive/ui/layouts/settings/software.py:110
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "DOWNLOAD"
 msgstr "DOWNLOAD"
 
-#: selfdrive/ui/layouts/onboarding.py:115
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Decline"
 msgstr "Decline"
 
-#: selfdrive/ui/layouts/onboarding.py:148
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Decline, uninstall openpilot"
 msgstr "Decline, uninstall openpilot"
 
-#: selfdrive/ui/layouts/settings/settings.py:67
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Developer"
 msgstr "Developer"
 
-#: selfdrive/ui/layouts/settings/settings.py:62
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Device"
 msgstr "Device"
 
-#: selfdrive/ui/layouts/settings/toggles.py:58
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Disengage on Accelerator Pedal"
 msgstr "Disengage on Accelerator Pedal"
 
-#: selfdrive/ui/layouts/settings/device.py:184
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Disengage to Power Off"
 msgstr "Disengage to Power Off"
 
-#: selfdrive/ui/layouts/settings/device.py:172
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Disengage to Reboot"
 msgstr "Disengage to Reboot"
 
-#: selfdrive/ui/layouts/settings/device.py:103
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Disengage to Reset Calibration"
 msgstr "Disengage to Reset Calibration"
 
-#: selfdrive/ui/layouts/settings/toggles.py:32
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Display speed in km/h instead of mph."
 msgstr "Display speed in km/h instead of mph."
 
-#: selfdrive/ui/layouts/settings/device.py:59
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Dongle ID"
 msgstr "Dongle ID"
 
-#: selfdrive/ui/layouts/settings/software.py:50
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Download"
 msgstr "Download"
 
-#: selfdrive/ui/layouts/settings/device.py:62
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Driver Camera"
 msgstr "Driver Camera"
 
-#: selfdrive/ui/layouts/settings/toggles.py:96
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Driving Personality"
 msgstr "Driving Personality"
 
-#: system/ui/widgets/network.py:123 system/ui/widgets/network.py:139
-#, python-format
+#: system/ui/widgets/network.py
 msgid "EDIT"
 msgstr "EDIT"
 
-#: selfdrive/ui/layouts/sidebar.py:138
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ERROR"
 msgstr "ERROR"
 
-#: selfdrive/ui/layouts/sidebar.py:45
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ETH"
 msgstr "ETH"
 
-#: selfdrive/ui/widgets/exp_mode_button.py:50
-#, python-format
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
 msgid "EXPERIMENTAL MODE ON"
 msgstr "EXPERIMENTAL MODE ON"
 
-#: selfdrive/ui/layouts/settings/developer.py:166
-#: selfdrive/ui/layouts/settings/toggles.py:228
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable"
 msgstr "Enable"
 
-#: selfdrive/ui/layouts/settings/developer.py:39
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Enable ADB"
 msgstr "Enable ADB"
 
-#: selfdrive/ui/layouts/settings/toggles.py:64
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable Lane Departure Warnings"
 msgstr "Enable Lane Departure Warnings"
 
-#: system/ui/widgets/network.py:129
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enable Roaming"
 msgstr "Enable Roaming"
 
-#: selfdrive/ui/layouts/settings/developer.py:48
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Enable SSH"
 msgstr "Enable SSH"
 
-#: system/ui/widgets/network.py:120
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enable Tethering"
 msgstr "Enable Tethering"
 
-#: selfdrive/ui/layouts/settings/toggles.py:30
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable driver monitoring even when openpilot is not engaged."
 msgstr "Enable driver monitoring even when openpilot is not engaged."
 
-#: selfdrive/ui/layouts/settings/toggles.py:46
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable openpilot"
 msgstr "Enable openpilot"
 
-#: selfdrive/ui/layouts/settings/toggles.py:189
-#, python-format
-msgid ""
-"Enable the openpilot longitudinal control (alpha) toggle to allow "
-"Experimental mode."
-msgstr ""
-"Enable the openpilot longitudinal control (alpha) toggle to allow "
-"Experimental mode."
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode."
+msgstr "Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode."
 
-#: system/ui/widgets/network.py:204
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter APN"
 msgstr "Enter APN"
 
-#: system/ui/widgets/network.py:241
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter SSID"
 msgstr "Enter SSID"
 
-#: system/ui/widgets/network.py:254
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter new tethering password"
 msgstr "Enter new tethering password"
 
-#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter password"
 msgstr "Enter password"
 
-#: selfdrive/ui/widgets/ssh_key.py:89
-#, python-format
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "Enter your GitHub username"
 msgstr "Enter your GitHub username"
 
-#: system/ui/widgets/list_view.py:123 system/ui/widgets/list_view.py:160
-#, python-format
+#: system/ui/widgets/list_view.py
 msgid "Error"
 msgstr "Error"
 
-#: selfdrive/ui/layouts/settings/toggles.py:52
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Experimental Mode"
 msgstr "Experimental Mode"
 
-#: selfdrive/ui/layouts/settings/toggles.py:181
-#, python-format
-msgid ""
-"Experimental mode is currently unavailable on this car since the car's stock "
-"ACC is used for longitudinal control."
-msgstr ""
-"Experimental mode is currently unavailable on this car since the car's stock "
-"ACC is used for longitudinal control."
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
+msgstr "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
 
-#: system/ui/widgets/network.py:373
-#, python-format
+#: system/ui/widgets/network.py
 msgid "FORGETTING..."
 msgstr "FORGETTING..."
 
-#: selfdrive/ui/widgets/setup.py:44
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Finish Setup"
 msgstr "Finish Setup"
 
-#: selfdrive/ui/layouts/settings/settings.py:66
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Firehose"
 msgstr "Firehose"
 
-#: selfdrive/ui/layouts/settings/firehose.py:18
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
 msgid "Firehose Mode"
 msgstr "Firehose Mode"
 
-#: selfdrive/ui/layouts/settings/firehose.py:25
-msgid ""
-"For maximum effectiveness, bring your device inside and connect to a good "
-"USB-C adapter and Wi-Fi weekly.\n"
-"\n"
-"Firehose Mode can also work while you're driving if connected to a hotspot "
-"or unlimited SIM card.\n"
-"\n"
-"\n"
-"Frequently Asked Questions\n"
-"\n"
-"Does it matter how or where I drive? Nope, just drive as you normally "
-"would.\n"
-"\n"
-"Do all of my segments get pulled in Firehose Mode? No, we selectively pull a "
-"subset of your segments.\n"
-"\n"
-"What's a good USB-C adapter? Any fast phone or laptop charger should be "
-"fine.\n"
-"\n"
-"Does it matter which software I run? Yes, only upstream openpilot (and "
-"particular forks) are able to be used for training."
-msgstr ""
-"For maximum effectiveness, bring your device inside and connect to a good "
-"USB-C adapter and Wi-Fi weekly.\n"
-"\n"
-"Firehose Mode can also work while you're driving if connected to a hotspot "
-"or unlimited SIM card.\n"
-"\n"
-"\n"
-"Frequently Asked Questions\n"
-"\n"
-"Does it matter how or where I drive? Nope, just drive as you normally "
-"would.\n"
-"\n"
-"Do all of my segments get pulled in Firehose Mode? No, we selectively pull a "
-"subset of your segments.\n"
-"\n"
-"What's a good USB-C adapter? Any fast phone or laptop charger should be "
-"fine.\n"
-"\n"
-"Does it matter which software I run? Yes, only upstream openpilot (and "
-"particular forks) are able to be used for training."
-
-#: system/ui/widgets/network.py:318 system/ui/widgets/network.py:451
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Forget"
 msgstr "Forget"
 
-#: system/ui/widgets/network.py:319
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Forget Wi-Fi Network \"{}\"?"
 msgstr "Forget Wi-Fi Network \"{}\"?"
 
-#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "GOOD"
 msgstr "GOOD"
 
-#: selfdrive/ui/widgets/pairing_dialog.py:128
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Go to https://connect.comma.ai on your phone"
 msgstr "Go to https://connect.comma.ai on your phone"
 
-#: selfdrive/ui/layouts/sidebar.py:129
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "HIGH"
 msgstr "HIGH"
 
-#: system/ui/widgets/network.py:155
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Hidden Network"
 msgstr "Hidden Network"
 
-#: selfdrive/ui/layouts/settings/firehose.py:140
-#, python-format
-msgid "INACTIVE: connect to an unmetered network"
-msgstr "INACTIVE: connect to an unmetered network"
-
-#: selfdrive/ui/layouts/settings/software.py:53
-#: selfdrive/ui/layouts/settings/software.py:136
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "INSTALL"
 msgstr "INSTALL"
 
-#: system/ui/widgets/network.py:150
-#, python-format
+#: system/ui/widgets/network.py
 msgid "IP Address"
 msgstr "IP Address"
 
-#: selfdrive/ui/layouts/settings/software.py:53
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Install Update"
 msgstr "Install Update"
 
-#: selfdrive/ui/layouts/settings/developer.py:56
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Joystick Debug Mode"
 msgstr "Joystick Debug Mode"
 
-#: selfdrive/ui/widgets/ssh_key.py:29
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "LOADING"
 msgstr "LOADING"
 
-#: selfdrive/ui/layouts/sidebar.py:48
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "LTE"
 msgstr "LTE"
 
-#: selfdrive/ui/layouts/settings/developer.py:64
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Longitudinal Maneuver Mode"
 msgstr "Longitudinal Maneuver Mode"
 
-#: selfdrive/ui/onroad/hud_renderer.py:148
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "MAX"
 msgstr "MAX"
 
-#: selfdrive/ui/widgets/setup.py:75
-#, python-format
-msgid ""
-"Maximize your training data uploads to improve openpilot's driving models."
-msgstr ""
-"Maximize your training data uploads to improve openpilot's driving models."
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Maximize your training data uploads to improve openpilot's driving models."
+msgstr "Maximize your training data uploads to improve openpilot's driving models."
 
-#: selfdrive/ui/layouts/settings/device.py:59
-#: selfdrive/ui/layouts/settings/device.py:60
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "N/A"
 msgstr "N/A"
 
-#: selfdrive/ui/layouts/sidebar.py:142
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "NO"
 msgstr "NO"
 
-#: selfdrive/ui/layouts/settings/settings.py:63
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Network"
 msgstr "Network"
 
-#: selfdrive/ui/widgets/ssh_key.py:114
-#, python-format
-msgid "No SSH keys found"
-msgstr "No SSH keys found"
-
-#: selfdrive/ui/widgets/ssh_key.py:126
-#, python-format
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "No SSH keys found for user '{}'"
 msgstr "No SSH keys found for user '{}'"
 
-#: selfdrive/ui/widgets/offroad_alerts.py:320
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "No release notes available."
 msgstr "No release notes available."
 
-#: selfdrive/ui/layouts/sidebar.py:73 selfdrive/ui/layouts/sidebar.py:134
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "OFFLINE"
 msgstr "OFFLINE"
 
-#: system/ui/widgets/html_render.py:263 system/ui/widgets/confirm_dialog.py:93
-#: selfdrive/ui/layouts/sidebar.py:127
-#, python-format
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/html_render.py
 msgid "OK"
 msgstr "OK"
 
-#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:136
-#: selfdrive/ui/layouts/sidebar.py:144
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ONLINE"
 msgstr "ONLINE"
 
-#: selfdrive/ui/widgets/setup.py:20
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Open"
 msgstr "Open"
 
-#: selfdrive/ui/layouts/settings/device.py:48
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "PAIR"
 msgstr "PAIR"
 
-#: selfdrive/ui/layouts/sidebar.py:142
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "PANDA"
 msgstr "PANDA"
 
-#: selfdrive/ui/layouts/settings/device.py:62
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "PREVIEW"
 msgstr "PREVIEW"
 
-#: selfdrive/ui/widgets/prime.py:44
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "PRIME FEATURES:"
 msgstr "PRIME FEATURES:"
 
-#: selfdrive/ui/layouts/settings/device.py:48
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Pair Device"
 msgstr "Pair Device"
 
-#: selfdrive/ui/widgets/setup.py:19
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Pair device"
 msgstr "Pair device"
 
-#: selfdrive/ui/widgets/pairing_dialog.py:103
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Pair your device to your comma account"
 msgstr "Pair your device to your comma account"
 
-#: selfdrive/ui/widgets/setup.py:48 selfdrive/ui/layouts/settings/device.py:24
-#, python-format
-msgid ""
-"Pair your device with comma connect (connect.comma.ai) and claim your comma "
-"prime offer."
-msgstr ""
-"Pair your device with comma connect (connect.comma.ai) and claim your comma "
-"prime offer."
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."
+msgstr "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."
 
-#: selfdrive/ui/widgets/setup.py:91
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Please connect to Wi-Fi to complete initial pairing"
 msgstr "Please connect to Wi-Fi to complete initial pairing"
 
-#: selfdrive/ui/layouts/settings/device.py:55
-#: selfdrive/ui/layouts/settings/device.py:187
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Power Off"
 msgstr "Power Off"
 
-#: system/ui/widgets/network.py:144
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered Wi-Fi connection"
 msgstr "Prevent large data uploads when on a metered Wi-Fi connection"
 
-#: system/ui/widgets/network.py:135
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered cellular connection"
 msgstr "Prevent large data uploads when on a metered cellular connection"
 
-#: selfdrive/ui/layouts/settings/device.py:25
-msgid ""
-"Preview the driver facing camera to ensure that driver monitoring has good "
-"visibility. (vehicle must be off)"
-msgstr ""
-"Preview the driver facing camera to ensure that driver monitoring has good "
-"visibility. (vehicle must be off)"
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)"
+msgstr "Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)"
 
-#: selfdrive/ui/widgets/pairing_dialog.py:161
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "QR Code Error"
 msgstr "QR Code Error"
 
-#: selfdrive/ui/widgets/ssh_key.py:31
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "REMOVE"
 msgstr "REMOVE"
 
-#: selfdrive/ui/layouts/settings/device.py:51
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "RESET"
 msgstr "RESET"
 
-#: selfdrive/ui/layouts/settings/device.py:65
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "REVIEW"
 msgstr "REVIEW"
 
-#: selfdrive/ui/layouts/settings/device.py:55
-#: selfdrive/ui/layouts/settings/device.py:175
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Reboot"
 msgstr "Reboot"
 
-#: selfdrive/ui/onroad/alert_renderer.py:66
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "Reboot Device"
 msgstr "Reboot Device"
 
-#: selfdrive/ui/widgets/offroad_alerts.py:112
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Reboot and Update"
 msgstr "Reboot and Update"
 
-#: selfdrive/ui/layouts/settings/toggles.py:27
-msgid ""
-"Receive alerts to steer back into the lane when your vehicle drifts over a "
-"detected lane line without a turn signal activated while driving over 31 mph "
-"(50 km/h)."
-msgstr ""
-"Receive alerts to steer back into the lane when your vehicle drifts over a "
-"detected lane line without a turn signal activated while driving over 31 mph "
-"(50 km/h)."
-
-#: selfdrive/ui/layouts/settings/toggles.py:76
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Record and Upload Driver Camera"
 msgstr "Record and Upload Driver Camera"
 
-#: selfdrive/ui/layouts/settings/toggles.py:82
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Record and Upload Microphone Audio"
 msgstr "Record and Upload Microphone Audio"
 
-#: selfdrive/ui/layouts/settings/toggles.py:33
-msgid ""
-"Record and store microphone audio while driving. The audio will be included "
-"in the dashcam video in comma connect."
-msgstr ""
-"Record and store microphone audio while driving. The audio will be included "
-"in the dashcam video in comma connect."
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."
+msgstr "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."
 
-#: selfdrive/ui/layouts/settings/device.py:67
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Regulatory"
 msgstr "Regulatory"
 
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Relaxed"
 msgstr "Relaxed"
 
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Remote access"
 msgstr "Remote access"
 
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Remote snapshots"
 msgstr "Remote snapshots"
 
-#: selfdrive/ui/widgets/ssh_key.py:123
-#, python-format
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "Request timed out"
 msgstr "Request timed out"
 
-#: selfdrive/ui/layouts/settings/device.py:119
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Reset"
 msgstr "Reset"
 
-#: selfdrive/ui/layouts/settings/device.py:51
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Reset Calibration"
 msgstr "Reset Calibration"
 
-#: selfdrive/ui/layouts/settings/device.py:65
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Review Training Guide"
 msgstr "Review Training Guide"
 
-#: selfdrive/ui/layouts/settings/device.py:27
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Review the rules, features, and limitations of openpilot"
 msgstr "Review the rules, features, and limitations of openpilot"
 
-#: selfdrive/ui/layouts/settings/software.py:61
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "SELECT"
-msgstr ""
+msgstr "SELECT"
 
-#: selfdrive/ui/layouts/settings/developer.py:53
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "SSH Keys"
 msgstr "SSH Keys"
 
-#: system/ui/widgets/network.py:310
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Scanning Wi-Fi networks..."
 msgstr "Scanning Wi-Fi networks..."
 
-#: system/ui/widgets/option_dialog.py:36
-#, python-format
+#: system/ui/widgets/option_dialog.py
 msgid "Select"
 msgstr "Select"
 
-#: selfdrive/ui/layouts/settings/software.py:183
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Select a branch"
-msgstr ""
+msgstr "Select a branch"
 
-#: selfdrive/ui/layouts/settings/device.py:91
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Select a language"
 msgstr "Select a language"
 
-#: selfdrive/ui/layouts/settings/device.py:60
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Serial"
 msgstr "Serial"
 
-#: selfdrive/ui/widgets/offroad_alerts.py:106
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Snooze Update"
 msgstr "Snooze Update"
 
-#: selfdrive/ui/layouts/settings/settings.py:65
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Software"
 msgstr "Software"
 
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Standard"
 msgstr "Standard"
 
-#: selfdrive/ui/layouts/settings/toggles.py:22
-msgid ""
-"Standard is recommended. In aggressive mode, openpilot will follow lead cars "
-"closer and be more aggressive with the gas and brake. In relaxed mode "
-"openpilot will stay further away from lead cars. On supported cars, you can "
-"cycle through these personalities with your steering wheel distance button."
-msgstr ""
-"Standard is recommended. In aggressive mode, openpilot will follow lead cars "
-"closer and be more aggressive with the gas and brake. In relaxed mode "
-"openpilot will stay further away from lead cars. On supported cars, you can "
-"cycle through these personalities with your steering wheel distance button."
-
-#: selfdrive/ui/onroad/alert_renderer.py:59
-#: selfdrive/ui/onroad/alert_renderer.py:65
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "System Unresponsive"
 msgstr "System Unresponsive"
 
-#: selfdrive/ui/onroad/alert_renderer.py:58
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "TAKE CONTROL IMMEDIATELY"
 msgstr "TAKE CONTROL IMMEDIATELY"
 
-#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
-#: selfdrive/ui/layouts/sidebar.py:127 selfdrive/ui/layouts/sidebar.py:129
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "TEMP"
 msgstr "TEMP"
 
-#: selfdrive/ui/layouts/settings/software.py:61
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Target Branch"
-msgstr ""
+msgstr "Target Branch"
 
-#: system/ui/widgets/network.py:124
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Tethering Password"
 msgstr "Tethering Password"
 
-#: selfdrive/ui/layouts/settings/settings.py:64
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Toggles"
 msgstr "Toggles"
 
-#: selfdrive/ui/layouts/settings/software.py:72
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "UI Debug Mode"
+msgstr "UI Debug Mode"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "UNINSTALL"
 msgstr "UNINSTALL"
 
-#: selfdrive/ui/layouts/home.py:155
-#, python-format
+#: openpilot/selfdrive/ui/layouts/home.py
 msgid "UPDATE"
 msgstr "UPDATE"
 
-#: selfdrive/ui/layouts/settings/software.py:72
-#: selfdrive/ui/layouts/settings/software.py:163
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Uninstall"
 msgstr "Uninstall"
 
-#: selfdrive/ui/layouts/sidebar.py:117
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "Unknown"
 msgstr "Unknown"
 
-#: selfdrive/ui/layouts/settings/software.py:48
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Updates are only downloaded while the car is off."
 msgstr "Updates are only downloaded while the car is off."
 
-#: selfdrive/ui/widgets/prime.py:33
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Upgrade Now"
 msgstr "Upgrade Now"
 
-#: selfdrive/ui/layouts/settings/toggles.py:31
-msgid ""
-"Upload data from the driver facing camera and help improve the driver "
-"monitoring algorithm."
-msgstr ""
-"Upload data from the driver facing camera and help improve the driver "
-"monitoring algorithm."
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Upload data from the driver facing camera and help improve the driver monitoring algorithm."
+msgstr "Upload data from the driver facing camera and help improve the driver monitoring algorithm."
 
-#: selfdrive/ui/layouts/settings/toggles.py:88
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Use Metric System"
 msgstr "Use Metric System"
 
-#: selfdrive/ui/layouts/settings/toggles.py:17
-msgid ""
-"Use the openpilot system for adaptive cruise control and lane keep driver "
-"assistance. Your attention is required at all times to use this feature."
-msgstr ""
-"Use the openpilot system for adaptive cruise control and lane keep driver "
-"assistance. Your attention is required at all times to use this feature."
-
-#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:144
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "VEHICLE"
 msgstr "VEHICLE"
 
-#: selfdrive/ui/layouts/settings/device.py:67
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "VIEW"
 msgstr "VIEW"
 
-#: selfdrive/ui/onroad/alert_renderer.py:52
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "Waiting to start"
 msgstr "Waiting to start"
 
-#: selfdrive/ui/layouts/settings/developer.py:19
-msgid ""
-"Warning: This grants SSH access to all public keys in your GitHub settings. "
-"Never enter a GitHub username other than your own. A comma employee will "
-"NEVER ask you to add their GitHub username."
-msgstr ""
-"Warning: This grants SSH access to all public keys in your GitHub settings. "
-"Never enter a GitHub username other than your own. A comma employee will "
-"NEVER ask you to add their GitHub username."
-
-#: selfdrive/ui/layouts/onboarding.py:111
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Welcome to openpilot"
 msgstr "Welcome to openpilot"
 
-#: selfdrive/ui/layouts/settings/toggles.py:20
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "When enabled, pressing the accelerator pedal will disengage openpilot."
 msgstr "When enabled, pressing the accelerator pedal will disengage openpilot."
 
-#: selfdrive/ui/layouts/sidebar.py:44
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "Wi-Fi"
 msgstr "Wi-Fi"
 
-#: system/ui/widgets/network.py:144
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Wi-Fi Network Metered"
 msgstr "Wi-Fi Network Metered"
 
-#: system/ui/widgets/network.py:314
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Wrong password"
 msgstr "Wrong password"
 
-#: selfdrive/ui/layouts/onboarding.py:145
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "You must accept the Terms and Conditions in order to use openpilot."
 msgstr "You must accept the Terms and Conditions in order to use openpilot."
 
-#: selfdrive/ui/layouts/onboarding.py:112
-#, python-format
-msgid ""
-"You must accept the Terms and Conditions to use openpilot. Read the latest "
-"terms at https://comma.ai/terms before continuing."
-msgstr ""
-"You must accept the Terms and Conditions to use openpilot. Read the latest "
-"terms at https://comma.ai/terms before continuing."
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "You must accept the Terms and Conditions to use openpilot. Read the latest terms at https://comma.ai/terms before continuing."
+msgstr "You must accept the Terms and Conditions to use openpilot. Read the latest terms at https://comma.ai/terms before continuing."
 
-#: selfdrive/ui/onroad/driver_camera_dialog.py:34
-#, python-format
+#: openpilot/selfdrive/ui/onroad/driver_camera_dialog.py
 msgid "camera starting"
 msgstr "camera starting"
 
-#: selfdrive/ui/widgets/prime.py:63
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "checking..."
+msgstr "checking..."
+
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "comma prime"
 msgstr "comma prime"
 
-#: system/ui/widgets/network.py:142
-#, python-format
+#: system/ui/widgets/network.py
 msgid "default"
 msgstr "default"
 
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "down"
 msgstr "down"
 
-#: selfdrive/ui/layouts/settings/software.py:106
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "downloading..."
+msgstr "downloading..."
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "failed to check for update"
 msgstr "failed to check for update"
 
-#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "finalizing update..."
+msgstr "finalizing update..."
+
+#: system/ui/widgets/network.py
 msgid "for \"{}\""
 msgstr "for \"{}\""
 
-#: selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "km/h"
 msgstr "km/h"
 
-#: system/ui/widgets/network.py:204
-#, python-format
+#: system/ui/widgets/network.py
 msgid "leave blank for automatic configuration"
 msgstr "leave blank for automatic configuration"
 
-#: selfdrive/ui/layouts/settings/device.py:134
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "left"
 msgstr "left"
 
-#: system/ui/widgets/network.py:142
-#, python-format
+#: system/ui/widgets/network.py
 msgid "metered"
 msgstr "metered"
 
-#: selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "mph"
 msgstr "mph"
 
-#: selfdrive/ui/layouts/settings/software.py:20
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "never"
 msgstr "never"
 
-#: selfdrive/ui/layouts/settings/software.py:31
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "now"
 msgstr "now"
 
-#: selfdrive/ui/layouts/settings/developer.py:71
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "openpilot Longitudinal Control (Alpha)"
 msgstr "openpilot Longitudinal Control (Alpha)"
 
-#: selfdrive/ui/onroad/alert_renderer.py:51
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "openpilot Unavailable"
 msgstr "openpilot Unavailable"
 
-#: selfdrive/ui/layouts/settings/toggles.py:158
-#, python-format
-msgid ""
-"openpilot defaults to driving in chill mode. Experimental mode enables alpha-"
-"level features that aren't ready for chill mode. Experimental features are "
-"listed below:<br><h4>End-to-End Longitudinal Control</h4><br>Let the driving "
-"model control the gas and brakes. openpilot will drive as it thinks a human "
-"would, including stopping for red lights and stop signs. Since the driving "
-"model decides the speed to drive, the set speed will only act as an upper "
-"bound. This is an alpha quality feature; mistakes should be expected."
-"<br><h4>New Driving Visualization</h4><br>The driving visualization will "
-"transition to the road-facing wide-angle camera at low speeds to better show "
-"some turns. The Experimental mode logo will also be shown in the top right "
-"corner."
-msgstr ""
-"openpilot defaults to driving in chill mode. Experimental mode enables alpha-"
-"level features that aren't ready for chill mode. Experimental features are "
-"listed below:<br><h4>End-to-End Longitudinal Control</h4><br>Let the driving "
-"model control the gas and brakes. openpilot will drive as it thinks a human "
-"would, including stopping for red lights and stop signs. Since the driving "
-"model decides the speed to drive, the set speed will only act as an upper "
-"bound. This is an alpha quality feature; mistakes should be expected."
-"<br><h4>New Driving Visualization</h4><br>The driving visualization will "
-"transition to the road-facing wide-angle camera at low speeds to better show "
-"some turns. The Experimental mode logo will also be shown in the top right "
-"corner."
-
-#: selfdrive/ui/layouts/settings/device.py:165
-#, python-format
-msgid ""
-"openpilot is continuously calibrating, resetting is rarely required. "
-"Resetting calibration will restart openpilot if the car is powered on."
-msgstr ""
-"openpilot is continuously calibrating, resetting is rarely required. "
-"Resetting calibration will restart openpilot if the car is powered on."
-
-#: selfdrive/ui/layouts/settings/firehose.py:20
-msgid ""
-"openpilot learns to drive by watching humans, like you, drive.\n"
-"\n"
-"Firehose Mode allows you to maximize your training data uploads to improve "
-"openpilot's driving models. More data means bigger models, which means "
-"better Experimental Mode."
-msgstr ""
-"openpilot learns to drive by watching humans, like you, drive.\n"
-"\n"
-"Firehose Mode allows you to maximize your training data uploads to improve "
-"openpilot's driving models. More data means bigger models, which means "
-"better Experimental Mode."
-
-#: selfdrive/ui/layouts/settings/toggles.py:183
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "openpilot longitudinal control may come in a future update."
 msgstr "openpilot longitudinal control may come in a future update."
 
-#: selfdrive/ui/layouts/settings/device.py:26
-msgid ""
-"openpilot requires the device to be mounted within 4° left or right and "
-"within 5° up or 9° down."
-msgstr ""
-"openpilot requires the device to be mounted within 4° left or right and "
-"within 5° up or 9° down."
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down."
+msgstr "openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down."
 
-#: selfdrive/ui/layouts/settings/device.py:134
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "right"
 msgstr "right"
 
-#: system/ui/widgets/network.py:142
-#, python-format
+#: system/ui/widgets/network.py
 msgid "unmetered"
 msgstr "unmetered"
 
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "up"
 msgstr "up"
 
-#: selfdrive/ui/layouts/settings/software.py:117
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "up to date, last checked never"
 msgstr "up to date, last checked never"
 
-#: selfdrive/ui/layouts/settings/software.py:115
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "up to date, last checked {}"
 msgstr "up to date, last checked {}"
 
-#: selfdrive/ui/layouts/settings/software.py:109
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "update available"
 msgstr "update available"
 
-#: selfdrive/ui/layouts/home.py:169
-#, python-format
+#: openpilot/selfdrive/ui/layouts/home.py
 msgid "{} ALERT"
 msgid_plural "{} ALERTS"
 msgstr[0] "{} ALERT"
 msgstr[1] "{} ALERTS"
 
-#: selfdrive/ui/layouts/settings/software.py:40
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "{} day ago"
 msgid_plural "{} days ago"
 msgstr[0] "{} day ago"
 msgstr[1] "{} days ago"
 
-#: selfdrive/ui/layouts/settings/software.py:37
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "{} hour ago"
 msgid_plural "{} hours ago"
 msgstr[0] "{} hour ago"
 msgstr[1] "{} hours ago"
 
-#: selfdrive/ui/layouts/settings/software.py:34
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "{} minute ago"
 msgid_plural "{} minutes ago"
 msgstr[0] "{} minute ago"
 msgstr[1] "{} minutes ago"
 
-#: selfdrive/ui/layouts/settings/firehose.py:111
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
 msgid "{} segment of your driving is in the training dataset so far."
 msgid_plural "{} segments of your driving is in the training dataset so far."
 msgstr[0] "{} segment of your driving is in the training dataset so far."
 msgstr[1] "{} segments of your driving is in the training dataset so far."
 
-#: selfdrive/ui/widgets/prime.py:62
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "✓ SUBSCRIBED"
 msgstr "✓ SUBSCRIBED"
 
-#: selfdrive/ui/widgets/setup.py:22
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "🔥 Firehose Mode 🔥"
 msgstr "🔥 Firehose Mode 🔥"
+
diff --git a/selfdrive/ui/translations/app_es.po b/selfdrive/ui/translations/app_es.po
index 59b9e6dfdbe..707816bc009 100644
--- a/selfdrive/ui/translations/app_es.po
+++ b/selfdrive/ui/translations/app_es.po
@@ -1,1225 +1,825 @@
-# Spanish translations for PACKAGE package.
-# Copyright (C) 2025 THE PACKAGE'S COPYRIGHT HOLDER
-# This file is distributed under the same license as the PACKAGE package.
-# Automatically generated, 2025.
-#
 msgid ""
 msgstr ""
-"Project-Id-Version: PACKAGE VERSION\n"
-"Report-Msgid-Bugs-To: \n"
-"POT-Creation-Date: 2025-10-23 00:50-0700\n"
-"PO-Revision-Date: 2025-10-20 16:35-0700\n"
-"Last-Translator: Automatically generated\n"
-"Language-Team: none\n"
-"Language: es\n"
-"MIME-Version: 1.0\n"
 "Content-Type: text/plain; charset=UTF-8\n"
-"Content-Transfer-Encoding: 8bit\n"
+"Language: es\n"
 "Plural-Forms: nplurals=2; plural=(n != 1);\n"
 
-#: selfdrive/ui/layouts/settings/device.py:160
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid " Steering torque response calibration is complete."
 msgstr " La calibración de respuesta de par de dirección está completa."
 
-#: selfdrive/ui/layouts/settings/device.py:158
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid " Steering torque response calibration is {}% complete."
 msgstr " La calibración de respuesta de par de dirección está {}% completa."
 
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid " Your device is pointed {:.1f}° {} and {:.1f}° {}."
 msgstr " Tu dispositivo está orientado {:.1f}° {} y {:.1f}° {}."
 
-#: selfdrive/ui/layouts/sidebar.py:43
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "--"
 msgstr "--"
 
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "1 year of drive storage"
 msgstr "1 año de almacenamiento de conducción"
 
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "24/7 LTE connectivity"
 msgstr "Conectividad LTE 24/7"
 
-#: selfdrive/ui/layouts/sidebar.py:46
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "2G"
 msgstr "2G"
 
-#: selfdrive/ui/layouts/sidebar.py:47
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "3G"
 msgstr "3G"
 
-#: selfdrive/ui/layouts/sidebar.py:49
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "5G"
 msgstr "5G"
 
-#: selfdrive/ui/layouts/settings/developer.py:23
-msgid ""
-"<b>WARNING: openpilot longitudinal control is in alpha for this car and will "
-"disable Automatic Emergency Braking (AEB).</b><br><br>On this car, openpilot "
-"defaults to the car's built-in ACC instead of openpilot's longitudinal "
-"control. Enable this to switch to openpilot longitudinal control. Enabling "
-"Experimental mode is recommended when enabling openpilot longitudinal "
-"control alpha. Changing this setting will restart openpilot if the car is "
-"powered on."
-msgstr ""
-"<b>ADVERTENCIA: el control longitudinal de openpilot está en alpha para este "
-"coche y deshabilitará el Frenado Automático de Emergencia (AEB).</"
-"b><br><br>En este coche, openpilot usa por defecto el ACC integrado del "
-"coche en lugar del control longitudinal de openpilot. Activa esto para "
-"cambiar al control longitudinal de openpilot. Se recomienda activar el modo "
-"Experimental al habilitar el control longitudinal de openpilot (alpha)."
-
-#: selfdrive/ui/layouts/settings/device.py:148
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "<br><br>Steering lag calibration is complete."
-msgstr ""
+msgstr "<br><br>La calibración del retraso de dirección está completa."
 
-#: selfdrive/ui/layouts/settings/device.py:146
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "<br><br>Steering lag calibration is {}% complete."
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/firehose.py:138
-#, python-format
-msgid "ACTIVE"
-msgstr "ACTIVO"
+msgstr "<br><br>La calibración del retraso de dirección está completa en un {}%."
 
-#: selfdrive/ui/layouts/settings/developer.py:15
-msgid ""
-"ADB (Android Debug Bridge) allows connecting to your device over USB or over "
-"the network. See https://docs.comma.ai/how-to/connect-to-comma for more info."
-msgstr ""
-"ADB (Android Debug Bridge) permite conectar tu dispositivo por USB o por la "
-"red. Consulta https://docs.comma.ai/how-to/connect-to-comma para más "
-"información."
-
-#: selfdrive/ui/widgets/ssh_key.py:30
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "ADD"
 msgstr "AÑADIR"
 
-#: system/ui/widgets/network.py:139
-#, python-format
+#: system/ui/widgets/network.py
 msgid "APN Setting"
-msgstr ""
+msgstr "Configuración de APN"
 
-#: selfdrive/ui/widgets/offroad_alerts.py:109
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Acknowledge Excessive Actuation"
 msgstr "Reconocer actuación excesiva"
 
-#: system/ui/widgets/network.py:74 system/ui/widgets/network.py:95
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Advanced"
-msgstr ""
+msgstr "Avanzado"
 
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Aggressive"
 msgstr "Agresivo"
 
-#: selfdrive/ui/layouts/onboarding.py:116
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Agree"
 msgstr "Aceptar"
 
-#: selfdrive/ui/layouts/settings/toggles.py:70
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Always-On Driver Monitoring"
 msgstr "Supervisión del conductor siempre activa"
 
-#: selfdrive/ui/layouts/settings/toggles.py:186
-#, python-format
-msgid ""
-"An alpha version of openpilot longitudinal control can be tested, along with "
-"Experimental mode, on non-release branches."
-msgstr ""
-"Se puede probar una versión alpha del control longitudinal de openpilot, "
-"junto con el modo Experimental, en ramas que no son de lanzamiento."
-
-#: selfdrive/ui/layouts/settings/device.py:187
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Are you sure you want to power off?"
 msgstr "¿Seguro que quieres apagar?"
 
-#: selfdrive/ui/layouts/settings/device.py:175
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Are you sure you want to reboot?"
 msgstr "¿Seguro que quieres reiniciar?"
 
-#: selfdrive/ui/layouts/settings/device.py:119
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Are you sure you want to reset calibration?"
 msgstr "¿Seguro que quieres restablecer la calibración?"
 
-#: selfdrive/ui/layouts/settings/software.py:163
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Are you sure you want to uninstall?"
 msgstr "¿Seguro que quieres desinstalar?"
 
-#: system/ui/widgets/network.py:99 selfdrive/ui/layouts/onboarding.py:147
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+#: system/ui/widgets/network.py
 msgid "Back"
 msgstr "Atrás"
 
-#: selfdrive/ui/widgets/prime.py:38
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Become a comma prime member at connect.comma.ai"
 msgstr "Hazte miembro de comma prime en connect.comma.ai"
 
-#: selfdrive/ui/widgets/pairing_dialog.py:130
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
-msgstr ""
-"Añade connect.comma.ai a tu pantalla de inicio para usarlo como una app"
+msgstr "Añade connect.comma.ai a tu pantalla de inicio para usarlo como una app"
 
-#: selfdrive/ui/layouts/settings/device.py:68
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "CHANGE"
 msgstr "CAMBIAR"
 
-#: selfdrive/ui/layouts/settings/software.py:50
-#: selfdrive/ui/layouts/settings/software.py:107
-#: selfdrive/ui/layouts/settings/software.py:118
-#: selfdrive/ui/layouts/settings/software.py:147
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "CHECK"
 msgstr "COMPROBAR"
 
-#: selfdrive/ui/widgets/exp_mode_button.py:50
-#, python-format
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
 msgid "CHILL MODE ON"
 msgstr "MODO CHILL ACTIVADO"
 
-#: system/ui/widgets/network.py:155 selfdrive/ui/layouts/sidebar.py:73
-#: selfdrive/ui/layouts/sidebar.py:134 selfdrive/ui/layouts/sidebar.py:136
-#: selfdrive/ui/layouts/sidebar.py:138
-#, python-format
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/network.py
 msgid "CONNECT"
 msgstr "CONECTAR"
 
-#: system/ui/widgets/network.py:369
-#, python-format
+#: system/ui/widgets/network.py
 msgid "CONNECTING..."
 msgstr "CONECTAR"
 
-#: system/ui/widgets/confirm_dialog.py:23 system/ui/widgets/option_dialog.py:35
-#: system/ui/widgets/keyboard.py:81 system/ui/widgets/network.py:318
-#, python-format
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/keyboard.py
+#: system/ui/widgets/network.py
+#: system/ui/widgets/option_dialog.py
 msgid "Cancel"
-msgstr ""
+msgstr "Cancelar"
 
-#: system/ui/widgets/network.py:134
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Cellular Metered"
-msgstr ""
+msgstr "Medición celular"
 
-#: selfdrive/ui/layouts/settings/device.py:68
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Change Language"
 msgstr "Cambiar idioma"
 
-#: selfdrive/ui/layouts/settings/toggles.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Changing this setting will restart openpilot if the car is powered on."
-msgstr ""
-" Cambiar esta configuración reiniciará openpilot si el coche está encendido."
+msgstr " Cambiar esta configuración reiniciará openpilot si el coche está encendido."
 
-#: selfdrive/ui/widgets/pairing_dialog.py:129
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Click \"add new device\" and scan the QR code on the right"
-msgstr ""
-"Haz clic en \"añadir nuevo dispositivo\" y escanea el código QR de la derecha"
+msgstr "Haz clic en \"añadir nuevo dispositivo\" y escanea el código QR de la derecha"
 
-#: selfdrive/ui/widgets/offroad_alerts.py:104
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Close"
 msgstr "Cerrar"
 
-#: selfdrive/ui/layouts/settings/software.py:49
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Current Version"
 msgstr "Versión actual"
 
-#: selfdrive/ui/layouts/settings/software.py:110
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "DOWNLOAD"
 msgstr "DESCARGAR"
 
-#: selfdrive/ui/layouts/onboarding.py:115
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Decline"
 msgstr "Rechazar"
 
-#: selfdrive/ui/layouts/onboarding.py:148
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Decline, uninstall openpilot"
 msgstr "Rechazar, desinstalar openpilot"
 
-#: selfdrive/ui/layouts/settings/settings.py:67
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Developer"
 msgstr "Desarrollador"
 
-#: selfdrive/ui/layouts/settings/settings.py:62
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Device"
 msgstr "Dispositivo"
 
-#: selfdrive/ui/layouts/settings/toggles.py:58
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Disengage on Accelerator Pedal"
 msgstr "Desactivar con el pedal del acelerador"
 
-#: selfdrive/ui/layouts/settings/device.py:184
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Disengage to Power Off"
 msgstr "Desactivar para apagar"
 
-#: selfdrive/ui/layouts/settings/device.py:172
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Disengage to Reboot"
 msgstr "Desactivar para reiniciar"
 
-#: selfdrive/ui/layouts/settings/device.py:103
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Disengage to Reset Calibration"
 msgstr "Desactivar para restablecer la calibración"
 
-#: selfdrive/ui/layouts/settings/toggles.py:32
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Display speed in km/h instead of mph."
 msgstr "Mostrar la velocidad en km/h en lugar de mph."
 
-#: selfdrive/ui/layouts/settings/device.py:59
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Dongle ID"
 msgstr "ID del dongle"
 
-#: selfdrive/ui/layouts/settings/software.py:50
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Download"
 msgstr "Descargar"
 
-#: selfdrive/ui/layouts/settings/device.py:62
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Driver Camera"
 msgstr "Cámara del conductor"
 
-#: selfdrive/ui/layouts/settings/toggles.py:96
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Driving Personality"
 msgstr "Estilo de conducción"
 
-#: system/ui/widgets/network.py:123 system/ui/widgets/network.py:139
-#, python-format
+#: system/ui/widgets/network.py
 msgid "EDIT"
-msgstr ""
+msgstr "EDITAR"
 
-#: selfdrive/ui/layouts/sidebar.py:138
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ERROR"
-msgstr "ERROR"
+msgstr "FALLO"
 
-#: selfdrive/ui/layouts/sidebar.py:45
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ETH"
 msgstr "ETH"
 
-#: selfdrive/ui/widgets/exp_mode_button.py:50
-#, python-format
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
 msgid "EXPERIMENTAL MODE ON"
 msgstr "MODO EXPERIMENTAL ACTIVADO"
 
-#: selfdrive/ui/layouts/settings/developer.py:166
-#: selfdrive/ui/layouts/settings/toggles.py:228
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable"
 msgstr "Activar"
 
-#: selfdrive/ui/layouts/settings/developer.py:39
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Enable ADB"
 msgstr "Activar ADB"
 
-#: selfdrive/ui/layouts/settings/toggles.py:64
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable Lane Departure Warnings"
 msgstr "Activar advertencias de salida de carril"
 
-#: system/ui/widgets/network.py:129
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enable Roaming"
-msgstr "Activar openpilot"
+msgstr "Activar roaming"
 
-#: selfdrive/ui/layouts/settings/developer.py:48
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Enable SSH"
 msgstr "Activar SSH"
 
-#: system/ui/widgets/network.py:120
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enable Tethering"
-msgstr "Activar advertencias de salida de carril"
+msgstr "Activar anclaje"
 
-#: selfdrive/ui/layouts/settings/toggles.py:30
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable driver monitoring even when openpilot is not engaged."
-msgstr ""
-"Activar la supervisión del conductor incluso cuando openpilot no esté "
-"activado."
+msgstr "Activar la supervisión del conductor incluso cuando openpilot no esté activado."
 
-#: selfdrive/ui/layouts/settings/toggles.py:46
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable openpilot"
 msgstr "Activar openpilot"
 
-#: selfdrive/ui/layouts/settings/toggles.py:189
-#, python-format
-msgid ""
-"Enable the openpilot longitudinal control (alpha) toggle to allow "
-"Experimental mode."
-msgstr ""
-"Activa el interruptor de control longitudinal de openpilot (alpha) para "
-"permitir el modo Experimental."
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode."
+msgstr "Activa el interruptor de control longitudinal de openpilot (alpha) para permitir el modo Experimental."
 
-#: system/ui/widgets/network.py:204
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter APN"
-msgstr ""
+msgstr "Introduce APN"
 
-#: system/ui/widgets/network.py:241
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter SSID"
-msgstr ""
+msgstr "Introduzca SSID"
 
-#: system/ui/widgets/network.py:254
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter new tethering password"
-msgstr ""
+msgstr "Ingrese una nueva contraseña de anclaje a red"
 
-#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter password"
-msgstr ""
+msgstr "Introduce la contraseña"
 
-#: selfdrive/ui/widgets/ssh_key.py:89
-#, python-format
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "Enter your GitHub username"
 msgstr "Introduce tu nombre de usuario de GitHub"
 
-#: system/ui/widgets/list_view.py:123 system/ui/widgets/list_view.py:160
-#, python-format
+#: system/ui/widgets/list_view.py
 msgid "Error"
-msgstr ""
+msgstr "Fallo"
 
-#: selfdrive/ui/layouts/settings/toggles.py:52
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Experimental Mode"
 msgstr "Modo experimental"
 
-#: selfdrive/ui/layouts/settings/toggles.py:181
-#, python-format
-msgid ""
-"Experimental mode is currently unavailable on this car since the car's stock "
-"ACC is used for longitudinal control."
-msgstr ""
-"El modo experimental no está disponible actualmente en este coche, ya que se "
-"usa el ACC de fábrica para el control longitudinal."
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
+msgstr "El modo experimental no está disponible actualmente en este coche, ya que se usa el ACC de fábrica para el control longitudinal."
 
-#: system/ui/widgets/network.py:373
-#, python-format
+#: system/ui/widgets/network.py
 msgid "FORGETTING..."
-msgstr ""
+msgstr "OLVIDAR..."
 
-#: selfdrive/ui/widgets/setup.py:44
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Finish Setup"
 msgstr "Finalizar configuración"
 
-#: selfdrive/ui/layouts/settings/settings.py:66
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Firehose"
-msgstr "Firehose"
+msgstr "Flujo masivo"
 
-#: selfdrive/ui/layouts/settings/firehose.py:18
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
 msgid "Firehose Mode"
 msgstr "Modo Firehose"
 
-#: selfdrive/ui/layouts/settings/firehose.py:25
-msgid ""
-"For maximum effectiveness, bring your device inside and connect to a good "
-"USB-C adapter and Wi-Fi weekly.\n"
-"\n"
-"Firehose Mode can also work while you're driving if connected to a hotspot "
-"or unlimited SIM card.\n"
-"\n"
-"\n"
-"Frequently Asked Questions\n"
-"\n"
-"Does it matter how or where I drive? Nope, just drive as you normally "
-"would.\n"
-"\n"
-"Do all of my segments get pulled in Firehose Mode? No, we selectively pull a "
-"subset of your segments.\n"
-"\n"
-"What's a good USB-C adapter? Any fast phone or laptop charger should be "
-"fine.\n"
-"\n"
-"Does it matter which software I run? Yes, only upstream openpilot (and "
-"particular forks) are able to be used for training."
-msgstr ""
-"Para la máxima efectividad, lleva tu dispositivo al interior y conéctalo "
-"semanalmente a un buen adaptador USB‑C y Wi‑Fi.\n"
-"\n"
-"El Modo Firehose también puede funcionar mientras conduces si está conectado "
-"a un hotspot o a una SIM ilimitada.\n"
-"\n"
-"\n"
-"Preguntas frecuentes\n"
-"\n"
-"¿Importa cómo o dónde conduzco? No, conduce como normalmente lo harías.\n"
-"\n"
-"¿Se suben todos mis segmentos en el Modo Firehose? No, seleccionamos un "
-"subconjunto de tus segmentos.\n"
-"\n"
-"¿Qué es un buen adaptador USB‑C? Cualquier cargador rápido de teléfono o "
-"laptop sirve.\n"
-"\n"
-"¿Importa qué software ejecuto? Sí, solo openpilot upstream (y forks "
-"particulares) pueden usarse para entrenamiento."
-
-#: system/ui/widgets/network.py:318 system/ui/widgets/network.py:451
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Forget"
-msgstr ""
+msgstr "Olvidar"
 
-#: system/ui/widgets/network.py:319
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Forget Wi-Fi Network \"{}\"?"
-msgstr ""
+msgstr "¿Olvidaste la red Wi-Fi \"{}\"?"
 
-#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "GOOD"
 msgstr "BUENO"
 
-#: selfdrive/ui/widgets/pairing_dialog.py:128
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Go to https://connect.comma.ai on your phone"
 msgstr "Ve a https://connect.comma.ai en tu teléfono"
 
-#: selfdrive/ui/layouts/sidebar.py:129
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "HIGH"
 msgstr "ALTO"
 
-#: system/ui/widgets/network.py:155
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Hidden Network"
-msgstr "Red"
-
-#: selfdrive/ui/layouts/settings/firehose.py:140
-#, python-format
-msgid "INACTIVE: connect to an unmetered network"
-msgstr "INACTIVO: conéctate a una red sin límites"
+msgstr "Red oculta"
 
-#: selfdrive/ui/layouts/settings/software.py:53
-#: selfdrive/ui/layouts/settings/software.py:136
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "INSTALL"
 msgstr "INSTALAR"
 
-#: system/ui/widgets/network.py:150
-#, python-format
+#: system/ui/widgets/network.py
 msgid "IP Address"
-msgstr ""
+msgstr "Dirección IP"
 
-#: selfdrive/ui/layouts/settings/software.py:53
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Install Update"
 msgstr "Instalar actualización"
 
-#: selfdrive/ui/layouts/settings/developer.py:56
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Joystick Debug Mode"
 msgstr "Modo de depuración de joystick"
 
-#: selfdrive/ui/widgets/ssh_key.py:29
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "LOADING"
 msgstr "CARGANDO"
 
-#: selfdrive/ui/layouts/sidebar.py:48
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "LTE"
 msgstr "LTE"
 
-#: selfdrive/ui/layouts/settings/developer.py:64
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Longitudinal Maneuver Mode"
 msgstr "Modo de maniobra longitudinal"
 
-#: selfdrive/ui/onroad/hud_renderer.py:148
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "MAX"
 msgstr "MÁX"
 
-#: selfdrive/ui/widgets/setup.py:75
-#, python-format
-msgid ""
-"Maximize your training data uploads to improve openpilot's driving models."
-msgstr ""
-"Maximiza tus cargas de datos de entrenamiento para mejorar los modelos de "
-"conducción de openpilot."
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Maximize your training data uploads to improve openpilot's driving models."
+msgstr "Maximiza tus cargas de datos de entrenamiento para mejorar los modelos de conducción de openpilot."
 
-#: selfdrive/ui/layouts/settings/device.py:59
-#: selfdrive/ui/layouts/settings/device.py:60
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "N/A"
-msgstr ""
+msgstr "N / A"
 
-#: selfdrive/ui/layouts/sidebar.py:142
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "NO"
-msgstr "NO"
+msgstr "SIN"
 
-#: selfdrive/ui/layouts/settings/settings.py:63
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Network"
 msgstr "Red"
 
-#: selfdrive/ui/widgets/ssh_key.py:114
-#, python-format
-msgid "No SSH keys found"
-msgstr "No se encontraron claves SSH"
-
-#: selfdrive/ui/widgets/ssh_key.py:126
-#, python-format
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "No SSH keys found for user '{}'"
-msgstr "No se encontraron claves SSH para el usuario '{username}'"
+msgstr "No se encontraron claves SSH para el usuario '{}'"
 
-#: selfdrive/ui/widgets/offroad_alerts.py:320
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "No release notes available."
 msgstr "No hay notas de versión disponibles."
 
-#: selfdrive/ui/layouts/sidebar.py:73 selfdrive/ui/layouts/sidebar.py:134
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "OFFLINE"
 msgstr "SIN CONEXIÓN"
 
-#: system/ui/widgets/html_render.py:263 system/ui/widgets/confirm_dialog.py:93
-#: selfdrive/ui/layouts/sidebar.py:127
-#, python-format
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/html_render.py
 msgid "OK"
 msgstr "OK"
 
-#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:136
-#: selfdrive/ui/layouts/sidebar.py:144
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ONLINE"
 msgstr "EN LÍNEA"
 
-#: selfdrive/ui/widgets/setup.py:20
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Open"
 msgstr "Abrir"
 
-#: selfdrive/ui/layouts/settings/device.py:48
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "PAIR"
 msgstr "EMPAREJAR"
 
-#: selfdrive/ui/layouts/sidebar.py:142
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "PANDA"
 msgstr "PANDA"
 
-#: selfdrive/ui/layouts/settings/device.py:62
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "PREVIEW"
 msgstr "VISTA PREVIA"
 
-#: selfdrive/ui/widgets/prime.py:44
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "PRIME FEATURES:"
 msgstr "FUNCIONES PRIME:"
 
-#: selfdrive/ui/layouts/settings/device.py:48
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Pair Device"
 msgstr "Emparejar dispositivo"
 
-#: selfdrive/ui/widgets/setup.py:19
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Pair device"
 msgstr "Emparejar dispositivo"
 
-#: selfdrive/ui/widgets/pairing_dialog.py:103
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Pair your device to your comma account"
 msgstr "Empareja tu dispositivo con tu cuenta de comma"
 
-#: selfdrive/ui/widgets/setup.py:48 selfdrive/ui/layouts/settings/device.py:24
-#, python-format
-msgid ""
-"Pair your device with comma connect (connect.comma.ai) and claim your comma "
-"prime offer."
-msgstr ""
-"Empareja tu dispositivo con comma connect (connect.comma.ai) y reclama tu "
-"oferta de comma prime."
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."
+msgstr "Empareja tu dispositivo con comma connect (connect.comma.ai) y reclama tu oferta de comma prime."
 
-#: selfdrive/ui/widgets/setup.py:91
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Please connect to Wi-Fi to complete initial pairing"
 msgstr "Conéctate a Wi‑Fi para completar el emparejamiento inicial"
 
-#: selfdrive/ui/layouts/settings/device.py:55
-#: selfdrive/ui/layouts/settings/device.py:187
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Power Off"
 msgstr "Apagar"
 
-#: system/ui/widgets/network.py:144
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered Wi-Fi connection"
-msgstr ""
+msgstr "Evite grandes cargas de datos cuando esté en una conexión Wi-Fi medida"
 
-#: system/ui/widgets/network.py:135
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered cellular connection"
-msgstr ""
+msgstr "Evite grandes cargas de datos cuando esté en una conexión celular medida"
 
-#: selfdrive/ui/layouts/settings/device.py:25
-msgid ""
-"Preview the driver facing camera to ensure that driver monitoring has good "
-"visibility. (vehicle must be off)"
-msgstr ""
-"Previsualiza la cámara hacia el conductor para asegurarte de que la "
-"supervisión del conductor tenga buena visibilidad. (el vehículo debe estar "
-"apagado)"
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)"
+msgstr "Previsualiza la cámara hacia el conductor para asegurarte de que la supervisión del conductor tenga buena visibilidad. (el vehículo debe estar apagado)"
 
-#: selfdrive/ui/widgets/pairing_dialog.py:161
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "QR Code Error"
 msgstr "Error de código QR"
 
-#: selfdrive/ui/widgets/ssh_key.py:31
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "REMOVE"
 msgstr "ELIMINAR"
 
-#: selfdrive/ui/layouts/settings/device.py:51
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "RESET"
 msgstr "RESTABLECER"
 
-#: selfdrive/ui/layouts/settings/device.py:65
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "REVIEW"
 msgstr "REVISAR"
 
-#: selfdrive/ui/layouts/settings/device.py:55
-#: selfdrive/ui/layouts/settings/device.py:175
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Reboot"
 msgstr "Reiniciar"
 
-#: selfdrive/ui/onroad/alert_renderer.py:66
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "Reboot Device"
 msgstr "Reiniciar dispositivo"
 
-#: selfdrive/ui/widgets/offroad_alerts.py:112
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Reboot and Update"
 msgstr "Reiniciar y actualizar"
 
-#: selfdrive/ui/layouts/settings/toggles.py:27
-msgid ""
-"Receive alerts to steer back into the lane when your vehicle drifts over a "
-"detected lane line without a turn signal activated while driving over 31 mph "
-"(50 km/h)."
-msgstr ""
-"Recibe alertas para volver al carril cuando tu vehículo se desvíe sobre una "
-"línea de carril detectada sin la direccional activada mientras conduces a "
-"más de 31 mph (50 km/h)."
-
-#: selfdrive/ui/layouts/settings/toggles.py:76
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Record and Upload Driver Camera"
 msgstr "Grabar y subir cámara del conductor"
 
-#: selfdrive/ui/layouts/settings/toggles.py:82
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Record and Upload Microphone Audio"
 msgstr "Grabar y subir audio del micrófono"
 
-#: selfdrive/ui/layouts/settings/toggles.py:33
-msgid ""
-"Record and store microphone audio while driving. The audio will be included "
-"in the dashcam video in comma connect."
-msgstr ""
-"Grabar y almacenar audio del micrófono mientras conduces. El audio se "
-"incluirá en el video de la dashcam en comma connect."
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."
+msgstr "Grabar y almacenar audio del micrófono mientras conduces. El audio se incluirá en el video de la dashcam en comma connect."
 
-#: selfdrive/ui/layouts/settings/device.py:67
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Regulatory"
 msgstr "Reglamentario"
 
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Relaxed"
 msgstr "Relajado"
 
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Remote access"
 msgstr "Acceso remoto"
 
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Remote snapshots"
 msgstr "Capturas remotas"
 
-#: selfdrive/ui/widgets/ssh_key.py:123
-#, python-format
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "Request timed out"
 msgstr "Se agotó el tiempo de espera de la solicitud"
 
-#: selfdrive/ui/layouts/settings/device.py:119
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Reset"
 msgstr "Restablecer"
 
-#: selfdrive/ui/layouts/settings/device.py:51
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Reset Calibration"
 msgstr "Restablecer calibración"
 
-#: selfdrive/ui/layouts/settings/device.py:65
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Review Training Guide"
 msgstr "Revisar guía de entrenamiento"
 
-#: selfdrive/ui/layouts/settings/device.py:27
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Review the rules, features, and limitations of openpilot"
 msgstr "Revisa las reglas, funciones y limitaciones de openpilot"
 
-#: selfdrive/ui/layouts/settings/software.py:61
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "SELECT"
-msgstr ""
+msgstr "SELECCIONAR"
 
-#: selfdrive/ui/layouts/settings/developer.py:53
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "SSH Keys"
-msgstr ""
+msgstr "Claves SSH"
 
-#: system/ui/widgets/network.py:310
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Scanning Wi-Fi networks..."
-msgstr ""
+msgstr "Escaneando redes Wi-Fi..."
 
-#: system/ui/widgets/option_dialog.py:36
-#, python-format
+#: system/ui/widgets/option_dialog.py
 msgid "Select"
-msgstr ""
+msgstr "Seleccionar"
 
-#: selfdrive/ui/layouts/settings/software.py:183
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Select a branch"
-msgstr ""
+msgstr "Selecciona una rama"
 
-#: selfdrive/ui/layouts/settings/device.py:91
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Select a language"
 msgstr "Selecciona un idioma"
 
-#: selfdrive/ui/layouts/settings/device.py:60
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Serial"
 msgstr "Número de serie"
 
-#: selfdrive/ui/widgets/offroad_alerts.py:106
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Snooze Update"
 msgstr "Posponer actualización"
 
-#: selfdrive/ui/layouts/settings/settings.py:65
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Software"
-msgstr "Software"
+msgstr "Sistema"
 
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Standard"
 msgstr "Estándar"
 
-#: selfdrive/ui/layouts/settings/toggles.py:22
-msgid ""
-"Standard is recommended. In aggressive mode, openpilot will follow lead cars "
-"closer and be more aggressive with the gas and brake. In relaxed mode "
-"openpilot will stay further away from lead cars. On supported cars, you can "
-"cycle through these personalities with your steering wheel distance button."
-msgstr ""
-"Se recomienda Estándar. En modo agresivo, openpilot seguirá más de cerca a "
-"los coches delanteros y será más agresivo con el acelerador y el freno. En "
-"modo relajado, openpilot se mantendrá más lejos de los coches delanteros. En "
-"coches compatibles, puedes cambiar entre estas personalidades con el botón "
-"de distancia del volante."
-
-#: selfdrive/ui/onroad/alert_renderer.py:59
-#: selfdrive/ui/onroad/alert_renderer.py:65
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "System Unresponsive"
 msgstr "Sistema sin respuesta"
 
-#: selfdrive/ui/onroad/alert_renderer.py:58
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "TAKE CONTROL IMMEDIATELY"
 msgstr "TOME EL CONTROL INMEDIATAMENTE"
 
-#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
-#: selfdrive/ui/layouts/sidebar.py:127 selfdrive/ui/layouts/sidebar.py:129
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "TEMP"
-msgstr "TEMP"
+msgstr "TEMP."
 
-#: selfdrive/ui/layouts/settings/software.py:61
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Target Branch"
-msgstr ""
+msgstr "Rama objetivo"
 
-#: system/ui/widgets/network.py:124
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Tethering Password"
-msgstr ""
+msgstr "Contraseña de anclaje"
 
-#: selfdrive/ui/layouts/settings/settings.py:64
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Toggles"
 msgstr "Interruptores"
 
-#: selfdrive/ui/layouts/settings/software.py:72
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "UI Debug Mode"
+msgstr "Modo de depuración de la interfaz de usuario"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "UNINSTALL"
 msgstr "DESINSTALAR"
 
-#: selfdrive/ui/layouts/home.py:155
-#, python-format
+#: openpilot/selfdrive/ui/layouts/home.py
 msgid "UPDATE"
 msgstr "ACTUALIZAR"
 
-#: selfdrive/ui/layouts/settings/software.py:72
-#: selfdrive/ui/layouts/settings/software.py:163
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Uninstall"
 msgstr "Desinstalar"
 
-#: selfdrive/ui/layouts/sidebar.py:117
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "Unknown"
 msgstr "Desconocido"
 
-#: selfdrive/ui/layouts/settings/software.py:48
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Updates are only downloaded while the car is off."
 msgstr "Las actualizaciones solo se descargan cuando el coche está apagado."
 
-#: selfdrive/ui/widgets/prime.py:33
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Upgrade Now"
 msgstr "Mejorar ahora"
 
-#: selfdrive/ui/layouts/settings/toggles.py:31
-msgid ""
-"Upload data from the driver facing camera and help improve the driver "
-"monitoring algorithm."
-msgstr ""
-"Sube datos de la cámara orientada al conductor y ayuda a mejorar el "
-"algoritmo de supervisión del conductor."
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Upload data from the driver facing camera and help improve the driver monitoring algorithm."
+msgstr "Sube datos de la cámara orientada al conductor y ayuda a mejorar el algoritmo de supervisión del conductor."
 
-#: selfdrive/ui/layouts/settings/toggles.py:88
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Use Metric System"
 msgstr "Usar sistema métrico"
 
-#: selfdrive/ui/layouts/settings/toggles.py:17
-msgid ""
-"Use the openpilot system for adaptive cruise control and lane keep driver "
-"assistance. Your attention is required at all times to use this feature."
-msgstr ""
-"Usa el sistema openpilot para control de crucero adaptativo y asistencia de "
-"mantenimiento de carril. Tu atención se requiere en todo momento para usar "
-"esta función."
-
-#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:144
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "VEHICLE"
 msgstr "VEHÍCULO"
 
-#: selfdrive/ui/layouts/settings/device.py:67
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "VIEW"
 msgstr "VER"
 
-#: selfdrive/ui/onroad/alert_renderer.py:52
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "Waiting to start"
 msgstr "Esperando para iniciar"
 
-#: selfdrive/ui/layouts/settings/developer.py:19
-msgid ""
-"Warning: This grants SSH access to all public keys in your GitHub settings. "
-"Never enter a GitHub username other than your own. A comma employee will "
-"NEVER ask you to add their GitHub username."
-msgstr ""
-"Advertencia: Esto otorga acceso SSH a todas las claves públicas en tu "
-"configuración de GitHub. Nunca introduzcas un nombre de usuario de GitHub "
-"que no sea el tuyo. Un empleado de comma NUNCA te pedirá que agregues su "
-"nombre de usuario de GitHub."
-
-#: selfdrive/ui/layouts/onboarding.py:111
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Welcome to openpilot"
 msgstr "Bienvenido a openpilot"
 
-#: selfdrive/ui/layouts/settings/toggles.py:20
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "When enabled, pressing the accelerator pedal will disengage openpilot."
-msgstr ""
-"Cuando está activado, al presionar el pedal del acelerador se desactivará "
-"openpilot."
+msgstr "Cuando está activado, al presionar el pedal del acelerador se desactivará openpilot."
 
-#: selfdrive/ui/layouts/sidebar.py:44
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "Wi-Fi"
 msgstr "Wi‑Fi"
 
-#: system/ui/widgets/network.py:144
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Wi-Fi Network Metered"
-msgstr ""
+msgstr "Red Wi-Fi medida"
 
-#: system/ui/widgets/network.py:314
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Wrong password"
-msgstr ""
+msgstr "Contraseña incorrecta"
 
-#: selfdrive/ui/layouts/onboarding.py:145
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "You must accept the Terms and Conditions in order to use openpilot."
 msgstr "Debes aceptar los Términos y Condiciones para poder usar openpilot."
 
-#: selfdrive/ui/layouts/onboarding.py:112
-#, python-format
-msgid ""
-"You must accept the Terms and Conditions to use openpilot. Read the latest "
-"terms at https://comma.ai/terms before continuing."
-msgstr ""
-"Debes aceptar los Términos y Condiciones para usar openpilot. Lee los "
-"términos más recientes en https://comma.ai/terms antes de continuar."
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "You must accept the Terms and Conditions to use openpilot. Read the latest terms at https://comma.ai/terms before continuing."
+msgstr "Debes aceptar los Términos y Condiciones para usar openpilot. Lee los términos más recientes en https://comma.ai/terms antes de continuar."
 
-#: selfdrive/ui/onroad/driver_camera_dialog.py:34
-#, python-format
+#: openpilot/selfdrive/ui/onroad/driver_camera_dialog.py
 msgid "camera starting"
 msgstr "iniciando cámara"
 
-#: selfdrive/ui/widgets/prime.py:63
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "checking..."
+msgstr "de cheques..."
+
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "comma prime"
 msgstr "comma prime"
 
-#: system/ui/widgets/network.py:142
-#, python-format
+#: system/ui/widgets/network.py
 msgid "default"
-msgstr ""
+msgstr "por defecto"
 
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "down"
 msgstr "abajo"
 
-#: selfdrive/ui/layouts/settings/software.py:106
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "downloading..."
+msgstr "descargando..."
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "failed to check for update"
 msgstr "Error al buscar actualizaciones"
 
-#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "finalizing update..."
+msgstr "finalizando actualización..."
+
+#: system/ui/widgets/network.py
 msgid "for \"{}\""
-msgstr ""
+msgstr "para \"{}\""
 
-#: selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "km/h"
 msgstr "km/h"
 
-#: system/ui/widgets/network.py:204
-#, python-format
+#: system/ui/widgets/network.py
 msgid "leave blank for automatic configuration"
-msgstr ""
+msgstr "dejar en blanco para configuración automática"
 
-#: selfdrive/ui/layouts/settings/device.py:134
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "left"
 msgstr "izquierda"
 
-#: system/ui/widgets/network.py:142
-#, python-format
+#: system/ui/widgets/network.py
 msgid "metered"
-msgstr ""
+msgstr "medido"
 
-#: selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "mph"
 msgstr "mph"
 
-#: selfdrive/ui/layouts/settings/software.py:20
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "never"
 msgstr "nunca"
 
-#: selfdrive/ui/layouts/settings/software.py:31
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "now"
 msgstr "ahora"
 
-#: selfdrive/ui/layouts/settings/developer.py:71
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "openpilot Longitudinal Control (Alpha)"
 msgstr "Control longitudinal de openpilot (Alpha)"
 
-#: selfdrive/ui/onroad/alert_renderer.py:51
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "openpilot Unavailable"
 msgstr "openpilot no disponible"
 
-#: selfdrive/ui/layouts/settings/toggles.py:158
-#, python-format
-msgid ""
-"openpilot defaults to driving in chill mode. Experimental mode enables alpha-"
-"level features that aren't ready for chill mode. Experimental features are "
-"listed below:<br><h4>End-to-End Longitudinal Control</h4><br>Let the driving "
-"model control the gas and brakes. openpilot will drive as it thinks a human "
-"would, including stopping for red lights and stop signs. Since the driving "
-"model decides the speed to drive, the set speed will only act as an upper "
-"bound. This is an alpha quality feature; mistakes should be expected."
-"<br><h4>New Driving Visualization</h4><br>The driving visualization will "
-"transition to the road-facing wide-angle camera at low speeds to better show "
-"some turns. The Experimental mode logo will also be shown in the top right "
-"corner."
-msgstr ""
-"openpilot conduce por defecto en modo chill. El modo Experimental habilita "
-"funciones de nivel alpha que no están listas para el modo chill. Las "
-"funciones experimentales se enumeran a continuación:<br><h4>Control "
-"longitudinal de extremo a extremo</h4><br>Deja que el modelo de conducción "
-"controle el acelerador y los frenos. openpilot conducirá como piensa que lo "
-"haría un humano, incluyendo detenerse en luces rojas y señales de alto. Dado "
-"que el modelo decide la velocidad a la que conducir, la velocidad "
-"establecida solo actuará como límite superior. Esta es una función de "
-"calidad alpha; se deben esperar errores.<br><h4>Nueva visualización de "
-"conducción</h4><br>La visualización de conducción hará la transición a la "
-"cámara gran angular orientada a la carretera a bajas velocidades para "
-"mostrar mejor algunos giros. El logotipo del modo Experimental también se "
-"mostrará en la esquina superior derecha."
-
-#: selfdrive/ui/layouts/settings/device.py:165
-#, python-format
-msgid ""
-"openpilot is continuously calibrating, resetting is rarely required. "
-"Resetting calibration will restart openpilot if the car is powered on."
-msgstr ""
-" Cambiar esta configuración reiniciará openpilot si el coche está encendido."
-
-#: selfdrive/ui/layouts/settings/firehose.py:20
-msgid ""
-"openpilot learns to drive by watching humans, like you, drive.\n"
-"\n"
-"Firehose Mode allows you to maximize your training data uploads to improve "
-"openpilot's driving models. More data means bigger models, which means "
-"better Experimental Mode."
-msgstr ""
-"openpilot aprende a conducir observando a humanos, como tú, conducir.\n"
-"\n"
-"El Modo Firehose te permite maximizar tus cargas de datos de entrenamiento "
-"para mejorar los modelos de conducción de openpilot. Más datos significan "
-"modelos más grandes, lo que significa un mejor Modo Experimental."
-
-#: selfdrive/ui/layouts/settings/toggles.py:183
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "openpilot longitudinal control may come in a future update."
-msgstr ""
-"El control longitudinal de openpilot podría llegar en una actualización "
-"futura."
+msgstr "El control longitudinal de openpilot podría llegar en una actualización futura."
 
-#: selfdrive/ui/layouts/settings/device.py:26
-msgid ""
-"openpilot requires the device to be mounted within 4° left or right and "
-"within 5° up or 9° down."
-msgstr ""
-"openpilot requiere que el dispositivo esté montado dentro de 4° a izquierda "
-"o derecha y dentro de 5° hacia arriba o 9° hacia abajo."
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down."
+msgstr "openpilot requiere que el dispositivo esté montado dentro de 4° a izquierda o derecha y dentro de 5° hacia arriba o 9° hacia abajo."
 
-#: selfdrive/ui/layouts/settings/device.py:134
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "right"
 msgstr "derecha"
 
-#: system/ui/widgets/network.py:142
-#, python-format
+#: system/ui/widgets/network.py
 msgid "unmetered"
-msgstr ""
+msgstr "sin medir"
 
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "up"
 msgstr "arriba"
 
-#: selfdrive/ui/layouts/settings/software.py:117
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "up to date, last checked never"
 msgstr "actualizado, última comprobación: nunca"
 
-#: selfdrive/ui/layouts/settings/software.py:115
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "up to date, last checked {}"
 msgstr "actualizado, última comprobación: {}"
 
-#: selfdrive/ui/layouts/settings/software.py:109
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "update available"
 msgstr "actualización disponible"
 
-#: selfdrive/ui/layouts/home.py:169
-#, python-format
+#: openpilot/selfdrive/ui/layouts/home.py
 msgid "{} ALERT"
 msgid_plural "{} ALERTS"
 msgstr[0] "{} ALERTA"
 msgstr[1] "{} ALERTAS"
 
-#: selfdrive/ui/layouts/settings/software.py:40
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "{} day ago"
 msgid_plural "{} days ago"
 msgstr[0] "hace {} día"
 msgstr[1] "hace {} días"
 
-#: selfdrive/ui/layouts/settings/software.py:37
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "{} hour ago"
 msgid_plural "{} hours ago"
 msgstr[0] "hace {} hora"
 msgstr[1] "hace {} horas"
 
-#: selfdrive/ui/layouts/settings/software.py:34
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "{} minute ago"
 msgid_plural "{} minutes ago"
 msgstr[0] "hace {} minuto"
 msgstr[1] "hace {} minutos"
 
-#: selfdrive/ui/layouts/settings/firehose.py:111
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
 msgid "{} segment of your driving is in the training dataset so far."
 msgid_plural "{} segments of your driving is in the training dataset so far."
-msgstr[0] ""
-"{} segmento de tu conducción está en el conjunto de entrenamiento hasta "
-"ahora."
-msgstr[1] ""
-"{} segmentos de tu conducción están en el conjunto de entrenamiento hasta "
-"ahora."
-
-#: selfdrive/ui/widgets/prime.py:62
-#, python-format
+msgstr[0] "{} segmento de tu conducción está en el conjunto de entrenamiento hasta ahora."
+msgstr[1] "{} segmentos de tu conducción están en el conjunto de entrenamiento hasta ahora."
+
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "✓ SUBSCRIBED"
 msgstr "✓ SUSCRITO"
 
-#: selfdrive/ui/widgets/setup.py:22
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "🔥 Firehose Mode 🔥"
 msgstr "🔥 Modo Firehose 🔥"
+
diff --git a/selfdrive/ui/translations/app_fr.po b/selfdrive/ui/translations/app_fr.po
index f883d4d485e..7c0aecc9ec3 100644
--- a/selfdrive/ui/translations/app_fr.po
+++ b/selfdrive/ui/translations/app_fr.po
@@ -1,1230 +1,825 @@
-# French translations for PACKAGE package.
-# Copyright (C) 2025 THE PACKAGE'S COPYRIGHT HOLDER
-# This file is distributed under the same license as the PACKAGE package.
-# Automatically generated, 2025.
-#
 msgid ""
 msgstr ""
-"Project-Id-Version: PACKAGE VERSION\n"
-"Report-Msgid-Bugs-To: \n"
-"POT-Creation-Date: 2025-10-23 00:50-0700\n"
-"PO-Revision-Date: 2025-10-20 18:19-0700\n"
-"Last-Translator: Automatically generated\n"
-"Language-Team: none\n"
-"Language: fr\n"
-"MIME-Version: 1.0\n"
 "Content-Type: text/plain; charset=UTF-8\n"
-"Content-Transfer-Encoding: 8bit\n"
+"Language: fr\n"
 "Plural-Forms: nplurals=2; plural=(n > 1);\n"
 
-#: selfdrive/ui/layouts/settings/device.py:160
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid " Steering torque response calibration is complete."
-msgstr ""
+msgstr " L'étalonnage de la réponse du couple de direction est terminé."
 
-#: selfdrive/ui/layouts/settings/device.py:158
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid " Steering torque response calibration is {}% complete."
-msgstr ""
+msgstr " L'étalonnage de la réponse du couple de direction est terminé à {}%."
 
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid " Your device is pointed {:.1f}° {} and {:.1f}° {}."
-msgstr ""
+msgstr " Votre appareil est orienté {:.1f}° {} et {:.1f}° {}."
 
-#: selfdrive/ui/layouts/sidebar.py:43
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "--"
 msgstr "--"
 
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "1 year of drive storage"
 msgstr "1 an de stockage de trajets"
 
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "24/7 LTE connectivity"
 msgstr "Connexion LTE 24/7"
 
-#: selfdrive/ui/layouts/sidebar.py:46
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "2G"
 msgstr "2G"
 
-#: selfdrive/ui/layouts/sidebar.py:47
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "3G"
 msgstr "3G"
 
-#: selfdrive/ui/layouts/sidebar.py:49
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "5G"
 msgstr "5G"
 
-#: selfdrive/ui/layouts/settings/developer.py:23
-msgid ""
-"<b>WARNING: openpilot longitudinal control is in alpha for this car and will "
-"disable Automatic Emergency Braking (AEB).</b><br><br>On this car, openpilot "
-"defaults to the car's built-in ACC instead of openpilot's longitudinal "
-"control. Enable this to switch to openpilot longitudinal control. Enabling "
-"Experimental mode is recommended when enabling openpilot longitudinal "
-"control alpha. Changing this setting will restart openpilot if the car is "
-"powered on."
-msgstr ""
-"<b>ATTENTION : le contrôle longitudinal openpilot est en alpha pour cette "
-"voiture et désactivera le freinage d'urgence automatique (AEB).</"
-"b><br><br>Sur cette voiture, openpilot utilise par défaut le régulateur de "
-"vitesse adaptatif intégré au véhicule plutôt que le contrôle longitudinal "
-"d'openpilot. Activez ceci pour passer au contrôle longitudinal openpilot. Il "
-"est recommandé d'activer le mode expérimental lors de l'activation du "
-"contrôle longitudinal openpilot alpha."
-
-#: selfdrive/ui/layouts/settings/device.py:148
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "<br><br>Steering lag calibration is complete."
-msgstr ""
+msgstr "<br><br>L'étalonnage du délai de réponse de la direction est terminé."
 
-#: selfdrive/ui/layouts/settings/device.py:146
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "<br><br>Steering lag calibration is {}% complete."
-msgstr ""
+msgstr "<br><br>L'étalonnage du délai de réponse de la direction est terminé à {}%."
 
-#: selfdrive/ui/layouts/settings/firehose.py:138
-#, python-format
-msgid "ACTIVE"
-msgstr "ACTIF"
-
-#: selfdrive/ui/layouts/settings/developer.py:15
-msgid ""
-"ADB (Android Debug Bridge) allows connecting to your device over USB or over "
-"the network. See https://docs.comma.ai/how-to/connect-to-comma for more info."
-msgstr ""
-"ADB (Android Debug Bridge) permet de connecter votre appareil via USB ou via "
-"le réseau. Voir https://docs.comma.ai/how-to/connect-to-comma pour plus "
-"d'informations."
-
-#: selfdrive/ui/widgets/ssh_key.py:30
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "ADD"
 msgstr "AJOUTER"
 
-#: system/ui/widgets/network.py:139
-#, python-format
+#: system/ui/widgets/network.py
 msgid "APN Setting"
-msgstr ""
+msgstr "Paramètres APN"
 
-#: selfdrive/ui/widgets/offroad_alerts.py:109
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Acknowledge Excessive Actuation"
 msgstr "Accuser réception d'actionnement excessif"
 
-#: system/ui/widgets/network.py:74 system/ui/widgets/network.py:95
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Advanced"
-msgstr ""
+msgstr "Avancé"
 
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Aggressive"
 msgstr "Agressif"
 
-#: selfdrive/ui/layouts/onboarding.py:116
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Agree"
 msgstr "Accepter"
 
-#: selfdrive/ui/layouts/settings/toggles.py:70
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Always-On Driver Monitoring"
 msgstr "Surveillance continue du conducteur"
 
-#: selfdrive/ui/layouts/settings/toggles.py:186
-#, python-format
-msgid ""
-"An alpha version of openpilot longitudinal control can be tested, along with "
-"Experimental mode, on non-release branches."
-msgstr ""
-"Une version alpha du contrôle longitudinal openpilot peut être testée, avec "
-"le mode expérimental, sur des branches non publiées."
-
-#: selfdrive/ui/layouts/settings/device.py:187
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Are you sure you want to power off?"
 msgstr "Êtes-vous sûr de vouloir éteindre ?"
 
-#: selfdrive/ui/layouts/settings/device.py:175
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Are you sure you want to reboot?"
 msgstr "Êtes-vous sûr de vouloir redémarrer ?"
 
-#: selfdrive/ui/layouts/settings/device.py:119
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Are you sure you want to reset calibration?"
 msgstr "Êtes-vous sûr de vouloir réinitialiser la calibration ?"
 
-#: selfdrive/ui/layouts/settings/software.py:163
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Are you sure you want to uninstall?"
 msgstr "Êtes-vous sûr de vouloir désinstaller ?"
 
-#: system/ui/widgets/network.py:99 selfdrive/ui/layouts/onboarding.py:147
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+#: system/ui/widgets/network.py
 msgid "Back"
 msgstr "Retour"
 
-#: selfdrive/ui/widgets/prime.py:38
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Become a comma prime member at connect.comma.ai"
 msgstr "Devenez membre comma prime sur connect.comma.ai"
 
-#: selfdrive/ui/widgets/pairing_dialog.py:130
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
-msgstr ""
-"Ajoutez connect.comma.ai à votre écran d'accueil pour l'utiliser comme une "
-"application"
+msgstr "Ajoutez connect.comma.ai à votre écran d'accueil pour l'utiliser comme une application"
 
-#: selfdrive/ui/layouts/settings/device.py:68
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "CHANGE"
 msgstr "CHANGER"
 
-#: selfdrive/ui/layouts/settings/software.py:50
-#: selfdrive/ui/layouts/settings/software.py:107
-#: selfdrive/ui/layouts/settings/software.py:118
-#: selfdrive/ui/layouts/settings/software.py:147
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "CHECK"
 msgstr "VÉRIFIER"
 
-#: selfdrive/ui/widgets/exp_mode_button.py:50
-#, python-format
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
 msgid "CHILL MODE ON"
 msgstr "MODE CHILL ACTIVÉ"
 
-#: system/ui/widgets/network.py:155 selfdrive/ui/layouts/sidebar.py:73
-#: selfdrive/ui/layouts/sidebar.py:134 selfdrive/ui/layouts/sidebar.py:136
-#: selfdrive/ui/layouts/sidebar.py:138
-#, python-format
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/network.py
 msgid "CONNECT"
 msgstr "CONNECTER"
 
-#: system/ui/widgets/network.py:369
-#, python-format
+#: system/ui/widgets/network.py
 msgid "CONNECTING..."
-msgstr "CONNECTER"
+msgstr "CONNECTER..."
 
-#: system/ui/widgets/confirm_dialog.py:23 system/ui/widgets/option_dialog.py:35
-#: system/ui/widgets/keyboard.py:81 system/ui/widgets/network.py:318
-#, python-format
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/keyboard.py
+#: system/ui/widgets/network.py
+#: system/ui/widgets/option_dialog.py
 msgid "Cancel"
-msgstr ""
+msgstr "Annuler"
 
-#: system/ui/widgets/network.py:134
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Cellular Metered"
-msgstr ""
+msgstr "Données cellulaire limitées"
 
-#: selfdrive/ui/layouts/settings/device.py:68
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Change Language"
 msgstr "Changer la langue"
 
-#: selfdrive/ui/layouts/settings/toggles.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Changing this setting will restart openpilot if the car is powered on."
-msgstr ""
-" La modification de ce réglage redémarrera openpilot si la voiture est sous "
-"tension."
+msgstr "La modification de ce réglage redémarrera openpilot si la voiture est sous tension."
 
-#: selfdrive/ui/widgets/pairing_dialog.py:129
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Click \"add new device\" and scan the QR code on the right"
 msgstr "Cliquez sur \"add new device\" et scannez le code QR à droite"
 
-#: selfdrive/ui/widgets/offroad_alerts.py:104
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Close"
 msgstr "Fermer"
 
-#: selfdrive/ui/layouts/settings/software.py:49
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Current Version"
 msgstr "Version actuelle"
 
-#: selfdrive/ui/layouts/settings/software.py:110
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "DOWNLOAD"
 msgstr "TÉLÉCHARGER"
 
-#: selfdrive/ui/layouts/onboarding.py:115
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Decline"
 msgstr "Refuser"
 
-#: selfdrive/ui/layouts/onboarding.py:148
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Decline, uninstall openpilot"
 msgstr "Refuser, désinstaller openpilot"
 
-#: selfdrive/ui/layouts/settings/settings.py:67
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Developer"
 msgstr "Développeur"
 
-#: selfdrive/ui/layouts/settings/settings.py:62
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Device"
 msgstr "Appareil"
 
-#: selfdrive/ui/layouts/settings/toggles.py:58
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Disengage on Accelerator Pedal"
 msgstr "Désengager à l'appui sur l'accélérateur"
 
-#: selfdrive/ui/layouts/settings/device.py:184
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Disengage to Power Off"
 msgstr "Désengager pour éteindre"
 
-#: selfdrive/ui/layouts/settings/device.py:172
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Disengage to Reboot"
 msgstr "Désengager pour redémarrer"
 
-#: selfdrive/ui/layouts/settings/device.py:103
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Disengage to Reset Calibration"
 msgstr "Désengager pour réinitialiser la calibration"
 
-#: selfdrive/ui/layouts/settings/toggles.py:32
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Display speed in km/h instead of mph."
 msgstr "Afficher la vitesse en km/h au lieu de mph."
 
-#: selfdrive/ui/layouts/settings/device.py:59
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Dongle ID"
 msgstr "ID du dongle"
 
-#: selfdrive/ui/layouts/settings/software.py:50
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Download"
 msgstr "Télécharger"
 
-#: selfdrive/ui/layouts/settings/device.py:62
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Driver Camera"
 msgstr "Caméra conducteur"
 
-#: selfdrive/ui/layouts/settings/toggles.py:96
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Driving Personality"
 msgstr "Personnalité de conduite"
 
-#: system/ui/widgets/network.py:123 system/ui/widgets/network.py:139
-#, python-format
+#: system/ui/widgets/network.py
 msgid "EDIT"
-msgstr ""
+msgstr "EDITER"
 
-#: selfdrive/ui/layouts/sidebar.py:138
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ERROR"
 msgstr "ERREUR"
 
-#: selfdrive/ui/layouts/sidebar.py:45
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ETH"
 msgstr "ETH"
 
-#: selfdrive/ui/widgets/exp_mode_button.py:50
-#, python-format
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
 msgid "EXPERIMENTAL MODE ON"
 msgstr "MODE EXPÉRIMENTAL ACTIVÉ"
 
-#: selfdrive/ui/layouts/settings/developer.py:166
-#: selfdrive/ui/layouts/settings/toggles.py:228
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable"
 msgstr "Activer"
 
-#: selfdrive/ui/layouts/settings/developer.py:39
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Enable ADB"
 msgstr "Activer ADB"
 
-#: selfdrive/ui/layouts/settings/toggles.py:64
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable Lane Departure Warnings"
 msgstr "Activer les alertes de sortie de voie"
 
-#: system/ui/widgets/network.py:129
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enable Roaming"
 msgstr "Activer openpilot"
 
-#: selfdrive/ui/layouts/settings/developer.py:48
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Enable SSH"
 msgstr "Activer SSH"
 
-#: system/ui/widgets/network.py:120
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enable Tethering"
 msgstr "Activer les alertes de sortie de voie"
 
-#: selfdrive/ui/layouts/settings/toggles.py:30
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable driver monitoring even when openpilot is not engaged."
-msgstr ""
-"Activer la surveillance du conducteur même lorsque openpilot n'est pas "
-"engagé."
+msgstr "Activer la surveillance du conducteur même lorsque openpilot n'est pas engagé."
 
-#: selfdrive/ui/layouts/settings/toggles.py:46
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable openpilot"
 msgstr "Activer openpilot"
 
-#: selfdrive/ui/layouts/settings/toggles.py:189
-#, python-format
-msgid ""
-"Enable the openpilot longitudinal control (alpha) toggle to allow "
-"Experimental mode."
-msgstr ""
-"Activez l'option de contrôle longitudinal openpilot (alpha) pour autoriser "
-"le mode expérimental."
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode."
+msgstr "Activez l'option de contrôle longitudinal openpilot (alpha) pour autoriser le mode expérimental."
 
-#: system/ui/widgets/network.py:204
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter APN"
-msgstr ""
+msgstr "Saisir l'APN"
 
-#: system/ui/widgets/network.py:241
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter SSID"
-msgstr ""
+msgstr "Entrer le SSID"
 
-#: system/ui/widgets/network.py:254
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter new tethering password"
-msgstr ""
+msgstr "Saisir le mot de passe du partage de connexion"
 
-#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter password"
-msgstr ""
+msgstr "Saisir le mot de passe"
 
-#: selfdrive/ui/widgets/ssh_key.py:89
-#, python-format
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "Enter your GitHub username"
 msgstr "Entrez votre nom d'utilisateur GitHub"
 
-#: system/ui/widgets/list_view.py:123 system/ui/widgets/list_view.py:160
-#, python-format
+#: system/ui/widgets/list_view.py
 msgid "Error"
-msgstr ""
+msgstr "Erreur"
 
-#: selfdrive/ui/layouts/settings/toggles.py:52
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Experimental Mode"
 msgstr "Mode expérimental"
 
-#: selfdrive/ui/layouts/settings/toggles.py:181
-#, python-format
-msgid ""
-"Experimental mode is currently unavailable on this car since the car's stock "
-"ACC is used for longitudinal control."
-msgstr ""
-"Le mode expérimental est actuellement indisponible sur cette voiture car "
-"l'ACC d'origine est utilisé pour le contrôle longitudinal."
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
+msgstr "Le mode expérimental est actuellement indisponible sur cette voiture car l'ACC d'origine est utilisé pour le contrôle longitudinal."
 
-#: system/ui/widgets/network.py:373
-#, python-format
+#: system/ui/widgets/network.py
 msgid "FORGETTING..."
-msgstr ""
+msgstr "OUBLIER..."
 
-#: selfdrive/ui/widgets/setup.py:44
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Finish Setup"
 msgstr "Terminer la configuration"
 
-#: selfdrive/ui/layouts/settings/settings.py:66
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Firehose"
-msgstr "Firehose"
+msgstr "Flux continu"
 
-#: selfdrive/ui/layouts/settings/firehose.py:18
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
 msgid "Firehose Mode"
 msgstr "Mode Firehose"
 
-#: selfdrive/ui/layouts/settings/firehose.py:25
-msgid ""
-"For maximum effectiveness, bring your device inside and connect to a good "
-"USB-C adapter and Wi-Fi weekly.\n"
-"\n"
-"Firehose Mode can also work while you're driving if connected to a hotspot "
-"or unlimited SIM card.\n"
-"\n"
-"\n"
-"Frequently Asked Questions\n"
-"\n"
-"Does it matter how or where I drive? Nope, just drive as you normally "
-"would.\n"
-"\n"
-"Do all of my segments get pulled in Firehose Mode? No, we selectively pull a "
-"subset of your segments.\n"
-"\n"
-"What's a good USB-C adapter? Any fast phone or laptop charger should be "
-"fine.\n"
-"\n"
-"Does it matter which software I run? Yes, only upstream openpilot (and "
-"particular forks) are able to be used for training."
-msgstr ""
-"Pour une efficacité maximale, rentrez votre appareil et connectez-le chaque "
-"semaine à un bon adaptateur USB-C et au Wi‑Fi.\n"
-"\n"
-"Le Mode Firehose peut aussi fonctionner pendant que vous conduisez si vous "
-"êtes connecté à un hotspot ou à une carte SIM illimitée.\n"
-"\n"
-"\n"
-"Foire aux questions\n"
-"\n"
-"Est-ce que la manière ou l'endroit où je conduis compte ? Non, conduisez "
-"normalement.\n"
-"\n"
-"Tous mes segments sont-ils récupérés en Mode Firehose ? Non, nous récupérons "
-"de façon sélective un sous-ensemble de vos segments.\n"
-"\n"
-"Quel est un bon adaptateur USB-C ? Tout chargeur rapide de téléphone ou "
-"d'ordinateur portable convient.\n"
-"\n"
-"Le logiciel utilisé importe-t-il ? Oui, seul openpilot amont (et certains "
-"forks) peut être utilisé pour l'entraînement."
-
-#: system/ui/widgets/network.py:318 system/ui/widgets/network.py:451
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Forget"
-msgstr ""
+msgstr "Oublier"
 
-#: system/ui/widgets/network.py:319
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Forget Wi-Fi Network \"{}\"?"
-msgstr ""
+msgstr "Oublier le réseau Wi-Fi \"{}\" ?"
 
-#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "GOOD"
 msgstr "BON"
 
-#: selfdrive/ui/widgets/pairing_dialog.py:128
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Go to https://connect.comma.ai on your phone"
 msgstr "Allez sur https://connect.comma.ai sur votre téléphone"
 
-#: selfdrive/ui/layouts/sidebar.py:129
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "HIGH"
 msgstr "ÉLEVÉ"
 
-#: system/ui/widgets/network.py:155
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Hidden Network"
 msgstr "Réseau"
 
-#: selfdrive/ui/layouts/settings/firehose.py:140
-#, python-format
-msgid "INACTIVE: connect to an unmetered network"
-msgstr "INACTIF : connectez-vous à un réseau non limité"
-
-#: selfdrive/ui/layouts/settings/software.py:53
-#: selfdrive/ui/layouts/settings/software.py:136
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "INSTALL"
 msgstr "INSTALLER"
 
-#: system/ui/widgets/network.py:150
-#, python-format
+#: system/ui/widgets/network.py
 msgid "IP Address"
-msgstr ""
+msgstr "Adresse IP"
 
-#: selfdrive/ui/layouts/settings/software.py:53
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Install Update"
 msgstr "Installer la mise à jour"
 
-#: selfdrive/ui/layouts/settings/developer.py:56
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Joystick Debug Mode"
 msgstr "Mode débogage joystick"
 
-#: selfdrive/ui/widgets/ssh_key.py:29
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "LOADING"
 msgstr "CHARGEMENT"
 
-#: selfdrive/ui/layouts/sidebar.py:48
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "LTE"
 msgstr "LTE"
 
-#: selfdrive/ui/layouts/settings/developer.py:64
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Longitudinal Maneuver Mode"
 msgstr "Mode de manœuvre longitudinale"
 
-#: selfdrive/ui/onroad/hud_renderer.py:148
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "MAX"
-msgstr "MAX"
+msgstr "MAX."
 
-#: selfdrive/ui/widgets/setup.py:75
-#, python-format
-msgid ""
-"Maximize your training data uploads to improve openpilot's driving models."
-msgstr ""
-"Maximisez vos envois de données d'entraînement pour améliorer les modèles de "
-"conduite d'openpilot."
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Maximize your training data uploads to improve openpilot's driving models."
+msgstr "Maximisez vos envois de données d'entraînement pour améliorer les modèles de conduite d'openpilot."
 
-#: selfdrive/ui/layouts/settings/device.py:59
-#: selfdrive/ui/layouts/settings/device.py:60
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "N/A"
-msgstr ""
+msgstr "NC"
 
-#: selfdrive/ui/layouts/sidebar.py:142
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "NO"
 msgstr "NON"
 
-#: selfdrive/ui/layouts/settings/settings.py:63
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Network"
 msgstr "Réseau"
 
-#: selfdrive/ui/widgets/ssh_key.py:114
-#, python-format
-msgid "No SSH keys found"
-msgstr "Aucune clé SSH trouvée"
-
-#: selfdrive/ui/widgets/ssh_key.py:126
-#, python-format
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "No SSH keys found for user '{}'"
-msgstr "Aucune clé SSH trouvée pour l'utilisateur '{username}'"
+msgstr "Aucune clé SSH trouvée pour l'utilisateur '{}'"
 
-#: selfdrive/ui/widgets/offroad_alerts.py:320
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "No release notes available."
 msgstr "Aucune note de version disponible."
 
-#: selfdrive/ui/layouts/sidebar.py:73 selfdrive/ui/layouts/sidebar.py:134
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "OFFLINE"
 msgstr "HORS LIGNE"
 
-#: system/ui/widgets/html_render.py:263 system/ui/widgets/confirm_dialog.py:93
-#: selfdrive/ui/layouts/sidebar.py:127
-#, python-format
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/html_render.py
 msgid "OK"
 msgstr "OK"
 
-#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:136
-#: selfdrive/ui/layouts/sidebar.py:144
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ONLINE"
 msgstr "EN LIGNE"
 
-#: selfdrive/ui/widgets/setup.py:20
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Open"
 msgstr "Ouvrir"
 
-#: selfdrive/ui/layouts/settings/device.py:48
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "PAIR"
 msgstr "ASSOCIER"
 
-#: selfdrive/ui/layouts/sidebar.py:142
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "PANDA"
 msgstr "PANDA"
 
-#: selfdrive/ui/layouts/settings/device.py:62
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "PREVIEW"
 msgstr "APERÇU"
 
-#: selfdrive/ui/widgets/prime.py:44
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "PRIME FEATURES:"
 msgstr "FONCTIONNALITÉS PRIME :"
 
-#: selfdrive/ui/layouts/settings/device.py:48
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Pair Device"
 msgstr "Associer l'appareil"
 
-#: selfdrive/ui/widgets/setup.py:19
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Pair device"
 msgstr "Associer l'appareil"
 
-#: selfdrive/ui/widgets/pairing_dialog.py:103
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Pair your device to your comma account"
 msgstr "Associez votre appareil à votre compte comma"
 
-#: selfdrive/ui/widgets/setup.py:48 selfdrive/ui/layouts/settings/device.py:24
-#, python-format
-msgid ""
-"Pair your device with comma connect (connect.comma.ai) and claim your comma "
-"prime offer."
-msgstr ""
-"Associez votre appareil à comma connect (connect.comma.ai) et réclamez votre "
-"offre comma prime."
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."
+msgstr "Associez votre appareil à comma connect (connect.comma.ai) et réclamez votre offre comma prime."
 
-#: selfdrive/ui/widgets/setup.py:91
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Please connect to Wi-Fi to complete initial pairing"
 msgstr "Veuillez vous connecter au Wi‑Fi pour terminer l'association initiale"
 
-#: selfdrive/ui/layouts/settings/device.py:55
-#: selfdrive/ui/layouts/settings/device.py:187
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Power Off"
 msgstr "Éteindre"
 
-#: system/ui/widgets/network.py:144
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered Wi-Fi connection"
-msgstr ""
+msgstr "Eviter les transferts de données volumineux lorsque vous êtes connecté à un réseau Wi-Fi limité"
 
-#: system/ui/widgets/network.py:135
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered cellular connection"
-msgstr ""
+msgstr "Eviter les transferts de données volumineux lors d'une connexion à un réseau cellulaire limité"
 
-#: selfdrive/ui/layouts/settings/device.py:25
-msgid ""
-"Preview the driver facing camera to ensure that driver monitoring has good "
-"visibility. (vehicle must be off)"
-msgstr ""
-"Prévisualisez la caméra orientée conducteur pour vous assurer que la "
-"surveillance du conducteur a une bonne visibilité. (le véhicule doit être "
-"éteint)"
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)"
+msgstr "Prévisualisez la caméra orientée conducteur pour vous assurer que la surveillance du conducteur a une bonne visibilité. (le véhicule doit être éteint)"
 
-#: selfdrive/ui/widgets/pairing_dialog.py:161
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "QR Code Error"
 msgstr "Erreur de code QR"
 
-#: selfdrive/ui/widgets/ssh_key.py:31
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "REMOVE"
 msgstr "SUPPRIMER"
 
-#: selfdrive/ui/layouts/settings/device.py:51
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "RESET"
 msgstr "RÉINITIALISER"
 
-#: selfdrive/ui/layouts/settings/device.py:65
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "REVIEW"
 msgstr "CONSULTER"
 
-#: selfdrive/ui/layouts/settings/device.py:55
-#: selfdrive/ui/layouts/settings/device.py:175
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Reboot"
 msgstr "Redémarrer"
 
-#: selfdrive/ui/onroad/alert_renderer.py:66
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "Reboot Device"
 msgstr "Redémarrer l'appareil"
 
-#: selfdrive/ui/widgets/offroad_alerts.py:112
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Reboot and Update"
 msgstr "Redémarrer et mettre à jour"
 
-#: selfdrive/ui/layouts/settings/toggles.py:27
-msgid ""
-"Receive alerts to steer back into the lane when your vehicle drifts over a "
-"detected lane line without a turn signal activated while driving over 31 mph "
-"(50 km/h)."
-msgstr ""
-"Recevez des alertes pour revenir dans la voie lorsque votre véhicule dépasse "
-"une ligne de voie détectée sans clignotant activé en roulant au-delà de 31 "
-"mph (50 km/h)."
-
-#: selfdrive/ui/layouts/settings/toggles.py:76
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Record and Upload Driver Camera"
 msgstr "Enregistrer et téléverser la caméra conducteur"
 
-#: selfdrive/ui/layouts/settings/toggles.py:82
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Record and Upload Microphone Audio"
 msgstr "Enregistrer et téléverser l'audio du microphone"
 
-#: selfdrive/ui/layouts/settings/toggles.py:33
-msgid ""
-"Record and store microphone audio while driving. The audio will be included "
-"in the dashcam video in comma connect."
-msgstr ""
-"Enregistrer et stocker l'audio du microphone pendant la conduite. L'audio "
-"sera inclus dans la vidéo dashcam dans comma connect."
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."
+msgstr "Enregistrer et stocker l'audio du microphone pendant la conduite. L'audio sera inclus dans la vidéo dashcam dans comma connect."
 
-#: selfdrive/ui/layouts/settings/device.py:67
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Regulatory"
 msgstr "Réglementaire"
 
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Relaxed"
 msgstr "Détendu"
 
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Remote access"
 msgstr "Accès à distance"
 
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Remote snapshots"
 msgstr "Captures à distance"
 
-#: selfdrive/ui/widgets/ssh_key.py:123
-#, python-format
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "Request timed out"
 msgstr "Délai de la requête dépassé"
 
-#: selfdrive/ui/layouts/settings/device.py:119
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Reset"
 msgstr "Réinitialiser"
 
-#: selfdrive/ui/layouts/settings/device.py:51
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Reset Calibration"
 msgstr "Réinitialiser la calibration"
 
-#: selfdrive/ui/layouts/settings/device.py:65
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Review Training Guide"
 msgstr "Consulter le guide d'entraînement"
 
-#: selfdrive/ui/layouts/settings/device.py:27
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Review the rules, features, and limitations of openpilot"
 msgstr "Consultez les règles, fonctionnalités et limitations d'openpilot"
 
-#: selfdrive/ui/layouts/settings/software.py:61
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "SELECT"
-msgstr ""
+msgstr "SELECTIONNER"
 
-#: selfdrive/ui/layouts/settings/developer.py:53
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "SSH Keys"
-msgstr ""
+msgstr "Clefs SSH"
 
-#: system/ui/widgets/network.py:310
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Scanning Wi-Fi networks..."
-msgstr ""
+msgstr "Analyse des réseaux Wi-Fi..."
 
-#: system/ui/widgets/option_dialog.py:36
-#, python-format
+#: system/ui/widgets/option_dialog.py
 msgid "Select"
-msgstr ""
+msgstr "Sélectionner"
 
-#: selfdrive/ui/layouts/settings/software.py:183
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Select a branch"
-msgstr ""
+msgstr "Sélectionner une branche"
 
-#: selfdrive/ui/layouts/settings/device.py:91
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Select a language"
-msgstr ""
+msgstr "Sélectionner un langage"
 
-#: selfdrive/ui/layouts/settings/device.py:60
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Serial"
 msgstr "Numéro de série"
 
-#: selfdrive/ui/widgets/offroad_alerts.py:106
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Snooze Update"
 msgstr "Reporter la mise à jour"
 
-#: selfdrive/ui/layouts/settings/settings.py:65
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Software"
 msgstr "Logiciel"
 
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Standard"
-msgstr "Standard"
+msgstr "Normal"
 
-#: selfdrive/ui/layouts/settings/toggles.py:22
-msgid ""
-"Standard is recommended. In aggressive mode, openpilot will follow lead cars "
-"closer and be more aggressive with the gas and brake. In relaxed mode "
-"openpilot will stay further away from lead cars. On supported cars, you can "
-"cycle through these personalities with your steering wheel distance button."
-msgstr ""
-"Le mode standard est recommandé. En mode agressif, openpilot suivra les "
-"véhicules de tête de plus près et sera plus agressif avec l'accélérateur et "
-"le frein. En mode détendu, openpilot restera plus éloigné des véhicules de "
-"tête. Sur les voitures compatibles, vous pouvez parcourir ces personnalités "
-"avec le bouton de distance du volant."
-
-#: selfdrive/ui/onroad/alert_renderer.py:59
-#: selfdrive/ui/onroad/alert_renderer.py:65
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "System Unresponsive"
 msgstr "Système non réactif"
 
-#: selfdrive/ui/onroad/alert_renderer.py:58
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "TAKE CONTROL IMMEDIATELY"
 msgstr "REPRENEZ IMMÉDIATEMENT LE CONTRÔLE"
 
-#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
-#: selfdrive/ui/layouts/sidebar.py:127 selfdrive/ui/layouts/sidebar.py:129
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "TEMP"
 msgstr "TEMPÉRATURE"
 
-#: selfdrive/ui/layouts/settings/software.py:61
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Target Branch"
-msgstr ""
+msgstr "Branche cible"
 
-#: system/ui/widgets/network.py:124
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Tethering Password"
-msgstr ""
+msgstr "Mot de passe du partage de connexion"
 
-#: selfdrive/ui/layouts/settings/settings.py:64
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Toggles"
 msgstr "Options"
 
-#: selfdrive/ui/layouts/settings/software.py:72
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "UI Debug Mode"
+msgstr "Mode de débogage de l'interface utilisateur"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "UNINSTALL"
 msgstr "DÉSINSTALLER"
 
-#: selfdrive/ui/layouts/home.py:155
-#, python-format
+#: openpilot/selfdrive/ui/layouts/home.py
 msgid "UPDATE"
 msgstr "METTRE À JOUR"
 
-#: selfdrive/ui/layouts/settings/software.py:72
-#: selfdrive/ui/layouts/settings/software.py:163
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Uninstall"
 msgstr "Désinstaller"
 
-#: selfdrive/ui/layouts/sidebar.py:117
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "Unknown"
 msgstr "Inconnu"
 
-#: selfdrive/ui/layouts/settings/software.py:48
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Updates are only downloaded while the car is off."
-msgstr ""
-"Les mises à jour ne sont téléchargées que lorsque la voiture est éteinte."
+msgstr "Les mises à jour ne sont téléchargées que lorsque la voiture est éteinte."
 
-#: selfdrive/ui/widgets/prime.py:33
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Upgrade Now"
 msgstr "Mettre à niveau maintenant"
 
-#: selfdrive/ui/layouts/settings/toggles.py:31
-msgid ""
-"Upload data from the driver facing camera and help improve the driver "
-"monitoring algorithm."
-msgstr ""
-"Téléverser les données de la caméra orientée conducteur et aider à améliorer "
-"l'algorithme de surveillance du conducteur."
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Upload data from the driver facing camera and help improve the driver monitoring algorithm."
+msgstr "Téléverser les données de la caméra orientée conducteur et aider à améliorer l'algorithme de surveillance du conducteur."
 
-#: selfdrive/ui/layouts/settings/toggles.py:88
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Use Metric System"
 msgstr "Utiliser le système métrique"
 
-#: selfdrive/ui/layouts/settings/toggles.py:17
-msgid ""
-"Use the openpilot system for adaptive cruise control and lane keep driver "
-"assistance. Your attention is required at all times to use this feature."
-msgstr ""
-"Utilisez le système openpilot pour l'ACC et l'assistance au maintien de "
-"voie. Votre attention est requise en permanence pour utiliser cette "
-"fonctionnalité."
-
-#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:144
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "VEHICLE"
 msgstr "VÉHICULE"
 
-#: selfdrive/ui/layouts/settings/device.py:67
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "VIEW"
 msgstr "VOIR"
 
-#: selfdrive/ui/onroad/alert_renderer.py:52
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "Waiting to start"
 msgstr "En attente de démarrage"
 
-#: selfdrive/ui/layouts/settings/developer.py:19
-msgid ""
-"Warning: This grants SSH access to all public keys in your GitHub settings. "
-"Never enter a GitHub username other than your own. A comma employee will "
-"NEVER ask you to add their GitHub username."
-msgstr ""
-"Avertissement : Ceci accorde un accès SSH à toutes les clés publiques dans "
-"vos paramètres GitHub. N'entrez jamais un nom d'utilisateur GitHub autre que "
-"le vôtre. Un employé comma ne vous demandera JAMAIS d'ajouter son nom "
-"d'utilisateur GitHub."
-
-#: selfdrive/ui/layouts/onboarding.py:111
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Welcome to openpilot"
 msgstr "Bienvenue sur openpilot"
 
-#: selfdrive/ui/layouts/settings/toggles.py:20
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "When enabled, pressing the accelerator pedal will disengage openpilot."
-msgstr ""
-"Lorsque activé, appuyer sur la pédale d'accélérateur désengagera openpilot."
+msgstr "Lorsque activé, appuyer sur la pédale d'accélérateur désengagera openpilot."
 
-#: selfdrive/ui/layouts/sidebar.py:44
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "Wi-Fi"
 msgstr "Wi‑Fi"
 
-#: system/ui/widgets/network.py:144
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Wi-Fi Network Metered"
-msgstr ""
+msgstr "Réseau Wi-Fi limité"
 
-#: system/ui/widgets/network.py:314
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Wrong password"
-msgstr ""
+msgstr "Mauvais mot de passe"
 
-#: selfdrive/ui/layouts/onboarding.py:145
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "You must accept the Terms and Conditions in order to use openpilot."
 msgstr "Vous devez accepter les conditions générales pour utiliser openpilot."
 
-#: selfdrive/ui/layouts/onboarding.py:112
-#, python-format
-msgid ""
-"You must accept the Terms and Conditions to use openpilot. Read the latest "
-"terms at https://comma.ai/terms before continuing."
-msgstr ""
-"Vous devez accepter les conditions générales pour utiliser openpilot. Lisez "
-"les dernières conditions sur https://comma.ai/terms avant de continuer."
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "You must accept the Terms and Conditions to use openpilot. Read the latest terms at https://comma.ai/terms before continuing."
+msgstr "Vous devez accepter les conditions générales pour utiliser openpilot. Lisez les dernières conditions sur https://comma.ai/terms avant de continuer."
 
-#: selfdrive/ui/onroad/driver_camera_dialog.py:34
-#, python-format
+#: openpilot/selfdrive/ui/onroad/driver_camera_dialog.py
 msgid "camera starting"
 msgstr "démarrage de la caméra"
 
-#: selfdrive/ui/widgets/prime.py:63
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "checking..."
+msgstr "vérification..."
+
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "comma prime"
 msgstr "comma prime"
 
-#: system/ui/widgets/network.py:142
-#, python-format
+#: system/ui/widgets/network.py
 msgid "default"
-msgstr ""
+msgstr "défaut"
 
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "down"
-msgstr ""
+msgstr "bas"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "downloading..."
+msgstr "téléchargement..."
 
-#: selfdrive/ui/layouts/settings/software.py:106
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "failed to check for update"
 msgstr "échec de la vérification de mise à jour"
 
-#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "finalizing update..."
+msgstr "finalisation de la mise à jour..."
+
+#: system/ui/widgets/network.py
 msgid "for \"{}\""
-msgstr ""
+msgstr "pour \"{}\""
 
-#: selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "km/h"
 msgstr "km/h"
 
-#: system/ui/widgets/network.py:204
-#, python-format
+#: system/ui/widgets/network.py
 msgid "leave blank for automatic configuration"
-msgstr ""
+msgstr "ne pas remplir pour une configuration automatique"
 
-#: selfdrive/ui/layouts/settings/device.py:134
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "left"
-msgstr ""
+msgstr "gauche"
 
-#: system/ui/widgets/network.py:142
-#, python-format
+#: system/ui/widgets/network.py
 msgid "metered"
-msgstr ""
+msgstr "limité"
 
-#: selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "mph"
 msgstr "mph"
 
-#: selfdrive/ui/layouts/settings/software.py:20
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "never"
 msgstr "jamais"
 
-#: selfdrive/ui/layouts/settings/software.py:31
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "now"
 msgstr "maintenant"
 
-#: selfdrive/ui/layouts/settings/developer.py:71
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "openpilot Longitudinal Control (Alpha)"
 msgstr "Contrôle longitudinal openpilot (Alpha)"
 
-#: selfdrive/ui/onroad/alert_renderer.py:51
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "openpilot Unavailable"
 msgstr "openpilot indisponible"
 
-#: selfdrive/ui/layouts/settings/toggles.py:158
-#, python-format
-msgid ""
-"openpilot defaults to driving in chill mode. Experimental mode enables alpha-"
-"level features that aren't ready for chill mode. Experimental features are "
-"listed below:<br><h4>End-to-End Longitudinal Control</h4><br>Let the driving "
-"model control the gas and brakes. openpilot will drive as it thinks a human "
-"would, including stopping for red lights and stop signs. Since the driving "
-"model decides the speed to drive, the set speed will only act as an upper "
-"bound. This is an alpha quality feature; mistakes should be expected."
-"<br><h4>New Driving Visualization</h4><br>The driving visualization will "
-"transition to the road-facing wide-angle camera at low speeds to better show "
-"some turns. The Experimental mode logo will also be shown in the top right "
-"corner."
-msgstr ""
-"openpilot roule par défaut en mode chill. Le mode expérimental active des "
-"fonctionnalités de niveau alpha qui ne sont pas prêtes pour le mode chill. "
-"Les fonctionnalités expérimentales sont listées ci‑dessous:<br><h4>Contrôle "
-"longitudinal de bout en bout</h4><br>Laissez le modèle de conduite contrôler "
-"l'accélérateur et les freins. openpilot conduira comme il pense qu'un humain "
-"le ferait, y compris s'arrêter aux feux rouges et aux panneaux stop. Comme "
-"le modèle décide de la vitesse à adopter, la vitesse réglée n'agira que "
-"comme une limite supérieure. C'est une fonctionnalité de qualité alpha ; des "
-"erreurs sont à prévoir.<br><h4>Nouvelle visualisation de conduite</h4><br>La "
-"visualisation passera à la caméra grand angle orientée route à basse vitesse "
-"pour mieux montrer certains virages. Le logo du mode expérimental sera "
-"également affiché en haut à droite."
-
-#: selfdrive/ui/layouts/settings/device.py:165
-#, python-format
-msgid ""
-"openpilot is continuously calibrating, resetting is rarely required. "
-"Resetting calibration will restart openpilot if the car is powered on."
-msgstr ""
-" La modification de ce réglage redémarrera openpilot si la voiture est sous "
-"tension."
-
-#: selfdrive/ui/layouts/settings/firehose.py:20
-msgid ""
-"openpilot learns to drive by watching humans, like you, drive.\n"
-"\n"
-"Firehose Mode allows you to maximize your training data uploads to improve "
-"openpilot's driving models. More data means bigger models, which means "
-"better Experimental Mode."
-msgstr ""
-"openpilot apprend à conduire en regardant des humains, comme vous, "
-"conduire.\n"
-"\n"
-"Le Mode Firehose vous permet de maximiser vos envois de données "
-"d'entraînement pour améliorer les modèles de conduite d'openpilot. Plus de "
-"données signifie des modèles plus grands, ce qui signifie un meilleur Mode "
-"expérimental."
-
-#: selfdrive/ui/layouts/settings/toggles.py:183
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "openpilot longitudinal control may come in a future update."
-msgstr ""
-"Le contrôle longitudinal openpilot pourra arriver dans une future mise à "
-"jour."
+msgstr "Le contrôle longitudinal openpilot pourra arriver dans une future mise à jour."
 
-#: selfdrive/ui/layouts/settings/device.py:26
-msgid ""
-"openpilot requires the device to be mounted within 4° left or right and "
-"within 5° up or 9° down."
-msgstr ""
-"openpilot exige que l'appareil soit monté à moins de 4° à gauche ou à droite "
-"et à moins de 5° vers le haut ou 9° vers le bas."
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down."
+msgstr "openpilot exige que l'appareil soit monté à moins de 4° à gauche ou à droite et à moins de 5° vers le haut ou 9° vers le bas."
 
-#: selfdrive/ui/layouts/settings/device.py:134
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "right"
-msgstr ""
+msgstr "droite"
 
-#: system/ui/widgets/network.py:142
-#, python-format
+#: system/ui/widgets/network.py
 msgid "unmetered"
-msgstr ""
+msgstr "non limité"
 
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "up"
-msgstr ""
+msgstr "haut"
 
-#: selfdrive/ui/layouts/settings/software.py:117
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "up to date, last checked never"
 msgstr "à jour, dernière vérification jamais"
 
-#: selfdrive/ui/layouts/settings/software.py:115
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "up to date, last checked {}"
 msgstr "à jour, dernière vérification {}"
 
-#: selfdrive/ui/layouts/settings/software.py:109
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "update available"
 msgstr "mise à jour disponible"
 
-#: selfdrive/ui/layouts/home.py:169
-#, python-format
+#: openpilot/selfdrive/ui/layouts/home.py
 msgid "{} ALERT"
 msgid_plural "{} ALERTS"
 msgstr[0] "{} ALERTE"
 msgstr[1] "{} ALERTES"
 
-#: selfdrive/ui/layouts/settings/software.py:40
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "{} day ago"
 msgid_plural "{} days ago"
 msgstr[0] "il y a {} jour"
 msgstr[1] "il y a {} jours"
 
-#: selfdrive/ui/layouts/settings/software.py:37
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "{} hour ago"
 msgid_plural "{} hours ago"
 msgstr[0] "il y a {} heure"
 msgstr[1] "il y a {} heures"
 
-#: selfdrive/ui/layouts/settings/software.py:34
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "{} minute ago"
 msgid_plural "{} minutes ago"
 msgstr[0] "il y a {} minute"
 msgstr[1] "il y a {} minutes"
 
-#: selfdrive/ui/layouts/settings/firehose.py:111
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
 msgid "{} segment of your driving is in the training dataset so far."
 msgid_plural "{} segments of your driving is in the training dataset so far."
-msgstr[0] ""
-"{} segment de votre conduite est dans l'ensemble d'entraînement jusqu'à "
-"présent."
-msgstr[1] ""
-"{} segments de votre conduite sont dans l'ensemble d'entraînement jusqu'à "
-"présent."
-
-#: selfdrive/ui/widgets/prime.py:62
-#, python-format
+msgstr[0] "{} segment de votre conduite est dans l'ensemble d'entraînement jusqu'à présent."
+msgstr[1] "{} segments de votre conduite sont dans l'ensemble d'entraînement jusqu'à présent."
+
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "✓ SUBSCRIBED"
 msgstr "✓ ABONNÉ"
 
-#: selfdrive/ui/widgets/setup.py:22
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "🔥 Firehose Mode 🔥"
 msgstr "🔥 Mode Firehose 🔥"
+
diff --git a/selfdrive/ui/translations/app_ja.po b/selfdrive/ui/translations/app_ja.po
index ca8aac1515a..78d3cf17c67 100644
--- a/selfdrive/ui/translations/app_ja.po
+++ b/selfdrive/ui/translations/app_ja.po
@@ -1,1197 +1,820 @@
-# Japanese translations for PACKAGE package.
-# Copyright (C) 2025 THE PACKAGE'S COPYRIGHT HOLDER
-# This file is distributed under the same license as the PACKAGE package.
-# Automatically generated, 2025.
-#
 msgid ""
 msgstr ""
-"Project-Id-Version: PACKAGE VERSION\n"
-"Report-Msgid-Bugs-To: \n"
-"POT-Creation-Date: 2025-10-23 00:50-0700\n"
-"PO-Revision-Date: 2025-10-22 16:32-0700\n"
-"Last-Translator: Automatically generated\n"
-"Language-Team: none\n"
-"Language: ja\n"
-"MIME-Version: 1.0\n"
 "Content-Type: text/plain; charset=UTF-8\n"
-"Content-Transfer-Encoding: 8bit\n"
+"Language: ja\n"
 "Plural-Forms: nplurals=1; plural=0;\n"
 
-#: selfdrive/ui/layouts/settings/device.py:160
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid " Steering torque response calibration is complete."
 msgstr " ステアリングトルク応答のキャリブレーションが完了しました。"
 
-#: selfdrive/ui/layouts/settings/device.py:158
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid " Steering torque response calibration is {}% complete."
 msgstr " ステアリングトルク応答のキャリブレーションは{}%完了しました。"
 
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid " Your device is pointed {:.1f}° {} and {:.1f}° {}."
 msgstr " デバイスは{:.1f}°{}、{:.1f}°{}の向きです。"
 
-#: selfdrive/ui/layouts/sidebar.py:43
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "--"
 msgstr "--"
 
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "1 year of drive storage"
 msgstr "走行データを1年間保存"
 
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "24/7 LTE connectivity"
 msgstr "24時間365日のLTE接続"
 
-#: selfdrive/ui/layouts/sidebar.py:46
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "2G"
 msgstr "2G"
 
-#: selfdrive/ui/layouts/sidebar.py:47
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "3G"
 msgstr "3G"
 
-#: selfdrive/ui/layouts/sidebar.py:49
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "5G"
 msgstr "5G"
 
-#: selfdrive/ui/layouts/settings/developer.py:23
-msgid ""
-"<b>WARNING: openpilot longitudinal control is in alpha for this car and will "
-"disable Automatic Emergency Braking (AEB).</b><br><br>On this car, openpilot "
-"defaults to the car's built-in ACC instead of openpilot's longitudinal "
-"control. Enable this to switch to openpilot longitudinal control. Enabling "
-"Experimental mode is recommended when enabling openpilot longitudinal "
-"control alpha. Changing this setting will restart openpilot if the car is "
-"powered on."
-msgstr ""
-"<b>警告: この車におけるopenpilotの縦制御はアルファ版であり、自動緊急ブレーキ"
-"（AEB）を無効にします。</b><br><br>この車では、openpilotは縦制御として"
-"openpilotではなく車両の内蔵ACCを既定で使用します。openpilotの縦制御に切り替え"
-"るにはこの設定を有効にしてください。openpilot縦制御アルファを有効にする場合は"
-"実験モードの有効化を推奨します。この設定を変更すると、車が起動中の場合は"
-"openpilotが再起動します。"
-
-#: selfdrive/ui/layouts/settings/device.py:148
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "<br><br>Steering lag calibration is complete."
 msgstr "<br><br>ステアリング遅延のキャリブレーションが完了しました。"
 
-#: selfdrive/ui/layouts/settings/device.py:146
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "<br><br>Steering lag calibration is {}% complete."
 msgstr "<br><br>ステアリング遅延のキャリブレーションは{}%完了しました。"
 
-#: selfdrive/ui/layouts/settings/firehose.py:138
-#, python-format
-msgid "ACTIVE"
-msgstr "アクティブ"
-
-#: selfdrive/ui/layouts/settings/developer.py:15
-msgid ""
-"ADB (Android Debug Bridge) allows connecting to your device over USB or over "
-"the network. See https://docs.comma.ai/how-to/connect-to-comma for more info."
-msgstr ""
-"ADB（Android Debug Bridge）を使用すると、USBまたはネットワーク経由でデバイス"
-"に接続できます。詳しくは https://docs.comma.ai/how-to/connect-to-comma を参照"
-"してください。"
-
-#: selfdrive/ui/widgets/ssh_key.py:30
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "ADD"
 msgstr "追加"
 
-#: system/ui/widgets/network.py:139
-#, python-format
+#: system/ui/widgets/network.py
 msgid "APN Setting"
 msgstr "APN設定"
 
-#: selfdrive/ui/widgets/offroad_alerts.py:109
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Acknowledge Excessive Actuation"
 msgstr "過度な作動を承認"
 
-#: system/ui/widgets/network.py:74 system/ui/widgets/network.py:95
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Advanced"
 msgstr "詳細設定"
 
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Aggressive"
 msgstr "アグレッシブ"
 
-#: selfdrive/ui/layouts/onboarding.py:116
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Agree"
 msgstr "同意する"
 
-#: selfdrive/ui/layouts/settings/toggles.py:70
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Always-On Driver Monitoring"
 msgstr "常時ドライバーモニタリング"
 
-#: selfdrive/ui/layouts/settings/toggles.py:186
-#, python-format
-msgid ""
-"An alpha version of openpilot longitudinal control can be tested, along with "
-"Experimental mode, on non-release branches."
-msgstr ""
-"openpilotの縦制御アルファ版は、実験モードと併せて非リリースブランチでテストで"
-"きます。"
-
-#: selfdrive/ui/layouts/settings/device.py:187
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Are you sure you want to power off?"
 msgstr "本当に電源をオフにしますか？"
 
-#: selfdrive/ui/layouts/settings/device.py:175
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Are you sure you want to reboot?"
 msgstr "本当に再起動しますか？"
 
-#: selfdrive/ui/layouts/settings/device.py:119
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Are you sure you want to reset calibration?"
 msgstr "本当にキャリブレーションをリセットしますか？"
 
-#: selfdrive/ui/layouts/settings/software.py:163
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Are you sure you want to uninstall?"
 msgstr "本当にアンインストールしますか？"
 
-#: system/ui/widgets/network.py:99 selfdrive/ui/layouts/onboarding.py:147
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+#: system/ui/widgets/network.py
 msgid "Back"
 msgstr "戻る"
 
-#: selfdrive/ui/widgets/prime.py:38
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Become a comma prime member at connect.comma.ai"
 msgstr "connect.comma.aiで comma prime に加入"
 
-#: selfdrive/ui/widgets/pairing_dialog.py:130
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
 msgstr "connect.comma.aiをホーム画面に追加してアプリのように使いましょう"
 
-#: selfdrive/ui/layouts/settings/device.py:68
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "CHANGE"
 msgstr "変更"
 
-#: selfdrive/ui/layouts/settings/software.py:50
-#: selfdrive/ui/layouts/settings/software.py:107
-#: selfdrive/ui/layouts/settings/software.py:118
-#: selfdrive/ui/layouts/settings/software.py:147
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "CHECK"
 msgstr "確認"
 
-#: selfdrive/ui/widgets/exp_mode_button.py:50
-#, python-format
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
 msgid "CHILL MODE ON"
 msgstr "チルモードON"
 
-#: system/ui/widgets/network.py:155 selfdrive/ui/layouts/sidebar.py:73
-#: selfdrive/ui/layouts/sidebar.py:134 selfdrive/ui/layouts/sidebar.py:136
-#: selfdrive/ui/layouts/sidebar.py:138
-#, python-format
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/network.py
 msgid "CONNECT"
 msgstr "接続"
 
-#: system/ui/widgets/network.py:369
-#, python-format
+#: system/ui/widgets/network.py
 msgid "CONNECTING..."
 msgstr "接続中..."
 
-#: system/ui/widgets/confirm_dialog.py:23 system/ui/widgets/option_dialog.py:35
-#: system/ui/widgets/keyboard.py:81 system/ui/widgets/network.py:318
-#, python-format
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/keyboard.py
+#: system/ui/widgets/network.py
+#: system/ui/widgets/option_dialog.py
 msgid "Cancel"
 msgstr "キャンセル"
 
-#: system/ui/widgets/network.py:134
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Cellular Metered"
 msgstr "従量課金の携帯回線"
 
-#: selfdrive/ui/layouts/settings/device.py:68
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Change Language"
 msgstr "言語を変更"
 
-#: selfdrive/ui/layouts/settings/toggles.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Changing this setting will restart openpilot if the car is powered on."
 msgstr "車が起動中の場合、この設定を変更するとopenpilotが再起動します。"
 
-#: selfdrive/ui/widgets/pairing_dialog.py:129
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Click \"add new device\" and scan the QR code on the right"
 msgstr "\"add new device\"を押して右側のQRコードをスキャン"
 
-#: selfdrive/ui/widgets/offroad_alerts.py:104
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Close"
 msgstr "閉じる"
 
-#: selfdrive/ui/layouts/settings/software.py:49
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Current Version"
 msgstr "現在のバージョン"
 
-#: selfdrive/ui/layouts/settings/software.py:110
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "DOWNLOAD"
 msgstr "ダウンロード"
 
-#: selfdrive/ui/layouts/onboarding.py:115
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Decline"
 msgstr "拒否する"
 
-#: selfdrive/ui/layouts/onboarding.py:148
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Decline, uninstall openpilot"
 msgstr "拒否してopenpilotをアンインストール"
 
-#: selfdrive/ui/layouts/settings/settings.py:67
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Developer"
 msgstr "開発者"
 
-#: selfdrive/ui/layouts/settings/settings.py:62
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Device"
 msgstr "デバイス"
 
-#: selfdrive/ui/layouts/settings/toggles.py:58
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Disengage on Accelerator Pedal"
 msgstr "アクセルで解除"
 
-#: selfdrive/ui/layouts/settings/device.py:184
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Disengage to Power Off"
 msgstr "解除して電源オフ"
 
-#: selfdrive/ui/layouts/settings/device.py:172
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Disengage to Reboot"
 msgstr "解除して再起動"
 
-#: selfdrive/ui/layouts/settings/device.py:103
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Disengage to Reset Calibration"
 msgstr "解除してキャリブレーションをリセット"
 
-#: selfdrive/ui/layouts/settings/toggles.py:32
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Display speed in km/h instead of mph."
 msgstr "速度をmphではなくkm/hで表示します。"
 
-#: selfdrive/ui/layouts/settings/device.py:59
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Dongle ID"
 msgstr "ドングルID"
 
-#: selfdrive/ui/layouts/settings/software.py:50
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Download"
 msgstr "ダウンロード"
 
-#: selfdrive/ui/layouts/settings/device.py:62
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Driver Camera"
 msgstr "ドライバーカメラ"
 
-#: selfdrive/ui/layouts/settings/toggles.py:96
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Driving Personality"
 msgstr "走行性格"
 
-#: system/ui/widgets/network.py:123 system/ui/widgets/network.py:139
-#, python-format
+#: system/ui/widgets/network.py
 msgid "EDIT"
 msgstr "編集"
 
-#: selfdrive/ui/layouts/sidebar.py:138
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ERROR"
 msgstr "エラー"
 
-#: selfdrive/ui/layouts/sidebar.py:45
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ETH"
 msgstr "ETH"
 
-#: selfdrive/ui/widgets/exp_mode_button.py:50
-#, python-format
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
 msgid "EXPERIMENTAL MODE ON"
 msgstr "実験モードON"
 
-#: selfdrive/ui/layouts/settings/developer.py:166
-#: selfdrive/ui/layouts/settings/toggles.py:228
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable"
 msgstr "有効化"
 
-#: selfdrive/ui/layouts/settings/developer.py:39
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Enable ADB"
 msgstr "ADBを有効化"
 
-#: selfdrive/ui/layouts/settings/toggles.py:64
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable Lane Departure Warnings"
 msgstr "車線逸脱警報を有効化"
 
-#: system/ui/widgets/network.py:129
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enable Roaming"
 msgstr "ローミングを有効化"
 
-#: selfdrive/ui/layouts/settings/developer.py:48
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Enable SSH"
 msgstr "SSHを有効化"
 
-#: system/ui/widgets/network.py:120
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enable Tethering"
 msgstr "テザリングを有効化"
 
-#: selfdrive/ui/layouts/settings/toggles.py:30
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable driver monitoring even when openpilot is not engaged."
 msgstr "openpilotが未作動でもドライバーモニタリングを有効にします。"
 
-#: selfdrive/ui/layouts/settings/toggles.py:46
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable openpilot"
 msgstr "openpilotを有効化"
 
-#: selfdrive/ui/layouts/settings/toggles.py:189
-#, python-format
-msgid ""
-"Enable the openpilot longitudinal control (alpha) toggle to allow "
-"Experimental mode."
-msgstr ""
-"openpilot縦制御（アルファ）のトグルを有効にすると実験モードが使用できます。"
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode."
+msgstr "openpilot縦制御（アルファ）のトグルを有効にすると実験モードが使用できます。"
 
-#: system/ui/widgets/network.py:204
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter APN"
 msgstr "APNを入力"
 
-#: system/ui/widgets/network.py:241
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter SSID"
 msgstr "SSIDを入力"
 
-#: system/ui/widgets/network.py:254
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter new tethering password"
 msgstr "新しいテザリングのパスワードを入力"
 
-#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter password"
 msgstr "パスワードを入力"
 
-#: selfdrive/ui/widgets/ssh_key.py:89
-#, python-format
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "Enter your GitHub username"
 msgstr "GitHubユーザー名を入力"
 
-#: system/ui/widgets/list_view.py:123 system/ui/widgets/list_view.py:160
-#, python-format
+#: system/ui/widgets/list_view.py
 msgid "Error"
 msgstr "エラー"
 
-#: selfdrive/ui/layouts/settings/toggles.py:52
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Experimental Mode"
 msgstr "実験モード"
 
-#: selfdrive/ui/layouts/settings/toggles.py:181
-#, python-format
-msgid ""
-"Experimental mode is currently unavailable on this car since the car's stock "
-"ACC is used for longitudinal control."
-msgstr ""
-"この車では縦制御に純正ACCを使用するため、現在実験モードは利用できません。"
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
+msgstr "この車では縦制御に純正ACCを使用するため、現在実験モードは利用できません。"
 
-#: system/ui/widgets/network.py:373
-#, python-format
+#: system/ui/widgets/network.py
 msgid "FORGETTING..."
 msgstr "削除中..."
 
-#: selfdrive/ui/widgets/setup.py:44
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Finish Setup"
 msgstr "セットアップを完了"
 
-#: selfdrive/ui/layouts/settings/settings.py:66
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Firehose"
-msgstr "Firehose"
+msgstr "大量配信"
 
-#: selfdrive/ui/layouts/settings/firehose.py:18
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
 msgid "Firehose Mode"
 msgstr "Firehoseモード"
 
-#: selfdrive/ui/layouts/settings/firehose.py:25
-msgid ""
-"For maximum effectiveness, bring your device inside and connect to a good "
-"USB-C adapter and Wi-Fi weekly.\n"
-"\n"
-"Firehose Mode can also work while you're driving if connected to a hotspot "
-"or unlimited SIM card.\n"
-"\n"
-"\n"
-"Frequently Asked Questions\n"
-"\n"
-"Does it matter how or where I drive? Nope, just drive as you normally "
-"would.\n"
-"\n"
-"Do all of my segments get pulled in Firehose Mode? No, we selectively pull a "
-"subset of your segments.\n"
-"\n"
-"What's a good USB-C adapter? Any fast phone or laptop charger should be "
-"fine.\n"
-"\n"
-"Does it matter which software I run? Yes, only upstream openpilot (and "
-"particular forks) are able to be used for training."
-msgstr ""
-"最大限の効果を得るため、デバイスを屋内に持ち込み、週に一度は品質の良いUSB-Cア"
-"ダプターとWi‑Fiに接続してください。\n"
-"\n"
-"Firehoseモードは、ホットスポットや無制限SIMに接続していれば走行中でも動作しま"
-"す。\n"
-"\n"
-"\n"
-"よくある質問\n"
-"\n"
-"運転の仕方や場所は関係ありますか？ いいえ。普段どおりに運転してください。\n"
-"\n"
-"Firehoseモードではすべてのセグメントが取得されますか？ いいえ。セグメントの一"
-"部を選択的に取得します。\n"
-"\n"
-"良いUSB‑Cアダプターとは？ 高速なスマホまたはノートPC用充電器で問題ありませ"
-"ん。\n"
-"\n"
-"どのソフトウェアを使うかは重要ですか？ はい。学習に使えるのは上流のopenpilot"
-"（および特定のフォーク）のみです。"
-
-#: system/ui/widgets/network.py:318 system/ui/widgets/network.py:451
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Forget"
 msgstr "削除"
 
-#: system/ui/widgets/network.py:319
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Forget Wi-Fi Network \"{}\"?"
 msgstr "Wi‑Fiネットワーク「{}」を削除しますか？"
 
-#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "GOOD"
 msgstr "良好"
 
-#: selfdrive/ui/widgets/pairing_dialog.py:128
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Go to https://connect.comma.ai on your phone"
 msgstr "スマートフォンで https://connect.comma.ai にアクセス"
 
-#: selfdrive/ui/layouts/sidebar.py:129
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "HIGH"
 msgstr "高温"
 
-#: system/ui/widgets/network.py:155
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Hidden Network"
 msgstr "非公開ネットワーク"
 
-#: selfdrive/ui/layouts/settings/firehose.py:140
-#, python-format
-msgid "INACTIVE: connect to an unmetered network"
-msgstr "非アクティブ：非従量のネットワークに接続してください"
-
-#: selfdrive/ui/layouts/settings/software.py:53
-#: selfdrive/ui/layouts/settings/software.py:136
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "INSTALL"
 msgstr "インストール"
 
-#: system/ui/widgets/network.py:150
-#, python-format
+#: system/ui/widgets/network.py
 msgid "IP Address"
 msgstr "IPアドレス"
 
-#: selfdrive/ui/layouts/settings/software.py:53
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Install Update"
 msgstr "アップデートをインストール"
 
-#: selfdrive/ui/layouts/settings/developer.py:56
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Joystick Debug Mode"
 msgstr "ジョイスティックデバッグモード"
 
-#: selfdrive/ui/widgets/ssh_key.py:29
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "LOADING"
 msgstr "読み込み中"
 
-#: selfdrive/ui/layouts/sidebar.py:48
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "LTE"
 msgstr "LTE"
 
-#: selfdrive/ui/layouts/settings/developer.py:64
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Longitudinal Maneuver Mode"
 msgstr "縦制御マヌーバーモード"
 
-#: selfdrive/ui/onroad/hud_renderer.py:148
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "MAX"
 msgstr "最大"
 
-#: selfdrive/ui/widgets/setup.py:75
-#, python-format
-msgid ""
-"Maximize your training data uploads to improve openpilot's driving models."
-msgstr ""
-"学習データのアップロードを最大化してopenpilotの運転モデルを改善しましょう。"
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Maximize your training data uploads to improve openpilot's driving models."
+msgstr "学習データのアップロードを最大化してopenpilotの運転モデルを改善しましょう。"
 
-#: selfdrive/ui/layouts/settings/device.py:59
-#: selfdrive/ui/layouts/settings/device.py:60
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "N/A"
 msgstr "該当なし"
 
-#: selfdrive/ui/layouts/sidebar.py:142
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "NO"
 msgstr "いいえ"
 
-#: selfdrive/ui/layouts/settings/settings.py:63
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Network"
 msgstr "ネットワーク"
 
-#: selfdrive/ui/widgets/ssh_key.py:114
-#, python-format
-msgid "No SSH keys found"
-msgstr "SSH鍵が見つかりません"
-
-#: selfdrive/ui/widgets/ssh_key.py:126
-#, python-format
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "No SSH keys found for user '{}'"
 msgstr "ユーザー'{}'のSSH鍵が見つかりません"
 
-#: selfdrive/ui/widgets/offroad_alerts.py:320
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "No release notes available."
 msgstr "リリースノートはありません。"
 
-#: selfdrive/ui/layouts/sidebar.py:73 selfdrive/ui/layouts/sidebar.py:134
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "OFFLINE"
 msgstr "オフライン"
 
-#: system/ui/widgets/html_render.py:263 system/ui/widgets/confirm_dialog.py:93
-#: selfdrive/ui/layouts/sidebar.py:127
-#, python-format
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/html_render.py
 msgid "OK"
 msgstr "OK"
 
-#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:136
-#: selfdrive/ui/layouts/sidebar.py:144
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ONLINE"
 msgstr "オンライン"
 
-#: selfdrive/ui/widgets/setup.py:20
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Open"
 msgstr "開く"
 
-#: selfdrive/ui/layouts/settings/device.py:48
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "PAIR"
 msgstr "ペアリング"
 
-#: selfdrive/ui/layouts/sidebar.py:142
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "PANDA"
 msgstr "PANDA"
 
-#: selfdrive/ui/layouts/settings/device.py:62
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "PREVIEW"
 msgstr "プレビュー"
 
-#: selfdrive/ui/widgets/prime.py:44
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "PRIME FEATURES:"
 msgstr "prime の特典:"
 
-#: selfdrive/ui/layouts/settings/device.py:48
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Pair Device"
 msgstr "デバイスをペアリング"
 
-#: selfdrive/ui/widgets/setup.py:19
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Pair device"
 msgstr "デバイスをペアリング"
 
-#: selfdrive/ui/widgets/pairing_dialog.py:103
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Pair your device to your comma account"
 msgstr "デバイスをあなたの comma アカウントにペアリング"
 
-#: selfdrive/ui/widgets/setup.py:48 selfdrive/ui/layouts/settings/device.py:24
-#, python-format
-msgid ""
-"Pair your device with comma connect (connect.comma.ai) and claim your comma "
-"prime offer."
-msgstr ""
-"デバイスを comma connect（connect.comma.ai）とペアリングして、comma prime 特"
-"典を受け取りましょう。"
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."
+msgstr "デバイスを comma connect（connect.comma.ai）とペアリングして、comma prime 特典を受け取りましょう。"
 
-#: selfdrive/ui/widgets/setup.py:91
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Please connect to Wi-Fi to complete initial pairing"
 msgstr "初回ペアリングを完了するにはWi‑Fiに接続してください"
 
-#: selfdrive/ui/layouts/settings/device.py:55
-#: selfdrive/ui/layouts/settings/device.py:187
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Power Off"
 msgstr "電源オフ"
 
-#: system/ui/widgets/network.py:144
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered Wi-Fi connection"
 msgstr "従量課金のWi‑Fi接続時は大きなデータのアップロードを抑制"
 
-#: system/ui/widgets/network.py:135
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered cellular connection"
 msgstr "従量課金の携帯回線接続時は大きなデータのアップロードを抑制"
 
-#: selfdrive/ui/layouts/settings/device.py:25
-msgid ""
-"Preview the driver facing camera to ensure that driver monitoring has good "
-"visibility. (vehicle must be off)"
-msgstr ""
-"ドライバー向きカメラのプレビューでモニタリングの視界を確認します。（車両は停"
-"止状態である必要があります）"
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)"
+msgstr "ドライバー向きカメラのプレビューでモニタリングの視界を確認します。（車両は停止状態である必要があります）"
 
-#: selfdrive/ui/widgets/pairing_dialog.py:161
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "QR Code Error"
 msgstr "QRコードエラー"
 
-#: selfdrive/ui/widgets/ssh_key.py:31
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "REMOVE"
 msgstr "削除"
 
-#: selfdrive/ui/layouts/settings/device.py:51
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "RESET"
 msgstr "リセット"
 
-#: selfdrive/ui/layouts/settings/device.py:65
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "REVIEW"
 msgstr "確認"
 
-#: selfdrive/ui/layouts/settings/device.py:55
-#: selfdrive/ui/layouts/settings/device.py:175
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Reboot"
 msgstr "再起動"
 
-#: selfdrive/ui/onroad/alert_renderer.py:66
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "Reboot Device"
 msgstr "デバイスを再起動"
 
-#: selfdrive/ui/widgets/offroad_alerts.py:112
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Reboot and Update"
 msgstr "再起動して更新"
 
-#: selfdrive/ui/layouts/settings/toggles.py:27
-msgid ""
-"Receive alerts to steer back into the lane when your vehicle drifts over a "
-"detected lane line without a turn signal activated while driving over 31 mph "
-"(50 km/h)."
-msgstr ""
-"時速31mph（50km/h）を超えて走行中にウインカーを出さず検出された車線を外れた場"
-"合、車線内に戻るよう警告を受け取ります。"
-
-#: selfdrive/ui/layouts/settings/toggles.py:76
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Record and Upload Driver Camera"
 msgstr "ドライバーカメラを記録してアップロード"
 
-#: selfdrive/ui/layouts/settings/toggles.py:82
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Record and Upload Microphone Audio"
 msgstr "マイク音声を記録してアップロード"
 
-#: selfdrive/ui/layouts/settings/toggles.py:33
-msgid ""
-"Record and store microphone audio while driving. The audio will be included "
-"in the dashcam video in comma connect."
-msgstr ""
-"走行中にマイク音声を記録・保存します。音声は comma connect のドライブレコー"
-"ダー動画に含まれます。"
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."
+msgstr "走行中にマイク音声を記録・保存します。音声は comma connect のドライブレコーダー動画に含まれます。"
 
-#: selfdrive/ui/layouts/settings/device.py:67
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Regulatory"
 msgstr "規制情報"
 
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Relaxed"
 msgstr "リラックス"
 
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Remote access"
 msgstr "リモートアクセス"
 
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Remote snapshots"
 msgstr "リモートスナップショット"
 
-#: selfdrive/ui/widgets/ssh_key.py:123
-#, python-format
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "Request timed out"
 msgstr "リクエストがタイムアウトしました"
 
-#: selfdrive/ui/layouts/settings/device.py:119
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Reset"
 msgstr "リセット"
 
-#: selfdrive/ui/layouts/settings/device.py:51
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Reset Calibration"
 msgstr "キャリブレーションをリセット"
 
-#: selfdrive/ui/layouts/settings/device.py:65
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Review Training Guide"
 msgstr "トレーニングガイドを確認"
 
-#: selfdrive/ui/layouts/settings/device.py:27
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Review the rules, features, and limitations of openpilot"
 msgstr "openpilotのルール、機能、制限を確認"
 
-#: selfdrive/ui/layouts/settings/software.py:61
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "SELECT"
 msgstr "選択"
 
-#: selfdrive/ui/layouts/settings/developer.py:53
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "SSH Keys"
 msgstr "SSH鍵"
 
-#: system/ui/widgets/network.py:310
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Scanning Wi-Fi networks..."
 msgstr "Wi‑Fiネットワークを検索中..."
 
-#: system/ui/widgets/option_dialog.py:36
-#, python-format
+#: system/ui/widgets/option_dialog.py
 msgid "Select"
 msgstr "選択"
 
-#: selfdrive/ui/layouts/settings/software.py:183
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Select a branch"
 msgstr "ブランチを選択"
 
-#: selfdrive/ui/layouts/settings/device.py:91
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Select a language"
 msgstr "言語を選択"
 
-#: selfdrive/ui/layouts/settings/device.py:60
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Serial"
 msgstr "シリアル"
 
-#: selfdrive/ui/widgets/offroad_alerts.py:106
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Snooze Update"
 msgstr "更新を後で通知"
 
-#: selfdrive/ui/layouts/settings/settings.py:65
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Software"
 msgstr "ソフトウェア"
 
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Standard"
 msgstr "スタンダード"
 
-#: selfdrive/ui/layouts/settings/toggles.py:22
-msgid ""
-"Standard is recommended. In aggressive mode, openpilot will follow lead cars "
-"closer and be more aggressive with the gas and brake. In relaxed mode "
-"openpilot will stay further away from lead cars. On supported cars, you can "
-"cycle through these personalities with your steering wheel distance button."
-msgstr ""
-"標準を推奨します。アグレッシブでは前走車に近づき、加減速も積極的になります。"
-"リラックスでは前走車との距離を保ちます。対応車種ではステアリングの車間ボタン"
-"でこれらの性格を切り替えられます。"
-
-#: selfdrive/ui/onroad/alert_renderer.py:59
-#: selfdrive/ui/onroad/alert_renderer.py:65
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "System Unresponsive"
 msgstr "システムが応答しません"
 
-#: selfdrive/ui/onroad/alert_renderer.py:58
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "TAKE CONTROL IMMEDIATELY"
 msgstr "すぐに手動介入してください"
 
-#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
-#: selfdrive/ui/layouts/sidebar.py:127 selfdrive/ui/layouts/sidebar.py:129
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "TEMP"
 msgstr "温度"
 
-#: selfdrive/ui/layouts/settings/software.py:61
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Target Branch"
 msgstr "対象ブランチ"
 
-#: system/ui/widgets/network.py:124
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Tethering Password"
 msgstr "テザリングのパスワード"
 
-#: selfdrive/ui/layouts/settings/settings.py:64
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Toggles"
 msgstr "トグル"
 
-#: selfdrive/ui/layouts/settings/software.py:72
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "UI Debug Mode"
+msgstr "UIデバッグモード"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "UNINSTALL"
 msgstr "アンインストール"
 
-#: selfdrive/ui/layouts/home.py:155
-#, python-format
+#: openpilot/selfdrive/ui/layouts/home.py
 msgid "UPDATE"
 msgstr "更新"
 
-#: selfdrive/ui/layouts/settings/software.py:72
-#: selfdrive/ui/layouts/settings/software.py:163
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Uninstall"
 msgstr "アンインストール"
 
-#: selfdrive/ui/layouts/sidebar.py:117
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "Unknown"
 msgstr "不明"
 
-#: selfdrive/ui/layouts/settings/software.py:48
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Updates are only downloaded while the car is off."
 msgstr "アップデートは車両の電源が切れている間のみダウンロードされます。"
 
-#: selfdrive/ui/widgets/prime.py:33
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Upgrade Now"
 msgstr "今すぐアップグレード"
 
-#: selfdrive/ui/layouts/settings/toggles.py:31
-msgid ""
-"Upload data from the driver facing camera and help improve the driver "
-"monitoring algorithm."
-msgstr ""
-"ドライバー向きカメラのデータをアップロードしてモニタリングアルゴリズムの改善"
-"に協力してください。"
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Upload data from the driver facing camera and help improve the driver monitoring algorithm."
+msgstr "ドライバー向きカメラのデータをアップロードしてモニタリングアルゴリズムの改善に協力してください。"
 
-#: selfdrive/ui/layouts/settings/toggles.py:88
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Use Metric System"
 msgstr "メートル法を使用"
 
-#: selfdrive/ui/layouts/settings/toggles.py:17
-msgid ""
-"Use the openpilot system for adaptive cruise control and lane keep driver "
-"assistance. Your attention is required at all times to use this feature."
-msgstr ""
-"ACCと車線維持支援にopenpilotを使用します。本機能の使用中は常に注意が必要で"
-"す。"
-
-#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:144
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "VEHICLE"
 msgstr "車両"
 
-#: selfdrive/ui/layouts/settings/device.py:67
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "VIEW"
 msgstr "表示"
 
-#: selfdrive/ui/onroad/alert_renderer.py:52
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "Waiting to start"
 msgstr "開始待機中"
 
-#: selfdrive/ui/layouts/settings/developer.py:19
-msgid ""
-"Warning: This grants SSH access to all public keys in your GitHub settings. "
-"Never enter a GitHub username other than your own. A comma employee will "
-"NEVER ask you to add their GitHub username."
-msgstr ""
-"警告: これはGitHub設定内のすべての公開鍵にSSHアクセスを与えます。自分以外の"
-"GitHubユーザー名を絶対に入力しないでください。comma の従業員が自分のGitHub"
-"ユーザー名を追加するよう求めることは決してありません。"
-
-#: selfdrive/ui/layouts/onboarding.py:111
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Welcome to openpilot"
 msgstr "openpilotへようこそ"
 
-#: selfdrive/ui/layouts/settings/toggles.py:20
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "When enabled, pressing the accelerator pedal will disengage openpilot."
 msgstr "有効にすると、アクセルを踏むとopenpilotが解除されます。"
 
-#: selfdrive/ui/layouts/sidebar.py:44
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "Wi-Fi"
 msgstr "Wi‑Fi"
 
-#: system/ui/widgets/network.py:144
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Wi-Fi Network Metered"
 msgstr "Wi‑Fiネットワーク（従量課金）"
 
-#: system/ui/widgets/network.py:314
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Wrong password"
 msgstr "パスワードが違います"
 
-#: selfdrive/ui/layouts/onboarding.py:145
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "You must accept the Terms and Conditions in order to use openpilot."
 msgstr "openpilotを使用するには、利用規約に同意する必要があります。"
 
-#: selfdrive/ui/layouts/onboarding.py:112
-#, python-format
-msgid ""
-"You must accept the Terms and Conditions to use openpilot. Read the latest "
-"terms at https://comma.ai/terms before continuing."
-msgstr ""
-"openpilotを使用するには利用規約に同意する必要があります。続行する前に "
-"https://comma.ai/terms の最新の規約をお読みください。"
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "You must accept the Terms and Conditions to use openpilot. Read the latest terms at https://comma.ai/terms before continuing."
+msgstr "openpilotを使用するには利用規約に同意する必要があります。続行する前に https://comma.ai/terms の最新の規約をお読みください。"
 
-#: selfdrive/ui/onroad/driver_camera_dialog.py:34
-#, python-format
+#: openpilot/selfdrive/ui/onroad/driver_camera_dialog.py
 msgid "camera starting"
 msgstr "カメラを起動中"
 
-#: selfdrive/ui/widgets/prime.py:63
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "checking..."
+msgstr "チェック中..."
+
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "comma prime"
 msgstr "comma prime"
 
-#: system/ui/widgets/network.py:142
-#, python-format
+#: system/ui/widgets/network.py
 msgid "default"
 msgstr "既定"
 
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "down"
 msgstr "下"
 
-#: selfdrive/ui/layouts/settings/software.py:106
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "downloading..."
+msgstr "ダウンロード中..."
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "failed to check for update"
 msgstr "アップデートの確認に失敗しました"
 
-#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "finalizing update..."
+msgstr "アップデートを終了しています..."
+
+#: system/ui/widgets/network.py
 msgid "for \"{}\""
 msgstr "「{}」向け"
 
-#: selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "km/h"
 msgstr "km/h"
 
-#: system/ui/widgets/network.py:204
-#, python-format
+#: system/ui/widgets/network.py
 msgid "leave blank for automatic configuration"
 msgstr "自動設定の場合は空欄のままにしてください"
 
-#: selfdrive/ui/layouts/settings/device.py:134
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "left"
 msgstr "左"
 
-#: system/ui/widgets/network.py:142
-#, python-format
+#: system/ui/widgets/network.py
 msgid "metered"
 msgstr "従量"
 
-#: selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "mph"
 msgstr "mph"
 
-#: selfdrive/ui/layouts/settings/software.py:20
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "never"
 msgstr "なし"
 
-#: selfdrive/ui/layouts/settings/software.py:31
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "now"
 msgstr "今"
 
-#: selfdrive/ui/layouts/settings/developer.py:71
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "openpilot Longitudinal Control (Alpha)"
 msgstr "openpilot 縦制御（アルファ）"
 
-#: selfdrive/ui/onroad/alert_renderer.py:51
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "openpilot Unavailable"
 msgstr "openpilotは利用できません"
 
-#: selfdrive/ui/layouts/settings/toggles.py:158
-#, python-format
-msgid ""
-"openpilot defaults to driving in chill mode. Experimental mode enables alpha-"
-"level features that aren't ready for chill mode. Experimental features are "
-"listed below:<br><h4>End-to-End Longitudinal Control</h4><br>Let the driving "
-"model control the gas and brakes. openpilot will drive as it thinks a human "
-"would, including stopping for red lights and stop signs. Since the driving "
-"model decides the speed to drive, the set speed will only act as an upper "
-"bound. This is an alpha quality feature; mistakes should be expected."
-"<br><h4>New Driving Visualization</h4><br>The driving visualization will "
-"transition to the road-facing wide-angle camera at low speeds to better show "
-"some turns. The Experimental mode logo will also be shown in the top right "
-"corner."
-msgstr ""
-"openpilotは既定でチルモードで走行します。実験モードでは、チルモードにはまだ準"
-"備ができていないアルファレベルの機能が有効になります。実験的な機能は以下のと"
-"おりです:<br><h4>エンドツーエンド縦制御</h4><br>運転モデルがアクセルとブレー"
-"キを制御します。openpilotは人間のように走行し、赤信号や一時停止でも停止しま"
-"す。走行速度は運転モデルが決めるため、設定速度は上限としてのみ機能します。こ"
-"れはアルファ品質の機能であり、誤動作が発生する可能性があります。<br><h4>新し"
-"い運転ビジュアライゼーション</h4><br>低速時には道路向きの広角カメラに切り替わ"
-"り、一部の曲がりをより良く表示します。画面右上には実験モードのロゴも表示され"
-"ます。"
-
-#: selfdrive/ui/layouts/settings/device.py:165
-#, python-format
-msgid ""
-"openpilot is continuously calibrating, resetting is rarely required. "
-"Resetting calibration will restart openpilot if the car is powered on."
-msgstr ""
-"openpilotは継続的にキャリブレーションを行っており、リセットが必要になることは"
-"稀です。車が起動中にキャリブレーションをリセットするとopenpilotが再起動しま"
-"す。"
-
-#: selfdrive/ui/layouts/settings/firehose.py:20
-msgid ""
-"openpilot learns to drive by watching humans, like you, drive.\n"
-"\n"
-"Firehose Mode allows you to maximize your training data uploads to improve "
-"openpilot's driving models. More data means bigger models, which means "
-"better Experimental Mode."
-msgstr ""
-"openpilotは、あなたのような人間の運転を見て運転を学習します。\n"
-"\n"
-"Firehoseモードを使うと、学習データのアップロードを最大化してopenpilotの運転モ"
-"デルを改善できます。データが増えるほどモデルが大きくなり、実験モードがより良"
-"くなります。"
-
-#: selfdrive/ui/layouts/settings/toggles.py:183
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "openpilot longitudinal control may come in a future update."
 msgstr "openpilotの縦制御は将来のアップデートで提供される可能性があります。"
 
-#: selfdrive/ui/layouts/settings/device.py:26
-msgid ""
-"openpilot requires the device to be mounted within 4° left or right and "
-"within 5° up or 9° down."
-msgstr ""
-"openpilotでは、デバイスの取り付け角度が左右±4°、上方向5°以内、下方向9°以内で"
-"ある必要があります。"
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down."
+msgstr "openpilotでは、デバイスの取り付け角度が左右±4°、上方向5°以内、下方向9°以内である必要があります。"
 
-#: selfdrive/ui/layouts/settings/device.py:134
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "right"
 msgstr "右"
 
-#: system/ui/widgets/network.py:142
-#, python-format
+#: system/ui/widgets/network.py
 msgid "unmetered"
 msgstr "非従量"
 
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "up"
 msgstr "上"
 
-#: selfdrive/ui/layouts/settings/software.py:117
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "up to date, last checked never"
 msgstr "最新です。最終確認: なし"
 
-#: selfdrive/ui/layouts/settings/software.py:115
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "up to date, last checked {}"
 msgstr "最新です。最終確認: {}"
 
-#: selfdrive/ui/layouts/settings/software.py:109
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "update available"
 msgstr "更新があります"
 
-#: selfdrive/ui/layouts/home.py:169
-#, python-format
+#: openpilot/selfdrive/ui/layouts/home.py
 msgid "{} ALERT"
 msgid_plural "{} ALERTS"
 msgstr[0] "{}件のアラート"
 
-#: selfdrive/ui/layouts/settings/software.py:40
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "{} day ago"
 msgid_plural "{} days ago"
 msgstr[0] "{}日前"
 
-#: selfdrive/ui/layouts/settings/software.py:37
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "{} hour ago"
 msgid_plural "{} hours ago"
 msgstr[0] "{}時間前"
 
-#: selfdrive/ui/layouts/settings/software.py:34
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "{} minute ago"
 msgid_plural "{} minutes ago"
 msgstr[0] "{}分前"
 
-#: selfdrive/ui/layouts/settings/firehose.py:111
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
 msgid "{} segment of your driving is in the training dataset so far."
 msgid_plural "{} segments of your driving is in the training dataset so far."
-msgstr[0] ""
-"これまでにあなたの走行の{}セグメントが学習データセットに含まれています。"
+msgstr[0] "これまでにあなたの走行の{}セグメントが学習データセットに含まれています。"
 
-#: selfdrive/ui/widgets/prime.py:62
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "✓ SUBSCRIBED"
 msgstr "✓ 登録済み"
 
-#: selfdrive/ui/widgets/setup.py:22
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "🔥 Firehose Mode 🔥"
 msgstr "🔥 Firehoseモード 🔥"
+
diff --git a/selfdrive/ui/translations/app_ko.po b/selfdrive/ui/translations/app_ko.po
index f12aebaeb3b..24306ae02a7 100644
--- a/selfdrive/ui/translations/app_ko.po
+++ b/selfdrive/ui/translations/app_ko.po
@@ -1,1190 +1,820 @@
-# Korean translations for PACKAGE package.
-# Copyright (C) 2025 THE PACKAGE'S COPYRIGHT HOLDER
-# This file is distributed under the same license as the PACKAGE package.
-# Automatically generated, 2025.
-#
 msgid ""
 msgstr ""
-"Project-Id-Version: PACKAGE VERSION\n"
-"Report-Msgid-Bugs-To: \n"
-"POT-Creation-Date: 2025-10-23 00:50-0700\n"
-"PO-Revision-Date: 2025-10-22 16:32-0700\n"
-"Last-Translator: Automatically generated\n"
-"Language-Team: none\n"
-"Language: ko\n"
-"MIME-Version: 1.0\n"
 "Content-Type: text/plain; charset=UTF-8\n"
-"Content-Transfer-Encoding: 8bit\n"
+"Language: ko\n"
 "Plural-Forms: nplurals=1; plural=0;\n"
 
-#: selfdrive/ui/layouts/settings/device.py:160
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid " Steering torque response calibration is complete."
 msgstr " 스티어링 토크 응답 보정이 완료되었습니다."
 
-#: selfdrive/ui/layouts/settings/device.py:158
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid " Steering torque response calibration is {}% complete."
 msgstr " 스티어링 토크 응답 보정이 {}% 완료되었습니다."
 
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid " Your device is pointed {:.1f}° {} and {:.1f}° {}."
 msgstr " 장치는 {:.1f}° {} 및 {:.1f}° {} 방향을 가리키고 있습니다."
 
-#: selfdrive/ui/layouts/sidebar.py:43
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "--"
 msgstr "--"
 
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "1 year of drive storage"
 msgstr "주행 데이터 1년 보관"
 
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "24/7 LTE connectivity"
 msgstr "연중무휴 LTE 연결"
 
-#: selfdrive/ui/layouts/sidebar.py:46
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "2G"
 msgstr "2G"
 
-#: selfdrive/ui/layouts/sidebar.py:47
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "3G"
 msgstr "3G"
 
-#: selfdrive/ui/layouts/sidebar.py:49
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "5G"
 msgstr "5G"
 
-#: selfdrive/ui/layouts/settings/developer.py:23
-msgid ""
-"<b>WARNING: openpilot longitudinal control is in alpha for this car and will "
-"disable Automatic Emergency Braking (AEB).</b><br><br>On this car, openpilot "
-"defaults to the car's built-in ACC instead of openpilot's longitudinal "
-"control. Enable this to switch to openpilot longitudinal control. Enabling "
-"Experimental mode is recommended when enabling openpilot longitudinal "
-"control alpha. Changing this setting will restart openpilot if the car is "
-"powered on."
-msgstr ""
-"<b>경고: 이 차량에서 openpilot의 롱컨 제어는 알파 버전이며 자동 긴급 제동"
-"(AEB)을 비활성화합니다.</b><br><br>이 차량에서는 openpilot 롱컨 제어 대신 "
-"차량 내장 ACC가 기본으로 사용됩니다. openpilot 롱컨 제어로 전환하려면 이 설"
-"정을 켜세요. 롱컨 제어 알파를 켤 때는 실험 모드 사용을 권장합니다. 차량 전"
-"원이 켜져 있는 경우 이 설정을 변경하면 openpilot이 재시작됩니다."
-
-#: selfdrive/ui/layouts/settings/device.py:148
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "<br><br>Steering lag calibration is complete."
 msgstr "<br><br>스티어링 지연 보정이 완료되었습니다."
 
-#: selfdrive/ui/layouts/settings/device.py:146
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "<br><br>Steering lag calibration is {}% complete."
 msgstr "<br><br>스티어링 지연 보정이 {}% 완료되었습니다."
 
-#: selfdrive/ui/layouts/settings/firehose.py:138
-#, python-format
-msgid "ACTIVE"
-msgstr "활성"
-
-#: selfdrive/ui/layouts/settings/developer.py:15
-msgid ""
-"ADB (Android Debug Bridge) allows connecting to your device over USB or over "
-"the network. See https://docs.comma.ai/how-to/connect-to-comma for more info."
-msgstr ""
-"ADB(Android Debug Bridge)를 사용하면 USB 또는 네트워크로 장치에 연결할 수 있"
-"습니다. 자세한 내용은 https://docs.comma.ai/how-to/connect-to-comma 를 참고하"
-"세요."
-
-#: selfdrive/ui/widgets/ssh_key.py:30
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "ADD"
 msgstr "추가"
 
-#: system/ui/widgets/network.py:139
-#, python-format
+#: system/ui/widgets/network.py
 msgid "APN Setting"
 msgstr "APN 설정"
 
-#: selfdrive/ui/widgets/offroad_alerts.py:109
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Acknowledge Excessive Actuation"
 msgstr "과도한 작동을 확인"
 
-#: system/ui/widgets/network.py:74 system/ui/widgets/network.py:95
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Advanced"
 msgstr "고급"
 
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Aggressive"
 msgstr "공격적"
 
-#: selfdrive/ui/layouts/onboarding.py:116
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Agree"
 msgstr "동의"
 
-#: selfdrive/ui/layouts/settings/toggles.py:70
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Always-On Driver Monitoring"
 msgstr "운전자 모니터링 항상 켜짐"
 
-#: selfdrive/ui/layouts/settings/toggles.py:186
-#, python-format
-msgid ""
-"An alpha version of openpilot longitudinal control can be tested, along with "
-"Experimental mode, on non-release branches."
-msgstr ""
-"openpilot 롱컨 제어 알파 버전은 실험 모드와 함께 비릴리스 브랜치에서 테스트"
-"할 수 있습니다."
-
-#: selfdrive/ui/layouts/settings/device.py:187
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Are you sure you want to power off?"
 msgstr "정말 전원을 끄시겠습니까?"
 
-#: selfdrive/ui/layouts/settings/device.py:175
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Are you sure you want to reboot?"
 msgstr "정말 재시작하시겠습니까?"
 
-#: selfdrive/ui/layouts/settings/device.py:119
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Are you sure you want to reset calibration?"
 msgstr "정말 보정을 재설정하시겠습니까?"
 
-#: selfdrive/ui/layouts/settings/software.py:163
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Are you sure you want to uninstall?"
 msgstr "정말 제거하시겠습니까?"
 
-#: system/ui/widgets/network.py:99 selfdrive/ui/layouts/onboarding.py:147
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+#: system/ui/widgets/network.py
 msgid "Back"
 msgstr "뒤로"
 
-#: selfdrive/ui/widgets/prime.py:38
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Become a comma prime member at connect.comma.ai"
 msgstr "connect.comma.ai에서 comma prime 회원이 되세요"
 
-#: selfdrive/ui/widgets/pairing_dialog.py:130
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
 msgstr "connect.comma.ai를 홈 화면에 추가하여 앱처럼 사용하세요"
 
-#: selfdrive/ui/layouts/settings/device.py:68
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "CHANGE"
 msgstr "변경"
 
-#: selfdrive/ui/layouts/settings/software.py:50
-#: selfdrive/ui/layouts/settings/software.py:107
-#: selfdrive/ui/layouts/settings/software.py:118
-#: selfdrive/ui/layouts/settings/software.py:147
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "CHECK"
 msgstr "확인"
 
-#: selfdrive/ui/widgets/exp_mode_button.py:50
-#, python-format
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
 msgid "CHILL MODE ON"
 msgstr "안정적 모드 켜짐"
 
-#: system/ui/widgets/network.py:155 selfdrive/ui/layouts/sidebar.py:73
-#: selfdrive/ui/layouts/sidebar.py:134 selfdrive/ui/layouts/sidebar.py:136
-#: selfdrive/ui/layouts/sidebar.py:138
-#, python-format
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/network.py
 msgid "CONNECT"
 msgstr "연결"
 
-#: system/ui/widgets/network.py:369
-#, python-format
+#: system/ui/widgets/network.py
 msgid "CONNECTING..."
 msgstr "연결 중..."
 
-#: system/ui/widgets/confirm_dialog.py:23 system/ui/widgets/option_dialog.py:35
-#: system/ui/widgets/keyboard.py:81 system/ui/widgets/network.py:318
-#, python-format
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/keyboard.py
+#: system/ui/widgets/network.py
+#: system/ui/widgets/option_dialog.py
 msgid "Cancel"
 msgstr "취소"
 
-#: system/ui/widgets/network.py:134
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Cellular Metered"
 msgstr "종량제 셀룰러"
 
-#: selfdrive/ui/layouts/settings/device.py:68
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Change Language"
 msgstr "언어 변경"
 
-#: selfdrive/ui/layouts/settings/toggles.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Changing this setting will restart openpilot if the car is powered on."
 msgstr "차량 전원이 켜져 있으면 이 설정을 변경할 때 openpilot이 재시작됩니다."
 
-#: selfdrive/ui/widgets/pairing_dialog.py:129
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Click \"add new device\" and scan the QR code on the right"
 msgstr "\"add new device\"를 눌러 오른쪽의 QR 코드를 스캔하세요"
 
-#: selfdrive/ui/widgets/offroad_alerts.py:104
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Close"
 msgstr "닫기"
 
-#: selfdrive/ui/layouts/settings/software.py:49
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Current Version"
 msgstr "현재 버전"
 
-#: selfdrive/ui/layouts/settings/software.py:110
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "DOWNLOAD"
 msgstr "다운로드"
 
-#: selfdrive/ui/layouts/onboarding.py:115
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Decline"
 msgstr "거부"
 
-#: selfdrive/ui/layouts/onboarding.py:148
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Decline, uninstall openpilot"
 msgstr "거부하고 openpilot 제거"
 
-#: selfdrive/ui/layouts/settings/settings.py:67
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Developer"
 msgstr "개발자"
 
-#: selfdrive/ui/layouts/settings/settings.py:62
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Device"
 msgstr "장치"
 
-#: selfdrive/ui/layouts/settings/toggles.py:58
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Disengage on Accelerator Pedal"
 msgstr "가속 페달로 해제"
 
-#: selfdrive/ui/layouts/settings/device.py:184
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Disengage to Power Off"
 msgstr "해제 후 전원 끄기"
 
-#: selfdrive/ui/layouts/settings/device.py:172
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Disengage to Reboot"
 msgstr "해제 후 재시작"
 
-#: selfdrive/ui/layouts/settings/device.py:103
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Disengage to Reset Calibration"
 msgstr "해제 후 캘리브레이션 재설정"
 
-#: selfdrive/ui/layouts/settings/toggles.py:32
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Display speed in km/h instead of mph."
 msgstr "속도를 mph 대신 km/h로 표시합니다."
 
-#: selfdrive/ui/layouts/settings/device.py:59
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Dongle ID"
 msgstr "동글 ID"
 
-#: selfdrive/ui/layouts/settings/software.py:50
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Download"
 msgstr "다운로드"
 
-#: selfdrive/ui/layouts/settings/device.py:62
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Driver Camera"
 msgstr "운전자 카메라"
 
-#: selfdrive/ui/layouts/settings/toggles.py:96
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Driving Personality"
 msgstr "주행 성향"
 
-#: system/ui/widgets/network.py:123 system/ui/widgets/network.py:139
-#, python-format
+#: system/ui/widgets/network.py
 msgid "EDIT"
 msgstr "편집"
 
-#: selfdrive/ui/layouts/sidebar.py:138
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ERROR"
 msgstr "오류"
 
-#: selfdrive/ui/layouts/sidebar.py:45
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ETH"
 msgstr "ETH"
 
-#: selfdrive/ui/widgets/exp_mode_button.py:50
-#, python-format
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
 msgid "EXPERIMENTAL MODE ON"
 msgstr "실험 모드 켜짐"
 
-#: selfdrive/ui/layouts/settings/developer.py:166
-#: selfdrive/ui/layouts/settings/toggles.py:228
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable"
 msgstr "사용"
 
-#: selfdrive/ui/layouts/settings/developer.py:39
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Enable ADB"
 msgstr "ADB 사용"
 
-#: selfdrive/ui/layouts/settings/toggles.py:64
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable Lane Departure Warnings"
 msgstr "차선 이탈 경고 사용"
 
-#: system/ui/widgets/network.py:129
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enable Roaming"
 msgstr "로밍 사용"
 
-#: selfdrive/ui/layouts/settings/developer.py:48
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Enable SSH"
 msgstr "SSH 사용"
 
-#: system/ui/widgets/network.py:120
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enable Tethering"
 msgstr "테더링 사용"
 
-#: selfdrive/ui/layouts/settings/toggles.py:30
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable driver monitoring even when openpilot is not engaged."
 msgstr "openpilot이 작동 중이 아닐 때도 운전자 모니터링을 사용합니다."
 
-#: selfdrive/ui/layouts/settings/toggles.py:46
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable openpilot"
 msgstr "openpilot 사용"
 
-#: selfdrive/ui/layouts/settings/toggles.py:189
-#, python-format
-msgid ""
-"Enable the openpilot longitudinal control (alpha) toggle to allow "
-"Experimental mode."
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode."
 msgstr "실험 모드를 사용하려면 openpilot 롱컨 제어(알파) 토글을 켜세요."
 
-#: system/ui/widgets/network.py:204
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter APN"
 msgstr "APN 입력"
 
-#: system/ui/widgets/network.py:241
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter SSID"
 msgstr "SSID 입력"
 
-#: system/ui/widgets/network.py:254
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter new tethering password"
 msgstr "새 테더링 비밀번호 입력"
 
-#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter password"
 msgstr "비밀번호 입력"
 
-#: selfdrive/ui/widgets/ssh_key.py:89
-#, python-format
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "Enter your GitHub username"
 msgstr "GitHub 사용자 이름 입력"
 
-#: system/ui/widgets/list_view.py:123 system/ui/widgets/list_view.py:160
-#, python-format
+#: system/ui/widgets/list_view.py
 msgid "Error"
 msgstr "오류"
 
-#: selfdrive/ui/layouts/settings/toggles.py:52
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Experimental Mode"
 msgstr "실험 모드"
 
-#: selfdrive/ui/layouts/settings/toggles.py:181
-#, python-format
-msgid ""
-"Experimental mode is currently unavailable on this car since the car's stock "
-"ACC is used for longitudinal control."
-msgstr ""
-"이 차량은 롱컨 제어에 순정 ACC를 사용하므로 현재 실험 모드를 사용할 수 없습"
-"니다."
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
+msgstr "이 차량은 롱컨 제어에 순정 ACC를 사용하므로 현재 실험 모드를 사용할 수 없습니다."
 
-#: system/ui/widgets/network.py:373
-#, python-format
+#: system/ui/widgets/network.py
 msgid "FORGETTING..."
 msgstr "삭제 중..."
 
-#: selfdrive/ui/widgets/setup.py:44
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Finish Setup"
 msgstr "설정 완료"
 
-#: selfdrive/ui/layouts/settings/settings.py:66
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Firehose"
 msgstr "파이어호스"
 
-#: selfdrive/ui/layouts/settings/firehose.py:18
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
 msgid "Firehose Mode"
 msgstr "파이어호스 모드"
 
-#: selfdrive/ui/layouts/settings/firehose.py:25
-msgid ""
-"For maximum effectiveness, bring your device inside and connect to a good "
-"USB-C adapter and Wi-Fi weekly.\n"
-"\n"
-"Firehose Mode can also work while you're driving if connected to a hotspot "
-"or unlimited SIM card.\n"
-"\n"
-"\n"
-"Frequently Asked Questions\n"
-"\n"
-"Does it matter how or where I drive? Nope, just drive as you normally "
-"would.\n"
-"\n"
-"Do all of my segments get pulled in Firehose Mode? No, we selectively pull a "
-"subset of your segments.\n"
-"\n"
-"What's a good USB-C adapter? Any fast phone or laptop charger should be "
-"fine.\n"
-"\n"
-"Does it matter which software I run? Yes, only upstream openpilot (and "
-"particular forks) are able to be used for training."
-msgstr ""
-"최대의 효과를 위해 주 1회는 장치를 실내로 가져와 품질 좋은 USB‑C 어댑터와 "
-"Wi‑Fi에 연결하세요.\n"
-"\n"
-"핫스팟이나 무제한 SIM에 연결되어 있다면 주행 중에도 파이어호스 모드가 동작합니"
-"다.\n"
-"\n"
-"\n"
-"자주 묻는 질문\n"
-"\n"
-"어떻게, 어디서 운전하는지가 중요한가요? 아니요. 평소처럼 운전하세요.\n"
-"\n"
-"파이어호스 모드에서 모든 구간을 가져가지나요? 아니요. 일부 구간만 선택"
-"적으로 가져갑니다.\n"
-"\n"
-"좋은 USB‑C 어댑터는 무엇인가요? 빠른 휴대폰 또는 노트북 충전기면 충분합니"
-"다.\n"
-"\n"
-"어떤 소프트웨어를 실행하는지가 중요한가요? 예. 학습에는 업스트림 "
-"openpilot(및 일부 포크)만 사용할 수 있습니다."
-
-#: system/ui/widgets/network.py:318 system/ui/widgets/network.py:451
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Forget"
 msgstr "삭제"
 
-#: system/ui/widgets/network.py:319
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Forget Wi-Fi Network \"{}\"?"
 msgstr "Wi‑Fi 네트워크 \"{}\"를 삭제하시겠습니까?"
 
-#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "GOOD"
 msgstr "양호"
 
-#: selfdrive/ui/widgets/pairing_dialog.py:128
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Go to https://connect.comma.ai on your phone"
 msgstr "휴대폰에서 https://connect.comma.ai 에 접속하세요"
 
-#: selfdrive/ui/layouts/sidebar.py:129
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "HIGH"
 msgstr "높음"
 
-#: system/ui/widgets/network.py:155
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Hidden Network"
 msgstr "숨겨진 네트워크"
 
-#: selfdrive/ui/layouts/settings/firehose.py:140
-#, python-format
-msgid "INACTIVE: connect to an unmetered network"
-msgstr "비활성: 비종량제 네트워크에 연결하세요"
-
-#: selfdrive/ui/layouts/settings/software.py:53
-#: selfdrive/ui/layouts/settings/software.py:136
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "INSTALL"
 msgstr "설치"
 
-#: system/ui/widgets/network.py:150
-#, python-format
+#: system/ui/widgets/network.py
 msgid "IP Address"
 msgstr "IP 주소"
 
-#: selfdrive/ui/layouts/settings/software.py:53
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Install Update"
 msgstr "업데이트 설치"
 
-#: selfdrive/ui/layouts/settings/developer.py:56
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Joystick Debug Mode"
 msgstr "조이스틱 디버그 모드"
 
-#: selfdrive/ui/widgets/ssh_key.py:29
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "LOADING"
 msgstr "로딩 중"
 
-#: selfdrive/ui/layouts/sidebar.py:48
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "LTE"
 msgstr "LTE"
 
-#: selfdrive/ui/layouts/settings/developer.py:64
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Longitudinal Maneuver Mode"
 msgstr "롱컨 기동 모드"
 
-#: selfdrive/ui/onroad/hud_renderer.py:148
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "MAX"
 msgstr "최대"
 
-#: selfdrive/ui/widgets/setup.py:75
-#, python-format
-msgid ""
-"Maximize your training data uploads to improve openpilot's driving models."
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Maximize your training data uploads to improve openpilot's driving models."
 msgstr "학습 데이터 업로드를 최대화하여 openpilot의 주행 모델을 개선하세요."
 
-#: selfdrive/ui/layouts/settings/device.py:59
-#: selfdrive/ui/layouts/settings/device.py:60
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "N/A"
 msgstr "해당 없음"
 
-#: selfdrive/ui/layouts/sidebar.py:142
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "NO"
 msgstr "아니오"
 
-#: selfdrive/ui/layouts/settings/settings.py:63
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Network"
 msgstr "네트워크"
 
-#: selfdrive/ui/widgets/ssh_key.py:114
-#, python-format
-msgid "No SSH keys found"
-msgstr "SSH 키를 찾을 수 없습니다"
-
-#: selfdrive/ui/widgets/ssh_key.py:126
-#, python-format
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "No SSH keys found for user '{}'"
 msgstr "사용자 '{}'의 SSH 키를 찾을 수 없습니다"
 
-#: selfdrive/ui/widgets/offroad_alerts.py:320
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "No release notes available."
 msgstr "릴리스 노트가 없습니다."
 
-#: selfdrive/ui/layouts/sidebar.py:73 selfdrive/ui/layouts/sidebar.py:134
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "OFFLINE"
 msgstr "오프라인"
 
-#: system/ui/widgets/html_render.py:263 system/ui/widgets/confirm_dialog.py:93
-#: selfdrive/ui/layouts/sidebar.py:127
-#, python-format
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/html_render.py
 msgid "OK"
 msgstr "확인"
 
-#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:136
-#: selfdrive/ui/layouts/sidebar.py:144
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ONLINE"
 msgstr "온라인"
 
-#: selfdrive/ui/widgets/setup.py:20
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Open"
 msgstr "열기"
 
-#: selfdrive/ui/layouts/settings/device.py:48
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "PAIR"
 msgstr "페어링"
 
-#: selfdrive/ui/layouts/sidebar.py:142
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "PANDA"
 msgstr "PANDA"
 
-#: selfdrive/ui/layouts/settings/device.py:62
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "PREVIEW"
 msgstr "미리보기"
 
-#: selfdrive/ui/widgets/prime.py:44
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "PRIME FEATURES:"
 msgstr "프라임 기능:"
 
-#: selfdrive/ui/layouts/settings/device.py:48
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Pair Device"
 msgstr "장치 페어링"
 
-#: selfdrive/ui/widgets/setup.py:19
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Pair device"
 msgstr "장치 페어링"
 
-#: selfdrive/ui/widgets/pairing_dialog.py:103
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Pair your device to your comma account"
 msgstr "장치를 귀하의 comma 계정에 페어링하세요"
 
-#: selfdrive/ui/widgets/setup.py:48 selfdrive/ui/layouts/settings/device.py:24
-#, python-format
-msgid ""
-"Pair your device with comma connect (connect.comma.ai) and claim your comma "
-"prime offer."
-msgstr ""
-"장치를 comma connect(connect.comma.ai)와 페어링하고 comma 프라임 혜택을 받으세"
-"요."
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."
+msgstr "장치를 comma connect(connect.comma.ai)와 페어링하고 comma 프라임 혜택을 받으세요."
 
-#: selfdrive/ui/widgets/setup.py:91
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Please connect to Wi-Fi to complete initial pairing"
 msgstr "초기 페어링을 완료하려면 Wi‑Fi에 연결하세요"
 
-#: selfdrive/ui/layouts/settings/device.py:55
-#: selfdrive/ui/layouts/settings/device.py:187
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Power Off"
 msgstr "전원 끄기"
 
-#: system/ui/widgets/network.py:144
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered Wi-Fi connection"
 msgstr "종량제 Wi‑Fi 연결 시 대용량 업로드 방지"
 
-#: system/ui/widgets/network.py:135
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered cellular connection"
 msgstr "종량제 셀룰러 연결 시 대용량 업로드 방지"
 
-#: selfdrive/ui/layouts/settings/device.py:25
-msgid ""
-"Preview the driver facing camera to ensure that driver monitoring has good "
-"visibility. (vehicle must be off)"
-msgstr ""
-"운전자 모니터링의 가시성을 확인하기 위해 운전자 카메라를 미리 봅니다. (차량"
-"은 꺼져 있어야 합니다)"
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)"
+msgstr "운전자 모니터링의 가시성을 확인하기 위해 운전자 카메라를 미리 봅니다. (차량은 꺼져 있어야 합니다)"
 
-#: selfdrive/ui/widgets/pairing_dialog.py:161
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "QR Code Error"
 msgstr "QR 코드 오류"
 
-#: selfdrive/ui/widgets/ssh_key.py:31
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "REMOVE"
 msgstr "제거"
 
-#: selfdrive/ui/layouts/settings/device.py:51
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "RESET"
 msgstr "재설정"
 
-#: selfdrive/ui/layouts/settings/device.py:65
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "REVIEW"
 msgstr "검토"
 
-#: selfdrive/ui/layouts/settings/device.py:55
-#: selfdrive/ui/layouts/settings/device.py:175
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Reboot"
 msgstr "재시작"
 
-#: selfdrive/ui/onroad/alert_renderer.py:66
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "Reboot Device"
 msgstr "장치 재시작"
 
-#: selfdrive/ui/widgets/offroad_alerts.py:112
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Reboot and Update"
 msgstr "재시작 및 업데이트"
 
-#: selfdrive/ui/layouts/settings/toggles.py:27
-msgid ""
-"Receive alerts to steer back into the lane when your vehicle drifts over a "
-"detected lane line without a turn signal activated while driving over 31 mph "
-"(50 km/h)."
-msgstr ""
-"시속 31mph(50km/h) 이상에서 방향지시등 없이 감지된 차선 밖으로 벗어나면 차선"
-"으로 복귀하라는 경고를 받습니다."
-
-#: selfdrive/ui/layouts/settings/toggles.py:76
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Record and Upload Driver Camera"
 msgstr "운전자 카메라 기록 및 업로드"
 
-#: selfdrive/ui/layouts/settings/toggles.py:82
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Record and Upload Microphone Audio"
 msgstr "마이크 오디오 기록 및 업로드"
 
-#: selfdrive/ui/layouts/settings/toggles.py:33
-msgid ""
-"Record and store microphone audio while driving. The audio will be included "
-"in the dashcam video in comma connect."
-msgstr ""
-"주행 중 마이크 오디오를 기록하고 저장합니다. 오디오는 comma connect의 대시캠 "
-"영상에 포함됩니다."
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."
+msgstr "주행 중 마이크 오디오를 기록하고 저장합니다. 오디오는 comma connect의 대시캠 영상에 포함됩니다."
 
-#: selfdrive/ui/layouts/settings/device.py:67
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Regulatory"
 msgstr "규제 정보"
 
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Relaxed"
 msgstr "편안한"
 
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Remote access"
 msgstr "원격 액세스"
 
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Remote snapshots"
 msgstr "원격 스냅샷"
 
-#: selfdrive/ui/widgets/ssh_key.py:123
-#, python-format
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "Request timed out"
 msgstr "요청 시간이 초과되었습니다"
 
-#: selfdrive/ui/layouts/settings/device.py:119
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Reset"
 msgstr "재설정"
 
-#: selfdrive/ui/layouts/settings/device.py:51
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Reset Calibration"
 msgstr "캘리브레이션 재설정"
 
-#: selfdrive/ui/layouts/settings/device.py:65
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Review Training Guide"
 msgstr "학습 가이드 검토"
 
-#: selfdrive/ui/layouts/settings/device.py:27
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Review the rules, features, and limitations of openpilot"
 msgstr "openpilot의 규칙, 기능 및 제한을 검토"
 
-#: selfdrive/ui/layouts/settings/software.py:61
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "SELECT"
 msgstr "선택"
 
-#: selfdrive/ui/layouts/settings/developer.py:53
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "SSH Keys"
 msgstr "SSH 키"
 
-#: system/ui/widgets/network.py:310
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Scanning Wi-Fi networks..."
 msgstr "Wi‑Fi 네트워크 검색 중..."
 
-#: system/ui/widgets/option_dialog.py:36
-#, python-format
+#: system/ui/widgets/option_dialog.py
 msgid "Select"
 msgstr "선택"
 
-#: selfdrive/ui/layouts/settings/software.py:183
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Select a branch"
 msgstr "브랜치 선택"
 
-#: selfdrive/ui/layouts/settings/device.py:91
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Select a language"
 msgstr "언어 선택"
 
-#: selfdrive/ui/layouts/settings/device.py:60
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Serial"
 msgstr "시리얼"
 
-#: selfdrive/ui/widgets/offroad_alerts.py:106
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Snooze Update"
 msgstr "업데이트 나중에 알림"
 
-#: selfdrive/ui/layouts/settings/settings.py:65
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Software"
 msgstr "소프트웨어"
 
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Standard"
 msgstr "표준"
 
-#: selfdrive/ui/layouts/settings/toggles.py:22
-msgid ""
-"Standard is recommended. In aggressive mode, openpilot will follow lead cars "
-"closer and be more aggressive with the gas and brake. In relaxed mode "
-"openpilot will stay further away from lead cars. On supported cars, you can "
-"cycle through these personalities with your steering wheel distance button."
-msgstr ""
-"표준을 권장합니다. 공격적 모드에서는 앞차를 더 가깝게 따라가고 가감속이 더 적"
-"극적입니다. 편안한 모드에서는 앞차와 거리를 더 둡니다. 지원 차량에서는 스티어"
-"링의 차간 버튼으로 이 성향들을 전환할 수 있습니다."
-
-#: selfdrive/ui/onroad/alert_renderer.py:59
-#: selfdrive/ui/onroad/alert_renderer.py:65
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "System Unresponsive"
 msgstr "시스템 응답 없음"
 
-#: selfdrive/ui/onroad/alert_renderer.py:58
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "TAKE CONTROL IMMEDIATELY"
 msgstr "즉시 수동 조작하세요"
 
-#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
-#: selfdrive/ui/layouts/sidebar.py:127 selfdrive/ui/layouts/sidebar.py:129
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "TEMP"
 msgstr "온도"
 
-#: selfdrive/ui/layouts/settings/software.py:61
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Target Branch"
 msgstr "대상 브랜치"
 
-#: system/ui/widgets/network.py:124
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Tethering Password"
 msgstr "테더링 비밀번호"
 
-#: selfdrive/ui/layouts/settings/settings.py:64
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Toggles"
 msgstr "토글"
 
-#: selfdrive/ui/layouts/settings/software.py:72
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "UI Debug Mode"
+msgstr "UI 디버그 모드"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "UNINSTALL"
 msgstr "제거"
 
-#: selfdrive/ui/layouts/home.py:155
-#, python-format
+#: openpilot/selfdrive/ui/layouts/home.py
 msgid "UPDATE"
 msgstr "업데이트"
 
-#: selfdrive/ui/layouts/settings/software.py:72
-#: selfdrive/ui/layouts/settings/software.py:163
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Uninstall"
 msgstr "제거"
 
-#: selfdrive/ui/layouts/sidebar.py:117
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "Unknown"
 msgstr "알수없음"
 
-#: selfdrive/ui/layouts/settings/software.py:48
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Updates are only downloaded while the car is off."
 msgstr "업데이트는 차량 전원이 꺼져 있을 때만 다운로드됩니다."
 
-#: selfdrive/ui/widgets/prime.py:33
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Upgrade Now"
 msgstr "지금 업그레이드"
 
-#: selfdrive/ui/layouts/settings/toggles.py:31
-msgid ""
-"Upload data from the driver facing camera and help improve the driver "
-"monitoring algorithm."
-msgstr ""
-"운전자 방향 카메라 데이터를 업로드하여 운전자 모니터링 알고리즘 개선에 도움"
-"을 주세요."
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Upload data from the driver facing camera and help improve the driver monitoring algorithm."
+msgstr "운전자 방향 카메라 데이터를 업로드하여 운전자 모니터링 알고리즘 개선에 도움을 주세요."
 
-#: selfdrive/ui/layouts/settings/toggles.py:88
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Use Metric System"
 msgstr "미터법 사용"
 
-#: selfdrive/ui/layouts/settings/toggles.py:17
-msgid ""
-"Use the openpilot system for adaptive cruise control and lane keep driver "
-"assistance. Your attention is required at all times to use this feature."
-msgstr ""
-"ACC 및 차선 유지 보조에 openpilot을 사용합니다. 이 기능을 사용할 때는 항상 주"
-"의가 필요합니다."
-
-#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:144
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "VEHICLE"
 msgstr "차량"
 
-#: selfdrive/ui/layouts/settings/device.py:67
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "VIEW"
 msgstr "보기"
 
-#: selfdrive/ui/onroad/alert_renderer.py:52
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "Waiting to start"
 msgstr "시작 대기 중"
 
-#: selfdrive/ui/layouts/settings/developer.py:19
-msgid ""
-"Warning: This grants SSH access to all public keys in your GitHub settings. "
-"Never enter a GitHub username other than your own. A comma employee will "
-"NEVER ask you to add their GitHub username."
-msgstr ""
-"경고: 이는 GitHub 설정의 모든 공개 키에 SSH 액세스를 부여합니다. 자신의 것이 "
-"아닌 GitHub 사용자 이름을 절대 입력하지 마세요. comma 직원이 본인의 GitHub 사"
-"용자 이름 추가를 요구하는 일은 결코 없습니다."
-
-#: selfdrive/ui/layouts/onboarding.py:111
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Welcome to openpilot"
 msgstr "openpilot에 오신 것을 환영합니다"
 
-#: selfdrive/ui/layouts/settings/toggles.py:20
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "When enabled, pressing the accelerator pedal will disengage openpilot."
 msgstr "이 옵션을 켜면 가속 페달을 밟을 때 openpilot이 해제됩니다."
 
-#: selfdrive/ui/layouts/sidebar.py:44
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "Wi-Fi"
 msgstr "Wi‑Fi"
 
-#: system/ui/widgets/network.py:144
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Wi-Fi Network Metered"
 msgstr "Wi‑Fi 네트워크 종량제"
 
-#: system/ui/widgets/network.py:314
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Wrong password"
 msgstr "비밀번호가 올바르지 않습니다"
 
-#: selfdrive/ui/layouts/onboarding.py:145
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "You must accept the Terms and Conditions in order to use openpilot."
 msgstr "openpilot을 사용하려면 약관에 동의해야 합니다."
 
-#: selfdrive/ui/layouts/onboarding.py:112
-#, python-format
-msgid ""
-"You must accept the Terms and Conditions to use openpilot. Read the latest "
-"terms at https://comma.ai/terms before continuing."
-msgstr ""
-"openpilot을 사용하려면 약관에 동의해야 합니다. 계속하기 전에 https://comma."
-"ai/terms 에서 최신 약관을 읽어주세요."
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "You must accept the Terms and Conditions to use openpilot. Read the latest terms at https://comma.ai/terms before continuing."
+msgstr "openpilot을 사용하려면 약관에 동의해야 합니다. 계속하기 전에 https://comma.ai/terms 에서 최신 약관을 읽어주세요."
 
-#: selfdrive/ui/onroad/driver_camera_dialog.py:34
-#, python-format
+#: openpilot/selfdrive/ui/onroad/driver_camera_dialog.py
 msgid "camera starting"
 msgstr "카메라 시작 중"
 
-#: selfdrive/ui/widgets/prime.py:63
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "checking..."
+msgstr "확인 중..."
+
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "comma prime"
 msgstr "comma 프라임"
 
-#: system/ui/widgets/network.py:142
-#, python-format
+#: system/ui/widgets/network.py
 msgid "default"
 msgstr "기본값"
 
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "down"
 msgstr "아래"
 
-#: selfdrive/ui/layouts/settings/software.py:106
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "downloading..."
+msgstr "다운로드 중..."
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "failed to check for update"
 msgstr "업데이트 확인 실패"
 
-#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "finalizing update..."
+msgstr "업데이트 마무리 중..."
+
+#: system/ui/widgets/network.py
 msgid "for \"{}\""
 msgstr "\"{}\"용"
 
-#: selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "km/h"
 msgstr "km/h"
 
-#: system/ui/widgets/network.py:204
-#, python-format
+#: system/ui/widgets/network.py
 msgid "leave blank for automatic configuration"
 msgstr "자동 구성을 사용하려면 비워 두세요"
 
-#: selfdrive/ui/layouts/settings/device.py:134
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "left"
 msgstr "왼쪽"
 
-#: system/ui/widgets/network.py:142
-#, python-format
+#: system/ui/widgets/network.py
 msgid "metered"
 msgstr "종량제"
 
-#: selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "mph"
 msgstr "mph"
 
-#: selfdrive/ui/layouts/settings/software.py:20
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "never"
 msgstr "없음"
 
-#: selfdrive/ui/layouts/settings/software.py:31
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "now"
 msgstr "지금"
 
-#: selfdrive/ui/layouts/settings/developer.py:71
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "openpilot Longitudinal Control (Alpha)"
 msgstr "openpilot 롱컨 제어(알파)"
 
-#: selfdrive/ui/onroad/alert_renderer.py:51
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "openpilot Unavailable"
 msgstr "openpilot 사용 불가"
 
-#: selfdrive/ui/layouts/settings/toggles.py:158
-#, python-format
-msgid ""
-"openpilot defaults to driving in chill mode. Experimental mode enables alpha-"
-"level features that aren't ready for chill mode. Experimental features are "
-"listed below:<br><h4>End-to-End Longitudinal Control</h4><br>Let the driving "
-"model control the gas and brakes. openpilot will drive as it thinks a human "
-"would, including stopping for red lights and stop signs. Since the driving "
-"model decides the speed to drive, the set speed will only act as an upper "
-"bound. This is an alpha quality feature; mistakes should be expected."
-"<br><h4>New Driving Visualization</h4><br>The driving visualization will "
-"transition to the road-facing wide-angle camera at low speeds to better show "
-"some turns. The Experimental mode logo will also be shown in the top right "
-"corner."
-msgstr ""
-"openpilot은 기본적으로 안정적 모드로 주행합니다. 실험 모드를 사용하면 안정적 모드에 "
-"아직 준비되지 않은 알파 수준의 기능이 활성화됩니다. 실험 기능은 아래와 같습니"
-"다:<br><h4>엔드투엔드 롱컨 제어</h4><br>주행 모델이 가속과 제동을 제어합니"
-"다. openpilot은 빨간 신호 및 정지 표지에서의 정지를 포함해 사람이 운전한다고 "
-"판단하는 방식으로 주행합니다. 주행 속도는 모델이 결정하므로 설정 속도는 상한"
-"으로만 동작합니다. 알파 품질 기능이므로 오작동이 발생할 수 있습니다.<br><h4>"
-"새로운 주행 시각화</h4><br>저속에서는 도로 방향의 광각 카메라로 전환되어 일"
-"부 회전을 더 잘 보여줍니다. 화면 오른쪽 위에는 실험 모드 로고도 표시됩니다."
-
-#: selfdrive/ui/layouts/settings/device.py:165
-#, python-format
-msgid ""
-"openpilot is continuously calibrating, resetting is rarely required. "
-"Resetting calibration will restart openpilot if the car is powered on."
-msgstr ""
-"openpilot은 지속적으로 보정을 진행하므로 재설정이 필요한 경우는 드뭅니다. 차"
-"량 전원이 켜져 있을 때 보정을 재설정하면 openpilot이 재시작됩니다."
-
-#: selfdrive/ui/layouts/settings/firehose.py:20
-msgid ""
-"openpilot learns to drive by watching humans, like you, drive.\n"
-"\n"
-"Firehose Mode allows you to maximize your training data uploads to improve "
-"openpilot's driving models. More data means bigger models, which means "
-"better Experimental Mode."
-msgstr ""
-"openpilot은 당신과 같은 사람의 운전을 보며 운전을 학습합니다.\n"
-"\n"
-"Firehose 모드는 학습 데이터 업로드를 최대화하여 openpilot의 주행 모델을 개선"
-"할 수 있게 해줍니다. 데이터가 많을수록 모델은 커지고, 실험 모드는 더 좋아집니"
-"다."
-
-#: selfdrive/ui/layouts/settings/toggles.py:183
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "openpilot longitudinal control may come in a future update."
 msgstr "openpilot 롱컨 제어는 향후 업데이트에서 제공될 수 있습니다."
 
-#: selfdrive/ui/layouts/settings/device.py:26
-msgid ""
-"openpilot requires the device to be mounted within 4° left or right and "
-"within 5° up or 9° down."
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down."
 msgstr "openpilot은 장치를 좌우 4°, 위쪽 5°, 아래쪽 9° 이내로 장착해야 합니다."
 
-#: selfdrive/ui/layouts/settings/device.py:134
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "right"
 msgstr "오른쪽"
 
-#: system/ui/widgets/network.py:142
-#, python-format
+#: system/ui/widgets/network.py
 msgid "unmetered"
 msgstr "비종량제"
 
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "up"
 msgstr "위"
 
-#: selfdrive/ui/layouts/settings/software.py:117
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "up to date, last checked never"
 msgstr "최신입니다. 마지막 확인: 없음"
 
-#: selfdrive/ui/layouts/settings/software.py:115
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "up to date, last checked {}"
 msgstr "최신입니다. 마지막 확인: {}"
 
-#: selfdrive/ui/layouts/settings/software.py:109
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "update available"
 msgstr "업데이트 가능"
 
-#: selfdrive/ui/layouts/home.py:169
-#, python-format
+#: openpilot/selfdrive/ui/layouts/home.py
 msgid "{} ALERT"
 msgid_plural "{} ALERTS"
 msgstr[0] "{}건의 알림"
 
-#: selfdrive/ui/layouts/settings/software.py:40
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "{} day ago"
 msgid_plural "{} days ago"
 msgstr[0] "{}일 전"
 
-#: selfdrive/ui/layouts/settings/software.py:37
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "{} hour ago"
 msgid_plural "{} hours ago"
 msgstr[0] "{}시간 전"
 
-#: selfdrive/ui/layouts/settings/software.py:34
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "{} minute ago"
 msgid_plural "{} minutes ago"
 msgstr[0] "{}분 전"
 
-#: selfdrive/ui/layouts/settings/firehose.py:111
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
 msgid "{} segment of your driving is in the training dataset so far."
 msgid_plural "{} segments of your driving is in the training dataset so far."
 msgstr[0] "현재까지 귀하의 주행 {}구간이 학습 데이터셋에 포함되었습니다."
 
-#: selfdrive/ui/widgets/prime.py:62
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "✓ SUBSCRIBED"
 msgstr "✓ 구독됨"
 
-#: selfdrive/ui/widgets/setup.py:22
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "🔥 Firehose Mode 🔥"
 msgstr "🔥 파이어호스 모드 🔥"
+
diff --git a/selfdrive/ui/translations/app_pt-BR.po b/selfdrive/ui/translations/app_pt-BR.po
index 84b53c6e8d9..58f20944794 100644
--- a/selfdrive/ui/translations/app_pt-BR.po
+++ b/selfdrive/ui/translations/app_pt-BR.po
@@ -1,1220 +1,825 @@
-# Language pt-BR translations for PACKAGE package.
-# Copyright (C) 2025 THE PACKAGE'S COPYRIGHT HOLDER
-# This file is distributed under the same license as the PACKAGE package.
-# Automatically generated, 2025.
-#
 msgid ""
 msgstr ""
-"Project-Id-Version: PACKAGE VERSION\n"
-"Report-Msgid-Bugs-To: \n"
-"POT-Creation-Date: 2025-10-23 00:50-0700\n"
-"PO-Revision-Date: 2025-10-21 00:00-0700\n"
-"Last-Translator: Automatically generated\n"
-"Language-Team: none\n"
-"Language: pt-BR\n"
-"MIME-Version: 1.0\n"
 "Content-Type: text/plain; charset=UTF-8\n"
-"Content-Transfer-Encoding: 8bit\n"
+"Language: pt-BR\n"
 "Plural-Forms: nplurals=2; plural=(n > 1);\n"
-"X-Language: pt_BR\n"
-"X-Source-Language: C\n"
 
-#: selfdrive/ui/layouts/settings/device.py:160
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid " Steering torque response calibration is complete."
 msgstr " A calibração da resposta de torque da direção foi concluída."
 
-#: selfdrive/ui/layouts/settings/device.py:158
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid " Steering torque response calibration is {}% complete."
 msgstr " A calibração da resposta de torque da direção está {}% concluída."
 
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid " Your device is pointed {:.1f}° {} and {:.1f}° {}."
 msgstr " Seu dispositivo está apontado {:.1f}° {} e {:.1f}° {}."
 
-#: selfdrive/ui/layouts/sidebar.py:43
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "--"
 msgstr "--"
 
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "1 year of drive storage"
 msgstr "1 ano de armazenamento de condução"
 
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "24/7 LTE connectivity"
 msgstr "Conectividade LTE 24/7"
 
-#: selfdrive/ui/layouts/sidebar.py:46
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "2G"
 msgstr "2G"
 
-#: selfdrive/ui/layouts/sidebar.py:47
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "3G"
 msgstr "3G"
 
-#: selfdrive/ui/layouts/sidebar.py:49
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "5G"
 msgstr "5G"
 
-#: selfdrive/ui/layouts/settings/developer.py:23
-msgid ""
-"<b>WARNING: openpilot longitudinal control is in alpha for this car and will "
-"disable Automatic Emergency Braking (AEB).</b><br><br>On this car, openpilot "
-"defaults to the car's built-in ACC instead of openpilot's longitudinal "
-"control. Enable this to switch to openpilot longitudinal control. Enabling "
-"Experimental mode is recommended when enabling openpilot longitudinal "
-"control alpha. Changing this setting will restart openpilot if the car is "
-"powered on."
-msgstr ""
-"<b>AVISO: o controle longitudinal do openpilot está em alpha para este carro "
-"e desativará a Frenagem Automática de Emergência (AEB).</b><br><br>Neste "
-"carro, o openpilot usa por padrão o ACC integrado do carro em vez do "
-"controle longitudinal do openpilot. Ative isto para alternar para o controle "
-"longitudinal do openpilot. Recomenda-se ativar o Modo Experimental ao ativar "
-"o controle longitudinal do openpilot em alpha."
-
-#: selfdrive/ui/layouts/settings/device.py:148
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "<br><br>Steering lag calibration is complete."
 msgstr "<br><br>A calibração da latência da direção está concluída."
 
-#: selfdrive/ui/layouts/settings/device.py:146
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "<br><br>Steering lag calibration is {}% complete."
 msgstr "<br><br>A calibração da latência da direção está {}% concluída."
 
-#: selfdrive/ui/layouts/settings/firehose.py:138
-#, python-format
-msgid "ACTIVE"
-msgstr "ATIVO"
-
-#: selfdrive/ui/layouts/settings/developer.py:15
-msgid ""
-"ADB (Android Debug Bridge) allows connecting to your device over USB or over "
-"the network. See https://docs.comma.ai/how-to/connect-to-comma for more info."
-msgstr ""
-"ADB (Android Debug Bridge) permite conectar ao seu dispositivo via USB ou "
-"pela rede. Veja https://docs.comma.ai/how-to/connect-to-comma para mais "
-"informações."
-
-#: selfdrive/ui/widgets/ssh_key.py:30
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "ADD"
 msgstr "ADICIONAR"
 
-#: system/ui/widgets/network.py:139
-#, python-format
+#: system/ui/widgets/network.py
 msgid "APN Setting"
 msgstr "Configuração de APN"
 
-#: selfdrive/ui/widgets/offroad_alerts.py:109
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Acknowledge Excessive Actuation"
 msgstr "Reconhecer Atuação Excessiva"
 
-#: system/ui/widgets/network.py:74 system/ui/widgets/network.py:95
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Advanced"
 msgstr "Avançado"
 
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Aggressive"
 msgstr "Agressivo"
 
-#: selfdrive/ui/layouts/onboarding.py:116
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Agree"
 msgstr "Concordo"
 
-#: selfdrive/ui/layouts/settings/toggles.py:70
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Always-On Driver Monitoring"
 msgstr "Monitoramento de Motorista Sempre Ativo"
 
-#: selfdrive/ui/layouts/settings/toggles.py:186
-#, python-format
-msgid ""
-"An alpha version of openpilot longitudinal control can be tested, along with "
-"Experimental mode, on non-release branches."
-msgstr ""
-"Uma versão alpha do controle longitudinal do openpilot pode ser testada, "
-"junto com o Modo Experimental, em ramificações fora de release."
-
-#: selfdrive/ui/layouts/settings/device.py:187
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Are you sure you want to power off?"
 msgstr "Tem certeza de que deseja desligar?"
 
-#: selfdrive/ui/layouts/settings/device.py:175
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Are you sure you want to reboot?"
 msgstr "Tem certeza de que deseja reiniciar?"
 
-#: selfdrive/ui/layouts/settings/device.py:119
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Are you sure you want to reset calibration?"
 msgstr "Tem certeza de que deseja redefinir a calibração?"
 
-#: selfdrive/ui/layouts/settings/software.py:163
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Are you sure you want to uninstall?"
 msgstr "Tem certeza de que deseja desinstalar?"
 
-#: system/ui/widgets/network.py:99 selfdrive/ui/layouts/onboarding.py:147
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+#: system/ui/widgets/network.py
 msgid "Back"
 msgstr "Voltar"
 
-#: selfdrive/ui/widgets/prime.py:38
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Become a comma prime member at connect.comma.ai"
 msgstr "Torne-se membro comma prime em connect.comma.ai"
 
-#: selfdrive/ui/widgets/pairing_dialog.py:130
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
 msgstr "Adicione connect.comma.ai à tela inicial para usá-lo como um app"
 
-#: selfdrive/ui/layouts/settings/device.py:68
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "CHANGE"
 msgstr "ALTERAR"
 
-#: selfdrive/ui/layouts/settings/software.py:50
-#: selfdrive/ui/layouts/settings/software.py:107
-#: selfdrive/ui/layouts/settings/software.py:118
-#: selfdrive/ui/layouts/settings/software.py:147
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "CHECK"
 msgstr "VERIFICAR"
 
-#: selfdrive/ui/widgets/exp_mode_button.py:50
-#, python-format
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
 msgid "CHILL MODE ON"
 msgstr "MODO CHILL ATIVO"
 
-#: system/ui/widgets/network.py:155 selfdrive/ui/layouts/sidebar.py:73
-#: selfdrive/ui/layouts/sidebar.py:134 selfdrive/ui/layouts/sidebar.py:136
-#: selfdrive/ui/layouts/sidebar.py:138
-#, python-format
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/network.py
 msgid "CONNECT"
 msgstr "CONECTAR"
 
-#: system/ui/widgets/network.py:369
-#, python-format
+#: system/ui/widgets/network.py
 msgid "CONNECTING..."
 msgstr "CONECTANDO..."
 
-#: system/ui/widgets/confirm_dialog.py:23
-#: system/ui/widgets/option_dialog.py:35 system/ui/widgets/keyboard.py:81
-#: system/ui/widgets/network.py:318
-#, python-format
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/keyboard.py
+#: system/ui/widgets/network.py
+#: system/ui/widgets/option_dialog.py
 msgid "Cancel"
 msgstr "Cancelar"
 
-#: system/ui/widgets/network.py:134
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Cellular Metered"
 msgstr "Dados móveis limitados"
 
-#: selfdrive/ui/layouts/settings/device.py:68
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Change Language"
 msgstr "Alterar Idioma"
 
-#: selfdrive/ui/layouts/settings/toggles.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Changing this setting will restart openpilot if the car is powered on."
-msgstr ""
-"Alterar esta configuração reiniciará o openpilot se o carro estiver ligado."
+msgstr "Alterar esta configuração reiniciará o openpilot se o carro estiver ligado."
 
-#: selfdrive/ui/widgets/pairing_dialog.py:129
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Click \"add new device\" and scan the QR code on the right"
 msgstr "Toque em \"adicionar novo dispositivo\" e escaneie o QR code à direita"
 
-#: selfdrive/ui/widgets/offroad_alerts.py:104
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Close"
 msgstr "Fechar"
 
-#: selfdrive/ui/layouts/settings/software.py:49
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Current Version"
 msgstr "Versão Atual"
 
-#: selfdrive/ui/layouts/settings/software.py:110
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "DOWNLOAD"
 msgstr "BAIXAR"
 
-#: selfdrive/ui/layouts/onboarding.py:115
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Decline"
 msgstr "Recusar"
 
-#: selfdrive/ui/layouts/onboarding.py:148
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Decline, uninstall openpilot"
 msgstr "Recusar, desinstalar o openpilot"
 
-#: selfdrive/ui/layouts/settings/settings.py:67
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Developer"
 msgstr "Desenvolv"
 
-#: selfdrive/ui/layouts/settings/settings.py:62
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Device"
 msgstr "Dispositivo"
 
-#: selfdrive/ui/layouts/settings/toggles.py:58
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Disengage on Accelerator Pedal"
 msgstr "Desativar ao pressionar o acelerador"
 
-#: selfdrive/ui/layouts/settings/device.py:184
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Disengage to Power Off"
 msgstr "Desativar para Desligar"
 
-#: selfdrive/ui/layouts/settings/device.py:172
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Disengage to Reboot"
 msgstr "Desativar para Reiniciar"
 
-#: selfdrive/ui/layouts/settings/device.py:103
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Disengage to Reset Calibration"
 msgstr "Desativar para Redefinir Calibração"
 
-#: selfdrive/ui/layouts/settings/toggles.py:32
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Display speed in km/h instead of mph."
 msgstr "Exibir velocidade em km/h em vez de mph."
 
-#: selfdrive/ui/layouts/settings/device.py:59
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Dongle ID"
 msgstr "ID do Dongle"
 
-#: selfdrive/ui/layouts/settings/software.py:50
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Download"
 msgstr "Baixar"
 
-#: selfdrive/ui/layouts/settings/device.py:62
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Driver Camera"
 msgstr "Câmera do Motorista"
 
-#: selfdrive/ui/layouts/settings/toggles.py:96
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Driving Personality"
 msgstr "Personalidade"
 
-#: system/ui/widgets/network.py:123 system/ui/widgets/network.py:139
-#, python-format
+#: system/ui/widgets/network.py
 msgid "EDIT"
 msgstr "EDITAR"
 
-#: selfdrive/ui/layouts/sidebar.py:138
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ERROR"
 msgstr "ERRO"
 
-#: selfdrive/ui/layouts/sidebar.py:45
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ETH"
 msgstr "ETH"
 
-#: selfdrive/ui/widgets/exp_mode_button.py:50
-#, python-format
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
 msgid "EXPERIMENTAL MODE ON"
 msgstr "MODO EXPERIMENTAL ATIVO"
 
-#: selfdrive/ui/layouts/settings/developer.py:166
-#: selfdrive/ui/layouts/settings/toggles.py:228
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable"
 msgstr "Ativar"
 
-#: selfdrive/ui/layouts/settings/developer.py:39
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Enable ADB"
 msgstr "Ativar ADB"
 
-#: selfdrive/ui/layouts/settings/toggles.py:64
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable Lane Departure Warnings"
 msgstr "Ativar alertas de saída de faixa"
 
-#: system/ui/widgets/network.py:129
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enable Roaming"
-msgstr "Ativar openpilot"
+msgstr "Ativar roaming"
 
-#: selfdrive/ui/layouts/settings/developer.py:48
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Enable SSH"
 msgstr "Ativar SSH"
 
-#: system/ui/widgets/network.py:120
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enable Tethering"
-msgstr "Ativar alertas de saída de faixa"
+msgstr "Ativar compartilhamento"
 
-#: selfdrive/ui/layouts/settings/toggles.py:30
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable driver monitoring even when openpilot is not engaged."
-msgstr ""
-"Ativar monitoramento do motorista mesmo quando o openpilot não está engajado."
+msgstr "Ativar monitoramento do motorista mesmo quando o openpilot não está engajado."
 
-#: selfdrive/ui/layouts/settings/toggles.py:46
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable openpilot"
 msgstr "Ativar openpilot"
 
-#: selfdrive/ui/layouts/settings/toggles.py:189
-#, python-format
-msgid ""
-"Enable the openpilot longitudinal control (alpha) toggle to allow "
-"Experimental mode."
-msgstr ""
-"Ative a opção de controle longitudinal do openpilot (alpha) para permitir o "
-"Modo Experimental."
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode."
+msgstr "Ative a opção de controle longitudinal do openpilot (alpha) para permitir o Modo Experimental."
 
-#: system/ui/widgets/network.py:204
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter APN"
 msgstr "Digite APN"
 
-#: system/ui/widgets/network.py:241
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter SSID"
 msgstr "Digite SSID"
 
-#: system/ui/widgets/network.py:254
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter new tethering password"
 msgstr "Digite nova senha tethering"
 
-#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter password"
 msgstr "Digite a senha"
 
-#: selfdrive/ui/widgets/ssh_key.py:89
-#, python-format
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "Enter your GitHub username"
 msgstr "Digite seu nome de usuário do GitHub"
 
-#: system/ui/widgets/list_view.py:123 system/ui/widgets/list_view.py:160
-#, python-format
+#: system/ui/widgets/list_view.py
 msgid "Error"
 msgstr "Erro"
 
-#: selfdrive/ui/layouts/settings/toggles.py:52
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Experimental Mode"
 msgstr "Modo Experimental"
 
-#: selfdrive/ui/layouts/settings/toggles.py:181
-#, python-format
-msgid ""
-"Experimental mode is currently unavailable on this car since the car's stock "
-"ACC is used for longitudinal control."
-msgstr ""
-"O Modo Experimental está indisponível neste carro pois o ACC original do "
-"carro é usado para controle longitudinal."
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
+msgstr "O Modo Experimental está indisponível neste carro pois o ACC original do carro é usado para controle longitudinal."
 
-#: system/ui/widgets/network.py:373
-#, python-format
+#: system/ui/widgets/network.py
 msgid "FORGETTING..."
 msgstr "ESQUECENDO..."
 
-#: selfdrive/ui/widgets/setup.py:44
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Finish Setup"
 msgstr "Configure"
 
-#: selfdrive/ui/layouts/settings/settings.py:66
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Firehose"
-msgstr "Firehose"
+msgstr "Fluxo contínuo"
 
-#: selfdrive/ui/layouts/settings/firehose.py:18
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
 msgid "Firehose Mode"
 msgstr "Modo Firehose"
 
-#: selfdrive/ui/layouts/settings/firehose.py:25
-msgid ""
-"For maximum effectiveness, bring your device inside and connect to a good "
-"USB-C adapter and Wi-Fi weekly.\n"
-"\n"
-"Firehose Mode can also work while you're driving if connected to a hotspot "
-"or unlimited SIM card.\n"
-"\n"
-"\n"
-"Frequently Asked Questions\n"
-"\n"
-"Does it matter how or where I drive? Nope, just drive as you normally "
-"would.\n"
-"\n"
-"Do all of my segments get pulled in Firehose Mode? No, we selectively pull a "
-"subset of your segments.\n"
-"\n"
-"What's a good USB-C adapter? Any fast phone or laptop charger should be "
-"fine.\n"
-"\n"
-"Does it matter which software I run? Yes, only upstream openpilot (and "
-"particular forks) are able to be used for training."
-msgstr ""
-"Para máxima efetividade, leve seu dispositivo para dentro e conecte a um bom "
-"adaptador USB-C e Wi‑Fi semanalmente.\n"
-"\n"
-"O Modo Firehose também pode funcionar enquanto você dirige se estiver "
-"conectado a um hotspot ou a um SIM ilimitado.\n"
-"\n"
-"\n"
-"Perguntas Frequentes\n"
-"\n"
-"Importa como ou onde eu dirijo? Não, apenas dirija como normalmente.\n"
-"\n"
-"Todos os meus segmentos são puxados no Modo Firehose? Não, puxamos "
-"seletivamente um subconjunto dos seus segmentos.\n"
-"\n"
-"Qual é um bom adaptador USB‑C? Qualquer carregador rápido de telefone ou "
-"laptop serve.\n"
-"\n"
-"Importa qual software eu executo? Sim, apenas o openpilot upstream (e forks "
-"específicos) podem ser usados para treinamento."
-
-#: system/ui/widgets/network.py:318 system/ui/widgets/network.py:451
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Forget"
 msgstr "Esquecer"
 
-#: system/ui/widgets/network.py:319
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Forget Wi-Fi Network \"{}\"?"
 msgstr "Esquecer rede Wi-Fi \"{}\"?"
 
-#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "GOOD"
 msgstr "BOM"
 
-#: selfdrive/ui/widgets/pairing_dialog.py:128
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Go to https://connect.comma.ai on your phone"
 msgstr "Acesse https://connect.comma.ai no seu telefone"
 
-#: selfdrive/ui/layouts/sidebar.py:129
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "HIGH"
 msgstr "ALTO"
 
-#: system/ui/widgets/network.py:155
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Hidden Network"
-msgstr "Rede"
+msgstr "Rede oculta"
 
-#: selfdrive/ui/layouts/settings/firehose.py:140
-#, python-format
-msgid "INACTIVE: connect to an unmetered network"
-msgstr "INATIVO: conecte a uma rede sem franquia"
-
-#: selfdrive/ui/layouts/settings/software.py:53
-#: selfdrive/ui/layouts/settings/software.py:136
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "INSTALL"
 msgstr "INSTALAR"
 
-#: system/ui/widgets/network.py:150
-#, python-format
+#: system/ui/widgets/network.py
 msgid "IP Address"
 msgstr "Endereço IP"
 
-#: selfdrive/ui/layouts/settings/software.py:53
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Install Update"
 msgstr "Instalar Atualização"
 
-#: selfdrive/ui/layouts/settings/developer.py:56
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Joystick Debug Mode"
 msgstr "Modo de Depuração do Joystick"
 
-#: selfdrive/ui/widgets/ssh_key.py:29
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "LOADING"
 msgstr "CARREGANDO"
 
-#: selfdrive/ui/layouts/sidebar.py:48
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "LTE"
 msgstr "LTE"
 
-#: selfdrive/ui/layouts/settings/developer.py:64
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Longitudinal Maneuver Mode"
 msgstr "Modo de Manobra Longitudinal"
 
-#: selfdrive/ui/onroad/hud_renderer.py:148
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "MAX"
 msgstr "MÁX"
 
-#: selfdrive/ui/widgets/setup.py:75
-#, python-format
-msgid ""
-"Maximize your training data uploads to improve openpilot's driving models."
-msgstr ""
-"Maximize seus envios de dados de treinamento para melhorar os modelos de "
-"condução do openpilot."
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Maximize your training data uploads to improve openpilot's driving models."
+msgstr "Maximize seus envios de dados de treinamento para melhorar os modelos de condução do openpilot."
 
-#: selfdrive/ui/layouts/settings/device.py:59
-#: selfdrive/ui/layouts/settings/device.py:60
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "N/A"
-msgstr "N/A"
+msgstr "Indisp."
 
-#: selfdrive/ui/layouts/sidebar.py:142
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "NO"
 msgstr "NÃO"
 
-#: selfdrive/ui/layouts/settings/settings.py:63
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Network"
 msgstr "Rede"
 
-#: selfdrive/ui/widgets/ssh_key.py:114
-#, python-format
-msgid "No SSH keys found"
-msgstr "Nenhuma chave SSH encontrada"
-
-#: selfdrive/ui/widgets/ssh_key.py:126
-#, python-format
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "No SSH keys found for user '{}'"
-msgstr "Nenhuma chave SSH encontrada para o usuário '{username}'"
+msgstr "Nenhuma chave SSH encontrada para o usuário '{}'"
 
-#: selfdrive/ui/widgets/offroad_alerts.py:320
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "No release notes available."
 msgstr "Sem notas de versão disponíveis."
 
-#: selfdrive/ui/layouts/sidebar.py:73 selfdrive/ui/layouts/sidebar.py:134
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "OFFLINE"
-msgstr "OFFLINE"
+msgstr "OFF-LINE"
 
-#: system/ui/widgets/html_render.py:263 system/ui/widgets/confirm_dialog.py:93
-#: selfdrive/ui/layouts/sidebar.py:127
-#, python-format
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/html_render.py
 msgid "OK"
 msgstr "OK"
 
-#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:136
-#: selfdrive/ui/layouts/sidebar.py:144
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ONLINE"
-msgstr "ONLINE"
+msgstr "ON-LINE"
 
-#: selfdrive/ui/widgets/setup.py:20
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Open"
 msgstr "Abrir"
 
-#: selfdrive/ui/layouts/settings/device.py:48
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "PAIR"
 msgstr "EMPARELHAR"
 
-#: selfdrive/ui/layouts/sidebar.py:142
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "PANDA"
 msgstr "PANDA"
 
-#: selfdrive/ui/layouts/settings/device.py:62
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "PREVIEW"
 msgstr "PRÉVIA"
 
-#: selfdrive/ui/widgets/prime.py:44
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "PRIME FEATURES:"
 msgstr "RECURSOS PRIME:"
 
-#: selfdrive/ui/layouts/settings/device.py:48
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Pair Device"
 msgstr "Emparelhar Dispositivo"
 
-#: selfdrive/ui/widgets/setup.py:19
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Pair device"
 msgstr "Emparelhar dispositivo"
 
-#: selfdrive/ui/widgets/pairing_dialog.py:103
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Pair your device to your comma account"
 msgstr "Emparelhe seu dispositivo à sua conta comma"
 
-#: selfdrive/ui/widgets/setup.py:48 selfdrive/ui/layouts/settings/device.py:24
-#, python-format
-msgid ""
-"Pair your device with comma connect (connect.comma.ai) and claim your comma "
-"prime offer."
-msgstr ""
-"Emparelhe seu dispositivo com o comma connect (connect.comma.ai) e resgate "
-"sua oferta comma prime."
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."
+msgstr "Emparelhe seu dispositivo com o comma connect (connect.comma.ai) e resgate sua oferta comma prime."
 
-#: selfdrive/ui/widgets/setup.py:91
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Please connect to Wi-Fi to complete initial pairing"
 msgstr "Conecte-se ao Wi‑Fi para concluir o emparelhamento inicial"
 
-#: selfdrive/ui/layouts/settings/device.py:55
-#: selfdrive/ui/layouts/settings/device.py:187
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Power Off"
 msgstr "Desligar"
 
-#: system/ui/widgets/network.py:144
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered Wi-Fi connection"
 msgstr "Evitar uploads grandes de dados em conexões Wi-Fi limitadas"
 
-#: system/ui/widgets/network.py:135
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered cellular connection"
 msgstr "Evitar uploads grandes de dados em conexões móveis limitadas"
 
-#: selfdrive/ui/layouts/settings/device.py:25
-msgid ""
-"Preview the driver facing camera to ensure that driver monitoring has good "
-"visibility. (vehicle must be off)"
-msgstr ""
-"Pré-visualize a câmera voltada para o motorista para garantir que o "
-"monitoramento do motorista tenha boa visibilidade. (veículo deve estar "
-"desligado)"
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)"
+msgstr "Pré-visualize a câmera voltada para o motorista para garantir que o monitoramento do motorista tenha boa visibilidade. (veículo deve estar desligado)"
 
-#: selfdrive/ui/widgets/pairing_dialog.py:161
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "QR Code Error"
 msgstr "Erro no QR Code"
 
-#: selfdrive/ui/widgets/ssh_key.py:31
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "REMOVE"
 msgstr "REMOVER"
 
-#: selfdrive/ui/layouts/settings/device.py:51
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "RESET"
 msgstr "REDEFINIR"
 
-#: selfdrive/ui/layouts/settings/device.py:65
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "REVIEW"
 msgstr "REVISAR"
 
-#: selfdrive/ui/layouts/settings/device.py:55
-#: selfdrive/ui/layouts/settings/device.py:175
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Reboot"
 msgstr "Reiniciar"
 
-#: selfdrive/ui/onroad/alert_renderer.py:66
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "Reboot Device"
 msgstr "Reiniciar Dispositivo"
 
-#: selfdrive/ui/widgets/offroad_alerts.py:112
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Reboot and Update"
 msgstr "Reiniciar e Atualizar"
 
-#: selfdrive/ui/layouts/settings/toggles.py:27
-msgid ""
-"Receive alerts to steer back into the lane when your vehicle drifts over a "
-"detected lane line without a turn signal activated while driving over 31 mph "
-"(50 km/h)."
-msgstr ""
-"Receba alertas para voltar à faixa quando seu veículo cruzar uma linha de "
-"faixa detectada sem seta ativada ao dirigir acima de 31 mph (50 km/h)."
-
-#: selfdrive/ui/layouts/settings/toggles.py:76
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Record and Upload Driver Camera"
 msgstr "Gravar e Enviar Câmera do Motorista"
 
-#: selfdrive/ui/layouts/settings/toggles.py:82
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Record and Upload Microphone Audio"
 msgstr "Gravar e Enviar Áudio do Microfone"
 
-#: selfdrive/ui/layouts/settings/toggles.py:33
-msgid ""
-"Record and store microphone audio while driving. The audio will be included "
-"in the dashcam video in comma connect."
-msgstr ""
-"Grave e armazene o áudio do microfone enquanto dirige. O áudio será incluído "
-"no vídeo da dashcam no comma connect."
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."
+msgstr "Grave e armazene o áudio do microfone enquanto dirige. O áudio será incluído no vídeo da dashcam no comma connect."
 
-#: selfdrive/ui/layouts/settings/device.py:67
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Regulatory"
 msgstr "Regulatório"
 
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Relaxed"
 msgstr "Relaxado"
 
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Remote access"
 msgstr "Acesso remoto"
 
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Remote snapshots"
 msgstr "Capturas remotas"
 
-#: selfdrive/ui/widgets/ssh_key.py:123
-#, python-format
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "Request timed out"
 msgstr "Tempo da solicitação esgotado"
 
-#: selfdrive/ui/layouts/settings/device.py:119
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Reset"
 msgstr "Redefinir"
 
-#: selfdrive/ui/layouts/settings/device.py:51
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Reset Calibration"
 msgstr "Redefinir Calibração"
 
-#: selfdrive/ui/layouts/settings/device.py:65
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Review Training Guide"
 msgstr "Revisar Guia de Treinamento"
 
-#: selfdrive/ui/layouts/settings/device.py:27
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Review the rules, features, and limitations of openpilot"
 msgstr "Revise as regras, recursos e limitações do openpilot"
 
-#: selfdrive/ui/layouts/settings/software.py:61
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "SELECT"
 msgstr "SELECIONAR"
 
-#: selfdrive/ui/layouts/settings/developer.py:53
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "SSH Keys"
 msgstr "Chaves SSH"
 
-#: system/ui/widgets/network.py:310
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Scanning Wi-Fi networks..."
 msgstr "Procurando redes Wi-Fi..."
 
-#: system/ui/widgets/option_dialog.py:36
-#, python-format
+#: system/ui/widgets/option_dialog.py
 msgid "Select"
 msgstr "Selecione"
 
-#: selfdrive/ui/layouts/settings/software.py:183
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Select a branch"
-msgstr "Selecione uma branch"
+msgstr "Selecione uma ramificação"
 
-#: selfdrive/ui/layouts/settings/device.py:91
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Select a language"
 msgstr "Selecione um idioma"
 
-#: selfdrive/ui/layouts/settings/device.py:60
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Serial"
-msgstr "Serial"
+msgstr "Número de série"
 
-#: selfdrive/ui/widgets/offroad_alerts.py:106
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Snooze Update"
 msgstr "Adiar Atualização"
 
-#: selfdrive/ui/layouts/settings/settings.py:65
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Software"
-msgstr "Software"
+msgstr "Sistema"
 
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Standard"
 msgstr "Padrão"
 
-#: selfdrive/ui/layouts/settings/toggles.py:22
-msgid ""
-"Standard is recommended. In aggressive mode, openpilot will follow lead cars "
-"closer and be more aggressive with the gas and brake. In relaxed mode "
-"openpilot will stay further away from lead cars. On supported cars, you can "
-"cycle through these personalities with your steering wheel distance button."
-msgstr ""
-"Padrão é recomendado. No modo agressivo, o openpilot seguirá veículos à "
-"frente mais de perto e será mais agressivo com acelerador e freio. No modo "
-"relaxado, o openpilot ficará mais longe dos veículos à frente. Em carros "
-"compatíveis, você pode alternar essas personalidades com o botão de "
-"distância do volante."
-
-#: selfdrive/ui/onroad/alert_renderer.py:59
-#: selfdrive/ui/onroad/alert_renderer.py:65
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "System Unresponsive"
 msgstr "Sistema sem resposta"
 
-#: selfdrive/ui/onroad/alert_renderer.py:58
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "TAKE CONTROL IMMEDIATELY"
 msgstr "ASSUMA O CONTROLE IMEDIATAMENTE"
 
-#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
-#: selfdrive/ui/layouts/sidebar.py:127 selfdrive/ui/layouts/sidebar.py:129
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "TEMP"
-msgstr "TEMP"
+msgstr "TEMP."
 
-#: selfdrive/ui/layouts/settings/software.py:61
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Target Branch"
 msgstr "Branch Alvo"
 
-#: system/ui/widgets/network.py:124
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Tethering Password"
 msgstr "Senha Tethering"
 
-#: selfdrive/ui/layouts/settings/settings.py:64
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Toggles"
-msgstr "Toggles"
+msgstr "Alternativas"
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "UI Debug Mode"
+msgstr "Modo de depuração da interface do usuário"
 
-#: selfdrive/ui/layouts/settings/software.py:72
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "UNINSTALL"
 msgstr "DESINSTALAR"
 
-#: selfdrive/ui/layouts/home.py:155
-#, python-format
+#: openpilot/selfdrive/ui/layouts/home.py
 msgid "UPDATE"
 msgstr "ATUALIZAR"
 
-#: selfdrive/ui/layouts/settings/software.py:72
-#: selfdrive/ui/layouts/settings/software.py:163
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Uninstall"
 msgstr "Desinstalar"
 
-#: selfdrive/ui/layouts/sidebar.py:117
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "Unknown"
 msgstr "Desconhecido"
 
-#: selfdrive/ui/layouts/settings/software.py:48
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Updates are only downloaded while the car is off."
 msgstr "Atualizações são baixadas apenas com o carro desligado."
 
-#: selfdrive/ui/widgets/prime.py:33
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Upgrade Now"
 msgstr "Atualizar Agora"
 
-#: selfdrive/ui/layouts/settings/toggles.py:31
-msgid ""
-"Upload data from the driver facing camera and help improve the driver "
-"monitoring algorithm."
-msgstr ""
-"Envie dados da câmera voltada para o motorista e ajude a melhorar o "
-"algoritmo de monitoramento do motorista."
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Upload data from the driver facing camera and help improve the driver monitoring algorithm."
+msgstr "Envie dados da câmera voltada para o motorista e ajude a melhorar o algoritmo de monitoramento do motorista."
 
-#: selfdrive/ui/layouts/settings/toggles.py:88
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Use Metric System"
 msgstr "Usar Sistema Métrico"
 
-#: selfdrive/ui/layouts/settings/toggles.py:17
-msgid ""
-"Use the openpilot system for adaptive cruise control and lane keep driver "
-"assistance. Your attention is required at all times to use this feature."
-msgstr ""
-"Use o sistema openpilot para controle de cruzeiro adaptativo e assistência "
-"de permanência em faixa. Sua atenção é necessária o tempo todo para usar "
-"este recurso."
-
-#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:144
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "VEHICLE"
 msgstr "VEÍCULO"
 
-#: selfdrive/ui/layouts/settings/device.py:67
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "VIEW"
 msgstr "VER"
 
-#: selfdrive/ui/onroad/alert_renderer.py:52
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "Waiting to start"
 msgstr "Aguardando para iniciar"
 
-#: selfdrive/ui/layouts/settings/developer.py:19
-msgid ""
-"Warning: This grants SSH access to all public keys in your GitHub settings. "
-"Never enter a GitHub username other than your own. A comma employee will "
-"NEVER ask you to add their GitHub username."
-msgstr ""
-"Aviso: Isso concede acesso SSH a todas as chaves públicas nas suas "
-"configurações do GitHub. Nunca informe um nome de usuário do GitHub que não "
-"seja o seu. Um funcionário da comma NUNCA pedirá para você adicionar o nome "
-"de usuário do GitHub dele."
-
-#: selfdrive/ui/layouts/onboarding.py:111
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Welcome to openpilot"
 msgstr "Bem-vindo ao openpilot"
 
-#: selfdrive/ui/layouts/settings/toggles.py:20
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "When enabled, pressing the accelerator pedal will disengage openpilot."
-msgstr ""
-"Quando ativado, pressionar o pedal do acelerador desengajará o openpilot."
+msgstr "Quando ativado, pressionar o pedal do acelerador desengajará o openpilot."
 
-#: selfdrive/ui/layouts/sidebar.py:44
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "Wi-Fi"
 msgstr "Wi‑Fi"
 
-#: system/ui/widgets/network.py:144
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Wi-Fi Network Metered"
 msgstr "Rede Wi-Fi limitada"
 
-#: system/ui/widgets/network.py:314
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Wrong password"
 msgstr "Senha errada"
 
-#: selfdrive/ui/layouts/onboarding.py:145
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "You must accept the Terms and Conditions in order to use openpilot."
 msgstr "Você deve aceitar os Termos e Condições para usar o openpilot."
 
-#: selfdrive/ui/layouts/onboarding.py:112
-#, python-format
-msgid ""
-"You must accept the Terms and Conditions to use openpilot. Read the latest "
-"terms at https://comma.ai/terms before continuing."
-msgstr ""
-"Você deve aceitar os Termos e Condições para usar o openpilot. Leia os "
-"termos mais recentes em https://comma.ai/terms antes de continuar."
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "You must accept the Terms and Conditions to use openpilot. Read the latest terms at https://comma.ai/terms before continuing."
+msgstr "Você deve aceitar os Termos e Condições para usar o openpilot. Leia os termos mais recentes em https://comma.ai/terms antes de continuar."
 
-#: selfdrive/ui/onroad/driver_camera_dialog.py:34
-#, python-format
+#: openpilot/selfdrive/ui/onroad/driver_camera_dialog.py
 msgid "camera starting"
 msgstr "câmera iniciando"
 
-#: selfdrive/ui/widgets/prime.py:63
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "checking..."
+msgstr "verificando..."
+
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "comma prime"
 msgstr "comma prime"
 
-#: system/ui/widgets/network.py:142
-#, python-format
+#: system/ui/widgets/network.py
 msgid "default"
-msgstr "default"
+msgstr "padrão"
 
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "down"
 msgstr "para baixo"
 
-#: selfdrive/ui/layouts/settings/software.py:106
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "downloading..."
+msgstr "baixando..."
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "failed to check for update"
 msgstr "falha ao verificar atualização"
 
-#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "finalizing update..."
+msgstr "finalizando atualização..."
+
+#: system/ui/widgets/network.py
 msgid "for \"{}\""
 msgstr "para \"{}\""
 
-#: selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "km/h"
 msgstr "km/h"
 
-#: system/ui/widgets/network.py:204
-#, python-format
+#: system/ui/widgets/network.py
 msgid "leave blank for automatic configuration"
 msgstr "deixe em branco para configuração automática"
 
-#: selfdrive/ui/layouts/settings/device.py:134
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "left"
 msgstr "à esquerda"
 
-#: system/ui/widgets/network.py:142
-#, python-format
+#: system/ui/widgets/network.py
 msgid "metered"
 msgstr "limitados"
 
-#: selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "mph"
 msgstr "mph"
 
-#: selfdrive/ui/layouts/settings/software.py:20
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "never"
 msgstr "nunca"
 
-#: selfdrive/ui/layouts/settings/software.py:31
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "now"
 msgstr "agora"
 
-#: selfdrive/ui/layouts/settings/developer.py:71
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "openpilot Longitudinal Control (Alpha)"
 msgstr "Controle Longitudinal do openpilot (Alpha)"
 
-#: selfdrive/ui/onroad/alert_renderer.py:51
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "openpilot Unavailable"
 msgstr "openpilot Indisponível"
 
-#: selfdrive/ui/layouts/settings/toggles.py:158
-#, python-format
-msgid ""
-"openpilot defaults to driving in chill mode. Experimental mode enables "
-"alpha-level features that aren't ready for chill mode. Experimental features "
-"are listed below:<br><h4>End-to-End Longitudinal Control</h4><br>Let the "
-"driving model control the gas and brakes. openpilot will drive as it thinks "
-"a human would, including stopping for red lights and stop signs. Since the "
-"driving model decides the speed to drive, the set speed will only act as an "
-"upper bound. This is an alpha quality feature; mistakes should be "
-"expected.<br><h4>New Driving Visualization</h4><br>The driving visualization "
-"will transition to the road-facing wide-angle camera at low speeds to better "
-"show some turns. The Experimental mode logo will also be shown in the top "
-"right corner."
-msgstr ""
-"o openpilot dirige por padrão no modo chill. O Modo Experimental habilita "
-"recursos em nível alpha que não estão prontos para o modo chill. Os recursos "
-"experimentais são listados abaixo:<br><h4>Controle Longitudinal "
-"End-to-End</h4><br>Permita que o modelo de condução controle o acelerador e "
-"os freios. O openpilot dirigirá como acha que um humano faria, incluindo "
-"parar em sinais e semáforos vermelhos. Como o modelo decide a velocidade, a "
-"velocidade definida atuará apenas como limite superior. Este é um recurso de "
-"qualidade alpha; erros devem ser esperados.<br><h4>Nova Visualização de "
-"Condução</h4><br>A visualização de condução mudará para a câmera "
-"grande-angular voltada para a estrada em baixas velocidades para mostrar "
-"melhor algumas curvas. O logotipo do Modo Experimental também será exibido "
-"no canto superior direito."
-
-#: selfdrive/ui/layouts/settings/device.py:165
-#, python-format
-msgid ""
-"openpilot is continuously calibrating, resetting is rarely required. "
-"Resetting calibration will restart openpilot if the car is powered on."
-msgstr ""
-"O openpilot está continuamente calibrando, resetar é raramente solicitado. "
-"Alterar esta configuração reiniciará o openpilot se o carro estiver ligado."
-
-#: selfdrive/ui/layouts/settings/firehose.py:20
-msgid ""
-"openpilot learns to drive by watching humans, like you, drive.\n"
-"\n"
-"Firehose Mode allows you to maximize your training data uploads to improve "
-"openpilot's driving models. More data means bigger models, which means "
-"better Experimental Mode."
-msgstr ""
-"o openpilot aprende a dirigir observando humanos, como você, dirigirem.\n"
-"\n"
-"O Modo Firehose permite maximizar seus envios de dados de treinamento para "
-"melhorar os modelos de condução do openpilot. Mais dados significam modelos "
-"maiores, o que significa um Modo Experimental melhor."
-
-#: selfdrive/ui/layouts/settings/toggles.py:183
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "openpilot longitudinal control may come in a future update."
-msgstr ""
-"o controle longitudinal do openpilot pode vir em uma atualização futura."
+msgstr "o controle longitudinal do openpilot pode vir em uma atualização futura."
 
-#: selfdrive/ui/layouts/settings/device.py:26
-msgid ""
-"openpilot requires the device to be mounted within 4° left or right and "
-"within 5° up or 9° down."
-msgstr ""
-"o openpilot requer que o dispositivo seja montado dentro de 4° para a "
-"esquerda ou direita e dentro de 5° para cima ou 9° para baixo."
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down."
+msgstr "o openpilot requer que o dispositivo seja montado dentro de 4° para a esquerda ou direita e dentro de 5° para cima ou 9° para baixo."
 
-#: selfdrive/ui/layouts/settings/device.py:134
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "right"
 msgstr "à direita"
 
-#: system/ui/widgets/network.py:142
-#, python-format
+#: system/ui/widgets/network.py
 msgid "unmetered"
 msgstr "ilimitados"
 
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "up"
 msgstr "para cima"
 
-#: selfdrive/ui/layouts/settings/software.py:117
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "up to date, last checked never"
 msgstr "atualizado, última verificação: nunca"
 
-#: selfdrive/ui/layouts/settings/software.py:115
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "up to date, last checked {}"
 msgstr "atualizado, última verificação: {}"
 
-#: selfdrive/ui/layouts/settings/software.py:109
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "update available"
 msgstr "atualização disponível"
 
-#: selfdrive/ui/layouts/home.py:169
-#, python-format
+#: openpilot/selfdrive/ui/layouts/home.py
 msgid "{} ALERT"
 msgid_plural "{} ALERTS"
 msgstr[0] "{} ALERTA"
 msgstr[1] "{} ALERTAS"
 
-#: selfdrive/ui/layouts/settings/software.py:40
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "{} day ago"
 msgid_plural "{} days ago"
 msgstr[0] "{} dia atrás"
 msgstr[1] "{} dias atrás"
 
-#: selfdrive/ui/layouts/settings/software.py:37
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "{} hour ago"
 msgid_plural "{} hours ago"
 msgstr[0] "{} hora atrás"
 msgstr[1] "{} horas atrás"
 
-#: selfdrive/ui/layouts/settings/software.py:34
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "{} minute ago"
 msgid_plural "{} minutes ago"
 msgstr[0] "{} minuto atrás"
 msgstr[1] "{} minutos atrás"
 
-#: selfdrive/ui/layouts/settings/firehose.py:111
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
 msgid "{} segment of your driving is in the training dataset so far."
 msgid_plural "{} segments of your driving is in the training dataset so far."
-msgstr[0] ""
-"{} segmento da sua condução está no conjunto de treinamento até agora."
-msgstr[1] ""
-"{} segmentos da sua condução estão no conjunto de treinamento até agora."
+msgstr[0] "{} segmento da sua condução está no conjunto de treinamento até agora."
+msgstr[1] "{} segmentos da sua condução estão no conjunto de treinamento até agora."
 
-#: selfdrive/ui/widgets/prime.py:62
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "✓ SUBSCRIBED"
 msgstr "✓ ASSINADO"
 
-#: selfdrive/ui/widgets/setup.py:22
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "🔥 Firehose Mode 🔥"
 msgstr "🔥 Modo Firehose 🔥"
+
diff --git a/selfdrive/ui/translations/app_th.po b/selfdrive/ui/translations/app_th.po
index f2e56f2882c..4e45cae14b3 100644
--- a/selfdrive/ui/translations/app_th.po
+++ b/selfdrive/ui/translations/app_th.po
@@ -1,1129 +1,820 @@
-# Thai translations for PACKAGE package.
-# Copyright (C) 2025 THE PACKAGE'S COPYRIGHT HOLDER
-# This file is distributed under the same license as the PACKAGE package.
-# Automatically generated, 2025.
-#
 msgid ""
 msgstr ""
-"Project-Id-Version: PACKAGE VERSION\n"
-"Report-Msgid-Bugs-To: \n"
-"POT-Creation-Date: 2025-10-23 00:50-0700\n"
-"PO-Revision-Date: 2025-10-22 16:32-0700\n"
-"Last-Translator: Automatically generated\n"
-"Language-Team: none\n"
-"Language: th\n"
-"MIME-Version: 1.0\n"
 "Content-Type: text/plain; charset=UTF-8\n"
-"Content-Transfer-Encoding: 8bit\n"
+"Language: th\n"
 "Plural-Forms: nplurals=1; plural=0;\n"
 
-#: selfdrive/ui/layouts/settings/device.py:160
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid " Steering torque response calibration is complete."
-msgstr ""
+msgstr "การสอบเทียบการตอบสนองแรงบิดของพวงมาลัยเสร็จสมบูรณ์"
 
-#: selfdrive/ui/layouts/settings/device.py:158
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid " Steering torque response calibration is {}% complete."
-msgstr ""
+msgstr "การสอบเทียบการตอบสนองแรงบิดของพวงมาลัยเสร็จสมบูรณ์ {}%"
 
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid " Your device is pointed {:.1f}° {} and {:.1f}° {}."
-msgstr ""
+msgstr "อุปกรณ์ของคุณชี้ไปที่ {:.1f}° {} และ {:.1f}° {}"
 
-#: selfdrive/ui/layouts/sidebar.py:43
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "--"
-msgstr ""
+msgstr "--"
 
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "1 year of drive storage"
-msgstr ""
+msgstr "พื้นที่เก็บข้อมูลไดรฟ์ 1 ปี"
 
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "24/7 LTE connectivity"
-msgstr ""
+msgstr "การเชื่อมต่อ LTE ตลอด 24 ชั่วโมงทุกวัน"
 
-#: selfdrive/ui/layouts/sidebar.py:46
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "2G"
-msgstr ""
+msgstr "2จี"
 
-#: selfdrive/ui/layouts/sidebar.py:47
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "3G"
-msgstr ""
+msgstr "3จี"
 
-#: selfdrive/ui/layouts/sidebar.py:49
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "5G"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/developer.py:23
-msgid ""
-"<b>WARNING: openpilot longitudinal control is in alpha for this car and will "
-"disable Automatic Emergency Braking (AEB).</b><br><br>On this car, openpilot "
-"defaults to the car's built-in ACC instead of openpilot's longitudinal "
-"control. Enable this to switch to openpilot longitudinal control. Enabling "
-"Experimental mode is recommended when enabling openpilot longitudinal "
-"control alpha. Changing this setting will restart openpilot if the car is "
-"powered on."
-msgstr ""
+msgstr "5จี"
 
-#: selfdrive/ui/layouts/settings/device.py:148
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "<br><br>Steering lag calibration is complete."
-msgstr ""
+msgstr "<br><br>การปรับเทียบความล่าช้าของพวงมาลัยเสร็จสมบูรณ์"
 
-#: selfdrive/ui/layouts/settings/device.py:146
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "<br><br>Steering lag calibration is {}% complete."
-msgstr ""
+msgstr "<br><br>การปรับเทียบความล่าช้าของพวงมาลัย {}% เสร็จสมบูรณ์"
 
-#: selfdrive/ui/layouts/settings/firehose.py:138
-#, python-format
-msgid "ACTIVE"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/developer.py:15
-msgid ""
-"ADB (Android Debug Bridge) allows connecting to your device over USB or over "
-"the network. See https://docs.comma.ai/how-to/connect-to-comma for more info."
-msgstr ""
-
-#: selfdrive/ui/widgets/ssh_key.py:30
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "ADD"
-msgstr ""
+msgstr "เพิ่ม"
 
-#: system/ui/widgets/network.py:139
-#, python-format
+#: system/ui/widgets/network.py
 msgid "APN Setting"
-msgstr ""
+msgstr "การตั้งค่า APN"
 
-#: selfdrive/ui/widgets/offroad_alerts.py:109
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Acknowledge Excessive Actuation"
-msgstr ""
+msgstr "รับทราบการดำเนินการที่มากเกินไป"
 
-#: system/ui/widgets/network.py:74 system/ui/widgets/network.py:95
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Advanced"
-msgstr ""
+msgstr "ขั้นสูง"
 
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Aggressive"
-msgstr ""
+msgstr "ก้าวร้าว"
 
-#: selfdrive/ui/layouts/onboarding.py:116
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Agree"
-msgstr ""
+msgstr "เห็นด้วย"
 
-#: selfdrive/ui/layouts/settings/toggles.py:70
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Always-On Driver Monitoring"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/toggles.py:186
-#, python-format
-msgid ""
-"An alpha version of openpilot longitudinal control can be tested, along with "
-"Experimental mode, on non-release branches."
-msgstr ""
+msgstr "การตรวจสอบไดรเวอร์ตลอดเวลา"
 
-#: selfdrive/ui/layouts/settings/device.py:187
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Are you sure you want to power off?"
-msgstr ""
+msgstr "คุณแน่ใจหรือไม่ว่าต้องการปิดเครื่อง?"
 
-#: selfdrive/ui/layouts/settings/device.py:175
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Are you sure you want to reboot?"
-msgstr ""
+msgstr "คุณแน่ใจหรือไม่ว่าต้องการรีบูต?"
 
-#: selfdrive/ui/layouts/settings/device.py:119
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Are you sure you want to reset calibration?"
-msgstr ""
+msgstr "คุณแน่ใจหรือไม่ว่าต้องการรีเซ็ตการปรับเทียบ"
 
-#: selfdrive/ui/layouts/settings/software.py:163
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Are you sure you want to uninstall?"
-msgstr ""
+msgstr "คุณแน่ใจหรือไม่ว่าต้องการถอนการติดตั้ง?"
 
-#: system/ui/widgets/network.py:99 selfdrive/ui/layouts/onboarding.py:147
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+#: system/ui/widgets/network.py
 msgid "Back"
-msgstr ""
+msgstr "กลับ"
 
-#: selfdrive/ui/widgets/prime.py:38
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Become a comma prime member at connect.comma.ai"
-msgstr ""
+msgstr "เป็นสมาชิกจุลภาคไพรม์ที่ Connect.comma.ai"
 
-#: selfdrive/ui/widgets/pairing_dialog.py:130
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
-msgstr ""
+msgstr "คั่นหน้า Connect.comma.ai ไปที่หน้าจอหลักของคุณเพื่อใช้เหมือนแอป"
 
-#: selfdrive/ui/layouts/settings/device.py:68
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "CHANGE"
-msgstr ""
+msgstr "เปลี่ยน"
 
-#: selfdrive/ui/layouts/settings/software.py:50
-#: selfdrive/ui/layouts/settings/software.py:107
-#: selfdrive/ui/layouts/settings/software.py:118
-#: selfdrive/ui/layouts/settings/software.py:147
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "CHECK"
-msgstr ""
+msgstr "ตรวจสอบ"
 
-#: selfdrive/ui/widgets/exp_mode_button.py:50
-#, python-format
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
 msgid "CHILL MODE ON"
-msgstr ""
+msgstr "เปิดโหมด Chill"
 
-#: system/ui/widgets/network.py:155 selfdrive/ui/layouts/sidebar.py:73
-#: selfdrive/ui/layouts/sidebar.py:134 selfdrive/ui/layouts/sidebar.py:136
-#: selfdrive/ui/layouts/sidebar.py:138
-#, python-format
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/network.py
 msgid "CONNECT"
-msgstr ""
+msgstr "เชื่อมต่อ"
 
-#: system/ui/widgets/network.py:369
-#, python-format
+#: system/ui/widgets/network.py
 msgid "CONNECTING..."
-msgstr ""
+msgstr "กำลังเชื่อมต่อ..."
 
-#: system/ui/widgets/confirm_dialog.py:23 system/ui/widgets/option_dialog.py:35
-#: system/ui/widgets/keyboard.py:81 system/ui/widgets/network.py:318
-#, python-format
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/keyboard.py
+#: system/ui/widgets/network.py
+#: system/ui/widgets/option_dialog.py
 msgid "Cancel"
-msgstr ""
+msgstr "ยกเลิก"
 
-#: system/ui/widgets/network.py:134
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Cellular Metered"
-msgstr ""
+msgstr "เซลล์วัดแสง"
 
-#: selfdrive/ui/layouts/settings/device.py:68
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Change Language"
-msgstr ""
+msgstr "เปลี่ยนภาษา"
 
-#: selfdrive/ui/layouts/settings/toggles.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Changing this setting will restart openpilot if the car is powered on."
-msgstr ""
+msgstr "การเปลี่ยนการตั้งค่านี้จะรีสตาร์ท Openpilot หากรถเปิดอยู่"
 
-#: selfdrive/ui/widgets/pairing_dialog.py:129
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Click \"add new device\" and scan the QR code on the right"
-msgstr ""
+msgstr "คลิก \"เพิ่มอุปกรณ์ใหม่\" และสแกนโค้ด QR ทางด้านขวา"
 
-#: selfdrive/ui/widgets/offroad_alerts.py:104
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Close"
-msgstr ""
+msgstr "ปิด"
 
-#: selfdrive/ui/layouts/settings/software.py:49
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Current Version"
-msgstr ""
+msgstr "เวอร์ชันปัจจุบัน"
 
-#: selfdrive/ui/layouts/settings/software.py:110
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "DOWNLOAD"
-msgstr ""
+msgstr "ดาวน์โหลด"
 
-#: selfdrive/ui/layouts/onboarding.py:115
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Decline"
-msgstr ""
+msgstr "ปฏิเสธ"
 
-#: selfdrive/ui/layouts/onboarding.py:148
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Decline, uninstall openpilot"
-msgstr ""
+msgstr "ปฏิเสธ ถอนการติดตั้ง openpilot"
 
-#: selfdrive/ui/layouts/settings/settings.py:67
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Developer"
-msgstr ""
+msgstr "นักพัฒนา"
 
-#: selfdrive/ui/layouts/settings/settings.py:62
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Device"
-msgstr ""
+msgstr "อุปกรณ์"
 
-#: selfdrive/ui/layouts/settings/toggles.py:58
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Disengage on Accelerator Pedal"
-msgstr ""
+msgstr "ปลดเมื่อเหยียบคันเร่ง"
 
-#: selfdrive/ui/layouts/settings/device.py:184
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Disengage to Power Off"
-msgstr ""
+msgstr "ปลดเพื่อปิดเครื่อง"
 
-#: selfdrive/ui/layouts/settings/device.py:172
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Disengage to Reboot"
-msgstr ""
+msgstr "ยกเลิกการเชื่อมต่อเพื่อรีบูต"
 
-#: selfdrive/ui/layouts/settings/device.py:103
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Disengage to Reset Calibration"
-msgstr ""
+msgstr "ปลดเพื่อรีเซ็ตการปรับเทียบ"
 
-#: selfdrive/ui/layouts/settings/toggles.py:32
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Display speed in km/h instead of mph."
-msgstr ""
+msgstr "แสดงความเร็วเป็น km/h แทน mph"
 
-#: selfdrive/ui/layouts/settings/device.py:59
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Dongle ID"
-msgstr ""
+msgstr "รหัสดองเกิล"
 
-#: selfdrive/ui/layouts/settings/software.py:50
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Download"
-msgstr ""
+msgstr "ดาวน์โหลด"
 
-#: selfdrive/ui/layouts/settings/device.py:62
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Driver Camera"
-msgstr ""
+msgstr "กล้องไดร์เวอร์"
 
-#: selfdrive/ui/layouts/settings/toggles.py:96
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Driving Personality"
-msgstr ""
+msgstr "บุคลิกภาพในการขับขี่"
 
-#: system/ui/widgets/network.py:123 system/ui/widgets/network.py:139
-#, python-format
+#: system/ui/widgets/network.py
 msgid "EDIT"
-msgstr ""
+msgstr "แก้ไข"
 
-#: selfdrive/ui/layouts/sidebar.py:138
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ERROR"
-msgstr ""
+msgstr "ข้อผิดพลาด"
 
-#: selfdrive/ui/layouts/sidebar.py:45
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ETH"
-msgstr ""
+msgstr "ผลประโยชน์ทับซ้อน"
 
-#: selfdrive/ui/widgets/exp_mode_button.py:50
-#, python-format
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
 msgid "EXPERIMENTAL MODE ON"
-msgstr ""
+msgstr "โหมดทดลองเปิดอยู่"
 
-#: selfdrive/ui/layouts/settings/developer.py:166
-#: selfdrive/ui/layouts/settings/toggles.py:228
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable"
-msgstr ""
+msgstr "เปิดใช้งาน"
 
-#: selfdrive/ui/layouts/settings/developer.py:39
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Enable ADB"
-msgstr ""
+msgstr "เปิดใช้งาน ADB"
 
-#: selfdrive/ui/layouts/settings/toggles.py:64
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable Lane Departure Warnings"
-msgstr ""
+msgstr "เปิดใช้งานคำเตือนการออกนอกเลน"
 
-#: system/ui/widgets/network.py:129
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enable Roaming"
-msgstr ""
+msgstr "เปิดใช้งานโรมมิ่ง"
 
-#: selfdrive/ui/layouts/settings/developer.py:48
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Enable SSH"
-msgstr ""
+msgstr "เปิดใช้งาน SSH"
 
-#: system/ui/widgets/network.py:120
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enable Tethering"
-msgstr ""
+msgstr "เปิดใช้งานการปล่อยสัญญาณ"
 
-#: selfdrive/ui/layouts/settings/toggles.py:30
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable driver monitoring even when openpilot is not engaged."
-msgstr ""
+msgstr "เปิดใช้งานการตรวจสอบไดรเวอร์แม้ว่าจะไม่ได้ใช้งาน openpilot ก็ตาม"
 
-#: selfdrive/ui/layouts/settings/toggles.py:46
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable openpilot"
-msgstr ""
+msgstr "เปิดใช้งานโอเพ่นไพลอต"
 
-#: selfdrive/ui/layouts/settings/toggles.py:189
-#, python-format
-msgid ""
-"Enable the openpilot longitudinal control (alpha) toggle to allow "
-"Experimental mode."
-msgstr ""
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode."
+msgstr "เปิดใช้งานการสลับการควบคุมตามยาวของ openpilot (อัลฟา) เพื่ออนุญาตโหมดการทดลอง"
 
-#: system/ui/widgets/network.py:204
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter APN"
-msgstr ""
+msgstr "ป้อน APN"
 
-#: system/ui/widgets/network.py:241
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter SSID"
-msgstr ""
+msgstr "ป้อน SSID"
 
-#: system/ui/widgets/network.py:254
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter new tethering password"
-msgstr ""
+msgstr "ป้อนรหัสผ่านการปล่อยสัญญาณใหม่"
 
-#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter password"
-msgstr ""
+msgstr "ใส่รหัสผ่าน"
 
-#: selfdrive/ui/widgets/ssh_key.py:89
-#, python-format
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "Enter your GitHub username"
-msgstr ""
+msgstr "ป้อนชื่อผู้ใช้ GitHub ของคุณ"
 
-#: system/ui/widgets/list_view.py:123 system/ui/widgets/list_view.py:160
-#, python-format
+#: system/ui/widgets/list_view.py
 msgid "Error"
-msgstr ""
+msgstr "ข้อผิดพลาด"
 
-#: selfdrive/ui/layouts/settings/toggles.py:52
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Experimental Mode"
-msgstr ""
+msgstr "โหมดทดลอง"
 
-#: selfdrive/ui/layouts/settings/toggles.py:181
-#, python-format
-msgid ""
-"Experimental mode is currently unavailable on this car since the car's stock "
-"ACC is used for longitudinal control."
-msgstr ""
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
+msgstr "ขณะนี้โหมดทดลองไม่สามารถใช้งานได้บนรถคันนี้ เนื่องจาก ACC ในสต็อกของรถใช้สำหรับการควบคุมตามยาว"
 
-#: system/ui/widgets/network.py:373
-#, python-format
+#: system/ui/widgets/network.py
 msgid "FORGETTING..."
-msgstr ""
+msgstr "กำลังลืม..."
 
-#: selfdrive/ui/widgets/setup.py:44
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Finish Setup"
-msgstr ""
+msgstr "เสร็จสิ้นการตั้งค่า"
 
-#: selfdrive/ui/layouts/settings/settings.py:66
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Firehose"
-msgstr ""
+msgstr "สายดับเพลิง"
 
-#: selfdrive/ui/layouts/settings/firehose.py:18
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
 msgid "Firehose Mode"
-msgstr ""
+msgstr "โหมดสายดับเพลิง"
 
-#: selfdrive/ui/layouts/settings/firehose.py:25
-msgid ""
-"For maximum effectiveness, bring your device inside and connect to a good "
-"USB-C adapter and Wi-Fi weekly.\n"
-"\n"
-"Firehose Mode can also work while you're driving if connected to a hotspot "
-"or unlimited SIM card.\n"
-"\n"
-"\n"
-"Frequently Asked Questions\n"
-"\n"
-"Does it matter how or where I drive? Nope, just drive as you normally "
-"would.\n"
-"\n"
-"Do all of my segments get pulled in Firehose Mode? No, we selectively pull a "
-"subset of your segments.\n"
-"\n"
-"What's a good USB-C adapter? Any fast phone or laptop charger should be "
-"fine.\n"
-"\n"
-"Does it matter which software I run? Yes, only upstream openpilot (and "
-"particular forks) are able to be used for training."
-msgstr ""
-
-#: system/ui/widgets/network.py:318 system/ui/widgets/network.py:451
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Forget"
-msgstr ""
+msgstr "ลืม"
 
-#: system/ui/widgets/network.py:319
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Forget Wi-Fi Network \"{}\"?"
-msgstr ""
+msgstr "ลืมเครือข่าย Wi-Fi \"{}\" หรือไม่"
 
-#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "GOOD"
-msgstr ""
+msgstr "ดี"
 
-#: selfdrive/ui/widgets/pairing_dialog.py:128
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Go to https://connect.comma.ai on your phone"
-msgstr ""
+msgstr "ไปที่ https://connect.comma.ai บนโทรศัพท์ของคุณ"
 
-#: selfdrive/ui/layouts/sidebar.py:129
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "HIGH"
-msgstr ""
+msgstr "สูง"
 
-#: system/ui/widgets/network.py:155
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Hidden Network"
-msgstr ""
+msgstr "เครือข่ายที่ซ่อนอยู่"
 
-#: selfdrive/ui/layouts/settings/firehose.py:140
-#, python-format
-msgid "INACTIVE: connect to an unmetered network"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/software.py:53
-#: selfdrive/ui/layouts/settings/software.py:136
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "INSTALL"
-msgstr ""
+msgstr "ติดตั้ง"
 
-#: system/ui/widgets/network.py:150
-#, python-format
+#: system/ui/widgets/network.py
 msgid "IP Address"
-msgstr ""
+msgstr "ที่อยู่ IP"
 
-#: selfdrive/ui/layouts/settings/software.py:53
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Install Update"
-msgstr ""
+msgstr "ติดตั้งอัปเดต"
 
-#: selfdrive/ui/layouts/settings/developer.py:56
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Joystick Debug Mode"
-msgstr ""
+msgstr "โหมดดีบักจอยสติ๊ก"
 
-#: selfdrive/ui/widgets/ssh_key.py:29
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "LOADING"
-msgstr ""
+msgstr "กำลังโหลด"
 
-#: selfdrive/ui/layouts/sidebar.py:48
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "LTE"
-msgstr ""
+msgstr "แอลทีที"
 
-#: selfdrive/ui/layouts/settings/developer.py:64
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Longitudinal Maneuver Mode"
-msgstr ""
+msgstr "โหมดการซ้อมรบตามยาว"
 
-#: selfdrive/ui/onroad/hud_renderer.py:148
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "MAX"
-msgstr ""
+msgstr "สูงสุด"
 
-#: selfdrive/ui/widgets/setup.py:75
-#, python-format
-msgid ""
-"Maximize your training data uploads to improve openpilot's driving models."
-msgstr ""
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Maximize your training data uploads to improve openpilot's driving models."
+msgstr "เพิ่มการอัปโหลดข้อมูลการฝึกของคุณให้สูงสุดเพื่อปรับปรุงโมเดลการขับขี่ของ Openpilot"
 
-#: selfdrive/ui/layouts/settings/device.py:59
-#: selfdrive/ui/layouts/settings/device.py:60
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "N/A"
-msgstr ""
+msgstr "ไม่มี"
 
-#: selfdrive/ui/layouts/sidebar.py:142
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "NO"
-msgstr ""
+msgstr "เลขที่"
 
-#: selfdrive/ui/layouts/settings/settings.py:63
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Network"
-msgstr ""
+msgstr "เครือข่าย"
 
-#: selfdrive/ui/widgets/ssh_key.py:114
-#, python-format
-msgid "No SSH keys found"
-msgstr ""
-
-#: selfdrive/ui/widgets/ssh_key.py:126
-#, python-format
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "No SSH keys found for user '{}'"
-msgstr ""
+msgstr "ไม่พบคีย์ SSH สำหรับผู้ใช้ '{}'"
 
-#: selfdrive/ui/widgets/offroad_alerts.py:320
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "No release notes available."
-msgstr ""
+msgstr "ไม่มีบันทึกประจำรุ่น"
 
-#: selfdrive/ui/layouts/sidebar.py:73 selfdrive/ui/layouts/sidebar.py:134
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "OFFLINE"
-msgstr ""
+msgstr "ออฟไลน์"
 
-#: system/ui/widgets/html_render.py:263 system/ui/widgets/confirm_dialog.py:93
-#: selfdrive/ui/layouts/sidebar.py:127
-#, python-format
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/html_render.py
 msgid "OK"
-msgstr ""
+msgstr "ตกลง"
 
-#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:136
-#: selfdrive/ui/layouts/sidebar.py:144
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ONLINE"
-msgstr ""
+msgstr "ออนไลน์"
 
-#: selfdrive/ui/widgets/setup.py:20
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Open"
-msgstr ""
+msgstr "เปิด"
 
-#: selfdrive/ui/layouts/settings/device.py:48
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "PAIR"
-msgstr ""
+msgstr "คู่"
 
-#: selfdrive/ui/layouts/sidebar.py:142
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "PANDA"
-msgstr ""
+msgstr "แพนด้า"
 
-#: selfdrive/ui/layouts/settings/device.py:62
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "PREVIEW"
-msgstr ""
+msgstr "ดูตัวอย่าง"
 
-#: selfdrive/ui/widgets/prime.py:44
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "PRIME FEATURES:"
-msgstr ""
+msgstr "คุณสมบัติเด่น:"
 
-#: selfdrive/ui/layouts/settings/device.py:48
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Pair Device"
-msgstr ""
+msgstr "จับคู่อุปกรณ์"
 
-#: selfdrive/ui/widgets/setup.py:19
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Pair device"
-msgstr ""
+msgstr "จับคู่อุปกรณ์"
 
-#: selfdrive/ui/widgets/pairing_dialog.py:103
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Pair your device to your comma account"
-msgstr ""
+msgstr "จับคู่อุปกรณ์ของคุณกับบัญชีลูกน้ำของคุณ"
 
-#: selfdrive/ui/widgets/setup.py:48 selfdrive/ui/layouts/settings/device.py:24
-#, python-format
-msgid ""
-"Pair your device with comma connect (connect.comma.ai) and claim your comma "
-"prime offer."
-msgstr ""
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."
+msgstr "จับคู่อุปกรณ์ของคุณกับการเชื่อมต่อด้วยเครื่องหมายจุลภาค (connect.comma.ai) และรับข้อเสนอจุลภาคเฉพาะของคุณ"
 
-#: selfdrive/ui/widgets/setup.py:91
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Please connect to Wi-Fi to complete initial pairing"
-msgstr ""
+msgstr "โปรดเชื่อมต่อ Wi-Fi เพื่อทำการจับคู่ครั้งแรกให้เสร็จสิ้น"
 
-#: selfdrive/ui/layouts/settings/device.py:55
-#: selfdrive/ui/layouts/settings/device.py:187
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Power Off"
-msgstr ""
+msgstr "ปิดเครื่อง"
 
-#: system/ui/widgets/network.py:144
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered Wi-Fi connection"
-msgstr ""
+msgstr "ป้องกันการอัปโหลดข้อมูลขนาดใหญ่เมื่อใช้การเชื่อมต่อ Wi-Fi แบบมิเตอร์"
 
-#: system/ui/widgets/network.py:135
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered cellular connection"
-msgstr ""
+msgstr "ป้องกันการอัพโหลดข้อมูลขนาดใหญ่เมื่อใช้การเชื่อมต่อมือถือแบบคิดค่าบริการตามปริมาณข้อมูล"
 
-#: selfdrive/ui/layouts/settings/device.py:25
-msgid ""
-"Preview the driver facing camera to ensure that driver monitoring has good "
-"visibility. (vehicle must be off)"
-msgstr ""
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)"
+msgstr "ดูตัวอย่างกล้องที่หันหน้าไปทางคนขับเพื่อให้แน่ใจว่าการตรวจสอบผู้ขับขี่มีทัศนวิสัยที่ดี (รถจะต้องถูกปิด)"
 
-#: selfdrive/ui/widgets/pairing_dialog.py:161
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "QR Code Error"
-msgstr ""
+msgstr "ข้อผิดพลาดรหัส QR"
 
-#: selfdrive/ui/widgets/ssh_key.py:31
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "REMOVE"
-msgstr ""
+msgstr "ลบ"
 
-#: selfdrive/ui/layouts/settings/device.py:51
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "RESET"
-msgstr ""
+msgstr "รีเซ็ต"
 
-#: selfdrive/ui/layouts/settings/device.py:65
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "REVIEW"
-msgstr ""
+msgstr "ทบทวน"
 
-#: selfdrive/ui/layouts/settings/device.py:55
-#: selfdrive/ui/layouts/settings/device.py:175
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Reboot"
-msgstr ""
+msgstr "รีบูต"
 
-#: selfdrive/ui/onroad/alert_renderer.py:66
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "Reboot Device"
-msgstr ""
+msgstr "รีบูตอุปกรณ์"
 
-#: selfdrive/ui/widgets/offroad_alerts.py:112
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Reboot and Update"
-msgstr ""
+msgstr "รีบูตและอัปเดต"
 
-#: selfdrive/ui/layouts/settings/toggles.py:27
-msgid ""
-"Receive alerts to steer back into the lane when your vehicle drifts over a "
-"detected lane line without a turn signal activated while driving over 31 mph "
-"(50 km/h)."
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/toggles.py:76
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Record and Upload Driver Camera"
-msgstr ""
+msgstr "บันทึกและอัพโหลดกล้องไดร์เวอร์"
 
-#: selfdrive/ui/layouts/settings/toggles.py:82
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Record and Upload Microphone Audio"
-msgstr ""
+msgstr "บันทึกและอัปโหลดเสียงไมโครโฟน"
 
-#: selfdrive/ui/layouts/settings/toggles.py:33
-msgid ""
-"Record and store microphone audio while driving. The audio will be included "
-"in the dashcam video in comma connect."
-msgstr ""
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."
+msgstr "บันทึกและจัดเก็บเสียงไมโครโฟนขณะขับรถ เสียงจะรวมอยู่ในวิดีโอ dashcam ด้วยการเชื่อมต่อด้วยเครื่องหมายจุลภาค"
 
-#: selfdrive/ui/layouts/settings/device.py:67
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Regulatory"
-msgstr ""
+msgstr "กฎระเบียบ"
 
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Relaxed"
-msgstr ""
+msgstr "ผ่อนคลาย"
 
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Remote access"
-msgstr ""
+msgstr "การเข้าถึงระยะไกล"
 
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Remote snapshots"
-msgstr ""
+msgstr "สแนปชอตระยะไกล"
 
-#: selfdrive/ui/widgets/ssh_key.py:123
-#, python-format
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "Request timed out"
-msgstr ""
+msgstr "คำขอหมดเวลา"
 
-#: selfdrive/ui/layouts/settings/device.py:119
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Reset"
-msgstr ""
+msgstr "รีเซ็ต"
 
-#: selfdrive/ui/layouts/settings/device.py:51
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Reset Calibration"
-msgstr ""
+msgstr "รีเซ็ตการปรับเทียบ"
 
-#: selfdrive/ui/layouts/settings/device.py:65
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Review Training Guide"
-msgstr ""
+msgstr "ทบทวนคู่มือการฝึกอบรม"
 
-#: selfdrive/ui/layouts/settings/device.py:27
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Review the rules, features, and limitations of openpilot"
-msgstr ""
+msgstr "ตรวจสอบกฎ คุณสมบัติ และข้อจำกัดของ openpilot"
 
-#: selfdrive/ui/layouts/settings/software.py:61
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "SELECT"
-msgstr ""
+msgstr "เลือก"
 
-#: selfdrive/ui/layouts/settings/developer.py:53
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "SSH Keys"
-msgstr ""
+msgstr "คีย์ SSH"
 
-#: system/ui/widgets/network.py:310
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Scanning Wi-Fi networks..."
-msgstr ""
+msgstr "กำลังสแกนเครือข่าย Wi-Fi..."
 
-#: system/ui/widgets/option_dialog.py:36
-#, python-format
+#: system/ui/widgets/option_dialog.py
 msgid "Select"
-msgstr ""
+msgstr "เลือก"
 
-#: selfdrive/ui/layouts/settings/software.py:183
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Select a branch"
-msgstr ""
+msgstr "เลือกสาขา"
 
-#: selfdrive/ui/layouts/settings/device.py:91
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Select a language"
-msgstr ""
+msgstr "เลือกภาษา"
 
-#: selfdrive/ui/layouts/settings/device.py:60
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Serial"
-msgstr ""
+msgstr "อนุกรม"
 
-#: selfdrive/ui/widgets/offroad_alerts.py:106
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Snooze Update"
-msgstr ""
+msgstr "เลื่อนการอัปเดต"
 
-#: selfdrive/ui/layouts/settings/settings.py:65
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Software"
-msgstr ""
+msgstr "ซอฟต์แวร์"
 
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Standard"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/toggles.py:22
-msgid ""
-"Standard is recommended. In aggressive mode, openpilot will follow lead cars "
-"closer and be more aggressive with the gas and brake. In relaxed mode "
-"openpilot will stay further away from lead cars. On supported cars, you can "
-"cycle through these personalities with your steering wheel distance button."
-msgstr ""
+msgstr "มาตรฐาน"
 
-#: selfdrive/ui/onroad/alert_renderer.py:59
-#: selfdrive/ui/onroad/alert_renderer.py:65
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "System Unresponsive"
-msgstr ""
+msgstr "ระบบไม่ตอบสนอง"
 
-#: selfdrive/ui/onroad/alert_renderer.py:58
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "TAKE CONTROL IMMEDIATELY"
-msgstr ""
+msgstr "เข้าควบคุมทันที"
 
-#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
-#: selfdrive/ui/layouts/sidebar.py:127 selfdrive/ui/layouts/sidebar.py:129
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "TEMP"
-msgstr ""
+msgstr "อุณหภูมิ"
 
-#: selfdrive/ui/layouts/settings/software.py:61
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Target Branch"
-msgstr ""
+msgstr "สาขาเป้าหมาย"
 
-#: system/ui/widgets/network.py:124
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Tethering Password"
-msgstr ""
+msgstr "รหัสผ่านการแชร์อินเทอร์เน็ต"
 
-#: selfdrive/ui/layouts/settings/settings.py:64
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Toggles"
-msgstr ""
+msgstr "สลับ"
 
-#: selfdrive/ui/layouts/settings/software.py:72
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "UI Debug Mode"
+msgstr "โหมดดีบัก UI"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "UNINSTALL"
-msgstr ""
+msgstr "ถอนการติดตั้ง"
 
-#: selfdrive/ui/layouts/home.py:155
-#, python-format
+#: openpilot/selfdrive/ui/layouts/home.py
 msgid "UPDATE"
-msgstr ""
+msgstr "อัปเดต"
 
-#: selfdrive/ui/layouts/settings/software.py:72
-#: selfdrive/ui/layouts/settings/software.py:163
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Uninstall"
-msgstr ""
+msgstr "ถอนการติดตั้ง"
 
-#: selfdrive/ui/layouts/sidebar.py:117
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "Unknown"
-msgstr ""
+msgstr "ไม่ทราบ"
 
-#: selfdrive/ui/layouts/settings/software.py:48
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Updates are only downloaded while the car is off."
-msgstr ""
+msgstr "การอัพเดตจะถูกดาวน์โหลดในขณะที่รถดับอยู่เท่านั้น"
 
-#: selfdrive/ui/widgets/prime.py:33
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Upgrade Now"
-msgstr ""
+msgstr "อัพเกรดทันที"
 
-#: selfdrive/ui/layouts/settings/toggles.py:31
-msgid ""
-"Upload data from the driver facing camera and help improve the driver "
-"monitoring algorithm."
-msgstr ""
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Upload data from the driver facing camera and help improve the driver monitoring algorithm."
+msgstr "อัปโหลดข้อมูลจากกล้องที่หันเข้าหาคนขับและช่วยปรับปรุงอัลกอริธึมการตรวจสอบผู้ขับขี่"
 
-#: selfdrive/ui/layouts/settings/toggles.py:88
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Use Metric System"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/toggles.py:17
-msgid ""
-"Use the openpilot system for adaptive cruise control and lane keep driver "
-"assistance. Your attention is required at all times to use this feature."
-msgstr ""
+msgstr "ใช้ระบบเมตริก"
 
-#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:144
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "VEHICLE"
-msgstr ""
+msgstr "ยานพาหนะ"
 
-#: selfdrive/ui/layouts/settings/device.py:67
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "VIEW"
-msgstr ""
+msgstr "ดู"
 
-#: selfdrive/ui/onroad/alert_renderer.py:52
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "Waiting to start"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/developer.py:19
-msgid ""
-"Warning: This grants SSH access to all public keys in your GitHub settings. "
-"Never enter a GitHub username other than your own. A comma employee will "
-"NEVER ask you to add their GitHub username."
-msgstr ""
+msgstr "กำลังรอที่จะเริ่ม"
 
-#: selfdrive/ui/layouts/onboarding.py:111
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Welcome to openpilot"
-msgstr ""
+msgstr "ยินดีต้อนรับสู่ openpilot"
 
-#: selfdrive/ui/layouts/settings/toggles.py:20
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "When enabled, pressing the accelerator pedal will disengage openpilot."
-msgstr ""
+msgstr "เมื่อเปิดใช้งาน การกดแป้นคันเร่งจะเป็นการปลดโอเพ่นไพลอต"
 
-#: selfdrive/ui/layouts/sidebar.py:44
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "Wi-Fi"
-msgstr ""
+msgstr "อินเตอร์เน็ตไร้สาย"
 
-#: system/ui/widgets/network.py:144
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Wi-Fi Network Metered"
-msgstr ""
+msgstr "เครือข่าย Wi-Fi มีการตรวจวัด"
 
-#: system/ui/widgets/network.py:314
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Wrong password"
-msgstr ""
+msgstr "รหัสผ่านผิด"
 
-#: selfdrive/ui/layouts/onboarding.py:145
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "You must accept the Terms and Conditions in order to use openpilot."
-msgstr ""
+msgstr "คุณต้องยอมรับข้อกำหนดและเงื่อนไขเพื่อใช้งาน openpilot"
 
-#: selfdrive/ui/layouts/onboarding.py:112
-#, python-format
-msgid ""
-"You must accept the Terms and Conditions to use openpilot. Read the latest "
-"terms at https://comma.ai/terms before continuing."
-msgstr ""
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "You must accept the Terms and Conditions to use openpilot. Read the latest terms at https://comma.ai/terms before continuing."
+msgstr "คุณต้องยอมรับข้อกำหนดและเงื่อนไขเพื่อใช้ openpilot อ่านข้อกำหนดล่าสุดได้ที่ https://comma.ai/terms ก่อนดำเนินการต่อ"
 
-#: selfdrive/ui/onroad/driver_camera_dialog.py:34
-#, python-format
+#: openpilot/selfdrive/ui/onroad/driver_camera_dialog.py
 msgid "camera starting"
-msgstr ""
+msgstr "กำลังเริ่มกล้อง"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "checking..."
+msgstr "กำลังตรวจสอบ..."
 
-#: selfdrive/ui/widgets/prime.py:63
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "comma prime"
-msgstr ""
+msgstr "เครื่องหมายลูกน้ำเฉพาะ"
 
-#: system/ui/widgets/network.py:142
-#, python-format
+#: system/ui/widgets/network.py
 msgid "default"
-msgstr ""
+msgstr "ค่าเริ่มต้น"
 
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "down"
-msgstr ""
+msgstr "ลง"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "downloading..."
+msgstr "กำลังดาวน์โหลด..."
 
-#: selfdrive/ui/layouts/settings/software.py:106
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "failed to check for update"
-msgstr ""
+msgstr "ไม่สามารถตรวจสอบการอัปเดตได้"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "finalizing update..."
+msgstr "กำลังสรุปการอัปเดต..."
 
-#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
-#, python-format
+#: system/ui/widgets/network.py
 msgid "for \"{}\""
-msgstr ""
+msgstr "สำหรับ \"{}\""
 
-#: selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "km/h"
-msgstr ""
+msgstr "กม./ชม"
 
-#: system/ui/widgets/network.py:204
-#, python-format
+#: system/ui/widgets/network.py
 msgid "leave blank for automatic configuration"
-msgstr ""
+msgstr "เว้นว่างไว้เพื่อกำหนดค่าอัตโนมัติ"
 
-#: selfdrive/ui/layouts/settings/device.py:134
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "left"
-msgstr ""
+msgstr "ซ้าย"
 
-#: system/ui/widgets/network.py:142
-#, python-format
+#: system/ui/widgets/network.py
 msgid "metered"
-msgstr ""
+msgstr "คิดค่าบริการตามปริมาณ"
 
-#: selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "mph"
-msgstr ""
+msgstr "ไมล์/ชม."
 
-#: selfdrive/ui/layouts/settings/software.py:20
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "never"
-msgstr ""
+msgstr "ไม่เคย"
 
-#: selfdrive/ui/layouts/settings/software.py:31
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "now"
-msgstr ""
+msgstr "ตอนนี้"
 
-#: selfdrive/ui/layouts/settings/developer.py:71
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "openpilot Longitudinal Control (Alpha)"
-msgstr ""
+msgstr "การควบคุมตามยาวของ openpilot (อัลฟา)"
 
-#: selfdrive/ui/onroad/alert_renderer.py:51
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "openpilot Unavailable"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/toggles.py:158
-#, python-format
-msgid ""
-"openpilot defaults to driving in chill mode. Experimental mode enables alpha-"
-"level features that aren't ready for chill mode. Experimental features are "
-"listed below:<br><h4>End-to-End Longitudinal Control</h4><br>Let the driving "
-"model control the gas and brakes. openpilot will drive as it thinks a human "
-"would, including stopping for red lights and stop signs. Since the driving "
-"model decides the speed to drive, the set speed will only act as an upper "
-"bound. This is an alpha quality feature; mistakes should be expected."
-"<br><h4>New Driving Visualization</h4><br>The driving visualization will "
-"transition to the road-facing wide-angle camera at low speeds to better show "
-"some turns. The Experimental mode logo will also be shown in the top right "
-"corner."
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:165
-#, python-format
-msgid ""
-"openpilot is continuously calibrating, resetting is rarely required. "
-"Resetting calibration will restart openpilot if the car is powered on."
-msgstr ""
+msgstr "openpilot ไม่พร้อมใช้งาน"
 
-#: selfdrive/ui/layouts/settings/firehose.py:20
-msgid ""
-"openpilot learns to drive by watching humans, like you, drive.\n"
-"\n"
-"Firehose Mode allows you to maximize your training data uploads to improve "
-"openpilot's driving models. More data means bigger models, which means "
-"better Experimental Mode."
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/toggles.py:183
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "openpilot longitudinal control may come in a future update."
-msgstr ""
+msgstr "ระบบควบคุมตามยาวของ openpilot อาจมาในการอัปเดตครั้งถัดไป"
 
-#: selfdrive/ui/layouts/settings/device.py:26
-msgid ""
-"openpilot requires the device to be mounted within 4° left or right and "
-"within 5° up or 9° down."
-msgstr ""
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down."
+msgstr "openpilot ต้องติดตั้งอุปกรณ์ให้อยู่ในช่วงเอียงซ้ายหรือขวาไม่เกิน 4° และเอียงขึ้นไม่เกิน 5° หรือเอียงลงไม่เกิน 9°"
 
-#: selfdrive/ui/layouts/settings/device.py:134
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "right"
-msgstr ""
+msgstr "ขวา"
 
-#: system/ui/widgets/network.py:142
-#, python-format
+#: system/ui/widgets/network.py
 msgid "unmetered"
-msgstr ""
+msgstr "ไม่จำกัดปริมาณ"
 
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "up"
-msgstr ""
+msgstr "ขึ้น"
 
-#: selfdrive/ui/layouts/settings/software.py:117
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "up to date, last checked never"
-msgstr ""
+msgstr "เป็นเวอร์ชันล่าสุด ตรวจสอบครั้งล่าสุด: ไม่เคย"
 
-#: selfdrive/ui/layouts/settings/software.py:115
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "up to date, last checked {}"
-msgstr ""
+msgstr "เป็นเวอร์ชันล่าสุด ตรวจสอบครั้งล่าสุดเมื่อ {}"
 
-#: selfdrive/ui/layouts/settings/software.py:109
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "update available"
-msgstr ""
+msgstr "มีอัปเดตใหม่"
 
-#: selfdrive/ui/layouts/home.py:169
-#, python-format
+#: openpilot/selfdrive/ui/layouts/home.py
 msgid "{} ALERT"
 msgid_plural "{} ALERTS"
-msgstr[0] ""
-msgstr[1] ""
+msgstr[0] "การแจ้งเตือน {} รายการ"
 
-#: selfdrive/ui/layouts/settings/software.py:40
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "{} day ago"
 msgid_plural "{} days ago"
-msgstr[0] ""
-msgstr[1] ""
+msgstr[0] "{} วันที่แล้ว"
 
-#: selfdrive/ui/layouts/settings/software.py:37
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "{} hour ago"
 msgid_plural "{} hours ago"
-msgstr[0] ""
-msgstr[1] ""
+msgstr[0] "{} ชั่วโมงที่แล้ว"
 
-#: selfdrive/ui/layouts/settings/software.py:34
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "{} minute ago"
 msgid_plural "{} minutes ago"
-msgstr[0] ""
-msgstr[1] ""
+msgstr[0] "{} นาทีที่แล้ว"
 
-#: selfdrive/ui/layouts/settings/firehose.py:111
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
 msgid "{} segment of your driving is in the training dataset so far."
 msgid_plural "{} segments of your driving is in the training dataset so far."
-msgstr[0] ""
-msgstr[1] ""
+msgstr[0] "ขณะนี้มีช่วงการขับขี่ของคุณ {} ช่วงอยู่ในชุดข้อมูลฝึกสอนแล้ว"
 
-#: selfdrive/ui/widgets/prime.py:62
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "✓ SUBSCRIBED"
-msgstr ""
+msgstr "✓ สมัครแล้ว"
 
-#: selfdrive/ui/widgets/setup.py:22
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "🔥 Firehose Mode 🔥"
-msgstr ""
+msgstr "🔥 โหมด Firehose 🔥"
+
diff --git a/selfdrive/ui/translations/app_tr.po b/selfdrive/ui/translations/app_tr.po
index 10191234a1f..dbb5b325a61 100644
--- a/selfdrive/ui/translations/app_tr.po
+++ b/selfdrive/ui/translations/app_tr.po
@@ -1,1210 +1,825 @@
-# Turkish translations for PACKAGE package.
-# Copyright (C) 2025 THE PACKAGE'S COPYRIGHT HOLDER
-# This file is distributed under the same license as the PACKAGE package.
-# Automatically generated, 2025.
-#
 msgid ""
 msgstr ""
-"Project-Id-Version: PACKAGE VERSION\n"
-"Report-Msgid-Bugs-To: \n"
-"POT-Creation-Date: 2025-10-23 00:50-0700\n"
-"PO-Revision-Date: 2025-10-20 18:19-0700\n"
-"Last-Translator: Automatically generated\n"
-"Language-Team: none\n"
-"Language: tr\n"
-"MIME-Version: 1.0\n"
 "Content-Type: text/plain; charset=UTF-8\n"
-"Content-Transfer-Encoding: 8bit\n"
+"Language: tr\n"
 "Plural-Forms: nplurals=2; plural=(n != 1);\n"
 
-#: selfdrive/ui/layouts/settings/device.py:160
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid " Steering torque response calibration is complete."
 msgstr " Direksiyon tork tepkisi kalibrasyonu tamamlandı."
 
-#: selfdrive/ui/layouts/settings/device.py:158
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid " Steering torque response calibration is {}% complete."
 msgstr " Direksiyon tork tepkisi kalibrasyonu {}% tamamlandı."
 
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid " Your device is pointed {:.1f}° {} and {:.1f}° {}."
 msgstr " Cihazınız {:.1f}° {} ve {:.1f}° {} yönünde konumlandırılmış."
 
-#: selfdrive/ui/layouts/sidebar.py:43
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "--"
 msgstr "--"
 
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "1 year of drive storage"
 msgstr "1 yıl sürüş depolaması"
 
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "24/7 LTE connectivity"
 msgstr "7/24 LTE bağlantısı"
 
-#: selfdrive/ui/layouts/sidebar.py:46
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "2G"
 msgstr "2G"
 
-#: selfdrive/ui/layouts/sidebar.py:47
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "3G"
 msgstr "3G"
 
-#: selfdrive/ui/layouts/sidebar.py:49
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "5G"
 msgstr "5G"
 
-#: selfdrive/ui/layouts/settings/developer.py:23
-msgid ""
-"<b>WARNING: openpilot longitudinal control is in alpha for this car and will "
-"disable Automatic Emergency Braking (AEB).</b><br><br>On this car, openpilot "
-"defaults to the car's built-in ACC instead of openpilot's longitudinal "
-"control. Enable this to switch to openpilot longitudinal control. Enabling "
-"Experimental mode is recommended when enabling openpilot longitudinal "
-"control alpha. Changing this setting will restart openpilot if the car is "
-"powered on."
-msgstr ""
-"<b>UYARI: Bu araç için openpilot boylamsal kontrolü alfa aşamasındadır ve "
-"Otomatik Acil Frenlemeyi (AEB) devre dışı bırakacaktır.</b><br><br>Bu araçta "
-"openpilot, openpilot'un boylamsal kontrolü yerine aracın yerleşik ACC'sini "
-"varsayılan olarak kullanır. openpilot boylamsal kontrolüne geçmek için bunu "
-"etkinleştirin. openpilot boylamsal kontrol alfayı etkinleştirirken Deneysel "
-"modu etkinleştirmeniz önerilir."
-
-#: selfdrive/ui/layouts/settings/device.py:148
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "<br><br>Steering lag calibration is complete."
-msgstr ""
+msgstr "<br><br>Direksiyon gecikmesi kalibrasyonu tamamlandı."
 
-#: selfdrive/ui/layouts/settings/device.py:146
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "<br><br>Steering lag calibration is {}% complete."
-msgstr ""
+msgstr "<br><br>Direksiyon gecikmesi kalibrasyonu %{} tamamlandı."
 
-#: selfdrive/ui/layouts/settings/firehose.py:138
-#, python-format
-msgid "ACTIVE"
-msgstr "AKTİF"
-
-#: selfdrive/ui/layouts/settings/developer.py:15
-msgid ""
-"ADB (Android Debug Bridge) allows connecting to your device over USB or over "
-"the network. See https://docs.comma.ai/how-to/connect-to-comma for more info."
-msgstr ""
-"ADB (Android Debug Bridge), cihazınıza USB veya ağ üzerinden bağlanmayı "
-"sağlar. Daha fazla bilgi için https://docs.comma.ai/how-to/connect-to-comma "
-"adresine bakın."
-
-#: selfdrive/ui/widgets/ssh_key.py:30
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "ADD"
 msgstr "EKLE"
 
-#: system/ui/widgets/network.py:139
-#, python-format
+#: system/ui/widgets/network.py
 msgid "APN Setting"
-msgstr ""
+msgstr "APN Ayarı"
 
-#: selfdrive/ui/widgets/offroad_alerts.py:109
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Acknowledge Excessive Actuation"
 msgstr "Aşırı Müdahaleyi Onayla"
 
-#: system/ui/widgets/network.py:74 system/ui/widgets/network.py:95
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Advanced"
-msgstr ""
+msgstr "Gelişmiş"
 
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Aggressive"
 msgstr "Agresif"
 
-#: selfdrive/ui/layouts/onboarding.py:116
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Agree"
 msgstr "Kabul et"
 
-#: selfdrive/ui/layouts/settings/toggles.py:70
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Always-On Driver Monitoring"
 msgstr "Sürekli Sürücü İzleme"
 
-#: selfdrive/ui/layouts/settings/toggles.py:186
-#, python-format
-msgid ""
-"An alpha version of openpilot longitudinal control can be tested, along with "
-"Experimental mode, on non-release branches."
-msgstr ""
-"openpilot boylamsal kontrolünün alfa sürümü, Deneysel mod ile birlikte, "
-"yayın dışı dallarda test edilebilir."
-
-#: selfdrive/ui/layouts/settings/device.py:187
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Are you sure you want to power off?"
 msgstr "Kapatmak istediğinizden emin misiniz?"
 
-#: selfdrive/ui/layouts/settings/device.py:175
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Are you sure you want to reboot?"
 msgstr "Yeniden başlatmak istediğinizden emin misiniz?"
 
-#: selfdrive/ui/layouts/settings/device.py:119
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Are you sure you want to reset calibration?"
 msgstr "Kalibrasyonu sıfırlamak istediğinizden emin misiniz?"
 
-#: selfdrive/ui/layouts/settings/software.py:163
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Are you sure you want to uninstall?"
 msgstr "Kaldırmak istediğinizden emin misiniz?"
 
-#: system/ui/widgets/network.py:99 selfdrive/ui/layouts/onboarding.py:147
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+#: system/ui/widgets/network.py
 msgid "Back"
 msgstr "Geri"
 
-#: selfdrive/ui/widgets/prime.py:38
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Become a comma prime member at connect.comma.ai"
 msgstr "connect.comma.ai adresinde comma prime üyesi olun"
 
-#: selfdrive/ui/widgets/pairing_dialog.py:130
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
-msgstr ""
-"connect.comma.ai'yi ana ekranınıza ekleyerek bir uygulama gibi kullanın"
+msgstr "connect.comma.ai'yi ana ekranınıza ekleyerek bir uygulama gibi kullanın"
 
-#: selfdrive/ui/layouts/settings/device.py:68
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "CHANGE"
 msgstr "DEĞİŞTİR"
 
-#: selfdrive/ui/layouts/settings/software.py:50
-#: selfdrive/ui/layouts/settings/software.py:107
-#: selfdrive/ui/layouts/settings/software.py:118
-#: selfdrive/ui/layouts/settings/software.py:147
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "CHECK"
 msgstr "KONTROL ET"
 
-#: selfdrive/ui/widgets/exp_mode_button.py:50
-#, python-format
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
 msgid "CHILL MODE ON"
 msgstr "CHILL MODU AÇIK"
 
-#: system/ui/widgets/network.py:155 selfdrive/ui/layouts/sidebar.py:73
-#: selfdrive/ui/layouts/sidebar.py:134 selfdrive/ui/layouts/sidebar.py:136
-#: selfdrive/ui/layouts/sidebar.py:138
-#, python-format
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/network.py
 msgid "CONNECT"
 msgstr "BAĞLAN"
 
-#: system/ui/widgets/network.py:369
-#, python-format
+#: system/ui/widgets/network.py
 msgid "CONNECTING..."
 msgstr "BAĞLAN"
 
-#: system/ui/widgets/confirm_dialog.py:23 system/ui/widgets/option_dialog.py:35
-#: system/ui/widgets/keyboard.py:81 system/ui/widgets/network.py:318
-#, python-format
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/keyboard.py
+#: system/ui/widgets/network.py
+#: system/ui/widgets/option_dialog.py
 msgid "Cancel"
-msgstr ""
+msgstr "İptal"
 
-#: system/ui/widgets/network.py:134
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Cellular Metered"
-msgstr ""
+msgstr "Ölçülü Hücresel"
 
-#: selfdrive/ui/layouts/settings/device.py:68
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Change Language"
 msgstr "Dili Değiştir"
 
-#: selfdrive/ui/layouts/settings/toggles.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Changing this setting will restart openpilot if the car is powered on."
-msgstr ""
-" Bu ayarı değiştirmek, araç çalışıyorsa openpilot'u yeniden başlatacaktır."
+msgstr " Bu ayarı değiştirmek, araç çalışıyorsa openpilot'u yeniden başlatacaktır."
 
-#: selfdrive/ui/widgets/pairing_dialog.py:129
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Click \"add new device\" and scan the QR code on the right"
 msgstr "\"yeni cihaz ekle\"ye tıklayın ve sağdaki QR kodunu tarayın"
 
-#: selfdrive/ui/widgets/offroad_alerts.py:104
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Close"
 msgstr "Kapat"
 
-#: selfdrive/ui/layouts/settings/software.py:49
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Current Version"
 msgstr "Geçerli Sürüm"
 
-#: selfdrive/ui/layouts/settings/software.py:110
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "DOWNLOAD"
 msgstr "İNDİR"
 
-#: selfdrive/ui/layouts/onboarding.py:115
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Decline"
 msgstr "Reddet"
 
-#: selfdrive/ui/layouts/onboarding.py:148
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Decline, uninstall openpilot"
 msgstr "Reddet, openpilot'u kaldır"
 
-#: selfdrive/ui/layouts/settings/settings.py:67
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Developer"
 msgstr "Geliştirici"
 
-#: selfdrive/ui/layouts/settings/settings.py:62
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Device"
 msgstr "Cihaz"
 
-#: selfdrive/ui/layouts/settings/toggles.py:58
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Disengage on Accelerator Pedal"
 msgstr "Gaz Pedalında Devreden Çık"
 
-#: selfdrive/ui/layouts/settings/device.py:184
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Disengage to Power Off"
 msgstr "Kapatmak için Devreden Çıkın"
 
-#: selfdrive/ui/layouts/settings/device.py:172
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Disengage to Reboot"
 msgstr "Yeniden Başlatmak için Devreden Çıkın"
 
-#: selfdrive/ui/layouts/settings/device.py:103
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Disengage to Reset Calibration"
 msgstr "Kalibrasyonu Sıfırlamak için Devreden Çıkın"
 
-#: selfdrive/ui/layouts/settings/toggles.py:32
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Display speed in km/h instead of mph."
 msgstr "Hızı mph yerine km/h olarak göster."
 
-#: selfdrive/ui/layouts/settings/device.py:59
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Dongle ID"
-msgstr "Dongle ID"
+msgstr "Dongle kimliği"
 
-#: selfdrive/ui/layouts/settings/software.py:50
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Download"
 msgstr "İndir"
 
-#: selfdrive/ui/layouts/settings/device.py:62
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Driver Camera"
 msgstr "Sürücü Kamerası"
 
-#: selfdrive/ui/layouts/settings/toggles.py:96
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Driving Personality"
 msgstr "Sürüş Kişiliği"
 
-#: system/ui/widgets/network.py:123 system/ui/widgets/network.py:139
-#, python-format
+#: system/ui/widgets/network.py
 msgid "EDIT"
-msgstr ""
+msgstr "DÜZENLE"
 
-#: selfdrive/ui/layouts/sidebar.py:138
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ERROR"
 msgstr "HATA"
 
-#: selfdrive/ui/layouts/sidebar.py:45
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ETH"
 msgstr "ETH"
 
-#: selfdrive/ui/widgets/exp_mode_button.py:50
-#, python-format
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
 msgid "EXPERIMENTAL MODE ON"
 msgstr "DENEYSEL MOD AÇIK"
 
-#: selfdrive/ui/layouts/settings/developer.py:166
-#: selfdrive/ui/layouts/settings/toggles.py:228
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable"
 msgstr "Etkinleştir"
 
-#: selfdrive/ui/layouts/settings/developer.py:39
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Enable ADB"
 msgstr "ADB'yi Etkinleştir"
 
-#: selfdrive/ui/layouts/settings/toggles.py:64
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable Lane Departure Warnings"
 msgstr "Şerit Terk Uyarılarını Etkinleştir"
 
-#: system/ui/widgets/network.py:129
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enable Roaming"
-msgstr "openpilot'u etkinleştir"
+msgstr "Dolaşımı Etkinleştir"
 
-#: selfdrive/ui/layouts/settings/developer.py:48
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Enable SSH"
 msgstr "SSH'yi Etkinleştir"
 
-#: system/ui/widgets/network.py:120
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enable Tethering"
-msgstr "Şerit Terk Uyarılarını Etkinleştir"
+msgstr "İnternet Paylaşımını Etkinleştir"
 
-#: selfdrive/ui/layouts/settings/toggles.py:30
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable driver monitoring even when openpilot is not engaged."
 msgstr "openpilot devrede değilken bile sürücü izlemesini etkinleştir."
 
-#: selfdrive/ui/layouts/settings/toggles.py:46
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable openpilot"
 msgstr "openpilot'u etkinleştir"
 
-#: selfdrive/ui/layouts/settings/toggles.py:189
-#, python-format
-msgid ""
-"Enable the openpilot longitudinal control (alpha) toggle to allow "
-"Experimental mode."
-msgstr ""
-"Deneysel modu etkinleştirmek için openpilot boylamsal kontrolünü (alfa) açın."
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode."
+msgstr "Deneysel modu etkinleştirmek için openpilot boylamsal kontrolünü (alfa) açın."
 
-#: system/ui/widgets/network.py:204
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter APN"
-msgstr ""
+msgstr "APN girin"
 
-#: system/ui/widgets/network.py:241
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter SSID"
-msgstr ""
+msgstr "SSID girin"
 
-#: system/ui/widgets/network.py:254
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter new tethering password"
-msgstr ""
+msgstr "Yeni internet paylaşımı şifresini girin"
 
-#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter password"
-msgstr ""
+msgstr "Şifre girin"
 
-#: selfdrive/ui/widgets/ssh_key.py:89
-#, python-format
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "Enter your GitHub username"
 msgstr "GitHub kullanıcı adınızı girin"
 
-#: system/ui/widgets/list_view.py:123 system/ui/widgets/list_view.py:160
-#, python-format
+#: system/ui/widgets/list_view.py
 msgid "Error"
-msgstr ""
+msgstr "Hata"
 
-#: selfdrive/ui/layouts/settings/toggles.py:52
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Experimental Mode"
 msgstr "Deneysel Mod"
 
-#: selfdrive/ui/layouts/settings/toggles.py:181
-#, python-format
-msgid ""
-"Experimental mode is currently unavailable on this car since the car's stock "
-"ACC is used for longitudinal control."
-msgstr ""
-"Bu araçta boylamsal kontrol için stok ACC kullanıldığından şu anda Deneysel "
-"mod kullanılamıyor."
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
+msgstr "Bu araçta boylamsal kontrol için stok ACC kullanıldığından şu anda Deneysel mod kullanılamıyor."
 
-#: system/ui/widgets/network.py:373
-#, python-format
+#: system/ui/widgets/network.py
 msgid "FORGETTING..."
-msgstr ""
+msgstr "UNUTULUYOR..."
 
-#: selfdrive/ui/widgets/setup.py:44
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Finish Setup"
 msgstr "Kurulumu Bitir"
 
-#: selfdrive/ui/layouts/settings/settings.py:66
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Firehose"
-msgstr "Firehose"
+msgstr "Yoğun veri akışı"
 
-#: selfdrive/ui/layouts/settings/firehose.py:18
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
 msgid "Firehose Mode"
 msgstr "Firehose Modu"
 
-#: selfdrive/ui/layouts/settings/firehose.py:25
-msgid ""
-"For maximum effectiveness, bring your device inside and connect to a good "
-"USB-C adapter and Wi-Fi weekly.\n"
-"\n"
-"Firehose Mode can also work while you're driving if connected to a hotspot "
-"or unlimited SIM card.\n"
-"\n"
-"\n"
-"Frequently Asked Questions\n"
-"\n"
-"Does it matter how or where I drive? Nope, just drive as you normally "
-"would.\n"
-"\n"
-"Do all of my segments get pulled in Firehose Mode? No, we selectively pull a "
-"subset of your segments.\n"
-"\n"
-"What's a good USB-C adapter? Any fast phone or laptop charger should be "
-"fine.\n"
-"\n"
-"Does it matter which software I run? Yes, only upstream openpilot (and "
-"particular forks) are able to be used for training."
-msgstr ""
-"Maksimum verim için cihazınızı içeri alın ve haftalık olarak iyi bir USB-C "
-"adaptörüne ve Wi‑Fi'a bağlayın.\n"
-"\n"
-"Firehose Modu, bir hotspot'a veya sınırsız SIM karta bağlıyken sürüş "
-"sırasında da çalışabilir.\n"
-"\n"
-"\n"
-"Sıkça Sorulan Sorular\n"
-"\n"
-"Nasıl veya nerede sürdüğüm önemli mi? Hayır, normalde nasıl sürüyorsanız "
-"öyle sürün.\n"
-"\n"
-"Firehose Modu'nda tüm segmentlerim çekiliyor mu? Hayır, segmentlerinizin bir "
-"alt kümesini seçerek çekiyoruz.\n"
-"\n"
-"İyi bir USB‑C adaptörü nedir? Hızlı bir telefon veya dizüstü şarj cihazı "
-"uygundur.\n"
-"\n"
-"Hangi yazılımı çalıştırdığım önemli mi? Evet, yalnızca upstream openpilot "
-"(ve bazı fork'lar) eğitim için kullanılabilir."
-
-#: system/ui/widgets/network.py:318 system/ui/widgets/network.py:451
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Forget"
-msgstr ""
+msgstr "Unut"
 
-#: system/ui/widgets/network.py:319
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Forget Wi-Fi Network \"{}\"?"
-msgstr ""
+msgstr "\"{}\" Wi‑Fi ağı unutulsun mu?"
 
-#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "GOOD"
 msgstr "İYİ"
 
-#: selfdrive/ui/widgets/pairing_dialog.py:128
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Go to https://connect.comma.ai on your phone"
 msgstr "Telefonunuzda https://connect.comma.ai adresine gidin"
 
-#: selfdrive/ui/layouts/sidebar.py:129
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "HIGH"
 msgstr "YÜKSEK"
 
-#: system/ui/widgets/network.py:155
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Hidden Network"
-msgstr "Ağ"
-
-#: selfdrive/ui/layouts/settings/firehose.py:140
-#, python-format
-msgid "INACTIVE: connect to an unmetered network"
-msgstr "PASİF: sınırsız bir ağa bağlanın"
+msgstr "Gizli Ağ"
 
-#: selfdrive/ui/layouts/settings/software.py:53
-#: selfdrive/ui/layouts/settings/software.py:136
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "INSTALL"
 msgstr "YÜKLE"
 
-#: system/ui/widgets/network.py:150
-#, python-format
+#: system/ui/widgets/network.py
 msgid "IP Address"
-msgstr ""
+msgstr "IP Adresi"
 
-#: selfdrive/ui/layouts/settings/software.py:53
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Install Update"
 msgstr "Güncellemeyi Yükle"
 
-#: selfdrive/ui/layouts/settings/developer.py:56
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Joystick Debug Mode"
 msgstr "Joystick Hata Ayıklama Modu"
 
-#: selfdrive/ui/widgets/ssh_key.py:29
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "LOADING"
 msgstr "YÜKLENİYOR"
 
-#: selfdrive/ui/layouts/sidebar.py:48
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "LTE"
 msgstr "LTE"
 
-#: selfdrive/ui/layouts/settings/developer.py:64
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Longitudinal Maneuver Mode"
 msgstr "Boylamsal Manevra Modu"
 
-#: selfdrive/ui/onroad/hud_renderer.py:148
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "MAX"
 msgstr "MAKS"
 
-#: selfdrive/ui/widgets/setup.py:75
-#, python-format
-msgid ""
-"Maximize your training data uploads to improve openpilot's driving models."
-msgstr ""
-"openpilot'un sürüş modellerini iyileştirmek için eğitim veri yüklemelerinizi "
-"en üst düzeye çıkarın."
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Maximize your training data uploads to improve openpilot's driving models."
+msgstr "openpilot'un sürüş modellerini iyileştirmek için eğitim veri yüklemelerinizi en üst düzeye çıkarın."
 
-#: selfdrive/ui/layouts/settings/device.py:59
-#: selfdrive/ui/layouts/settings/device.py:60
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "N/A"
-msgstr ""
+msgstr "Yok"
 
-#: selfdrive/ui/layouts/sidebar.py:142
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "NO"
 msgstr "HAYIR"
 
-#: selfdrive/ui/layouts/settings/settings.py:63
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Network"
 msgstr "Ağ"
 
-#: selfdrive/ui/widgets/ssh_key.py:114
-#, python-format
-msgid "No SSH keys found"
-msgstr "SSH anahtarı bulunamadı"
-
-#: selfdrive/ui/widgets/ssh_key.py:126
-#, python-format
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "No SSH keys found for user '{}'"
-msgstr "'{username}' için SSH anahtarı bulunamadı"
+msgstr "'{}' kullanıcısı için SSH anahtarı bulunamadı"
 
-#: selfdrive/ui/widgets/offroad_alerts.py:320
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "No release notes available."
 msgstr "Sürüm notu mevcut değil."
 
-#: selfdrive/ui/layouts/sidebar.py:73 selfdrive/ui/layouts/sidebar.py:134
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "OFFLINE"
 msgstr "ÇEVRİMDIŞI"
 
-#: system/ui/widgets/html_render.py:263 system/ui/widgets/confirm_dialog.py:93
-#: selfdrive/ui/layouts/sidebar.py:127
-#, python-format
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/html_render.py
 msgid "OK"
 msgstr "OK"
 
-#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:136
-#: selfdrive/ui/layouts/sidebar.py:144
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ONLINE"
 msgstr "ÇEVRİMİÇİ"
 
-#: selfdrive/ui/widgets/setup.py:20
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Open"
 msgstr "Aç"
 
-#: selfdrive/ui/layouts/settings/device.py:48
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "PAIR"
 msgstr "EŞLE"
 
-#: selfdrive/ui/layouts/sidebar.py:142
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "PANDA"
 msgstr "PANDA"
 
-#: selfdrive/ui/layouts/settings/device.py:62
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "PREVIEW"
 msgstr "ÖNİZLEME"
 
-#: selfdrive/ui/widgets/prime.py:44
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "PRIME FEATURES:"
 msgstr "PRIME ÖZELLİKLERİ:"
 
-#: selfdrive/ui/layouts/settings/device.py:48
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Pair Device"
 msgstr "Cihazı Eşle"
 
-#: selfdrive/ui/widgets/setup.py:19
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Pair device"
 msgstr "Cihazı eşle"
 
-#: selfdrive/ui/widgets/pairing_dialog.py:103
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Pair your device to your comma account"
 msgstr "Cihazınızı comma hesabınızla eşleştirin"
 
-#: selfdrive/ui/widgets/setup.py:48 selfdrive/ui/layouts/settings/device.py:24
-#, python-format
-msgid ""
-"Pair your device with comma connect (connect.comma.ai) and claim your comma "
-"prime offer."
-msgstr ""
-"Cihazınızı comma connect (connect.comma.ai) ile eşleştirin ve comma prime "
-"teklifinizi alın."
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."
+msgstr "Cihazınızı comma connect (connect.comma.ai) ile eşleştirin ve comma prime teklifinizi alın."
 
-#: selfdrive/ui/widgets/setup.py:91
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Please connect to Wi-Fi to complete initial pairing"
 msgstr "İlk eşleştirmeyi tamamlamak için lütfen Wi‑Fi'a bağlanın"
 
-#: selfdrive/ui/layouts/settings/device.py:55
-#: selfdrive/ui/layouts/settings/device.py:187
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Power Off"
 msgstr "Kapat"
 
-#: system/ui/widgets/network.py:144
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered Wi-Fi connection"
-msgstr ""
+msgstr "Ölçülü bir Wi‑Fi bağlantısındayken büyük veri yüklemelerini engelle"
 
-#: system/ui/widgets/network.py:135
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered cellular connection"
-msgstr ""
+msgstr "Ölçülü bir hücresel bağlantıdayken büyük veri yüklemelerini engelle"
 
-#: selfdrive/ui/layouts/settings/device.py:25
-msgid ""
-"Preview the driver facing camera to ensure that driver monitoring has good "
-"visibility. (vehicle must be off)"
-msgstr ""
-"Sürücü izleme görünürlüğünün iyi olduğundan emin olmak için sürücüye bakan "
-"kamerayı önizleyin. (araç kapalı olmalıdır)"
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)"
+msgstr "Sürücü izleme görünürlüğünün iyi olduğundan emin olmak için sürücüye bakan kamerayı önizleyin. (araç kapalı olmalıdır)"
 
-#: selfdrive/ui/widgets/pairing_dialog.py:161
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "QR Code Error"
 msgstr "QR Kod Hatası"
 
-#: selfdrive/ui/widgets/ssh_key.py:31
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "REMOVE"
 msgstr "KALDIR"
 
-#: selfdrive/ui/layouts/settings/device.py:51
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "RESET"
 msgstr "SIFIRLA"
 
-#: selfdrive/ui/layouts/settings/device.py:65
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "REVIEW"
 msgstr "GÖZDEN GEÇİR"
 
-#: selfdrive/ui/layouts/settings/device.py:55
-#: selfdrive/ui/layouts/settings/device.py:175
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Reboot"
 msgstr "Yeniden Başlat"
 
-#: selfdrive/ui/onroad/alert_renderer.py:66
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "Reboot Device"
 msgstr "Cihazı Yeniden Başlat"
 
-#: selfdrive/ui/widgets/offroad_alerts.py:112
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Reboot and Update"
 msgstr "Yeniden Başlat ve Güncelle"
 
-#: selfdrive/ui/layouts/settings/toggles.py:27
-msgid ""
-"Receive alerts to steer back into the lane when your vehicle drifts over a "
-"detected lane line without a turn signal activated while driving over 31 mph "
-"(50 km/h)."
-msgstr ""
-"Araç 31 mph (50 km/h) üzerindeyken sinyal verilmeden algılanan şerit "
-"çizgisini aştığınızda şeride geri dönmeniz için uyarılar alın."
-
-#: selfdrive/ui/layouts/settings/toggles.py:76
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Record and Upload Driver Camera"
 msgstr "Sürücü Kamerasını Kaydet ve Yükle"
 
-#: selfdrive/ui/layouts/settings/toggles.py:82
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Record and Upload Microphone Audio"
 msgstr "Mikrofon Sesini Kaydet ve Yükle"
 
-#: selfdrive/ui/layouts/settings/toggles.py:33
-msgid ""
-"Record and store microphone audio while driving. The audio will be included "
-"in the dashcam video in comma connect."
-msgstr ""
-"Sürüş sırasında mikrofon sesini kaydedip saklayın. Ses, comma connect'teki "
-"ön kamera videosuna dahil edilecektir."
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."
+msgstr "Sürüş sırasında mikrofon sesini kaydedip saklayın. Ses, comma connect'teki ön kamera videosuna dahil edilecektir."
 
-#: selfdrive/ui/layouts/settings/device.py:67
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Regulatory"
 msgstr "Mevzuat"
 
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Relaxed"
 msgstr "Rahat"
 
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Remote access"
 msgstr "Uzaktan erişim"
 
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Remote snapshots"
 msgstr "Uzaktan anlık görüntüler"
 
-#: selfdrive/ui/widgets/ssh_key.py:123
-#, python-format
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "Request timed out"
 msgstr "İstek zaman aşımına uğradı"
 
-#: selfdrive/ui/layouts/settings/device.py:119
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Reset"
 msgstr "Sıfırla"
 
-#: selfdrive/ui/layouts/settings/device.py:51
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Reset Calibration"
 msgstr "Kalibrasyonu Sıfırla"
 
-#: selfdrive/ui/layouts/settings/device.py:65
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Review Training Guide"
 msgstr "Eğitim Kılavuzunu İncele"
 
-#: selfdrive/ui/layouts/settings/device.py:27
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Review the rules, features, and limitations of openpilot"
-msgstr ""
-"openpilot'un kurallarını, özelliklerini ve sınırlamalarını gözden geçirin"
+msgstr "openpilot'un kurallarını, özelliklerini ve sınırlamalarını gözden geçirin"
 
-#: selfdrive/ui/layouts/settings/software.py:61
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "SELECT"
-msgstr ""
+msgstr "SEÇ"
 
-#: selfdrive/ui/layouts/settings/developer.py:53
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "SSH Keys"
-msgstr ""
+msgstr "SSH Anahtarları"
 
-#: system/ui/widgets/network.py:310
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Scanning Wi-Fi networks..."
-msgstr ""
+msgstr "Wi‑Fi ağları taranıyor..."
 
-#: system/ui/widgets/option_dialog.py:36
-#, python-format
+#: system/ui/widgets/option_dialog.py
 msgid "Select"
-msgstr ""
+msgstr "Seç"
 
-#: selfdrive/ui/layouts/settings/software.py:183
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Select a branch"
-msgstr ""
+msgstr "Bir dal seçin"
 
-#: selfdrive/ui/layouts/settings/device.py:91
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Select a language"
 msgstr "Bir dil seçin"
 
-#: selfdrive/ui/layouts/settings/device.py:60
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Serial"
 msgstr "Seri"
 
-#: selfdrive/ui/widgets/offroad_alerts.py:106
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Snooze Update"
 msgstr "Güncellemeyi Ertele"
 
-#: selfdrive/ui/layouts/settings/settings.py:65
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Software"
 msgstr "Yazılım"
 
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Standard"
 msgstr "Standart"
 
-#: selfdrive/ui/layouts/settings/toggles.py:22
-msgid ""
-"Standard is recommended. In aggressive mode, openpilot will follow lead cars "
-"closer and be more aggressive with the gas and brake. In relaxed mode "
-"openpilot will stay further away from lead cars. On supported cars, you can "
-"cycle through these personalities with your steering wheel distance button."
-msgstr ""
-"Standart önerilir. Agresif modda openpilot öndeki aracı daha yakından takip "
-"eder ve gaz/fren kullanımında daha ataktır. Rahat modda openpilot öndeki "
-"araçlardan daha uzak durur. Desteklenen araçlarda bu kişilikler arasında "
-"direksiyon mesafe düğmesiyle geçiş yapabilirsiniz."
-
-#: selfdrive/ui/onroad/alert_renderer.py:59
-#: selfdrive/ui/onroad/alert_renderer.py:65
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "System Unresponsive"
 msgstr "Sistem Yanıt Vermiyor"
 
-#: selfdrive/ui/onroad/alert_renderer.py:58
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "TAKE CONTROL IMMEDIATELY"
 msgstr "HEMEN KONTROLÜ DEVRALIN"
 
-#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
-#: selfdrive/ui/layouts/sidebar.py:127 selfdrive/ui/layouts/sidebar.py:129
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "TEMP"
-msgstr "TEMP"
+msgstr "SIC."
 
-#: selfdrive/ui/layouts/settings/software.py:61
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Target Branch"
-msgstr ""
+msgstr "Hedef Dal"
 
-#: system/ui/widgets/network.py:124
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Tethering Password"
-msgstr ""
+msgstr "İnternet Paylaşımı Şifresi"
 
-#: selfdrive/ui/layouts/settings/settings.py:64
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Toggles"
 msgstr "Seçenekler"
 
-#: selfdrive/ui/layouts/settings/software.py:72
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "UI Debug Mode"
+msgstr "Arayüz Hata Ayıklama Modu"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "UNINSTALL"
 msgstr "KALDIR"
 
-#: selfdrive/ui/layouts/home.py:155
-#, python-format
+#: openpilot/selfdrive/ui/layouts/home.py
 msgid "UPDATE"
 msgstr "GÜNCELLE"
 
-#: selfdrive/ui/layouts/settings/software.py:72
-#: selfdrive/ui/layouts/settings/software.py:163
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Uninstall"
 msgstr "Kaldır"
 
-#: selfdrive/ui/layouts/sidebar.py:117
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "Unknown"
 msgstr "Bilinmiyor"
 
-#: selfdrive/ui/layouts/settings/software.py:48
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Updates are only downloaded while the car is off."
 msgstr "Güncellemeler yalnızca araç kapalıyken indirilir."
 
-#: selfdrive/ui/widgets/prime.py:33
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Upgrade Now"
 msgstr "Şimdi Yükselt"
 
-#: selfdrive/ui/layouts/settings/toggles.py:31
-msgid ""
-"Upload data from the driver facing camera and help improve the driver "
-"monitoring algorithm."
-msgstr ""
-"Sürücüye bakan kameradan veri yükleyin ve sürücü izleme algoritmasını "
-"geliştirmeye yardımcı olun."
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Upload data from the driver facing camera and help improve the driver monitoring algorithm."
+msgstr "Sürücüye bakan kameradan veri yükleyin ve sürücü izleme algoritmasını geliştirmeye yardımcı olun."
 
-#: selfdrive/ui/layouts/settings/toggles.py:88
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Use Metric System"
 msgstr "Metrik Sistemi Kullan"
 
-#: selfdrive/ui/layouts/settings/toggles.py:17
-msgid ""
-"Use the openpilot system for adaptive cruise control and lane keep driver "
-"assistance. Your attention is required at all times to use this feature."
-msgstr ""
-"Uyarlanabilir hız sabitleyici ve şerit koruma sürücü yardımında openpilot "
-"sistemini kullanın. Bu özelliği kullanırken her zaman dikkatli olmanız "
-"gerekir."
-
-#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:144
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "VEHICLE"
 msgstr "ARAÇ"
 
-#: selfdrive/ui/layouts/settings/device.py:67
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "VIEW"
 msgstr "GÖRÜNTÜLE"
 
-#: selfdrive/ui/onroad/alert_renderer.py:52
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "Waiting to start"
 msgstr "Başlatma bekleniyor"
 
-#: selfdrive/ui/layouts/settings/developer.py:19
-msgid ""
-"Warning: This grants SSH access to all public keys in your GitHub settings. "
-"Never enter a GitHub username other than your own. A comma employee will "
-"NEVER ask you to add their GitHub username."
-msgstr ""
-"Uyarı: Bu, GitHub ayarlarınızdaki tüm açık anahtarlara SSH erişimi verir. "
-"Kendi adınız dışında asla bir GitHub kullanıcı adı girmeyin. Bir comma "
-"çalışanı sizden asla GitHub kullanıcı adlarını eklemenizi İSTEMEZ."
-
-#: selfdrive/ui/layouts/onboarding.py:111
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Welcome to openpilot"
 msgstr "openpilot'a hoş geldiniz"
 
-#: selfdrive/ui/layouts/settings/toggles.py:20
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "When enabled, pressing the accelerator pedal will disengage openpilot."
-msgstr ""
-"Etkinleştirildiğinde, gaz pedalına basmak openpilot'u devreden çıkarır."
+msgstr "Etkinleştirildiğinde, gaz pedalına basmak openpilot'u devreden çıkarır."
 
-#: selfdrive/ui/layouts/sidebar.py:44
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "Wi-Fi"
 msgstr "Wi‑Fi"
 
-#: system/ui/widgets/network.py:144
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Wi-Fi Network Metered"
-msgstr ""
+msgstr "Ölçülü Wi‑Fi Ağı"
 
-#: system/ui/widgets/network.py:314
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Wrong password"
-msgstr ""
+msgstr "Yanlış şifre"
 
-#: selfdrive/ui/layouts/onboarding.py:145
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "You must accept the Terms and Conditions in order to use openpilot."
 msgstr "openpilot'u kullanmak için Şartlar ve Koşulları kabul etmelisiniz."
 
-#: selfdrive/ui/layouts/onboarding.py:112
-#, python-format
-msgid ""
-"You must accept the Terms and Conditions to use openpilot. Read the latest "
-"terms at https://comma.ai/terms before continuing."
-msgstr ""
-"openpilot'u kullanmak için Şartlar ve Koşulları kabul etmelisiniz. Devam "
-"etmeden önce en güncel şartları https://comma.ai/terms adresinde okuyun."
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "You must accept the Terms and Conditions to use openpilot. Read the latest terms at https://comma.ai/terms before continuing."
+msgstr "openpilot'u kullanmak için Şartlar ve Koşulları kabul etmelisiniz. Devam etmeden önce en güncel şartları https://comma.ai/terms adresinde okuyun."
 
-#: selfdrive/ui/onroad/driver_camera_dialog.py:34
-#, python-format
+#: openpilot/selfdrive/ui/onroad/driver_camera_dialog.py
 msgid "camera starting"
 msgstr "kamera başlatılıyor"
 
-#: selfdrive/ui/widgets/prime.py:63
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "checking..."
+msgstr "kontrol ediliyor..."
+
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "comma prime"
 msgstr "comma prime"
 
-#: system/ui/widgets/network.py:142
-#, python-format
+#: system/ui/widgets/network.py
 msgid "default"
-msgstr ""
+msgstr "varsayılan"
 
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "down"
 msgstr "aşağı"
 
-#: selfdrive/ui/layouts/settings/software.py:106
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "downloading..."
+msgstr "indiriliyor..."
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "failed to check for update"
 msgstr "güncelleme kontrolü başarısız"
 
-#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "finalizing update..."
+msgstr "güncelleme tamamlanıyor..."
+
+#: system/ui/widgets/network.py
 msgid "for \"{}\""
-msgstr ""
+msgstr "\"{}\" için"
 
-#: selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "km/h"
 msgstr "km/h"
 
-#: system/ui/widgets/network.py:204
-#, python-format
+#: system/ui/widgets/network.py
 msgid "leave blank for automatic configuration"
-msgstr ""
+msgstr "otomatik yapılandırma için boş bırakın"
 
-#: selfdrive/ui/layouts/settings/device.py:134
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "left"
 msgstr "sol"
 
-#: system/ui/widgets/network.py:142
-#, python-format
+#: system/ui/widgets/network.py
 msgid "metered"
-msgstr ""
+msgstr "ölçülü"
 
-#: selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "mph"
 msgstr "mph"
 
-#: selfdrive/ui/layouts/settings/software.py:20
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "never"
 msgstr "asla"
 
-#: selfdrive/ui/layouts/settings/software.py:31
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "now"
 msgstr "şimdi"
 
-#: selfdrive/ui/layouts/settings/developer.py:71
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "openpilot Longitudinal Control (Alpha)"
 msgstr "openpilot Boylamsal Kontrol (Alfa)"
 
-#: selfdrive/ui/onroad/alert_renderer.py:51
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "openpilot Unavailable"
 msgstr "openpilot Kullanılamıyor"
 
-#: selfdrive/ui/layouts/settings/toggles.py:158
-#, python-format
-msgid ""
-"openpilot defaults to driving in chill mode. Experimental mode enables alpha-"
-"level features that aren't ready for chill mode. Experimental features are "
-"listed below:<br><h4>End-to-End Longitudinal Control</h4><br>Let the driving "
-"model control the gas and brakes. openpilot will drive as it thinks a human "
-"would, including stopping for red lights and stop signs. Since the driving "
-"model decides the speed to drive, the set speed will only act as an upper "
-"bound. This is an alpha quality feature; mistakes should be expected."
-"<br><h4>New Driving Visualization</h4><br>The driving visualization will "
-"transition to the road-facing wide-angle camera at low speeds to better show "
-"some turns. The Experimental mode logo will also be shown in the top right "
-"corner."
-msgstr ""
-"openpilot varsayılan olarak chill modunda sürer. Deneysel mod, chill moduna "
-"hazır olmayan alfa seviyesindeki özellikleri etkinleştirir. Deneysel "
-"özellikler aşağıda listelenmiştir:<br><h4>Uçtan Uca Boylamsal Kontrol</"
-"h4><br>Sürüş modelinin gaz ve frenleri kontrol etmesine izin verin. "
-"openpilot, kırmızı ışıklarda ve dur işaretlerinde durmak dahil, bir insan "
-"nasıl sürer diye düşündüğüne göre sürer. Hızı sürüş modeli belirlediğinden, "
-"ayarlanan hız yalnızca üst sınır olarak işlev görür. Bu bir alfa kalitesinde "
-"özelliktir; hatalar beklenmelidir.<br><h4>Yeni Sürüş Görselleştirmesi</"
-"h4><br>Sürüş görselleştirmesi, düşük hızlarda bazı dönüşleri daha iyi "
-"göstermek için yola bakan geniş açılı kameraya geçer. Deneysel mod logosu "
-"sağ üst köşede de gösterilecektir."
-
-#: selfdrive/ui/layouts/settings/device.py:165
-#, python-format
-msgid ""
-"openpilot is continuously calibrating, resetting is rarely required. "
-"Resetting calibration will restart openpilot if the car is powered on."
-msgstr ""
-" Bu ayarı değiştirmek, araç çalışıyorsa openpilot'u yeniden başlatacaktır."
-
-#: selfdrive/ui/layouts/settings/firehose.py:20
-msgid ""
-"openpilot learns to drive by watching humans, like you, drive.\n"
-"\n"
-"Firehose Mode allows you to maximize your training data uploads to improve "
-"openpilot's driving models. More data means bigger models, which means "
-"better Experimental Mode."
-msgstr ""
-"openpilot, sizin gibi insanların nasıl sürdüğünü izleyerek sürmeyi öğrenir.\n"
-"\n"
-"Firehose Modu, openpilot'un sürüş modellerini geliştirmek için eğitim veri "
-"yüklemelerinizi en üst düzeye çıkarmanıza olanak tanır. Daha fazla veri, "
-"daha büyük modeller demektir; bu da daha iyi Deneysel Mod anlamına gelir."
-
-#: selfdrive/ui/layouts/settings/toggles.py:183
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "openpilot longitudinal control may come in a future update."
 msgstr "openpilot boylamsal kontrolü gelecekteki bir güncellemede gelebilir."
 
-#: selfdrive/ui/layouts/settings/device.py:26
-msgid ""
-"openpilot requires the device to be mounted within 4° left or right and "
-"within 5° up or 9° down."
-msgstr ""
-"openpilot, cihazın sağa/sola 4° ve yukarı 5° veya aşağı 9° içinde monte "
-"edilmesini gerektirir."
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down."
+msgstr "openpilot, cihazın sağa/sola 4° ve yukarı 5° veya aşağı 9° içinde monte edilmesini gerektirir."
 
-#: selfdrive/ui/layouts/settings/device.py:134
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "right"
 msgstr "sağ"
 
-#: system/ui/widgets/network.py:142
-#, python-format
+#: system/ui/widgets/network.py
 msgid "unmetered"
-msgstr ""
+msgstr "ölçüsüz"
 
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "up"
 msgstr "yukarı"
 
-#: selfdrive/ui/layouts/settings/software.py:117
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "up to date, last checked never"
 msgstr "güncel, son kontrol asla"
 
-#: selfdrive/ui/layouts/settings/software.py:115
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "up to date, last checked {}"
 msgstr "güncel, son kontrol {}"
 
-#: selfdrive/ui/layouts/settings/software.py:109
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "update available"
 msgstr "güncelleme mevcut"
 
-#: selfdrive/ui/layouts/home.py:169
-#, python-format
+#: openpilot/selfdrive/ui/layouts/home.py
 msgid "{} ALERT"
 msgid_plural "{} ALERTS"
 msgstr[0] "{} UYARI"
 msgstr[1] "{} UYARILAR"
 
-#: selfdrive/ui/layouts/settings/software.py:40
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "{} day ago"
 msgid_plural "{} days ago"
 msgstr[0] "{} gün önce"
 msgstr[1] "{} gün önce"
 
-#: selfdrive/ui/layouts/settings/software.py:37
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "{} hour ago"
 msgid_plural "{} hours ago"
 msgstr[0] "{} saat önce"
 msgstr[1] "{} saat önce"
 
-#: selfdrive/ui/layouts/settings/software.py:34
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "{} minute ago"
 msgid_plural "{} minutes ago"
 msgstr[0] "{} dakika önce"
 msgstr[1] "{} dakika önce"
 
-#: selfdrive/ui/layouts/settings/firehose.py:111
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
 msgid "{} segment of your driving is in the training dataset so far."
 msgid_plural "{} segments of your driving is in the training dataset so far."
 msgstr[0] "{} segment sürüşünüz eğitim veri setinde."
 msgstr[1] "{} segment sürüşünüz eğitim veri setinde."
 
-#: selfdrive/ui/widgets/prime.py:62
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "✓ SUBSCRIBED"
 msgstr "✓ ABONE"
 
-#: selfdrive/ui/widgets/setup.py:22
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "🔥 Firehose Mode 🔥"
 msgstr "🔥 Firehose Modu 🔥"
+
diff --git a/selfdrive/ui/translations/app_uk.po b/selfdrive/ui/translations/app_uk.po
index cf78fb5a330..3f3d1866579 100644
--- a/selfdrive/ui/translations/app_uk.po
+++ b/selfdrive/ui/translations/app_uk.po
@@ -1,1258 +1,830 @@
-# Ukrainian translations for PACKAGE package.
-# Copyright (C) 2025 THE PACKAGE'S COPYRIGHT HOLDER
-# This file is distributed under the same license as the PACKAGE package.
-# Automatically generated, 2025.
-#
 msgid ""
 msgstr ""
-"Project-Id-Version: \n"
-"Report-Msgid-Bugs-To: \n"
-"POT-Creation-Date: 2025-11-19 12:21+0200\n"
-"PO-Revision-Date: 2025-11-19 13:27+0200\n"
-"Last-Translator: KeeFeeRe <me@keefeere.me>\n"
-"Language-Team: none\n"
-"Language: uk\n"
-"MIME-Version: 1.0\n"
 "Content-Type: text/plain; charset=UTF-8\n"
-"Content-Transfer-Encoding: 8bit\n"
-"Plural-Forms: nplurals=3; plural=(n%10==1 && n%100!=11 ? 0 : n%10>=2 && "
-"n%10<=4 && (n%100<10 || n%100>=20) ? 1 : 2);\n"
-"X-Generator: Poedit 3.8\n"
+"Language: uk\n"
+"Plural-Forms: nplurals=3; plural=(n%10==1 && n%100!=11 ? 0 : n%10>=2 && n%10<=4 && (n%100<12 || n%100>14) ? 1 : 2);\n"
 
-#: selfdrive/ui/layouts/settings/device.py:160
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid " Steering torque response calibration is complete."
 msgstr " Калібрування реакції крутного моменту керма завершено."
 
-#: selfdrive/ui/layouts/settings/device.py:158
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid " Steering torque response calibration is {}% complete."
 msgstr "Калібрування реакції крутного моменту керма завершено на {}%."
 
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid " Your device is pointed {:.1f}° {} and {:.1f}° {}."
 msgstr " Ваш пристрій нахилено на {:.1f}° {} та {:.1f}° {}."
 
-#: selfdrive/ui/layouts/sidebar.py:43
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "--"
 msgstr "--"
 
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "1 year of drive storage"
 msgstr "1 рік зберігання поїздок"
 
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "24/7 LTE connectivity"
 msgstr "Підключення LTE 24/7"
 
-#: selfdrive/ui/layouts/sidebar.py:46
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "2G"
 msgstr "2G"
 
-#: selfdrive/ui/layouts/sidebar.py:47
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "3G"
 msgstr "3G"
 
-#: selfdrive/ui/layouts/sidebar.py:49
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "5G"
 msgstr "5G"
 
-#: selfdrive/ui/layouts/settings/developer.py:23
-msgid ""
-"<b>WARNING: openpilot longitudinal control is in alpha for this car and will "
-"disable Automatic Emergency Braking (AEB).</b><br><br>On this car, openpilot "
-"defaults to the car's built-in ACC instead of openpilot's longitudinal "
-"control. Enable this to switch to openpilot longitudinal control. Enabling "
-"Experimental mode is recommended when enabling openpilot longitudinal "
-"control alpha. Changing this setting will restart openpilot if the car is "
-"powered on."
-msgstr ""
-"ПОПЕРЕДЖЕННЯ: поздовжнє керування openpilot для цього автомобіля знаходиться "
-"в стадії альфа-тестування і вимкне автоматичне екстрене гальмування (AEB)."
-
-#: selfdrive/ui/layouts/settings/device.py:148
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "<br><br>Steering lag calibration is complete."
 msgstr "<br><br>Калібрування затримки кермування завершено."
 
-#: selfdrive/ui/layouts/settings/device.py:146
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "<br><br>Steering lag calibration is {}% complete."
 msgstr "<br><br>Калібрування затримки кермування завершено на {}%."
 
-#: selfdrive/ui/layouts/settings/firehose.py:138
-#, python-format
-msgid "ACTIVE"
-msgstr "АКТИВНИЙ"
-
-#: selfdrive/ui/layouts/settings/developer.py:15
-msgid ""
-"ADB (Android Debug Bridge) allows connecting to your device over USB or over "
-"the network. See https://docs.comma.ai/how-to/connect-to-comma for more info."
-msgstr ""
-"ADB (Android Debug Bridge) дозволяє підключатися до вашого пристрою через "
-"USB або мережу. Дивіться https://docs.comma.ai/how-to/connect-to-comma для "
-"отримання додаткової інформації."
-
-#: selfdrive/ui/widgets/ssh_key.py:30
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "ADD"
 msgstr "ДОДАТИ"
 
-#: system/ui/widgets/network.py:139
-#, python-format
+#: system/ui/widgets/network.py
 msgid "APN Setting"
 msgstr "Налаштування APN"
 
-#: selfdrive/ui/widgets/offroad_alerts.py:109
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Acknowledge Excessive Actuation"
 msgstr "Визнайте надмірне спрацьовування"
 
-#: system/ui/widgets/network.py:74 system/ui/widgets/network.py:95
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Advanced"
 msgstr "Розширені"
 
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Aggressive"
 msgstr "Агресивн."
 
-#: selfdrive/ui/layouts/onboarding.py:116
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Agree"
 msgstr "Погодитися"
 
-#: selfdrive/ui/layouts/settings/toggles.py:70
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Always-On Driver Monitoring"
 msgstr "Постійний моніторинг водія"
 
-#: selfdrive/ui/layouts/settings/toggles.py:186
-#, python-format
-msgid ""
-"An alpha version of openpilot longitudinal control can be tested, along with "
-"Experimental mode, on non-release branches."
-msgstr ""
-"Альфа-версію поздовжнього керування openpilot можна протестувати разом з "
-"експериментальним режимом на нерелізних гілках."
-
-#: selfdrive/ui/layouts/settings/device.py:187
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Are you sure you want to power off?"
 msgstr "Ви впевнені, що хочете вимкнути?"
 
-#: selfdrive/ui/layouts/settings/device.py:175
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Are you sure you want to reboot?"
 msgstr "Ви впевнені, що хочете перезавантажити?"
 
-#: selfdrive/ui/layouts/settings/device.py:119
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Are you sure you want to reset calibration?"
 msgstr "Ви впевнені, що хочете скинути калібрування?"
 
-#: selfdrive/ui/layouts/settings/software.py:171
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Are you sure you want to uninstall?"
 msgstr "Ви впевнені, що хочете видалити?"
 
-#: system/ui/widgets/network.py:99
-#: selfdrive/ui/layouts/onboarding.py:147
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+#: system/ui/widgets/network.py
 msgid "Back"
 msgstr "Назад"
 
-#: selfdrive/ui/widgets/prime.py:38
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Become a comma prime member at connect.comma.ai"
 msgstr "Станьте членом comma prime на connect.comma.ai"
 
-#: selfdrive/ui/widgets/pairing_dialog.py:119
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
-msgstr ""
-"Додайте connect.comma.ai до головного екрану, щоб використовувати його як "
-"додаток."
+msgstr "Додайте connect.comma.ai до головного екрану, щоб використовувати його як додаток."
 
-#: selfdrive/ui/layouts/settings/device.py:68
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "CHANGE"
 msgstr "ЗМІНИТИ"
 
-#: selfdrive/ui/layouts/settings/software.py:50
-#: selfdrive/ui/layouts/settings/software.py:115
-#: selfdrive/ui/layouts/settings/software.py:126
-#: selfdrive/ui/layouts/settings/software.py:155
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "CHECK"
 msgstr "ПЕРЕВІРИТИ"
 
-#: selfdrive/ui/widgets/exp_mode_button.py:50
-#, python-format
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
 msgid "CHILL MODE ON"
 msgstr "СПОКІЙНИЙ РЕЖИМ"
 
-#: system/ui/widgets/network.py:155
-#: selfdrive/ui/layouts/sidebar.py:73
-#: selfdrive/ui/layouts/sidebar.py:134
-#: selfdrive/ui/layouts/sidebar.py:136
-#: selfdrive/ui/layouts/sidebar.py:138
-#, python-format
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/network.py
 msgid "CONNECT"
-msgstr "CONNECT"
+msgstr "ПІДКЛЮЧИТИ"
 
-#: system/ui/widgets/network.py:369
-#, python-format
+#: system/ui/widgets/network.py
 msgid "CONNECTING..."
 msgstr "ПІДКЛЮЧА..."
 
-#: system/ui/widgets/confirm_dialog.py:23 system/ui/widgets/option_dialog.py:35
-#: system/ui/widgets/network.py:318 system/ui/widgets/keyboard.py:81
-#, python-format
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/keyboard.py
+#: system/ui/widgets/network.py
+#: system/ui/widgets/option_dialog.py
 msgid "Cancel"
 msgstr "Скасувати"
 
-#: system/ui/widgets/network.py:134
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Cellular Metered"
 msgstr "Лімітне стільникове з'єднання"
 
-#: selfdrive/ui/layouts/settings/device.py:68
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Change Language"
 msgstr "Змінити мову"
 
-#: selfdrive/ui/layouts/settings/toggles.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Changing this setting will restart openpilot if the car is powered on."
-msgstr ""
-"Зміна цього параметра призведе до перезапуску openpilot, якщо автомобіль "
-"увімкнено."
+msgstr "Зміна цього параметра призведе до перезапуску openpilot, якщо автомобіль увімкнено."
 
-#: selfdrive/ui/widgets/pairing_dialog.py:118
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Click \"add new device\" and scan the QR code on the right"
 msgstr "Натисніть «додати новий пристрій» і відскануйте QR-код праворуч."
 
-#: selfdrive/ui/widgets/offroad_alerts.py:104
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Close"
 msgstr "Закрити"
 
-#: selfdrive/ui/layouts/settings/software.py:49
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Current Version"
 msgstr "Поточна версія"
 
-#: selfdrive/ui/layouts/settings/software.py:118
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "DOWNLOAD"
 msgstr "ВАНТАЖ"
 
-#: selfdrive/ui/layouts/onboarding.py:115
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Decline"
 msgstr "Відхилити"
 
-#: selfdrive/ui/layouts/onboarding.py:148
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Decline, uninstall openpilot"
 msgstr "Відхилити, видалити openpilot"
 
-#: selfdrive/ui/layouts/settings/settings.py:64
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Developer"
 msgstr "Розробник"
 
-#: selfdrive/ui/layouts/settings/settings.py:59
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Device"
 msgstr "Пристрій"
 
-#: selfdrive/ui/layouts/settings/toggles.py:58
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Disengage on Accelerator Pedal"
 msgstr "Вимкнення при натисканні на педаль газу"
 
-#: selfdrive/ui/layouts/settings/device.py:184
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Disengage to Power Off"
 msgstr "Вимкніть openpilot, щоб вимкнути пристрій"
 
-#: selfdrive/ui/layouts/settings/device.py:172
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Disengage to Reboot"
 msgstr "Вимкніть openpilot, щоб перезавантажити"
 
-#: selfdrive/ui/layouts/settings/device.py:103
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Disengage to Reset Calibration"
 msgstr "Деактивуйте для скидання калібрування"
 
-#: selfdrive/ui/layouts/settings/toggles.py:32
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Display speed in km/h instead of mph."
 msgstr "Відображати швидкість у км/год замість миль/год."
 
-#: selfdrive/ui/layouts/settings/device.py:59
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Dongle ID"
 msgstr "ID ключа"
 
-#: selfdrive/ui/layouts/settings/software.py:50
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Download"
 msgstr "Завантажити"
 
-#: selfdrive/ui/layouts/settings/device.py:62
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Driver Camera"
 msgstr "Камера водія"
 
-#: selfdrive/ui/layouts/settings/toggles.py:96
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Driving Personality"
 msgstr "Стиль водіння"
 
-#: system/ui/widgets/network.py:123 system/ui/widgets/network.py:139
-#, python-format
+#: system/ui/widgets/network.py
 msgid "EDIT"
 msgstr "РЕДАГ."
 
-#: selfdrive/ui/layouts/sidebar.py:138
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ERROR"
 msgstr "ПОМИЛКА"
 
-#: selfdrive/ui/layouts/sidebar.py:45
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ETH"
 msgstr "ETH"
 
-#: selfdrive/ui/widgets/exp_mode_button.py:50
-#, python-format
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
 msgid "EXPERIMENTAL MODE ON"
 msgstr "ЕКСПЕРИМЕНТ. РЕЖИМ"
 
-#: selfdrive/ui/layouts/settings/toggles.py:228
-#: selfdrive/ui/layouts/settings/developer.py:166
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable"
 msgstr "Увімкнути"
 
-#: selfdrive/ui/layouts/settings/developer.py:39
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Enable ADB"
 msgstr "Увімкнути ADB"
 
-#: selfdrive/ui/layouts/settings/toggles.py:64
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable Lane Departure Warnings"
 msgstr "Увімкнути попередження про виїзд зі смуги"
 
-#: system/ui/widgets/network.py:129
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enable Roaming"
 msgstr "Увімкнути роумінг"
 
-#: selfdrive/ui/layouts/settings/developer.py:48
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Enable SSH"
 msgstr "Увімкнути SSH"
 
-#: system/ui/widgets/network.py:120
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enable Tethering"
 msgstr "Увімкнути точку доступу"
 
-#: selfdrive/ui/layouts/settings/toggles.py:30
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable driver monitoring even when openpilot is not engaged."
 msgstr "Увімкнути моніторинг водія, навіть коли openpilot не ввімкнено."
 
-#: selfdrive/ui/layouts/settings/toggles.py:46
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable openpilot"
 msgstr "Увімкнути openpilot"
 
-#: selfdrive/ui/layouts/settings/toggles.py:189
-#, python-format
-msgid ""
-"Enable the openpilot longitudinal control (alpha) toggle to allow "
-"Experimental mode."
-msgstr ""
-"Увімкніть перемикач поздовжнього керування openpilot (альфа), щоб увімкнути "
-"експериментальний режим."
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode."
+msgstr "Увімкніть перемикач поздовжнього керування openpilot (альфа), щоб увімкнути експериментальний режим."
 
-#: system/ui/widgets/network.py:204
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter APN"
 msgstr "Введіть APN"
 
-#: system/ui/widgets/network.py:241
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter SSID"
 msgstr "Введіть SSID"
 
-#: system/ui/widgets/network.py:254
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter new tethering password"
 msgstr "Введіть новий пароль для модему"
 
-#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter password"
 msgstr "Введіть пароль"
 
-#: selfdrive/ui/widgets/ssh_key.py:89
-#, python-format
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "Enter your GitHub username"
 msgstr "Введіть ваш логін GitHub"
 
-#: system/ui/widgets/list_view.py:123 system/ui/widgets/list_view.py:160
-#, python-format
+#: system/ui/widgets/list_view.py
 msgid "Error"
 msgstr "Помилка"
 
-#: selfdrive/ui/layouts/settings/toggles.py:52
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Experimental Mode"
 msgstr "Експериментальний режим"
 
-#: selfdrive/ui/layouts/settings/toggles.py:181
-#, python-format
-msgid ""
-"Experimental mode is currently unavailable on this car since the car's stock "
-"ACC is used for longitudinal control."
-msgstr ""
-"Експериментальний режим наразі недоступний для цього автомобіля, оскільки "
-"для поздовжнього керування використовується штатний адаптивний круїз-"
-"контроль (ACC)."
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
+msgstr "Експериментальний режим наразі недоступний для цього автомобіля, оскільки для поздовжнього керування використовується штатний адаптивний круїз-контроль (ACC)."
 
-#: system/ui/widgets/network.py:373
-#, python-format
+#: system/ui/widgets/network.py
 msgid "FORGETTING..."
 msgstr "ЗАБУВАЮ..."
 
-#: selfdrive/ui/widgets/setup.py:44
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Finish Setup"
 msgstr "Завершити налаштування"
 
-#: selfdrive/ui/layouts/settings/settings.py:63
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Firehose"
 msgstr "Злива"
 
-#: selfdrive/ui/layouts/settings/firehose.py:18
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
 msgid "Firehose Mode"
 msgstr "Режим зливи"
 
-#: selfdrive/ui/layouts/settings/firehose.py:25
-msgid ""
-"For maximum effectiveness, bring your device inside and connect to a good "
-"USB-C adapter and Wi-Fi weekly.\n"
-"\n"
-"Firehose Mode can also work while you're driving if connected to a hotspot "
-"or unlimited SIM card.\n"
-"\n"
-"\n"
-"Frequently Asked Questions\n"
-"\n"
-"Does it matter how or where I drive? Nope, just drive as you normally "
-"would.\n"
-"\n"
-"Do all of my segments get pulled in Firehose Mode? No, we selectively pull a "
-"subset of your segments.\n"
-"\n"
-"What's a good USB-C adapter? Any fast phone or laptop charger should be "
-"fine.\n"
-"\n"
-"Does it matter which software I run? Yes, only upstream openpilot (and "
-"particular forks) are able to be used for training."
-msgstr ""
-"Для максимальної ефективності щотижня заносьте пристрій у приміщення та "
-"підключайте його до якісного адаптера USB-C і Wi-Fi.\n"
-"\n"
-"Режим Зливи також може працювати під час руху, якщо пристрій підключено до "
-"точки доступу або SIM-картки з необмеженим трафіком.\n"
-"\n"
-"\n"
-"Поширені запитання\n"
-"\n"
-"Чи має значення, як і де я їду? Ні, просто їдьте, як зазвичай.\n"
-"\n"
-"Чи всі мої сегменти потрапляють у режим Зливи? Ні, ми вибірково вибираємо "
-"підмножину ваших сегментів.\n"
-"\n"
-"Що таке хороший адаптер USB-C? Будь-який швидкий зарядний пристрій для "
-"телефону або ноутбука підійде.\n"
-"\n"
-"Чи має значення, яке програмне забезпечення я використовую? Так, для "
-"навчання можна використовувати тільки upstream openpilot (і певні його "
-"форки)."
-
-#: system/ui/widgets/network.py:318 system/ui/widgets/network.py:451
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Forget"
-msgstr "Заб-и"
+msgstr "Забути"
 
-#: system/ui/widgets/network.py:319
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Forget Wi-Fi Network \"{}\"?"
 msgstr "Забути мережу Wi-Fi \"{}\"?"
 
-#: selfdrive/ui/layouts/sidebar.py:71
-#: selfdrive/ui/layouts/sidebar.py:125
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "GOOD"
 msgstr "ДОБРА"
 
-#: selfdrive/ui/widgets/pairing_dialog.py:117
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Go to https://connect.comma.ai on your phone"
 msgstr "Перейдіть на сайт https://connect.comma.ai на своєму телефоні."
 
-#: selfdrive/ui/layouts/sidebar.py:129
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "HIGH"
 msgstr "ВИСОКА"
 
-#: system/ui/widgets/network.py:155
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Hidden Network"
 msgstr "Прихована мережа"
 
-#: selfdrive/ui/layouts/settings/firehose.py:140
-#, python-format
-msgid "INACTIVE: connect to an unmetered network"
-msgstr "НЕАКТИВНО: підключення до мережі без ліміту трафіку"
-
-#: selfdrive/ui/layouts/settings/software.py:53
-#: selfdrive/ui/layouts/settings/software.py:144
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "INSTALL"
 msgstr "ВСТАНОВ."
 
-#: system/ui/widgets/network.py:150
-#, python-format
+#: system/ui/widgets/network.py
 msgid "IP Address"
 msgstr "IP-адреса"
 
-#: selfdrive/ui/layouts/settings/software.py:53
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Install Update"
 msgstr "Встановити оновлення"
 
-#: selfdrive/ui/layouts/settings/developer.py:56
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Joystick Debug Mode"
 msgstr "Режим зневадження джойстика"
 
-#: selfdrive/ui/widgets/ssh_key.py:29
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "LOADING"
 msgstr "ЗАВАНТАЖЕННЯ"
 
-#: selfdrive/ui/layouts/sidebar.py:48
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "LTE"
 msgstr "LTE"
 
-#: selfdrive/ui/layouts/settings/developer.py:64
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Longitudinal Maneuver Mode"
 msgstr "Режим поздовжнього маневрування"
 
-#: selfdrive/ui/onroad/hud_renderer.py:148
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "MAX"
 msgstr "МАКС"
 
-#: selfdrive/ui/widgets/setup.py:75
-#, python-format
-msgid ""
-"Maximize your training data uploads to improve openpilot's driving models."
-msgstr ""
-"Максимізуйте завантаження навчальних даних, щоб поліпшити моделі openpilot."
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Maximize your training data uploads to improve openpilot's driving models."
+msgstr "Максимізуйте завантаження навчальних даних, щоб поліпшити моделі openpilot."
 
-#: selfdrive/ui/layouts/settings/device.py:59
-#: selfdrive/ui/layouts/settings/device.py:60
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "N/A"
 msgstr "Н/Д"
 
-#: selfdrive/ui/layouts/sidebar.py:142
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "NO"
 msgstr "НЕМАЄ"
 
-#: selfdrive/ui/layouts/settings/settings.py:60
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Network"
 msgstr "Мережа"
 
-#: selfdrive/ui/widgets/ssh_key.py:114
-#, python-format
-msgid "No SSH keys found"
-msgstr "Не знайдено ключів SSH"
-
-#: selfdrive/ui/widgets/ssh_key.py:126
-#, python-format
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "No SSH keys found for user '{}'"
 msgstr "Користувач '{}' не має ключів на GitHub"
 
-#: selfdrive/ui/widgets/offroad_alerts.py:320
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "No release notes available."
 msgstr "Інформація про випуск відсутня."
 
-#: selfdrive/ui/layouts/sidebar.py:73
-#: selfdrive/ui/layouts/sidebar.py:134
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "OFFLINE"
 msgstr "ОФЛАЙН"
 
-#: system/ui/widgets/confirm_dialog.py:93 system/ui/widgets/html_render.py:263
-#: selfdrive/ui/layouts/sidebar.py:127
-#, python-format
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/html_render.py
 msgid "OK"
 msgstr "OK"
 
-#: selfdrive/ui/layouts/sidebar.py:72
-#: selfdrive/ui/layouts/sidebar.py:136
-#: selfdrive/ui/layouts/sidebar.py:144
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ONLINE"
 msgstr "ОНЛАЙН"
 
-#: selfdrive/ui/widgets/setup.py:20
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Open"
 msgstr "ВІДКРИТИ"
 
-#: selfdrive/ui/layouts/settings/device.py:48
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "PAIR"
 msgstr "ПІДКЛЮЧИТИ"
 
-#: selfdrive/ui/layouts/sidebar.py:142
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "PANDA"
 msgstr "PANDA"
 
-#: selfdrive/ui/layouts/settings/device.py:62
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "PREVIEW"
 msgstr "ПОКАЖИ"
 
-#: selfdrive/ui/widgets/prime.py:44
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "PRIME FEATURES:"
 msgstr "XАРАКТЕРИСТИКИ PRIME:"
 
-#: selfdrive/ui/layouts/settings/device.py:48
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Pair Device"
 msgstr "Підключити пристрій"
 
-#: selfdrive/ui/widgets/setup.py:19
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Pair device"
 msgstr "Підключити пристрій"
 
-#: selfdrive/ui/widgets/pairing_dialog.py:92
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Pair your device to your comma account"
 msgstr "Підключіть свій пристрій до обліковки comma connect"
 
-#: selfdrive/ui/widgets/setup.py:48
-#: selfdrive/ui/layouts/settings/device.py:24
-#, python-format
-msgid ""
-"Pair your device with comma connect (connect.comma.ai) and claim your comma "
-"prime offer."
-msgstr ""
-"Підключіть свій пристрій до comma connect (connect.comma.ai) і отримайте "
-"свою пропозицію comma prime."
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."
+msgstr "Підключіть свій пристрій до comma connect (connect.comma.ai) і отримайте свою пропозицію comma prime."
 
-#: selfdrive/ui/widgets/setup.py:91
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Please connect to Wi-Fi to complete initial pairing"
 msgstr "Будь ласка, підключіться до Wi-Fi, щоб завершити початкове сполучення."
 
-#: selfdrive/ui/layouts/settings/device.py:55
-#: selfdrive/ui/layouts/settings/device.py:187
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Power Off"
 msgstr "Вимкнути"
 
-#: system/ui/widgets/network.py:144
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered Wi-Fi connection"
-msgstr ""
-"Запобігайте завантаженню великих обсягів даних під час використання Wi-Fi-"
-"з'єднання з обмеженим трафіком"
+msgstr "Запобігайте завантаженню великих обсягів даних під час використання Wi-Fi-з'єднання з обмеженим трафіком"
 
-#: system/ui/widgets/network.py:135
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered cellular connection"
-msgstr ""
-"Запобігати великим завантаженням даних під час лімітного стільникового "
-"з'єднання"
+msgstr "Запобігати великим завантаженням даних під час лімітного стільникового з'єднання"
 
-#: selfdrive/ui/layouts/settings/device.py:25
-msgid ""
-"Preview the driver facing camera to ensure that driver monitoring has good "
-"visibility. (vehicle must be off)"
-msgstr ""
-"Попередньо перегляньте камеру, спрямовану на водія, щоб переконатися, що "
-"система моніторингу водія має добру видимість. (автомобіль повинен бути "
-"вимкнений)"
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)"
+msgstr "Попередньо перегляньте камеру, спрямовану на водія, щоб переконатися, що система моніторингу водія має добру видимість. (автомобіль повинен бути вимкнений)"
 
-#: selfdrive/ui/widgets/pairing_dialog.py:150
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "QR Code Error"
 msgstr "Помилка QR-коду"
 
-#: selfdrive/ui/widgets/ssh_key.py:31
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "REMOVE"
 msgstr "ВИДАЛИТИ"
 
-#: selfdrive/ui/layouts/settings/device.py:51
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "RESET"
 msgstr "Скинути"
 
-#: selfdrive/ui/layouts/settings/device.py:65
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "REVIEW"
 msgstr "ДИВИТИСЬ"
 
-#: selfdrive/ui/layouts/settings/device.py:55
-#: selfdrive/ui/layouts/settings/device.py:175
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Reboot"
 msgstr "Перезавантажити"
 
-#: selfdrive/ui/onroad/alert_renderer.py:66
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "Reboot Device"
 msgstr "Перезавантажте пристрій"
 
-#: selfdrive/ui/widgets/offroad_alerts.py:112
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Reboot and Update"
 msgstr "Перезавантажити та оновити"
 
-#: selfdrive/ui/layouts/settings/toggles.py:27
-msgid ""
-"Receive alerts to steer back into the lane when your vehicle drifts over a "
-"detected lane line without a turn signal activated while driving over 31 mph "
-"(50 km/h)."
-msgstr ""
-"Отримувати попередження про необхідність повернутися в смугу, коли ваш "
-"автомобіль перетинає виявлену лінію розмітки без увімкненого сигналу "
-"повороту під час руху зі швидкістю понад 31 миль/год (50 км/год)."
-
-#: selfdrive/ui/layouts/settings/toggles.py:76
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Record and Upload Driver Camera"
 msgstr "Писати та вантажити відео з камери водія"
 
-#: selfdrive/ui/layouts/settings/toggles.py:82
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Record and Upload Microphone Audio"
 msgstr "Запис та завантаження аудіо з мікрофона"
 
-#: selfdrive/ui/layouts/settings/toggles.py:33
-msgid ""
-"Record and store microphone audio while driving. The audio will be included "
-"in the dashcam video in comma connect."
-msgstr ""
-"Записуйте та зберігайте аудіо з мікрофона під час руху. Аудіо буде включено "
-"до відео з відеореєстратора в comma connect."
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."
+msgstr "Записуйте та зберігайте аудіо з мікрофона під час руху. Аудіо буде включено до відео з відеореєстратора в comma connect."
 
-#: selfdrive/ui/layouts/settings/device.py:67
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Regulatory"
 msgstr "Нормативні документи"
 
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Relaxed"
 msgstr "Спокійний"
 
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Remote access"
 msgstr "Віддалений доступ"
 
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Remote snapshots"
 msgstr "Віддалені знімки"
 
-#: selfdrive/ui/widgets/ssh_key.py:123
-#, python-format
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "Request timed out"
 msgstr "Час запиту вичерпано"
 
-#: selfdrive/ui/layouts/settings/device.py:119
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Reset"
 msgstr "Скинути"
 
-#: selfdrive/ui/layouts/settings/device.py:51
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Reset Calibration"
 msgstr "Скинути калібрування"
 
-#: selfdrive/ui/layouts/settings/device.py:65
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Review Training Guide"
 msgstr "Переглянути посібник з навчання"
 
-#: selfdrive/ui/layouts/settings/device.py:27
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Review the rules, features, and limitations of openpilot"
 msgstr "Перегляньте правила, функції та обмеження openpilot"
 
-#: selfdrive/ui/layouts/settings/software.py:61
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "SELECT"
 msgstr "ВИБРАТИ"
 
-#: selfdrive/ui/layouts/settings/developer.py:53
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "SSH Keys"
 msgstr "SSH ключі"
 
-#: system/ui/widgets/network.py:310
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Scanning Wi-Fi networks..."
 msgstr "Пошук мереж..."
 
-#: system/ui/widgets/option_dialog.py:36
-#, python-format
+#: system/ui/widgets/option_dialog.py
 msgid "Select"
 msgstr "Вибрати"
 
-#: selfdrive/ui/layouts/settings/software.py:191
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Select a branch"
 msgstr "Виберіть гілку"
 
-#: selfdrive/ui/layouts/settings/device.py:91
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Select a language"
 msgstr "Виберіть мову"
 
-#: selfdrive/ui/layouts/settings/device.py:60
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Serial"
 msgstr "Серійний номер"
 
-#: selfdrive/ui/widgets/offroad_alerts.py:106
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Snooze Update"
 msgstr "Відкласти оновлення"
 
-#: selfdrive/ui/layouts/settings/settings.py:62
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Software"
 msgstr "Програма"
 
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Standard"
 msgstr "Стандарт"
 
-#: selfdrive/ui/layouts/settings/toggles.py:22
-msgid ""
-"Standard is recommended. In aggressive mode, openpilot will follow lead cars "
-"closer and be more aggressive with the gas and brake. In relaxed mode "
-"openpilot will stay further away from lead cars. On supported cars, you can "
-"cycle through these personalities with your steering wheel distance button."
-msgstr ""
-"Рекомендується стандартний режим. В агресивному режимі openpilot буде "
-"триматися ближче до автомобілів попереду і більш агресивно використовувати "
-"газ і гальма. У спокійному режимі openpilot буде триматися на більшій "
-"відстані від автомобілів попереду. На підтримуваних автомобілях ви можете "
-"перемикатися між цими режимами за допомогою кнопки дистанції на кермі."
-
-#: selfdrive/ui/onroad/alert_renderer.py:59
-#: selfdrive/ui/onroad/alert_renderer.py:65
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "System Unresponsive"
 msgstr "Система не реагує"
 
-#: selfdrive/ui/onroad/alert_renderer.py:58
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "TAKE CONTROL IMMEDIATELY"
 msgstr "КЕРМУЙТЕ НЕГАЙНО"
 
-#: selfdrive/ui/layouts/sidebar.py:71
-#: selfdrive/ui/layouts/sidebar.py:125
-#: selfdrive/ui/layouts/sidebar.py:127
-#: selfdrive/ui/layouts/sidebar.py:129
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "TEMP"
 msgstr "ТЕМП"
 
-#: selfdrive/ui/layouts/settings/software.py:61
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Target Branch"
 msgstr "Цільова гілка"
 
-#: system/ui/widgets/network.py:124
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Tethering Password"
 msgstr "Пароль для точки доступу"
 
-#: selfdrive/ui/layouts/settings/settings.py:61
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Toggles"
 msgstr "Перемикачі"
 
-#: selfdrive/ui/layouts/settings/software.py:72
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "UI Debug Mode"
+msgstr "Режим налагодження інтерфейсу"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "UNINSTALL"
 msgstr "ВИДАЛИТИ"
 
-#: selfdrive/ui/layouts/home.py:155
-#, python-format
+#: openpilot/selfdrive/ui/layouts/home.py
 msgid "UPDATE"
 msgstr "ОНОВИТИ"
 
-#: selfdrive/ui/layouts/settings/software.py:72
-#: selfdrive/ui/layouts/settings/software.py:171
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Uninstall"
 msgstr "Видалити"
 
-#: selfdrive/ui/layouts/sidebar.py:117
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "Unknown"
 msgstr "Невідомо"
 
-#: selfdrive/ui/layouts/settings/software.py:48
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Updates are only downloaded while the car is off."
 msgstr "Оновлення завантажуються лише тоді, коли автомобіль вимкнено."
 
-#: selfdrive/ui/widgets/prime.py:33
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Upgrade Now"
 msgstr "Оновити зараз"
 
-#: selfdrive/ui/layouts/settings/toggles.py:31
-msgid ""
-"Upload data from the driver facing camera and help improve the driver "
-"monitoring algorithm."
-msgstr ""
-"Завантажуйте дані з камери, спрямованої на водія, та допоможіть покращити "
-"алгоритм моніторингу водія."
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Upload data from the driver facing camera and help improve the driver monitoring algorithm."
+msgstr "Завантажуйте дані з камери, спрямованої на водія, та допоможіть покращити алгоритм моніторингу водія."
 
-#: selfdrive/ui/layouts/settings/toggles.py:88
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Use Metric System"
 msgstr "Використовувати метричну систему"
 
-#: selfdrive/ui/layouts/settings/toggles.py:17
-msgid ""
-"Use the openpilot system for adaptive cruise control and lane keep driver "
-"assistance. Your attention is required at all times to use this feature."
-msgstr ""
-"Використовуйте систему openpilot для адаптивного круїз-контролю та допомоги "
-"в утриманні смуги руху. Ваша увага потрібна постійно при використанні цієї "
-"функції. Зміна цього налаштування набуває чинності після вимкнення живлення "
-"автомобіля."
-
-#: selfdrive/ui/layouts/sidebar.py:72
-#: selfdrive/ui/layouts/sidebar.py:144
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "VEHICLE"
 msgstr "АВТО"
 
-#: selfdrive/ui/layouts/settings/device.py:67
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "VIEW"
 msgstr "ДИВИСЬ"
 
-#: selfdrive/ui/onroad/alert_renderer.py:52
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "Waiting to start"
 msgstr "Очікування початку"
 
-#: selfdrive/ui/layouts/settings/developer.py:19
-msgid ""
-"Warning: This grants SSH access to all public keys in your GitHub settings. "
-"Never enter a GitHub username other than your own. A comma employee will "
-"NEVER ask you to add their GitHub username."
-msgstr ""
-"Попередження: це надає доступ по SSH до всіх публічних ключів у ваших "
-"налаштуваннях GitHub. Ніколи не вводьте ім'я користувача GitHub, окрім "
-"вашого власного. Співробітник comma НІКОЛИ не попросить вас додати його ім'я "
-"користувача GitHub."
-
-#: selfdrive/ui/layouts/onboarding.py:111
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Welcome to openpilot"
 msgstr "Ласкаво просимо до openpilot"
 
-#: selfdrive/ui/layouts/settings/toggles.py:20
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "When enabled, pressing the accelerator pedal will disengage openpilot."
 msgstr "Якщо увімкнено, натискання на педаль акселератора вимкне openpilot."
 
-#: selfdrive/ui/layouts/sidebar.py:44
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "Wi-Fi"
 msgstr "Wi-Fi"
 
-#: system/ui/widgets/network.py:144
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Wi-Fi Network Metered"
 msgstr "Трафік Wi-Fi"
 
-#: system/ui/widgets/network.py:314
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Wrong password"
 msgstr "Невірний пароль"
 
-#: selfdrive/ui/layouts/onboarding.py:145
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "You must accept the Terms and Conditions in order to use openpilot."
 msgstr "Ви повинні прийняти Умови та положення, щоб користуватися openpilot."
 
-#: selfdrive/ui/layouts/onboarding.py:112
-#, python-format
-msgid ""
-"You must accept the Terms and Conditions to use openpilot. Read the latest "
-"terms at https://comma.ai/terms before continuing."
-msgstr ""
-"Ви повинні прийняти Умови використання, щоб користуватися openpilot. Перед "
-"тим, як продовжити, ознайомтеся з останніми умовами на сайті https://"
-"comma.ai/terms."
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "You must accept the Terms and Conditions to use openpilot. Read the latest terms at https://comma.ai/terms before continuing."
+msgstr "Ви повинні прийняти Умови використання, щоб користуватися openpilot. Перед тим, як продовжити, ознайомтеся з останніми умовами на сайті https://comma.ai/terms."
 
-#: selfdrive/ui/onroad/driver_camera_dialog.py:34
-#, python-format
+#: openpilot/selfdrive/ui/onroad/driver_camera_dialog.py
 msgid "camera starting"
 msgstr "запуск камери"
 
-#: selfdrive/ui/layouts/settings/software.py:105
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "checking..."
 msgstr "перевіряю..."
 
-#: selfdrive/ui/widgets/prime.py:63
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "comma prime"
 msgstr "comma prime"
 
-#: system/ui/widgets/network.py:142
-#, python-format
+#: system/ui/widgets/network.py
 msgid "default"
 msgstr "замовч."
 
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "down"
 msgstr "вниз"
 
-#: selfdrive/ui/layouts/settings/software.py:106
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "downloading..."
 msgstr "завантажую..."
 
-#: selfdrive/ui/layouts/settings/software.py:114
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "failed to check for update"
 msgstr "не вдалося перевірити оновлення"
 
-#: selfdrive/ui/layouts/settings/software.py:107
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "finalizing update..."
 msgstr "завершую..."
 
-#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
-#, python-format
+#: system/ui/widgets/network.py
 msgid "for \"{}\""
 msgstr "для \"{}\""
 
-#: selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "km/h"
 msgstr "км/год"
 
-#: system/ui/widgets/network.py:204
-#, python-format
+#: system/ui/widgets/network.py
 msgid "leave blank for automatic configuration"
 msgstr "залиште порожнім для автоматичного налаштування"
 
-#: selfdrive/ui/layouts/settings/device.py:134
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "left"
 msgstr "вліво"
 
-#: system/ui/widgets/network.py:142
-#, python-format
+#: system/ui/widgets/network.py
 msgid "metered"
 msgstr "обмеж."
 
-#: selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "mph"
 msgstr "миль/год"
 
-#: selfdrive/ui/layouts/settings/software.py:20
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "never"
 msgstr "ніколи"
 
-#: selfdrive/ui/layouts/settings/software.py:31
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "now"
 msgstr "зараз"
 
-#: selfdrive/ui/layouts/settings/developer.py:71
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "openpilot Longitudinal Control (Alpha)"
 msgstr "Поздовжнє керування openpilot (Альфа)"
 
-#: selfdrive/ui/onroad/alert_renderer.py:51
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "openpilot Unavailable"
 msgstr "openpilot Недоступний"
 
-#: selfdrive/ui/layouts/settings/toggles.py:158
-#, python-format
-msgid ""
-"openpilot defaults to driving in chill mode. Experimental mode enables alpha-"
-"level features that aren't ready for chill mode. Experimental features are "
-"listed below:<br><h4>End-to-End Longitudinal Control</h4><br>Let the driving "
-"model control the gas and brakes. openpilot will drive as it thinks a human "
-"would, including stopping for red lights and stop signs. Since the driving "
-"model decides the speed to drive, the set speed will only act as an upper "
-"bound. This is an alpha quality feature; mistakes should be expected."
-"<br><h4>New Driving Visualization</h4><br>The driving visualization will "
-"transition to the road-facing wide-angle camera at low speeds to better show "
-"some turns. The Experimental mode logo will also be shown in the top right "
-"corner."
-msgstr ""
-"openpilot за замовчуванням працює в режимі спокій. Експериментальний режим "
-"увімкне функції альфа-рівня, які ще не готові для режиму спокій. "
-"Експериментальні функції перелічені нижче:<br><h4>Кінцевий поздовжній "
-"контроль</h4><br>Дозвольте моделі водіння контролювати газ і гальма. "
-"openpilot буде керувати автомобілем так, як це робив би людина, включаючи "
-"зупинку на червоне світло і знаки зупинки. Оскільки модель водіння визначає "
-"швидкість руху, задана швидкість буде діяти лише як верхня межа. Це функція "
-"альфа-рівня; слід очікувати помилок.<br><h4>Нова візуалізація водіння</"
-"h4><br>Візуалізація водіння перейде на ширококутну камеру, спрямовану на "
-"дорогу, при низьких швидкостях, щоб краще показувати деякі повороти. Логотип "
-"експериментального режиму також буде показаний у верхньому правому куті."
-
-#: selfdrive/ui/layouts/settings/device.py:165
-#, python-format
-msgid ""
-"openpilot is continuously calibrating, resetting is rarely required. "
-"Resetting calibration will restart openpilot if the car is powered on."
-msgstr ""
-"openpilot постійно калібрується, скидання рідко потрібне. Скидання "
-"калібрування призведе до перезапуску openpilot, якщо автомобіль увімкнено."
-
-#: selfdrive/ui/layouts/settings/firehose.py:20
-msgid ""
-"openpilot learns to drive by watching humans, like you, drive.\n"
-"\n"
-"Firehose Mode allows you to maximize your training data uploads to improve "
-"openpilot's driving models. More data means bigger models, which means "
-"better Experimental Mode."
-msgstr ""
-"openpilot вчиться керувати автомобілем, спостерігаючи за тим, як це роблять "
-"люди, такі як ви.\n"
-"\n"
-"Режим зливи дозволяє максимально збільшити обсяг завантажуваних навчальних "
-"даних, щоб поліпшити моделі керування автомобілем openpilot. Більше даних "
-"означає більші моделі, а це означає кращий експериментальний режим."
-
-#: selfdrive/ui/layouts/settings/toggles.py:183
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "openpilot longitudinal control may come in a future update."
 msgstr "Поздовжнє керування openpilot може з'явитися в майбутньому оновленні."
 
-#: selfdrive/ui/layouts/settings/device.py:26
-msgid ""
-"openpilot requires the device to be mounted within 4° left or right and "
-"within 5° up or 9° down."
-msgstr ""
-"Для роботи openpilot потрібно, щоб пристрій був встановлений з нахилом не "
-"більше 4° вліво або вправо та не більше 5° вгору або 9° вниз. openpilot "
-"постійно калібрується, тому скидання калібрування потрібне рідко."
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down."
+msgstr "Для роботи openpilot потрібно, щоб пристрій був встановлений з нахилом не більше 4° вліво або вправо та не більше 5° вгору або 9° вниз. openpilot постійно калібрується, тому скидання калібрування потрібне рідко."
 
-#: selfdrive/ui/layouts/settings/device.py:134
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "right"
 msgstr "вправо"
 
-#: system/ui/widgets/network.py:142
-#, python-format
+#: system/ui/widgets/network.py
 msgid "unmetered"
 msgstr "необмеж."
 
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "up"
 msgstr "вгору"
 
-#: selfdrive/ui/layouts/settings/software.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "up to date, last checked never"
 msgstr "оновлено, ніколи не перевірялось"
 
-#: selfdrive/ui/layouts/settings/software.py:123
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "up to date, last checked {}"
 msgstr "оновлено, перевірив {}"
 
-#: selfdrive/ui/layouts/settings/software.py:117
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "update available"
 msgstr "доступне оновлення"
 
-#: selfdrive/ui/layouts/home.py:169
-#, python-format
+#: openpilot/selfdrive/ui/layouts/home.py
 msgid "{} ALERT"
 msgid_plural "{} ALERTS"
 msgstr[0] "{} СПОВІЩЕННЯ"
 msgstr[1] "{} СПОВІЩЕННЯ"
 msgstr[2] "{} СПОВІЩЕНЬ"
 
-#: selfdrive/ui/layouts/settings/software.py:40
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "{} day ago"
 msgid_plural "{} days ago"
 msgstr[0] "{} день тому"
 msgstr[1] "{} дні тому"
 msgstr[2] "{} днів тому"
 
-#: selfdrive/ui/layouts/settings/software.py:37
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "{} hour ago"
 msgid_plural "{} hours ago"
 msgstr[0] "{} година тому"
 msgstr[1] "{} години тому"
 msgstr[2] "{} годин тому"
 
-#: selfdrive/ui/layouts/settings/software.py:34
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "{} minute ago"
 msgid_plural "{} minutes ago"
 msgstr[0] "{} хвилина тому"
 msgstr[1] "{} хвилини тому"
 msgstr[2] "{} хвилин тому"
 
-#: selfdrive/ui/layouts/settings/firehose.py:111
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
 msgid "{} segment of your driving is in the training dataset so far."
 msgid_plural "{} segments of your driving is in the training dataset so far."
-msgstr[0] ""
-"{} сегмент вашого водіння на даний момент містяться в тренувальному наборі "
-"даних."
-msgstr[1] ""
-"{} сегменти вашого водіння на даний момент містяться в тренувальному наборі "
-"даних."
-msgstr[2] ""
-"{} сегментів вашого водіння на даний момент містяться в тренувальному наборі "
-"даних."
-
-#: selfdrive/ui/widgets/prime.py:62
-#, python-format
+msgstr[0] "{} сегмент вашого водіння на даний момент містяться в тренувальному наборі даних."
+msgstr[1] "{} сегменти вашого водіння на даний момент містяться в тренувальному наборі даних."
+msgstr[2] "{} сегментів вашого водіння на даний момент містяться в тренувальному наборі даних."
+
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "✓ SUBSCRIBED"
 msgstr "✓ ПІДПИСАНО"
 
-#: selfdrive/ui/widgets/setup.py:22
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "🔥 Firehose Mode 🔥"
 msgstr "🌧️ Режим зливи 🌧️"
+
diff --git a/selfdrive/ui/translations/app_zh-CHS.po b/selfdrive/ui/translations/app_zh-CHS.po
index 16e4369476c..55a7c329f63 100644
--- a/selfdrive/ui/translations/app_zh-CHS.po
+++ b/selfdrive/ui/translations/app_zh-CHS.po
@@ -1,1174 +1,825 @@
-# Language zh-CHS translations for PACKAGE package.
-# Copyright (C) 2025 THE PACKAGE'S COPYRIGHT HOLDER
-# This file is distributed under the same license as the PACKAGE package.
-# Automatically generated, 2025.
-#
 msgid ""
 msgstr ""
-"Project-Id-Version: PACKAGE VERSION\n"
-"Report-Msgid-Bugs-To: \n"
-"POT-Creation-Date: 2025-10-23 00:50-0700\n"
-"PO-Revision-Date: 2025-10-22 16:32-0700\n"
-"Last-Translator: Automatically generated\n"
-"Language-Team: none\n"
-"Language: zh-CHS\n"
-"MIME-Version: 1.0\n"
 "Content-Type: text/plain; charset=UTF-8\n"
-"Content-Transfer-Encoding: 8bit\n"
+"Language: zh-CHS\n"
 "Plural-Forms: nplurals=1; plural=0;\n"
 
-#: selfdrive/ui/layouts/settings/device.py:160
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid " Steering torque response calibration is complete."
 msgstr " 转向扭矩响应校准完成。"
 
-#: selfdrive/ui/layouts/settings/device.py:158
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid " Steering torque response calibration is {}% complete."
 msgstr " 转向扭矩响应校准已完成 {}%。"
 
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid " Your device is pointed {:.1f}° {} and {:.1f}° {}."
 msgstr " 您的设备朝向 {:.1f}° {} 与 {:.1f}° {}。"
 
-#: selfdrive/ui/layouts/sidebar.py:43
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "--"
 msgstr "--"
 
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "1 year of drive storage"
 msgstr "1 年行驶数据存储"
 
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "24/7 LTE connectivity"
 msgstr "全天候 LTE 连接"
 
-#: selfdrive/ui/layouts/sidebar.py:46
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "2G"
 msgstr "2G"
 
-#: selfdrive/ui/layouts/sidebar.py:47
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "3G"
 msgstr "3G"
 
-#: selfdrive/ui/layouts/sidebar.py:49
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "5G"
 msgstr "5G"
 
-#: selfdrive/ui/layouts/settings/developer.py:23
-msgid ""
-"<b>WARNING: openpilot longitudinal control is in alpha for this car and will "
-"disable Automatic Emergency Braking (AEB).</b><br><br>On this car, openpilot "
-"defaults to the car's built-in ACC instead of openpilot's longitudinal "
-"control. Enable this to switch to openpilot longitudinal control. Enabling "
-"Experimental mode is recommended when enabling openpilot longitudinal "
-"control alpha. Changing this setting will restart openpilot if the car is "
-"powered on."
-msgstr ""
-"<b>警告：此车型的 openpilot 纵向控制仍为 alpha，将会停用自动紧急制动 (AEB)。"
-"</b><br><br>在此车型上，openpilot 默认使用车载 ACC，而非 openpilot 的纵向控"
-"制。启用此选项可切换为 openpilot 纵向控制。建议同时启用实验模式。若车辆通电，"
-"更改此设置将会重启 openpilot。"
-
-#: selfdrive/ui/layouts/settings/device.py:148
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "<br><br>Steering lag calibration is complete."
 msgstr "<br><br>转向延迟校准完成。"
 
-#: selfdrive/ui/layouts/settings/device.py:146
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "<br><br>Steering lag calibration is {}% complete."
 msgstr "<br><br>转向延迟校准已完成 {}%。"
 
-#: selfdrive/ui/layouts/settings/firehose.py:138
-#, python-format
-msgid "ACTIVE"
-msgstr "已启用"
-
-#: selfdrive/ui/layouts/settings/developer.py:15
-msgid ""
-"ADB (Android Debug Bridge) allows connecting to your device over USB or over "
-"the network. See https://docs.comma.ai/how-to/connect-to-comma for more info."
-msgstr ""
-"ADB（Android 调试桥）可通过 USB 或网络连接到您的设备。详见 https://docs."
-"comma.ai/how-to/connect-to-comma。"
-
-#: selfdrive/ui/widgets/ssh_key.py:30
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "ADD"
 msgstr "添加"
 
-#: system/ui/widgets/network.py:139
-#, python-format
+#: system/ui/widgets/network.py
 msgid "APN Setting"
 msgstr "APN 设置"
 
-#: selfdrive/ui/widgets/offroad_alerts.py:109
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Acknowledge Excessive Actuation"
 msgstr "确认过度作动"
 
-#: system/ui/widgets/network.py:74 system/ui/widgets/network.py:95
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Advanced"
 msgstr "高级"
 
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Aggressive"
 msgstr "激进"
 
-#: selfdrive/ui/layouts/onboarding.py:116
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Agree"
 msgstr "同意"
 
-#: selfdrive/ui/layouts/settings/toggles.py:70
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Always-On Driver Monitoring"
 msgstr "始终启用驾驶员监控"
 
-#: selfdrive/ui/layouts/settings/toggles.py:186
-#, python-format
-msgid ""
-"An alpha version of openpilot longitudinal control can be tested, along with "
-"Experimental mode, on non-release branches."
-msgstr "openpilot 纵向控制的 alpha 版本可在非发布分支搭配实验模式进行测试。"
-
-#: selfdrive/ui/layouts/settings/device.py:187
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Are you sure you want to power off?"
 msgstr "确定要关机吗？"
 
-#: selfdrive/ui/layouts/settings/device.py:175
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Are you sure you want to reboot?"
 msgstr "确定要重启吗？"
 
-#: selfdrive/ui/layouts/settings/device.py:119
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Are you sure you want to reset calibration?"
 msgstr "确定要重置校准吗？"
 
-#: selfdrive/ui/layouts/settings/software.py:163
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Are you sure you want to uninstall?"
 msgstr "确定要卸载吗？"
 
-#: system/ui/widgets/network.py:99 selfdrive/ui/layouts/onboarding.py:147
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+#: system/ui/widgets/network.py
 msgid "Back"
 msgstr "返回"
 
-#: selfdrive/ui/widgets/prime.py:38
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Become a comma prime member at connect.comma.ai"
 msgstr "前往 connect.comma.ai 成为 comma prime 会员"
 
-#: selfdrive/ui/widgets/pairing_dialog.py:130
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
 msgstr "将 connect.comma.ai 添加到主屏幕，像应用一样使用"
 
-#: selfdrive/ui/layouts/settings/device.py:68
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "CHANGE"
 msgstr "更改"
 
-#: selfdrive/ui/layouts/settings/software.py:50
-#: selfdrive/ui/layouts/settings/software.py:107
-#: selfdrive/ui/layouts/settings/software.py:118
-#: selfdrive/ui/layouts/settings/software.py:147
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "CHECK"
 msgstr "检查"
 
-#: selfdrive/ui/widgets/exp_mode_button.py:50
-#, python-format
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
 msgid "CHILL MODE ON"
 msgstr "安稳模式已开启"
 
-#: system/ui/widgets/network.py:155 selfdrive/ui/layouts/sidebar.py:73
-#: selfdrive/ui/layouts/sidebar.py:134 selfdrive/ui/layouts/sidebar.py:136
-#: selfdrive/ui/layouts/sidebar.py:138
-#, python-format
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/network.py
 msgid "CONNECT"
-msgstr "CONNECT"
+msgstr "连接"
 
-#: system/ui/widgets/network.py:369
-#, python-format
+#: system/ui/widgets/network.py
 msgid "CONNECTING..."
-msgstr "CONNECTING..."
+msgstr "连接中..."
 
-#: system/ui/widgets/confirm_dialog.py:23 system/ui/widgets/option_dialog.py:35
-#: system/ui/widgets/keyboard.py:81 system/ui/widgets/network.py:318
-#, python-format
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/keyboard.py
+#: system/ui/widgets/network.py
+#: system/ui/widgets/option_dialog.py
 msgid "Cancel"
 msgstr "取消"
 
-#: system/ui/widgets/network.py:134
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Cellular Metered"
 msgstr "蜂窝计量"
 
-#: selfdrive/ui/layouts/settings/device.py:68
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Change Language"
 msgstr "更改语言"
 
-#: selfdrive/ui/layouts/settings/toggles.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Changing this setting will restart openpilot if the car is powered on."
 msgstr "若车辆通电，更改此设置将重启 openpilot。"
 
-#: selfdrive/ui/widgets/pairing_dialog.py:129
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Click \"add new device\" and scan the QR code on the right"
 msgstr "点击“添加新设备”，扫描右侧二维码"
 
-#: selfdrive/ui/widgets/offroad_alerts.py:104
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Close"
 msgstr "关闭"
 
-#: selfdrive/ui/layouts/settings/software.py:49
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Current Version"
 msgstr "当前版本"
 
-#: selfdrive/ui/layouts/settings/software.py:110
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "DOWNLOAD"
 msgstr "下载"
 
-#: selfdrive/ui/layouts/onboarding.py:115
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Decline"
 msgstr "拒绝"
 
-#: selfdrive/ui/layouts/onboarding.py:148
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Decline, uninstall openpilot"
 msgstr "拒绝并卸载 openpilot"
 
-#: selfdrive/ui/layouts/settings/settings.py:67
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Developer"
 msgstr "开发者"
 
-#: selfdrive/ui/layouts/settings/settings.py:62
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Device"
 msgstr "设备"
 
-#: selfdrive/ui/layouts/settings/toggles.py:58
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Disengage on Accelerator Pedal"
 msgstr "踩下加速踏板时脱离"
 
-#: selfdrive/ui/layouts/settings/device.py:184
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Disengage to Power Off"
 msgstr "脱离以关机"
 
-#: selfdrive/ui/layouts/settings/device.py:172
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Disengage to Reboot"
 msgstr "脱离以重启"
 
-#: selfdrive/ui/layouts/settings/device.py:103
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Disengage to Reset Calibration"
 msgstr "脱离以重置校准"
 
-#: selfdrive/ui/layouts/settings/toggles.py:32
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Display speed in km/h instead of mph."
 msgstr "以 km/h 显示速度（非 mph）。"
 
-#: selfdrive/ui/layouts/settings/device.py:59
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Dongle ID"
-msgstr "Dongle ID"
+msgstr "设备 ID"
 
-#: selfdrive/ui/layouts/settings/software.py:50
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Download"
 msgstr "下载"
 
-#: selfdrive/ui/layouts/settings/device.py:62
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Driver Camera"
 msgstr "车内摄像头"
 
-#: selfdrive/ui/layouts/settings/toggles.py:96
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Driving Personality"
 msgstr "驾驶风格"
 
-#: system/ui/widgets/network.py:123 system/ui/widgets/network.py:139
-#, python-format
+#: system/ui/widgets/network.py
 msgid "EDIT"
 msgstr "编辑"
 
-#: selfdrive/ui/layouts/sidebar.py:138
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ERROR"
 msgstr "错误"
 
-#: selfdrive/ui/layouts/sidebar.py:45
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ETH"
 msgstr "ETH"
 
-#: selfdrive/ui/widgets/exp_mode_button.py:50
-#, python-format
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
 msgid "EXPERIMENTAL MODE ON"
 msgstr "实验模式已开启"
 
-#: selfdrive/ui/layouts/settings/developer.py:166
-#: selfdrive/ui/layouts/settings/toggles.py:228
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable"
 msgstr "启用"
 
-#: selfdrive/ui/layouts/settings/developer.py:39
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Enable ADB"
 msgstr "启用 ADB"
 
-#: selfdrive/ui/layouts/settings/toggles.py:64
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable Lane Departure Warnings"
 msgstr "启用车道偏离警示"
 
-#: system/ui/widgets/network.py:129
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enable Roaming"
 msgstr "启用漫游"
 
-#: selfdrive/ui/layouts/settings/developer.py:48
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Enable SSH"
 msgstr "启用 SSH"
 
-#: system/ui/widgets/network.py:120
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enable Tethering"
 msgstr "启用网络共享"
 
-#: selfdrive/ui/layouts/settings/toggles.py:30
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable driver monitoring even when openpilot is not engaged."
 msgstr "即使未启用 openpilot 也启用驾驶员监控。"
 
-#: selfdrive/ui/layouts/settings/toggles.py:46
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable openpilot"
 msgstr "启用 openpilot"
 
-#: selfdrive/ui/layouts/settings/toggles.py:189
-#, python-format
-msgid ""
-"Enable the openpilot longitudinal control (alpha) toggle to allow "
-"Experimental mode."
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode."
 msgstr "启用 openpilot 纵向控制（alpha）开关，以使用实验模式。"
 
-#: system/ui/widgets/network.py:204
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter APN"
 msgstr "输入 APN"
 
-#: system/ui/widgets/network.py:241
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter SSID"
 msgstr "输入 SSID"
 
-#: system/ui/widgets/network.py:254
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter new tethering password"
 msgstr "输入新的网络共享密码"
 
-#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter password"
 msgstr "输入密码"
 
-#: selfdrive/ui/widgets/ssh_key.py:89
-#, python-format
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "Enter your GitHub username"
 msgstr "输入您的 GitHub 用户名"
 
-#: system/ui/widgets/list_view.py:123 system/ui/widgets/list_view.py:160
-#, python-format
+#: system/ui/widgets/list_view.py
 msgid "Error"
 msgstr "错误"
 
-#: selfdrive/ui/layouts/settings/toggles.py:52
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Experimental Mode"
 msgstr "实验模式"
 
-#: selfdrive/ui/layouts/settings/toggles.py:181
-#, python-format
-msgid ""
-"Experimental mode is currently unavailable on this car since the car's stock "
-"ACC is used for longitudinal control."
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
 msgstr "此车型当前无法使用实验模式，因为纵向控制使用的是原厂 ACC。"
 
-#: system/ui/widgets/network.py:373
-#, python-format
+#: system/ui/widgets/network.py
 msgid "FORGETTING..."
 msgstr "正在遗忘..."
 
-#: selfdrive/ui/widgets/setup.py:44
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Finish Setup"
 msgstr "完成设置"
 
-#: selfdrive/ui/layouts/settings/settings.py:66
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Firehose"
-msgstr "Firehose"
+msgstr "数据洪流"
 
-#: selfdrive/ui/layouts/settings/firehose.py:18
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
 msgid "Firehose Mode"
 msgstr "Firehose 模式"
 
-#: selfdrive/ui/layouts/settings/firehose.py:25
-msgid ""
-"For maximum effectiveness, bring your device inside and connect to a good "
-"USB-C adapter and Wi-Fi weekly.\n"
-"\n"
-"Firehose Mode can also work while you're driving if connected to a hotspot "
-"or unlimited SIM card.\n"
-"\n"
-"\n"
-"Frequently Asked Questions\n"
-"\n"
-"Does it matter how or where I drive? Nope, just drive as you normally "
-"would.\n"
-"\n"
-"Do all of my segments get pulled in Firehose Mode? No, we selectively pull a "
-"subset of your segments.\n"
-"\n"
-"What's a good USB-C adapter? Any fast phone or laptop charger should be "
-"fine.\n"
-"\n"
-"Does it matter which software I run? Yes, only upstream openpilot (and "
-"particular forks) are able to be used for training."
-msgstr ""
-"为达到最佳效果，请将设备带到室内，并每周连接优质 USB‑C 充电器与 Wi‑Fi。\n"
-"\n"
-"若连接热点或不限流量卡，行车中也可使用 Firehose 模式。\n"
-"\n"
-"\n"
-"常见问题\n"
-"\n"
-"我怎么开、在哪开有区别吗？没有，平常怎么开就怎么开。\n"
-"\n"
-"Firehose 模式会拉取我所有片段吗？不会，我们会选择性拉取部分片段。\n"
-"\n"
-"什么是好的 USB‑C 充电器？任何快速的手机或笔电充电器都可以。\n"
-"\n"
-"我跑什么软件有区别吗？有，只有上游 openpilot（及特定分支）可用于训练。"
-
-#: system/ui/widgets/network.py:318 system/ui/widgets/network.py:451
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Forget"
 msgstr "忘记"
 
-#: system/ui/widgets/network.py:319
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Forget Wi-Fi Network \"{}\"?"
 msgstr "要忘记 Wi‑Fi 网络“{}”吗？"
 
-#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "GOOD"
 msgstr "良好"
 
-#: selfdrive/ui/widgets/pairing_dialog.py:128
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Go to https://connect.comma.ai on your phone"
 msgstr "在手机上前往 https://connect.comma.ai"
 
-#: selfdrive/ui/layouts/sidebar.py:129
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "HIGH"
 msgstr "高"
 
-#: system/ui/widgets/network.py:155
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Hidden Network"
 msgstr "隐藏网络"
 
-#: selfdrive/ui/layouts/settings/firehose.py:140
-#, python-format
-msgid "INACTIVE: connect to an unmetered network"
-msgstr "未启用：请连接不限流量网络"
-
-#: selfdrive/ui/layouts/settings/software.py:53
-#: selfdrive/ui/layouts/settings/software.py:136
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "INSTALL"
 msgstr "安装"
 
-#: system/ui/widgets/network.py:150
-#, python-format
+#: system/ui/widgets/network.py
 msgid "IP Address"
 msgstr "IP 地址"
 
-#: selfdrive/ui/layouts/settings/software.py:53
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Install Update"
 msgstr "安装更新"
 
-#: selfdrive/ui/layouts/settings/developer.py:56
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Joystick Debug Mode"
 msgstr "摇杆调试模式"
 
-#: selfdrive/ui/widgets/ssh_key.py:29
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "LOADING"
 msgstr "加载中"
 
-#: selfdrive/ui/layouts/sidebar.py:48
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "LTE"
 msgstr "LTE"
 
-#: selfdrive/ui/layouts/settings/developer.py:64
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Longitudinal Maneuver Mode"
 msgstr "纵向操作模式"
 
-#: selfdrive/ui/onroad/hud_renderer.py:148
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "MAX"
 msgstr "最大"
 
-#: selfdrive/ui/widgets/setup.py:75
-#, python-format
-msgid ""
-"Maximize your training data uploads to improve openpilot's driving models."
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Maximize your training data uploads to improve openpilot's driving models."
 msgstr "最大化上传训练数据，以改进 openpilot 的驾驶模型。"
 
-#: selfdrive/ui/layouts/settings/device.py:59
-#: selfdrive/ui/layouts/settings/device.py:60
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "N/A"
 msgstr "无"
 
-#: selfdrive/ui/layouts/sidebar.py:142
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "NO"
 msgstr "否"
 
-#: selfdrive/ui/layouts/settings/settings.py:63
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Network"
 msgstr "网络"
 
-#: selfdrive/ui/widgets/ssh_key.py:114
-#, python-format
-msgid "No SSH keys found"
-msgstr "未找到 SSH 密钥"
-
-#: selfdrive/ui/widgets/ssh_key.py:126
-#, python-format
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "No SSH keys found for user '{}'"
 msgstr "未找到用户“{}”的 SSH 密钥"
 
-#: selfdrive/ui/widgets/offroad_alerts.py:320
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "No release notes available."
 msgstr "暂无发行说明。"
 
-#: selfdrive/ui/layouts/sidebar.py:73 selfdrive/ui/layouts/sidebar.py:134
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "OFFLINE"
 msgstr "离线"
 
-#: system/ui/widgets/html_render.py:263 system/ui/widgets/confirm_dialog.py:93
-#: selfdrive/ui/layouts/sidebar.py:127
-#, python-format
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/html_render.py
 msgid "OK"
 msgstr "确定"
 
-#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:136
-#: selfdrive/ui/layouts/sidebar.py:144
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ONLINE"
 msgstr "在线"
 
-#: selfdrive/ui/widgets/setup.py:20
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Open"
 msgstr "打开"
 
-#: selfdrive/ui/layouts/settings/device.py:48
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "PAIR"
 msgstr "配对"
 
-#: selfdrive/ui/layouts/sidebar.py:142
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "PANDA"
 msgstr "PANDA"
 
-#: selfdrive/ui/layouts/settings/device.py:62
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "PREVIEW"
 msgstr "预览"
 
-#: selfdrive/ui/widgets/prime.py:44
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "PRIME FEATURES:"
 msgstr "PRIME 功能："
 
-#: selfdrive/ui/layouts/settings/device.py:48
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Pair Device"
 msgstr "配对设备"
 
-#: selfdrive/ui/widgets/setup.py:19
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Pair device"
 msgstr "配对设备"
 
-#: selfdrive/ui/widgets/pairing_dialog.py:103
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Pair your device to your comma account"
 msgstr "将设备配对到您的 comma 账号"
 
-#: selfdrive/ui/widgets/setup.py:48 selfdrive/ui/layouts/settings/device.py:24
-#, python-format
-msgid ""
-"Pair your device with comma connect (connect.comma.ai) and claim your comma "
-"prime offer."
-msgstr ""
-"将设备与 comma connect（connect.comma.ai）配对，领取您的 comma prime 优惠。"
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."
+msgstr "将设备与 comma connect（connect.comma.ai）配对，领取您的 comma prime 优惠。"
 
-#: selfdrive/ui/widgets/setup.py:91
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Please connect to Wi-Fi to complete initial pairing"
 msgstr "请连接 Wi‑Fi 以完成初始配对"
 
-#: selfdrive/ui/layouts/settings/device.py:55
-#: selfdrive/ui/layouts/settings/device.py:187
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Power Off"
 msgstr "关机"
 
-#: system/ui/widgets/network.py:144
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered Wi-Fi connection"
 msgstr "在计量制 Wi‑Fi 连接时避免大量上传"
 
-#: system/ui/widgets/network.py:135
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered cellular connection"
 msgstr "在计量制蜂窝网络时避免大量上传"
 
-#: selfdrive/ui/layouts/settings/device.py:25
-msgid ""
-"Preview the driver facing camera to ensure that driver monitoring has good "
-"visibility. (vehicle must be off)"
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)"
 msgstr "预览车内摄像头以确保驾驶员监控视野良好。（车辆必须熄火）"
 
-#: selfdrive/ui/widgets/pairing_dialog.py:161
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "QR Code Error"
 msgstr "二维码错误"
 
-#: selfdrive/ui/widgets/ssh_key.py:31
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "REMOVE"
 msgstr "移除"
 
-#: selfdrive/ui/layouts/settings/device.py:51
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "RESET"
 msgstr "重置"
 
-#: selfdrive/ui/layouts/settings/device.py:65
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "REVIEW"
 msgstr "查看"
 
-#: selfdrive/ui/layouts/settings/device.py:55
-#: selfdrive/ui/layouts/settings/device.py:175
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Reboot"
 msgstr "重启"
 
-#: selfdrive/ui/onroad/alert_renderer.py:66
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "Reboot Device"
 msgstr "重启设备"
 
-#: selfdrive/ui/widgets/offroad_alerts.py:112
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Reboot and Update"
 msgstr "重启并更新"
 
-#: selfdrive/ui/layouts/settings/toggles.py:27
-msgid ""
-"Receive alerts to steer back into the lane when your vehicle drifts over a "
-"detected lane line without a turn signal activated while driving over 31 mph "
-"(50 km/h)."
-msgstr ""
-"当车辆以超过 31 mph（50 km/h）行驶且未打转向灯越过检测到的车道线时，接收引导"
-"回车道的警报。"
-
-#: selfdrive/ui/layouts/settings/toggles.py:76
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Record and Upload Driver Camera"
 msgstr "录制并上传车内摄像头"
 
-#: selfdrive/ui/layouts/settings/toggles.py:82
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Record and Upload Microphone Audio"
 msgstr "录制并上传麦克风音频"
 
-#: selfdrive/ui/layouts/settings/toggles.py:33
-msgid ""
-"Record and store microphone audio while driving. The audio will be included "
-"in the dashcam video in comma connect."
-msgstr ""
-"行驶时录制并保存麦克风音频。音频将包含在 comma connect 的行车记录视频中。"
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."
+msgstr "行驶时录制并保存麦克风音频。音频将包含在 comma connect 的行车记录视频中。"
 
-#: selfdrive/ui/layouts/settings/device.py:67
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Regulatory"
 msgstr "法规"
 
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Relaxed"
 msgstr "从容"
 
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Remote access"
 msgstr "远程访问"
 
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Remote snapshots"
 msgstr "远程快照"
 
-#: selfdrive/ui/widgets/ssh_key.py:123
-#, python-format
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "Request timed out"
 msgstr "请求超时"
 
-#: selfdrive/ui/layouts/settings/device.py:119
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Reset"
 msgstr "重置"
 
-#: selfdrive/ui/layouts/settings/device.py:51
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Reset Calibration"
 msgstr "重置校准"
 
-#: selfdrive/ui/layouts/settings/device.py:65
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Review Training Guide"
 msgstr "查看训练指南"
 
-#: selfdrive/ui/layouts/settings/device.py:27
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Review the rules, features, and limitations of openpilot"
 msgstr "查看 openpilot 的规则、功能与限制"
 
-#: selfdrive/ui/layouts/settings/software.py:61
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "SELECT"
 msgstr "选择"
 
-#: selfdrive/ui/layouts/settings/developer.py:53
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "SSH Keys"
 msgstr "SSH 密钥"
 
-#: system/ui/widgets/network.py:310
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Scanning Wi-Fi networks..."
 msgstr "正在扫描 Wi‑Fi 网络…"
 
-#: system/ui/widgets/option_dialog.py:36
-#, python-format
+#: system/ui/widgets/option_dialog.py
 msgid "Select"
 msgstr "选择"
 
-#: selfdrive/ui/layouts/settings/software.py:183
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Select a branch"
 msgstr "选择分支"
 
-#: selfdrive/ui/layouts/settings/device.py:91
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Select a language"
 msgstr "选择语言"
 
-#: selfdrive/ui/layouts/settings/device.py:60
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Serial"
 msgstr "序列号"
 
-#: selfdrive/ui/widgets/offroad_alerts.py:106
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Snooze Update"
 msgstr "延后更新"
 
-#: selfdrive/ui/layouts/settings/settings.py:65
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Software"
 msgstr "软件"
 
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Standard"
 msgstr "标准"
 
-#: selfdrive/ui/layouts/settings/toggles.py:22
-msgid ""
-"Standard is recommended. In aggressive mode, openpilot will follow lead cars "
-"closer and be more aggressive with the gas and brake. In relaxed mode "
-"openpilot will stay further away from lead cars. On supported cars, you can "
-"cycle through these personalities with your steering wheel distance button."
-msgstr ""
-"建议使用标准模式。激进模式下，openpilot 会更贴近前车，油门与刹车更为激进；从"
-"容模式下，会与前车保持更远距离。在支持的车型上，可用方向盘距离按钮切换这些风"
-"格。"
-
-#: selfdrive/ui/onroad/alert_renderer.py:59
-#: selfdrive/ui/onroad/alert_renderer.py:65
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "System Unresponsive"
 msgstr "系统无响应"
 
-#: selfdrive/ui/onroad/alert_renderer.py:58
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "TAKE CONTROL IMMEDIATELY"
 msgstr "请立即接管控制"
 
-#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
-#: selfdrive/ui/layouts/sidebar.py:127 selfdrive/ui/layouts/sidebar.py:129
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "TEMP"
 msgstr "温度"
 
-#: selfdrive/ui/layouts/settings/software.py:61
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Target Branch"
 msgstr "目标分支"
 
-#: system/ui/widgets/network.py:124
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Tethering Password"
 msgstr "网络共享密码"
 
-#: selfdrive/ui/layouts/settings/settings.py:64
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Toggles"
 msgstr "切换"
 
-#: selfdrive/ui/layouts/settings/software.py:72
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "UI Debug Mode"
+msgstr "界面调试模式"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "UNINSTALL"
 msgstr "卸载"
 
-#: selfdrive/ui/layouts/home.py:155
-#, python-format
+#: openpilot/selfdrive/ui/layouts/home.py
 msgid "UPDATE"
 msgstr "更新"
 
-#: selfdrive/ui/layouts/settings/software.py:72
-#: selfdrive/ui/layouts/settings/software.py:163
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Uninstall"
 msgstr "卸载"
 
-#: selfdrive/ui/layouts/sidebar.py:117
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "Unknown"
 msgstr "未知"
 
-#: selfdrive/ui/layouts/settings/software.py:48
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Updates are only downloaded while the car is off."
 msgstr "仅在车辆熄火时下载更新。"
 
-#: selfdrive/ui/widgets/prime.py:33
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Upgrade Now"
 msgstr "立即升级"
 
-#: selfdrive/ui/layouts/settings/toggles.py:31
-msgid ""
-"Upload data from the driver facing camera and help improve the driver "
-"monitoring algorithm."
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Upload data from the driver facing camera and help improve the driver monitoring algorithm."
 msgstr "上传车内摄像头数据，帮助改进驾驶员监控算法。"
 
-#: selfdrive/ui/layouts/settings/toggles.py:88
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Use Metric System"
 msgstr "使用公制"
 
-#: selfdrive/ui/layouts/settings/toggles.py:17
-msgid ""
-"Use the openpilot system for adaptive cruise control and lane keep driver "
-"assistance. Your attention is required at all times to use this feature."
-msgstr ""
-"使用 openpilot 进行自适应巡航与车道保持辅助。使用此功能时，您必须始终保持专"
-"注。"
-
-#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:144
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "VEHICLE"
 msgstr "车辆"
 
-#: selfdrive/ui/layouts/settings/device.py:67
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "VIEW"
 msgstr "查看"
 
-#: selfdrive/ui/onroad/alert_renderer.py:52
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "Waiting to start"
 msgstr "等待开始"
 
-#: selfdrive/ui/layouts/settings/developer.py:19
-msgid ""
-"Warning: This grants SSH access to all public keys in your GitHub settings. "
-"Never enter a GitHub username other than your own. A comma employee will "
-"NEVER ask you to add their GitHub username."
-msgstr ""
-"警告：这将授予对您 GitHub 设置中所有公钥的 SSH 访问权限。请勿输入非您本人的 "
-"GitHub 用户名。comma 员工绝不会要求您添加他们的用户名。"
-
-#: selfdrive/ui/layouts/onboarding.py:111
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Welcome to openpilot"
 msgstr "欢迎使用 openpilot"
 
-#: selfdrive/ui/layouts/settings/toggles.py:20
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "When enabled, pressing the accelerator pedal will disengage openpilot."
 msgstr "启用后，踩下加速踏板将会脱离 openpilot。"
 
-#: selfdrive/ui/layouts/sidebar.py:44
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "Wi-Fi"
 msgstr "Wi‑Fi"
 
-#: system/ui/widgets/network.py:144
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Wi-Fi Network Metered"
 msgstr "Wi‑Fi 计量网络"
 
-#: system/ui/widgets/network.py:314
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Wrong password"
 msgstr "密码错误"
 
-#: selfdrive/ui/layouts/onboarding.py:145
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "You must accept the Terms and Conditions in order to use openpilot."
 msgstr "您必须接受条款与条件才能使用 openpilot。"
 
-#: selfdrive/ui/layouts/onboarding.py:112
-#, python-format
-msgid ""
-"You must accept the Terms and Conditions to use openpilot. Read the latest "
-"terms at https://comma.ai/terms before continuing."
-msgstr ""
-"您必须接受条款与条件才能使用 openpilot。继续前请阅读 https://comma.ai/terms "
-"上的最新条款。"
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "You must accept the Terms and Conditions to use openpilot. Read the latest terms at https://comma.ai/terms before continuing."
+msgstr "您必须接受条款与条件才能使用 openpilot。继续前请阅读 https://comma.ai/terms 上的最新条款。"
 
-#: selfdrive/ui/onroad/driver_camera_dialog.py:34
-#, python-format
+#: openpilot/selfdrive/ui/onroad/driver_camera_dialog.py
 msgid "camera starting"
 msgstr "相机启动中"
 
-#: selfdrive/ui/widgets/prime.py:63
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "checking..."
+msgstr "检查中..."
+
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "comma prime"
 msgstr "comma prime"
 
-#: system/ui/widgets/network.py:142
-#, python-format
+#: system/ui/widgets/network.py
 msgid "default"
 msgstr "默认"
 
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "down"
 msgstr "下"
 
-#: selfdrive/ui/layouts/settings/software.py:106
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "downloading..."
+msgstr "下载中..."
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "failed to check for update"
 msgstr "检查更新失败"
 
-#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "finalizing update..."
+msgstr "正在完成更新..."
+
+#: system/ui/widgets/network.py
 msgid "for \"{}\""
 msgstr "用于“{}”"
 
-#: selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "km/h"
-msgstr "公里/时"
+msgstr "km/h"
 
-#: system/ui/widgets/network.py:204
-#, python-format
+#: system/ui/widgets/network.py
 msgid "leave blank for automatic configuration"
 msgstr "留空以自动配置"
 
-#: selfdrive/ui/layouts/settings/device.py:134
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "left"
 msgstr "左"
 
-#: system/ui/widgets/network.py:142
-#, python-format
+#: system/ui/widgets/network.py
 msgid "metered"
 msgstr "计量"
 
-#: selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "mph"
-msgstr "英里/时"
+msgstr "mph"
 
-#: selfdrive/ui/layouts/settings/software.py:20
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "never"
 msgstr "从不"
 
-#: selfdrive/ui/layouts/settings/software.py:31
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "now"
 msgstr "现在"
 
-#: selfdrive/ui/layouts/settings/developer.py:71
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "openpilot Longitudinal Control (Alpha)"
 msgstr "openpilot 纵向控制（Alpha）"
 
-#: selfdrive/ui/onroad/alert_renderer.py:51
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "openpilot Unavailable"
 msgstr "openpilot 无法使用"
 
-#: selfdrive/ui/layouts/settings/toggles.py:158
-#, python-format
-msgid ""
-"openpilot defaults to driving in chill mode. Experimental mode enables alpha-"
-"level features that aren't ready for chill mode. Experimental features are "
-"listed below:<br><h4>End-to-End Longitudinal Control</h4><br>Let the driving "
-"model control the gas and brakes. openpilot will drive as it thinks a human "
-"would, including stopping for red lights and stop signs. Since the driving "
-"model decides the speed to drive, the set speed will only act as an upper "
-"bound. This is an alpha quality feature; mistakes should be expected."
-"<br><h4>New Driving Visualization</h4><br>The driving visualization will "
-"transition to the road-facing wide-angle camera at low speeds to better show "
-"some turns. The Experimental mode logo will also be shown in the top right "
-"corner."
-msgstr ""
-"openpilot 默认以安稳模式行驶。实验模式会启用尚未准备好用于安稳模式的 Alpha 级"
-"功能。实验功能如下：<br><h4>端到端纵向控制</h4><br>让驾驶模型控制油门与刹车。"
-"openpilot 会像人类一样驾驶，包括在红灯与停牌前停车。由于驾驶模型决定行驶速"
-"度，设定速度仅作为上限。这是 Alpha 质量功能；预期会有错误。<br><h4>全新驾驶可"
-"视化</h4><br>在低速时，驾驶可视化将切换至面向道路的广角摄像头以更好显示部分转"
-"弯。右上角也会显示实验模式图标。"
-
-#: selfdrive/ui/layouts/settings/device.py:165
-#, python-format
-msgid ""
-"openpilot is continuously calibrating, resetting is rarely required. "
-"Resetting calibration will restart openpilot if the car is powered on."
-msgstr ""
-"openpilot 持续进行校准，通常无需重置。若车辆通电，重置校准将会重启 "
-"openpilot。"
-
-#: selfdrive/ui/layouts/settings/firehose.py:20
-msgid ""
-"openpilot learns to drive by watching humans, like you, drive.\n"
-"\n"
-"Firehose Mode allows you to maximize your training data uploads to improve "
-"openpilot's driving models. More data means bigger models, which means "
-"better Experimental Mode."
-msgstr ""
-"openpilot 通过观察人类（例如您）的驾驶来学习。\n"
-"\n"
-"Firehose 模式可让您最大化上传训练数据，以改进 openpilot 的驾驶模型。更多数据"
-"意味着更大的模型，也意味着更好的实验模式。"
-
-#: selfdrive/ui/layouts/settings/toggles.py:183
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "openpilot longitudinal control may come in a future update."
 msgstr "openpilot 纵向控制可能会在未来更新中提供。"
 
-#: selfdrive/ui/layouts/settings/device.py:26
-msgid ""
-"openpilot requires the device to be mounted within 4° left or right and "
-"within 5° up or 9° down."
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down."
 msgstr "openpilot 要求设备安装在左右 4°、上 5° 或下 9° 以内。"
 
-#: selfdrive/ui/layouts/settings/device.py:134
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "right"
 msgstr "右"
 
-#: system/ui/widgets/network.py:142
-#, python-format
+#: system/ui/widgets/network.py
 msgid "unmetered"
 msgstr "不限流量"
 
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "up"
 msgstr "上"
 
-#: selfdrive/ui/layouts/settings/software.py:117
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "up to date, last checked never"
 msgstr "已是最新，最后检查：从未"
 
-#: selfdrive/ui/layouts/settings/software.py:115
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "up to date, last checked {}"
 msgstr "已是最新，最后检查：{}"
 
-#: selfdrive/ui/layouts/settings/software.py:109
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "update available"
 msgstr "有可用更新"
 
-#: selfdrive/ui/layouts/home.py:169
-#, python-format
+#: openpilot/selfdrive/ui/layouts/home.py
 msgid "{} ALERT"
 msgid_plural "{} ALERTS"
 msgstr[0] "{} 条警报"
 msgstr[1] "{} 条警报"
 
-#: selfdrive/ui/layouts/settings/software.py:40
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "{} day ago"
 msgid_plural "{} days ago"
 msgstr[0] "{} 天前"
 msgstr[1] "{} 天前"
 
-#: selfdrive/ui/layouts/settings/software.py:37
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "{} hour ago"
 msgid_plural "{} hours ago"
 msgstr[0] "{} 小时前"
 msgstr[1] "{} 小时前"
 
-#: selfdrive/ui/layouts/settings/software.py:34
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "{} minute ago"
 msgid_plural "{} minutes ago"
 msgstr[0] "{} 分钟前"
 msgstr[1] "{} 分钟前"
 
-#: selfdrive/ui/layouts/settings/firehose.py:111
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
 msgid "{} segment of your driving is in the training dataset so far."
 msgid_plural "{} segments of your driving is in the training dataset so far."
 msgstr[0] "目前已有 {} 个您的驾驶片段被纳入训练数据集。"
 msgstr[1] "目前已有 {} 个您的驾驶片段被纳入训练数据集。"
 
-#: selfdrive/ui/widgets/prime.py:62
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "✓ SUBSCRIBED"
 msgstr "✓ 已订阅"
 
-#: selfdrive/ui/widgets/setup.py:22
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "🔥 Firehose Mode 🔥"
 msgstr "🔥 Firehose 模式 🔥"
+
diff --git a/selfdrive/ui/translations/app_zh-CHT.po b/selfdrive/ui/translations/app_zh-CHT.po
index 85cfb774014..93f9b9ed8e1 100644
--- a/selfdrive/ui/translations/app_zh-CHT.po
+++ b/selfdrive/ui/translations/app_zh-CHT.po
@@ -1,1173 +1,825 @@
-# Language zh-CHT translations for PACKAGE package.
-# Copyright (C) 2025 THE PACKAGE'S COPYRIGHT HOLDER
-# This file is distributed under the same license as the PACKAGE package.
-# Automatically generated, 2025.
-#
 msgid ""
 msgstr ""
-"Project-Id-Version: PACKAGE VERSION\n"
-"Report-Msgid-Bugs-To: \n"
-"POT-Creation-Date: 2025-10-23 00:50-0700\n"
-"PO-Revision-Date: 2025-10-22 16:32-0700\n"
-"Last-Translator: Automatically generated\n"
-"Language-Team: none\n"
-"Language: zh-CHT\n"
-"MIME-Version: 1.0\n"
 "Content-Type: text/plain; charset=UTF-8\n"
-"Content-Transfer-Encoding: 8bit\n"
+"Language: zh-CHT\n"
 "Plural-Forms: nplurals=1; plural=0;\n"
 
-#: selfdrive/ui/layouts/settings/device.py:160
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid " Steering torque response calibration is complete."
 msgstr " 轉向扭矩回應校正完成。"
 
-#: selfdrive/ui/layouts/settings/device.py:158
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid " Steering torque response calibration is {}% complete."
 msgstr " 轉向扭矩回應校正已完成 {}%。"
 
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid " Your device is pointed {:.1f}° {} and {:.1f}° {}."
 msgstr " 您的裝置朝向 {:.1f}° {} 與 {:.1f}° {}。"
 
-#: selfdrive/ui/layouts/sidebar.py:43
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "--"
 msgstr "--"
 
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "1 year of drive storage"
 msgstr "1 年行駛資料儲存"
 
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "24/7 LTE connectivity"
 msgstr "全年無休 LTE 連線"
 
-#: selfdrive/ui/layouts/sidebar.py:46
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "2G"
 msgstr "2G"
 
-#: selfdrive/ui/layouts/sidebar.py:47
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "3G"
 msgstr "3G"
 
-#: selfdrive/ui/layouts/sidebar.py:49
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "5G"
 msgstr "5G"
 
-#: selfdrive/ui/layouts/settings/developer.py:23
-msgid ""
-"<b>WARNING: openpilot longitudinal control is in alpha for this car and will "
-"disable Automatic Emergency Braking (AEB).</b><br><br>On this car, openpilot "
-"defaults to the car's built-in ACC instead of openpilot's longitudinal "
-"control. Enable this to switch to openpilot longitudinal control. Enabling "
-"Experimental mode is recommended when enabling openpilot longitudinal "
-"control alpha. Changing this setting will restart openpilot if the car is "
-"powered on."
-msgstr ""
-"<b>警告：此車款的 openpilot 縱向控制仍為 alpha，將會停用自動緊急煞車 (AEB)。"
-"</b><br><br>在此車款上，openpilot 預設使用車載 ACC，而非 openpilot 的縱向控"
-"制。啟用此選項可切換為 openpilot 縱向控制。建議同時啟用實驗模式。若車輛通電，"
-"變更此設定將會重新啟動 openpilot。"
-
-#: selfdrive/ui/layouts/settings/device.py:148
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "<br><br>Steering lag calibration is complete."
 msgstr "<br><br>轉向延遲校正完成。"
 
-#: selfdrive/ui/layouts/settings/device.py:146
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "<br><br>Steering lag calibration is {}% complete."
 msgstr "<br><br>轉向延遲校正已完成 {}%。"
 
-#: selfdrive/ui/layouts/settings/firehose.py:138
-#, python-format
-msgid "ACTIVE"
-msgstr "啟用"
-
-#: selfdrive/ui/layouts/settings/developer.py:15
-msgid ""
-"ADB (Android Debug Bridge) allows connecting to your device over USB or over "
-"the network. See https://docs.comma.ai/how-to/connect-to-comma for more info."
-msgstr ""
-"ADB (Android Debug Bridge) 可透過 USB 或網路連線至您的裝置。詳見 https://"
-"docs.comma.ai/how-to/connect-to-comma。"
-
-#: selfdrive/ui/widgets/ssh_key.py:30
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "ADD"
 msgstr "新增"
 
-#: system/ui/widgets/network.py:139
-#, python-format
+#: system/ui/widgets/network.py
 msgid "APN Setting"
 msgstr "APN 設定"
 
-#: selfdrive/ui/widgets/offroad_alerts.py:109
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Acknowledge Excessive Actuation"
 msgstr "確認過度作動"
 
-#: system/ui/widgets/network.py:74 system/ui/widgets/network.py:95
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Advanced"
 msgstr "進階"
 
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Aggressive"
 msgstr "積極"
 
-#: selfdrive/ui/layouts/onboarding.py:116
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Agree"
 msgstr "同意"
 
-#: selfdrive/ui/layouts/settings/toggles.py:70
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Always-On Driver Monitoring"
 msgstr "持續啟用駕駛監控"
 
-#: selfdrive/ui/layouts/settings/toggles.py:186
-#, python-format
-msgid ""
-"An alpha version of openpilot longitudinal control can be tested, along with "
-"Experimental mode, on non-release branches."
-msgstr "openpilot 縱向控制的 alpha 版本可於非發行分支搭配實驗模式進行測試。"
-
-#: selfdrive/ui/layouts/settings/device.py:187
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Are you sure you want to power off?"
 msgstr "確定要關機嗎？"
 
-#: selfdrive/ui/layouts/settings/device.py:175
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Are you sure you want to reboot?"
 msgstr "確定要重新啟動嗎？"
 
-#: selfdrive/ui/layouts/settings/device.py:119
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Are you sure you want to reset calibration?"
 msgstr "確定要重設校正嗎？"
 
-#: selfdrive/ui/layouts/settings/software.py:163
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Are you sure you want to uninstall?"
 msgstr "確定要解除安裝嗎？"
 
-#: system/ui/widgets/network.py:99 selfdrive/ui/layouts/onboarding.py:147
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+#: system/ui/widgets/network.py
 msgid "Back"
 msgstr "返回"
 
-#: selfdrive/ui/widgets/prime.py:38
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Become a comma prime member at connect.comma.ai"
 msgstr "前往 connect.comma.ai 成為 comma prime 會員"
 
-#: selfdrive/ui/widgets/pairing_dialog.py:130
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
 msgstr "將 connect.comma.ai 加到主畫面，像 App 一樣使用"
 
-#: selfdrive/ui/layouts/settings/device.py:68
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "CHANGE"
 msgstr "變更"
 
-#: selfdrive/ui/layouts/settings/software.py:50
-#: selfdrive/ui/layouts/settings/software.py:107
-#: selfdrive/ui/layouts/settings/software.py:118
-#: selfdrive/ui/layouts/settings/software.py:147
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "CHECK"
 msgstr "檢查"
 
-#: selfdrive/ui/widgets/exp_mode_button.py:50
-#, python-format
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
 msgid "CHILL MODE ON"
 msgstr "安穩模式已開啟"
 
-#: system/ui/widgets/network.py:155 selfdrive/ui/layouts/sidebar.py:73
-#: selfdrive/ui/layouts/sidebar.py:134 selfdrive/ui/layouts/sidebar.py:136
-#: selfdrive/ui/layouts/sidebar.py:138
-#, python-format
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/network.py
 msgid "CONNECT"
-msgstr "CONNECT"
+msgstr "連線"
 
-#: system/ui/widgets/network.py:369
-#, python-format
+#: system/ui/widgets/network.py
 msgid "CONNECTING..."
-msgstr "CONNECTING..."
+msgstr "連線中..."
 
-#: system/ui/widgets/confirm_dialog.py:23 system/ui/widgets/option_dialog.py:35
-#: system/ui/widgets/keyboard.py:81 system/ui/widgets/network.py:318
-#, python-format
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/keyboard.py
+#: system/ui/widgets/network.py
+#: system/ui/widgets/option_dialog.py
 msgid "Cancel"
 msgstr "取消"
 
-#: system/ui/widgets/network.py:134
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Cellular Metered"
 msgstr "行動網路計量"
 
-#: selfdrive/ui/layouts/settings/device.py:68
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Change Language"
 msgstr "變更語言"
 
-#: selfdrive/ui/layouts/settings/toggles.py:125
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Changing this setting will restart openpilot if the car is powered on."
 msgstr "若車輛通電，變更此設定將重新啟動 openpilot。"
 
-#: selfdrive/ui/widgets/pairing_dialog.py:129
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Click \"add new device\" and scan the QR code on the right"
 msgstr "點選「新增裝置」，掃描右側 QR 碼"
 
-#: selfdrive/ui/widgets/offroad_alerts.py:104
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Close"
 msgstr "關閉"
 
-#: selfdrive/ui/layouts/settings/software.py:49
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Current Version"
 msgstr "目前版本"
 
-#: selfdrive/ui/layouts/settings/software.py:110
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "DOWNLOAD"
 msgstr "下載"
 
-#: selfdrive/ui/layouts/onboarding.py:115
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Decline"
 msgstr "拒絕"
 
-#: selfdrive/ui/layouts/onboarding.py:148
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Decline, uninstall openpilot"
 msgstr "拒絕並解除安裝 openpilot"
 
-#: selfdrive/ui/layouts/settings/settings.py:67
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Developer"
 msgstr "開發人員"
 
-#: selfdrive/ui/layouts/settings/settings.py:62
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Device"
 msgstr "裝置"
 
-#: selfdrive/ui/layouts/settings/toggles.py:58
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Disengage on Accelerator Pedal"
 msgstr "踩下加速踏板時脫離"
 
-#: selfdrive/ui/layouts/settings/device.py:184
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Disengage to Power Off"
 msgstr "脫離以關機"
 
-#: selfdrive/ui/layouts/settings/device.py:172
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Disengage to Reboot"
 msgstr "脫離以重新啟動"
 
-#: selfdrive/ui/layouts/settings/device.py:103
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Disengage to Reset Calibration"
 msgstr "脫離以重設校正"
 
-#: selfdrive/ui/layouts/settings/toggles.py:32
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Display speed in km/h instead of mph."
 msgstr "以 km/h 顯示速度（非 mph）。"
 
-#: selfdrive/ui/layouts/settings/device.py:59
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Dongle ID"
-msgstr "Dongle ID"
+msgstr "裝置 ID"
 
-#: selfdrive/ui/layouts/settings/software.py:50
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Download"
 msgstr "下載"
 
-#: selfdrive/ui/layouts/settings/device.py:62
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Driver Camera"
 msgstr "車內鏡頭"
 
-#: selfdrive/ui/layouts/settings/toggles.py:96
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Driving Personality"
 msgstr "駕駛風格"
 
-#: system/ui/widgets/network.py:123 system/ui/widgets/network.py:139
-#, python-format
+#: system/ui/widgets/network.py
 msgid "EDIT"
 msgstr "編輯"
 
-#: selfdrive/ui/layouts/sidebar.py:138
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ERROR"
 msgstr "錯誤"
 
-#: selfdrive/ui/layouts/sidebar.py:45
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ETH"
 msgstr "ETH"
 
-#: selfdrive/ui/widgets/exp_mode_button.py:50
-#, python-format
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
 msgid "EXPERIMENTAL MODE ON"
 msgstr "實驗模式已開啟"
 
-#: selfdrive/ui/layouts/settings/developer.py:166
-#: selfdrive/ui/layouts/settings/toggles.py:228
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable"
 msgstr "啟用"
 
-#: selfdrive/ui/layouts/settings/developer.py:39
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Enable ADB"
 msgstr "啟用 ADB"
 
-#: selfdrive/ui/layouts/settings/toggles.py:64
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable Lane Departure Warnings"
 msgstr "啟用偏離車道警示"
 
-#: system/ui/widgets/network.py:129
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enable Roaming"
 msgstr "啟用漫遊"
 
-#: selfdrive/ui/layouts/settings/developer.py:48
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Enable SSH"
 msgstr "啟用 SSH"
 
-#: system/ui/widgets/network.py:120
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enable Tethering"
 msgstr "啟用網路共享"
 
-#: selfdrive/ui/layouts/settings/toggles.py:30
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable driver monitoring even when openpilot is not engaged."
 msgstr "即使未啟動 openpilot 亦啟用駕駛監控。"
 
-#: selfdrive/ui/layouts/settings/toggles.py:46
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Enable openpilot"
 msgstr "啟用 openpilot"
 
-#: selfdrive/ui/layouts/settings/toggles.py:189
-#, python-format
-msgid ""
-"Enable the openpilot longitudinal control (alpha) toggle to allow "
-"Experimental mode."
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode."
 msgstr "啟用 openpilot 縱向控制（alpha）切換，以使用實驗模式。"
 
-#: system/ui/widgets/network.py:204
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter APN"
 msgstr "輸入 APN"
 
-#: system/ui/widgets/network.py:241
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter SSID"
 msgstr "輸入 SSID"
 
-#: system/ui/widgets/network.py:254
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter new tethering password"
 msgstr "輸入新的網路共享密碼"
 
-#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Enter password"
 msgstr "輸入密碼"
 
-#: selfdrive/ui/widgets/ssh_key.py:89
-#, python-format
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "Enter your GitHub username"
 msgstr "輸入您的 GitHub 使用者名稱"
 
-#: system/ui/widgets/list_view.py:123 system/ui/widgets/list_view.py:160
-#, python-format
+#: system/ui/widgets/list_view.py
 msgid "Error"
 msgstr "錯誤"
 
-#: selfdrive/ui/layouts/settings/toggles.py:52
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Experimental Mode"
 msgstr "實驗模式"
 
-#: selfdrive/ui/layouts/settings/toggles.py:181
-#, python-format
-msgid ""
-"Experimental mode is currently unavailable on this car since the car's stock "
-"ACC is used for longitudinal control."
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
 msgstr "此車款目前無法使用實驗模式，因為縱向控制使用的是原廠 ACC。"
 
-#: system/ui/widgets/network.py:373
-#, python-format
+#: system/ui/widgets/network.py
 msgid "FORGETTING..."
 msgstr "正在遺忘..."
 
-#: selfdrive/ui/widgets/setup.py:44
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Finish Setup"
 msgstr "完成設定"
 
-#: selfdrive/ui/layouts/settings/settings.py:66
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Firehose"
-msgstr "Firehose"
+msgstr "資料洪流"
 
-#: selfdrive/ui/layouts/settings/firehose.py:18
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
 msgid "Firehose Mode"
 msgstr "Firehose 模式"
 
-#: selfdrive/ui/layouts/settings/firehose.py:25
-msgid ""
-"For maximum effectiveness, bring your device inside and connect to a good "
-"USB-C adapter and Wi-Fi weekly.\n"
-"\n"
-"Firehose Mode can also work while you're driving if connected to a hotspot "
-"or unlimited SIM card.\n"
-"\n"
-"\n"
-"Frequently Asked Questions\n"
-"\n"
-"Does it matter how or where I drive? Nope, just drive as you normally "
-"would.\n"
-"\n"
-"Do all of my segments get pulled in Firehose Mode? No, we selectively pull a "
-"subset of your segments.\n"
-"\n"
-"What's a good USB-C adapter? Any fast phone or laptop charger should be "
-"fine.\n"
-"\n"
-"Does it matter which software I run? Yes, only upstream openpilot (and "
-"particular forks) are able to be used for training."
-msgstr ""
-"為達最佳效果，請將裝置帶到室內，並每週連接優質 USB‑C 充電器與 Wi‑Fi。\n"
-"\n"
-"若連上熱點或吃到飽門號，行車中也可使用 Firehose 模式。\n"
-"\n"
-"\n"
-"常見問題\n"
-"\n"
-"我怎麼開、在哪裡開有差嗎？沒有，平常怎麼開就怎麼開。\n"
-"\n"
-"Firehose 模式會拉取我所有片段嗎？不會，我們會選擇性拉取部分片段。\n"
-"\n"
-"什麼是好的 USB‑C 充電器？任何快速的手機或筆電充電器都可以。\n"
-"\n"
-"我跑什麼軟體有差嗎？有，只有上游 openpilot（及特定分支）可用於訓練。"
-
-#: system/ui/widgets/network.py:318 system/ui/widgets/network.py:451
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Forget"
 msgstr "忘記"
 
-#: system/ui/widgets/network.py:319
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Forget Wi-Fi Network \"{}\"?"
 msgstr "要忘記 Wi‑Fi 網路「{}」嗎？"
 
-#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "GOOD"
 msgstr "良好"
 
-#: selfdrive/ui/widgets/pairing_dialog.py:128
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Go to https://connect.comma.ai on your phone"
 msgstr "在手機上前往 https://connect.comma.ai"
 
-#: selfdrive/ui/layouts/sidebar.py:129
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "HIGH"
 msgstr "高"
 
-#: system/ui/widgets/network.py:155
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Hidden Network"
 msgstr "隱藏網路"
 
-#: selfdrive/ui/layouts/settings/firehose.py:140
-#, python-format
-msgid "INACTIVE: connect to an unmetered network"
-msgstr "未啟用：請連接不限流量網路"
-
-#: selfdrive/ui/layouts/settings/software.py:53
-#: selfdrive/ui/layouts/settings/software.py:136
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "INSTALL"
 msgstr "安裝"
 
-#: system/ui/widgets/network.py:150
-#, python-format
+#: system/ui/widgets/network.py
 msgid "IP Address"
 msgstr "IP 位址"
 
-#: selfdrive/ui/layouts/settings/software.py:53
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Install Update"
 msgstr "安裝更新"
 
-#: selfdrive/ui/layouts/settings/developer.py:56
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Joystick Debug Mode"
 msgstr "搖桿除錯模式"
 
-#: selfdrive/ui/widgets/ssh_key.py:29
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "LOADING"
 msgstr "載入中"
 
-#: selfdrive/ui/layouts/sidebar.py:48
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "LTE"
 msgstr "LTE"
 
-#: selfdrive/ui/layouts/settings/developer.py:64
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "Longitudinal Maneuver Mode"
 msgstr "縱向操作模式"
 
-#: selfdrive/ui/onroad/hud_renderer.py:148
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "MAX"
 msgstr "最大"
 
-#: selfdrive/ui/widgets/setup.py:75
-#, python-format
-msgid ""
-"Maximize your training data uploads to improve openpilot's driving models."
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Maximize your training data uploads to improve openpilot's driving models."
 msgstr "最大化上傳訓練資料，以改進 openpilot 的駕駛模型。"
 
-#: selfdrive/ui/layouts/settings/device.py:59
-#: selfdrive/ui/layouts/settings/device.py:60
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "N/A"
 msgstr "無"
 
-#: selfdrive/ui/layouts/sidebar.py:142
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "NO"
 msgstr "否"
 
-#: selfdrive/ui/layouts/settings/settings.py:63
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Network"
 msgstr "網路"
 
-#: selfdrive/ui/widgets/ssh_key.py:114
-#, python-format
-msgid "No SSH keys found"
-msgstr "找不到 SSH 金鑰"
-
-#: selfdrive/ui/widgets/ssh_key.py:126
-#, python-format
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "No SSH keys found for user '{}'"
 msgstr "找不到使用者 '{}' 的 SSH 金鑰"
 
-#: selfdrive/ui/widgets/offroad_alerts.py:320
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "No release notes available."
 msgstr "無可用發行說明。"
 
-#: selfdrive/ui/layouts/sidebar.py:73 selfdrive/ui/layouts/sidebar.py:134
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "OFFLINE"
 msgstr "離線"
 
-#: system/ui/widgets/html_render.py:263 system/ui/widgets/confirm_dialog.py:93
-#: selfdrive/ui/layouts/sidebar.py:127
-#, python-format
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/html_render.py
 msgid "OK"
 msgstr "確定"
 
-#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:136
-#: selfdrive/ui/layouts/sidebar.py:144
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "ONLINE"
 msgstr "線上"
 
-#: selfdrive/ui/widgets/setup.py:20
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Open"
 msgstr "開啟"
 
-#: selfdrive/ui/layouts/settings/device.py:48
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "PAIR"
 msgstr "配對"
 
-#: selfdrive/ui/layouts/sidebar.py:142
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "PANDA"
 msgstr "PANDA"
 
-#: selfdrive/ui/layouts/settings/device.py:62
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "PREVIEW"
 msgstr "預覽"
 
-#: selfdrive/ui/widgets/prime.py:44
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "PRIME FEATURES:"
 msgstr "PRIME 功能："
 
-#: selfdrive/ui/layouts/settings/device.py:48
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Pair Device"
 msgstr "配對裝置"
 
-#: selfdrive/ui/widgets/setup.py:19
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Pair device"
 msgstr "配對裝置"
 
-#: selfdrive/ui/widgets/pairing_dialog.py:103
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Pair your device to your comma account"
 msgstr "將裝置配對至您的 comma 帳號"
 
-#: selfdrive/ui/widgets/setup.py:48 selfdrive/ui/layouts/settings/device.py:24
-#, python-format
-msgid ""
-"Pair your device with comma connect (connect.comma.ai) and claim your comma "
-"prime offer."
-msgstr ""
-"將裝置與 comma connect（connect.comma.ai）配對，領取您的 comma prime 優惠。"
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."
+msgstr "將裝置與 comma connect（connect.comma.ai）配對，領取您的 comma prime 優惠。"
 
-#: selfdrive/ui/widgets/setup.py:91
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Please connect to Wi-Fi to complete initial pairing"
 msgstr "請連線至 Wi‑Fi 以完成初始化配對"
 
-#: selfdrive/ui/layouts/settings/device.py:55
-#: selfdrive/ui/layouts/settings/device.py:187
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Power Off"
 msgstr "關機"
 
-#: system/ui/widgets/network.py:144
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered Wi-Fi connection"
 msgstr "在計量制 Wi‑Fi 連線時避免大量上傳"
 
-#: system/ui/widgets/network.py:135
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Prevent large data uploads when on a metered cellular connection"
 msgstr "在計量制行動網路時避免大量上傳"
 
-#: selfdrive/ui/layouts/settings/device.py:25
-msgid ""
-"Preview the driver facing camera to ensure that driver monitoring has good "
-"visibility. (vehicle must be off)"
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)"
 msgstr "預覽車內鏡頭以確保駕駛監控視野良好。（車輛須熄火）"
 
-#: selfdrive/ui/widgets/pairing_dialog.py:161
-#, python-format
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "QR Code Error"
 msgstr "QR 碼錯誤"
 
-#: selfdrive/ui/widgets/ssh_key.py:31
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "REMOVE"
 msgstr "移除"
 
-#: selfdrive/ui/layouts/settings/device.py:51
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "RESET"
 msgstr "重設"
 
-#: selfdrive/ui/layouts/settings/device.py:65
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "REVIEW"
 msgstr "檢視"
 
-#: selfdrive/ui/layouts/settings/device.py:55
-#: selfdrive/ui/layouts/settings/device.py:175
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Reboot"
 msgstr "重新啟動"
 
-#: selfdrive/ui/onroad/alert_renderer.py:66
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "Reboot Device"
 msgstr "重新啟動裝置"
 
-#: selfdrive/ui/widgets/offroad_alerts.py:112
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Reboot and Update"
 msgstr "重新啟動並更新"
 
-#: selfdrive/ui/layouts/settings/toggles.py:27
-msgid ""
-"Receive alerts to steer back into the lane when your vehicle drifts over a "
-"detected lane line without a turn signal activated while driving over 31 mph "
-"(50 km/h)."
-msgstr ""
-"當車輛以超過 31 mph（50 km/h）行駛且未打方向燈越過偵測到的車道線時，接收轉向"
-"回車道的警示。"
-
-#: selfdrive/ui/layouts/settings/toggles.py:76
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Record and Upload Driver Camera"
 msgstr "錄製並上傳車內鏡頭"
 
-#: selfdrive/ui/layouts/settings/toggles.py:82
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Record and Upload Microphone Audio"
 msgstr "錄製並上傳麥克風音訊"
 
-#: selfdrive/ui/layouts/settings/toggles.py:33
-msgid ""
-"Record and store microphone audio while driving. The audio will be included "
-"in the dashcam video in comma connect."
-msgstr ""
-"行車時錄製並儲存麥克風音訊。音訊將包含在 comma connect 的行車紀錄影片中。"
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."
+msgstr "行車時錄製並儲存麥克風音訊。音訊將包含在 comma connect 的行車紀錄影片中。"
 
-#: selfdrive/ui/layouts/settings/device.py:67
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Regulatory"
 msgstr "法規"
 
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Relaxed"
 msgstr "從容"
 
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Remote access"
 msgstr "遠端存取"
 
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Remote snapshots"
 msgstr "遠端擷圖"
 
-#: selfdrive/ui/widgets/ssh_key.py:123
-#, python-format
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
 msgid "Request timed out"
 msgstr "要求逾時"
 
-#: selfdrive/ui/layouts/settings/device.py:119
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Reset"
 msgstr "重設"
 
-#: selfdrive/ui/layouts/settings/device.py:51
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Reset Calibration"
 msgstr "重設校正"
 
-#: selfdrive/ui/layouts/settings/device.py:65
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Review Training Guide"
 msgstr "檢視訓練指南"
 
-#: selfdrive/ui/layouts/settings/device.py:27
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Review the rules, features, and limitations of openpilot"
 msgstr "檢視 openpilot 的規則、功能與限制"
 
-#: selfdrive/ui/layouts/settings/software.py:61
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "SELECT"
 msgstr "選取"
 
-#: selfdrive/ui/layouts/settings/developer.py:53
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "SSH Keys"
 msgstr "SSH 金鑰"
 
-#: system/ui/widgets/network.py:310
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Scanning Wi-Fi networks..."
 msgstr "正在掃描 Wi‑Fi 網路…"
 
-#: system/ui/widgets/option_dialog.py:36
-#, python-format
+#: system/ui/widgets/option_dialog.py
 msgid "Select"
 msgstr "選取"
 
-#: selfdrive/ui/layouts/settings/software.py:183
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Select a branch"
 msgstr "選取分支"
 
-#: selfdrive/ui/layouts/settings/device.py:91
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Select a language"
 msgstr "選取語言"
 
-#: selfdrive/ui/layouts/settings/device.py:60
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "Serial"
 msgstr "序號"
 
-#: selfdrive/ui/widgets/offroad_alerts.py:106
-#, python-format
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
 msgid "Snooze Update"
 msgstr "延後更新"
 
-#: selfdrive/ui/layouts/settings/settings.py:65
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Software"
 msgstr "軟體"
 
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Standard"
 msgstr "標準"
 
-#: selfdrive/ui/layouts/settings/toggles.py:22
-msgid ""
-"Standard is recommended. In aggressive mode, openpilot will follow lead cars "
-"closer and be more aggressive with the gas and brake. In relaxed mode "
-"openpilot will stay further away from lead cars. On supported cars, you can "
-"cycle through these personalities with your steering wheel distance button."
-msgstr ""
-"建議使用標準模式。積極模式下，openpilot 會更貼近前車，油門與煞車反應更積極；"
-"從容模式下，會與前車保持更遠距離。於支援車款，可用方向盤距離按鈕切換這些風"
-"格。"
-
-#: selfdrive/ui/onroad/alert_renderer.py:59
-#: selfdrive/ui/onroad/alert_renderer.py:65
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "System Unresponsive"
 msgstr "系統無回應"
 
-#: selfdrive/ui/onroad/alert_renderer.py:58
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "TAKE CONTROL IMMEDIATELY"
 msgstr "請立刻接手控制"
 
-#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
-#: selfdrive/ui/layouts/sidebar.py:127 selfdrive/ui/layouts/sidebar.py:129
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "TEMP"
 msgstr "溫度"
 
-#: selfdrive/ui/layouts/settings/software.py:61
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Target Branch"
 msgstr "目標分支"
 
-#: system/ui/widgets/network.py:124
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Tethering Password"
 msgstr "網路共享密碼"
 
-#: selfdrive/ui/layouts/settings/settings.py:64
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
 msgid "Toggles"
 msgstr "切換"
 
-#: selfdrive/ui/layouts/settings/software.py:72
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "UI Debug Mode"
+msgstr "介面除錯模式"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "UNINSTALL"
 msgstr "解除安裝"
 
-#: selfdrive/ui/layouts/home.py:155
-#, python-format
+#: openpilot/selfdrive/ui/layouts/home.py
 msgid "UPDATE"
 msgstr "更新"
 
-#: selfdrive/ui/layouts/settings/software.py:72
-#: selfdrive/ui/layouts/settings/software.py:163
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Uninstall"
 msgstr "解除安裝"
 
-#: selfdrive/ui/layouts/sidebar.py:117
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "Unknown"
 msgstr "未知"
 
-#: selfdrive/ui/layouts/settings/software.py:48
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "Updates are only downloaded while the car is off."
 msgstr "僅在車輛熄火時下載更新。"
 
-#: selfdrive/ui/widgets/prime.py:33
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "Upgrade Now"
 msgstr "立即升級"
 
-#: selfdrive/ui/layouts/settings/toggles.py:31
-msgid ""
-"Upload data from the driver facing camera and help improve the driver "
-"monitoring algorithm."
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Upload data from the driver facing camera and help improve the driver monitoring algorithm."
 msgstr "上傳車內鏡頭資料，協助改善駕駛監控演算法。"
 
-#: selfdrive/ui/layouts/settings/toggles.py:88
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "Use Metric System"
 msgstr "使用公制"
 
-#: selfdrive/ui/layouts/settings/toggles.py:17
-msgid ""
-"Use the openpilot system for adaptive cruise control and lane keep driver "
-"assistance. Your attention is required at all times to use this feature."
-msgstr ""
-"使用 openpilot 進行 ACC 與車道維持輔助。使用此功能時，您必須始終保持專注。"
-
-#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:144
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "VEHICLE"
 msgstr "車輛"
 
-#: selfdrive/ui/layouts/settings/device.py:67
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "VIEW"
 msgstr "檢視"
 
-#: selfdrive/ui/onroad/alert_renderer.py:52
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "Waiting to start"
 msgstr "等待開始"
 
-#: selfdrive/ui/layouts/settings/developer.py:19
-msgid ""
-"Warning: This grants SSH access to all public keys in your GitHub settings. "
-"Never enter a GitHub username other than your own. A comma employee will "
-"NEVER ask you to add their GitHub username."
-msgstr ""
-"警告：這將授予對您 GitHub 設定中所有公開金鑰的 SSH 存取權。請勿輸入非您本人"
-"的 GitHub 帳號。comma 員工絕不會要求您新增他們的帳號。"
-
-#: selfdrive/ui/layouts/onboarding.py:111
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "Welcome to openpilot"
 msgstr "歡迎使用 openpilot"
 
-#: selfdrive/ui/layouts/settings/toggles.py:20
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "When enabled, pressing the accelerator pedal will disengage openpilot."
 msgstr "啟用後，踩下加速踏板將會脫離 openpilot。"
 
-#: selfdrive/ui/layouts/sidebar.py:44
+#: openpilot/selfdrive/ui/layouts/sidebar.py
 msgid "Wi-Fi"
 msgstr "Wi‑Fi"
 
-#: system/ui/widgets/network.py:144
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Wi-Fi Network Metered"
 msgstr "Wi‑Fi 計量網路"
 
-#: system/ui/widgets/network.py:314
-#, python-format
+#: system/ui/widgets/network.py
 msgid "Wrong password"
 msgstr "密碼錯誤"
 
-#: selfdrive/ui/layouts/onboarding.py:145
-#, python-format
+#: openpilot/selfdrive/ui/layouts/onboarding.py
 msgid "You must accept the Terms and Conditions in order to use openpilot."
 msgstr "您必須接受條款與細則才能使用 openpilot。"
 
-#: selfdrive/ui/layouts/onboarding.py:112
-#, python-format
-msgid ""
-"You must accept the Terms and Conditions to use openpilot. Read the latest "
-"terms at https://comma.ai/terms before continuing."
-msgstr ""
-"您必須接受條款與細則才能使用 openpilot。繼續前請閱讀 https://comma.ai/terms "
-"上的最新條款。"
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "You must accept the Terms and Conditions to use openpilot. Read the latest terms at https://comma.ai/terms before continuing."
+msgstr "您必須接受條款與細則才能使用 openpilot。繼續前請閱讀 https://comma.ai/terms 上的最新條款。"
 
-#: selfdrive/ui/onroad/driver_camera_dialog.py:34
-#, python-format
+#: openpilot/selfdrive/ui/onroad/driver_camera_dialog.py
 msgid "camera starting"
 msgstr "相機啟動中"
 
-#: selfdrive/ui/widgets/prime.py:63
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "checking..."
+msgstr "檢查中..."
+
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "comma prime"
 msgstr "comma prime"
 
-#: system/ui/widgets/network.py:142
-#, python-format
+#: system/ui/widgets/network.py
 msgid "default"
 msgstr "預設"
 
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "down"
 msgstr "下"
 
-#: selfdrive/ui/layouts/settings/software.py:106
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "downloading..."
+msgstr "下載中..."
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "failed to check for update"
 msgstr "檢查更新失敗"
 
-#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "finalizing update..."
+msgstr "正在完成更新..."
+
+#: system/ui/widgets/network.py
 msgid "for \"{}\""
 msgstr "適用於「{}」"
 
-#: selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "km/h"
-msgstr "公里/時"
+msgstr "km/h"
 
-#: system/ui/widgets/network.py:204
-#, python-format
+#: system/ui/widgets/network.py
 msgid "leave blank for automatic configuration"
 msgstr "留空以自動設定"
 
-#: selfdrive/ui/layouts/settings/device.py:134
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "left"
 msgstr "左"
 
-#: system/ui/widgets/network.py:142
-#, python-format
+#: system/ui/widgets/network.py
 msgid "metered"
 msgstr "計量"
 
-#: selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
 msgid "mph"
-msgstr "英里/時"
+msgstr "mph"
 
-#: selfdrive/ui/layouts/settings/software.py:20
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "never"
 msgstr "從不"
 
-#: selfdrive/ui/layouts/settings/software.py:31
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "now"
 msgstr "現在"
 
-#: selfdrive/ui/layouts/settings/developer.py:71
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
 msgid "openpilot Longitudinal Control (Alpha)"
 msgstr "openpilot 縱向控制（Alpha）"
 
-#: selfdrive/ui/onroad/alert_renderer.py:51
-#, python-format
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
 msgid "openpilot Unavailable"
 msgstr "openpilot 無法使用"
 
-#: selfdrive/ui/layouts/settings/toggles.py:158
-#, python-format
-msgid ""
-"openpilot defaults to driving in chill mode. Experimental mode enables alpha-"
-"level features that aren't ready for chill mode. Experimental features are "
-"listed below:<br><h4>End-to-End Longitudinal Control</h4><br>Let the driving "
-"model control the gas and brakes. openpilot will drive as it thinks a human "
-"would, including stopping for red lights and stop signs. Since the driving "
-"model decides the speed to drive, the set speed will only act as an upper "
-"bound. This is an alpha quality feature; mistakes should be expected."
-"<br><h4>New Driving Visualization</h4><br>The driving visualization will "
-"transition to the road-facing wide-angle camera at low speeds to better show "
-"some turns. The Experimental mode logo will also be shown in the top right "
-"corner."
-msgstr ""
-"openpilot 預設以安穩模式行駛。實驗模式啟用尚未準備好進入安穩模式的 Alpha 等級"
-"功能。實驗功能如下：<br><h4>端到端縱向控制</h4><br>讓駕駛模型控制油門與煞車。"
-"openpilot 會如同人類駕駛般行駛，包括在紅燈與停車標誌前停車。由於駕駛模型決定"
-"行駛速度，設定速度僅作為上限。此為 Alpha 品質功能；預期會有失誤。<br><h4>全新"
-"駕駛視覺化</h4><br>在低速時，駕駛視覺化將切換至面向道路的廣角鏡頭以更好呈現部"
-"分轉彎。右上角亦會顯示實驗模式圖示。"
-
-#: selfdrive/ui/layouts/settings/device.py:165
-#, python-format
-msgid ""
-"openpilot is continuously calibrating, resetting is rarely required. "
-"Resetting calibration will restart openpilot if the car is powered on."
-msgstr ""
-"openpilot 會持續校正，通常不需重設。若車輛通電，重設校正將重新啟動 "
-"openpilot。"
-
-#: selfdrive/ui/layouts/settings/firehose.py:20
-msgid ""
-"openpilot learns to drive by watching humans, like you, drive.\n"
-"\n"
-"Firehose Mode allows you to maximize your training data uploads to improve "
-"openpilot's driving models. More data means bigger models, which means "
-"better Experimental Mode."
-msgstr ""
-"openpilot 透過觀察人類（也就是您）的駕駛方式來學習。\n"
-"\n"
-"Firehose 模式可讓您最大化上傳訓練資料，以改進 openpilot 的駕駛模型。更多資料"
-"代表更大的模型，也就代表更好的實驗模式。"
-
-#: selfdrive/ui/layouts/settings/toggles.py:183
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
 msgid "openpilot longitudinal control may come in a future update."
 msgstr "openpilot 縱向控制可能於未來更新提供。"
 
-#: selfdrive/ui/layouts/settings/device.py:26
-msgid ""
-"openpilot requires the device to be mounted within 4° left or right and "
-"within 5° up or 9° down."
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down."
 msgstr "openpilot 要求裝置安裝在左右 4°、上 5° 或下 9° 以內。"
 
-#: selfdrive/ui/layouts/settings/device.py:134
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "right"
 msgstr "右"
 
-#: system/ui/widgets/network.py:142
-#, python-format
+#: system/ui/widgets/network.py
 msgid "unmetered"
 msgstr "不限流量"
 
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/device.py
 msgid "up"
 msgstr "上"
 
-#: selfdrive/ui/layouts/settings/software.py:117
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "up to date, last checked never"
 msgstr "已為最新，最後檢查：從未"
 
-#: selfdrive/ui/layouts/settings/software.py:115
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "up to date, last checked {}"
 msgstr "已為最新，最後檢查：{}"
 
-#: selfdrive/ui/layouts/settings/software.py:109
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "update available"
 msgstr "有可用更新"
 
-#: selfdrive/ui/layouts/home.py:169
-#, python-format
+#: openpilot/selfdrive/ui/layouts/home.py
 msgid "{} ALERT"
 msgid_plural "{} ALERTS"
 msgstr[0] "{} 則警示"
 msgstr[1] "{} 則警示"
 
-#: selfdrive/ui/layouts/settings/software.py:40
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "{} day ago"
 msgid_plural "{} days ago"
 msgstr[0] "{} 天前"
 msgstr[1] "{} 天前"
 
-#: selfdrive/ui/layouts/settings/software.py:37
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "{} hour ago"
 msgid_plural "{} hours ago"
 msgstr[0] "{} 小時前"
 msgstr[1] "{} 小時前"
 
-#: selfdrive/ui/layouts/settings/software.py:34
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/software.py
 msgid "{} minute ago"
 msgid_plural "{} minutes ago"
 msgstr[0] "{} 分鐘前"
 msgstr[1] "{} 分鐘前"
 
-#: selfdrive/ui/layouts/settings/firehose.py:111
-#, python-format
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
 msgid "{} segment of your driving is in the training dataset so far."
 msgid_plural "{} segments of your driving is in the training dataset so far."
 msgstr[0] "目前已有 {} 個您的駕駛片段納入訓練資料集。"
 msgstr[1] "目前已有 {} 個您的駕駛片段納入訓練資料集。"
 
-#: selfdrive/ui/widgets/prime.py:62
-#, python-format
+#: openpilot/selfdrive/ui/widgets/prime.py
 msgid "✓ SUBSCRIBED"
 msgstr "✓ 已訂閱"
 
-#: selfdrive/ui/widgets/setup.py:22
-#, python-format
+#: openpilot/selfdrive/ui/widgets/setup.py
 msgid "🔥 Firehose Mode 🔥"
 msgstr "🔥 Firehose 模式 🔥"
+
diff --git a/selfdrive/ui/translations/auto_translate.py b/selfdrive/ui/translations/auto_translate.py
deleted file mode 100755
index 6251e033971..00000000000
--- a/selfdrive/ui/translations/auto_translate.py
+++ /dev/null
@@ -1,138 +0,0 @@
-#!/usr/bin/env python3
-
-import argparse
-import json
-import os
-import pathlib
-import xml.etree.ElementTree as ET
-from typing import cast
-
-import requests
-
-TRANSLATIONS_DIR = pathlib.Path(__file__).resolve().parent
-TRANSLATIONS_LANGUAGES = TRANSLATIONS_DIR / "languages.json"
-
-OPENAI_MODEL = "gpt-4"
-OPENAI_API_KEY = os.environ.get("OPENAI_API_KEY")
-OPENAI_PROMPT = "You are a professional translator from English to {language} (ISO 639 language code). " + \
-                "The following sentence or word is in the GUI of a software called openpilot, translate it accordingly."
-
-
-def get_language_files(languages: list[str] = None) -> dict[str, pathlib.Path]:
-  files = {}
-
-  with open(TRANSLATIONS_LANGUAGES) as fp:
-    language_dict = json.load(fp)
-
-    for filename in language_dict.values():
-      path = TRANSLATIONS_DIR / f"{filename}.ts"
-      language = path.stem
-
-      if languages is None or language in languages:
-        files[language] = path
-
-  return files
-
-
-def translate_phrase(text: str, language: str) -> str:
-  response = requests.post(
-    "https://api.openai.com/v1/chat/completions",
-    json={
-      "model": OPENAI_MODEL,
-      "messages": [
-        {
-          "role": "system",
-          "content": OPENAI_PROMPT.format(language=language),
-        },
-        {
-          "role": "user",
-          "content": text,
-        },
-      ],
-      "temperature": 0.8,
-      "max_tokens": 1024,
-      "top_p": 1,
-    },
-    headers={
-      "Authorization": f"Bearer {OPENAI_API_KEY}",
-      "Content-Type": "application/json",
-    },
-  )
-
-  if 400 <= response.status_code < 600:
-    raise requests.HTTPError(f'Error {response.status_code}: {response.json()}', response=response)
-
-  data = response.json()
-
-  return cast(str, data["choices"][0]["message"]["content"])
-
-
-def translate_file(path: pathlib.Path, language: str, all_: bool) -> None:
-  tree = ET.parse(path)
-
-  root = tree.getroot()
-
-  for context in root.findall("./context"):
-    name = context.find("name")
-    if name is None:
-      raise ValueError("name not found")
-
-    print(f"Context: {name.text}")
-
-    for message in context.findall("./message"):
-      source = message.find("source")
-      translation = message.find("translation")
-
-      if source is None or translation is None:
-        raise ValueError("source or translation not found")
-
-      if not all_ and translation.attrib.get("type") != "unfinished":
-        continue
-
-      llm_translation = translate_phrase(cast(str, source.text), language)
-
-      print(f"Source: {source.text}\n" +
-            f"Current translation: {translation.text}\n" +
-            f"LLM translation: {llm_translation}")
-
-      translation.text = llm_translation
-
-  with path.open("w", encoding="utf-8") as fp:
-    fp.write('<?xml version="1.0" encoding="utf-8"?>\n' +
-             '<!DOCTYPE TS>\n' +
-             ET.tostring(root, encoding="utf-8").decode())
-
-
-def main():
-  arg_parser = argparse.ArgumentParser("Auto translate")
-
-  group = arg_parser.add_mutually_exclusive_group(required=True)
-  group.add_argument("-a", "--all-files", action="store_true", help="Translate all files")
-  group.add_argument("-f", "--file", nargs="+", help="Translate the selected files. (Example: -f fr de)")
-
-  arg_parser.add_argument("-t", "--all-translations", action="store_true", default=False, help="Translate all sections. (Default: only unfinished)")
-
-  args = arg_parser.parse_args()
-
-  if OPENAI_API_KEY is None:
-    print("OpenAI API key is missing. (Hint: use `export OPENAI_API_KEY=YOUR-KEY` before you run the script).\n" +
-          "If you don't have one go to: https://beta.openai.com/account/api-keys.")
-    exit(1)
-
-  files = get_language_files(None if args.all_files else args.file)
-
-  if args.file:
-    missing_files = set(args.file) - set(files)
-    if len(missing_files):
-      print(f"No language files found: {missing_files}")
-      exit(1)
-
-  print(f"Translation mode: {'all' if args.all_translations else 'only unfinished'}. Files: {list(files)}")
-
-  for lang, path in files.items():
-    print(f"Translate {lang} ({path})")
-    translate_file(path, lang, args.all_translations)
-
-
-if __name__ == "__main__":
-  main()
diff --git a/selfdrive/ui/translations/auto_translate.sh b/selfdrive/ui/translations/auto_translate.sh
new file mode 100755
index 00000000000..03a207ca3c4
--- /dev/null
+++ b/selfdrive/ui/translations/auto_translate.sh
@@ -0,0 +1,26 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+DIR="$(cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd)"
+ROOT="$DIR/../../../"
+
+cd $DIR
+./update_translations.py
+
+command -v codex >/dev/null || {
+  echo "Install codex CLI to continue:"
+  echo "-> https://developers.openai.com/codex/cli"
+  echo
+  exit 1
+}
+
+codex exec --cd "$ROOT" -c 'model_reasoning_effort="low"' --dangerously-bypass-approvals-and-sandbox "$(cat <<EOF
+Update openpilot UI translations in selfdrive/ui/translations.
+- Translate English UI text naturally.
+- Preserve placeholders (%n, %1, {}, {:.1f}), HTML/tags, and plural forms.
+- Edit .po files in place.
+- Print a short summary of changes.
+- All strings should be translated. Don't stop until it's 100%.
+- Be mindful of the layout/style of the UI and length of the original English string.
+EOF
+)"
diff --git a/selfdrive/ui/translations/create_badges.py b/selfdrive/ui/translations/create_badges.py
deleted file mode 100755
index 2948c4857d8..00000000000
--- a/selfdrive/ui/translations/create_badges.py
+++ /dev/null
@@ -1,108 +0,0 @@
-#!/usr/bin/env python3
-import json
-import os
-import requests
-import xml.etree.ElementTree as ET
-
-from openpilot.common.basedir import BASEDIR
-from openpilot.selfdrive.ui.update_translations import LANGUAGES_FILE, TRANSLATIONS_DIR
-
-BADGE_HEIGHT = 20 + 8
-SHIELDS_URL = "https://img.shields.io/badge"
-
-def parse_po_file(file_path):
-  """
-  Parse a .po file and count total and unfinished translations.
-  Returns: (total_translations, unfinished_translations)
-  """
-  with open(file_path) as f:
-    content = f.read()
-
-  total_translations = 0
-  unfinished_translations = 0
-
-  # Split into entries (separated by blank lines)
-  entries = content.split('\n\n')
-
-  for entry in entries:
-    # Skip header entry (contains Project-Id-Version)
-    if 'Project-Id-Version' in entry:
-      continue
-
-    # Check if this entry has a msgid (translation entry)
-    # After skipping header, any entry with msgid " is a translation
-    # (both msgid "content" and msgid "" for multiline contain msgid ")
-    if 'msgid "' not in entry:
-      continue
-
-    total_translations += 1
-
-    # Check if msgstr is empty (unfinished translation)
-    if 'msgstr ""' in entry:
-      # Check if there are continuation lines with content after msgstr ""
-      lines = entry.split('\n')
-      msgstr_idx = None
-      for i, line in enumerate(lines):
-        if line.strip().startswith('msgstr ""'):
-          msgstr_idx = i
-          break
-
-      if msgstr_idx is not None:
-        # Check if any continuation lines have content
-        has_content = False
-        for line in lines[msgstr_idx + 1:]:
-          stripped = line.strip()
-          # Continuation line with content
-          if stripped.startswith('"') and len(stripped) > 2:
-            has_content = True
-            break
-          # End of entry
-          if stripped.startswith(('msgid', '#')) or not stripped:
-            break
-
-        if not has_content:
-          unfinished_translations += 1
-
-  return (total_translations, unfinished_translations)
-
-if __name__ == "__main__":
-  with open(LANGUAGES_FILE) as f:
-    translation_files = json.load(f)
-
-  badge_svg = []
-  max_badge_width = 0  # keep track of max width to set parent element
-  for idx, (name, file) in enumerate(translation_files.items()):
-    po_file_path = os.path.join(str(TRANSLATIONS_DIR), f"app_{file}.po")
-
-    total_translations, unfinished_translations = parse_po_file(po_file_path)
-
-    percent_finished = int(100 - (unfinished_translations / total_translations * 100.)) if total_translations > 0 else 0
-    color = f"rgb{(94, 188, 0) if percent_finished == 100 else (248, 255, 50) if percent_finished > 90 else (204, 55, 27)}"
-
-    # Download badge
-    badge_label = f"LANGUAGE {name}"
-    badge_message = f"{percent_finished}% complete"
-    if unfinished_translations != 0:
-      badge_message += f" ({unfinished_translations} unfinished)"
-
-    r = requests.get(f"{SHIELDS_URL}/{badge_label}-{badge_message}-{color}", timeout=10)
-    assert r.status_code == 200, "Error downloading badge"
-    content_svg = r.content.decode("utf-8")
-
-    xml = ET.fromstring(content_svg)
-    assert "width" in xml.attrib
-    max_badge_width = max(max_badge_width, int(xml.attrib["width"]))
-
-    # Make tag ids in each badge unique to combine them into one svg
-    for tag in ("r", "s"):
-      content_svg = content_svg.replace(f'id="{tag}"', f'id="{tag}{idx}"')
-      content_svg = content_svg.replace(f'"url(#{tag})"', f'"url(#{tag}{idx})"')
-
-    badge_svg.extend([f'<g transform="translate(0, {idx * BADGE_HEIGHT})">', content_svg, "</g>"])
-
-  badge_svg.insert(0, '<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" ' +
-                   f'height="{len(translation_files) * BADGE_HEIGHT}" width="{max_badge_width}">')
-  badge_svg.append("</svg>")
-
-  with open(os.path.join(BASEDIR, "translation_badge.svg"), "w") as badge_f:
-    badge_f.write("\n".join(badge_svg))
diff --git a/selfdrive/ui/translations/languages.json b/selfdrive/ui/translations/languages.json
index 47e673ce89b..99d3aafe3a2 100644
--- a/selfdrive/ui/translations/languages.json
+++ b/selfdrive/ui/translations/languages.json
@@ -6,7 +6,6 @@
   "Español": "es",
   "Türkçe": "tr",
   "Українська": "uk",
-  "العربية": "ar",
   "ไทย": "th",
   "中文（繁體）": "zh-CHT",
   "中文（简体）": "zh-CHS",
diff --git a/selfdrive/ui/translations/potools.py b/selfdrive/ui/translations/potools.py
new file mode 100644
index 00000000000..ac4dafb9888
--- /dev/null
+++ b/selfdrive/ui/translations/potools.py
@@ -0,0 +1,333 @@
+"""Pure Python tools for managing .po translation files.
+
+Replaces GNU gettext CLI tools (xgettext, msginit, msgmerge) with Python
+implementations for extracting, creating, and updating .po files.
+"""
+
+import ast
+import os
+import re
+from dataclasses import dataclass, field
+from pathlib import Path
+
+
+@dataclass
+class POEntry:
+  msgid: str = ""
+  msgstr: str = ""
+  msgid_plural: str = ""
+  msgstr_plural: dict[int, str] = field(default_factory=dict)
+  comments: list[str] = field(default_factory=list)
+  source_refs: list[str] = field(default_factory=list)
+  flags: list[str] = field(default_factory=list)
+
+  @property
+  def is_plural(self) -> bool:
+    return bool(self.msgid_plural)
+
+
+# ──── PO file parsing ────
+
+def _parse_quoted(s: str) -> str:
+  """Parse a PO-format quoted string, handling escape sequences."""
+  s = s.strip()
+  if not (s.startswith('"') and s.endswith('"')):
+    raise ValueError(f"Expected quoted string: {s!r}")
+  s = s[1:-1]
+  result = []
+  i = 0
+  while i < len(s):
+    if s[i] == '\\' and i + 1 < len(s):
+      c = s[i + 1]
+      if c == 'n':
+        result.append('\n')
+      elif c == 't':
+        result.append('\t')
+      elif c == '"':
+        result.append('"')
+      elif c == '\\':
+        result.append('\\')
+      else:
+        result.append(s[i:i + 2])
+      i += 2
+    else:
+      result.append(s[i])
+      i += 1
+  return ''.join(result)
+
+
+def parse_po(path: str | Path) -> tuple[POEntry | None, list[POEntry]]:
+  """Parse a .po/.pot file. Returns (header_entry, entries)."""
+  with open(path, encoding='utf-8') as f:
+    lines = f.readlines()
+
+  entries: list[POEntry] = []
+  header: POEntry | None = None
+  cur: POEntry | None = None
+  cur_field: str | None = None
+  plural_idx = 0
+
+  def finish():
+    nonlocal cur, header
+    if cur is None:
+      return
+    if cur.msgid == "" and cur.msgstr:
+      header = cur
+    elif cur.msgid != "" or cur.is_plural:
+      entries.append(cur)
+    cur = None
+
+  for raw in lines:
+    line = raw.rstrip('\n')
+    stripped = line.strip()
+
+    if not stripped:
+      finish()
+      cur_field = None
+      continue
+
+    # Skip obsolete entries
+    if stripped.startswith('#~'):
+      continue
+
+    if stripped.startswith('#'):
+      if cur is None:
+        cur = POEntry()
+      if stripped.startswith('#:'):
+        cur.source_refs.append(stripped[2:].strip())
+      elif stripped.startswith('#,'):
+        cur.flags.extend(f.strip() for f in stripped[2:].split(',') if f.strip())
+      else:
+        cur.comments.append(line)
+      continue
+
+    if stripped.startswith('msgid_plural '):
+      if cur is None:
+        cur = POEntry()
+      cur.msgid_plural = _parse_quoted(stripped[len('msgid_plural '):])
+      cur_field = 'msgid_plural'
+      continue
+
+    if stripped.startswith('msgid '):
+      if cur is None:
+        cur = POEntry()
+      cur.msgid = _parse_quoted(stripped[len('msgid '):])
+      cur_field = 'msgid'
+      continue
+
+    m = re.match(r'msgstr\[(\d+)]\s+(.*)', stripped)
+    if m:
+      plural_idx = int(m.group(1))
+      cur.msgstr_plural[plural_idx] = _parse_quoted(m.group(2))
+      cur_field = 'msgstr_plural'
+      continue
+
+    if stripped.startswith('msgstr '):
+      cur.msgstr = _parse_quoted(stripped[len('msgstr '):])
+      cur_field = 'msgstr'
+      continue
+
+    if stripped.startswith('"'):
+      val = _parse_quoted(stripped)
+      if cur_field == 'msgid':
+        cur.msgid += val
+      elif cur_field == 'msgid_plural':
+        cur.msgid_plural += val
+      elif cur_field == 'msgstr':
+        cur.msgstr += val
+      elif cur_field == 'msgstr_plural':
+        cur.msgstr_plural[plural_idx] += val
+
+  finish()
+  return header, entries
+
+
+# ──── PO file writing ────
+
+def _quote(s: str) -> str:
+  """Quote a string for .po file output."""
+  s = s.replace('\\', '\\\\').replace('"', '\\"').replace('\t', '\\t')
+  if '\n' in s and s != '\n':
+    parts = s.split('\n')
+    lines = ['""']
+    for i, part in enumerate(parts):
+      text = part + ('\\n' if i < len(parts) - 1 else '')
+      if text:
+        lines.append(f'"{text}"')
+    return '\n'.join(lines)
+  return f'"{s}"'.replace('\n', '\\n')
+
+
+def write_po(path: str | Path, header: POEntry | None, entries: list[POEntry]) -> None:
+  """Write a .po/.pot file."""
+  with open(path, 'w', encoding='utf-8') as f:
+    if header:
+      for c in header.comments:
+        f.write(c + '\n')
+      f.write(f'msgid {_quote("")}\n')
+      f.write(f'msgstr {_quote(header.msgstr)}\n\n')
+
+    for entry in entries:
+      for c in entry.comments:
+        f.write(c + '\n')
+      # Keep file-level context for translators, but drop line numbers to
+      # avoid churning PO diffs on unrelated code edits.
+      source_files = sorted({ref.rsplit(':', 1)[0] for ref in entry.source_refs})
+      for ref in source_files:
+        f.write(f'#: {ref}\n')
+      # Runtime loading ignores gettext flags; omit them to reduce noise.
+      f.write(f'msgid {_quote(entry.msgid)}\n')
+      if entry.is_plural:
+        f.write(f'msgid_plural {_quote(entry.msgid_plural)}\n')
+        for idx in sorted(entry.msgstr_plural):
+          f.write(f'msgstr[{idx}] {_quote(entry.msgstr_plural[idx])}\n')
+      else:
+        f.write(f'msgstr {_quote(entry.msgstr)}\n')
+      f.write('\n')
+
+
+# ──── String extraction (replaces xgettext) ────
+
+def extract_strings(files: list[str], basedir: str) -> list[POEntry]:
+  """Extract tr/trn/tr_noop calls from Python source files."""
+  seen: dict[str, POEntry] = {}
+
+  for filepath in files:
+    full = os.path.join(basedir, filepath)
+    with open(full, encoding='utf-8') as f:
+      source = f.read()
+    try:
+      tree = ast.parse(source, filename=filepath)
+    except SyntaxError:
+      continue
+
+    for node in ast.walk(tree):
+      if not isinstance(node, ast.Call):
+        continue
+
+      func = node.func
+      if isinstance(func, ast.Name):
+        name = func.id
+      elif isinstance(func, ast.Attribute):
+        name = func.attr
+      else:
+        continue
+
+      if name not in ('tr', 'trn', 'tr_noop'):
+        continue
+
+      ref = f'{filepath}:{node.lineno}'
+      is_flagged = name in ('tr', 'trn')
+
+      if name in ('tr', 'tr_noop'):
+        if not node.args or not isinstance(node.args[0], ast.Constant) or not isinstance(node.args[0].value, str):
+          continue
+        msgid = node.args[0].value
+        if msgid in seen:
+          if ref not in seen[msgid].source_refs:
+            seen[msgid].source_refs.append(ref)
+        else:
+          flags = ['python-format'] if is_flagged else []
+          seen[msgid] = POEntry(msgid=msgid, source_refs=[ref], flags=flags)
+
+      elif name == 'trn':
+        if len(node.args) < 2:
+          continue
+        a1, a2 = node.args[0], node.args[1]
+        if not (isinstance(a1, ast.Constant) and isinstance(a1.value, str)):
+          continue
+        if not (isinstance(a2, ast.Constant) and isinstance(a2.value, str)):
+          continue
+        msgid, msgid_plural = a1.value, a2.value
+        if msgid in seen:
+          if ref not in seen[msgid].source_refs:
+            seen[msgid].source_refs.append(ref)
+        else:
+          flags = ['python-format'] if is_flagged else []
+          seen[msgid] = POEntry(
+            msgid=msgid, msgid_plural=msgid_plural,
+            source_refs=[ref], flags=flags,
+            msgstr_plural={0: '', 1: ''},
+          )
+
+  return list(seen.values())
+
+
+# ──── POT generation ────
+
+def _build_pot_header() -> POEntry:
+  return POEntry(
+    msgstr='Content-Type: text/plain; charset=UTF-8\n',
+  )
+
+
+def _build_po_header(language: str) -> POEntry:
+  plural_forms = PLURAL_FORMS.get(language, 'nplurals=2; plural=(n != 1);')
+  return POEntry(
+    msgstr='Content-Type: text/plain; charset=UTF-8\n' +
+      f'Language: {language}\n' +
+      f'Plural-Forms: {plural_forms}\n',
+  )
+
+
+def generate_pot(entries: list[POEntry], pot_path: str | Path) -> None:
+  """Generate a .pot template file from extracted entries."""
+  write_po(pot_path, _build_pot_header(), entries)
+
+
+# ──── PO init (replaces msginit) ────
+
+PLURAL_FORMS: dict[str, str] = {
+  'en': 'nplurals=2; plural=(n != 1);',
+  'de': 'nplurals=2; plural=(n != 1);',
+  'fr': 'nplurals=2; plural=(n > 1);',
+  'es': 'nplurals=2; plural=(n != 1);',
+  'pt-BR': 'nplurals=2; plural=(n > 1);',
+  'tr': 'nplurals=2; plural=(n != 1);',
+  'uk': 'nplurals=3; plural=(n%10==1 && n%100!=11 ? 0 : n%10>=2 && n%10<=4 && (n%100<12 || n%100>14) ? 1 : 2);',
+  'th': 'nplurals=1; plural=0;',
+  'zh-CHT': 'nplurals=1; plural=0;',
+  'zh-CHS': 'nplurals=1; plural=0;',
+  'ko': 'nplurals=1; plural=0;',
+  'ja': 'nplurals=1; plural=0;',
+}
+
+
+def init_po(pot_path: str | Path, po_path: str | Path, language: str) -> None:
+  """Create a new .po file from a .pot template (replaces msginit)."""
+  _, entries = parse_po(pot_path)
+  plural_forms = PLURAL_FORMS.get(language, 'nplurals=2; plural=(n != 1);')
+
+  nplurals = int(re.search(r'nplurals=(\d+)', plural_forms).group(1))
+  for e in entries:
+    if e.is_plural:
+      e.msgstr_plural = dict.fromkeys(range(nplurals), '')
+
+  write_po(po_path, _build_po_header(language), entries)
+
+
+# ──── PO merge (replaces msgmerge) ────
+
+def merge_po(po_path: str | Path, pot_path: str | Path) -> None:
+  """Update a .po file with entries from a .pot template (replaces msgmerge --update)."""
+  _, po_entries = parse_po(po_path)
+  _, pot_entries = parse_po(pot_path)
+  language = Path(po_path).stem.removeprefix("app_")
+
+  existing = {e.msgid: e for e in po_entries}
+  merged = []
+
+  for pot_e in pot_entries:
+    if pot_e.msgid in existing:
+      old = existing[pot_e.msgid]
+      old.source_refs = pot_e.source_refs
+      old.flags = pot_e.flags
+      old.comments = pot_e.comments
+      if pot_e.is_plural:
+        old.msgid_plural = pot_e.msgid_plural
+      merged.append(old)
+    else:
+      merged.append(pot_e)
+
+  merged.sort(key=lambda e: e.msgid)
+  write_po(po_path, _build_po_header(language), merged)
diff --git a/selfdrive/ui/update_translations.py b/selfdrive/ui/translations/update_translations.py
similarity index 56%
rename from selfdrive/ui/update_translations.py
rename to selfdrive/ui/translations/update_translations.py
index bded80b2e5b..6ff3667d8a9 100755
--- a/selfdrive/ui/update_translations.py
+++ b/selfdrive/ui/translations/update_translations.py
@@ -3,6 +3,7 @@
 import os
 from openpilot.common.basedir import BASEDIR
 from openpilot.system.ui.lib.multilang import SYSTEM_UI_DIR, UI_DIR, TRANSLATIONS_DIR, multilang
+from openpilot.selfdrive.ui.translations.potools import extract_strings, generate_pot, merge_po, init_po
 
 LANGUAGES_FILE = os.path.join(str(TRANSLATIONS_DIR), "languages.json")
 POT_FILE = os.path.join(str(TRANSLATIONS_DIR), "app.pot")
@@ -18,24 +19,17 @@ def update_translations():
       if filename.endswith(".py"):
         files.append(os.path.relpath(os.path.join(root, filename), BASEDIR))
 
-  # Create main translation file
-  cmd = ("xgettext -L Python --keyword=tr --keyword=trn:1,2 --keyword=tr_noop --from-code=UTF-8 " +
-         "--flag=tr:1:python-brace-format --flag=trn:1:python-brace-format --flag=trn:2:python-brace-format " +
-         f"-D {BASEDIR} -o {POT_FILE} {' '.join(files)}")
-
-  ret = os.system(cmd)
-  assert ret == 0
+  # Extract translatable strings and generate .pot template
+  entries = extract_strings(files, BASEDIR)
+  generate_pot(entries, POT_FILE)
 
   # Generate/update translation files for each language
   for name in multilang.languages.values():
-    if os.path.exists(os.path.join(TRANSLATIONS_DIR, f"app_{name}.po")):
-      cmd = f"msgmerge --update --no-fuzzy-matching --backup=none --sort-output {TRANSLATIONS_DIR}/app_{name}.po {POT_FILE}"
-      ret = os.system(cmd)
-      assert ret == 0
+    po_file = os.path.join(TRANSLATIONS_DIR, f"app_{name}.po")
+    if os.path.exists(po_file):
+      merge_po(po_file, POT_FILE)
     else:
-      cmd = f"msginit -l {name} --no-translator --input {POT_FILE} --output-file {TRANSLATIONS_DIR}/app_{name}.po"
-      ret = os.system(cmd)
-      assert ret == 0
+      init_po(POT_FILE, po_file, name)
 
 
 if __name__ == "__main__":
diff --git a/selfdrive/ui/ui.py b/selfdrive/ui/ui.py
index 7fe0dfbbc9a..e3cac2618e8 100755
--- a/selfdrive/ui/ui.py
+++ b/selfdrive/ui/ui.py
@@ -1,6 +1,5 @@
 #!/usr/bin/env python3
 import os
-import pyray as rl
 
 from openpilot.system.hardware import TICI
 from openpilot.common.realtime import config_realtime_process, set_core_affinity
@@ -9,22 +8,22 @@
 from openpilot.selfdrive.ui.mici.layouts.main import MiciMainLayout
 from openpilot.selfdrive.ui.ui_state import ui_state
 
+BIG_UI = gui_app.big_ui()
+
 
 def main():
   cores = {5, }
   config_realtime_process(0, 51)
 
   gui_app.init_window("UI")
-  if gui_app.big_ui():
-    main_layout = MainLayout()
+  if BIG_UI:
+    MainLayout()
   else:
-    main_layout = MiciMainLayout()
-  main_layout.set_rect(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
+    MiciMainLayout()
+
   for should_render in gui_app.render():
     ui_state.update()
     if should_render:
-      main_layout.render()
-
       # reaffine after power save offlines our core
       if TICI and os.sched_getaffinity(0) != cores:
         try:
diff --git a/selfdrive/ui/ui_state.py b/selfdrive/ui/ui_state.py
index 30a65650955..52426f510b5 100644
--- a/selfdrive/ui/ui_state.py
+++ b/selfdrive/ui/ui_state.py
@@ -13,6 +13,7 @@
 from openpilot.system.hardware import HARDWARE, PC
 
 BACKLIGHT_OFFROAD = 65 if HARDWARE.get_device_type() == "mici" else 50
+PARAM_UPDATE_TIME = 5.0
 
 
 class UIStatus(Enum):
@@ -54,6 +55,7 @@ def _initialize(self):
         "carOutput",
         "carControl",
         "liveParameters",
+        "testJoystick",
         "rawAudioData",
       ]
     )
@@ -77,15 +79,15 @@ def _initialize(self):
     self.panda_type: log.PandaState.PandaType = log.PandaState.PandaType.unknown
     self.personality: log.LongitudinalPersonality = log.LongitudinalPersonality.standard
     self.has_longitudinal_control: bool = False
+    self.is_body: bool | None = None
     self.CP: car.CarParams | None = None
     self.light_sensor: float = -1.0
-    self._param_update_time: float = 0.0
+    self._param_update_time: float = -PARAM_UPDATE_TIME
 
     # Callbacks
     self._offroad_transition_callbacks: list[Callable[[], None]] = []
     self._engaged_transition_callbacks: list[Callable[[], None]] = []
-
-    self.update_params()
+    self._on_body_changed_callbacks: list[Callable[[], None]] = []
 
   def add_offroad_transition_callback(self, callback: Callable[[], None]):
     self._offroad_transition_callbacks.append(callback)
@@ -93,6 +95,9 @@ def add_offroad_transition_callback(self, callback: Callable[[], None]):
   def add_engaged_transition_callback(self, callback: Callable[[], None]):
     self._engaged_transition_callbacks.append(callback)
 
+  def add_on_body_changed_callbacks(self, callback: Callable[[], None]):
+    self._on_body_changed_callbacks.append(callback)
+
   @property
   def engaged(self) -> bool:
     return self.started and self.sm["selfdriveState"].enabled
@@ -108,7 +113,7 @@ def update(self) -> None:
     self.sm.update(0)
     self._update_state()
     self._update_status()
-    if time.monotonic() - self._param_update_time > 5.0:
+    if time.monotonic() - self._param_update_time >= PARAM_UPDATE_TIME:
       self.update_params()
     device.update()
 
@@ -180,6 +185,12 @@ def update_params(self) -> None:
         self.has_longitudinal_control = self.params.get_bool("AlphaLongitudinalEnabled")
       else:
         self.has_longitudinal_control = self.CP.openpilotLongitudinalControl
+
+      if self.is_body != self.CP.notCar:
+        self.is_body = self.CP.notCar
+        for callback in self._on_body_changed_callbacks:
+          callback()
+
     self._param_update_time = time.monotonic()
 
 
diff --git a/selfdrive/ui/widgets/exp_mode_button.py b/selfdrive/ui/widgets/exp_mode_button.py
index faa3bf877f0..0b5bff7da46 100644
--- a/selfdrive/ui/widgets/exp_mode_button.py
+++ b/selfdrive/ui/widgets/exp_mode_button.py
@@ -20,6 +20,7 @@ def __init__(self):
     self.experimental_pixmap = gui_app.texture("icons/experimental_grey.png", self.img_width, self.img_width)
 
   def show_event(self):
+    super().show_event()
     self.experimental_mode = self.params.get_bool("ExperimentalMode")
 
   def _get_gradient_colors(self):
diff --git a/selfdrive/ui/widgets/offroad_alerts.py b/selfdrive/ui/widgets/offroad_alerts.py
index 802243ff3eb..110ca714a9d 100644
--- a/selfdrive/ui/widgets/offroad_alerts.py
+++ b/selfdrive/ui/widgets/offroad_alerts.py
@@ -63,7 +63,7 @@ def __init__(self, text: str | Callable[[], str], style: ButtonStyle = ButtonSty
 
   @property
   def text(self) -> str:
-    return self._text() if callable(self._text) else self._text
+    return self._text if isinstance(self._text, str) else self._text()
 
   def _render(self, _):
     text_size = measure_text_cached(gui_app.font(FontWeight.MEDIUM), self.text, AlertConstants.FONT_SIZE)
@@ -118,6 +118,7 @@ def excessive_actuation_callback():
     self.scroll_panel = GuiScrollPanel()
 
   def show_event(self):
+    super().show_event()
     self.scroll_panel.set_offset(0)
 
   def set_dismiss_callback(self, callback: Callable):
diff --git a/selfdrive/ui/widgets/pairing_dialog.py b/selfdrive/ui/widgets/pairing_dialog.py
index f960cf723ee..1ff550e4b6d 100644
--- a/selfdrive/ui/widgets/pairing_dialog.py
+++ b/selfdrive/ui/widgets/pairing_dialog.py
@@ -26,7 +26,7 @@ def __init__(self):
     self.qr_texture: rl.Texture | None = None
     self.last_qr_generation = float('-inf')
     self._close_btn = IconButton(gui_app.texture("icons/close.png", 80, 80))
-    self._close_btn.set_click_callback(lambda: gui_app.set_modal_overlay(None))
+    self._close_btn.set_click_callback(gui_app.pop_widget)
 
   def _get_pairing_url(self) -> str:
     try:
@@ -69,7 +69,7 @@ def _check_qr_refresh(self) -> None:
 
   def _update_state(self):
     if ui_state.prime_state.is_paired():
-      gui_app.set_modal_overlay(None)
+      gui_app.pop_widget()
 
   def _render(self, rect: rl.Rectangle) -> int:
     rl.clear_background(rl.Color(224, 224, 224, 255))
@@ -162,10 +162,9 @@ def __del__(self):
 if __name__ == "__main__":
   gui_app.init_window("pairing device")
   pairing = PairingDialog()
+  gui_app.push_widget(pairing)
   try:
     for _ in gui_app.render():
-      result = pairing.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
-      if result != -1:
-        break
+      pass
   finally:
     del pairing
diff --git a/selfdrive/ui/widgets/setup.py b/selfdrive/ui/widgets/setup.py
index 3c9406688f2..c9452fc5350 100644
--- a/selfdrive/ui/widgets/setup.py
+++ b/selfdrive/ui/widgets/setup.py
@@ -15,7 +15,6 @@ class SetupWidget(Widget):
   def __init__(self):
     super().__init__()
     self._open_settings_callback = None
-    self._pairing_dialog: PairingDialog | None = None
     self._pair_device_btn = Button(lambda: tr("Pair device"), self._show_pairing, button_style=ButtonStyle.PRIMARY)
     self._open_settings_btn = Button(lambda: tr("Open"), lambda: self._open_settings_callback() if self._open_settings_callback else None,
                                      button_style=ButtonStyle.PRIMARY)
@@ -86,16 +85,11 @@ def _render_firehose_prompt(self, rect: rl.Rectangle):
     button_rect = rl.Rectangle(x, y, w, button_height)
     self._open_settings_btn.render(button_rect)
 
-  def _show_pairing(self):
+  @staticmethod
+  def _show_pairing():
     if not system_time_valid():
       dlg = alert_dialog(tr("Please connect to Wi-Fi to complete initial pairing"))
-      gui_app.set_modal_overlay(dlg)
+      gui_app.push_widget(dlg)
       return
 
-    if not self._pairing_dialog:
-      self._pairing_dialog = PairingDialog()
-    gui_app.set_modal_overlay(self._pairing_dialog, lambda result: setattr(self, '_pairing_dialog', None))
-
-  def __del__(self):
-    if self._pairing_dialog:
-      del self._pairing_dialog
+    gui_app.push_widget(PairingDialog())
diff --git a/selfdrive/ui/widgets/ssh_key.py b/selfdrive/ui/widgets/ssh_key.py
index 88389cb0532..b3ff5c1711b 100644
--- a/selfdrive/ui/widgets/ssh_key.py
+++ b/selfdrive/ui/widgets/ssh_key.py
@@ -1,7 +1,6 @@
 import pyray as rl
 import requests
 import threading
-import copy
 from collections.abc import Callable
 from enum import Enum
 
@@ -25,6 +24,51 @@
 VALUE_FONT_SIZE = 48
 
 
+class SshKeyFetcher:
+  HTTP_TIMEOUT = 15  # seconds
+
+  def __init__(self, params: Params):
+    self._params = params
+    self._on_response: Callable[[str | None], None] | None = None
+    self._done: bool = False
+    self._error: str | None = None
+
+  def fetch(self, username: str, on_response: Callable[[str | None], None]):
+    self._error = None
+    self._on_response = on_response
+    threading.Thread(target=self._fetch_thread, args=(username,), daemon=True).start()
+
+  def update(self):
+    if not self._done:
+      return
+    self._done = False
+    if self._error is not None:
+      self.clear()
+    if self._on_response:
+      self._on_response(self._error)
+
+  def clear(self):
+    self._params.remove("GithubUsername")
+    self._params.remove("GithubSshKeys")
+
+  def _fetch_thread(self, username: str):
+    try:
+      response = requests.get(f"https://github.com/{username}.keys", timeout=self.HTTP_TIMEOUT)
+      response.raise_for_status()
+      keys = response.text.strip()
+      if not keys:
+        raise requests.exceptions.HTTPError("No SSH keys found")
+
+      self._params.put("GithubUsername", username)
+      self._params.put("GithubSshKeys", keys)
+    except requests.exceptions.Timeout:
+      self._error = tr("Request timed out")
+    except Exception:
+      self._error = tr("No SSH keys found for user '{}'").format(username)
+    finally:
+      self._done = True
+
+
 class SshKeyActionState(Enum):
   LOADING = tr_noop("LOADING")
   ADD = tr_noop("ADD")
@@ -32,7 +76,6 @@ class SshKeyActionState(Enum):
 
 
 class SshKeyAction(ItemAction):
-  HTTP_TIMEOUT = 15  # seconds
   MAX_WIDTH = 500
 
   def __init__(self):
@@ -40,7 +83,7 @@ def __init__(self):
 
     self._keyboard = Keyboard(min_text_size=1)
     self._params = Params()
-    self._error_message: str = ""
+    self._fetcher = SshKeyFetcher(self._params)
     self._text_font = gui_app.font(FontWeight.NORMAL)
     self._button = Button("", click_callback=self._handle_button_click, button_style=ButtonStyle.LIST_ACTION,
                           border_radius=BUTTON_BORDER_RADIUS, font_size=BUTTON_FONT_SIZE)
@@ -55,14 +98,11 @@ def _refresh_state(self):
     self._username = self._params.get("GithubUsername")
     self._state = SshKeyActionState.REMOVE if self._params.get("GithubSshKeys") else SshKeyActionState.ADD
 
-  def _render(self, rect: rl.Rectangle) -> bool:
-    # Show error dialog if there's an error
-    if self._error_message:
-      message = copy.copy(self._error_message)
-      gui_app.set_modal_overlay(alert_dialog(message))
-      self._username = ""
-      self._error_message = ""
+  def _update_state(self):
+    super()._update_state()
+    self._fetcher.update()
 
+  def _render(self, rect: rl.Rectangle) -> bool:
     # Draw username if exists
     if self._username:
       text_size = measure_text_cached(self._text_font, self._username, VALUE_FONT_SIZE)
@@ -87,10 +127,10 @@ def _handle_button_click(self):
     if self._state == SshKeyActionState.ADD:
       self._keyboard.reset()
       self._keyboard.set_title(tr("Enter your GitHub username"))
-      gui_app.set_modal_overlay(self._keyboard, callback=self._on_username_submit)
+      self._keyboard.set_callback(self._on_username_submit)
+      gui_app.push_widget(self._keyboard)
     elif self._state == SshKeyActionState.REMOVE:
-      self._params.remove("GithubUsername")
-      self._params.remove("GithubSshKeys")
+      self._fetcher.clear()
       self._refresh_state()
 
   def _on_username_submit(self, result: DialogResult):
@@ -102,29 +142,16 @@ def _on_username_submit(self, result: DialogResult):
       return
 
     self._state = SshKeyActionState.LOADING
-    threading.Thread(target=lambda: self._fetch_ssh_key(username), daemon=True).start()
+    self._fetcher.fetch(username, self._on_fetch_response)
 
-  def _fetch_ssh_key(self, username: str):
-    try:
-      url = f"https://github.com/{username}.keys"
-      response = requests.get(url, timeout=self.HTTP_TIMEOUT)
-      response.raise_for_status()
-      keys = response.text.strip()
-      if not keys:
-        raise requests.exceptions.HTTPError(tr("No SSH keys found"))
-
-      # Success - save keys
-      self._params.put("GithubUsername", username)
-      self._params.put("GithubSshKeys", keys)
+  def _on_fetch_response(self, error: str | None):
+    if error is None:
       self._state = SshKeyActionState.REMOVE
-      self._username = username
-
-    except requests.exceptions.Timeout:
-      self._error_message = tr("Request timed out")
-      self._state = SshKeyActionState.ADD
-    except Exception:
-      self._error_message = tr("No SSH keys found for user '{}'").format(username)
+      self._username = self._params.get("GithubUsername")
+    else:
       self._state = SshKeyActionState.ADD
+      self._username = ""
+      gui_app.push_widget(alert_dialog(error))
 
 
 def ssh_key_item(title: str | Callable[[], str], description: str | Callable[[], str]) -> ListItem:
diff --git a/system/athena/athenad.py b/system/athena/athenad.py
index 3b71a9c31f5..b52ef21ba63 100755
--- a/system/athena/athenad.py
+++ b/system/athena/athenad.py
@@ -314,7 +314,7 @@ def upload_handler(end_event: threading.Event) -> None:
       cloudlog.exception("athena.upload_handler.exception")
 
 
-def _do_upload(upload_item: UploadItem, callback: Callable = None) -> requests.Response:
+def _do_upload(upload_item: UploadItem, callback: Callable | None = None) -> requests.Response:
   path = upload_item.path
   compress = False
 
@@ -805,7 +805,7 @@ def backoff(retries: int) -> int:
   return random.randrange(0, min(128, int(2 ** retries)))
 
 
-def main(exit_event: threading.Event = None):
+def main(exit_event: threading.Event | None = None):
   try:
     set_core_affinity([0, 1, 2, 3])
   except Exception:
diff --git a/system/athena/tests/test_athenad.py b/system/athena/tests/test_athenad.py
index 99ac3b1c6b6..5b3e0b41f48 100644
--- a/system/athena/tests/test_athenad.py
+++ b/system/athena/tests/test_athenad.py
@@ -97,7 +97,7 @@ def _wait_for_upload():
         break
 
   @staticmethod
-  def _create_file(file: str, parent: str = None, data: bytes = b'') -> str:
+  def _create_file(file: str, parent: str | None = None, data: bytes = b'') -> str:
     fn = os.path.join(Paths.log_root() if parent is None else parent, file)
     os.makedirs(os.path.dirname(fn), exist_ok=True)
     with open(fn, 'wb') as f:
diff --git a/system/camerad/SConscript b/system/camerad/SConscript
index e288c6d8b02..c28330b32c4 100644
--- a/system/camerad/SConscript
+++ b/system/camerad/SConscript
@@ -1,6 +1,6 @@
 Import('env', 'arch', 'messaging', 'common', 'visionipc')
 
-libs = [common, 'OpenCL', messaging, visionipc]
+libs = [common, messaging, visionipc]
 
 if arch != "Darwin":
   camera_obj = env.Object(['cameras/camera_qcom2.cc', 'cameras/camera_common.cc', 'cameras/spectra.cc',
diff --git a/system/camerad/cameras/bps_blobs.h b/system/camerad/cameras/bps_blobs.h
index 54941b8d76a..4a0de6659d6 100644
--- a/system/camerad/cameras/bps_blobs.h
+++ b/system/camerad/cameras/bps_blobs.h
@@ -16,15 +16,15 @@ unsigned char bps_cfg[4][768] = {
 
 unsigned char bps_striping_output[4][0x9a0] = {
 { /* placeholder */ },
-  {0x5, 0x0, 0x6, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0xB7, 0x4, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xB7, 0x4, 0x0, 0x0, 0xFF, 0xFF, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xB7, 0x4, 0x0, 0x0, 0xB7, 0x4, 0x0, 0x0, 0xB7, 0x4, 0x0, 0x0, 0x5B, 0x2, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xB7, 0x4, 0x0, 0x0, 0x5B, 0x2, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xB7, 0x4, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x40, 0x0, 0x1, 0x0, 0xB8, 0x4, 0x5C, 0x2, 0x0, 0x0, 0x3, 0x0, 0x2, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x5, 0x0, 0x0, 0x0, 0x70, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 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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, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 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, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 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/camera_common.cc b/system/camerad/cameras/camera_common.cc
index 1f6ad9b4be3..329192b63ae 100644
--- a/system/camerad/cameras/camera_common.cc
+++ b/system/camerad/cameras/camera_common.cc
@@ -7,7 +7,7 @@
 #include "system/camerad/cameras/spectra.h"
 
 
-void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera *cam, VisionIpcServer * v, int frame_cnt, VisionStreamType type) {
+void CameraBuf::init(SpectraCamera *cam, VisionIpcServer * v, int frame_cnt, VisionStreamType type) {
   vipc_server = v;
   stream_type = type;
   frame_buf_count = frame_cnt;
@@ -21,16 +21,11 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera *
     const int raw_frame_size = (sensor->frame_height + sensor->extra_height) * sensor->frame_stride;
     for (int i = 0; i < frame_buf_count; i++) {
       camera_bufs_raw[i].allocate(raw_frame_size);
-      camera_bufs_raw[i].init_cl(device_id, context);
     }
-    LOGD("allocated %d CL buffers", frame_buf_count);
+    LOGD("allocated %d buffers", frame_buf_count);
   }
 
-  // the encoder HW tells us the size it wants after setting it up.
-  // TODO: VENUS_BUFFER_SIZE should give the size, but it's too small. dependent on encoder settings?
-  size_t nv12_size = (out_img_width <= 1344 ? 2900 : 2346)*cam->stride;
-
-  vipc_server->create_buffers_with_sizes(stream_type, VIPC_BUFFER_COUNT, out_img_width, out_img_height, nv12_size, cam->stride, cam->uv_offset);
+  vipc_server->create_buffers_with_sizes(stream_type, VIPC_BUFFER_COUNT, out_img_width, out_img_height, cam->yuv_size, cam->stride, cam->uv_offset);
   LOGD("created %d YUV vipc buffers with size %dx%d", VIPC_BUFFER_COUNT, cam->stride, cam->y_height);
 }
 
diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h
index c26859cbc40..7f35e06a835 100644
--- a/system/camerad/cameras/camera_common.h
+++ b/system/camerad/cameras/camera_common.h
@@ -36,7 +36,7 @@ class CameraBuf {
 
   CameraBuf() = default;
   ~CameraBuf();
-  void init(cl_device_id device_id, cl_context context, SpectraCamera *cam, VisionIpcServer * v, int frame_cnt, VisionStreamType type);
+  void init(SpectraCamera *cam, VisionIpcServer * v, int frame_cnt, VisionStreamType type);
   void sendFrameToVipc();
 };
 
diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc
index d741e13cf3b..6a7f599ab66 100644
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -12,16 +12,8 @@
 #include <string>
 #include <vector>
 
-#ifdef __TICI__
-#include "CL/cl_ext_qcom.h"
-#else
-#define CL_PRIORITY_HINT_HIGH_QCOM NULL
-#define CL_CONTEXT_PRIORITY_HINT_QCOM NULL
-#endif
-
 #include "media/cam_sensor_cmn_header.h"
 
-#include "common/clutil.h"
 #include "common/params.h"
 #include "common/swaglog.h"
 
@@ -57,7 +49,7 @@ class CameraState {
 
   CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config) {};
   ~CameraState();
-  void init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx);
+  void init(VisionIpcServer *v);
   void update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain);
   void set_camera_exposure(float grey_frac);
   void set_exposure_rect();
@@ -68,8 +60,8 @@ class CameraState {
   }
 };
 
-void CameraState::init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx) {
-  camera.camera_open(v, device_id, ctx);
+void CameraState::init(VisionIpcServer *v) {
+  camera.camera_open(v);
 
   if (!camera.enabled) return;
 
@@ -257,11 +249,7 @@ void CameraState::sendState() {
 void camerad_thread() {
   // TODO: centralize enabled handling
 
-  cl_device_id device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT);
-  const cl_context_properties props[] = {CL_CONTEXT_PRIORITY_HINT_QCOM, CL_PRIORITY_HINT_HIGH_QCOM, 0};
-  cl_context ctx = CL_CHECK_ERR(clCreateContext(props, 1, &device_id, NULL, NULL, &err));
-
-  VisionIpcServer v("camerad", device_id, ctx);
+  VisionIpcServer v("camerad");
 
   // *** initial ISP init ***
   SpectraMaster m;
@@ -271,7 +259,7 @@ void camerad_thread() {
   std::vector<std::unique_ptr<CameraState>> cams;
   for (const auto &config : ALL_CAMERA_CONFIGS) {
     auto cam = std::make_unique<CameraState>(&m, config);
-    cam->init(&v, device_id, ctx);
+    cam->init(&v);
     cams.emplace_back(std::move(cam));
   }
 
diff --git a/system/camerad/cameras/cdm.cc b/system/camerad/cameras/cdm.cc
index d4ef20c48cd..8a070fa3aad 100644
--- a/system/camerad/cameras/cdm.cc
+++ b/system/camerad/cameras/cdm.cc
@@ -1,9 +1,9 @@
 #include "cdm.h"
 #include "stddef.h"
 
-int write_dmi(uint8_t *dst, uint64_t *addr, uint32_t length, uint32_t dmi_addr, uint8_t sel) {
+int write_dmi(uint8_t *dst, uint64_t *addr, uint32_t length, uint32_t dmi_addr, uint8_t sel, uint8_t opcode) {
   struct cdm_dmi_cmd *cmd = (struct cdm_dmi_cmd*)dst;
-  cmd->cmd = CAM_CDM_CMD_DMI_32;
+  cmd->cmd = opcode;
   cmd->length = length - 1;
   cmd->reserved = 0;
   cmd->addr = 0; // gets patched in
diff --git a/system/camerad/cameras/cdm.h b/system/camerad/cameras/cdm.h
index adda6004006..d9640cee3e5 100644
--- a/system/camerad/cameras/cdm.h
+++ b/system/camerad/cameras/cdm.h
@@ -6,11 +6,6 @@
 #include <vector>
 #include <memory>
 
-// our helpers
-int write_random(uint8_t *dst, const std::vector<uint32_t> &vals);
-int write_cont(uint8_t *dst, uint32_t reg, const std::vector<uint32_t> &vals);
-int write_dmi(uint8_t *dst, uint64_t *addr, uint32_t length, uint32_t dmi_addr, uint8_t sel);
-
 // from drivers/media/platform/msm/camera/cam_cdm/cam_cdm_util.{c,h}
 
 enum cam_cdm_command {
@@ -32,6 +27,11 @@ enum cam_cdm_command {
   CAM_CDM_CMD_PRIVATE_BASE_MAX = 0x7F
 };
 
+// our helpers
+int write_random(uint8_t *dst, const std::vector<uint32_t> &vals);
+int write_cont(uint8_t *dst, uint32_t reg, const std::vector<uint32_t> &vals);
+int write_dmi(uint8_t *dst, uint64_t *addr, uint32_t length, uint32_t dmi_addr, uint8_t sel, uint8_t opcode = CAM_CDM_CMD_DMI_32);
+
 /**
  * struct cdm_regrandom_cmd - Definition for CDM random register command.
  * @count: Number of register writes
diff --git a/system/camerad/cameras/hw.h b/system/camerad/cameras/hw.h
index f20a1b3adec..defe878e89a 100644
--- a/system/camerad/cameras/hw.h
+++ b/system/camerad/cameras/hw.h
@@ -25,6 +25,7 @@ struct CameraConfig {
   uint32_t phy;
   bool vignetting_correction;
   SpectraOutputType output_type;
+  bool staggered_sof;  // SOF is staggered (half-period offset) from other cameras
 };
 
 // NOTE: to be able to disable road and wide road, we still have to configure the sensor over i2c
@@ -39,6 +40,7 @@ const CameraConfig WIDE_ROAD_CAMERA_CONFIG = {
   .phy = CAM_ISP_IFE_IN_RES_PHY_0,
   .vignetting_correction = false,
   .output_type = ISP_IFE_PROCESSED,
+  .staggered_sof = false,
 };
 
 const CameraConfig ROAD_CAMERA_CONFIG = {
@@ -51,6 +53,7 @@ const CameraConfig ROAD_CAMERA_CONFIG = {
   .phy = CAM_ISP_IFE_IN_RES_PHY_1,
   .vignetting_correction = true,
   .output_type = ISP_IFE_PROCESSED,
+  .staggered_sof = false,
 };
 
 const CameraConfig DRIVER_CAMERA_CONFIG = {
@@ -63,6 +66,7 @@ const CameraConfig DRIVER_CAMERA_CONFIG = {
   .phy = CAM_ISP_IFE_IN_RES_PHY_2,
   .vignetting_correction = false,
   .output_type = ISP_BPS_PROCESSED,
+  .staggered_sof = true,
 };
 
 const CameraConfig ALL_CAMERA_CONFIGS[] = {WIDE_ROAD_CAMERA_CONFIG, ROAD_CAMERA_CONFIG, DRIVER_CAMERA_CONFIG};
diff --git a/system/camerad/cameras/nv12_info.h b/system/camerad/cameras/nv12_info.h
new file mode 100644
index 00000000000..e8eb1174062
--- /dev/null
+++ b/system/camerad/cameras/nv12_info.h
@@ -0,0 +1,22 @@
+#pragma once
+
+#include <cassert>
+#include <cstdint>
+#include <tuple>
+
+#include "third_party/linux/include/msm_media_info.h"
+
+// Returns NV12 aligned (stride, y_height, uv_height, buffer_size) for the given frame dimensions.
+inline std::tuple<uint32_t, uint32_t, uint32_t, uint32_t> get_nv12_info(int width, int height) {
+  const uint32_t stride = VENUS_Y_STRIDE(COLOR_FMT_NV12, width);
+  const uint32_t y_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, height);
+  const uint32_t uv_height = VENUS_UV_SCANLINES(COLOR_FMT_NV12, height);
+  const uint32_t size = VENUS_BUFFER_SIZE(COLOR_FMT_NV12, width, height);
+
+  // Sanity checks for NV12 format assumptions
+  assert(stride == VENUS_UV_STRIDE(COLOR_FMT_NV12, width));
+  assert(y_height / 2 == uv_height);
+  assert((stride * y_height) % 0x1000 == 0);  // uv_offset must be page-aligned
+
+  return {stride, y_height, uv_height, size};
+}
diff --git a/system/camerad/cameras/nv12_info.py b/system/camerad/cameras/nv12_info.py
new file mode 100644
index 00000000000..bcb6312d2bc
--- /dev/null
+++ b/system/camerad/cameras/nv12_info.py
@@ -0,0 +1,21 @@
+# Python version of system/camerad/cameras/nv12_info.h
+# Calculations from third_party/linux/include/msm_media_info.h (VENUS_BUFFER_SIZE)
+
+def align(val: int, alignment: int) -> int:
+  return ((val + alignment - 1) // alignment) * alignment
+
+def get_nv12_info(width: int, height: int) -> tuple[int, int, int, int]:
+  """Returns (stride, y_height, uv_height, buffer_size) for NV12 frame dimensions."""
+  stride = align(width, 128)
+  y_height = align(height, 32)
+  uv_height = align(height // 2, 16)
+
+  # VENUS_BUFFER_SIZE for NV12
+  y_plane = stride * y_height
+  uv_plane = stride * uv_height + 4096
+  size = y_plane + uv_plane + max(16 * 1024, 8 * stride)
+  size = align(size, 4096)
+  size += align(width, 512) * 512  # kernel padding for non-aligned frames
+  size = align(size, 4096)
+
+  return stride, y_height, uv_height, size
diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc
index 0d93b704659..23c58c1ec90 100644
--- a/system/camerad/cameras/spectra.cc
+++ b/system/camerad/cameras/spectra.cc
@@ -12,11 +12,11 @@
 #include "media/cam_isp_ife.h"
 #include "media/cam_sensor_cmn_header.h"
 #include "media/cam_sync.h"
-#include "third_party/linux/include/msm_media_info.h"
 
 #include "common/util.h"
 #include "common/swaglog.h"
 #include "system/camerad/cameras/ife.h"
+#include "system/camerad/cameras/nv12_info.h"
 #include "system/camerad/cameras/spectra.h"
 #include "system/camerad/cameras/bps_blobs.h"
 
@@ -274,7 +274,7 @@ int SpectraCamera::clear_req_queue() {
   return ret;
 }
 
-void SpectraCamera::camera_open(VisionIpcServer *v, cl_device_id device_id, cl_context ctx) {
+void SpectraCamera::camera_open(VisionIpcServer *v) {
   if (!openSensor()) {
     return;
   }
@@ -286,17 +286,8 @@ void SpectraCamera::camera_open(VisionIpcServer *v, cl_device_id device_id, cl_c
 
   // size is driven by all the HW that handles frames,
   // the video encoder has certain alignment requirements in this case
-  stride = VENUS_Y_STRIDE(COLOR_FMT_NV12, buf.out_img_width);
-  y_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, buf.out_img_height);
-  uv_height = VENUS_UV_SCANLINES(COLOR_FMT_NV12, buf.out_img_height);
-  uv_offset = stride*y_height;
-  yuv_size = uv_offset + stride*uv_height;
-  if (cc.output_type != ISP_RAW_OUTPUT) {
-    uv_offset = ALIGNED_SIZE(uv_offset, 0x1000);
-    yuv_size = uv_offset + ALIGNED_SIZE(stride*uv_height, 0x1000);
-  }
-  assert(stride == VENUS_UV_STRIDE(COLOR_FMT_NV12, buf.out_img_width));
-  assert(y_height/2 == uv_height);
+  std::tie(stride, y_height, uv_height, yuv_size) = get_nv12_info(buf.out_img_width, buf.out_img_height);
+  uv_offset = stride * y_height;
 
   open = true;
   configISP();
@@ -305,7 +296,7 @@ void SpectraCamera::camera_open(VisionIpcServer *v, cl_device_id device_id, cl_c
   linkDevices();
 
   LOGD("camera init %d", cc.camera_num);
-  buf.init(device_id, ctx, this, v, ife_buf_depth, cc.stream_type);
+  buf.init(this, v, ife_buf_depth, cc.stream_type);
   camera_map_bufs();
   clearAndRequeue(1);
 }
@@ -476,7 +467,7 @@ void SpectraCamera::config_bps(int idx, int request_id) {
   */
 
   int size = sizeof(struct cam_packet) + sizeof(struct cam_cmd_buf_desc)*2 + sizeof(struct cam_buf_io_cfg)*2;
-  size += sizeof(struct cam_patch_desc)*9;
+  size += sizeof(struct cam_patch_desc)*12;
 
   uint32_t cam_packet_handle = 0;
   auto pkt = m->mem_mgr.alloc<struct cam_packet>(size, &cam_packet_handle);
@@ -554,8 +545,15 @@ void SpectraCamera::config_bps(int idx, int request_id) {
     int cdm_len = 0;
 
     if (bps_lin_reg.size() == 0) {
+      // set first knee pt to do BLC
+      uint32_t new_knee[8];
+      new_knee[0] = sensor->black_level << (14 - sensor->bits_per_pixel);
+      for (int i = 0; i < 7; i++) {
+        uint32_t pts = sensor->linearization_pts[i / 2];
+        new_knee[i + 1] = (i % 2 == 0) ? (pts >> 16) : (pts & 0xffff);
+      }
       for (int i = 0; i < 4; i++) {
-        bps_lin_reg.push_back(((sensor->linearization_pts[i] & 0xffff) << 0x10) | (sensor->linearization_pts[i] >> 0x10));
+        bps_lin_reg.push_back((new_knee[2*i + 1] << 16) | new_knee[2*i]);
       }
     }
 
@@ -578,20 +576,24 @@ void SpectraCamera::config_bps(int idx, int request_id) {
       0x00000080,
       0x00800066,
     });
-    // linearization, EN=0
+    // linearization
     cdm_len += write_cont((unsigned char *)bps_cdm_program_array.ptr + cdm_len, 0x1868, bps_lin_reg);
     cdm_len += write_cont((unsigned char *)bps_cdm_program_array.ptr + cdm_len, 0x1878, bps_lin_reg);
     cdm_len += write_cont((unsigned char *)bps_cdm_program_array.ptr + cdm_len, 0x1888, bps_lin_reg);
     cdm_len += write_cont((unsigned char *)bps_cdm_program_array.ptr + cdm_len, 0x1898, bps_lin_reg);
-    /*
-    uint8_t *start = (unsigned char *)bps_cdm_program_array.ptr + cdm_len;
     uint64_t addr;
-    cdm_len += write_dmi((unsigned char *)bps_cdm_program_array.ptr + cdm_len, &addr, sensor->linearization_lut.size()*sizeof(uint32_t), 0x1808, 1);
-    patches.push_back(addr - (uint64_t)start);
-    */
+    cdm_len += write_dmi((unsigned char *)bps_cdm_program_array.ptr + cdm_len, &addr, sensor->linearization_lut.size()*sizeof(uint32_t), 0x1808, 1, CAM_CDM_CMD_DMI);
+    patches.push_back(addr - (uint64_t)bps_cdm_program_array.ptr);
+
     // color correction
     cdm_len += write_cont((unsigned char *)bps_cdm_program_array.ptr + cdm_len, 0x2e68, bps_ccm_reg);
 
+    // gamma
+    for (uint8_t ch = 1; ch <= 3; ch++) {
+      cdm_len += write_dmi((unsigned char *)bps_cdm_program_array.ptr + cdm_len, &addr, sensor->gamma_lut_rgb.size()*sizeof(uint32_t), 0x3208, ch, CAM_CDM_CMD_DMI);
+      patches.push_back(addr - (uint64_t)bps_cdm_program_array.ptr);
+    }
+
     cdm_len += build_common_ife_bps((unsigned char *)bps_cdm_program_array.ptr + cdm_len, cc, sensor.get(), patches, false);
 
     pa->length = cdm_len - 1;
@@ -673,11 +675,16 @@ void SpectraCamera::config_bps(int idx, int request_id) {
 
   // *** patches ***
   {
-    assert(patches.size() == 0 | patches.size() == 1);
+    assert(patches.size() == 0 || patches.size() == 4);
     pkt->patch_offset = sizeof(struct cam_cmd_buf_desc)*pkt->num_cmd_buf + sizeof(struct cam_buf_io_cfg)*pkt->num_io_configs;
 
     if (patches.size() > 0) {
-      add_patch(pkt.get(), bps_cmd.handle, patches[0], bps_linearization_lut.handle, 0);
+      // linearization LUT
+      add_patch(pkt.get(), bps_cdm_program_array.handle, patches[0], bps_linearization_lut.handle, 0);
+      // gamma LUTs
+      for (int i = 0; i < 3; i++) {
+        add_patch(pkt.get(), bps_cdm_program_array.handle, patches[i+1], bps_gamma_lut.handle, 0);
+      }
     }
 
     // input frame
@@ -1179,10 +1186,30 @@ void SpectraCamera::configICP() {
   bps_cdm_striping_bl.init(m, 0xa100, 0x20, true, m->icp_device_iommu);
 
   // LUTs
-  /*
+  assert(sensor->linearization_lut.size() == 36);
   bps_linearization_lut.init(m, sensor->linearization_lut.size()*sizeof(uint32_t), 0x20, true, m->icp_device_iommu);
-  memcpy(bps_linearization_lut.ptr, sensor->linearization_lut.data(), bps_linearization_lut.size);
-  */
+
+  // bit shift linearization_lut to bps specs, also compensate for black level here
+  uint32_t bl = sensor->black_level << (14 - sensor->bits_per_pixel);
+  uint32_t* bps_lut = (uint32_t*)bps_linearization_lut.ptr;
+  for (size_t i = 0; i < sensor->linearization_lut.size(); i++) {
+    size_t seg = i / 4;
+    size_t ch = i % 4;
+    if (seg == 0) {
+      bps_lut[i] = 0;
+      continue;
+    }
+    uint32_t e = sensor->linearization_lut[(seg - 1) * 4 + ch];
+    uint32_t base = e & 0x3fff;
+    uint32_t slope_q11 = (e >> 14) & 0x3fff;
+    uint32_t slope_q12 = std::min<uint32_t>(slope_q11 << 1, 0x3fff);
+    base = (base > bl) ? (base - bl) : 0;
+    bps_lut[i] = base | (slope_q12 << 14);
+  }
+
+  assert(sensor->gamma_lut_rgb.size() == 64);
+  bps_gamma_lut.init(m, sensor->gamma_lut_rgb.size()*sizeof(uint32_t), 0x20, true, m->icp_device_iommu);
+  memcpy(bps_gamma_lut.ptr, sensor->gamma_lut_rgb.data(), bps_gamma_lut.size);
 }
 
 void SpectraCamera::configCSIPHY() {
@@ -1445,7 +1472,7 @@ 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)) {
+  if (!syncFirstFrame(cc.camera_num, request_id, frame_id_raw, timestamp, cc.staggered_sof)) {
     return false;
   }
 
@@ -1464,23 +1491,31 @@ bool SpectraCamera::processFrame(int buf_idx, uint64_t request_id, uint64_t fram
   return true;
 }
 
-bool SpectraCamera::syncFirstFrame(int camera_id, uint64_t request_id, uint64_t raw_id, uint64_t timestamp) {
+bool SpectraCamera::syncFirstFrame(int camera_id, uint64_t request_id, uint64_t raw_id, uint64_t timestamp, bool staggered) {
   if (first_frame_synced) return true;
 
   // Store the frame data for this camera
-  camera_sync_data[camera_id] = SyncData{timestamp, raw_id + 1};
+  camera_sync_data[camera_id] = SyncData{timestamp, raw_id + 1, staggered};
 
   // Ensure all cameras are up
   int enabled_camera_count = std::count_if(std::begin(ALL_CAMERA_CONFIGS), std::end(ALL_CAMERA_CONFIGS),
                                            [](const auto &config) { return config.enabled; });
   bool all_cams_up = camera_sync_data.size() == enabled_camera_count;
 
-  // Wait until the timestamps line up
+  // Check that camera timestamps are properly aligned:
+  // - non-staggered cameras should be within 0.2ms of each other
+  // - staggered cameras should be within 0.2ms of a 25ms offset from non-staggered cameras
+  const uint64_t half_period_ns = 25 * 1000000ULL;  // 25ms
+  const uint64_t tolerance_ns = 200000ULL;           // 0.2ms
   bool all_cams_synced = true;
-  for (const auto &[_, sync_data] : camera_sync_data) {
+  for (const auto &[cam, sync_data] : camera_sync_data) {
+    if (cam == camera_id) continue;
     uint64_t diff = std::max(timestamp, sync_data.timestamp) -
                     std::min(timestamp, sync_data.timestamp);
-    if (diff > 0.2*1e6) { // milliseconds
+    bool pair_staggered = staggered != sync_data.staggered;
+    uint64_t expected_offset = pair_staggered ? half_period_ns : 0;
+    uint64_t error = (diff > expected_offset) ? diff - expected_offset : expected_offset - diff;
+    if (error > tolerance_ns) {
       all_cams_synced = false;
     }
   }
diff --git a/system/camerad/cameras/spectra.h b/system/camerad/cameras/spectra.h
index 13cb13f98f6..741e8ad276e 100644
--- a/system/camerad/cameras/spectra.h
+++ b/system/camerad/cameras/spectra.h
@@ -113,7 +113,7 @@ class SpectraCamera {
   SpectraCamera(SpectraMaster *master, const CameraConfig &config);
   ~SpectraCamera();
 
-  void camera_open(VisionIpcServer *v, cl_device_id device_id, cl_context ctx);
+  void camera_open(VisionIpcServer *v);
   bool handle_camera_event(const cam_req_mgr_message *event_data);
   void camera_close();
   void camera_map_bufs();
@@ -173,6 +173,7 @@ class SpectraCamera {
   SpectraBuf bps_iq;
   SpectraBuf bps_striping;
   SpectraBuf bps_linearization_lut;
+  SpectraBuf bps_gamma_lut;
   std::vector<uint32_t> bps_lin_reg;
   std::vector<uint32_t> bps_ccm_reg;
 
@@ -194,10 +195,11 @@ class SpectraCamera {
   bool validateEvent(uint64_t request_id, uint64_t frame_id_raw);
   bool waitForFrameReady(uint64_t request_id);
   bool processFrame(int buf_idx, uint64_t request_id, uint64_t frame_id_raw, uint64_t timestamp);
-  static bool syncFirstFrame(int camera_id, uint64_t request_id, uint64_t raw_id, uint64_t timestamp);
+  static bool syncFirstFrame(int camera_id, uint64_t request_id, uint64_t raw_id, uint64_t timestamp, bool staggered);
   struct SyncData {
     uint64_t timestamp;
     uint64_t frame_id_offset = 0;
+    bool staggered = false;
   };
   inline static std::map<int, SyncData> camera_sync_data;
   inline static bool first_frame_synced = false;
diff --git a/system/camerad/snapshot.py b/system/camerad/snapshot.py
index b3369891d7f..035a4acdcf4 100755
--- a/system/camerad/snapshot.py
+++ b/system/camerad/snapshot.py
@@ -43,9 +43,15 @@ def yuv_to_rgb(y, u, v):
 
 
 def extract_image(buf):
+  # NV12 format: Y plane followed by interleaved UV plane
+  # UV plane size is stride * uv_height, where uv_height = align(height/2, 16)
+  uv_height = ((buf.height // 2) + 15) // 16 * 16
+  uv_plane_size = buf.stride * uv_height
+
   y = np.array(buf.data[:buf.uv_offset], dtype=np.uint8).reshape((-1, buf.stride))[:buf.height, :buf.width]
-  u = np.array(buf.data[buf.uv_offset::2], dtype=np.uint8).reshape((-1, buf.stride//2))[:buf.height//2, :buf.width//2]
-  v = np.array(buf.data[buf.uv_offset+1::2], dtype=np.uint8).reshape((-1, buf.stride//2))[:buf.height//2, :buf.width//2]
+  uv_data = buf.data[buf.uv_offset:buf.uv_offset + uv_plane_size]
+  u = np.array(uv_data[::2], dtype=np.uint8).reshape((-1, buf.stride//2))[:buf.height//2, :buf.width//2]
+  v = np.array(uv_data[1::2], dtype=np.uint8).reshape((-1, buf.stride//2))[:buf.height//2, :buf.width//2]
 
   return yuv_to_rgb(y, u, v)
 
diff --git a/system/camerad/test/test_camerad.py b/system/camerad/test/test_camerad.py
index 1f3f97b0820..3abe4db6548 100644
--- a/system/camerad/test/test_camerad.py
+++ b/system/camerad/test/test_camerad.py
@@ -3,67 +3,125 @@
 import pytest
 import numpy as np
 
-import cereal.messaging as messaging
 from cereal.services import SERVICE_LIST
-from openpilot.system.manager.process_config import managed_processes
 from openpilot.tools.lib.log_time_series import msgs_to_time_series
+from openpilot.system.camerad.snapshot import get_snapshots
+from openpilot.selfdrive.test.helpers import collect_logs, log_collector, processes_context
 
 TEST_TIMESPAN = 10
 CAMERAS = ('roadCameraState', 'driverCameraState', 'wideRoadCameraState')
+EXPOSURE_STABLE_COUNT = 3
+EXPOSURE_RANGE = (0.15, 0.35)
+MAX_TEST_TIME = 25
 
 
-def run_and_log(procs, services, duration):
-  logs = []
+def _numpy_rgb2gray(im):
+  return np.clip(im[:,:,2] * 0.114 + im[:,:,1] * 0.587 + im[:,:,0] * 0.299, 0, 255).astype(np.uint8)
+
+def _exposure_stats(im):
+  h, w = im.shape[:2]
+  gray = _numpy_rgb2gray(im[h//10:9*h//10, w//10:9*w//10])
+  return float(np.median(gray) / 255.), float(np.mean(gray) / 255.)
+
+def _in_range(median, mean):
+  lo, hi = EXPOSURE_RANGE
+  return lo < median < hi and lo < mean < hi
 
-  try:
-    for p in procs:
-      managed_processes[p].start()
-    socks = [messaging.sub_sock(s, conflate=False, timeout=100) for s in services]
+def _exposure_stable(results):
+  return all(
+    len(v) >= EXPOSURE_STABLE_COUNT and all(_in_range(*s) for s in v[-EXPOSURE_STABLE_COUNT:])
+    for v in results.values()
+  )
 
-    start_time = time.monotonic()
-    while time.monotonic() - start_time < duration:
-      for s in socks:
-        logs.extend(messaging.drain_sock(s))
-    for p in procs:
-      assert managed_processes[p].proc.is_alive()
-  finally:
-    for p in procs:
-      managed_processes[p].stop()
 
-  return logs
+def run_and_log(procs, services, duration):
+  with processes_context(procs):
+    return collect_logs(services, duration)
 
 @pytest.fixture(scope="module")
-def logs():
-  logs = run_and_log(["camerad", ], CAMERAS, TEST_TIMESPAN)
-  ts = msgs_to_time_series(logs)
+def _camera_session():
+  """Single camerad session that collects logs and exposure data.
+     Runs until exposure stabilizes (min TEST_TIMESPAN seconds for enough log data)."""
+  with processes_context(["camerad"]), log_collector(CAMERAS) as (raw_logs, lock):
+    exposure = {cam: [] for cam in CAMERAS}
+    start = time.monotonic()
+    while time.monotonic() - start < MAX_TEST_TIME:
+      rpic, dpic = get_snapshots(frame="roadCameraState", front_frame="driverCameraState")
+      wpic, _ = get_snapshots(frame="wideRoadCameraState")
+      for cam, img in zip(CAMERAS, [rpic, dpic, wpic], strict=True):
+        exposure[cam].append(_exposure_stats(img))
+
+      if time.monotonic() - start >= TEST_TIMESPAN and _exposure_stable(exposure):
+        break
+
+    elapsed = time.monotonic() - start
+
+  with lock:
+    ts = msgs_to_time_series(raw_logs)
 
   for cam in CAMERAS:
-    expected_frames = SERVICE_LIST[cam].frequency * TEST_TIMESPAN
+    expected_frames = SERVICE_LIST[cam].frequency * elapsed
     cnt = len(ts[cam]['t'])
     assert expected_frames*0.8 < cnt < expected_frames*1.2, f"unexpected frame count {cam}: {expected_frames=}, got {cnt}"
 
     dts = np.abs(np.diff([ts[cam]['timestampSof']/1e6]) - 1000/SERVICE_LIST[cam].frequency)
     assert (dts < 1.0).all(), f"{cam} dts(ms) out of spec: max diff {dts.max()}, 99 percentile {np.percentile(dts, 99)}"
-  return ts
+
+  return ts, exposure
+
+@pytest.fixture(scope="module")
+def logs(_camera_session):
+  return _camera_session[0]
+
+@pytest.fixture(scope="module")
+def exposure_data(_camera_session):
+  return _camera_session[1]
 
 @pytest.mark.tici
 class TestCamerad:
+  @pytest.mark.parametrize("cam", CAMERAS)
+  def test_camera_exposure(self, exposure_data, cam):
+    lo, hi = EXPOSURE_RANGE
+    checks = exposure_data[cam]
+    assert len(checks) >= EXPOSURE_STABLE_COUNT, f"{cam}: only got {len(checks)} samples"
+
+    # check that exposure converges into the valid range
+    passed = sum(_in_range(med, mean) for med, mean in checks)
+    assert passed >= EXPOSURE_STABLE_COUNT, \
+      f"{cam}: only {passed}/{len(checks)} checks in range. " + \
+      " | ".join(f"#{i+1}: med={m:.4f} mean={u:.4f}" for i, (m, u) in enumerate(checks))
+
+    # check that exposure is stable once converged (no regressions)
+    in_range = False
+    for i, (median, mean) in enumerate(checks):
+      ok = _in_range(median, mean)
+      if in_range and not ok:
+        pytest.fail(f"{cam}: exposure regressed on sample {i+1} " +
+                    f"(median={median:.4f}, mean={mean:.4f}, expected: ({lo}, {hi}))")
+      in_range = ok
+
   def test_frame_skips(self, logs):
     for c in CAMERAS:
       assert set(np.diff(logs[c]['frameId'])) == {1, }, f"{c} has frame skips"
 
   def test_frame_sync(self, logs):
+    SYNCED_CAMS = ('roadCameraState', 'wideRoadCameraState')
     n = range(len(logs['roadCameraState']['t'][:-10]))
 
     frame_ids = {i: [logs[cam]['frameId'][i] for cam in CAMERAS] for i in n}
     assert all(len(set(v)) == 1 for v in frame_ids.values()), "frame IDs not aligned"
 
-    frame_times = {i: [logs[cam]['timestampSof'][i] for cam in CAMERAS] for i in n}
-    diffs = {i: (max(ts) - min(ts))/1e6 for i, ts in frame_times.items()}
-
+    # road and wide cameras should be synced within 1.1ms
+    synced_times = {i: [logs[cam]['timestampSof'][i] for cam in SYNCED_CAMS] for i in n}
+    diffs = {i: (max(ts) - min(ts))/1e6 for i, ts in synced_times.items()}
     laggy_frames = {k: v for k, v in diffs.items() if v > 1.1}
     assert len(laggy_frames) == 0, f"Frames not synced properly: {laggy_frames=}"
 
+    # driver camera should be staggered ~25ms from road camera
+    for i in n:
+      offset_ms = abs(logs['driverCameraState']['timestampSof'][i] - logs['roadCameraState']['timestampSof'][i]) / 1e6
+      assert 20 < offset_ms < 30, f"driver camera stagger out of range at frame {i}: {offset_ms:.1f}ms (expected ~25ms)"
+
   def test_sanity_checks(self, logs):
     self._sanity_checks(logs)
 
@@ -91,7 +149,10 @@ def _sanity_checks(self, ts):
 
   def test_stress_test(self):
     os.environ['SPECTRA_ERROR_PROB'] = '0.008'
-    logs = run_and_log(["camerad", ], CAMERAS, 10)
+    try:
+      logs = run_and_log(["camerad", ], CAMERAS, 10)
+    finally:
+      del os.environ['SPECTRA_ERROR_PROB']
     ts = msgs_to_time_series(logs)
 
     # we should see some jumps from introduced errors
diff --git a/system/camerad/test/test_exposure.py b/system/camerad/test/test_exposure.py
deleted file mode 100644
index 6f89e048004..00000000000
--- a/system/camerad/test/test_exposure.py
+++ /dev/null
@@ -1,51 +0,0 @@
-import time
-import numpy as np
-import pytest
-
-from openpilot.selfdrive.test.helpers import with_processes
-from openpilot.system.camerad.snapshot import get_snapshots
-
-TEST_TIME = 45
-REPEAT = 5
-
-@pytest.mark.tici
-class TestCamerad:
-  @classmethod
-  def setup_class(cls):
-    pass
-
-  def _numpy_rgb2gray(self, im):
-    ret = np.clip(im[:,:,2] * 0.114 + im[:,:,1] * 0.587 + im[:,:,0] * 0.299, 0, 255).astype(np.uint8)
-    return ret
-
-  def _is_exposure_okay(self, i, med_mean=None):
-    if med_mean is None:
-      med_mean = np.array([[0.18,0.3],[0.18,0.3]])
-    h, w = i.shape[:2]
-    i = i[h//10:9*h//10,w//10:9*w//10]
-    med_ex, mean_ex = med_mean
-    i = self._numpy_rgb2gray(i)
-    i_median = np.median(i) / 255.
-    i_mean = np.mean(i) / 255.
-    print([i_median, i_mean])
-    return med_ex[0] < i_median < med_ex[1] and mean_ex[0] < i_mean < mean_ex[1]
-
-  @with_processes(['camerad'])
-  def test_camera_operation(self):
-    passed = 0
-    start = time.monotonic()
-    while time.monotonic() - start < TEST_TIME and passed < REPEAT:
-      rpic, dpic = get_snapshots(frame="roadCameraState", front_frame="driverCameraState")
-      wpic, _ = get_snapshots(frame="wideRoadCameraState")
-
-      res = self._is_exposure_okay(rpic)
-      res = res and self._is_exposure_okay(dpic)
-      res = res and self._is_exposure_okay(wpic)
-
-      if passed > 0 and not res:
-        passed = -passed # fails test if any failure after first sus
-        break
-
-      passed += int(res)
-      time.sleep(2)
-    assert passed >= REPEAT
diff --git a/system/hardware/.gitignore b/system/hardware/.gitignore
deleted file mode 100644
index 980f09abfa7..00000000000
--- a/system/hardware/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-eon/rat
diff --git a/system/hardware/base.py b/system/hardware/base.py
index 17d0ec16140..29c739654e0 100644
--- a/system/hardware/base.py
+++ b/system/hardware/base.py
@@ -5,6 +5,7 @@
 from cereal import log
 
 NetworkType = log.DeviceState.NetworkType
+NetworkStrength = log.DeviceState.NetworkStrength
 
 class LPAError(RuntimeError):
   pass
@@ -51,7 +52,8 @@ class ThermalConfig:
   memory: ThermalZone | None = None
   intake: ThermalZone | None = None
   exhaust: ThermalZone | None = None
-  case: ThermalZone | None = None
+  gnss: ThermalZone | None = None
+  bottomSoc: ThermalZone | None = None
 
   def get_msg(self):
     ret = {}
@@ -65,10 +67,6 @@ def get_msg(self):
     return ret
 
 class LPABase(ABC):
-  @abstractmethod
-  def bootstrap(self) -> None:
-    pass
-
   @abstractmethod
   def list_profiles(self) -> list[Profile]:
     pass
@@ -93,6 +91,13 @@ def nickname_profile(self, iccid: str, nickname: str) -> None:
   def switch_profile(self, iccid: str) -> None:
     pass
 
+  def process_notifications(self) -> None:
+    pass
+
+  @abstractmethod
+  def is_euicc(self) -> bool:
+    pass
+
   def is_comma_profile(self, iccid: str) -> bool:
     return any(iccid.startswith(prefix) for prefix in ('8985235',))
 
@@ -114,68 +119,57 @@ def read_param_file(path, parser, default=0):
   def booted(self) -> bool:
     return True
 
-  @abstractmethod
   def reboot(self, reason=None):
-    pass
+    print("REBOOT!")
 
-  @abstractmethod
   def uninstall(self):
-    pass
+    print("uninstall")
 
-  @abstractmethod
   def get_os_version(self):
-    pass
+    return None
 
   @abstractmethod
   def get_device_type(self):
     pass
 
-  @abstractmethod
   def get_imei(self, slot) -> str:
-    pass
+    return ""
 
-  @abstractmethod
   def get_serial(self):
-    pass
+    return ""
 
-  @abstractmethod
   def get_network_info(self):
-    pass
+    return None
 
-  @abstractmethod
   def get_network_type(self):
-    pass
+    return NetworkType.none
 
-  @abstractmethod
   def get_sim_info(self):
-    pass
+    return {
+      'sim_id': '',
+      'mcc_mnc': None,
+      'network_type': ["Unknown"],
+      'sim_state': ["ABSENT"],
+      'data_connected': False
+    }
 
-  @abstractmethod
   def get_sim_lpa(self) -> LPABase:
-    pass
+    raise NotImplementedError("SIM LPA not available")
 
-  @abstractmethod
   def get_network_strength(self, network_type):
-    pass
+    return NetworkStrength.unknown
 
   def get_network_metered(self, network_type) -> bool:
     return network_type not in (NetworkType.none, NetworkType.wifi, NetworkType.ethernet)
 
-  @staticmethod
-  def set_bandwidth_limit(upload_speed_kbps: int, download_speed_kbps: int) -> None:
-    pass
-
-  @abstractmethod
   def get_current_power_draw(self):
-    pass
+    return 0
 
-  @abstractmethod
   def get_som_power_draw(self):
-    pass
+    return 0
 
-  @abstractmethod
   def shutdown(self):
-    pass
+    print("SHUTDOWN!")
 
   def get_thermal_config(self):
     return ThermalConfig()
@@ -183,31 +177,24 @@ def get_thermal_config(self):
   def set_display_power(self, on: bool):
     pass
 
-  @abstractmethod
   def set_screen_brightness(self, percentage):
     pass
 
-  @abstractmethod
   def get_screen_brightness(self):
-    pass
+    return 0
 
-  @abstractmethod
   def set_power_save(self, powersave_enabled):
     pass
 
-  @abstractmethod
   def get_gpu_usage_percent(self):
-    pass
+    return 0
 
   def get_modem_version(self):
     return None
 
-  @abstractmethod
   def get_modem_temperatures(self):
-    pass
-
+    return []
 
-  @abstractmethod
   def initialize_hardware(self):
     pass
 
@@ -217,9 +204,8 @@ def configure_modem(self):
   def reboot_modem(self):
     pass
 
-  @abstractmethod
   def get_networks(self):
-    pass
+    return None
 
   def has_internal_panda(self) -> bool:
     return False
diff --git a/system/hardware/esim.py b/system/hardware/esim.py
index 909ad41e031..54407693b31 100755
--- a/system/hardware/esim.py
+++ b/system/hardware/esim.py
@@ -1,54 +1,24 @@
 #!/usr/bin/env python3
 
 import argparse
-import time
 from openpilot.system.hardware import HARDWARE
-from openpilot.system.hardware.base import LPABase
-
-
-def bootstrap(lpa: LPABase) -> None:
-  print('┌──────────────────────────────────────────────────────────────────────────────┐')
-  print('│ WARNING, PLEASE READ BEFORE PROCEEDING                                       │')
-  print('│                                                                              │')
-  print('│ this is an irreversible operation that will remove the comma-provisioned     │')
-  print('│ profile.                                                                     │')
-  print('│                                                                              │')
-  print('│ after this operation, you must purchase a new eSIM from comma in order to    │')
-  print('│ use the comma prime subscription again.                                      │')
-  print('└──────────────────────────────────────────────────────────────────────────────┘')
-  print()
-  for severity in ('sure', '100% sure'):
-    print(f'are you {severity} you want to proceed? (y/N) ', end='')
-    confirm = input()
-    if confirm != 'y':
-      print('aborting')
-      exit(0)
-  lpa.bootstrap()
 
 
 if __name__ == '__main__':
   parser = argparse.ArgumentParser(prog='esim.py', description='manage eSIM profiles on your comma device', epilog='comma.ai')
-  parser.add_argument('--bootstrap', action='store_true', help='bootstrap the eUICC (required before downloading profiles)')
-  parser.add_argument('--backend', choices=['qmi', 'at'], default='qmi', help='use the specified backend, defaults to qmi')
   parser.add_argument('--switch', metavar='iccid', help='switch to profile')
   parser.add_argument('--delete', metavar='iccid', help='delete profile (warning: this cannot be undone)')
   parser.add_argument('--download', nargs=2, metavar=('qr', 'name'), help='download a profile using QR code (format: LPA:1$rsp.truphone.com$QRF-SPEEDTEST)')
   parser.add_argument('--nickname', nargs=2, metavar=('iccid', 'name'), help='update the nickname for a profile')
   args = parser.parse_args()
 
-  mutated = False
   lpa = HARDWARE.get_sim_lpa()
-  if args.bootstrap:
-    bootstrap(lpa)
-    mutated = True
-  elif args.switch:
+  if args.switch:
     lpa.switch_profile(args.switch)
-    mutated = True
   elif args.delete:
     confirm = input('are you sure you want to delete this profile? (y/N) ')
     if confirm == 'y':
       lpa.delete_profile(args.delete)
-      mutated = True
     else:
       print('cancelled')
       exit(0)
@@ -58,13 +28,7 @@ def bootstrap(lpa: LPABase) -> None:
     lpa.nickname_profile(args.nickname[0], args.nickname[1])
   else:
     parser.print_help()
-
-  if mutated:
-    HARDWARE.reboot_modem()
-    # eUICC needs a small delay post-reboot before querying profiles
-    time.sleep(.5)
-
-  profiles = lpa.list_profiles()
-  print(f'\n{len(profiles)} profile{"s" if len(profiles) > 1 else ""}:')
-  for p in profiles:
-    print(f'- {p.iccid} (nickname: {p.nickname or "<none provided>"}) (provider: {p.provider}) - {"enabled" if p.enabled else "disabled"}')
+    profiles = lpa.list_profiles()
+    print(f'\n{len(profiles)} profile{"s" if len(profiles) > 1 else ""}:')
+    for p in profiles:
+      print(f'- {p.iccid} (nickname: {p.nickname or "<none provided>"}) (provider: {p.provider}) - {"enabled" if p.enabled else "disabled"}')
diff --git a/system/hardware/fan_controller.py b/system/hardware/fan_controller.py
index 365688429ae..b2140d33d41 100755
--- a/system/hardware/fan_controller.py
+++ b/system/hardware/fan_controller.py
@@ -1,24 +1,13 @@
 #!/usr/bin/env python3
 import numpy as np
-from abc import ABC, abstractmethod
 
-from openpilot.common.realtime import DT_HW
-from openpilot.common.swaglog import cloudlog
 from openpilot.common.pid import PIDController
 
-class BaseFanController(ABC):
-  @abstractmethod
-  def update(self, cur_temp: float, ignition: bool) -> int:
-    pass
-
-
-class TiciFanController(BaseFanController):
-  def __init__(self) -> None:
-    super().__init__()
-    cloudlog.info("Setting up TICI fan handler")
 
+class FanController:
+  def __init__(self, rate: int) -> None:
     self.last_ignition = False
-    self.controller = PIDController(k_p=0, k_i=4e-3, rate=(1 / DT_HW))
+    self.controller = PIDController(k_p=0, k_i=4e-3, rate=rate)
 
   def update(self, cur_temp: float, ignition: bool) -> int:
     self.controller.pos_limit = 100 if ignition else 30
@@ -26,13 +15,9 @@ def update(self, cur_temp: float, ignition: bool) -> int:
 
     if ignition != self.last_ignition:
       self.controller.reset()
-
-    error = cur_temp - 75
-    fan_pwr_out = int(self.controller.update(
-                      error=error,
-                      feedforward=np.interp(cur_temp, [60.0, 100.0], [0, 100])
-                    ))
-
     self.last_ignition = ignition
-    return fan_pwr_out
 
+    return int(self.controller.update(
+                 error=(cur_temp - 75),  # temperature setpoint in C
+                 feedforward=np.interp(cur_temp, [60.0, 100.0], [0, 100])
+              ))
diff --git a/system/hardware/hardwared.py b/system/hardware/hardwared.py
index 8ddc4da2f24..4324e90c75f 100755
--- a/system/hardware/hardwared.py
+++ b/system/hardware/hardwared.py
@@ -22,7 +22,7 @@
 from openpilot.system.statsd import statlog
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.hardware.power_monitoring import PowerMonitoring
-from openpilot.system.hardware.fan_controller import TiciFanController
+from openpilot.system.hardware.fan_controller import FanController
 from openpilot.system.version import terms_version, training_version
 from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID
 
@@ -210,14 +210,13 @@ def hardware_thread(end_event, hw_queue) -> None:
   HARDWARE.initialize_hardware()
   thermal_config = HARDWARE.get_thermal_config()
 
-  fan_controller = None
+  fan_controller = FanController(int(1./DT_HW))
 
   while not end_event.is_set():
     sm.update(PANDA_STATES_TIMEOUT)
 
     pandaStates = sm['pandaStates']
     peripheralState = sm['peripheralState']
-    peripheral_panda_present = peripheralState.pandaType != log.PandaState.PandaType.unknown
 
     # handle requests to cycle system started state
     if params.get_bool("OnroadCycleRequested"):
@@ -234,11 +233,6 @@ def hardware_thread(end_event, hw_queue) -> None:
 
       in_car = pandaState.harnessStatus != log.PandaState.HarnessStatus.notConnected
 
-      # Setup fan handler on first connect to panda
-      if fan_controller is None and peripheral_panda_present:
-        if TICI:
-          fan_controller = TiciFanController()
-
     elif (time.monotonic() - sm.recv_time['pandaStates']) > DISCONNECT_TIMEOUT:
       if onroad_conditions["ignition"]:
         onroad_conditions["ignition"] = False
@@ -289,8 +283,7 @@ def hardware_thread(end_event, hw_queue) -> None:
     all_comp_temp = all_temp_filter.update(max(temp_sources))
     msg.deviceState.maxTempC = all_comp_temp
 
-    if fan_controller is not None:
-      msg.deviceState.fanSpeedPercentDesired = fan_controller.update(all_comp_temp, onroad_conditions["ignition"])
+    msg.deviceState.fanSpeedPercentDesired = fan_controller.update(all_comp_temp, onroad_conditions["ignition"])
 
     is_offroad_for_5_min = (started_ts is None) and ((not started_seen) or (off_ts is None) or (time.monotonic() - off_ts > 60 * 5))
     if is_offroad_for_5_min and offroad_comp_temp > OFFROAD_DANGER_TEMP:
@@ -330,6 +323,9 @@ def hardware_thread(end_event, hw_queue) -> None:
     show_alert = (not onroad_conditions["device_temp_good"] or not startup_conditions["device_temp_engageable"]) and onroad_conditions["ignition"]
     set_offroad_alert_if_changed("Offroad_TemperatureTooHigh", show_alert, extra_text=extra_text)
 
+    if show_alert:
+      msg.deviceState.fanSpeedPercentDesired = 100
+
     # *** registration check ***
     if not PC:
       # we enforce this for our software, but you are welcome
@@ -428,9 +424,10 @@ def hardware_thread(end_event, hw_queue) -> None:
     statlog.gauge("fan_speed_percent_desired", msg.deviceState.fanSpeedPercentDesired)
     statlog.gauge("screen_brightness_percent", msg.deviceState.screenBrightnessPercent)
 
-    # report to server once every 10 minutes
+    # report to server once every 10 minutes, or every 1s when thermally blocked
     rising_edge_started = should_start and not should_start_prev
-    if rising_edge_started or (count % int(600. / DT_HW)) == 0:
+    status_packet_interval = 1. if show_alert else 600.
+    if rising_edge_started or (count % int(status_packet_interval / DT_HW)) == 0:
       dat = {
         'count': count,
         'pandaStates': [strip_deprecated_keys(p.to_dict()) for p in pandaStates],
diff --git a/system/hardware/pc/hardware.h b/system/hardware/pc/hardware.h
index 978dd771c8a..71f58b188be 100644
--- a/system/hardware/pc/hardware.h
+++ b/system/hardware/pc/hardware.h
@@ -6,7 +6,6 @@
 
 class HardwarePC : public HardwareNone {
 public:
-  static std::string get_os_version() { return "openpilot for PC"; }
   static std::string get_name() { return "pc"; }
   static cereal::InitData::DeviceType get_device_type() { return cereal::InitData::DeviceType::PC; }
   static bool PC() { return true; }
diff --git a/system/hardware/pc/hardware.py b/system/hardware/pc/hardware.py
index 6c118963906..f3d527429ce 100644
--- a/system/hardware/pc/hardware.py
+++ b/system/hardware/pc/hardware.py
@@ -1,78 +1,12 @@
-import random
-
 from cereal import log
-from openpilot.system.hardware.base import HardwareBase, LPABase
+from openpilot.system.hardware.base import HardwareBase
 
 NetworkType = log.DeviceState.NetworkType
-NetworkStrength = log.DeviceState.NetworkStrength
 
-class Pc(HardwareBase):
-  def get_os_version(self):
-    return None
 
+class Pc(HardwareBase):
   def get_device_type(self):
     return "pc"
 
-  def reboot(self, reason=None):
-    print("REBOOT!")
-
-  def uninstall(self):
-    print("uninstall")
-
-  def get_imei(self, slot):
-    return f"{random.randint(0, 1 << 32):015d}"
-
-  def get_serial(self):
-    return "cccccccc"
-
-  def get_network_info(self):
-    return None
-
   def get_network_type(self):
     return NetworkType.wifi
-
-  def get_sim_info(self):
-    return {
-      'sim_id': '',
-      'mcc_mnc': None,
-      'network_type': ["Unknown"],
-      'sim_state': ["ABSENT"],
-      'data_connected': False
-    }
-
-  def get_sim_lpa(self) -> LPABase:
-    raise NotImplementedError("SIM LPA not implemented for PC")
-
-  def get_network_strength(self, network_type):
-    return NetworkStrength.unknown
-
-  def get_current_power_draw(self):
-    return 0
-
-  def get_som_power_draw(self):
-    return 0
-
-  def shutdown(self):
-    print("SHUTDOWN!")
-
-  def set_screen_brightness(self, percentage):
-    pass
-
-  def get_screen_brightness(self):
-    return 0
-
-  def set_power_save(self, powersave_enabled):
-    pass
-
-  def get_gpu_usage_percent(self):
-    return 0
-
-  def get_modem_temperatures(self):
-    return []
-
-
-  def initialize_hardware(self):
-    pass
-
-  def get_networks(self):
-    return None
diff --git a/system/hardware/tests/test_fan_controller.py b/system/hardware/tests/test_fan_controller.py
index 002c1edfda5..ee39a24f874 100644
--- a/system/hardware/tests/test_fan_controller.py
+++ b/system/hardware/tests/test_fan_controller.py
@@ -1,12 +1,12 @@
 import pytest
 
-from openpilot.system.hardware.fan_controller import TiciFanController
+from openpilot.system.hardware.fan_controller import FanController
 
-ALL_CONTROLLERS = [TiciFanController]
+ALL_CONTROLLERS = [FanController]
 
 def patched_controller(mocker, controller_class):
   mocker.patch("os.system", new=mocker.Mock())
-  return controller_class()
+  return controller_class(2)
 
 class TestFanController:
   def wind_up(self, controller, ignition=True):
diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json
index 5a2a092aa8a..295b0279d95 100644
--- a/system/hardware/tici/agnos.json
+++ b/system/hardware/tici/agnos.json
@@ -56,28 +56,28 @@
   },
   {
     "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-90bd687e9e407834d4ee1b07f3d05527dfae0ff09c0cacd64cfd6097f6b10e2c.img.xz",
-    "hash": "90bd687e9e407834d4ee1b07f3d05527dfae0ff09c0cacd64cfd6097f6b10e2c",
-    "hash_raw": "90bd687e9e407834d4ee1b07f3d05527dfae0ff09c0cacd64cfd6097f6b10e2c",
-    "size": 17496064,
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-d726315cf98a43e1090e5b49297404cf3d084cfbd42ad8bb7d8afb68136b9f51.img.xz",
+    "hash": "d726315cf98a43e1090e5b49297404cf3d084cfbd42ad8bb7d8afb68136b9f51",
+    "hash_raw": "d726315cf98a43e1090e5b49297404cf3d084cfbd42ad8bb7d8afb68136b9f51",
+    "size": 17500160,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "35014c39b55010ac955c10f808b088e74259147c7a8cbf989b3dff7d95a1e8ae"
+    "ondevice_hash": "2454108de1161289bc4a75449ad6421f1772b13b3e5cba68a84fca7530557699"
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-d9d476b466186014e7ae4b8232bc6fc5e79b122421bdc12ff4eb02d1c3f37818.img.xz",
-    "hash": "a068d4d692ec770884f0a15e1a6d7aba52385ecae138f6d43fb0a9b1643ed5cd",
-    "hash_raw": "d9d476b466186014e7ae4b8232bc6fc5e79b122421bdc12ff4eb02d1c3f37818",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-dcdea6bd675d0276a63c25151727829620794baf42ada2e5e19a3f77b3f583a5.img.xz",
+    "hash": "5f319030ad05942267b77f1a4686c4ca24cc09b2c2a4688e57342ffc9720fd49",
+    "hash_raw": "dcdea6bd675d0276a63c25151727829620794baf42ada2e5e19a3f77b3f583a5",
     "size": 4718592000,
     "sparse": true,
     "full_check": false,
     "has_ab": true,
-    "ondevice_hash": "6ffa02f7113badc122742f33efebc5d17f1cd61dd6358f3e130c162707dbfaf4",
+    "ondevice_hash": "c12f1b7d790a418aea17424accf4cd59c575e5745cad82bdc9452f384483648c",
     "alt": {
-      "hash": "d9d476b466186014e7ae4b8232bc6fc5e79b122421bdc12ff4eb02d1c3f37818",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-d9d476b466186014e7ae4b8232bc6fc5e79b122421bdc12ff4eb02d1c3f37818.img",
+      "hash": "dcdea6bd675d0276a63c25151727829620794baf42ada2e5e19a3f77b3f583a5",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-dcdea6bd675d0276a63c25151727829620794baf42ada2e5e19a3f77b3f583a5.img",
       "size": 4718592000
     }
   }
diff --git a/system/hardware/tici/all-partitions.json b/system/hardware/tici/all-partitions.json
index 3abf66cdd4e..0801907a2d9 100644
--- a/system/hardware/tici/all-partitions.json
+++ b/system/hardware/tici/all-partitions.json
@@ -339,62 +339,51 @@
   },
   {
     "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-90bd687e9e407834d4ee1b07f3d05527dfae0ff09c0cacd64cfd6097f6b10e2c.img.xz",
-    "hash": "90bd687e9e407834d4ee1b07f3d05527dfae0ff09c0cacd64cfd6097f6b10e2c",
-    "hash_raw": "90bd687e9e407834d4ee1b07f3d05527dfae0ff09c0cacd64cfd6097f6b10e2c",
-    "size": 17496064,
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-d726315cf98a43e1090e5b49297404cf3d084cfbd42ad8bb7d8afb68136b9f51.img.xz",
+    "hash": "d726315cf98a43e1090e5b49297404cf3d084cfbd42ad8bb7d8afb68136b9f51",
+    "hash_raw": "d726315cf98a43e1090e5b49297404cf3d084cfbd42ad8bb7d8afb68136b9f51",
+    "size": 17500160,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "35014c39b55010ac955c10f808b088e74259147c7a8cbf989b3dff7d95a1e8ae"
+    "ondevice_hash": "2454108de1161289bc4a75449ad6421f1772b13b3e5cba68a84fca7530557699"
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-d9d476b466186014e7ae4b8232bc6fc5e79b122421bdc12ff4eb02d1c3f37818.img.xz",
-    "hash": "a068d4d692ec770884f0a15e1a6d7aba52385ecae138f6d43fb0a9b1643ed5cd",
-    "hash_raw": "d9d476b466186014e7ae4b8232bc6fc5e79b122421bdc12ff4eb02d1c3f37818",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-dcdea6bd675d0276a63c25151727829620794baf42ada2e5e19a3f77b3f583a5.img.xz",
+    "hash": "5f319030ad05942267b77f1a4686c4ca24cc09b2c2a4688e57342ffc9720fd49",
+    "hash_raw": "dcdea6bd675d0276a63c25151727829620794baf42ada2e5e19a3f77b3f583a5",
     "size": 4718592000,
     "sparse": true,
     "full_check": false,
     "has_ab": true,
-    "ondevice_hash": "6ffa02f7113badc122742f33efebc5d17f1cd61dd6358f3e130c162707dbfaf4",
+    "ondevice_hash": "c12f1b7d790a418aea17424accf4cd59c575e5745cad82bdc9452f384483648c",
     "alt": {
-      "hash": "d9d476b466186014e7ae4b8232bc6fc5e79b122421bdc12ff4eb02d1c3f37818",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-d9d476b466186014e7ae4b8232bc6fc5e79b122421bdc12ff4eb02d1c3f37818.img",
+      "hash": "dcdea6bd675d0276a63c25151727829620794baf42ada2e5e19a3f77b3f583a5",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-dcdea6bd675d0276a63c25151727829620794baf42ada2e5e19a3f77b3f583a5.img",
       "size": 4718592000
     }
   },
   {
     "name": "userdata_90",
-    "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-f9ea618ac97a86da49733ce66cd5e3aa19aa917666ee90de301cd746664e4d22.img.xz",
-    "hash": "dfc6812e76bd1583ed77a86eedf48cafdc306037d2a85c5d0aa7cdb23033b736",
-    "hash_raw": "f9ea618ac97a86da49733ce66cd5e3aa19aa917666ee90de301cd746664e4d22",
+    "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-a7b25ea29255f4fd3a2da99e037f40b4ca10bd4afd57dd96563353b8dfb0f634.img.xz",
+    "hash": "7ea9d7d4685ec36bbfdf06afe0b51650d567416c3092fef96bd97158ed322742",
+    "hash_raw": "a7b25ea29255f4fd3a2da99e037f40b4ca10bd4afd57dd96563353b8dfb0f634",
     "size": 96636764160,
     "sparse": true,
     "full_check": true,
     "has_ab": false,
-    "ondevice_hash": "ff95f994e9ed6504632f4b7c6daecef582f0a4e5261b8240d4474f16059faef4"
+    "ondevice_hash": "79ed653c1679d84b13ee23083a511b0e668454e4af9b0db99a3279072ed041c1"
   },
   {
     "name": "userdata_89",
-    "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-393956e255c277b895bdb98bf65cfa3907e4b57822740ff82f857ac4e1a2f11e.img.xz",
-    "hash": "b5e2f05d31fc18fff18e82dcebfc2bf04de624baeca0511b93e50b3198b8a9ab",
-    "hash_raw": "393956e255c277b895bdb98bf65cfa3907e4b57822740ff82f857ac4e1a2f11e",
+    "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-8e428632c967aa609cac184bff938a90240e53ffd3b4fca40bc94c33c81202ba.img.xz",
+    "hash": "7104cdb0384e4ecb1ebfa6136a2330251bc8aa829b9ec48c4b740f656252d382",
+    "hash_raw": "8e428632c967aa609cac184bff938a90240e53ffd3b4fca40bc94c33c81202ba",
     "size": 95563022336,
     "sparse": true,
     "full_check": true,
     "has_ab": false,
-    "ondevice_hash": "db64c6abc72bfcddc1682c73cc73c7230ed2f6e835d292fd38d054a9d242b8fc"
-  },
-  {
-    "name": "userdata_30",
-    "url": "https://commadist.azureedge.net/agnosupdate/userdata_30-a4b3e2a2fc3612a37322b7b1a4c5737765841dc3b8d6d3bb58b1e5a271023068.img.xz",
-    "hash": "ecec713cf7d8f1f616f122a16b138931f818290447e36a5925da6a4fc0fc7bf3",
-    "hash_raw": "a4b3e2a2fc3612a37322b7b1a4c5737765841dc3b8d6d3bb58b1e5a271023068",
-    "size": 32212254720,
-    "sparse": true,
-    "full_check": true,
-    "has_ab": false,
-    "ondevice_hash": "48fefa5a1880a4fd3dd50e1f9ddee297122053556816baca310d495129bc8893"
+    "ondevice_hash": "fbede3b0831dbc4a4edd336e5f547f4978902b9421fb1484e86c416192c59165"
   }
 ]
\ No newline at end of file
diff --git a/system/hardware/tici/amplifier.py b/system/hardware/tici/amplifier.py
index bfdcc6ddaf7..09436e6ff46 100755
--- a/system/hardware/tici/amplifier.py
+++ b/system/hardware/tici/amplifier.py
@@ -1,28 +1,14 @@
 #!/usr/bin/env python3
 import time
-from smbus2 import SMBus
 from collections import namedtuple
 
+from openpilot.common.i2c import SMBus
+
 # https://datasheets.maximintegrated.com/en/ds/MAX98089.pdf
 
 AmpConfig = namedtuple('AmpConfig', ['name', 'value', 'register', 'offset', 'mask'])
-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 = [
+
+CONFIG = [
   AmpConfig("MCLK prescaler", 0b01, 0x10, 4, 0b00110000),
   AmpConfig("PM: enable speakers", 0b11, 0x4D, 4, 0b00110000),
   AmpConfig("PM: enable DACs", 0b11, 0x4D, 0, 0b00000011),
@@ -58,34 +44,30 @@ def configs_from_eq_params(base, eq_params):
   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),
-]
 
-CONFIGS = {
-  "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),
-  ],
-}
+  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
@@ -127,20 +109,15 @@ 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, model: str) -> bool:
+  def initialize_configuration(self) -> bool:
     cfgs = [
       self._get_shutdown_config(True),
-      *BASE_CONFIG,
-      *CONFIGS[model],
+      *CONFIG,
       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(model)
+  amp.initialize_configuration()
diff --git a/system/hardware/tici/esim.py b/system/hardware/tici/esim.py
deleted file mode 100644
index 391ba45531b..00000000000
--- a/system/hardware/tici/esim.py
+++ /dev/null
@@ -1,135 +0,0 @@
-import json
-import os
-import shutil
-import subprocess
-from typing import Literal
-
-from openpilot.system.hardware.base import LPABase, LPAError, LPAProfileNotFoundError, Profile
-
-class TiciLPA(LPABase):
-  def __init__(self, interface: Literal['qmi', 'at'] = 'qmi'):
-    self.env = os.environ.copy()
-    self.env['LPAC_APDU'] = interface
-    self.env['QMI_DEVICE'] = '/dev/cdc-wdm0'
-    self.env['AT_DEVICE'] = '/dev/ttyUSB2'
-
-    self.timeout_sec = 45
-
-    if shutil.which('lpac') is None:
-      raise LPAError('lpac not found, must be installed!')
-
-  def list_profiles(self) -> list[Profile]:
-    msgs = self._invoke('profile', 'list')
-    self._validate_successful(msgs)
-    return [Profile(
-      iccid=p['iccid'],
-      nickname=p['profileNickname'],
-      enabled=p['profileState'] == 'enabled',
-      provider=p['serviceProviderName']
-    ) for p in msgs[-1]['payload']['data']]
-
-  def get_active_profile(self) -> Profile | None:
-    return next((p for p in self.list_profiles() if p.enabled), None)
-
-  def delete_profile(self, iccid: str) -> None:
-    self._validate_profile_exists(iccid)
-    latest = self.get_active_profile()
-    if latest is not None and latest.iccid == iccid:
-      raise LPAError('cannot delete active profile, switch to another profile first')
-    self._validate_successful(self._invoke('profile', 'delete', iccid))
-    self._process_notifications()
-
-  def download_profile(self, qr: str, nickname: str | None = None) -> None:
-    self._check_bootstrapped()
-    msgs = self._invoke('profile', 'download', '-a', qr)
-    self._validate_successful(msgs)
-    new_profile = next((m for m in msgs if m['payload']['message'] == 'es8p_meatadata_parse'), None)
-    if new_profile is None:
-      raise LPAError('no new profile found')
-    if nickname:
-      self.nickname_profile(new_profile['payload']['data']['iccid'], nickname)
-    self._process_notifications()
-
-  def nickname_profile(self, iccid: str, nickname: str) -> None:
-    self._validate_profile_exists(iccid)
-    self._validate_successful(self._invoke('profile', 'nickname', iccid, nickname))
-
-  def switch_profile(self, iccid: str) -> None:
-    self._check_bootstrapped()
-    self._validate_profile_exists(iccid)
-    latest = self.get_active_profile()
-    if latest and latest.iccid == iccid:
-      return
-    self._validate_successful(self._invoke('profile', 'enable', iccid))
-    self._process_notifications()
-
-  def bootstrap(self) -> None:
-    """
-    find all comma-provisioned profiles and delete them. they conflict with user-provisioned profiles
-    and must be deleted.
-
-    **note**: this is a **very** destructive operation. you **must** purchase a new comma SIM in order
-              to use comma prime again.
-    """
-    if self._is_bootstrapped():
-      return
-
-    for p in self.list_profiles():
-      if self.is_comma_profile(p.iccid):
-        self._disable_profile(p.iccid)
-        self.delete_profile(p.iccid)
-
-  def _disable_profile(self, iccid: str) -> None:
-    self._validate_successful(self._invoke('profile', 'disable', iccid))
-    self._process_notifications()
-
-  def _check_bootstrapped(self) -> None:
-    assert self._is_bootstrapped(), 'eUICC is not bootstrapped, please bootstrap before performing this operation'
-
-  def _is_bootstrapped(self) -> bool:
-    """ check if any comma provisioned profiles are on the eUICC """
-    return not any(self.is_comma_profile(iccid) for iccid in (p.iccid for p in self.list_profiles()))
-
-  def _invoke(self, *cmd: str):
-    proc = subprocess.Popen(['sudo', '-E', 'lpac'] + list(cmd), stdout=subprocess.PIPE, stderr=subprocess.PIPE, env=self.env)
-    try:
-      out, err = proc.communicate(timeout=self.timeout_sec)
-    except subprocess.TimeoutExpired as e:
-      proc.kill()
-      raise LPAError(f"lpac {cmd} timed out after {self.timeout_sec} seconds") from e
-
-    messages = []
-    for line in out.decode().strip().splitlines():
-      if line.startswith('{'):
-        message = json.loads(line)
-
-        # lpac response format validations
-        assert 'type' in message, 'expected type in message'
-        assert message['type'] == 'lpa' or message['type'] == 'progress', 'expected lpa or progress message type'
-        assert 'payload' in message, 'expected payload in message'
-        assert 'code' in message['payload'], 'expected code in message payload'
-        assert 'data' in message['payload'], 'expected data in message payload'
-
-        msg_ret_code = message['payload']['code']
-        if msg_ret_code != 0:
-          raise LPAError(f"lpac {' '.join(cmd)} failed with code {msg_ret_code}: <{message['payload']['message']}> {message['payload']['data']}")
-
-        messages.append(message)
-
-    if len(messages) == 0:
-      raise LPAError(f"lpac {cmd} returned no messages")
-
-    return messages
-
-  def _process_notifications(self) -> None:
-    """
-    Process notifications stored on the eUICC, typically to activate/deactivate the profile with the carrier.
-    """
-    self._validate_successful(self._invoke('notification', 'process', '-a', '-r'))
-
-  def _validate_profile_exists(self, iccid: str) -> None:
-    if not any(p.iccid == iccid for p in self.list_profiles()):
-      raise LPAProfileNotFoundError(f'profile {iccid} does not exist')
-
-  def _validate_successful(self, msgs: list[dict]) -> None:
-    assert msgs[-1]['payload']['message'] == 'success', 'expected success notification'
diff --git a/system/hardware/tici/gsma_ci_bundle.pem b/system/hardware/tici/gsma_ci_bundle.pem
new file mode 100644
index 00000000000..3ee7fd12521
--- /dev/null
+++ b/system/hardware/tici/gsma_ci_bundle.pem
@@ -0,0 +1,133 @@
+# GSMA Certificate Issuer (CI) bundle for eSIM RSP
+# Source: https://euicc-manual.osmocom.org/docs/pki/ci/bundle.pem
+
+issuer=
+    countryName = CH
+    organizationName = OISTE Foundation
+    commonName = OISTE GSMA CI G1
+notBefore=2024-01-16 23:17:39Z
+notAfter=2059-01-07 23:17:38Z
+-----BEGIN CERTIFICATE-----
+MIIB9zCCAZ2gAwIBAgIUSpBSCCDYPOEG/IFHUCKpZ2pIAQMwCgYIKoZIzj0EAwIw
+QzELMAkGA1UEBhMCQ0gxGTAXBgNVBAoMEE9JU1RFIEZvdW5kYXRpb24xGTAXBgNV
+BAMMEE9JU1RFIEdTTUEgQ0kgRzEwIBcNMjQwMTE2MjMxNzM5WhgPMjA1OTAxMDcy
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+-----END CERTIFICATE-----
+issuer=
+    organizationName = GSM Association
+    commonName = GSM Association - RSP2 Root CI1
+notBefore=2017-02-22 00:00:00Z
+notAfter=2052-02-21 23:59:59Z
+-----BEGIN CERTIFICATE-----
+MIICSTCCAe+gAwIBAgIQbmhWeneg7nyF7hg5Y9+qejAKBggqhkjOPQQDAjBEMRgw
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+aFsiLzIEOaUuZwdNUw==
+-----END CERTIFICATE-----
+issuer=
+    countryName = US
+    organizationName = Entrust, Inc.
+    organizationalUnitName = See www.entrust.net/legal-terms
+    organizationalUnitName = (c) 2016 Entrust, Inc. - for authorized use only
+    commonName = Entrust eSIM Certification Authority
+notBefore=2016-11-16 16:04:02Z
+notAfter=2051-10-16 16:34:02Z
+-----BEGIN CERTIFICATE-----
+MIIC6DCCAo2gAwIBAgIRAIy4GT7M5nHsAAAAAFgsinowCgYIKoZIzj0EAwIwgbkx
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+ATL7/tDBOhANy3cK8PS/1NIlu9vqMLCZsZvJ0Q==
+-----END CERTIFICATE-----
+issuer=
+    countryName = FR
+    organizationName = OBERTHUR TECHNOLOGIES
+    organizationalUnitName = TELECOM
+    commonName = MC4 OT ROOT CI v1
+notBefore=2016-11-15 00:00:01Z
+notAfter=2046-11-08 23:59:59Z
+-----BEGIN CERTIFICATE-----
+MIICOjCCAeGgAwIBAgIBATAKBggqhkjOPQQDAjBbMQswCQYDVQQGEwJGUjEeMBwG
+A1UEChMVT0JFUlRIVVIgVEVDSE5PTE9HSUVTMRAwDgYDVQQLEwdURUxFQ09NMRow
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+T6OBlTCBkjAfBgNVHSMEGDAWgBTNbmC3LXoGPLyEYluR6A/jBAbhPjAdBgNVHQ4E
+FgQUzW5gty16Bjy8hGJbkegP4wQG4T4wDgYDVR0PAQH/BAQDAgAGMBcGA1UdIAEB
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+ikThXjhpLtSrSKN2AiAxHxgC87L0FDnH8dJNlkdGX9c0JIx6oLheIplfS6k+jg==
+-----END CERTIFICATE-----
+issuer=
+    commonName =  SubMan V4.2 CI Google Pixel
+    organizationName = Giesecke and Devrient GmbH
+    organizationalUnitName = Mobile Security
+    countryName = DE
+notBefore=2017-05-10 00:00:00Z
+notAfter=2027-05-10 00:00:00Z
+-----BEGIN CERTIFICATE-----
+MIICaTCCAg6gAwIBAgICASwwCgYIKoZIzj0EAwIwczElMCMGA1UEAxMcIFN1Yk1h
+biBWNC4yIENJIEdvb2dsZSBQaXhlbDEjMCEGA1UEChMaR2llc2Vja2UgYW5kIERl
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+R1QmFzVZ1yMXSwIhALCvRqkCtgiavdeFeSgsSNbY5Fhd+QoCltuSh1U4TE7A
+-----END CERTIFICATE-----
+issuer=
+    countryName = DE
+    commonName = SubMan V4.2 CI
+    organizationName = Giesecke and Devrient
+    organizationalUnitName = Mobile Security
+notBefore=2016-08-12 13:51:48Z
+notAfter=2026-08-12 13:51:48Z
+-----BEGIN CERTIFICATE-----
+MIICUjCCAfigAwIBAgIDQgAAMAoGCCqGSM49BAMCMGAxCzAJBgNVBAYTAkRFMRcw
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+yHxBFX0U2tBd682zP4DpgRt8j3Ylew==
+-----END CERTIFICATE-----
diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py
index 9791f15f34b..15c6e416955 100644
--- a/system/hardware/tici/hardware.py
+++ b/system/hardware/tici/hardware.py
@@ -8,11 +8,11 @@
 from pathlib import Path
 
 from cereal import log
-from openpilot.common.util import sudo_read, sudo_write
+from openpilot.common.utils import sudo_read, sudo_write
 from openpilot.common.gpio import gpio_set, gpio_init, get_irqs_for_action
 from openpilot.system.hardware.base import HardwareBase, LPABase, ThermalConfig, ThermalZone
 from openpilot.system.hardware.tici import iwlist
-from openpilot.system.hardware.tici.esim import TiciLPA
+from openpilot.system.hardware.tici.lpa import TiciLPA
 from openpilot.system.hardware.tici.pins import GPIO
 from openpilot.system.hardware.tici.amplifier import Amplifier
 
@@ -125,7 +125,7 @@ def get_current(self):
       return int(f.read())
 
   def set_ir_power(self, percent: int):
-    if self.get_device_type() in ("tici", "tizi"):
+    if self.get_device_type() == "tizi":
       return
 
     value = int((percent / 100) * 300)
@@ -321,11 +321,12 @@ def shutdown(self):
     os.system("sudo poweroff")
 
   def get_thermal_config(self):
-    intake, exhaust, case = None, None, None
+    intake, exhaust, gnss, bottomSoc = None, None, None, None
     if self.get_device_type() == "mici":
-      case = ThermalZone("case")
+      gnss = ThermalZone("gnss")
       intake = ThermalZone("intake")
       exhaust = ThermalZone("exhaust")
+      bottomSoc = ThermalZone("bottom_soc")
     return ThermalConfig(cpu=[ThermalZone(f"cpu{i}-silver-usr") for i in range(4)] +
                              [ThermalZone(f"cpu{i}-gold-usr") for i in range(4)],
                          gpu=[ThermalZone("gpu0-usr"), ThermalZone("gpu1-usr")],
@@ -334,7 +335,8 @@ def get_thermal_config(self):
                          pmic=[ThermalZone("pm8998_tz"), ThermalZone("pm8005_tz")],
                          intake=intake,
                          exhaust=exhaust,
-                         case=case)
+                         gnss=gnss,
+                         bottomSoc=bottomSoc)
 
   def set_display_power(self, on):
     try:
@@ -369,7 +371,7 @@ 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.get_device_type())
+        self.amplifier.initialize_configuration()
 
     # *** CPU config ***
 
@@ -404,7 +406,7 @@ def get_gpu_usage_percent(self):
 
   def initialize_hardware(self):
     if self.amplifier is not None:
-      self.amplifier.initialize_configuration(self.get_device_type())
+      self.amplifier.initialize_configuration()
 
     # Allow hardwared to write engagement status to kmsg
     os.system("sudo chmod a+w /dev/kmsg")
@@ -456,14 +458,10 @@ def initialize_hardware(self):
   def configure_modem(self):
     sim_id = self.get_sim_info().get('sim_id', '')
 
-    modem = self.get_modem()
-    try:
-      manufacturer = str(modem.Get(MM_MODEM, 'Manufacturer', dbus_interface=DBUS_PROPS, timeout=TIMEOUT))
-    except Exception:
-      manufacturer = None
-
     cmds = []
+    modem = self.get_modem()
 
+    # Quectel EG25
     if self.get_device_type() in ("tizi", ):
       # clear out old blue prime initial APN
       os.system('mmcli -m any --3gpp-set-initial-eps-bearer-settings="apn="')
@@ -478,16 +476,8 @@ def configure_modem(self):
         'AT+QNVFW="/nv/item_files/ims/IMS_enable",00',
         'AT+QNVFW="/nv/item_files/modem/mmode/ue_usage_setting",01',
       ]
-    elif manufacturer == 'Cavli Inc.':
-      cmds += [
-        'AT^SIMSWAP=1',     # use SIM slot, instead of internal eSIM
-        'AT$QCSIMSLEEP=0',  # disable SIM sleep
-        'AT$QCSIMCFG=SimPowerSave,0',  # more sleep disable
 
-        # ethernet config
-        'AT$QCPCFG=usbNet,0',
-        'AT$QCNETDEVCTL=3,1',
-      ]
+    # Quectel EG916
     else:
       # this modem gets upset with too many AT commands
       if sim_id is None or len(sim_id) == 0:
diff --git a/system/hardware/tici/lpa.py b/system/hardware/tici/lpa.py
new file mode 100644
index 00000000000..63fe9ae7d53
--- /dev/null
+++ b/system/hardware/tici/lpa.py
@@ -0,0 +1,819 @@
+# SGP.22 v2.3: https://www.gsma.com/solutions-and-impact/technologies/esim/wp-content/uploads/2021/07/SGP.22-v2.3.pdf
+
+import atexit
+import base64
+import fcntl
+import hashlib
+import math
+import os
+import requests
+import serial
+import subprocess
+import sys
+import termios
+import time
+
+from collections.abc import Callable, Generator
+from contextlib import contextmanager
+from typing import Any
+
+from pathlib import Path
+
+from openpilot.common.time_helpers import system_time_valid
+from openpilot.system.hardware.base import LPABase, LPAError, Profile
+
+GSMA_CI_BUNDLE = str(Path(__file__).parent / "gsma_ci_bundle.pem")
+
+DEFAULT_DEVICE = "/dev/modem_at0"
+DEFAULT_BAUD = 9600
+DEFAULT_TIMEOUT = 5.0
+# https://euicc-manual.osmocom.org/docs/lpa/applet-id/
+ISDR_AID = "A0000005591010FFFFFFFF8900000100"
+MM = "org.freedesktop.ModemManager1"
+MM_MODEM = MM + ".Modem"
+ES10X_MSS = 120
+HTTP_TIMEOUT = 30
+OPEN_ISDR_RETRIES = 10
+OPEN_ISDR_RETRY_DELAY_S = 0.25
+OPEN_ISDR_RESET_ATTEMPT = 5
+SEND_APDU_RETRIES = 3
+LOCK_FILE = '/dev/shm/modem_lpa.lock'
+DEBUG = os.environ.get("DEBUG") == "1"
+
+
+# TLV Tags
+TAG_ICCID = 0x5A
+TAG_STATUS = 0x80
+TAG_EUICC_INFO = 0xBF20
+TAG_PREPARE_DOWNLOAD = 0xBF21
+TAG_BPP_COMMAND = 0xBF23
+TAG_PROFILE_METADATA = 0xBF25
+TAG_INSTALL_RESULT_DATA = 0xBF27
+TAG_LIST_NOTIFICATION = 0xBF28
+TAG_SET_NICKNAME = 0xBF29
+TAG_RETRIEVE_NOTIFICATION = 0xBF2B
+TAG_PROFILE_INFO_LIST = 0xBF2D
+TAG_EUICC_CHALLENGE = 0xBF2E
+TAG_NOTIFICATION_METADATA = 0xBF2F
+TAG_NOTIFICATION_SENT = 0xBF30
+TAG_ENABLE_PROFILE = 0xBF31
+TAG_DELETE_PROFILE = 0xBF33
+TAG_BPP = 0xBF36
+TAG_PROFILE_INSTALL_RESULT = 0xBF37
+TAG_AUTH_SERVER = 0xBF38
+TAG_CANCEL_SESSION = 0xBF41
+TAG_OK = 0xA0
+
+PROFILE_OK = 0x00
+PROFILE_NOT_IN_DISABLED_STATE = 0x02
+PROFILE_CAT_BUSY = 0x05
+
+PROFILE_ERROR_CODES = {
+  0x01: "iccidOrAidNotFound", PROFILE_NOT_IN_DISABLED_STATE: "profileNotInDisabledState",
+  0x03: "disallowedByPolicy", 0x04: "wrongProfileReenabling",
+  PROFILE_CAT_BUSY: "catBusy", 0x06: "undefinedError",
+}
+AUTH_SERVER_ERROR_CODES = {
+  0x01: "eUICCVerificationFailed", 0x02: "eUICCCertificateExpired",
+  0x03: "eUICCCertificateRevoked", 0x05: "invalidServerSignature",
+  0x06: "euiccCiPKUnknown", 0x0A: "matchingIdRefused",
+  0x10: "insufficientMemory",
+}
+BPP_COMMAND_NAMES = {
+  0: "initialiseSecureChannel", 1: "configureISDP", 2: "storeMetadata",
+  3: "storeMetadata2", 4: "replaceSessionKeys", 5: "loadProfileElements",
+}
+BPP_ERROR_REASONS = {
+  1: "incorrectInputValues", 2: "invalidSignature", 3: "invalidTransactionId",
+  4: "unsupportedCrtValues", 5: "unsupportedRemoteOperationType",
+  6: "unsupportedProfileClass", 7: "scp03tStructureError", 8: "scp03tSecurityError",
+  9: "iccidAlreadyExistsOnEuicc", 10: "insufficientMemoryForProfile",
+  11: "installInterrupted", 12: "peProcessingError", 13: "dataMismatch",
+  14: "invalidNAA",
+}
+BPP_ERROR_MESSAGES = {
+  9: "This eSIM profile is already installed on this device.",
+  10: "Not enough memory on the eUICC to install this profile.",
+  12: "Profile installation failed. The QR code may have already been used.",
+}
+
+# SGP.22 §5.2.6 — SM-DP+ reason/subject codes mapped to user-friendly messages
+ES9P_ERROR_MESSAGES: dict[tuple[str, str], str] = {
+  ('3.8', '8.2.6'): "This eSIM profile is already installed on another device. Please use a new QR code.",
+  ('3.8', '8.2.1'): "This eSIM profile has expired. Please request a new QR code.",
+  ('3.8', '8.1'): "The SM-DP+ server refused this request.",
+  ('3.1', '8.2.6'): "This eSIM profile has been revoked by the carrier.",
+  ('3.9', '8.2.6'): "This eSIM profile download has already been completed.",
+  ('2.1', '8.8'): "The device is not compatible with this eSIM profile.",
+  ('1.2', '8.1'): "The SM-DP+ server is temporarily unavailable. Try again later.",
+}
+
+NOTIFICATION_OPERATIONS = {0x80: "install", 0x40: "enable", 0x20: "disable", 0x10: "delete"}
+
+STATE_LABELS = {0: "disabled", 1: "enabled", 255: "unknown"}
+ICON_LABELS = {0: "jpeg", 1: "png", 255: "unknown"}
+CLASS_LABELS = {0: "test", 1: "provisioning", 2: "operational", 255: "unknown"}
+
+# TLV tag -> (field_name, decoder)
+FieldMap = dict[int, tuple[str, Callable[[bytes], Any]]]
+
+
+def b64e(data: bytes) -> str:
+  return base64.b64encode(data).decode("ascii")
+
+
+def base64_trim(s: str) -> str:
+  return "".join(c for c in s if c not in "\n\r \t")
+
+
+def b64d(s: str) -> bytes:
+  return base64.b64decode(base64_trim(s))
+
+
+class AtClient:
+  def __init__(self, device: str, baud: int, timeout: float) -> None:
+    self.channel: str | None = None
+    self._device = device
+    self._baud = baud
+    self._timeout = timeout
+    self._serial: serial.Serial | None = None
+    self._use_dbus = not os.path.exists(device)
+
+  def send_raw(self, data: bytes) -> None:
+    self._ensure_serial()
+    self._serial.reset_input_buffer()
+    self._serial.write(data)
+    self._serial.flush()
+
+  def close(self) -> None:
+    try:
+      if self.channel:
+        try:
+          self.query(f"AT+CCHC={self.channel}")
+        except (RuntimeError, TimeoutError):
+          pass
+        self.channel = None
+    finally:
+      if self._serial:
+        self._serial.close()
+
+  def _send(self, cmd: str) -> None:
+    if DEBUG:
+      print(f"SER >> {cmd}", file=sys.stderr)
+    self._serial.write((cmd + "\r").encode("ascii"))
+
+  def _expect(self) -> list[str]:
+    lines: list[str] = []
+    while True:
+      raw = self._serial.readline()
+      if not raw:
+        raise TimeoutError("AT command timed out")
+      line = raw.decode(errors="ignore").strip()
+      if not line:
+        continue
+      if DEBUG:
+        print(f"SER << {line}", file=sys.stderr)
+      if line == "OK":
+        return lines
+      if line == "ERROR" or line.startswith("+CME ERROR"):
+        raise RuntimeError(f"AT command failed: {line}")
+      lines.append(line)
+
+  def _ensure_serial(self, reconnect: bool = False) -> None:
+    if reconnect:
+      self.channel = None
+      try:
+        if self._serial:
+          self._serial.close()
+      except Exception:
+        pass
+      self._serial = None
+    if self._serial is None:
+      self._serial = serial.Serial(self._device, baudrate=self._baud, timeout=self._timeout)
+
+  def _get_modem(self):
+    import dbus
+    bus = dbus.SystemBus()
+    mm = bus.get_object(MM, '/org/freedesktop/ModemManager1')
+    objects = mm.GetManagedObjects(dbus_interface="org.freedesktop.DBus.ObjectManager", timeout=self._timeout)
+    modem_path = list(objects.keys())[0]
+    return bus.get_object(MM, modem_path)
+
+  def _dbus_query(self, cmd: str) -> list[str]:
+    if DEBUG:
+      print(f"DBUS >> {cmd}", file=sys.stderr)
+    try:
+      result = str(self._get_modem().Command(cmd, math.ceil(self._timeout), dbus_interface=MM_MODEM, timeout=self._timeout))
+    except Exception as e:
+      raise RuntimeError(f"AT command failed: {e}") from e
+    lines = [line.strip() for line in result.splitlines() if line.strip()]
+    if DEBUG:
+      for line in lines:
+        print(f"DBUS << {line}", file=sys.stderr)
+    return lines
+
+  def query(self, cmd: str) -> list[str]:
+    if self._use_dbus:
+      return self._dbus_query(cmd)
+    self._ensure_serial()
+    try:
+      self._send(cmd)
+      return self._expect()
+    except serial.SerialException:
+      self._ensure_serial(reconnect=True)
+      self._send(cmd)
+      return self._expect()
+
+  def _open_isdr_once(self) -> None:
+    if self.channel:
+      try:
+        self.query(f"AT+CCHC={self.channel}")
+      except RuntimeError:
+        pass
+      self.channel = None
+    # drain any unsolicited responses before opening
+    if self._serial and not self._use_dbus:
+      try:
+        self._serial.reset_input_buffer()
+      except (OSError, serial.SerialException, termios.error):
+        self._ensure_serial(reconnect=True)
+    for line in self.query(f'AT+CCHO="{ISDR_AID}"'):
+      if line.startswith("+CCHO:") and (ch := line.split(":", 1)[1].strip()):
+        self.channel = ch
+        return
+    raise RuntimeError("Failed to open ISD-R application")
+
+  def _reset_modem(self) -> None:
+    if self._serial:
+      try:
+        self._serial.close()
+      except Exception:
+        pass
+      self._serial = None
+    subprocess.run(['/usr/comma/lte/lte.sh', 'start'], capture_output=True)
+
+  def open_isdr(self) -> None:
+    for attempt in range(OPEN_ISDR_RETRIES):
+      try:
+        self._open_isdr_once()
+        return
+      except (RuntimeError, TimeoutError, termios.error, serial.SerialException):
+        time.sleep(OPEN_ISDR_RETRY_DELAY_S)
+        if attempt == OPEN_ISDR_RESET_ATTEMPT:
+          self._reset_modem()
+    raise RuntimeError("Failed to open ISD-R after retries")
+
+  def send_apdu(self, apdu: bytes) -> tuple[bytes, int, int]:
+    for attempt in range(SEND_APDU_RETRIES):
+      try:
+        if not self.channel:
+          self.open_isdr()
+        hex_payload = apdu.hex().upper()
+        for line in self.query(f'AT+CGLA={self.channel},{len(hex_payload)},"{hex_payload}"'):
+          if line.startswith("+CGLA:"):
+            parts = line.split(":", 1)[1].split(",", 1)
+            if len(parts) == 2:
+              data = bytes.fromhex(parts[1].strip().strip('"'))
+              if len(data) >= 2:
+                return data[:-2], data[-2], data[-1]
+        raise RuntimeError("Missing +CGLA response")
+      except (RuntimeError, ValueError):
+        self.channel = None
+        if attempt == SEND_APDU_RETRIES - 1:
+          raise
+    raise RuntimeError("send_apdu failed")
+
+
+# --- TLV utilities ---
+
+def iter_tlv(data: bytes, with_positions: bool = False) -> Generator:
+  idx, length = 0, len(data)
+  while idx < length:
+    start_pos = idx
+    tag = data[idx]
+    idx += 1
+    if tag & 0x1F == 0x1F:  # Multi-byte tag
+      tag_value = tag
+      while idx < length:
+        next_byte = data[idx]
+        idx += 1
+        tag_value = (tag_value << 8) | next_byte
+        if not (next_byte & 0x80):
+          break
+    else:
+      tag_value = tag
+    if idx >= length:
+      break
+    size = data[idx]
+    idx += 1
+    if size & 0x80:  # Multi-byte length
+      num_bytes = size & 0x7F
+      if idx + num_bytes > length:
+        break
+      size = int.from_bytes(data[idx : idx + num_bytes], "big")
+      idx += num_bytes
+    if idx + size > length:
+      break
+    value = data[idx : idx + size]
+    idx += size
+    yield (tag_value, value, start_pos, idx) if with_positions else (tag_value, value)
+
+
+def find_tag(data: bytes, target: int) -> bytes | None:
+  return next((v for t, v in iter_tlv(data) if t == target), None)
+
+
+def require_tag(data: bytes, target: int, label: str = "") -> bytes:
+  v = find_tag(data, target)
+  if v is None:
+    raise RuntimeError(f"Missing {label or f'tag 0x{target:X}'}")
+  return v
+
+
+def tbcd_to_string(raw: bytes) -> str:
+  return "".join(str(n) for b in raw for n in (b & 0x0F, b >> 4) if n <= 9)
+
+
+def string_to_tbcd(s: str) -> bytes:
+  digits = [int(c) for c in s if c.isdigit()]
+  return bytes(digits[i] | ((digits[i + 1] if i + 1 < len(digits) else 0xF) << 4) for i in range(0, len(digits), 2))
+
+
+def encode_tlv(tag: int, value: bytes) -> bytes:
+  tag_bytes = bytes([(tag >> 8) & 0xFF, tag & 0xFF]) if tag > 255 else bytes([tag])
+  vlen = len(value)
+  if vlen <= 127:
+    return tag_bytes + bytes([vlen]) + value
+  length_bytes = vlen.to_bytes((vlen.bit_length() + 7) // 8, "big")
+  return tag_bytes + bytes([0x80 | len(length_bytes)]) + length_bytes + value
+
+
+def int_bytes(n: int) -> bytes:
+  """Encode a positive integer as minimal big-endian bytes (at least 1 byte)."""
+  return n.to_bytes((n.bit_length() + 7) // 8 or 1, "big")
+
+
+PROFILE: FieldMap = {
+  TAG_ICCID: ("iccid", tbcd_to_string),
+  0x4F: ("isdpAid", lambda v: v.hex().upper()),
+  0x9F70: ("profileState", lambda v: STATE_LABELS.get(v[0], "unknown")),
+  0x90: ("profileNickname", lambda v: v.decode("utf-8", errors="ignore") or None),
+  0x91: ("serviceProviderName", lambda v: v.decode("utf-8", errors="ignore") or None),
+  0x92: ("profileName", lambda v: v.decode("utf-8", errors="ignore") or None),
+  0x93: ("iconType", lambda v: ICON_LABELS.get(v[0], "unknown")),
+  0x94: ("icon", b64e),
+  0x95: ("profileClass", lambda v: CLASS_LABELS.get(v[0], "unknown")),
+}
+
+
+def decode_struct(data: bytes, field_map: FieldMap) -> dict[str, Any]:
+  """Parse TLV data using a {tag: (field_name, decoder)} map into a dict."""
+  result: dict[str, Any] = {name: None for name, _ in field_map.values()}
+  for tag, value in iter_tlv(data):
+    if (field := field_map.get(tag)):
+      result[field[0]] = field[1](value)
+  return result
+
+
+# --- ES10x command transport ---
+
+def es10x_command(client: AtClient, data: bytes) -> bytes:
+  response = bytearray()
+  sequence = 0
+  offset = 0
+  while offset < len(data):
+    chunk = data[offset : offset + ES10X_MSS]
+    offset += len(chunk)
+    is_last = offset == len(data)
+    apdu = bytes([0x80, 0xE2, 0x91 if is_last else 0x11, sequence & 0xFF, len(chunk)]) + chunk
+    segment, sw1, sw2 = client.send_apdu(apdu)
+    response.extend(segment)
+    while True:
+      if sw1 == 0x61:  # More data available
+        segment, sw1, sw2 = client.send_apdu(bytes([0x80, 0xC0, 0x00, 0x00, sw2 or 0]))
+        response.extend(segment)
+        continue
+      if (sw1 & 0xF0) == 0x90:
+        break
+      raise RuntimeError(f"APDU failed with SW={sw1:02X}{sw2:02X}")
+    sequence += 1
+  return bytes(response)
+
+
+# --- Profile operations ---
+
+NOTIFICATION: FieldMap = {
+  TAG_STATUS: ("seqNumber", lambda v: int.from_bytes(v, "big")),
+  0x81: ("profileManagementOperation",
+         lambda v: NOTIFICATION_OPERATIONS.get(next((m for m in NOTIFICATION_OPERATIONS if len(v) >= 2 and v[1] & m), 0), "unknown")),
+  0x0C: ("notificationAddress", lambda v: v.decode("utf-8", errors="ignore")),
+  TAG_ICCID: ("iccid", tbcd_to_string),
+}
+
+
+def decode_profiles(blob: bytes) -> list[dict]:
+  root = require_tag(blob, TAG_PROFILE_INFO_LIST, "ProfileInfoList")
+  list_ok = find_tag(root, TAG_OK)
+  if list_ok is None:
+    return []
+  return [decode_struct(value, PROFILE) for tag, value in iter_tlv(list_ok) if tag == 0xE3]
+
+
+def list_profiles(client: AtClient) -> list[dict]:
+  return decode_profiles(es10x_command(client, TAG_PROFILE_INFO_LIST.to_bytes(2, "big") + b"\x00"))
+
+
+def set_profile_nickname(client: AtClient, iccid: str, nickname: str) -> None:
+  nickname_bytes = nickname.encode("utf-8")
+  if len(nickname_bytes) > 64:
+    raise ValueError("Profile nickname must be 64 bytes or less")
+  content = encode_tlv(TAG_ICCID, string_to_tbcd(iccid)) + encode_tlv(0x90, nickname_bytes)
+  response = es10x_command(client, encode_tlv(TAG_SET_NICKNAME, content))
+  code = require_tag(require_tag(response, TAG_SET_NICKNAME, "SetNicknameResponse"), TAG_STATUS, "SetNickname status")[0]
+  if code == 0x01:
+    raise LPAError(f"profile {iccid} not found")
+  if code != 0x00:
+    raise RuntimeError(f"SetNickname failed with status 0x{code:02X}")
+
+
+# --- ES9P HTTP ---
+
+def es9p_request(smdp_address: str, endpoint: str, payload: dict, error_prefix: str = "Request", session: requests.Session | None = None) -> dict:
+  url = f"https://{smdp_address}/gsma/rsp2/es9plus/{endpoint}"
+  headers = {"User-Agent": "gsma-rsp-lpad", "X-Admin-Protocol": "gsma/rsp/v2.3.0", "Content-Type": "application/json"}
+  http = session or requests
+  resp = http.post(url, json=payload, headers=headers, timeout=HTTP_TIMEOUT, verify=GSMA_CI_BUNDLE)
+  resp.raise_for_status()
+  if not resp.content:
+    return {}
+  data = resp.json()
+  if "header" in data and "functionExecutionStatus" in data["header"]:
+    status = data["header"]["functionExecutionStatus"]
+    if status.get("status") == "Failed":
+      sd = status.get("statusCodeData", {})
+      reason = sd.get("reasonCode", "unknown")
+      subject = sd.get("subjectCode", "unknown")
+      msg = ES9P_ERROR_MESSAGES.get((reason, subject),
+            f"{error_prefix} failed: {reason}/{subject} - {sd.get('message', 'unknown')}")
+      raise RuntimeError(msg)
+  return data
+
+
+# --- Notifications ---
+
+def list_notifications(client: AtClient) -> list[dict]:
+  response = es10x_command(client, encode_tlv(TAG_LIST_NOTIFICATION, b""))
+  root = require_tag(response, TAG_LIST_NOTIFICATION, "ListNotificationResponse")
+  metadata_list = find_tag(root, TAG_OK)
+  if metadata_list is None:
+    return []
+  return [decode_struct(value, NOTIFICATION) for tag, value in iter_tlv(metadata_list) if tag == TAG_NOTIFICATION_METADATA]
+
+
+def process_notifications(client: AtClient) -> None:
+  for notification in list_notifications(client):
+    seq_number, smdp_address = notification["seqNumber"], notification["notificationAddress"]
+    try:
+      request = encode_tlv(TAG_RETRIEVE_NOTIFICATION, encode_tlv(TAG_OK, encode_tlv(TAG_STATUS, int_bytes(seq_number))))
+      response = es10x_command(client, request)
+      content = require_tag(require_tag(response, TAG_RETRIEVE_NOTIFICATION, "RetrieveNotificationsListResponse"),
+                            TAG_OK, "RetrieveNotificationsListResponse")
+      pending_notif = next((v for t, v in iter_tlv(content) if t in (TAG_PROFILE_INSTALL_RESULT, 0x30)), None)
+      if pending_notif is None:
+        raise RuntimeError("Missing PendingNotification")
+
+      es9p_request(smdp_address, "handleNotification", {"pendingNotification": b64e(pending_notif)}, "HandleNotification")
+
+      response = es10x_command(client, encode_tlv(TAG_NOTIFICATION_SENT, encode_tlv(TAG_STATUS, int_bytes(seq_number))))
+      root = require_tag(response, TAG_NOTIFICATION_SENT, "NotificationSentResponse")
+      if int.from_bytes(require_tag(root, TAG_STATUS, "RemoveNotificationFromList status"), "big") != 0:
+        raise RuntimeError("RemoveNotificationFromList failed")
+    except Exception as e:
+      print(f"notification {seq_number} failed: {e}", file=sys.stderr)
+
+
+# --- Authentication & Download ---
+
+def get_challenge_and_info(client: AtClient) -> tuple[bytes, bytes]:
+  challenge_resp = es10x_command(client, encode_tlv(TAG_EUICC_CHALLENGE, b""))
+  challenge = require_tag(require_tag(challenge_resp, TAG_EUICC_CHALLENGE, "GetEuiccDataResponse"),
+                          TAG_STATUS, "challenge in response")
+  info_resp = es10x_command(client, encode_tlv(TAG_EUICC_INFO, b""))
+  require_tag(info_resp, TAG_EUICC_INFO, "GetEuiccInfo1Response")
+  return challenge, info_resp
+
+
+def authenticate_server(client: AtClient, b64_signed1: str, b64_sig1: str, b64_pk_id: str, b64_cert: str, matching_id: str) -> str:
+  tac = bytes([0x35, 0x29, 0x06, 0x11])
+  device_info = encode_tlv(TAG_STATUS, tac) + encode_tlv(0xA1, b"")
+  ctx_inner = encode_tlv(TAG_STATUS, matching_id.encode("utf-8")) + encode_tlv(0xA1, device_info)
+  content = b64d(b64_signed1) + b64d(b64_sig1) + b64d(b64_pk_id) + b64d(b64_cert) + encode_tlv(0xA0, ctx_inner)
+  response = es10x_command(client, encode_tlv(TAG_AUTH_SERVER, content))
+  root = require_tag(response, TAG_AUTH_SERVER, "AuthenticateServerResponse")
+  error_tag = find_tag(root, 0xA1)
+  if error_tag is not None:
+    code = int.from_bytes(error_tag, "big") if error_tag else 0
+    raise RuntimeError(f"AuthenticateServer rejected by eUICC: {AUTH_SERVER_ERROR_CODES.get(code, 'unknown')} (0x{code:02X})")
+  return b64e(response)
+
+
+def prepare_download(client: AtClient, b64_signed2: str, b64_sig2: str, b64_cert: str, cc: str | None = None) -> str:
+  smdp_signed2 = b64d(b64_signed2)
+  smdp_signature2 = b64d(b64_sig2)
+  smdp_certificate = b64d(b64_cert)
+  smdp_signed2_root = find_tag(smdp_signed2, 0x30)
+  if smdp_signed2_root is None:
+    raise RuntimeError("Invalid smdpSigned2")
+  transaction_id = find_tag(smdp_signed2_root, TAG_STATUS)
+  cc_required_flag = find_tag(smdp_signed2_root, 0x01)
+  if transaction_id is None or cc_required_flag is None:
+    raise RuntimeError("Invalid smdpSigned2")
+  content = smdp_signed2 + smdp_signature2
+  if int.from_bytes(cc_required_flag, "big") != 0:
+    if not cc:
+      raise RuntimeError("Confirmation code required but not provided")
+    content += encode_tlv(0x04, hashlib.sha256(hashlib.sha256(cc.encode("utf-8")).digest() + transaction_id).digest())
+  content += smdp_certificate
+  response = es10x_command(client, encode_tlv(TAG_PREPARE_DOWNLOAD, content))
+  require_tag(response, TAG_PREPARE_DOWNLOAD, "PrepareDownloadResponse")
+  return b64e(response)
+
+
+def _parse_tlv_header_len(data: bytes) -> int:
+  tag_len = 2 if data[0] & 0x1F == 0x1F else 1
+  length_byte = data[tag_len]
+  return tag_len + (1 + (length_byte & 0x7F) if length_byte & 0x80 else 1)
+
+
+def _split_bpp(bpp: bytes) -> list[bytes]:
+  """Split a BoundProfilePackage into APDU chunks per SGP.22 §5.7.6."""
+  root_value = None
+  for tag, value, start, end in iter_tlv(bpp, with_positions=True):
+    if tag == TAG_BPP:
+      root_value = value
+      val_start = start + _parse_tlv_header_len(bpp[start:end])
+      break
+  if root_value is None:
+    raise RuntimeError("Invalid BoundProfilePackage")
+
+  chunks: list[bytes] = []
+  for tag, value, start, end in iter_tlv(root_value, with_positions=True):
+    if tag == TAG_BPP_COMMAND:
+      chunks.append(bpp[0 : val_start + end])
+    elif tag in (0xA0, 0xA2):
+      chunks.append(bpp[val_start + start : val_start + end])
+    elif tag in (0xA1, 0xA3):
+      hdr_len = _parse_tlv_header_len(root_value[start:end])
+      chunks.append(bpp[val_start + start : val_start + start + hdr_len])
+      for _, _, cs, ce in iter_tlv(value, with_positions=True):
+        chunks.append(value[cs:ce])
+  return chunks
+
+
+def _parse_install_result(response: bytes) -> dict[str, Any] | None:
+  """Parse a ProfileInstallResult from an APDU response, or None if not present."""
+  root = find_tag(response, TAG_PROFILE_INSTALL_RESULT)
+  if not root:
+    return None
+  result_data = find_tag(root, TAG_INSTALL_RESULT_DATA)
+  if not result_data:
+    return None
+  result: dict[str, Any] = {"seqNumber": 0, "success": False, "bppCommandId": None, "errorReason": None}
+  notif_meta = find_tag(result_data, TAG_NOTIFICATION_METADATA)
+  if notif_meta:
+    seq_num = find_tag(notif_meta, TAG_STATUS)
+    if seq_num:
+      result["seqNumber"] = int.from_bytes(seq_num, "big")
+  final_result = find_tag(result_data, 0xA2)
+  if final_result:
+    for tag, value in iter_tlv(final_result):
+      if tag == 0xA0:
+        result["success"] = True
+      elif tag == 0xA1:
+        bpp_cmd = find_tag(value, TAG_STATUS)
+        if bpp_cmd:
+          result["bppCommandId"] = int.from_bytes(bpp_cmd, "big")
+        err = find_tag(value, 0x81)
+        if err:
+          result["errorReason"] = int.from_bytes(err, "big")
+  return result
+
+
+def load_bpp(client: AtClient, b64_bpp: str) -> dict:
+  bpp = b64d(b64_bpp)
+  result = None
+  for chunk in _split_bpp(bpp):
+    response = es10x_command(client, chunk)
+    if response:
+      result = _parse_install_result(response) or result
+
+  if result is None:
+    raise RuntimeError("Profile installation failed: no result from eUICC")
+  if not result["success"] and result["errorReason"] is not None:
+    msg = BPP_ERROR_MESSAGES.get(result["errorReason"])
+    if not msg:
+      cmd_name = BPP_COMMAND_NAMES.get(result["bppCommandId"], f"unknown({result['bppCommandId']})")
+      err_name = BPP_ERROR_REASONS.get(result["errorReason"], f"unknown({result['errorReason']})")
+      msg = f"Profile installation failed at {cmd_name}: {err_name}"
+    raise RuntimeError(msg)
+  if not result["success"]:
+    raise RuntimeError("Profile installation failed: no result from eUICC")
+  return result
+
+
+def parse_metadata(b64_metadata: str) -> dict:
+  root = find_tag(b64d(b64_metadata), TAG_PROFILE_METADATA)
+  if root is None:
+    raise RuntimeError("Invalid profileMetadata")
+  return decode_struct(root, PROFILE)
+
+
+def cancel_session(client: AtClient, transaction_id: bytes, reason: int = 127) -> str:
+  content = encode_tlv(0x80, transaction_id) + encode_tlv(0x81, bytes([reason]))
+  response = es10x_command(client, encode_tlv(TAG_CANCEL_SESSION, content))
+  return b64e(response)
+
+
+def parse_lpa_activation_code(activation_code: str) -> tuple[str, str]:
+  """Parse 'LPA:1$smdp.example.com$MATCHING-ID' into (smdp_address, matching_id)."""
+  if not activation_code.startswith("LPA:"):
+    raise ValueError("Invalid activation code format")
+  parts = activation_code[4:].split("$")
+  if len(parts) != 3:
+    raise ValueError("Invalid activation code format")
+  return parts[1], parts[2]
+
+
+def _b64_field(data: dict, key: str) -> str:
+  return base64_trim(data[key])
+
+
+def _cancel_session_safe(client: AtClient, smdp: str, tx_id: str, session: requests.Session) -> None:
+  b64_cancel = ""
+  try:
+    b64_cancel = cancel_session(client, b64d(tx_id))
+  except Exception:
+    pass
+  try:
+    es9p_request(smdp, "cancelSession", {"transactionId": tx_id, "cancelSessionResponse": b64_cancel}, "CancelSession", session=session)
+  except Exception:
+    pass
+
+
+def download_profile(client: AtClient, activation_code: str) -> str:
+  """Download and install an eSIM profile. Returns the ICCID of the installed profile."""
+  if not system_time_valid():
+    raise RuntimeError("System time is not set; TLS certificate validation requires a valid clock")
+  smdp, matching_id = parse_lpa_activation_code(activation_code)
+  challenge, euicc_info = get_challenge_and_info(client)
+  session = requests.Session()
+  tx_id = None
+
+  try:
+    # step 1: initiate authentication
+    auth = es9p_request(smdp, "initiateAuthentication", {
+      "smdpAddress": smdp, "euiccChallenge": b64e(challenge),
+      "euiccInfo1": b64e(euicc_info), "matchingId": matching_id,
+    }, "Authentication", session=session)
+    tx_id = _b64_field(auth, "transactionId")
+
+    # step 2: authenticate server
+    b64_auth = authenticate_server(client,
+      _b64_field(auth, "serverSigned1"), _b64_field(auth, "serverSignature1"),
+      _b64_field(auth, "euiccCiPKIdToBeUsed"), _b64_field(auth, "serverCertificate"),
+      matching_id)
+
+    # step 3: authenticate client + get metadata
+    cli = es9p_request(smdp, "authenticateClient", {
+      "transactionId": tx_id, "authenticateServerResponse": b64_auth,
+    }, "Authentication", session=session)
+    iccid = parse_metadata(_b64_field(cli, "profileMetadata"))["iccid"]
+
+    # step 4: prepare download
+    b64_prep = prepare_download(client,
+      _b64_field(cli, "smdpSigned2"), _b64_field(cli, "smdpSignature2"),
+      _b64_field(cli, "smdpCertificate"))
+
+    # step 5: get and install bound profile package
+    bpp = es9p_request(smdp, "getBoundProfilePackage", {
+      "transactionId": tx_id, "prepareDownloadResponse": b64_prep,
+    }, "GetBoundProfilePackage", session=session)
+    load_bpp(client, _b64_field(bpp, "boundProfilePackage"))
+    return iccid
+  except Exception:
+    if tx_id:
+      _cancel_session_safe(client, smdp, tx_id, session)
+    raise
+  finally:
+    session.close()
+
+
+class TiciLPA(LPABase):
+  def __init__(self):
+    if hasattr(self, '_client'):
+      return
+    self._client = AtClient(DEFAULT_DEVICE, DEFAULT_BAUD, DEFAULT_TIMEOUT)
+    atexit.register(self._client.close)
+
+  @contextmanager
+  def _acquire_lock(self):
+    fd = os.open(LOCK_FILE, os.O_CREAT | os.O_RDWR)
+    try:
+      fcntl.flock(fd, fcntl.LOCK_EX)
+      yield
+    finally:
+      fcntl.flock(fd, fcntl.LOCK_UN)
+      os.close(fd)
+
+  @contextmanager
+  def _acquire_channel(self):
+    with self._acquire_lock():
+      try:
+        self._client.open_isdr()
+        yield
+      finally:
+        if self._client.channel:
+          try:
+            self._client.query(f"AT+CCHC={self._client.channel}")
+          except (RuntimeError, TimeoutError):
+            pass
+          self._client.channel = None
+
+  def list_profiles(self) -> list[Profile]:
+    with self._acquire_channel():
+      return [
+        Profile(
+          iccid=p.get("iccid", ""),
+          nickname=p.get("profileNickname") or "",
+          enabled=p.get("profileState") == "enabled",
+          provider=p.get("serviceProviderName") or "",
+        )
+        for p in list_profiles(self._client)
+      ]
+
+  def get_active_profile(self) -> Profile | None:
+    return None
+
+  def process_notifications(self) -> None:
+    if not system_time_valid():
+      raise RuntimeError("System time is not set; TLS certificate validation requires a valid clock")
+    with self._acquire_channel():
+      process_notifications(self._client)
+
+  def delete_profile(self, iccid: str) -> None:
+    if self.is_comma_profile(iccid):
+      raise LPAError("refusing to delete a comma profile")
+    with self._acquire_channel():
+      request = encode_tlv(TAG_DELETE_PROFILE, encode_tlv(TAG_ICCID, string_to_tbcd(iccid)))
+      response = es10x_command(self._client, request)
+      code = require_tag(require_tag(response, TAG_DELETE_PROFILE, "DeleteProfileResponse"), TAG_STATUS, "DeleteProfile status")[0]
+    if code != PROFILE_OK:
+      raise LPAError(f"DeleteProfile failed: {PROFILE_ERROR_CODES.get(code, 'unknown')} (0x{code:02X})")
+
+  def download_profile(self, qr: str, nickname: str | None = None) -> None:
+    with self._acquire_channel():
+      iccid = download_profile(self._client, qr)
+      if nickname and iccid:
+        set_profile_nickname(self._client, iccid, nickname)
+
+  def nickname_profile(self, iccid: str, nickname: str) -> None:
+    with self._acquire_channel():
+      set_profile_nickname(self._client, iccid, nickname)
+
+  def _enable_profile(self, iccid: str) -> int:
+    inner = encode_tlv(TAG_OK, encode_tlv(TAG_ICCID, string_to_tbcd(iccid)))
+    inner += b'\x01\x01\x01'  # refreshFlag=1
+    response = es10x_command(self._client, encode_tlv(TAG_ENABLE_PROFILE, inner))
+    return require_tag(require_tag(response, TAG_ENABLE_PROFILE, "EnableProfileResponse"), TAG_STATUS, "EnableProfile status")[0]
+
+  def switch_profile(self, iccid: str) -> None:
+    with self._acquire_channel():
+      code = self._enable_profile(iccid)
+      if code == PROFILE_CAT_BUSY:  # stale eUICC transaction, reset and retry
+        self._client._reset_modem()
+        self._client.open_isdr()
+        code = self._enable_profile(iccid)
+      if code not in (PROFILE_OK, PROFILE_NOT_IN_DISABLED_STATE):
+        raise LPAError(f"EnableProfile failed: {PROFILE_ERROR_CODES.get(code, 'unknown')} (0x{code:02X})")
+    from openpilot.system.hardware import HARDWARE
+    if HARDWARE.get_device_type() == "mici":
+      self._client.send_raw(b'AT+CFUN=0\rAT+CFUN=1\r')  # mici has no SIM presence pin; raw because CFUN=0 drops serial
+      self._client._ensure_serial(reconnect=True)
+
+  def is_euicc(self) -> bool:
+    # +CCHO:<n> -> eUICC; bare ERROR -> applet absent, non-eUICC; +CME ERROR -> applet
+    # exists but bus busy or modem in transient state, still eUICC.
+    with self._acquire_lock():
+      try:
+        lines = self._client.query(f'AT+CCHO="{ISDR_AID}"')
+      except RuntimeError as e:
+        return "+CME ERROR" in str(e)
+      for line in lines:
+        if line.startswith("+CCHO:") and (ch := line.split(":", 1)[1].strip()):
+          try:
+            self._client.query(f"AT+CCHC={ch}")
+          except (RuntimeError, TimeoutError):
+            pass
+          self._client.channel = None
+          return True
+      return False
diff --git a/system/hardware/tici/tests/test_amplifier.py b/system/hardware/tici/tests/test_amplifier.py
index 3f75436db18..9ce00c3ff26 100644
--- a/system/hardware/tici/tests/test_amplifier.py
+++ b/system/hardware/tici/tests/test_amplifier.py
@@ -5,7 +5,6 @@
 
 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
 
 
@@ -39,7 +38,7 @@ def _check_for_i2c_errors(self, expected):
 
   def test_init(self):
     amp = Amplifier(debug=True)
-    r = amp.initialize_configuration(Tici().get_device_type())
+    r = amp.initialize_configuration()
     assert r
     assert self._check_for_i2c_errors(False)
 
@@ -61,7 +60,7 @@ def test_init_while_siren_play(self):
       time.sleep(random.randint(0, 5))
 
       amp = Amplifier(debug=True)
-      r = amp.initialize_configuration(Tici().get_device_type())
+      r = amp.initialize_configuration()
       assert r
 
       if self._check_for_i2c_errors(True):
diff --git a/system/hardware/tici/tests/test_esim.py b/system/hardware/tici/tests/test_esim.py
deleted file mode 100644
index 6fab931cced..00000000000
--- a/system/hardware/tici/tests/test_esim.py
+++ /dev/null
@@ -1,51 +0,0 @@
-import pytest
-
-from openpilot.system.hardware import HARDWARE, TICI
-from openpilot.system.hardware.base import LPAProfileNotFoundError
-
-# https://euicc-manual.osmocom.org/docs/rsp/known-test-profile
-# iccid is always the same for the given activation code
-TEST_ACTIVATION_CODE = 'LPA:1$rsp.truphone.com$QRF-BETTERROAMING-PMRDGIR2EARDEIT5'
-TEST_ICCID = '8944476500001944011'
-
-TEST_NICKNAME = 'test_profile'
-
-def cleanup():
-  lpa = HARDWARE.get_sim_lpa()
-  try:
-    lpa.delete_profile(TEST_ICCID)
-  except LPAProfileNotFoundError:
-    pass
-  lpa.process_notifications()
-
-class TestEsim:
-
-  @classmethod
-  def setup_class(cls):
-    if not TICI:
-      pytest.skip()
-    cleanup()
-
-  @classmethod
-  def teardown_class(cls):
-    cleanup()
-
-  def test_provision_enable_disable(self):
-    lpa = HARDWARE.get_sim_lpa()
-    current_active = lpa.get_active_profile()
-
-    lpa.download_profile(TEST_ACTIVATION_CODE, TEST_NICKNAME)
-    assert any(p.iccid == TEST_ICCID and p.nickname == TEST_NICKNAME for p in lpa.list_profiles())
-
-    lpa.enable_profile(TEST_ICCID)
-    new_active = lpa.get_active_profile()
-    assert new_active is not None
-    assert new_active.iccid == TEST_ICCID
-    assert new_active.nickname == TEST_NICKNAME
-
-    lpa.disable_profile(TEST_ICCID)
-    new_active = lpa.get_active_profile()
-    assert new_active is None
-
-    if current_active:
-      lpa.enable_profile(current_active.iccid)
diff --git a/system/hardware/tici/tests/test_power_draw.py b/system/hardware/tici/tests/test_power_draw.py
index 4fbde816736..c4401c9583c 100644
--- a/system/hardware/tici/tests/test_power_draw.py
+++ b/system/hardware/tici/tests/test_power_draw.py
@@ -3,7 +3,7 @@
 import time
 import numpy as np
 from dataclasses import dataclass
-from tabulate import tabulate
+from openpilot.common.utils import tabulate
 
 import cereal.messaging as messaging
 from cereal.services import SERVICE_LIST
@@ -32,7 +32,7 @@ def name(self):
 
 PROCS = [
   Proc(['camerad'], 1.65, atol=0.4, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']),
-  Proc(['modeld'], 1.24, atol=0.2, msgs=['modelV2']),
+  Proc(['modeld'], 1.5, atol=0.2, msgs=['modelV2']),
   Proc(['dmonitoringmodeld'], 0.65, atol=0.35, msgs=['driverStateV2']),
   Proc(['encoderd'], 0.23, msgs=[]),
 ]
diff --git a/system/hardware/tici/updater_magic b/system/hardware/tici/updater_magic
index ec586dbcb3c..44b82d0c547 100755
--- a/system/hardware/tici/updater_magic
+++ b/system/hardware/tici/updater_magic
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:c44fb88b3b1643b6b44ae8ac9880348bd0257ff90f4084cbe889de91d71653fe
-size 25111329
+oid sha256:3a94ab8395f20d20a9d5a2a2bacca0694f072df8421cf13adca6250d28065bdc
+size 24709205
diff --git a/system/loggerd/SConscript b/system/loggerd/SConscript
index cf169f4dc61..45e8b25d208 100644
--- a/system/loggerd/SConscript
+++ b/system/loggerd/SConscript
@@ -1,26 +1,29 @@
 Import('env', 'arch', 'messaging', 'common', 'visionipc')
 
 libs = [common, messaging, visionipc,
-        'avformat', 'avcodec', 'avutil',
-        'yuv', 'OpenCL', 'pthread', 'zstd']
+        'avformat', 'avcodec', 'swresample', 'avutil', 'x264',
+        'pthread', 'z', 'm', 'zstd']
+frameworks = []
 
 src = ['logger.cc', 'zstd_writer.cc', 'video_writer.cc', 'encoder/encoder.cc', 'encoder/v4l_encoder.cc', 'encoder/jpeg_encoder.cc']
 if arch != "larch64":
   src += ['encoder/ffmpeg_encoder.cc']
+  libs += ['yuv']
+  if arch == "Darwin":
+    frameworks += ['VideoToolbox', 'CoreMedia', 'CoreFoundation', 'CoreVideo']
+  else:
+    libs += ['va', 'va-drm', 'drm']
 
 if arch == "Darwin":
-  # fix OpenCL
-  del libs[libs.index('OpenCL')]
-  env['FRAMEWORKS'] = ['OpenCL']
   # exclude v4l
   del src[src.index('encoder/v4l_encoder.cc')]
 
 logger_lib = env.Library('logger', src)
 libs.insert(0, logger_lib)
 
-env.Program('loggerd', ['loggerd.cc'], LIBS=libs)
-env.Program('encoderd', ['encoderd.cc'], LIBS=libs + ["jpeg"])
-env.Program('bootlog.cc', LIBS=libs)
+env.Program('loggerd', ['loggerd.cc'], LIBS=libs, FRAMEWORKS=frameworks)
+env.Program('encoderd', ['encoderd.cc'], LIBS=libs + ["jpeg"], FRAMEWORKS=frameworks)
+env.Program('bootlog.cc', LIBS=libs, FRAMEWORKS=frameworks)
 
 if GetOption('extras'):
-  env.Program('tests/test_logger', ['tests/test_runner.cc', 'tests/test_logger.cc', 'tests/test_zstd_writer.cc'], LIBS=libs + ['curl', 'crypto'])
+  env.Program('tests/test_logger', ['tests/test_runner.cc', 'tests/test_logger.cc', 'tests/test_zstd_writer.cc'], LIBS=libs)
diff --git a/system/loggerd/encoder/ffmpeg_encoder.cc b/system/loggerd/encoder/ffmpeg_encoder.cc
index 4d6be471821..275a2e481e5 100644
--- a/system/loggerd/encoder/ffmpeg_encoder.cc
+++ b/system/loggerd/encoder/ffmpeg_encoder.cc
@@ -9,7 +9,7 @@
 
 #define __STDC_CONSTANT_MACROS
 
-#include "third_party/libyuv/include/libyuv.h"
+#include "libyuv.h"
 
 extern "C" {
 #include <libavcodec/avcodec.h>
diff --git a/system/loggerd/encoder/v4l_encoder.cc b/system/loggerd/encoder/v4l_encoder.cc
index 6ee3af13b0b..cabd9fd997d 100644
--- a/system/loggerd/encoder/v4l_encoder.cc
+++ b/system/loggerd/encoder/v4l_encoder.cc
@@ -7,7 +7,6 @@
 #include "common/util.h"
 #include "common/timing.h"
 
-#include "third_party/libyuv/include/libyuv.h"
 #include "third_party/linux/include/msm_media_info.h"
 
 // has to be in this order
@@ -43,29 +42,29 @@ static void dequeue_buffer(int fd, v4l2_buf_type buf_type, unsigned int *index=N
 
 static void queue_buffer(int fd, v4l2_buf_type buf_type, unsigned int index, VisionBuf *buf, struct timeval timestamp={}) {
   v4l2_plane plane = {
+    .bytesused = (uint32_t)buf->len,
     .length = (unsigned int)buf->len,
     .m = { .userptr = (unsigned long)buf->addr, },
-    .bytesused = (uint32_t)buf->len,
     .reserved = {(unsigned int)buf->fd}
   };
 
   v4l2_buffer v4l_buf = {
-    .type = buf_type,
     .index = index,
+    .type = buf_type,
+    .flags = V4L2_BUF_FLAG_TIMESTAMP_COPY,
+    .timestamp = timestamp,
     .memory = V4L2_MEMORY_USERPTR,
     .m = { .planes = &plane, },
     .length = 1,
-    .flags = V4L2_BUF_FLAG_TIMESTAMP_COPY,
-    .timestamp = timestamp
   };
   util::safe_ioctl(fd, VIDIOC_QBUF, &v4l_buf, "VIDIOC_QBUF failed");
 }
 
 static void request_buffers(int fd, v4l2_buf_type buf_type, unsigned int count) {
   struct v4l2_requestbuffers reqbuf = {
+    .count = count,
     .type = buf_type,
     .memory = V4L2_MEMORY_USERPTR,
-    .count = count
   };
   util::safe_ioctl(fd, VIDIOC_REQBUFS, &reqbuf, "VIDIOC_REQBUFS failed");
 }
diff --git a/system/loggerd/loggerd.cc b/system/loggerd/loggerd.cc
index 47da321024c..37559296192 100644
--- a/system/loggerd/loggerd.cc
+++ b/system/loggerd/loggerd.cc
@@ -219,11 +219,11 @@ void handle_preserve_segment(LoggerdState *s) {
 
 void loggerd_thread() {
   // setup messaging
-  typedef struct ServiceState {
+  struct ServiceState {
     std::string name;
     int counter, freq;
     bool encoder, preserve_segment, record_audio;
-  } ServiceState;
+  };
   std::unordered_map<SubSocket*, ServiceState> service_state;
   std::unordered_map<SubSocket*, struct RemoteEncoder> remote_encoders;
 
diff --git a/system/loggerd/loggerd.h b/system/loggerd/loggerd.h
index 8e3a74d2d98..6aa0c8be40b 100644
--- a/system/loggerd/loggerd.h
+++ b/system/loggerd/loggerd.h
@@ -125,10 +125,10 @@ const EncoderInfo stream_driver_encoder_info = {
 const EncoderInfo qcam_encoder_info = {
   .publish_name = "qRoadEncodeData",
   .filename = "qcamera.ts",
-  .get_settings = [](int){return EncoderSettings::QcamEncoderSettings();},
+  .include_audio = Params().getBool("RecordAudio"),
   .frame_width = 526,
   .frame_height = 330,
-  .include_audio = Params().getBool("RecordAudio"),
+  .get_settings = [](int){return EncoderSettings::QcamEncoderSettings();},
   INIT_ENCODE_FUNCTIONS(QRoadEncode),
 };
 
diff --git a/system/loggerd/tests/loggerd_tests_common.py b/system/loggerd/tests/loggerd_tests_common.py
index 87c3da65c2f..8bf609ae8d9 100644
--- a/system/loggerd/tests/loggerd_tests_common.py
+++ b/system/loggerd/tests/loggerd_tests_common.py
@@ -10,7 +10,7 @@
 from openpilot.system.loggerd.xattr_cache import setxattr
 
 
-def create_random_file(file_path: Path, size_mb: float, lock: bool = False, upload_xattr: bytes = None) -> None:
+def create_random_file(file_path: Path, size_mb: float, lock: bool = False, upload_xattr: bytes | None = None) -> None:
   file_path.parent.mkdir(parents=True, exist_ok=True)
 
   if lock:
@@ -80,7 +80,7 @@ def setup_method(self):
     self.params.put("DongleId", "0000000000000000")
 
   def make_file_with_data(self, f_dir: str, fn: str, size_mb: float = .1, lock: bool = False,
-                          upload_xattr: bytes = None, preserve_xattr: bytes = None) -> Path:
+                          upload_xattr: bytes | None = None, preserve_xattr: bytes | None = None) -> Path:
     file_path = Path(Paths.log_root()) / f_dir / fn
     create_random_file(file_path, size_mb, lock, upload_xattr)
 
diff --git a/system/loggerd/tests/test_encoder.py b/system/loggerd/tests/test_encoder.py
index e4dabd3df93..a9de0690aaa 100644
--- a/system/loggerd/tests/test_encoder.py
+++ b/system/loggerd/tests/test_encoder.py
@@ -7,7 +7,7 @@
 import time
 from pathlib import Path
 
-from parameterized import parameterized
+from openpilot.common.parameterized import parameterized
 from tqdm import trange
 
 from openpilot.common.params import Params
diff --git a/system/loggerd/tests/test_logger.cc b/system/loggerd/tests/test_logger.cc
index 40a45a68d5c..61509c256c9 100644
--- a/system/loggerd/tests/test_logger.cc
+++ b/system/loggerd/tests/test_logger.cc
@@ -56,7 +56,7 @@ void write_msg(LoggerState *logger) {
 TEST_CASE("logger") {
   const int segment_cnt = 100;
   const std::string log_root = "/tmp/test_logger";
-  system(("rm " + log_root + " -rf").c_str());
+  REQUIRE(system(("rm " + log_root + " -rf").c_str()) == 0);
   std::string route_name;
   {
     LoggerState logger(log_root);
diff --git a/system/loggerd/tests/test_uploader.py b/system/loggerd/tests/test_uploader.py
index 961a8aa36f8..562bc068eb8 100644
--- a/system/loggerd/tests/test_uploader.py
+++ b/system/loggerd/tests/test_uploader.py
@@ -50,7 +50,7 @@ def join_thread(self):
     self.end_event.set()
     self.up_thread.join()
 
-  def gen_files(self, lock=False, xattr: bytes = None, boot=True) -> list[Path]:
+  def gen_files(self, lock=False, xattr: bytes | None = None, boot=True) -> list[Path]:
     f_paths = []
     for t in ["qlog", "rlog", "dcamera.hevc", "fcamera.hevc"]:
       f_paths.append(self.make_file_with_data(self.seg_dir, t, 1, lock=lock, upload_xattr=xattr))
diff --git a/system/loggerd/uploader.py b/system/loggerd/uploader.py
index 5b6234e1d55..8ac38b6df6a 100755
--- a/system/loggerd/uploader.py
+++ b/system/loggerd/uploader.py
@@ -226,7 +226,7 @@ def step(self, network_type: int, metered: bool) -> bool | None:
     return self.upload(name, key, fn, network_type, metered)
 
 
-def main(exit_event: threading.Event = None) -> None:
+def main(exit_event: threading.Event | None = None) -> None:
   if exit_event is None:
     exit_event = threading.Event()
 
diff --git a/system/manager/process.py b/system/manager/process.py
index 1e24198267b..36e1ba77b28 100644
--- a/system/manager/process.py
+++ b/system/manager/process.py
@@ -81,7 +81,7 @@ def restart(self) -> None:
     self.stop(sig=signal.SIGKILL)
     self.start()
 
-  def stop(self, retry: bool = True, block: bool = True, sig: signal.Signals = None) -> int | None:
+  def stop(self, retry: bool = True, block: bool = True, sig: signal.Signals | None = None) -> int | None:
     if self.proc is None:
       return None
 
diff --git a/system/manager/process_config.py b/system/manager/process_config.py
index 0b99183193e..7e96b7776a4 100644
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -40,6 +40,9 @@ def not_joystick(started: bool, params: Params, CP: car.CarParams) -> bool:
 def long_maneuver(started: bool, params: Params, CP: car.CarParams) -> bool:
   return started and params.get_bool("LongitudinalManeuverMode")
 
+def lat_maneuver(started: bool, params: Params, CP: car.CarParams) -> bool:
+  return started and params.get_bool("LateralManeuverMode")
+
 def not_long_maneuver(started: bool, params: Params, CP: car.CarParams) -> bool:
   return started and not params.get_bool("LongitudinalManeuverMode")
 
@@ -100,6 +103,7 @@ def and_(*fns):
   PythonProcess("pigeond", "system.ubloxd.pigeond", ublox, enabled=TICI),
   PythonProcess("plannerd", "selfdrive.controls.plannerd", not_long_maneuver),
   PythonProcess("maneuversd", "tools.longitudinal_maneuvers.maneuversd", long_maneuver),
+  PythonProcess("lateral_maneuversd", "tools.lateral_maneuvers.lateral_maneuversd", lat_maneuver),
   PythonProcess("radard", "selfdrive.controls.radard", only_onroad),
   PythonProcess("hardwared", "system.hardware.hardwared", always_run),
   PythonProcess("tombstoned", "system.tombstoned", always_run, enabled=not PC),
diff --git a/system/proclogd.py b/system/proclogd.py
index 3279425b7b3..b008f8ed9bc 100755
--- a/system/proclogd.py
+++ b/system/proclogd.py
@@ -115,6 +115,55 @@ def _parse_proc_stat(stat: str) -> ProcStat | None:
     cloudlog.exception("failed to parse /proc/<pid>/stat")
     return None
 
+class SmapsData(TypedDict):
+  pss: int       # bytes
+  pss_anon: int  # bytes
+  pss_shmem: int # bytes
+
+
+_SMAPS_KEYS = {b'Pss:', b'Pss_Anon:', b'Pss_Shmem:'}
+
+# smaps_rollup (kernel 4.14+) is ideal but missing on some BSP kernels;
+# fall back to per-VMA smaps (any kernel). Pss_Anon/Pss_Shmem only in 5.x+.
+_smaps_path: str | None = None  # auto-detected on first call
+
+# per-VMA smaps is expensive (kernel walks page tables for every VMA).
+# cache results and only refresh every N cycles to keep CPU low.
+_smaps_cache: dict[int, SmapsData] = {}
+_smaps_cycle = 0
+_SMAPS_EVERY = 20  # refresh every 20th cycle (40s at 0.5Hz)
+
+
+def _read_smaps(pid: int) -> SmapsData:
+  global _smaps_path
+  try:
+    if _smaps_path is None:
+      _smaps_path = 'smaps_rollup' if os.path.exists(f'/proc/{pid}/smaps_rollup') else 'smaps'
+
+    result: SmapsData = {'pss': 0, 'pss_anon': 0, 'pss_shmem': 0}
+    with open(f'/proc/{pid}/{_smaps_path}', 'rb') as f:
+      for line in f:
+        parts = line.split()
+        if len(parts) >= 2 and parts[0] in _SMAPS_KEYS:
+          val = int(parts[1]) * 1024  # kB -> bytes
+          if parts[0] == b'Pss:':
+            result['pss'] += val
+          elif parts[0] == b'Pss_Anon:':
+            result['pss_anon'] += val
+          elif parts[0] == b'Pss_Shmem:':
+            result['pss_shmem'] += val
+    return result
+  except (FileNotFoundError, PermissionError, ProcessLookupError, OSError):
+    return {'pss': 0, 'pss_anon': 0, 'pss_shmem': 0}
+
+
+def _get_smaps_cached(pid: int) -> SmapsData:
+  """Return cached smaps data, refreshing every _SMAPS_EVERY cycles."""
+  if _smaps_cycle == 0 or pid not in _smaps_cache:
+    _smaps_cache[pid] = _read_smaps(pid)
+  return _smaps_cache.get(pid, {'pss': 0, 'pss_anon': 0, 'pss_shmem': 0})
+
+
 class ProcExtra(TypedDict):
   pid: int
   name: str
@@ -189,6 +238,13 @@ def build_proc_log_message(msg) -> None:
     for j, arg in enumerate(extra['cmdline']):
       cmdline[j] = arg
 
+    # smaps is expensive (kernel walks page tables); skip small processes, use cache
+    if r['rss'] * PAGE_SIZE > 5 * 1024 * 1024:
+      smaps = _get_smaps_cached(r['pid'])
+      proc.memPss = smaps['pss']
+      proc.memPssAnon = smaps['pss_anon']
+      proc.memPssShmem = smaps['pss_shmem']
+
   cpu_times = _cpu_times()
   cpu_list = pl.init('cpuTimes', len(cpu_times))
   for i, ct in enumerate(cpu_times):
@@ -212,6 +268,9 @@ def build_proc_log_message(msg) -> None:
   pl.mem.inactive = mem_info["Inactive:"]
   pl.mem.shared = mem_info["Shmem:"]
 
+  global _smaps_cycle
+  _smaps_cycle = (_smaps_cycle + 1) % _SMAPS_EVERY
+
 
 def main() -> NoReturn:
   pm = messaging.PubMaster(['procLog'])
diff --git a/system/qcomgpsd/nmeaport.py b/system/qcomgpsd/nmeaport.py
index 8b9ab510864..10b8516ed09 100644
--- a/system/qcomgpsd/nmeaport.py
+++ b/system/qcomgpsd/nmeaport.py
@@ -107,11 +107,11 @@ def process_nmea_port_messages(device:str="/dev/ttyUSB1") -> NoReturn:
           match fields[0]:
             case "$GNCLK":
               # fields at end are reserved (not used)
-              gnss_clock = GnssClockNmeaPort(*fields[1:10]) # type: ignore[arg-type]
+              gnss_clock = GnssClockNmeaPort(*fields[1:10])
               print(gnss_clock)
             case "$GNMEAS":
               # fields at end are reserved (not used)
-              gnss_meas = GnssMeasNmeaPort(*fields[1:14]) # type: ignore[arg-type]
+              gnss_meas = GnssMeasNmeaPort(*fields[1:14])
               print(gnss_meas)
     except Exception as e:
       print(e)
diff --git a/system/qcomgpsd/qcomgpsd.py b/system/qcomgpsd/qcomgpsd.py
index 59f5ac0b506..e7a8d55d6c5 100755
--- a/system/qcomgpsd/qcomgpsd.py
+++ b/system/qcomgpsd/qcomgpsd.py
@@ -5,11 +5,8 @@
 import itertools
 import math
 import time
-import requests
-import shutil
-import subprocess
+from serial import Serial
 import datetime
-from multiprocessing import Process, Event
 from typing import NoReturn
 from struct import unpack_from, calcsize, pack
 
@@ -30,9 +27,6 @@
                                               LOG_GNSS_OEMDRE_SVPOLY_REPORT)
 
 DEBUG = int(os.getenv("DEBUG", "0"))==1
-ASSIST_DATA_FILE = '/tmp/xtra3grc.bin'
-ASSIST_DATA_FILE_DOWNLOAD = ASSIST_DATA_FILE + '.download'
-ASSISTANCE_URL = 'http://xtrapath3.izatcloud.net/xtra3grc.bin'
 
 LOG_TYPES = [
   LOG_GNSS_GPS_MEASUREMENT_REPORT,
@@ -90,55 +84,30 @@
 def try_setup_logs(diag, logs):
   return setup_logs(diag, logs)
 
-@retry(attempts=3, delay=1.0)
-def at_cmd(cmd: str) -> str | None:
-  return subprocess.check_output(f"mmcli -m any --timeout 30 --command='{cmd}'", shell=True, encoding='utf8')
+AT_PORT = "/dev/modem_at0"
+
+@retry(attempts=5, delay=1.0)
+def at_cmd(cmd: str) -> str:
+  with Serial(AT_PORT, baudrate=115200, timeout=5) as ser:
+    ser.reset_input_buffer()
+    ser.write(f"{cmd}\r".encode())
+    lines = []
+    while True:
+      line = ser.readline()
+      if not line:
+        raise RuntimeError(f"AT command timeout: {cmd}")
+      line = line.decode('utf-8', errors='replace').strip()
+      if line in ("OK", "ERROR") or line.startswith("+CME ERROR"):
+        break
+      if line and line != cmd:
+        lines.append(line)
+  return '\n'.join(lines)
 
 def gps_enabled() -> bool:
   return "QGPS: 1" in at_cmd("AT+QGPS?")
 
-def download_assistance():
-  try:
-    response = requests.get(ASSISTANCE_URL, timeout=5, stream=True)
-
-    with open(ASSIST_DATA_FILE_DOWNLOAD, 'wb') as fp:
-      for chunk in response.iter_content(chunk_size=8192):
-        fp.write(chunk)
-        if fp.tell() > 1e5:
-          cloudlog.error("Qcom assistance data larger than expected")
-          return
-
-    os.rename(ASSIST_DATA_FILE_DOWNLOAD, ASSIST_DATA_FILE)
-
-  except requests.exceptions.RequestException:
-    cloudlog.exception("Failed to download assistance file")
-    return
-
-def downloader_loop(event):
-  if os.path.exists(ASSIST_DATA_FILE):
-    os.remove(ASSIST_DATA_FILE)
-
-  alt_path = os.getenv("QCOM_ALT_ASSISTANCE_PATH", None)
-  if alt_path is not None and os.path.exists(alt_path):
-    shutil.copyfile(alt_path, ASSIST_DATA_FILE)
-
-  try:
-    while not os.path.exists(ASSIST_DATA_FILE) and not event.is_set():
-      download_assistance()
-      event.wait(timeout=10)
-  except KeyboardInterrupt:
-    pass
-
-@retry(attempts=5, delay=0.2, ignore_failure=True)
-def inject_assistance():
-  cmd = f"mmcli -m any --timeout 30 --location-inject-assistance-data={ASSIST_DATA_FILE}"
-  subprocess.check_output(cmd, stderr=subprocess.PIPE, shell=True)
-  cloudlog.info("successfully loaded assistance data")
-
 @retry(attempts=5, delay=1.0)
-def setup_quectel(diag: ModemDiag) -> bool:
-  ret = False
-
+def setup_quectel(diag: ModemDiag):
   # enable OEMDRE in the NV
   # TODO: it has to reboot for this to take effect
   DIAG_NV_READ_F = 38
@@ -152,26 +121,11 @@ def setup_quectel(diag: ModemDiag) -> bool:
   if gps_enabled():
     at_cmd("AT+QGPSEND")
 
-  if "GPS_COLD_START" in os.environ:
-    # deletes all assistance
-    at_cmd("AT+QGPSDEL=0")
-  else:
-    # allow module to perform hot start
-    at_cmd("AT+QGPSDEL=1")
-
   # disable DPO power savings for more accuracy
   at_cmd("AT+QGPSCFG=\"dpoenable\",0")
   # don't automatically turn on GNSS on powerup
   at_cmd("AT+QGPSCFG=\"autogps\",0")
 
-  # Do internet assistance
-  at_cmd("AT+QGPSXTRA=1")
-  at_cmd("AT+QGPSSUPLURL=\"NULL\"")
-  if os.path.exists(ASSIST_DATA_FILE):
-    ret = True
-    inject_assistance()
-    os.remove(ASSIST_DATA_FILE)
-  #at_cmd("AT+QGPSXTRADATA?")
   if system_time_valid():
     time_str = datetime.datetime.now(datetime.UTC).replace(tzinfo=None).strftime("%Y/%m/%d,%H:%M:%S")
     at_cmd(f"AT+QGPSXTRATIME=0,\"{time_str}\",1,1,1000")
@@ -198,7 +152,6 @@ def setup_quectel(diag: ModemDiag) -> bool:
     0,0
   ))
 
-  return ret
 
 def teardown_quectel(diag):
   at_cmd("AT+QGPSCFG=\"outport\",\"none\"")
@@ -207,13 +160,19 @@ def teardown_quectel(diag):
   try_setup_logs(diag, [])
 
 
-def wait_for_modem(cmd="AT+QGPS?"):
+def wait_for_modem():
   cloudlog.warning("waiting for modem to come up")
+  while not os.path.exists(AT_PORT):
+    time.sleep(0.5)
+  # wait until the modem GNSS subsystem responds
   while True:
-    ret = subprocess.call(f"mmcli -m any --timeout 10 --command=\"{cmd}\"", stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL, shell=True)
-    if ret == 0:
-      return
-    time.sleep(0.1)
+    try:
+      resp = at_cmd("AT+QGPS?")
+      if "+QGPS:" in resp:
+        return
+    except Exception:
+      pass
+    time.sleep(0.5)
 
 
 def main() -> NoReturn:
@@ -233,9 +192,6 @@ def main() -> NoReturn:
 
   wait_for_modem()
 
-  stop_download_event = Event()
-  assist_fetch_proc = Process(target=downloader_loop, args=(stop_download_event,))
-  assist_fetch_proc.start()
   def cleanup(sig, frame):
     cloudlog.warning("caught sig disabling quectel gps")
 
@@ -246,18 +202,13 @@ def cleanup(sig, frame):
     except NameError:
       cloudlog.warning('quectel not yet setup')
 
-    stop_download_event.set()
-    assist_fetch_proc.kill()
-    assist_fetch_proc.join()
-
     sys.exit(0)
   signal.signal(signal.SIGINT, cleanup)
   signal.signal(signal.SIGTERM, cleanup)
 
   # connect to modem
   diag = ModemDiag()
-  r = setup_quectel(diag)
-  want_assistance = not r
+  setup_quectel(diag)
   cloudlog.warning("quectel setup done")
   gpio_init(GPIO.GNSS_PWR_EN, True)
   gpio_set(GPIO.GNSS_PWR_EN, True)
@@ -265,10 +216,6 @@ def cleanup(sig, frame):
   pm = messaging.PubMaster(['qcomGnss', 'gpsLocation'])
 
   while 1:
-    if os.path.exists(ASSIST_DATA_FILE) and want_assistance:
-      setup_quectel(diag)
-      want_assistance = False
-
     opcode, payload = diag.recv()
     if opcode != DIAG_LOG_F:
       cloudlog.error(f"Unhandled opcode: {opcode}")
@@ -335,6 +282,9 @@ def cleanup(sig, frame):
       report = unpack_position(log_payload)
       if report["u_PosSource"] != 2:
         continue
+      # uint16_t max is an invalid sentinel value from the modem
+      if report['w_GpsWeekNumber'] >= 0xFFFF:
+        continue
       vNED = [report["q_FltVelEnuMps[1]"], report["q_FltVelEnuMps[0]"], -report["q_FltVelEnuMps[2]"]]
       vNEDsigma = [report["q_FltVelSigmaMps[1]"], report["q_FltVelSigmaMps[0]"], -report["q_FltVelSigmaMps[2]"]]
 
@@ -358,9 +308,6 @@ def cleanup(sig, frame):
       gps.speedAccuracy = math.sqrt(sum([x**2 for x in vNEDsigma]))
       # quectel gps verticalAccuracy is clipped to 500, set invalid if so
       gps.hasFix = gps.verticalAccuracy != 500
-      if gps.hasFix:
-        want_assistance = False
-        stop_download_event.set()
       pm.send('gpsLocation', msg)
 
     elif log_type == LOG_GNSS_OEMDRE_SVPOLY_REPORT:
diff --git a/system/qcomgpsd/tests/test_qcomgpsd.py b/system/qcomgpsd/tests/test_qcomgpsd.py
index 2fc6205ea4e..f697811ae9b 100644
--- a/system/qcomgpsd/tests/test_qcomgpsd.py
+++ b/system/qcomgpsd/tests/test_qcomgpsd.py
@@ -1,38 +1,29 @@
 import os
 import pytest
-import json
 import time
-import datetime
-import subprocess
 
 import cereal.messaging as messaging
 from openpilot.system.qcomgpsd.qcomgpsd import at_cmd, wait_for_modem
 from openpilot.system.manager.process_config import managed_processes
 
-GOOD_SIGNAL = bool(int(os.getenv("GOOD_SIGNAL", '0')))
-
 
 @pytest.mark.tici
-class TestRawgpsd:
+class TestQcomgpsd:
   @classmethod
   def setup_class(cls):
-    os.environ['GPS_COLD_START'] = '1'
-    os.system("sudo systemctl start systemd-resolved")
     os.system("sudo systemctl restart ModemManager lte")
     wait_for_modem()
 
   @classmethod
   def teardown_class(cls):
     managed_processes['qcomgpsd'].stop()
-    os.system("sudo systemctl restart systemd-resolved")
     os.system("sudo systemctl restart ModemManager lte")
 
   def setup_method(self):
-    self.sm = messaging.SubMaster(['qcomGnss', 'gpsLocation', 'gnssMeasurements'])
+    self.sm = messaging.SubMaster(['qcomGnss', 'gpsLocation'])
 
   def teardown_method(self):
     managed_processes['qcomgpsd'].stop()
-    os.system("sudo systemctl restart systemd-resolved")
 
   def _wait_for_output(self, t):
     dt = 0.1
@@ -43,26 +34,10 @@ def _wait_for_output(self, t):
       time.sleep(dt)
     return self.sm.updated['qcomGnss']
 
-  def test_no_crash_double_command(self):
-    at_cmd("AT+QGPSDEL=0")
-    at_cmd("AT+QGPSDEL=0")
-
-  def test_wait_for_modem(self):
-    os.system("sudo systemctl stop ModemManager")
+  def test_startup_time(self):
     managed_processes['qcomgpsd'].start()
-    assert not self._wait_for_output(5)
-
-    os.system("sudo systemctl restart ModemManager")
     assert self._wait_for_output(30)
-
-  def test_startup_time(self, subtests):
-    for internet in (True, False):
-      if not internet:
-        os.system("sudo systemctl stop systemd-resolved")
-      with subtests.test(internet=internet):
-        managed_processes['qcomgpsd'].start()
-        assert self._wait_for_output(7)
-        managed_processes['qcomgpsd'].stop()
+    managed_processes['qcomgpsd'].stop()
 
   def test_turns_off_gnss(self, subtests):
     for s in (0.1, 1, 5):
@@ -71,49 +46,6 @@ def test_turns_off_gnss(self, subtests):
         time.sleep(s)
         managed_processes['qcomgpsd'].stop()
 
-        ls = subprocess.check_output("mmcli -m any --location-status --output-json", shell=True, encoding='utf-8')
-        loc_status = json.loads(ls)
-        assert set(loc_status['modem']['location']['enabled']) <= {'3gpp-lac-ci'}
-
-
-  def check_assistance(self, should_be_loaded):
-    # after QGPSDEL: '+QGPSXTRADATA: 0,"1980/01/05,19:00:00"'
-    # after loading: '+QGPSXTRADATA: 10080,"2023/06/24,19:00:00"'
-    out = at_cmd("AT+QGPSXTRADATA?")
-    out = out.split("+QGPSXTRADATA:")[1].split("'")[0].strip()
-    valid_duration, injected_time_str = out.split(",", 1)
-    if should_be_loaded:
-      assert valid_duration == "10080"  # should be max time
-      injected_time = datetime.datetime.strptime(injected_time_str.replace("\"", ""), "%Y/%m/%d,%H:%M:%S")
-      assert abs((datetime.datetime.now(datetime.UTC).replace(tzinfo=None) - injected_time).total_seconds()) < 60*60*12
-    else:
-      valid_duration, injected_time_str = out.split(",", 1)
-      injected_time_str = injected_time_str.replace('\"', '').replace('\'', '')
-      assert injected_time_str[:] == '1980/01/05,19:00:00'[:]
-      assert valid_duration == '0'
-
-  def test_assistance_loading(self):
-    managed_processes['qcomgpsd'].start()
-    assert self._wait_for_output(10)
-    managed_processes['qcomgpsd'].stop()
-    self.check_assistance(True)
-
-  def test_no_assistance_loading(self):
-    os.system("sudo systemctl stop systemd-resolved")
-
-    managed_processes['qcomgpsd'].start()
-    assert self._wait_for_output(10)
-    managed_processes['qcomgpsd'].stop()
-    self.check_assistance(False)
-
-  def test_late_assistance_loading(self):
-    os.system("sudo systemctl stop systemd-resolved")
-
-    managed_processes['qcomgpsd'].start()
-    self._wait_for_output(17)
-    assert self.sm.updated['qcomGnss']
-
-    os.system("sudo systemctl restart systemd-resolved")
-    time.sleep(15)
-    managed_processes['qcomgpsd'].stop()
-    self.check_assistance(True)
+        wait_for_modem()
+        resp = at_cmd("AT+QGPS?")
+        assert "+QGPS: 0" in resp
diff --git a/system/sensord/sensord.py b/system/sensord/sensord.py
index cc0366881b0..ce6fb9ccb24 100755
--- a/system/sensord/sensord.py
+++ b/system/sensord/sensord.py
@@ -7,23 +7,25 @@
 
 import cereal.messaging as messaging
 from cereal.services import SERVICE_LIST
-from openpilot.common.util import sudo_write
+from openpilot.common.utils import sudo_write
 from openpilot.common.realtime import config_realtime_process, Ratekeeper
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.gpio import gpiochip_get_ro_value_fd, gpioevent_data
-from openpilot.system.hardware import HARDWARE
 
 from openpilot.system.sensord.sensors.i2c_sensor import Sensor
 from openpilot.system.sensord.sensors.lsm6ds3_accel import LSM6DS3_Accel
 from openpilot.system.sensord.sensors.lsm6ds3_gyro import LSM6DS3_Gyro
 from openpilot.system.sensord.sensors.lsm6ds3_temp import LSM6DS3_Temp
-from openpilot.system.sensord.sensors.mmc5603nj_magn import MMC5603NJ_Magn
 
 I2C_BUS_IMU = 1
 
 def interrupt_loop(sensors: list[tuple[Sensor, str, bool]], event) -> None:
   pm = messaging.PubMaster([service for sensor, service, interrupt in sensors if interrupt])
 
+  # NOTE: the gyro and accelerometer share an IRQ due to the comma three
+  # routing only one GPIO from the LSM to the SOC, but comma 3X and four
+  # have two. if we want better timestamps in the future, we can use both.
+
   # Requesting both edges as the data ready pulse from the lsm6ds sensor is
   # very short (75us) and is mostly detected as falling edge instead of rising.
   # So if it is detected as rising the following falling edge is skipped.
@@ -97,10 +99,6 @@ def main() -> None:
     (LSM6DS3_Gyro(I2C_BUS_IMU), "gyroscope", True),
     (LSM6DS3_Temp(I2C_BUS_IMU), "temperatureSensor", False),
   ]
-  if HARDWARE.get_device_type() == "tizi":
-    sensors_cfg.append(
-      (MMC5603NJ_Magn(I2C_BUS_IMU), "magnetometer", False),
-    )
 
   # Reset sensors
   for sensor, _, _ in sensors_cfg:
diff --git a/system/sensord/sensors/i2c_sensor.py b/system/sensord/sensors/i2c_sensor.py
index 336ebb1fd39..57edcc52d90 100644
--- a/system/sensord/sensors/i2c_sensor.py
+++ b/system/sensord/sensors/i2c_sensor.py
@@ -1,9 +1,10 @@
 import time
-import smbus2
 import ctypes
 from collections.abc import Iterable
 
 from cereal import log
+from openpilot.common.i2c import SMBus
+
 
 class Sensor:
   class SensorException(Exception):
@@ -13,7 +14,7 @@ class DataNotReady(SensorException):
     pass
 
   def __init__(self, bus: int) -> None:
-    self.bus = smbus2.SMBus(bus)
+    self.bus = SMBus(bus)
     self.source = log.SensorEventData.SensorSource.velodyne  # unknown
     self.start_ts = 0.
 
diff --git a/system/sensord/sensors/lsm6ds3_accel.py b/system/sensord/sensors/lsm6ds3_accel.py
index 43863daa936..761ae828bbd 100644
--- a/system/sensord/sensors/lsm6ds3_accel.py
+++ b/system/sensord/sensors/lsm6ds3_accel.py
@@ -77,13 +77,9 @@ def get_event(self, ts: int | None = None) -> log.SensorEventData:
 
     event = log.SensorEventData.new_message()
     event.timestamp = ts
-    event.version = 1
-    event.sensor = 1  # SENSOR_ACCELEROMETER
-    event.type = 1    # SENSOR_TYPE_ACCELEROMETER
     event.source = self.source
     a = event.init('acceleration')
     a.v = [y, -x, z]
-    a.status = 1
     return event
 
   def shutdown(self) -> None:
diff --git a/system/sensord/sensors/lsm6ds3_gyro.py b/system/sensord/sensors/lsm6ds3_gyro.py
index 60de2bbe02e..654cff9da8d 100644
--- a/system/sensord/sensors/lsm6ds3_gyro.py
+++ b/system/sensord/sensors/lsm6ds3_gyro.py
@@ -73,13 +73,9 @@ def get_event(self, ts: int | None = None) -> log.SensorEventData:
 
     event = log.SensorEventData.new_message()
     event.timestamp = ts
-    event.version = 2
-    event.sensor = 5  # SENSOR_GYRO_UNCALIBRATED
-    event.type = 16   # SENSOR_TYPE_GYROSCOPE_UNCALIBRATED
     event.source = self.source
     g = event.init('gyroUncalibrated')
     g.v = xyz
-    g.status = 1
     return event
 
   def shutdown(self) -> None:
diff --git a/system/sensord/sensors/lsm6ds3_temp.py b/system/sensord/sensors/lsm6ds3_temp.py
index b9bb9fe3da5..ffe970c22cb 100644
--- a/system/sensord/sensors/lsm6ds3_temp.py
+++ b/system/sensord/sensors/lsm6ds3_temp.py
@@ -23,7 +23,6 @@ def init(self):
 
   def get_event(self, ts: int | None = None) -> log.SensorEventData:
     event = log.SensorEventData.new_message()
-    event.version = 1
     event.timestamp = int(time.monotonic() * 1e9)
     event.source = self.source
     event.temperature = self._read_temperature()
diff --git a/system/sensord/sensors/mmc5603nj_magn.py b/system/sensord/sensors/mmc5603nj_magn.py
deleted file mode 100644
index 255e99eb3e3..00000000000
--- a/system/sensord/sensors/mmc5603nj_magn.py
+++ /dev/null
@@ -1,76 +0,0 @@
-import time
-
-from cereal import log
-from openpilot.system.sensord.sensors.i2c_sensor import Sensor
-
-# https://www.mouser.com/datasheet/2/821/Memsic_09102019_Datasheet_Rev.B-1635324.pdf
-
-# Register addresses
-REG_ODR = 0x1A
-REG_INTERNAL_0 = 0x1B
-REG_INTERNAL_1 = 0x1C
-
-# Control register settings
-CMM_FREQ_EN = (1 << 7)
-AUTO_SR_EN  = (1 << 5)
-SET         = (1 << 3)
-RESET       = (1 << 4)
-
-class MMC5603NJ_Magn(Sensor):
-  @property
-  def device_address(self) -> int:
-    return 0x30
-
-  def init(self):
-    self.verify_chip_id(0x39, [0x10, ])
-    self.writes((
-      (REG_ODR, 0),
-
-      # Set BW to 0b01 for 1-150 Hz operation
-      (REG_INTERNAL_1, 0b01),
-    ))
-
-  def _read_data(self, cycle) -> list[float]:
-    # start measurement
-    self.write(REG_INTERNAL_0, cycle)
-    self.wait()
-
-    # read out XYZ
-    scale = 1.0 / 16384.0
-    b = self.read(0x00, 9)
-    return [
-      (self.parse_20bit(b[6], b[1], b[0]) * scale) - 32.0,
-      (self.parse_20bit(b[7], b[3], b[2]) * scale) - 32.0,
-      (self.parse_20bit(b[8], b[5], b[4]) * scale) - 32.0,
-    ]
-
-  def get_event(self, ts: int | None = None) -> log.SensorEventData:
-    ts = time.monotonic_ns()
-
-    # SET - RESET cycle
-    xyz = self._read_data(SET)
-    reset_xyz = self._read_data(RESET)
-    vals = [*xyz, *reset_xyz]
-
-    event = log.SensorEventData.new_message()
-    event.timestamp = ts
-    event.version = 1
-    event.sensor = 3 # SENSOR_MAGNETOMETER_UNCALIBRATED
-    event.type = 14  # SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED
-    event.source = log.SensorEventData.SensorSource.mmc5603nj
-
-    m = event.init('magneticUncalibrated')
-    m.v = vals
-    m.status = int(all(int(v) != -32 for v in vals))
-
-    return event
-
-  def shutdown(self) -> None:
-    v = self.read(REG_INTERNAL_0, 1)[0]
-    self.writes((
-      # disable auto-reset of measurements
-      (REG_INTERNAL_0, (v & (~(CMM_FREQ_EN | AUTO_SR_EN)))),
-
-      # disable continuous mode
-      (REG_ODR, 0),
-    ))
diff --git a/system/sensord/tests/test_sensord.py b/system/sensord/tests/test_sensord.py
index 5e98e122432..3d7d26f9faf 100644
--- a/system/sensord/tests/test_sensord.py
+++ b/system/sensord/tests/test_sensord.py
@@ -5,50 +5,19 @@
 from collections import namedtuple, defaultdict
 
 import cereal.messaging as messaging
-from cereal import log
 from cereal.services import SERVICE_LIST
 from openpilot.common.gpio import get_irqs_for_action
 from openpilot.common.timeout import Timeout
-from openpilot.system.hardware import HARDWARE
 from openpilot.system.manager.process_config import managed_processes
 
-LSM = {
-  ('lsm6ds3', 'acceleration'),
-  ('lsm6ds3', 'gyroUncalibrated'),
-  ('lsm6ds3', 'temperature'),
-}
-LSM_C = {(x[0]+'trc', x[1]) for x in LSM}
-
-MMC = {
-  ('mmc5603nj', 'magneticUncalibrated'),
-}
-
-SENSOR_CONFIGURATIONS: list[set] = {
-  "mici": [LSM, LSM_C],
-  "tizi": [MMC | LSM, MMC | LSM_C],
-  "tici": [LSM, LSM_C, MMC | LSM, MMC | LSM_C],
-}.get(HARDWARE.get_device_type(), [])
-
-Sensor = log.SensorEventData.SensorSource
-SensorConfig = namedtuple('SensorConfig', ['type', 'sanity_min', 'sanity_max'])
-ALL_SENSORS = {
-  Sensor.lsm6ds3: {
-    SensorConfig("acceleration", 5, 15),
-    SensorConfig("gyroUncalibrated", 0, .2),
-    SensorConfig("temperature", 0, 60),
-  },
-
-  Sensor.lsm6ds3trc: {
-    SensorConfig("acceleration", 5, 15),
-    SensorConfig("gyroUncalibrated", 0, .2),
-    SensorConfig("temperature", 0, 60),
-  },
-
-  Sensor.mmc5603nj: {
-    SensorConfig("magneticUncalibrated", 0, 300),
-  }
-}
+SensorConfig = namedtuple('SensorConfig', ['service', 'measurement', 'sanity_min', 'sanity_max', 'std_max'])
 
+SENSOR_CONFIGS = (
+  SensorConfig("accelerometer", "acceleration", 5, 15, 5),
+  SensorConfig("gyroscope", "gyroUncalibrated", 0, .15, 0.5),
+  SensorConfig("temperatureSensor", "temperature", 10, 40, 0.5),  # set for max range of our office
+)
+SENSOR_CONFIGS_BY_MEASUREMENT = {config.measurement: config for config in SENSOR_CONFIGS}
 
 def get_irq_count(irq: int):
   with open(f"/sys/kernel/irq/{irq}/per_cpu_count") as f:
@@ -56,12 +25,11 @@ def get_irq_count(irq: int):
     return sum(per_cpu)
 
 def read_sensor_events(duration_sec):
-  sensor_types = ['accelerometer', 'gyroscope', 'magnetometer', 'temperatureSensor',]
   socks = {}
   poller = messaging.Poller()
   events = defaultdict(list)
-  for stype in sensor_types:
-    socks[stype] = messaging.sub_sock(stype, poller=poller, timeout=100)
+  for config in SENSOR_CONFIGS:
+    socks[config.service] = messaging.sub_sock(config.service, poller=poller, timeout=100)
 
   # wait for sensors to come up
   with Timeout(int(os.environ.get("SENSOR_WAIT", "5")), "sensors didn't come up"):
@@ -76,11 +44,15 @@ def read_sensor_events(duration_sec):
     for s in socks:
       events[s] += messaging.drain_sock(socks[s])
     time.sleep(0.1)
-
   assert sum(map(len, events.values())) != 0, "No sensor events collected!"
 
   return {k: v for k, v in events.items() if len(v) > 0}
 
+def iter_measurements(events):
+  for msgs in events.values():
+    for measurement in msgs:
+      yield measurement, getattr(measurement, measurement.which())
+
 @pytest.mark.tici
 class TestSensord:
   @classmethod
@@ -108,31 +80,19 @@ def teardown_class(cls):
   def teardown_method(self):
     managed_processes["sensord"].stop()
 
-  def test_sensors_present(self):
-    # verify correct sensors configuration
-    seen = set()
-    for etype in self.events:
-      for measurement in self.events[etype]:
-        m = getattr(measurement, measurement.which())
-        seen.add((str(m.source), m.which()))
-
-    assert seen in SENSOR_CONFIGURATIONS
+  def test_all_sensors_present(self):
+    missing = [config.service for config in SENSOR_CONFIGS if config.service not in self.events]
+    assert len(missing) == 0, f"missing sensors: {missing}"
 
   def test_lsm6ds3_timing(self, subtests):
     # verify measurements are sampled and published at 104Hz
 
-    sensor_t = {
-      1: [], # accel
-      5: [], # gyro
-    }
-
-    for measurement in self.events['accelerometer']:
-      m = getattr(measurement, measurement.which())
-      sensor_t[m.sensor].append(m.timestamp)
+    sensor_t = {service: [] for service in ('accelerometer', 'gyroscope')}
 
-    for measurement in self.events['gyroscope']:
-      m = getattr(measurement, measurement.which())
-      sensor_t[m.sensor].append(m.timestamp)
+    for service in sensor_t:
+      for measurement in self.events.get(service, []):
+        m = getattr(measurement, measurement.which())
+        sensor_t[service].append(m.timestamp)
 
     for s, vals in sensor_t.items():
       with subtests.test(sensor=s):
@@ -159,19 +119,16 @@ def test_sensor_frequency(self, subtests):
   def test_logmonottime_timestamp_diff(self):
     # ensure diff between the message logMonotime and sample timestamp is small
 
-    tdiffs = list()
-    for etype in self.events:
-      for measurement in self.events[etype]:
-        m = getattr(measurement, measurement.which())
-
-        # check if gyro and accel timestamps are before logMonoTime
-        if str(m.source).startswith("lsm6ds3") and m.which() != 'temperature':
-          err_msg = f"Timestamp after logMonoTime: {m.timestamp} > {measurement.logMonoTime}"
-          assert m.timestamp < measurement.logMonoTime, err_msg
+    tdiffs = []
+    for measurement, m in iter_measurements(self.events):
+      # check if gyro and accel timestamps are before logMonoTime
+      if str(m.source).startswith("lsm6ds3") and m.which() != 'temperature':
+        err_msg = f"Timestamp after logMonoTime: {m.timestamp} > {measurement.logMonoTime}"
+        assert m.timestamp < measurement.logMonoTime, err_msg
 
-        # negative values might occur, as non interrupt packages created
-        # before the sensor is read
-        tdiffs.append(abs(measurement.logMonoTime - m.timestamp) / 1e6)
+      # negative values might occur, as non interrupt packages created
+      # before the sensor is read
+      tdiffs.append(abs(measurement.logMonoTime - m.timestamp) / 1e6)
 
     # some sensors have a read procedure that will introduce an expected diff on the order of 20ms
     high_delay_diffs = set(filter(lambda d: d >= 25., tdiffs))
@@ -181,32 +138,29 @@ def test_logmonottime_timestamp_diff(self):
     assert avg_diff < 4, f"Avg packet diff: {avg_diff:.1f}ms"
 
   def test_sensor_values(self):
-    sensor_values = dict()
-    for etype in self.events:
-      for measurement in self.events[etype]:
-        m = getattr(measurement, measurement.which())
-        key = (m.source.raw, m.which())
-        values = getattr(m, m.which())
+    sensor_values = defaultdict(list)
+    for _, m in iter_measurements(self.events):
+      key = (m.source.raw, m.which())
+      values = getattr(m, m.which())
 
-        if hasattr(values, 'v'):
-          values = values.v
-        values = np.atleast_1d(values)
-
-        if key in sensor_values:
-          sensor_values[key].append(values)
-        else:
-          sensor_values[key] = [values]
+      if hasattr(values, 'v'):
+        values = values.v
+      sensor_values[key].append(np.atleast_1d(values))
 
     # Sanity check sensor values
-    for sensor, stype in sensor_values:
-      for s in ALL_SENSORS[sensor]:
-        if s.type != stype:
-          continue
+    for (sensor, stype), values in sensor_values.items():
+      config = SENSOR_CONFIGS_BY_MEASUREMENT[stype]
+
+      if config.measurement == 'temperature':
+        measurement_stat = np.mean(values)
+      else:
+        measurement_stat = np.mean(np.linalg.norm(values, axis=1))
+      err_msg = f"Sensor '{sensor} {config.measurement}' failed sanity checks {measurement_stat} is not between {config.sanity_min} and {config.sanity_max}"
+      assert config.sanity_min <= measurement_stat <= config.sanity_max, err_msg
 
-        key = (sensor, s.type)
-        mean_norm = np.mean(np.linalg.norm(sensor_values[key], axis=1))
-        err_msg = f"Sensor '{sensor} {s.type}' failed sanity checks {mean_norm} is not between {s.sanity_min} and {s.sanity_max}"
-        assert s.sanity_min <= mean_norm <= s.sanity_max, err_msg
+      std_dev = np.std(values, axis=0)
+      err_msg = f"Sensor '{sensor} {config.measurement}' failed std dev test {std_dev} is not under {config.std_max}"
+      assert np.all(std_dev <= config.std_max), err_msg
 
   def test_sensor_verify_no_interrupts_after_stop(self):
     managed_processes["sensord"].start()
@@ -228,4 +182,3 @@ def test_sensor_verify_no_interrupts_after_stop(self):
     time.sleep(1)
     state_two = get_irq_count(self.sensord_irq)
     assert state_one == state_two, "Interrupts received after sensord stop!"
-
diff --git a/system/timed.py b/system/timed.py
index b7131b04c07..c74ba51da59 100755
--- a/system/timed.py
+++ b/system/timed.py
@@ -5,7 +5,7 @@
 from typing import NoReturn
 
 import cereal.messaging as messaging
-from openpilot.common.time_helpers import min_date, system_time_valid
+from openpilot.common.time_helpers import min_date, MAX_DATE, system_time_valid
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.params import Params
 from openpilot.common.gps import get_gps_location_service
@@ -52,7 +52,7 @@ def main() -> NoReturn:
       continue
     if not gps.hasFix:
       continue
-    if gps_time < min_date():
+    if gps_time < min_date() or gps_time > MAX_DATE:
       continue
 
     set_time(gps_time)
diff --git a/system/ubloxd/SConscript b/system/ubloxd/SConscript
deleted file mode 100644
index 9eb50760bad..00000000000
--- a/system/ubloxd/SConscript
+++ /dev/null
@@ -1,11 +0,0 @@
-Import('env')
-
-if GetOption('kaitai'):
-  current_dir = Dir('./generated/').srcnode().abspath
-  python_cmd = f"kaitai-struct-compiler --target python --outdir {current_dir} $SOURCES"
-  env.Command(File('./generated/ubx.py'), 'ubx.ksy', python_cmd)
-  env.Command(File('./generated/gps.py'), 'gps.ksy', python_cmd)
-  env.Command(File('./generated/glonass.py'), 'glonass.ksy', python_cmd)
-  # kaitai issue: https://github.com/kaitai-io/kaitai_struct/issues/910
-  py_glonass_fix = env.Command(None, File('./generated/glonass.py'), "sed -i 's/self._io.align_to_byte()/# self._io.align_to_byte()/' $SOURCES")
-  env.Depends(py_glonass_fix, File('./generated/glonass.py'))
diff --git a/system/ubloxd/binary_struct.py b/system/ubloxd/binary_struct.py
new file mode 100644
index 00000000000..c144bd56962
--- /dev/null
+++ b/system/ubloxd/binary_struct.py
@@ -0,0 +1,280 @@
+"""
+Binary struct parsing DSL.
+
+Defines a declarative schema for binary messages using dataclasses
+and type annotations.
+"""
+
+import struct
+from enum import Enum
+from dataclasses import dataclass, is_dataclass
+from typing import Annotated, Any, TypeVar, get_args, get_origin
+
+
+class FieldType:
+  """Base class for field type descriptors."""
+
+
+@dataclass(frozen=True)
+class IntType(FieldType):
+  bits: int
+  signed: bool
+  big_endian: bool = False
+
+@dataclass(frozen=True)
+class FloatType(FieldType):
+  bits: int
+
+@dataclass(frozen=True)
+class BitsType(FieldType):
+  bits: int
+
+@dataclass(frozen=True)
+class BytesType(FieldType):
+  size: int
+
+@dataclass(frozen=True)
+class ArrayType(FieldType):
+  element_type: Any
+  count_field: str
+
+@dataclass(frozen=True)
+class SwitchType(FieldType):
+  selector: str
+  cases: dict[Any, Any]
+  default: Any = None
+
+@dataclass(frozen=True)
+class EnumType(FieldType):
+  base_type: FieldType
+  enum_cls: type[Enum]
+
+@dataclass(frozen=True)
+class ConstType(FieldType):
+  base_type: FieldType
+  expected: Any
+
+@dataclass(frozen=True)
+class SubstreamType(FieldType):
+  length_field: str
+  element_type: Any
+
+# Common types - little endian
+u8 = IntType(8, False)
+u16 = IntType(16, False)
+u32 = IntType(32, False)
+s8 = IntType(8, True)
+s16 = IntType(16, True)
+s32 = IntType(32, True)
+f32 = FloatType(32)
+f64 = FloatType(64)
+# Big endian variants
+u16be = IntType(16, False, big_endian=True)
+u32be = IntType(32, False, big_endian=True)
+s16be = IntType(16, True, big_endian=True)
+s32be = IntType(32, True, big_endian=True)
+
+
+def bits(n: int) -> BitsType:
+  """Create a bit-level field type."""
+  return BitsType(n)
+
+def bytes_field(size: int) -> BytesType:
+  """Create a fixed-size bytes field."""
+  return BytesType(size)
+
+def array(element_type: Any, count_field: str) -> ArrayType:
+  """Create an array/repeated field."""
+  return ArrayType(element_type, count_field)
+
+def switch(selector: str, cases: dict[Any, Any], default: Any = None) -> SwitchType:
+  """Create a switch-on field."""
+  return SwitchType(selector, cases, default)
+
+def enum(base_type: Any, enum_cls: type[Enum]) -> EnumType:
+  """Create an enum-wrapped field."""
+  field_type = _field_type_from_spec(base_type)
+  if field_type is None:
+    raise TypeError(f"Unsupported field type: {base_type!r}")
+  return EnumType(field_type, enum_cls)
+
+def const(base_type: Any, expected: Any) -> ConstType:
+  """Create a constant-value field."""
+  field_type = _field_type_from_spec(base_type)
+  if field_type is None:
+    raise TypeError(f"Unsupported field type: {base_type!r}")
+  return ConstType(field_type, expected)
+
+def substream(length_field: str, element_type: Any) -> SubstreamType:
+  """Parse a fixed-length substream using an inner schema."""
+  return SubstreamType(length_field, element_type)
+
+
+class BinaryReader:
+  def __init__(self, data: bytes):
+    self.data = data
+    self.pos = 0
+    self.bit_pos = 0  # 0-7, position within current byte
+
+  def _require(self, n: int) -> None:
+    if self.pos + n > len(self.data):
+      raise EOFError("Unexpected end of data")
+
+  def _read_struct(self, fmt: str):
+    self._align_to_byte()
+    size = struct.calcsize(fmt)
+    self._require(size)
+    value = struct.unpack_from(fmt, self.data, self.pos)[0]
+    self.pos += size
+    return value
+
+  def read_bytes(self, n: int) -> bytes:
+    self._align_to_byte()
+    self._require(n)
+    result = self.data[self.pos : self.pos + n]
+    self.pos += n
+    return result
+
+  def read_bits_int_be(self, n: int) -> int:
+    result = 0
+    bits_remaining = n
+    while bits_remaining > 0:
+      if self.pos >= len(self.data):
+        raise EOFError("Unexpected end of data while reading bits")
+      bits_in_byte = 8 - self.bit_pos
+      bits_to_read = min(bits_remaining, bits_in_byte)
+      byte_val = self.data[self.pos]
+      shift = bits_in_byte - bits_to_read
+      mask = (1 << bits_to_read) - 1
+      extracted = (byte_val >> shift) & mask
+      result = (result << bits_to_read) | extracted
+      self.bit_pos += bits_to_read
+      bits_remaining -= bits_to_read
+      if self.bit_pos >= 8:
+        self.bit_pos = 0
+        self.pos += 1
+    return result
+
+  def _align_to_byte(self) -> None:
+    if self.bit_pos > 0:
+      self.bit_pos = 0
+      self.pos += 1
+
+
+T = TypeVar('T', bound='BinaryStruct')
+
+
+class BinaryStruct:
+  """Base class for binary struct definitions."""
+
+  def __init_subclass__(cls, **kwargs) -> None:
+    super().__init_subclass__(**kwargs)
+    if cls is BinaryStruct:
+      return
+    if not is_dataclass(cls):
+      dataclass(init=False)(cls)
+    fields = list(getattr(cls, '__annotations__', {}).items())
+    cls.__binary_fields__ = fields
+
+    @classmethod
+    def _read(inner_cls, reader: BinaryReader):
+      obj = inner_cls.__new__(inner_cls)
+      for name, spec in inner_cls.__binary_fields__:
+        value = _parse_field(spec, reader, obj)
+        setattr(obj, name, value)
+      return obj
+
+    cls._read = _read
+
+  @classmethod
+  def from_bytes(cls: type[T], data: bytes) -> T:
+    """Parse struct from bytes."""
+    reader = BinaryReader(data)
+    return cls._read(reader)
+
+  @classmethod
+  def _read(cls: type[T], reader: BinaryReader) -> T:
+    """Override in subclasses to implement parsing."""
+    raise NotImplementedError
+
+
+def _resolve_path(obj: Any, path: str) -> Any:
+  cur = obj
+  for part in path.split('.'):
+    cur = getattr(cur, part)
+  return cur
+
+def _unwrap_annotated(spec: Any) -> tuple[Any, ...]:
+  if get_origin(spec) is Annotated:
+    return get_args(spec)[1:]
+  return ()
+
+def _field_type_from_spec(spec: Any) -> FieldType | None:
+  if isinstance(spec, FieldType):
+    return spec
+  for item in _unwrap_annotated(spec):
+    if isinstance(item, FieldType):
+      return item
+  return None
+
+
+def _int_format(field_type: IntType) -> str:
+  if field_type.bits == 8:
+    return 'b' if field_type.signed else 'B'
+  endian = '>' if field_type.big_endian else '<'
+  if field_type.bits == 16:
+    code = 'h' if field_type.signed else 'H'
+  elif field_type.bits == 32:
+    code = 'i' if field_type.signed else 'I'
+  else:
+    raise ValueError(f"Unsupported integer size: {field_type.bits}")
+  return f"{endian}{code}"
+
+def _float_format(field_type: FloatType) -> str:
+  if field_type.bits == 32:
+    return '<f'
+  if field_type.bits == 64:
+    return '<d'
+  raise ValueError(f"Unsupported float size: {field_type.bits}")
+
+def _parse_field(spec: Any, reader: BinaryReader, obj: Any) -> Any:
+  field_type = _field_type_from_spec(spec)
+  if field_type is not None:
+    spec = field_type
+  if isinstance(spec, ConstType):
+    value = _parse_field(spec.base_type, reader, obj)
+    if value != spec.expected:
+      raise ValueError(f"Invalid constant: expected {spec.expected!r}, got {value!r}")
+    return value
+  if isinstance(spec, EnumType):
+    raw = _parse_field(spec.base_type, reader, obj)
+    try:
+      return spec.enum_cls(raw)
+    except ValueError:
+      return raw
+  if isinstance(spec, SwitchType):
+    key = _resolve_path(obj, spec.selector)
+    target = spec.cases.get(key, spec.default)
+    if target is None:
+      return None
+    return _parse_field(target, reader, obj)
+  if isinstance(spec, ArrayType):
+    count = _resolve_path(obj, spec.count_field)
+    return [_parse_field(spec.element_type, reader, obj) for _ in range(int(count))]
+  if isinstance(spec, SubstreamType):
+    length = _resolve_path(obj, spec.length_field)
+    data = reader.read_bytes(int(length))
+    sub_reader = BinaryReader(data)
+    return _parse_field(spec.element_type, sub_reader, obj)
+  if isinstance(spec, IntType):
+    return reader._read_struct(_int_format(spec))
+  if isinstance(spec, FloatType):
+    return reader._read_struct(_float_format(spec))
+  if isinstance(spec, BitsType):
+    value = reader.read_bits_int_be(spec.bits)
+    return bool(value) if spec.bits == 1 else value
+  if isinstance(spec, BytesType):
+    return reader.read_bytes(spec.size)
+  if isinstance(spec, type) and issubclass(spec, BinaryStruct):
+    return spec._read(reader)
+  raise TypeError(f"Unsupported field spec: {spec!r}")
diff --git a/system/ubloxd/generated/glonass.py b/system/ubloxd/generated/glonass.py
deleted file mode 100644
index 40aa16bb6f1..00000000000
--- a/system/ubloxd/generated/glonass.py
+++ /dev/null
@@ -1,247 +0,0 @@
-# This is a generated file! Please edit source .ksy file and use kaitai-struct-compiler to rebuild
-
-import kaitaistruct
-from kaitaistruct import KaitaiStruct, KaitaiStream, BytesIO
-
-
-if getattr(kaitaistruct, 'API_VERSION', (0, 9)) < (0, 9):
-    raise Exception("Incompatible Kaitai Struct Python API: 0.9 or later is required, but you have %s" % (kaitaistruct.__version__))
-
-class Glonass(KaitaiStruct):
-    def __init__(self, _io, _parent=None, _root=None):
-        self._io = _io
-        self._parent = _parent
-        self._root = _root if _root else self
-        self._read()
-
-    def _read(self):
-        self.idle_chip = self._io.read_bits_int_be(1) != 0
-        self.string_number = self._io.read_bits_int_be(4)
-        # workaround for kaitai bit alignment issue (see glonass_fix.patch for C++)
-        # self._io.align_to_byte()
-        _on = self.string_number
-        if _on == 4:
-            self.data = Glonass.String4(self._io, self, self._root)
-        elif _on == 1:
-            self.data = Glonass.String1(self._io, self, self._root)
-        elif _on == 3:
-            self.data = Glonass.String3(self._io, self, self._root)
-        elif _on == 5:
-            self.data = Glonass.String5(self._io, self, self._root)
-        elif _on == 2:
-            self.data = Glonass.String2(self._io, self, self._root)
-        else:
-            self.data = Glonass.StringNonImmediate(self._io, self, self._root)
-        self.hamming_code = self._io.read_bits_int_be(8)
-        self.pad_1 = self._io.read_bits_int_be(11)
-        self.superframe_number = self._io.read_bits_int_be(16)
-        self.pad_2 = self._io.read_bits_int_be(8)
-        self.frame_number = self._io.read_bits_int_be(8)
-
-    class String4(KaitaiStruct):
-        def __init__(self, _io, _parent=None, _root=None):
-            self._io = _io
-            self._parent = _parent
-            self._root = _root if _root else self
-            self._read()
-
-        def _read(self):
-            self.tau_n_sign = self._io.read_bits_int_be(1) != 0
-            self.tau_n_value = self._io.read_bits_int_be(21)
-            self.delta_tau_n_sign = self._io.read_bits_int_be(1) != 0
-            self.delta_tau_n_value = self._io.read_bits_int_be(4)
-            self.e_n = self._io.read_bits_int_be(5)
-            self.not_used_1 = self._io.read_bits_int_be(14)
-            self.p4 = self._io.read_bits_int_be(1) != 0
-            self.f_t = self._io.read_bits_int_be(4)
-            self.not_used_2 = self._io.read_bits_int_be(3)
-            self.n_t = self._io.read_bits_int_be(11)
-            self.n = self._io.read_bits_int_be(5)
-            self.m = self._io.read_bits_int_be(2)
-
-        @property
-        def tau_n(self):
-            if hasattr(self, '_m_tau_n'):
-                return self._m_tau_n
-
-            self._m_tau_n = ((self.tau_n_value * -1) if self.tau_n_sign else self.tau_n_value)
-            return getattr(self, '_m_tau_n', None)
-
-        @property
-        def delta_tau_n(self):
-            if hasattr(self, '_m_delta_tau_n'):
-                return self._m_delta_tau_n
-
-            self._m_delta_tau_n = ((self.delta_tau_n_value * -1) if self.delta_tau_n_sign else self.delta_tau_n_value)
-            return getattr(self, '_m_delta_tau_n', None)
-
-
-    class StringNonImmediate(KaitaiStruct):
-        def __init__(self, _io, _parent=None, _root=None):
-            self._io = _io
-            self._parent = _parent
-            self._root = _root if _root else self
-            self._read()
-
-        def _read(self):
-            self.data_1 = self._io.read_bits_int_be(64)
-            self.data_2 = self._io.read_bits_int_be(8)
-
-
-    class String5(KaitaiStruct):
-        def __init__(self, _io, _parent=None, _root=None):
-            self._io = _io
-            self._parent = _parent
-            self._root = _root if _root else self
-            self._read()
-
-        def _read(self):
-            self.n_a = self._io.read_bits_int_be(11)
-            self.tau_c = self._io.read_bits_int_be(32)
-            self.not_used = self._io.read_bits_int_be(1) != 0
-            self.n_4 = self._io.read_bits_int_be(5)
-            self.tau_gps = self._io.read_bits_int_be(22)
-            self.l_n = self._io.read_bits_int_be(1) != 0
-
-
-    class String1(KaitaiStruct):
-        def __init__(self, _io, _parent=None, _root=None):
-            self._io = _io
-            self._parent = _parent
-            self._root = _root if _root else self
-            self._read()
-
-        def _read(self):
-            self.not_used = self._io.read_bits_int_be(2)
-            self.p1 = self._io.read_bits_int_be(2)
-            self.t_k = self._io.read_bits_int_be(12)
-            self.x_vel_sign = self._io.read_bits_int_be(1) != 0
-            self.x_vel_value = self._io.read_bits_int_be(23)
-            self.x_accel_sign = self._io.read_bits_int_be(1) != 0
-            self.x_accel_value = self._io.read_bits_int_be(4)
-            self.x_sign = self._io.read_bits_int_be(1) != 0
-            self.x_value = self._io.read_bits_int_be(26)
-
-        @property
-        def x_vel(self):
-            if hasattr(self, '_m_x_vel'):
-                return self._m_x_vel
-
-            self._m_x_vel = ((self.x_vel_value * -1) if self.x_vel_sign else self.x_vel_value)
-            return getattr(self, '_m_x_vel', None)
-
-        @property
-        def x_accel(self):
-            if hasattr(self, '_m_x_accel'):
-                return self._m_x_accel
-
-            self._m_x_accel = ((self.x_accel_value * -1) if self.x_accel_sign else self.x_accel_value)
-            return getattr(self, '_m_x_accel', None)
-
-        @property
-        def x(self):
-            if hasattr(self, '_m_x'):
-                return self._m_x
-
-            self._m_x = ((self.x_value * -1) if self.x_sign else self.x_value)
-            return getattr(self, '_m_x', None)
-
-
-    class String2(KaitaiStruct):
-        def __init__(self, _io, _parent=None, _root=None):
-            self._io = _io
-            self._parent = _parent
-            self._root = _root if _root else self
-            self._read()
-
-        def _read(self):
-            self.b_n = self._io.read_bits_int_be(3)
-            self.p2 = self._io.read_bits_int_be(1) != 0
-            self.t_b = self._io.read_bits_int_be(7)
-            self.not_used = self._io.read_bits_int_be(5)
-            self.y_vel_sign = self._io.read_bits_int_be(1) != 0
-            self.y_vel_value = self._io.read_bits_int_be(23)
-            self.y_accel_sign = self._io.read_bits_int_be(1) != 0
-            self.y_accel_value = self._io.read_bits_int_be(4)
-            self.y_sign = self._io.read_bits_int_be(1) != 0
-            self.y_value = self._io.read_bits_int_be(26)
-
-        @property
-        def y_vel(self):
-            if hasattr(self, '_m_y_vel'):
-                return self._m_y_vel
-
-            self._m_y_vel = ((self.y_vel_value * -1) if self.y_vel_sign else self.y_vel_value)
-            return getattr(self, '_m_y_vel', None)
-
-        @property
-        def y_accel(self):
-            if hasattr(self, '_m_y_accel'):
-                return self._m_y_accel
-
-            self._m_y_accel = ((self.y_accel_value * -1) if self.y_accel_sign else self.y_accel_value)
-            return getattr(self, '_m_y_accel', None)
-
-        @property
-        def y(self):
-            if hasattr(self, '_m_y'):
-                return self._m_y
-
-            self._m_y = ((self.y_value * -1) if self.y_sign else self.y_value)
-            return getattr(self, '_m_y', None)
-
-
-    class String3(KaitaiStruct):
-        def __init__(self, _io, _parent=None, _root=None):
-            self._io = _io
-            self._parent = _parent
-            self._root = _root if _root else self
-            self._read()
-
-        def _read(self):
-            self.p3 = self._io.read_bits_int_be(1) != 0
-            self.gamma_n_sign = self._io.read_bits_int_be(1) != 0
-            self.gamma_n_value = self._io.read_bits_int_be(10)
-            self.not_used = self._io.read_bits_int_be(1) != 0
-            self.p = self._io.read_bits_int_be(2)
-            self.l_n = self._io.read_bits_int_be(1) != 0
-            self.z_vel_sign = self._io.read_bits_int_be(1) != 0
-            self.z_vel_value = self._io.read_bits_int_be(23)
-            self.z_accel_sign = self._io.read_bits_int_be(1) != 0
-            self.z_accel_value = self._io.read_bits_int_be(4)
-            self.z_sign = self._io.read_bits_int_be(1) != 0
-            self.z_value = self._io.read_bits_int_be(26)
-
-        @property
-        def gamma_n(self):
-            if hasattr(self, '_m_gamma_n'):
-                return self._m_gamma_n
-
-            self._m_gamma_n = ((self.gamma_n_value * -1) if self.gamma_n_sign else self.gamma_n_value)
-            return getattr(self, '_m_gamma_n', None)
-
-        @property
-        def z_vel(self):
-            if hasattr(self, '_m_z_vel'):
-                return self._m_z_vel
-
-            self._m_z_vel = ((self.z_vel_value * -1) if self.z_vel_sign else self.z_vel_value)
-            return getattr(self, '_m_z_vel', None)
-
-        @property
-        def z_accel(self):
-            if hasattr(self, '_m_z_accel'):
-                return self._m_z_accel
-
-            self._m_z_accel = ((self.z_accel_value * -1) if self.z_accel_sign else self.z_accel_value)
-            return getattr(self, '_m_z_accel', None)
-
-        @property
-        def z(self):
-            if hasattr(self, '_m_z'):
-                return self._m_z
-
-            self._m_z = ((self.z_value * -1) if self.z_sign else self.z_value)
-            return getattr(self, '_m_z', None)
-
-
diff --git a/system/ubloxd/generated/gps.py b/system/ubloxd/generated/gps.py
deleted file mode 100644
index a999016f3ed..00000000000
--- a/system/ubloxd/generated/gps.py
+++ /dev/null
@@ -1,193 +0,0 @@
-# This is a generated file! Please edit source .ksy file and use kaitai-struct-compiler to rebuild
-
-import kaitaistruct
-from kaitaistruct import KaitaiStruct, KaitaiStream, BytesIO
-
-
-if getattr(kaitaistruct, 'API_VERSION', (0, 9)) < (0, 9):
-    raise Exception("Incompatible Kaitai Struct Python API: 0.9 or later is required, but you have %s" % (kaitaistruct.__version__))
-
-class Gps(KaitaiStruct):
-    def __init__(self, _io, _parent=None, _root=None):
-        self._io = _io
-        self._parent = _parent
-        self._root = _root if _root else self
-        self._read()
-
-    def _read(self):
-        self.tlm = Gps.Tlm(self._io, self, self._root)
-        self.how = Gps.How(self._io, self, self._root)
-        _on = self.how.subframe_id
-        if _on == 1:
-            self.body = Gps.Subframe1(self._io, self, self._root)
-        elif _on == 2:
-            self.body = Gps.Subframe2(self._io, self, self._root)
-        elif _on == 3:
-            self.body = Gps.Subframe3(self._io, self, self._root)
-        elif _on == 4:
-            self.body = Gps.Subframe4(self._io, self, self._root)
-
-    class Subframe1(KaitaiStruct):
-        def __init__(self, _io, _parent=None, _root=None):
-            self._io = _io
-            self._parent = _parent
-            self._root = _root if _root else self
-            self._read()
-
-        def _read(self):
-            self.week_no = self._io.read_bits_int_be(10)
-            self.code = self._io.read_bits_int_be(2)
-            self.sv_accuracy = self._io.read_bits_int_be(4)
-            self.sv_health = self._io.read_bits_int_be(6)
-            self.iodc_msb = self._io.read_bits_int_be(2)
-            self.l2_p_data_flag = self._io.read_bits_int_be(1) != 0
-            self.reserved1 = self._io.read_bits_int_be(23)
-            self.reserved2 = self._io.read_bits_int_be(24)
-            self.reserved3 = self._io.read_bits_int_be(24)
-            self.reserved4 = self._io.read_bits_int_be(16)
-            self._io.align_to_byte()
-            self.t_gd = self._io.read_s1()
-            self.iodc_lsb = self._io.read_u1()
-            self.t_oc = self._io.read_u2be()
-            self.af_2 = self._io.read_s1()
-            self.af_1 = self._io.read_s2be()
-            self.af_0_sign = self._io.read_bits_int_be(1) != 0
-            self.af_0_value = self._io.read_bits_int_be(21)
-            self.reserved5 = self._io.read_bits_int_be(2)
-
-        @property
-        def af_0(self):
-            if hasattr(self, '_m_af_0'):
-                return self._m_af_0
-
-            self._m_af_0 = ((self.af_0_value - (1 << 21)) if self.af_0_sign else self.af_0_value)
-            return getattr(self, '_m_af_0', None)
-
-
-    class Subframe3(KaitaiStruct):
-        def __init__(self, _io, _parent=None, _root=None):
-            self._io = _io
-            self._parent = _parent
-            self._root = _root if _root else self
-            self._read()
-
-        def _read(self):
-            self.c_ic = self._io.read_s2be()
-            self.omega_0 = self._io.read_s4be()
-            self.c_is = self._io.read_s2be()
-            self.i_0 = self._io.read_s4be()
-            self.c_rc = self._io.read_s2be()
-            self.omega = self._io.read_s4be()
-            self.omega_dot_sign = self._io.read_bits_int_be(1) != 0
-            self.omega_dot_value = self._io.read_bits_int_be(23)
-            self._io.align_to_byte()
-            self.iode = self._io.read_u1()
-            self.idot_sign = self._io.read_bits_int_be(1) != 0
-            self.idot_value = self._io.read_bits_int_be(13)
-            self.reserved = self._io.read_bits_int_be(2)
-
-        @property
-        def omega_dot(self):
-            if hasattr(self, '_m_omega_dot'):
-                return self._m_omega_dot
-
-            self._m_omega_dot = ((self.omega_dot_value - (1 << 23)) if self.omega_dot_sign else self.omega_dot_value)
-            return getattr(self, '_m_omega_dot', None)
-
-        @property
-        def idot(self):
-            if hasattr(self, '_m_idot'):
-                return self._m_idot
-
-            self._m_idot = ((self.idot_value - (1 << 13)) if self.idot_sign else self.idot_value)
-            return getattr(self, '_m_idot', None)
-
-
-    class Subframe4(KaitaiStruct):
-        def __init__(self, _io, _parent=None, _root=None):
-            self._io = _io
-            self._parent = _parent
-            self._root = _root if _root else self
-            self._read()
-
-        def _read(self):
-            self.data_id = self._io.read_bits_int_be(2)
-            self.page_id = self._io.read_bits_int_be(6)
-            self._io.align_to_byte()
-            _on = self.page_id
-            if _on == 56:
-                self.body = Gps.Subframe4.IonosphereData(self._io, self, self._root)
-
-        class IonosphereData(KaitaiStruct):
-            def __init__(self, _io, _parent=None, _root=None):
-                self._io = _io
-                self._parent = _parent
-                self._root = _root if _root else self
-                self._read()
-
-            def _read(self):
-                self.a0 = self._io.read_s1()
-                self.a1 = self._io.read_s1()
-                self.a2 = self._io.read_s1()
-                self.a3 = self._io.read_s1()
-                self.b0 = self._io.read_s1()
-                self.b1 = self._io.read_s1()
-                self.b2 = self._io.read_s1()
-                self.b3 = self._io.read_s1()
-
-
-
-    class How(KaitaiStruct):
-        def __init__(self, _io, _parent=None, _root=None):
-            self._io = _io
-            self._parent = _parent
-            self._root = _root if _root else self
-            self._read()
-
-        def _read(self):
-            self.tow_count = self._io.read_bits_int_be(17)
-            self.alert = self._io.read_bits_int_be(1) != 0
-            self.anti_spoof = self._io.read_bits_int_be(1) != 0
-            self.subframe_id = self._io.read_bits_int_be(3)
-            self.reserved = self._io.read_bits_int_be(2)
-
-
-    class Tlm(KaitaiStruct):
-        def __init__(self, _io, _parent=None, _root=None):
-            self._io = _io
-            self._parent = _parent
-            self._root = _root if _root else self
-            self._read()
-
-        def _read(self):
-            self.preamble = self._io.read_bytes(1)
-            if not self.preamble == b"\x8B":
-                raise kaitaistruct.ValidationNotEqualError(b"\x8B", self.preamble, self._io, u"/types/tlm/seq/0")
-            self.tlm = self._io.read_bits_int_be(14)
-            self.integrity_status = self._io.read_bits_int_be(1) != 0
-            self.reserved = self._io.read_bits_int_be(1) != 0
-
-
-    class Subframe2(KaitaiStruct):
-        def __init__(self, _io, _parent=None, _root=None):
-            self._io = _io
-            self._parent = _parent
-            self._root = _root if _root else self
-            self._read()
-
-        def _read(self):
-            self.iode = self._io.read_u1()
-            self.c_rs = self._io.read_s2be()
-            self.delta_n = self._io.read_s2be()
-            self.m_0 = self._io.read_s4be()
-            self.c_uc = self._io.read_s2be()
-            self.e = self._io.read_s4be()
-            self.c_us = self._io.read_s2be()
-            self.sqrt_a = self._io.read_u4be()
-            self.t_oe = self._io.read_u2be()
-            self.fit_interval_flag = self._io.read_bits_int_be(1) != 0
-            self.aoda = self._io.read_bits_int_be(5)
-            self.reserved = self._io.read_bits_int_be(2)
-
-
-
diff --git a/system/ubloxd/generated/ubx.py b/system/ubloxd/generated/ubx.py
deleted file mode 100644
index 99465843881..00000000000
--- a/system/ubloxd/generated/ubx.py
+++ /dev/null
@@ -1,273 +0,0 @@
-# This is a generated file! Please edit source .ksy file and use kaitai-struct-compiler to rebuild
-
-import kaitaistruct
-from kaitaistruct import KaitaiStruct, KaitaiStream, BytesIO
-from enum import Enum
-
-
-if getattr(kaitaistruct, 'API_VERSION', (0, 9)) < (0, 9):
-    raise Exception("Incompatible Kaitai Struct Python API: 0.9 or later is required, but you have %s" % (kaitaistruct.__version__))
-
-class Ubx(KaitaiStruct):
-
-    class GnssType(Enum):
-        gps = 0
-        sbas = 1
-        galileo = 2
-        beidou = 3
-        imes = 4
-        qzss = 5
-        glonass = 6
-    def __init__(self, _io, _parent=None, _root=None):
-        self._io = _io
-        self._parent = _parent
-        self._root = _root if _root else self
-        self._read()
-
-    def _read(self):
-        self.magic = self._io.read_bytes(2)
-        if not self.magic == b"\xB5\x62":
-            raise kaitaistruct.ValidationNotEqualError(b"\xB5\x62", self.magic, self._io, u"/seq/0")
-        self.msg_type = self._io.read_u2be()
-        self.length = self._io.read_u2le()
-        _on = self.msg_type
-        if _on == 2569:
-            self.body = Ubx.MonHw(self._io, self, self._root)
-        elif _on == 533:
-            self.body = Ubx.RxmRawx(self._io, self, self._root)
-        elif _on == 531:
-            self.body = Ubx.RxmSfrbx(self._io, self, self._root)
-        elif _on == 309:
-            self.body = Ubx.NavSat(self._io, self, self._root)
-        elif _on == 2571:
-            self.body = Ubx.MonHw2(self._io, self, self._root)
-        elif _on == 263:
-            self.body = Ubx.NavPvt(self._io, self, self._root)
-
-    class RxmRawx(KaitaiStruct):
-        def __init__(self, _io, _parent=None, _root=None):
-            self._io = _io
-            self._parent = _parent
-            self._root = _root if _root else self
-            self._read()
-
-        def _read(self):
-            self.rcv_tow = self._io.read_f8le()
-            self.week = self._io.read_u2le()
-            self.leap_s = self._io.read_s1()
-            self.num_meas = self._io.read_u1()
-            self.rec_stat = self._io.read_u1()
-            self.reserved1 = self._io.read_bytes(3)
-            self._raw_meas = []
-            self.meas = []
-            for i in range(self.num_meas):
-                self._raw_meas.append(self._io.read_bytes(32))
-                _io__raw_meas = KaitaiStream(BytesIO(self._raw_meas[i]))
-                self.meas.append(Ubx.RxmRawx.Measurement(_io__raw_meas, self, self._root))
-
-
-        class Measurement(KaitaiStruct):
-            def __init__(self, _io, _parent=None, _root=None):
-                self._io = _io
-                self._parent = _parent
-                self._root = _root if _root else self
-                self._read()
-
-            def _read(self):
-                self.pr_mes = self._io.read_f8le()
-                self.cp_mes = self._io.read_f8le()
-                self.do_mes = self._io.read_f4le()
-                self.gnss_id = KaitaiStream.resolve_enum(Ubx.GnssType, self._io.read_u1())
-                self.sv_id = self._io.read_u1()
-                self.reserved2 = self._io.read_bytes(1)
-                self.freq_id = self._io.read_u1()
-                self.lock_time = self._io.read_u2le()
-                self.cno = self._io.read_u1()
-                self.pr_stdev = self._io.read_u1()
-                self.cp_stdev = self._io.read_u1()
-                self.do_stdev = self._io.read_u1()
-                self.trk_stat = self._io.read_u1()
-                self.reserved3 = self._io.read_bytes(1)
-
-
-
-    class RxmSfrbx(KaitaiStruct):
-        def __init__(self, _io, _parent=None, _root=None):
-            self._io = _io
-            self._parent = _parent
-            self._root = _root if _root else self
-            self._read()
-
-        def _read(self):
-            self.gnss_id = KaitaiStream.resolve_enum(Ubx.GnssType, self._io.read_u1())
-            self.sv_id = self._io.read_u1()
-            self.reserved1 = self._io.read_bytes(1)
-            self.freq_id = self._io.read_u1()
-            self.num_words = self._io.read_u1()
-            self.reserved2 = self._io.read_bytes(1)
-            self.version = self._io.read_u1()
-            self.reserved3 = self._io.read_bytes(1)
-            self.body = []
-            for i in range(self.num_words):
-                self.body.append(self._io.read_u4le())
-
-
-
-    class NavSat(KaitaiStruct):
-        def __init__(self, _io, _parent=None, _root=None):
-            self._io = _io
-            self._parent = _parent
-            self._root = _root if _root else self
-            self._read()
-
-        def _read(self):
-            self.itow = self._io.read_u4le()
-            self.version = self._io.read_u1()
-            self.num_svs = self._io.read_u1()
-            self.reserved = self._io.read_bytes(2)
-            self._raw_svs = []
-            self.svs = []
-            for i in range(self.num_svs):
-                self._raw_svs.append(self._io.read_bytes(12))
-                _io__raw_svs = KaitaiStream(BytesIO(self._raw_svs[i]))
-                self.svs.append(Ubx.NavSat.Nav(_io__raw_svs, self, self._root))
-
-
-        class Nav(KaitaiStruct):
-            def __init__(self, _io, _parent=None, _root=None):
-                self._io = _io
-                self._parent = _parent
-                self._root = _root if _root else self
-                self._read()
-
-            def _read(self):
-                self.gnss_id = KaitaiStream.resolve_enum(Ubx.GnssType, self._io.read_u1())
-                self.sv_id = self._io.read_u1()
-                self.cno = self._io.read_u1()
-                self.elev = self._io.read_s1()
-                self.azim = self._io.read_s2le()
-                self.pr_res = self._io.read_s2le()
-                self.flags = self._io.read_u4le()
-
-
-
-    class NavPvt(KaitaiStruct):
-        def __init__(self, _io, _parent=None, _root=None):
-            self._io = _io
-            self._parent = _parent
-            self._root = _root if _root else self
-            self._read()
-
-        def _read(self):
-            self.i_tow = self._io.read_u4le()
-            self.year = self._io.read_u2le()
-            self.month = self._io.read_u1()
-            self.day = self._io.read_u1()
-            self.hour = self._io.read_u1()
-            self.min = self._io.read_u1()
-            self.sec = self._io.read_u1()
-            self.valid = self._io.read_u1()
-            self.t_acc = self._io.read_u4le()
-            self.nano = self._io.read_s4le()
-            self.fix_type = self._io.read_u1()
-            self.flags = self._io.read_u1()
-            self.flags2 = self._io.read_u1()
-            self.num_sv = self._io.read_u1()
-            self.lon = self._io.read_s4le()
-            self.lat = self._io.read_s4le()
-            self.height = self._io.read_s4le()
-            self.h_msl = self._io.read_s4le()
-            self.h_acc = self._io.read_u4le()
-            self.v_acc = self._io.read_u4le()
-            self.vel_n = self._io.read_s4le()
-            self.vel_e = self._io.read_s4le()
-            self.vel_d = self._io.read_s4le()
-            self.g_speed = self._io.read_s4le()
-            self.head_mot = self._io.read_s4le()
-            self.s_acc = self._io.read_s4le()
-            self.head_acc = self._io.read_u4le()
-            self.p_dop = self._io.read_u2le()
-            self.flags3 = self._io.read_u1()
-            self.reserved1 = self._io.read_bytes(5)
-            self.head_veh = self._io.read_s4le()
-            self.mag_dec = self._io.read_s2le()
-            self.mag_acc = self._io.read_u2le()
-
-
-    class MonHw2(KaitaiStruct):
-
-        class ConfigSource(Enum):
-            flash = 102
-            otp = 111
-            config_pins = 112
-            rom = 113
-        def __init__(self, _io, _parent=None, _root=None):
-            self._io = _io
-            self._parent = _parent
-            self._root = _root if _root else self
-            self._read()
-
-        def _read(self):
-            self.ofs_i = self._io.read_s1()
-            self.mag_i = self._io.read_u1()
-            self.ofs_q = self._io.read_s1()
-            self.mag_q = self._io.read_u1()
-            self.cfg_source = KaitaiStream.resolve_enum(Ubx.MonHw2.ConfigSource, self._io.read_u1())
-            self.reserved1 = self._io.read_bytes(3)
-            self.low_lev_cfg = self._io.read_u4le()
-            self.reserved2 = self._io.read_bytes(8)
-            self.post_status = self._io.read_u4le()
-            self.reserved3 = self._io.read_bytes(4)
-
-
-    class MonHw(KaitaiStruct):
-
-        class AntennaStatus(Enum):
-            init = 0
-            dontknow = 1
-            ok = 2
-            short = 3
-            open = 4
-
-        class AntennaPower(Enum):
-            false = 0
-            true = 1
-            dontknow = 2
-        def __init__(self, _io, _parent=None, _root=None):
-            self._io = _io
-            self._parent = _parent
-            self._root = _root if _root else self
-            self._read()
-
-        def _read(self):
-            self.pin_sel = self._io.read_u4le()
-            self.pin_bank = self._io.read_u4le()
-            self.pin_dir = self._io.read_u4le()
-            self.pin_val = self._io.read_u4le()
-            self.noise_per_ms = self._io.read_u2le()
-            self.agc_cnt = self._io.read_u2le()
-            self.a_status = KaitaiStream.resolve_enum(Ubx.MonHw.AntennaStatus, self._io.read_u1())
-            self.a_power = KaitaiStream.resolve_enum(Ubx.MonHw.AntennaPower, self._io.read_u1())
-            self.flags = self._io.read_u1()
-            self.reserved1 = self._io.read_bytes(1)
-            self.used_mask = self._io.read_u4le()
-            self.vp = self._io.read_bytes(17)
-            self.jam_ind = self._io.read_u1()
-            self.reserved2 = self._io.read_bytes(2)
-            self.pin_irq = self._io.read_u4le()
-            self.pull_h = self._io.read_u4le()
-            self.pull_l = self._io.read_u4le()
-
-
-    @property
-    def checksum(self):
-        if hasattr(self, '_m_checksum'):
-            return self._m_checksum
-
-        _pos = self._io.pos()
-        self._io.seek((self.length + 6))
-        self._m_checksum = self._io.read_u2le()
-        self._io.seek(_pos)
-        return getattr(self, '_m_checksum', None)
-
-
diff --git a/system/ubloxd/glonass.ksy b/system/ubloxd/glonass.ksy
deleted file mode 100644
index be99f6e497a..00000000000
--- a/system/ubloxd/glonass.ksy
+++ /dev/null
@@ -1,176 +0,0 @@
-# http://gauss.gge.unb.ca/GLONASS.ICD.pdf
-# some variables are misprinted but good in the old doc
-# https://www.unavco.org/help/glossary/docs/ICD_GLONASS_4.0_(1998)_en.pdf
-meta:
-  id: glonass
-  endian: be
-  bit-endian: be
-seq:
-  - id: idle_chip
-    type: b1
-  - id: string_number
-    type: b4
-  - id: data
-    type:
-      switch-on: string_number
-      cases:
-        1: string_1
-        2: string_2
-        3: string_3
-        4: string_4
-        5: string_5
-        _: string_non_immediate
-  - id: hamming_code
-    type: b8
-  - id: pad_1
-    type: b11
-  - id: superframe_number
-    type: b16
-  - id: pad_2
-    type: b8
-  - id: frame_number
-    type: b8
-
-types:
-  string_1:
-    seq:
-      - id: not_used
-        type: b2
-      - id: p1
-        type: b2
-      - id: t_k
-        type: b12
-      - id: x_vel_sign
-        type: b1
-      - id: x_vel_value
-        type: b23
-      - id: x_accel_sign
-        type: b1
-      - id: x_accel_value
-        type: b4
-      - id: x_sign
-        type: b1
-      - id: x_value
-        type: b26
-    instances:
-      x_vel:
-        value: 'x_vel_sign ? (x_vel_value * (-1)) : x_vel_value'
-      x_accel:
-        value: 'x_accel_sign ? (x_accel_value * (-1)) : x_accel_value'
-      x:
-        value: 'x_sign ? (x_value * (-1)) : x_value'
-  string_2:
-    seq:
-      - id: b_n
-        type: b3
-      - id: p2
-        type: b1
-      - id: t_b
-        type: b7
-      - id: not_used
-        type: b5
-      - id: y_vel_sign
-        type: b1
-      - id: y_vel_value
-        type: b23
-      - id: y_accel_sign
-        type: b1
-      - id: y_accel_value
-        type: b4
-      - id: y_sign
-        type: b1
-      - id: y_value
-        type: b26
-    instances:
-      y_vel:
-        value: 'y_vel_sign ? (y_vel_value * (-1)) : y_vel_value'
-      y_accel:
-        value: 'y_accel_sign ? (y_accel_value * (-1)) : y_accel_value'
-      y:
-        value: 'y_sign ? (y_value * (-1)) : y_value'
-  string_3:
-    seq:
-      - id: p3
-        type: b1
-      - id: gamma_n_sign
-        type: b1
-      - id: gamma_n_value
-        type: b10
-      - id: not_used
-        type: b1
-      - id: p
-        type: b2
-      - id: l_n
-        type: b1
-      - id: z_vel_sign
-        type: b1
-      - id: z_vel_value
-        type: b23
-      - id: z_accel_sign
-        type: b1
-      - id: z_accel_value
-        type: b4
-      - id: z_sign
-        type: b1
-      - id: z_value
-        type: b26
-    instances:
-      gamma_n:
-        value: 'gamma_n_sign ? (gamma_n_value * (-1)) : gamma_n_value'
-      z_vel:
-        value: 'z_vel_sign ? (z_vel_value * (-1)) : z_vel_value'
-      z_accel:
-        value: 'z_accel_sign ? (z_accel_value * (-1)) : z_accel_value'
-      z:
-        value: 'z_sign ? (z_value * (-1)) : z_value'
-  string_4:
-    seq:
-      - id: tau_n_sign
-        type: b1
-      - id: tau_n_value
-        type: b21
-      - id: delta_tau_n_sign
-        type: b1
-      - id: delta_tau_n_value
-        type: b4
-      - id: e_n
-        type: b5
-      - id: not_used_1
-        type: b14
-      - id: p4
-        type: b1
-      - id: f_t
-        type: b4
-      - id: not_used_2
-        type: b3
-      - id: n_t
-        type: b11
-      - id: n
-        type: b5
-      - id: m
-        type: b2
-    instances:
-      tau_n:
-        value: 'tau_n_sign ? (tau_n_value * (-1)) : tau_n_value'
-      delta_tau_n:
-        value: 'delta_tau_n_sign ? (delta_tau_n_value * (-1)) : delta_tau_n_value'
-  string_5:
-    seq:
-      - id: n_a
-        type: b11
-      - id: tau_c
-        type: b32
-      - id: not_used
-        type: b1
-      - id: n_4
-        type: b5
-      - id: tau_gps
-        type: b22
-      - id: l_n
-        type: b1
-  string_non_immediate:
-    seq:
-      - id: data_1
-        type: b64
-      - id: data_2
-        type: b8
diff --git a/system/ubloxd/glonass.py b/system/ubloxd/glonass.py
new file mode 100644
index 00000000000..144ccdde6e2
--- /dev/null
+++ b/system/ubloxd/glonass.py
@@ -0,0 +1,156 @@
+"""
+Parses GLONASS navigation strings per GLONASS ICD specification.
+http://gauss.gge.unb.ca/GLONASS.ICD.pdf
+https://www.unavco.org/help/glossary/docs/ICD_GLONASS_4.0_(1998)_en.pdf
+"""
+
+from typing import Annotated
+
+from openpilot.system.ubloxd import binary_struct as bs
+
+
+class Glonass(bs.BinaryStruct):
+  class String1(bs.BinaryStruct):
+    not_used: Annotated[int, bs.bits(2)]
+    p1: Annotated[int, bs.bits(2)]
+    t_k: Annotated[int, bs.bits(12)]
+    x_vel_sign: Annotated[bool, bs.bits(1)]
+    x_vel_value: Annotated[int, bs.bits(23)]
+    x_accel_sign: Annotated[bool, bs.bits(1)]
+    x_accel_value: Annotated[int, bs.bits(4)]
+    x_sign: Annotated[bool, bs.bits(1)]
+    x_value: Annotated[int, bs.bits(26)]
+
+    @property
+    def x_vel(self) -> int:
+      """Computed x_vel from sign-magnitude representation."""
+      return (self.x_vel_value * -1) if self.x_vel_sign else self.x_vel_value
+
+    @property
+    def x_accel(self) -> int:
+      """Computed x_accel from sign-magnitude representation."""
+      return (self.x_accel_value * -1) if self.x_accel_sign else self.x_accel_value
+
+    @property
+    def x(self) -> int:
+      """Computed x from sign-magnitude representation."""
+      return (self.x_value * -1) if self.x_sign else self.x_value
+
+  class String2(bs.BinaryStruct):
+    b_n: Annotated[int, bs.bits(3)]
+    p2: Annotated[bool, bs.bits(1)]
+    t_b: Annotated[int, bs.bits(7)]
+    not_used: Annotated[int, bs.bits(5)]
+    y_vel_sign: Annotated[bool, bs.bits(1)]
+    y_vel_value: Annotated[int, bs.bits(23)]
+    y_accel_sign: Annotated[bool, bs.bits(1)]
+    y_accel_value: Annotated[int, bs.bits(4)]
+    y_sign: Annotated[bool, bs.bits(1)]
+    y_value: Annotated[int, bs.bits(26)]
+
+    @property
+    def y_vel(self) -> int:
+      """Computed y_vel from sign-magnitude representation."""
+      return (self.y_vel_value * -1) if self.y_vel_sign else self.y_vel_value
+
+    @property
+    def y_accel(self) -> int:
+      """Computed y_accel from sign-magnitude representation."""
+      return (self.y_accel_value * -1) if self.y_accel_sign else self.y_accel_value
+
+    @property
+    def y(self) -> int:
+      """Computed y from sign-magnitude representation."""
+      return (self.y_value * -1) if self.y_sign else self.y_value
+
+  class String3(bs.BinaryStruct):
+    p3: Annotated[bool, bs.bits(1)]
+    gamma_n_sign: Annotated[bool, bs.bits(1)]
+    gamma_n_value: Annotated[int, bs.bits(10)]
+    not_used: Annotated[bool, bs.bits(1)]
+    p: Annotated[int, bs.bits(2)]
+    l_n: Annotated[bool, bs.bits(1)]
+    z_vel_sign: Annotated[bool, bs.bits(1)]
+    z_vel_value: Annotated[int, bs.bits(23)]
+    z_accel_sign: Annotated[bool, bs.bits(1)]
+    z_accel_value: Annotated[int, bs.bits(4)]
+    z_sign: Annotated[bool, bs.bits(1)]
+    z_value: Annotated[int, bs.bits(26)]
+
+    @property
+    def gamma_n(self) -> int:
+      """Computed gamma_n from sign-magnitude representation."""
+      return (self.gamma_n_value * -1) if self.gamma_n_sign else self.gamma_n_value
+
+    @property
+    def z_vel(self) -> int:
+      """Computed z_vel from sign-magnitude representation."""
+      return (self.z_vel_value * -1) if self.z_vel_sign else self.z_vel_value
+
+    @property
+    def z_accel(self) -> int:
+      """Computed z_accel from sign-magnitude representation."""
+      return (self.z_accel_value * -1) if self.z_accel_sign else self.z_accel_value
+
+    @property
+    def z(self) -> int:
+      """Computed z from sign-magnitude representation."""
+      return (self.z_value * -1) if self.z_sign else self.z_value
+
+  class String4(bs.BinaryStruct):
+    tau_n_sign: Annotated[bool, bs.bits(1)]
+    tau_n_value: Annotated[int, bs.bits(21)]
+    delta_tau_n_sign: Annotated[bool, bs.bits(1)]
+    delta_tau_n_value: Annotated[int, bs.bits(4)]
+    e_n: Annotated[int, bs.bits(5)]
+    not_used_1: Annotated[int, bs.bits(14)]
+    p4: Annotated[bool, bs.bits(1)]
+    f_t: Annotated[int, bs.bits(4)]
+    not_used_2: Annotated[int, bs.bits(3)]
+    n_t: Annotated[int, bs.bits(11)]
+    n: Annotated[int, bs.bits(5)]
+    m: Annotated[int, bs.bits(2)]
+
+    @property
+    def tau_n(self) -> int:
+      """Computed tau_n from sign-magnitude representation."""
+      return (self.tau_n_value * -1) if self.tau_n_sign else self.tau_n_value
+
+    @property
+    def delta_tau_n(self) -> int:
+      """Computed delta_tau_n from sign-magnitude representation."""
+      return (self.delta_tau_n_value * -1) if self.delta_tau_n_sign else self.delta_tau_n_value
+
+  class String5(bs.BinaryStruct):
+    n_a: Annotated[int, bs.bits(11)]
+    tau_c: Annotated[int, bs.bits(32)]
+    not_used: Annotated[bool, bs.bits(1)]
+    n_4: Annotated[int, bs.bits(5)]
+    tau_gps: Annotated[int, bs.bits(22)]
+    l_n: Annotated[bool, bs.bits(1)]
+
+  class StringNonImmediate(bs.BinaryStruct):
+    data_1: Annotated[int, bs.bits(64)]
+    data_2: Annotated[int, bs.bits(8)]
+
+  idle_chip: Annotated[bool, bs.bits(1)]
+  string_number: Annotated[int, bs.bits(4)]
+  data: Annotated[
+    object,
+    bs.switch(
+      'string_number',
+      {
+        1: String1,
+        2: String2,
+        3: String3,
+        4: String4,
+        5: String5,
+      },
+      default=StringNonImmediate,
+    ),
+  ]
+  hamming_code: Annotated[int, bs.bits(8)]
+  pad_1: Annotated[int, bs.bits(11)]
+  superframe_number: Annotated[int, bs.bits(16)]
+  pad_2: Annotated[int, bs.bits(8)]
+  frame_number: Annotated[int, bs.bits(8)]
diff --git a/system/ubloxd/gps.ksy b/system/ubloxd/gps.ksy
deleted file mode 100644
index 893ad1b25be..00000000000
--- a/system/ubloxd/gps.ksy
+++ /dev/null
@@ -1,189 +0,0 @@
-# https://www.gps.gov/technical/icwg/IS-GPS-200E.pdf
-meta:
-  id: gps
-  endian: be
-  bit-endian: be
-seq:
-  - id: tlm
-    type: tlm
-  - id: how
-    type: how
-  - id: body
-    type:
-      switch-on: how.subframe_id
-      cases:
-        1: subframe_1
-        2: subframe_2
-        3: subframe_3
-        4: subframe_4
-types:
-  tlm:
-   seq:
-     - id: preamble
-       contents: [0x8b]
-     - id: tlm
-       type: b14
-     - id: integrity_status
-       type: b1
-     - id: reserved
-       type: b1
-  how:
-    seq:
-      - id: tow_count
-        type: b17
-      - id: alert
-        type: b1
-      - id: anti_spoof
-        type: b1
-      - id: subframe_id
-        type: b3
-      - id: reserved
-        type: b2
-  subframe_1:
-    seq:
-      # Word 3
-      - id: week_no
-        type: b10
-      - id: code
-        type: b2
-      - id: sv_accuracy
-        type: b4
-      - id: sv_health
-        type: b6
-      - id: iodc_msb
-        type: b2
-      # Word 4
-      - id: l2_p_data_flag
-        type: b1
-      - id: reserved1
-        type: b23
-      # Word 5
-      - id: reserved2
-        type: b24
-      # Word 6
-      - id: reserved3
-        type: b24
-      # Word 7
-      - id: reserved4
-        type: b16
-      - id: t_gd
-        type: s1
-      # Word 8
-      - id: iodc_lsb
-        type: u1
-      - id: t_oc
-        type: u2
-      # Word 9
-      - id: af_2
-        type: s1
-      - id: af_1
-        type: s2
-      # Word 10
-      - id: af_0_sign
-        type: b1
-      - id: af_0_value
-        type: b21
-      - id: reserved5
-        type: b2
-    instances:
-      af_0:
-        value: 'af_0_sign ? (af_0_value - (1 << 21)) : af_0_value'
-  subframe_2:
-    seq:
-      # Word 3
-      - id: iode
-        type: u1
-      - id: c_rs
-        type: s2
-      # Word 4 & 5
-      - id: delta_n
-        type: s2
-      - id: m_0
-        type: s4
-      # Word 6 & 7
-      - id: c_uc
-        type: s2
-      - id: e
-        type: s4
-      # Word 8 & 9
-      - id: c_us
-        type: s2
-      - id: sqrt_a
-        type: u4
-      # Word 10
-      - id: t_oe
-        type: u2
-      - id: fit_interval_flag
-        type: b1
-      - id: aoda
-        type: b5
-      - id: reserved
-        type: b2
-  subframe_3:
-    seq:
-      # Word 3 & 4
-      - id: c_ic
-        type: s2
-      - id: omega_0
-        type: s4
-      # Word 5 & 6
-      - id: c_is
-        type: s2
-      - id: i_0
-        type: s4
-      # Word 7 & 8
-      - id: c_rc
-        type: s2
-      - id: omega
-        type: s4
-      # Word 9
-      - id: omega_dot_sign
-        type: b1
-      - id: omega_dot_value
-        type: b23
-      # Word 10
-      - id: iode
-        type: u1
-      - id: idot_sign
-        type: b1
-      - id: idot_value
-        type: b13
-      - id: reserved
-        type: b2
-    instances:
-      omega_dot:
-        value: 'omega_dot_sign ? (omega_dot_value - (1 << 23)) : omega_dot_value'
-      idot:
-        value: 'idot_sign ? (idot_value - (1 << 13)) : idot_value'
-  subframe_4:
-    seq:
-      # Word 3
-      - id: data_id
-        type: b2
-      - id: page_id
-        type: b6
-      - id: body
-        type:
-          switch-on: page_id
-          cases:
-            56: ionosphere_data
-    types:
-      ionosphere_data:
-        seq:
-          - id: a0
-            type: s1
-          - id: a1
-            type: s1
-          - id: a2
-            type: s1
-          - id: a3
-            type: s1
-          - id: b0
-            type: s1
-          - id: b1
-            type: s1
-          - id: b2
-            type: s1
-          - id: b3
-            type: s1
-
diff --git a/system/ubloxd/gps.py b/system/ubloxd/gps.py
new file mode 100644
index 00000000000..1c0833bd92d
--- /dev/null
+++ b/system/ubloxd/gps.py
@@ -0,0 +1,116 @@
+"""
+Parses GPS navigation subframes per IS-GPS-200E specification.
+https://www.gps.gov/technical/icwg/IS-GPS-200E.pdf
+"""
+
+from typing import Annotated
+
+from openpilot.system.ubloxd import binary_struct as bs
+
+
+class Gps(bs.BinaryStruct):
+  class Tlm(bs.BinaryStruct):
+    preamble: Annotated[bytes, bs.const(bs.bytes_field(1), b"\x8b")]
+    tlm: Annotated[int, bs.bits(14)]
+    integrity_status: Annotated[bool, bs.bits(1)]
+    reserved: Annotated[bool, bs.bits(1)]
+
+  class How(bs.BinaryStruct):
+    tow_count: Annotated[int, bs.bits(17)]
+    alert: Annotated[bool, bs.bits(1)]
+    anti_spoof: Annotated[bool, bs.bits(1)]
+    subframe_id: Annotated[int, bs.bits(3)]
+    reserved: Annotated[int, bs.bits(2)]
+
+  class Subframe1(bs.BinaryStruct):
+    week_no: Annotated[int, bs.bits(10)]
+    code: Annotated[int, bs.bits(2)]
+    sv_accuracy: Annotated[int, bs.bits(4)]
+    sv_health: Annotated[int, bs.bits(6)]
+    iodc_msb: Annotated[int, bs.bits(2)]
+    l2_p_data_flag: Annotated[bool, bs.bits(1)]
+    reserved1: Annotated[int, bs.bits(23)]
+    reserved2: Annotated[int, bs.bits(24)]
+    reserved3: Annotated[int, bs.bits(24)]
+    reserved4: Annotated[int, bs.bits(16)]
+    t_gd: Annotated[int, bs.s8]
+    iodc_lsb: Annotated[int, bs.u8]
+    t_oc: Annotated[int, bs.u16be]
+    af_2: Annotated[int, bs.s8]
+    af_1: Annotated[int, bs.s16be]
+    af_0_sign: Annotated[bool, bs.bits(1)]
+    af_0_value: Annotated[int, bs.bits(21)]
+    reserved5: Annotated[int, bs.bits(2)]
+
+    @property
+    def af_0(self) -> int:
+      """Computed af_0 from sign-magnitude representation."""
+      return (self.af_0_value - (1 << 21)) if self.af_0_sign else self.af_0_value
+
+  class Subframe2(bs.BinaryStruct):
+    iode: Annotated[int, bs.u8]
+    c_rs: Annotated[int, bs.s16be]
+    delta_n: Annotated[int, bs.s16be]
+    m_0: Annotated[int, bs.s32be]
+    c_uc: Annotated[int, bs.s16be]
+    e: Annotated[int, bs.s32be]
+    c_us: Annotated[int, bs.s16be]
+    sqrt_a: Annotated[int, bs.u32be]
+    t_oe: Annotated[int, bs.u16be]
+    fit_interval_flag: Annotated[bool, bs.bits(1)]
+    aoda: Annotated[int, bs.bits(5)]
+    reserved: Annotated[int, bs.bits(2)]
+
+  class Subframe3(bs.BinaryStruct):
+    c_ic: Annotated[int, bs.s16be]
+    omega_0: Annotated[int, bs.s32be]
+    c_is: Annotated[int, bs.s16be]
+    i_0: Annotated[int, bs.s32be]
+    c_rc: Annotated[int, bs.s16be]
+    omega: Annotated[int, bs.s32be]
+    omega_dot_sign: Annotated[bool, bs.bits(1)]
+    omega_dot_value: Annotated[int, bs.bits(23)]
+    iode: Annotated[int, bs.u8]
+    idot_sign: Annotated[bool, bs.bits(1)]
+    idot_value: Annotated[int, bs.bits(13)]
+    reserved: Annotated[int, bs.bits(2)]
+
+    @property
+    def omega_dot(self) -> int:
+      """Computed omega_dot from sign-magnitude representation."""
+      return (self.omega_dot_value - (1 << 23)) if self.omega_dot_sign else self.omega_dot_value
+
+    @property
+    def idot(self) -> int:
+      """Computed idot from sign-magnitude representation."""
+      return (self.idot_value - (1 << 13)) if self.idot_sign else self.idot_value
+
+  class Subframe4(bs.BinaryStruct):
+    class IonosphereData(bs.BinaryStruct):
+      a0: Annotated[int, bs.s8]
+      a1: Annotated[int, bs.s8]
+      a2: Annotated[int, bs.s8]
+      a3: Annotated[int, bs.s8]
+      b0: Annotated[int, bs.s8]
+      b1: Annotated[int, bs.s8]
+      b2: Annotated[int, bs.s8]
+      b3: Annotated[int, bs.s8]
+
+    data_id: Annotated[int, bs.bits(2)]
+    page_id: Annotated[int, bs.bits(6)]
+    body: Annotated[object, bs.switch('page_id', {56: IonosphereData})]
+
+  tlm: Tlm
+  how: How
+  body: Annotated[
+    object,
+    bs.switch(
+      'how.subframe_id',
+      {
+        1: Subframe1,
+        2: Subframe2,
+        3: Subframe3,
+        4: Subframe4,
+      },
+    ),
+  ]
diff --git a/system/ubloxd/ubloxd.py b/system/ubloxd/ubloxd.py
index 6882ad09551..78429a847b7 100755
--- a/system/ubloxd/ubloxd.py
+++ b/system/ubloxd/ubloxd.py
@@ -8,9 +8,9 @@
 
 from cereal import log
 from cereal import messaging
-from openpilot.system.ubloxd.generated.ubx import Ubx
-from openpilot.system.ubloxd.generated.gps import Gps
-from openpilot.system.ubloxd.generated.glonass import Glonass
+from openpilot.system.ubloxd.ubx import Ubx
+from openpilot.system.ubloxd.gps import Gps
+from openpilot.system.ubloxd.glonass import Glonass
 
 
 SECS_IN_MIN = 60
@@ -52,7 +52,7 @@ def add_data(self, log_time: float, incoming: bytes) -> list[bytes]:
       # find preamble
       if len(self.buf) < 2:
         break
-      start = self.buf.find(b"\xB5\x62")
+      start = self.buf.find(b"\xb5\x62")
       if start < 0:
         # no preamble in buffer
         self.buf.clear()
@@ -98,9 +98,22 @@ class UbloxMsgParser:
 
   # user range accuracy in meters
   glonass_URA_lookup: dict[int, float] = {
-    0: 1, 1: 2, 2: 2.5, 3: 4, 4: 5, 5: 7,
-    6: 10, 7: 12, 8: 14, 9: 16, 10: 32,
-    11: 64, 12: 128, 13: 256, 14: 512, 15: 1024,
+    0: 1,
+    1: 2,
+    2: 2.5,
+    3: 4,
+    4: 5,
+    5: 7,
+    6: 10,
+    7: 12,
+    8: 14,
+    9: 16,
+    10: 32,
+    11: 64,
+    12: 128,
+    13: 256,
+    14: 512,
+    15: 1024,
   }
 
   def __init__(self) -> None:
@@ -121,7 +134,7 @@ def parse_frame(self, frame: bytes) -> tuple[str, capnp.lib.capnp._DynamicStruct
       body = Ubx.NavPvt.from_bytes(payload)
       return self._gen_nav_pvt(body)
     if msg_type == 0x0213:
-      # Manually parse RXM-SFRBX to avoid Kaitai EOF on some frames
+      # Manually parse RXM-SFRBX to avoid EOF on some frames
       if len(payload) < 8:
         return None
       gnss_id = payload[0]
@@ -134,7 +147,7 @@ def parse_frame(self, frame: bytes) -> tuple[str, capnp.lib.capnp._DynamicStruct
       words: list[int] = []
       off = 8
       for _ in range(num_words):
-        words.append(int.from_bytes(payload[off:off+4], 'little'))
+        words.append(int.from_bytes(payload[off : off + 4], 'little'))
         off += 4
 
       class _SfrbxView:
@@ -143,6 +156,7 @@ def __init__(self, gid: int, sid: int, fid: int, body: list[int]):
           self.sv_id = sid
           self.freq_id = fid
           self.body = body
+
       view = _SfrbxView(gnss_id, sv_id, freq_id, words)
       return self._gen_rxm_sfrbx(view)
     if msg_type == 0x0215:
@@ -351,7 +365,7 @@ def _parse_glonass_ephemeris(self, msg: Ubx.RxmSfrbx) -> tuple[str, capnp.lib.ca
     assert isinstance(s1, Glonass.String1)
     eph.p1 = int(s1.p1)
     tk = int(s1.t_k)
-    eph.tkDEPRECATED = tk
+    eph.deprecated.tk = tk
     eph.xVel = float(s1.x_vel) * math.pow(2, -20)
     eph.xAccel = float(s1.x_accel) * math.pow(2, -30)
     eph.x = float(s1.x) * math.pow(2, -11)
@@ -515,5 +529,6 @@ def main():
       service, dat = res
       pm.send(service, dat)
 
+
 if __name__ == '__main__':
   main()
diff --git a/system/ubloxd/ubx.ksy b/system/ubloxd/ubx.ksy
deleted file mode 100644
index 02c757fe717..00000000000
--- a/system/ubloxd/ubx.ksy
+++ /dev/null
@@ -1,293 +0,0 @@
-meta:
-  id: ubx
-  endian: le
-seq:
-  - id: magic
-    contents: [0xb5, 0x62]
-  - id: msg_type
-    type: u2be
-  - id: length
-    type: u2
-  - id: body
-    type:
-      switch-on: msg_type
-      cases:
-        0x0107: nav_pvt
-        0x0213: rxm_sfrbx
-        0x0215: rxm_rawx
-        0x0a09: mon_hw
-        0x0a0b: mon_hw2
-        0x0135: nav_sat
-instances:
-  checksum:
-    pos: length + 6
-    type: u2
-
-types:
-  mon_hw:
-    seq:
-      - id: pin_sel
-        type: u4
-      - id: pin_bank
-        type: u4
-      - id: pin_dir
-        type: u4
-      - id: pin_val
-        type: u4
-      - id: noise_per_ms
-        type: u2
-      - id: agc_cnt
-        type: u2
-      - id: a_status
-        type: u1
-        enum: antenna_status
-      - id: a_power
-        type: u1
-        enum: antenna_power
-      - id: flags
-        type: u1
-      - id: reserved1
-        size: 1
-      - id: used_mask
-        type: u4
-      - id: vp
-        size: 17
-      - id: jam_ind
-        type: u1
-      - id: reserved2
-        size: 2
-      - id: pin_irq
-        type: u4
-      - id: pull_h
-        type: u4
-      - id: pull_l
-        type: u4
-    enums:
-      antenna_status:
-        0: init
-        1: dontknow
-        2: ok
-        3: short
-        4: open
-      antenna_power:
-        0: off
-        1: on
-        2: dontknow
-
-  mon_hw2:
-    seq:
-      - id: ofs_i
-        type: s1
-      - id: mag_i
-        type: u1
-      - id: ofs_q
-        type: s1
-      - id: mag_q
-        type: u1
-      - id: cfg_source
-        type: u1
-        enum: config_source
-      - id: reserved1
-        size: 3
-      - id: low_lev_cfg
-        type: u4
-      - id: reserved2
-        size: 8
-      - id: post_status
-        type: u4
-      - id: reserved3
-        size: 4
-
-    enums:
-      config_source:
-        113: rom
-        111: otp
-        112: config_pins
-        102: flash
-
-  rxm_sfrbx:
-    seq:
-      - id: gnss_id
-        type: u1
-        enum: gnss_type
-      - id: sv_id
-        type: u1
-      - id: reserved1
-        size: 1
-      - id: freq_id
-        type: u1
-      - id: num_words
-        type: u1
-      - id: reserved2
-        size: 1
-      - id: version
-        type: u1
-      - id: reserved3
-        size: 1
-      - id: body
-        type: u4
-        repeat: expr
-        repeat-expr: num_words
-
-  rxm_rawx:
-    seq:
-      - id: rcv_tow
-        type: f8
-      - id: week
-        type: u2
-      - id: leap_s
-        type: s1
-      - id: num_meas
-        type: u1
-      - id: rec_stat
-        type: u1
-      - id: reserved1
-        size: 3
-      - id: meas
-        type: measurement
-        size: 32
-        repeat: expr
-        repeat-expr: num_meas
-    types:
-      measurement:
-        seq:
-          - id: pr_mes
-            type: f8
-          - id: cp_mes
-            type: f8
-          - id: do_mes
-            type: f4
-          - id: gnss_id
-            type: u1
-            enum: gnss_type
-          - id: sv_id
-            type: u1
-          - id: reserved2
-            size: 1
-          - id: freq_id
-            type: u1
-          - id: lock_time
-            type: u2
-          - id: cno
-            type: u1
-          - id: pr_stdev
-            type: u1
-          - id: cp_stdev
-            type: u1
-          - id: do_stdev
-            type: u1
-          - id: trk_stat
-            type: u1
-          - id: reserved3
-            size: 1
-  nav_sat:
-    seq:
-      - id: itow
-        type: u4
-      - id: version
-        type: u1
-      - id: num_svs
-        type: u1
-      - id: reserved
-        size: 2
-      - id: svs
-        type: nav
-        size: 12
-        repeat: expr
-        repeat-expr: num_svs
-    types:
-      nav:
-        seq:
-          - id: gnss_id
-            type: u1
-            enum: gnss_type
-          - id: sv_id
-            type: u1
-          - id: cno
-            type: u1
-          - id: elev
-            type: s1
-          - id: azim
-            type: s2
-          - id: pr_res
-            type: s2
-          - id: flags
-            type: u4
-
-  nav_pvt:
-    seq:
-      - id: i_tow
-        type: u4
-      - id: year
-        type: u2
-      - id: month
-        type: u1
-      - id: day
-        type: u1
-      - id: hour
-        type: u1
-      - id: min
-        type: u1
-      - id: sec
-        type: u1
-      - id: valid
-        type: u1
-      - id: t_acc
-        type: u4
-      - id: nano
-        type: s4
-      - id: fix_type
-        type: u1
-      - id: flags
-        type: u1
-      - id: flags2
-        type: u1
-      - id: num_sv
-        type: u1
-      - id: lon
-        type: s4
-      - id: lat
-        type: s4
-      - id: height
-        type: s4
-      - id: h_msl
-        type: s4
-      - id: h_acc
-        type: u4
-      - id: v_acc
-        type: u4
-      - id: vel_n
-        type: s4
-      - id: vel_e
-        type: s4
-      - id: vel_d
-        type: s4
-      - id: g_speed
-        type: s4
-      - id: head_mot
-        type: s4
-      - id: s_acc
-        type: s4
-      - id: head_acc
-        type: u4
-      - id: p_dop
-        type: u2
-      - id: flags3
-        type: u1
-      - id: reserved1
-        size: 5
-      - id: head_veh
-        type: s4
-      - id: mag_dec
-        type: s2
-      - id: mag_acc
-        type: u2
-enums:
-  gnss_type:
-    0: gps
-    1: sbas
-    2: galileo
-    3: beidou
-    4: imes
-    5: qzss
-    6: glonass
diff --git a/system/ubloxd/ubx.py b/system/ubloxd/ubx.py
new file mode 100644
index 00000000000..857498ebf13
--- /dev/null
+++ b/system/ubloxd/ubx.py
@@ -0,0 +1,180 @@
+"""
+UBX protocol parser
+"""
+
+from enum import IntEnum
+from typing import Annotated
+
+from openpilot.system.ubloxd import binary_struct as bs
+
+
+class GnssType(IntEnum):
+  gps = 0
+  sbas = 1
+  galileo = 2
+  beidou = 3
+  imes = 4
+  qzss = 5
+  glonass = 6
+
+
+class Ubx(bs.BinaryStruct):
+  GnssType = GnssType
+
+  class RxmRawx(bs.BinaryStruct):
+    class Measurement(bs.BinaryStruct):
+      pr_mes: Annotated[float, bs.f64]
+      cp_mes: Annotated[float, bs.f64]
+      do_mes: Annotated[float, bs.f32]
+      gnss_id: Annotated[GnssType | int, bs.enum(bs.u8, GnssType)]
+      sv_id: Annotated[int, bs.u8]
+      reserved2: Annotated[bytes, bs.bytes_field(1)]
+      freq_id: Annotated[int, bs.u8]
+      lock_time: Annotated[int, bs.u16]
+      cno: Annotated[int, bs.u8]
+      pr_stdev: Annotated[int, bs.u8]
+      cp_stdev: Annotated[int, bs.u8]
+      do_stdev: Annotated[int, bs.u8]
+      trk_stat: Annotated[int, bs.u8]
+      reserved3: Annotated[bytes, bs.bytes_field(1)]
+
+    rcv_tow: Annotated[float, bs.f64]
+    week: Annotated[int, bs.u16]
+    leap_s: Annotated[int, bs.s8]
+    num_meas: Annotated[int, bs.u8]
+    rec_stat: Annotated[int, bs.u8]
+    reserved1: Annotated[bytes, bs.bytes_field(3)]
+    meas: Annotated[list[Measurement], bs.array(Measurement, count_field='num_meas')]
+
+  class RxmSfrbx(bs.BinaryStruct):
+    gnss_id: Annotated[GnssType | int, bs.enum(bs.u8, GnssType)]
+    sv_id: Annotated[int, bs.u8]
+    reserved1: Annotated[bytes, bs.bytes_field(1)]
+    freq_id: Annotated[int, bs.u8]
+    num_words: Annotated[int, bs.u8]
+    reserved2: Annotated[bytes, bs.bytes_field(1)]
+    version: Annotated[int, bs.u8]
+    reserved3: Annotated[bytes, bs.bytes_field(1)]
+    body: Annotated[list[int], bs.array(bs.u32, count_field='num_words')]
+
+  class NavSat(bs.BinaryStruct):
+    class Nav(bs.BinaryStruct):
+      gnss_id: Annotated[GnssType | int, bs.enum(bs.u8, GnssType)]
+      sv_id: Annotated[int, bs.u8]
+      cno: Annotated[int, bs.u8]
+      elev: Annotated[int, bs.s8]
+      azim: Annotated[int, bs.s16]
+      pr_res: Annotated[int, bs.s16]
+      flags: Annotated[int, bs.u32]
+
+    itow: Annotated[int, bs.u32]
+    version: Annotated[int, bs.u8]
+    num_svs: Annotated[int, bs.u8]
+    reserved: Annotated[bytes, bs.bytes_field(2)]
+    svs: Annotated[list[Nav], bs.array(Nav, count_field='num_svs')]
+
+  class NavPvt(bs.BinaryStruct):
+    i_tow: Annotated[int, bs.u32]
+    year: Annotated[int, bs.u16]
+    month: Annotated[int, bs.u8]
+    day: Annotated[int, bs.u8]
+    hour: Annotated[int, bs.u8]
+    min: Annotated[int, bs.u8]
+    sec: Annotated[int, bs.u8]
+    valid: Annotated[int, bs.u8]
+    t_acc: Annotated[int, bs.u32]
+    nano: Annotated[int, bs.s32]
+    fix_type: Annotated[int, bs.u8]
+    flags: Annotated[int, bs.u8]
+    flags2: Annotated[int, bs.u8]
+    num_sv: Annotated[int, bs.u8]
+    lon: Annotated[int, bs.s32]
+    lat: Annotated[int, bs.s32]
+    height: Annotated[int, bs.s32]
+    h_msl: Annotated[int, bs.s32]
+    h_acc: Annotated[int, bs.u32]
+    v_acc: Annotated[int, bs.u32]
+    vel_n: Annotated[int, bs.s32]
+    vel_e: Annotated[int, bs.s32]
+    vel_d: Annotated[int, bs.s32]
+    g_speed: Annotated[int, bs.s32]
+    head_mot: Annotated[int, bs.s32]
+    s_acc: Annotated[int, bs.s32]
+    head_acc: Annotated[int, bs.u32]
+    p_dop: Annotated[int, bs.u16]
+    flags3: Annotated[int, bs.u8]
+    reserved1: Annotated[bytes, bs.bytes_field(5)]
+    head_veh: Annotated[int, bs.s32]
+    mag_dec: Annotated[int, bs.s16]
+    mag_acc: Annotated[int, bs.u16]
+
+  class MonHw2(bs.BinaryStruct):
+    class ConfigSource(IntEnum):
+      flash = 102
+      otp = 111
+      config_pins = 112
+      rom = 113
+
+    ofs_i: Annotated[int, bs.s8]
+    mag_i: Annotated[int, bs.u8]
+    ofs_q: Annotated[int, bs.s8]
+    mag_q: Annotated[int, bs.u8]
+    cfg_source: Annotated[ConfigSource | int, bs.enum(bs.u8, ConfigSource)]
+    reserved1: Annotated[bytes, bs.bytes_field(3)]
+    low_lev_cfg: Annotated[int, bs.u32]
+    reserved2: Annotated[bytes, bs.bytes_field(8)]
+    post_status: Annotated[int, bs.u32]
+    reserved3: Annotated[bytes, bs.bytes_field(4)]
+
+  class MonHw(bs.BinaryStruct):
+    class AntennaStatus(IntEnum):
+      init = 0
+      dontknow = 1
+      ok = 2
+      short = 3
+      open = 4
+
+    class AntennaPower(IntEnum):
+      false = 0
+      true = 1
+      dontknow = 2
+
+    pin_sel: Annotated[int, bs.u32]
+    pin_bank: Annotated[int, bs.u32]
+    pin_dir: Annotated[int, bs.u32]
+    pin_val: Annotated[int, bs.u32]
+    noise_per_ms: Annotated[int, bs.u16]
+    agc_cnt: Annotated[int, bs.u16]
+    a_status: Annotated[AntennaStatus | int, bs.enum(bs.u8, AntennaStatus)]
+    a_power: Annotated[AntennaPower | int, bs.enum(bs.u8, AntennaPower)]
+    flags: Annotated[int, bs.u8]
+    reserved1: Annotated[bytes, bs.bytes_field(1)]
+    used_mask: Annotated[int, bs.u32]
+    vp: Annotated[bytes, bs.bytes_field(17)]
+    jam_ind: Annotated[int, bs.u8]
+    reserved2: Annotated[bytes, bs.bytes_field(2)]
+    pin_irq: Annotated[int, bs.u32]
+    pull_h: Annotated[int, bs.u32]
+    pull_l: Annotated[int, bs.u32]
+
+  magic: Annotated[bytes, bs.const(bs.bytes_field(2), b"\xb5\x62")]
+  msg_type: Annotated[int, bs.u16be]
+  length: Annotated[int, bs.u16]
+  body: Annotated[
+    object,
+    bs.substream(
+      'length',
+      bs.switch(
+        'msg_type',
+        {
+          0x0107: NavPvt,
+          0x0213: RxmSfrbx,
+          0x0215: RxmRawx,
+          0x0A09: MonHw,
+          0x0A0B: MonHw2,
+          0x0135: NavSat,
+        },
+      ),
+    ),
+  ]
+  checksum: Annotated[int, bs.u16]
diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py
index 501a7ff371d..980410b022a 100644
--- a/system/ui/lib/application.py
+++ b/system/ui/lib/application.py
@@ -1,6 +1,8 @@
 import atexit
 import cffi
+import math
 import os
+import queue
 import time
 import signal
 import sys
@@ -11,7 +13,6 @@
 from contextlib import contextmanager
 from collections.abc import Callable
 from collections import deque
-from dataclasses import dataclass
 from enum import StrEnum
 from pathlib import Path
 from typing import NamedTuple
@@ -40,6 +41,10 @@
 PROFILE_STATS = int(os.getenv("PROFILE_STATS", "100"))  # Number of functions to show in profile output
 RECORD = os.getenv("RECORD") == "1"
 RECORD_OUTPUT = str(Path(os.getenv("RECORD_OUTPUT", "output")).with_suffix(".mp4"))
+RECORD_QUALITY = int(os.getenv("RECORD_QUALITY", "23"))  # Dynamic bitrate quality level (CRF); 0 is lossless (bigger size), max is 51, default is 23 for x264
+RECORD_BITRATE = os.getenv("RECORD_BITRATE", "")  # Target bitrate e.g. "2000k" (overrides RECORD_QUALITY when set)
+RECORD_SPEED = int(os.getenv("RECORD_SPEED", "1"))  # Speed multiplier
+OFFSCREEN = os.getenv("OFFSCREEN") == "1"  # Disable FPS limiting for fast offline rendering
 
 GL_VERSION = """
 #version 300 es
@@ -90,7 +95,6 @@
 
 
 class FontWeight(StrEnum):
-  LIGHT = "Inter-Light.fnt"
   NORMAL = "Inter-Regular.fnt" if BIG_UI else "Inter-Medium.fnt"
   MEDIUM = "Inter-Medium.fnt"
   BOLD = "Inter-Bold.fnt"
@@ -110,12 +114,6 @@ def font_fallback(font: rl.Font) -> rl.Font:
   return font
 
 
-@dataclass
-class ModalOverlay:
-  overlay: object = None
-  callback: Callable | None = None
-
-
 class MousePos(NamedTuple):
   x: float
   y: float
@@ -171,6 +169,10 @@ def _run_thread(self):
       self._rk.keep_time()
 
   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):
       mouse_pos = rl.get_touch_position(slot)
       x = mouse_pos.x / self._scale if self._scale != 1.0 else mouse_pos.x
@@ -184,7 +186,8 @@ def _handle_mouse_event(self):
         time.monotonic(),
       )
       # Only add changes
-      if self._prev_mouse_event[slot] is None or ev[:-1] != self._prev_mouse_event[slot][:-1]:
+      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
@@ -192,6 +195,8 @@ def _handle_mouse_event(self):
 
 class GuiApplication:
   def __init__(self, width: int | None = None, height: int | None = None):
+    self._set_log_callback()
+
     self._fonts: dict[FontWeight, rl.Font] = {}
     self._width = width if width is not None else GuiApplication._default_width()
     self._height = height if height is not None else GuiApplication._default_height()
@@ -210,15 +215,17 @@ def __init__(self, width: int | None = None, height: int | None = None):
     self._render_texture: rl.RenderTexture | None = None
     self._burn_in_shader: rl.Shader | None = None
     self._ffmpeg_proc: subprocess.Popen | None = None
+    self._ffmpeg_queue: queue.Queue | None = None
+    self._ffmpeg_thread: threading.Thread | None = None
+    self._ffmpeg_stop_event: threading.Event | None = None
     self._textures: dict[str, rl.Texture] = {}
     self._target_fps: int = _DEFAULT_FPS
     self._last_fps_log_time: float = time.monotonic()
     self._frame = 0
     self._window_close_requested = False
-    self._trace_log_callback = None
-    self._modal_overlay = ModalOverlay()
-    self._modal_overlay_shown = False
-    self._modal_overlay_tick: Callable[[], None] | None = None
+    self._nav_stack: list[object] = []
+    self._nav_stack_ticks: list[Callable[[], None]] = []
+    self._nav_stack_widgets_to_render = 1 if self.big_ui() else 2
 
     self._mouse = MouseState(self._scale)
     self._mouse_events: list[MouseEvent] = []
@@ -245,6 +252,10 @@ def set_show_touches(self, show: bool):
   def set_show_fps(self, show: bool):
     self._show_fps = show
 
+  @property
+  def show_touches(self) -> bool:
+    return self._show_touches
+
   @property
   def target_fps(self):
     return self._target_fps
@@ -260,9 +271,6 @@ def _close(sig, frame):
       signal.signal(signal.SIGINT, _close)
       atexit.register(self.close)
 
-      self._set_log_callback()
-      rl.set_trace_log_level(rl.TraceLogLevel.LOG_WARNING)
-
       flags = rl.ConfigFlags.FLAG_MSAA_4X_HINT
       if ENABLE_VSYNC:
         flags |= rl.ConfigFlags.FLAG_VSYNC_HINT
@@ -274,34 +282,48 @@ def _close(sig, frame):
       if self._scale != 1.0:
         rl.set_mouse_scale(1 / self._scale, 1 / self._scale)
       if needs_render_texture:
-        self._render_texture = rl.load_render_texture(self._width, self._height)
+        self._render_texture = rl.load_render_texture(self._scaled_width, self._scaled_height)
         rl.set_texture_filter(self._render_texture.texture, rl.TextureFilter.TEXTURE_FILTER_BILINEAR)
 
       if RECORD:
+        output_fps = fps * RECORD_SPEED
         ffmpeg_args = [
           'ffmpeg',
           '-v', 'warning',          # Reduce ffmpeg log spam
-          '-stats',                 # Show encoding progress
+          '-nostats',               # Suppress encoding progress
           '-f', 'rawvideo',         # Input format
           '-pix_fmt', 'rgba',       # Input pixel format
-          '-s', f'{self._width}x{self._height}',  # Input resolution
+          '-s', f'{self._scaled_width}x{self._scaled_height}',  # Input resolution
           '-r', str(fps),           # Input frame rate
           '-i', 'pipe:0',           # Input from stdin
-          '-vf', 'vflip,format=yuv420p',  # Flip vertically and convert rgba to yuv420p
-          '-c:v', 'libx264',        # Video codec
-          '-preset', 'ultrafast',   # Encoding speed
+          '-vf', 'vflip,format=yuv420p',  # Flip vertically and convert to yuv420p
+          '-r', str(output_fps),    # Output frame rate (for speed multiplier)
+          '-c:v', 'libx264',
+          '-preset', 'veryfast',
+          '-crf', str(RECORD_QUALITY)
+        ]
+        if RECORD_BITRATE:
+          # NOTE: custom bitrate overrides crf setting
+          ffmpeg_args += ['-b:v', RECORD_BITRATE, '-maxrate', RECORD_BITRATE, '-bufsize', RECORD_BITRATE]
+        ffmpeg_args += [
           '-y',                     # Overwrite existing file
           '-f', 'mp4',              # Output format
           RECORD_OUTPUT,            # Output file path
         ]
         self._ffmpeg_proc = subprocess.Popen(ffmpeg_args, stdin=subprocess.PIPE)
+        self._ffmpeg_queue = queue.Queue(maxsize=60)  # Buffer up to 60 frames
+        self._ffmpeg_stop_event = threading.Event()
+        self._ffmpeg_thread = threading.Thread(target=self._ffmpeg_writer_thread, daemon=True)
+        self._ffmpeg_thread.start()
 
-      rl.set_target_fps(fps)
+      # OFFSCREEN disables FPS limiting for fast offline rendering (e.g. clips)
+      rl.set_target_fps(0 if OFFSCREEN else fps)
 
       self._target_fps = fps
       self._set_styles()
       self._load_fonts()
       self._patch_text_functions()
+      self._patch_scissor_mode()
       if BURN_IN_MODE and self._burn_in_shader is None:
         self._burn_in_shader = rl.load_shader_from_memory(BURN_IN_VERTEX_SHADER, BURN_IN_FRAGMENT_SHADER)
 
@@ -338,42 +360,132 @@ def _startup_profile_context(self):
     print(f"{green}UI window ready in {elapsed_ms:.1f} ms{reset}")
     sys.exit(0)
 
-  def set_modal_overlay(self, overlay, callback: Callable | None = None):
-    if self._modal_overlay.overlay is not None:
-      if hasattr(self._modal_overlay.overlay, 'hide_event'):
-        self._modal_overlay.overlay.hide_event()
+  def _ffmpeg_writer_thread(self):
+    """Background thread that writes frames to ffmpeg."""
+    while True:
+      try:
+        data = self._ffmpeg_queue.get(timeout=1.0)
+        if data is None:  # Sentinel to stop
+          break
+        self._ffmpeg_proc.stdin.write(data)
+      except queue.Empty:
+        if self._ffmpeg_stop_event.is_set():
+          break
+        continue
+      except Exception:
+        break
+
+  def push_widget(self, widget: object):
+    if widget in self._nav_stack:
+      cloudlog.warning("Widget already in stack, cannot push again!")
+      return
+
+    # disable previous widget to prevent input processing
+    if len(self._nav_stack) > 0:
+      prev_widget = self._nav_stack[-1]
+      # TODO: change these to touch_valid
+      prev_widget.set_enabled(False)
+
+    self._nav_stack.append(widget)
+    widget.show_event()
+    widget.set_enabled(True)
+
+  def pop_widget(self, idx: int | None = None):
+    # Pops widget instantly without animation
+    if len(self._nav_stack) < 2:
+      cloudlog.warning("At least one widget should remain on the stack, ignoring pop!")
+      return
+
+    idx_to_pop = len(self._nav_stack) - 1 if idx is None else idx
+    if idx_to_pop <= 0 or idx_to_pop >= len(self._nav_stack):
+      cloudlog.warning(f"Invalid index {idx_to_pop} to pop, ignoring!")
+      return
+
+    # only re-enable previous widget if popping top widget
+    if idx_to_pop == len(self._nav_stack) - 1:
+      prev_widget = self._nav_stack[idx_to_pop - 1]
+      prev_widget.set_enabled(True)
+
+    widget = self._nav_stack.pop(idx_to_pop)
+    widget.hide_event()
+
+  def pop_widgets_to(self, widget: object, callback: Callable[[], None] | None = None, instant: bool = False):
+    # Pops middle widgets instantly without animation then dismisses top, animated out if NavWidget
+    if widget not in self._nav_stack:
+      cloudlog.warning("Widget not in stack, cannot pop to it!")
+      return
+
+    # Nothing to pop, ensure we still run callback
+    top_widget = self._nav_stack[-1]
+    if top_widget == widget:
+      if callback:
+        callback()
+      return
+
+    # instantly pop widgets in between, then dismiss top widget for animation
+    while len(self._nav_stack) > 1 and self._nav_stack[-2] != widget:
+      self.pop_widget(len(self._nav_stack) - 2)
+
+    if not instant:
+      top_widget.dismiss(callback)
+    else:
+      self.pop_widget()
 
-      if self._modal_overlay.callback is not None:
-        self._modal_overlay.callback(-1)
+  def get_active_widget(self):
+    if len(self._nav_stack) > 0:
+      return self._nav_stack[-1]
+    return None
 
-    self._modal_overlay = ModalOverlay(overlay=overlay, callback=callback)
+  def widget_in_stack(self, widget: object) -> bool:
+    return widget in self._nav_stack
 
-  def set_modal_overlay_tick(self, tick_function: Callable | None):
-    self._modal_overlay_tick = tick_function
+  def add_nav_stack_tick(self, tick_function: Callable[[], None]):
+    if tick_function not in self._nav_stack_ticks:
+      self._nav_stack_ticks.append(tick_function)
+
+  def remove_nav_stack_tick(self, tick_function: Callable[[], None]):
+    if tick_function in self._nav_stack_ticks:
+      self._nav_stack_ticks.remove(tick_function)
 
   def set_should_render(self, should_render: bool):
     self._should_render = should_render
 
   def texture(self, asset_path: str, width: int | None = None, height: int | None = None,
-              alpha_premultiply=False, keep_aspect_ratio=True):
-    cache_key = f"{asset_path}_{width}_{height}_{alpha_premultiply}{keep_aspect_ratio}"
+              alpha_premultiply=False, keep_aspect_ratio=True, flip_x: bool = False) -> rl.Texture:
+    if width is not None:
+      width = round(width)
+    if height is not None:
+      height = round(height)
+
+    cache_key = f"{asset_path}_{width}_{height}_{alpha_premultiply}_{keep_aspect_ratio}_{flip_x}"
     if cache_key in self._textures:
       return self._textures[cache_key]
 
     with as_file(ASSETS_DIR.joinpath(asset_path)) as fspath:
-      image_obj = self._load_image_from_path(fspath.as_posix(), width, height, alpha_premultiply, keep_aspect_ratio)
+      image_obj = self._load_image_from_path(fspath.as_posix(), width, height, alpha_premultiply, keep_aspect_ratio, flip_x)
       texture_obj = self._load_texture_from_image(image_obj)
+
+    # Set logical size so widget layout math stays at 1x coordinates
+    if self._scale != 1.0 and width is not None and height is not None:
+      texture_obj.width = width
+      texture_obj.height = height
+
     self._textures[cache_key] = texture_obj
     return texture_obj
 
   def _load_image_from_path(self, image_path: str, width: int | None = None, height: int | None = None,
-                            alpha_premultiply: bool = False, keep_aspect_ratio: bool = True) -> rl.Image:
+                            alpha_premultiply: bool = False, keep_aspect_ratio: bool = True, flip_x: bool = False) -> rl.Image:
     """Load and resize an image, storing it for later automatic unloading."""
     image = rl.load_image(image_path)
 
     if alpha_premultiply:
       rl.image_alpha_premultiply(image)
 
+    # Scale up load size for sharper rendering, capped at source resolution
+    if self._scale != 1.0 and width is not None and height is not None:
+      width = min(int(width * self._scale), image.width)
+      height = min(int(height * self._scale), image.height)
+
     if width is not None and height is not None:
       same_dimensions = image.width == width and image.height == height
 
@@ -396,6 +508,10 @@ def _load_image_from_path(self, image_path: str, width: int | None = None, heigh
           rl.image_resize(image, width, height)
     else:
       assert keep_aspect_ratio, "Cannot resize without specifying width and height"
+
+    if flip_x:
+      rl.image_flip_horizontal(image)
+
     return image
 
   def _load_texture_from_image(self, image: rl.Image) -> rl.Texture:
@@ -410,11 +526,17 @@ def _load_texture_from_image(self, image: rl.Image) -> rl.Texture:
     return texture
 
   def close_ffmpeg(self):
+    if self._ffmpeg_thread is not None:
+      # Signal thread to stop, send sentinel, then wait for it to drain
+      self._ffmpeg_stop_event.set()
+      self._ffmpeg_queue.put(None)
+      self._ffmpeg_thread.join(timeout=30)
+
     if self._ffmpeg_proc is not None:
       self._ffmpeg_proc.stdin.flush()
       self._ffmpeg_proc.stdin.close()
       try:
-        self._ffmpeg_proc.wait(timeout=5)
+        self._ffmpeg_proc.wait(timeout=30)
       except subprocess.TimeoutExpired:
         self._ffmpeg_proc.terminate()
         self._ffmpeg_proc.wait()
@@ -487,20 +609,28 @@ def render(self):
           rl.begin_drawing()
           rl.clear_background(rl.BLACK)
 
-        # Handle modal overlay rendering and input processing
-        if self._handle_modal_overlay():
-          # Allow a Widget to still run a function while overlay is shown
-          if self._modal_overlay_tick is not None:
-            self._modal_overlay_tick()
-          yield False
-        else:
-          yield True
+        if self._scale != 1.0:
+          rl.rl_push_matrix()
+          rl.rl_scalef(self._scale, self._scale, 1.0)
+
+        # Allow a Widget to still run a function regardless of the stack depth
+        for tick in self._nav_stack_ticks:
+          tick()
+
+        # Only render top widgets
+        for widget in self._nav_stack[-self._nav_stack_widgets_to_render:]:
+          widget.render(rl.Rectangle(0, 0, self.width, self.height))
+
+        yield True
+
+        if self._scale != 1.0:
+          rl.rl_pop_matrix()
 
         if self._render_texture:
           rl.end_texture_mode()
           rl.begin_drawing()
           rl.clear_background(rl.BLACK)
-          src_rect = rl.Rectangle(0, 0, float(self._width), -float(self._height))
+          src_rect = rl.Rectangle(0, 0, float(self._scaled_width), -float(self._scaled_height))
           dst_rect = rl.Rectangle(0, 0, float(self._scaled_width), float(self._scaled_height))
           texture = self._render_texture.texture
           if texture:
@@ -526,8 +656,7 @@ def render(self):
           image = rl.load_image_from_texture(self._render_texture.texture)
           data_size = image.width * image.height * 4
           data = bytes(rl.ffi.buffer(image.data, data_size))
-          self._ffmpeg_proc.stdin.write(data)
-          self._ffmpeg_proc.stdin.flush()
+          self._ffmpeg_queue.put(data)  # Async write via background thread
           rl.unload_image(image)
 
         self._monitor_fps()
@@ -549,40 +678,14 @@ def width(self):
   def height(self):
     return self._height
 
-  def _handle_modal_overlay(self) -> bool:
-    if self._modal_overlay.overlay:
-      if hasattr(self._modal_overlay.overlay, 'render'):
-        result = self._modal_overlay.overlay.render(rl.Rectangle(0, 0, self.width, self.height))
-      elif callable(self._modal_overlay.overlay):
-        result = self._modal_overlay.overlay()
-      else:
-        raise Exception
-
-      # Send show event to Widget
-      if not self._modal_overlay_shown and hasattr(self._modal_overlay.overlay, 'show_event'):
-        self._modal_overlay.overlay.show_event()
-        self._modal_overlay_shown = True
-
-      if result >= 0:
-        # Clear the overlay and execute the callback
-        original_modal = self._modal_overlay
-        self._modal_overlay = ModalOverlay()
-        if hasattr(original_modal.overlay, 'hide_event'):
-          original_modal.overlay.hide_event()
-        if original_modal.callback is not None:
-          original_modal.callback(result)
-      return True
-    else:
-      self._modal_overlay_shown = False
-      return False
-
   def _load_fonts(self):
     for font_weight_file in FontWeight:
       with as_file(FONT_DIR) as fspath:
         fnt_path = fspath / font_weight_file
         font = rl.load_font(fnt_path.as_posix())
         if font_weight_file != FontWeight.UNIFONT:
-          rl.set_texture_filter(font.texture, rl.TextureFilter.TEXTURE_FILTER_BILINEAR)
+          rl.gen_texture_mipmaps(font.texture)
+          rl.set_texture_filter(font.texture, rl.TextureFilter.TEXTURE_FILTER_TRILINEAR)
         self._fonts[font_weight_file] = font
     rl.gui_set_font(self._fonts[FontWeight.NORMAL])
 
@@ -604,6 +707,20 @@ def _draw_text_ex_scaled(font, text, position, font_size, spacing, tint):
 
     rl.draw_text_ex = _draw_text_ex_scaled
 
+  def _patch_scissor_mode(self):
+    if self._scale == 1.0:
+      return
+
+    if not hasattr(rl, "_orig_begin_scissor_mode"):
+      rl._orig_begin_scissor_mode = rl.begin_scissor_mode
+
+    def _begin_scissor_mode_scaled(x, y, width, height):
+      return rl._orig_begin_scissor_mode(
+        int(x * self._scale), int(y * self._scale),
+        int(math.ceil(width * self._scale)), int(math.ceil(height * self._scale)))
+
+    rl.begin_scissor_mode = _begin_scissor_mode_scaled
+
   def _set_log_callback(self):
     ffi_libc = cffi.FFI()
     ffi_libc.cdef("""
@@ -640,6 +757,9 @@ def trace_log_callback(log_level, text, args):
       else:
         cloudlog.error(f"raylib: Unknown level {log_level}: {text_str}")
 
+    # ensure we get all the logs forwarded to us
+    rl.set_trace_log_level(rl.TraceLogLevel.LOG_DEBUG)
+
     # Store callback reference
     self._trace_log_callback = trace_log_callback
     rl.set_trace_log_callback(self._trace_log_callback)
diff --git a/system/ui/lib/emoji.py b/system/ui/lib/emoji.py
index 37228e2d45f..ad4c272c8de 100644
--- a/system/ui/lib/emoji.py
+++ b/system/ui/lib/emoji.py
@@ -1,12 +1,13 @@
 import io
 import re
+import functools
+from importlib.resources import as_file
 
 from PIL import Image, ImageDraw, ImageFont
 import pyray as rl
 
 from openpilot.system.ui.lib.application import FONT_DIR
 
-_emoji_font: ImageFont.FreeTypeFont | None = None
 _cache: dict[str, rl.Texture] = {}
 
 EMOJI_REGEX = re.compile(
@@ -33,11 +34,10 @@
   flags=re.UNICODE
 )
 
-def _load_emoji_font() -> ImageFont.FreeTypeFont | None:
-  global _emoji_font
-  if _emoji_font is None:
-    _emoji_font = ImageFont.truetype(str(FONT_DIR.joinpath("NotoColorEmoji.ttf")), 109)
-  return _emoji_font
+@functools.cache
+def _load_emoji_font() -> ImageFont.FreeTypeFont:
+  with as_file(FONT_DIR.joinpath("NotoColorEmoji.ttf")) as font_path:
+    return ImageFont.truetype(io.BytesIO(font_path.read_bytes()), 109)
 
 def find_emoji(text):
   return [(m.start(), m.end(), m.group()) for m in EMOJI_REGEX.finditer(text)]
diff --git a/system/ui/lib/multilang.py b/system/ui/lib/multilang.py
index 9b10a8bdc71..3c6a6b85643 100644
--- a/system/ui/lib/multilang.py
+++ b/system/ui/lib/multilang.py
@@ -1,7 +1,7 @@
 from importlib.resources import files
-import os
 import json
-import gettext
+import os
+import re
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.swaglog import cloudlog
 
@@ -16,7 +16,6 @@
 LANGUAGES_FILE = TRANSLATIONS_DIR.joinpath("languages.json")
 
 UNIFONT_LANGUAGES = [
-  "ar",
   "th",
   "zh-CHT",
   "zh-CHS",
@@ -24,14 +23,137 @@
   "ja",
 ]
 
+# Plural form selectors for supported languages
+PLURAL_SELECTORS = {
+  'en': lambda n: 0 if n == 1 else 1,
+  'de': lambda n: 0 if n == 1 else 1,
+  'fr': lambda n: 0 if n <= 1 else 1,
+  'pt-BR': lambda n: 0 if n <= 1 else 1,
+  'es': lambda n: 0 if n == 1 else 1,
+  'tr': lambda n: 0 if n == 1 else 1,
+  'uk': lambda n: 0 if n % 10 == 1 and n % 100 != 11 else (1 if 2 <= n % 10 <= 4 and not 12 <= n % 100 <= 14 else 2),
+  'th': lambda n: 0,
+  'zh-CHT': lambda n: 0,
+  'zh-CHS': lambda n: 0,
+  'ko': lambda n: 0,
+  'ja': lambda n: 0,
+}
+
+
+def _parse_quoted(s: str) -> str:
+  """Parse a PO-format quoted string."""
+  s = s.strip()
+  if not (s.startswith('"') and s.endswith('"')):
+    raise ValueError(f"Expected quoted string: {s!r}")
+  s = s[1:-1]
+  result: list[str] = []
+  i = 0
+  while i < len(s):
+    if s[i] == '\\' and i + 1 < len(s):
+      c = s[i + 1]
+      if c == 'n':
+        result.append('\n')
+      elif c == 't':
+        result.append('\t')
+      elif c == '"':
+        result.append('"')
+      elif c == '\\':
+        result.append('\\')
+      else:
+        result.append(s[i:i + 2])
+      i += 2
+    else:
+      result.append(s[i])
+      i += 1
+  return ''.join(result)
+
+
+def load_translations(path) -> tuple[dict[str, str], dict[str, list[str]]]:
+  """Parse a .po file and return (translations, plurals) dicts.
+
+  translations: msgid -> msgstr
+  plurals: msgid -> [msgstr[0], msgstr[1], ...]
+  """
+  with path.open(encoding='utf-8') as f:
+    lines = f.readlines()
+
+  translations: dict[str, str] = {}
+  plurals: dict[str, list[str]] = {}
+
+  # Parser state
+  msgid = msgid_plural = msgstr = ""
+  msgstr_plurals: dict[int, str] = {}
+  field: str | None = None
+  plural_idx = 0
+
+  def finish():
+    nonlocal msgid, msgid_plural, msgstr, msgstr_plurals, field
+    if msgid:  # skip header (empty msgid)
+      if msgid_plural:
+        max_idx = max(msgstr_plurals.keys()) if msgstr_plurals else 0
+        plurals[msgid] = [msgstr_plurals.get(i, '') for i in range(max_idx + 1)]
+      else:
+        translations[msgid] = msgstr
+    msgid = msgid_plural = msgstr = ""
+    msgstr_plurals = {}
+    field = None
+
+  for raw in lines:
+    line = raw.strip()
+
+    if not line:
+      finish()
+      continue
+
+    if line.startswith('#'):
+      continue
+
+    if line.startswith('msgid_plural '):
+      msgid_plural = _parse_quoted(line[len('msgid_plural '):])
+      field = 'msgid_plural'
+      continue
+
+    if line.startswith('msgid '):
+      msgid = _parse_quoted(line[len('msgid '):])
+      field = 'msgid'
+      continue
+
+    m = re.match(r'msgstr\[(\d+)]\s+(.*)', line)
+    if m:
+      plural_idx = int(m.group(1))
+      msgstr_plurals[plural_idx] = _parse_quoted(m.group(2))
+      field = 'msgstr_plural'
+      continue
+
+    if line.startswith('msgstr '):
+      msgstr = _parse_quoted(line[len('msgstr '):])
+      field = 'msgstr'
+      continue
+
+    if line.startswith('"'):
+      val = _parse_quoted(line)
+      if field == 'msgid':
+        msgid += val
+      elif field == 'msgid_plural':
+        msgid_plural += val
+      elif field == 'msgstr':
+        msgstr += val
+      elif field == 'msgstr_plural':
+        msgstr_plurals[plural_idx] += val
+
+  finish()
+  return translations, plurals
+
 
 class Multilang:
   def __init__(self):
     self._params = Params() if Params is not None else None
     self._language: str = "en"
-    self.languages = {}
-    self.codes = {}
-    self._translation: gettext.NullTranslations | gettext.GNUTranslations = gettext.NullTranslations()
+    self.languages: dict[str, str] = {}
+    self.codes: dict[str, str] = {}
+    self._translations: dict[str, str] = {}
+    self._plurals: dict[str, list[str]] = {}
+    self._plural_selector = PLURAL_SELECTORS.get('en', lambda n: 0)
     self._load_languages()
 
   @property
@@ -44,27 +166,30 @@ def requires_unifont(self) -> bool:
 
   def setup(self):
     try:
-      with TRANSLATIONS_DIR.joinpath(f'app_{self._language}.mo').open('rb') as fh:
-        translation = gettext.GNUTranslations(fh)
-      translation.install()
-      self._translation = translation
-      cloudlog.warning(f"Loaded translations for language: {self._language}")
+      po_path = TRANSLATIONS_DIR.joinpath(f'app_{self._language}.po')
+      self._translations, self._plurals = load_translations(po_path)
+      self._plural_selector = PLURAL_SELECTORS.get(self._language, lambda n: 0)
+      cloudlog.debug(f"Loaded translations for language: {self._language}")
     except FileNotFoundError:
       cloudlog.error(f"No translation file found for language: {self._language}, using default.")
-      gettext.install('app')
-      self._translation = gettext.NullTranslations()
+      self._translations = {}
+      self._plurals = {}
 
   def change_language(self, language_code: str) -> None:
-    # Reinstall gettext with the selected language
     self._params.put("LanguageSetting", language_code)
     self._language = language_code
     self.setup()
 
   def tr(self, text: str) -> str:
-    return self._translation.gettext(text)
+    return self._translations.get(text, text) or text
 
   def trn(self, singular: str, plural: str, n: int) -> str:
-    return self._translation.ngettext(singular, plural, n)
+    if singular in self._plurals:
+      idx = self._plural_selector(n)
+      forms = self._plurals[singular]
+      if idx < len(forms) and forms[idx]:
+        return forms[idx]
+    return singular if n == 1 else plural
 
   def _load_languages(self):
     with LANGUAGES_FILE.open(encoding='utf-8') as f:
diff --git a/system/ui/lib/networkmanager.py b/system/ui/lib/networkmanager.py
index ffa2ff4db9d..d2d6b30b107 100644
--- a/system/ui/lib/networkmanager.py
+++ b/system/ui/lib/networkmanager.py
@@ -3,14 +3,34 @@
 
 # NetworkManager device states
 class NMDeviceState(IntEnum):
+  # https://networkmanager.dev/docs/api/1.46/nm-dbus-types.html#NMDeviceState
   UNKNOWN = 0
+  UNMANAGED = 10
+  UNAVAILABLE = 20
   DISCONNECTED = 30
   PREPARE = 40
-  STATE_CONFIG = 50
+  CONFIG = 50
   NEED_AUTH = 60
   IP_CONFIG = 70
+  IP_CHECK = 80
+  SECONDARIES = 90
   ACTIVATED = 100
   DEACTIVATING = 110
+  FAILED = 120
+
+
+class NMDeviceStateReason(IntEnum):
+  # https://networkmanager.dev/docs/api/1.46/nm-dbus-types.html#NMDeviceStateReason
+  NONE = 0
+  UNKNOWN = 1
+  IP_CONFIG_UNAVAILABLE = 5
+  NO_SECRETS = 7
+  SUPPLICANT_DISCONNECT = 8
+  SUPPLICANT_TIMEOUT = 11
+  CONNECTION_REMOVED = 38
+  USER_REQUESTED = 39
+  SSID_NOT_FOUND = 53
+  NEW_ACTIVATION = 60
 
 
 # NetworkManager constants
@@ -29,8 +49,6 @@ class NMDeviceState(IntEnum):
 
 NM_DEVICE_TYPE_WIFI = 2
 NM_DEVICE_TYPE_MODEM = 8
-NM_DEVICE_STATE_REASON_SUPPLICANT_DISCONNECT = 8
-NM_DEVICE_STATE_REASON_NEW_ACTIVATION = 60
 
 # https://developer.gnome.org/NetworkManager/1.26/nm-dbus-types.html#NM80211ApFlags
 NM_802_11_AP_FLAGS_NONE = 0x0
diff --git a/system/ui/lib/scroll_panel2.py b/system/ui/lib/scroll_panel2.py
index 0859071dac2..18fd8a9a671 100644
--- a/system/ui/lib/scroll_panel2.py
+++ b/system/ui/lib/scroll_panel2.py
@@ -20,6 +20,21 @@
 DEBUG = os.getenv("DEBUG_SCROLL", "0") == "1"
 
 
+# Weights older (steadier) velocity samples more heavily on release.
+# Finger-lift samples are noisy; trusting earlier samples gives consistent fling velocity.
+# Reverse-engineered from iOS UIScrollView (tuned at 120Hz touch) by Flutter team:
+# https://github.com/flutter/flutter/pull/60501
+# 3 samples ≈ 25ms at 120Hz (iOS) / ~21ms at 140Hz (comma). Scale if touch rate changes.
+def weighted_velocity(buffer: deque) -> float:
+  if len(buffer) >= 3:
+    return buffer[-3] * 0.6 + buffer[-2] * 0.35 + buffer[-1] * 0.05
+  elif len(buffer) == 2:
+    return buffer[-2] * 0.7 + buffer[-1] * 0.3
+  elif len(buffer) == 1:
+    return buffer[-1]
+  return 0.0
+
+
 # from https://ariya.io/2011/10/flick-list-with-its-momentum-scrolling-and-deceleration
 class ScrollState(Enum):
   STEADY = 0
@@ -73,8 +88,14 @@ def _get_offset_bounds(self, bounds_size: float, content_size: float) -> tuple[f
 
   def _update_state(self, bounds_size: float, content_size: float) -> None:
     """Runs per render frame, independent of mouse events. Updates auto-scrolling state and velocity."""
-    if self._state == ScrollState.AUTO_SCROLL:
-      max_offset, min_offset = self._get_offset_bounds(bounds_size, content_size)
+    max_offset, min_offset = self._get_offset_bounds(bounds_size, content_size)
+
+    if self._state == ScrollState.STEADY:
+      # if we find ourselves out of bounds, scroll back in (from external layout dimension changes, etc.)
+      if self.get_offset() > max_offset or self.get_offset() < min_offset:
+        self._state = ScrollState.AUTO_SCROLL
+
+    elif self._state == ScrollState.AUTO_SCROLL:
       # simple exponential return if out of bounds
       out_of_bounds = self.get_offset() > max_offset or self.get_offset() < min_offset
       if out_of_bounds and self._handle_out_of_bounds:
@@ -145,7 +166,13 @@ def _handle_mouse_event(self, mouse_event: MouseEvent, bounds: rl.Rectangle, bou
         # Touch rejection: when releasing finger after swiping and stopping, panel
         # reports a few erroneous touch events with high velocity, try to ignore.
 
-        # If velocity decelerates very quickly, assume user doesn't intend to auto scroll
+        # If velocity decelerates very quickly, assume user doesn't intend to auto scroll.
+        # Catches two cases: 1) swipe, stop finger, then lift (stale high velocity in buffer)
+        # 2) dirty finger lift where finger rotates/slides producing spurious velocity spike.
+        # TODO: this heuristic false-positives on fast swipes because 140Hz touch polling
+        #  jitter causes velocity to oscillate (not real deceleration). Better approaches:
+        #  - Use evdev kernel timestamps to eliminate velocity oscillation at the source
+        #  - Replace with a time-since-last-event check (40ms timeout) for swipe-stop-lift
         high_decel = False
         if len(self._velocity_buffer) > 2:
           # We limit max to first half since final few velocities can surpass first few
@@ -160,6 +187,8 @@ def _handle_mouse_event(self, mouse_event: MouseEvent, bounds: rl.Rectangle, bou
               print('deceleration too high, going to STEADY')
             high_decel = True
 
+        self._velocity = weighted_velocity(self._velocity_buffer)
+
         # If final velocity is below some threshold, switch to steady state too
         low_speed = abs(self._velocity) <= MIN_VELOCITY_FOR_CLICKING * 1.5  # plus some margin
 
diff --git a/system/ui/lib/tests/test_handle_state_change.py b/system/ui/lib/tests/test_handle_state_change.py
new file mode 100644
index 00000000000..69aae6fdf31
--- /dev/null
+++ b/system/ui/lib/tests/test_handle_state_change.py
@@ -0,0 +1,906 @@
+"""Tests for WifiManager._handle_state_change.
+
+Tests the state machine in isolation by constructing a WifiManager with mocked
+DBus, then calling _handle_state_change directly with NM state transitions.
+"""
+import pytest
+from jeepney.low_level import MessageType
+from pytest_mock import MockerFixture
+
+from openpilot.system.ui.lib.networkmanager import NMDeviceState, NMDeviceStateReason
+from openpilot.system.ui.lib.wifi_manager import WifiManager, WifiState, ConnectStatus
+
+
+def _make_wm(mocker: MockerFixture, connections=None):
+  """Create a WifiManager with only the fields _handle_state_change touches."""
+  mocker.patch.object(WifiManager, '_initialize')
+  wm = WifiManager.__new__(WifiManager)
+  wm._exit = True  # prevent stop() from doing anything in __del__
+  wm._conn_monitor = mocker.MagicMock()
+  wm._connections = dict(connections or {})
+  wm._wifi_state = WifiState()
+  wm._user_epoch = 0
+  wm._callback_queue = []
+  wm._need_auth = []
+  wm._activated = []
+  wm._update_networks = mocker.MagicMock()
+  wm._update_active_connection_info = mocker.MagicMock()
+  wm._get_active_wifi_connection = mocker.MagicMock(return_value=(None, None))
+  return wm
+
+
+def fire(wm: WifiManager, new_state: int, prev_state: int = NMDeviceState.UNKNOWN,
+         reason: int = NMDeviceStateReason.NONE) -> None:
+  """Feed a state change into the handler."""
+  wm._handle_state_change(new_state, prev_state, reason)
+
+
+def fire_wpa_connect(wm: WifiManager) -> None:
+  """WPA handshake then IP negotiation through ACTIVATED, as seen on device."""
+  fire(wm, NMDeviceState.NEED_AUTH)
+  fire(wm, NMDeviceState.PREPARE, prev_state=NMDeviceState.NEED_AUTH)
+  fire(wm, NMDeviceState.CONFIG)
+  fire(wm, NMDeviceState.IP_CONFIG)
+  fire(wm, NMDeviceState.IP_CHECK)
+  fire(wm, NMDeviceState.SECONDARIES)
+  fire(wm, NMDeviceState.ACTIVATED)
+
+
+# ---------------------------------------------------------------------------
+# Basic transitions
+# ---------------------------------------------------------------------------
+
+class TestDisconnected:
+  def test_generic_disconnect_clears_state(self, mocker):
+    wm = _make_wm(mocker)
+    wm._wifi_state = WifiState(ssid="Net", status=ConnectStatus.CONNECTED)
+
+    fire(wm, NMDeviceState.DISCONNECTED, reason=NMDeviceStateReason.UNKNOWN)
+
+    assert wm._wifi_state.ssid is None
+    assert wm._wifi_state.status == ConnectStatus.DISCONNECTED
+    wm._update_networks.assert_not_called()
+
+  def test_new_activation_is_noop(self, mocker):
+    """NEW_ACTIVATION means NM is about to connect to another network — don't clear."""
+    wm = _make_wm(mocker)
+    wm._wifi_state = WifiState(ssid="OldNet", status=ConnectStatus.CONNECTED)
+
+    fire(wm, NMDeviceState.DISCONNECTED, reason=NMDeviceStateReason.NEW_ACTIVATION)
+
+    assert wm._wifi_state.ssid == "OldNet"
+    assert wm._wifi_state.status == ConnectStatus.CONNECTED
+
+  def test_connection_removed_keeps_other_connecting(self, mocker):
+    """Forget A while connecting to B: CONNECTION_REMOVED for A must not clear B."""
+    wm = _make_wm(mocker, connections={"B": "/path/B"})
+    wm._set_connecting("B")
+
+    fire(wm, NMDeviceState.DISCONNECTED, reason=NMDeviceStateReason.CONNECTION_REMOVED)
+
+    assert wm._wifi_state.ssid == "B"
+    assert wm._wifi_state.status == ConnectStatus.CONNECTING
+
+  def test_connection_removed_clears_when_forgotten(self, mocker):
+    """Forget A: A is no longer in _connections, so state should clear."""
+    wm = _make_wm(mocker, connections={})
+    wm._wifi_state = WifiState(ssid="A", status=ConnectStatus.CONNECTED)
+
+    fire(wm, NMDeviceState.DISCONNECTED, reason=NMDeviceStateReason.CONNECTION_REMOVED)
+
+    assert wm._wifi_state.ssid is None
+    assert wm._wifi_state.status == ConnectStatus.DISCONNECTED
+
+
+class TestDeactivating:
+  def test_deactivating_noop_for_non_connection_removed(self, mocker):
+    """DEACTIVATING with non-CONNECTION_REMOVED reason is a no-op."""
+    wm = _make_wm(mocker)
+    wm._wifi_state = WifiState(ssid="Net", status=ConnectStatus.CONNECTED)
+
+    fire(wm, NMDeviceState.DEACTIVATING, reason=NMDeviceStateReason.USER_REQUESTED)
+
+    assert wm._wifi_state.ssid == "Net"
+    assert wm._wifi_state.status == ConnectStatus.CONNECTED
+
+  @pytest.mark.parametrize("status, expected_clears", [
+    (ConnectStatus.CONNECTED, True),
+    (ConnectStatus.CONNECTING, False),
+  ])
+  def test_deactivating_connection_removed(self, mocker, status, expected_clears):
+    """DEACTIVATING(CONNECTION_REMOVED) clears CONNECTED but preserves CONNECTING.
+
+    CONNECTED: forgetting the current network. The forgotten callback fires between
+    DEACTIVATING and DISCONNECTED — must clear here so the UI doesn't flash "connected"
+    after the eager _network_forgetting flag resets.
+
+    CONNECTING: forget A while connecting to B. DEACTIVATING fires for A's removal,
+    but B's CONNECTING state must be preserved.
+    """
+    wm = _make_wm(mocker, connections={"B": "/path/B"})
+    wm._wifi_state = WifiState(ssid="B" if status == ConnectStatus.CONNECTING else "A", status=status)
+
+    fire(wm, NMDeviceState.DEACTIVATING, reason=NMDeviceStateReason.CONNECTION_REMOVED)
+
+    if expected_clears:
+      assert wm._wifi_state.ssid is None
+      assert wm._wifi_state.status == ConnectStatus.DISCONNECTED
+    else:
+      assert wm._wifi_state.ssid == "B"
+      assert wm._wifi_state.status == ConnectStatus.CONNECTING
+
+
+class TestPrepareConfig:
+  def test_user_initiated_skips_dbus_lookup(self, mocker):
+    """User called _set_connecting('B') — PREPARE must not overwrite via DBus.
+
+    Reproduced on device: rapidly tap A then B. PREPARE's DBus lookup returns A's
+    stale conn_path, overwriting ssid to A for 1-2 frames. UI shows the "connecting"
+    indicator briefly jump to the wrong network row then back.
+    """
+    wm = _make_wm(mocker, connections={"A": "/path/A", "B": "/path/B"})
+    wm._set_connecting("B")
+    wm._get_active_wifi_connection.return_value = ("/path/A", {})
+
+    fire(wm, NMDeviceState.PREPARE)
+
+    assert wm._wifi_state.ssid == "B"
+    assert wm._wifi_state.status == ConnectStatus.CONNECTING
+    wm._get_active_wifi_connection.assert_not_called()
+
+  @pytest.mark.parametrize("state", [NMDeviceState.PREPARE, NMDeviceState.CONFIG])
+  def test_auto_connect_looks_up_ssid(self, mocker, state):
+    """Auto-connection (ssid=None): PREPARE and CONFIG must look up ssid from NM."""
+    wm = _make_wm(mocker, connections={"AutoNet": "/path/auto"})
+    wm._get_active_wifi_connection.return_value = ("/path/auto", {})
+
+    fire(wm, state)
+
+    assert wm._wifi_state.ssid == "AutoNet"
+    assert wm._wifi_state.status == ConnectStatus.CONNECTING
+
+  def test_auto_connect_dbus_fails(self, mocker):
+    """Auto-connection but DBus returns None: ssid stays None, status CONNECTING."""
+    wm = _make_wm(mocker)
+
+    fire(wm, NMDeviceState.PREPARE)
+
+    assert wm._wifi_state.ssid is None
+    assert wm._wifi_state.status == ConnectStatus.CONNECTING
+
+  def test_auto_connect_conn_path_not_in_connections(self, mocker):
+    """DBus returns a conn_path that doesn't match any known connection."""
+    wm = _make_wm(mocker, connections={"Other": "/path/other"})
+    wm._get_active_wifi_connection.return_value = ("/path/unknown", {})
+
+    fire(wm, NMDeviceState.PREPARE)
+
+    assert wm._wifi_state.ssid is None
+    assert wm._wifi_state.status == ConnectStatus.CONNECTING
+
+
+class TestNeedAuth:
+  def test_wrong_password_fires_callback(self, mocker):
+    """NEED_AUTH+SUPPLICANT_DISCONNECT from CONFIG = real wrong password."""
+    wm = _make_wm(mocker)
+    cb = mocker.MagicMock()
+    wm.add_callbacks(need_auth=cb)
+    wm._set_connecting("SecNet")
+
+    fire(wm, NMDeviceState.NEED_AUTH, prev_state=NMDeviceState.CONFIG,
+         reason=NMDeviceStateReason.SUPPLICANT_DISCONNECT)
+
+    assert wm._wifi_state.status == ConnectStatus.DISCONNECTED
+    assert len(wm._callback_queue) == 1
+    wm.process_callbacks()
+    cb.assert_called_once_with("SecNet")
+
+  def test_failed_no_secrets_fires_callback(self, mocker):
+    """FAILED+NO_SECRETS = wrong password (weak/gone network).
+
+    Confirmed on device: also fires when a hotspot turns off during connection.
+    NM can't complete the WPA handshake (AP vanished) and reports NO_SECRETS
+    rather than SSID_NOT_FOUND. The need_auth callback fires, so the UI shows
+    "wrong password" — a false positive, but same signal path.
+
+    Real device sequence (new connection, hotspot turned off immediately):
+      PREPARE → CONFIG → NEED_AUTH(CONFIG, NONE) → PREPARE(NEED_AUTH) → CONFIG
+      → NEED_AUTH(CONFIG, NONE) → FAILED(NEED_AUTH, NO_SECRETS) → DISCONNECTED(FAILED, NONE)
+    """
+    wm = _make_wm(mocker)
+    cb = mocker.MagicMock()
+    wm.add_callbacks(need_auth=cb)
+    wm._set_connecting("WeakNet")
+
+    fire(wm, NMDeviceState.FAILED, reason=NMDeviceStateReason.NO_SECRETS)
+
+    assert wm._wifi_state.status == ConnectStatus.DISCONNECTED
+    assert len(wm._callback_queue) == 1
+    wm.process_callbacks()
+    cb.assert_called_once_with("WeakNet")
+
+  def test_need_auth_then_failed_no_double_fire(self, mocker):
+    """Real device sends NEED_AUTH(SUPPLICANT_DISCONNECT) then FAILED(NO_SECRETS) back-to-back.
+
+    The first clears ssid, so the second must not fire a duplicate callback.
+    Real device sequence: NEED_AUTH(CONFIG, SUPPLICANT_DISCONNECT) → FAILED(NEED_AUTH, NO_SECRETS)
+    """
+    wm = _make_wm(mocker)
+    cb = mocker.MagicMock()
+    wm.add_callbacks(need_auth=cb)
+    wm._set_connecting("BadPass")
+
+    fire(wm, NMDeviceState.NEED_AUTH, prev_state=NMDeviceState.CONFIG,
+         reason=NMDeviceStateReason.SUPPLICANT_DISCONNECT)
+    assert len(wm._callback_queue) == 1
+
+    fire(wm, NMDeviceState.FAILED, prev_state=NMDeviceState.NEED_AUTH,
+         reason=NMDeviceStateReason.NO_SECRETS)
+    assert len(wm._callback_queue) == 1  # no duplicate
+
+    wm.process_callbacks()
+    cb.assert_called_once_with("BadPass")
+
+  def test_no_ssid_no_callback(self, mocker):
+    """If ssid is None when NEED_AUTH fires, no callback enqueued."""
+    wm = _make_wm(mocker)
+    cb = mocker.MagicMock()
+    wm.add_callbacks(need_auth=cb)
+
+    fire(wm, NMDeviceState.NEED_AUTH, reason=NMDeviceStateReason.SUPPLICANT_DISCONNECT)
+
+    assert len(wm._callback_queue) == 0
+
+  def test_interrupted_auth_ignored(self, mocker):
+    """Switching A->B: NEED_AUTH from A (prev=DISCONNECTED) must not fire callback.
+
+    Reproduced on device: rapidly switching between two saved networks can trigger a
+    rare false "wrong password" dialog for the previous network, even though both have
+    correct passwords. The stale NEED_AUTH has prev_state=DISCONNECTED (not CONFIG).
+    """
+    wm = _make_wm(mocker)
+    cb = mocker.MagicMock()
+    wm.add_callbacks(need_auth=cb)
+    wm._set_connecting("A")
+    wm._set_connecting("B")
+
+    fire(wm, NMDeviceState.NEED_AUTH, prev_state=NMDeviceState.DISCONNECTED,
+         reason=NMDeviceStateReason.SUPPLICANT_DISCONNECT)
+
+    assert wm._wifi_state.ssid == "B"
+    assert wm._wifi_state.status == ConnectStatus.CONNECTING
+    assert len(wm._callback_queue) == 0
+
+
+class TestPassthroughStates:
+  """NEED_AUTH (generic), IP_CONFIG, IP_CHECK, SECONDARIES, FAILED (generic) are no-ops."""
+
+  @pytest.mark.parametrize("state", [
+    NMDeviceState.NEED_AUTH,
+    NMDeviceState.IP_CONFIG,
+    NMDeviceState.IP_CHECK,
+    NMDeviceState.SECONDARIES,
+    NMDeviceState.FAILED,
+  ])
+  def test_passthrough_is_noop(self, mocker, state):
+    wm = _make_wm(mocker)
+    wm._set_connecting("Net")
+
+    fire(wm, state, reason=NMDeviceStateReason.NONE)
+
+    assert wm._wifi_state.ssid == "Net"
+    assert wm._wifi_state.status == ConnectStatus.CONNECTING
+    assert len(wm._callback_queue) == 0
+
+
+class TestActivated:
+  def test_sets_connected(self, mocker):
+    """ACTIVATED sets status to CONNECTED and fires callback."""
+    wm = _make_wm(mocker, connections={"MyNet": "/path/mynet"})
+    cb = mocker.MagicMock()
+    wm.add_callbacks(activated=cb)
+    wm._set_connecting("MyNet")
+    wm._get_active_wifi_connection.return_value = ("/path/mynet", {})
+
+    fire(wm, NMDeviceState.ACTIVATED)
+
+    assert wm._wifi_state.status == ConnectStatus.CONNECTED
+    assert wm._wifi_state.ssid == "MyNet"
+    assert len(wm._callback_queue) == 1
+    wm.process_callbacks()
+    cb.assert_called_once()
+
+  def test_conn_path_none_still_connected(self, mocker):
+    """ACTIVATED but DBus returns None: status CONNECTED, ssid unchanged."""
+    wm = _make_wm(mocker)
+    wm._set_connecting("MyNet")
+
+    fire(wm, NMDeviceState.ACTIVATED)
+
+    assert wm._wifi_state.status == ConnectStatus.CONNECTED
+    assert wm._wifi_state.ssid == "MyNet"
+
+  def test_activated_side_effects(self, mocker):
+    """ACTIVATED persists the volatile connection to disk and updates active connection info."""
+    wm = _make_wm(mocker, connections={"Net": "/path/net"})
+    wm._set_connecting("Net")
+    wm._get_active_wifi_connection.return_value = ("/path/net", {})
+
+    fire(wm, NMDeviceState.ACTIVATED)
+
+    wm._conn_monitor.send_and_get_reply.assert_called_once()
+    wm._update_active_connection_info.assert_called_once()
+    wm._update_networks.assert_not_called()
+
+
+# ---------------------------------------------------------------------------
+# Thread races: _set_connecting on main thread vs _handle_state_change on monitor thread.
+# Uses side_effect on the DBus mock to simulate _set_connecting running mid-handler.
+# The epoch counter detects that a user action occurred during the slow DBus call
+# and discards the stale update.
+# ---------------------------------------------------------------------------
+# The deterministic fixes (skip DBus lookup when ssid already set, prev_state guard
+# on NEED_AUTH, DEACTIVATING clears CONNECTED on CONNECTION_REMOVED, CONNECTION_REMOVED
+# guard) shrink these race windows significantly. The epoch counter closes the
+# remaining gaps.
+
+class TestThreadRaces:
+  def test_prepare_race_user_tap_during_dbus(self, mocker):
+    """User taps B while PREPARE's DBus call is in flight for auto-connect.
+
+    Monitor thread reads wifi_state (ssid=None), starts DBus call.
+    Main thread: _set_connecting("B"). Monitor thread writes back stale ssid from DBus.
+    """
+    wm = _make_wm(mocker, connections={"A": "/path/A", "B": "/path/B"})
+
+    def user_taps_b_during_dbus(*args, **kwargs):
+      wm._set_connecting("B")
+      return ("/path/A", {})
+
+    wm._get_active_wifi_connection.side_effect = user_taps_b_during_dbus
+
+    fire(wm, NMDeviceState.PREPARE)
+
+    assert wm._wifi_state.ssid == "B"
+    assert wm._wifi_state.status == ConnectStatus.CONNECTING
+
+  def test_activated_race_user_tap_during_dbus(self, mocker):
+    """User taps B right as A finishes connecting (ACTIVATED handler running).
+
+    Monitor thread reads wifi_state (A, CONNECTING), starts DBus call.
+    Main thread: _set_connecting("B"). Monitor thread writes (A, CONNECTED), losing B.
+    """
+    wm = _make_wm(mocker, connections={"A": "/path/A", "B": "/path/B"})
+    wm._set_connecting("A")
+
+    def user_taps_b_during_dbus(*args, **kwargs):
+      wm._set_connecting("B")
+      return ("/path/A", {})
+
+    wm._get_active_wifi_connection.side_effect = user_taps_b_during_dbus
+
+    fire(wm, NMDeviceState.ACTIVATED)
+
+    assert wm._wifi_state.ssid == "B"
+    assert wm._wifi_state.status == ConnectStatus.CONNECTING
+
+  def test_init_wifi_state_race_user_tap_during_dbus(self, mocker):
+    """User taps B while _init_wifi_state's DBus calls are in flight.
+
+    _init_wifi_state runs from set_active(True) or worker error paths. It does
+    2 DBus calls (device State property + _get_active_wifi_connection) then
+    unconditionally writes _wifi_state. If the user taps a network during those
+    calls, _set_connecting("B") is overwritten with stale NM ground truth.
+    """
+    wm = _make_wm(mocker, connections={"A": "/path/A", "B": "/path/B"})
+    wm._wifi_device = "/dev/wifi0"
+    wm._router_main = mocker.MagicMock()
+
+    state_reply = mocker.MagicMock()
+    state_reply.body = [('u', NMDeviceState.ACTIVATED)]
+    wm._router_main.send_and_get_reply.return_value = state_reply
+
+    def user_taps_b_during_dbus(*args, **kwargs):
+      wm._set_connecting("B")
+      return ("/path/A", {})
+
+    wm._get_active_wifi_connection.side_effect = user_taps_b_during_dbus
+
+    wm._init_wifi_state()
+
+    assert wm._wifi_state.ssid == "B"
+    assert wm._wifi_state.status == ConnectStatus.CONNECTING
+
+
+# ---------------------------------------------------------------------------
+# Full sequences (NM signal order from real devices)
+# ---------------------------------------------------------------------------
+
+class TestFullSequences:
+  def test_normal_connect(self, mocker):
+    """User connects to saved network: full happy path.
+
+    Real device sequence (switching from another connected network):
+      DEACTIVATING(ACTIVATED, NEW_ACTIVATION) → DISCONNECTED(DEACTIVATING, NEW_ACTIVATION)
+      PREPARE → CONFIG → NEED_AUTH(CONFIG, NONE) → PREPARE(NEED_AUTH, NONE) → CONFIG
+      → IP_CONFIG → IP_CHECK → SECONDARIES → ACTIVATED
+    """
+    wm = _make_wm(mocker, connections={"Home": "/path/home"})
+    wm._get_active_wifi_connection.return_value = ("/path/home", {})
+
+    wm._set_connecting("Home")
+    fire(wm, NMDeviceState.PREPARE)
+    fire(wm, NMDeviceState.CONFIG)
+    fire(wm, NMDeviceState.NEED_AUTH)  # WPA handshake (reason=NONE)
+    fire(wm, NMDeviceState.PREPARE, prev_state=NMDeviceState.NEED_AUTH)
+    fire(wm, NMDeviceState.CONFIG)
+    assert wm._wifi_state.status == ConnectStatus.CONNECTING
+
+    fire(wm, NMDeviceState.IP_CONFIG)
+    fire(wm, NMDeviceState.IP_CHECK)
+    fire(wm, NMDeviceState.SECONDARIES)
+    fire(wm, NMDeviceState.ACTIVATED)
+
+    assert wm._wifi_state.status == ConnectStatus.CONNECTED
+    assert wm._wifi_state.ssid == "Home"
+
+  def test_wrong_password_then_retry(self, mocker):
+    """Wrong password → NEED_AUTH → FAILED → NM auto-reconnects to saved network.
+
+    Confirmed on device: wrong password for Shane's iPhone, NM auto-connected to unifi.
+
+    Real device sequence (switching from a connected network):
+      DEACTIVATING(ACTIVATED, NEW_ACTIVATION) → DISCONNECTED(DEACTIVATING, NEW_ACTIVATION)
+      → PREPARE → CONFIG → NEED_AUTH(CONFIG, NONE)              ← WPA handshake
+      → PREPARE(NEED_AUTH, NONE) → CONFIG
+      → NEED_AUTH(CONFIG, SUPPLICANT_DISCONNECT)                 ← wrong password
+      → FAILED(NEED_AUTH, NO_SECRETS)                            ← NM gives up
+      → DISCONNECTED(FAILED, NONE)
+      → PREPARE → CONFIG → NEED_AUTH(CONFIG, NONE) → PREPARE(NEED_AUTH) → CONFIG
+      → IP_CONFIG → IP_CHECK → SECONDARIES → ACTIVATED          ← auto-reconnect to other saved network
+    """
+    wm = _make_wm(mocker, connections={"Sec": "/path/sec"})
+    cb = mocker.MagicMock()
+    wm.add_callbacks(need_auth=cb)
+
+    wm._set_connecting("Sec")
+    fire(wm, NMDeviceState.PREPARE)
+    fire(wm, NMDeviceState.CONFIG)
+    fire(wm, NMDeviceState.NEED_AUTH)  # WPA handshake (reason=NONE)
+    fire(wm, NMDeviceState.PREPARE, prev_state=NMDeviceState.NEED_AUTH)
+    fire(wm, NMDeviceState.CONFIG)
+
+    fire(wm, NMDeviceState.NEED_AUTH, prev_state=NMDeviceState.CONFIG,
+         reason=NMDeviceStateReason.SUPPLICANT_DISCONNECT)
+    assert wm._wifi_state.status == ConnectStatus.DISCONNECTED
+    assert len(wm._callback_queue) == 1
+
+    # FAILED(NO_SECRETS) follows but ssid is already cleared — no double-fire
+    fire(wm, NMDeviceState.FAILED, reason=NMDeviceStateReason.NO_SECRETS)
+    assert len(wm._callback_queue) == 1
+
+    fire(wm, NMDeviceState.DISCONNECTED, prev_state=NMDeviceState.FAILED)
+
+    # Retry
+    wm._callback_queue.clear()
+    wm._set_connecting("Sec")
+    wm._get_active_wifi_connection.return_value = ("/path/sec", {})
+    fire(wm, NMDeviceState.PREPARE)
+    fire(wm, NMDeviceState.CONFIG)
+    fire_wpa_connect(wm)
+    assert wm._wifi_state.status == ConnectStatus.CONNECTED
+
+  def test_switch_saved_networks(self, mocker):
+    """Switch from A to B (both saved): NM signal sequence from real device.
+
+    Real device sequence:
+      DEACTIVATING(ACTIVATED, NEW_ACTIVATION) → DISCONNECTED(DEACTIVATING, NEW_ACTIVATION)
+      → PREPARE → CONFIG → NEED_AUTH(CONFIG, NONE) → PREPARE(NEED_AUTH, NONE) → CONFIG
+      → IP_CONFIG → IP_CHECK → SECONDARIES → ACTIVATED
+    """
+    wm = _make_wm(mocker, connections={"A": "/path/A", "B": "/path/B"})
+    wm._wifi_state = WifiState(ssid="A", status=ConnectStatus.CONNECTED)
+    wm._get_active_wifi_connection.return_value = ("/path/B", {})
+
+    wm._set_connecting("B")
+
+    fire(wm, NMDeviceState.DEACTIVATING, prev_state=NMDeviceState.ACTIVATED,
+         reason=NMDeviceStateReason.NEW_ACTIVATION)
+    fire(wm, NMDeviceState.DISCONNECTED, prev_state=NMDeviceState.DEACTIVATING,
+         reason=NMDeviceStateReason.NEW_ACTIVATION)
+    assert wm._wifi_state.ssid == "B"
+    assert wm._wifi_state.status == ConnectStatus.CONNECTING
+
+    fire(wm, NMDeviceState.PREPARE)
+    fire(wm, NMDeviceState.CONFIG)
+    fire_wpa_connect(wm)
+    assert wm._wifi_state.status == ConnectStatus.CONNECTED
+    assert wm._wifi_state.ssid == "B"
+
+  def test_rapid_switch_no_false_wrong_password(self, mocker):
+    """Switch A→B quickly: A's interrupted NEED_AUTH must NOT show wrong password.
+
+    NOTE: The late NEED_AUTH(DISCONNECTED, SUPPLICANT_DISCONNECT) is common when rapidly
+    switching between networks with wrong/new passwords. Less common when switching between
+    saved networks with correct passwords. Not guaranteed — some switches skip it and go
+    straight from DISCONNECTED to PREPARE. The prev_state is consistently DISCONNECTED
+    for stale signals, so the prev_state guard reliably distinguishes them.
+
+    Worst-case signal sequence this protects against:
+      DEACTIVATING(NEW_ACTIVATION) → DISCONNECTED(NEW_ACTIVATION)
+      → NEED_AUTH(DISCONNECTED, SUPPLICANT_DISCONNECT)  ← A's stale auth failure
+      → PREPARE → CONFIG → ... → ACTIVATED  ← B connects
+    """
+    wm = _make_wm(mocker, connections={"A": "/path/A", "B": "/path/B"})
+    cb = mocker.MagicMock()
+    wm.add_callbacks(need_auth=cb)
+    wm._wifi_state = WifiState(ssid="A", status=ConnectStatus.CONNECTED)
+    wm._get_active_wifi_connection.return_value = ("/path/B", {})
+
+    wm._set_connecting("B")
+
+    fire(wm, NMDeviceState.DEACTIVATING, prev_state=NMDeviceState.ACTIVATED,
+         reason=NMDeviceStateReason.NEW_ACTIVATION)
+    fire(wm, NMDeviceState.DISCONNECTED, prev_state=NMDeviceState.DEACTIVATING,
+         reason=NMDeviceStateReason.NEW_ACTIVATION)
+    fire(wm, NMDeviceState.NEED_AUTH, prev_state=NMDeviceState.DISCONNECTED,
+         reason=NMDeviceStateReason.SUPPLICANT_DISCONNECT)
+
+    assert wm._wifi_state.ssid == "B"
+    assert wm._wifi_state.status == ConnectStatus.CONNECTING
+    assert len(wm._callback_queue) == 0
+
+    fire(wm, NMDeviceState.PREPARE)
+    fire(wm, NMDeviceState.CONFIG)
+    fire_wpa_connect(wm)
+    assert wm._wifi_state.status == ConnectStatus.CONNECTED
+
+  def test_forget_while_connecting(self, mocker):
+    """Forget the network we're currently connecting to (not yet ACTIVATED).
+
+    Confirmed on device: connected to unifi, tapped Shane's iPhone, then forgot
+    Shane's iPhone while at CONFIG. NM auto-connected to unifi afterward.
+
+    Real device sequence (switching then forgetting mid-connection):
+      DEACTIVATING(ACTIVATED, NEW_ACTIVATION) → DISCONNECTED(DEACTIVATING, NEW_ACTIVATION)
+      → PREPARE → CONFIG → NEED_AUTH(CONFIG, NONE) → PREPARE(NEED_AUTH) → CONFIG
+      → DEACTIVATING(CONFIG, CONNECTION_REMOVED)                ← forget at CONFIG
+      → DISCONNECTED(DEACTIVATING, CONNECTION_REMOVED)
+      → PREPARE → CONFIG → ... → ACTIVATED                     ← NM auto-connects to other saved network
+
+    Note: DEACTIVATING fires from CONFIG (not ACTIVATED). wifi_state.status is
+    CONNECTING, so the DEACTIVATING handler is a no-op. DISCONNECTED clears state
+    (ssid removed from _connections by ConnectionRemoved), then PREPARE recovers
+    via DBus lookup for the auto-connect.
+    """
+    wm = _make_wm(mocker, connections={"A": "/path/A", "Other": "/path/other"})
+    wm._get_active_wifi_connection.return_value = ("/path/other", {})
+
+    wm._set_connecting("A")
+
+    fire(wm, NMDeviceState.PREPARE)
+    fire(wm, NMDeviceState.CONFIG)
+    assert wm._wifi_state.ssid == "A"
+    assert wm._wifi_state.status == ConnectStatus.CONNECTING
+
+    # User forgets A: ConnectionRemoved processed first, then state changes
+    del wm._connections["A"]
+
+    fire(wm, NMDeviceState.DEACTIVATING, prev_state=NMDeviceState.CONFIG,
+         reason=NMDeviceStateReason.CONNECTION_REMOVED)
+    assert wm._wifi_state.ssid == "A"
+    assert wm._wifi_state.status == ConnectStatus.CONNECTING  # DEACTIVATING preserves CONNECTING
+
+    fire(wm, NMDeviceState.DISCONNECTED, prev_state=NMDeviceState.DEACTIVATING,
+         reason=NMDeviceStateReason.CONNECTION_REMOVED)
+    assert wm._wifi_state.ssid is None
+    assert wm._wifi_state.status == ConnectStatus.DISCONNECTED
+
+    # NM auto-connects to another saved network
+    fire(wm, NMDeviceState.PREPARE)
+    assert wm._wifi_state.ssid == "Other"
+    assert wm._wifi_state.status == ConnectStatus.CONNECTING
+
+    fire(wm, NMDeviceState.CONFIG)
+    fire_wpa_connect(wm)
+    assert wm._wifi_state.status == ConnectStatus.CONNECTED
+    assert wm._wifi_state.ssid == "Other"
+
+  def test_forget_connected_network(self, mocker):
+    """Forget the currently connected network (not switching to another).
+
+    Real device sequence:
+      DEACTIVATING(ACTIVATED, CONNECTION_REMOVED) → DISCONNECTED(DEACTIVATING, CONNECTION_REMOVED)
+
+    ConnectionRemoved signal may or may not have been processed before state changes.
+    Either way, state must clear — we're forgetting what we're connected to, not switching.
+    """
+    wm = _make_wm(mocker, connections={"A": "/path/A"})
+    wm._wifi_state = WifiState(ssid="A", status=ConnectStatus.CONNECTED)
+
+    fire(wm, NMDeviceState.DEACTIVATING, prev_state=NMDeviceState.ACTIVATED,
+         reason=NMDeviceStateReason.CONNECTION_REMOVED)
+    assert wm._wifi_state.ssid is None
+    assert wm._wifi_state.status == ConnectStatus.DISCONNECTED
+
+    # DISCONNECTED follows — harmless since state is already cleared
+    fire(wm, NMDeviceState.DISCONNECTED, prev_state=NMDeviceState.DEACTIVATING,
+         reason=NMDeviceStateReason.CONNECTION_REMOVED)
+    assert wm._wifi_state.ssid is None
+    assert wm._wifi_state.status == ConnectStatus.DISCONNECTED
+
+  def test_forget_A_connect_B(self, mocker):
+    """Forget A while connecting to B: full signal sequence.
+
+    Real device sequence:
+      DEACTIVATING(ACTIVATED, CONNECTION_REMOVED) → DISCONNECTED(DEACTIVATING, CONNECTION_REMOVED)
+      → PREPARE → CONFIG → NEED_AUTH(CONFIG, NONE) → PREPARE(NEED_AUTH, NONE) → CONFIG
+      → IP_CONFIG → IP_CHECK → SECONDARIES → ACTIVATED
+
+    Signal order:
+      1. User: _set_connecting("B"), forget("A") removes A from _connections
+      2. NewConnection for B arrives → _connections["B"] = ...
+      3. DEACTIVATING(CONNECTION_REMOVED) — no-op
+      4. DISCONNECTED(CONNECTION_REMOVED) — B is in _connections, must not clear
+      5. PREPARE → CONFIG → NEED_AUTH → PREPARE → CONFIG → ... → ACTIVATED
+    """
+    wm = _make_wm(mocker, connections={"A": "/path/A"})
+    wm._wifi_state = WifiState(ssid="A", status=ConnectStatus.CONNECTED)
+
+    wm._set_connecting("B")
+    del wm._connections["A"]
+    wm._connections["B"] = "/path/B"
+
+    fire(wm, NMDeviceState.DEACTIVATING, prev_state=NMDeviceState.ACTIVATED,
+         reason=NMDeviceStateReason.CONNECTION_REMOVED)
+    assert wm._wifi_state.ssid == "B"
+    assert wm._wifi_state.status == ConnectStatus.CONNECTING
+
+    fire(wm, NMDeviceState.DISCONNECTED, prev_state=NMDeviceState.DEACTIVATING,
+         reason=NMDeviceStateReason.CONNECTION_REMOVED)
+    assert wm._wifi_state.ssid == "B"
+    assert wm._wifi_state.status == ConnectStatus.CONNECTING
+
+    wm._get_active_wifi_connection.return_value = ("/path/B", {})
+    fire(wm, NMDeviceState.PREPARE)
+    fire(wm, NMDeviceState.CONFIG)
+    fire_wpa_connect(wm)
+    assert wm._wifi_state.status == ConnectStatus.CONNECTED
+    assert wm._wifi_state.ssid == "B"
+
+  def test_forget_A_connect_B_late_new_connection(self, mocker):
+    """Forget A, connect B: NewConnection for B arrives AFTER DISCONNECTED.
+
+    This is the worst-case race: B isn't in _connections when DISCONNECTED fires,
+    so the guard can't protect it and state clears. PREPARE must recover by doing
+    the DBus lookup (ssid is None at that point).
+
+    Signal order:
+      1. User: _set_connecting("B"), forget("A") removes A from _connections
+      2. DEACTIVATING(CONNECTION_REMOVED) — B NOT in _connections, should be no-op
+      3. DISCONNECTED(CONNECTION_REMOVED) — B STILL NOT in _connections, clears state
+      4. NewConnection for B arrives late → _connections["B"] = ...
+      5. PREPARE (ssid=None, so DBus lookup recovers) → CONFIG → ACTIVATED
+    """
+    wm = _make_wm(mocker, connections={"A": "/path/A"})
+    wm._wifi_state = WifiState(ssid="A", status=ConnectStatus.CONNECTED)
+
+    wm._set_connecting("B")
+    del wm._connections["A"]
+
+    fire(wm, NMDeviceState.DEACTIVATING, prev_state=NMDeviceState.ACTIVATED,
+         reason=NMDeviceStateReason.CONNECTION_REMOVED)
+    assert wm._wifi_state.ssid == "B"
+    assert wm._wifi_state.status == ConnectStatus.CONNECTING
+
+    fire(wm, NMDeviceState.DISCONNECTED, prev_state=NMDeviceState.DEACTIVATING,
+         reason=NMDeviceStateReason.CONNECTION_REMOVED)
+    # B not in _connections yet, so state clears — this is the known edge case
+    assert wm._wifi_state.ssid is None
+    assert wm._wifi_state.status == ConnectStatus.DISCONNECTED
+
+    # NewConnection arrives late
+    wm._connections["B"] = "/path/B"
+    wm._get_active_wifi_connection.return_value = ("/path/B", {})
+
+    # PREPARE recovers: ssid is None so it looks up from DBus
+    fire(wm, NMDeviceState.PREPARE)
+    assert wm._wifi_state.ssid == "B"
+    assert wm._wifi_state.status == ConnectStatus.CONNECTING
+
+    fire(wm, NMDeviceState.CONFIG)
+    fire_wpa_connect(wm)
+    assert wm._wifi_state.status == ConnectStatus.CONNECTED
+    assert wm._wifi_state.ssid == "B"
+
+  def test_auto_connect(self, mocker):
+    """NM auto-connects (no user action, ssid starts None)."""
+    wm = _make_wm(mocker, connections={"AutoNet": "/path/auto"})
+    wm._get_active_wifi_connection.return_value = ("/path/auto", {})
+
+    fire(wm, NMDeviceState.PREPARE)
+    assert wm._wifi_state.ssid == "AutoNet"
+    assert wm._wifi_state.status == ConnectStatus.CONNECTING
+
+    fire(wm, NMDeviceState.CONFIG)
+    fire_wpa_connect(wm)
+    assert wm._wifi_state.status == ConnectStatus.CONNECTED
+    assert wm._wifi_state.ssid == "AutoNet"
+
+  def test_network_lost_during_connection(self, mocker):
+    """Hotspot turned off while connecting (before ACTIVATED).
+
+    Confirmed on device: started new connection to Shane's iPhone, immediately
+    turned off the hotspot. NM can't complete WPA handshake and reports
+    FAILED(NO_SECRETS) — same signal as wrong password (false positive).
+
+    Real device sequence:
+      PREPARE → CONFIG → NEED_AUTH(CONFIG, NONE) → PREPARE(NEED_AUTH) → CONFIG
+      → NEED_AUTH(CONFIG, NONE) → FAILED(NEED_AUTH, NO_SECRETS) → DISCONNECTED(FAILED, NONE)
+
+    Note: no DEACTIVATING, no SUPPLICANT_DISCONNECT. The NEED_AUTH(CONFIG, NONE) is the
+    normal WPA handshake (not an error). NM gives up with NO_SECRETS because the AP
+    vanished mid-handshake.
+    """
+    wm = _make_wm(mocker, connections={"Hotspot": "/path/hs"})
+    cb = mocker.MagicMock()
+    wm.add_callbacks(need_auth=cb)
+
+    wm._set_connecting("Hotspot")
+    fire(wm, NMDeviceState.PREPARE)
+    fire(wm, NMDeviceState.CONFIG)
+    fire(wm, NMDeviceState.NEED_AUTH)  # WPA handshake (reason=NONE)
+    fire(wm, NMDeviceState.PREPARE, prev_state=NMDeviceState.NEED_AUTH)
+    fire(wm, NMDeviceState.CONFIG)
+    assert wm._wifi_state.status == ConnectStatus.CONNECTING
+
+    # Second NEED_AUTH(CONFIG, NONE) — NM retries handshake, AP vanishing
+    fire(wm, NMDeviceState.NEED_AUTH)
+    assert wm._wifi_state.status == ConnectStatus.CONNECTING
+
+    # NM gives up — reports NO_SECRETS (same as wrong password)
+    fire(wm, NMDeviceState.FAILED, prev_state=NMDeviceState.NEED_AUTH,
+         reason=NMDeviceStateReason.NO_SECRETS)
+    assert wm._wifi_state.status == ConnectStatus.DISCONNECTED
+    assert len(wm._callback_queue) == 1
+
+    fire(wm, NMDeviceState.DISCONNECTED, prev_state=NMDeviceState.FAILED)
+    assert wm._wifi_state.ssid is None
+    assert wm._wifi_state.status == ConnectStatus.DISCONNECTED
+
+    wm.process_callbacks()
+    cb.assert_called_once_with("Hotspot")
+
+  @pytest.mark.xfail(reason="TODO: FAILED(SSID_NOT_FOUND) should emit error for UI")
+  def test_ssid_not_found(self, mocker):
+    """Network drops off while connected — hotspot turned off.
+
+    NM docs: SSID_NOT_FOUND (53) = "The WiFi network could not be found"
+
+    Confirmed on device: connected to Shane's iPhone, then turned off the hotspot.
+    No DEACTIVATING fires — NM goes straight from ACTIVATED to FAILED(SSID_NOT_FOUND).
+    NM retries connecting (PREPARE → CONFIG → ... → FAILED(CONFIG, SSID_NOT_FOUND))
+    before finally giving up with DISCONNECTED.
+
+    NOTE: turning off a hotspot during initial connection (before ACTIVATED) typically
+    produces FAILED(NO_SECRETS) instead of SSID_NOT_FOUND (see test_failed_no_secrets).
+
+    Real device sequence (hotspot turned off while connected):
+      FAILED(ACTIVATED, SSID_NOT_FOUND) → DISCONNECTED(FAILED, NONE)
+      → PREPARE → CONFIG → NEED_AUTH(CONFIG, NONE) → PREPARE(NEED_AUTH) → CONFIG
+      → NEED_AUTH(CONFIG, NONE) → PREPARE(NEED_AUTH) → CONFIG
+      → FAILED(CONFIG, SSID_NOT_FOUND) → DISCONNECTED(FAILED, NONE)
+
+    The UI error callback mechanism is intentionally deferred — for now just clear state.
+    """
+    wm = _make_wm(mocker, connections={"GoneNet": "/path/gone"})
+    cb = mocker.MagicMock()
+    wm.add_callbacks(need_auth=cb)
+
+    wm._set_connecting("GoneNet")
+    fire(wm, NMDeviceState.PREPARE)
+    fire(wm, NMDeviceState.CONFIG)
+    fire(wm, NMDeviceState.FAILED, reason=NMDeviceStateReason.SSID_NOT_FOUND)
+
+    assert wm._wifi_state.status == ConnectStatus.DISCONNECTED
+    assert wm._wifi_state.ssid is None
+
+  def test_failed_then_disconnected_clears_state(self, mocker):
+    """After FAILED, NM always transitions to DISCONNECTED to clean up.
+
+    NM docs: FAILED (120) = "failed to connect, cleaning up the connection request"
+    Full sequence: ... → FAILED(reason) → DISCONNECTED(NONE)
+    """
+    wm = _make_wm(mocker)
+    wm._set_connecting("Net")
+
+    fire(wm, NMDeviceState.FAILED, reason=NMDeviceStateReason.NONE)
+    assert wm._wifi_state.status == ConnectStatus.CONNECTING  # FAILED(NONE) is a no-op
+
+    fire(wm, NMDeviceState.DISCONNECTED, reason=NMDeviceStateReason.NONE)
+    assert wm._wifi_state.ssid is None
+    assert wm._wifi_state.status == ConnectStatus.DISCONNECTED
+
+  def test_user_requested_disconnect(self, mocker):
+    """User explicitly disconnects from the network.
+
+    NM docs: USER_REQUESTED (39) = "Device disconnected by user or client"
+    Expected sequence: DEACTIVATING(USER_REQUESTED) → DISCONNECTED(USER_REQUESTED)
+    """
+    wm = _make_wm(mocker)
+    wm._wifi_state = WifiState(ssid="MyNet", status=ConnectStatus.CONNECTED)
+
+    fire(wm, NMDeviceState.DEACTIVATING, reason=NMDeviceStateReason.USER_REQUESTED)
+    fire(wm, NMDeviceState.DISCONNECTED, reason=NMDeviceStateReason.USER_REQUESTED)
+
+    assert wm._wifi_state.ssid is None
+    assert wm._wifi_state.status == ConnectStatus.DISCONNECTED
+
+
+# ---------------------------------------------------------------------------
+# Worker error recovery: DBus errors in activate/connect re-sync with NM
+# ---------------------------------------------------------------------------
+# Verified on device: when ActivateConnection returns UnknownConnection error,
+# NM emits no state signals. The worker error path is the only recovery point.
+
+class TestWorkerErrorRecovery:
+  """Worker threads re-sync with NM via _init_wifi_state on DBus errors,
+  preserving actual NM state instead of blindly clearing to DISCONNECTED."""
+
+  def _mock_init_restores(self, wm, mocker, ssid, status):
+    """Replace _init_wifi_state with a mock that simulates NM reporting the given state."""
+    mock = mocker.MagicMock(
+      side_effect=lambda: setattr(wm, '_wifi_state', WifiState(ssid=ssid, status=status))
+    )
+    wm._init_wifi_state = mock
+    return mock
+
+  def test_activate_dbus_error_resyncs(self, mocker):
+    """ActivateConnection returns DBus error while A is connected.
+    NM rejects the request — no state signals emitted. Worker must re-read NM
+    state to discover A is still connected, not clear to DISCONNECTED.
+    """
+    wm = _make_wm(mocker, connections={"A": "/path/A", "B": "/path/B"})
+    wm._wifi_device = "/dev/wifi0"
+    wm._nm = mocker.MagicMock()
+    wm._wifi_state = WifiState(ssid="A", status=ConnectStatus.CONNECTED)
+    wm._router_main = mocker.MagicMock()
+
+    error_reply = mocker.MagicMock()
+    error_reply.header.message_type = MessageType.error
+    wm._router_main.send_and_get_reply.return_value = error_reply
+
+    mock_init = self._mock_init_restores(wm, mocker, "A", ConnectStatus.CONNECTED)
+
+    wm.activate_connection("B", block=True)
+
+    mock_init.assert_called_once()
+    assert wm._wifi_state.ssid == "A"
+    assert wm._wifi_state.status == ConnectStatus.CONNECTED
+
+  def test_connect_to_network_dbus_error_resyncs(self, mocker):
+    """AddAndActivateConnection2 returns DBus error while A is connected."""
+    wm = _make_wm(mocker, connections={"A": "/path/A"})
+    wm._wifi_device = "/dev/wifi0"
+    wm._nm = mocker.MagicMock()
+    wm._wifi_state = WifiState(ssid="A", status=ConnectStatus.CONNECTED)
+    wm._router_main = mocker.MagicMock()
+    wm._forgotten = []
+
+    error_reply = mocker.MagicMock()
+    error_reply.header.message_type = MessageType.error
+    wm._router_main.send_and_get_reply.return_value = error_reply
+
+    mock_init = self._mock_init_restores(wm, mocker, "A", ConnectStatus.CONNECTED)
+
+    # Run worker thread synchronously
+    workers = []
+    mocker.patch('openpilot.system.ui.lib.wifi_manager.threading.Thread',
+                 side_effect=lambda target, **kw: type('T', (), {'start': lambda self: workers.append(target)})())
+
+    wm.connect_to_network("B", "password123")
+    workers[-1]()
+
+    mock_init.assert_called_once()
+    assert wm._wifi_state.ssid == "A"
+    assert wm._wifi_state.status == ConnectStatus.CONNECTED
diff --git a/system/ui/lib/wifi_manager.py b/system/ui/lib/wifi_manager.py
index 7e5f04ef6f7..d3c855d9bca 100644
--- a/system/ui/lib/wifi_manager.py
+++ b/system/ui/lib/wifi_manager.py
@@ -4,13 +4,13 @@
 import uuid
 import subprocess
 from collections.abc import Callable
-from dataclasses import dataclass
+from dataclasses import dataclass, replace
 from enum import IntEnum
 from typing import Any
 
 from jeepney import DBusAddress, new_method_call
 from jeepney.bus_messages import MatchRule, message_bus
-from jeepney.io.blocking import open_dbus_connection as open_dbus_connection_blocking
+from jeepney.io.blocking import DBusConnection, open_dbus_connection as open_dbus_connection_blocking
 from jeepney.io.threading import DBusRouter, open_dbus_connection as open_dbus_connection_threading
 from jeepney.low_level import MessageType
 from jeepney.wrappers import Properties
@@ -23,9 +23,8 @@
                                                     NM_802_11_AP_FLAGS_PRIVACY, NM_802_11_AP_FLAGS_WPS,
                                                     NM_PATH, NM_IFACE, NM_ACCESS_POINT_IFACE, NM_SETTINGS_PATH,
                                                     NM_SETTINGS_IFACE, NM_CONNECTION_IFACE, NM_DEVICE_IFACE,
-                                                    NM_DEVICE_TYPE_WIFI, NM_DEVICE_TYPE_MODEM, NM_DEVICE_STATE_REASON_SUPPLICANT_DISCONNECT,
-                                                    NM_DEVICE_STATE_REASON_NEW_ACTIVATION, NM_ACTIVE_CONNECTION_IFACE,
-                                                    NM_IP4_CONFIG_IFACE, NMDeviceState)
+                                                    NM_DEVICE_TYPE_WIFI, NM_DEVICE_TYPE_MODEM, NM_ACTIVE_CONNECTION_IFACE,
+                                                    NM_IP4_CONFIG_IFACE, NM_PROPERTIES_IFACE, NMDeviceState, NMDeviceStateReason)
 
 try:
   from openpilot.common.params import Params
@@ -37,6 +36,27 @@
 SIGNAL_QUEUE_SIZE = 10
 SCAN_PERIOD_SECONDS = 5
 
+DEBUG = False
+_dbus_call_idx = 0
+
+
+def normalize_ssid(ssid: str) -> str:
+  return ssid.replace("’", "'")  # for iPhone hotspots
+
+
+def _wrap_router(router):
+  def _wrap(orig):
+    def wrapper(msg, **kw):
+      global _dbus_call_idx
+      _dbus_call_idx += 1
+      if DEBUG:
+        h = msg.header.fields
+        print(f"[DBUS #{_dbus_call_idx}] {h.get(6, '?')} {h.get(3, '?')} {msg.body}")
+      return orig(msg, **kw)
+    return wrapper
+  router.send_and_get_reply = _wrap(router.send_and_get_reply)
+  router.send = _wrap(router.send)
+
 
 class SecurityType(IntEnum):
   OPEN = 0
@@ -72,24 +92,20 @@ def get_security_type(flags: int, wpa_flags: int, rsn_flags: int) -> SecurityTyp
 class Network:
   ssid: str
   strength: int
-  is_connected: bool
   security_type: SecurityType
-  is_saved: bool
-  ip_address: str = ""  # TODO: implement
+  is_tethering: bool
 
   @classmethod
-  def from_dbus(cls, ssid: str, aps: list["AccessPoint"], is_saved: bool) -> "Network":
+  def from_dbus(cls, ssid: str, aps: list["AccessPoint"], is_tethering: bool) -> "Network":
     # we only want to show the strongest AP for each Network/SSID
     strongest_ap = max(aps, key=lambda ap: ap.strength)
-    is_connected = any(ap.is_connected for ap in aps)
     security_type = get_security_type(strongest_ap.flags, strongest_ap.wpa_flags, strongest_ap.rsn_flags)
 
     return cls(
       ssid=ssid,
-      strength=strongest_ap.strength,
-      is_connected=is_connected and is_saved,
+      strength=100 if is_tethering else strongest_ap.strength,
       security_type=security_type,
-      is_saved=is_saved,
+      is_tethering=is_tethering,
     )
 
 
@@ -98,14 +114,13 @@ class AccessPoint:
   ssid: str
   bssid: str
   strength: int
-  is_connected: bool
   flags: int
   wpa_flags: int
   rsn_flags: int
   ap_path: str
 
   @classmethod
-  def from_dbus(cls, ap_props: dict[str, tuple[str, Any]], ap_path: str, active_ap_path: str) -> "AccessPoint":
+  def from_dbus(cls, ap_props: dict[str, tuple[str, Any]], ap_path: str) -> "AccessPoint":
     ssid = bytes(ap_props['Ssid'][1]).decode("utf-8", "replace")
     bssid = str(ap_props['HwAddress'][1])
     strength = int(ap_props['Strength'][1])
@@ -117,7 +132,6 @@ def from_dbus(cls, ap_props: dict[str, tuple[str, Any]], ap_path: str, active_ap
       ssid=ssid,
       bssid=bssid,
       strength=strength,
-      is_connected=ap_path == active_ap_path,
       flags=flags,
       wpa_flags=wpa_flags,
       rsn_flags=rsn_flags,
@@ -125,15 +139,28 @@ def from_dbus(cls, ap_props: dict[str, tuple[str, Any]], ap_path: str, active_ap
     )
 
 
+class ConnectStatus(IntEnum):
+  DISCONNECTED = 0
+  CONNECTING = 1
+  CONNECTED = 2
+
+
+@dataclass(frozen=True)
+class WifiState:
+  ssid: str | None = None
+  status: ConnectStatus = ConnectStatus.DISCONNECTED
+
+
 class WifiManager:
   def __init__(self):
-    self._networks: list[Network] = []  # a network can be comprised of multiple APs
+    self._networks: list[Network] = []  # an unsorted list of available Networks. a Network can be comprised of multiple APs
     self._active = True  # used to not run when not in settings
     self._exit = False
 
     # DBus connections
     try:
       self._router_main = DBusRouter(open_dbus_connection_threading(bus="SYSTEM"))  # used by scanner / general method calls
+      _wrap_router(self._router_main)
       self._conn_monitor = open_dbus_connection_blocking(bus="SYSTEM")  # used by state monitor thread
       self._nm = DBusAddress(NM_PATH, bus_name=NM, interface=NM_IFACE)
     except FileNotFoundError:
@@ -146,13 +173,15 @@ def __init__(self):
     self._wifi_device: str | None = None
 
     # State
-    self._connecting_to_ssid: str = ""
+    self._connections: dict[str, str] = {}  # ssid -> connection path, updated via NM signals
+    self._wifi_state: WifiState = WifiState()
+    self._user_epoch: int = 0
     self._ipv4_address: str = ""
     self._current_network_metered: MeteredType = MeteredType.UNKNOWN
     self._tethering_password: str = ""
     self._ipv4_forward = False
 
-    self._last_network_update: float = 0.0
+    self._last_network_scan: float = 0.0
     self._callback_queue: list[Callable] = []
 
     self._tethering_ssid = "weedle"
@@ -164,11 +193,11 @@ def __init__(self):
     # Callbacks
     self._need_auth: list[Callable[[str], None]] = []
     self._activated: list[Callable[[], None]] = []
-    self._forgotten: list[Callable[[], None]] = []
+    self._forgotten: list[Callable[[str | None], None]] = []
     self._networks_updated: list[Callable[[list[Network]], None]] = []
     self._disconnected: list[Callable[[], None]] = []
 
-    self._lock = threading.Lock()
+    self._scan_lock = threading.Lock()
     self._scan_thread = threading.Thread(target=self._network_scanner, daemon=True)
     self._state_thread = threading.Thread(target=self._monitor_state, daemon=True)
     self._initialize()
@@ -178,20 +207,56 @@ def _initialize(self):
     def worker():
       self._wait_for_wifi_device()
 
+      self._init_connections()
+      if Params is not None and self._tethering_ssid not in self._connections:
+        self._add_tethering_connection()
+
+      self._init_wifi_state()
+
       self._scan_thread.start()
       self._state_thread.start()
 
-      if Params is not None and self._tethering_ssid not in self._get_connections():
-        self._add_tethering_connection()
-
       self._tethering_password = self._get_tethering_password()
       cloudlog.debug("WifiManager initialized")
 
     threading.Thread(target=worker, daemon=True).start()
 
+  def _init_wifi_state(self, block: bool = True):
+    def worker():
+      if self._wifi_device is None:
+        cloudlog.warning("No WiFi device found")
+        return
+
+      epoch = self._user_epoch
+
+      dev_addr = DBusAddress(self._wifi_device, bus_name=NM, interface=NM_DEVICE_IFACE)
+      dev_state = self._router_main.send_and_get_reply(Properties(dev_addr).get('State')).body[0][1]
+
+      ssid: str | None = None
+      status = ConnectStatus.DISCONNECTED
+      if NMDeviceState.PREPARE <= dev_state <= NMDeviceState.SECONDARIES and dev_state != NMDeviceState.NEED_AUTH:
+        status = ConnectStatus.CONNECTING
+      elif dev_state == NMDeviceState.ACTIVATED:
+        status = ConnectStatus.CONNECTED
+
+      conn_path, _ = self._get_active_wifi_connection()
+      if conn_path:
+        ssid = next((s for s, p in self._connections.items() if p == conn_path), None)
+
+      # Discard if user acted during DBus calls
+      if self._user_epoch != epoch:
+        return
+
+      self._wifi_state = WifiState(ssid=ssid, status=status)
+
+    if block:
+      worker()
+    else:
+      threading.Thread(target=worker, daemon=True).start()
+
   def add_callbacks(self, need_auth: Callable[[str], None] | None = None,
                     activated: Callable[[], None] | None = None,
-                    forgotten: Callable[[], None] | None = None,
+                    forgotten: Callable[[str], None] | None = None,
                     networks_updated: Callable[[list[Network]], None] | None = None,
                     disconnected: Callable[[], None] | None = None):
     if need_auth is not None:
@@ -205,6 +270,15 @@ def add_callbacks(self, need_auth: Callable[[str], None] | None = None,
     if disconnected is not None:
       self._disconnected.append(disconnected)
 
+  @property
+  def networks(self) -> list[Network]:
+    # Sort by connected/connecting, then known, then strength, then alphabetically. This is a pure UI ordering and should not affect underlying state.
+    return sorted(self._networks, key=lambda n: (n.ssid != self._wifi_state.ssid, not self.is_connection_saved(n.ssid), -n.strength, n.ssid.lower()))
+
+  @property
+  def wifi_state(self) -> WifiState:
+    return self._wifi_state
+
   @property
   def ipv4_address(self) -> str:
     return self._ipv4_address
@@ -213,10 +287,25 @@ def ipv4_address(self) -> str:
   def current_network_metered(self) -> MeteredType:
     return self._current_network_metered
 
+  @property
+  def connecting_to_ssid(self) -> str | None:
+    wifi_state = self._wifi_state
+    return wifi_state.ssid if wifi_state.status == ConnectStatus.CONNECTING else None
+
+  @property
+  def connected_ssid(self) -> str | None:
+    wifi_state = self._wifi_state
+    return wifi_state.ssid if wifi_state.status == ConnectStatus.CONNECTED else None
+
   @property
   def tethering_password(self) -> str:
     return self._tethering_password
 
+  def _set_connecting(self, ssid: str | None):
+    # Called by user action, or sequentially from state change handler
+    self._user_epoch += 1
+    self._wifi_state = WifiState(ssid=ssid, status=ConnectStatus.DISCONNECTED if ssid is None else ConnectStatus.CONNECTING)
+
   def _enqueue_callbacks(self, cbs: list[Callable], *args):
     for cb in cbs:
       self._callback_queue.append(lambda _cb=cb: _cb(*args))
@@ -230,60 +319,185 @@ def process_callbacks(self):
   def set_active(self, active: bool):
     self._active = active
 
-    # Scan immediately if we haven't scanned in a while
-    if active and time.monotonic() - self._last_network_update > SCAN_PERIOD_SECONDS / 2:
-      self._last_network_update = 0.0
+    # Update networks and WiFi state (to self-heal) immediately when activating for UI
+    if active:
+      self._init_wifi_state(block=False)
+      self._update_networks(block=False)
 
   def _monitor_state(self):
-    rule = MatchRule(
-      type="signal",
-      interface=NM_DEVICE_IFACE,
-      member="StateChanged",
-      path=self._wifi_device,
+    # Filter for signals
+    rules = (
+      MatchRule(
+        type="signal",
+        interface=NM_DEVICE_IFACE,
+        member="StateChanged",
+        path=self._wifi_device,
+      ),
+      MatchRule(
+        type="signal",
+        interface=NM_SETTINGS_IFACE,
+        member="NewConnection",
+        path=NM_SETTINGS_PATH,
+      ),
+      MatchRule(
+        type="signal",
+        interface=NM_SETTINGS_IFACE,
+        member="ConnectionRemoved",
+        path=NM_SETTINGS_PATH,
+      ),
+      MatchRule(
+        type="signal",
+        interface=NM_PROPERTIES_IFACE,
+        member="PropertiesChanged",
+        path=self._wifi_device,
+      ),
     )
 
-    # Filter for StateChanged signal
-    self._conn_monitor.send_and_get_reply(message_bus.AddMatch(rule))
+    for rule in rules:
+      self._conn_monitor.send_and_get_reply(message_bus.AddMatch(rule))
 
-    with self._conn_monitor.filter(rule, bufsize=SIGNAL_QUEUE_SIZE) as q:
+    with (self._conn_monitor.filter(rules[0], bufsize=SIGNAL_QUEUE_SIZE) as state_q,
+          self._conn_monitor.filter(rules[1], bufsize=SIGNAL_QUEUE_SIZE) as new_conn_q,
+          self._conn_monitor.filter(rules[2], bufsize=SIGNAL_QUEUE_SIZE) as removed_conn_q,
+          self._conn_monitor.filter(rules[3], bufsize=SIGNAL_QUEUE_SIZE) as props_q):
       while not self._exit:
-        if not self._active:
-          time.sleep(1)
-          continue
-
-        # Block until a matching signal arrives
         try:
-          msg = self._conn_monitor.recv_until_filtered(q, timeout=1)
+          self._conn_monitor.recv_messages(timeout=1)
         except TimeoutError:
           continue
 
-        new_state, previous_state, change_reason = msg.body
+        # Connection added/removed
+        while len(removed_conn_q):
+          conn_path = removed_conn_q.popleft().body[0]
+          self._connection_removed(conn_path)
+        while len(new_conn_q):
+          conn_path = new_conn_q.popleft().body[0]
+          self._new_connection(conn_path)
+
+        # PropertiesChanged on wifi device (LastScan = scan complete)
+        while len(props_q):
+          iface, changed, _ = props_q.popleft().body
+          if iface == NM_WIRELESS_IFACE and 'LastScan' in changed:
+            self._update_networks()
 
-        # BAD PASSWORD
-        if new_state == NMDeviceState.NEED_AUTH and change_reason == NM_DEVICE_STATE_REASON_SUPPLICANT_DISCONNECT and len(self._connecting_to_ssid):
-          self.forget_connection(self._connecting_to_ssid, block=True)
-          self._enqueue_callbacks(self._need_auth, self._connecting_to_ssid)
-          self._connecting_to_ssid = ""
+        # Device state changes
+        while len(state_q):
+          new_state, previous_state, change_reason = state_q.popleft().body
+
+          self._handle_state_change(new_state, previous_state, change_reason)
+
+  def _handle_state_change(self, new_state: int, prev_state: int, change_reason: int):
+    # Thread safety: _wifi_state is read/written by both the monitor thread (this handler)
+    # and the main thread (_set_connecting via connect/activate). PREPARE/CONFIG and ACTIVATED
+    # have a read-then-write pattern with a slow DBus call in between — if _set_connecting
+    # runs mid-call, the handler would overwrite the user's newer state with stale data.
+    #
+    # The _user_epoch counter solves this without locks. _set_connecting increments the epoch
+    # on every user action. Handlers snapshot the epoch before their DBus call and compare
+    # after: if it changed, a user action occurred during the call and the stale result is
+    # discarded. Combined with deterministic fixes (skip DBus lookup when ssid already set,
+    # DEACTIVATING clears CONNECTED on CONNECTION_REMOVED, CONNECTION_REMOVED guard),
+    # all known race windows are closed.
+
+    # TODO: Handle (FAILED, SSID_NOT_FOUND) and emit for UI to show error
+    #  Happens when network drops off after starting connection
+
+    if new_state == NMDeviceState.DISCONNECTED:
+      if change_reason == NMDeviceStateReason.NEW_ACTIVATION:
+        return
 
-        elif new_state == NMDeviceState.ACTIVATED:
-          if len(self._activated):
-            self._update_networks()
-          self._enqueue_callbacks(self._activated)
-          self._connecting_to_ssid = ""
+      # Guard: forget A while connecting to B fires CONNECTION_REMOVED. Don't clear B's state
+      # if B is still a known connection. If B hasn't arrived in _connections yet (late
+      # NewConnection), state clears here but PREPARE recovers via DBus lookup.
+      if (change_reason == NMDeviceStateReason.CONNECTION_REMOVED and self._wifi_state.ssid and
+        self._wifi_state.ssid in self._connections):
+        return
+
+      self._set_connecting(None)
+
+    elif new_state in (NMDeviceState.PREPARE, NMDeviceState.CONFIG):
+      epoch = self._user_epoch
+
+      if self._wifi_state.ssid is not None:
+        self._wifi_state = replace(self._wifi_state, status=ConnectStatus.CONNECTING)
+        return
+
+      # Auto-connection when NetworkManager connects to known networks on its own (ssid=None): look up ssid from NM
+      wifi_state = replace(self._wifi_state, status=ConnectStatus.CONNECTING)
+
+      conn_path, _ = self._get_active_wifi_connection(self._conn_monitor)
+
+      # Discard if user acted during DBus call
+      if self._user_epoch != epoch:
+        return
+
+      if conn_path is None:
+        cloudlog.warning("Failed to get active wifi connection during PREPARE/CONFIG state")
+      else:
+        wifi_state = replace(wifi_state, ssid=next((s for s, p in self._connections.items() if p == conn_path), None))
+
+      self._wifi_state = wifi_state
+
+    # BAD PASSWORD
+    # - strong network rejects with NEED_AUTH+SUPPLICANT_DISCONNECT
+    # - weak/gone network fails with FAILED+NO_SECRETS
+    # TODO: sometimes on PC it's observed no future signals are fired if mouse is held down blocking wrong password dialog
+    elif ((new_state == NMDeviceState.NEED_AUTH and change_reason == NMDeviceStateReason.SUPPLICANT_DISCONNECT
+           and prev_state == NMDeviceState.CONFIG) or
+          (new_state == NMDeviceState.FAILED and change_reason == NMDeviceStateReason.NO_SECRETS)):
+
+      # prev_state guard: real auth failures come from CONFIG (supplicant handshake).
+      # Stale NEED_AUTH from a prior connection during network switching arrives with
+      # prev_state=DISCONNECTED and must be ignored to avoid a false wrong-password callback.
+      if self._wifi_state.ssid:
+        self._enqueue_callbacks(self._need_auth, self._wifi_state.ssid)
+        self._set_connecting(None)
+
+    elif new_state in (NMDeviceState.NEED_AUTH, NMDeviceState.IP_CONFIG, NMDeviceState.IP_CHECK,
+                       NMDeviceState.SECONDARIES, NMDeviceState.FAILED):
+      pass
+
+    elif new_state == NMDeviceState.ACTIVATED:
+      # Note that IP address from Ip4Config may not be propagated immediately and could take until the next scan results
+      epoch = self._user_epoch
+      wifi_state = replace(self._wifi_state, status=ConnectStatus.CONNECTED)
+
+      conn_path, _ = self._get_active_wifi_connection(self._conn_monitor)
+
+      # Discard if user acted during DBus call
+      if self._user_epoch != epoch:
+        return
+
+      if conn_path is None:
+        cloudlog.warning("Failed to get active wifi connection during ACTIVATED state")
+      else:
+        wifi_state = replace(wifi_state, ssid=next((s for s, p in self._connections.items() if p == conn_path), None))
 
-        elif new_state == NMDeviceState.DISCONNECTED and change_reason != NM_DEVICE_STATE_REASON_NEW_ACTIVATION:
-          self._connecting_to_ssid = ""
-          self._enqueue_callbacks(self._forgotten)
+      self._wifi_state = wifi_state
+      self._enqueue_callbacks(self._activated)
+      self._update_active_connection_info()
+
+      # Persist volatile connections (created by AddAndActivateConnection2) to disk
+      if conn_path is not None:
+        conn_addr = DBusAddress(conn_path, bus_name=NM, interface=NM_CONNECTION_IFACE)
+        save_reply = self._conn_monitor.send_and_get_reply(new_method_call(conn_addr, 'Save'))
+        if save_reply.header.message_type == MessageType.error:
+          cloudlog.warning(f"Failed to persist connection to disk: {save_reply}")
+
+    elif new_state == NMDeviceState.DEACTIVATING:
+      # Must clear state when forgetting the currently connected network so the UI
+      # doesn't flash "connected" after the eager "forgetting..." state resets
+      # (the forgotten callback fires between DEACTIVATING and DISCONNECTED).
+      # Only clear CONNECTED — CONNECTING must be preserved for forget-A-connect-B.
+      if change_reason == NMDeviceStateReason.CONNECTION_REMOVED and self._wifi_state.status == ConnectStatus.CONNECTED:
+        self._set_connecting(None)
 
   def _network_scanner(self):
     while not self._exit:
       if self._active:
-        if time.monotonic() - self._last_network_update > SCAN_PERIOD_SECONDS:
-          # Scan for networks every 10 seconds
-          # TODO: should update when scan is complete (PropertiesChanged), but this is more than good enough for now
-          self._update_networks()
+        if time.monotonic() - self._last_network_scan > SCAN_PERIOD_SECONDS:
           self._request_scan()
-          self._last_network_update = time.monotonic()
+          self._last_network_scan = time.monotonic()
       time.sleep(1 / 2.)
 
   def _wait_for_wifi_device(self):
@@ -307,7 +521,7 @@ def _get_adapter(self, adapter_type: int) -> str | None:
       cloudlog.exception(f"Error getting adapter type {adapter_type}: {e}")
     return None
 
-  def _get_connections(self) -> dict[str, str]:
+  def _init_connections(self) -> None:
     settings_addr = DBusAddress(NM_SETTINGS_PATH, bus_name=NM, interface=NM_SETTINGS_IFACE)
     known_connections = self._router_main.send_and_get_reply(new_method_call(settings_addr, 'ListConnections')).body[0]
 
@@ -323,10 +537,46 @@ def _get_connections(self) -> dict[str, str]:
         ssid = settings['802-11-wireless']['ssid'][1].decode("utf-8", "replace")
         if ssid != "":
           conns[ssid] = conn_path
-    return conns
+    self._connections = conns
+
+  def _new_connection(self, conn_path: str):
+    settings = self._get_connection_settings(conn_path)
+
+    if "802-11-wireless" in settings:
+      ssid = settings['802-11-wireless']['ssid'][1].decode("utf-8", "replace")
+      if ssid != "":
+        self._connections[ssid] = conn_path
+
+  def _connection_removed(self, conn_path: str):
+    self._connections = {ssid: path for ssid, path in self._connections.items() if path != conn_path}
+
+  def _get_active_connections(self, router: DBusConnection | DBusRouter | None = None):
+    # Returns list of ActiveConnection
+    if router is None:
+      router = self._router_main
+
+    return router.send_and_get_reply(Properties(self._nm).get('ActiveConnections')).body[0][1]
+
+  def _get_active_wifi_connection(self, router: DBusConnection | DBusRouter | None = None) -> tuple[str | None, dict | None]:
+    # Returns first Connection settings path and ActiveConnection props from ActiveConnections with Type 802-11-wireless
+    if router is None:
+      router = self._router_main
+
+    for active_conn in self._get_active_connections(router):
+      conn_addr = DBusAddress(active_conn, bus_name=NM, interface=NM_ACTIVE_CONNECTION_IFACE)
+      reply = router.send_and_get_reply(Properties(conn_addr).get_all())
+
+      if reply.header.message_type == MessageType.error:
+        cloudlog.warning(f"Failed to get active connection properties for {active_conn}: {reply}")
+        continue
+
+      props = reply.body[0]
 
-  def _get_active_connections(self):
-    return self._router_main.send_and_get_reply(Properties(self._nm).get('ActiveConnections')).body[0][1]
+      conn_path = props.get('Connection', ('o', '/'))[1]
+      if props.get('Type', ('s', ''))[1] == '802-11-wireless' and conn_path != '/':
+        return conn_path, props
+
+    return None, None
 
   def _get_connection_settings(self, conn_path: str) -> dict:
     conn_addr = DBusAddress(conn_path, bus_name=NM, interface=NM_CONNECTION_IFACE)
@@ -374,9 +624,10 @@ def _add_tethering_connection(self):
     self._router_main.send_and_get_reply(new_method_call(settings_addr, 'AddConnection', 'a{sa{sv}}', (connection,)))
 
   def connect_to_network(self, ssid: str, password: str, hidden: bool = False):
+    self._set_connecting(ssid)
+
     def worker():
       # Clear all connections that may already exist to the network we are connecting to
-      self._connecting_to_ssid = ssid
       self.forget_connection(ssid, block=True)
 
       connection = {
@@ -405,22 +656,34 @@ def worker():
           'psk': ('s', password),
         }
 
-      settings_addr = DBusAddress(NM_SETTINGS_PATH, bus_name=NM, interface=NM_SETTINGS_IFACE)
-      self._router_main.send_and_get_reply(new_method_call(settings_addr, 'AddConnection', 'a{sa{sv}}', (connection,)))
-      self.activate_connection(ssid, block=True)
+      # Volatile connection auto-deletes on disconnect (wrong password, user switches networks)
+      # Persisted to disk on ACTIVATED via Save()
+      if self._wifi_device is None:
+        cloudlog.warning("No WiFi device found")
+        # TODO: expose a failed connection state in the UI
+        self._init_wifi_state()
+        return
+
+      reply = self._router_main.send_and_get_reply(new_method_call(self._nm, 'AddAndActivateConnection2', 'a{sa{sv}}ooa{sv}',
+                                                                   (connection, self._wifi_device, "/", {'persist': ('s', 'volatile')})))
+
+      if reply.header.message_type == MessageType.error:
+        cloudlog.warning(f"Failed to add and activate connection for {ssid}: {reply}")
+        # TODO: expose a failed connection state in the UI
+        self._init_wifi_state()
 
     threading.Thread(target=worker, daemon=True).start()
 
   def forget_connection(self, ssid: str, block: bool = False):
     def worker():
-      conn_path = self._get_connections().get(ssid, None)
-      if conn_path is not None:
+      conn_path = self._connections.get(ssid, None)
+      if conn_path is None:
+        cloudlog.warning(f"Trying to forget unknown connection: {ssid}")
+      else:
         conn_addr = DBusAddress(conn_path, bus_name=NM, interface=NM_CONNECTION_IFACE)
         self._router_main.send_and_get_reply(new_method_call(conn_addr, 'Delete'))
 
-        if len(self._forgotten):
-          self._update_networks()
-        self._enqueue_callbacks(self._forgotten)
+      self._enqueue_callbacks(self._forgotten, ssid)
 
     if block:
       worker()
@@ -428,16 +691,23 @@ def worker():
       threading.Thread(target=worker, daemon=True).start()
 
   def activate_connection(self, ssid: str, block: bool = False):
+    self._set_connecting(ssid)
+
     def worker():
-      conn_path = self._get_connections().get(ssid, None)
-      if conn_path is not None:
-        if self._wifi_device is None:
-          cloudlog.warning("No WiFi device found")
-          return
+      conn_path = self._connections.get(ssid, None)
+      if conn_path is None or self._wifi_device is None:
+        cloudlog.warning(f"Failed to activate connection for {ssid}: conn_path={conn_path}, wifi_device={self._wifi_device}")
+        # TODO: expose a failed connection state in the UI
+        self._init_wifi_state()
+        return
 
-        self._connecting_to_ssid = ssid
-        self._router_main.send(new_method_call(self._nm, 'ActivateConnection', 'ooo',
-                                               (conn_path, self._wifi_device, "/")))
+      reply = self._router_main.send_and_get_reply(new_method_call(self._nm, 'ActivateConnection', 'ooo',
+                                                                   (conn_path, self._wifi_device, "/")))
+
+      if reply.header.message_type == MessageType.error:
+        cloudlog.warning(f"Failed to activate connection for {ssid}: {reply}")
+        # TODO: expose a failed connection state in the UI
+        self._init_wifi_state()
 
     if block:
       worker()
@@ -445,27 +715,36 @@ def worker():
       threading.Thread(target=worker, daemon=True).start()
 
   def _deactivate_connection(self, ssid: str):
-    for conn_path in self._get_active_connections():
-      conn_addr = DBusAddress(conn_path, bus_name=NM, interface=NM_ACTIVE_CONNECTION_IFACE)
-      specific_obj_path = self._router_main.send_and_get_reply(Properties(conn_addr).get('SpecificObject')).body[0][1]
+    for active_conn in self._get_active_connections():
+      conn_addr = DBusAddress(active_conn, bus_name=NM, interface=NM_ACTIVE_CONNECTION_IFACE)
+      reply = self._router_main.send_and_get_reply(Properties(conn_addr).get('SpecificObject'))
+      if reply.header.message_type == MessageType.error:
+        continue  # object gone (e.g. rapid connect/disconnect)
+
+      specific_obj_path = reply.body[0][1]
 
       if specific_obj_path != "/":
         ap_addr = DBusAddress(specific_obj_path, bus_name=NM, interface=NM_ACCESS_POINT_IFACE)
-        ap_ssid = bytes(self._router_main.send_and_get_reply(Properties(ap_addr).get('Ssid')).body[0][1]).decode("utf-8", "replace")
+        ap_reply = self._router_main.send_and_get_reply(Properties(ap_addr).get('Ssid'))
+        if ap_reply.header.message_type == MessageType.error:
+          continue  # AP gone (e.g. mode switch)
+
+        ap_ssid = bytes(ap_reply.body[0][1]).decode("utf-8", "replace")
 
         if ap_ssid == ssid:
-          self._router_main.send_and_get_reply(new_method_call(self._nm, 'DeactivateConnection', 'o', (conn_path,)))
+          self._router_main.send_and_get_reply(new_method_call(self._nm, 'DeactivateConnection', 'o', (active_conn,)))
           return
 
   def is_tethering_active(self) -> bool:
-    for network in self._networks:
-      if network.is_connected:
-        return bool(network.ssid == self._tethering_ssid)
-    return False
+    # Check ssid, not connected_ssid, to also catch connecting state
+    return self._wifi_state.ssid == self._tethering_ssid
+
+  def is_connection_saved(self, ssid: str) -> bool:
+    return ssid in self._connections
 
   def set_tethering_password(self, password: str):
     def worker():
-      conn_path = self._get_connections().get(self._tethering_ssid, None)
+      conn_path = self._connections.get(self._tethering_ssid, None)
       if conn_path is None:
         cloudlog.warning('No tethering connection found')
         return
@@ -490,7 +769,7 @@ def worker():
     threading.Thread(target=worker, daemon=True).start()
 
   def _get_tethering_password(self) -> str:
-    conn_path = self._get_connections().get(self._tethering_ssid, None)
+    conn_path = self._connections.get(self._tethering_ssid, None)
     if conn_path is None:
       cloudlog.warning('No tethering connection found')
       return ''
@@ -527,58 +806,28 @@ def worker():
 
     threading.Thread(target=worker, daemon=True).start()
 
-  def _update_current_network_metered(self) -> None:
-    if self._wifi_device is None:
-      cloudlog.warning("No WiFi device found")
-      return
-
-    self._current_network_metered = MeteredType.UNKNOWN
-    for active_conn in self._get_active_connections():
-      conn_addr = DBusAddress(active_conn, bus_name=NM, interface=NM_ACTIVE_CONNECTION_IFACE)
-      conn_type = self._router_main.send_and_get_reply(Properties(conn_addr).get('Type')).body[0][1]
-
-      if conn_type == '802-11-wireless':
-        conn_path = self._router_main.send_and_get_reply(Properties(conn_addr).get('Connection')).body[0][1]
-        if conn_path == "/":
-          continue
-
-        settings = self._get_connection_settings(conn_path)
-
-        if len(settings) == 0:
-          cloudlog.warning(f'Failed to get connection settings for {conn_path}')
-          continue
-
-        metered_prop = settings['connection'].get('metered', ('i', 0))[1]
-        if metered_prop == MeteredType.YES:
-          self._current_network_metered = MeteredType.YES
-        elif metered_prop == MeteredType.NO:
-          self._current_network_metered = MeteredType.NO
-        return
-
   def set_current_network_metered(self, metered: MeteredType):
     def worker():
-      for active_conn in self._get_active_connections():
-        conn_addr = DBusAddress(active_conn, bus_name=NM, interface=NM_ACTIVE_CONNECTION_IFACE)
-        conn_type = self._router_main.send_and_get_reply(Properties(conn_addr).get('Type')).body[0][1]
+      if self.is_tethering_active():
+        return
 
-        if conn_type == '802-11-wireless' and not self.is_tethering_active():
-          conn_path = self._router_main.send_and_get_reply(Properties(conn_addr).get('Connection')).body[0][1]
-          if conn_path == "/":
-            continue
+      conn_path, _ = self._get_active_wifi_connection()
+      if conn_path is None:
+        cloudlog.warning('No active WiFi connection found')
+        return
 
-          settings = self._get_connection_settings(conn_path)
+      settings = self._get_connection_settings(conn_path)
 
-          if len(settings) == 0:
-            cloudlog.warning(f'Failed to get connection settings for {conn_path}')
-            return
+      if len(settings) == 0:
+        cloudlog.warning(f'Failed to get connection settings for {conn_path}')
+        return
 
-          settings['connection']['metered'] = ('i', int(metered))
+      settings['connection']['metered'] = ('i', int(metered))
 
-          conn_addr = DBusAddress(conn_path, bus_name=NM, interface=NM_CONNECTION_IFACE)
-          reply = self._router_main.send_and_get_reply(new_method_call(conn_addr, 'Update', 'a{sa{sv}}', (settings,)))
-          if reply.header.message_type == MessageType.error:
-            cloudlog.warning(f'Failed to update tethering settings: {reply}')
-            return
+      conn_addr = DBusAddress(conn_path, bus_name=NM, interface=NM_CONNECTION_IFACE)
+      reply = self._router_main.send_and_get_reply(new_method_call(conn_addr, 'Update', 'a{sa{sv}}', (settings,)))
+      if reply.header.message_type == MessageType.error:
+        cloudlog.warning(f'Failed to update metered settings: {reply}')
 
     threading.Thread(target=worker, daemon=True).start()
 
@@ -593,73 +842,90 @@ def _request_scan(self):
     if reply.header.message_type == MessageType.error:
       cloudlog.warning(f"Failed to request scan: {reply}")
 
-  def _update_networks(self):
-    with self._lock:
-      if self._wifi_device is None:
-        cloudlog.warning("No WiFi device found")
-        return
+  def _update_networks(self, block: bool = True):
+    if not self._active:
+      return
 
-      # returns '/' if no active AP
-      wifi_addr = DBusAddress(self._wifi_device, NM, interface=NM_WIRELESS_IFACE)
-      active_ap_path = self._router_main.send_and_get_reply(Properties(wifi_addr).get('ActiveAccessPoint')).body[0][1]
-      ap_paths = self._router_main.send_and_get_reply(new_method_call(wifi_addr, 'GetAllAccessPoints')).body[0]
+    def worker():
+      with self._scan_lock:
+        if self._wifi_device is None:
+          cloudlog.warning("No WiFi device found")
+          return
 
-      aps: dict[str, list[AccessPoint]] = {}
+        # NOTE: AccessPoints property may exclude hidden APs (use GetAllAccessPoints method if needed)
+        wifi_addr = DBusAddress(self._wifi_device, NM, interface=NM_WIRELESS_IFACE)
+        wifi_props_reply = self._router_main.send_and_get_reply(Properties(wifi_addr).get_all())
+        if wifi_props_reply.header.message_type == MessageType.error:
+          cloudlog.warning(f"Failed to get WiFi properties: {wifi_props_reply}")
+          return
 
-      for ap_path in ap_paths:
-        ap_addr = DBusAddress(ap_path, NM, interface=NM_ACCESS_POINT_IFACE)
-        ap_props = self._router_main.send_and_get_reply(Properties(ap_addr).get_all())
+        ap_paths = wifi_props_reply.body[0].get('AccessPoints', ('ao', []))[1]
 
-        # some APs have been seen dropping off during iteration
-        if ap_props.header.message_type == MessageType.error:
-          cloudlog.warning(f"Failed to get AP properties for {ap_path}")
-          continue
+        aps: dict[str, list[AccessPoint]] = {}
 
-        try:
-          ap = AccessPoint.from_dbus(ap_props.body[0], ap_path, active_ap_path)
-          if ap.ssid == "":
+        for ap_path in ap_paths:
+          ap_addr = DBusAddress(ap_path, NM, interface=NM_ACCESS_POINT_IFACE)
+          ap_props = self._router_main.send_and_get_reply(Properties(ap_addr).get_all())
+
+          # some APs have been seen dropping off during iteration
+          if ap_props.header.message_type == MessageType.error:
+            cloudlog.warning(f"Failed to get AP properties for {ap_path}")
             continue
 
-          if ap.ssid not in aps:
-            aps[ap.ssid] = []
+          try:
+            ap = AccessPoint.from_dbus(ap_props.body[0], ap_path)
+            if ap.ssid == "":
+              continue
 
-          aps[ap.ssid].append(ap)
-        except Exception:
-          # catch all for parsing errors
-          cloudlog.exception(f"Failed to parse AP properties for {ap_path}")
+            if ap.ssid not in aps:
+              aps[ap.ssid] = []
 
-      known_connections = self._get_connections()
-      networks = [Network.from_dbus(ssid, ap_list, ssid in known_connections) for ssid, ap_list in aps.items()]
-      # sort with quantized strength to reduce jumping
-      networks.sort(key=lambda n: (-n.is_connected, -round(n.strength / 100 * 4), n.ssid.lower()))
-      self._networks = networks
+            aps[ap.ssid].append(ap)
+          except Exception:
+            # catch all for parsing errors
+            cloudlog.exception(f"Failed to parse AP properties for {ap_path}")
 
-      self._update_ipv4_address()
-      self._update_current_network_metered()
+        self._networks = [Network.from_dbus(ssid, ap_list, ssid == self._tethering_ssid) for ssid, ap_list in aps.items()]
+        self._update_active_connection_info()
+        self._enqueue_callbacks(self._networks_updated, self.networks)  # sorted
 
-      self._enqueue_callbacks(self._networks_updated, self._networks)
+    if block:
+      worker()
+    else:
+      threading.Thread(target=worker, daemon=True).start()
 
-  def _update_ipv4_address(self):
-    if self._wifi_device is None:
-      cloudlog.warning("No WiFi device found")
-      return
+  def _update_active_connection_info(self):
+    ipv4_address = ""
+    metered = MeteredType.UNKNOWN
+
+    conn_path, props = self._get_active_wifi_connection()
+
+    if conn_path is not None and props is not None:
+      # IPv4 address
+      ip4config_path = props.get('Ip4Config', ('o', '/'))[1]
+
+      if ip4config_path != "/":
+        ip4config_addr = DBusAddress(ip4config_path, bus_name=NM, interface=NM_IP4_CONFIG_IFACE)
+        address_data = self._router_main.send_and_get_reply(Properties(ip4config_addr).get('AddressData')).body[0][1]
 
-    self._ipv4_address = ""
+        for entry in address_data:
+          if 'address' in entry:
+            ipv4_address = entry['address'][1]
+            break
 
-    for conn_path in self._get_active_connections():
-      conn_addr = DBusAddress(conn_path, bus_name=NM, interface=NM_ACTIVE_CONNECTION_IFACE)
-      conn_type = self._router_main.send_and_get_reply(Properties(conn_addr).get('Type')).body[0][1]
-      if conn_type == '802-11-wireless':
-        ip4config_path = self._router_main.send_and_get_reply(Properties(conn_addr).get('Ip4Config')).body[0][1]
+      # Metered status
+      settings = self._get_connection_settings(conn_path)
+
+      if len(settings) > 0:
+        metered_prop = settings['connection'].get('metered', ('i', 0))[1]
 
-        if ip4config_path != "/":
-          ip4config_addr = DBusAddress(ip4config_path, bus_name=NM, interface=NM_IP4_CONFIG_IFACE)
-          address_data = self._router_main.send_and_get_reply(Properties(ip4config_addr).get('AddressData')).body[0][1]
+        if metered_prop == MeteredType.YES:
+          metered = MeteredType.YES
+        elif metered_prop == MeteredType.NO:
+          metered = MeteredType.NO
 
-          for entry in address_data:
-            if 'address' in entry:
-              self._ipv4_address = entry['address'][1]
-              return
+    self._ipv4_address = ipv4_address
+    self._current_network_metered = metered
 
   def __del__(self):
     self.stop()
diff --git a/system/ui/mici_reset.py b/system/ui/mici_reset.py
index d9bb45d99ad..9cc6e7f3f8e 100755
--- a/system/ui/mici_reset.py
+++ b/system/ui/mici_reset.py
@@ -1,18 +1,17 @@
 #!/usr/bin/env python3
 import os
 import sys
-import threading
 import time
+import threading
 from enum import IntEnum
 
 import pyray as rl
 
-from openpilot.system.hardware import PC
-from openpilot.system.ui.lib.application import gui_app, FontWeight
-from openpilot.system.ui.widgets import Widget
-from openpilot.system.ui.widgets.slider import SmallSlider
-from openpilot.system.ui.widgets.button import SmallButton, FullRoundedButton
-from openpilot.system.ui.widgets.label import gui_label, gui_text_box
+from openpilot.system.hardware import HARDWARE, PC
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.widgets.scroller import Scroller
+from openpilot.system.ui.mici_setup import GreyBigButton, FailedPage
+from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigConfirmationCircleButton
 
 USERDATA = "/dev/disk/by-partlabel/userdata"
 TIMEOUT = 3*60
@@ -21,40 +20,85 @@
 class ResetMode(IntEnum):
   USER_RESET = 0  # user initiated a factory reset from openpilot
   RECOVER = 1     # userdata is corrupt for some reason, give a chance to recover
-  FORMAT = 2      # finish up a factory reset from a tool that doesn't flash an empty partition to userdata
+  TAP_RESET = 2   # user initiated a factory reset by tapping the screen during boot
 
 
-class ResetState(IntEnum):
-  NONE = 0
-  RESETTING = 1
-  FAILED = 2
+class ResetFailedPage(FailedPage):
+  def __init__(self):
+    super().__init__(None, "reset failed", "reboot to try again", icon="icons_mici/setup/reset_failed.png")
 
+  def show_event(self):
+    super().show_event()
+    self._nav_bar._alpha = 0.0  # not dismissable
 
-class Reset(Widget):
-  def __init__(self, mode):
-    super().__init__()
-    self._mode = mode
-    self._previous_reset_state = None
-    self._reset_state = ResetState.NONE
+  def _back_enabled(self) -> bool:
+    return False
 
-    self._cancel_button = SmallButton("cancel")
-    self._cancel_button.set_click_callback(self._cancel_callback)
 
-    self._reboot_button = FullRoundedButton("reboot")
-    self._reboot_button.set_click_callback(self._do_reboot)
+class ResettingPage(BigDialog):
+  DOT_STEP = 0.6
 
-    self._confirm_slider = SmallSlider("reset", self._confirm)
+  def __init__(self):
+    super().__init__("resetting device", "this may take up to\na minute...",
+                     gui_app.texture("icons_mici/setup/factory_reset.png", 64, 64))
+    self._show_time = 0.0
 
-    self._render_status = True
+  def show_event(self):
+    super().show_event()
+    self._nav_bar._alpha = 0.0  # not dismissable
+    self._show_time = rl.get_time()
 
-  def _cancel_callback(self):
-    self._render_status = False
+  def _back_enabled(self) -> bool:
+    return False
 
-  def _do_reboot(self):
-    if PC:
-      return
+  def _render(self, _):
+    t = (rl.get_time() - self._show_time) % (self.DOT_STEP * 2)
+    dots = "." * min(int(t / (self.DOT_STEP / 4)), 3)
+    self._card.set_value(f"this may take up to\na minute{dots}")
+    super()._render(_)
 
-    os.system("sudo reboot")
+
+class Reset(Scroller):
+  def __init__(self, mode):
+    super().__init__()
+    self._mode = mode
+    self._previous_active_widget = None
+    self._reset_failed = False
+    self._timeout_st = time.monotonic()
+
+    self._resetting_page = ResettingPage()
+    self._reset_failed_page = ResetFailedPage()
+
+    self._reset_button = BigConfirmationCircleButton("reset &\nerase", gui_app.texture("icons_mici/settings/device/uninstall.png", 70, 70),
+                                                     self._start_reset, exit_on_confirm=False, red=True)
+    self._cancel_button = BigConfirmationCircleButton("cancel", gui_app.texture("icons_mici/setup/cancel.png", 64, 64),
+                                                      gui_app.request_close, exit_on_confirm=False)
+    self._reboot_button = BigConfirmationCircleButton("reboot\ndevice", gui_app.texture("icons_mici/settings/device/reboot.png", 64, 70),
+                                                      HARDWARE.reboot, exit_on_confirm=False)
+
+    # show reboot button if in recover mode
+    self._cancel_button.set_visible(mode != ResetMode.RECOVER)
+    self._reboot_button.set_visible(mode == ResetMode.RECOVER)
+
+    main_card = GreyBigButton("factory reset", "resetting erases\nall user content & data",
+                              gui_app.texture("icons_mici/setup/factory_reset.png", 64, 64))
+    self._scroller.add_widget(main_card)
+
+    if mode != ResetMode.USER_RESET:
+      self._scroller.add_widget(GreyBigButton("", "Resetting erases all user content & data."))
+      if mode == ResetMode.RECOVER:
+        main_card.set_value("user data partition\ncould not be mounted")
+      elif mode == ResetMode.TAP_RESET:
+        main_card.set_value("reset triggered by\ntapping the screen")
+
+    self._scroller.add_widgets([
+      GreyBigButton("", "For a deeper reset, go to\nhttps://flash.comma.ai"),
+      self._cancel_button,
+      self._reboot_button,
+      self._reset_button,
+    ])
+
+    gui_app.add_nav_stack_tick(self._nav_stack_tick)
 
   def _do_erase(self):
     if PC:
@@ -68,92 +112,42 @@ def _do_erase(self):
     if rm == 0 or fmt == 0:
       os.system("sudo reboot")
     else:
-      self._reset_state = ResetState.FAILED
+      self._reset_failed = True
+
+  def _start_reset(self):
+    def do_erase_thread():
+      threading.Thread(target=self._do_erase, daemon=True).start()
 
-  def start_reset(self):
-    self._reset_state = ResetState.RESETTING
-    threading.Timer(0.1, self._do_erase).start()
+    self._resetting_page.set_shown_callback(do_erase_thread)
+    gui_app.push_widget(self._resetting_page)
 
-  def _update_state(self):
-    if self._reset_state != self._previous_reset_state:
-      self._previous_reset_state = self._reset_state
+  def _nav_stack_tick(self):
+    if self._reset_failed:
+      self._reset_failed = False
+      gui_app.pop_widgets_to(self, lambda: gui_app.push_widget(self._reset_failed_page))
+
+    active_widget = gui_app.get_active_widget()
+    if active_widget != self._previous_active_widget:
+      self._previous_active_widget = active_widget
       self._timeout_st = time.monotonic()
-    elif self._reset_state != ResetState.RESETTING and (time.monotonic() - self._timeout_st) > TIMEOUT:
+    elif self._mode != ResetMode.RECOVER and active_widget != self._resetting_page and (time.monotonic() - self._timeout_st) > TIMEOUT:
       exit(0)
 
-  def _render(self, rect: rl.Rectangle):
-    label_rect = rl.Rectangle(rect.x + 8, rect.y + 8, rect.width, 50)
-    gui_label(label_rect, "factory reset", 48, font_weight=FontWeight.BOLD,
-              color=rl.Color(255, 255, 255, int(255 * 0.9)))
-
-    text_rect = rl.Rectangle(rect.x + 8, rect.y + 56, rect.width - 8 * 2, rect.height - 80)
-    gui_text_box(text_rect, self._get_body_text(), 36, font_weight=FontWeight.ROMAN, line_scale=0.9)
-
-    if self._reset_state != ResetState.RESETTING:
-      # fade out cancel button as slider is moved, set visible to prevent pressing invisible cancel
-      self._cancel_button.set_opacity(1.0 - self._confirm_slider.slider_percentage)
-      self._cancel_button.set_visible(self._confirm_slider.slider_percentage < 0.8)
-
-      if self._mode == ResetMode.RECOVER:
-        self._cancel_button.set_text("reboot")
-        self._cancel_button.render(rl.Rectangle(
-          rect.x + 8,
-          rect.y + rect.height - self._cancel_button.rect.height,
-          self._cancel_button.rect.width,
-          self._cancel_button.rect.height))
-      elif self._mode == ResetMode.USER_RESET and self._reset_state != ResetState.FAILED:
-        self._cancel_button.render(rl.Rectangle(
-          rect.x + 8,
-          rect.y + rect.height - self._cancel_button.rect.height,
-          self._cancel_button.rect.width,
-          self._cancel_button.rect.height))
-
-      if self._reset_state != ResetState.FAILED:
-        self._confirm_slider.render(rl.Rectangle(
-          rect.x + rect.width - self._confirm_slider.rect.width,
-          rect.y + rect.height - self._confirm_slider.rect.height,
-          self._confirm_slider.rect.width,
-          self._confirm_slider.rect.height))
-      else:
-        self._reboot_button.render(rl.Rectangle(
-          rect.x + 8,
-          rect.y + rect.height - self._reboot_button.rect.height,
-          self._reboot_button.rect.width,
-          self._reboot_button.rect.height))
-
-    return self._render_status
-
-  def _confirm(self):
-    self.start_reset()
-
-  def _get_body_text(self):
-    if self._reset_state == ResetState.RESETTING:
-      return "Resetting device... This may take up to a minute."
-    if self._reset_state == ResetState.FAILED:
-      return "Reset failed. Reboot to try again."
-    if self._mode == ResetMode.RECOVER:
-      return "Unable to mount data partition. Partition may be corrupted."
-    return "All content and settings will be erased."
-
 
 def main():
   mode = ResetMode.USER_RESET
   if len(sys.argv) > 1:
     if sys.argv[1] == '--recover':
       mode = ResetMode.RECOVER
-    elif sys.argv[1] == "--format":
-      mode = ResetMode.FORMAT
+    elif sys.argv[1] == '--tap-reset':
+      mode = ResetMode.TAP_RESET
 
   gui_app.init_window("System Reset")
   reset = Reset(mode)
+  gui_app.push_widget(reset)
 
-  if mode == ResetMode.FORMAT:
-    reset.start_reset()
-
-  for should_render in gui_app.render():
-    if should_render:
-      if not reset.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height)):
-        break
+  for _ in gui_app.render():
+    pass
 
 
 if __name__ == "__main__":
diff --git a/system/ui/mici_setup.py b/system/ui/mici_setup.py
index 2c6090b4ac5..d55fc5e1eb3 100755
--- a/system/ui/mici_setup.py
+++ b/system/ui/mici_setup.py
@@ -1,60 +1,52 @@
 #!/usr/bin/env python3
-from abc import abstractmethod
 import os
 import re
+import ssl
 import threading
 import time
 import urllib.request
 import urllib.error
 from urllib.parse import urlparse
-from enum import IntEnum
-import shutil
 from collections.abc import Callable
 
 import pyray as rl
 
 from cereal import log
+from openpilot.common.filter_simple import BounceFilter
+from openpilot.system.hardware import HARDWARE, TICI
+from openpilot.common.realtime import config_realtime_process, set_core_affinity
+from openpilot.common.swaglog import cloudlog
+from openpilot.common.time_helpers import system_time_valid
 from openpilot.common.utils import run_cmd
-from openpilot.system.hardware import HARDWARE
 from openpilot.system.ui.lib.application import gui_app, FontWeight
-from openpilot.system.ui.lib.wifi_manager import WifiManager
-from openpilot.system.ui.lib.scroll_panel2 import GuiScrollPanel2
-from openpilot.system.ui.widgets import Widget, DialogResult
-from openpilot.system.ui.widgets.button import (IconButton, SmallButton, WideRoundedButton, SmallerRoundedButton,
-                                                SmallCircleIconButton, WidishRoundedButton, SmallRedPillButton,
-                                                FullRoundedButton)
+from openpilot.system.ui.lib.wifi_manager import WifiManager, ConnectStatus
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.nav_widget import NavWidget
 from openpilot.system.ui.widgets.label import UnifiedLabel
-from openpilot.system.ui.widgets.slider import LargerSlider, SmallSlider
-from openpilot.selfdrive.ui.mici.layouts.settings.network import WifiUIMici
-from openpilot.selfdrive.ui.mici.widgets.dialog import BigInputDialog
+from openpilot.system.ui.widgets.scroller import Scroller, NavScroller, ITEM_SPACING
+from openpilot.system.ui.widgets.slider import LargerSlider
+from openpilot.selfdrive.ui.mici.layouts.settings.network import WifiNetworkButton
+from openpilot.selfdrive.ui.mici.layouts.settings.network.wifi_ui import WifiUIMici
+from openpilot.selfdrive.ui.mici.widgets.dialog import BigInputDialog, BigConfirmationCircleButton
+from openpilot.selfdrive.ui.mici.widgets.button import BigButton, GreyBigButton
 
 NetworkType = log.DeviceState.NetworkType
 
 OPENPILOT_URL = "https://openpilot.comma.ai"
 USER_AGENT = f"AGNOSSetup-{HARDWARE.get_os_version()}"
 
-CONTINUE_PATH = "/data/continue.sh"
-TMP_CONTINUE_PATH = "/data/continue.sh.new"
-INSTALL_PATH = "/data/openpilot"
-VALID_CACHE_PATH = "/data/.openpilot_cache"
-INSTALLER_SOURCE_PATH = "/usr/comma/installer"
 INSTALLER_DESTINATION_PATH = "/tmp/installer"
 INSTALLER_URL_PATH = "/tmp/installer_url"
 
-CONTINUE = """#!/usr/bin/env bash
-
-cd /data/openpilot
-exec ./launch_openpilot.sh
-"""
-
 
 class NetworkConnectivityMonitor:
-  def __init__(self, should_check: Callable[[], bool] | None = None, check_interval: float = 0.5):
+  def __init__(self, should_check: Callable[[], bool] | None = None):
     self.network_connected = threading.Event()
     self.wifi_connected = threading.Event()
+    self.recheck_event = threading.Event()
     self._should_check = should_check or (lambda: True)
-    self._check_interval = check_interval
     self._stop_event = threading.Event()
+    self._last_timesyncd_restart = 0.0
     self._thread: threading.Thread | None = None
 
   def start(self):
@@ -73,35 +65,41 @@ def reset(self):
     self.network_connected.clear()
     self.wifi_connected.clear()
 
+  def invalidate(self):
+    self.recheck_event.set()
+    self.reset()
+
   def _run(self):
     while not self._stop_event.is_set():
       if self._should_check():
         try:
           request = urllib.request.Request(OPENPILOT_URL, method="HEAD")
-          urllib.request.urlopen(request, timeout=0.5)
+          urllib.request.urlopen(request, timeout=2.0)
+
+          # Discard stale result if invalidated during request
+          if self.recheck_event.is_set():
+            self.recheck_event.clear()
+            continue
+
           self.network_connected.set()
           if HARDWARE.get_network_type() == NetworkType.wifi:
             self.wifi_connected.set()
+        except urllib.error.URLError as e:
+          if (isinstance(e.reason, ssl.SSLCertVerificationError) and
+              not system_time_valid() and
+              time.monotonic() - self._last_timesyncd_restart > 5):
+            self._last_timesyncd_restart = time.monotonic()
+            run_cmd(["sudo", "systemctl", "restart", "systemd-timesyncd"])
+          self.reset()
         except Exception:
           self.reset()
       else:
         self.reset()
 
-      if self._stop_event.wait(timeout=self._check_interval):
+      if self._stop_event.wait(timeout=1.0):
         break
 
 
-class SetupState(IntEnum):
-  GETTING_STARTED = 0
-  NETWORK_SETUP = 1
-  NETWORK_SETUP_CUSTOM_SOFTWARE = 8
-  SOFTWARE_SELECTION = 2
-  CUSTOM_SOFTWARE = 3
-  DOWNLOADING = 4
-  DOWNLOAD_FAILED = 5
-  CUSTOM_SOFTWARE_WARNING = 6
-
-
 class StartPage(Widget):
   def __init__(self):
     super().__init__()
@@ -110,25 +108,41 @@ def __init__(self):
                                font_weight=FontWeight.DISPLAY, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
                                alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
 
-    self._start_bg_txt = gui_app.texture("icons_mici/setup/green_button.png", 520, 224)
-    self._start_bg_pressed_txt = gui_app.texture("icons_mici/setup/green_button_pressed.png", 520, 224)
+    self._start_bg_txt = gui_app.texture("icons_mici/setup/start_button.png", 500, 224, keep_aspect_ratio=False)
+    self._start_bg_pressed_txt = gui_app.texture("icons_mici/setup/start_button_pressed.png", 500, 224, keep_aspect_ratio=False)
+    self._scale_filter = BounceFilter(1.0, 0.1, 1 / gui_app.target_fps)
+    self._click_delay = 0.075
 
   def _render(self, rect: rl.Rectangle):
-    draw_x = rect.x + (rect.width - self._start_bg_txt.width) / 2
-    draw_y = rect.y + (rect.height - self._start_bg_txt.height) / 2
+    scale = self._scale_filter.update(1.07 if self.is_pressed else 1.0)
+    base_draw_x = rect.x + (rect.width - self._start_bg_txt.width) / 2
+    base_draw_y = rect.y + (rect.height - self._start_bg_txt.height) / 2
+    draw_x = base_draw_x + (self._start_bg_txt.width * (1 - scale)) / 2
+    draw_y = base_draw_y + (self._start_bg_txt.height * (1 - scale)) / 2
     texture = self._start_bg_pressed_txt if self.is_pressed else self._start_bg_txt
-    rl.draw_texture(texture, int(draw_x), int(draw_y), rl.WHITE)
+    rl.draw_texture_ex(texture, (draw_x, draw_y), 0, scale, rl.WHITE)
 
-    self._title.render(rect)
+    self._title.render(rl.Rectangle(rect.x, rect.y + (draw_y - base_draw_y), rect.width, rect.height))
 
 
-class SoftwareSelectionPage(Widget):
+class SoftwareSelectionPage(NavWidget):
   def __init__(self, use_openpilot_callback: Callable,
                use_custom_software_callback: Callable):
     super().__init__()
 
-    self._openpilot_slider = LargerSlider("slide to use\nopenpilot", use_openpilot_callback)
-    self._custom_software_slider = LargerSlider("slide to use\ncustom software", use_custom_software_callback, green=False)
+    self._openpilot_slider = self._child(LargerSlider("slide to install\nopenpilot", use_openpilot_callback))
+    self._openpilot_slider.set_enabled(lambda: self.enabled and not self.is_dismissing)
+    self._custom_software_slider = self._child(LargerSlider("slide to install\ncustom software", use_custom_software_callback, green=False, shimmer_offset=0.4))
+    self._custom_software_slider.set_enabled(lambda: self.enabled and not self.is_dismissing)
+
+  def show_event(self):
+    super().show_event()
+    self._nav_bar._alpha = 0.0
+
+  def _update_state(self):
+    super()._update_state()
+    if self.is_dismissing:
+      self.reset()
 
   def reset(self):
     self._openpilot_slider.reset()
@@ -155,528 +169,347 @@ def _render(self, rect: rl.Rectangle):
     self._custom_software_slider.render(custom_software_rect)
 
 
-class TermsHeader(Widget):
-  def __init__(self, text: str, icon_texture: rl.Texture):
-    super().__init__()
-
-    self._title = UnifiedLabel(text, 36, text_color=rl.Color(255, 255, 255, int(255 * 0.9)),
-                               font_weight=FontWeight.BOLD, alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE,
-                               line_height=0.8)
-    self._icon_texture = icon_texture
-
-    self.set_rect(rl.Rectangle(0, 0, gui_app.width - 16 * 2, self._icon_texture.height))
-
-  def set_title(self, text: str):
-    self._title.set_text(text)
-
-  def set_icon(self, icon_texture: rl.Texture):
-    self._icon_texture = icon_texture
-
-  def _render(self, _):
-    rl.draw_texture_ex(self._icon_texture, rl.Vector2(self._rect.x, self._rect.y),
-                       0.0, 1.0, rl.WHITE)
-
-    # May expand outside parent rect
-    title_content_height = self._title.get_content_height(int(self._rect.width - self._icon_texture.width - 16))
-    title_rect = rl.Rectangle(
-      self._rect.x + self._icon_texture.width + 16,
-      self._rect.y + (self._rect.height - title_content_height) / 2,
-      self._rect.width - self._icon_texture.width - 16,
-      title_content_height,
-    )
-    self._title.render(title_rect)
-
-
-class TermsPage(Widget):
-  ITEM_SPACING = 20
-
-  def __init__(self, continue_callback: Callable, back_callback: Callable | None = None,
-               back_text: str = "back", continue_text: str = "accept"):
-    super().__init__()
-
-    # TODO: use Scroller
-    self._scroll_panel = GuiScrollPanel2(horizontal=False)
-
-    self._continue_text = continue_text
-    self._continue_slider: bool = continue_text in ("reboot", "power off")
-    self._continue_button: WideRoundedButton | FullRoundedButton | SmallSlider
-    if self._continue_slider:
-      self._continue_button = SmallSlider(continue_text, confirm_callback=continue_callback)
-      self._scroll_panel.set_enabled(lambda: not self._continue_button.is_pressed)
-    elif back_callback is not None:
-      self._continue_button = WideRoundedButton(continue_text)
-    else:
-      self._continue_button = FullRoundedButton(continue_text)
-    self._continue_button.set_enabled(False)
-    self._continue_button.set_opacity(0.0)
-    self._continue_button.set_touch_valid_callback(self._scroll_panel.is_touch_valid)
-    if not self._continue_slider:
-      self._continue_button.set_click_callback(continue_callback)
-
-    self._enable_back = back_callback is not None
-    self._back_button = SmallButton(back_text)
-    self._back_button.set_opacity(0.0)
-    self._back_button.set_touch_valid_callback(self._scroll_panel.is_touch_valid)
-    self._back_button.set_click_callback(back_callback)
-
-    self._scroll_down_indicator = IconButton(gui_app.texture("icons_mici/setup/scroll_down_indicator.png", 64, 78))
-    self._scroll_down_indicator.set_enabled(False)
-
-  def reset(self):
-    self._scroll_panel.set_offset(0)
-    self._continue_button.set_enabled(False)
-    self._continue_button.set_opacity(0.0)
-    self._back_button.set_enabled(False)
-    self._back_button.set_opacity(0.0)
-    self._scroll_down_indicator.set_opacity(1.0)
-
-  def show_event(self):
-    super().show_event()
-    self.reset()
-
-  @property
-  @abstractmethod
-  def _content_height(self):
-    pass
-
-  @property
-  def _scrolled_down_offset(self):
-    return -self._content_height + (self._continue_button.rect.height + 16 + 30)
-
-  @abstractmethod
-  def _render_content(self, scroll_offset):
-    pass
-
-  def _render(self, _):
-    scroll_offset = round(self._scroll_panel.update(self._rect, self._content_height + self._continue_button.rect.height + 16))
-
-    if scroll_offset <= self._scrolled_down_offset:
-      # don't show back if not enabled
-      if self._enable_back:
-        self._back_button.set_enabled(True)
-        self._back_button.set_opacity(1.0, smooth=True)
-      self._continue_button.set_enabled(True)
-      self._continue_button.set_opacity(1.0, smooth=True)
-      self._scroll_down_indicator.set_opacity(0.0, smooth=True)
-    else:
-      self._back_button.set_enabled(False)
-      self._back_button.set_opacity(0.0, smooth=True)
-      self._continue_button.set_enabled(False)
-      self._continue_button.set_opacity(0.0, smooth=True)
-      self._scroll_down_indicator.set_opacity(1.0, smooth=True)
-
-    # Render content
-    self._render_content(scroll_offset)
-
-    # black gradient at top and bottom for scrolling content
-    rl.draw_rectangle_gradient_v(int(self._rect.x), int(self._rect.y),
-                                 int(self._rect.width), 20, rl.BLACK, rl.BLANK)
-    rl.draw_rectangle_gradient_v(int(self._rect.x), int(self._rect.y + self._rect.height - 20),
-                                 int(self._rect.width), 20, rl.BLANK, rl.BLACK)
-
-    # fade out back button as slider is moved
-    if self._continue_slider and scroll_offset <= self._scrolled_down_offset:
-      self._back_button.set_opacity(1.0 - self._continue_button.slider_percentage)
-      self._back_button.set_visible(self._continue_button.slider_percentage < 0.99)
-
-    self._back_button.render(rl.Rectangle(
-      self._rect.x + 8,
-      self._rect.y + self._rect.height - self._back_button.rect.height,
-      self._back_button.rect.width,
-      self._back_button.rect.height,
-    ))
-
-    continue_x = self._rect.x + 8
-    if self._enable_back:
-      continue_x = self._rect.x + self._rect.width - self._continue_button.rect.width - 8
-    if self._continue_slider:
-      continue_x += 8
-    self._continue_button.render(rl.Rectangle(
-      continue_x,
-      self._rect.y + self._rect.height - self._continue_button.rect.height,
-      self._continue_button.rect.width,
-      self._continue_button.rect.height,
-    ))
-
-    self._scroll_down_indicator.render(rl.Rectangle(
-      self._rect.x + self._rect.width - self._scroll_down_indicator.rect.width - 8,
-      self._rect.y + self._rect.height - self._scroll_down_indicator.rect.height - 8,
-      self._scroll_down_indicator.rect.width,
-      self._scroll_down_indicator.rect.height,
-    ))
-
-
-class CustomSoftwareWarningPage(TermsPage):
+class CustomSoftwareWarningPage(NavScroller):
   def __init__(self, continue_callback: Callable, back_callback: Callable):
-    super().__init__(continue_callback, back_callback)
-
-    self._title_header = TermsHeader("use caution installing\n3rd party software",
-                                     gui_app.texture("icons_mici/setup/warning.png", 66, 60))
-    self._body = UnifiedLabel("• It has not been tested by comma.\n" +
-                              "• It may not comply with relevant safety standards.\n" +
-                              "• It may cause damage to your device and/or vehicle.\n", 36, text_color=rl.Color(255, 255, 255, int(255 * 0.9)),
-                              font_weight=FontWeight.ROMAN)
-
-    self._restore_header = TermsHeader("how to backup &\nrestore", gui_app.texture("icons_mici/setup/restore.png", 60, 60))
-    self._restore_body = UnifiedLabel("To restore your device to a factory state later, use https://flash.comma.ai",
-                                      36, text_color=rl.Color(255, 255, 255, int(255 * 0.9)),
-                                      font_weight=FontWeight.ROMAN)
+    super().__init__()
+    self.set_back_callback(back_callback)
 
-  @property
-  def _content_height(self):
-    return self._restore_body.rect.y + self._restore_body.rect.height - self._scroll_panel.get_offset()
-
-  def _render_content(self, scroll_offset):
-    self._title_header.set_position(self._rect.x + 16, self._rect.y + 8 + scroll_offset)
-    self._title_header.render()
-
-    body_rect = rl.Rectangle(
-      self._rect.x + 8,
-      self._title_header.rect.y + self._title_header.rect.height + self.ITEM_SPACING,
-      self._rect.width - 50,
-      self._body.get_content_height(int(self._rect.width - 50)),
-    )
-    self._body.render(body_rect)
+    self._continue_button = BigPillButton("next")
+    self._continue_button.set_click_callback(continue_callback)
 
-    self._restore_header.set_position(self._rect.x + 16, self._body.rect.y + self._body.rect.height + self.ITEM_SPACING)
-    self._restore_header.render()
+    self._scroller.add_widgets([
+      GreyBigButton("caution: installing\n3rd party software", "swipe down to go back",
+                    gui_app.texture("icons_mici/setup/warning.png", 64, 58)),
+      GreyBigButton("", "• It has not been tested by comma."),
+      GreyBigButton("", "• It may not comply with safety standards."),
+      GreyBigButton("", "• It may damage your device and/or vehicle."),
+      GreyBigButton("how to restore to a\nfactory state later", "https://flash.comma.ai",
+                    gui_app.texture("icons_mici/setup/restore.png", 64, 64)),
+      self._continue_button,
+    ])
 
-    self._restore_body.render(rl.Rectangle(
-      self._rect.x + 8,
-      self._restore_header.rect.y + self._restore_header.rect.height + self.ITEM_SPACING,
-      self._rect.width - 50,
-      self._restore_body.get_content_height(int(self._rect.width - 50)),
-    ))
 
-
-class DownloadingPage(Widget):
+# TODO: unifi with updater's progress page
+class DownloadingPage(NavWidget):
   def __init__(self):
     super().__init__()
 
-    self._title_label = UnifiedLabel("downloading", 64, text_color=rl.Color(255, 255, 255, int(255 * 0.9)),
+    self._title_label = UnifiedLabel("downloading...", 64, text_color=rl.Color(255, 255, 255, int(255 * 0.9)),
                                      font_weight=FontWeight.DISPLAY)
-    self._progress_label = UnifiedLabel("", 128, text_color=rl.Color(255, 255, 255, int(255 * 0.9 * 0.35)),
+    self._progress_label = UnifiedLabel("", 132, text_color=rl.Color(255, 255, 255, int(255 * 0.9 * 0.65)),
                                         font_weight=FontWeight.ROMAN, alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM)
     self._progress = 0
 
+  def _back_enabled(self) -> bool:
+    return False
+
+  def show_event(self):
+    super().show_event()
+    self._nav_bar._alpha = 0.0  # not dismissable
+    self.set_progress(0)
+
   def set_progress(self, progress: int):
     self._progress = progress
     self._progress_label.set_text(f"{progress}%")
 
   def _render(self, rect: rl.Rectangle):
+    rl.draw_rectangle_rec(rect, rl.BLACK)
     self._title_label.render(rl.Rectangle(
-      rect.x + 20,
-      rect.y + 10,
+      rect.x + 12,
+      rect.y + 2,
       rect.width,
       64,
     ))
 
     self._progress_label.render(rl.Rectangle(
-      rect.x + 20,
-      rect.y + 20,
+      rect.x + 12,
+      rect.y + 18,
       rect.width,
       rect.height,
     ))
 
 
-class FailedPage(Widget):
-  def __init__(self, reboot_callback: Callable, retry_callback: Callable, title: str = "download failed"):
+class FailedPage(NavScroller):
+  def __init__(self, retry_callback: Callable | None, title: str = "download failed",
+               description: str | None = None, icon: str = "icons_mici/setup/warning.png"):
     super().__init__()
+    self.set_back_callback(retry_callback)
 
-    self._title_label = UnifiedLabel(title, 64, text_color=rl.Color(255, 255, 255, int(255 * 0.9)),
-                                     font_weight=FontWeight.DISPLAY)
-    self._reason_label = UnifiedLabel("", 36, text_color=rl.Color(255, 255, 255, int(255 * 0.9 * 0.65)),
-                                      font_weight=FontWeight.ROMAN)
-
-    self._reboot_button = SmallRedPillButton("reboot")
-    self._reboot_button.set_click_callback(reboot_callback)
+    self._reason_card = GreyBigButton("", "")
+    self._reason_card.set_visible(False)
 
-    self._retry_button = WideRoundedButton("retry")
-    self._retry_button.set_click_callback(retry_callback)
+    self._scroller.add_widgets([
+      GreyBigButton(title, description or "swipe down to go\nback and try again",
+                    gui_app.texture(icon, 64, 58)),
+      self._reason_card,
+      BigConfirmationCircleButton("reboot\ndevice", gui_app.texture("icons_mici/settings/device/reboot.png", 64, 70),
+                                  HARDWARE.reboot, exit_on_confirm=False),
+    ])
 
   def set_reason(self, reason: str):
-    self._reason_label.set_text(reason)
+    if reason:
+      self._reason_card.set_value(reason)
+      self._reason_card.set_visible(True)
+    else:
+      self._reason_card.set_visible(False)
 
-  def _render(self, rect: rl.Rectangle):
-    self._title_label.render(rl.Rectangle(
-      rect.x + 8,
-      rect.y + 10,
-      rect.width,
-      64,
-    ))
 
-    self._reason_label.render(rl.Rectangle(
-      rect.x + 8,
-      rect.y + 10 + 64,
-      rect.width,
-      36,
-    ))
+class BigPillButton(BigButton):
+  def __init__(self, *args, green: bool = False, disabled_background: bool = False, **kwargs):
+    self._green = green
+    self._disabled_background = disabled_background
+    super().__init__(*args, **kwargs)
 
-    self._reboot_button.render(rl.Rectangle(
-      rect.x + 8,
-      rect.y + rect.height - self._reboot_button.rect.height,
-      self._reboot_button.rect.width,
-      self._reboot_button.rect.height,
-    ))
+    self._label.set_font_size(48)
+    self._label.set_alignment(rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
+    self._label.set_alignment_vertical(rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
 
-    self._retry_button.render(rl.Rectangle(
-      rect.x + 8 + self._reboot_button.rect.width + 8,
-      rect.y + rect.height - self._retry_button.rect.height,
-      self._retry_button.rect.width,
-      self._retry_button.rect.height,
-    ))
+  def _load_images(self):
+    if self._green:
+      self._txt_default_bg = gui_app.texture("icons_mici/setup/start_button.png", 402, 180)
+      self._txt_pressed_bg = gui_app.texture("icons_mici/setup/start_button_pressed.png", 402, 180)
+    else:
+      self._txt_default_bg = gui_app.texture("icons_mici/setup/continue.png", 402, 180)
+      self._txt_pressed_bg = gui_app.texture("icons_mici/setup/continue_pressed.png", 402, 180)
+    self._txt_disabled_bg = gui_app.texture("icons_mici/setup/continue_disabled.png", 402, 180)
 
+  def set_green(self, green: bool):
+    if self._green != green:
+      self._green = green
+      self._load_images()
 
-class NetworkSetupState(IntEnum):
-  MAIN = 0
-  WIFI_PANEL = 1
+  def _update_label_layout(self):
+    # Don't change label text size
+    pass
 
+  def _handle_background(self) -> tuple[rl.Texture, float, float, float]:
+    txt_bg, btn_x, btn_y, scale = super()._handle_background()
 
-class NetworkSetupPage(Widget):
-  def __init__(self, wifi_manager, continue_callback: Callable, back_callback: Callable):
-    super().__init__()
-    self._wifi_ui = WifiUIMici(wifi_manager, back_callback=lambda: self.set_state(NetworkSetupState.MAIN))
+    if self._disabled_background:
+      txt_bg = self._txt_disabled_bg
+    return txt_bg, btn_x, btn_y, scale
 
-    self._no_wifi_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_slash.png", 58, 50)
-    self._wifi_full_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_full.png", 58, 50)
-    self._waiting_text = "waiting for internet..."
-    self._network_header = TermsHeader(self._waiting_text, self._no_wifi_txt)
 
-    back_txt = gui_app.texture("icons_mici/setup/back_new.png", 37, 32)
-    self._back_button = SmallCircleIconButton(back_txt)
-    self._back_button.set_click_callback(back_callback)
+class NetworkSetupPageBase(Scroller):
+  def __init__(self, network_monitor: NetworkConnectivityMonitor, continue_callback: Callable[[bool], None],
+               disable_connect_hint: bool = False):
+    super().__init__()
 
-    self._wifi_button = SmallerRoundedButton("wifi")
-    self._wifi_button.set_click_callback(lambda: self.set_state(NetworkSetupState.WIFI_PANEL))
+    self._wifi_manager = WifiManager()
+    self._wifi_manager.set_active(True)
+    self._network_monitor = network_monitor
+    self._custom_software = False
+    self._wifi_ui = WifiUIMici(self._wifi_manager)
 
-    self._continue_button = WidishRoundedButton("continue")
-    self._continue_button.set_enabled(False)
-    self._continue_button.set_click_callback(continue_callback)
+    self._connect_button = GreyBigButton("connect to\ninternet", "swipe down to go back",
+                                         gui_app.texture("icons_mici/setup/small_slider/slider_arrow.png", 64, 56, flip_x=True))
+    self._connect_button.set_visible(not disable_connect_hint)
+
+    self._wifi_button = WifiNetworkButton(self._wifi_manager)
+    self._wifi_button.set_click_callback(lambda: gui_app.push_widget(self._wifi_ui))
 
-    self._state = NetworkSetupState.MAIN
     self._prev_has_internet = False
+    self._prev_wifi_connected = False
+    self._pending_has_internet_scroll: float | None = None  # stores time to use as delay
+    self._pending_continue_grow_animation = False
+    self._pending_wifi_grow_animation = False
+
+    def on_waiting_click():
+      offset = (self._wifi_button.rect.x + self._wifi_button.rect.width / 2) - (self._rect.x + self._rect.width / 2)
+      self._scroller.scroll_to(offset, smooth=True, block_interaction=True)
+      # trigger grow when wifi button in view
+      self._pending_wifi_grow_animation = True
+
+    self._waiting_button = BigPillButton("connect to\ncontinue", disabled_background=True)
+    self._waiting_button.set_click_callback(on_waiting_click)
+    self._continue_button = BigPillButton("install openpilot", green=True)
+    self._continue_button.set_click_callback(lambda: continue_callback(self._custom_software))
+
+    self._scroller.add_widgets([
+      self._connect_button,
+      self._wifi_button,
+      self._continue_button,
+      self._waiting_button,
+    ])
+
+    gui_app.add_nav_stack_tick(self._nav_stack_tick)
 
-  def set_state(self, state: NetworkSetupState):
-    self._state = state
-    if state == NetworkSetupState.WIFI_PANEL:
-      self._wifi_ui.show_event()
+  def show_event(self):
+    super().show_event()
+    # make sure we populate strength and ip immediately if already have wifi
+    self._wifi_manager.set_active(True)
+    self._prev_has_internet = self._has_internet
+    self._prev_wifi_connected = self._wifi_manager.wifi_state.status == ConnectStatus.CONNECTED
+    self._pending_has_internet_scroll = None
+    self._pending_continue_grow_animation = False
+    self._pending_wifi_grow_animation = False
 
-  def set_has_internet(self, has_internet: bool):
-    if has_internet:
-      self._network_header.set_title("connected to internet")
-      self._network_header.set_icon(self._wifi_full_txt)
-      self._continue_button.set_enabled(True)
-    else:
-      self._network_header.set_title(self._waiting_text)
-      self._network_header.set_icon(self._no_wifi_txt)
-      self._continue_button.set_enabled(False)
+    if self._prev_has_internet or self._prev_wifi_connected:
+      self.set_shown_callback(lambda: self._scroll_to_end_and_grow())
+
+  @property
+  def _has_internet(self) -> bool:
+    network_changing = self._wifi_ui.any_network_forgetting or self._wifi_manager.wifi_state.status == ConnectStatus.CONNECTING
+    if network_changing:
+      self._network_monitor.invalidate()
+
+    has_internet = (self._network_monitor.network_connected.is_set() and
+                    not network_changing and
+                    not self._network_monitor.recheck_event.is_set())
+    return has_internet
+
+  def _nav_stack_tick(self):
+    # Only run tick when this page or its WiFi UI is on the stack
+    if gui_app.get_active_widget() is not self and not gui_app.widget_in_stack(self._wifi_ui):
+      self._wifi_manager.process_callbacks()
+      return
+
+    # Check network state before processing callbacks so forgetting flag
+    # is still set on the frame the forgotten callback fires
+    has_internet = self._has_internet
+    wifi_connected = self._wifi_manager.wifi_state.status == ConnectStatus.CONNECTED
+
+    self._continue_button.set_visible(has_internet)
+    self._waiting_button.set_visible(not has_internet)
+
+    # TODO: fire show/hide events on visibility changes
+    if not has_internet:
+      self._pending_continue_grow_animation = False
+      self._waiting_button.set_text("waiting for\ninternet..." if wifi_connected else "connect to\ncontinue")
+
+    self._wifi_manager.process_callbacks()
+
+    # Dismiss WiFi UI and scroll on WiFi connect or internet gain
+    if (has_internet and not self._prev_has_internet) or (wifi_connected and not self._prev_wifi_connected):
+      # TODO: cancel if connect is transient
+      self._pending_has_internet_scroll = rl.get_time()
 
-    if has_internet and not self._prev_has_internet:
-      self.set_state(NetworkSetupState.MAIN)
     self._prev_has_internet = has_internet
+    self._prev_wifi_connected = wifi_connected
+
+    if self._pending_has_internet_scroll is not None:
+      # Scrolls over to continue button, then grows once in view
+      elapsed = rl.get_time() - self._pending_has_internet_scroll
+      if elapsed > 0.7 or gui_app.get_active_widget() is self:  # instant scroll + grow if not popping
+        # Animate WifiUi down first before scroll
+        self._pending_has_internet_scroll = None
+        gui_app.pop_widgets_to(self, self._scroll_to_end_and_grow)
+
+  def _scroll_to_end_and_grow(self):
+    self._scroller._layout()
+    end_offset = -(self._scroller.content_size - self._rect.width)
+    remaining = self._scroller.scroll_panel.get_offset() - end_offset
+    self._scroller.scroll_to(remaining, smooth=True, block_interaction=True)
+    self._pending_continue_grow_animation = True
+
+  def set_custom_software(self, custom_software: bool):
+    self._custom_software = custom_software
+    self._continue_button.set_text("install openpilot" if not custom_software else "choose software")
+    self._continue_button.set_green(not custom_software)
 
-  def show_event(self):
-    super().show_event()
-    self._state = NetworkSetupState.MAIN
-    self._wifi_ui.show_event()
-
-  def hide_event(self):
-    super().hide_event()
-    self._wifi_ui.hide_event()
-
-  def _render(self, _):
-    if self._state == NetworkSetupState.MAIN:
-      self._network_header.render(rl.Rectangle(
-        self._rect.x + 16,
-        self._rect.y + 16,
-        self._rect.width - 32,
-        self._network_header.rect.height,
-      ))
-
-      self._back_button.render(rl.Rectangle(
-        self._rect.x + 8,
-        self._rect.y + self._rect.height - self._back_button.rect.height,
-        self._back_button.rect.width,
-        self._back_button.rect.height,
-      ))
-
-      self._wifi_button.render(rl.Rectangle(
-        self._rect.x + 8 + self._back_button.rect.width + 10,
-        self._rect.y + self._rect.height - self._wifi_button.rect.height,
-        self._wifi_button.rect.width,
-        self._wifi_button.rect.height,
-      ))
-
-      self._continue_button.render(rl.Rectangle(
-        self._rect.x + self._rect.width - self._continue_button.rect.width - 8,
-        self._rect.y + self._rect.height - self._continue_button.rect.height,
-        self._continue_button.rect.width,
-        self._continue_button.rect.height,
-      ))
-    else:
-      self._wifi_ui.render(self._rect)
+  def _update_state(self):
+    super()._update_state()
+
+    if self._pending_continue_grow_animation:
+      btn_right = self._continue_button.rect.x + self._continue_button.rect.width
+      visible_right = self._rect.x + self._rect.width
+      if btn_right < visible_right + 50:
+        self._pending_continue_grow_animation = False
+        self._continue_button.trigger_grow_animation()
+
+    if self._pending_wifi_grow_animation and abs(self._wifi_button.rect.x - ITEM_SPACING) < 50:
+      self._pending_wifi_grow_animation = False
+      self._wifi_button.trigger_grow_animation()
+
+
+class NetworkSetupPage(NetworkSetupPageBase, NavScroller):
+  def __init__(self, network_monitor: NetworkConnectivityMonitor, continue_callback: Callable[[bool], None],
+               back_callback: Callable[[], None] | None):
+    super().__init__(network_monitor, continue_callback)
+    self.set_back_callback(back_callback)
 
 
 class Setup(Widget):
   def __init__(self):
     super().__init__()
-    self.state = SetupState.GETTING_STARTED
-    self.failed_url = ""
-    self.failed_reason = ""
     self.download_url = ""
     self.download_progress = 0
     self.download_thread = None
-    self._wifi_manager = WifiManager()
-    self._wifi_manager.set_active(True)
-    self._network_monitor = NetworkConnectivityMonitor(
-      lambda: self.state in (SetupState.NETWORK_SETUP, SetupState.NETWORK_SETUP_CUSTOM_SOFTWARE)
-    )
-    self._prev_has_internet = False
-    gui_app.set_modal_overlay_tick(self._modal_overlay_tick)
+    self._download_failed_reason: str | None = None
+
+    self._network_monitor = NetworkConnectivityMonitor()
+    self._network_monitor.start()
+
+    def getting_started_button_callback():
+      gui_app.push_widget(self._software_selection_page)
 
     self._start_page = StartPage()
-    self._start_page.set_click_callback(self._getting_started_button_callback)
+    self._start_page.set_click_callback(getting_started_button_callback)
+    self._start_page.set_enabled(lambda: self.enabled)  # for nav stack
 
-    self._network_setup_page = NetworkSetupPage(self._wifi_manager, self._network_setup_continue_button_callback,
-                                                self._network_setup_back_button_callback)
+    self._network_setup_page = NetworkSetupPage(self._network_monitor, self._network_setup_continue_callback, self._pop_to_software_selection)
 
-    self._software_selection_page = SoftwareSelectionPage(self._software_selection_continue_button_callback,
-                                                          self._software_selection_custom_software_button_callback)
+    self._software_selection_page = SoftwareSelectionPage(self._push_network_setup, lambda: gui_app.push_widget(self._custom_software_warning_page))
 
-    self._download_failed_page = FailedPage(HARDWARE.reboot, self._download_failed_startover_button_callback)
+    self._download_failed_page = FailedPage(self._pop_to_software_selection, icon="icons_mici/setup/red_warning.png")
 
-    self._custom_software_warning_page = CustomSoftwareWarningPage(self._software_selection_custom_software_continue,
-                                                                   self._custom_software_warning_back_button_callback)
+    self._custom_software_warning_page = CustomSoftwareWarningPage(lambda: self._push_network_setup(True), self._pop_to_software_selection)
 
     self._downloading_page = DownloadingPage()
 
-  def _modal_overlay_tick(self):
-    has_internet = self._network_monitor.network_connected.is_set()
-    if has_internet and not self._prev_has_internet:
-      gui_app.set_modal_overlay(None)
-    self._prev_has_internet = has_internet
+    gui_app.add_nav_stack_tick(self._nav_stack_tick)
 
-  def _update_state(self):
-    self._wifi_manager.process_callbacks()
+  def _nav_stack_tick(self):
+    self._downloading_page.set_progress(self.download_progress)
 
-  def _set_state(self, state: SetupState):
-    self.state = state
-    if self.state == SetupState.SOFTWARE_SELECTION:
-      self._software_selection_page.reset()
-    elif self.state == SetupState.CUSTOM_SOFTWARE_WARNING:
-      self._custom_software_warning_page.reset()
-
-    if self.state in (SetupState.NETWORK_SETUP, SetupState.NETWORK_SETUP_CUSTOM_SOFTWARE):
-      self._network_setup_page.show_event()
-      self._network_monitor.reset()
-      self._network_monitor.start()
-    else:
-      self._network_setup_page.hide_event()
-      self._network_monitor.stop()
+    if self._download_failed_reason is not None:
+      reason = self._download_failed_reason
+      self._download_failed_reason = None
+      self._download_failed_page.set_reason(reason)
+      gui_app.pop_widgets_to(self._software_selection_page, lambda: gui_app.push_widget(self._download_failed_page))
 
   def _render(self, rect: rl.Rectangle):
-    if self.state == SetupState.GETTING_STARTED:
-      self._start_page.render(rect)
-    elif self.state in (SetupState.NETWORK_SETUP, SetupState.NETWORK_SETUP_CUSTOM_SOFTWARE):
-      self.render_network_setup(rect)
-    elif self.state == SetupState.SOFTWARE_SELECTION:
-      self._software_selection_page.render(rect)
-    elif self.state == SetupState.CUSTOM_SOFTWARE_WARNING:
-      self._custom_software_warning_page.render(rect)
-    elif self.state == SetupState.CUSTOM_SOFTWARE:
-      self.render_custom_software()
-    elif self.state == SetupState.DOWNLOADING:
-      self.render_downloading(rect)
-    elif self.state == SetupState.DOWNLOAD_FAILED:
-      self._download_failed_page.render(rect)
-
-  def _custom_software_warning_back_button_callback(self):
-    self._set_state(SetupState.SOFTWARE_SELECTION)
-
-  def _custom_software_warning_continue_button_callback(self):
-    self._set_state(SetupState.CUSTOM_SOFTWARE)
-
-  def _getting_started_button_callback(self):
-    self._set_state(SetupState.SOFTWARE_SELECTION)
-
-  def _software_selection_back_button_callback(self):
-    self._set_state(SetupState.GETTING_STARTED)
-
-  def _software_selection_continue_button_callback(self):
-    self.use_openpilot()
-
-  def _software_selection_custom_software_button_callback(self):
-    self._set_state(SetupState.CUSTOM_SOFTWARE_WARNING)
-
-  def _software_selection_custom_software_continue(self):
-    self._set_state(SetupState.NETWORK_SETUP_CUSTOM_SOFTWARE)
-
-  def _download_failed_startover_button_callback(self):
-    self._set_state(SetupState.GETTING_STARTED)
-
-  def _network_setup_back_button_callback(self):
-    self._set_state(SetupState.SOFTWARE_SELECTION)
-
-  def _network_setup_continue_button_callback(self):
-    self._network_monitor.stop()
-    if self.state == SetupState.NETWORK_SETUP:
-      self.download(OPENPILOT_URL)
-    elif self.state == SetupState.NETWORK_SETUP_CUSTOM_SOFTWARE:
-      self._set_state(SetupState.CUSTOM_SOFTWARE)
+    self._start_page.render(rect)
 
   def close(self):
     self._network_monitor.stop()
 
-  def render_network_setup(self, rect: rl.Rectangle):
-    self._network_setup_page.render(rect)
-    has_internet = self._network_monitor.network_connected.is_set()
-    self._prev_has_internet = has_internet
-    self._network_setup_page.set_has_internet(has_internet)
+  def _pop_to_software_selection(self):
+    # reset sliders after dismiss completes
+    gui_app.pop_widgets_to(self._software_selection_page, self._software_selection_page.reset)
 
-  def render_downloading(self, rect: rl.Rectangle):
-    self._downloading_page.set_progress(self.download_progress)
-    self._downloading_page.render(rect)
-
-  def render_custom_software(self):
-    def handle_keyboard_result(text):
-      url = text.strip()
-      if url:
-        self.download(url)
-
-    def handle_keyboard_exit(result):
-      if result == DialogResult.CANCEL:
-        self._set_state(SetupState.SOFTWARE_SELECTION)
-
-    keyboard = BigInputDialog("custom software URL", confirm_callback=handle_keyboard_result)
-    gui_app.set_modal_overlay(keyboard, callback=handle_keyboard_exit)
-
-  def use_openpilot(self):
-    if os.path.isdir(INSTALL_PATH) and os.path.isfile(VALID_CACHE_PATH):
-      os.remove(VALID_CACHE_PATH)
-      with open(TMP_CONTINUE_PATH, "w") as f:
-        f.write(CONTINUE)
-      run_cmd(["chmod", "+x", TMP_CONTINUE_PATH])
-      shutil.move(TMP_CONTINUE_PATH, CONTINUE_PATH)
-      shutil.copyfile(INSTALLER_SOURCE_PATH, INSTALLER_DESTINATION_PATH)
+  def _push_network_setup(self, custom_software: bool = False):
+    # to fire the correct continue callback later
+    self._network_setup_page.set_custom_software(custom_software)
+    gui_app.push_widget(self._network_setup_page)
 
-      # give time for installer UI to take over
-      time.sleep(0.1)
-      gui_app.request_close()
+  def _network_setup_continue_callback(self, custom_software: bool):
+    if not custom_software:
+      self._download(OPENPILOT_URL)
     else:
-      self._set_state(SetupState.NETWORK_SETUP)
+      def handle_keyboard_result(text):
+        url = text.strip()
+        if url:
+          self._download(url)
+
+      keyboard = BigInputDialog("custom software URL...", confirm_callback=handle_keyboard_result, auto_return_to_letters="./")
+      gui_app.push_widget(keyboard)
 
-  def download(self, url: str):
+  def _download(self, url: str):
     # autocomplete incomplete URLs
     if re.match("^([^/.]+)/([^/]+)$", url):
       url = f"https://installer.comma.ai/{url}"
 
     parsed = urlparse(url, scheme='https')
     self.download_url = (urlparse(f"https://{url}") if not parsed.netloc else parsed).geturl()
+    self.download_progress = 0
 
-    self._set_state(SetupState.DOWNLOADING)
+    def start_download():
+      self.download_thread = threading.Thread(target=self._download_thread, daemon=True)
+      self.download_thread.start()
 
-    self.download_thread = threading.Thread(target=self._download_thread, daemon=True)
-    self.download_thread.start()
+    self._downloading_page.set_shown_callback(start_download)
+    gui_app.push_widget(self._downloading_page)
 
   def _download_thread(self):
     try:
@@ -704,7 +537,6 @@ def _download_thread(self):
 
           if total_size:
             self.download_progress = int(downloaded * 100 / total_size)
-            self._downloading_page.set_progress(self.download_progress)
 
       is_elf = False
       with open(tmpfile, 'rb') as f:
@@ -712,43 +544,44 @@ def _download_thread(self):
         is_elf = header == b'\x7fELF'
 
       if not is_elf:
-        self.download_failed(self.download_url, "No custom software found at this URL.")
+        self._download_failed_reason = "No custom software found at this URL: " + self.download_url.replace("https://", "", 1)
         return
 
+      # NOTE: currently unused, for future logging
+      with open(INSTALLER_URL_PATH, "w") as f:
+        f.write(self.download_url)
+
       # AGNOS might try to execute the installer before this process exits.
       # Therefore, important to close the fd before renaming the installer.
       os.close(fd)
       os.rename(tmpfile, INSTALLER_DESTINATION_PATH)
 
-      with open(INSTALLER_URL_PATH, "w") as f:
-        f.write(self.download_url)
-
       # give time for installer UI to take over
       time.sleep(0.1)
       gui_app.request_close()
 
     except urllib.error.HTTPError as e:
       if e.code == 409:
-        error_msg = "Incompatible openpilot version"
-        self.download_failed(self.download_url, error_msg)
+        self._download_failed_reason = "Incompatible openpilot version."
     except Exception:
-      error_msg = "Invalid URL"
-      self.download_failed(self.download_url, error_msg)
-
-  def download_failed(self, url: str, reason: str):
-    self.failed_url = url
-    self.failed_reason = reason
-    self._download_failed_page.set_reason(reason)
-    self._set_state(SetupState.DOWNLOAD_FAILED)
+      self._download_failed_reason = "Invalid URL: " + self.download_url.replace("https://", "", 1)
 
 
 def main():
+  config_realtime_process(0, 51)
+  # attempt to affine. AGNOS will start setup with all cores, should only fail when manually launching with screen off
+  if TICI:
+    try:
+      set_core_affinity([5])
+    except OSError:
+      cloudlog.exception("Failed to set core affinity for setup process")
+
   try:
     gui_app.init_window("Setup")
     setup = Setup()
-    for should_render in gui_app.render():
-      if should_render:
-        setup.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
+    gui_app.push_widget(setup)
+    for _ in gui_app.render():
+      pass
     setup.close()
   except Exception as e:
     print(f"Setup error: {e}")
diff --git a/system/ui/mici_updater.py b/system/ui/mici_updater.py
index 2ae2f7cc192..8437e6fa60c 100755
--- a/system/ui/mici_updater.py
+++ b/system/ui/mici_updater.py
@@ -3,179 +3,161 @@
 import subprocess
 import threading
 import pyray as rl
-from enum import IntEnum
 
-from openpilot.system.hardware import HARDWARE
+from openpilot.common.realtime import config_realtime_process, set_core_affinity
+from openpilot.system.hardware import HARDWARE, TICI
+from openpilot.common.swaglog import cloudlog
 from openpilot.system.ui.lib.application import gui_app, FontWeight
-from openpilot.system.ui.lib.text_measure import measure_text_cached
-from openpilot.system.ui.lib.wifi_manager import WifiManager, Network
-from openpilot.system.ui.widgets import Widget
-from openpilot.system.ui.widgets.label import gui_text_box, gui_label, UnifiedLabel
-from openpilot.system.ui.widgets.button import FullRoundedButton
-from openpilot.system.ui.mici_setup import NetworkSetupPage, FailedPage, NetworkConnectivityMonitor
+from openpilot.system.ui.widgets.nav_widget import NavWidget
+from openpilot.system.ui.widgets.scroller import Scroller
+from openpilot.system.ui.widgets.label import UnifiedLabel
+from openpilot.system.ui.mici_setup import (NetworkSetupPage, FailedPage, NetworkConnectivityMonitor,
+                                            GreyBigButton, BigPillButton)
 
 
-class Screen(IntEnum):
-  PROMPT = 0
-  WIFI = 1
-  PROGRESS = 2
-  FAILED = 3
+class UpdaterNetworkSetupPage(NetworkSetupPage):
+  def __init__(self, network_monitor, continue_callback):
+    super().__init__(network_monitor, continue_callback, back_callback=None)
+    self._continue_button.set_text("download\n& install")
+    self._continue_button.set_green(False)
 
 
-class Updater(Widget):
+class ProgressPage(NavWidget):
+  def __init__(self):
+    super().__init__()
+
+    self._progress_title_label = UnifiedLabel("", 64, text_color=rl.Color(255, 255, 255, int(255 * 0.9)),
+                                              font_weight=FontWeight.DISPLAY, line_height=0.8)
+    self._progress_percent_label = UnifiedLabel("", 132, text_color=rl.Color(255, 255, 255, int(255 * 0.9 * 0.65)),
+                                                font_weight=FontWeight.ROMAN,
+                                                alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM)
+
+  def _back_enabled(self) -> bool:
+    return False
+
+  def set_progress(self, text: str, value: int):
+    self._progress_title_label.set_text(text.replace("_", "_\n") + "...")
+    self._progress_percent_label.set_text(f"{value}%")
+
+  def show_event(self):
+    super().show_event()
+    self._nav_bar._alpha = 0.0  # not dismissable
+    self.set_progress("downloading", 0)
+
+  def _render(self, rect: rl.Rectangle):
+    rl.draw_rectangle_rec(rect, rl.BLACK)
+    self._progress_title_label.render(rl.Rectangle(
+      rect.x + 12,
+      rect.y + 2,
+      rect.width,
+      self._progress_title_label.get_content_height(int(rect.width - 20)),
+    ))
+
+    self._progress_percent_label.render(rl.Rectangle(
+      rect.x + 12,
+      rect.y + 18,
+      rect.width,
+      rect.height,
+    ))
+
+
+class Updater(Scroller):
   def __init__(self, updater_path, manifest_path):
     super().__init__()
     self.updater = updater_path
     self.manifest = manifest_path
-    self.current_screen = Screen.PROMPT
-    self._current_network_strength = -1
 
     self.progress_value = 0
     self.progress_text = "loading"
     self.process = None
     self.update_thread = None
-    self._wifi_manager = WifiManager()
-    self._wifi_manager.set_active(True)
-
-    self._network_setup_page = NetworkSetupPage(self._wifi_manager, self._network_setup_continue_callback,
-                                                self._network_setup_back_callback)
+    self._update_failed = False
 
-    self._wifi_manager.add_callbacks(networks_updated=self._on_network_updated)
     self._network_monitor = NetworkConnectivityMonitor()
     self._network_monitor.start()
 
-    # Buttons
-    self._continue_button = FullRoundedButton("continue")
-    self._continue_button.set_click_callback(lambda: self.set_current_screen(Screen.WIFI))
+    self._network_setup_page = UpdaterNetworkSetupPage(self._network_monitor, self._network_setup_continue_callback)
+
+    self._progress_page = ProgressPage()
+
+    self._failed_page = FailedPage(self._retry, title="update failed")
 
-    self._title_label = UnifiedLabel("update required", 48, text_color=rl.Color(255, 115, 0, 255),
-                                     font_weight=FontWeight.DISPLAY)
-    self._subtitle_label = UnifiedLabel("The download size is approximately 1GB.", 36,
-                                        text_color=rl.Color(255, 255, 255, int(255 * 0.9)),
-                                        font_weight=FontWeight.ROMAN)
+    self._continue_button = BigPillButton("next")
+    self._continue_button.set_click_callback(lambda: gui_app.push_widget(self._network_setup_page))
 
-    self._update_failed_page = FailedPage(HARDWARE.reboot, self._update_failed_retry_callback,
-                                          title="update failed")
+    self._scroller.add_widgets([
+      GreyBigButton("update required", "the download size\nis approximately 1 GB",
+                    gui_app.texture("icons_mici/offroad_alerts/green_wheel.png", 64, 64)),
+      self._continue_button,
+    ])
 
-  def _network_setup_back_callback(self):
-    self.set_current_screen(Screen.PROMPT)
+    gui_app.add_nav_stack_tick(self._nav_stack_tick)
 
-  def _network_setup_continue_callback(self):
+  def _network_setup_continue_callback(self, _):
     self.install_update()
 
-  def _update_failed_retry_callback(self):
-    self.set_current_screen(Screen.PROMPT)
-
-  def _on_network_updated(self, networks: list[Network]):
-    self._current_network_strength = next((net.strength for net in networks if net.is_connected), -1)
-
-  def set_current_screen(self, screen: Screen):
-    if self.current_screen != screen:
-      if screen == Screen.PROGRESS:
-        if self._network_setup_page:
-          self._network_setup_page.hide_event()
-      elif screen == Screen.WIFI:
-        if self._network_setup_page:
-          self._network_setup_page.show_event()
-      elif screen == Screen.PROMPT:
-        if self._network_setup_page:
-          self._network_setup_page.hide_event()
-      elif screen == Screen.FAILED:
-        if self._network_setup_page:
-          self._network_setup_page.hide_event()
-
-    self.current_screen = screen
+  def _retry(self):
+    gui_app.pop_widgets_to(self)
+
+  def _nav_stack_tick(self):
+    self._progress_page.set_progress(self.progress_text, self.progress_value)
+
+    if self._update_failed:
+      self._update_failed = False
+      self.show_event()
+      gui_app.pop_widgets_to(self, lambda: gui_app.push_widget(self._failed_page))
 
   def install_update(self):
-    self.set_current_screen(Screen.PROGRESS)
     self.progress_value = 0
     self.progress_text = "downloading"
 
-    # Start the update process in a separate thread
-    self.update_thread = threading.Thread(target=self._run_update_process)
-    self.update_thread.daemon = True
-    self.update_thread.start()
+    def start_update():
+      self.update_thread = threading.Thread(target=self._run_update_process, daemon=True)
+      self.update_thread.start()
+
+    # Start the update process in a separate thread *after* show animation completes
+    self._progress_page.set_shown_callback(start_update)
+    gui_app.push_widget(self._progress_page)
 
   def _run_update_process(self):
     # TODO: just import it and run in a thread without a subprocess
-    cmd = [self.updater, "--swap", self.manifest]
-    self.process = subprocess.Popen(cmd, stdout=subprocess.PIPE, stderr=subprocess.PIPE,
-                                    text=True, bufsize=1, universal_newlines=True)
-
-    for line in self.process.stdout:
-      parts = line.strip().split(":")
-      if len(parts) == 2:
-        self.progress_text = parts[0].lower()
-        try:
-          self.progress_value = int(float(parts[1]))
-        except ValueError:
-          pass
+    try:
+      cmd = [self.updater, "--swap", self.manifest]
+      self.process = subprocess.Popen(cmd, stdout=subprocess.PIPE,
+                                      text=True, bufsize=1, universal_newlines=True)
+    except Exception:
+      self._update_failed = True
+      return
+
+    if self.process.stdout is not None:
+      for line in self.process.stdout:
+        parts = line.strip().split(":")
+        if len(parts) == 2:
+          self.progress_text = parts[0].lower()
+          try:
+            self.progress_value = int(float(parts[1]))
+          except ValueError:
+            pass
 
     exit_code = self.process.wait()
     if exit_code == 0:
       HARDWARE.reboot()
     else:
-      self.set_current_screen(Screen.FAILED)
-
-  def render_prompt_screen(self, rect: rl.Rectangle):
-    self._title_label.render(rl.Rectangle(
-      rect.x + 8,
-      rect.y - 5,
-      rect.width,
-      48,
-    ))
-
-    subtitle_width = rect.width - 16
-    subtitle_height = self._subtitle_label.get_content_height(int(subtitle_width))
-    self._subtitle_label.render(rl.Rectangle(
-      rect.x + 8,
-      rect.y + 48,
-      subtitle_width,
-      subtitle_height,
-    ))
-
-    self._continue_button.render(rl.Rectangle(
-      rect.x + 8,
-      rect.y + rect.height - self._continue_button.rect.height,
-      self._continue_button.rect.width,
-      self._continue_button.rect.height,
-    ))
-
-  def render_progress_screen(self, rect: rl.Rectangle):
-    title_rect = rl.Rectangle(self._rect.x + 6, self._rect.y - 5, self._rect.width - 12, self._rect.height - 8)
-    if ' ' in self.progress_text:
-      font_size = 62
-    else:
-      font_size = 82
-    gui_text_box(title_rect, self.progress_text, font_size, font_weight=FontWeight.DISPLAY,
-                 color=rl.Color(255, 255, 255, int(255 * 0.9)))
-
-    progress_value = f"{self.progress_value}%"
-    text_height = measure_text_cached(gui_app.font(FontWeight.ROMAN), progress_value, 128).y
-    progress_rect = rl.Rectangle(self._rect.x + 6, self._rect.y + self._rect.height - text_height + 18,
-                                 self._rect.width - 12, text_height)
-    gui_label(progress_rect, progress_value, 128, font_weight=FontWeight.ROMAN,
-              color=rl.Color(255, 255, 255, int(255 * 0.9 * 0.35)))
-
-  def _update_state(self):
-    self._wifi_manager.process_callbacks()
-
-  def _render(self, rect: rl.Rectangle):
-    if self.current_screen == Screen.PROMPT:
-      self.render_prompt_screen(rect)
-    elif self.current_screen == Screen.WIFI:
-      self._network_setup_page.set_has_internet(self._network_monitor.network_connected.is_set())
-      self._network_setup_page.render(rect)
-    elif self.current_screen == Screen.PROGRESS:
-      self.render_progress_screen(rect)
-    elif self.current_screen == Screen.FAILED:
-      self._update_failed_page.render(rect)
+      self._update_failed = True
 
   def close(self):
     self._network_monitor.stop()
 
 
 def main():
+  config_realtime_process(0, 51)
+  # attempt to affine. AGNOS will start setup with all cores, should only fail when manually launching with screen off
+  if TICI:
+    try:
+      set_core_affinity([5])
+    except OSError:
+      cloudlog.exception("Failed to set core affinity for updater process")
+
   if len(sys.argv) < 3:
     print("Usage: updater.py <updater_path> <manifest_path>")
     sys.exit(1)
@@ -186,9 +168,9 @@ def main():
   try:
     gui_app.init_window("System Update")
     updater = Updater(updater_path, manifest_path)
-    for should_render in gui_app.render():
-      if should_render:
-        updater.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
+    gui_app.push_widget(updater)
+    for _ in gui_app.render():
+      pass
     updater.close()
   except Exception as e:
     print(f"Updater error: {e}")
diff --git a/system/ui/tici_reset.py b/system/ui/tici_reset.py
index 3922c27aac6..a6603d547e6 100755
--- a/system/ui/tici_reset.py
+++ b/system/ui/tici_reset.py
@@ -20,7 +20,6 @@
 class ResetMode(IntEnum):
   USER_RESET = 0  # user initiated a factory reset from openpilot
   RECOVER = 1     # userdata is corrupt for some reason, give a chance to recover
-  FORMAT = 2      # finish up a factory reset from a tool that doesn't flash an empty partition to userdata
 
 
 class ResetState(IntEnum):
@@ -36,13 +35,9 @@ def __init__(self, mode):
     self._mode = mode
     self._previous_reset_state = None
     self._reset_state = ResetState.NONE
-    self._cancel_button = Button("Cancel", self._cancel_callback)
+    self._cancel_button = Button("Cancel", gui_app.request_close)
     self._confirm_button = Button("Confirm", self._confirm, button_style=ButtonStyle.PRIMARY)
     self._reboot_button = Button("Reboot", lambda: os.system("sudo reboot"))
-    self._render_status = True
-
-  def _cancel_callback(self):
-    self._render_status = False
 
   def _do_erase(self):
     if PC:
@@ -58,7 +53,7 @@ def _do_erase(self):
     else:
       self._reset_state = ResetState.FAILED
 
-  def start_reset(self):
+  def _start_reset(self):
     self._reset_state = ResetState.RESETTING
     threading.Timer(0.1, self._do_erase).start()
 
@@ -69,34 +64,34 @@ def _update_state(self):
     elif self._reset_state != ResetState.RESETTING and (time.monotonic() - self._timeout_st) > TIMEOUT:
       exit(0)
 
-  def _render(self, rect: rl.Rectangle):
-    label_rect = rl.Rectangle(rect.x + 140, rect.y, rect.width - 280, 100 * FONT_SCALE)
+  def _render(self, _):
+    content_rect = rl.Rectangle(45, 200, self._rect.width - 90, self._rect.height - 245)
+
+    label_rect = rl.Rectangle(content_rect.x + 140, content_rect.y, content_rect.width - 280, 100 * FONT_SCALE)
     gui_label(label_rect, "System Reset", 100, font_weight=FontWeight.BOLD)
 
-    text_rect = rl.Rectangle(rect.x + 140, rect.y + 140, rect.width - 280, rect.height - 90 - 100 * FONT_SCALE)
+    text_rect = rl.Rectangle(content_rect.x + 140, content_rect.y + 140, content_rect.width - 280, content_rect.height - 90 - 100 * FONT_SCALE)
     gui_text_box(text_rect, self._get_body_text(), 90)
 
     button_height = 160
     button_spacing = 50
-    button_top = rect.y + rect.height - button_height
-    button_width = (rect.width - button_spacing) / 2.0
+    button_top = content_rect.y + content_rect.height - button_height
+    button_width = (content_rect.width - button_spacing) / 2.0
 
     if self._reset_state != ResetState.RESETTING:
       if self._mode == ResetMode.RECOVER:
-        self._reboot_button.render(rl.Rectangle(rect.x, button_top, button_width, button_height))
+        self._reboot_button.render(rl.Rectangle(content_rect.x, button_top, button_width, button_height))
       elif self._mode == ResetMode.USER_RESET:
-        self._cancel_button.render(rl.Rectangle(rect.x, button_top, button_width, button_height))
+        self._cancel_button.render(rl.Rectangle(content_rect.x, button_top, button_width, button_height))
 
       if self._reset_state != ResetState.FAILED:
-        self._confirm_button.render(rl.Rectangle(rect.x + button_width + 50, button_top, button_width, button_height))
+        self._confirm_button.render(rl.Rectangle(content_rect.x + button_width + 50, button_top, button_width, button_height))
       else:
-        self._reboot_button.render(rl.Rectangle(rect.x, button_top, rect.width, button_height))
-
-    return self._render_status
+        self._reboot_button.render(rl.Rectangle(content_rect.x, button_top, content_rect.width, button_height))
 
   def _confirm(self):
     if self._reset_state == ResetState.CONFIRM:
-      self.start_reset()
+      self._start_reset()
     else:
       self._reset_state = ResetState.CONFIRM
 
@@ -117,19 +112,14 @@ def main():
   if len(sys.argv) > 1:
     if sys.argv[1] == '--recover':
       mode = ResetMode.RECOVER
-    elif sys.argv[1] == "--format":
-      mode = ResetMode.FORMAT
 
   gui_app.init_window("System Reset", 20)
   reset = Reset(mode)
 
-  if mode == ResetMode.FORMAT:
-    reset.start_reset()
+  gui_app.push_widget(reset)
 
-  for should_render in gui_app.render():
-    if should_render:
-      if not reset.render(rl.Rectangle(45, 200, gui_app.width - 90, gui_app.height - 245)):
-        break
+  for _ in gui_app.render():
+    pass
 
 
 if __name__ == "__main__":
diff --git a/system/ui/tici_setup.py b/system/ui/tici_setup.py
index bf64361bed4..9eefb6af537 100755
--- a/system/ui/tici_setup.py
+++ b/system/ui/tici_setup.py
@@ -7,16 +7,14 @@
 import urllib.error
 from urllib.parse import urlparse
 from enum import IntEnum
-import shutil
 
 import pyray as rl
 
 from cereal import log
-from openpilot.common.utils import run_cmd
 from openpilot.system.hardware import HARDWARE
 from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
 from openpilot.system.ui.lib.application import gui_app, FontWeight, FONT_SCALE
-from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets import DialogResult, Widget
 from openpilot.system.ui.widgets.button import Button, ButtonStyle, ButtonRadio
 from openpilot.system.ui.widgets.keyboard import Keyboard
 from openpilot.system.ui.widgets.label import Label
@@ -35,20 +33,9 @@
 OPENPILOT_URL = "https://openpilot.comma.ai"
 USER_AGENT = f"AGNOSSetup-{HARDWARE.get_os_version()}"
 
-CONTINUE_PATH = "/data/continue.sh"
-TMP_CONTINUE_PATH = "/data/continue.sh.new"
-INSTALL_PATH = "/data/openpilot"
-VALID_CACHE_PATH = "/data/.openpilot_cache"
-INSTALLER_SOURCE_PATH = "/usr/comma/installer"
 INSTALLER_DESTINATION_PATH = "/tmp/installer"
 INSTALLER_URL_PATH = "/tmp/installer_url"
 
-CONTINUE = """#!/usr/bin/env bash
-
-cd /data/openpilot
-exec ./launch_openpilot.sh
-"""
-
 
 class SetupState(IntEnum):
   LOW_VOLTAGE = 0
@@ -176,7 +163,9 @@ def _software_selection_back_button_callback(self):
 
   def _software_selection_continue_button_callback(self):
     if self._software_selection_openpilot_button.selected:
-      self.use_openpilot()
+      self.state = SetupState.NETWORK_SETUP
+      self.stop_network_check_thread.clear()
+      self.start_network_check()
     else:
       self.state = SetupState.CUSTOM_SOFTWARE_WARNING
 
@@ -194,7 +183,7 @@ def _network_setup_continue_button_callback(self):
       self.state = SetupState.CUSTOM_SOFTWARE
 
   def render_low_voltage(self, rect: rl.Rectangle):
-    rl.draw_texture(self.warning, int(rect.x + 150), int(rect.y + 110), rl.WHITE)
+    rl.draw_texture_ex(self.warning, rl.Vector2(rect.x + 150, rect.y + 110), 0.0, 1.0, rl.WHITE)
 
     self._low_voltage_title_label.render(rl.Rectangle(rect.x + 150, rect.y + 110 + 150 + 100, rect.width - 500 - 150, TITLE_FONT_SIZE * FONT_SCALE))
     self._low_voltage_body_label.render(rl.Rectangle(rect.x + 150, rect.y + 110 + 150 + 150, rect.width - 500, BODY_FONT_SIZE * FONT_SCALE * 3))
@@ -218,7 +207,7 @@ def check_network_connectivity(self):
     while not self.stop_network_check_thread.is_set():
       if self.state == SetupState.NETWORK_SETUP:
         try:
-          urllib.request.urlopen(OPENPILOT_URL, timeout=2)
+          urllib.request.urlopen(OPENPILOT_URL, timeout=2.0)
           self.network_connected.set()
           if HARDWARE.get_network_type() == NetworkType.wifi:
             self.wifi_connected.set()
@@ -226,7 +215,7 @@ def check_network_connectivity(self):
             self.wifi_connected.clear()
         except Exception:
           self.network_connected.clear()
-      time.sleep(1)
+      time.sleep(1.0)
 
   def start_network_check(self):
     if self.network_check_thread is None or not self.network_check_thread.is_alive():
@@ -327,36 +316,20 @@ def render_custom_software_warning(self, rect: rl.Rectangle):
   def render_custom_software(self):
     def handle_keyboard_result(result):
       # Enter pressed
-      if result == 1:
+      if result == DialogResult.CONFIRM:
         url = self.keyboard.text
         self.keyboard.clear()
         if url:
           self.download(url)
 
       # Cancel pressed
-      elif result == 0:
+      elif result == DialogResult.CANCEL:
         self.state = SetupState.SOFTWARE_SELECTION
 
     self.keyboard.reset(min_text_size=1)
     self.keyboard.set_title("Enter URL", "for Custom Software")
-    gui_app.set_modal_overlay(self.keyboard, callback=handle_keyboard_result)
-
-  def use_openpilot(self):
-    if os.path.isdir(INSTALL_PATH) and os.path.isfile(VALID_CACHE_PATH):
-      os.remove(VALID_CACHE_PATH)
-      with open(TMP_CONTINUE_PATH, "w") as f:
-        f.write(CONTINUE)
-      run_cmd(["chmod", "+x", TMP_CONTINUE_PATH])
-      shutil.move(TMP_CONTINUE_PATH, CONTINUE_PATH)
-      shutil.copyfile(INSTALLER_SOURCE_PATH, INSTALLER_DESTINATION_PATH)
-
-      # give time for installer UI to take over
-      time.sleep(0.1)
-      gui_app.request_close()
-    else:
-      self.state = SetupState.NETWORK_SETUP
-      self.stop_network_check_thread.clear()
-      self.start_network_check()
+    self.keyboard.set_callback(handle_keyboard_result)
+    gui_app.push_widget(self.keyboard)
 
   def download(self, url: str):
     # autocomplete incomplete URLs
@@ -437,9 +410,9 @@ def main():
   try:
     gui_app.init_window("Setup", 20)
     setup = Setup()
-    for should_render in gui_app.render():
-      if should_render:
-        setup.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
+    gui_app.push_widget(setup)
+    for _ in gui_app.render():
+      pass
     setup.close()
   except Exception as e:
     print(f"Setup error: {e}")
diff --git a/system/ui/tici_updater.py b/system/ui/tici_updater.py
index 2e1a8687e1a..3a3b0987d0e 100755
--- a/system/ui/tici_updater.py
+++ b/system/ui/tici_updater.py
@@ -67,18 +67,24 @@ def install_update(self):
 
   def _run_update_process(self):
     # TODO: just import it and run in a thread without a subprocess
-    cmd = [self.updater, "--swap", self.manifest]
-    self.process = subprocess.Popen(cmd, stdout=subprocess.PIPE, stderr=subprocess.PIPE,
-                                    text=True, bufsize=1, universal_newlines=True)
-
-    for line in self.process.stdout:
-      parts = line.strip().split(":")
-      if len(parts) == 2:
-        self.progress_text = parts[0]
-        try:
-          self.progress_value = int(float(parts[1]))
-        except ValueError:
-          pass
+    try:
+      cmd = [self.updater, "--swap", self.manifest]
+      self.process = subprocess.Popen(cmd, stdout=subprocess.PIPE,
+                                      text=True, bufsize=1, universal_newlines=True)
+    except Exception:
+      self.progress_text = "Update failed"
+      self.show_reboot_button = True
+      return
+
+    if self.process.stdout is not None:
+      for line in self.process.stdout:
+        parts = line.strip().split(":")
+        if len(parts) == 2:
+          self.progress_text = parts[0]
+          try:
+            self.progress_value = int(float(parts[1]))
+          except ValueError:
+            pass
 
     exit_code = self.process.wait()
     if exit_code == 0:
@@ -160,10 +166,9 @@ def main():
 
   try:
     gui_app.init_window("System Update")
-    updater = Updater(updater_path, manifest_path)
-    for should_render in gui_app.render():
-      if should_render:
-        updater.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
+    gui_app.push_widget(Updater(updater_path, manifest_path))
+    for _ in gui_app.render():
+      pass
   finally:
     # Make sure we clean up even if there's an error
     gui_app.close()
diff --git a/system/ui/widgets/__init__.py b/system/ui/widgets/__init__.py
index a3fed6d9621..4ce1c1b694d 100644
--- a/system/ui/widgets/__init__.py
+++ b/system/ui/widgets/__init__.py
@@ -1,8 +1,10 @@
+from __future__ import annotations
+
 import abc
 import pyray as rl
 from enum import IntEnum
+from typing import TypeVar
 from collections.abc import Callable
-from openpilot.common.filter_simple import BounceFilter, FirstOrderFilter
 from openpilot.system.ui.lib.application import gui_app, MousePos, MAX_TOUCH_SLOTS, MouseEvent
 
 try:
@@ -10,7 +12,11 @@
 except ImportError:
   class Device:
     awake = True
-  device = Device()  # type: ignore
+  device = Device()
+
+W = TypeVar('W', bound='Widget')
+
+DEBUG = False
 
 
 class DialogResult(IntEnum):
@@ -23,12 +29,17 @@ class Widget(abc.ABC):
   def __init__(self):
     self._rect: rl.Rectangle = rl.Rectangle(0, 0, 0, 0)
     self._parent_rect: rl.Rectangle | None = None
+    self._children: list[Widget] = []
+
+    self._enabled: bool | Callable[[], bool] = True
+    self._is_visible: bool | Callable[[], bool] = True
+
     self.__is_pressed = [False] * MAX_TOUCH_SLOTS
     # if current mouse/touch down started within the widget's rectangle
     self.__tracking_is_pressed = [False] * MAX_TOUCH_SLOTS
-    self._enabled: bool | Callable[[], bool] = True
-    self._is_visible: bool | Callable[[], bool] = True
     self._touch_valid_callback: Callable[[], bool] | None = None
+    self._click_delay: float | None = None  # seconds to hold is_pressed after release
+    self._click_release_time: float | None = None
     self._click_callback: Callable[[], None] | None = None
     self._multi_touch = False
     self.__was_awake = True
@@ -50,7 +61,8 @@ def set_parent_rect(self, parent_rect: rl.Rectangle) -> None:
 
   @property
   def is_pressed(self) -> bool:
-    return any(self.__is_pressed)
+    # if actually pressed or holding after release
+    return any(self.__is_pressed) or self._click_release_time is not None
 
   @property
   def enabled(self) -> bool:
@@ -91,26 +103,40 @@ def _hit_rect(self) -> rl.Rectangle:
       return self._rect
     return rl.get_collision_rec(self._rect, self._parent_rect)
 
-  def render(self, rect: rl.Rectangle = None) -> bool | int | None:
+  def render(self, rect: rl.Rectangle | None = None) -> bool | int | None:
     if rect is not None:
       self.set_rect(rect)
 
     self._update_state()
 
+    if self._click_release_time is not None and rl.get_time() >= self._click_release_time:
+      self._click_release_time = None
+
     if not self.is_visible:
       return None
 
     self._layout()
     ret = self._render(self._rect)
 
+    if gui_app.show_touches:
+      self._draw_debug_rect()
+
     # Keep track of whether mouse down started within the widget's rectangle
     if self.enabled and self.__was_awake:
       self._process_mouse_events()
+    else:
+      # TODO: ideally we emit release events when going disabled
+      self.__is_pressed = [False] * MAX_TOUCH_SLOTS
+      self.__tracking_is_pressed = [False] * MAX_TOUCH_SLOTS
 
     self.__was_awake = device.awake
 
     return ret
 
+  def _draw_debug_rect(self) -> None:
+    rl.draw_rectangle_lines(int(self._rect.x), int(self._rect.y),
+                            max(int(self._rect.width), 1), max(int(self._rect.height), 1), rl.RED)
+
   def _process_mouse_events(self) -> None:
     hit_rect = self._hit_rect
     touch_valid = self._touch_valid()
@@ -165,224 +191,54 @@ def _render(self, rect: rl.Rectangle) -> bool | int | None:
   def _update_layout_rects(self) -> None:
     """Optionally update any layout rects on Widget rect change."""
 
-  def _handle_mouse_press(self, mouse_pos: MousePos) -> bool:
+  def _handle_mouse_press(self, mouse_pos: MousePos) -> None:
     """Optionally handle mouse press events."""
-    return False
 
-  def _handle_mouse_release(self, mouse_pos: MousePos) -> bool:
+  def _handle_mouse_release(self, mouse_pos: MousePos) -> None:
     """Optionally handle mouse release events."""
+    if self._click_delay is not None:
+      self._click_release_time = rl.get_time() + self._click_delay
     if self._click_callback:
       self._click_callback()
-    return False
 
   def _handle_mouse_event(self, mouse_event: MouseEvent) -> None:
     """Optionally handle mouse events. This is called before rendering."""
     # Default implementation does nothing, can be overridden by subclasses
 
-  def show_event(self):
-    """Optionally handle show event. Parent must manually call this"""
-
-  def hide_event(self):
-    """Optionally handle hide event. Parent must manually call this"""
-
-
-SWIPE_AWAY_THRESHOLD = 80  # px to dismiss after releasing
-START_DISMISSING_THRESHOLD = 40  # px to start dismissing while dragging
-BLOCK_SWIPE_AWAY_THRESHOLD = 60  # px horizontal movement to block swipe away
-
-NAV_BAR_MARGIN = 6
-NAV_BAR_WIDTH = 205
-NAV_BAR_HEIGHT = 8
-
-DISMISS_PUSH_OFFSET = 50 + NAV_BAR_MARGIN + NAV_BAR_HEIGHT  # px extra to push down when dismissing
-DISMISS_TIME_SECONDS = 1.5
-
-
-class NavBar(Widget):
-  def __init__(self):
-    super().__init__()
-    self.set_rect(rl.Rectangle(0, 0, NAV_BAR_WIDTH, NAV_BAR_HEIGHT))
-    self._alpha = 1.0
-    self._alpha_filter = FirstOrderFilter(1.0, 0.1, 1 / gui_app.target_fps)
-    self._fade_time = 0.0
+  def _child(self, widget: W) -> W:
+    """
+    Register a widget as a child. Lifecycle events (show/hide) propagate to registered children.
+    - If the widget is pushed onto the nav stack, do NOT register it (gui_app manages its lifecycle).
+    - If the widget is rendered inline in _render(), register it.
+    """
+    assert widget not in self._children, f"{type(widget).__name__} already a child of {type(self).__name__}"
+    self._children.append(widget)
+    return widget
 
-  def set_alpha(self, alpha: float) -> None:
-    self._alpha = alpha
-    self._fade_time = rl.get_time()
+  _show_hide_depth = 0
 
   def show_event(self):
-    super().show_event()
-    self._alpha = 1.0
-    self._alpha_filter.x = 1.0
-    self._fade_time = rl.get_time()
+    """Called when widget becomes visible. Propagates to registered children."""
+    if DEBUG:
+      print(f"{'  ' * Widget._show_hide_depth}show_event: {type(self).__name__}")
+      Widget._show_hide_depth += 1
+    for child in self._children:
+      child.show_event()
+    if DEBUG:
+      Widget._show_hide_depth -= 1
 
-  def _render(self, _):
-    if rl.get_time() - self._fade_time > DISMISS_TIME_SECONDS:
-      self._alpha = 0.0
-    alpha = self._alpha_filter.update(self._alpha)
-
-    # white bar with black border
-    rl.draw_rectangle_rounded(self._rect, 1.0, 6, rl.Color(255, 255, 255, int(255 * 0.9 * alpha)))
-    rl.draw_rectangle_rounded_lines_ex(self._rect, 1.0, 6, 2, rl.Color(0, 0, 0, int(255 * 0.3 * alpha)))
-
-
-class NavWidget(Widget, abc.ABC):
-  """
-  A full screen widget that supports back navigation by swiping down from the top.
-  """
-  BACK_TOUCH_AREA_PERCENTAGE = 0.65
-
-  def __init__(self):
-    super().__init__()
-    self._back_callback: Callable[[], None] | None = None
-    self._back_button_start_pos: MousePos | None = None
-    self._swiping_away = False  # currently swiping away
-    self._can_swipe_away = True  # swipe away is blocked after certain horizontal movement
-
-    self._pos_filter = BounceFilter(0.0, 0.1, 1 / gui_app.target_fps, bounce=1)
-    self._playing_dismiss_animation = False
-    self._trigger_animate_in = False
-    self._back_enabled: bool | Callable[[], bool] = True
-    self._nav_bar = NavBar()
-
-    self._nav_bar_y_filter = FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps)
-
-    self._set_up = False
-
-  @property
-  def back_enabled(self) -> bool:
-    return self._back_enabled() if callable(self._back_enabled) else self._back_enabled
-
-  def set_back_enabled(self, enabled: bool | Callable[[], bool]) -> None:
-    self._back_enabled = enabled
-
-  def set_back_callback(self, callback: Callable[[], None]) -> None:
-    self._back_callback = callback
-
-  def _handle_mouse_event(self, mouse_event: MouseEvent) -> None:
-    super()._handle_mouse_event(mouse_event)
-
-    if not self.back_enabled:
-      self._back_button_start_pos = None
-      self._swiping_away = False
-      self._can_swipe_away = True
-      return
-
-    if mouse_event.left_pressed:
-      # user is able to swipe away if starting near top of screen, or anywhere if scroller is at top
-      self._pos_filter.update_alpha(0.04)
-      in_dismiss_area = mouse_event.pos.y < self._rect.height * self.BACK_TOUCH_AREA_PERCENTAGE
-
-      scroller_at_top = False
-      vertical_scroller = False
-      # TODO: -20? snapping in WiFi dialog can make offset not be positive at the top
-      if hasattr(self, '_scroller'):
-        scroller_at_top = self._scroller.scroll_panel.get_offset() >= -20 and not self._scroller._horizontal
-        vertical_scroller = not self._scroller._horizontal
-      elif hasattr(self, '_scroll_panel'):
-        scroller_at_top = self._scroll_panel.get_offset() >= -20 and not self._scroll_panel._horizontal
-        vertical_scroller = not self._scroll_panel._horizontal
-
-      # Vertical scrollers need to be at the top to swipe away to prevent erroneous swipes
-      if (not vertical_scroller and in_dismiss_area) or scroller_at_top:
-        self._can_swipe_away = True
-        self._back_button_start_pos = mouse_event.pos
-
-    elif mouse_event.left_down:
-      if self._back_button_start_pos is not None:
-        # block swiping away if too much horizontal or upward movement
-        horizontal_movement = abs(mouse_event.pos.x - self._back_button_start_pos.x) > BLOCK_SWIPE_AWAY_THRESHOLD
-        upward_movement = mouse_event.pos.y - self._back_button_start_pos.y < -BLOCK_SWIPE_AWAY_THRESHOLD
-        if not self._swiping_away and (horizontal_movement or upward_movement):
-          self._can_swipe_away = False
-          self._back_button_start_pos = None
-
-        # block horizontal swiping if now swiping away
-        if self._can_swipe_away:
-          if mouse_event.pos.y - self._back_button_start_pos.y > START_DISMISSING_THRESHOLD:  # type: ignore
-            self._swiping_away = True
-
-    elif mouse_event.left_released:
-      self._pos_filter.update_alpha(0.1)
-      # if far enough, trigger back navigation callback
-      if self._back_button_start_pos is not None:
-        if mouse_event.pos.y - self._back_button_start_pos.y > SWIPE_AWAY_THRESHOLD:
-          self._playing_dismiss_animation = True
-
-      self._back_button_start_pos = None
-      self._swiping_away = False
-
-  def _update_state(self):
-    super()._update_state()
-
-    # Disable self's scroller while swiping away
-    if not self._set_up:
-      self._set_up = True
-      if hasattr(self, '_scroller'):
-        original_enabled = self._scroller._enabled
-        self._scroller.set_enabled(lambda: not self._swiping_away and (original_enabled() if callable(original_enabled) else
-                                                                       original_enabled))
-      elif hasattr(self, '_scroll_panel'):
-        original_enabled = self._scroll_panel.enabled
-        self._scroll_panel.set_enabled(lambda: not self._swiping_away and (original_enabled() if callable(original_enabled) else
-                                                                          original_enabled))
-
-    if self._trigger_animate_in:
-      self._pos_filter.x = self._rect.height
-      self._nav_bar_y_filter.x = -NAV_BAR_MARGIN - NAV_BAR_HEIGHT
-      self._trigger_animate_in = False
-
-    new_y = 0.0
-
-    if self._back_button_start_pos is not None:
-      last_mouse_event = gui_app.last_mouse_event
-      # push entire widget as user drags it away
-      new_y = max(last_mouse_event.pos.y - self._back_button_start_pos.y, 0)
-      if new_y < SWIPE_AWAY_THRESHOLD:
-        new_y /= 2  # resistance until mouse release would dismiss widget
-
-    if self._swiping_away:
-      self._nav_bar.set_alpha(1.0)
-
-    if self._playing_dismiss_animation:
-      new_y = self._rect.height + DISMISS_PUSH_OFFSET
-
-    new_y = round(self._pos_filter.update(new_y))
-    if abs(new_y) < 1 and self._pos_filter.velocity.x == 0.0:
-      new_y = self._pos_filter.x = 0.0
-
-    if new_y > self._rect.height + DISMISS_PUSH_OFFSET - 10:
-      if self._back_callback is not None:
-        self._back_callback()
-
-      self._playing_dismiss_animation = False
-      self._back_button_start_pos = None
-      self._swiping_away = False
-
-    self.set_position(self._rect.x, new_y)
-
-  def render(self, rect: rl.Rectangle = None) -> bool | int | None:
-    ret = super().render(rect)
-
-    if self.back_enabled:
-      bar_x = self._rect.x + (self._rect.width - self._nav_bar.rect.width) / 2
-      if self._back_button_start_pos is not None or self._playing_dismiss_animation:
-        self._nav_bar_y_filter.x = NAV_BAR_MARGIN + self._pos_filter.x
-      else:
-        self._nav_bar_y_filter.update(NAV_BAR_MARGIN)
-
-      self._nav_bar.set_position(bar_x, round(self._nav_bar_y_filter.x))
-      self._nav_bar.render()
-
-      # draw black above widget when dismissing
-      if self._rect.y > 0:
-        rl.draw_rectangle(int(self._rect.x), 0, int(self._rect.width), int(self._rect.y), rl.BLACK)
-
-    return ret
-
-  def show_event(self):
-    super().show_event()
-    # FIXME: we don't know the height of the rect at first show_event since it's before the first render :(
-    #  so we need this hacky bool for now
-    self._trigger_animate_in = True
-    self._nav_bar.show_event()
+  def hide_event(self):
+    """Called when widget is hidden. Propagates to registered children."""
+    if DEBUG:
+      print(f"{'  ' * Widget._show_hide_depth}hide_event: {type(self).__name__}")
+      Widget._show_hide_depth += 1
+    for child in self._children:
+      child.hide_event()
+    if DEBUG:
+      Widget._show_hide_depth -= 1
+
+  def dismiss(self, callback: Callable[[], None] | None = None):
+    """Immediately dismiss the widget, firing the callback after."""
+    gui_app.pop_widget()
+    if callback:
+      callback()
diff --git a/system/ui/widgets/button.py b/system/ui/widgets/button.py
index 9c0ea75b428..36ef3bedab6 100644
--- a/system/ui/widgets/button.py
+++ b/system/ui/widgets/button.py
@@ -5,7 +5,7 @@
 
 from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
 from openpilot.system.ui.widgets import Widget
-from openpilot.system.ui.widgets.label import Label, UnifiedLabel
+from openpilot.system.ui.widgets.label import Label
 from openpilot.common.filter_simple import FirstOrderFilter
 
 
@@ -191,7 +191,7 @@ def _render(self, rect: rl.Rectangle):
       color = rl.Color(255, 255, 255, int(255 * 0.9 * 0.35 * self._opacity_filter.x))
     draw_x = rect.x + (rect.width - self._texture.width) / 2
     draw_y = rect.y + (rect.height - self._texture.height) / 2
-    rl.draw_texture(self._texture, int(draw_x), int(draw_y), color)
+    rl.draw_texture_ex(self._texture, rl.Vector2(draw_x, draw_y), 0.0, 1.0, color)
 
 
 class SmallCircleIconButton(Widget):
@@ -219,85 +219,7 @@ def _render(self, _):
       bg_txt = self._icon_bg_pressed_txt if self.is_pressed else self._icon_bg_txt
       icon_white = white
 
-    rl.draw_texture(bg_txt, int(self.rect.x), int(self.rect.y), white)
+    rl.draw_texture_ex(bg_txt, rl.Vector2(self.rect.x, self.rect.y), 0.0, 1.0, white)
     icon_x = self.rect.x + (self.rect.width - self._icon_txt.width) / 2
     icon_y = self.rect.y + (self.rect.height - self._icon_txt.height) / 2
-    rl.draw_texture(self._icon_txt, int(icon_x), int(icon_y), icon_white)
-
-
-class SmallButton(Widget):
-  def __init__(self, text: str):
-    super().__init__()
-    self._opacity_filter = FirstOrderFilter(1.0, 0.1, 1 / gui_app.target_fps)
-
-    self._load_assets()
-
-    self._label = UnifiedLabel(text, 36, font_weight=FontWeight.MEDIUM,
-                               text_color=rl.Color(255, 255, 255, int(255 * 0.9)),
-                               alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
-                               alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
-
-    self._bg_disabled_txt = None
-
-  def _load_assets(self):
-    self.set_rect(rl.Rectangle(0, 0, 194, 100))
-    self._bg_txt = gui_app.texture("icons_mici/setup/reset/small_button.png", 194, 100)
-    self._bg_pressed_txt = gui_app.texture("icons_mici/setup/reset/small_button_pressed.png", 194, 100)
-
-  def set_text(self, text: str):
-    self._label.set_text(text)
-
-  def set_opacity(self, opacity: float, smooth: bool = False):
-    if smooth:
-      self._opacity_filter.update(opacity)
-    else:
-      self._opacity_filter.x = opacity
-
-  def _render(self, _):
-    if not self.enabled and self._bg_disabled_txt is not None:
-      rl.draw_texture(self._bg_disabled_txt, int(self.rect.x), int(self.rect.y), rl.Color(255, 255, 255, int(255 * self._opacity_filter.x)))
-    elif self.is_pressed:
-      rl.draw_texture(self._bg_pressed_txt, int(self.rect.x), int(self.rect.y), rl.Color(255, 255, 255, int(255 * self._opacity_filter.x)))
-    else:
-      rl.draw_texture(self._bg_txt, int(self.rect.x), int(self.rect.y), rl.Color(255, 255, 255, int(255 * self._opacity_filter.x)))
-
-    opacity = 0.9 if self.enabled else 0.35
-    self._label.set_color(rl.Color(255, 255, 255, int(255 * opacity * self._opacity_filter.x)))
-    self._label.render(self._rect)
-
-
-class SmallRedPillButton(SmallButton):
-  def _load_assets(self):
-    self.set_rect(rl.Rectangle(0, 0, 194, 100))
-    self._bg_txt = gui_app.texture("icons_mici/setup/small_red_pill.png", 194, 100)
-    self._bg_pressed_txt = gui_app.texture("icons_mici/setup/small_red_pill_pressed.png", 194, 100)
-
-
-class SmallerRoundedButton(SmallButton):
-  def _load_assets(self):
-    self.set_rect(rl.Rectangle(0, 0, 150, 100))
-    self._bg_txt = gui_app.texture("icons_mici/setup/smaller_button.png", 150, 100)
-    self._bg_disabled_txt = gui_app.texture("icons_mici/setup/smaller_button_disabled.png", 150, 100)
-    self._bg_pressed_txt = gui_app.texture("icons_mici/setup/smaller_button_pressed.png", 150, 100)
-
-
-class WideRoundedButton(SmallButton):
-  def _load_assets(self):
-    self.set_rect(rl.Rectangle(0, 0, 316, 100))
-    self._bg_txt = gui_app.texture("icons_mici/setup/medium_button_bg.png", 316, 100)
-    self._bg_pressed_txt = gui_app.texture("icons_mici/setup/medium_button_pressed_bg.png", 316, 100)
-
-
-class WidishRoundedButton(SmallButton):
-  def _load_assets(self):
-    self.set_rect(rl.Rectangle(0, 0, 250, 100))
-    self._bg_txt = gui_app.texture("icons_mici/setup/widish_button.png", 250, 100)
-    self._bg_pressed_txt = gui_app.texture("icons_mici/setup/widish_button_pressed.png", 250, 100)
-    self._bg_disabled_txt = gui_app.texture("icons_mici/setup/widish_button_disabled.png", 250, 100)
-
-
-class FullRoundedButton(SmallButton):
-  def _load_assets(self):
-    self.set_rect(rl.Rectangle(0, 0, 520, 100))
-    self._bg_txt = gui_app.texture("icons_mici/setup/reset/wide_button.png", 520, 100)
-    self._bg_pressed_txt = gui_app.texture("icons_mici/setup/reset/wide_button_pressed.png", 520, 100)
+    rl.draw_texture_ex(self._icon_txt, rl.Vector2(icon_x, icon_y), 0.0, 1.0, icon_white)
diff --git a/system/ui/widgets/confirm_dialog.py b/system/ui/widgets/confirm_dialog.py
index 97618660bd1..3544836761c 100644
--- a/system/ui/widgets/confirm_dialog.py
+++ b/system/ui/widgets/confirm_dialog.py
@@ -1,4 +1,5 @@
 import pyray as rl
+from collections.abc import Callable
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.widgets import DialogResult
@@ -17,7 +18,7 @@
 
 
 class ConfirmDialog(Widget):
-  def __init__(self, text: str, confirm_text: str, cancel_text: str | None = None, rich: bool = False):
+  def __init__(self, text: str, confirm_text: str, cancel_text: str | None = None, rich: bool = False, callback: Callable[[DialogResult], None] | None = None):
     super().__init__()
     if cancel_text is None:
       cancel_text = tr("Cancel")
@@ -26,7 +27,7 @@ def __init__(self, text: str, confirm_text: str, cancel_text: str | None = None,
     self._cancel_button = Button(cancel_text, self._cancel_button_callback)
     self._confirm_button = Button(confirm_text, self._confirm_button_callback, button_style=ButtonStyle.PRIMARY)
     self._rich = rich
-    self._dialog_result = DialogResult.NO_ACTION
+    self._callback = callback
     self._cancel_text = cancel_text
     self._scroller = Scroller([self._html_renderer], line_separator=False, spacing=0)
 
@@ -36,14 +37,15 @@ def set_text(self, text):
     else:
       self._html_renderer.parse_html_content(text)
 
-  def reset(self):
-    self._dialog_result = DialogResult.NO_ACTION
-
   def _cancel_button_callback(self):
-    self._dialog_result = DialogResult.CANCEL
+    gui_app.pop_widget()
+    if self._callback:
+      self._callback(DialogResult.CANCEL)
 
   def _confirm_button_callback(self):
-    self._dialog_result = DialogResult.CONFIRM
+    gui_app.pop_widget()
+    if self._callback:
+      self._callback(DialogResult.CONFIRM)
 
   def _render(self, rect: rl.Rectangle):
     dialog_x = OUTER_MARGIN if not self._rich else RICH_OUTER_MARGIN
@@ -73,9 +75,9 @@ def _render(self, rect: rl.Rectangle):
       self._scroller.render(text_rect)
 
     if rl.is_key_pressed(rl.KeyboardKey.KEY_ENTER):
-      self._dialog_result = DialogResult.CONFIRM
+      self._confirm_button_callback()
     elif rl.is_key_pressed(rl.KeyboardKey.KEY_ESCAPE):
-      self._dialog_result = DialogResult.CANCEL
+      self._cancel_button_callback()
 
     if self._cancel_text:
       self._confirm_button.render(confirm_button)
@@ -85,8 +87,6 @@ def _render(self, rect: rl.Rectangle):
       full_confirm_button = rl.Rectangle(dialog_rect.x + MARGIN, button_y, full_button_width, BUTTON_HEIGHT)
       self._confirm_button.render(full_confirm_button)
 
-    return self._dialog_result
-
 
 def alert_dialog(message: str, button_text: str | None = None):
   if button_text is None:
diff --git a/system/ui/widgets/html_render.py b/system/ui/widgets/html_render.py
index 7d90d569253..77fca9fe348 100644
--- a/system/ui/widgets/html_render.py
+++ b/system/ui/widgets/html_render.py
@@ -260,7 +260,7 @@ def __init__(self, file_path: str | None = None, text: str | None = None):
     super().__init__()
     self._content = HtmlRenderer(file_path=file_path, text=text)
     self._scroll_panel = GuiScrollPanel()
-    self._ok_button = Button(tr("OK"), click_callback=lambda: gui_app.set_modal_overlay(None), button_style=ButtonStyle.PRIMARY)
+    self._ok_button = Button(tr("OK"), click_callback=gui_app.pop_widget, button_style=ButtonStyle.PRIMARY)
 
   def _render(self, rect: rl.Rectangle):
     margin = 50
diff --git a/system/ui/widgets/icon_widget.py b/system/ui/widgets/icon_widget.py
new file mode 100644
index 00000000000..bf7790b937b
--- /dev/null
+++ b/system/ui/widgets/icon_widget.py
@@ -0,0 +1,16 @@
+import pyray as rl
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.widgets import Widget
+
+
+class IconWidget(Widget):
+  def __init__(self, image_path: str, size: tuple[int, int], opacity: float = 1.0):
+    super().__init__()
+    self._texture = gui_app.texture(image_path, size[0], size[1])
+    self._opacity = opacity
+    self.set_rect(rl.Rectangle(0, 0, float(size[0]), float(size[1])))
+    self.set_enabled(False)
+
+  def _render(self, _) -> None:
+    color = rl.Color(255, 255, 255, int(self._opacity * 255))
+    rl.draw_texture_ex(self._texture, rl.Vector2(self._rect.x, self._rect.y), 0.0, 1.0, color)
diff --git a/system/ui/widgets/keyboard.py b/system/ui/widgets/keyboard.py
index 4ec92f507a7..49c59a431f1 100644
--- a/system/ui/widgets/keyboard.py
+++ b/system/ui/widgets/keyboard.py
@@ -1,12 +1,13 @@
 from functools import partial
 import time
 from typing import Literal
+from collections.abc import Callable
 
 import pyray as rl
 
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.lib.multilang import tr
-from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets import DialogResult, Widget
 from openpilot.system.ui.widgets.button import ButtonStyle, Button
 from openpilot.system.ui.widgets.inputbox import InputBox
 from openpilot.system.ui.widgets.label import Label
@@ -58,7 +59,8 @@
 
 
 class Keyboard(Widget):
-  def __init__(self, max_text_size: int = 255, min_text_size: int = 0, password_mode: bool = False, show_password_toggle: bool = False):
+  def __init__(self, max_text_size: int = 255, min_text_size: int = 0, password_mode: bool = False, show_password_toggle: bool = False,
+               callback: Callable[[DialogResult], None] | None = None):
     super().__init__()
     self._layout_name: Literal["lowercase", "uppercase", "numbers", "specials"] = "lowercase"
     self._caps_lock = False
@@ -71,13 +73,13 @@ def __init__(self, max_text_size: int = 255, min_text_size: int = 0, password_mo
     self._input_box = InputBox(max_text_size)
     self._password_mode = password_mode
     self._show_password_toggle = show_password_toggle
+    self._callback = callback
 
     # Backspace key repeat tracking
     self._backspace_pressed: bool = False
     self._backspace_press_time: float = 0.0
     self._backspace_last_repeat: float = 0.0
 
-    self._render_return_status = -1
     self._cancel_button = Button(lambda: tr("Cancel"), self._cancel_button_callback)
 
     self._eye_button = Button("", self._eye_button_callback, button_style=ButtonStyle.TRANSPARENT)
@@ -122,16 +124,23 @@ def set_title(self, title: str, sub_title: str = ""):
     self._title.set_text(title)
     self._sub_title.set_text(sub_title)
 
+  def set_callback(self, callback: Callable[[DialogResult], None] | None):
+    self._callback = callback
+
   def _eye_button_callback(self):
     self._password_mode = not self._password_mode
 
   def _cancel_button_callback(self):
     self.clear()
-    self._render_return_status = 0
+    gui_app.pop_widget()
+    if self._callback:
+      self._callback(DialogResult.CANCEL)
 
   def _key_callback(self, k):
     if k == ENTER_KEY:
-      self._render_return_status = 1
+      gui_app.pop_widget()
+      if self._callback:
+        self._callback(DialogResult.CONFIRM)
     else:
       self.handle_key_press(k)
 
@@ -197,8 +206,6 @@ def _render(self, rect: rl.Rectangle):
           self._all_keys[key].set_enabled(is_enabled)
           self._all_keys[key].render(key_rect)
 
-    return self._render_return_status
-
   def _render_input_area(self, input_rect: rl.Rectangle):
     if self._show_password_toggle:
       self._input_box.set_password_mode(self._password_mode)
@@ -250,7 +257,6 @@ def handle_key_press(self, key):
   def reset(self, min_text_size: int | None = None):
     if min_text_size is not None:
       self._min_text_size = min_text_size
-    self._render_return_status = -1
     self._last_shift_press_time = 0
     self._backspace_pressed = False
     self._backspace_press_time = 0.0
@@ -259,15 +265,18 @@ def reset(self, min_text_size: int | None = None):
 
 
 if __name__ == "__main__":
-  gui_app.init_window("Keyboard")
-  keyboard = Keyboard(min_text_size=8, show_password_toggle=True)
-  for _ in gui_app.render():
-    keyboard.set_title("Keyboard Input", "Type your text below")
-    result = keyboard.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
-    if result == 1:
+  def callback(result: DialogResult):
+    if result == DialogResult.CONFIRM:
       print(f"You typed: {keyboard.text}")
-      gui_app.request_close()
-    elif result == 0:
+    elif result == DialogResult.CANCEL:
       print("Canceled")
-      gui_app.request_close()
+    gui_app.request_close()
+
+  gui_app.init_window("Keyboard")
+  keyboard = Keyboard(min_text_size=8, show_password_toggle=True, callback=callback)
+  keyboard.set_title("Keyboard Input", "Type your text below")
+
+  gui_app.push_widget(keyboard)
+  for _ in gui_app.render():
+    pass
   gui_app.close()
diff --git a/system/ui/widgets/label.py b/system/ui/widgets/label.py
index 97b293083d0..7fe25ab51d1 100644
--- a/system/ui/widgets/label.py
+++ b/system/ui/widgets/label.py
@@ -1,3 +1,4 @@
+import math
 from enum import IntEnum
 from collections.abc import Callable
 from itertools import zip_longest
@@ -26,166 +27,6 @@ class ScrollState(IntEnum):
   SCROLLING = 1
 
 
-# TODO: merge anything new here to master
-class MiciLabel(Widget):
-  def __init__(self,
-               text: str,
-               font_size: int = DEFAULT_TEXT_SIZE,
-               width: int = None,
-               color: rl.Color = DEFAULT_TEXT_COLOR,
-               font_weight: FontWeight = FontWeight.NORMAL,
-               alignment: int = rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
-               alignment_vertical: int = rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
-               spacing: int = 0,
-               line_height: int = None,
-               elide_right: bool = True,
-               wrap_text: bool = False,
-               scroll: bool = False):
-    super().__init__()
-    self.text = text
-    self.wrapped_text: list[str] = []
-    self.font_size = font_size
-    self.width = width
-    self.color = color
-    self.font_weight = font_weight
-    self.alignment = alignment
-    self.alignment_vertical = alignment_vertical
-    self.spacing = spacing
-    self.line_height = line_height if line_height is not None else font_size
-    self.elide_right = elide_right
-    self.wrap_text = wrap_text
-    self._height = 0
-
-    # Scroll state
-    self.scroll = scroll
-    self._needs_scroll = False
-    self._scroll_offset = 0
-    self._scroll_pause_t: float | None = None
-    self._scroll_state: ScrollState = ScrollState.STARTING
-
-    assert not (self.scroll and self.wrap_text), "Cannot enable both scroll and wrap_text"
-    assert not (self.scroll and self.elide_right), "Cannot enable both scroll and elide_right"
-
-    self.set_text(text)
-
-  @property
-  def text_height(self):
-    return self._height
-
-  def set_font_size(self, font_size: int):
-    self.font_size = font_size
-    self.set_text(self.text)
-
-  def set_width(self, width: int):
-    self.width = width
-    self._rect.width = width
-    self.set_text(self.text)
-
-  def set_text(self, txt: str):
-    self.text = txt
-    text_size = measure_text_cached(gui_app.font(self.font_weight), self.text, self.font_size, self.spacing)
-    if self.width is not None:
-      self._rect.width = self.width
-    else:
-      self._rect.width = text_size.x
-
-    if self.wrap_text:
-      self.wrapped_text = wrap_text(gui_app.font(self.font_weight), self.text, self.font_size, int(self._rect.width))
-      self._height = len(self.wrapped_text) * self.line_height
-    elif self.scroll:
-      self._needs_scroll = self.scroll and text_size.x > self._rect.width
-      self._rect.height = text_size.y
-
-  def set_color(self, color: rl.Color):
-    self.color = color
-
-  def set_font_weight(self, font_weight: FontWeight):
-    self.font_weight = font_weight
-    self.set_text(self.text)
-
-  def _render(self, rect: rl.Rectangle):
-    # Only scissor when we know there is a single scrolling line
-    if self._needs_scroll:
-      rl.begin_scissor_mode(int(rect.x), int(rect.y), int(rect.width), int(rect.height))
-
-    font = gui_app.font(self.font_weight)
-
-    text_y_offset = 0
-    # Draw the text in the specified rectangle
-    lines = self.wrapped_text or [self.text]
-    if self.alignment_vertical == rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM:
-      lines = lines[::-1]
-
-    for display_text in lines:
-      text_size = measure_text_cached(font, display_text, self.font_size, self.spacing)
-
-      # Elide text to fit within the rectangle
-      if self.elide_right and text_size.x > rect.width:
-        ellipsis = "..."
-        left, right = 0, len(display_text)
-        while left < right:
-          mid = (left + right) // 2
-          candidate = display_text[:mid] + ellipsis
-          candidate_size = measure_text_cached(font, candidate, self.font_size, self.spacing)
-          if candidate_size.x <= rect.width:
-            left = mid + 1
-          else:
-            right = mid
-        display_text = display_text[: left - 1] + ellipsis if left > 0 else ellipsis
-        text_size = measure_text_cached(font, display_text, self.font_size, self.spacing)
-
-      # Handle scroll state
-      elif self.scroll and self._needs_scroll:
-        if self._scroll_state == ScrollState.STARTING:
-          if self._scroll_pause_t is None:
-            self._scroll_pause_t = rl.get_time() + 2.0
-          if rl.get_time() >= self._scroll_pause_t:
-            self._scroll_state = ScrollState.SCROLLING
-            self._scroll_pause_t = None
-
-        elif self._scroll_state == ScrollState.SCROLLING:
-          self._scroll_offset -= 0.8 / 60. * gui_app.target_fps
-          # don't fully hide
-          if self._scroll_offset <= -text_size.x - self._rect.width / 3:
-            self._scroll_offset = 0
-            self._scroll_state = ScrollState.STARTING
-            self._scroll_pause_t = None
-
-      # Calculate horizontal position based on alignment
-      text_x = rect.x + {
-        rl.GuiTextAlignment.TEXT_ALIGN_LEFT: 0,
-        rl.GuiTextAlignment.TEXT_ALIGN_CENTER: (rect.width - text_size.x) / 2,
-        rl.GuiTextAlignment.TEXT_ALIGN_RIGHT: rect.width - text_size.x,
-      }.get(self.alignment, 0) + self._scroll_offset
-
-      # Calculate vertical position based on alignment
-      text_y = rect.y + {
-        rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP: 0,
-        rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE: (rect.height - text_size.y) / 2,
-        rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM: rect.height - text_size.y,
-      }.get(self.alignment_vertical, 0)
-      text_y += text_y_offset
-
-      rl.draw_text_ex(font, display_text, rl.Vector2(round(text_x), text_y), self.font_size, self.spacing, self.color)
-      # Draw 2nd instance for scrolling
-      if self._needs_scroll and self._scroll_state != ScrollState.STARTING:
-        text2_scroll_offset = text_size.x + self._rect.width / 3
-        rl.draw_text_ex(font, display_text, rl.Vector2(round(text_x + text2_scroll_offset), text_y), self.font_size, self.spacing, self.color)
-      if self.alignment_vertical == rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM:
-        text_y_offset -= self.line_height
-      else:
-        text_y_offset += self.line_height
-
-    if self._needs_scroll:
-      # draw black fade on left and right
-      fade_width = 20
-      rl.draw_rectangle_gradient_h(int(rect.x + rect.width - fade_width), int(rect.y), fade_width, int(rect.height), rl.BLANK, rl.BLACK)
-      if self._scroll_state != ScrollState.STARTING:
-        rl.draw_rectangle_gradient_h(int(rect.x), int(rect.y), fade_width, int(rect.height), rl.BLACK, rl.BLANK)
-
-      rl.end_scissor_mode()
-
-
 # TODO: This should be a Widget class
 def gui_label(
   rect: rl.Rectangle,
@@ -392,7 +233,7 @@ def _render(self, _):
 
 class UnifiedLabel(Widget):
   """
-  Unified label widget that combines functionality from gui_label, gui_text_box, Label, and MiciLabel.
+  Unified label widget that combines functionality from gui_label, gui_text_box, and Label.
 
   Supports:
   - Emoji rendering
@@ -401,6 +242,13 @@ class UnifiedLabel(Widget):
   - Proper multiline vertical alignment
   - Height calculation for layout purposes
   """
+  # Shimmer constants
+  SHIMMER_BAND_WIDTH = 0.3       # shimmer width as fraction of text width
+  SHIMMER_BLUR_RADIUS = 0.12     # gaussian blur as fraction of text width
+  SHIMMER_CYCLE_PERIOD = 2.5     # seconds per full shimmer cycle
+  SHIMMER_SWEEP_FRACTION = 0.9   # fraction of cycle spent sweeping (rest is pause)
+  SHIMMER_LOW_OPACITY = 0.65     # text opacity at rest, shimmer brings to 1.0
+
   def __init__(self,
                text: str | Callable[[], str],
                font_size: int = DEFAULT_TEXT_SIZE,
@@ -414,7 +262,8 @@ def __init__(self,
                wrap_text: bool = True,
                scroll: bool = False,
                line_height: float = 1.0,
-               letter_spacing: float = 0.0):
+               letter_spacing: float = 0.0,
+               shimmer: bool = False):
     super().__init__()
     self._text = text
     self._font_size = font_size
@@ -432,6 +281,10 @@ def __init__(self,
     self._letter_spacing = letter_spacing  # 0.1 = 10%
     self._spacing_pixels = font_size * letter_spacing
 
+    # Shimmer state
+    self._shimmer = shimmer
+    self._shimmer_start_time = 0.0
+
     # Scroll state
     self._scroll = scroll
     self._needs_scroll = False
@@ -467,6 +320,14 @@ def text(self) -> str:
     """Get the current text content."""
     return str(_resolve_value(self._text))
 
+  @property
+  def font_size(self) -> int:
+    return self._font_size
+
+  @property
+  def text_width(self) -> float:
+    return max((s.x for s in self._cached_line_sizes), default=0.0)
+
   def set_text_color(self, color: rl.Color):
     """Update the text color."""
     self._text_color = color
@@ -489,6 +350,13 @@ def set_letter_spacing(self, letter_spacing: float):
       self._spacing_pixels = self._font_size * letter_spacing
       self._cached_text = None  # Invalidate cache
 
+  def set_line_height(self, line_height: float):
+    """Update line height (multiplier, e.g., 1.0 = default)."""
+    new_line_height = line_height * 0.9
+    if self._line_height != new_line_height:
+      self._line_height = new_line_height
+      self._cached_text = None  # Invalidate cache (affects total height)
+
   def set_font_weight(self, font_weight: FontWeight):
     """Update the font weight."""
     if self._font_weight != font_weight:
@@ -510,6 +378,15 @@ def reset_scroll(self):
     self._scroll_pause_t = None
     self._scroll_state = ScrollState.STARTING
 
+  def show_event(self):
+    super().show_event()
+    if self._shimmer:
+      self.reset_shimmer()
+
+  def reset_shimmer(self, offset: float = 0.0):
+    """Reset shimmer animation timing."""
+    self._shimmer_start_time = rl.get_time() + offset
+
   def set_max_width(self, max_width: int | None):
     """Set the maximum width constraint for wrapping/eliding."""
     if self._max_width != max_width:
@@ -753,11 +630,34 @@ def _render(self, _):
       # draw black fade on left and right
       fade_width = 20
       rl.draw_rectangle_gradient_h(int(self._rect.x + self._rect.width - fade_width), int(self._rect.y), fade_width, int(self._rect.height), rl.BLANK, rl.BLACK)
-      if self._scroll_state != ScrollState.STARTING:
+
+      # stop drawing left fade once text scrolls past
+      text_width = visible_sizes[0].x if visible_sizes else 0
+      first_copy_in_view = self._scroll_offset + text_width > 0
+      draw_left_fade = self._scroll_state != ScrollState.STARTING and first_copy_in_view
+      if draw_left_fade:
         rl.draw_rectangle_gradient_h(int(self._rect.x), int(self._rect.y), fade_width, int(self._rect.height), rl.BLACK, rl.BLANK)
 
       rl.end_scissor_mode()
 
+  def _shimmer_alpha(self, char_x: float, shimmer_left: float, shimmer_width: float) -> float:
+    """Compute shimmer opacity multiplier for a character at the given x position."""
+    sigma = shimmer_width * self.SHIMMER_BLUR_RADIUS
+    if sigma <= 0:
+      return self.SHIMMER_LOW_OPACITY
+
+    elapsed = rl.get_time() - self._shimmer_start_time
+    t_raw = (elapsed % self.SHIMMER_CYCLE_PERIOD) / self.SHIMMER_CYCLE_PERIOD
+    t_clamped = max(0.0, min(t_raw / self.SHIMMER_SWEEP_FRACTION, 1.0))
+    t = t_clamped * t_clamped * (3.0 - 2.0 * t_clamped)  # smoothstep
+
+    margin = shimmer_width * self.SHIMMER_BAND_WIDTH
+    center = shimmer_left + shimmer_width + margin - t * (shimmer_width + 2.0 * margin)
+
+    d = char_x - center
+    shimmer = math.exp(-0.5 * d * d / (sigma * sigma))
+    return self.SHIMMER_LOW_OPACITY + (1.0 - self.SHIMMER_LOW_OPACITY) * shimmer
+
   def _render_line(self, line, size, emojis, current_y, x_offset=0.0):
     # Calculate horizontal position
     if self._alignment == rl.GuiTextAlignment.TEXT_ALIGN_LEFT:
@@ -770,7 +670,13 @@ def _render_line(self, line, size, emojis, current_y, x_offset=0.0):
       line_x = self._rect.x + self._text_padding
     line_x += self._scroll_offset + x_offset
 
-    # Render line with emojis
+    if self._shimmer:
+      self._render_line_shimmer(line, line_x, current_y)
+    else:
+      # Render line with emojis
+      self._render_line_normal(line, emojis, line_x, current_y)
+
+  def _render_line_normal(self, line, emojis, line_x, current_y):
     line_pos = rl.Vector2(line_x, current_y)
     prev_index = 0
 
@@ -794,3 +700,23 @@ def _render_line(self, line, size, emojis, current_y, x_offset=0.0):
     text_after = line[prev_index:]
     if text_after:
       rl.draw_text_ex(self._font, text_after, line_pos, self._font_size, self._spacing_pixels, self._text_color)
+
+  def _render_line_shimmer(self, line, line_x, current_y):
+    # Shimmer range based on widest line so sweep is even across all lines
+    max_width = self.text_width
+    if self._alignment == rl.GuiTextAlignment.TEXT_ALIGN_RIGHT:
+      shimmer_left = self._rect.x + self._rect.width - self._text_padding - max_width
+    elif self._alignment == rl.GuiTextAlignment.TEXT_ALIGN_CENTER:
+      shimmer_left = self._rect.x + (self._rect.width - max_width) / 2
+    else:
+      shimmer_left = self._rect.x + self._text_padding
+
+    base_a = self._text_color.a / 255.0
+    cursor_x = line_x
+    for ch in line:
+      char_width = measure_text_cached(self._font, ch, self._font_size, self._spacing_pixels).x
+      char_center_x = cursor_x + char_width / 2.0
+      alpha = int(255 * self._shimmer_alpha(char_center_x, shimmer_left, max_width) * base_a)
+      color = rl.Color(self._text_color.r, self._text_color.g, self._text_color.b, alpha)
+      rl.draw_text_ex(self._font, ch, rl.Vector2(cursor_x, current_y), self._font_size, 0, color)
+      cursor_x += char_width + self._spacing_pixels
diff --git a/system/ui/widgets/layouts.py b/system/ui/widgets/layouts.py
new file mode 100644
index 00000000000..6bbc49e9275
--- /dev/null
+++ b/system/ui/widgets/layouts.py
@@ -0,0 +1,59 @@
+from enum import IntFlag
+from openpilot.system.ui.widgets import Widget
+
+
+class Alignment(IntFlag):
+  LEFT = 0
+  # TODO: implement
+  # H_CENTER = 2
+  # RIGHT = 4
+
+  TOP = 8
+  V_CENTER = 16
+  BOTTOM = 32
+
+
+class HBoxLayout(Widget):
+  """
+  A Widget that lays out child Widgets horizontally.
+  """
+
+  def __init__(self, widgets: list[Widget] | None = None, spacing: int = 0,
+               alignment: Alignment = Alignment.LEFT | Alignment.V_CENTER):
+    super().__init__()
+    self._spacing = spacing
+    self._alignment = alignment
+
+    if widgets is not None:
+      for widget in widgets:
+        self.add_widget(widget)
+
+  @property
+  def widgets(self) -> list[Widget]:
+    return self._children
+
+  def add_widget(self, widget: Widget) -> None:
+    self._child(widget)
+
+  def _render(self, _):
+    visible_widgets = [w for w in self._children if w.is_visible]
+
+    cur_offset_x = 0
+
+    for idx, widget in enumerate(visible_widgets):
+      spacing = self._spacing if (idx > 0) else 0
+
+      x = self._rect.x + cur_offset_x + spacing
+      cur_offset_x += widget.rect.width + spacing
+
+      if self._alignment & Alignment.TOP:
+        y = self._rect.y
+      elif self._alignment & Alignment.BOTTOM:
+        y = self._rect.y + self._rect.height - widget.rect.height
+      else:  # center
+        y = self._rect.y + (self._rect.height - widget.rect.height) / 2
+
+      # Update widget position and render
+      widget.set_position(x, y)
+      widget.set_parent_rect(self._rect)
+      widget.render()
diff --git a/system/ui/widgets/list_view.py b/system/ui/widgets/list_view.py
index cfb8ab58a35..82613c37c8e 100644
--- a/system/ui/widgets/list_view.py
+++ b/system/ui/widgets/list_view.py
@@ -174,8 +174,8 @@ def set_text(self, text: str | Callable[[], str]):
 
 
 class DualButtonAction(ItemAction):
-  def __init__(self, left_text: str | Callable[[], str], right_text: str | Callable[[], str], left_callback: Callable = None,
-               right_callback: Callable = None, enabled: bool | Callable[[], bool] = True):
+  def __init__(self, left_text: str | Callable[[], str], right_text: str | Callable[[], str], left_callback: Callable | None = None,
+               right_callback: Callable | None = None, enabled: bool | Callable[[], bool] = True):
     super().__init__(width=0, enabled=enabled)  # Width 0 means use full width
     self.left_button = Button(left_text, click_callback=left_callback, button_style=ButtonStyle.NORMAL, text_padding=0)
     self.right_button = Button(right_text, click_callback=right_callback, button_style=ButtonStyle.DANGER, text_padding=0)
@@ -207,7 +207,7 @@ def _render(self, rect: rl.Rectangle):
 
 
 class MultipleButtonAction(ItemAction):
-  def __init__(self, buttons: list[str | Callable[[], str]], button_width: int, selected_index: int = 0, callback: Callable = None):
+  def __init__(self, buttons: list[str | Callable[[], str]], button_width: int, selected_index: int = 0, callback: Callable | None = None):
     super().__init__(width=len(buttons) * button_width + (len(buttons) - 1) * RIGHT_ITEM_PADDING, enabled=True)
     self.buttons = buttons
     self.button_width = button_width
@@ -293,6 +293,7 @@ def __init__(self, title: str | Callable[[], str] = "", icon: str | None = None,
     self._prev_description: str | None = self.description
 
   def show_event(self):
+    super().show_event()
     self._set_description_visible(False)
 
   def set_description_opened_callback(self, callback: Callable) -> None:
@@ -354,7 +355,7 @@ def _render(self, _):
     if self.title:
       # Draw icon if present
       if self.icon:
-        rl.draw_texture(self._icon_texture, int(content_x), int(self._rect.y + (ITEM_BASE_HEIGHT - self._icon_texture.height) // 2), rl.WHITE)
+        rl.draw_texture_ex(self._icon_texture, rl.Vector2(content_x, self._rect.y + (ITEM_BASE_HEIGHT - self._icon_texture.height) / 2), 0.0, 1.0, rl.WHITE)
         text_x += ICON_SIZE + ITEM_PADDING
 
       # Draw main text
@@ -454,13 +455,14 @@ def text_item(title: str | Callable[[], str], value: str | Callable[[], str], de
   return ListItem(title=title, description=description, action_item=action, callback=callback)
 
 
-def dual_button_item(left_text: str | Callable[[], str], right_text: str | Callable[[], str], left_callback: Callable = None, right_callback: Callable = None,
+def dual_button_item(left_text: str | Callable[[], str], right_text: str | Callable[[], str],
+                     left_callback: Callable | None = None, right_callback: Callable | None = None,
                      description: str | Callable[[], str] | None = None, enabled: bool | Callable[[], bool] = True) -> ListItem:
   action = DualButtonAction(left_text, right_text, left_callback, right_callback, enabled)
   return ListItem(title="", description=description, action_item=action)
 
 
 def multiple_button_item(title: str | Callable[[], str], description: str | Callable[[], str], buttons: list[str | Callable[[], str]], selected_index: int,
-                         button_width: int = BUTTON_WIDTH, callback: Callable = None, icon: str = ""):
+                         button_width: int = BUTTON_WIDTH, callback: Callable | None = None, icon: str = ""):
   action = MultipleButtonAction(buttons, button_width, selected_index, callback=callback)
   return ListItem(title=title, description=description, icon=icon, action_item=action)
diff --git a/system/ui/widgets/mici_keyboard.py b/system/ui/widgets/mici_keyboard.py
index 7459dc57317..75a3c29e6b3 100644
--- a/system/ui/widgets/mici_keyboard.py
+++ b/system/ui/widgets/mici_keyboard.py
@@ -38,10 +38,10 @@ def fast_euclidean_distance(dx, dy):
 
 
 class Key(Widget):
-  def __init__(self, char: str):
+  def __init__(self, char: str, font_weight: FontWeight = FontWeight.SEMI_BOLD):
     super().__init__()
     self.char = char
-    self._font = gui_app.font(FontWeight.SEMI_BOLD)
+    self._font = gui_app.font(font_weight)
     self._x_filter = BounceFilter(0.0, 0.1 * ANIMATION_SCALE, 1 / gui_app.target_fps)
     self._y_filter = BounceFilter(0.0, 0.1 * ANIMATION_SCALE, 1 / gui_app.target_fps)
     self._size_filter = BounceFilter(CHAR_FONT_SIZE, 0.1 * ANIMATION_SCALE, 1 / gui_app.target_fps)
@@ -53,20 +53,23 @@ def __init__(self, char: str):
     self.original_position = rl.Vector2(0, 0)
 
   def set_position(self, x: float, y: float, smooth: bool = True):
-    # TODO: swipe up from NavWidget has the keys lag behind other elements a bit
+    # Smooth keys within parent rect
+    base_y = self._parent_rect.y if self._parent_rect else 0.0
+    local_y = y - base_y
+
     if not self._position_initialized:
       self._x_filter.x = x
-      self._y_filter.x = y
+      self._y_filter.x = local_y
       # keep track of original position so dragging around feels consistent. also move touch area down a bit
-      self.original_position = rl.Vector2(x, y + KEY_TOUCH_AREA_OFFSET)
+      self.original_position = rl.Vector2(x, local_y + KEY_TOUCH_AREA_OFFSET)
       self._position_initialized = True
 
     if not smooth:
       self._x_filter.x = x
-      self._y_filter.x = y
+      self._y_filter.x = local_y
 
     self._rect.x = self._x_filter.update(x)
-    self._rect.y = self._y_filter.update(y)
+    self._rect.y = base_y + self._y_filter.update(local_y)
 
   def set_alpha(self, alpha: float):
     self._alpha_filter.update(alpha)
@@ -92,12 +95,12 @@ def set_font_size(self, size: float):
     self._size_filter.update(size)
 
   def _get_font_size(self) -> int:
-    return int(round(self._size_filter.x))
+    return round(self._size_filter.x)
 
 
 class SmallKey(Key):
   def __init__(self, chars: str):
-    super().__init__(chars)
+    super().__init__(chars, FontWeight.BOLD)
     self._size_filter.x = NUMBER_LAYER_SWITCH_FONT_SIZE
 
   def set_font_size(self, size: float):
@@ -105,13 +108,15 @@ def set_font_size(self, size: float):
 
 
 class IconKey(Key):
-  def __init__(self, icon: str, vertical_align: str = "center", char: str = ""):
+  def __init__(self, icon: str, vertical_align: str = "center", char: str = "", icon_size: tuple[int, int] = (38, 38)):
     super().__init__(char)
-    self._icon = gui_app.texture(icon, 38, 38)
+    self._icon_size = icon_size
+    self._icon = gui_app.texture(icon, *icon_size)
     self._vertical_align = vertical_align
 
-  def set_icon(self, icon: str):
-    self._icon = gui_app.texture(icon, 38, 38)
+  def set_icon(self, icon: str, icon_size: tuple[int, int] | None = None):
+    size = icon_size if icon_size is not None else self._icon_size
+    self._icon = gui_app.texture(icon, *size)
 
   def _render(self, _):
     scale = np.interp(self._size_filter.x, [CHAR_FONT_SIZE, CHAR_NEAR_FONT_SIZE], [1, 1.5])
@@ -141,8 +146,9 @@ class CapsState(IntEnum):
 
 
 class MiciKeyboard(Widget):
-  def __init__(self):
+  def __init__(self, auto_return_to_letters: str = ""):
     super().__init__()
+    self._auto_return_to_letters = auto_return_to_letters
 
     lower_chars = [
       "qwertyuiop",
@@ -167,8 +173,8 @@ def __init__(self):
     self._super_special_keys = [[Key(char) for char in row] for row in super_special_chars]
 
     # control keys
-    self._space_key = IconKey("icons_mici/settings/keyboard/space.png", char=" ", vertical_align="bottom")
-    self._caps_key = IconKey("icons_mici/settings/keyboard/caps_lower.png")
+    self._space_key = IconKey("icons_mici/settings/keyboard/space.png", char=" ", vertical_align="bottom", icon_size=(43, 14))
+    self._caps_key = IconKey("icons_mici/settings/keyboard/caps_lower.png", icon_size=(38, 33))
     # these two are in different places on some layouts
     self._123_key, self._123_key2 = SmallKey("123"), SmallKey("123")
     self._abc_key = SmallKey("abc")
@@ -222,6 +228,8 @@ def _set_keys(self, keys: list[list[Key]]):
     for current_row, row in zip(self._current_keys, keys, strict=False):
       # not all layouts have the same number of keys
       for current_key, key in zip_repeat(current_row, row):
+        # reset parent rect for new keys
+        key.set_parent_rect(self._rect)
         current_pos = current_key.get_position()
         key.set_position(current_pos[0], current_pos[1], smooth=False)
 
@@ -259,7 +267,8 @@ def _get_closest_key(self) -> tuple[Key | None, float]:
       for key in row:
         mouse_pos = gui_app.last_mouse_event.pos
         # approximate distance for comparison is accurate enough
-        dist = abs(key.original_position.x - mouse_pos.x) + abs(key.original_position.y - mouse_pos.y)
+        # use local y coords so parent widget offset (e.g. during NavWidget animate-in) doesn't affect hit testing
+        dist = abs(key.original_position.x - mouse_pos.x) + abs(key.original_position.y - (mouse_pos.y - self._rect.y))
         if dist < closest_key[1]:
           if self._closest_key[0] is None or key is self._closest_key[0] or dist < self._closest_key[1] - KEY_DRAG_HYSTERESIS:
             closest_key = (key, dist)
@@ -269,14 +278,14 @@ def _set_uppercase(self, cycle: bool):
     self._set_keys(self._upper_keys if cycle else self._lower_keys)
     if not cycle:
       self._caps_state = CapsState.LOWER
-      self._caps_key.set_icon("icons_mici/settings/keyboard/caps_lower.png")
+      self._caps_key.set_icon("icons_mici/settings/keyboard/caps_lower.png", icon_size=(38, 33))
     else:
       if self._caps_state == CapsState.LOWER:
         self._caps_state = CapsState.UPPER
-        self._caps_key.set_icon("icons_mici/settings/keyboard/caps_upper.png")
+        self._caps_key.set_icon("icons_mici/settings/keyboard/caps_upper.png", icon_size=(38, 33))
       elif self._caps_state == CapsState.UPPER:
         self._caps_state = CapsState.LOCK
-        self._caps_key.set_icon("icons_mici/settings/keyboard/caps_lock.png")
+        self._caps_key.set_icon("icons_mici/settings/keyboard/caps_lock.png", icon_size=(39, 38))
       else:
         self._set_uppercase(False)
 
@@ -297,6 +306,10 @@ def _handle_mouse_release(self, mouse_pos: MousePos):
         if self._caps_state == CapsState.UPPER:
           self._set_uppercase(False)
 
+        # Switch back to letters after common URL delimiters
+        if self._closest_key[0].char in self._auto_return_to_letters and self._current_keys in (self._special_keys, self._super_special_keys):
+          self._set_uppercase(False)
+
     # ensure minimum selected animation time
     key_selected_dt = rl.get_time() - (self._selected_key_t or 0)
     cur_t = rl.get_time()
@@ -314,7 +327,7 @@ def _update_state(self):
     self._selected_key_filter.update(self._closest_key[0] is not None)
 
     # unselect key after animation plays
-    if self._unselect_key_t is not None and rl.get_time() > self._unselect_key_t:
+    if (self._unselect_key_t is not None and rl.get_time() > self._unselect_key_t) or not self.enabled:
       self._closest_key = (None, float('inf'))
       self._unselect_key_t = None
       self._selected_key_t = None
@@ -365,6 +378,7 @@ def _lay_out_keys(self, bg_x, bg_y, keys: list[list[Key]]):
           key.set_font_size(font_size)
 
         # TODO: I like the push amount, so we should clip the pos inside the keyboard rect
+        key.set_parent_rect(self._rect)
         key.set_position(key_x, key_y)
 
   def _render(self, _):
diff --git a/system/ui/widgets/nav_widget.py b/system/ui/widgets/nav_widget.py
new file mode 100644
index 00000000000..11770bbe5de
--- /dev/null
+++ b/system/ui/widgets/nav_widget.py
@@ -0,0 +1,229 @@
+from __future__ import annotations
+
+import abc
+import pyray as rl
+from collections.abc import Callable
+from openpilot.system.ui.widgets import Widget
+from openpilot.common.filter_simple import BounceFilter, FirstOrderFilter
+from openpilot.system.ui.lib.application import gui_app, MousePos, MouseEvent
+
+SWIPE_AWAY_THRESHOLD = 80  # px to dismiss after releasing
+START_DISMISSING_THRESHOLD = 40  # px to start dismissing while dragging
+BLOCK_SWIPE_AWAY_THRESHOLD = 60  # px horizontal movement to block swipe away
+
+NAV_BAR_MARGIN = 6
+NAV_BAR_WIDTH = 205
+NAV_BAR_HEIGHT = 8
+
+DISMISS_PUSH_OFFSET = NAV_BAR_MARGIN + NAV_BAR_HEIGHT + 50  # px extra to push down when dismissing
+DISMISS_ANIMATION_RC = 0.2  # slightly slower for non-user triggered dismiss animation
+
+
+class NavBar(Widget):
+  FADE_AFTER_SECONDS = 2.0
+
+  def __init__(self):
+    super().__init__()
+    self.set_rect(rl.Rectangle(0, 0, NAV_BAR_WIDTH, NAV_BAR_HEIGHT))
+    self._alpha = 1.0
+    self._alpha_filter = FirstOrderFilter(1.0, 0.1, 1 / gui_app.target_fps)
+    self._fade_time = 0.0
+
+  def set_alpha(self, alpha: float) -> None:
+    self._alpha = alpha
+    self._fade_time = rl.get_time()
+
+  def show_event(self):
+    super().show_event()
+    self._alpha = 1.0
+    self._alpha_filter.x = 1.0
+    self._fade_time = rl.get_time()
+
+  def _render(self, _):
+    if rl.get_time() - self._fade_time > self.FADE_AFTER_SECONDS:
+      self._alpha = 0.0
+    alpha = self._alpha_filter.update(self._alpha)
+
+    # white bar with black border
+    rl.draw_rectangle_rounded(self._rect, 1.0, 6, rl.Color(255, 255, 255, int(255 * 0.9 * alpha)))
+    rl.draw_rectangle_rounded_lines_ex(self._rect, 1.0, 6, 2, rl.Color(0, 0, 0, int(255 * 0.3 * alpha)))
+
+
+class NavWidget(Widget, abc.ABC):
+  """
+  A full screen widget that supports back navigation by swiping down from the top.
+  """
+  BACK_TOUCH_AREA_PERCENTAGE = 0.65
+
+  def __init__(self):
+    super().__init__()
+    # State
+    self._drag_start_pos: MousePos | None = None  # cleared after certain amount of horizontal movement
+    self._dragging_down = False  # swiped down enough to trigger dismissing on release
+    self._playing_dismiss_animation = False  # released and animating away
+    self._y_pos_filter = BounceFilter(0.0, 0.1, 1 / gui_app.target_fps, bounce=1)
+
+    self._back_callback: Callable[[], None] | None = None  # persistent callback for user-initiated back navigation
+    self._dismiss_callback: Callable[[], None] | None = None  # transient callback for programmatic dismiss
+    # TODO: add this functionality to push_widget
+    self._shown_callback: Callable[[], None] | None = None  # transient callback fired after show animation completes
+
+    # TODO: move this state into NavBar
+    self._nav_bar = self._child(NavBar())
+    self._nav_bar_show_time = 0.0
+    self._nav_bar_y_filter = FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps)
+
+  def _back_enabled(self) -> bool:
+    # Children can override this to block swipe away, like when not at
+    # the top of a vertical scroll panel to prevent erroneous swipes
+    return True
+
+  def set_back_callback(self, callback: Callable[[], None]) -> None:
+    self._back_callback = callback
+
+  def set_shown_callback(self, callback: Callable[[], None] | None) -> None:
+    self._shown_callback = callback
+
+  def _handle_mouse_event(self, mouse_event: MouseEvent) -> None:
+    super()._handle_mouse_event(mouse_event)
+
+    # Don't let touch events change filter state during dismiss animation
+    if self._playing_dismiss_animation:
+      return
+
+    if mouse_event.left_pressed:
+      # user is able to swipe away if starting near top of screen
+      self._y_pos_filter.update_alpha(0.04)
+      in_dismiss_area = mouse_event.pos.y < self._rect.height * self.BACK_TOUCH_AREA_PERCENTAGE
+
+      if in_dismiss_area and self._back_enabled():
+        self._drag_start_pos = mouse_event.pos
+
+    elif mouse_event.left_down:
+      if self._drag_start_pos is not None:
+        # block swiping away if too much horizontal or upward movement
+        # block (lock-in) threshold is higher than start dismissing
+        horizontal_movement = abs(mouse_event.pos.x - self._drag_start_pos.x) > BLOCK_SWIPE_AWAY_THRESHOLD
+        upward_movement = mouse_event.pos.y - self._drag_start_pos.y < -BLOCK_SWIPE_AWAY_THRESHOLD
+
+        if not (horizontal_movement or upward_movement):
+          # no blocking movement, check if we should start dismissing
+          if mouse_event.pos.y - self._drag_start_pos.y > START_DISMISSING_THRESHOLD:
+            self._dragging_down = True
+        else:
+          if not self._dragging_down:
+            self._drag_start_pos = None
+
+    elif mouse_event.left_released:
+      # reset rc for either slide up or down animation
+      self._y_pos_filter.update_alpha(0.1)
+
+      # if far enough, trigger back navigation callback
+      if self._drag_start_pos is not None:
+        if mouse_event.pos.y - self._drag_start_pos.y > SWIPE_AWAY_THRESHOLD:
+          self._playing_dismiss_animation = True
+
+      self._drag_start_pos = None
+      self._dragging_down = False
+
+  def _update_state(self):
+    super()._update_state()
+
+    new_y = 0.0
+
+    if self._dragging_down:
+      self._nav_bar.set_alpha(1.0)
+
+    # FIXME: disabling this widget on new push_widget still causes this widget to track mouse events without mouse down
+    if not self.enabled:
+      self._drag_start_pos = None
+
+    if self._drag_start_pos is not None:
+      last_mouse_event = gui_app.last_mouse_event
+      # push entire widget as user drags it away
+      new_y = max(last_mouse_event.pos.y - self._drag_start_pos.y, 0)
+      if new_y < SWIPE_AWAY_THRESHOLD:
+        new_y /= 2  # resistance until mouse release would dismiss widget
+
+    if self._playing_dismiss_animation:
+      new_y = self._rect.height + DISMISS_PUSH_OFFSET
+
+    new_y = self._y_pos_filter.update(new_y)
+    if abs(new_y) < 1 and abs(self._y_pos_filter.velocity.x) < 0.5:
+      new_y = self._y_pos_filter.x = 0.0
+      self._y_pos_filter.velocity.x = 0.0
+
+      if self._shown_callback is not None:
+        self._shown_callback()
+        self._shown_callback = None
+
+    if new_y > self._rect.height + DISMISS_PUSH_OFFSET - 10:
+      gui_app.pop_widget()
+
+      # Only one callback should ever be fired
+      if self._dismiss_callback is not None:
+        self._dismiss_callback()
+        self._dismiss_callback = None
+      elif self._back_callback is not None:
+        self._back_callback()
+
+      self._playing_dismiss_animation = False
+      self._drag_start_pos = None
+      self._dragging_down = False
+
+    self.set_position(self._rect.x, new_y)
+
+  def _layout(self):
+    # Dim whatever is behind this widget, fading with position (runs after _update_state so position is correct)
+    overlay_alpha = int(200 * max(0.0, min(1.0, 1.0 - self._rect.y / self._rect.height))) if self._rect.height > 0 else 0
+    rl.draw_rectangle_rec(rl.Rectangle(0, 0, self._rect.width, self._rect.height), rl.Color(0, 0, 0, overlay_alpha))
+
+    bounce_height = 20
+    rl.draw_rectangle_rec(rl.Rectangle(self._rect.x, self._rect.y, self._rect.width, self._rect.height + bounce_height), rl.BLACK)
+
+  def render(self, rect: rl.Rectangle | None = None) -> bool | int | None:
+    ret = super().render(rect)
+
+    bar_x = self._rect.x + (self._rect.width - self._nav_bar.rect.width) / 2
+    nav_bar_delayed = rl.get_time() - self._nav_bar_show_time < 0.4
+    # User dragging or dismissing, nav bar follows NavWidget
+    if self._drag_start_pos is not None or self._playing_dismiss_animation:
+      self._nav_bar_y_filter.x = NAV_BAR_MARGIN + self._y_pos_filter.x
+    # Waiting to show
+    elif nav_bar_delayed:
+      self._nav_bar_y_filter.x = -NAV_BAR_MARGIN - NAV_BAR_HEIGHT
+    # Animate back to top
+    else:
+      self._nav_bar_y_filter.update(NAV_BAR_MARGIN)
+
+    self._nav_bar.set_position(bar_x, self._nav_bar_y_filter.x)
+    self._nav_bar.render()
+
+    return ret
+
+  @property
+  def is_dismissing(self) -> bool:
+    return self._dragging_down or self._playing_dismiss_animation
+
+  def dismiss(self, callback: Callable[[], None] | None = None):
+    """Programmatically trigger the dismiss animation. Calls pop_widget when done, then callback."""
+    if not self._playing_dismiss_animation:
+      self._playing_dismiss_animation = True
+      self._y_pos_filter.update_alpha(DISMISS_ANIMATION_RC)
+      self._dismiss_callback = callback
+
+  def show_event(self):
+    super().show_event()
+
+    # Reset state
+    self._drag_start_pos = None
+    self._dragging_down = False
+    self._playing_dismiss_animation = False
+    self._dismiss_callback = None
+    # Start NavWidget off-screen, no matter how tall it is
+    self._y_pos_filter.update_alpha(0.1)
+    self._y_pos_filter.x = gui_app.height
+    self._y_pos_filter.velocity.x = 0.0
+
+    self._nav_bar_y_filter.x = -NAV_BAR_MARGIN - NAV_BAR_HEIGHT
+    self._nav_bar_show_time = rl.get_time()
diff --git a/system/ui/widgets/network.py b/system/ui/widgets/network.py
index f41a04c2491..e739eef63d7 100644
--- a/system/ui/widgets/network.py
+++ b/system/ui/widgets/network.py
@@ -6,8 +6,8 @@
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
-from openpilot.system.ui.lib.wifi_manager import WifiManager, SecurityType, Network, MeteredType
-from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.lib.wifi_manager import WifiManager, SecurityType, Network, MeteredType, normalize_ssid
+from openpilot.system.ui.widgets import DialogResult, Widget
 from openpilot.system.ui.widgets.button import ButtonStyle, Button
 from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog
 from openpilot.system.ui.widgets.keyboard import Keyboard
@@ -22,8 +22,8 @@
   from openpilot.selfdrive.ui.lib.prime_state import PrimeType
 except Exception:
   Params = None
-  ui_state = None  # type: ignore
-  PrimeType = None  # type: ignore
+  ui_state = None
+  PrimeType = None
 
 NM_DEVICE_STATE_NEED_AUTH = 60
 MIN_PASSWORD_LENGTH = 8
@@ -69,17 +69,14 @@ def __init__(self, wifi_manager: WifiManager):
     super().__init__()
     self._wifi_manager = wifi_manager
     self._current_panel: PanelType = PanelType.WIFI
-    self._wifi_panel = WifiManagerUI(wifi_manager)
-    self._advanced_panel = AdvancedNetworkSettings(wifi_manager)
-    self._nav_button = NavButton(tr("Advanced"))
+    self._wifi_panel = self._child(WifiManagerUI(wifi_manager))
+    self._advanced_panel = self._child(AdvancedNetworkSettings(wifi_manager))
+    self._nav_button = self._child(NavButton(tr("Advanced")))
     self._nav_button.set_click_callback(self._cycle_panel)
 
   def show_event(self):
+    super().show_event()
     self._set_current_panel(PanelType.WIFI)
-    self._wifi_panel.show_event()
-
-  def hide_event(self):
-    self._wifi_panel.hide_event()
 
   def _cycle_panel(self):
     if self._current_panel == PanelType.WIFI:
@@ -187,8 +184,8 @@ def _toggle_roaming(self):
     self._wifi_manager.update_gsm_settings(roaming_state, self._params.get("GsmApn") or "", self._params.get_bool("GsmMetered"))
 
   def _edit_apn(self):
-    def update_apn(result):
-      if result != 1:
+    def update_apn(result: DialogResult):
+      if result != DialogResult.CONFIRM:
         return
 
       apn = self._keyboard.text.strip()
@@ -203,7 +200,8 @@ def update_apn(result):
     self._keyboard.reset(min_text_size=0)
     self._keyboard.set_title(tr("Enter APN"), tr("leave blank for automatic configuration"))
     self._keyboard.set_text(current_apn)
-    gui_app.set_modal_overlay(self._keyboard, update_apn)
+    self._keyboard.set_callback(update_apn)
+    gui_app.push_widget(self._keyboard)
 
   def _toggle_cellular_metered(self):
     metered = self._cellular_metered_action.get_state()
@@ -216,15 +214,18 @@ def _toggle_wifi_metered(self, metered):
     self._wifi_manager.set_current_network_metered(metered_type)
 
   def _connect_to_hidden_network(self):
-    def connect_hidden(result):
-      if result != 1:
+    def connect_hidden(result: DialogResult):
+      if result != DialogResult.CONFIRM:
         return
 
       ssid = self._keyboard.text
       if not ssid:
         return
 
-      def enter_password(result):
+      def enter_password(result: DialogResult):
+        if result != DialogResult.CONFIRM:
+          return
+
         password = self._keyboard.text
         if password == "":
           # connect without password
@@ -235,15 +236,17 @@ def enter_password(result):
 
       self._keyboard.reset(min_text_size=0)
       self._keyboard.set_title(tr("Enter password"), tr("for \"{}\"").format(ssid))
-      gui_app.set_modal_overlay(self._keyboard, enter_password)
+      self._keyboard.set_callback(enter_password)
+      gui_app.push_widget(self._keyboard)
 
     self._keyboard.reset(min_text_size=1)
     self._keyboard.set_title(tr("Enter SSID"), "")
-    gui_app.set_modal_overlay(self._keyboard, connect_hidden)
+    self._keyboard.set_callback(connect_hidden)
+    gui_app.push_widget(self._keyboard)
 
   def _edit_tethering_password(self):
-    def update_password(result):
-      if result != 1:
+    def update_password(result: DialogResult):
+      if result != DialogResult.CONFIRM:
         return
 
       password = self._keyboard.text
@@ -253,7 +256,8 @@ def update_password(result):
     self._keyboard.reset(min_text_size=MIN_PASSWORD_LENGTH)
     self._keyboard.set_title(tr("Enter new tethering password"), "")
     self._keyboard.set_text(self._wifi_manager.tethering_password)
-    gui_app.set_modal_overlay(self._keyboard, update_password)
+    self._keyboard.set_callback(update_password)
+    gui_app.push_widget(self._keyboard)
 
   def _update_state(self):
     self._wifi_manager.process_callbacks()
@@ -292,10 +296,12 @@ def __init__(self, wifi_manager: WifiManager):
                                      disconnected=self._on_disconnected)
 
   def show_event(self):
+    super().show_event()
     # start/stop scanning when widget is visible
     self._wifi_manager.set_active(True)
 
   def hide_event(self):
+    super().hide_event()
     self._wifi_manager.set_active(False)
 
   def _load_icons(self):
@@ -311,31 +317,32 @@ def _render(self, rect: rl.Rectangle):
       return
 
     if self.state == UIState.NEEDS_AUTH and self._state_network:
-      self.keyboard.set_title(tr("Wrong password") if self._password_retry else tr("Enter password"), tr("for \"{}\"").format(self._state_network.ssid))
+      self.keyboard.set_title(tr("Wrong password") if self._password_retry else tr("Enter password"),
+                              tr("for \"{}\"").format(normalize_ssid(self._state_network.ssid)))
       self.keyboard.reset(min_text_size=MIN_PASSWORD_LENGTH)
-      gui_app.set_modal_overlay(self.keyboard, lambda result: self._on_password_entered(cast(Network, self._state_network), result))
+      self.keyboard.set_callback(lambda result: self._on_password_entered(cast(Network, self._state_network), result))
+      gui_app.push_widget(self.keyboard)
     elif self.state == UIState.SHOW_FORGET_CONFIRM and self._state_network:
-      confirm_dialog = ConfirmDialog("", tr("Forget"), tr("Cancel"))
-      confirm_dialog.set_text(tr("Forget Wi-Fi Network \"{}\"?").format(self._state_network.ssid))
-      confirm_dialog.reset()
-      gui_app.set_modal_overlay(confirm_dialog, callback=lambda result: self.on_forgot_confirm_finished(self._state_network, result))
+      confirm_dialog = ConfirmDialog("", tr("Forget"), tr("Cancel"), callback=lambda result: self.on_forgot_confirm_finished(self._state_network, result))
+      confirm_dialog.set_text(tr("Forget Wi-Fi Network \"{}\"?").format(normalize_ssid(self._state_network.ssid)))
+      gui_app.push_widget(confirm_dialog)
     else:
       self._draw_network_list(rect)
 
-  def _on_password_entered(self, network: Network, result: int):
-    if result == 1:
+  def _on_password_entered(self, network: Network, result: DialogResult):
+    if result == DialogResult.CONFIRM:
       password = self.keyboard.text
       self.keyboard.clear()
 
       if len(password) >= MIN_PASSWORD_LENGTH:
         self.connect_to_network(network, password)
-    elif result == 0:
+    elif result == DialogResult.CANCEL:
       self.state = UIState.IDLE
 
-  def on_forgot_confirm_finished(self, network, result: int):
-    if result == 1:
+  def on_forgot_confirm_finished(self, network, result: DialogResult):
+    if result == DialogResult.CONFIRM:
       self.forget_network(network)
-    elif result == 0:
+    elif result == DialogResult.CANCEL:
       self.state = UIState.IDLE
 
   def _draw_network_list(self, rect: rl.Rectangle):
@@ -383,7 +390,7 @@ def _draw_network_item(self, rect, network: Network):
       gui_label(status_text_rect, status_text, font_size=48, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
     else:
       # If the network is saved, show the "Forget" button
-      if network.is_saved:
+      if self._wifi_manager.is_connection_saved(network.ssid):
         forget_btn_rect = rl.Rectangle(
           security_icon_rect.x - self.btn_width - spacing,
           rect.y + (ITEM_HEIGHT - 80) / 2,
@@ -396,11 +403,11 @@ def _draw_network_item(self, rect, network: Network):
     self._draw_signal_strength_icon(signal_icon_rect, network)
 
   def _networks_buttons_callback(self, network):
-    if not network.is_saved and network.security_type != SecurityType.OPEN:
+    if not self._wifi_manager.is_connection_saved(network.ssid) and network.security_type != SecurityType.OPEN:
       self.state = UIState.NEEDS_AUTH
       self._state_network = network
       self._password_retry = False
-    elif not network.is_connected:
+    elif self._wifi_manager.wifi_state.ssid != network.ssid:
       self.connect_to_network(network)
 
   def _forget_networks_buttons_callback(self, network):
@@ -410,7 +417,7 @@ def _forget_networks_buttons_callback(self, network):
   def _draw_status_icon(self, rect, network: Network):
     """Draw the status icon based on network's connection state"""
     icon_file = None
-    if network.is_connected and self.state != UIState.CONNECTING:
+    if self._wifi_manager.connected_ssid == network.ssid and self.state != UIState.CONNECTING:
       icon_file = "icons/checkmark.png"
     elif network.security_type == SecurityType.UNSUPPORTED:
       icon_file = "icons/circled_slash.png"
@@ -432,7 +439,7 @@ def _draw_signal_strength_icon(self, rect: rl.Rectangle, network: Network):
   def connect_to_network(self, network: Network, password=''):
     self.state = UIState.CONNECTING
     self._state_network = network
-    if network.is_saved and not password:
+    if self._wifi_manager.is_connection_saved(network.ssid) and not password:
       self._wifi_manager.activate_connection(network.ssid)
     else:
       self._wifi_manager.connect_to_network(network.ssid, password)
@@ -445,7 +452,7 @@ def forget_network(self, network: Network):
   def _on_network_updated(self, networks: list[Network]):
     self._networks = networks
     for n in self._networks:
-      self._networks_buttons[n.ssid] = Button(n.ssid, partial(self._networks_buttons_callback, n), font_size=55,
+      self._networks_buttons[n.ssid] = Button(normalize_ssid(n.ssid), partial(self._networks_buttons_callback, n), font_size=55,
                                               text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT, button_style=ButtonStyle.TRANSPARENT_WHITE_TEXT)
       self._networks_buttons[n.ssid].set_touch_valid_callback(lambda: self.scroll_panel.is_touch_valid())
       self._forget_networks_buttons[n.ssid] = Button(tr("Forget"), partial(self._forget_networks_buttons_callback, n), button_style=ButtonStyle.FORGET_WIFI,
@@ -463,7 +470,7 @@ def _on_activated(self):
     if self.state == UIState.CONNECTING:
       self.state = UIState.IDLE
 
-  def _on_forgotten(self):
+  def _on_forgotten(self, _):
     if self.state == UIState.FORGETTING:
       self.state = UIState.IDLE
 
@@ -474,10 +481,10 @@ def _on_disconnected(self):
 
 def main():
   gui_app.init_window("Wi-Fi Manager")
-  wifi_ui = WifiManagerUI(WifiManager())
+  gui_app.push_widget(WifiManagerUI(WifiManager()))
 
   for _ in gui_app.render():
-    wifi_ui.render(rl.Rectangle(50, 50, gui_app.width - 100, gui_app.height - 100))
+    pass
 
   gui_app.close()
 
diff --git a/system/ui/widgets/option_dialog.py b/system/ui/widgets/option_dialog.py
index 62578d1cfba..206400a74f1 100644
--- a/system/ui/widgets/option_dialog.py
+++ b/system/ui/widgets/option_dialog.py
@@ -1,5 +1,6 @@
 import pyray as rl
-from openpilot.system.ui.lib.application import FontWeight
+from collections.abc import Callable
+from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.widgets import Widget, DialogResult
 from openpilot.system.ui.widgets.button import Button, ButtonStyle
@@ -17,13 +18,13 @@
 
 
 class MultiOptionDialog(Widget):
-  def __init__(self, title, options, current="", option_font_weight=FontWeight.MEDIUM):
+  def __init__(self, title, options, current="", option_font_weight=FontWeight.MEDIUM, callback: Callable[[DialogResult], None] | None = None):
     super().__init__()
     self.title = title
     self.options = options
     self.current = current
     self.selection = current
-    self._result: DialogResult = DialogResult.NO_ACTION
+    self._callback = callback
 
     # Create scroller with option buttons
     self.option_buttons = [Button(option, click_callback=lambda opt=option: self._on_option_clicked(opt),
@@ -36,7 +37,9 @@ def __init__(self, title, options, current="", option_font_weight=FontWeight.MED
     self.select_button = Button(lambda: tr("Select"), click_callback=lambda: self._set_result(DialogResult.CONFIRM), button_style=ButtonStyle.PRIMARY)
 
   def _set_result(self, result: DialogResult):
-    self._result = result
+    gui_app.pop_widget()
+    if self._callback:
+      self._callback(result)
 
   def _on_option_clicked(self, option):
     self.selection = option
@@ -74,5 +77,3 @@ def _render(self, rect):
     select_rect = rl.Rectangle(content_rect.x + button_w + BUTTON_SPACING, button_y, button_w, BUTTON_HEIGHT)
     self.select_button.set_enabled(self.selection != self.current)
     self.select_button.render(select_rect)
-
-    return self._result
diff --git a/system/ui/widgets/scroller.py b/system/ui/widgets/scroller.py
index f33ba941bf9..a3a0d2b38f4 100644
--- a/system/ui/widgets/scroller.py
+++ b/system/ui/widgets/scroller.py
@@ -3,52 +3,85 @@
 from collections.abc import Callable
 
 from openpilot.common.filter_simple import FirstOrderFilter, BounceFilter
+from openpilot.common.swaglog import cloudlog
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.lib.scroll_panel2 import GuiScrollPanel2, ScrollState
 from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.nav_widget import NavWidget
 
 ITEM_SPACING = 20
 LINE_COLOR = rl.GRAY
 LINE_PADDING = 40
 ANIMATION_SCALE = 0.6
 
+MOVE_LIFT = 20
+MOVE_OVERLAY_ALPHA = 0.65
+SCROLL_RC = 0.15
+
+EDGE_SHADOW_WIDTH = 20
+
 MIN_ZOOM_ANIMATION_TIME = 0.075  # seconds
 DO_ZOOM = False
 DO_JELLO = False
-SCROLL_BAR = False
 
 
-class LineSeparator(Widget):
-  def __init__(self, height: int = 1):
+class ScrollIndicator(Widget):
+  HORIZONTAL_MARGIN = 4
+
+  def __init__(self):
     super().__init__()
-    self._rect = rl.Rectangle(0, 0, 0, height)
+    self._txt_scroll_indicator = gui_app.texture("icons_mici/settings/horizontal_scroll_indicator.png", 96, 48)
+    self._scroll_offset: float = 0.0
+    self._content_size: float = 0.0
+    self._viewport: rl.Rectangle = rl.Rectangle(0, 0, 0, 0)
 
-  def set_parent_rect(self, parent_rect: rl.Rectangle) -> None:
-    super().set_parent_rect(parent_rect)
-    self._rect.width = parent_rect.width
+  def update(self, scroll_offset: float, content_size: float, viewport: rl.Rectangle) -> None:
+    self._scroll_offset = scroll_offset
+    self._content_size = content_size
+    self._viewport = viewport
 
   def _render(self, _):
-    rl.draw_line(int(self._rect.x) + LINE_PADDING, int(self._rect.y),
-                 int(self._rect.x + self._rect.width) - LINE_PADDING, int(self._rect.y),
-                 LINE_COLOR)
-
-
-class Scroller(Widget):
-  def __init__(self, items: list[Widget], horizontal: bool = True, snap_items: bool = True, spacing: int = ITEM_SPACING,
-               line_separator: bool = False, pad_start: int = ITEM_SPACING, pad_end: int = ITEM_SPACING):
+    # scale indicator width based on content size
+    indicator_w = float(np.interp(self._content_size, [1000, 3000], [300, 100]))
+
+    # position based on scroll ratio
+    slide_range = self._viewport.width - indicator_w
+    max_scroll = self._content_size - self._viewport.width
+    scroll_ratio = (-self._scroll_offset / abs(max_scroll)) if abs(max_scroll) > 1e-3 else 0.0
+    x = self._viewport.x + scroll_ratio * slide_range
+    # don't bounce up when NavWidget shows
+    y = max(self._viewport.y, 0) + self._viewport.height - self._txt_scroll_indicator.height / 2
+
+    # squeeze when overscrolling past edges
+    dest_left = max(x, self._viewport.x)
+    dest_right = min(x + indicator_w, self._viewport.x + self._viewport.width)
+    dest_w = max(indicator_w / 2, dest_right - dest_left)
+
+    # keep within viewport after applying minimum width
+    dest_left = min(dest_left, self._viewport.x + self._viewport.width - dest_w)
+    dest_left = max(dest_left, self._viewport.x)
+
+    src_rec = rl.Rectangle(0, 0, self._txt_scroll_indicator.width, self._txt_scroll_indicator.height)
+    dest_rec = rl.Rectangle(dest_left, y, dest_w, self._txt_scroll_indicator.height)
+    rl.draw_texture_pro(self._txt_scroll_indicator, src_rec, dest_rec, rl.Vector2(0, 0), 0.0,
+                        rl.Color(255, 255, 255, int(255 * 0.45)))
+
+
+class _Scroller(Widget):
+  """Should use wrapper below to reduce boilerplate"""
+  def __init__(self, items: list[Widget], horizontal: bool = True, snap_items: bool = False, spacing: int = ITEM_SPACING,
+               pad: int = ITEM_SPACING, scroll_indicator: bool = True, edge_shadows: bool = True):
     super().__init__()
     self._items: list[Widget] = []
     self._horizontal = horizontal
     self._snap_items = snap_items
     self._spacing = spacing
-    self._line_separator = LineSeparator() if line_separator else None
-    self._pad_start = pad_start
-    self._pad_end = pad_end
+    self._pad = pad
 
     self._reset_scroll_at_show = True
 
-    self._scrolling_to: float | None = None
-    self._scroll_filter = FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps)
+    self._scrolling_to: tuple[float | None, bool] = (None, False)  # target offset, block_interaction
+    self._scrolling_to_filter = FirstOrderFilter(0.0, SCROLL_RC, 1 / gui_app.target_fps)
     self._zoom_filter = FirstOrderFilter(1.0, 0.2, 1 / gui_app.target_fps)
     self._zoom_out_t: float = 0.0
 
@@ -65,15 +98,27 @@ def __init__(self, items: list[Widget], horizontal: bool = True, snap_items: boo
     self.scroll_panel = GuiScrollPanel2(self._horizontal, handle_out_of_bounds=not self._snap_items)
     self._scroll_enabled: bool | Callable[[], bool] = True
 
-    self._txt_scroll_indicator = gui_app.texture("icons_mici/settings/vertical_scroll_indicator.png", 40, 80)
+    self._show_scroll_indicator = scroll_indicator and self._horizontal
+    self._scroll_indicator = ScrollIndicator()
+    self._edge_shadows = edge_shadows and self._horizontal
 
-    for item in items:
-      self.add_widget(item)
+    # move animation state
+    # on move; lift src widget -> wait -> move all -> wait -> drop src widget
+    self._overlay_filter = FirstOrderFilter(0.0, 0.05, 1 / gui_app.target_fps)
+    self._move_animations: dict[Widget, FirstOrderFilter] = {}
+    self._move_lift: dict[Widget, FirstOrderFilter] = {}
+    # these are used to wait before moving/dropping, also to move onto next part of the animation earlier for timing
+    self._pending_lift: set[Widget] = set()
+    self._pending_move: set[Widget] = set()
+
+    self.add_widgets(items)
 
   def set_reset_scroll_at_show(self, scroll: bool):
     self._reset_scroll_at_show = scroll
 
-  def scroll_to(self, pos: float, smooth: bool = False):
+  def scroll_to(self, pos: float, smooth: bool = False, block_interaction: bool = False):
+    assert not block_interaction or smooth, "Instant scroll cannot block user interaction"
+
     # already there
     if abs(pos) < 1:
       return
@@ -81,17 +126,35 @@ def scroll_to(self, pos: float, smooth: bool = False):
     # FIXME: the padding correction doesn't seem correct
     scroll_offset = self.scroll_panel.get_offset() - pos
     if smooth:
-      self._scrolling_to = scroll_offset
+      self._scrolling_to_filter.x = self.scroll_panel.get_offset()
+      self._scrolling_to = scroll_offset, block_interaction
     else:
       self.scroll_panel.set_offset(scroll_offset)
 
   @property
   def is_auto_scrolling(self) -> bool:
-    return self._scrolling_to is not None
+    return self._scrolling_to[0] is not None
+
+  @property
+  def items(self) -> list[Widget]:
+    return self._items
+
+  @property
+  def content_size(self) -> float:
+    return self._content_size
 
   def add_widget(self, item: Widget) -> None:
     self._items.append(item)
-    item.set_touch_valid_callback(lambda: self.scroll_panel.is_touch_valid() and self.enabled)
+
+    # preserve original touch valid callback
+    original_touch_valid_callback = item._touch_valid_callback
+    item.set_touch_valid_callback(lambda: self.scroll_panel.is_touch_valid() and self.enabled and self._scrolling_to[0] is None
+                                          and not self.moving_items and (original_touch_valid_callback() if
+                                                                         original_touch_valid_callback else True))
+
+  def add_widgets(self, items: list[Widget]) -> None:
+    for item in items:
+      self.add_widget(item)
 
   def set_scrolling_enabled(self, enabled: bool | Callable[[], bool]) -> None:
     """Set whether scrolling is enabled (does not affect widget enabled state)."""
@@ -99,7 +162,7 @@ def set_scrolling_enabled(self, enabled: bool | Callable[[], bool]) -> None:
 
   def _update_state(self):
     if DO_ZOOM:
-      if self._scrolling_to is not None or self.scroll_panel.state != ScrollState.STEADY:
+      if self._scrolling_to[0] is not None or self.scroll_panel.state != ScrollState.STEADY:
         self._zoom_out_t = rl.get_time() + MIN_ZOOM_ANIMATION_TIME
         self._zoom_filter.update(0.85)
       else:
@@ -109,27 +172,25 @@ def _update_state(self):
           else:
             self._zoom_filter.update(0.85)
 
-    # Cancel auto-scroll if user starts manually scrolling
-    if self._scrolling_to is not None and (self.scroll_panel.state == ScrollState.PRESSED or self.scroll_panel.state == ScrollState.MANUAL_SCROLL):
-      self._scrolling_to = None
+    # Cancel auto-scroll if user starts manually scrolling (unless block_interaction)
+    if (self.scroll_panel.state in (ScrollState.PRESSED, ScrollState.MANUAL_SCROLL) and
+        self._scrolling_to[0] is not None and not self._scrolling_to[1]):
+      self._scrolling_to = None, False
 
-    if self._scrolling_to is not None:
-      self._scroll_filter.update(self._scrolling_to)
-      self.scroll_panel.set_offset(self._scroll_filter.x)
+    if self._scrolling_to[0] is not None and len(self._pending_lift) == 0:
+      self._scrolling_to_filter.update(self._scrolling_to[0])
+      self.scroll_panel.set_offset(self._scrolling_to_filter.x)
 
-      if abs(self._scroll_filter.x - self._scrolling_to) < 1:
-        self.scroll_panel.set_offset(self._scrolling_to)
-        self._scrolling_to = None
-    else:
-      # keep current scroll position up to date
-      self._scroll_filter.x = self.scroll_panel.get_offset()
+      if abs(self._scrolling_to_filter.x - self._scrolling_to[0]) < 1:
+        self.scroll_panel.set_offset(self._scrolling_to[0])
+        self._scrolling_to = None, False
 
   def _get_scroll(self, visible_items: list[Widget], content_size: float) -> float:
     scroll_enabled = self._scroll_enabled() if callable(self._scroll_enabled) else self._scroll_enabled
-    self.scroll_panel.set_enabled(scroll_enabled and self.enabled)
+    self.scroll_panel.set_enabled(scroll_enabled and self.enabled and not self._scrolling_to[1])
     self.scroll_panel.update(self._rect, content_size)
     if not self._snap_items:
-      return round(self.scroll_panel.get_offset())
+      return self.scroll_panel.get_offset()
 
     # Snap closest item to center
     center_pos = self._rect.x + self._rect.width / 2 if self._horizontal else self._rect.y + self._rect.height / 2
@@ -165,29 +226,86 @@ def _get_scroll(self, visible_items: list[Widget], content_size: float) -> float
 
     return self.scroll_panel.get_offset()
 
+  @property
+  def moving_items(self) -> bool:
+    return len(self._move_animations) > 0 or len(self._move_lift) > 0
+
+  def move_item(self, from_idx: int, to_idx: int):
+    assert self._horizontal
+    if from_idx == to_idx:
+      return
+
+    if self.moving_items:
+      cloudlog.warning(f"Already moving items, cannot move from {from_idx} to {to_idx}")
+      return
+
+    item = self._items.pop(from_idx)
+    self._items.insert(to_idx, item)
+
+    # store original position in content space of all affected widgets to animate from
+    for idx in range(min(from_idx, to_idx), max(from_idx, to_idx) + 1):
+      affected_item = self._items[idx]
+      self._move_animations[affected_item] = FirstOrderFilter(affected_item.rect.x - self._scroll_offset, SCROLL_RC, 1 / gui_app.target_fps)
+      self._pending_move.add(affected_item)
+
+    # lift only src widget to make it more clear which one is moving
+    self._move_lift[item] = FirstOrderFilter(0.0, SCROLL_RC, 1 / gui_app.target_fps)
+    self._pending_lift.add(item)
+
+  def _do_move_animation(self, item: Widget, target_x: float, target_y: float) -> tuple[float, float]:
+    # wait a frame before moving so we match potential pending scroll animation
+    can_start_move = len(self._pending_lift) == 0
+
+    if item in self._move_lift:
+      lift_filter = self._move_lift[item]
+
+      # Animate lift
+      if len(self._pending_move) > 0:
+        lift_filter.update(MOVE_LIFT)
+        # start moving when almost lifted
+        if abs(lift_filter.x - MOVE_LIFT) < 2:
+          self._pending_lift.discard(item)
+      else:
+        # if done moving, animate down
+        lift_filter.update(0)
+        if abs(lift_filter.x) < 1:
+          del self._move_lift[item]
+      target_y -= lift_filter.x
+
+    # Animate move
+    if item in self._move_animations:
+      move_filter = self._move_animations[item]
+
+      # compare/update in content space to match filter
+      content_x = target_x - self._scroll_offset
+      if can_start_move:
+        move_filter.update(content_x)
+
+        # drop when close to target
+        if abs(move_filter.x - content_x) < 10:
+          self._pending_move.discard(item)
+
+        # finished moving
+        if abs(move_filter.x - content_x) < 1:
+          del self._move_animations[item]
+      target_x = move_filter.x + self._scroll_offset
+
+    return target_x, target_y
+
   def _layout(self):
     self._visible_items = [item for item in self._items if item.is_visible]
 
-    # Add line separator between items
-    if self._line_separator is not None:
-      l = len(self._visible_items)
-      for i in range(1, len(self._visible_items)):
-        self._visible_items.insert(l - i, self._line_separator)
-
     self._content_size = sum(item.rect.width if self._horizontal else item.rect.height for item in self._visible_items)
     self._content_size += self._spacing * (len(self._visible_items) - 1)
-    self._content_size += self._pad_start + self._pad_end
+    self._content_size += self._pad * 2
 
     self._scroll_offset = self._get_scroll(self._visible_items, self._content_size)
 
-    rl.begin_scissor_mode(int(self._rect.x), int(self._rect.y),
-                          int(self._rect.width), int(self._rect.height))
-
     self._item_pos_filter.update(self._scroll_offset)
 
     cur_pos = 0
     for idx, item in enumerate(self._visible_items):
-      spacing = self._spacing if (idx > 0) else self._pad_start
+      spacing = self._spacing if (idx > 0) else self._pad
       # Nicely lay out items horizontally/vertically
       if self._horizontal:
         x = self._rect.x + cur_pos + spacing
@@ -219,46 +337,125 @@ def _layout(self):
                                                          [self._item_pos_filter.x, self._scroll_offset, self._item_pos_filter.x])
           y -= np.clip(jello_offset, -20, 20)
 
+      # Animate moves if needed
+      x, y = self._do_move_animation(item, x, y)
+
       # Update item state
-      item.set_position(round(x), round(y))  # round to prevent jumping when settling
+      item.set_position(x, y)
       item.set_parent_rect(self._rect)
 
+  def _render_item(self, item: Widget):
+    # Skip rendering if not in viewport
+    if not rl.check_collision_recs(item.rect, self._rect):
+      return
+
+    # Scale each element around its own origin when scrolling
+    scale = self._zoom_filter.x
+    if scale != 1.0:
+      rl.rl_push_matrix()
+      rl.rl_scalef(scale, scale, 1.0)
+      rl.rl_translatef((1 - scale) * (item.rect.x + item.rect.width / 2) / scale,
+                       (1 - scale) * (item.rect.y + item.rect.height / 2) / scale, 0)
+      item.render()
+      rl.rl_pop_matrix()
+    else:
+      item.render()
+
   def _render(self, _):
-    for item in self._visible_items:
-      # Skip rendering if not in viewport
-      if not rl.check_collision_recs(item.rect, self._rect):
+    rl.begin_scissor_mode(int(self._rect.x), int(self._rect.y),
+                          int(self._rect.width), int(self._rect.height))
+
+    for item in reversed(self._visible_items):
+      if item in self._move_lift:
         continue
+      self._render_item(item)
 
-      # Scale each element around its own origin when scrolling
-      scale = self._zoom_filter.x
-      if scale != 1.0:
-        rl.rl_push_matrix()
-        rl.rl_scalef(scale, scale, 1.0)
-        rl.rl_translatef((1 - scale) * (item.rect.x + item.rect.width / 2) / scale,
-                         (1 - scale) * (item.rect.y + item.rect.height / 2) / scale, 0)
-        item.render()
-        rl.rl_pop_matrix()
-      else:
-        item.render()
+    # Dim background if moving items, lifted items are above
+    self._overlay_filter.update(MOVE_OVERLAY_ALPHA if len(self._pending_move) else 0.0)
+    if self._overlay_filter.x > 0.01:
+      rl.draw_rectangle_rec(self._rect, rl.Color(0, 0, 0, int(255 * self._overlay_filter.x)))
 
-    # Draw scroll indicator
-    if SCROLL_BAR and not self._horizontal and len(self._visible_items) > 0:
-      _real_content_size = self._content_size - self._rect.height + self._txt_scroll_indicator.height
-      scroll_bar_y = -self._scroll_offset / _real_content_size * self._rect.height
-      scroll_bar_y = min(max(scroll_bar_y, self._rect.y), self._rect.y + self._rect.height - self._txt_scroll_indicator.height)
-      rl.draw_texture_ex(self._txt_scroll_indicator, rl.Vector2(self._rect.x, scroll_bar_y), 0, 1.0, rl.WHITE)
+    for item in self._move_lift:
+      self._render_item(item)
 
     rl.end_scissor_mode()
 
+    # Draw edge shadows on top of scroller content
+    if self._edge_shadows:
+      rl.draw_rectangle_gradient_h(int(self._rect.x), int(self._rect.y),
+                                   EDGE_SHADOW_WIDTH, int(self._rect.height),
+                                   rl.Color(0, 0, 0, 204), rl.BLANK)
+
+      right_x = int(self._rect.x + self._rect.width - EDGE_SHADOW_WIDTH)
+      rl.draw_rectangle_gradient_h(right_x, int(self._rect.y),
+                                   EDGE_SHADOW_WIDTH, int(self._rect.height),
+                                   rl.BLANK, rl.Color(0, 0, 0, 204))
+
+    # Draw scroll indicator on top of edge shadows
+    if self._show_scroll_indicator and len(self._visible_items) > 0:
+      self._scroll_indicator.update(self._scroll_offset, self._content_size, self._rect)
+      self._scroll_indicator.render()
+
   def show_event(self):
     super().show_event()
+    for item in self._items:
+      item.show_event()
+
     if self._reset_scroll_at_show:
       self.scroll_panel.set_offset(0.0)
 
-    for item in self._items:
-      item.show_event()
+    self._overlay_filter.x = 0.0
+    self._move_animations.clear()
+    self._move_lift.clear()
+    self._pending_lift.clear()
+    self._pending_move.clear()
+    self._scrolling_to = None, False
+    self._scrolling_to_filter.x = 0.0
 
   def hide_event(self):
     super().hide_event()
     for item in self._items:
       item.hide_event()
+
+
+class Scroller(Widget):
+  """Wrapper for _Scroller so that children do not need to call events or pass down enabled for nav stack."""
+  def __init__(self, **kwargs):
+    super().__init__()
+    self._scroller = self._child(_Scroller([], **kwargs))
+    # pass down enabled to child widget for nav stack
+    self._scroller.set_enabled(lambda: self.enabled)
+
+  def _render(self, _):
+    self._scroller.render(self._rect)
+
+
+class NavScroller(NavWidget, Scroller):
+  """Full screen Scroller that properly supports nav stack w/ animations"""
+  def __init__(self, **kwargs):
+    super().__init__(**kwargs)
+    # pass down enabled to child widget for nav stack + disable while swiping away NavWidget
+    self._scroller.set_enabled(lambda: self.enabled and not self.is_dismissing)
+
+  def _back_enabled(self) -> bool:
+    # Vertical scrollers need to be at the top to swipe away to prevent erroneous swipes
+    # TODO: only used for offroad alerts, remove when horizontal
+    return self._scroller._horizontal or self._scroller.scroll_panel.get_offset() >= -20  # some tolerance
+
+
+# TODO: only used for a few vertical scrollers, remove when horizontal
+class NavRawScrollPanel(NavWidget):
+  # can swipe anywhere, only when at top
+  BACK_TOUCH_AREA_PERCENTAGE = 1.0
+
+  def __init__(self):
+    super().__init__()
+    self._scroll_panel = GuiScrollPanel2(horizontal=False)
+    self._scroll_panel.set_enabled(lambda: self.enabled and not self.is_dismissing)
+
+  def show_event(self):
+    super().show_event()
+    self._scroll_panel.set_offset(0)
+
+  def _back_enabled(self) -> bool:
+    return self._scroll_panel.get_offset() >= -20
diff --git a/system/ui/widgets/slider.py b/system/ui/widgets/slider.py
index 455cdeef712..bf965954f2e 100644
--- a/system/ui/widgets/slider.py
+++ b/system/ui/widgets/slider.py
@@ -1,3 +1,4 @@
+import abc
 from collections.abc import Callable
 
 import pyray as rl
@@ -5,19 +6,23 @@
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.label import UnifiedLabel
-from openpilot.common.filter_simple import FirstOrderFilter
+from openpilot.common.filter_simple import FirstOrderFilter, BounceFilter
 
 
-class SmallSlider(Widget):
+class SliderBase(Widget, abc.ABC):
   HORIZONTAL_PADDING = 8
   CONFIRM_DELAY = 0.2
+  PRESSED_SCALE = 1.07
 
-  def __init__(self, title: str, confirm_callback: Callable | None = None):
-    # TODO: unify this with BigConfirmationDialogV2
+  _bg_txt: rl.Texture
+  _circle_bg_txt: rl.Texture
+  _circle_bg_pressed_txt: rl.Texture
+  _circle_arrow_txt: rl.Texture
+
+  def __init__(self, title: str, confirm_callback: Callable | None = None, shimmer_offset: float = 0.0):
     super().__init__()
     self._confirm_callback = confirm_callback
-
-    self._font = gui_app.font(FontWeight.DISPLAY)
+    self._shimmer_offset = shimmer_offset
 
     self._load_assets()
 
@@ -30,29 +35,34 @@ def __init__(self, title: str, confirm_callback: Callable | None = None):
     self._start_x_circle = 0.0
     self._scroll_x_circle = 0.0
     self._scroll_x_circle_filter = FirstOrderFilter(0, 0.05, 1 / gui_app.target_fps)
+    self._circle_scale_filter = BounceFilter(1.0, 0.1, 1 / gui_app.target_fps)
+    self._circle_press_time: float | None = None
 
     self._is_dragging_circle = False
 
-    self._label = UnifiedLabel(title, font_size=36, font_weight=FontWeight.MEDIUM, text_color=rl.Color(255, 255, 255, int(255 * 0.65)),
-                               alignment=rl.GuiTextAlignment.TEXT_ALIGN_RIGHT,
-                               alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE, line_height=0.9)
+    self._label = self._child(UnifiedLabel(title, font_size=36, font_weight=FontWeight.SEMI_BOLD, text_color=rl.WHITE,
+                                           alignment=rl.GuiTextAlignment.TEXT_ALIGN_RIGHT,
+                                           alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE, line_height=0.9, shimmer=True))
 
+  @abc.abstractmethod
   def _load_assets(self):
-    self.set_rect(rl.Rectangle(0, 0, 316 + self.HORIZONTAL_PADDING * 2, 100))
-
-    self._bg_txt = gui_app.texture("icons_mici/setup/small_slider/slider_bg.png", 316, 100)
-    self._circle_bg_txt = gui_app.texture("icons_mici/setup/small_slider/slider_red_circle.png", 100, 100)
-    self._circle_arrow_txt = gui_app.texture("icons_mici/setup/small_slider/slider_arrow.png", 37, 32)
+    ...
 
   @property
   def confirmed(self) -> bool:
     return self._confirmed_time > 0.0
 
+  def show_event(self):
+    super().show_event()
+    self.reset()
+
   def reset(self):
     # reset all slider state
     self._is_dragging_circle = False
+    self._circle_press_time = None
     self._confirmed_time = 0.0
     self._confirm_callback_called = False
+    self._label.reset_shimmer(self._shimmer_offset)
 
   def set_opacity(self, opacity: float, smooth: bool = False):
     if smooth:
@@ -83,6 +93,7 @@ def _handle_mouse_event(self, mouse_event):
       if rl.check_collision_point_rec(mouse_event.pos, circle_button_rect):
         self._start_x_circle = mouse_event.pos.x
         self._is_dragging_circle = True
+        self._circle_press_time = rl.get_time()
 
     elif mouse_event.left_released:
       # swiped to left
@@ -100,15 +111,15 @@ def _update_state(self):
     activated_pos = int(-self._bg_txt.width + self._circle_bg_txt.width)
     self._scroll_x_circle = max(min(self._scroll_x_circle, 0), activated_pos)
 
-    if self._confirmed_time > 0:
+    if self.confirmed:
       # swiped left to confirm
       self._scroll_x_circle_filter.update(activated_pos)
 
       # activate once animation completes, small threshold for small floats
       if self._scroll_x_circle_filter.x < (activated_pos + 1):
         if not self._confirm_callback_called and (rl.get_time() - self._confirmed_time) >= self.CONFIRM_DELAY:
-          self._on_confirm()
           self._confirm_callback_called = True
+          self._on_confirm()
 
     elif not self._is_dragging_circle:
       # reset back to right
@@ -118,8 +129,6 @@ def _update_state(self):
       self._scroll_x_circle_filter.x = self._scroll_x_circle
 
   def _render(self, _):
-    # TODO: iOS text shimmering animation
-
     white = rl.Color(255, 255, 255, int(255 * self._opacity_filter.x))
 
     bg_txt_x = self._rect.x + (self._rect.width - self._bg_txt.width) / 2
@@ -129,8 +138,9 @@ def _render(self, _):
     btn_x = bg_txt_x + self._bg_txt.width - self._circle_bg_txt.width + self._scroll_x_circle_filter.x
     btn_y = self._rect.y + (self._rect.height - self._circle_bg_txt.height) / 2
 
-    if self._confirmed_time == 0.0 or self._scroll_x_circle > 0:
-      self._label.set_text_color(rl.Color(255, 255, 255, int(255 * 0.65 * (1.0 - self.slider_percentage) * self._opacity_filter.x)))
+    label_alpha = int(255 * (1.0 - self.slider_percentage) * self._opacity_filter.x)
+    if label_alpha > 0:
+      self._label.set_text_color(rl.Color(255, 255, 255, label_alpha))
       label_rect = rl.Rectangle(
         self._rect.x + 20,
         self._rect.y,
@@ -139,18 +149,23 @@ def _render(self, _):
       )
       self._label.render(label_rect)
 
-    # circle and arrow
-    rl.draw_texture_ex(self._circle_bg_txt, rl.Vector2(btn_x, btn_y), 0.0, 1.0, white)
+    # circle and arrow with grow animation
+    circle_pressed = self._is_dragging_circle or self.confirmed or (self._circle_press_time is not None and rl.get_time() - self._circle_press_time < 0.075)
+    circle_bg_txt = self._circle_bg_pressed_txt if circle_pressed else self._circle_bg_txt
+    scale = self._circle_scale_filter.update(self.PRESSED_SCALE if circle_pressed else 1.0)
+    scaled_btn_x = btn_x + (self._circle_bg_txt.width * (1 - scale)) / 2
+    scaled_btn_y = btn_y + (self._circle_bg_txt.height * (1 - scale)) / 2
+    rl.draw_texture_ex(circle_bg_txt, rl.Vector2(scaled_btn_x, scaled_btn_y), 0.0, scale, white)
 
     arrow_x = btn_x + (self._circle_bg_txt.width - self._circle_arrow_txt.width) / 2
-    arrow_y = btn_y + (self._circle_bg_txt.height - self._circle_arrow_txt.height) / 2
+    arrow_y = scaled_btn_y + (self._circle_bg_txt.height - self._circle_arrow_txt.height) / 2
     rl.draw_texture_ex(self._circle_arrow_txt, rl.Vector2(arrow_x, arrow_y), 0.0, 1.0, white)
 
 
-class LargerSlider(SmallSlider):
-  def __init__(self, title: str, confirm_callback: Callable | None = None, green: bool = True):
+class LargerSlider(SliderBase):
+  def __init__(self, title: str, confirm_callback: Callable | None = None, green: bool = True, shimmer_offset: float = 0.0):
     self._green = green
-    super().__init__(title, confirm_callback=confirm_callback)
+    super().__init__(title, confirm_callback=confirm_callback, shimmer_offset=shimmer_offset)
 
   def _load_assets(self):
     self.set_rect(rl.Rectangle(0, 0, 520 + self.HORIZONTAL_PADDING * 2, 115))
@@ -158,22 +173,24 @@ def _load_assets(self):
     self._bg_txt = gui_app.texture("icons_mici/setup/small_slider/slider_bg_larger.png", 520, 115)
     circle_fn = "slider_green_rounded_rectangle" if self._green else "slider_black_rounded_rectangle"
     self._circle_bg_txt = gui_app.texture(f"icons_mici/setup/small_slider/{circle_fn}.png", 180, 115)
+    self._circle_bg_pressed_txt = gui_app.texture(f"icons_mici/setup/small_slider/{circle_fn}_pressed.png", 180, 115)
     self._circle_arrow_txt = gui_app.texture("icons_mici/setup/small_slider/slider_arrow.png", 64, 55)
 
 
-class BigSlider(SmallSlider):
+class BigSlider(SliderBase):
   def __init__(self, title: str, icon: rl.Texture, confirm_callback: Callable | None = None):
     self._icon = icon
     super().__init__(title, confirm_callback=confirm_callback)
-    self._label = UnifiedLabel(title, font_size=48, font_weight=FontWeight.DISPLAY, text_color=rl.Color(255, 255, 255, int(255 * 0.65)),
-                               alignment=rl.GuiTextAlignment.TEXT_ALIGN_RIGHT, alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE,
-                               line_height=0.875)
+    self._label.set_font_size(48)
+    self._label.set_font_weight(FontWeight.DISPLAY)
+    self._label.set_line_height(0.875)
 
   def _load_assets(self):
     self.set_rect(rl.Rectangle(0, 0, 520 + self.HORIZONTAL_PADDING * 2, 180))
 
     self._bg_txt = gui_app.texture("icons_mici/buttons/slider_bg.png", 520, 180)
     self._circle_bg_txt = gui_app.texture("icons_mici/buttons/button_circle.png", 180, 180)
+    self._circle_bg_pressed_txt = gui_app.texture("icons_mici/buttons/button_circle_pressed.png", 180, 180)
     self._circle_arrow_txt = self._icon
 
 
@@ -183,4 +200,5 @@ def _load_assets(self):
 
     self._bg_txt = gui_app.texture("icons_mici/buttons/slider_bg.png", 520, 180)
     self._circle_bg_txt = gui_app.texture("icons_mici/buttons/button_circle_red.png", 180, 180)
+    self._circle_bg_pressed_txt = gui_app.texture("icons_mici/buttons/button_circle_red_pressed.png", 180, 180)
     self._circle_arrow_txt = self._icon
diff --git a/system/updated/casync/casync.py b/system/updated/casync/casync.py
index 79ac26f1c6e..2bd46a1ffba 100755
--- a/system/updated/casync/casync.py
+++ b/system/updated/casync/casync.py
@@ -168,7 +168,7 @@ def build_chunk_dict(chunks: list[Chunk]) -> ChunkDict:
 def extract(target: list[Chunk],
             sources: list[tuple[str, ChunkReader, ChunkDict]],
             out_path: str,
-            progress: Callable[[int], None] = None):
+            progress: Callable[[int], None] | None = None):
   stats: dict[str, int] = defaultdict(int)
 
   mode = 'rb+' if os.path.exists(out_path) else 'wb'
@@ -208,7 +208,7 @@ def extract_directory(target: list[Chunk],
             sources: list[tuple[str, ChunkReader, ChunkDict]],
             out_path: str,
             tmp_file: str,
-            progress: Callable[[int], None] = None):
+            progress: Callable[[int], None] | None = None):
   """extract a directory stored as a casync tar archive"""
 
   stats = extract(target, sources, tmp_file, progress)
diff --git a/system/updated/tests/test_updated.py b/system/updated/tests/test_updated.py
new file mode 100644
index 00000000000..d36d4dd4e13
--- /dev/null
+++ b/system/updated/tests/test_updated.py
@@ -0,0 +1,38 @@
+import pytest
+
+from openpilot.common.params import Params
+from openpilot.system.updated.updated import Updater
+
+
+@pytest.mark.parametrize(("device_type", "branch", "expected"), [
+  ("tizi", "release3", "release-tizi"),
+  ("tizi", "release3-staging", "release-tizi-staging"),
+  ("mici", "release3", "release-mici"),
+  ("mici", "release3-staging", "release-mici-staging"),
+])
+def test_target_branch_migration_from_current_branch(mocker, device_type, branch, expected):
+  params = Params()
+  params.remove("UpdaterTargetBranch")
+
+  mocker.patch("openpilot.system.updated.updated.HARDWARE.get_device_type", return_value=device_type)
+  mocker.patch.object(Updater, "get_branch", return_value=branch)
+
+  assert Updater().target_branch == expected
+
+
+@pytest.mark.parametrize(("device_type", "branch", "expected"), [
+  ("tizi", "release3", "release-tizi"),
+  ("tizi", "release3-staging", "release-tizi-staging"),
+  ("mici", "release3", "release-mici"),
+  ("mici", "release3-staging", "release-mici-staging"),
+])
+def test_target_branch_migration_from_param(mocker, device_type, branch, expected):
+  params = Params()
+  params.put("UpdaterTargetBranch", branch)
+
+  mocker.patch("openpilot.system.updated.updated.HARDWARE.get_device_type", return_value=device_type)
+
+  try:
+    assert Updater().target_branch == expected
+  finally:
+    params.remove("UpdaterTargetBranch")
diff --git a/system/updated/updated.py b/system/updated/updated.py
index a4a1f8f34f8..693a31c9f49 100755
--- a/system/updated/updated.py
+++ b/system/updated/updated.py
@@ -68,7 +68,7 @@ def write_time_to_param(params, param) -> None:
   t = datetime.datetime.now(datetime.UTC).replace(tzinfo=None)
   params.put(param, t)
 
-def run(cmd: list[str], cwd: str = None) -> str:
+def run(cmd: list[str], cwd: str | None = None) -> str:
   return subprocess.check_output(cmd, cwd=cwd, stderr=subprocess.STDOUT, encoding='utf8')
 
 
@@ -244,6 +244,9 @@ def target_branch(self) -> str:
       b = self.get_branch(BASEDIR)
     b = {
       ("tizi", "release3"): "release-tizi",
+      ("tizi", "release3-staging"): "release-tizi-staging",
+      ("mici", "release3"): "release-mici",
+      ("mici", "release3-staging"): "release-mici-staging",
     }.get((HARDWARE.get_device_type(), b), b)
     return b
 
diff --git a/system/webrtc/device/audio.py b/system/webrtc/device/audio.py
deleted file mode 100644
index 4b22033e03e..00000000000
--- a/system/webrtc/device/audio.py
+++ /dev/null
@@ -1,109 +0,0 @@
-import asyncio
-import io
-
-import aiortc
-import av
-import numpy as np
-import pyaudio
-
-
-class AudioInputStreamTrack(aiortc.mediastreams.AudioStreamTrack):
-  PYAUDIO_TO_AV_FORMAT_MAP = {
-      pyaudio.paUInt8: 'u8',
-      pyaudio.paInt16: 's16',
-      pyaudio.paInt24: 's24',
-      pyaudio.paInt32: 's32',
-      pyaudio.paFloat32: 'flt',
-  }
-
-  def __init__(self, audio_format: int = pyaudio.paInt16, rate: int = 16000, channels: int = 1, packet_time: float = 0.020, device_index: int = None):
-    super().__init__()
-
-    self.p = pyaudio.PyAudio()
-    chunk_size = int(packet_time * rate)
-    self.stream = self.p.open(format=audio_format,
-                              channels=channels,
-                              rate=rate,
-                              frames_per_buffer=chunk_size,
-                              input=True,
-                              input_device_index=device_index)
-    self.format = audio_format
-    self.rate = rate
-    self.channels = channels
-    self.packet_time = packet_time
-    self.chunk_size = chunk_size
-    self.pts = 0
-
-  async def recv(self):
-    mic_data = self.stream.read(self.chunk_size)
-    mic_array = np.frombuffer(mic_data, dtype=np.int16)
-    mic_array = np.expand_dims(mic_array, axis=0)
-    layout = 'stereo' if self.channels > 1 else 'mono'
-    frame = av.AudioFrame.from_ndarray(mic_array, format=self.PYAUDIO_TO_AV_FORMAT_MAP[self.format], layout=layout)
-    frame.rate = self.rate
-    frame.pts = self.pts
-    self.pts += frame.samples
-
-    return frame
-
-
-class AudioOutputSpeaker:
-  def __init__(self, audio_format: int = pyaudio.paInt16, rate: int = 48000, channels: int = 2, packet_time: float = 0.2, device_index: int = None):
-
-    chunk_size = int(packet_time * rate)
-    self.p = pyaudio.PyAudio()
-    self.buffer = io.BytesIO()
-    self.channels = channels
-    self.stream = self.p.open(format=audio_format,
-                              channels=channels,
-                              rate=rate,
-                              frames_per_buffer=chunk_size,
-                              output=True,
-                              output_device_index=device_index,
-                              stream_callback=self.__pyaudio_callback)
-    self.tracks_and_tasks: list[tuple[aiortc.MediaStreamTrack, asyncio.Task | None]] = []
-
-  def __pyaudio_callback(self, in_data, frame_count, time_info, status):
-    if self.buffer.getbuffer().nbytes < frame_count * self.channels * 2:
-      buff = b'\x00\x00' * frame_count * self.channels
-    elif self.buffer.getbuffer().nbytes > 115200:  # 3x the usual read size
-      self.buffer.seek(0)
-      buff = self.buffer.read(frame_count * self.channels * 4)
-      buff = buff[:frame_count * self.channels * 2]
-      self.buffer.seek(2)
-    else:
-      self.buffer.seek(0)
-      buff = self.buffer.read(frame_count * self.channels * 2)
-      self.buffer.seek(2)
-    return (buff, pyaudio.paContinue)
-
-  async def __consume(self, track):
-    while True:
-      try:
-        frame = await track.recv()
-      except aiortc.MediaStreamError:
-        return
-
-      self.buffer.write(bytes(frame.planes[0]))
-
-  def hasTrack(self, track: aiortc.MediaStreamTrack) -> bool:
-    return any(t == track for t, _ in self.tracks_and_tasks)
-
-  def addTrack(self, track: aiortc.MediaStreamTrack):
-    if not self.hasTrack(track):
-      self.tracks_and_tasks.append((track, None))
-
-  def start(self):
-    for index, (track, task) in enumerate(self.tracks_and_tasks):
-      if task is None:
-        self.tracks_and_tasks[index] = (track, asyncio.create_task(self.__consume(track)))
-
-  def stop(self):
-    for _, task in self.tracks_and_tasks:
-      if task is not None:
-        task.cancel()
-
-    self.tracks_and_tasks = []
-    self.stream.stop_stream()
-    self.stream.close()
-    self.p.terminate()
diff --git a/system/webrtc/schema.py b/system/webrtc/schema.py
index d80986ebf25..4876198eb06 100644
--- a/system/webrtc/schema.py
+++ b/system/webrtc/schema.py
@@ -16,7 +16,7 @@ def generate_type(type_walker, schema_walker) -> str | list[Any] | dict[str, Any
 
 
 def generate_struct(schema: capnp.lib.capnp._StructSchema) -> dict[str, Any]:
-  return {field: generate_field(schema.fields[field]) for field in schema.fields if not field.endswith("DEPRECATED")}
+  return {field: generate_field(schema.fields[field]) for field in schema.fields if not field.endswith("DEPRECATED") and field != "deprecated"}
 
 
 def generate_field(field: capnp.lib.capnp._StructSchemaField) -> str | list[Any] | dict[str, Any]:
diff --git a/system/webrtc/tests/test_stream_session.py b/system/webrtc/tests/test_stream_session.py
index e31fda37286..f44d217d58c 100644
--- a/system/webrtc/tests/test_stream_session.py
+++ b/system/webrtc/tests/test_stream_session.py
@@ -9,12 +9,10 @@
 from aiortc import RTCDataChannel
 from aiortc.mediastreams import VIDEO_CLOCK_RATE, VIDEO_TIME_BASE
 import capnp
-import pyaudio
 from cereal import messaging, log
 
 from openpilot.system.webrtc.webrtcd import CerealOutgoingMessageProxy, CerealIncomingMessageProxy
 from openpilot.system.webrtc.device.video import LiveStreamVideoStreamTrack
-from openpilot.system.webrtc.device.audio import AudioInputStreamTrack
 
 
 class TestStreamSession:
@@ -87,18 +85,3 @@ def test_livestream_track(self, mocker):
       assert abs(i + packet.pts - (start_pts + (((time.monotonic_ns() - start_ns) * VIDEO_CLOCK_RATE) // 1_000_000_000))) < 450 #5ms
       assert packet.size == 0
 
-  def test_input_audio_track(self, mocker):
-    packet_time, rate = 0.02, 16000
-    sample_count = int(packet_time * rate)
-    mocked_stream = mocker.MagicMock(spec=pyaudio.Stream)
-    mocked_stream.read.return_value = b"\x00" * 2 * sample_count
-
-    config = {"open.side_effect": lambda *args, **kwargs: mocked_stream}
-    mocker.patch("pyaudio.PyAudio", spec=True, **config)
-    track = AudioInputStreamTrack(audio_format=pyaudio.paInt16, packet_time=packet_time, rate=rate)
-
-    for i in range(5):
-      frame = self.loop.run_until_complete(track.recv())
-      assert frame.rate == rate
-      assert frame.samples == sample_count
-      assert frame.pts == i * sample_count
diff --git a/system/webrtc/tests/test_webrtcd.py b/system/webrtc/tests/test_webrtcd.py
deleted file mode 100644
index 4fa6d8953f7..00000000000
--- a/system/webrtc/tests/test_webrtcd.py
+++ /dev/null
@@ -1,65 +0,0 @@
-import pytest
-import asyncio
-import json
-# for aiortc and its dependencies
-import warnings
-warnings.filterwarnings("ignore", category=DeprecationWarning)
-warnings.filterwarnings("ignore", category=RuntimeWarning) # TODO: remove this when google-crc32c publish a python3.12 wheel
-
-from openpilot.system.webrtc.webrtcd import get_stream
-
-import aiortc
-from teleoprtc import WebRTCOfferBuilder
-from parameterized import parameterized_class
-
-
-@parameterized_class(("in_services", "out_services"), [
-  (["testJoystick"], ["carState"]),
-  ([], ["carState"]),
-  (["testJoystick"], []),
-  ([], []),
-])
-@pytest.mark.asyncio
-class TestWebrtcdProc:
-  async def assertCompletesWithTimeout(self, awaitable, timeout=1):
-    try:
-      async with asyncio.timeout(timeout):
-        await awaitable
-    except TimeoutError:
-      pytest.fail("Timeout while waiting for awaitable to complete")
-
-  async def test_webrtcd(self, mocker):
-    mock_request = mocker.MagicMock()
-    async def connect(offer):
-      body = {'sdp': offer.sdp, 'cameras': offer.video, 'bridge_services_in': self.in_services, 'bridge_services_out': self.out_services}
-      mock_request.json.side_effect = mocker.AsyncMock(return_value=body)
-      response = await get_stream(mock_request)
-      response_json = json.loads(response.text)
-      return aiortc.RTCSessionDescription(**response_json)
-
-    builder = WebRTCOfferBuilder(connect)
-    builder.offer_to_receive_video_stream("road")
-    builder.offer_to_receive_audio_stream()
-    if len(self.in_services) > 0 or len(self.out_services) > 0:
-      builder.add_messaging()
-
-    stream = builder.stream()
-
-    await self.assertCompletesWithTimeout(stream.start())
-    await self.assertCompletesWithTimeout(stream.wait_for_connection())
-
-    assert stream.has_incoming_video_track("road")
-    assert stream.has_incoming_audio_track()
-    assert stream.has_messaging_channel() == (len(self.in_services) > 0 or len(self.out_services) > 0)
-
-    video_track, audio_track = stream.get_incoming_video_track("road"), stream.get_incoming_audio_track()
-    await self.assertCompletesWithTimeout(video_track.recv())
-    await self.assertCompletesWithTimeout(audio_track.recv())
-
-    await self.assertCompletesWithTimeout(stream.stop())
-
-    # cleanup, very implementation specific, test may break if it changes
-    assert mock_request.app["streams"].__setitem__.called, "Implementation changed, please update this test"
-    _, session = mock_request.app["streams"].__setitem__.call_args.args
-    await self.assertCompletesWithTimeout(session.post_run_cleanup())
-
diff --git a/system/webrtc/webrtcd.py b/system/webrtc/webrtcd.py
index c19f1bf9dd6..d2c90cafb5b 100755
--- a/system/webrtc/webrtcd.py
+++ b/system/webrtc/webrtcd.py
@@ -119,10 +119,8 @@ class StreamSession:
   shared_pub_master = DynamicPubMaster([])
 
   def __init__(self, sdp: str, cameras: list[str], incoming_services: list[str], outgoing_services: list[str], debug_mode: bool = False):
-    from aiortc.mediastreams import VideoStreamTrack, AudioStreamTrack
-    from aiortc.contrib.media import MediaBlackhole
+    from aiortc.mediastreams import VideoStreamTrack
     from openpilot.system.webrtc.device.video import LiveStreamVideoStreamTrack
-    from openpilot.system.webrtc.device.audio import AudioInputStreamTrack, AudioOutputSpeaker
     from teleoprtc import WebRTCAnswerBuilder
     from teleoprtc.info import parse_info_from_offer
 
@@ -132,11 +130,6 @@ def __init__(self, sdp: str, cameras: list[str], incoming_services: list[str], o
     assert len(cameras) == config.n_expected_camera_tracks, "Incoming stream has misconfigured number of video tracks"
     for cam in cameras:
       builder.add_video_stream(cam, LiveStreamVideoStreamTrack(cam) if not debug_mode else VideoStreamTrack())
-    if config.expected_audio_track:
-      builder.add_audio_stream(AudioInputStreamTrack() if not debug_mode else AudioStreamTrack())
-    if config.incoming_audio_track:
-      self.audio_output_cls = AudioOutputSpeaker if not debug_mode else MediaBlackhole
-      builder.offer_to_receive_audio_stream()
 
     self.stream = builder.stream()
     self.identifier = str(uuid.uuid4())
@@ -151,11 +144,10 @@ def __init__(self, sdp: str, cameras: list[str], incoming_services: list[str], o
       self.outgoing_bridge = CerealOutgoingMessageProxy(messaging.SubMaster(outgoing_services))
       self.outgoing_bridge_runner = CerealProxyRunner(self.outgoing_bridge)
 
-    self.audio_output: AudioOutputSpeaker | MediaBlackhole | None = None
     self.run_task: asyncio.Task | None = None
     self.logger = logging.getLogger("webrtcd")
-    self.logger.info("New stream session (%s), cameras %s, audio in %s out %s, incoming services %s, outgoing services %s",
-                      self.identifier, cameras, config.incoming_audio_track, config.expected_audio_track, incoming_services, outgoing_services)
+    self.logger.info("New stream session (%s), cameras %s, incoming services %s, outgoing services %s",
+                      self.identifier, cameras, incoming_services, outgoing_services)
 
   def start(self):
     self.run_task = asyncio.create_task(self.run())
@@ -188,11 +180,6 @@ async def run(self):
           channel = self.stream.get_messaging_channel()
           self.outgoing_bridge_runner.proxy.add_channel(channel)
           self.outgoing_bridge_runner.start()
-      if self.stream.has_incoming_audio_track():
-        track = self.stream.get_incoming_audio_track(buffered=False)
-        self.audio_output = self.audio_output_cls()
-        self.audio_output.addTrack(track)
-        self.audio_output.start()
       self.logger.info("Stream session (%s) connected", self.identifier)
 
       await self.stream.wait_for_disconnection()
@@ -206,8 +193,6 @@ async def post_run_cleanup(self):
     await self.stream.stop()
     if self.outgoing_bridge is not None:
       self.outgoing_bridge_runner.stop()
-    if self.audio_output:
-      self.audio_output.stop()
 
 
 @dataclass
diff --git a/teleoprtc_repo b/teleoprtc_repo
index 389815b8ca5..22df5778218 160000
--- a/teleoprtc_repo
+++ b/teleoprtc_repo
@@ -1 +1 @@
-Subproject commit 389815b8ca5302ce7c1504b7841d4eb61a8cd51b
+Subproject commit 22df577821862e32a011fb0cf42577599f3a79c4
diff --git a/third_party/.gitignore b/third_party/.gitignore
deleted file mode 100644
index 0d20b6487c6..00000000000
--- a/third_party/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-*.pyc
diff --git a/third_party/acados/.gitignore b/third_party/acados/.gitignore
index 68858c62e43..0ae664dff6a 100644
--- a/third_party/acados/.gitignore
+++ b/third_party/acados/.gitignore
@@ -1,5 +1,9 @@
 acados_repo/
-lib
+/lib
 !x86_64/
 !larch64/
 !aarch64/
+!Darwin/
+!*.so
+!*.so.*
+!*.dylib
diff --git a/third_party/acados/acados_template/acados_ocp.py b/third_party/acados/acados_template/acados_ocp.py
index ec02822ceb2..d6236e1f6e9 100644
--- a/third_party/acados/acados_template/acados_ocp.py
+++ b/third_party/acados/acados_template/acados_ocp.py
@@ -1,4 +1,3 @@
-# -*- coding: future_fstrings -*-
 #
 # Copyright (c) The acados authors.
 #
diff --git a/third_party/acados/acados_template/acados_ocp_solver.py b/third_party/acados/acados_template/acados_ocp_solver.py
index ffc9cf4b0e1..229bdf60398 100644
--- a/third_party/acados/acados_template/acados_ocp_solver.py
+++ b/third_party/acados/acados_template/acados_ocp_solver.py
@@ -1,4 +1,3 @@
-# -*- coding: future_fstrings -*-
 #
 # Copyright (c) The acados authors.
 #
diff --git a/third_party/acados/acados_template/acados_ocp_solver_pyx.pyx b/third_party/acados/acados_template/acados_ocp_solver_pyx.pyx
index acd7f02d0a8..bc03ba086fe 100644
--- a/third_party/acados/acados_template/acados_ocp_solver_pyx.pyx
+++ b/third_party/acados/acados_template/acados_ocp_solver_pyx.pyx
@@ -1,4 +1,3 @@
-# -*- coding: future_fstrings -*-
 #
 # Copyright (c) The acados authors.
 #
diff --git a/third_party/acados/acados_template/acados_sim.py b/third_party/acados/acados_template/acados_sim.py
index c0d6937a49a..7faa49fb125 100644
--- a/third_party/acados/acados_template/acados_sim.py
+++ b/third_party/acados/acados_template/acados_sim.py
@@ -1,4 +1,3 @@
-# -*- coding: future_fstrings -*-
 #
 # Copyright (c) The acados authors.
 #
diff --git a/third_party/acados/acados_template/acados_sim_solver.py b/third_party/acados/acados_template/acados_sim_solver.py
index 612f439eaf7..de5ee107094 100644
--- a/third_party/acados/acados_template/acados_sim_solver.py
+++ b/third_party/acados/acados_template/acados_sim_solver.py
@@ -1,4 +1,3 @@
-# -*- coding: future_fstrings -*-
 #
 # Copyright (c) The acados authors.
 #
diff --git a/third_party/acados/acados_template/acados_sim_solver_common.pxd b/third_party/acados/acados_template/acados_sim_solver_common.pxd
index cc6a58efd77..7c20a6d24de 100644
--- a/third_party/acados/acados_template/acados_sim_solver_common.pxd
+++ b/third_party/acados/acados_template/acados_sim_solver_common.pxd
@@ -1,4 +1,3 @@
-# -*- coding: future_fstrings -*-
 #
 # Copyright (c) The acados authors.
 #
diff --git a/third_party/acados/acados_template/acados_sim_solver_pyx.pyx b/third_party/acados/acados_template/acados_sim_solver_pyx.pyx
index be400addc7d..01964fd7a0b 100644
--- a/third_party/acados/acados_template/acados_sim_solver_pyx.pyx
+++ b/third_party/acados/acados_template/acados_sim_solver_pyx.pyx
@@ -1,4 +1,3 @@
-# -*- coding: future_fstrings -*-
 #
 # Copyright (c) The acados authors.
 #
diff --git a/third_party/acados/acados_template/acados_solver_common.pxd b/third_party/acados/acados_template/acados_solver_common.pxd
index c6d59d40a50..75d021626f3 100644
--- a/third_party/acados/acados_template/acados_solver_common.pxd
+++ b/third_party/acados/acados_template/acados_solver_common.pxd
@@ -1,4 +1,3 @@
-# -*- coding: future_fstrings -*-
 #
 # Copyright (c) The acados authors.
 #
diff --git a/third_party/acados/acados_template/builders.py b/third_party/acados/acados_template/builders.py
index 6f21bfe8cd2..8acc05b5287 100644
--- a/third_party/acados/acados_template/builders.py
+++ b/third_party/acados/acados_template/builders.py
@@ -1,4 +1,3 @@
-# -*- coding: future_fstrings -*-
 #
 # Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
 # Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
diff --git a/third_party/acados/acados_template/gnsf/__init__.py b/third_party/acados/acados_template/gnsf/__init__.py
index e69de29bb2d..8b137891791 100644
--- a/third_party/acados/acados_template/gnsf/__init__.py
+++ b/third_party/acados/acados_template/gnsf/__init__.py
@@ -0,0 +1 @@
+
diff --git a/third_party/acados/acados_template/utils.py b/third_party/acados/acados_template/utils.py
index d6f6c02f84a..f27617fa309 100644
--- a/third_party/acados/acados_template/utils.py
+++ b/third_party/acados/acados_template/utils.py
@@ -1,4 +1,3 @@
-# -*- coding: future_fstrings -*-
 #
 # Copyright (c) The acados authors.
 #
diff --git a/third_party/acados/build.sh b/third_party/acados/build.sh
index b45c167b164..95b3913c4a8 100755
--- a/third_party/acados/build.sh
+++ b/third_party/acados/build.sh
@@ -1,6 +1,9 @@
 #!/usr/bin/env bash
 set -e
 
+export SOURCE_DATE_EPOCH=0
+export ZERO_AR_DATE=1
+
 DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
 
 ARCHNAME="x86_64"
@@ -13,7 +16,7 @@ fi
 ACADOS_FLAGS="-DACADOS_WITH_QPOASES=ON -UBLASFEO_TARGET -DBLASFEO_TARGET=$BLAS_TARGET"
 
 if [[ "$OSTYPE" == "darwin"* ]]; then
-  ACADOS_FLAGS="$ACADOS_FLAGS -DCMAKE_OSX_ARCHITECTURES=arm64;x86_64 -DCMAKE_MACOSX_RPATH=1"
+  ACADOS_FLAGS="$ACADOS_FLAGS -DCMAKE_OSX_ARCHITECTURES=arm64 -DCMAKE_MACOSX_RPATH=1"
   ARCHNAME="Darwin"
 fi
 
@@ -44,12 +47,17 @@ cp -r $DIR/acados_repo/lib $INSTALL_DIR
 cp -r $DIR/acados_repo/interfaces/acados_template/acados_template $DIR/
 #pip3 install -e $DIR/acados/interfaces/acados_template
 
+# skip macOS - sed is different :/
+if [[ "$OSTYPE" != "darwin"* ]]; then
+  # strip future_fstrings to avoid having to install the compatibility package
+  find $DIR/acados_template/ -type f -exec sed -i '/future.fstrings/d' {} +
+fi
+
 # build tera
 cd $DIR/acados_repo/interfaces/acados_template/tera_renderer/
 if [[ "$OSTYPE" == "darwin"* ]]; then
   cargo build --verbose --release --target aarch64-apple-darwin
-  cargo build --verbose --release --target x86_64-apple-darwin
-  lipo -create -output target/release/t_renderer target/x86_64-apple-darwin/release/t_renderer target/aarch64-apple-darwin/release/t_renderer
+  cp target/aarch64-apple-darwin/release/t_renderer target/release/t_renderer
 else
   cargo build --verbose --release
 fi
diff --git a/third_party/acados/x86_64/lib/libacados.so b/third_party/acados/x86_64/lib/libacados.so
index 4e80f7c76ba..50d647a8621 100644
--- a/third_party/acados/x86_64/lib/libacados.so
+++ b/third_party/acados/x86_64/lib/libacados.so
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:821ce18f417d211c4845b60482d465b809f90dc7d04f023d652d8221e87679b1
-size 553544
+oid sha256:05a1ba3cf37fa929cdd56f892608b2f89c35a05ef1b07fedb86b2f0d76607263
+size 540488
diff --git a/third_party/acados/x86_64/lib/libblasfeo.so b/third_party/acados/x86_64/lib/libblasfeo.so
index 26d5a3dbe91..a98f45abd2e 100644
--- a/third_party/acados/x86_64/lib/libblasfeo.so
+++ b/third_party/acados/x86_64/lib/libblasfeo.so
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:3feea7927d004064bbc5a13c3287467669ce801cb0a3c616cf9e089816da5a0b
-size 2155088
+oid sha256:c0bf22898d9c59b672d3d0961f5f4c804b9957478125d99eb297de3091bedd15
+size 2416112
diff --git a/third_party/acados/x86_64/lib/libhpipm.so b/third_party/acados/x86_64/lib/libhpipm.so
index 40e2e4e7d47..f40cb487cd7 100644
--- a/third_party/acados/x86_64/lib/libhpipm.so
+++ b/third_party/acados/x86_64/lib/libhpipm.so
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:a042716f515913786581dff39799eb71fc66caddfa18b1c9f0d54f00c1568fd2
-size 1572648
+oid sha256:5b6875fb47940764d4ebb916c2373cb0e04929229feb654b290676c28d48fa9d
+size 1531024
diff --git a/third_party/acados/x86_64/lib/libqpOASES_e.so.3.1 b/third_party/acados/x86_64/lib/libqpOASES_e.so.3.1
index cf5e550faa9..81afd059f7e 100644
--- a/third_party/acados/x86_64/lib/libqpOASES_e.so.3.1
+++ b/third_party/acados/x86_64/lib/libqpOASES_e.so.3.1
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:a6abea4815e3f03cff06fe8a9602e97f9acf102f18f803571460a94595b93be4
-size 262824
+oid sha256:04be908c3f707e5c968022b9cdd79ab75ae7af46e7fa019ceee98f854ddd3f64
+size 262464
diff --git a/third_party/acados/x86_64/t_renderer b/third_party/acados/x86_64/t_renderer
index e995a209b79..d41f6c37255 100755
--- a/third_party/acados/x86_64/t_renderer
+++ b/third_party/acados/x86_64/t_renderer
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:7a360d4b53826b91ada3358156d44a14d497bdd8ace88707fd4b386ed6d194c7
-size 17503920
+oid sha256:a53ae46650c4df5b0ddb87a658f59a0422e41743e8bc2d822da0aefd1d280791
+size 5088536
diff --git a/third_party/bootstrap/bootstrap-icons.ttf b/third_party/bootstrap/bootstrap-icons.ttf
new file mode 100644
index 00000000000..49c8ea699a0
--- /dev/null
+++ b/third_party/bootstrap/bootstrap-icons.ttf
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57e798d421bb56bb058ed9b0c83dd97fe1e411cde3a2bd6eb4a8705234f69027
+size 453096
diff --git a/third_party/bootstrap/pull.sh b/third_party/bootstrap/pull.sh
index 0b03b4db9ef..5c4c955c043 100755
--- a/third_party/bootstrap/pull.sh
+++ b/third_party/bootstrap/pull.sh
@@ -12,3 +12,13 @@ cd icons
 git fetch --all
 git checkout d5aa187483a1b0b186f87adcfa8576350d970d98
 cp bootstrap-icons.svg ../
+
+# Convert WOFF → TTF for imgui (imgui only reads TTF/OTF)
+python3 -c "
+from fontTools.ttLib import TTFont
+import io
+f = TTFont('font/fonts/bootstrap-icons.woff')
+f.flavor = None
+f.save('../bootstrap-icons.ttf')
+print('bootstrap-icons.ttf written')
+"
diff --git a/third_party/build.sh b/third_party/build.sh
new file mode 100755
index 00000000000..d3a9c6579c5
--- /dev/null
+++ b/third_party/build.sh
@@ -0,0 +1,53 @@
+#!/usr/bin/env bash
+set -e
+
+DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+
+# Reproducible builds: pin timestamps to epoch
+export SOURCE_DATE_EPOCH=0
+export ZERO_AR_DATE=1
+
+pids=()
+names=()
+logs=()
+
+for script in "$DIR"/*/build.sh; do
+  [ -f "$script" ] || continue
+  name=$(basename "$(dirname "$script")")
+  log=$(mktemp)
+  names+=("$name")
+  logs+=("$log")
+  (cd "$(dirname "$script")" && bash "$(basename "$script")") >"$log" 2>&1 &
+  pids+=($!)
+done
+
+failed=0
+for i in "${!pids[@]}"; do
+  echo "--- ${names[$i]} ---"
+  if wait "${pids[$i]}"; then
+    echo "OK"
+  else
+    echo "FAILED (exit $?)"
+    failed=1
+  fi
+  cat "${logs[$i]}"
+  rm -f "${logs[$i]}"
+  echo
+done
+
+[ $failed -ne 0 ] && exit $failed
+
+# Repack ar archives with deterministic headers (zero timestamps/uid/gid)
+# Skip foreign-platform archives that ar can't read (e.g. Mach-O on Linux)
+while IFS= read -r -d '' lib; do
+  tmpdir=$(mktemp -d)
+  lib=$(realpath "$lib")
+  if (cd "$tmpdir" && ar x "$lib" 2>/dev/null); then
+    (cd "$tmpdir" && ar Drcs repacked.a * && mv repacked.a "$lib")
+  fi
+  rm -rf "$tmpdir"
+done < <(find "$DIR" -name '*.a' \
+  \( -path '*/x86_64/*' -o -path '*/Darwin/*' -o -path '*/larch64/*' -o -path '*/aarch64/*' \) \
+  -print0)
+
+echo -e "\033[32mAll third_party builds succeeded.\033[0m"
diff --git a/third_party/json11/json11.cpp b/third_party/json11/json11.cpp
index bc4045f07d1..3bd4fde2f2c 100644
--- a/third_party/json11/json11.cpp
+++ b/third_party/json11/json11.cpp
@@ -25,6 +25,7 @@
 #include <cstdlib>
 #include <cstdio>
 #include <limits>
+#include <cstdint>
 
 namespace json11 {
 
diff --git a/third_party/libyuv/.gitignore b/third_party/libyuv/.gitignore
deleted file mode 100644
index 450712e47d2..00000000000
--- a/third_party/libyuv/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-libyuv/
diff --git a/third_party/libyuv/Darwin/lib/libyuv.a b/third_party/libyuv/Darwin/lib/libyuv.a
deleted file mode 100644
index b72979ef19c..00000000000
--- a/third_party/libyuv/Darwin/lib/libyuv.a
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:497e01c39e1629a89afa730341fe066c2e926966c5f050003e7fde2ce46d9da3
-size 863648
diff --git a/third_party/libyuv/LICENSE b/third_party/libyuv/LICENSE
deleted file mode 100644
index c911747a6b5..00000000000
--- a/third_party/libyuv/LICENSE
+++ /dev/null
@@ -1,29 +0,0 @@
-Copyright 2011 The LibYuv Project Authors. All rights reserved.
-
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are
-met:
-
-  * Redistributions of source code must retain the above copyright
-    notice, this list of conditions and the following disclaimer.
-
-  * Redistributions in binary form must reproduce the above copyright
-    notice, this list of conditions and the following disclaimer in
-    the documentation and/or other materials provided with the
-    distribution.
-
-  * Neither the name of Google nor the names of its contributors may
-    be used to endorse or promote products derived from this software
-    without specific prior written permission.
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
-A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
-HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
-SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
-LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
-DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
-THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
-(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/third_party/libyuv/aarch64 b/third_party/libyuv/aarch64
deleted file mode 120000
index 062c65e8d99..00000000000
--- a/third_party/libyuv/aarch64
+++ /dev/null
@@ -1 +0,0 @@
-larch64/
\ No newline at end of file
diff --git a/third_party/libyuv/build.sh b/third_party/libyuv/build.sh
deleted file mode 100755
index b960f60ef5f..00000000000
--- a/third_party/libyuv/build.sh
+++ /dev/null
@@ -1,39 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
-
-ARCHNAME=$(uname -m)
-if [ -f /TICI ]; then
-  ARCHNAME="larch64"
-fi
-
-if [[ "$OSTYPE" == "darwin"* ]]; then
-  ARCHNAME="Darwin"
-fi
-
-cd $DIR
-if [ ! -d libyuv ]; then
-  git clone --single-branch https://chromium.googlesource.com/libyuv/libyuv
-fi
-
-cd libyuv
-git checkout 4a14cb2e81235ecd656e799aecaaf139db8ce4a2
-
-# build
-cmake .
-make -j$(nproc)
-
-INSTALL_DIR="$DIR/$ARCHNAME"
-rm -rf $INSTALL_DIR
-mkdir -p $INSTALL_DIR
-
-rm -rf $DIR/include
-mkdir -p $INSTALL_DIR/lib
-cp $DIR/libyuv/libyuv.a $INSTALL_DIR/lib
-cp -r $DIR/libyuv/include $DIR
-
-## To create universal binary on Darwin:
-## ```
-## lipo -create -output Darwin/libyuv.a path-to-x64/libyuv.a path-to-arm64/libyuv.a
-## ```
diff --git a/third_party/libyuv/include/libyuv.h b/third_party/libyuv/include/libyuv.h
deleted file mode 100644
index aeffd5ef7a4..00000000000
--- a/third_party/libyuv/include/libyuv.h
+++ /dev/null
@@ -1,32 +0,0 @@
-/*
- *  Copyright 2011 The LibYuv Project Authors. All rights reserved.
- *
- *  Use of this source code is governed by a BSD-style license
- *  that can be found in the LICENSE file in the root of the source
- *  tree. An additional intellectual property rights grant can be found
- *  in the file PATENTS. All contributing project authors may
- *  be found in the AUTHORS file in the root of the source tree.
- */
-
-#ifndef INCLUDE_LIBYUV_H_
-#define INCLUDE_LIBYUV_H_
-
-#include "libyuv/basic_types.h"
-#include "libyuv/compare.h"
-#include "libyuv/convert.h"
-#include "libyuv/convert_argb.h"
-#include "libyuv/convert_from.h"
-#include "libyuv/convert_from_argb.h"
-#include "libyuv/cpu_id.h"
-#include "libyuv/mjpeg_decoder.h"
-#include "libyuv/planar_functions.h"
-#include "libyuv/rotate.h"
-#include "libyuv/rotate_argb.h"
-#include "libyuv/row.h"
-#include "libyuv/scale.h"
-#include "libyuv/scale_argb.h"
-#include "libyuv/scale_row.h"
-#include "libyuv/version.h"
-#include "libyuv/video_common.h"
-
-#endif  // INCLUDE_LIBYUV_H_
diff --git a/third_party/libyuv/include/libyuv/basic_types.h b/third_party/libyuv/include/libyuv/basic_types.h
deleted file mode 100644
index 5b760ee0d4d..00000000000
--- a/third_party/libyuv/include/libyuv/basic_types.h
+++ /dev/null
@@ -1,118 +0,0 @@
-/*
- *  Copyright 2011 The LibYuv Project Authors. All rights reserved.
- *
- *  Use of this source code is governed by a BSD-style license
- *  that can be found in the LICENSE file in the root of the source
- *  tree. An additional intellectual property rights grant can be found
- *  in the file PATENTS. All contributing project authors may
- *  be found in the AUTHORS file in the root of the source tree.
- */
-
-#ifndef INCLUDE_LIBYUV_BASIC_TYPES_H_
-#define INCLUDE_LIBYUV_BASIC_TYPES_H_
-
-#include <stddef.h>  // for NULL, size_t
-
-#if defined(_MSC_VER) && (_MSC_VER < 1600)
-#include <sys/types.h>  // for uintptr_t on x86
-#else
-#include <stdint.h>  // for uintptr_t
-#endif
-
-#ifndef GG_LONGLONG
-#ifndef INT_TYPES_DEFINED
-#define INT_TYPES_DEFINED
-#ifdef COMPILER_MSVC
-typedef unsigned __int64 uint64;
-typedef __int64 int64;
-#ifndef INT64_C
-#define INT64_C(x) x ## I64
-#endif
-#ifndef UINT64_C
-#define UINT64_C(x) x ## UI64
-#endif
-#define INT64_F "I64"
-#else  // COMPILER_MSVC
-#if defined(__LP64__) && !defined(__OpenBSD__) && !defined(__APPLE__)
-typedef unsigned long uint64;  // NOLINT
-typedef long int64;  // NOLINT
-#ifndef INT64_C
-#define INT64_C(x) x ## L
-#endif
-#ifndef UINT64_C
-#define UINT64_C(x) x ## UL
-#endif
-#define INT64_F "l"
-#else  // defined(__LP64__) && !defined(__OpenBSD__) && !defined(__APPLE__)
-typedef unsigned long long uint64;  // NOLINT
-typedef long long int64;  // NOLINT
-#ifndef INT64_C
-#define INT64_C(x) x ## LL
-#endif
-#ifndef UINT64_C
-#define UINT64_C(x) x ## ULL
-#endif
-#define INT64_F "ll"
-#endif  // __LP64__
-#endif  // COMPILER_MSVC
-typedef unsigned int uint32;
-typedef int int32;
-typedef unsigned short uint16;  // NOLINT
-typedef short int16;  // NOLINT
-typedef unsigned char uint8;
-typedef signed char int8;
-#endif  // INT_TYPES_DEFINED
-#endif  // GG_LONGLONG
-
-// Detect compiler is for x86 or x64.
-#if defined(__x86_64__) || defined(_M_X64) || \
-    defined(__i386__) || defined(_M_IX86)
-#define CPU_X86 1
-#endif
-// Detect compiler is for ARM.
-#if defined(__arm__) || defined(_M_ARM)
-#define CPU_ARM 1
-#endif
-
-#ifndef ALIGNP
-#ifdef __cplusplus
-#define ALIGNP(p, t) \
-    (reinterpret_cast<uint8*>(((reinterpret_cast<uintptr_t>(p) + \
-    ((t) - 1)) & ~((t) - 1))))
-#else
-#define ALIGNP(p, t) \
-    ((uint8*)((((uintptr_t)(p) + ((t) - 1)) & ~((t) - 1))))  /* NOLINT */
-#endif
-#endif
-
-#if !defined(LIBYUV_API)
-#if defined(_WIN32) || defined(__CYGWIN__)
-#if defined(LIBYUV_BUILDING_SHARED_LIBRARY)
-#define LIBYUV_API __declspec(dllexport)
-#elif defined(LIBYUV_USING_SHARED_LIBRARY)
-#define LIBYUV_API __declspec(dllimport)
-#else
-#define LIBYUV_API
-#endif  // LIBYUV_BUILDING_SHARED_LIBRARY
-#elif defined(__GNUC__) && (__GNUC__ >= 4) && !defined(__APPLE__) && \
-    (defined(LIBYUV_BUILDING_SHARED_LIBRARY) || \
-    defined(LIBYUV_USING_SHARED_LIBRARY))
-#define LIBYUV_API __attribute__ ((visibility ("default")))
-#else
-#define LIBYUV_API
-#endif  // __GNUC__
-#endif  // LIBYUV_API
-
-#define LIBYUV_BOOL int
-#define LIBYUV_FALSE 0
-#define LIBYUV_TRUE 1
-
-// Visual C x86 or GCC little endian.
-#if defined(__x86_64__) || defined(_M_X64) || \
-  defined(__i386__) || defined(_M_IX86) || \
-  defined(__arm__) || defined(_M_ARM) || \
-  (defined(__BYTE_ORDER__) && __BYTE_ORDER__ == __ORDER_LITTLE_ENDIAN__)
-#define LIBYUV_LITTLE_ENDIAN
-#endif
-
-#endif  // INCLUDE_LIBYUV_BASIC_TYPES_H_
diff --git a/third_party/libyuv/include/libyuv/compare.h b/third_party/libyuv/include/libyuv/compare.h
deleted file mode 100644
index 550712de6e5..00000000000
--- a/third_party/libyuv/include/libyuv/compare.h
+++ /dev/null
@@ -1,78 +0,0 @@
-/*
- *  Copyright 2011 The LibYuv Project Authors. All rights reserved.
- *
- *  Use of this source code is governed by a BSD-style license
- *  that can be found in the LICENSE file in the root of the source
- *  tree. An additional intellectual property rights grant can be found
- *  in the file PATENTS. All contributing project authors may
- *  be found in the AUTHORS file in the root of the source tree.
- */
-
-#ifndef INCLUDE_LIBYUV_COMPARE_H_
-#define INCLUDE_LIBYUV_COMPARE_H_
-
-#include "libyuv/basic_types.h"
-
-#ifdef __cplusplus
-namespace libyuv {
-extern "C" {
-#endif
-
-// Compute a hash for specified memory. Seed of 5381 recommended.
-LIBYUV_API
-uint32 HashDjb2(const uint8* src, uint64 count, uint32 seed);
-
-// Scan an opaque argb image and return fourcc based on alpha offset.
-// Returns FOURCC_ARGB, FOURCC_BGRA, or 0 if unknown.
-LIBYUV_API
-uint32 ARGBDetect(const uint8* argb, int stride_argb, int width, int height);
-
-// Sum Square Error - used to compute Mean Square Error or PSNR.
-LIBYUV_API
-uint64 ComputeSumSquareError(const uint8* src_a,
-                             const uint8* src_b, int count);
-
-LIBYUV_API
-uint64 ComputeSumSquareErrorPlane(const uint8* src_a, int stride_a,
-                                  const uint8* src_b, int stride_b,
-                                  int width, int height);
-
-static const int kMaxPsnr = 128;
-
-LIBYUV_API
-double SumSquareErrorToPsnr(uint64 sse, uint64 count);
-
-LIBYUV_API
-double CalcFramePsnr(const uint8* src_a, int stride_a,
-                     const uint8* src_b, int stride_b,
-                     int width, int height);
-
-LIBYUV_API
-double I420Psnr(const uint8* src_y_a, int stride_y_a,
-                const uint8* src_u_a, int stride_u_a,
-                const uint8* src_v_a, int stride_v_a,
-                const uint8* src_y_b, int stride_y_b,
-                const uint8* src_u_b, int stride_u_b,
-                const uint8* src_v_b, int stride_v_b,
-                int width, int height);
-
-LIBYUV_API
-double CalcFrameSsim(const uint8* src_a, int stride_a,
-                     const uint8* src_b, int stride_b,
-                     int width, int height);
-
-LIBYUV_API
-double I420Ssim(const uint8* src_y_a, int stride_y_a,
-                const uint8* src_u_a, int stride_u_a,
-                const uint8* src_v_a, int stride_v_a,
-                const uint8* src_y_b, int stride_y_b,
-                const uint8* src_u_b, int stride_u_b,
-                const uint8* src_v_b, int stride_v_b,
-                int width, int height);
-
-#ifdef __cplusplus
-}  // extern "C"
-}  // namespace libyuv
-#endif
-
-#endif  // INCLUDE_LIBYUV_COMPARE_H_
diff --git a/third_party/libyuv/include/libyuv/compare_row.h b/third_party/libyuv/include/libyuv/compare_row.h
deleted file mode 100644
index 781cad3e65a..00000000000
--- a/third_party/libyuv/include/libyuv/compare_row.h
+++ /dev/null
@@ -1,84 +0,0 @@
-/*
- *  Copyright 2013 The LibYuv Project Authors. All rights reserved.
- *
- *  Use of this source code is governed by a BSD-style license
- *  that can be found in the LICENSE file in the root of the source
- *  tree. An additional intellectual property rights grant can be found
- *  in the file PATENTS. All contributing project authors may
- *  be found in the AUTHORS file in the root of the source tree.
- */
-
-#ifndef INCLUDE_LIBYUV_COMPARE_ROW_H_
-#define INCLUDE_LIBYUV_COMPARE_ROW_H_
-
-#include "libyuv/basic_types.h"
-
-#ifdef __cplusplus
-namespace libyuv {
-extern "C" {
-#endif
-
-#if defined(__pnacl__) || defined(__CLR_VER) || \
-    (defined(__i386__) && !defined(__SSE2__))
-#define LIBYUV_DISABLE_X86
-#endif
-// MemorySanitizer does not support assembly code yet. http://crbug.com/344505
-#if defined(__has_feature)
-#if __has_feature(memory_sanitizer)
-#define LIBYUV_DISABLE_X86
-#endif
-#endif
-
-// Visual C 2012 required for AVX2.
-#if defined(_M_IX86) && !defined(__clang__) && \
-    defined(_MSC_VER) && _MSC_VER >= 1700
-#define VISUALC_HAS_AVX2 1
-#endif  // VisualStudio >= 2012
-
-// clang >= 3.4.0 required for AVX2.
-#if defined(__clang__) && (defined(__x86_64__) || defined(__i386__))
-#if (__clang_major__ > 3) || (__clang_major__ == 3 && (__clang_minor__ >= 4))
-#define CLANG_HAS_AVX2 1
-#endif  // clang >= 3.4
-#endif  // __clang__
-
-#if !defined(LIBYUV_DISABLE_X86) && \
-    defined(_M_IX86) && (defined(VISUALC_HAS_AVX2) || defined(CLANG_HAS_AVX2))
-#define HAS_HASHDJB2_AVX2
-#endif
-
-// The following are available for Visual C and GCC:
-#if !defined(LIBYUV_DISABLE_X86) && \
-    (defined(__x86_64__) || (defined(__i386__) || defined(_M_IX86)))
-#define HAS_HASHDJB2_SSE41
-#define HAS_SUMSQUAREERROR_SSE2
-#endif
-
-// The following are available for Visual C and clangcl 32 bit:
-#if !defined(LIBYUV_DISABLE_X86) && defined(_M_IX86) && \
-    (defined(VISUALC_HAS_AVX2) || defined(CLANG_HAS_AVX2))
-#define HAS_HASHDJB2_AVX2
-#define HAS_SUMSQUAREERROR_AVX2
-#endif
-
-// The following are available for Neon:
-#if !defined(LIBYUV_DISABLE_NEON) && \
-    (defined(__ARM_NEON__) || defined(LIBYUV_NEON) || defined(__aarch64__))
-#define HAS_SUMSQUAREERROR_NEON
-#endif
-
-uint32 SumSquareError_C(const uint8* src_a, const uint8* src_b, int count);
-uint32 SumSquareError_SSE2(const uint8* src_a, const uint8* src_b, int count);
-uint32 SumSquareError_AVX2(const uint8* src_a, const uint8* src_b, int count);
-uint32 SumSquareError_NEON(const uint8* src_a, const uint8* src_b, int count);
-
-uint32 HashDjb2_C(const uint8* src, int count, uint32 seed);
-uint32 HashDjb2_SSE41(const uint8* src, int count, uint32 seed);
-uint32 HashDjb2_AVX2(const uint8* src, int count, uint32 seed);
-
-#ifdef __cplusplus
-}  // extern "C"
-}  // namespace libyuv
-#endif
-
-#endif  // INCLUDE_LIBYUV_COMPARE_ROW_H_
diff --git a/third_party/libyuv/include/libyuv/convert.h b/third_party/libyuv/include/libyuv/convert.h
deleted file mode 100644
index d44485847be..00000000000
--- a/third_party/libyuv/include/libyuv/convert.h
+++ /dev/null
@@ -1,259 +0,0 @@
-/*
- *  Copyright 2011 The LibYuv Project Authors. All rights reserved.
- *
- *  Use of this source code is governed by a BSD-style license
- *  that can be found in the LICENSE file in the root of the source
- *  tree. An additional intellectual property rights grant can be found
- *  in the file PATENTS. All contributing project authors may
- *  be found in the AUTHORS file in the root of the source tree.
- */
-
-#ifndef INCLUDE_LIBYUV_CONVERT_H_
-#define INCLUDE_LIBYUV_CONVERT_H_
-
-#include "libyuv/basic_types.h"
-
-#include "libyuv/rotate.h"  // For enum RotationMode.
-
-// TODO(fbarchard): fix WebRTC source to include following libyuv headers:
-#include "libyuv/convert_argb.h"  // For WebRTC I420ToARGB. b/620
-#include "libyuv/convert_from.h"  // For WebRTC ConvertFromI420. b/620
-#include "libyuv/planar_functions.h"  // For WebRTC I420Rect, CopyPlane. b/618
-
-#ifdef __cplusplus
-namespace libyuv {
-extern "C" {
-#endif
-
-// Convert I444 to I420.
-LIBYUV_API
-int I444ToI420(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int width, int height);
-
-// Convert I422 to I420.
-LIBYUV_API
-int I422ToI420(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int width, int height);
-
-// Convert I411 to I420.
-LIBYUV_API
-int I411ToI420(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int width, int height);
-
-// Copy I420 to I420.
-#define I420ToI420 I420Copy
-LIBYUV_API
-int I420Copy(const uint8* src_y, int src_stride_y,
-             const uint8* src_u, int src_stride_u,
-             const uint8* src_v, int src_stride_v,
-             uint8* dst_y, int dst_stride_y,
-             uint8* dst_u, int dst_stride_u,
-             uint8* dst_v, int dst_stride_v,
-             int width, int height);
-
-// Convert I400 (grey) to I420.
-LIBYUV_API
-int I400ToI420(const uint8* src_y, int src_stride_y,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int width, int height);
-
-#define J400ToJ420 I400ToI420
-
-// Convert NV12 to I420.
-LIBYUV_API
-int NV12ToI420(const uint8* src_y, int src_stride_y,
-               const uint8* src_uv, int src_stride_uv,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int width, int height);
-
-// Convert NV21 to I420.
-LIBYUV_API
-int NV21ToI420(const uint8* src_y, int src_stride_y,
-               const uint8* src_vu, int src_stride_vu,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int width, int height);
-
-// Convert YUY2 to I420.
-LIBYUV_API
-int YUY2ToI420(const uint8* src_yuy2, int src_stride_yuy2,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int width, int height);
-
-// Convert UYVY to I420.
-LIBYUV_API
-int UYVYToI420(const uint8* src_uyvy, int src_stride_uyvy,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int width, int height);
-
-// Convert M420 to I420.
-LIBYUV_API
-int M420ToI420(const uint8* src_m420, int src_stride_m420,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int width, int height);
-
-// Convert Android420 to I420.
-LIBYUV_API
-int Android420ToI420(const uint8* src_y, int src_stride_y,
-                     const uint8* src_u, int src_stride_u,
-                     const uint8* src_v, int src_stride_v,
-                     int pixel_stride_uv,
-                     uint8* dst_y, int dst_stride_y,
-                     uint8* dst_u, int dst_stride_u,
-                     uint8* dst_v, int dst_stride_v,
-                     int width, int height);
-
-// ARGB little endian (bgra in memory) to I420.
-LIBYUV_API
-int ARGBToI420(const uint8* src_frame, int src_stride_frame,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int width, int height);
-
-// BGRA little endian (argb in memory) to I420.
-LIBYUV_API
-int BGRAToI420(const uint8* src_frame, int src_stride_frame,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int width, int height);
-
-// ABGR little endian (rgba in memory) to I420.
-LIBYUV_API
-int ABGRToI420(const uint8* src_frame, int src_stride_frame,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int width, int height);
-
-// RGBA little endian (abgr in memory) to I420.
-LIBYUV_API
-int RGBAToI420(const uint8* src_frame, int src_stride_frame,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int width, int height);
-
-// RGB little endian (bgr in memory) to I420.
-LIBYUV_API
-int RGB24ToI420(const uint8* src_frame, int src_stride_frame,
-                uint8* dst_y, int dst_stride_y,
-                uint8* dst_u, int dst_stride_u,
-                uint8* dst_v, int dst_stride_v,
-                int width, int height);
-
-// RGB big endian (rgb in memory) to I420.
-LIBYUV_API
-int RAWToI420(const uint8* src_frame, int src_stride_frame,
-              uint8* dst_y, int dst_stride_y,
-              uint8* dst_u, int dst_stride_u,
-              uint8* dst_v, int dst_stride_v,
-              int width, int height);
-
-// RGB16 (RGBP fourcc) little endian to I420.
-LIBYUV_API
-int RGB565ToI420(const uint8* src_frame, int src_stride_frame,
-                 uint8* dst_y, int dst_stride_y,
-                 uint8* dst_u, int dst_stride_u,
-                 uint8* dst_v, int dst_stride_v,
-                 int width, int height);
-
-// RGB15 (RGBO fourcc) little endian to I420.
-LIBYUV_API
-int ARGB1555ToI420(const uint8* src_frame, int src_stride_frame,
-                   uint8* dst_y, int dst_stride_y,
-                   uint8* dst_u, int dst_stride_u,
-                   uint8* dst_v, int dst_stride_v,
-                   int width, int height);
-
-// RGB12 (R444 fourcc) little endian to I420.
-LIBYUV_API
-int ARGB4444ToI420(const uint8* src_frame, int src_stride_frame,
-                   uint8* dst_y, int dst_stride_y,
-                   uint8* dst_u, int dst_stride_u,
-                   uint8* dst_v, int dst_stride_v,
-                   int width, int height);
-
-#ifdef HAVE_JPEG
-// src_width/height provided by capture.
-// dst_width/height for clipping determine final size.
-LIBYUV_API
-int MJPGToI420(const uint8* sample, size_t sample_size,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int src_width, int src_height,
-               int dst_width, int dst_height);
-
-// Query size of MJPG in pixels.
-LIBYUV_API
-int MJPGSize(const uint8* sample, size_t sample_size,
-             int* width, int* height);
-#endif
-
-// Convert camera sample to I420 with cropping, rotation and vertical flip.
-// "src_size" is needed to parse MJPG.
-// "dst_stride_y" number of bytes in a row of the dst_y plane.
-//   Normally this would be the same as dst_width, with recommended alignment
-//   to 16 bytes for better efficiency.
-//   If rotation of 90 or 270 is used, stride is affected. The caller should
-//   allocate the I420 buffer according to rotation.
-// "dst_stride_u" number of bytes in a row of the dst_u plane.
-//   Normally this would be the same as (dst_width + 1) / 2, with
-//   recommended alignment to 16 bytes for better efficiency.
-//   If rotation of 90 or 270 is used, stride is affected.
-// "crop_x" and "crop_y" are starting position for cropping.
-//   To center, crop_x = (src_width - dst_width) / 2
-//              crop_y = (src_height - dst_height) / 2
-// "src_width" / "src_height" is size of src_frame in pixels.
-//   "src_height" can be negative indicating a vertically flipped image source.
-// "crop_width" / "crop_height" is the size to crop the src to.
-//    Must be less than or equal to src_width/src_height
-//    Cropping parameters are pre-rotation.
-// "rotation" can be 0, 90, 180 or 270.
-// "format" is a fourcc. ie 'I420', 'YUY2'
-// Returns 0 for successful; -1 for invalid parameter. Non-zero for failure.
-LIBYUV_API
-int ConvertToI420(const uint8* src_frame, size_t src_size,
-                  uint8* dst_y, int dst_stride_y,
-                  uint8* dst_u, int dst_stride_u,
-                  uint8* dst_v, int dst_stride_v,
-                  int crop_x, int crop_y,
-                  int src_width, int src_height,
-                  int crop_width, int crop_height,
-                  enum RotationMode rotation,
-                  uint32 format);
-
-#ifdef __cplusplus
-}  // extern "C"
-}  // namespace libyuv
-#endif
-
-#endif  // INCLUDE_LIBYUV_CONVERT_H_
diff --git a/third_party/libyuv/include/libyuv/convert_argb.h b/third_party/libyuv/include/libyuv/convert_argb.h
deleted file mode 100644
index dc03ac8d5dc..00000000000
--- a/third_party/libyuv/include/libyuv/convert_argb.h
+++ /dev/null
@@ -1,319 +0,0 @@
-/*
- *  Copyright 2012 The LibYuv Project Authors. All rights reserved.
- *
- *  Use of this source code is governed by a BSD-style license
- *  that can be found in the LICENSE file in the root of the source
- *  tree. An additional intellectual property rights grant can be found
- *  in the file PATENTS. All contributing project authors may
- *  be found in the AUTHORS file in the root of the source tree.
- */
-
-#ifndef INCLUDE_LIBYUV_CONVERT_ARGB_H_
-#define INCLUDE_LIBYUV_CONVERT_ARGB_H_
-
-#include "libyuv/basic_types.h"
-
-#include "libyuv/rotate.h"  // For enum RotationMode.
-
-// TODO(fbarchard): This set of functions should exactly match convert.h
-// TODO(fbarchard): Add tests. Create random content of right size and convert
-// with C vs Opt and or to I420 and compare.
-// TODO(fbarchard): Some of these functions lack parameter setting.
-
-#ifdef __cplusplus
-namespace libyuv {
-extern "C" {
-#endif
-
-// Alias.
-#define ARGBToARGB ARGBCopy
-
-// Copy ARGB to ARGB.
-LIBYUV_API
-int ARGBCopy(const uint8* src_argb, int src_stride_argb,
-             uint8* dst_argb, int dst_stride_argb,
-             int width, int height);
-
-// Convert I420 to ARGB.
-LIBYUV_API
-int I420ToARGB(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_argb, int dst_stride_argb,
-               int width, int height);
-
-// Duplicate prototype for function in convert_from.h for remoting.
-LIBYUV_API
-int I420ToABGR(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_argb, int dst_stride_argb,
-               int width, int height);
-
-// Convert I422 to ARGB.
-LIBYUV_API
-int I422ToARGB(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_argb, int dst_stride_argb,
-               int width, int height);
-
-// Convert I444 to ARGB.
-LIBYUV_API
-int I444ToARGB(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_argb, int dst_stride_argb,
-               int width, int height);
-
-// Convert J444 to ARGB.
-LIBYUV_API
-int J444ToARGB(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_argb, int dst_stride_argb,
-               int width, int height);
-
-// Convert I444 to ABGR.
-LIBYUV_API
-int I444ToABGR(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_abgr, int dst_stride_abgr,
-               int width, int height);
-
-// Convert I411 to ARGB.
-LIBYUV_API
-int I411ToARGB(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_argb, int dst_stride_argb,
-               int width, int height);
-
-// Convert I420 with Alpha to preattenuated ARGB.
-LIBYUV_API
-int I420AlphaToARGB(const uint8* src_y, int src_stride_y,
-                    const uint8* src_u, int src_stride_u,
-                    const uint8* src_v, int src_stride_v,
-                    const uint8* src_a, int src_stride_a,
-                    uint8* dst_argb, int dst_stride_argb,
-                    int width, int height, int attenuate);
-
-// Convert I420 with Alpha to preattenuated ABGR.
-LIBYUV_API
-int I420AlphaToABGR(const uint8* src_y, int src_stride_y,
-                    const uint8* src_u, int src_stride_u,
-                    const uint8* src_v, int src_stride_v,
-                    const uint8* src_a, int src_stride_a,
-                    uint8* dst_abgr, int dst_stride_abgr,
-                    int width, int height, int attenuate);
-
-// Convert I400 (grey) to ARGB.  Reverse of ARGBToI400.
-LIBYUV_API
-int I400ToARGB(const uint8* src_y, int src_stride_y,
-               uint8* dst_argb, int dst_stride_argb,
-               int width, int height);
-
-// Convert J400 (jpeg grey) to ARGB.
-LIBYUV_API
-int J400ToARGB(const uint8* src_y, int src_stride_y,
-               uint8* dst_argb, int dst_stride_argb,
-               int width, int height);
-
-// Alias.
-#define YToARGB I400ToARGB
-
-// Convert NV12 to ARGB.
-LIBYUV_API
-int NV12ToARGB(const uint8* src_y, int src_stride_y,
-               const uint8* src_uv, int src_stride_uv,
-               uint8* dst_argb, int dst_stride_argb,
-               int width, int height);
-
-// Convert NV21 to ARGB.
-LIBYUV_API
-int NV21ToARGB(const uint8* src_y, int src_stride_y,
-               const uint8* src_vu, int src_stride_vu,
-               uint8* dst_argb, int dst_stride_argb,
-               int width, int height);
-
-// Convert M420 to ARGB.
-LIBYUV_API
-int M420ToARGB(const uint8* src_m420, int src_stride_m420,
-               uint8* dst_argb, int dst_stride_argb,
-               int width, int height);
-
-// Convert YUY2 to ARGB.
-LIBYUV_API
-int YUY2ToARGB(const uint8* src_yuy2, int src_stride_yuy2,
-               uint8* dst_argb, int dst_stride_argb,
-               int width, int height);
-
-// Convert UYVY to ARGB.
-LIBYUV_API
-int UYVYToARGB(const uint8* src_uyvy, int src_stride_uyvy,
-               uint8* dst_argb, int dst_stride_argb,
-               int width, int height);
-
-// Convert J420 to ARGB.
-LIBYUV_API
-int J420ToARGB(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_argb, int dst_stride_argb,
-               int width, int height);
-
-// Convert J422 to ARGB.
-LIBYUV_API
-int J422ToARGB(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_argb, int dst_stride_argb,
-               int width, int height);
-
-// Convert J420 to ABGR.
-LIBYUV_API
-int J420ToABGR(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_abgr, int dst_stride_abgr,
-               int width, int height);
-
-// Convert J422 to ABGR.
-LIBYUV_API
-int J422ToABGR(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_abgr, int dst_stride_abgr,
-               int width, int height);
-
-// Convert H420 to ARGB.
-LIBYUV_API
-int H420ToARGB(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_argb, int dst_stride_argb,
-               int width, int height);
-
-// Convert H422 to ARGB.
-LIBYUV_API
-int H422ToARGB(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_argb, int dst_stride_argb,
-               int width, int height);
-
-// Convert H420 to ABGR.
-LIBYUV_API
-int H420ToABGR(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_abgr, int dst_stride_abgr,
-               int width, int height);
-
-// Convert H422 to ABGR.
-LIBYUV_API
-int H422ToABGR(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_abgr, int dst_stride_abgr,
-               int width, int height);
-
-// BGRA little endian (argb in memory) to ARGB.
-LIBYUV_API
-int BGRAToARGB(const uint8* src_frame, int src_stride_frame,
-               uint8* dst_argb, int dst_stride_argb,
-               int width, int height);
-
-// ABGR little endian (rgba in memory) to ARGB.
-LIBYUV_API
-int ABGRToARGB(const uint8* src_frame, int src_stride_frame,
-               uint8* dst_argb, int dst_stride_argb,
-               int width, int height);
-
-// RGBA little endian (abgr in memory) to ARGB.
-LIBYUV_API
-int RGBAToARGB(const uint8* src_frame, int src_stride_frame,
-               uint8* dst_argb, int dst_stride_argb,
-               int width, int height);
-
-// Deprecated function name.
-#define BG24ToARGB RGB24ToARGB
-
-// RGB little endian (bgr in memory) to ARGB.
-LIBYUV_API
-int RGB24ToARGB(const uint8* src_frame, int src_stride_frame,
-                uint8* dst_argb, int dst_stride_argb,
-                int width, int height);
-
-// RGB big endian (rgb in memory) to ARGB.
-LIBYUV_API
-int RAWToARGB(const uint8* src_frame, int src_stride_frame,
-              uint8* dst_argb, int dst_stride_argb,
-              int width, int height);
-
-// RGB16 (RGBP fourcc) little endian to ARGB.
-LIBYUV_API
-int RGB565ToARGB(const uint8* src_frame, int src_stride_frame,
-                 uint8* dst_argb, int dst_stride_argb,
-                 int width, int height);
-
-// RGB15 (RGBO fourcc) little endian to ARGB.
-LIBYUV_API
-int ARGB1555ToARGB(const uint8* src_frame, int src_stride_frame,
-                   uint8* dst_argb, int dst_stride_argb,
-                   int width, int height);
-
-// RGB12 (R444 fourcc) little endian to ARGB.
-LIBYUV_API
-int ARGB4444ToARGB(const uint8* src_frame, int src_stride_frame,
-                   uint8* dst_argb, int dst_stride_argb,
-                   int width, int height);
-
-#ifdef HAVE_JPEG
-// src_width/height provided by capture
-// dst_width/height for clipping determine final size.
-LIBYUV_API
-int MJPGToARGB(const uint8* sample, size_t sample_size,
-               uint8* dst_argb, int dst_stride_argb,
-               int src_width, int src_height,
-               int dst_width, int dst_height);
-#endif
-
-// Convert camera sample to ARGB with cropping, rotation and vertical flip.
-// "src_size" is needed to parse MJPG.
-// "dst_stride_argb" number of bytes in a row of the dst_argb plane.
-//   Normally this would be the same as dst_width, with recommended alignment
-//   to 16 bytes for better efficiency.
-//   If rotation of 90 or 270 is used, stride is affected. The caller should
-//   allocate the I420 buffer according to rotation.
-// "dst_stride_u" number of bytes in a row of the dst_u plane.
-//   Normally this would be the same as (dst_width + 1) / 2, with
-//   recommended alignment to 16 bytes for better efficiency.
-//   If rotation of 90 or 270 is used, stride is affected.
-// "crop_x" and "crop_y" are starting position for cropping.
-//   To center, crop_x = (src_width - dst_width) / 2
-//              crop_y = (src_height - dst_height) / 2
-// "src_width" / "src_height" is size of src_frame in pixels.
-//   "src_height" can be negative indicating a vertically flipped image source.
-// "crop_width" / "crop_height" is the size to crop the src to.
-//    Must be less than or equal to src_width/src_height
-//    Cropping parameters are pre-rotation.
-// "rotation" can be 0, 90, 180 or 270.
-// "format" is a fourcc. ie 'I420', 'YUY2'
-// Returns 0 for successful; -1 for invalid parameter. Non-zero for failure.
-LIBYUV_API
-int ConvertToARGB(const uint8* src_frame, size_t src_size,
-                  uint8* dst_argb, int dst_stride_argb,
-                  int crop_x, int crop_y,
-                  int src_width, int src_height,
-                  int crop_width, int crop_height,
-                  enum RotationMode rotation,
-                  uint32 format);
-
-#ifdef __cplusplus
-}  // extern "C"
-}  // namespace libyuv
-#endif
-
-#endif  // INCLUDE_LIBYUV_CONVERT_ARGB_H_
diff --git a/third_party/libyuv/include/libyuv/convert_from.h b/third_party/libyuv/include/libyuv/convert_from.h
deleted file mode 100644
index 59c40474f1e..00000000000
--- a/third_party/libyuv/include/libyuv/convert_from.h
+++ /dev/null
@@ -1,179 +0,0 @@
-/*
- *  Copyright 2011 The LibYuv Project Authors. All rights reserved.
- *
- *  Use of this source code is governed by a BSD-style license
- *  that can be found in the LICENSE file in the root of the source
- *  tree. An additional intellectual property rights grant can be found
- *  in the file PATENTS. All contributing project authors may
- *  be found in the AUTHORS file in the root of the source tree.
- */
-
-#ifndef INCLUDE_LIBYUV_CONVERT_FROM_H_
-#define INCLUDE_LIBYUV_CONVERT_FROM_H_
-
-#include "libyuv/basic_types.h"
-#include "libyuv/rotate.h"
-
-#ifdef __cplusplus
-namespace libyuv {
-extern "C" {
-#endif
-
-// See Also convert.h for conversions from formats to I420.
-
-// I420Copy in convert to I420ToI420.
-
-LIBYUV_API
-int I420ToI422(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int width, int height);
-
-LIBYUV_API
-int I420ToI444(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int width, int height);
-
-LIBYUV_API
-int I420ToI411(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int width, int height);
-
-// Copy to I400. Source can be I420, I422, I444, I400, NV12 or NV21.
-LIBYUV_API
-int I400Copy(const uint8* src_y, int src_stride_y,
-             uint8* dst_y, int dst_stride_y,
-             int width, int height);
-
-LIBYUV_API
-int I420ToNV12(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_uv, int dst_stride_uv,
-               int width, int height);
-
-LIBYUV_API
-int I420ToNV21(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_vu, int dst_stride_vu,
-               int width, int height);
-
-LIBYUV_API
-int I420ToYUY2(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_frame, int dst_stride_frame,
-               int width, int height);
-
-LIBYUV_API
-int I420ToUYVY(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_frame, int dst_stride_frame,
-               int width, int height);
-
-LIBYUV_API
-int I420ToARGB(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_argb, int dst_stride_argb,
-               int width, int height);
-
-LIBYUV_API
-int I420ToBGRA(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_argb, int dst_stride_argb,
-               int width, int height);
-
-LIBYUV_API
-int I420ToABGR(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_argb, int dst_stride_argb,
-               int width, int height);
-
-LIBYUV_API
-int I420ToRGBA(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_rgba, int dst_stride_rgba,
-               int width, int height);
-
-LIBYUV_API
-int I420ToRGB24(const uint8* src_y, int src_stride_y,
-                const uint8* src_u, int src_stride_u,
-                const uint8* src_v, int src_stride_v,
-                uint8* dst_frame, int dst_stride_frame,
-                int width, int height);
-
-LIBYUV_API
-int I420ToRAW(const uint8* src_y, int src_stride_y,
-              const uint8* src_u, int src_stride_u,
-              const uint8* src_v, int src_stride_v,
-              uint8* dst_frame, int dst_stride_frame,
-              int width, int height);
-
-LIBYUV_API
-int I420ToRGB565(const uint8* src_y, int src_stride_y,
-                 const uint8* src_u, int src_stride_u,
-                 const uint8* src_v, int src_stride_v,
-                 uint8* dst_frame, int dst_stride_frame,
-                 int width, int height);
-
-// Convert I420 To RGB565 with 4x4 dither matrix (16 bytes).
-// Values in dither matrix from 0 to 7 recommended.
-// The order of the dither matrix is first byte is upper left.
-
-LIBYUV_API
-int I420ToRGB565Dither(const uint8* src_y, int src_stride_y,
-                       const uint8* src_u, int src_stride_u,
-                       const uint8* src_v, int src_stride_v,
-                       uint8* dst_frame, int dst_stride_frame,
-                       const uint8* dither4x4, int width, int height);
-
-LIBYUV_API
-int I420ToARGB1555(const uint8* src_y, int src_stride_y,
-                   const uint8* src_u, int src_stride_u,
-                   const uint8* src_v, int src_stride_v,
-                   uint8* dst_frame, int dst_stride_frame,
-                   int width, int height);
-
-LIBYUV_API
-int I420ToARGB4444(const uint8* src_y, int src_stride_y,
-                   const uint8* src_u, int src_stride_u,
-                   const uint8* src_v, int src_stride_v,
-                   uint8* dst_frame, int dst_stride_frame,
-                   int width, int height);
-
-// Convert I420 to specified format.
-// "dst_sample_stride" is bytes in a row for the destination. Pass 0 if the
-//    buffer has contiguous rows. Can be negative. A multiple of 16 is optimal.
-LIBYUV_API
-int ConvertFromI420(const uint8* y, int y_stride,
-                    const uint8* u, int u_stride,
-                    const uint8* v, int v_stride,
-                    uint8* dst_sample, int dst_sample_stride,
-                    int width, int height,
-                    uint32 format);
-
-#ifdef __cplusplus
-}  // extern "C"
-}  // namespace libyuv
-#endif
-
-#endif  // INCLUDE_LIBYUV_CONVERT_FROM_H_
diff --git a/third_party/libyuv/include/libyuv/convert_from_argb.h b/third_party/libyuv/include/libyuv/convert_from_argb.h
deleted file mode 100644
index 8d7f02f8c4d..00000000000
--- a/third_party/libyuv/include/libyuv/convert_from_argb.h
+++ /dev/null
@@ -1,190 +0,0 @@
-/*
- *  Copyright 2012 The LibYuv Project Authors. All rights reserved.
- *
- *  Use of this source code is governed by a BSD-style license
- *  that can be found in the LICENSE file in the root of the source
- *  tree. An additional intellectual property rights grant can be found
- *  in the file PATENTS. All contributing project authors may
- *  be found in the AUTHORS file in the root of the source tree.
- */
-
-#ifndef INCLUDE_LIBYUV_CONVERT_FROM_ARGB_H_
-#define INCLUDE_LIBYUV_CONVERT_FROM_ARGB_H_
-
-#include "libyuv/basic_types.h"
-
-#ifdef __cplusplus
-namespace libyuv {
-extern "C" {
-#endif
-
-// Copy ARGB to ARGB.
-#define ARGBToARGB ARGBCopy
-LIBYUV_API
-int ARGBCopy(const uint8* src_argb, int src_stride_argb,
-             uint8* dst_argb, int dst_stride_argb,
-             int width, int height);
-
-// Convert ARGB To BGRA.
-LIBYUV_API
-int ARGBToBGRA(const uint8* src_argb, int src_stride_argb,
-               uint8* dst_bgra, int dst_stride_bgra,
-               int width, int height);
-
-// Convert ARGB To ABGR.
-LIBYUV_API
-int ARGBToABGR(const uint8* src_argb, int src_stride_argb,
-               uint8* dst_abgr, int dst_stride_abgr,
-               int width, int height);
-
-// Convert ARGB To RGBA.
-LIBYUV_API
-int ARGBToRGBA(const uint8* src_argb, int src_stride_argb,
-               uint8* dst_rgba, int dst_stride_rgba,
-               int width, int height);
-
-// Convert ARGB To RGB24.
-LIBYUV_API
-int ARGBToRGB24(const uint8* src_argb, int src_stride_argb,
-                uint8* dst_rgb24, int dst_stride_rgb24,
-                int width, int height);
-
-// Convert ARGB To RAW.
-LIBYUV_API
-int ARGBToRAW(const uint8* src_argb, int src_stride_argb,
-              uint8* dst_rgb, int dst_stride_rgb,
-              int width, int height);
-
-// Convert ARGB To RGB565.
-LIBYUV_API
-int ARGBToRGB565(const uint8* src_argb, int src_stride_argb,
-                 uint8* dst_rgb565, int dst_stride_rgb565,
-                 int width, int height);
-
-// Convert ARGB To RGB565 with 4x4 dither matrix (16 bytes).
-// Values in dither matrix from 0 to 7 recommended.
-// The order of the dither matrix is first byte is upper left.
-// TODO(fbarchard): Consider pointer to 2d array for dither4x4.
-// const uint8(*dither)[4][4];
-LIBYUV_API
-int ARGBToRGB565Dither(const uint8* src_argb, int src_stride_argb,
-                       uint8* dst_rgb565, int dst_stride_rgb565,
-                       const uint8* dither4x4, int width, int height);
-
-// Convert ARGB To ARGB1555.
-LIBYUV_API
-int ARGBToARGB1555(const uint8* src_argb, int src_stride_argb,
-                   uint8* dst_argb1555, int dst_stride_argb1555,
-                   int width, int height);
-
-// Convert ARGB To ARGB4444.
-LIBYUV_API
-int ARGBToARGB4444(const uint8* src_argb, int src_stride_argb,
-                   uint8* dst_argb4444, int dst_stride_argb4444,
-                   int width, int height);
-
-// Convert ARGB To I444.
-LIBYUV_API
-int ARGBToI444(const uint8* src_argb, int src_stride_argb,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int width, int height);
-
-// Convert ARGB To I422.
-LIBYUV_API
-int ARGBToI422(const uint8* src_argb, int src_stride_argb,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int width, int height);
-
-// Convert ARGB To I420. (also in convert.h)
-LIBYUV_API
-int ARGBToI420(const uint8* src_argb, int src_stride_argb,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int width, int height);
-
-// Convert ARGB to J420. (JPeg full range I420).
-LIBYUV_API
-int ARGBToJ420(const uint8* src_argb, int src_stride_argb,
-               uint8* dst_yj, int dst_stride_yj,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int width, int height);
-
-// Convert ARGB to J422.
-LIBYUV_API
-int ARGBToJ422(const uint8* src_argb, int src_stride_argb,
-               uint8* dst_yj, int dst_stride_yj,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int width, int height);
-
-// Convert ARGB To I411.
-LIBYUV_API
-int ARGBToI411(const uint8* src_argb, int src_stride_argb,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int width, int height);
-
-// Convert ARGB to J400. (JPeg full range).
-LIBYUV_API
-int ARGBToJ400(const uint8* src_argb, int src_stride_argb,
-               uint8* dst_yj, int dst_stride_yj,
-               int width, int height);
-
-// Convert ARGB to I400.
-LIBYUV_API
-int ARGBToI400(const uint8* src_argb, int src_stride_argb,
-               uint8* dst_y, int dst_stride_y,
-               int width, int height);
-
-// Convert ARGB to G. (Reverse of J400toARGB, which replicates G back to ARGB)
-LIBYUV_API
-int ARGBToG(const uint8* src_argb, int src_stride_argb,
-            uint8* dst_g, int dst_stride_g,
-            int width, int height);
-
-// Convert ARGB To NV12.
-LIBYUV_API
-int ARGBToNV12(const uint8* src_argb, int src_stride_argb,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_uv, int dst_stride_uv,
-               int width, int height);
-
-// Convert ARGB To NV21.
-LIBYUV_API
-int ARGBToNV21(const uint8* src_argb, int src_stride_argb,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_vu, int dst_stride_vu,
-               int width, int height);
-
-// Convert ARGB To NV21.
-LIBYUV_API
-int ARGBToNV21(const uint8* src_argb, int src_stride_argb,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_vu, int dst_stride_vu,
-               int width, int height);
-
-// Convert ARGB To YUY2.
-LIBYUV_API
-int ARGBToYUY2(const uint8* src_argb, int src_stride_argb,
-               uint8* dst_yuy2, int dst_stride_yuy2,
-               int width, int height);
-
-// Convert ARGB To UYVY.
-LIBYUV_API
-int ARGBToUYVY(const uint8* src_argb, int src_stride_argb,
-               uint8* dst_uyvy, int dst_stride_uyvy,
-               int width, int height);
-
-#ifdef __cplusplus
-}  // extern "C"
-}  // namespace libyuv
-#endif
-
-#endif  // INCLUDE_LIBYUV_CONVERT_FROM_ARGB_H_
diff --git a/third_party/libyuv/include/libyuv/cpu_id.h b/third_party/libyuv/include/libyuv/cpu_id.h
deleted file mode 100644
index 7c6c9aeb005..00000000000
--- a/third_party/libyuv/include/libyuv/cpu_id.h
+++ /dev/null
@@ -1,81 +0,0 @@
-/*
- *  Copyright 2011 The LibYuv Project Authors. All rights reserved.
- *
- *  Use of this source code is governed by a BSD-style license
- *  that can be found in the LICENSE file in the root of the source
- *  tree. An additional intellectual property rights grant can be found
- *  in the file PATENTS. All contributing project authors may
- *  be found in the AUTHORS file in the root of the source tree.
- */
-
-#ifndef INCLUDE_LIBYUV_CPU_ID_H_
-#define INCLUDE_LIBYUV_CPU_ID_H_
-
-#include "libyuv/basic_types.h"
-
-#ifdef __cplusplus
-namespace libyuv {
-extern "C" {
-#endif
-
-// Internal flag to indicate cpuid requires initialization.
-static const int kCpuInitialized = 0x1;
-
-// These flags are only valid on ARM processors.
-static const int kCpuHasARM = 0x2;
-static const int kCpuHasNEON = 0x4;
-// 0x8 reserved for future ARM flag.
-
-// These flags are only valid on x86 processors.
-static const int kCpuHasX86 = 0x10;
-static const int kCpuHasSSE2 = 0x20;
-static const int kCpuHasSSSE3 = 0x40;
-static const int kCpuHasSSE41 = 0x80;
-static const int kCpuHasSSE42 = 0x100;
-static const int kCpuHasAVX = 0x200;
-static const int kCpuHasAVX2 = 0x400;
-static const int kCpuHasERMS = 0x800;
-static const int kCpuHasFMA3 = 0x1000;
-static const int kCpuHasAVX3 = 0x2000;
-// 0x2000, 0x4000, 0x8000 reserved for future X86 flags.
-
-// These flags are only valid on MIPS processors.
-static const int kCpuHasMIPS = 0x10000;
-static const int kCpuHasDSPR2 = 0x20000;
-static const int kCpuHasMSA = 0x40000;
-
-// Internal function used to auto-init.
-LIBYUV_API
-int InitCpuFlags(void);
-
-// Internal function for parsing /proc/cpuinfo.
-LIBYUV_API
-int ArmCpuCaps(const char* cpuinfo_name);
-
-// Detect CPU has SSE2 etc.
-// Test_flag parameter should be one of kCpuHas constants above.
-// returns non-zero if instruction set is detected
-static __inline int TestCpuFlag(int test_flag) {
-  LIBYUV_API extern int cpu_info_;
-  return (!cpu_info_ ? InitCpuFlags() : cpu_info_) & test_flag;
-}
-
-// For testing, allow CPU flags to be disabled.
-// ie MaskCpuFlags(~kCpuHasSSSE3) to disable SSSE3.
-// MaskCpuFlags(-1) to enable all cpu specific optimizations.
-// MaskCpuFlags(1) to disable all cpu specific optimizations.
-LIBYUV_API
-void MaskCpuFlags(int enable_flags);
-
-// Low level cpuid for X86. Returns zeros on other CPUs.
-// eax is the info type that you want.
-// ecx is typically the cpu number, and should normally be zero.
-LIBYUV_API
-void CpuId(uint32 eax, uint32 ecx, uint32* cpu_info);
-
-#ifdef __cplusplus
-}  // extern "C"
-}  // namespace libyuv
-#endif
-
-#endif  // INCLUDE_LIBYUV_CPU_ID_H_
diff --git a/third_party/libyuv/include/libyuv/macros_msa.h b/third_party/libyuv/include/libyuv/macros_msa.h
deleted file mode 100644
index 92ed21c3853..00000000000
--- a/third_party/libyuv/include/libyuv/macros_msa.h
+++ /dev/null
@@ -1,76 +0,0 @@
-/*
- *  Copyright 2016 The LibYuv Project Authors. All rights reserved.
- *
- *  Use of this source code is governed by a BSD-style license
- *  that can be found in the LICENSE file in the root of the source
- *  tree. An additional intellectual property rights grant can be found
- *  in the file PATENTS. All contributing project authors may
- *  be found in the AUTHORS file in the root of the source tree.
- */
-
-#ifndef INCLUDE_LIBYUV_MACROS_MSA_H_
-#define INCLUDE_LIBYUV_MACROS_MSA_H_
-
-#if !defined(LIBYUV_DISABLE_MSA) && defined(__mips_msa)
-#include <stdint.h>
-#include <msa.h>
-
-#define LD_B(RTYPE, psrc) *((RTYPE*)(psrc))   /* NOLINT */
-#define LD_UB(...) LD_B(v16u8, __VA_ARGS__)
-
-#define ST_B(RTYPE, in, pdst) *((RTYPE*)(pdst)) = (in)  /* NOLINT */
-#define ST_UB(...) ST_B(v16u8, __VA_ARGS__)
-
-/* Description : Load two vectors with 16 'byte' sized elements
-   Arguments   : Inputs  - psrc, stride
-                 Outputs - out0, out1
-                 Return Type - as per RTYPE
-   Details     : Load 16 byte elements in 'out0' from (psrc)
-                 Load 16 byte elements in 'out1' from (psrc + stride)
-*/
-#define LD_B2(RTYPE, psrc, stride, out0, out1) {  \
-  out0 = LD_B(RTYPE, (psrc));                     \
-  out1 = LD_B(RTYPE, (psrc) + stride);            \
-}
-#define LD_UB2(...) LD_B2(v16u8, __VA_ARGS__)
-
-#define LD_B4(RTYPE, psrc, stride, out0, out1, out2, out3) {  \
-  LD_B2(RTYPE, (psrc), stride, out0, out1);                   \
-  LD_B2(RTYPE, (psrc) + 2 * stride , stride, out2, out3);     \
-}
-#define LD_UB4(...) LD_B4(v16u8, __VA_ARGS__)
-
-/* Description : Store two vectors with stride each having 16 'byte' sized
-                 elements
-   Arguments   : Inputs - in0, in1, pdst, stride
-   Details     : Store 16 byte elements from 'in0' to (pdst)
-                 Store 16 byte elements from 'in1' to (pdst + stride)
-*/
-#define ST_B2(RTYPE, in0, in1, pdst, stride) {  \
-  ST_B(RTYPE, in0, (pdst));                     \
-  ST_B(RTYPE, in1, (pdst) + stride);            \
-}
-#define ST_UB2(...) ST_B2(v16u8, __VA_ARGS__)
-#
-#define ST_B4(RTYPE, in0, in1, in2, in3, pdst, stride) {  \
-  ST_B2(RTYPE, in0, in1, (pdst), stride);                 \
-  ST_B2(RTYPE, in2, in3, (pdst) + 2 * stride, stride);    \
-}
-#define ST_UB4(...) ST_B4(v16u8, __VA_ARGS__)
-#
-/* Description : Shuffle byte vector elements as per mask vector
-   Arguments   : Inputs  - in0, in1, in2, in3, mask0, mask1
-                 Outputs - out0, out1
-                 Return Type - as per RTYPE
-   Details     : Byte elements from 'in0' & 'in1' are copied selectively to
-                 'out0' as per control vector 'mask0'
-*/
-#define VSHF_B2(RTYPE, in0, in1, in2, in3, mask0, mask1, out0, out1) {   \
-  out0 = (RTYPE) __msa_vshf_b((v16i8) mask0, (v16i8) in1, (v16i8) in0);  \
-  out1 = (RTYPE) __msa_vshf_b((v16i8) mask1, (v16i8) in3, (v16i8) in2);  \
-}
-#define VSHF_B2_UB(...) VSHF_B2(v16u8, __VA_ARGS__)
-
-#endif  /* !defined(LIBYUV_DISABLE_MSA) && defined(__mips_msa) */
-
-#endif  // INCLUDE_LIBYUV_MACROS_MSA_H_
diff --git a/third_party/libyuv/include/libyuv/mjpeg_decoder.h b/third_party/libyuv/include/libyuv/mjpeg_decoder.h
deleted file mode 100644
index 4975bae5b76..00000000000
--- a/third_party/libyuv/include/libyuv/mjpeg_decoder.h
+++ /dev/null
@@ -1,192 +0,0 @@
-/*
- *  Copyright 2012 The LibYuv Project Authors. All rights reserved.
- *
- *  Use of this source code is governed by a BSD-style license
- *  that can be found in the LICENSE file in the root of the source
- *  tree. An additional intellectual property rights grant can be found
- *  in the file PATENTS. All contributing project authors may
- *  be found in the AUTHORS file in the root of the source tree.
- */
-
-#ifndef INCLUDE_LIBYUV_MJPEG_DECODER_H_
-#define INCLUDE_LIBYUV_MJPEG_DECODER_H_
-
-#include "libyuv/basic_types.h"
-
-#ifdef __cplusplus
-// NOTE: For a simplified public API use convert.h MJPGToI420().
-
-struct jpeg_common_struct;
-struct jpeg_decompress_struct;
-struct jpeg_source_mgr;
-
-namespace libyuv {
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-LIBYUV_BOOL ValidateJpeg(const uint8* sample, size_t sample_size);
-
-#ifdef __cplusplus
-}  // extern "C"
-#endif
-
-static const uint32 kUnknownDataSize = 0xFFFFFFFF;
-
-enum JpegSubsamplingType {
-  kJpegYuv420,
-  kJpegYuv422,
-  kJpegYuv411,
-  kJpegYuv444,
-  kJpegYuv400,
-  kJpegUnknown
-};
-
-struct Buffer {
-  const uint8* data;
-  int len;
-};
-
-struct BufferVector {
-  Buffer* buffers;
-  int len;
-  int pos;
-};
-
-struct SetJmpErrorMgr;
-
-// MJPEG ("Motion JPEG") is a pseudo-standard video codec where the frames are
-// simply independent JPEG images with a fixed huffman table (which is omitted).
-// It is rarely used in video transmission, but is common as a camera capture
-// format, especially in Logitech devices. This class implements a decoder for
-// MJPEG frames.
-//
-// See http://tools.ietf.org/html/rfc2435
-class LIBYUV_API MJpegDecoder {
- public:
-  typedef void (*CallbackFunction)(void* opaque,
-                                   const uint8* const* data,
-                                   const int* strides,
-                                   int rows);
-
-  static const int kColorSpaceUnknown;
-  static const int kColorSpaceGrayscale;
-  static const int kColorSpaceRgb;
-  static const int kColorSpaceYCbCr;
-  static const int kColorSpaceCMYK;
-  static const int kColorSpaceYCCK;
-
-  MJpegDecoder();
-  ~MJpegDecoder();
-
-  // Loads a new frame, reads its headers, and determines the uncompressed
-  // image format.
-  // Returns LIBYUV_TRUE if image looks valid and format is supported.
-  // If return value is LIBYUV_TRUE, then the values for all the following
-  // getters are populated.
-  // src_len is the size of the compressed mjpeg frame in bytes.
-  LIBYUV_BOOL LoadFrame(const uint8* src, size_t src_len);
-
-  // Returns width of the last loaded frame in pixels.
-  int GetWidth();
-
-  // Returns height of the last loaded frame in pixels.
-  int GetHeight();
-
-  // Returns format of the last loaded frame. The return value is one of the
-  // kColorSpace* constants.
-  int GetColorSpace();
-
-  // Number of color components in the color space.
-  int GetNumComponents();
-
-  // Sample factors of the n-th component.
-  int GetHorizSampFactor(int component);
-
-  int GetVertSampFactor(int component);
-
-  int GetHorizSubSampFactor(int component);
-
-  int GetVertSubSampFactor(int component);
-
-  // Public for testability.
-  int GetImageScanlinesPerImcuRow();
-
-  // Public for testability.
-  int GetComponentScanlinesPerImcuRow(int component);
-
-  // Width of a component in bytes.
-  int GetComponentWidth(int component);
-
-  // Height of a component.
-  int GetComponentHeight(int component);
-
-  // Width of a component in bytes with padding for DCTSIZE. Public for testing.
-  int GetComponentStride(int component);
-
-  // Size of a component in bytes.
-  int GetComponentSize(int component);
-
-  // Call this after LoadFrame() if you decide you don't want to decode it
-  // after all.
-  LIBYUV_BOOL UnloadFrame();
-
-  // Decodes the entire image into a one-buffer-per-color-component format.
-  // dst_width must match exactly. dst_height must be <= to image height; if
-  // less, the image is cropped. "planes" must have size equal to at least
-  // GetNumComponents() and they must point to non-overlapping buffers of size
-  // at least GetComponentSize(i). The pointers in planes are incremented
-  // to point to after the end of the written data.
-  // TODO(fbarchard): Add dst_x, dst_y to allow specific rect to be decoded.
-  LIBYUV_BOOL DecodeToBuffers(uint8** planes, int dst_width, int dst_height);
-
-  // Decodes the entire image and passes the data via repeated calls to a
-  // callback function. Each call will get the data for a whole number of
-  // image scanlines.
-  // TODO(fbarchard): Add dst_x, dst_y to allow specific rect to be decoded.
-  LIBYUV_BOOL DecodeToCallback(CallbackFunction fn, void* opaque,
-                        int dst_width, int dst_height);
-
-  // The helper function which recognizes the jpeg sub-sampling type.
-  static JpegSubsamplingType JpegSubsamplingTypeHelper(
-     int* subsample_x, int* subsample_y, int number_of_components);
-
- private:
-  void AllocOutputBuffers(int num_outbufs);
-  void DestroyOutputBuffers();
-
-  LIBYUV_BOOL StartDecode();
-  LIBYUV_BOOL FinishDecode();
-
-  void SetScanlinePointers(uint8** data);
-  LIBYUV_BOOL DecodeImcuRow();
-
-  int GetComponentScanlinePadding(int component);
-
-  // A buffer holding the input data for a frame.
-  Buffer buf_;
-  BufferVector buf_vec_;
-
-  jpeg_decompress_struct* decompress_struct_;
-  jpeg_source_mgr* source_mgr_;
-  SetJmpErrorMgr* error_mgr_;
-
-  // LIBYUV_TRUE iff at least one component has scanline padding. (i.e.,
-  // GetComponentScanlinePadding() != 0.)
-  LIBYUV_BOOL has_scanline_padding_;
-
-  // Temporaries used to point to scanline outputs.
-  int num_outbufs_;  // Outermost size of all arrays below.
-  uint8*** scanlines_;
-  int* scanlines_sizes_;
-  // Temporary buffer used for decoding when we can't decode directly to the
-  // output buffers. Large enough for just one iMCU row.
-  uint8** databuf_;
-  int* databuf_strides_;
-};
-
-}  // namespace libyuv
-
-#endif  //  __cplusplus
-#endif  // INCLUDE_LIBYUV_MJPEG_DECODER_H_
diff --git a/third_party/libyuv/include/libyuv/planar_functions.h b/third_party/libyuv/include/libyuv/planar_functions.h
deleted file mode 100644
index 1b57b29261e..00000000000
--- a/third_party/libyuv/include/libyuv/planar_functions.h
+++ /dev/null
@@ -1,529 +0,0 @@
-/*
- *  Copyright 2011 The LibYuv Project Authors. All rights reserved.
- *
- *  Use of this source code is governed by a BSD-style license
- *  that can be found in the LICENSE file in the root of the source
- *  tree. An additional intellectual property rights grant can be found
- *  in the file PATENTS. All contributing project authors may
- *  be found in the AUTHORS file in the root of the source tree.
- */
-
-#ifndef INCLUDE_LIBYUV_PLANAR_FUNCTIONS_H_
-#define INCLUDE_LIBYUV_PLANAR_FUNCTIONS_H_
-
-#include "libyuv/basic_types.h"
-
-// TODO(fbarchard): Remove the following headers includes.
-#include "libyuv/convert.h"
-#include "libyuv/convert_argb.h"
-
-#ifdef __cplusplus
-namespace libyuv {
-extern "C" {
-#endif
-
-// Copy a plane of data.
-LIBYUV_API
-void CopyPlane(const uint8* src_y, int src_stride_y,
-               uint8* dst_y, int dst_stride_y,
-               int width, int height);
-
-LIBYUV_API
-void CopyPlane_16(const uint16* src_y, int src_stride_y,
-                  uint16* dst_y, int dst_stride_y,
-                  int width, int height);
-
-// Set a plane of data to a 32 bit value.
-LIBYUV_API
-void SetPlane(uint8* dst_y, int dst_stride_y,
-              int width, int height,
-              uint32 value);
-
-// Split interleaved UV plane into separate U and V planes.
-LIBYUV_API
-void SplitUVPlane(const uint8* src_uv, int src_stride_uv,
-                  uint8* dst_u, int dst_stride_u,
-                  uint8* dst_v, int dst_stride_v,
-                  int width, int height);
-
-// Merge separate U and V planes into one interleaved UV plane.
-LIBYUV_API
-void MergeUVPlane(const uint8* src_u, int src_stride_u,
-                  const uint8* src_v, int src_stride_v,
-                  uint8* dst_uv, int dst_stride_uv,
-                  int width, int height);
-
-// Copy I400.  Supports inverting.
-LIBYUV_API
-int I400ToI400(const uint8* src_y, int src_stride_y,
-               uint8* dst_y, int dst_stride_y,
-               int width, int height);
-
-#define J400ToJ400 I400ToI400
-
-// Copy I422 to I422.
-#define I422ToI422 I422Copy
-LIBYUV_API
-int I422Copy(const uint8* src_y, int src_stride_y,
-             const uint8* src_u, int src_stride_u,
-             const uint8* src_v, int src_stride_v,
-             uint8* dst_y, int dst_stride_y,
-             uint8* dst_u, int dst_stride_u,
-             uint8* dst_v, int dst_stride_v,
-             int width, int height);
-
-// Copy I444 to I444.
-#define I444ToI444 I444Copy
-LIBYUV_API
-int I444Copy(const uint8* src_y, int src_stride_y,
-             const uint8* src_u, int src_stride_u,
-             const uint8* src_v, int src_stride_v,
-             uint8* dst_y, int dst_stride_y,
-             uint8* dst_u, int dst_stride_u,
-             uint8* dst_v, int dst_stride_v,
-             int width, int height);
-
-// Convert YUY2 to I422.
-LIBYUV_API
-int YUY2ToI422(const uint8* src_yuy2, int src_stride_yuy2,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int width, int height);
-
-// Convert UYVY to I422.
-LIBYUV_API
-int UYVYToI422(const uint8* src_uyvy, int src_stride_uyvy,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int width, int height);
-
-LIBYUV_API
-int YUY2ToNV12(const uint8* src_yuy2, int src_stride_yuy2,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_uv, int dst_stride_uv,
-               int width, int height);
-
-LIBYUV_API
-int UYVYToNV12(const uint8* src_uyvy, int src_stride_uyvy,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_uv, int dst_stride_uv,
-               int width, int height);
-
-// Convert I420 to I400. (calls CopyPlane ignoring u/v).
-LIBYUV_API
-int I420ToI400(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_y, int dst_stride_y,
-               int width, int height);
-
-// Alias
-#define J420ToJ400 I420ToI400
-#define I420ToI420Mirror I420Mirror
-
-// I420 mirror.
-LIBYUV_API
-int I420Mirror(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int width, int height);
-
-// Alias
-#define I400ToI400Mirror I400Mirror
-
-// I400 mirror.  A single plane is mirrored horizontally.
-// Pass negative height to achieve 180 degree rotation.
-LIBYUV_API
-int I400Mirror(const uint8* src_y, int src_stride_y,
-               uint8* dst_y, int dst_stride_y,
-               int width, int height);
-
-// Alias
-#define ARGBToARGBMirror ARGBMirror
-
-// ARGB mirror.
-LIBYUV_API
-int ARGBMirror(const uint8* src_argb, int src_stride_argb,
-               uint8* dst_argb, int dst_stride_argb,
-               int width, int height);
-
-// Convert NV12 to RGB565.
-LIBYUV_API
-int NV12ToRGB565(const uint8* src_y, int src_stride_y,
-                 const uint8* src_uv, int src_stride_uv,
-                 uint8* dst_rgb565, int dst_stride_rgb565,
-                 int width, int height);
-
-// I422ToARGB is in convert_argb.h
-// Convert I422 to BGRA.
-LIBYUV_API
-int I422ToBGRA(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_bgra, int dst_stride_bgra,
-               int width, int height);
-
-// Convert I422 to ABGR.
-LIBYUV_API
-int I422ToABGR(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_abgr, int dst_stride_abgr,
-               int width, int height);
-
-// Convert I422 to RGBA.
-LIBYUV_API
-int I422ToRGBA(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_rgba, int dst_stride_rgba,
-               int width, int height);
-
-// Alias
-#define RGB24ToRAW RAWToRGB24
-
-LIBYUV_API
-int RAWToRGB24(const uint8* src_raw, int src_stride_raw,
-               uint8* dst_rgb24, int dst_stride_rgb24,
-               int width, int height);
-
-// Draw a rectangle into I420.
-LIBYUV_API
-int I420Rect(uint8* dst_y, int dst_stride_y,
-             uint8* dst_u, int dst_stride_u,
-             uint8* dst_v, int dst_stride_v,
-             int x, int y, int width, int height,
-             int value_y, int value_u, int value_v);
-
-// Draw a rectangle into ARGB.
-LIBYUV_API
-int ARGBRect(uint8* dst_argb, int dst_stride_argb,
-             int x, int y, int width, int height, uint32 value);
-
-// Convert ARGB to gray scale ARGB.
-LIBYUV_API
-int ARGBGrayTo(const uint8* src_argb, int src_stride_argb,
-               uint8* dst_argb, int dst_stride_argb,
-               int width, int height);
-
-// Make a rectangle of ARGB gray scale.
-LIBYUV_API
-int ARGBGray(uint8* dst_argb, int dst_stride_argb,
-             int x, int y, int width, int height);
-
-// Make a rectangle of ARGB Sepia tone.
-LIBYUV_API
-int ARGBSepia(uint8* dst_argb, int dst_stride_argb,
-              int x, int y, int width, int height);
-
-// Apply a matrix rotation to each ARGB pixel.
-// matrix_argb is 4 signed ARGB values. -128 to 127 representing -2 to 2.
-// The first 4 coefficients apply to B, G, R, A and produce B of the output.
-// The next 4 coefficients apply to B, G, R, A and produce G of the output.
-// The next 4 coefficients apply to B, G, R, A and produce R of the output.
-// The last 4 coefficients apply to B, G, R, A and produce A of the output.
-LIBYUV_API
-int ARGBColorMatrix(const uint8* src_argb, int src_stride_argb,
-                    uint8* dst_argb, int dst_stride_argb,
-                    const int8* matrix_argb,
-                    int width, int height);
-
-// Deprecated. Use ARGBColorMatrix instead.
-// Apply a matrix rotation to each ARGB pixel.
-// matrix_argb is 3 signed ARGB values. -128 to 127 representing -1 to 1.
-// The first 4 coefficients apply to B, G, R, A and produce B of the output.
-// The next 4 coefficients apply to B, G, R, A and produce G of the output.
-// The last 4 coefficients apply to B, G, R, A and produce R of the output.
-LIBYUV_API
-int RGBColorMatrix(uint8* dst_argb, int dst_stride_argb,
-                   const int8* matrix_rgb,
-                   int x, int y, int width, int height);
-
-// Apply a color table each ARGB pixel.
-// Table contains 256 ARGB values.
-LIBYUV_API
-int ARGBColorTable(uint8* dst_argb, int dst_stride_argb,
-                   const uint8* table_argb,
-                   int x, int y, int width, int height);
-
-// Apply a color table each ARGB pixel but preserve destination alpha.
-// Table contains 256 ARGB values.
-LIBYUV_API
-int RGBColorTable(uint8* dst_argb, int dst_stride_argb,
-                  const uint8* table_argb,
-                  int x, int y, int width, int height);
-
-// Apply a luma/color table each ARGB pixel but preserve destination alpha.
-// Table contains 32768 values indexed by [Y][C] where 7 it 7 bit luma from
-// RGB (YJ style) and C is an 8 bit color component (R, G or B).
-LIBYUV_API
-int ARGBLumaColorTable(const uint8* src_argb, int src_stride_argb,
-                       uint8* dst_argb, int dst_stride_argb,
-                       const uint8* luma_rgb_table,
-                       int width, int height);
-
-// Apply a 3 term polynomial to ARGB values.
-// poly points to a 4x4 matrix.  The first row is constants.  The 2nd row is
-// coefficients for b, g, r and a.  The 3rd row is coefficients for b squared,
-// g squared, r squared and a squared.  The 4rd row is coefficients for b to
-// the 3, g to the 3, r to the 3 and a to the 3.  The values are summed and
-// result clamped to 0 to 255.
-// A polynomial approximation can be dirived using software such as 'R'.
-
-LIBYUV_API
-int ARGBPolynomial(const uint8* src_argb, int src_stride_argb,
-                   uint8* dst_argb, int dst_stride_argb,
-                   const float* poly,
-                   int width, int height);
-
-// Convert plane of 16 bit shorts to half floats.
-// Source values are multiplied by scale before storing as half float.
-LIBYUV_API
-int HalfFloatPlane(const uint16* src_y, int src_stride_y,
-                   uint16* dst_y, int dst_stride_y,
-                   float scale,
-                   int width, int height);
-
-// Quantize a rectangle of ARGB. Alpha unaffected.
-// scale is a 16 bit fractional fixed point scaler between 0 and 65535.
-// interval_size should be a value between 1 and 255.
-// interval_offset should be a value between 0 and 255.
-LIBYUV_API
-int ARGBQuantize(uint8* dst_argb, int dst_stride_argb,
-                 int scale, int interval_size, int interval_offset,
-                 int x, int y, int width, int height);
-
-// Copy ARGB to ARGB.
-LIBYUV_API
-int ARGBCopy(const uint8* src_argb, int src_stride_argb,
-             uint8* dst_argb, int dst_stride_argb,
-             int width, int height);
-
-// Copy Alpha channel of ARGB to alpha of ARGB.
-LIBYUV_API
-int ARGBCopyAlpha(const uint8* src_argb, int src_stride_argb,
-                  uint8* dst_argb, int dst_stride_argb,
-                  int width, int height);
-
-// Extract the alpha channel from ARGB.
-LIBYUV_API
-int ARGBExtractAlpha(const uint8* src_argb, int src_stride_argb,
-                     uint8* dst_a, int dst_stride_a,
-                     int width, int height);
-
-// Copy Y channel to Alpha of ARGB.
-LIBYUV_API
-int ARGBCopyYToAlpha(const uint8* src_y, int src_stride_y,
-                     uint8* dst_argb, int dst_stride_argb,
-                     int width, int height);
-
-typedef void (*ARGBBlendRow)(const uint8* src_argb0, const uint8* src_argb1,
-                             uint8* dst_argb, int width);
-
-// Get function to Alpha Blend ARGB pixels and store to destination.
-LIBYUV_API
-ARGBBlendRow GetARGBBlend();
-
-// Alpha Blend ARGB images and store to destination.
-// Source is pre-multiplied by alpha using ARGBAttenuate.
-// Alpha of destination is set to 255.
-LIBYUV_API
-int ARGBBlend(const uint8* src_argb0, int src_stride_argb0,
-              const uint8* src_argb1, int src_stride_argb1,
-              uint8* dst_argb, int dst_stride_argb,
-              int width, int height);
-
-// Alpha Blend plane and store to destination.
-// Source is not pre-multiplied by alpha.
-LIBYUV_API
-int BlendPlane(const uint8* src_y0, int src_stride_y0,
-               const uint8* src_y1, int src_stride_y1,
-               const uint8* alpha, int alpha_stride,
-               uint8* dst_y, int dst_stride_y,
-               int width, int height);
-
-// Alpha Blend YUV images and store to destination.
-// Source is not pre-multiplied by alpha.
-// Alpha is full width x height and subsampled to half size to apply to UV.
-LIBYUV_API
-int I420Blend(const uint8* src_y0, int src_stride_y0,
-              const uint8* src_u0, int src_stride_u0,
-              const uint8* src_v0, int src_stride_v0,
-              const uint8* src_y1, int src_stride_y1,
-              const uint8* src_u1, int src_stride_u1,
-              const uint8* src_v1, int src_stride_v1,
-              const uint8* alpha, int alpha_stride,
-              uint8* dst_y, int dst_stride_y,
-              uint8* dst_u, int dst_stride_u,
-              uint8* dst_v, int dst_stride_v,
-              int width, int height);
-
-// Multiply ARGB image by ARGB image. Shifted down by 8. Saturates to 255.
-LIBYUV_API
-int ARGBMultiply(const uint8* src_argb0, int src_stride_argb0,
-                 const uint8* src_argb1, int src_stride_argb1,
-                 uint8* dst_argb, int dst_stride_argb,
-                 int width, int height);
-
-// Add ARGB image with ARGB image. Saturates to 255.
-LIBYUV_API
-int ARGBAdd(const uint8* src_argb0, int src_stride_argb0,
-            const uint8* src_argb1, int src_stride_argb1,
-            uint8* dst_argb, int dst_stride_argb,
-            int width, int height);
-
-// Subtract ARGB image (argb1) from ARGB image (argb0). Saturates to 0.
-LIBYUV_API
-int ARGBSubtract(const uint8* src_argb0, int src_stride_argb0,
-                 const uint8* src_argb1, int src_stride_argb1,
-                 uint8* dst_argb, int dst_stride_argb,
-                 int width, int height);
-
-// Convert I422 to YUY2.
-LIBYUV_API
-int I422ToYUY2(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_frame, int dst_stride_frame,
-               int width, int height);
-
-// Convert I422 to UYVY.
-LIBYUV_API
-int I422ToUYVY(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_frame, int dst_stride_frame,
-               int width, int height);
-
-// Convert unattentuated ARGB to preattenuated ARGB.
-LIBYUV_API
-int ARGBAttenuate(const uint8* src_argb, int src_stride_argb,
-                  uint8* dst_argb, int dst_stride_argb,
-                  int width, int height);
-
-// Convert preattentuated ARGB to unattenuated ARGB.
-LIBYUV_API
-int ARGBUnattenuate(const uint8* src_argb, int src_stride_argb,
-                    uint8* dst_argb, int dst_stride_argb,
-                    int width, int height);
-
-// Internal function - do not call directly.
-// Computes table of cumulative sum for image where the value is the sum
-// of all values above and to the left of the entry. Used by ARGBBlur.
-LIBYUV_API
-int ARGBComputeCumulativeSum(const uint8* src_argb, int src_stride_argb,
-                             int32* dst_cumsum, int dst_stride32_cumsum,
-                             int width, int height);
-
-// Blur ARGB image.
-// dst_cumsum table of width * (height + 1) * 16 bytes aligned to
-//   16 byte boundary.
-// dst_stride32_cumsum is number of ints in a row (width * 4).
-// radius is number of pixels around the center.  e.g. 1 = 3x3. 2=5x5.
-// Blur is optimized for radius of 5 (11x11) or less.
-LIBYUV_API
-int ARGBBlur(const uint8* src_argb, int src_stride_argb,
-             uint8* dst_argb, int dst_stride_argb,
-             int32* dst_cumsum, int dst_stride32_cumsum,
-             int width, int height, int radius);
-
-// Multiply ARGB image by ARGB value.
-LIBYUV_API
-int ARGBShade(const uint8* src_argb, int src_stride_argb,
-              uint8* dst_argb, int dst_stride_argb,
-              int width, int height, uint32 value);
-
-// Interpolate between two images using specified amount of interpolation
-// (0 to 255) and store to destination.
-// 'interpolation' is specified as 8 bit fraction where 0 means 100% src0
-// and 255 means 1% src0 and 99% src1.
-LIBYUV_API
-int InterpolatePlane(const uint8* src0, int src_stride0,
-                     const uint8* src1, int src_stride1,
-                     uint8* dst, int dst_stride,
-                     int width, int height, int interpolation);
-
-// Interpolate between two ARGB images using specified amount of interpolation
-// Internally calls InterpolatePlane with width * 4 (bpp).
-LIBYUV_API
-int ARGBInterpolate(const uint8* src_argb0, int src_stride_argb0,
-                    const uint8* src_argb1, int src_stride_argb1,
-                    uint8* dst_argb, int dst_stride_argb,
-                    int width, int height, int interpolation);
-
-// Interpolate between two YUV images using specified amount of interpolation
-// Internally calls InterpolatePlane on each plane where the U and V planes
-// are half width and half height.
-LIBYUV_API
-int I420Interpolate(const uint8* src0_y, int src0_stride_y,
-                    const uint8* src0_u, int src0_stride_u,
-                    const uint8* src0_v, int src0_stride_v,
-                    const uint8* src1_y, int src1_stride_y,
-                    const uint8* src1_u, int src1_stride_u,
-                    const uint8* src1_v, int src1_stride_v,
-                    uint8* dst_y, int dst_stride_y,
-                    uint8* dst_u, int dst_stride_u,
-                    uint8* dst_v, int dst_stride_v,
-                    int width, int height, int interpolation);
-
-#if defined(__pnacl__) || defined(__CLR_VER) || \
-    (defined(__i386__) && !defined(__SSE2__))
-#define LIBYUV_DISABLE_X86
-#endif
-// MemorySanitizer does not support assembly code yet. http://crbug.com/344505
-#if defined(__has_feature)
-#if __has_feature(memory_sanitizer)
-#define LIBYUV_DISABLE_X86
-#endif
-#endif
-// The following are available on all x86 platforms:
-#if !defined(LIBYUV_DISABLE_X86) && \
-    (defined(_M_IX86) || defined(__x86_64__) || defined(__i386__))
-#define HAS_ARGBAFFINEROW_SSE2
-#endif
-
-// Row function for copying pixels from a source with a slope to a row
-// of destination. Useful for scaling, rotation, mirror, texture mapping.
-LIBYUV_API
-void ARGBAffineRow_C(const uint8* src_argb, int src_argb_stride,
-                     uint8* dst_argb, const float* uv_dudv, int width);
-LIBYUV_API
-void ARGBAffineRow_SSE2(const uint8* src_argb, int src_argb_stride,
-                        uint8* dst_argb, const float* uv_dudv, int width);
-
-// Shuffle ARGB channel order.  e.g. BGRA to ARGB.
-// shuffler is 16 bytes and must be aligned.
-LIBYUV_API
-int ARGBShuffle(const uint8* src_bgra, int src_stride_bgra,
-                uint8* dst_argb, int dst_stride_argb,
-                const uint8* shuffler, int width, int height);
-
-// Sobel ARGB effect with planar output.
-LIBYUV_API
-int ARGBSobelToPlane(const uint8* src_argb, int src_stride_argb,
-                     uint8* dst_y, int dst_stride_y,
-                     int width, int height);
-
-// Sobel ARGB effect.
-LIBYUV_API
-int ARGBSobel(const uint8* src_argb, int src_stride_argb,
-              uint8* dst_argb, int dst_stride_argb,
-              int width, int height);
-
-// Sobel ARGB effect w/ Sobel X, Sobel, Sobel Y in ARGB.
-LIBYUV_API
-int ARGBSobelXY(const uint8* src_argb, int src_stride_argb,
-                uint8* dst_argb, int dst_stride_argb,
-                int width, int height);
-
-#ifdef __cplusplus
-}  // extern "C"
-}  // namespace libyuv
-#endif
-
-#endif  // INCLUDE_LIBYUV_PLANAR_FUNCTIONS_H_
diff --git a/third_party/libyuv/include/libyuv/rotate.h b/third_party/libyuv/include/libyuv/rotate.h
deleted file mode 100644
index 8a2da9a5aad..00000000000
--- a/third_party/libyuv/include/libyuv/rotate.h
+++ /dev/null
@@ -1,117 +0,0 @@
-/*
- *  Copyright 2011 The LibYuv Project Authors. All rights reserved.
- *
- *  Use of this source code is governed by a BSD-style license
- *  that can be found in the LICENSE file in the root of the source
- *  tree. An additional intellectual property rights grant can be found
- *  in the file PATENTS. All contributing project authors may
- *  be found in the AUTHORS file in the root of the source tree.
- */
-
-#ifndef INCLUDE_LIBYUV_ROTATE_H_
-#define INCLUDE_LIBYUV_ROTATE_H_
-
-#include "libyuv/basic_types.h"
-
-#ifdef __cplusplus
-namespace libyuv {
-extern "C" {
-#endif
-
-// Supported rotation.
-typedef enum RotationMode {
-  kRotate0 = 0,  // No rotation.
-  kRotate90 = 90,  // Rotate 90 degrees clockwise.
-  kRotate180 = 180,  // Rotate 180 degrees.
-  kRotate270 = 270,  // Rotate 270 degrees clockwise.
-
-  // Deprecated.
-  kRotateNone = 0,
-  kRotateClockwise = 90,
-  kRotateCounterClockwise = 270,
-} RotationModeEnum;
-
-// Rotate I420 frame.
-LIBYUV_API
-int I420Rotate(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int src_width, int src_height, enum RotationMode mode);
-
-// Rotate NV12 input and store in I420.
-LIBYUV_API
-int NV12ToI420Rotate(const uint8* src_y, int src_stride_y,
-                     const uint8* src_uv, int src_stride_uv,
-                     uint8* dst_y, int dst_stride_y,
-                     uint8* dst_u, int dst_stride_u,
-                     uint8* dst_v, int dst_stride_v,
-                     int src_width, int src_height, enum RotationMode mode);
-
-// Rotate a plane by 0, 90, 180, or 270.
-LIBYUV_API
-int RotatePlane(const uint8* src, int src_stride,
-                uint8* dst, int dst_stride,
-                int src_width, int src_height, enum RotationMode mode);
-
-// Rotate planes by 90, 180, 270. Deprecated.
-LIBYUV_API
-void RotatePlane90(const uint8* src, int src_stride,
-                   uint8* dst, int dst_stride,
-                   int width, int height);
-
-LIBYUV_API
-void RotatePlane180(const uint8* src, int src_stride,
-                    uint8* dst, int dst_stride,
-                    int width, int height);
-
-LIBYUV_API
-void RotatePlane270(const uint8* src, int src_stride,
-                    uint8* dst, int dst_stride,
-                    int width, int height);
-
-LIBYUV_API
-void RotateUV90(const uint8* src, int src_stride,
-                uint8* dst_a, int dst_stride_a,
-                uint8* dst_b, int dst_stride_b,
-                int width, int height);
-
-// Rotations for when U and V are interleaved.
-// These functions take one input pointer and
-// split the data into two buffers while
-// rotating them. Deprecated.
-LIBYUV_API
-void RotateUV180(const uint8* src, int src_stride,
-                 uint8* dst_a, int dst_stride_a,
-                 uint8* dst_b, int dst_stride_b,
-                 int width, int height);
-
-LIBYUV_API
-void RotateUV270(const uint8* src, int src_stride,
-                 uint8* dst_a, int dst_stride_a,
-                 uint8* dst_b, int dst_stride_b,
-                 int width, int height);
-
-// The 90 and 270 functions are based on transposes.
-// Doing a transpose with reversing the read/write
-// order will result in a rotation by +- 90 degrees.
-// Deprecated.
-LIBYUV_API
-void TransposePlane(const uint8* src, int src_stride,
-                    uint8* dst, int dst_stride,
-                    int width, int height);
-
-LIBYUV_API
-void TransposeUV(const uint8* src, int src_stride,
-                 uint8* dst_a, int dst_stride_a,
-                 uint8* dst_b, int dst_stride_b,
-                 int width, int height);
-
-#ifdef __cplusplus
-}  // extern "C"
-}  // namespace libyuv
-#endif
-
-#endif  // INCLUDE_LIBYUV_ROTATE_H_
diff --git a/third_party/libyuv/include/libyuv/rotate_argb.h b/third_party/libyuv/include/libyuv/rotate_argb.h
deleted file mode 100644
index 21fe7e1807c..00000000000
--- a/third_party/libyuv/include/libyuv/rotate_argb.h
+++ /dev/null
@@ -1,33 +0,0 @@
-/*
- *  Copyright 2012 The LibYuv Project Authors. All rights reserved.
- *
- *  Use of this source code is governed by a BSD-style license
- *  that can be found in the LICENSE file in the root of the source
- *  tree. An additional intellectual property rights grant can be found
- *  in the file PATENTS. All contributing project authors may
- *  be found in the AUTHORS file in the root of the source tree.
- */
-
-#ifndef INCLUDE_LIBYUV_ROTATE_ARGB_H_
-#define INCLUDE_LIBYUV_ROTATE_ARGB_H_
-
-#include "libyuv/basic_types.h"
-#include "libyuv/rotate.h"  // For RotationMode.
-
-#ifdef __cplusplus
-namespace libyuv {
-extern "C" {
-#endif
-
-// Rotate ARGB frame
-LIBYUV_API
-int ARGBRotate(const uint8* src_argb, int src_stride_argb,
-               uint8* dst_argb, int dst_stride_argb,
-               int src_width, int src_height, enum RotationMode mode);
-
-#ifdef __cplusplus
-}  // extern "C"
-}  // namespace libyuv
-#endif
-
-#endif  // INCLUDE_LIBYUV_ROTATE_ARGB_H_
diff --git a/third_party/libyuv/include/libyuv/rotate_row.h b/third_party/libyuv/include/libyuv/rotate_row.h
deleted file mode 100644
index 6abd2016774..00000000000
--- a/third_party/libyuv/include/libyuv/rotate_row.h
+++ /dev/null
@@ -1,121 +0,0 @@
-/*
- *  Copyright 2013 The LibYuv Project Authors. All rights reserved.
- *
- *  Use of this source code is governed by a BSD-style license
- *  that can be found in the LICENSE file in the root of the source
- *  tree. An additional intellectual property rights grant can be found
- *  in the file PATENTS. All contributing project authors may
- *  be found in the AUTHORS file in the root of the source tree.
- */
-
-#ifndef INCLUDE_LIBYUV_ROTATE_ROW_H_
-#define INCLUDE_LIBYUV_ROTATE_ROW_H_
-
-#include "libyuv/basic_types.h"
-
-#ifdef __cplusplus
-namespace libyuv {
-extern "C" {
-#endif
-
-#if defined(__pnacl__) || defined(__CLR_VER) || \
-    (defined(__i386__) && !defined(__SSE2__))
-#define LIBYUV_DISABLE_X86
-#endif
-// MemorySanitizer does not support assembly code yet. http://crbug.com/344505
-#if defined(__has_feature)
-#if __has_feature(memory_sanitizer)
-#define LIBYUV_DISABLE_X86
-#endif
-#endif
-// The following are available for Visual C and clangcl 32 bit:
-#if !defined(LIBYUV_DISABLE_X86) && defined(_M_IX86)
-#define HAS_TRANSPOSEWX8_SSSE3
-#define HAS_TRANSPOSEUVWX8_SSE2
-#endif
-
-// The following are available for GCC 32 or 64 bit but not NaCL for 64 bit:
-#if !defined(LIBYUV_DISABLE_X86) && \
-    (defined(__i386__) || (defined(__x86_64__) && !defined(__native_client__)))
-#define HAS_TRANSPOSEWX8_SSSE3
-#endif
-
-// The following are available for 64 bit GCC but not NaCL:
-#if !defined(LIBYUV_DISABLE_X86) && !defined(__native_client__) && \
-    defined(__x86_64__)
-#define HAS_TRANSPOSEWX8_FAST_SSSE3
-#define HAS_TRANSPOSEUVWX8_SSE2
-#endif
-
-#if !defined(LIBYUV_DISABLE_NEON) && !defined(__native_client__) && \
-    (defined(__ARM_NEON__) || defined(LIBYUV_NEON) || defined(__aarch64__))
-#define HAS_TRANSPOSEWX8_NEON
-#define HAS_TRANSPOSEUVWX8_NEON
-#endif
-
-#if !defined(LIBYUV_DISABLE_MIPS) && !defined(__native_client__) && \
-    defined(__mips__) && \
-    defined(__mips_dsp) && (__mips_dsp_rev >= 2)
-#define HAS_TRANSPOSEWX8_DSPR2
-#define HAS_TRANSPOSEUVWX8_DSPR2
-#endif  // defined(__mips__)
-
-void TransposeWxH_C(const uint8* src, int src_stride,
-                    uint8* dst, int dst_stride, int width, int height);
-
-void TransposeWx8_C(const uint8* src, int src_stride,
-                    uint8* dst, int dst_stride, int width);
-void TransposeWx8_NEON(const uint8* src, int src_stride,
-                       uint8* dst, int dst_stride, int width);
-void TransposeWx8_SSSE3(const uint8* src, int src_stride,
-                        uint8* dst, int dst_stride, int width);
-void TransposeWx8_Fast_SSSE3(const uint8* src, int src_stride,
-                             uint8* dst, int dst_stride, int width);
-void TransposeWx8_DSPR2(const uint8* src, int src_stride,
-                        uint8* dst, int dst_stride, int width);
-void TransposeWx8_Fast_DSPR2(const uint8* src, int src_stride,
-                             uint8* dst, int dst_stride, int width);
-
-void TransposeWx8_Any_NEON(const uint8* src, int src_stride,
-                           uint8* dst, int dst_stride, int width);
-void TransposeWx8_Any_SSSE3(const uint8* src, int src_stride,
-                            uint8* dst, int dst_stride, int width);
-void TransposeWx8_Fast_Any_SSSE3(const uint8* src, int src_stride,
-                                 uint8* dst, int dst_stride, int width);
-void TransposeWx8_Any_DSPR2(const uint8* src, int src_stride,
-                            uint8* dst, int dst_stride, int width);
-
-void TransposeUVWxH_C(const uint8* src, int src_stride,
-                      uint8* dst_a, int dst_stride_a,
-                      uint8* dst_b, int dst_stride_b,
-                      int width, int height);
-
-void TransposeUVWx8_C(const uint8* src, int src_stride,
-                      uint8* dst_a, int dst_stride_a,
-                      uint8* dst_b, int dst_stride_b, int width);
-void TransposeUVWx8_SSE2(const uint8* src, int src_stride,
-                         uint8* dst_a, int dst_stride_a,
-                         uint8* dst_b, int dst_stride_b, int width);
-void TransposeUVWx8_NEON(const uint8* src, int src_stride,
-                         uint8* dst_a, int dst_stride_a,
-                         uint8* dst_b, int dst_stride_b, int width);
-void TransposeUVWx8_DSPR2(const uint8* src, int src_stride,
-                          uint8* dst_a, int dst_stride_a,
-                          uint8* dst_b, int dst_stride_b, int width);
-
-void TransposeUVWx8_Any_SSE2(const uint8* src, int src_stride,
-                             uint8* dst_a, int dst_stride_a,
-                             uint8* dst_b, int dst_stride_b, int width);
-void TransposeUVWx8_Any_NEON(const uint8* src, int src_stride,
-                             uint8* dst_a, int dst_stride_a,
-                             uint8* dst_b, int dst_stride_b, int width);
-void TransposeUVWx8_Any_DSPR2(const uint8* src, int src_stride,
-                              uint8* dst_a, int dst_stride_a,
-                              uint8* dst_b, int dst_stride_b, int width);
-
-#ifdef __cplusplus
-}  // extern "C"
-}  // namespace libyuv
-#endif
-
-#endif  // INCLUDE_LIBYUV_ROTATE_ROW_H_
diff --git a/third_party/libyuv/include/libyuv/row.h b/third_party/libyuv/include/libyuv/row.h
deleted file mode 100644
index b810221ec7a..00000000000
--- a/third_party/libyuv/include/libyuv/row.h
+++ /dev/null
@@ -1,1963 +0,0 @@
-/*
- *  Copyright 2011 The LibYuv Project Authors. All rights reserved.
- *
- *  Use of this source code is governed by a BSD-style license
- *  that can be found in the LICENSE file in the root of the source
- *  tree. An additional intellectual property rights grant can be found
- *  in the file PATENTS. All contributing project authors may
- *  be found in the AUTHORS file in the root of the source tree.
- */
-
-#ifndef INCLUDE_LIBYUV_ROW_H_
-#define INCLUDE_LIBYUV_ROW_H_
-
-#include <stdlib.h>  // For malloc.
-
-#include "libyuv/basic_types.h"
-
-#ifdef __cplusplus
-namespace libyuv {
-extern "C" {
-#endif
-
-#define IS_ALIGNED(p, a) (!((uintptr_t)(p) & ((a) - 1)))
-
-#define align_buffer_64(var, size)                                             \
-  uint8* var##_mem = (uint8*)(malloc((size) + 63));               /* NOLINT */ \
-  uint8* var = (uint8*)(((intptr_t)(var##_mem) + 63) & ~63)       /* NOLINT */
-
-#define free_aligned_buffer_64(var) \
-  free(var##_mem);  \
-  var = 0
-
-#if defined(__pnacl__) || defined(__CLR_VER) || \
-    (defined(__i386__) && !defined(__SSE2__))
-#define LIBYUV_DISABLE_X86
-#endif
-// MemorySanitizer does not support assembly code yet. http://crbug.com/344505
-#if defined(__has_feature)
-#if __has_feature(memory_sanitizer)
-#define LIBYUV_DISABLE_X86
-#endif
-#endif
-// True if compiling for SSSE3 as a requirement.
-#if defined(__SSSE3__) || (defined(_M_IX86_FP) && (_M_IX86_FP >= 3))
-#define LIBYUV_SSSE3_ONLY
-#endif
-
-#if defined(__native_client__)
-#define LIBYUV_DISABLE_NEON
-#endif
-// clang >= 3.5.0 required for Arm64.
-#if defined(__clang__) && defined(__aarch64__) && !defined(LIBYUV_DISABLE_NEON)
-#if (__clang_major__ < 3) || (__clang_major__ == 3 && (__clang_minor__ < 5))
-#define LIBYUV_DISABLE_NEON
-#endif  // clang >= 3.5
-#endif  // __clang__
-
-// GCC >= 4.7.0 required for AVX2.
-#if defined(__GNUC__) && (defined(__x86_64__) || defined(__i386__))
-#if (__GNUC__ > 4) || (__GNUC__ == 4 && (__GNUC_MINOR__ >= 7))
-#define GCC_HAS_AVX2 1
-#endif  // GNUC >= 4.7
-#endif  // __GNUC__
-
-// clang >= 3.4.0 required for AVX2.
-#if defined(__clang__) && (defined(__x86_64__) || defined(__i386__))
-#if (__clang_major__ > 3) || (__clang_major__ == 3 && (__clang_minor__ >= 4))
-#define CLANG_HAS_AVX2 1
-#endif  // clang >= 3.4
-#endif  // __clang__
-
-// Visual C 2012 required for AVX2.
-#if defined(_M_IX86) && !defined(__clang__) && \
-    defined(_MSC_VER) && _MSC_VER >= 1700
-#define VISUALC_HAS_AVX2 1
-#endif  // VisualStudio >= 2012
-
-// The following are available on all x86 platforms:
-#if !defined(LIBYUV_DISABLE_X86) && \
-    (defined(_M_IX86) || defined(__x86_64__) || defined(__i386__))
-// Conversions:
-#define HAS_ABGRTOUVROW_SSSE3
-#define HAS_ABGRTOYROW_SSSE3
-#define HAS_ARGB1555TOARGBROW_SSE2
-#define HAS_ARGB4444TOARGBROW_SSE2
-#define HAS_ARGBSETROW_X86
-#define HAS_ARGBSHUFFLEROW_SSE2
-#define HAS_ARGBSHUFFLEROW_SSSE3
-#define HAS_ARGBTOARGB1555ROW_SSE2
-#define HAS_ARGBTOARGB4444ROW_SSE2
-#define HAS_ARGBTORAWROW_SSSE3
-#define HAS_ARGBTORGB24ROW_SSSE3
-#define HAS_ARGBTORGB565DITHERROW_SSE2
-#define HAS_ARGBTORGB565ROW_SSE2
-#define HAS_ARGBTOUV444ROW_SSSE3
-#define HAS_ARGBTOUVJROW_SSSE3
-#define HAS_ARGBTOUVROW_SSSE3
-#define HAS_ARGBTOYJROW_SSSE3
-#define HAS_ARGBTOYROW_SSSE3
-#define HAS_ARGBEXTRACTALPHAROW_SSE2
-#define HAS_BGRATOUVROW_SSSE3
-#define HAS_BGRATOYROW_SSSE3
-#define HAS_COPYROW_ERMS
-#define HAS_COPYROW_SSE2
-#define HAS_H422TOARGBROW_SSSE3
-#define HAS_I400TOARGBROW_SSE2
-#define HAS_I422TOARGB1555ROW_SSSE3
-#define HAS_I422TOARGB4444ROW_SSSE3
-#define HAS_I422TOARGBROW_SSSE3
-#define HAS_I422TORGB24ROW_SSSE3
-#define HAS_I422TORGB565ROW_SSSE3
-#define HAS_I422TORGBAROW_SSSE3
-#define HAS_I422TOUYVYROW_SSE2
-#define HAS_I422TOYUY2ROW_SSE2
-#define HAS_I444TOARGBROW_SSSE3
-#define HAS_J400TOARGBROW_SSE2
-#define HAS_J422TOARGBROW_SSSE3
-#define HAS_MERGEUVROW_SSE2
-#define HAS_MIRRORROW_SSSE3
-#define HAS_MIRRORUVROW_SSSE3
-#define HAS_NV12TOARGBROW_SSSE3
-#define HAS_NV12TORGB565ROW_SSSE3
-#define HAS_NV21TOARGBROW_SSSE3
-#define HAS_RAWTOARGBROW_SSSE3
-#define HAS_RAWTORGB24ROW_SSSE3
-#define HAS_RAWTOYROW_SSSE3
-#define HAS_RGB24TOARGBROW_SSSE3
-#define HAS_RGB24TOYROW_SSSE3
-#define HAS_RGB565TOARGBROW_SSE2
-#define HAS_RGBATOUVROW_SSSE3
-#define HAS_RGBATOYROW_SSSE3
-#define HAS_SETROW_ERMS
-#define HAS_SETROW_X86
-#define HAS_SPLITUVROW_SSE2
-#define HAS_UYVYTOARGBROW_SSSE3
-#define HAS_UYVYTOUV422ROW_SSE2
-#define HAS_UYVYTOUVROW_SSE2
-#define HAS_UYVYTOYROW_SSE2
-#define HAS_YUY2TOARGBROW_SSSE3
-#define HAS_YUY2TOUV422ROW_SSE2
-#define HAS_YUY2TOUVROW_SSE2
-#define HAS_YUY2TOYROW_SSE2
-
-// Effects:
-#define HAS_ARGBADDROW_SSE2
-#define HAS_ARGBAFFINEROW_SSE2
-#define HAS_ARGBATTENUATEROW_SSSE3
-#define HAS_ARGBBLENDROW_SSSE3
-#define HAS_ARGBCOLORMATRIXROW_SSSE3
-#define HAS_ARGBCOLORTABLEROW_X86
-#define HAS_ARGBCOPYALPHAROW_SSE2
-#define HAS_ARGBCOPYYTOALPHAROW_SSE2
-#define HAS_ARGBGRAYROW_SSSE3
-#define HAS_ARGBLUMACOLORTABLEROW_SSSE3
-#define HAS_ARGBMIRRORROW_SSE2
-#define HAS_ARGBMULTIPLYROW_SSE2
-#define HAS_ARGBPOLYNOMIALROW_SSE2
-#define HAS_ARGBQUANTIZEROW_SSE2
-#define HAS_ARGBSEPIAROW_SSSE3
-#define HAS_ARGBSHADEROW_SSE2
-#define HAS_ARGBSUBTRACTROW_SSE2
-#define HAS_ARGBUNATTENUATEROW_SSE2
-#define HAS_BLENDPLANEROW_SSSE3
-#define HAS_COMPUTECUMULATIVESUMROW_SSE2
-#define HAS_CUMULATIVESUMTOAVERAGEROW_SSE2
-#define HAS_INTERPOLATEROW_SSSE3
-#define HAS_RGBCOLORTABLEROW_X86
-#define HAS_SOBELROW_SSE2
-#define HAS_SOBELTOPLANEROW_SSE2
-#define HAS_SOBELXROW_SSE2
-#define HAS_SOBELXYROW_SSE2
-#define HAS_SOBELYROW_SSE2
-
-// The following functions fail on gcc/clang 32 bit with fpic and framepointer.
-// caveat: clangcl uses row_win.cc which works.
-#if defined(NDEBUG) || !(defined(_DEBUG) && defined(__i386__)) || \
-    !defined(__i386__) || defined(_MSC_VER)
-// TODO(fbarchard): fix build error on x86 debug
-// https://code.google.com/p/libyuv/issues/detail?id=524
-#define HAS_I411TOARGBROW_SSSE3
-// TODO(fbarchard): fix build error on android_full_debug=1
-// https://code.google.com/p/libyuv/issues/detail?id=517
-#define HAS_I422ALPHATOARGBROW_SSSE3
-#endif
-#endif
-
-// The following are available on all x86 platforms, but
-// require VS2012, clang 3.4 or gcc 4.7.
-// The code supports NaCL but requires a new compiler and validator.
-#if !defined(LIBYUV_DISABLE_X86) && (defined(VISUALC_HAS_AVX2) || \
-    defined(CLANG_HAS_AVX2) || defined(GCC_HAS_AVX2))
-#define HAS_ARGBCOPYALPHAROW_AVX2
-#define HAS_ARGBCOPYYTOALPHAROW_AVX2
-#define HAS_ARGBMIRRORROW_AVX2
-#define HAS_ARGBPOLYNOMIALROW_AVX2
-#define HAS_ARGBSHUFFLEROW_AVX2
-#define HAS_ARGBTORGB565DITHERROW_AVX2
-#define HAS_ARGBTOUVJROW_AVX2
-#define HAS_ARGBTOUVROW_AVX2
-#define HAS_ARGBTOYJROW_AVX2
-#define HAS_ARGBTOYROW_AVX2
-#define HAS_COPYROW_AVX
-#define HAS_H422TOARGBROW_AVX2
-#define HAS_I400TOARGBROW_AVX2
-#if !(defined(_DEBUG) && defined(__i386__))
-// TODO(fbarchard): fix build error on android_full_debug=1
-// https://code.google.com/p/libyuv/issues/detail?id=517
-#define HAS_I422ALPHATOARGBROW_AVX2
-#endif
-#define HAS_I411TOARGBROW_AVX2
-#define HAS_I422TOARGB1555ROW_AVX2
-#define HAS_I422TOARGB4444ROW_AVX2
-#define HAS_I422TOARGBROW_AVX2
-#define HAS_I422TORGB24ROW_AVX2
-#define HAS_I422TORGB565ROW_AVX2
-#define HAS_I422TORGBAROW_AVX2
-#define HAS_I444TOARGBROW_AVX2
-#define HAS_INTERPOLATEROW_AVX2
-#define HAS_J422TOARGBROW_AVX2
-#define HAS_MERGEUVROW_AVX2
-#define HAS_MIRRORROW_AVX2
-#define HAS_NV12TOARGBROW_AVX2
-#define HAS_NV12TORGB565ROW_AVX2
-#define HAS_NV21TOARGBROW_AVX2
-#define HAS_SPLITUVROW_AVX2
-#define HAS_UYVYTOARGBROW_AVX2
-#define HAS_UYVYTOUV422ROW_AVX2
-#define HAS_UYVYTOUVROW_AVX2
-#define HAS_UYVYTOYROW_AVX2
-#define HAS_YUY2TOARGBROW_AVX2
-#define HAS_YUY2TOUV422ROW_AVX2
-#define HAS_YUY2TOUVROW_AVX2
-#define HAS_YUY2TOYROW_AVX2
-#define HAS_HALFFLOATROW_AVX2
-
-// Effects:
-#define HAS_ARGBADDROW_AVX2
-#define HAS_ARGBATTENUATEROW_AVX2
-#define HAS_ARGBMULTIPLYROW_AVX2
-#define HAS_ARGBSUBTRACTROW_AVX2
-#define HAS_ARGBUNATTENUATEROW_AVX2
-#define HAS_BLENDPLANEROW_AVX2
-#endif
-
-// The following are available for AVX2 Visual C and clangcl 32 bit:
-// TODO(fbarchard): Port to gcc.
-#if !defined(LIBYUV_DISABLE_X86) && defined(_M_IX86) && \
-    (defined(VISUALC_HAS_AVX2) || defined(CLANG_HAS_AVX2))
-#define HAS_ARGB1555TOARGBROW_AVX2
-#define HAS_ARGB4444TOARGBROW_AVX2
-#define HAS_ARGBTOARGB1555ROW_AVX2
-#define HAS_ARGBTOARGB4444ROW_AVX2
-#define HAS_ARGBTORGB565ROW_AVX2
-#define HAS_J400TOARGBROW_AVX2
-#define HAS_RGB565TOARGBROW_AVX2
-#endif
-
-// The following are also available on x64 Visual C.
-#if !defined(LIBYUV_DISABLE_X86) && defined(_MSC_VER) && defined(_M_X64) && \
-    (!defined(__clang__) || defined(__SSSE3__))
-#define HAS_I422ALPHATOARGBROW_SSSE3
-#define HAS_I422TOARGBROW_SSSE3
-#endif
-
-// The following are available on gcc x86 platforms:
-// TODO(fbarchard): Port to Visual C.
-#if !defined(LIBYUV_DISABLE_X86) && \
-    (defined(__x86_64__) || (defined(__i386__) && !defined(_MSC_VER)))
-#define HAS_HALFFLOATROW_SSE2
-#endif
-
-// The following are available on Neon platforms:
-#if !defined(LIBYUV_DISABLE_NEON) && \
-    (defined(__aarch64__) || defined(__ARM_NEON__) || defined(LIBYUV_NEON))
-#define HAS_ABGRTOUVROW_NEON
-#define HAS_ABGRTOYROW_NEON
-#define HAS_ARGB1555TOARGBROW_NEON
-#define HAS_ARGB1555TOUVROW_NEON
-#define HAS_ARGB1555TOYROW_NEON
-#define HAS_ARGB4444TOARGBROW_NEON
-#define HAS_ARGB4444TOUVROW_NEON
-#define HAS_ARGB4444TOYROW_NEON
-#define HAS_ARGBSETROW_NEON
-#define HAS_ARGBTOARGB1555ROW_NEON
-#define HAS_ARGBTOARGB4444ROW_NEON
-#define HAS_ARGBTORAWROW_NEON
-#define HAS_ARGBTORGB24ROW_NEON
-#define HAS_ARGBTORGB565DITHERROW_NEON
-#define HAS_ARGBTORGB565ROW_NEON
-#define HAS_ARGBTOUV411ROW_NEON
-#define HAS_ARGBTOUV444ROW_NEON
-#define HAS_ARGBTOUVJROW_NEON
-#define HAS_ARGBTOUVROW_NEON
-#define HAS_ARGBTOYJROW_NEON
-#define HAS_ARGBTOYROW_NEON
-#define HAS_ARGBEXTRACTALPHAROW_NEON
-#define HAS_BGRATOUVROW_NEON
-#define HAS_BGRATOYROW_NEON
-#define HAS_COPYROW_NEON
-#define HAS_I400TOARGBROW_NEON
-#define HAS_I411TOARGBROW_NEON
-#define HAS_I422ALPHATOARGBROW_NEON
-#define HAS_I422TOARGB1555ROW_NEON
-#define HAS_I422TOARGB4444ROW_NEON
-#define HAS_I422TOARGBROW_NEON
-#define HAS_I422TORGB24ROW_NEON
-#define HAS_I422TORGB565ROW_NEON
-#define HAS_I422TORGBAROW_NEON
-#define HAS_I422TOUYVYROW_NEON
-#define HAS_I422TOYUY2ROW_NEON
-#define HAS_I444TOARGBROW_NEON
-#define HAS_J400TOARGBROW_NEON
-#define HAS_MERGEUVROW_NEON
-#define HAS_MIRRORROW_NEON
-#define HAS_MIRRORUVROW_NEON
-#define HAS_NV12TOARGBROW_NEON
-#define HAS_NV12TORGB565ROW_NEON
-#define HAS_NV21TOARGBROW_NEON
-#define HAS_RAWTOARGBROW_NEON
-#define HAS_RAWTORGB24ROW_NEON
-#define HAS_RAWTOUVROW_NEON
-#define HAS_RAWTOYROW_NEON
-#define HAS_RGB24TOARGBROW_NEON
-#define HAS_RGB24TOUVROW_NEON
-#define HAS_RGB24TOYROW_NEON
-#define HAS_RGB565TOARGBROW_NEON
-#define HAS_RGB565TOUVROW_NEON
-#define HAS_RGB565TOYROW_NEON
-#define HAS_RGBATOUVROW_NEON
-#define HAS_RGBATOYROW_NEON
-#define HAS_SETROW_NEON
-#define HAS_SPLITUVROW_NEON
-#define HAS_UYVYTOARGBROW_NEON
-#define HAS_UYVYTOUV422ROW_NEON
-#define HAS_UYVYTOUVROW_NEON
-#define HAS_UYVYTOYROW_NEON
-#define HAS_YUY2TOARGBROW_NEON
-#define HAS_YUY2TOUV422ROW_NEON
-#define HAS_YUY2TOUVROW_NEON
-#define HAS_YUY2TOYROW_NEON
-
-// Effects:
-#define HAS_ARGBADDROW_NEON
-#define HAS_ARGBATTENUATEROW_NEON
-#define HAS_ARGBBLENDROW_NEON
-#define HAS_ARGBCOLORMATRIXROW_NEON
-#define HAS_ARGBGRAYROW_NEON
-#define HAS_ARGBMIRRORROW_NEON
-#define HAS_ARGBMULTIPLYROW_NEON
-#define HAS_ARGBQUANTIZEROW_NEON
-#define HAS_ARGBSEPIAROW_NEON
-#define HAS_ARGBSHADEROW_NEON
-#define HAS_ARGBSHUFFLEROW_NEON
-#define HAS_ARGBSUBTRACTROW_NEON
-#define HAS_INTERPOLATEROW_NEON
-#define HAS_SOBELROW_NEON
-#define HAS_SOBELTOPLANEROW_NEON
-#define HAS_SOBELXROW_NEON
-#define HAS_SOBELXYROW_NEON
-#define HAS_SOBELYROW_NEON
-#endif
-
-// The following are available on Mips platforms:
-#if !defined(LIBYUV_DISABLE_MIPS) && defined(__mips__) && \
-    (_MIPS_SIM == _MIPS_SIM_ABI32) && (__mips_isa_rev < 6)
-#define HAS_COPYROW_MIPS
-#if defined(__mips_dsp) && (__mips_dsp_rev >= 2)
-#define HAS_I422TOARGBROW_DSPR2
-#define HAS_INTERPOLATEROW_DSPR2
-#define HAS_MIRRORROW_DSPR2
-#define HAS_MIRRORUVROW_DSPR2
-#define HAS_SPLITUVROW_DSPR2
-#endif
-#endif
-
-#if !defined(LIBYUV_DISABLE_MSA) && defined(__mips_msa)
-#define HAS_MIRRORROW_MSA
-#define HAS_ARGBMIRRORROW_MSA
-#endif
-
-#if defined(_MSC_VER) && !defined(__CLR_VER) && !defined(__clang__)
-#if defined(VISUALC_HAS_AVX2)
-#define SIMD_ALIGNED(var) __declspec(align(32)) var
-#else
-#define SIMD_ALIGNED(var) __declspec(align(16)) var
-#endif
-typedef __declspec(align(16)) int16 vec16[8];
-typedef __declspec(align(16)) int32 vec32[4];
-typedef __declspec(align(16)) int8 vec8[16];
-typedef __declspec(align(16)) uint16 uvec16[8];
-typedef __declspec(align(16)) uint32 uvec32[4];
-typedef __declspec(align(16)) uint8 uvec8[16];
-typedef __declspec(align(32)) int16 lvec16[16];
-typedef __declspec(align(32)) int32 lvec32[8];
-typedef __declspec(align(32)) int8 lvec8[32];
-typedef __declspec(align(32)) uint16 ulvec16[16];
-typedef __declspec(align(32)) uint32 ulvec32[8];
-typedef __declspec(align(32)) uint8 ulvec8[32];
-#elif !defined(__pnacl__) && (defined(__GNUC__) || defined(__clang__))
-// Caveat GCC 4.2 to 4.7 have a known issue using vectors with const.
-#if defined(CLANG_HAS_AVX2) || defined(GCC_HAS_AVX2)
-#define SIMD_ALIGNED(var) var __attribute__((aligned(32)))
-#else
-#define SIMD_ALIGNED(var) var __attribute__((aligned(16)))
-#endif
-typedef int16 __attribute__((vector_size(16))) vec16;
-typedef int32 __attribute__((vector_size(16))) vec32;
-typedef int8 __attribute__((vector_size(16))) vec8;
-typedef uint16 __attribute__((vector_size(16))) uvec16;
-typedef uint32 __attribute__((vector_size(16))) uvec32;
-typedef uint8 __attribute__((vector_size(16))) uvec8;
-typedef int16 __attribute__((vector_size(32))) lvec16;
-typedef int32 __attribute__((vector_size(32))) lvec32;
-typedef int8 __attribute__((vector_size(32))) lvec8;
-typedef uint16 __attribute__((vector_size(32))) ulvec16;
-typedef uint32 __attribute__((vector_size(32))) ulvec32;
-typedef uint8 __attribute__((vector_size(32))) ulvec8;
-#else
-#define SIMD_ALIGNED(var) var
-typedef int16 vec16[8];
-typedef int32 vec32[4];
-typedef int8 vec8[16];
-typedef uint16 uvec16[8];
-typedef uint32 uvec32[4];
-typedef uint8 uvec8[16];
-typedef int16 lvec16[16];
-typedef int32 lvec32[8];
-typedef int8 lvec8[32];
-typedef uint16 ulvec16[16];
-typedef uint32 ulvec32[8];
-typedef uint8 ulvec8[32];
-#endif
-
-#if defined(__aarch64__)
-// This struct is for Arm64 color conversion.
-struct YuvConstants {
-  uvec16 kUVToRB;
-  uvec16 kUVToRB2;
-  uvec16 kUVToG;
-  uvec16 kUVToG2;
-  vec16 kUVBiasBGR;
-  vec32 kYToRgb;
-};
-#elif defined(__arm__)
-// This struct is for ArmV7 color conversion.
-struct YuvConstants {
-  uvec8 kUVToRB;
-  uvec8 kUVToG;
-  vec16 kUVBiasBGR;
-  vec32 kYToRgb;
-};
-#else
-// This struct is for Intel color conversion.
-struct YuvConstants {
-  int8 kUVToB[32];
-  int8 kUVToG[32];
-  int8 kUVToR[32];
-  int16 kUVBiasB[16];
-  int16 kUVBiasG[16];
-  int16 kUVBiasR[16];
-  int16 kYToRgb[16];
-};
-
-// Offsets into YuvConstants structure
-#define KUVTOB   0
-#define KUVTOG   32
-#define KUVTOR   64
-#define KUVBIASB 96
-#define KUVBIASG 128
-#define KUVBIASR 160
-#define KYTORGB  192
-#endif
-
-// Conversion matrix for YUV to RGB
-extern const struct YuvConstants SIMD_ALIGNED(kYuvI601Constants);  // BT.601
-extern const struct YuvConstants SIMD_ALIGNED(kYuvJPEGConstants);  // JPeg
-extern const struct YuvConstants SIMD_ALIGNED(kYuvH709Constants);  // BT.709
-
-// Conversion matrix for YVU to BGR
-extern const struct YuvConstants SIMD_ALIGNED(kYvuI601Constants);  // BT.601
-extern const struct YuvConstants SIMD_ALIGNED(kYvuJPEGConstants);  // JPeg
-extern const struct YuvConstants SIMD_ALIGNED(kYvuH709Constants);  // BT.709
-
-#if defined(__APPLE__) || defined(__x86_64__) || defined(__llvm__)
-#define OMITFP
-#else
-#define OMITFP __attribute__((optimize("omit-frame-pointer")))
-#endif
-
-// NaCL macros for GCC x86 and x64.
-#if defined(__native_client__)
-#define LABELALIGN ".p2align 5\n"
-#else
-#define LABELALIGN
-#endif
-#if defined(__native_client__) && defined(__x86_64__)
-// r14 is used for MEMOP macros.
-#define NACL_R14 "r14",
-#define BUNDLELOCK ".bundle_lock\n"
-#define BUNDLEUNLOCK ".bundle_unlock\n"
-#define MEMACCESS(base) "%%nacl:(%%r15,%q" #base ")"
-#define MEMACCESS2(offset, base) "%%nacl:" #offset "(%%r15,%q" #base ")"
-#define MEMLEA(offset, base) #offset "(%q" #base ")"
-#define MEMLEA3(offset, index, scale) \
-    #offset "(,%q" #index "," #scale ")"
-#define MEMLEA4(offset, base, index, scale) \
-    #offset "(%q" #base ",%q" #index "," #scale ")"
-#define MEMMOVESTRING(s, d) "%%nacl:(%q" #s "),%%nacl:(%q" #d "), %%r15"
-#define MEMSTORESTRING(reg, d) "%%" #reg ",%%nacl:(%q" #d "), %%r15"
-#define MEMOPREG(opcode, offset, base, index, scale, reg) \
-    BUNDLELOCK \
-    "lea " #offset "(%q" #base ",%q" #index "," #scale "),%%r14d\n" \
-    #opcode " (%%r15,%%r14),%%" #reg "\n" \
-    BUNDLEUNLOCK
-#define MEMOPMEM(opcode, reg, offset, base, index, scale) \
-    BUNDLELOCK \
-    "lea " #offset "(%q" #base ",%q" #index "," #scale "),%%r14d\n" \
-    #opcode " %%" #reg ",(%%r15,%%r14)\n" \
-    BUNDLEUNLOCK
-#define MEMOPARG(opcode, offset, base, index, scale, arg) \
-    BUNDLELOCK \
-    "lea " #offset "(%q" #base ",%q" #index "," #scale "),%%r14d\n" \
-    #opcode " (%%r15,%%r14),%" #arg "\n" \
-    BUNDLEUNLOCK
-#define VMEMOPREG(opcode, offset, base, index, scale, reg1, reg2) \
-    BUNDLELOCK \
-    "lea " #offset "(%q" #base ",%q" #index "," #scale "),%%r14d\n" \
-    #opcode " (%%r15,%%r14),%%" #reg1 ",%%" #reg2 "\n" \
-    BUNDLEUNLOCK
-#define VEXTOPMEM(op, sel, reg, offset, base, index, scale) \
-    BUNDLELOCK \
-    "lea " #offset "(%q" #base ",%q" #index "," #scale "),%%r14d\n" \
-    #op " $" #sel ",%%" #reg ",(%%r15,%%r14)\n" \
-    BUNDLEUNLOCK
-#else  // defined(__native_client__) && defined(__x86_64__)
-#define NACL_R14
-#define BUNDLEALIGN
-#define MEMACCESS(base) "(%" #base ")"
-#define MEMACCESS2(offset, base) #offset "(%" #base ")"
-#define MEMLEA(offset, base) #offset "(%" #base ")"
-#define MEMLEA3(offset, index, scale) \
-    #offset "(,%" #index "," #scale ")"
-#define MEMLEA4(offset, base, index, scale) \
-    #offset "(%" #base ",%" #index "," #scale ")"
-#define MEMMOVESTRING(s, d)
-#define MEMSTORESTRING(reg, d)
-#define MEMOPREG(opcode, offset, base, index, scale, reg) \
-    #opcode " " #offset "(%" #base ",%" #index "," #scale "),%%" #reg "\n"
-#define MEMOPMEM(opcode, reg, offset, base, index, scale) \
-    #opcode " %%" #reg ","#offset "(%" #base ",%" #index "," #scale ")\n"
-#define MEMOPARG(opcode, offset, base, index, scale, arg) \
-    #opcode " " #offset "(%" #base ",%" #index "," #scale "),%" #arg "\n"
-#define VMEMOPREG(opcode, offset, base, index, scale, reg1, reg2) \
-    #opcode " " #offset "(%" #base ",%" #index "," #scale "),%%" #reg1 ",%%" \
-    #reg2 "\n"
-#define VEXTOPMEM(op, sel, reg, offset, base, index, scale) \
-    #op " $" #sel ",%%" #reg ","#offset "(%" #base ",%" #index "," #scale ")\n"
-#endif  // defined(__native_client__) && defined(__x86_64__)
-
-#if defined(__arm__) || defined(__aarch64__)
-#undef MEMACCESS
-#if defined(__native_client__)
-#define MEMACCESS(base) ".p2align 3\nbic %" #base ", #0xc0000000\n"
-#else
-#define MEMACCESS(base)
-#endif
-#endif
-
-void I444ToARGBRow_NEON(const uint8* src_y,
-                        const uint8* src_u,
-                        const uint8* src_v,
-                        uint8* dst_argb,
-                        const struct YuvConstants* yuvconstants,
-                        int width);
-void I422ToARGBRow_NEON(const uint8* src_y,
-                        const uint8* src_u,
-                        const uint8* src_v,
-                        uint8* dst_argb,
-                        const struct YuvConstants* yuvconstants,
-                        int width);
-void I422AlphaToARGBRow_NEON(const uint8* y_buf,
-                             const uint8* u_buf,
-                             const uint8* v_buf,
-                             const uint8* a_buf,
-                             uint8* dst_argb,
-                             const struct YuvConstants* yuvconstants,
-                             int width);
-void I422ToARGBRow_NEON(const uint8* src_y,
-                        const uint8* src_u,
-                        const uint8* src_v,
-                        uint8* dst_argb,
-                        const struct YuvConstants* yuvconstants,
-                        int width);
-void I411ToARGBRow_NEON(const uint8* src_y,
-                        const uint8* src_u,
-                        const uint8* src_v,
-                        uint8* dst_argb,
-                        const struct YuvConstants* yuvconstants,
-                        int width);
-void I422ToRGBARow_NEON(const uint8* src_y,
-                        const uint8* src_u,
-                        const uint8* src_v,
-                        uint8* dst_rgba,
-                        const struct YuvConstants* yuvconstants,
-                        int width);
-void I422ToRGB24Row_NEON(const uint8* src_y,
-                         const uint8* src_u,
-                         const uint8* src_v,
-                         uint8* dst_rgb24,
-                         const struct YuvConstants* yuvconstants,
-                         int width);
-void I422ToRGB565Row_NEON(const uint8* src_y,
-                          const uint8* src_u,
-                          const uint8* src_v,
-                          uint8* dst_rgb565,
-                          const struct YuvConstants* yuvconstants,
-                          int width);
-void I422ToARGB1555Row_NEON(const uint8* src_y,
-                            const uint8* src_u,
-                            const uint8* src_v,
-                            uint8* dst_argb1555,
-                            const struct YuvConstants* yuvconstants,
-                            int width);
-void I422ToARGB4444Row_NEON(const uint8* src_y,
-                            const uint8* src_u,
-                            const uint8* src_v,
-                            uint8* dst_argb4444,
-                            const struct YuvConstants* yuvconstants,
-                            int width);
-void NV12ToARGBRow_NEON(const uint8* src_y,
-                        const uint8* src_uv,
-                        uint8* dst_argb,
-                        const struct YuvConstants* yuvconstants,
-                        int width);
-void NV12ToRGB565Row_NEON(const uint8* src_y,
-                          const uint8* src_uv,
-                          uint8* dst_rgb565,
-                          const struct YuvConstants* yuvconstants,
-                          int width);
-void NV21ToARGBRow_NEON(const uint8* src_y,
-                        const uint8* src_vu,
-                        uint8* dst_argb,
-                        const struct YuvConstants* yuvconstants,
-                        int width);
-void YUY2ToARGBRow_NEON(const uint8* src_yuy2,
-                        uint8* dst_argb,
-                        const struct YuvConstants* yuvconstants,
-                        int width);
-void UYVYToARGBRow_NEON(const uint8* src_uyvy,
-                        uint8* dst_argb,
-                        const struct YuvConstants* yuvconstants,
-                        int width);
-
-void ARGBToYRow_AVX2(const uint8* src_argb, uint8* dst_y, int width);
-void ARGBToYRow_Any_AVX2(const uint8* src_argb, uint8* dst_y, int width);
-void ARGBToYRow_SSSE3(const uint8* src_argb, uint8* dst_y, int width);
-void ARGBToYJRow_AVX2(const uint8* src_argb, uint8* dst_y, int width);
-void ARGBToYJRow_Any_AVX2(const uint8* src_argb, uint8* dst_y, int width);
-void ARGBToYJRow_SSSE3(const uint8* src_argb, uint8* dst_y, int width);
-void BGRAToYRow_SSSE3(const uint8* src_bgra, uint8* dst_y, int width);
-void ABGRToYRow_SSSE3(const uint8* src_abgr, uint8* dst_y, int width);
-void RGBAToYRow_SSSE3(const uint8* src_rgba, uint8* dst_y, int width);
-void RGB24ToYRow_SSSE3(const uint8* src_rgb24, uint8* dst_y, int width);
-void RAWToYRow_SSSE3(const uint8* src_raw, uint8* dst_y, int width);
-void ARGBToYRow_NEON(const uint8* src_argb, uint8* dst_y, int width);
-void ARGBToYJRow_NEON(const uint8* src_argb, uint8* dst_y, int width);
-void ARGBToUV444Row_NEON(const uint8* src_argb, uint8* dst_u, uint8* dst_v,
-                         int width);
-void ARGBToUV411Row_NEON(const uint8* src_argb, uint8* dst_u, uint8* dst_v,
-                         int width);
-void ARGBToUVRow_NEON(const uint8* src_argb, int src_stride_argb,
-                      uint8* dst_u, uint8* dst_v, int width);
-void ARGBToUVJRow_NEON(const uint8* src_argb, int src_stride_argb,
-                       uint8* dst_u, uint8* dst_v, int width);
-void BGRAToUVRow_NEON(const uint8* src_bgra, int src_stride_bgra,
-                      uint8* dst_u, uint8* dst_v, int width);
-void ABGRToUVRow_NEON(const uint8* src_abgr, int src_stride_abgr,
-                      uint8* dst_u, uint8* dst_v, int width);
-void RGBAToUVRow_NEON(const uint8* src_rgba, int src_stride_rgba,
-                      uint8* dst_u, uint8* dst_v, int width);
-void RGB24ToUVRow_NEON(const uint8* src_rgb24, int src_stride_rgb24,
-                       uint8* dst_u, uint8* dst_v, int width);
-void RAWToUVRow_NEON(const uint8* src_raw, int src_stride_raw,
-                     uint8* dst_u, uint8* dst_v, int width);
-void RGB565ToUVRow_NEON(const uint8* src_rgb565, int src_stride_rgb565,
-                        uint8* dst_u, uint8* dst_v, int width);
-void ARGB1555ToUVRow_NEON(const uint8* src_argb1555, int src_stride_argb1555,
-                          uint8* dst_u, uint8* dst_v, int width);
-void ARGB4444ToUVRow_NEON(const uint8* src_argb4444, int src_stride_argb4444,
-                          uint8* dst_u, uint8* dst_v, int width);
-void BGRAToYRow_NEON(const uint8* src_bgra, uint8* dst_y, int width);
-void ABGRToYRow_NEON(const uint8* src_abgr, uint8* dst_y, int width);
-void RGBAToYRow_NEON(const uint8* src_rgba, uint8* dst_y, int width);
-void RGB24ToYRow_NEON(const uint8* src_rgb24, uint8* dst_y, int width);
-void RAWToYRow_NEON(const uint8* src_raw, uint8* dst_y, int width);
-void RGB565ToYRow_NEON(const uint8* src_rgb565, uint8* dst_y, int width);
-void ARGB1555ToYRow_NEON(const uint8* src_argb1555, uint8* dst_y, int width);
-void ARGB4444ToYRow_NEON(const uint8* src_argb4444, uint8* dst_y, int width);
-void ARGBToYRow_C(const uint8* src_argb, uint8* dst_y, int width);
-void ARGBToYJRow_C(const uint8* src_argb, uint8* dst_y, int width);
-void BGRAToYRow_C(const uint8* src_bgra, uint8* dst_y, int width);
-void ABGRToYRow_C(const uint8* src_abgr, uint8* dst_y, int width);
-void RGBAToYRow_C(const uint8* src_rgba, uint8* dst_y, int width);
-void RGB24ToYRow_C(const uint8* src_rgb24, uint8* dst_y, int width);
-void RAWToYRow_C(const uint8* src_raw, uint8* dst_y, int width);
-void RGB565ToYRow_C(const uint8* src_rgb565, uint8* dst_y, int width);
-void ARGB1555ToYRow_C(const uint8* src_argb1555, uint8* dst_y, int width);
-void ARGB4444ToYRow_C(const uint8* src_argb4444, uint8* dst_y, int width);
-void ARGBToYRow_Any_SSSE3(const uint8* src_argb, uint8* dst_y, int width);
-void ARGBToYJRow_Any_SSSE3(const uint8* src_argb, uint8* dst_y, int width);
-void BGRAToYRow_Any_SSSE3(const uint8* src_bgra, uint8* dst_y, int width);
-void ABGRToYRow_Any_SSSE3(const uint8* src_abgr, uint8* dst_y, int width);
-void RGBAToYRow_Any_SSSE3(const uint8* src_rgba, uint8* dst_y, int width);
-void RGB24ToYRow_Any_SSSE3(const uint8* src_rgb24, uint8* dst_y, int width);
-void RAWToYRow_Any_SSSE3(const uint8* src_raw, uint8* dst_y, int width);
-void ARGBToYRow_Any_NEON(const uint8* src_argb, uint8* dst_y, int width);
-void ARGBToYJRow_Any_NEON(const uint8* src_argb, uint8* dst_y, int width);
-void BGRAToYRow_Any_NEON(const uint8* src_bgra, uint8* dst_y, int width);
-void ABGRToYRow_Any_NEON(const uint8* src_abgr, uint8* dst_y, int width);
-void RGBAToYRow_Any_NEON(const uint8* src_rgba, uint8* dst_y, int width);
-void RGB24ToYRow_Any_NEON(const uint8* src_rgb24, uint8* dst_y, int width);
-void RAWToYRow_Any_NEON(const uint8* src_raw, uint8* dst_y, int width);
-void RGB565ToYRow_Any_NEON(const uint8* src_rgb565, uint8* dst_y, int width);
-void ARGB1555ToYRow_Any_NEON(const uint8* src_argb1555, uint8* dst_y,
-                             int width);
-void ARGB4444ToYRow_Any_NEON(const uint8* src_argb4444, uint8* dst_y,
-                             int width);
-
-void ARGBToUVRow_AVX2(const uint8* src_argb, int src_stride_argb,
-                      uint8* dst_u, uint8* dst_v, int width);
-void ARGBToUVJRow_AVX2(const uint8* src_argb, int src_stride_argb,
-                       uint8* dst_u, uint8* dst_v, int width);
-void ARGBToUVRow_SSSE3(const uint8* src_argb, int src_stride_argb,
-                       uint8* dst_u, uint8* dst_v, int width);
-void ARGBToUVJRow_SSSE3(const uint8* src_argb, int src_stride_argb,
-                        uint8* dst_u, uint8* dst_v, int width);
-void BGRAToUVRow_SSSE3(const uint8* src_bgra, int src_stride_bgra,
-                       uint8* dst_u, uint8* dst_v, int width);
-void ABGRToUVRow_SSSE3(const uint8* src_abgr, int src_stride_abgr,
-                       uint8* dst_u, uint8* dst_v, int width);
-void RGBAToUVRow_SSSE3(const uint8* src_rgba, int src_stride_rgba,
-                       uint8* dst_u, uint8* dst_v, int width);
-void ARGBToUVRow_Any_AVX2(const uint8* src_argb, int src_stride_argb,
-                          uint8* dst_u, uint8* dst_v, int width);
-void ARGBToUVJRow_Any_AVX2(const uint8* src_argb, int src_stride_argb,
-                           uint8* dst_u, uint8* dst_v, int width);
-void ARGBToUVRow_Any_SSSE3(const uint8* src_argb, int src_stride_argb,
-                           uint8* dst_u, uint8* dst_v, int width);
-void ARGBToUVJRow_Any_SSSE3(const uint8* src_argb, int src_stride_argb,
-                            uint8* dst_u, uint8* dst_v, int width);
-void BGRAToUVRow_Any_SSSE3(const uint8* src_bgra, int src_stride_bgra,
-                           uint8* dst_u, uint8* dst_v, int width);
-void ABGRToUVRow_Any_SSSE3(const uint8* src_abgr, int src_stride_abgr,
-                           uint8* dst_u, uint8* dst_v, int width);
-void RGBAToUVRow_Any_SSSE3(const uint8* src_rgba, int src_stride_rgba,
-                           uint8* dst_u, uint8* dst_v, int width);
-void ARGBToUV444Row_Any_NEON(const uint8* src_argb, uint8* dst_u, uint8* dst_v,
-                             int width);
-void ARGBToUV411Row_Any_NEON(const uint8* src_argb, uint8* dst_u, uint8* dst_v,
-                             int width);
-void ARGBToUVRow_Any_NEON(const uint8* src_argb, int src_stride_argb,
-                          uint8* dst_u, uint8* dst_v, int width);
-void ARGBToUVJRow_Any_NEON(const uint8* src_argb, int src_stride_argb,
-                           uint8* dst_u, uint8* dst_v, int width);
-void BGRAToUVRow_Any_NEON(const uint8* src_bgra, int src_stride_bgra,
-                          uint8* dst_u, uint8* dst_v, int width);
-void ABGRToUVRow_Any_NEON(const uint8* src_abgr, int src_stride_abgr,
-                          uint8* dst_u, uint8* dst_v, int width);
-void RGBAToUVRow_Any_NEON(const uint8* src_rgba, int src_stride_rgba,
-                          uint8* dst_u, uint8* dst_v, int width);
-void RGB24ToUVRow_Any_NEON(const uint8* src_rgb24, int src_stride_rgb24,
-                           uint8* dst_u, uint8* dst_v, int width);
-void RAWToUVRow_Any_NEON(const uint8* src_raw, int src_stride_raw,
-                         uint8* dst_u, uint8* dst_v, int width);
-void RGB565ToUVRow_Any_NEON(const uint8* src_rgb565, int src_stride_rgb565,
-                            uint8* dst_u, uint8* dst_v, int width);
-void ARGB1555ToUVRow_Any_NEON(const uint8* src_argb1555,
-                              int src_stride_argb1555,
-                              uint8* dst_u, uint8* dst_v, int width);
-void ARGB4444ToUVRow_Any_NEON(const uint8* src_argb4444,
-                              int src_stride_argb4444,
-                              uint8* dst_u, uint8* dst_v, int width);
-void ARGBToUVRow_C(const uint8* src_argb, int src_stride_argb,
-                   uint8* dst_u, uint8* dst_v, int width);
-void ARGBToUVJRow_C(const uint8* src_argb, int src_stride_argb,
-                    uint8* dst_u, uint8* dst_v, int width);
-void BGRAToUVRow_C(const uint8* src_bgra, int src_stride_bgra,
-                   uint8* dst_u, uint8* dst_v, int width);
-void ABGRToUVRow_C(const uint8* src_abgr, int src_stride_abgr,
-                   uint8* dst_u, uint8* dst_v, int width);
-void RGBAToUVRow_C(const uint8* src_rgba, int src_stride_rgba,
-                   uint8* dst_u, uint8* dst_v, int width);
-void RGB24ToUVRow_C(const uint8* src_rgb24, int src_stride_rgb24,
-                    uint8* dst_u, uint8* dst_v, int width);
-void RAWToUVRow_C(const uint8* src_raw, int src_stride_raw,
-                  uint8* dst_u, uint8* dst_v, int width);
-void RGB565ToUVRow_C(const uint8* src_rgb565, int src_stride_rgb565,
-                     uint8* dst_u, uint8* dst_v, int width);
-void ARGB1555ToUVRow_C(const uint8* src_argb1555, int src_stride_argb1555,
-                       uint8* dst_u, uint8* dst_v, int width);
-void ARGB4444ToUVRow_C(const uint8* src_argb4444, int src_stride_argb4444,
-                       uint8* dst_u, uint8* dst_v, int width);
-
-void ARGBToUV444Row_SSSE3(const uint8* src_argb,
-                          uint8* dst_u, uint8* dst_v, int width);
-void ARGBToUV444Row_Any_SSSE3(const uint8* src_argb,
-                              uint8* dst_u, uint8* dst_v, int width);
-
-void ARGBToUV444Row_C(const uint8* src_argb,
-                      uint8* dst_u, uint8* dst_v, int width);
-void ARGBToUV411Row_C(const uint8* src_argb,
-                      uint8* dst_u, uint8* dst_v, int width);
-
-void MirrorRow_AVX2(const uint8* src, uint8* dst, int width);
-void MirrorRow_SSSE3(const uint8* src, uint8* dst, int width);
-void MirrorRow_NEON(const uint8* src, uint8* dst, int width);
-void MirrorRow_DSPR2(const uint8* src, uint8* dst, int width);
-void MirrorRow_MSA(const uint8* src, uint8* dst, int width);
-void MirrorRow_C(const uint8* src, uint8* dst, int width);
-void MirrorRow_Any_AVX2(const uint8* src, uint8* dst, int width);
-void MirrorRow_Any_SSSE3(const uint8* src, uint8* dst, int width);
-void MirrorRow_Any_SSE2(const uint8* src, uint8* dst, int width);
-void MirrorRow_Any_NEON(const uint8* src, uint8* dst, int width);
-void MirrorRow_Any_MSA(const uint8* src, uint8* dst, int width);
-
-void MirrorUVRow_SSSE3(const uint8* src_uv, uint8* dst_u, uint8* dst_v,
-                       int width);
-void MirrorUVRow_NEON(const uint8* src_uv, uint8* dst_u, uint8* dst_v,
-                      int width);
-void MirrorUVRow_DSPR2(const uint8* src_uv, uint8* dst_u, uint8* dst_v,
-                       int width);
-void MirrorUVRow_C(const uint8* src_uv, uint8* dst_u, uint8* dst_v, int width);
-
-void ARGBMirrorRow_AVX2(const uint8* src, uint8* dst, int width);
-void ARGBMirrorRow_SSE2(const uint8* src, uint8* dst, int width);
-void ARGBMirrorRow_NEON(const uint8* src, uint8* dst, int width);
-void ARGBMirrorRow_MSA(const uint8* src, uint8* dst, int width);
-void ARGBMirrorRow_C(const uint8* src, uint8* dst, int width);
-void ARGBMirrorRow_Any_AVX2(const uint8* src, uint8* dst, int width);
-void ARGBMirrorRow_Any_SSE2(const uint8* src, uint8* dst, int width);
-void ARGBMirrorRow_Any_NEON(const uint8* src, uint8* dst, int width);
-void ARGBMirrorRow_Any_MSA(const uint8* src, uint8* dst, int width);
-
-void SplitUVRow_C(const uint8* src_uv, uint8* dst_u, uint8* dst_v, int width);
-void SplitUVRow_SSE2(const uint8* src_uv, uint8* dst_u, uint8* dst_v,
-                     int width);
-void SplitUVRow_AVX2(const uint8* src_uv, uint8* dst_u, uint8* dst_v,
-                     int width);
-void SplitUVRow_NEON(const uint8* src_uv, uint8* dst_u, uint8* dst_v,
-                     int width);
-void SplitUVRow_DSPR2(const uint8* src_uv, uint8* dst_u, uint8* dst_v,
-                      int width);
-void SplitUVRow_Any_SSE2(const uint8* src_uv, uint8* dst_u, uint8* dst_v,
-                         int width);
-void SplitUVRow_Any_AVX2(const uint8* src_uv, uint8* dst_u, uint8* dst_v,
-                         int width);
-void SplitUVRow_Any_NEON(const uint8* src_uv, uint8* dst_u, uint8* dst_v,
-                         int width);
-void SplitUVRow_Any_DSPR2(const uint8* src_uv, uint8* dst_u, uint8* dst_v,
-                          int width);
-
-void MergeUVRow_C(const uint8* src_u, const uint8* src_v, uint8* dst_uv,
-                  int width);
-void MergeUVRow_SSE2(const uint8* src_u, const uint8* src_v, uint8* dst_uv,
-                     int width);
-void MergeUVRow_AVX2(const uint8* src_u, const uint8* src_v, uint8* dst_uv,
-                     int width);
-void MergeUVRow_NEON(const uint8* src_u, const uint8* src_v, uint8* dst_uv,
-                     int width);
-void MergeUVRow_Any_SSE2(const uint8* src_u, const uint8* src_v, uint8* dst_uv,
-                         int width);
-void MergeUVRow_Any_AVX2(const uint8* src_u, const uint8* src_v, uint8* dst_uv,
-                         int width);
-void MergeUVRow_Any_NEON(const uint8* src_u, const uint8* src_v, uint8* dst_uv,
-                         int width);
-
-void CopyRow_SSE2(const uint8* src, uint8* dst, int count);
-void CopyRow_AVX(const uint8* src, uint8* dst, int count);
-void CopyRow_ERMS(const uint8* src, uint8* dst, int count);
-void CopyRow_NEON(const uint8* src, uint8* dst, int count);
-void CopyRow_MIPS(const uint8* src, uint8* dst, int count);
-void CopyRow_C(const uint8* src, uint8* dst, int count);
-void CopyRow_Any_SSE2(const uint8* src, uint8* dst, int count);
-void CopyRow_Any_AVX(const uint8* src, uint8* dst, int count);
-void CopyRow_Any_NEON(const uint8* src, uint8* dst, int count);
-
-void CopyRow_16_C(const uint16* src, uint16* dst, int count);
-
-void ARGBCopyAlphaRow_C(const uint8* src_argb, uint8* dst_argb, int width);
-void ARGBCopyAlphaRow_SSE2(const uint8* src_argb, uint8* dst_argb, int width);
-void ARGBCopyAlphaRow_AVX2(const uint8* src_argb, uint8* dst_argb, int width);
-void ARGBCopyAlphaRow_Any_SSE2(const uint8* src_argb, uint8* dst_argb,
-                               int width);
-void ARGBCopyAlphaRow_Any_AVX2(const uint8* src_argb, uint8* dst_argb,
-                               int width);
-
-void ARGBExtractAlphaRow_C(const uint8* src_argb, uint8* dst_a, int width);
-void ARGBExtractAlphaRow_SSE2(const uint8* src_argb, uint8* dst_a, int width);
-void ARGBExtractAlphaRow_NEON(const uint8* src_argb, uint8* dst_a, int width);
-void ARGBExtractAlphaRow_Any_SSE2(const uint8* src_argb, uint8* dst_a,
-                                  int width);
-void ARGBExtractAlphaRow_Any_NEON(const uint8* src_argb, uint8* dst_a,
-                                  int width);
-
-void ARGBCopyYToAlphaRow_C(const uint8* src_y, uint8* dst_argb, int width);
-void ARGBCopyYToAlphaRow_SSE2(const uint8* src_y, uint8* dst_argb, int width);
-void ARGBCopyYToAlphaRow_AVX2(const uint8* src_y, uint8* dst_argb, int width);
-void ARGBCopyYToAlphaRow_Any_SSE2(const uint8* src_y, uint8* dst_argb,
-                                  int width);
-void ARGBCopyYToAlphaRow_Any_AVX2(const uint8* src_y, uint8* dst_argb,
-                                  int width);
-
-void SetRow_C(uint8* dst, uint8 v8, int count);
-void SetRow_X86(uint8* dst, uint8 v8, int count);
-void SetRow_ERMS(uint8* dst, uint8 v8, int count);
-void SetRow_NEON(uint8* dst, uint8 v8, int count);
-void SetRow_Any_X86(uint8* dst, uint8 v8, int count);
-void SetRow_Any_NEON(uint8* dst, uint8 v8, int count);
-
-void ARGBSetRow_C(uint8* dst_argb, uint32 v32, int count);
-void ARGBSetRow_X86(uint8* dst_argb, uint32 v32, int count);
-void ARGBSetRow_NEON(uint8* dst_argb, uint32 v32, int count);
-void ARGBSetRow_Any_NEON(uint8* dst_argb, uint32 v32, int count);
-
-// ARGBShufflers for BGRAToARGB etc.
-void ARGBShuffleRow_C(const uint8* src_argb, uint8* dst_argb,
-                      const uint8* shuffler, int width);
-void ARGBShuffleRow_SSE2(const uint8* src_argb, uint8* dst_argb,
-                         const uint8* shuffler, int width);
-void ARGBShuffleRow_SSSE3(const uint8* src_argb, uint8* dst_argb,
-                          const uint8* shuffler, int width);
-void ARGBShuffleRow_AVX2(const uint8* src_argb, uint8* dst_argb,
-                         const uint8* shuffler, int width);
-void ARGBShuffleRow_NEON(const uint8* src_argb, uint8* dst_argb,
-                         const uint8* shuffler, int width);
-void ARGBShuffleRow_Any_SSE2(const uint8* src_argb, uint8* dst_argb,
-                             const uint8* shuffler, int width);
-void ARGBShuffleRow_Any_SSSE3(const uint8* src_argb, uint8* dst_argb,
-                              const uint8* shuffler, int width);
-void ARGBShuffleRow_Any_AVX2(const uint8* src_argb, uint8* dst_argb,
-                             const uint8* shuffler, int width);
-void ARGBShuffleRow_Any_NEON(const uint8* src_argb, uint8* dst_argb,
-                             const uint8* shuffler, int width);
-
-void RGB24ToARGBRow_SSSE3(const uint8* src_rgb24, uint8* dst_argb, int width);
-void RAWToARGBRow_SSSE3(const uint8* src_raw, uint8* dst_argb, int width);
-void RAWToRGB24Row_SSSE3(const uint8* src_raw, uint8* dst_rgb24, int width);
-void RGB565ToARGBRow_SSE2(const uint8* src_rgb565, uint8* dst_argb, int width);
-void ARGB1555ToARGBRow_SSE2(const uint8* src_argb1555, uint8* dst_argb,
-                            int width);
-void ARGB4444ToARGBRow_SSE2(const uint8* src_argb4444, uint8* dst_argb,
-                            int width);
-void RGB565ToARGBRow_AVX2(const uint8* src_rgb565, uint8* dst_argb, int width);
-void ARGB1555ToARGBRow_AVX2(const uint8* src_argb1555, uint8* dst_argb,
-                            int width);
-void ARGB4444ToARGBRow_AVX2(const uint8* src_argb4444, uint8* dst_argb,
-                            int width);
-
-void RGB24ToARGBRow_NEON(const uint8* src_rgb24, uint8* dst_argb, int width);
-void RAWToARGBRow_NEON(const uint8* src_raw, uint8* dst_argb, int width);
-void RAWToRGB24Row_NEON(const uint8* src_raw, uint8* dst_rgb24, int width);
-void RGB565ToARGBRow_NEON(const uint8* src_rgb565, uint8* dst_argb, int width);
-void ARGB1555ToARGBRow_NEON(const uint8* src_argb1555, uint8* dst_argb,
-                            int width);
-void ARGB4444ToARGBRow_NEON(const uint8* src_argb4444, uint8* dst_argb,
-                            int width);
-void RGB24ToARGBRow_C(const uint8* src_rgb24, uint8* dst_argb, int width);
-void RAWToARGBRow_C(const uint8* src_raw, uint8* dst_argb, int width);
-void RAWToRGB24Row_C(const uint8* src_raw, uint8* dst_rgb24, int width);
-void RGB565ToARGBRow_C(const uint8* src_rgb, uint8* dst_argb, int width);
-void ARGB1555ToARGBRow_C(const uint8* src_argb, uint8* dst_argb, int width);
-void ARGB4444ToARGBRow_C(const uint8* src_argb, uint8* dst_argb, int width);
-void RGB24ToARGBRow_Any_SSSE3(const uint8* src_rgb24, uint8* dst_argb,
-                              int width);
-void RAWToARGBRow_Any_SSSE3(const uint8* src_raw, uint8* dst_argb, int width);
-void RAWToRGB24Row_Any_SSSE3(const uint8* src_raw, uint8* dst_rgb24, int width);
-
-void RGB565ToARGBRow_Any_SSE2(const uint8* src_rgb565, uint8* dst_argb,
-                              int width);
-void ARGB1555ToARGBRow_Any_SSE2(const uint8* src_argb1555, uint8* dst_argb,
-                                int width);
-void ARGB4444ToARGBRow_Any_SSE2(const uint8* src_argb4444, uint8* dst_argb,
-                                int width);
-void RGB565ToARGBRow_Any_AVX2(const uint8* src_rgb565, uint8* dst_argb,
-                              int width);
-void ARGB1555ToARGBRow_Any_AVX2(const uint8* src_argb1555, uint8* dst_argb,
-                                int width);
-void ARGB4444ToARGBRow_Any_AVX2(const uint8* src_argb4444, uint8* dst_argb,
-                                int width);
-
-void RGB24ToARGBRow_Any_NEON(const uint8* src_rgb24, uint8* dst_argb,
-                             int width);
-void RAWToARGBRow_Any_NEON(const uint8* src_raw, uint8* dst_argb, int width);
-void RAWToRGB24Row_Any_NEON(const uint8* src_raw, uint8* dst_rgb24, int width);
-void RGB565ToARGBRow_Any_NEON(const uint8* src_rgb565, uint8* dst_argb,
-                              int width);
-void ARGB1555ToARGBRow_Any_NEON(const uint8* src_argb1555, uint8* dst_argb,
-                                int width);
-void ARGB4444ToARGBRow_Any_NEON(const uint8* src_argb4444, uint8* dst_argb,
-                                int width);
-
-void ARGBToRGB24Row_SSSE3(const uint8* src_argb, uint8* dst_rgb, int width);
-void ARGBToRAWRow_SSSE3(const uint8* src_argb, uint8* dst_rgb, int width);
-void ARGBToRGB565Row_SSE2(const uint8* src_argb, uint8* dst_rgb, int width);
-void ARGBToARGB1555Row_SSE2(const uint8* src_argb, uint8* dst_rgb, int width);
-void ARGBToARGB4444Row_SSE2(const uint8* src_argb, uint8* dst_rgb, int width);
-
-void ARGBToRGB565DitherRow_C(const uint8* src_argb, uint8* dst_rgb,
-                             const uint32 dither4, int width);
-void ARGBToRGB565DitherRow_SSE2(const uint8* src_argb, uint8* dst_rgb,
-                                const uint32 dither4, int width);
-void ARGBToRGB565DitherRow_AVX2(const uint8* src_argb, uint8* dst_rgb,
-                                const uint32 dither4, int width);
-
-void ARGBToRGB565Row_AVX2(const uint8* src_argb, uint8* dst_rgb, int width);
-void ARGBToARGB1555Row_AVX2(const uint8* src_argb, uint8* dst_rgb, int width);
-void ARGBToARGB4444Row_AVX2(const uint8* src_argb, uint8* dst_rgb, int width);
-
-void ARGBToRGB24Row_NEON(const uint8* src_argb, uint8* dst_rgb, int width);
-void ARGBToRAWRow_NEON(const uint8* src_argb, uint8* dst_rgb, int width);
-void ARGBToRGB565Row_NEON(const uint8* src_argb, uint8* dst_rgb, int width);
-void ARGBToARGB1555Row_NEON(const uint8* src_argb, uint8* dst_rgb, int width);
-void ARGBToARGB4444Row_NEON(const uint8* src_argb, uint8* dst_rgb, int width);
-void ARGBToRGB565DitherRow_NEON(const uint8* src_argb, uint8* dst_rgb,
-                                const uint32 dither4, int width);
-
-void ARGBToRGBARow_C(const uint8* src_argb, uint8* dst_rgb, int width);
-void ARGBToRGB24Row_C(const uint8* src_argb, uint8* dst_rgb, int width);
-void ARGBToRAWRow_C(const uint8* src_argb, uint8* dst_rgb, int width);
-void ARGBToRGB565Row_C(const uint8* src_argb, uint8* dst_rgb, int width);
-void ARGBToARGB1555Row_C(const uint8* src_argb, uint8* dst_rgb, int width);
-void ARGBToARGB4444Row_C(const uint8* src_argb, uint8* dst_rgb, int width);
-
-void J400ToARGBRow_SSE2(const uint8* src_y, uint8* dst_argb, int width);
-void J400ToARGBRow_AVX2(const uint8* src_y, uint8* dst_argb, int width);
-void J400ToARGBRow_NEON(const uint8* src_y, uint8* dst_argb, int width);
-void J400ToARGBRow_C(const uint8* src_y, uint8* dst_argb, int width);
-void J400ToARGBRow_Any_SSE2(const uint8* src_y, uint8* dst_argb, int width);
-void J400ToARGBRow_Any_AVX2(const uint8* src_y, uint8* dst_argb, int width);
-void J400ToARGBRow_Any_NEON(const uint8* src_y, uint8* dst_argb, int width);
-
-void I444ToARGBRow_C(const uint8* src_y,
-                     const uint8* src_u,
-                     const uint8* src_v,
-                     uint8* dst_argb,
-                     const struct YuvConstants* yuvconstants,
-                     int width);
-void I422ToARGBRow_C(const uint8* src_y,
-                     const uint8* src_u,
-                     const uint8* src_v,
-                     uint8* dst_argb,
-                     const struct YuvConstants* yuvconstants,
-                     int width);
-void I422ToARGBRow_C(const uint8* src_y,
-                     const uint8* src_u,
-                     const uint8* src_v,
-                     uint8* dst_argb,
-                     const struct YuvConstants* yuvconstants,
-                     int width);
-void I422AlphaToARGBRow_C(const uint8* y_buf,
-                          const uint8* u_buf,
-                          const uint8* v_buf,
-                          const uint8* a_buf,
-                          uint8* dst_argb,
-                          const struct YuvConstants* yuvconstants,
-                          int width);
-void I411ToARGBRow_C(const uint8* src_y,
-                     const uint8* src_u,
-                     const uint8* src_v,
-                     uint8* dst_argb,
-                     const struct YuvConstants* yuvconstants,
-                     int width);
-void NV12ToARGBRow_C(const uint8* src_y,
-                     const uint8* src_uv,
-                     uint8* dst_argb,
-                     const struct YuvConstants* yuvconstants,
-                     int width);
-void NV12ToRGB565Row_C(const uint8* src_y,
-                       const uint8* src_uv,
-                       uint8* dst_argb,
-                       const struct YuvConstants* yuvconstants,
-                       int width);
-void NV21ToARGBRow_C(const uint8* src_y,
-                     const uint8* src_uv,
-                     uint8* dst_argb,
-                     const struct YuvConstants* yuvconstants,
-                     int width);
-void YUY2ToARGBRow_C(const uint8* src_yuy2,
-                     uint8* dst_argb,
-                     const struct YuvConstants* yuvconstants,
-                     int width);
-void UYVYToARGBRow_C(const uint8* src_uyvy,
-                     uint8* dst_argb,
-                     const struct YuvConstants* yuvconstants,
-                     int width);
-void I422ToRGBARow_C(const uint8* src_y,
-                     const uint8* src_u,
-                     const uint8* src_v,
-                     uint8* dst_rgba,
-                     const struct YuvConstants* yuvconstants,
-                     int width);
-void I422ToRGB24Row_C(const uint8* src_y,
-                      const uint8* src_u,
-                      const uint8* src_v,
-                      uint8* dst_rgb24,
-                      const struct YuvConstants* yuvconstants,
-                      int width);
-void I422ToARGB4444Row_C(const uint8* src_y,
-                         const uint8* src_u,
-                         const uint8* src_v,
-                         uint8* dst_argb4444,
-                         const struct YuvConstants* yuvconstants,
-                         int width);
-void I422ToARGB1555Row_C(const uint8* src_y,
-                         const uint8* src_u,
-                         const uint8* src_v,
-                         uint8* dst_argb4444,
-                         const struct YuvConstants* yuvconstants,
-                         int width);
-void I422ToRGB565Row_C(const uint8* src_y,
-                       const uint8* src_u,
-                       const uint8* src_v,
-                       uint8* dst_rgb565,
-                       const struct YuvConstants* yuvconstants,
-                       int width);
-void I422ToARGBRow_AVX2(const uint8* src_y,
-                        const uint8* src_u,
-                        const uint8* src_v,
-                        uint8* dst_argb,
-                        const struct YuvConstants* yuvconstants,
-                        int width);
-void I422ToARGBRow_AVX2(const uint8* src_y,
-                        const uint8* src_u,
-                        const uint8* src_v,
-                        uint8* dst_argb,
-                        const struct YuvConstants* yuvconstants,
-                        int width);
-void I422ToRGBARow_AVX2(const uint8* src_y,
-                        const uint8* src_u,
-                        const uint8* src_v,
-                        uint8* dst_argb,
-                        const struct YuvConstants* yuvconstants,
-                        int width);
-void I444ToARGBRow_SSSE3(const uint8* src_y,
-                         const uint8* src_u,
-                         const uint8* src_v,
-                         uint8* dst_argb,
-                         const struct YuvConstants* yuvconstants,
-                         int width);
-void I444ToARGBRow_AVX2(const uint8* src_y,
-                        const uint8* src_u,
-                        const uint8* src_v,
-                        uint8* dst_argb,
-                        const struct YuvConstants* yuvconstants,
-                        int width);
-void I444ToARGBRow_SSSE3(const uint8* src_y,
-                         const uint8* src_u,
-                         const uint8* src_v,
-                         uint8* dst_argb,
-                         const struct YuvConstants* yuvconstants,
-                         int width);
-void I444ToARGBRow_AVX2(const uint8* src_y,
-                        const uint8* src_u,
-                        const uint8* src_v,
-                        uint8* dst_argb,
-                        const struct YuvConstants* yuvconstants,
-                        int width);
-void I422ToARGBRow_SSSE3(const uint8* src_y,
-                         const uint8* src_u,
-                         const uint8* src_v,
-                         uint8* dst_argb,
-                         const struct YuvConstants* yuvconstants,
-                         int width);
-void I422AlphaToARGBRow_SSSE3(const uint8* y_buf,
-                              const uint8* u_buf,
-                              const uint8* v_buf,
-                              const uint8* a_buf,
-                              uint8* dst_argb,
-                              const struct YuvConstants* yuvconstants,
-                              int width);
-void I422AlphaToARGBRow_AVX2(const uint8* y_buf,
-                             const uint8* u_buf,
-                             const uint8* v_buf,
-                             const uint8* a_buf,
-                             uint8* dst_argb,
-                             const struct YuvConstants* yuvconstants,
-                             int width);
-void I422ToARGBRow_SSSE3(const uint8* src_y,
-                         const uint8* src_u,
-                         const uint8* src_v,
-                         uint8* dst_argb,
-                         const struct YuvConstants* yuvconstants,
-                         int width);
-void I411ToARGBRow_SSSE3(const uint8* src_y,
-                         const uint8* src_u,
-                         const uint8* src_v,
-                         uint8* dst_argb,
-                         const struct YuvConstants* yuvconstants,
-                         int width);
-void I411ToARGBRow_AVX2(const uint8* src_y,
-                        const uint8* src_u,
-                        const uint8* src_v,
-                        uint8* dst_argb,
-                        const struct YuvConstants* yuvconstants,
-                        int width);
-void NV12ToARGBRow_SSSE3(const uint8* src_y,
-                         const uint8* src_uv,
-                         uint8* dst_argb,
-                         const struct YuvConstants* yuvconstants,
-                         int width);
-void NV12ToARGBRow_AVX2(const uint8* src_y,
-                        const uint8* src_uv,
-                        uint8* dst_argb,
-                        const struct YuvConstants* yuvconstants,
-                        int width);
-void NV12ToRGB565Row_SSSE3(const uint8* src_y,
-                           const uint8* src_uv,
-                           uint8* dst_argb,
-                           const struct YuvConstants* yuvconstants,
-                           int width);
-void NV12ToRGB565Row_AVX2(const uint8* src_y,
-                          const uint8* src_uv,
-                          uint8* dst_argb,
-                          const struct YuvConstants* yuvconstants,
-                          int width);
-void NV21ToARGBRow_SSSE3(const uint8* src_y,
-                         const uint8* src_uv,
-                         uint8* dst_argb,
-                         const struct YuvConstants* yuvconstants,
-                         int width);
-void NV21ToARGBRow_AVX2(const uint8* src_y,
-                        const uint8* src_uv,
-                        uint8* dst_argb,
-                        const struct YuvConstants* yuvconstants,
-                        int width);
-void YUY2ToARGBRow_SSSE3(const uint8* src_yuy2,
-                         uint8* dst_argb,
-                         const struct YuvConstants* yuvconstants,
-                         int width);
-void UYVYToARGBRow_SSSE3(const uint8* src_uyvy,
-                         uint8* dst_argb,
-                         const struct YuvConstants* yuvconstants,
-                         int width);
-void YUY2ToARGBRow_AVX2(const uint8* src_yuy2,
-                        uint8* dst_argb,
-                        const struct YuvConstants* yuvconstants,
-                        int width);
-void UYVYToARGBRow_AVX2(const uint8* src_uyvy,
-                        uint8* dst_argb,
-                        const struct YuvConstants* yuvconstants,
-                        int width);
-void I422ToRGBARow_SSSE3(const uint8* src_y,
-                         const uint8* src_u,
-                         const uint8* src_v,
-                         uint8* dst_rgba,
-                         const struct YuvConstants* yuvconstants,
-                         int width);
-void I422ToARGB4444Row_SSSE3(const uint8* src_y,
-                             const uint8* src_u,
-                             const uint8* src_v,
-                             uint8* dst_argb,
-                             const struct YuvConstants* yuvconstants,
-                             int width);
-void I422ToARGB4444Row_AVX2(const uint8* src_y,
-                            const uint8* src_u,
-                            const uint8* src_v,
-                            uint8* dst_argb,
-                            const struct YuvConstants* yuvconstants,
-                            int width);
-void I422ToARGB1555Row_SSSE3(const uint8* src_y,
-                             const uint8* src_u,
-                             const uint8* src_v,
-                             uint8* dst_argb,
-                             const struct YuvConstants* yuvconstants,
-                             int width);
-void I422ToARGB1555Row_AVX2(const uint8* src_y,
-                            const uint8* src_u,
-                            const uint8* src_v,
-                            uint8* dst_argb,
-                            const struct YuvConstants* yuvconstants,
-                            int width);
-void I422ToRGB565Row_SSSE3(const uint8* src_y,
-                           const uint8* src_u,
-                           const uint8* src_v,
-                           uint8* dst_argb,
-                           const struct YuvConstants* yuvconstants,
-                           int width);
-void I422ToRGB565Row_AVX2(const uint8* src_y,
-                          const uint8* src_u,
-                          const uint8* src_v,
-                          uint8* dst_argb,
-                          const struct YuvConstants* yuvconstants,
-                          int width);
-void I422ToRGB24Row_SSSE3(const uint8* src_y,
-                          const uint8* src_u,
-                          const uint8* src_v,
-                          uint8* dst_rgb24,
-                          const struct YuvConstants* yuvconstants,
-                          int width);
-void I422ToRGB24Row_AVX2(const uint8* src_y,
-                         const uint8* src_u,
-                         const uint8* src_v,
-                         uint8* dst_rgb24,
-                         const struct YuvConstants* yuvconstants,
-                         int width);
-void I422ToARGBRow_Any_AVX2(const uint8* src_y,
-                            const uint8* src_u,
-                            const uint8* src_v,
-                            uint8* dst_argb,
-                            const struct YuvConstants* yuvconstants,
-                            int width);
-void I422ToRGBARow_Any_AVX2(const uint8* src_y,
-                            const uint8* src_u,
-                            const uint8* src_v,
-                            uint8* dst_argb,
-                            const struct YuvConstants* yuvconstants,
-                            int width);
-void I444ToARGBRow_Any_SSSE3(const uint8* src_y,
-                             const uint8* src_u,
-                             const uint8* src_v,
-                             uint8* dst_argb,
-                             const struct YuvConstants* yuvconstants,
-                             int width);
-void I444ToARGBRow_Any_AVX2(const uint8* src_y,
-                            const uint8* src_u,
-                            const uint8* src_v,
-                            uint8* dst_argb,
-                            const struct YuvConstants* yuvconstants,
-                            int width);
-void I422ToARGBRow_Any_SSSE3(const uint8* src_y,
-                             const uint8* src_u,
-                             const uint8* src_v,
-                             uint8* dst_argb,
-                             const struct YuvConstants* yuvconstants,
-                             int width);
-void I422AlphaToARGBRow_Any_SSSE3(const uint8* y_buf,
-                                  const uint8* u_buf,
-                                  const uint8* v_buf,
-                                  const uint8* a_buf,
-                                  uint8* dst_argb,
-                                  const struct YuvConstants* yuvconstants,
-                                  int width);
-void I422AlphaToARGBRow_Any_AVX2(const uint8* y_buf,
-                                 const uint8* u_buf,
-                                 const uint8* v_buf,
-                                 const uint8* a_buf,
-                                 uint8* dst_argb,
-                                 const struct YuvConstants* yuvconstants,
-                                 int width);
-void I411ToARGBRow_Any_SSSE3(const uint8* src_y,
-                             const uint8* src_u,
-                             const uint8* src_v,
-                             uint8* dst_argb,
-                             const struct YuvConstants* yuvconstants,
-                             int width);
-void I411ToARGBRow_Any_AVX2(const uint8* src_y,
-                            const uint8* src_u,
-                            const uint8* src_v,
-                            uint8* dst_argb,
-                            const struct YuvConstants* yuvconstants,
-                            int width);
-void NV12ToARGBRow_Any_SSSE3(const uint8* src_y,
-                             const uint8* src_uv,
-                             uint8* dst_argb,
-                             const struct YuvConstants* yuvconstants,
-                             int width);
-void NV12ToARGBRow_Any_AVX2(const uint8* src_y,
-                            const uint8* src_uv,
-                            uint8* dst_argb,
-                            const struct YuvConstants* yuvconstants,
-                            int width);
-void NV21ToARGBRow_Any_SSSE3(const uint8* src_y,
-                             const uint8* src_vu,
-                             uint8* dst_argb,
-                             const struct YuvConstants* yuvconstants,
-                             int width);
-void NV21ToARGBRow_Any_AVX2(const uint8* src_y,
-                            const uint8* src_vu,
-                            uint8* dst_argb,
-                            const struct YuvConstants* yuvconstants,
-                            int width);
-void NV12ToRGB565Row_Any_SSSE3(const uint8* src_y,
-                               const uint8* src_uv,
-                               uint8* dst_argb,
-                               const struct YuvConstants* yuvconstants,
-                               int width);
-void NV12ToRGB565Row_Any_AVX2(const uint8* src_y,
-                              const uint8* src_uv,
-                              uint8* dst_argb,
-                              const struct YuvConstants* yuvconstants,
-                              int width);
-void YUY2ToARGBRow_Any_SSSE3(const uint8* src_yuy2,
-                             uint8* dst_argb,
-                             const struct YuvConstants* yuvconstants,
-                             int width);
-void UYVYToARGBRow_Any_SSSE3(const uint8* src_uyvy,
-                             uint8* dst_argb,
-                             const struct YuvConstants* yuvconstants,
-                             int width);
-void YUY2ToARGBRow_Any_AVX2(const uint8* src_yuy2,
-                            uint8* dst_argb,
-                            const struct YuvConstants* yuvconstants,
-                            int width);
-void UYVYToARGBRow_Any_AVX2(const uint8* src_uyvy,
-                            uint8* dst_argb,
-                            const struct YuvConstants* yuvconstants,
-                            int width);
-void I422ToRGBARow_Any_SSSE3(const uint8* src_y,
-                             const uint8* src_u,
-                             const uint8* src_v,
-                             uint8* dst_rgba,
-                             const struct YuvConstants* yuvconstants,
-                             int width);
-void I422ToARGB4444Row_Any_SSSE3(const uint8* src_y,
-                                 const uint8* src_u,
-                                 const uint8* src_v,
-                                 uint8* dst_rgba,
-                                 const struct YuvConstants* yuvconstants,
-                                 int width);
-void I422ToARGB4444Row_Any_AVX2(const uint8* src_y,
-                                const uint8* src_u,
-                                const uint8* src_v,
-                                uint8* dst_rgba,
-                                const struct YuvConstants* yuvconstants,
-                                int width);
-void I422ToARGB1555Row_Any_SSSE3(const uint8* src_y,
-                                 const uint8* src_u,
-                                 const uint8* src_v,
-                                 uint8* dst_rgba,
-                                 const struct YuvConstants* yuvconstants,
-                                 int width);
-void I422ToARGB1555Row_Any_AVX2(const uint8* src_y,
-                                const uint8* src_u,
-                                const uint8* src_v,
-                                uint8* dst_rgba,
-                                const struct YuvConstants* yuvconstants,
-                                int width);
-void I422ToRGB565Row_Any_SSSE3(const uint8* src_y,
-                               const uint8* src_u,
-                               const uint8* src_v,
-                               uint8* dst_rgba,
-                               const struct YuvConstants* yuvconstants,
-                               int width);
-void I422ToRGB565Row_Any_AVX2(const uint8* src_y,
-                              const uint8* src_u,
-                              const uint8* src_v,
-                              uint8* dst_rgba,
-                              const struct YuvConstants* yuvconstants,
-                              int width);
-void I422ToRGB24Row_Any_SSSE3(const uint8* src_y,
-                              const uint8* src_u,
-                              const uint8* src_v,
-                              uint8* dst_argb,
-                              const struct YuvConstants* yuvconstants,
-                              int width);
-void I422ToRGB24Row_Any_AVX2(const uint8* src_y,
-                             const uint8* src_u,
-                             const uint8* src_v,
-                             uint8* dst_argb,
-                             const struct YuvConstants* yuvconstants,
-                             int width);
-
-void I400ToARGBRow_C(const uint8* src_y, uint8* dst_argb, int width);
-void I400ToARGBRow_SSE2(const uint8* src_y, uint8* dst_argb, int width);
-void I400ToARGBRow_AVX2(const uint8* src_y, uint8* dst_argb, int width);
-void I400ToARGBRow_NEON(const uint8* src_y, uint8* dst_argb, int width);
-void I400ToARGBRow_Any_SSE2(const uint8* src_y, uint8* dst_argb, int width);
-void I400ToARGBRow_Any_AVX2(const uint8* src_y, uint8* dst_argb, int width);
-void I400ToARGBRow_Any_NEON(const uint8* src_y, uint8* dst_argb, int width);
-
-// ARGB preattenuated alpha blend.
-void ARGBBlendRow_SSSE3(const uint8* src_argb, const uint8* src_argb1,
-                        uint8* dst_argb, int width);
-void ARGBBlendRow_NEON(const uint8* src_argb, const uint8* src_argb1,
-                       uint8* dst_argb, int width);
-void ARGBBlendRow_C(const uint8* src_argb, const uint8* src_argb1,
-                    uint8* dst_argb, int width);
-
-// Unattenuated planar alpha blend.
-void BlendPlaneRow_SSSE3(const uint8* src0, const uint8* src1,
-                         const uint8* alpha, uint8* dst, int width);
-void BlendPlaneRow_Any_SSSE3(const uint8* src0, const uint8* src1,
-                             const uint8* alpha, uint8* dst, int width);
-void BlendPlaneRow_AVX2(const uint8* src0, const uint8* src1,
-                        const uint8* alpha, uint8* dst, int width);
-void BlendPlaneRow_Any_AVX2(const uint8* src0, const uint8* src1,
-                            const uint8* alpha, uint8* dst, int width);
-void BlendPlaneRow_C(const uint8* src0, const uint8* src1,
-                     const uint8* alpha, uint8* dst, int width);
-
-// ARGB multiply images. Same API as Blend, but these require
-// pointer and width alignment for SSE2.
-void ARGBMultiplyRow_C(const uint8* src_argb, const uint8* src_argb1,
-                       uint8* dst_argb, int width);
-void ARGBMultiplyRow_SSE2(const uint8* src_argb, const uint8* src_argb1,
-                          uint8* dst_argb, int width);
-void ARGBMultiplyRow_Any_SSE2(const uint8* src_argb, const uint8* src_argb1,
-                              uint8* dst_argb, int width);
-void ARGBMultiplyRow_AVX2(const uint8* src_argb, const uint8* src_argb1,
-                          uint8* dst_argb, int width);
-void ARGBMultiplyRow_Any_AVX2(const uint8* src_argb, const uint8* src_argb1,
-                              uint8* dst_argb, int width);
-void ARGBMultiplyRow_NEON(const uint8* src_argb, const uint8* src_argb1,
-                          uint8* dst_argb, int width);
-void ARGBMultiplyRow_Any_NEON(const uint8* src_argb, const uint8* src_argb1,
-                              uint8* dst_argb, int width);
-
-// ARGB add images.
-void ARGBAddRow_C(const uint8* src_argb, const uint8* src_argb1,
-                  uint8* dst_argb, int width);
-void ARGBAddRow_SSE2(const uint8* src_argb, const uint8* src_argb1,
-                     uint8* dst_argb, int width);
-void ARGBAddRow_Any_SSE2(const uint8* src_argb, const uint8* src_argb1,
-                         uint8* dst_argb, int width);
-void ARGBAddRow_AVX2(const uint8* src_argb, const uint8* src_argb1,
-                     uint8* dst_argb, int width);
-void ARGBAddRow_Any_AVX2(const uint8* src_argb, const uint8* src_argb1,
-                         uint8* dst_argb, int width);
-void ARGBAddRow_NEON(const uint8* src_argb, const uint8* src_argb1,
-                     uint8* dst_argb, int width);
-void ARGBAddRow_Any_NEON(const uint8* src_argb, const uint8* src_argb1,
-                         uint8* dst_argb, int width);
-
-// ARGB subtract images. Same API as Blend, but these require
-// pointer and width alignment for SSE2.
-void ARGBSubtractRow_C(const uint8* src_argb, const uint8* src_argb1,
-                       uint8* dst_argb, int width);
-void ARGBSubtractRow_SSE2(const uint8* src_argb, const uint8* src_argb1,
-                          uint8* dst_argb, int width);
-void ARGBSubtractRow_Any_SSE2(const uint8* src_argb, const uint8* src_argb1,
-                              uint8* dst_argb, int width);
-void ARGBSubtractRow_AVX2(const uint8* src_argb, const uint8* src_argb1,
-                          uint8* dst_argb, int width);
-void ARGBSubtractRow_Any_AVX2(const uint8* src_argb, const uint8* src_argb1,
-                              uint8* dst_argb, int width);
-void ARGBSubtractRow_NEON(const uint8* src_argb, const uint8* src_argb1,
-                          uint8* dst_argb, int width);
-void ARGBSubtractRow_Any_NEON(const uint8* src_argb, const uint8* src_argb1,
-                              uint8* dst_argb, int width);
-
-void ARGBToRGB24Row_Any_SSSE3(const uint8* src_argb, uint8* dst_rgb, int width);
-void ARGBToRAWRow_Any_SSSE3(const uint8* src_argb, uint8* dst_rgb, int width);
-void ARGBToRGB565Row_Any_SSE2(const uint8* src_argb, uint8* dst_rgb, int width);
-void ARGBToARGB1555Row_Any_SSE2(const uint8* src_argb, uint8* dst_rgb,
-                                int width);
-void ARGBToARGB4444Row_Any_SSE2(const uint8* src_argb, uint8* dst_rgb,
-                                int width);
-
-void ARGBToRGB565DitherRow_Any_SSE2(const uint8* src_argb, uint8* dst_rgb,
-                                    const uint32 dither4, int width);
-void ARGBToRGB565DitherRow_Any_AVX2(const uint8* src_argb, uint8* dst_rgb,
-                                    const uint32 dither4, int width);
-
-void ARGBToRGB565Row_Any_AVX2(const uint8* src_argb, uint8* dst_rgb, int width);
-void ARGBToARGB1555Row_Any_AVX2(const uint8* src_argb, uint8* dst_rgb,
-                                int width);
-void ARGBToARGB4444Row_Any_AVX2(const uint8* src_argb, uint8* dst_rgb,
-                                int width);
-
-void ARGBToRGB24Row_Any_NEON(const uint8* src_argb, uint8* dst_rgb, int width);
-void ARGBToRAWRow_Any_NEON(const uint8* src_argb, uint8* dst_rgb, int width);
-void ARGBToRGB565Row_Any_NEON(const uint8* src_argb, uint8* dst_rgb, int width);
-void ARGBToARGB1555Row_Any_NEON(const uint8* src_argb, uint8* dst_rgb,
-                                int width);
-void ARGBToARGB4444Row_Any_NEON(const uint8* src_argb, uint8* dst_rgb,
-                                int width);
-void ARGBToRGB565DitherRow_Any_NEON(const uint8* src_argb, uint8* dst_rgb,
-                                    const uint32 dither4, int width);
-
-void I444ToARGBRow_Any_NEON(const uint8* src_y,
-                            const uint8* src_u,
-                            const uint8* src_v,
-                            uint8* dst_argb,
-                            const struct YuvConstants* yuvconstants,
-                            int width);
-void I422ToARGBRow_Any_NEON(const uint8* src_y,
-                            const uint8* src_u,
-                            const uint8* src_v,
-                            uint8* dst_argb,
-                            const struct YuvConstants* yuvconstants,
-                            int width);
-void I422AlphaToARGBRow_Any_NEON(const uint8* src_y,
-                                 const uint8* src_u,
-                                 const uint8* src_v,
-                                 const uint8* src_a,
-                                 uint8* dst_argb,
-                                 const struct YuvConstants* yuvconstants,
-                                 int width);
-void I411ToARGBRow_Any_NEON(const uint8* src_y,
-                            const uint8* src_u,
-                            const uint8* src_v,
-                            uint8* dst_argb,
-                            const struct YuvConstants* yuvconstants,
-                            int width);
-void I422ToRGBARow_Any_NEON(const uint8* src_y,
-                            const uint8* src_u,
-                            const uint8* src_v,
-                            uint8* dst_argb,
-                            const struct YuvConstants* yuvconstants,
-                            int width);
-void I422ToRGB24Row_Any_NEON(const uint8* src_y,
-                             const uint8* src_u,
-                             const uint8* src_v,
-                             uint8* dst_argb,
-                             const struct YuvConstants* yuvconstants,
-                             int width);
-void I422ToARGB4444Row_Any_NEON(const uint8* src_y,
-                                const uint8* src_u,
-                                const uint8* src_v,
-                                uint8* dst_argb,
-                                const struct YuvConstants* yuvconstants,
-                                int width);
-void I422ToARGB1555Row_Any_NEON(const uint8* src_y,
-                                const uint8* src_u,
-                                const uint8* src_v,
-                                uint8* dst_argb,
-                                const struct YuvConstants* yuvconstants,
-                                int width);
-void I422ToRGB565Row_Any_NEON(const uint8* src_y,
-                              const uint8* src_u,
-                              const uint8* src_v,
-                              uint8* dst_argb,
-                              const struct YuvConstants* yuvconstants,
-                              int width);
-void NV12ToARGBRow_Any_NEON(const uint8* src_y,
-                            const uint8* src_uv,
-                            uint8* dst_argb,
-                            const struct YuvConstants* yuvconstants,
-                            int width);
-void NV21ToARGBRow_Any_NEON(const uint8* src_y,
-                            const uint8* src_vu,
-                            uint8* dst_argb,
-                            const struct YuvConstants* yuvconstants,
-                            int width);
-void NV12ToRGB565Row_Any_NEON(const uint8* src_y,
-                              const uint8* src_uv,
-                              uint8* dst_argb,
-                              const struct YuvConstants* yuvconstants,
-                              int width);
-void YUY2ToARGBRow_Any_NEON(const uint8* src_yuy2,
-                            uint8* dst_argb,
-                            const struct YuvConstants* yuvconstants,
-                            int width);
-void UYVYToARGBRow_Any_NEON(const uint8* src_uyvy,
-                            uint8* dst_argb,
-                            const struct YuvConstants* yuvconstants,
-                            int width);
-void I422ToARGBRow_DSPR2(const uint8* src_y,
-                         const uint8* src_u,
-                         const uint8* src_v,
-                         uint8* dst_argb,
-                         const struct YuvConstants* yuvconstants,
-                         int width);
-void I422ToARGBRow_DSPR2(const uint8* src_y,
-                         const uint8* src_u,
-                         const uint8* src_v,
-                         uint8* dst_argb,
-                         const struct YuvConstants* yuvconstants,
-                         int width);
-
-void YUY2ToYRow_AVX2(const uint8* src_yuy2, uint8* dst_y, int width);
-void YUY2ToUVRow_AVX2(const uint8* src_yuy2, int stride_yuy2,
-                      uint8* dst_u, uint8* dst_v, int width);
-void YUY2ToUV422Row_AVX2(const uint8* src_yuy2,
-                         uint8* dst_u, uint8* dst_v, int width);
-void YUY2ToYRow_SSE2(const uint8* src_yuy2, uint8* dst_y, int width);
-void YUY2ToUVRow_SSE2(const uint8* src_yuy2, int stride_yuy2,
-                      uint8* dst_u, uint8* dst_v, int width);
-void YUY2ToUV422Row_SSE2(const uint8* src_yuy2,
-                         uint8* dst_u, uint8* dst_v, int width);
-void YUY2ToYRow_NEON(const uint8* src_yuy2, uint8* dst_y, int width);
-void YUY2ToUVRow_NEON(const uint8* src_yuy2, int stride_yuy2,
-                      uint8* dst_u, uint8* dst_v, int width);
-void YUY2ToUV422Row_NEON(const uint8* src_yuy2,
-                         uint8* dst_u, uint8* dst_v, int width);
-void YUY2ToYRow_C(const uint8* src_yuy2, uint8* dst_y, int width);
-void YUY2ToUVRow_C(const uint8* src_yuy2, int stride_yuy2,
-                   uint8* dst_u, uint8* dst_v, int width);
-void YUY2ToUV422Row_C(const uint8* src_yuy2,
-                      uint8* dst_u, uint8* dst_v, int width);
-void YUY2ToYRow_Any_AVX2(const uint8* src_yuy2, uint8* dst_y, int width);
-void YUY2ToUVRow_Any_AVX2(const uint8* src_yuy2, int stride_yuy2,
-                          uint8* dst_u, uint8* dst_v, int width);
-void YUY2ToUV422Row_Any_AVX2(const uint8* src_yuy2,
-                             uint8* dst_u, uint8* dst_v, int width);
-void YUY2ToYRow_Any_SSE2(const uint8* src_yuy2, uint8* dst_y, int width);
-void YUY2ToUVRow_Any_SSE2(const uint8* src_yuy2, int stride_yuy2,
-                          uint8* dst_u, uint8* dst_v, int width);
-void YUY2ToUV422Row_Any_SSE2(const uint8* src_yuy2,
-                             uint8* dst_u, uint8* dst_v, int width);
-void YUY2ToYRow_Any_NEON(const uint8* src_yuy2, uint8* dst_y, int width);
-void YUY2ToUVRow_Any_NEON(const uint8* src_yuy2, int stride_yuy2,
-                          uint8* dst_u, uint8* dst_v, int width);
-void YUY2ToUV422Row_Any_NEON(const uint8* src_yuy2,
-                             uint8* dst_u, uint8* dst_v, int width);
-void UYVYToYRow_AVX2(const uint8* src_uyvy, uint8* dst_y, int width);
-void UYVYToUVRow_AVX2(const uint8* src_uyvy, int stride_uyvy,
-                      uint8* dst_u, uint8* dst_v, int width);
-void UYVYToUV422Row_AVX2(const uint8* src_uyvy,
-                         uint8* dst_u, uint8* dst_v, int width);
-void UYVYToYRow_SSE2(const uint8* src_uyvy, uint8* dst_y, int width);
-void UYVYToUVRow_SSE2(const uint8* src_uyvy, int stride_uyvy,
-                      uint8* dst_u, uint8* dst_v, int width);
-void UYVYToUV422Row_SSE2(const uint8* src_uyvy,
-                         uint8* dst_u, uint8* dst_v, int width);
-void UYVYToYRow_AVX2(const uint8* src_uyvy, uint8* dst_y, int width);
-void UYVYToUVRow_AVX2(const uint8* src_uyvy, int stride_uyvy,
-                      uint8* dst_u, uint8* dst_v, int width);
-void UYVYToUV422Row_AVX2(const uint8* src_uyvy,
-                         uint8* dst_u, uint8* dst_v, int width);
-void UYVYToYRow_NEON(const uint8* src_uyvy, uint8* dst_y, int width);
-void UYVYToUVRow_NEON(const uint8* src_uyvy, int stride_uyvy,
-                      uint8* dst_u, uint8* dst_v, int width);
-void UYVYToUV422Row_NEON(const uint8* src_uyvy,
-                         uint8* dst_u, uint8* dst_v, int width);
-
-void UYVYToYRow_C(const uint8* src_uyvy, uint8* dst_y, int width);
-void UYVYToUVRow_C(const uint8* src_uyvy, int stride_uyvy,
-                   uint8* dst_u, uint8* dst_v, int width);
-void UYVYToUV422Row_C(const uint8* src_uyvy,
-                      uint8* dst_u, uint8* dst_v, int width);
-void UYVYToYRow_Any_AVX2(const uint8* src_uyvy, uint8* dst_y, int width);
-void UYVYToUVRow_Any_AVX2(const uint8* src_uyvy, int stride_uyvy,
-                          uint8* dst_u, uint8* dst_v, int width);
-void UYVYToUV422Row_Any_AVX2(const uint8* src_uyvy,
-                             uint8* dst_u, uint8* dst_v, int width);
-void UYVYToYRow_Any_SSE2(const uint8* src_uyvy, uint8* dst_y, int width);
-void UYVYToUVRow_Any_SSE2(const uint8* src_uyvy, int stride_uyvy,
-                          uint8* dst_u, uint8* dst_v, int width);
-void UYVYToUV422Row_Any_SSE2(const uint8* src_uyvy,
-                             uint8* dst_u, uint8* dst_v, int width);
-void UYVYToYRow_Any_NEON(const uint8* src_uyvy, uint8* dst_y, int width);
-void UYVYToUVRow_Any_NEON(const uint8* src_uyvy, int stride_uyvy,
-                          uint8* dst_u, uint8* dst_v, int width);
-void UYVYToUV422Row_Any_NEON(const uint8* src_uyvy,
-                             uint8* dst_u, uint8* dst_v, int width);
-
-void I422ToYUY2Row_C(const uint8* src_y,
-                     const uint8* src_u,
-                     const uint8* src_v,
-                     uint8* dst_yuy2, int width);
-void I422ToUYVYRow_C(const uint8* src_y,
-                     const uint8* src_u,
-                     const uint8* src_v,
-                     uint8* dst_uyvy, int width);
-void I422ToYUY2Row_SSE2(const uint8* src_y,
-                        const uint8* src_u,
-                        const uint8* src_v,
-                        uint8* dst_yuy2, int width);
-void I422ToUYVYRow_SSE2(const uint8* src_y,
-                        const uint8* src_u,
-                        const uint8* src_v,
-                        uint8* dst_uyvy, int width);
-void I422ToYUY2Row_Any_SSE2(const uint8* src_y,
-                            const uint8* src_u,
-                            const uint8* src_v,
-                            uint8* dst_yuy2, int width);
-void I422ToUYVYRow_Any_SSE2(const uint8* src_y,
-                            const uint8* src_u,
-                            const uint8* src_v,
-                            uint8* dst_uyvy, int width);
-void I422ToYUY2Row_NEON(const uint8* src_y,
-                        const uint8* src_u,
-                        const uint8* src_v,
-                        uint8* dst_yuy2, int width);
-void I422ToUYVYRow_NEON(const uint8* src_y,
-                        const uint8* src_u,
-                        const uint8* src_v,
-                        uint8* dst_uyvy, int width);
-void I422ToYUY2Row_Any_NEON(const uint8* src_y,
-                            const uint8* src_u,
-                            const uint8* src_v,
-                            uint8* dst_yuy2, int width);
-void I422ToUYVYRow_Any_NEON(const uint8* src_y,
-                            const uint8* src_u,
-                            const uint8* src_v,
-                            uint8* dst_uyvy, int width);
-
-// Effects related row functions.
-void ARGBAttenuateRow_C(const uint8* src_argb, uint8* dst_argb, int width);
-void ARGBAttenuateRow_SSSE3(const uint8* src_argb, uint8* dst_argb, int width);
-void ARGBAttenuateRow_AVX2(const uint8* src_argb, uint8* dst_argb, int width);
-void ARGBAttenuateRow_NEON(const uint8* src_argb, uint8* dst_argb, int width);
-void ARGBAttenuateRow_Any_SSE2(const uint8* src_argb, uint8* dst_argb,
-                               int width);
-void ARGBAttenuateRow_Any_SSSE3(const uint8* src_argb, uint8* dst_argb,
-                                int width);
-void ARGBAttenuateRow_Any_AVX2(const uint8* src_argb, uint8* dst_argb,
-                               int width);
-void ARGBAttenuateRow_Any_NEON(const uint8* src_argb, uint8* dst_argb,
-                               int width);
-
-// Inverse table for unattenuate, shared by C and SSE2.
-extern const uint32 fixed_invtbl8[256];
-void ARGBUnattenuateRow_C(const uint8* src_argb, uint8* dst_argb, int width);
-void ARGBUnattenuateRow_SSE2(const uint8* src_argb, uint8* dst_argb, int width);
-void ARGBUnattenuateRow_AVX2(const uint8* src_argb, uint8* dst_argb, int width);
-void ARGBUnattenuateRow_Any_SSE2(const uint8* src_argb, uint8* dst_argb,
-                                 int width);
-void ARGBUnattenuateRow_Any_AVX2(const uint8* src_argb, uint8* dst_argb,
-                                 int width);
-
-void ARGBGrayRow_C(const uint8* src_argb, uint8* dst_argb, int width);
-void ARGBGrayRow_SSSE3(const uint8* src_argb, uint8* dst_argb, int width);
-void ARGBGrayRow_NEON(const uint8* src_argb, uint8* dst_argb, int width);
-
-void ARGBSepiaRow_C(uint8* dst_argb, int width);
-void ARGBSepiaRow_SSSE3(uint8* dst_argb, int width);
-void ARGBSepiaRow_NEON(uint8* dst_argb, int width);
-
-void ARGBColorMatrixRow_C(const uint8* src_argb, uint8* dst_argb,
-                          const int8* matrix_argb, int width);
-void ARGBColorMatrixRow_SSSE3(const uint8* src_argb, uint8* dst_argb,
-                              const int8* matrix_argb, int width);
-void ARGBColorMatrixRow_NEON(const uint8* src_argb, uint8* dst_argb,
-                             const int8* matrix_argb, int width);
-
-void ARGBColorTableRow_C(uint8* dst_argb, const uint8* table_argb, int width);
-void ARGBColorTableRow_X86(uint8* dst_argb, const uint8* table_argb, int width);
-
-void RGBColorTableRow_C(uint8* dst_argb, const uint8* table_argb, int width);
-void RGBColorTableRow_X86(uint8* dst_argb, const uint8* table_argb, int width);
-
-void ARGBQuantizeRow_C(uint8* dst_argb, int scale, int interval_size,
-                       int interval_offset, int width);
-void ARGBQuantizeRow_SSE2(uint8* dst_argb, int scale, int interval_size,
-                          int interval_offset, int width);
-void ARGBQuantizeRow_NEON(uint8* dst_argb, int scale, int interval_size,
-                          int interval_offset, int width);
-
-void ARGBShadeRow_C(const uint8* src_argb, uint8* dst_argb, int width,
-                    uint32 value);
-void ARGBShadeRow_SSE2(const uint8* src_argb, uint8* dst_argb, int width,
-                       uint32 value);
-void ARGBShadeRow_NEON(const uint8* src_argb, uint8* dst_argb, int width,
-                       uint32 value);
-
-// Used for blur.
-void CumulativeSumToAverageRow_SSE2(const int32* topleft, const int32* botleft,
-                                    int width, int area, uint8* dst, int count);
-void ComputeCumulativeSumRow_SSE2(const uint8* row, int32* cumsum,
-                                  const int32* previous_cumsum, int width);
-
-void CumulativeSumToAverageRow_C(const int32* topleft, const int32* botleft,
-                                 int width, int area, uint8* dst, int count);
-void ComputeCumulativeSumRow_C(const uint8* row, int32* cumsum,
-                               const int32* previous_cumsum, int width);
-
-LIBYUV_API
-void ARGBAffineRow_C(const uint8* src_argb, int src_argb_stride,
-                     uint8* dst_argb, const float* uv_dudv, int width);
-LIBYUV_API
-void ARGBAffineRow_SSE2(const uint8* src_argb, int src_argb_stride,
-                        uint8* dst_argb, const float* uv_dudv, int width);
-
-// Used for I420Scale, ARGBScale, and ARGBInterpolate.
-void InterpolateRow_C(uint8* dst_ptr, const uint8* src_ptr,
-                      ptrdiff_t src_stride_ptr,
-                      int width, int source_y_fraction);
-void InterpolateRow_SSSE3(uint8* dst_ptr, const uint8* src_ptr,
-                          ptrdiff_t src_stride_ptr, int width,
-                          int source_y_fraction);
-void InterpolateRow_AVX2(uint8* dst_ptr, const uint8* src_ptr,
-                         ptrdiff_t src_stride_ptr, int width,
-                         int source_y_fraction);
-void InterpolateRow_NEON(uint8* dst_ptr, const uint8* src_ptr,
-                         ptrdiff_t src_stride_ptr, int width,
-                         int source_y_fraction);
-void InterpolateRow_DSPR2(uint8* dst_ptr, const uint8* src_ptr,
-                          ptrdiff_t src_stride_ptr, int width,
-                          int source_y_fraction);
-void InterpolateRow_Any_NEON(uint8* dst_ptr, const uint8* src_ptr,
-                             ptrdiff_t src_stride_ptr, int width,
-                             int source_y_fraction);
-void InterpolateRow_Any_SSSE3(uint8* dst_ptr, const uint8* src_ptr,
-                              ptrdiff_t src_stride_ptr, int width,
-                              int source_y_fraction);
-void InterpolateRow_Any_AVX2(uint8* dst_ptr, const uint8* src_ptr,
-                             ptrdiff_t src_stride_ptr, int width,
-                             int source_y_fraction);
-void InterpolateRow_Any_DSPR2(uint8* dst_ptr, const uint8* src_ptr,
-                              ptrdiff_t src_stride_ptr, int width,
-                              int source_y_fraction);
-
-void InterpolateRow_16_C(uint16* dst_ptr, const uint16* src_ptr,
-                         ptrdiff_t src_stride_ptr,
-                         int width, int source_y_fraction);
-
-// Sobel images.
-void SobelXRow_C(const uint8* src_y0, const uint8* src_y1, const uint8* src_y2,
-                 uint8* dst_sobelx, int width);
-void SobelXRow_SSE2(const uint8* src_y0, const uint8* src_y1,
-                    const uint8* src_y2, uint8* dst_sobelx, int width);
-void SobelXRow_NEON(const uint8* src_y0, const uint8* src_y1,
-                    const uint8* src_y2, uint8* dst_sobelx, int width);
-void SobelYRow_C(const uint8* src_y0, const uint8* src_y1,
-                 uint8* dst_sobely, int width);
-void SobelYRow_SSE2(const uint8* src_y0, const uint8* src_y1,
-                    uint8* dst_sobely, int width);
-void SobelYRow_NEON(const uint8* src_y0, const uint8* src_y1,
-                    uint8* dst_sobely, int width);
-void SobelRow_C(const uint8* src_sobelx, const uint8* src_sobely,
-                uint8* dst_argb, int width);
-void SobelRow_SSE2(const uint8* src_sobelx, const uint8* src_sobely,
-                   uint8* dst_argb, int width);
-void SobelRow_NEON(const uint8* src_sobelx, const uint8* src_sobely,
-                   uint8* dst_argb, int width);
-void SobelToPlaneRow_C(const uint8* src_sobelx, const uint8* src_sobely,
-                       uint8* dst_y, int width);
-void SobelToPlaneRow_SSE2(const uint8* src_sobelx, const uint8* src_sobely,
-                          uint8* dst_y, int width);
-void SobelToPlaneRow_NEON(const uint8* src_sobelx, const uint8* src_sobely,
-                          uint8* dst_y, int width);
-void SobelXYRow_C(const uint8* src_sobelx, const uint8* src_sobely,
-                  uint8* dst_argb, int width);
-void SobelXYRow_SSE2(const uint8* src_sobelx, const uint8* src_sobely,
-                     uint8* dst_argb, int width);
-void SobelXYRow_NEON(const uint8* src_sobelx, const uint8* src_sobely,
-                     uint8* dst_argb, int width);
-void SobelRow_Any_SSE2(const uint8* src_sobelx, const uint8* src_sobely,
-                       uint8* dst_argb, int width);
-void SobelRow_Any_NEON(const uint8* src_sobelx, const uint8* src_sobely,
-                       uint8* dst_argb, int width);
-void SobelToPlaneRow_Any_SSE2(const uint8* src_sobelx, const uint8* src_sobely,
-                              uint8* dst_y, int width);
-void SobelToPlaneRow_Any_NEON(const uint8* src_sobelx, const uint8* src_sobely,
-                              uint8* dst_y, int width);
-void SobelXYRow_Any_SSE2(const uint8* src_sobelx, const uint8* src_sobely,
-                         uint8* dst_argb, int width);
-void SobelXYRow_Any_NEON(const uint8* src_sobelx, const uint8* src_sobely,
-                         uint8* dst_argb, int width);
-
-void ARGBPolynomialRow_C(const uint8* src_argb,
-                         uint8* dst_argb, const float* poly,
-                         int width);
-void ARGBPolynomialRow_SSE2(const uint8* src_argb,
-                            uint8* dst_argb, const float* poly,
-                            int width);
-void ARGBPolynomialRow_AVX2(const uint8* src_argb,
-                            uint8* dst_argb, const float* poly,
-                            int width);
-
-// Scale and convert to half float.
-void HalfFloatRow_C(const uint16* src, uint16* dst, float scale, int width);
-void HalfFloatRow_AVX2(const uint16* src, uint16* dst, float scale, int width);
-void HalfFloatRow_Any_AVX2(const uint16* src, uint16* dst, float scale,
-                           int width);
-void HalfFloatRow_SSE2(const uint16* src, uint16* dst, float scale, int width);
-void HalfFloatRow_Any_SSE2(const uint16* src, uint16* dst, float scale,
-                           int width);
-
-void ARGBLumaColorTableRow_C(const uint8* src_argb, uint8* dst_argb, int width,
-                             const uint8* luma, uint32 lumacoeff);
-void ARGBLumaColorTableRow_SSSE3(const uint8* src_argb, uint8* dst_argb,
-                                 int width,
-                                 const uint8* luma, uint32 lumacoeff);
-
-#ifdef __cplusplus
-}  // extern "C"
-}  // namespace libyuv
-#endif
-
-#endif  // INCLUDE_LIBYUV_ROW_H_
diff --git a/third_party/libyuv/include/libyuv/scale.h b/third_party/libyuv/include/libyuv/scale.h
deleted file mode 100644
index ae14694598b..00000000000
--- a/third_party/libyuv/include/libyuv/scale.h
+++ /dev/null
@@ -1,103 +0,0 @@
-/*
- *  Copyright 2011 The LibYuv Project Authors. All rights reserved.
- *
- *  Use of this source code is governed by a BSD-style license
- *  that can be found in the LICENSE file in the root of the source
- *  tree. An additional intellectual property rights grant can be found
- *  in the file PATENTS. All contributing project authors may
- *  be found in the AUTHORS file in the root of the source tree.
- */
-
-#ifndef INCLUDE_LIBYUV_SCALE_H_
-#define INCLUDE_LIBYUV_SCALE_H_
-
-#include "libyuv/basic_types.h"
-
-#ifdef __cplusplus
-namespace libyuv {
-extern "C" {
-#endif
-
-// Supported filtering.
-typedef enum FilterMode {
-  kFilterNone = 0,  // Point sample; Fastest.
-  kFilterLinear = 1,  // Filter horizontally only.
-  kFilterBilinear = 2,  // Faster than box, but lower quality scaling down.
-  kFilterBox = 3  // Highest quality.
-} FilterModeEnum;
-
-// Scale a YUV plane.
-LIBYUV_API
-void ScalePlane(const uint8* src, int src_stride,
-                int src_width, int src_height,
-                uint8* dst, int dst_stride,
-                int dst_width, int dst_height,
-                enum FilterMode filtering);
-
-LIBYUV_API
-void ScalePlane_16(const uint16* src, int src_stride,
-                   int src_width, int src_height,
-                   uint16* dst, int dst_stride,
-                   int dst_width, int dst_height,
-                   enum FilterMode filtering);
-
-// Scales a YUV 4:2:0 image from the src width and height to the
-// dst width and height.
-// If filtering is kFilterNone, a simple nearest-neighbor algorithm is
-// used. This produces basic (blocky) quality at the fastest speed.
-// If filtering is kFilterBilinear, interpolation is used to produce a better
-// quality image, at the expense of speed.
-// If filtering is kFilterBox, averaging is used to produce ever better
-// quality image, at further expense of speed.
-// Returns 0 if successful.
-
-LIBYUV_API
-int I420Scale(const uint8* src_y, int src_stride_y,
-              const uint8* src_u, int src_stride_u,
-              const uint8* src_v, int src_stride_v,
-              int src_width, int src_height,
-              uint8* dst_y, int dst_stride_y,
-              uint8* dst_u, int dst_stride_u,
-              uint8* dst_v, int dst_stride_v,
-              int dst_width, int dst_height,
-              enum FilterMode filtering);
-
-LIBYUV_API
-int I420Scale_16(const uint16* src_y, int src_stride_y,
-                 const uint16* src_u, int src_stride_u,
-                 const uint16* src_v, int src_stride_v,
-                 int src_width, int src_height,
-                 uint16* dst_y, int dst_stride_y,
-                 uint16* dst_u, int dst_stride_u,
-                 uint16* dst_v, int dst_stride_v,
-                 int dst_width, int dst_height,
-                 enum FilterMode filtering);
-
-#ifdef __cplusplus
-// Legacy API.  Deprecated.
-LIBYUV_API
-int Scale(const uint8* src_y, const uint8* src_u, const uint8* src_v,
-          int src_stride_y, int src_stride_u, int src_stride_v,
-          int src_width, int src_height,
-          uint8* dst_y, uint8* dst_u, uint8* dst_v,
-          int dst_stride_y, int dst_stride_u, int dst_stride_v,
-          int dst_width, int dst_height,
-          LIBYUV_BOOL interpolate);
-
-// Legacy API.  Deprecated.
-LIBYUV_API
-int ScaleOffset(const uint8* src_i420, int src_width, int src_height,
-                uint8* dst_i420, int dst_width, int dst_height, int dst_yoffset,
-                LIBYUV_BOOL interpolate);
-
-// For testing, allow disabling of specialized scalers.
-LIBYUV_API
-void SetUseReferenceImpl(LIBYUV_BOOL use);
-#endif  // __cplusplus
-
-#ifdef __cplusplus
-}  // extern "C"
-}  // namespace libyuv
-#endif
-
-#endif  // INCLUDE_LIBYUV_SCALE_H_
diff --git a/third_party/libyuv/include/libyuv/scale_argb.h b/third_party/libyuv/include/libyuv/scale_argb.h
deleted file mode 100644
index 35cd191c0f6..00000000000
--- a/third_party/libyuv/include/libyuv/scale_argb.h
+++ /dev/null
@@ -1,56 +0,0 @@
-/*
- *  Copyright 2012 The LibYuv Project Authors. All rights reserved.
- *
- *  Use of this source code is governed by a BSD-style license
- *  that can be found in the LICENSE file in the root of the source
- *  tree. An additional intellectual property rights grant can be found
- *  in the file PATENTS. All contributing project authors may
- *  be found in the AUTHORS file in the root of the source tree.
- */
-
-#ifndef INCLUDE_LIBYUV_SCALE_ARGB_H_
-#define INCLUDE_LIBYUV_SCALE_ARGB_H_
-
-#include "libyuv/basic_types.h"
-#include "libyuv/scale.h"  // For FilterMode
-
-#ifdef __cplusplus
-namespace libyuv {
-extern "C" {
-#endif
-
-LIBYUV_API
-int ARGBScale(const uint8* src_argb, int src_stride_argb,
-              int src_width, int src_height,
-              uint8* dst_argb, int dst_stride_argb,
-              int dst_width, int dst_height,
-              enum FilterMode filtering);
-
-// Clipped scale takes destination rectangle coordinates for clip values.
-LIBYUV_API
-int ARGBScaleClip(const uint8* src_argb, int src_stride_argb,
-                  int src_width, int src_height,
-                  uint8* dst_argb, int dst_stride_argb,
-                  int dst_width, int dst_height,
-                  int clip_x, int clip_y, int clip_width, int clip_height,
-                  enum FilterMode filtering);
-
-// Scale with YUV conversion to ARGB and clipping.
-LIBYUV_API
-int YUVToARGBScaleClip(const uint8* src_y, int src_stride_y,
-                       const uint8* src_u, int src_stride_u,
-                       const uint8* src_v, int src_stride_v,
-                       uint32 src_fourcc,
-                       int src_width, int src_height,
-                       uint8* dst_argb, int dst_stride_argb,
-                       uint32 dst_fourcc,
-                       int dst_width, int dst_height,
-                       int clip_x, int clip_y, int clip_width, int clip_height,
-                       enum FilterMode filtering);
-
-#ifdef __cplusplus
-}  // extern "C"
-}  // namespace libyuv
-#endif
-
-#endif  // INCLUDE_LIBYUV_SCALE_ARGB_H_
diff --git a/third_party/libyuv/include/libyuv/scale_row.h b/third_party/libyuv/include/libyuv/scale_row.h
deleted file mode 100644
index 791fbf7d053..00000000000
--- a/third_party/libyuv/include/libyuv/scale_row.h
+++ /dev/null
@@ -1,503 +0,0 @@
-/*
- *  Copyright 2013 The LibYuv Project Authors. All rights reserved.
- *
- *  Use of this source code is governed by a BSD-style license
- *  that can be found in the LICENSE file in the root of the source
- *  tree. An additional intellectual property rights grant can be found
- *  in the file PATENTS. All contributing project authors may
- *  be found in the AUTHORS file in the root of the source tree.
- */
-
-#ifndef INCLUDE_LIBYUV_SCALE_ROW_H_
-#define INCLUDE_LIBYUV_SCALE_ROW_H_
-
-#include "libyuv/basic_types.h"
-#include "libyuv/scale.h"
-
-#ifdef __cplusplus
-namespace libyuv {
-extern "C" {
-#endif
-
-#if defined(__pnacl__) || defined(__CLR_VER) || \
-    (defined(__i386__) && !defined(__SSE2__))
-#define LIBYUV_DISABLE_X86
-#endif
-// MemorySanitizer does not support assembly code yet. http://crbug.com/344505
-#if defined(__has_feature)
-#if __has_feature(memory_sanitizer)
-#define LIBYUV_DISABLE_X86
-#endif
-#endif
-
-// GCC >= 4.7.0 required for AVX2.
-#if defined(__GNUC__) && (defined(__x86_64__) || defined(__i386__))
-#if (__GNUC__ > 4) || (__GNUC__ == 4 && (__GNUC_MINOR__ >= 7))
-#define GCC_HAS_AVX2 1
-#endif  // GNUC >= 4.7
-#endif  // __GNUC__
-
-// clang >= 3.4.0 required for AVX2.
-#if defined(__clang__) && (defined(__x86_64__) || defined(__i386__))
-#if (__clang_major__ > 3) || (__clang_major__ == 3 && (__clang_minor__ >= 4))
-#define CLANG_HAS_AVX2 1
-#endif  // clang >= 3.4
-#endif  // __clang__
-
-// Visual C 2012 required for AVX2.
-#if defined(_M_IX86) && !defined(__clang__) && \
-    defined(_MSC_VER) && _MSC_VER >= 1700
-#define VISUALC_HAS_AVX2 1
-#endif  // VisualStudio >= 2012
-
-// The following are available on all x86 platforms:
-#if !defined(LIBYUV_DISABLE_X86) && \
-    (defined(_M_IX86) || defined(__x86_64__) || defined(__i386__))
-#define HAS_FIXEDDIV1_X86
-#define HAS_FIXEDDIV_X86
-#define HAS_SCALEARGBCOLS_SSE2
-#define HAS_SCALEARGBCOLSUP2_SSE2
-#define HAS_SCALEARGBFILTERCOLS_SSSE3
-#define HAS_SCALEARGBROWDOWN2_SSE2
-#define HAS_SCALEARGBROWDOWNEVEN_SSE2
-#define HAS_SCALECOLSUP2_SSE2
-#define HAS_SCALEFILTERCOLS_SSSE3
-#define HAS_SCALEROWDOWN2_SSSE3
-#define HAS_SCALEROWDOWN34_SSSE3
-#define HAS_SCALEROWDOWN38_SSSE3
-#define HAS_SCALEROWDOWN4_SSSE3
-#define HAS_SCALEADDROW_SSE2
-#endif
-
-// The following are available on all x86 platforms, but
-// require VS2012, clang 3.4 or gcc 4.7.
-// The code supports NaCL but requires a new compiler and validator.
-#if !defined(LIBYUV_DISABLE_X86) && (defined(VISUALC_HAS_AVX2) || \
-    defined(CLANG_HAS_AVX2) || defined(GCC_HAS_AVX2))
-#define HAS_SCALEADDROW_AVX2
-#define HAS_SCALEROWDOWN2_AVX2
-#define HAS_SCALEROWDOWN4_AVX2
-#endif
-
-// The following are available on Neon platforms:
-#if !defined(LIBYUV_DISABLE_NEON) && !defined(__native_client__) && \
-    (defined(__ARM_NEON__) || defined(LIBYUV_NEON) || defined(__aarch64__))
-#define HAS_SCALEARGBCOLS_NEON
-#define HAS_SCALEARGBROWDOWN2_NEON
-#define HAS_SCALEARGBROWDOWNEVEN_NEON
-#define HAS_SCALEFILTERCOLS_NEON
-#define HAS_SCALEROWDOWN2_NEON
-#define HAS_SCALEROWDOWN34_NEON
-#define HAS_SCALEROWDOWN38_NEON
-#define HAS_SCALEROWDOWN4_NEON
-#define HAS_SCALEARGBFILTERCOLS_NEON
-#endif
-
-// The following are available on Mips platforms:
-#if !defined(LIBYUV_DISABLE_MIPS) && !defined(__native_client__) && \
-    defined(__mips__) && defined(__mips_dsp) && (__mips_dsp_rev >= 2)
-#define HAS_SCALEROWDOWN2_DSPR2
-#define HAS_SCALEROWDOWN4_DSPR2
-#define HAS_SCALEROWDOWN34_DSPR2
-#define HAS_SCALEROWDOWN38_DSPR2
-#endif
-
-// Scale ARGB vertically with bilinear interpolation.
-void ScalePlaneVertical(int src_height,
-                        int dst_width, int dst_height,
-                        int src_stride, int dst_stride,
-                        const uint8* src_argb, uint8* dst_argb,
-                        int x, int y, int dy,
-                        int bpp, enum FilterMode filtering);
-
-void ScalePlaneVertical_16(int src_height,
-                           int dst_width, int dst_height,
-                           int src_stride, int dst_stride,
-                           const uint16* src_argb, uint16* dst_argb,
-                           int x, int y, int dy,
-                           int wpp, enum FilterMode filtering);
-
-// Simplify the filtering based on scale factors.
-enum FilterMode ScaleFilterReduce(int src_width, int src_height,
-                                  int dst_width, int dst_height,
-                                  enum FilterMode filtering);
-
-// Divide num by div and return as 16.16 fixed point result.
-int FixedDiv_C(int num, int div);
-int FixedDiv_X86(int num, int div);
-// Divide num - 1 by div - 1 and return as 16.16 fixed point result.
-int FixedDiv1_C(int num, int div);
-int FixedDiv1_X86(int num, int div);
-#ifdef HAS_FIXEDDIV_X86
-#define FixedDiv FixedDiv_X86
-#define FixedDiv1 FixedDiv1_X86
-#else
-#define FixedDiv FixedDiv_C
-#define FixedDiv1 FixedDiv1_C
-#endif
-
-// Compute slope values for stepping.
-void ScaleSlope(int src_width, int src_height,
-                int dst_width, int dst_height,
-                enum FilterMode filtering,
-                int* x, int* y, int* dx, int* dy);
-
-void ScaleRowDown2_C(const uint8* src_ptr, ptrdiff_t src_stride,
-                     uint8* dst, int dst_width);
-void ScaleRowDown2_16_C(const uint16* src_ptr, ptrdiff_t src_stride,
-                        uint16* dst, int dst_width);
-void ScaleRowDown2Linear_C(const uint8* src_ptr, ptrdiff_t src_stride,
-                           uint8* dst, int dst_width);
-void ScaleRowDown2Linear_16_C(const uint16* src_ptr, ptrdiff_t src_stride,
-                              uint16* dst, int dst_width);
-void ScaleRowDown2Box_C(const uint8* src_ptr, ptrdiff_t src_stride,
-                        uint8* dst, int dst_width);
-void ScaleRowDown2Box_Odd_C(const uint8* src_ptr, ptrdiff_t src_stride,
-                            uint8* dst, int dst_width);
-void ScaleRowDown2Box_16_C(const uint16* src_ptr, ptrdiff_t src_stride,
-                           uint16* dst, int dst_width);
-void ScaleRowDown4_C(const uint8* src_ptr, ptrdiff_t src_stride,
-                     uint8* dst, int dst_width);
-void ScaleRowDown4_16_C(const uint16* src_ptr, ptrdiff_t src_stride,
-                        uint16* dst, int dst_width);
-void ScaleRowDown4Box_C(const uint8* src_ptr, ptrdiff_t src_stride,
-                        uint8* dst, int dst_width);
-void ScaleRowDown4Box_16_C(const uint16* src_ptr, ptrdiff_t src_stride,
-                           uint16* dst, int dst_width);
-void ScaleRowDown34_C(const uint8* src_ptr, ptrdiff_t src_stride,
-                      uint8* dst, int dst_width);
-void ScaleRowDown34_16_C(const uint16* src_ptr, ptrdiff_t src_stride,
-                         uint16* dst, int dst_width);
-void ScaleRowDown34_0_Box_C(const uint8* src_ptr, ptrdiff_t src_stride,
-                            uint8* d, int dst_width);
-void ScaleRowDown34_0_Box_16_C(const uint16* src_ptr, ptrdiff_t src_stride,
-                               uint16* d, int dst_width);
-void ScaleRowDown34_1_Box_C(const uint8* src_ptr, ptrdiff_t src_stride,
-                            uint8* d, int dst_width);
-void ScaleRowDown34_1_Box_16_C(const uint16* src_ptr, ptrdiff_t src_stride,
-                               uint16* d, int dst_width);
-void ScaleCols_C(uint8* dst_ptr, const uint8* src_ptr,
-                 int dst_width, int x, int dx);
-void ScaleCols_16_C(uint16* dst_ptr, const uint16* src_ptr,
-                    int dst_width, int x, int dx);
-void ScaleColsUp2_C(uint8* dst_ptr, const uint8* src_ptr,
-                    int dst_width, int, int);
-void ScaleColsUp2_16_C(uint16* dst_ptr, const uint16* src_ptr,
-                       int dst_width, int, int);
-void ScaleFilterCols_C(uint8* dst_ptr, const uint8* src_ptr,
-                       int dst_width, int x, int dx);
-void ScaleFilterCols_16_C(uint16* dst_ptr, const uint16* src_ptr,
-                          int dst_width, int x, int dx);
-void ScaleFilterCols64_C(uint8* dst_ptr, const uint8* src_ptr,
-                         int dst_width, int x, int dx);
-void ScaleFilterCols64_16_C(uint16* dst_ptr, const uint16* src_ptr,
-                            int dst_width, int x, int dx);
-void ScaleRowDown38_C(const uint8* src_ptr, ptrdiff_t src_stride,
-                      uint8* dst, int dst_width);
-void ScaleRowDown38_16_C(const uint16* src_ptr, ptrdiff_t src_stride,
-                         uint16* dst, int dst_width);
-void ScaleRowDown38_3_Box_C(const uint8* src_ptr,
-                            ptrdiff_t src_stride,
-                            uint8* dst_ptr, int dst_width);
-void ScaleRowDown38_3_Box_16_C(const uint16* src_ptr,
-                               ptrdiff_t src_stride,
-                               uint16* dst_ptr, int dst_width);
-void ScaleRowDown38_2_Box_C(const uint8* src_ptr, ptrdiff_t src_stride,
-                            uint8* dst_ptr, int dst_width);
-void ScaleRowDown38_2_Box_16_C(const uint16* src_ptr, ptrdiff_t src_stride,
-                               uint16* dst_ptr, int dst_width);
-void ScaleAddRow_C(const uint8* src_ptr, uint16* dst_ptr, int src_width);
-void ScaleAddRow_16_C(const uint16* src_ptr, uint32* dst_ptr, int src_width);
-void ScaleARGBRowDown2_C(const uint8* src_argb,
-                         ptrdiff_t src_stride,
-                         uint8* dst_argb, int dst_width);
-void ScaleARGBRowDown2Linear_C(const uint8* src_argb,
-                               ptrdiff_t src_stride,
-                               uint8* dst_argb, int dst_width);
-void ScaleARGBRowDown2Box_C(const uint8* src_argb, ptrdiff_t src_stride,
-                            uint8* dst_argb, int dst_width);
-void ScaleARGBRowDownEven_C(const uint8* src_argb, ptrdiff_t src_stride,
-                            int src_stepx,
-                            uint8* dst_argb, int dst_width);
-void ScaleARGBRowDownEvenBox_C(const uint8* src_argb,
-                               ptrdiff_t src_stride,
-                               int src_stepx,
-                               uint8* dst_argb, int dst_width);
-void ScaleARGBCols_C(uint8* dst_argb, const uint8* src_argb,
-                     int dst_width, int x, int dx);
-void ScaleARGBCols64_C(uint8* dst_argb, const uint8* src_argb,
-                       int dst_width, int x, int dx);
-void ScaleARGBColsUp2_C(uint8* dst_argb, const uint8* src_argb,
-                        int dst_width, int, int);
-void ScaleARGBFilterCols_C(uint8* dst_argb, const uint8* src_argb,
-                           int dst_width, int x, int dx);
-void ScaleARGBFilterCols64_C(uint8* dst_argb, const uint8* src_argb,
-                             int dst_width, int x, int dx);
-
-// Specialized scalers for x86.
-void ScaleRowDown2_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride,
-                         uint8* dst_ptr, int dst_width);
-void ScaleRowDown2Linear_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride,
-                               uint8* dst_ptr, int dst_width);
-void ScaleRowDown2Box_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride,
-                            uint8* dst_ptr, int dst_width);
-void ScaleRowDown2_AVX2(const uint8* src_ptr, ptrdiff_t src_stride,
-                        uint8* dst_ptr, int dst_width);
-void ScaleRowDown2Linear_AVX2(const uint8* src_ptr, ptrdiff_t src_stride,
-                              uint8* dst_ptr, int dst_width);
-void ScaleRowDown2Box_AVX2(const uint8* src_ptr, ptrdiff_t src_stride,
-                           uint8* dst_ptr, int dst_width);
-void ScaleRowDown4_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride,
-                         uint8* dst_ptr, int dst_width);
-void ScaleRowDown4Box_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride,
-                            uint8* dst_ptr, int dst_width);
-void ScaleRowDown4_AVX2(const uint8* src_ptr, ptrdiff_t src_stride,
-                        uint8* dst_ptr, int dst_width);
-void ScaleRowDown4Box_AVX2(const uint8* src_ptr, ptrdiff_t src_stride,
-                           uint8* dst_ptr, int dst_width);
-
-void ScaleRowDown34_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride,
-                          uint8* dst_ptr, int dst_width);
-void ScaleRowDown34_1_Box_SSSE3(const uint8* src_ptr,
-                                ptrdiff_t src_stride,
-                                uint8* dst_ptr, int dst_width);
-void ScaleRowDown34_0_Box_SSSE3(const uint8* src_ptr,
-                                ptrdiff_t src_stride,
-                                uint8* dst_ptr, int dst_width);
-void ScaleRowDown38_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride,
-                          uint8* dst_ptr, int dst_width);
-void ScaleRowDown38_3_Box_SSSE3(const uint8* src_ptr,
-                                ptrdiff_t src_stride,
-                                uint8* dst_ptr, int dst_width);
-void ScaleRowDown38_2_Box_SSSE3(const uint8* src_ptr,
-                                ptrdiff_t src_stride,
-                                uint8* dst_ptr, int dst_width);
-void ScaleRowDown2_Any_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride,
-                             uint8* dst_ptr, int dst_width);
-void ScaleRowDown2Linear_Any_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride,
-                                   uint8* dst_ptr, int dst_width);
-void ScaleRowDown2Box_Any_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride,
-                                uint8* dst_ptr, int dst_width);
-void ScaleRowDown2Box_Odd_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride,
-                                uint8* dst_ptr, int dst_width);
-void ScaleRowDown2_Any_AVX2(const uint8* src_ptr, ptrdiff_t src_stride,
-                            uint8* dst_ptr, int dst_width);
-void ScaleRowDown2Linear_Any_AVX2(const uint8* src_ptr, ptrdiff_t src_stride,
-                                  uint8* dst_ptr, int dst_width);
-void ScaleRowDown2Box_Any_AVX2(const uint8* src_ptr, ptrdiff_t src_stride,
-                               uint8* dst_ptr, int dst_width);
-void ScaleRowDown2Box_Odd_AVX2(const uint8* src_ptr, ptrdiff_t src_stride,
-                               uint8* dst_ptr, int dst_width);
-void ScaleRowDown4_Any_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride,
-                             uint8* dst_ptr, int dst_width);
-void ScaleRowDown4Box_Any_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride,
-                                uint8* dst_ptr, int dst_width);
-void ScaleRowDown4_Any_AVX2(const uint8* src_ptr, ptrdiff_t src_stride,
-                            uint8* dst_ptr, int dst_width);
-void ScaleRowDown4Box_Any_AVX2(const uint8* src_ptr, ptrdiff_t src_stride,
-                               uint8* dst_ptr, int dst_width);
-
-void ScaleRowDown34_Any_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride,
-                              uint8* dst_ptr, int dst_width);
-void ScaleRowDown34_1_Box_Any_SSSE3(const uint8* src_ptr,
-                                    ptrdiff_t src_stride,
-                                    uint8* dst_ptr, int dst_width);
-void ScaleRowDown34_0_Box_Any_SSSE3(const uint8* src_ptr,
-                                    ptrdiff_t src_stride,
-                                    uint8* dst_ptr, int dst_width);
-void ScaleRowDown38_Any_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride,
-                              uint8* dst_ptr, int dst_width);
-void ScaleRowDown38_3_Box_Any_SSSE3(const uint8* src_ptr,
-                                    ptrdiff_t src_stride,
-                                    uint8* dst_ptr, int dst_width);
-void ScaleRowDown38_2_Box_Any_SSSE3(const uint8* src_ptr,
-                                    ptrdiff_t src_stride,
-                                    uint8* dst_ptr, int dst_width);
-
-void ScaleAddRow_SSE2(const uint8* src_ptr, uint16* dst_ptr, int src_width);
-void ScaleAddRow_AVX2(const uint8* src_ptr, uint16* dst_ptr, int src_width);
-void ScaleAddRow_Any_SSE2(const uint8* src_ptr, uint16* dst_ptr, int src_width);
-void ScaleAddRow_Any_AVX2(const uint8* src_ptr, uint16* dst_ptr, int src_width);
-
-void ScaleFilterCols_SSSE3(uint8* dst_ptr, const uint8* src_ptr,
-                           int dst_width, int x, int dx);
-void ScaleColsUp2_SSE2(uint8* dst_ptr, const uint8* src_ptr,
-                       int dst_width, int x, int dx);
-
-
-// ARGB Column functions
-void ScaleARGBCols_SSE2(uint8* dst_argb, const uint8* src_argb,
-                        int dst_width, int x, int dx);
-void ScaleARGBFilterCols_SSSE3(uint8* dst_argb, const uint8* src_argb,
-                               int dst_width, int x, int dx);
-void ScaleARGBColsUp2_SSE2(uint8* dst_argb, const uint8* src_argb,
-                           int dst_width, int x, int dx);
-void ScaleARGBFilterCols_NEON(uint8* dst_argb, const uint8* src_argb,
-                              int dst_width, int x, int dx);
-void ScaleARGBCols_NEON(uint8* dst_argb, const uint8* src_argb,
-                        int dst_width, int x, int dx);
-void ScaleARGBFilterCols_Any_NEON(uint8* dst_argb, const uint8* src_argb,
-                                  int dst_width, int x, int dx);
-void ScaleARGBCols_Any_NEON(uint8* dst_argb, const uint8* src_argb,
-                            int dst_width, int x, int dx);
-
-// ARGB Row functions
-void ScaleARGBRowDown2_SSE2(const uint8* src_argb, ptrdiff_t src_stride,
-                            uint8* dst_argb, int dst_width);
-void ScaleARGBRowDown2Linear_SSE2(const uint8* src_argb, ptrdiff_t src_stride,
-                                  uint8* dst_argb, int dst_width);
-void ScaleARGBRowDown2Box_SSE2(const uint8* src_argb, ptrdiff_t src_stride,
-                               uint8* dst_argb, int dst_width);
-void ScaleARGBRowDown2_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
-                            uint8* dst, int dst_width);
-void ScaleARGBRowDown2Linear_NEON(const uint8* src_argb, ptrdiff_t src_stride,
-                                  uint8* dst_argb, int dst_width);
-void ScaleARGBRowDown2Box_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
-                               uint8* dst, int dst_width);
-void ScaleARGBRowDown2_Any_SSE2(const uint8* src_argb, ptrdiff_t src_stride,
-                                uint8* dst_argb, int dst_width);
-void ScaleARGBRowDown2Linear_Any_SSE2(const uint8* src_argb,
-                                      ptrdiff_t src_stride,
-                                      uint8* dst_argb, int dst_width);
-void ScaleARGBRowDown2Box_Any_SSE2(const uint8* src_argb, ptrdiff_t src_stride,
-                                   uint8* dst_argb, int dst_width);
-void ScaleARGBRowDown2_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
-                                uint8* dst, int dst_width);
-void ScaleARGBRowDown2Linear_Any_NEON(const uint8* src_argb,
-                                      ptrdiff_t src_stride,
-                                      uint8* dst_argb, int dst_width);
-void ScaleARGBRowDown2Box_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
-                                   uint8* dst, int dst_width);
-
-void ScaleARGBRowDownEven_SSE2(const uint8* src_argb, ptrdiff_t src_stride,
-                               int src_stepx, uint8* dst_argb, int dst_width);
-void ScaleARGBRowDownEvenBox_SSE2(const uint8* src_argb, ptrdiff_t src_stride,
-                                  int src_stepx,
-                                  uint8* dst_argb, int dst_width);
-void ScaleARGBRowDownEven_NEON(const uint8* src_argb, ptrdiff_t src_stride,
-                               int src_stepx,
-                               uint8* dst_argb, int dst_width);
-void ScaleARGBRowDownEvenBox_NEON(const uint8* src_argb, ptrdiff_t src_stride,
-                                  int src_stepx,
-                                  uint8* dst_argb, int dst_width);
-void ScaleARGBRowDownEven_Any_SSE2(const uint8* src_argb, ptrdiff_t src_stride,
-                                   int src_stepx,
-                                   uint8* dst_argb, int dst_width);
-void ScaleARGBRowDownEvenBox_Any_SSE2(const uint8* src_argb,
-                                      ptrdiff_t src_stride,
-                                      int src_stepx,
-                                      uint8* dst_argb, int dst_width);
-void ScaleARGBRowDownEven_Any_NEON(const uint8* src_argb, ptrdiff_t src_stride,
-                                   int src_stepx,
-                                   uint8* dst_argb, int dst_width);
-void ScaleARGBRowDownEvenBox_Any_NEON(const uint8* src_argb,
-                                      ptrdiff_t src_stride,
-                                      int src_stepx,
-                                      uint8* dst_argb, int dst_width);
-
-// ScaleRowDown2Box also used by planar functions
-// NEON downscalers with interpolation.
-
-// Note - not static due to reuse in convert for 444 to 420.
-void ScaleRowDown2_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
-                        uint8* dst, int dst_width);
-void ScaleRowDown2Linear_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
-                              uint8* dst, int dst_width);
-void ScaleRowDown2Box_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
-                           uint8* dst, int dst_width);
-
-void ScaleRowDown4_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
-                        uint8* dst_ptr, int dst_width);
-void ScaleRowDown4Box_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
-                           uint8* dst_ptr, int dst_width);
-
-// Down scale from 4 to 3 pixels. Use the neon multilane read/write
-//  to load up the every 4th pixel into a 4 different registers.
-// Point samples 32 pixels to 24 pixels.
-void ScaleRowDown34_NEON(const uint8* src_ptr,
-                         ptrdiff_t src_stride,
-                         uint8* dst_ptr, int dst_width);
-void ScaleRowDown34_0_Box_NEON(const uint8* src_ptr,
-                               ptrdiff_t src_stride,
-                               uint8* dst_ptr, int dst_width);
-void ScaleRowDown34_1_Box_NEON(const uint8* src_ptr,
-                               ptrdiff_t src_stride,
-                               uint8* dst_ptr, int dst_width);
-
-// 32 -> 12
-void ScaleRowDown38_NEON(const uint8* src_ptr,
-                         ptrdiff_t src_stride,
-                         uint8* dst_ptr, int dst_width);
-// 32x3 -> 12x1
-void ScaleRowDown38_3_Box_NEON(const uint8* src_ptr,
-                               ptrdiff_t src_stride,
-                               uint8* dst_ptr, int dst_width);
-// 32x2 -> 12x1
-void ScaleRowDown38_2_Box_NEON(const uint8* src_ptr,
-                               ptrdiff_t src_stride,
-                               uint8* dst_ptr, int dst_width);
-
-void ScaleRowDown2_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
-                            uint8* dst, int dst_width);
-void ScaleRowDown2Linear_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
-                                  uint8* dst, int dst_width);
-void ScaleRowDown2Box_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
-                               uint8* dst, int dst_width);
-void ScaleRowDown2Box_Odd_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
-                               uint8* dst, int dst_width);
-void ScaleRowDown4_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
-                            uint8* dst_ptr, int dst_width);
-void ScaleRowDown4Box_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
-                               uint8* dst_ptr, int dst_width);
-void ScaleRowDown34_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
-                             uint8* dst_ptr, int dst_width);
-void ScaleRowDown34_0_Box_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
-                                   uint8* dst_ptr, int dst_width);
-void ScaleRowDown34_1_Box_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
-                                   uint8* dst_ptr, int dst_width);
-// 32 -> 12
-void ScaleRowDown38_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
-                             uint8* dst_ptr, int dst_width);
-// 32x3 -> 12x1
-void ScaleRowDown38_3_Box_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
-                               uint8* dst_ptr, int dst_width);
-// 32x2 -> 12x1
-void ScaleRowDown38_2_Box_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
-                               uint8* dst_ptr, int dst_width);
-
-void ScaleAddRow_NEON(const uint8* src_ptr, uint16* dst_ptr, int src_width);
-void ScaleAddRow_Any_NEON(const uint8* src_ptr, uint16* dst_ptr, int src_width);
-
-void ScaleFilterCols_NEON(uint8* dst_ptr, const uint8* src_ptr,
-                          int dst_width, int x, int dx);
-
-void ScaleFilterCols_Any_NEON(uint8* dst_ptr, const uint8* src_ptr,
-                              int dst_width, int x, int dx);
-
-void ScaleRowDown2_DSPR2(const uint8* src_ptr, ptrdiff_t src_stride,
-                         uint8* dst, int dst_width);
-void ScaleRowDown2Box_DSPR2(const uint8* src_ptr, ptrdiff_t src_stride,
-                            uint8* dst, int dst_width);
-void ScaleRowDown4_DSPR2(const uint8* src_ptr, ptrdiff_t src_stride,
-                         uint8* dst, int dst_width);
-void ScaleRowDown4Box_DSPR2(const uint8* src_ptr, ptrdiff_t src_stride,
-                            uint8* dst, int dst_width);
-void ScaleRowDown34_DSPR2(const uint8* src_ptr, ptrdiff_t src_stride,
-                          uint8* dst, int dst_width);
-void ScaleRowDown34_0_Box_DSPR2(const uint8* src_ptr, ptrdiff_t src_stride,
-                                uint8* d, int dst_width);
-void ScaleRowDown34_1_Box_DSPR2(const uint8* src_ptr, ptrdiff_t src_stride,
-                                uint8* d, int dst_width);
-void ScaleRowDown38_DSPR2(const uint8* src_ptr, ptrdiff_t src_stride,
-                          uint8* dst, int dst_width);
-void ScaleRowDown38_2_Box_DSPR2(const uint8* src_ptr, ptrdiff_t src_stride,
-                                uint8* dst_ptr, int dst_width);
-void ScaleRowDown38_3_Box_DSPR2(const uint8* src_ptr, ptrdiff_t src_stride,
-                                uint8* dst_ptr, int dst_width);
-
-#ifdef __cplusplus
-}  // extern "C"
-}  // namespace libyuv
-#endif
-
-#endif  // INCLUDE_LIBYUV_SCALE_ROW_H_
diff --git a/third_party/libyuv/include/libyuv/version.h b/third_party/libyuv/include/libyuv/version.h
deleted file mode 100644
index 3a8f6337ca2..00000000000
--- a/third_party/libyuv/include/libyuv/version.h
+++ /dev/null
@@ -1,16 +0,0 @@
-/*
- *  Copyright 2012 The LibYuv Project Authors. All rights reserved.
- *
- *  Use of this source code is governed by a BSD-style license
- *  that can be found in the LICENSE file in the root of the source
- *  tree. An additional intellectual property rights grant can be found
- *  in the file PATENTS. All contributing project authors may
- *  be found in the AUTHORS file in the root of the source tree.
- */
-
-#ifndef INCLUDE_LIBYUV_VERSION_H_
-#define INCLUDE_LIBYUV_VERSION_H_
-
-#define LIBYUV_VERSION 1622
-
-#endif  // INCLUDE_LIBYUV_VERSION_H_
diff --git a/third_party/libyuv/include/libyuv/video_common.h b/third_party/libyuv/include/libyuv/video_common.h
deleted file mode 100644
index cb425426a25..00000000000
--- a/third_party/libyuv/include/libyuv/video_common.h
+++ /dev/null
@@ -1,184 +0,0 @@
-/*
- *  Copyright 2011 The LibYuv Project Authors. All rights reserved.
- *
- *  Use of this source code is governed by a BSD-style license
- *  that can be found in the LICENSE file in the root of the source
- *  tree. An additional intellectual property rights grant can be found
- *  in the file PATENTS. All contributing project authors may
- *  be found in the AUTHORS file in the root of the source tree.
- */
-
-// Common definitions for video, including fourcc and VideoFormat.
-
-#ifndef INCLUDE_LIBYUV_VIDEO_COMMON_H_
-#define INCLUDE_LIBYUV_VIDEO_COMMON_H_
-
-#include "libyuv/basic_types.h"
-
-#ifdef __cplusplus
-namespace libyuv {
-extern "C" {
-#endif
-
-//////////////////////////////////////////////////////////////////////////////
-// Definition of FourCC codes
-//////////////////////////////////////////////////////////////////////////////
-
-// Convert four characters to a FourCC code.
-// Needs to be a macro otherwise the OS X compiler complains when the kFormat*
-// constants are used in a switch.
-#ifdef __cplusplus
-#define FOURCC(a, b, c, d) ( \
-    (static_cast<uint32>(a)) | (static_cast<uint32>(b) << 8) | \
-    (static_cast<uint32>(c) << 16) | (static_cast<uint32>(d) << 24))
-#else
-#define FOURCC(a, b, c, d) ( \
-    ((uint32)(a)) | ((uint32)(b) << 8) | /* NOLINT */ \
-    ((uint32)(c) << 16) | ((uint32)(d) << 24))  /* NOLINT */
-#endif
-
-// Some pages discussing FourCC codes:
-//   http://www.fourcc.org/yuv.php
-//   http://v4l2spec.bytesex.org/spec/book1.htm
-//   http://developer.apple.com/quicktime/icefloe/dispatch020.html
-//   http://msdn.microsoft.com/library/windows/desktop/dd206750.aspx#nv12
-//   http://people.xiph.org/~xiphmont/containers/nut/nut4cc.txt
-
-// FourCC codes grouped according to implementation efficiency.
-// Primary formats should convert in 1 efficient step.
-// Secondary formats are converted in 2 steps.
-// Auxilliary formats call primary converters.
-enum FourCC {
-  // 9 Primary YUV formats: 5 planar, 2 biplanar, 2 packed.
-  FOURCC_I420 = FOURCC('I', '4', '2', '0'),
-  FOURCC_I422 = FOURCC('I', '4', '2', '2'),
-  FOURCC_I444 = FOURCC('I', '4', '4', '4'),
-  FOURCC_I411 = FOURCC('I', '4', '1', '1'),
-  FOURCC_I400 = FOURCC('I', '4', '0', '0'),
-  FOURCC_NV21 = FOURCC('N', 'V', '2', '1'),
-  FOURCC_NV12 = FOURCC('N', 'V', '1', '2'),
-  FOURCC_YUY2 = FOURCC('Y', 'U', 'Y', '2'),
-  FOURCC_UYVY = FOURCC('U', 'Y', 'V', 'Y'),
-
-  // 2 Secondary YUV formats: row biplanar.
-  FOURCC_M420 = FOURCC('M', '4', '2', '0'),
-  FOURCC_Q420 = FOURCC('Q', '4', '2', '0'),  // deprecated.
-
-  // 9 Primary RGB formats: 4 32 bpp, 2 24 bpp, 3 16 bpp.
-  FOURCC_ARGB = FOURCC('A', 'R', 'G', 'B'),
-  FOURCC_BGRA = FOURCC('B', 'G', 'R', 'A'),
-  FOURCC_ABGR = FOURCC('A', 'B', 'G', 'R'),
-  FOURCC_24BG = FOURCC('2', '4', 'B', 'G'),
-  FOURCC_RAW  = FOURCC('r', 'a', 'w', ' '),
-  FOURCC_RGBA = FOURCC('R', 'G', 'B', 'A'),
-  FOURCC_RGBP = FOURCC('R', 'G', 'B', 'P'),  // rgb565 LE.
-  FOURCC_RGBO = FOURCC('R', 'G', 'B', 'O'),  // argb1555 LE.
-  FOURCC_R444 = FOURCC('R', '4', '4', '4'),  // argb4444 LE.
-
-  // 4 Secondary RGB formats: 4 Bayer Patterns. deprecated.
-  FOURCC_RGGB = FOURCC('R', 'G', 'G', 'B'),
-  FOURCC_BGGR = FOURCC('B', 'G', 'G', 'R'),
-  FOURCC_GRBG = FOURCC('G', 'R', 'B', 'G'),
-  FOURCC_GBRG = FOURCC('G', 'B', 'R', 'G'),
-
-  // 1 Primary Compressed YUV format.
-  FOURCC_MJPG = FOURCC('M', 'J', 'P', 'G'),
-
-  // 5 Auxiliary YUV variations: 3 with U and V planes are swapped, 1 Alias.
-  FOURCC_YV12 = FOURCC('Y', 'V', '1', '2'),
-  FOURCC_YV16 = FOURCC('Y', 'V', '1', '6'),
-  FOURCC_YV24 = FOURCC('Y', 'V', '2', '4'),
-  FOURCC_YU12 = FOURCC('Y', 'U', '1', '2'),  // Linux version of I420.
-  FOURCC_J420 = FOURCC('J', '4', '2', '0'),
-  FOURCC_J400 = FOURCC('J', '4', '0', '0'),  // unofficial fourcc
-  FOURCC_H420 = FOURCC('H', '4', '2', '0'),  // unofficial fourcc
-
-  // 14 Auxiliary aliases.  CanonicalFourCC() maps these to canonical fourcc.
-  FOURCC_IYUV = FOURCC('I', 'Y', 'U', 'V'),  // Alias for I420.
-  FOURCC_YU16 = FOURCC('Y', 'U', '1', '6'),  // Alias for I422.
-  FOURCC_YU24 = FOURCC('Y', 'U', '2', '4'),  // Alias for I444.
-  FOURCC_YUYV = FOURCC('Y', 'U', 'Y', 'V'),  // Alias for YUY2.
-  FOURCC_YUVS = FOURCC('y', 'u', 'v', 's'),  // Alias for YUY2 on Mac.
-  FOURCC_HDYC = FOURCC('H', 'D', 'Y', 'C'),  // Alias for UYVY.
-  FOURCC_2VUY = FOURCC('2', 'v', 'u', 'y'),  // Alias for UYVY on Mac.
-  FOURCC_JPEG = FOURCC('J', 'P', 'E', 'G'),  // Alias for MJPG.
-  FOURCC_DMB1 = FOURCC('d', 'm', 'b', '1'),  // Alias for MJPG on Mac.
-  FOURCC_BA81 = FOURCC('B', 'A', '8', '1'),  // Alias for BGGR.
-  FOURCC_RGB3 = FOURCC('R', 'G', 'B', '3'),  // Alias for RAW.
-  FOURCC_BGR3 = FOURCC('B', 'G', 'R', '3'),  // Alias for 24BG.
-  FOURCC_CM32 = FOURCC(0, 0, 0, 32),  // Alias for BGRA kCMPixelFormat_32ARGB
-  FOURCC_CM24 = FOURCC(0, 0, 0, 24),  // Alias for RAW kCMPixelFormat_24RGB
-  FOURCC_L555 = FOURCC('L', '5', '5', '5'),  // Alias for RGBO.
-  FOURCC_L565 = FOURCC('L', '5', '6', '5'),  // Alias for RGBP.
-  FOURCC_5551 = FOURCC('5', '5', '5', '1'),  // Alias for RGBO.
-
-  // 1 Auxiliary compressed YUV format set aside for capturer.
-  FOURCC_H264 = FOURCC('H', '2', '6', '4'),
-
-  // Match any fourcc.
-  FOURCC_ANY = -1,
-};
-
-enum FourCCBpp {
-  // Canonical fourcc codes used in our code.
-  FOURCC_BPP_I420 = 12,
-  FOURCC_BPP_I422 = 16,
-  FOURCC_BPP_I444 = 24,
-  FOURCC_BPP_I411 = 12,
-  FOURCC_BPP_I400 = 8,
-  FOURCC_BPP_NV21 = 12,
-  FOURCC_BPP_NV12 = 12,
-  FOURCC_BPP_YUY2 = 16,
-  FOURCC_BPP_UYVY = 16,
-  FOURCC_BPP_M420 = 12,
-  FOURCC_BPP_Q420 = 12,
-  FOURCC_BPP_ARGB = 32,
-  FOURCC_BPP_BGRA = 32,
-  FOURCC_BPP_ABGR = 32,
-  FOURCC_BPP_RGBA = 32,
-  FOURCC_BPP_24BG = 24,
-  FOURCC_BPP_RAW  = 24,
-  FOURCC_BPP_RGBP = 16,
-  FOURCC_BPP_RGBO = 16,
-  FOURCC_BPP_R444 = 16,
-  FOURCC_BPP_RGGB = 8,
-  FOURCC_BPP_BGGR = 8,
-  FOURCC_BPP_GRBG = 8,
-  FOURCC_BPP_GBRG = 8,
-  FOURCC_BPP_YV12 = 12,
-  FOURCC_BPP_YV16 = 16,
-  FOURCC_BPP_YV24 = 24,
-  FOURCC_BPP_YU12 = 12,
-  FOURCC_BPP_J420 = 12,
-  FOURCC_BPP_J400 = 8,
-  FOURCC_BPP_H420 = 12,
-  FOURCC_BPP_MJPG = 0,  // 0 means unknown.
-  FOURCC_BPP_H264 = 0,
-  FOURCC_BPP_IYUV = 12,
-  FOURCC_BPP_YU16 = 16,
-  FOURCC_BPP_YU24 = 24,
-  FOURCC_BPP_YUYV = 16,
-  FOURCC_BPP_YUVS = 16,
-  FOURCC_BPP_HDYC = 16,
-  FOURCC_BPP_2VUY = 16,
-  FOURCC_BPP_JPEG = 1,
-  FOURCC_BPP_DMB1 = 1,
-  FOURCC_BPP_BA81 = 8,
-  FOURCC_BPP_RGB3 = 24,
-  FOURCC_BPP_BGR3 = 24,
-  FOURCC_BPP_CM32 = 32,
-  FOURCC_BPP_CM24 = 24,
-
-  // Match any fourcc.
-  FOURCC_BPP_ANY  = 0,  // 0 means unknown.
-};
-
-// Converts fourcc aliases into canonical ones.
-LIBYUV_API uint32 CanonicalFourCC(uint32 fourcc);
-
-#ifdef __cplusplus
-}  // extern "C"
-}  // namespace libyuv
-#endif
-
-#endif  // INCLUDE_LIBYUV_VIDEO_COMMON_H_
diff --git a/third_party/libyuv/larch64/lib/libyuv.a b/third_party/libyuv/larch64/lib/libyuv.a
deleted file mode 100644
index 1c91250231f..00000000000
--- a/third_party/libyuv/larch64/lib/libyuv.a
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:320bef5a75a62dd2731a496040921d5000f1ed237ae70fd7aeb6c010a1534363
-size 462482
diff --git a/third_party/libyuv/x86_64/include b/third_party/libyuv/x86_64/include
deleted file mode 120000
index f5030fe8899..00000000000
--- a/third_party/libyuv/x86_64/include
+++ /dev/null
@@ -1 +0,0 @@
-../include
\ No newline at end of file
diff --git a/third_party/libyuv/x86_64/lib/libyuv.a b/third_party/libyuv/x86_64/lib/libyuv.a
deleted file mode 100644
index 8915f167dcf..00000000000
--- a/third_party/libyuv/x86_64/lib/libyuv.a
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:e21a3bd8df01cf4ce5461e7bf6654239196036c3f829255145265c7bf31a791d
-size 511974
diff --git a/third_party/linux/include/msm_media_info.h b/third_party/linux/include/msm_media_info.h
index 39dceb2c49f..3fd0c8849a4 100644
--- a/third_party/linux/include/msm_media_info.h
+++ b/third_party/linux/include/msm_media_info.h
@@ -2,7 +2,9 @@
 #define __MEDIA_INFO_H__
 
 #ifndef MSM_MEDIA_ALIGN
-#define MSM_MEDIA_ALIGN(__sz, __align) (((__sz) + (__align-1)) & (~(__align-1)))
+#define MSM_MEDIA_ALIGN(__sz, __align) (((__align) & ((__align) - 1)) ?\
+	((((__sz) + (__align) - 1) / (__align)) * (__align)) :\
+	(((__sz) + (__align) - 1) & (~((__align) - 1))))
 #endif
 
 #ifndef MSM_MEDIA_ROUNDUP
@@ -148,7 +150,12 @@ enum color_fmts {
 	 *          + 2*(UV_Stride * UV_Scanlines) + Extradata), 4096)
 	 */
 	COLOR_FMT_NV12_MVTB,
-	/* Venus NV12 UBWC:
+	/*
+	 * The buffer can be of 2 types:
+	 * (1) Venus NV12 UBWC Progressive
+	 * (2) Venus NV12 UBWC Interlaced
+	 *
+	 * (1) Venus NV12 UBWC Progressive Buffer Format:
 	 * Compressed Macro-tile format for NV12.
 	 * Contains 4 planes in the following order -
 	 * (A) Y_Meta_Plane
@@ -234,6 +241,186 @@ enum color_fmts {
 	 * Total size = align( Y_UBWC_Plane_size + UV_UBWC_Plane_size +
 	 *           Y_Meta_Plane_size + UV_Meta_Plane_size
 	 *           + max(Extradata, Y_Stride * 48), 4096)
+	 *
+	 *
+	 * (2) Venus NV12 UBWC Interlaced Buffer Format:
+	 * Compressed Macro-tile format for NV12 interlaced.
+	 * Contains 8 planes in the following order -
+	 * (A) Y_Meta_Top_Field_Plane
+	 * (B) Y_UBWC_Top_Field_Plane
+	 * (C) UV_Meta_Top_Field_Plane
+	 * (D) UV_UBWC_Top_Field_Plane
+	 * (E) Y_Meta_Bottom_Field_Plane
+	 * (F) Y_UBWC_Bottom_Field_Plane
+	 * (G) UV_Meta_Bottom_Field_Plane
+	 * (H) UV_UBWC_Bottom_Field_Plane
+	 * Y_Meta_Top_Field_Plane consists of meta information to decode
+	 * compressed tile data for Y_UBWC_Top_Field_Plane.
+	 * Y_UBWC_Top_Field_Plane consists of Y data in compressed macro-tile
+	 * format for top field of an interlaced frame.
+	 * UBWC decoder block will use the Y_Meta_Top_Field_Plane data together
+	 * with Y_UBWC_Top_Field_Plane data to produce loss-less uncompressed
+	 * 8 bit Y samples for top field of an interlaced frame.
+	 *
+	 * UV_Meta_Top_Field_Plane consists of meta information to decode
+	 * compressed tile data in UV_UBWC_Top_Field_Plane.
+	 * UV_UBWC_Top_Field_Plane consists of UV data in compressed macro-tile
+	 * format for top field of an interlaced frame.
+	 * UBWC decoder block will use UV_Meta_Top_Field_Plane data together
+	 * with UV_UBWC_Top_Field_Plane data to produce loss-less uncompressed
+	 * 8 bit subsampled color difference samples for top field of an
+	 * interlaced frame.
+	 *
+	 * Each tile in Y_UBWC_Top_Field_Plane/UV_UBWC_Top_Field_Plane is
+	 * independently decodable and randomly accessible. There is no
+	 * dependency between tiles.
+	 *
+	 * Y_Meta_Bottom_Field_Plane consists of meta information to decode
+	 * compressed tile data for Y_UBWC_Bottom_Field_Plane.
+	 * Y_UBWC_Bottom_Field_Plane consists of Y data in compressed macro-tile
+	 * format for bottom field of an interlaced frame.
+	 * UBWC decoder block will use the Y_Meta_Bottom_Field_Plane data
+	 * together with Y_UBWC_Bottom_Field_Plane data to produce loss-less
+	 * uncompressed 8 bit Y samples for bottom field of an interlaced frame.
+	 *
+	 * UV_Meta_Bottom_Field_Plane consists of meta information to decode
+	 * compressed tile data in UV_UBWC_Bottom_Field_Plane.
+	 * UV_UBWC_Bottom_Field_Plane consists of UV data in compressed
+	 * macro-tile format for bottom field of an interlaced frame.
+	 * UBWC decoder block will use UV_Meta_Bottom_Field_Plane data together
+	 * with UV_UBWC_Bottom_Field_Plane data to produce loss-less
+	 * uncompressed 8 bit subsampled color difference samples for bottom
+	 * field of an interlaced frame.
+	 *
+	 * Each tile in Y_UBWC_Bottom_Field_Plane/UV_UBWC_Bottom_Field_Plane is
+	 * independently decodable and randomly accessible. There is no
+	 * dependency between tiles.
+	 *
+	 * <-----Y_TF_Meta_Stride---->
+	 * <-------- Width ------>
+	 * M M M M M M M M M M M M . .      ^           ^
+	 * M M M M M M M M M M M M . .      |           |
+	 * M M M M M M M M M M M M . . Half_height      |
+	 * M M M M M M M M M M M M . .      |         Meta_Y_TF_Scanlines
+	 * M M M M M M M M M M M M . .      |           |
+	 * M M M M M M M M M M M M . .      |           |
+	 * M M M M M M M M M M M M . .      |           |
+	 * M M M M M M M M M M M M . .      V           |
+	 * . . . . . . . . . . . . . .                  |
+	 * . . . . . . . . . . . . . .                  |
+	 * . . . . . . . . . . . . . .      -------> Buffer size aligned to 4k
+	 * . . . . . . . . . . . . . .                  V
+	 * <-Compressed tile Y_TF Stride->
+	 * <------- Width ------->
+	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  ^           ^
+	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
+	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . . Half_height  |
+	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |        Macro_tile_Y_TF_Scanlines
+	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
+	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
+	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
+	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  V           |
+	 * . . . . . . . . . . . . . . . .              |
+	 * . . . . . . . . . . . . . . . .              |
+	 * . . . . . . . . . . . . . . . .  -------> Buffer size aligned to 4k
+	 * . . . . . . . . . . . . . . . .              V
+	 * <----UV_TF_Meta_Stride---->
+	 * M M M M M M M M M M M M . .      ^
+	 * M M M M M M M M M M M M . .      |
+	 * M M M M M M M M M M M M . .      |
+	 * M M M M M M M M M M M M . .      M_UV_TF_Scanlines
+	 * . . . . . . . . . . . . . .      |
+	 * . . . . . . . . . . . . . .      V
+	 * . . . . . . . . . . . . . .      -------> Buffer size aligned to 4k
+	 * <-Compressed tile UV_TF Stride->
+	 * U* V* U* V* U* V* U* V* . . . .  ^
+	 * U* V* U* V* U* V* U* V* . . . .  |
+	 * U* V* U* V* U* V* U* V* . . . .  |
+	 * U* V* U* V* U* V* U* V* . . . .  UV_TF_Scanlines
+	 * . . . . . . . . . . . . . . . .  |
+	 * . . . . . . . . . . . . . . . .  V
+	 * . . . . . . . . . . . . . . . .  -------> Buffer size aligned to 4k
+	 * <-----Y_BF_Meta_Stride---->
+	 * <-------- Width ------>
+	 * M M M M M M M M M M M M . .      ^           ^
+	 * M M M M M M M M M M M M . .      |           |
+	 * M M M M M M M M M M M M . . Half_height      |
+	 * M M M M M M M M M M M M . .      |         Meta_Y_BF_Scanlines
+	 * M M M M M M M M M M M M . .      |           |
+	 * M M M M M M M M M M M M . .      |           |
+	 * M M M M M M M M M M M M . .      |           |
+	 * M M M M M M M M M M M M . .      V           |
+	 * . . . . . . . . . . . . . .                  |
+	 * . . . . . . . . . . . . . .                  |
+	 * . . . . . . . . . . . . . .      -------> Buffer size aligned to 4k
+	 * . . . . . . . . . . . . . .                  V
+	 * <-Compressed tile Y_BF Stride->
+	 * <------- Width ------->
+	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  ^           ^
+	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
+	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . . Half_height  |
+	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |        Macro_tile_Y_BF_Scanlines
+	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
+	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
+	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
+	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  V           |
+	 * . . . . . . . . . . . . . . . .              |
+	 * . . . . . . . . . . . . . . . .              |
+	 * . . . . . . . . . . . . . . . .  -------> Buffer size aligned to 4k
+	 * . . . . . . . . . . . . . . . .              V
+	 * <----UV_BF_Meta_Stride---->
+	 * M M M M M M M M M M M M . .      ^
+	 * M M M M M M M M M M M M . .      |
+	 * M M M M M M M M M M M M . .      |
+	 * M M M M M M M M M M M M . .      M_UV_BF_Scanlines
+	 * . . . . . . . . . . . . . .      |
+	 * . . . . . . . . . . . . . .      V
+	 * . . . . . . . . . . . . . .      -------> Buffer size aligned to 4k
+	 * <-Compressed tile UV_BF Stride->
+	 * U* V* U* V* U* V* U* V* . . . .  ^
+	 * U* V* U* V* U* V* U* V* . . . .  |
+	 * U* V* U* V* U* V* U* V* . . . .  |
+	 * U* V* U* V* U* V* U* V* . . . .  UV_BF_Scanlines
+	 * . . . . . . . . . . . . . . . .  |
+	 * . . . . . . . . . . . . . . . .  V
+	 * . . . . . . . . . . . . . . . .  -------> Buffer size aligned to 4k
+	 *
+	 * Half_height = (Height+1)>>1
+	 * Y_TF_Stride = align(Width, 128)
+	 * UV_TF_Stride = align(Width, 128)
+	 * Y_TF_Scanlines = align(Half_height, 32)
+	 * UV_TF_Scanlines = align((Half_height+1)/2, 32)
+	 * Y_UBWC_TF_Plane_size = align(Y_TF_Stride * Y_TF_Scanlines, 4096)
+	 * UV_UBWC_TF_Plane_size = align(UV_TF_Stride * UV_TF_Scanlines, 4096)
+	 * Y_TF_Meta_Stride = align(roundup(Width, Y_TileWidth), 64)
+	 * Y_TF_Meta_Scanlines = align(roundup(Half_height, Y_TileHeight), 16)
+	 * Y_TF_Meta_Plane_size =
+	 *     align(Y_TF_Meta_Stride * Y_TF_Meta_Scanlines, 4096)
+	 * UV_TF_Meta_Stride = align(roundup(Width, UV_TileWidth), 64)
+	 * UV_TF_Meta_Scanlines = align(roundup(Half_height, UV_TileHeight), 16)
+	 * UV_TF_Meta_Plane_size =
+	 *     align(UV_TF_Meta_Stride * UV_TF_Meta_Scanlines, 4096)
+	 * Y_BF_Stride = align(Width, 128)
+	 * UV_BF_Stride = align(Width, 128)
+	 * Y_BF_Scanlines = align(Half_height, 32)
+	 * UV_BF_Scanlines = align((Half_height+1)/2, 32)
+	 * Y_UBWC_BF_Plane_size = align(Y_BF_Stride * Y_BF_Scanlines, 4096)
+	 * UV_UBWC_BF_Plane_size = align(UV_BF_Stride * UV_BF_Scanlines, 4096)
+	 * Y_BF_Meta_Stride = align(roundup(Width, Y_TileWidth), 64)
+	 * Y_BF_Meta_Scanlines = align(roundup(Half_height, Y_TileHeight), 16)
+	 * Y_BF_Meta_Plane_size =
+	 *     align(Y_BF_Meta_Stride * Y_BF_Meta_Scanlines, 4096)
+	 * UV_BF_Meta_Stride = align(roundup(Width, UV_TileWidth), 64)
+	 * UV_BF_Meta_Scanlines = align(roundup(Half_height, UV_TileHeight), 16)
+	 * UV_BF_Meta_Plane_size =
+	 *     align(UV_BF_Meta_Stride * UV_BF_Meta_Scanlines, 4096)
+	 * Extradata = 8k
+	 *
+	 * Total size = align( Y_UBWC_TF_Plane_size + UV_UBWC_TF_Plane_size +
+	 *           Y_TF_Meta_Plane_size + UV_TF_Meta_Plane_size +
+	 *			 Y_UBWC_BF_Plane_size + UV_UBWC_BF_Plane_size +
+	 *           Y_BF_Meta_Plane_size + UV_BF_Meta_Plane_size +
+	 *           + max(Extradata, Y_TF_Stride * 48), 4096)
 	 */
 	COLOR_FMT_NV12_UBWC,
 	/* Venus NV12 10-bit UBWC:
@@ -399,8 +586,233 @@ enum color_fmts {
 	 *		Extradata, 4096)
 	 */
 	COLOR_FMT_RGBA8888_UBWC,
+	/* Venus RGBA1010102 UBWC format:
+	 * Contains 2 planes in the following order -
+	 * (A) Meta plane
+	 * (B) RGBA plane
+	 *
+	 * <--- RGB_Meta_Stride ---->
+	 * <-------- Width ------>
+	 * M M M M M M M M M M M M . .      ^           ^
+	 * M M M M M M M M M M M M . .      |           |
+	 * M M M M M M M M M M M M . .      Height      |
+	 * M M M M M M M M M M M M . .      |       Meta_RGB_Scanlines
+	 * M M M M M M M M M M M M . .      |           |
+	 * M M M M M M M M M M M M . .      |           |
+	 * M M M M M M M M M M M M . .      |           |
+	 * M M M M M M M M M M M M . .      V           |
+	 * . . . . . . . . . . . . . .                  |
+	 * . . . . . . . . . . . . . .                  |
+	 * . . . . . . . . . . . . . .      -------> Buffer size aligned to 4k
+	 * . . . . . . . . . . . . . .                  V
+	 * <-------- RGB_Stride -------->
+	 * <------- Width ------->
+	 * R R R R R R R R R R R R . . . .  ^           ^
+	 * R R R R R R R R R R R R . . . .  |           |
+	 * R R R R R R R R R R R R . . . .  Height      |
+	 * R R R R R R R R R R R R . . . .  |       RGB_Scanlines
+	 * R R R R R R R R R R R R . . . .  |           |
+	 * R R R R R R R R R R R R . . . .  |           |
+	 * R R R R R R R R R R R R . . . .  |           |
+	 * R R R R R R R R R R R R . . . .  V           |
+	 * . . . . . . . . . . . . . . . .              |
+	 * . . . . . . . . . . . . . . . .              |
+	 * . . . . . . . . . . . . . . . .    -------> Buffer size aligned to 4k
+	 * . . . . . . . . . . . . . . . .              V
+	 *
+	 * RGB_Stride = align(Width * 4, 256)
+	 * RGB_Scanlines = align(Height, 16)
+	 * RGB_Plane_size = align(RGB_Stride * RGB_Scanlines, 4096)
+	 * RGB_Meta_Stride = align(roundup(Width, RGB_TileWidth), 64)
+	 * RGB_Meta_Scanline = align(roundup(Height, RGB_TileHeight), 16)
+	 * RGB_Meta_Plane_size = align(RGB_Meta_Stride *
+	 *		RGB_Meta_Scanlines, 4096)
+	 * Extradata = 8k
+	 *
+	 * Total size = align(RGB_Meta_Plane_size + RGB_Plane_size +
+	 *		Extradata, 4096)
+	 */
+	COLOR_FMT_RGBA1010102_UBWC,
+	/* Venus RGB565 UBWC format:
+	 * Contains 2 planes in the following order -
+	 * (A) Meta plane
+	 * (B) RGB plane
+	 *
+	 * <--- RGB_Meta_Stride ---->
+	 * <-------- Width ------>
+	 * M M M M M M M M M M M M . .      ^           ^
+	 * M M M M M M M M M M M M . .      |           |
+	 * M M M M M M M M M M M M . .      Height      |
+	 * M M M M M M M M M M M M . .      |       Meta_RGB_Scanlines
+	 * M M M M M M M M M M M M . .      |           |
+	 * M M M M M M M M M M M M . .      |           |
+	 * M M M M M M M M M M M M . .      |           |
+	 * M M M M M M M M M M M M . .      V           |
+	 * . . . . . . . . . . . . . .                  |
+	 * . . . . . . . . . . . . . .                  |
+	 * . . . . . . . . . . . . . .      -------> Buffer size aligned to 4k
+	 * . . . . . . . . . . . . . .                  V
+	 * <-------- RGB_Stride -------->
+	 * <------- Width ------->
+	 * R R R R R R R R R R R R . . . .  ^           ^
+	 * R R R R R R R R R R R R . . . .  |           |
+	 * R R R R R R R R R R R R . . . .  Height      |
+	 * R R R R R R R R R R R R . . . .  |       RGB_Scanlines
+	 * R R R R R R R R R R R R . . . .  |           |
+	 * R R R R R R R R R R R R . . . .  |           |
+	 * R R R R R R R R R R R R . . . .  |           |
+	 * R R R R R R R R R R R R . . . .  V           |
+	 * . . . . . . . . . . . . . . . .              |
+	 * . . . . . . . . . . . . . . . .              |
+	 * . . . . . . . . . . . . . . . .    -------> Buffer size aligned to 4k
+	 * . . . . . . . . . . . . . . . .              V
+	 *
+	 * RGB_Stride = align(Width * 2, 128)
+	 * RGB_Scanlines = align(Height, 16)
+	 * RGB_Plane_size = align(RGB_Stride * RGB_Scanlines, 4096)
+	 * RGB_Meta_Stride = align(roundup(Width, RGB_TileWidth), 64)
+	 * RGB_Meta_Scanline = align(roundup(Height, RGB_TileHeight), 16)
+	 * RGB_Meta_Plane_size = align(RGB_Meta_Stride *
+	 *		RGB_Meta_Scanlines, 4096)
+	 * Extradata = 8k
+	 *
+	 * Total size = align(RGB_Meta_Plane_size + RGB_Plane_size +
+	 *		Extradata, 4096)
+	 */
+	COLOR_FMT_RGB565_UBWC,
+	/* P010 UBWC:
+	 * Compressed Macro-tile format for NV12.
+	 * Contains 4 planes in the following order -
+	 * (A) Y_Meta_Plane
+	 * (B) Y_UBWC_Plane
+	 * (C) UV_Meta_Plane
+	 * (D) UV_UBWC_Plane
+	 *
+	 * Y_Meta_Plane consists of meta information to decode compressed
+	 * tile data in Y_UBWC_Plane.
+	 * Y_UBWC_Plane consists of Y data in compressed macro-tile format.
+	 * UBWC decoder block will use the Y_Meta_Plane data together with
+	 * Y_UBWC_Plane data to produce loss-less uncompressed 10 bit Y samples.
+	 *
+	 * UV_Meta_Plane consists of meta information to decode compressed
+	 * tile data in UV_UBWC_Plane.
+	 * UV_UBWC_Plane consists of UV data in compressed macro-tile format.
+	 * UBWC decoder block will use UV_Meta_Plane data together with
+	 * UV_UBWC_Plane data to produce loss-less uncompressed 10 bit 2x2
+	 * subsampled color difference samples.
+	 *
+	 * Each tile in Y_UBWC_Plane/UV_UBWC_Plane is independently decodable
+	 * and randomly accessible. There is no dependency between tiles.
+	 *
+	 * <----- Y_Meta_Stride ----->
+	 * <-------- Width ------>
+	 * M M M M M M M M M M M M . .      ^           ^
+	 * M M M M M M M M M M M M . .      |           |
+	 * M M M M M M M M M M M M . .      Height      |
+	 * M M M M M M M M M M M M . .      |         Meta_Y_Scanlines
+	 * M M M M M M M M M M M M . .      |           |
+	 * M M M M M M M M M M M M . .      |           |
+	 * M M M M M M M M M M M M . .      |           |
+	 * M M M M M M M M M M M M . .      V           |
+	 * . . . . . . . . . . . . . .                  |
+	 * . . . . . . . . . . . . . .                  |
+	 * . . . . . . . . . . . . . .      -------> Buffer size aligned to 4k
+	 * . . . . . . . . . . . . . .                  V
+	 * <--Compressed tile Y Stride--->
+	 * <------- Width ------->
+	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  ^           ^
+	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
+	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  Height      |
+	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |        Macro_tile_Y_Scanlines
+	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
+	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
+	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
+	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  V           |
+	 * . . . . . . . . . . . . . . . .              |
+	 * . . . . . . . . . . . . . . . .              |
+	 * . . . . . . . . . . . . . . . .  -------> Buffer size aligned to 4k
+	 * . . . . . . . . . . . . . . . .              V
+	 * <----- UV_Meta_Stride ---->
+	 * M M M M M M M M M M M M . .      ^
+	 * M M M M M M M M M M M M . .      |
+	 * M M M M M M M M M M M M . .      |
+	 * M M M M M M M M M M M M . .      M_UV_Scanlines
+	 * . . . . . . . . . . . . . .      |
+	 * . . . . . . . . . . . . . .      V
+	 * . . . . . . . . . . . . . .      -------> Buffer size aligned to 4k
+	 * <--Compressed tile UV Stride--->
+	 * U* V* U* V* U* V* U* V* . . . .  ^
+	 * U* V* U* V* U* V* U* V* . . . .  |
+	 * U* V* U* V* U* V* U* V* . . . .  |
+	 * U* V* U* V* U* V* U* V* . . . .  UV_Scanlines
+	 * . . . . . . . . . . . . . . . .  |
+	 * . . . . . . . . . . . . . . . .  V
+	 * . . . . . . . . . . . . . . . .  -------> Buffer size aligned to 4k
+	 *
+	 *
+	 * Y_Stride = align(Width * 2, 256)
+	 * UV_Stride = align(Width * 2, 256)
+	 * Y_Scanlines = align(Height, 16)
+	 * UV_Scanlines = align(Height/2, 16)
+	 * Y_UBWC_Plane_Size = align(Y_Stride * Y_Scanlines, 4096)
+	 * UV_UBWC_Plane_Size = align(UV_Stride * UV_Scanlines, 4096)
+	 * Y_Meta_Stride = align(roundup(Width, Y_TileWidth), 64)
+	 * Y_Meta_Scanlines = align(roundup(Height, Y_TileHeight), 16)
+	 * Y_Meta_Plane_size = align(Y_Meta_Stride * Y_Meta_Scanlines, 4096)
+	 * UV_Meta_Stride = align(roundup(Width, UV_TileWidth), 64)
+	 * UV_Meta_Scanlines = align(roundup(Height, UV_TileHeight), 16)
+	 * UV_Meta_Plane_size = align(UV_Meta_Stride * UV_Meta_Scanlines, 4096)
+	 * Extradata = 8k
+	 *
+	 * Total size = align(Y_UBWC_Plane_size + UV_UBWC_Plane_size +
+	 *           Y_Meta_Plane_size + UV_Meta_Plane_size
+	 *           + max(Extradata, Y_Stride * 48), 4096)
+	 */
+	COLOR_FMT_P010_UBWC,
+	/* Venus P010:
+	 * YUV 4:2:0 image with a plane of 10 bit Y samples followed
+	 * by an interleaved U/V plane containing 10 bit 2x2 subsampled
+	 * colour difference samples.
+	 *
+	 * <-------- Y/UV_Stride -------->
+	 * <------- Width ------->
+	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  ^           ^
+	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |
+	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  Height      |
+	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |          Y_Scanlines
+	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |
+	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |
+	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |
+	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  V           |
+	 * . . . . . . . . . . . . . . . .              |
+	 * . . . . . . . . . . . . . . . .              |
+	 * . . . . . . . . . . . . . . . .              |
+	 * . . . . . . . . . . . . . . . .              V
+	 * U V U V U V U V U V U V . . . .  ^
+	 * U V U V U V U V U V U V . . . .  |
+	 * U V U V U V U V U V U V . . . .  |
+	 * U V U V U V U V U V U V . . . .  UV_Scanlines
+	 * . . . . . . . . . . . . . . . .  |
+	 * . . . . . . . . . . . . . . . .  V
+	 * . . . . . . . . . . . . . . . .  --> Buffer size alignment
+	 *
+	 * Y_Stride : Width * 2 aligned to 128
+	 * UV_Stride : Width * 2 aligned to 128
+	 * Y_Scanlines: Height aligned to 32
+	 * UV_Scanlines: Height/2 aligned to 16
+	 * Extradata: Arbitrary (software-imposed) padding
+	 * Total size = align((Y_Stride * Y_Scanlines
+	 *          + UV_Stride * UV_Scanlines
+	 *          + max(Extradata, Y_Stride * 8), 4096)
+	 */
+	COLOR_FMT_P010,
 };
 
+#define COLOR_FMT_RGBA1010102_UBWC	COLOR_FMT_RGBA1010102_UBWC
+#define COLOR_FMT_RGB565_UBWC		COLOR_FMT_RGB565_UBWC
+#define COLOR_FMT_P010_UBWC		COLOR_FMT_P010_UBWC
+#define COLOR_FMT_P010		COLOR_FMT_P010
+
 static inline unsigned int VENUS_EXTRADATA_SIZE(int width, int height)
 {
 	(void)height;
@@ -413,9 +825,17 @@ static inline unsigned int VENUS_EXTRADATA_SIZE(int width, int height)
 	return 16 * 1024;
 }
 
+/*
+ * Function arguments:
+ * @color_fmt
+ * @width
+ * Progressive: width
+ * Interlaced: width
+ */
 static inline unsigned int VENUS_Y_STRIDE(int color_fmt, int width)
 {
 	unsigned int alignment, stride = 0;
+
 	if (!width)
 		goto invalid_input;
 
@@ -432,6 +852,14 @@ static inline unsigned int VENUS_Y_STRIDE(int color_fmt, int width)
 		stride = MSM_MEDIA_ALIGN(width, 192);
 		stride = MSM_MEDIA_ALIGN(stride * 4/3, alignment);
 		break;
+	case COLOR_FMT_P010_UBWC:
+		alignment = 256;
+		stride = MSM_MEDIA_ALIGN(width * 2, alignment);
+		break;
+	case COLOR_FMT_P010:
+		alignment = 128;
+		stride = MSM_MEDIA_ALIGN(width*2, alignment);
+		break;
 	default:
 		break;
 	}
@@ -439,9 +867,17 @@ static inline unsigned int VENUS_Y_STRIDE(int color_fmt, int width)
 	return stride;
 }
 
+/*
+ * Function arguments:
+ * @color_fmt
+ * @width
+ * Progressive: width
+ * Interlaced: width
+ */
 static inline unsigned int VENUS_UV_STRIDE(int color_fmt, int width)
 {
 	unsigned int alignment, stride = 0;
+
 	if (!width)
 		goto invalid_input;
 
@@ -458,6 +894,14 @@ static inline unsigned int VENUS_UV_STRIDE(int color_fmt, int width)
 		stride = MSM_MEDIA_ALIGN(width, 192);
 		stride = MSM_MEDIA_ALIGN(stride * 4/3, alignment);
 		break;
+	case COLOR_FMT_P010_UBWC:
+		alignment = 256;
+		stride = MSM_MEDIA_ALIGN(width * 2, alignment);
+		break;
+	case COLOR_FMT_P010:
+		alignment = 128;
+		stride = MSM_MEDIA_ALIGN(width*2, alignment);
+		break;
 	default:
 		break;
 	}
@@ -465,9 +909,17 @@ static inline unsigned int VENUS_UV_STRIDE(int color_fmt, int width)
 	return stride;
 }
 
+/*
+ * Function arguments:
+ * @color_fmt
+ * @height
+ * Progressive: height
+ * Interlaced: (height+1)>>1
+ */
 static inline unsigned int VENUS_Y_SCANLINES(int color_fmt, int height)
 {
 	unsigned int alignment, sclines = 0;
+
 	if (!height)
 		goto invalid_input;
 
@@ -476,9 +928,11 @@ static inline unsigned int VENUS_Y_SCANLINES(int color_fmt, int height)
 	case COLOR_FMT_NV12:
 	case COLOR_FMT_NV12_MVTB:
 	case COLOR_FMT_NV12_UBWC:
+	case COLOR_FMT_P010:
 		alignment = 32;
 		break;
 	case COLOR_FMT_NV12_BPP10_UBWC:
+	case COLOR_FMT_P010_UBWC:
 		alignment = 16;
 		break;
 	default:
@@ -489,9 +943,17 @@ static inline unsigned int VENUS_Y_SCANLINES(int color_fmt, int height)
 	return sclines;
 }
 
+/*
+ * Function arguments:
+ * @color_fmt
+ * @height
+ * Progressive: height
+ * Interlaced: (height+1)>>1
+ */
 static inline unsigned int VENUS_UV_SCANLINES(int color_fmt, int height)
 {
 	unsigned int alignment, sclines = 0;
+
 	if (!height)
 		goto invalid_input;
 
@@ -500,6 +962,8 @@ static inline unsigned int VENUS_UV_SCANLINES(int color_fmt, int height)
 	case COLOR_FMT_NV12:
 	case COLOR_FMT_NV12_MVTB:
 	case COLOR_FMT_NV12_BPP10_UBWC:
+	case COLOR_FMT_P010_UBWC:
+	case COLOR_FMT_P010:
 		alignment = 16;
 		break;
 	case COLOR_FMT_NV12_UBWC:
@@ -509,12 +973,19 @@ static inline unsigned int VENUS_UV_SCANLINES(int color_fmt, int height)
 		goto invalid_input;
 	}
 
-	sclines = MSM_MEDIA_ALIGN(height / 2, alignment);
+	sclines = MSM_MEDIA_ALIGN((height+1)>>1, alignment);
 
 invalid_input:
 	return sclines;
 }
 
+/*
+ * Function arguments:
+ * @color_fmt
+ * @width
+ * Progressive: width
+ * Interlaced: width
+ */
 static inline unsigned int VENUS_Y_META_STRIDE(int color_fmt, int width)
 {
 	int y_tile_width = 0, y_meta_stride = 0;
@@ -524,6 +995,7 @@ static inline unsigned int VENUS_Y_META_STRIDE(int color_fmt, int width)
 
 	switch (color_fmt) {
 	case COLOR_FMT_NV12_UBWC:
+	case COLOR_FMT_P010_UBWC:
 		y_tile_width = 32;
 		break;
 	case COLOR_FMT_NV12_BPP10_UBWC:
@@ -540,6 +1012,13 @@ static inline unsigned int VENUS_Y_META_STRIDE(int color_fmt, int width)
 	return y_meta_stride;
 }
 
+/*
+ * Function arguments:
+ * @color_fmt
+ * @height
+ * Progressive: height
+ * Interlaced: (height+1)>>1
+ */
 static inline unsigned int VENUS_Y_META_SCANLINES(int color_fmt, int height)
 {
 	int y_tile_height = 0, y_meta_scanlines = 0;
@@ -552,6 +1031,7 @@ static inline unsigned int VENUS_Y_META_SCANLINES(int color_fmt, int height)
 		y_tile_height = 8;
 		break;
 	case COLOR_FMT_NV12_BPP10_UBWC:
+	case COLOR_FMT_P010_UBWC:
 		y_tile_height = 4;
 		break;
 	default:
@@ -565,6 +1045,13 @@ static inline unsigned int VENUS_Y_META_SCANLINES(int color_fmt, int height)
 	return y_meta_scanlines;
 }
 
+/*
+ * Function arguments:
+ * @color_fmt
+ * @width
+ * Progressive: width
+ * Interlaced: width
+ */
 static inline unsigned int VENUS_UV_META_STRIDE(int color_fmt, int width)
 {
 	int uv_tile_width = 0, uv_meta_stride = 0;
@@ -574,6 +1061,7 @@ static inline unsigned int VENUS_UV_META_STRIDE(int color_fmt, int width)
 
 	switch (color_fmt) {
 	case COLOR_FMT_NV12_UBWC:
+	case COLOR_FMT_P010_UBWC:
 		uv_tile_width = 16;
 		break;
 	case COLOR_FMT_NV12_BPP10_UBWC:
@@ -583,13 +1071,20 @@ static inline unsigned int VENUS_UV_META_STRIDE(int color_fmt, int width)
 		goto invalid_input;
 	}
 
-	uv_meta_stride = MSM_MEDIA_ROUNDUP(width / 2, uv_tile_width);
+	uv_meta_stride = MSM_MEDIA_ROUNDUP((width+1)>>1, uv_tile_width);
 	uv_meta_stride = MSM_MEDIA_ALIGN(uv_meta_stride, 64);
 
 invalid_input:
 	return uv_meta_stride;
 }
 
+/*
+ * Function arguments:
+ * @color_fmt
+ * @height
+ * Progressive: height
+ * Interlaced: (height+1)>>1
+ */
 static inline unsigned int VENUS_UV_META_SCANLINES(int color_fmt, int height)
 {
 	int uv_tile_height = 0, uv_meta_scanlines = 0;
@@ -602,13 +1097,14 @@ static inline unsigned int VENUS_UV_META_SCANLINES(int color_fmt, int height)
 		uv_tile_height = 8;
 		break;
 	case COLOR_FMT_NV12_BPP10_UBWC:
+	case COLOR_FMT_P010_UBWC:
 		uv_tile_height = 4;
 		break;
 	default:
 		goto invalid_input;
 	}
 
-	uv_meta_scanlines = MSM_MEDIA_ROUNDUP(height / 2, uv_tile_height);
+	uv_meta_scanlines = MSM_MEDIA_ROUNDUP((height+1)>>1, uv_tile_height);
 	uv_meta_scanlines = MSM_MEDIA_ALIGN(uv_meta_scanlines, 16);
 
 invalid_input:
@@ -617,7 +1113,8 @@ static inline unsigned int VENUS_UV_META_SCANLINES(int color_fmt, int height)
 
 static inline unsigned int VENUS_RGB_STRIDE(int color_fmt, int width)
 {
-	unsigned int alignment = 0, stride = 0;
+	unsigned int alignment = 0, stride = 0, bpp = 4;
+
 	if (!width)
 		goto invalid_input;
 
@@ -625,14 +1122,19 @@ static inline unsigned int VENUS_RGB_STRIDE(int color_fmt, int width)
 	case COLOR_FMT_RGBA8888:
 		alignment = 128;
 		break;
+	case COLOR_FMT_RGB565_UBWC:
+		alignment = 256;
+		bpp = 2;
+		break;
 	case COLOR_FMT_RGBA8888_UBWC:
+	case COLOR_FMT_RGBA1010102_UBWC:
 		alignment = 256;
 		break;
 	default:
 		goto invalid_input;
 	}
 
-	stride = MSM_MEDIA_ALIGN(width * 4, alignment);
+	stride = MSM_MEDIA_ALIGN(width * bpp, alignment);
 
 invalid_input:
 	return stride;
@@ -650,6 +1152,8 @@ static inline unsigned int VENUS_RGB_SCANLINES(int color_fmt, int height)
 		alignment = 32;
 		break;
 	case COLOR_FMT_RGBA8888_UBWC:
+	case COLOR_FMT_RGBA1010102_UBWC:
+	case COLOR_FMT_RGB565_UBWC:
 		alignment = 16;
 		break;
 	default:
@@ -671,6 +1175,8 @@ static inline unsigned int VENUS_RGB_META_STRIDE(int color_fmt, int width)
 
 	switch (color_fmt) {
 	case COLOR_FMT_RGBA8888_UBWC:
+	case COLOR_FMT_RGBA1010102_UBWC:
+	case COLOR_FMT_RGB565_UBWC:
 		rgb_tile_width = 16;
 		break;
 	default:
@@ -693,6 +1199,8 @@ static inline unsigned int VENUS_RGB_META_SCANLINES(int color_fmt, int height)
 
 	switch (color_fmt) {
 	case COLOR_FMT_RGBA8888_UBWC:
+	case COLOR_FMT_RGBA1010102_UBWC:
+	case COLOR_FMT_RGB565_UBWC:
 		rgb_tile_height = 4;
 		break;
 	default:
@@ -706,11 +1214,22 @@ static inline unsigned int VENUS_RGB_META_SCANLINES(int color_fmt, int height)
 	return rgb_meta_scanlines;
 }
 
+/*
+ * Function arguments:
+ * @color_fmt
+ * @width
+ * Progressive: width
+ * Interlaced: width
+ * @height
+ * Progressive: height
+ * Interlaced: height
+ */
 static inline unsigned int VENUS_BUFFER_SIZE(
 	int color_fmt, int width, int height)
 {
 	const unsigned int extra_size = VENUS_EXTRADATA_SIZE(width, height);
 	unsigned int uv_alignment = 0, size = 0;
+	unsigned int w_alignment = 512;
 	unsigned int y_plane, uv_plane, y_stride,
 		uv_stride, y_sclines, uv_sclines;
 	unsigned int y_ubwc_plane = 0, uv_ubwc_plane = 0;
@@ -740,6 +1259,18 @@ static inline unsigned int VENUS_BUFFER_SIZE(
 		size = y_plane + uv_plane +
 				MSM_MEDIA_MAX(extra_size, 8 * y_stride);
 		size = MSM_MEDIA_ALIGN(size, 4096);
+
+		/* Additional size to cover last row of non-aligned frame */
+		size += MSM_MEDIA_ALIGN(width, w_alignment) * w_alignment;
+		size = MSM_MEDIA_ALIGN(size, 4096);
+		break;
+	case COLOR_FMT_P010:
+		uv_alignment = 4096;
+		y_plane = y_stride * y_sclines;
+		uv_plane = uv_stride * uv_sclines + uv_alignment;
+		size = y_plane + uv_plane +
+				MSM_MEDIA_MAX(extra_size, 8 * y_stride);
+		size = MSM_MEDIA_ALIGN(size, 4096);
 		break;
 	case COLOR_FMT_NV12_MVTB:
 		uv_alignment = 4096;
@@ -750,6 +1281,30 @@ static inline unsigned int VENUS_BUFFER_SIZE(
 		size = MSM_MEDIA_ALIGN(size, 4096);
 		break;
 	case COLOR_FMT_NV12_UBWC:
+		y_sclines = VENUS_Y_SCANLINES(color_fmt, (height+1)>>1);
+		y_ubwc_plane = MSM_MEDIA_ALIGN(y_stride * y_sclines, 4096);
+		uv_sclines = VENUS_UV_SCANLINES(color_fmt, (height+1)>>1);
+		uv_ubwc_plane = MSM_MEDIA_ALIGN(uv_stride * uv_sclines, 4096);
+		y_meta_stride = VENUS_Y_META_STRIDE(color_fmt, width);
+		y_meta_scanlines =
+			VENUS_Y_META_SCANLINES(color_fmt, (height+1)>>1);
+		y_meta_plane = MSM_MEDIA_ALIGN(
+			y_meta_stride * y_meta_scanlines, 4096);
+		uv_meta_stride = VENUS_UV_META_STRIDE(color_fmt, width);
+		uv_meta_scanlines =
+			VENUS_UV_META_SCANLINES(color_fmt, (height+1)>>1);
+		uv_meta_plane = MSM_MEDIA_ALIGN(uv_meta_stride *
+			uv_meta_scanlines, 4096);
+
+		size = (y_ubwc_plane + uv_ubwc_plane + y_meta_plane +
+			uv_meta_plane)*2 +
+			MSM_MEDIA_MAX(extra_size + 8192, 48 * y_stride);
+		size = MSM_MEDIA_ALIGN(size, 4096);
+
+		/* Additional size to cover last row of non-aligned frame */
+		size += MSM_MEDIA_ALIGN(width, w_alignment) * w_alignment;
+		size = MSM_MEDIA_ALIGN(size, 4096);
+		break;
 	case COLOR_FMT_NV12_BPP10_UBWC:
 		y_ubwc_plane = MSM_MEDIA_ALIGN(y_stride * y_sclines, 4096);
 		uv_ubwc_plane = MSM_MEDIA_ALIGN(uv_stride * uv_sclines, 4096);
@@ -767,12 +1322,30 @@ static inline unsigned int VENUS_BUFFER_SIZE(
 			MSM_MEDIA_MAX(extra_size + 8192, 48 * y_stride);
 		size = MSM_MEDIA_ALIGN(size, 4096);
 		break;
+	case COLOR_FMT_P010_UBWC:
+		y_ubwc_plane = MSM_MEDIA_ALIGN(y_stride * y_sclines, 4096);
+		uv_ubwc_plane = MSM_MEDIA_ALIGN(uv_stride * uv_sclines, 4096);
+		y_meta_stride = VENUS_Y_META_STRIDE(color_fmt, width);
+		y_meta_scanlines = VENUS_Y_META_SCANLINES(color_fmt, height);
+		y_meta_plane = MSM_MEDIA_ALIGN(
+				y_meta_stride * y_meta_scanlines, 4096);
+		uv_meta_stride = VENUS_UV_META_STRIDE(color_fmt, width);
+		uv_meta_scanlines = VENUS_UV_META_SCANLINES(color_fmt, height);
+		uv_meta_plane = MSM_MEDIA_ALIGN(uv_meta_stride *
+					uv_meta_scanlines, 4096);
+
+		size = y_ubwc_plane + uv_ubwc_plane + y_meta_plane +
+			uv_meta_plane;
+		size = MSM_MEDIA_ALIGN(size, 4096);
+		break;
 	case COLOR_FMT_RGBA8888:
 		rgb_plane = MSM_MEDIA_ALIGN(rgb_stride  * rgb_scanlines, 4096);
 		size = rgb_plane;
 		size =  MSM_MEDIA_ALIGN(size, 4096);
 		break;
 	case COLOR_FMT_RGBA8888_UBWC:
+	case COLOR_FMT_RGBA1010102_UBWC:
+	case COLOR_FMT_RGB565_UBWC:
 		rgb_ubwc_plane = MSM_MEDIA_ALIGN(rgb_stride * rgb_scanlines,
 							4096);
 		rgb_meta_stride = VENUS_RGB_META_STRIDE(color_fmt, width);
diff --git a/third_party/opencl/include/CL/cl.h b/third_party/opencl/include/CL/cl.h
deleted file mode 100644
index 0086319f5fa..00000000000
--- a/third_party/opencl/include/CL/cl.h
+++ /dev/null
@@ -1,1452 +0,0 @@
-/*******************************************************************************
- * Copyright (c) 2008-2015 The Khronos Group Inc.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a
- * copy of this software and/or associated documentation files (the
- * "Materials"), to deal in the Materials without restriction, including
- * without limitation the rights to use, copy, modify, merge, publish,
- * distribute, sublicense, and/or sell copies of the Materials, and to
- * permit persons to whom the Materials are furnished to do so, subject to
- * the following conditions:
- *
- * The above copyright notice and this permission notice shall be included
- * in all copies or substantial portions of the Materials.
- *
- * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS
- * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS
- * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT
- *    https://www.khronos.org/registry/
- *
- * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
- * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
- * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
- * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
- * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
- * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
- ******************************************************************************/
-
-#ifndef __OPENCL_CL_H
-#define __OPENCL_CL_H
-
-#ifdef __APPLE__
-#include <OpenCL/cl_platform.h>
-#else
-#include <CL/cl_platform.h>
-#endif	
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/******************************************************************************/
-
-typedef struct _cl_platform_id *    cl_platform_id;
-typedef struct _cl_device_id *      cl_device_id;
-typedef struct _cl_context *        cl_context;
-typedef struct _cl_command_queue *  cl_command_queue;
-typedef struct _cl_mem *            cl_mem;
-typedef struct _cl_program *        cl_program;
-typedef struct _cl_kernel *         cl_kernel;
-typedef struct _cl_event *          cl_event;
-typedef struct _cl_sampler *        cl_sampler;
-
-typedef cl_uint             cl_bool;                     /* WARNING!  Unlike cl_ types in cl_platform.h, cl_bool is not guaranteed to be the same size as the bool in kernels. */ 
-typedef cl_ulong            cl_bitfield;
-typedef cl_bitfield         cl_device_type;
-typedef cl_uint             cl_platform_info;
-typedef cl_uint             cl_device_info;
-typedef cl_bitfield         cl_device_fp_config;
-typedef cl_uint             cl_device_mem_cache_type;
-typedef cl_uint             cl_device_local_mem_type;
-typedef cl_bitfield         cl_device_exec_capabilities;
-typedef cl_bitfield         cl_device_svm_capabilities;
-typedef cl_bitfield         cl_command_queue_properties;
-typedef intptr_t            cl_device_partition_property;
-typedef cl_bitfield         cl_device_affinity_domain;
-
-typedef intptr_t            cl_context_properties;
-typedef cl_uint             cl_context_info;
-typedef cl_bitfield         cl_queue_properties;
-typedef cl_uint             cl_command_queue_info;
-typedef cl_uint             cl_channel_order;
-typedef cl_uint             cl_channel_type;
-typedef cl_bitfield         cl_mem_flags;
-typedef cl_bitfield         cl_svm_mem_flags;
-typedef cl_uint             cl_mem_object_type;
-typedef cl_uint             cl_mem_info;
-typedef cl_bitfield         cl_mem_migration_flags;
-typedef cl_uint             cl_image_info;
-typedef cl_uint             cl_buffer_create_type;
-typedef cl_uint             cl_addressing_mode;
-typedef cl_uint             cl_filter_mode;
-typedef cl_uint             cl_sampler_info;
-typedef cl_bitfield         cl_map_flags;
-typedef intptr_t            cl_pipe_properties;
-typedef cl_uint             cl_pipe_info;
-typedef cl_uint             cl_program_info;
-typedef cl_uint             cl_program_build_info;
-typedef cl_uint             cl_program_binary_type;
-typedef cl_int              cl_build_status;
-typedef cl_uint             cl_kernel_info;
-typedef cl_uint             cl_kernel_arg_info;
-typedef cl_uint             cl_kernel_arg_address_qualifier;
-typedef cl_uint             cl_kernel_arg_access_qualifier;
-typedef cl_bitfield         cl_kernel_arg_type_qualifier;
-typedef cl_uint             cl_kernel_work_group_info;
-typedef cl_uint             cl_kernel_sub_group_info;
-typedef cl_uint             cl_event_info;
-typedef cl_uint             cl_command_type;
-typedef cl_uint             cl_profiling_info;
-typedef cl_bitfield         cl_sampler_properties;
-typedef cl_uint             cl_kernel_exec_info;
-
-typedef struct _cl_image_format {
-    cl_channel_order        image_channel_order;
-    cl_channel_type         image_channel_data_type;
-} cl_image_format;
-
-typedef struct _cl_image_desc {
-    cl_mem_object_type      image_type;
-    size_t                  image_width;
-    size_t                  image_height;
-    size_t                  image_depth;
-    size_t                  image_array_size;
-    size_t                  image_row_pitch;
-    size_t                  image_slice_pitch;
-    cl_uint                 num_mip_levels;
-    cl_uint                 num_samples;
-#ifdef __GNUC__
-    __extension__   /* Prevents warnings about anonymous union in -pedantic builds */
-#endif
-    union {
-      cl_mem                  buffer;
-      cl_mem                  mem_object;
-    };
-} cl_image_desc;
-
-typedef struct _cl_buffer_region {
-    size_t                  origin;
-    size_t                  size;
-} cl_buffer_region;
-
-
-/******************************************************************************/
-
-/* Error Codes */
-#define CL_SUCCESS                                  0
-#define CL_DEVICE_NOT_FOUND                         -1
-#define CL_DEVICE_NOT_AVAILABLE                     -2
-#define CL_COMPILER_NOT_AVAILABLE                   -3
-#define CL_MEM_OBJECT_ALLOCATION_FAILURE            -4
-#define CL_OUT_OF_RESOURCES                         -5
-#define CL_OUT_OF_HOST_MEMORY                       -6
-#define CL_PROFILING_INFO_NOT_AVAILABLE             -7
-#define CL_MEM_COPY_OVERLAP                         -8
-#define CL_IMAGE_FORMAT_MISMATCH                    -9
-#define CL_IMAGE_FORMAT_NOT_SUPPORTED               -10
-#define CL_BUILD_PROGRAM_FAILURE                    -11
-#define CL_MAP_FAILURE                              -12
-#define CL_MISALIGNED_SUB_BUFFER_OFFSET             -13
-#define CL_EXEC_STATUS_ERROR_FOR_EVENTS_IN_WAIT_LIST -14
-#define CL_COMPILE_PROGRAM_FAILURE                  -15
-#define CL_LINKER_NOT_AVAILABLE                     -16
-#define CL_LINK_PROGRAM_FAILURE                     -17
-#define CL_DEVICE_PARTITION_FAILED                  -18
-#define CL_KERNEL_ARG_INFO_NOT_AVAILABLE            -19
-
-#define CL_INVALID_VALUE                            -30
-#define CL_INVALID_DEVICE_TYPE                      -31
-#define CL_INVALID_PLATFORM                         -32
-#define CL_INVALID_DEVICE                           -33
-#define CL_INVALID_CONTEXT                          -34
-#define CL_INVALID_QUEUE_PROPERTIES                 -35
-#define CL_INVALID_COMMAND_QUEUE                    -36
-#define CL_INVALID_HOST_PTR                         -37
-#define CL_INVALID_MEM_OBJECT                       -38
-#define CL_INVALID_IMAGE_FORMAT_DESCRIPTOR          -39
-#define CL_INVALID_IMAGE_SIZE                       -40
-#define CL_INVALID_SAMPLER                          -41
-#define CL_INVALID_BINARY                           -42
-#define CL_INVALID_BUILD_OPTIONS                    -43
-#define CL_INVALID_PROGRAM                          -44
-#define CL_INVALID_PROGRAM_EXECUTABLE               -45
-#define CL_INVALID_KERNEL_NAME                      -46
-#define CL_INVALID_KERNEL_DEFINITION                -47
-#define CL_INVALID_KERNEL                           -48
-#define CL_INVALID_ARG_INDEX                        -49
-#define CL_INVALID_ARG_VALUE                        -50
-#define CL_INVALID_ARG_SIZE                         -51
-#define CL_INVALID_KERNEL_ARGS                      -52
-#define CL_INVALID_WORK_DIMENSION                   -53
-#define CL_INVALID_WORK_GROUP_SIZE                  -54
-#define CL_INVALID_WORK_ITEM_SIZE                   -55
-#define CL_INVALID_GLOBAL_OFFSET                    -56
-#define CL_INVALID_EVENT_WAIT_LIST                  -57
-#define CL_INVALID_EVENT                            -58
-#define CL_INVALID_OPERATION                        -59
-#define CL_INVALID_GL_OBJECT                        -60
-#define CL_INVALID_BUFFER_SIZE                      -61
-#define CL_INVALID_MIP_LEVEL                        -62
-#define CL_INVALID_GLOBAL_WORK_SIZE                 -63
-#define CL_INVALID_PROPERTY                         -64
-#define CL_INVALID_IMAGE_DESCRIPTOR                 -65
-#define CL_INVALID_COMPILER_OPTIONS                 -66
-#define CL_INVALID_LINKER_OPTIONS                   -67
-#define CL_INVALID_DEVICE_PARTITION_COUNT           -68
-#define CL_INVALID_PIPE_SIZE                        -69
-#define CL_INVALID_DEVICE_QUEUE                     -70
-
-/* OpenCL Version */
-#define CL_VERSION_1_0                              1
-#define CL_VERSION_1_1                              1
-#define CL_VERSION_1_2                              1
-#define CL_VERSION_2_0                              1
-#define CL_VERSION_2_1                              1
-
-/* cl_bool */
-#define CL_FALSE                                    0
-#define CL_TRUE                                     1
-#define CL_BLOCKING                                 CL_TRUE
-#define CL_NON_BLOCKING                             CL_FALSE
-
-/* cl_platform_info */
-#define CL_PLATFORM_PROFILE                         0x0900
-#define CL_PLATFORM_VERSION                         0x0901
-#define CL_PLATFORM_NAME                            0x0902
-#define CL_PLATFORM_VENDOR                          0x0903
-#define CL_PLATFORM_EXTENSIONS                      0x0904
-#define CL_PLATFORM_HOST_TIMER_RESOLUTION           0x0905
-
-/* cl_device_type - bitfield */
-#define CL_DEVICE_TYPE_DEFAULT                      (1 << 0)
-#define CL_DEVICE_TYPE_CPU                          (1 << 1)
-#define CL_DEVICE_TYPE_GPU                          (1 << 2)
-#define CL_DEVICE_TYPE_ACCELERATOR                  (1 << 3)
-#define CL_DEVICE_TYPE_CUSTOM                       (1 << 4)
-#define CL_DEVICE_TYPE_ALL                          0xFFFFFFFF
-
-/* cl_device_info */
-#define CL_DEVICE_TYPE                                   0x1000
-#define CL_DEVICE_VENDOR_ID                              0x1001
-#define CL_DEVICE_MAX_COMPUTE_UNITS                      0x1002
-#define CL_DEVICE_MAX_WORK_ITEM_DIMENSIONS               0x1003
-#define CL_DEVICE_MAX_WORK_GROUP_SIZE                    0x1004
-#define CL_DEVICE_MAX_WORK_ITEM_SIZES                    0x1005
-#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_CHAR            0x1006
-#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_SHORT           0x1007
-#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_INT             0x1008
-#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_LONG            0x1009
-#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_FLOAT           0x100A
-#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_DOUBLE          0x100B
-#define CL_DEVICE_MAX_CLOCK_FREQUENCY                    0x100C
-#define CL_DEVICE_ADDRESS_BITS                           0x100D
-#define CL_DEVICE_MAX_READ_IMAGE_ARGS                    0x100E
-#define CL_DEVICE_MAX_WRITE_IMAGE_ARGS                   0x100F
-#define CL_DEVICE_MAX_MEM_ALLOC_SIZE                     0x1010
-#define CL_DEVICE_IMAGE2D_MAX_WIDTH                      0x1011
-#define CL_DEVICE_IMAGE2D_MAX_HEIGHT                     0x1012
-#define CL_DEVICE_IMAGE3D_MAX_WIDTH                      0x1013
-#define CL_DEVICE_IMAGE3D_MAX_HEIGHT                     0x1014
-#define CL_DEVICE_IMAGE3D_MAX_DEPTH                      0x1015
-#define CL_DEVICE_IMAGE_SUPPORT                          0x1016
-#define CL_DEVICE_MAX_PARAMETER_SIZE                     0x1017
-#define CL_DEVICE_MAX_SAMPLERS                           0x1018
-#define CL_DEVICE_MEM_BASE_ADDR_ALIGN                    0x1019
-#define CL_DEVICE_MIN_DATA_TYPE_ALIGN_SIZE               0x101A
-#define CL_DEVICE_SINGLE_FP_CONFIG                       0x101B
-#define CL_DEVICE_GLOBAL_MEM_CACHE_TYPE                  0x101C
-#define CL_DEVICE_GLOBAL_MEM_CACHELINE_SIZE              0x101D
-#define CL_DEVICE_GLOBAL_MEM_CACHE_SIZE                  0x101E
-#define CL_DEVICE_GLOBAL_MEM_SIZE                        0x101F
-#define CL_DEVICE_MAX_CONSTANT_BUFFER_SIZE               0x1020
-#define CL_DEVICE_MAX_CONSTANT_ARGS                      0x1021
-#define CL_DEVICE_LOCAL_MEM_TYPE                         0x1022
-#define CL_DEVICE_LOCAL_MEM_SIZE                         0x1023
-#define CL_DEVICE_ERROR_CORRECTION_SUPPORT               0x1024
-#define CL_DEVICE_PROFILING_TIMER_RESOLUTION             0x1025
-#define CL_DEVICE_ENDIAN_LITTLE                          0x1026
-#define CL_DEVICE_AVAILABLE                              0x1027
-#define CL_DEVICE_COMPILER_AVAILABLE                     0x1028
-#define CL_DEVICE_EXECUTION_CAPABILITIES                 0x1029
-#define CL_DEVICE_QUEUE_PROPERTIES                       0x102A    /* deprecated */
-#define CL_DEVICE_QUEUE_ON_HOST_PROPERTIES               0x102A
-#define CL_DEVICE_NAME                                   0x102B
-#define CL_DEVICE_VENDOR                                 0x102C
-#define CL_DRIVER_VERSION                                0x102D
-#define CL_DEVICE_PROFILE                                0x102E
-#define CL_DEVICE_VERSION                                0x102F
-#define CL_DEVICE_EXTENSIONS                             0x1030
-#define CL_DEVICE_PLATFORM                               0x1031
-#define CL_DEVICE_DOUBLE_FP_CONFIG                       0x1032
-/* 0x1033 reserved for CL_DEVICE_HALF_FP_CONFIG */
-#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_HALF            0x1034
-#define CL_DEVICE_HOST_UNIFIED_MEMORY                    0x1035   /* deprecated */
-#define CL_DEVICE_NATIVE_VECTOR_WIDTH_CHAR               0x1036
-#define CL_DEVICE_NATIVE_VECTOR_WIDTH_SHORT              0x1037
-#define CL_DEVICE_NATIVE_VECTOR_WIDTH_INT                0x1038
-#define CL_DEVICE_NATIVE_VECTOR_WIDTH_LONG               0x1039
-#define CL_DEVICE_NATIVE_VECTOR_WIDTH_FLOAT              0x103A
-#define CL_DEVICE_NATIVE_VECTOR_WIDTH_DOUBLE             0x103B
-#define CL_DEVICE_NATIVE_VECTOR_WIDTH_HALF               0x103C
-#define CL_DEVICE_OPENCL_C_VERSION                       0x103D
-#define CL_DEVICE_LINKER_AVAILABLE                       0x103E
-#define CL_DEVICE_BUILT_IN_KERNELS                       0x103F
-#define CL_DEVICE_IMAGE_MAX_BUFFER_SIZE                  0x1040
-#define CL_DEVICE_IMAGE_MAX_ARRAY_SIZE                   0x1041
-#define CL_DEVICE_PARENT_DEVICE                          0x1042
-#define CL_DEVICE_PARTITION_MAX_SUB_DEVICES              0x1043
-#define CL_DEVICE_PARTITION_PROPERTIES                   0x1044
-#define CL_DEVICE_PARTITION_AFFINITY_DOMAIN              0x1045
-#define CL_DEVICE_PARTITION_TYPE                         0x1046
-#define CL_DEVICE_REFERENCE_COUNT                        0x1047
-#define CL_DEVICE_PREFERRED_INTEROP_USER_SYNC            0x1048
-#define CL_DEVICE_PRINTF_BUFFER_SIZE                     0x1049
-#define CL_DEVICE_IMAGE_PITCH_ALIGNMENT                  0x104A
-#define CL_DEVICE_IMAGE_BASE_ADDRESS_ALIGNMENT           0x104B
-#define CL_DEVICE_MAX_READ_WRITE_IMAGE_ARGS              0x104C
-#define CL_DEVICE_MAX_GLOBAL_VARIABLE_SIZE               0x104D
-#define CL_DEVICE_QUEUE_ON_DEVICE_PROPERTIES             0x104E
-#define CL_DEVICE_QUEUE_ON_DEVICE_PREFERRED_SIZE         0x104F
-#define CL_DEVICE_QUEUE_ON_DEVICE_MAX_SIZE               0x1050
-#define CL_DEVICE_MAX_ON_DEVICE_QUEUES                   0x1051
-#define CL_DEVICE_MAX_ON_DEVICE_EVENTS                   0x1052
-#define CL_DEVICE_SVM_CAPABILITIES                       0x1053
-#define CL_DEVICE_GLOBAL_VARIABLE_PREFERRED_TOTAL_SIZE   0x1054
-#define CL_DEVICE_MAX_PIPE_ARGS                          0x1055
-#define CL_DEVICE_PIPE_MAX_ACTIVE_RESERVATIONS           0x1056
-#define CL_DEVICE_PIPE_MAX_PACKET_SIZE                   0x1057
-#define CL_DEVICE_PREFERRED_PLATFORM_ATOMIC_ALIGNMENT    0x1058
-#define CL_DEVICE_PREFERRED_GLOBAL_ATOMIC_ALIGNMENT      0x1059
-#define CL_DEVICE_PREFERRED_LOCAL_ATOMIC_ALIGNMENT       0x105A
-#define CL_DEVICE_IL_VERSION                             0x105B
-#define CL_DEVICE_MAX_NUM_SUB_GROUPS                     0x105C
-#define CL_DEVICE_SUB_GROUP_INDEPENDENT_FORWARD_PROGRESS 0x105D
-
-/* cl_device_fp_config - bitfield */
-#define CL_FP_DENORM                                (1 << 0)
-#define CL_FP_INF_NAN                               (1 << 1)
-#define CL_FP_ROUND_TO_NEAREST                      (1 << 2)
-#define CL_FP_ROUND_TO_ZERO                         (1 << 3)
-#define CL_FP_ROUND_TO_INF                          (1 << 4)
-#define CL_FP_FMA                                   (1 << 5)
-#define CL_FP_SOFT_FLOAT                            (1 << 6)
-#define CL_FP_CORRECTLY_ROUNDED_DIVIDE_SQRT         (1 << 7)
-
-/* cl_device_mem_cache_type */
-#define CL_NONE                                     0x0
-#define CL_READ_ONLY_CACHE                          0x1
-#define CL_READ_WRITE_CACHE                         0x2
-
-/* cl_device_local_mem_type */
-#define CL_LOCAL                                    0x1
-#define CL_GLOBAL                                   0x2
-
-/* cl_device_exec_capabilities - bitfield */
-#define CL_EXEC_KERNEL                              (1 << 0)
-#define CL_EXEC_NATIVE_KERNEL                       (1 << 1)
-
-/* cl_command_queue_properties - bitfield */
-#define CL_QUEUE_OUT_OF_ORDER_EXEC_MODE_ENABLE      (1 << 0)
-#define CL_QUEUE_PROFILING_ENABLE                   (1 << 1)
-#define CL_QUEUE_ON_DEVICE                          (1 << 2)
-#define CL_QUEUE_ON_DEVICE_DEFAULT                  (1 << 3)
-
-/* cl_context_info  */
-#define CL_CONTEXT_REFERENCE_COUNT                  0x1080
-#define CL_CONTEXT_DEVICES                          0x1081
-#define CL_CONTEXT_PROPERTIES                       0x1082
-#define CL_CONTEXT_NUM_DEVICES                      0x1083
-
-/* cl_context_properties */
-#define CL_CONTEXT_PLATFORM                         0x1084
-#define CL_CONTEXT_INTEROP_USER_SYNC                0x1085
-    
-/* cl_device_partition_property */
-#define CL_DEVICE_PARTITION_EQUALLY                 0x1086
-#define CL_DEVICE_PARTITION_BY_COUNTS               0x1087
-#define CL_DEVICE_PARTITION_BY_COUNTS_LIST_END      0x0
-#define CL_DEVICE_PARTITION_BY_AFFINITY_DOMAIN      0x1088
-    
-/* cl_device_affinity_domain */
-#define CL_DEVICE_AFFINITY_DOMAIN_NUMA               (1 << 0)
-#define CL_DEVICE_AFFINITY_DOMAIN_L4_CACHE           (1 << 1)
-#define CL_DEVICE_AFFINITY_DOMAIN_L3_CACHE           (1 << 2)
-#define CL_DEVICE_AFFINITY_DOMAIN_L2_CACHE           (1 << 3)
-#define CL_DEVICE_AFFINITY_DOMAIN_L1_CACHE           (1 << 4)
-#define CL_DEVICE_AFFINITY_DOMAIN_NEXT_PARTITIONABLE (1 << 5)
-    
-/* cl_device_svm_capabilities */
-#define CL_DEVICE_SVM_COARSE_GRAIN_BUFFER           (1 << 0)
-#define CL_DEVICE_SVM_FINE_GRAIN_BUFFER             (1 << 1)
-#define CL_DEVICE_SVM_FINE_GRAIN_SYSTEM             (1 << 2)
-#define CL_DEVICE_SVM_ATOMICS                       (1 << 3)
-
-/* cl_command_queue_info */
-#define CL_QUEUE_CONTEXT                            0x1090
-#define CL_QUEUE_DEVICE                             0x1091
-#define CL_QUEUE_REFERENCE_COUNT                    0x1092
-#define CL_QUEUE_PROPERTIES                         0x1093
-#define CL_QUEUE_SIZE                               0x1094
-#define CL_QUEUE_DEVICE_DEFAULT                     0x1095
-
-/* cl_mem_flags and cl_svm_mem_flags - bitfield */
-#define CL_MEM_READ_WRITE                           (1 << 0)
-#define CL_MEM_WRITE_ONLY                           (1 << 1)
-#define CL_MEM_READ_ONLY                            (1 << 2)
-#define CL_MEM_USE_HOST_PTR                         (1 << 3)
-#define CL_MEM_ALLOC_HOST_PTR                       (1 << 4)
-#define CL_MEM_COPY_HOST_PTR                        (1 << 5)
-/* reserved                                         (1 << 6)    */
-#define CL_MEM_HOST_WRITE_ONLY                      (1 << 7)
-#define CL_MEM_HOST_READ_ONLY                       (1 << 8)
-#define CL_MEM_HOST_NO_ACCESS                       (1 << 9)
-#define CL_MEM_SVM_FINE_GRAIN_BUFFER                (1 << 10)   /* used by cl_svm_mem_flags only */
-#define CL_MEM_SVM_ATOMICS                          (1 << 11)   /* used by cl_svm_mem_flags only */
-#define CL_MEM_KERNEL_READ_AND_WRITE                (1 << 12)
-
-/* cl_mem_migration_flags - bitfield */
-#define CL_MIGRATE_MEM_OBJECT_HOST                  (1 << 0)
-#define CL_MIGRATE_MEM_OBJECT_CONTENT_UNDEFINED     (1 << 1)
-
-/* cl_channel_order */
-#define CL_R                                        0x10B0
-#define CL_A                                        0x10B1
-#define CL_RG                                       0x10B2
-#define CL_RA                                       0x10B3
-#define CL_RGB                                      0x10B4
-#define CL_RGBA                                     0x10B5
-#define CL_BGRA                                     0x10B6
-#define CL_ARGB                                     0x10B7
-#define CL_INTENSITY                                0x10B8
-#define CL_LUMINANCE                                0x10B9
-#define CL_Rx                                       0x10BA
-#define CL_RGx                                      0x10BB
-#define CL_RGBx                                     0x10BC
-#define CL_DEPTH                                    0x10BD
-#define CL_DEPTH_STENCIL                            0x10BE
-#define CL_sRGB                                     0x10BF
-#define CL_sRGBx                                    0x10C0
-#define CL_sRGBA                                    0x10C1
-#define CL_sBGRA                                    0x10C2
-#define CL_ABGR                                     0x10C3
-
-/* cl_channel_type */
-#define CL_SNORM_INT8                               0x10D0
-#define CL_SNORM_INT16                              0x10D1
-#define CL_UNORM_INT8                               0x10D2
-#define CL_UNORM_INT16                              0x10D3
-#define CL_UNORM_SHORT_565                          0x10D4
-#define CL_UNORM_SHORT_555                          0x10D5
-#define CL_UNORM_INT_101010                         0x10D6
-#define CL_SIGNED_INT8                              0x10D7
-#define CL_SIGNED_INT16                             0x10D8
-#define CL_SIGNED_INT32                             0x10D9
-#define CL_UNSIGNED_INT8                            0x10DA
-#define CL_UNSIGNED_INT16                           0x10DB
-#define CL_UNSIGNED_INT32                           0x10DC
-#define CL_HALF_FLOAT                               0x10DD
-#define CL_FLOAT                                    0x10DE
-#define CL_UNORM_INT24                              0x10DF
-#define CL_UNORM_INT_101010_2                       0x10E0
-
-/* cl_mem_object_type */
-#define CL_MEM_OBJECT_BUFFER                        0x10F0
-#define CL_MEM_OBJECT_IMAGE2D                       0x10F1
-#define CL_MEM_OBJECT_IMAGE3D                       0x10F2
-#define CL_MEM_OBJECT_IMAGE2D_ARRAY                 0x10F3
-#define CL_MEM_OBJECT_IMAGE1D                       0x10F4
-#define CL_MEM_OBJECT_IMAGE1D_ARRAY                 0x10F5
-#define CL_MEM_OBJECT_IMAGE1D_BUFFER                0x10F6
-#define CL_MEM_OBJECT_PIPE                          0x10F7
-
-/* cl_mem_info */
-#define CL_MEM_TYPE                                 0x1100
-#define CL_MEM_FLAGS                                0x1101
-#define CL_MEM_SIZE                                 0x1102
-#define CL_MEM_HOST_PTR                             0x1103
-#define CL_MEM_MAP_COUNT                            0x1104
-#define CL_MEM_REFERENCE_COUNT                      0x1105
-#define CL_MEM_CONTEXT                              0x1106
-#define CL_MEM_ASSOCIATED_MEMOBJECT                 0x1107
-#define CL_MEM_OFFSET                               0x1108
-#define CL_MEM_USES_SVM_POINTER                     0x1109
-
-/* cl_image_info */
-#define CL_IMAGE_FORMAT                             0x1110
-#define CL_IMAGE_ELEMENT_SIZE                       0x1111
-#define CL_IMAGE_ROW_PITCH                          0x1112
-#define CL_IMAGE_SLICE_PITCH                        0x1113
-#define CL_IMAGE_WIDTH                              0x1114
-#define CL_IMAGE_HEIGHT                             0x1115
-#define CL_IMAGE_DEPTH                              0x1116
-#define CL_IMAGE_ARRAY_SIZE                         0x1117
-#define CL_IMAGE_BUFFER                             0x1118
-#define CL_IMAGE_NUM_MIP_LEVELS                     0x1119
-#define CL_IMAGE_NUM_SAMPLES                        0x111A
-    
-/* cl_pipe_info */
-#define CL_PIPE_PACKET_SIZE                         0x1120
-#define CL_PIPE_MAX_PACKETS                         0x1121
-
-/* cl_addressing_mode */
-#define CL_ADDRESS_NONE                             0x1130
-#define CL_ADDRESS_CLAMP_TO_EDGE                    0x1131
-#define CL_ADDRESS_CLAMP                            0x1132
-#define CL_ADDRESS_REPEAT                           0x1133
-#define CL_ADDRESS_MIRRORED_REPEAT                  0x1134
-
-/* cl_filter_mode */
-#define CL_FILTER_NEAREST                           0x1140
-#define CL_FILTER_LINEAR                            0x1141
-
-/* cl_sampler_info */
-#define CL_SAMPLER_REFERENCE_COUNT                  0x1150
-#define CL_SAMPLER_CONTEXT                          0x1151
-#define CL_SAMPLER_NORMALIZED_COORDS                0x1152
-#define CL_SAMPLER_ADDRESSING_MODE                  0x1153
-#define CL_SAMPLER_FILTER_MODE                      0x1154
-#define CL_SAMPLER_MIP_FILTER_MODE                  0x1155
-#define CL_SAMPLER_LOD_MIN                          0x1156
-#define CL_SAMPLER_LOD_MAX                          0x1157
-
-/* cl_map_flags - bitfield */
-#define CL_MAP_READ                                 (1 << 0)
-#define CL_MAP_WRITE                                (1 << 1)
-#define CL_MAP_WRITE_INVALIDATE_REGION              (1 << 2)
-
-/* cl_program_info */
-#define CL_PROGRAM_REFERENCE_COUNT                  0x1160
-#define CL_PROGRAM_CONTEXT                          0x1161
-#define CL_PROGRAM_NUM_DEVICES                      0x1162
-#define CL_PROGRAM_DEVICES                          0x1163
-#define CL_PROGRAM_SOURCE                           0x1164
-#define CL_PROGRAM_BINARY_SIZES                     0x1165
-#define CL_PROGRAM_BINARIES                         0x1166
-#define CL_PROGRAM_NUM_KERNELS                      0x1167
-#define CL_PROGRAM_KERNEL_NAMES                     0x1168
-#define CL_PROGRAM_IL                               0x1169
-
-/* cl_program_build_info */
-#define CL_PROGRAM_BUILD_STATUS                     0x1181
-#define CL_PROGRAM_BUILD_OPTIONS                    0x1182
-#define CL_PROGRAM_BUILD_LOG                        0x1183
-#define CL_PROGRAM_BINARY_TYPE                      0x1184
-#define CL_PROGRAM_BUILD_GLOBAL_VARIABLE_TOTAL_SIZE 0x1185
-    
-/* cl_program_binary_type */
-#define CL_PROGRAM_BINARY_TYPE_NONE                 0x0
-#define CL_PROGRAM_BINARY_TYPE_COMPILED_OBJECT      0x1
-#define CL_PROGRAM_BINARY_TYPE_LIBRARY              0x2
-#define CL_PROGRAM_BINARY_TYPE_EXECUTABLE           0x4
-
-/* cl_build_status */
-#define CL_BUILD_SUCCESS                            0
-#define CL_BUILD_NONE                               -1
-#define CL_BUILD_ERROR                              -2
-#define CL_BUILD_IN_PROGRESS                        -3
-
-/* cl_kernel_info */
-#define CL_KERNEL_FUNCTION_NAME                     0x1190
-#define CL_KERNEL_NUM_ARGS                          0x1191
-#define CL_KERNEL_REFERENCE_COUNT                   0x1192
-#define CL_KERNEL_CONTEXT                           0x1193
-#define CL_KERNEL_PROGRAM                           0x1194
-#define CL_KERNEL_ATTRIBUTES                        0x1195
-#define CL_KERNEL_MAX_NUM_SUB_GROUPS                0x11B9
-#define CL_KERNEL_COMPILE_NUM_SUB_GROUPS            0x11BA
-
-/* cl_kernel_arg_info */
-#define CL_KERNEL_ARG_ADDRESS_QUALIFIER             0x1196
-#define CL_KERNEL_ARG_ACCESS_QUALIFIER              0x1197
-#define CL_KERNEL_ARG_TYPE_NAME                     0x1198
-#define CL_KERNEL_ARG_TYPE_QUALIFIER                0x1199
-#define CL_KERNEL_ARG_NAME                          0x119A
-
-/* cl_kernel_arg_address_qualifier */
-#define CL_KERNEL_ARG_ADDRESS_GLOBAL                0x119B
-#define CL_KERNEL_ARG_ADDRESS_LOCAL                 0x119C
-#define CL_KERNEL_ARG_ADDRESS_CONSTANT              0x119D
-#define CL_KERNEL_ARG_ADDRESS_PRIVATE               0x119E
-
-/* cl_kernel_arg_access_qualifier */
-#define CL_KERNEL_ARG_ACCESS_READ_ONLY              0x11A0
-#define CL_KERNEL_ARG_ACCESS_WRITE_ONLY             0x11A1
-#define CL_KERNEL_ARG_ACCESS_READ_WRITE             0x11A2
-#define CL_KERNEL_ARG_ACCESS_NONE                   0x11A3
-    
-/* cl_kernel_arg_type_qualifer */
-#define CL_KERNEL_ARG_TYPE_NONE                     0
-#define CL_KERNEL_ARG_TYPE_CONST                    (1 << 0)
-#define CL_KERNEL_ARG_TYPE_RESTRICT                 (1 << 1)
-#define CL_KERNEL_ARG_TYPE_VOLATILE                 (1 << 2)
-#define CL_KERNEL_ARG_TYPE_PIPE                     (1 << 3)
-
-/* cl_kernel_work_group_info */
-#define CL_KERNEL_WORK_GROUP_SIZE                   0x11B0
-#define CL_KERNEL_COMPILE_WORK_GROUP_SIZE           0x11B1
-#define CL_KERNEL_LOCAL_MEM_SIZE                    0x11B2
-#define CL_KERNEL_PREFERRED_WORK_GROUP_SIZE_MULTIPLE 0x11B3
-#define CL_KERNEL_PRIVATE_MEM_SIZE                  0x11B4
-#define CL_KERNEL_GLOBAL_WORK_SIZE                  0x11B5
-
-/* cl_kernel_sub_group_info */
-#define CL_KERNEL_MAX_SUB_GROUP_SIZE_FOR_NDRANGE    0x2033
-#define CL_KERNEL_SUB_GROUP_COUNT_FOR_NDRANGE       0x2034
-#define CL_KERNEL_LOCAL_SIZE_FOR_SUB_GROUP_COUNT    0x11B8
-    
-/* cl_kernel_exec_info */
-#define CL_KERNEL_EXEC_INFO_SVM_PTRS                0x11B6
-#define CL_KERNEL_EXEC_INFO_SVM_FINE_GRAIN_SYSTEM   0x11B7
-
-/* cl_event_info  */
-#define CL_EVENT_COMMAND_QUEUE                      0x11D0
-#define CL_EVENT_COMMAND_TYPE                       0x11D1
-#define CL_EVENT_REFERENCE_COUNT                    0x11D2
-#define CL_EVENT_COMMAND_EXECUTION_STATUS           0x11D3
-#define CL_EVENT_CONTEXT                            0x11D4
-
-/* cl_command_type */
-#define CL_COMMAND_NDRANGE_KERNEL                   0x11F0
-#define CL_COMMAND_TASK                             0x11F1
-#define CL_COMMAND_NATIVE_KERNEL                    0x11F2
-#define CL_COMMAND_READ_BUFFER                      0x11F3
-#define CL_COMMAND_WRITE_BUFFER                     0x11F4
-#define CL_COMMAND_COPY_BUFFER                      0x11F5
-#define CL_COMMAND_READ_IMAGE                       0x11F6
-#define CL_COMMAND_WRITE_IMAGE                      0x11F7
-#define CL_COMMAND_COPY_IMAGE                       0x11F8
-#define CL_COMMAND_COPY_IMAGE_TO_BUFFER             0x11F9
-#define CL_COMMAND_COPY_BUFFER_TO_IMAGE             0x11FA
-#define CL_COMMAND_MAP_BUFFER                       0x11FB
-#define CL_COMMAND_MAP_IMAGE                        0x11FC
-#define CL_COMMAND_UNMAP_MEM_OBJECT                 0x11FD
-#define CL_COMMAND_MARKER                           0x11FE
-#define CL_COMMAND_ACQUIRE_GL_OBJECTS               0x11FF
-#define CL_COMMAND_RELEASE_GL_OBJECTS               0x1200
-#define CL_COMMAND_READ_BUFFER_RECT                 0x1201
-#define CL_COMMAND_WRITE_BUFFER_RECT                0x1202
-#define CL_COMMAND_COPY_BUFFER_RECT                 0x1203
-#define CL_COMMAND_USER                             0x1204
-#define CL_COMMAND_BARRIER                          0x1205
-#define CL_COMMAND_MIGRATE_MEM_OBJECTS              0x1206
-#define CL_COMMAND_FILL_BUFFER                      0x1207
-#define CL_COMMAND_FILL_IMAGE                       0x1208
-#define CL_COMMAND_SVM_FREE                         0x1209
-#define CL_COMMAND_SVM_MEMCPY                       0x120A
-#define CL_COMMAND_SVM_MEMFILL                      0x120B
-#define CL_COMMAND_SVM_MAP                          0x120C
-#define CL_COMMAND_SVM_UNMAP                        0x120D
-
-/* command execution status */
-#define CL_COMPLETE                                 0x0
-#define CL_RUNNING                                  0x1
-#define CL_SUBMITTED                                0x2
-#define CL_QUEUED                                   0x3
-
-/* cl_buffer_create_type  */
-#define CL_BUFFER_CREATE_TYPE_REGION                0x1220
-
-/* cl_profiling_info  */
-#define CL_PROFILING_COMMAND_QUEUED                 0x1280
-#define CL_PROFILING_COMMAND_SUBMIT                 0x1281
-#define CL_PROFILING_COMMAND_START                  0x1282
-#define CL_PROFILING_COMMAND_END                    0x1283
-#define CL_PROFILING_COMMAND_COMPLETE               0x1284
-
-/********************************************************************************************************/
-
-/* Platform API */
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetPlatformIDs(cl_uint          /* num_entries */,
-                 cl_platform_id * /* platforms */,
-                 cl_uint *        /* num_platforms */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL 
-clGetPlatformInfo(cl_platform_id   /* platform */, 
-                  cl_platform_info /* param_name */,
-                  size_t           /* param_value_size */, 
-                  void *           /* param_value */,
-                  size_t *         /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-/* Device APIs */
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetDeviceIDs(cl_platform_id   /* platform */,
-               cl_device_type   /* device_type */, 
-               cl_uint          /* num_entries */, 
-               cl_device_id *   /* devices */, 
-               cl_uint *        /* num_devices */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetDeviceInfo(cl_device_id    /* device */,
-                cl_device_info  /* param_name */, 
-                size_t          /* param_value_size */, 
-                void *          /* param_value */,
-                size_t *        /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-    
-extern CL_API_ENTRY cl_int CL_API_CALL
-clCreateSubDevices(cl_device_id                         /* in_device */,
-                   const cl_device_partition_property * /* properties */,
-                   cl_uint                              /* num_devices */,
-                   cl_device_id *                       /* out_devices */,
-                   cl_uint *                            /* num_devices_ret */) CL_API_SUFFIX__VERSION_1_2;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clRetainDevice(cl_device_id /* device */) CL_API_SUFFIX__VERSION_1_2;
-    
-extern CL_API_ENTRY cl_int CL_API_CALL
-clReleaseDevice(cl_device_id /* device */) CL_API_SUFFIX__VERSION_1_2;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clSetDefaultDeviceCommandQueue(cl_context           /* context */,
-                               cl_device_id         /* device */,
-                               cl_command_queue     /* command_queue */) CL_API_SUFFIX__VERSION_2_1;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetDeviceAndHostTimer(cl_device_id    /* device */,
-                        cl_ulong*       /* device_timestamp */,
-                        cl_ulong*       /* host_timestamp */) CL_API_SUFFIX__VERSION_2_1;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetHostTimer(cl_device_id /* device */,
-               cl_ulong *   /* host_timestamp */)  CL_API_SUFFIX__VERSION_2_1;
-
-    
-/* Context APIs  */
-extern CL_API_ENTRY cl_context CL_API_CALL
-clCreateContext(const cl_context_properties * /* properties */,
-                cl_uint                 /* num_devices */,
-                const cl_device_id *    /* devices */,
-                void (CL_CALLBACK * /* pfn_notify */)(const char *, const void *, size_t, void *),
-                void *                  /* user_data */,
-                cl_int *                /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_context CL_API_CALL
-clCreateContextFromType(const cl_context_properties * /* properties */,
-                        cl_device_type          /* device_type */,
-                        void (CL_CALLBACK *     /* pfn_notify*/ )(const char *, const void *, size_t, void *),
-                        void *                  /* user_data */,
-                        cl_int *                /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clRetainContext(cl_context /* context */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clReleaseContext(cl_context /* context */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetContextInfo(cl_context         /* context */, 
-                 cl_context_info    /* param_name */, 
-                 size_t             /* param_value_size */, 
-                 void *             /* param_value */, 
-                 size_t *           /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-/* Command Queue APIs */
-extern CL_API_ENTRY cl_command_queue CL_API_CALL
-clCreateCommandQueueWithProperties(cl_context               /* context */,
-                                   cl_device_id             /* device */,
-                                   const cl_queue_properties *    /* properties */,
-                                   cl_int *                 /* errcode_ret */) CL_API_SUFFIX__VERSION_2_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clRetainCommandQueue(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clReleaseCommandQueue(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetCommandQueueInfo(cl_command_queue      /* command_queue */,
-                      cl_command_queue_info /* param_name */,
-                      size_t                /* param_value_size */,
-                      void *                /* param_value */,
-                      size_t *              /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-/* Memory Object APIs */
-extern CL_API_ENTRY cl_mem CL_API_CALL
-clCreateBuffer(cl_context   /* context */,
-               cl_mem_flags /* flags */,
-               size_t       /* size */,
-               void *       /* host_ptr */,
-               cl_int *     /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_mem CL_API_CALL
-clCreateSubBuffer(cl_mem                   /* buffer */,
-                  cl_mem_flags             /* flags */,
-                  cl_buffer_create_type    /* buffer_create_type */,
-                  const void *             /* buffer_create_info */,
-                  cl_int *                 /* errcode_ret */) CL_API_SUFFIX__VERSION_1_1;
-
-extern CL_API_ENTRY cl_mem CL_API_CALL
-clCreateImage(cl_context              /* context */,
-              cl_mem_flags            /* flags */,
-              const cl_image_format * /* image_format */,
-              const cl_image_desc *   /* image_desc */, 
-              void *                  /* host_ptr */,
-              cl_int *                /* errcode_ret */) CL_API_SUFFIX__VERSION_1_2;
-                        
-extern CL_API_ENTRY cl_mem CL_API_CALL
-clCreatePipe(cl_context                 /* context */,
-             cl_mem_flags               /* flags */,
-             cl_uint                    /* pipe_packet_size */,
-             cl_uint                    /* pipe_max_packets */,
-             const cl_pipe_properties * /* properties */,
-             cl_int *                   /* errcode_ret */) CL_API_SUFFIX__VERSION_2_0;
-    
-extern CL_API_ENTRY cl_int CL_API_CALL
-clRetainMemObject(cl_mem /* memobj */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clReleaseMemObject(cl_mem /* memobj */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetSupportedImageFormats(cl_context           /* context */,
-                           cl_mem_flags         /* flags */,
-                           cl_mem_object_type   /* image_type */,
-                           cl_uint              /* num_entries */,
-                           cl_image_format *    /* image_formats */,
-                           cl_uint *            /* num_image_formats */) CL_API_SUFFIX__VERSION_1_0;
-                                    
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetMemObjectInfo(cl_mem           /* memobj */,
-                   cl_mem_info      /* param_name */, 
-                   size_t           /* param_value_size */,
-                   void *           /* param_value */,
-                   size_t *         /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetImageInfo(cl_mem           /* image */,
-               cl_image_info    /* param_name */, 
-               size_t           /* param_value_size */,
-               void *           /* param_value */,
-               size_t *         /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-    
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetPipeInfo(cl_mem           /* pipe */,
-              cl_pipe_info     /* param_name */,
-              size_t           /* param_value_size */,
-              void *           /* param_value */,
-              size_t *         /* param_value_size_ret */) CL_API_SUFFIX__VERSION_2_0;
-    
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clSetMemObjectDestructorCallback(cl_mem /* memobj */,
-                                 void (CL_CALLBACK * /*pfn_notify*/)( cl_mem /* memobj */, void* /*user_data*/),
-                                 void * /*user_data */ )             CL_API_SUFFIX__VERSION_1_1;
-
-/* SVM Allocation APIs */
-extern CL_API_ENTRY void * CL_API_CALL
-clSVMAlloc(cl_context       /* context */,
-           cl_svm_mem_flags /* flags */,
-           size_t           /* size */,
-           cl_uint          /* alignment */) CL_API_SUFFIX__VERSION_2_0;
-
-extern CL_API_ENTRY void CL_API_CALL
-clSVMFree(cl_context        /* context */,
-          void *            /* svm_pointer */) CL_API_SUFFIX__VERSION_2_0;
-    
-/* Sampler APIs */
-extern CL_API_ENTRY cl_sampler CL_API_CALL
-clCreateSamplerWithProperties(cl_context                     /* context */,
-                              const cl_sampler_properties *  /* normalized_coords */,
-                              cl_int *                       /* errcode_ret */) CL_API_SUFFIX__VERSION_2_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clRetainSampler(cl_sampler /* sampler */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clReleaseSampler(cl_sampler /* sampler */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetSamplerInfo(cl_sampler         /* sampler */,
-                 cl_sampler_info    /* param_name */,
-                 size_t             /* param_value_size */,
-                 void *             /* param_value */,
-                 size_t *           /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-                            
-/* Program Object APIs  */
-extern CL_API_ENTRY cl_program CL_API_CALL
-clCreateProgramWithSource(cl_context        /* context */,
-                          cl_uint           /* count */,
-                          const char **     /* strings */,
-                          const size_t *    /* lengths */,
-                          cl_int *          /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_program CL_API_CALL
-clCreateProgramWithBinary(cl_context                     /* context */,
-                          cl_uint                        /* num_devices */,
-                          const cl_device_id *           /* device_list */,
-                          const size_t *                 /* lengths */,
-                          const unsigned char **         /* binaries */,
-                          cl_int *                       /* binary_status */,
-                          cl_int *                       /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_program CL_API_CALL
-clCreateProgramWithBuiltInKernels(cl_context            /* context */,
-                                  cl_uint               /* num_devices */,
-                                  const cl_device_id *  /* device_list */,
-                                  const char *          /* kernel_names */,
-                                  cl_int *              /* errcode_ret */) CL_API_SUFFIX__VERSION_1_2;
-
-extern CL_API_ENTRY cl_program CL_API_CALL
-clCreateProgramWithIL(cl_context    /* context */,
-                     const void*    /* il */,
-                     size_t         /* length */,
-                     cl_int*        /* errcode_ret */) CL_API_SUFFIX__VERSION_2_1;
-
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clRetainProgram(cl_program /* program */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clReleaseProgram(cl_program /* program */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clBuildProgram(cl_program           /* program */,
-               cl_uint              /* num_devices */,
-               const cl_device_id * /* device_list */,
-               const char *         /* options */, 
-               void (CL_CALLBACK *  /* pfn_notify */)(cl_program /* program */, void * /* user_data */),
-               void *               /* user_data */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clCompileProgram(cl_program           /* program */,
-                 cl_uint              /* num_devices */,
-                 const cl_device_id * /* device_list */,
-                 const char *         /* options */, 
-                 cl_uint              /* num_input_headers */,
-                 const cl_program *   /* input_headers */,
-                 const char **        /* header_include_names */,
-                 void (CL_CALLBACK *  /* pfn_notify */)(cl_program /* program */, void * /* user_data */),
-                 void *               /* user_data */) CL_API_SUFFIX__VERSION_1_2;
-
-extern CL_API_ENTRY cl_program CL_API_CALL
-clLinkProgram(cl_context           /* context */,
-              cl_uint              /* num_devices */,
-              const cl_device_id * /* device_list */,
-              const char *         /* options */, 
-              cl_uint              /* num_input_programs */,
-              const cl_program *   /* input_programs */,
-              void (CL_CALLBACK *  /* pfn_notify */)(cl_program /* program */, void * /* user_data */),
-              void *               /* user_data */,
-              cl_int *             /* errcode_ret */ ) CL_API_SUFFIX__VERSION_1_2;
-
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clUnloadPlatformCompiler(cl_platform_id /* platform */) CL_API_SUFFIX__VERSION_1_2;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetProgramInfo(cl_program         /* program */,
-                 cl_program_info    /* param_name */,
-                 size_t             /* param_value_size */,
-                 void *             /* param_value */,
-                 size_t *           /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetProgramBuildInfo(cl_program            /* program */,
-                      cl_device_id          /* device */,
-                      cl_program_build_info /* param_name */,
-                      size_t                /* param_value_size */,
-                      void *                /* param_value */,
-                      size_t *              /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-                            
-/* Kernel Object APIs */
-extern CL_API_ENTRY cl_kernel CL_API_CALL
-clCreateKernel(cl_program      /* program */,
-               const char *    /* kernel_name */,
-               cl_int *        /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clCreateKernelsInProgram(cl_program     /* program */,
-                         cl_uint        /* num_kernels */,
-                         cl_kernel *    /* kernels */,
-                         cl_uint *      /* num_kernels_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_kernel CL_API_CALL
-clCloneKernel(cl_kernel     /* source_kernel */,
-              cl_int*       /* errcode_ret */) CL_API_SUFFIX__VERSION_2_1;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clRetainKernel(cl_kernel    /* kernel */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clReleaseKernel(cl_kernel   /* kernel */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clSetKernelArg(cl_kernel    /* kernel */,
-               cl_uint      /* arg_index */,
-               size_t       /* arg_size */,
-               const void * /* arg_value */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clSetKernelArgSVMPointer(cl_kernel    /* kernel */,
-                         cl_uint      /* arg_index */,
-                         const void * /* arg_value */) CL_API_SUFFIX__VERSION_2_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clSetKernelExecInfo(cl_kernel            /* kernel */,
-                    cl_kernel_exec_info  /* param_name */,
-                    size_t               /* param_value_size */,
-                    const void *         /* param_value */) CL_API_SUFFIX__VERSION_2_0;
-    
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetKernelInfo(cl_kernel       /* kernel */,
-                cl_kernel_info  /* param_name */,
-                size_t          /* param_value_size */,
-                void *          /* param_value */,
-                size_t *        /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetKernelArgInfo(cl_kernel       /* kernel */,
-                   cl_uint         /* arg_indx */,
-                   cl_kernel_arg_info  /* param_name */,
-                   size_t          /* param_value_size */,
-                   void *          /* param_value */,
-                   size_t *        /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_2;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetKernelWorkGroupInfo(cl_kernel                  /* kernel */,
-                         cl_device_id               /* device */,
-                         cl_kernel_work_group_info  /* param_name */,
-                         size_t                     /* param_value_size */,
-                         void *                     /* param_value */,
-                         size_t *                   /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetKernelSubGroupInfo(cl_kernel                   /* kernel */,
-                        cl_device_id                /* device */,
-                        cl_kernel_sub_group_info    /* param_name */,
-                        size_t                      /* input_value_size */,
-                        const void*                 /*input_value */,
-                        size_t                      /* param_value_size */,
-                        void*                       /* param_value */,
-                        size_t*                     /* param_value_size_ret */ ) CL_API_SUFFIX__VERSION_2_1;
-
-
-/* Event Object APIs */
-extern CL_API_ENTRY cl_int CL_API_CALL
-clWaitForEvents(cl_uint             /* num_events */,
-                const cl_event *    /* event_list */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetEventInfo(cl_event         /* event */,
-               cl_event_info    /* param_name */,
-               size_t           /* param_value_size */,
-               void *           /* param_value */,
-               size_t *         /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-                            
-extern CL_API_ENTRY cl_event CL_API_CALL
-clCreateUserEvent(cl_context    /* context */,
-                  cl_int *      /* errcode_ret */) CL_API_SUFFIX__VERSION_1_1;               
-                            
-extern CL_API_ENTRY cl_int CL_API_CALL
-clRetainEvent(cl_event /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clReleaseEvent(cl_event /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clSetUserEventStatus(cl_event   /* event */,
-                     cl_int     /* execution_status */) CL_API_SUFFIX__VERSION_1_1;
-                     
-extern CL_API_ENTRY cl_int CL_API_CALL
-clSetEventCallback( cl_event    /* event */,
-                    cl_int      /* command_exec_callback_type */,
-                    void (CL_CALLBACK * /* pfn_notify */)(cl_event, cl_int, void *),
-                    void *      /* user_data */) CL_API_SUFFIX__VERSION_1_1;
-
-/* Profiling APIs */
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetEventProfilingInfo(cl_event            /* event */,
-                        cl_profiling_info   /* param_name */,
-                        size_t              /* param_value_size */,
-                        void *              /* param_value */,
-                        size_t *            /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-                                
-/* Flush and Finish APIs */
-extern CL_API_ENTRY cl_int CL_API_CALL
-clFlush(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clFinish(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0;
-
-/* Enqueued Commands APIs */
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueReadBuffer(cl_command_queue    /* command_queue */,
-                    cl_mem              /* buffer */,
-                    cl_bool             /* blocking_read */,
-                    size_t              /* offset */,
-                    size_t              /* size */, 
-                    void *              /* ptr */,
-                    cl_uint             /* num_events_in_wait_list */,
-                    const cl_event *    /* event_wait_list */,
-                    cl_event *          /* event */) CL_API_SUFFIX__VERSION_1_0;
-                            
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueReadBufferRect(cl_command_queue    /* command_queue */,
-                        cl_mem              /* buffer */,
-                        cl_bool             /* blocking_read */,
-                        const size_t *      /* buffer_offset */,
-                        const size_t *      /* host_offset */, 
-                        const size_t *      /* region */,
-                        size_t              /* buffer_row_pitch */,
-                        size_t              /* buffer_slice_pitch */,
-                        size_t              /* host_row_pitch */,
-                        size_t              /* host_slice_pitch */,                        
-                        void *              /* ptr */,
-                        cl_uint             /* num_events_in_wait_list */,
-                        const cl_event *    /* event_wait_list */,
-                        cl_event *          /* event */) CL_API_SUFFIX__VERSION_1_1;
-                            
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueWriteBuffer(cl_command_queue   /* command_queue */, 
-                     cl_mem             /* buffer */, 
-                     cl_bool            /* blocking_write */, 
-                     size_t             /* offset */, 
-                     size_t             /* size */, 
-                     const void *       /* ptr */, 
-                     cl_uint            /* num_events_in_wait_list */, 
-                     const cl_event *   /* event_wait_list */, 
-                     cl_event *         /* event */) CL_API_SUFFIX__VERSION_1_0;
-                            
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueWriteBufferRect(cl_command_queue    /* command_queue */,
-                         cl_mem              /* buffer */,
-                         cl_bool             /* blocking_write */,
-                         const size_t *      /* buffer_offset */,
-                         const size_t *      /* host_offset */, 
-                         const size_t *      /* region */,
-                         size_t              /* buffer_row_pitch */,
-                         size_t              /* buffer_slice_pitch */,
-                         size_t              /* host_row_pitch */,
-                         size_t              /* host_slice_pitch */,                        
-                         const void *        /* ptr */,
-                         cl_uint             /* num_events_in_wait_list */,
-                         const cl_event *    /* event_wait_list */,
-                         cl_event *          /* event */) CL_API_SUFFIX__VERSION_1_1;
-                            
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueFillBuffer(cl_command_queue   /* command_queue */,
-                    cl_mem             /* buffer */, 
-                    const void *       /* pattern */, 
-                    size_t             /* pattern_size */, 
-                    size_t             /* offset */, 
-                    size_t             /* size */, 
-                    cl_uint            /* num_events_in_wait_list */, 
-                    const cl_event *   /* event_wait_list */, 
-                    cl_event *         /* event */) CL_API_SUFFIX__VERSION_1_2;
-                            
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueCopyBuffer(cl_command_queue    /* command_queue */, 
-                    cl_mem              /* src_buffer */,
-                    cl_mem              /* dst_buffer */, 
-                    size_t              /* src_offset */,
-                    size_t              /* dst_offset */,
-                    size_t              /* size */, 
-                    cl_uint             /* num_events_in_wait_list */,
-                    const cl_event *    /* event_wait_list */,
-                    cl_event *          /* event */) CL_API_SUFFIX__VERSION_1_0;
-                            
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueCopyBufferRect(cl_command_queue    /* command_queue */, 
-                        cl_mem              /* src_buffer */,
-                        cl_mem              /* dst_buffer */, 
-                        const size_t *      /* src_origin */,
-                        const size_t *      /* dst_origin */,
-                        const size_t *      /* region */, 
-                        size_t              /* src_row_pitch */,
-                        size_t              /* src_slice_pitch */,
-                        size_t              /* dst_row_pitch */,
-                        size_t              /* dst_slice_pitch */,
-                        cl_uint             /* num_events_in_wait_list */,
-                        const cl_event *    /* event_wait_list */,
-                        cl_event *          /* event */) CL_API_SUFFIX__VERSION_1_1;
-                            
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueReadImage(cl_command_queue     /* command_queue */,
-                   cl_mem               /* image */,
-                   cl_bool              /* blocking_read */, 
-                   const size_t *       /* origin[3] */,
-                   const size_t *       /* region[3] */,
-                   size_t               /* row_pitch */,
-                   size_t               /* slice_pitch */, 
-                   void *               /* ptr */,
-                   cl_uint              /* num_events_in_wait_list */,
-                   const cl_event *     /* event_wait_list */,
-                   cl_event *           /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueWriteImage(cl_command_queue    /* command_queue */,
-                    cl_mem              /* image */,
-                    cl_bool             /* blocking_write */, 
-                    const size_t *      /* origin[3] */,
-                    const size_t *      /* region[3] */,
-                    size_t              /* input_row_pitch */,
-                    size_t              /* input_slice_pitch */, 
-                    const void *        /* ptr */,
-                    cl_uint             /* num_events_in_wait_list */,
-                    const cl_event *    /* event_wait_list */,
-                    cl_event *          /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueFillImage(cl_command_queue   /* command_queue */,
-                   cl_mem             /* image */, 
-                   const void *       /* fill_color */, 
-                   const size_t *     /* origin[3] */, 
-                   const size_t *     /* region[3] */, 
-                   cl_uint            /* num_events_in_wait_list */, 
-                   const cl_event *   /* event_wait_list */, 
-                   cl_event *         /* event */) CL_API_SUFFIX__VERSION_1_2;
-                            
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueCopyImage(cl_command_queue     /* command_queue */,
-                   cl_mem               /* src_image */,
-                   cl_mem               /* dst_image */, 
-                   const size_t *       /* src_origin[3] */,
-                   const size_t *       /* dst_origin[3] */,
-                   const size_t *       /* region[3] */, 
-                   cl_uint              /* num_events_in_wait_list */,
-                   const cl_event *     /* event_wait_list */,
-                   cl_event *           /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueCopyImageToBuffer(cl_command_queue /* command_queue */,
-                           cl_mem           /* src_image */,
-                           cl_mem           /* dst_buffer */, 
-                           const size_t *   /* src_origin[3] */,
-                           const size_t *   /* region[3] */, 
-                           size_t           /* dst_offset */,
-                           cl_uint          /* num_events_in_wait_list */,
-                           const cl_event * /* event_wait_list */,
-                           cl_event *       /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueCopyBufferToImage(cl_command_queue /* command_queue */,
-                           cl_mem           /* src_buffer */,
-                           cl_mem           /* dst_image */, 
-                           size_t           /* src_offset */,
-                           const size_t *   /* dst_origin[3] */,
-                           const size_t *   /* region[3] */, 
-                           cl_uint          /* num_events_in_wait_list */,
-                           const cl_event * /* event_wait_list */,
-                           cl_event *       /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY void * CL_API_CALL
-clEnqueueMapBuffer(cl_command_queue /* command_queue */,
-                   cl_mem           /* buffer */,
-                   cl_bool          /* blocking_map */, 
-                   cl_map_flags     /* map_flags */,
-                   size_t           /* offset */,
-                   size_t           /* size */,
-                   cl_uint          /* num_events_in_wait_list */,
-                   const cl_event * /* event_wait_list */,
-                   cl_event *       /* event */,
-                   cl_int *         /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY void * CL_API_CALL
-clEnqueueMapImage(cl_command_queue  /* command_queue */,
-                  cl_mem            /* image */, 
-                  cl_bool           /* blocking_map */, 
-                  cl_map_flags      /* map_flags */, 
-                  const size_t *    /* origin[3] */,
-                  const size_t *    /* region[3] */,
-                  size_t *          /* image_row_pitch */,
-                  size_t *          /* image_slice_pitch */,
-                  cl_uint           /* num_events_in_wait_list */,
-                  const cl_event *  /* event_wait_list */,
-                  cl_event *        /* event */,
-                  cl_int *          /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueUnmapMemObject(cl_command_queue /* command_queue */,
-                        cl_mem           /* memobj */,
-                        void *           /* mapped_ptr */,
-                        cl_uint          /* num_events_in_wait_list */,
-                        const cl_event *  /* event_wait_list */,
-                        cl_event *        /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueMigrateMemObjects(cl_command_queue       /* command_queue */,
-                           cl_uint                /* num_mem_objects */,
-                           const cl_mem *         /* mem_objects */,
-                           cl_mem_migration_flags /* flags */,
-                           cl_uint                /* num_events_in_wait_list */,
-                           const cl_event *       /* event_wait_list */,
-                           cl_event *             /* event */) CL_API_SUFFIX__VERSION_1_2;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueNDRangeKernel(cl_command_queue /* command_queue */,
-                       cl_kernel        /* kernel */,
-                       cl_uint          /* work_dim */,
-                       const size_t *   /* global_work_offset */,
-                       const size_t *   /* global_work_size */,
-                       const size_t *   /* local_work_size */,
-                       cl_uint          /* num_events_in_wait_list */,
-                       const cl_event * /* event_wait_list */,
-                       cl_event *       /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueNativeKernel(cl_command_queue  /* command_queue */,
-					  void (CL_CALLBACK * /*user_func*/)(void *), 
-                      void *            /* args */,
-                      size_t            /* cb_args */, 
-                      cl_uint           /* num_mem_objects */,
-                      const cl_mem *    /* mem_list */,
-                      const void **     /* args_mem_loc */,
-                      cl_uint           /* num_events_in_wait_list */,
-                      const cl_event *  /* event_wait_list */,
-                      cl_event *        /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueMarkerWithWaitList(cl_command_queue  /* command_queue */,
-                            cl_uint           /* num_events_in_wait_list */,
-                            const cl_event *  /* event_wait_list */,
-                            cl_event *        /* event */) CL_API_SUFFIX__VERSION_1_2;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueBarrierWithWaitList(cl_command_queue  /* command_queue */,
-                             cl_uint           /* num_events_in_wait_list */,
-                             const cl_event *  /* event_wait_list */,
-                             cl_event *        /* event */) CL_API_SUFFIX__VERSION_1_2;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueSVMFree(cl_command_queue  /* command_queue */,
-                 cl_uint           /* num_svm_pointers */,
-                 void *[]          /* svm_pointers[] */,
-                 void (CL_CALLBACK * /*pfn_free_func*/)(cl_command_queue /* queue */,
-                                                        cl_uint          /* num_svm_pointers */,
-                                                        void *[]         /* svm_pointers[] */,
-                                                        void *           /* user_data */),
-                 void *            /* user_data */,
-                 cl_uint           /* num_events_in_wait_list */,
-                 const cl_event *  /* event_wait_list */,
-                 cl_event *        /* event */) CL_API_SUFFIX__VERSION_2_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueSVMMemcpy(cl_command_queue  /* command_queue */,
-                   cl_bool           /* blocking_copy */,
-                   void *            /* dst_ptr */,
-                   const void *      /* src_ptr */,
-                   size_t            /* size */,
-                   cl_uint           /* num_events_in_wait_list */,
-                   const cl_event *  /* event_wait_list */,
-                   cl_event *        /* event */) CL_API_SUFFIX__VERSION_2_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueSVMMemFill(cl_command_queue  /* command_queue */,
-                    void *            /* svm_ptr */,
-                    const void *      /* pattern */,
-                    size_t            /* pattern_size */,
-                    size_t            /* size */,
-                    cl_uint           /* num_events_in_wait_list */,
-                    const cl_event *  /* event_wait_list */,
-                    cl_event *        /* event */) CL_API_SUFFIX__VERSION_2_0;
-    
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueSVMMap(cl_command_queue  /* command_queue */,
-                cl_bool           /* blocking_map */,
-                cl_map_flags      /* flags */,
-                void *            /* svm_ptr */,
-                size_t            /* size */,
-                cl_uint           /* num_events_in_wait_list */,
-                const cl_event *  /* event_wait_list */,
-                cl_event *        /* event */) CL_API_SUFFIX__VERSION_2_0;
-    
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueSVMUnmap(cl_command_queue  /* command_queue */,
-                  void *            /* svm_ptr */,
-                  cl_uint           /* num_events_in_wait_list */,
-                  const cl_event *  /* event_wait_list */,
-                  cl_event *        /* event */) CL_API_SUFFIX__VERSION_2_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueSVMMigrateMem(cl_command_queue         /* command_queue */,
-                       cl_uint                  /* num_svm_pointers */,
-                       const void **            /* svm_pointers */,
-                       const size_t *           /* sizes */,
-                       cl_mem_migration_flags   /* flags */,
-                       cl_uint                  /* num_events_in_wait_list */,
-                       const cl_event *         /* event_wait_list */,
-                       cl_event *               /* event */) CL_API_SUFFIX__VERSION_2_1;
-
-
-/* Extension function access
- *
- * Returns the extension function address for the given function name,
- * or NULL if a valid function can not be found.  The client must
- * check to make sure the address is not NULL, before using or 
- * calling the returned function address.
- */
-extern CL_API_ENTRY void * CL_API_CALL 
-clGetExtensionFunctionAddressForPlatform(cl_platform_id /* platform */,
-                                         const char *   /* func_name */) CL_API_SUFFIX__VERSION_1_2;
-    
-
-/* Deprecated OpenCL 1.1 APIs */
-extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_mem CL_API_CALL
-clCreateImage2D(cl_context              /* context */,
-                cl_mem_flags            /* flags */,
-                const cl_image_format * /* image_format */,
-                size_t                  /* image_width */,
-                size_t                  /* image_height */,
-                size_t                  /* image_row_pitch */, 
-                void *                  /* host_ptr */,
-                cl_int *                /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED;
-    
-extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_mem CL_API_CALL
-clCreateImage3D(cl_context              /* context */,
-                cl_mem_flags            /* flags */,
-                const cl_image_format * /* image_format */,
-                size_t                  /* image_width */, 
-                size_t                  /* image_height */,
-                size_t                  /* image_depth */, 
-                size_t                  /* image_row_pitch */, 
-                size_t                  /* image_slice_pitch */, 
-                void *                  /* host_ptr */,
-                cl_int *                /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED;
-    
-extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_int CL_API_CALL
-clEnqueueMarker(cl_command_queue    /* command_queue */,
-                cl_event *          /* event */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED;
-    
-extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_int CL_API_CALL
-clEnqueueWaitForEvents(cl_command_queue /* command_queue */,
-                        cl_uint          /* num_events */,
-                        const cl_event * /* event_list */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED;
-    
-extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_int CL_API_CALL
-clEnqueueBarrier(cl_command_queue /* command_queue */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED;
-
-extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_int CL_API_CALL
-clUnloadCompiler(void) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED;
-    
-extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED void * CL_API_CALL
-clGetExtensionFunctionAddress(const char * /* func_name */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED;
-    
-/* Deprecated OpenCL 2.0 APIs */
-extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_2_DEPRECATED cl_command_queue CL_API_CALL
-clCreateCommandQueue(cl_context                     /* context */,
-                     cl_device_id                   /* device */,
-                     cl_command_queue_properties    /* properties */,
-                     cl_int *                       /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED;
-    
-    
-extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_2_DEPRECATED cl_sampler CL_API_CALL
-clCreateSampler(cl_context          /* context */,
-                cl_bool             /* normalized_coords */,
-                cl_addressing_mode  /* addressing_mode */,
-                cl_filter_mode      /* filter_mode */,
-                cl_int *            /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED;
-    
-extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_2_DEPRECATED cl_int CL_API_CALL
-clEnqueueTask(cl_command_queue  /* command_queue */,
-              cl_kernel         /* kernel */,
-              cl_uint           /* num_events_in_wait_list */,
-              const cl_event *  /* event_wait_list */,
-              cl_event *        /* event */) CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED;
-    
-#ifdef __cplusplus
-}
-#endif
-
-#endif  /* __OPENCL_CL_H */
-
diff --git a/third_party/opencl/include/CL/cl_d3d10.h b/third_party/opencl/include/CL/cl_d3d10.h
deleted file mode 100644
index d5960a43f72..00000000000
--- a/third_party/opencl/include/CL/cl_d3d10.h
+++ /dev/null
@@ -1,131 +0,0 @@
-/**********************************************************************************
- * Copyright (c) 2008-2015 The Khronos Group Inc.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a
- * copy of this software and/or associated documentation files (the
- * "Materials"), to deal in the Materials without restriction, including
- * without limitation the rights to use, copy, modify, merge, publish,
- * distribute, sublicense, and/or sell copies of the Materials, and to
- * permit persons to whom the Materials are furnished to do so, subject to
- * the following conditions:
- *
- * The above copyright notice and this permission notice shall be included
- * in all copies or substantial portions of the Materials.
- *
- * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS
- * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS
- * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT
- *    https://www.khronos.org/registry/
- *
- * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
- * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
- * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
- * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
- * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
- * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
- **********************************************************************************/
-
-/* $Revision: 11708 $ on $Date: 2010-06-13 23:36:24 -0700 (Sun, 13 Jun 2010) $ */
-
-#ifndef __OPENCL_CL_D3D10_H
-#define __OPENCL_CL_D3D10_H
-
-#include <d3d10.h>
-#include <CL/cl.h>
-#include <CL/cl_platform.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/******************************************************************************
- * cl_khr_d3d10_sharing                                                       */
-#define cl_khr_d3d10_sharing 1
-
-typedef cl_uint cl_d3d10_device_source_khr;
-typedef cl_uint cl_d3d10_device_set_khr;
-
-/******************************************************************************/
-
-/* Error Codes */
-#define CL_INVALID_D3D10_DEVICE_KHR                  -1002
-#define CL_INVALID_D3D10_RESOURCE_KHR                -1003
-#define CL_D3D10_RESOURCE_ALREADY_ACQUIRED_KHR       -1004
-#define CL_D3D10_RESOURCE_NOT_ACQUIRED_KHR           -1005
-
-/* cl_d3d10_device_source_nv */
-#define CL_D3D10_DEVICE_KHR                          0x4010
-#define CL_D3D10_DXGI_ADAPTER_KHR                    0x4011
-
-/* cl_d3d10_device_set_nv */
-#define CL_PREFERRED_DEVICES_FOR_D3D10_KHR           0x4012
-#define CL_ALL_DEVICES_FOR_D3D10_KHR                 0x4013
-
-/* cl_context_info */
-#define CL_CONTEXT_D3D10_DEVICE_KHR                  0x4014
-#define CL_CONTEXT_D3D10_PREFER_SHARED_RESOURCES_KHR 0x402C
-
-/* cl_mem_info */
-#define CL_MEM_D3D10_RESOURCE_KHR                    0x4015
-
-/* cl_image_info */
-#define CL_IMAGE_D3D10_SUBRESOURCE_KHR               0x4016
-
-/* cl_command_type */
-#define CL_COMMAND_ACQUIRE_D3D10_OBJECTS_KHR         0x4017
-#define CL_COMMAND_RELEASE_D3D10_OBJECTS_KHR         0x4018
-
-/******************************************************************************/
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *clGetDeviceIDsFromD3D10KHR_fn)(
-    cl_platform_id             platform,
-    cl_d3d10_device_source_khr d3d_device_source,
-    void *                     d3d_object,
-    cl_d3d10_device_set_khr    d3d_device_set,
-    cl_uint                    num_entries,
-    cl_device_id *             devices,
-    cl_uint *                  num_devices) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D10BufferKHR_fn)(
-    cl_context     context,
-    cl_mem_flags   flags,
-    ID3D10Buffer * resource,
-    cl_int *       errcode_ret) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D10Texture2DKHR_fn)(
-    cl_context        context,
-    cl_mem_flags      flags,
-    ID3D10Texture2D * resource,
-    UINT              subresource,
-    cl_int *          errcode_ret) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D10Texture3DKHR_fn)(
-    cl_context        context,
-    cl_mem_flags      flags,
-    ID3D10Texture3D * resource,
-    UINT              subresource,
-    cl_int *          errcode_ret) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueAcquireD3D10ObjectsKHR_fn)(
-    cl_command_queue command_queue,
-    cl_uint          num_objects,
-    const cl_mem *   mem_objects,
-    cl_uint          num_events_in_wait_list,
-    const cl_event * event_wait_list,
-    cl_event *       event) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueReleaseD3D10ObjectsKHR_fn)(
-    cl_command_queue command_queue,
-    cl_uint          num_objects,
-    const cl_mem *   mem_objects,
-    cl_uint          num_events_in_wait_list,
-    const cl_event * event_wait_list,
-    cl_event *       event) CL_API_SUFFIX__VERSION_1_0;
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  /* __OPENCL_CL_D3D10_H */
-
diff --git a/third_party/opencl/include/CL/cl_d3d11.h b/third_party/opencl/include/CL/cl_d3d11.h
deleted file mode 100644
index 39f9072398a..00000000000
--- a/third_party/opencl/include/CL/cl_d3d11.h
+++ /dev/null
@@ -1,131 +0,0 @@
-/**********************************************************************************
- * Copyright (c) 2008-2015 The Khronos Group Inc.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a
- * copy of this software and/or associated documentation files (the
- * "Materials"), to deal in the Materials without restriction, including
- * without limitation the rights to use, copy, modify, merge, publish,
- * distribute, sublicense, and/or sell copies of the Materials, and to
- * permit persons to whom the Materials are furnished to do so, subject to
- * the following conditions:
- *
- * The above copyright notice and this permission notice shall be included
- * in all copies or substantial portions of the Materials.
- *
- * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS
- * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS
- * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT
- *    https://www.khronos.org/registry/
- *
- * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
- * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
- * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
- * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
- * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
- * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
- **********************************************************************************/
-
-/* $Revision: 11708 $ on $Date: 2010-06-13 23:36:24 -0700 (Sun, 13 Jun 2010) $ */
-
-#ifndef __OPENCL_CL_D3D11_H
-#define __OPENCL_CL_D3D11_H
-
-#include <d3d11.h>
-#include <CL/cl.h>
-#include <CL/cl_platform.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/******************************************************************************
- * cl_khr_d3d11_sharing                                                       */
-#define cl_khr_d3d11_sharing 1
-
-typedef cl_uint cl_d3d11_device_source_khr;
-typedef cl_uint cl_d3d11_device_set_khr;
-
-/******************************************************************************/
-
-/* Error Codes */
-#define CL_INVALID_D3D11_DEVICE_KHR                  -1006
-#define CL_INVALID_D3D11_RESOURCE_KHR                -1007
-#define CL_D3D11_RESOURCE_ALREADY_ACQUIRED_KHR       -1008
-#define CL_D3D11_RESOURCE_NOT_ACQUIRED_KHR           -1009
-
-/* cl_d3d11_device_source */
-#define CL_D3D11_DEVICE_KHR                          0x4019
-#define CL_D3D11_DXGI_ADAPTER_KHR                    0x401A
-
-/* cl_d3d11_device_set */
-#define CL_PREFERRED_DEVICES_FOR_D3D11_KHR           0x401B
-#define CL_ALL_DEVICES_FOR_D3D11_KHR                 0x401C
-
-/* cl_context_info */
-#define CL_CONTEXT_D3D11_DEVICE_KHR                  0x401D
-#define CL_CONTEXT_D3D11_PREFER_SHARED_RESOURCES_KHR 0x402D
-
-/* cl_mem_info */
-#define CL_MEM_D3D11_RESOURCE_KHR                    0x401E
-
-/* cl_image_info */
-#define CL_IMAGE_D3D11_SUBRESOURCE_KHR               0x401F
-
-/* cl_command_type */
-#define CL_COMMAND_ACQUIRE_D3D11_OBJECTS_KHR         0x4020
-#define CL_COMMAND_RELEASE_D3D11_OBJECTS_KHR         0x4021
-
-/******************************************************************************/
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *clGetDeviceIDsFromD3D11KHR_fn)(
-    cl_platform_id             platform,
-    cl_d3d11_device_source_khr d3d_device_source,
-    void *                     d3d_object,
-    cl_d3d11_device_set_khr    d3d_device_set,
-    cl_uint                    num_entries,
-    cl_device_id *             devices,
-    cl_uint *                  num_devices) CL_API_SUFFIX__VERSION_1_2;
-
-typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D11BufferKHR_fn)(
-    cl_context     context,
-    cl_mem_flags   flags,
-    ID3D11Buffer * resource,
-    cl_int *       errcode_ret) CL_API_SUFFIX__VERSION_1_2;
-
-typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D11Texture2DKHR_fn)(
-    cl_context        context,
-    cl_mem_flags      flags,
-    ID3D11Texture2D * resource,
-    UINT              subresource,
-    cl_int *          errcode_ret) CL_API_SUFFIX__VERSION_1_2;
-
-typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D11Texture3DKHR_fn)(
-    cl_context        context,
-    cl_mem_flags      flags,
-    ID3D11Texture3D * resource,
-    UINT              subresource,
-    cl_int *          errcode_ret) CL_API_SUFFIX__VERSION_1_2;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueAcquireD3D11ObjectsKHR_fn)(
-    cl_command_queue command_queue,
-    cl_uint          num_objects,
-    const cl_mem *   mem_objects,
-    cl_uint          num_events_in_wait_list,
-    const cl_event * event_wait_list,
-    cl_event *       event) CL_API_SUFFIX__VERSION_1_2;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueReleaseD3D11ObjectsKHR_fn)(
-    cl_command_queue command_queue,
-    cl_uint          num_objects,
-    const cl_mem *   mem_objects,
-    cl_uint          num_events_in_wait_list,
-    const cl_event * event_wait_list,
-    cl_event *       event) CL_API_SUFFIX__VERSION_1_2;
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  /* __OPENCL_CL_D3D11_H */
-
diff --git a/third_party/opencl/include/CL/cl_dx9_media_sharing.h b/third_party/opencl/include/CL/cl_dx9_media_sharing.h
deleted file mode 100644
index 2729e8b9e89..00000000000
--- a/third_party/opencl/include/CL/cl_dx9_media_sharing.h
+++ /dev/null
@@ -1,132 +0,0 @@
-/**********************************************************************************
- * Copyright (c) 2008-2015 The Khronos Group Inc.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a
- * copy of this software and/or associated documentation files (the
- * "Materials"), to deal in the Materials without restriction, including
- * without limitation the rights to use, copy, modify, merge, publish,
- * distribute, sublicense, and/or sell copies of the Materials, and to
- * permit persons to whom the Materials are furnished to do so, subject to
- * the following conditions:
- *
- * The above copyright notice and this permission notice shall be included
- * in all copies or substantial portions of the Materials.
- *
- * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS
- * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS
- * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT
- *    https://www.khronos.org/registry/
- *
- * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
- * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
- * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
- * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
- * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
- * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
- **********************************************************************************/
-
-/* $Revision: 11708 $ on $Date: 2010-06-13 23:36:24 -0700 (Sun, 13 Jun 2010) $ */
-
-#ifndef __OPENCL_CL_DX9_MEDIA_SHARING_H
-#define __OPENCL_CL_DX9_MEDIA_SHARING_H
-
-#include <CL/cl.h>
-#include <CL/cl_platform.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/******************************************************************************/
-/* cl_khr_dx9_media_sharing                                                   */
-#define cl_khr_dx9_media_sharing 1
-
-typedef cl_uint             cl_dx9_media_adapter_type_khr;
-typedef cl_uint             cl_dx9_media_adapter_set_khr;
-    
-#if defined(_WIN32)
-#include <d3d9.h>
-typedef struct _cl_dx9_surface_info_khr
-{
-    IDirect3DSurface9 *resource;
-    HANDLE shared_handle;
-} cl_dx9_surface_info_khr;
-#endif
-
-
-/******************************************************************************/
-
-/* Error Codes */
-#define CL_INVALID_DX9_MEDIA_ADAPTER_KHR                -1010
-#define CL_INVALID_DX9_MEDIA_SURFACE_KHR                -1011
-#define CL_DX9_MEDIA_SURFACE_ALREADY_ACQUIRED_KHR       -1012
-#define CL_DX9_MEDIA_SURFACE_NOT_ACQUIRED_KHR           -1013
-
-/* cl_media_adapter_type_khr */
-#define CL_ADAPTER_D3D9_KHR                              0x2020
-#define CL_ADAPTER_D3D9EX_KHR                            0x2021
-#define CL_ADAPTER_DXVA_KHR                              0x2022
-
-/* cl_media_adapter_set_khr */
-#define CL_PREFERRED_DEVICES_FOR_DX9_MEDIA_ADAPTER_KHR   0x2023
-#define CL_ALL_DEVICES_FOR_DX9_MEDIA_ADAPTER_KHR         0x2024
-
-/* cl_context_info */
-#define CL_CONTEXT_ADAPTER_D3D9_KHR                      0x2025
-#define CL_CONTEXT_ADAPTER_D3D9EX_KHR                    0x2026
-#define CL_CONTEXT_ADAPTER_DXVA_KHR                      0x2027
-
-/* cl_mem_info */
-#define CL_MEM_DX9_MEDIA_ADAPTER_TYPE_KHR                0x2028
-#define CL_MEM_DX9_MEDIA_SURFACE_INFO_KHR                0x2029
-
-/* cl_image_info */
-#define CL_IMAGE_DX9_MEDIA_PLANE_KHR                     0x202A
-
-/* cl_command_type */
-#define CL_COMMAND_ACQUIRE_DX9_MEDIA_SURFACES_KHR        0x202B
-#define CL_COMMAND_RELEASE_DX9_MEDIA_SURFACES_KHR        0x202C
-
-/******************************************************************************/
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *clGetDeviceIDsFromDX9MediaAdapterKHR_fn)(
-    cl_platform_id                   platform,
-    cl_uint                          num_media_adapters,
-    cl_dx9_media_adapter_type_khr *  media_adapter_type,
-    void *                           media_adapters,
-    cl_dx9_media_adapter_set_khr     media_adapter_set,
-    cl_uint                          num_entries,
-    cl_device_id *                   devices,
-    cl_uint *                        num_devices) CL_API_SUFFIX__VERSION_1_2;
-
-typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromDX9MediaSurfaceKHR_fn)(
-    cl_context                    context,
-    cl_mem_flags                  flags,
-    cl_dx9_media_adapter_type_khr adapter_type,
-    void *                        surface_info,
-    cl_uint                       plane,                                                                          
-    cl_int *                      errcode_ret) CL_API_SUFFIX__VERSION_1_2;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueAcquireDX9MediaSurfacesKHR_fn)(
-    cl_command_queue command_queue,
-    cl_uint          num_objects,
-    const cl_mem *   mem_objects,
-    cl_uint          num_events_in_wait_list,
-    const cl_event * event_wait_list,
-    cl_event *       event) CL_API_SUFFIX__VERSION_1_2;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueReleaseDX9MediaSurfacesKHR_fn)(
-    cl_command_queue command_queue,
-    cl_uint          num_objects,
-    const cl_mem *   mem_objects,
-    cl_uint          num_events_in_wait_list,
-    const cl_event * event_wait_list,
-    cl_event *       event) CL_API_SUFFIX__VERSION_1_2;
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  /* __OPENCL_CL_DX9_MEDIA_SHARING_H */
-
diff --git a/third_party/opencl/include/CL/cl_egl.h b/third_party/opencl/include/CL/cl_egl.h
deleted file mode 100644
index a765bd5266c..00000000000
--- a/third_party/opencl/include/CL/cl_egl.h
+++ /dev/null
@@ -1,136 +0,0 @@
-/*******************************************************************************
- * Copyright (c) 2008-2015 The Khronos Group Inc.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a
- * copy of this software and/or associated documentation files (the
- * "Materials"), to deal in the Materials without restriction, including
- * without limitation the rights to use, copy, modify, merge, publish,
- * distribute, sublicense, and/or sell copies of the Materials, and to
- * permit persons to whom the Materials are furnished to do so, subject to
- * the following conditions:
- *
- * The above copyright notice and this permission notice shall be included
- * in all copies or substantial portions of the Materials.
- *
- * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS
- * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS
- * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT
- *    https://www.khronos.org/registry/
- *
- * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
- * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
- * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
- * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
- * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
- * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
- ******************************************************************************/
-
-#ifndef __OPENCL_CL_EGL_H
-#define __OPENCL_CL_EGL_H
-
-#ifdef __APPLE__
-
-#else
-#include <CL/cl.h>
-#endif  
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-/* Command type for events created with clEnqueueAcquireEGLObjectsKHR */
-#define CL_COMMAND_EGL_FENCE_SYNC_OBJECT_KHR  0x202F
-#define CL_COMMAND_ACQUIRE_EGL_OBJECTS_KHR    0x202D
-#define CL_COMMAND_RELEASE_EGL_OBJECTS_KHR    0x202E
-
-/* Error type for clCreateFromEGLImageKHR */
-#define CL_INVALID_EGL_OBJECT_KHR             -1093
-#define CL_EGL_RESOURCE_NOT_ACQUIRED_KHR      -1092
-
-/* CLeglImageKHR is an opaque handle to an EGLImage */
-typedef void* CLeglImageKHR;
-
-/* CLeglDisplayKHR is an opaque handle to an EGLDisplay */
-typedef void* CLeglDisplayKHR;
-
-/* CLeglSyncKHR is an opaque handle to an EGLSync object */
-typedef void* CLeglSyncKHR;
-
-/* properties passed to clCreateFromEGLImageKHR */
-typedef intptr_t cl_egl_image_properties_khr;
-
-
-#define cl_khr_egl_image 1
-
-extern CL_API_ENTRY cl_mem CL_API_CALL
-clCreateFromEGLImageKHR(cl_context                  /* context */,
-                        CLeglDisplayKHR             /* egldisplay */,
-                        CLeglImageKHR               /* eglimage */,
-                        cl_mem_flags                /* flags */,
-                        const cl_egl_image_properties_khr * /* properties */,
-                        cl_int *                    /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromEGLImageKHR_fn)(
-	cl_context                  context,
-	CLeglDisplayKHR             egldisplay,
-	CLeglImageKHR               eglimage,
-	cl_mem_flags                flags,
-	const cl_egl_image_properties_khr * properties,
-	cl_int *                    errcode_ret);
-
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueAcquireEGLObjectsKHR(cl_command_queue /* command_queue */,
-                              cl_uint          /* num_objects */,
-                              const cl_mem *   /* mem_objects */,
-                              cl_uint          /* num_events_in_wait_list */,
-                              const cl_event * /* event_wait_list */,
-                              cl_event *       /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueAcquireEGLObjectsKHR_fn)(
-	cl_command_queue command_queue,
-	cl_uint          num_objects,
-	const cl_mem *   mem_objects,
-	cl_uint          num_events_in_wait_list,
-	const cl_event * event_wait_list,
-	cl_event *       event);
-
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueReleaseEGLObjectsKHR(cl_command_queue /* command_queue */,
-                              cl_uint          /* num_objects */,
-                              const cl_mem *   /* mem_objects */,
-                              cl_uint          /* num_events_in_wait_list */,
-                              const cl_event * /* event_wait_list */,
-                              cl_event *       /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueReleaseEGLObjectsKHR_fn)(
-	cl_command_queue command_queue,
-	cl_uint          num_objects,
-	const cl_mem *   mem_objects,
-	cl_uint          num_events_in_wait_list,
-	const cl_event * event_wait_list,
-	cl_event *       event);
-
-
-#define cl_khr_egl_event 1
-
-extern CL_API_ENTRY cl_event CL_API_CALL
-clCreateEventFromEGLSyncKHR(cl_context      /* context */,
-                            CLeglSyncKHR    /* sync */,
-                            CLeglDisplayKHR /* display */,
-                            cl_int *        /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_event (CL_API_CALL *clCreateEventFromEGLSyncKHR_fn)(
-	cl_context      context,
-	CLeglSyncKHR    sync,
-	CLeglDisplayKHR display,
-	cl_int *        errcode_ret);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* __OPENCL_CL_EGL_H */
diff --git a/third_party/opencl/include/CL/cl_ext.h b/third_party/opencl/include/CL/cl_ext.h
deleted file mode 100644
index 7941583895c..00000000000
--- a/third_party/opencl/include/CL/cl_ext.h
+++ /dev/null
@@ -1,391 +0,0 @@
-/*******************************************************************************
- * Copyright (c) 2008-2015 The Khronos Group Inc.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a
- * copy of this software and/or associated documentation files (the
- * "Materials"), to deal in the Materials without restriction, including
- * without limitation the rights to use, copy, modify, merge, publish,
- * distribute, sublicense, and/or sell copies of the Materials, and to
- * permit persons to whom the Materials are furnished to do so, subject to
- * the following conditions:
- *
- * The above copyright notice and this permission notice shall be included
- * in all copies or substantial portions of the Materials.
- *
- * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS
- * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS
- * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT
- *    https://www.khronos.org/registry/
- *
- * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
- * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
- * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
- * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
- * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
- * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
- ******************************************************************************/
-
-/* $Revision: 11928 $ on $Date: 2010-07-13 09:04:56 -0700 (Tue, 13 Jul 2010) $ */
-
-/* cl_ext.h contains OpenCL extensions which don't have external */
-/* (OpenGL, D3D) dependencies.                                   */
-
-#ifndef __CL_EXT_H
-#define __CL_EXT_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#ifdef __APPLE__
-        #include <OpenCL/cl.h>
-    #include <AvailabilityMacros.h>
-#else
-        #include <CL/cl.h>
-#endif
-
-/* cl_khr_fp16 extension - no extension #define since it has no functions  */
-#define CL_DEVICE_HALF_FP_CONFIG                    0x1033
-
-/* Memory object destruction
- *
- * Apple extension for use to manage externally allocated buffers used with cl_mem objects with CL_MEM_USE_HOST_PTR
- *
- * Registers a user callback function that will be called when the memory object is deleted and its resources 
- * freed. Each call to clSetMemObjectCallbackFn registers the specified user callback function on a callback 
- * stack associated with memobj. The registered user callback functions are called in the reverse order in 
- * which they were registered. The user callback functions are called and then the memory object is deleted 
- * and its resources freed. This provides a mechanism for the application (and libraries) using memobj to be 
- * notified when the memory referenced by host_ptr, specified when the memory object is created and used as 
- * the storage bits for the memory object, can be reused or freed.
- *
- * The application may not call CL api's with the cl_mem object passed to the pfn_notify.
- *
- * Please check for the "cl_APPLE_SetMemObjectDestructor" extension using clGetDeviceInfo(CL_DEVICE_EXTENSIONS)
- * before using.
- */
-#define cl_APPLE_SetMemObjectDestructor 1
-cl_int  CL_API_ENTRY clSetMemObjectDestructorAPPLE(  cl_mem /* memobj */, 
-                                        void (* /*pfn_notify*/)( cl_mem /* memobj */, void* /*user_data*/), 
-                                        void * /*user_data */ )             CL_EXT_SUFFIX__VERSION_1_0;  
-
-
-/* Context Logging Functions
- *
- * The next three convenience functions are intended to be used as the pfn_notify parameter to clCreateContext().
- * Please check for the "cl_APPLE_ContextLoggingFunctions" extension using clGetDeviceInfo(CL_DEVICE_EXTENSIONS)
- * before using.
- *
- * clLogMessagesToSystemLog fowards on all log messages to the Apple System Logger 
- */
-#define cl_APPLE_ContextLoggingFunctions 1
-extern void CL_API_ENTRY clLogMessagesToSystemLogAPPLE(  const char * /* errstr */, 
-                                            const void * /* private_info */, 
-                                            size_t       /* cb */, 
-                                            void *       /* user_data */ )  CL_EXT_SUFFIX__VERSION_1_0;
-
-/* clLogMessagesToStdout sends all log messages to the file descriptor stdout */
-extern void CL_API_ENTRY clLogMessagesToStdoutAPPLE(   const char * /* errstr */, 
-                                          const void * /* private_info */, 
-                                          size_t       /* cb */, 
-                                          void *       /* user_data */ )    CL_EXT_SUFFIX__VERSION_1_0;
-
-/* clLogMessagesToStderr sends all log messages to the file descriptor stderr */
-extern void CL_API_ENTRY clLogMessagesToStderrAPPLE(   const char * /* errstr */, 
-                                          const void * /* private_info */, 
-                                          size_t       /* cb */, 
-                                          void *       /* user_data */ )    CL_EXT_SUFFIX__VERSION_1_0;
-
-
-/************************ 
-* cl_khr_icd extension *                                                  
-************************/
-#define cl_khr_icd 1
-
-/* cl_platform_info                                                        */
-#define CL_PLATFORM_ICD_SUFFIX_KHR                  0x0920
-
-/* Additional Error Codes                                                  */
-#define CL_PLATFORM_NOT_FOUND_KHR                   -1001
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clIcdGetPlatformIDsKHR(cl_uint          /* num_entries */,
-                       cl_platform_id * /* platforms */,
-                       cl_uint *        /* num_platforms */);
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *clIcdGetPlatformIDsKHR_fn)(
-    cl_uint          /* num_entries */,
-    cl_platform_id * /* platforms */,
-    cl_uint *        /* num_platforms */);
-
-
-/* Extension: cl_khr_image2D_buffer
- *
- * This extension allows a 2D image to be created from a cl_mem buffer without a copy.
- * The type associated with a 2D image created from a buffer in an OpenCL program is image2d_t.
- * Both the sampler and sampler-less read_image built-in functions are supported for 2D images
- * and 2D images created from a buffer.  Similarly, the write_image built-ins are also supported
- * for 2D images created from a buffer.
- *
- * When the 2D image from buffer is created, the client must specify the width,
- * height, image format (i.e. channel order and channel data type) and optionally the row pitch
- *
- * The pitch specified must be a multiple of CL_DEVICE_IMAGE_PITCH_ALIGNMENT pixels.
- * The base address of the buffer must be aligned to CL_DEVICE_IMAGE_BASE_ADDRESS_ALIGNMENT pixels.
- */
-    
-/*************************************
- * cl_khr_initalize_memory extension *
- *************************************/
-    
-#define CL_CONTEXT_MEMORY_INITIALIZE_KHR            0x2030
-    
-    
-/**************************************
- * cl_khr_terminate_context extension *
- **************************************/
-    
-#define CL_DEVICE_TERMINATE_CAPABILITY_KHR          0x2031
-#define CL_CONTEXT_TERMINATE_KHR                    0x2032
-
-#define cl_khr_terminate_context 1
-extern CL_API_ENTRY cl_int CL_API_CALL clTerminateContextKHR(cl_context /* context */) CL_EXT_SUFFIX__VERSION_1_2;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *clTerminateContextKHR_fn)(cl_context /* context */) CL_EXT_SUFFIX__VERSION_1_2;
-    
-    
-/*
- * Extension: cl_khr_spir
- *
- * This extension adds support to create an OpenCL program object from a 
- * Standard Portable Intermediate Representation (SPIR) instance
- */
-
-#define CL_DEVICE_SPIR_VERSIONS                     0x40E0
-#define CL_PROGRAM_BINARY_TYPE_INTERMEDIATE         0x40E1
-
-
-/******************************************
-* cl_nv_device_attribute_query extension *
-******************************************/
-/* cl_nv_device_attribute_query extension - no extension #define since it has no functions */
-#define CL_DEVICE_COMPUTE_CAPABILITY_MAJOR_NV       0x4000
-#define CL_DEVICE_COMPUTE_CAPABILITY_MINOR_NV       0x4001
-#define CL_DEVICE_REGISTERS_PER_BLOCK_NV            0x4002
-#define CL_DEVICE_WARP_SIZE_NV                      0x4003
-#define CL_DEVICE_GPU_OVERLAP_NV                    0x4004
-#define CL_DEVICE_KERNEL_EXEC_TIMEOUT_NV            0x4005
-#define CL_DEVICE_INTEGRATED_MEMORY_NV              0x4006
-
-/*********************************
-* cl_amd_device_attribute_query *
-*********************************/
-#define CL_DEVICE_PROFILING_TIMER_OFFSET_AMD        0x4036
-
-/*********************************
-* cl_arm_printf extension
-*********************************/
-#define CL_PRINTF_CALLBACK_ARM                      0x40B0
-#define CL_PRINTF_BUFFERSIZE_ARM                    0x40B1
-
-#ifdef CL_VERSION_1_1
-   /***********************************
-    * cl_ext_device_fission extension *
-    ***********************************/
-    #define cl_ext_device_fission   1
-    
-    extern CL_API_ENTRY cl_int CL_API_CALL
-    clReleaseDeviceEXT( cl_device_id /*device*/ ) CL_EXT_SUFFIX__VERSION_1_1; 
-    
-    typedef CL_API_ENTRY cl_int 
-    (CL_API_CALL *clReleaseDeviceEXT_fn)( cl_device_id /*device*/ ) CL_EXT_SUFFIX__VERSION_1_1;
-
-    extern CL_API_ENTRY cl_int CL_API_CALL
-    clRetainDeviceEXT( cl_device_id /*device*/ ) CL_EXT_SUFFIX__VERSION_1_1; 
-    
-    typedef CL_API_ENTRY cl_int 
-    (CL_API_CALL *clRetainDeviceEXT_fn)( cl_device_id /*device*/ ) CL_EXT_SUFFIX__VERSION_1_1;
-
-    typedef cl_ulong  cl_device_partition_property_ext;
-    extern CL_API_ENTRY cl_int CL_API_CALL
-    clCreateSubDevicesEXT(  cl_device_id /*in_device*/,
-                            const cl_device_partition_property_ext * /* properties */,
-                            cl_uint /*num_entries*/,
-                            cl_device_id * /*out_devices*/,
-                            cl_uint * /*num_devices*/ ) CL_EXT_SUFFIX__VERSION_1_1;
-
-    typedef CL_API_ENTRY cl_int 
-    ( CL_API_CALL * clCreateSubDevicesEXT_fn)(  cl_device_id /*in_device*/,
-                                                const cl_device_partition_property_ext * /* properties */,
-                                                cl_uint /*num_entries*/,
-                                                cl_device_id * /*out_devices*/,
-                                                cl_uint * /*num_devices*/ ) CL_EXT_SUFFIX__VERSION_1_1;
-
-    /* cl_device_partition_property_ext */
-    #define CL_DEVICE_PARTITION_EQUALLY_EXT             0x4050
-    #define CL_DEVICE_PARTITION_BY_COUNTS_EXT           0x4051
-    #define CL_DEVICE_PARTITION_BY_NAMES_EXT            0x4052
-    #define CL_DEVICE_PARTITION_BY_AFFINITY_DOMAIN_EXT  0x4053
-    
-    /* clDeviceGetInfo selectors */
-    #define CL_DEVICE_PARENT_DEVICE_EXT                 0x4054
-    #define CL_DEVICE_PARTITION_TYPES_EXT               0x4055
-    #define CL_DEVICE_AFFINITY_DOMAINS_EXT              0x4056
-    #define CL_DEVICE_REFERENCE_COUNT_EXT               0x4057
-    #define CL_DEVICE_PARTITION_STYLE_EXT               0x4058
-    
-    /* error codes */
-    #define CL_DEVICE_PARTITION_FAILED_EXT              -1057
-    #define CL_INVALID_PARTITION_COUNT_EXT              -1058
-    #define CL_INVALID_PARTITION_NAME_EXT               -1059
-    
-    /* CL_AFFINITY_DOMAINs */
-    #define CL_AFFINITY_DOMAIN_L1_CACHE_EXT             0x1
-    #define CL_AFFINITY_DOMAIN_L2_CACHE_EXT             0x2
-    #define CL_AFFINITY_DOMAIN_L3_CACHE_EXT             0x3
-    #define CL_AFFINITY_DOMAIN_L4_CACHE_EXT             0x4
-    #define CL_AFFINITY_DOMAIN_NUMA_EXT                 0x10
-    #define CL_AFFINITY_DOMAIN_NEXT_FISSIONABLE_EXT     0x100
-    
-    /* cl_device_partition_property_ext list terminators */
-    #define CL_PROPERTIES_LIST_END_EXT                  ((cl_device_partition_property_ext) 0)
-    #define CL_PARTITION_BY_COUNTS_LIST_END_EXT         ((cl_device_partition_property_ext) 0)
-    #define CL_PARTITION_BY_NAMES_LIST_END_EXT          ((cl_device_partition_property_ext) 0 - 1)
-
-/*********************************
-* cl_qcom_ext_host_ptr extension
-*********************************/
-
-#define CL_MEM_EXT_HOST_PTR_QCOM                  (1 << 29)
-
-#define CL_DEVICE_EXT_MEM_PADDING_IN_BYTES_QCOM   0x40A0      
-#define CL_DEVICE_PAGE_SIZE_QCOM                  0x40A1
-#define CL_IMAGE_ROW_ALIGNMENT_QCOM               0x40A2
-#define CL_IMAGE_SLICE_ALIGNMENT_QCOM             0x40A3
-#define CL_MEM_HOST_UNCACHED_QCOM                 0x40A4
-#define CL_MEM_HOST_WRITEBACK_QCOM                0x40A5
-#define CL_MEM_HOST_WRITETHROUGH_QCOM             0x40A6
-#define CL_MEM_HOST_WRITE_COMBINING_QCOM          0x40A7
-
-typedef cl_uint                                   cl_image_pitch_info_qcom;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetDeviceImageInfoQCOM(cl_device_id             device,
-                         size_t                   image_width,
-                         size_t                   image_height,
-                         const cl_image_format   *image_format,
-                         cl_image_pitch_info_qcom param_name,
-                         size_t                   param_value_size,
-                         void                    *param_value,
-                         size_t                  *param_value_size_ret);
-
-typedef struct _cl_mem_ext_host_ptr
-{
-    /* Type of external memory allocation. */
-    /* Legal values will be defined in layered extensions. */
-    cl_uint  allocation_type;
-            
-    /* Host cache policy for this external memory allocation. */
-    cl_uint  host_cache_policy;
-
-} cl_mem_ext_host_ptr;
-
-/*********************************
-* cl_qcom_ion_host_ptr extension
-*********************************/
-
-#define CL_MEM_ION_HOST_PTR_QCOM                  0x40A8
-
-typedef struct _cl_mem_ion_host_ptr
-{
-    /* Type of external memory allocation. */
-    /* Must be CL_MEM_ION_HOST_PTR_QCOM for ION allocations. */
-    cl_mem_ext_host_ptr  ext_host_ptr;
-
-    /* ION file descriptor */
-    int                  ion_filedesc;
-            
-    /* Host pointer to the ION allocated memory */
-    void*                ion_hostptr;
-
-} cl_mem_ion_host_ptr;
-
-#endif /* CL_VERSION_1_1 */
-
-
-#ifdef CL_VERSION_2_0
-/*********************************
-* cl_khr_sub_groups extension
-*********************************/
-#define cl_khr_sub_groups 1
-
-typedef cl_uint  cl_kernel_sub_group_info_khr;
-
-/* cl_khr_sub_group_info */
-#define CL_KERNEL_MAX_SUB_GROUP_SIZE_FOR_NDRANGE_KHR	0x2033
-#define CL_KERNEL_SUB_GROUP_COUNT_FOR_NDRANGE_KHR		0x2034
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetKernelSubGroupInfoKHR(cl_kernel /* in_kernel */,
-						   cl_device_id /*in_device*/,
-						   cl_kernel_sub_group_info_khr /* param_name */,
-						   size_t /*input_value_size*/,
-						   const void * /*input_value*/,
-						   size_t /*param_value_size*/,
-						   void* /*param_value*/,
-						   size_t* /*param_value_size_ret*/ ) CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED;
-						   
-typedef CL_API_ENTRY cl_int
-     ( CL_API_CALL * clGetKernelSubGroupInfoKHR_fn)(cl_kernel /* in_kernel */,
-						      cl_device_id /*in_device*/,
-						      cl_kernel_sub_group_info_khr /* param_name */,
-						      size_t /*input_value_size*/,
-						      const void * /*input_value*/,
-						      size_t /*param_value_size*/,
-						      void* /*param_value*/,
-						      size_t* /*param_value_size_ret*/ ) CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED;
-#endif /* CL_VERSION_2_0 */
-
-#ifdef CL_VERSION_2_1
-/*********************************
-* cl_khr_priority_hints extension
-*********************************/
-#define cl_khr_priority_hints 1
-
-typedef cl_uint  cl_queue_priority_khr;
-
-/* cl_command_queue_properties */
-#define CL_QUEUE_PRIORITY_KHR 0x1096
-
-/* cl_queue_priority_khr */
-#define CL_QUEUE_PRIORITY_HIGH_KHR (1<<0)
-#define CL_QUEUE_PRIORITY_MED_KHR (1<<1)
-#define CL_QUEUE_PRIORITY_LOW_KHR (1<<2)
-
-#endif /* CL_VERSION_2_1 */
-
-#ifdef CL_VERSION_2_1
-/*********************************
-* cl_khr_throttle_hints extension
-*********************************/
-#define cl_khr_throttle_hints 1
-
-typedef cl_uint  cl_queue_throttle_khr;
-
-/* cl_command_queue_properties */
-#define CL_QUEUE_THROTTLE_KHR 0x1097
-
-/* cl_queue_throttle_khr */
-#define CL_QUEUE_THROTTLE_HIGH_KHR (1<<0)
-#define CL_QUEUE_THROTTLE_MED_KHR (1<<1)
-#define CL_QUEUE_THROTTLE_LOW_KHR (1<<2)
-
-#endif /* CL_VERSION_2_1 */
-
-#ifdef __cplusplus
-}
-#endif
-
-
-#endif /* __CL_EXT_H */
diff --git a/third_party/opencl/include/CL/cl_ext_qcom.h b/third_party/opencl/include/CL/cl_ext_qcom.h
deleted file mode 100644
index 6328a1cd93a..00000000000
--- a/third_party/opencl/include/CL/cl_ext_qcom.h
+++ /dev/null
@@ -1,255 +0,0 @@
-/* Copyright (c) 2009-2017 Qualcomm Technologies, Inc.  All Rights Reserved.
- * Qualcomm Technologies Proprietary and Confidential.
- */
-
-#ifndef __OPENCL_CL_EXT_QCOM_H
-#define __OPENCL_CL_EXT_QCOM_H
-
-// Needed by cl_khr_egl_event extension 
-#include <EGL/egl.h>
-#include <EGL/eglext.h>
-#include <CL/cl_ext.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-/************************************
- * cl_qcom_create_buffer_from_image *
- ************************************/
-
-#define CL_BUFFER_FROM_IMAGE_ROW_PITCH_QCOM         0x40C0
-#define CL_BUFFER_FROM_IMAGE_SLICE_PITCH_QCOM       0x40C1
-
-extern CL_API_ENTRY cl_mem CL_API_CALL
-clCreateBufferFromImageQCOM(cl_mem       image,
-                            cl_mem_flags flags,
-                            cl_int      *errcode_ret);
-
-
-/************************************
- * cl_qcom_limited_printf extension *
- ************************************/
-
-/* Builtin printf function buffer size in bytes. */
-#define CL_DEVICE_PRINTF_BUFFER_SIZE_QCOM           0x1049
-
-
-/*************************************
- * cl_qcom_extended_images extension *
- *************************************/
-
-#define CL_CONTEXT_ENABLE_EXTENDED_IMAGES_QCOM      0x40AA
-#define CL_DEVICE_EXTENDED_IMAGE2D_MAX_WIDTH_QCOM   0x40AB
-#define CL_DEVICE_EXTENDED_IMAGE2D_MAX_HEIGHT_QCOM  0x40AC
-#define CL_DEVICE_EXTENDED_IMAGE3D_MAX_WIDTH_QCOM   0x40AD
-#define CL_DEVICE_EXTENDED_IMAGE3D_MAX_HEIGHT_QCOM  0x40AE
-#define CL_DEVICE_EXTENDED_IMAGE3D_MAX_DEPTH_QCOM   0x40AF
-
-/*************************************
- * cl_qcom_perf_hint extension *
- *************************************/
-
-typedef cl_uint                                     cl_perf_hint;
-
-#define CL_CONTEXT_PERF_HINT_QCOM                   0x40C2
-
-/*cl_perf_hint*/
-#define CL_PERF_HINT_HIGH_QCOM                      0x40C3
-#define CL_PERF_HINT_NORMAL_QCOM                    0x40C4
-#define CL_PERF_HINT_LOW_QCOM                       0x40C5
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clSetPerfHintQCOM(cl_context    context,
-                  cl_perf_hint  perf_hint);
-
-// This extension is published at Khronos, so its definitions are made in cl_ext.h.
-// This duplication is for backward compatibility.
-
-#ifndef CL_MEM_ANDROID_NATIVE_BUFFER_HOST_PTR_QCOM
-
-/*********************************
-* cl_qcom_android_native_buffer_host_ptr extension
-*********************************/
-
-#define CL_MEM_ANDROID_NATIVE_BUFFER_HOST_PTR_QCOM                  0x40C6
-
-
-typedef struct _cl_mem_android_native_buffer_host_ptr
-{
-    // Type of external memory allocation.
-    // Must be CL_MEM_ANDROID_NATIVE_BUFFER_HOST_PTR_QCOM for Android native buffers.
-    cl_mem_ext_host_ptr  ext_host_ptr;
-
-    // Virtual pointer to the android native buffer
-    void*                anb_ptr;
-
-} cl_mem_android_native_buffer_host_ptr;
-
-#endif   //#ifndef CL_MEM_ANDROID_NATIVE_BUFFER_HOST_PTR_QCOM
-
-/***********************************
-* cl_img_egl_image extension *
-************************************/
-typedef void* CLeglImageIMG;
-typedef void* CLeglDisplayIMG;
-
-extern CL_API_ENTRY cl_mem CL_API_CALL
-clCreateFromEGLImageIMG(cl_context      context,
-                        cl_mem_flags     flags,
-                        CLeglImageIMG    image,
-                        CLeglDisplayIMG  display,
-                        cl_int           *errcode_ret);
-
-
-/*********************************
-* cl_qcom_other_image extension
-*********************************/
-
-// Extended flag for creating/querying QCOM non-standard images
-#define CL_MEM_OTHER_IMAGE_QCOM                             (1<<25)
-
-// cl_channel_type
-#define CL_QCOM_UNORM_MIPI10                                0x4159
-#define CL_QCOM_UNORM_MIPI12                                0x415A
-#define CL_QCOM_UNSIGNED_MIPI10                             0x415B
-#define CL_QCOM_UNSIGNED_MIPI12                             0x415C
-#define CL_QCOM_UNORM_INT10                                 0x415D
-#define CL_QCOM_UNORM_INT12                                 0x415E
-#define CL_QCOM_UNSIGNED_INT16                              0x415F
-
-// cl_channel_order
-// Dedicate 0x4130-0x415F range for QCOM extended image formats
-// 0x4130 - 0x4132 range is assigned to pixel-oriented compressed format
-#define CL_QCOM_BAYER                                       0x414E
-
-#define CL_QCOM_NV12                                        0x4133
-#define CL_QCOM_NV12_Y                                      0x4134
-#define CL_QCOM_NV12_UV                                     0x4135
-
-#define CL_QCOM_TILED_NV12                                  0x4136
-#define CL_QCOM_TILED_NV12_Y                                0x4137
-#define CL_QCOM_TILED_NV12_UV                               0x4138
-
-#define CL_QCOM_P010                                        0x413C
-#define CL_QCOM_P010_Y                                      0x413D
-#define CL_QCOM_P010_UV                                     0x413E
-
-#define CL_QCOM_TILED_P010                                  0x413F
-#define CL_QCOM_TILED_P010_Y                                0x4140
-#define CL_QCOM_TILED_P010_UV                               0x4141
-
-
-#define CL_QCOM_TP10                                        0x4145
-#define CL_QCOM_TP10_Y                                      0x4146
-#define CL_QCOM_TP10_UV                                     0x4147
-
-#define CL_QCOM_TILED_TP10                                  0x4148
-#define CL_QCOM_TILED_TP10_Y                                0x4149
-#define CL_QCOM_TILED_TP10_UV                               0x414A
-
-/*********************************
-* cl_qcom_compressed_image extension
-*********************************/
-
-// Extended flag for creating/querying QCOM non-planar compressed images
-#define CL_MEM_COMPRESSED_IMAGE_QCOM                        (1<<27)
-
-// Extended image format
-// cl_channel_order
-#define CL_QCOM_COMPRESSED_RGBA                             0x4130
-#define CL_QCOM_COMPRESSED_RGBx                             0x4131
-
-#define CL_QCOM_COMPRESSED_NV12_Y                           0x413A
-#define CL_QCOM_COMPRESSED_NV12_UV                          0x413B
-
-#define CL_QCOM_COMPRESSED_P010                             0x4142
-#define CL_QCOM_COMPRESSED_P010_Y                           0x4143
-#define CL_QCOM_COMPRESSED_P010_UV                          0x4144
-
-#define CL_QCOM_COMPRESSED_TP10                             0x414B
-#define CL_QCOM_COMPRESSED_TP10_Y                           0x414C
-#define CL_QCOM_COMPRESSED_TP10_UV                          0x414D
-
-#define CL_QCOM_COMPRESSED_NV12_4R                          0x414F
-#define CL_QCOM_COMPRESSED_NV12_4R_Y                        0x4150
-#define CL_QCOM_COMPRESSED_NV12_4R_UV                       0x4151
-/*********************************
-* cl_qcom_compressed_yuv_image_read extension
-*********************************/
-
-// Extended flag for creating/querying QCOM compressed images
-#define CL_MEM_COMPRESSED_YUV_IMAGE_QCOM                    (1<<28)
-
-// Extended image format
-#define CL_QCOM_COMPRESSED_NV12                             0x10C4
-
-// Extended flag for setting ION buffer allocation type
-#define CL_MEM_ION_HOST_PTR_COMPRESSED_YUV_QCOM                 0x40CD
-#define CL_MEM_ION_HOST_PTR_PROTECTED_COMPRESSED_YUV_QCOM       0x40CE
-
-/*********************************
-* cl_qcom_accelerated_image_ops
-*********************************/
-#define CL_MEM_OBJECT_WEIGHT_IMAGE_QCOM                         0x4110
-#define CL_DEVICE_HOF_MAX_NUM_PHASES_QCOM                       0x4111
-#define CL_DEVICE_HOF_MAX_FILTER_SIZE_X_QCOM                    0x4112
-#define CL_DEVICE_HOF_MAX_FILTER_SIZE_Y_QCOM                    0x4113
-#define CL_DEVICE_BLOCK_MATCHING_MAX_REGION_SIZE_X_QCOM         0x4114
-#define CL_DEVICE_BLOCK_MATCHING_MAX_REGION_SIZE_Y_QCOM         0x4115
-
-//Extended flag for specifying weight image type
-#define CL_WEIGHT_IMAGE_SEPARABLE_QCOM                          (1<<0)
-
-// Box Filter
-typedef struct _cl_box_filter_size_qcom
-{
-    // Width of box filter on X direction.
-    float box_filter_width;
-
-    // Height of box filter on Y direction.
-    float box_filter_height;
-} cl_box_filter_size_qcom;
-
-// HOF Weight Image Desc
-typedef struct _cl_weight_desc_qcom
-{
-    /** Coordinate of the "center" point of the weight image,
-        based on the weight image's top-left corner as the origin. */
-    size_t        center_coord_x;
-    size_t        center_coord_y;
-    cl_bitfield   flags;
-} cl_weight_desc_qcom;
-
-typedef struct _cl_weight_image_desc_qcom
-{
-    cl_image_desc           image_desc;
-    cl_weight_desc_qcom     weight_desc;
-} cl_weight_image_desc_qcom;
-
-/*************************************
- * cl_qcom_protected_context extension *
- *************************************/
-
-#define CL_CONTEXT_PROTECTED_QCOM                    0x40C7
-#define CL_MEM_ION_HOST_PTR_PROTECTED_QCOM           0x40C8
-
-/*************************************
- * cl_qcom_priority_hint extension *
- *************************************/
-#define CL_PRIORITY_HINT_NONE_QCOM                   0
-typedef cl_uint                                     cl_priority_hint;
-
-#define CL_CONTEXT_PRIORITY_HINT_QCOM               0x40C9
-
-/*cl_priority_hint*/
-#define CL_PRIORITY_HINT_HIGH_QCOM                  0x40CA
-#define CL_PRIORITY_HINT_NORMAL_QCOM                0x40CB
-#define CL_PRIORITY_HINT_LOW_QCOM                   0x40CC
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* __OPENCL_CL_EXT_QCOM_H */
diff --git a/third_party/opencl/include/CL/cl_gl.h b/third_party/opencl/include/CL/cl_gl.h
deleted file mode 100644
index 945daa83d7f..00000000000
--- a/third_party/opencl/include/CL/cl_gl.h
+++ /dev/null
@@ -1,167 +0,0 @@
-/**********************************************************************************
- * Copyright (c) 2008-2015 The Khronos Group Inc.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a
- * copy of this software and/or associated documentation files (the
- * "Materials"), to deal in the Materials without restriction, including
- * without limitation the rights to use, copy, modify, merge, publish,
- * distribute, sublicense, and/or sell copies of the Materials, and to
- * permit persons to whom the Materials are furnished to do so, subject to
- * the following conditions:
- *
- * The above copyright notice and this permission notice shall be included
- * in all copies or substantial portions of the Materials.
- *
- * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS
- * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS
- * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT
- *    https://www.khronos.org/registry/
- *
- * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
- * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
- * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
- * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
- * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
- * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
- **********************************************************************************/
-
-#ifndef __OPENCL_CL_GL_H
-#define __OPENCL_CL_GL_H
-
-#ifdef __APPLE__
-#include <OpenCL/cl.h>
-#else
-#include <CL/cl.h>
-#endif	
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-typedef cl_uint     cl_gl_object_type;
-typedef cl_uint     cl_gl_texture_info;
-typedef cl_uint     cl_gl_platform_info;
-typedef struct __GLsync *cl_GLsync;
-
-/* cl_gl_object_type = 0x2000 - 0x200F enum values are currently taken           */
-#define CL_GL_OBJECT_BUFFER                     0x2000
-#define CL_GL_OBJECT_TEXTURE2D                  0x2001
-#define CL_GL_OBJECT_TEXTURE3D                  0x2002
-#define CL_GL_OBJECT_RENDERBUFFER               0x2003
-#define CL_GL_OBJECT_TEXTURE2D_ARRAY            0x200E
-#define CL_GL_OBJECT_TEXTURE1D                  0x200F
-#define CL_GL_OBJECT_TEXTURE1D_ARRAY            0x2010
-#define CL_GL_OBJECT_TEXTURE_BUFFER             0x2011
-
-/* cl_gl_texture_info           */
-#define CL_GL_TEXTURE_TARGET                    0x2004
-#define CL_GL_MIPMAP_LEVEL                      0x2005
-#define CL_GL_NUM_SAMPLES                       0x2012
-
-
-extern CL_API_ENTRY cl_mem CL_API_CALL
-clCreateFromGLBuffer(cl_context     /* context */,
-                     cl_mem_flags   /* flags */,
-                     cl_GLuint      /* bufobj */,
-                     int *          /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_mem CL_API_CALL
-clCreateFromGLTexture(cl_context      /* context */,
-                      cl_mem_flags    /* flags */,
-                      cl_GLenum       /* target */,
-                      cl_GLint        /* miplevel */,
-                      cl_GLuint       /* texture */,
-                      cl_int *        /* errcode_ret */) CL_API_SUFFIX__VERSION_1_2;
-    
-extern CL_API_ENTRY cl_mem CL_API_CALL
-clCreateFromGLRenderbuffer(cl_context   /* context */,
-                           cl_mem_flags /* flags */,
-                           cl_GLuint    /* renderbuffer */,
-                           cl_int *     /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetGLObjectInfo(cl_mem                /* memobj */,
-                  cl_gl_object_type *   /* gl_object_type */,
-                  cl_GLuint *           /* gl_object_name */) CL_API_SUFFIX__VERSION_1_0;
-                  
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetGLTextureInfo(cl_mem               /* memobj */,
-                   cl_gl_texture_info   /* param_name */,
-                   size_t               /* param_value_size */,
-                   void *               /* param_value */,
-                   size_t *             /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueAcquireGLObjects(cl_command_queue      /* command_queue */,
-                          cl_uint               /* num_objects */,
-                          const cl_mem *        /* mem_objects */,
-                          cl_uint               /* num_events_in_wait_list */,
-                          const cl_event *      /* event_wait_list */,
-                          cl_event *            /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueReleaseGLObjects(cl_command_queue      /* command_queue */,
-                          cl_uint               /* num_objects */,
-                          const cl_mem *        /* mem_objects */,
-                          cl_uint               /* num_events_in_wait_list */,
-                          const cl_event *      /* event_wait_list */,
-                          cl_event *            /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-
-/* Deprecated OpenCL 1.1 APIs */
-extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_mem CL_API_CALL
-clCreateFromGLTexture2D(cl_context      /* context */,
-                        cl_mem_flags    /* flags */,
-                        cl_GLenum       /* target */,
-                        cl_GLint        /* miplevel */,
-                        cl_GLuint       /* texture */,
-                        cl_int *        /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED;
-    
-extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_mem CL_API_CALL
-clCreateFromGLTexture3D(cl_context      /* context */,
-                        cl_mem_flags    /* flags */,
-                        cl_GLenum       /* target */,
-                        cl_GLint        /* miplevel */,
-                        cl_GLuint       /* texture */,
-                        cl_int *        /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED;
-    
-/* cl_khr_gl_sharing extension  */
-    
-#define cl_khr_gl_sharing 1
-    
-typedef cl_uint     cl_gl_context_info;
-    
-/* Additional Error Codes  */
-#define CL_INVALID_GL_SHAREGROUP_REFERENCE_KHR  -1000
-    
-/* cl_gl_context_info  */
-#define CL_CURRENT_DEVICE_FOR_GL_CONTEXT_KHR    0x2006
-#define CL_DEVICES_FOR_GL_CONTEXT_KHR           0x2007
-    
-/* Additional cl_context_properties  */
-#define CL_GL_CONTEXT_KHR                       0x2008
-#define CL_EGL_DISPLAY_KHR                      0x2009
-#define CL_GLX_DISPLAY_KHR                      0x200A
-#define CL_WGL_HDC_KHR                          0x200B
-#define CL_CGL_SHAREGROUP_KHR                   0x200C
-    
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetGLContextInfoKHR(const cl_context_properties * /* properties */,
-                      cl_gl_context_info            /* param_name */,
-                      size_t                        /* param_value_size */,
-                      void *                        /* param_value */,
-                      size_t *                      /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-    
-typedef CL_API_ENTRY cl_int (CL_API_CALL *clGetGLContextInfoKHR_fn)(
-    const cl_context_properties * properties,
-    cl_gl_context_info            param_name,
-    size_t                        param_value_size,
-    void *                        param_value,
-    size_t *                      param_value_size_ret);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  /* __OPENCL_CL_GL_H */
diff --git a/third_party/opencl/include/CL/cl_gl_ext.h b/third_party/opencl/include/CL/cl_gl_ext.h
deleted file mode 100644
index e3c14c6408c..00000000000
--- a/third_party/opencl/include/CL/cl_gl_ext.h
+++ /dev/null
@@ -1,74 +0,0 @@
-/**********************************************************************************
- * Copyright (c) 2008-2015 The Khronos Group Inc.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a
- * copy of this software and/or associated documentation files (the
- * "Materials"), to deal in the Materials without restriction, including
- * without limitation the rights to use, copy, modify, merge, publish,
- * distribute, sublicense, and/or sell copies of the Materials, and to
- * permit persons to whom the Materials are furnished to do so, subject to
- * the following conditions:
- *
- * The above copyright notice and this permission notice shall be included
- * in all copies or substantial portions of the Materials.
- *
- * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS
- * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS
- * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT
- *    https://www.khronos.org/registry/
- *
- * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
- * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
- * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
- * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
- * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
- * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
- **********************************************************************************/
-
-/* $Revision: 11708 $ on $Date: 2010-06-13 23:36:24 -0700 (Sun, 13 Jun 2010) $ */
-
-/* cl_gl_ext.h contains vendor (non-KHR) OpenCL extensions which have           */
-/* OpenGL dependencies.                                                         */
-
-#ifndef __OPENCL_CL_GL_EXT_H
-#define __OPENCL_CL_GL_EXT_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#ifdef __APPLE__
-    #include <OpenCL/cl_gl.h>
-#else
-    #include <CL/cl_gl.h>
-#endif
-
-/*
- * For each extension, follow this template
- *  cl_VEN_extname extension  */
-/* #define cl_VEN_extname 1
- * ... define new types, if any
- * ... define new tokens, if any
- * ... define new APIs, if any
- *
- *  If you need GLtypes here, mirror them with a cl_GLtype, rather than including a GL header
- *  This allows us to avoid having to decide whether to include GL headers or GLES here.
- */
-
-/* 
- *  cl_khr_gl_event  extension
- *  See section 9.9 in the OpenCL 1.1 spec for more information
- */
-#define CL_COMMAND_GL_FENCE_SYNC_OBJECT_KHR     0x200D
-
-extern CL_API_ENTRY cl_event CL_API_CALL
-clCreateEventFromGLsyncKHR(cl_context           /* context */,
-                           cl_GLsync            /* cl_GLsync */,
-                           cl_int *             /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_1;
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif	/* __OPENCL_CL_GL_EXT_H  */
diff --git a/third_party/opencl/include/CL/cl_platform.h b/third_party/opencl/include/CL/cl_platform.h
deleted file mode 100644
index 4e334a29183..00000000000
--- a/third_party/opencl/include/CL/cl_platform.h
+++ /dev/null
@@ -1,1333 +0,0 @@
-/**********************************************************************************
- * Copyright (c) 2008-2015 The Khronos Group Inc.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a
- * copy of this software and/or associated documentation files (the
- * "Materials"), to deal in the Materials without restriction, including
- * without limitation the rights to use, copy, modify, merge, publish,
- * distribute, sublicense, and/or sell copies of the Materials, and to
- * permit persons to whom the Materials are furnished to do so, subject to
- * the following conditions:
- *
- * The above copyright notice and this permission notice shall be included
- * in all copies or substantial portions of the Materials.
- *
- * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS
- * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS
- * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT
- *    https://www.khronos.org/registry/
- *
- * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
- * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
- * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
- * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
- * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
- * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
- **********************************************************************************/
-
-/* $Revision: 11803 $ on $Date: 2010-06-25 10:02:12 -0700 (Fri, 25 Jun 2010) $ */
-
-#ifndef __CL_PLATFORM_H
-#define __CL_PLATFORM_H
-
-#ifdef __APPLE__
-    /* Contains #defines for AVAILABLE_MAC_OS_X_VERSION_10_6_AND_LATER below */
-    #include <AvailabilityMacros.h>
-#endif
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#if defined(_WIN32)
-    #define CL_API_ENTRY
-    #define CL_API_CALL     __stdcall
-    #define CL_CALLBACK     __stdcall
-#else
-    #define CL_API_ENTRY
-    #define CL_API_CALL
-    #define CL_CALLBACK
-#endif
-
-/*
- * Deprecation flags refer to the last version of the header in which the
- * feature was not deprecated.
- *
- * E.g. VERSION_1_1_DEPRECATED means the feature is present in 1.1 without
- * deprecation but is deprecated in versions later than 1.1.
- */
-
-#ifdef __APPLE__
-    #define CL_EXTENSION_WEAK_LINK       __attribute__((weak_import))
-    #define CL_API_SUFFIX__VERSION_1_0                  AVAILABLE_MAC_OS_X_VERSION_10_6_AND_LATER
-    #define CL_EXT_SUFFIX__VERSION_1_0                  CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_6_AND_LATER
-    #define CL_API_SUFFIX__VERSION_1_1                  AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER
-    #define GCL_API_SUFFIX__VERSION_1_1                 AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER
-    #define CL_EXT_SUFFIX__VERSION_1_1                  CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER
-    #define CL_EXT_SUFFIX__VERSION_1_0_DEPRECATED       CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_6_AND_LATER_BUT_DEPRECATED_IN_MAC_OS_X_VERSION_10_7
-    
-    #ifdef AVAILABLE_MAC_OS_X_VERSION_10_8_AND_LATER
-        #define CL_API_SUFFIX__VERSION_1_2              AVAILABLE_MAC_OS_X_VERSION_10_8_AND_LATER
-        #define GCL_API_SUFFIX__VERSION_1_2             AVAILABLE_MAC_OS_X_VERSION_10_8_AND_LATER
-        #define CL_EXT_SUFFIX__VERSION_1_2              CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_8_AND_LATER
-        #define CL_EXT_PREFIX__VERSION_1_1_DEPRECATED
-        #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED   CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER_BUT_DEPRECATED_IN_MAC_OS_X_VERSION_10_8
-    #else
-        #warning  This path should never happen outside of internal operating system development.  AvailabilityMacros do not function correctly here!
-        #define CL_API_SUFFIX__VERSION_1_2              AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER
-        #define GCL_API_SUFFIX__VERSION_1_2             AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER
-        #define CL_EXT_SUFFIX__VERSION_1_2              CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER
-        #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED   CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER
-    #endif
-#else
-    #define CL_EXTENSION_WEAK_LINK  
-    #define CL_API_SUFFIX__VERSION_1_0
-    #define CL_EXT_SUFFIX__VERSION_1_0
-    #define CL_API_SUFFIX__VERSION_1_1
-    #define CL_EXT_SUFFIX__VERSION_1_1
-    #define CL_API_SUFFIX__VERSION_1_2
-    #define CL_EXT_SUFFIX__VERSION_1_2
-    #define CL_API_SUFFIX__VERSION_2_0
-    #define CL_EXT_SUFFIX__VERSION_2_0
-    #define CL_API_SUFFIX__VERSION_2_1
-    #define CL_EXT_SUFFIX__VERSION_2_1
-    
-    #ifdef __GNUC__
-        #ifdef CL_USE_DEPRECATED_OPENCL_1_0_APIS
-            #define CL_EXT_SUFFIX__VERSION_1_0_DEPRECATED
-            #define CL_EXT_PREFIX__VERSION_1_0_DEPRECATED    
-        #else
-            #define CL_EXT_SUFFIX__VERSION_1_0_DEPRECATED __attribute__((deprecated))
-            #define CL_EXT_PREFIX__VERSION_1_0_DEPRECATED    
-        #endif
-    
-        #ifdef CL_USE_DEPRECATED_OPENCL_1_1_APIS
-            #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED    
-            #define CL_EXT_PREFIX__VERSION_1_1_DEPRECATED    
-        #else
-            #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED __attribute__((deprecated))
-            #define CL_EXT_PREFIX__VERSION_1_1_DEPRECATED    
-        #endif
-
-        #ifdef CL_USE_DEPRECATED_OPENCL_1_2_APIS
-            #define CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED
-            #define CL_EXT_PREFIX__VERSION_1_2_DEPRECATED
-        #else
-            #define CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED __attribute__((deprecated))
-            #define CL_EXT_PREFIX__VERSION_1_2_DEPRECATED
-         #endif
-
-        #ifdef CL_USE_DEPRECATED_OPENCL_2_0_APIS
-            #define CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED
-            #define CL_EXT_PREFIX__VERSION_2_0_DEPRECATED
-        #else
-            #define CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED __attribute__((deprecated))
-            #define CL_EXT_PREFIX__VERSION_2_0_DEPRECATED
-        #endif
-    #elif _WIN32
-        #ifdef CL_USE_DEPRECATED_OPENCL_1_0_APIS
-            #define CL_EXT_SUFFIX__VERSION_1_0_DEPRECATED
-            #define CL_EXT_PREFIX__VERSION_1_0_DEPRECATED    
-        #else
-            #define CL_EXT_SUFFIX__VERSION_1_0_DEPRECATED 
-            #define CL_EXT_PREFIX__VERSION_1_0_DEPRECATED __declspec(deprecated)     
-        #endif
-    
-        #ifdef CL_USE_DEPRECATED_OPENCL_1_1_APIS
-            #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED
-            #define CL_EXT_PREFIX__VERSION_1_1_DEPRECATED    
-        #else
-            #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED 
-            #define CL_EXT_PREFIX__VERSION_1_1_DEPRECATED __declspec(deprecated)     
-        #endif
-    
-        #ifdef CL_USE_DEPRECATED_OPENCL_1_2_APIS
-            #define CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED
-            #define CL_EXT_PREFIX__VERSION_1_2_DEPRECATED
-        #else
-            #define CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED
-            #define CL_EXT_PREFIX__VERSION_1_2_DEPRECATED __declspec(deprecated)
-        #endif
-
-        #ifdef CL_USE_DEPRECATED_OPENCL_2_0_APIS
-            #define CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED
-            #define CL_EXT_PREFIX__VERSION_2_0_DEPRECATED
-        #else
-            #define CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED 
-            #define CL_EXT_PREFIX__VERSION_2_0_DEPRECATED __declspec(deprecated)
-        #endif
-    #else
-        #define CL_EXT_SUFFIX__VERSION_1_0_DEPRECATED
-        #define CL_EXT_PREFIX__VERSION_1_0_DEPRECATED
-    
-        #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED
-        #define CL_EXT_PREFIX__VERSION_1_1_DEPRECATED
-    
-        #define CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED
-        #define CL_EXT_PREFIX__VERSION_1_2_DEPRECATED
-
-        #define CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED
-        #define CL_EXT_PREFIX__VERSION_2_0_DEPRECATED
-    #endif
-#endif
-
-#if (defined (_WIN32) && defined(_MSC_VER))
-
-/* scalar types  */
-typedef signed   __int8         cl_char;
-typedef unsigned __int8         cl_uchar;
-typedef signed   __int16        cl_short;
-typedef unsigned __int16        cl_ushort;
-typedef signed   __int32        cl_int;
-typedef unsigned __int32        cl_uint;
-typedef signed   __int64        cl_long;
-typedef unsigned __int64        cl_ulong;
-
-typedef unsigned __int16        cl_half;
-typedef float                   cl_float;
-typedef double                  cl_double;
-
-/* Macro names and corresponding values defined by OpenCL */
-#define CL_CHAR_BIT         8
-#define CL_SCHAR_MAX        127
-#define CL_SCHAR_MIN        (-127-1)
-#define CL_CHAR_MAX         CL_SCHAR_MAX
-#define CL_CHAR_MIN         CL_SCHAR_MIN
-#define CL_UCHAR_MAX        255
-#define CL_SHRT_MAX         32767
-#define CL_SHRT_MIN         (-32767-1)
-#define CL_USHRT_MAX        65535
-#define CL_INT_MAX          2147483647
-#define CL_INT_MIN          (-2147483647-1)
-#define CL_UINT_MAX         0xffffffffU
-#define CL_LONG_MAX         ((cl_long) 0x7FFFFFFFFFFFFFFFLL)
-#define CL_LONG_MIN         ((cl_long) -0x7FFFFFFFFFFFFFFFLL - 1LL)
-#define CL_ULONG_MAX        ((cl_ulong) 0xFFFFFFFFFFFFFFFFULL)
-
-#define CL_FLT_DIG          6
-#define CL_FLT_MANT_DIG     24
-#define CL_FLT_MAX_10_EXP   +38
-#define CL_FLT_MAX_EXP      +128
-#define CL_FLT_MIN_10_EXP   -37
-#define CL_FLT_MIN_EXP      -125
-#define CL_FLT_RADIX        2
-#define CL_FLT_MAX          340282346638528859811704183484516925440.0f
-#define CL_FLT_MIN          1.175494350822287507969e-38f
-#define CL_FLT_EPSILON      0x1.0p-23f
-
-#define CL_DBL_DIG          15
-#define CL_DBL_MANT_DIG     53
-#define CL_DBL_MAX_10_EXP   +308
-#define CL_DBL_MAX_EXP      +1024
-#define CL_DBL_MIN_10_EXP   -307
-#define CL_DBL_MIN_EXP      -1021
-#define CL_DBL_RADIX        2
-#define CL_DBL_MAX          179769313486231570814527423731704356798070567525844996598917476803157260780028538760589558632766878171540458953514382464234321326889464182768467546703537516986049910576551282076245490090389328944075868508455133942304583236903222948165808559332123348274797826204144723168738177180919299881250404026184124858368.0
-#define CL_DBL_MIN          2.225073858507201383090e-308
-#define CL_DBL_EPSILON      2.220446049250313080847e-16
-
-#define  CL_M_E             2.718281828459045090796
-#define  CL_M_LOG2E         1.442695040888963387005
-#define  CL_M_LOG10E        0.434294481903251816668
-#define  CL_M_LN2           0.693147180559945286227
-#define  CL_M_LN10          2.302585092994045901094
-#define  CL_M_PI            3.141592653589793115998
-#define  CL_M_PI_2          1.570796326794896557999
-#define  CL_M_PI_4          0.785398163397448278999
-#define  CL_M_1_PI          0.318309886183790691216
-#define  CL_M_2_PI          0.636619772367581382433
-#define  CL_M_2_SQRTPI      1.128379167095512558561
-#define  CL_M_SQRT2         1.414213562373095145475
-#define  CL_M_SQRT1_2       0.707106781186547572737
-
-#define  CL_M_E_F           2.71828174591064f
-#define  CL_M_LOG2E_F       1.44269502162933f
-#define  CL_M_LOG10E_F      0.43429449200630f
-#define  CL_M_LN2_F         0.69314718246460f
-#define  CL_M_LN10_F        2.30258512496948f
-#define  CL_M_PI_F          3.14159274101257f
-#define  CL_M_PI_2_F        1.57079637050629f
-#define  CL_M_PI_4_F        0.78539818525314f
-#define  CL_M_1_PI_F        0.31830987334251f
-#define  CL_M_2_PI_F        0.63661974668503f
-#define  CL_M_2_SQRTPI_F    1.12837922573090f
-#define  CL_M_SQRT2_F       1.41421353816986f
-#define  CL_M_SQRT1_2_F     0.70710676908493f
-
-#define CL_NAN              (CL_INFINITY - CL_INFINITY)
-#define CL_HUGE_VALF        ((cl_float) 1e50)
-#define CL_HUGE_VAL         ((cl_double) 1e500)
-#define CL_MAXFLOAT         CL_FLT_MAX
-#define CL_INFINITY         CL_HUGE_VALF
-
-#else
-
-#include <stdint.h>
-
-/* scalar types  */
-typedef int8_t          cl_char;
-typedef uint8_t         cl_uchar;
-typedef int16_t         cl_short    __attribute__((aligned(2)));
-typedef uint16_t        cl_ushort   __attribute__((aligned(2)));
-typedef int32_t         cl_int      __attribute__((aligned(4)));
-typedef uint32_t        cl_uint     __attribute__((aligned(4)));
-typedef int64_t         cl_long     __attribute__((aligned(8)));
-typedef uint64_t        cl_ulong    __attribute__((aligned(8)));
-
-typedef uint16_t        cl_half     __attribute__((aligned(2)));
-typedef float           cl_float    __attribute__((aligned(4)));
-typedef double          cl_double   __attribute__((aligned(8)));
-
-/* Macro names and corresponding values defined by OpenCL */
-#define CL_CHAR_BIT         8
-#define CL_SCHAR_MAX        127
-#define CL_SCHAR_MIN        (-127-1)
-#define CL_CHAR_MAX         CL_SCHAR_MAX
-#define CL_CHAR_MIN         CL_SCHAR_MIN
-#define CL_UCHAR_MAX        255
-#define CL_SHRT_MAX         32767
-#define CL_SHRT_MIN         (-32767-1)
-#define CL_USHRT_MAX        65535
-#define CL_INT_MAX          2147483647
-#define CL_INT_MIN          (-2147483647-1)
-#define CL_UINT_MAX         0xffffffffU
-#define CL_LONG_MAX         ((cl_long) 0x7FFFFFFFFFFFFFFFLL)
-#define CL_LONG_MIN         ((cl_long) -0x7FFFFFFFFFFFFFFFLL - 1LL)
-#define CL_ULONG_MAX        ((cl_ulong) 0xFFFFFFFFFFFFFFFFULL)
-
-#define CL_FLT_DIG          6
-#define CL_FLT_MANT_DIG     24
-#define CL_FLT_MAX_10_EXP   +38
-#define CL_FLT_MAX_EXP      +128
-#define CL_FLT_MIN_10_EXP   -37
-#define CL_FLT_MIN_EXP      -125
-#define CL_FLT_RADIX        2
-#define CL_FLT_MAX          0x1.fffffep127f
-#define CL_FLT_MIN          0x1.0p-126f
-#define CL_FLT_EPSILON      0x1.0p-23f
-
-#define CL_DBL_DIG          15
-#define CL_DBL_MANT_DIG     53
-#define CL_DBL_MAX_10_EXP   +308
-#define CL_DBL_MAX_EXP      +1024
-#define CL_DBL_MIN_10_EXP   -307
-#define CL_DBL_MIN_EXP      -1021
-#define CL_DBL_RADIX        2
-#define CL_DBL_MAX          0x1.fffffffffffffp1023
-#define CL_DBL_MIN          0x1.0p-1022
-#define CL_DBL_EPSILON      0x1.0p-52
-
-#define  CL_M_E             2.718281828459045090796
-#define  CL_M_LOG2E         1.442695040888963387005
-#define  CL_M_LOG10E        0.434294481903251816668
-#define  CL_M_LN2           0.693147180559945286227
-#define  CL_M_LN10          2.302585092994045901094
-#define  CL_M_PI            3.141592653589793115998
-#define  CL_M_PI_2          1.570796326794896557999
-#define  CL_M_PI_4          0.785398163397448278999
-#define  CL_M_1_PI          0.318309886183790691216
-#define  CL_M_2_PI          0.636619772367581382433
-#define  CL_M_2_SQRTPI      1.128379167095512558561
-#define  CL_M_SQRT2         1.414213562373095145475
-#define  CL_M_SQRT1_2       0.707106781186547572737
-
-#define  CL_M_E_F           2.71828174591064f
-#define  CL_M_LOG2E_F       1.44269502162933f
-#define  CL_M_LOG10E_F      0.43429449200630f
-#define  CL_M_LN2_F         0.69314718246460f
-#define  CL_M_LN10_F        2.30258512496948f
-#define  CL_M_PI_F          3.14159274101257f
-#define  CL_M_PI_2_F        1.57079637050629f
-#define  CL_M_PI_4_F        0.78539818525314f
-#define  CL_M_1_PI_F        0.31830987334251f
-#define  CL_M_2_PI_F        0.63661974668503f
-#define  CL_M_2_SQRTPI_F    1.12837922573090f
-#define  CL_M_SQRT2_F       1.41421353816986f
-#define  CL_M_SQRT1_2_F     0.70710676908493f
-
-#if defined( __GNUC__ )
-   #define CL_HUGE_VALF     __builtin_huge_valf()
-   #define CL_HUGE_VAL      __builtin_huge_val()
-   #define CL_NAN           __builtin_nanf( "" )
-#else
-   #define CL_HUGE_VALF     ((cl_float) 1e50)
-   #define CL_HUGE_VAL      ((cl_double) 1e500)
-   float nanf( const char * );
-   #define CL_NAN           nanf( "" )  
-#endif
-#define CL_MAXFLOAT         CL_FLT_MAX
-#define CL_INFINITY         CL_HUGE_VALF
-
-#endif
-
-#include <stddef.h>
-
-/* Mirror types to GL types. Mirror types allow us to avoid deciding which 87s to load based on whether we are using GL or GLES here. */
-typedef unsigned int cl_GLuint;
-typedef int          cl_GLint;
-typedef unsigned int cl_GLenum;
-
-/*
- * Vector types 
- *
- *  Note:   OpenCL requires that all types be naturally aligned. 
- *          This means that vector types must be naturally aligned.
- *          For example, a vector of four floats must be aligned to
- *          a 16 byte boundary (calculated as 4 * the natural 4-byte 
- *          alignment of the float).  The alignment qualifiers here
- *          will only function properly if your compiler supports them
- *          and if you don't actively work to defeat them.  For example,
- *          in order for a cl_float4 to be 16 byte aligned in a struct,
- *          the start of the struct must itself be 16-byte aligned. 
- *
- *          Maintaining proper alignment is the user's responsibility.
- */
-
-/* Define basic vector types */
-#if defined( __VEC__ )
-   #include <altivec.h>   /* may be omitted depending on compiler. AltiVec spec provides no way to detect whether the header is required. */
-   typedef vector unsigned char     __cl_uchar16;
-   typedef vector signed char       __cl_char16;
-   typedef vector unsigned short    __cl_ushort8;
-   typedef vector signed short      __cl_short8;
-   typedef vector unsigned int      __cl_uint4;
-   typedef vector signed int        __cl_int4;
-   typedef vector float             __cl_float4;
-   #define  __CL_UCHAR16__  1
-   #define  __CL_CHAR16__   1
-   #define  __CL_USHORT8__  1
-   #define  __CL_SHORT8__   1
-   #define  __CL_UINT4__    1
-   #define  __CL_INT4__     1
-   #define  __CL_FLOAT4__   1
-#endif
-
-#if defined( __SSE__ )
-    #if defined( __MINGW64__ )
-        #include <intrin.h>
-    #else
-        #include <xmmintrin.h>
-    #endif
-    #if defined( __GNUC__ )
-        typedef float __cl_float4   __attribute__((vector_size(16)));
-    #else
-        typedef __m128 __cl_float4;
-    #endif
-    #define __CL_FLOAT4__   1
-#endif
-
-#if defined( __SSE2__ )
-    #if defined( __MINGW64__ )
-        #include <intrin.h>
-    #else
-        #include <emmintrin.h>
-    #endif
-    #if defined( __GNUC__ )
-        typedef cl_uchar    __cl_uchar16    __attribute__((vector_size(16)));
-        typedef cl_char     __cl_char16     __attribute__((vector_size(16)));
-        typedef cl_ushort   __cl_ushort8    __attribute__((vector_size(16)));
-        typedef cl_short    __cl_short8     __attribute__((vector_size(16)));
-        typedef cl_uint     __cl_uint4      __attribute__((vector_size(16)));
-        typedef cl_int      __cl_int4       __attribute__((vector_size(16)));
-        typedef cl_ulong    __cl_ulong2     __attribute__((vector_size(16)));
-        typedef cl_long     __cl_long2      __attribute__((vector_size(16)));
-        typedef cl_double   __cl_double2    __attribute__((vector_size(16)));
-    #else
-        typedef __m128i __cl_uchar16;
-        typedef __m128i __cl_char16;
-        typedef __m128i __cl_ushort8;
-        typedef __m128i __cl_short8;
-        typedef __m128i __cl_uint4;
-        typedef __m128i __cl_int4;
-        typedef __m128i __cl_ulong2;
-        typedef __m128i __cl_long2;
-        typedef __m128d __cl_double2;
-    #endif
-    #define __CL_UCHAR16__  1
-    #define __CL_CHAR16__   1
-    #define __CL_USHORT8__  1
-    #define __CL_SHORT8__   1
-    #define __CL_INT4__     1
-    #define __CL_UINT4__    1
-    #define __CL_ULONG2__   1
-    #define __CL_LONG2__    1
-    #define __CL_DOUBLE2__  1
-#endif
-
-#if defined( __MMX__ )
-    #include <mmintrin.h>
-    #if defined( __GNUC__ )
-        typedef cl_uchar    __cl_uchar8     __attribute__((vector_size(8)));
-        typedef cl_char     __cl_char8      __attribute__((vector_size(8)));
-        typedef cl_ushort   __cl_ushort4    __attribute__((vector_size(8)));
-        typedef cl_short    __cl_short4     __attribute__((vector_size(8)));
-        typedef cl_uint     __cl_uint2      __attribute__((vector_size(8)));
-        typedef cl_int      __cl_int2       __attribute__((vector_size(8)));
-        typedef cl_ulong    __cl_ulong1     __attribute__((vector_size(8)));
-        typedef cl_long     __cl_long1      __attribute__((vector_size(8)));
-        typedef cl_float    __cl_float2     __attribute__((vector_size(8)));
-    #else
-        typedef __m64       __cl_uchar8;
-        typedef __m64       __cl_char8;
-        typedef __m64       __cl_ushort4;
-        typedef __m64       __cl_short4;
-        typedef __m64       __cl_uint2;
-        typedef __m64       __cl_int2;
-        typedef __m64       __cl_ulong1;
-        typedef __m64       __cl_long1;
-        typedef __m64       __cl_float2;
-    #endif
-    #define __CL_UCHAR8__   1
-    #define __CL_CHAR8__    1
-    #define __CL_USHORT4__  1
-    #define __CL_SHORT4__   1
-    #define __CL_INT2__     1
-    #define __CL_UINT2__    1
-    #define __CL_ULONG1__   1
-    #define __CL_LONG1__    1
-    #define __CL_FLOAT2__   1
-#endif
-
-#if defined( __AVX__ )
-    #if defined( __MINGW64__ )
-        #include <intrin.h>
-    #else
-        #include <immintrin.h> 
-    #endif
-    #if defined( __GNUC__ )
-        typedef cl_float    __cl_float8     __attribute__((vector_size(32)));
-        typedef cl_double   __cl_double4    __attribute__((vector_size(32)));
-    #else
-        typedef __m256      __cl_float8;
-        typedef __m256d     __cl_double4;
-    #endif
-    #define __CL_FLOAT8__   1
-    #define __CL_DOUBLE4__  1
-#endif
-
-/* Define capabilities for anonymous struct members. */
-#if defined( __GNUC__) && ! defined( __STRICT_ANSI__ )
-#define  __CL_HAS_ANON_STRUCT__ 1
-#define  __CL_ANON_STRUCT__ __extension__
-#elif defined( _WIN32) && (_MSC_VER >= 1500)
-   /* Microsoft Developer Studio 2008 supports anonymous structs, but
-    * complains by default. */
-#define  __CL_HAS_ANON_STRUCT__ 1
-#define  __CL_ANON_STRUCT__
-   /* Disable warning C4201: nonstandard extension used : nameless
-    * struct/union */
-#pragma warning( push )
-#pragma warning( disable : 4201 )
-#else
-#define  __CL_HAS_ANON_STRUCT__ 0
-#define  __CL_ANON_STRUCT__
-#endif
-
-/* Define alignment keys */
-#if defined( __GNUC__ )
-    #define CL_ALIGNED(_x)          __attribute__ ((aligned(_x)))
-#elif defined( _WIN32) && (_MSC_VER)
-    /* Alignment keys neutered on windows because MSVC can't swallow function arguments with alignment requirements     */
-    /* http://msdn.microsoft.com/en-us/library/373ak2y1%28VS.71%29.aspx                                                 */
-    /* #include <crtdefs.h>                                                                                             */
-    /* #define CL_ALIGNED(_x)          _CRT_ALIGN(_x)                                                                   */
-    #define CL_ALIGNED(_x)
-#else
-   #warning  Need to implement some method to align data here
-   #define  CL_ALIGNED(_x)
-#endif
-
-/* Indicate whether .xyzw, .s0123 and .hi.lo are supported */
-#if __CL_HAS_ANON_STRUCT__
-    /* .xyzw and .s0123...{f|F} are supported */
-    #define CL_HAS_NAMED_VECTOR_FIELDS 1
-    /* .hi and .lo are supported */
-    #define CL_HAS_HI_LO_VECTOR_FIELDS 1
-#endif
-
-/* Define cl_vector types */
-
-/* ---- cl_charn ---- */
-typedef union
-{
-    cl_char  CL_ALIGNED(2) s[2];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_char  x, y; };
-   __CL_ANON_STRUCT__ struct{ cl_char  s0, s1; };
-   __CL_ANON_STRUCT__ struct{ cl_char  lo, hi; };
-#endif
-#if defined( __CL_CHAR2__) 
-    __cl_char2     v2;
-#endif
-}cl_char2;
-
-typedef union
-{
-    cl_char  CL_ALIGNED(4) s[4];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_char  x, y, z, w; };
-   __CL_ANON_STRUCT__ struct{ cl_char  s0, s1, s2, s3; };
-   __CL_ANON_STRUCT__ struct{ cl_char2 lo, hi; };
-#endif
-#if defined( __CL_CHAR2__) 
-    __cl_char2     v2[2];
-#endif
-#if defined( __CL_CHAR4__) 
-    __cl_char4     v4;
-#endif
-}cl_char4;
-
-/* cl_char3 is identical in size, alignment and behavior to cl_char4. See section 6.1.5. */
-typedef  cl_char4  cl_char3;
-
-typedef union
-{
-    cl_char   CL_ALIGNED(8) s[8];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_char  x, y, z, w; };
-   __CL_ANON_STRUCT__ struct{ cl_char  s0, s1, s2, s3, s4, s5, s6, s7; };
-   __CL_ANON_STRUCT__ struct{ cl_char4 lo, hi; };
-#endif
-#if defined( __CL_CHAR2__) 
-    __cl_char2     v2[4];
-#endif
-#if defined( __CL_CHAR4__) 
-    __cl_char4     v4[2];
-#endif
-#if defined( __CL_CHAR8__ )
-    __cl_char8     v8;
-#endif
-}cl_char8;
-
-typedef union
-{
-    cl_char  CL_ALIGNED(16) s[16];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_char  x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; };
-   __CL_ANON_STRUCT__ struct{ cl_char  s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; };
-   __CL_ANON_STRUCT__ struct{ cl_char8 lo, hi; };
-#endif
-#if defined( __CL_CHAR2__) 
-    __cl_char2     v2[8];
-#endif
-#if defined( __CL_CHAR4__) 
-    __cl_char4     v4[4];
-#endif
-#if defined( __CL_CHAR8__ )
-    __cl_char8     v8[2];
-#endif
-#if defined( __CL_CHAR16__ )
-    __cl_char16    v16;
-#endif
-}cl_char16;
-
-
-/* ---- cl_ucharn ---- */
-typedef union
-{
-    cl_uchar  CL_ALIGNED(2) s[2];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_uchar  x, y; };
-   __CL_ANON_STRUCT__ struct{ cl_uchar  s0, s1; };
-   __CL_ANON_STRUCT__ struct{ cl_uchar  lo, hi; };
-#endif
-#if defined( __cl_uchar2__) 
-    __cl_uchar2     v2;
-#endif
-}cl_uchar2;
-
-typedef union
-{
-    cl_uchar  CL_ALIGNED(4) s[4];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_uchar  x, y, z, w; };
-   __CL_ANON_STRUCT__ struct{ cl_uchar  s0, s1, s2, s3; };
-   __CL_ANON_STRUCT__ struct{ cl_uchar2 lo, hi; };
-#endif
-#if defined( __CL_UCHAR2__) 
-    __cl_uchar2     v2[2];
-#endif
-#if defined( __CL_UCHAR4__) 
-    __cl_uchar4     v4;
-#endif
-}cl_uchar4;
-
-/* cl_uchar3 is identical in size, alignment and behavior to cl_uchar4. See section 6.1.5. */
-typedef  cl_uchar4  cl_uchar3;
-
-typedef union
-{
-    cl_uchar   CL_ALIGNED(8) s[8];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_uchar  x, y, z, w; };
-   __CL_ANON_STRUCT__ struct{ cl_uchar  s0, s1, s2, s3, s4, s5, s6, s7; };
-   __CL_ANON_STRUCT__ struct{ cl_uchar4 lo, hi; };
-#endif
-#if defined( __CL_UCHAR2__) 
-    __cl_uchar2     v2[4];
-#endif
-#if defined( __CL_UCHAR4__) 
-    __cl_uchar4     v4[2];
-#endif
-#if defined( __CL_UCHAR8__ )
-    __cl_uchar8     v8;
-#endif
-}cl_uchar8;
-
-typedef union
-{
-    cl_uchar  CL_ALIGNED(16) s[16];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_uchar  x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; };
-   __CL_ANON_STRUCT__ struct{ cl_uchar  s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; };
-   __CL_ANON_STRUCT__ struct{ cl_uchar8 lo, hi; };
-#endif
-#if defined( __CL_UCHAR2__) 
-    __cl_uchar2     v2[8];
-#endif
-#if defined( __CL_UCHAR4__) 
-    __cl_uchar4     v4[4];
-#endif
-#if defined( __CL_UCHAR8__ )
-    __cl_uchar8     v8[2];
-#endif
-#if defined( __CL_UCHAR16__ )
-    __cl_uchar16    v16;
-#endif
-}cl_uchar16;
-
-
-/* ---- cl_shortn ---- */
-typedef union
-{
-    cl_short  CL_ALIGNED(4) s[2];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_short  x, y; };
-   __CL_ANON_STRUCT__ struct{ cl_short  s0, s1; };
-   __CL_ANON_STRUCT__ struct{ cl_short  lo, hi; };
-#endif
-#if defined( __CL_SHORT2__) 
-    __cl_short2     v2;
-#endif
-}cl_short2;
-
-typedef union
-{
-    cl_short  CL_ALIGNED(8) s[4];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_short  x, y, z, w; };
-   __CL_ANON_STRUCT__ struct{ cl_short  s0, s1, s2, s3; };
-   __CL_ANON_STRUCT__ struct{ cl_short2 lo, hi; };
-#endif
-#if defined( __CL_SHORT2__) 
-    __cl_short2     v2[2];
-#endif
-#if defined( __CL_SHORT4__) 
-    __cl_short4     v4;
-#endif
-}cl_short4;
-
-/* cl_short3 is identical in size, alignment and behavior to cl_short4. See section 6.1.5. */
-typedef  cl_short4  cl_short3;
-
-typedef union
-{
-    cl_short   CL_ALIGNED(16) s[8];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_short  x, y, z, w; };
-   __CL_ANON_STRUCT__ struct{ cl_short  s0, s1, s2, s3, s4, s5, s6, s7; };
-   __CL_ANON_STRUCT__ struct{ cl_short4 lo, hi; };
-#endif
-#if defined( __CL_SHORT2__) 
-    __cl_short2     v2[4];
-#endif
-#if defined( __CL_SHORT4__) 
-    __cl_short4     v4[2];
-#endif
-#if defined( __CL_SHORT8__ )
-    __cl_short8     v8;
-#endif
-}cl_short8;
-
-typedef union
-{
-    cl_short  CL_ALIGNED(32) s[16];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_short  x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; };
-   __CL_ANON_STRUCT__ struct{ cl_short  s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; };
-   __CL_ANON_STRUCT__ struct{ cl_short8 lo, hi; };
-#endif
-#if defined( __CL_SHORT2__) 
-    __cl_short2     v2[8];
-#endif
-#if defined( __CL_SHORT4__) 
-    __cl_short4     v4[4];
-#endif
-#if defined( __CL_SHORT8__ )
-    __cl_short8     v8[2];
-#endif
-#if defined( __CL_SHORT16__ )
-    __cl_short16    v16;
-#endif
-}cl_short16;
-
-
-/* ---- cl_ushortn ---- */
-typedef union
-{
-    cl_ushort  CL_ALIGNED(4) s[2];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_ushort  x, y; };
-   __CL_ANON_STRUCT__ struct{ cl_ushort  s0, s1; };
-   __CL_ANON_STRUCT__ struct{ cl_ushort  lo, hi; };
-#endif
-#if defined( __CL_USHORT2__) 
-    __cl_ushort2     v2;
-#endif
-}cl_ushort2;
-
-typedef union
-{
-    cl_ushort  CL_ALIGNED(8) s[4];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_ushort  x, y, z, w; };
-   __CL_ANON_STRUCT__ struct{ cl_ushort  s0, s1, s2, s3; };
-   __CL_ANON_STRUCT__ struct{ cl_ushort2 lo, hi; };
-#endif
-#if defined( __CL_USHORT2__) 
-    __cl_ushort2     v2[2];
-#endif
-#if defined( __CL_USHORT4__) 
-    __cl_ushort4     v4;
-#endif
-}cl_ushort4;
-
-/* cl_ushort3 is identical in size, alignment and behavior to cl_ushort4. See section 6.1.5. */
-typedef  cl_ushort4  cl_ushort3;
-
-typedef union
-{
-    cl_ushort   CL_ALIGNED(16) s[8];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_ushort  x, y, z, w; };
-   __CL_ANON_STRUCT__ struct{ cl_ushort  s0, s1, s2, s3, s4, s5, s6, s7; };
-   __CL_ANON_STRUCT__ struct{ cl_ushort4 lo, hi; };
-#endif
-#if defined( __CL_USHORT2__) 
-    __cl_ushort2     v2[4];
-#endif
-#if defined( __CL_USHORT4__) 
-    __cl_ushort4     v4[2];
-#endif
-#if defined( __CL_USHORT8__ )
-    __cl_ushort8     v8;
-#endif
-}cl_ushort8;
-
-typedef union
-{
-    cl_ushort  CL_ALIGNED(32) s[16];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_ushort  x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; };
-   __CL_ANON_STRUCT__ struct{ cl_ushort  s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; };
-   __CL_ANON_STRUCT__ struct{ cl_ushort8 lo, hi; };
-#endif
-#if defined( __CL_USHORT2__) 
-    __cl_ushort2     v2[8];
-#endif
-#if defined( __CL_USHORT4__) 
-    __cl_ushort4     v4[4];
-#endif
-#if defined( __CL_USHORT8__ )
-    __cl_ushort8     v8[2];
-#endif
-#if defined( __CL_USHORT16__ )
-    __cl_ushort16    v16;
-#endif
-}cl_ushort16;
-
-/* ---- cl_intn ---- */
-typedef union
-{
-    cl_int  CL_ALIGNED(8) s[2];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_int  x, y; };
-   __CL_ANON_STRUCT__ struct{ cl_int  s0, s1; };
-   __CL_ANON_STRUCT__ struct{ cl_int  lo, hi; };
-#endif
-#if defined( __CL_INT2__) 
-    __cl_int2     v2;
-#endif
-}cl_int2;
-
-typedef union
-{
-    cl_int  CL_ALIGNED(16) s[4];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_int  x, y, z, w; };
-   __CL_ANON_STRUCT__ struct{ cl_int  s0, s1, s2, s3; };
-   __CL_ANON_STRUCT__ struct{ cl_int2 lo, hi; };
-#endif
-#if defined( __CL_INT2__) 
-    __cl_int2     v2[2];
-#endif
-#if defined( __CL_INT4__) 
-    __cl_int4     v4;
-#endif
-}cl_int4;
-
-/* cl_int3 is identical in size, alignment and behavior to cl_int4. See section 6.1.5. */
-typedef  cl_int4  cl_int3;
-
-typedef union
-{
-    cl_int   CL_ALIGNED(32) s[8];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_int  x, y, z, w; };
-   __CL_ANON_STRUCT__ struct{ cl_int  s0, s1, s2, s3, s4, s5, s6, s7; };
-   __CL_ANON_STRUCT__ struct{ cl_int4 lo, hi; };
-#endif
-#if defined( __CL_INT2__) 
-    __cl_int2     v2[4];
-#endif
-#if defined( __CL_INT4__) 
-    __cl_int4     v4[2];
-#endif
-#if defined( __CL_INT8__ )
-    __cl_int8     v8;
-#endif
-}cl_int8;
-
-typedef union
-{
-    cl_int  CL_ALIGNED(64) s[16];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_int  x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; };
-   __CL_ANON_STRUCT__ struct{ cl_int  s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; };
-   __CL_ANON_STRUCT__ struct{ cl_int8 lo, hi; };
-#endif
-#if defined( __CL_INT2__) 
-    __cl_int2     v2[8];
-#endif
-#if defined( __CL_INT4__) 
-    __cl_int4     v4[4];
-#endif
-#if defined( __CL_INT8__ )
-    __cl_int8     v8[2];
-#endif
-#if defined( __CL_INT16__ )
-    __cl_int16    v16;
-#endif
-}cl_int16;
-
-
-/* ---- cl_uintn ---- */
-typedef union
-{
-    cl_uint  CL_ALIGNED(8) s[2];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_uint  x, y; };
-   __CL_ANON_STRUCT__ struct{ cl_uint  s0, s1; };
-   __CL_ANON_STRUCT__ struct{ cl_uint  lo, hi; };
-#endif
-#if defined( __CL_UINT2__) 
-    __cl_uint2     v2;
-#endif
-}cl_uint2;
-
-typedef union
-{
-    cl_uint  CL_ALIGNED(16) s[4];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_uint  x, y, z, w; };
-   __CL_ANON_STRUCT__ struct{ cl_uint  s0, s1, s2, s3; };
-   __CL_ANON_STRUCT__ struct{ cl_uint2 lo, hi; };
-#endif
-#if defined( __CL_UINT2__) 
-    __cl_uint2     v2[2];
-#endif
-#if defined( __CL_UINT4__) 
-    __cl_uint4     v4;
-#endif
-}cl_uint4;
-
-/* cl_uint3 is identical in size, alignment and behavior to cl_uint4. See section 6.1.5. */
-typedef  cl_uint4  cl_uint3;
-
-typedef union
-{
-    cl_uint   CL_ALIGNED(32) s[8];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_uint  x, y, z, w; };
-   __CL_ANON_STRUCT__ struct{ cl_uint  s0, s1, s2, s3, s4, s5, s6, s7; };
-   __CL_ANON_STRUCT__ struct{ cl_uint4 lo, hi; };
-#endif
-#if defined( __CL_UINT2__) 
-    __cl_uint2     v2[4];
-#endif
-#if defined( __CL_UINT4__) 
-    __cl_uint4     v4[2];
-#endif
-#if defined( __CL_UINT8__ )
-    __cl_uint8     v8;
-#endif
-}cl_uint8;
-
-typedef union
-{
-    cl_uint  CL_ALIGNED(64) s[16];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_uint  x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; };
-   __CL_ANON_STRUCT__ struct{ cl_uint  s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; };
-   __CL_ANON_STRUCT__ struct{ cl_uint8 lo, hi; };
-#endif
-#if defined( __CL_UINT2__) 
-    __cl_uint2     v2[8];
-#endif
-#if defined( __CL_UINT4__) 
-    __cl_uint4     v4[4];
-#endif
-#if defined( __CL_UINT8__ )
-    __cl_uint8     v8[2];
-#endif
-#if defined( __CL_UINT16__ )
-    __cl_uint16    v16;
-#endif
-}cl_uint16;
-
-/* ---- cl_longn ---- */
-typedef union
-{
-    cl_long  CL_ALIGNED(16) s[2];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_long  x, y; };
-   __CL_ANON_STRUCT__ struct{ cl_long  s0, s1; };
-   __CL_ANON_STRUCT__ struct{ cl_long  lo, hi; };
-#endif
-#if defined( __CL_LONG2__) 
-    __cl_long2     v2;
-#endif
-}cl_long2;
-
-typedef union
-{
-    cl_long  CL_ALIGNED(32) s[4];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_long  x, y, z, w; };
-   __CL_ANON_STRUCT__ struct{ cl_long  s0, s1, s2, s3; };
-   __CL_ANON_STRUCT__ struct{ cl_long2 lo, hi; };
-#endif
-#if defined( __CL_LONG2__) 
-    __cl_long2     v2[2];
-#endif
-#if defined( __CL_LONG4__) 
-    __cl_long4     v4;
-#endif
-}cl_long4;
-
-/* cl_long3 is identical in size, alignment and behavior to cl_long4. See section 6.1.5. */
-typedef  cl_long4  cl_long3;
-
-typedef union
-{
-    cl_long   CL_ALIGNED(64) s[8];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_long  x, y, z, w; };
-   __CL_ANON_STRUCT__ struct{ cl_long  s0, s1, s2, s3, s4, s5, s6, s7; };
-   __CL_ANON_STRUCT__ struct{ cl_long4 lo, hi; };
-#endif
-#if defined( __CL_LONG2__) 
-    __cl_long2     v2[4];
-#endif
-#if defined( __CL_LONG4__) 
-    __cl_long4     v4[2];
-#endif
-#if defined( __CL_LONG8__ )
-    __cl_long8     v8;
-#endif
-}cl_long8;
-
-typedef union
-{
-    cl_long  CL_ALIGNED(128) s[16];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_long  x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; };
-   __CL_ANON_STRUCT__ struct{ cl_long  s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; };
-   __CL_ANON_STRUCT__ struct{ cl_long8 lo, hi; };
-#endif
-#if defined( __CL_LONG2__) 
-    __cl_long2     v2[8];
-#endif
-#if defined( __CL_LONG4__) 
-    __cl_long4     v4[4];
-#endif
-#if defined( __CL_LONG8__ )
-    __cl_long8     v8[2];
-#endif
-#if defined( __CL_LONG16__ )
-    __cl_long16    v16;
-#endif
-}cl_long16;
-
-
-/* ---- cl_ulongn ---- */
-typedef union
-{
-    cl_ulong  CL_ALIGNED(16) s[2];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_ulong  x, y; };
-   __CL_ANON_STRUCT__ struct{ cl_ulong  s0, s1; };
-   __CL_ANON_STRUCT__ struct{ cl_ulong  lo, hi; };
-#endif
-#if defined( __CL_ULONG2__) 
-    __cl_ulong2     v2;
-#endif
-}cl_ulong2;
-
-typedef union
-{
-    cl_ulong  CL_ALIGNED(32) s[4];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_ulong  x, y, z, w; };
-   __CL_ANON_STRUCT__ struct{ cl_ulong  s0, s1, s2, s3; };
-   __CL_ANON_STRUCT__ struct{ cl_ulong2 lo, hi; };
-#endif
-#if defined( __CL_ULONG2__) 
-    __cl_ulong2     v2[2];
-#endif
-#if defined( __CL_ULONG4__) 
-    __cl_ulong4     v4;
-#endif
-}cl_ulong4;
-
-/* cl_ulong3 is identical in size, alignment and behavior to cl_ulong4. See section 6.1.5. */
-typedef  cl_ulong4  cl_ulong3;
-
-typedef union
-{
-    cl_ulong   CL_ALIGNED(64) s[8];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_ulong  x, y, z, w; };
-   __CL_ANON_STRUCT__ struct{ cl_ulong  s0, s1, s2, s3, s4, s5, s6, s7; };
-   __CL_ANON_STRUCT__ struct{ cl_ulong4 lo, hi; };
-#endif
-#if defined( __CL_ULONG2__) 
-    __cl_ulong2     v2[4];
-#endif
-#if defined( __CL_ULONG4__) 
-    __cl_ulong4     v4[2];
-#endif
-#if defined( __CL_ULONG8__ )
-    __cl_ulong8     v8;
-#endif
-}cl_ulong8;
-
-typedef union
-{
-    cl_ulong  CL_ALIGNED(128) s[16];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_ulong  x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; };
-   __CL_ANON_STRUCT__ struct{ cl_ulong  s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; };
-   __CL_ANON_STRUCT__ struct{ cl_ulong8 lo, hi; };
-#endif
-#if defined( __CL_ULONG2__) 
-    __cl_ulong2     v2[8];
-#endif
-#if defined( __CL_ULONG4__) 
-    __cl_ulong4     v4[4];
-#endif
-#if defined( __CL_ULONG8__ )
-    __cl_ulong8     v8[2];
-#endif
-#if defined( __CL_ULONG16__ )
-    __cl_ulong16    v16;
-#endif
-}cl_ulong16;
-
-
-/* --- cl_floatn ---- */
-
-typedef union
-{
-    cl_float  CL_ALIGNED(8) s[2];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_float  x, y; };
-   __CL_ANON_STRUCT__ struct{ cl_float  s0, s1; };
-   __CL_ANON_STRUCT__ struct{ cl_float  lo, hi; };
-#endif
-#if defined( __CL_FLOAT2__) 
-    __cl_float2     v2;
-#endif
-}cl_float2;
-
-typedef union
-{
-    cl_float  CL_ALIGNED(16) s[4];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_float   x, y, z, w; };
-   __CL_ANON_STRUCT__ struct{ cl_float   s0, s1, s2, s3; };
-   __CL_ANON_STRUCT__ struct{ cl_float2  lo, hi; };
-#endif
-#if defined( __CL_FLOAT2__) 
-    __cl_float2     v2[2];
-#endif
-#if defined( __CL_FLOAT4__) 
-    __cl_float4     v4;
-#endif
-}cl_float4;
-
-/* cl_float3 is identical in size, alignment and behavior to cl_float4. See section 6.1.5. */
-typedef  cl_float4  cl_float3;
-
-typedef union
-{
-    cl_float   CL_ALIGNED(32) s[8];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_float   x, y, z, w; };
-   __CL_ANON_STRUCT__ struct{ cl_float   s0, s1, s2, s3, s4, s5, s6, s7; };
-   __CL_ANON_STRUCT__ struct{ cl_float4  lo, hi; };
-#endif
-#if defined( __CL_FLOAT2__) 
-    __cl_float2     v2[4];
-#endif
-#if defined( __CL_FLOAT4__) 
-    __cl_float4     v4[2];
-#endif
-#if defined( __CL_FLOAT8__ )
-    __cl_float8     v8;
-#endif
-}cl_float8;
-
-typedef union
-{
-    cl_float  CL_ALIGNED(64) s[16];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_float  x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; };
-   __CL_ANON_STRUCT__ struct{ cl_float  s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; };
-   __CL_ANON_STRUCT__ struct{ cl_float8 lo, hi; };
-#endif
-#if defined( __CL_FLOAT2__) 
-    __cl_float2     v2[8];
-#endif
-#if defined( __CL_FLOAT4__) 
-    __cl_float4     v4[4];
-#endif
-#if defined( __CL_FLOAT8__ )
-    __cl_float8     v8[2];
-#endif
-#if defined( __CL_FLOAT16__ )
-    __cl_float16    v16;
-#endif
-}cl_float16;
-
-/* --- cl_doublen ---- */
-
-typedef union
-{
-    cl_double  CL_ALIGNED(16) s[2];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_double  x, y; };
-   __CL_ANON_STRUCT__ struct{ cl_double s0, s1; };
-   __CL_ANON_STRUCT__ struct{ cl_double lo, hi; };
-#endif
-#if defined( __CL_DOUBLE2__) 
-    __cl_double2     v2;
-#endif
-}cl_double2;
-
-typedef union
-{
-    cl_double  CL_ALIGNED(32) s[4];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_double  x, y, z, w; };
-   __CL_ANON_STRUCT__ struct{ cl_double  s0, s1, s2, s3; };
-   __CL_ANON_STRUCT__ struct{ cl_double2 lo, hi; };
-#endif
-#if defined( __CL_DOUBLE2__) 
-    __cl_double2     v2[2];
-#endif
-#if defined( __CL_DOUBLE4__) 
-    __cl_double4     v4;
-#endif
-}cl_double4;
-
-/* cl_double3 is identical in size, alignment and behavior to cl_double4. See section 6.1.5. */
-typedef  cl_double4  cl_double3;
-
-typedef union
-{
-    cl_double   CL_ALIGNED(64) s[8];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_double  x, y, z, w; };
-   __CL_ANON_STRUCT__ struct{ cl_double  s0, s1, s2, s3, s4, s5, s6, s7; };
-   __CL_ANON_STRUCT__ struct{ cl_double4 lo, hi; };
-#endif
-#if defined( __CL_DOUBLE2__) 
-    __cl_double2     v2[4];
-#endif
-#if defined( __CL_DOUBLE4__) 
-    __cl_double4     v4[2];
-#endif
-#if defined( __CL_DOUBLE8__ )
-    __cl_double8     v8;
-#endif
-}cl_double8;
-
-typedef union
-{
-    cl_double  CL_ALIGNED(128) s[16];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_double  x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; };
-   __CL_ANON_STRUCT__ struct{ cl_double  s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; };
-   __CL_ANON_STRUCT__ struct{ cl_double8 lo, hi; };
-#endif
-#if defined( __CL_DOUBLE2__) 
-    __cl_double2     v2[8];
-#endif
-#if defined( __CL_DOUBLE4__) 
-    __cl_double4     v4[4];
-#endif
-#if defined( __CL_DOUBLE8__ )
-    __cl_double8     v8[2];
-#endif
-#if defined( __CL_DOUBLE16__ )
-    __cl_double16    v16;
-#endif
-}cl_double16;
-
-/* Macro to facilitate debugging 
- * Usage:
- *   Place CL_PROGRAM_STRING_DEBUG_INFO on the line before the first line of your source. 
- *   The first line ends with:   CL_PROGRAM_STRING_DEBUG_INFO \"
- *   Each line thereafter of OpenCL C source must end with: \n\
- *   The last line ends in ";
- *
- *   Example:
- *
- *   const char *my_program = CL_PROGRAM_STRING_DEBUG_INFO "\
- *   kernel void foo( int a, float * b )             \n\
- *   {                                               \n\
- *      // my comment                                \n\
- *      *b[ get_global_id(0)] = a;                   \n\
- *   }                                               \n\
- *   ";
- *
- * This should correctly set up the line, (column) and file information for your source 
- * string so you can do source level debugging.
- */
-#define  __CL_STRINGIFY( _x )               # _x
-#define  _CL_STRINGIFY( _x )                __CL_STRINGIFY( _x )
-#define  CL_PROGRAM_STRING_DEBUG_INFO       "#line "  _CL_STRINGIFY(__LINE__) " \"" __FILE__ "\" \n\n" 
-  
-#ifdef __cplusplus
-}
-#endif
-
-#undef __CL_HAS_ANON_STRUCT__
-#undef __CL_ANON_STRUCT__
-#if defined( _WIN32) && (_MSC_VER >= 1500)
-#pragma warning( pop )
-#endif
-
-#endif  /* __CL_PLATFORM_H  */
diff --git a/third_party/opencl/include/CL/opencl.h b/third_party/opencl/include/CL/opencl.h
deleted file mode 100644
index 9855cd75e7d..00000000000
--- a/third_party/opencl/include/CL/opencl.h
+++ /dev/null
@@ -1,59 +0,0 @@
-/*******************************************************************************
- * Copyright (c) 2008-2015 The Khronos Group Inc.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a
- * copy of this software and/or associated documentation files (the
- * "Materials"), to deal in the Materials without restriction, including
- * without limitation the rights to use, copy, modify, merge, publish,
- * distribute, sublicense, and/or sell copies of the Materials, and to
- * permit persons to whom the Materials are furnished to do so, subject to
- * the following conditions:
- *
- * The above copyright notice and this permission notice shall be included
- * in all copies or substantial portions of the Materials.
- *
- * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS
- * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS
- * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT
- *    https://www.khronos.org/registry/
- *
- * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
- * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
- * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
- * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
- * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
- * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
- ******************************************************************************/
-
-/* $Revision: 11708 $ on $Date: 2010-06-13 23:36:24 -0700 (Sun, 13 Jun 2010) $ */
-
-#ifndef __OPENCL_H
-#define __OPENCL_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#ifdef __APPLE__
-
-#include <OpenCL/cl.h>
-#include <OpenCL/cl_gl.h>
-#include <OpenCL/cl_gl_ext.h>
-#include <OpenCL/cl_ext.h>
-
-#else
-
-#include <CL/cl.h>
-#include <CL/cl_gl.h>
-#include <CL/cl_gl_ext.h>
-#include <CL/cl_ext.h>
-
-#endif
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  /* __OPENCL_H   */
-
diff --git a/third_party/raylib/.gitignore b/third_party/raylib/.gitignore
index c4afad9c38a..6b1d3ad7482 100644
--- a/third_party/raylib/.gitignore
+++ b/third_party/raylib/.gitignore
@@ -1,3 +1,4 @@
 /raylib_repo/
 /raylib_python_repo/
 /wheel/
+!*.a
diff --git a/third_party/raylib/Darwin/libraylib.a b/third_party/raylib/Darwin/libraylib.a
index 837ad8818e4..dd2e9b33f12 100644
--- a/third_party/raylib/Darwin/libraylib.a
+++ b/third_party/raylib/Darwin/libraylib.a
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:7ffe1fc6497f0c111fc507988e94fd29ce4db53a4876dc82ab9267895ad82584
-size 6515352
+oid sha256:fd045c1d4bca5c9b2ad044ea730826ff6cedeef0b64451b123717b136f1cd702
+size 6392532
diff --git a/third_party/raylib/build.sh b/third_party/raylib/build.sh
index 7f2ce5951f0..d20f9d33af1 100755
--- a/third_party/raylib/build.sh
+++ b/third_party/raylib/build.sh
@@ -1,6 +1,9 @@
 #!/usr/bin/env bash
 set -e
 
+export SOURCE_DATE_EPOCH=0
+export ZERO_AR_DATE=1
+
 SUDO=""
 
 # Use sudo if not root
diff --git a/third_party/raylib/larch64/libraylib.a b/third_party/raylib/larch64/libraylib.a
index 4e810c8b7b3..fa538e52143 100644
--- a/third_party/raylib/larch64/libraylib.a
+++ b/third_party/raylib/larch64/libraylib.a
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:91e9a07513e84f7b553da01b34b24e12fe7130131ef73ebdb3dac3b838db815b
+oid sha256:f760af8b4693cf60e3760341e5275890d78d933da2354c4bad0572ec575b970a
 size 2001860
diff --git a/third_party/raylib/x86_64/libraylib.a b/third_party/raylib/x86_64/libraylib.a
index cf69482563e..ea124c1bcfe 100644
--- a/third_party/raylib/x86_64/libraylib.a
+++ b/third_party/raylib/x86_64/libraylib.a
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:f0b8f59758fe1291be82a8bda7a7ca05629c7addb0683936dd404ed08e19e143
-size 2769684
+oid sha256:3c928e849b51b04d8e3603cd649184299efed0e9e0fb02201612b967b31efd73
+size 2771092
diff --git a/tinygrad_repo b/tinygrad_repo
index 547304c471b..7cbfa1896ae 160000
--- a/tinygrad_repo
+++ b/tinygrad_repo
@@ -1 +1 @@
-Subproject commit 547304c471b26ada0b34f400ccba67f3e1eb5965
+Subproject commit 7cbfa1896aebd6e1210d626db239fa54ba6d802c
diff --git a/tools/README.md b/tools/README.md
index d52c8f45225..90696ab4e6b 100644
--- a/tools/README.md
+++ b/tools/README.md
@@ -38,7 +38,7 @@ scons -u -j$(nproc)
 
 Follow [these instructions](https://docs.microsoft.com/en-us/windows/wsl/install) to setup the WSL and install the `Ubuntu-24.04` distribution. Once your Ubuntu WSL environment is setup, follow the Linux setup instructions to finish setting up your environment. See [these instructions](https://learn.microsoft.com/en-us/windows/wsl/tutorials/gui-apps) for running GUI apps.
 
-**NOTE**: If you are running WSL and any GUIs are failing (segfaulting or other strange issues) even after following the steps above, you may need to enable software rendering with `LIBGL_ALWAYS_SOFTWARE=1`, e.g. `LIBGL_ALWAYS_SOFTWARE=1 selfdrive/ui/ui`.
+**NOTE**: If you are running WSL 2 and experiencing performance issues with the UI or simulator, you may need to explicitly enable hardware acceleration by setting `GALLIUM_DRIVER=d3d12` before commands. Add `export GALLIUM_DRIVER=d3d12` to your `~/.bashrc` file to make it automatic for future sessions.
 
 ## CTF
 Learn about the openpilot ecosystem and tools by playing our [CTF](/tools/CTF.md).
diff --git a/tools/bodyteleop/.gitignore b/tools/bodyteleop/.gitignore
deleted file mode 100644
index adeab99a95e..00000000000
--- a/tools/bodyteleop/.gitignore
+++ /dev/null
@@ -1,4 +0,0 @@
-av
-av-10.0.0/*
-key.pem
-cert.pem
\ No newline at end of file
diff --git a/tools/bodyteleop/static/index.html b/tools/bodyteleop/static/index.html
index 36547697562..48672dbbf0c 100644
--- a/tools/bodyteleop/static/index.html
+++ b/tools/bodyteleop/static/index.html
@@ -15,29 +15,23 @@
   <body>
     <div id="main">
       <p class="jumbo">comma body</p>
-      <audio id="audio" autoplay="true"></audio>
       <video id="video" playsinline autoplay muted loop poster="/static/poster.png"></video>
-      <div id="icon-panel" class="row">
-        <div class="col-sm-12 col-md-6 details">
-          <div class="icon-sup-panel col-12">
-            <div class="icon-sub-panel">
-              <div class="icon-sub-sub-panel">
-                <i class="bi bi-speaker-fill pre-blob"></i>
-                <i class="bi bi-mic-fill pre-blob"></i>
-                <i class="bi bi-camera-video-fill pre-blob"></i>
-              </div>
-              <p class="small">body</p>
+      <div class="row" style="width: 100%; padding: 10px 10px 0px 10px;">
+        <div id="wasd" class="col-md-12 row">
+          <div class="col-md-6 col-sm-12" style="justify-content: center; display: flex; flex-direction: column;">
+            <div class="wasd-row">
+              <div class="keys" id="key-w">W</div>
             </div>
-            <div class="icon-sub-panel">
-              <div class="icon-sub-sub-panel">
-                <i class="bi bi-speaker-fill pre-blob"></i>
-                <i class="bi bi-mic-fill pre-blob"></i>
-              </div>
-              <p class="small">you</p>
+            <div class="wasd-row">
+              <div class="keys" id="key-a">A</div>
+              <div class="keys" id="key-s">S</div>
+              <div class="keys" id="key-d">D</div>
             </div>
           </div>
         </div>
-        <div class="col-sm-12 col-md-6 details">
+      </div>
+      <div id="icon-panel" class="row" style="width: 100%; padding: 0px 10px 0px 10px;">
+        <div class="col-12 details">
           <div class="icon-sup-panel col-12">
             <div class="icon-sub-panel">
               <div class="icon-sub-sub-panel">
@@ -53,43 +47,6 @@
             </div>
           </div>
         </div>
-        <!-- <div class="icon-sub-panel">
-                <button type="button" id="start" class="btn btn-light btn-lg">Start</button>
-                <button type="button" id="stop" class="btn btn-light btn-lg">Stop</button>
-            </div> -->
-      </div>
-      <div class="row" style="width: 100%; padding: 0px 10px 0px 10px;">
-        <div id="wasd" class="col-md-12 row">
-          <div class="col-md-6 col-sm-12" style="justify-content: center; display: flex; flex-direction: column;">
-            <div class="wasd-row">
-              <div class="keys" id="key-w">W</div>
-              <div id="key-val"><span id="pos-vals">0,0</span><span>x,y</span></div>
-            </div>
-            <div class="wasd-row">
-              <div class="keys" id="key-a">A</div>
-              <div class="keys" id="key-s">S</div>
-              <div class="keys" id="key-d">D</div>
-            </div>
-          </div>
-          <div class="col-md-6 col-sm-12 form-group plan-form">
-            <label for="plan-text">Plan (w, a, s, d, t)</label>
-            <label style="font-size: 15px;" for="plan-text">*Extremely Experimental*</label>
-            <textarea class="form-control" id="plan-text" rows="7" placeholder="1,0,0,0,2"></textarea>
-            <button type="button" id="plan-button" class="btn btn-light btn-lg">Execute</button>
-          </div>
-        </div>
-      </div>
-      <div class="row" style="padding: 0px 10px 0px 10px; width: 100%;">
-        <div class="panel row">
-          <div class="col-sm-3" style="text-align: center;">
-            <p>Play Sounds</p>
-          </div>
-          <div class="btn-group col-sm-8">
-            <button type="button" id="sound-engage" class="btn btn-outline-success btn-lg sound">Engage</button>
-            <button type="button" id="sound-disengage" class="btn btn-outline-warning btn-lg sound">Disengage</button>
-            <button type="button" id="sound-error" class="btn btn-outline-danger btn-lg sound">Error</button>
-          </div>
-        </div>
       </div>
       <div class="row" style="padding: 0px 10px 0px 10px; width: 100%;">
         <div class="panel row">
diff --git a/tools/bodyteleop/static/js/controls.js b/tools/bodyteleop/static/js/controls.js
index b1e0e7ee70e..3a11f78b9ef 100644
--- a/tools/bodyteleop/static/js/controls.js
+++ b/tools/bodyteleop/static/js/controls.js
@@ -18,37 +18,3 @@ export const handleKeyX = (key, setValue) => {
     $("#pos-vals").text(x+","+y);
   }
 };
-
-export async function executePlan() {
-  let plan = $("#plan-text").val();
-  const planList = [];
-  plan.split("\n").forEach(function(e){
-    let line = e.split(",").map(k=>parseInt(k));
-    if (line.length != 5 || line.slice(0, 4).map(e=>[1, 0].includes(e)).includes(false) || line[4] < 0 || line[4] > 10){
-      console.log("invalid plan");
-    }
-    else{
-      planList.push(line)
-    }
-  });
-
-  async function execute() {
-    for (var i = 0; i < planList.length; i++) {
-      let [w, a, s, d, t] = planList[i];
-      while(t > 0){
-        console.log(w, a, s, d, t);
-        if(w==1){$("#key-w").mousedown();}
-        if(a==1){$("#key-a").mousedown();}
-        if(s==1){$("#key-s").mousedown();}
-        if(d==1){$("#key-d").mousedown();}
-        await sleep(50);
-        $("#key-w").mouseup();
-        $("#key-a").mouseup();
-        $("#key-s").mouseup();
-        $("#key-d").mouseup();
-        t = t - 0.05;
-      }
-    }
-  }
-  execute();
-}
\ No newline at end of file
diff --git a/tools/bodyteleop/static/js/jsmain.js b/tools/bodyteleop/static/js/jsmain.js
index 83205a876bd..0db1dcd9b30 100644
--- a/tools/bodyteleop/static/js/jsmain.js
+++ b/tools/bodyteleop/static/js/jsmain.js
@@ -1,5 +1,5 @@
-import { handleKeyX, executePlan } from "./controls.js";
-import { start, stop, lastChannelMessageTime, playSoundRequest } from "./webrtc.js";
+import { handleKeyX } from "./controls.js";
+import { start, stop, lastChannelMessageTime } from "./webrtc.js";
 
 export var pc = null;
 export var dc = null;
@@ -8,12 +8,6 @@ document.addEventListener('keydown', (e)=>(handleKeyX(e.key.toLowerCase(), 1)));
 document.addEventListener('keyup', (e)=>(handleKeyX(e.key.toLowerCase(), 0)));
 $(".keys").bind("mousedown touchstart", (e)=>handleKeyX($(e.target).attr('id').replace('key-', ''), 1));
 $(".keys").bind("mouseup touchend", (e)=>handleKeyX($(e.target).attr('id').replace('key-', ''), 0));
-$("#plan-button").click(executePlan);
-$(".sound").click((e)=>{
-  const sound = $(e.target).attr('id').replace('sound-', '')
-  return playSoundRequest(sound);
-});
-
 setInterval( () => {
   const dt = new Date().getTime();
   if ((dt - lastChannelMessageTime) > 1000) {
diff --git a/tools/bodyteleop/static/js/webrtc.js b/tools/bodyteleop/static/js/webrtc.js
index 165a2ce6c4b..28bea238e62 100644
--- a/tools/bodyteleop/static/js/webrtc.js
+++ b/tools/bodyteleop/static/js/webrtc.js
@@ -15,15 +15,6 @@ export function offerRtcRequest(sdp, type) {
 }
 
 
-export function playSoundRequest(sound) {
-  return fetch('/sound', {
-    body: JSON.stringify({sound}),
-    headers: {'Content-Type': 'application/json'},
-    method: 'POST'
-  });
-}
-
-
 export function pingHeadRequest() {
   return fetch('/', {
     method: 'HEAD'
@@ -38,20 +29,18 @@ export function createPeerConnection(pc) {
 
   pc = new RTCPeerConnection(config);
 
-  // connect audio / video
+  // connect video
   pc.addEventListener('track', function(evt) {
     console.log("Adding Tracks!")
     if (evt.track.kind == 'video')
       document.getElementById('video').srcObject = evt.streams[0];
-    else
-      document.getElementById('audio').srcObject = evt.streams[0];
   });
   return pc;
 }
 
 
 export function negotiate(pc) {
-  return pc.createOffer({offerToReceiveAudio:true, offerToReceiveVideo:true}).then(function(offer) {
+  return pc.createOffer({offerToReceiveVideo:true}).then(function(offer) {
     return pc.setLocalDescription(offer);
   }).then(function() {
     return new Promise(function(resolve) {
@@ -90,14 +79,6 @@ function isMobile() {
 
 
 export const constraints = {
-  audio: {
-    autoGainControl: false,
-    sampleRate: 48000,
-    sampleSize: 16,
-    echoCancellation: true,
-    noiseSuppression: true,
-    channelCount: 1
-  },
   video: isMobile()
 };
 
@@ -105,23 +86,8 @@ export const constraints = {
 export function start(pc, dc) {
   pc = createPeerConnection(pc);
 
-  // add audio track
-  navigator.mediaDevices.enumerateDevices()
-    .then(function(devices) {
-      const hasAudioInput = devices.find((device) => device.kind === "audioinput");
-      var modifiedConstraints = {};
-      modifiedConstraints.video = constraints.video;
-      modifiedConstraints.audio = hasAudioInput ? constraints.audio : false;
-
-      return Promise.resolve(modifiedConstraints);
-    })
-    .then(function(constraints) {
-      if (constraints.audio || constraints.video) {
-        return navigator.mediaDevices.getUserMedia(constraints);
-      } else{
-        return Promise.resolve(null);
-      }
-    })
+  // add a local video track on mobile
+  (constraints.video ? navigator.mediaDevices.getUserMedia(constraints) : Promise.resolve(null))
     .then(function(stream) {
       if (stream) {
         stream.getTracks().forEach(function(track) {
diff --git a/tools/bodyteleop/static/main.css b/tools/bodyteleop/static/main.css
index 1bfb5982b4e..79fe8052ff9 100644
--- a/tools/bodyteleop/static/main.css
+++ b/tools/bodyteleop/static/main.css
@@ -172,13 +172,6 @@ video {
   display: none;
 }
 
-.plan-form {
-  display: flex;
-  flex-direction: column;
-  justify-content: space-between;
-  align-items: center;
-}
-
 .details {
   display: flex;
   padding: 0px 10px 0px 10px;
diff --git a/tools/bodyteleop/web.py b/tools/bodyteleop/web.py
index fd8f691d199..f91d6a1441c 100644
--- a/tools/bodyteleop/web.py
+++ b/tools/bodyteleop/web.py
@@ -1,4 +1,3 @@
-import asyncio
 import dataclasses
 import json
 import logging
@@ -6,8 +5,6 @@
 import ssl
 import subprocess
 
-import pyaudio
-import wave
 from aiohttp import web
 from aiohttp import ClientSession
 
@@ -22,35 +19,6 @@
 WEBRTCD_HOST, WEBRTCD_PORT = "localhost", 5001
 
 
-## UTILS
-async def play_sound(sound: str):
-  SOUNDS = {
-    "engage": "selfdrive/assets/sounds/engage.wav",
-    "disengage": "selfdrive/assets/sounds/disengage.wav",
-    "error": "selfdrive/assets/sounds/warning_immediate.wav",
-  }
-  assert sound in SOUNDS
-
-  chunk = 5120
-  with wave.open(os.path.join(BASEDIR, SOUNDS[sound]), "rb") as wf:
-    def callback(in_data, frame_count, time_info, status):
-      data = wf.readframes(frame_count)
-      return data, pyaudio.paContinue
-
-    p = pyaudio.PyAudio()
-    stream = p.open(format=p.get_format_from_width(wf.getsampwidth()),
-                    channels=wf.getnchannels(),
-                    rate=wf.getframerate(),
-                    output=True,
-                    frames_per_buffer=chunk,
-                    stream_callback=callback)
-    stream.start_stream()
-    while stream.is_active():
-      await asyncio.sleep(0)
-    stream.stop_stream()
-    stream.close()
-    p.terminate()
-
 ## SSL
 def create_ssl_cert(cert_path: str, key_path: str):
   try:
@@ -86,14 +54,6 @@ async def ping(request: 'web.Request'):
   return web.Response(text="pong")
 
 
-async def sound(request: 'web.Request'):
-  params = await request.json()
-  sound_to_play = params["sound"]
-
-  await play_sound(sound_to_play)
-  return web.json_response({"status": "ok"})
-
-
 async def offer(request: 'web.Request'):
   params = await request.json()
   body = StreamRequestBody(params["sdp"], ["driver"], ["testJoystick"], ["carState"])
@@ -111,14 +71,13 @@ def main():
   # Enable joystick debug mode
   Params().put_bool("JoystickDebugMode", True)
 
-  # App needs to be HTTPS for microphone and audio autoplay to work on the browser
+  # App needs to be HTTPS for WebRTC to work on the browser
   ssl_context = create_ssl_context()
 
   app = web.Application()
   app.router.add_get("/", index)
   app.router.add_get("/ping", ping, allow_head=True)
   app.router.add_post("/offer", offer)
-  app.router.add_post("/sound", sound)
   app.router.add_static('/static', os.path.join(TELEOPDIR, 'static'))
   web.run_app(app, access_log=None, host="0.0.0.0", port=5000, ssl_context=ssl_context)
 
diff --git a/tools/cabana/.gitignore b/tools/cabana/.gitignore
index 362a51f5c92..1ee6c922366 100644
--- a/tools/cabana/.gitignore
+++ b/tools/cabana/.gitignore
@@ -1,6 +1,8 @@
 moc_*
 *.moc
 
-cabana
+assets.cc
+
+_cabana
 dbc/car_fingerprint_to_dbc.json
 tests/test_cabana
diff --git a/tools/cabana/README.md b/tools/cabana/README.md
index 7933098e341..a721b1aa13b 100644
--- a/tools/cabana/README.md
+++ b/tools/cabana/README.md
@@ -45,17 +45,17 @@ cabana --demo
 To load a specific route for replay, provide the route as an argument:
 
 ```shell
-cabana "a2a0ccea32023010|2023-07-27--13-01-19"
+cabana "5beb9b58bd12b691/0000010a--a51155e496"
 ```
 
-Replace "0ccea32023010|2023-07-27--13-01-19" with your desired route identifier.
+Replace "5beb9b58bd12b691/0000010a--a51155e496" with your desired route identifier.
 
 
 ### Running Cabana with multiple cameras
 To run Cabana with multiple cameras, use the following command:
 
 ```shell
-cabana "a2a0ccea32023010|2023-07-27--13-01-19" --dcam --ecam
+cabana "5beb9b58bd12b691/0000010a--a51155e496" --dcam --ecam
 ```
 
 ### Streaming CAN Messages from a comma Device
diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript
index d4cfc672801..f5ef0f43939 100644
--- a/tools/cabana/SConscript
+++ b/tools/cabana/SConscript
@@ -1,14 +1,28 @@
 import subprocess
 import os
+import shutil
 
-Import('env', 'arch', 'common', 'messaging', 'visionipc', 'replay_lib', 'cereal')
+import libusb
+
+Import('env', 'arch', 'common', 'messaging', 'visionipc', 'cereal', 'replay_lib')
+
+# Detect Qt - skip build if not available
+if arch == "Darwin":
+  try:
+    brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip()
+    has_qt = os.path.isdir(os.path.join(brew_prefix, "opt/qt@5"))
+  except (FileNotFoundError, subprocess.CalledProcessError):
+    has_qt = False
+else:
+  has_qt = shutil.which('qmake') is not None
+if not has_qt:
+  Return()
 
 qt_env = env.Clone()
-qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "DBus", "Xml"]
+qt_modules = ["Widgets", "Gui", "Core"]
 
 qt_libs = []
 if arch == "Darwin":
-  brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip()
   qt_env['QTDIR'] = f"{brew_prefix}/opt/qt@5"
   qt_dirs = [
     os.path.join(qt_env['QTDIR'], "include"),
@@ -31,16 +45,11 @@ else:
   qt_dirs += [f"{qt_install_headers}/QtGui/{qt_gui_dirs[0]}/QtGui", ] if qt_gui_dirs else []
   qt_dirs += [f"{qt_install_headers}/Qt{m}" for m in qt_modules]
 
-  qt_libs = [f"Qt5{m}" for m in qt_modules]
-  if arch == "larch64":
-    qt_libs += ["GLESv2", "wayland-client"]
-    qt_env.PrependENVPath('PATH', Dir("#third_party/qt5/larch64/bin/").abspath)
-  elif arch != "Darwin":
-    qt_libs += ["GL"]
+  qt_libs = [f"Qt5{m}" for m in qt_modules] + ["GL"]
 qt_env['QT3DIR'] = qt_env['QTDIR']
 qt_env.Tool('qt3')
 
-qt_env['CPPPATH'] += qt_dirs + ["#third_party/qrcode"]
+qt_env['CPPPATH'] += qt_dirs
 qt_flags = [
   "-D_REENTRANT",
   "-DQT_NO_DEBUG",
@@ -54,22 +63,20 @@ qt_env['LIBPATH'] += ['#selfdrive/ui', ]
 qt_env['LIBS'] = qt_libs
 
 base_frameworks = qt_env['FRAMEWORKS']
-base_libs = [common, messaging, cereal, visionipc, 'm', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"]
+base_libs = [common, messaging, cereal, visionipc, 'm', 'pthread'] + qt_env["LIBS"]
 
 if arch == "Darwin":
-  base_frameworks.append('OpenCL')
-  base_frameworks.append('QtCharts')
-  base_frameworks.append('QtSerialBus')
+  base_frameworks += ['QtCharts', 'CoreFoundation', 'CoreVideo', 'CoreMedia', 'IOKit', 'Security', 'VideoToolbox']
 else:
-  base_libs.append('OpenCL')
   base_libs.append('Qt5Charts')
-  base_libs.append('Qt5SerialBus')
-
-qt_libs = base_libs
 
 cabana_env = qt_env.Clone()
+cabana_env['CPPPATH'] += [libusb.INCLUDE_DIR]
+cabana_env['LIBPATH'] += [libusb.LIB_DIR]
 
-cabana_libs = [cereal, messaging, visionipc, replay_lib, 'avutil', 'avcodec', 'avformat', 'bz2', 'zstd', 'curl', 'yuv', 'usb-1.0'] + qt_libs
+cabana_libs = [cereal, messaging, visionipc, replay_lib, 'avformat', 'avcodec', 'swresample', 'avutil', 'x264', 'z', 'bz2', 'zstd', 'yuv', 'usb-1.0'] + base_libs
+if arch != "Darwin":
+  cabana_libs += ['va', 'va-drm', 'drm']
 opendbc_path = '-DOPENDBC_FILE_PATH=\'"%s"\'' % (cabana_env.Dir("../../opendbc/dbc").abspath)
 cabana_env['CXXFLAGS'] += [opendbc_path]
 
@@ -79,13 +86,16 @@ assets_src = "assets/assets.qrc"
 cabana_env.Command(assets, assets_src, f"rcc $SOURCES -o $TARGET")
 cabana_env.Depends(assets, Glob('/assets/*', exclude=[assets, assets_src, "assets/assets.o"]))
 
-cabana_lib = cabana_env.Library("cabana_lib", ['mainwin.cc', 'streams/socketcanstream.cc', 'streams/pandastream.cc', 'streams/devicestream.cc', 'streams/livestream.cc', 'streams/abstractstream.cc', 'streams/replaystream.cc', 'binaryview.cc', 'historylog.cc', 'videowidget.cc', 'signalview.cc',
-                                               'streams/routes.cc', 'dbc/dbc.cc', 'dbc/dbcfile.cc', 'dbc/dbcmanager.cc',
-                                               'utils/export.cc', 'utils/util.cc', 'utils/elidedlabel.cc', 'utils/api.cc',
-                                               'chart/chartswidget.cc', 'chart/chart.cc', 'chart/signalselector.cc', 'chart/tiplabel.cc', 'chart/sparkline.cc',
-                                               'commands.cc', 'messageswidget.cc', 'streamselector.cc', 'settings.cc', 'panda.cc',
-                                               'cameraview.cc', 'detailwidget.cc', 'tools/findsimilarbits.cc', 'tools/findsignal.cc', 'tools/routeinfo.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
-cabana_env.Program('cabana', ['cabana.cc', cabana_lib, assets], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
+cabana_srcs = ['mainwin.cc', 'streams/pandastream.cc', 'streams/devicestream.cc', 'streams/livestream.cc', 'streams/abstractstream.cc', 'streams/replaystream.cc', 'binaryview.cc', 'historylog.cc', 'videowidget.cc', 'signalview.cc',
+               'streams/routes.cc', 'dbc/dbc.cc', 'dbc/dbcfile.cc', 'dbc/dbcmanager.cc',
+               'utils/export.cc', 'utils/util.cc', 'utils/elidedlabel.cc',
+               'chart/chartswidget.cc', 'chart/chart.cc', 'chart/signalselector.cc', 'chart/tiplabel.cc', 'chart/sparkline.cc',
+               'commands.cc', 'messageswidget.cc', 'streamselector.cc', 'settings.cc', 'panda.cc',
+               'cameraview.cc', 'detailwidget.cc', 'tools/findsimilarbits.cc', 'tools/findsignal.cc', 'tools/routeinfo.cc']
+if arch != "Darwin":
+  cabana_srcs += ['streams/socketcanstream.cc']
+cabana_lib = cabana_env.Library("cabana_lib", cabana_srcs, LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
+cabana_env.Program('_cabana', ['cabana.cc', cabana_lib, assets], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
 
 if GetOption('extras'):
   cabana_env.Program('tests/test_cabana', ['tests/test_runner.cc', 'tests/test_cabana.cc', cabana_lib], LIBS=[cabana_libs])
diff --git a/tools/cabana/assets/.gitignore b/tools/cabana/assets/.gitignore
deleted file mode 100644
index 283034ca8b4..00000000000
--- a/tools/cabana/assets/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-*.cc
diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc
index b5a68c6b269..0be28f06b79 100644
--- a/tools/cabana/binaryview.cc
+++ b/tools/cabana/binaryview.cc
@@ -111,7 +111,8 @@ void BinaryView::highlight(const cabana::Signal *sig) {
   if (sig != hovered_sig) {
     for (int i = 0; i < model->items.size(); ++i) {
       auto &item_sigs = model->items[i].sigs;
-      if ((sig && item_sigs.contains(sig)) || (hovered_sig && item_sigs.contains(hovered_sig))) {
+      auto has = [](const auto &v, auto p) { return std::find(v.begin(), v.end(), p) != v.end(); };
+      if ((sig && has(item_sigs, sig)) || (hovered_sig && has(item_sigs, hovered_sig))) {
         auto index = model->index(i / model->columnCount(), i % model->columnCount());
         emit model->dataChanged(index, index, {Qt::DisplayRole});
       }
@@ -157,7 +158,7 @@ void BinaryView::mousePressEvent(QMouseEvent *event) {
 void BinaryView::highlightPosition(const QPoint &pos) {
   if (auto index = indexAt(viewport()->mapFromGlobal(pos)); index.isValid()) {
     auto item = (BinaryViewModel::Item *)index.internalPointer();
-    const cabana::Signal *sig = item->sigs.isEmpty() ? nullptr : item->sigs.back();
+    const cabana::Signal *sig = item->sigs.empty() ? nullptr : item->sigs.back();
     highlight(sig);
   }
 }
@@ -208,12 +209,12 @@ void BinaryView::refresh() {
   highlightPosition(QCursor::pos());
 }
 
-QSet<const cabana::Signal *> BinaryView::getOverlappingSignals() const {
-  QSet<const cabana::Signal *> overlapping;
+std::set<const cabana::Signal *> BinaryView::getOverlappingSignals() const {
+  std::set<const cabana::Signal *> overlapping;
   for (const auto &item : model->items) {
     if (item.sigs.size() > 1) {
       for (auto s : item.sigs) {
-        if (s->type == cabana::Signal::Type::Normal) overlapping += s;
+        if (s->type == cabana::Signal::Type::Normal) overlapping.insert(s);
       }
     }
   }
@@ -258,7 +259,7 @@ void BinaryViewModel::refresh() {
         int pos = sig->is_little_endian ? flipBitPos(sig->start_bit + j) : flipBitPos(sig->start_bit) + j;
         int idx = column_count * (pos / 8) + pos % 8;
         if (idx >= items.size()) {
-          qWarning() << "signal " << sig->name << "out of bounds.start_bit:" << sig->start_bit << "size:" << sig->size;
+          qWarning() << "signal " << sig->name.c_str() << "out of bounds.start_bit:" << sig->start_bit << "size:" << sig->size;
           break;
         }
         if (j == 0) sig->is_little_endian ? items[idx].is_lsb = true : items[idx].is_msb = true;
@@ -404,7 +405,9 @@ bool BinaryItemDelegate::hasSignal(const QModelIndex &index, int dx, int dy, con
   if (!index.isValid()) return false;
   auto model = (const BinaryViewModel*)(index.model());
   int idx = (index.row() + dy) * model->columnCount() + index.column() + dx;
-  return (idx >=0 && idx < model->items.size()) ? model->items[idx].sigs.contains(sig) : false;
+  if (idx < 0 || idx >= (int)model->items.size()) return false;
+  auto &s = model->items[idx].sigs;
+  return std::find(s.begin(), s.end(), sig) != s.end();
 }
 
 void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const {
@@ -421,7 +424,7 @@ void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op
     auto color = bin_view->resize_sig ? bin_view->resize_sig->color : option.palette.color(QPalette::Active, QPalette::Highlight);
     painter->fillRect(option.rect, color);
     painter->setPen(option.palette.color(QPalette::BrightText));
-  } else if (!bin_view->selectionModel()->hasSelection() || !item->sigs.contains(bin_view->resize_sig)) {  // not resizing
+  } else if (!bin_view->selectionModel()->hasSelection() || std::find(item->sigs.begin(), item->sigs.end(), bin_view->resize_sig) == item->sigs.end()) {  // not resizing
     if (item->sigs.size() > 0) {
       for (auto &s : item->sigs) {
         if (s == bin_view->hovered_sig) {
@@ -433,7 +436,7 @@ void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op
     } else if (item->valid && item->bg_color.alpha() > 0) {
       painter->fillRect(option.rect, item->bg_color);
     }
-    auto color_role = item->sigs.contains(bin_view->hovered_sig) ? QPalette::BrightText : QPalette::Text;
+    auto color_role = (std::find(item->sigs.begin(), item->sigs.end(), bin_view->hovered_sig) != item->sigs.end()) ? QPalette::BrightText : QPalette::Text;
     painter->setPen(option.palette.color(bin_view->is_message_active ? QPalette::Normal : QPalette::Disabled, color_role));
   }
 
diff --git a/tools/cabana/binaryview.h b/tools/cabana/binaryview.h
index 920deb0018e..e568228b37d 100644
--- a/tools/cabana/binaryview.h
+++ b/tools/cabana/binaryview.h
@@ -1,10 +1,9 @@
 #pragma once
 
+#include <set>
 #include <tuple>
 #include <vector>
 
-#include <QList>
-#include <QSet>
 #include <QStyledItemDelegate>
 #include <QTableView>
 
@@ -51,7 +50,7 @@ class BinaryViewModel : public QAbstractTableModel {
     bool is_msb = false;
     bool is_lsb = false;
     uint8_t val;
-    QList<const cabana::Signal *> sigs;
+    std::vector<const cabana::Signal *> sigs;
     bool valid = false;
   };
   std::vector<Item> items;
@@ -68,7 +67,7 @@ class BinaryView : public QTableView {
   BinaryView(QWidget *parent = nullptr);
   void setMessage(const MessageId &message_id);
   void highlight(const cabana::Signal *sig);
-  QSet<const cabana::Signal*> getOverlappingSignals() const;
+  std::set<const cabana::Signal*> getOverlappingSignals() const;
   void updateState() { model->updateState(); }
   void paintEvent(QPaintEvent *event) override {
     is_message_active = can->isMessageActive(model->msg_id);
diff --git a/tools/cabana/cabana b/tools/cabana/cabana
new file mode 100755
index 00000000000..cd9bf1dd797
--- /dev/null
+++ b/tools/cabana/cabana
@@ -0,0 +1,38 @@
+#!/usr/bin/env bash
+set -e
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
+ROOT="$(cd "$DIR/../../" && pwd)"
+
+install_qt() {
+  if [[ "$(uname)" == "Darwin" ]]; then
+    brew install qt@5
+    brew link qt@5 || true
+  else
+    SUDO=""
+    if [[ ! $(id -u) -eq 0 ]]; then
+      SUDO="sudo"
+    fi
+    $SUDO apt-get install -y --no-install-recommends \
+      qtbase5-dev \
+      qtbase5-dev-tools \
+      qttools5-dev-tools \
+      libqt5charts5-dev \
+      libqt5svg5-dev \
+      libqt5serialbus5-dev \
+      libqt5x11extras5-dev \
+      libqt5opengl5-dev
+  fi
+}
+
+# Install Qt if not found
+if ! command -v qmake &> /dev/null; then
+  echo "Qt not found, installing dependencies..."
+  install_qt
+fi
+
+# Build _cabana
+cd "$ROOT"
+scons -j4 tools/cabana/_cabana cereal/messaging/bridge
+
+exec "$DIR/_cabana" "$@"
diff --git a/tools/cabana/cabana.cc b/tools/cabana/cabana.cc
index bc50afc03ad..db26b4067ac 100644
--- a/tools/cabana/cabana.cc
+++ b/tools/cabana/cabana.cc
@@ -5,7 +5,9 @@
 #include "tools/cabana/streams/devicestream.h"
 #include "tools/cabana/streams/pandastream.h"
 #include "tools/cabana/streams/replaystream.h"
+#ifdef __linux__
 #include "tools/cabana/streams/socketcanstream.h"
+#endif
 
 int main(int argc, char *argv[]) {
   QCoreApplication::setApplicationName("Cabana");
@@ -29,9 +31,11 @@ int main(int argc, char *argv[]) {
   cmd_parser.addOption({"msgq", "read can messages from the msgq"});
   cmd_parser.addOption({"panda", "read can messages from panda"});
   cmd_parser.addOption({"panda-serial", "read can messages from panda with given serial", "panda-serial"});
+#ifdef __linux__
   if (SocketCanStream::available()) {
     cmd_parser.addOption({"socketcan", "read can messages from given SocketCAN device", "socketcan"});
   }
+#endif
   cmd_parser.addOption({"zmq", "read can messages from zmq at the specified ip-address", "ip-address"});
   cmd_parser.addOption({"data_dir", "local directory with routes", "data_dir"});
   cmd_parser.addOption({"no-vipc", "do not output video"});
@@ -46,13 +50,15 @@ int main(int argc, char *argv[]) {
     stream = new DeviceStream(&app, cmd_parser.value("zmq"));
   } else if (cmd_parser.isSet("panda") || cmd_parser.isSet("panda-serial")) {
     try {
-      stream = new PandaStream(&app, {.serial = cmd_parser.value("panda-serial")});
+      stream = new PandaStream(&app, {.serial = cmd_parser.value("panda-serial").toStdString()});
     } catch (std::exception &e) {
       qWarning() << e.what();
       return 0;
     }
+#ifdef __linux__
   } else if (SocketCanStream::available() && cmd_parser.isSet("socketcan")) {
-    stream = new SocketCanStream(&app, {.device = cmd_parser.value("socketcan")});
+    stream = new SocketCanStream(&app, {.device = cmd_parser.value("socketcan").toStdString()});
+#endif
   } else {
     uint32_t replay_flags = REPLAY_FLAG_NONE;
     if (cmd_parser.isSet("ecam")) replay_flags |= REPLAY_FLAG_ECAM;
@@ -70,7 +76,7 @@ int main(int argc, char *argv[]) {
     if (!route.isEmpty()) {
       auto replay_stream = std::make_unique<ReplayStream>(&app);
       bool auto_source = cmd_parser.isSet("auto");
-      if (!replay_stream->loadRoute(route, cmd_parser.value("data_dir"), replay_flags, auto_source)) {
+      if (!replay_stream->loadRoute(route.toStdString(), cmd_parser.value("data_dir").toStdString(), replay_flags, auto_source)) {
         return 0;
       }
       stream = replay_stream.release();
diff --git a/tools/cabana/chart/chart.cc b/tools/cabana/chart/chart.cc
index bc2380e5501..9dfdc595f02 100644
--- a/tools/cabana/chart/chart.cc
+++ b/tools/cabana/chart/chart.cc
@@ -237,8 +237,8 @@ void ChartView::updateTitle() {
   for (auto &s : sigs) {
     auto decoration = s.series->isVisible() ? "none" : "line-through";
     s.series->setName(QString("<span style=\"text-decoration:%1; color:%2\"><b>%3</b> <font color=\"%4\">%5 %6</font></span>")
-                      .arg(decoration, titleColorCss, s.sig->name,
-                           msgColorCss, msgName(s.msg_id), s.msg_id.toString()));
+                      .arg(decoration, titleColorCss, QString::fromStdString(s.sig->name),
+                           msgColorCss, QString::fromStdString(msgName(s.msg_id)), QString::fromStdString(s.msg_id.toString())));
   }
   split_chart_act->setEnabled(sigs.size() > 1);
   resetChartCache();
@@ -339,13 +339,13 @@ void ChartView::updateAxisY() {
 
   double min = std::numeric_limits<double>::max();
   double max = std::numeric_limits<double>::lowest();
-  QString unit = sigs[0].sig->unit;
+  QString unit = QString::fromStdString(sigs[0].sig->unit);
 
   for (auto &s : sigs) {
     if (!s.series->isVisible()) continue;
 
     // Only show unit when all signals have the same unit
-    if (unit != s.sig->unit) {
+    if (unit != QString::fromStdString(s.sig->unit)) {
       unit.clear();
     }
 
@@ -571,13 +571,13 @@ void ChartView::showTip(double sec) {
     if (s.series->isVisible()) {
       QString value = "--";
       // use reverse iterator to find last item <= sec.
-      auto it = std::lower_bound(s.vals.crbegin(), s.vals.crend(), sec, [](auto &p, double x) { return p.x() > x; });
+      auto it = std::lower_bound(s.vals.crbegin(), s.vals.crend(), sec, [](auto &p, double v) { return p.x() > v; });
       if (it != s.vals.crend() && it->x() >= axis_x->min()) {
-        value = s.sig->formatValue(it->y(), false);
+        value = QString::fromStdString(s.sig->formatValue(it->y(), false));
         s.track_pt = *it;
         x = std::max(x, chart()->mapToPosition(*it).x());
       }
-      QString name = sigs.size() > 1 ? s.sig->name + ": " : "";
+      QString name = sigs.size() > 1 ? QString::fromStdString(s.sig->name) + ": " : "";
       QString min = s.min == std::numeric_limits<double>::max() ? "--" : QString::number(s.min);
       QString max = s.max == std::numeric_limits<double>::lowest() ? "--" : QString::number(s.max);
       text_list << QString("<span style=\"color:%1;\">■ </span>%2<b>%3</b> (%4, %5)")
@@ -766,7 +766,7 @@ void ChartView::drawSignalValue(QPainter *painter) {
   for (auto &s : sigs) {
     auto it = std::lower_bound(s.vals.crbegin(), s.vals.crend(), cur_sec,
                                [](auto &p, double x) { return p.x() > x + EPSILON; });
-    QString value = (it != s.vals.crend() && it->x() >= axis_x->min()) ? s.sig->formatValue(it->y()) : "--";
+    QString value = (it != s.vals.crend() && it->x() >= axis_x->min()) ? QString::fromStdString(s.sig->formatValue(it->y())) : "--";
     QRectF marker_rect = legend_markers[i++]->sceneBoundingRect();
     QRectF value_rect(marker_rect.bottomLeft() - QPoint(0, 1), marker_rect.size());
     QString elided_val = painter->fontMetrics().elidedText(value, Qt::ElideRight, value_rect.width());
diff --git a/tools/cabana/chart/chartswidget.cc b/tools/cabana/chart/chartswidget.cc
index aba25dcf83b..44dca42152e 100644
--- a/tools/cabana/chart/chartswidget.cc
+++ b/tools/cabana/chart/chartswidget.cc
@@ -1,13 +1,13 @@
 #include "tools/cabana/chart/chartswidget.h"
 
 #include <algorithm>
+#include <future>
 
 #include <QApplication>
-#include <QFutureSynchronizer>
 #include <QMenu>
+#include <QMimeData>
 #include <QScrollBar>
 #include <QToolBar>
-#include <QtConcurrent>
 
 #include "tools/cabana/chart/chart.h"
 
@@ -166,15 +166,16 @@ void ChartsWidget::removeTab(int index) {
 void ChartsWidget::updateTabBar() {
   for (int i = 0; i < tabbar->count(); ++i) {
     const auto &charts_in_tab = tab_charts[tabbar->tabData(i).toInt()];
-    tabbar->setTabText(i, QString("Tab %1 (%2)").arg(i + 1).arg(charts_in_tab.count()));
+    tabbar->setTabText(i, QString("Tab %1 (%2)").arg(i + 1).arg((int)charts_in_tab.size()));
   }
 }
 
 void ChartsWidget::eventsMerged(const MessageEventsMap &new_events) {
-  QFutureSynchronizer<void> future_synchronizer;
+  std::vector<std::future<void>> futures;
   for (auto c : charts) {
-    future_synchronizer.addFuture(QtConcurrent::run(c, &ChartView::updateSeries, nullptr, &new_events));
+    futures.push_back(std::async(std::launch::async, &ChartView::updateSeries, c, nullptr, &new_events));
   }
+  for (auto &f : futures) f.get();
 }
 
 void ChartsWidget::timeRangeChanged(const std::optional<std::pair<double, double>> &time_range) {
@@ -203,7 +204,7 @@ void ChartsWidget::showValueTip(double sec) {
 }
 
 void ChartsWidget::updateState() {
-  if (charts.isEmpty()) return;
+  if (charts.empty()) return;
 
   const auto &time_range = can->timeRange();
   const double cur_sec = can->currentSec();
@@ -247,7 +248,7 @@ void ChartsWidget::updateToolBar() {
   redo_zoom_action->setVisible(is_zoomed);
   reset_zoom_action->setVisible(is_zoomed);
   reset_zoom_btn->setText(is_zoomed ? tr("%1-%2").arg(can->timeRange()->first, 0, 'f', 2).arg(can->timeRange()->second, 0, 'f', 2) : "");
-  remove_all_btn->setEnabled(!charts.isEmpty());
+  remove_all_btn->setEnabled(!charts.empty());
 }
 
 void ChartsWidget::settingChanged() {
@@ -281,9 +282,9 @@ ChartView *ChartsWidget::createChart(int pos) {
   chart->setMinimumWidth(CHART_MIN_WIDTH);
   chart->setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::Fixed);
   QObject::connect(chart, &ChartView::axisYLabelWidthChanged, align_timer, qOverload<>(&QTimer::start));
-  pos = std::clamp(pos, 0, charts.size());
-  charts.insert(pos, chart);
-  currentCharts().insert(pos, chart);
+  pos = std::clamp(pos, 0, (int)charts.size());
+  charts.insert(charts.begin() + pos, chart);
+  currentCharts().insert(currentCharts().begin() + pos, chart);
   updateLayout(true);
   updateToolBar();
   return chart;
@@ -302,7 +303,7 @@ void ChartsWidget::showChart(const MessageId &id, const cabana::Signal *sig, boo
 
 void ChartsWidget::splitChart(ChartView *src_chart) {
   if (src_chart->sigs.size() > 1) {
-    int pos = charts.indexOf(src_chart) + 1;
+    int pos = std::find(charts.begin(), charts.end(), src_chart) - charts.begin() + 1;
     for (auto it = src_chart->sigs.begin() + 1; it != src_chart->sigs.end(); /**/) {
       auto c = createChart(pos);
       src_chart->chart()->removeSeries(it->series);
@@ -327,7 +328,7 @@ QStringList ChartsWidget::serializeChartIds() const {
   for (auto c : charts) {
     QStringList ids;
     for (const auto& s : c->sigs)
-      ids += QString("%1|%2").arg(s.msg_id.toString(), s.sig->name);
+      ids += QString("%1|%2").arg(QString::fromStdString(s.msg_id.toString()), QString::fromStdString(s.sig->name));
     chart_ids += ids.join(',');
   }
   std::reverse(chart_ids.begin(), chart_ids.end());
@@ -340,9 +341,9 @@ void ChartsWidget::restoreChartsFromIds(const QStringList& chart_ids) {
     for (const auto& part : chart_id.split(',')) {
       const auto sig_parts = part.split('|');
       if (sig_parts.size() != 2) continue;
-      MessageId msg_id = MessageId::fromString(sig_parts[0]);
+      MessageId msg_id = MessageId::fromString(sig_parts[0].toStdString());
       if (auto* msg = dbc()->msg(msg_id))
-        if (auto* sig = msg->sig(sig_parts[1]))
+        if (auto* sig = msg->sig(sig_parts[1].toStdString()))
           showChart(msg_id, sig, true, index++ > 0);
     }
   }
@@ -426,14 +427,14 @@ void ChartsWidget::doAutoScroll() {
 }
 
 QSize ChartsWidget::minimumSizeHint() const {
-  return QSize(CHART_MIN_WIDTH * 1.5 * qApp->devicePixelRatio(), QWidget::minimumSizeHint().height());
+  return QSize(CHART_MIN_WIDTH * 1.5, QWidget::minimumSizeHint().height());
 }
 
 void ChartsWidget::newChart() {
   SignalSelector dlg(tr("New Chart"), this);
   if (dlg.exec() == QDialog::Accepted) {
     auto items = dlg.seletedItems();
-    if (!items.isEmpty()) {
+    if (!items.empty()) {
       auto c = createChart();
       for (auto it : items) {
         c->addSignal(it->msg_id, it->sig);
@@ -443,10 +444,10 @@ void ChartsWidget::newChart() {
 }
 
 void ChartsWidget::removeChart(ChartView *chart) {
-  charts.removeOne(chart);
+  charts.erase(std::remove(charts.begin(), charts.end(), chart), charts.end());
   chart->deleteLater();
   for (auto &[_, list] : tab_charts) {
-    list.removeOne(chart);
+    list.erase(std::remove(list.begin(), list.end(), chart), list.end());
   }
   updateToolBar();
   updateLayout(true);
@@ -460,7 +461,7 @@ void ChartsWidget::removeAll() {
   }
   tab_charts.clear();
 
-  if (!charts.isEmpty()) {
+  if (!charts.empty()) {
     for (auto c : charts) {
       delete c;
     }
@@ -560,10 +561,11 @@ void ChartsContainer::dropEvent(QDropEvent *event) {
     auto chart = qobject_cast<ChartView *>(event->source());
     if (w != chart) {
       for (auto &[_, list] : charts_widget->tab_charts) {
-        list.removeOne(chart);
+        list.erase(std::remove(list.begin(), list.end(), chart), list.end());
       }
-      int to = w ? charts_widget->currentCharts().indexOf(w) + 1 : 0;
-      charts_widget->currentCharts().insert(to, chart);
+      auto &cur = charts_widget->currentCharts();
+      int to = w ? std::find(cur.begin(), cur.end(), w) - cur.begin() + 1 : 0;
+      cur.insert(cur.begin() + to, chart);
       charts_widget->updateLayout(true);
       charts_widget->updateTabBar();
       event->acceptProposedAction();
diff --git a/tools/cabana/chart/chartswidget.h b/tools/cabana/chart/chartswidget.h
index f87b1276c5d..ef3fbc471ac 100644
--- a/tools/cabana/chart/chartswidget.h
+++ b/tools/cabana/chart/chartswidget.h
@@ -81,7 +81,7 @@ public slots:
   bool eventFilter(QObject *obj, QEvent *event) override;
   void newTab();
   void removeTab(int index);
-  inline QList<ChartView *> &currentCharts() { return tab_charts[tabbar->tabData(tabbar->currentIndex()).toInt()]; }
+  inline std::vector<ChartView *> &currentCharts() { return tab_charts[tabbar->tabData(tabbar->currentIndex()).toInt()]; }
   ChartView *findChart(const MessageId &id, const cabana::Signal *sig);
 
   QLabel *title_label;
@@ -100,8 +100,8 @@ public slots:
   QUndoStack *zoom_undo_stack;
 
   ToolButton *remove_all_btn;
-  QList<ChartView *> charts;
-  std::unordered_map<int, QList<ChartView *>> tab_charts;
+  std::vector<ChartView *> charts;
+  std::unordered_map<int, std::vector<ChartView *>> tab_charts;
   TabBar *tabbar;
   ChartsContainer *charts_container;
   QScrollArea *charts_scroll;
diff --git a/tools/cabana/chart/signalselector.cc b/tools/cabana/chart/signalselector.cc
index 63f3a7d5750..6f2fd8de46b 100644
--- a/tools/cabana/chart/signalselector.cc
+++ b/tools/cabana/chart/signalselector.cc
@@ -46,7 +46,7 @@ SignalSelector::SignalSelector(QString title, QWidget *parent) : QDialog(parent)
 
   for (const auto &[id, _] : can->lastMessages()) {
     if (auto m = dbc()->msg(id)) {
-      msgs_combo->addItem(QString("%1 (%2)").arg(m->name).arg(id.toString()), QVariant::fromValue(id));
+      msgs_combo->addItem(QString("%1 (%2)").arg(QString::fromStdString(m->name)).arg(QString::fromStdString(id.toString())), QVariant::fromValue(id));
     }
   }
   msgs_combo->model()->sort(0);
@@ -92,8 +92,8 @@ void SignalSelector::updateAvailableList(int index) {
 }
 
 void SignalSelector::addItemToList(QListWidget *parent, const MessageId id, const cabana::Signal *sig, bool show_msg_name) {
-  QString text = QString("<span style=\"color:%0;\">■ </span> %1").arg(sig->color.name(), sig->name);
-  if (show_msg_name) text += QString(" <font color=\"gray\">%0 %1</font>").arg(msgName(id), id.toString());
+  QString text = QString("<span style=\"color:%0;\">■ </span> %1").arg(sig->color.name(), QString::fromStdString(sig->name));
+  if (show_msg_name) text += QString(" <font color=\"gray\">%0 %1</font>").arg(QString::fromStdString(msgName(id)), QString::fromStdString(id.toString()));
 
   QLabel *label = new QLabel(text);
   label->setContentsMargins(5, 0, 5, 0);
@@ -102,8 +102,8 @@ void SignalSelector::addItemToList(QListWidget *parent, const MessageId id, cons
   parent->setItemWidget(new_item, label);
 }
 
-QList<SignalSelector::ListItem *> SignalSelector::seletedItems() {
-  QList<SignalSelector::ListItem *> ret;
+std::vector<SignalSelector::ListItem *> SignalSelector::seletedItems() {
+  std::vector<SignalSelector::ListItem *> ret;
   for (int i = 0; i < selected_list->count(); ++i) ret.push_back((ListItem *)selected_list->item(i));
   return ret;
 }
diff --git a/tools/cabana/chart/signalselector.h b/tools/cabana/chart/signalselector.h
index f46779f044e..5b6e37e56aa 100644
--- a/tools/cabana/chart/signalselector.h
+++ b/tools/cabana/chart/signalselector.h
@@ -15,7 +15,7 @@ class SignalSelector : public QDialog {
   };
 
   SignalSelector(QString title, QWidget *parent);
-  QList<ListItem *> seletedItems();
+  std::vector<ListItem *> seletedItems();
   inline void addSelected(const MessageId &id, const cabana::Signal *sig) { addItemToList(selected_list, id, sig, true); }
 
 private:
diff --git a/tools/cabana/commands.cc b/tools/cabana/commands.cc
index 52861723f41..f158528b51e 100644
--- a/tools/cabana/commands.cc
+++ b/tools/cabana/commands.cc
@@ -4,22 +4,22 @@
 
 // EditMsgCommand
 
-EditMsgCommand::EditMsgCommand(const MessageId &id, const QString &name, int size,
-                               const QString &node, const QString &comment, QUndoCommand *parent)
+EditMsgCommand::EditMsgCommand(const MessageId &id, const std::string &name, int size,
+                               const std::string &node, const std::string &comment, QUndoCommand *parent)
     : id(id), new_name(name), new_size(size), new_node(node), new_comment(comment), QUndoCommand(parent) {
   if (auto msg = dbc()->msg(id)) {
     old_name = msg->name;
     old_size = msg->size;
     old_node = msg->transmitter;
     old_comment = msg->comment;
-    setText(QObject::tr("edit message %1:%2").arg(name).arg(id.address));
+    setText(QObject::tr("edit message %1:%2").arg(QString::fromStdString(name)).arg(id.address));
   } else {
-    setText(QObject::tr("new message %1:%2").arg(name).arg(id.address));
+    setText(QObject::tr("new message %1:%2").arg(QString::fromStdString(name)).arg(id.address));
   }
 }
 
 void EditMsgCommand::undo() {
-  if (old_name.isEmpty())
+  if (old_name.empty())
     dbc()->removeMsg(id);
   else
     dbc()->updateMsg(id, old_name, old_size, old_node, old_comment);
@@ -34,12 +34,12 @@ void EditMsgCommand::redo() {
 RemoveMsgCommand::RemoveMsgCommand(const MessageId &id, QUndoCommand *parent) : id(id), QUndoCommand(parent) {
   if (auto msg = dbc()->msg(id)) {
     message = *msg;
-    setText(QObject::tr("remove message %1:%2").arg(message.name).arg(id.address));
+    setText(QObject::tr("remove message %1:%2").arg(QString::fromStdString(message.name)).arg(id.address));
   }
 }
 
 void RemoveMsgCommand::undo() {
-  if (!message.name.isEmpty()) {
+  if (!message.name.empty()) {
     dbc()->updateMsg(id, message.name, message.size, message.transmitter, message.comment);
     for (auto s : message.getSignals())
       dbc()->addSignal(id, *s);
@@ -47,7 +47,7 @@ void RemoveMsgCommand::undo() {
 }
 
 void RemoveMsgCommand::redo() {
-  if (!message.name.isEmpty())
+  if (!message.name.empty())
     dbc()->removeMsg(id);
 }
 
@@ -55,7 +55,7 @@ void RemoveMsgCommand::redo() {
 
 AddSigCommand::AddSigCommand(const MessageId &id, const cabana::Signal &sig, QUndoCommand *parent)
     : id(id), signal(sig), QUndoCommand(parent) {
-  setText(QObject::tr("add signal %1 to %2:%3").arg(sig.name).arg(msgName(id)).arg(id.address));
+  setText(QObject::tr("add signal %1 to %2:%3").arg(QString::fromStdString(sig.name)).arg(QString::fromStdString(msgName(id))).arg(id.address));
 }
 
 void AddSigCommand::undo() {
@@ -85,7 +85,7 @@ RemoveSigCommand::RemoveSigCommand(const MessageId &id, const cabana::Signal *si
       }
     }
   }
-  setText(QObject::tr("remove signal %1 from %2:%3").arg(sig->name).arg(msgName(id)).arg(id.address));
+  setText(QObject::tr("remove signal %1 from %2:%3").arg(QString::fromStdString(sig->name)).arg(QString::fromStdString(msgName(id))).arg(id.address));
 }
 
 void RemoveSigCommand::undo() { for (const auto &s : sigs) dbc()->addSignal(id, s); }
@@ -108,7 +108,7 @@ EditSignalCommand::EditSignalCommand(const MessageId &id, const cabana::Signal *
       }
     }
   }
-  setText(QObject::tr("edit signal %1 in %2:%3").arg(sig->name).arg(msgName(id)).arg(id.address));
+  setText(QObject::tr("edit signal %1 in %2:%3").arg(QString::fromStdString(sig->name)).arg(QString::fromStdString(msgName(id))).arg(id.address));
 }
 
 void EditSignalCommand::undo() { for (const auto &s : sigs) dbc()->updateSignal(id, s.second.name, s.first); }
diff --git a/tools/cabana/commands.h b/tools/cabana/commands.h
index 0736d9b83f6..4081f869858 100644
--- a/tools/cabana/commands.h
+++ b/tools/cabana/commands.h
@@ -1,6 +1,8 @@
 #pragma once
 
+#include <string>
 #include <utility>
+#include <vector>
 
 #include <QUndoCommand>
 #include <QUndoStack>
@@ -10,14 +12,14 @@
 
 class EditMsgCommand : public QUndoCommand {
 public:
-  EditMsgCommand(const MessageId &id, const QString &name, int size, const QString &node,
-                 const QString &comment, QUndoCommand *parent = nullptr);
+  EditMsgCommand(const MessageId &id, const std::string &name, int size, const std::string &node,
+                 const std::string &comment, QUndoCommand *parent = nullptr);
   void undo() override;
   void redo() override;
 
 private:
   const MessageId id;
-  QString old_name, new_name, old_comment, new_comment, old_node, new_node;
+  std::string old_name, new_name, old_comment, new_comment, old_node, new_node;
   int old_size = 0, new_size = 0;
 };
 
@@ -52,7 +54,7 @@ class RemoveSigCommand : public QUndoCommand {
 
 private:
   const MessageId id;
-  QList<cabana::Signal> sigs;
+  std::vector<cabana::Signal> sigs;
 };
 
 class EditSignalCommand : public QUndoCommand {
@@ -63,7 +65,7 @@ class EditSignalCommand : public QUndoCommand {
 
 private:
   const MessageId id;
-  QList<std::pair<cabana::Signal, cabana::Signal>> sigs; // QList<{old_sig, new_sig}>
+  std::vector<std::pair<cabana::Signal, cabana::Signal>> sigs; // {old_sig, new_sig}
 };
 
 namespace UndoStack {
diff --git a/tools/cabana/dbc/dbc.cc b/tools/cabana/dbc/dbc.cc
index 9b0de922182..8e41cf54e39 100644
--- a/tools/cabana/dbc/dbc.cc
+++ b/tools/cabana/dbc/dbc.cc
@@ -4,10 +4,6 @@
 
 #include "tools/cabana/utils/util.h"
 
-uint qHash(const MessageId &item) {
-  return qHash(item.source) ^ qHash(item.address);
-}
-
 // cabana::Msg
 
 cabana::Msg::~Msg() {
@@ -22,7 +18,7 @@ cabana::Signal *cabana::Msg::addSignal(const cabana::Signal &sig) {
   return s;
 }
 
-cabana::Signal *cabana::Msg::updateSignal(const QString &sig_name, const cabana::Signal &new_sig) {
+cabana::Signal *cabana::Msg::updateSignal(const std::string &sig_name, const cabana::Signal &new_sig) {
   auto s = sig(sig_name);
   if (s) {
     *s = new_sig;
@@ -31,7 +27,7 @@ cabana::Signal *cabana::Msg::updateSignal(const QString &sig_name, const cabana:
   return s;
 }
 
-void cabana::Msg::removeSignal(const QString &sig_name) {
+void cabana::Msg::removeSignal(const std::string &sig_name) {
   auto it = std::find_if(sigs.begin(), sigs.end(), [&](auto &s) { return s->name == sig_name; });
   if (it != sigs.end()) {
     delete *it;
@@ -57,7 +53,7 @@ cabana::Msg &cabana::Msg::operator=(const cabana::Msg &other) {
   return *this;
 }
 
-cabana::Signal *cabana::Msg::sig(const QString &sig_name) const {
+cabana::Signal *cabana::Msg::sig(const std::string &sig_name) const {
   auto it = std::find_if(sigs.begin(), sigs.end(), [&](auto &s) { return s->name == sig_name; });
   return it != sigs.end() ? *it : nullptr;
 }
@@ -69,17 +65,17 @@ int cabana::Msg::indexOf(const cabana::Signal *sig) const {
   return -1;
 }
 
-QString cabana::Msg::newSignalName() {
-  QString new_name;
+std::string cabana::Msg::newSignalName() {
+  std::string new_name;
   for (int i = 1; /**/; ++i) {
-    new_name = QString("NEW_SIGNAL_%1").arg(i);
+    new_name = "NEW_SIGNAL_" + std::to_string(i);
     if (sig(new_name) == nullptr) break;
   }
   return new_name;
 }
 
 void cabana::Msg::update() {
-  if (transmitter.isEmpty()) {
+  if (transmitter.empty()) {
     transmitter = DEFAULT_NODE_NAME;
   }
   mask.assign(size, 0x00);
@@ -129,13 +125,13 @@ void cabana::Msg::update() {
 
 void cabana::Signal::update() {
   updateMsbLsb(*this);
-  if (receiver_name.isEmpty()) {
+  if (receiver_name.empty()) {
     receiver_name = DEFAULT_NODE_NAME;
   }
 
   float h = 19 * (float)lsb / 64.0;
   h = fmod(h, 1.0);
-  size_t hash = qHash(name);
+  size_t hash = std::hash<std::string>{}(name);
   float s = 0.25 + 0.25 * (float)(hash & 0xff) / 255.0;
   float v = 0.75 + 0.25 * (float)((hash >> 8) & 0xff) / 255.0;
 
@@ -143,7 +139,7 @@ void cabana::Signal::update() {
   precision = std::max(num_decimals(factor), num_decimals(offset));
 }
 
-QString cabana::Signal::formatValue(double value, bool with_unit) const {
+std::string cabana::Signal::formatValue(double value, bool with_unit) const {
   // Show enum string
   int64_t raw_value = round((value - offset) / factor);
   for (const auto &[val, desc] : val_desc) {
@@ -152,8 +148,10 @@ QString cabana::Signal::formatValue(double value, bool with_unit) const {
     }
   }
 
-  QString val_str = QString::number(value, 'f', precision);
-  if (with_unit && !unit.isEmpty()) {
+  char buf[64];
+  snprintf(buf, sizeof(buf), "%.*f", precision, value);
+  std::string val_str(buf);
+  if (with_unit && !unit.empty()) {
     val_str += " " + unit;
   }
   return val_str;
diff --git a/tools/cabana/dbc/dbc.h b/tools/cabana/dbc/dbc.h
index 134d88a9195..a10e7871fee 100644
--- a/tools/cabana/dbc/dbc.h
+++ b/tools/cabana/dbc/dbc.h
@@ -1,29 +1,35 @@
 #pragma once
 
+#include <cstdio>
+#include <cstdlib>
+#include <functional>
 #include <limits>
+#include <string>
 #include <utility>
 #include <vector>
 
 #include <QColor>
 #include <QMetaType>
-#include <QString>
 
-const QString UNTITLED = "untitled";
-const QString DEFAULT_NODE_NAME = "XXX";
+const std::string UNTITLED = "untitled";
+const std::string DEFAULT_NODE_NAME = "XXX";
 constexpr int CAN_MAX_DATA_BYTES = 64;
 
 struct MessageId {
   uint8_t source = 0;
   uint32_t address = 0;
 
-  QString toString() const {
-    return QString("%1:%2").arg(source).arg(QString::number(address, 16).toUpper());
+  std::string toString() const {
+    char buf[64];
+    snprintf(buf, sizeof(buf), "%u:%X", source, address);
+    return buf;
   }
 
-  inline static MessageId fromString(const QString &str) {
-    auto parts = str.split(':');
-    if (parts.size() != 2) return {};
-    return MessageId{.source = uint8_t(parts[0].toUInt()), .address = parts[1].toUInt(nullptr, 16)};
+  inline static MessageId fromString(const std::string &str) {
+    auto pos = str.find(':');
+    if (pos == std::string::npos) return {};
+    return MessageId{.source = uint8_t(std::stoul(str.substr(0, pos))),
+                     .address = uint32_t(std::stoul(str.substr(pos + 1), nullptr, 16))};
   }
 
   bool operator==(const MessageId &other) const {
@@ -43,15 +49,17 @@ struct MessageId {
   }
 };
 
-uint qHash(const MessageId &item);
 Q_DECLARE_METATYPE(MessageId);
 
 template <>
 struct std::hash<MessageId> {
-  std::size_t operator()(const MessageId &k) const noexcept { return qHash(k); }
+  std::size_t operator()(const MessageId &k) const noexcept {
+    return std::hash<uint8_t>{}(k.source) ^ (std::hash<uint32_t>{}(k.address) << 1);
+  }
 };
 
-typedef std::vector<std::pair<double, QString>> ValueDescription;
+typedef std::vector<std::pair<double, std::string>> ValueDescription;
+Q_DECLARE_METATYPE(ValueDescription);
 
 namespace cabana {
 
@@ -61,7 +69,7 @@ class Signal {
   Signal(const Signal &other) = default;
   void update();
   bool getValue(const uint8_t *data, size_t data_size, double *val) const;
-  QString formatValue(double value, bool with_unit = true) const;
+  std::string formatValue(double value, bool with_unit = true) const;
   bool operator==(const cabana::Signal &other) const;
   inline bool operator!=(const cabana::Signal &other) const { return !(*this == other); }
 
@@ -72,16 +80,16 @@ class Signal {
   };
 
   Type type = Type::Normal;
-  QString name;
+  std::string name;
   int start_bit, msb, lsb, size;
   double factor = 1.0;
   double offset = 0;
   bool is_signed;
   bool is_little_endian;
   double min, max;
-  QString unit;
-  QString comment;
-  QString receiver_name;
+  std::string unit;
+  std::string comment;
+  std::string receiver_name;
   ValueDescription val_desc;
   int precision = 0;
   QColor color;
@@ -97,20 +105,20 @@ class Msg {
   Msg(const Msg &other) { *this = other; }
   ~Msg();
   cabana::Signal *addSignal(const cabana::Signal &sig);
-  cabana::Signal *updateSignal(const QString &sig_name, const cabana::Signal &sig);
-  void removeSignal(const QString &sig_name);
+  cabana::Signal *updateSignal(const std::string &sig_name, const cabana::Signal &sig);
+  void removeSignal(const std::string &sig_name);
   Msg &operator=(const Msg &other);
   int indexOf(const cabana::Signal *sig) const;
-  cabana::Signal *sig(const QString &sig_name) const;
-  QString newSignalName();
+  cabana::Signal *sig(const std::string &sig_name) const;
+  std::string newSignalName();
   void update();
   inline const std::vector<cabana::Signal *> &getSignals() const { return sigs; }
 
   uint32_t address;
-  QString name;
+  std::string name;
   uint32_t size;
-  QString comment;
-  QString transmitter;
+  std::string comment;
+  std::string transmitter;
   std::vector<cabana::Signal *> sigs;
 
   std::vector<uint8_t> mask;
@@ -123,4 +131,8 @@ class Msg {
 double get_raw_value(const uint8_t *data, size_t data_size, const cabana::Signal &sig);
 void updateMsbLsb(cabana::Signal &s);
 inline int flipBitPos(int start_bit) { return 8 * (start_bit / 8) + 7 - start_bit % 8; }
-inline QString doubleToString(double value) { return QString::number(value, 'g', std::numeric_limits<double>::digits10); }
+inline std::string doubleToString(double value) {
+  char buf[64];
+  snprintf(buf, sizeof(buf), "%.*g", std::numeric_limits<double>::digits10, value);
+  return buf;
+}
diff --git a/tools/cabana/dbc/dbcfile.cc b/tools/cabana/dbc/dbcfile.cc
index 1c03c8a0aa7..d9c129ee815 100644
--- a/tools/cabana/dbc/dbcfile.cc
+++ b/tools/cabana/dbc/dbcfile.cc
@@ -3,11 +3,12 @@
 #include <QFile>
 #include <QFileInfo>
 #include <QRegularExpression>
+#include <QString>
 
-DBCFile::DBCFile(const QString &dbc_file_name) {
-  QFile file(dbc_file_name);
+DBCFile::DBCFile(const std::string &dbc_file_name) {
+  QFile file(QString::fromStdString(dbc_file_name));
   if (file.open(QIODevice::ReadOnly)) {
-    name_ = QFileInfo(dbc_file_name).baseName();
+    name_ = QFileInfo(QString::fromStdString(dbc_file_name)).baseName().toStdString();
     filename = dbc_file_name;
     parse(file.readAll());
   } else {
@@ -15,34 +16,35 @@ DBCFile::DBCFile(const QString &dbc_file_name) {
   }
 }
 
-DBCFile::DBCFile(const QString &name, const QString &content) : name_(name), filename("") {
-  parse(content);
+DBCFile::DBCFile(const std::string &name, const std::string &content) : name_(name), filename("") {
+  parse(QString::fromStdString(content));
 }
 
 bool DBCFile::save() {
-  assert(!filename.isEmpty());
+  assert(!filename.empty());
   return writeContents(filename);
 }
 
-bool DBCFile::saveAs(const QString &new_filename) {
+bool DBCFile::saveAs(const std::string &new_filename) {
   filename = new_filename;
   return save();
 }
 
-bool DBCFile::writeContents(const QString &fn) {
-  QFile file(fn);
+bool DBCFile::writeContents(const std::string &fn) {
+  QFile file(QString::fromStdString(fn));
   if (file.open(QIODevice::WriteOnly)) {
-    return file.write(generateDBC().toUtf8()) >= 0;
+    std::string content = generateDBC();
+    return file.write(content.c_str(), content.size()) >= 0;
   }
   return false;
 }
 
-void DBCFile::updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &node, const QString &comment) {
+void DBCFile::updateMsg(const MessageId &id, const std::string &name, uint32_t size, const std::string &node, const std::string &comment) {
   auto &m = msgs[id.address];
   m.address = id.address;
   m.name = name;
   m.size = size;
-  m.transmitter = node.isEmpty() ? DEFAULT_NODE_NAME : node;
+  m.transmitter = node.empty() ? DEFAULT_NODE_NAME : node;
   m.comment = comment;
 }
 
@@ -51,12 +53,12 @@ cabana::Msg *DBCFile::msg(uint32_t address) {
   return it != msgs.end() ? &it->second : nullptr;
 }
 
-cabana::Msg *DBCFile::msg(const QString &name) {
+cabana::Msg *DBCFile::msg(const std::string &name) {
   auto it = std::find_if(msgs.begin(), msgs.end(), [&name](auto &m) { return m.second.name == name; });
   return it != msgs.end() ? &(it->second) : nullptr;
 }
 
-cabana::Signal *DBCFile::signal(uint32_t address, const QString &name) {
+cabana::Signal *DBCFile::signal(uint32_t address, const std::string &name) {
   auto m = msg(address);
   return m ? (cabana::Signal *)m->sig(name) : nullptr;
 }
@@ -93,13 +95,13 @@ void DBCFile::parse(const QString &content) {
         seen = false;
       }
     } catch (std::exception &e) {
-      throw std::runtime_error(QString("[%1:%2]%3: %4").arg(filename).arg(line_num).arg(e.what()).arg(line).toStdString());
+      throw std::runtime_error(QString("[%1:%2]%3: %4").arg(QString::fromStdString(filename)).arg(line_num).arg(e.what()).arg(line).toStdString());
     }
 
     if (seen) {
       seen_first = true;
     } else if (!seen_first) {
-      header += raw_line + "\n";
+      header += raw_line.toStdString() + "\n";
     }
   }
 
@@ -122,9 +124,9 @@ cabana::Msg *DBCFile::parseBO(const QString &line) {
   // Create a new message object
   cabana::Msg *msg = &msgs[address];
   msg->address = address;
-  msg->name = match.captured("name");
+  msg->name = match.captured("name").toStdString();
   msg->size = match.captured("size").toULong();
-  msg->transmitter = match.captured("transmitter").trimmed();
+  msg->transmitter = match.captured("transmitter").trimmed().toStdString();
   return msg;
 }
 
@@ -141,7 +143,7 @@ void DBCFile::parseCM_BO(const QString &line, const QString &content, const QStr
     throw std::runtime_error("Invalid message comment format");
 
   if (auto m = (cabana::Msg *)msg(match.captured("address").toUInt()))
-    m->comment = match.captured("comment").trimmed().replace("\\\"", "\"");
+    m->comment = match.captured("comment").trimmed().replace("\\\"", "\"").toStdString();
 }
 
 void DBCFile::parseSG(const QString &line, cabana::Msg *current_msg, int &multiplexor_cnt) {
@@ -160,7 +162,7 @@ void DBCFile::parseSG(const QString &line, cabana::Msg *current_msg, int &multip
   if (!match.hasMatch())
     throw std::runtime_error("Invalid SG_ line format");
 
-  QString name = match.captured(1);
+  std::string name = match.captured(1).toStdString();
   if (current_msg->sig(name) != nullptr)
     throw std::runtime_error("Duplicate signal name");
 
@@ -188,8 +190,8 @@ void DBCFile::parseSG(const QString &line, cabana::Msg *current_msg, int &multip
   s.offset = match.captured(offset + 7).toDouble();
   s.min = match.captured(8 + offset).toDouble();
   s.max = match.captured(9 + offset).toDouble();
-  s.unit = match.captured(10 + offset);
-  s.receiver_name = match.captured(11 + offset).trimmed();
+  s.unit = match.captured(10 + offset).toStdString();
+  s.receiver_name = match.captured(11 + offset).trimmed().toStdString();
   current_msg->sigs.push_back(new cabana::Signal(s));
 }
 
@@ -205,8 +207,8 @@ void DBCFile::parseCM_SG(const QString &line, const QString &content, const QStr
   if (!match.hasMatch())
     throw std::runtime_error("Invalid CM_ SG_ line format");
 
-  if (auto s = signal(match.captured(1).toUInt(), match.captured(2))) {
-    s->comment = match.captured(3).trimmed().replace("\\\"", "\"");
+  if (auto s = signal(match.captured(1).toUInt(), match.captured(2).toStdString())) {
+    s->comment = match.captured(3).trimmed().replace("\\\"", "\"").toStdString();
   }
 }
 
@@ -217,55 +219,60 @@ void DBCFile::parseVAL(const QString &line) {
   if (!match.hasMatch())
     throw std::runtime_error("invalid VAL_ line format");
 
-  if (auto s = signal(match.captured(1).toUInt(), match.captured(2))) {
+  if (auto s = signal(match.captured(1).toUInt(), match.captured(2).toStdString())) {
     QStringList desc_list = match.captured(3).trimmed().split('"');
     for (int i = 0; i < desc_list.size(); i += 2) {
       auto val = desc_list[i].trimmed();
       if (!val.isEmpty() && (i + 1) < desc_list.size()) {
         auto desc = desc_list[i + 1].trimmed();
-        s->val_desc.push_back({val.toDouble(), desc});
+        s->val_desc.push_back({val.toDouble(), desc.toStdString()});
       }
     }
   }
 }
 
-QString DBCFile::generateDBC() {
-  QString dbc_string, comment, val_desc;
+std::string DBCFile::generateDBC() {
+  std::string dbc_string, comment, val_desc;
   for (const auto &[address, m] : msgs) {
-    const QString transmitter = m.transmitter.isEmpty() ? DEFAULT_NODE_NAME : m.transmitter;
-    dbc_string += QString("BO_ %1 %2: %3 %4\n").arg(address).arg(m.name).arg(m.size).arg(transmitter);
-    if (!m.comment.isEmpty()) {
-      comment += QString("CM_ BO_ %1 \"%2\";\n").arg(address).arg(QString(m.comment).replace("\"", "\\\""));
+    const std::string &transmitter = m.transmitter.empty() ? DEFAULT_NODE_NAME : m.transmitter;
+    dbc_string += "BO_ " + std::to_string(address) + " " + m.name + ": " + std::to_string(m.size) + " " + transmitter + "\n";
+    if (!m.comment.empty()) {
+      std::string escaped_comment = m.comment;
+      // Replace " with \"
+      for (size_t pos = 0; (pos = escaped_comment.find('"', pos)) != std::string::npos; pos += 2)
+        escaped_comment.replace(pos, 1, "\\\"");
+      comment += "CM_ BO_ " + std::to_string(address) + " \"" + escaped_comment + "\";\n";
     }
     for (auto sig : m.getSignals()) {
-      QString multiplexer_indicator;
+      std::string multiplexer_indicator;
       if (sig->type == cabana::Signal::Type::Multiplexor) {
         multiplexer_indicator = "M ";
       } else if (sig->type == cabana::Signal::Type::Multiplexed) {
-        multiplexer_indicator = QString("m%1 ").arg(sig->multiplex_value);
+        multiplexer_indicator = "m" + std::to_string(sig->multiplex_value) + " ";
       }
-      dbc_string += QString(" SG_ %1 %2: %3|%4@%5%6 (%7,%8) [%9|%10] \"%11\" %12\n")
-                        .arg(sig->name)
-                        .arg(multiplexer_indicator)
-                        .arg(sig->start_bit)
-                        .arg(sig->size)
-                        .arg(sig->is_little_endian ? '1' : '0')
-                        .arg(sig->is_signed ? '-' : '+')
-                        .arg(doubleToString(sig->factor))
-                        .arg(doubleToString(sig->offset))
-                        .arg(doubleToString(sig->min))
-                        .arg(doubleToString(sig->max))
-                        .arg(sig->unit)
-                        .arg(sig->receiver_name.isEmpty() ? DEFAULT_NODE_NAME : sig->receiver_name);
-      if (!sig->comment.isEmpty()) {
-        comment += QString("CM_ SG_ %1 %2 \"%3\";\n").arg(address).arg(sig->name).arg(QString(sig->comment).replace("\"", "\\\""));
+      const std::string &recv = sig->receiver_name.empty() ? DEFAULT_NODE_NAME : sig->receiver_name;
+      dbc_string += " SG_ " + sig->name + " " + multiplexer_indicator + ": " +
+                    std::to_string(sig->start_bit) + "|" + std::to_string(sig->size) + "@" +
+                    std::string(1, sig->is_little_endian ? '1' : '0') +
+                    std::string(1, sig->is_signed ? '-' : '+') +
+                    " (" + doubleToString(sig->factor) + "," + doubleToString(sig->offset) + ")" +
+                    " [" + doubleToString(sig->min) + "|" + doubleToString(sig->max) + "]" +
+                    " \"" + sig->unit + "\" " + recv + "\n";
+      if (!sig->comment.empty()) {
+        std::string escaped_comment = sig->comment;
+        for (size_t pos = 0; (pos = escaped_comment.find('"', pos)) != std::string::npos; pos += 2)
+          escaped_comment.replace(pos, 1, "\\\"");
+        comment += "CM_ SG_ " + std::to_string(address) + " " + sig->name + " \"" + escaped_comment + "\";\n";
       }
       if (!sig->val_desc.empty()) {
-        QStringList text;
+        std::string text;
         for (auto &[val, desc] : sig->val_desc) {
-          text << QString("%1 \"%2\"").arg(val).arg(desc);
+          if (!text.empty()) text += " ";
+          char val_buf[64];
+          snprintf(val_buf, sizeof(val_buf), "%g", val);
+          text += std::string(val_buf) + " \"" + desc + "\"";
         }
-        val_desc += QString("VAL_ %1 %2 %3;\n").arg(address).arg(sig->name).arg(text.join(" "));
+        val_desc += "VAL_ " + std::to_string(address) + " " + sig->name + " " + text + ";\n";
       }
     }
     dbc_string += "\n";
diff --git a/tools/cabana/dbc/dbcfile.h b/tools/cabana/dbc/dbcfile.h
index bd267898f94..decb566abd4 100644
--- a/tools/cabana/dbc/dbcfile.h
+++ b/tools/cabana/dbc/dbcfile.h
@@ -1,34 +1,35 @@
 #pragma once
 
 #include <map>
+#include <string>
 #include <QTextStream>
 
 #include "tools/cabana/dbc/dbc.h"
 
 class DBCFile {
 public:
-  DBCFile(const QString &dbc_file_name);
-  DBCFile(const QString &name, const QString &content);
+  DBCFile(const std::string &dbc_file_name);
+  DBCFile(const std::string &name, const std::string &content);
   ~DBCFile() {}
 
   bool save();
-  bool saveAs(const QString &new_filename);
-  bool writeContents(const QString &fn);
-  QString generateDBC();
+  bool saveAs(const std::string &new_filename);
+  bool writeContents(const std::string &fn);
+  std::string generateDBC();
 
-  void updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &node, const QString &comment);
+  void updateMsg(const MessageId &id, const std::string &name, uint32_t size, const std::string &node, const std::string &comment);
   inline void removeMsg(const MessageId &id) { msgs.erase(id.address); }
 
   inline const std::map<uint32_t, cabana::Msg> &getMessages() const { return msgs; }
   cabana::Msg *msg(uint32_t address);
-  cabana::Msg *msg(const QString &name);
+  cabana::Msg *msg(const std::string &name);
   inline cabana::Msg *msg(const MessageId &id) { return msg(id.address); }
-  cabana::Signal *signal(uint32_t address, const QString &name);
+  cabana::Signal *signal(uint32_t address, const std::string &name);
 
-  inline QString name() const { return name_.isEmpty() ? "untitled" : name_; }
-  inline bool isEmpty() const { return msgs.empty() && name_.isEmpty(); }
+  inline std::string name() const { return name_.empty() ? "untitled" : name_; }
+  inline bool isEmpty() const { return msgs.empty() && name_.empty(); }
 
-  QString filename;
+  std::string filename;
 
 private:
   void parse(const QString &content);
@@ -38,7 +39,7 @@ class DBCFile {
   void parseCM_SG(const QString &line, const QString &content, const QString &raw_line, const QTextStream &stream);
   void parseVAL(const QString &line);
 
-  QString header;
+  std::string header;
   std::map<uint32_t, cabana::Msg> msgs;
-  QString name_;
+  std::string name_;
 };
diff --git a/tools/cabana/dbc/dbcmanager.cc b/tools/cabana/dbc/dbcmanager.cc
index 8e98d95322c..2236a93da14 100644
--- a/tools/cabana/dbc/dbcmanager.cc
+++ b/tools/cabana/dbc/dbcmanager.cc
@@ -1,10 +1,9 @@
 #include "tools/cabana/dbc/dbcmanager.h"
 
-#include <QSet>
 #include <algorithm>
-#include <numeric>
+#include <set>
 
-bool DBCManager::open(const SourceSet &sources, const QString &dbc_file_name, QString *error) {
+bool DBCManager::open(const SourceSet &sources, const std::string &dbc_file_name, QString *error) {
   try {
     auto it = std::find_if(dbc_files.begin(), dbc_files.end(),
                            [&](auto &f) { return f.second && f.second->filename == dbc_file_name; });
@@ -21,7 +20,7 @@ bool DBCManager::open(const SourceSet &sources, const QString &dbc_file_name, QS
   return true;
 }
 
-bool DBCManager::open(const SourceSet &sources, const QString &name, const QString &content, QString *error) {
+bool DBCManager::open(const SourceSet &sources, const std::string &name, const std::string &content, QString *error) {
   try {
     auto file = std::make_shared<DBCFile>(name, content);
     for (auto s : sources) {
@@ -64,7 +63,7 @@ void DBCManager::addSignal(const MessageId &id, const cabana::Signal &sig) {
   }
 }
 
-void DBCManager::updateSignal(const MessageId &id, const QString &sig_name, const cabana::Signal &sig) {
+void DBCManager::updateSignal(const MessageId &id, const std::string &sig_name, const cabana::Signal &sig) {
   if (auto m = msg(id)) {
     if (auto s = m->updateSignal(sig_name, sig)) {
       emit signalUpdated(s);
@@ -73,7 +72,7 @@ void DBCManager::updateSignal(const MessageId &id, const QString &sig_name, cons
   }
 }
 
-void DBCManager::removeSignal(const MessageId &id, const QString &sig_name) {
+void DBCManager::removeSignal(const MessageId &id, const std::string &sig_name) {
   if (auto m = msg(id)) {
     if (auto s = m->sig(sig_name)) {
       emit signalRemoved(s);
@@ -83,7 +82,7 @@ void DBCManager::removeSignal(const MessageId &id, const QString &sig_name) {
   }
 }
 
-void DBCManager::updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &node, const QString &comment) {
+void DBCManager::updateMsg(const MessageId &id, const std::string &name, uint32_t size, const std::string &node, const std::string &comment) {
   auto dbc_file = findDBCFile(id);
   assert(dbc_file);  // This should be impossible
   dbc_file->updateMsg(id, name, size, node, comment);
@@ -98,11 +97,13 @@ void DBCManager::removeMsg(const MessageId &id) {
   emit maskUpdated();
 }
 
-QString DBCManager::newMsgName(const MessageId &id) {
-  return QString("NEW_MSG_") + QString::number(id.address, 16).toUpper();
+std::string DBCManager::newMsgName(const MessageId &id) {
+  char buf[64];
+  snprintf(buf, sizeof(buf), "NEW_MSG_%X", id.address);
+  return buf;
 }
 
-QString DBCManager::newSignalName(const MessageId &id) {
+std::string DBCManager::newSignalName(const MessageId &id) {
   auto m = msg(id);
   return m ? m->newSignalName() : "";
 }
@@ -118,14 +119,14 @@ cabana::Msg *DBCManager::msg(const MessageId &id) {
   return dbc_file ? dbc_file->msg(id) : nullptr;
 }
 
-cabana::Msg *DBCManager::msg(uint8_t source, const QString &name) {
+cabana::Msg *DBCManager::msg(uint8_t source, const std::string &name) {
   auto dbc_file = findDBCFile(source);
   return dbc_file ? dbc_file->msg(name) : nullptr;
 }
 
-QStringList DBCManager::signalNames() {
+std::vector<std::string> DBCManager::signalNames() {
   // Used for autocompletion
-  QSet<QString> names;
+  std::set<std::string> names;
   for (auto &f : allDBCFiles()) {
     for (auto &[_, m] : f->getMessages()) {
       for (auto sig : m.getSignals()) {
@@ -133,8 +134,8 @@ QStringList DBCManager::signalNames() {
       }
     }
   }
-  QStringList ret = names.values();
-  ret.sort();
+  std::vector<std::string> ret(names.begin(), names.end());
+  std::sort(ret.begin(), ret.end());
   return ret;
 }
 
@@ -165,11 +166,13 @@ const SourceSet DBCManager::sources(const DBCFile *dbc_file) const {
   return sources;
 }
 
-QString toString(const SourceSet &ss) {
-  return std::accumulate(ss.cbegin(), ss.cend(), QString(), [](QString str, int source) {
-    if (!str.isEmpty()) str += ", ";
-    return str + (source == -1 ? QStringLiteral("all") : QString::number(source));
-  });
+std::string toString(const SourceSet &ss) {
+  std::string result;
+  for (int source : ss) {
+    if (!result.empty()) result += ", ";
+    result += (source == -1) ? "all" : std::to_string(source);
+  }
+  return result;
 }
 
 DBCManager *dbc() {
diff --git a/tools/cabana/dbc/dbcmanager.h b/tools/cabana/dbc/dbcmanager.h
index 5f183752d29..4a122073eaa 100644
--- a/tools/cabana/dbc/dbcmanager.h
+++ b/tools/cabana/dbc/dbcmanager.h
@@ -4,6 +4,8 @@
 #include <memory>
 #include <map>
 #include <set>
+#include <string>
+#include <vector>
 
 #include "tools/cabana/dbc/dbcfile.h"
 
@@ -18,27 +20,27 @@ class DBCManager : public QObject {
 public:
   DBCManager(QObject *parent) : QObject(parent) {}
   ~DBCManager() {}
-  bool open(const SourceSet &sources, const QString &dbc_file_name, QString *error = nullptr);
-  bool open(const SourceSet &sources, const QString &name, const QString &content, QString *error = nullptr);
+  bool open(const SourceSet &sources, const std::string &dbc_file_name, QString *error = nullptr);
+  bool open(const SourceSet &sources, const std::string &name, const std::string &content, QString *error = nullptr);
   void close(const SourceSet &sources);
   void close(DBCFile *dbc_file);
   void closeAll();
 
   void addSignal(const MessageId &id, const cabana::Signal &sig);
-  void updateSignal(const MessageId &id, const QString &sig_name, const cabana::Signal &sig);
-  void removeSignal(const MessageId &id, const QString &sig_name);
+  void updateSignal(const MessageId &id, const std::string &sig_name, const cabana::Signal &sig);
+  void removeSignal(const MessageId &id, const std::string &sig_name);
 
-  void updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &node, const QString &comment);
+  void updateMsg(const MessageId &id, const std::string &name, uint32_t size, const std::string &node, const std::string &comment);
   void removeMsg(const MessageId &id);
 
-  QString newMsgName(const MessageId &id);
-  QString newSignalName(const MessageId &id);
+  std::string newMsgName(const MessageId &id);
+  std::string newSignalName(const MessageId &id);
 
   const std::map<uint32_t, cabana::Msg> &getMessages(uint8_t source);
   cabana::Msg *msg(const MessageId &id);
-  cabana::Msg* msg(uint8_t source, const QString &name);
+  cabana::Msg* msg(uint8_t source, const std::string &name);
 
-  QStringList signalNames();
+  std::vector<std::string> signalNames();
   inline int dbcCount() { return allDBCFiles().size(); }
   int nonEmptyDBCCount();
 
@@ -62,8 +64,8 @@ class DBCManager : public QObject {
 
 DBCManager *dbc();
 
-QString toString(const SourceSet &ss);
-inline QString msgName(const MessageId &id) {
+std::string toString(const SourceSet &ss);
+inline std::string msgName(const MessageId &id) {
   auto msg = dbc()->msg(id);
   return msg ? msg->name : UNTITLED;
 }
diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc
index 35492c8efae..148b059e5b7 100644
--- a/tools/cabana/detailwidget.cc
+++ b/tools/cabana/detailwidget.cc
@@ -124,9 +124,9 @@ int DetailWidget::findOrAddTab(const MessageId& message_id) {
     if (tabbar->tabData(index).value<MessageId>() == message_id) break;
   }
   if (index == -1) {
-    index = tabbar->addTab(message_id.toString());
+    index = tabbar->addTab(QString::fromStdString(message_id.toString()));
     tabbar->setTabData(index, QVariant::fromValue(message_id));
-    tabbar->setTabToolTip(index, msgName(message_id));
+    tabbar->setTabToolTip(index, QString::fromStdString(msgName(message_id)));
   }
   return index;
 }
@@ -151,21 +151,21 @@ std::pair<QString, QStringList> DetailWidget::serializeMessageIds() const {
   QStringList msgs;
   for (int i = 0; i < tabbar->count(); ++i) {
     MessageId id = tabbar->tabData(i).value<MessageId>();
-    msgs.append(id.toString());
+    msgs.append(QString::fromStdString(id.toString()));
   }
-  return std::make_pair(msg_id.toString(), msgs);
+  return std::make_pair(QString::fromStdString(msg_id.toString()), msgs);
 }
 
 void DetailWidget::restoreTabs(const QString active_msg_id, const QStringList& msg_ids) {
   tabbar->blockSignals(true);
   for (const auto& str_id : msg_ids) {
-    MessageId id = MessageId::fromString(str_id);
+    MessageId id = MessageId::fromString(str_id.toStdString());
     if (dbc()->msg(id) != nullptr)
       findOrAddTab(id);
   }
   tabbar->blockSignals(false);
 
-  auto active_id = MessageId::fromString(active_msg_id);
+  auto active_id = MessageId::fromString(active_msg_id.toStdString());
   if (dbc()->msg(active_id) != nullptr)
     setMessage(active_id);
 }
@@ -180,10 +180,10 @@ void DetailWidget::refresh() {
       warnings.push_back(tr("Message size (%1) is incorrect.").arg(msg->size));
     }
     for (auto s : binary_view->getOverlappingSignals()) {
-      warnings.push_back(tr("%1 has overlapping bits.").arg(s->name));
+      warnings.push_back(tr("%1 has overlapping bits.").arg(QString::fromStdString(s->name)));
     }
   }
-  QString msg_name = msg ? QString("%1 (%2)").arg(msg->name, msg->transmitter) : msgName(msg_id);
+  QString msg_name = msg ? QString("%1 (%2)").arg(QString::fromStdString(msg->name), QString::fromStdString(msg->transmitter)) : QString::fromStdString(msgName(msg_id));
   name_label->setText(msg_name);
   name_label->setToolTip(msg_name);
   action_remove_msg->setEnabled(msg != nullptr);
@@ -208,10 +208,10 @@ void DetailWidget::updateState(const std::set<MessageId> *msgs) {
 void DetailWidget::editMsg() {
   auto msg = dbc()->msg(msg_id);
   int size = msg ? msg->size : can->lastMessage(msg_id).dat.size();
-  EditMessageDialog dlg(msg_id, msgName(msg_id), size, this);
+  EditMessageDialog dlg(msg_id, QString::fromStdString(msgName(msg_id)), size, this);
   if (dlg.exec()) {
-    UndoStack::push(new EditMsgCommand(msg_id, dlg.name_edit->text().trimmed(), dlg.size_spin->value(),
-                                       dlg.node->text().trimmed(), dlg.comment_edit->toPlainText().trimmed()));
+    UndoStack::push(new EditMsgCommand(msg_id, dlg.name_edit->text().trimmed().toStdString(), dlg.size_spin->value(),
+                                       dlg.node->text().trimmed().toStdString(), dlg.comment_edit->toPlainText().trimmed().toStdString()));
   }
 }
 
@@ -223,7 +223,7 @@ void DetailWidget::removeMsg() {
 
 EditMessageDialog::EditMessageDialog(const MessageId &msg_id, const QString &title, int size, QWidget *parent)
     : original_name(title), msg_id(msg_id), QDialog(parent) {
-  setWindowTitle(tr("Edit message: %1").arg(msg_id.toString()));
+  setWindowTitle(tr("Edit message: %1").arg(QString::fromStdString(msg_id.toString())));
   QFormLayout *form_layout = new QFormLayout(this);
 
   form_layout->addRow("", error_label = new QLabel);
@@ -241,8 +241,8 @@ EditMessageDialog::EditMessageDialog(const MessageId &msg_id, const QString &tit
   form_layout->addRow(btn_box = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel));
 
   if (auto msg = dbc()->msg(msg_id)) {
-    node->setText(msg->transmitter);
-    comment_edit->setText(msg->comment);
+    node->setText(QString::fromStdString(msg->transmitter));
+    comment_edit->setText(QString::fromStdString(msg->comment));
   }
   validateName(name_edit->text());
   setFixedWidth(parent->width() * 0.9);
@@ -252,10 +252,10 @@ EditMessageDialog::EditMessageDialog(const MessageId &msg_id, const QString &tit
 }
 
 void EditMessageDialog::validateName(const QString &text) {
-  bool valid = text.compare(UNTITLED, Qt::CaseInsensitive) != 0;
+  bool valid = text.compare(QString::fromStdString(UNTITLED), Qt::CaseInsensitive) != 0;
   error_label->setVisible(false);
   if (!text.isEmpty() && valid && text != original_name) {
-    valid = dbc()->msg(msg_id.source, text) == nullptr;
+    valid = dbc()->msg(msg_id.source, text.toStdString()) == nullptr;
     if (!valid) {
       error_label->setText(tr("Name already exists"));
       error_label->setVisible(true);
diff --git a/tools/cabana/historylog.cc b/tools/cabana/historylog.cc
index 3dbdf5a7cd1..fb79ff9cea1 100644
--- a/tools/cabana/historylog.cc
+++ b/tools/cabana/historylog.cc
@@ -14,7 +14,7 @@ QVariant HistoryLogModel::data(const QModelIndex &index, int role) const {
   const int col = index.column();
   if (role == Qt::DisplayRole) {
     if (col == 0) return QString::number(can->toSeconds(m.mono_time), 'f', 3);
-    if (!isHexMode()) return sigs[col - 1]->formatValue(m.sig_values[col - 1], false);
+    if (!isHexMode()) return QString::fromStdString(sigs[col - 1]->formatValue(m.sig_values[col - 1], false));
   } else if (role == Qt::TextAlignmentRole) {
     return (uint32_t)(Qt::AlignRight | Qt::AlignVCenter);
   }
@@ -49,8 +49,8 @@ QVariant HistoryLogModel::headerData(int section, Qt::Orientation orientation, i
       if (section == 0) return "Time";
       if (isHexMode()) return "Data";
 
-      QString name = sigs[section - 1]->name;
-      QString unit = sigs[section - 1]->unit;
+      QString name = QString::fromStdString(sigs[section - 1]->name);
+      QString unit = QString::fromStdString(sigs[section - 1]->unit);
       return unit.isEmpty() ? name : QString("%1 (%2)").arg(name, unit);
     } else if (role == Qt::BackgroundRole && section > 0 && !isHexMode()) {
       // Alpha-blend the signal color with the background to ensure contrast
@@ -216,7 +216,7 @@ LogsWidget::LogsWidget(QWidget *parent) : QFrame(parent) {
 void LogsWidget::modelReset() {
   signals_cb->clear();
   for (auto s : model->sigs) {
-    signals_cb->addItem(s->name);
+    signals_cb->addItem(QString::fromStdString(s->name));
   }
   export_btn->setEnabled(false);
   value_edit->clear();
@@ -238,8 +238,8 @@ void LogsWidget::filterChanged() {
 }
 
 void LogsWidget::exportToCSV() {
-  QString dir = QString("%1/%2_%3.csv").arg(settings.last_dir).arg(can->routeName()).arg(msgName(model->msg_id));
-  QString fn = QFileDialog::getSaveFileName(this, QString("Export %1 to CSV file").arg(msgName(model->msg_id)),
+  QString dir = QString("%1/%2_%3.csv").arg(settings.last_dir).arg(QString::fromStdString(can->routeName())).arg(QString::fromStdString(msgName(model->msg_id)));
+  QString fn = QFileDialog::getSaveFileName(this, QString("Export %1 to CSV file").arg(QString::fromStdString(msgName(model->msg_id))),
                                             dir, tr("csv (*.csv)"));
   if (!fn.isEmpty()) {
     model->isHexMode() ? utils::exportToCSV(fn, model->msg_id)
diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc
index 1ea3733ed0f..39fb979c798 100644
--- a/tools/cabana/mainwin.cc
+++ b/tools/cabana/mainwin.cc
@@ -24,6 +24,8 @@
 #include "tools/cabana/streamselector.h"
 #include "tools/cabana/tools/findsignal.h"
 #include "tools/cabana/utils/export.h"
+#include "tools/replay/py_downloader.h"
+#include "tools/replay/util.h"
 
 MainWindow::MainWindow(AbstractStream *stream, const QString &dbc_file) : QMainWindow() {
   loadFingerprints();
@@ -232,7 +234,7 @@ void MainWindow::DBCFileChanged() {
 
   QStringList title;
   for (auto f : dbc()->allDBCFiles()) {
-    title.push_back(tr("(%1) %2").arg(toString(dbc()->sources(f)), f->name()));
+    title.push_back(tr("(%1) %2").arg(QString::fromStdString(toString(dbc()->sources(f))), QString::fromStdString(f->name())));
   }
   setWindowFilePath(title.join(" | "));
 
@@ -257,7 +259,7 @@ void MainWindow::closeStream() {
 }
 
 void MainWindow::exportToCSV() {
-  QString dir = QString("%1/%2.csv").arg(settings.last_dir).arg(can->routeName());
+  QString dir = QString("%1/%2.csv").arg(settings.last_dir).arg(QString::fromStdString(can->routeName()));
   QString fn = QFileDialog::getSaveFileName(this, "Export stream to CSV file", dir, tr("csv (*.csv)"));
   if (!fn.isEmpty()) {
     utils::exportToCSV(fn);
@@ -266,7 +268,7 @@ void MainWindow::exportToCSV() {
 
 void MainWindow::newFile(SourceSet s) {
   closeFile(s);
-  dbc()->open(s, "", "");
+  dbc()->open(s, std::string(""), std::string(""));
 }
 
 void MainWindow::openFile(SourceSet s) {
@@ -282,7 +284,7 @@ void MainWindow::loadFile(const QString &fn, SourceSet s) {
     closeFile(s);
 
     QString error;
-    if (dbc()->open(s, fn, &error)) {
+    if (dbc()->open(s, fn.toStdString(), &error)) {
       updateRecentFiles(fn);
       statusBar()->showMessage(tr("DBC File %1 loaded").arg(fn), 2000);
     } else {
@@ -302,7 +304,7 @@ void MainWindow::loadFromClipboard(SourceSet s, bool close_all) {
 
   QString dbc_str = QGuiApplication::clipboard()->text();
   QString error;
-  bool ret = dbc()->open(s, "", dbc_str, &error);
+  bool ret = dbc()->open(s, std::string(""), dbc_str.toStdString(), &error);
   if (ret && dbc()->nonEmptyDBCCount() > 0) {
     QMessageBox::information(this, tr("Load From Clipboard"), tr("DBC Successfully Loaded!"));
   } else {
@@ -331,7 +333,7 @@ void MainWindow::startStream(AbstractStream *stream, QString dbc_file) {
   can->start();
 
   loadFile(dbc_file);
-  statusBar()->showMessage(tr("Stream [%1] started").arg(can->routeName()), 2000);
+  statusBar()->showMessage(tr("Stream [%1] started").arg(QString::fromStdString(can->routeName())), 2000);
 
   bool has_stream = dynamic_cast<DummyStream *>(can) == nullptr;
   close_stream_act->setEnabled(has_stream);
@@ -339,7 +341,7 @@ void MainWindow::startStream(AbstractStream *stream, QString dbc_file) {
   tools_menu->setEnabled(has_stream);
   createDockWidgets();
 
-  video_dock->setWindowTitle(can->routeName());
+  video_dock->setWindowTitle(QString::fromStdString(can->routeName()));
   if (can->liveStreaming() || video_splitter->sizes()[0] == 0) {
     // display video at minimum size.
     video_splitter->setSizes({1, 1});
@@ -366,9 +368,9 @@ void MainWindow::startStream(AbstractStream *stream, QString dbc_file) {
 }
 
 void MainWindow::eventsMerged() {
-  if (!can->liveStreaming() && std::exchange(car_fingerprint, can->carFingerprint()) != car_fingerprint) {
+  if (!can->liveStreaming() && std::exchange(car_fingerprint, QString::fromStdString(can->carFingerprint())) != car_fingerprint) {
     video_dock->setWindowTitle(tr("ROUTE: %1  FINGERPRINT: %2")
-                                    .arg(can->routeName())
+                                    .arg(QString::fromStdString(can->routeName()))
                                     .arg(car_fingerprint.isEmpty() ? tr("Unknown Car") : car_fingerprint));
     // Don't overwrite already loaded DBC
     if (!dbc()->nonEmptyDBCCount() && fingerprint_to_dbc.object().contains(car_fingerprint)) {
@@ -414,7 +416,7 @@ void MainWindow::closeFile(DBCFile *dbc_file) {
 
 void MainWindow::saveFile(DBCFile *dbc_file) {
   assert(dbc_file != nullptr);
-  if (!dbc_file->filename.isEmpty()) {
+  if (!dbc_file->filename.empty()) {
     dbc_file->save();
     UndoStack::instance()->setClean();
     statusBar()->showMessage(tr("File saved"), 2000);
@@ -424,10 +426,10 @@ void MainWindow::saveFile(DBCFile *dbc_file) {
 }
 
 void MainWindow::saveFileAs(DBCFile *dbc_file) {
-  QString title = tr("Save File (bus: %1)").arg(toString(dbc()->sources(dbc_file)));
+  QString title = tr("Save File (bus: %1)").arg(QString::fromStdString(toString(dbc()->sources(dbc_file))));
   QString fn = QFileDialog::getSaveFileName(this, title, QDir::cleanPath(settings.last_dir + "/untitled.dbc"), tr("DBC (*.dbc)"));
   if (!fn.isEmpty()) {
-    dbc_file->saveAs(fn);
+    dbc_file->saveAs(fn.toStdString());
     UndoStack::instance()->setClean();
     statusBar()->showMessage(tr("File saved as %1").arg(fn), 2000);
     updateRecentFiles(fn);
@@ -444,7 +446,7 @@ void MainWindow::saveToClipboard() {
 
 void MainWindow::saveFileToClipboard(DBCFile *dbc_file) {
   assert(dbc_file != nullptr);
-  QGuiApplication::clipboard()->setText(dbc_file->generateDBC());
+  QGuiApplication::clipboard()->setText(QString::fromStdString(dbc_file->generateDBC()));
   QMessageBox::information(this, tr("Copy To Clipboard"), tr("DBC Successfully copied!"));
 }
 
@@ -465,14 +467,14 @@ void MainWindow::updateLoadSaveMenus() {
     auto dbc_file = dbc()->findDBCFile(source);
     if (dbc_file) {
       bus_menu->addSeparator();
-      bus_menu->addAction(dbc_file->name() + " (" + toString(dbc()->sources(dbc_file)) + ")")->setEnabled(false);
+      bus_menu->addAction(QString::fromStdString(dbc_file->name()) + " (" + QString::fromStdString(toString(dbc()->sources(dbc_file))) + ")")->setEnabled(false);
       bus_menu->addAction(tr("Save..."), [=]() { saveFile(dbc_file); });
       bus_menu->addAction(tr("Save As..."), [=]() { saveFileAs(dbc_file); });
       bus_menu->addAction(tr("Copy to Clipboard..."), [=]() { saveFileToClipboard(dbc_file); });
       bus_menu->addAction(tr("Remove from this bus..."), [=]() { closeFile(ss); });
       bus_menu->addAction(tr("Remove from all buses..."), [=]() { closeFile(dbc_file); });
     }
-    bus_menu->setTitle(tr("Bus %1 (%2)").arg(source).arg(dbc_file ? dbc_file->name() : "No DBCs loaded"));
+    bus_menu->setTitle(tr("Bus %1 (%2)").arg(source).arg(dbc_file ? QString::fromStdString(dbc_file->name()) : "No DBCs loaded"));
 
     manage_dbcs_menu->addMenu(bus_menu);
   }
@@ -625,7 +627,7 @@ void MainWindow::saveSessionState() {
   settings.active_charts.clear();
 
   for (auto &f : dbc()->allDBCFiles())
-    if (!f->isEmpty()) { settings.recent_dbc_file = f->filename; break; }
+    if (!f->isEmpty()) { settings.recent_dbc_file = QString::fromStdString(f->filename); break; }
 
   if (auto *detail = center_widget->getDetailWidget()) {
     auto [active_id, ids] = detail->serializeMessageIds();
@@ -641,7 +643,7 @@ void MainWindow::restoreSessionState() {
 
   QString dbc_file;
   for (auto& f : dbc()->allDBCFiles())
-    if (!f->isEmpty()) { dbc_file = f->filename; break; }
+    if (!f->isEmpty()) { dbc_file = QString::fromStdString(f->filename); break; }
   if (dbc_file != settings.recent_dbc_file) return;
 
   if (!settings.selected_msg_ids.isEmpty())
diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc
index ed9aeaf3114..ec8c82dd98f 100644
--- a/tools/cabana/messageswidget.cc
+++ b/tools/cabana/messageswidget.cc
@@ -205,7 +205,7 @@ QVariant MessageListModel::data(const QModelIndex &index, int role) const {
   } else if (role == Qt::ToolTipRole && index.column() == Column::NAME) {
     auto msg = dbc()->msg(item.id);
     auto tooltip = item.name;
-    if (msg && !msg->comment.isEmpty()) tooltip += "<br /><span style=\"color:gray;\">" + msg->comment + "</span>";
+    if (msg && !msg->comment.empty()) tooltip += "<br /><span style=\"color:gray;\">" + QString::fromStdString(msg->comment) + "</span>";
     return tooltip;
   }
   return {};
@@ -277,7 +277,7 @@ bool MessageListModel::match(const MessageListModel::Item &item) {
         if (!match) {
           const auto m = dbc()->msg(item.id);
           match = m && std::any_of(m->sigs.cbegin(), m->sigs.cend(),
-                                   [&txt](const auto &s) { return s->name.contains(txt, Qt::CaseInsensitive); });
+                                   [&txt](const auto &s) { return QString::fromStdString(s->name).contains(txt, Qt::CaseInsensitive); });
         }
         break;
       }
@@ -323,8 +323,8 @@ bool MessageListModel::filterAndSort() {
     if (show_inactive_messages || can->isMessageActive(id)) {
       auto msg = dbc()->msg(id);
       Item item = {.id = id,
-                  .name = msg ? msg->name : UNTITLED,
-                  .node = msg ? msg->transmitter : QString()};
+                  .name = msg ? QString::fromStdString(msg->name) : QString::fromStdString(UNTITLED),
+                  .node = msg ? QString::fromStdString(msg->transmitter) : QString()};
       if (match(item))
         items.emplace_back(item);
     }
diff --git a/tools/cabana/signalview.cc b/tools/cabana/signalview.cc
index 0a0c07a155a..15baabe512a 100644
--- a/tools/cabana/signalview.cc
+++ b/tools/cabana/signalview.cc
@@ -1,6 +1,7 @@
 #include "tools/cabana/signalview.h"
 
 #include <algorithm>
+#include <future>
 
 #include <QCompleter>
 #include <QDialogButtonBox>
@@ -11,7 +12,6 @@
 #include <QPainterPath>
 #include <QPushButton>
 #include <QScrollBar>
-#include <QtConcurrent>
 #include <QVBoxLayout>
 
 #include "tools/cabana/commands.h"
@@ -34,12 +34,12 @@ SignalModel::SignalModel(QObject *parent) : root(new Item), QAbstractItemModel(p
 }
 
 void SignalModel::insertItem(SignalModel::Item *root_item, int pos, const cabana::Signal *sig) {
-  Item *parent_item = new Item{.sig = sig, .parent = root_item, .title = sig->name, .type = Item::Sig};
-  root_item->children.insert(pos, parent_item);
+  Item *parent_item = new Item{.type = Item::Sig, .parent = root_item, .sig = sig, .title = QString::fromStdString(sig->name)};
+  root_item->children.insert(root_item->children.begin() + pos, parent_item);
   QString titles[]{"Name", "Size", "Receiver Nodes", "Little Endian", "Signed", "Offset", "Factor", "Type",
                    "Multiplex Value", "Extra Info", "Unit", "Comment", "Minimum Value", "Maximum Value", "Value Table"};
   for (int i = 0; i < std::size(titles); ++i) {
-    auto item = new Item{.sig = sig, .parent = parent_item, .title = titles[i], .type = (Item::Type)(i + Item::Name)};
+    auto item = new Item{.type = (Item::Type)(i + Item::Name), .parent = parent_item, .sig = sig, .title = titles[i]};
     parent_item->children.push_back(item);
     if (item->type == Item::ExtraInfo) {
       parent_item = item;
@@ -63,7 +63,7 @@ void SignalModel::refresh() {
   root.reset(new SignalModel::Item);
   if (auto msg = dbc()->msg(msg_id)) {
     for (auto s : msg->getSignals()) {
-      if (filter_str.isEmpty() || s->name.contains(filter_str, Qt::CaseInsensitive)) {
+      if (filter_str.isEmpty() || QString::fromStdString(s->name).contains(filter_str, Qt::CaseInsensitive)) {
         insertItem(root.get(), root->children.size(), s);
       }
     }
@@ -124,25 +124,25 @@ QVariant SignalModel::data(const QModelIndex &index, int role) const {
     const Item *item = getItem(index);
     if (role == Qt::DisplayRole || role == Qt::EditRole) {
       if (index.column() == 0) {
-        return item->type == Item::Sig ? item->sig->name : item->title;
+        return item->type == Item::Sig ? QString::fromStdString(item->sig->name) : item->title;
       } else {
         switch (item->type) {
           case Item::Sig: return item->sig_val;
-          case Item::Name: return item->sig->name;
+          case Item::Name: return QString::fromStdString(item->sig->name);
           case Item::Size: return item->sig->size;
-          case Item::Node: return item->sig->receiver_name;
+          case Item::Node: return QString::fromStdString(item->sig->receiver_name);
           case Item::SignalType: return signalTypeToString(item->sig->type);
           case Item::MultiplexValue: return item->sig->multiplex_value;
-          case Item::Offset: return doubleToString(item->sig->offset);
-          case Item::Factor: return doubleToString(item->sig->factor);
-          case Item::Unit: return item->sig->unit;
-          case Item::Comment: return item->sig->comment;
-          case Item::Min: return doubleToString(item->sig->min);
-          case Item::Max: return doubleToString(item->sig->max);
+          case Item::Offset: return QString::fromStdString(doubleToString(item->sig->offset));
+          case Item::Factor: return QString::fromStdString(doubleToString(item->sig->factor));
+          case Item::Unit: return QString::fromStdString(item->sig->unit);
+          case Item::Comment: return QString::fromStdString(item->sig->comment);
+          case Item::Min: return QString::fromStdString(doubleToString(item->sig->min));
+          case Item::Max: return QString::fromStdString(doubleToString(item->sig->max));
           case Item::Desc: {
             QStringList val_desc;
             for (auto &[val, desc] : item->sig->val_desc) {
-              val_desc << QString("%1 \"%2\"").arg(val).arg(desc);
+              val_desc << QString("%1 \"%2\"").arg(val).arg(QString::fromStdString(desc));
             }
             return val_desc.join(" ");
           }
@@ -165,17 +165,17 @@ bool SignalModel::setData(const QModelIndex &index, const QVariant &value, int r
   Item *item = getItem(index);
   cabana::Signal s = *item->sig;
   switch (item->type) {
-    case Item::Name: s.name = value.toString(); break;
+    case Item::Name: s.name = value.toString().toStdString(); break;
     case Item::Size: s.size = value.toInt(); break;
-    case Item::Node: s.receiver_name = value.toString().trimmed(); break;
+    case Item::Node: s.receiver_name = value.toString().trimmed().toStdString(); break;
     case Item::SignalType: s.type = (cabana::Signal::Type)value.toInt(); break;
     case Item::MultiplexValue: s.multiplex_value = value.toInt(); break;
     case Item::Endian: s.is_little_endian = value.toBool(); break;
     case Item::Signed: s.is_signed = value.toBool(); break;
     case Item::Offset: s.offset = value.toDouble(); break;
     case Item::Factor: s.factor = value.toDouble(); break;
-    case Item::Unit: s.unit = value.toString(); break;
-    case Item::Comment: s.comment = value.toString(); break;
+    case Item::Unit: s.unit = value.toString().toStdString(); break;
+    case Item::Comment: s.comment = value.toString().toStdString(); break;
     case Item::Min: s.min = value.toDouble(); break;
     case Item::Max: s.max = value.toDouble(); break;
     case Item::Desc: s.val_desc = value.value<ValueDescription>(); break;
@@ -189,7 +189,7 @@ bool SignalModel::setData(const QModelIndex &index, const QVariant &value, int r
 bool SignalModel::saveSignal(const cabana::Signal *origin_s, cabana::Signal &s) {
   auto msg = dbc()->msg(msg_id);
   if (s.name != origin_s->name && msg->sig(s.name) != nullptr) {
-    QString text = tr("There is already a signal with the same name '%1'").arg(s.name);
+    QString text = tr("There is already a signal with the same name '%1'").arg(QString::fromStdString(s.name));
     QMessageBox::warning(nullptr, tr("Failed to save signal"), text);
     return false;
   }
@@ -214,7 +214,7 @@ void SignalModel::handleSignalAdded(MessageId id, const cabana::Signal *sig) {
       beginInsertRows({}, i, i);
       insertItem(root.get(), i, sig);
       endInsertRows();
-    } else if (sig->name.contains(filter_str, Qt::CaseInsensitive)) {
+    } else if (QString::fromStdString(sig->name).contains(filter_str, Qt::CaseInsensitive)) {
       refresh();
     }
   }
@@ -229,7 +229,9 @@ void SignalModel::handleSignalUpdated(const cabana::Signal *sig) {
       int to = dbc()->msg(msg_id)->indexOf(sig);
       if (to != row) {
         beginMoveRows({}, row, row, {}, to > row ? to + 1 : to);
-        root->children.move(row, to);
+        auto item = root->children[row];
+        root->children.erase(root->children.begin() + row);
+        root->children.insert(root->children.begin() + to, item);
         endMoveRows();
       }
     }
@@ -239,7 +241,8 @@ void SignalModel::handleSignalUpdated(const cabana::Signal *sig) {
 void SignalModel::handleSignalRemoved(const cabana::Signal *sig) {
   if (int row = signalRow(sig); row != -1) {
     beginRemoveRows({}, row, row);
-    delete root->children.takeAt(row);
+    delete root->children[row];
+    root->children.erase(root->children.begin() + row);
     endRemoveRows();
   }
 }
@@ -373,7 +376,10 @@ QWidget *SignalItemDelegate::createEditor(QWidget *parent, const QStyleOptionVie
     else e->setValidator(double_validator);
 
     if (item->type == SignalModel::Item::Name) {
-      QCompleter *completer = new QCompleter(dbc()->signalNames(), e);
+      auto names = dbc()->signalNames();
+      QStringList qnames;
+      for (const auto &n : names) qnames.push_back(QString::fromStdString(n));
+      QCompleter *completer = new QCompleter(qnames, e);
       completer->setCaseSensitivity(Qt::CaseInsensitive);
       completer->setFilterMode(Qt::MatchContains);
       e->setCompleter(completer);
@@ -395,7 +401,7 @@ QWidget *SignalItemDelegate::createEditor(QWidget *parent, const QStyleOptionVie
     return c;
   } else if (item->type == SignalModel::Item::Desc) {
     ValueDescriptionDlg dlg(item->sig->val_desc, parent);
-    dlg.setWindowTitle(item->sig->name);
+    dlg.setWindowTitle(QString::fromStdString(item->sig->name));
     if (dlg.exec()) {
       ((QAbstractItemModel *)index.model())->setData(index, QVariant::fromValue(dlg.val_desc));
     }
@@ -621,7 +627,7 @@ void SignalView::updateState(const std::set<MessageId> *msgs) {
   for (auto item : model->root->children) {
     double value = 0;
     if (item->sig->getValue(last_msg.dat.data(), last_msg.dat.size(), &value)) {
-      item->sig_val = item->sig->formatValue(value);
+      item->sig_val = QString::fromStdString(item->sig->formatValue(value));
       max_value_width = std::max(max_value_width, fontMetrics().horizontalAdvance(item->sig_val));
     }
   }
@@ -635,13 +641,13 @@ void SignalView::updateState(const std::set<MessageId> *msgs) {
                delegate->button_size.height() - style()->pixelMetric(QStyle::PM_FocusFrameVMargin) * 2);
 
     auto [first, last] = can->eventsInRange(model->msg_id, std::make_pair(last_msg.ts -settings.sparkline_range, last_msg.ts));
-    QFutureSynchronizer<void> synchronizer;
+    std::vector<std::future<void>> futures;
     for (int i = first_visible.row(); i <= last_visible.row(); ++i) {
       auto item = model->getItem(model->index(i, 1));
-      synchronizer.addFuture(QtConcurrent::run(
-          &item->sparkline, &Sparkline::update, item->sig, first, last, settings.sparkline_range, size));
+      futures.push_back(std::async(std::launch::async,
+          &Sparkline::update, &item->sparkline, item->sig, first, last, settings.sparkline_range, size));
     }
-    synchronizer.waitForFinished();
+    for (auto &f : futures) f.get();
   }
 
   for (int i = 0; i < model->rowCount(); ++i) {
@@ -677,7 +683,7 @@ ValueDescriptionDlg::ValueDescriptionDlg(const ValueDescription &descriptions, Q
   int row = 0;
   for (auto &[val, desc] : descriptions) {
     table->setItem(row, 0, new QTableWidgetItem(QString::number(val)));
-    table->setItem(row, 1, new QTableWidgetItem(desc));
+    table->setItem(row, 1, new QTableWidgetItem(QString::fromStdString(desc)));
     ++row;
   }
 
@@ -706,7 +712,7 @@ void ValueDescriptionDlg::save() {
     QString val = table->item(i, 0)->text().trimmed();
     QString desc = table->item(i, 1)->text().trimmed();
     if (!val.isEmpty() && !desc.isEmpty()) {
-      val_desc.push_back({val.toDouble(), desc});
+      val_desc.push_back({val.toDouble(), desc.toStdString()});
     }
   }
   QDialog::accept();
diff --git a/tools/cabana/signalview.h b/tools/cabana/signalview.h
index 4e746ea105b..42db830df7f 100644
--- a/tools/cabana/signalview.h
+++ b/tools/cabana/signalview.h
@@ -20,12 +20,15 @@ class SignalModel : public QAbstractItemModel {
 public:
   struct Item {
     enum Type {Root, Sig, Name, Size, Node, Endian, Signed, Offset, Factor, SignalType, MultiplexValue, ExtraInfo, Unit, Comment, Min, Max, Desc };
-    ~Item() { qDeleteAll(children); }
-    inline int row() { return parent->children.indexOf(this); }
+    ~Item() { for (auto c : children) delete c; }
+    inline int row() {
+      auto it = std::find(parent->children.begin(), parent->children.end(), this);
+      return it != parent->children.end() ? std::distance(parent->children.begin(), it) : -1;
+    }
 
     Type type = Type::Root;
     Item *parent = nullptr;
-    QList<Item *> children;
+    std::vector<Item *> children;
 
     const cabana::Signal *sig = nullptr;
     QString title;
diff --git a/tools/cabana/streams/abstractstream.h b/tools/cabana/streams/abstractstream.h
index f35b19d34f7..7d66a420dc8 100644
--- a/tools/cabana/streams/abstractstream.h
+++ b/tools/cabana/streams/abstractstream.h
@@ -65,8 +65,8 @@ class AbstractStream : public QObject {
   virtual void start() = 0;
   virtual bool liveStreaming() const { return true; }
   virtual void seekTo(double ts) {}
-  virtual QString routeName() const = 0;
-  virtual QString carFingerprint() const { return ""; }
+  virtual std::string routeName() const = 0;
+  virtual std::string carFingerprint() const { return ""; }
   virtual QDateTime beginDateTime() const { return {}; }
   virtual uint64_t beginMonoTime() const { return 0; }
   virtual double minSeconds() const { return 0; }
@@ -149,7 +149,7 @@ class DummyStream : public AbstractStream {
   Q_OBJECT
 public:
   DummyStream(QObject *parent) : AbstractStream(parent) {}
-  QString routeName() const override { return tr("No Stream"); }
+  std::string routeName() const override { return "No Stream"; }
   void start() override {}
 };
 
diff --git a/tools/cabana/streams/devicestream.cc b/tools/cabana/streams/devicestream.cc
index 462dd7a3614..20eaa70cd6b 100644
--- a/tools/cabana/streams/devicestream.cc
+++ b/tools/cabana/streams/devicestream.cc
@@ -6,7 +6,9 @@
 #include "cereal/services.h"
 
 #include <QButtonGroup>
+#include <QFileInfo>
 #include <QFormLayout>
+#include <QMessageBox>
 #include <QRadioButton>
 #include <QRegularExpression>
 #include <QRegularExpressionValidator>
@@ -17,12 +19,37 @@
 DeviceStream::DeviceStream(QObject *parent, QString address) : zmq_address(address), LiveStream(parent) {
 }
 
+DeviceStream::~DeviceStream() {
+  if (!bridge_process)
+    return;
+
+  bridge_process->terminate();
+  if (!bridge_process->waitForFinished(3000)) {
+    bridge_process->kill();
+    bridge_process->waitForFinished();
+  }
+}
+
+void DeviceStream::start() {
+  if (!zmq_address.isEmpty()) {
+    bridge_process = new QProcess(this);
+    QString bridge_path = QCoreApplication::applicationDirPath() + "/../../cereal/messaging/bridge";
+    bridge_process->start(QFileInfo(bridge_path).absoluteFilePath(), QStringList { zmq_address, "/\"can/\"" });
+
+    if (!bridge_process->waitForStarted()) {
+      QMessageBox::warning(nullptr, tr("Error"), tr("Failed to start bridge: %1").arg(bridge_process->errorString()));
+      return;
+    }
+  }
+
+  LiveStream::start();
+}
+
 void DeviceStream::streamThread() {
   zmq_address.isEmpty() ? unsetenv("ZMQ") : setenv("ZMQ", "1", 1);
 
   std::unique_ptr<Context> context(Context::create());
-  std::string address = zmq_address.isEmpty() ? "127.0.0.1" : zmq_address.toStdString();
-  std::unique_ptr<SubSocket> sock(SubSocket::create(context.get(), "can", address, false, true, services.at("can").queue_size));
+  std::unique_ptr<SubSocket> sock(SubSocket::create(context.get(), "can", "127.0.0.1", false, true, services.at("can").queue_size));
   assert(sock != NULL);
   // run as fast as messages come in
   while (!QThread::currentThread()->isInterruptionRequested()) {
diff --git a/tools/cabana/streams/devicestream.h b/tools/cabana/streams/devicestream.h
index 3bdf2249986..4bcdb5351d0 100644
--- a/tools/cabana/streams/devicestream.h
+++ b/tools/cabana/streams/devicestream.h
@@ -2,16 +2,21 @@
 
 #include "tools/cabana/streams/livestream.h"
 
+#include <QProcess>
+
 class DeviceStream : public LiveStream {
   Q_OBJECT
 public:
   DeviceStream(QObject *parent, QString address = {});
-  inline QString routeName() const override {
-    return QString("Live Streaming From %1").arg(zmq_address.isEmpty() ? "127.0.0.1" : zmq_address);
+  ~DeviceStream();
+  inline std::string routeName() const override {
+    return "Live Streaming From " + (zmq_address.isEmpty() ? std::string("127.0.0.1") : zmq_address.toStdString());
   }
 
 protected:
+  void start() override;
   void streamThread() override;
+  QProcess *bridge_process = nullptr;
   const QString zmq_address;
 };
 
diff --git a/tools/cabana/streams/pandastream.cc b/tools/cabana/streams/pandastream.cc
index a2430c665f1..3692f71a11c 100644
--- a/tools/cabana/streams/pandastream.cc
+++ b/tools/cabana/streams/pandastream.cc
@@ -16,8 +16,8 @@ PandaStream::PandaStream(QObject *parent, PandaStreamConfig config_) : config(co
 
 bool PandaStream::connect() {
   try {
-    qDebug() << "Connecting to panda " << config.serial;
-    panda.reset(new Panda(config.serial.toStdString()));
+    qDebug() << "Connecting to panda " << config.serial.c_str();
+    panda.reset(new Panda(config.serial));
     config.bus_config.resize(3);
     qDebug() << "Connected";
   } catch (const std::exception& e) {
@@ -81,7 +81,7 @@ void PandaStream::streamThread() {
 OpenPandaWidget::OpenPandaWidget(QWidget *parent) : AbstractOpenStreamWidget(parent) {
   form_layout = new QFormLayout(this);
   if (can && dynamic_cast<PandaStream *>(can) != nullptr) {
-    form_layout->addWidget(new QLabel(tr("Already connected to %1.").arg(can->routeName())));
+    form_layout->addWidget(new QLabel(tr("Already connected to %1.").arg(QString::fromStdString(can->routeName()))));
     form_layout->addWidget(new QLabel("Close the current connection via [File menu -> Close Stream] before connecting to another Panda."));
     QTimer::singleShot(0, [this]() { emit enableOpenButton(false); });
     return;
@@ -129,7 +129,7 @@ void OpenPandaWidget::buildConfigForm() {
   }
 
   if (has_panda) {
-    config.serial = serial;
+    config.serial = serial.toStdString();
     config.bus_config.resize(3);
     for (int i = 0; i < config.bus_config.size(); i++) {
       QHBoxLayout *bus_layout = new QHBoxLayout;
diff --git a/tools/cabana/streams/pandastream.h b/tools/cabana/streams/pandastream.h
index e17ad887fc3..f8847f65e5e 100644
--- a/tools/cabana/streams/pandastream.h
+++ b/tools/cabana/streams/pandastream.h
@@ -19,7 +19,7 @@ struct BusConfig {
 };
 
 struct PandaStreamConfig {
-  QString serial = "";
+  std::string serial = "";
   std::vector<BusConfig> bus_config;
 };
 
@@ -28,8 +28,8 @@ class PandaStream : public LiveStream {
 public:
   PandaStream(QObject *parent, PandaStreamConfig config_ = {});
   ~PandaStream() { stop(); }
-  inline QString routeName() const override {
-    return QString("Panda: %1").arg(config.serial);
+  inline std::string routeName() const override {
+    return "Panda: " + config.serial;
   }
 
 protected:
diff --git a/tools/cabana/streams/replaystream.cc b/tools/cabana/streams/replaystream.cc
index b8cf1be2992..f42bf2601ca 100644
--- a/tools/cabana/streams/replaystream.cc
+++ b/tools/cabana/streams/replaystream.cc
@@ -46,9 +46,9 @@ void ReplayStream::mergeSegments() {
   }
 }
 
-bool ReplayStream::loadRoute(const QString &route, const QString &data_dir, uint32_t replay_flags, bool auto_source) {
-  replay.reset(new Replay(route.toStdString(), {"can", "roadEncodeIdx", "driverEncodeIdx", "wideRoadEncodeIdx", "carParams"},
-                          {}, nullptr, replay_flags, data_dir.toStdString(), auto_source));
+bool ReplayStream::loadRoute(const std::string &route, const std::string &data_dir, uint32_t replay_flags, bool auto_source) {
+  replay.reset(new Replay(route, {"can", "roadEncodeIdx", "driverEncodeIdx", "wideRoadEncodeIdx", "carParams"},
+                          {}, nullptr, replay_flags, data_dir, auto_source));
   replay->setSegmentCacheLimit(settings.max_cached_minutes);
   replay->installEventFilter([this](const Event *event) { return eventFilter(event); });
 
@@ -72,17 +72,17 @@ bool ReplayStream::loadRoute(const QString &route, const QString &data_dir, uint
                   "This will grant access to routes from your comma account.";
       } else {
         message = tr("Access Denied. You do not have permission to access route:\n\n%1\n\n"
-                     "This is likely a private route.").arg(route);
+                     "This is likely a private route.").arg(QString::fromStdString(route));
       }
       QMessageBox::warning(nullptr, tr("Access Denied"), message);
     } else if (replay->lastRouteError() == RouteLoadError::NetworkError) {
       QMessageBox::warning(nullptr, tr("Network Error"),
-                          tr("Unable to load the route:\n\n %1.\n\nPlease check your network connection and try again.").arg(route));
+                          tr("Unable to load the route:\n\n %1.\n\nPlease check your network connection and try again.").arg(QString::fromStdString(route)));
     } else if (replay->lastRouteError() == RouteLoadError::FileNotFound) {
       QMessageBox::warning(nullptr, tr("Route Not Found"),
-                           tr("The specified route could not be found:\n\n %1.\n\nPlease check the route name and try again.").arg(route));
+                           tr("The specified route could not be found:\n\n %1.\n\nPlease check the route name and try again.").arg(QString::fromStdString(route)));
     } else {
-      QMessageBox::warning(nullptr, tr("Route Load Failed"), tr("Failed to load route: '%1'").arg(route));
+      QMessageBox::warning(nullptr, tr("Route Load Failed"), tr("Failed to load route: '%1'").arg(QString::fromStdString(route)));
     }
   }
   return success;
@@ -168,7 +168,7 @@ AbstractStream *OpenReplayWidget::open() {
     if (cameras[2]->isChecked()) flags |= REPLAY_FLAG_ECAM;
     if (flags == REPLAY_FLAG_NONE && !cameras[0]->isChecked()) flags = REPLAY_FLAG_NO_VIPC;
 
-    if (replay_stream->loadRoute(route, data_dir, flags)) {
+    if (replay_stream->loadRoute(route.toStdString(), data_dir.toStdString(), flags)) {
       return replay_stream.release();
     }
   }
diff --git a/tools/cabana/streams/replaystream.h b/tools/cabana/streams/replaystream.h
index d429ed1f951..40f8ec8cfbd 100644
--- a/tools/cabana/streams/replaystream.h
+++ b/tools/cabana/streams/replaystream.h
@@ -18,12 +18,12 @@ class ReplayStream : public AbstractStream {
 public:
   ReplayStream(QObject *parent);
   void start() override { replay->start(); }
-  bool loadRoute(const QString &route, const QString &data_dir, uint32_t replay_flags = REPLAY_FLAG_NONE, bool auto_source = false);
+  bool loadRoute(const std::string &route, const std::string &data_dir, uint32_t replay_flags = REPLAY_FLAG_NONE, bool auto_source = false);
   bool eventFilter(const Event *event);
   void seekTo(double ts) override { replay->seekTo(std::max(double(0), ts), false); }
   bool liveStreaming() const override { return false; }
-  inline QString routeName() const override { return QString::fromStdString(replay->route().name()); }
-  inline QString carFingerprint() const override { return replay->carFingerprint().c_str(); }
+  inline std::string routeName() const override { return replay->route().name(); }
+  inline std::string carFingerprint() const override { return replay->carFingerprint(); }
   double minSeconds() const override { return replay->minSeconds(); }
   double maxSeconds() const { return replay->maxSeconds(); }
   inline QDateTime beginDateTime() const { return QDateTime::fromSecsSinceEpoch(replay->routeDateTime()); }
diff --git a/tools/cabana/streams/routes.cc b/tools/cabana/streams/routes.cc
index 5915c98065d..1e69a45cea9 100644
--- a/tools/cabana/streams/routes.cc
+++ b/tools/cabana/streams/routes.cc
@@ -1,27 +1,33 @@
 #include "tools/cabana/streams/routes.h"
 
+#include <QApplication>
 #include <QDateTime>
 #include <QDialogButtonBox>
 #include <QFormLayout>
 #include <QJsonArray>
 #include <QJsonDocument>
+#include <QJsonObject>
 #include <QListWidget>
 #include <QMessageBox>
 #include <QPainter>
+#include <QPointer>
+#include <thread>
 
-class OneShotHttpRequest : public HttpRequest {
-public:
-  OneShotHttpRequest(QObject *parent) : HttpRequest(parent, false) {}
-  void send(const QString &url) {
-    if (reply) {
-      reply->disconnect();
-      reply->abort();
-      reply->deleteLater();
-      reply = nullptr;
-    }
-    sendRequest(url);
+#include "tools/replay/py_downloader.h"
+
+namespace {
+
+// Parse a PyDownloader JSON response into (success, error_code).
+std::pair<bool, int> checkApiResponse(const std::string &result) {
+  if (result.empty()) return {false, 500};
+  auto doc = QJsonDocument::fromJson(QByteArray::fromStdString(result));
+  if (doc.isObject() && doc.object().contains("error")) {
+    return {false, doc.object()["error"].toString() == "unauthorized" ? 401 : 500};
   }
-};
+  return {true, 0};
+}
+
+}  // namespace
 
 // The RouteListWidget class extends QListWidget to display a custom message when empty
 class RouteListWidget : public QListWidget {
@@ -41,7 +47,7 @@ class RouteListWidget : public QListWidget {
   QString empty_text_ = tr("No items");
 };
 
-RoutesDialog::RoutesDialog(QWidget *parent) : QDialog(parent), route_requester_(new OneShotHttpRequest(this)) {
+RoutesDialog::RoutesDialog(QWidget *parent) : QDialog(parent) {
   setWindowTitle(tr("Remote routes"));
 
   QFormLayout *layout = new QFormLayout(this);
@@ -52,41 +58,39 @@ RoutesDialog::RoutesDialog(QWidget *parent) : QDialog(parent), route_requester_(
   layout->addRow(button_box);
 
   device_list_->addItem(tr("Loading..."));
-  // Populate period selector with predefined durations
   period_selector_->addItem(tr("Last week"), 7);
   period_selector_->addItem(tr("Last 2 weeks"), 14);
   period_selector_->addItem(tr("Last month"), 30);
   period_selector_->addItem(tr("Last 6 months"), 180);
   period_selector_->addItem(tr("Preserved"), -1);
 
-  // Connect signals and slots
-  QObject::connect(route_requester_, &HttpRequest::requestDone, this, &RoutesDialog::parseRouteList);
   connect(device_list_, QOverload<int>::of(&QComboBox::currentIndexChanged), this, &RoutesDialog::fetchRoutes);
   connect(period_selector_, QOverload<int>::of(&QComboBox::currentIndexChanged), this, &RoutesDialog::fetchRoutes);
   connect(route_list_, &QListWidget::itemDoubleClicked, this, &QDialog::accept);
-  QObject::connect(button_box, &QDialogButtonBox::accepted, this, &QDialog::accept);
-  QObject::connect(button_box, &QDialogButtonBox::rejected, this, &QDialog::reject);
+  connect(button_box, &QDialogButtonBox::accepted, this, &QDialog::accept);
+  connect(button_box, &QDialogButtonBox::rejected, this, &QDialog::reject);
 
-  // Send request to fetch devices
-  HttpRequest *http = new HttpRequest(this, false);
-  QObject::connect(http, &HttpRequest::requestDone, this, &RoutesDialog::parseDeviceList);
-  http->sendRequest(CommaApi::BASE_URL + "/v1/me/devices/");
+  // Fetch devices
+  QPointer<RoutesDialog> self = this;
+  std::thread([self]() {
+    std::string result = PyDownloader::getDevices();
+    QMetaObject::invokeMethod(qApp, [self, r = QString::fromStdString(result), response = checkApiResponse(result)]() {
+      if (self) self->parseDeviceList(r, response.first, response.second);
+    }, Qt::QueuedConnection);
+  }).detach();
 }
 
-void RoutesDialog::parseDeviceList(const QString &json, bool success, QNetworkReply::NetworkError err) {
+void RoutesDialog::parseDeviceList(const QString &json, bool success, int error_code) {
   if (success) {
     device_list_->clear();
-    auto devices = QJsonDocument::fromJson(json.toUtf8()).array();
-    for (const QJsonValue &device : devices) {
+    for (const QJsonValue &device : QJsonDocument::fromJson(json.toUtf8()).array()) {
       QString dongle_id = device["dongle_id"].toString();
       device_list_->addItem(dongle_id, dongle_id);
     }
   } else {
-    bool unauthorized = (err == QNetworkReply::ContentAccessDenied || err == QNetworkReply::AuthenticationRequiredError);
-    QMessageBox::warning(this, tr("Error"), unauthorized ? tr("Unauthorized, Authenticate with tools/lib/auth.py") : tr("Network error"));
+    QMessageBox::warning(this, tr("Error"), error_code == 401 ? tr("Unauthorized. Authenticate with tools/lib/auth.py") : tr("Network error"));
     reject();
   }
-  sender()->deleteLater();
 }
 
 void RoutesDialog::fetchRoutes() {
@@ -95,21 +99,30 @@ void RoutesDialog::fetchRoutes() {
 
   route_list_->clear();
   route_list_->setEmptyText(tr("Loading..."));
-  // Construct URL with selected device and date range
-  QString url = QString("%1/v1/devices/%2").arg(CommaApi::BASE_URL, device_list_->currentText());
+
+  std::string did = device_list_->currentText().toStdString();
   int period = period_selector_->currentData().toInt();
-  if (period == -1) {
-    url += "/routes/preserved";
-  } else {
+
+  bool preserved = (period == -1);
+  int64_t start_ms = 0, end_ms = 0;
+  if (!preserved) {
     QDateTime now = QDateTime::currentDateTime();
-    url += QString("/routes_segments?start=%1&end=%2")
-               .arg(now.addDays(-period).toMSecsSinceEpoch())
-               .arg(now.toMSecsSinceEpoch());
+    start_ms = now.addDays(-period).toMSecsSinceEpoch();
+    end_ms = now.toMSecsSinceEpoch();
   }
-  route_requester_->send(url);
+
+  int request_id = ++fetch_id_;
+  QPointer<RoutesDialog> self = this;
+  std::thread([self, did, start_ms, end_ms, preserved, request_id]() {
+    std::string result = PyDownloader::getDeviceRoutes(did, start_ms, end_ms, preserved);
+    if (!self || self->fetch_id_ != request_id) return;
+    QMetaObject::invokeMethod(qApp, [self, r = QString::fromStdString(result), response = checkApiResponse(result), request_id]() {
+      if (self && self->fetch_id_ == request_id) self->parseRouteList(r, response.first, response.second);
+    }, Qt::QueuedConnection);
+  }).detach();
 }
 
-void RoutesDialog::parseRouteList(const QString &json, bool success, QNetworkReply::NetworkError err) {
+void RoutesDialog::parseRouteList(const QString &json, bool success, int error_code) {
   if (success) {
     for (const QJsonValue &route : QJsonDocument::fromJson(json.toUtf8()).array()) {
       QDateTime from, to;
diff --git a/tools/cabana/streams/routes.h b/tools/cabana/streams/routes.h
index 045dc67220d..99fa67ef8c1 100644
--- a/tools/cabana/streams/routes.h
+++ b/tools/cabana/streams/routes.h
@@ -1,11 +1,10 @@
 #pragma once
 
+#include <atomic>
 #include <QComboBox>
 #include <QDialog>
-#include "tools/cabana/utils/api.h"
 
 class RouteListWidget;
-class OneShotHttpRequest;
 
 class RoutesDialog : public QDialog {
   Q_OBJECT
@@ -14,12 +13,12 @@ class RoutesDialog : public QDialog {
   QString route();
 
 protected:
-  void parseDeviceList(const QString &json, bool success, QNetworkReply::NetworkError err);
-  void parseRouteList(const QString &json, bool success, QNetworkReply::NetworkError err);
+  void parseDeviceList(const QString &json, bool success, int error_code);
+  void parseRouteList(const QString &json, bool success, int error_code);
   void fetchRoutes();
 
   QComboBox *device_list_;
   QComboBox *period_selector_;
   RouteListWidget *route_list_;
-  OneShotHttpRequest *route_requester_;
+  std::atomic<int> fetch_id_{0};
 };
diff --git a/tools/cabana/streams/socketcanstream.cc b/tools/cabana/streams/socketcanstream.cc
index e4801df9c05..768465d5a3c 100644
--- a/tools/cabana/streams/socketcanstream.cc
+++ b/tools/cabana/streams/socketcanstream.cc
@@ -1,6 +1,14 @@
 #include "tools/cabana/streams/socketcanstream.h"
 
+#include <linux/can.h>
+#include <linux/can/raw.h>
+#include <net/if.h>
+#include <sys/ioctl.h>
+#include <sys/socket.h>
+#include <unistd.h>
+
 #include <QDebug>
+#include <QDir>
 #include <QFormLayout>
 #include <QHBoxLayout>
 #include <QMessageBox>
@@ -9,59 +17,82 @@
 
 SocketCanStream::SocketCanStream(QObject *parent, SocketCanStreamConfig config_) : config(config_), LiveStream(parent) {
   if (!available()) {
-    throw std::runtime_error("SocketCAN plugin not available");
+    throw std::runtime_error("SocketCAN not available");
   }
 
-  qDebug() << "Connecting to SocketCAN device" << config.device;
+  qDebug() << "Connecting to SocketCAN device" << config.device.c_str();
   if (!connect()) {
     throw std::runtime_error("Failed to connect to SocketCAN device");
   }
 }
 
+SocketCanStream::~SocketCanStream() {
+  stop();
+  if (sock_fd >= 0) {
+    ::close(sock_fd);
+    sock_fd = -1;
+  }
+}
+
 bool SocketCanStream::available() {
-  return QCanBus::instance()->plugins().contains("socketcan");
+  int fd = socket(PF_CAN, SOCK_RAW, CAN_RAW);
+  if (fd < 0) return false;
+  ::close(fd);
+  return true;
 }
 
 bool SocketCanStream::connect() {
-  // Connecting might generate some warnings about missing socketcan/libsocketcan libraries
-  // These are expected and can be ignored, we don't need the advanced features of libsocketcan
-  QString errorString;
-  device.reset(QCanBus::instance()->createDevice("socketcan", config.device, &errorString));
-  device->setConfigurationParameter(QCanBusDevice::CanFdKey, true);
-
-  if (!device) {
-    qDebug() << "Failed to create SocketCAN device" << errorString;
+  sock_fd = socket(PF_CAN, SOCK_RAW, CAN_RAW);
+  if (sock_fd < 0) {
+    qDebug() << "Failed to create CAN socket";
+    return false;
+  }
+
+  // Enable CAN-FD
+  int fd_enable = 1;
+  setsockopt(sock_fd, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &fd_enable, sizeof(fd_enable));
+
+  struct ifreq ifr = {};
+  strncpy(ifr.ifr_name, config.device.c_str(), IFNAMSIZ - 1);
+  if (ioctl(sock_fd, SIOCGIFINDEX, &ifr) < 0) {
+    qDebug() << "Failed to get interface index for" << config.device.c_str();
+    ::close(sock_fd);
+    sock_fd = -1;
     return false;
   }
 
-  if (!device->connectDevice()) {
-    qDebug() << "Failed to connect to device";
+  struct sockaddr_can addr = {};
+  addr.can_family = AF_CAN;
+  addr.can_ifindex = ifr.ifr_ifindex;
+  if (bind(sock_fd, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
+    qDebug() << "Failed to bind CAN socket";
+    ::close(sock_fd);
+    sock_fd = -1;
     return false;
   }
 
+  // Set read timeout so the thread can check for interruption
+  struct timeval tv = {.tv_sec = 0, .tv_usec = 100000};  // 100ms
+  setsockopt(sock_fd, SOL_SOCKET, SO_RCVTIMEO, &tv, sizeof(tv));
+
   return true;
 }
 
 void SocketCanStream::streamThread() {
+  struct canfd_frame frame;
+
   while (!QThread::currentThread()->isInterruptionRequested()) {
-    QThread::msleep(1);
+    ssize_t nbytes = read(sock_fd, &frame, sizeof(frame));
+    if (nbytes <= 0) continue;
 
-    auto frames = device->readAllFrames();
-    if (frames.size() == 0) continue;
+    uint8_t len = (nbytes == CAN_MTU) ? frame.len : frame.len;  // works for both CAN and CAN-FD
 
     MessageBuilder msg;
     auto evt = msg.initEvent();
-    auto canData = evt.initCan(frames.size());
-
-    for (uint i = 0; i < frames.size(); i++) {
-      if (!frames[i].isValid()) continue;
-
-      canData[i].setAddress(frames[i].frameId());
-      canData[i].setSrc(0);
-
-      auto payload = frames[i].payload();
-      canData[i].setDat(kj::arrayPtr((uint8_t*)payload.data(), payload.size()));
-    }
+    auto canData = evt.initCan(1);
+    canData[0].setAddress(frame.can_id & CAN_EFF_MASK);
+    canData[0].setSrc(0);
+    canData[0].setDat(kj::arrayPtr(frame.data, len));
 
     handleEvent(capnp::messageToFlatArray(msg));
   }
@@ -87,7 +118,7 @@ OpenSocketCanWidget::OpenSocketCanWidget(QWidget *parent) : AbstractOpenStreamWi
   main_layout->addStretch(1);
 
   QObject::connect(refresh, &QPushButton::clicked, this, &OpenSocketCanWidget::refreshDevices);
-  QObject::connect(device_edit, &QComboBox::currentTextChanged, this, [=]{ config.device = device_edit->currentText(); });
+  QObject::connect(device_edit, &QComboBox::currentTextChanged, this, [=]{ config.device = device_edit->currentText().toStdString(); });
 
   // Populate devices
   refreshDevices();
@@ -95,12 +126,19 @@ OpenSocketCanWidget::OpenSocketCanWidget(QWidget *parent) : AbstractOpenStreamWi
 
 void OpenSocketCanWidget::refreshDevices() {
   device_edit->clear();
-  for (auto device : QCanBus::instance()->availableDevices(QStringLiteral("socketcan"))) {
-    device_edit->addItem(device.name());
+  // Scan /sys/class/net/ for CAN interfaces (type 280 = ARPHRD_CAN)
+  QDir net_dir("/sys/class/net");
+  for (const auto &iface : net_dir.entryList(QDir::Dirs | QDir::NoDotAndDotDot)) {
+    QFile type_file(net_dir.filePath(iface) + "/type");
+    if (type_file.open(QIODevice::ReadOnly)) {
+      int type = type_file.readAll().trimmed().toInt();
+      if (type == 280) {
+        device_edit->addItem(iface);
+      }
+    }
   }
 }
 
-
 AbstractStream *OpenSocketCanWidget::open() {
   try {
     return new SocketCanStream(qApp, config);
diff --git a/tools/cabana/streams/socketcanstream.h b/tools/cabana/streams/socketcanstream.h
index 8083b687e93..3c5cd184f74 100644
--- a/tools/cabana/streams/socketcanstream.h
+++ b/tools/cabana/streams/socketcanstream.h
@@ -1,27 +1,22 @@
 #pragma once
 
-#include <memory>
-
-#include <QtSerialBus/QCanBus>
-#include <QtSerialBus/QCanBusDevice>
-#include <QtSerialBus/QCanBusDeviceInfo>
 #include <QComboBox>
 
 #include "tools/cabana/streams/livestream.h"
 
 struct SocketCanStreamConfig {
-  QString device = ""; // TODO: support multiple devices/buses at once
+  std::string device = ""; // TODO: support multiple devices/buses at once
 };
 
 class SocketCanStream : public LiveStream {
   Q_OBJECT
 public:
   SocketCanStream(QObject *parent, SocketCanStreamConfig config_ = {});
-  ~SocketCanStream() { stop(); }
+  ~SocketCanStream();
   static bool available();
 
-  inline QString routeName() const override {
-    return QString("Live Streaming From Socket CAN %1").arg(config.device);
+  inline std::string routeName() const override {
+    return "Live Streaming From Socket CAN " + config.device;
   }
 
 protected:
@@ -29,7 +24,7 @@ class SocketCanStream : public LiveStream {
   bool connect();
 
   SocketCanStreamConfig config = {};
-  std::unique_ptr<QCanBusDevice> device;
+  int sock_fd = -1;
 };
 
 class OpenSocketCanWidget : public AbstractOpenStreamWidget {
diff --git a/tools/cabana/streamselector.cc b/tools/cabana/streamselector.cc
index efd00d39857..4ad552d4b4c 100644
--- a/tools/cabana/streamselector.cc
+++ b/tools/cabana/streamselector.cc
@@ -4,11 +4,12 @@
 #include <QLabel>
 #include <QPushButton>
 
-#include "streams/socketcanstream.h"
 #include "tools/cabana/streams/devicestream.h"
 #include "tools/cabana/streams/pandastream.h"
 #include "tools/cabana/streams/replaystream.h"
+#ifdef __linux__
 #include "tools/cabana/streams/socketcanstream.h"
+#endif
 
 StreamSelector::StreamSelector(QWidget *parent) : QDialog(parent) {
   setWindowTitle(tr("Open stream"));
@@ -35,9 +36,11 @@ StreamSelector::StreamSelector(QWidget *parent) : QDialog(parent) {
 
   addStreamWidget(new OpenReplayWidget, tr("&Replay"));
   addStreamWidget(new OpenPandaWidget, tr("&Panda"));
+#ifdef __linux__
   if (SocketCanStream::available()) {
     addStreamWidget(new OpenSocketCanWidget, tr("&SocketCAN"));
   }
+#endif
   addStreamWidget(new OpenDeviceWidget, tr("&Device"));
 
   QObject::connect(btn_box, &QDialogButtonBox::rejected, this, &QDialog::reject);
diff --git a/tools/cabana/tests/test_cabana.cc b/tools/cabana/tests/test_cabana.cc
index d9fcae6f21a..833cfbe4b58 100644
--- a/tools/cabana/tests/test_cabana.cc
+++ b/tools/cabana/tests/test_cabana.cc
@@ -8,7 +8,7 @@
 const std::string TEST_RLOG_URL = "https://commadataci.blob.core.windows.net/openpilotci/0c94aa1e1296d7c6/2021-05-05--19-48-37/0/rlog.bz2";
 
 TEST_CASE("DBCFile::generateDBC") {
-  QString fn = QString("%1/%2.dbc").arg(OPENDBC_FILE_PATH, "tesla_can");
+  std::string fn = std::string(OPENDBC_FILE_PATH) + "/tesla_can.dbc";
   DBCFile dbc_origin(fn);
   DBCFile dbc_from_generated("", dbc_origin.generateDBC());
 
@@ -30,7 +30,7 @@ TEST_CASE("DBCFile::generateDBC") {
 
 TEST_CASE("DBCFile::generateDBC - comment order") {
   // Ensure that message comments are followed by signal comments and in the correct order
-  auto content = R"(BO_ 160 message_1: 8 EON
+  std::string content = R"(BO_ 160 message_1: 8 EON
  SG_ signal_1 : 0|12@1+ (1,0) [0|4095] "unit" XXX
 
 BO_ 162 message_2: 8 EON
@@ -46,7 +46,7 @@ CM_ SG_ 162 signal_2 "signal comment";
 }
 
 TEST_CASE("DBCFile::generateDBC -- preserve original header") {
-  QString content = R"(VERSION "1.0"
+  std::string content = R"(VERSION "1.0"
 
 NS_ :
  CM_
@@ -66,7 +66,7 @@ CM_ SG_ 160 signal_1 "signal comment";
 }
 
 TEST_CASE("DBCFile::generateDBC - escaped quotes") {
-  QString content = R"(BO_ 160 message_1: 8 EON
+  std::string content = R"(BO_ 160 message_1: 8 EON
  SG_ signal_1 : 0|12@1+ (1,0) [0|4095] "unit" XXX
 
 CM_ BO_ 160 "message comment with \"escaped quotes\"";
@@ -77,7 +77,7 @@ CM_ SG_ 160 signal_1 "signal comment with \"escaped quotes\"";
 }
 
 TEST_CASE("parse_dbc") {
-  QString content = R"(
+  std::string content = R"(
 BO_ 160 message_1: 8 EON
   SG_ signal_1 : 0|12@1+ (1,0) [0|4095] "unit"  XXX
   SG_ signal_2 : 12|1@1+ (1.0,0.0) [0.0|1] ""  XXX
@@ -119,9 +119,9 @@ CM_ SG_ 162 signal_1 "signal comment with \"escaped quotes\"";
   REQUIRE(sig_1->comment == "signal comment");
   REQUIRE(sig_1->receiver_name == "XXX");
   REQUIRE(sig_1->val_desc.size() == 3);
-  REQUIRE(sig_1->val_desc[0] == std::pair<double, QString>{0, "disabled"});
-  REQUIRE(sig_1->val_desc[1] == std::pair<double, QString>{1.2, "initializing"});
-  REQUIRE(sig_1->val_desc[2] == std::pair<double, QString>{2, "fault"});
+  REQUIRE(sig_1->val_desc[0] == std::pair<double, std::string>{0, "disabled"});
+  REQUIRE(sig_1->val_desc[1] == std::pair<double, std::string>{1.2, "initializing"});
+  REQUIRE(sig_1->val_desc[2] == std::pair<double, std::string>{2, "fault"});
 
   auto &sig_2 = msg->sigs[1];
   REQUIRE(sig_2->comment == "multiple line comment \n1\n2");
@@ -147,7 +147,7 @@ TEST_CASE("parse_opendbc") {
   QStringList errors;
   for (auto fn : dir.entryList({"*.dbc"}, QDir::Files, QDir::Name)) {
     try {
-      auto dbc = DBCFile(dir.filePath(fn));
+      auto dbc = DBCFile(dir.filePath(fn).toStdString());
     } catch (std::exception &e) {
       errors.push_back(e.what());
     }
diff --git a/tools/cabana/tools/findsignal.cc b/tools/cabana/tools/findsignal.cc
index ec56fcaac08..b1318939427 100644
--- a/tools/cabana/tools/findsignal.cc
+++ b/tools/cabana/tools/findsignal.cc
@@ -1,10 +1,11 @@
 #include "tools/cabana/tools/findsignal.h"
 
+#include <thread>
+
 #include <QFormLayout>
 #include <QHBoxLayout>
 #include <QHeaderView>
 #include <QMenu>
-#include <QtConcurrent>
 #include <QTimer>
 #include <QVBoxLayout>
 
@@ -20,7 +21,7 @@ QVariant FindSignalModel::data(const QModelIndex &index, int role) const {
   if (role == Qt::DisplayRole) {
     const auto &s = filtered_signals[index.row()];
     switch (index.column()) {
-      case 0: return s.id.toString();
+      case 0: return QString::fromStdString(s.id.toString());
       case 1: return QString("%1, %2").arg(s.sig.start_bit).arg(s.sig.size);
       case 2: return s.values.join(" ");
     }
@@ -32,36 +33,49 @@ void FindSignalModel::search(std::function<bool(double)> cmp) {
   beginResetModel();
 
   std::mutex lock;
-  const auto prev_sigs = !histories.isEmpty() ? histories.back() : initial_signals;
+  const auto prev_sigs = !histories.empty() ? histories.back() : initial_signals;
   filtered_signals.clear();
   filtered_signals.reserve(prev_sigs.size());
-  QtConcurrent::blockingMap(prev_sigs, [&](auto &s) {
-    const auto &events = can->events(s.id);
-    auto first = std::upper_bound(events.cbegin(), events.cend(), s.mono_time, CompareCanEvent());
-    auto last = events.cend();
-    if (last_time < std::numeric_limits<uint64_t>::max()) {
-      last = std::upper_bound(events.cbegin(), events.cend(), last_time, CompareCanEvent());
-    }
 
-    auto it = std::find_if(first, last, [&](const CanEvent *e) { return cmp(get_raw_value(e->dat, e->size, s.sig)); });
-    if (it != last) {
-      auto values = s.values;
-      values += QString("(%1, %2)").arg(can->toSeconds((*it)->mono_time), 0, 'f', 3).arg(get_raw_value((*it)->dat, (*it)->size, s.sig));
-      std::lock_guard lk(lock);
-      filtered_signals.push_back({.id = s.id, .mono_time = (*it)->mono_time, .sig = s.sig, .values = values});
-    }
-  });
+  unsigned int num_threads = std::max(1u, std::thread::hardware_concurrency());
+  size_t chunk = (prev_sigs.size() + num_threads - 1) / num_threads;
+  std::vector<std::thread> threads;
+  for (unsigned int t = 0; t < num_threads && t * chunk < (size_t)prev_sigs.size(); ++t) {
+    size_t start = t * chunk;
+    size_t end = std::min(start + chunk, (size_t)prev_sigs.size());
+    threads.emplace_back([&, start, end]() {
+      for (size_t i = start; i < end; ++i) {
+        const auto &s = prev_sigs[i];
+        const auto &events = can->events(s.id);
+        auto first = std::upper_bound(events.cbegin(), events.cend(), s.mono_time, CompareCanEvent());
+        auto last = events.cend();
+        if (last_time < std::numeric_limits<uint64_t>::max()) {
+          last = std::upper_bound(events.cbegin(), events.cend(), last_time, CompareCanEvent());
+        }
+
+        auto it = std::find_if(first, last, [&](const CanEvent *e) { return cmp(get_raw_value(e->dat, e->size, s.sig)); });
+        if (it != last) {
+          auto values = s.values;
+          values += QString("(%1, %2)").arg(can->toSeconds((*it)->mono_time), 0, 'f', 3).arg(get_raw_value((*it)->dat, (*it)->size, s.sig));
+          std::lock_guard lk(lock);
+          filtered_signals.push_back({.id = s.id, .mono_time = (*it)->mono_time, .sig = s.sig, .values = values});
+        }
+      }
+    });
+  }
+  for (auto &th : threads) th.join();
+
   histories.push_back(filtered_signals);
 
   endResetModel();
 }
 
 void FindSignalModel::undo() {
-  if (!histories.isEmpty()) {
+  if (!histories.empty()) {
     beginResetModel();
     histories.pop_back();
     filtered_signals.clear();
-    if (!histories.isEmpty()) filtered_signals = histories.back();
+    if (!histories.empty()) filtered_signals = histories.back();
     endResetModel();
   }
 }
@@ -172,7 +186,7 @@ FindSignalDlg::FindSignalDlg(QWidget *parent) : QDialog(parent, Qt::WindowFlags(
 }
 
 void FindSignalDlg::search() {
-  if (model->histories.isEmpty()) {
+  if (model->histories.empty()) {
     setInitialSignals();
   }
   auto v1 = value1->text().toDouble();
@@ -246,12 +260,12 @@ void FindSignalDlg::setInitialSignals() {
 }
 
 void FindSignalDlg::modelReset() {
-  properties_group->setEnabled(model->histories.isEmpty());
-  message_group->setEnabled(model->histories.isEmpty());
-  search_btn->setText(model->histories.isEmpty() ? tr("Find") : tr("Find Next"));
-  reset_btn->setEnabled(!model->histories.isEmpty());
+  properties_group->setEnabled(model->histories.empty());
+  message_group->setEnabled(model->histories.empty());
+  search_btn->setText(model->histories.empty() ? tr("Find") : tr("Find Next"));
+  reset_btn->setEnabled(!model->histories.empty());
   undo_btn->setEnabled(model->histories.size() > 1);
-  search_btn->setEnabled(model->rowCount() > 0 || model->histories.isEmpty());
+  search_btn->setEnabled(model->rowCount() > 0 || model->histories.empty());
   stats_label->setVisible(true);
   stats_label->setText(tr("%1 matches. right click on an item to create signal. double click to open message").arg(model->filtered_signals.size()));
 }
diff --git a/tools/cabana/tools/findsignal.h b/tools/cabana/tools/findsignal.h
index 5ef7461fee2..239a08c9c48 100644
--- a/tools/cabana/tools/findsignal.h
+++ b/tools/cabana/tools/findsignal.h
@@ -2,6 +2,8 @@
 
 #include <algorithm>
 #include <limits>
+#include <string>
+#include <vector>
 
 #include <QAbstractTableModel>
 #include <QCheckBox>
@@ -26,14 +28,14 @@ class FindSignalModel : public QAbstractTableModel {
   QVariant headerData(int section, Qt::Orientation orientation, int role = Qt::DisplayRole) const override;
   QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const override;
   int columnCount(const QModelIndex &parent = QModelIndex()) const override { return 3; }
-  int rowCount(const QModelIndex &parent = QModelIndex()) const override { return std::min(filtered_signals.size(), 300); }
+  int rowCount(const QModelIndex &parent = QModelIndex()) const override { return std::min((int)filtered_signals.size(), 300); }
   void search(std::function<bool(double)> cmp);
   void reset();
   void undo();
 
-  QList<SearchSignal> filtered_signals;
-  QList<SearchSignal> initial_signals;
-  QList<QList<SearchSignal>> histories;
+  std::vector<SearchSignal> filtered_signals;
+  std::vector<SearchSignal> initial_signals;
+  std::vector<std::vector<SearchSignal>> histories;
   uint64_t last_time = std::numeric_limits<uint64_t>::max();
 };
 
diff --git a/tools/cabana/tools/findsimilarbits.cc b/tools/cabana/tools/findsimilarbits.cc
index c3c659791a7..8062b611990 100644
--- a/tools/cabana/tools/findsimilarbits.cc
+++ b/tools/cabana/tools/findsimilarbits.cc
@@ -1,6 +1,7 @@
 #include "tools/cabana/tools/findsimilarbits.h"
 
 #include <algorithm>
+#include <unordered_map>
 
 #include <QGridLayout>
 #include <QHeaderView>
@@ -31,7 +32,7 @@ FindSimilarBitsDlg::FindSimilarBitsDlg(QWidget *parent) : QDialog(parent, Qt::Wi
   msg_cb = new QComboBox(this);
   // TODO: update when src_bus_combo changes
   for (auto &[address, msg] : dbc()->getMessages(-1)) {
-    msg_cb->addItem(msg.name, address);
+    msg_cb->addItem(QString::fromStdString(msg.name), address);
   }
   msg_cb->model()->sort(0);
   msg_cb->setCurrentIndex(0);
@@ -114,10 +115,10 @@ void FindSimilarBitsDlg::find() {
   search_btn->setEnabled(true);
 }
 
-QList<FindSimilarBitsDlg::mismatched_struct> FindSimilarBitsDlg::calcBits(uint8_t bus, uint32_t selected_address, int byte_idx,
-                                                                          int bit_idx, uint8_t find_bus, bool equal, int min_msgs_cnt) {
-  QHash<uint32_t, QVector<uint32_t>> mismatches;
-  QHash<uint32_t, uint32_t> msg_count;
+std::vector<FindSimilarBitsDlg::mismatched_struct> FindSimilarBitsDlg::calcBits(uint8_t bus, uint32_t selected_address, int byte_idx,
+                                                                               int bit_idx, uint8_t find_bus, bool equal, int min_msgs_cnt) {
+  std::unordered_map<uint32_t, std::vector<uint32_t>> mismatches;
+  std::unordered_map<uint32_t, uint32_t> msg_count;
   const auto &events = can->allEvents();
   int bit_to_find = -1;
   for (const CanEvent *e : events) {
@@ -143,14 +144,14 @@ QList<FindSimilarBitsDlg::mismatched_struct> FindSimilarBitsDlg::calcBits(uint8_
     }
   }
 
-  QList<mismatched_struct> result;
+  std::vector<mismatched_struct> result;
   result.reserve(mismatches.size());
   for (auto it = mismatches.begin(); it != mismatches.end(); ++it) {
-    if (auto cnt = msg_count[it.key()]; cnt > min_msgs_cnt) {
-      auto &mismatched = it.value();
-      for (int i = 0; i < mismatched.size(); ++i) {
+    if (auto cnt = msg_count[it->first]; cnt > (uint32_t)min_msgs_cnt) {
+      auto &mismatched = it->second;
+      for (int i = 0; i < (int)mismatched.size(); ++i) {
         if (float perc = (mismatched[i] / (double)cnt) * 100; perc < 50) {
-          result.push_back({it.key(), (uint32_t)i / 8, (uint32_t)i % 8, mismatched[i], cnt, perc});
+          result.push_back({it->first, (uint32_t)i / 8, (uint32_t)i % 8, mismatched[i], cnt, perc});
         }
       }
     }
diff --git a/tools/cabana/tools/findsimilarbits.h b/tools/cabana/tools/findsimilarbits.h
index 77bfac19cae..3451360654d 100644
--- a/tools/cabana/tools/findsimilarbits.h
+++ b/tools/cabana/tools/findsimilarbits.h
@@ -1,5 +1,7 @@
 #pragma once
 
+#include <vector>
+
 #include <QComboBox>
 #include <QDialog>
 #include <QLineEdit>
@@ -22,7 +24,7 @@ class FindSimilarBitsDlg : public QDialog {
     uint32_t address, byte_idx, bit_idx, mismatches, total;
     float perc;
   };
-  QList<mismatched_struct> calcBits(uint8_t bus, uint32_t selected_address, int byte_idx, int bit_idx, uint8_t find_bus,
+  std::vector<mismatched_struct> calcBits(uint8_t bus, uint32_t selected_address, int byte_idx, int bit_idx, uint8_t find_bus,
                                     bool equal, int min_msgs_cnt);
   void find();
 
diff --git a/tools/cabana/utils/api.cc b/tools/cabana/utils/api.cc
deleted file mode 100644
index 89379a84341..00000000000
--- a/tools/cabana/utils/api.cc
+++ /dev/null
@@ -1,171 +0,0 @@
-#include "tools/cabana/utils/api.h"
-
-#include <openssl/evp.h>
-#include <openssl/pem.h>
-
-#include <QApplication>
-#include <QCryptographicHash>
-#include <QDateTime>
-#include <QDebug>
-#include <QJsonDocument>
-#include <QNetworkRequest>
-
-#include <memory>
-#include <string>
-
-#include "common/params.h"
-#include "common/util.h"
-#include "system/hardware/hw.h"
-#include "tools/cabana/utils/util.h"
-
-QString getVersion() {
-  static QString version =  QString::fromStdString(Params().get("Version"));
-  return version;
-}
-
-QString getUserAgent() {
-  return "openpilot-" + getVersion();
-}
-
-std::optional<QString> getDongleId() {
-  std::string id = Params().get("DongleId");
-
-  if (!id.empty() && (id != "UnregisteredDevice")) {
-    return QString::fromStdString(id);
-  } else {
-    return {};
-  }
-}
-
-namespace CommaApi {
-
-EVP_PKEY *get_private_key() {
-  static std::unique_ptr<EVP_PKEY, decltype(&EVP_PKEY_free)> pkey(nullptr, EVP_PKEY_free);
-  if (!pkey) {
-    FILE *fp = fopen(Path::rsa_file().c_str(), "rb");
-    if (!fp) {
-      qDebug() << "No private key found, please run manager.py or registration.py";
-      return nullptr;
-    }
-    pkey.reset(PEM_read_PrivateKey(fp, nullptr, nullptr, nullptr));
-    fclose(fp);
-  }
-  return pkey.get();
-}
-
-QByteArray rsa_sign(const QByteArray &data) {
-  EVP_PKEY *pkey = get_private_key();
-  if (!pkey) return {};
-
-  EVP_MD_CTX *mdctx = EVP_MD_CTX_new();
-  if (!mdctx) return {};
-
-  QByteArray sig(EVP_PKEY_size(pkey), Qt::Uninitialized);
-  size_t sig_len = sig.size();
-
-  int ret = EVP_DigestSignInit(mdctx, nullptr, EVP_sha256(), nullptr, pkey);
-  ret &= EVP_DigestSignUpdate(mdctx, data.data(), data.size());
-  ret &= EVP_DigestSignFinal(mdctx, (unsigned char*)sig.data(), &sig_len);
-
-  EVP_MD_CTX_free(mdctx);
-
-  if (ret != 1) return {};
-  sig.resize(sig_len);
-  return sig;
-}
-
-QString create_jwt(const QJsonObject &payloads, int expiry) {
-  QJsonObject header = {{"alg", "RS256"}};
-
-  auto t = QDateTime::currentSecsSinceEpoch();
-  QJsonObject payload = {{"identity", getDongleId().value_or("")}, {"nbf", t}, {"iat", t}, {"exp", t + expiry}};
-  for (auto it = payloads.begin(); it != payloads.end(); ++it) {
-    payload.insert(it.key(), it.value());
-  }
-
-  auto b64_opts = QByteArray::Base64UrlEncoding | QByteArray::OmitTrailingEquals;
-  QString jwt = QJsonDocument(header).toJson(QJsonDocument::Compact).toBase64(b64_opts) + '.' +
-                QJsonDocument(payload).toJson(QJsonDocument::Compact).toBase64(b64_opts);
-
-  auto hash = QCryptographicHash::hash(jwt.toUtf8(), QCryptographicHash::Sha256);
-  return jwt + "." + rsa_sign(hash).toBase64(b64_opts);
-}
-
-}  // namespace CommaApi
-
-HttpRequest::HttpRequest(QObject *parent, bool create_jwt, int timeout) : create_jwt(create_jwt), QObject(parent) {
-  networkTimer = new QTimer(this);
-  networkTimer->setSingleShot(true);
-  networkTimer->setInterval(timeout);
-  connect(networkTimer, &QTimer::timeout, this, &HttpRequest::requestTimeout);
-}
-
-bool HttpRequest::active() const {
-  return reply != nullptr;
-}
-
-bool HttpRequest::timeout() const {
-  return reply && reply->error() == QNetworkReply::OperationCanceledError;
-}
-
-void HttpRequest::sendRequest(const QString &requestURL, const HttpRequest::Method method) {
-  if (active()) {
-    qDebug() << "HttpRequest is active";
-    return;
-  }
-  QString token;
-  if (create_jwt) {
-    token = CommaApi::create_jwt();
-  } else {
-    QString token_json = QString::fromStdString(util::read_file(util::getenv("HOME") + "/.comma/auth.json"));
-    QJsonDocument json_d = QJsonDocument::fromJson(token_json.toUtf8());
-    token = json_d["access_token"].toString();
-  }
-
-  QNetworkRequest request;
-  request.setUrl(QUrl(requestURL));
-  request.setRawHeader("User-Agent", getUserAgent().toUtf8());
-
-  if (!token.isEmpty()) {
-    request.setRawHeader(QByteArray("Authorization"), ("JWT " + token).toUtf8());
-  }
-
-  if (method == HttpRequest::Method::GET) {
-    reply = nam()->get(request);
-  } else if (method == HttpRequest::Method::DELETE) {
-    reply = nam()->deleteResource(request);
-  }
-
-  networkTimer->start();
-  connect(reply, &QNetworkReply::finished, this, &HttpRequest::requestFinished);
-}
-
-void HttpRequest::requestTimeout() {
-  reply->abort();
-}
-
-void HttpRequest::requestFinished() {
-  networkTimer->stop();
-
-  if (reply->error() == QNetworkReply::NoError) {
-    emit requestDone(reply->readAll(), true, reply->error());
-  } else {
-    QString error;
-    if (reply->error() == QNetworkReply::OperationCanceledError) {
-      nam()->clearAccessCache();
-      nam()->clearConnectionCache();
-      error = "Request timed out";
-    } else {
-      error = reply->errorString();
-    }
-    emit requestDone(error, false, reply->error());
-  }
-
-  reply->deleteLater();
-  reply = nullptr;
-}
-
-QNetworkAccessManager *HttpRequest::nam() {
-  static QNetworkAccessManager *networkAccessManager = new QNetworkAccessManager(qApp);
-  return networkAccessManager;
-}
diff --git a/tools/cabana/utils/api.h b/tools/cabana/utils/api.h
deleted file mode 100644
index ad64d7e7228..00000000000
--- a/tools/cabana/utils/api.h
+++ /dev/null
@@ -1,47 +0,0 @@
-#pragma once
-
-#include <QJsonObject>
-#include <QNetworkReply>
-#include <QString>
-#include <QTimer>
-
-#include "common/util.h"
-
-namespace CommaApi {
-
-const QString BASE_URL = util::getenv("API_HOST", "https://api.commadotai.com").c_str();
-QByteArray rsa_sign(const QByteArray &data);
-QString create_jwt(const QJsonObject &payloads = {}, int expiry = 3600);
-
-}  // namespace CommaApi
-
-/**
- * Makes a request to the request endpoint.
- */
-
-class HttpRequest : public QObject {
-  Q_OBJECT
-
-public:
-  enum class Method {GET, DELETE};
-
-  explicit HttpRequest(QObject* parent, bool create_jwt = true, int timeout = 20000);
-  void sendRequest(const QString &requestURL, const Method method = Method::GET);
-  bool active() const;
-  bool timeout() const;
-
-signals:
-  void requestDone(const QString &response, bool success, QNetworkReply::NetworkError error);
-
-protected:
-  QNetworkReply *reply = nullptr;
-
-private:
-  static QNetworkAccessManager *nam();
-  QTimer *networkTimer = nullptr;
-  bool create_jwt;
-
-private slots:
-  void requestTimeout();
-  void requestFinished();
-};
diff --git a/tools/cabana/utils/export.cc b/tools/cabana/utils/export.cc
index 79ca97ba8f2..a7f910193f2 100644
--- a/tools/cabana/utils/export.cc
+++ b/tools/cabana/utils/export.cc
@@ -26,7 +26,7 @@ void exportSignalsToCSV(const QString &file_name, const MessageId &msg_id) {
     QTextStream stream(&file);
     stream << "time,addr,bus";
     for (auto s : msg->sigs)
-      stream << "," << s->name;
+      stream << "," << s->name.c_str();
     stream << "\n";
 
     for (auto e : can->events(msg_id)) {
diff --git a/tools/cabana/utils/util.cc b/tools/cabana/utils/util.cc
index ca069b358d2..50ab7644235 100644
--- a/tools/cabana/utils/util.cc
+++ b/tools/cabana/utils/util.cc
@@ -17,8 +17,7 @@
 #include <QSurfaceFormat>
 #include <QFileInfo>
 #include <QPainterPath>
-#include <QTextStream>
-#include <QtXml/QDomDocument>
+#include <unordered_map>
 #include "common/util.h"
 
 // SegmentTree
@@ -166,13 +165,13 @@ UnixSignalHandler::~UnixSignalHandler() {
 }
 
 void UnixSignalHandler::signalHandler(int s) {
-  ::write(sig_fd[0], &s, sizeof(s));
+  (void)!::write(sig_fd[0], &s, sizeof(s));
 }
 
 void UnixSignalHandler::handleSigTerm() {
   sn->setEnabled(false);
   int tmp;
-  ::read(sig_fd[1], &tmp, sizeof(tmp));
+  (void)!::read(sig_fd[1], &tmp, sizeof(tmp));
 
   printf("\nexiting...\n");
   qApp->closeAllWindows();
@@ -278,7 +277,7 @@ QString signalToolTip(const cabana::Signal *sig) {
     Start Bit: %2 Size: %3<br />
     MSB: %4 LSB: %5<br />
     Little Endian: %6 Signed: %7</span>
-  )").arg(sig->name).arg(sig->start_bit).arg(sig->size).arg(sig->msb).arg(sig->lsb)
+  )").arg(QString::fromStdString(sig->name)).arg(sig->start_bit).arg(sig->size).arg(sig->msb).arg(sig->lsb)
      .arg(sig->is_little_endian ? "Y" : "N").arg(sig->is_signed ? "Y" : "N");
 }
 
@@ -325,36 +324,49 @@ void initApp(int argc, char *argv[], bool disable_hidpi) {
   setSurfaceFormat();
 }
 
-static QHash<QString, QByteArray> load_bootstrap_icons() {
-  QHash<QString, QByteArray> icons;
+static std::unordered_map<std::string, std::string> load_bootstrap_icons() {
+  std::unordered_map<std::string, std::string> icons;
 
   QFile f(":/bootstrap-icons.svg");
   if (f.open(QIODevice::ReadOnly | QIODevice::Text)) {
-    QDomDocument xml;
-    xml.setContent(&f);
-    QDomNode n = xml.documentElement().firstChild();
-    while (!n.isNull()) {
-      QDomElement e = n.toElement();
-      if (!e.isNull() && e.hasAttribute("id")) {
-        QString svg_str;
-        QTextStream stream(&svg_str);
-        n.save(stream, 0);
-        svg_str.replace("<symbol", "<svg");
-        svg_str.replace("</symbol>", "</svg>");
-        icons[e.attribute("id")] = svg_str.toUtf8();
+    std::string content = f.readAll().toStdString();
+    const std::string sym_open = "<symbol ";
+    const std::string sym_close = "</symbol>";
+    const std::string id_attr = "id=\"";
+
+    size_t pos = 0;
+    while ((pos = content.find(sym_open, pos)) != std::string::npos) {
+      size_t end = content.find(sym_close, pos);
+      if (end == std::string::npos) break;
+      end += sym_close.size();
+
+      // extract id
+      size_t id_start = content.find(id_attr, pos);
+      if (id_start != std::string::npos && id_start < end) {
+        id_start += id_attr.size();
+        size_t id_end = content.find('"', id_start);
+        if (id_end != std::string::npos && id_end < end) {
+          std::string id = content.substr(id_start, id_end - id_start);
+          std::string svg_str = content.substr(pos, end - pos);
+          // replace <symbol with <svg, </symbol> with </svg>
+          svg_str.replace(0, 7, "<svg");               // "<symbol" (7) -> "<svg" (4)
+          svg_str.replace(svg_str.size() - 9, 9, "</svg>");  // "</symbol>" (9) -> "</svg>" (6)
+          icons[id] = std::move(svg_str);
+        }
       }
-      n = n.nextSibling();
+      pos = end;
     }
   }
   return icons;
 }
 
 QPixmap bootstrapPixmap(const QString &id) {
-  static QHash<QString, QByteArray> icons = load_bootstrap_icons();
+  static auto icons = load_bootstrap_icons();
 
   QPixmap pixmap;
-  if (auto it = icons.find(id); it != icons.end()) {
-    pixmap.loadFromData(it.value(), "svg");
+  auto it = icons.find(id.toStdString());
+  if (it != icons.end()) {
+    pixmap.loadFromData((const uchar *)it->second.data(), it->second.size(), "svg");
   }
   return pixmap;
 }
diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc
index 55018f28f08..f203ec663ee 100644
--- a/tools/cabana/videowidget.cc
+++ b/tools/cabana/videowidget.cc
@@ -1,6 +1,7 @@
 #include "tools/cabana/videowidget.h"
 
 #include <algorithm>
+#include <thread>
 
 #include <QAction>
 #include <QActionGroup>
@@ -9,20 +10,20 @@
 #include <QPainter>
 #include <QStyleOptionSlider>
 #include <QVBoxLayout>
-#include <QtConcurrent>
 
 #include "tools/cabana/tools/routeinfo.h"
 
 const int MIN_VIDEO_HEIGHT = 100;
 const int THUMBNAIL_MARGIN = 3;
 
+// Indexed by TimelineType: None, Engaged, AlertInfo, AlertWarning, AlertCritical, UserBookmark
 static const QColor timeline_colors[] = {
-  [(int)TimelineType::None] = QColor(111, 143, 175),
-  [(int)TimelineType::Engaged] = QColor(0, 163, 108),
-  [(int)TimelineType::UserBookmark] = Qt::magenta,
-  [(int)TimelineType::AlertInfo] = Qt::green,
-  [(int)TimelineType::AlertWarning] = QColor(255, 195, 0),
-  [(int)TimelineType::AlertCritical] = QColor(199, 0, 57),
+  QColor(111, 143, 175),
+  QColor(0, 163, 108),
+  Qt::green,
+  QColor(255, 195, 0),
+  QColor(199, 0, 57),
+  Qt::magenta,
 };
 
 static Replay *getReplay() {
@@ -333,19 +334,31 @@ StreamCameraView::StreamCameraView(std::string stream_name, VisionStreamType str
 
 void StreamCameraView::parseQLog(std::shared_ptr<LogReader> qlog) {
   std::mutex mutex;
-  QtConcurrent::blockingMap(qlog->events.cbegin(), qlog->events.cend(), [this, &mutex](const Event &e) {
-    if (e.which == cereal::Event::Which::THUMBNAIL) {
-      capnp::FlatArrayMessageReader reader(e.data);
-      auto thumb_data = reader.getRoot<cereal::Event>().getThumbnail();
-      auto image_data = thumb_data.getThumbnail();
-      if (QPixmap thumb; thumb.loadFromData(image_data.begin(), image_data.size(), "jpeg")) {
-        QPixmap generated_thumb = generateThumbnail(thumb, can->toSeconds(thumb_data.getTimestampEof()));
-        std::lock_guard lock(mutex);
-        thumbnails[thumb_data.getTimestampEof()] = generated_thumb;
-        big_thumbnails[thumb_data.getTimestampEof()] = thumb;
+  const auto &events = qlog->events;
+  unsigned int num_threads = std::max(1u, std::thread::hardware_concurrency());
+  size_t chunk = (events.size() + num_threads - 1) / num_threads;
+  std::vector<std::thread> threads;
+  for (unsigned int t = 0; t < num_threads && t * chunk < events.size(); ++t) {
+    size_t start = t * chunk;
+    size_t end = std::min(start + chunk, events.size());
+    threads.emplace_back([this, &mutex, &events, start, end]() {
+      for (size_t i = start; i < end; ++i) {
+        const Event &e = events[i];
+        if (e.which == cereal::Event::Which::THUMBNAIL) {
+          capnp::FlatArrayMessageReader reader(e.data);
+          auto thumb_data = reader.getRoot<cereal::Event>().getThumbnail();
+          auto image_data = thumb_data.getThumbnail();
+          if (QPixmap thumb; thumb.loadFromData(image_data.begin(), image_data.size(), "jpeg")) {
+            QPixmap generated_thumb = generateThumbnail(thumb, can->toSeconds(thumb_data.getTimestampEof()));
+            std::lock_guard lock(mutex);
+            thumbnails[thumb_data.getTimestampEof()] = generated_thumb;
+            big_thumbnails[thumb_data.getTimestampEof()] = thumb;
+          }
+        }
       }
-    }
-  });
+    });
+  }
+  for (auto &th : threads) th.join();
   update();
 }
 
@@ -383,9 +396,9 @@ QPixmap StreamCameraView::generateThumbnail(QPixmap thumb, double seconds) {
 
 void StreamCameraView::drawScrubThumbnail(QPainter &p) {
   p.fillRect(rect(), Qt::black);
-  auto it = big_thumbnails.lowerBound(can->toMonoTime(thumbnail_dispaly_time));
+  auto it = big_thumbnails.lower_bound(can->toMonoTime(thumbnail_dispaly_time));
   if (it != big_thumbnails.end()) {
-    QPixmap scaled_thumb = it.value().scaled(rect().size(), Qt::KeepAspectRatio, Qt::SmoothTransformation);
+    QPixmap scaled_thumb = it->second.scaled(rect().size(), Qt::KeepAspectRatio, Qt::SmoothTransformation);
     QRect thumb_rect(rect().center() - scaled_thumb.rect().center(), scaled_thumb.size());
     p.drawPixmap(thumb_rect.topLeft(), scaled_thumb);
     drawTime(p, thumb_rect, thumbnail_dispaly_time);
@@ -393,9 +406,9 @@ void StreamCameraView::drawScrubThumbnail(QPainter &p) {
 }
 
 void StreamCameraView::drawThumbnail(QPainter &p) {
-  auto it = thumbnails.lowerBound(can->toMonoTime(thumbnail_dispaly_time));
+  auto it = thumbnails.lower_bound(can->toMonoTime(thumbnail_dispaly_time));
   if (it != thumbnails.end()) {
-    const QPixmap &thumb = it.value();
+    const QPixmap &thumb = it->second;
     auto [min_sec, max_sec] = can->timeRange().value_or(std::make_pair(can->minSeconds(), can->maxSeconds()));
     int pos = (thumbnail_dispaly_time - min_sec) * width() / (max_sec - min_sec);
     int x = std::clamp(pos - thumb.width() / 2, THUMBNAIL_MARGIN, width() - thumb.width() - THUMBNAIL_MARGIN + 1);
diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h
index 6da0023123b..e52e92ebd12 100644
--- a/tools/cabana/videowidget.h
+++ b/tools/cabana/videowidget.h
@@ -1,5 +1,6 @@
 #pragma once
 
+#include <map>
 #include <memory>
 #include <set>
 #include <string>
@@ -47,8 +48,8 @@ class StreamCameraView : public CameraWidget {
   void drawTime(QPainter &p, const QRect &rect, double seconds);
 
   QPropertyAnimation *fade_animation;
-  QMap<uint64_t, QPixmap> big_thumbnails;
-  QMap<uint64_t, QPixmap> thumbnails;
+  std::map<uint64_t, QPixmap> big_thumbnails;
+  std::map<uint64_t, QPixmap> thumbnails;
   double thumbnail_dispaly_time = -1;
   friend class VideoWidget;
 };
diff --git a/tools/tuning/measure_steering_accuracy.py b/tools/car_porting/measure_steering_accuracy.py
similarity index 97%
rename from tools/tuning/measure_steering_accuracy.py
rename to tools/car_porting/measure_steering_accuracy.py
index 7e4e975742f..ae3344c2eb1 100755
--- a/tools/tuning/measure_steering_accuracy.py
+++ b/tools/car_porting/measure_steering_accuracy.py
@@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-# type: ignore
 
 import os
 import time
@@ -118,12 +117,8 @@ def update(self, sm):
   parser.add_argument('--route', help="route name")
   parser.add_argument('--addr', default='127.0.0.1', help="IP address for optional ZMQ listener, default to msgq")
   parser.add_argument('--group', default='all', help="speed group to display, [crawl|slow|medium|fast|veryfast|germany|all], default to all")
-  parser.add_argument('--cache', default=False, action='store_true', help="use cached data, default to False")
   args = parser.parse_args()
 
-  if args.cache:
-    os.environ['FILEREADER_CACHE'] = '1'
-
   tool = SteeringAccuracyTool(args)
 
   if args.route is not None:
diff --git a/tools/clip/run.py b/tools/clip/run.py
index 9045a4381b1..ed2a5075b4b 100755
--- a/tools/clip/run.py
+++ b/tools/clip/run.py
@@ -1,310 +1,361 @@
 #!/usr/bin/env python3
-
-import logging
 import os
-import platform
-import shutil
 import sys
 import time
-from argparse import ArgumentParser, ArgumentTypeError
-from collections.abc import Sequence
+import logging
+import subprocess
+import threading
+import queue
+import multiprocessing
+import itertools
+import numpy as np
+import tqdm
+from argparse import ArgumentParser
 from pathlib import Path
-from random import randint
-from subprocess import Popen
-from typing import Literal
+from concurrent.futures import ThreadPoolExecutor, as_completed
 
-from cereal.messaging import SubMaster
-from openpilot.common.basedir import BASEDIR
-from openpilot.common.params import Params, UnknownKeyName
-from openpilot.common.prefix import OpenpilotPrefix
-from openpilot.common.utils import managed_proc
 from openpilot.tools.lib.route import Route
 from openpilot.tools.lib.logreader import LogReader
+from openpilot.tools.lib.filereader import FileReader
+from openpilot.tools.lib.framereader import FrameReader, ffprobe
+from openpilot.selfdrive.test.process_replay.migration import migrate_all
+from openpilot.common.prefix import OpenpilotPrefix
+from openpilot.common.utils import Timer
+from msgq.visionipc import VisionIpcServer, VisionStreamType
 
-DEFAULT_OUTPUT = 'output.mp4'
-DEMO_START = 90
-DEMO_END = 105
-DEMO_ROUTE = 'a2a0ccea32023010/2023-07-27--13-01-19'
 FRAMERATE = 20
-PIXEL_DEPTH = '24'
-RESOLUTION = '2160x1080'
-SECONDS_TO_WARM = 2
-PROC_WAIT_SECONDS = 30*10
-
-OPENPILOT_FONT = str(Path(BASEDIR, 'selfdrive/assets/fonts/Inter-Regular.ttf').resolve())
-REPLAY = str(Path(BASEDIR, 'tools/replay/replay').resolve())
-UI = str(Path(BASEDIR, 'selfdrive/ui/ui').resolve())
-
-logger = logging.getLogger('clip.py')
-
-
-def check_for_failure(procs: list[Popen]):
-  for proc in procs:
-    exit_code = proc.poll()
-    if exit_code is not None and exit_code != 0:
-      cmd = str(proc.args)
-      if isinstance(proc.args, str):
-        cmd = proc.args
-      elif isinstance(proc.args, Sequence):
-        cmd = str(proc.args[0])
-      msg = f'{cmd} failed, exit code {exit_code}'
-      logger.error(msg)
-      stdout, stderr = proc.communicate()
-      if stdout:
-        logger.error(stdout.decode())
-      if stderr:
-        logger.error(stderr.decode())
-      raise ChildProcessError(msg)
-
-
-def escape_ffmpeg_text(value: str):
-  special_chars = {',': '\\,', ':': '\\:', '=': '\\=', '[': '\\[', ']': '\\]'}
-  value = value.replace('\\', '\\\\\\\\\\\\\\\\')
-  for char, escaped in special_chars.items():
-    value = value.replace(char, escaped)
-  return value
-
-
-def get_logreader(route: Route):
-  return LogReader(route.qlog_paths()[0] if len(route.qlog_paths()) else route.name.canonical_name)
-
-
-def get_meta_text(lr: LogReader, route: Route):
-  init_data = lr.first('initData')
-  car_params = lr.first('carParams')
-  origin_parts = init_data.gitRemote.split('/')
-  origin = origin_parts[3] if len(origin_parts) > 3 else 'unknown'
-  return ', '.join([
-    f"openpilot v{init_data.version}",
-    f"route: {route.name.canonical_name}",
-    f"car: {car_params.carFingerprint}",
-    f"origin: {origin}",
-    f"branch: {init_data.gitBranch}",
-    f"commit: {init_data.gitCommit[:7]}",
-    f"modified: {str(init_data.dirty).lower()}",
-  ])
-
-
-def parse_args(parser: ArgumentParser):
+DEMO_ROUTE, DEMO_START, DEMO_END = '5beb9b58bd12b691/0000010a--a51155e496', 90, 105
+
+logger = logging.getLogger('clip')
+
+
+def parse_args():
+  parser = ArgumentParser(description="Direct clip renderer")
+  parser.add_argument("route", nargs="?", help="Route ID (dongle/route or dongle/route/start/end)")
+  parser.add_argument("-s", "--start", type=int, help="Start time in seconds")
+  parser.add_argument("-e", "--end", type=int, help="End time in seconds")
+  parser.add_argument("-o", "--output", default="output.mp4", help="Output file path")
+  parser.add_argument("-d", "--data-dir", help="Local directory with route data")
+  parser.add_argument("-t", "--title", help="Title overlay text")
+  parser.add_argument("-f", "--file-size", type=float, default=9.0, help="Target file size in MB")
+  parser.add_argument("-x", "--speed", type=int, default=1, help="Speed multiplier")
+  parser.add_argument("--demo", action="store_true", help="Use demo route with default timing")
+  parser.add_argument("--big", action="store_true", help="Use big UI (2160x1080)")
+  parser.add_argument("--qcam", action="store_true", help="Use qcamera instead of fcamera")
+  parser.add_argument("--windowed", action="store_true", help="Show window")
+  parser.add_argument("--no-metadata", action="store_true", help="Disable metadata overlay")
+  parser.add_argument("--no-time-overlay", action="store_true", help="Disable time overlay")
   args = parser.parse_args()
+
   if args.demo:
-    args.route = DEMO_ROUTE
-    if args.start is None or args.end is None:
-      args.start = DEMO_START
-      args.end = DEMO_END
-  elif args.route.count('/') == 1:
-    if args.start is None or args.end is None:
-      parser.error('must provide both start and end if timing is not in the route ID')
-  elif args.route.count('/') == 3:
-    if args.start is not None or args.end is not None:
-      parser.error('don\'t provide timing when including it in the route ID')
+    args.route, args.start, args.end = args.route or DEMO_ROUTE, args.start or DEMO_START, args.end or DEMO_END
+  elif not args.route:
+    parser.error("route is required (or use --demo)")
+
+  if args.route and args.route.count('/') == 3:
     parts = args.route.split('/')
-    args.route = '/'.join(parts[:2])
-    args.start = int(parts[2])
-    args.end = int(parts[3])
-  if args.end <= args.start:
-    parser.error(f'end ({args.end}) must be greater than start ({args.start})')
-  if args.start < SECONDS_TO_WARM:
-    parser.error(f'start must be greater than {SECONDS_TO_WARM}s to allow the UI time to warm up')
-
-  try:
-    args.route = Route(args.route, data_dir=args.data_dir)
-  except Exception as e:
-    parser.error(f'failed to get route: {e}')
-
-  # FIXME: length isn't exactly max segment seconds, simplify to replay exiting at end of data
-  length = round(args.route.max_seg_number * 60)
-  if args.start >= length:
-    parser.error(f'start ({args.start}s) cannot be after end of route ({length}s)')
-  if args.end > length:
-    parser.error(f'end ({args.end}s) cannot be after end of route ({length}s)')
+    args.route, args.start, args.end = '/'.join(parts[:2]), args.start or int(parts[2]), args.end or int(parts[3])
 
+  if args.start is None or args.end is None:
+    parser.error("--start and --end are required")
+  if args.end <= args.start:
+    parser.error(f"end ({args.end}) must be greater than start ({args.start})")
   return args
 
 
-def populate_car_params(lr: LogReader):
-  init_data = lr.first('initData')
-  assert init_data is not None
+def setup_env(output_path: str, big: bool = False, speed: int = 1, target_mb: float = 0, duration: int = 0, headless: bool = True):
+  os.environ.update({"RECORD": "1", "RECORD_OUTPUT": str(Path(output_path).with_suffix(".mp4"))})
+  if headless:
+    os.environ["OFFSCREEN"] = "1"
+  if speed > 1:
+    os.environ["RECORD_SPEED"] = str(speed)
+  if target_mb > 0 and duration > 0:
+    os.environ["RECORD_BITRATE"] = f"{int(target_mb * 8 * 1024 / (duration / speed))}k"
+  if big:
+    os.environ["BIG"] = "1"
+
+
+def _download_segment(path: str) -> bytes:
+  with FileReader(path) as f:
+    return bytes(f.read())
+
+
+def _parse_and_chunk_segment(args: tuple) -> list[dict]:
+  raw_data, fps = args
+  from openpilot.tools.lib.logreader import _LogFileReader
+  messages = migrate_all(list(_LogFileReader("", dat=raw_data, sort_by_time=True)))
+  if not messages:
+    return []
+
+  dt_ns, chunks, current, next_time = 1e9 / fps, [], {}, messages[0].logMonoTime + 1e9 / fps
+  for msg in messages:
+    if msg.logMonoTime >= next_time:
+      chunks.append(current)
+      current, next_time = {}, next_time + dt_ns * ((msg.logMonoTime - next_time) // dt_ns + 1)
+    current[msg.which()] = msg
+  return chunks + [current] if current else chunks
+
+
+def load_logs_parallel(log_paths: list[str], fps: int = 20) -> list[dict]:
+  num_workers = min(16, len(log_paths), (multiprocessing.cpu_count() or 1))
+  logger.info(f"Downloading {len(log_paths)} segments with {num_workers} workers...")
+
+  with ThreadPoolExecutor(max_workers=num_workers) as pool:
+    futures = {pool.submit(_download_segment, path): idx for idx, path in enumerate(log_paths)}
+    raw_data = {futures[f]: f.result() for f in as_completed(futures)}
+
+  logger.info("Parsing and chunking segments...")
+  with multiprocessing.Pool(num_workers) as pool:
+    return list(itertools.chain.from_iterable(pool.map(_parse_and_chunk_segment, [(raw_data[i], fps) for i in range(len(log_paths))])))
+
+
+def patch_submaster(message_chunks, ui_state):
+  # Reset started_frame so alerts render correctly (recv_frame must be >= started_frame)
+  ui_state.started_frame = 0
+  ui_state.started_time = time.monotonic()
+
+  def mock_update(timeout=None):
+    sm, t = ui_state.sm, time.monotonic()
+    sm.updated = dict.fromkeys(sm.services, False)
+    if sm.frame < len(message_chunks):
+      for svc, msg in message_chunks[sm.frame].items():
+        if svc in sm.data:
+          sm.seen[svc] = sm.updated[svc] = sm.alive[svc] = sm.valid[svc] = True
+          sm.data[svc] = getattr(msg.as_builder(), svc)
+          sm.logMonoTime[svc], sm.recv_time[svc], sm.recv_frame[svc] = msg.logMonoTime, t, sm.frame
+    sm.frame += 1
+  ui_state.sm.update = mock_update
+
+
+def get_frame_dimensions(camera_path: str) -> tuple[int, int]:
+  """Get frame dimensions from a video file using ffprobe."""
+  probe = ffprobe(camera_path)
+  stream = probe["streams"][0]
+  return stream["width"], stream["height"]
+
+
+def iter_segment_frames(camera_paths, start_time, end_time, fps=20, use_qcam=False, frame_size: tuple[int, int] | None = None):
+  frames_per_seg = fps * 60
+  start_frame, end_frame = int(start_time * fps), int(end_time * fps)
+  current_seg: int = -1
+  seg_frames: FrameReader | np.ndarray | None = None
+
+  for global_idx in range(start_frame, end_frame):
+    seg_idx, local_idx = global_idx // frames_per_seg, global_idx % frames_per_seg
+
+    if seg_idx != current_seg:
+      current_seg = seg_idx
+      path = camera_paths[seg_idx] if seg_idx < len(camera_paths) else None
+      if not path:
+        raise RuntimeError(f"No camera file for segment {seg_idx}")
+
+      if use_qcam:
+        w, h = frame_size or get_frame_dimensions(path)
+        with FileReader(path) as f:
+          result = subprocess.run(["ffmpeg", "-v", "quiet", "-i", "-", "-f", "rawvideo", "-pix_fmt", "nv12", "-"],
+                                  input=f.read(), capture_output=True)
+        if result.returncode != 0:
+          raise RuntimeError(f"ffmpeg failed: {result.stderr.decode()}")
+        seg_frames = np.frombuffer(result.stdout, dtype=np.uint8).reshape(-1, w * h * 3 // 2)
+      else:
+        seg_frames = FrameReader(path, pix_fmt="nv12")
+
+    assert seg_frames is not None
+    frame = seg_frames[local_idx] if use_qcam else seg_frames.get(local_idx)
+    yield global_idx, frame
+
+
+class FrameQueue:
+  def __init__(self, camera_paths, start_time, end_time, fps=20, prefetch_count=60, use_qcam=False):
+    # Probe first valid camera file for dimensions
+    first_path = next((p for p in camera_paths if p), None)
+    if not first_path:
+      raise RuntimeError("No valid camera paths")
+    self.frame_w, self.frame_h = get_frame_dimensions(first_path)
+
+    self._queue, self._stop, self._error = queue.Queue(maxsize=prefetch_count), threading.Event(), None
+    self._thread = threading.Thread(target=self._worker,
+                                    args=(camera_paths, start_time, end_time, fps, use_qcam, (self.frame_w, self.frame_h)), daemon=True)
+    self._thread.start()
+
+  def _worker(self, camera_paths, start_time, end_time, fps, use_qcam, frame_size):
+    try:
+      for idx, data in iter_segment_frames(camera_paths, start_time, end_time, fps, use_qcam, frame_size):
+        if self._stop.is_set():
+          break
+        self._queue.put((idx, data.tobytes()))
+    except Exception as e:
+      logger.exception("Decode error")
+      self._error = e
+    finally:
+      self._queue.put(None)
+
+  def get(self, timeout=60.0):
+    if self._error:
+      raise self._error
+    result = self._queue.get(timeout=timeout)
+    if result is None:
+      raise StopIteration("No more frames")
+    return result
+
+  def stop(self):
+    self._stop.set()
+    while not self._queue.empty():
+      try:
+        self._queue.get_nowait()
+      except queue.Empty:
+        break
+    self._thread.join(timeout=2.0)
+
+
+def load_route_metadata(route):
+  from openpilot.common.params import Params, UnknownKeyName
+  path = next((item for item in route.log_paths() if item), None)
+  if not path:
+    raise Exception('error getting route metadata: cannot find any uploaded logs')
+  lr = LogReader(path)
+  init_data, car_params = lr.first('initData'), lr.first('carParams')
 
   params = Params()
-  entries = init_data.params.entries
-  for cp in entries:
-    key, value = cp.key, cp.value
+  for entry in init_data.params.entries:
     try:
-      params.put(key, params.cpp2python(key, value))
+      params.put(entry.key, params.cpp2python(entry.key, entry.value))
     except UnknownKeyName:
-      # forks of openpilot may have other Params keys configured. ignore these
-      logger.warning(f"unknown Params key '{key}', skipping")
-  logger.debug('persisted CarParams')
-
-
-def validate_env(parser: ArgumentParser):
-  if platform.system() not in ['Linux']:
-    parser.exit(1, f'clip.py: error: {platform.system()} is not a supported operating system\n')
-  for proc in ['Xvfb', 'ffmpeg']:
-    if shutil.which(proc) is None:
-      parser.exit(1, f'clip.py: error: missing {proc} command, is it installed?\n')
-  for proc in [REPLAY, UI]:
-    if shutil.which(proc) is None:
-      parser.exit(1, f'clip.py: error: missing {proc} command, did you build openpilot yet?\n')
-
-
-def validate_output_file(output_file: str):
-  if not output_file.endswith('.mp4'):
-    raise ArgumentTypeError('output must be an mp4')
-  return output_file
-
-
-def validate_route(route: str):
-  if route.count('/') not in (1, 3):
-    raise ArgumentTypeError(f'route must include or exclude timing, example: {DEMO_ROUTE}')
-  return route
-
-
-def validate_title(title: str):
-  if len(title) > 80:
-    raise ArgumentTypeError('title must be no longer than 80 chars')
-  return title
-
-
-def wait_for_frames(procs: list[Popen]):
-  sm = SubMaster(['uiDebug'])
-  no_frames_drawn = True
-  while no_frames_drawn:
-    sm.update()
-    no_frames_drawn = sm['uiDebug'].drawTimeMillis == 0.
-    check_for_failure(procs)
-
-
-def clip(
-  data_dir: str | None,
-  quality: Literal['low', 'high'],
-  prefix: str,
-  route: Route,
-  out: str,
-  start: int,
-  end: int,
-  speed: int,
-  target_mb: int,
-  title: str | None,
-):
-  logger.info(f'clipping route {route.name.canonical_name}, start={start} end={end} quality={quality} target_filesize={target_mb}MB')
-  lr = get_logreader(route)
-
-  begin_at = max(start - SECONDS_TO_WARM, 0)
-  duration = end - start
-  bit_rate_kbps = int(round(target_mb * 8 * 1024 * 1024 / duration / 1000))
-
-  # TODO: evaluate creating fn that inspects /tmp/.X11-unix and creates unused display to avoid possibility of collision
-  display = f':{randint(99, 999)}'
-
-  box_style = 'box=1:boxcolor=black@0.33:boxborderw=7'
-  meta_text = get_meta_text(lr, route)
-  overlays = [
-    # metadata overlay
-    f"drawtext=text='{escape_ffmpeg_text(meta_text)}':fontfile={OPENPILOT_FONT}:fontcolor=white:fontsize=15:{box_style}:x=(w-text_w)/2:y=5.5:enable='between(t,1,5)'",
-    # route time overlay
-    f"drawtext=text='%{{eif\\:floor(({start}+t)/60)\\:d\\:2}}\\:%{{eif\\:mod({start}+t\\,60)\\:d\\:2}}':fontfile={OPENPILOT_FONT}:fontcolor=white:fontsize=24:{box_style}:x=w-text_w-38:y=38"
-  ]
+      pass
+
+  origin = init_data.gitRemote.split('/')[3] if len(init_data.gitRemote.split('/')) > 3 else 'unknown'
+  return {
+    'version': init_data.version, 'route': route.name.canonical_name,
+    'car': car_params.carFingerprint if car_params else 'unknown', 'origin': origin,
+    'branch': init_data.gitBranch, 'commit': init_data.gitCommit[:7], 'modified': str(init_data.dirty).lower(),
+  }
+
+
+def draw_text_box(text, x, y, size, gui_app, font, color=None, center=False):
+  import pyray as rl
+  from openpilot.system.ui.lib.text_measure import measure_text_cached
+  box_color, text_color = rl.Color(0, 0, 0, 85), color or rl.WHITE
+  text_size = measure_text_cached(font, text, size)
+  text_width, text_height = int(text_size.x), int(text_size.y)
+  if center:
+    x = (gui_app.width - text_width) // 2
+  rl.draw_rectangle(x - 8, y - 4, text_width + 16, text_height + 8, box_color)
+  rl.draw_text_ex(font, text, rl.Vector2(x, y), size, 0, text_color)
+
+
+def render_overlays(gui_app, font, big, metadata, title, start_time, frame_idx, show_metadata, show_time):
+  from openpilot.system.ui.lib.text_measure import measure_text_cached
+  from openpilot.system.ui.lib.wrap_text import wrap_text
+  metadata_size = 16 if big else 12
+  title_size = 32 if big else 24
+  time_size = 24 if big else 16
+
+  # Time overlay
+  time_width = 0
+  if show_time:
+    t = start_time + frame_idx / FRAMERATE
+    time_text = f"{int(t) // 60:02d}:{int(t) % 60:02d}"
+    time_width = int(measure_text_cached(font, time_text, time_size).x)
+    draw_text_box(time_text, gui_app.width - time_width - 5, 0, time_size, gui_app, font)
+
+  # Metadata overlay (first 5 seconds)
+  if show_metadata and metadata and frame_idx < FRAMERATE * 5:
+    m = metadata
+    text = ", ".join([f"openpilot v{m['version']}", f"route: {m['route']}", f"car: {m['car']}", f"origin: {m['origin']}",
+                      f"branch: {m['branch']}", f"commit: {m['commit']}", f"modified: {m['modified']}"])
+    # Wrap text if too wide (leave margin on each side)
+    margin = 2 * (time_width + 10 if show_time else 20)  # leave enough margin for time overlay
+    max_width = gui_app.width - margin
+    lines = wrap_text(font, text, metadata_size, max_width)
+
+    # Draw wrapped metadata text
+    y_offset = 6
+    for line in lines:
+      draw_text_box(line, 0, y_offset, metadata_size, gui_app, font, center=True)
+      line_height = int(measure_text_cached(font, line, metadata_size).y) + 4
+      y_offset += line_height
+
+  # Title overlay
   if title:
-    overlays.append(f"drawtext=text='{escape_ffmpeg_text(title)}':fontfile={OPENPILOT_FONT}:fontcolor=white:fontsize=32:{box_style}:x=(w-text_w)/2:y=53")
-
-  if speed > 1:
-    overlays += [
-      f"setpts=PTS/{speed}",
-      "fps=60",
-    ]
-
-  ffmpeg_cmd = [
-    'ffmpeg', '-y',
-    '-video_size', RESOLUTION,
-    '-framerate', str(FRAMERATE),
-    '-f', 'x11grab',
-    '-rtbufsize', '100M',
-    '-draw_mouse', '0',
-    '-i', display,
-    '-c:v', 'libx264',
-    '-maxrate', f'{bit_rate_kbps}k',
-    '-bufsize', f'{bit_rate_kbps*2}k',
-    '-crf', '23',
-    '-filter:v', ','.join(overlays),
-    '-preset', 'ultrafast',
-    '-tune', 'zerolatency',
-    '-pix_fmt', 'yuv420p',
-    '-movflags', '+faststart',
-    '-f', 'mp4',
-    '-t', str(duration),
-    out,
-  ]
-
-  replay_cmd = [REPLAY, '--ecam', '-c', '1', '-s', str(begin_at), '--prefix', prefix]
-  if data_dir:
-    replay_cmd.extend(['--data_dir', data_dir])
-  if quality == 'low':
-    replay_cmd.append('--qcam')
-  replay_cmd.append(route.name.canonical_name)
-
-  ui_cmd = [UI, '-platform', 'xcb']
-  xvfb_cmd = ['Xvfb', display, '-terminate', '-screen', '0', f'{RESOLUTION}x{PIXEL_DEPTH}']
-
-  with OpenpilotPrefix(prefix, shared_download_cache=True):
-    populate_car_params(lr)
-    env = os.environ.copy()
-    env['DISPLAY'] = display
-
-    with managed_proc(xvfb_cmd, env) as xvfb_proc, managed_proc(ui_cmd, env) as ui_proc, managed_proc(replay_cmd, env) as replay_proc:
-      procs = [xvfb_proc, ui_proc, replay_proc]
-      logger.info('waiting for replay to begin (loading segments, may take a while)...')
-      wait_for_frames(procs)
-      logger.debug(f'letting UI warm up ({SECONDS_TO_WARM}s)...')
-      time.sleep(SECONDS_TO_WARM)
-      check_for_failure(procs)
-      with managed_proc(ffmpeg_cmd, env) as ffmpeg_proc:
-        procs.append(ffmpeg_proc)
-        logger.info(f'recording in progress ({duration}s)...')
-        ffmpeg_proc.wait(duration + PROC_WAIT_SECONDS)
-        check_for_failure(procs)
-        logger.info(f'recording complete: {Path(out).resolve()}')
+    draw_text_box(title, 0, 60, title_size, gui_app, font, center=True)
+
+
+def clip(route: Route, output: str, start: int, end: int, headless: bool = True, big: bool = False,
+         title: str | None = None, show_metadata: bool = True, show_time: bool = True, use_qcam: bool = False):
+  timer, duration = Timer(), end - start
+
+  import pyray as rl
+  if big:
+    from openpilot.selfdrive.ui.onroad.augmented_road_view import AugmentedRoadView
+  else:
+    from openpilot.selfdrive.ui.mici.onroad.augmented_road_view import AugmentedRoadView
+  from openpilot.selfdrive.ui.ui_state import ui_state
+  from openpilot.system.ui.lib.application import gui_app, FontWeight
+  timer.lap("import")
+
+  logger.info(f"Clipping {route.name.canonical_name}, {start}s-{end}s ({duration}s)")
+  seg_start, seg_end = start // 60, (end - 1) // 60 + 1
+  all_chunks = load_logs_parallel(route.log_paths()[seg_start:seg_end], fps=FRAMERATE)
+  timer.lap("logs")
+
+  frame_start = (start - seg_start * 60) * FRAMERATE
+  message_chunks = all_chunks[frame_start:frame_start + duration * FRAMERATE]
+  if not message_chunks:
+    logger.error("No messages to render")
+    sys.exit(1)
+
+  if headless:
+    rl.set_config_flags(rl.ConfigFlags.FLAG_WINDOW_HIDDEN)
+
+  with OpenpilotPrefix(shared_download_cache=True):
+    metadata = load_route_metadata(route) if show_metadata else None
+    camera_paths = route.qcamera_paths() if use_qcam else route.camera_paths()
+    frame_queue = FrameQueue(camera_paths, start, end, fps=FRAMERATE, use_qcam=use_qcam)
+
+    vipc = VisionIpcServer("camerad")
+    vipc.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 4, frame_queue.frame_w, frame_queue.frame_h)
+    vipc.start_listener()
+
+    patch_submaster(message_chunks, ui_state)
+    gui_app.init_window("clip", fps=FRAMERATE)
+
+    road_view = AugmentedRoadView()
+    road_view.set_rect(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
+    font = gui_app.font(FontWeight.NORMAL)
+    timer.lap("setup")
+
+    frame_idx = 0
+    with tqdm.tqdm(total=len(message_chunks), desc="Rendering", unit="frame") as pbar:
+      for should_render in gui_app.render():
+        if frame_idx >= len(message_chunks):
+          break
+        _, frame_bytes = frame_queue.get()
+        vipc.send(VisionStreamType.VISION_STREAM_ROAD, frame_bytes, frame_idx, int(frame_idx * 5e7), int(frame_idx * 5e7))
+        ui_state.update()
+        if should_render:
+          road_view.render()
+          render_overlays(gui_app, font, big, metadata, title, start, frame_idx, show_metadata, show_time)
+        frame_idx += 1
+        pbar.update(1)
+    timer.lap("render")
+
+    frame_queue.stop()
+    gui_app.close()
+    timer.lap("ffmpeg")
+
+  logger.info(f"Clip saved to: {Path(output).resolve()}")
+  logger.info(f"Generated {timer.fmt(duration)}")
 
 
 def main():
-  p = ArgumentParser(prog='clip.py', description='clip your openpilot route.', epilog='comma.ai')
-  validate_env(p)
-  route_group = p.add_mutually_exclusive_group(required=True)
-  route_group.add_argument('route', nargs='?', type=validate_route, help=f'The route (e.g. {DEMO_ROUTE} or {DEMO_ROUTE}/{DEMO_START}/{DEMO_END})')
-  route_group.add_argument('--demo', help='use the demo route', action='store_true')
-  p.add_argument('-d', '--data-dir', help='local directory where route data is stored')
-  p.add_argument('-e', '--end', help='stop clipping at <end> seconds', type=int)
-  p.add_argument('-f', '--file-size', help='target file size (Discord/GitHub support max 10MB, default is 9MB)', type=float, default=9.)
-  p.add_argument('-o', '--output', help='output clip to (.mp4)', type=validate_output_file, default=DEFAULT_OUTPUT)
-  p.add_argument('-p', '--prefix', help='openpilot prefix', default=f'clip_{randint(100, 99999)}')
-  p.add_argument('-q', '--quality', help='quality of camera (low = qcam, high = hevc)', choices=['low', 'high'], default='high')
-  p.add_argument('-x', '--speed', help='record the clip at this speed multiple', type=int, default=1)
-  p.add_argument('-s', '--start', help='start clipping at <start> seconds', type=int)
-  p.add_argument('-t', '--title', help='overlay this title on the video (e.g. "Chill driving across the Golden Gate Bridge")', type=validate_title)
-  args = parse_args(p)
-  exit_code = 1
-  try:
-    clip(
-      data_dir=args.data_dir,
-      quality=args.quality,
-      prefix=args.prefix,
-      route=args.route,
-      out=args.output,
-      start=args.start,
-      end=args.end,
-      speed=args.speed,
-      target_mb=args.file_size,
-      title=args.title,
-    )
-    exit_code = 0
-  except KeyboardInterrupt as e:
-    logger.exception('interrupted by user', exc_info=e)
-  except Exception as e:
-    logger.exception('encountered error', exc_info=e)
-  sys.exit(exit_code)
-
-
-if __name__ == '__main__':
-  logging.basicConfig(level=logging.INFO, format='%(asctime)s %(name)s %(levelname)s\t%(message)s')
+  logging.basicConfig(level=logging.INFO, format="%(asctime)s %(levelname)s\t%(message)s")
+  args = parse_args()
+
+  headless = not args.windowed
+  setup_env(args.output, big=args.big, speed=args.speed, target_mb=args.file_size, duration=args.end - args.start, headless=headless)
+  clip(Route(args.route, data_dir=args.data_dir), args.output, args.start, args.end, headless,
+       args.big, args.title, not args.no_metadata, not args.no_time_overlay, args.qcam)
+
+
+if __name__ == "__main__":
   main()
diff --git a/tools/install_python_dependencies.sh b/tools/install_python_dependencies.sh
deleted file mode 100755
index c2db249cf23..00000000000
--- a/tools/install_python_dependencies.sh
+++ /dev/null
@@ -1,31 +0,0 @@
-#!/usr/bin/env bash
-set -euo pipefail
-
-# Increase the pip timeout to handle TimeoutError
-export PIP_DEFAULT_TIMEOUT=200
-
-DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
-ROOT="$DIR"/../
-cd "$ROOT"
-
-if ! command -v "uv" > /dev/null 2>&1; then
-  echo "installing uv..."
-  curl -LsSf --retry 5 --retry-delay 5 --retry-all-errors https://astral.sh/uv/install.sh | sh
-  UV_BIN="$HOME/.local/bin"
-  PATH="$UV_BIN:$PATH"
-fi
-
-echo "updating uv..."
-# ok to fail, can also fail due to installing with brew
-uv self update || true
-
-echo "installing python packages..."
-uv sync --frozen --all-extras
-source .venv/bin/activate
-
-if [[ "$(uname)" == 'Darwin' ]]; then
-  touch "$ROOT"/.env
-  echo "# msgq doesn't work on mac" >> "$ROOT"/.env
-  echo "export ZMQ=1" >> "$ROOT"/.env
-  echo "export OBJC_DISABLE_INITIALIZE_FORK_SAFETY=YES" >> "$ROOT"/.env
-fi
diff --git a/tools/install_ubuntu_dependencies.sh b/tools/install_ubuntu_dependencies.sh
deleted file mode 100755
index 5c2131d4bf8..00000000000
--- a/tools/install_ubuntu_dependencies.sh
+++ /dev/null
@@ -1,132 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-SUDO=""
-
-# Use sudo if not root
-if [[ ! $(id -u) -eq 0 ]]; then
-  if [[ -z $(which sudo) ]]; then
-    echo "Please install sudo or run as root"
-    exit 1
-  fi
-  SUDO="sudo"
-fi
-
-# Check if stdin is open
-if [ -t 0 ]; then
-  INTERACTIVE=1
-fi
-
-# Install common packages
-function install_ubuntu_common_requirements() {
-  $SUDO apt-get update
-
-  # normal stuff, mostly for the bare docker image
-  $SUDO apt-get install -y --no-install-recommends \
-    ca-certificates \
-    clang \
-    build-essential \
-    curl \
-    libssl-dev \
-    libcurl4-openssl-dev \
-    locales \
-    git \
-    git-lfs \
-    xvfb
-
-  # TODO: vendor the rest of these in third_party/
-  $SUDO apt-get install -y --no-install-recommends \
-    gcc-arm-none-eabi \
-    capnproto \
-    libcapnp-dev \
-    ffmpeg \
-    libavformat-dev \
-    libavcodec-dev \
-    libavdevice-dev \
-    libavutil-dev \
-    libavfilter-dev \
-    libbz2-dev \
-    libeigen3-dev \
-    libffi-dev \
-    libgles2-mesa-dev \
-    libglfw3-dev \
-    libglib2.0-0 \
-    libjpeg-dev \
-    libqt5charts5-dev \
-    libncurses5-dev \
-    libusb-1.0-0-dev \
-    libzmq3-dev \
-    libzstd-dev \
-    libsqlite3-dev \
-    opencl-headers \
-    ocl-icd-libopencl1 \
-    ocl-icd-opencl-dev \
-    portaudio19-dev \
-    qttools5-dev-tools \
-    libqt5svg5-dev \
-    libqt5serialbus5-dev  \
-    libqt5x11extras5-dev \
-    libqt5opengl5-dev \
-    gettext
-}
-
-# Install Ubuntu 24.04 LTS packages
-function install_ubuntu_lts_latest_requirements() {
-  install_ubuntu_common_requirements
-
-  $SUDO apt-get install -y --no-install-recommends \
-    g++-12 \
-    qtbase5-dev \
-    qtbase5-dev-tools \
-    python3-dev \
-    python3-venv
-}
-
-# Detect OS using /etc/os-release file
-if [ -f "/etc/os-release" ]; then
-  source /etc/os-release
-  case "$VERSION_CODENAME" in
-    "jammy" | "kinetic" | "noble")
-      install_ubuntu_lts_latest_requirements
-      ;;
-    *)
-      echo "$ID $VERSION_ID is unsupported. This setup script is written for Ubuntu 24.04."
-      read -p "Would you like to attempt installation anyway? " -n 1 -r
-      echo ""
-      if [[ ! $REPLY =~ ^[Yy]$ ]]; then
-        exit 1
-      fi
-      install_ubuntu_lts_latest_requirements
-  esac
-
-  if [[ -d "/etc/udev/rules.d/" ]]; then
-    # Setup jungle udev rules
-    $SUDO tee /etc/udev/rules.d/12-panda_jungle.rules > /dev/null <<EOF
-SUBSYSTEM=="usb", ATTRS{idVendor}=="3801", ATTRS{idProduct}=="ddcf", MODE="0666"
-SUBSYSTEM=="usb", ATTRS{idVendor}=="3801", ATTRS{idProduct}=="ddef", MODE="0666"
-SUBSYSTEM=="usb", ATTRS{idVendor}=="bbaa", ATTRS{idProduct}=="ddcf", MODE="0666"
-SUBSYSTEM=="usb", ATTRS{idVendor}=="bbaa", ATTRS{idProduct}=="ddef", MODE="0666"
-
-EOF
-
-    # Setup panda udev rules
-    $SUDO tee /etc/udev/rules.d/11-panda.rules > /dev/null <<EOF
-SUBSYSTEM=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="df11", MODE="0666"
-SUBSYSTEM=="usb", ATTRS{idVendor}=="3801", ATTRS{idProduct}=="ddcc", MODE="0666"
-SUBSYSTEM=="usb", ATTRS{idVendor}=="3801", ATTRS{idProduct}=="ddee", MODE="0666"
-SUBSYSTEM=="usb", ATTRS{idVendor}=="bbaa", ATTRS{idProduct}=="ddcc", MODE="0666"
-SUBSYSTEM=="usb", ATTRS{idVendor}=="bbaa", ATTRS{idProduct}=="ddee", MODE="0666"
-EOF
-
-    # Setup adb udev rules
-    $SUDO tee /etc/udev/rules.d/50-comma-adb.rules > /dev/null <<EOF
-SUBSYSTEM=="usb", ATTR{idVendor}=="04d8", ATTR{idProduct}=="1234", ENV{adb_user}="yes"
-EOF
-
-    $SUDO udevadm control --reload-rules && $SUDO udevadm trigger || true
-  fi
-
-else
-  echo "No /etc/os-release in the system. Make sure you're running on Ubuntu, or similar."
-  exit 1
-fi
diff --git a/tools/jotpluggler/.gitignore b/tools/jotpluggler/.gitignore
new file mode 100644
index 00000000000..7cb98300fef
--- /dev/null
+++ b/tools/jotpluggler/.gitignore
@@ -0,0 +1,9 @@
+__pycache__/
+jot_*.o
+*.o
+jotpluggler
+car_fingerprint_to_dbc.h
+generated_dbcs/.stamp
+generated_dbcs/*.dbc
+layouts/.jotpluggler_autosave/
+reports/
diff --git a/tools/jotpluggler/README.md b/tools/jotpluggler/README.md
deleted file mode 100644
index c5b43dbd3ad..00000000000
--- a/tools/jotpluggler/README.md
+++ /dev/null
@@ -1,67 +0,0 @@
-# JotPluggler
-
-JotPluggler is a tool to quickly visualize openpilot logs.
-
-## Usage
-
-```
-$ ./jotpluggler/pluggle.py -h
-usage: pluggle.py [-h] [--demo] [--layout LAYOUT] [route]
-
-A tool for visualizing openpilot logs.
-
-positional arguments:
-  route            Optional route name to load on startup.
-
-options:
-  -h, --help       show this help message and exit
-  --demo           Use the demo route instead of providing one
-  --layout LAYOUT  Path to YAML layout file to load on startup
-```
-
-Example using route name:
-
-`./pluggle.py "a2a0ccea32023010/2023-07-27--13-01-19"`
-
-Examples using segment:
-
-`./pluggle.py "a2a0ccea32023010/2023-07-27--13-01-19/1"`
-
-`./pluggle.py "a2a0ccea32023010/2023-07-27--13-01-19/1/q" # use qlogs`
-
-Example using segment range:
-
-`./pluggle.py "a2a0ccea32023010/2023-07-27--13-01-19/0:1"`
-
-## Demo
-
-For a quick demo, run this command:
-
-`./pluggle.py --demo --layout=layouts/torque-controller.yaml`
-
-
-## Basic Usage/Features:
-- The text box to load a route is a the top left of the page, accepts standard openpilot format routes (e.g. `a2a0ccea32023010/2023-07-27--13-01-19/0:1`, `https://connect.comma.ai/a2a0ccea32023010/2023-07-27--13-01-19/`)
-- The Play/Pause button is at the bottom of the screen, you can drag the bottom slider to seek. The timeline in timeseries plots are synced with the slider.
-- The Timeseries List sidebar has several dropdowns, the fields each show the field name and value, synced with the timeline (will show N/A until the time of the first message in that field is reached).
-- There is a search bar for the timeseries list, you can search for structs or fields, or both by separating with a "/"
-- You can drag and drop any numeric/boolean field from the timeseries list into a timeseries panel.
-- You can create more panels with the split buttons (buttons with two rectangles, either horizontal or vertical). You can resize the panels by dragging the grip in between any panel.
-- You can load and save layouts with the corresponding buttons. Layouts will save all tabs, panels, titles, timeseries, etc.
-
-## Layouts
-
-If you create a layout that's useful for others, consider upstreaming it.
-
-## Plot Interaction Controls
-
-- **Left click and drag within the plot area** to pan X
-  - Left click and drag on an axis to pan an individual axis (disabled for Y-axis)
-- **Scroll in the plot area** to zoom in X axes, Y-axis is autofit
-  - Scroll on an axis to zoom an individual axis
-- **Right click and drag** to select data and zoom into the selected data
-  - Left click while box selecting to cancel the selection
-- **Double left click** to fit all visible data
-  - Double left click on an axis to fit the individual axis (disabled for Y-axis, always autofit)
-- **Double right click** to open the plot context menu
-- **Click legend label icons** to show/hide plot items
diff --git a/tools/jotpluggler/SConscript b/tools/jotpluggler/SConscript
new file mode 100644
index 00000000000..122d502341c
--- /dev/null
+++ b/tools/jotpluggler/SConscript
@@ -0,0 +1,92 @@
+import os
+import imgui
+import libusb
+from opendbc import get_generated_dbcs
+from opendbc.car import Bus
+from opendbc.car.fingerprints import MIGRATION
+from opendbc.car.values import PLATFORMS
+from openpilot.common.basedir import BASEDIR
+
+Import('env', 'arch', 'common', 'messaging', 'visionipc', 'cereal', 'replay_lib')
+
+jot_env = env.Clone()
+jot_env["LIBPATH"] += [imgui.MESA_DIR, libusb.LIB_DIR]
+jot_env["CPPPATH"] += [imgui.INCLUDE_DIR, libusb.INCLUDE_DIR]
+jot_env["CXXFLAGS"] += [
+  "-DGLFW_INCLUDE_NONE",
+  '-DJOTP_REPO_ROOT=\'"%s"\'' % os.path.realpath(BASEDIR),
+]
+
+def materialize_generated_dbcs(target, source, env):
+  out_dir = os.path.dirname(str(target[0]))
+  os.makedirs(out_dir, exist_ok=True)
+
+  for name in os.listdir(out_dir):
+    if name.endswith('.dbc'):
+      os.unlink(os.path.join(out_dir, name))
+
+  for name, content in sorted(get_generated_dbcs().items()):
+    with open(os.path.join(out_dir, f"{name}.dbc"), "w") as f:
+      f.write(content)
+
+  with open(str(target[0]), "w") as f:
+    f.write("ok\n")
+
+  return None
+
+def write_car_fingerprint_to_dbc_header(target, source, env):
+  pairs = {}
+
+  for name, platform in sorted(PLATFORMS.items()):
+    dbc = platform.config.dbc_dict.get(Bus.pt, "")
+    if not dbc and name.startswith("TESLA_"):
+      dbc = platform.config.dbc_dict.get(Bus.party, "")
+    if not dbc and name == "COMMA_BODY":
+      dbc = "comma_body"
+    if dbc and name != "MOCK":
+      pairs[name] = dbc
+
+  for fingerprint, car in sorted(MIGRATION.items()):
+    dbc = pairs.get(str(car), "")
+    if dbc:
+      pairs[fingerprint] = dbc
+
+  lines = [
+    "#pragma once",
+    "",
+    "#include <string_view>",
+    "#include <utility>",
+    "",
+    "inline constexpr std::pair<std::string_view, std::string_view> kCarFingerprintToDbc[] = {",
+  ]
+  lines.extend(f'  {{"{fingerprint}", "{dbc}"}},' for fingerprint, dbc in sorted(pairs.items()))
+  lines.extend([
+    "};",
+    "",
+    "inline std::string_view dbc_for_car_fingerprint(std::string_view fingerprint) {",
+    "  for (const auto &[car_fingerprint, dbc] : kCarFingerprintToDbc) {",
+    "    if (car_fingerprint == fingerprint) return dbc;",
+    "  }",
+    "  return {};",
+    "}",
+    "",
+  ])
+
+  with open(str(target[0]), "w") as f:
+    f.write("\n".join(lines))
+
+  return None
+
+generated_dbc_stamp = jot_env.Command(f"generated_dbcs/.stamp", [], materialize_generated_dbcs)
+car_fingerprint_to_dbc = jot_env.Command("car_fingerprint_to_dbc.h", [], write_car_fingerprint_to_dbc_header)
+
+libs = [replay_lib, common, messaging, visionipc, cereal, File(f"{imgui.LIB_DIR}/libimgui.a"), File(f"{imgui.LIB_DIR}/libglfw3.a"),
+        "avformat", "avcodec", "avutil", "x264", "yuv", "z", "bz2", "zstd", "m", "pthread", "usb-1.0"]
+if arch == "Darwin":
+  jot_env["FRAMEWORKS"] = ["OpenGL", "Cocoa", "IOKit", "CoreFoundation", "CoreVideo", "CoreMedia", "VideoToolbox"]
+else:
+  libs += ["GL", "dl", "va", "va-drm", "drm"]
+
+program = jot_env.Program("jotpluggler", jot_env.Glob("*.cc"), LIBS=libs)
+jot_env.Depends(program, generated_dbc_stamp)
+jot_env.Depends(program, car_fingerprint_to_dbc)
diff --git a/tools/jotpluggler/app.cc b/tools/jotpluggler/app.cc
new file mode 100644
index 00000000000..f25656c7bf3
--- /dev/null
+++ b/tools/jotpluggler/app.cc
@@ -0,0 +1,1914 @@
+#include "tools/jotpluggler/app.h"
+#include "tools/jotpluggler/camera.h"
+#include "tools/jotpluggler/common.h"
+#include "tools/jotpluggler/internal.h"
+#include "tools/jotpluggler/map.h"
+#include "system/hardware/hw.h"
+#include "imgui_impl_glfw.h"
+
+#include "imgui_internal.h"
+#include "imgui_impl_opengl3.h"
+#include "imgui_impl_opengl3_loader.h"
+#include "implot.h"
+
+#include <GLFW/glfw3.h>
+
+#include <chrono>
+#include <cmath>
+#include <cfloat>
+#include <cstring>
+#include <condition_variable>
+#include <iomanip>
+#include <iostream>
+#include <limits>
+#include <mutex>
+#include <stdexcept>
+#include <thread>
+#include <unordered_set>
+#include <unistd.h>
+
+#include "third_party/json11/json11.hpp"
+
+namespace fs = std::filesystem;
+
+constexpr const char *UNTITLED_PANE_TITLE = "...";
+ImFont *g_ui_font = nullptr;
+ImFont *g_ui_bold_font = nullptr;
+ImFont *g_mono_font = nullptr;
+
+std::string layout_name_from_arg(const std::string &layout_arg) {
+  const fs::path raw(layout_arg);
+  if (raw.extension() == ".xml" || raw.extension() == ".json") {
+    return raw.stem().string();
+  }
+  if (raw.filename() != raw) {
+    return raw.filename().replace_extension("").string();
+  }
+  fs::path stem_path = raw;
+  return stem_path.replace_extension("").string();
+}
+
+fs::path layouts_dir() {
+  return repo_root() / "tools" / "jotpluggler" / "layouts";
+}
+
+std::string sanitize_layout_stem(std::string_view name) {
+  std::string out;
+  out.reserve(name.size());
+  bool last_was_dash = false;
+  for (const char raw : name) {
+    const unsigned char c = static_cast<unsigned char>(raw);
+    if (std::isalnum(c) != 0) {
+      out.push_back(static_cast<char>(std::tolower(c)));
+      last_was_dash = false;
+    } else if (raw == '-' || raw == '_') {
+      out.push_back(raw);
+      last_was_dash = false;
+    } else if (!last_was_dash && !out.empty()) {
+      out.push_back('-');
+      last_was_dash = true;
+    }
+  }
+  while (!out.empty() && out.back() == '-') {
+    out.pop_back();
+  }
+  return out.empty() ? "untitled" : out;
+}
+
+fs::path autosave_dir() {
+  return layouts_dir() / ".jotpluggler_autosave";
+}
+
+fs::path resolve_layout_path(const std::string &layout_arg) {
+  const fs::path direct(layout_arg);
+  if (fs::exists(direct)) {
+    if (direct.extension() == ".json") return fs::absolute(direct);
+    const fs::path sibling_json = direct.parent_path() / (direct.stem().string() + ".json");
+    if (direct.extension() == ".xml" && fs::exists(sibling_json)) {
+      return fs::absolute(sibling_json);
+    }
+  }
+  const fs::path candidate = layouts_dir() / (layout_name_from_arg(layout_arg) + ".json");
+  if (!fs::exists(candidate)) throw std::runtime_error("Unknown layout: " + layout_arg);
+  return candidate;
+}
+
+fs::path autosave_path_for_layout(const fs::path &layout_path) {
+  const std::string stem = layout_path.empty() ? "untitled" : layout_path.stem().string();
+  return autosave_dir() / (sanitize_layout_stem(stem) + ".json");
+}
+
+std::vector<std::string> available_layout_names() {
+  std::vector<std::string> names;
+  const fs::path root = layouts_dir();
+  if (!fs::exists(root) || !fs::is_directory(root)) {
+    return names;
+  }
+  for (const auto &entry : fs::directory_iterator(root)) {
+    if (!entry.is_regular_file() || entry.path().extension() != ".json") {
+      continue;
+    }
+    names.push_back(entry.path().stem().string());
+  }
+  std::sort(names.begin(), names.end());
+  return names;
+}
+
+void refresh_replaced_layout_ui(AppSession *session, UiState *state, bool mark_docks) {
+  state->tabs.clear();
+  cancel_rename_tab(state);
+  sync_ui_state(state, session->layout);
+  sync_layout_buffers(state, *session);
+  if (mark_docks) {
+    mark_all_docks_dirty(state);
+  }
+}
+
+void start_new_layout(AppSession *session, UiState *state, const std::string &status_text) {
+  session->layout = make_empty_layout();
+  session->layout_path.clear();
+  session->autosave_path.clear();
+  state->undo.reset(session->layout);
+  state->layout_dirty = false;
+  state->status_text = status_text;
+  refresh_replaced_layout_ui(session, state, true);
+  reset_shared_range(state, *session);
+}
+
+bool is_decoded_can_series_path(std::string_view path) {
+  const std::string value(path);
+  return util::starts_with(value, "/can/") || util::starts_with(value, "/sendcan/");
+}
+
+bool apply_route_can_decode_update(AppSession *session, UiState *state);
+
+void rebuild_series_lookup_preserving_formats(AppSession *session,
+                                              std::string_view updated_prefix,
+                                              bool refresh_updated_formats_only) {
+  const std::string prefix(updated_prefix);
+  if (!updated_prefix.empty()) {
+    for (auto it = session->route_data.series_formats.begin(); it != session->route_data.series_formats.end();) {
+      if (util::starts_with(it->first, prefix)) {
+        it = session->route_data.series_formats.erase(it);
+      } else {
+        ++it;
+      }
+    }
+  }
+  session->series_by_path.clear();
+  session->series_by_path.reserve(session->route_data.series.size());
+  for (RouteSeries &series : session->route_data.series) {
+    session->series_by_path.emplace(series.path, &series);
+    if (refresh_updated_formats_only) {
+      if (!updated_prefix.empty() && util::starts_with(series.path, prefix)) {
+        const bool enum_like = session->route_data.enum_info.find(series.path) != session->route_data.enum_info.end();
+        session->route_data.series_formats[series.path] = compute_series_format(series.values, enum_like);
+      }
+    } else {
+      const bool enum_like = session->route_data.enum_info.find(series.path) != session->route_data.enum_info.end();
+      session->route_data.series_formats[series.path] = compute_series_format(series.values, enum_like);
+    }
+  }
+}
+
+bool apply_route_can_decode_update(AppSession *session, UiState *state) {
+  const std::string active_dbc_name = !session->dbc_override.empty() ? session->dbc_override : session->route_data.dbc_name;
+  if (!active_dbc_name.empty() && !load_dbc_by_name(active_dbc_name).has_value()) {
+    state->error_text = "DBC not found: " + active_dbc_name;
+    state->open_error_popup = true;
+    return false;
+  }
+  std::unordered_map<std::string, EnumInfo> can_enum_info;
+  std::vector<RouteSeries> can_series = decode_can_messages(session->route_data.can_messages, active_dbc_name, &can_enum_info);
+
+  std::vector<RouteSeries> updated_series;
+  updated_series.reserve(session->route_data.series.size() + can_series.size());
+  for (RouteSeries &series : session->route_data.series) {
+    if (!is_decoded_can_series_path(series.path)) {
+      updated_series.push_back(std::move(series));
+    }
+  }
+  for (RouteSeries &series : can_series) {
+    updated_series.push_back(std::move(series));
+  }
+  std::sort(updated_series.begin(), updated_series.end(), [](const RouteSeries &a, const RouteSeries &b) {
+    return a.path < b.path;
+  });
+
+  std::unordered_map<std::string, EnumInfo> updated_enum_info;
+  updated_enum_info.reserve(session->route_data.enum_info.size() + can_enum_info.size());
+  for (auto &[path, info] : session->route_data.enum_info) {
+    if (!is_decoded_can_series_path(path)) {
+      updated_enum_info.emplace(path, std::move(info));
+    }
+  }
+  for (auto &[path, info] : can_enum_info) {
+    updated_enum_info[path] = std::move(info);
+  }
+
+  session->route_data.series = std::move(updated_series);
+  session->route_data.enum_info = std::move(updated_enum_info);
+  session->route_data.paths.clear();
+  session->route_data.paths.reserve(session->route_data.series.size());
+  for (const RouteSeries &series : session->route_data.series) {
+    session->route_data.paths.push_back(series.path);
+  }
+  std::sort(session->route_data.paths.begin(), session->route_data.paths.end());
+  session->route_data.roots = collect_route_roots_for_paths(session->route_data.paths);
+
+  rebuild_route_index(session);
+  rebuild_browser_nodes(session, state);
+  refresh_all_custom_curves(session, state);
+  sync_camera_feeds(session);
+  return true;
+}
+
+void apply_dbc_override_change(AppSession *session, UiState *state, const std::string &dbc_override) {
+  session->dbc_override = dbc_override;
+  if (session->data_mode == SessionDataMode::Stream) {
+    start_stream_session(session, state, session->stream_source, session->stream_buffer_seconds, false);
+  } else if (!session->route_name.empty()) {
+    const bool ok = apply_route_can_decode_update(session, state);
+    if (ok) {
+      state->status_text = dbc_override.empty() ? "DBC auto-detect enabled" : "DBC set to " + dbc_override;
+    } else {
+      state->status_text = "Failed to apply DBC";
+    }
+  } else if (dbc_override.empty()) {
+    state->status_text = "DBC auto-detect enabled";
+  } else {
+    state->status_text = "DBC set to " + dbc_override;
+  }
+}
+
+void configure_style() {
+  ImGui::StyleColorsLight();
+  ImPlot::StyleColorsLight();
+
+  ImGuiIO &io = ImGui::GetIO();
+  g_ui_font = nullptr;
+  g_ui_bold_font = nullptr;
+  g_mono_font = nullptr;
+  const fs::path fonts_dir = repo_root() / "selfdrive" / "assets" / "fonts";
+  ImFontConfig font_cfg;
+  font_cfg.OversampleH = 2;
+  font_cfg.OversampleV = 2;
+  font_cfg.RasterizerDensity = 1.0f;
+  icon_add_font(16.0f);
+  const auto add_font_with_icons = [&](const fs::path &path, float size) -> ImFont * {
+    ImFont *font = io.Fonts->AddFontFromFileTTF(path.c_str(), size, &font_cfg);
+    if (font != nullptr) {
+      icon_add_font(size, true, font);
+    }
+    return font;
+  };
+  if (ImFont *font = add_font_with_icons(fonts_dir / "Inter-Regular.ttf", 16.0f); font != nullptr) {
+    g_ui_font = font;
+    io.FontDefault = font;
+  }
+  g_ui_bold_font = add_font_with_icons(fonts_dir / "Inter-SemiBold.ttf", 16.75f);
+  if (g_ui_font == nullptr) {
+    if (ImFont *font = add_font_with_icons(fonts_dir / "JetBrainsMono-Medium.ttf", 15.75f); font != nullptr) {
+      g_mono_font = font;
+      io.FontDefault = font;
+    }
+  }
+  if (g_mono_font == nullptr) {
+    g_mono_font = add_font_with_icons(fonts_dir / "JetBrainsMono-Medium.ttf", 15.75f);
+  }
+  if (g_ui_bold_font == nullptr) {
+    g_ui_bold_font = g_ui_font;
+  }
+
+  ImGuiStyle &style = ImGui::GetStyle();
+  style.WindowRounding = 0.0f;
+  style.ChildRounding = 0.0f;
+  style.PopupRounding = 0.0f;
+  style.FrameRounding = 2.0f;
+  style.ScrollbarRounding = 2.0f;
+  style.GrabRounding = 2.0f;
+  style.TabRounding = 0.0f;
+  style.WindowBorderSize = 1.0f;
+  style.ChildBorderSize = 1.0f;
+  style.FrameBorderSize = 1.0f;
+  style.WindowPadding = ImVec2(8.0f, 7.0f);
+  style.FramePadding = ImVec2(6.0f, 3.0f);
+  style.ItemSpacing = ImVec2(8.0f, 5.0f);
+  style.ItemInnerSpacing = ImVec2(6.0f, 3.0f);
+  struct ColorDef { ImGuiCol idx; int r, g, b; };
+  constexpr ColorDef COLORS[] = {
+    {ImGuiCol_WindowBg, 250, 250, 251},  {ImGuiCol_ChildBg, 255, 255, 255},
+    {ImGuiCol_Border, 194, 198, 204},    {ImGuiCol_TitleBg, 252, 252, 253},
+    {ImGuiCol_TitleBgActive, 252, 252, 253}, {ImGuiCol_TitleBgCollapsed, 252, 252, 253},
+    {ImGuiCol_Text, 74, 80, 88},         {ImGuiCol_TextDisabled, 108, 118, 128},
+    {ImGuiCol_Button, 255, 255, 255},    {ImGuiCol_ButtonHovered, 246, 248, 250},
+    {ImGuiCol_ButtonActive, 238, 240, 244}, {ImGuiCol_FrameBg, 255, 255, 255},
+    {ImGuiCol_FrameBgHovered, 248, 249, 251}, {ImGuiCol_FrameBgActive, 241, 244, 248},
+    {ImGuiCol_Header, 243, 245, 248},    {ImGuiCol_HeaderHovered, 237, 240, 244},
+    {ImGuiCol_HeaderActive, 232, 236, 240}, {ImGuiCol_PopupBg, 248, 249, 251},
+    {ImGuiCol_MenuBarBg, 232, 236, 241}, {ImGuiCol_Separator, 194, 198, 204},
+    {ImGuiCol_ScrollbarBg, 240, 242, 245}, {ImGuiCol_ScrollbarGrab, 202, 207, 214},
+    {ImGuiCol_ScrollbarGrabHovered, 180, 186, 194}, {ImGuiCol_ScrollbarGrabActive, 164, 171, 180},
+    {ImGuiCol_Tab, 219, 224, 230},       {ImGuiCol_TabHovered, 232, 236, 241},
+    {ImGuiCol_TabSelected, 250, 251, 253}, {ImGuiCol_TabSelectedOverline, 92, 109, 136},
+    {ImGuiCol_TabDimmed, 213, 219, 226}, {ImGuiCol_TabDimmedSelected, 244, 247, 249},
+    {ImGuiCol_TabDimmedSelectedOverline, 92, 109, 136}, {ImGuiCol_DockingEmptyBg, 244, 246, 248},
+  };
+  for (const auto &c : COLORS) { style.Colors[c.idx] = color_rgb(c.r, c.g, c.b); }
+  style.Colors[ImGuiCol_DockingPreview] = color_rgb(69, 115, 184, 0.22f);
+
+  ImPlotStyle &plot_style = ImPlot::GetStyle();
+  plot_style.PlotBorderSize = 1.0f;
+  plot_style.MinorAlpha = 0.65f;
+  plot_style.LegendPadding = ImVec2(6.0f, 5.0f);
+  plot_style.LegendInnerPadding = ImVec2(6.0f, 3.0f);
+  plot_style.LegendSpacing = ImVec2(7.0f, 2.0f);
+  plot_style.PlotPadding = ImVec2(4.0f, 8.0f);
+  plot_style.FitPadding = ImVec2(0.02f, static_cast<float>(PLOT_Y_PADDING_FRACTION));
+
+  ImPlot::MapInputDefault();
+  ImPlotInputMap &input_map = ImPlot::GetInputMap();
+  input_map.Pan = ImGuiMouseButton_Right;
+  input_map.PanMod = ImGuiMod_None;
+  input_map.Select = ImGuiMouseButton_Left;
+  input_map.SelectCancel = ImGuiMouseButton_Right;
+  input_map.SelectMod = ImGuiMod_None;
+}
+
+void app_push_mono_font() {
+  if (g_mono_font != nullptr) {
+    ImGui::PushFont(g_mono_font);
+  }
+}
+
+void app_pop_mono_font() {
+  if (g_mono_font != nullptr) {
+    ImGui::PopFont();
+  }
+}
+
+void app_push_bold_font() {
+  if (g_ui_bold_font != nullptr) {
+    ImGui::PushFont(g_ui_bold_font);
+  }
+}
+
+void app_pop_bold_font() {
+  if (g_ui_bold_font != nullptr) {
+    ImGui::PopFont();
+  }
+}
+
+UiMetrics compute_ui_metrics(const ImVec2 &size, float top_offset, float sidebar_width) {
+  UiMetrics ui;
+  ui.width = size.x;
+  ui.height = size.y;
+  ui.top_offset = top_offset;
+  ui.sidebar_width = sidebar_width <= 0.0f
+    ? 0.0f
+    : std::clamp(sidebar_width, SIDEBAR_MIN_WIDTH, std::min(SIDEBAR_MAX_WIDTH, size.x * 0.6f));
+  ui.content_x = ui.sidebar_width;
+  ui.content_y = top_offset;
+  ui.content_w = std::max(1.0f, size.x - ui.content_x);
+  ui.content_h = std::max(1.0f, size.y - ui.content_y - STATUS_BAR_HEIGHT);
+  ui.status_bar_y = std::max(0.0f, size.y - STATUS_BAR_HEIGHT);
+  return ui;
+}
+
+void sync_ui_state(UiState *state, const SketchLayout &layout) {
+  const bool initializing = state->tabs.empty();
+  state->tabs.resize(layout.tabs.size());
+  if (layout.tabs.empty()) {
+    state->active_tab_index = 0;
+    state->requested_tab_index = -1;
+    return;
+  }
+  if (initializing) {
+    state->active_tab_index = std::clamp(layout.current_tab_index, 0, static_cast<int>(layout.tabs.size()) - 1);
+    state->requested_tab_index = state->active_tab_index;
+  }
+  state->active_tab_index = std::clamp(state->active_tab_index, 0, static_cast<int>(layout.tabs.size()) - 1);
+  for (size_t i = 0; i < layout.tabs.size(); ++i) {
+    if (state->tabs[i].runtime_id == 0) {
+      state->tabs[i].runtime_id = state->next_tab_runtime_id++;
+    }
+    const int pane_count = static_cast<int>(layout.tabs[i].panes.size());
+    state->tabs[i].map_panes.resize(static_cast<size_t>(std::max(0, pane_count)));
+    state->tabs[i].camera_panes.resize(static_cast<size_t>(std::max(0, pane_count)));
+    state->tabs[i].active_pane_index = pane_count <= 0
+      ? 0
+      : std::clamp(state->tabs[i].active_pane_index, 0, pane_count - 1);
+  }
+}
+
+void resize_tab_pane_state(TabUiState *tab_state, size_t pane_count) {
+  if (tab_state == nullptr) return;
+  tab_state->map_panes.resize(pane_count);
+  tab_state->camera_panes.resize(pane_count);
+}
+
+void sync_route_buffers(UiState *state, const AppSession &session) {
+  state->route_buffer = session.route_name;
+  state->data_dir_buffer = session.data_dir;
+}
+
+void sync_stream_buffers(UiState *state, const AppSession &session) {
+  state->stream_address_buffer = session.stream_source.address;
+  state->stream_source_kind = session.stream_source.kind;
+  state->stream_buffer_seconds = session.stream_buffer_seconds;
+}
+
+fs::path default_layout_save_path(const AppSession &session) {
+  return session.layout_path.empty() ? layouts_dir() / "new-layout.json" : session.layout_path;
+}
+
+void sync_layout_buffers(UiState *state, const AppSession &session) {
+  state->load_layout_buffer = session.layout_path.empty() ? std::string() : session.layout_path.string();
+  state->save_layout_buffer = default_layout_save_path(session).string();
+}
+
+const WorkspaceTab *app_active_tab(const SketchLayout &layout, const UiState &state) {
+  if (layout.tabs.empty()) return nullptr;
+  const int index = std::clamp(state.active_tab_index, 0, static_cast<int>(layout.tabs.size()) - 1);
+  return &layout.tabs[static_cast<size_t>(index)];
+}
+
+WorkspaceTab *app_active_tab(SketchLayout *layout, const UiState &state) {
+  if (layout->tabs.empty()) return nullptr;
+  const int index = std::clamp(state.active_tab_index, 0, static_cast<int>(layout->tabs.size()) - 1);
+  return &layout->tabs[static_cast<size_t>(index)];
+}
+
+TabUiState *app_active_tab_state(UiState *state) {
+  if (state->tabs.empty()) return nullptr;
+  const int index = std::clamp(state->active_tab_index, 0, static_cast<int>(state->tabs.size()) - 1);
+  return &state->tabs[static_cast<size_t>(index)];
+}
+
+std::string pane_window_name(int tab_runtime_id, int pane_index, const Pane &pane) {
+  const char *title = pane.title.empty() ? UNTITLED_PANE_TITLE : pane.title.c_str();
+  return util::string_format("%s###tab%d_pane%d", title, tab_runtime_id, pane_index);
+}
+
+std::string tab_item_label(const WorkspaceTab &tab, int tab_runtime_id) {
+  return util::string_format("%s##workspace_tab_%d", tab.tab_name.c_str(), tab_runtime_id);
+}
+
+void request_tab_selection(UiState *state, int tab_index) {
+  state->active_tab_index = tab_index;
+  state->requested_tab_index = tab_index;
+}
+
+void begin_rename_tab(const SketchLayout &layout, UiState *state, int tab_index) {
+  if (tab_index < 0 || tab_index >= static_cast<int>(layout.tabs.size())) {
+    return;
+  }
+  state->rename_tab_buffer = layout.tabs[static_cast<size_t>(tab_index)].tab_name;
+  state->rename_tab_index = tab_index;
+  state->focus_rename_tab_input = true;
+  request_tab_selection(state, tab_index);
+}
+
+void cancel_rename_tab(UiState *state) {
+  state->rename_tab_index = -1;
+  state->focus_rename_tab_input = false;
+}
+
+ImGuiID dockspace_id_for_tab(int tab_runtime_id) {
+  return ImHashStr(util::string_format("jotpluggler_dockspace_%d", tab_runtime_id).c_str());
+}
+
+bool curve_has_local_samples(const Curve &curve) {
+  return curve.xs.size() > 1 && curve.xs.size() == curve.ys.size();
+}
+
+void mark_all_docks_dirty(UiState *state) {
+  for (TabUiState &tab_state : state->tabs) {
+    tab_state.dock_needs_build = true;
+  }
+}
+
+void mark_tab_dock_dirty(UiState *state, int tab_index) {
+  if (tab_index >= 0 && tab_index < static_cast<int>(state->tabs.size())) {
+    state->tabs[static_cast<size_t>(tab_index)].dock_needs_build = true;
+  }
+}
+
+void normalize_split_node(WorkspaceNode *node) {
+  if (node->is_pane) {
+    return;
+  }
+  for (WorkspaceNode &child : node->children) {
+    normalize_split_node(&child);
+  }
+  if (node->children.empty()) {
+    return;
+  }
+  if (node->children.size() == 1) {
+    *node = node->children.front();
+    return;
+  }
+  if (node->sizes.size() != node->children.size()) {
+    node->sizes.assign(node->children.size(), 1.0f / static_cast<float>(node->children.size()));
+    return;
+  }
+  float total = 0.0f;
+  for (float &size : node->sizes) {
+    size = std::max(size, 0.0f);
+    total += size;
+  }
+  if (total <= 0.0f) {
+    node->sizes.assign(node->children.size(), 1.0f / static_cast<float>(node->children.size()));
+    return;
+  }
+  for (float &size : node->sizes) {
+    size /= total;
+  }
+}
+
+void decrement_pane_indices(WorkspaceNode *node, int removed_index) {
+  if (node->is_pane) {
+    if (node->pane_index > removed_index) {
+      node->pane_index -= 1;
+    }
+    return;
+  }
+  for (WorkspaceNode &child : node->children) {
+    decrement_pane_indices(&child, removed_index);
+  }
+}
+
+bool remove_pane_node(WorkspaceNode *node, int pane_index) {
+  if (node->is_pane) return node->pane_index == pane_index;
+
+  for (size_t i = 0; i < node->children.size();) {
+    if (remove_pane_node(&node->children[i], pane_index)) {
+      node->children.erase(node->children.begin() + static_cast<std::ptrdiff_t>(i));
+      if (i < node->sizes.size()) {
+        node->sizes.erase(node->sizes.begin() + static_cast<std::ptrdiff_t>(i));
+      }
+    } else {
+      ++i;
+    }
+  }
+
+  normalize_split_node(node);
+  return !node->is_pane && node->children.empty();
+}
+
+bool split_pane_node(WorkspaceNode *node, int target_pane_index, SplitOrientation orientation,
+                     bool new_before, int new_pane_index) {
+  if (node->is_pane) {
+    if (node->pane_index != target_pane_index) return false;
+    WorkspaceNode existing_pane;
+    existing_pane.is_pane = true;
+    existing_pane.pane_index = target_pane_index;
+
+    WorkspaceNode new_pane;
+    new_pane.is_pane = true;
+    new_pane.pane_index = new_pane_index;
+
+    node->is_pane = false;
+    node->pane_index = -1;
+    node->orientation = orientation;
+    node->sizes = {0.5f, 0.5f};
+    node->children.clear();
+    if (new_before) {
+      node->children.push_back(std::move(new_pane));
+      node->children.push_back(std::move(existing_pane));
+    } else {
+      node->children.push_back(std::move(existing_pane));
+      node->children.push_back(std::move(new_pane));
+    }
+    return true;
+  }
+
+  if (node->orientation == orientation) {
+    for (size_t i = 0; i < node->children.size(); ++i) {
+      WorkspaceNode &child = node->children[i];
+      if (!child.is_pane || child.pane_index != target_pane_index) {
+        continue;
+      }
+
+      WorkspaceNode new_pane;
+      new_pane.is_pane = true;
+      new_pane.pane_index = new_pane_index;
+
+      const auto insert_it = node->children.begin() + static_cast<std::ptrdiff_t>(new_before ? i : i + 1);
+      node->children.insert(insert_it, std::move(new_pane));
+      node->sizes.assign(node->children.size(), 1.0f / static_cast<float>(node->children.size()));
+      return true;
+    }
+  }
+
+  for (WorkspaceNode &child : node->children) {
+    if (split_pane_node(&child, target_pane_index, orientation, new_before, new_pane_index)) return true;
+  }
+  return false;
+}
+
+Pane make_empty_pane(const std::string &title = UNTITLED_PANE_TITLE) {
+  Pane pane;
+  pane.title = title;
+  return pane;
+}
+
+WorkspaceTab make_empty_tab(const std::string &tab_name) {
+  WorkspaceTab tab;
+  tab.tab_name = tab_name;
+  tab.panes.push_back(make_empty_pane());
+  tab.root.is_pane = true;
+  tab.root.pane_index = 0;
+  return tab;
+}
+
+SketchLayout make_empty_layout() {
+  SketchLayout layout;
+  layout.tabs.push_back(make_empty_tab("tab1"));
+  layout.current_tab_index = 0;
+  layout.roots.push_back("layout");
+  return layout;
+}
+
+bool tab_name_exists(const SketchLayout &layout, const std::string &name) {
+  return std::any_of(layout.tabs.begin(), layout.tabs.end(), [&](const WorkspaceTab &tab) {
+    return tab.tab_name == name;
+  });
+}
+
+std::string next_tab_name(const SketchLayout &layout, const std::string &base_name) {
+  if (base_name == "tab" || base_name == "tab1") {
+    int max_suffix = 0;
+    for (const WorkspaceTab &tab : layout.tabs) {
+      if (tab.tab_name.size() > 3 && util::starts_with(tab.tab_name, "tab")) {
+        const std::string suffix = tab.tab_name.substr(3);
+        if (!suffix.empty() && std::all_of(suffix.begin(), suffix.end(), ::isdigit)) {
+          max_suffix = std::max(max_suffix, std::stoi(suffix));
+        }
+      }
+    }
+    return "tab" + std::to_string(std::max(1, max_suffix + 1));
+  }
+  std::string base = base_name.empty() ? "tab" : base_name;
+  if (!tab_name_exists(layout, base)) return base;
+  for (int i = 2; i < 1000; ++i) {
+    const std::string candidate = base + " " + std::to_string(i);
+    if (!tab_name_exists(layout, candidate)) return candidate;
+  }
+  return base + " copy";
+}
+
+void clear_layout_autosave(const AppSession &session) {
+  if (!session.autosave_path.empty() && fs::exists(session.autosave_path)) {
+    fs::remove(session.autosave_path);
+  }
+}
+
+bool autosave_layout(AppSession *session, UiState *state) {
+  try {
+    if (session->autosave_path.empty()) {
+      session->autosave_path = autosave_path_for_layout(session->layout_path);
+    }
+    session->layout.current_tab_index = state->active_tab_index;
+    save_layout_json(session->layout, session->autosave_path);
+    state->layout_dirty = true;
+    return true;
+  } catch (const std::exception &err) {
+    state->error_text = err.what();
+    state->open_error_popup = true;
+    state->status_text = "Failed to save layout draft";
+    return false;
+  }
+}
+
+bool mark_layout_dirty(AppSession *session, UiState *state) {
+  return autosave_layout(session, state);
+}
+
+bool active_tab_has_map_pane(const SketchLayout &layout) {
+  if (layout.tabs.empty()) {
+    return false;
+  }
+  const int tab_index = std::clamp(layout.current_tab_index, 0, static_cast<int>(layout.tabs.size()) - 1);
+  const WorkspaceTab &tab = layout.tabs[static_cast<size_t>(tab_index)];
+  return std::any_of(tab.panes.begin(), tab.panes.end(), [](const Pane &pane) {
+    return pane_kind_is_special(pane.kind);
+  });
+}
+
+void draw_browser_special_item(const char *item_id, const char *label) {
+  const ImGuiStyle &style = ImGui::GetStyle();
+  const ImVec2 row_size(std::max(1.0f, ImGui::GetContentRegionAvail().x), ImGui::GetFrameHeight());
+  ImGui::PushID(item_id);
+  ImGui::InvisibleButton("##special_data_row", row_size);
+  const bool hovered = ImGui::IsItemHovered();
+  const bool held = ImGui::IsItemActive();
+  const ImRect rect(ImGui::GetItemRectMin(), ImGui::GetItemRectMax());
+  ImDrawList *draw_list = ImGui::GetWindowDrawList();
+  if (hovered) {
+    const ImU32 bg = ImGui::GetColorU32(held ? ImGuiCol_HeaderActive : ImGuiCol_HeaderHovered);
+    draw_list->AddRectFilled(rect.Min, rect.Max, bg, 0.0f);
+  }
+  ImGui::RenderTextEllipsis(draw_list,
+                            ImVec2(rect.Min.x + style.FramePadding.x, rect.Min.y + style.FramePadding.y),
+                            ImVec2(rect.Max.x - style.FramePadding.x, rect.Max.y),
+                            rect.Max.x - style.FramePadding.x,
+                            label,
+                            nullptr,
+                            nullptr);
+  if (ImGui::BeginDragDropSource(ImGuiDragDropFlags_SourceAllowNullID)) {
+    ImGui::SetDragDropPayload("JOTP_SPECIAL_ITEM", item_id, std::strlen(item_id) + 1);
+    ImGui::TextUnformatted(label);
+    ImGui::EndDragDropSource();
+  }
+  ImGui::PopID();
+}
+
+std::array<uint8_t, 3> app_next_curve_color(const Pane &pane) {
+  static constexpr std::array<std::array<uint8_t, 3>, 10> PALETTE = {{
+    {35, 107, 180},
+    {220, 82, 52},
+    {67, 160, 71},
+    {243, 156, 18},
+    {123, 97, 255},
+    {0, 150, 136},
+    {214, 48, 49},
+    {52, 73, 94},
+    {197, 90, 17},
+    {96, 125, 139},
+  }};
+  return PALETTE[pane.curves.size() % PALETTE.size()];
+}
+
+void draw_sidebar(AppSession *session, const UiMetrics &ui, UiState *state, bool show_camera_feed) {
+  ImGui::SetNextWindowPos(ImVec2(0.0f, ui.top_offset));
+  ImGui::SetNextWindowSize(ImVec2(ui.sidebar_width, std::max(1.0f, ui.height - ui.top_offset)));
+  ImGui::PushStyleColor(ImGuiCol_WindowBg, color_rgb(238, 240, 244));
+  ImGui::PushStyleColor(ImGuiCol_Border, color_rgb(190, 197, 205));
+  const ImGuiWindowFlags flags = ImGuiWindowFlags_NoDecoration |
+                                 ImGuiWindowFlags_NoMove |
+                                 ImGuiWindowFlags_NoResize |
+                                 ImGuiWindowFlags_NoSavedSettings;
+  if (ImGui::Begin("##sidebar", nullptr, flags)) {
+    const RouteLoadSnapshot load = session->route_loader ? session->route_loader->snapshot() : RouteLoadSnapshot{};
+    const bool show_load_progress = session->route_loader && (load.active || load.total_segments > 0);
+    const bool streaming = session->data_mode == SessionDataMode::Stream;
+    CameraFeedView *sidebar_camera = session->pane_camera_feeds[static_cast<size_t>(sidebar_preview_camera_view(*session))].get();
+    if (show_camera_feed && sidebar_camera != nullptr) {
+      sidebar_camera->draw(ImGui::GetContentRegionAvail().x, load.active);
+    } else if (streaming) {
+      ImGui::SeparatorText("Camera");
+      ImGui::TextDisabled("Camera not available during live stream.");
+      ImGui::Spacing();
+    }
+
+    ImGui::SeparatorText(streaming ? "Stream" : "Route");
+    if (streaming) {
+      const StreamPollSnapshot stream = session->stream_poller ? session->stream_poller->snapshot() : StreamPollSnapshot{};
+      const bool paused = stream.paused || session->stream_paused;
+      const bool live = stream.connected && !paused;
+      const ImVec4 status_color = live ? color_rgb(38, 135, 67) : (paused ? color_rgb(168, 119, 34) : color_rgb(155, 63, 63));
+      ImGui::TextColored(status_color, "%s %s", live ? "●" : "○", stream.source_label.c_str());
+      ImGui::TextDisabled("%s%s", stream_source_kind_label(stream.source_kind), paused ? "  paused" : "");
+      const double span = session->route_data.has_time_range ? (session->route_data.x_max - session->route_data.x_min) : 0.0;
+      const float fill = stream.buffer_seconds <= 0.0
+        ? 0.0f
+        : std::clamp(static_cast<float>(span / stream.buffer_seconds), 0.0f, 1.0f);
+      ImGui::ProgressBar(fill, ImVec2(-FLT_MIN, 0.0f), nullptr);
+      ImGui::TextDisabled("%.0fs buffer | %zu series", session->stream_buffer_seconds, session->route_data.series.size());
+      const char *button_label = paused ? "Resume" : "Pause";
+      if (ImGui::Button(button_label, ImVec2(std::max(1.0f, ImGui::GetContentRegionAvail().x), 0.0f))) {
+        if (paused) {
+          start_stream_session(session, state, session->stream_source, session->stream_buffer_seconds, true);
+        } else {
+          stop_stream_session(session, state);
+          state->status_text = "Paused stream " + stream_source_target_label(session->stream_source);
+        }
+      }
+    } else if (session->route_name.empty()) {
+      ImGui::TextDisabled("No route loaded");
+    }
+    if (!session->route_data.car_fingerprint.empty()) {
+      ImGui::TextWrapped("Car: %s", session->route_data.car_fingerprint.c_str());
+    }
+    const std::vector<std::string> dbc_names = available_dbc_names();
+    ImGui::SetNextItemWidth(-FLT_MIN);
+    if (ImGui::BeginCombo("##dbc_combo", dbc_combo_label(*session).c_str())) {
+      const bool auto_selected = session->dbc_override.empty();
+      if (ImGui::Selectable("Auto", auto_selected)) {
+        apply_dbc_override_change(session, state, {});
+      }
+      if (auto_selected) {
+        ImGui::SetItemDefaultFocus();
+      }
+      ImGui::Separator();
+      for (const std::string &dbc_name : dbc_names) {
+        const bool selected = session->dbc_override == dbc_name;
+        if (ImGui::Selectable(dbc_name.c_str(), selected) && !selected) {
+          apply_dbc_override_change(session, state, dbc_name);
+        }
+        if (selected) {
+          ImGui::SetItemDefaultFocus();
+        }
+      }
+      ImGui::EndCombo();
+    }
+    ImGui::SeparatorText("Layout");
+    ImGui::SetNextItemWidth(-FLT_MIN);
+    const std::string layout_combo_label = [&] {
+      const std::string base = session->layout_path.empty() ? std::string("untitled") : session->layout_path.stem().string();
+      return state->layout_dirty ? base + " *" : base;
+    }();
+    if (ImGui::BeginCombo("##layout_combo", layout_combo_label.c_str())) {
+      if (ImGui::Selectable("New Layout")) {
+        start_new_layout(session, state);
+      }
+      ImGui::Separator();
+      const std::vector<std::string> layouts = available_layout_names();
+      const std::string current_layout = session->layout_path.empty() ? std::string("untitled") : session->layout_path.stem().string();
+      for (const std::string &layout_name : layouts) {
+        const bool selected = layout_name == current_layout;
+        if (ImGui::Selectable(layout_name.c_str(), selected) && !selected) {
+          reload_layout(session, state, layout_name);
+        }
+        if (selected) {
+          ImGui::SetItemDefaultFocus();
+        }
+      }
+      ImGui::EndCombo();
+    }
+    const float layout_button_gap = ImGui::GetStyle().ItemSpacing.x;
+    const float layout_row_width = std::max(1.0f, ImGui::GetContentRegionAvail().x);
+    const float layout_button_width = std::max(1.0f, (layout_row_width - 2.0f * layout_button_gap) / 3.0f);
+    if (ImGui::Button("New", ImVec2(layout_button_width, 0.0f))) {
+      start_new_layout(session, state);
+    }
+    ImGui::SameLine(0.0f, layout_button_gap);
+    if (ImGui::Button("Save", ImVec2(layout_button_width, 0.0f))) {
+      state->request_save_layout = true;
+    }
+    ImGui::SameLine(0.0f, layout_button_gap);
+    ImGui::BeginDisabled(!state->layout_dirty);
+    if (ImGui::Button("Reset", ImVec2(layout_button_width, 0.0f))) {
+      state->request_reset_layout = true;
+    }
+    ImGui::EndDisabled();
+    ImGui::Spacing();
+
+    ImGui::SeparatorText("Data Sources");
+    ImGui::SetNextItemWidth(-FLT_MIN);
+    input_text_with_hint_string("##browser_filter", "Search...", &state->browser_filter);
+    const float footer_height = ImGui::GetFrameHeightWithSpacing()
+                              + ImGui::GetTextLineHeightWithSpacing()
+                              + 16.0f
+                              + (show_load_progress ? (ImGui::GetFrameHeightWithSpacing() + 12.0f) : 0.0f);
+    const float browser_height = std::max(1.0f, ImGui::GetContentRegionAvail().y - footer_height);
+    ImGui::PushStyleVar(ImGuiStyleVar_FramePadding, ImVec2(6.0f, 2.0f));
+    ImGui::PushStyleVar(ImGuiStyleVar_ItemSpacing, ImVec2(8.0f, 3.0f));
+    if (ImGui::BeginChild("##timeseries_browser", ImVec2(0.0f, browser_height), true)) {
+      const std::string filter = lowercase_copy(state->browser_filter);
+      std::vector<std::string> visible_paths;
+      for (const BrowserNode &node : session->browser_nodes) {
+        collect_visible_leaf_paths(node, filter, &visible_paths);
+      }
+      for (const SpecialItemSpec &spec : kSpecialItemSpecs) {
+        draw_browser_special_item(spec.id, spec.label);
+      }
+      ImGui::Dummy(ImVec2(0.0f, 2.0f));
+      ImGui::Separator();
+      ImGui::Dummy(ImVec2(0.0f, 2.0f));
+      for (const BrowserNode &node : session->browser_nodes) {
+        draw_browser_node(session, node, state, filter, visible_paths);
+      }
+    }
+    ImGui::EndChild();
+    ImGui::PopStyleVar(2);
+
+    ImGui::SeparatorText("Custom Series");
+    if (ImGui::Button("Create...", ImVec2(std::max(1.0f, ImGui::GetContentRegionAvail().x), 0.0f))) {
+      open_custom_series_editor(state, state->selected_browser_path);
+    }
+    if (show_load_progress) {
+      const float total = static_cast<float>(std::max<size_t>(1, load.total_segments));
+      const bool finalizing = load.active
+                           && load.total_segments > 0
+                           && load.segments_downloaded >= load.total_segments
+                           && load.segments_parsed >= load.total_segments;
+      const float progress = load.total_segments == 0
+        ? 0.0f
+        : (finalizing
+            ? 0.99f
+            : std::clamp(static_cast<float>(load.segments_downloaded + load.segments_parsed) / (2.0f * total), 0.0f, 0.99f));
+      ImGui::Dummy(ImVec2(0.0f, 8.0f));
+      ImGui::ProgressBar(progress, ImVec2(-FLT_MIN, 0.0f), finalizing ? "Finalizing..." : nullptr);
+    }
+  }
+  ImGui::End();
+  ImGui::PopStyleColor(2);
+}
+
+std::string app_curve_display_name(const Curve &curve) {
+  if (!curve.label.empty()) return curve.label;
+  if (!curve.name.empty()) return curve.name;
+  return "curve";
+}
+
+Curve make_curve_for_path(const Pane &pane, const std::string &path) {
+  Curve curve;
+  curve.name = path;
+  curve.label = path;
+  curve.color = app_next_curve_color(pane);
+  return curve;
+}
+
+bool add_curve_to_pane(WorkspaceTab *tab, int pane_index, Curve curve) {
+  if (pane_index < 0 || pane_index >= static_cast<int>(tab->panes.size())) {
+    return false;
+  }
+  Pane &pane = tab->panes[static_cast<size_t>(pane_index)];
+  if (pane.kind != PaneKind::Plot) {
+    pane.kind = PaneKind::Plot;
+    if (is_default_special_title(pane.title)) {
+      pane.title = UNTITLED_PANE_TITLE;
+    }
+  }
+  for (Curve &existing : pane.curves) {
+    const bool same_named_curve = !curve.name.empty() && existing.name == curve.name;
+    const bool same_unnamed_curve = curve.name.empty() && existing.name.empty() && existing.label == curve.label;
+    if (same_named_curve || same_unnamed_curve) {
+      existing.visible = true;
+      return false;
+    }
+  }
+  pane.curves.push_back(std::move(curve));
+  return true;
+}
+
+bool add_path_curve_to_pane(AppSession *session, UiState *state, int pane_index, const std::string &path) {
+  if (app_find_route_series(*session, path) == nullptr) {
+    state->status_text = "Path not found in route";
+    return false;
+  }
+  WorkspaceTab *tab = app_active_tab(&session->layout, *state);
+  if (tab == nullptr || pane_index < 0 || pane_index >= static_cast<int>(tab->panes.size())) {
+    state->status_text = "No active pane";
+    return false;
+  }
+  const SketchLayout before_layout = session->layout;
+  const bool inserted = add_curve_to_pane(tab, pane_index, make_curve_for_path(tab->panes[static_cast<size_t>(pane_index)], path));
+  bool autosave_ok = true;
+  if (inserted) {
+    state->undo.push(before_layout);
+    autosave_ok = mark_layout_dirty(session, state);
+  }
+  if (autosave_ok) {
+    state->status_text = inserted ? "Added " + path : "Curve already present";
+  }
+  return true;
+}
+
+int add_path_curves_to_pane(AppSession *session, UiState *state, int pane_index, const std::vector<std::string> &paths) {
+  WorkspaceTab *tab = app_active_tab(&session->layout, *state);
+  if (tab == nullptr || pane_index < 0 || pane_index >= static_cast<int>(tab->panes.size())) {
+    state->status_text = "No active pane";
+    return 0;
+  }
+
+  int inserted_count = 0;
+  int duplicate_count = 0;
+  const SketchLayout before_layout = session->layout;
+  for (const std::string &path : paths) {
+    if (app_find_route_series(*session, path) == nullptr) continue;
+    if (add_curve_to_pane(tab, pane_index, make_curve_for_path(tab->panes[static_cast<size_t>(pane_index)], path))) {
+      ++inserted_count;
+    } else {
+      ++duplicate_count;
+    }
+  }
+
+  if (inserted_count > 0) {
+    state->undo.push(before_layout);
+    if (mark_layout_dirty(session, state)) {
+      state->status_text = inserted_count == 1
+        ? "Added " + paths.front()
+        : "Added " + std::to_string(inserted_count) + " curves";
+    }
+    return inserted_count;
+  }
+
+  if (duplicate_count > 0) {
+    state->status_text = duplicate_count == 1 ? "Curve already present" : "Curves already present";
+  } else {
+    state->status_text = "No matching series found";
+  }
+  return 0;
+}
+
+bool app_add_curve_to_active_pane(AppSession *session, UiState *state, const std::string &path) {
+  const TabUiState *tab_state = app_active_tab_state(state);
+  if (tab_state == nullptr) {
+    state->status_text = "No active pane";
+    return false;
+  }
+  return add_path_curve_to_pane(session, state, tab_state->active_pane_index, path);
+}
+
+bool apply_special_item_to_pane(WorkspaceTab *tab, TabUiState *tab_state, int pane_index, std::string_view item_id) {
+  if (tab == nullptr || tab_state == nullptr) return false;
+  if (pane_index < 0 || pane_index >= static_cast<int>(tab->panes.size())) return false;
+  const SpecialItemSpec *spec = special_item_spec(item_id);
+  if (spec == nullptr) return false;
+  Pane &pane = tab->panes[static_cast<size_t>(pane_index)];
+  if (!((pane.kind == PaneKind::Plot && pane.curves.empty()) || pane_kind_is_special(pane.kind))) {
+    return false;
+  }
+  if (pane.kind == spec->kind && (spec->kind != PaneKind::Camera || pane.camera_view == spec->camera_view)) {
+    tab_state->active_pane_index = pane_index;
+    return false;
+  }
+  const PaneKind previous_kind = pane.kind;
+  pane.kind = spec->kind;
+  pane.camera_view = spec->camera_view;
+  if (spec->kind == PaneKind::Map) {
+    if (pane.title == UNTITLED_PANE_TITLE || previous_kind != PaneKind::Plot) {
+      pane.title = spec->label;
+    }
+  } else {
+    pane.title = spec->label;
+    resize_tab_pane_state(tab_state, tab->panes.size());
+    tab_state->camera_panes[static_cast<size_t>(pane_index)].fit_to_pane = true;
+  }
+  tab_state->active_pane_index = pane_index;
+  return true;
+}
+
+bool split_pane(WorkspaceTab *tab, int pane_index, PaneDropZone zone, std::optional<Curve> curve = std::nullopt) {
+  if (pane_index < 0 || pane_index >= static_cast<int>(tab->panes.size())) {
+    return false;
+  }
+  if (zone == PaneDropZone::Center) return false;
+
+  const int new_pane_index = static_cast<int>(tab->panes.size());
+  Pane new_pane = make_empty_pane();
+  if (curve.has_value()) {
+    new_pane.curves.push_back(*curve);
+  }
+  tab->panes.push_back(std::move(new_pane));
+
+  const bool vertical = zone == PaneDropZone::Top || zone == PaneDropZone::Bottom;
+  const bool new_before = zone == PaneDropZone::Left || zone == PaneDropZone::Top;
+  return split_pane_node(&tab->root, pane_index,
+    vertical ? SplitOrientation::Vertical : SplitOrientation::Horizontal,
+    new_before, new_pane_index);
+}
+
+bool close_pane(WorkspaceTab *tab, int pane_index) {
+  if (pane_index < 0 || pane_index >= static_cast<int>(tab->panes.size())) {
+    return false;
+  }
+  if (tab->panes.size() <= 1) {
+    tab->panes[static_cast<size_t>(pane_index)] = make_empty_pane();
+    return true;
+  }
+  if (remove_pane_node(&tab->root, pane_index)) return false;
+  tab->panes.erase(tab->panes.begin() + static_cast<std::ptrdiff_t>(pane_index));
+  decrement_pane_indices(&tab->root, pane_index);
+  normalize_split_node(&tab->root);
+  return true;
+}
+
+void clear_pane(WorkspaceTab *tab, int pane_index) {
+  if (pane_index < 0 || pane_index >= static_cast<int>(tab->panes.size())) {
+    return;
+  }
+  Pane &pane = tab->panes[static_cast<size_t>(pane_index)];
+  pane.curves.clear();
+  pane.title = UNTITLED_PANE_TITLE;
+}
+
+void create_runtime_tab(SketchLayout *layout, UiState *state) {
+  const std::string tab_name = next_tab_name(*layout, "tab1");
+  layout->tabs.push_back(make_empty_tab(tab_name));
+  state->tabs.push_back(TabUiState{.dock_needs_build = true, .active_pane_index = 0, .runtime_id = state->next_tab_runtime_id++});
+  request_tab_selection(state, static_cast<int>(layout->tabs.size()) - 1);
+  state->status_text = "Created " + tab_name;
+}
+
+void duplicate_runtime_tab(SketchLayout *layout, UiState *state) {
+  if (layout->tabs.empty()) {
+    return;
+  }
+  const int source_index = std::clamp(state->active_tab_index, 0, static_cast<int>(layout->tabs.size()) - 1);
+  WorkspaceTab copy = layout->tabs[static_cast<size_t>(source_index)];
+  copy.tab_name = next_tab_name(*layout, copy.tab_name + " copy");
+  layout->tabs.push_back(std::move(copy));
+  const int active_pane_index = source_index < static_cast<int>(state->tabs.size()) ? state->tabs[static_cast<size_t>(source_index)].active_pane_index : 0;
+  state->tabs.push_back(TabUiState{.dock_needs_build = true, .active_pane_index = active_pane_index, .runtime_id = state->next_tab_runtime_id++});
+  request_tab_selection(state, static_cast<int>(layout->tabs.size()) - 1);
+  state->status_text = "Duplicated tab";
+}
+
+void close_runtime_tab(SketchLayout *layout, UiState *state) {
+  if (layout->tabs.empty()) {
+    return;
+  }
+  const int tab_index = std::clamp(state->active_tab_index, 0, static_cast<int>(layout->tabs.size()) - 1);
+  if (layout->tabs.size() == 1) {
+    layout->tabs[0] = make_empty_tab(layout->tabs[0].tab_name.empty() ? "tab1" : layout->tabs[0].tab_name);
+    if (state->tabs.empty()) {
+      state->tabs.push_back(TabUiState{.dock_needs_build = true, .active_pane_index = 0});
+    } else {
+      state->tabs.resize(1);
+      state->tabs[0] = TabUiState{
+        .dock_needs_build = true,
+        .active_pane_index = 0,
+        .runtime_id = state->tabs[0].runtime_id == 0 ? state->next_tab_runtime_id++ : state->tabs[0].runtime_id,
+      };
+    }
+    state->active_tab_index = 0;
+    state->requested_tab_index = 0;
+    layout->current_tab_index = 0;
+    cancel_rename_tab(state);
+    state->status_text = "Closed tab";
+    return;
+  }
+  layout->tabs.erase(layout->tabs.begin() + static_cast<std::ptrdiff_t>(tab_index));
+  if (tab_index < static_cast<int>(state->tabs.size())) {
+    state->tabs.erase(state->tabs.begin() + static_cast<std::ptrdiff_t>(tab_index));
+  }
+  if (state->active_tab_index >= static_cast<int>(layout->tabs.size())) {
+    state->active_tab_index = static_cast<int>(layout->tabs.size()) - 1;
+  }
+  sync_ui_state(state, *layout);
+  state->requested_tab_index = state->active_tab_index;
+  state->status_text = "Closed tab";
+}
+
+void rename_runtime_tab(SketchLayout *layout, UiState *state) {
+  if (state->rename_tab_index < 0 || state->rename_tab_index >= static_cast<int>(layout->tabs.size())) {
+    return;
+  }
+  layout->tabs[static_cast<size_t>(state->rename_tab_index)].tab_name = state->rename_tab_buffer;
+  state->status_text = "Renamed tab";
+  layout->current_tab_index = state->rename_tab_index;
+  cancel_rename_tab(state);
+}
+
+void draw_inline_tab_editor(AppSession *session, UiState *state, const ImRect &tab_rect) {
+  const int rename_tab_index = state->rename_tab_index;
+  if (rename_tab_index < 0 || rename_tab_index >= static_cast<int>(session->layout.tabs.size())) {
+    return;
+  }
+
+  const float width = std::max(48.0f, tab_rect.Max.x - tab_rect.Min.x - 10.0f);
+  const ImVec2 pos = ImVec2(tab_rect.Min.x + 5.0f, tab_rect.Min.y + 2.0f);
+  ImGui::SetCursorScreenPos(pos);
+  ImGui::PushItemWidth(width);
+  ImGui::PushStyleVar(ImGuiStyleVar_FramePadding, ImVec2(4.0f, 2.0f));
+  if (state->focus_rename_tab_input) {
+    ImGui::SetKeyboardFocusHere();
+    state->focus_rename_tab_input = false;
+  }
+  const bool submitted = input_text_string("##rename_tab_inline",
+                                           &state->rename_tab_buffer,
+                                           ImGuiInputTextFlags_AutoSelectAll | ImGuiInputTextFlags_EnterReturnsTrue);
+  const bool active = ImGui::IsItemActive();
+  const bool escape = active && ImGui::IsKeyPressed(ImGuiKey_Escape);
+  const bool deactivated = ImGui::IsItemDeactivated();
+  ImGui::PopStyleVar();
+  ImGui::PopItemWidth();
+
+  if (escape) {
+    cancel_rename_tab(state);
+  } else if (submitted || deactivated) {
+    const SketchLayout before_layout = session->layout;
+    rename_runtime_tab(&session->layout, state);
+    state->undo.push(before_layout);
+    mark_layout_dirty(session, state);
+  }
+}
+
+
+std::optional<PaneDropAction> draw_pane_drop_target(int tab_index, int pane_index, const Pane &target_pane) {
+  if (ImGui::GetDragDropPayload() == nullptr) return std::nullopt;
+
+  const ImVec2 window_pos = ImGui::GetWindowPos();
+  const ImVec2 content_min = ImGui::GetWindowContentRegionMin();
+  const ImVec2 content_max = ImGui::GetWindowContentRegionMax();
+  ImRect content_rect(ImVec2(window_pos.x + content_min.x, window_pos.y + content_min.y),
+                      ImVec2(window_pos.x + content_max.x, window_pos.y + content_max.y));
+  content_rect.Expand(ImVec2(-6.0f, -6.0f));
+  if (content_rect.GetWidth() < 60.0f || content_rect.GetHeight() < 60.0f) {
+    return std::nullopt;
+  }
+
+  const float edge_w = std::min(90.0f, content_rect.GetWidth() * 0.24f);
+  const float edge_h = std::min(72.0f, content_rect.GetHeight() * 0.24f);
+  struct ZoneRect {
+    PaneDropZone zone;
+    ImRect rect;
+  };
+  const std::array<ZoneRect, 5> zones = {{
+    {PaneDropZone::Left, ImRect(content_rect.Min, ImVec2(content_rect.Min.x + edge_w, content_rect.Max.y))},
+    {PaneDropZone::Right, ImRect(ImVec2(content_rect.Max.x - edge_w, content_rect.Min.y), content_rect.Max)},
+    {PaneDropZone::Top, ImRect(content_rect.Min, ImVec2(content_rect.Max.x, content_rect.Min.y + edge_h))},
+    {PaneDropZone::Bottom, ImRect(ImVec2(content_rect.Min.x, content_rect.Max.y - edge_h), content_rect.Max)},
+    {PaneDropZone::Center, ImRect(ImVec2(content_rect.Min.x + edge_w, content_rect.Min.y + edge_h),
+                                  ImVec2(content_rect.Max.x - edge_w, content_rect.Max.y - edge_h))},
+  }};
+
+  ImDrawList *draw_list = ImGui::GetWindowDrawList();
+  for (const ZoneRect &zone : zones) {
+    if (zone.rect.GetWidth() <= 0.0f || zone.rect.GetHeight() <= 0.0f) {
+      continue;
+    }
+
+    ImGui::PushID(static_cast<int>(zone.zone) * 1000 + pane_index + tab_index * 100);
+    ImGui::SetCursorScreenPos(zone.rect.Min);
+    ImGui::InvisibleButton("##drop_zone", zone.rect.GetSize());
+    if (ImGui::BeginDragDropTarget()) {
+      auto try_accept = [&](const char *type) -> const ImGuiPayload * {
+        const ImGuiPayload *p = ImGui::AcceptDragDropPayload(type, ImGuiDragDropFlags_AcceptBeforeDelivery);
+        if (p && p->Preview) {
+          draw_list->AddRectFilled(zone.rect.Min, zone.rect.Max, IM_COL32(70, 130, 220, 55));
+          draw_list->AddRect(zone.rect.Min, zone.rect.Max, IM_COL32(45, 95, 175, 220), 0.0f, 0, 2.0f);
+        }
+        return p;
+      };
+      auto deliver = [&](PaneDropAction action) -> std::optional<PaneDropAction> {
+        action.zone = zone.zone;
+        action.target_pane_index = pane_index;
+        ImGui::EndDragDropTarget();
+        ImGui::PopID();
+        return action;
+      };
+      if (const ImGuiPayload *p = try_accept("JOTP_BROWSER_PATHS"); p && p->Delivery) {
+        if (zone.zone != PaneDropZone::Center || target_pane.kind == PaneKind::Plot) {
+          PaneDropAction action;
+          action.from_browser = true;
+          action.browser_paths = decode_browser_drag_payload(static_cast<const char *>(p->Data));
+          return deliver(std::move(action));
+        }
+      }
+      if (zone.zone != PaneDropZone::Center || (target_pane.kind == PaneKind::Plot && target_pane.curves.empty()) || pane_kind_is_special(target_pane.kind)) {
+        if (const ImGuiPayload *p = try_accept("JOTP_SPECIAL_ITEM"); p && p->Delivery) {
+          PaneDropAction action;
+          action.special_item_id = static_cast<const char *>(p->Data);
+          return deliver(std::move(action));
+        }
+      }
+      if (const ImGuiPayload *p = try_accept("JOTP_PANE_CURVE"); p && p->Delivery) {
+        if (zone.zone != PaneDropZone::Center || target_pane.kind == PaneKind::Plot) {
+          PaneDropAction action;
+          action.curve_ref = *static_cast<const PaneCurveDragPayload *>(p->Data);
+          return deliver(std::move(action));
+        }
+      }
+      ImGui::EndDragDropTarget();
+    }
+    ImGui::PopID();
+  }
+  return std::nullopt;
+}
+
+bool commit_tab_layout_change(AppSession *session,
+                              UiState *state,
+                              WorkspaceTab *tab,
+                              TabUiState *tab_state,
+                              const SketchLayout &before_layout,
+                              std::string_view status_text,
+                              bool dock_changed) {
+  if (dock_changed) {
+    mark_tab_dock_dirty(state, state->active_tab_index);
+  }
+  resize_tab_pane_state(tab_state, tab->panes.size());
+  state->undo.push(before_layout);
+  if (mark_layout_dirty(session, state)) {
+    state->status_text = std::string(status_text);
+  }
+  return true;
+}
+
+bool apply_pane_menu_action(AppSession *session, UiState *state, int pane_index,
+                            const PaneMenuAction &action) {
+  WorkspaceTab *tab = app_active_tab(&session->layout, *state);
+  TabUiState *tab_state = app_active_tab_state(state);
+  if (tab == nullptr || tab_state == nullptr) return false;
+
+  const int original_pane_count = static_cast<int>(tab->panes.size());
+  const SketchLayout before_layout = session->layout;
+  bool dock_changed = false;
+  bool layout_changed = false;
+  std::string_view success_status = "Workspace updated";
+  switch (action.kind) {
+    case PaneMenuActionKind::OpenAxisLimits:
+      tab_state->active_pane_index = pane_index;
+      open_axis_limits_editor(*session, state, pane_index);
+      state->status_text = "Axis limits editor opened";
+      return true;
+    case PaneMenuActionKind::OpenCustomSeries:
+      tab_state->active_pane_index = pane_index;
+      open_custom_series_editor(state, preferred_custom_series_source(tab->panes[static_cast<size_t>(pane_index)]));
+      state->status_text = "Custom series editor opened";
+      return true;
+    case PaneMenuActionKind::SplitLeft:
+    case PaneMenuActionKind::SplitRight:
+    case PaneMenuActionKind::SplitTop:
+    case PaneMenuActionKind::SplitBottom: {
+      constexpr PaneDropZone kZones[] = {PaneDropZone::Left, PaneDropZone::Right, PaneDropZone::Top, PaneDropZone::Bottom};
+      const auto zone = kZones[static_cast<int>(action.kind) - static_cast<int>(PaneMenuActionKind::SplitLeft)];
+      if (split_pane(tab, pane_index, zone)) {
+        tab_state->active_pane_index = static_cast<int>(tab->panes.size()) - 1;
+        dock_changed = true;
+        layout_changed = true;
+      }
+      break;
+    }
+    case PaneMenuActionKind::ResetView:
+      reset_shared_range(state, *session);
+      state->follow_latest = session->data_mode == SessionDataMode::Stream;
+      state->suppress_range_side_effects = true;
+      clamp_shared_range(state, *session);
+      persist_shared_range_to_tab(tab, *state);
+      clear_pane_vertical_limits(&tab->panes[static_cast<size_t>(pane_index)]);
+      layout_changed = true;
+      success_status = "Plot view reset";
+      break;
+    case PaneMenuActionKind::ResetHorizontal:
+      reset_shared_range(state, *session);
+      state->follow_latest = session->data_mode == SessionDataMode::Stream;
+      state->suppress_range_side_effects = true;
+      clamp_shared_range(state, *session);
+      persist_shared_range_to_tab(tab, *state);
+      layout_changed = true;
+      success_status = "Horizontal zoom reset";
+      break;
+    case PaneMenuActionKind::ResetVertical:
+      clear_pane_vertical_limits(&tab->panes[static_cast<size_t>(pane_index)]);
+      layout_changed = true;
+      success_status = "Vertical zoom reset";
+      break;
+    case PaneMenuActionKind::Clear:
+      clear_pane(tab, pane_index);
+      tab_state->active_pane_index = pane_index;
+      layout_changed = true;
+      break;
+    case PaneMenuActionKind::Close:
+      if (close_pane(tab, pane_index)) {
+        tab_state->active_pane_index = std::clamp(pane_index, 0, static_cast<int>(tab->panes.size()) - 1);
+        layout_changed = true;
+        dock_changed = static_cast<int>(tab->panes.size()) != original_pane_count;
+      }
+      break;
+    case PaneMenuActionKind::None:
+      return false;
+  }
+
+  if (!layout_changed) {
+    return false;
+  }
+  return commit_tab_layout_change(session, state, tab, tab_state, before_layout, success_status, dock_changed);
+}
+
+bool apply_pane_drop_action(AppSession *session, UiState *state, const PaneDropAction &action) {
+  WorkspaceTab *tab = app_active_tab(&session->layout, *state);
+  TabUiState *tab_state = app_active_tab_state(state);
+  if (tab == nullptr || tab_state == nullptr) return false;
+
+  if (!action.special_item_id.empty()) {
+    const SpecialItemSpec *spec = special_item_spec(action.special_item_id);
+    if (spec == nullptr) {
+      return false;
+    }
+    if (action.zone == PaneDropZone::Center) {
+      if (action.target_pane_index < 0 || action.target_pane_index >= static_cast<int>(tab->panes.size())) {
+        return false;
+      }
+      if (!((tab->panes[static_cast<size_t>(action.target_pane_index)].kind == PaneKind::Plot
+             && tab->panes[static_cast<size_t>(action.target_pane_index)].curves.empty())
+             || pane_kind_is_special(tab->panes[static_cast<size_t>(action.target_pane_index)].kind))) {
+        state->status_text = std::string(special_item_label(action.special_item_id)) + " can only replace another special pane or use an empty pane";
+        return false;
+      }
+      const SketchLayout before_layout = session->layout;
+      const bool changed = apply_special_item_to_pane(tab, tab_state, action.target_pane_index, spec->id);
+      if (!changed) {
+        state->status_text = std::string(special_item_label(action.special_item_id)) + " already shown in pane";
+        return false;
+      }
+      return commit_tab_layout_change(session, state, tab, tab_state, before_layout,
+                                      std::string(special_item_label(action.special_item_id)) + " added to pane",
+                                      false);
+    }
+    const SketchLayout before_layout = session->layout;
+    if (split_pane(tab, action.target_pane_index, action.zone)) {
+      tab_state->active_pane_index = static_cast<int>(tab->panes.size()) - 1;
+      const bool changed = apply_special_item_to_pane(tab, tab_state, tab_state->active_pane_index, spec->id);
+      if (!changed) {
+        return false;
+      }
+      return commit_tab_layout_change(session, state, tab, tab_state, before_layout,
+                                      "Split pane and added " + std::string(special_item_label(action.special_item_id)),
+                                      true);
+    }
+    return false;
+  }
+
+  if (action.from_browser) {
+    if (action.browser_paths.empty()) return false;
+    if (action.zone == PaneDropZone::Center) {
+      const int inserted_count = add_path_curves_to_pane(session, state, action.target_pane_index, action.browser_paths);
+      if (inserted_count > 0) {
+        tab_state->active_pane_index = action.target_pane_index;
+      }
+      return inserted_count > 0;
+    }
+    const SketchLayout before_layout = session->layout;
+    if (split_pane(tab, action.target_pane_index, action.zone)) {
+      tab_state->active_pane_index = static_cast<int>(tab->panes.size()) - 1;
+      int inserted_count = 0;
+      for (const std::string &path : action.browser_paths) {
+        if (app_find_route_series(*session, path) == nullptr) continue;
+        if (add_curve_to_pane(tab, tab_state->active_pane_index,
+                              make_curve_for_path(tab->panes[static_cast<size_t>(tab_state->active_pane_index)], path))) {
+          ++inserted_count;
+        }
+      }
+      if (inserted_count > 0) {
+        return commit_tab_layout_change(session, state, tab, tab_state, before_layout,
+                                        inserted_count == 1
+                                          ? "Split pane and added " + action.browser_paths.front()
+                                          : "Split pane and added " + std::to_string(inserted_count) + " curves",
+                                        true);
+      }
+      return false;
+    }
+    return false;
+  }
+
+  if (action.curve_ref.tab_index < 0
+      || action.curve_ref.tab_index >= static_cast<int>(session->layout.tabs.size())) {
+    return false;
+  }
+  WorkspaceTab &source_tab = session->layout.tabs[static_cast<size_t>(action.curve_ref.tab_index)];
+  if (action.curve_ref.pane_index < 0
+      || action.curve_ref.pane_index >= static_cast<int>(source_tab.panes.size())) {
+    return false;
+  }
+  const Pane &source_pane = source_tab.panes[static_cast<size_t>(action.curve_ref.pane_index)];
+  if (action.curve_ref.curve_index < 0
+      || action.curve_ref.curve_index >= static_cast<int>(source_pane.curves.size())) {
+    return false;
+  }
+  const Curve curve = source_pane.curves[static_cast<size_t>(action.curve_ref.curve_index)];
+
+  if (action.zone == PaneDropZone::Center) {
+    const SketchLayout before_layout = session->layout;
+    const bool inserted = add_curve_to_pane(tab, action.target_pane_index, curve);
+    tab_state->active_pane_index = action.target_pane_index;
+    if (inserted) {
+      state->undo.push(before_layout);
+      if (mark_layout_dirty(session, state)) {
+        state->status_text = "Added " + app_curve_display_name(curve);
+      }
+    } else {
+      state->status_text = "Curve already present";
+    }
+    return true;
+  }
+  const SketchLayout before_layout = session->layout;
+  if (split_pane(tab, action.target_pane_index, action.zone, curve)) {
+    tab_state->active_pane_index = static_cast<int>(tab->panes.size()) - 1;
+    return commit_tab_layout_change(session, state, tab, tab_state, before_layout,
+                                    "Split pane and added " + app_curve_display_name(curve),
+                                    true);
+  }
+  return false;
+}
+
+ImGuiDir dock_direction(SplitOrientation orientation) {
+  return orientation == SplitOrientation::Horizontal ? ImGuiDir_Left : ImGuiDir_Up;
+}
+
+void build_dock_tree(const WorkspaceNode &node, const WorkspaceTab &tab, int tab_runtime_id, ImGuiID dock_id) {
+  if (node.is_pane) {
+    if (node.pane_index >= 0 && node.pane_index < static_cast<int>(tab.panes.size())) {
+      ImGui::DockBuilderDockWindow(
+        pane_window_name(tab_runtime_id, node.pane_index, tab.panes[static_cast<size_t>(node.pane_index)]).c_str(),
+        dock_id);
+      if (ImGuiDockNode *dock_node = ImGui::DockBuilderGetNode(dock_id); dock_node != nullptr) {
+        dock_node->LocalFlags |= ImGuiDockNodeFlags_AutoHideTabBar |
+                                 ImGuiDockNodeFlags_NoWindowMenuButton |
+                                 ImGuiDockNodeFlags_NoCloseButton;
+      }
+    }
+    return;
+  }
+  if (node.children.empty()) {
+    return;
+  }
+  if (node.children.size() == 1) {
+    build_dock_tree(node.children.front(), tab, tab_runtime_id, dock_id);
+    return;
+  }
+
+  float remaining = 1.0f;
+  ImGuiID current = dock_id;
+  for (size_t i = 0; i + 1 < node.children.size(); ++i) {
+    const float child_size = i < node.sizes.size() ? node.sizes[i] : 0.0f;
+    const float ratio = remaining <= 0.0f ? 0.5f : std::clamp(child_size / remaining, 0.05f, 0.95f);
+    ImGuiID child_id = 0;
+    ImGuiID remainder_id = 0;
+    ImGui::DockBuilderSplitNode(current, dock_direction(node.orientation), ratio, &child_id, &remainder_id);
+    build_dock_tree(node.children[i], tab, tab_runtime_id, child_id);
+    current = remainder_id;
+    remaining = std::max(0.0f, remaining - child_size);
+  }
+  build_dock_tree(node.children.back(), tab, tab_runtime_id, current);
+}
+
+void ensure_dockspace(const WorkspaceTab &tab, TabUiState *tab_state, ImVec2 dockspace_size) {
+  if (dockspace_size.x <= 0.0f || dockspace_size.y <= 0.0f || tab_state == nullptr) {
+    return;
+  }
+  const bool size_changed = std::abs(tab_state->last_dockspace_size.x - dockspace_size.x) > 1.0f
+                         || std::abs(tab_state->last_dockspace_size.y - dockspace_size.y) > 1.0f;
+  if (!tab_state->dock_needs_build && !size_changed) {
+    return;
+  }
+
+  const ImGuiID dockspace_id = dockspace_id_for_tab(tab_state->runtime_id);
+  ImGui::DockBuilderRemoveNode(dockspace_id);
+  ImGui::DockBuilderAddNode(dockspace_id, ImGuiDockNodeFlags_DockSpace | ImGuiDockNodeFlags_AutoHideTabBar);
+  ImGui::DockBuilderSetNodeSize(dockspace_id, dockspace_size);
+  build_dock_tree(tab.root, tab, tab_state->runtime_id, dockspace_id);
+  ImGui::DockBuilderFinish(dockspace_id);
+  tab_state->dock_needs_build = false;
+  tab_state->last_dockspace_size = dockspace_size;
+}
+
+void draw_pane_windows(AppSession *session, UiState *state) {
+  WorkspaceTab *tab = app_active_tab(&session->layout, *state);
+  TabUiState *tab_state = app_active_tab_state(state);
+  if (tab == nullptr || tab_state == nullptr) {
+    return;
+  }
+
+  std::optional<std::pair<int, PaneMenuAction>> pending_menu_action;
+  std::optional<int> pending_close_pane;
+  std::optional<PaneDropAction> pending_drop_action;
+
+  for (size_t i = 0; i < tab->panes.size(); ++i) {
+    Pane &pane = tab->panes[i];
+    std::optional<PaneMenuAction> menu_action;
+    std::optional<PaneDropAction> drop_action;
+    bool close_pane_requested = false;
+    ImGui::PushStyleVar(ImGuiStyleVar_WindowPadding, ImVec2(2.0f, 2.0f));
+    ImGui::PushStyleColor(ImGuiCol_WindowBg, color_rgb(250, 250, 251));
+    ImGui::PushStyleColor(ImGuiCol_Border, color_rgb(194, 198, 204));
+    ImGui::PushStyleColor(ImGuiCol_TitleBg, color_rgb(252, 252, 253));
+    ImGui::PushStyleColor(ImGuiCol_TitleBgActive, color_rgb(252, 252, 253));
+    ImGui::PushStyleColor(ImGuiCol_TitleBgCollapsed, color_rgb(252, 252, 253));
+    const ImGuiWindowFlags flags = ImGuiWindowFlags_NoCollapse;
+    const std::string window_name = pane_window_name(tab_state->runtime_id, static_cast<int>(i), pane);
+    const bool opened = ImGui::Begin(window_name.c_str(), nullptr, flags);
+    if (opened) {
+      if (ImGui::IsWindowFocused(ImGuiFocusedFlags_RootAndChildWindows)
+          || (ImGui::IsWindowHovered(ImGuiHoveredFlags_RootAndChildWindows) && ImGui::IsMouseClicked(0))) {
+        tab_state->active_pane_index = static_cast<int>(i);
+      }
+      if (pane.kind == PaneKind::Map) {
+        draw_map_pane(session, state, &pane, static_cast<int>(i));
+      } else if (pane.kind == PaneKind::Camera) {
+        draw_camera_pane(session, state, tab_state, static_cast<int>(i), pane);
+      } else {
+        draw_plot(*session, &pane, state);
+      }
+      draw_pane_frame_overlay();
+      close_pane_requested = draw_pane_close_button_overlay();
+      menu_action = draw_pane_context_menu(*tab, static_cast<int>(i));
+      drop_action = draw_pane_drop_target(state->active_tab_index, static_cast<int>(i), pane);
+    }
+    ImGui::End();
+    ImGui::PopStyleVar();
+    ImGui::PopStyleColor(5);
+    if (!pending_menu_action.has_value() && menu_action.has_value()) {
+      pending_menu_action = std::make_pair(static_cast<int>(i), *menu_action);
+    }
+    if (!pending_menu_action.has_value() && !pending_close_pane.has_value() && close_pane_requested) {
+      pending_close_pane = static_cast<int>(i);
+    }
+    if (!pending_menu_action.has_value() && !pending_close_pane.has_value()
+        && !pending_drop_action.has_value() && drop_action.has_value()) {
+      pending_drop_action = *drop_action;
+    }
+  }
+
+  if (pending_menu_action.has_value()) {
+    apply_pane_menu_action(session, state, pending_menu_action->first, pending_menu_action->second);
+    return;
+  }
+  if (pending_close_pane.has_value()) {
+    PaneMenuAction action;
+    action.kind = PaneMenuActionKind::Close;
+    action.pane_index = *pending_close_pane;
+    apply_pane_menu_action(session, state, *pending_close_pane, action);
+    return;
+  }
+  if (pending_drop_action.has_value()) {
+    apply_pane_drop_action(session, state, *pending_drop_action);
+  }
+}
+
+void draw_workspace(AppSession *session, const UiMetrics &ui, UiState *state) {
+  state->custom_series.selected = false;
+  state->logs.selected = false;
+  ImGui::SetNextWindowPos(ImVec2(ui.content_x, ui.content_y));
+  ImGui::SetNextWindowSize(ImVec2(ui.content_w, ui.content_h));
+  ImGui::PushStyleVar(ImGuiStyleVar_WindowPadding, ImVec2(0.0f, 0.0f));
+  ImGui::PushStyleColor(ImGuiCol_WindowBg, color_rgb(244, 246, 248));
+  ImGui::PushStyleColor(ImGuiCol_Border, color_rgb(186, 191, 198));
+  const ImGuiWindowFlags flags = ImGuiWindowFlags_NoDecoration |
+                                 ImGuiWindowFlags_NoMove |
+                                 ImGuiWindowFlags_NoResize |
+                                 ImGuiWindowFlags_NoSavedSettings |
+                                 ImGuiWindowFlags_NoScrollbar |
+                                 ImGuiWindowFlags_NoScrollWithMouse;
+  if (ImGui::Begin("##workspace_host", nullptr, flags)) {
+    const int selection_request = state->requested_tab_index;
+    std::optional<ImRect> rename_tab_rect;
+    ImGui::PushStyleVar(ImGuiStyleVar_FramePadding, ImVec2(10.0f, 6.0f));
+    ImGui::PushStyleVar(ImGuiStyleVar_ItemInnerSpacing, ImVec2(8.0f, 4.0f));
+    ImGui::PushStyleColor(ImGuiCol_Button, ImVec4(0.0f, 0.0f, 0.0f, 0.0f));
+    ImGui::PushStyleColor(ImGuiCol_ButtonHovered, ImVec4(0.0f, 0.0f, 0.0f, 0.0f));
+    ImGui::PushStyleColor(ImGuiCol_ButtonActive, ImVec4(0.0f, 0.0f, 0.0f, 0.0f));
+    if (ImGui::BeginTabBar("##layout_tabs", ImGuiTabBarFlags_FittingPolicyScroll)) {
+      enum class TabActionKind {
+        None,
+        New,
+        Rename,
+        Duplicate,
+        Close,
+      };
+      TabActionKind pending_action = TabActionKind::None;
+      int pending_tab_index = -1;
+      bool custom_series_tab_open = state->custom_series.open;
+      bool suppress_aux_tabs_this_frame = state->request_close_tab && session->layout.tabs.size() == 1;
+      for (size_t i = 0; i < session->layout.tabs.size(); ++i) {
+        const WorkspaceTab &tab = session->layout.tabs[i];
+        const TabUiState &tab_ui = state->tabs[i];
+        ImGuiTabItemFlags tab_flags = ImGuiTabItemFlags_None;
+        if (static_cast<int>(i) == selection_request) {
+          tab_flags |= ImGuiTabItemFlags_SetSelected;
+        }
+        bool tab_open = true;
+        const bool opened = ImGui::BeginTabItem(tab_item_label(tab, tab_ui.runtime_id).c_str(), &tab_open, tab_flags);
+        if (state->rename_tab_index == static_cast<int>(i)) {
+          rename_tab_rect = ImRect(ImGui::GetItemRectMin(), ImGui::GetItemRectMax());
+        }
+        if (ImGui::IsItemHovered() && ImGui::IsMouseDoubleClicked(ImGuiMouseButton_Left)) {
+          pending_action = TabActionKind::Rename;
+          pending_tab_index = static_cast<int>(i);
+        }
+        if (!tab_open) {
+          pending_action = TabActionKind::Close;
+          pending_tab_index = static_cast<int>(i);
+          if (session->layout.tabs.size() == 1) {
+            suppress_aux_tabs_this_frame = true;
+          }
+        }
+        if (ImGui::BeginPopupContextItem()) {
+          if (ImGui::MenuItem("New Tab")) {
+            pending_action = TabActionKind::New;
+          }
+          if (ImGui::MenuItem("Rename Tab...")) {
+            pending_action = TabActionKind::Rename;
+            pending_tab_index = static_cast<int>(i);
+          }
+          if (ImGui::MenuItem("Duplicate Tab")) {
+            pending_action = TabActionKind::Duplicate;
+            pending_tab_index = static_cast<int>(i);
+          }
+          if (ImGui::MenuItem("Close Tab")) {
+            pending_action = TabActionKind::Close;
+            pending_tab_index = static_cast<int>(i);
+          }
+          ImGui::EndPopup();
+        }
+        if (opened) {
+          state->active_tab_index = static_cast<int>(i);
+          session->layout.current_tab_index = state->active_tab_index;
+          if (i < state->tabs.size()) {
+            ensure_dockspace(tab, &state->tabs[i], ImGui::GetContentRegionAvail());
+          }
+          ImGui::DockSpace(dockspace_id_for_tab(tab_ui.runtime_id),
+                           ImVec2(0.0f, 0.0f),
+                           ImGuiDockNodeFlags_AutoHideTabBar |
+                             ImGuiDockNodeFlags_NoWindowMenuButton |
+                             ImGuiDockNodeFlags_NoCloseButton);
+          ImGui::EndTabItem();
+        }
+      }
+      if (!suppress_aux_tabs_this_frame) {
+        ImGuiTabItemFlags logs_flags = ImGuiTabItemFlags_None;
+        if (state->logs.request_select) {
+          logs_flags |= ImGuiTabItemFlags_SetSelected;
+        }
+        if (ImGui::BeginTabItem("Logs##workspace_logs", nullptr, logs_flags)) {
+          state->logs.request_select = false;
+          state->logs.selected = true;
+          draw_logs_tab(session, state);
+          ImGui::EndTabItem();
+        }
+        if (custom_series_tab_open) {
+          ImGuiTabItemFlags custom_flags = ImGuiTabItemFlags_None;
+          if (state->custom_series.request_select) {
+            custom_flags |= ImGuiTabItemFlags_SetSelected;
+          }
+          if (ImGui::BeginTabItem("Custom Series##workspace_custom_series", &custom_series_tab_open, custom_flags)) {
+            state->custom_series.request_select = false;
+            state->custom_series.selected = true;
+            draw_custom_series_editor(session, state);
+            ImGui::EndTabItem();
+          }
+        }
+      }
+      ImGui::PushStyleVar(ImGuiStyleVar_FramePadding, ImVec2(12.0f, 5.0f));
+      ImGui::PushStyleColor(ImGuiCol_Tab, color_rgb(210, 217, 225));
+      ImGui::PushStyleColor(ImGuiCol_TabHovered, color_rgb(224, 230, 237));
+      ImGui::PushStyleColor(ImGuiCol_TabSelected, color_rgb(242, 245, 248));
+      if (ImGui::TabItemButton("   ##new_tab_button", ImGuiTabItemFlags_Trailing)) {
+        pending_action = TabActionKind::New;
+      }
+      {
+        const ImRect rect(ImGui::GetItemRectMin(), ImGui::GetItemRectMax());
+        ImDrawList *draw_list = ImGui::GetWindowDrawList();
+        const ImU32 color = ImGui::GetColorU32(color_rgb(72, 79, 88));
+        const ImVec2 center((rect.Min.x + rect.Max.x) * 0.5f, (rect.Min.y + rect.Max.y) * 0.5f);
+        constexpr float half_extent = 6.25f;
+        constexpr float thickness = 2.0f;
+        draw_list->AddLine(ImVec2(center.x - half_extent, center.y),
+                           ImVec2(center.x + half_extent, center.y),
+                           color,
+                           thickness);
+        draw_list->AddLine(ImVec2(center.x, center.y - half_extent),
+                           ImVec2(center.x, center.y + half_extent),
+                           color,
+                           thickness);
+      }
+      if (ImGui::IsItemHovered(ImGuiHoveredFlags_DelayShort)) {
+        ImGui::PushStyleVar(ImGuiStyleVar_WindowPadding, ImVec2(8.0f, 6.0f));
+        ImGui::BeginTooltip();
+        ImGui::TextUnformatted("New Tab");
+        ImGui::EndTooltip();
+        ImGui::PopStyleVar();
+      }
+      ImGui::PopStyleColor(3);
+      ImGui::PopStyleVar();
+      ImGui::EndTabBar();
+
+      if (!custom_series_tab_open) {
+        state->custom_series.open = false;
+        state->custom_series.request_select = false;
+      }
+
+      if (rename_tab_rect.has_value()) {
+        draw_inline_tab_editor(session, state, *rename_tab_rect);
+      }
+
+      if (state->request_new_tab || pending_action == TabActionKind::New) {
+        const SketchLayout before_layout = session->layout;
+        create_runtime_tab(&session->layout, state);
+        state->undo.push(before_layout);
+        mark_layout_dirty(session, state);
+        state->request_new_tab = false;
+      } else if (pending_action == TabActionKind::Rename) {
+        begin_rename_tab(session->layout, state, pending_tab_index);
+      } else if (state->request_duplicate_tab || pending_action == TabActionKind::Duplicate) {
+        if (pending_tab_index >= 0) {
+          request_tab_selection(state, pending_tab_index);
+        }
+        const SketchLayout before_layout = session->layout;
+        duplicate_runtime_tab(&session->layout, state);
+        state->undo.push(before_layout);
+        mark_layout_dirty(session, state);
+        state->request_duplicate_tab = false;
+      } else if (state->request_close_tab || pending_action == TabActionKind::Close) {
+        if (pending_tab_index >= 0) {
+          request_tab_selection(state, pending_tab_index);
+        }
+        const SketchLayout before_layout = session->layout;
+        close_runtime_tab(&session->layout, state);
+        state->undo.push(before_layout);
+        mark_layout_dirty(session, state);
+        state->request_close_tab = false;
+      }
+      if (state->requested_tab_index == selection_request) {
+        state->requested_tab_index = -1;
+      }
+    }
+    ImGui::PopStyleColor(3);
+    ImGui::PopStyleVar(2);
+  }
+  ImGui::End();
+  ImGui::PopStyleVar();
+  ImGui::PopStyleColor(2);
+}
+
+int run(const Options &options) {
+  try {
+  const fs::path layout_path = options.layout.empty() ? fs::path() : resolve_layout_path(options.layout);
+  AppSession session = {
+    .layout_path = layout_path,
+    .autosave_path = layout_path.empty() ? fs::path() : autosave_path_for_layout(layout_path),
+    .route_name = options.route_name,
+    .data_dir = options.data_dir,
+    .dbc_override = {},
+    .stream_source = StreamSourceConfig{.kind = is_local_stream_address(options.stream_address)
+                                                 ? StreamSourceKind::CerealLocal
+                                                 : StreamSourceKind::CerealRemote,
+                                        .address = options.stream_address},
+    .stream_buffer_seconds = options.stream_buffer_seconds,
+    .data_mode = options.stream ? SessionDataMode::Stream : SessionDataMode::Route,
+    .route_id = options.stream ? RouteIdentifier{} : parse_route_identifier(options.route_name),
+    .layout = options.layout.empty() ? make_empty_layout() : load_sketch_layout(layout_path),
+  };
+  UiState ui_state;
+  if (!layout_path.empty() && !session.autosave_path.empty() && fs::exists(session.autosave_path)) {
+    session.layout = load_sketch_layout(session.autosave_path);
+    ui_state.layout_dirty = true;
+  }
+  ui_state.undo.reset(session.layout);
+  sync_ui_state(&ui_state, session.layout);
+  sync_route_buffers(&ui_state, session);
+  sync_stream_buffers(&ui_state, session);
+  sync_layout_buffers(&ui_state, session);
+
+  session.async_route_loading = session.data_mode == SessionDataMode::Route
+    && options.show && options.output_path.empty() && !options.sync_load;
+  if (session.data_mode == SessionDataMode::Route && !session.async_route_loading) {
+    TerminalRouteProgress route_progress(::isatty(STDERR_FILENO) != 0);
+    rebuild_session_route_data(&session, &ui_state, [&](const RouteLoadProgress &update) {
+      route_progress.update(update);
+    });
+    route_progress.finish();
+  }
+
+  GlfwRuntime glfw_runtime(options);
+  ImGuiRuntime imgui_runtime(glfw_runtime.window());
+  configure_style();
+  session.map_data = std::make_unique<MapDataManager>();
+  for (std::unique_ptr<CameraFeedView> &feed : session.pane_camera_feeds) {
+    feed = std::make_unique<CameraFeedView>();
+  }
+  sync_camera_feeds(&session);
+
+  if (session.async_route_loading) {
+    session.route_loader = std::make_unique<AsyncRouteLoader>(::isatty(STDERR_FILENO) != 0);
+    start_async_route_load(&session, &ui_state);
+  } else if (session.data_mode == SessionDataMode::Stream) {
+    session.stream_poller = std::make_unique<StreamPoller>();
+    start_stream_session(&session, &ui_state, session.stream_source, session.stream_buffer_seconds);
+  }
+
+  const bool should_capture = !options.output_path.empty();
+  const fs::path output_path = should_capture ? fs::path(options.output_path) : fs::path();
+  const bool capture_has_map = should_capture && active_tab_has_map_pane(session.layout);
+  if (options.show) {
+    bool captured = false;
+    const auto capture_ready_at = std::chrono::steady_clock::now() + (capture_has_map ? std::chrono::milliseconds(1800)
+                                                                                      : std::chrono::milliseconds(0));
+    while (!glfwWindowShouldClose(glfw_runtime.window())) {
+      const bool capture_ready = std::chrono::steady_clock::now() >= capture_ready_at;
+      const fs::path *capture_path = (!captured && should_capture && capture_ready) ? &output_path : nullptr;
+      render_frame(glfw_runtime.window(), &session, &ui_state, capture_path);
+      captured = captured || capture_path != nullptr;
+    }
+  } else {
+    render_frame(glfw_runtime.window(), &session, &ui_state, nullptr);
+    if (should_capture) {
+      for (int i = 0; i < 3; ++i) {
+        render_frame(glfw_runtime.window(), &session, &ui_state, nullptr);
+      }
+      if (capture_has_map) {
+        for (int i = 0; i < 18; ++i) {
+          std::this_thread::sleep_for(std::chrono::milliseconds(100));
+          render_frame(glfw_runtime.window(), &session, &ui_state, nullptr);
+        }
+      }
+      render_frame(glfw_runtime.window(), &session, &ui_state, &output_path);
+    }
+  }
+  if (session.stream_poller) {
+    session.stream_poller->stop();
+  }
+  session.map_data.reset();
+  for (std::unique_ptr<CameraFeedView> &feed : session.pane_camera_feeds) {
+    feed.reset();
+  }
+  return 0;
+  } catch (const std::exception &err) {
+    std::cerr << err.what() << "\n";
+    return 1;
+  }
+}
diff --git a/tools/jotpluggler/app.h b/tools/jotpluggler/app.h
new file mode 100644
index 00000000000..872a6973d78
--- /dev/null
+++ b/tools/jotpluggler/app.h
@@ -0,0 +1,887 @@
+#pragma once
+
+#include "cereal/gen/cpp/log.capnp.h"
+#include "imgui.h"
+#include "tools/jotpluggler/dbc.h"
+#include "tools/jotpluggler/util.h"
+
+#include <algorithm>
+#include <array>
+#include <atomic>
+#include <cstdint>
+#include <filesystem>
+#include <future>
+#include <functional>
+#include <memory>
+#include <optional>
+#include <string>
+#include <string_view>
+#include <unordered_map>
+#include <vector>
+
+// *****
+// app options & entry point
+// *****
+
+struct Options {
+  std::string layout;
+  std::string route_name;
+  std::string data_dir;
+  std::string output_path;
+  std::string stream_address = "127.0.0.1";
+  int width = 1600;
+  int height = 900;
+  bool show = false;
+  bool sync_load = false;
+  bool stream = false;
+  double stream_buffer_seconds = 30.0;
+};
+
+int run(const Options &options);
+
+// *****
+// sketch layout & route data
+// *****
+
+struct PlotRange {
+  bool valid = false;
+  double left = 0.0;
+  double right = 0.0;
+  double bottom = 0.0;
+  double top = 1.0;
+  bool has_y_limit_min = false;
+  bool has_y_limit_max = false;
+  double y_limit_min = 0.0;
+  double y_limit_max = 1.0;
+};
+
+struct CustomPythonSeries {
+  std::string linked_source;
+  std::vector<std::string> additional_sources;
+  std::string globals_code;
+  std::string function_code;
+};
+
+struct Curve {
+  std::string name;
+  std::string label;
+  std::array<uint8_t, 3> color = {160, 170, 180};
+  bool visible = true;
+  bool derivative = false;
+  double derivative_dt = 0.0;
+  double value_scale = 1.0;
+  double value_offset = 0.0;
+  bool runtime_only = false;
+  std::optional<CustomPythonSeries> custom_python;
+  std::string runtime_error_message;
+  std::vector<double> xs;
+  std::vector<double> ys;
+};
+
+enum class PaneKind : uint8_t {
+  Plot,
+  Map,
+  Camera,
+};
+
+enum class CameraViewKind : uint8_t {
+  Road,
+  Driver,
+  WideRoad,
+  QRoad,
+};
+
+struct Pane {
+  PaneKind kind = PaneKind::Plot;
+  CameraViewKind camera_view = CameraViewKind::Road;
+  std::string title;
+  PlotRange range;
+  std::vector<Curve> curves;
+};
+
+enum class SplitOrientation {
+  Horizontal,
+  Vertical,
+};
+
+struct WorkspaceNode {
+  bool is_pane = false;
+  int pane_index = -1;
+  SplitOrientation orientation = SplitOrientation::Horizontal;
+  std::vector<float> sizes;
+  std::vector<WorkspaceNode> children;
+};
+
+struct WorkspaceTab {
+  std::string tab_name;
+  WorkspaceNode root;
+  std::vector<Pane> panes;
+};
+
+struct RouteSeries {
+  std::string path;
+  std::vector<double> times;
+  std::vector<double> values;
+};
+
+struct CameraSegmentFile {
+  int segment = -1;
+  std::string path;
+};
+
+struct CameraFrameIndexEntry {
+  double timestamp = 0.0;
+  int segment = -1;
+  int decode_index = -1;
+  uint32_t frame_id = 0;
+};
+
+struct CameraFeedIndex {
+  std::vector<CameraSegmentFile> segment_files;
+  std::vector<CameraFrameIndexEntry> entries;
+};
+
+enum class LogOrigin : uint8_t {
+  Log,
+  Android,
+  Alert,
+};
+
+struct LogEntry {
+  double mono_time = 0.0;
+  double boot_time = 0.0;
+  double wall_time = 0.0;
+  uint8_t level = 20;
+  std::string source;
+  std::string func;
+  std::string message;
+  std::string context;
+  LogOrigin origin = LogOrigin::Log;
+};
+
+struct EnumInfo {
+  std::vector<std::string> names;
+};
+
+struct SeriesFormat {
+  int decimals = 3;
+  bool integer_like = false;
+  bool has_negative = false;
+  int digits_before = 1;
+  int total_width = 0;
+  char fmt[16] = "%7.3f";
+};
+
+enum class CanServiceKind : uint8_t {
+  Can,
+  Sendcan,
+};
+
+struct CanMessageId {
+  CanServiceKind service = CanServiceKind::Can;
+  uint8_t bus = 0;
+  uint32_t address = 0;
+
+  bool operator==(const CanMessageId &other) const {
+    return service == other.service && bus == other.bus && address == other.address;
+  }
+};
+
+struct CanMessageIdHash {
+  size_t operator()(const CanMessageId &id) const {
+    return (static_cast<size_t>(id.service) << 40)
+         ^ (static_cast<size_t>(id.bus) << 32)
+         ^ static_cast<size_t>(id.address);
+  }
+};
+
+struct CanFrameSample {
+  double mono_time = 0.0;
+  uint16_t bus_time = 0;
+  std::string data;
+};
+
+struct LiveCanFrame {
+  double mono_time = 0.0;
+  uint8_t bus = 0;
+  uint32_t address = 0;
+  uint16_t bus_time = 0;
+  std::string data;
+};
+
+struct CanMessageData {
+  CanMessageId id;
+  std::vector<CanFrameSample> samples;
+};
+
+struct TimelineEntry {
+  enum class Type : uint8_t {
+    None,
+    Engaged,
+    AlertInfo,
+    AlertWarning,
+    AlertCritical,
+  };
+
+  double start_time = 0.0;
+  double end_time = 0.0;
+  Type type = Type::None;
+};
+
+struct GpsPoint {
+  double time = 0.0;
+  double lat = 0.0;
+  double lon = 0.0;
+  float bearing = 0.0f;
+  TimelineEntry::Type type = TimelineEntry::Type::None;
+};
+
+struct GpsTrace {
+  std::vector<GpsPoint> points;
+  double min_lat = 0.0;
+  double max_lat = 0.0;
+  double min_lon = 0.0;
+  double max_lon = 0.0;
+};
+
+enum class LogSelector : uint8_t {
+  Auto,
+  RLog,
+  QLog,
+};
+
+struct RouteIdentifier {
+  std::string dongle_id;
+  std::string log_id;
+  int slice_begin = 0;
+  int slice_end = -1;
+  bool slice_explicit = false;
+  LogSelector selector = LogSelector::Auto;
+  bool selector_explicit = false;
+  int available_begin = 0;
+  int available_end = 0;
+
+  bool empty() const {
+    return dongle_id.empty() || log_id.empty();
+  }
+
+  std::string canonical() const {
+    return empty() ? std::string() : dongle_id + "/" + log_id;
+  }
+
+  std::string onebox() const {
+    return empty() ? std::string() : dongle_id + "|" + log_id;
+  }
+
+  std::string display_slice() const {
+    const int begin = slice_explicit ? slice_begin : available_begin;
+    const int end = slice_explicit ? slice_end : available_end;
+    if (end < 0) {
+      return std::to_string(begin) + ":";
+    }
+    if (end == begin) {
+      return std::to_string(begin);
+    }
+    return std::to_string(begin) + ":" + std::to_string(end);
+  }
+
+  char selector_char() const {
+    switch (selector) {
+      case LogSelector::RLog: return 'r';
+      case LogSelector::QLog: return 'q';
+      case LogSelector::Auto:
+      default: return 'a';
+    }
+  }
+
+  std::string full_spec() const {
+    if (empty()) return {};
+    std::string spec = dongle_id + "/" + log_id;
+    if (slice_explicit) {
+      spec += "/";
+      spec += display_slice();
+    }
+    if (selector_explicit) {
+      spec += "/";
+      spec.push_back(selector_char());
+    }
+    return spec;
+  }
+};
+
+struct RouteData {
+  std::vector<RouteSeries> series;
+  std::vector<std::string> paths;
+  std::vector<std::string> roots;
+  std::vector<CanMessageData> can_messages;
+  CameraFeedIndex road_camera;
+  CameraFeedIndex driver_camera;
+  CameraFeedIndex wide_road_camera;
+  CameraFeedIndex qroad_camera;
+  GpsTrace gps_trace;
+  std::vector<LogEntry> logs;
+  std::vector<TimelineEntry> timeline;
+  std::unordered_map<std::string, EnumInfo> enum_info;
+  std::unordered_map<std::string, SeriesFormat> series_formats;
+  std::string car_fingerprint;
+  std::string dbc_name;
+  RouteIdentifier route_id;
+  bool has_time_range = false;
+  double x_min = 0.0;
+  double x_max = 1.0;
+};
+
+struct StreamExtractBatch {
+  std::vector<RouteSeries> series;
+  std::vector<CanMessageData> can_messages;
+  std::vector<LogEntry> logs;
+  std::vector<TimelineEntry> timeline;
+  std::unordered_map<std::string, EnumInfo> enum_info;
+  std::string car_fingerprint;
+  std::string dbc_name;
+  bool has_time_offset = false;
+  double time_offset = 0.0;
+};
+
+struct SketchLayout {
+  std::vector<WorkspaceTab> tabs;
+  std::vector<std::string> roots;
+  int current_tab_index = 0;
+};
+
+enum class RouteLoadStage {
+  Resolving,
+  DownloadingSegment,
+  ParsingSegment,
+  Finished,
+};
+
+struct RouteLoadProgress {
+  RouteLoadStage stage = RouteLoadStage::Resolving;
+  size_t segment_index = 0;
+  size_t segment_count = 0;
+  uint64_t current = 0;
+  uint64_t total = 0;
+  size_t segments_downloaded = 0;
+  size_t segments_parsed = 0;
+  size_t total_segments = 0;
+  uint64_t bytes_downloaded = 0;
+  int num_workers = 1;
+  std::string segment_name;
+};
+
+using RouteLoadProgressCallback = std::function<void(const RouteLoadProgress &)>;
+
+class StreamAccumulator {
+public:
+  explicit StreamAccumulator(const std::string &dbc_name = {}, std::optional<double> time_offset = std::nullopt);
+  ~StreamAccumulator();
+
+  StreamAccumulator(const StreamAccumulator &) = delete;
+  StreamAccumulator &operator=(const StreamAccumulator &) = delete;
+
+  void setDbcName(const std::string &dbc_name);
+  void appendEvent(kj::ArrayPtr<const capnp::word> data);
+  void appendCanFrames(CanServiceKind service, const std::vector<LiveCanFrame> &frames);
+  StreamExtractBatch takeBatch();
+  const std::string &carFingerprint() const;
+  const std::string &dbc_name() const;
+  std::optional<double> timeOffset() const;
+
+private:
+  struct Impl;
+  std::unique_ptr<Impl> impl_;
+};
+
+SketchLayout load_sketch_layout(const std::filesystem::path &layout_path);
+std::vector<std::string> available_dbc_names();
+std::vector<std::string> collect_route_roots_for_paths(const std::vector<std::string> &paths);
+std::optional<dbc::Database> load_dbc_by_name(const std::string &dbc_name);
+std::vector<RouteSeries> decode_can_messages(const std::vector<CanMessageData> &can_messages,
+                                             const std::string &dbc_name,
+                                             std::unordered_map<std::string, EnumInfo> *enum_info = nullptr);
+RouteData load_route_data(const std::string &route_name,
+                          const std::string &data_dir = {},
+                          const std::string &dbc_name = {},
+                          const RouteLoadProgressCallback &progress = {});
+RouteIdentifier parse_route_identifier(std::string_view route_name);
+void rebuild_gps_trace(RouteData *route_data);
+
+// *****
+// icons
+// *****
+
+namespace icon {
+constexpr const char ARROW_DOWN_UP[]         = "\xef\x84\xa7";
+constexpr const char ARROW_LEFT_RIGHT[]      = "\xef\x84\xab";
+constexpr const char BAR_CHART[]             = "\xef\x85\xbe";
+constexpr const char BOX_ARROW_UP_RIGHT[]    = "\xef\x87\x85";
+constexpr const char CLIPBOARD[]             = "\xef\x8a\x90";
+constexpr const char CLIPBOARD2[]            = "\xef\x9c\xb3";
+constexpr const char DISTRIBUTE_HORIZONTAL[] = "\xef\x8c\x83";
+constexpr const char DISTRIBUTE_VERTICAL[]   = "\xef\x8c\x84";
+constexpr const char FILE_EARMARK_IMAGE[]    = "\xef\x8d\xad";
+constexpr const char FILES[]                 = "\xef\x8f\x82";
+constexpr const char INFO_CIRCLE[]           = "\xef\x90\xb1";
+constexpr const char PALETTE[]               = "\xef\x92\xb1";
+constexpr const char PLUS_SLASH_MINUS[]       = "\xef\x9a\xaa";
+constexpr const char SAVE[]                  = "\xef\x94\xa5";
+constexpr const char SLIDERS[]               = "\xef\x95\xab";
+constexpr const char TRASH[]                 = "\xef\x97\x9e";
+constexpr const char X_SQUARE[]              = "\xef\x98\xa9";
+constexpr const char ZOOM_OUT[]              = "\xef\x98\xad";
+}  // namespace icon
+
+void icon_add_font(float size, bool merge = false, const ImFont *base_font = nullptr);
+bool icon_menu_item(const char *glyph,
+                    const char *label,
+                    const char *shortcut = nullptr,
+                    bool selected = false,
+                    bool enabled = true);
+
+// *****
+// app session, UI state, & internal API
+// *****
+
+class AsyncRouteLoader;
+class CameraFeedView;
+class StreamPoller;
+class MapDataManager;
+
+enum class SessionDataMode : uint8_t {
+  Route,
+  Stream,
+};
+
+enum class StreamSourceKind : uint8_t {
+  CerealLocal,
+  CerealRemote,
+};
+
+struct StreamSourceConfig {
+  StreamSourceKind kind = StreamSourceKind::CerealLocal;
+  std::string address = "127.0.0.1";
+};
+
+struct BrowserNode {
+  std::string label;
+  std::string full_path;
+  std::vector<BrowserNode> children;
+};
+
+struct AppSession {
+  std::filesystem::path layout_path;
+  std::filesystem::path autosave_path;
+  std::string route_name;
+  std::string data_dir;
+  std::string dbc_override;
+  StreamSourceConfig stream_source;
+  double stream_buffer_seconds = 30.0;
+  SessionDataMode data_mode = SessionDataMode::Route;
+  RouteIdentifier route_id;
+  SketchLayout layout;
+  RouteData route_data;
+  std::unordered_map<std::string, RouteSeries *> series_by_path;
+  std::vector<BrowserNode> browser_nodes;
+  std::unique_ptr<AsyncRouteLoader> route_loader;
+  std::unique_ptr<StreamPoller> stream_poller;
+  std::array<std::unique_ptr<CameraFeedView>, 4> pane_camera_feeds;
+  std::unique_ptr<MapDataManager> map_data;
+  bool async_route_loading = false;
+  double next_stream_custom_refresh_time = 0.0;
+  bool stream_paused = false;
+  std::optional<double> stream_time_offset;
+};
+
+struct TabUiState {
+  struct MapPaneState {
+    bool initialized = false;
+    bool follow = false;
+    float zoom = 1.0f;
+    double center_lat = 0.0;
+    double center_lon = 0.0;
+  };
+
+  struct CameraPaneState {
+    bool fit_to_pane = true;
+  };
+
+  bool dock_needs_build = true;
+  int active_pane_index = 0;
+  int runtime_id = 0;
+  ImVec2 last_dockspace_size = ImVec2(0.0f, 0.0f);
+  std::vector<MapPaneState> map_panes;
+  std::vector<CameraPaneState> camera_panes;
+};
+
+struct CustomSeriesEditorState {
+  bool open = false;
+  bool open_help = false;
+  bool request_select = false;
+  bool selected = false;
+  bool focus_name = false;
+  int selected_template = 0;
+  int selected_additional_source = -1;
+  std::string name;
+  std::string linked_source;
+  std::vector<std::string> additional_sources;
+  std::string globals_code;
+  std::string function_code = "return value";
+  std::string preview_label;
+  std::vector<double> preview_xs;
+  std::vector<double> preview_ys;
+  bool preview_is_result = false;
+};
+
+enum class LogTimeMode : uint8_t {
+  Route,
+  Boot,
+  WallClock,
+};
+
+struct LogsUiState {
+  bool selected = false;
+  bool request_select = false;
+  bool all_sources = true;
+  uint32_t enabled_levels_mask = 0b11110;
+  int expanded_index = -1;
+  std::string search;
+  std::vector<std::string> selected_sources;
+  double last_auto_scroll_time = -1.0;
+  LogTimeMode time_mode = LogTimeMode::Route;
+};
+
+struct AxisLimitsEditorState {
+  bool open = false;
+  int pane_index = -1;
+  double x_min = 0.0;
+  double x_max = 1.0;
+  bool y_min_enabled = false;
+  bool y_max_enabled = false;
+  double y_min = 0.0;
+  double y_max = 1.0;
+};
+
+struct DbcEditorState {
+  bool open = false;
+  bool loaded = false;
+  std::string source_name;
+  std::filesystem::path source_path;
+  enum class SourceKind : uint8_t {
+    None,
+    Generated,
+    Opendbc,
+  };
+  SourceKind source_kind = SourceKind::None;
+  std::string save_name;
+  std::string text;
+};
+
+enum class TimelineDragMode : uint8_t {
+  None,
+  ScrubCursor,
+  PanViewport,
+  ResizeLeft,
+  ResizeRight,
+};
+
+struct UndoStack {
+  static constexpr size_t kMaxHistory = 50;
+
+  std::vector<SketchLayout> history;
+  int position = -1;
+
+  void reset(const SketchLayout &layout) {
+    history.clear();
+    history.push_back(layout);
+    position = 0;
+  }
+
+  void push(const SketchLayout &layout) {
+    if (position < 0) {
+      reset(layout);
+      return;
+    }
+    if (position + 1 < static_cast<int>(history.size())) {
+      history.resize(static_cast<size_t>(position + 1));
+    }
+    history.push_back(layout);
+    if (history.size() > kMaxHistory) {
+      history.erase(history.begin());
+    }
+    position = static_cast<int>(history.size()) - 1;
+  }
+
+  bool can_undo() const {
+    return position > 0;
+  }
+
+  bool can_redo() const {
+    return position >= 0 && position + 1 < static_cast<int>(history.size());
+  }
+
+  const SketchLayout &undo() {
+    return history[static_cast<size_t>(--position)];
+  }
+
+  const SketchLayout &redo() {
+    return history[static_cast<size_t>(++position)];
+  }
+};
+
+struct UiState {
+  bool open_open_route = false;
+  bool open_stream = false;
+  bool open_load_layout = false;
+  bool open_save_layout = false;
+  bool open_preferences = false;
+  bool open_find_signal = false;
+  bool request_close = false;
+  bool request_reset_layout = false;
+  bool request_save_layout = false;
+  bool request_new_tab = false;
+  bool request_duplicate_tab = false;
+  bool request_close_tab = false;
+  bool follow_latest = false;
+  bool has_shared_range = false;
+  bool has_tracker_time = false;
+  bool layout_dirty = false;
+  bool playback_loop = false;
+  bool playback_playing = false;
+  bool show_deprecated_fields = false;
+  bool show_fps_overlay = false;
+  bool fps_overlay_initialized = false;
+  bool suppress_range_side_effects = false;
+  bool browser_nodes_dirty = false;
+  int active_tab_index = 0;
+  int next_tab_runtime_id = 1;
+  int requested_tab_index = -1;
+  int rename_tab_index = -1;
+  bool focus_rename_tab_input = false;
+  std::vector<TabUiState> tabs;
+  std::string route_buffer;
+  std::string stream_address_buffer;
+  std::string rename_tab_buffer;
+  std::string browser_filter;
+  std::string data_dir_buffer;
+  std::string load_layout_buffer;
+  std::string save_layout_buffer;
+  std::string find_signal_buffer;
+  std::string selected_browser_path;
+  std::vector<std::string> selected_browser_paths;
+  std::string browser_selection_anchor;
+  std::string route_slice_buffer;
+  std::string error_text;
+  bool open_error_popup = false;
+  std::string status_text = "Ready";
+  std::string route_copy_feedback_text;
+  double route_copy_feedback_until = 0.0;
+  bool editing_route_slice = false;
+  bool focus_route_slice_input = false;
+  StreamSourceKind stream_source_kind = StreamSourceKind::CerealLocal;
+  float sidebar_width = 320.0f;
+  double route_x_min = 0.0;
+  double route_x_max = 1.0;
+  double x_view_min = 0.0;
+  double x_view_max = 1.0;
+  double tracker_time = 0.0;
+  double playback_rate = 1.0;
+  double playback_step = 0.1;
+  double stream_buffer_seconds = 30.0;
+  TimelineDragMode timeline_drag_mode = TimelineDragMode::None;
+  double timeline_drag_anchor_time = 0.0;
+  double timeline_drag_anchor_x_min = 0.0;
+  double timeline_drag_anchor_x_max = 0.0;
+  AxisLimitsEditorState axis_limits;
+  DbcEditorState dbc_editor;
+  CustomSeriesEditorState custom_series;
+  LogsUiState logs;
+  UndoStack undo;
+};
+
+// app.cc public API
+
+const WorkspaceTab *app_active_tab(const SketchLayout &layout, const UiState &state);
+WorkspaceTab *app_active_tab(SketchLayout *layout, const UiState &state);
+TabUiState *app_active_tab_state(UiState *state);
+
+void app_push_mono_font();
+void app_pop_mono_font();
+bool app_add_curve_to_active_pane(AppSession *session, UiState *state, const std::string &path);
+
+std::string app_curve_display_name(const Curve &curve);
+std::array<uint8_t, 3> app_next_curve_color(const Pane &pane);
+const RouteSeries *app_find_route_series(const AppSession &session, const std::string &path);
+void app_decimate_samples(const std::vector<double> &xs_in,
+                          const std::vector<double> &ys_in,
+                          int max_points,
+                          std::vector<double> *xs_out,
+                          std::vector<double> *ys_out);
+std::optional<double> app_sample_xy_value_at_time(const std::vector<double> &xs,
+                                                   const std::vector<double> &ys,
+                                                   bool stairs,
+                                                   double tm);
+void save_layout_json(const SketchLayout &layout, const std::filesystem::path &path);
+
+// *****
+// browser
+// *****
+
+void rebuild_route_index(AppSession *session);
+void rebuild_browser_nodes(AppSession *session, UiState *state);
+SeriesFormat compute_series_format(const std::vector<double> &values, bool enum_like = false);
+std::string format_display_value(double display_value,
+                                 const SeriesFormat &format,
+                                 const EnumInfo *enum_info);
+std::vector<std::string> decode_browser_drag_payload(std::string_view payload);
+void collect_visible_leaf_paths(const BrowserNode &node,
+                                const std::string &filter,
+                                std::vector<std::string> *out);
+void draw_browser_node(AppSession *session,
+                       const BrowserNode &node,
+                       UiState *state,
+                       const std::string &filter,
+                       const std::vector<std::string> &visible_paths);
+
+// *****
+// custom series
+// *****
+
+void open_custom_series_editor(UiState *state, const std::string &preferred_source = {});
+std::string preferred_custom_series_source(const Pane &pane);
+void refresh_all_custom_curves(AppSession *session, UiState *state);
+void draw_custom_series_editor(AppSession *session, UiState *state);
+
+// *****
+// logs
+// *****
+
+void draw_logs_tab(AppSession *session, UiState *state);
+
+// *****
+// map
+// *****
+
+void draw_map_pane(AppSession *session, UiState *state, Pane *pane, int pane_index);
+
+// *****
+// runtime (GLFW, async loaders, streaming, camera)
+// *****
+
+struct GLFWwindow;
+
+struct RouteLoadSnapshot {
+  bool active = false;
+  size_t total_segments = 0;
+  size_t segments_downloaded = 0;
+  size_t segments_parsed = 0;
+};
+
+struct StreamPollSnapshot {
+  bool active = false;
+  bool connected = false;
+  bool paused = false;
+  StreamSourceKind source_kind = StreamSourceKind::CerealLocal;
+  std::string source_label;
+  std::string dbc_name;
+  std::string car_fingerprint;
+  double buffer_seconds = 30.0;
+  uint64_t received_messages = 0;
+};
+
+class GlfwRuntime {
+public:
+  explicit GlfwRuntime(const Options &options);
+  ~GlfwRuntime();
+
+  GlfwRuntime(const GlfwRuntime &) = delete;
+  GlfwRuntime &operator=(const GlfwRuntime &) = delete;
+
+  GLFWwindow *window() const;
+
+private:
+  GLFWwindow *window_ = nullptr;
+};
+
+class ImGuiRuntime {
+public:
+  explicit ImGuiRuntime(GLFWwindow *window);
+  ~ImGuiRuntime();
+
+  ImGuiRuntime(const ImGuiRuntime &) = delete;
+  ImGuiRuntime &operator=(const ImGuiRuntime &) = delete;
+};
+
+class TerminalRouteProgress {
+public:
+  explicit TerminalRouteProgress(bool enabled);
+  ~TerminalRouteProgress();
+
+  TerminalRouteProgress(const TerminalRouteProgress &) = delete;
+  TerminalRouteProgress &operator=(const TerminalRouteProgress &) = delete;
+
+  void update(const RouteLoadProgress &progress);
+  void finish();
+
+private:
+  struct Impl;
+  std::unique_ptr<Impl> impl_;
+};
+
+class AsyncRouteLoader {
+public:
+  explicit AsyncRouteLoader(bool enable_terminal_progress);
+  ~AsyncRouteLoader();
+
+  AsyncRouteLoader(const AsyncRouteLoader &) = delete;
+  AsyncRouteLoader &operator=(const AsyncRouteLoader &) = delete;
+
+  void start(const std::string &route_name, const std::string &data_dir, const std::string &dbc_name);
+  RouteLoadSnapshot snapshot() const;
+  bool consume(RouteData *route_data, std::string *error_text);
+
+private:
+  struct Impl;
+  std::unique_ptr<Impl> impl_;
+};
+
+class StreamPoller {
+public:
+  StreamPoller();
+  ~StreamPoller();
+
+  StreamPoller(const StreamPoller &) = delete;
+  StreamPoller &operator=(const StreamPoller &) = delete;
+
+  void start(const StreamSourceConfig &source,
+             double buffer_seconds,
+             const std::string &dbc_name,
+             std::optional<double> time_offset = std::nullopt);
+  void setPaused(bool paused);
+  void stop();
+  StreamPollSnapshot snapshot() const;
+  bool consume(StreamExtractBatch *batch, std::string *error_text);
+
+private:
+  struct Impl;
+  std::unique_ptr<Impl> impl_;
+};
+
+class CameraFeedView {
+public:
+  CameraFeedView();
+  ~CameraFeedView();
+
+  CameraFeedView(const CameraFeedView &) = delete;
+  CameraFeedView &operator=(const CameraFeedView &) = delete;
+
+  void setRouteData(const RouteData &route_data);
+  void setCameraIndex(const CameraFeedIndex &camera_index, CameraViewKind view);
+  void update(double tracker_time);
+  void draw(float width, bool loading);
+  void drawSized(ImVec2 size, bool loading, bool fit_to_pane = false);
+
+private:
+  struct Impl;
+  std::unique_ptr<Impl> impl_;
+};
diff --git a/tools/jotpluggler/assets/pause.png b/tools/jotpluggler/assets/pause.png
deleted file mode 100644
index 80400998318..00000000000
--- a/tools/jotpluggler/assets/pause.png
+++ /dev/null
@@ -1,3 +0,0 @@
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-oid sha256:3ea96d8193eb9067a5efdc5d88a3099730ecafa40efcd09d7402bb3efd723603
-size 2305
diff --git a/tools/jotpluggler/assets/play.png b/tools/jotpluggler/assets/play.png
deleted file mode 100644
index b1556cf0abf..00000000000
--- a/tools/jotpluggler/assets/play.png
+++ /dev/null
@@ -1,3 +0,0 @@
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-oid sha256:53097ac5403b725ff1841dfa186ea770b4bb3714205824bde36ec3c2a0fb5dba
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diff --git a/tools/jotpluggler/assets/plus.png b/tools/jotpluggler/assets/plus.png
deleted file mode 100644
index 6f8388b24df..00000000000
--- a/tools/jotpluggler/assets/plus.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:248b71eafd1b42b0861da92114da3d625221cd88121fff01e0514bf3d79ff3b1
-size 1364
diff --git a/tools/jotpluggler/assets/split_h.png b/tools/jotpluggler/assets/split_h.png
deleted file mode 100644
index 4fd88806e16..00000000000
--- a/tools/jotpluggler/assets/split_h.png
+++ /dev/null
@@ -1,3 +0,0 @@
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-oid sha256:54dd035ff898d881509fa686c402a61af8ef5fb408b92414722da01f773b0d33
-size 2900
diff --git a/tools/jotpluggler/assets/split_v.png b/tools/jotpluggler/assets/split_v.png
deleted file mode 100644
index 752e62a4ae9..00000000000
--- a/tools/jotpluggler/assets/split_v.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:adbd4e5df1f58694dca9dde46d1d95b4e7471684e42e6bca9f41ea5d346e67c5
-size 3669
diff --git a/tools/jotpluggler/assets/x.png b/tools/jotpluggler/assets/x.png
deleted file mode 100644
index 3b2eabd4478..00000000000
--- a/tools/jotpluggler/assets/x.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:a6d9c90cb0dd906e0b15e1f7f3fd9f0dfad3c3b0b34eeed7a7882768dc5f3961
-size 2053
diff --git a/tools/jotpluggler/browser.cc b/tools/jotpluggler/browser.cc
new file mode 100644
index 00000000000..27378b4b6bf
--- /dev/null
+++ b/tools/jotpluggler/browser.cc
@@ -0,0 +1,465 @@
+#include "tools/jotpluggler/app.h"
+
+#include "imgui_internal.h"
+
+#include <cmath>
+#include <cstdio>
+#include <unordered_set>
+
+namespace {
+
+constexpr float BROWSER_VALUE_WIDTH = 88.0f;
+
+bool path_matches_filter(const std::string &path, const std::string &lower_filter) {
+  if (lower_filter.empty()) return true;
+  return lowercase_copy(path).find(lower_filter) != std::string::npos;
+}
+
+void insert_browser_path(std::vector<BrowserNode> *nodes, const std::string &path) {
+  size_t start = 0;
+  while (start < path.size() && path[start] == '/') {
+    ++start;
+  }
+  std::vector<std::string> parts;
+  while (start < path.size()) {
+    const size_t end = path.find('/', start);
+    parts.push_back(path.substr(start, end == std::string::npos ? std::string::npos : end - start));
+    if (end == std::string::npos) break;
+    start = end + 1;
+  }
+  if (parts.empty()) {
+    return;
+  }
+
+  std::vector<BrowserNode> *current_nodes = nodes;
+  std::string current_path;
+  for (size_t i = 0; i < parts.size(); ++i) {
+    if (!current_path.empty()) {
+      current_path += "/";
+    }
+    current_path += parts[i];
+    auto it = std::find_if(current_nodes->begin(), current_nodes->end(),
+                           [&](const BrowserNode &node) { return node.label == parts[i]; });
+    if (it == current_nodes->end()) {
+      current_nodes->push_back(BrowserNode{.label = parts[i]});
+      it = std::prev(current_nodes->end());
+    }
+    if (i + 1 == parts.size()) {
+      it->full_path = "/" + current_path;
+    }
+    current_nodes = &it->children;
+  }
+}
+
+void sort_browser_nodes(std::vector<BrowserNode> *nodes) {
+  std::sort(nodes->begin(), nodes->end(), [](const BrowserNode &a, const BrowserNode &b) {
+    if (a.children.empty() != b.children.empty()) {
+      return !a.children.empty();
+    }
+    return a.label < b.label;
+  });
+  for (BrowserNode &node : *nodes) {
+    sort_browser_nodes(&node.children);
+  }
+}
+
+std::vector<BrowserNode> build_browser_tree(const std::vector<std::string> &paths) {
+  std::vector<BrowserNode> nodes;
+  for (const std::string &path : paths) {
+    insert_browser_path(&nodes, path);
+  }
+  sort_browser_nodes(&nodes);
+  return nodes;
+}
+
+bool is_deprecated_browser_path(const std::string &path) {
+  return path.find("DEPRECATED") != std::string::npos || path.find("/deprecated/") != std::string::npos;
+}
+
+std::vector<std::string> visible_browser_paths(const RouteData &route_data, bool show_deprecated_fields) {
+  if (show_deprecated_fields) return route_data.paths;
+  std::vector<std::string> filtered;
+  filtered.reserve(route_data.paths.size());
+  for (const std::string &path : route_data.paths) {
+    if (!is_deprecated_browser_path(path)) {
+      filtered.push_back(path);
+    }
+  }
+  return filtered;
+}
+
+bool browser_selection_contains(const UiState &state, std::string_view path) {
+  return std::find(state.selected_browser_paths.begin(), state.selected_browser_paths.end(), path)
+    != state.selected_browser_paths.end();
+}
+
+std::vector<std::string> browser_drag_paths(const UiState &state, const std::string &dragged_path) {
+  if (browser_selection_contains(state, dragged_path) && !state.selected_browser_paths.empty()) {
+    return state.selected_browser_paths;
+  }
+  return {dragged_path};
+}
+
+std::string encode_browser_drag_payload(const std::vector<std::string> &paths) {
+  std::string payload;
+  for (size_t i = 0; i < paths.size(); ++i) {
+    if (i != 0) {
+      payload.push_back('\n');
+    }
+    payload += paths[i];
+  }
+  return payload;
+}
+
+void set_browser_selection_single(UiState *state, const std::string &path) {
+  state->selected_browser_paths = {path};
+  state->selected_browser_path = path;
+  state->browser_selection_anchor = path;
+}
+
+void toggle_browser_selection(UiState *state, const std::string &path) {
+  auto it = std::find(state->selected_browser_paths.begin(), state->selected_browser_paths.end(), path);
+  if (it == state->selected_browser_paths.end()) {
+    state->selected_browser_paths.push_back(path);
+  } else {
+    state->selected_browser_paths.erase(it);
+  }
+  state->selected_browser_path = path;
+  state->browser_selection_anchor = path;
+  if (state->selected_browser_paths.empty()) {
+    state->selected_browser_path.clear();
+  }
+}
+
+void select_browser_range(UiState *state, const std::vector<std::string> &visible_paths, const std::string &clicked_path) {
+  if (visible_paths.empty()) {
+    set_browser_selection_single(state, clicked_path);
+    return;
+  }
+
+  const std::string anchor = state->browser_selection_anchor.empty() ? clicked_path : state->browser_selection_anchor;
+  const auto anchor_it = std::find(visible_paths.begin(), visible_paths.end(), anchor);
+  const auto clicked_it = std::find(visible_paths.begin(), visible_paths.end(), clicked_path);
+  if (clicked_it == visible_paths.end()) {
+    return;
+  }
+  if (anchor_it == visible_paths.end()) {
+    set_browser_selection_single(state, clicked_path);
+    return;
+  }
+
+  const auto [begin_it, end_it] = std::minmax(anchor_it, clicked_it);
+  std::vector<std::string> selected;
+  selected.reserve(static_cast<size_t>(std::distance(begin_it, end_it)) + 1);
+  for (auto it = begin_it; it != end_it + 1; ++it) {
+    selected.push_back(*it);
+  }
+  state->selected_browser_paths = std::move(selected);
+  state->selected_browser_path = clicked_path;
+}
+
+void prune_browser_selection(UiState *state, const std::vector<std::string> &visible_paths) {
+  const std::unordered_set<std::string> visible_set(visible_paths.begin(), visible_paths.end());
+  auto is_visible = [&](const std::string &path) {
+    return visible_set.count(path) > 0;
+  };
+
+  state->selected_browser_paths.erase(
+    std::remove_if(state->selected_browser_paths.begin(), state->selected_browser_paths.end(),
+                   [&](const std::string &path) { return !is_visible(path); }),
+    state->selected_browser_paths.end());
+
+  if (!state->selected_browser_path.empty() && !is_visible(state->selected_browser_path)) {
+    state->selected_browser_path.clear();
+  }
+  if (!state->browser_selection_anchor.empty() && !is_visible(state->browser_selection_anchor)) {
+    state->browser_selection_anchor.clear();
+  }
+  if (state->selected_browser_paths.empty()) {
+    state->selected_browser_path.clear();
+  } else if (state->selected_browser_path.empty()) {
+    state->selected_browser_path = state->selected_browser_paths.back();
+  }
+}
+
+std::optional<double> sample_route_series_value(const RouteSeries &series, double tm, bool stairs) {
+  return app_sample_xy_value_at_time(series.times, series.values, stairs, tm);
+}
+
+std::string browser_series_value_text(const AppSession &session, const UiState &state, std::string_view path) {
+  auto it = session.series_by_path.find(std::string(path));
+  if (it == session.series_by_path.end() || it->second == nullptr) return {};
+
+  const RouteSeries &series = *it->second;
+  if (series.values.empty()) return {};
+
+  const auto enum_it = session.route_data.enum_info.find(series.path);
+  const EnumInfo *enum_info = enum_it == session.route_data.enum_info.end() ? nullptr : &enum_it->second;
+  const bool stairs = enum_info != nullptr;
+
+  std::optional<double> value;
+  if (state.has_tracker_time) {
+    value = sample_route_series_value(series, state.tracker_time, stairs);
+  } else {
+    value = series.values.back();
+  }
+  if (!value.has_value()) return {};
+
+  const auto display_it = session.route_data.series_formats.find(series.path);
+  const SeriesFormat display_info = display_it == session.route_data.series_formats.end()
+    ? compute_series_format(series.values, enum_info != nullptr)
+    : display_it->second;
+
+  return format_display_value(*value, display_info, enum_info);
+}
+
+bool browser_node_matches(const BrowserNode &node, const std::string &filter) {
+  if (filter.empty()) return true;
+  if (!node.full_path.empty() && path_matches_filter(node.full_path, filter)) {
+    return true;
+  }
+  for (const BrowserNode &child : node.children) {
+    if (browser_node_matches(child, filter)) return true;
+  }
+  return false;
+}
+
+}  // namespace
+
+namespace {
+
+int decimals_needed(double value) {
+  const double abs_value = std::abs(value);
+  if (abs_value < 1.0e-12) return 0;
+  for (int decimals = 0; decimals <= 6; ++decimals) {
+    const double scale = std::pow(10.0, decimals);
+    if (std::abs(abs_value * scale - std::round(abs_value * scale)) < 1.0e-6) {
+      return decimals;
+    }
+  }
+  return 6;
+}
+
+void finalize_series_format(SeriesFormat *format) {
+  format->digits_before = std::max(format->digits_before, 1);
+  format->decimals = std::clamp(format->decimals, 0, 6);
+  format->integer_like = format->decimals == 0;
+  const int sign_width = format->has_negative ? 1 : 0;
+  const int dot_width = format->decimals > 0 ? 1 : 0;
+  format->total_width = sign_width + format->digits_before + dot_width + format->decimals;
+  std::snprintf(format->fmt, sizeof(format->fmt), "%%%d.%df", format->total_width, format->decimals);
+}
+
+}  // namespace
+
+SeriesFormat compute_series_format(const std::vector<double> &values, bool enum_like) {
+  SeriesFormat format;
+  if (values.empty()) return format;
+
+  const size_t step = std::max<size_t>(1, values.size() / 256);
+  bool saw_finite = false;
+  bool all_integer = enum_like;
+  double min_value = 0.0;
+  double max_value = 0.0;
+  int max_needed_decimals = 0;
+
+  for (size_t i = 0; i < values.size(); i += step) {
+    const double value = values[i];
+    if (!std::isfinite(value)) continue;
+    if (!saw_finite) {
+      min_value = value;
+      max_value = value;
+      saw_finite = true;
+    } else {
+      min_value = std::min(min_value, value);
+      max_value = std::max(max_value, value);
+    }
+    if (std::abs(value - std::round(value)) > 1.0e-9) {
+      all_integer = false;
+    }
+    if (!all_integer) {
+      max_needed_decimals = std::max(max_needed_decimals, decimals_needed(value));
+    }
+  }
+
+  if (!saw_finite) return format;
+
+  format.has_negative = min_value < 0.0;
+  const double peak = std::max(std::abs(min_value), std::abs(max_value));
+  format.digits_before = peak < 1.0 ? 1 : static_cast<int>(std::floor(std::log10(peak))) + 1;
+
+  if (enum_like || all_integer) {
+    format.decimals = 0;
+  } else if (peak >= 1000.0) {
+    format.decimals = std::min(max_needed_decimals, 1);
+  } else if (peak >= 100.0) {
+    format.decimals = std::min(max_needed_decimals, 2);
+  } else {
+    format.decimals = std::min(max_needed_decimals, 4);
+  }
+
+  finalize_series_format(&format);
+  return format;
+}
+
+std::string format_display_value(double display_value,
+                                 const SeriesFormat &display_info,
+                                 const EnumInfo *enum_info) {
+  if (!std::isfinite(display_value)) return "---";
+  if (enum_info != nullptr) {
+    const int idx = static_cast<int>(std::llround(display_value));
+    if (idx >= 0 && std::abs(display_value - static_cast<double>(idx)) < 0.01
+        && static_cast<size_t>(idx) < enum_info->names.size()
+        && !enum_info->names[static_cast<size_t>(idx)].empty()) {
+      return enum_info->names[static_cast<size_t>(idx)];
+    }
+  }
+  char buf[64] = {};
+  std::snprintf(buf, sizeof(buf), display_info.fmt, display_value);
+  return buf;
+}
+
+std::vector<std::string> decode_browser_drag_payload(std::string_view payload) {
+  std::vector<std::string> out;
+  size_t begin = 0;
+  while (begin <= payload.size()) {
+    const size_t end = payload.find('\n', begin);
+    const size_t length = (end == std::string_view::npos ? payload.size() : end) - begin;
+    if (length > 0) {
+      out.emplace_back(payload.substr(begin, length));
+    }
+    if (end == std::string_view::npos) break;
+    begin = end + 1;
+  }
+  return out;
+}
+
+void collect_visible_leaf_paths(const BrowserNode &node,
+                                const std::string &filter,
+                                std::vector<std::string> *out) {
+  if (!browser_node_matches(node, filter)) {
+    return;
+  }
+  if (node.children.empty()) {
+    if (!node.full_path.empty()) {
+      out->push_back(node.full_path);
+    }
+    return;
+  }
+  for (const BrowserNode &child : node.children) {
+    collect_visible_leaf_paths(child, filter, out);
+  }
+}
+
+void rebuild_browser_nodes(AppSession *session, UiState *state) {
+  const std::vector<std::string> paths = visible_browser_paths(session->route_data, state->show_deprecated_fields);
+  session->browser_nodes = build_browser_tree(paths);
+  prune_browser_selection(state, paths);
+}
+
+void rebuild_route_index(AppSession *session) {
+  session->series_by_path.clear();
+  session->route_data.series_formats.clear();
+  for (RouteSeries &series : session->route_data.series) {
+    session->series_by_path.emplace(series.path, &series);
+    const bool enum_like = session->route_data.enum_info.find(series.path) != session->route_data.enum_info.end();
+    session->route_data.series_formats.emplace(series.path, compute_series_format(series.values, enum_like));
+  }
+}
+
+void draw_browser_node(AppSession *session,
+                       const BrowserNode &node,
+                       UiState *state,
+                       const std::string &filter,
+                       const std::vector<std::string> &visible_paths) {
+  if (!browser_node_matches(node, filter)) {
+    return;
+  }
+
+  if (node.children.empty()) {
+    const bool selected = browser_selection_contains(*state, node.full_path);
+    const std::string value_text = browser_series_value_text(*session, *state, node.full_path);
+    const ImGuiStyle &style = ImGui::GetStyle();
+    const ImVec2 row_size(std::max(1.0f, ImGui::GetContentRegionAvail().x), ImGui::GetFrameHeight());
+    ImGui::PushID(node.full_path.c_str());
+    const bool clicked = ImGui::InvisibleButton("##browser_leaf", row_size);
+    const bool hovered = ImGui::IsItemHovered();
+    const bool held = ImGui::IsItemActive();
+    const ImRect rect(ImGui::GetItemRectMin(), ImGui::GetItemRectMax());
+    ImDrawList *draw_list = ImGui::GetWindowDrawList();
+    if (selected || hovered) {
+      const ImU32 bg = ImGui::GetColorU32(selected
+        ? (held ? ImGuiCol_HeaderActive : ImGuiCol_Header)
+        : ImGuiCol_HeaderHovered);
+      draw_list->AddRectFilled(rect.Min, rect.Max, bg, 0.0f);
+    }
+
+    const float value_right = rect.Max.x - style.FramePadding.x;
+    const float value_left = value_right - (value_text.empty() ? 0.0f : BROWSER_VALUE_WIDTH);
+    const float label_left = rect.Min.x + style.FramePadding.x;
+    const float label_right = value_text.empty()
+      ? rect.Max.x - style.FramePadding.x
+      : std::max(label_left + 40.0f, value_left - 10.0f);
+    ImGui::RenderTextEllipsis(draw_list,
+                              ImVec2(label_left, rect.Min.y + style.FramePadding.y),
+                              ImVec2(label_right, rect.Max.y),
+                              label_right,
+                              node.label.c_str(),
+                              nullptr,
+                              nullptr);
+    if (!value_text.empty()) {
+      app_push_mono_font();
+      ImGui::PushStyleColor(ImGuiCol_Text, selected ? color_rgb(70, 77, 86) : color_rgb(116, 124, 133));
+      ImGui::RenderTextClipped(ImVec2(value_left, rect.Min.y + style.FramePadding.y),
+                               ImVec2(value_right, rect.Max.y),
+                               value_text.c_str(),
+                               nullptr,
+                               nullptr,
+                               ImVec2(1.0f, 0.0f));
+      ImGui::PopStyleColor();
+      app_pop_mono_font();
+    }
+
+    if (clicked) {
+      const bool shift_down = ImGui::GetIO().KeyShift;
+      const bool ctrl_down = ImGui::GetIO().KeyCtrl || ImGui::GetIO().KeySuper;
+      if (shift_down) {
+        select_browser_range(state, visible_paths, node.full_path);
+      } else if (ctrl_down) {
+        toggle_browser_selection(state, node.full_path);
+      } else {
+        set_browser_selection_single(state, node.full_path);
+      }
+    }
+    if (hovered && ImGui::IsMouseDoubleClicked(0)) {
+      set_browser_selection_single(state, node.full_path);
+      app_add_curve_to_active_pane(session, state, node.full_path);
+    }
+    if (ImGui::BeginDragDropSource(ImGuiDragDropFlags_SourceAllowNullID)) {
+      const std::vector<std::string> drag_paths = browser_drag_paths(*state, node.full_path);
+      const std::string payload = encode_browser_drag_payload(drag_paths);
+      ImGui::SetDragDropPayload("JOTP_BROWSER_PATHS", payload.c_str(), payload.size() + 1);
+      if (drag_paths.size() == 1) {
+        ImGui::TextUnformatted(drag_paths.front().c_str());
+      } else {
+        ImGui::Text("%zu timeseries", drag_paths.size());
+        ImGui::TextUnformatted(drag_paths.front().c_str());
+      }
+      ImGui::EndDragDropSource();
+    }
+    ImGui::PopID();
+    return;
+  }
+
+  ImGuiTreeNodeFlags flags = ImGuiTreeNodeFlags_SpanAvailWidth;
+  if (!filter.empty()) {
+    flags |= ImGuiTreeNodeFlags_DefaultOpen;
+  }
+  const bool open = ImGui::TreeNodeEx(node.label.c_str(), flags);
+  if (open) {
+    for (const BrowserNode &child : node.children) {
+      draw_browser_node(session, child, state, filter, visible_paths);
+    }
+    ImGui::TreePop();
+  }
+}
diff --git a/tools/jotpluggler/camera.cc b/tools/jotpluggler/camera.cc
new file mode 100644
index 00000000000..24a35d87943
--- /dev/null
+++ b/tools/jotpluggler/camera.cc
@@ -0,0 +1,54 @@
+#include "tools/jotpluggler/camera.h"
+
+#include "imgui.h"
+#include "imgui_internal.h"
+
+namespace {
+
+bool draw_camera_fit_toggle_overlay(bool fit_to_pane) {
+  const ImVec2 window_pos = ImGui::GetWindowPos();
+  const ImVec2 content_min = ImGui::GetWindowContentRegionMin();
+  const ImRect rect(ImVec2(window_pos.x + content_min.x + 8.0f, window_pos.y + content_min.y + 8.0f),
+                    ImVec2(window_pos.x + content_min.x + 58.0f, window_pos.y + content_min.y + 28.0f));
+  const bool hovered = ImGui::IsMouseHoveringRect(rect.Min, rect.Max, false);
+  const bool held = hovered && ImGui::IsMouseDown(ImGuiMouseButton_Left);
+  if (hovered) ImGui::SetMouseCursor(ImGuiMouseCursor_Hand);
+
+  ImDrawList *draw_list = ImGui::GetWindowDrawList();
+  draw_list->AddRectFilled(rect.Min, rect.Max, hovered ? IM_COL32(255, 255, 255, 234) : IM_COL32(255, 255, 255, 214), 4.0f);
+  draw_list->AddRect(rect.Min, rect.Max, IM_COL32(184, 189, 196, 255), 4.0f, 0, 1.0f);
+  const ImRect box(ImVec2(rect.Min.x + 6.0f, rect.Min.y + 4.0f), ImVec2(rect.Min.x + 18.0f, rect.Min.y + 16.0f));
+  draw_list->AddRect(box.Min, box.Max, IM_COL32(112, 120, 129, 255), 2.0f, 0, 1.0f);
+  if (fit_to_pane) {
+    draw_list->AddLine(ImVec2(box.Min.x + 2.5f, box.Min.y + 6.5f), ImVec2(box.Min.x + 5.5f, box.Max.y - 2.5f), IM_COL32(60, 111, 202, 255), 1.8f);
+    draw_list->AddLine(ImVec2(box.Min.x + 5.5f, box.Max.y - 2.5f), ImVec2(box.Max.x - 2.5f, box.Min.y + 2.5f), IM_COL32(60, 111, 202, 255), 1.8f);
+  }
+  draw_list->AddText(ImVec2(box.Max.x + 6.0f, rect.Min.y + 3.0f), IM_COL32(72, 79, 88, 255), "Fit");
+  return hovered && !held && ImGui::IsMouseReleased(ImGuiMouseButton_Left);
+}
+
+}  // namespace
+
+void draw_camera_pane(AppSession *session, UiState *state, TabUiState *tab_state, int pane_index, const Pane &pane) {
+  CameraFeedView *feed = session->pane_camera_feeds[static_cast<size_t>(pane.camera_view)].get();
+  if (feed == nullptr) {
+    ImGui::TextDisabled("Camera unavailable");
+    return;
+  }
+
+  const bool fit_to_pane = tab_state != nullptr
+    && pane_index >= 0
+    && pane_index < static_cast<int>(tab_state->camera_panes.size())
+    ? tab_state->camera_panes[static_cast<size_t>(pane_index)].fit_to_pane
+    : true;
+  if (state->has_tracker_time) {
+    feed->update(state->tracker_time);
+  }
+  feed->drawSized(ImGui::GetContentRegionAvail(), session->async_route_loading, fit_to_pane);
+  if (tab_state != nullptr
+      && pane_index >= 0
+      && pane_index < static_cast<int>(tab_state->camera_panes.size())
+      && draw_camera_fit_toggle_overlay(fit_to_pane)) {
+    tab_state->camera_panes[static_cast<size_t>(pane_index)].fit_to_pane = !fit_to_pane;
+  }
+}
diff --git a/tools/jotpluggler/camera.h b/tools/jotpluggler/camera.h
new file mode 100644
index 00000000000..666e335af89
--- /dev/null
+++ b/tools/jotpluggler/camera.h
@@ -0,0 +1,5 @@
+#pragma once
+
+#include "tools/jotpluggler/app.h"
+
+void draw_camera_pane(AppSession *session, UiState *state, TabUiState *tab_state, int pane_index, const Pane &pane);
diff --git a/tools/jotpluggler/common.cc b/tools/jotpluggler/common.cc
new file mode 100644
index 00000000000..9bd6c18ceaa
--- /dev/null
+++ b/tools/jotpluggler/common.cc
@@ -0,0 +1,179 @@
+#include "tools/jotpluggler/common.h"
+
+#include <algorithm>
+#include <array>
+#include <cstdlib>
+
+namespace {
+
+std::string format_coord(const GpsPoint &point) {
+  return util::string_format("%.5f,%.5f", point.lat, point.lon);
+}
+
+}  // namespace
+
+const CameraViewSpec &camera_view_spec(CameraViewKind view) {
+  auto it = std::find_if(kCameraViewSpecs.begin(), kCameraViewSpecs.end(), [&](const CameraViewSpec &spec) {
+    return spec.view == view;
+  });
+  return it != kCameraViewSpecs.end() ? *it : kCameraViewSpecs.front();
+}
+
+const CameraViewSpec *camera_view_spec_from_special_item(std::string_view item_id) {
+  auto it = std::find_if(kCameraViewSpecs.begin(), kCameraViewSpecs.end(), [&](const CameraViewSpec &spec) {
+    return item_id == spec.special_item_id;
+  });
+  return it != kCameraViewSpecs.end() ? &*it : nullptr;
+}
+
+const CameraViewSpec *camera_view_spec_from_layout_name(std::string_view layout_name) {
+  auto it = std::find_if(kCameraViewSpecs.begin(), kCameraViewSpecs.end(), [&](const CameraViewSpec &spec) {
+    return layout_name == spec.layout_name;
+  });
+  return it != kCameraViewSpecs.end() ? &*it : nullptr;
+}
+
+const SpecialItemSpec *special_item_spec(std::string_view item_id) {
+  auto it = std::find_if(kSpecialItemSpecs.begin(), kSpecialItemSpecs.end(), [&](const SpecialItemSpec &spec) {
+    return item_id == spec.id;
+  });
+  return it != kSpecialItemSpecs.end() ? &*it : nullptr;
+}
+
+const char *special_item_label(std::string_view item_id) {
+  const SpecialItemSpec *spec = special_item_spec(item_id);
+  return spec != nullptr ? spec->label : "Item";
+}
+
+bool pane_kind_is_special(PaneKind kind) {
+  return kind == PaneKind::Map || kind == PaneKind::Camera;
+}
+
+bool is_default_special_title(std::string_view title) {
+  if (title == "Map") return true;
+  return std::any_of(kCameraViewSpecs.begin(), kCameraViewSpecs.end(), [&](const CameraViewSpec &spec) {
+    return title == spec.label;
+  });
+}
+
+CameraViewKind sidebar_preview_camera_view(const AppSession &session) {
+  return session.route_data.road_camera.entries.empty() && !session.route_data.qroad_camera.entries.empty()
+    ? CameraViewKind::QRoad
+    : CameraViewKind::Road;
+}
+
+const std::filesystem::path &repo_root() {
+  static const std::filesystem::path root(JOTP_REPO_ROOT);
+  return root;
+}
+
+ImU32 timeline_entry_color(TimelineEntry::Type type, float alpha) {
+  return timeline_entry_color(type, alpha, {111, 143, 175});
+}
+
+ImU32 timeline_entry_color(TimelineEntry::Type type, float alpha, std::array<uint8_t, 3> none_color) {
+  switch (type) {
+    case TimelineEntry::Type::Engaged:
+      return ImGui::GetColorU32(color_rgb(0, 163, 108, alpha));
+    case TimelineEntry::Type::AlertInfo:
+      return ImGui::GetColorU32(color_rgb(255, 195, 0, alpha));
+    case TimelineEntry::Type::AlertWarning:
+    case TimelineEntry::Type::AlertCritical:
+      return ImGui::GetColorU32(color_rgb(199, 0, 57, alpha));
+    case TimelineEntry::Type::None:
+    default:
+      return ImGui::GetColorU32(color_rgb(none_color, alpha));
+  }
+}
+
+const char *timeline_entry_label(TimelineEntry::Type type) {
+  static constexpr const char *kLabels[] = {
+    "disengaged",
+    "engaged",
+    "alert info",
+    "alert warning",
+    "alert critical",
+  };
+  const size_t index = static_cast<size_t>(type);
+  return index < std::size(kLabels) ? kLabels[index] : kLabels[0];
+}
+
+TimelineEntry::Type timeline_type_at_time(const std::vector<TimelineEntry> &timeline, double time_value) {
+  for (const TimelineEntry &entry : timeline) {
+    if (time_value >= entry.start_time && time_value <= entry.end_time) {
+      return entry.type;
+    }
+  }
+  return TimelineEntry::Type::None;
+}
+
+std::string normalize_stream_address(std::string address) {
+  return is_local_stream_address(address) ? "127.0.0.1" : address;
+}
+
+const char *stream_source_kind_label(StreamSourceKind kind) {
+  static constexpr const char *kLabels[] = {
+    "Local (MSGQ)",
+    "Remote (ZMQ)",
+  };
+  const size_t index = static_cast<size_t>(kind);
+  return index < std::size(kLabels) ? kLabels[index] : kLabels[0];
+}
+
+std::string stream_source_target_label(const StreamSourceConfig &source) {
+  switch (source.kind) {
+    case StreamSourceKind::CerealRemote:
+      return normalize_stream_address(source.address);
+    case StreamSourceKind::CerealLocal:
+    default:
+      return "127.0.0.1";
+  }
+}
+
+bool env_flag_enabled(const char *name, bool default_value) {
+  const char *raw = std::getenv(name);
+  if (raw == nullptr || raw[0] == '\0') {
+    return default_value;
+  }
+  const std::string value = lowercase_copy(util::strip(raw));
+  return !(value == "0" || value == "false" || value == "no" || value == "off");
+}
+
+void open_external_url(std::string_view url) {
+#ifdef __APPLE__
+  const std::string command = "open " + shell_quote(url) + " &";
+#else
+  const std::string command = "xdg-open " + shell_quote(url) + " >/dev/null 2>&1 &";
+#endif
+  util::check_system(command);
+}
+
+std::string route_useradmin_url(const RouteIdentifier &route_id) {
+  return route_id.empty() ? std::string()
+                          : "https://useradmin.comma.ai/?onebox=" + route_id.dongle_id + "%7C" + route_id.log_id;
+}
+
+std::string route_connect_url(const RouteIdentifier &route_id) {
+  return route_id.empty() ? std::string()
+                          : "https://connect.comma.ai/" + route_id.canonical();
+}
+
+std::string route_google_maps_url(const GpsTrace &trace) {
+  if (trace.points.size() < 2) {
+    return {};
+  }
+
+  const std::string prefix = "https://www.google.com/maps/dir/?api=1&travelmode=driving&origin="
+                           + format_coord(trace.points.front()) + "&destination=" + format_coord(trace.points.back());
+  for (size_t n = std::min<size_t>(9, trace.points.size() > 2 ? trace.points.size() - 2 : 0); ; --n) {
+    std::string url = prefix;
+    if (n > 0) {
+      url += "&waypoints=";
+      for (size_t i = 0; i < n; ++i) {
+        if (i) url += "%7C";
+        url += format_coord(trace.points[1 + ((trace.points.size() - 2) * (i + 1)) / (n + 1)]);
+      }
+    }
+    if (url.size() <= 1900 || n == 0) return url;
+  }
+}
diff --git a/tools/jotpluggler/common.h b/tools/jotpluggler/common.h
new file mode 100644
index 00000000000..25b1f91e895
--- /dev/null
+++ b/tools/jotpluggler/common.h
@@ -0,0 +1,63 @@
+#pragma once
+
+#include "tools/jotpluggler/app.h"
+
+#include <array>
+#include <string_view>
+
+struct CameraViewSpec {
+  CameraViewKind view = CameraViewKind::Road;
+  const char *label = "";
+  const char *runtime_name = "";
+  const char *layout_name = "";
+  const char *special_item_id = "";
+  CameraFeedIndex RouteData::*route_member = nullptr;
+};
+
+struct SpecialItemSpec {
+  const char *id = "";
+  const char *label = "";
+  PaneKind kind = PaneKind::Plot;
+  CameraViewKind camera_view = CameraViewKind::Road;
+};
+
+inline constexpr std::array<CameraViewSpec, 4> kCameraViewSpecs = {{
+  {CameraViewKind::Road,     "Road Camera",      "road",   "road",      "camera_road",      &RouteData::road_camera},
+  {CameraViewKind::Driver,   "Driver Camera",    "driver", "driver",    "camera_driver",    &RouteData::driver_camera},
+  {CameraViewKind::WideRoad, "Wide Road Camera", "wide",   "wide_road", "camera_wide_road", &RouteData::wide_road_camera},
+  {CameraViewKind::QRoad,    "qRoad Camera",     "qroad",  "qroad",     "camera_qroad",     &RouteData::qroad_camera},
+}};
+
+inline constexpr std::array<SpecialItemSpec, 5> kSpecialItemSpecs = {{
+  {"map", "Map", PaneKind::Map, CameraViewKind::Road},
+  {kCameraViewSpecs[0].special_item_id, kCameraViewSpecs[0].label, PaneKind::Camera, kCameraViewSpecs[0].view},
+  {kCameraViewSpecs[1].special_item_id, kCameraViewSpecs[1].label, PaneKind::Camera, kCameraViewSpecs[1].view},
+  {kCameraViewSpecs[2].special_item_id, kCameraViewSpecs[2].label, PaneKind::Camera, kCameraViewSpecs[2].view},
+  {kCameraViewSpecs[3].special_item_id, kCameraViewSpecs[3].label, PaneKind::Camera, kCameraViewSpecs[3].view},
+}};
+
+const CameraViewSpec &camera_view_spec(CameraViewKind view);
+const CameraViewSpec *camera_view_spec_from_special_item(std::string_view item_id);
+const CameraViewSpec *camera_view_spec_from_layout_name(std::string_view layout_name);
+
+const SpecialItemSpec *special_item_spec(std::string_view item_id);
+const char *special_item_label(std::string_view item_id);
+
+bool pane_kind_is_special(PaneKind kind);
+bool is_default_special_title(std::string_view title);
+CameraViewKind sidebar_preview_camera_view(const AppSession &session);
+const std::filesystem::path &repo_root();
+
+ImU32 timeline_entry_color(TimelineEntry::Type type, float alpha = 1.0f);
+ImU32 timeline_entry_color(TimelineEntry::Type type, float alpha, std::array<uint8_t, 3> none_color);
+const char *timeline_entry_label(TimelineEntry::Type type);
+TimelineEntry::Type timeline_type_at_time(const std::vector<TimelineEntry> &timeline, double time_value);
+std::string normalize_stream_address(std::string address);
+const char *stream_source_kind_label(StreamSourceKind kind);
+std::string stream_source_target_label(const StreamSourceConfig &source);
+
+bool env_flag_enabled(const char *name, bool default_value = false);
+void open_external_url(std::string_view url);
+std::string route_useradmin_url(const RouteIdentifier &route_id);
+std::string route_connect_url(const RouteIdentifier &route_id);
+std::string route_google_maps_url(const GpsTrace &trace);
diff --git a/tools/jotpluggler/custom_series.cc b/tools/jotpluggler/custom_series.cc
new file mode 100644
index 00000000000..bd2a3f36d19
--- /dev/null
+++ b/tools/jotpluggler/custom_series.cc
@@ -0,0 +1,750 @@
+#include "tools/jotpluggler/app.h"
+#include "tools/jotpluggler/common.h"
+
+#include "implot.h"
+
+#include <cfloat>
+#include <chrono>
+#include <cstring>
+#include <regex>
+#include <set>
+#include <stdexcept>
+#include <unistd.h>
+
+#include "third_party/json11/json11.hpp"
+
+namespace fs = std::filesystem;
+
+namespace {
+
+struct PythonEvalResult {
+  std::vector<double> xs;
+  std::vector<double> ys;
+};
+
+struct CustomSeriesTemplate {
+  const char *name;
+  const char *globals_code;
+  const char *function_code;
+  const char *preview_text;
+  int required_additional_sources;
+  const char *requirement_text;
+};
+
+void write_binary_vector(const fs::path &path, const std::vector<double> &values) {
+  write_file_or_throw(path, values.data(), values.size() * sizeof(double));
+}
+
+std::vector<double> read_binary_vector(const fs::path &path) {
+  const std::string raw = read_file_or_throw(path);
+  if (raw.size() % sizeof(double) != 0) {
+    throw std::runtime_error("Invalid binary series file: " + path.string());
+  }
+  std::vector<double> values(raw.size() / sizeof(double));
+  if (!values.empty()) {
+    std::memcpy(values.data(), raw.data(), raw.size());
+  }
+  return values;
+}
+
+void write_text_file(const fs::path &path, std::string_view text) {
+  write_file_or_throw(path, text);
+}
+
+fs::path create_custom_series_temp_dir() {
+  const auto stamp = std::chrono::steady_clock::now().time_since_epoch().count();
+  const fs::path dir = fs::temp_directory_path() / ("jotpluggler_math_" + std::to_string(::getpid()) + "_" + std::to_string(stamp));
+  fs::create_directories(dir);
+  return dir;
+}
+
+void reset_custom_series_editor(CustomSeriesEditorState *editor) {
+  *editor = CustomSeriesEditorState{};
+}
+
+bool add_additional_source(CustomSeriesEditorState *editor, const std::string &path) {
+  if (path.empty() || path == editor->linked_source) return false;
+  if (std::find(editor->additional_sources.begin(), editor->additional_sources.end(), path) != editor->additional_sources.end()) {
+    return false;
+  }
+  editor->additional_sources.push_back(path);
+  return true;
+}
+
+std::string next_custom_curve_name(const Pane &pane) {
+  std::set<std::string> used;
+  for (const Curve &curve : pane.curves) {
+    if (!curve.label.empty()) {
+      used.insert(curve.label);
+    }
+    if (!curve.name.empty()) {
+      used.insert(curve.name);
+    }
+  }
+  for (int i = 1; i < 1000; ++i) {
+    const std::string candidate = "series" + std::to_string(i);
+    if (used.find(candidate) == used.end()) {
+      return candidate;
+    }
+  }
+  return "series";
+}
+
+Curve make_custom_curve(const Pane &pane,
+                        const std::string &name,
+                        const CustomPythonSeries &spec,
+                        PythonEvalResult result) {
+  Curve curve;
+  curve.name = name;
+  curve.label = name;
+  curve.color = app_next_curve_color(pane);
+  curve.runtime_only = true;
+  curve.custom_python = spec;
+  curve.xs = std::move(result.xs);
+  curve.ys = std::move(result.ys);
+  return curve;
+}
+
+bool upsert_custom_curve_in_pane(WorkspaceTab *tab, int pane_index, Curve curve) {
+  if (pane_index < 0 || pane_index >= static_cast<int>(tab->panes.size())) {
+    return false;
+  }
+  Pane &pane = tab->panes[static_cast<size_t>(pane_index)];
+  for (Curve &existing : pane.curves) {
+    if (existing.runtime_only && existing.name == curve.name) {
+      existing.visible = true;
+      existing.label = curve.label;
+      existing.custom_python = curve.custom_python;
+      existing.xs = std::move(curve.xs);
+      existing.ys = std::move(curve.ys);
+      return false;
+    }
+  }
+  pane.curves.push_back(std::move(curve));
+  return true;
+}
+
+std::set<std::string> collect_custom_series_paths(const CustomPythonSeries &spec,
+                                                  std::string_view globals_code,
+                                                  std::string_view function_code) {
+  std::set<std::string> paths;
+  if (!spec.linked_source.empty()) {
+    paths.insert(spec.linked_source);
+  }
+  paths.insert(spec.additional_sources.begin(), spec.additional_sources.end());
+
+  static const std::regex kPathRegex(R"([tv]\(\s*["']([^"']+)["']\s*\))");
+  const auto collect_from = [&](std::string_view code) {
+    std::string owned(code);
+    for (std::sregex_iterator it(owned.begin(), owned.end(), kPathRegex), end; it != end; ++it) {
+      paths.insert((*it)[1].str());
+    }
+  };
+  collect_from(globals_code);
+  collect_from(function_code);
+  return paths;
+}
+
+PythonEvalResult evaluate_custom_python_series(const AppSession &session,
+                                               const CustomPythonSeries &spec) {
+  const std::set<std::string> referenced_paths =
+    collect_custom_series_paths(spec, spec.globals_code, spec.function_code);
+  if (referenced_paths.empty()) throw std::runtime_error("No input series referenced. Set an input timeseries or reference route paths in code.");
+
+  const fs::path temp_dir = create_custom_series_temp_dir();
+  try {
+    const fs::path globals_path = temp_dir / "globals.py";
+    const fs::path code_path = temp_dir / "code.py";
+    const fs::path manifest_path = temp_dir / "manifest.json";
+    const fs::path out_t_path = temp_dir / "result.t.bin";
+    const fs::path out_v_path = temp_dir / "result.v.bin";
+
+    write_text_file(globals_path, spec.globals_code);
+    write_text_file(code_path, spec.function_code);
+
+    json11::Json::array paths_json(session.route_data.paths.begin(), session.route_data.paths.end());
+    json11::Json::array additional_json(spec.additional_sources.begin(), spec.additional_sources.end());
+    json11::Json::array series_json;
+    size_t series_index = 0;
+    for (const std::string &path : referenced_paths) {
+      const RouteSeries *series = app_find_route_series(session, path);
+      if (series == nullptr || series->times.size() < 2 || series->times.size() != series->values.size()) {
+        throw std::runtime_error("Missing route series " + path);
+      }
+      const std::string prefix = "series_" + std::to_string(series_index++);
+      const fs::path time_path = temp_dir / (prefix + ".t.bin");
+      const fs::path value_path = temp_dir / (prefix + ".v.bin");
+      write_binary_vector(time_path, series->times);
+      write_binary_vector(value_path, series->values);
+      series_json.push_back(json11::Json::object{
+        {"path", path}, {"t", time_path.string()}, {"v", value_path.string()}});
+    }
+    const json11::Json manifest_json = json11::Json::object{
+      {"paths", std::move(paths_json)},
+      {"linked_source", spec.linked_source},
+      {"additional_sources", std::move(additional_json)},
+      {"series", std::move(series_json)},
+    };
+    write_text_file(manifest_path, manifest_json.dump());
+
+    const CommandResult process = run_process_capture_output({
+      "python3",
+      (repo_root() / "tools" / "jotpluggler" / "math_eval.py").string(),
+      manifest_path.string(),
+      globals_path.string(),
+      code_path.string(),
+      out_t_path.string(),
+      out_v_path.string(),
+    });
+    if (process.exit_code != 0) {
+      const std::string error_text = util::strip(process.output);
+      throw std::runtime_error(error_text.empty() ? "Python evaluation failed" : error_text);
+    }
+
+    PythonEvalResult result;
+    result.xs = read_binary_vector(out_t_path);
+    result.ys = read_binary_vector(out_v_path);
+    if (result.xs.size() < 2 || result.xs.size() != result.ys.size()) {
+      throw std::runtime_error("Custom series returned invalid output");
+    }
+    fs::remove_all(temp_dir);
+    return result;
+  } catch (...) {
+    std::error_code ignore_error;
+    fs::remove_all(temp_dir, ignore_error);
+    throw;
+  }
+}
+
+void refresh_custom_curve_samples(AppSession *session, UiState *state, Curve *curve) {
+  if (!curve->custom_python.has_value()) {
+    return;
+  }
+  if (!session->route_data.has_time_range || session->route_data.series.empty()) {
+    curve->runtime_error_message.clear();
+    curve->xs.clear();
+    curve->ys.clear();
+    return;
+  }
+  try {
+    PythonEvalResult result = evaluate_custom_python_series(*session, *curve->custom_python);
+    curve->runtime_error_message.clear();
+    curve->xs = std::move(result.xs);
+    curve->ys = std::move(result.ys);
+  } catch (const std::exception &err) {
+    curve->xs.clear();
+    curve->ys.clear();
+    const std::string err_text = err.what();
+    if (session->data_mode == SessionDataMode::Stream && util::starts_with(err_text, "Missing route series ")) {
+      curve->runtime_error_message = err_text;
+      return;
+    }
+    const std::string error_message = std::string("Failed to evaluate custom series \"")
+      + app_curve_display_name(*curve) + "\":\n\n" + err_text;
+    if (curve->runtime_error_message != error_message) {
+      curve->runtime_error_message = error_message;
+      state->error_text = error_message;
+      state->open_error_popup = true;
+    }
+  }
+}
+
+const std::array<CustomSeriesTemplate, 4> &custom_series_templates() {
+  static constexpr std::array<CustomSeriesTemplate, 4> kTemplates = {{
+    {
+      .name = "Derivative",
+      .globals_code = "",
+      .function_code = "return np.gradient(value, time)",
+      .preview_text = "return np.gradient(value, time)",
+      .required_additional_sources = 0,
+      .requirement_text = "",
+    },
+    {
+      .name = "Difference",
+      .globals_code = "",
+      .function_code = "return value - v1",
+      .preview_text = "Requires one additional source timeseries.\n\nreturn value - v1",
+      .required_additional_sources = 1,
+      .requirement_text = "Difference requires one additional source timeseries for v1.",
+    },
+    {
+      .name = "Smoothing",
+      .globals_code = "window = 20\nweights = np.ones(window) / window",
+      .function_code = "return np.convolve(value, weights, mode='same')",
+      .preview_text = "window = 20\nweights = np.ones(window) / window\n\nreturn np.convolve(value, weights, mode='same')",
+      .required_additional_sources = 0,
+      .requirement_text = "",
+    },
+    {
+      .name = "Integral",
+      .globals_code = "",
+      .function_code = "dt = np.mean(np.diff(time))\nreturn np.cumsum(value) * dt",
+      .preview_text = "dt = np.mean(np.diff(time))\nreturn np.cumsum(value) * dt",
+      .required_additional_sources = 0,
+      .requirement_text = "",
+    },
+  }};
+  return kTemplates;
+}
+
+void draw_custom_series_help_popup(CustomSeriesEditorState *editor) {
+  if (editor->open_help) {
+    ImGui::OpenPopup("Custom Series Help");
+    editor->open_help = false;
+  }
+  if (!ImGui::BeginPopupModal("Custom Series Help", nullptr, ImGuiWindowFlags_AlwaysAutoResize)) {
+    return;
+  }
+  ImGui::TextUnformatted("Available variables");
+  ImGui::Separator();
+  ImGui::BulletText("np: numpy");
+  ImGui::BulletText("t(path), v(path): timestamps and values for a route series");
+  ImGui::BulletText("paths: all available route series paths");
+  ImGui::BulletText("time, value: linked input timeseries");
+  ImGui::BulletText("t1, v1, t2, v2, ...: additional source timeseries");
+  ImGui::Spacing();
+  ImGui::TextWrapped("Write either a single expression like \"return np.gradient(value, time)\" "
+                     "or a multi-line Python body that returns an array or a (times, values) tuple.");
+  ImGui::Spacing();
+  if (ImGui::Button("Close", ImVec2(120.0f, 0.0f))) {
+    ImGui::CloseCurrentPopup();
+  }
+  ImGui::EndPopup();
+}
+
+void draw_custom_series_preview(const AppSession &session, CustomSeriesEditorState *editor) {
+  std::vector<double> preview_xs;
+  std::vector<double> preview_ys;
+  std::string preview_label = editor->preview_label;
+  if (editor->preview_is_result && editor->preview_xs.size() > 1 && editor->preview_xs.size() == editor->preview_ys.size()) {
+    preview_xs = editor->preview_xs;
+    preview_ys = editor->preview_ys;
+    if (preview_label.empty()) {
+      preview_label = "Result preview";
+    }
+  } else if (!editor->linked_source.empty()) {
+    if (const RouteSeries *series = app_find_route_series(session, editor->linked_source); series != nullptr
+        && series->times.size() > 1 && series->times.size() == series->values.size()) {
+      preview_xs = series->times;
+      preview_ys = series->values;
+      preview_label = "Input preview (not result)";
+    }
+  }
+
+  if (!preview_xs.empty() && preview_xs.size() == preview_ys.size()) {
+    std::vector<double> plot_xs;
+    std::vector<double> plot_ys;
+    app_decimate_samples(preview_xs, preview_ys, 1200, &plot_xs, &plot_ys);
+    const double preview_x_min = preview_xs.front();
+    const double preview_x_max = preview_xs.back() > preview_xs.front()
+      ? preview_xs.back()
+      : preview_xs.front() + 1e-6;
+    std::string plot_id = "##custom_series_preview";
+    if (editor->preview_is_result) {
+      plot_id += "_result_";
+      plot_id += editor->name.empty() ? preview_label : editor->name;
+    } else if (!editor->linked_source.empty()) {
+      plot_id += "_input_";
+      plot_id += editor->linked_source;
+    }
+    ImGui::TextUnformatted(preview_label.c_str());
+    if (!editor->linked_source.empty() && !editor->preview_is_result) {
+      ImGui::SameLine();
+      ImGui::TextDisabled("%s", editor->linked_source.c_str());
+    }
+    if (ImPlot::BeginPlot(plot_id.c_str(),
+                          ImVec2(-1.0f, std::max(180.0f, ImGui::GetContentRegionAvail().y - 6.0f)),
+                          ImPlotFlags_NoTitle | ImPlotFlags_NoMenus | ImPlotFlags_NoLegend)) {
+      ImPlot::SetupAxes(nullptr, nullptr, ImPlotAxisFlags_NoMenus | ImPlotAxisFlags_NoHighlight,
+                        ImPlotAxisFlags_NoMenus | ImPlotAxisFlags_NoHighlight | ImPlotAxisFlags_AutoFit | ImPlotAxisFlags_RangeFit);
+      ImPlot::SetupAxisLimitsConstraints(ImAxis_X1, preview_x_min, preview_x_max);
+      ImPlot::SetupAxisLimits(ImAxis_X1, preview_x_min, preview_x_max, ImPlotCond_Once);
+      ImPlot::SetupAxisFormat(ImAxis_X1, "%.1f");
+      ImPlot::SetupAxisFormat(ImAxis_Y1, "%.6g");
+      ImPlotSpec spec;
+      spec.LineColor = color_rgb(35, 107, 180);
+      spec.LineWeight = 2.0f;
+      ImPlot::PlotLine("##custom_preview_line", plot_xs.data(), plot_ys.data(), static_cast<int>(plot_xs.size()), spec);
+      ImPlot::EndPlot();
+    }
+  } else {
+    ImGui::SetCursorPosY(ImGui::GetCursorPosY() + 72.0f);
+    ImGui::PushStyleColor(ImGuiCol_Text, color_rgb(116, 124, 133));
+    ImGui::TextWrapped("Choose an input timeseries or click Preview to evaluate the custom result.");
+    ImGui::PopStyleColor();
+  }
+}
+
+std::string custom_series_name_status(const Pane &pane, std::string_view name) {
+  const std::string trimmed = util::strip(std::string(name));
+  if (trimmed.empty()) return "name required";
+  if (!trimmed.empty() && trimmed.front() == '/') {
+    return "cannot start with /";
+  }
+  for (const Curve &curve : pane.curves) {
+    if (curve.runtime_only && curve.name == trimmed) return "updates existing curve";
+  }
+  return "new curve";
+}
+
+const CustomSeriesTemplate &selected_custom_series_template(const CustomSeriesEditorState &editor) {
+  const auto &templates = custom_series_templates();
+  return templates[static_cast<size_t>(std::clamp(editor.selected_template, 0, static_cast<int>(templates.size()) - 1))];
+}
+
+bool custom_series_template_ready(const CustomSeriesEditorState &editor) {
+  const CustomSeriesTemplate &templ = selected_custom_series_template(editor);
+  return !editor.linked_source.empty()
+      && static_cast<int>(editor.additional_sources.size()) >= templ.required_additional_sources;
+}
+
+bool prepare_custom_series_spec(CustomSeriesEditorState *editor,
+                                UiState *state,
+                                bool require_name,
+                                CustomPythonSeries *out_spec) {
+  editor->name = util::strip(editor->name);
+  editor->linked_source = util::strip(editor->linked_source);
+  for (std::string &path : editor->additional_sources) {
+    path = util::strip(path);
+  }
+  editor->additional_sources.erase(
+    std::remove_if(editor->additional_sources.begin(), editor->additional_sources.end(),
+                   [&](const std::string &path) { return path.empty() || path == editor->linked_source; }),
+    editor->additional_sources.end());
+
+  if (require_name && editor->name.empty()) {
+    state->error_text = "Custom series name is required.";
+    state->open_error_popup = true;
+    return false;
+  }
+  if (require_name && !editor->name.empty() && editor->name.front() == '/') {
+    state->error_text = "Custom series names may not start with '/'.";
+    state->open_error_popup = true;
+    return false;
+  }
+
+  *out_spec = CustomPythonSeries{
+    .linked_source = editor->linked_source,
+    .additional_sources = editor->additional_sources,
+    .globals_code = editor->globals_code,
+    .function_code = editor->function_code,
+  };
+  return true;
+}
+
+bool preview_custom_series_editor(AppSession *session, UiState *state) {
+  CustomSeriesEditorState &editor = state->custom_series;
+  const CustomSeriesTemplate &templ = selected_custom_series_template(editor);
+  if (editor.linked_source.empty()) {
+    state->error_text = "Choose an input timeseries before previewing.";
+    state->open_error_popup = true;
+    state->status_text = "Custom series preview failed";
+    return false;
+  }
+  if (static_cast<int>(editor.additional_sources.size()) < templ.required_additional_sources) {
+    state->error_text = templ.requirement_text;
+    state->open_error_popup = true;
+    state->status_text = "Custom series preview failed";
+    return false;
+  }
+  CustomPythonSeries spec;
+  if (!prepare_custom_series_spec(&editor, state, false, &spec)) return false;
+
+  try {
+    PythonEvalResult result = evaluate_custom_python_series(*session, spec);
+    editor.preview_label = editor.name.empty() ? "Result preview" : editor.name;
+    editor.preview_xs = std::move(result.xs);
+    editor.preview_ys = std::move(result.ys);
+    editor.preview_is_result = true;
+    state->status_text = "Previewed custom series";
+    return true;
+  } catch (const std::exception &err) {
+    state->error_text = err.what();
+    state->open_error_popup = true;
+    state->status_text = "Custom series preview failed";
+    return false;
+  }
+}
+
+bool apply_custom_series_editor(AppSession *session, UiState *state) {
+  WorkspaceTab *tab = app_active_tab(&session->layout, *state);
+  TabUiState *tab_state = app_active_tab_state(state);
+  if (tab == nullptr || tab_state == nullptr) {
+    state->status_text = "No active pane";
+    return false;
+  }
+  if (tab_state->active_pane_index < 0 || tab_state->active_pane_index >= static_cast<int>(tab->panes.size())) {
+    state->status_text = "No active pane";
+    return false;
+  }
+
+  CustomSeriesEditorState &editor = state->custom_series;
+  CustomPythonSeries spec;
+  if (!prepare_custom_series_spec(&editor, state, true, &spec)) return false;
+
+  try {
+    PythonEvalResult result = evaluate_custom_python_series(*session, spec);
+    const SketchLayout before_layout = session->layout;
+    Pane &pane = tab->panes[static_cast<size_t>(tab_state->active_pane_index)];
+    editor.preview_label = editor.name;
+    editor.preview_xs = result.xs;
+    editor.preview_ys = result.ys;
+    editor.preview_is_result = true;
+    const bool inserted = upsert_custom_curve_in_pane(tab,
+                                                      tab_state->active_pane_index,
+                                                      make_custom_curve(pane, editor.name, spec, std::move(result)));
+    state->undo.push(before_layout);
+    state->status_text = inserted ? "Created custom series " + editor.name
+                                  : "Updated custom series " + editor.name;
+    return true;
+  } catch (const std::exception &err) {
+    state->error_text = err.what();
+    state->open_error_popup = true;
+    state->status_text = "Custom series failed";
+    return false;
+  }
+}
+
+}  // namespace
+
+void open_custom_series_editor(UiState *state, const std::string &preferred_source) {
+  CustomSeriesEditorState &editor = state->custom_series;
+  if (!editor.open && editor.name.empty() && editor.linked_source.empty() && editor.function_code == "return value") {
+    editor.focus_name = true;
+  }
+  if (editor.linked_source.empty() && !preferred_source.empty()) {
+    editor.linked_source = preferred_source;
+  }
+  editor.open = true;
+  editor.request_select = true;
+}
+
+std::string preferred_custom_series_source(const Pane &pane) {
+  for (const Curve &curve : pane.curves) {
+    if (!curve.name.empty() && curve.name.front() == '/') {
+      return curve.name;
+    }
+    if (curve.custom_python.has_value() && !curve.custom_python->linked_source.empty()) {
+      return curve.custom_python->linked_source;
+    }
+  }
+  return {};
+}
+
+void refresh_all_custom_curves(AppSession *session, UiState *state) {
+  for (WorkspaceTab &tab : session->layout.tabs) {
+    for (Pane &pane : tab.panes) {
+      for (Curve &curve : pane.curves) {
+        refresh_custom_curve_samples(session, state, &curve);
+      }
+    }
+  }
+}
+
+void draw_editor_source_panel(UiState *state, CustomSeriesEditorState &editor) {
+  ImGui::TextWrapped("Input timeseries. Provides arguments time and value:");
+  ImGui::SetNextItemWidth(-FLT_MIN);
+  input_text_string("##custom_linked_source", &editor.linked_source, ImGuiInputTextFlags_ReadOnly);
+  if (ImGui::BeginDragDropTarget()) {
+    if (const ImGuiPayload *payload = ImGui::AcceptDragDropPayload("JOTP_BROWSER_PATH")) {
+      editor.linked_source = static_cast<const char *>(payload->Data);
+      editor.additional_sources.erase(
+        std::remove(editor.additional_sources.begin(), editor.additional_sources.end(), editor.linked_source),
+        editor.additional_sources.end());
+      editor.preview_is_result = false;
+    }
+    ImGui::EndDragDropTarget();
+  }
+  if (ImGui::Button("Use Selected", ImVec2(120.0f, 0.0f)) && !state->selected_browser_path.empty()) {
+    editor.linked_source = state->selected_browser_path;
+    editor.additional_sources.erase(
+      std::remove(editor.additional_sources.begin(), editor.additional_sources.end(), editor.linked_source),
+      editor.additional_sources.end());
+    editor.preview_is_result = false;
+  }
+  ImGui::SameLine();
+  if (ImGui::Button("Clear", ImVec2(120.0f, 0.0f))) {
+    editor.linked_source.clear();
+    editor.preview_is_result = false;
+  }
+
+  ImGui::Spacing();
+  ImGui::TextUnformatted("Additional source timeseries:");
+  ImGui::SameLine();
+  const CustomSeriesTemplate &tmpl = selected_custom_series_template(editor);
+  if (tmpl.required_additional_sources > 0) {
+    const bool ready = static_cast<int>(editor.additional_sources.size()) >= tmpl.required_additional_sources;
+    ImGui::TextColored(ready ? color_rgb(58, 126, 73) : color_rgb(180, 122, 44), "%s", tmpl.requirement_text);
+  }
+  ImGui::SameLine();
+  ImGui::BeginDisabled(editor.selected_additional_source < 0
+                       || editor.selected_additional_source >= static_cast<int>(editor.additional_sources.size()));
+  if (ImGui::Button("Remove Selected", ImVec2(140.0f, 0.0f))
+      && editor.selected_additional_source >= 0
+      && editor.selected_additional_source < static_cast<int>(editor.additional_sources.size())) {
+    editor.additional_sources.erase(editor.additional_sources.begin()
+      + static_cast<std::ptrdiff_t>(editor.selected_additional_source));
+    editor.selected_additional_source = editor.additional_sources.empty()
+      ? -1 : std::clamp(editor.selected_additional_source, 0, static_cast<int>(editor.additional_sources.size()) - 1);
+    editor.preview_is_result = false;
+  }
+  ImGui::EndDisabled();
+
+  if (ImGui::BeginChild("##custom_additional_sources", ImVec2(0.0f, 156.0f), true)) {
+    if (ImGui::BeginTable("##custom_additional_table", 2,
+                          ImGuiTableFlags_Borders | ImGuiTableFlags_RowBg | ImGuiTableFlags_SizingStretchProp)) {
+      ImGui::TableSetupColumn("id", ImGuiTableColumnFlags_WidthFixed, 42.0f);
+      ImGui::TableSetupColumn("path", ImGuiTableColumnFlags_WidthStretch);
+      for (size_t i = 0; i < editor.additional_sources.size(); ++i) {
+        ImGui::TableNextRow();
+        ImGui::TableNextColumn();
+        ImGui::Text("v%zu", i + 1);
+        ImGui::TableNextColumn();
+        if (ImGui::Selectable(editor.additional_sources[i].c_str(),
+                              editor.selected_additional_source == static_cast<int>(i),
+                              ImGuiSelectableFlags_SpanAllColumns)) {
+          editor.selected_additional_source = static_cast<int>(i);
+        }
+      }
+      ImGui::EndTable();
+    }
+    if (ImGui::BeginDragDropTarget()) {
+      if (const ImGuiPayload *payload = ImGui::AcceptDragDropPayload("JOTP_BROWSER_PATH")) {
+        if (add_additional_source(&editor, static_cast<const char *>(payload->Data)))
+          editor.preview_is_result = false;
+      }
+      ImGui::EndDragDropTarget();
+    }
+  }
+  ImGui::EndChild();
+  if (ImGui::Button("Add Selected", ImVec2(120.0f, 0.0f))) {
+    for (const std::string &path : state->selected_browser_paths) {
+      if (add_additional_source(&editor, path)) editor.preview_is_result = false;
+    }
+  }
+
+  ImGui::Spacing();
+  ImGui::SeparatorText("Function library");
+  const auto &templates = custom_series_templates();
+  if (ImGui::BeginChild("##custom_series_template_list", ImVec2(0.0f, 132.0f), true)) {
+    for (size_t i = 0; i < templates.size(); ++i) {
+      if (ImGui::Selectable(templates[i].name, editor.selected_template == static_cast<int>(i),
+                            ImGuiSelectableFlags_AllowDoubleClick)) {
+        editor.selected_template = static_cast<int>(i);
+        if (ImGui::IsMouseDoubleClicked(ImGuiMouseButton_Left)) {
+          editor.globals_code = templates[i].globals_code;
+          editor.function_code = templates[i].function_code;
+          editor.preview_is_result = false;
+        }
+      }
+    }
+  }
+  ImGui::EndChild();
+  if (ImGui::Button("Use Selected Example")) {
+    const auto &sel = selected_custom_series_template(editor);
+    editor.globals_code = sel.globals_code;
+    editor.function_code = sel.function_code;
+    editor.preview_is_result = false;
+  }
+  ImGui::Spacing();
+  ImGui::TextDisabled("Preview");
+  ImGui::BeginChild("##custom_series_template_preview", ImVec2(0.0f, 0.0f), true);
+  ImGui::TextUnformatted(selected_custom_series_template(editor).preview_text);
+  ImGui::EndChild();
+}
+
+void draw_editor_code_panel(CustomSeriesEditorState &editor, const Pane *active_pane) {
+  const std::string name_status = active_pane != nullptr ? custom_series_name_status(*active_pane, editor.name) : "no active pane";
+  ImGui::TextUnformatted("New name:");
+  ImGui::SameLine();
+  const bool name_error = name_status == "name required" || name_status == "cannot start with /";
+  ImGui::TextColored(name_error ? color_rgb(200, 72, 64) : color_rgb(58, 126, 73), "%s", name_status.c_str());
+  if (editor.focus_name) { ImGui::SetKeyboardFocusHere(); editor.focus_name = false; }
+  ImGui::SetNextItemWidth(-FLT_MIN);
+  input_text_string("##custom_series_name", &editor.name, ImGuiInputTextFlags_AutoSelectAll);
+
+  ImGui::Spacing();
+  ImGui::SeparatorText("Global variables");
+  ImGui::SameLine();
+  if (ImGui::SmallButton("Help")) editor.open_help = true;
+  const float globals_h = std::max(96.0f, ImGui::GetContentRegionAvail().y * 0.28f);
+  if (input_text_multiline_string("##custom_series_globals", &editor.globals_code,
+                                  ImVec2(-FLT_MIN, globals_h), ImGuiInputTextFlags_AllowTabInput))
+    editor.preview_is_result = false;
+
+  ImGui::Spacing();
+  ImGui::TextUnformatted("def calc(time, value):");
+  const float func_h = std::max(180.0f, ImGui::GetContentRegionAvail().y - 16.0f);
+  if (input_text_multiline_string("##custom_series_function", &editor.function_code,
+                                  ImVec2(-FLT_MIN, func_h), ImGuiInputTextFlags_AllowTabInput))
+    editor.preview_is_result = false;
+}
+
+void draw_custom_series_editor(AppSession *session, UiState *state) {
+  CustomSeriesEditorState &editor = state->custom_series;
+  if (!editor.open) return;
+
+  WorkspaceTab *tab = app_active_tab(&session->layout, *state);
+  TabUiState *tab_state = app_active_tab_state(state);
+  Pane *active_pane = (tab && tab_state && tab_state->active_pane_index >= 0
+                       && tab_state->active_pane_index < static_cast<int>(tab->panes.size()))
+    ? &tab->panes[static_cast<size_t>(tab_state->active_pane_index)] : nullptr;
+  if (editor.focus_name && active_pane && editor.name.empty())
+    editor.name = next_custom_curve_name(*active_pane);
+
+  draw_custom_series_help_popup(&editor);
+
+  if (ImGui::BeginTabBar("##custom_series_tabs")) {
+    if (ImGui::BeginTabItem("Single Function")) {
+      const float footer_height = ImGui::GetFrameHeightWithSpacing() * 2.0f + 10.0f;
+      if (ImGui::BeginChild("##custom_series_body",
+                            ImVec2(0.0f, std::max(1.0f, ImGui::GetContentRegionAvail().y - footer_height)), false)) {
+        if (ImGui::BeginChild("##custom_series_preview_child",
+                              ImVec2(0.0f, std::max(200.0f, ImGui::GetContentRegionAvail().y * 0.28f)), true))
+          draw_custom_series_preview(*session, &editor);
+        ImGui::EndChild();
+        ImGui::Spacing();
+
+        if (ImGui::BeginTable("##custom_series_editor_table", 2,
+                              ImGuiTableFlags_Resizable | ImGuiTableFlags_BordersInnerV | ImGuiTableFlags_SizingStretchProp,
+                              ImVec2(0.0f, std::max(1.0f, ImGui::GetContentRegionAvail().y)))) {
+          ImGui::TableSetupColumn("left", ImGuiTableColumnFlags_WidthFixed, 320.0f);
+          ImGui::TableSetupColumn("right", ImGuiTableColumnFlags_WidthStretch);
+          ImGui::TableNextColumn();
+          if (ImGui::BeginChild("##custom_series_left", ImVec2(0.0f, 0.0f), false))
+            draw_editor_source_panel(state, editor);
+          ImGui::EndChild();
+          ImGui::TableNextColumn();
+          if (ImGui::BeginChild("##custom_series_right", ImVec2(0.0f, 0.0f), false))
+            draw_editor_code_panel(editor, active_pane);
+          ImGui::EndChild();
+          ImGui::EndTable();
+        }
+      }
+      ImGui::EndChild();
+
+      ImGui::Spacing();
+      if (ImGui::Button("New", ImVec2(120.0f, 0.0f))) {
+        reset_custom_series_editor(&editor);
+        if (!state->selected_browser_path.empty()) editor.linked_source = state->selected_browser_path;
+        editor.open = true;
+        editor.focus_name = true;
+      }
+      ImGui::SameLine();
+      ImGui::BeginDisabled(!custom_series_template_ready(editor));
+      if (ImGui::Button("Preview Result", ImVec2(120.0f, 0.0f)))
+        preview_custom_series_editor(session, state);
+      ImGui::EndDisabled();
+      if (ImGui::IsItemHovered(ImGuiHoveredFlags_AllowWhenDisabled) && !custom_series_template_ready(editor)) {
+        if (editor.linked_source.empty()) ImGui::SetTooltip("Choose an input timeseries first.");
+        else ImGui::SetTooltip("%s", selected_custom_series_template(editor).requirement_text);
+      }
+      ImGui::SameLine();
+      if (ImGui::Button("Apply", ImVec2(120.0f, 0.0f))) apply_custom_series_editor(session, state);
+      ImGui::SameLine();
+      if (ImGui::Button("Close", ImVec2(120.0f, 0.0f))) { editor.open = false; editor.request_select = false; }
+      ImGui::EndTabItem();
+    }
+    ImGui::EndTabBar();
+  }
+}
diff --git a/tools/jotpluggler/data.py b/tools/jotpluggler/data.py
deleted file mode 100644
index cf27857d1f1..00000000000
--- a/tools/jotpluggler/data.py
+++ /dev/null
@@ -1,360 +0,0 @@
-import numpy as np
-import threading
-import multiprocessing
-import bisect
-from collections import defaultdict
-from tqdm import tqdm
-from openpilot.common.swaglog import cloudlog
-from openpilot.selfdrive.test.process_replay.migration import migrate_all
-from openpilot.tools.lib.logreader import _LogFileReader, LogReader
-
-
-def flatten_dict(d: dict, sep: str = "/", prefix: str = None) -> dict:
-  result = {}
-  stack: list[tuple] = [(d, prefix)]
-
-  while stack:
-    obj, current_prefix = stack.pop()
-
-    if isinstance(obj, dict):
-      for key, val in obj.items():
-        new_prefix = key if current_prefix is None else f"{current_prefix}{sep}{key}"
-        if isinstance(val, (dict, list)):
-          stack.append((val, new_prefix))
-        else:
-          result[new_prefix] = val
-    elif isinstance(obj, list):
-      for i, item in enumerate(obj):
-        new_prefix = f"{current_prefix}{sep}{i}"
-        if isinstance(item, (dict, list)):
-          stack.append((item, new_prefix))
-        else:
-          result[new_prefix] = item
-    else:
-      if current_prefix is not None:
-        result[current_prefix] = obj
-  return result
-
-
-def extract_field_types(schema, prefix, field_types_dict):
-  stack = [(schema, prefix)]
-
-  while stack:
-    current_schema, current_prefix = stack.pop()
-
-    for field in current_schema.fields_list:
-      field_name = field.proto.name
-      field_path = f"{current_prefix}/{field_name}"
-      field_proto = field.proto
-      field_which = field_proto.which()
-
-      field_type = field_proto.slot.type.which() if field_which == 'slot' else field_which
-      field_types_dict[field_path] = field_type
-
-      if field_which == 'slot':
-        slot_type = field_proto.slot.type
-        type_which = slot_type.which()
-
-        if type_which == 'list':
-          element_type = slot_type.list.elementType.which()
-          list_path = f"{field_path}/*"
-          field_types_dict[list_path] = element_type
-
-          if element_type == 'struct':
-            stack.append((field.schema.elementType, list_path))
-
-        elif type_which == 'struct':
-          stack.append((field.schema, field_path))
-
-      elif field_which == 'group':
-        stack.append((field.schema, field_path))
-
-
-def _convert_to_optimal_dtype(values_list, capnp_type):
-  dtype_mapping = {
-    'bool': np.bool_, 'int8': np.int8, 'int16': np.int16, 'int32': np.int32, 'int64': np.int64,
-    'uint8': np.uint8, 'uint16': np.uint16, 'uint32': np.uint32, 'uint64': np.uint64,
-    'float32': np.float32, 'float64': np.float64, 'text': object, 'data': object,
-    'enum': object, 'anyPointer': object,
-  }
-
-  target_dtype = dtype_mapping.get(capnp_type, object)
-  return np.array(values_list, dtype=target_dtype)
-
-
-def _match_field_type(field_path, field_types):
-  if field_path in field_types:
-    return field_types[field_path]
-
-  path_parts = field_path.split('/')
-  template_parts = [p if not p.isdigit() else '*' for p in path_parts]
-  template_path = '/'.join(template_parts)
-  return field_types.get(template_path)
-
-
-def _get_field_times_values(segment, field_name):
-  if field_name not in segment:
-    return None, None
-
-  field_data = segment[field_name]
-  segment_times = segment['t']
-
-  if field_data['sparse']:
-    if len(field_data['t_index']) == 0:
-      return None, None
-    return segment_times[field_data['t_index']], field_data['values']
-  else:
-    return segment_times, field_data['values']
-
-
-def msgs_to_time_series(msgs):
-  """Extract scalar fields and return (time_series_data, start_time, end_time)."""
-  collected_data = defaultdict(lambda: {'timestamps': [], 'columns': defaultdict(list), 'sparse_fields': set()})
-  field_types = {}
-  extracted_schemas = set()
-  min_time = max_time = None
-
-  for msg in msgs:
-    typ = msg.which()
-    timestamp = msg.logMonoTime * 1e-9
-    if typ != 'initData':
-      if min_time is None:
-        min_time = timestamp
-      max_time = timestamp
-
-    sub_msg = getattr(msg, typ)
-    if not hasattr(sub_msg, 'to_dict'):
-      continue
-
-    if hasattr(sub_msg, 'schema') and typ not in extracted_schemas:
-      extract_field_types(sub_msg.schema, typ, field_types)
-      extracted_schemas.add(typ)
-
-    try:
-      msg_dict = sub_msg.to_dict(verbose=True)
-    except Exception as e:
-      cloudlog.warning(f"Failed to convert sub_msg.to_dict() for message of type: {typ}: {e}")
-      continue
-
-    flat_dict = flatten_dict(msg_dict)
-    flat_dict['_valid'] = msg.valid
-    field_types[f"{typ}/_valid"] = 'bool'
-
-    type_data = collected_data[typ]
-    columns, sparse_fields = type_data['columns'], type_data['sparse_fields']
-    known_fields = set(columns.keys())
-    missing_fields = known_fields - flat_dict.keys()
-
-    for field, value in flat_dict.items():
-      if field not in known_fields and type_data['timestamps']:
-        sparse_fields.add(field)
-      columns[field].append(value)
-      if value is None:
-        sparse_fields.add(field)
-
-    for field in missing_fields:
-      columns[field].append(None)
-      sparse_fields.add(field)
-
-    type_data['timestamps'].append(timestamp)
-
-  final_result = {}
-  for typ, data in collected_data.items():
-    if not data['timestamps']:
-      continue
-
-    typ_result = {'t': np.array(data['timestamps'], dtype=np.float64)}
-    sparse_fields = data['sparse_fields']
-
-    for field_name, values in data['columns'].items():
-      if len(values) < len(data['timestamps']):
-        values = [None] * (len(data['timestamps']) - len(values)) + values
-        sparse_fields.add(field_name)
-
-      capnp_type = _match_field_type(f"{typ}/{field_name}", field_types)
-
-      if field_name in sparse_fields:  # extract non-None values and their indices
-        non_none_indices = []
-        non_none_values = []
-        for i, value in enumerate(values):
-          if value is not None:
-            non_none_indices.append(i)
-            non_none_values.append(value)
-
-        if non_none_values: # check if indices > uint16 max, currently would require a 1000+ Hz signal since indices are within segments
-          assert max(non_none_indices) <= 65535, f"Sparse field {typ}/{field_name} has timestamp indices exceeding uint16 max. Max: {max(non_none_indices)}"
-
-        typ_result[field_name] = {
-          'values': _convert_to_optimal_dtype(non_none_values, capnp_type),
-          'sparse': True,
-          't_index': np.array(non_none_indices, dtype=np.uint16),
-        }
-      else:  # dense representation
-        typ_result[field_name] = {'values': _convert_to_optimal_dtype(values, capnp_type), 'sparse': False}
-
-    final_result[typ] = typ_result
-
-  return final_result, min_time or 0.0, max_time or 0.0
-
-
-def _process_segment(segment_identifier: str):
-  try:
-    lr = _LogFileReader(segment_identifier, sort_by_time=True)
-    migrated_msgs = migrate_all(lr)
-    return msgs_to_time_series(migrated_msgs)
-  except Exception as e:
-    cloudlog.warning(f"Warning: Failed to process segment {segment_identifier}: {e}")
-    return {}, 0.0, 0.0
-
-
-class DataManager:
-  def __init__(self):
-    self._segments = []
-    self._segment_starts = []
-    self._start_time = 0.0
-    self._duration = 0.0
-    self._paths = set()
-    self._observers = []
-    self._loading = False
-    self._lock = threading.RLock()
-
-  def load_route(self, route: str) -> None:
-    if self._loading:
-      return
-    self._reset()
-    threading.Thread(target=self._load_async, args=(route,), daemon=True).start()
-
-  def get_timeseries(self, path: str):
-    with self._lock:
-      msg_type, field = path.split('/', 1)
-      times, values = [], []
-
-      for segment in self._segments:
-        if msg_type in segment:
-          field_times, field_values = _get_field_times_values(segment[msg_type], field)
-          if field_times is not None:
-            times.append(field_times)
-            values.append(field_values)
-
-      if not times:
-        return np.array([]), np.array([])
-
-      combined_times = np.concatenate(times) - self._start_time
-
-      if len(values) > 1:
-        first_dtype = values[0].dtype
-        if all(arr.dtype == first_dtype for arr in values):  # check if all arrays have compatible dtypes
-          combined_values = np.concatenate(values)
-        else:
-          combined_values = np.concatenate([arr.astype(object) for arr in values])
-      else:
-        combined_values = values[0] if values else np.array([])
-
-      return combined_times, combined_values
-
-  def get_value_at(self, path: str, time: float):
-    with self._lock:
-      MAX_LOOKBACK = 5.0  # seconds
-      absolute_time = self._start_time + time
-      message_type, field = path.split('/', 1)
-      current_index = bisect.bisect_right(self._segment_starts, absolute_time) - 1
-      for index in (current_index, current_index - 1):
-        if not 0 <= index < len(self._segments):
-          continue
-        segment = self._segments[index].get(message_type)
-        if not segment:
-          continue
-        times, values = _get_field_times_values(segment, field)
-        if times is None or len(times) == 0 or (index != current_index and absolute_time - times[-1] > MAX_LOOKBACK):
-          continue
-        position = np.searchsorted(times, absolute_time, 'right') - 1
-        if position >= 0 and absolute_time - times[position] <= MAX_LOOKBACK:
-          return values[position]
-      return None
-
-  def get_all_paths(self):
-    with self._lock:
-      return sorted(self._paths)
-
-  def get_duration(self):
-    with self._lock:
-      return self._duration
-
-  def is_plottable(self, path: str):
-    _, values = self.get_timeseries(path)
-    if len(values) == 0:
-      return False
-    return np.issubdtype(values.dtype, np.number) or np.issubdtype(values.dtype, np.bool_)
-
-  def add_observer(self, callback):
-    with self._lock:
-      self._observers.append(callback)
-
-  def remove_observer(self, callback):
-    with self._lock:
-      if callback in self._observers:
-        self._observers.remove(callback)
-
-  def _reset(self):
-    with self._lock:
-      self._loading = True
-      self._segments.clear()
-      self._segment_starts.clear()
-      self._paths.clear()
-      self._start_time = self._duration = 0.0
-      observers = self._observers.copy()
-
-    for callback in observers:
-      callback({'reset': True})
-
-  def _load_async(self, route: str):
-    try:
-      lr = LogReader(route, sort_by_time=True)
-      if not lr.logreader_identifiers:
-        cloudlog.warning(f"Warning: No log segments found for route: {route}")
-        return
-
-      total_segments = len(lr.logreader_identifiers)
-      with self._lock:
-        observers = self._observers.copy()
-      for callback in observers:
-        callback({'metadata_loaded': True, 'total_segments': total_segments})
-
-      num_processes = max(1, multiprocessing.cpu_count() // 2)
-      with multiprocessing.Pool(processes=num_processes) as pool, tqdm(total=len(lr.logreader_identifiers), desc="Processing Segments") as pbar:
-        for segment_result, start_time, end_time in pool.imap(_process_segment, lr.logreader_identifiers):
-          pbar.update(1)
-          if segment_result:
-            self._add_segment(segment_result, start_time, end_time)
-    except Exception:
-      cloudlog.exception(f"Error loading route {route}:")
-    finally:
-      self._finalize_loading()
-
-  def _add_segment(self, segment_data: dict, start_time: float, end_time: float):
-    with self._lock:
-      self._segments.append(segment_data)
-      self._segment_starts.append(start_time)
-
-      if len(self._segments) == 1:
-        self._start_time = start_time
-      self._duration = end_time - self._start_time
-
-      for msg_type, data in segment_data.items():
-        for field_name in data.keys():
-          if field_name != 't':
-            self._paths.add(f"{msg_type}/{field_name}")
-
-      observers = self._observers.copy()
-
-    for callback in observers:
-      callback({'segment_added': True, 'duration': self._duration, 'segment_count': len(self._segments)})
-
-  def _finalize_loading(self):
-    with self._lock:
-      self._loading = False
-      observers = self._observers.copy()
-      duration = self._duration
-
-    for callback in observers:
-      callback({'loading_complete': True, 'duration': duration})
diff --git a/tools/jotpluggler/datatree.py b/tools/jotpluggler/datatree.py
deleted file mode 100644
index 4f3219dc1b4..00000000000
--- a/tools/jotpluggler/datatree.py
+++ /dev/null
@@ -1,315 +0,0 @@
-import os
-import re
-import threading
-import numpy as np
-import dearpygui.dearpygui as dpg
-
-
-class DataTreeNode:
-  def __init__(self, name: str, full_path: str = "", parent=None):
-    self.name = name
-    self.full_path = full_path
-    self.parent = parent
-    self.children: dict[str, DataTreeNode] = {}
-    self.filtered_children: dict[str, DataTreeNode] = {}
-    self.created_children: dict[str, DataTreeNode] = {}
-    self.is_leaf = False
-    self.is_plottable: bool | None = None
-    self.ui_created = False
-    self.children_ui_created = False
-    self.ui_tag: str | None = None
-
-
-class DataTree:
-  MAX_NODES_PER_FRAME = 50
-
-  def __init__(self, data_manager, playback_manager):
-    self.data_manager = data_manager
-    self.playback_manager = playback_manager
-    self.current_search = ""
-    self.data_tree = DataTreeNode(name="root")
-    self._build_queue: dict[str, tuple[DataTreeNode, DataTreeNode, str | int]] = {} # full_path -> (node, parent, before_tag)
-    self._current_created_paths: set[str] = set()
-    self._current_filtered_paths: set[str] = set()
-    self._path_to_node: dict[str, DataTreeNode] = {}  # full_path -> node
-    self._expanded_tags: set[str] = set()
-    self._item_handlers: dict[str, str] = {}  # ui_tag -> handler_tag
-    self._char_width = None
-    self._queued_search = None
-    self._new_data = False
-    self._ui_lock = threading.RLock()
-    self._handlers_to_delete = []
-    self.data_manager.add_observer(self._on_data_loaded)
-
-  def create_ui(self, parent_tag: str):
-    with dpg.child_window(parent=parent_tag, border=False, width=-1, height=-1):
-      dpg.add_text("Timeseries List")
-      dpg.add_separator()
-      dpg.add_input_text(tag="search_input", width=-1, hint="Search fields...", callback=self.search_data)
-      dpg.add_separator()
-      with dpg.child_window(border=False, width=-1, height=-1):
-        with dpg.group(tag="data_tree_container"):
-          pass
-
-  def _on_data_loaded(self, data: dict):
-    with self._ui_lock:
-      if data.get('segment_added') or data.get('reset'):
-        self._new_data = True
-
-  def update_frame(self, font):
-    if self._handlers_to_delete:  # we need to do everything in main thread, frame callbacks are flaky
-      dpg.render_dearpygui_frame()  # wait a frame to ensure queued callbacks are done
-      with self._ui_lock:
-        for handler in self._handlers_to_delete:
-          dpg.delete_item(handler)
-        self._handlers_to_delete.clear()
-
-    with self._ui_lock:
-      if self._char_width is None:
-        if size := dpg.get_text_size(" ", font=font):
-          self._char_width = size[0] / 2 # we scale font 2x and downscale to fix hidpi bug
-
-      if self._new_data:
-        self._process_path_change()
-        self._new_data = False
-        return
-
-      if self._queued_search is not None:
-        self.current_search = self._queued_search
-        self._process_path_change()
-        self._queued_search = None
-        return
-
-      nodes_processed = 0
-      while self._build_queue and nodes_processed < self.MAX_NODES_PER_FRAME:
-        child_node, parent, before_tag = self._build_queue.pop(next(iter(self._build_queue)))
-        parent_tag = "data_tree_container" if parent.name == "root" else parent.ui_tag
-        if not child_node.ui_created:
-          if child_node.is_leaf:
-            self._create_leaf_ui(child_node, parent_tag, before_tag)
-          else:
-            self._create_tree_node_ui(child_node, parent_tag, before_tag)
-        parent.created_children[child_node.name] = parent.children[child_node.name]
-        self._current_created_paths.add(child_node.full_path)
-        nodes_processed += 1
-
-  def _process_path_change(self):
-    self._build_queue.clear()
-    search_term = self.current_search.strip().lower()
-    all_paths = set(self.data_manager.get_all_paths())
-    new_filtered_leafs = {path for path in all_paths if self._should_show_path(path, search_term)}
-    new_filtered_paths = set(new_filtered_leafs)
-    for path in new_filtered_leafs:
-      parts = path.split('/')
-      for i in range(1, len(parts)):
-        prefix = '/'.join(parts[:i])
-        new_filtered_paths.add(prefix)
-    created_paths_to_remove = self._current_created_paths - new_filtered_paths
-    filtered_paths_to_remove = self._current_filtered_paths - new_filtered_leafs
-
-    if created_paths_to_remove or filtered_paths_to_remove:
-      self._remove_paths_from_tree(created_paths_to_remove, filtered_paths_to_remove)
-      self._apply_expansion_to_tree(self.data_tree, search_term)
-
-    paths_to_add = new_filtered_leafs - self._current_created_paths
-    if paths_to_add:
-      self._add_paths_to_tree(paths_to_add)
-      self._apply_expansion_to_tree(self.data_tree, search_term)
-    self._current_filtered_paths = new_filtered_paths
-
-  def _remove_paths_from_tree(self, created_paths_to_remove, filtered_paths_to_remove):
-    for path in sorted(created_paths_to_remove, reverse=True):
-      current_node = self._path_to_node[path]
-
-      if len(current_node.created_children) == 0:
-        self._current_created_paths.remove(current_node.full_path)
-        if item_handler_tag := self._item_handlers.get(current_node.ui_tag):
-          dpg.configure_item(item_handler_tag, show=False)
-          self._handlers_to_delete.append(item_handler_tag)
-          del self._item_handlers[current_node.ui_tag]
-        dpg.delete_item(current_node.ui_tag)
-        current_node.ui_created = False
-        current_node.ui_tag = None
-        current_node.children_ui_created = False
-        del current_node.parent.created_children[current_node.name]
-        del current_node.parent.filtered_children[current_node.name]
-
-    for path in filtered_paths_to_remove:
-      parts = path.split('/')
-      current_node = self._path_to_node[path]
-
-      part_array_index = -1
-      while len(current_node.filtered_children) == 0 and part_array_index >= -len(parts):
-        current_node = current_node.parent
-        if parts[part_array_index] in current_node.filtered_children:
-          del current_node.filtered_children[parts[part_array_index]]
-        part_array_index -= 1
-
-  def _add_paths_to_tree(self, paths):
-    parent_nodes_to_recheck = set()
-    for path in sorted(paths):
-      parts = path.split('/')
-      current_node = self.data_tree
-      current_path_prefix = ""
-
-      for i, part in enumerate(parts):
-        current_path_prefix = f"{current_path_prefix}/{part}" if current_path_prefix else part
-        if i < len(parts):
-          parent_nodes_to_recheck.add(current_node)  # for incremental changes from new data
-        if part not in current_node.children:
-          current_node.children[part] = DataTreeNode(name=part, full_path=current_path_prefix, parent=current_node)
-          self._path_to_node[current_path_prefix] = current_node.children[part]
-        current_node.filtered_children[part] = current_node.children[part]
-        current_node = current_node.children[part]
-
-      if not current_node.is_leaf:
-        current_node.is_leaf = True
-
-    for p_node in parent_nodes_to_recheck:
-      p_node.children_ui_created = False
-      self._request_children_build(p_node)
-
-  def _get_node_label_and_expand(self, node: DataTreeNode, search_term: str):
-    label = f"{node.name} ({len(node.filtered_children)} fields)"
-    expand = len(search_term) > 0 and any(search_term in path for path in self._get_descendant_paths(node))
-    if expand and node.parent and len(node.parent.filtered_children) > 100 and len(node.filtered_children) > 2:
-      label += " (+)"  # symbol for large lists which aren't fully expanded for performance (only affects procLog rn)
-      expand = False
-    return label, expand
-
-  def _apply_expansion_to_tree(self, node: DataTreeNode, search_term: str):
-    if node.ui_created and not node.is_leaf and node.ui_tag and dpg.does_item_exist(node.ui_tag):
-      label, expand = self._get_node_label_and_expand(node, search_term)
-      if expand:
-        self._expanded_tags.add(node.ui_tag)
-        dpg.set_value(node.ui_tag, expand)
-      elif node.ui_tag in self._expanded_tags:  # not expanded and was expanded
-        self._expanded_tags.remove(node.ui_tag)
-        dpg.set_value(node.ui_tag, expand)
-        dpg.delete_item(node.ui_tag, children_only=True)  # delete children (not visible since collapsed)
-        self._reset_ui_state_recursive(node)
-        node.children_ui_created = False
-      dpg.set_item_label(node.ui_tag, label)
-    for child in node.created_children.values():
-      self._apply_expansion_to_tree(child, search_term)
-
-  def _reset_ui_state_recursive(self, node: DataTreeNode):
-    for child in node.created_children.values():
-      if child.ui_tag is not None:
-        if item_handler_tag := self._item_handlers.get(child.ui_tag):
-          self._handlers_to_delete.append(item_handler_tag)
-          dpg.configure_item(item_handler_tag, show=False)
-          del self._item_handlers[child.ui_tag]
-        self._reset_ui_state_recursive(child)
-        child.ui_created = False
-        child.ui_tag = None
-        child.children_ui_created = False
-        self._current_created_paths.remove(child.full_path)
-    node.created_children.clear()
-
-  def search_data(self):
-    with self._ui_lock:
-      self._queued_search = dpg.get_value("search_input")
-
-  def _create_tree_node_ui(self, node: DataTreeNode, parent_tag: str, before: str | int):
-    node.ui_tag = f"tree_{node.full_path}"
-    search_term = self.current_search.strip().lower()
-    label, expand = self._get_node_label_and_expand(node, search_term)
-    if expand:
-      self._expanded_tags.add(node.ui_tag)
-    elif node.ui_tag in self._expanded_tags:
-      self._expanded_tags.remove(node.ui_tag)
-
-    with dpg.tree_node(
-      label=label, parent=parent_tag, tag=node.ui_tag, default_open=expand, open_on_arrow=True, open_on_double_click=True, before=before, delay_search=True
-    ):
-      with dpg.item_handler_registry() as handler_tag:
-        dpg.add_item_toggled_open_handler(callback=lambda s, a, u: self._request_children_build(node))
-        dpg.add_item_visible_handler(callback=lambda s, a, u: self._request_children_build(node))
-      dpg.bind_item_handler_registry(node.ui_tag, handler_tag)
-      self._item_handlers[node.ui_tag] = handler_tag
-    node.ui_created = True
-
-  def _create_leaf_ui(self, node: DataTreeNode, parent_tag: str, before: str | int):
-    node.ui_tag = f"leaf_{node.full_path}"
-    with dpg.group(parent=parent_tag, tag=node.ui_tag, before=before, delay_search=True):
-      with dpg.table(header_row=False, policy=dpg.mvTable_SizingStretchProp, delay_search=True):
-        dpg.add_table_column(init_width_or_weight=0.5)
-        dpg.add_table_column(init_width_or_weight=0.5)
-        with dpg.table_row():
-          dpg.add_text(node.name)
-          dpg.add_text("N/A", tag=f"value_{node.full_path}")
-
-    if node.is_plottable is None:
-      node.is_plottable = self.data_manager.is_plottable(node.full_path)
-    if node.is_plottable:
-      with dpg.drag_payload(parent=node.ui_tag, drag_data=node.full_path, payload_type="TIMESERIES_PAYLOAD"):
-        dpg.add_text(f"Plot: {node.full_path}")
-
-    with dpg.item_handler_registry() as handler_tag:
-      dpg.add_item_visible_handler(callback=self._on_item_visible, user_data=node.full_path)
-    dpg.bind_item_handler_registry(node.ui_tag, handler_tag)
-    self._item_handlers[node.ui_tag] = handler_tag
-    node.ui_created = True
-
-  def _on_item_visible(self, sender, app_data, user_data):
-    with self._ui_lock:
-      path = user_data
-      value_tag = f"value_{path}"
-      if not dpg.does_item_exist(value_tag):
-        return
-      value_column_width = dpg.get_item_rect_size(f"leaf_{path}")[0] // 2
-      value = self.data_manager.get_value_at(path, self.playback_manager.current_time_s)
-      if value is not None:
-        formatted_value = self.format_and_truncate(value, value_column_width, self._char_width)
-        dpg.set_value(value_tag, formatted_value)
-      else:
-        dpg.set_value(value_tag, "N/A")
-
-  def _request_children_build(self, node: DataTreeNode):
-    with self._ui_lock:
-      if not node.children_ui_created and (node.name == "root" or (node.ui_tag is not None and dpg.get_value(node.ui_tag))):  # check root or node expanded
-        sorted_children = sorted(node.filtered_children.values(), key=self._natural_sort_key)
-        next_existing: list[int | str] = [0] * len(sorted_children)
-        current_before_tag: int | str = 0
-
-        for i in range(len(sorted_children) - 1, -1, -1):  # calculate "before_tag" for correct ordering when incrementally building tree
-          child = sorted_children[i]
-          next_existing[i] = current_before_tag
-          if child.ui_created:
-            candidate_tag = f"leaf_{child.full_path}" if child.is_leaf else f"tree_{child.full_path}"
-            if dpg.does_item_exist(candidate_tag):
-              current_before_tag = candidate_tag
-
-        for i, child_node in enumerate(sorted_children):
-          if not child_node.ui_created:
-            before_tag = next_existing[i]
-            self._build_queue[child_node.full_path] = (child_node, node, before_tag)
-        node.children_ui_created = True
-
-  def _should_show_path(self, path: str, search_term: str) -> bool:
-    if 'DEPRECATED' in path and not os.environ.get('SHOW_DEPRECATED'):
-      return False
-    return not search_term or search_term in path.lower()
-
-  def _natural_sort_key(self, node: DataTreeNode):
-    node_type_key = node.is_leaf
-    parts = [int(p) if p.isdigit() else p.lower() for p in re.split(r'(\d+)', node.name) if p]
-    return (node_type_key, parts)
-
-  def _get_descendant_paths(self, node: DataTreeNode):
-    for child_name, child_node in node.filtered_children.items():
-      child_name_lower = child_name.lower()
-      if child_node.is_leaf:
-        yield child_name_lower
-      else:
-        for path in self._get_descendant_paths(child_node):
-          yield f"{child_name_lower}/{path}"
-
-  @staticmethod
-  def format_and_truncate(value, available_width: float, char_width: float) -> str:
-    s = f"{value:.5f}" if np.issubdtype(type(value), np.floating) else str(value)
-    max_chars = int(available_width / char_width)
-    if len(s) > max_chars:
-      return s[: max(0, max_chars - 3)] + "..."
-    return s
diff --git a/tools/jotpluggler/dbc.h b/tools/jotpluggler/dbc.h
new file mode 100644
index 00000000000..d7c5461502b
--- /dev/null
+++ b/tools/jotpluggler/dbc.h
@@ -0,0 +1,400 @@
+#pragma once
+
+#include "common/util.h"
+
+#include <algorithm>
+#include <cmath>
+#include <cstddef>
+#include <cstdint>
+#include <filesystem>
+#include <fstream>
+#include <optional>
+#include <regex>
+#include <sstream>
+#include <stdexcept>
+#include <string>
+#include <tuple>
+#include <unordered_map>
+#include <vector>
+
+namespace dbc {
+
+
+struct ValueDescriptionEntry {
+  double value = 0.0;
+  std::string text;
+};
+
+struct Signal {
+  enum class Type {
+    Normal = 0,
+    Multiplexed,
+    Multiplexor,
+  };
+
+  Type type = Type::Normal;
+  std::string name;
+  int start_bit = 0;
+  int msb = 0;
+  int lsb = 0;
+  int size = 0;
+  double factor = 1.0;
+  double offset = 0.0;
+  double min = 0.0;
+  double max = 0.0;
+  bool is_signed = false;
+  bool is_little_endian = false;
+  std::string unit;
+  std::string comment;
+  std::string receiver_name;
+  int multiplex_value = 0;
+  int multiplexor_index = -1;
+  std::vector<ValueDescriptionEntry> value_descriptions;
+};
+
+struct Message {
+  uint32_t address = 0;
+  std::string name;
+  uint32_t size = 0;
+  std::string comment;
+  std::string transmitter;
+  std::vector<Signal> signals;
+  int multiplexor_index = -1;
+
+  const std::vector<Signal> &getSignals() const { return signals; }
+};
+
+class Database {
+public:
+  Database() = default;
+  explicit Database(const std::filesystem::path &path);
+  static Database fromContent(const std::string &content, const std::string &filename = "<dbc>");
+
+  const Message *message(uint32_t address) const;
+  const std::unordered_map<uint32_t, Message> &messages() const { return messages_; }
+  std::vector<std::string> enumNames(const Signal &signal) const;
+
+private:
+  void parse(const std::string &content, const std::string &filename);
+  void parseBo(const std::string &line, int line_number, Message **current_message);
+  void parseSg(const std::string &line, int line_number, Message *current_message);
+  void parseVal(const std::string &line, int line_number);
+  void parseCmBo(const std::string &line, int line_number);
+  void parseCmSg(const std::string &line, int line_number);
+  void finalize();
+
+  std::string filename_;
+  std::unordered_map<uint32_t, Message> messages_;
+};
+
+void updateMsbLsb(Signal *signal);
+double rawSignalValue(const Signal &signal, const uint8_t *data, size_t data_size);
+std::optional<double> signalValue(const Signal &signal, const Message &message, const uint8_t *data, size_t data_size);
+
+namespace {
+
+std::string unescape_dbc_string(std::string text) {
+  size_t pos = 0;
+  while ((pos = text.find("\\\"", pos)) != std::string::npos) {
+    text.replace(pos, 2, "\"");
+    ++pos;
+  }
+  return text;
+}
+
+int flip_bit_pos(int start_bit) {
+  return 8 * (start_bit / 8) + 7 - start_bit % 8;
+}
+
+std::string read_multiline_statement(std::istream &stream, std::string statement, int *line_number) {
+  static const std::regex statement_end(R"(\"\s*;\s*$)");
+  while (true) {
+    const std::string trimmed = util::strip(statement);
+    if (std::regex_search(trimmed, statement_end)) {
+      return trimmed;
+    }
+
+    std::string next_line;
+    if (!std::getline(stream, next_line)) {
+      return trimmed;
+    }
+    statement += "\n";
+    statement += next_line;
+    ++(*line_number);
+  }
+}
+
+}  // namespace
+
+inline void updateMsbLsb(Signal *signal) {
+  if (signal->is_little_endian) {
+    signal->lsb = signal->start_bit;
+    signal->msb = signal->start_bit + signal->size - 1;
+  } else {
+    signal->lsb = flip_bit_pos(flip_bit_pos(signal->start_bit) + signal->size - 1);
+    signal->msb = signal->start_bit;
+  }
+}
+
+inline double rawSignalValue(const Signal &signal, const uint8_t *data, size_t data_size) {
+  const int msb_byte = signal.msb / 8;
+  if (msb_byte >= static_cast<int>(data_size)) return 0.0;
+
+  const int lsb_byte = signal.lsb / 8;
+  uint64_t val = 0;
+  if (msb_byte == lsb_byte) {
+    val = (data[msb_byte] >> (signal.lsb & 7)) & ((1ULL << signal.size) - 1);
+  } else {
+    int bits = signal.size;
+    int i = msb_byte;
+    const int step = signal.is_little_endian ? -1 : 1;
+    while (i >= 0 && i < static_cast<int>(data_size) && bits > 0) {
+      const int msb = (i == msb_byte) ? signal.msb & 7 : 7;
+      const int lsb = (i == lsb_byte) ? signal.lsb & 7 : 0;
+      const int nbits = msb - lsb + 1;
+      val = (val << nbits) | ((data[i] >> lsb) & ((1ULL << nbits) - 1));
+      bits -= nbits;
+      i += step;
+    }
+  }
+
+  if (signal.is_signed && (val & (1ULL << (signal.size - 1)))) {
+    val |= ~((1ULL << signal.size) - 1);
+  }
+
+  return static_cast<int64_t>(val) * signal.factor + signal.offset;
+}
+
+[[noreturn]] inline void parse_error(const std::string &filename, int line_number, const std::string &message, const std::string &line) {
+  std::ostringstream out;
+  out << "[" << filename << ":" << line_number << "] " << message << ": " << line;
+  throw std::runtime_error(out.str());
+}
+
+inline Database::Database(const std::filesystem::path &path) {
+  const std::string content = util::read_file(path.string());
+  if (content.empty() && !std::filesystem::exists(path)) {
+    throw std::runtime_error("Failed to open DBC " + path.string());
+  }
+  parse(content, path.filename().string());
+}
+
+inline Database Database::fromContent(const std::string &content, const std::string &filename) {
+  Database db;
+  db.parse(content, filename);
+  return db;
+}
+
+inline const Message *Database::message(uint32_t address) const {
+  auto it = messages_.find(address);
+  return it == messages_.end() ? nullptr : &it->second;
+}
+
+inline std::vector<std::string> Database::enumNames(const Signal &signal) const {
+  if (signal.value_descriptions.empty()) return {};
+  int max_index = -1;
+  for (const auto &entry : signal.value_descriptions) {
+    const double rounded = std::round(entry.value);
+    if (std::abs(entry.value - rounded) > 1e-6 || rounded < 0.0 || rounded > 512.0) return {};
+    max_index = std::max(max_index, static_cast<int>(rounded));
+  }
+  if (max_index < 0) return {};
+  std::vector<std::string> names(static_cast<size_t>(max_index + 1));
+  for (const auto &entry : signal.value_descriptions) {
+    names[static_cast<size_t>(std::llround(entry.value))] = entry.text;
+  }
+  return names;
+}
+
+inline void Database::parse(const std::string &content, const std::string &filename) {
+  filename_ = filename;
+  messages_.clear();
+  std::istringstream stream(content);
+  std::string raw_line;
+  Message *current_message = nullptr;
+  int line_number = 0;
+  while (std::getline(stream, raw_line)) {
+    ++line_number;
+    std::string line = util::strip(raw_line);
+    if (line.empty()) continue;
+    if (util::starts_with(line, "BO_ ")) {
+      parseBo(line, line_number, &current_message);
+    } else if (util::starts_with(line, "SG_ ")) {
+      if (current_message == nullptr) {
+        parse_error(filename, line_number, "Signal without current message", line);
+      }
+      parseSg(line, line_number, current_message);
+    } else if (util::starts_with(line, "VAL_ ")) {
+      parseVal(line, line_number);
+    } else if (util::starts_with(line, "CM_ BO_")) {
+      parseCmBo(read_multiline_statement(stream, raw_line, &line_number), line_number);
+    } else if (util::starts_with(line, "CM_ SG_")) {
+      parseCmSg(read_multiline_statement(stream, raw_line, &line_number), line_number);
+    }
+  }
+  finalize();
+}
+
+inline void Database::parseBo(const std::string &line, int line_number, Message **current_message) {
+  static const std::regex pattern(R"(^BO_\s+(\w+)\s+(\w+)\s*:\s*(\w+)\s+(\w+)\s*$)");
+  std::smatch match;
+  if (!std::regex_match(line, match, pattern)) {
+    parse_error("<dbc>", line_number, "Invalid BO_ line format", line);
+  }
+  uint32_t address = static_cast<uint32_t>(std::stoul(match[1].str(), nullptr, 0));
+  if (messages_.find(address) != messages_.end()) {
+    parse_error(filename_, line_number, "Duplicate message address", line);
+  }
+  Message &message = messages_[address];
+  message.address = address;
+  message.name = match[2].str();
+  message.size = static_cast<uint32_t>(std::stoul(match[3].str(), nullptr, 0));
+  message.transmitter = match[4].str();
+  message.signals.clear();
+  message.multiplexor_index = -1;
+  *current_message = &message;
+}
+
+inline void Database::parseSg(const std::string &line, int line_number, Message *current_message) {
+  static const std::regex multiplex_pattern(R"(^SG_\s+(\w+)\s+(\w+)\s*:\s*(\d+)\|(\d+)@(\d)([+-])\s+\(([0-9.+\-eE]+),([0-9.+\-eE]+)\)\s+\[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\]\s+\"(.*)\"\s+(.*)$)");
+  static const std::regex normal_pattern(R"(^SG_\s+(\w+)\s*:\s*(\d+)\|(\d+)@(\d)([+-])\s+\(([0-9.+\-eE]+),([0-9.+\-eE]+)\)\s+\[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\]\s+\"(.*)\"\s+(.*)$)");
+
+  std::smatch match;
+  Signal signal;
+  int offset = 0;
+  if (std::regex_match(line, match, normal_pattern)) {
+    offset = 0;
+  } else if (std::regex_match(line, match, multiplex_pattern)) {
+    offset = 1;
+    const std::string indicator = match[2].str();
+    if (indicator == "M") {
+      if (std::any_of(current_message->signals.begin(), current_message->signals.end(), [](const Signal &existing) {
+            return existing.type == Signal::Type::Multiplexor;
+          })) {
+        parse_error(filename_, line_number, "Multiple multiplexor", line);
+      }
+      signal.type = Signal::Type::Multiplexor;
+    } else if (!indicator.empty() && indicator.front() == 'm') {
+      signal.type = Signal::Type::Multiplexed;
+      signal.multiplex_value = std::stoi(indicator.substr(1));
+    } else {
+      parse_error("<dbc>", line_number, "Invalid multiplex indicator", line);
+    }
+  } else {
+    parse_error("<dbc>", line_number, "Invalid SG_ line format", line);
+  }
+
+  signal.name = match[1].str();
+  if (std::any_of(current_message->signals.begin(), current_message->signals.end(), [&](const Signal &existing) {
+        return existing.name == signal.name;
+      })) {
+    parse_error(filename_, line_number, "Duplicate signal name", line);
+  }
+  signal.start_bit = std::stoi(match[2 + offset].str());
+  signal.size = std::stoi(match[3 + offset].str());
+  signal.is_little_endian = match[4 + offset].str() == "1";
+  signal.is_signed = match[5 + offset].str() == "-";
+  signal.factor = std::stod(match[6 + offset].str());
+  signal.offset = std::stod(match[7 + offset].str());
+  signal.min = std::stod(match[8 + offset].str());
+  signal.max = std::stod(match[9 + offset].str());
+  signal.unit = match[10 + offset].str();
+  signal.receiver_name = util::strip(match[11 + offset].str());
+  updateMsbLsb(&signal);
+  current_message->signals.push_back(std::move(signal));
+}
+
+inline void Database::parseVal(const std::string &line, int line_number) {
+  static const std::regex prefix(R"(^VAL_\s+(\w+)\s+(\w+)\s+(.*);$)");
+  std::smatch match;
+  if (!std::regex_match(line, match, prefix)) {
+    parse_error("<dbc>", line_number, "Invalid VAL_ line format", line);
+  }
+
+  const uint32_t address = static_cast<uint32_t>(std::stoul(match[1].str(), nullptr, 0));
+  auto msg_it = messages_.find(address);
+  if (msg_it == messages_.end()) {
+    return;
+  }
+  auto sig_it = std::find_if(msg_it->second.signals.begin(), msg_it->second.signals.end(), [&](const Signal &signal) {
+    return signal.name == match[2].str();
+  });
+  if (sig_it == msg_it->second.signals.end()) {
+    return;
+  }
+
+  static const std::regex entry_pattern(R"(([+-]?\d+(?:\.\d+)?)\s+\"((?:[^\"\\]|\\.)*)\")");
+  const std::string defs = match[3].str();
+  for (std::sregex_iterator it(defs.begin(), defs.end(), entry_pattern), end; it != end; ++it) {
+    sig_it->value_descriptions.push_back(ValueDescriptionEntry{
+      .value = std::stod((*it)[1].str()),
+      .text = (*it)[2].str(),
+    });
+  }
+}
+
+inline void Database::parseCmBo(const std::string &line, int line_number) {
+  static const std::regex pattern(R"(^CM_\s+BO_\s*(\w+)\s*\"((?:[^\"\\]|\\.|[\r\n])*)\"\s*;\s*$)");
+  std::smatch match;
+  if (!std::regex_match(line, match, pattern)) {
+    parse_error(filename_, line_number, "Invalid message comment format", line);
+  }
+  const uint32_t address = static_cast<uint32_t>(std::stoul(match[1].str(), nullptr, 0));
+  auto it = messages_.find(address);
+  if (it != messages_.end()) {
+    it->second.comment = unescape_dbc_string(match[2].str());
+  }
+}
+
+inline void Database::parseCmSg(const std::string &line, int line_number) {
+  static const std::regex pattern(R"(^CM_\s+SG_\s*(\w+)\s*(\w+)\s*\"((?:[^\"\\]|\\.|[\r\n])*)\"\s*;\s*$)");
+  std::smatch match;
+  if (!std::regex_match(line, match, pattern)) {
+    parse_error(filename_, line_number, "Invalid signal comment format", line);
+  }
+
+  const uint32_t address = static_cast<uint32_t>(std::stoul(match[1].str(), nullptr, 0));
+  auto msg_it = messages_.find(address);
+  if (msg_it == messages_.end()) return;
+
+  auto sig_it = std::find_if(msg_it->second.signals.begin(), msg_it->second.signals.end(), [&](const Signal &signal) {
+    return signal.name == match[2].str();
+  });
+  if (sig_it != msg_it->second.signals.end()) {
+    sig_it->comment = unescape_dbc_string(match[3].str());
+  }
+}
+
+inline void Database::finalize() {
+  for (auto &[_, message] : messages_) {
+    std::sort(message.signals.begin(), message.signals.end(), [](const Signal &left, const Signal &right) {
+      return std::tie(right.type, left.multiplex_value, left.start_bit, left.name)
+           < std::tie(left.type, right.multiplex_value, right.start_bit, right.name);
+    });
+    message.multiplexor_index = -1;
+    for (size_t i = 0; i < message.signals.size(); ++i) {
+      if (message.signals[i].type == Signal::Type::Multiplexor) {
+        message.multiplexor_index = static_cast<int>(i);
+        break;
+      }
+    }
+    for (Signal &signal : message.signals) {
+      signal.multiplexor_index = signal.type == Signal::Type::Multiplexed ? message.multiplexor_index : -1;
+      if (signal.type == Signal::Type::Multiplexed && signal.multiplexor_index < 0) {
+        signal.type = Signal::Type::Normal;
+        signal.multiplex_value = 0;
+      }
+    }
+  }
+}
+
+inline std::optional<double> signalValue(const Signal &signal, const Message &message, const uint8_t *data, size_t data_size) {
+  if (signal.multiplexor_index >= 0) {
+    const Signal &multiplexor = message.signals[static_cast<size_t>(signal.multiplexor_index)];
+    const double mux_value = rawSignalValue(multiplexor, data, data_size);
+    if (std::llround(mux_value) != signal.multiplex_value) return std::nullopt;
+  }
+  return rawSignalValue(signal, data, data_size);
+}
+
+}  // namespace dbc
diff --git a/tools/jotpluggler/generated_dbcs/.gitignore b/tools/jotpluggler/generated_dbcs/.gitignore
new file mode 100644
index 00000000000..d6b7ef32c84
--- /dev/null
+++ b/tools/jotpluggler/generated_dbcs/.gitignore
@@ -0,0 +1,2 @@
+*
+!.gitignore
diff --git a/tools/jotpluggler/icons.cc b/tools/jotpluggler/icons.cc
new file mode 100644
index 00000000000..9507090e036
--- /dev/null
+++ b/tools/jotpluggler/icons.cc
@@ -0,0 +1,24 @@
+#include "tools/jotpluggler/app.h"
+#include "tools/jotpluggler/common.h"
+
+#include <cmath>
+
+void icon_add_font(float size, bool merge, const ImFont *base_font) {
+  const std::filesystem::path ttf = repo_root() / "third_party" / "bootstrap" / "bootstrap-icons.ttf";
+  ImGuiIO &io = ImGui::GetIO();
+  ImFontConfig config;
+  config.MergeMode = merge;
+  config.GlyphMinAdvanceX = size;
+  if (base_font != nullptr) {
+    ImFontBaked *baked = const_cast<ImFont *>(base_font)->GetFontBaked(size);
+    const float base_center = baked != nullptr ? (baked->Ascent + baked->Descent) * 0.5f : size * 0.5f;
+    config.GlyphOffset.y = std::round(size * 0.5f - base_center);
+  }
+  static const ImWchar ranges[] = {0xF000, 0xF8FF, 0};
+  io.Fonts->AddFontFromFileTTF(ttf.c_str(), size, &config, ranges);
+}
+
+bool icon_menu_item(const char *glyph, const char *label, const char *shortcut, bool selected, bool enabled) {
+  assert(glyph != nullptr && glyph[0] != '\0');
+  return ImGui::MenuItem(util::string_format("%s  %s", glyph, label).c_str(), shortcut, selected, enabled);
+}
diff --git a/tools/jotpluggler/internal.h b/tools/jotpluggler/internal.h
new file mode 100644
index 00000000000..b70aec1a535
--- /dev/null
+++ b/tools/jotpluggler/internal.h
@@ -0,0 +1,167 @@
+#pragma once
+
+#include "tools/jotpluggler/common.h"
+#include "tools/jotpluggler/map.h"
+
+#include <filesystem>
+#include <functional>
+#include <optional>
+
+struct GLFWwindow;
+
+enum class PaneDropZone {
+  Center,
+  Left,
+  Right,
+  Top,
+  Bottom,
+};
+
+enum class PaneMenuActionKind {
+  None,
+  OpenAxisLimits,
+  OpenCustomSeries,
+  SplitLeft,
+  SplitRight,
+  SplitTop,
+  SplitBottom,
+  ResetView,
+  ResetHorizontal,
+  ResetVertical,
+  Clear,
+  Close,
+};
+
+struct PaneMenuAction {
+  PaneMenuActionKind kind = PaneMenuActionKind::None;
+  int pane_index = -1;
+};
+
+struct PaneCurveDragPayload {
+  int tab_index = -1;
+  int pane_index = -1;
+  int curve_index = -1;
+};
+
+struct PaneDropAction {
+  PaneDropZone zone = PaneDropZone::Center;
+  int target_pane_index = -1;
+  bool from_browser = false;
+  std::vector<std::string> browser_paths;
+  std::string special_item_id;
+  PaneCurveDragPayload curve_ref;
+};
+
+inline constexpr float SIDEBAR_WIDTH = 320.0f;
+inline constexpr float SIDEBAR_MIN_WIDTH = 220.0f;
+inline constexpr float SIDEBAR_MAX_WIDTH = 520.0f;
+inline constexpr float TIMELINE_BAR_HEIGHT = 14.0f;
+inline constexpr float STATUS_BAR_HEIGHT = 52.0f;
+inline constexpr double MIN_HORIZONTAL_ZOOM_SECONDS = 2.0;
+inline constexpr double PLOT_Y_PADDING_FRACTION = 0.05;
+
+struct UiMetrics {
+  float width = 0.0f;
+  float height = 0.0f;
+  float top_offset = 0.0f;
+  float sidebar_width = SIDEBAR_WIDTH;
+  float content_x = 0.0f;
+  float content_y = 0.0f;
+  float content_w = 0.0f;
+  float content_h = 0.0f;
+  float status_bar_y = 0.0f;
+};
+
+std::filesystem::path resolve_layout_path(const std::string &layout_arg);
+std::filesystem::path autosave_path_for_layout(const std::filesystem::path &layout_path);
+std::vector<std::string> available_layout_names();
+
+SketchLayout make_empty_layout();
+void cancel_rename_tab(UiState *state);
+void sync_ui_state(UiState *state, const SketchLayout &layout);
+void sync_route_buffers(UiState *state, const AppSession &session);
+void sync_stream_buffers(UiState *state, const AppSession &session);
+void sync_layout_buffers(UiState *state, const AppSession &session);
+void mark_all_docks_dirty(UiState *state);
+void clear_layout_autosave(const AppSession &session);
+bool autosave_layout(AppSession *session, UiState *state);
+bool apply_axis_limits_editor(AppSession *session, UiState *state);
+void open_axis_limits_editor(const AppSession &session, UiState *state, int pane_index);
+void persist_shared_range_to_tab(WorkspaceTab *tab, const UiState &state);
+void clear_pane_vertical_limits(Pane *pane);
+
+void refresh_replaced_layout_ui(AppSession *session, UiState *state, bool mark_docks);
+void start_new_layout(AppSession *session, UiState *state, const std::string &status_text = "New untitled layout");
+void apply_dbc_override_change(AppSession *session, UiState *state, const std::string &dbc_override);
+
+void app_push_bold_font();
+void app_pop_bold_font();
+void draw_vertical_splitter(const char *id, float height, float min_left, float max_left, float *left_width);
+void draw_right_splitter(const char *id, float height, float min_right, float max_right, float *right_width);
+bool draw_horizontal_splitter(const char *id, float width, float min_top, float max_top, float *top_height);
+void draw_payload_bytes(std::string_view data, const std::string *prev_data = nullptr);
+void draw_payload_preview_boxes(const char *id, std::string_view data, const std::string *prev_data, float max_width);
+void draw_signal_sparkline(const AppSession &session,
+                           const UiState &state,
+                           std::string_view signal_path,
+                           bool selected,
+                           ImVec2 size = ImVec2(0.0f, 24.0f));
+ImU32 mix_color(ImU32 a, ImU32 b, float t);
+void draw_empty_panel(const char *title, const char *message);
+
+UiMetrics compute_ui_metrics(const ImVec2 &size, float top_offset, float sidebar_width);
+void draw_sidebar(AppSession *session, const UiMetrics &ui, UiState *state, bool show_camera_feed);
+void draw_workspace(AppSession *session, const UiMetrics &ui, UiState *state);
+void draw_pane_windows(AppSession *session, UiState *state);
+
+// plot.cc
+void draw_plot(const AppSession &session, Pane *pane, UiState *state);
+bool draw_pane_close_button_overlay();
+void draw_pane_frame_overlay();
+std::optional<PaneMenuAction> draw_pane_context_menu(const WorkspaceTab &tab, int pane_index);
+bool curve_has_samples(const AppSession &session, const Curve &curve);
+bool curve_has_local_samples(const Curve &curve);
+std::string app_curve_display_name(const Curve &curve);
+bool mark_layout_dirty(AppSession *session, UiState *state);
+
+const RouteSeries *app_find_route_series(const AppSession &session, const std::string &path);
+void sync_camera_feeds(AppSession *session);
+void apply_route_data(AppSession *session, UiState *state, RouteData route_data);
+bool apply_undo(AppSession *session, UiState *state);
+bool apply_redo(AppSession *session, UiState *state);
+bool infer_stream_follow_state(const UiState &state, const AppSession &session);
+void ensure_shared_range(UiState *state, const AppSession &session);
+void clamp_shared_range(UiState *state, const AppSession &session);
+void reset_shared_range(UiState *state, const AppSession &session);
+void update_follow_range(UiState *state, const AppSession &session);
+void advance_playback(UiState *state, const AppSession &session);
+void step_tracker(UiState *state, double direction);
+std::string dbc_combo_label(const AppSession &session);
+const char *log_selector_name(LogSelector selector);
+const char *log_selector_description(LogSelector selector);
+std::string format_cache_bytes(uint64_t bytes);
+MapCacheStats directory_cache_stats(const std::filesystem::path &root);
+float draw_main_menu_bar(AppSession *session, UiState *state);
+
+bool reset_layout(AppSession *session, UiState *state);
+bool reload_layout(AppSession *session, UiState *state, const std::string &layout_arg);
+bool save_layout(AppSession *session, UiState *state, const std::string &layout_path);
+void rebuild_session_route_data(AppSession *session, UiState *state,
+                                const RouteLoadProgressCallback &progress = {});
+void stop_stream_session(AppSession *session, UiState *state, bool preserve_data = true);
+bool start_stream_session(AppSession *session,
+                          UiState *state,
+                          const StreamSourceConfig &source,
+                          double buffer_seconds,
+                          bool preserve_existing_data = false);
+void start_async_route_load(AppSession *session, UiState *state);
+void poll_async_route_load(AppSession *session, UiState *state);
+bool reload_session(AppSession *session, UiState *state, const std::string &route_name, const std::string &data_dir);
+void draw_popups(AppSession *session, UiState *state);
+
+void draw_status_bar(const AppSession &session, const UiMetrics &ui, UiState *state);
+void draw_sidebar_resizer(const UiMetrics &ui, UiState *state);
+
+void apply_stream_batch(AppSession *session, UiState *state, StreamExtractBatch batch);
+
+void render_frame(GLFWwindow *window, AppSession *session, UiState *state, const std::filesystem::path *capture_path);
diff --git a/tools/jotpluggler/layout.cc b/tools/jotpluggler/layout.cc
new file mode 100644
index 00000000000..8a58ef7cd6b
--- /dev/null
+++ b/tools/jotpluggler/layout.cc
@@ -0,0 +1,704 @@
+#include "tools/jotpluggler/internal.h"
+#include "system/hardware/hw.h"
+
+#include <unistd.h>
+
+namespace fs = std::filesystem;
+
+namespace {
+
+enum class ModalAction {
+  None,
+  Primary,
+  Secondary,
+};
+
+struct FindSignalMatch {
+  const std::string *path = nullptr;
+  int score = 0;
+};
+
+struct DbcEditorSource {
+  fs::path path;
+  DbcEditorState::SourceKind kind = DbcEditorState::SourceKind::None;
+};
+
+StreamSourceConfig stream_source_config_from_ui(const UiState &state) {
+  StreamSourceConfig source;
+  source.kind = state.stream_source_kind;
+  source.address = util::strip(state.stream_address_buffer);
+  if (source.kind == StreamSourceKind::CerealLocal) {
+    source.address = "127.0.0.1";
+  } else {
+    source.address = normalize_stream_address(std::move(source.address));
+  }
+  return source;
+}
+
+void open_queued_popup(bool &flag, const char *name) {
+  if (flag) {
+    ImGui::OpenPopup(name);
+    flag = false;
+  }
+}
+
+ModalAction draw_modal_action_row(const char *primary_label,
+                                  const char *secondary_label = "Cancel",
+                                  float width = 120.0f) {
+  if (ImGui::Button(primary_label, ImVec2(width, 0.0f))) {
+    return ModalAction::Primary;
+  }
+  ImGui::SameLine();
+  if (ImGui::Button(secondary_label, ImVec2(width, 0.0f))) {
+    return ModalAction::Secondary;
+  }
+  return ModalAction::None;
+}
+
+std::vector<FindSignalMatch> find_signal_matches(const AppSession &session, std::string_view query) {
+  std::vector<FindSignalMatch> matches;
+  if (query.empty()) {
+    return matches;
+  }
+  const std::string needle = lowercase_copy(query);
+  for (const std::string &path : session.route_data.paths) {
+    const std::string hay = lowercase_copy(path);
+    const size_t pos = hay.find(needle);
+    if (pos == std::string::npos) {
+      continue;
+    }
+    const size_t slash = path.find_last_of('/');
+    const std::string_view label = slash == std::string::npos ? std::string_view(path) : std::string_view(path).substr(slash + 1);
+    int score = static_cast<int>(pos * 8 + path.size());
+    if (lowercase_copy(label) == needle) score -= 60;
+    if (util::starts_with(hay, needle)) score -= 30;
+    matches.push_back({.path = &path, .score = score});
+  }
+  std::sort(matches.begin(), matches.end(), [](const FindSignalMatch &a, const FindSignalMatch &b) {
+    return std::tie(a.score, *a.path) < std::tie(b.score, *b.path);
+  });
+  if (matches.size() > 200) {
+    matches.resize(200);
+  }
+  return matches;
+}
+
+bool open_find_signal_result(UiState *state, const std::string &path) {
+  state->selected_browser_paths = {path};
+  state->selected_browser_path = path;
+  state->browser_selection_anchor = path;
+  state->status_text = "Selected signal " + path;
+  return true;
+}
+
+void draw_open_route_popup(AppSession *session, UiState *state) {
+  if (!ImGui::BeginPopupModal("Open Route", nullptr, ImGuiWindowFlags_AlwaysAutoResize)) {
+    return;
+  }
+  ImGui::TextUnformatted("Load a route into the current layout.");
+  ImGui::Separator();
+  input_text_string("Route", &state->route_buffer);
+  input_text_string("Data Dir", &state->data_dir_buffer);
+  ImGui::Spacing();
+  switch (draw_modal_action_row("Load")) {
+    case ModalAction::Primary:
+      reload_session(session, state, state->route_buffer, state->data_dir_buffer);
+      ImGui::CloseCurrentPopup();
+      break;
+    case ModalAction::Secondary:
+      sync_route_buffers(state, *session);
+      ImGui::CloseCurrentPopup();
+      break;
+    case ModalAction::None:
+      break;
+  }
+  ImGui::EndPopup();
+}
+
+void draw_stream_popup(AppSession *session, UiState *state) {
+  if (!ImGui::BeginPopupModal("Live Stream", nullptr, ImGuiWindowFlags_AlwaysAutoResize)) {
+    return;
+  }
+
+  ImGui::TextUnformatted("Connect to a live source.");
+  ImGui::Separator();
+  if (ImGui::RadioButton("Local (MSGQ)", state->stream_source_kind == StreamSourceKind::CerealLocal)) {
+    state->stream_source_kind = StreamSourceKind::CerealLocal;
+  }
+  if (ImGui::RadioButton("Remote (ZMQ)", state->stream_source_kind == StreamSourceKind::CerealRemote)) {
+    state->stream_source_kind = StreamSourceKind::CerealRemote;
+  }
+
+  if (state->stream_source_kind == StreamSourceKind::CerealRemote) {
+    input_text_string("Address", &state->stream_address_buffer);
+  }
+  ImGui::InputDouble("Buffer (seconds)", &state->stream_buffer_seconds, 0.0, 0.0, "%.0f");
+  ImGui::Spacing();
+  switch (draw_modal_action_row("Connect")) {
+    case ModalAction::Primary: {
+      const StreamSourceConfig source = stream_source_config_from_ui(*state);
+      if (start_stream_session(session, state, source, state->stream_buffer_seconds, false)) {
+        ImGui::CloseCurrentPopup();
+      }
+      break;
+    }
+    case ModalAction::Secondary:
+      sync_stream_buffers(state, *session);
+      ImGui::CloseCurrentPopup();
+      break;
+    case ModalAction::None:
+      break;
+  }
+  ImGui::EndPopup();
+}
+
+void draw_load_layout_popup(AppSession *session, UiState *state) {
+  if (!ImGui::BeginPopupModal("Load Layout", nullptr, ImGuiWindowFlags_AlwaysAutoResize)) {
+    return;
+  }
+  ImGui::TextUnformatted("Load a JotPlugger JSON layout.");
+  ImGui::Separator();
+  input_text_string("Layout", &state->load_layout_buffer);
+  ImGui::Spacing();
+  switch (draw_modal_action_row("Load")) {
+    case ModalAction::Primary:
+      if (reload_layout(session, state, state->load_layout_buffer)) {
+        ImGui::CloseCurrentPopup();
+      }
+      break;
+    case ModalAction::Secondary:
+      sync_layout_buffers(state, *session);
+      ImGui::CloseCurrentPopup();
+      break;
+    case ModalAction::None:
+      break;
+  }
+  ImGui::EndPopup();
+}
+
+void draw_save_layout_popup(AppSession *session, UiState *state) {
+  if (!ImGui::BeginPopupModal("Save Layout", nullptr, ImGuiWindowFlags_AlwaysAutoResize)) {
+    return;
+  }
+  ImGui::TextUnformatted("Save the current workspace as a JotPlugger JSON layout.");
+  ImGui::Separator();
+  input_text_string("Layout", &state->save_layout_buffer);
+  ImGui::Spacing();
+  switch (draw_modal_action_row("Save")) {
+    case ModalAction::Primary:
+      if (save_layout(session, state, state->save_layout_buffer)) {
+        ImGui::CloseCurrentPopup();
+      }
+      break;
+    case ModalAction::Secondary:
+      sync_layout_buffers(state, *session);
+      ImGui::CloseCurrentPopup();
+      break;
+    case ModalAction::None:
+      break;
+  }
+  ImGui::EndPopup();
+}
+
+void draw_preferences_popup(AppSession *session, UiState *state) {
+  if (!ImGui::BeginPopupModal("Preferences", nullptr, ImGuiWindowFlags_AlwaysAutoResize)) {
+    return;
+  }
+  if (session->map_data) {
+    const MapCacheStats map_cache = session->map_data->cacheStats();
+    const MapCacheStats download_cache = directory_cache_stats(Path::download_cache_root());
+    ImGui::TextUnformatted("Map");
+    ImGui::Separator();
+    ImGui::Text("Map cache: %s in %zu file%s",
+                format_cache_bytes(map_cache.bytes).c_str(),
+                map_cache.files,
+                map_cache.files == 1 ? "" : "s");
+    if (ImGui::Button("Clear Map Cache", ImVec2(120.0f, 0.0f))) {
+      session->map_data->clearCache();
+      state->status_text = "Cleared map cache";
+    }
+    ImGui::Spacing();
+    ImGui::TextUnformatted("comma Download Cache");
+    ImGui::Separator();
+    ImGui::Text("Download cache: %s in %zu file%s",
+                format_cache_bytes(download_cache.bytes).c_str(),
+                download_cache.files,
+                download_cache.files == 1 ? "" : "s");
+    ImGui::TextDisabled("%s", Path::download_cache_root().c_str());
+    ImGui::Spacing();
+  }
+  if (ImGui::Button("Close", ImVec2(120.0f, 0.0f))) {
+    ImGui::CloseCurrentPopup();
+  }
+  ImGui::EndPopup();
+}
+
+void draw_find_signal_popup(AppSession *session, UiState *state) {
+  if (!ImGui::BeginPopupModal("Find Signal", nullptr, ImGuiWindowFlags_AlwaysAutoResize)) {
+    return;
+  }
+  ImGui::TextUnformatted("Search decoded signals across the loaded route.");
+  ImGui::Separator();
+  ImGui::SetNextItemWidth(560.0f);
+  input_text_with_hint_string("##find_signal_query", "Search signal path or name...", &state->find_signal_buffer);
+  if (ImGui::IsWindowAppearing()) {
+    ImGui::SetKeyboardFocusHere(-1);
+  }
+  const std::vector<FindSignalMatch> matches = find_signal_matches(*session, state->find_signal_buffer);
+  ImGui::Spacing();
+  ImGui::TextDisabled("%zu match%s", matches.size(), matches.size() == 1 ? "" : "es");
+  if (ImGui::BeginChild("##find_signal_results", ImVec2(760.0f, 360.0f), true)) {
+    for (const FindSignalMatch &match : matches) {
+      const std::string &path = *match.path;
+      const size_t slash = path.find_last_of('/');
+      const std::string_view label = slash == std::string::npos ? std::string_view(path) : std::string_view(path).substr(slash + 1);
+      if (ImGui::Selectable((std::string(label) + "##" + path).c_str(), false, ImGuiSelectableFlags_SpanAllColumns)) {
+        if (open_find_signal_result(state, path)) {
+          ImGui::CloseCurrentPopup();
+        }
+      }
+      ImGui::SameLine(280.0f);
+      ImGui::TextDisabled("%s", path.c_str());
+    }
+  }
+  ImGui::EndChild();
+  ImGui::Spacing();
+  if (ImGui::Button("Close", ImVec2(120.0f, 0.0f))) {
+    ImGui::CloseCurrentPopup();
+  }
+  ImGui::EndPopup();
+}
+
+std::string default_dbc_template() {
+  return "VERSION \"\"\n\nNS_ :\nBS_:\nBU_: XXX\n";
+}
+
+DbcEditorSource resolve_dbc_editor_source(const std::string &dbc_name) {
+  const fs::path generated_dbc_dir = repo_root() / "tools" / "jotpluggler" / "generated_dbcs";
+  const std::array<DbcEditorSource, 2> candidates = {{
+    {.path = repo_root() / "opendbc" / "dbc" / (dbc_name + ".dbc"), .kind = DbcEditorState::SourceKind::Opendbc},
+    {.path = generated_dbc_dir / (dbc_name + ".dbc"), .kind = DbcEditorState::SourceKind::Generated},
+  }};
+  for (const DbcEditorSource &candidate : candidates) {
+    if (fs::exists(candidate.path)) {
+      return candidate;
+    }
+  }
+  return {};
+}
+
+void load_dbc_editor_state(const AppSession &session, UiState *state) {
+  DbcEditorState &editor = state->dbc_editor;
+  const std::string dbc_name = !session.dbc_override.empty() ? session.dbc_override : session.route_data.dbc_name;
+  editor.source_name = dbc_name.empty() ? "untitled" : dbc_name;
+  editor.source_path.clear();
+  editor.source_kind = DbcEditorState::SourceKind::None;
+  if (dbc_name.empty()) {
+    editor.save_name = "custom_can";
+    editor.text = default_dbc_template();
+  } else {
+    const DbcEditorSource source = resolve_dbc_editor_source(dbc_name);
+    editor.source_kind = source.kind;
+    editor.source_path = source.path;
+    editor.text = source.path.empty() ? default_dbc_template() : read_file_or_throw(source.path);
+    editor.save_name = source.kind == DbcEditorState::SourceKind::Generated ? dbc_name : dbc_name + "_edited";
+  }
+  editor.loaded = true;
+}
+
+bool ensure_dbc_editor_loaded(const AppSession &session, UiState *state) {
+  if (!state->dbc_editor.loaded) {
+    try {
+      load_dbc_editor_state(session, state);
+    } catch (const std::exception &err) {
+      state->error_text = err.what();
+      state->open_error_popup = true;
+      return false;
+    }
+  }
+  return true;
+}
+
+bool save_dbc_editor_contents(AppSession *session, UiState *state) {
+  DbcEditorState &editor = state->dbc_editor;
+  editor.save_name = util::strip(editor.save_name);
+  if (editor.save_name.empty()) {
+    state->error_text = "DBC name cannot be empty";
+    state->open_error_popup = true;
+    return false;
+  }
+  if (editor.source_kind == DbcEditorState::SourceKind::Opendbc && editor.save_name == editor.source_name) {
+    state->error_text = "Save edited opendbc files under a new name";
+    state->open_error_popup = true;
+    return false;
+  }
+  try {
+    dbc::Database::fromContent(editor.text, editor.save_name + ".dbc");
+    const fs::path generated_dbc_dir = repo_root() / "tools" / "jotpluggler" / "generated_dbcs";
+    fs::create_directories(generated_dbc_dir);
+    const fs::path output = generated_dbc_dir / (editor.save_name + ".dbc");
+    write_file_or_throw(output, editor.text);
+    apply_dbc_override_change(session, state, editor.save_name);
+    editor.source_name = editor.save_name;
+    editor.source_path = output;
+    editor.source_kind = DbcEditorState::SourceKind::Generated;
+    editor.loaded = false;
+    state->status_text = "Saved DBC " + editor.save_name;
+    return true;
+  } catch (const std::exception &err) {
+    state->error_text = err.what();
+    state->open_error_popup = true;
+    return false;
+  }
+}
+
+void draw_dbc_editor_popup(AppSession *session, UiState *state) {
+  if (!ImGui::BeginPopupModal("DBC Editor", nullptr, ImGuiWindowFlags_AlwaysAutoResize)) {
+    return;
+  }
+  DbcEditorState &editor = state->dbc_editor;
+  if (!ensure_dbc_editor_loaded(*session, state)) {
+    ImGui::CloseCurrentPopup();
+    ImGui::EndPopup();
+    return;
+  }
+  ImGui::TextUnformatted("Edit DBC text and save it into generated_dbcs.");
+  ImGui::Separator();
+  ImGui::SetNextItemWidth(260.0f);
+  input_text_string("DBC Name", &editor.save_name, ImGuiInputTextFlags_AutoSelectAll);
+  if (!editor.source_path.empty()) {
+    ImGui::TextDisabled("%s", editor.source_path.string().c_str());
+  } else {
+    ImGui::TextDisabled("New in-memory DBC");
+  }
+  ImGui::Spacing();
+  input_text_multiline_string("##dbc_editor_text", &editor.text, ImVec2(920.0f, 520.0f), ImGuiInputTextFlags_AllowTabInput);
+  ImGui::Spacing();
+  if (ImGui::Button("Apply + Save", ImVec2(140.0f, 0.0f))) {
+    if (save_dbc_editor_contents(session, state)) {
+      ImGui::CloseCurrentPopup();
+    }
+  }
+  ImGui::SameLine();
+  if (ImGui::Button("Reload Source", ImVec2(140.0f, 0.0f))) {
+    editor.loaded = false;
+  }
+  ImGui::SameLine();
+  if (ImGui::Button("Close", ImVec2(120.0f, 0.0f))) {
+    editor.loaded = false;
+    ImGui::CloseCurrentPopup();
+  }
+  ImGui::EndPopup();
+}
+
+void draw_axis_limits_popup(AppSession *session, UiState *state) {
+  if (!ImGui::BeginPopupModal("Edit Axis Limits", nullptr, ImGuiWindowFlags_AlwaysAutoResize)) {
+    return;
+  }
+  const WorkspaceTab *tab = app_active_tab(session->layout, *state);
+  const bool valid_pane = tab != nullptr
+    && state->axis_limits.pane_index >= 0
+    && state->axis_limits.pane_index < static_cast<int>(tab->panes.size());
+  if (!valid_pane) {
+    ImGui::TextWrapped("The selected pane is no longer available.");
+    ImGui::Spacing();
+    if (ImGui::Button("Close", ImVec2(120.0f, 0.0f))) {
+      state->axis_limits.pane_index = -1;
+      ImGui::CloseCurrentPopup();
+    }
+    ImGui::EndPopup();
+    return;
+  }
+
+  ImGui::TextUnformatted("X range applies to the active tab. Y limits apply to the selected pane.");
+  ImGui::Separator();
+  ImGui::TextUnformatted("Horizontal");
+  ImGui::SetNextItemWidth(180.0f);
+  ImGui::InputDouble("X Min", &state->axis_limits.x_min, 0.0, 0.0, "%.3f");
+  ImGui::SetNextItemWidth(180.0f);
+  ImGui::InputDouble("X Max", &state->axis_limits.x_max, 0.0, 0.0, "%.3f");
+  ImGui::Spacing();
+  ImGui::TextUnformatted("Vertical");
+  ImGui::Checkbox("Use Y Min", &state->axis_limits.y_min_enabled);
+  ImGui::BeginDisabled(!state->axis_limits.y_min_enabled);
+  ImGui::SetNextItemWidth(180.0f);
+  ImGui::InputDouble("Y Min", &state->axis_limits.y_min, 0.0, 0.0, "%.6g");
+  ImGui::EndDisabled();
+  ImGui::Checkbox("Use Y Max", &state->axis_limits.y_max_enabled);
+  ImGui::BeginDisabled(!state->axis_limits.y_max_enabled);
+  ImGui::SetNextItemWidth(180.0f);
+  ImGui::InputDouble("Y Max", &state->axis_limits.y_max, 0.0, 0.0, "%.6g");
+  ImGui::EndDisabled();
+  ImGui::Spacing();
+  switch (draw_modal_action_row("Apply")) {
+    case ModalAction::Primary:
+      if (apply_axis_limits_editor(session, state)) {
+        state->axis_limits.pane_index = -1;
+        ImGui::CloseCurrentPopup();
+      }
+      break;
+    case ModalAction::Secondary:
+      state->axis_limits.pane_index = -1;
+      ImGui::CloseCurrentPopup();
+      break;
+    case ModalAction::None:
+      break;
+  }
+  ImGui::EndPopup();
+}
+
+void draw_error_popup(UiState *state) {
+  if (state->open_error_popup) {
+    ImGui::OpenPopup("Error");
+    state->open_error_popup = false;
+  }
+  if (!ImGui::BeginPopupModal("Error", nullptr, ImGuiWindowFlags_AlwaysAutoResize)) {
+    return;
+  }
+  ImGui::TextWrapped("%s", state->error_text.c_str());
+  ImGui::Spacing();
+  if (ImGui::Button("Close", ImVec2(120.0f, 0.0f))) {
+    ImGui::CloseCurrentPopup();
+  }
+  ImGui::EndPopup();
+}
+
+}  // namespace
+
+bool reset_layout(AppSession *session, UiState *state) {
+  try {
+    if (session->layout_path.empty()) {
+      start_new_layout(session, state, "Reset layout");
+      return true;
+    }
+    clear_layout_autosave(*session);
+    session->layout = load_sketch_layout(session->layout_path);
+    state->layout_dirty = false;
+    session->autosave_path = autosave_path_for_layout(session->layout_path);
+    state->undo.reset(session->layout);
+    refresh_replaced_layout_ui(session, state, false);
+    reset_shared_range(state, *session);
+    state->status_text = "Reset layout";
+    return true;
+  } catch (const std::exception &err) {
+    state->error_text = err.what();
+    state->open_error_popup = true;
+    state->status_text = "Failed to reset layout";
+    return false;
+  }
+}
+
+bool reload_layout(AppSession *session, UiState *state, const std::string &layout_arg) {
+  try {
+    const bool preserve_shared_range = session->route_data.has_time_range && state->has_shared_range;
+    const double preserved_x_min = state->x_view_min;
+    const double preserved_x_max = state->x_view_max;
+    const fs::path layout_path = resolve_layout_path(layout_arg);
+    session->autosave_path = autosave_path_for_layout(layout_path);
+    const bool load_draft = fs::exists(session->autosave_path);
+    session->layout = load_sketch_layout(load_draft ? session->autosave_path : layout_path);
+    session->layout_path = layout_path;
+    state->layout_dirty = load_draft;
+    state->undo.reset(session->layout);
+    refresh_replaced_layout_ui(session, state, true);
+    if (preserve_shared_range) {
+      state->has_shared_range = true;
+      state->x_view_min = preserved_x_min;
+      state->x_view_max = preserved_x_max;
+      clamp_shared_range(state, *session);
+    } else {
+      reset_shared_range(state, *session);
+    }
+    state->status_text = std::string(load_draft ? "Loaded layout draft " : "Loaded layout ")
+      + layout_path.filename().string();
+    return true;
+  } catch (const std::exception &err) {
+    state->error_text = err.what();
+    state->open_error_popup = true;
+    state->status_text = "Failed to load layout";
+    return false;
+  }
+}
+
+bool save_layout(AppSession *session, UiState *state, const std::string &layout_path) {
+  try {
+    if (layout_path.empty()) throw std::runtime_error("Layout path is empty");
+    session->layout.current_tab_index = state->active_tab_index;
+    const fs::path previous_autosave = session->autosave_path;
+    const fs::path output = fs::absolute(fs::path(layout_path));
+    save_layout_json(session->layout, output);
+    session->layout_path = output;
+    session->autosave_path = autosave_path_for_layout(output);
+    if (!previous_autosave.empty() && previous_autosave != session->autosave_path && fs::exists(previous_autosave)) {
+      fs::remove(previous_autosave);
+    }
+    clear_layout_autosave(*session);
+    state->layout_dirty = false;
+    sync_layout_buffers(state, *session);
+    state->status_text = "Saved layout " + output.filename().string();
+    return true;
+  } catch (const std::exception &err) {
+    state->error_text = err.what();
+    state->open_error_popup = true;
+    state->status_text = "Failed to save layout";
+    return false;
+  }
+}
+
+void rebuild_session_route_data(AppSession *session, UiState *state,
+                                const RouteLoadProgressCallback &progress) {
+  apply_route_data(session, state, load_route_data(session->route_name, session->data_dir, session->dbc_override, progress));
+}
+
+void stop_stream_session(AppSession *session, UiState *state, bool preserve_data) {
+  if (preserve_data && session->stream_poller && session->data_mode == SessionDataMode::Stream) {
+    session->stream_poller->setPaused(true);
+  } else if (session->stream_poller) {
+    session->stream_poller->stop();
+  }
+  session->stream_paused = preserve_data && session->data_mode == SessionDataMode::Stream;
+  if (!preserve_data) {
+    session->stream_time_offset.reset();
+    apply_route_data(session, state, RouteData{});
+  }
+  sync_stream_buffers(state, *session);
+}
+
+bool start_stream_session(AppSession *session,
+                          UiState *state,
+                          const StreamSourceConfig &source,
+                          double buffer_seconds,
+                          bool preserve_existing_data) {
+  try {
+    if (session->route_loader) {
+      session->route_loader.reset();
+    }
+    session->data_mode = SessionDataMode::Stream;
+    session->route_id = {};
+    session->route_name.clear();
+    session->data_dir.clear();
+    session->stream_source = source;
+    if (session->stream_source.kind == StreamSourceKind::CerealLocal) {
+      session->stream_source.address = "127.0.0.1";
+    }
+    session->stream_buffer_seconds = std::max(1.0, buffer_seconds);
+    session->next_stream_custom_refresh_time = 0.0;
+    session->stream_paused = false;
+    if (preserve_existing_data && session->stream_poller) {
+      StreamPollSnapshot snapshot = session->stream_poller->snapshot();
+      if (snapshot.active) {
+        session->stream_poller->setPaused(false);
+        sync_route_buffers(state, *session);
+        sync_stream_buffers(state, *session);
+        state->follow_latest = true;
+        state->playback_playing = false;
+        state->status_text = "Resumed stream " + stream_source_target_label(session->stream_source);
+        return true;
+      }
+    }
+    if (!preserve_existing_data) {
+      session->stream_time_offset.reset();
+      apply_route_data(session, state, RouteData{});
+    }
+    if (!session->stream_poller) {
+      session->stream_poller = std::make_unique<StreamPoller>();
+    }
+    session->stream_poller->start(session->stream_source,
+                                  session->stream_buffer_seconds,
+                                  session->dbc_override,
+                                  session->stream_time_offset);
+    sync_route_buffers(state, *session);
+    sync_stream_buffers(state, *session);
+    state->follow_latest = true;
+    state->playback_playing = false;
+    state->status_text = preserve_existing_data ? "Resumed stream " + stream_source_target_label(session->stream_source)
+                                                : "Streaming from " + stream_source_target_label(session->stream_source);
+    return true;
+  } catch (const std::exception &err) {
+    state->error_text = err.what();
+    state->open_error_popup = true;
+    state->status_text = "Failed to start stream";
+    return false;
+  }
+}
+
+void start_async_route_load(AppSession *session, UiState *state) {
+  if (!session->route_loader) {
+    return;
+  }
+  apply_route_data(session, state, RouteData{});
+  session->route_loader->start(session->route_name, session->data_dir, session->dbc_override);
+  state->status_text = session->route_name.empty() ? "Ready" : "Loading route " + session->route_name;
+}
+
+void poll_async_route_load(AppSession *session, UiState *state) {
+  if (!session->route_loader) {
+    return;
+  }
+  RouteData loaded_route;
+  std::string error_text;
+  if (!session->route_loader->consume(&loaded_route, &error_text)) {
+    return;
+  }
+  if (!error_text.empty()) {
+    state->error_text = error_text;
+    state->open_error_popup = true;
+    state->status_text = "Failed to load route";
+    return;
+  }
+  apply_route_data(session, state, std::move(loaded_route));
+  state->status_text = session->route_name.empty() ? "Ready" : "Loaded route " + session->route_name;
+}
+
+bool reload_session(AppSession *session, UiState *state, const std::string &route_name, const std::string &data_dir) {
+  try {
+    stop_stream_session(session, state, false);
+    session->data_mode = SessionDataMode::Route;
+    session->route_name = route_name;
+    session->route_id = parse_route_identifier(route_name);
+    session->data_dir = data_dir;
+    if (session->async_route_loading) {
+      if (!session->route_loader) {
+        session->route_loader = std::make_unique<AsyncRouteLoader>(::isatty(STDERR_FILENO) != 0);
+      }
+      start_async_route_load(session, state);
+    } else {
+      rebuild_session_route_data(session, state);
+      state->status_text = "Loaded route " + route_name;
+    }
+    sync_route_buffers(state, *session);
+    return true;
+  } catch (const std::exception &err) {
+    state->error_text = err.what();
+    state->open_error_popup = true;
+    state->status_text = "Failed to load route";
+    return false;
+  }
+}
+
+void draw_popups(AppSession *session, UiState *state) {
+  open_queued_popup(state->open_open_route, "Open Route");
+  if (state->open_stream) {
+    sync_stream_buffers(state, *session);
+  }
+  open_queued_popup(state->open_stream, "Live Stream");
+  if (state->open_load_layout || state->open_save_layout) {
+    sync_layout_buffers(state, *session);
+  }
+  open_queued_popup(state->open_load_layout, "Load Layout");
+  open_queued_popup(state->open_save_layout, "Save Layout");
+  open_queued_popup(state->open_preferences, "Preferences");
+  open_queued_popup(state->dbc_editor.open, "DBC Editor");
+  open_queued_popup(state->open_find_signal, "Find Signal");
+  open_queued_popup(state->axis_limits.open, "Edit Axis Limits");
+
+  draw_open_route_popup(session, state);
+  draw_stream_popup(session, state);
+  draw_load_layout_popup(session, state);
+  draw_save_layout_popup(session, state);
+  draw_preferences_popup(session, state);
+  draw_dbc_editor_popup(session, state);
+  draw_find_signal_popup(session, state);
+  draw_axis_limits_popup(session, state);
+  draw_error_popup(state);
+}
diff --git a/tools/jotpluggler/layout.py b/tools/jotpluggler/layout.py
deleted file mode 100644
index 13fbee54e20..00000000000
--- a/tools/jotpluggler/layout.py
+++ /dev/null
@@ -1,477 +0,0 @@
-import dearpygui.dearpygui as dpg
-from openpilot.tools.jotpluggler.data import DataManager
-from openpilot.tools.jotpluggler.views import TimeSeriesPanel
-
-GRIP_SIZE = 4
-MIN_PANE_SIZE = 60
-
-class LayoutManager:
-  def __init__(self, data_manager, playback_manager, worker_manager, scale: float = 1.0):
-    self.data_manager = data_manager
-    self.playback_manager = playback_manager
-    self.worker_manager = worker_manager
-    self.scale = scale
-    self.container_tag = "plot_layout_container"
-    self.tab_bar_tag = "tab_bar_container"
-    self.tab_content_tag = "tab_content_area"
-
-    self.active_tab = 0
-    initial_panel_layout = PanelLayoutManager(data_manager, playback_manager, worker_manager, scale)
-    self.tabs: dict = {0: {"name": "Tab 1", "panel_layout": initial_panel_layout}}
-    self._next_tab_id = self.active_tab + 1
-
-  def to_dict(self) -> dict:
-    return {
-      "tabs": {
-        str(tab_id): {
-          "name": tab_data["name"],
-          "panel_layout": tab_data["panel_layout"].to_dict()
-        }
-        for tab_id, tab_data in self.tabs.items()
-      }
-    }
-
-  def clear_and_load_from_dict(self, data: dict):
-    tab_ids_to_close = list(self.tabs.keys())
-    for tab_id in tab_ids_to_close:
-      self.close_tab(tab_id, force=True)
-
-    for tab_id_str, tab_data in data["tabs"].items():
-      tab_id = int(tab_id_str)
-      panel_layout = PanelLayoutManager.load_from_dict(
-        tab_data["panel_layout"], self.data_manager, self.playback_manager,
-        self.worker_manager, self.scale
-      )
-      self.tabs[tab_id] = {
-        "name": tab_data["name"],
-        "panel_layout": panel_layout
-      }
-
-    self.active_tab = min(self.tabs.keys()) if self.tabs else 0
-    self._next_tab_id = max(self.tabs.keys()) + 1 if self.tabs else 1
-
-  def create_ui(self, parent_tag: str):
-    if dpg.does_item_exist(self.container_tag):
-      dpg.delete_item(self.container_tag)
-
-    with dpg.child_window(tag=self.container_tag, parent=parent_tag, border=False, width=-1, height=-1, no_scrollbar=True, no_scroll_with_mouse=True):
-      self._create_tab_bar()
-      self._create_tab_content()
-    dpg.bind_item_theme(self.tab_bar_tag, "tab_bar_theme")
-
-  def _create_tab_bar(self):
-    text_size = int(13 * self.scale)
-    with dpg.child_window(tag=self.tab_bar_tag, parent=self.container_tag, height=(text_size + 8), border=False, horizontal_scrollbar=True):
-      with dpg.group(horizontal=True, tag="tab_bar_group"):
-        for tab_id, tab_data in self.tabs.items():
-          self._create_tab_ui(tab_id, tab_data["name"])
-        dpg.add_image_button(texture_tag="plus_texture", callback=self.add_tab, width=text_size, height=text_size, tag="add_tab_button")
-    dpg.bind_item_theme("add_tab_button", "inactive_tab_theme")
-
-  def _create_tab_ui(self, tab_id: int, tab_name: str):
-    text_size = int(13 * self.scale)
-    tab_width = int(140 * self.scale)
-    with dpg.child_window(width=tab_width, height=-1, border=False, no_scrollbar=True, tag=f"tab_window_{tab_id}", parent="tab_bar_group"):
-      with dpg.group(horizontal=True, tag=f"tab_group_{tab_id}"):
-        dpg.add_input_text(
-          default_value=tab_name, width=tab_width - text_size - 16, callback=lambda s, v, u: self.rename_tab(u, v), user_data=tab_id, tag=f"tab_input_{tab_id}"
-        )
-        dpg.add_image_button(
-          texture_tag="x_texture", callback=lambda s, a, u: self.close_tab(u), user_data=tab_id, width=text_size, height=text_size, tag=f"tab_close_{tab_id}"
-        )
-      with dpg.item_handler_registry(tag=f"tab_handler_{tab_id}"):
-        dpg.add_item_clicked_handler(callback=lambda s, a, u: self.switch_tab(u), user_data=tab_id)
-      dpg.bind_item_handler_registry(f"tab_group_{tab_id}", f"tab_handler_{tab_id}")
-
-    theme_tag = "active_tab_theme" if tab_id == self.active_tab else "inactive_tab_theme"
-    dpg.bind_item_theme(f"tab_window_{tab_id}", theme_tag)
-
-  def _create_tab_content(self):
-    with dpg.child_window(tag=self.tab_content_tag, parent=self.container_tag, border=False, width=-1, height=-1, no_scrollbar=True, no_scroll_with_mouse=True):
-      if self.active_tab in self.tabs:
-        active_panel_layout = self.tabs[self.active_tab]["panel_layout"]
-        active_panel_layout.create_ui()
-
-  def add_tab(self):
-    new_panel_layout = PanelLayoutManager(self.data_manager, self.playback_manager, self.worker_manager, self.scale)
-    new_tab = {"name": f"Tab {self._next_tab_id + 1}", "panel_layout": new_panel_layout}
-    self.tabs[self._next_tab_id] = new_tab
-    self._create_tab_ui(self._next_tab_id, new_tab["name"])
-    dpg.move_item("add_tab_button", parent="tab_bar_group")  # move plus button to end
-    self.switch_tab(self._next_tab_id)
-    self._next_tab_id += 1
-
-  def close_tab(self, tab_id: int, force = False):
-    if len(self.tabs) <= 1 and not force:
-      return  # don't allow closing the last tab
-
-    tab_to_close = self.tabs[tab_id]
-    tab_to_close["panel_layout"].destroy_ui()
-    for suffix in ["window", "group", "input", "close", "handler"]:
-      tag = f"tab_{suffix}_{tab_id}"
-      if dpg.does_item_exist(tag):
-        dpg.delete_item(tag)
-    del self.tabs[tab_id]
-
-    if self.active_tab == tab_id and self.tabs: # switch to another tab if we closed the active one
-      self.active_tab = next(iter(self.tabs.keys()))
-      self._switch_tab_content()
-      dpg.bind_item_theme(f"tab_window_{self.active_tab}", "active_tab_theme")
-
-  def switch_tab(self, tab_id: int):
-    if tab_id == self.active_tab or tab_id not in self.tabs:
-      return
-
-    current_panel_layout = self.tabs[self.active_tab]["panel_layout"]
-    current_panel_layout.destroy_ui()
-    dpg.bind_item_theme(f"tab_window_{self.active_tab}", "inactive_tab_theme")  # deactivate old tab
-    self.active_tab = tab_id
-    dpg.bind_item_theme(f"tab_window_{tab_id}", "active_tab_theme")  # activate new tab
-    self._switch_tab_content()
-
-  def _switch_tab_content(self):
-    dpg.delete_item(self.tab_content_tag, children_only=True)
-    active_panel_layout = self.tabs[self.active_tab]["panel_layout"]
-    active_panel_layout.create_ui()
-    active_panel_layout.update_all_panels()
-
-  def rename_tab(self, tab_id: int, new_name: str):
-    if tab_id in self.tabs:
-      self.tabs[tab_id]["name"] = new_name
-
-  def update_all_panels(self):
-    self.tabs[self.active_tab]["panel_layout"].update_all_panels()
-
-  def on_viewport_resize(self):
-    self.tabs[self.active_tab]["panel_layout"].on_viewport_resize()
-
-class PanelLayoutManager:
-  def __init__(self, data_manager: DataManager, playback_manager, worker_manager, scale: float = 1.0):
-    self.data_manager = data_manager
-    self.playback_manager = playback_manager
-    self.worker_manager = worker_manager
-    self.scale = scale
-    self.active_panels: list = []
-    self.parent_tag = "tab_content_area"
-    self._queue_resize = False
-    self._created_handler_tags: set[str] = set()
-
-    self.grip_size = int(GRIP_SIZE * self.scale)
-    self.min_pane_size = int(MIN_PANE_SIZE * self.scale)
-
-    initial_panel = TimeSeriesPanel(data_manager, playback_manager, worker_manager)
-    self.layout: dict = {"type": "panel", "panel": initial_panel}
-
-  def to_dict(self) -> dict:
-    return self._layout_to_dict(self.layout)
-
-  def _layout_to_dict(self, layout: dict) -> dict:
-    if layout["type"] == "panel":
-      return {
-        "type": "panel",
-        "panel": layout["panel"].to_dict()
-      }
-    else:  # split
-      return {
-        "type": "split",
-        "orientation": layout["orientation"],
-        "proportions": layout["proportions"],
-        "children": [self._layout_to_dict(child) for child in layout["children"]]
-      }
-
-  @classmethod
-  def load_from_dict(cls, data: dict, data_manager, playback_manager, worker_manager, scale: float = 1.0):
-    manager = cls(data_manager, playback_manager, worker_manager, scale)
-    manager.layout = manager._dict_to_layout(data)
-    return manager
-
-  def _dict_to_layout(self, data: dict) -> dict:
-    if data["type"] == "panel":
-      panel_data = data["panel"]
-      if panel_data["type"] == "timeseries":
-        panel = TimeSeriesPanel.load_from_dict(
-          panel_data, self.data_manager, self.playback_manager, self.worker_manager
-        )
-        return {"type": "panel", "panel": panel}
-      else:
-        # Handle future panel types here or make a general mapping
-        raise ValueError(f"Unknown panel type: {panel_data['type']}")
-    else:  # split
-      return {
-        "type": "split",
-        "orientation": data["orientation"],
-        "proportions": data["proportions"],
-        "children": [self._dict_to_layout(child) for child in data["children"]]
-      }
-
-  def create_ui(self):
-    self.active_panels.clear()
-    if dpg.does_item_exist(self.parent_tag):
-      dpg.delete_item(self.parent_tag, children_only=True)
-    self._cleanup_all_handlers()
-
-    container_width, container_height = dpg.get_item_rect_size(self.parent_tag)
-    if container_width == 0 and container_height == 0:
-      self._queue_resize = True
-    self._create_ui_recursive(self.layout, self.parent_tag, [], container_width, container_height)
-
-  def destroy_ui(self):
-    self._cleanup_ui_recursive(self.layout, [])
-    self._cleanup_all_handlers()
-    self.active_panels.clear()
-
-  def _cleanup_all_handlers(self):
-    for handler_tag in list(self._created_handler_tags):
-      if dpg.does_item_exist(handler_tag):
-        dpg.delete_item(handler_tag)
-    self._created_handler_tags.clear()
-
-  def _create_ui_recursive(self, layout: dict, parent_tag: str, path: list[int], width: int, height: int):
-    if layout["type"] == "panel":
-      self._create_panel_ui(layout, parent_tag, path, width, height)
-    else:
-      self._create_split_ui(layout, parent_tag, path, width, height)
-
-  def _create_panel_ui(self, layout: dict, parent_tag: str, path: list[int], width: int, height: int):
-    panel_tag = self._path_to_tag(path, "panel")
-    panel = layout["panel"]
-    self.active_panels.append(panel)
-    text_size = int(13 * self.scale)
-    bar_height = (text_size + 24) if width < int(329 * self.scale + 64) else (text_size + 8)  # adjust height to allow for scrollbar
-
-    with dpg.child_window(parent=parent_tag, border=False, width=-1, height=-1, no_scrollbar=True):
-      with dpg.group(horizontal=True):
-        with dpg.child_window(tag=panel_tag, width=-(text_size + 16), height=bar_height, horizontal_scrollbar=True, no_scroll_with_mouse=True, border=False):
-          with dpg.group(horizontal=True):
-            # if you change the widths make sure to change the sum of widths (currently 329 * scale)
-            dpg.add_input_text(default_value=panel.title, width=int(150 * self.scale), callback=lambda s, v: setattr(panel, "title", v))
-            dpg.add_combo(items=["Time Series"], default_value="Time Series", width=int(100 * self.scale))
-            dpg.add_button(label="Clear", callback=lambda: self.clear_panel(panel), width=int(40 * self.scale))
-            dpg.add_image_button(texture_tag="split_h_texture", callback=lambda: self.split_panel(path, 0), width=text_size, height=text_size)
-            dpg.add_image_button(texture_tag="split_v_texture", callback=lambda: self.split_panel(path, 1), width=text_size, height=text_size)
-        dpg.add_image_button(texture_tag="x_texture", callback=lambda: self.delete_panel(path), width=text_size, height=text_size)
-
-      dpg.add_separator()
-
-      content_tag = self._path_to_tag(path, "content")
-      with dpg.child_window(tag=content_tag, border=False, height=-1, width=-1, no_scrollbar=True):
-        panel.create_ui(content_tag)
-
-  def _create_split_ui(self, layout: dict, parent_tag: str, path: list[int], width: int, height: int):
-    split_tag = self._path_to_tag(path, "split")
-    orientation, _, pane_sizes = self._get_split_geometry(layout, (width, height))
-
-    with dpg.group(tag=split_tag, parent=parent_tag, horizontal=orientation == 0):
-      for i, child_layout in enumerate(layout["children"]):
-        child_path = path + [i]
-        container_tag = self._path_to_tag(child_path, "container")
-        pane_width, pane_height = [(pane_sizes[i], -1), (-1, pane_sizes[i])][orientation]  # fill 2nd dim up to the border
-        with dpg.child_window(tag=container_tag, width=pane_width, height=pane_height, border=False, no_scrollbar=True):
-          child_width, child_height = [(pane_sizes[i], height), (width, pane_sizes[i])][orientation]
-          self._create_ui_recursive(child_layout, container_tag, child_path, child_width, child_height)
-        if i < len(layout["children"]) - 1:
-          self._create_grip(split_tag, path, i, orientation)
-
-  def clear_panel(self, panel):
-    panel.clear()
-
-  def delete_panel(self, panel_path: list[int]):
-    if not panel_path:  # Root deletion
-      old_panel = self.layout["panel"]
-      old_panel.destroy_ui()
-      self.active_panels.remove(old_panel)
-      new_panel = TimeSeriesPanel(self.data_manager, self.playback_manager, self.worker_manager)
-      self.layout = {"type": "panel", "panel": new_panel}
-      self._rebuild_ui_at_path([])
-      return
-
-    parent, child_index = self._get_parent_and_index(panel_path)
-    layout_to_delete = parent["children"][child_index]
-    self._cleanup_ui_recursive(layout_to_delete, panel_path)
-
-    parent["children"].pop(child_index)
-    parent["proportions"].pop(child_index)
-
-    if len(parent["children"]) == 1:  # remove parent and collapse
-      remaining_child = parent["children"][0]
-      if len(panel_path) == 1:  # parent is at root level - promote remaining child to root
-        self.layout = remaining_child
-        self._rebuild_ui_at_path([])
-      else:  # replace parent with remaining child in grandparent
-        grandparent_path = panel_path[:-2]
-        parent_index = panel_path[-2]
-        self._replace_layout_at_path(grandparent_path + [parent_index], remaining_child)
-        self._rebuild_ui_at_path(grandparent_path + [parent_index])
-    else:  # redistribute proportions
-      equal_prop = 1.0 / len(parent["children"])
-      parent["proportions"] = [equal_prop] * len(parent["children"])
-      self._rebuild_ui_at_path(panel_path[:-1])
-
-  def split_panel(self, panel_path: list[int], orientation: int):
-    current_layout = self._get_layout_at_path(panel_path)
-    existing_panel = current_layout["panel"]
-    new_panel = TimeSeriesPanel(self.data_manager, self.playback_manager, self.worker_manager)
-    parent, child_index = self._get_parent_and_index(panel_path)
-
-    if parent is None:  # Root split
-      self.layout = {
-        "type": "split",
-        "orientation": orientation,
-        "children": [{"type": "panel", "panel": existing_panel}, {"type": "panel", "panel": new_panel}],
-        "proportions": [0.5, 0.5],
-      }
-      self._rebuild_ui_at_path([])
-    elif parent["type"] == "split" and parent["orientation"] == orientation:  # Same orientation - insert into existing split
-      parent["children"].insert(child_index + 1, {"type": "panel", "panel": new_panel})
-      parent["proportions"] = [1.0 / len(parent["children"])] * len(parent["children"])
-      self._rebuild_ui_at_path(panel_path[:-1])
-    else:  # Different orientation - create new split level
-      new_split = {"type": "split", "orientation": orientation, "children": [current_layout, {"type": "panel", "panel": new_panel}], "proportions": [0.5, 0.5]}
-      self._replace_layout_at_path(panel_path, new_split)
-      self._rebuild_ui_at_path(panel_path)
-
-  def _rebuild_ui_at_path(self, path: list[int]):
-    layout = self._get_layout_at_path(path)
-    if path:
-      container_tag = self._path_to_tag(path, "container")
-    else:  # Root update
-      container_tag = self.parent_tag
-
-    self._cleanup_ui_recursive(layout, path)
-    dpg.delete_item(container_tag, children_only=True)
-    width, height = dpg.get_item_rect_size(container_tag)
-    self._create_ui_recursive(layout, container_tag, path, width, height)
-
-  def _cleanup_ui_recursive(self, layout: dict, path: list[int]):
-    if layout["type"] == "panel":
-      panel = layout["panel"]
-      panel.destroy_ui()
-      if panel in self.active_panels:
-        self.active_panels.remove(panel)
-    else:
-      for i in range(len(layout["children"]) - 1):
-        handler_tag = f"{self._path_to_tag(path, f'grip_{i}')}_handler"
-        if dpg.does_item_exist(handler_tag):
-          dpg.delete_item(handler_tag)
-        self._created_handler_tags.discard(handler_tag)
-
-      for i, child in enumerate(layout["children"]):
-        self._cleanup_ui_recursive(child, path + [i])
-
-  def update_all_panels(self):
-    if self._queue_resize:
-      if (size := dpg.get_item_rect_size(self.parent_tag)) != [0, 0]:
-        self._queue_resize = False
-        self._resize_splits_recursive(self.layout, [], *size)
-    for panel in self.active_panels:
-      panel.update()
-
-  def on_viewport_resize(self):
-    self._resize_splits_recursive(self.layout, [])
-
-  def _resize_splits_recursive(self, layout: dict, path: list[int], width: int | None = None, height: int | None = None):
-    if layout["type"] == "split":
-      split_tag = self._path_to_tag(path, "split")
-      if dpg.does_item_exist(split_tag):
-        available_sizes = (width, height) if width and height else dpg.get_item_rect_size(dpg.get_item_parent(split_tag))
-        orientation, _, pane_sizes = self._get_split_geometry(layout, available_sizes)
-        size_properties = ("width", "height")
-
-        for i, child_layout in enumerate(layout["children"]):
-          child_path = path + [i]
-          container_tag = self._path_to_tag(child_path, "container")
-          if dpg.does_item_exist(container_tag):
-            dpg.configure_item(container_tag, **{size_properties[orientation]: pane_sizes[i]})
-            child_width, child_height = [(pane_sizes[i], available_sizes[1]), (available_sizes[0], pane_sizes[i])][orientation]
-            self._resize_splits_recursive(child_layout, child_path, child_width, child_height)
-    else:  # leaf node/panel - adjust bar height to allow for scrollbar
-      panel_tag = self._path_to_tag(path, "panel")
-      if width is not None and width < int(329 * self.scale + 64):  # scaled widths of the elements in top bar + fixed 8 padding on left and right of each item
-        dpg.configure_item(panel_tag, height=(int(13 * self.scale) + 24))
-      else:
-        dpg.configure_item(panel_tag, height=(int(13 * self.scale) + 8))
-
-  def _get_split_geometry(self, layout: dict, available_size: tuple[int, int]) -> tuple[int, int, list[int]]:
-    orientation = layout["orientation"]
-    num_grips = len(layout["children"]) - 1
-    usable_size = max(self.min_pane_size, available_size[orientation] - (num_grips * (self.grip_size + 8 * (2 - orientation))))  # approximate, scaling is weird
-    pane_sizes = [max(self.min_pane_size, int(usable_size * prop)) for prop in layout["proportions"]]
-    return orientation, usable_size, pane_sizes
-
-  def _get_layout_at_path(self, path: list[int]) -> dict:
-    current = self.layout
-    for index in path:
-      current = current["children"][index]
-    return current
-
-  def _get_parent_and_index(self, path: list[int]) -> tuple:
-    return (None, -1) if not path else (self._get_layout_at_path(path[:-1]), path[-1])
-
-  def _replace_layout_at_path(self, path: list[int], new_layout: dict):
-    if not path:
-      self.layout = new_layout
-    else:
-      parent, index = self._get_parent_and_index(path)
-      parent["children"][index] = new_layout
-
-  def _path_to_tag(self, path: list[int], prefix: str = "") -> str:
-    path_str = "_".join(map(str, path)) if path else "root"
-    return f"{prefix}_{path_str}" if prefix else path_str
-
-  def _create_grip(self, parent_tag: str, path: list[int], grip_index: int, orientation: int):
-    grip_tag = self._path_to_tag(path, f"grip_{grip_index}")
-    handler_tag = f"{grip_tag}_handler"
-    width, height = [(self.grip_size, -1), (-1, self.grip_size)][orientation]
-
-    with dpg.child_window(tag=grip_tag, parent=parent_tag, width=width, height=height, no_scrollbar=True, border=False):
-      button_tag = dpg.add_button(label="", width=-1, height=-1)
-
-    with dpg.item_handler_registry(tag=handler_tag):
-      user_data = (path, grip_index, orientation)
-      dpg.add_item_active_handler(callback=self._on_grip_drag, user_data=user_data)
-      dpg.add_item_deactivated_handler(callback=self._on_grip_end, user_data=user_data)
-    dpg.bind_item_handler_registry(button_tag, handler_tag)
-    self._created_handler_tags.add(handler_tag)
-
-  def _on_grip_drag(self, sender, app_data, user_data):
-    path, grip_index, orientation = user_data
-    layout = self._get_layout_at_path(path)
-
-    if "_drag_data" not in layout:
-      layout["_drag_data"] = {"initial_proportions": layout["proportions"][:], "start_mouse": dpg.get_mouse_pos(local=False)[orientation]}
-      return
-
-    drag_data = layout["_drag_data"]
-    split_tag = self._path_to_tag(path, "split")
-    if not dpg.does_item_exist(split_tag):
-      return
-
-    _, usable_size, _ = self._get_split_geometry(layout, dpg.get_item_rect_size(split_tag))
-    current_coord = dpg.get_mouse_pos(local=False)[orientation]
-    delta = current_coord - drag_data["start_mouse"]
-    delta_prop = delta / usable_size
-
-    left_idx = grip_index
-    right_idx = left_idx + 1
-    initial = drag_data["initial_proportions"]
-    min_prop = self.min_pane_size / usable_size
-
-    new_left = max(min_prop, initial[left_idx] + delta_prop)
-    new_right = max(min_prop, initial[right_idx] - delta_prop)
-
-    total_available = initial[left_idx] + initial[right_idx]
-    if new_left + new_right > total_available:
-      if new_left > new_right:
-        new_left = total_available - new_right
-      else:
-        new_right = total_available - new_left
-
-    layout["proportions"] = initial[:]
-    layout["proportions"][left_idx] = new_left
-    layout["proportions"][right_idx] = new_right
-
-    self._resize_splits_recursive(layout, path)
-
-  def _on_grip_end(self, sender, app_data, user_data):
-    path, _, _ = user_data
-    self._get_layout_at_path(path).pop("_drag_data", None)
diff --git a/tools/jotpluggler/layout_io.cc b/tools/jotpluggler/layout_io.cc
new file mode 100644
index 00000000000..f984c0f0e8e
--- /dev/null
+++ b/tools/jotpluggler/layout_io.cc
@@ -0,0 +1,128 @@
+#include "tools/jotpluggler/app.h"
+#include "tools/jotpluggler/common.h"
+
+#include <cmath>
+#include <iomanip>
+#include <sstream>
+#include <stdexcept>
+
+#include "third_party/json11/json11.hpp"
+
+namespace fs = std::filesystem;
+
+namespace {
+
+std::string curve_color_hex(const std::array<uint8_t, 3> &color) {
+  std::ostringstream hex;
+  hex << "#" << std::hex << std::setfill('0')
+      << std::setw(2) << static_cast<int>(color[0])
+      << std::setw(2) << static_cast<int>(color[1])
+      << std::setw(2) << static_cast<int>(color[2]);
+  return hex.str();
+}
+
+json11::Json curve_to_json(const Curve &curve) {
+  json11::Json::object obj = {
+    {"name", curve.name},
+    {"color", curve_color_hex(curve.color)},
+  };
+  if (curve.derivative) {
+    obj["transform"] = "derivative";
+    if (curve.derivative_dt > 0.0) {
+      obj["derivative_dt"] = curve.derivative_dt;
+    }
+  } else if (std::abs(curve.value_scale - 1.0) > 1.0e-9 || std::abs(curve.value_offset) > 1.0e-9) {
+    obj["transform"] = "scale";
+    obj["scale"] = curve.value_scale;
+    obj["offset"] = curve.value_offset;
+  }
+  if (curve.custom_python.has_value()) {
+    json11::Json::array additional_sources;
+    for (const std::string &path : curve.custom_python->additional_sources) {
+      additional_sources.push_back(path);
+    }
+    obj["custom_python"] = json11::Json::object{
+      {"linked_source", curve.custom_python->linked_source},
+      {"additional_sources", additional_sources},
+      {"globals_code", curve.custom_python->globals_code},
+      {"function_code", curve.custom_python->function_code},
+    };
+  }
+  return obj;
+}
+
+json11::Json workspace_node_to_json(const WorkspaceNode &node, const WorkspaceTab &tab) {
+  if (node.is_pane) {
+    if (node.pane_index < 0 || node.pane_index >= static_cast<int>(tab.panes.size())) {
+      return nullptr;
+    }
+    const Pane &pane = tab.panes[static_cast<size_t>(node.pane_index)];
+    json11::Json::object obj = {
+      {"title", pane.title.empty() ? std::string("...") : pane.title},
+    };
+    if (pane.kind == PaneKind::Map) {
+      obj["kind"] = "map";
+    } else if (pane.kind == PaneKind::Camera) {
+      obj["kind"] = "camera";
+      obj["camera_view"] = camera_view_spec(pane.camera_view).layout_name;
+    }
+    if (pane.range.valid) {
+      obj["range"] = json11::Json::object{
+        {"left", pane.range.left}, {"right", pane.range.right},
+        {"top", pane.range.top}, {"bottom", pane.range.bottom},
+      };
+    }
+    if (pane.range.has_y_limit_min || pane.range.has_y_limit_max) {
+      json11::Json::object limits;
+      if (pane.range.has_y_limit_min) {
+        limits["min"] = pane.range.y_limit_min;
+      }
+      if (pane.range.has_y_limit_max) {
+        limits["max"] = pane.range.y_limit_max;
+      }
+      obj["y_limits"] = limits;
+    }
+    json11::Json::array curves;
+    for (const Curve &curve : pane.curves) {
+      if (!curve.runtime_only) {
+        curves.push_back(curve_to_json(curve));
+      }
+    }
+    obj["curves"] = curves;
+    return obj;
+  }
+
+  if (node.children.empty()) return nullptr;
+  json11::Json::array sizes;
+  for (size_t i = 0; i < node.children.size(); ++i) {
+    sizes.push_back(i < node.sizes.size() ? static_cast<double>(node.sizes[i])
+                                          : 1.0 / static_cast<double>(node.children.size()));
+  }
+  json11::Json::array children;
+  for (const WorkspaceNode &child : node.children) {
+    children.push_back(workspace_node_to_json(child, tab));
+  }
+  return json11::Json::object{
+    {"split", node.orientation == SplitOrientation::Horizontal ? "horizontal" : "vertical"},
+    {"sizes", sizes},
+    {"children", children},
+  };
+}
+
+}  // namespace
+
+void save_layout_json(const SketchLayout &layout, const fs::path &path) {
+  ensure_parent_dir(path);
+  json11::Json::array tabs;
+  for (const WorkspaceTab &tab : layout.tabs) {
+    tabs.push_back(json11::Json::object{
+      {"name", tab.tab_name},
+      {"root", workspace_node_to_json(tab.root, tab)},
+    });
+  }
+  const json11::Json root = json11::Json::object{
+    {"current_tab_index", std::clamp(layout.current_tab_index, 0, std::max(0, static_cast<int>(layout.tabs.size()) - 1))},
+    {"tabs", tabs},
+  };
+  write_file_or_throw(path, root.dump() + "\n");
+}
diff --git a/tools/jotpluggler/layouts/.gitignore b/tools/jotpluggler/layouts/.gitignore
new file mode 100644
index 00000000000..a965bb777d6
--- /dev/null
+++ b/tools/jotpluggler/layouts/.gitignore
@@ -0,0 +1 @@
+.jotpluggler_autosave/
diff --git a/tools/jotpluggler/layouts/CAN-bus-debug.json b/tools/jotpluggler/layouts/CAN-bus-debug.json
new file mode 100644
index 00000000000..496993a1fd4
--- /dev/null
+++ b/tools/jotpluggler/layouts/CAN-bus-debug.json
@@ -0,0 +1 @@
+{"current_tab_index":0,"tabs":[{"name":"tab1","root":{"split":"vertical","sizes":[0.33362,0.33276,0.33362],"children":[{"title":"CAN RX","range":{"left":0.0,"right":60.526742,"top":1101.875,"bottom":-26.875},"curves":[{"name":"/pandaStates/0/canState0/totalRxCnt","color":"#f14cc1","transform":"derivative","derivative_dt":1.0},{"name":"/pandaStates/0/canState1/totalRxCnt","color":"#9467bd","transform":"derivative","derivative_dt":1.0},{"name":"/pandaStates/0/canState2/totalRxCnt","color":"#ff7f0e","transform":"derivative","derivative_dt":1.0}]},{"title":"CAN TX","range":{"left":0.0,"right":60.526742,"top":455.1,"bottom":-11.1},"curves":[{"name":"/pandaStates/0/canState0/totalTxCnt","color":"#17becf","transform":"derivative","derivative_dt":1.0},{"name":"/pandaStates/0/canState1/totalTxCnt","color":"#bcbd22","transform":"derivative","derivative_dt":1.0},{"name":"/pandaStates/0/canState2/totalTxCnt","color":"#1f77b4","transform":"derivative","derivative_dt":1.0}]},{"title":"CAN errors","range":{"left":0.0,"right":60.526742,"top":2515.35,"bottom":-61.35},"curves":[{"name":"/pandaStates/0/canState0/totalErrorCnt","color":"#1f77b4","transform":"derivative","derivative_dt":1.0},{"name":"/pandaStates/0/canState1/totalErrorCnt","color":"#d62728","transform":"derivative","derivative_dt":1.0},{"name":"/pandaStates/0/canState2/totalErrorCnt","color":"#1ac938","transform":"derivative","derivative_dt":1.0}]}]}}]}
diff --git a/tools/jotpluggler/layouts/camera-timings.json b/tools/jotpluggler/layouts/camera-timings.json
new file mode 100644
index 00000000000..64decf15d38
--- /dev/null
+++ b/tools/jotpluggler/layouts/camera-timings.json
@@ -0,0 +1 @@
+{"current_tab_index":0,"tabs":[{"name":"SOF / EOF (encodeIdx)","root":{"split":"vertical","sizes":[0.500885,0.499115],"children":[{"title":"...","range":{"left":0.0,"right":630.006367,"top":65000000.0,"bottom":35000000.0},"curves":[{"name":"/driverEncodeIdx/timestampSof","color":"#1f77b4","transform":"derivative","derivative_dt":1.0},{"name":"/roadEncodeIdx/timestampSof","color":"#d62728","transform":"derivative","derivative_dt":1.0},{"name":"/wideRoadEncodeIdx/timestampSof","color":"#1ac938","transform":"derivative","derivative_dt":1.0}],"y_limits":{"min":35000000.0,"max":65000000.0}},{"title":"...","range":{"left":0.0,"right":630.006367,"top":65000000.0,"bottom":35000000.0},"curves":[{"name":"/driverEncodeIdx/timestampEof","color":"#f14cc1","transform":"derivative","derivative_dt":1.0},{"name":"/roadEncodeIdx/timestampEof","color":"#9467bd","transform":"derivative","derivative_dt":1.0},{"name":"/wideRoadEncodeIdx/timestampEof","color":"#17becf","transform":"derivative","derivative_dt":1.0}],"y_limits":{"min":35000000.0,"max":65000000.0}}]}},{"name":"model timings","root":{"split":"vertical","sizes":[0.5,0.5],"children":[{"title":"...","range":{"left":0.0,"right":630.006367,"top":0.016865,"bottom":0.015143},"curves":[{"name":"/modelV2/modelExecutionTime","color":"#ff7f0e"}]},{"title":"...","range":{"left":0.0,"right":630.006367,"top":0.1,"bottom":-0.1},"curves":[{"name":"/modelV2/frameDropPerc","color":"#f14cc1"}]}]}},{"name":"sensor info","root":{"split":"vertical","sizes":[1.0],"children":[{"title":"...","range":{"left":0.0,"right":630.006367,"top":0.1,"bottom":-0.1},"curves":[{"name":"/driverCameraState/sensor","color":"#bcbd22"},{"name":"/roadCameraState/sensor","color":"#1f77b4"},{"name":"/wideRoadCameraState/sensor","color":"#d62728"}]}]}},{"name":"SOF / EOF (cameraState)","root":{"split":"vertical","sizes":[0.500885,0.499115],"children":[{"title":"...","range":{"left":0.0,"right":630.006367,"top":65000000.0,"bottom":35000000.0},"curves":[{"name":"/driverCameraState/timestampSof","color":"#1f77b4","transform":"derivative","derivative_dt":1.0},{"name":"/roadCameraState/timestampSof","color":"#d62728","transform":"derivative","derivative_dt":1.0},{"name":"/wideRoadCameraState/timestampSof","color":"#1ac938","transform":"derivative","derivative_dt":1.0}],"y_limits":{"min":35000000.0,"max":65000000.0}},{"title":"...","range":{"left":0.0,"right":630.006367,"top":65000000.0,"bottom":35000000.0},"curves":[{"name":"/driverCameraState/timestampEof","color":"#ff7f0e","transform":"derivative","derivative_dt":1.0},{"name":"/roadCameraState/timestampEof","color":"#f14cc1","transform":"derivative","derivative_dt":1.0},{"name":"/wideRoadCameraState/timestampEof","color":"#9467bd","transform":"derivative","derivative_dt":1.0}],"y_limits":{"min":35000000.0,"max":65000000.0}}]}}]}
diff --git a/tools/jotpluggler/layouts/cameras-and-map.json b/tools/jotpluggler/layouts/cameras-and-map.json
new file mode 100644
index 00000000000..68c590f7bc5
--- /dev/null
+++ b/tools/jotpluggler/layouts/cameras-and-map.json
@@ -0,0 +1 @@
+{"current_tab_index": 0, "tabs": [{"name": "tab1", "root": {"children": [{"children": [{"curves": [], "kind": "map", "title": "Map"}, {"camera_view": "road", "curves": [], "kind": "camera", "title": "Road Camera"}], "sizes": [0.5, 0.5], "split": "horizontal"}, {"children": [{"camera_view": "wide_road", "curves": [], "kind": "camera", "title": "Wide Road Camera"}, {"camera_view": "driver", "curves": [], "kind": "camera", "title": "Driver Camera"}], "sizes": [0.5, 0.5], "split": "horizontal"}], "sizes": [0.5, 0.5], "split": "vertical"}}]}
diff --git a/tools/jotpluggler/layouts/can-states.json b/tools/jotpluggler/layouts/can-states.json
new file mode 100644
index 00000000000..6f04940a335
--- /dev/null
+++ b/tools/jotpluggler/layouts/can-states.json
@@ -0,0 +1 @@
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diff --git a/tools/jotpluggler/layouts/controls_mismatch_debug.json b/tools/jotpluggler/layouts/controls_mismatch_debug.json
new file mode 100644
index 00000000000..16912cd6840
--- /dev/null
+++ b/tools/jotpluggler/layouts/controls_mismatch_debug.json
@@ -0,0 +1 @@
+{"current_tab_index":0,"tabs":[{"name":"tab1","root":{"split":"vertical","sizes":[0.2,0.2,0.2,0.2,0.2],"children":[{"title":"...","range":{"left":0.018309,"right":59.674401,"top":1.025,"bottom":-0.025},"curves":[{"name":"/carControl/enabled","color":"#1f77b4"},{"name":"/pandaStates/0/controlsAllowed","color":"#d62728"}]},{"title":"...","range":{"left":0.018309,"right":59.674401,"top":27.087398,"bottom":-0.905168},"curves":[{"name":"/carState/cumLagMs","color":"#9467bd"}]},{"title":"...","range":{"left":0.018309,"right":59.674401,"top":1.025,"bottom":-0.025},"curves":[{"name":"/pandaStates/0/safetyRxInvalid","color":"#1f77b4"},{"name":"/pandaStates/0/safetyRxChecksInvalid","color":"#e801ce"}]},{"title":"...","range":{"left":0.018309,"right":59.674401,"top":158.85,"bottom":-2.85},"curves":[{"name":"/pandaStates/0/safetyTxBlocked","color":"#d62728"}]},{"title":"...","range":{"left":0.018309,"right":59.674401,"top":1.025,"bottom":-0.025},"curves":[{"name":"/carState/gasPressed","color":"#1ac938"},{"name":"/carState/brakePressed","color":"#ff7f0e"}]}]}}]}
diff --git a/tools/jotpluggler/layouts/gps.json b/tools/jotpluggler/layouts/gps.json
new file mode 100644
index 00000000000..fdabbfd381c
--- /dev/null
+++ b/tools/jotpluggler/layouts/gps.json
@@ -0,0 +1 @@
+{"current_tab_index":0,"tabs":[{"name":"tab1","root":{"split":"vertical","sizes":[0.24977,0.250689,0.24977,0.24977],"children":[{"title":"...","range":{"left":0.0,"right":1678.753571,"top":1.025,"bottom":-0.025},"curves":[{"name":"/gpsLocationExternal/hasFix","color":"#1f77b4"}]},{"title":"...","range":{"left":0.0,"right":1678.753571,"top":17.425,"bottom":-0.425},"curves":[{"name":"/gpsLocationExternal/satelliteCount","color":"#d62728"}]},{"title":"...","range":{"left":0.0,"right":1678.753571,"top":3.0,"bottom":0.0},"curves":[{"name":"/gpsLocationExternal/horizontalAccuracy","color":"#1ac938"}],"y_limits":{"min":0.0,"max":3.0}},{"title":"...","range":{"left":0.0,"right":1678.753571,"top":766.374004,"bottom":-17.262},"curves":[{"name":"/gpsLocationExternal/horizontalAccuracy","color":"#1ac938"}]}]}}]}
diff --git a/tools/jotpluggler/layouts/gps_vs_llk.json b/tools/jotpluggler/layouts/gps_vs_llk.json
new file mode 100644
index 00000000000..878e0a57a81
--- /dev/null
+++ b/tools/jotpluggler/layouts/gps_vs_llk.json
@@ -0,0 +1 @@
+{"current_tab_index":0,"tabs":[{"name":"tab1","root":{"split":"vertical","sizes":[0.333805,0.33239,0.333805],"children":[{"title":"...","range":{"left":76.646983,"right":196.811937,"top":32.070386,"bottom":0.368228},"curves":[{"name":"haversine distance [m]","color":"#1f77b4","custom_python":{"linked_source":"/gpsLocationExternal/latitude","additional_sources":["/gpsLocationExternal/longitude","/liveLocationKalmanDEPRECATED/positionGeodetic/value/0","/liveLocationKalmanDEPRECATED/positionGeodetic/value/1"],"globals_code":"R = 6378.137 # Radius of earth in KM","function_code":"def __jotpluggler_eval_sample(time, value, v1, v2, v3):\n    global R\n    # Compute the Haversine distance between\n    # two points defined by latitude and longitude.\n    # Return the distance in meters\n    lat1, lon1 = value, v1\n    lat2, lon2 = v2, v3\n    dLat = (lat2 - lat1) * np.pi / 180\n    dLon = (lon2 - lon1) * np.pi / 180\n    a = np.sin(dLat/2) * np.sin(dLat/2) +\n    np.cos(lat1 * np.pi / 180) * np.cos(lat2 * np.pi / 180) *\n    np.sin(dLon/2) * np.sin(dLon/2)\n    c = 2 * np.arctan2(np.sqrt(a), np.sqrt(1-a))\n    d = R * c\n    distance = d * 1000 # meters\n    return distance\n\n__jotpluggler_result = np.empty_like(value, dtype=np.float64)\nfor __jotpluggler_i in range(len(value)):\n    __jotpluggler_result[__jotpluggler_i] = __jotpluggler_eval_sample(time[__jotpluggler_i], value[__jotpluggler_i], v1[__jotpluggler_i], v2[__jotpluggler_i], v3[__jotpluggler_i])\nreturn __jotpluggler_result"}}]},{"title":"...","range":{"left":76.646983,"right":196.811937,"top":12.637299,"bottom":-0.259115},"curves":[{"name":"/carState/vEgo","color":"#17becf"},{"name":"/gpsLocationExternal/speed","color":"#bcbd22"}]},{"split":"horizontal","sizes":[0.500516,0.499484],"children":[{"title":"...","range":{"left":76.646983,"right":196.811937,"top":0.1,"bottom":-0.1},"curves":[{"name":"/liveLocationKalmanDEPRECATED/positionGeodetic/std/0","color":"#d62728"},{"name":"/liveLocationKalmanDEPRECATED/positionGeodetic/std/1","color":"#1ac938"}]},{"title":"...","range":{"left":76.646983,"right":196.811937,"top":7.160833,"bottom":-0.449385},"curves":[{"name":"/gpsLocationExternal/horizontalAccuracy","color":"#ff7f0e"},{"name":"/gpsLocationExternal/verticalAccuracy","color":"#f14cc1"},{"name":"/gpsLocationExternal/speedAccuracy","color":"#9467bd"}]}]}]}}]}
diff --git a/tools/jotpluggler/layouts/locationd_debug.json b/tools/jotpluggler/layouts/locationd_debug.json
new file mode 100644
index 00000000000..0541427bc1e
--- /dev/null
+++ b/tools/jotpluggler/layouts/locationd_debug.json
@@ -0,0 +1 @@
+{"current_tab_index":0,"tabs":[{"name":"tab1","root":{"split":"vertical","sizes":[0.166588,0.167062,0.166113,0.166588,0.167062,0.166588],"children":[{"title":"...","range":{"left":0.0,"right":2280.128382,"top":1.025,"bottom":-0.025},"curves":[{"name":"/livePose/inputsOK","color":"#ff7f0e"}]},{"title":"...","range":{"left":0.0,"right":2280.128382,"top":14.542814,"bottom":-5.586039},"curves":[{"name":"/accelerometer/acceleration/v/0","color":"#f14cc1"},{"name":"/accelerometer/acceleration/v/1","color":"#9467bd"},{"name":"/accelerometer/acceleration/v/2","color":"#17becf"}]},{"title":"...","range":{"left":0.0,"right":2280.128382,"top":0.988911,"bottom":-0.745939},"curves":[{"name":"/gyroscope/gyroUncalibrated/v/0","color":"#d62728"},{"name":"/gyroscope/gyroUncalibrated/v/1","color":"#1ac938"},{"name":"/gyroscope/gyroUncalibrated/v/2","color":"#ff7f0e"}]},{"title":"...","range":{"left":0.0,"right":2280.128382,"top":1.025,"bottom":-0.025},"curves":[{"name":"/accelerometer/__valid","color":"#17becf"},{"name":"/gyroscope/__valid","color":"#bcbd22"},{"name":"/carState/__valid","color":"#f14cc1"},{"name":"/liveCalibration/__valid","color":"#1ac938"},{"name":"/cameraOdometry/__valid","color":"#9467bd"}]},{"title":"...","range":{"left":0.0,"right":2280.128382,"top":1000000000.292252,"bottom":999999999.735447},"curves":[{"name":"/gyroscope/__logMonoTime","color":"#1f77b4","transform":"derivative"},{"name":"/accelerometer/__logMonoTime","color":"#d62728","transform":"derivative"}]},{"title":"...","range":{"left":0.0,"right":2280.128382,"top":20790107743.93223,"bottom":-529653831.495853},"curves":[{"name":"/accelerometer/timestamp","color":"#bcbd22","transform":"derivative"},{"name":"/gyroscope/timestamp","color":"#1f77b4","transform":"derivative"}]}]}}]}
diff --git a/tools/jotpluggler/layouts/longitudinal.json b/tools/jotpluggler/layouts/longitudinal.json
new file mode 100644
index 00000000000..27f43eb3577
--- /dev/null
+++ b/tools/jotpluggler/layouts/longitudinal.json
@@ -0,0 +1 @@
+{"current_tab_index":0,"tabs":[{"name":"tab1","root":{"split":"vertical","sizes":[0.250401,0.249599,0.250401,0.249599],"children":[{"title":"...","range":{"left":104.907277,"right":126.285782,"top":1.391623,"bottom":-2.563614},"curves":[{"name":"/carState/aEgo","color":"#f14cc1"},{"name":"/longitudinalPlan/accels/0","color":"#9467bd"},{"name":"/carControl/actuators/accel","color":"#17becf"},{"name":"/carOutput/actuatorsOutput/accel","color":"#d62728"}]},{"title":"...","range":{"left":104.907277,"right":126.285782,"top":1.18496,"bottom":-1.811222},"curves":[{"name":"/controlsState/upAccelCmd","color":"#1f77b4"},{"name":"/controlsState/uiAccelCmd","color":"#d62728"},{"name":"/controlsState/ufAccelCmd","color":"#1ac938"}]},{"title":"...","range":{"left":104.907277,"right":126.285782,"top":15.862889,"bottom":-0.568809},"curves":[{"name":"/carState/vEgo","color":"#1ac938"},{"name":"/longitudinalPlan/speeds/0","color":"#ff7f0e"}]},{"title":"...","range":{"left":104.907277,"right":126.285782,"top":1.025,"bottom":-0.025},"curves":[{"name":"/carControl/longActive","color":"#1f77b4"},{"name":"/carState/gasPressed","color":"#d62728"}]}]}}]}
diff --git a/tools/jotpluggler/layouts/max-torque-debug.json b/tools/jotpluggler/layouts/max-torque-debug.json
new file mode 100644
index 00000000000..3a87fb3217b
--- /dev/null
+++ b/tools/jotpluggler/layouts/max-torque-debug.json
@@ -0,0 +1 @@
+{"current_tab_index":0,"tabs":[{"name":"tab1","root":{"split":"vertical","sizes":[0.249724,0.250829,0.249724,0.249724],"children":[{"title":"...","range":{"left":0.00045,"right":2483.624998,"top":6.050533,"bottom":-7.599037},"curves":[{"name":"Actual lateral accel (roll compensated)","color":"#1ac938","custom_python":{"linked_source":"/controlsState/curvature","additional_sources":["/carState/vEgo","/liveParameters/roll"],"globals_code":"","function_code":"def __jotpluggler_eval_sample(time, value, v1, v2):\n    return (value * v1 ** 2) - (v2 * 9.81)\n\n__jotpluggler_result = np.empty_like(value, dtype=np.float64)\nfor __jotpluggler_i in range(len(value)):\n    __jotpluggler_result[__jotpluggler_i] = __jotpluggler_eval_sample(time[__jotpluggler_i], value[__jotpluggler_i], v1[__jotpluggler_i], v2[__jotpluggler_i])\nreturn __jotpluggler_result"}},{"name":"Desired lateral accel (roll compensated)","color":"#ff7f0e","custom_python":{"linked_source":"/controlsState/desiredCurvature","additional_sources":["/carState/vEgo","/liveParameters/roll"],"globals_code":"","function_code":"def __jotpluggler_eval_sample(time, value, v1, v2):\n    return (value * v1 ** 2) - (v2 * 9.81)\n\n__jotpluggler_result = np.empty_like(value, dtype=np.float64)\nfor __jotpluggler_i in range(len(value)):\n    __jotpluggler_result[__jotpluggler_i] = __jotpluggler_eval_sample(time[__jotpluggler_i], value[__jotpluggler_i], v1[__jotpluggler_i], v2[__jotpluggler_i])\nreturn __jotpluggler_result"}}]},{"title":"...","range":{"left":0.00045,"right":2483.624998,"top":5.384416,"bottom":-7.503945},"curves":[{"name":"roll compensated lateral acceleration","color":"#1ac938","custom_python":{"linked_source":"/controlsState/curvature","additional_sources":["/carState/vEgo","/liveParameters/roll","/carState/steeringPressed","/carControl/latActive"],"globals_code":"","function_code":"def __jotpluggler_eval_sample(time, value, v1, v2, v3, v4):\n    if (v3 == 0 and v4 == 1):\n        return  (value * v1 ** 2) - (v2 * 9.81)\n    return 0\n\n__jotpluggler_result = np.empty_like(value, dtype=np.float64)\nfor __jotpluggler_i in range(len(value)):\n    __jotpluggler_result[__jotpluggler_i] = __jotpluggler_eval_sample(time[__jotpluggler_i], value[__jotpluggler_i], v1[__jotpluggler_i], v2[__jotpluggler_i], v3[__jotpluggler_i], v4[__jotpluggler_i])\nreturn __jotpluggler_result"}}]},{"title":"...","range":{"left":0.00045,"right":2483.624998,"top":1.05,"bottom":-1.05},"curves":[{"name":"/carState/steeringPressed","color":"#0097ff"},{"name":"/carOutput/actuatorsOutput/torque","color":"#d62728"}]},{"title":"...","range":{"left":0.00045,"right":2483.624998,"top":80.762969,"bottom":-2.181837},"curves":[{"name":"/carState/vEgo","color":"#f14cc1","transform":"scale","scale":2.23694,"offset":0.0}]}]}}]}
diff --git a/tools/jotpluggler/layouts/new-layout.json b/tools/jotpluggler/layouts/new-layout.json
new file mode 100644
index 00000000000..bffb62d7c76
--- /dev/null
+++ b/tools/jotpluggler/layouts/new-layout.json
@@ -0,0 +1 @@
+{"current_tab_index": 0, "tabs": [{"name": "tab1", "root": {"curves": [], "title": "..."}}]}
diff --git a/tools/jotpluggler/layouts/system_lag_debug.json b/tools/jotpluggler/layouts/system_lag_debug.json
new file mode 100644
index 00000000000..281de440faa
--- /dev/null
+++ b/tools/jotpluggler/layouts/system_lag_debug.json
@@ -0,0 +1 @@
+{"current_tab_index":0,"tabs":[{"name":"tab1","root":{"split":"vertical","sizes":[0.249729,0.250814,0.249729,0.249729],"children":[{"title":"...","range":{"left":0.0,"right":59.992103,"top":102.5,"bottom":-2.5},"curves":[{"name":"/deviceState/cpuUsagePercent/0","color":"#1f77b4"},{"name":"/deviceState/cpuUsagePercent/1","color":"#d62728"},{"name":"/deviceState/cpuUsagePercent/2","color":"#1ac938"},{"name":"/deviceState/cpuUsagePercent/3","color":"#ff7f0e"},{"name":"/deviceState/cpuUsagePercent/4","color":"#f14cc1"},{"name":"/deviceState/cpuUsagePercent/5","color":"#9467bd"},{"name":"/deviceState/cpuUsagePercent/6","color":"#17becf"},{"name":"/deviceState/cpuUsagePercent/7","color":"#bcbd22"}]},{"title":"...","range":{"left":0.0,"right":59.992103,"top":64.005001,"bottom":51.195},"curves":[{"name":"/deviceState/cpuTempC/0","color":"#d62728"},{"name":"/deviceState/cpuTempC/1","color":"#1ac938"},{"name":"/deviceState/cpuTempC/2","color":"#ff7f0e"},{"name":"/deviceState/cpuTempC/3","color":"#f14cc1"},{"name":"/deviceState/cpuTempC/4","color":"#9467bd"},{"name":"/deviceState/cpuTempC/5","color":"#17becf"},{"name":"/deviceState/cpuTempC/6","color":"#bcbd22"},{"name":"/deviceState/cpuTempC/7","color":"#1f77b4"},{"name":"/deviceState/gpuTempC/0","color":"#d62728"},{"name":"/deviceState/gpuTempC/1","color":"#1ac938"}]},{"title":"...","range":{"left":0.0,"right":59.992103,"top":37.371108,"bottom":-0.91149},"curves":[{"name":"/modelV2/frameDropPerc","color":"#f14cc1"}]},{"title":"...","range":{"left":0.0,"right":59.992103,"top":-3.593455,"bottom":-12.190956},"curves":[{"name":"/carState/cumLagMs","color":"#9467bd"}]}]}}]}
diff --git a/tools/jotpluggler/layouts/thermal_debug.json b/tools/jotpluggler/layouts/thermal_debug.json
new file mode 100644
index 00000000000..3a7ce454cf6
--- /dev/null
+++ b/tools/jotpluggler/layouts/thermal_debug.json
@@ -0,0 +1 @@
+{"current_tab_index":0,"tabs":[{"name":"tab1","root":{"split":"vertical","sizes":[0.166785,0.166785,0.166075,0.166785,0.166785,0.166785],"children":[{"title":"...","range":{"left":0.006955,"right":301.842654,"top":87.987497,"bottom":75.912497},"curves":[{"name":"/deviceState/cpuTempC/0","color":"#1f77b4"},{"name":"/deviceState/cpuTempC/1","color":"#d62728"},{"name":"/deviceState/cpuTempC/2","color":"#1ac938"},{"name":"/deviceState/cpuTempC/3","color":"#ff7f0e"},{"name":"/deviceState/cpuTempC/4","color":"#f14cc1"},{"name":"/deviceState/cpuTempC/5","color":"#9467bd"},{"name":"/deviceState/cpuTempC/6","color":"#17becf"},{"name":"/deviceState/cpuTempC/7","color":"#bcbd22"}]},{"title":"...","range":{"left":0.006955,"right":301.842654,"top":85.861052,"bottom":66.49695},"curves":[{"name":"/deviceState/pmicTempC/0","color":"#1f77b4"},{"name":"/deviceState/gpuTempC/0","color":"#d62728"},{"name":"/deviceState/gpuTempC/1","color":"#1ac938"},{"name":"/deviceState/memoryTempC","color":"#f14cc1"}]},{"title":"...","range":{"left":0.006955,"right":301.842654,"top":86.207876,"bottom":70.665918},"curves":[{"name":"/deviceState/maxTempC","color":"#1f77b4"}]},{"title":"...","range":{"left":0.006955,"right":301.842654,"top":1.025,"bottom":-0.025},"curves":[{"name":"/deviceState/thermalStatus","color":"#1f77b4"}]},{"split":"horizontal","sizes":[0.333124,0.333752,0.333124],"children":[{"title":"...","range":{"left":0.006955,"right":301.842654,"top":12.057358,"bottom":4.843517},"curves":[{"name":"/deviceState/powerDrawW","color":"#ff7f0e"}]},{"title":"...","range":{"left":0.006955,"right":301.842654,"top":100.0,"bottom":0.0},"curves":[{"name":"/deviceState/fanSpeedPercentDesired","color":"#9467bd"},{"name":"/pandaStates/0/fanPower","color":"#1f77b4"}],"y_limits":{"min":0.0,"max":100.0}},{"title":"...","range":{"left":0.006955,"right":301.842654,"top":5018.4,"bottom":255.6},"curves":[{"name":"/peripheralState/fanSpeedRpm","color":"#1f77b4"}]}]},{"split":"horizontal","sizes":[0.502513,0.497487],"children":[{"title":"...","range":{"left":0.006955,"right":301.842654,"top":100.025,"bottom":14.975},"curves":[{"name":"/deviceState/cpuUsagePercent/0","color":"#1f77b4"},{"name":"/deviceState/cpuUsagePercent/1","color":"#d62728"},{"name":"/deviceState/cpuUsagePercent/2","color":"#1ac938"},{"name":"/deviceState/cpuUsagePercent/3","color":"#ff7f0e"}]},{"title":"...","range":{"left":0.006955,"right":301.842654,"top":102.5,"bottom":-2.5},"curves":[{"name":"/deviceState/cpuUsagePercent/4","color":"#f14cc1"},{"name":"/deviceState/cpuUsagePercent/5","color":"#9467bd"},{"name":"/deviceState/cpuUsagePercent/6","color":"#17becf"},{"name":"/deviceState/cpuUsagePercent/7","color":"#bcbd22"}]}]}]}}]}
diff --git a/tools/jotpluggler/layouts/torque-controller.json b/tools/jotpluggler/layouts/torque-controller.json
new file mode 100644
index 00000000000..7e269e59e6c
--- /dev/null
+++ b/tools/jotpluggler/layouts/torque-controller.json
@@ -0,0 +1 @@
+{"current_tab_index":0,"tabs":[{"name":"Lateral Plan Conformance","root":{"split":"vertical","sizes":[0.250949,0.249051,0.250949,0.249051],"children":[{"title":"desired vs actual lateral acceleration (closer means better conformance to plan)","range":{"left":0.000194,"right":1138.891674,"top":1.858161,"bottom":-1.823407},"curves":[{"name":"/controlsState/lateralControlState/torqueState/actualLateralAccel","color":"#1f77b4"},{"name":"/controlsState/lateralControlState/torqueState/desiredLateralAccel","color":"#d62728"}]},{"title":"desired vs actual lateral acceleration, road-roll factored out (closer means better conformance to plan)","range":{"left":0.000194,"right":1138.891674,"top":2.749816,"bottom":-3.723091},"curves":[{"name":"Actual lateral accel (roll compensated)","color":"#1ac938","custom_python":{"linked_source":"/controlsState/curvature","additional_sources":["/carState/vEgo","/liveParameters/roll"],"globals_code":"","function_code":"def __jotpluggler_eval_sample(time, value, v1, v2):\n    return (value * v1 ** 2) - (v2 * 9.81)\n\n__jotpluggler_result = np.empty_like(value, dtype=np.float64)\nfor __jotpluggler_i in range(len(value)):\n    __jotpluggler_result[__jotpluggler_i] = __jotpluggler_eval_sample(time[__jotpluggler_i], value[__jotpluggler_i], v1[__jotpluggler_i], v2[__jotpluggler_i])\nreturn __jotpluggler_result"}},{"name":"Desired lateral accel (roll compensated)","color":"#ff7f0e","custom_python":{"linked_source":"/controlsState/desiredCurvature","additional_sources":["/carState/vEgo","/liveParameters/roll"],"globals_code":"","function_code":"def __jotpluggler_eval_sample(time, value, v1, v2):\n    return (value * v1 ** 2) - (v2 * 9.81)\n\n__jotpluggler_result = np.empty_like(value, dtype=np.float64)\nfor __jotpluggler_i in range(len(value)):\n    __jotpluggler_result[__jotpluggler_i] = __jotpluggler_eval_sample(time[__jotpluggler_i], value[__jotpluggler_i], v1[__jotpluggler_i], v2[__jotpluggler_i])\nreturn __jotpluggler_result"}}]},{"title":"controller feed-forward vs actuator output (closer means controller prediction is more accurate)","range":{"left":0.000194,"right":1138.891674,"top":1.978032,"bottom":-1.570956},"curves":[{"name":"/carOutput/actuatorsOutput/torque","color":"#9467bd","transform":"scale","scale":-1.0,"offset":0.0},{"name":"/controlsState/lateralControlState/torqueState/f","color":"#1f77b4"},{"name":"/carState/steeringPressed","color":"#ff000f"}]},{"title":"vehicle speed","range":{"left":0.000194,"right":1138.891674,"top":105.981304,"bottom":-2.709314},"curves":[{"name":"carState.vEgo mph","color":"#d62728","custom_python":{"linked_source":"/carState/vEgo","additional_sources":[],"globals_code":"","function_code":"def __jotpluggler_eval_sample(time, value):\n    return value * 2.23694\n\n__jotpluggler_result = np.empty_like(value, dtype=np.float64)\nfor __jotpluggler_i in range(len(value)):\n    __jotpluggler_result[__jotpluggler_i] = __jotpluggler_eval_sample(time[__jotpluggler_i], value[__jotpluggler_i])\nreturn __jotpluggler_result"}},{"name":"carState.vEgo kmh","color":"#1ac938","custom_python":{"linked_source":"/carState/vEgo","additional_sources":[],"globals_code":"","function_code":"def __jotpluggler_eval_sample(time, value):\n    return value * 3.6\n\n__jotpluggler_result = np.empty_like(value, dtype=np.float64)\nfor __jotpluggler_i in range(len(value)):\n    __jotpluggler_result[__jotpluggler_i] = __jotpluggler_eval_sample(time[__jotpluggler_i], value[__jotpluggler_i])\nreturn __jotpluggler_result"}},{"name":"/carState/vEgo","color":"#ff7f0e"}]}]}},{"name":"Vehicle Dynamics","root":{"split":"vertical","sizes":[0.334282,0.331437,0.334282],"children":[{"title":"configured-initial vs online-learned steerRatio, set configured value to match learned","range":{"left":0.0,"right":1138.816328,"top":19.665784,"bottom":19.359553},"curves":[{"name":"/carParams/steerRatio","color":"#1f77b4"},{"name":"/liveParameters/steerRatio","color":"#1ac938"}]},{"title":"configured-initial vs online-learned tireStiffnessRatio, set configured value to match learned","range":{"left":0.0,"right":1138.816328,"top":1.11221,"bottom":0.995631},"curves":[{"name":"/carParams/tireStiffnessFactor","color":"#d62728"},{"name":"/liveParameters/stiffnessFactor","color":"#ff7f0e"}]},{"title":"live steering angle offsets for straight-ahead driving, large values here may indicate alignment problems","range":{"left":0.0,"right":1138.816328,"top":-1.081041,"bottom":-4.494133},"curves":[{"name":"/liveParameters/angleOffsetAverageDeg","color":"#f14cc1"},{"name":"/liveParameters/angleOffsetDeg","color":"#9467bd"}]}]}},{"name":"Actuator Performance","root":{"split":"vertical","sizes":[0.333333,0.333333,0.333333],"children":[{"title":"offline-calculated vs online-learned lateral accel scaling factor, accel obtained from 100% actuator output","range":{"left":0.0,"right":1138.920072,"top":1.21611,"bottom":0.539474},"curves":[{"name":"/liveTorqueParameters/latAccelFactorFiltered","color":"#1f77b4"},{"name":"/liveTorqueParameters/latAccelFactorRaw","color":"#d62728"},{"name":"/carParams/lateralTuning/torque/latAccelFactor","color":"#1c9222"}]},{"title":"learned lateral accel offset, vehicle-specific compensation to obtain true zero lateral accel","range":{"left":0.0,"right":1138.920072,"top":-0.304367,"bottom":-0.418688},"curves":[{"name":"/liveTorqueParameters/latAccelOffsetFiltered","color":"#1ac938"},{"name":"/liveTorqueParameters/latAccelOffsetRaw","color":"#ff7f0e"}]},{"title":"offline-calculated vs online-learned EPS friction factor, necessary to start moving the steering wheel","range":{"left":0.0,"right":1138.920072,"top":0.226389,"bottom":0.15805},"curves":[{"name":"/liveTorqueParameters/frictionCoefficientFiltered","color":"#f14cc1"},{"name":"/liveTorqueParameters/frictionCoefficientRaw","color":"#9467bd"},{"name":"/carParams/lateralTuning/torque/friction","color":"#1c9222"}]}]}},{"name":"Actuator Delay","root":{"split":"vertical","sizes":[0.30441,0.358464,0.337127],"children":[{"title":"actuator lag learning state, 0 = learning, 1 = learned/applying, 2 = invalid","range":{"left":0.0,"right":1138.749979,"top":1.025,"bottom":-0.025},"curves":[{"name":"/liveDelay/status","color":"#ff7f0e"}]},{"title":"offline default vs online estimated steering actuator lag","range":{"left":0.0,"right":1138.749979,"top":0.419648,"bottom":0.318362},"curves":[{"name":"/liveDelay/lateralDelay","color":"#1f77b4"},{"name":"/liveDelay/lateralDelayEstimate","color":"#d62728"},{"name":"opendbc default steering lag","color":"#1ac938","custom_python":{"linked_source":"/carParams/steerActuatorDelay","additional_sources":[],"globals_code":"","function_code":"def __jotpluggler_eval_sample(time, value):\n    return value + 0.2\n\n__jotpluggler_result = np.empty_like(value, dtype=np.float64)\nfor __jotpluggler_i in range(len(value)):\n    __jotpluggler_result[__jotpluggler_i] = __jotpluggler_eval_sample(time[__jotpluggler_i], value[__jotpluggler_i])\nreturn __jotpluggler_result"}}]},{"title":"online estimated steering actuator lag, standard deviation","range":{"left":0.0,"right":1138.749979,"top":0.06732,"bottom":-0.001642},"curves":[{"name":"/liveDelay/lateralDelayEstimateStd","color":"#f14cc1"}]}]}},{"name":"Controls Performance","root":{"split":"vertical","sizes":[0.265655,0.251898,0.245731,0.236717],"children":[{"title":"rate-of-change limits on steering actuator (blue = original, green = rate-limited before CAN output)","range":{"left":0.000194,"right":1138.891921,"top":1.05,"bottom":-1.05},"curves":[{"name":"/carControl/actuators/torque","color":"#0c00f2"},{"name":"/carOutput/actuatorsOutput/torque","color":"#2cd63a"}]},{"title":"controller feed-forward vs actuator output (closer means controller prediction is more accurate)","range":{"left":0.000194,"right":1138.891921,"top":1.978032,"bottom":-1.570956},"curves":[{"name":"/carOutput/actuatorsOutput/torque","color":"#9467bd","transform":"scale","scale":-1.0,"offset":0.0},{"name":"/controlsState/lateralControlState/torqueState/f","color":"#1f77b4"},{"name":"/carState/steeringPressed","color":"#ff000f"}]},{"title":"proportional, integral, and feed-forward terms (actuator output = sum of PIF terms)","range":{"left":0.000194,"right":1138.891921,"top":2.099784,"bottom":-4.027542},"curves":[{"name":"/controlsState/lateralControlState/torqueState/f","color":"#0ab027"},{"name":"/controlsState/lateralControlState/torqueState/p","color":"#d62728"},{"name":"/controlsState/lateralControlState/torqueState/i","color":"#ffaf00"},{"name":"Zero","color":"#756a6a","custom_python":{"linked_source":"/carState/canValid","additional_sources":[],"globals_code":"","function_code":"def __jotpluggler_eval_sample(time, value):\n    return (0)\n\n__jotpluggler_result = np.empty_like(value, dtype=np.float64)\nfor __jotpluggler_i in range(len(value)):\n    __jotpluggler_result[__jotpluggler_i] = __jotpluggler_eval_sample(time[__jotpluggler_i], value[__jotpluggler_i])\nreturn __jotpluggler_result"}}]},{"title":"road roll angle, from openpilot localizer","range":{"left":0.000194,"right":1138.891921,"top":0.109446,"bottom":-0.045525},"curves":[{"name":"/liveParameters/roll","color":"#f14cc1"}]}]}}]}
diff --git a/tools/jotpluggler/layouts/torque-controller.yaml b/tools/jotpluggler/layouts/torque-controller.yaml
deleted file mode 100644
index 5503be9e64c..00000000000
--- a/tools/jotpluggler/layouts/torque-controller.yaml
+++ /dev/null
@@ -1,128 +0,0 @@
-tabs:
-  '0':
-    name: Lateral Plan Conformance
-    panel_layout:
-      type: split
-      orientation: 1
-      proportions:
-      - 0.3333333333333333
-      - 0.3333333333333333
-      - 0.3333333333333333
-      children:
-      - type: panel
-        panel:
-          type: timeseries
-          title: desired vs actual
-          series_paths:
-          - controlsState/lateralControlState/torqueState/desiredLateralAccel
-          - controlsState/lateralControlState/torqueState/actualLateralAccel
-      - type: panel
-        panel:
-          type: timeseries
-          title: ff vs output
-          series_paths:
-          - controlsState/lateralControlState/torqueState/f
-          - carState/steeringPressed
-          - carControl/actuators/torque
-      - type: panel
-        panel:
-          type: timeseries
-          title: vehicle speed
-          series_paths:
-          - carState/vEgo
-  '1':
-    name: Actuator Performance
-    panel_layout:
-      type: split
-      orientation: 1
-      proportions:
-      - 0.3333333333333333
-      - 0.3333333333333333
-      - 0.3333333333333333
-      children:
-      - type: panel
-        panel:
-          type: timeseries
-          title: calc vs learned latAccelFactor
-          series_paths:
-          - liveTorqueParameters/latAccelFactorFiltered
-          - liveTorqueParameters/latAccelFactorRaw
-          - carParams/lateralTuning/torque/latAccelFactor
-      - type: panel
-        panel:
-          type: timeseries
-          title: learned latAccelOffset
-          series_paths:
-          - liveTorqueParameters/latAccelOffsetRaw
-          - liveTorqueParameters/latAccelOffsetFiltered
-      - type: panel
-        panel:
-          type: timeseries
-          title: calc vs learned friction
-          series_paths:
-          - liveTorqueParameters/frictionCoefficientFiltered
-          - liveTorqueParameters/frictionCoefficientRaw
-          - carParams/lateralTuning/torque/friction
-  '2':
-    name: Vehicle Dynamics
-    panel_layout:
-      type: split
-      orientation: 1
-      proportions:
-      - 0.3333333333333333
-      - 0.3333333333333333
-      - 0.3333333333333333
-      children:
-      - type: panel
-        panel:
-          type: timeseries
-          title: initial vs learned steerRatio
-          series_paths:
-          - carParams/steerRatio
-          - liveParameters/steerRatio
-      - type: panel
-        panel:
-          type: timeseries
-          title: initial vs learned tireStiffnessFactor
-          series_paths:
-          - carParams/tireStiffnessFactor
-          - liveParameters/stiffnessFactor
-      - type: panel
-        panel:
-          type: timeseries
-          title: live steering angle offsets
-          series_paths:
-          - liveParameters/angleOffsetDeg
-          - liveParameters/angleOffsetAverageDeg
-  '3':
-    name: Controller PIF Terms
-    panel_layout:
-      type: split
-      orientation: 1
-      proportions:
-      - 0.3333333333333333
-      - 0.3333333333333333
-      - 0.3333333333333333
-      children:
-      - type: panel
-        panel:
-          type: timeseries
-          title: ff vs output
-          series_paths:
-          - carControl/actuators/torque
-          - controlsState/lateralControlState/torqueState/f
-          - carState/steeringPressed
-      - type: panel
-        panel:
-          type: timeseries
-          title: PIF terms
-          series_paths:
-          - controlsState/lateralControlState/torqueState/f
-          - controlsState/lateralControlState/torqueState/p
-          - controlsState/lateralControlState/torqueState/i
-      - type: panel
-        panel:
-          type: timeseries
-          title: road roll angle
-          series_paths:
-          - liveParameters/roll
diff --git a/tools/jotpluggler/layouts/tuning.json b/tools/jotpluggler/layouts/tuning.json
new file mode 100644
index 00000000000..0a8e81743eb
--- /dev/null
+++ b/tools/jotpluggler/layouts/tuning.json
@@ -0,0 +1 @@
+{"current_tab_index":0,"tabs":[{"name":"Lateral","root":{"split":"vertical","sizes":[0.200458,0.199313,0.200458,0.199313,0.200458],"children":[{"title":"Velocity [m/s]","range":{"left":1.253354,"right":631.055584,"top":29.954036,"bottom":-0.841715},"curves":[{"name":"/carState/vEgo","color":"#0072b2"}]},{"title":"Curvature [1/m] True [blue] Vehicle Model [purple] Plan [green]","range":{"left":0.0,"right":631.055209,"top":0.006648,"bottom":-0.00315},"curves":[{"name":"engaged curvature plan","color":"#009e73","custom_python":{"linked_source":"/modelV2/action/desiredCurvature","additional_sources":["/carState/steeringPressed","/carControl/enabled"],"globals_code":"engage_delay = 5\nlast_bad_time = -engage_delay","function_code":"def __jotpluggler_eval_sample(time, value, v1, v2):\n    global engage_delay, last_bad_time\n    curvature = value\n    pressed = v1\n    enabled = v2\n    if (pressed == 1 or enabled == 0):\n        last_bad_time = time\n    if (time > last_bad_time + engage_delay):\n        return value\n    else:\n        return 0\n\n__jotpluggler_result = np.empty_like(value, dtype=np.float64)\nfor __jotpluggler_i in range(len(value)):\n    __jotpluggler_result[__jotpluggler_i] = __jotpluggler_eval_sample(time[__jotpluggler_i], value[__jotpluggler_i], v1[__jotpluggler_i], v2[__jotpluggler_i])\nreturn __jotpluggler_result"}},{"name":"engaged curvature vehicle model","color":"#785ef0","custom_python":{"linked_source":"/controlsState/curvature","additional_sources":["/carState/steeringPressed","/carControl/enabled"],"globals_code":"engage_delay = 5\nlast_bad_time = -engage_delay","function_code":"def __jotpluggler_eval_sample(time, value, v1, v2):\n    global engage_delay, last_bad_time\n    curvature = value\n    pressed = v1\n    enabled = v2\n    if (pressed == 1 or enabled == 0):\n        last_bad_time = time\n    if (time > last_bad_time + engage_delay):\n        return value\n    else:\n        return 0\n\n__jotpluggler_result = np.empty_like(value, dtype=np.float64)\nfor __jotpluggler_i in range(len(value)):\n    __jotpluggler_result[__jotpluggler_i] = __jotpluggler_eval_sample(time[__jotpluggler_i], value[__jotpluggler_i], v1[__jotpluggler_i], v2[__jotpluggler_i])\nreturn __jotpluggler_result"}},{"name":"engaged curvature yaw","color":"#0072b2","custom_python":{"linked_source":"/carControl/angularVelocity/2","additional_sources":["/carState/steeringPressed","/carControl/enabled","/carState/vEgo"],"globals_code":"engage_delay = 5\nlast_bad_time = -engage_delay","function_code":"def __jotpluggler_eval_sample(time, value, v1, v2, v3):\n    global engage_delay, last_bad_time\n    curvature = value / v3\n    pressed = v1\n    enabled = v2\n    if (pressed == 1 or enabled == 0):\n        last_bad_time = time\n    if (time > last_bad_time + engage_delay):\n        return curvature\n    else:\n        return 0\n\n__jotpluggler_result = np.empty_like(value, dtype=np.float64)\nfor __jotpluggler_i in range(len(value)):\n    __jotpluggler_result[__jotpluggler_i] = __jotpluggler_eval_sample(time[__jotpluggler_i], value[__jotpluggler_i], v1[__jotpluggler_i], v2[__jotpluggler_i], v3[__jotpluggler_i])\nreturn __jotpluggler_result"}}]},{"title":"Roll [rad]","range":{"left":0.0,"right":631.038276,"top":0.166067,"bottom":-1.598381},"curves":[{"name":"/carControl/orientationNED/0","color":"#ffb000"}]},{"title":"Engaged [green] Steering Pressed [blue]","range":{"left":1.252984,"right":631.055584,"top":1.025,"bottom":-0.025},"curves":[{"name":"/selfdriveState/enabled","color":"#009e73"},{"name":"/carState/steeringPressed","color":"#0072b2"}]},{"title":"Steering Limited: Rate [orange] Saturated [magenta]","range":{"left":1.253354,"right":631.055584,"top":1.025,"bottom":-0.025},"curves":[{"name":"steering rate limited","color":"#ffb000","custom_python":{"linked_source":"/carControl/actuators/torque","additional_sources":["/carOutput/actuatorsOutput/torque","/carControl/actuators/steeringAngleDeg","/carOutput/actuatorsOutput/steeringAngleDeg"],"globals_code":"","function_code":"def __jotpluggler_eval_sample(time, value, v1, v2, v3):\n    return (np.abs(value - v1) > 0.001 or np.abs(v2 - v3) > 0.05) and 1 or 0\n\n__jotpluggler_result = np.empty_like(value, dtype=np.float64)\nfor __jotpluggler_i in range(len(value)):\n    __jotpluggler_result[__jotpluggler_i] = __jotpluggler_eval_sample(time[__jotpluggler_i], value[__jotpluggler_i], v1[__jotpluggler_i], v2[__jotpluggler_i], v3[__jotpluggler_i])\nreturn __jotpluggler_result"}},{"name":"/controlsState/lateralControlState/pidState/saturated","color":"#dc267f"}]}]}},{"name":"Longitudinal","root":{"split":"vertical","sizes":[0.1875,0.1875,0.1875,0.1875,0.25],"children":[{"title":"Velocity [m/s] True [blue] Plan [green] Cruise [magenta]","range":{"left":0.0,"right":631.055584,"top":42.713492,"bottom":-1.041792},"curves":[{"name":"/carState/cruiseState/speed","color":"#dc267f"},{"name":"/longitudinalPlan/speeds/0","color":"#009e73"},{"name":"/carState/vEgo","color":"#0072b2"}]},{"title":"Acceleration [m/s^2] True [blue] Actuator [purple] Plan [green]","range":{"left":1.253354,"right":631.055759,"top":0.808303,"bottom":-1.213305},"curves":[{"name":"engaged_accel_plan","color":"#009e73","custom_python":{"linked_source":"/longitudinalPlan/accels/0","additional_sources":["/carState/brakePressed","/carState/gasPressed","/carControl/enabled"],"globals_code":"engage_delay = 5\nlast_bad_time = -engage_delay","function_code":"def __jotpluggler_eval_sample(time, value, v1, v2, v3):\n    global engage_delay, last_bad_time\n    accel = value\n    brake = v1\n    gas = v2\n    enabled = v3\n    if (brake != 0 or gas != 0 or enabled == 0):\n        last_bad_time = time\n    if (time > last_bad_time + engage_delay):\n        return value\n    else:\n        return 0\n\n__jotpluggler_result = np.empty_like(value, dtype=np.float64)\nfor __jotpluggler_i in range(len(value)):\n    __jotpluggler_result[__jotpluggler_i] = __jotpluggler_eval_sample(time[__jotpluggler_i], value[__jotpluggler_i], v1[__jotpluggler_i], v2[__jotpluggler_i], v3[__jotpluggler_i])\nreturn __jotpluggler_result"}},{"name":"engaged_accel_actuator","color":"#785ef0","custom_python":{"linked_source":"/carControl/actuators/accel","additional_sources":["/carState/brakePressed","/carState/gasPressed","/carControl/enabled"],"globals_code":"engage_delay = 5\nlast_bad_time = -engage_delay","function_code":"def __jotpluggler_eval_sample(time, value, v1, v2, v3):\n    global engage_delay, last_bad_time\n    accel = value\n    brake = v1\n    gas = v2\n    enabled = v3\n    if (brake != 0 or gas != 0 or enabled == 0):\n        last_bad_time = time\n    if (time > last_bad_time + engage_delay):\n        return value\n    else:\n        return 0\n\n__jotpluggler_result = np.empty_like(value, dtype=np.float64)\nfor __jotpluggler_i in range(len(value)):\n    __jotpluggler_result[__jotpluggler_i] = __jotpluggler_eval_sample(time[__jotpluggler_i], value[__jotpluggler_i], v1[__jotpluggler_i], v2[__jotpluggler_i], v3[__jotpluggler_i])\nreturn __jotpluggler_result"}},{"name":"engaged_accel_actual","color":"#0072b2","custom_python":{"linked_source":"/carState/aEgo","additional_sources":["/carState/brakePressed","/carState/gasPressed","/carControl/enabled"],"globals_code":"engage_delay = 5\nlast_bad_time = -engage_delay","function_code":"def __jotpluggler_eval_sample(time, value, v1, v2, v3):\n    global engage_delay, last_bad_time\n    accel = value\n    brake = v1\n    gas = v2\n    enabled = v3\n    if (brake != 0 or gas != 0 or enabled == 0):\n        last_bad_time = time\n    if (time > last_bad_time + engage_delay):\n        return value\n    else:\n        return 0\n\n__jotpluggler_result = np.empty_like(value, dtype=np.float64)\nfor __jotpluggler_i in range(len(value)):\n    __jotpluggler_result[__jotpluggler_i] = __jotpluggler_eval_sample(time[__jotpluggler_i], value[__jotpluggler_i], v1[__jotpluggler_i], v2[__jotpluggler_i], v3[__jotpluggler_i])\nreturn __jotpluggler_result"}}]},{"title":"Pitch [rad]","range":{"left":0.0,"right":631.038276,"top":0.158854,"bottom":-0.594843},"curves":[{"name":"/carControl/orientationNED/1","color":"#ffb000"}]},{"title":"Engaged [green] Gas [orange] Brake [magenta]","range":{"left":1.253354,"right":631.055759,"top":1.025,"bottom":-0.025},"curves":[{"name":"/carControl/enabled","color":"#009e73"},{"name":"/carState/gasPressed","color":"#ffb000"},{"name":"/carState/brakePressed","color":"#dc267f"}]},{"title":"State [blue: off,pid,stop,start] Source [green: cruise,lead0,lead1,lead2,e2e]","range":{"left":1.25362,"right":631.055759,"top":5.125,"bottom":-0.125},"curves":[{"name":"/carControl/actuators/longControlState","color":"#0072b2"},{"name":"/longitudinalPlan/longitudinalPlanSource","color":"#009e73"}]}]}},{"name":"Lateral Debug","root":{"split":"vertical","sizes":[0.25,0.25,0.25,0.25],"children":[{"title":"Controller F [magenta] P [purple] I [blue]","range":{"left":0.0,"right":1.0,"top":1.0,"bottom":0.0},"curves":[{"name":"/controlsState/lateralControlState/pidState/f","color":"#f14cc1"},{"name":"/controlsState/lateralControlState/pidState/p","color":"#9467bd"},{"name":"/controlsState/lateralControlState/pidState/i","color":"#17becf"}]},{"title":"Driver Torque [blue] EPS Torque [green]","range":{"left":1.253354,"right":631.055584,"top":2690.99903,"bottom":-3450.198981},"curves":[{"name":"/carState/steeringTorqueEps","color":"#009e73"},{"name":"/carState/steeringTorque","color":"#0072b2"}]},{"title":"Engaged [green] Steering Pressed [blue]","range":{"left":1.253354,"right":631.055759,"top":1.025,"bottom":-0.025},"curves":[{"name":"/carControl/enabled","color":"#009e73"},{"name":"/carState/steeringPressed","color":"#0072b2"}]},{"title":"Steering Limited: Rate [orange] Saturated [magenta]","range":{"left":1.253354,"right":631.055584,"top":1.025,"bottom":-0.025},"curves":[{"name":"steering rate limited","color":"#ffb000","custom_python":{"linked_source":"/carControl/actuators/torque","additional_sources":["/carOutput/actuatorsOutput/torque","/carControl/actuators/steeringAngleDeg","/carOutput/actuatorsOutput/steeringAngleDeg"],"globals_code":"","function_code":"def __jotpluggler_eval_sample(time, value, v1, v2, v3):\n    return (np.abs(value - v1) > 0.001 or np.abs(v2 - v3) > 0.05) and 1 or 0\n\n__jotpluggler_result = np.empty_like(value, dtype=np.float64)\nfor __jotpluggler_i in range(len(value)):\n    __jotpluggler_result[__jotpluggler_i] = __jotpluggler_eval_sample(time[__jotpluggler_i], value[__jotpluggler_i], v1[__jotpluggler_i], v2[__jotpluggler_i], v3[__jotpluggler_i])\nreturn __jotpluggler_result"}},{"name":"/controlsState/lateralControlState/pidState/saturated","color":"#dc267f"}]}]}}]}
diff --git a/tools/jotpluggler/layouts/ublox-debug.json b/tools/jotpluggler/layouts/ublox-debug.json
new file mode 100644
index 00000000000..4509a192df1
--- /dev/null
+++ b/tools/jotpluggler/layouts/ublox-debug.json
@@ -0,0 +1 @@
+{"current_tab_index":0,"tabs":[{"name":"tab1","root":{"split":"vertical","sizes":[0.333333,0.333333,0.333333],"children":[{"title":"...","range":{"left":0.0,"right":134.825489,"top":4402341.574525,"bottom":-107369.555525},"curves":[{"name":"/gpsLocationExternal/horizontalAccuracy","color":"#1f77b4"}]},{"title":"...","range":{"left":0.0,"right":134.825489,"top":1.025,"bottom":-0.025},"curves":[{"name":"/gpsLocationExternal/flags","color":"#d62728"}]},{"title":"...","range":{"left":0.0,"right":134.825489,"top":6.15,"bottom":-0.15},"curves":[{"name":"/ubloxGnss/measurementReport/numMeas","color":"#1ac938"}]}]}}]}
diff --git a/tools/jotpluggler/logs.cc b/tools/jotpluggler/logs.cc
new file mode 100644
index 00000000000..4da1cbf501a
--- /dev/null
+++ b/tools/jotpluggler/logs.cc
@@ -0,0 +1,419 @@
+#include "tools/jotpluggler/app.h"
+
+#include <cmath>
+#include <ctime>
+
+namespace {
+
+struct LevelOption {
+  const char *label;
+  int value;
+};
+
+constexpr std::array<LevelOption, 5> LEVEL_OPTIONS = {{
+  {"DEBUG", 10},
+  {"INFO", 20},
+  {"WARNING", 30},
+  {"ERROR", 40},
+  {"CRITICAL", 50},
+}};
+constexpr uint32_t ALL_LEVEL_MASK = (1u << LEVEL_OPTIONS.size()) - 1u;
+
+bool log_matches_search(const LogEntry &entry, std::string_view query) {
+  if (query.empty()) return true;
+  const std::string needle = lowercase_copy(query);
+  const auto contains = [&](std::string_view haystack) {
+    return lowercase_copy(haystack).find(needle) != std::string::npos;
+  };
+  return contains(entry.message) || contains(entry.source) || contains(entry.func);
+}
+
+std::vector<std::string> collect_log_sources(const std::vector<LogEntry> &logs) {
+  std::vector<std::string> sources;
+  for (const LogEntry &entry : logs) {
+    if (entry.source.empty()) continue;
+    if (std::find(sources.begin(), sources.end(), entry.source) == sources.end()) {
+      sources.push_back(entry.source);
+    }
+  }
+  std::sort(sources.begin(), sources.end());
+  return sources;
+}
+
+std::vector<int> filter_log_indices(const RouteData &route_data, const LogsUiState &logs_state) {
+  std::vector<int> indices;
+  indices.reserve(route_data.logs.size());
+  for (size_t i = 0; i < route_data.logs.size(); ++i) {
+    const LogEntry &entry = route_data.logs[i];
+    int level_index = 0;
+    if (entry.level >= 50) {
+      level_index = 4;
+    } else if (entry.level >= 40) {
+      level_index = 3;
+    } else if (entry.level >= 30) {
+      level_index = 2;
+    } else if (entry.level >= 20) {
+      level_index = 1;
+    }
+    if ((logs_state.enabled_levels_mask & (1u << level_index)) == 0) {
+      continue;
+    }
+    if (!logs_state.all_sources) {
+      const auto it = std::find(logs_state.selected_sources.begin(),
+                                logs_state.selected_sources.end(),
+                                entry.source);
+      if (it == logs_state.selected_sources.end()) continue;
+    }
+    if (!log_matches_search(entry, logs_state.search)) continue;
+    indices.push_back(static_cast<int>(i));
+  }
+  return indices;
+}
+
+int find_active_log_position(const RouteData &route_data,
+                             const std::vector<int> &filtered_indices,
+                             double tracker_time) {
+  if (filtered_indices.empty()) return -1;
+  auto it = std::lower_bound(filtered_indices.begin(), filtered_indices.end(), tracker_time,
+                             [&](int log_index, double tm) {
+                               return route_data.logs[static_cast<size_t>(log_index)].mono_time < tm;
+                             });
+  if (it == filtered_indices.begin()) return static_cast<int>(std::distance(filtered_indices.begin(), it));
+  if (it == filtered_indices.end()) return static_cast<int>(filtered_indices.size()) - 1;
+  if (route_data.logs[static_cast<size_t>(*it)].mono_time > tracker_time) {
+    --it;
+  }
+  return static_cast<int>(std::distance(filtered_indices.begin(), it));
+}
+
+std::string format_route_time(double seconds) {
+  if (seconds < 0.0) {
+    seconds = 0.0;
+  }
+  const int minutes = static_cast<int>(seconds / 60.0);
+  const double remaining = seconds - static_cast<double>(minutes) * 60.0;
+  return util::string_format("%d:%06.3f", minutes, remaining);
+}
+
+std::string format_boot_time(double seconds) {
+  return util::string_format("%.3f", seconds);
+}
+
+std::string format_wall_time(double seconds) {
+  if (seconds <= 0.0) return "--";
+  const time_t wall_seconds = static_cast<time_t>(seconds);
+  std::tm wall_tm = {};
+  localtime_r(&wall_seconds, &wall_tm);
+  const int millis = static_cast<int>(std::llround((seconds - std::floor(seconds)) * 1000.0));
+  return util::string_format("%02d:%02d:%02d.%03d",
+                             wall_tm.tm_hour, wall_tm.tm_min, wall_tm.tm_sec, millis);
+}
+
+std::string format_log_time(const LogEntry &entry, LogTimeMode mode) {
+  switch (mode) {
+    case LogTimeMode::Route:
+      return format_route_time(entry.mono_time);
+    case LogTimeMode::Boot:
+      return format_boot_time(entry.boot_time);
+    case LogTimeMode::WallClock:
+      return format_wall_time(entry.wall_time);
+  }
+  return format_route_time(entry.mono_time);
+}
+
+const char *time_mode_label(LogTimeMode mode) {
+  switch (mode) {
+    case LogTimeMode::Route: return "Route";
+    case LogTimeMode::Boot: return "Boot";
+    case LogTimeMode::WallClock: return "Wall clock";
+  }
+  return "Route";
+}
+
+std::string level_filter_label(uint32_t mask) {
+  if (mask == ALL_LEVEL_MASK) return "All levels";
+  if (mask == 0b11110) return "INFO+";
+  if (mask == 0b11100) return "WARNING+";
+  if (mask == 0b11000) return "ERROR+";
+  if (mask == 0b10000) return "CRITICAL";
+
+  int enabled_count = 0;
+  const char *last_label = "None";
+  for (size_t i = 0; i < LEVEL_OPTIONS.size(); ++i) {
+    if ((mask & (1u << i)) == 0) {
+      continue;
+    }
+    ++enabled_count;
+    last_label = LEVEL_OPTIONS[i].label;
+  }
+  if (enabled_count == 0) return "None";
+  if (enabled_count == 1) return last_label;
+  return "Custom";
+}
+
+std::string source_filter_label(const LogsUiState &logs_state, const std::vector<std::string> &sources) {
+  if (logs_state.all_sources || logs_state.selected_sources.size() == sources.size()) {
+    return "All sources";
+  }
+  if (logs_state.selected_sources.empty()) return "No sources";
+  if (logs_state.selected_sources.size() == 1) return logs_state.selected_sources.front();
+  return std::to_string(logs_state.selected_sources.size()) + " sources";
+}
+
+const char *level_label(const LogEntry &entry) {
+  if (entry.origin == LogOrigin::Alert) return "ALRT";
+  if (entry.level >= 50) return "CRIT";
+  if (entry.level >= 40) return "ERR";
+  if (entry.level >= 30) return "WARN";
+  if (entry.level >= 20) return "INFO";
+  return "DBG";
+}
+
+ImVec4 level_text_color(const LogEntry &entry, bool active) {
+  if (active) return color_rgb(46, 54, 63);
+  if (entry.origin == LogOrigin::Alert) return color_rgb(50, 100, 200);
+  if (entry.level >= 50) return color_rgb(176, 26, 18);
+  if (entry.level >= 40) return color_rgb(200, 50, 40);
+  if (entry.level >= 30) return color_rgb(200, 130, 0);
+  if (entry.level >= 20) return color_rgb(80, 86, 94);
+  return color_rgb(126, 133, 141);
+}
+
+ImU32 row_bg_color(const LogEntry &entry, bool active) {
+  if (active) return IM_COL32(80, 140, 210, 38);
+  return 0;
+}
+
+void set_tracker_to_log(UiState *state, const LogEntry &entry) {
+  state->tracker_time = entry.mono_time;
+  state->has_tracker_time = true;
+  state->logs.last_auto_scroll_time = entry.mono_time;
+}
+
+void draw_log_expansion_row(const LogEntry &entry) {
+  ImGui::TableNextRow();
+  ImGui::TableSetColumnIndex(0);
+  ImGui::TextUnformatted("");
+  ImGui::TableSetColumnIndex(1);
+  ImGui::TextUnformatted("");
+  ImGui::TableSetColumnIndex(2);
+  ImGui::TextUnformatted(entry.func.empty() ? "" : entry.func.c_str());
+  ImGui::TableSetColumnIndex(3);
+  ImGui::PushStyleColor(ImGuiCol_Text, color_rgb(96, 104, 113));
+  ImGui::TextWrapped("%s", entry.message.c_str());
+  if (!entry.func.empty()) {
+    ImGui::TextWrapped("func: %s", entry.func.c_str());
+  }
+  if (!entry.context.empty()) {
+    ImGui::TextWrapped("ctx: %s", entry.context.c_str());
+  }
+  ImGui::PopStyleColor();
+}
+
+void draw_log_row(const LogEntry &entry,
+                  int log_index,
+                  bool active,
+                  UiState *state) {
+  ImGui::PushID(log_index);
+  const ImU32 bg = row_bg_color(entry, active);
+  ImGui::TableNextRow();
+  if (bg != 0) {
+    ImGui::TableSetBgColor(ImGuiTableBgTarget_RowBg0, bg);
+  }
+
+  const std::string time_text = std::string(active ? "\xE2\x96\xB6 " : "  ") + format_log_time(entry, state->logs.time_mode);
+  const auto clickable_text = [&](const char *id, const std::string &text, ImVec4 color = color_rgb(74, 80, 88)) {
+    ImGui::PushID(id);
+    ImGui::PushStyleColor(ImGuiCol_Text, color);
+    ImGui::PushStyleColor(ImGuiCol_Header, ImVec4(0, 0, 0, 0));
+    ImGui::PushStyleColor(ImGuiCol_HeaderHovered, ImVec4(0, 0, 0, 0));
+    ImGui::PushStyleColor(ImGuiCol_HeaderActive, ImVec4(0, 0, 0, 0));
+    const bool clicked = ImGui::Selectable(text.c_str(), false, ImGuiSelectableFlags_AllowDoubleClick);
+    ImGui::PopStyleColor(4);
+    ImGui::PopID();
+    return clicked;
+  };
+
+  bool clicked = false;
+  ImGui::TableSetColumnIndex(0);
+  app_push_mono_font();
+  clicked = clickable_text("time", time_text);
+  app_pop_mono_font();
+
+  ImGui::TableSetColumnIndex(1);
+  clicked = clickable_text("level", level_label(entry), level_text_color(entry, active)) || clicked;
+
+  ImGui::TableSetColumnIndex(2);
+  clicked = clickable_text("source", entry.source) || clicked;
+
+  ImGui::TableSetColumnIndex(3);
+  clicked = clickable_text("message", entry.message) || clicked;
+
+  if (clicked) {
+    set_tracker_to_log(state, entry);
+    state->logs.expanded_index = state->logs.expanded_index == log_index ? -1 : log_index;
+  }
+  ImGui::PopID();
+}
+
+}  // namespace
+
+void draw_logs_tab(AppSession *session, UiState *state) {
+  LogsUiState &logs_state = state->logs;
+  const RouteData &route_data = session->route_data;
+  const RouteLoadSnapshot load = session->route_loader ? session->route_loader->snapshot() : RouteLoadSnapshot{};
+  const bool loading_logs = load.active && route_data.logs.empty();
+  const std::vector<std::string> sources = collect_log_sources(route_data.logs);
+
+  if (!logs_state.all_sources) {
+    logs_state.selected_sources.erase(
+      std::remove_if(logs_state.selected_sources.begin(),
+                     logs_state.selected_sources.end(),
+                     [&](const std::string &source) {
+                       return std::find(sources.begin(), sources.end(), source) == sources.end();
+                     }),
+      logs_state.selected_sources.end());
+  }
+
+  ImGui::PushStyleVar(ImGuiStyleVar_FramePadding, ImVec2(6.0f, 3.0f));
+  ImGui::SetNextItemWidth(110.0f);
+  const std::string levels_label = level_filter_label(logs_state.enabled_levels_mask);
+  if (ImGui::BeginCombo("##logs_level", levels_label.c_str())) {
+    bool all_levels = logs_state.enabled_levels_mask == ALL_LEVEL_MASK;
+    if (ImGui::Checkbox("All levels", &all_levels)) {
+      logs_state.enabled_levels_mask = all_levels ? ALL_LEVEL_MASK : 0u;
+    }
+    ImGui::Separator();
+    for (size_t i = 0; i < LEVEL_OPTIONS.size(); ++i) {
+      bool enabled = (logs_state.enabled_levels_mask & (1u << i)) != 0;
+      if (ImGui::Checkbox(LEVEL_OPTIONS[i].label, &enabled)) {
+        if (enabled) {
+          logs_state.enabled_levels_mask |= (1u << i);
+        } else {
+          logs_state.enabled_levels_mask &= ~(1u << i);
+        }
+      }
+    }
+    ImGui::EndCombo();
+  }
+  ImGui::SameLine();
+
+  ImGui::SetNextItemWidth(150.0f);
+  input_text_with_hint_string("##logs_search", "Search...", &logs_state.search);
+  ImGui::SameLine();
+
+  const std::string sources_label = source_filter_label(logs_state, sources);
+  ImGui::SetNextItemWidth(180.0f);
+  if (ImGui::BeginCombo("##logs_source", sources_label.c_str())) {
+    bool all_sources = logs_state.all_sources;
+    if (ImGui::Checkbox("All sources", &all_sources)) {
+      logs_state.all_sources = all_sources;
+      if (logs_state.all_sources) {
+        logs_state.selected_sources.clear();
+      } else {
+        logs_state.selected_sources = sources;
+      }
+    }
+    ImGui::Separator();
+    for (const std::string &source : sources) {
+      bool enabled = logs_state.all_sources
+        || std::find(logs_state.selected_sources.begin(), logs_state.selected_sources.end(), source) != logs_state.selected_sources.end();
+      if (ImGui::Checkbox(source.c_str(), &enabled)) {
+        if (logs_state.all_sources) {
+          logs_state.all_sources = false;
+          logs_state.selected_sources = sources;
+        }
+        auto it = std::find(logs_state.selected_sources.begin(), logs_state.selected_sources.end(), source);
+        if (enabled) {
+          if (it == logs_state.selected_sources.end()) {
+            logs_state.selected_sources.push_back(source);
+          }
+        } else if (it != logs_state.selected_sources.end()) {
+          logs_state.selected_sources.erase(it);
+        }
+        if (logs_state.selected_sources.size() == sources.size()) {
+          logs_state.all_sources = true;
+          logs_state.selected_sources.clear();
+        }
+      }
+    }
+    ImGui::EndCombo();
+  }
+  ImGui::SameLine();
+
+  ImGui::SetNextItemWidth(110.0f);
+  if (ImGui::BeginCombo("##logs_time_mode", time_mode_label(logs_state.time_mode))) {
+    for (LogTimeMode mode : {LogTimeMode::Route, LogTimeMode::Boot, LogTimeMode::WallClock}) {
+      const bool selected = logs_state.time_mode == mode;
+      if (ImGui::Selectable(time_mode_label(mode), selected)) {
+        logs_state.time_mode = mode;
+      }
+    }
+    ImGui::EndCombo();
+  }
+
+  const std::vector<int> filtered_indices = filter_log_indices(route_data, logs_state);
+  const bool have_tracker = state->has_tracker_time && !filtered_indices.empty();
+  const int active_pos = have_tracker ? find_active_log_position(route_data, filtered_indices, state->tracker_time) : -1;
+
+  ImGui::SameLine();
+  ImGui::SetCursorPosX(std::max(ImGui::GetCursorPosX(), ImGui::GetWindowContentRegionMax().x - 110.0f));
+  ImGui::Text("%zu / %zu", filtered_indices.size(), route_data.logs.size());
+  ImGui::PopStyleVar();
+
+  if (route_data.logs.empty()) {
+    ImGui::Spacing();
+    ImGui::PushStyleColor(ImGuiCol_Text, color_rgb(116, 124, 133));
+    ImGui::TextWrapped("%s", loading_logs ? "Loading logs..." : "No text logs available for this route.");
+    ImGui::PopStyleColor();
+    return;
+  }
+
+  if (ImGui::BeginChild("##logs_table_child", ImVec2(0.0f, 0.0f), false)) {
+    if (have_tracker && std::abs(logs_state.last_auto_scroll_time - state->tracker_time) > 1.0e-6) {
+      const float row_height = ImGui::GetTextLineHeightWithSpacing() + 6.0f;
+      const float visible_h = std::max(1.0f, ImGui::GetWindowHeight());
+      const float target = std::max(0.0f, static_cast<float>(active_pos) * row_height - visible_h * 0.45f);
+      ImGui::SetScrollY(target);
+      logs_state.last_auto_scroll_time = state->tracker_time;
+    }
+
+    if (ImGui::BeginTable("##logs_table",
+                          4,
+                          ImGuiTableFlags_BordersInnerV |
+                            ImGuiTableFlags_RowBg |
+                            ImGuiTableFlags_Resizable |
+                            ImGuiTableFlags_SizingStretchProp)) {
+      ImGui::TableSetupColumn("Time", ImGuiTableColumnFlags_WidthFixed, 120.0f);
+      ImGui::TableSetupColumn("Level", ImGuiTableColumnFlags_WidthFixed, 72.0f);
+      ImGui::TableSetupColumn("Source", ImGuiTableColumnFlags_WidthFixed, 180.0f);
+      ImGui::TableSetupColumn("Message", ImGuiTableColumnFlags_WidthStretch);
+      ImGui::TableHeadersRow();
+
+      const bool use_clipper = logs_state.expanded_index < 0;
+      if (use_clipper) {
+        ImGuiListClipper clipper;
+        clipper.Begin(static_cast<int>(filtered_indices.size()));
+        while (clipper.Step()) {
+          for (int i = clipper.DisplayStart; i < clipper.DisplayEnd; ++i) {
+            const int log_index = filtered_indices[static_cast<size_t>(i)];
+            const LogEntry &entry = route_data.logs[static_cast<size_t>(log_index)];
+            draw_log_row(entry, log_index, i == active_pos, state);
+          }
+        }
+      } else {
+        for (int i = 0; i < static_cast<int>(filtered_indices.size()); ++i) {
+          const int log_index = filtered_indices[static_cast<size_t>(i)];
+          const LogEntry &entry = route_data.logs[static_cast<size_t>(log_index)];
+          draw_log_row(entry, log_index, i == active_pos, state);
+          if (logs_state.expanded_index == log_index) {
+            draw_log_expansion_row(entry);
+          }
+        }
+      }
+
+      ImGui::EndTable();
+    }
+  }
+  ImGui::EndChild();
+}
diff --git a/tools/jotpluggler/main.cc b/tools/jotpluggler/main.cc
new file mode 100644
index 00000000000..22bc29664c2
--- /dev/null
+++ b/tools/jotpluggler/main.cc
@@ -0,0 +1,126 @@
+#include <cstdlib>
+#include <iostream>
+
+#include "tools/jotpluggler/app.h"
+
+namespace {
+
+constexpr const char *DEMO_ROUTE = "5beb9b58bd12b691/0000010a--a51155e496";
+
+void print_usage(const char *argv0) {
+  std::cerr
+      << "Usage: " << argv0 << " [--layout <layout>] [options] [route]\n"
+      << "\n"
+      << "Options:\n"
+      << "  --demo\n"
+      << "  --data-dir <dir>\n"
+      << "  --stream\n"
+      << "  --address <host>\n"
+      << "  --buffer-seconds <seconds>\n"
+      << "  --width <pixels>\n"
+      << "  --height <pixels>\n"
+      << "  --output <png>\n"
+      << "  --show\n"
+      << "  --sync-load\n"
+      << "\n"
+      << "Examples:\n"
+      << "  " << argv0 << "\n"
+      << "  " << argv0 << " --demo\n"
+      << "  " << argv0 << " --layout longitudinal --demo\n"
+      << "  " << argv0 << " --layout longitudinal --demo --output /tmp/longitudinal.png\n"
+      << "  " << argv0 << " --stream --show\n"
+      << "  " << argv0 << " --stream --address 192.168.60.52 --buffer-seconds 45 --show\n";
+}
+
+bool parse_int(const char *value, int *out) {
+  char *end = nullptr;
+  const long parsed = std::strtol(value, &end, 10);
+  if (end == nullptr || *end != '\0') return false;
+  *out = static_cast<int>(parsed);
+  return true;
+}
+
+bool parse_double(const char *value, double *out) {
+  char *end = nullptr;
+  const double parsed = std::strtod(value, &end);
+  if (end == nullptr || *end != '\0') return false;
+  *out = parsed;
+  return true;
+}
+
+}  // namespace
+
+int main(int argc, char *argv[]) {
+  Options options;
+  for (int i = 1; i < argc; ++i) {
+    const std::string arg = argv[i];
+    const auto require_value = [&](const char *flag) -> const char * {
+      if (i + 1 >= argc) {
+        std::cerr << "Missing value for " << flag << "\n";
+        print_usage(argv[0]);
+        std::exit(2);
+      }
+      return argv[++i];
+    };
+
+    if (arg == "--layout") {
+      options.layout = require_value("--layout");
+    } else if (arg == "--demo") {
+      options.route_name = DEMO_ROUTE;
+    } else if (arg == "--data-dir") {
+      options.data_dir = require_value("--data-dir");
+    } else if (arg == "--stream") {
+      options.stream = true;
+    } else if (arg == "--address") {
+      options.stream_address = require_value("--address");
+    } else if (arg == "--buffer-seconds") {
+      if (!parse_double(require_value("--buffer-seconds"), &options.stream_buffer_seconds)) {
+        std::cerr << "Invalid buffer seconds\n";
+        return 2;
+      }
+    } else if (arg == "--output") {
+      options.output_path = require_value("--output");
+    } else if (arg == "--width") {
+      if (!parse_int(require_value("--width"), &options.width)) {
+        std::cerr << "Invalid width\n";
+        return 2;
+      }
+    } else if (arg == "--height") {
+      if (!parse_int(require_value("--height"), &options.height)) {
+        std::cerr << "Invalid height\n";
+        return 2;
+      }
+    } else if (arg == "--show") {
+      options.show = true;
+    } else if (arg == "--sync-load") {
+      options.sync_load = true;
+    } else if (arg == "--help" || arg == "-h") {
+      print_usage(argv[0]);
+      return 0;
+    } else if (!arg.empty() && arg[0] != '-' && options.route_name.empty()) {
+      options.route_name = arg;
+    } else {
+      std::cerr << "Unknown argument: " << arg << "\n";
+      print_usage(argv[0]);
+      return 2;
+    }
+  }
+
+  if (options.output_path.empty() && !options.show) {
+    options.show = true;
+  }
+  if (options.width <= 0 || options.height <= 0) {
+    std::cerr << "Width and height must be positive\n";
+    return 2;
+  }
+  if (options.stream && !options.route_name.empty()) {
+    std::cerr << "Route/file mode and --stream are mutually exclusive\n";
+    return 2;
+  }
+  if (options.stream_buffer_seconds <= 0.0) {
+    std::cerr << "Buffer seconds must be positive\n";
+    return 2;
+  }
+
+  return run(options);
+}
diff --git a/tools/jotpluggler/map.cc b/tools/jotpluggler/map.cc
new file mode 100644
index 00000000000..8725908ea02
--- /dev/null
+++ b/tools/jotpluggler/map.cc
@@ -0,0 +1,1328 @@
+#include "tools/jotpluggler/app.h"
+#include "tools/jotpluggler/common.h"
+#include "tools/jotpluggler/map.h"
+
+#include <GLFW/glfw3.h>
+
+extern "C" {
+#include <zstd.h>
+}
+
+#include <array>
+#include <algorithm>
+#include <cmath>
+#include <condition_variable>
+#include <cstdint>
+#include <cstring>
+#include <filesystem>
+#include <limits>
+#include <mutex>
+#include <optional>
+#include <string_view>
+#include <thread>
+#include <unordered_set>
+#include <utility>
+#include <vector>
+
+#include "common/util.h"
+#include "third_party/json11/json11.hpp"
+
+namespace fs = std::filesystem;
+
+namespace {
+
+constexpr int MAP_MIN_ZOOM = 1;
+constexpr int MAP_MAX_ZOOM = 18;
+constexpr int MAP_SINGLE_POINT_MIN_ZOOM = 14;
+constexpr float MAP_WHEEL_ZOOM_STEP = 0.25f;
+constexpr double MAP_TRACE_PAD_FRAC = 0.45;
+constexpr double MAP_TRACE_MIN_LAT_PAD = 0.01;
+constexpr double MAP_BOUNDS_GRID = 0.005;
+constexpr double MAP_CORRIDOR_LAT_PAD = 0.010;
+constexpr double MAP_CORRIDOR_MIN_STEP_S = 1.5;
+constexpr size_t MAP_CORRIDOR_MAX_BOXES = 36;
+constexpr float MAP_INITIAL_FIT_FILL = 0.88f;
+constexpr float MAP_MIN_ZOOM_FILL = 0.98f;
+constexpr float MAP_EDGE_FADE_FRAC = 0.28f;
+constexpr const char *MAP_QUERY_ENDPOINTS[] = {
+  "https://overpass-api.de/api/interpreter",
+  "https://overpass.private.coffee/api/interpreter",
+};
+struct GeoPoint {
+  double lat = 0.0;
+  double lon = 0.0;
+};
+
+struct ProjectedPoint {
+  float x = 0.0f;
+  float y = 0.0f;
+};
+
+struct ProjectedBounds {
+  float min_x = 0.0f;
+  float min_y = 0.0f;
+  float max_x = 0.0f;
+  float max_y = 0.0f;
+
+  bool valid() const {
+    return max_x >= min_x && max_y >= min_y;
+  }
+};
+
+enum class RoadClass : uint8_t {
+  Motorway,
+  Primary,
+  Secondary,
+  Local,
+};
+
+struct RoadFeature {
+  RoadClass road_class = RoadClass::Local;
+  ProjectedBounds bounds;
+  std::vector<ProjectedPoint> points;
+};
+
+struct WaterLineFeature {
+  ProjectedBounds bounds;
+  std::vector<ProjectedPoint> points;
+};
+
+struct WaterPolygonFeature {
+  ProjectedBounds bounds;
+  std::vector<ProjectedPoint> ring;
+};
+
+}  // namespace
+
+struct RouteBasemap {
+  std::string key;
+  GeoBounds bounds;
+  ProjectedBounds projected_bounds;
+  std::vector<RoadFeature> roads;
+  std::vector<WaterLineFeature> water_lines;
+  std::vector<WaterPolygonFeature> water_polygons;
+};
+
+struct MapRequestSpec {
+  std::string key;
+  GeoBounds bounds;
+  std::string query;
+};
+
+namespace {
+
+double lon_to_world_x(double lon, double zoom) {
+  return (lon + 180.0) / 360.0 * 256.0 * std::exp2(zoom);
+}
+
+double lat_to_world_y(double lat, double zoom) {
+  const double lat_rad = lat * M_PI / 180.0;
+  return (1.0 - std::log(std::tan(lat_rad) + 1.0 / std::cos(lat_rad)) / M_PI) / 2.0 * 256.0 * std::exp2(zoom);
+}
+
+double world_x_to_lon(double x, double zoom) {
+  return x / std::exp2(zoom) / 256.0 * 360.0 - 180.0;
+}
+
+double world_y_to_lat(double y, double zoom) {
+  const double n = M_PI - (2.0 * M_PI * (y / std::exp2(zoom))) / 256.0;
+  return 180.0 / M_PI * std::atan(std::sinh(n));
+}
+
+double map_trace_center_lat(const GpsTrace &trace) {
+  return (trace.min_lat + trace.max_lat) * 0.5;
+}
+
+double map_trace_center_lon(const GpsTrace &trace) {
+  return (trace.min_lon + trace.max_lon) * 0.5;
+}
+
+double clamp_lat(double lat) {
+  return std::clamp(lat, -85.0, 85.0);
+}
+
+double clamp_lon(double lon) {
+  return std::clamp(lon, -179.999, 179.999);
+}
+
+float project_lon0(double lon) {
+  return static_cast<float>((lon + 180.0) / 360.0 * 256.0);
+}
+
+float project_lat0(double lat) {
+  const double lat_rad = lat * M_PI / 180.0;
+  return static_cast<float>((1.0 - std::log(std::tan(lat_rad) + 1.0 / std::cos(lat_rad)) / M_PI) / 2.0 * 256.0);
+}
+
+double cos_lat_scale(double lat) {
+  return std::max(0.2, std::cos(lat * M_PI / 180.0));
+}
+
+double quantize_down(double value, double step) {
+  return std::floor(value / step) * step;
+}
+
+double quantize_up(double value, double step) {
+  return std::ceil(value / step) * step;
+}
+
+ProjectedBounds compute_projected_bounds(const std::vector<ProjectedPoint> &points) {
+  ProjectedBounds bounds;
+  if (points.empty()) {
+    return bounds;
+  }
+  bounds.min_x = bounds.max_x = points.front().x;
+  bounds.min_y = bounds.max_y = points.front().y;
+  for (const ProjectedPoint &point : points) {
+    bounds.min_x = std::min(bounds.min_x, point.x);
+    bounds.max_x = std::max(bounds.max_x, point.x);
+    bounds.min_y = std::min(bounds.min_y, point.y);
+    bounds.max_y = std::max(bounds.max_y, point.y);
+  }
+  return bounds;
+}
+
+ProjectedBounds project_bounds0(const GeoBounds &bounds) {
+  if (!bounds.valid()) {
+    return {};
+  }
+  return ProjectedBounds{
+    .min_x = project_lon0(bounds.west),
+    .min_y = project_lat0(bounds.north),
+    .max_x = project_lon0(bounds.east),
+    .max_y = project_lat0(bounds.south),
+  };
+}
+
+bool feature_intersects_view(const ProjectedBounds &feature, const ProjectedBounds &view, float zoom_scale) {
+  const float min_x = feature.min_x * zoom_scale;
+  const float max_x = feature.max_x * zoom_scale;
+  const float min_y = feature.min_y * zoom_scale;
+  const float max_y = feature.max_y * zoom_scale;
+  return !(max_x < view.min_x || min_x > view.max_x
+        || max_y < view.min_y || min_y > view.max_y);
+}
+
+GeoBounds requested_bounds_for_trace(const GpsTrace &trace) {
+  if (trace.points.empty()) {
+    return {};
+  }
+  const double center_lat = map_trace_center_lat(trace);
+  const double lat_span = std::max(trace.max_lat - trace.min_lat, 0.002);
+  const double lon_span = std::max(trace.max_lon - trace.min_lon, 0.002 / cos_lat_scale(center_lat));
+  const double lat_pad = std::max(lat_span * MAP_TRACE_PAD_FRAC, MAP_TRACE_MIN_LAT_PAD);
+  const double lon_pad = std::max(lon_span * MAP_TRACE_PAD_FRAC, MAP_TRACE_MIN_LAT_PAD / cos_lat_scale(center_lat));
+
+  GeoBounds bounds;
+  bounds.south = clamp_lat(quantize_down(trace.min_lat - lat_pad, MAP_BOUNDS_GRID));
+  bounds.north = clamp_lat(quantize_up(trace.max_lat + lat_pad, MAP_BOUNDS_GRID));
+  bounds.west = clamp_lon(quantize_down(trace.min_lon - lon_pad, MAP_BOUNDS_GRID));
+  bounds.east = clamp_lon(quantize_up(trace.max_lon + lon_pad, MAP_BOUNDS_GRID));
+  return bounds;
+}
+
+GeoBounds merge_bounds(const GeoBounds &a, const GeoBounds &b) {
+  if (!a.valid()) return b;
+  if (!b.valid()) return a;
+  return GeoBounds{
+    .south = std::min(a.south, b.south),
+    .west = std::min(a.west, b.west),
+    .north = std::max(a.north, b.north),
+    .east = std::max(a.east, b.east),
+  };
+}
+
+bool bounds_overlap_or_touch(const GeoBounds &a, const GeoBounds &b) {
+  return !(a.east < b.west || b.east < a.west || a.north < b.south || b.north < a.south);
+}
+
+std::vector<GeoBounds> corridor_boxes_for_trace(const GpsTrace &trace) {
+  std::vector<GeoBounds> boxes;
+  if (trace.points.empty()) {
+    return boxes;
+  }
+
+  const double center_lat = map_trace_center_lat(trace);
+  const double lon_pad = MAP_CORRIDOR_LAT_PAD / cos_lat_scale(center_lat);
+  const double total_time = trace.points.back().time - trace.points.front().time;
+  const double target_boxes = std::min<double>(MAP_CORRIDOR_MAX_BOXES, std::max<double>(8.0, total_time / MAP_CORRIDOR_MIN_STEP_S));
+  const size_t stride = std::max<size_t>(1, static_cast<size_t>(std::ceil(trace.points.size() / target_boxes)));
+
+  auto add_box = [&](double lat, double lon) {
+    GeoBounds box{
+      .south = clamp_lat(quantize_down(lat - MAP_CORRIDOR_LAT_PAD, MAP_BOUNDS_GRID)),
+      .west = clamp_lon(quantize_down(lon - lon_pad, MAP_BOUNDS_GRID)),
+      .north = clamp_lat(quantize_up(lat + MAP_CORRIDOR_LAT_PAD, MAP_BOUNDS_GRID)),
+      .east = clamp_lon(quantize_up(lon + lon_pad, MAP_BOUNDS_GRID)),
+    };
+    if (!box.valid()) {
+      return;
+    }
+    for (GeoBounds &existing : boxes) {
+      if (bounds_overlap_or_touch(existing, box)) {
+        existing = merge_bounds(existing, box);
+        return;
+      }
+    }
+    boxes.push_back(box);
+  };
+
+  add_box(trace.points.front().lat, trace.points.front().lon);
+  for (size_t i = stride; i < trace.points.size(); i += stride) {
+    add_box(trace.points[i].lat, trace.points[i].lon);
+  }
+  add_box(trace.points.back().lat, trace.points.back().lon);
+
+  bool merged = true;
+  while (merged) {
+    merged = false;
+    for (size_t i = 0; i < boxes.size() && !merged; ++i) {
+      for (size_t j = i + 1; j < boxes.size(); ++j) {
+        if (bounds_overlap_or_touch(boxes[i], boxes[j])) {
+          boxes[i] = merge_bounds(boxes[i], boxes[j]);
+          boxes.erase(boxes.begin() + static_cast<std::ptrdiff_t>(j));
+          merged = true;
+          break;
+        }
+      }
+    }
+  }
+  return boxes;
+}
+
+ProjectedBounds view_bounds(double top_left_x, double top_left_y, float width, float height) {
+  return ProjectedBounds{
+    .min_x = static_cast<float>(top_left_x),
+    .min_y = static_cast<float>(top_left_y),
+    .max_x = static_cast<float>(top_left_x + width),
+    .max_y = static_cast<float>(top_left_y + height),
+  };
+}
+
+int fit_map_zoom_for_bounds(const GeoBounds &bounds, float width, float height, float fill_fraction) {
+  if (!bounds.valid()) {
+    return MAP_MIN_ZOOM;
+  }
+  const double max_width = std::max(1.0f, width * fill_fraction);
+  const double max_height = std::max(1.0f, height * fill_fraction);
+  for (int z = MAP_MAX_ZOOM; z >= MAP_MIN_ZOOM; --z) {
+    const double pixel_width = std::abs(lon_to_world_x(bounds.east, z) - lon_to_world_x(bounds.west, z));
+    const double pixel_height = std::abs(lat_to_world_y(bounds.south, z) - lat_to_world_y(bounds.north, z));
+    if (pixel_width <= max_width && pixel_height <= max_height) {
+      return z;
+    }
+  }
+  return MAP_MIN_ZOOM;
+}
+
+int fit_map_zoom_for_trace(const GpsTrace &trace, float width, float height) {
+  return fit_map_zoom_for_bounds(requested_bounds_for_trace(trace), width, height, MAP_INITIAL_FIT_FILL);
+}
+
+int minimum_allowed_map_zoom(const GeoBounds &bounds, const GpsTrace &trace, ImVec2 size) {
+  if (trace.points.size() <= 1) {
+    return MAP_SINGLE_POINT_MIN_ZOOM;
+  }
+  const int fit_zoom = fit_map_zoom_for_bounds(bounds.valid() ? bounds : requested_bounds_for_trace(trace),
+                                               size.x, size.y, MAP_MIN_ZOOM_FILL);
+  return std::clamp(fit_zoom, MAP_MIN_ZOOM, MAP_MAX_ZOOM);
+}
+
+std::optional<GpsPoint> interpolate_gps(const GpsTrace &trace, double time_value) {
+  if (trace.points.empty()) {
+    return std::nullopt;
+  }
+  if (time_value <= trace.points.front().time) {
+    return trace.points.front();
+  }
+  if (time_value >= trace.points.back().time) {
+    return trace.points.back();
+  }
+  auto upper = std::lower_bound(trace.points.begin(), trace.points.end(), time_value,
+                                [](const GpsPoint &point, double target) {
+                                  return point.time < target;
+                                });
+  if (upper == trace.points.begin()) {
+    return trace.points.front();
+  }
+  const GpsPoint &p1 = *upper;
+  const GpsPoint &p0 = *(upper - 1);
+  const double dt = p1.time - p0.time;
+  if (dt <= 1.0e-9) {
+    return p0;
+  }
+  const double alpha = (time_value - p0.time) / dt;
+  GpsPoint out;
+  out.time = time_value;
+  out.lat = p0.lat + (p1.lat - p0.lat) * alpha;
+  out.lon = p0.lon + (p1.lon - p0.lon) * alpha;
+  out.bearing = static_cast<float>(p0.bearing + (p1.bearing - p0.bearing) * alpha);
+  out.type = alpha < 0.5 ? p0.type : p1.type;
+  return out;
+}
+
+ImU32 map_timeline_color(TimelineEntry::Type type, float alpha = 1.0f) {
+  return timeline_entry_color(type, alpha, {140, 150, 165});
+}
+
+ImVec2 gps_to_screen(double lat, double lon, double zoom, double top_left_x, double top_left_y, const ImVec2 &rect_min) {
+  return ImVec2(rect_min.x + static_cast<float>(lon_to_world_x(lon, zoom) - top_left_x),
+                rect_min.y + static_cast<float>(lat_to_world_y(lat, zoom) - top_left_y));
+}
+
+bool point_in_rect_with_margin(const ImVec2 &point, const ImVec2 &rect_min, const ImVec2 &rect_max,
+                               float margin_fraction) {
+  const float width = rect_max.x - rect_min.x;
+  const float height = rect_max.y - rect_min.y;
+  const float margin_x = width * margin_fraction;
+  const float margin_y = height * margin_fraction;
+  return point.x >= rect_min.x + margin_x && point.x <= rect_max.x - margin_x
+      && point.y >= rect_min.y + margin_y && point.y <= rect_max.y - margin_y;
+}
+
+void draw_car_marker(ImDrawList *draw_list, ImVec2 center, float bearing_deg, ImU32 color, float size) {
+  const float rad = bearing_deg * static_cast<float>(M_PI / 180.0);
+  const ImVec2 forward(std::sin(rad), -std::cos(rad));
+  const ImVec2 perp(-forward.y, forward.x);
+  const ImVec2 tip(center.x + forward.x * size, center.y + forward.y * size);
+  const ImVec2 base(center.x - forward.x * size * 0.45f, center.y - forward.y * size * 0.45f);
+  const ImVec2 left(base.x + perp.x * size * 0.6f, base.y + perp.y * size * 0.6f);
+  const ImVec2 right(base.x - perp.x * size * 0.6f, base.y - perp.y * size * 0.6f);
+  draw_list->AddTriangleFilled(tip, left, right, color);
+  draw_list->AddTriangle(tip, left, right, IM_COL32(255, 255, 255, 210), 2.0f);
+}
+
+bool is_convex_ring(const std::vector<ImVec2> &points) {
+  if (points.size() < 4) {
+    return false;
+  }
+  float sign = 0.0f;
+  const size_t n = points.size();
+  for (size_t i = 0; i < n; ++i) {
+    const ImVec2 &a = points[i];
+    const ImVec2 &b = points[(i + 1) % n];
+    const ImVec2 &c = points[(i + 2) % n];
+    const float cross = (b.x - a.x) * (c.y - b.y) - (b.y - a.y) * (c.x - b.x);
+    if (std::abs(cross) < 1.0e-3f) {
+      continue;
+    }
+    if (sign == 0.0f) {
+      sign = cross;
+    } else if ((cross > 0.0f) != (sign > 0.0f)) {
+      return false;
+    }
+  }
+  return sign != 0.0f;
+}
+
+uint64_t fnv1a64(std::string_view text) {
+  uint64_t value = 1469598103934665603ULL;
+  for (unsigned char c : text) {
+    value ^= static_cast<uint64_t>(c);
+    value *= 1099511628211ULL;
+  }
+  return value;
+}
+
+fs::path basemap_cache_root() {
+  const char *home = std::getenv("HOME");
+  fs::path root = home != nullptr ? fs::path(home) / ".comma" : fs::temp_directory_path();
+  root /= "jotpluggler_vector_map";
+  fs::create_directories(root);
+  return root;
+}
+
+std::string bounds_key(const GeoBounds &bounds) {
+  return util::string_format("v2_%.5f_%.5f_%.5f_%.5f",
+                             bounds.south, bounds.west, bounds.north, bounds.east);
+}
+
+fs::path basemap_cache_path(const std::string &key) {
+  const uint64_t hash = fnv1a64(key);
+  return basemap_cache_root() / util::string_format("%016llx.bin.zst", static_cast<unsigned long long>(hash));
+}
+
+uint64_t cache_directory_size_bytes() {
+  uint64_t total = 0;
+  const fs::path root = basemap_cache_root();
+  if (!fs::exists(root)) {
+    return 0;
+  }
+  for (const fs::directory_entry &entry : fs::directory_iterator(root)) {
+    if (entry.is_regular_file()) {
+      total += static_cast<uint64_t>(entry.file_size());
+    }
+  }
+  return total;
+}
+
+size_t cache_directory_file_count() {
+  size_t count = 0;
+  const fs::path root = basemap_cache_root();
+  if (!fs::exists(root)) {
+    return 0;
+  }
+  for (const fs::directory_entry &entry : fs::directory_iterator(root)) {
+    if (entry.is_regular_file()) {
+      ++count;
+    }
+  }
+  return count;
+}
+
+void clear_cache_directory() {
+  const fs::path root = basemap_cache_root();
+  if (!fs::exists(root)) {
+    return;
+  }
+  for (const fs::directory_entry &entry : fs::directory_iterator(root)) {
+    if (entry.is_regular_file()) {
+      std::error_code ec;
+      fs::remove(entry.path(), ec);
+    }
+  }
+}
+
+std::string percent_encode(std::string_view text) {
+  std::string out;
+  out.reserve(text.size() * 3);
+  for (unsigned char c : text) {
+    if ((c >= 'a' && c <= 'z') || (c >= 'A' && c <= 'Z') || (c >= '0' && c <= '9')
+        || c == '-' || c == '_' || c == '.' || c == '~') {
+      out.push_back(static_cast<char>(c));
+    } else {
+      out += util::string_format("%%%02X", static_cast<unsigned int>(c));
+    }
+  }
+  return out;
+}
+
+std::string bbox_string(const GeoBounds &bounds) {
+  return util::string_format("%.6f,%.6f,%.6f,%.6f",
+                             bounds.south, bounds.west, bounds.north, bounds.east);
+}
+
+MapRequestSpec build_request_for_trace(const GpsTrace &trace) {
+  const std::vector<GeoBounds> boxes = corridor_boxes_for_trace(trace);
+  GeoBounds union_bounds;
+  std::string query = "[out:json][timeout:25];(";
+  for (const GeoBounds &box : boxes) {
+    union_bounds = merge_bounds(union_bounds, box);
+    const std::string bbox = bbox_string(box);
+    query += "way[\"highway\"][\"area\"!=\"yes\"](" + bbox + ");";
+    query += "way[\"natural\"=\"water\"](" + bbox + ");";
+    query += "way[\"waterway\"=\"riverbank\"](" + bbox + ");";
+    query += "way[\"waterway\"~\"river|stream|canal\"](" + bbox + ");";
+  }
+  query += ");out tags geom;";
+
+  std::string key = bounds_key(union_bounds);
+  key += ":";
+  key += std::to_string(boxes.size());
+  for (const GeoBounds &box : boxes) {
+    key += ":";
+    key += bbox_string(box);
+  }
+  return MapRequestSpec{
+    .key = std::move(key),
+    .bounds = union_bounds,
+    .query = std::move(query),
+  };
+}
+
+bool fetch_overpass_json(std::string_view query, std::string *out) {
+  const std::string body = std::string("data=") + percent_encode(query);
+  for (const char *endpoint : MAP_QUERY_ENDPOINTS) {
+    const std::string command = "curl -fsSL --compressed --connect-timeout 8 --max-time 30 "
+                              "-A 'jotpluggler-vector-map/1.0' "
+                              "-H 'Content-Type: application/x-www-form-urlencoded; charset=UTF-8' "
+                              "--data-raw " + shell_quote(body) + " "
+                              + shell_quote(endpoint);
+    const std::string response = util::check_output(command);
+    if (!response.empty() && response.front() == '{') {
+      *out = response;
+      return true;
+    }
+  }
+  return false;
+}
+
+std::string load_overpass_json(std::string_view query) {
+  std::string response;
+  if (!fetch_overpass_json(query, &response)) {
+    return {};
+  }
+  return response;
+}
+
+template <typename T>
+void append_pod(std::string *out, const T &value) {
+  const size_t start = out->size();
+  out->resize(start + sizeof(T));
+  std::memcpy(out->data() + start, &value, sizeof(T));
+}
+
+template <typename T>
+bool read_pod(std::string_view data, size_t *offset, T *value) {
+  if (*offset + sizeof(T) > data.size()) {
+    return false;
+  }
+  std::memcpy(value, data.data() + *offset, sizeof(T));
+  *offset += sizeof(T);
+  return true;
+}
+
+void append_points(std::string *out, const std::vector<ProjectedPoint> &points) {
+  const uint32_t count = static_cast<uint32_t>(points.size());
+  append_pod(out, count);
+  for (const ProjectedPoint &point : points) {
+    append_pod(out, point.x);
+    append_pod(out, point.y);
+  }
+}
+
+bool read_points(std::string_view data, size_t *offset, std::vector<ProjectedPoint> *points) {
+  uint32_t count = 0;
+  if (!read_pod(data, offset, &count)) {
+    return false;
+  }
+  points->clear();
+  points->reserve(count);
+  for (uint32_t i = 0; i < count; ++i) {
+    ProjectedPoint point;
+    if (!read_pod(data, offset, &point.x) || !read_pod(data, offset, &point.y)) {
+      return false;
+    }
+    points->push_back(point);
+  }
+  return true;
+}
+
+std::string serialize_basemap_payload(const RouteBasemap &basemap) {
+  std::string raw;
+  raw.reserve(1024 + basemap.roads.size() * 48);
+  raw.append("JBM2", 4);
+  append_pod(&raw, basemap.bounds.south);
+  append_pod(&raw, basemap.bounds.west);
+  append_pod(&raw, basemap.bounds.north);
+  append_pod(&raw, basemap.bounds.east);
+
+  const uint32_t road_count = static_cast<uint32_t>(basemap.roads.size());
+  const uint32_t water_line_count = static_cast<uint32_t>(basemap.water_lines.size());
+  const uint32_t water_polygon_count = static_cast<uint32_t>(basemap.water_polygons.size());
+  append_pod(&raw, road_count);
+  append_pod(&raw, water_line_count);
+  append_pod(&raw, water_polygon_count);
+
+  for (const RoadFeature &road : basemap.roads) {
+    const uint8_t kind = static_cast<uint8_t>(road.road_class);
+    append_pod(&raw, kind);
+    append_points(&raw, road.points);
+  }
+  for (const WaterLineFeature &water : basemap.water_lines) {
+    append_points(&raw, water.points);
+  }
+  for (const WaterPolygonFeature &water : basemap.water_polygons) {
+    append_points(&raw, water.ring);
+  }
+  return raw;
+}
+
+std::optional<RouteBasemap> deserialize_basemap_payload(std::string_view raw, const std::string &key) {
+  if (!util::starts_with(std::string(raw), "JBM2")) {
+    return std::nullopt;
+  }
+  size_t offset = 4;
+  RouteBasemap basemap;
+  basemap.key = key;
+  if (!read_pod(raw, &offset, &basemap.bounds.south)
+      || !read_pod(raw, &offset, &basemap.bounds.west)
+      || !read_pod(raw, &offset, &basemap.bounds.north)
+      || !read_pod(raw, &offset, &basemap.bounds.east)) {
+    return std::nullopt;
+  }
+  basemap.projected_bounds = project_bounds0(basemap.bounds);
+
+  uint32_t road_count = 0;
+  uint32_t water_line_count = 0;
+  uint32_t water_polygon_count = 0;
+  if (!read_pod(raw, &offset, &road_count)
+      || !read_pod(raw, &offset, &water_line_count)
+      || !read_pod(raw, &offset, &water_polygon_count)) {
+    return std::nullopt;
+  }
+
+  basemap.roads.reserve(road_count);
+  for (uint32_t i = 0; i < road_count; ++i) {
+    uint8_t kind = 0;
+    std::vector<ProjectedPoint> points;
+    if (!read_pod(raw, &offset, &kind) || !read_points(raw, &offset, &points)) {
+      return std::nullopt;
+    }
+    basemap.roads.push_back(RoadFeature{
+      .road_class = static_cast<RoadClass>(kind),
+      .bounds = compute_projected_bounds(points),
+      .points = std::move(points),
+    });
+  }
+
+  basemap.water_lines.reserve(water_line_count);
+  for (uint32_t i = 0; i < water_line_count; ++i) {
+    std::vector<ProjectedPoint> points;
+    if (!read_points(raw, &offset, &points)) {
+      return std::nullopt;
+    }
+    basemap.water_lines.push_back(WaterLineFeature{
+      .bounds = compute_projected_bounds(points),
+      .points = std::move(points),
+    });
+  }
+
+  basemap.water_polygons.reserve(water_polygon_count);
+  for (uint32_t i = 0; i < water_polygon_count; ++i) {
+    std::vector<ProjectedPoint> ring;
+    if (!read_points(raw, &offset, &ring)) {
+      return std::nullopt;
+    }
+    basemap.water_polygons.push_back(WaterPolygonFeature{
+      .bounds = compute_projected_bounds(ring),
+      .ring = std::move(ring),
+    });
+  }
+  return basemap;
+}
+
+bool save_compressed_basemap(const fs::path &path, const RouteBasemap &basemap) {
+  const std::string raw = serialize_basemap_payload(basemap);
+  const size_t bound = ZSTD_compressBound(raw.size());
+  std::string compressed(bound, '\0');
+  const size_t size = ZSTD_compress(compressed.data(), compressed.size(), raw.data(), raw.size(), 5);
+  if (ZSTD_isError(size)) {
+    return false;
+  }
+  compressed.resize(size);
+  ensure_parent_dir(path);
+  const std::string path_string = path.string();
+  return util::write_file(path_string.c_str(), compressed.data(), compressed.size(), O_WRONLY | O_CREAT | O_TRUNC) == 0;
+}
+
+std::optional<RouteBasemap> load_compressed_basemap(const fs::path &path, const std::string &key) {
+  const std::string compressed = util::read_file(path.string());
+  if (compressed.empty()) {
+    return std::nullopt;
+  }
+  const unsigned long long raw_size = ZSTD_getFrameContentSize(compressed.data(), compressed.size());
+  if (raw_size == ZSTD_CONTENTSIZE_ERROR || raw_size == ZSTD_CONTENTSIZE_UNKNOWN || raw_size > (1ULL << 31)) {
+    return std::nullopt;
+  }
+  std::string raw(static_cast<size_t>(raw_size), '\0');
+  const size_t actual = ZSTD_decompress(raw.data(), raw.size(), compressed.data(), compressed.size());
+  if (ZSTD_isError(actual)) {
+    return std::nullopt;
+  }
+  raw.resize(actual);
+  return deserialize_basemap_payload(raw, key);
+}
+
+std::vector<ProjectedPoint> geometry_points(const json11::Json &geometry_json) {
+  std::vector<ProjectedPoint> points;
+  const auto items = geometry_json.array_items();
+  points.reserve(items.size());
+  for (const json11::Json &point : items) {
+    if (!point["lat"].is_number() || !point["lon"].is_number()) {
+      continue;
+    }
+    points.push_back(ProjectedPoint{
+      .x = project_lon0(point["lon"].number_value()),
+      .y = project_lat0(point["lat"].number_value()),
+    });
+  }
+  return points;
+}
+
+std::optional<RoadClass> classify_road(std::string_view highway) {
+  if (highway == "motorway" || highway == "motorway_link" || highway == "trunk" || highway == "trunk_link") {
+    return RoadClass::Motorway;
+  }
+  if (highway == "primary" || highway == "primary_link") {
+    return RoadClass::Primary;
+  }
+  if (highway == "secondary" || highway == "secondary_link" || highway == "tertiary" || highway == "tertiary_link") {
+    return RoadClass::Secondary;
+  }
+  if (highway == "residential" || highway == "unclassified" || highway == "living_street" || highway == "road") {
+    return RoadClass::Local;
+  }
+  return std::nullopt;
+}
+
+std::optional<RouteBasemap> parse_basemap_json(const std::string &raw, const GeoBounds &bounds, const std::string &key) {
+  std::string parse_error;
+  const json11::Json root = json11::Json::parse(raw, parse_error);
+  if (!parse_error.empty() || !root.is_object()) {
+    return std::nullopt;
+  }
+
+  RouteBasemap basemap;
+  basemap.key = key;
+  basemap.bounds = bounds;
+  basemap.projected_bounds = project_bounds0(bounds);
+
+  for (const json11::Json &element : root["elements"].array_items()) {
+    if (element["type"].string_value() != "way") {
+      continue;
+    }
+    const json11::Json &tags = element["tags"];
+    const std::vector<ProjectedPoint> points = geometry_points(element["geometry"]);
+    if (points.size() < 2) {
+      continue;
+    }
+
+    const std::string highway = tags["highway"].string_value();
+    if (!highway.empty()) {
+      const std::optional<RoadClass> road_class = classify_road(highway);
+      if (!road_class.has_value()) {
+        continue;
+      }
+      basemap.roads.push_back(RoadFeature{
+        .road_class = *road_class,
+        .bounds = compute_projected_bounds(points),
+        .points = points,
+      });
+      continue;
+    }
+
+    const std::string natural = tags["natural"].string_value();
+    const std::string waterway = tags["waterway"].string_value();
+    const bool closed = points.size() >= 4
+                     && std::abs(points.front().x - points.back().x) < 1.0e-6f
+                     && std::abs(points.front().y - points.back().y) < 1.0e-6f;
+    if ((natural == "water" || waterway == "riverbank") && closed) {
+      basemap.water_polygons.push_back(WaterPolygonFeature{
+        .bounds = compute_projected_bounds(points),
+        .ring = points,
+      });
+      continue;
+    }
+    if (waterway == "river" || waterway == "stream" || waterway == "canal") {
+      basemap.water_lines.push_back(WaterLineFeature{
+        .bounds = compute_projected_bounds(points),
+        .points = points,
+      });
+    }
+  }
+
+  return basemap;
+}
+
+struct RoadPaint {
+  ImU32 casing = 0;
+  ImU32 fill = 0;
+  float casing_width = 1.0f;
+  float fill_width = 1.0f;
+};
+
+constexpr ImU32 MAP_BG_COLOR = IM_COL32(244, 243, 238, 255);
+constexpr ImU32 MAP_WATER_FILL = IM_COL32(193, 216, 235, 185);
+constexpr ImU32 MAP_WATER_OUTLINE = IM_COL32(143, 173, 201, 220);
+constexpr ImU32 MAP_WATER_LINE = IM_COL32(156, 186, 214, 205);
+constexpr ImU32 MAP_ROUTE_HALO = IM_COL32(31, 40, 50, 92);
+
+RoadPaint road_paint(RoadClass road_class, float zoom) {
+  const float scale = std::clamp(0.88f + 0.12f * (zoom - 12.0f), 0.76f, 1.95f);
+  switch (road_class) {
+    case RoadClass::Motorway:
+      return {
+        .casing = IM_COL32(163, 157, 149, 235),
+        .fill = IM_COL32(245, 235, 215, 255),
+        .casing_width = 5.6f * scale,
+        .fill_width = 3.7f * scale,
+      };
+    case RoadClass::Primary:
+      return {
+        .casing = IM_COL32(171, 171, 168, 220),
+        .fill = IM_COL32(249, 246, 237, 248),
+        .casing_width = 4.6f * scale,
+        .fill_width = 2.95f * scale,
+      };
+    case RoadClass::Secondary:
+      return {
+        .casing = IM_COL32(183, 186, 189, 210),
+        .fill = IM_COL32(252, 251, 247, 240),
+        .casing_width = 3.5f * scale,
+        .fill_width = 2.15f * scale,
+      };
+    case RoadClass::Local:
+    default:
+      return {
+        .casing = IM_COL32(200, 202, 205, 195),
+        .fill = IM_COL32(255, 255, 254, 230),
+        .casing_width = 2.5f * scale,
+        .fill_width = 1.5f * scale,
+      };
+  }
+}
+
+void clamp_map_center(TabUiState::MapPaneState *map_state, const GeoBounds &bounds, const ImVec2 &size) {
+  if (!bounds.valid() || size.x <= 1.0f || size.y <= 1.0f) {
+    return;
+  }
+  const double zoom = map_state->zoom;
+  const double min_x = lon_to_world_x(bounds.west, zoom);
+  const double max_x = lon_to_world_x(bounds.east, zoom);
+  const double min_y = lat_to_world_y(bounds.north, zoom);
+  const double max_y = lat_to_world_y(bounds.south, zoom);
+  const double half_w = size.x * 0.5;
+  const double half_h = size.y * 0.5;
+  double center_x = lon_to_world_x(map_state->center_lon, zoom);
+  double center_y = lat_to_world_y(map_state->center_lat, zoom);
+  if (max_x - min_x <= size.x) {
+    center_x = (min_x + max_x) * 0.5;
+  } else {
+    center_x = std::clamp(center_x, min_x + half_w, max_x - half_w);
+  }
+  if (max_y - min_y <= size.y) {
+    center_y = (min_y + max_y) * 0.5;
+  } else {
+    center_y = std::clamp(center_y, min_y + half_h, max_y - half_h);
+  }
+  map_state->center_lon = world_x_to_lon(center_x, zoom);
+  map_state->center_lat = world_y_to_lat(center_y, zoom);
+}
+
+void initialize_map_pane_state(TabUiState::MapPaneState *map_state,
+                               const GpsTrace &trace,
+                               const GeoBounds &bounds,
+                               ImVec2 size,
+                               SessionDataMode mode,
+                               std::optional<GpsPoint> cursor_point) {
+  if (trace.points.empty()) {
+    return;
+  }
+  map_state->initialized = true;
+  map_state->follow = mode == SessionDataMode::Stream;
+  const int min_zoom = minimum_allowed_map_zoom(bounds, trace, size);
+  if (mode == SessionDataMode::Stream && cursor_point.has_value()) {
+    map_state->zoom = std::max(16.0f, static_cast<float>(min_zoom));
+    map_state->center_lat = cursor_point->lat;
+    map_state->center_lon = cursor_point->lon;
+  } else {
+    map_state->zoom = std::max(static_cast<float>(fit_map_zoom_for_trace(trace, size.x, size.y)),
+                               static_cast<float>(min_zoom));
+    map_state->center_lat = map_trace_center_lat(trace);
+    map_state->center_lon = map_trace_center_lon(trace);
+  }
+  clamp_map_center(map_state, bounds, size);
+}
+
+void draw_feature_polyline(ImDrawList *draw_list,
+                           const std::vector<ProjectedPoint> &points,
+                           float zoom_scale,
+                           double top_left_x,
+                           double top_left_y,
+                           const ImVec2 &rect_min,
+                           ImU32 color,
+                           float thickness,
+                           bool closed = false) {
+  if (points.size() < 2) {
+    return;
+  }
+  std::vector<ImVec2> screen;
+  screen.reserve(points.size());
+  for (const ProjectedPoint &point : points) {
+    screen.push_back(ImVec2(rect_min.x + point.x * zoom_scale - static_cast<float>(top_left_x),
+                            rect_min.y + point.y * zoom_scale - static_cast<float>(top_left_y)));
+  }
+  draw_list->AddPolyline(screen.data(), static_cast<int>(screen.size()), color,
+                         closed ? ImDrawFlags_Closed : ImDrawFlags_None, thickness);
+}
+
+void draw_water_polygon(ImDrawList *draw_list,
+                        const WaterPolygonFeature &feature,
+                        float zoom_scale,
+                        double top_left_x,
+                        double top_left_y,
+                        const ImVec2 &rect_min) {
+  if (feature.ring.size() < 3) {
+    return;
+  }
+  std::vector<ImVec2> screen;
+  screen.reserve(feature.ring.size());
+  for (const ProjectedPoint &point : feature.ring) {
+    screen.push_back(ImVec2(rect_min.x + point.x * zoom_scale - static_cast<float>(top_left_x),
+                            rect_min.y + point.y * zoom_scale - static_cast<float>(top_left_y)));
+  }
+  if (screen.size() >= 3 && is_convex_ring(screen)) {
+    draw_list->AddConvexPolyFilled(screen.data(), static_cast<int>(screen.size()), MAP_WATER_FILL);
+  }
+  draw_list->AddPolyline(screen.data(), static_cast<int>(screen.size()), MAP_WATER_OUTLINE,
+                         ImDrawFlags_Closed, 1.8f);
+}
+
+void draw_edge_fade(ImDrawList *draw_list,
+                    const GeoBounds &bounds,
+                    double zoom,
+                    double top_left_x,
+                    double top_left_y,
+                    const ImVec2 &rect_min,
+                    const ImVec2 &rect_max) {
+  if (!bounds.valid()) {
+    return;
+  }
+
+  const float west_x = rect_min.x + static_cast<float>(lon_to_world_x(bounds.west, zoom) - top_left_x);
+  const float east_x = rect_min.x + static_cast<float>(lon_to_world_x(bounds.east, zoom) - top_left_x);
+  const float north_y = rect_min.y + static_cast<float>(lat_to_world_y(bounds.north, zoom) - top_left_y);
+  const float south_y = rect_min.y + static_cast<float>(lat_to_world_y(bounds.south, zoom) - top_left_y);
+
+  const float fade_x = std::max(28.0f, (rect_max.x - rect_min.x) * MAP_EDGE_FADE_FRAC);
+  const float fade_y = std::max(28.0f, (rect_max.y - rect_min.y) * MAP_EDGE_FADE_FRAC);
+  const ImU32 solid = MAP_BG_COLOR;
+  const ImU32 clear = IM_COL32(244, 243, 238, 6);
+
+  if (west_x > rect_min.x) {
+    const float x0 = rect_min.x;
+    const float x1 = std::min(rect_max.x, west_x);
+    const float xfade = std::max(x0, x1 - fade_x);
+    draw_list->AddRectFilledMultiColor(ImVec2(x0, rect_min.y), ImVec2(xfade, rect_max.y), solid, solid, solid, solid);
+    draw_list->AddRectFilledMultiColor(ImVec2(xfade, rect_min.y), ImVec2(x1, rect_max.y), solid, clear, clear, solid);
+  }
+  if (east_x < rect_max.x) {
+    const float x0 = std::max(rect_min.x, east_x);
+    const float x1 = rect_max.x;
+    const float xfade = std::min(x1, x0 + fade_x);
+    draw_list->AddRectFilledMultiColor(ImVec2(x0, rect_min.y), ImVec2(xfade, rect_max.y), clear, solid, solid, clear);
+    draw_list->AddRectFilledMultiColor(ImVec2(xfade, rect_min.y), ImVec2(x1, rect_max.y), solid, solid, solid, solid);
+  }
+  if (north_y > rect_min.y) {
+    const float y0 = rect_min.y;
+    const float y1 = std::min(rect_max.y, north_y);
+    const float yfade = std::max(y0, y1 - fade_y);
+    draw_list->AddRectFilledMultiColor(ImVec2(rect_min.x, y0), ImVec2(rect_max.x, yfade), solid, solid, solid, solid);
+    draw_list->AddRectFilledMultiColor(ImVec2(rect_min.x, yfade), ImVec2(rect_max.x, y1), solid, solid, clear, clear);
+  }
+  if (south_y < rect_max.y) {
+    const float y0 = std::max(rect_min.y, south_y);
+    const float y1 = rect_max.y;
+    const float yfade = std::min(y1, y0 + fade_y);
+    draw_list->AddRectFilledMultiColor(ImVec2(rect_min.x, y0), ImVec2(rect_max.x, yfade), clear, clear, solid, solid);
+    draw_list->AddRectFilledMultiColor(ImVec2(rect_min.x, yfade), ImVec2(rect_max.x, y1), solid, solid, solid, solid);
+  }
+}
+
+}  // namespace
+
+MapDataManager::MapDataManager() : worker_([this]() { run(); }) {}
+
+MapDataManager::~MapDataManager() {
+  {
+    std::lock_guard<std::mutex> lock(mutex_);
+    stopping_ = true;
+  }
+  cv_.notify_all();
+  if (worker_.joinable()) {
+    worker_.join();
+  }
+}
+
+void MapDataManager::pump() {
+  std::unique_ptr<RouteBasemap> ready;
+  {
+    std::lock_guard<std::mutex> lock(mutex_);
+    ready = std::move(completed_);
+  }
+  if (ready) {
+    current_ = std::move(ready);
+  }
+}
+
+void MapDataManager::ensureTrace(const GpsTrace &trace) {
+  if (trace.points.empty()) {
+    return;
+  }
+  const MapRequestSpec wanted = build_request_for_trace(trace);
+  if (!wanted.bounds.valid()) {
+    return;
+  }
+
+  std::lock_guard<std::mutex> lock(mutex_);
+  if ((current_ && current_->key == wanted.key) || (pending_ && pending_->key == wanted.key)) {
+    return;
+  }
+
+  if (const auto cached = load_compressed_basemap(basemap_cache_path(wanted.key), wanted.key)) {
+    current_ = std::make_unique<RouteBasemap>(std::move(*cached));
+    completed_.reset();
+    pending_.reset();
+    active_.reset();
+    return;
+  }
+
+  pending_ = std::make_unique<Request>(Request{
+    .key = wanted.key,
+    .bounds = wanted.bounds,
+    .query = wanted.query,
+  });
+  cv_.notify_one();
+}
+
+bool MapDataManager::loading() const {
+  std::lock_guard<std::mutex> lock(mutex_);
+  return active_ || pending_;
+}
+
+const RouteBasemap *MapDataManager::current() const {
+  return current_.get();
+}
+
+void MapDataManager::clearCache() {
+  std::lock_guard<std::mutex> lock(mutex_);
+  clear_cache_directory();
+}
+
+MapCacheStats MapDataManager::cacheStats() const {
+  return MapCacheStats{
+    .bytes = cache_directory_size_bytes(),
+    .files = cache_directory_file_count(),
+  };
+}
+
+void MapDataManager::run() {
+  while (true) {
+    Request request;
+    {
+      std::unique_lock<std::mutex> lock(mutex_);
+      cv_.wait(lock, [&]() { return stopping_ || pending_ != nullptr; });
+      if (stopping_) {
+        return;
+      }
+      request = *pending_;
+      active_ = std::move(pending_);
+    }
+
+    std::unique_ptr<RouteBasemap> parsed;
+    const std::string raw = load_overpass_json(request.query);
+    if (!raw.empty()) {
+      if (auto basemap = parse_basemap_json(raw, request.bounds, request.key)) {
+        save_compressed_basemap(basemap_cache_path(request.key), *basemap);
+        parsed = std::make_unique<RouteBasemap>(std::move(*basemap));
+      }
+    }
+
+    {
+      std::lock_guard<std::mutex> lock(mutex_);
+      if (active_ && active_->key == request.key) {
+        completed_ = std::move(parsed);
+        active_.reset();
+      }
+    }
+  }
+}
+
+void draw_map_pane(AppSession *session, UiState *state, Pane *, int pane_index) {
+  TabUiState *tab_state = app_active_tab_state(state);
+  if (tab_state == nullptr || pane_index < 0 || pane_index >= static_cast<int>(tab_state->map_panes.size())) {
+    ImGui::TextUnformatted("Map unavailable");
+    return;
+  }
+  if (!session->map_data) {
+    ImGui::TextUnformatted("Map unavailable");
+    return;
+  }
+
+  session->map_data->ensureTrace(session->route_data.gps_trace);
+  session->map_data->pump();
+
+  TabUiState::MapPaneState &map_state = tab_state->map_panes[static_cast<size_t>(pane_index)];
+  const GpsTrace &trace = session->route_data.gps_trace;
+  const RouteBasemap *basemap = session->map_data->current();
+  const GeoBounds map_bounds = basemap != nullptr ? basemap->bounds : requested_bounds_for_trace(trace);
+
+  const ImVec2 rect_min = ImGui::GetCursorScreenPos();
+  const ImVec2 size = ImGui::GetContentRegionAvail();
+  const ImVec2 input_size(std::max(1.0f, size.x - 22.0f), std::max(1.0f, size.y));
+  ImGui::SetNextItemAllowOverlap();
+  ImGui::InvisibleButton("##map_canvas", input_size);
+  const ImVec2 rect_max(rect_min.x + size.x, rect_min.y + size.y);
+  const float rect_width = rect_max.x - rect_min.x;
+  const float rect_height = rect_max.y - rect_min.y;
+  ImDrawList *draw_list = ImGui::GetWindowDrawList();
+
+  draw_list->PushClipRect(rect_min, rect_max, true);
+  draw_list->AddRectFilled(rect_min, rect_max, MAP_BG_COLOR);
+
+  if (trace.points.empty()) {
+    const char *label = session->async_route_loading ? "Loading map..." : "No GPS trace";
+    const ImVec2 text = ImGui::CalcTextSize(label);
+    draw_list->AddText(ImVec2(rect_min.x + (rect_width - text.x) * 0.5f,
+                              rect_min.y + (rect_height - text.y) * 0.5f),
+                       IM_COL32(110, 118, 128, 255), label);
+    draw_list->PopClipRect();
+    return;
+  }
+
+  const std::optional<GpsPoint> cursor_point = state->has_tracker_time
+    ? interpolate_gps(trace, state->tracker_time)
+    : std::optional<GpsPoint>{};
+  if (!map_state.initialized) {
+    initialize_map_pane_state(&map_state, trace, map_bounds, size, session->data_mode, cursor_point);
+  }
+
+  const int min_zoom = minimum_allowed_map_zoom(map_bounds, trace, size);
+  if (map_state.follow && cursor_point.has_value()) {
+    const float follow_zoom = std::clamp(map_state.zoom, static_cast<float>(min_zoom), static_cast<float>(MAP_MAX_ZOOM));
+    const double center_x = lon_to_world_x(map_state.center_lon, follow_zoom);
+    const double center_y = lat_to_world_y(map_state.center_lat, follow_zoom);
+    const double top_left_x = center_x - rect_width * 0.5;
+    const double top_left_y = center_y - rect_height * 0.5;
+    const ImVec2 car_screen = gps_to_screen(cursor_point->lat, cursor_point->lon, follow_zoom, top_left_x, top_left_y, rect_min);
+    if (!point_in_rect_with_margin(car_screen, rect_min, rect_max, 0.22f)) {
+      map_state.center_lat = cursor_point->lat;
+      map_state.center_lon = cursor_point->lon;
+    }
+  }
+
+  map_state.zoom = std::clamp(map_state.zoom, static_cast<float>(min_zoom), static_cast<float>(MAP_MAX_ZOOM));
+  clamp_map_center(&map_state, map_bounds, size);
+
+  const double zoom = map_state.zoom;
+  const float zoom_scale = static_cast<float>(std::exp2(zoom));
+  const double center_x = lon_to_world_x(map_state.center_lon, zoom);
+  const double center_y = lat_to_world_y(map_state.center_lat, zoom);
+  const double top_left_x = center_x - rect_width * 0.5;
+  const double top_left_y = center_y - rect_height * 0.5;
+  const ProjectedBounds current_view = view_bounds(top_left_x, top_left_y, rect_width, rect_height);
+
+  if (basemap != nullptr) {
+    for (const WaterPolygonFeature &water : basemap->water_polygons) {
+      if (feature_intersects_view(water.bounds, current_view, zoom_scale)) {
+        draw_water_polygon(draw_list, water, zoom_scale, top_left_x, top_left_y, rect_min);
+      }
+    }
+    for (const WaterLineFeature &water : basemap->water_lines) {
+      if (feature_intersects_view(water.bounds, current_view, zoom_scale)) {
+        draw_feature_polyline(draw_list, water.points, zoom_scale, top_left_x, top_left_y, rect_min,
+                              MAP_WATER_LINE, 2.4f);
+      }
+    }
+
+    std::array<RoadClass, 4> order = {
+      RoadClass::Local,
+      RoadClass::Secondary,
+      RoadClass::Primary,
+      RoadClass::Motorway,
+    };
+    for (RoadClass road_class : order) {
+      const RoadPaint paint = road_paint(road_class, static_cast<float>(zoom));
+      for (const RoadFeature &road : basemap->roads) {
+        if (road.road_class != road_class || !feature_intersects_view(road.bounds, current_view, zoom_scale)) {
+          continue;
+        }
+        draw_feature_polyline(draw_list, road.points, zoom_scale, top_left_x, top_left_y, rect_min,
+                              paint.casing, paint.casing_width);
+        draw_feature_polyline(draw_list, road.points, zoom_scale, top_left_x, top_left_y, rect_min,
+                              paint.fill, paint.fill_width);
+      }
+    }
+  }
+
+  if (basemap != nullptr) {
+    draw_edge_fade(draw_list, basemap->bounds, zoom, top_left_x, top_left_y, rect_min, rect_max);
+  }
+
+  for (size_t i = 1; i < trace.points.size(); ++i) {
+    const GpsPoint &p0 = trace.points[i - 1];
+    const GpsPoint &p1 = trace.points[i];
+    const ImVec2 s0 = gps_to_screen(p0.lat, p0.lon, zoom, top_left_x, top_left_y, rect_min);
+    const ImVec2 s1 = gps_to_screen(p1.lat, p1.lon, zoom, top_left_x, top_left_y, rect_min);
+    draw_list->AddLine(s0, s1, MAP_ROUTE_HALO, 5.8f);
+    draw_list->AddLine(s0, s1, map_timeline_color(p1.type, 1.0f), 3.25f);
+  }
+
+  if (cursor_point.has_value()) {
+    const ImVec2 marker = gps_to_screen(cursor_point->lat, cursor_point->lon, zoom, top_left_x, top_left_y, rect_min);
+    const float marker_size = std::clamp(9.0f + 1.0f * static_cast<float>(zoom - min_zoom), 9.0f, 20.0f);
+    draw_car_marker(draw_list, marker, cursor_point->bearing, map_timeline_color(cursor_point->type, 1.0f), marker_size);
+  }
+
+  if (session->map_data->loading()) {
+    const char *label = basemap != nullptr ? "Refreshing roads..." : "Loading roads...";
+    const ImVec2 text = ImGui::CalcTextSize(label);
+    const ImVec2 pos(rect_min.x + 12.0f, rect_max.y - text.y - 12.0f);
+    draw_list->AddRectFilled(ImVec2(pos.x - 6.0f, pos.y - 4.0f),
+                             ImVec2(pos.x + text.x + 6.0f, pos.y + text.y + 4.0f),
+                             IM_COL32(255, 255, 255, 180), 4.0f);
+    draw_list->AddText(pos, IM_COL32(84, 93, 105, 255), label);
+  }
+  draw_list->PopClipRect();
+
+  const bool canvas_hovered = ImGui::IsItemHovered();
+  const bool double_clicked = canvas_hovered && ImGui::IsMouseDoubleClicked(ImGuiMouseButton_Left);
+  bool overlay_hovered = false;
+  if (const std::string google_maps_url = route_google_maps_url(trace); !google_maps_url.empty()) {
+    std::string label = std::string("Google Maps ") + icon::BOX_ARROW_UP_RIGHT;
+    const ImVec2 text_size = ImGui::CalcTextSize(label.c_str());
+    const ImVec2 button_size(text_size.x + 20.0f, text_size.y + 10.0f);
+    const ImVec2 button_pos(rect_max.x - button_size.x - 28.0f, rect_min.y + 10.0f);
+    ImGui::SetCursorScreenPos(button_pos);
+    ImGui::SetNextItemAllowOverlap();
+    if (ImGui::Button("##open_google_maps", button_size)) {
+      open_external_url(google_maps_url);
+      state->status_text = "Opened Google Maps";
+    }
+    overlay_hovered = ImGui::IsItemHovered();
+    draw_list->AddText(ImVec2(button_pos.x + 10.0f, button_pos.y + (button_size.y - text_size.y) * 0.5f),
+                       ImGui::GetColorU32(ImGuiCol_Text), label.c_str());
+  }
+  const bool hovered = canvas_hovered && !overlay_hovered;
+  if (hovered && ImGui::GetIO().MouseWheel != 0.0f) {
+    const float next_zoom = std::clamp(static_cast<float>(zoom) + ImGui::GetIO().MouseWheel * MAP_WHEEL_ZOOM_STEP,
+                                       static_cast<float>(min_zoom), static_cast<float>(MAP_MAX_ZOOM));
+    if (std::abs(next_zoom - zoom) > 1.0e-4f) {
+      const ImVec2 mouse = ImGui::GetIO().MousePos;
+      const double mouse_world_x = top_left_x + (mouse.x - rect_min.x);
+      const double mouse_world_y = top_left_y + (mouse.y - rect_min.y);
+      const double mouse_lon = world_x_to_lon(mouse_world_x, zoom);
+      const double mouse_lat = world_y_to_lat(mouse_world_y, zoom);
+      const double next_center_x = lon_to_world_x(mouse_lon, next_zoom) - (mouse.x - rect_min.x) + rect_width * 0.5;
+      const double next_center_y = lat_to_world_y(mouse_lat, next_zoom) - (mouse.y - rect_min.y) + rect_height * 0.5;
+      map_state.zoom = next_zoom;
+      map_state.center_lon = world_x_to_lon(next_center_x, next_zoom);
+      map_state.center_lat = world_y_to_lat(next_center_y, next_zoom);
+      map_state.follow = false;
+      clamp_map_center(&map_state, map_bounds, size);
+    }
+  }
+  if (hovered && ImGui::IsMouseDragging(ImGuiMouseButton_Left, 2.0f)) {
+    const ImVec2 delta = ImGui::GetIO().MouseDelta;
+    const double next_center_x = center_x - delta.x;
+    const double next_center_y = center_y - delta.y;
+    map_state.center_lon = world_x_to_lon(next_center_x, zoom);
+    map_state.center_lat = world_y_to_lat(next_center_y, zoom);
+    map_state.follow = false;
+    clamp_map_center(&map_state, map_bounds, size);
+  } else if (hovered && ImGui::IsMouseReleased(ImGuiMouseButton_Left)) {
+    const ImVec2 drag_delta = ImGui::GetMouseDragDelta(ImGuiMouseButton_Left);
+    if (drag_delta.x * drag_delta.x + drag_delta.y * drag_delta.y < 16.0f) {
+      const ImVec2 mouse = ImGui::GetIO().MousePos;
+      double best_dist = std::numeric_limits<double>::max();
+      double best_time = state->tracker_time;
+      for (const GpsPoint &point : trace.points) {
+        const ImVec2 screen = gps_to_screen(point.lat, point.lon, zoom, top_left_x, top_left_y, rect_min);
+        const double dx = static_cast<double>(screen.x - mouse.x);
+        const double dy = static_cast<double>(screen.y - mouse.y);
+        const double dist = dx * dx + dy * dy;
+        if (dist < best_dist) {
+          best_dist = dist;
+          best_time = point.time;
+        }
+      }
+      state->tracker_time = best_time;
+      state->has_tracker_time = true;
+    }
+    ImGui::ResetMouseDragDelta(ImGuiMouseButton_Left);
+  }
+  if (double_clicked) {
+    map_state.initialized = false;
+  }
+}
diff --git a/tools/jotpluggler/map.h b/tools/jotpluggler/map.h
new file mode 100644
index 00000000000..97473f1ba90
--- /dev/null
+++ b/tools/jotpluggler/map.h
@@ -0,0 +1,61 @@
+#pragma once
+
+#include <condition_variable>
+#include <cstddef>
+#include <cstdint>
+#include <memory>
+#include <mutex>
+#include <string>
+#include <thread>
+
+struct GpsTrace;
+struct GeoBounds {
+  double south = 0.0;
+  double west = 0.0;
+  double north = 0.0;
+  double east = 0.0;
+
+  bool valid() const {
+    return south < north && west < east;
+  }
+};
+
+struct RouteBasemap;
+struct MapCacheStats {
+  uint64_t bytes = 0;
+  size_t files = 0;
+};
+
+class MapDataManager {
+public:
+  MapDataManager();
+  ~MapDataManager();
+
+  MapDataManager(const MapDataManager &) = delete;
+  MapDataManager &operator=(const MapDataManager &) = delete;
+
+  void pump();
+  void ensureTrace(const GpsTrace &trace);
+  void clearCache();
+  bool loading() const;
+  const RouteBasemap *current() const;
+  MapCacheStats cacheStats() const;
+
+private:
+  struct Request {
+    std::string key;
+    GeoBounds bounds;
+    std::string query;
+  };
+
+  void run();
+
+  mutable std::mutex mutex_;
+  std::condition_variable cv_;
+  bool stopping_ = false;
+  std::unique_ptr<Request> pending_;
+  std::unique_ptr<Request> active_;
+  std::unique_ptr<RouteBasemap> completed_;
+  std::unique_ptr<RouteBasemap> current_;
+  std::thread worker_;
+};
diff --git a/tools/jotpluggler/math_eval.py b/tools/jotpluggler/math_eval.py
new file mode 100755
index 00000000000..a865c88a3a7
--- /dev/null
+++ b/tools/jotpluggler/math_eval.py
@@ -0,0 +1,145 @@
+#!/usr/bin/env python3
+
+import json
+import sys
+import textwrap
+import traceback
+
+import numpy as np
+
+
+def _load_manifest(path: str) -> dict:
+  with open(path, encoding="utf-8") as f:
+    return json.load(f)
+
+
+def _load_vector(path: str) -> np.ndarray:
+  return np.fromfile(path, dtype=np.float64)
+
+
+def _write_vector(path: str, values: np.ndarray) -> None:
+  np.asarray(values, dtype=np.float64).tofile(path)
+
+
+def _resample_to_reference(ref_t: np.ndarray, src_t: np.ndarray, src_v: np.ndarray) -> np.ndarray:
+  ref_t = np.asarray(ref_t, dtype=np.float64).reshape(-1)
+  src_t = np.asarray(src_t, dtype=np.float64).reshape(-1)
+  src_v = np.asarray(src_v, dtype=np.float64).reshape(-1)
+  if ref_t.size == 0 or src_t.size == 0 or src_v.size == 0:
+    return np.empty_like(ref_t)
+  indices = np.searchsorted(src_t, ref_t, side="right") - 1
+  indices = np.clip(indices, 0, src_v.size - 1)
+  return src_v[indices]
+
+
+def _evaluate_user_code(code: str, env: dict):
+  stripped = code.strip()
+  if not stripped:
+    raise ValueError("Function body is empty")
+
+  expr = stripped
+  if expr.startswith("return "):
+    expr = expr[7:].strip()
+  try:
+    return eval(expr, env, env)
+  except SyntaxError:
+    pass
+
+  function_src = "def __jotpluggler_eval__():\n" + textwrap.indent(code, "    ")
+  exec(function_src, env, env)
+  return env["__jotpluggler_eval__"]()
+
+
+def main() -> int:
+  if len(sys.argv) != 6:
+    print("usage: math_eval.py <manifest.json> <globals.py> <code.py> <out_t.bin> <out_v.bin>", file=sys.stderr)
+    return 2
+
+  manifest_path, globals_path, code_path, out_t_path, out_v_path = sys.argv[1:6]
+  manifest = _load_manifest(manifest_path)
+
+  series_t = {}
+  series_v = {}
+  for entry in manifest.get("series", []):
+    path = entry["path"]
+    series_t[path] = _load_vector(entry["t"])
+    series_v[path] = _load_vector(entry["v"])
+
+  first_path = manifest.get("linked_source") or None
+
+  def remember(path: str) -> None:
+    nonlocal first_path
+    if first_path is None:
+      first_path = path
+
+  def t(path: str) -> np.ndarray:
+    remember(path)
+    return series_t[path]
+
+  def v(path: str) -> np.ndarray:
+    remember(path)
+    return series_v[path]
+
+  additional_sources = list(manifest.get("additional_sources", []))
+  linked_source = manifest.get("linked_source") or ""
+  paths = list(manifest.get("paths", []))
+
+  env = {
+    "__builtins__": __builtins__,
+    "np": np,
+    "t": t,
+    "v": v,
+    "paths": paths,
+    "linked_source": linked_source,
+    "additional_sources": additional_sources,
+  }
+
+  reference_time = None
+  if linked_source:
+    reference_time = series_t[linked_source]
+    env["time"] = reference_time
+    env["value"] = series_v[linked_source]
+
+  for i, path in enumerate(additional_sources, start=1):
+    if reference_time is None:
+      env[f"t{i}"] = series_t[path]
+      env[f"v{i}"] = series_v[path]
+    else:
+      env[f"t{i}"] = reference_time
+      env[f"v{i}"] = _resample_to_reference(reference_time, series_t[path], series_v[path])
+
+  with open(globals_path, encoding="utf-8") as f:
+    globals_code = f.read()
+  if globals_code.strip():
+    exec(globals_code, env, env)
+
+  with open(code_path, encoding="utf-8") as f:
+    user_code = f.read()
+  result = _evaluate_user_code(user_code, env)
+
+  if isinstance(result, tuple) and len(result) == 2:
+    result_t, result_v = result
+  else:
+    if first_path is None:
+      raise ValueError("No reference series found. Set an input timeseries or return (times, values).")
+    result_t = series_t[first_path]
+    result_v = result
+
+  result_t = np.asarray(result_t, dtype=np.float64).reshape(-1)
+  result_v = np.asarray(result_v, dtype=np.float64).reshape(-1)
+  if result_t.size == 0 or result_v.size == 0:
+    raise ValueError("Custom series returned an empty result")
+  if result_t.shape != result_v.shape:
+    raise ValueError(f"Time/value arrays must have the same shape, got {result_t.shape} and {result_v.shape}")
+
+  _write_vector(out_t_path, result_t)
+  _write_vector(out_v_path, result_v)
+  return 0
+
+
+if __name__ == "__main__":
+  try:
+    raise SystemExit(main())
+  except Exception as err:
+    traceback.print_exc()
+    raise SystemExit(1) from err
diff --git a/tools/jotpluggler/plot.cc b/tools/jotpluggler/plot.cc
new file mode 100644
index 00000000000..270dc905551
--- /dev/null
+++ b/tools/jotpluggler/plot.cc
@@ -0,0 +1,949 @@
+#include "tools/jotpluggler/internal.h"
+
+#include "implot.h"
+#include "imgui_internal.h"
+
+#include <cmath>
+#include <cstdio>
+#include <limits>
+
+struct PlotBounds {
+  double x_min = 0.0;
+  double x_max = 1.0;
+  double y_min = 0.0;
+  double y_max = 1.0;
+};
+
+bool curve_has_samples(const AppSession &session, const Curve &curve) {
+  if (curve_has_local_samples(curve)) return true;
+  if (curve.name.empty() || curve.name.front() != '/') {
+    return false;
+  }
+  const RouteSeries *series = app_find_route_series(session, curve.name);
+  return series != nullptr && series->times.size() > 1 && series->times.size() == series->values.size();
+}
+
+void extend_range(const std::vector<double> &values, bool *found, double *min_value, double *max_value) {
+  if (values.empty()) {
+    return;
+  }
+  const auto [min_it, max_it] = std::minmax_element(values.begin(), values.end());
+  if (!*found) {
+    *min_value = *min_it;
+    *max_value = *max_it;
+    *found = true;
+    return;
+  }
+  *min_value = std::min(*min_value, *min_it);
+  *max_value = std::max(*max_value, *max_it);
+}
+
+void ensure_non_degenerate_range(double *min_value, double *max_value, double pad_fraction, double fallback_pad) {
+  if (*max_value <= *min_value) {
+    const double pad = std::max(std::abs(*min_value) * 0.1, fallback_pad);
+    *min_value -= pad;
+    *max_value += pad;
+    return;
+  }
+  const double span = *max_value - *min_value;
+  const double pad = std::max(span * pad_fraction, fallback_pad);
+  *min_value -= pad;
+  *max_value += pad;
+}
+
+struct PreparedCurve {
+  int pane_curve_index = -1;
+  std::string label;
+  std::array<uint8_t, 3> color = {160, 170, 180};
+  float line_weight = 2.0f;
+  bool stairs = false;
+  const EnumInfo *enum_info = nullptr;
+  SeriesFormat display_info;
+  std::optional<double> legend_value;
+  std::vector<double> xs;
+  std::vector<double> ys;
+};
+
+struct StateBlock {
+  double t0 = 0.0;
+  double t1 = 0.0;
+  int value = 0;
+  std::string label;
+};
+
+struct PaneValueFormatContext {
+  SeriesFormat format;
+  bool valid = false;
+};
+
+bool curves_are_bool_like(const std::vector<PreparedCurve> &prepared_curves) {
+  if (prepared_curves.empty()) {
+    return false;
+  }
+  for (const PreparedCurve &curve : prepared_curves) {
+    if (!curve.display_info.integer_like || curve.ys.empty()) {
+      return false;
+    }
+    bool found_finite = false;
+    for (double value : curve.ys) {
+      if (!std::isfinite(value)) continue;
+      found_finite = true;
+      if (std::abs(value) > 0.01 && std::abs(value - 1.0) > 0.01) {
+        return false;
+      }
+    }
+    if (!found_finite) {
+      return false;
+    }
+  }
+  return true;
+}
+
+ImU32 state_block_color(int value, float alpha = 1.0f) {
+  static constexpr std::array<std::array<uint8_t, 3>, 8> kPalette = {{
+    {{111, 143, 175}},
+    {{0, 163, 108}},
+    {{255, 195, 0}},
+    {{199, 0, 57}},
+    {{123, 97, 255}},
+    {{0, 150, 136}},
+    {{214, 48, 49}},
+    {{52, 73, 94}},
+  }};
+  const size_t index = static_cast<size_t>(std::abs(value)) % kPalette.size();
+  return ImGui::GetColorU32(color_rgb(kPalette[index], alpha));
+}
+
+std::string state_block_label(const PreparedCurve &curve, int value) {
+  if (curve.enum_info != nullptr && value >= 0 && static_cast<size_t>(value) < curve.enum_info->names.size()) {
+    const std::string &name = curve.enum_info->names[static_cast<size_t>(value)];
+    if (!name.empty()) {
+      return name;
+    }
+  }
+  return std::to_string(value);
+}
+
+std::vector<StateBlock> build_state_blocks(const PreparedCurve &curve) {
+  std::vector<StateBlock> blocks;
+  if (curve.xs.size() < 2 || curve.xs.size() != curve.ys.size()) {
+    return blocks;
+  }
+
+  int current_value = static_cast<int>(std::llround(curve.ys.front()));
+  double start_time = curve.xs.front();
+  for (size_t i = 1; i < curve.xs.size(); ++i) {
+    const int value = static_cast<int>(std::llround(curve.ys[i]));
+    if (value == current_value) {
+      continue;
+    }
+    const double end_time = curve.xs[i];
+    if (end_time > start_time) {
+      blocks.push_back(StateBlock{
+        .t0 = start_time,
+        .t1 = end_time,
+        .value = current_value,
+        .label = state_block_label(curve, current_value),
+      });
+    }
+    current_value = value;
+    start_time = end_time;
+  }
+
+  const double final_time = curve.xs.back();
+  if (final_time >= start_time) {
+    blocks.push_back(StateBlock{
+      .t0 = start_time,
+      .t1 = final_time,
+      .value = current_value,
+      .label = state_block_label(curve, current_value),
+    });
+  }
+  return blocks;
+}
+
+void app_decimate_samples_impl(const std::vector<double> &xs_in,
+                           const std::vector<double> &ys_in,
+                           int max_points,
+                           std::vector<double> *xs_out,
+                           std::vector<double> *ys_out) {
+
+  const size_t bucket_count = std::max<size_t>(1, static_cast<size_t>(max_points / 4));
+  const size_t bucket_size = std::max<size_t>(
+    1,
+    static_cast<size_t>(std::ceil(static_cast<double>(xs_in.size()) / static_cast<double>(bucket_count))));
+  xs_out->reserve(bucket_count * 4 + 2);
+  ys_out->reserve(bucket_count * 4 + 2);
+
+  size_t last_index = std::numeric_limits<size_t>::max();
+  auto append_index = [&](size_t index) {
+    if (index >= xs_in.size() || index == last_index) {
+      return;
+    }
+    xs_out->push_back(xs_in[index]);
+    ys_out->push_back(ys_in[index]);
+    last_index = index;
+  };
+
+  for (size_t start = 0; start < xs_in.size(); start += bucket_size) {
+    const size_t end = std::min(xs_in.size(), start + bucket_size);
+    size_t min_index = start;
+    size_t max_index = start;
+    for (size_t index = start + 1; index < end; ++index) {
+      if (ys_in[index] < ys_in[min_index]) {
+        min_index = index;
+      }
+      if (ys_in[index] > ys_in[max_index]) {
+        max_index = index;
+      }
+    }
+
+    std::array<size_t, 4> indices = {start, min_index, max_index, end - 1};
+    std::sort(indices.begin(), indices.end());
+    for (size_t index : indices) {
+      append_index(index);
+    }
+  }
+}
+
+void app_decimate_samples(const std::vector<double> &xs_in,
+                      const std::vector<double> &ys_in,
+                      int max_points,
+                      std::vector<double> *xs_out,
+                      std::vector<double> *ys_out) {
+  xs_out->clear();
+  ys_out->clear();
+  if (xs_in.empty() || xs_in.size() != ys_in.size()) {
+    return;
+  }
+  if (max_points <= 0 || static_cast<int>(xs_in.size()) <= max_points) {
+    *xs_out = xs_in;
+    *ys_out = ys_in;
+    return;
+  }
+  app_decimate_samples_impl(xs_in, ys_in, max_points, xs_out, ys_out);
+}
+
+void app_decimate_samples(std::vector<double> &&xs_in,
+                      std::vector<double> &&ys_in,
+                      int max_points,
+                      std::vector<double> *xs_out,
+                      std::vector<double> *ys_out) {
+  xs_out->clear();
+  ys_out->clear();
+  if (xs_in.empty() || xs_in.size() != ys_in.size()) {
+    return;
+  }
+  if (max_points <= 0 || static_cast<int>(xs_in.size()) <= max_points) {
+    *xs_out = std::move(xs_in);
+    *ys_out = std::move(ys_in);
+    return;
+  }
+  app_decimate_samples_impl(xs_in, ys_in, max_points, xs_out, ys_out);
+}
+
+std::optional<double> app_sample_xy_value_at_time(const std::vector<double> &xs,
+                                              const std::vector<double> &ys,
+                                              bool stairs,
+                                              double tm) {
+  if (xs.size() < 2 || xs.size() != ys.size()) {
+    return std::nullopt;
+  }
+  if (tm <= xs.front()) return ys.front();
+  if (tm >= xs.back()) return ys.back();
+
+  const auto upper = std::lower_bound(xs.begin(), xs.end(), tm);
+  if (upper == xs.begin()) return ys.front();
+  if (upper == xs.end()) return ys.back();
+
+  const size_t upper_index = static_cast<size_t>(std::distance(xs.begin(), upper));
+  const size_t lower_index = upper_index - 1;
+  const double x0 = xs[lower_index];
+  const double x1 = xs[upper_index];
+  const double y0 = ys[lower_index];
+  const double y1 = ys[upper_index];
+  if (std::abs(tm - x1) < 1.0e-9) return y1;
+  if (stairs || x1 <= x0) return y0;
+  const double alpha = (tm - x0) / (x1 - x0);
+  return y0 + (y1 - y0) * alpha;
+}
+
+int format_numeric_axis_tick(double value, char *buf, int size, void *user_data) {
+  const auto *ctx = static_cast<const PaneValueFormatContext *>(user_data);
+  if (ctx == nullptr || !ctx->valid) {
+    return std::snprintf(buf, size, "%.6g", value);
+  }
+  if (ctx->format.integer_like) {
+    const double nearest_int = std::round(value);
+    if (std::abs(value - nearest_int) > 1.0e-6) {
+      int decimals = 1;
+      while (decimals < 4) {
+        const double scale = std::pow(10.0, decimals);
+        const double rounded = std::round(value * scale) / scale;
+        if (std::abs(value - rounded) <= 1.0e-6) {
+          break;
+        }
+        ++decimals;
+      }
+      return std::snprintf(buf, size, "%.*f", decimals, value);
+    }
+  }
+  return std::snprintf(buf, size, ctx->format.fmt, value);
+}
+
+void merge_pane_value_format(PaneValueFormatContext *ctx, const SeriesFormat &format) {
+  if (!ctx->valid) {
+    ctx->format = format;
+    ctx->valid = true;
+    return;
+  }
+  ctx->format.has_negative = ctx->format.has_negative || format.has_negative;
+  ctx->format.digits_before = std::max(ctx->format.digits_before, format.digits_before);
+  ctx->format.decimals = std::max(ctx->format.decimals, format.decimals);
+  ctx->format.integer_like = ctx->format.decimals == 0;
+  const int sign_width = ctx->format.has_negative ? 1 : 0;
+  const int dot_width = ctx->format.decimals > 0 ? 1 : 0;
+  ctx->format.total_width = sign_width + ctx->format.digits_before + dot_width + ctx->format.decimals;
+  std::snprintf(ctx->format.fmt, sizeof(ctx->format.fmt), "%%%d.%df",
+                ctx->format.total_width, ctx->format.decimals);
+}
+
+std::string curve_legend_label(const PreparedCurve &curve, bool has_cursor_time, size_t label_width) {
+  if (!has_cursor_time) return curve.label;
+  if (!curve.legend_value.has_value()) return curve.label;
+  const std::string value_text = format_display_value(*curve.legend_value, curve.display_info, curve.enum_info);
+  if (value_text.empty()) return curve.label;
+  const size_t padded_width = std::max(label_width, curve.label.size());
+  return curve.label + std::string(padded_width - curve.label.size() + 2, ' ') + value_text;
+}
+
+bool build_curve_series(const AppSession &session,
+                        const Curve &curve,
+                        const UiState &state,
+                        int max_points,
+                        PreparedCurve *prepared) {
+  std::vector<double> xs;
+  std::vector<double> ys;
+  if (curve_has_local_samples(curve)) {
+    xs = curve.xs;
+    ys = curve.ys;
+  } else {
+    const RouteSeries *series = app_find_route_series(session, curve.name);
+    if (series == nullptr || series->times.size() < 2 || series->times.size() != series->values.size()) {
+      return false;
+    }
+
+    size_t begin_index = 0;
+    size_t end_index = series->times.size();
+    if (state.has_shared_range && state.x_view_max > state.x_view_min) {
+      auto begin_it = std::lower_bound(series->times.begin(), series->times.end(), state.x_view_min);
+      auto end_it = std::upper_bound(series->times.begin(), series->times.end(), state.x_view_max);
+      begin_index = begin_it == series->times.begin() ? 0 : static_cast<size_t>(std::distance(series->times.begin(), begin_it - 1));
+      end_index = end_it == series->times.end() ? series->times.size() : static_cast<size_t>(std::distance(series->times.begin(), end_it + 1));
+      end_index = std::min(end_index, series->times.size());
+    }
+    if (end_index <= begin_index + 1) return false;
+    xs.assign(series->times.begin() + begin_index, series->times.begin() + end_index);
+    ys.assign(series->values.begin() + begin_index, series->values.begin() + end_index);
+  }
+
+  std::vector<double> transformed_xs;
+  std::vector<double> transformed_ys;
+  if (curve.derivative) {
+    if (xs.size() < 2) return false;
+    transformed_xs.reserve(xs.size() - 1);
+    transformed_ys.reserve(ys.size() - 1);
+    for (size_t i = 1; i < xs.size(); ++i) {
+      const double dt = curve.derivative_dt > 0.0 ? curve.derivative_dt : (xs[i] - xs[i - 1]);
+      if (dt <= 0.0) continue;
+      transformed_xs.push_back(xs[i]);
+      transformed_ys.push_back((ys[i] - ys[i - 1]) / dt);
+    }
+  } else {
+    transformed_xs = std::move(xs);
+    transformed_ys = std::move(ys);
+  }
+
+  if (transformed_xs.size() < 2 || transformed_xs.size() != transformed_ys.size()) {
+    return false;
+  }
+
+  for (double &value : transformed_ys) {
+    value = value * curve.value_scale + curve.value_offset;
+  }
+
+  prepared->label = app_curve_display_name(curve);
+  prepared->color = curve.color;
+  prepared->line_weight = curve.derivative ? 1.8f : 2.25f;
+  if (!curve.derivative
+      && curve.value_scale == 1.0
+      && curve.value_offset == 0.0
+      && !curve_has_local_samples(curve)
+      && !curve.name.empty()
+      && curve.name.front() == '/') {
+    auto it = session.route_data.enum_info.find(curve.name);
+    if (it != session.route_data.enum_info.end()) {
+      prepared->enum_info = &it->second;
+    }
+  }
+  if (prepared->enum_info != nullptr) {
+    prepared->display_info = compute_series_format(transformed_ys, true);
+  } else if (!curve_has_local_samples(curve)
+             && !curve.derivative
+             && curve.value_scale == 1.0
+             && curve.value_offset == 0.0
+             && !curve.name.empty()
+             && curve.name.front() == '/') {
+    auto display_it = session.route_data.series_formats.find(curve.name);
+    if (display_it != session.route_data.series_formats.end()) {
+      prepared->display_info = display_it->second;
+    } else {
+      prepared->display_info = compute_series_format(transformed_ys, false);
+    }
+  } else {
+    prepared->display_info = compute_series_format(transformed_ys, false);
+  }
+  const bool stairs = !curve.derivative && prepared->display_info.integer_like;
+  if (state.has_tracker_time) {
+    prepared->legend_value = app_sample_xy_value_at_time(transformed_xs, transformed_ys, stairs, state.tracker_time);
+  }
+  if (stairs) {
+    prepared->xs = std::move(transformed_xs);
+    prepared->ys = std::move(transformed_ys);
+  } else {
+    app_decimate_samples(std::move(transformed_xs), std::move(transformed_ys), max_points, &prepared->xs, &prepared->ys);
+  }
+  prepared->stairs = stairs;
+  return prepared->xs.size() > 1 && prepared->xs.size() == prepared->ys.size();
+}
+
+bool draw_pane_close_button_overlay() {
+  const ImVec2 window_pos = ImGui::GetWindowPos();
+  const ImVec2 content_min = ImGui::GetWindowContentRegionMin();
+  const ImVec2 content_max = ImGui::GetWindowContentRegionMax();
+  const ImRect rect(ImVec2(window_pos.x + content_max.x - 42.0f, window_pos.y + content_min.y + 4.0f),
+                    ImVec2(window_pos.x + content_max.x - 4.0f, window_pos.y + content_min.y + 42.0f));
+  const bool hovered = ImGui::IsMouseHoveringRect(rect.Min, rect.Max, false);
+  const bool held = hovered && ImGui::IsMouseDown(ImGuiMouseButton_Left);
+  if (hovered) {
+    ImGui::SetMouseCursor(ImGuiMouseCursor_Hand);
+  }
+  ImDrawList *draw_list = ImGui::GetWindowDrawList();
+  const float pad = 11.0f;
+  const ImU32 color = hovered || held
+    ? ImGui::GetColorU32(color_rgb(72, 79, 88))
+    : ImGui::GetColorU32(color_rgb(138, 146, 156));
+  draw_list->AddLine(ImVec2(rect.Min.x + pad, rect.Min.y + pad),
+                     ImVec2(rect.Max.x - pad, rect.Max.y - pad),
+                     color,
+                     2.4f);
+  draw_list->AddLine(ImVec2(rect.Min.x + pad, rect.Max.y - pad),
+                     ImVec2(rect.Max.x - pad, rect.Min.y + pad),
+                     color,
+                     2.4f);
+  return hovered && ImGui::IsMouseClicked(ImGuiMouseButton_Left);
+}
+
+void draw_pane_frame_overlay() {
+  const ImVec2 window_pos = ImGui::GetWindowPos();
+  const ImVec2 content_min = ImGui::GetWindowContentRegionMin();
+  const ImVec2 content_max = ImGui::GetWindowContentRegionMax();
+  const ImRect frame_rect(ImVec2(window_pos.x + content_min.x, window_pos.y + content_min.y),
+                          ImVec2(window_pos.x + content_max.x, window_pos.y + content_max.y));
+  ImGui::GetWindowDrawList()->AddRect(frame_rect.Min,
+                                      frame_rect.Max,
+                                      ImGui::GetColorU32(color_rgb(186, 190, 196)),
+                                      0.0f,
+                                      0,
+                                      1.0f);
+}
+
+PlotBounds compute_plot_bounds(const Pane &pane,
+                               const std::vector<PreparedCurve> &prepared_curves,
+                               const UiState &state) {
+  PlotBounds bounds;
+  bounds.x_min = state.has_shared_range ? state.x_view_min : 0.0;
+  bounds.x_max = state.has_shared_range ? state.x_view_max : 1.0;
+  if (bounds.x_max <= bounds.x_min) {
+    bounds.x_max = bounds.x_min + 1.0;
+  }
+
+  bool found = false;
+  double min_value = 0.0;
+  double max_value = 1.0;
+  for (const PreparedCurve &curve : prepared_curves) {
+    extend_range(curve.ys, &found, &min_value, &max_value);
+  }
+  if (!found) {
+    min_value = 0.0;
+    max_value = 1.0;
+  }
+  if (curves_are_bool_like(prepared_curves)) {
+    min_value = std::min(min_value, 0.0);
+    max_value = std::max(max_value, 1.0);
+  }
+  ensure_non_degenerate_range(&min_value, &max_value, PLOT_Y_PADDING_FRACTION, 0.1);
+  if (pane.range.has_y_limit_min) {
+    min_value = pane.range.y_limit_min;
+  }
+  if (pane.range.has_y_limit_max) {
+    max_value = pane.range.y_limit_max;
+  }
+  ensure_non_degenerate_range(&min_value, &max_value, 0.0, 0.1);
+  bounds.y_min = min_value;
+  bounds.y_max = max_value;
+  return bounds;
+}
+
+void draw_state_blocks_pane(const std::vector<PreparedCurve> &prepared_curves, UiState *state) {
+  if (prepared_curves.empty() || !state->has_shared_range || state->x_view_max <= state->x_view_min) {
+    return;
+  }
+
+  ImDrawList *draw_list = ImPlot::GetPlotDrawList();
+  const ImVec2 plot_min = ImPlot::GetPlotPos();
+  const ImVec2 plot_size = ImPlot::GetPlotSize();
+  const int curve_count = static_cast<int>(prepared_curves.size());
+  if (plot_size.x <= 2.0f || plot_size.y <= 2.0f || curve_count <= 0) {
+    return;
+  }
+
+  float label_width = 0.0f;
+  if (curve_count > 1) {
+    for (const PreparedCurve &curve : prepared_curves) {
+      label_width = std::max(label_width, ImGui::CalcTextSize(curve.label.c_str()).x);
+    }
+    label_width = std::clamp(label_width + 14.0f, 72.0f, std::min(160.0f, plot_size.x * 0.35f));
+  }
+
+  const float row_height = plot_size.y / static_cast<float>(curve_count);
+  const float blocks_min_x = plot_min.x + label_width;
+  const float blocks_max_x = plot_min.x + plot_size.x;
+  const float blocks_width = std::max(1.0f, blocks_max_x - blocks_min_x);
+  const double x_span = std::max(1.0e-9, state->x_view_max - state->x_view_min);
+
+  struct HoveredBlock {
+    int curve_index = -1;
+    StateBlock block;
+  };
+  std::optional<HoveredBlock> hovered;
+
+  const ImVec2 mouse_pos = ImGui::GetMousePos();
+  const bool plot_hovered = ImPlot::IsPlotHovered();
+
+  for (int curve_index = 0; curve_index < curve_count; ++curve_index) {
+    const PreparedCurve &curve = prepared_curves[static_cast<size_t>(curve_index)];
+    const float y0 = plot_min.y + row_height * static_cast<float>(curve_index);
+    const float y1 = y0 + row_height;
+    const std::vector<StateBlock> blocks = build_state_blocks(curve);
+
+    if (curve_index > 0) {
+      draw_list->AddLine(ImVec2(plot_min.x, y0), ImVec2(plot_min.x + plot_size.x, y0),
+                         IM_COL32(210, 214, 220, 255), 1.0f);
+    }
+    if (curve_count > 1) {
+      draw_list->AddLine(ImVec2(blocks_min_x, y0), ImVec2(blocks_min_x, y1),
+                         IM_COL32(210, 214, 220, 255), 1.0f);
+      const float label_left = plot_min.x + 6.0f;
+      const float label_right = std::max(label_left + 12.0f, blocks_min_x - 6.0f);
+      ImGui::PushStyleColor(ImGuiCol_Text, color_rgb(120, 128, 138));
+      ImGui::RenderTextEllipsis(draw_list,
+                                ImVec2(label_left, y0 + 4.0f),
+                                ImVec2(label_right, y1 - 4.0f),
+                                label_right,
+                                curve.label.c_str(),
+                                nullptr,
+                                nullptr);
+      ImGui::PopStyleColor();
+    }
+
+    for (const StateBlock &block : blocks) {
+      const double visible_t0 = std::max(block.t0, state->x_view_min);
+      const double visible_t1 = std::min(block.t1, state->x_view_max);
+      if (visible_t1 <= visible_t0) {
+        continue;
+      }
+      const float x0 = blocks_min_x + static_cast<float>((visible_t0 - state->x_view_min) / x_span) * blocks_width;
+      const float x1 = blocks_min_x + static_cast<float>((visible_t1 - state->x_view_min) / x_span) * blocks_width;
+      const ImU32 fill_color = state_block_color(block.value, 0.15f);
+      const ImU32 line_color = state_block_color(block.value, 0.90f);
+      draw_list->AddRectFilled(ImVec2(x0, y0), ImVec2(std::max(x1, x0 + 1.0f), y1), fill_color);
+      draw_list->AddLine(ImVec2(x0, y0), ImVec2(x0, y1), line_color, 2.0f);
+
+      const float block_width = x1 - x0;
+      if (block_width > 14.0f) {
+        const float text_left = x0 + 6.0f;
+        const float text_right = x1 - 6.0f;
+        if (text_right > text_left) {
+          ImGui::PushStyleColor(ImGuiCol_Text, ImGui::ColorConvertU32ToFloat4(state_block_color(block.value, 0.80f)));
+          ImGui::RenderTextEllipsis(draw_list,
+                                    ImVec2(text_left, y0 + 4.0f),
+                                    ImVec2(text_right, y1 - 4.0f),
+                                    text_right,
+                                    block.label.c_str(),
+                                    nullptr,
+                                    nullptr);
+          ImGui::PopStyleColor();
+        }
+      }
+
+      if (plot_hovered && mouse_pos.x >= blocks_min_x && mouse_pos.x <= blocks_max_x && mouse_pos.y >= y0 && mouse_pos.y <= y1) {
+        const double hover_time = state->x_view_min + static_cast<double>((mouse_pos.x - blocks_min_x) / blocks_width) * x_span;
+        if (hover_time >= block.t0 && hover_time <= block.t1) {
+          hovered = HoveredBlock{
+            .curve_index = curve_index,
+            .block = block,
+          };
+        }
+      }
+    }
+  }
+
+  if (hovered.has_value()) {
+    const HoveredBlock &info = *hovered;
+    ImGui::BeginTooltip();
+    if (curve_count > 1) {
+      ImGui::Text("%s: %s (%d)", prepared_curves[static_cast<size_t>(info.curve_index)].label.c_str(),
+                  info.block.label.c_str(), info.block.value);
+    } else {
+      ImGui::Text("%s (%d)", info.block.label.c_str(), info.block.value);
+    }
+    ImGui::Separator();
+    ImGui::Text("%.3fs -> %.3fs", info.block.t0, info.block.t1);
+    ImGui::Text("duration: %.3fs", info.block.t1 - info.block.t0);
+    ImGui::EndTooltip();
+  }
+}
+
+void persist_shared_range_to_tab(WorkspaceTab *tab, const UiState &state) {
+  if (tab == nullptr || !state.has_shared_range) {
+    return;
+  }
+  const double x_min = state.x_view_min;
+  const double x_max = state.x_view_max > state.x_view_min ? state.x_view_max : state.x_view_min + 1.0;
+  for (Pane &pane : tab->panes) {
+    pane.range.valid = true;
+    pane.range.left = x_min;
+    pane.range.right = x_max;
+  }
+}
+
+void clear_pane_vertical_limits(Pane *pane) {
+  if (pane == nullptr) {
+    return;
+  }
+  pane->range.has_y_limit_min = false;
+  pane->range.has_y_limit_max = false;
+}
+
+PlotBounds current_plot_bounds_for_pane(const AppSession &session, const Pane &pane, const UiState &state) {
+  std::vector<PreparedCurve> prepared_curves;
+  prepared_curves.reserve(pane.curves.size());
+  constexpr int kAxisEditorMaxPoints = 2048;
+  for (size_t curve_index = 0; curve_index < pane.curves.size(); ++curve_index) {
+    const Curve &curve = pane.curves[curve_index];
+    if (!curve.visible || !curve_has_samples(session, curve)) continue;
+    PreparedCurve prepared;
+    if (build_curve_series(session, curve, state, kAxisEditorMaxPoints, &prepared)) {
+      prepared.pane_curve_index = static_cast<int>(curve_index);
+      prepared_curves.push_back(std::move(prepared));
+    }
+  }
+  return compute_plot_bounds(pane, prepared_curves, state);
+}
+
+void open_axis_limits_editor(const AppSession &session, UiState *state, int pane_index) {
+  ensure_shared_range(state, session);
+  clamp_shared_range(state, session);
+  const WorkspaceTab *tab = app_active_tab(session.layout, *state);
+  if (tab == nullptr || pane_index < 0 || pane_index >= static_cast<int>(tab->panes.size())) {
+    return;
+  }
+
+  const Pane &pane = tab->panes[static_cast<size_t>(pane_index)];
+  const PlotBounds bounds = current_plot_bounds_for_pane(session, pane, *state);
+  AxisLimitsEditorState &editor = state->axis_limits;
+  editor.open = true;
+  editor.pane_index = pane_index;
+  editor.x_min = state->x_view_min;
+  editor.x_max = state->x_view_max;
+  editor.y_min_enabled = pane.range.has_y_limit_min;
+  editor.y_max_enabled = pane.range.has_y_limit_max;
+  editor.y_min = pane.range.has_y_limit_min ? pane.range.y_limit_min : bounds.y_min;
+  editor.y_max = pane.range.has_y_limit_max ? pane.range.y_limit_max : bounds.y_max;
+}
+
+bool apply_axis_limits_editor(AppSession *session, UiState *state) {
+  WorkspaceTab *tab = app_active_tab(&session->layout, *state);
+  if (tab == nullptr) return false;
+
+  AxisLimitsEditorState &editor = state->axis_limits;
+  if (editor.pane_index < 0 || editor.pane_index >= static_cast<int>(tab->panes.size())) {
+    state->error_text = "The selected pane is no longer available.";
+    state->open_error_popup = true;
+    return false;
+  }
+  if (!std::isfinite(editor.x_min) || !std::isfinite(editor.x_max)) {
+    state->error_text = "Axis limits must be finite numbers.";
+    state->open_error_popup = true;
+    return false;
+  }
+  if (editor.x_max <= editor.x_min) {
+    state->error_text = "X max must be greater than X min.";
+    state->open_error_popup = true;
+    return false;
+  }
+  if (editor.y_min_enabled && !std::isfinite(editor.y_min)) {
+    state->error_text = "Y min must be a finite number.";
+    state->open_error_popup = true;
+    return false;
+  }
+  if (editor.y_max_enabled && !std::isfinite(editor.y_max)) {
+    state->error_text = "Y max must be a finite number.";
+    state->open_error_popup = true;
+    return false;
+  }
+  if (editor.y_min_enabled && editor.y_max_enabled && editor.y_max <= editor.y_min) {
+    state->error_text = "Y max must be greater than Y min.";
+    state->open_error_popup = true;
+    return false;
+  }
+
+  const SketchLayout before_layout = session->layout;
+  state->has_shared_range = true;
+  state->x_view_min = editor.x_min;
+  state->x_view_max = editor.x_max;
+  if (session->data_mode == SessionDataMode::Stream) {
+    state->follow_latest = infer_stream_follow_state(*state, *session);
+  } else {
+    state->follow_latest = false;
+  }
+  state->suppress_range_side_effects = true;
+  clamp_shared_range(state, *session);
+  persist_shared_range_to_tab(tab, *state);
+
+  Pane &pane = tab->panes[static_cast<size_t>(editor.pane_index)];
+  pane.range.has_y_limit_min = editor.y_min_enabled;
+  pane.range.has_y_limit_max = editor.y_max_enabled;
+  if (editor.y_min_enabled) {
+    pane.range.y_limit_min = editor.y_min;
+  }
+  if (editor.y_max_enabled) {
+    pane.range.y_limit_max = editor.y_max;
+  }
+
+  const PlotBounds bounds = current_plot_bounds_for_pane(*session, pane, *state);
+  pane.range.valid = true;
+  pane.range.left = state->x_view_min;
+  pane.range.right = state->x_view_max;
+  pane.range.bottom = bounds.y_min;
+  pane.range.top = bounds.y_max;
+
+  state->undo.push(before_layout);
+  const bool ok = mark_layout_dirty(session, state);
+  if (ok) {
+    state->status_text = "Axis limits updated";
+  }
+  return ok;
+}
+
+void draw_plot(const AppSession &session, Pane *pane, UiState *state) {
+  std::vector<PreparedCurve> prepared_curves;
+  prepared_curves.reserve(pane->curves.size());
+  const int max_points = std::max(256, static_cast<int>(ImGui::GetContentRegionAvail().x) * 2);
+  for (size_t curve_index = 0; curve_index < pane->curves.size(); ++curve_index) {
+    const Curve &curve = pane->curves[curve_index];
+    if (!curve.visible || !curve_has_samples(session, curve)) continue;
+    PreparedCurve prepared;
+    if (build_curve_series(session, curve, *state, max_points, &prepared)) {
+      prepared.pane_curve_index = static_cast<int>(curve_index);
+      prepared_curves.push_back(std::move(prepared));
+    }
+  }
+
+  const PlotBounds bounds = compute_plot_bounds(*pane, prepared_curves, *state);
+  PaneValueFormatContext pane_value_format;
+  bool state_block_mode = !prepared_curves.empty();
+  size_t max_legend_label_width = 0;
+  for (const PreparedCurve &curve : prepared_curves) {
+    max_legend_label_width = std::max(max_legend_label_width, curve.label.size());
+    if (curve.enum_info == nullptr) {
+      state_block_mode = false;
+      merge_pane_value_format(&pane_value_format, curve.display_info);
+    }
+  }
+  const int supported_count = static_cast<int>(prepared_curves.size());
+  const ImVec2 plot_size = ImGui::GetContentRegionAvail();
+  const bool has_cursor_time = state->has_tracker_time;
+  const double cursor_time = state->tracker_time;
+
+  ImPlot::PushStyleColor(ImPlotCol_PlotBg, color_rgb(255, 255, 255));
+  ImPlot::PushStyleColor(ImPlotCol_PlotBorder, color_rgb(186, 190, 196));
+  ImPlot::PushStyleColor(ImPlotCol_LegendBg, color_rgb(248, 249, 251, 0.92f));
+  ImPlot::PushStyleColor(ImPlotCol_LegendBorder, color_rgb(168, 175, 184));
+  ImPlot::PushStyleColor(ImPlotCol_LegendText, color_rgb(57, 62, 69));
+  ImPlot::PushStyleColor(ImPlotCol_TitleText, color_rgb(57, 62, 69));
+  ImPlot::PushStyleColor(ImPlotCol_InlayText, color_rgb(95, 103, 112));
+  ImPlot::PushStyleColor(ImPlotCol_AxisGrid, color_rgb(188, 196, 206));
+  ImPlot::PushStyleColor(ImPlotCol_AxisText, color_rgb(95, 103, 112));
+  ImPlot::PushStyleColor(ImPlotCol_AxisBg, color_rgb(255, 255, 255, 0.0f));
+  ImPlot::PushStyleColor(ImPlotCol_AxisBgHovered, color_rgb(214, 220, 228, 0.45f));
+  ImPlot::PushStyleColor(ImPlotCol_AxisBgActive, color_rgb(199, 209, 222, 0.55f));
+  ImPlot::PushStyleColor(ImPlotCol_Selection, color_rgb(252, 211, 77, 0.28f));
+  ImPlot::PushStyleColor(ImPlotCol_Crosshairs, color_rgb(120, 128, 138, 0.70f));
+  ImPlot::PushStyleVar(ImPlotStyleVar_LegendPadding, ImVec2(56.0f, 10.0f));
+
+  ImPlotFlags plot_flags = ImPlotFlags_NoTitle | ImPlotFlags_NoMenus;
+  if (state_block_mode) {
+    plot_flags |= ImPlotFlags_NoLegend | ImPlotFlags_NoMouseText;
+  }
+  if (supported_count == 0) {
+    plot_flags |= ImPlotFlags_NoLegend;
+  }
+
+  const ImPlotAxisFlags x_axis_flags = ImPlotAxisFlags_NoMenus | ImPlotAxisFlags_NoHighlight;
+  ImPlotAxisFlags y_axis_flags = ImPlotAxisFlags_NoMenus | ImPlotAxisFlags_NoHighlight;
+  if (state_block_mode) {
+    y_axis_flags |= ImPlotAxisFlags_NoDecorations;
+  }
+  const bool explicit_y = pane->range.has_y_limit_min || pane->range.has_y_limit_max;
+  if (!state_block_mode && !explicit_y && supported_count > 0) {
+    y_axis_flags |= ImPlotAxisFlags_AutoFit | ImPlotAxisFlags_RangeFit;
+  }
+
+  const double previous_x_min = state->x_view_min;
+  const double previous_x_max = state->x_view_max;
+  app_push_mono_font();
+  if (ImPlot::BeginPlot("##plot", plot_size, plot_flags)) {
+    ImPlot::SetupAxes(nullptr, nullptr, x_axis_flags, y_axis_flags);
+    ImPlot::SetupAxisFormat(ImAxis_X1, "%.1f");
+    if (state_block_mode) {
+      ImPlot::SetupAxisLimits(ImAxis_Y1, 0.0, 1.0, ImPlotCond_Always);
+    } else if (pane_value_format.valid) {
+      ImPlot::SetupAxisFormat(ImAxis_Y1, format_numeric_axis_tick, &pane_value_format);
+    } else {
+      ImPlot::SetupAxisFormat(ImAxis_Y1, "%.6g");
+    }
+    ImPlot::SetupAxisLinks(ImAxis_X1, &state->x_view_min, &state->x_view_max);
+    if (state->route_x_max > state->route_x_min) {
+      const double x_constraint_min = session.data_mode == SessionDataMode::Stream
+        ? state->route_x_min - std::max(MIN_HORIZONTAL_ZOOM_SECONDS, session.stream_buffer_seconds)
+        : state->route_x_min;
+      ImPlot::SetupAxisLimitsConstraints(ImAxis_X1, x_constraint_min, state->route_x_max);
+    }
+    if (!state_block_mode) {
+      ImPlot::SetupMouseText(ImPlotLocation_SouthEast, ImPlotMouseTextFlags_NoAuxAxes);
+    }
+    if (!state_block_mode && (explicit_y || supported_count == 0)) {
+      ImPlot::SetupAxisLimits(ImAxis_Y1, bounds.y_min, bounds.y_max, ImPlotCond_Always);
+    }
+    if (!state_block_mode && supported_count > 0) {
+      ImPlot::SetupLegend(ImPlotLocation_NorthEast);
+    }
+
+    if (state_block_mode) {
+      draw_state_blocks_pane(prepared_curves, state);
+    } else {
+      for (size_t i = 0; i < prepared_curves.size(); ++i) {
+        const PreparedCurve &curve = prepared_curves[i];
+        std::string series_id = curve_legend_label(curve, has_cursor_time, max_legend_label_width) + "###curve" + std::to_string(curve.pane_curve_index);
+        ImPlotSpec spec;
+        spec.LineColor = color_rgb(curve.color);
+        spec.LineWeight = curve.line_weight;
+        spec.Flags = ImPlotLineFlags_SkipNaN;
+        if (!curve.xs.empty() && curve.xs.size() == curve.ys.size()) {
+          if (curve.stairs) {
+            spec.Flags = ImPlotStairsFlags_PreStep;
+            ImPlot::PlotStairs(series_id.c_str(), curve.xs.data(), curve.ys.data(), static_cast<int>(curve.xs.size()), spec);
+          } else {
+            ImPlot::PlotLine(series_id.c_str(), curve.xs.data(), curve.ys.data(), static_cast<int>(curve.xs.size()), spec);
+          }
+        }
+      }
+    }
+    if (has_cursor_time) {
+      const double clamped_cursor_time = std::clamp(cursor_time, state->route_x_min, state->route_x_max);
+      ImPlotSpec cursor_spec;
+      cursor_spec.LineColor = color_rgb(108, 118, 128, 0.7f);
+      cursor_spec.LineWeight = 1.0f;
+      cursor_spec.Flags = ImPlotItemFlags_NoLegend;
+      ImPlot::PlotInfLines("##tracker_cursor", &clamped_cursor_time, 1, cursor_spec);
+    }
+    if (ImPlot::IsPlotHovered() && ImGui::IsMouseClicked(ImGuiMouseButton_Left)) {
+      state->tracker_time = std::clamp(ImPlot::GetPlotMousePos().x, state->route_x_min, state->route_x_max);
+      state->has_tracker_time = true;
+    }
+    ImPlot::EndPlot();
+  }
+  app_pop_mono_font();
+  clamp_shared_range(state, session);
+  if (std::abs(state->x_view_min - previous_x_min) > 1.0e-6
+      || std::abs(state->x_view_max - previous_x_max) > 1.0e-6) {
+    if (!state->suppress_range_side_effects) {
+      if (session.data_mode == SessionDataMode::Stream) {
+        state->follow_latest = infer_stream_follow_state(*state, session);
+      } else {
+        state->follow_latest = false;
+      }
+    }
+  }
+  ImPlot::PopStyleVar();
+  ImPlot::PopStyleColor(12);
+}
+
+std::optional<PaneMenuAction> draw_pane_context_menu(const WorkspaceTab &tab, int pane_index) {
+  if (!ImGui::BeginPopupContextWindow("##pane_context")) return std::nullopt;
+
+  PaneMenuAction action;
+  action.pane_index = pane_index;
+  const Pane *pane = pane_index >= 0 && pane_index < static_cast<int>(tab.panes.size())
+    ? &tab.panes[static_cast<size_t>(pane_index)]
+    : nullptr;
+  const bool has_curves = pane_index >= 0
+    && pane_index < static_cast<int>(tab.panes.size())
+    && !tab.panes[static_cast<size_t>(pane_index)].curves.empty();
+  const bool is_plot = pane != nullptr && pane->kind == PaneKind::Plot;
+  if (icon_menu_item(icon::SLIDERS, "Edit Axis Limits...", nullptr, false, is_plot)) {
+    action.kind = PaneMenuActionKind::OpenAxisLimits;
+  }
+  icon_menu_item(icon::PALETTE, "Edit Curve Style...", nullptr, false, false && is_plot);
+  if (action.kind == PaneMenuActionKind::None
+      && icon_menu_item(icon::PLUS_SLASH_MINUS, "Apply filter to data...", nullptr, false, has_curves && is_plot)) {
+    action.kind = PaneMenuActionKind::OpenCustomSeries;
+  }
+  ImGui::Separator();
+  if (action.kind == PaneMenuActionKind::None && icon_menu_item(icon::DISTRIBUTE_HORIZONTAL, "Split Left / Right")) {
+    action.kind = PaneMenuActionKind::SplitRight;
+  } else if (action.kind == PaneMenuActionKind::None
+             && icon_menu_item(icon::DISTRIBUTE_VERTICAL, "Split Top / Bottom")) {
+    action.kind = PaneMenuActionKind::SplitBottom;
+  }
+  ImGui::Separator();
+  if (icon_menu_item(icon::ZOOM_OUT, "Zoom Out", nullptr, false, is_plot)) {
+    action.kind = PaneMenuActionKind::ResetView;
+  } else if (icon_menu_item(icon::ARROW_LEFT_RIGHT, "Zoom Out Horizontally", nullptr, false, is_plot)) {
+    action.kind = PaneMenuActionKind::ResetHorizontal;
+  } else if (icon_menu_item(icon::ARROW_DOWN_UP, "Zoom Out Vertically", nullptr, false, is_plot)) {
+    action.kind = PaneMenuActionKind::ResetVertical;
+  }
+  ImGui::Separator();
+  if (icon_menu_item(icon::TRASH, "Remove ALL curves", nullptr, false, is_plot)) {
+    action.kind = PaneMenuActionKind::Clear;
+  }
+  ImGui::Separator();
+  icon_menu_item(icon::ARROW_LEFT_RIGHT, "Flip Horizontal Axis", nullptr, false, false);
+  icon_menu_item(icon::ARROW_DOWN_UP, "Flip Vertical Axis", nullptr, false, false);
+  ImGui::Separator();
+  icon_menu_item(icon::FILES, "Copy", nullptr, false, false);
+  icon_menu_item(icon::CLIPBOARD2, "Paste", nullptr, false, false);
+  icon_menu_item(icon::FILE_EARMARK_IMAGE, "Copy image to clipboard", nullptr, false, false);
+  icon_menu_item(icon::SAVE, "Save plot to file", nullptr, false, false);
+  icon_menu_item(icon::BAR_CHART, "Show data statistics", nullptr, false, false);
+  ImGui::Separator();
+  if (icon_menu_item(icon::X_SQUARE, "Close Pane")) {
+    action.kind = PaneMenuActionKind::Close;
+  }
+  ImGui::EndPopup();
+  if (action.kind == PaneMenuActionKind::None) return std::nullopt;
+  return action;
+}
diff --git a/tools/jotpluggler/pluggle.py b/tools/jotpluggler/pluggle.py
deleted file mode 100755
index 879b677514b..00000000000
--- a/tools/jotpluggler/pluggle.py
+++ /dev/null
@@ -1,370 +0,0 @@
-#!/usr/bin/env python3
-import argparse
-import os
-import pyautogui
-import subprocess
-import dearpygui.dearpygui as dpg
-import multiprocessing
-import uuid
-import signal
-import yaml  # type: ignore
-from openpilot.common.swaglog import cloudlog
-from openpilot.common.basedir import BASEDIR
-from openpilot.tools.jotpluggler.data import DataManager
-from openpilot.tools.jotpluggler.datatree import DataTree
-from openpilot.tools.jotpluggler.layout import LayoutManager
-
-DEMO_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19"
-
-
-class WorkerManager:
-  def __init__(self, max_workers=None):
-    self.pool = multiprocessing.Pool(max_workers or min(4, multiprocessing.cpu_count()), initializer=WorkerManager.worker_initializer)
-    self.active_tasks = {}
-
-  def submit_task(self, func, args_list, callback=None, task_id=None):
-    task_id = task_id or str(uuid.uuid4())
-
-    if task_id in self.active_tasks:
-      try:
-        self.active_tasks[task_id].terminate()
-      except Exception:
-        pass
-
-    def handle_success(result):
-      self.active_tasks.pop(task_id, None)
-      if callback:
-        try:
-          callback(result)
-        except Exception as e:
-          print(f"Callback for task {task_id} failed: {e}")
-
-    def handle_error(error):
-      self.active_tasks.pop(task_id, None)
-      print(f"Task {task_id} failed: {error}")
-
-    async_result = self.pool.starmap_async(func, args_list, callback=handle_success, error_callback=handle_error)
-    self.active_tasks[task_id] = async_result
-    return task_id
-
-  @staticmethod
-  def worker_initializer():
-    signal.signal(signal.SIGINT, signal.SIG_IGN)
-
-  def shutdown(self):
-    for task in self.active_tasks.values():
-      try:
-        task.terminate()
-      except Exception:
-        pass
-    self.pool.terminate()
-    self.pool.join()
-
-
-class PlaybackManager:
-  def __init__(self):
-    self.is_playing = False
-    self.current_time_s = 0.0
-    self.duration_s = 0.0
-    self.num_segments = 0
-
-    self.x_axis_bounds = (0.0, 0.0)  # (min_time, max_time)
-    self.x_axis_observers = []  # callbacks for x-axis changes
-    self._updating_x_axis = False
-
-  def set_route_duration(self, duration: float):
-    self.duration_s = duration
-    self.seek(min(self.current_time_s, duration))
-
-  def toggle_play_pause(self):
-    if not self.is_playing and self.current_time_s >= self.duration_s:
-      self.seek(0.0)
-    self.is_playing = not self.is_playing
-    texture_tag = "pause_texture" if self.is_playing else "play_texture"
-    dpg.configure_item("play_pause_button", texture_tag=texture_tag)
-
-  def seek(self, time_s: float):
-    self.current_time_s = max(0.0, min(time_s, self.duration_s))
-
-  def update_time(self, delta_t: float):
-    if self.is_playing:
-      self.current_time_s = min(self.current_time_s + delta_t, self.duration_s)
-      if self.current_time_s >= self.duration_s:
-        self.is_playing = False
-        dpg.configure_item("play_pause_button", texture_tag="play_texture")
-    return self.current_time_s
-
-  def set_x_axis_bounds(self, min_time: float, max_time: float, source_panel=None):
-    if self._updating_x_axis:
-      return
-
-    new_bounds = (min_time, max_time)
-    if new_bounds == self.x_axis_bounds:
-      return
-
-    self.x_axis_bounds = new_bounds
-    self._updating_x_axis = True  # prevent recursive updates
-
-    try:
-      for callback in self.x_axis_observers:
-        try:
-          callback(min_time, max_time, source_panel)
-        except Exception as e:
-          print(f"Error in x-axis sync callback: {e}")
-    finally:
-      self._updating_x_axis = False
-
-  def add_x_axis_observer(self, callback):
-    if callback not in self.x_axis_observers:
-      self.x_axis_observers.append(callback)
-
-  def remove_x_axis_observer(self, callback):
-    if callback in self.x_axis_observers:
-      self.x_axis_observers.remove(callback)
-
-class MainController:
-  def __init__(self, scale: float = 1.0):
-    self.scale = scale
-    self.data_manager = DataManager()
-    self.playback_manager = PlaybackManager()
-    self.worker_manager = WorkerManager()
-    self._create_global_themes()
-    self.data_tree = DataTree(self.data_manager, self.playback_manager)
-    self.layout_manager = LayoutManager(self.data_manager, self.playback_manager, self.worker_manager, scale=self.scale)
-    self.data_manager.add_observer(self.on_data_loaded)
-    self._total_segments = 0
-
-  def _create_global_themes(self):
-    with dpg.theme(tag="line_theme"):
-      with dpg.theme_component(dpg.mvLineSeries):
-        scaled_thickness = max(1.0, self.scale)
-        dpg.add_theme_style(dpg.mvPlotStyleVar_LineWeight, scaled_thickness, category=dpg.mvThemeCat_Plots)
-
-    with dpg.theme(tag="timeline_theme"):
-      with dpg.theme_component(dpg.mvInfLineSeries):
-        scaled_thickness = max(1.0, self.scale)
-        dpg.add_theme_style(dpg.mvPlotStyleVar_LineWeight, scaled_thickness, category=dpg.mvThemeCat_Plots)
-        dpg.add_theme_color(dpg.mvPlotCol_Line, (255, 0, 0, 128), category=dpg.mvThemeCat_Plots)
-
-    for tag, color in (("active_tab_theme", (37, 37, 38, 255)), ("inactive_tab_theme", (70, 70, 75, 255))):
-      with dpg.theme(tag=tag):
-        for cmp, target in ((dpg.mvChildWindow, dpg.mvThemeCol_ChildBg), (dpg.mvInputText, dpg.mvThemeCol_FrameBg), (dpg.mvImageButton, dpg.mvThemeCol_Button)):
-          with dpg.theme_component(cmp):
-            dpg.add_theme_color(target, color)
-
-    with dpg.theme(tag="tab_bar_theme"):
-      with dpg.theme_component(dpg.mvChildWindow):
-        dpg.add_theme_color(dpg.mvThemeCol_ChildBg, (51, 51, 55, 255))
-
-  def on_data_loaded(self, data: dict):
-    duration = data.get('duration', 0.0)
-    self.playback_manager.set_route_duration(duration)
-
-    if data.get('metadata_loaded'):
-      self.playback_manager.num_segments = data.get('total_segments', 0)
-      self._total_segments = data.get('total_segments', 0)
-      dpg.set_value("load_status", f"Loading... 0/{self._total_segments} segments processed")
-    elif data.get('reset'):
-      self.playback_manager.current_time_s = 0.0
-      self.playback_manager.duration_s = 0.0
-      self.playback_manager.is_playing = False
-      self._total_segments = 0
-      dpg.set_value("load_status", "Loading...")
-      dpg.set_value("timeline_slider", 0.0)
-      dpg.configure_item("timeline_slider", max_value=0.0)
-      dpg.configure_item("play_pause_button", texture_tag="play_texture")
-      dpg.configure_item("load_button", enabled=True)
-    elif data.get('loading_complete'):
-      num_paths = len(self.data_manager.get_all_paths())
-      dpg.set_value("load_status", f"Loaded {num_paths} data paths")
-      dpg.configure_item("load_button", enabled=True)
-    elif data.get('segment_added'):
-      segment_count = data.get('segment_count', 0)
-      dpg.set_value("load_status", f"Loading... {segment_count}/{self._total_segments} segments processed")
-
-    dpg.configure_item("timeline_slider", max_value=duration)
-
-  def save_layout_to_yaml(self, filepath: str):
-    layout_dict = self.layout_manager.to_dict()
-    with open(filepath, 'w') as f:
-      yaml.dump(layout_dict, f, default_flow_style=False, sort_keys=False)
-
-  def load_layout_from_yaml(self, filepath: str):
-    with open(filepath) as f:
-      layout_dict = yaml.safe_load(f)
-    self.layout_manager.clear_and_load_from_dict(layout_dict)
-    self.layout_manager.create_ui("main_plot_area")
-
-  def save_layout_dialog(self):
-    if dpg.does_item_exist("save_layout_dialog"):
-      dpg.delete_item("save_layout_dialog")
-    with dpg.file_dialog(
-      callback=self._save_layout_callback, tag="save_layout_dialog", width=int(700 * self.scale), height=int(400 * self.scale),
-      default_filename="layout", default_path=os.path.join(os.path.dirname(os.path.realpath(__file__)), "layouts")
-    ):
-      dpg.add_file_extension(".yaml")
-
-  def load_layout_dialog(self):
-    if dpg.does_item_exist("load_layout_dialog"):
-      dpg.delete_item("load_layout_dialog")
-    with dpg.file_dialog(
-      callback=self._load_layout_callback, tag="load_layout_dialog", width=int(700 * self.scale), height=int(400 * self.scale),
-      default_path=os.path.join(os.path.dirname(os.path.realpath(__file__)), "layouts")
-    ):
-      dpg.add_file_extension(".yaml")
-
-  def _save_layout_callback(self, sender, app_data):
-    filepath = app_data['file_path_name']
-    try:
-      self.save_layout_to_yaml(filepath)
-      dpg.set_value("load_status", f"Layout saved to {os.path.basename(filepath)}")
-    except Exception:
-      dpg.set_value("load_status", "Error saving layout")
-      cloudlog.exception(f"Error saving layout to {filepath}")
-    dpg.delete_item("save_layout_dialog")
-
-  def _load_layout_callback(self, sender, app_data):
-    filepath = app_data['file_path_name']
-    try:
-      self.load_layout_from_yaml(filepath)
-      dpg.set_value("load_status", f"Layout loaded from {os.path.basename(filepath)}")
-    except Exception:
-      dpg.set_value("load_status", "Error loading layout")
-      cloudlog.exception(f"Error loading layout from {filepath}:")
-    dpg.delete_item("load_layout_dialog")
-
-  def setup_ui(self):
-    with dpg.texture_registry():
-      script_dir = os.path.dirname(os.path.realpath(__file__))
-      for image in ["play", "pause", "x", "split_h", "split_v", "plus"]:
-        texture = dpg.load_image(os.path.join(script_dir, "assets", f"{image}.png"))
-        dpg.add_static_texture(width=texture[0], height=texture[1], default_value=texture[3], tag=f"{image}_texture")
-
-    with dpg.window(tag="Primary Window"):
-      with dpg.group(horizontal=True):
-        # Left panel - Data tree
-        with dpg.child_window(label="Sidebar", width=int(300 * self.scale), tag="sidebar_window", border=True, resizable_x=True):
-          with dpg.group(horizontal=True):
-            dpg.add_input_text(tag="route_input", width=int(-75 * self.scale), hint="Enter route name...")
-            dpg.add_button(label="Load", callback=self.load_route, tag="load_button", width=-1)
-          dpg.add_text("Ready to load route", tag="load_status")
-          dpg.add_separator()
-
-          with dpg.table(header_row=False, policy=dpg.mvTable_SizingStretchProp):
-            dpg.add_table_column(init_width_or_weight=0.5)
-            dpg.add_table_column(init_width_or_weight=0.5)
-            with dpg.table_row():
-              dpg.add_button(label="Save Layout", callback=self.save_layout_dialog, width=-1)
-              dpg.add_button(label="Load Layout", callback=self.load_layout_dialog, width=-1)
-          dpg.add_separator()
-
-          self.data_tree.create_ui("sidebar_window")
-
-        # Right panel - Plots and timeline
-        with dpg.group(tag="right_panel"):
-          with dpg.child_window(label="Plot Window", border=True, height=int(-(32 + 13 * self.scale)), tag="main_plot_area"):
-            self.layout_manager.create_ui("main_plot_area")
-
-          with dpg.child_window(label="Timeline", border=True):
-            with dpg.table(header_row=False):
-              btn_size = int(13 * self.scale)
-              dpg.add_table_column(width_fixed=True, init_width_or_weight=(btn_size + 8))  # Play button
-              dpg.add_table_column(width_stretch=True)  # Timeline slider
-              dpg.add_table_column(width_fixed=True, init_width_or_weight=int(50 * self.scale))  # FPS counter
-              with dpg.table_row():
-                dpg.add_image_button(texture_tag="play_texture", tag="play_pause_button", callback=self.toggle_play_pause, width=btn_size, height=btn_size)
-                dpg.add_slider_float(tag="timeline_slider", default_value=0.0, label="", width=-1, callback=self.timeline_drag)
-                dpg.add_text("", tag="fps_counter")
-            with dpg.item_handler_registry(tag="plot_resize_handler"):
-              dpg.add_item_resize_handler(callback=self.on_plot_resize)
-            dpg.bind_item_handler_registry("right_panel", "plot_resize_handler")
-
-    dpg.set_primary_window("Primary Window", True)
-
-  def on_plot_resize(self, sender, app_data, user_data):
-    self.layout_manager.on_viewport_resize()
-
-  def load_route(self):
-    route_name = dpg.get_value("route_input").strip()
-    if route_name:
-      dpg.set_value("load_status", "Loading route...")
-      dpg.configure_item("load_button", enabled=False)
-      self.data_manager.load_route(route_name)
-
-  def toggle_play_pause(self, sender):
-    self.playback_manager.toggle_play_pause()
-
-  def timeline_drag(self, sender, app_data):
-    self.playback_manager.seek(app_data)
-
-  def update_frame(self, font):
-    self.data_tree.update_frame(font)
-
-    new_time = self.playback_manager.update_time(dpg.get_delta_time())
-    if not dpg.is_item_active("timeline_slider"):
-      dpg.set_value("timeline_slider", new_time)
-
-    self.layout_manager.update_all_panels()
-
-    dpg.set_value("fps_counter", f"{dpg.get_frame_rate():.1f} FPS")
-
-  def shutdown(self):
-    self.worker_manager.shutdown()
-
-
-def main(route_to_load=None, layout_to_load=None):
-  dpg.create_context()
-
-  # TODO: find better way of calculating display scaling
-  try:
-    w, h = next(tuple(map(int, l.split()[0].split('x'))) for l in subprocess.check_output(['xrandr']).decode().split('\n') if '*' in l)  # actual resolution
-    scale = pyautogui.size()[0] / w  # scaled resolution
-  except Exception:
-    scale = 1
-
-  with dpg.font_registry():
-    default_font = dpg.add_font(os.path.join(BASEDIR, "selfdrive/assets/fonts/JetBrainsMono-Medium.ttf"), int(13 * scale * 2)) # 2x then scale for hidpi
-  dpg.bind_font(default_font)
-  dpg.set_global_font_scale(0.5)
-
-  viewport_width, viewport_height = int(1200 * scale), int(800 * scale)
-  mouse_x, mouse_y = pyautogui.position()  # TODO: find better way of creating the window where the user is (default dpg behavior annoying on multiple displays)
-  dpg.create_viewport(
-    title='JotPluggler', width=viewport_width, height=viewport_height, x_pos=mouse_x - viewport_width // 2, y_pos=mouse_y - viewport_height // 2
-  )
-  dpg.setup_dearpygui()
-
-  controller = MainController(scale=scale)
-  controller.setup_ui()
-
-  if layout_to_load:
-    try:
-      controller.load_layout_from_yaml(layout_to_load)
-      print(f"Loaded layout from {layout_to_load}")
-    except Exception as e:
-      print(f"Failed to load layout from {layout_to_load}: {e}")
-      cloudlog.exception(f"Error loading layout from {layout_to_load}")
-
-  if route_to_load:
-    dpg.set_value("route_input", route_to_load)
-    controller.load_route()
-
-  dpg.show_viewport()
-
-  # Main loop
-  try:
-    while dpg.is_dearpygui_running():
-      controller.update_frame(default_font)
-      dpg.render_dearpygui_frame()
-  finally:
-    controller.shutdown()
-    dpg.destroy_context()
-
-if __name__ == "__main__":
-  parser = argparse.ArgumentParser(description="A tool for visualizing openpilot logs.")
-  parser.add_argument("--demo", action="store_true", help="Use the demo route instead of providing one")
-  parser.add_argument("--layout", type=str, help="Path to YAML layout file to load on startup")
-  parser.add_argument("route", nargs='?', default=None, help="Optional route name to load on startup.")
-  args = parser.parse_args()
-  route = DEMO_ROUTE if args.demo else args.route
-  main(route_to_load=route, layout_to_load=args.layout)
diff --git a/tools/jotpluggler/render.cc b/tools/jotpluggler/render.cc
new file mode 100644
index 00000000000..54f0c16cc39
--- /dev/null
+++ b/tools/jotpluggler/render.cc
@@ -0,0 +1,173 @@
+#include "tools/jotpluggler/internal.h"
+
+#include "imgui_impl_glfw.h"
+#include "imgui_impl_opengl3.h"
+#include "imgui_impl_opengl3_loader.h"
+
+#include <GLFW/glfw3.h>
+
+namespace fs = std::filesystem;
+
+void draw_fps_overlay(const UiState &state, float top_offset) {
+  if (!state.show_fps_overlay) {
+    return;
+  }
+  ImGuiViewport *viewport = ImGui::GetMainViewport();
+  const ImGuiIO &io = ImGui::GetIO();
+  const float fps = io.Framerate;
+  const std::string label = util::string_format("%.1f fps", fps);
+
+  const ImVec2 padding(10.0f, 8.0f);
+  const ImVec2 margin(12.0f, 10.0f);
+  app_push_mono_font();
+  ImFont *font = ImGui::GetFont();
+  const float font_size = ImGui::GetFontSize();
+  const ImVec2 text_size = ImGui::CalcTextSize(label.c_str());
+  app_pop_mono_font();
+  const ImVec2 size(text_size.x + padding.x * 2.0f, text_size.y + padding.y * 2.0f);
+  const ImVec2 pos(viewport->Pos.x + viewport->Size.x - size.x - margin.x,
+                   viewport->Pos.y + top_offset + margin.y);
+  ImDrawList *draw_list = ImGui::GetForegroundDrawList(viewport);
+  const ImVec2 max(pos.x + size.x, pos.y + size.y);
+  draw_list->AddRectFilled(pos, max, ImGui::GetColorU32(color_rgb(248, 249, 251, 0.92f)), 4.0f);
+  draw_list->AddRect(pos, max, ImGui::GetColorU32(color_rgb(182, 188, 196, 0.95f)), 4.0f);
+  draw_list->AddText(font, font_size, ImVec2(pos.x + padding.x, pos.y + padding.y),
+                     ImGui::GetColorU32(color_rgb(57, 62, 69)), label.c_str(), nullptr);
+}
+
+void render_layout(AppSession *session, UiState *state, bool show_camera_feed) {
+  if (!state->fps_overlay_initialized) {
+    state->show_fps_overlay = false;
+    state->fps_overlay_initialized = true;
+  }
+  ensure_shared_range(state, *session);
+  if (state->follow_latest) {
+    update_follow_range(state, *session);
+    state->suppress_range_side_effects = true;
+  } else {
+    clamp_shared_range(state, *session);
+  }
+  const bool ctrl = ImGui::GetIO().KeyCtrl || ImGui::GetIO().KeySuper;
+  const bool shift = ImGui::GetIO().KeyShift;
+  if (!ImGui::GetIO().WantTextInput && ctrl && ImGui::IsKeyPressed(ImGuiKey_Z, false)) {
+    if (shift) {
+      apply_redo(session, state);
+    } else {
+      apply_undo(session, state);
+    }
+  }
+  if (!ImGui::GetIO().WantTextInput && ctrl && ImGui::IsKeyPressed(ImGuiKey_F, false)) {
+    state->open_find_signal = true;
+  }
+  if (ImGui::IsKeyPressed(ImGuiKey_LeftArrow, false)) {
+    step_tracker(state, -1.0);
+  }
+  if (ImGui::IsKeyPressed(ImGuiKey_RightArrow, false)) {
+    step_tracker(state, 1.0);
+  }
+  if (!ImGui::GetIO().WantTextInput && ImGui::IsKeyPressed(ImGuiKey_Space, false)) {
+    state->playback_playing = !state->playback_playing;
+  }
+  advance_playback(state, *session);
+  CameraFeedView *sidebar_camera = session->pane_camera_feeds[static_cast<size_t>(sidebar_preview_camera_view(*session))].get();
+  if (show_camera_feed && sidebar_camera != nullptr && state->has_tracker_time) {
+    sidebar_camera->update(state->tracker_time);
+  }
+  const float menu_height = draw_main_menu_bar(session, state);
+  UiMetrics ui = compute_ui_metrics(ImGui::GetMainViewport()->Size, menu_height, state->sidebar_width);
+  if (state->browser_nodes_dirty) {
+    rebuild_browser_nodes(session, state);
+    state->browser_nodes_dirty = false;
+  }
+  state->sidebar_width = ui.sidebar_width;
+  draw_sidebar(session, ui, state, show_camera_feed);
+  draw_workspace(session, ui, state);
+  draw_sidebar_resizer(ui, state);
+  if (!state->custom_series.selected && !state->logs.selected) {
+    draw_pane_windows(session, state);
+  }
+  draw_status_bar(*session, ui, state);
+  draw_popups(session, state);
+  draw_fps_overlay(*state, menu_height);
+}
+
+void save_framebuffer_png(const fs::path &output_path, int width, int height) {
+  ensure_parent_dir(output_path);
+  if (width <= 0 || height <= 0) throw std::runtime_error("Invalid framebuffer size");
+
+  std::vector<uint8_t> pixels(static_cast<size_t>(width) * static_cast<size_t>(height) * 4U, 0);
+  glPixelStorei(GL_PACK_ALIGNMENT, 1);
+  glReadPixels(0, 0, width, height, GL_RGBA, GL_UNSIGNED_BYTE, pixels.data());
+
+  const fs::path ppm_path = output_path.parent_path() / (output_path.stem().string() + ".ppm");
+  std::string ppm = util::string_format("P6\n%d %d\n255\n", width, height);
+  ppm.reserve(ppm.size() + static_cast<size_t>(width) * static_cast<size_t>(height) * 3U);
+  for (int y = height - 1; y >= 0; --y) {
+    for (int x = 0; x < width; ++x) {
+      const size_t index = static_cast<size_t>((y * width + x) * 4);
+      ppm.append(reinterpret_cast<const char *>(&pixels[index]), 3);
+    }
+  }
+  write_file_or_throw(ppm_path, ppm.data(), ppm.size());
+
+  const std::string command = "convert " + shell_quote(ppm_path.string()) + " " + shell_quote(output_path.string());
+  run_system_or_throw(command, "image conversion");
+  fs::remove(ppm_path);
+}
+
+void render_frame(GLFWwindow *window, AppSession *session, UiState *state, const fs::path *capture_path) {
+  glfwPollEvents();
+
+  int framebuffer_width = 0;
+  int framebuffer_height = 0;
+  glfwGetFramebufferSize(window, &framebuffer_width, &framebuffer_height);
+
+  ImGui_ImplOpenGL3_NewFrame();
+  ImGui_ImplGlfw_NewFrame();
+  ImGui::NewFrame();
+
+  if (state->request_save_layout) {
+    if (session->layout_path.empty()) {
+      state->open_save_layout = true;
+    } else {
+      save_layout(session, state, session->layout_path.string());
+    }
+    state->request_save_layout = false;
+  }
+  if (state->request_reset_layout) {
+    reset_layout(session, state);
+    state->request_reset_layout = false;
+  }
+  poll_async_route_load(session, state);
+  if (session->data_mode == SessionDataMode::Stream && session->stream_poller) {
+    StreamExtractBatch batch;
+    std::string error_text;
+    if (session->stream_poller->consume(&batch, &error_text)) {
+      if (!error_text.empty()) {
+        state->error_text = error_text;
+        state->open_error_popup = true;
+        state->status_text = "Stream disconnected";
+      } else {
+        apply_stream_batch(session, state, std::move(batch));
+      }
+    }
+  }
+
+  const bool show_camera = capture_path == nullptr && session->data_mode != SessionDataMode::Stream;
+  render_layout(session, state, show_camera);
+  ImGui::Render();
+  if (state->request_close) {
+    glfwSetWindowShouldClose(window, GLFW_TRUE);
+    state->request_close = false;
+  }
+
+  glViewport(0, 0, framebuffer_width, framebuffer_height);
+  glClearColor(227.0f / 255.0f, 229.0f / 255.0f, 233.0f / 255.0f, 1.0f);
+  glClear(GL_COLOR_BUFFER_BIT);
+  ImGui_ImplOpenGL3_RenderDrawData(ImGui::GetDrawData());
+  if (capture_path != nullptr) {
+    save_framebuffer_png(*capture_path, framebuffer_width, framebuffer_height);
+  }
+  glfwSwapBuffers(window);
+  state->suppress_range_side_effects = false;
+}
diff --git a/tools/jotpluggler/runtime.cc b/tools/jotpluggler/runtime.cc
new file mode 100644
index 00000000000..3247a5d01da
--- /dev/null
+++ b/tools/jotpluggler/runtime.cc
@@ -0,0 +1,1277 @@
+#include "tools/jotpluggler/app.h"
+#include "tools/jotpluggler/common.h"
+
+#include "cereal/services.h"
+#include "common/timing.h"
+#include "imgui_impl_glfw.h"
+#include "imgui_impl_opengl3.h"
+#include "imgui_impl_opengl3_loader.h"
+#include "implot.h"
+#include "libyuv.h"
+#include "msgq_repo/msgq/ipc.h"
+#include "tools/replay/framereader.h"
+
+#include <GLFW/glfw3.h>
+
+#include <chrono>
+#include <cmath>
+#include <condition_variable>
+#include <cstdio>
+#include <cstdlib>
+#include <deque>
+#include <iomanip>
+#include <iostream>
+#include <mutex>
+#include <sstream>
+#include <stdexcept>
+#include <memory>
+#include <thread>
+#include <unordered_map>
+#include <unordered_set>
+#include <unistd.h>
+
+#include "system/camerad/cameras/nv12_info.h"
+
+namespace {
+
+std::atomic<bool> g_glfw_alive{false};
+const bool kLogCameraTimings = env_flag_enabled("JOTP_CAMERA_TIMINGS");
+
+CameraType decoder_camera_type(CameraViewKind view) {
+  switch (view) {
+    case CameraViewKind::Driver: return DriverCam;
+    case CameraViewKind::WideRoad: return WideRoadCam;
+    case CameraViewKind::QRoad: return RoadCam;
+    case CameraViewKind::Road:
+    default: return RoadCam;
+  }
+}
+
+bool stream_batch_has_data(const StreamExtractBatch &batch) {
+  return !batch.series.empty()
+      || !batch.can_messages.empty()
+      || !batch.logs.empty()
+      || !batch.timeline.empty()
+      || !batch.enum_info.empty()
+      || !batch.car_fingerprint.empty()
+      || !batch.dbc_name.empty();
+}
+
+bool should_subscribe_stream_service(const std::string &name) {
+  static const std::array<std::string_view, 13> kSkippedServices = {{
+    "roadEncodeIdx",
+    "driverEncodeIdx",
+    "wideRoadEncodeIdx",
+    "qRoadEncodeIdx",
+    "roadEncodeData",
+    "driverEncodeData",
+    "wideRoadEncodeData",
+    "qRoadEncodeData",
+    "livestreamWideRoadEncodeIdx",
+    "livestreamRoadEncodeIdx",
+    "livestreamDriverEncodeIdx",
+    "thumbnail",
+  }};
+  if (name == "rawAudioData") return false;
+  for (std::string_view skipped : kSkippedServices) {
+    if (name == skipped) return false;
+  }
+  return true;
+}
+
+void glfw_error_callback(int error, const char *description) {
+  const std::string_view desc = description != nullptr ? description : "unknown";
+  if (error == 65539 && desc.find("Invalid window attribute 0x0002000D") != std::string_view::npos) {
+    return;
+  }
+  std::cerr << "GLFW error " << error << ": " << desc << "\n";
+}
+
+}  // namespace
+
+GlfwRuntime::GlfwRuntime(const Options &options) {
+  glfwSetErrorCallback(glfw_error_callback);
+  if (!glfwInit()) throw std::runtime_error("glfwInit failed");
+  g_glfw_alive.store(true);
+
+  glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR, 3);
+  glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 3);
+  glfwWindowHint(GLFW_OPENGL_PROFILE, GLFW_OPENGL_CORE_PROFILE);
+#ifdef __APPLE__
+  glfwWindowHint(GLFW_OPENGL_FORWARD_COMPAT, GLFW_TRUE);
+#endif
+  const bool fixed_size = !options.show;
+  glfwWindowHint(GLFW_RESIZABLE, fixed_size ? GLFW_FALSE : GLFW_TRUE);
+  glfwWindowHint(GLFW_VISIBLE, options.show ? GLFW_TRUE : GLFW_FALSE);
+
+  window_ = glfwCreateWindow(options.width, options.height, "jotpluggler", nullptr, nullptr);
+  if (window_ == nullptr) {
+    glfwTerminate();
+    throw std::runtime_error("glfwCreateWindow failed");
+  }
+
+  if (fixed_size) {
+    glfwSetWindowSizeLimits(window_, options.width, options.height, options.width, options.height);
+  }
+  glfwMakeContextCurrent(window_);
+  glfwSwapInterval(options.show ? 1 : 0);
+}
+
+GlfwRuntime::~GlfwRuntime() {
+  if (window_ != nullptr) {
+    glfwDestroyWindow(window_);
+  }
+  g_glfw_alive.store(false);
+  glfwTerminate();
+}
+
+GLFWwindow *GlfwRuntime::window() const {
+  return window_;
+}
+
+ImGuiRuntime::ImGuiRuntime(GLFWwindow *window) {
+  IMGUI_CHECKVERSION();
+  ImGui::CreateContext();
+  ImPlot::CreateContext();
+
+  ImGuiIO &io = ImGui::GetIO();
+  io.ConfigFlags |= ImGuiConfigFlags_DockingEnable;
+  io.IniFilename = nullptr;
+  io.LogFilename = nullptr;
+
+  if (!ImGui_ImplGlfw_InitForOpenGL(window, true)) {
+    ImPlot::DestroyContext();
+    ImGui::DestroyContext();
+    throw std::runtime_error("ImGui_ImplGlfw_InitForOpenGL failed");
+  }
+  if (!ImGui_ImplOpenGL3_Init("#version 330")) {
+    ImGui_ImplGlfw_Shutdown();
+    ImPlot::DestroyContext();
+    ImGui::DestroyContext();
+    throw std::runtime_error("ImGui_ImplOpenGL3_Init failed");
+  }
+}
+
+ImGuiRuntime::~ImGuiRuntime() {
+  ImGui_ImplOpenGL3_Shutdown();
+  ImGui_ImplGlfw_Shutdown();
+  ImPlot::DestroyContext();
+  ImGui::DestroyContext();
+}
+
+struct TerminalRouteProgress::Impl {
+  explicit Impl(bool enabled) : enabled_(enabled) {}
+
+  void update(const RouteLoadProgress &progress) {
+    std::lock_guard<std::mutex> lock(mutex_);
+    if (!enabled_) {
+      return;
+    }
+
+    double overall = 0.0;
+    std::string detail = "Resolving route";
+    if (progress.stage == RouteLoadStage::Finished) {
+      overall = 1.0;
+      detail = "Ready";
+    } else if (progress.total_segments > 0) {
+      const bool finalizing = progress.segments_downloaded >= progress.total_segments
+                           && progress.segments_parsed >= progress.total_segments;
+      if (finalizing) {
+        overall = 0.99;
+        detail = "Finalizing route data";
+      } else {
+        const double total_work = static_cast<double>(progress.total_segments) * 2.0;
+        const double complete_work = static_cast<double>(progress.segments_downloaded + progress.segments_parsed);
+        overall = total_work <= 0.0 ? 0.0 : std::clamp(complete_work / total_work, 0.0, 0.99);
+        std::ostringstream desc;
+        desc << "Downloaded " << progress.segments_downloaded << "/" << progress.total_segments
+             << "  Parsed " << progress.segments_parsed << "/" << progress.total_segments;
+        detail = desc.str();
+      }
+    }
+
+    render(overall, detail);
+  }
+
+  void finish() {
+    std::lock_guard<std::mutex> lock(mutex_);
+    if (!enabled_ || !rendered_) {
+      return;
+    }
+    render(1.0, "Ready");
+    std::fputc('\n', stderr);
+    std::fflush(stderr);
+    rendered_ = false;
+  }
+
+  void render(double progress, const std::string &detail) {
+    const int percent = std::clamp(static_cast<int>(std::round(progress * 100.0)), 0, 100);
+    if (percent == last_percent_ && detail == last_detail_) {
+      return;
+    }
+
+    constexpr int kWidth = 20;
+    const int filled = std::clamp(static_cast<int>(std::round(progress * kWidth)), 0, kWidth);
+    const std::string bar = std::string(static_cast<size_t>(filled), '=') + std::string(static_cast<size_t>(kWidth - filled), ' ');
+    std::ostringstream line;
+    line << "\r[" << bar << "] " << percent << "% " << detail;
+
+    const std::string text = line.str();
+    std::fprintf(stderr, "%s", text.c_str());
+    if (text.size() < last_line_width_) {
+      std::fprintf(stderr, "%s", std::string(last_line_width_ - text.size(), ' ').c_str());
+    }
+    std::fflush(stderr);
+
+    rendered_ = true;
+    last_percent_ = percent;
+    last_detail_ = detail;
+    last_line_width_ = text.size();
+  }
+
+  bool enabled_ = false;
+  bool rendered_ = false;
+  int last_percent_ = -1;
+  size_t last_line_width_ = 0;
+  std::string last_detail_;
+  std::mutex mutex_;
+};
+
+TerminalRouteProgress::TerminalRouteProgress(bool enabled)
+  : impl_(std::make_unique<Impl>(enabled)) {}
+
+TerminalRouteProgress::~TerminalRouteProgress() {
+  finish();
+}
+
+void TerminalRouteProgress::update(const RouteLoadProgress &progress) {
+  impl_->update(progress);
+}
+
+void TerminalRouteProgress::finish() {
+  impl_->finish();
+}
+
+struct AsyncRouteLoader::Impl {
+  explicit Impl(bool enable_terminal_progress)
+      : terminal_progress(enable_terminal_progress) {}
+
+  ~Impl() {
+    join();
+  }
+
+  void start(const std::string &route_name_value, const std::string &data_dir_value, const std::string &dbc_name_value) {
+    join();
+    {
+      std::lock_guard<std::mutex> lock(mutex);
+      route_name = route_name_value;
+      data_dir = data_dir_value;
+      dbc_name = dbc_name_value;
+      result.reset();
+      error_text.clear();
+    }
+    active.store(!route_name_value.empty());
+    completed.store(route_name_value.empty());
+    success.store(route_name_value.empty());
+    total_segments.store(0);
+    segments_downloaded.store(0);
+    segments_parsed.store(0);
+    if (route_name_value.empty()) {
+      return;
+    }
+
+    worker = std::thread([this]() {
+      try {
+        RouteData route_data = load_route_data(route_name, data_dir, dbc_name, [this](const RouteLoadProgress &progress) {
+          total_segments.store(progress.total_segments > 0 ? progress.total_segments : progress.segment_count);
+          segments_downloaded.store(progress.segments_downloaded);
+          segments_parsed.store(progress.segments_parsed);
+          terminal_progress.update(progress);
+        });
+        {
+          std::lock_guard<std::mutex> lock(mutex);
+          result = std::make_unique<RouteData>(std::move(route_data));
+          error_text.clear();
+        }
+        success.store(true);
+      } catch (const std::exception &err) {
+        std::lock_guard<std::mutex> lock(mutex);
+        result.reset();
+        error_text = err.what();
+        success.store(false);
+      }
+      active.store(false);
+      completed.store(true);
+      terminal_progress.finish();
+    });
+  }
+
+  RouteLoadSnapshot snapshot() const {
+    RouteLoadSnapshot snapshot;
+    snapshot.active = active.load();
+    snapshot.total_segments = total_segments.load();
+    snapshot.segments_downloaded = segments_downloaded.load();
+    snapshot.segments_parsed = segments_parsed.load();
+    return snapshot;
+  }
+
+  bool consume(RouteData *route_data, std::string *error_text_out) {
+    if (!completed.load()) return false;
+    join();
+    std::lock_guard<std::mutex> lock(mutex);
+    completed.store(false);
+    if (result) {
+      *route_data = std::move(*result);
+      result.reset();
+      if (error_text_out != nullptr) {
+        error_text_out->clear();
+      }
+      return true;
+    }
+    if (error_text_out != nullptr) {
+      *error_text_out = error_text;
+    }
+    return true;
+  }
+
+  void join() {
+    if (worker.joinable()) {
+      worker.join();
+    }
+  }
+
+  mutable std::mutex mutex;
+  std::thread worker;
+  std::unique_ptr<RouteData> result;
+  std::string route_name;
+  std::string data_dir;
+  std::string dbc_name;
+  std::string error_text;
+  std::atomic<bool> active{false};
+  std::atomic<bool> completed{false};
+  std::atomic<bool> success{false};
+  std::atomic<size_t> total_segments{0};
+  std::atomic<size_t> segments_downloaded{0};
+  std::atomic<size_t> segments_parsed{0};
+  TerminalRouteProgress terminal_progress;
+};
+
+AsyncRouteLoader::AsyncRouteLoader(bool enable_terminal_progress)
+  : impl_(std::make_unique<Impl>(enable_terminal_progress)) {}
+
+AsyncRouteLoader::~AsyncRouteLoader() = default;
+
+void AsyncRouteLoader::start(const std::string &route_name, const std::string &data_dir, const std::string &dbc_name) {
+  impl_->start(route_name, data_dir, dbc_name);
+}
+
+RouteLoadSnapshot AsyncRouteLoader::snapshot() const {
+  return impl_->snapshot();
+}
+
+bool AsyncRouteLoader::consume(RouteData *route_data, std::string *error_text) {
+  return impl_->consume(route_data, error_text);
+}
+
+struct StreamPoller::Impl {
+  ~Impl() {
+    stop();
+  }
+
+  void start(const StreamSourceConfig &requested_source,
+             double requested_buffer_seconds,
+             const std::string &dbc_name,
+             std::optional<double> time_offset) {
+    stop();
+    {
+      std::lock_guard<std::mutex> lock(mutex);
+      pending = {};
+      pending_series_slots.clear();
+      pending_can_slots.clear();
+      error_text.clear();
+      source = requested_source;
+      if (source.kind == StreamSourceKind::CerealLocal) {
+        source.address = "127.0.0.1";
+      } else if (source.kind == StreamSourceKind::CerealRemote) {
+        source.address = normalize_stream_address(source.address);
+      }
+      buffer_seconds = std::max(1.0, requested_buffer_seconds);
+      latest_dbc_name = dbc_name;
+      latest_car_fingerprint.clear();
+    }
+    received_messages.store(0);
+    connected.store(false);
+    paused.store(false);
+    running.store(true);
+    worker = std::thread([this, dbc_name, time_offset]() {
+      try {
+        StreamAccumulator accumulator(dbc_name, time_offset);
+        switch (source.kind) {
+          case StreamSourceKind::CerealLocal:
+          case StreamSourceKind::CerealRemote:
+            run_cereal_source(&accumulator);
+            break;
+        }
+      } catch (const std::exception &err) {
+        std::lock_guard<std::mutex> lock(mutex);
+        error_text = err.what();
+      }
+      connected.store(false);
+      running.store(false);
+    });
+  }
+
+  void setPaused(bool paused_value) {
+    paused.store(paused_value);
+    if (paused_value) {
+      std::lock_guard<std::mutex> lock(mutex);
+      pending = {};
+      pending_series_slots.clear();
+      pending_can_slots.clear();
+      error_text.clear();
+    }
+  }
+
+  void set_error_text(std::string text) {
+    std::lock_guard<std::mutex> lock(mutex);
+    error_text = std::move(text);
+  }
+
+  void clear_error_text() {
+    std::lock_guard<std::mutex> lock(mutex);
+    error_text.clear();
+  }
+
+  void stop() {
+    running.store(false);
+    paused.store(false);
+    if (worker.joinable()) {
+      worker.join();
+    }
+    connected.store(false);
+  }
+
+  StreamPollSnapshot snapshot() const {
+    StreamPollSnapshot out;
+    out.active = running.load();
+    out.connected = connected.load();
+    out.paused = paused.load();
+    out.source_kind = source.kind;
+    out.source_label = stream_source_target_label(source);
+    out.buffer_seconds = buffer_seconds;
+    out.received_messages = received_messages.load();
+    std::lock_guard<std::mutex> lock(mutex);
+    out.dbc_name = latest_dbc_name;
+    out.car_fingerprint = latest_car_fingerprint;
+    return out;
+  }
+
+  bool consume(StreamExtractBatch *batch, std::string *out_error_text) {
+    std::lock_guard<std::mutex> lock(mutex);
+    const bool has_error = !error_text.empty();
+    const bool has_batch = stream_batch_has_data(pending);
+    if (!has_error && !has_batch) return false;
+    if (batch != nullptr) {
+      *batch = std::move(pending);
+      pending = {};
+      pending_series_slots.clear();
+      pending_can_slots.clear();
+    }
+    if (out_error_text != nullptr) {
+      *out_error_text = error_text;
+      error_text.clear();
+    }
+    return true;
+  }
+
+  static void merge_route_series(RouteSeries *dst, RouteSeries *src) {
+    if (src->times.empty()) {
+      return;
+    }
+    if (dst->path.empty()) {
+      dst->path = src->path;
+    }
+    dst->times.insert(dst->times.end(), src->times.begin(), src->times.end());
+    dst->values.insert(dst->values.end(), src->values.begin(), src->values.end());
+  }
+
+  static void merge_can_message_data(CanMessageData *dst, CanMessageData *src) {
+    if (src->samples.empty()) {
+      return;
+    }
+    if (dst->samples.empty()) {
+      *dst = std::move(*src);
+      return;
+    }
+    dst->samples.insert(dst->samples.end(),
+                        std::make_move_iterator(src->samples.begin()),
+                        std::make_move_iterator(src->samples.end()));
+  }
+
+  static void merge_batch(StreamExtractBatch *dst,
+                          std::unordered_map<std::string, size_t> *series_slots,
+                          std::unordered_map<CanMessageId, size_t, CanMessageIdHash> *can_slots,
+                          StreamExtractBatch *src) {
+    for (RouteSeries &series : src->series) {
+      auto [it, inserted] = series_slots->try_emplace(series.path, dst->series.size());
+      if (inserted) {
+        dst->series.push_back(RouteSeries{.path = series.path});
+      }
+      merge_route_series(&dst->series[it->second], &series);
+    }
+    for (CanMessageData &message : src->can_messages) {
+      auto [it, inserted] = can_slots->try_emplace(message.id, dst->can_messages.size());
+      if (inserted) {
+        dst->can_messages.push_back(CanMessageData{.id = message.id});
+      }
+      merge_can_message_data(&dst->can_messages[it->second], &message);
+    }
+    if (!src->logs.empty()) {
+      dst->logs.insert(dst->logs.end(),
+                       std::make_move_iterator(src->logs.begin()),
+                       std::make_move_iterator(src->logs.end()));
+    }
+    if (!src->timeline.empty()) {
+      dst->timeline.insert(dst->timeline.end(),
+                           std::make_move_iterator(src->timeline.begin()),
+                           std::make_move_iterator(src->timeline.end()));
+    }
+    for (auto &[path, info] : src->enum_info) {
+      dst->enum_info[path] = std::move(info);
+    }
+    if (!src->car_fingerprint.empty()) {
+      dst->car_fingerprint = src->car_fingerprint;
+    }
+    if (!src->dbc_name.empty()) {
+      dst->dbc_name = src->dbc_name;
+    }
+  }
+
+  void publish_batch(StreamAccumulator *accumulator) {
+    StreamExtractBatch batch = accumulator->takeBatch();
+    if (!stream_batch_has_data(batch)) {
+      return;
+    }
+    std::lock_guard<std::mutex> lock(mutex);
+    merge_batch(&pending, &pending_series_slots, &pending_can_slots, &batch);
+    latest_dbc_name = pending.dbc_name;
+    latest_car_fingerprint = pending.car_fingerprint;
+  }
+
+  void run_cereal_source(StreamAccumulator *accumulator) {
+    if (source.kind == StreamSourceKind::CerealRemote) {
+      setenv("ZMQ", "1", 1);
+    } else {
+      unsetenv("ZMQ");
+    }
+
+    std::unique_ptr<Context> context(Context::create());
+    std::unique_ptr<Poller> poller(Poller::create());
+    std::vector<std::unique_ptr<SubSocket>> sockets;
+    sockets.reserve(services.size());
+    for (const auto &[name, info] : services) {
+      if (!should_subscribe_stream_service(name)) continue;
+      std::unique_ptr<SubSocket> socket(
+        SubSocket::create(context.get(), name.c_str(), source.address.c_str(), false, true, info.queue_size));
+      if (socket == nullptr) continue;
+      socket->setTimeout(0);
+      poller->registerSocket(socket.get());
+      sockets.push_back(std::move(socket));
+    }
+    if (sockets.empty()) throw std::runtime_error("Failed to connect to any cereal service");
+    connected.store(true);
+
+    while (running.load()) {
+      std::vector<SubSocket *> ready = poller->poll(1);
+      for (SubSocket *socket : ready) {
+        while (running.load()) {
+          std::unique_ptr<Message> msg(socket->receive(true));
+          if (!msg) break;
+          const size_t size = msg->getSize();
+          if (size < sizeof(capnp::word) || (size % sizeof(capnp::word)) != 0) {
+            continue;
+          }
+          if (paused.load()) {
+            received_messages.fetch_add(1);
+            continue;
+          }
+          kj::ArrayPtr<const capnp::word> data(reinterpret_cast<const capnp::word *>(msg->getData()),
+                                               size / sizeof(capnp::word));
+          accumulator->appendEvent(data);
+          received_messages.fetch_add(1);
+        }
+      }
+      publish_batch(accumulator);
+    }
+  }
+
+  mutable std::mutex mutex;
+  std::thread worker;
+  std::atomic<bool> running{false};
+  std::atomic<bool> connected{false};
+  std::atomic<bool> paused{false};
+  std::atomic<uint64_t> received_messages{0};
+  StreamExtractBatch pending;
+  std::unordered_map<std::string, size_t> pending_series_slots;
+  std::unordered_map<CanMessageId, size_t, CanMessageIdHash> pending_can_slots;
+  std::string error_text;
+  StreamSourceConfig source;
+  std::string latest_dbc_name;
+  std::string latest_car_fingerprint;
+  double buffer_seconds = 30.0;
+};
+
+StreamPoller::StreamPoller()
+  : impl_(std::make_unique<Impl>()) {}
+
+StreamPoller::~StreamPoller() = default;
+
+void StreamPoller::start(const StreamSourceConfig &source,
+                         double buffer_seconds,
+                         const std::string &dbc_name,
+                         std::optional<double> time_offset) {
+  impl_->start(source, buffer_seconds, dbc_name, time_offset);
+}
+
+void StreamPoller::setPaused(bool paused) {
+  impl_->setPaused(paused);
+}
+
+void StreamPoller::stop() {
+  impl_->stop();
+}
+
+StreamPollSnapshot StreamPoller::snapshot() const {
+  return impl_->snapshot();
+}
+
+bool StreamPoller::consume(StreamExtractBatch *batch, std::string *error_text) {
+  return impl_->consume(batch, error_text);
+}
+
+struct CameraFeedView::Impl {
+  struct RequestKey {
+    int segment = -1;
+    int decode_index = -1;
+  };
+
+  struct DecodeRequest {
+    RequestKey key;
+    std::string path;
+    uint64_t serial = 0;
+    uint64_t generation = 0;
+  };
+
+  struct PreloadTask {
+    int segment = -1;
+    std::string path;
+    uint64_t generation = 0;
+  };
+
+  struct DecodeResult {
+    RequestKey key;
+    bool success = false;
+    int width = 0;
+    int height = 0;
+    double decode_ms = 0.0;
+    std::vector<uint8_t> rgba;
+  };
+
+  static constexpr float kDefaultAspect = 1208.0f / 1928.0f;
+  static constexpr size_t kCachedFrames = 8;
+  static constexpr int kPrefetchAhead = 2;
+  static constexpr int kImmediateNearbyFrameDistance = 8;
+  static constexpr int kPreloadWorkerCount = 2;
+
+  Impl() {
+    demand_worker = std::thread([this]() { demand_worker_loop(); });
+    for (int i = 0; i < kPreloadWorkerCount; ++i) {
+      preload_workers.emplace_back([this]() { preload_worker_loop(); });
+    }
+  }
+
+  ~Impl() {
+    stop.store(true);
+    cv.notify_all();
+    if (demand_worker.joinable()) {
+      demand_worker.join();
+    }
+    for (std::thread &worker : preload_workers) {
+      if (worker.joinable()) {
+        worker.join();
+      }
+    }
+    destroy_texture();
+  }
+
+  void setRouteData(const RouteData &route_data) {
+    setCameraIndex(route_data.road_camera, CameraViewKind::Road);
+  }
+
+  void setCameraIndex(const CameraFeedIndex &camera_index, CameraViewKind view) {
+    destroy_texture();
+    {
+      std::lock_guard<std::mutex> lock(mutex);
+      route_index = camera_index;
+      camera_view = view;
+      pending_request.reset();
+      pending_result.reset();
+      cached_results.clear();
+      preload_queue.clear();
+      preload_focus_segment = -1;
+      ++route_generation;
+      latest_request_serial = 0;
+      int initial_focus_segment = -1;
+      if (!route_index.entries.empty()) {
+        initial_focus_segment = route_index.entries.front().segment;
+      } else {
+        for (const CameraSegmentFile &segment_file : route_index.segment_files) {
+          if (!segment_file.path.empty()) {
+            initial_focus_segment = segment_file.segment;
+            break;
+          }
+        }
+      }
+      if (initial_focus_segment >= 0) {
+        rebuild_preload_queue_locked(initial_focus_segment);
+      }
+    }
+    abort_demand_work.store(true);
+    abort_preload_work.store(true);
+    active_request.reset();
+    displayed_request.reset();
+    failed_request.reset();
+    frame_width = 0;
+    frame_height = 0;
+    cv.notify_all();
+  }
+
+  void update(double tracker_time) {
+    upload_pending_result();
+    std::optional<DecodeRequest> request = request_for_time(tracker_time);
+    if (!request.has_value()) {
+      return;
+    }
+    if (same_request(active_request, request->key) || same_request(displayed_request, request->key) ||
+        same_request(failed_request, request->key)) {
+      return;
+    }
+    if (try_upload_cached_result(request->key)) {
+      return;
+    }
+    try_upload_nearby_cached_result(request->key);
+
+    bool focus_changed = false;
+    {
+      std::lock_guard<std::mutex> lock(mutex);
+      if (preload_focus_segment != request->key.segment) {
+        rebuild_preload_queue_locked(request->key.segment);
+        focus_changed = true;
+      }
+      request->serial = ++latest_request_serial;
+      request->generation = route_generation;
+      pending_request = request;
+    }
+    abort_demand_work.store(true);
+    if (focus_changed) {
+      abort_preload_work.store(true);
+    }
+    active_request = request->key;
+    failed_request.reset();
+    cv.notify_all();
+  }
+
+  void draw(float width, bool loading) {
+    const float preview_width = std::max(1.0f, width);
+    const float preview_height = preview_width * preview_aspect();
+    drawSized(ImVec2(preview_width, preview_height), loading, false);
+    ImGui::Spacing();
+  }
+
+  void drawSized(ImVec2 size, bool loading, bool fit_to_pane) {
+    size.x = std::max(1.0f, size.x);
+    size.y = std::max(1.0f, size.y);
+    const float aspect = preview_aspect();
+    ImVec2 frame_size = size;
+    ImVec2 top_left = ImGui::GetCursorScreenPos();
+    ImVec2 uv0(0.0f, 0.0f);
+    ImVec2 uv1(1.0f, 1.0f);
+    if (aspect > 0.0f && !fit_to_pane) {
+      frame_size.y = std::min(size.y, size.x * aspect);
+      frame_size.x = std::min(size.x, frame_size.y / aspect);
+      top_left = ImVec2(top_left.x + (size.x - frame_size.x) * 0.5f,
+                        top_left.y + (size.y - frame_size.y) * 0.5f);
+    } else if (aspect > 0.0f && fit_to_pane) {
+      const float src_aspect = 1.0f / aspect;
+      const float dst_aspect = size.x / size.y;
+      if (dst_aspect > src_aspect) {
+        const float visible_v = std::clamp(src_aspect / dst_aspect, 0.0f, 1.0f);
+        const float v_pad = (1.0f - visible_v) * 0.5f;
+        uv0.y = v_pad;
+        uv1.y = 1.0f - v_pad;
+      } else if (dst_aspect < src_aspect) {
+        const float visible_u = std::clamp(dst_aspect / src_aspect, 0.0f, 1.0f);
+        const float u_pad = (1.0f - visible_u) * 0.5f;
+        uv0.x = u_pad;
+        uv1.x = 1.0f - u_pad;
+      }
+    }
+    ImGui::InvisibleButton("##camera_feed_sized", size);
+    if (texture != 0) {
+      ImGui::GetWindowDrawList()->AddImage(static_cast<ImTextureID>(texture),
+                                           top_left,
+                                           ImVec2(top_left.x + frame_size.x, top_left.y + frame_size.y),
+                                           uv0,
+                                           uv1);
+    } else {
+      ImDrawList *draw_list = ImGui::GetWindowDrawList();
+      draw_list->AddRectFilled(top_left, ImVec2(top_left.x + frame_size.x, top_left.y + frame_size.y), IM_COL32(45, 47, 50, 255));
+      draw_list->AddRect(top_left, ImVec2(top_left.x + frame_size.x, top_left.y + frame_size.y), IM_COL32(95, 100, 106, 255));
+
+      const char *label = (loading || has_video_source()) ? "loading" : "no video";
+      const ImVec2 text_size = ImGui::CalcTextSize(label);
+      const ImVec2 text_pos(top_left.x + (frame_size.x - text_size.x) * 0.5f,
+                            top_left.y + (frame_size.y - text_size.y) * 0.5f);
+      draw_list->AddText(text_pos, IM_COL32(187, 187, 187, 255), label);
+    }
+  }
+
+  static bool same_request(const std::optional<RequestKey> &lhs, const RequestKey &rhs) {
+    return lhs.has_value() && lhs->segment == rhs.segment && lhs->decode_index == rhs.decode_index;
+  }
+
+  bool has_video_source() const {
+    std::lock_guard<std::mutex> lock(mutex);
+    return !route_index.entries.empty() && !route_index.segment_files.empty();
+  }
+
+  float preview_aspect() const {
+    if (frame_width > 0 && frame_height > 0) return static_cast<float>(frame_height) / static_cast<float>(frame_width);
+    return kDefaultAspect;
+  }
+
+  std::optional<DecodeRequest> request_for_time(double tracker_time) const {
+    std::lock_guard<std::mutex> lock(mutex);
+    if (route_index.entries.empty()) return std::nullopt;
+
+    auto it = std::lower_bound(route_index.entries.begin(), route_index.entries.end(), tracker_time,
+                               [](const CameraFrameIndexEntry &entry, double tm) {
+                                 return entry.timestamp < tm;
+                               });
+    if (it == route_index.entries.end()) {
+      it = std::prev(route_index.entries.end());
+    } else if (it != route_index.entries.begin()) {
+      const auto prev = std::prev(it);
+      if (std::abs(prev->timestamp - tracker_time) <= std::abs(it->timestamp - tracker_time)) {
+        it = prev;
+      }
+    }
+
+    auto path_it = std::find_if(route_index.segment_files.begin(), route_index.segment_files.end(),
+                                [&](const CameraSegmentFile &segment) {
+                                  return segment.segment == it->segment && !segment.path.empty();
+                                });
+    if (path_it == route_index.segment_files.end()) return std::nullopt;
+
+    return DecodeRequest{
+      .key = RequestKey{.segment = it->segment, .decode_index = it->decode_index},
+      .path = path_it->path,
+    };
+  }
+
+  void upload_pending_result() {
+    std::optional<DecodeResult> result;
+    {
+      std::lock_guard<std::mutex> lock(mutex);
+      if (!pending_result.has_value()) {
+        return;
+      }
+      result = std::move(pending_result);
+      pending_result.reset();
+    }
+
+    active_request.reset();
+    if (!result->success || result->rgba.empty() || result->width <= 0 || result->height <= 0) {
+      failed_request = result->key;
+      return;
+    }
+
+    upload_result(*result);
+  }
+
+  void upload_result(const DecodeResult &result) {
+    remember_cached_result(result);
+
+    const bool new_size = texture_width != result.width || texture_height != result.height;
+    if (texture == 0) {
+      glGenTextures(1, &texture);
+    }
+    glBindTexture(GL_TEXTURE_2D, texture);
+    if (new_size) {
+      glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
+      glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
+      glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
+      glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
+      glPixelStorei(GL_UNPACK_ALIGNMENT, 1);
+      glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, result.width, result.height, 0, GL_RGBA, GL_UNSIGNED_BYTE, result.rgba.data());
+      texture_width = result.width;
+      texture_height = result.height;
+    } else {
+      glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, result.width, result.height, GL_RGBA, GL_UNSIGNED_BYTE, result.rgba.data());
+    }
+    glBindTexture(GL_TEXTURE_2D, 0);
+
+    frame_width = result.width;
+    frame_height = result.height;
+    displayed_request = result.key;
+    failed_request.reset();
+  }
+
+  bool try_upload_cached_result(const RequestKey &key) {
+    std::optional<DecodeResult> result;
+    {
+      std::lock_guard<std::mutex> lock(mutex);
+      auto it = std::find_if(cached_results.begin(), cached_results.end(), [&](const DecodeResult &cached) {
+        return cached.key.segment == key.segment && cached.key.decode_index == key.decode_index;
+      });
+      if (it == cached_results.end()) {
+        return false;
+      }
+      result = *it;
+    }
+    active_request.reset();
+    upload_result(*result);
+    return true;
+  }
+
+  bool try_upload_nearby_cached_result(const RequestKey &key) {
+    std::optional<DecodeResult> result;
+    int best_distance = std::numeric_limits<int>::max();
+    {
+      std::lock_guard<std::mutex> lock(mutex);
+      for (const DecodeResult &cached : cached_results) {
+        if (cached.key.segment != key.segment) continue;
+        const int distance = std::abs(cached.key.decode_index - key.decode_index);
+        if (distance == 0 || distance > kImmediateNearbyFrameDistance || distance >= best_distance) continue;
+        best_distance = distance;
+        result = cached;
+      }
+    }
+    if (!result.has_value()) {
+      return false;
+    }
+    upload_result(*result);
+    return true;
+  }
+
+  void remember_cached_result(const DecodeResult &result) {
+    std::lock_guard<std::mutex> lock(mutex);
+    auto it = std::find_if(cached_results.begin(), cached_results.end(), [&](const DecodeResult &cached) {
+      return cached.key.segment == result.key.segment && cached.key.decode_index == result.key.decode_index;
+    });
+    if (it != cached_results.end()) {
+      cached_results.erase(it);
+    }
+    cached_results.push_front(result);
+    while (cached_results.size() > kCachedFrames) {
+      cached_results.pop_back();
+    }
+  }
+
+  void destroy_texture() {
+    if (texture != 0 && g_glfw_alive.load() && glfwGetCurrentContext() != nullptr) {
+      glDeleteTextures(1, &texture);
+    }
+    texture = 0;
+    texture_width = 0;
+    texture_height = 0;
+    frame_width = 0;
+    frame_height = 0;
+  }
+
+  static bool ensure_decode_buffer(FrameReader *reader, VisionBuf *buf, bool &allocated, int &w, int &h) {
+    if (!reader) return false;
+    if (allocated && w == reader->width && h == reader->height) return true;
+    if (allocated) { buf->free(); allocated = false; }
+    const auto [stride, y_height, _uv_height, size] = get_nv12_info(reader->width, reader->height);
+    buf->allocate(size);
+    buf->init_yuv(reader->width, reader->height, stride, stride * y_height);
+    w = reader->width;
+    h = reader->height;
+    allocated = true;
+    return true;
+  }
+
+  void publish_result(const DecodeRequest &request, DecodeResult result) {
+    std::lock_guard<std::mutex> lock(mutex);
+    if (!pending_request.has_value() || pending_request->serial != request.serial ||
+        pending_request->generation != request.generation) {
+      return;
+    }
+    pending_result = std::move(result);
+  }
+
+  bool has_newer_pending_request(uint64_t serial) const {
+    std::lock_guard<std::mutex> lock(mutex);
+    return pending_request.has_value() && pending_request->serial != serial;
+  }
+
+  void rebuild_preload_queue_locked(int focus_segment) {
+    std::vector<PreloadTask> ordered;
+    ordered.reserve(route_index.segment_files.size());
+    for (const CameraSegmentFile &segment_file : route_index.segment_files) {
+      if (segment_file.path.empty()) continue;
+      if (segment_file.segment == focus_segment) continue;
+      ordered.push_back(PreloadTask{
+        .segment = segment_file.segment,
+        .path = segment_file.path,
+        .generation = route_generation,
+      });
+    }
+    std::sort(ordered.begin(), ordered.end(), [&](const PreloadTask &a, const PreloadTask &b) {
+      const int distance_a = std::abs(a.segment - focus_segment);
+      const int distance_b = std::abs(b.segment - focus_segment);
+      if (distance_a != distance_b) return distance_a < distance_b;
+      return a.segment < b.segment;
+    });
+    preload_queue.assign(ordered.begin(), ordered.end());
+    preload_focus_segment = focus_segment;
+  }
+
+  std::shared_ptr<FrameReader> find_loaded_reader_locked(int segment, uint64_t generation) {
+    if (readers_generation != generation) {
+      readers.clear();
+      loading_segments.clear();
+      readers_generation = generation;
+    }
+    auto it = readers.find(segment);
+    return it != readers.end() ? it->second : nullptr;
+  }
+
+  std::shared_ptr<FrameReader> ensure_reader_loaded(int segment,
+                                                    const std::string &path,
+                                                    uint64_t generation,
+                                                    const char *reason,
+                                                    std::atomic<bool> *abort_flag,
+                                                    bool wait_for_inflight) {
+    while (!stop.load()) {
+      {
+        std::unique_lock<std::mutex> lock(readers_mutex);
+        if (std::shared_ptr<FrameReader> cached = find_loaded_reader_locked(segment, generation)) {
+          return cached;
+        }
+        if (loading_segments.find(segment) != loading_segments.end()) {
+          if (!wait_for_inflight) {
+            return nullptr;
+          }
+          readers_cv.wait(lock, [&]() {
+            return stop.load()
+                || readers_generation != generation
+                || loading_segments.find(segment) == loading_segments.end();
+          });
+          continue;
+        }
+        loading_segments.insert(segment);
+      }
+
+      auto reader = std::make_shared<FrameReader>();
+      const auto load_begin = std::chrono::steady_clock::now();
+      const bool loaded = reader->load(decoder_camera_type(camera_view), path, false, abort_flag, true);
+
+      {
+        std::lock_guard<std::mutex> lock(readers_mutex);
+        if (readers_generation != generation) {
+          readers.clear();
+          loading_segments.clear();
+          readers_generation = generation;
+        }
+        loading_segments.erase(segment);
+        if (loaded) {
+          readers[segment] = reader;
+        }
+      }
+      readers_cv.notify_all();
+
+      if (!loaded) {
+        return nullptr;
+      }
+      if (kLogCameraTimings) {
+        const double load_ms = std::chrono::duration<double, std::milli>(std::chrono::steady_clock::now() - load_begin).count();
+        std::fprintf(stderr, "camera[%s] %s-load seg=%d %.1fms\n",
+                     camera_view_spec(camera_view).runtime_name, reason, segment, load_ms);
+      }
+      return reader;
+    }
+    return nullptr;
+  }
+
+  void preload_worker_loop() {
+    while (true) {
+      std::optional<PreloadTask> preload;
+      {
+        std::unique_lock<std::mutex> lock(mutex);
+        cv.wait(lock, [&]() { return stop.load() || !preload_queue.empty(); });
+        if (stop.load()) {
+          break;
+        }
+        preload = preload_queue.front();
+        preload_queue.pop_front();
+      }
+
+      abort_preload_work.store(false);
+      {
+        std::lock_guard<std::mutex> lock(readers_mutex);
+        if (find_loaded_reader_locked(preload->segment, preload->generation)) {
+          continue;
+        }
+      }
+      ensure_reader_loaded(preload->segment, preload->path, preload->generation, "preload",
+                           &abort_preload_work, false);
+    }
+  }
+
+  void demand_worker_loop() {
+    uint64_t handled_serial = 0;
+    VisionBuf decode_buffer;
+    bool buffer_allocated = false;
+    int buffer_width = 0;
+    int buffer_height = 0;
+
+    while (true) {
+      std::optional<DecodeRequest> request;
+      {
+        std::unique_lock<std::mutex> lock(mutex);
+        cv.wait(lock, [&]() {
+          return stop.load() || (pending_request.has_value() && pending_request->serial != handled_serial);
+        });
+        if (stop.load()) break;
+        request = *pending_request;
+        handled_serial = request->serial;
+      }
+
+      abort_demand_work.store(false);
+
+      DecodeResult result{.key = request->key};
+      std::shared_ptr<FrameReader> reader = ensure_reader_loaded(request->key.segment, request->path,
+                                                                 request->generation, "demand",
+                                                                 &abort_demand_work, true);
+      if (!reader) {
+        publish_result(*request, std::move(result));
+        continue;
+      }
+      if (has_newer_pending_request(request->serial)) {
+        continue;
+      }
+
+      const auto decode_begin = std::chrono::steady_clock::now();
+      if (!ensure_decode_buffer(reader.get(), &decode_buffer, buffer_allocated, buffer_width, buffer_height) ||
+          !reader->get(request->key.decode_index, &decode_buffer)) {
+        publish_result(*request, std::move(result));
+        continue;
+      }
+
+      result.width = reader->width;
+      result.height = reader->height;
+      result.rgba.resize(static_cast<size_t>(result.width) * static_cast<size_t>(result.height) * 4U, 0);
+      libyuv::NV12ToABGR(decode_buffer.y,
+                         static_cast<int>(decode_buffer.stride),
+                         decode_buffer.uv,
+                         static_cast<int>(decode_buffer.stride),
+                         result.rgba.data(),
+                         result.width * 4,
+                         result.width,
+                         result.height);
+      result.success = true;
+      result.decode_ms = std::chrono::duration<double, std::milli>(std::chrono::steady_clock::now() - decode_begin).count();
+      publish_result(*request, std::move(result));
+
+      for (int offset = 1; offset <= kPrefetchAhead; ++offset) {
+        if (stop.load() || has_newer_pending_request(request->serial)) {
+          break;
+        }
+        const int next_index = request->key.decode_index + offset;
+        if (next_index < 0 || next_index >= static_cast<int>(reader->getFrameCount())) {
+          break;
+        }
+        if (!reader->get(next_index, &decode_buffer)) {
+          break;
+        }
+        DecodeResult prefetched{
+          .key = RequestKey{.segment = request->key.segment, .decode_index = next_index},
+          .success = true,
+          .width = reader->width,
+          .height = reader->height,
+        };
+        prefetched.rgba.resize(static_cast<size_t>(prefetched.width) * static_cast<size_t>(prefetched.height) * 4U, 0);
+        libyuv::NV12ToABGR(decode_buffer.y,
+                           static_cast<int>(decode_buffer.stride),
+                           decode_buffer.uv,
+                           static_cast<int>(decode_buffer.stride),
+                           prefetched.rgba.data(),
+                           prefetched.width * 4,
+                           prefetched.width,
+                           prefetched.height);
+        remember_cached_result(prefetched);
+      }
+    }
+
+    if (buffer_allocated) {
+      decode_buffer.free();
+    }
+  }
+
+  mutable std::mutex mutex;
+  std::condition_variable cv;
+  std::thread demand_worker;
+  std::vector<std::thread> preload_workers;
+  std::atomic<bool> stop{false};
+  std::atomic<bool> abort_demand_work{false};
+  std::atomic<bool> abort_preload_work{false};
+  CameraFeedIndex route_index;
+  CameraViewKind camera_view = CameraViewKind::Road;
+  std::optional<DecodeRequest> pending_request;
+  std::optional<DecodeResult> pending_result;
+  std::deque<PreloadTask> preload_queue;
+  int preload_focus_segment = -1;
+  std::deque<DecodeResult> cached_results;
+  uint64_t latest_request_serial = 0;
+  uint64_t route_generation = 1;
+  std::optional<RequestKey> active_request;
+  std::optional<RequestKey> displayed_request;
+  std::optional<RequestKey> failed_request;
+  std::mutex readers_mutex;
+  std::condition_variable readers_cv;
+  std::unordered_map<int, std::shared_ptr<FrameReader>> readers;
+  std::unordered_set<int> loading_segments;
+  uint64_t readers_generation = 0;
+  GLuint texture = 0;
+  int texture_width = 0;
+  int texture_height = 0;
+  int frame_width = 0;
+  int frame_height = 0;
+};
+
+CameraFeedView::CameraFeedView()
+  : impl_(std::make_unique<Impl>()) {}
+
+CameraFeedView::~CameraFeedView() = default;
+
+void CameraFeedView::setRouteData(const RouteData &route_data) {
+  impl_->setRouteData(route_data);
+}
+
+void CameraFeedView::setCameraIndex(const CameraFeedIndex &camera_index, CameraViewKind view) {
+  impl_->setCameraIndex(camera_index, view);
+}
+
+void CameraFeedView::update(double tracker_time) {
+  impl_->update(tracker_time);
+}
+
+void CameraFeedView::draw(float width, bool loading) {
+  impl_->draw(width, loading);
+}
+
+void CameraFeedView::drawSized(ImVec2 size, bool loading, bool fit_to_pane) {
+  impl_->drawSized(size, loading, fit_to_pane);
+}
diff --git a/tools/jotpluggler/session.cc b/tools/jotpluggler/session.cc
new file mode 100644
index 00000000000..173df7bc04c
--- /dev/null
+++ b/tools/jotpluggler/session.cc
@@ -0,0 +1,773 @@
+#include "tools/jotpluggler/internal.h"
+
+#include "imgui_internal.h"
+
+#include <array>
+#include <cmath>
+#include <cstdlib>
+
+namespace fs = std::filesystem;
+
+const RouteSeries *app_find_route_series(const AppSession &session, const std::string &path) {
+  auto it = session.series_by_path.find(path);
+  return it == session.series_by_path.end() ? nullptr : it->second;
+}
+
+void sync_camera_feeds(AppSession *session) {
+  for (size_t i = 0; i < kCameraViewSpecs.size(); ++i) {
+    if (session->pane_camera_feeds[i]) {
+      session->pane_camera_feeds[i]->setCameraIndex(session->route_data.*(kCameraViewSpecs[i].route_member), kCameraViewSpecs[i].view);
+    }
+  }
+}
+
+void apply_route_data(AppSession *session, UiState *state, RouteData route_data) {
+  if (!route_data.route_id.empty()) {
+    session->route_id = route_data.route_id;
+  } else if (session->route_name.empty() && session->data_mode == SessionDataMode::Route) {
+    session->route_id = {};
+  }
+  session->route_data = std::move(route_data);
+  rebuild_route_index(session);
+  rebuild_browser_nodes(session, state);
+  state->browser_nodes_dirty = false;
+  refresh_all_custom_curves(session, state);
+  sync_camera_feeds(session);
+  state->has_shared_range = false;
+  state->has_tracker_time = false;
+  reset_shared_range(state, *session);
+}
+
+bool restore_undo_layout(AppSession *session, UiState *state, const SketchLayout &layout, const char *status_text) {
+  session->layout = layout;
+  cancel_rename_tab(state);
+  state->custom_series.request_select = false;
+  state->active_tab_index = std::clamp(layout.current_tab_index, 0, std::max(0, static_cast<int>(layout.tabs.size()) - 1));
+  state->requested_tab_index = state->active_tab_index;
+  sync_ui_state(state, session->layout);
+  mark_all_docks_dirty(state);
+  const bool autosave_ok = autosave_layout(session, state);
+  if (autosave_ok) {
+    state->status_text = status_text;
+  }
+  return autosave_ok;
+}
+
+bool apply_undo(AppSession *session, UiState *state) {
+  if (!state->undo.can_undo()) {
+    return false;
+  }
+  return restore_undo_layout(session, state, state->undo.undo(), "Undo");
+}
+
+bool apply_redo(AppSession *session, UiState *state) {
+  if (!state->undo.can_redo()) {
+    return false;
+  }
+  return restore_undo_layout(session, state, state->undo.redo(), "Redo");
+}
+
+std::optional<std::pair<double, double>> tab_default_x_range(const WorkspaceTab &tab) {
+  bool found = false;
+  double min_value = 0.0;
+  double max_value = 1.0;
+  for (const Pane &pane : tab.panes) {
+    if (!pane.range.valid || pane.range.right <= pane.range.left) continue;
+    if (!found) {
+      min_value = pane.range.left;
+      max_value = pane.range.right;
+      found = true;
+    } else {
+      min_value = std::min(min_value, pane.range.left);
+      max_value = std::max(max_value, pane.range.right);
+    }
+  }
+  if (!found) return std::nullopt;
+  return std::make_pair(min_value, max_value);
+}
+
+bool infer_stream_follow_state(const UiState &state, const AppSession &session) {
+  if (session.data_mode != SessionDataMode::Stream || !state.has_shared_range || !session.route_data.has_time_range) {
+    return false;
+  }
+  const double target_span = std::max(MIN_HORIZONTAL_ZOOM_SECONDS, session.stream_buffer_seconds);
+  const double current_span = std::max(0.0, state.x_view_max - state.x_view_min);
+  const double edge_epsilon = std::max(0.05, target_span * 0.02);
+  return std::abs(state.x_view_max - state.route_x_max) <= edge_epsilon
+      && std::abs(current_span - target_span) <= edge_epsilon;
+}
+
+void ensure_shared_range(UiState *state, const AppSession &session) {
+  if (session.route_data.has_time_range) {
+    state->route_x_min = session.route_data.x_min;
+    state->route_x_max = session.route_data.x_max;
+  } else {
+    state->route_x_min = 0.0;
+    state->route_x_max = 1.0;
+  }
+
+  if (state->has_shared_range) {
+    return;
+  }
+
+  if (session.data_mode == SessionDataMode::Stream) {
+    const double target_span = std::max(MIN_HORIZONTAL_ZOOM_SECONDS, session.stream_buffer_seconds);
+    if (session.route_data.has_time_range) {
+      state->x_view_max = state->route_x_max;
+      state->x_view_min = state->x_view_max - target_span;
+    } else {
+      state->x_view_min = 0.0;
+      state->x_view_max = target_span;
+    }
+    if (state->x_view_max <= state->x_view_min) {
+      state->x_view_max = state->x_view_min + 1.0;
+    }
+    state->has_shared_range = true;
+    if (!state->has_tracker_time || state->tracker_time < state->route_x_min || state->tracker_time > state->route_x_max) {
+      state->tracker_time = state->route_x_max;
+      state->has_tracker_time = session.route_data.has_time_range;
+    }
+    return;
+  }
+
+  if (const WorkspaceTab *tab = app_active_tab(session.layout, *state); tab != nullptr) {
+    if (std::optional<std::pair<double, double>> tab_range = tab_default_x_range(*tab); tab_range.has_value()) {
+      state->x_view_min = tab_range->first;
+      state->x_view_max = tab_range->second;
+      state->has_shared_range = true;
+      if (!state->has_tracker_time || state->tracker_time < state->route_x_min || state->tracker_time > state->route_x_max) {
+        state->tracker_time = state->route_x_min;
+        state->has_tracker_time = true;
+      }
+      return;
+    }
+  }
+
+  state->x_view_min = state->route_x_min;
+  state->x_view_max = state->route_x_max;
+  if (state->x_view_max <= state->x_view_min) {
+    state->x_view_max = state->x_view_min + 1.0;
+  }
+  state->has_shared_range = true;
+  if (!state->has_tracker_time || state->tracker_time < state->route_x_min || state->tracker_time > state->route_x_max) {
+    state->tracker_time = state->route_x_min;
+    state->has_tracker_time = true;
+  }
+}
+
+void clamp_shared_range(UiState *state, const AppSession &session) {
+  if (!state->has_shared_range) {
+    return;
+  }
+  const double min_span = MIN_HORIZONTAL_ZOOM_SECONDS;
+  double span = state->x_view_max - state->x_view_min;
+  if (span < min_span) {
+    const double center = 0.5 * (state->x_view_min + state->x_view_max);
+    span = min_span;
+    state->x_view_min = center - span * 0.5;
+    state->x_view_max = center + span * 0.5;
+  }
+  if (session.data_mode == SessionDataMode::Stream) {
+    if (session.route_data.has_time_range && state->x_view_max > state->route_x_max) {
+      state->x_view_min -= state->x_view_max - state->route_x_max;
+      state->x_view_max = state->route_x_max;
+    }
+    if (state->x_view_max <= state->x_view_min) {
+      state->x_view_max = state->x_view_min + min_span;
+    }
+    if (state->has_tracker_time && session.route_data.has_time_range) {
+      state->tracker_time = std::clamp(state->tracker_time, state->route_x_min, state->route_x_max);
+    }
+    if (session.route_data.has_time_range) {
+      state->follow_latest = infer_stream_follow_state(*state, session);
+    }
+    return;
+  }
+  if (state->route_x_max > state->route_x_min) {
+    if (state->x_view_min < state->route_x_min) {
+      state->x_view_max += state->route_x_min - state->x_view_min;
+      state->x_view_min = state->route_x_min;
+    }
+    if (state->x_view_max > state->route_x_max) {
+      state->x_view_min -= state->x_view_max - state->route_x_max;
+      state->x_view_max = state->route_x_max;
+    }
+    if (state->x_view_min < state->route_x_min) {
+      state->x_view_min = state->route_x_min;
+    }
+    if (state->x_view_max <= state->x_view_min) {
+      state->x_view_max = std::min(state->route_x_max, state->x_view_min + min_span);
+    }
+  }
+  if (state->has_tracker_time) {
+    state->tracker_time = std::clamp(state->tracker_time, state->route_x_min, state->route_x_max);
+  }
+}
+
+void reset_shared_range(UiState *state, const AppSession &session) {
+  state->has_shared_range = false;
+  ensure_shared_range(state, session);
+  clamp_shared_range(state, session);
+}
+
+void update_follow_range(UiState *state, const AppSession &session) {
+  if (!state->follow_latest || !state->has_shared_range) {
+    return;
+  }
+  const double span = session.data_mode == SessionDataMode::Stream
+    ? std::max(MIN_HORIZONTAL_ZOOM_SECONDS, session.stream_buffer_seconds)
+    : std::max(MIN_HORIZONTAL_ZOOM_SECONDS, state->x_view_max - state->x_view_min);
+  const double route_span = state->route_x_max - state->route_x_min;
+  if (route_span <= 0.0) {
+    return;
+  }
+  state->x_view_max = state->route_x_max;
+  state->x_view_min = state->x_view_max - span;
+  clamp_shared_range(state, session);
+}
+
+void advance_playback(UiState *state, const AppSession &session) {
+  if (!state->playback_playing || !state->has_shared_range || state->route_x_max <= state->route_x_min) {
+    return;
+  }
+
+  const double delta = std::max(0.0, static_cast<double>(ImGui::GetIO().DeltaTime)) * state->playback_rate;
+  const double view_span = std::max(MIN_HORIZONTAL_ZOOM_SECONDS, state->x_view_max - state->x_view_min);
+  const double loop_min = state->playback_loop
+    ? std::clamp(state->x_view_min, state->route_x_min, state->route_x_max)
+    : state->route_x_min;
+  const double loop_max = state->playback_loop
+    ? std::clamp(state->x_view_max, state->route_x_min, state->route_x_max)
+    : state->route_x_max;
+
+  state->tracker_time += delta;
+  if (state->tracker_time >= loop_max) {
+    if (state->playback_loop) {
+      state->tracker_time = loop_min;
+    } else {
+      state->tracker_time = state->route_x_max;
+      state->playback_playing = false;
+    }
+  }
+
+  if (!state->playback_loop) {
+    constexpr double kScrollStartFraction = 0.70;
+    const double scroll_anchor = state->x_view_min + view_span * kScrollStartFraction;
+    if (state->tracker_time > scroll_anchor && state->x_view_max < state->route_x_max) {
+      state->x_view_min = state->tracker_time - view_span * kScrollStartFraction;
+      state->x_view_max = state->x_view_min + view_span;
+      clamp_shared_range(state, session);
+    } else if (state->tracker_time < state->x_view_min || state->tracker_time > state->x_view_max) {
+      state->x_view_min = state->tracker_time - view_span * 0.5;
+      state->x_view_max = state->x_view_min + view_span;
+      clamp_shared_range(state, session);
+    }
+  }
+}
+
+void step_tracker(UiState *state, double direction) {
+  if (!state->has_shared_range) {
+    return;
+  }
+  state->tracker_time += direction * std::max(0.001, state->playback_step);
+  state->tracker_time = std::clamp(state->tracker_time, state->route_x_min, state->route_x_max);
+}
+
+const char *log_selector_name(LogSelector selector) {
+  static constexpr const char *kLabels[] = {"a", "r", "q"};
+  const size_t index = static_cast<size_t>(selector);
+  return index < std::size(kLabels) ? kLabels[index] : kLabels[0];
+}
+
+const char *log_selector_description(LogSelector selector) {
+  static constexpr const char *kLabels[] = {
+    "any of rlog or qlog",
+    "rlog only",
+    "qlog only",
+  };
+  const size_t index = static_cast<size_t>(selector);
+  return index < std::size(kLabels) ? kLabels[index] : kLabels[0];
+}
+
+std::string shorten_route_part(std::string_view text, size_t keep) {
+  if (text.size() <= keep) {
+    return std::string(text);
+  }
+  return std::string(text.substr(0, keep));
+}
+
+bool parse_slice_spec(std::string_view text, int *begin, int *end) {
+  const auto parse_nonnegative = [](std::string_view value, int *out) {
+    if (value.empty()) return false;
+    char *end_ptr = nullptr;
+    const long parsed = std::strtol(std::string(value).c_str(), &end_ptr, 10);
+    if (end_ptr == nullptr || *end_ptr != '\0' || parsed < 0) {
+      return false;
+    }
+    *out = static_cast<int>(parsed);
+    return true;
+  };
+  const std::string trimmed = util::strip(std::string(text));
+  if (trimmed.empty()) {
+    return false;
+  }
+  const size_t colon = trimmed.find(':');
+  int parsed_begin = 0;
+  if (!parse_nonnegative(trimmed.substr(0, colon), &parsed_begin)) {
+    return false;
+  }
+  int parsed_end = parsed_begin;
+  if (colon != std::string::npos) {
+    const std::string end_text = trimmed.substr(colon + 1);
+    if (end_text.empty()) {
+      parsed_end = -1;
+    } else if (!parse_nonnegative(end_text, &parsed_end) || parsed_end < parsed_begin) {
+      return false;
+    }
+  }
+  *begin = parsed_begin;
+  *end = parsed_end;
+  return true;
+}
+
+std::string format_duration_short(double seconds) {
+  const double clamped = std::max(0.0, seconds);
+  const int total_ms = static_cast<int>(std::round(clamped * 1000.0));
+  const int minutes = total_ms / 60000;
+  const int rem_ms = total_ms % 60000;
+  const int secs = rem_ms / 1000;
+  const int millis = rem_ms % 1000;
+  return util::string_format("%d:%02d.%03d", minutes, secs, millis);
+}
+
+bool apply_route_identifier(AppSession *session, UiState *state, const RouteIdentifier &route_id, const char *status_text) {
+  if (route_id.empty()) {
+    return false;
+  }
+  if (!reload_session(session, state, route_id.full_spec(), session->data_dir)) {
+    return false;
+  }
+  state->status_text = status_text;
+  return true;
+}
+
+bool apply_route_slice_change(AppSession *session, UiState *state, std::string_view slice_text) {
+  int begin = 0;
+  int end = 0;
+  if (!parse_slice_spec(slice_text, &begin, &end)) {
+    state->error_text = "Slice must be N, N:, or N:M.";
+    state->open_error_popup = true;
+    return false;
+  }
+  RouteIdentifier next = session->route_id;
+  next.slice_begin = begin;
+  next.slice_end = end;
+  next.slice_explicit = true;
+  return apply_route_identifier(session, state, next, "Updated route slice");
+}
+
+bool apply_route_selector_change(AppSession *session, UiState *state, LogSelector selector) {
+  RouteIdentifier next = session->route_id;
+  next.selector = selector;
+  next.selector_explicit = true;
+  return apply_route_identifier(session, state, next, "Updated log selector");
+}
+
+ImU32 route_chip_part_color(int part_index, bool explicit_part) {
+  constexpr std::array<std::array<int, 3>, 4> BASE = {{
+    {70, 96, 126},   // dongle
+    {100, 86, 148},  // log id
+    {72, 112, 86},   // slice
+    {156, 104, 38},  // selector
+  }};
+  const std::array<int, 3> &base = BASE[static_cast<size_t>(std::clamp(part_index, 0, 3))];
+  if (explicit_part) {
+    return ImGui::GetColorU32(color_rgb(base[0], base[1], base[2]));
+  }
+  const int gray = 144;
+  return ImGui::GetColorU32(color_rgb((base[0] + gray) / 2, (base[1] + gray) / 2, (base[2] + gray) / 2));
+}
+
+bool draw_route_chip_text_button(const char *id,
+                                 std::string_view text,
+                                 ImVec2 pos,
+                                 ImU32 color,
+                                 ImDrawList *draw_list,
+                                 const char *tooltip = nullptr) {
+  const ImVec2 size = ImGui::CalcTextSize(text.data(), text.data() + text.size());
+  ImGui::SetCursorScreenPos(pos);
+  ImGui::InvisibleButton(id, size);
+  const bool hovered = ImGui::IsItemHovered();
+  if (hovered) {
+    ImGui::SetMouseCursor(ImGuiMouseCursor_Hand);
+    draw_list->AddRectFilled(ImVec2(pos.x - 5.0f, pos.y - 1.0f),
+                             ImVec2(pos.x + size.x + 5.0f, pos.y + size.y + 2.0f),
+                             ImGui::GetColorU32(color_rgb(225, 231, 239, 0.95f)), 0.0f);
+  }
+  draw_list->AddText(pos, color, text.data(), text.data() + text.size());
+  if (tooltip != nullptr && ImGui::IsItemHovered(ImGuiHoveredFlags_DelayShort)) {
+    ImGui::BeginTooltip();
+    ImGui::TextUnformatted(tooltip);
+    ImGui::EndTooltip();
+  }
+  return ImGui::IsItemClicked(ImGuiMouseButton_Left);
+}
+
+void draw_route_copy_feedback(UiState *state, ImDrawList *draw_list, ImVec2 chip_max) {
+  if (state->route_copy_feedback_text.empty()) {
+    return;
+  }
+  const double now = ImGui::GetTime();
+  if (now >= state->route_copy_feedback_until) {
+    state->route_copy_feedback_text.clear();
+    state->route_copy_feedback_until = 0.0;
+    return;
+  }
+
+  const float alpha = static_cast<float>(std::clamp((state->route_copy_feedback_until - now) / 1.1, 0.0, 1.0));
+  const ImVec2 text_size = ImGui::CalcTextSize(state->route_copy_feedback_text.c_str());
+  const ImVec2 pad(9.0f, 5.0f);
+  const ImVec2 bubble_min(chip_max.x - text_size.x - pad.x * 2.0f, chip_max.y + 7.0f);
+  const ImVec2 bubble_max(chip_max.x, bubble_min.y + text_size.y + pad.y * 2.0f);
+  draw_list->AddRectFilled(bubble_min, bubble_max,
+                           ImGui::GetColorU32(color_rgb(46, 125, 80, 0.96f * alpha)), 7.0f);
+  draw_list->AddRect(bubble_min, bubble_max,
+                     ImGui::GetColorU32(color_rgb(35, 96, 61, 0.9f * alpha)), 7.0f, 0, 1.0f);
+  draw_list->AddText(ImVec2(std::floor(bubble_min.x + pad.x), std::floor(bubble_min.y + pad.y)),
+                     ImGui::GetColorU32(color_rgb(247, 251, 248, alpha)),
+                     state->route_copy_feedback_text.c_str());
+}
+
+void draw_route_info_popup(AppSession *session, UiState *state, ImVec2 anchor) {
+  if (session->route_id.empty()) {
+    return;
+  }
+  ImGui::SetNextWindowPos(anchor, ImGuiCond_Appearing);
+  ImGui::SetNextWindowSizeConstraints(ImVec2(300.0f, 0.0f), ImVec2(420.0f, FLT_MAX));
+  if (!ImGui::BeginPopup("##route_info_popup",
+                         ImGuiWindowFlags_NoMove | ImGuiWindowFlags_NoResize | ImGuiWindowFlags_NoSavedSettings)) {
+    return;
+  }
+
+  ImGui::TextUnformatted("Route Info");
+  ImGui::Separator();
+  app_push_mono_font();
+  ImGui::TextUnformatted(session->route_id.canonical().c_str());
+  app_pop_mono_font();
+
+  const char *copy_icon = icon::CLIPBOARD;
+  const char *link_icon = icon::BOX_ARROW_UP_RIGHT;
+  const std::string useradmin_label = std::string("Useradmin ") + link_icon;
+  const std::string connect_label = std::string("comma connect ") + link_icon;
+  if (ImGui::Button(copy_icon, ImVec2(34.0f, 26.0f))) {
+    ImGui::SetClipboardText(session->route_id.canonical().c_str());
+    state->status_text = "Copied route to clipboard";
+    state->route_copy_feedback_text = "Copied";
+    state->route_copy_feedback_until = ImGui::GetTime() + 1.1;
+  }
+  if (ImGui::IsItemHovered(ImGuiHoveredFlags_DelayShort)) {
+    ImGui::BeginTooltip();
+    ImGui::TextUnformatted("Copy route");
+    ImGui::EndTooltip();
+  }
+  ImGui::SameLine();
+  if (ImGui::Button(useradmin_label.c_str(), ImVec2(132.0f, 26.0f))) {
+    open_external_url(route_useradmin_url(session->route_id));
+    state->status_text = "Opened useradmin";
+  }
+  ImGui::SameLine();
+  if (ImGui::Button(connect_label.c_str(), ImVec2(156.0f, 26.0f))) {
+    open_external_url(route_connect_url(session->route_id));
+    state->status_text = "Opened comma connect";
+  }
+
+  ImGui::Spacing();
+  const int loaded_begin = session->route_id.available_begin;
+  const int loaded_end = session->route_id.available_end;
+  const int loaded_count = loaded_end >= loaded_begin ? (loaded_end - loaded_begin + 1) : 0;
+  ImGui::Text("Duration   %s", format_duration_short(session->route_data.x_max - session->route_data.x_min).c_str());
+  ImGui::Text("Segments   %s (%d)", session->route_id.display_slice().c_str(), loaded_count);
+  ImGui::Text("Selector   %s", log_selector_description(session->route_id.selector));
+  if (!session->route_data.car_fingerprint.empty()) {
+    ImGui::TextWrapped("Car        %s", session->route_data.car_fingerprint.c_str());
+  }
+  if (!session->route_data.dbc_name.empty()) {
+    ImGui::TextWrapped("DBC        %s", session->route_data.dbc_name.c_str());
+  }
+
+  ImGui::EndPopup();
+}
+
+void draw_route_id_chip(AppSession *session, UiState *state) {
+  if (session->data_mode != SessionDataMode::Route || session->route_id.empty()) {
+    return;
+  }
+
+  ImGuiWindow *window = ImGui::GetCurrentWindow();
+  ImDrawList *draw_list = ImGui::GetWindowDrawList();
+  const RouteIdentifier &route_id = session->route_id;
+  app_push_bold_font();
+  const std::string dongle_text = shorten_route_part(route_id.dongle_id, 8);
+  const std::string log_text = shorten_route_part(route_id.log_id, 16);
+  const std::string slice_text = route_id.display_slice();
+  const std::string selector_text(1, route_id.selector_char());
+  const std::string sep_text = " / ";
+
+  const ImVec2 dongle_size = ImGui::CalcTextSize(dongle_text.c_str());
+  const ImVec2 log_size = ImGui::CalcTextSize(log_text.c_str());
+  const ImVec2 slice_size = state->editing_route_slice
+    ? ImVec2(68.0f, ImGui::GetFrameHeight())
+    : ImGui::CalcTextSize(slice_text.c_str());
+  const ImVec2 selector_size = ImGui::CalcTextSize(selector_text.c_str());
+  const ImVec2 sep_size = ImGui::CalcTextSize(sep_text.c_str());
+  constexpr float chip_pad_x = 12.0f;
+  constexpr float info_size = 18.0f;
+  const float chip_h = 28.0f;
+  const float chip_w = chip_pad_x * 2.0f + dongle_size.x + sep_size.x + log_size.x + sep_size.x
+                     + slice_size.x + sep_size.x + selector_size.x + 10.0f + info_size;
+  const float menu_right = window->Pos.x + window->Size.x - 8.0f;
+  const float cursor_x = ImGui::GetCursorScreenPos().x + 4.0f;
+  const float chip_x = std::clamp(cursor_x, window->Pos.x + 48.0f, std::max(window->Pos.x + 48.0f, menu_right - chip_w));
+  const float chip_y = std::floor(window->Pos.y + std::max(0.0f, (window->Size.y - chip_h) * 0.5f));
+  const ImVec2 chip_min(chip_x, chip_y);
+  const ImVec2 chip_max(chip_x + chip_w, chip_y + chip_h);
+  const float text_y = std::floor(chip_y + std::max(0.0f, (chip_h - ImGui::GetTextLineHeight()) * 0.5f));
+  const ImU32 chip_bg = ImGui::GetColorU32(color_rgb(247, 249, 252));
+  const ImU32 chip_border = ImGui::GetColorU32(color_rgb(184, 191, 200));
+  const ImU32 sep = ImGui::GetColorU32(color_rgb(162, 170, 178));
+  draw_list->AddRectFilled(chip_min, chip_max, chip_bg, 0.0f);
+  draw_list->AddRect(chip_min, chip_max, chip_border, 0.0f, 0, 1.0f);
+
+  float x = chip_x + chip_pad_x;
+  const bool dongle_click = draw_route_chip_text_button(
+    "##route_dongle", dongle_text, ImVec2(x, text_y), route_chip_part_color(0, true), draw_list,
+    "Device identifier");
+  x += dongle_size.x;
+  draw_list->AddText(ImVec2(x, text_y), sep, sep_text.c_str());
+  x += sep_size.x;
+  const bool log_click = draw_route_chip_text_button(
+    "##route_log", log_text, ImVec2(x, text_y), route_chip_part_color(1, true), draw_list,
+    "Route identifier");
+  x += log_size.x;
+  draw_list->AddText(ImVec2(x, text_y), sep, sep_text.c_str());
+  x += sep_size.x;
+
+  if (state->editing_route_slice) {
+    ImGui::SetCursorScreenPos(ImVec2(x - 4.0f, chip_y + 1.0f));
+    ImGui::SetNextItemWidth(76.0f);
+    if (state->focus_route_slice_input) {
+      ImGui::SetKeyboardFocusHere();
+      state->focus_route_slice_input = false;
+    }
+    const bool applied = input_text_string("##route_slice_edit", &state->route_slice_buffer,
+                                           ImGuiInputTextFlags_EnterReturnsTrue);
+    const bool deactivated = ImGui::IsItemDeactivated();
+    const bool clicked_elsewhere = ImGui::IsMouseClicked(ImGuiMouseButton_Left)
+                                && !ImGui::IsItemHovered()
+                                && !ImGui::IsItemActive();
+    if (applied) {
+      if (apply_route_slice_change(session, state, state->route_slice_buffer)) {
+        state->editing_route_slice = false;
+      }
+    } else if (ImGui::IsKeyPressed(ImGuiKey_Escape)) {
+      state->editing_route_slice = false;
+    } else if (deactivated || clicked_elsewhere) {
+      const std::string trimmed = util::strip(state->route_slice_buffer);
+      if (trimmed != route_id.display_slice()) {
+        int begin = 0;
+        int end = 0;
+        if (parse_slice_spec(trimmed, &begin, &end)) {
+          apply_route_slice_change(session, state, trimmed);
+        } else {
+          state->status_text = "Canceled route slice edit";
+        }
+      }
+      state->editing_route_slice = false;
+    }
+    x += slice_size.x;
+  } else {
+    const bool slice_click = draw_route_chip_text_button(
+      "##route_slice", slice_text, ImVec2(x, text_y),
+      route_chip_part_color(2, route_id.slice_explicit), draw_list,
+      "Segment range");
+    if (slice_click) {
+      state->editing_route_slice = true;
+      state->focus_route_slice_input = true;
+      state->route_slice_buffer = route_id.display_slice();
+    }
+    x += slice_size.x;
+  }
+
+  draw_list->AddText(ImVec2(x, text_y), sep, sep_text.c_str());
+  x += sep_size.x;
+  const bool selector_click = draw_route_chip_text_button(
+    "##route_selector", selector_text, ImVec2(x, text_y),
+    route_chip_part_color(3, route_id.selector_explicit), draw_list,
+    "Log selector");
+  if (selector_click) {
+    ImGui::OpenPopup("##route_selector_popup");
+  }
+  x += selector_size.x + 10.0f;
+
+  const ImVec2 info_center(x + info_size * 0.5f, chip_y + chip_h * 0.5f);
+  ImGui::SetCursorScreenPos(ImVec2(x, chip_y + (chip_h - info_size) * 0.5f));
+  ImGui::InvisibleButton("##route_info_button", ImVec2(info_size, info_size));
+  const bool info_hovered = ImGui::IsItemHovered();
+  if (info_hovered) {
+    ImGui::SetMouseCursor(ImGuiMouseCursor_Hand);
+  }
+  draw_list->AddCircleFilled(info_center, info_size * 0.5f,
+                             ImGui::GetColorU32(info_hovered ? color_rgb(220, 229, 240) : color_rgb(239, 243, 248)));
+  draw_list->AddCircle(info_center, info_size * 0.5f, chip_border, 20, 1.0f);
+  const char *info_text = icon::INFO_CIRCLE;
+  const ImVec2 info_text_size = ImGui::CalcTextSize(info_text);
+  draw_list->AddText(ImVec2(std::floor(info_center.x - info_text_size.x * 0.5f),
+                            std::floor(info_center.y - info_text_size.y * 0.5f)),
+                     route_chip_part_color(0, true), info_text);
+  if (ImGui::IsItemHovered(ImGuiHoveredFlags_DelayShort)) {
+    ImGui::BeginTooltip();
+    ImGui::TextUnformatted("Route details");
+    ImGui::EndTooltip();
+  }
+  if (ImGui::IsItemClicked(ImGuiMouseButton_Left)) {
+    ImGui::OpenPopup("##route_info_popup");
+  }
+
+  app_pop_bold_font();
+
+  if (dongle_click || log_click) {
+    ImGui::SetClipboardText(route_id.canonical().c_str());
+    state->status_text = "Copied route to clipboard";
+    state->route_copy_feedback_text = "Copied";
+    state->route_copy_feedback_until = ImGui::GetTime() + 1.1;
+  }
+
+  ImGui::SetNextWindowPos(ImVec2(chip_max.x - 60.0f, chip_max.y + 4.0f), ImGuiCond_Appearing);
+  if (ImGui::BeginPopup("##route_selector_popup")) {
+    for (LogSelector selector : {LogSelector::Auto, LogSelector::RLog, LogSelector::QLog}) {
+      const bool selected = route_id.selector == selector;
+      const std::string label = std::string(log_selector_name(selector)) + "  " + log_selector_description(selector);
+      if (ImGui::Selectable(label.c_str(), selected) && !selected) {
+        apply_route_selector_change(session, state, selector);
+      }
+      if (selected) {
+        ImGui::SetItemDefaultFocus();
+      }
+    }
+    ImGui::EndPopup();
+  }
+
+  draw_route_copy_feedback(state, draw_list, chip_max);
+  draw_route_info_popup(session, state, ImVec2(std::max(window->Pos.x + 16.0f, chip_max.x - 360.0f), chip_max.y + 6.0f));
+}
+
+std::string format_cache_bytes(uint64_t bytes) {
+  if (bytes >= (1ULL << 30)) {
+    return util::string_format("%.1f GiB", static_cast<double>(bytes) / static_cast<double>(1ULL << 30));
+  } else if (bytes >= (1ULL << 20)) {
+    return util::string_format("%.1f MiB", static_cast<double>(bytes) / static_cast<double>(1ULL << 20));
+  } else if (bytes >= (1ULL << 10)) {
+    return util::string_format("%.1f KiB", static_cast<double>(bytes) / static_cast<double>(1ULL << 10));
+  }
+  return util::string_format("%llu B", static_cast<unsigned long long>(bytes));
+}
+
+MapCacheStats directory_cache_stats(const fs::path &root) {
+  MapCacheStats stats;
+  std::error_code ec;
+  if (!fs::exists(root, ec)) {
+    return stats;
+  }
+  fs::recursive_directory_iterator it(root, fs::directory_options::skip_permission_denied, ec);
+  for (const fs::directory_entry &entry : it) {
+    if (ec) {
+      ec.clear();
+      continue;
+    }
+    const fs::file_status status = entry.symlink_status(ec);
+    if (ec || !fs::is_regular_file(status)) {
+      ec.clear();
+      continue;
+    }
+    const uintmax_t size = entry.file_size(ec);
+    if (!ec) {
+      stats.bytes += static_cast<uint64_t>(size);
+      ++stats.files;
+    } else {
+      ec.clear();
+    }
+  }
+  return stats;
+}
+
+float draw_main_menu_bar(AppSession *session, UiState *state) {
+  ImGui::PushStyleVar(ImGuiStyleVar_FramePadding, ImVec2(7.0f, 5.0f));
+  ImGui::PushStyleVar(ImGuiStyleVar_ItemSpacing, ImVec2(9.0f, 6.0f));
+  float height = ImGui::GetFrameHeight();
+  if (ImGui::BeginMainMenuBar()) {
+    if (ImGui::BeginMenu("File")) {
+      if (ImGui::MenuItem("Undo", "Ctrl+Z", false, state->undo.can_undo())) {
+        apply_undo(session, state);
+      }
+      if (ImGui::MenuItem("Redo", "Ctrl+Shift+Z", false, state->undo.can_redo())) {
+        apply_redo(session, state);
+      }
+      ImGui::Separator();
+      if (ImGui::MenuItem("Open Route...")) {
+        state->open_open_route = true;
+      }
+      if (ImGui::MenuItem("Stream...")) {
+        state->open_stream = true;
+      }
+      if (ImGui::MenuItem("Find Signal...", "Ctrl+F")) {
+        state->open_find_signal = true;
+      }
+      ImGui::Separator();
+      if (ImGui::MenuItem("New Layout")) {
+        start_new_layout(session, state);
+      }
+      if (ImGui::MenuItem("Load Layout...")) {
+        state->open_load_layout = true;
+      }
+      if (ImGui::MenuItem("Save Layout")) {
+        state->request_save_layout = true;
+      }
+      if (ImGui::MenuItem("Save Layout As...")) {
+        state->open_save_layout = true;
+      }
+      if (ImGui::MenuItem("Reset Layout")) {
+        state->request_reset_layout = true;
+      }
+      ImGui::Separator();
+      if (ImGui::MenuItem("Show DEPRECATED Fields", nullptr, state->show_deprecated_fields)) {
+        state->show_deprecated_fields = !state->show_deprecated_fields;
+        rebuild_browser_nodes(session, state);
+      }
+      if (ImGui::MenuItem("Show FPS", nullptr, state->show_fps_overlay)) {
+        state->show_fps_overlay = !state->show_fps_overlay;
+      }
+      if (ImGui::MenuItem("Preferences...")) {
+        state->open_preferences = true;
+      }
+      ImGui::Separator();
+      if (ImGui::MenuItem("Reset Plot View")) {
+        reset_shared_range(state, *session);
+        state->follow_latest = session->data_mode == SessionDataMode::Stream;
+        clamp_shared_range(state, *session);
+        state->suppress_range_side_effects = true;
+        state->status_text = "Plot view reset";
+      }
+      ImGui::Separator();
+      if (ImGui::MenuItem("Close")) {
+        state->request_close = true;
+      }
+      ImGui::EndMenu();
+    }
+    ImGui::SameLine(0.0f, 8.0f);
+    draw_route_id_chip(session, state);
+    height = ImGui::GetWindowSize().y;
+    ImGui::EndMainMenuBar();
+  }
+  ImGui::PopStyleVar(2);
+  return height;
+}
diff --git a/tools/jotpluggler/sidebar.cc b/tools/jotpluggler/sidebar.cc
new file mode 100644
index 00000000000..c120b47908e
--- /dev/null
+++ b/tools/jotpluggler/sidebar.cc
@@ -0,0 +1,215 @@
+#include "tools/jotpluggler/internal.h"
+
+std::string dbc_combo_label(const AppSession &session) {
+  if (!session.dbc_override.empty()) return session.dbc_override;
+  if (!session.route_data.dbc_name.empty()) return "Auto: " + session.route_data.dbc_name;
+  return "Auto";
+}
+
+float timeline_time_to_x(double time_value, double route_min, double route_max, float x_min, float x_max) {
+  const double span = route_max - route_min;
+  if (span <= 0.0) {
+    return x_min;
+  }
+  const double ratio = (time_value - route_min) / span;
+  return x_min + static_cast<float>(ratio * static_cast<double>(x_max - x_min));
+}
+
+double timeline_x_to_time(float x, double route_min, double route_max, float x_min, float x_max) {
+  const float width = std::max(1.0f, x_max - x_min);
+  const float clamped_x = std::clamp(x, x_min, x_max);
+  const double ratio = static_cast<double>((clamped_x - x_min) / width);
+  return route_min + ratio * (route_max - route_min);
+}
+
+void reset_timeline_view(UiState *state, const AppSession &session) {
+  state->follow_latest = session.data_mode == SessionDataMode::Stream;
+  reset_shared_range(state, session);
+}
+
+void draw_timeline_bar_contents(const AppSession &session, UiState *state, float width) {
+  if (!session.route_data.has_time_range) {
+    ImGui::Dummy(ImVec2(width, TIMELINE_BAR_HEIGHT));
+    return;
+  }
+
+  const ImVec2 cursor = ImGui::GetCursorScreenPos();
+  const ImVec2 size(width, TIMELINE_BAR_HEIGHT);
+  const ImVec2 bar_min(cursor.x + 1.0f, cursor.y + 1.0f);
+  const ImVec2 bar_max(cursor.x + size.x - 1.0f, cursor.y + size.y - 1.0f);
+  const double route_min = state->route_x_min;
+  const double route_max = state->route_x_max;
+  const float vp_left = timeline_time_to_x(std::clamp(state->x_view_min, route_min, route_max),
+                                           route_min, route_max, bar_min.x, bar_max.x);
+  const float vp_right = timeline_time_to_x(std::clamp(state->x_view_max, route_min, route_max),
+                                            route_min, route_max, bar_min.x, bar_max.x);
+
+  ImGui::InvisibleButton("##timeline_button", size);
+  const bool hovered = ImGui::IsItemHovered();
+  const bool active = ImGui::IsItemActive();
+  const bool double_clicked = hovered && ImGui::IsMouseDoubleClicked(ImGuiMouseButton_Left);
+  ImDrawList *draw_list = ImGui::GetWindowDrawList();
+
+  draw_list->AddRectFilled(bar_min, bar_max, timeline_entry_color(TimelineEntry::Type::None, 0.2f));
+  if (session.route_data.timeline.empty()) {
+    draw_list->AddRectFilled(ImVec2(vp_left, bar_min.y), ImVec2(vp_right, bar_max.y),
+                             timeline_entry_color(TimelineEntry::Type::None, 1.0f));
+  } else {
+    for (const TimelineEntry &entry : session.route_data.timeline) {
+      float x0 = timeline_time_to_x(entry.start_time, route_min, route_max, bar_min.x, bar_max.x);
+      float x1 = timeline_time_to_x(entry.end_time, route_min, route_max, bar_min.x, bar_max.x);
+      x1 = std::max(x1, x0 + 1.0f);
+      draw_list->AddRectFilled(ImVec2(x0, bar_min.y), ImVec2(x1, bar_max.y),
+                               timeline_entry_color(entry.type, 0.25f));
+    }
+    for (const TimelineEntry &entry : session.route_data.timeline) {
+      float x0 = std::max(timeline_time_to_x(entry.start_time, route_min, route_max, bar_min.x, bar_max.x), vp_left);
+      float x1 = std::min(std::max(timeline_time_to_x(entry.end_time, route_min, route_max, bar_min.x, bar_max.x), x0 + 1.0f), vp_right);
+      if (x1 <= x0) {
+        continue;
+      }
+      draw_list->AddRectFilled(ImVec2(x0, bar_min.y), ImVec2(x1, bar_max.y),
+                               timeline_entry_color(entry.type, 1.0f));
+    }
+  }
+
+  draw_list->AddLine(ImVec2(vp_left, bar_min.y), ImVec2(vp_left, bar_max.y), IM_COL32(60, 70, 80, 200), 1.0f);
+  draw_list->AddLine(ImVec2(vp_right, bar_min.y), ImVec2(vp_right, bar_max.y), IM_COL32(60, 70, 80, 200), 1.0f);
+  if (state->has_tracker_time) {
+    const float cx = timeline_time_to_x(std::clamp(state->tracker_time, route_min, route_max),
+                                        route_min, route_max, bar_min.x, bar_max.x);
+    draw_list->AddLine(ImVec2(cx, bar_min.y), ImVec2(cx, bar_max.y), IM_COL32(220, 60, 50, 255), 1.5f);
+  }
+  draw_list->AddRect(bar_min, bar_max, IM_COL32(170, 178, 186, 255), 0.0f, 0, 1.0f);
+
+  const float edge_grab = 4.0f;
+  const float mouse_x = ImGui::GetIO().MousePos.x;
+  const double mouse_time = timeline_x_to_time(mouse_x, route_min, route_max, bar_min.x, bar_max.x);
+  if (double_clicked) {
+    reset_timeline_view(state, session);
+  } else if (hovered && ImGui::IsMouseClicked(ImGuiMouseButton_Left)) {
+    state->timeline_drag_anchor_time = mouse_time;
+    state->timeline_drag_anchor_x_min = state->x_view_min;
+    state->timeline_drag_anchor_x_max = state->x_view_max;
+    if (std::abs(mouse_x - vp_left) <= edge_grab) {
+      state->timeline_drag_mode = TimelineDragMode::ResizeLeft;
+    } else if (std::abs(mouse_x - vp_right) <= edge_grab) {
+      state->timeline_drag_mode = TimelineDragMode::ResizeRight;
+    } else if (mouse_x >= vp_left && mouse_x <= vp_right) {
+      state->timeline_drag_mode = TimelineDragMode::PanViewport;
+    } else {
+      state->timeline_drag_mode = TimelineDragMode::ScrubCursor;
+      state->tracker_time = std::clamp(mouse_time, route_min, route_max);
+      state->has_tracker_time = true;
+    }
+  }
+
+  if (!ImGui::IsMouseDown(ImGuiMouseButton_Left)) {
+    state->timeline_drag_mode = TimelineDragMode::None;
+  } else if (active || state->timeline_drag_mode != TimelineDragMode::None) {
+    switch (state->timeline_drag_mode) {
+      case TimelineDragMode::ScrubCursor:
+        state->tracker_time = std::clamp(mouse_time, route_min, route_max);
+        state->has_tracker_time = true;
+        break;
+      case TimelineDragMode::PanViewport: {
+        const double delta = mouse_time - state->timeline_drag_anchor_time;
+        state->x_view_min = state->timeline_drag_anchor_x_min + delta;
+        state->x_view_max = state->timeline_drag_anchor_x_max + delta;
+        clamp_shared_range(state, session);
+        break;
+      }
+      case TimelineDragMode::ResizeLeft:
+        state->x_view_min = std::min(mouse_time, state->x_view_max - MIN_HORIZONTAL_ZOOM_SECONDS);
+        clamp_shared_range(state, session);
+        break;
+      case TimelineDragMode::ResizeRight:
+        state->x_view_max = std::max(mouse_time, state->x_view_min + MIN_HORIZONTAL_ZOOM_SECONDS);
+        clamp_shared_range(state, session);
+        break;
+      case TimelineDragMode::None:
+        break;
+    }
+  }
+
+  if (hovered) {
+    if (std::abs(mouse_x - vp_left) <= edge_grab || std::abs(mouse_x - vp_right) <= edge_grab) {
+      ImGui::SetMouseCursor(ImGuiMouseCursor_ResizeEW);
+    } else if (mouse_x >= vp_left && mouse_x <= vp_right) {
+      ImGui::SetMouseCursor(ImGuiMouseCursor_Hand);
+    }
+    ImGui::BeginTooltip();
+    ImGui::Text("t=%.1fs — %s", mouse_time, timeline_entry_label(timeline_type_at_time(session.route_data.timeline, mouse_time)));
+    ImGui::EndTooltip();
+  }
+}
+
+void draw_status_bar(const AppSession &session, const UiMetrics &ui, UiState *state) {
+  ImGui::SetNextWindowPos(ImVec2(ui.content_x, ui.status_bar_y));
+  ImGui::SetNextWindowSize(ImVec2(ui.content_w, STATUS_BAR_HEIGHT));
+  ImGui::PushStyleVar(ImGuiStyleVar_WindowPadding, ImVec2(0.0f, 0.0f));
+  ImGui::PushStyleColor(ImGuiCol_WindowBg, color_rgb(247, 248, 250));
+  ImGui::PushStyleColor(ImGuiCol_Border, color_rgb(188, 193, 199));
+  const ImGuiWindowFlags flags = ImGuiWindowFlags_NoDecoration |
+                                 ImGuiWindowFlags_NoMove |
+                                 ImGuiWindowFlags_NoResize |
+                                 ImGuiWindowFlags_NoSavedSettings;
+  if (ImGui::Begin("##status_bar", nullptr, flags)) {
+    draw_timeline_bar_contents(session, state, ui.content_w);
+    const float row_y = TIMELINE_BAR_HEIGHT + 8.0f;
+    ImGui::SetCursorPos(ImVec2(8.0f, row_y));
+    ImGui::BeginDisabled(!session.route_data.has_time_range);
+    ImGui::Checkbox("Loop", &state->playback_loop);
+    ImGui::SameLine(0.0f, 10.0f);
+    if (ImGui::Button(state->playback_playing ? "Pause" : "Play", ImVec2(56.0f, 0.0f))) {
+      state->playback_playing = !state->playback_playing;
+    }
+    ImGui::SameLine(0.0f, 10.0f);
+    if (ImGui::Button("Reset View", ImVec2(86.0f, 0.0f))) {
+      reset_timeline_view(state, session);
+    }
+    const float controls_end_x = ImGui::GetItemRectMax().x - ImGui::GetWindowPos().x;
+    ImGui::EndDisabled();
+
+    const char *status_text = state->status_text.empty() ? "Ready" : state->status_text.c_str();
+    const float status_x = controls_end_x + 16.0f;
+    ImGui::SetCursorPos(ImVec2(status_x, row_y + 2.0f));
+    ImGui::PushStyleColor(ImGuiCol_Text, color_rgb(102, 110, 118));
+    ImGui::TextUnformatted(status_text);
+    ImGui::PopStyleColor();
+
+  }
+  ImGui::End();
+  ImGui::PopStyleColor(2);
+  ImGui::PopStyleVar();
+}
+
+void draw_sidebar_resizer(const UiMetrics &ui, UiState *state) {
+  constexpr float kHandleWidth = 14.0f;
+  ImGui::SetNextWindowPos(ImVec2(ui.sidebar_width - kHandleWidth * 0.5f, ui.top_offset));
+  ImGui::SetNextWindowSize(ImVec2(kHandleWidth, std::max(1.0f, ui.height - ui.top_offset)));
+  const ImGuiWindowFlags flags = ImGuiWindowFlags_NoDecoration |
+                                 ImGuiWindowFlags_NoMove |
+                                 ImGuiWindowFlags_NoResize |
+                                 ImGuiWindowFlags_NoSavedSettings |
+                                 ImGuiWindowFlags_NoBackground;
+  ImGui::PushStyleVar(ImGuiStyleVar_WindowPadding, ImVec2(0.0f, 0.0f));
+  if (ImGui::Begin("##sidebar_resizer", nullptr, flags)) {
+    ImGui::InvisibleButton("##sidebar_resizer_button", ImVec2(kHandleWidth, std::max(1.0f, ui.height - ui.top_offset)));
+    if (ImGui::IsItemHovered() || ImGui::IsItemActive()) {
+      ImGui::SetMouseCursor(ImGuiMouseCursor_ResizeEW);
+    }
+    if (ImGui::IsItemActive()) {
+      const float max_width = std::min(SIDEBAR_MAX_WIDTH, ui.width * 0.6f);
+      state->sidebar_width = std::clamp(ImGui::GetIO().MousePos.x, SIDEBAR_MIN_WIDTH, max_width);
+    }
+
+    ImDrawList *draw_list = ImGui::GetWindowDrawList();
+    const ImVec2 origin = ImGui::GetWindowPos();
+    draw_list->AddLine(ImVec2(origin.x + kHandleWidth * 0.5f, origin.y),
+                       ImVec2(origin.x + kHandleWidth * 0.5f, origin.y + std::max(1.0f, ui.height - ui.top_offset)),
+                       IM_COL32(194, 198, 204, 255));
+  }
+  ImGui::End();
+  ImGui::PopStyleVar();
+}
diff --git a/tools/jotpluggler/sketch_layout.cc b/tools/jotpluggler/sketch_layout.cc
new file mode 100644
index 00000000000..d9622dde6d3
--- /dev/null
+++ b/tools/jotpluggler/sketch_layout.cc
@@ -0,0 +1,2221 @@
+#include "tools/jotpluggler/app.h"
+#include "tools/jotpluggler/car_fingerprint_to_dbc.h"
+#include "tools/jotpluggler/common.h"
+
+#include <capnp/dynamic.h>
+#include <kj/exception.h>
+
+#include <chrono>
+#include <cmath>
+#include <cstdlib>
+#include <cstring>
+#include <iostream>
+#include <map>
+#include <mutex>
+#include <limits>
+#include <numeric>
+#include <regex>
+#include <set>
+#include <stdexcept>
+#include <thread>
+#include <tuple>
+#include <unordered_set>
+#include <utility>
+
+#include "common/util.h"
+#include "third_party/json11/json11.hpp"
+#include "tools/replay/logreader.h"
+#include "tools/replay/py_downloader.h"
+
+namespace fs = std::filesystem;
+
+namespace {
+
+struct RouteSelection {
+  std::string dongle_id;
+  std::string timestamp;
+  int begin_segment = 0;
+  int end_segment = -1;
+  bool slice_explicit = false;
+  LogSelector selector = LogSelector::Auto;
+  bool selector_explicit = false;
+  std::string canonical_name;
+};
+
+struct SegmentLogs {
+  std::string rlog;
+  std::string qlog;
+  std::string fcamera;
+  std::string dcamera;
+  std::string ecamera;
+  std::string qcamera;
+};
+
+enum class ScalarKind {
+  None,
+  Bool,
+  Int,
+  UInt,
+  Float,
+  Enum,
+};
+
+enum class ResolvedNodeKind {
+  Ignore,
+  Scalar,
+  Struct,
+  List,
+};
+
+struct ResolvedNode {
+  ResolvedNodeKind kind = ResolvedNodeKind::Ignore;
+  ScalarKind scalar_kind = ScalarKind::None;
+  int fixed_slot = -1;
+  bool has_field = false;
+  capnp::StructSchema::Field field;
+  std::string segment;
+  std::string path;
+  bool skip_large_scalar_list = false;
+  std::vector<ResolvedNode> children;
+  std::unique_ptr<ResolvedNode> element;
+};
+
+struct ResolvedService {
+  uint16_t event_which = 0;
+  capnp::StructSchema::Field union_field;
+  std::string service_name;
+  int valid_slot = -1;
+  int log_mono_time_slot = -1;
+  int seconds_slot = -1;
+  ResolvedNode payload;
+};
+
+struct SchemaIndex {
+  std::vector<std::optional<ResolvedService>> by_which;
+  size_t fixed_series_count = 0;
+  std::vector<std::string> fixed_paths;
+
+  static const SchemaIndex &instance();
+};
+
+constexpr size_t INVALID_DYNAMIC_SLOT = std::numeric_limits<size_t>::max();
+
+struct SeriesAccumulator {
+  explicit SeriesAccumulator(size_t fixed_count = 0) : fixed_series(fixed_count) {}
+
+  std::vector<RouteSeries> fixed_series;
+  std::vector<RouteSeries> dynamic_series;
+  std::vector<CanMessageData> can_messages;
+  std::unordered_map<std::string, size_t> dynamic_slots;
+  std::unordered_map<std::string, std::vector<size_t>> list_scalar_slots;
+  std::unordered_map<CanMessageId, size_t, CanMessageIdHash> can_message_slots;
+  std::unordered_map<std::string, EnumInfo> enum_info;
+};
+
+struct LoadedRouteArtifacts {
+  std::vector<RouteSeries> series;
+  std::vector<CanMessageData> can_messages;
+  std::vector<LogEntry> logs;
+  std::vector<TimelineEntry> timeline;
+  std::unordered_map<std::string, EnumInfo> enum_info;
+};
+
+struct RouteMetadata {
+  std::string car_fingerprint;
+};
+
+struct LoadStats {
+  using Clock = std::chrono::steady_clock;
+  using TimePoint = Clock::time_point;
+
+  struct SegmentStats {
+    int segment_number = -1;
+    std::string log_path;
+    double download_seconds = 0.0;
+    double decompress_seconds = 0.0;
+    double parse_seconds = 0.0;
+    double extract_seconds = 0.0;
+    size_t compressed_bytes = 0;
+    size_t decompressed_bytes = 0;
+    size_t event_count = 0;
+    size_t series_count = 0;
+    bool failed = false;
+  };
+
+  explicit LoadStats(const RouteLoadProgressCallback &callback) : progress(callback) {}
+
+  void publish(RouteLoadStage stage, size_t segment_index, const std::string &segment_name) {
+    if (!progress) {
+      return;
+    }
+    RouteLoadProgress update;
+    update.stage = stage;
+    update.segment_index = segment_index;
+    update.segment_count = segment_count;
+    update.current = stage == RouteLoadStage::DownloadingSegment
+      ? segments_downloaded.load()
+      : segments_parsed.load();
+    update.total = total_segments.load();
+    update.segments_downloaded = segments_downloaded.load();
+    update.segments_parsed = segments_parsed.load();
+    update.total_segments = total_segments.load();
+    update.bytes_downloaded = bytes_downloaded.load();
+    update.num_workers = num_workers;
+    update.segment_name = segment_name;
+    std::lock_guard<std::mutex> lock(progress_mutex);
+    progress(update);
+  }
+
+  void print_summary(size_t final_series_count) const {
+    const auto secs = [](TimePoint a, TimePoint b) { return std::chrono::duration<double>(b - a).count(); };
+    const auto mb = [](size_t bytes) { return static_cast<double>(bytes) / (1024.0 * 1024.0); };
+    double dl = 0, dc = 0, pa = 0, ex = 0;
+    size_t ev = 0, cb = 0, db = 0;
+    for (const auto &s : segments) {
+      dl += s.download_seconds; dc += s.decompress_seconds;
+      pa += s.parse_seconds; ex += s.extract_seconds;
+      ev += s.event_count; cb += s.compressed_bytes; db += s.decompressed_bytes;
+    }
+    std::cerr << std::fixed << std::setprecision(1)
+      << "route loaded in " << secs(load_start, load_end) << "s (" << segment_count << " segments, " << num_workers << " workers)\n"
+      << "  resolve: " << secs(load_start, resolve_end) << "s  fetch: " << dl << "s (" << mb(cb) << " MB)"
+      << "  decompress: " << dc << "s (" << mb(db) << " MB)\n"
+      << "  parse: " << pa << "s (" << ev << " events)  extract: " << ex << "s  merge: " << secs(merge_start, merge_end) << "s"
+      << "  series: " << final_series_count << " paths\n";
+    for (const auto &s : segments) {
+      std::cerr << "    seg " << std::setw(2) << s.segment_number << ": "
+        << (s.failed ? "FAILED" : std::to_string(s.download_seconds) + "s + " + std::to_string(s.parse_seconds)
+          + "s (" + std::to_string(s.event_count) + " ev, " + std::to_string(s.series_count) + " series)") << "\n";
+    }
+    std::cerr.unsetf(std::ios::floatfield);
+  }
+
+  TimePoint load_start;
+  TimePoint resolve_end;
+  TimePoint merge_start;
+  TimePoint merge_end;
+  TimePoint load_end;
+  size_t segment_count = 0;
+  int num_workers = 1;
+  std::vector<SegmentStats> segments;
+  std::atomic<size_t> segments_downloaded{0};
+  std::atomic<size_t> segments_parsed{0};
+  std::atomic<size_t> total_segments{0};
+  std::atomic<uint64_t> bytes_downloaded{0};
+  RouteLoadProgressCallback progress;
+  mutable std::mutex progress_mutex;
+};
+
+// Skip individual messages that our local Cap'n Proto schema can't project,
+// such as logs recorded by a newer build.
+template <typename Fn>
+void with_parseable_event(kj::ArrayPtr<const capnp::word> data, Fn &&fn) {
+  try {
+    capnp::FlatArrayMessageReader event_reader(data);
+    fn(event_reader.getRoot<cereal::Event>());
+  } catch (const kj::Exception &) {
+    return;
+  }
+}
+
+std::string curve_label(std::string_view series_name) {
+  return std::string(series_name.empty() ? std::string_view{"plot"} : series_name);
+}
+
+bool parse_segment_number(std::string_view value, int *out) {
+  if (value.empty()) return false;
+  char *end = nullptr;
+  const long parsed = std::strtol(std::string(value).c_str(), &end, 10);
+  if (end == nullptr || *end != '\0') return false;
+  *out = static_cast<int>(parsed);
+  return true;
+}
+
+bool is_log_selector_char(char c) {
+  return c == 'a' || c == 'r' || c == 'q';
+}
+
+LogSelector parse_log_selector_char(char c) {
+  switch (c) {
+    case 'r': return LogSelector::RLog;
+    case 'q': return LogSelector::QLog;
+    case 'a':
+    default: return LogSelector::Auto;
+  }
+}
+
+const std::string &selected_log_path(const SegmentLogs &segment, LogSelector selector) {
+  switch (selector) {
+    case LogSelector::RLog:
+      return segment.rlog;
+    case LogSelector::QLog:
+      return segment.qlog;
+    case LogSelector::Auto:
+    default:
+      return !segment.rlog.empty() ? segment.rlog : segment.qlog;
+  }
+}
+
+RouteSelection parse_route_selection(std::string route_name) {
+  RouteSelection route = {};
+  route_name = util::strip(route_name);
+  if (route_name.size() >= 2 && route_name[route_name.size() - 2] == '/'
+      && is_log_selector_char(static_cast<char>(std::tolower(route_name.back())))) {
+    route.selector = parse_log_selector_char(static_cast<char>(std::tolower(route_name.back())));
+    route.selector_explicit = true;
+    route_name.resize(route_name.size() - 2);
+  }
+  static const std::regex pattern(R"(^(([a-z0-9]{16})[|_/])?(.{20})((--|/)((-?\d+(:(-?\d+)?)?)|(:-?\d+)))?$)");
+  std::smatch match;
+  if (!std::regex_match(route_name, match, pattern)) return route;
+
+  route.dongle_id = match[2].str();
+  route.timestamp = match[3].str();
+  route.canonical_name = route.dongle_id + "|" + route.timestamp;
+
+  const std::string separator = match[5].str();
+  const std::string range_str = match[6].str();
+  if (!range_str.empty()) {
+    route.slice_explicit = true;
+    if (separator == "/") {
+      size_t pos = range_str.find(':');
+      int begin_segment = 0;
+      if (!parse_segment_number(range_str.substr(0, pos), &begin_segment)) {
+        return {};
+      }
+      route.begin_segment = begin_segment;
+      route.end_segment = begin_segment;
+      if (pos != std::string::npos) {
+        int end_segment = -1;
+        const std::string end_str = range_str.substr(pos + 1);
+        if (!end_str.empty() && !parse_segment_number(end_str, &end_segment)) {
+          return {};
+        }
+        route.end_segment = end_str.empty() ? -1 : end_segment;
+      }
+    } else if (separator == "--") {
+      int begin_segment = 0;
+      if (!parse_segment_number(range_str, &begin_segment)) return {};
+      route.begin_segment = begin_segment;
+    }
+  }
+  return route;
+}
+
+void add_log_file_to_segments(std::map<int, SegmentLogs> *segments, int segment_number, const std::string &file) {
+  std::string name = extractFileName(file);
+  const size_t pos = name.find_last_of("--");
+  name = pos != std::string::npos ? name.substr(pos + 2) : name;
+  SegmentLogs &segment = (*segments)[segment_number];
+  if (name == "rlog.bz2" || name == "rlog.zst" || name == "rlog") {
+    segment.rlog = file;
+  } else if (name == "qlog.bz2" || name == "qlog.zst" || name == "qlog") {
+    segment.qlog = file;
+  } else if (name == "fcamera.hevc") {
+    segment.fcamera = file;
+  } else if (name == "dcamera.hevc") {
+    segment.dcamera = file;
+  } else if (name == "ecamera.hevc") {
+    segment.ecamera = file;
+  } else if (name == "qcamera.ts") {
+    segment.qcamera = file;
+  }
+}
+
+std::map<int, SegmentLogs> trim_segments(std::map<int, SegmentLogs> segments, const RouteSelection &route) {
+  if (route.begin_segment > 0) {
+    segments.erase(segments.begin(), segments.lower_bound(route.begin_segment));
+  }
+  if (route.end_segment >= 0) {
+    segments.erase(segments.upper_bound(route.end_segment), segments.end());
+  }
+  return segments;
+}
+
+std::map<int, SegmentLogs> load_segments_from_json(const json11::Json &json) {
+  std::map<int, SegmentLogs> segments;
+  static const std::regex rx(R"(\/(\d+)\/)");
+  for (const auto &value : json.object_items()) {
+    for (const auto &url : value.second.array_items()) {
+      const std::string url_str = url.string_value();
+      std::smatch match;
+      if (!std::regex_search(url_str, match, rx)) continue;
+      add_log_file_to_segments(&segments, std::stoi(match[1].str()), url_str);
+    }
+  }
+  return segments;
+}
+
+std::map<int, SegmentLogs> load_segments_from_server(const RouteSelection &route) {
+  const std::string result = PyDownloader::getRouteFiles(route.canonical_name);
+  if (result.empty()) throw std::runtime_error("Failed to fetch route files for " + route.canonical_name);
+
+  std::string parse_error;
+  const auto json = json11::Json::parse(result, parse_error);
+  if (!parse_error.empty()) throw std::runtime_error("Failed to parse route file list for " + route.canonical_name);
+  if (json.is_object() && json["error"].is_string()) {
+    throw std::runtime_error("Route API error for " + route.canonical_name + ": " + json["error"].string_value());
+  }
+  return load_segments_from_json(json);
+}
+
+std::map<int, SegmentLogs> load_segments_from_local(const RouteSelection &route, const std::string &data_dir) {
+  std::map<int, SegmentLogs> segments;
+  const std::string pattern = route.timestamp + "--";
+  for (const auto &entry : fs::directory_iterator(data_dir)) {
+    if (!entry.is_directory()) continue;
+    const std::string dirname = entry.path().filename().string();
+    if (dirname.find(pattern) == std::string::npos) continue;
+    const size_t marker = dirname.rfind("--");
+    if (marker == std::string::npos) continue;
+    int segment_number = 0;
+    if (!parse_segment_number(dirname.substr(marker + 2), &segment_number)) {
+      continue;
+    }
+    for (const auto &file : fs::directory_iterator(entry.path())) {
+      if (file.is_regular_file()) {
+        add_log_file_to_segments(&segments, segment_number, file.path().string());
+      }
+    }
+  }
+  return segments;
+}
+
+RouteIdentifier make_route_identifier(const RouteSelection &route, const std::map<int, SegmentLogs> &segments) {
+  RouteIdentifier route_id;
+  route_id.dongle_id = route.dongle_id;
+  route_id.log_id = route.timestamp;
+  route_id.slice_begin = route.begin_segment;
+  route_id.slice_end = route.end_segment;
+  route_id.slice_explicit = route.slice_explicit;
+  route_id.selector = route.selector;
+  route_id.selector_explicit = route.selector_explicit;
+  if (!segments.empty()) {
+    route_id.available_begin = segments.begin()->first;
+    route_id.available_end = segments.rbegin()->first;
+  }
+  return route_id;
+}
+
+std::string detect_dbc_for_fingerprint(std::string_view car_fingerprint) {
+  return std::string(dbc_for_car_fingerprint(car_fingerprint));
+}
+
+std::vector<std::string> available_dbc_names_impl() {
+  std::set<std::string> names;
+  for (const fs::path &dbc_dir : {
+         repo_root() / "opendbc" / "dbc",
+         repo_root() / "tools" / "jotpluggler" / "generated_dbcs",
+       }) {
+    if (fs::exists(dbc_dir) && fs::is_directory(dbc_dir)) {
+      for (const auto &entry : fs::directory_iterator(dbc_dir)) {
+        if (!entry.is_regular_file() || entry.path().extension() != ".dbc") {
+          continue;
+        }
+        names.insert(entry.path().stem().string());
+      }
+    }
+  }
+  for (const auto &[_, dbc_name] : kCarFingerprintToDbc) {
+    if (!dbc_name.empty()) {
+      names.insert(std::string(dbc_name));
+    }
+  }
+  return std::vector<std::string>(names.begin(), names.end());
+}
+
+fs::path resolve_dbc_path(const std::string &dbc_name) {
+  for (const fs::path &candidate : {
+         repo_root() / "opendbc" / "dbc" / (dbc_name + ".dbc"),
+         repo_root() / "tools" / "jotpluggler" / "generated_dbcs" / (dbc_name + ".dbc"),
+       }) {
+    if (fs::exists(candidate)) return candidate;
+  }
+  throw std::runtime_error("DBC not found: " + dbc_name);
+}
+
+std::array<uint8_t, 3> parse_color(std::string_view color) {
+  if (!color.empty() && color.front() == '#') {
+    color.remove_prefix(1);
+  }
+  if (color.size() != 6) return {160, 170, 180};
+
+  std::array<uint8_t, 3> out = {};
+  for (size_t i = 0; i < 3; ++i) {
+    const std::string byte(color.substr(i * 2, 2));
+    char *end = nullptr;
+    const long parsed = std::strtol(byte.c_str(), &end, 16);
+    if (end == nullptr || *end != '\0' || parsed < 0 || parsed > 255) return {160, 170, 180};
+    out[i] = static_cast<uint8_t>(parsed);
+  }
+  return out;
+}
+
+uint8_t android_priority_to_level(uint8_t priority) {
+  switch (priority) {
+    case 2:
+    case 3:
+      return 10;
+    case 4:
+      return 20;
+    case 5:
+      return 30;
+    case 6:
+      return 40;
+    case 7:
+    default:
+      return 50;
+  }
+}
+
+uint8_t alert_status_to_level(cereal::SelfdriveState::AlertStatus status) {
+  switch (status) {
+    case cereal::SelfdriveState::AlertStatus::NORMAL:
+      return 20;
+    case cereal::SelfdriveState::AlertStatus::USER_PROMPT:
+      return 30;
+    case cereal::SelfdriveState::AlertStatus::CRITICAL:
+      return 40;
+  }
+  return 20;
+}
+
+TimelineEntry::Type alert_status_to_timeline_type(cereal::SelfdriveState::AlertStatus status, bool enabled) {
+  if (!enabled) {
+    return TimelineEntry::Type::None;
+  }
+  switch (status) {
+    case cereal::SelfdriveState::AlertStatus::NORMAL:
+      return TimelineEntry::Type::Engaged;
+    case cereal::SelfdriveState::AlertStatus::USER_PROMPT:
+      return TimelineEntry::Type::AlertInfo;
+    case cereal::SelfdriveState::AlertStatus::CRITICAL:
+      return TimelineEntry::Type::AlertCritical;
+  }
+  return TimelineEntry::Type::Engaged;
+}
+
+void append_timeline_entry(std::vector<TimelineEntry> *timeline, double mono_time, TimelineEntry::Type type) {
+  if (timeline == nullptr) {
+    return;
+  }
+  if (!timeline->empty() && timeline->back().type == type) {
+    timeline->back().end_time = std::max(timeline->back().end_time, mono_time);
+    return;
+  }
+  timeline->push_back(TimelineEntry{
+    .start_time = mono_time,
+    .end_time = mono_time,
+    .type = type,
+  });
+}
+
+double android_wall_time_seconds(uint64_t timestamp) {
+  if (timestamp == 0) return 0.0;
+  if (timestamp > 1000000000000ULL) return static_cast<double>(timestamp) / 1.0e9;
+  if (timestamp > 1000000000ULL) return static_cast<double>(timestamp) / 1.0e6;
+  return static_cast<double>(timestamp);
+}
+
+std::optional<uint64_t> json_u64_value(const json11::Json &value) {
+  if (value.is_number()) {
+    const double number = value.number_value();
+    if (number >= 0.0) return static_cast<uint64_t>(number);
+  }
+  if (value.is_string()) {
+    try {
+      return static_cast<uint64_t>(std::stoull(value.string_value()));
+    } catch (...) {
+    }
+  }
+  return std::nullopt;
+}
+
+std::optional<int> json_int_value(const json11::Json &value) {
+  if (value.is_number()) return value.int_value();
+  if (value.is_string()) {
+    try {
+      return std::stoi(value.string_value());
+    } catch (...) {
+    }
+  }
+  return std::nullopt;
+}
+
+std::string json_value_for_log(const json11::Json &value) {
+  if (value.is_string()) return value.string_value();
+  if (value.is_bool()) return value.bool_value() ? "true" : "false";
+  return value.dump();
+}
+
+std::string format_journal_context(const json11::Json &parsed, int pid, int tid) {
+  std::vector<std::string> lines;
+  if (pid != 0 || tid != 0) {
+    lines.push_back("pid=" + std::to_string(pid) + ", tid=" + std::to_string(tid));
+  }
+
+  const std::array<const char *, 5> preferred_keys = {
+    "_HOSTNAME",
+    "_TRANSPORT",
+    "PRIORITY",
+    "SYSLOG_FACILITY",
+    "__MONOTONIC_TIMESTAMP",
+  };
+  for (const char *key : preferred_keys) {
+    const json11::Json &value = parsed[key];
+    if (!value.is_null()) {
+      lines.push_back(std::string(key) + "=" + json_value_for_log(value));
+    }
+  }
+  return join(lines, "\n");
+}
+
+std::string alert_message_text(const cereal::SelfdriveState::Reader &state) {
+  std::string text = state.getAlertText1().cStr();
+  const std::string text2 = state.getAlertText2().cStr();
+  if (!text2.empty()) {
+    text += " - " + text2;
+  }
+  return text;
+}
+
+bool same_log_entry(const LogEntry &a, const LogEntry &b) {
+  return a.mono_time == b.mono_time
+      && a.level == b.level
+      && a.source == b.source
+      && a.func == b.func
+      && a.message == b.message
+      && a.context == b.context
+      && a.origin == b.origin;
+}
+
+void append_log_event(cereal::Event::Which which,
+                      const cereal::Event::Reader &event,
+                      double time_offset,
+                      std::vector<LogEntry> *logs,
+                      std::string *last_alert_key) {
+  const double boot_time = static_cast<double>(event.getLogMonoTime()) / 1.0e9;
+  const double mono_time = boot_time - time_offset;
+
+  auto make_entry = [&](LogOrigin origin, uint8_t level = 20) {
+    LogEntry e;
+    e.mono_time = mono_time;
+    e.boot_time = boot_time;
+    e.origin = origin;
+    e.level = level;
+    return e;
+  };
+
+  switch (which) {
+    case cereal::Event::Which::LOG_MESSAGE:
+    case cereal::Event::Which::ERROR_LOG_MESSAGE: {
+      const std::string raw = which == cereal::Event::Which::LOG_MESSAGE
+        ? event.getLogMessage().cStr() : event.getErrorLogMessage().cStr();
+      auto entry = make_entry(LogOrigin::Log, which == cereal::Event::Which::ERROR_LOG_MESSAGE ? 40 : 20);
+      entry.source = "log";
+      entry.message = raw;
+      std::string err;
+      if (const auto p = json11::Json::parse(raw, err); err.empty() && p.is_object()) {
+        entry.wall_time = p["created"].number_value();
+        if (p["levelnum"].is_number()) entry.level = static_cast<uint8_t>(p["levelnum"].int_value());
+        const std::string fn = p["filename"].string_value();
+        const int ln = p["lineno"].is_number() ? p["lineno"].int_value() : 0;
+        entry.source = fn.empty() ? "log" : fn + (ln > 0 ? ":" + std::to_string(ln) : "");
+        entry.func = p["funcname"].string_value();
+        if (p["msg"].is_string()) entry.message = p["msg"].string_value();
+        if (!p["ctx"].is_null()) entry.context = p["ctx"].dump();
+      }
+      logs->push_back(std::move(entry));
+      break;
+    }
+    case cereal::Event::Which::ANDROID_LOG: {
+      const auto android = event.getAndroidLog();
+      auto entry = make_entry(LogOrigin::Android, android_priority_to_level(android.getPriority()));
+      entry.wall_time = android_wall_time_seconds(android.getTs());
+      entry.source = android.hasTag() ? android.getTag().cStr() : "android";
+      entry.message = android.hasMessage() ? android.getMessage().cStr() : std::string();
+      entry.context = "pid=" + std::to_string(android.getPid()) + ", tid=" + std::to_string(android.getTid());
+      if (!entry.message.empty()) {
+        std::string err;
+        if (const auto p = json11::Json::parse(entry.message, err); err.empty() && p.is_object()) {
+          if (p["MESSAGE"].is_string()) entry.message = p["MESSAGE"].string_value();
+          if (p["SYSLOG_IDENTIFIER"].is_string() && !p["SYSLOG_IDENTIFIER"].string_value().empty())
+            entry.source = p["SYSLOG_IDENTIFIER"].string_value();
+          if (auto pri = json_int_value(p["PRIORITY"]); pri.has_value())
+            entry.level = android_priority_to_level(*pri);
+          if (auto ts = json_u64_value(p["__REALTIME_TIMESTAMP"]); ts.has_value())
+            entry.wall_time = android_wall_time_seconds(*ts);
+          entry.context = format_journal_context(p, android.getPid(), android.getTid());
+        }
+      }
+      logs->push_back(std::move(entry));
+      break;
+    }
+    case cereal::Event::Which::SELFDRIVE_STATE: {
+      const auto sd = event.getSelfdriveState();
+      const std::string alert_type = sd.getAlertType().cStr();
+      const std::string alert_text1 = sd.getAlertText1().cStr();
+      if (alert_text1.empty() && alert_type.empty()) break;
+      const std::string key = alert_type + "\n" + alert_text1 + "\n" + std::string(sd.getAlertText2().cStr());
+      if (last_alert_key != nullptr && key == *last_alert_key) break;
+      if (last_alert_key != nullptr) *last_alert_key = key;
+      auto entry = make_entry(LogOrigin::Alert, alert_status_to_level(sd.getAlertStatus()));
+      entry.source = "alert";
+      entry.func = alert_type;
+      entry.message = alert_message_text(sd);
+      logs->push_back(std::move(entry));
+      break;
+    }
+    default:
+      break;
+  }
+}
+
+std::vector<TimelineEntry> extract_segment_timeline(const std::vector<Event> &events) {
+  std::vector<TimelineEntry> timeline;
+  timeline.reserve(events.size() / 16);
+
+  for (const Event &event_record : events) {
+    if (event_record.which != cereal::Event::Which::SELFDRIVE_STATE) {
+      continue;
+    }
+    with_parseable_event(event_record.data, [&](const cereal::Event::Reader &event) {
+      const auto sd = event.getSelfdriveState();
+      const double mono_time = static_cast<double>(event.getLogMonoTime()) / 1.0e9;
+      append_timeline_entry(&timeline, mono_time, alert_status_to_timeline_type(sd.getAlertStatus(), sd.getEnabled()));
+    });
+  }
+
+  return timeline;
+}
+
+std::vector<LogEntry> extract_segment_logs(const std::vector<Event> &events) {
+  std::vector<LogEntry> logs;
+  logs.reserve(events.size() / 8);
+  std::string last_alert_key;
+
+  for (const Event &event_record : events) {
+    with_parseable_event(event_record.data, [&](const cereal::Event::Reader &event) {
+      append_log_event(event_record.which, event, 0.0, &logs, &last_alert_key);
+    });
+  }
+
+  return logs;
+}
+
+RouteMetadata extract_segment_metadata(const std::vector<Event> &events) {
+  RouteMetadata metadata;
+  for (const Event &event_record : events) {
+    if (event_record.which != cereal::Event::Which::CAR_PARAMS) continue;
+    with_parseable_event(event_record.data, [&](const cereal::Event::Reader &event) {
+      metadata.car_fingerprint = event.getCarParams().getCarFingerprint().cStr();
+    });
+    if (!metadata.car_fingerprint.empty()) break;
+  }
+  return metadata;
+}
+
+RouteMetadata detect_route_metadata(const std::map<int, SegmentLogs> &segments, LogSelector selector) {
+  for (const auto &[_, segment] : segments) {
+    const std::string &log_path = selector == LogSelector::Auto
+      ? (!segment.qlog.empty() ? segment.qlog : segment.rlog)
+      : selected_log_path(segment, selector);
+    if (log_path.empty()) {
+      continue;
+    }
+    LogReader reader;
+    if (!reader.load(log_path, nullptr, true)) continue;
+    RouteMetadata metadata = extract_segment_metadata(reader.events);
+    if (!metadata.car_fingerprint.empty()) return metadata;
+  }
+  return {};
+}
+
+std::vector<double> normalize_sizes(const json11::Json &sizes_json, size_t child_count) {
+  std::vector<double> parsed;
+  if (sizes_json.is_array()) {
+    for (const json11::Json &value : sizes_json.array_items()) {
+      if (value.is_number()) {
+        parsed.push_back(std::max(value.number_value(), 0.0));
+      }
+    }
+  }
+
+  if (parsed.size() != child_count || child_count == 0) return std::vector<double>(child_count, child_count == 0 ? 0.0 : 1.0 / static_cast<double>(child_count));
+
+  const double total = std::accumulate(parsed.begin(), parsed.end(), 0.0);
+  if (total <= 0.0) return std::vector<double>(child_count, 1.0 / static_cast<double>(child_count));
+  for (double &value : parsed) {
+    value /= total;
+  }
+  return parsed;
+}
+
+PlotRange parse_range(const json11::Json &pane_node) {
+  PlotRange range;
+  const json11::Json &range_node = pane_node["range"];
+  if (range_node.is_object()) {
+    range.valid = true;
+    range.left = range_node["left"].number_value();
+    range.right = range_node["right"].number_value();
+    range.bottom = range_node["bottom"].number_value();
+    range.top = range_node["top"].is_number() ? range_node["top"].number_value() : 1.0;
+  }
+  const json11::Json &limit_y_node = pane_node["y_limits"];
+  if (limit_y_node.is_object()) {
+    if (limit_y_node["min"].is_number()) {
+      range.has_y_limit_min = true;
+      range.y_limit_min = limit_y_node["min"].number_value();
+    }
+    if (limit_y_node["max"].is_number()) {
+      range.has_y_limit_max = true;
+      range.y_limit_max = limit_y_node["max"].number_value();
+    }
+  }
+  return range;
+}
+
+Curve parse_curve(const json11::Json &curve_node) {
+  Curve curve;
+  curve.name = curve_node["name"].string_value();
+  curve.label = curve_label(curve.name);
+  curve.color = parse_color(curve_node["color"].string_value());
+
+  const std::string transform_name = curve_node["transform"].string_value();
+  if (transform_name == "derivative") {
+    curve.derivative = true;
+    curve.derivative_dt = curve_node["derivative_dt"].is_number() ? curve_node["derivative_dt"].number_value() : 0.0;
+  } else if (transform_name == "scale") {
+    curve.value_scale = curve_node["scale"].is_number() ? curve_node["scale"].number_value() : 1.0;
+    curve.value_offset = curve_node["offset"].is_number() ? curve_node["offset"].number_value() : 0.0;
+  }
+  const json11::Json &custom_node = curve_node["custom_python"];
+  if (custom_node.is_object()) {
+    CustomPythonSeries spec;
+    spec.linked_source = custom_node["linked_source"].string_value();
+    spec.globals_code = custom_node["globals_code"].string_value();
+    spec.function_code = custom_node["function_code"].string_value();
+    for (const json11::Json &source : custom_node["additional_sources"].array_items()) {
+      if (source.is_string()) {
+        spec.additional_sources.push_back(source.string_value());
+      }
+    }
+    curve.custom_python = std::move(spec);
+  }
+  return curve;
+}
+
+std::string pane_title(const json11::Json &dock_area_node) {
+  const std::string raw = dock_area_node["title"].string_value();
+  return raw.empty() ? "..." : raw;
+}
+
+Pane parse_dock_area(const json11::Json &dock_area_node) {
+  Pane pane;
+  const std::string kind = dock_area_node["kind"].string_value();
+  if (kind == "map") {
+    pane.kind = PaneKind::Map;
+  } else if (kind == "camera") {
+    pane.kind = PaneKind::Camera;
+    const std::string camera_view = dock_area_node["camera_view"].string_value();
+    if (const CameraViewSpec *spec = camera_view_spec_from_layout_name(camera_view)) {
+      pane.camera_view = spec->view;
+    } else {
+      pane.camera_view = CameraViewKind::Road;
+    }
+  }
+  pane.range = parse_range(dock_area_node);
+  const json11::Json &curves_node = dock_area_node["curves"];
+  if (curves_node.is_array()) {
+    for (const json11::Json &curve_node : curves_node.array_items()) {
+      if (curve_node.is_object()) {
+        pane.curves.push_back(parse_curve(curve_node));
+      }
+    }
+  }
+  pane.title = pane_title(dock_area_node);
+  return pane;
+}
+
+WorkspaceNode parse_workspace_node(const json11::Json &node, WorkspaceTab *tab) {
+  WorkspaceNode workspace_node;
+  if (!node.is_object()) return workspace_node;
+
+  if (node["curves"].is_array()) {
+    workspace_node.is_pane = true;
+    workspace_node.pane_index = static_cast<int>(tab->panes.size());
+    tab->panes.push_back(parse_dock_area(node));
+    return workspace_node;
+  }
+
+  const json11::Json &children_node = node["children"];
+  if (!children_node.is_array()) return workspace_node;
+
+  const std::vector<json11::Json> children = children_node.array_items();
+  if (children.empty()) return workspace_node;
+
+  const std::string split = node["split"].string_value();
+  workspace_node.orientation = split == "vertical" ? SplitOrientation::Vertical : SplitOrientation::Horizontal;
+  const std::vector<double> sizes = normalize_sizes(node["sizes"], children.size());
+  workspace_node.sizes.reserve(sizes.size());
+  workspace_node.children.reserve(children.size());
+  for (size_t i = 0; i < children.size(); ++i) {
+    workspace_node.sizes.push_back(static_cast<float>(sizes[i]));
+    workspace_node.children.push_back(parse_workspace_node(children[i], tab));
+  }
+  return workspace_node;
+}
+
+WorkspaceTab parse_tab(const json11::Json &tab, const fs::path &layout_path) {
+  WorkspaceTab workspace_tab;
+  workspace_tab.tab_name = tab["name"].string_value().empty() ? "tab1" : tab["name"].string_value();
+  const json11::Json &dock_root = tab["root"];
+  if (!dock_root.is_object()) throw std::runtime_error("Layout tab has no dock content: " + layout_path.string());
+  workspace_tab.root = parse_workspace_node(dock_root, &workspace_tab);
+  return workspace_tab;
+}
+
+SketchLayout parse_layout(const fs::path &layout_path) {
+  const std::string text = util::read_file(layout_path.string());
+  if (text.empty()) throw std::runtime_error("Failed to read layout JSON: " + layout_path.string());
+
+  std::string parse_error;
+  const json11::Json root = json11::Json::parse(text, parse_error);
+  if (!parse_error.empty() || !root.is_object()) {
+    throw std::runtime_error("Failed to parse layout JSON: " + layout_path.string());
+  }
+  SketchLayout layout;
+  for (const json11::Json &tab : root["tabs"].array_items()) {
+    if (tab.is_object()) {
+      layout.tabs.push_back(parse_tab(tab, layout_path));
+    }
+  }
+  if (layout.tabs.empty()) throw std::runtime_error("Layout has no tabs: " + layout_path.string());
+  const json11::Json &tab_index = root["current_tab_index"].is_number() ? root["current_tab_index"] : root["currentTabIndex"];
+  layout.current_tab_index = std::clamp(tab_index.is_number() ? tab_index.int_value() : 0,
+                                        0,
+                                        static_cast<int>(layout.tabs.size()) - 1);
+  return layout;
+}
+
+ScalarKind scalar_kind_for_type(const capnp::Type &type) {
+  if (type.isBool()) return ScalarKind::Bool;
+  if (type.isInt8() || type.isInt16() || type.isInt32() || type.isInt64()) {
+    return ScalarKind::Int;
+  }
+  if (type.isUInt8() || type.isUInt16() || type.isUInt32() || type.isUInt64()) {
+    return ScalarKind::UInt;
+  }
+  if (type.isFloat32() || type.isFloat64()) {
+    return ScalarKind::Float;
+  }
+  if (type.isEnum()) return ScalarKind::Enum;
+  return ScalarKind::None;
+}
+
+ResolvedNode build_resolved_type(const capnp::Type &type,
+                                 bool has_field,
+                                 capnp::StructSchema::Field field,
+                                 std::string segment,
+                                 std::string path,
+                                 size_t *next_fixed_slot,
+                                 std::vector<std::string> *fixed_paths,
+                                 bool dynamic_path = false) {
+  ResolvedNode node;
+  node.has_field = has_field;
+  node.field = field;
+  node.segment = std::move(segment);
+  node.path = std::move(path);
+  node.scalar_kind = scalar_kind_for_type(type);
+  if (node.scalar_kind != ScalarKind::None) {
+    node.kind = ResolvedNodeKind::Scalar;
+    if (!dynamic_path) {
+      node.fixed_slot = static_cast<int>((*next_fixed_slot)++);
+      fixed_paths->push_back(node.path);
+    }
+    return node;
+  }
+
+  if (type.isStruct()) {
+    node.kind = ResolvedNodeKind::Struct;
+    for (auto child : type.asStruct().getFields()) {
+      const std::string child_segment = child.getProto().getName().cStr();
+      node.children.push_back(build_resolved_type(
+        child.getType(),
+        true,
+        child,
+        child_segment,
+        node.path + "/" + child_segment,
+        next_fixed_slot,
+        fixed_paths,
+        dynamic_path));
+    }
+    return node;
+  }
+
+  if (type.isList()) {
+    const capnp::Type element_type = type.asList().getElementType();
+    if (element_type.isText() || element_type.isData() || element_type.isInterface() || element_type.isAnyPointer()) {
+      node.kind = ResolvedNodeKind::Ignore;
+      return node;
+    }
+    node.kind = ResolvedNodeKind::List;
+    node.skip_large_scalar_list = scalar_kind_for_type(element_type) != ScalarKind::None;
+    node.element = std::make_unique<ResolvedNode>(
+      build_resolved_type(element_type,
+                          false,
+                          capnp::StructSchema::Field(),
+                          "",
+                          node.path,
+                          next_fixed_slot,
+                          fixed_paths,
+                          true));
+    return node;
+  }
+
+  node.kind = ResolvedNodeKind::Ignore;
+  return node;
+}
+
+int register_fixed_series_path(const std::string &path,
+                               size_t *next_fixed_slot,
+                               std::vector<std::string> *fixed_paths) {
+  const int slot = static_cast<int>((*next_fixed_slot)++);
+  fixed_paths->push_back(path);
+  return slot;
+}
+
+const SchemaIndex &SchemaIndex::instance() {
+  static const SchemaIndex index = [] {
+    SchemaIndex out;
+    const auto event_schema = capnp::Schema::from<cereal::Event>().asStruct();
+    uint16_t max_discriminant = 0;
+    for (auto union_field : event_schema.getUnionFields()) {
+      max_discriminant = std::max<uint16_t>(max_discriminant, union_field.getProto().getDiscriminantValue());
+    }
+    out.by_which.resize(static_cast<size_t>(max_discriminant) + 1);
+    size_t next_fixed_slot = 0;
+    for (auto union_field : event_schema.getUnionFields()) {
+      ResolvedService service;
+      service.event_which = union_field.getProto().getDiscriminantValue();
+      service.union_field = union_field;
+      service.service_name = union_field.getProto().getName().cStr();
+      service.valid_slot = register_fixed_series_path(
+        "/" + service.service_name + "/valid", &next_fixed_slot, &out.fixed_paths);
+      service.log_mono_time_slot = register_fixed_series_path(
+        "/" + service.service_name + "/logMonoTime", &next_fixed_slot, &out.fixed_paths);
+      service.seconds_slot = register_fixed_series_path(
+        "/" + service.service_name + "/t", &next_fixed_slot, &out.fixed_paths);
+      service.payload = build_resolved_type(
+        union_field.getType(),
+        false,
+        capnp::StructSchema::Field(),
+        service.service_name,
+        "/" + service.service_name,
+        &next_fixed_slot,
+        &out.fixed_paths);
+      out.by_which[service.event_which] = std::move(service);
+    }
+    out.fixed_series_count = next_fixed_slot;
+    return out;
+  }();
+  return index;
+}
+
+bool is_absolute_curve(const std::string &name) {
+  return !name.empty() && name.front() == '/';
+}
+
+std::optional<double> scalar_value_to_double(const capnp::DynamicValue::Reader &value, ScalarKind kind) {
+  switch (kind) {
+    case ScalarKind::Bool:
+      return value.as<bool>() ? 1.0 : 0.0;
+    case ScalarKind::Int:
+      return static_cast<double>(value.as<int64_t>());
+    case ScalarKind::UInt:
+      return static_cast<double>(value.as<uint64_t>());
+    case ScalarKind::Float:
+      return value.as<double>();
+    case ScalarKind::Enum:
+      return static_cast<double>(value.as<capnp::DynamicEnum>().getRaw());
+    case ScalarKind::None:
+      return std::nullopt;
+  }
+  return std::nullopt;
+}
+
+void capture_enum_info(const std::string &path,
+                       const capnp::DynamicValue::Reader &value,
+                       SeriesAccumulator *series) {
+  if (series->enum_info.find(path) != series->enum_info.end()) {
+    return;
+  }
+
+  const auto dynamic_enum = value.as<capnp::DynamicEnum>();
+  EnumInfo info;
+  for (auto enumerant : dynamic_enum.getSchema().getEnumerants()) {
+    const uint16_t ordinal = enumerant.getOrdinal();
+    if (ordinal >= info.names.size()) {
+      info.names.resize(static_cast<size_t>(ordinal) + 1);
+    }
+    info.names[ordinal] = enumerant.getProto().getName().cStr();
+  }
+  if (!info.names.empty()) {
+    series->enum_info.emplace(path, std::move(info));
+  }
+}
+
+void append_scalar_point(RouteSeries *series,
+                         const std::string &path,
+                         double tm,
+                         double value) {
+  if (series->path.empty()) {
+    series->path = path;
+  }
+  series->times.push_back(tm);
+  series->values.push_back(value);
+}
+
+void append_fixed_scalar_point(RouteSeries *series, double tm, double value) {
+  series->times.push_back(tm);
+  series->values.push_back(value);
+}
+
+CanMessageData *ensure_can_message(CanServiceKind service, uint8_t bus, uint32_t address, SeriesAccumulator *series) {
+  const CanMessageId id{service, bus, address};
+  auto [it, inserted] = series->can_message_slots.try_emplace(id, series->can_messages.size());
+  if (inserted) {
+    series->can_messages.push_back(CanMessageData{.id = id});
+  }
+  return &series->can_messages[it->second];
+}
+
+void append_can_frame(CanServiceKind service,
+                      uint8_t bus,
+                      uint32_t address,
+                      uint16_t bus_time,
+                      capnp::Data::Reader dat,
+                      double tm,
+                      SeriesAccumulator *series) {
+  CanMessageData *message = ensure_can_message(service, bus, address, series);
+  message->samples.push_back(CanFrameSample{
+    .mono_time = tm,
+    .bus_time = bus_time,
+    .data = std::string(reinterpret_cast<const char *>(dat.begin()), dat.size()),
+  });
+}
+
+void append_dynamic_scalar_point(const std::string &path, double tm, double value, SeriesAccumulator *series);
+
+void decode_can_frame(const dbc::Database *can_dbc,
+                      const std::string &service_name,
+                      uint8_t bus,
+                      uint32_t address,
+                      const uint8_t *raw,
+                      size_t data_size,
+                      double tm,
+                      SeriesAccumulator *series) {
+  if (can_dbc == nullptr) {
+    return;
+  }
+  const dbc::Message *message = can_dbc->message(address);
+  if (message == nullptr) {
+    return;
+  }
+  const std::string base_path = "/" + service_name + "/" + std::to_string(bus) + "/" + message->name;
+  for (const dbc::Signal &signal : message->signals) {
+    std::optional<double> value = dbc::signalValue(signal, *message, raw, data_size);
+    if (!value.has_value()) continue;
+    const std::string path = base_path + "/" + signal.name;
+    append_dynamic_scalar_point(path, tm, *value, series);
+    if (series->enum_info.find(path) == series->enum_info.end()) {
+      std::vector<std::string> enum_names = can_dbc->enumNames(signal);
+      if (!enum_names.empty()) {
+        series->enum_info.emplace(path, EnumInfo{.names = std::move(enum_names)});
+      }
+    }
+  }
+}
+
+void append_live_can_frame(CanServiceKind service,
+                           const LiveCanFrame &frame,
+                           double time_offset,
+                           const dbc::Database *can_dbc,
+                           SeriesAccumulator *series) {
+  const double tm = frame.mono_time - time_offset;
+  CanMessageData *message = ensure_can_message(service, frame.bus, frame.address, series);
+  message->samples.push_back(CanFrameSample{
+    .mono_time = tm,
+    .bus_time = frame.bus_time,
+    .data = frame.data,
+  });
+  decode_can_frame(can_dbc,
+                   service == CanServiceKind::Can ? "can" : "sendcan",
+                   frame.bus,
+                   frame.address,
+                   reinterpret_cast<const uint8_t *>(frame.data.data()),
+                   frame.data.size(),
+                   tm,
+                   series);
+}
+
+SeriesAccumulator make_series_accumulator(const SchemaIndex &schema) {
+  SeriesAccumulator out(schema.fixed_series_count);
+  for (size_t i = 0; i < schema.fixed_paths.size(); ++i) {
+    out.fixed_series[i].path = schema.fixed_paths[i];
+  }
+  return out;
+}
+
+size_t ensure_dynamic_slot(const std::string &path, SeriesAccumulator *series) {
+  auto [it, inserted] = series->dynamic_slots.try_emplace(path, series->dynamic_series.size());
+  if (inserted) {
+    series->dynamic_series.push_back(RouteSeries{it->first});
+  }
+  return it->second;
+}
+
+RouteSeries *ensure_dynamic_series(const std::string &path, SeriesAccumulator *series) {
+  return &series->dynamic_series[ensure_dynamic_slot(path, series)];
+}
+
+RouteSeries *ensure_list_scalar_series(const std::string &base_path, size_t index, SeriesAccumulator *series) {
+  auto [it, _] = series->list_scalar_slots.try_emplace(base_path);
+  std::vector<size_t> &slots = it->second;
+  if (slots.size() <= index) {
+    slots.resize(index + 1, INVALID_DYNAMIC_SLOT);
+  }
+  if (slots[index] == INVALID_DYNAMIC_SLOT) {
+    slots[index] = ensure_dynamic_slot(base_path + "/" + std::to_string(index), series);
+  }
+  return &series->dynamic_series[slots[index]];
+}
+
+void append_dynamic_scalar_point(const std::string &path, double tm, double value, SeriesAccumulator *series) {
+  append_scalar_point(ensure_dynamic_series(path, series), path, tm, value);
+}
+
+void append_scalar_value(const ResolvedNode &node,
+                         const std::string *path_override,
+                         const capnp::DynamicValue::Reader &raw_value,
+                         double tm,
+                         double value,
+                         SeriesAccumulator *series) {
+  if (path_override == nullptr && node.fixed_slot >= 0) {
+    if (node.scalar_kind == ScalarKind::Enum) {
+      capture_enum_info(node.path, raw_value, series);
+    }
+    append_fixed_scalar_point(&series->fixed_series[static_cast<size_t>(node.fixed_slot)], tm, value);
+    return;
+  }
+
+  const std::string &path = path_override != nullptr ? *path_override : node.path;
+  if (node.scalar_kind == ScalarKind::Enum) {
+    capture_enum_info(path, raw_value, series);
+  }
+  append_dynamic_scalar_point(path, tm, value, series);
+}
+
+void append_fast_node(const ResolvedNode &node,
+                      const capnp::DynamicValue::Reader &value,
+                      double tm,
+                      SeriesAccumulator *series,
+                      const std::string *path_override = nullptr) {
+  switch (node.kind) {
+    case ResolvedNodeKind::Scalar: {
+      if (std::optional<double> scalar = scalar_value_to_double(value, node.scalar_kind); scalar.has_value()) {
+        append_scalar_value(node, path_override, value, tm, *scalar, series);
+      }
+      return;
+    }
+    case ResolvedNodeKind::Struct: {
+      const capnp::DynamicStruct::Reader reader = value.as<capnp::DynamicStruct>();
+      for (const ResolvedNode &child : node.children) {
+        if (!child.has_field || !reader.has(child.field)) continue;
+        if (path_override == nullptr) {
+          append_fast_node(child, reader.get(child.field), tm, series, nullptr);
+        } else {
+          const std::string child_path = child.segment.empty() ? *path_override : (*path_override + "/" + child.segment);
+          append_fast_node(child, reader.get(child.field), tm, series, &child_path);
+        }
+      }
+      return;
+    }
+    case ResolvedNodeKind::List: {
+      if (!node.element) {
+        return;
+      }
+      const capnp::DynamicList::Reader list = value.as<capnp::DynamicList>();
+      if (list.size() == 0) {
+        return;
+      }
+      if (node.skip_large_scalar_list && list.size() > 16) {
+        return;
+      }
+      const std::string &base_path = path_override != nullptr ? *path_override : node.path;
+      if (node.element->kind == ResolvedNodeKind::Scalar) {
+        for (uint i = 0; i < list.size(); ++i) {
+          if (std::optional<double> scalar = scalar_value_to_double(list[i], node.element->scalar_kind); scalar.has_value()) {
+            RouteSeries *item_series = ensure_list_scalar_series(base_path, i, series);
+            if (node.element->scalar_kind == ScalarKind::Enum && !item_series->path.empty()) {
+              capture_enum_info(item_series->path, list[i], series);
+            }
+            append_fixed_scalar_point(item_series, tm, *scalar);
+          }
+        }
+        return;
+      }
+      for (uint i = 0; i < list.size(); ++i) {
+        const std::string item_path = base_path + "/" + std::to_string(i);
+        append_fast_node(*node.element, list[i], tm, series, &item_path);
+      }
+      return;
+    }
+    case ResolvedNodeKind::Ignore:
+      return;
+  }
+}
+
+void append_event_fast_reader(cereal::Event::Which which,
+                              const cereal::Event::Reader &event,
+                              const SchemaIndex &schema,
+                              const dbc::Database *can_dbc,
+                              bool skip_raw_can,
+                              double time_offset,
+                              SeriesAccumulator *series) {
+  const uint16_t which_index = static_cast<uint16_t>(which);
+  if (which_index >= schema.by_which.size() || !schema.by_which[which_index].has_value()) {
+    return;
+  }
+  const ResolvedService &service = *schema.by_which[which_index];
+  const capnp::DynamicStruct::Reader dynamic_event(event);
+  const capnp::DynamicValue::Reader payload = dynamic_event.get(service.union_field);
+  const double tm = static_cast<double>(event.getLogMonoTime()) / 1.0e9 - time_offset;
+  append_fixed_scalar_point(&series->fixed_series[static_cast<size_t>(service.valid_slot)],
+                            tm,
+                            event.getValid() ? 1.0 : 0.0);
+  append_fixed_scalar_point(&series->fixed_series[static_cast<size_t>(service.log_mono_time_slot)],
+                            tm,
+                            static_cast<double>(event.getLogMonoTime()));
+  append_fixed_scalar_point(&series->fixed_series[static_cast<size_t>(service.seconds_slot)],
+                            tm,
+                            tm);
+  if (service.service_name == "can" || service.service_name == "sendcan") {
+    const CanServiceKind can_service = service.service_name == "can"
+      ? CanServiceKind::Can
+      : CanServiceKind::Sendcan;
+    auto decode_message = [&](uint8_t bus, uint32_t address, const auto &dat_reader) {
+      const auto bytes = dat_reader.begin();
+      decode_can_frame(can_dbc, service.service_name, bus, address, bytes, dat_reader.size(), tm, series);
+    };
+    if (service.service_name == "can") {
+      for (const auto &msg : event.getCan()) {
+        append_can_frame(can_service,
+                         static_cast<uint8_t>(msg.getSrc()),
+                         msg.getAddress(),
+                         msg.getDeprecated().getBusTime(),
+                         msg.getDat(),
+                         tm,
+                         series);
+        if (!skip_raw_can) continue;
+        decode_message(static_cast<uint8_t>(msg.getSrc()), msg.getAddress(), msg.getDat());
+      }
+    } else {
+      for (const auto &msg : event.getSendcan()) {
+        append_can_frame(can_service,
+                         static_cast<uint8_t>(msg.getSrc()),
+                         msg.getAddress(),
+                         msg.getDeprecated().getBusTime(),
+                         msg.getDat(),
+                         tm,
+                         series);
+        if (!skip_raw_can) continue;
+        decode_message(static_cast<uint8_t>(msg.getSrc()), msg.getAddress(), msg.getDat());
+      }
+    }
+    if (skip_raw_can) {
+      return;
+    }
+  }
+
+  append_fast_node(service.payload, payload, tm, series);
+}
+
+void append_event_fast(cereal::Event::Which which,
+                       int32_t eidx_segnum,
+                       kj::ArrayPtr<const capnp::word> data,
+                       const SchemaIndex &schema,
+                       const dbc::Database *can_dbc,
+                       bool skip_raw_can,
+                       double time_offset,
+                       SeriesAccumulator *series) {
+  if (eidx_segnum != -1) {
+    return;
+  }
+  with_parseable_event(data, [&](const cereal::Event::Reader &event) {
+    append_event_fast_reader(which, event, schema, can_dbc, skip_raw_can, time_offset, series);
+  });
+}
+
+void append_events_fast_range(const std::vector<Event> &events,
+                              size_t begin,
+                              size_t end,
+                              const SchemaIndex &schema,
+                              const dbc::Database *can_dbc,
+                              bool skip_raw_can,
+                              SeriesAccumulator *series) {
+  for (size_t i = begin; i < end; ++i) {
+    const Event &event_record = events[i];
+    append_event_fast(event_record.which,
+                      event_record.eidx_segnum,
+                      event_record.data,
+                      schema,
+                      can_dbc,
+                      skip_raw_can,
+                      0.0,
+                      series);
+  }
+}
+
+void merge_route_series(RouteSeries *dst, RouteSeries *src) {
+  if (src->times.empty()) {
+    return;
+  }
+  if (dst->times.empty()) {
+    *dst = std::move(*src);
+    return;
+  }
+
+  dst->times.reserve(dst->times.size() + src->times.size());
+  dst->values.reserve(dst->values.size() + src->values.size());
+  dst->times.insert(dst->times.end(), src->times.begin(), src->times.end());
+  dst->values.insert(dst->values.end(), src->values.begin(), src->values.end());
+}
+
+void merge_can_message_data(CanMessageData *dst, CanMessageData *src) {
+  if (src->samples.empty()) {
+    return;
+  }
+  if (dst->samples.empty()) {
+    *dst = std::move(*src);
+    return;
+  }
+  dst->samples.reserve(dst->samples.size() + src->samples.size());
+  dst->samples.insert(dst->samples.end(),
+                      std::make_move_iterator(src->samples.begin()),
+                      std::make_move_iterator(src->samples.end()));
+}
+
+void merge_series_accumulator(SeriesAccumulator *dst, SeriesAccumulator *src) {
+  if (dst->fixed_series.size() != src->fixed_series.size()) {
+    throw std::runtime_error("Fixed-series slot count mismatch during merge");
+  }
+
+  for (size_t i = 0; i < dst->fixed_series.size(); ++i) {
+    merge_route_series(&dst->fixed_series[i], &src->fixed_series[i]);
+  }
+  for (auto &series : src->dynamic_series) {
+    if (series.path.empty()) continue;
+    RouteSeries &dst_series = dst->dynamic_series[ensure_dynamic_slot(series.path, dst)];
+    merge_route_series(&dst_series, &series);
+  }
+  for (auto &message : src->can_messages) {
+    CanMessageData &dst_message = *ensure_can_message(message.id.service, message.id.bus, message.id.address, dst);
+    merge_can_message_data(&dst_message, &message);
+  }
+  for (auto &[path, info] : src->enum_info) {
+    dst->enum_info.try_emplace(path, std::move(info));
+  }
+}
+
+size_t populated_series_count(const SeriesAccumulator &series) {
+  size_t count = 0;
+  for (const RouteSeries &fixed : series.fixed_series) {
+    count += !fixed.times.empty();
+  }
+  for (const RouteSeries &dynamic : series.dynamic_series) {
+    count += !dynamic.times.empty();
+  }
+  return count;
+}
+
+bool series_is_sorted(const RouteSeries &series) {
+  for (size_t i = 1; i < series.times.size(); ++i) {
+    if (series.times[i] < series.times[i - 1]) return false;
+  }
+  return true;
+}
+
+void sort_series_by_time(RouteSeries *series) {
+  if (series->times.size() <= 1 || series_is_sorted(*series)) {
+    return;
+  }
+  std::vector<size_t> order(series->times.size());
+  std::iota(order.begin(), order.end(), 0);
+  std::sort(order.begin(), order.end(), [&](size_t a, size_t b) {
+    return series->times[a] < series->times[b];
+  });
+
+  std::vector<double> sorted_times(series->times.size());
+  std::vector<double> sorted_values(series->values.size());
+  for (size_t i = 0; i < order.size(); ++i) {
+    sorted_times[i] = series->times[order[i]];
+    sorted_values[i] = series->values[order[i]];
+  }
+  series->times = std::move(sorted_times);
+  series->values = std::move(sorted_values);
+}
+
+std::vector<RouteSeries> collect_series(SeriesAccumulator &&series) {
+  std::vector<RouteSeries> out;
+  out.reserve(series.fixed_series.size() + series.dynamic_series.size());
+  for (auto &fixed : series.fixed_series) {
+    sort_series_by_time(&fixed);
+    if (!fixed.times.empty()) {
+      out.push_back(std::move(fixed));
+    }
+  }
+  for (auto &dynamic : series.dynamic_series) {
+    sort_series_by_time(&dynamic);
+    if (!dynamic.times.empty()) {
+      out.push_back(std::move(dynamic));
+    }
+  }
+  return out;
+}
+
+RouteData build_route_data(std::vector<RouteSeries> &&series_list,
+                           std::vector<CanMessageData> &&can_messages,
+                           std::vector<LogEntry> &&logs,
+                           std::vector<TimelineEntry> &&timeline,
+                           std::unordered_map<std::string, EnumInfo> &&enum_info,
+                           std::string car_fingerprint,
+                           std::string dbc_name) {
+  RouteData route_data;
+  route_data.series.reserve(series_list.size());
+  route_data.paths.reserve(series_list.size());
+  for (RouteSeries &series : series_list) {
+    if (series.times.empty()) continue;
+    route_data.has_time_range = true;
+    route_data.x_min = route_data.series.empty() ? series.times.front() : std::min(route_data.x_min, series.times.front());
+    route_data.x_max = route_data.series.empty() ? series.times.back() : std::max(route_data.x_max, series.times.back());
+    route_data.paths.push_back(series.path);
+    route_data.series.push_back(std::move(series));
+  }
+
+  std::sort(route_data.paths.begin(), route_data.paths.end());
+  std::sort(route_data.series.begin(), route_data.series.end(), [](const RouteSeries &a, const RouteSeries &b) {
+    return a.path < b.path;
+  });
+  std::sort(logs.begin(), logs.end(), [](const LogEntry &a, const LogEntry &b) {
+    return a.mono_time < b.mono_time;
+  });
+  logs.erase(std::unique(logs.begin(), logs.end(), [](const LogEntry &a, const LogEntry &b) {
+               return same_log_entry(a, b);
+             }),
+             logs.end());
+
+  std::vector<LogEntry> deduped_logs;
+  deduped_logs.reserve(logs.size());
+  for (LogEntry &entry : logs) {
+    if (!deduped_logs.empty()
+        && entry.origin == LogOrigin::Alert
+        && deduped_logs.back().origin == LogOrigin::Alert
+        && deduped_logs.back().func == entry.func
+        && deduped_logs.back().message == entry.message) {
+      continue;
+    }
+    deduped_logs.push_back(std::move(entry));
+  }
+  route_data.logs = std::move(deduped_logs);
+
+  if (!route_data.has_time_range && !route_data.logs.empty()) {
+    route_data.has_time_range = true;
+    route_data.x_min = route_data.logs.front().mono_time;
+    route_data.x_max = route_data.logs.back().mono_time;
+  }
+  if (!route_data.has_time_range) {
+    bool initialized = false;
+    for (const CanMessageData &message : can_messages) {
+      if (message.samples.empty()) continue;
+      if (!initialized) {
+        route_data.x_min = message.samples.front().mono_time;
+        route_data.x_max = message.samples.back().mono_time;
+        initialized = true;
+      } else {
+        route_data.x_min = std::min(route_data.x_min, message.samples.front().mono_time);
+        route_data.x_max = std::max(route_data.x_max, message.samples.back().mono_time);
+      }
+    }
+    route_data.has_time_range = initialized;
+  }
+  if (!route_data.has_time_range && !timeline.empty()) {
+    route_data.has_time_range = true;
+    route_data.x_min = timeline.front().start_time;
+    route_data.x_max = timeline.back().end_time;
+  }
+
+  if (route_data.has_time_range) {
+    const double time_offset = route_data.x_min;
+    for (RouteSeries &series : route_data.series) {
+      for (double &tm : series.times) {
+        tm -= time_offset;
+      }
+    }
+    for (LogEntry &entry : route_data.logs) {
+      entry.boot_time = entry.mono_time;
+      entry.mono_time -= time_offset;
+    }
+    for (CanMessageData &message : can_messages) {
+      for (CanFrameSample &sample : message.samples) {
+        sample.mono_time -= time_offset;
+      }
+    }
+    for (TimelineEntry &entry : timeline) {
+      entry.start_time -= time_offset;
+      entry.end_time -= time_offset;
+    }
+    route_data.x_max -= time_offset;
+    route_data.x_min = 0.0;
+  }
+
+  std::sort(timeline.begin(), timeline.end(), [](const TimelineEntry &a, const TimelineEntry &b) {
+    return a.start_time < b.start_time;
+  });
+  std::vector<TimelineEntry> merged_timeline;
+  merged_timeline.reserve(timeline.size());
+  for (TimelineEntry &entry : timeline) {
+    if (!merged_timeline.empty() && merged_timeline.back().type == entry.type) {
+      merged_timeline.back().end_time = std::max(merged_timeline.back().end_time, entry.end_time);
+      continue;
+    }
+    merged_timeline.push_back(std::move(entry));
+  }
+  route_data.timeline = std::move(merged_timeline);
+  std::sort(can_messages.begin(), can_messages.end(), [](const CanMessageData &a, const CanMessageData &b) {
+    return std::make_tuple(a.id.service, a.id.bus, a.id.address)
+         < std::make_tuple(b.id.service, b.id.bus, b.id.address);
+  });
+  route_data.can_messages = std::move(can_messages);
+
+  route_data.enum_info = std::move(enum_info);
+  route_data.car_fingerprint = std::move(car_fingerprint);
+  route_data.dbc_name = std::move(dbc_name);
+  rebuild_gps_trace(&route_data);
+  route_data.roots = collect_route_roots_for_paths(route_data.paths);
+  return route_data;
+}
+
+const RouteSeries *find_route_series(const RouteData &route_data, std::string_view path) {
+  auto it = std::lower_bound(route_data.series.begin(), route_data.series.end(), path,
+                             [](const RouteSeries &series, std::string_view target) {
+                               return series.path < target;
+                             });
+  if (it == route_data.series.end() || it->path != path) return nullptr;
+  return &(*it);
+}
+
+std::optional<double> sample_series_at_time(const RouteSeries &series, double tm) {
+  if (series.times.empty() || series.times.size() != series.values.size()) {
+    return std::nullopt;
+  }
+  if (tm <= series.times.front()) {
+    return series.values.front();
+  }
+  if (tm >= series.times.back()) {
+    return series.values.back();
+  }
+  auto upper = std::lower_bound(series.times.begin(), series.times.end(), tm);
+  if (upper == series.times.begin()) {
+    return series.values.front();
+  }
+  if (upper == series.times.end()) {
+    return series.values.back();
+  }
+  const size_t upper_index = static_cast<size_t>(std::distance(series.times.begin(), upper));
+  const size_t lower_index = upper_index - 1;
+  const double t0 = series.times[lower_index];
+  const double t1 = series.times[upper_index];
+  const double v0 = series.values[lower_index];
+  const double v1 = series.values[upper_index];
+  if (t1 <= t0) {
+    return v0;
+  }
+  const double alpha = (tm - t0) / (t1 - t0);
+  return v0 + (v1 - v0) * alpha;
+}
+
+}  // namespace
+
+void rebuild_gps_trace(RouteData *route_data) {
+  route_data->gps_trace = {};
+  const RouteSeries *latitude = find_route_series(*route_data, "/gpsLocationExternal/latitude");
+  const RouteSeries *longitude = find_route_series(*route_data, "/gpsLocationExternal/longitude");
+  const RouteSeries *has_fix = find_route_series(*route_data, "/gpsLocationExternal/hasFix");
+  if (latitude == nullptr || longitude == nullptr || has_fix == nullptr) {
+    return;
+  }
+
+  const RouteSeries *bearing = find_route_series(*route_data, "/gpsLocationExternal/bearingDeg");
+  size_t count = std::min({latitude->times.size(), latitude->values.size(),
+                           longitude->times.size(), longitude->values.size(),
+                           has_fix->times.size(), has_fix->values.size()});
+  if (count == 0) {
+    return;
+  }
+
+  bool found = false;
+  route_data->gps_trace.points.reserve(count);
+  for (size_t i = 0; i < count; ++i) {
+    if (has_fix->values[i] < 0.5) {
+      continue;
+    }
+    const double lat = latitude->values[i];
+    const double lon = longitude->values[i];
+    if (!std::isfinite(lat) || !std::isfinite(lon)) {
+      continue;
+    }
+    const double tm = latitude->times[i];
+    const float bearing_value = bearing != nullptr
+      ? static_cast<float>(sample_series_at_time(*bearing, tm).value_or(0.0))
+      : 0.0f;
+    route_data->gps_trace.points.push_back(GpsPoint{
+      .time = tm,
+      .lat = lat,
+      .lon = lon,
+      .bearing = bearing_value,
+      .type = timeline_type_at_time(route_data->timeline, tm),
+    });
+    if (!found) {
+      route_data->gps_trace.min_lat = route_data->gps_trace.max_lat = lat;
+      route_data->gps_trace.min_lon = route_data->gps_trace.max_lon = lon;
+      found = true;
+    } else {
+      route_data->gps_trace.min_lat = std::min(route_data->gps_trace.min_lat, lat);
+      route_data->gps_trace.max_lat = std::max(route_data->gps_trace.max_lat, lat);
+      route_data->gps_trace.min_lon = std::min(route_data->gps_trace.min_lon, lon);
+      route_data->gps_trace.max_lon = std::max(route_data->gps_trace.max_lon, lon);
+    }
+  }
+  if (!found) {
+    route_data->gps_trace = {};
+  }
+}
+
+namespace {
+
+void build_camera_index(const std::map<int, SegmentLogs> &segments,
+                        const RouteData &route_data,
+                        std::string SegmentLogs::*file_member,
+                        std::string_view index_name,
+                        CameraFeedIndex *out) {
+  *out = {};
+  out->segment_files.reserve(segments.size());
+
+  std::unordered_set<int> available_segments;
+  available_segments.reserve(segments.size());
+  for (const auto &[segment_number, segment] : segments) {
+    const std::string &path = segment.*file_member;
+    if (path.empty()) continue;
+    out->segment_files.push_back(CameraSegmentFile{
+      .segment = segment_number,
+      .path = path,
+    });
+    available_segments.insert(segment_number);
+  }
+  if (out->segment_files.empty()) {
+    return;
+  }
+
+  const std::string prefix = "/" + std::string(index_name);
+  const RouteSeries *segment_numbers = find_route_series(route_data, prefix + "/segmentNum");
+  const RouteSeries *decode_indices = find_route_series(route_data, prefix + "/segmentId");
+  if (decode_indices == nullptr) {
+    decode_indices = find_route_series(route_data, prefix + "/segmentIdEncode");
+  }
+  const RouteSeries *frame_ids = find_route_series(route_data, prefix + "/frameId");
+  if (segment_numbers == nullptr || decode_indices == nullptr) {
+    return;
+  }
+
+  size_t count = std::min(segment_numbers->times.size(), segment_numbers->values.size());
+  count = std::min(count, decode_indices->values.size());
+  if (frame_ids != nullptr) {
+    count = std::min(count, frame_ids->values.size());
+  }
+  out->entries.reserve(count);
+  for (size_t i = 0; i < count; ++i) {
+    const int segment_number = static_cast<int>(std::llround(segment_numbers->values[i]));
+    if (available_segments.find(segment_number) == available_segments.end()) {
+      continue;
+    }
+    const int decode_index = static_cast<int>(std::llround(decode_indices->values[i]));
+    const uint32_t frame_id = frame_ids != nullptr
+      ? static_cast<uint32_t>(std::llround(frame_ids->values[i]))
+      : static_cast<uint32_t>(std::max(0, decode_index));
+    out->entries.push_back(CameraFrameIndexEntry{
+      .timestamp = segment_numbers->times[i],
+      .segment = segment_number,
+      .decode_index = decode_index,
+      .frame_id = frame_id,
+    });
+  }
+
+  std::sort(out->entries.begin(), out->entries.end(),
+            [](const CameraFrameIndexEntry &a, const CameraFrameIndexEntry &b) {
+              return a.timestamp < b.timestamp;
+            });
+}
+
+size_t load_worker_budget() {
+  size_t worker_count = std::thread::hardware_concurrency();
+  if (worker_count == 0) {
+    worker_count = 1;
+  }
+  if (const char *raw = std::getenv("JOTP_LOAD_WORKERS"); raw != nullptr && std::strlen(raw) > 0) {
+    char *end = nullptr;
+    const unsigned long parsed = std::strtoul(raw, &end, 10);
+    if (end != nullptr && *end == '\0' && parsed > 0) {
+      worker_count = static_cast<size_t>(parsed);
+    }
+  }
+  return std::max<size_t>(1, worker_count);
+}
+
+size_t segment_worker_count(size_t segment_count, size_t worker_budget) {
+  return std::max<size_t>(1, std::min(worker_budget, segment_count));
+}
+
+size_t extract_chunk_count(size_t event_count, size_t worker_budget, size_t segment_workers) {
+  if (event_count < 4096) return 1;
+  const size_t per_segment_budget = std::max<size_t>(1, worker_budget / std::max<size_t>(1, segment_workers));
+  const size_t chunk_target = std::max<size_t>(1, (event_count + 14999) / 15000);
+  return std::max<size_t>(1, std::min({per_segment_budget, chunk_target, static_cast<size_t>(8)}));
+}
+
+SeriesAccumulator extract_segment_series(const std::vector<Event> &events,
+                                         const SchemaIndex &schema,
+                                         const dbc::Database *can_dbc,
+                                         bool skip_raw_can,
+                                         size_t worker_budget,
+                                         size_t segment_workers) {
+  const size_t chunk_count = extract_chunk_count(events.size(), worker_budget, segment_workers);
+  if (chunk_count <= 1 || events.empty()) {
+    SeriesAccumulator series = make_series_accumulator(schema);
+    append_events_fast_range(events, 0, events.size(), schema, can_dbc, skip_raw_can, &series);
+    return series;
+  }
+
+  const size_t events_per_chunk = (events.size() + chunk_count - 1) / chunk_count;
+  std::vector<SeriesAccumulator> chunk_results;
+  chunk_results.reserve(chunk_count);
+  for (size_t i = 0; i < chunk_count; ++i) {
+    chunk_results.push_back(make_series_accumulator(schema));
+  }
+
+  std::vector<std::thread> workers;
+  workers.reserve(chunk_count > 0 ? chunk_count - 1 : 0);
+  for (size_t chunk = 1; chunk < chunk_count; ++chunk) {
+    workers.emplace_back([&, chunk]() {
+      const size_t begin = chunk * events_per_chunk;
+      const size_t end = std::min(events.size(), begin + events_per_chunk);
+      append_events_fast_range(events, begin, end, schema, can_dbc, skip_raw_can, &chunk_results[chunk]);
+    });
+  }
+  append_events_fast_range(events, 0, std::min(events.size(), events_per_chunk), schema, can_dbc, skip_raw_can, &chunk_results[0]);
+  for (std::thread &worker : workers) {
+    worker.join();
+  }
+
+  SeriesAccumulator merged = make_series_accumulator(schema);
+  for (SeriesAccumulator &chunk : chunk_results) {
+    merge_series_accumulator(&merged, &chunk);
+  }
+  return merged;
+}
+
+LoadedRouteArtifacts load_route_series_parallel(
+    const std::map<int, SegmentLogs> &segments,
+    const SchemaIndex &schema,
+    const dbc::Database *can_dbc,
+    LogSelector selector,
+    bool skip_raw_can,
+    LoadStats *stats) {
+  struct SegmentResult {
+    SeriesAccumulator series;
+    std::vector<LogEntry> logs;
+    std::vector<TimelineEntry> timeline;
+  };
+
+  const std::vector<std::pair<int, SegmentLogs>> segment_list(segments.begin(), segments.end());
+  std::vector<SegmentResult> results;
+  results.reserve(segment_list.size());
+  for (size_t i = 0; i < segment_list.size(); ++i) {
+    results.emplace_back(SegmentResult{make_series_accumulator(schema)});
+  }
+  std::atomic<size_t> next_segment{0};
+  std::mutex error_mutex;
+  std::string first_error;
+  const size_t worker_budget = static_cast<size_t>(stats->num_workers);
+  const size_t segment_workers = segment_worker_count(segment_list.size(), worker_budget);
+
+  auto worker = [&]() {
+    while (true) {
+      const size_t index = next_segment.fetch_add(1);
+      if (index >= segment_list.size()) {
+        return;
+      }
+
+      const auto &[segment_number, segment] = segment_list[index];
+      const std::string &log_path = selected_log_path(segment, selector);
+      LoadStats::SegmentStats &segment_stats = stats->segments[index];
+      segment_stats.segment_number = segment_number;
+      segment_stats.log_path = log_path;
+      if (log_path.empty()) {
+        segment_stats.failed = true;
+        std::lock_guard<std::mutex> lock(error_mutex);
+        if (first_error.empty()) {
+          first_error = "Missing log path for segment " + std::to_string(segment_number);
+        }
+        stats->publish(RouteLoadStage::DownloadingSegment, index, std::to_string(segment_number));
+        stats->publish(RouteLoadStage::ParsingSegment, index, std::to_string(segment_number));
+        continue;
+      }
+
+      LogReader reader;
+      if (!reader.load(log_path, nullptr, true)) {
+        segment_stats.failed = true;
+        std::lock_guard<std::mutex> lock(error_mutex);
+        if (first_error.empty()) {
+          first_error = "Failed to load log segment: " + log_path;
+        }
+        stats->publish(RouteLoadStage::DownloadingSegment, index, std::to_string(segment_number));
+        stats->publish(RouteLoadStage::ParsingSegment, index, std::to_string(segment_number));
+        continue;
+      }
+
+      segment_stats.download_seconds = reader.download_seconds();
+      segment_stats.decompress_seconds = reader.decompress_seconds();
+      segment_stats.parse_seconds = reader.parse_seconds();
+      segment_stats.compressed_bytes = reader.compressed_size();
+      segment_stats.decompressed_bytes = reader.decompressed_size();
+      stats->bytes_downloaded.fetch_add(reader.compressed_size());
+      stats->segments_downloaded.fetch_add(1);
+      stats->publish(RouteLoadStage::DownloadingSegment, index, std::to_string(segment_number));
+
+      const auto extract_start = LoadStats::Clock::now();
+      results[index].series = extract_segment_series(reader.events, schema, can_dbc, skip_raw_can, worker_budget, segment_workers);
+      results[index].logs = extract_segment_logs(reader.events);
+      results[index].timeline = extract_segment_timeline(reader.events);
+      segment_stats.extract_seconds = std::chrono::duration<double>(LoadStats::Clock::now() - extract_start).count();
+      segment_stats.event_count = reader.events.size();
+      segment_stats.series_count = populated_series_count(results[index].series);
+      stats->segments_parsed.fetch_add(1);
+      stats->publish(RouteLoadStage::ParsingSegment, index, std::to_string(segment_number));
+    }
+  };
+
+  std::vector<std::thread> workers;
+  workers.reserve(segment_workers);
+  for (size_t i = 0; i < segment_workers; ++i) {
+    workers.emplace_back(worker);
+  }
+  for (std::thread &thread : workers) {
+    thread.join();
+  }
+
+  if (!first_error.empty()) throw std::runtime_error(first_error);
+
+  stats->merge_start = LoadStats::Clock::now();
+  SeriesAccumulator merged = make_series_accumulator(schema);
+  for (size_t i = 0; i < results.size(); ++i) {
+    merge_series_accumulator(&merged, &results[i].series);
+  }
+  std::vector<LogEntry> logs;
+  std::vector<TimelineEntry> timeline;
+  for (SegmentResult &result : results) {
+    if (!result.logs.empty()) {
+      logs.insert(logs.end(),
+                  std::make_move_iterator(result.logs.begin()),
+                  std::make_move_iterator(result.logs.end()));
+    }
+    if (!result.timeline.empty()) {
+      timeline.insert(timeline.end(),
+                      std::make_move_iterator(result.timeline.begin()),
+                      std::make_move_iterator(result.timeline.end()));
+    }
+  }
+  LoadedRouteArtifacts artifacts;
+  artifacts.series = collect_series(std::move(merged));
+  artifacts.can_messages = std::move(merged.can_messages);
+  artifacts.logs = std::move(logs);
+  artifacts.timeline = std::move(timeline);
+  artifacts.enum_info = std::move(merged.enum_info);
+  stats->merge_end = LoadStats::Clock::now();
+  return artifacts;
+}
+
+std::vector<std::string> collect_layout_roots(const SketchLayout &layout) {
+  std::vector<std::string> roots;
+  for (const auto &tab : layout.tabs) {
+    for (const auto &pane : tab.panes) {
+      for (const auto &curve : pane.curves) {
+        std::string root = "custom";
+        if (is_absolute_curve(curve.name)) {
+          const size_t slash = curve.name.find('/', 1);
+          root = curve.name.substr(1, slash == std::string::npos ? std::string::npos : slash - 1);
+        }
+        if (std::find(roots.begin(), roots.end(), root) == roots.end()) {
+          roots.push_back(root);
+        }
+      }
+    }
+  }
+  if (roots.empty()) {
+    roots.push_back("layout");
+  }
+  return roots;
+}
+
+}  // namespace
+
+std::vector<std::string> collect_route_roots_for_paths(const std::vector<std::string> &paths) {
+  std::vector<std::string> roots;
+  for (const std::string &path : paths) {
+    if (!is_absolute_curve(path)) continue;
+    const size_t slash = path.find('/', 1);
+    const std::string root = path.substr(1, slash == std::string::npos ? std::string::npos : slash - 1);
+    if (!root.empty() && std::find(roots.begin(), roots.end(), root) == roots.end()) {
+      roots.push_back(root);
+    }
+  }
+  std::sort(roots.begin(), roots.end());
+  return roots;
+}
+
+struct StreamAccumulator::Impl {
+  const SchemaIndex &schema = SchemaIndex::instance();
+  SeriesAccumulator series = make_series_accumulator(schema);
+  std::vector<LogEntry> logs;
+  std::vector<TimelineEntry> timeline;
+  std::string last_alert_key;
+  std::string manual_dbc_name;
+  std::string detected_dbc_name;
+  std::string car_fingerprint;
+  std::optional<dbc::Database> can_dbc;
+  std::optional<double> time_offset;
+
+  void refresh_dbc() {
+    const std::string next_dbc = !manual_dbc_name.empty() ? manual_dbc_name : detect_dbc_for_fingerprint(car_fingerprint);
+    if (next_dbc == detected_dbc_name) {
+      return;
+    }
+    detected_dbc_name = next_dbc;
+    can_dbc = load_dbc_by_name(detected_dbc_name);
+  }
+};
+
+StreamAccumulator::StreamAccumulator(const std::string &dbc_name, std::optional<double> time_offset)
+  : impl_(std::make_unique<Impl>()) {
+  impl_->manual_dbc_name = dbc_name;
+  impl_->time_offset = time_offset;
+  impl_->refresh_dbc();
+}
+
+StreamAccumulator::~StreamAccumulator() = default;
+
+void StreamAccumulator::setDbcName(const std::string &dbc_name) {
+  impl_->manual_dbc_name = dbc_name;
+  impl_->refresh_dbc();
+}
+
+void StreamAccumulator::appendEvent(kj::ArrayPtr<const capnp::word> data) {
+  with_parseable_event(data, [&](const cereal::Event::Reader &event) {
+    const cereal::Event::Which which = event.which();
+    const double boot_time = static_cast<double>(event.getLogMonoTime()) / 1.0e9;
+    if (!impl_->time_offset.has_value()) {
+      impl_->time_offset = boot_time;
+    }
+    if (which == cereal::Event::Which::CAR_PARAMS) {
+      const std::string fingerprint = event.getCarParams().getCarFingerprint().cStr();
+      if (!fingerprint.empty() && fingerprint != impl_->car_fingerprint) {
+        impl_->car_fingerprint = fingerprint;
+        impl_->refresh_dbc();
+      }
+    }
+
+    append_event_fast_reader(which,
+                             event,
+                             impl_->schema,
+                             impl_->can_dbc ? &*impl_->can_dbc : nullptr,
+                             impl_->can_dbc.has_value(),
+                             *impl_->time_offset,
+                             &impl_->series);
+    append_log_event(which, event, *impl_->time_offset, &impl_->logs, &impl_->last_alert_key);
+    if (which == cereal::Event::Which::SELFDRIVE_STATE) {
+      const auto sd = event.getSelfdriveState();
+      append_timeline_entry(&impl_->timeline, boot_time - *impl_->time_offset,
+                            alert_status_to_timeline_type(sd.getAlertStatus(), sd.getEnabled()));
+    }
+  });
+}
+
+void StreamAccumulator::appendCanFrames(CanServiceKind service, const std::vector<LiveCanFrame> &frames) {
+  if (frames.empty()) {
+    return;
+  }
+  if (!impl_->time_offset.has_value()) {
+    impl_->time_offset = frames.front().mono_time;
+  }
+  for (const LiveCanFrame &frame : frames) {
+    append_live_can_frame(service,
+                          frame,
+                          *impl_->time_offset,
+                          impl_->can_dbc ? &*impl_->can_dbc : nullptr,
+                          &impl_->series);
+  }
+}
+
+StreamExtractBatch StreamAccumulator::takeBatch() {
+  StreamExtractBatch batch;
+  batch.car_fingerprint = impl_->car_fingerprint;
+  batch.dbc_name = impl_->detected_dbc_name;
+  if (impl_->time_offset.has_value()) {
+    batch.has_time_offset = true;
+    batch.time_offset = *impl_->time_offset;
+  }
+  if (impl_->logs.empty() && impl_->timeline.empty()
+      && populated_series_count(impl_->series) == 0
+      && impl_->series.enum_info.empty()
+      && impl_->series.can_messages.empty()) {
+    return batch;
+  }
+
+  SeriesAccumulator emitted = std::move(impl_->series);
+  batch.can_messages = std::move(emitted.can_messages);
+  batch.enum_info = std::move(emitted.enum_info);
+  batch.series = collect_series(std::move(emitted));
+  batch.logs = std::move(impl_->logs);
+  batch.timeline = std::move(impl_->timeline);
+  impl_->series = make_series_accumulator(impl_->schema);
+  impl_->logs.clear();
+  impl_->timeline.clear();
+  return batch;
+}
+
+const std::string &StreamAccumulator::carFingerprint() const {
+  return impl_->car_fingerprint;
+}
+
+const std::string &StreamAccumulator::dbc_name() const {
+  return impl_->detected_dbc_name;
+}
+
+std::optional<double> StreamAccumulator::timeOffset() const {
+  return impl_->time_offset;
+}
+
+SketchLayout load_sketch_layout(const fs::path &layout_path) {
+  SketchLayout layout = parse_layout(layout_path);
+  layout.roots = collect_layout_roots(layout);
+  return layout;
+}
+
+RouteData load_route_data(const std::string &route_name,
+                          const std::string &data_dir,
+                          const std::string &dbc_name,
+                          const RouteLoadProgressCallback &progress) {
+  if (route_name.empty()) return RouteData{};
+
+  const RouteSelection route = parse_route_selection(route_name);
+  if (route.canonical_name.empty() || (data_dir.empty() && route.dongle_id.empty())) {
+    throw std::runtime_error("Invalid route format: " + route_name);
+  }
+  LoadStats stats(progress);
+  stats.load_start = LoadStats::Clock::now();
+  std::map<int, SegmentLogs> segments = data_dir.empty()
+    ? load_segments_from_server(route)
+    : load_segments_from_local(route, data_dir);
+  segments = trim_segments(std::move(segments), route);
+  if (segments.empty()) throw std::runtime_error("No log segments found for " + route_name);
+  stats.resolve_end = LoadStats::Clock::now();
+  stats.segment_count = segments.size();
+  stats.total_segments.store(segments.size());
+  stats.num_workers = static_cast<int>(load_worker_budget());
+  stats.segments.resize(segments.size());
+  stats.publish(RouteLoadStage::Resolving, 0, {});
+
+  const RouteMetadata metadata = detect_route_metadata(segments, route.selector);
+  const std::string resolved_dbc = !dbc_name.empty() ? dbc_name : detect_dbc_for_fingerprint(metadata.car_fingerprint);
+  const std::optional<dbc::Database> can_dbc = load_dbc_by_name(resolved_dbc);
+
+  const SchemaIndex &schema = SchemaIndex::instance();
+  LoadedRouteArtifacts artifacts = load_route_series_parallel(segments, schema, can_dbc ? &*can_dbc : nullptr,
+                                                             route.selector, can_dbc.has_value(), &stats);
+  RouteData route_data = build_route_data(std::move(artifacts.series),
+                                          std::move(artifacts.can_messages),
+                                          std::move(artifacts.logs),
+                                          std::move(artifacts.timeline),
+                                          std::move(artifacts.enum_info),
+                                          metadata.car_fingerprint,
+                                          resolved_dbc);
+  route_data.route_id = make_route_identifier(route, segments);
+  build_camera_index(segments, route_data, &SegmentLogs::fcamera, "roadEncodeIdx", &route_data.road_camera);
+  build_camera_index(segments, route_data, &SegmentLogs::dcamera, "driverEncodeIdx", &route_data.driver_camera);
+  build_camera_index(segments, route_data, &SegmentLogs::ecamera, "wideRoadEncodeIdx", &route_data.wide_road_camera);
+  build_camera_index(segments, route_data, &SegmentLogs::qcamera, "qRoadEncodeIdx", &route_data.qroad_camera);
+  stats.load_end = LoadStats::Clock::now();
+  stats.publish(RouteLoadStage::Finished, segments.size(), {});
+  stats.print_summary(route_data.series.size());
+  return route_data;
+}
+
+RouteIdentifier parse_route_identifier(std::string_view route_name) {
+  return make_route_identifier(parse_route_selection(std::string(route_name)), {});
+}
+
+std::vector<std::string> available_dbc_names() {
+  return available_dbc_names_impl();
+}
+
+std::optional<dbc::Database> load_dbc_by_name(const std::string &dbc_name) {
+  if (dbc_name.empty()) {
+    return std::nullopt;
+  }
+  try {
+    return std::optional<dbc::Database>(std::in_place, resolve_dbc_path(dbc_name));
+  } catch (...) {
+    return std::nullopt;
+  }
+}
+
+std::vector<RouteSeries> decode_can_messages(const std::vector<CanMessageData> &can_messages,
+                                             const std::string &dbc_name,
+                                             std::unordered_map<std::string, EnumInfo> *enum_info) {
+  if (enum_info != nullptr) {
+    enum_info->clear();
+  }
+  const std::optional<dbc::Database> can_dbc = load_dbc_by_name(dbc_name);
+  if (!can_dbc.has_value()) {
+    return {};
+  }
+
+  SeriesAccumulator series;
+  for (const CanMessageData &message : can_messages) {
+    const char *service_name = message.id.service == CanServiceKind::Can ? "can" : "sendcan";
+    for (const CanFrameSample &sample : message.samples) {
+      decode_can_frame(&*can_dbc,
+                       service_name,
+                       message.id.bus,
+                       message.id.address,
+                       reinterpret_cast<const uint8_t *>(sample.data.data()),
+                       sample.data.size(),
+                       sample.mono_time,
+                       &series);
+    }
+  }
+  if (enum_info != nullptr) {
+    *enum_info = std::move(series.enum_info);
+  }
+  return collect_series(std::move(series));
+}
diff --git a/tools/jotpluggler/stream.cc b/tools/jotpluggler/stream.cc
new file mode 100644
index 00000000000..fcfa6585bbf
--- /dev/null
+++ b/tools/jotpluggler/stream.cc
@@ -0,0 +1,207 @@
+#include "tools/jotpluggler/internal.h"
+
+#include <tuple>
+
+template <typename Cmp, typename SeriesAccessor, typename LogAccessor>
+std::optional<double> stream_batch_extreme_time(const StreamExtractBatch &batch,
+                                                Cmp cmp,
+                                                SeriesAccessor series_time,
+                                                LogAccessor log_time_fn) {
+  std::optional<double> result;
+  for (const RouteSeries &series : batch.series) {
+    if (!series.times.empty()) {
+      const double t = series_time(series);
+      result = result.has_value() ? cmp(*result, t) : t;
+    }
+  }
+  if (!batch.logs.empty()) {
+    const double t = log_time_fn(batch);
+    result = result.has_value() ? cmp(*result, t) : t;
+  }
+  if (!batch.timeline.empty()) {
+    const double t = cmp(batch.timeline.front().start_time, batch.timeline.back().end_time);
+    result = result.has_value() ? cmp(*result, t) : t;
+  }
+  for (const CanMessageData &message : batch.can_messages) {
+    if (!message.samples.empty()) {
+      const double t = cmp(message.samples.front().mono_time, message.samples.back().mono_time);
+      result = result.has_value() ? cmp(*result, t) : t;
+    }
+  }
+  return result;
+}
+
+std::optional<double> earliest_stream_batch_time(const StreamExtractBatch &batch) {
+  return stream_batch_extreme_time(batch,
+    [](double a, double b) { return std::min(a, b); },
+    [](const RouteSeries &s) { return s.times.front(); },
+    [](const StreamExtractBatch &b) { return b.logs.front().mono_time; });
+}
+
+std::optional<double> latest_stream_batch_time(const StreamExtractBatch &batch) {
+  return stream_batch_extreme_time(batch,
+    [](double a, double b) { return std::max(a, b); },
+    [](const RouteSeries &s) { return s.times.back(); },
+    [](const StreamExtractBatch &b) { return b.logs.back().mono_time; });
+}
+
+bool layout_has_custom_curves(const SketchLayout &layout) {
+  for (const WorkspaceTab &tab : layout.tabs) {
+    for (const Pane &pane : tab.panes) {
+      for (const Curve &curve : pane.curves) {
+        if (curve.custom_python.has_value()) return true;
+      }
+    }
+  }
+  return false;
+}
+
+void append_stream_timeline_entries(std::vector<TimelineEntry> *timeline, std::vector<TimelineEntry> entries) {
+  for (TimelineEntry &entry : entries) {
+    if (!timeline->empty() && timeline->back().type == entry.type) {
+      timeline->back().end_time = std::max(timeline->back().end_time, entry.end_time);
+    } else {
+      timeline->push_back(std::move(entry));
+    }
+  }
+}
+
+bool can_message_less(const CanMessageData &a, const CanMessageData &b) {
+  return std::make_tuple(a.id.service, a.id.bus, a.id.address)
+       < std::make_tuple(b.id.service, b.id.bus, b.id.address);
+}
+
+void apply_stream_batch(AppSession *session, UiState *state, StreamExtractBatch batch) {
+  if (batch.has_time_offset) {
+    session->stream_time_offset = batch.time_offset;
+  }
+  if (!batch.car_fingerprint.empty()) {
+    session->route_data.car_fingerprint = batch.car_fingerprint;
+  }
+  if (!batch.dbc_name.empty()) {
+    session->route_data.dbc_name = batch.dbc_name;
+  }
+  if (!batch.enum_info.empty()) {
+    for (auto &[path, info] : batch.enum_info) {
+      session->route_data.enum_info[path] = std::move(info);
+    }
+  }
+
+  bool new_paths = false;
+  std::vector<RouteSeries> new_series;
+  std::vector<std::string> touched_paths;
+  touched_paths.reserve(batch.series.size());
+  for (RouteSeries &incoming : batch.series) {
+    touched_paths.push_back(incoming.path);
+    auto existing_it = session->series_by_path.find(incoming.path);
+    if (existing_it == session->series_by_path.end()) {
+      new_series.push_back(std::move(incoming));
+      new_paths = true;
+      continue;
+    }
+    RouteSeries &existing = *existing_it->second;
+    existing.times.insert(existing.times.end(), incoming.times.begin(), incoming.times.end());
+    existing.values.insert(existing.values.end(), incoming.values.begin(), incoming.values.end());
+  }
+  for (RouteSeries &series : new_series) {
+    session->route_data.paths.push_back(series.path);
+    session->route_data.series.push_back(std::move(series));
+  }
+
+  if (!batch.logs.empty()) {
+    std::sort(batch.logs.begin(), batch.logs.end(), [](const LogEntry &a, const LogEntry &b) {
+      return a.mono_time < b.mono_time;
+    });
+    const size_t old_size = session->route_data.logs.size();
+    session->route_data.logs.insert(session->route_data.logs.end(),
+                                    std::make_move_iterator(batch.logs.begin()),
+                                    std::make_move_iterator(batch.logs.end()));
+    if (old_size > 0 && session->route_data.logs.size() > old_size
+        && session->route_data.logs[old_size - 1].mono_time > session->route_data.logs[old_size].mono_time) {
+      std::inplace_merge(session->route_data.logs.begin(),
+                         session->route_data.logs.begin() + static_cast<ptrdiff_t>(old_size),
+                         session->route_data.logs.end(),
+                         [](const LogEntry &a, const LogEntry &b) {
+                           return a.mono_time < b.mono_time;
+                         });
+    }
+  }
+  if (!batch.timeline.empty()) {
+    append_stream_timeline_entries(&session->route_data.timeline, std::move(batch.timeline));
+  }
+
+  for (CanMessageData &incoming : batch.can_messages) {
+    auto it = std::lower_bound(session->route_data.can_messages.begin(),
+                               session->route_data.can_messages.end(),
+                               incoming,
+                               can_message_less);
+    if (it == session->route_data.can_messages.end()
+        || can_message_less(incoming, *it)
+        || can_message_less(*it, incoming)) {
+      session->route_data.can_messages.insert(it, std::move(incoming));
+    } else {
+      it->samples.insert(it->samples.end(),
+                         std::make_move_iterator(incoming.samples.begin()),
+                         std::make_move_iterator(incoming.samples.end()));
+    }
+  }
+
+  if (new_paths) {
+    const size_t old_path_count = session->route_data.paths.size() - new_series.size();
+    std::sort(session->route_data.paths.begin() + static_cast<ptrdiff_t>(old_path_count), session->route_data.paths.end());
+    std::inplace_merge(session->route_data.paths.begin(),
+                       session->route_data.paths.begin() + static_cast<ptrdiff_t>(old_path_count),
+                       session->route_data.paths.end());
+    const size_t old_series_count = session->route_data.series.size() - new_series.size();
+    auto series_cmp = [](const RouteSeries &a, const RouteSeries &b) { return a.path < b.path; };
+    std::sort(session->route_data.series.begin() + static_cast<ptrdiff_t>(old_series_count),
+              session->route_data.series.end(), series_cmp);
+    std::inplace_merge(session->route_data.series.begin(),
+                       session->route_data.series.begin() + static_cast<ptrdiff_t>(old_series_count),
+                       session->route_data.series.end(), series_cmp);
+    session->route_data.roots = collect_route_roots_for_paths(session->route_data.paths);
+    rebuild_route_index(session);
+    rebuild_browser_nodes(session, state);
+    state->browser_nodes_dirty = false;
+  } else {
+    for (const std::string &path : touched_paths) {
+      auto series_it = session->series_by_path.find(path);
+      if (series_it == session->series_by_path.end() || series_it->second == nullptr) continue;
+      const bool enum_like = session->route_data.enum_info.find(path) != session->route_data.enum_info.end();
+      session->route_data.series_formats[path] = compute_series_format(series_it->second->values, enum_like);
+    }
+  }
+  const std::optional<double> earliest_time = earliest_stream_batch_time(batch);
+  const std::optional<double> latest_time = latest_stream_batch_time(batch);
+  if (earliest_time.has_value() && latest_time.has_value()) {
+    if (!session->route_data.has_time_range) {
+      session->route_data.x_min = *earliest_time;
+      session->route_data.x_max = *latest_time;
+    } else {
+      session->route_data.x_min = std::min(session->route_data.x_min, *earliest_time);
+      session->route_data.x_max = std::max(session->route_data.x_max, *latest_time);
+    }
+    session->route_data.has_time_range = true;
+  }
+
+  if (new_paths
+      || std::find(touched_paths.begin(), touched_paths.end(), "/gpsLocationExternal/latitude") != touched_paths.end()
+      || std::find(touched_paths.begin(), touched_paths.end(), "/gpsLocationExternal/longitude") != touched_paths.end()
+      || std::find(touched_paths.begin(), touched_paths.end(), "/gpsLocationExternal/hasFix") != touched_paths.end()
+      || std::find(touched_paths.begin(), touched_paths.end(), "/gpsLocationExternal/bearingDeg") != touched_paths.end()) {
+    rebuild_gps_trace(&session->route_data);
+  }
+
+  if (latest_time.has_value() && layout_has_custom_curves(session->layout)
+      && *latest_time >= session->next_stream_custom_refresh_time) {
+    refresh_all_custom_curves(session, state);
+    session->next_stream_custom_refresh_time = *latest_time + 0.1;
+  }
+  if (state->follow_latest || !state->has_tracker_time) {
+    state->tracker_time = session->route_data.x_max;
+    state->has_tracker_time = session->route_data.has_time_range;
+  }
+  if (!state->has_shared_range) {
+    reset_shared_range(state, *session);
+  }
+}
diff --git a/tools/jotpluggler/util.cc b/tools/jotpluggler/util.cc
new file mode 100644
index 00000000000..5c20e795f6b
--- /dev/null
+++ b/tools/jotpluggler/util.cc
@@ -0,0 +1,59 @@
+#include "tools/jotpluggler/util.h"
+
+#include <cstdio>
+#include <cstdlib>
+#include <stdexcept>
+#include <sys/wait.h>
+
+std::string read_file_or_throw(const std::filesystem::path &path) {
+  const std::string contents = util::read_file(path.string());
+  if (!contents.empty() || std::filesystem::exists(path)) {
+    return contents;
+  }
+  throw std::runtime_error("Failed to read " + path.string());
+}
+
+void write_file_or_throw(const std::filesystem::path &path, const void *data, size_t size) {
+  ensure_parent_dir(path);
+  const std::string path_string = path.string();
+  const void *bytes = size == 0 ? static_cast<const void *>("") : data;
+  if (util::write_file(path_string.c_str(), bytes, size, O_WRONLY | O_CREAT | O_TRUNC) != 0) {
+    throw std::runtime_error("Failed to write " + path_string);
+  }
+}
+
+void write_file_or_throw(const std::filesystem::path &path, std::string_view contents) {
+  write_file_or_throw(path, contents.data(), contents.size());
+}
+
+void run_system_or_throw(const std::string &command, std::string_view action) {
+  const int ret = std::system(command.c_str());
+  if (ret != 0) {
+    throw std::runtime_error(util::string_format("%.*s failed with exit code %d",
+                                                 static_cast<int>(action.size()), action.data(), ret));
+  }
+}
+
+CommandResult run_process_capture_output(const std::vector<std::string> &args) {
+  std::string command;
+  for (const std::string &arg : args) {
+    if (!command.empty()) command += ' ';
+    command += shell_quote(arg);
+  }
+  command += " 2>&1";
+
+  FILE *pipe = popen(command.c_str(), "r");
+  if (pipe == nullptr) {
+    throw std::runtime_error("popen() failed");
+  }
+
+  CommandResult result;
+  std::array<char, 4096> buf = {};
+  while (fgets(buf.data(), static_cast<int>(buf.size()), pipe) != nullptr) {
+    result.output += buf.data();
+  }
+
+  const int status = pclose(pipe);
+  result.exit_code = WIFEXITED(status) ? WEXITSTATUS(status) : 1;
+  return result;
+}
diff --git a/tools/jotpluggler/util.h b/tools/jotpluggler/util.h
new file mode 100644
index 00000000000..ea77a236f0e
--- /dev/null
+++ b/tools/jotpluggler/util.h
@@ -0,0 +1,103 @@
+#pragma once
+
+#include "common/util.h"
+#include "imgui.h"
+
+#include <algorithm>
+#include <array>
+#include <cctype>
+#include <cstddef>
+#include <cstdint>
+#include <filesystem>
+#include <string>
+#include <string_view>
+#include <vector>
+
+inline ImVec4 color_rgb(int r, int g, int b, float alpha = 1.0f) {
+  return ImVec4(static_cast<float>(r) / 255.0f,
+                static_cast<float>(g) / 255.0f,
+                static_cast<float>(b) / 255.0f,
+                alpha);
+}
+
+inline ImVec4 color_rgb(const std::array<uint8_t, 3> &color, float alpha = 1.0f) {
+  return color_rgb(color[0], color[1], color[2], alpha);
+}
+
+inline std::string lowercase_copy(std::string_view value) {
+  std::string out(value);
+  std::transform(out.begin(), out.end(), out.begin(), [](unsigned char c) {
+    return static_cast<char>(std::tolower(c));
+  });
+  return out;
+}
+
+inline int imgui_resize_callback(ImGuiInputTextCallbackData *data) {
+  if (data->EventFlag != ImGuiInputTextFlags_CallbackResize || data->UserData == nullptr) return 0;
+  auto *text = static_cast<std::string *>(data->UserData);
+  text->resize(static_cast<size_t>(data->BufTextLen));
+  data->Buf = text->data();
+  return 0;
+}
+
+inline bool input_text_string(const char *label,
+                              std::string *text,
+                              ImGuiInputTextFlags flags = 0) {
+  flags |= ImGuiInputTextFlags_CallbackResize;
+  return ImGui::InputText(label, text->data(), text->capacity() + 1,
+                          flags, imgui_resize_callback, text);
+}
+
+inline bool input_text_with_hint_string(const char *label,
+                                        const char *hint,
+                                        std::string *text,
+                                        ImGuiInputTextFlags flags = 0) {
+  flags |= ImGuiInputTextFlags_CallbackResize;
+  return ImGui::InputTextWithHint(label, hint, text->data(), text->capacity() + 1,
+                                  flags, imgui_resize_callback, text);
+}
+
+inline bool input_text_multiline_string(const char *label,
+                                        std::string *text,
+                                        const ImVec2 &size = ImVec2(0.0f, 0.0f),
+                                        ImGuiInputTextFlags flags = 0) {
+  flags |= ImGuiInputTextFlags_CallbackResize;
+  return ImGui::InputTextMultiline(label, text->data(), text->capacity() + 1,
+                                   size, flags, imgui_resize_callback, text);
+}
+
+inline bool is_local_stream_address(std::string_view address) {
+  return address.empty() || address == "127.0.0.1" || address == "localhost";
+}
+
+inline void ensure_parent_dir(const std::filesystem::path &path) {
+  if (path.has_parent_path()) {
+    std::filesystem::create_directories(path.parent_path());
+  }
+}
+
+inline std::string shell_quote(std::string_view value) {
+  std::string quoted;
+  quoted.reserve(value.size() + 8);
+  quoted.push_back('\'');
+  for (char c : value) {
+    if (c == '\'') {
+      quoted += "'\\''";
+    } else {
+      quoted.push_back(c);
+    }
+  }
+  quoted.push_back('\'');
+  return quoted;
+}
+
+struct CommandResult {
+  int exit_code = 0;
+  std::string output;
+};
+
+std::string read_file_or_throw(const std::filesystem::path &path);
+void write_file_or_throw(const std::filesystem::path &path, std::string_view contents);
+void write_file_or_throw(const std::filesystem::path &path, const void *data, size_t size);
+void run_system_or_throw(const std::string &command, std::string_view action);
+CommandResult run_process_capture_output(const std::vector<std::string> &args);
diff --git a/tools/jotpluggler/views.py b/tools/jotpluggler/views.py
deleted file mode 100644
index 1c4d9a8f3c0..00000000000
--- a/tools/jotpluggler/views.py
+++ /dev/null
@@ -1,294 +0,0 @@
-import uuid
-import threading
-import numpy as np
-from collections import deque
-import dearpygui.dearpygui as dpg
-from abc import ABC, abstractmethod
-
-
-class ViewPanel(ABC):
-  """Abstract base class for all view panels that can be displayed in a plot container"""
-
-  def __init__(self, panel_id: str = None):
-    self.panel_id = panel_id or str(uuid.uuid4())
-    self.title = "Untitled Panel"
-
-  @abstractmethod
-  def clear(self):
-    pass
-
-  @abstractmethod
-  def create_ui(self, parent_tag: str):
-    pass
-
-  @abstractmethod
-  def destroy_ui(self):
-    pass
-
-  @abstractmethod
-  def get_panel_type(self) -> str:
-    pass
-
-  @abstractmethod
-  def update(self):
-    pass
-
-  @abstractmethod
-  def to_dict(self) -> dict:
-    pass
-
-  @classmethod
-  @abstractmethod
-  def load_from_dict(cls, data: dict, data_manager, playback_manager, worker_manager):
-    pass
-
-
-class TimeSeriesPanel(ViewPanel):
-  def __init__(self, data_manager, playback_manager, worker_manager, panel_id: str | None = None):
-    super().__init__(panel_id)
-    self.data_manager = data_manager
-    self.playback_manager = playback_manager
-    self.worker_manager = worker_manager
-    self.title = "Time Series Plot"
-    self.plot_tag = f"plot_{self.panel_id}"
-    self.x_axis_tag = f"{self.plot_tag}_x_axis"
-    self.y_axis_tag = f"{self.plot_tag}_y_axis"
-    self.timeline_indicator_tag = f"{self.plot_tag}_timeline"
-    self._ui_created = False
-    self._series_data: dict[str, tuple[np.ndarray, np.ndarray]] = {}
-    self._last_plot_duration = 0
-    self._update_lock = threading.RLock()
-    self._results_deque: deque[tuple[str, list, list]] = deque()
-    self._new_data = False
-    self._last_x_limits = (0.0, 0.0)
-    self._queued_x_sync: tuple | None = None
-    self._queued_reallow_x_zoom = False
-    self._total_segments = self.playback_manager.num_segments
-
-  def to_dict(self) -> dict:
-    return {
-      "type": "timeseries",
-      "title": self.title,
-      "series_paths": list(self._series_data.keys())
-    }
-
-  @classmethod
-  def load_from_dict(cls, data: dict, data_manager, playback_manager, worker_manager):
-    panel = cls(data_manager, playback_manager, worker_manager)
-    panel.title = data.get("title", "Time Series Plot")
-    panel._series_data = {path: (np.array([]), np.array([])) for path in data.get("series_paths", [])}
-    return panel
-
-  def create_ui(self, parent_tag: str):
-    self.data_manager.add_observer(self.on_data_loaded)
-    self.playback_manager.add_x_axis_observer(self._on_x_axis_sync)
-    with dpg.plot(height=-1, width=-1, tag=self.plot_tag, parent=parent_tag, drop_callback=self._on_series_drop, payload_type="TIMESERIES_PAYLOAD"):
-      dpg.add_plot_legend()
-      dpg.add_plot_axis(dpg.mvXAxis, no_label=True, tag=self.x_axis_tag)
-      dpg.add_plot_axis(dpg.mvYAxis, no_label=True, tag=self.y_axis_tag)
-      timeline_series_tag = dpg.add_inf_line_series(x=[0], label="Timeline", parent=self.y_axis_tag, tag=self.timeline_indicator_tag)
-      dpg.bind_item_theme(timeline_series_tag, "timeline_theme")
-
-    self._new_data = True
-    self._queued_x_sync = self.playback_manager.x_axis_bounds
-    self._ui_created = True
-
-  def update(self):
-    with self._update_lock:
-      if not self._ui_created:
-        return
-
-      if self._queued_x_sync:
-        min_time, max_time = self._queued_x_sync
-        self._queued_x_sync = None
-        dpg.set_axis_limits(self.x_axis_tag, min_time, max_time)
-        self._last_x_limits = (min_time, max_time)
-        self._fit_y_axis(min_time, max_time)
-        self._queued_reallow_x_zoom = True # must wait a frame before allowing user changes so that axis limits take effect
-        return
-
-      if self._queued_reallow_x_zoom:
-        self._queued_reallow_x_zoom = False
-        if tuple(dpg.get_axis_limits(self.x_axis_tag)) == self._last_x_limits:
-          dpg.set_axis_limits_auto(self.x_axis_tag)
-        else:
-          self._queued_x_sync = self._last_x_limits # retry, likely too early
-          return
-
-      if self._new_data:  # handle new data in main thread
-        self._new_data = False
-        if self._total_segments > 0:
-          dpg.set_axis_limits_constraints(self.x_axis_tag, -10, self._total_segments * 60 + 10)
-        self._fit_y_axis(*dpg.get_axis_limits(self.x_axis_tag))
-        for series_path in list(self._series_data.keys()):
-          self.add_series(series_path, update=True)
-
-      current_limits = dpg.get_axis_limits(self.x_axis_tag)
-      # downsample if plot zoom changed significantly
-      plot_duration = current_limits[1] - current_limits[0]
-      if plot_duration > self._last_plot_duration * 2 or plot_duration < self._last_plot_duration * 0.5:
-        self._downsample_all_series(plot_duration)
-      # sync x-axis if changed by user
-      if self._last_x_limits != current_limits:
-        self.playback_manager.set_x_axis_bounds(current_limits[0], current_limits[1], source_panel=self)
-        self._last_x_limits = current_limits
-        self._fit_y_axis(current_limits[0], current_limits[1])
-
-      while self._results_deque:  # handle downsampled results in main thread
-        results = self._results_deque.popleft()
-        for series_path, downsampled_time, downsampled_values in results:
-          series_tag = f"series_{self.panel_id}_{series_path}"
-          if dpg.does_item_exist(series_tag):
-            dpg.set_value(series_tag, (downsampled_time, downsampled_values.astype(float)))
-
-      # update timeline
-      current_time_s = self.playback_manager.current_time_s
-      dpg.set_value(self.timeline_indicator_tag, [[current_time_s], [0]])
-
-      # update timeseries legend label
-      for series_path, (time_array, value_array) in self._series_data.items():
-        position = np.searchsorted(time_array, current_time_s, side='right') - 1
-        if position >= 0 and (current_time_s - time_array[position]) <= 1.0:
-          value = value_array[position]
-          formatted_value = f"{value:.5f}" if np.issubdtype(type(value), np.floating) else str(value)
-          series_tag = f"series_{self.panel_id}_{series_path}"
-          if dpg.does_item_exist(series_tag):
-            dpg.configure_item(series_tag, label=f"{series_path}: {formatted_value}")
-
-  def _on_x_axis_sync(self, min_time: float, max_time: float, source_panel):
-    with self._update_lock:
-      if source_panel != self:
-        self._queued_x_sync = (min_time, max_time)
-
-  def _fit_y_axis(self, x_min: float, x_max: float):
-    if not self._series_data:
-      dpg.set_axis_limits(self.y_axis_tag, -1, 1)
-      return
-
-    global_min = float('inf')
-    global_max = float('-inf')
-    found_data = False
-
-    for time_array, value_array in self._series_data.values():
-      if len(time_array) == 0:
-        continue
-      start_idx, end_idx = np.searchsorted(time_array, [x_min, x_max])
-      end_idx = min(end_idx, len(time_array) - 1)
-      if start_idx <= end_idx:
-        y_slice = value_array[start_idx:end_idx + 1]
-        series_min, series_max = np.min(y_slice), np.max(y_slice)
-        global_min = min(global_min, series_min)
-        global_max = max(global_max, series_max)
-        found_data = True
-
-    if not found_data:
-      dpg.set_axis_limits(self.y_axis_tag, -1, 1)
-      return
-
-    if global_min == global_max:
-      padding = max(abs(global_min) * 0.1, 1.0)
-      y_min, y_max = global_min - padding, global_max + padding
-    else:
-      range_size = global_max - global_min
-      padding = range_size * 0.1
-      y_min, y_max = global_min - padding, global_max + padding
-
-    dpg.set_axis_limits(self.y_axis_tag, y_min, y_max)
-
-  def _downsample_all_series(self, plot_duration):
-    plot_width = dpg.get_item_rect_size(self.plot_tag)[0]
-    if plot_width <= 0 or plot_duration <= 0:
-      return
-
-    self._last_plot_duration = plot_duration
-    target_points_per_second = plot_width / plot_duration
-    work_items = []
-    for series_path, (time_array, value_array) in self._series_data.items():
-      if len(time_array) == 0:
-        continue
-      series_duration = time_array[-1] - time_array[0] if len(time_array) > 1 else 1
-      points_per_second = len(time_array) / series_duration
-      if points_per_second > target_points_per_second * 2:
-        target_points = max(int(target_points_per_second * series_duration), plot_width)
-        work_items.append((series_path, time_array, value_array, target_points))
-      elif dpg.does_item_exist(f"series_{self.panel_id}_{series_path}"):
-        dpg.set_value(f"series_{self.panel_id}_{series_path}", (time_array, value_array.astype(float)))
-
-    if work_items:
-      self.worker_manager.submit_task(
-        TimeSeriesPanel._downsample_worker, work_items, callback=lambda results: self._results_deque.append(results), task_id=f"downsample_{self.panel_id}"
-      )
-
-  def add_series(self, series_path: str, update: bool = False):
-    with self._update_lock:
-      if update or series_path not in self._series_data:
-        self._series_data[series_path] = self.data_manager.get_timeseries(series_path)
-
-      time_array, value_array = self._series_data[series_path]
-      series_tag = f"series_{self.panel_id}_{series_path}"
-      if dpg.does_item_exist(series_tag):
-        dpg.set_value(series_tag, (time_array, value_array.astype(float)))
-      else:
-        line_series_tag = dpg.add_line_series(x=time_array, y=value_array.astype(float), label=series_path, parent=self.y_axis_tag, tag=series_tag)
-        dpg.bind_item_theme(line_series_tag, "line_theme")
-      self._fit_y_axis(*dpg.get_axis_limits(self.x_axis_tag))
-      plot_duration = dpg.get_axis_limits(self.x_axis_tag)[1] - dpg.get_axis_limits(self.x_axis_tag)[0]
-      self._downsample_all_series(plot_duration)
-
-  def destroy_ui(self):
-    with self._update_lock:
-      self.data_manager.remove_observer(self.on_data_loaded)
-      self.playback_manager.remove_x_axis_observer(self._on_x_axis_sync)
-      if dpg.does_item_exist(self.plot_tag):
-        dpg.delete_item(self.plot_tag)
-      self._ui_created = False
-
-  def get_panel_type(self) -> str:
-    return "timeseries"
-
-  def clear(self):
-    with self._update_lock:
-      for series_path in list(self._series_data.keys()):
-        self.remove_series(series_path)
-
-  def remove_series(self, series_path: str):
-    with self._update_lock:
-      if series_path in self._series_data:
-        if dpg.does_item_exist(f"series_{self.panel_id}_{series_path}"):
-          dpg.delete_item(f"series_{self.panel_id}_{series_path}")
-        del self._series_data[series_path]
-
-  def on_data_loaded(self, data: dict):
-    with self._update_lock:
-      self._new_data = True
-      if data.get('metadata_loaded'):
-        self._total_segments = data.get('total_segments', 0)
-        limits = (-10, self._total_segments * 60 + 10)
-        self._queued_x_sync = limits
-
-  def _on_series_drop(self, sender, app_data, user_data):
-    self.add_series(app_data)
-
-  @staticmethod
-  def _downsample_worker(series_path, time_array, value_array, target_points):
-    if len(time_array) <= target_points:
-      return series_path, time_array, value_array
-
-    step = len(time_array) / target_points
-    indices = []
-
-    for i in range(target_points):
-      start_idx = int(i * step)
-      end_idx = int((i + 1) * step)
-      if start_idx == end_idx:
-        indices.append(start_idx)
-      else:
-        bucket_values = value_array[start_idx:end_idx]
-        min_idx = start_idx + np.argmin(bucket_values)
-        max_idx = start_idx + np.argmax(bucket_values)
-        if min_idx != max_idx:
-          indices.extend([min(min_idx, max_idx), max(min_idx, max_idx)])
-        else:
-          indices.append(min_idx)
-    indices = sorted(set(indices))
-    return series_path, time_array[indices], value_array[indices]
diff --git a/tools/lateral_maneuvers/.gitignore b/tools/lateral_maneuvers/.gitignore
new file mode 100644
index 00000000000..a0b6efe6b3f
--- /dev/null
+++ b/tools/lateral_maneuvers/.gitignore
@@ -0,0 +1 @@
+/lateral_reports/
diff --git a/tools/lateral_maneuvers/README.md b/tools/lateral_maneuvers/README.md
new file mode 100644
index 00000000000..3a54bc74099
--- /dev/null
+++ b/tools/lateral_maneuvers/README.md
@@ -0,0 +1,42 @@
+# Lateral Maneuvers Testing Tool
+
+> [!WARNING]
+> Use caution when using this tool.
+
+Test your vehicle's lateral control tuning with this tool. The tool will test the vehicle's ability to follow a few lateral maneuvers and includes a tool to generate a report from the route.
+
+## Instructions
+
+1. Check out a development branch such as `master` on your comma device.
+2. The full maneuver suite runs at 20 and 30 mph.
+3. Enable "Lateral Maneuver Mode" in Settings > Developer on the device while offroad. Alternatively, set the parameter manually:
+
+   ```sh
+   echo -n 1 > /data/params/d/LateralManeuverMode
+   ```
+
+4. Turn your vehicle back on. You will see "Lateral Maneuver Mode".
+
+5. Ensure the area ahead is clear, as openpilot will command lateral acceleration steps in this mode. Once you are ready, set ACC manually to the target speed shown on screen and let openpilot stabilize lateral. After 1 seconds of steady straight driving, the maneuver will begin automatically. openpilot lateral control stays engaged between maneuvers normally while waiting for the next maneuver's readiness conditions. The maneuver will be aborted and repeated if speed is out of range, steering is touched or openpilot disengages.
+
+6. When the testing is complete, you'll see an alert that says "Maneuvers Finished." Complete the route by pulling over and turning off the vehicle.
+
+7. Visit https://connect.comma.ai and locate the route(s). They will stand out with lots of orange intervals in their timeline. Ensure "All logs" show as "uploaded."
+
+   ![image](https://github.com/user-attachments/assets/cfe4c6d9-752f-4b24-b421-4b90a01933dc)
+
+8. Gather the route ID and then run the report generator. The file will be exported to the same directory:
+
+    ```sh
+    $ python tools/lateral_maneuvers/generate_report.py 98395b7c5b27882e/000001cc--5a73bde686
+
+    processing report for KIA_EV6
+    plotting maneuver: step right 20mph, runs: 3
+    plotting maneuver: step left 20mph, runs: 3
+    plotting maneuver: sine 0.5Hz 20mph, runs: 3
+    plotting maneuver: step right 30mph, runs: 3
+
+    Opening report: /home/batman/openpilot/tools/lateral_maneuvers/lateral_reports/KIA_EV6_98395b7c5b27882e_000001cc--5a73bde686.html
+    ```
+
+You can reach out on [Discord](https://discord.comma.ai) if you have any questions about these instructions or the tool itself.
diff --git a/tools/lateral_maneuvers/generate_report.py b/tools/lateral_maneuvers/generate_report.py
new file mode 100755
index 00000000000..9a6fe1b979a
--- /dev/null
+++ b/tools/lateral_maneuvers/generate_report.py
@@ -0,0 +1,249 @@
+#!/usr/bin/env python3
+import argparse
+import base64
+import io
+import math
+import numpy as np
+import os
+import webbrowser
+from collections import defaultdict
+from pathlib import Path
+import matplotlib.pyplot as plt
+from openpilot.common.utils import tabulate
+
+from cereal import car
+from openpilot.common.filter_simple import FirstOrderFilter
+from openpilot.selfdrive.controls.lib.latcontrol_torque import LP_FILTER_CUTOFF_HZ
+from openpilot.tools.lib.logreader import LogReader
+from openpilot.system.hardware.hw import Paths
+from openpilot.common.constants import CV
+from openpilot.tools.longitudinal_maneuvers.generate_report import format_car_params
+
+
+def lat_accel(curvature, v):
+  return curvature * max(v, 1.0) ** 2
+
+
+def report(platform, route, _description, CP, ID, maneuvers):
+  output_path = Path(__file__).resolve().parent / "lateral_reports"
+  output_fn = output_path / f"{platform}_{route.replace('/', '_')}.html"
+  output_path.mkdir(exist_ok=True)
+  target_cross_times = defaultdict(list)
+
+  builder = [
+    "<style>summary { cursor: pointer; }\n td, th { padding: 8px; } </style>\n",
+    "<h1>Lateral maneuver report</h1>\n",
+    f"<h3>{platform}</h3>\n",
+    f"<h3>{route}</h3>\n",
+    f"<h3>{ID.gitCommit}, {ID.gitBranch}, {ID.gitRemote}</h3>\n",
+  ]
+  if _description is not None:
+    builder.append(f"<h3>Description: {_description}</h3>\n")
+  builder.append(f"<details><summary><h3 style='display: inline-block;'>CarParams</h3></summary><pre>{format_car_params(CP)}</pre></details>\n")
+  builder.append('{ summary }')  # to be replaced below
+  for description, runs in maneuvers:
+    # filter incomplete runs
+    completed_runs = [msgs for msgs in runs
+                      if any(m.alertDebug.alertText1 == 'Complete' for m in msgs if m.which() == 'alertDebug')]
+    print(f'plotting maneuver: {description}')
+    if not completed_runs:
+      continue
+    builder.append("<div style='border-top: 1px solid #000; margin: 20px 0;'></div>\n")
+    builder.append(f"<h2>{description}</h2>\n")
+    for run, msgs in enumerate(completed_runs):
+      t_carControl, carControl = zip(*[(m.logMonoTime, m.carControl) for m in msgs if m.which() == 'carControl'], strict=True)
+      t_carState, carState = zip(*[(m.logMonoTime, m.carState) for m in msgs if m.which() == 'carState'], strict=True)
+      t_controlsState, controlsState = zip(*[(m.logMonoTime, m.controlsState) for m in msgs if m.which() == 'controlsState'], strict=True)
+      t_lateralPlan, lateralPlan = zip(*[(m.logMonoTime, m.lateralManeuverPlan) for m in msgs if m.which() == 'lateralManeuverPlan' and m.valid], strict=True)
+      t_carOutput, carOutput = zip(*[(m.logMonoTime, m.carOutput) for m in msgs if m.which() == 'carOutput'], strict=True)
+
+      # make time relative seconds
+      t_carControl = [(t - t_carControl[0]) / 1e9 for t in t_carControl]
+      t_carState = [(t - t_carState[0]) / 1e9 for t in t_carState]
+      t_controlsState = [(t - t_controlsState[0]) / 1e9 for t in t_controlsState]
+      t_lateralPlan = [(t - t_lateralPlan[0]) / 1e9 for t in t_lateralPlan]
+      t_carOutput = [(t - t_carOutput[0]) / 1e9 for t in t_carOutput]
+
+      # maneuver validity
+      latActive = [m.latActive for m in carControl]
+      maneuver_valid = all(latActive) and not any(cs.steeringPressed for cs in carState)
+
+      _open = 'open' if maneuver_valid else ''
+      title = f'Run #{int(run)+1}' + (' <span style="color: red">(invalid maneuver!)</span>' if not maneuver_valid else '')
+
+      builder.append(f"<details {_open}><summary><h3 style='display: inline-block;'>{title}</h3></summary>\n")
+
+      baseline_accel = lat_accel(controlsState[0].curvature, carState[0].vEgo)
+      v_ego = [m.vEgo for m in carState]
+      cross_markers = []
+
+      if description.startswith('sine'):
+        amplitude = max(abs(lat_accel(lp.desiredCurvature, v) - baseline_accel)
+                        for lp, v in zip(lateralPlan, v_ego, strict=False))
+        threshold = amplitude * 0.5
+        builder.append('<h3 style="font-weight: normal">50% peak')
+        for t, cs, v in zip(t_controlsState, controlsState, v_ego, strict=False):
+          actual = lat_accel(cs.curvature, v) - baseline_accel
+          if abs(actual) > threshold:
+            builder.append(f', <strong>crossed in {t:.3f}s</strong>')
+            cross_markers.append((t, actual + baseline_accel))
+            if maneuver_valid:
+              target_cross_times[description].append(t)
+            break
+        else:
+          builder.append(', <strong>not crossed</strong>')
+        builder.append('</h3>')
+        if maneuver_valid:
+          target_cross_times.setdefault(description, [])
+      else:
+        action_targets = [(0, lat_accel(lateralPlan[0].desiredCurvature, v_ego[0]) - baseline_accel)]
+        for i in range(1, min(len(lateralPlan), len(v_ego))):
+          if abs(lateralPlan[i].desiredCurvature - lateralPlan[i - 1].desiredCurvature) > 0.001:
+            desired = lat_accel(lateralPlan[i].desiredCurvature, v_ego[i]) - baseline_accel
+            action_targets.append((i, desired))
+
+        for j, (start_i, act_target) in enumerate(action_targets):
+          start_time = t_lateralPlan[start_i]
+          end_time = t_lateralPlan[action_targets[j + 1][0]] if j + 1 < len(action_targets) else t_controlsState[-1]
+
+          builder.append(f'<h3 style="font-weight: normal">aTarget: {round(act_target, 1)} m/s^2')
+          prev_crossed = False
+          for t, cs, v in zip(t_controlsState, controlsState, v_ego, strict=False):
+            if not (start_time <= t <= end_time):
+              continue
+            actual_accel = lat_accel(cs.curvature, v) - baseline_accel
+            crossed = (0 < act_target < actual_accel) or (0 > act_target > actual_accel)
+            if crossed and prev_crossed:
+              cross_time = t - start_time
+              builder.append(f', <strong>crossed in {cross_time:.3f}s</strong>')
+              cross_markers.append((t, act_target + baseline_accel))
+              if maneuver_valid:
+                target_cross_times[description].append(cross_time)
+              break
+            prev_crossed = crossed
+          else:
+            builder.append(', <strong>not crossed</strong>')
+          builder.append('</h3>')
+          if maneuver_valid:
+            target_cross_times.setdefault(description, [])
+
+      plt.rcParams['font.size'] = 40
+      fig = plt.figure(figsize=(30, 30))
+      ax = fig.subplots(4, 1, sharex=True, gridspec_kw={'height_ratios': [5, 3, 3, 3]})
+
+      ax[0].grid(linewidth=4)
+      desired_lat_accel = [lat_accel(m.desiredCurvature, v) for m, v in zip(lateralPlan, v_ego, strict=False)]
+      if description.startswith('sine'):
+        ax[0].plot(t_lateralPlan[:len(desired_lat_accel)], desired_lat_accel, label='desired lat accel', linewidth=6)
+      else:
+        t_desired = [t_lateralPlan[0]] + t_lateralPlan[:len(desired_lat_accel)]
+        desired_lat_accel = [baseline_accel] + desired_lat_accel
+        ax[0].step(t_desired, desired_lat_accel, label='desired lat accel', linewidth=6, where='post')
+      actual_lat_accel = [lat_accel(cs.curvature, v) for cs, v in zip(controlsState, v_ego, strict=False)]
+      ax[0].plot(t_controlsState[:len(actual_lat_accel)], actual_lat_accel, label='actual lat accel', linewidth=6)
+      ax[0].set_ylabel('Lateral Accel (m/s^2)')
+
+      for ct, cv in cross_markers:
+        ax[0].plot(ct, cv, marker='o', markersize=50, markeredgewidth=7, markeredgecolor='black', markerfacecolor='None')
+
+      ax2 = ax[0].twinx()
+      if CP.steerControlType == car.CarParams.SteerControlType.angle:
+        ax2.plot(t_carOutput, [-m.actuatorsOutput.steeringAngleDeg for m in carOutput], 'C2', label='steer angle', linewidth=6)
+      else:
+        ax2.plot(t_carOutput, [-m.actuatorsOutput.torque for m in carOutput], 'C2', label='steer torque', linewidth=6)
+
+      h1, l1 = ax[0].get_legend_handles_labels()
+      h2, l2 = ax2.get_legend_handles_labels()
+      ax[0].legend(h1 + h2, l1 + l2, prop={'size': 30})
+
+      ax[1].grid(linewidth=4)
+      ax[1].plot(t_carState, [v * CV.MS_TO_MPH for v in v_ego], label='vEgo', linewidth=6)
+      ax[1].set_ylabel('Velocity (mph)')
+      ax[1].yaxis.set_major_formatter(plt.FormatStrFormatter('%.1f'))
+      ax[1].legend()
+
+      t_accel = np.array(t_controlsState[:len(actual_lat_accel)])
+      raw_jerk = np.gradient(actual_lat_accel, t_accel)
+      dt_avg = np.mean(np.diff(t_accel))
+      jerk_filter = FirstOrderFilter(0.0, 1 / (2 * np.pi * LP_FILTER_CUTOFF_HZ), dt_avg)
+      filtered_jerk = [jerk_filter.update(j) for j in raw_jerk]
+      ax[2].grid(linewidth=4)
+      ax[2].plot(t_accel, filtered_jerk, label='actual jerk', linewidth=6)
+      if CP.steerControlType == car.CarParams.SteerControlType.torque:
+        desired_jerk = [cs.lateralControlState.torqueState.desiredLateralJerk for cs in controlsState]
+        ax[2].plot(t_controlsState[:len(controlsState)], desired_jerk, label='desired jerk', linewidth=6)
+      ax[2].set_ylabel('Jerk (m/s^3)')
+      ax[2].legend()
+
+      ax[3].grid(linewidth=4)
+      ax[3].plot(t_carControl, [math.degrees(m.orientationNED[0]) for m in carControl], label='roll', linewidth=6)
+      ax[3].set_ylabel('Roll (deg)')
+      ax[3].legend()
+
+      ax[-1].set_xlabel("Time (s)")
+      fig.tight_layout()
+
+      buffer = io.BytesIO()
+      fig.savefig(buffer, format='webp')
+      plt.close(fig)
+      buffer.seek(0)
+      builder.append(f"<img src='data:image/webp;base64,{base64.b64encode(buffer.getvalue()).decode()}' style='width:100%; max-width:800px;'>\n")
+      builder.append("</details>\n")
+
+  summary = ["<h2>Summary</h2>\n"]
+  cols = ['maneuver', 'crossed', 'mean', 'min', 'max']
+  table = []
+  for description, times in target_cross_times.items():
+    l = [description, len(times)]
+    if len(times):
+      l.extend([round(sum(times) / len(times), 2), round(min(times), 2), round(max(times), 2)])
+    table.append(l)
+  summary.append(tabulate(table, headers=cols, tablefmt='html', numalign='left') + '\n')
+
+  sum_idx = builder.index('{ summary }')
+  builder[sum_idx:sum_idx + 1] = summary
+
+  with open(output_fn, "w") as f:
+    f.write(''.join(builder))
+
+  print(f"\nOpening report: {output_fn}\n")
+  webbrowser.open_new_tab(str(output_fn))
+
+
+if __name__ == '__main__':
+  parser = argparse.ArgumentParser(description='Generate lateral maneuver report from route')
+  parser.add_argument('route', type=str, help='Route name (e.g. 00000000--5f742174be)')
+  parser.add_argument('description', type=str, nargs='?')
+
+  args = parser.parse_args()
+
+  if '/' in args.route or '|' in args.route:
+    lr = LogReader(args.route, only_union_types=True)
+  else:
+    segs = [seg for seg in os.listdir(Paths.log_root()) if args.route in seg]
+    lr = LogReader([os.path.join(Paths.log_root(), seg, 'rlog.zst') for seg in segs], only_union_types=True)
+
+  CP = lr.first('carParams')
+  ID = lr.first('initData')
+  platform = CP.carFingerprint
+  print('processing report for', platform)
+
+  maneuvers: list[tuple[str, list[list]]] = []
+  active_prev = False
+  description_prev = None
+
+  for msg in lr:
+    if msg.which() == 'alertDebug':
+      active = 'Active' in msg.alertDebug.alertText1 or msg.alertDebug.alertText1 == 'Complete'
+      if active and not active_prev:
+        if msg.alertDebug.alertText2 == description_prev:
+          maneuvers[-1][1].append([])
+        else:
+          maneuvers.append((msg.alertDebug.alertText2, [[]]))
+        description_prev = maneuvers[-1][0]
+      active_prev = active
+
+    if active_prev:
+      maneuvers[-1][1][-1].append(msg)
+
+  report(platform, args.route, args.description, CP, ID, maneuvers)
diff --git a/tools/lateral_maneuvers/lateral_maneuversd.py b/tools/lateral_maneuvers/lateral_maneuversd.py
new file mode 100755
index 00000000000..d8a7185410b
--- /dev/null
+++ b/tools/lateral_maneuvers/lateral_maneuversd.py
@@ -0,0 +1,180 @@
+#!/usr/bin/env python3
+import numpy as np
+from dataclasses import dataclass
+
+from cereal import messaging, car
+from openpilot.common.constants import CV
+from openpilot.common.realtime import DT_MDL
+from openpilot.common.params import Params
+from openpilot.common.swaglog import cloudlog
+from openpilot.selfdrive.controls.lib.drive_helpers import MIN_SPEED
+from openpilot.tools.longitudinal_maneuvers.maneuversd import Action, Maneuver as _Maneuver
+
+# thresholds for starting maneuvers
+MAX_SPEED_DEV = 0.7 # deviation in m/s
+MAX_CURV = 0.002 # 500 m radius
+MAX_ROLL = 0.08 # 4.56°
+TIMER = 2.0 # sec stable conditions before starting maneuver
+
+@dataclass
+class Maneuver(_Maneuver):
+  _baseline_curvature: float = 0.0
+
+  def get_accel(self, v_ego: float, lat_active: bool, curvature: float, roll: float) -> float:
+    self._run_completed = False
+    # only start maneuver on straight, flat roads
+    ready = abs(v_ego - self.initial_speed) < MAX_SPEED_DEV and lat_active and abs(curvature) < MAX_CURV and abs(roll) < MAX_ROLL
+    self._ready_cnt = (self._ready_cnt + 1) if ready else max(self._ready_cnt - 1, 0)
+
+    if self._ready_cnt > (TIMER / DT_MDL):
+      if not self._active:
+        self._baseline_curvature = curvature
+      self._active = True
+
+    if not self._active:
+      return 0.0
+
+    return self._step()
+
+  def reset(self):
+    super().reset()
+    self._ready_cnt = 0
+
+
+def _sine_action(amplitude, period, duration):
+  t = np.linspace(0, duration, int(duration / DT_MDL) + 1)
+  a = amplitude * np.sin(2 * np.pi * t / period)
+  return Action(a.tolist(), t.tolist())
+
+
+MANEUVERS = [
+  Maneuver(
+    "step right 20mph",
+    [Action([0.5], [1.0]), Action([-0.5], [1.5])],
+    repeat=2,
+    initial_speed=20. * CV.MPH_TO_MS,
+  ),
+  Maneuver(
+    "step left 20mph",
+    [Action([-0.5], [1.0]), Action([0.5], [1.5])],
+    repeat=2,
+    initial_speed=20. * CV.MPH_TO_MS,
+  ),
+  Maneuver(
+    "sine 0.5Hz 20mph",
+    [_sine_action(1.0, 2.0, 2.0), Action([0.0], [0.5])],
+    repeat=2,
+    initial_speed=20. * CV.MPH_TO_MS,
+  ),
+  Maneuver(
+    "step right 30mph",
+    [Action([0.5], [1.0]), Action([-0.5], [1.5])],
+    repeat=2,
+    initial_speed=30. * CV.MPH_TO_MS,
+  ),
+  Maneuver(
+    "step left 30mph",
+    [Action([-0.5], [1.0]), Action([0.5], [1.5])],
+    repeat=2,
+    initial_speed=30. * CV.MPH_TO_MS,
+  ),
+  Maneuver(
+    "sine 0.5Hz 30mph",
+    [_sine_action(1.0, 2.0, 2.0), Action([0.0], [0.5])],
+    repeat=2,
+    initial_speed=30. * CV.MPH_TO_MS,
+  ),
+]
+
+
+def main():
+  params = Params()
+  cloudlog.info("lateral_maneuversd is waiting for CarParams")
+  messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
+
+  sm = messaging.SubMaster(['carState', 'carControl', 'controlsState', 'selfdriveState', 'modelV2'], poll='modelV2')
+  pm = messaging.PubMaster(['lateralManeuverPlan', 'alertDebug'])
+
+  maneuvers = iter(MANEUVERS)
+  maneuver = None
+  complete_cnt = 0
+  display_holdoff = 0
+  prev_text = ''
+
+  while True:
+    sm.update()
+
+    if maneuver is None:
+      maneuver = next(maneuvers, None)
+
+    alert_msg = messaging.new_message('alertDebug')
+    alert_msg.valid = True
+
+    plan_send = messaging.new_message('lateralManeuverPlan')
+
+    accel = 0
+    v_ego = max(sm['carState'].vEgo, 0)
+    curvature = sm['controlsState'].desiredCurvature
+
+    if complete_cnt > 0:
+      complete_cnt -= 1
+      alert_msg.alertDebug.alertText1 = 'Completed'
+      alert_msg.alertDebug.alertText2 = maneuver.description
+    elif maneuver is not None:
+      # reset maneuver on steering override or out of range speed
+      if sm['carState'].steeringPressed or (maneuver.active and abs(v_ego - maneuver.initial_speed) > MAX_SPEED_DEV):
+        maneuver.reset()
+
+      roll = sm['carControl'].orientationNED[0] if len(sm['carControl'].orientationNED) == 3 else 0.0
+      accel = maneuver.get_accel(v_ego, sm['carControl'].latActive, curvature, roll)
+
+      if maneuver._run_completed:
+        complete_cnt = int(1.0 / DT_MDL)
+        alert_msg.alertDebug.alertText1 = 'Complete'
+        alert_msg.alertDebug.alertText2 = maneuver.description
+      elif maneuver.active:
+        action_remaining = maneuver.actions[maneuver._action_index].time_bp[-1] - maneuver._action_frames * DT_MDL
+        if maneuver.description.startswith('sine'):
+          freq = maneuver.description.split()[1]
+          alert_msg.alertDebug.alertText1 = f'Active sine {freq} {max(action_remaining, 0):.1f}s'
+        else:
+          alert_msg.alertDebug.alertText1 = f'Active {accel:+.1f}m/s² {max(action_remaining, 0):.1f}s'
+        alert_msg.alertDebug.alertText2 = maneuver.description
+      elif not (abs(v_ego - maneuver.initial_speed) < MAX_SPEED_DEV and sm['carControl'].latActive):
+        alert_msg.alertDebug.alertText1 = f'Set speed to {maneuver.initial_speed * CV.MS_TO_MPH:0.0f} mph'
+      elif maneuver._ready_cnt > 0:
+        ready_time = max(TIMER - maneuver._ready_cnt * DT_MDL, 0)
+        alert_msg.alertDebug.alertText1 = f'Starting: {int(ready_time) + 1}'
+        alert_msg.alertDebug.alertText2 = maneuver.description
+      else:
+        curv_ok = abs(curvature) < MAX_CURV
+        reason = 'road not straight' if not curv_ok else 'road not flat'
+        alert_msg.alertDebug.alertText1 = f'Waiting: {reason}'
+        alert_msg.alertDebug.alertText2 = maneuver.description
+    else:
+      alert_msg.alertDebug.alertText1 = 'Maneuvers Finished'
+
+    # prevent flickering text
+    setup = ('Set speed', 'Starting', 'Waiting')
+    text = alert_msg.alertDebug.alertText1
+    same = text == prev_text or (text.startswith('Starting') and prev_text.startswith('Starting'))
+    if not same and text.startswith(setup) and prev_text.startswith(setup) and display_holdoff > 0:
+      alert_msg.alertDebug.alertText1 = prev_text
+      display_holdoff -= 1
+    else:
+      prev_text = text
+      display_holdoff = int(0.5 / DT_MDL) if text.startswith(setup) else 0
+
+    pm.send('alertDebug', alert_msg)
+
+    plan_send.valid = maneuver is not None and maneuver.active and complete_cnt == 0
+    if plan_send.valid:
+      plan_send.lateralManeuverPlan.desiredCurvature = maneuver._baseline_curvature + accel / max(v_ego, MIN_SPEED) ** 2
+    pm.send('lateralManeuverPlan', plan_send)
+
+    if maneuver is not None and maneuver.finished and complete_cnt == 0:
+      maneuver = None
+
+
+if __name__ == "__main__":
+  main()
diff --git a/tools/lib/api.py b/tools/lib/api.py
index c6e2d989141..f84fe758695 100644
--- a/tools/lib/api.py
+++ b/tools/lib/api.py
@@ -1,5 +1,6 @@
 import os
 import requests
+from requests.adapters import HTTPAdapter, Retry
 API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')
 
 # TODO: this should be merged into common.api
@@ -11,6 +12,9 @@ def __init__(self, token=None):
     if token:
       self.session.headers['Authorization'] = 'JWT ' + token
 
+    retries = Retry(total=5, backoff_factor=1, status_forcelist=[500, 502, 503, 504])
+    self.session.mount('https://', HTTPAdapter(max_retries=retries))
+
   def request(self, method, endpoint, **kwargs):
     with self.session.request(method, API_HOST + '/' + endpoint, **kwargs) as resp:
       resp_json = resp.json()
diff --git a/tools/lib/file_downloader.py b/tools/lib/file_downloader.py
new file mode 100755
index 00000000000..5b31a5894cf
--- /dev/null
+++ b/tools/lib/file_downloader.py
@@ -0,0 +1,157 @@
+#!/usr/bin/env python3
+"""
+CLI tool for downloading files and querying the comma API.
+Called by C++ replay/cabana via subprocess.
+
+Subcommands:
+  route-files <route>    - Get route file URLs as JSON
+  download <url>         - Download URL to local cache, print local path
+  devices                - List user's devices as JSON
+  device-routes <did>    - List routes for a device as JSON
+"""
+import argparse
+import hashlib
+import json
+import os
+import sys
+import tempfile
+import shutil
+
+from openpilot.system.hardware.hw import Paths
+from openpilot.tools.lib.api import CommaApi, UnauthorizedError, APIError
+from openpilot.tools.lib.auth_config import get_token
+from openpilot.tools.lib.url_file import URLFile
+
+
+def api_call(func):
+  """Run an API call, outputting JSON result or error to stdout."""
+  try:
+    result = func(CommaApi(get_token()))
+    json.dump(result, sys.stdout)
+  except UnauthorizedError:
+    json.dump({"error": "unauthorized"}, sys.stdout)
+  except APIError as e:
+    error = "not_found" if getattr(e, 'status_code', 0) == 404 else str(e)
+    json.dump({"error": error}, sys.stdout)
+  except Exception as e:
+    json.dump({"error": str(e)}, sys.stdout)
+  sys.stdout.write("\n")
+  sys.stdout.flush()
+
+
+def cache_file_path(url):
+  url_without_query = url.split("?")[0]
+  return os.path.join(Paths.download_cache_root(), hashlib.sha256(url_without_query.encode()).hexdigest())
+
+
+def cmd_route_files(args):
+  api_call(lambda api: api.get(f"v1/route/{args.route}/files"))
+
+
+def cmd_download(args):
+  url = args.url
+  use_cache = not args.no_cache
+
+  if use_cache:
+    local_path = cache_file_path(url)
+    if os.path.exists(local_path):
+      sys.stdout.write(local_path + "\n")
+      sys.stdout.flush()
+      return
+
+  try:
+    # Stream the file in a single HTTP request instead of making
+    # a separate Range request per chunk (which was very slow).
+    pool = URLFile.pool_manager()
+    r = pool.request("GET", url, preload_content=False)
+    if r.status not in (200, 206):
+      sys.stderr.write(f"ERROR:HTTP {r.status}\n")
+      sys.stderr.flush()
+      sys.exit(1)
+
+    total = int(r.headers.get('content-length', 0))
+    if total <= 0:
+      sys.stderr.write("ERROR:File not found or empty\n")
+      sys.stderr.flush()
+      sys.exit(1)
+
+    os.makedirs(Paths.download_cache_root(), exist_ok=True)
+    tmp_fd, tmp_path = tempfile.mkstemp(dir=Paths.download_cache_root())
+    try:
+      downloaded = 0
+      chunk_size = 1024 * 1024
+      with os.fdopen(tmp_fd, 'wb') as f:
+        for data in r.stream(chunk_size):
+          f.write(data)
+          downloaded += len(data)
+          sys.stderr.write(f"PROGRESS:{downloaded}:{total}\n")
+          sys.stderr.flush()
+
+      if use_cache:
+        shutil.move(tmp_path, local_path)
+        sys.stdout.write(local_path + "\n")
+      else:
+        sys.stdout.write(tmp_path + "\n")
+    except Exception:
+      try:
+        os.unlink(tmp_path)
+      except OSError:
+        pass
+      raise
+    finally:
+      r.release_conn()
+
+  except Exception as e:
+    sys.stderr.write(f"ERROR:{e}\n")
+    sys.stderr.flush()
+    sys.exit(1)
+
+  sys.stdout.flush()
+
+
+def cmd_devices(args):
+  api_call(lambda api: api.get("v1/me/devices/"))
+
+
+def cmd_device_routes(args):
+  def fetch(api):
+    if args.preserved:
+      return api.get(f"v1/devices/{args.dongle_id}/routes/preserved")
+    params = {}
+    if args.start is not None:
+      params['start'] = args.start
+    if args.end is not None:
+      params['end'] = args.end
+    return api.get(f"v1/devices/{args.dongle_id}/routes_segments", params=params)
+  api_call(fetch)
+
+
+def main():
+  parser = argparse.ArgumentParser(description="File downloader CLI for openpilot tools")
+  subparsers = parser.add_subparsers(dest="command", required=True)
+
+  p_rf = subparsers.add_parser("route-files")
+  p_rf.add_argument("route")
+  p_rf.set_defaults(func=cmd_route_files)
+
+  p_dl = subparsers.add_parser("download")
+  p_dl.add_argument("url")
+  p_dl.add_argument("--no-cache", action="store_true")
+  p_dl.set_defaults(func=cmd_download)
+
+  p_dev = subparsers.add_parser("devices")
+  p_dev.set_defaults(func=cmd_devices)
+
+  p_dr = subparsers.add_parser("device-routes")
+  p_dr.add_argument("dongle_id")
+  p_dr.add_argument("--start", type=int, default=None)
+  p_dr.add_argument("--end", type=int, default=None)
+  p_dr.add_argument("--preserved", action="store_true")
+  p_dr.set_defaults(func=cmd_device_routes)
+
+  args = parser.parse_args()
+  args.func(args)
+
+
+if __name__ == "__main__":
+  main()
diff --git a/tools/lib/framereader.py b/tools/lib/framereader.py
index 30ce1f80fec..c9236515630 100644
--- a/tools/lib/framereader.py
+++ b/tools/lib/framereader.py
@@ -1,6 +1,7 @@
 import os
 import subprocess
 import json
+import logging
 from collections.abc import Iterator
 from collections import OrderedDict
 
@@ -9,12 +10,12 @@
 from openpilot.tools.lib.exceptions import DataUnreadableError
 from openpilot.tools.lib.vidindex import hevc_index
 
+logger = logging.getLogger("tools")
 
 HEVC_SLICE_B = 0
 HEVC_SLICE_P = 1
 HEVC_SLICE_I = 2
 
-
 class LRUCache:
   def __init__(self, capacity: int):
     self._cache: OrderedDict = OrderedDict()
@@ -32,7 +33,6 @@ def __setitem__(self, key, value):
   def __contains__(self, key):
     return key in self._cache
 
-
 def assert_hvec(fn: str) -> None:
   with FileReader(fn) as f:
     header = f.read(4)
@@ -42,18 +42,19 @@ def assert_hvec(fn: str) -> None:
     if 'hevc' not in fn:
       raise NotImplementedError(fn)
 
-def decompress_video_data(rawdat, w, h, pix_fmt="rgb24", vid_fmt='hevc') -> np.ndarray:
+def decompress_video_data(rawdat, w, h, pix_fmt="rgb24", vid_fmt='hevc', hwaccel="auto", loglevel="info") -> np.ndarray:
   threads = os.getenv("FFMPEG_THREADS", "0")
-  args = ["ffmpeg", "-v", "quiet",
+  args = ["ffmpeg", "-v", loglevel,
           "-threads", threads,
+          "-hwaccel", hwaccel,
           "-c:v", "hevc",
           "-vsync", "0",
           "-f", vid_fmt,
           "-flags2", "showall",
-          "-i", "-",
+          "-i", "pipe:0",
           "-f", "rawvideo",
           "-pix_fmt", pix_fmt,
-          "-"]
+          "pipe:1"]
   dat = subprocess.check_output(args, input=rawdat)
 
   ret: np.ndarray
@@ -70,7 +71,7 @@ def ffprobe(fn, fmt=None):
   cmd = ["ffprobe", "-v", "quiet", "-print_format", "json", "-show_format", "-show_streams"]
   if fmt:
     cmd += ["-f", fmt]
-  cmd += ["-i", "-"]
+  cmd += ["-i", "pipe:0"]
 
   try:
     with FileReader(fn) as f:
@@ -98,15 +99,15 @@ def get_video_index(fn):
     'probe': probe
   }
 
-
 class FfmpegDecoder:
   def __init__(self, fn: str, index_data: dict|None = None,
-               pix_fmt: str = "rgb24"):
+               pix_fmt: str = "rgb24", hwaccel="auto", loglevel="quiet"):
     self.fn = fn
     self.index, self.prefix, self.w, self.h = get_index_data(fn, index_data)
     self.frame_count = len(self.index) - 1          # sentinel row at the end
     self.iframes = np.where(self.index[:, 0] == HEVC_SLICE_I)[0]
     self.pix_fmt = pix_fmt
+    self.loglevel, self.hwaccel = loglevel, hwaccel
 
   def _gop_bounds(self, frame_idx: int):
     f_b = frame_idx
@@ -118,7 +119,7 @@ def _gop_bounds(self, frame_idx: int):
     return f_b, f_e, self.index[f_b, 1], self.index[f_e, 1]
 
   def _decode_gop(self, raw: bytes) -> Iterator[np.ndarray]:
-    yield from decompress_video_data(raw, self.w, self.h, self.pix_fmt)
+    yield from decompress_video_data(raw, self.w, self.h, pix_fmt=self.pix_fmt, hwaccel=self.hwaccel, loglevel=self.loglevel)
 
   def get_gop_start(self, frame_idx: int):
     return self.iframes[np.searchsorted(self.iframes, frame_idx, side="right") - 1]
@@ -133,7 +134,7 @@ def get_iterator(self, start_fidx: int = 0, end_fidx: int|None = None,
         f.seek(off_b)
         raw = self.prefix + f.read(off_e - off_b)
       # number of frames to discard inside this GOP before the wanted one
-      for i, frm in enumerate(decompress_video_data(raw, self.w, self.h, self.pix_fmt)):
+      for i, frm in enumerate(decompress_video_data(raw, self.w, self.h, self.pix_fmt, hwaccel=self.hwaccel, loglevel=self.loglevel)):
         fidx = f_b + i
         if fidx >= end_fidx:
           return
@@ -141,17 +142,16 @@ def get_iterator(self, start_fidx: int = 0, end_fidx: int|None = None,
           yield fidx, frm
       fidx += 1
 
-def FrameIterator(fn: str, index_data: dict|None=None,
-                        pix_fmt: str = "rgb24",
-                        start_fidx:int=0, end_fidx=None, frame_skip:int=1) -> Iterator[np.ndarray]:
-  dec = FfmpegDecoder(fn, pix_fmt=pix_fmt, index_data=index_data)
+def FrameIterator(fn: str, index_data: dict|None=None, pix_fmt: str = "rgb24",
+                  start_fidx:int=0, end_fidx=None, frame_skip:int=1, hwaccel="auto", loglevel="quiet") -> Iterator[np.ndarray]:
+  dec = FfmpegDecoder(fn, pix_fmt=pix_fmt, index_data=index_data, hwaccel=hwaccel, loglevel=loglevel)
   for _, frame in dec.get_iterator(start_fidx=start_fidx, end_fidx=end_fidx, frame_skip=frame_skip):
     yield frame
 
 class FrameReader:
-  def __init__(self, fn: str, index_data: dict|None = None,
-               cache_size: int = 30, pix_fmt: str = "rgb24"):
-    self.decoder = FfmpegDecoder(fn, index_data, pix_fmt)
+  def __init__(self, fn: str, index_data: dict|None = None, cache_size: int = 30,
+               pix_fmt: str = "rgb24", hwaccel="auto", loglevel="quiet"):
+    self.decoder = FfmpegDecoder(fn, index_data=index_data, pix_fmt=pix_fmt, hwaccel=hwaccel, loglevel=loglevel)
     self.iframes = self.decoder.iframes
     self._cache: LRUCache = LRUCache(cache_size)
     self.w, self.h, self.frame_count, = self.decoder.w, self.decoder.h, self.decoder.frame_count
diff --git a/tools/lib/github_utils.py b/tools/lib/github_utils.py
index 46a0dcf3cb1..6a443b4155b 100644
--- a/tools/lib/github_utils.py
+++ b/tools/lib/github_utils.py
@@ -62,7 +62,7 @@ def create_bucket(self, bucket):
     self.api_call(github_path, data=data, method=HTTPMethod.POST, data_call=True)
 
   def get_bucket_sha(self, bucket):
-    github_path = f"git/refs/heads/{bucket}"
+    github_path = f"git/ref/heads/{bucket}"
     r = self.api_call(github_path, data_call=True, raise_on_failure=False)
     return r.json()['object']['sha'] if r.ok else None
 
diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py
index f9a90490b91..9696c8524d1 100755
--- a/tools/lib/logreader.py
+++ b/tools/lib/logreader.py
@@ -13,7 +13,6 @@
 import zstandard as zstd
 
 from collections.abc import Iterable, Iterator
-from typing import cast
 from urllib.parse import parse_qs, urlparse
 
 from cereal import log as capnp_log
@@ -180,7 +179,7 @@ def auto_source(identifier: str, sources: list[Source], default_mode: ReadMode)
 
         # We've found all files, return them
         if len(needed_seg_idxs) == 0:
-          return cast(list[str], list(valid_files.values()))
+          return list(valid_files.values())
         else:
           raise FileNotFoundError(f"Did not find {fn} for seg idxs {needed_seg_idxs} of {sr.route_name}")
 
@@ -245,7 +244,7 @@ def _parse_identifier(self, identifier: str) -> list[str]:
     return identifiers
 
   def __init__(self, identifier: str | list[str], default_mode: ReadMode = ReadMode.RLOG,
-               sources: list[Source] = None, sort_by_time=False, only_union_types=False):
+               sources: list[Source] | None = None, sort_by_time=False, only_union_types=False):
     if sources is None:
       sources = [internal_source, comma_api_source, openpilotci_source, comma_car_segments_source]
 
diff --git a/tools/lib/openpilotci.py b/tools/lib/openpilotci.py
index 1c1e1f171b7..6b484dfdada 100644
--- a/tools/lib/openpilotci.py
+++ b/tools/lib/openpilotci.py
@@ -1,12 +1,4 @@
-from openpilot.tools.lib.openpilotcontainers import OpenpilotCIContainer
+BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
 
-def get_url(*args, **kwargs):
-  return OpenpilotCIContainer.get_url(*args, **kwargs)
-
-def upload_file(*args, **kwargs):
-  return OpenpilotCIContainer.upload_file(*args, **kwargs)
-
-def upload_bytes(*args, **kwargs):
-  return OpenpilotCIContainer.upload_bytes(*args, **kwargs)
-
-BASE_URL = OpenpilotCIContainer.BASE_URL
+def get_url(route_name: str, segment_num, filename: str) -> str:
+  return BASE_URL + f"{route_name.replace('|', '/')}/{segment_num}/{filename}"
diff --git a/tools/lib/route.py b/tools/lib/route.py
index 1fc26fb9962..98334a06c86 100644
--- a/tools/lib/route.py
+++ b/tools/lib/route.py
@@ -23,7 +23,6 @@ class FileName:
 
 class Route:
   def __init__(self, name, data_dir=None):
-    self._metadata = None
     self._name = RouteName(name)
     self.files = None
     if data_dir is not None:
@@ -32,13 +31,6 @@ def __init__(self, name, data_dir=None):
       self._segments = self._get_segments_remote()
     self.max_seg_number = self._segments[-1].name.segment_num
 
-  @property
-  def metadata(self):
-    if not self._metadata:
-      api = CommaApi(get_token())
-      self._metadata = api.get('v1/route/' + self.name.canonical_name)
-    return self._metadata
-
   @property
   def name(self):
     return self._name
@@ -90,7 +82,6 @@ def _get_segments_remote(self):
           url if fn in FileName.DCAMERA else segments[segment_name].dcamera_path,
           url if fn in FileName.ECAMERA else segments[segment_name].ecamera_path,
           url if fn in FileName.QCAMERA else segments[segment_name].qcamera_path,
-          self.metadata['url'],
         )
       else:
         segments[segment_name] = Segment(
@@ -101,7 +92,6 @@ def _get_segments_remote(self):
           url if fn in FileName.DCAMERA else None,
           url if fn in FileName.ECAMERA else None,
           url if fn in FileName.QCAMERA else None,
-          self.metadata['url'],
         )
 
     return sorted(segments.values(), key=lambda seg: seg.name.segment_num)
@@ -167,7 +157,7 @@ def _get_segments_local(self, data_dir):
       except StopIteration:
         qcamera_path = None
 
-      segments.append(Segment(segment, log_path, qlog_path, camera_path, dcamera_path, ecamera_path, qcamera_path, self.metadata['url']))
+      segments.append(Segment(segment, log_path, qlog_path, camera_path, dcamera_path, ecamera_path, qcamera_path))
 
     if len(segments) == 0:
       raise ValueError(f'Could not find segments for route {self.name.canonical_name} in data directory {data_dir}')
@@ -175,10 +165,9 @@ def _get_segments_local(self, data_dir):
 
 
 class Segment:
-  def __init__(self, name, log_path, qlog_path, camera_path, dcamera_path, ecamera_path, qcamera_path, url):
+  def __init__(self, name, log_path, qlog_path, camera_path, dcamera_path, ecamera_path, qcamera_path):
     self._events = None
     self._name = SegmentName(name)
-    self.url = f'{url}/{self._name.segment_num}'
     self.log_path = log_path
     self.qlog_path = qlog_path
     self.camera_path = camera_path
@@ -190,6 +179,18 @@ def __init__(self, name, log_path, qlog_path, camera_path, dcamera_path, ecamera
   def name(self):
     return self._name
 
+  @staticmethod
+  @cache
+  def _get_route_metadata(route_name: str):
+    api = CommaApi(get_token())
+    return api.get(f'v1/route/{route_name}')
+
+  @property
+  def url(self):
+    route_name = self._name.route_name.canonical_name
+    metadata = self._get_route_metadata(route_name)
+    return f'{metadata["url"]}/{self._name.segment_num}'
+
   @property
   def events(self):
     if not self._events:
diff --git a/tools/lib/tests/test_caching.py b/tools/lib/tests/test_caching.py
index 2bb63b4dce5..cb14098e6dc 100644
--- a/tools/lib/tests/test_caching.py
+++ b/tools/lib/tests/test_caching.py
@@ -2,11 +2,13 @@
 import os
 import shutil
 import socket
+import tempfile
 import pytest
 
 from openpilot.selfdrive.test.helpers import http_server_context
 from openpilot.system.hardware.hw import Paths
-from openpilot.tools.lib.url_file import URLFile
+from openpilot.tools.lib.url_file import URLFile, prune_cache
+import openpilot.tools.lib.url_file as url_file_module
 
 
 class CachingTestRequestHandler(http.server.BaseHTTPRequestHandler):
@@ -54,13 +56,13 @@ def test_pipeline_defaults(self, host):
     for k, v in retry_defaults.items():
       assert getattr(URLFile.pool_manager().connection_pool_kw["retries"], k) == v
 
-    # ensure caching off by default and cache dir doesn't get created
-    os.environ.pop("FILEREADER_CACHE", None)
+    # ensure caching on by default and cache dir gets created
+    os.environ.pop("DISABLE_FILEREADER_CACHE", None)
     if os.path.exists(Paths.download_cache_root()):
       shutil.rmtree(Paths.download_cache_root())
     URLFile(f"{host}/test.txt").get_length()
     URLFile(f"{host}/test.txt").read()
-    assert not os.path.exists(Paths.download_cache_root())
+    assert os.path.exists(Paths.download_cache_root())
 
   def compare_loads(self, url, start=0, length=None):
     """Compares range between cached and non cached version"""
@@ -88,7 +90,7 @@ def compare_loads(self, url, start=0, length=None):
 
   def test_small_file(self):
     # Make sure we don't force cache
-    os.environ["FILEREADER_CACHE"] = "0"
+    os.environ.pop("DISABLE_FILEREADER_CACHE", None)
     small_file_url = "https://raw.githubusercontent.com/commaai/openpilot/master/docs/SAFETY.md"
     #  If you want large file to be larger than a chunk
     #  large_file_url = "https://commadataci.blob.core.windows.net/openpilotci/0375fdf7b1ce594d/2019-06-13--08-32-25/3/fcamera.hevc"
@@ -117,7 +119,10 @@ def test_large_file(self):
 
   @pytest.mark.parametrize("cache_enabled", [True, False])
   def test_recover_from_missing_file(self, host, cache_enabled):
-    os.environ["FILEREADER_CACHE"] = "1" if cache_enabled else "0"
+    if cache_enabled:
+      os.environ.pop("DISABLE_FILEREADER_CACHE", None)
+    else:
+      os.environ["DISABLE_FILEREADER_CACHE"] = "1"
 
     file_url = f"{host}/test.png"
 
@@ -128,3 +133,35 @@ def test_recover_from_missing_file(self, host, cache_enabled):
     CachingTestRequestHandler.FILE_EXISTS = True
     length = URLFile(file_url).get_length()
     assert length == 4
+
+
+class TestCache:
+  def test_prune_cache(self, monkeypatch):
+    with tempfile.TemporaryDirectory() as tmpdir:
+      monkeypatch.setattr(Paths, 'download_cache_root', staticmethod(lambda: tmpdir + "/"))
+
+      # setup test files and manifest
+      manifest_lines = []
+      for i in range(3):
+        fname = f"hash_{i}"
+        with open(tmpdir + "/" + fname, "wb") as f:
+          f.truncate(1000)
+        manifest_lines.append(f"{fname} {1000 + i}")
+      with open(tmpdir + "/manifest.txt", "w") as f:
+        f.write('\n'.join(manifest_lines))
+
+      # under limit, shouldn't prune
+      assert len(os.listdir(tmpdir)) == 4
+      prune_cache()
+      assert len(os.listdir(tmpdir)) == 4
+
+      # set a tiny cache limit to force eviction (1.5 chunks worth)
+      monkeypatch.setattr(url_file_module, 'CACHE_SIZE', url_file_module.CHUNK_SIZE + url_file_module.CHUNK_SIZE // 2)
+
+      # prune_cache should evict oldest files to get under limit
+      prune_cache()
+      remaining = os.listdir(tmpdir)
+      # should have evicted at least one file + manifest
+      assert len(remaining) < 4
+      # newest file should remain
+      assert manifest_lines[2].split()[0] in remaining
diff --git a/tools/lib/tests/test_logreader.py b/tools/lib/tests/test_logreader.py
index ee75a8b1ce8..123f142383a 100644
--- a/tools/lib/tests/test_logreader.py
+++ b/tools/lib/tests/test_logreader.py
@@ -7,7 +7,7 @@
 import pytest
 import requests
 
-from parameterized import parameterized
+from openpilot.common.parameterized import parameterized
 
 from cereal import log as capnp_log
 from openpilot.tools.lib.logreader import LogsUnavailable, LogIterable, LogReader, parse_indirect, ReadMode
@@ -93,7 +93,10 @@ def test_canonical_name(self, identifier, expected):
   @pytest.mark.parametrize("cache_enabled", [True, False])
   def test_direct_parsing(self, mocker, cache_enabled):
     file_exists_mock = mocker.patch("openpilot.tools.lib.filereader.file_exists")
-    os.environ["FILEREADER_CACHE"] = "1" if cache_enabled else "0"
+    if cache_enabled:
+      os.environ.pop("DISABLE_FILEREADER_CACHE", None)
+    else:
+      os.environ["DISABLE_FILEREADER_CACHE"] = "1"
     qlog = tempfile.NamedTemporaryFile(mode='wb', delete=False)
 
     with requests.get(QLOG_FILE, stream=True) as r:
@@ -181,7 +184,10 @@ def test_helpers(self):
   @parameterized.expand([(True,), (False,)])
   @pytest.mark.slow
   def test_run_across_segments(self, cache_enabled):
-    os.environ["FILEREADER_CACHE"] = "1" if cache_enabled else "0"
+    if cache_enabled:
+      os.environ.pop("DISABLE_FILEREADER_CACHE", None)
+    else:
+      os.environ["DISABLE_FILEREADER_CACHE"] = "1"
     lr = LogReader(f"{TEST_ROUTE}/0:4")
     assert len(lr.run_across_segments(4, noop)) == len(list(lr))
 
diff --git a/tools/lib/url_file.py b/tools/lib/url_file.py
index c791444f74d..de120704659 100644
--- a/tools/lib/url_file.py
+++ b/tools/lib/url_file.py
@@ -1,8 +1,9 @@
-import re
 import logging
 import os
+import re
 import socket
-from hashlib import sha256
+import time
+from hashlib import md5
 from urllib3 import PoolManager, Retry
 from urllib3.response import BaseHTTPResponse
 from urllib3.util import Timeout
@@ -14,13 +15,40 @@
 #  Cache chunk size
 K = 1000
 CHUNK_SIZE = 1000 * K
+CACHE_SIZE = 10 * 1024 * 1024 * 1024  # total cache size in GB
 
 logging.getLogger("urllib3").setLevel(logging.WARNING)
 
 
-def hash_256(link: str) -> str:
-  return sha256((link.split("?")[0]).encode('utf-8')).hexdigest()
+def hash_url(link: str) -> str:
+  return md5((link.split("?")[0]).encode('utf-8')).hexdigest()
+
 
+def prune_cache(new_entry: str | None = None) -> None:
+  """Evicts oldest cache files (LRU) until cache is under the size limit."""
+  # we use a manifest to avoid tons of os.stat syscalls (slow)
+  manifest = {}
+  manifest_path = Paths.download_cache_root() + "manifest.txt"
+  if os.path.exists(manifest_path):
+    with open(manifest_path) as f:
+      manifest = {parts[0]: int(parts[1]) for line in f if (parts := line.strip().split()) and len(parts) == 2}
+
+  if new_entry:
+    manifest[new_entry] = int(time.time())  # noqa: TID251
+
+  # evict the least recently used files until under limit
+  sorted_items = sorted(manifest.items(), key=lambda x: x[1])
+  while len(manifest) * CHUNK_SIZE > CACHE_SIZE and sorted_items:
+    key, _ = sorted_items.pop(0)
+    try:
+      os.remove(Paths.download_cache_root() + key)
+    except OSError:
+      pass
+    manifest.pop(key, None)
+
+  # write out manifest
+  with atomic_write(manifest_path, mode="w", overwrite=True) as f:
+    f.write('\n'.join(f"{k} {v}" for k, v in manifest.items()))
 
 class URLFileException(Exception):
   pass
@@ -46,8 +74,8 @@ def __init__(self, url: str, timeout: int = 10, cache: bool | None = None):
     self._timeout = Timeout(connect=timeout, read=timeout)
     self._pos = 0
     self._length: int | None = None
-    #  True by default, false if FILEREADER_CACHE is defined, but can be overwritten by the cache input
-    self._force_download = not int(os.environ.get("FILEREADER_CACHE", "0"))
+    #  Caching enabled by default, can be disabled with DISABLE_FILEREADER_CACHE=1, or overwritten by the cache input
+    self._force_download = int(os.environ.get("DISABLE_FILEREADER_CACHE", "0")) == 1
     if cache is not None:
       self._force_download = not cache
 
@@ -77,7 +105,7 @@ def get_length(self) -> int:
     if self._length is not None:
       return self._length
 
-    file_length_path = os.path.join(Paths.download_cache_root(), hash_256(self._url) + "_length")
+    file_length_path = os.path.join(Paths.download_cache_root(), hash_url(self._url) + "_length")
     if not self._force_download and os.path.exists(file_length_path):
       with open(file_length_path) as file_length:
         content = file_length.read()
@@ -103,7 +131,7 @@ def read(self, ll: int | None = None) -> bytes:
     while True:
       self._pos = position
       chunk_number = self._pos / CHUNK_SIZE
-      file_name = hash_256(self._url) + "_" + str(chunk_number)
+      file_name = hash_url(self._url) + "_" + str(chunk_number)
       full_path = os.path.join(Paths.download_cache_root(), str(file_name))
       data = None
       #  If we don't have a file, download it
@@ -111,6 +139,7 @@ def read(self, ll: int | None = None) -> bytes:
         data = self.read_aux(ll=CHUNK_SIZE)
         with atomic_write(full_path, mode="wb", overwrite=True) as new_cached_file:
           new_cached_file.write(data)
+        prune_cache(file_name)
       else:
         with open(full_path, "rb") as cached_file:
           data = cached_file.read()
@@ -163,8 +192,25 @@ def get_multi_range(self, ranges: list[tuple[int, int]]) -> list[bytes]:
       raise URLFileException(f"Expected {len(ranges)} parts, got {len(parts)} ({self._url})")
     return parts
 
-  def seek(self, pos: int) -> None:
-    self._pos = pos
+  def seekable(self) -> bool:
+    return True
+
+  def seek(self, pos: int, whence: int = 0) -> int:
+    pos = int(pos)
+    if whence == os.SEEK_SET:
+      self._pos = pos
+    elif whence == os.SEEK_CUR:
+      self._pos += pos
+    elif whence == os.SEEK_END:
+      length = self.get_length()
+      assert length != -1, "Cannot seek from end on unknown length file"
+      self._pos = length + pos
+    else:
+      raise URLFileException("Invalid whence value")
+    return self._pos
+
+  def tell(self) -> int:
+    return self._pos
 
   @property
   def name(self) -> str:
diff --git a/tools/lib/vidindex.py b/tools/lib/vidindex.py
index f2e4e9ca45e..4aef6fb4d5a 100755
--- a/tools/lib/vidindex.py
+++ b/tools/lib/vidindex.py
@@ -140,7 +140,7 @@ def get_ue(dat: bytes, start_idx: int, skip_bits: int) -> tuple[int, int]:
       j -= 1
 
       if prefix_val == 1 and prefix_len - 1 == suffix_len:
-        val = 2**(prefix_len-1) - 1 + suffix_val
+        val = int(2**(prefix_len-1) - 1 + suffix_val)
         size = prefix_len + suffix_len
         return val, size
     i += 1
diff --git a/tools/longitudinal_maneuvers/generate_report.py b/tools/longitudinal_maneuvers/generate_report.py
index 8c16e30d56a..32bdb5b1c4c 100755
--- a/tools/longitudinal_maneuvers/generate_report.py
+++ b/tools/longitudinal_maneuvers/generate_report.py
@@ -9,7 +9,7 @@
 from collections import defaultdict
 from pathlib import Path
 import matplotlib.pyplot as plt
-from tabulate import tabulate
+from openpilot.common.utils import tabulate
 
 from openpilot.tools.lib.logreader import LogReader
 from openpilot.system.hardware.hw import Paths
diff --git a/tools/longitudinal_maneuvers/maneuver_helpers.py b/tools/longitudinal_maneuvers/maneuver_helpers.py
new file mode 100644
index 00000000000..9fc65fb9e67
--- /dev/null
+++ b/tools/longitudinal_maneuvers/maneuver_helpers.py
@@ -0,0 +1,18 @@
+from enum import IntEnum
+
+class Axis(IntEnum):
+  TIME = 0
+  EGO_POSITION = 1
+  LEAD_DISTANCE= 2
+  EGO_V = 3
+  LEAD_V = 4
+  EGO_A = 5
+  D_REL = 6
+
+axis_labels = {Axis.TIME: 'Time (s)',
+               Axis.EGO_POSITION: 'Ego position (m)',
+               Axis.LEAD_DISTANCE: 'Lead absolute position (m)',
+               Axis.EGO_V: 'Ego Velocity (m/s)',
+               Axis.LEAD_V: 'Lead Velocity (m/s)',
+               Axis.EGO_A: 'Ego acceleration (m/s^2)',
+               Axis.D_REL: 'Lead distance (m)'}
diff --git a/tools/longitudinal_maneuvers/maneuversd.py b/tools/longitudinal_maneuvers/maneuversd.py
index c17ae23757c..f8dc6787cc4 100755
--- a/tools/longitudinal_maneuvers/maneuversd.py
+++ b/tools/longitudinal_maneuvers/maneuversd.py
@@ -27,23 +27,14 @@ class Maneuver:
 
   _active: bool = False
   _finished: bool = False
+  _run_completed: bool = False
   _action_index: int = 0
   _action_frames: int = 0
   _ready_cnt: int = 0
   _repeated: int = 0
 
-  def get_accel(self, v_ego: float, long_active: bool, standstill: bool, cruise_standstill: bool) -> float:
-    ready = abs(v_ego - self.initial_speed) < 0.3 and long_active and not cruise_standstill
-    if self.initial_speed < 0.01:
-      ready = ready and standstill
-    self._ready_cnt = (self._ready_cnt + 1) if ready else 0
-
-    if self._ready_cnt > (3. / DT_MDL):
-      self._active = True
-
-    if not self._active:
-      return min(max(self.initial_speed - v_ego, -2.), 2.)
-
+  def _step(self) -> float:
+    self._run_completed = False
     action = self.actions[self._action_index]
     action_accel = np.interp(self._action_frames * DT_MDL, action.time_bp, action.accel_bp)
 
@@ -58,15 +49,34 @@ def get_accel(self, v_ego: float, long_active: bool, standstill: bool, cruise_st
       # repeat maneuver
       elif self._repeated < self.repeat:
         self._repeated += 1
-        self._action_index = 0
-        self._action_frames = 0
-        self._active = False
+        self._run_completed = True
+        self.reset()
       # finish maneuver
       else:
+        self._run_completed = True
         self._finished = True
 
     return float(action_accel)
 
+  def get_accel(self, v_ego: float, long_active: bool, standstill: bool, cruise_standstill: bool) -> float:
+    ready = abs(v_ego - self.initial_speed) < 0.3 and long_active and not cruise_standstill
+    if self.initial_speed < 0.01:
+      ready = ready and standstill
+    self._ready_cnt = (self._ready_cnt + 1) if ready else 0
+
+    if self._ready_cnt > (3. / DT_MDL):
+      self._active = True
+
+    if not self._active:
+      return min(max(self.initial_speed - v_ego, -2.), 2.)
+
+    return self._step()
+
+  def reset(self):
+    self._active = False
+    self._action_frames = 0
+    self._action_index = 0
+
   @property
   def finished(self):
     return self._finished
diff --git a/tools/longitudinal_maneuvers/mpc_longitudinal_tuning_report.py b/tools/longitudinal_maneuvers/mpc_longitudinal_tuning_report.py
new file mode 100644
index 00000000000..ae3fee7355a
--- /dev/null
+++ b/tools/longitudinal_maneuvers/mpc_longitudinal_tuning_report.py
@@ -0,0 +1,292 @@
+import io
+import sys
+import markdown
+import numpy as np
+import matplotlib.pyplot as plt
+from openpilot.common.realtime import DT_MDL
+from openpilot.selfdrive.controls.tests.test_following_distance import desired_follow_distance
+from openpilot.tools.longitudinal_maneuvers.maneuver_helpers import Axis, axis_labels
+from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver
+
+
+def get_html_from_results(results, labels, AXIS):
+  fig, ax = plt.subplots(figsize=(16, 8))
+  for idx, key in enumerate(results.keys()):
+    ax.plot(results[key][:, Axis.TIME], results[key][:, AXIS], label=labels[idx])
+
+  ax.set_xlabel(axis_labels[Axis.TIME])
+  ax.set_ylabel(axis_labels[AXIS])
+  ax.legend(bbox_to_anchor=(1.02, 1), loc='upper left', borderaxespad=0)
+  ax.grid(True, linestyle='--', alpha=0.7)
+  ax.text(-0.075, 0.5, '.', transform=ax.transAxes, color='none')
+
+  fig_buffer = io.StringIO()
+  fig.savefig(fig_buffer, format='svg', bbox_inches='tight')
+  plt.close(fig)
+  return fig_buffer.getvalue() + '<br/>'
+
+def generate_mpc_tuning_report():
+  htmls = []
+
+  results = {}
+  name = 'Resuming behind lead'
+  labels = []
+  for lead_accel in np.linspace(1.0, 4.0, 4):
+    man = Maneuver(
+      '',
+      duration=11,
+      initial_speed=0.0,
+      lead_relevancy=True,
+      initial_distance_lead=desired_follow_distance(0.0, 0.0),
+      speed_lead_values=[0.0, 10 * lead_accel],
+      cruise_values=[100, 100],
+      prob_lead_values=[1.0, 1.0],
+      breakpoints=[1., 11],
+    )
+    valid, results[lead_accel] = man.evaluate()
+    labels.append(f'{lead_accel} m/s^2 lead acceleration')
+
+  htmls.append(markdown.markdown('# ' + name))
+  htmls.append(get_html_from_results(results, labels, Axis.EGO_V))
+  htmls.append(get_html_from_results(results, labels, Axis.EGO_A))
+
+
+  results = {}
+  name = 'Approaching stopped car from 140m'
+  labels = []
+  for speed in np.arange(0,45,5):
+    man = Maneuver(
+      name,
+      duration=30.,
+      initial_speed=float(speed),
+      lead_relevancy=True,
+      initial_distance_lead=140.,
+      speed_lead_values=[0.0, 0.],
+      breakpoints=[0., 30.],
+    )
+    valid, results[speed] = man.evaluate()
+    labels.append(f'{speed} m/s approach speed')
+
+  htmls.append(markdown.markdown('# ' + name))
+  htmls.append(get_html_from_results(results, labels, Axis.EGO_A))
+  htmls.append(get_html_from_results(results, labels, Axis.D_REL))
+
+
+  results = {}
+  name = 'Following 5s (triangular) oscillating lead'
+  labels = []
+  speed = np.int64(10)
+  for oscil in np.arange(0, 10, 1):
+    man = Maneuver(
+      '',
+      duration=30.,
+      initial_speed=float(speed),
+      lead_relevancy=True,
+      initial_distance_lead=desired_follow_distance(speed, speed),
+      speed_lead_values=[speed, speed, speed - oscil, speed + oscil, speed - oscil, speed + oscil, speed - oscil],
+      breakpoints=[0.,2., 5, 8, 15, 18, 25.],
+    )
+    valid, results[oscil] = man.evaluate()
+    labels.append(f'{oscil} m/s oscillation size')
+
+  htmls.append(markdown.markdown('# ' + name))
+  htmls.append(get_html_from_results(results, labels, Axis.D_REL))
+  htmls.append(get_html_from_results(results, labels, Axis.EGO_V))
+  htmls.append(get_html_from_results(results, labels, Axis.EGO_A))
+
+
+  results = {}
+  name = 'Following 5s (sinusoidal) oscillating lead'
+  labels = []
+  speed = np.int64(10)
+  duration = float(30)
+  f_osc = 1. / 5
+  for oscil in np.arange(0, 10, 1):
+    bps = DT_MDL * np.arange(int(duration / DT_MDL))
+    lead_speeds = speed + oscil * np.sin(2 * np.pi * f_osc * bps)
+    man = Maneuver(
+      '',
+      duration=duration,
+      initial_speed=float(speed),
+      lead_relevancy=True,
+      initial_distance_lead=desired_follow_distance(speed, speed),
+      speed_lead_values=lead_speeds,
+      breakpoints=bps,
+    )
+    valid, results[oscil] = man.evaluate()
+    labels.append(f'{oscil} m/s oscillation size')
+
+  htmls.append(markdown.markdown('# ' + name))
+  htmls.append(get_html_from_results(results, labels, Axis.D_REL))
+  htmls.append(get_html_from_results(results, labels, Axis.EGO_V))
+  htmls.append(get_html_from_results(results, labels, Axis.EGO_A))
+
+
+  results = {}
+  name = 'Speed profile when converging to steady state lead at 30m/s'
+  labels = []
+  for distance in np.arange(20, 140, 10):
+    man = Maneuver(
+      '',
+      duration=50,
+      initial_speed=30.0,
+      lead_relevancy=True,
+      initial_distance_lead=distance,
+      speed_lead_values=[30.0],
+      breakpoints=[0.],
+    )
+    valid, results[distance] = man.evaluate()
+    labels.append(f'{distance} m initial distance')
+
+  htmls.append(markdown.markdown('# ' + name))
+  htmls.append(get_html_from_results(results, labels, Axis.EGO_V))
+  htmls.append(get_html_from_results(results, labels, Axis.D_REL))
+
+
+  results = {}
+  name = 'Speed profile when converging to steady state lead at 20m/s'
+  labels = []
+  for distance in np.arange(20, 140, 10):
+    man = Maneuver(
+      '',
+      duration=50,
+      initial_speed=20.0,
+      lead_relevancy=True,
+      initial_distance_lead=distance,
+      speed_lead_values=[20.0],
+      breakpoints=[0.],
+    )
+    valid, results[distance] = man.evaluate()
+    labels.append(f'{distance} m initial distance')
+
+  htmls.append(markdown.markdown('# ' + name))
+  htmls.append(get_html_from_results(results, labels, Axis.EGO_V))
+  htmls.append(get_html_from_results(results, labels, Axis.D_REL))
+
+
+  results = {}
+  name = 'Following car at 30m/s that comes to a stop'
+  labels = []
+  for stop_time in np.arange(4, 14, 1):
+    man = Maneuver(
+      '',
+      duration=30,
+      initial_speed=30.0,
+      cruise_values=[30.0, 30.0, 30.0],
+      lead_relevancy=True,
+      initial_distance_lead=60.0,
+      speed_lead_values=[30.0, 30.0, 0.0],
+      breakpoints=[0., 5., 5 + stop_time],
+    )
+    valid, results[stop_time] = man.evaluate()
+    labels.append(f'{stop_time} seconds stop time')
+
+  htmls.append(markdown.markdown('# ' + name))
+  htmls.append(get_html_from_results(results, labels, Axis.EGO_A))
+  htmls.append(get_html_from_results(results, labels, Axis.D_REL))
+
+
+  results = {}
+  name = 'Response to cut-in at half follow distance'
+  labels = []
+  for speed in np.arange(0, 40, 5):
+    man = Maneuver(
+      '',
+      duration=20,
+      initial_speed=float(speed),
+      cruise_values=[speed, speed, speed],
+      lead_relevancy=True,
+      initial_distance_lead=desired_follow_distance(speed, speed)/2,
+      speed_lead_values=[speed, speed, speed],
+      prob_lead_values=[0.0, 0.0, 1.0],
+      breakpoints=[0., 5.0, 5.01],
+    )
+    valid, results[speed] = man.evaluate()
+    labels.append(f'{speed} m/s speed')
+
+  htmls.append(markdown.markdown('# ' + name))
+  htmls.append(get_html_from_results(results, labels, Axis.EGO_A))
+  htmls.append(get_html_from_results(results, labels, Axis.D_REL))
+
+
+  results = {}
+  name = 'Follow a lead that accelerates at 2m/s^2 until steady state speed'
+  labels = []
+  for speed in np.arange(0, 40, 5):
+    man = Maneuver(
+      '',
+      duration=60,
+      initial_speed=0.0,
+      lead_relevancy=True,
+      initial_distance_lead=desired_follow_distance(0.0, 0.0),
+      speed_lead_values=[0.0, 0.0, speed],
+      prob_lead_values=[1.0, 1.0, 1.0],
+      breakpoints=[0., 1.0, speed/2],
+    )
+    valid, results[speed] = man.evaluate()
+    labels.append(f'{speed} m/s speed')
+
+  htmls.append(markdown.markdown('# ' + name))
+  htmls.append(get_html_from_results(results, labels, Axis.EGO_V))
+  htmls.append(get_html_from_results(results, labels, Axis.EGO_A))
+
+
+  results = {}
+  name = 'From stop to cruise'
+  labels = []
+  for speed in np.arange(0, 40, 5):
+    man = Maneuver(
+      '',
+      duration=50,
+      initial_speed=0.0,
+      lead_relevancy=True,
+      initial_distance_lead=desired_follow_distance(0.0, 0.0),
+      speed_lead_values=[0.0, 0.0],
+      cruise_values=[0.0, speed],
+      prob_lead_values=[0.0, 0.0],
+      breakpoints=[1., 1.01],
+    )
+    valid, results[speed] = man.evaluate()
+    labels.append(f'{speed} m/s speed')
+
+  htmls.append(markdown.markdown('# ' + name))
+  htmls.append(get_html_from_results(results, labels, Axis.EGO_V))
+  htmls.append(get_html_from_results(results, labels, Axis.EGO_A))
+
+
+  results = {}
+  name = 'From cruise to min'
+  labels = []
+  for speed in np.arange(10, 40, 5):
+    man = Maneuver(
+      '',
+      duration=50,
+      initial_speed=float(speed),
+      lead_relevancy=True,
+      initial_distance_lead=desired_follow_distance(0.0, 0.0),
+      speed_lead_values=[0.0, 0.0],
+      cruise_values=[speed, 10.0],
+      prob_lead_values=[0.0, 0.0],
+      breakpoints=[1., 1.01],
+    )
+    valid, results[speed] = man.evaluate()
+    labels.append(f'{speed} m/s speed')
+
+  htmls.append(markdown.markdown('# ' + name))
+  htmls.append(get_html_from_results(results, labels, Axis.EGO_V))
+  htmls.append(get_html_from_results(results, labels, Axis.EGO_A))
+
+  return htmls
+
+if __name__ == '__main__':
+  htmls = generate_mpc_tuning_report()
+
+  if len(sys.argv) < 2:
+    file_name = 'long_mpc_tune_report.html'
+  else:
+    file_name = sys.argv[1]
+
+  with open(file_name, 'w') as f:
+    f.write(markdown.markdown('# MPC longitudinal tuning report'))
+    for html in htmls:
+      f.write(html)
diff --git a/tools/mac_setup.sh b/tools/mac_setup.sh
deleted file mode 100755
index 0ae0b35359e..00000000000
--- a/tools/mac_setup.sh
+++ /dev/null
@@ -1,97 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
-ROOT="$(cd $DIR/../ && pwd)"
-ARCH=$(uname -m)
-
-# homebrew update is slow
-export HOMEBREW_NO_AUTO_UPDATE=1
-
-if [[ $SHELL == "/bin/zsh" ]]; then
-  RC_FILE="$HOME/.zshrc"
-elif [[ $SHELL == "/bin/bash" ]]; then
-  RC_FILE="$HOME/.bash_profile"
-fi
-
-# Install brew if required
-if [[ $(command -v brew) == "" ]]; then
-  echo "Installing Homebrew"
-  /bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)"
-  echo "[ ] installed brew t=$SECONDS"
-
-  # make brew available now
-  if [[ $ARCH == "x86_64" ]]; then
-    echo 'eval "$(/usr/local/bin/brew shellenv)"' >> $RC_FILE
-    eval "$(/usr/local/bin/brew shellenv)"
-  else
-    echo 'eval "$(/opt/homebrew/bin/brew shellenv)"' >> $RC_FILE
-    eval "$(/opt/homebrew/bin/brew shellenv)"
-  fi
-else
-    brew up
-fi
-
-brew bundle --file=- <<-EOS
-brew "git-lfs"
-brew "capnp"
-brew "coreutils"
-brew "eigen"
-brew "ffmpeg"
-brew "glfw"
-brew "libusb"
-brew "libtool"
-brew "llvm"
-brew "openssl@3.0"
-brew "qt@5"
-brew "zeromq"
-cask "gcc-arm-embedded"
-brew "portaudio"
-brew "gcc@13"
-EOS
-
-echo "[ ] finished brew install t=$SECONDS"
-
-BREW_PREFIX=$(brew --prefix)
-
-# archive backend tools for pip dependencies
-export LDFLAGS="$LDFLAGS -L${BREW_PREFIX}/opt/zlib/lib"
-export LDFLAGS="$LDFLAGS -L${BREW_PREFIX}/opt/bzip2/lib"
-export CPPFLAGS="$CPPFLAGS -I${BREW_PREFIX}/opt/zlib/include"
-export CPPFLAGS="$CPPFLAGS -I${BREW_PREFIX}/opt/bzip2/include"
-
-# pycurl curl/openssl backend dependencies
-export LDFLAGS="$LDFLAGS -L${BREW_PREFIX}/opt/openssl@3/lib"
-export CPPFLAGS="$CPPFLAGS -I${BREW_PREFIX}/opt/openssl@3/include"
-export PYCURL_CURL_CONFIG=/usr/bin/curl-config
-export PYCURL_SSL_LIBRARY=openssl
-
-# install python dependencies
-$DIR/install_python_dependencies.sh
-echo "[ ] installed python dependencies t=$SECONDS"
-
-# brew does not link qt5 by default
-# check if qt5 can be linked, if not, prompt the user to link it
-QT_BIN_LOCATION="$(command -v lupdate || :)"
-if [ -n "$QT_BIN_LOCATION" ]; then
-  # if qt6 is linked, prompt the user to unlink it and link the right version
-  QT_BIN_VERSION="$(lupdate -version | awk '{print $NF}')"
-  if [[ ! "$QT_BIN_VERSION" =~ 5\.[0-9]+\.[0-9]+ ]]; then
-    echo
-    echo "lupdate/lrelease available at PATH is $QT_BIN_VERSION"
-    if [[ "$QT_BIN_LOCATION" == "$(brew --prefix)/"* ]]; then
-      echo "Run the following command to link qt5:"
-      echo "brew unlink qt@6 && brew link qt@5"
-    else
-      echo "Remove conflicting qt entries from PATH and run the following command to link qt5:"
-      echo "brew link qt@5"
-    fi
-  fi
-else
-  brew link qt@5
-fi
-
-echo
-echo "----   OPENPILOT SETUP DONE   ----"
-echo "Open a new shell or configure your active shell env by running:"
-echo "source $RC_FILE"
diff --git a/tools/op.sh b/tools/op.sh
index 8b5062ad9b4..dccf080829f 100755
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -26,13 +26,19 @@ function op_install() {
   echo -e " ↳ [${GREEN}✔${NC}] op installed successfully. Open a new shell to use it."
 }
 
-function loge() {
-  if [[ -f "$LOG_FILE" ]]; then
-    # error type
-    echo "$1" >> $LOG_FILE
-    # error log
-    echo "$2" >> $LOG_FILE
-  fi
+function retry() {
+  local attempts=$1
+  shift
+  for i in $(seq 1 "$attempts"); do
+    if "$@"; then
+      return 0
+    fi
+    if [ "$i" -lt "$attempts" ]; then
+      echo "  Attempt $i/$attempts failed, retrying in 5s..."
+      sleep 5
+    fi
+  done
+  return 1
 }
 
 function op_run_command() {
@@ -62,7 +68,8 @@ function op_get_openpilot_dir() {
   done
 
   # Fallback to hardcoded directories if not found
-  for dir in "$HOME/openpilot" "/data/openpilot"; do
+  SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+  for dir in "${SCRIPT_DIR%/tools}" "$HOME/openpilot" "/data/openpilot"; do
     if [[ -f "$dir/launch_openpilot.sh" ]]; then
       OPENPILOT_ROOT="$dir"
       return 0
@@ -132,13 +139,11 @@ function op_check_os() {
           ;;
         * )
           echo -e " ↳ [${RED}✗${NC}] Incompatible Ubuntu version $VERSION_CODENAME detected!"
-          loge "ERROR_INCOMPATIBLE_UBUNTU" "$VERSION_CODENAME"
           return 1
           ;;
       esac
     else
       echo -e " ↳ [${RED}✗${NC}] No /etc/os-release on your system. Make sure you're running on Ubuntu, or similar!"
-      loge "ERROR_UNKNOWN_UBUNTU"
       return 1
     fi
 
@@ -146,31 +151,7 @@ function op_check_os() {
     echo -e " ↳ [${GREEN}✔${NC}] macOS detected."
   else
     echo -e " ↳ [${RED}✗${NC}] OS type $OSTYPE not supported!"
-    loge "ERROR_UNKNOWN_OS" "$OSTYPE"
-    return 1
-  fi
-}
-
-function op_check_python() {
-  echo "Checking for compatible python version..."
-  REQUIRED_PYTHON_VERSION=$(grep "requires-python" $OPENPILOT_ROOT/pyproject.toml)
-  INSTALLED_PYTHON_VERSION=$(python3 --version 2> /dev/null || true)
-
-  if [[ -z $INSTALLED_PYTHON_VERSION ]]; then
-    echo -e " ↳ [${RED}✗${NC}] python3 not found on your system. You need python version satisfying $(echo $REQUIRED_PYTHON_VERSION | cut -d '=' -f2-) to continue!"
-    loge "ERROR_PYTHON_NOT_FOUND"
     return 1
-  else
-    LB=$(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9,]' | cut -d ',' -f1)
-    UB=$(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9,]' | cut -d ',' -f2)
-    VERSION=$(echo $INSTALLED_PYTHON_VERSION | grep -o '[0-9]\+\.[0-9]\+' | tr -d -c '[0-9]')
-    if [[ $VERSION -ge LB && $VERSION -lt UB ]]; then
-      echo -e " ↳ [${GREEN}✔${NC}] $INSTALLED_PYTHON_VERSION detected."
-    else
-      echo -e " ↳ [${RED}✗${NC}] You need a python version satisfying $(echo $REQUIRED_PYTHON_VERSION | cut -d '=' -f2-) to continue!"
-      loge "ERROR_PYTHON_VERSION" "$INSTALLED_PYTHON_VERSION"
-      return 1
-    fi
   fi
 }
 
@@ -198,8 +179,6 @@ function op_before_cmd() {
 
   op_activate_venv
 
-  result="${result}\n$(( op_check_python ) 2>&1)" || (echo -e "$result" && return 1)
-
   if [[ -z $VERBOSE ]]; then
     echo -e "${BOLD}Checking system →${NC} [${GREEN}✔${NC}]"
   else
@@ -216,24 +195,20 @@ function op_setup() {
 
   echo "Installing dependencies..."
   st="$(date +%s)"
-  if [[ "$OSTYPE" == "linux-gnu"* ]]; then
-    SETUP_SCRIPT="tools/ubuntu_setup.sh"
-  elif [[ "$OSTYPE" == "darwin"* ]]; then
-    SETUP_SCRIPT="tools/mac_setup.sh"
-  fi
+  SETUP_SCRIPT="tools/setup_dependencies.sh"
   if ! $OPENPILOT_ROOT/$SETUP_SCRIPT; then
     echo -e " ↳ [${RED}✗${NC}] Dependencies installation failed!"
-    loge "ERROR_DEPENDENCIES_INSTALLATION"
     return 1
   fi
   et="$(date +%s)"
   echo -e " ↳ [${GREEN}✔${NC}] Dependencies installed successfully in $((et - st)) seconds."
 
+  op_activate_venv
+
   echo "Getting git submodules..."
   st="$(date +%s)"
-  if ! git submodule update --jobs 4 --init --recursive; then
+  if ! retry 3 git submodule update --jobs 4 --init --recursive; then
     echo -e " ↳ [${RED}✗${NC}] Getting git submodules failed!"
-    loge "ERROR_GIT_SUBMODULES"
     return 1
   fi
   et="$(date +%s)"
@@ -241,9 +216,8 @@ function op_setup() {
 
   echo "Pulling git lfs files..."
   st="$(date +%s)"
-  if ! git lfs pull; then
+  if ! retry 3 git lfs pull; then
     echo -e " ↳ [${RED}✗${NC}] Pulling git lfs files failed!"
-    loge "ERROR_GIT_LFS"
     return 1
   fi
   et="$(date +%s)"
@@ -262,6 +236,11 @@ function op_activate_venv() {
   set +e
   source $OPENPILOT_ROOT/.venv/bin/activate &> /dev/null || true
   set -e
+
+  # persist venv on PATH across GitHub Actions steps
+  if [ -n "$GITHUB_PATH" ]; then
+    echo "$OPENPILOT_ROOT/.venv/bin" >> "$GITHUB_PATH"
+  fi
 }
 
 function op_venv() {
@@ -292,6 +271,19 @@ function op_ssh() {
   op_run_command tools/scripts/ssh.py "$@"
 }
 
+function op_script() {
+  op_before_cmd
+
+  case $1 in
+    som-debug )  op_run_command panda/scripts/som_debug.sh "${@:2}" ;;
+    * )
+      echo -e "Unknown script '$1'. Available scripts:"
+      echo -e "  ${BOLD}som-debug${NC}    SOM serial debug console via panda"
+      return 1
+      ;;
+  esac
+}
+
 function op_check() {
   VERBOSE=1
   op_before_cmd
@@ -376,6 +368,9 @@ function op_switch() {
   git submodule update --init --recursive
   git submodule foreach git reset --hard
   git submodule foreach git clean -df
+
+  # remove openpilot update flag if present
+  rm -f .overlay_init
 }
 
 function op_start() {
@@ -404,7 +399,7 @@ function op_default() {
   echo ""
   echo -e "${BOLD}${UNDERLINE}Commands [System]:${NC}"
   echo -e "  ${BOLD}auth${NC}         Authenticate yourself for API use"
-  echo -e "  ${BOLD}check${NC}        Check the development environment (git, os, python) to start using openpilot"
+  echo -e "  ${BOLD}check${NC}        Check the development environment (git, os) to start using openpilot"
   echo -e "  ${BOLD}esim${NC}         Manage eSIM profiles on your comma device"
   echo -e "  ${BOLD}venv${NC}         Activate the python virtual environment"
   echo -e "  ${BOLD}setup${NC}        Install openpilot dependencies"
@@ -422,6 +417,9 @@ function op_default() {
   echo -e "  ${BOLD}adb${NC}          Run adb shell"
   echo -e "  ${BOLD}ssh${NC}          comma prime SSH helper"
   echo ""
+  echo -e "${BOLD}${UNDERLINE}Commands [Scripts]:${NC}"
+  echo -e "  ${BOLD}script${NC}       Run a script (e.g. op script som-debug)"
+  echo ""
   echo -e "${BOLD}${UNDERLINE}Commands [Testing]:${NC}"
   echo -e "  ${BOLD}sim${NC}          Run openpilot in a simulator"
   echo -e "  ${BOLD}lint${NC}         Run the linter"
@@ -455,7 +453,6 @@ function _op() {
     -d | --dir )       shift 1; OPENPILOT_ROOT="$1"; shift 1 ;;
     --dry )            shift 1; DRY="1" ;;
     -n | --no-verify ) shift 1; NO_VERIFY="1" ;;
-    -l | --log )       shift 1; LOG_FILE="$1" ; shift 1 ;;
   esac
 
   # parse Commands
@@ -481,6 +478,7 @@ function _op() {
     post-commit )   shift 1; op_install_post_commit "$@" ;;
     adb )           shift 1; op_adb "$@" ;;
     ssh )           shift 1; op_ssh "$@" ;;
+    script )        shift 1; op_script "$@" ;;
     * ) op_default "$@" ;;
   esac
 }
diff --git a/tools/plotjuggler/.gitignore b/tools/plotjuggler/.gitignore
deleted file mode 100644
index 45559d0b091..00000000000
--- a/tools/plotjuggler/.gitignore
+++ /dev/null
@@ -1,3 +0,0 @@
-bin/
-bin
-*.rlog
diff --git a/tools/plotjuggler/README.md b/tools/plotjuggler/README.md
index 62905a252d1..3249971bfcf 100644
--- a/tools/plotjuggler/README.md
+++ b/tools/plotjuggler/README.md
@@ -35,17 +35,17 @@ optional arguments:
 
 Example using route name:
 
-`./juggle.py "a2a0ccea32023010/2023-07-27--13-01-19"`
+`./juggle.py "5beb9b58bd12b691/0000010a--a51155e496"`
 
 Examples using segment:
 
-`./juggle.py "a2a0ccea32023010/2023-07-27--13-01-19/1"`
+`./juggle.py "5beb9b58bd12b691/0000010a--a51155e496/1"`
 
-`./juggle.py "a2a0ccea32023010/2023-07-27--13-01-19/1/q" # use qlogs`
+`./juggle.py "5beb9b58bd12b691/0000010a--a51155e496/1/q" # use qlogs`
 
 Example using segment range:
 
-`./juggle.py "a2a0ccea32023010/2023-07-27--13-01-19/0:1"`
+`./juggle.py "5beb9b58bd12b691/0000010a--a51155e496/0:1"`
 
 ## Streaming
 
diff --git a/tools/plotjuggler/juggle.py b/tools/plotjuggler/juggle.py
index 34f33d1959b..c86945ef6bb 100755
--- a/tools/plotjuggler/juggle.py
+++ b/tools/plotjuggler/juggle.py
@@ -21,7 +21,7 @@
 
 os.environ['LD_LIBRARY_PATH'] = os.environ.get('LD_LIBRARY_PATH', '') + f":{juggle_dir}/bin/"
 
-DEMO_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19"
+DEMO_ROUTE = "5beb9b58bd12b691/0000010a--a51155e496"
 RELEASES_URL = "https://github.com/commaai/PlotJuggler/releases/download/latest"
 INSTALL_DIR = os.path.join(juggle_dir, "bin")
 PLOTJUGGLER_BIN = os.path.join(juggle_dir, "bin/plotjuggler")
@@ -31,7 +31,7 @@
 
 def install():
   m = f"{platform.system()}-{platform.machine()}"
-  supported = ("Linux-x86_64", "Linux-aarch64", "Darwin-arm64", "Darwin-x86_64")
+  supported = ("Linux-x86_64", "Linux-aarch64", "Darwin-arm64")
   if m not in supported:
     raise Exception(f"Unsupported platform: '{m}'. Supported platforms: {supported}")
 
@@ -47,7 +47,7 @@ def install():
         tmpf.write(chunk)
 
     with tarfile.open(tmp.name) as tar:
-      tar.extractall(path=INSTALL_DIR)
+      tar.extractall(path=INSTALL_DIR, filter="data")
 
 
 def get_plotjuggler_version():
diff --git a/tools/plotjuggler/layouts/controls_mismatch_debug.xml b/tools/plotjuggler/layouts/controls_mismatch_debug.xml
index 646e12a281a..cf337aa7df7 100644
--- a/tools/plotjuggler/layouts/controls_mismatch_debug.xml
+++ b/tools/plotjuggler/layouts/controls_mismatch_debug.xml
@@ -16,7 +16,7 @@
       <plot style="Lines" flip_x="false" mode="TimeSeries" flip_y="false">
        <range top="27.087398" bottom="-0.905168" left="0.018309" right="59.674401"/>
        <limitY/>
-       <curve color="#9467bd" name="/controlsState/cumLagMs"/>
+       <curve color="#9467bd" name="/carState/cumLagMs"/>
       </plot>
      </DockArea>
      <DockArea name="...">
@@ -58,4 +58,3 @@
  <snippets/>
  <!-- - - - - - - - - - - - - - - -->
 </root>
-
diff --git a/tools/plotjuggler/layouts/gps_vs_llk.xml b/tools/plotjuggler/layouts/gps_vs_llk.xml
index 69b8f20058b..2051c2bef2d 100644
--- a/tools/plotjuggler/layouts/gps_vs_llk.xml
+++ b/tools/plotjuggler/layouts/gps_vs_llk.xml
@@ -24,8 +24,8 @@
        <plot mode="TimeSeries" style="Lines" flip_y="false" flip_x="false">
         <range bottom="-0.100000" right="196.811937" left="76.646983" top="0.100000"/>
         <limitY/>
-        <curve name="/liveLocationKalman/positionGeodetic/std/0" color="#d62728"/>
-        <curve name="/liveLocationKalman/positionGeodetic/std/1" color="#1ac938"/>
+        <curve name="/liveLocationKalmanDEPRECATED/positionGeodetic/std/0" color="#d62728"/>
+        <curve name="/liveLocationKalmanDEPRECATED/positionGeodetic/std/1" color="#1ac938"/>
        </plot>
       </DockArea>
       <DockArea name="...">
@@ -72,12 +72,11 @@ return distance</function>
    <linked_source>/gpsLocationExternal/latitude</linked_source>
    <additional_sources>
     <v1>/gpsLocationExternal/longitude</v1>
-    <v2>/liveLocationKalman/positionGeodetic/value/0</v2>
-    <v3>/liveLocationKalman/positionGeodetic/value/1</v3>
+    <v2>/liveLocationKalmanDEPRECATED/positionGeodetic/value/0</v2>
+    <v3>/liveLocationKalmanDEPRECATED/positionGeodetic/value/1</v3>
    </additional_sources>
   </snippet>
  </customMathEquations>
  <snippets/>
  <!-- - - - - - - - - - - - - - - -->
 </root>
-
diff --git a/tools/plotjuggler/layouts/system_lag_debug.xml b/tools/plotjuggler/layouts/system_lag_debug.xml
index a90bba0e279..88511ffe09b 100644
--- a/tools/plotjuggler/layouts/system_lag_debug.xml
+++ b/tools/plotjuggler/layouts/system_lag_debug.xml
@@ -45,7 +45,7 @@
       <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
        <range top="-3.593455" right="59.992103" left="0.000000" bottom="-12.190956"/>
        <limitY/>
-       <curve name="/controlsState/cumLagMs" color="#9467bd"/>
+       <curve name="/carState/cumLagMs" color="#9467bd"/>
       </plot>
      </DockArea>
     </DockSplitter>
@@ -64,4 +64,3 @@
  <!-- - - - - - - - - - - - - - - -->
  <!-- - - - - - - - - - - - - - - -->
 </root>
-
diff --git a/tools/plotjuggler/layouts/tuning.xml b/tools/plotjuggler/layouts/tuning.xml
index 503e726caf4..699f6ff683e 100644
--- a/tools/plotjuggler/layouts/tuning.xml
+++ b/tools/plotjuggler/layouts/tuning.xml
@@ -24,14 +24,14 @@
       <plot style="Lines" mode="TimeSeries">
        <range left="0.000000" top="0.166067" bottom="-1.598381" right="631.038276"/>
        <limitY/>
-       <curve color="#ffb000" name="/liveLocationKalman/calibratedOrientationNED/value/0"/>
+       <curve color="#ffb000" name="/carControl/orientationNED/0"/>
       </plot>
      </DockArea>
      <DockArea name="Engaged [green] Steering Pressed [blue]">
       <plot style="Lines" mode="TimeSeries">
        <range left="1.252984" top="1.025000" bottom="-0.025000" right="631.055584"/>
        <limitY/>
-       <curve color="#009e73" name="/controlsState/enabled"/>
+       <curve color="#009e73" name="/selfdriveState/enabled"/>
        <curve color="#0072b2" name="/carState/steeringPressed"/>
       </plot>
      </DockArea>
@@ -39,7 +39,7 @@
       <plot style="Lines" mode="TimeSeries">
        <range left="1.253354" top="1.025000" bottom="-0.025000" right="631.055584"/>
        <limitY/>
-       <curve name="/carState/steeringRateLimited" color="#ffb000"/>
+       <curve name="steering rate limited" color="#ffb000"/>
        <curve name="/controlsState/lateralControlState/pidState/saturated" color="#dc267f"/>
       </plot>
      </DockArea>
@@ -71,7 +71,7 @@
       <plot style="Lines" mode="TimeSeries">
        <range left="0.000000" top="0.158854" bottom="-0.594843" right="631.038276"/>
        <limitY/>
-       <curve color="#ffb000" name="/liveLocationKalman/calibratedOrientationNED/value/1"/>
+       <curve color="#ffb000" name="/carControl/orientationNED/1"/>
       </plot>
      </DockArea>
      <DockArea name="Engaged [green] Gas [orange] Brake [magenta]">
@@ -126,7 +126,7 @@
       <plot style="Lines" mode="TimeSeries">
        <range left="1.253354" top="1.025000" bottom="-0.025000" right="631.055584"/>
        <limitY/>
-       <curve name="/carState/steeringRateLimited" color="#ffb000"/>
+       <curve name="steering rate limited" color="#ffb000"/>
        <curve name="/controlsState/lateralControlState/pidState/saturated" color="#dc267f"/>
       </plot>
      </DockArea>
@@ -161,11 +161,11 @@ if (time > last_bad_time + engage_delay) then
 else
   return 0
 end</function>
-   <linked_source>/liveLocationKalman/angularVelocityCalibrated/value/2</linked_source>
+   <linked_source>/carControl/angularVelocity/2</linked_source>
    <additional_sources>
     <v1>/carState/steeringPressed</v1>
     <v2>/carControl/enabled</v2>
-    <v3>/liveLocationKalman/velocityCalibrated/value/0</v3>
+    <v3>/carState/vEgo</v3>
    </additional_sources>
   </snippet>
   <snippet name="engaged curvature vehicle model">
@@ -206,7 +206,7 @@ if (time > last_bad_time + engage_delay) then
 else
   return 0
 end</function>
-   <linked_source>/lateralPlan/curvatures/0</linked_source>
+   <linked_source>/modelV2/action/desiredCurvature</linked_source>
    <additional_sources>
     <v1>/carState/steeringPressed</v1>
     <v2>/carControl/enabled</v2>
@@ -284,8 +284,17 @@ end</function>
     <v3>/carControl/enabled</v3>
    </additional_sources>
   </snippet>
+  <snippet name="steering rate limited">
+   <global></global>
+   <function>return (math.abs(value - v1) > 0.001 or math.abs(v2 - v3) > 0.05) and 1 or 0</function>
+   <linked_source>/carControl/actuators/torque</linked_source>
+   <additional_sources>
+    <v1>/carOutput/actuatorsOutput/torque</v1>
+    <v2>/carControl/actuators/steeringAngleDeg</v2>
+    <v3>/carOutput/actuatorsOutput/steeringAngleDeg</v3>
+   </additional_sources>
+  </snippet>
  </customMathEquations>
  <snippets/>
  <!-- - - - - - - - - - - - - - - -->
 </root>
-
diff --git a/tools/plotjuggler/test_plotjuggler.py b/tools/plotjuggler/test_plotjuggler.py
index a2c509f9432..26bad25c3ec 100644
--- a/tools/plotjuggler/test_plotjuggler.py
+++ b/tools/plotjuggler/test_plotjuggler.py
@@ -1,9 +1,12 @@
 import os
 import glob
+import shutil
 import signal
 import subprocess
 import time
 
+import pytest
+
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.timeout import Timeout
 from openpilot.tools.plotjuggler.juggle import DEMO_ROUTE, install
@@ -12,6 +15,7 @@
 
 class TestPlotJuggler:
 
+  @pytest.mark.skipif(not shutil.which('qmake'), reason="Qt not installed")
   def test_demo(self):
     install()
 
diff --git a/tools/replay/.gitignore b/tools/replay/.gitignore
index 83f0e99a8b9..aa615770a24 100644
--- a/tools/replay/.gitignore
+++ b/tools/replay/.gitignore
@@ -1,5 +1,2 @@
-moc_*
-*.moc
-
 replay
 tests/test_replay
diff --git a/tools/replay/README.md b/tools/replay/README.md
index 794c08f6a39..d2beda99403 100644
--- a/tools/replay/README.md
+++ b/tools/replay/README.md
@@ -19,7 +19,7 @@ You can replay a route from your comma account by specifying the route name.
 tools/replay/replay <route-name>
 
 # Example:
-tools/replay/replay 'a2a0ccea32023010|2023-07-27--13-01-19'
+tools/replay/replay '5beb9b58bd12b691/0000010a--a51155e496'
 
 # Replay the default demo route:
 tools/replay/replay --demo
@@ -34,10 +34,10 @@ tools/replay/replay <route-name> --data_dir="/path_to/route"
 
 # Example:
 # If you have a local route stored at /path_to_routes with segments like:
-# a2a0ccea32023010|2023-07-27--13-01-19--0
-# a2a0ccea32023010|2023-07-27--13-01-19--1
+# 5beb9b58bd12b691/0000010a--a51155e496--0
+# 5beb9b58bd12b691/0000010a--a51155e496--1
 # You can replay it like this:
-tools/replay/replay "a2a0ccea32023010|2023-07-27--13-01-19" --data_dir="/path_to_routes"
+tools/replay/replay "5beb9b58bd12b691/0000010a--a51155e496" --data_dir="/path_to_routes"
 ```
 
 ## Send Messages via ZMQ
diff --git a/tools/replay/SConscript b/tools/replay/SConscript
index 136c4119f64..d047415f58d 100644
--- a/tools/replay/SConscript
+++ b/tools/replay/SConscript
@@ -3,21 +3,18 @@ Import('env', 'arch', 'common', 'messaging', 'visionipc', 'cereal')
 replay_env = env.Clone()
 replay_env['CCFLAGS'] += ['-Wno-deprecated-declarations']
 
-base_frameworks = []
-base_libs = [common, messaging, cereal, visionipc, 'm', 'ssl', 'crypto', 'pthread']
-
-if arch == "Darwin":
-  base_frameworks.append('OpenCL')
-else:
-  base_libs.append('OpenCL')
+base_frameworks = ['VideoToolbox', 'CoreMedia', 'CoreFoundation', 'CoreVideo'] if arch == "Darwin" else []
+base_libs = [common, messaging, cereal, visionipc, 'm', 'pthread']
 
 replay_lib_src = ["replay.cc", "consoleui.cc", "camera.cc", "filereader.cc", "logreader.cc", "framereader.cc",
-                  "route.cc", "util.cc", "seg_mgr.cc", "timeline.cc", "api.cc"]
+                  "route.cc", "util.cc", "seg_mgr.cc", "timeline.cc", "py_downloader.cc"]
 if arch != "Darwin":
   replay_lib_src.append("qcom_decoder.cc")
 replay_lib = replay_env.Library("replay", replay_lib_src, LIBS=base_libs, FRAMEWORKS=base_frameworks)
 Export('replay_lib')
-replay_libs = [replay_lib, 'avutil', 'avcodec', 'avformat', 'bz2', 'zstd', 'curl', 'yuv', 'ncurses'] + base_libs
+replay_libs = [replay_lib, 'avformat', 'avcodec', 'swresample', 'avutil', 'x264', 'z', 'bz2', 'zstd', 'yuv', 'ncurses'] + base_libs
+if arch != "Darwin":
+  replay_libs += ['va', 'va-drm', 'drm']
 replay_env.Program("replay", ["main.cc"], LIBS=replay_libs, FRAMEWORKS=base_frameworks)
 
 if GetOption('extras'):
diff --git a/tools/replay/api.cc b/tools/replay/api.cc
deleted file mode 100644
index 85e4e52b282..00000000000
--- a/tools/replay/api.cc
+++ /dev/null
@@ -1,162 +0,0 @@
-
-#include "tools/replay/api.h"
-
-#include <openssl/pem.h>
-#include <openssl/rsa.h>
-#include <openssl/evp.h>
-#include <openssl/sha.h>
-
-#include <cassert>
-#include <chrono>
-#include <iostream>
-
-#include "common/params.h"
-#include "common/version.h"
-#include "system/hardware/hw.h"
-
-namespace CommaApi2 {
-
-// Base64 URL-safe character set (uses '-' and '_' instead of '+' and '/')
-static const std::string base64url_chars =
-    "ABCDEFGHIJKLMNOPQRSTUVWXYZ"
-    "abcdefghijklmnopqrstuvwxyz"
-    "0123456789-_";
-
-std::string base64url_encode(const std::string &in) {
-  std::string out;
-  int val = 0, valb = -6;
-  for (unsigned char c : in) {
-    val = (val << 8) + c;
-    valb += 8;
-    while (valb >= 0) {
-      out.push_back(base64url_chars[(val >> valb) & 0x3F]);
-      valb -= 6;
-    }
-  }
-  if (valb > -6) {
-    out.push_back(base64url_chars[((val << 8) >> (valb + 8)) & 0x3F]);
-  }
-
-  return out;
-}
-
-EVP_PKEY *get_rsa_private_key() {
-  static std::unique_ptr<EVP_PKEY, decltype(&EVP_PKEY_free)> rsa_private(nullptr, EVP_PKEY_free);
-  if (!rsa_private) {
-    FILE *fp = fopen(Path::rsa_file().c_str(), "rb");
-    if (!fp) {
-      std::cerr << "No RSA private key found, please run manager.py or registration.py" << std::endl;
-      return nullptr;
-    }
-    rsa_private.reset(PEM_read_PrivateKey(fp, NULL, NULL, NULL));
-    fclose(fp);
-  }
-  return rsa_private.get();
-}
-
-std::string rsa_sign(const std::string &data) {
-  EVP_PKEY *private_key = get_rsa_private_key();
-  if (!private_key) return {};
-
-  EVP_MD_CTX *mdctx = EVP_MD_CTX_new();
-  assert(mdctx != nullptr);
-
-  std::vector<uint8_t> sig(EVP_PKEY_size(private_key));
-  uint32_t sig_len;
-
-  EVP_SignInit(mdctx, EVP_sha256());
-  EVP_SignUpdate(mdctx, data.data(), data.size());
-  int ret = EVP_SignFinal(mdctx, sig.data(), &sig_len, private_key);
-
-  EVP_MD_CTX_free(mdctx);
-
-  assert(ret == 1);
-  assert(sig.size() == sig_len);
-  return std::string(sig.begin(), sig.begin() + sig_len);
-}
-
-std::string create_jwt(const json11::Json &extra, int exp_time) {
-  int now = std::chrono::seconds(std::time(nullptr)).count();
-  std::string dongle_id = Params().get("DongleId");
-
-  // Create header and payload
-  json11::Json header = json11::Json::object{{"alg", "RS256"}};
-  auto payload = json11::Json::object{
-      {"identity", dongle_id},
-      {"iat", now},
-      {"nbf", now},
-      {"exp", now + exp_time},
-  };
-  // Merge extra payload
-  for (const auto &item : extra.object_items()) {
-    payload[item.first] = item.second;
-  }
-
-  // JWT construction
-  std::string jwt = base64url_encode(header.dump()) + '.' +
-                    base64url_encode(json11::Json(payload).dump());
-
-  // Hash and sign
-  std::string hash(SHA256_DIGEST_LENGTH, '\0');
-  SHA256((uint8_t *)jwt.data(), jwt.size(), (uint8_t *)hash.data());
-  std::string signature = rsa_sign(hash);
-
-  return jwt + "." + base64url_encode(signature);
-}
-
-std::string create_token(bool use_jwt, const json11::Json &payloads, int expiry) {
-  if (use_jwt) {
-    return create_jwt(payloads, expiry);
-  }
-
-  std::string token_json = util::read_file(util::getenv("HOME") + "/.comma/auth.json");
-  std::string err;
-  auto json = json11::Json::parse(token_json, err);
-  if (!err.empty()) {
-    std::cerr << "Error parsing auth.json " << err << std::endl;
-    return "";
-  }
-  return json["access_token"].string_value();
-}
-
-std::string httpGet(const std::string &url, long *response_code) {
-  CURL *curl = curl_easy_init();
-  assert(curl);
-
-  std::string readBuffer;
-  const std::string token = CommaApi2::create_token(!Hardware::PC());
-
-  // Set up the lambda for the write callback
-  // The '+' makes the lambda non-capturing, allowing it to be used as a C function pointer
-  auto writeCallback = +[](char *contents, size_t size, size_t nmemb, std::string *userp) ->size_t{
-    size_t totalSize = size * nmemb;
-    userp->append((char *)contents, totalSize);
-    return totalSize;
-  };
-
-  curl_easy_setopt(curl, CURLOPT_URL, url.c_str());
-  curl_easy_setopt(curl, CURLOPT_WRITEFUNCTION, writeCallback);
-  curl_easy_setopt(curl, CURLOPT_WRITEDATA, &readBuffer);
-  curl_easy_setopt(curl, CURLOPT_FOLLOWLOCATION, 1L);
-
-  // Handle headers
-  struct curl_slist *headers = nullptr;
-  headers = curl_slist_append(headers, "User-Agent: openpilot-" COMMA_VERSION);
-  if (!token.empty()) {
-    headers = curl_slist_append(headers, ("Authorization: JWT " + token).c_str());
-  }
-  curl_easy_setopt(curl, CURLOPT_HTTPHEADER, headers);
-
-  CURLcode res = curl_easy_perform(curl);
-
-  if (response_code) {
-    curl_easy_getinfo(curl, CURLINFO_RESPONSE_CODE, response_code);
-  }
-
-  curl_slist_free_all(headers);
-  curl_easy_cleanup(curl);
-
-  return res == CURLE_OK ? readBuffer : std::string{};
-}
-
-}  // namespace CommaApi
diff --git a/tools/replay/api.h b/tools/replay/api.h
deleted file mode 100644
index dff59c06590..00000000000
--- a/tools/replay/api.h
+++ /dev/null
@@ -1,15 +0,0 @@
-#pragma once
-
-#include <curl/curl.h>
-#include <string>
-
-#include "common/util.h"
-#include "third_party/json11/json11.hpp"
-
-namespace CommaApi2 {
-
-const std::string BASE_URL = util::getenv("API_HOST", "https://api.commadotai.com").c_str();
-std::string create_token(bool use_jwt, const json11::Json& payloads = {}, int expiry = 3600);
-std::string httpGet(const std::string &url, long *response_code = nullptr);
-
-}  // namespace CommaApi2
diff --git a/tools/replay/camera.cc b/tools/replay/camera.cc
index 73243ed20d5..671c0320bb0 100644
--- a/tools/replay/camera.cc
+++ b/tools/replay/camera.cc
@@ -1,24 +1,14 @@
 #include "tools/replay/camera.h"
 
-#include <cassert>
 #include <algorithm>
 
 #include <capnp/dynamic.h>
 
-#include "third_party/linux/include/msm_media_info.h"
+#include "system/camerad/cameras/nv12_info.h"
 #include "tools/replay/util.h"
 
 const int BUFFER_COUNT = 40;
 
-std::tuple<size_t, size_t, size_t> get_nv12_info(int width, int height) {
-  int nv12_width = VENUS_Y_STRIDE(COLOR_FMT_NV12, width);
-  int nv12_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, height);
-  assert(nv12_width == VENUS_UV_STRIDE(COLOR_FMT_NV12, width));
-  assert(nv12_height / 2 == VENUS_UV_SCANLINES(COLOR_FMT_NV12, height));
-  size_t nv12_buffer_size = 2346 * nv12_width;  // comes from v4l2_format.fmt.pix_mp.plane_fmt[0].sizeimage
-  return {nv12_width, nv12_height, nv12_buffer_size};
-}
-
 CameraServer::CameraServer(std::pair<int, int> camera_size[MAX_CAMERAS]) {
   for (int i = 0; i < MAX_CAMERAS; ++i) {
     std::tie(cameras_[i].width, cameras_[i].height) = camera_size[i];
@@ -50,9 +40,10 @@ void CameraServer::startVipcServer() {
 
     if (cam.width > 0 && cam.height > 0) {
       rInfo("camera[%d] frame size %dx%d", cam.type, cam.width, cam.height);
-      auto [nv12_width, nv12_height, nv12_buffer_size] = get_nv12_info(cam.width, cam.height);
+      auto [stride, y_height, uv_height_, buffer_size] = get_nv12_info(cam.width, cam.height);
+      (void)uv_height_;  // unused in replay
       vipc_server_->create_buffers_with_sizes(cam.stream_type, BUFFER_COUNT, cam.width, cam.height,
-                                              nv12_buffer_size, nv12_width, nv12_width * nv12_height);
+                                              buffer_size, stride, stride * y_height);
       if (!cam.thread.joinable()) {
         cam.thread = std::thread(&CameraServer::cameraThread, this, std::ref(cam));
       }
diff --git a/tools/replay/camera.h b/tools/replay/camera.h
index 21c3d98dcf2..94330188488 100644
--- a/tools/replay/camera.h
+++ b/tools/replay/camera.h
@@ -10,8 +10,6 @@
 #include "tools/replay/framereader.h"
 #include "tools/replay/logreader.h"
 
-std::tuple<size_t, size_t, size_t> get_nv12_info(int width, int height);
-
 class CameraServer {
 public:
   CameraServer(std::pair<int, int> camera_size[MAX_CAMERAS] = nullptr);
diff --git a/tools/replay/can_replay.py b/tools/replay/can_replay.py
index 13c30a62ad0..07173200779 100755
--- a/tools/replay/can_replay.py
+++ b/tools/replay/can_replay.py
@@ -5,8 +5,6 @@
 import usb1
 import threading
 
-os.environ['FILEREADER_CACHE'] = '1'
-
 from openpilot.common.realtime import config_realtime_process, Ratekeeper, DT_CTRL
 from openpilot.selfdrive.pandad import can_capnp_to_list
 from openpilot.tools.lib.logreader import LogReader
diff --git a/tools/replay/consoleui.cc b/tools/replay/consoleui.cc
index 4d43df2da83..2d21b4efc02 100644
--- a/tools/replay/consoleui.cc
+++ b/tools/replay/consoleui.cc
@@ -9,6 +9,7 @@
 #include "common/ratekeeper.h"
 #include "common/util.h"
 #include "common/version.h"
+#include "tools/replay/py_downloader.h"
 
 namespace {
 
diff --git a/tools/replay/filereader.cc b/tools/replay/filereader.cc
index d74aaebabae..93a6a1193f3 100644
--- a/tools/replay/filereader.cc
+++ b/tools/replay/filereader.cc
@@ -1,49 +1,14 @@
 #include "tools/replay/filereader.h"
 
-#include <fstream>
-
 #include "common/util.h"
-#include "system/hardware/hw.h"
-#include "tools/replay/util.h"
-
-std::string cacheFilePath(const std::string &url) {
-  static std::string cache_path = [] {
-    const std::string comma_cache = Path::download_cache_root();
-    util::create_directories(comma_cache, 0755);
-    return comma_cache.back() == '/' ? comma_cache : comma_cache + "/";
-  }();
-
-  return cache_path + sha256(getUrlWithoutQuery(url));
-}
+#include "tools/replay/py_downloader.h"
 
 std::string FileReader::read(const std::string &file, std::atomic<bool> *abort) {
-  const bool is_remote = file.find("https://") == 0;
-  const std::string local_file = is_remote ? cacheFilePath(file) : file;
-  std::string result;
-
-  if ((!is_remote || cache_to_local_) && util::file_exists(local_file)) {
-    result = util::read_file(local_file);
-  } else if (is_remote) {
-    result = download(file, abort);
-    if (cache_to_local_ && !result.empty()) {
-      std::ofstream fs(local_file, std::ios::binary | std::ios::out);
-      fs.write(result.data(), result.size());
-    }
-  }
-  return result;
-}
-
-std::string FileReader::download(const std::string &url, std::atomic<bool> *abort) {
-  for (int i = 0; i <= max_retries_ && !(abort && *abort); ++i) {
-    if (i > 0) {
-      rWarning("download failed, retrying %d", i);
-      util::sleep_for(3000);
-    }
-
-    std::string result = httpGet(url, chunk_size_, abort);
-    if (!result.empty()) {
-      return result;
-    }
+  const bool is_remote = (file.find("https://") == 0) || (file.find("http://") == 0);
+  if (is_remote) {
+    std::string local_path = PyDownloader::download(file, cache_to_local_, abort);
+    if (local_path.empty()) return {};
+    return util::read_file(local_path);
   }
-  return {};
+  return util::read_file(file);
 }
diff --git a/tools/replay/filereader.h b/tools/replay/filereader.h
index 34aa91e858e..30740cd0ac3 100644
--- a/tools/replay/filereader.h
+++ b/tools/replay/filereader.h
@@ -5,16 +5,10 @@
 
 class FileReader {
 public:
-  FileReader(bool cache_to_local, size_t chunk_size = 0, int retries = 3)
-      : cache_to_local_(cache_to_local), chunk_size_(chunk_size), max_retries_(retries) {}
+  FileReader(bool cache_to_local) : cache_to_local_(cache_to_local) {}
   virtual ~FileReader() {}
   std::string read(const std::string &file, std::atomic<bool> *abort = nullptr);
 
 private:
-  std::string download(const std::string &url, std::atomic<bool> *abort);
-  size_t chunk_size_;
-  int max_retries_;
   bool cache_to_local_;
 };
-
-std::string cacheFilePath(const std::string &url);
diff --git a/tools/replay/framereader.cc b/tools/replay/framereader.cc
index a5f0f748c77..a643f0d3a78 100644
--- a/tools/replay/framereader.cc
+++ b/tools/replay/framereader.cc
@@ -6,7 +6,8 @@
 #include <utility>
 
 #include "common/util.h"
-#include "third_party/libyuv/include/libyuv.h"
+#include "libyuv.h"
+#include "tools/replay/py_downloader.h"
 #include "tools/replay/util.h"
 #include "system/hardware/hw.h"
 
@@ -71,13 +72,13 @@ FrameReader::~FrameReader() {
   if (input_ctx) avformat_close_input(&input_ctx);
 }
 
-bool FrameReader::load(CameraType type, const std::string &url, bool no_hw_decoder, std::atomic<bool> *abort, bool local_cache, int chunk_size, int retries) {
-  auto local_file_path = url.find("https://") == 0 ? cacheFilePath(url) : url;
-  if (!util::file_exists(local_file_path)) {
-    FileReader f(local_cache, chunk_size, retries);
-    if (f.read(url, abort).empty()) {
-      return false;
-    }
+bool FrameReader::load(CameraType type, const std::string &url, bool no_hw_decoder, std::atomic<bool> *abort, bool local_cache) {
+  std::string local_file_path;
+  if (url.find("https://") == 0 || url.find("http://") == 0) {
+    local_file_path = PyDownloader::download(url, local_cache, abort);
+    if (local_file_path.empty()) return false;
+  } else {
+    local_file_path = url;
   }
   return loadFromFile(type, local_file_path, no_hw_decoder, abort);
 }
diff --git a/tools/replay/framereader.h b/tools/replay/framereader.h
index d8e86fce0f1..3609d64f8b2 100644
--- a/tools/replay/framereader.h
+++ b/tools/replay/framereader.h
@@ -4,7 +4,6 @@
 #include <vector>
 
 #include "msgq/visionipc/visionbuf.h"
-#include "tools/replay/filereader.h"
 #include "tools/replay/util.h"
 
 #ifndef __APPLE__
@@ -22,8 +21,7 @@ class FrameReader {
 public:
   FrameReader();
   ~FrameReader();
-  bool load(CameraType type, const std::string &url, bool no_hw_decoder = false, std::atomic<bool> *abort = nullptr, bool local_cache = false,
-            int chunk_size = -1, int retries = 0);
+  bool load(CameraType type, const std::string &url, bool no_hw_decoder = false, std::atomic<bool> *abort = nullptr, bool local_cache = false);
   bool loadFromFile(CameraType type, const std::string &file, bool no_hw_decoder = false, std::atomic<bool> *abort = nullptr);
   bool get(int idx, VisionBuf *buf);
   size_t getFrameCount() const { return packets_info.size(); }
diff --git a/tools/replay/lib/ui_helpers.py b/tools/replay/lib/ui_helpers.py
index b90cbd93b09..039dd4f2359 100644
--- a/tools/replay/lib/ui_helpers.py
+++ b/tools/replay/lib/ui_helpers.py
@@ -1,11 +1,11 @@
 import itertools
-from typing import Any
 
 import matplotlib.pyplot as plt
 import numpy as np
-import pygame
+import pyray as rl
 
 from matplotlib.backends.backend_agg import FigureCanvasAgg
+from matplotlib.offsetbox import AnchoredOffsetbox, HPacker, TextArea
 
 from openpilot.common.transformations.camera import get_view_frame_from_calib_frame
 from openpilot.selfdrive.controls.radard import RADAR_TO_CAMERA
@@ -18,21 +18,25 @@
 BLACK = (0, 0, 0)
 WHITE = (255, 255, 255)
 
+
 class UIParams:
   lidar_x, lidar_y, lidar_zoom = 384, 960, 6
-  lidar_car_x, lidar_car_y = lidar_x / 2., lidar_y / 1.1
+  lidar_car_x, lidar_car_y = lidar_x / 2.0, lidar_y / 1.1
   car_hwidth = 1.7272 / 2 * lidar_zoom
   car_front = 2.6924 * lidar_zoom
   car_back = 1.8796 * lidar_zoom
   car_color = 110
+
+
 UP = UIParams
 
 METER_WIDTH = 20
 
+
 class Calibration:
   def __init__(self, num_px, rpy, intrinsic, calib_scale):
     self.intrinsic = intrinsic
-    self.extrinsics_matrix = get_view_frame_from_calib_frame(rpy[0], rpy[1], rpy[2], 0.0)[:,:3]
+    self.extrinsics_matrix = get_view_frame_from_calib_frame(rpy[0], rpy[1], rpy[2], 0.0)[:, :3]
     self.zoom = calib_scale
 
   def car_space_to_ff(self, x, y, z):
@@ -47,19 +51,18 @@ def car_space_to_bb(self, x, y, z):
     return pts / self.zoom
 
 
-_COLOR_CACHE : dict[tuple[int, int, int], Any] = {}
+_COLOR_CACHE: dict[tuple[int, int, int], int] = {
+  (255, 0, 0): 1,  # RED
+  (0, 255, 0): 2,  # GREEN
+  (0, 0, 255): 3,  # BLUE
+  (255, 255, 0): 4,  # YELLOW
+  (0, 0, 0): 0,  # BLACK
+  (255, 255, 255): 255,  # WHITE
+}
+
+
 def find_color(lidar_surface, color):
-  if color in _COLOR_CACHE:
-    return _COLOR_CACHE[color]
-  tcolor = 0
-  ret = 255
-  for x in lidar_surface.get_palette():
-    if x[0:3] == color:
-      ret = tcolor
-      break
-    tcolor += 1
-  _COLOR_CACHE[color] = ret
-  return ret
+  return _COLOR_CACHE.get(color, 255)
 
 
 def to_topdown_pt(y, x):
@@ -91,13 +94,8 @@ def draw_path(path, color, img, calibration, top_down, lid_color=None, z_off=0):
 
 
 def init_plots(arr, name_to_arr_idx, plot_xlims, plot_ylims, plot_names, plot_colors, plot_styles):
-  color_palette = { "r": (1, 0, 0),
-                    "g": (0, 1, 0),
-                    "b": (0, 0, 1),
-                    "k": (0, 0, 0),
-                    "y": (1, 1, 0),
-                    "p": (0, 1, 1),
-                    "m": (1, 0, 1)}
+  color_palette = {"r": (1, 0, 0), "g": (0, 1, 0), "b": (0, 0, 1), "k": (0, 0, 0), "y": (1, 1, 0), "p": (0, 1, 1), "m": (1, 0, 1)}
+  label_palette = {**color_palette, "b": (43/255, 114/255, 1.0)}
 
   dpi = 90
   fig = plt.figure(figsize=(575 / dpi, 600 / dpi), dpi=dpi)
@@ -107,7 +105,7 @@ def init_plots(arr, name_to_arr_idx, plot_xlims, plot_ylims, plot_names, plot_co
 
   axs = []
   for pn in range(len(plot_ylims)):
-    ax = fig.add_subplot(len(plot_ylims), 1, len(axs)+1)
+    ax = fig.add_subplot(len(plot_ylims), 1, len(axs) + 1)
     ax.set_xlim(plot_xlims[pn][0], plot_xlims[pn][1])
     ax.set_ylim(plot_ylims[pn][0], plot_ylims[pn][1])
     ax.patch.set_facecolor((0.4, 0.4, 0.4))
@@ -116,24 +114,34 @@ def init_plots(arr, name_to_arr_idx, plot_xlims, plot_ylims, plot_names, plot_co
   plots, idxs, plot_select = [], [], []
   for i, pl_list in enumerate(plot_names):
     for j, item in enumerate(pl_list):
-      plot, = axs[i].plot(arr[:, name_to_arr_idx[item]],
-                          label=item,
-                          color=color_palette[plot_colors[i][j]],
-                          linestyle=plot_styles[i][j])
+      (plot,) = axs[i].plot(arr[:, name_to_arr_idx[item]], label=item, color=color_palette[plot_colors[i][j]], linestyle=plot_styles[i][j])
       plots.append(plot)
       idxs.append(name_to_arr_idx[item])
       plot_select.append(i)
-    axs[i].set_title(", ".join(f"{nm} ({cl})"
-                               for (nm, cl) in zip(pl_list, plot_colors[i], strict=False)), fontsize=10)
+    # Build colored title: each label colored to match its plot line
+    title_texts = []
+    for j2, (nm, cl) in enumerate(zip(pl_list, plot_colors[i], strict=False)):
+      if j2 > 0:
+        title_texts.append(TextArea(", ", textprops=dict(color="white", fontsize=10)))
+      title_texts.append(TextArea(nm, textprops=dict(color=label_palette[cl], fontsize=10)))
+    packed = HPacker(children=title_texts, pad=0, sep=0)
+    ab = AnchoredOffsetbox(loc='lower center', child=packed, bbox_to_anchor=(0.5, 1.0),
+                           bbox_transform=axs[i].transAxes, frameon=False, pad=0)
+    axs[i].add_artist(ab)
     axs[i].tick_params(axis="x", colors="white")
     axs[i].tick_params(axis="y", colors="white")
-    axs[i].title.set_color("white")
 
     if i < len(plot_ylims) - 1:
       axs[i].set_xticks([])
 
   canvas.draw()
 
+  # Pre-create texture for plots (reuse each frame to avoid log spam)
+  w, h = canvas.get_width_height()
+  plot_image = rl.gen_image_color(w, h, rl.BLACK)
+  plot_texture = rl.load_texture_from_image(plot_image)
+  rl.unload_image(plot_image)
+
   def draw_plots(arr):
     for ax in axs:
       ax.draw_artist(ax.patch)
@@ -141,17 +149,13 @@ def draw_plots(arr):
       plots[i].set_ydata(arr[:, idxs[i]])
       axs[plot_select[i]].draw_artist(plots[i])
 
-    raw_data = canvas.buffer_rgba()
-    plot_surface = pygame.image.frombuffer(raw_data, canvas.get_width_height(), "RGBA").convert()
-    return plot_surface
+    raw_data = np.ascontiguousarray(canvas.buffer_rgba(), dtype=np.uint8)
+    rl.update_texture(plot_texture, rl.ffi.cast("void *", raw_data.ctypes.data))
+    return plot_texture
 
   return draw_plots
 
 
-def pygame_modules_have_loaded():
-  return pygame.display.get_init() and pygame.font.get_init()
-
-
 def plot_model(m, img, calibration, top_down):
   if calibration is None or top_down is None:
     return
@@ -166,7 +170,7 @@ def plot_model(m, img, calibration, top_down):
 
     _, py_top = to_topdown_pt(x + x_std, y)
     px, py_bottom = to_topdown_pt(x - x_std, y)
-    top_down[1][int(round(px - 4)):int(round(px + 4)), py_top:py_bottom] = find_color(top_down[0], YELLOW)
+    top_down[1][int(round(px - 4)) : int(round(px + 4)), py_top:py_bottom] = find_color(top_down[0], YELLOW)
 
   for path, prob, _ in zip(m.laneLines, m.laneLineProbs, m.laneLineStds, strict=True):
     color = (0, int(255 * prob), 0)
@@ -202,22 +206,15 @@ def maybe_update_radar_points(lt, lid_overlay):
     # negative here since radar is left positive
     px, py = to_topdown_pt(pt[0], -pt[1])
     if px != -1:
-      lid_overlay[px - 4:px + 4, py - 4:py + 4] = 0
-      lid_overlay[px - 2:px + 2, py - 2:py + 2] = 255
+      lid_overlay[px - 4 : px + 4, py - 4 : py + 4] = 0
+      lid_overlay[px - 2 : px + 2, py - 2 : py + 2] = 255
+
 
 def get_blank_lid_overlay(UP):
   lid_overlay = np.zeros((UP.lidar_x, UP.lidar_y), 'uint8')
   # Draw the car.
-  lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)):int(
-    round(UP.lidar_car_x + UP.car_hwidth)), int(round(UP.lidar_car_y -
-                                                      UP.car_front))] = UP.car_color
-  lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)):int(
-    round(UP.lidar_car_x + UP.car_hwidth)), int(round(UP.lidar_car_y +
-                                                      UP.car_back))] = UP.car_color
-  lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)), int(
-    round(UP.lidar_car_y - UP.car_front)):int(round(
-      UP.lidar_car_y + UP.car_back))] = UP.car_color
-  lid_overlay[int(round(UP.lidar_car_x + UP.car_hwidth)), int(
-    round(UP.lidar_car_y - UP.car_front)):int(round(
-      UP.lidar_car_y + UP.car_back))] = UP.car_color
+  lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)) : int(round(UP.lidar_car_x + UP.car_hwidth)), int(round(UP.lidar_car_y - UP.car_front))] = UP.car_color
+  lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)) : int(round(UP.lidar_car_x + UP.car_hwidth)), int(round(UP.lidar_car_y + UP.car_back))] = UP.car_color
+  lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)), int(round(UP.lidar_car_y - UP.car_front)) : int(round(UP.lidar_car_y + UP.car_back))] = UP.car_color
+  lid_overlay[int(round(UP.lidar_car_x + UP.car_hwidth)), int(round(UP.lidar_car_y - UP.car_front)) : int(round(UP.lidar_car_y + UP.car_back))] = UP.car_color
   return lid_overlay
diff --git a/tools/replay/logreader.cc b/tools/replay/logreader.cc
index 75abb8417b5..54b69dc168c 100644
--- a/tools/replay/logreader.cc
+++ b/tools/replay/logreader.cc
@@ -1,31 +1,68 @@
 #include "tools/replay/logreader.h"
 
 #include <algorithm>
+#include <chrono>
 #include <utility>
 #include "tools/replay/filereader.h"
+#include "tools/replay/py_downloader.h"
 #include "tools/replay/util.h"
 #include "common/util.h"
 
-bool LogReader::load(const std::string &url, std::atomic<bool> *abort, bool local_cache, int chunk_size, int retries) {
-  std::string data = FileReader(local_cache, chunk_size, retries).read(url, abort);
+bool LogReader::load(const std::string &url, std::atomic<bool> *abort, bool local_cache,
+                     const ProgressCallback &progress) {
+  using Clock = std::chrono::steady_clock;
+  compressed_size_ = 0;
+  decompressed_size_ = 0;
+  download_seconds_ = 0.0;
+  decompress_seconds_ = 0.0;
+  parse_seconds_ = 0.0;
+
+  if (progress) {
+    installDownloadProgressHandler([progress](uint64_t cur, uint64_t total, bool success) {
+      if (success) {
+        progress(ProgressStage::Downloading, cur, total);
+      }
+    });
+  }
+  const auto download_start = Clock::now();
+  std::string data = FileReader(local_cache).read(url, abort);
+  const auto download_end = Clock::now();
+  if (progress) {
+    installDownloadProgressHandler(nullptr);
+  }
+  compressed_size_ = data.size();
+  download_seconds_ = std::chrono::duration<double>(download_end - download_start).count();
   if (!data.empty()) {
+    const auto decompress_start = Clock::now();
     if (url.find(".bz2") != std::string::npos || util::starts_with(data, "BZh9")) {
       data = decompressBZ2(data, abort);
     } else if (url.find(".zst") != std::string::npos || util::starts_with(data, "\x28\xB5\x2F\xFD")) {
       data = decompressZST(data, abort);
     }
+    const auto decompress_end = Clock::now();
+    decompress_seconds_ = std::chrono::duration<double>(decompress_end - decompress_start).count();
   }
+  decompressed_size_ = data.size();
 
-  bool success = !data.empty() && load(data.data(), data.size(), abort);
+  bool success = !data.empty() && load(data.data(), data.size(), abort, progress);
   if (filters_.empty())
     raw_ = std::move(data);
   return success;
 }
 
-bool LogReader::load(const char *data, size_t size, std::atomic<bool> *abort) {
+bool LogReader::load(const char *data, size_t size, std::atomic<bool> *abort,
+                     const ProgressCallback &progress) {
+  using Clock = std::chrono::steady_clock;
+  const auto parse_start = Clock::now();
   try {
     events.reserve(65000);
     kj::ArrayPtr<const capnp::word> words((const capnp::word *)data, size / sizeof(capnp::word));
+    const uint64_t total_bytes = size;
+    const uint64_t report_step = std::max<uint64_t>(1, total_bytes / 200);
+    uint64_t last_reported = 0;
+    if (progress) {
+      progress(ProgressStage::Parsing, 0, total_bytes);
+    }
     while (words.size() > 0 && !(abort && *abort)) {
       capnp::FlatArrayMessageReader reader(words);
       auto event = reader.getRoot<cereal::Event>();
@@ -56,15 +93,30 @@ bool LogReader::load(const char *data, size_t size, std::atomic<bool> *abort) {
           events.emplace_back(which, sof ? sof : mono_time, event_data, idx.getSegmentNum());
         }
       }
+
+      if (progress) {
+        const uint64_t current_bytes =
+          total_bytes - static_cast<uint64_t>(words.size() * sizeof(capnp::word));
+        if (current_bytes >= total_bytes || current_bytes - last_reported >= report_step) {
+          progress(ProgressStage::Parsing, current_bytes, total_bytes);
+          last_reported = current_bytes;
+        }
+      }
     }
   } catch (const kj::Exception &e) {
     rWarning("Failed to parse log : %s.\nRetrieved %zu events from corrupt log", e.getDescription().cStr(), events.size());
   }
 
+  if (progress) {
+    progress(ProgressStage::Parsing, size, size);
+  }
+
   if (requires_migration) {
     migrateOldEvents();
   }
 
+  parse_seconds_ = std::chrono::duration<double>(Clock::now() - parse_start).count();
+
   if (!events.empty() && !(abort && *abort)) {
     events.shrink_to_fit();
     std::sort(events.begin(), events.end());
@@ -90,18 +142,19 @@ void LogReader::migrateOldEvents() {
       new_evt.setLogMonoTime(old_evt.getLogMonoTime());
       auto new_state = new_evt.initSelfdriveState();
 
-      new_state.setActive(old_state.getActiveDEPRECATED());
-      new_state.setAlertSize(old_state.getAlertSizeDEPRECATED());
-      new_state.setAlertSound(old_state.getAlertSound2DEPRECATED());
-      new_state.setAlertStatus(old_state.getAlertStatusDEPRECATED());
-      new_state.setAlertText1(old_state.getAlertText1DEPRECATED());
-      new_state.setAlertText2(old_state.getAlertText2DEPRECATED());
-      new_state.setAlertType(old_state.getAlertTypeDEPRECATED());
-      new_state.setEnabled(old_state.getEnabledDEPRECATED());
-      new_state.setEngageable(old_state.getEngageableDEPRECATED());
-      new_state.setExperimentalMode(old_state.getExperimentalModeDEPRECATED());
-      new_state.setPersonality(old_state.getPersonalityDEPRECATED());
-      new_state.setState(old_state.getStateDEPRECATED());
+      auto old_dep = old_state.getDeprecated();
+      new_state.setActive(old_dep.getActive());
+      new_state.setAlertSize(old_dep.getAlertSize());
+      new_state.setAlertSound(old_dep.getAlertSound2());
+      new_state.setAlertStatus(old_dep.getAlertStatus());
+      new_state.setAlertText1(old_dep.getAlertText1());
+      new_state.setAlertText2(old_dep.getAlertText2());
+      new_state.setAlertType(old_dep.getAlertType());
+      new_state.setEnabled(old_dep.getEnabled());
+      new_state.setEngageable(old_dep.getEngageable());
+      new_state.setExperimentalMode(old_dep.getExperimentalMode());
+      new_state.setPersonality(old_dep.getPersonality());
+      new_state.setState(old_dep.getState());
 
       // Serialize the new event to the buffer
       auto buf_size = msg.getSerializedSize();
diff --git a/tools/replay/logreader.h b/tools/replay/logreader.h
index f8d60ffadd7..fe11ab0f77d 100644
--- a/tools/replay/logreader.h
+++ b/tools/replay/logreader.h
@@ -1,5 +1,7 @@
 #pragma once
 
+#include <cstdint>
+#include <functional>
 #include <string>
 #include <vector>
 
@@ -26,12 +28,26 @@ class Event {
 
 class LogReader {
 public:
+  enum class ProgressStage {
+    Downloading,
+    Parsing,
+  };
+
+  using ProgressCallback = std::function<void(ProgressStage stage, uint64_t current, uint64_t total)>;
+
   LogReader(const std::vector<bool> &filters = {}) { filters_ = filters; }
   bool load(const std::string &url, std::atomic<bool> *abort = nullptr,
-            bool local_cache = false, int chunk_size = -1, int retries = 0);
-  bool load(const char *data, size_t size, std::atomic<bool> *abort = nullptr);
+            bool local_cache = false, const ProgressCallback &progress = {});
+  bool load(const char *data, size_t size, std::atomic<bool> *abort = nullptr,
+            const ProgressCallback &progress = {});
   std::vector<Event> events;
 
+  uint64_t compressed_size() const { return compressed_size_; }
+  uint64_t decompressed_size() const { return decompressed_size_; }
+  double download_seconds() const { return download_seconds_; }
+  double decompress_seconds() const { return decompress_seconds_; }
+  double parse_seconds() const { return parse_seconds_; }
+
 private:
   void migrateOldEvents();
 
@@ -39,4 +55,9 @@ class LogReader {
   bool requires_migration = true;
   std::vector<bool> filters_;
   MonotonicBuffer buffer_{1024 * 1024};
+  uint64_t compressed_size_ = 0;
+  uint64_t decompressed_size_ = 0;
+  double download_seconds_ = 0.0;
+  double decompress_seconds_ = 0.0;
+  double parse_seconds_ = 0.0;
 };
diff --git a/tools/replay/main.cc b/tools/replay/main.cc
index 46090121945..bdb9cf4f35a 100644
--- a/tools/replay/main.cc
+++ b/tools/replay/main.cc
@@ -1,11 +1,14 @@
 #include <getopt.h>
 
+#include <cstdlib>
+#include <iomanip>
 #include <iostream>
 #include <map>
 #include <string>
 #include <vector>
 
 #include "common/prefix.h"
+#include "common/timing.h"
 #include "tools/replay/consoleui.h"
 #include "tools/replay/replay.h"
 #include "tools/replay/util.h"
@@ -31,6 +34,7 @@ R"(Usage: replay [options] [route]
       --no-hw-decoder Disable HW video decoding
       --no-vipc      Do not output video
       --all          Output all messages including bookmarkButton, uiDebug, userBookmark
+      --benchmark    Run in benchmark mode (process all events then exit with stats)
   -h, --help         Show this help message
 )";
 
@@ -66,6 +70,7 @@ bool parseArgs(int argc, char *argv[], ReplayConfig &config) {
       {"no-hw-decoder", no_argument, nullptr, 0},
       {"no-vipc", no_argument, nullptr, 0},
       {"all", no_argument, nullptr, 0},
+      {"benchmark", no_argument, nullptr, 0},
       {"help", no_argument, nullptr, 'h'},
       {nullptr, 0, nullptr, 0},  // Terminating entry
   };
@@ -79,6 +84,7 @@ bool parseArgs(int argc, char *argv[], ReplayConfig &config) {
       {"no-hw-decoder", REPLAY_FLAG_NO_HW_DECODER},
       {"no-vipc", REPLAY_FLAG_NO_VIPC},
       {"all", REPLAY_FLAG_ALL_SERVICES},
+      {"benchmark", REPLAY_FLAG_BENCHMARK},
   };
 
   if (argc == 1) {
@@ -127,6 +133,10 @@ int main(int argc, char *argv[]) {
   util::set_file_descriptor_limit(1024);
 #endif
 
+  // The vendored ncurses static library has a wrong compiled-in terminfo path.
+  // Point it at the system terminfo database if not already set.
+  setenv("TERMINFO_DIRS", "/usr/share/terminfo:/lib/terminfo:/usr/lib/terminfo", 0);
+
   ReplayConfig config;
 
   if (!parseArgs(argc, argv, config)) {
@@ -149,6 +159,28 @@ int main(int argc, char *argv[]) {
     return 1;
   }
 
+  if (config.flags & REPLAY_FLAG_BENCHMARK) {
+    replay.start(config.start_seconds);
+    replay.waitForFinished();
+
+    const auto &stats = replay.getBenchmarkStats();
+    uint64_t process_start = stats.process_start_ts;
+
+    std::cout << "\n===== REPLAY BENCHMARK RESULTS =====\n";
+    std::cout << "Route: " << replay.route().name() << "\n\n";
+
+    std::cout << "TIMELINE:\n";
+    std::cout << "  t=0 ms        process start\n";
+    for (const auto &[ts, event] : stats.timeline) {
+      double ms = (ts - process_start) / 1e6;
+      std::cout << "  t=" << std::fixed << std::setprecision(0) << ms << " ms"
+                << std::string(std::max(1, 8 - static_cast<int>(std::to_string(static_cast<int>(ms)).length())), ' ')
+                << event << "\n";
+    }
+
+    return 0;
+  }
+
   ConsoleUI console_ui(&replay);
   replay.start(config.start_seconds);
   return console_ui.exec();
diff --git a/tools/replay/py_downloader.cc b/tools/replay/py_downloader.cc
new file mode 100644
index 00000000000..5063d6947c5
--- /dev/null
+++ b/tools/replay/py_downloader.cc
@@ -0,0 +1,223 @@
+#include "tools/replay/py_downloader.h"
+
+#include <csignal>
+#include <fcntl.h>
+#include <mutex>
+#include <sys/wait.h>
+#include <unistd.h>
+
+#include "tools/replay/util.h"
+
+namespace {
+
+static std::mutex handler_mutex;
+static DownloadProgressHandler progress_handler = nullptr;
+
+// Run a Python command and capture stdout. Optionally parse stderr for PROGRESS lines.
+// Returns stdout content. If abort is signaled, kills the child process.
+std::string runPython(const std::vector<std::string> &args, std::atomic<bool> *abort = nullptr, bool parse_progress = false) {
+  // Build argv for execvp
+  std::vector<const char *> argv;
+  argv.push_back("python3");
+  argv.push_back("-m");
+  argv.push_back("openpilot.tools.lib.file_downloader");
+  for (const auto &a : args) {
+    argv.push_back(a.c_str());
+  }
+  argv.push_back(nullptr);
+
+  int stdout_pipe[2];
+  int stderr_pipe[2];
+  if (pipe(stdout_pipe) != 0) {
+    rWarning("py_downloader: pipe() failed");
+    return {};
+  }
+  if (pipe(stderr_pipe) != 0) {
+    rWarning("py_downloader: pipe() failed");
+    close(stdout_pipe[0]); close(stdout_pipe[1]);
+    return {};
+  }
+
+  pid_t pid = fork();
+  if (pid < 0) {
+    rWarning("py_downloader: fork() failed");
+    close(stdout_pipe[0]); close(stdout_pipe[1]);
+    close(stderr_pipe[0]); close(stderr_pipe[1]);
+    return {};
+  }
+
+  if (pid == 0) {
+    // Child process — detach from controlling terminal so Python
+    // cannot corrupt terminal settings needed by ncurses in the parent.
+    setsid();
+    int devnull = open("/dev/null", O_RDONLY);
+    if (devnull >= 0) {
+      dup2(devnull, STDIN_FILENO);
+      if (devnull > STDERR_FILENO) close(devnull);
+    }
+
+    // Clear OPENPILOT_PREFIX so the Python process uses default paths
+    // (e.g. ~/.comma/auth.json). The prefix is only for IPC in the parent.
+    unsetenv("OPENPILOT_PREFIX");
+
+    close(stdout_pipe[0]);
+    close(stderr_pipe[0]);
+    dup2(stdout_pipe[1], STDOUT_FILENO);
+    dup2(stderr_pipe[1], STDERR_FILENO);
+    close(stdout_pipe[1]);
+    close(stderr_pipe[1]);
+
+    execvp("python3", const_cast<char *const *>(argv.data()));
+    _exit(127);
+  }
+
+  // Parent process
+  close(stdout_pipe[1]);
+  close(stderr_pipe[1]);
+
+  std::string stdout_data;
+  std::string stderr_buf;
+  char buf[4096];
+
+  // Use select() to read from both pipes
+  fd_set rfds;
+  int max_fd = std::max(stdout_pipe[0], stderr_pipe[0]);
+  bool stdout_open = true, stderr_open = true;
+
+  while (stdout_open || stderr_open) {
+    if (abort && *abort) {
+      kill(pid, SIGTERM);
+      break;
+    }
+
+    FD_ZERO(&rfds);
+    if (stdout_open) FD_SET(stdout_pipe[0], &rfds);
+    if (stderr_open) FD_SET(stderr_pipe[0], &rfds);
+
+    struct timeval tv = {0, 100000};  // 100ms timeout
+    int ret = select(max_fd + 1, &rfds, nullptr, nullptr, &tv);
+    if (ret < 0) break;
+
+    if (stdout_open && FD_ISSET(stdout_pipe[0], &rfds)) {
+      ssize_t n = read(stdout_pipe[0], buf, sizeof(buf));
+      if (n <= 0) {
+        stdout_open = false;
+      } else {
+        stdout_data.append(buf, n);
+      }
+    }
+
+    if (stderr_open && FD_ISSET(stderr_pipe[0], &rfds)) {
+      ssize_t n = read(stderr_pipe[0], buf, sizeof(buf));
+      if (n <= 0) {
+        stderr_open = false;
+      } else {
+        stderr_buf.append(buf, n);
+        // Parse complete lines from stderr
+        size_t pos;
+        while ((pos = stderr_buf.find('\n')) != std::string::npos) {
+          std::string line = stderr_buf.substr(0, pos);
+          stderr_buf.erase(0, pos + 1);
+
+          if (parse_progress && line.rfind("PROGRESS:", 0) == 0) {
+            // Parse "PROGRESS:<cur>:<total>"
+            auto colon1 = line.find(':', 9);
+            if (colon1 != std::string::npos) {
+              try {
+                uint64_t cur = std::stoull(line.c_str() + 9);
+                uint64_t total = std::stoull(line.c_str() + colon1 + 1);
+                std::lock_guard<std::mutex> lk(handler_mutex);
+                if (progress_handler) {
+                  progress_handler(cur, total, true);
+                }
+              } catch (...) {}
+            }
+          } else if (line.rfind("ERROR:", 0) == 0) {
+            rWarning("py_downloader: %s", line.c_str() + 6);
+          }
+        }
+      }
+    }
+  }
+
+  // Drain remaining pipe data to prevent child from blocking on write
+  for (int fd : {stdout_pipe[0], stderr_pipe[0]}) {
+    while (read(fd, buf, sizeof(buf)) > 0) {}
+    close(fd);
+  }
+
+  int status;
+  waitpid(pid, &status, 0);
+
+  const bool aborted = abort && *abort;
+  const bool expected_sigterm = aborted && WIFSIGNALED(status) && WTERMSIG(status) == SIGTERM;
+  bool failed = aborted ||
+                (WIFEXITED(status) && WEXITSTATUS(status) != 0) ||
+                WIFSIGNALED(status);
+  if (failed) {
+    if (expected_sigterm) {
+      // Route/camera teardown cancels outstanding downloader subprocesses.
+      // Keep that expected shutdown path quiet.
+    } else if (WIFEXITED(status) && WEXITSTATUS(status) != 0) {
+      rWarning("py_downloader: process exited with code %d", WEXITSTATUS(status));
+    } else if (WIFSIGNALED(status)) {
+      rWarning("py_downloader: process killed by signal %d", WTERMSIG(status));
+    }
+    std::lock_guard<std::mutex> lk(handler_mutex);
+    if (progress_handler) {
+      progress_handler(0, 0, false);
+    }
+    return {};
+  }
+
+  // Trim trailing newline
+  while (!stdout_data.empty() && (stdout_data.back() == '\n' || stdout_data.back() == '\r')) {
+    stdout_data.pop_back();
+  }
+
+  return stdout_data;
+}
+
+}  // namespace
+
+void installDownloadProgressHandler(DownloadProgressHandler handler) {
+  std::lock_guard<std::mutex> lk(handler_mutex);
+  progress_handler = handler;
+}
+
+namespace PyDownloader {
+
+std::string download(const std::string &url, bool use_cache, std::atomic<bool> *abort) {
+  std::vector<std::string> args = {"download", url};
+  if (!use_cache) {
+    args.push_back("--no-cache");
+  }
+  return runPython(args, abort, true);
+}
+
+std::string getRouteFiles(const std::string &route) {
+  return runPython({"route-files", route});
+}
+
+std::string getDevices() {
+  return runPython({"devices"});
+}
+
+std::string getDeviceRoutes(const std::string &dongle_id, int64_t start_ms, int64_t end_ms, bool preserved) {
+  std::vector<std::string> args = {"device-routes", dongle_id};
+  if (preserved) {
+    args.push_back("--preserved");
+  } else {
+    if (start_ms > 0) {
+      args.push_back("--start");
+      args.push_back(std::to_string(start_ms));
+    }
+    if (end_ms > 0) {
+      args.push_back("--end");
+      args.push_back(std::to_string(end_ms));
+    }
+  }
+  return runPython(args);
+}
+
+}  // namespace PyDownloader
diff --git a/tools/replay/py_downloader.h b/tools/replay/py_downloader.h
new file mode 100644
index 00000000000..535189784c8
--- /dev/null
+++ b/tools/replay/py_downloader.h
@@ -0,0 +1,24 @@
+#pragma once
+
+#include <atomic>
+#include <functional>
+#include <string>
+
+typedef std::function<void(uint64_t cur, uint64_t total, bool success)> DownloadProgressHandler;
+void installDownloadProgressHandler(DownloadProgressHandler handler);
+
+namespace PyDownloader {
+
+// Downloads url to local cache, returns local file path. Reports progress via installDownloadProgressHandler.
+std::string download(const std::string &url, bool use_cache = true, std::atomic<bool> *abort = nullptr);
+
+// Returns JSON string of route files (same format as /v1/route/.../files API)
+std::string getRouteFiles(const std::string &route);
+
+// Returns JSON string of user's devices
+std::string getDevices();
+
+// Returns JSON string of device routes
+std::string getDeviceRoutes(const std::string &dongle_id, int64_t start_ms = 0, int64_t end_ms = 0, bool preserved = false);
+
+}  // namespace PyDownloader
diff --git a/tools/replay/qcom_decoder.cc b/tools/replay/qcom_decoder.cc
index eb5409daa33..44ff16ce4fa 100644
--- a/tools/replay/qcom_decoder.cc
+++ b/tools/replay/qcom_decoder.cc
@@ -175,8 +175,8 @@ bool MsmVidc::setPlaneFormat(enum v4l2_buf_type type, uint32_t fourcc) {
 bool MsmVidc::setFPS(uint32_t fps) {
   struct v4l2_streamparm streamparam = {
     .type = V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE,
-    .parm.output.timeperframe = {1, fps}
   };
+  streamparam.parm.output.timeperframe = {1, fps};
   util::safe_ioctl(fd, VIDIOC_S_PARM, &streamparam, "VIDIOC_S_PARM failed");
   return true;
 }
diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc
index cc105dd10e6..d8d59e41a43 100644
--- a/tools/replay/replay.cc
+++ b/tools/replay/replay.cc
@@ -2,6 +2,8 @@
 
 #include <capnp/dynamic.h>
 #include <csignal>
+#include <iomanip>
+#include <sstream>
 #include "cereal/services.h"
 #include "common/params.h"
 #include "tools/replay/util.h"
@@ -19,6 +21,14 @@ Replay::Replay(const std::string &route, std::vector<std::string> allow, std::ve
     : sm_(sm), flags_(flags), seg_mgr_(std::make_unique<SegmentManager>(route, flags, data_dir, auto_source)) {
   std::signal(SIGUSR1, interrupt_sleep_handler);
 
+  if (flags_ & REPLAY_FLAG_BENCHMARK) {
+    benchmark_stats_.process_start_ts = nanos_since_boot();
+    seg_mgr_->setBenchmarkCallback([this](int seg_num, const std::string& event) {
+      benchmark_stats_.timeline.emplace_back(nanos_since_boot(),
+          "segment " + std::to_string(seg_num) + " " + event);
+    });
+  }
+
   if (!(flags_ & REPLAY_FLAG_ALL_SERVICES)) {
     block.insert(block.end(), {"bookmarkButton", "uiDebug", "userBookmark"});
   }
@@ -78,8 +88,13 @@ Replay::~Replay() {
 
 bool Replay::load() {
   rInfo("loading route %s", seg_mgr_->route_.name().c_str());
+
   if (!seg_mgr_->load()) return false;
 
+  if (hasFlag(REPLAY_FLAG_BENCHMARK)) {
+    benchmark_stats_.timeline.emplace_back(nanos_since_boot(), "route metadata loaded");
+  }
+
   min_seconds_ = seg_mgr_->route_.segments().begin()->first * 60;
   max_seconds_ = (seg_mgr_->route_.segments().rbegin()->first + 1) * 60;
   return true;
@@ -257,8 +272,13 @@ void Replay::streamThread() {
   stream_thread_id = pthread_self();
   std::unique_lock lk(stream_lock_);
 
+  int last_processed_segment = -1;
+  uint64_t segment_start_time = 0;
+  bool streaming_started = false;
+
   while (true) {
     stream_cv_.wait(lk, [this]() { return exit_ || (events_ready_ && !interrupt_requested_); });
+
     if (exit_) break;
 
     event_data_ = seg_mgr_->getEventData();
@@ -270,14 +290,19 @@ void Replay::streamThread() {
       continue;
     }
 
-    auto it = publishEvents(first, events.cend());
+    if (!streaming_started && hasFlag(REPLAY_FLAG_BENCHMARK)) {
+      benchmark_stats_.timeline.emplace_back(nanos_since_boot(), "streaming started");
+      streaming_started = true;
+    }
+
+    auto it = publishEvents(first, events.cend(), last_processed_segment, segment_start_time);
 
     // Ensure frames are sent before unlocking to prevent race conditions
     if (camera_server_) {
       camera_server_->waitForSent();
     }
 
-    if (it == events.cend() && !hasFlag(REPLAY_FLAG_NO_LOOP)) {
+    if (it == events.cend() && !hasFlag(REPLAY_FLAG_NO_LOOP) && !hasFlag(REPLAY_FLAG_BENCHMARK)) {
       int last_segment = seg_mgr_->route_.segments().rbegin()->first;
       if (event_data_->isSegmentLoaded(last_segment)) {
         rInfo("reaches the end of route, restart from beginning");
@@ -285,12 +310,28 @@ void Replay::streamThread() {
         seekTo(minSeconds(), false);
         stream_lock_.lock();
       }
+    } else if (it == events.cend() && hasFlag(REPLAY_FLAG_BENCHMARK)) {
+      // Exit benchmark mode after first segment completes
+      exit_ = true;
+      break;
     }
   }
+
+  if (hasFlag(REPLAY_FLAG_BENCHMARK)) {
+    benchmark_stats_.timeline.emplace_back(nanos_since_boot(), "benchmark done");
+
+    {
+      std::unique_lock lock(benchmark_lock_);
+      benchmark_done_ = true;
+    }
+    benchmark_cv_.notify_one();
+  }
 }
 
 std::vector<Event>::const_iterator Replay::publishEvents(std::vector<Event>::const_iterator first,
-                                                         std::vector<Event>::const_iterator last) {
+                                                         std::vector<Event>::const_iterator last,
+                                                         int &last_processed_segment,
+                                                         uint64_t &segment_start_time) {
   uint64_t evt_start_ts = cur_mono_time_;
   uint64_t loop_start_ts = nanos_since_boot();
   double prev_replay_speed = speed_;
@@ -304,6 +345,23 @@ std::vector<Event>::const_iterator Replay::publishEvents(std::vector<Event>::con
       seg_mgr_->setCurrentSegment(segment);
     }
 
+    // Track segment completion for benchmark timeline
+    if (hasFlag(REPLAY_FLAG_BENCHMARK) && segment != last_processed_segment) {
+      if (last_processed_segment >= 0 && segment_start_time > 0) {
+        uint64_t processing_time_ns = nanos_since_boot() - segment_start_time;
+        double processing_time_ms = processing_time_ns / 1e6;
+        double realtime_factor = 60.0 / (processing_time_ns / 1e9);  // 60s per segment
+
+        std::ostringstream oss;
+        oss << "segment " << last_processed_segment << " done publishing ("
+            << std::fixed << std::setprecision(0) << processing_time_ms << " ms, "
+            << std::fixed << std::setprecision(0) << realtime_factor << "x realtime)";
+        benchmark_stats_.timeline.emplace_back(nanos_since_boot(), oss.str());
+      }
+      segment_start_time = nanos_since_boot();
+      last_processed_segment = segment;
+    }
+
     cur_mono_time_ = evt.mono_time;
     cur_which_ = evt.which;
 
@@ -320,7 +378,8 @@ std::vector<Event>::const_iterator Replay::publishEvents(std::vector<Event>::con
       evt_start_ts = evt.mono_time;
       loop_start_ts = current_nanos;
       prev_replay_speed = speed_;
-    } else if (time_diff > 0) {
+    } else if (time_diff > 0 && !hasFlag(REPLAY_FLAG_BENCHMARK)) {
+      // Skip sleep in benchmark mode for maximum throughput
       precise_nano_sleep(time_diff, interrupt_requested_);
     }
 
@@ -338,3 +397,12 @@ std::vector<Event>::const_iterator Replay::publishEvents(std::vector<Event>::con
 
   return first;
 }
+
+void Replay::waitForFinished() {
+  if (!hasFlag(REPLAY_FLAG_BENCHMARK)) {
+    return;
+  }
+
+  std::unique_lock lock(benchmark_lock_);
+  benchmark_cv_.wait(lock, [this]() { return benchmark_done_; });
+}
diff --git a/tools/replay/replay.h b/tools/replay/replay.h
index 5e868d2427a..3e2bc7c00e8 100644
--- a/tools/replay/replay.h
+++ b/tools/replay/replay.h
@@ -12,7 +12,7 @@
 #include "tools/replay/seg_mgr.h"
 #include "tools/replay/timeline.h"
 
-#define DEMO_ROUTE "a2a0ccea32023010|2023-07-27--13-01-19"
+#define DEMO_ROUTE "5beb9b58bd12b691/0000010a--a51155e496"
 
 enum REPLAY_FLAGS {
   REPLAY_FLAG_NONE = 0x0000,
@@ -24,6 +24,12 @@ enum REPLAY_FLAGS {
   REPLAY_FLAG_NO_HW_DECODER = 0x0100,
   REPLAY_FLAG_NO_VIPC = 0x0400,
   REPLAY_FLAG_ALL_SERVICES = 0x0800,
+  REPLAY_FLAG_BENCHMARK = 0x1000,
+};
+
+struct BenchmarkStats {
+  uint64_t process_start_ts = 0;
+  std::vector<std::pair<uint64_t, std::string>> timeline;
 };
 
 class Replay {
@@ -57,6 +63,8 @@ class Replay {
   inline const std::optional<Timeline::Entry> findAlertAtTime(double sec) const { return timeline_.findAlertAtTime(sec); }
   const std::shared_ptr<SegmentManager::EventData> getEventData() const { return seg_mgr_->getEventData(); }
   void installEventFilter(std::function<bool(const Event *)> filter) { event_filter_ = filter; }
+  void waitForFinished();
+  const BenchmarkStats &getBenchmarkStats() const { return benchmark_stats_; }
 
   // Event callback functions
   std::function<void()> onSegmentsMerged = nullptr;
@@ -72,7 +80,9 @@ class Replay {
   void handleSegmentMerge();
   void interruptStream(const std::function<bool()>& update_fn);
   std::vector<Event>::const_iterator publishEvents(std::vector<Event>::const_iterator first,
-                                                   std::vector<Event>::const_iterator last);
+                                                   std::vector<Event>::const_iterator last,
+                                                   int &last_processed_segment,
+                                                   uint64_t &segment_start_time);
   void publishMessage(const Event *e);
   void publishFrame(const Event *e);
   void checkSeekProgress();
@@ -107,4 +117,9 @@ class Replay {
   std::function<bool(const Event *)> event_filter_ = nullptr;
 
   std::shared_ptr<SegmentManager::EventData> event_data_ = std::make_shared<SegmentManager::EventData>();
+
+  BenchmarkStats benchmark_stats_;
+  std::condition_variable benchmark_cv_;
+  std::mutex benchmark_lock_;
+  bool benchmark_done_ = false;
 };
diff --git a/tools/replay/route.cc b/tools/replay/route.cc
index ba008282675..e7b8ed6bba5 100644
--- a/tools/replay/route.cc
+++ b/tools/replay/route.cc
@@ -6,7 +6,7 @@
 
 #include "third_party/json11/json11.hpp"
 #include "system/hardware/hw.h"
-#include "tools/replay/api.h"
+#include "tools/replay/py_downloader.h"
 #include "tools/replay/replay.h"
 #include "tools/replay/util.h"
 
@@ -103,43 +103,44 @@ bool Route::loadFromAutoSource() {
   return !segments_.empty();
 }
 
-bool Route::loadFromServer(int retries) {
-  const std::string url = CommaApi2::BASE_URL + "/v1/route/" + route_.str + "/files";
-  for (int i = 1; i <= retries; ++i) {
-    long response_code = 0;
-    std::string result = CommaApi2::httpGet(url, &response_code);
-    if (response_code == 200) {
-      return loadFromJson(result);
-    }
+bool Route::loadFromServer() {
+  std::string result = PyDownloader::getRouteFiles(route_.str);
+  if (result.empty()) {
+    err_ = RouteLoadError::NetworkError;
+    rWarning("Failed to fetch route files from server");
+    return false;
+  }
+
+  // Check for error field in JSON response
+  std::string parse_err;
+  auto json = json11::Json::parse(result, parse_err);
+  if (!parse_err.empty()) {
+    err_ = RouteLoadError::NetworkError;
+    rWarning("Failed to parse route files response");
+    return false;
+  }
 
-    if (response_code == 401 || response_code == 403) {
+  if (json.is_object() && json["error"].is_string()) {
+    const std::string &error = json["error"].string_value();
+    if (error == "unauthorized") {
       rWarning(">> Unauthorized. Authenticate with tools/lib/auth.py <<");
       err_ = RouteLoadError::Unauthorized;
-      break;
-    }
-    if (response_code == 404) {
+    } else if (error == "not_found") {
       rWarning("The specified route could not be found on the server.");
       err_ = RouteLoadError::FileNotFound;
-      break;
+    } else {
+      rWarning("API error: %s", error.c_str());
+      err_ = RouteLoadError::NetworkError;
     }
-
-    err_ = RouteLoadError::NetworkError;
-    rWarning("Retrying %d/%d", i, retries);
-    util::sleep_for(3000);
+    return false;
   }
 
-  return false;
+  return loadFromJson(json);
 }
 
-bool Route::loadFromJson(const std::string &json) {
+bool Route::loadFromJson(const json11::Json &json) {
   const static std::regex rx(R"(\/(\d+)\/)");
-  std::string err;
-  auto jsonData = json11::Json::parse(json, err);
-  if (!err.empty()) {
-    rWarning("JSON parsing error: %s", err.c_str());
-    return false;
-  }
-  for (const auto &value : jsonData.object_items()) {
+  for (const auto &value : json.object_items()) {
     const auto &urlArray = value.second.array_items();
     for (const auto &url : urlArray) {
       std::string url_str = url.string_value();
@@ -225,10 +226,10 @@ void Segment::loadFile(int id, const std::string file) {
   bool success = false;
   if (id < MAX_CAMERAS) {
     frames[id] = std::make_unique<FrameReader>();
-    success = frames[id]->load((CameraType)id, file, flags & REPLAY_FLAG_NO_HW_DECODER, &abort_, local_cache, 20 * 1024 * 1024, 3);
+    success = frames[id]->load((CameraType)id, file, flags & REPLAY_FLAG_NO_HW_DECODER, &abort_, local_cache);
   } else {
     log = std::make_unique<LogReader>(filters_);
-    success = log->load(file, &abort_, local_cache, 0, 3);
+    success = log->load(file, &abort_, local_cache);
   }
 
   if (!success) {
diff --git a/tools/replay/route.h b/tools/replay/route.h
index 0375252a199..119a81152e0 100644
--- a/tools/replay/route.h
+++ b/tools/replay/route.h
@@ -8,6 +8,7 @@
 #include <thread>
 #include <vector>
 
+#include "third_party/json11/json11.hpp"
 #include "tools/replay/framereader.h"
 #include "tools/replay/logreader.h"
 #include "tools/replay/util.h"
@@ -55,8 +56,8 @@ class Route {
   bool loadSegments();
   bool loadFromAutoSource();
   bool loadFromLocal();
-  bool loadFromServer(int retries = 3);
-  bool loadFromJson(const std::string &json);
+  bool loadFromServer();
+  bool loadFromJson(const json11::Json &json);
   void addFileToSegment(int seg_num, const std::string &file);
   RouteIdentifier route_ = {};
   std::string data_dir_;
diff --git a/tools/replay/seg_mgr.cc b/tools/replay/seg_mgr.cc
index f4e865d4768..0778cacbc1b 100644
--- a/tools/replay/seg_mgr.cc
+++ b/tools/replay/seg_mgr.cc
@@ -118,9 +118,15 @@ void SegmentManager::loadSegmentsInRange(SegmentMap::iterator begin, SegmentMap:
     for (auto it = first; it != last; ++it) {
       auto &segment_ptr = it->second;
       if (!segment_ptr) {
+        if (onBenchmarkEvent_) {
+          onBenchmarkEvent_(it->first, "loading");
+        }
         segment_ptr = std::make_shared<Segment>(
             it->first, route_.at(it->first), flags_, filters_,
             [this](int seg_num, bool success) {
+              if (onBenchmarkEvent_) {
+                onBenchmarkEvent_(seg_num, success ? "loaded" : "load failed");
+              }
               std::unique_lock lock(mutex_);
               needs_update_ = true;
               cv_.notify_one();
diff --git a/tools/replay/seg_mgr.h b/tools/replay/seg_mgr.h
index 640169749e2..54e156fb60a 100644
--- a/tools/replay/seg_mgr.h
+++ b/tools/replay/seg_mgr.h
@@ -27,6 +27,7 @@ class SegmentManager {
   bool load();
   void setCurrentSegment(int seg_num);
   void setCallback(const std::function<void()> &callback) { onSegmentMergedCallback_ = callback; }
+  void setBenchmarkCallback(const std::function<void(int, const std::string&)> &callback) { onBenchmarkEvent_ = callback; }
   void setFilters(const std::vector<bool> &filters) { filters_ = filters; }
   const std::shared_ptr<EventData> getEventData() const { return std::atomic_load(&event_data_); }
   bool hasSegment(int n) const { return segments_.find(n) != segments_.end(); }
@@ -52,5 +53,6 @@ class SegmentManager {
   SegmentMap segments_;
   std::shared_ptr<EventData> event_data_;
   std::function<void()> onSegmentMergedCallback_ = nullptr;
+  std::function<void(int, const std::string&)> onBenchmarkEvent_ = nullptr;
   std::set<int> merged_segments_;
 };
diff --git a/tools/replay/tests/test_replay.cc b/tools/replay/tests/test_replay.cc
index aed3de59a8c..45fcc981915 100644
--- a/tools/replay/tests/test_replay.cc
+++ b/tools/replay/tests/test_replay.cc
@@ -1,5 +1,6 @@
 #define CATCH_CONFIG_MAIN
 #include "catch2/catch.hpp"
+#include "tools/replay/filereader.h"
 #include "tools/replay/replay.h"
 
 const std::string TEST_RLOG_URL = "https://commadataci.blob.core.windows.net/openpilotci/0c94aa1e1296d7c6/2021-05-05--19-48-37/0/rlog.bz2";
diff --git a/tools/replay/timeline.cc b/tools/replay/timeline.cc
index 39ea8b1bedf..08dca5c89eb 100644
--- a/tools/replay/timeline.cc
+++ b/tools/replay/timeline.cc
@@ -55,7 +55,7 @@ void Timeline::buildTimeline(const Route &route, uint64_t route_start_ts, bool l
     if (should_exit_) break;
 
     auto log = std::make_shared<LogReader>();
-    if (!log->load(segment.second.qlog, &should_exit_, local_cache, 0, 3) || log->events.empty()) {
+    if (!log->load(segment.second.qlog, &should_exit_, local_cache) || log->events.empty()) {
       continue;  // Skip if log loading fails or no events
     }
 
diff --git a/tools/replay/ui.py b/tools/replay/ui.py
index d71d63d1ced..405c79f4250 100755
--- a/tools/replay/ui.py
+++ b/tools/replay/ui.py
@@ -3,137 +3,160 @@
 import os
 import sys
 
-import cv2
 import numpy as np
-import pygame
+import pyray as rl
 
 import cereal.messaging as messaging
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.transformations.camera import DEVICE_CAMERAS
-from openpilot.tools.replay.lib.ui_helpers import (UP,
-                                         BLACK, GREEN,
-                                         YELLOW, Calibration,
-                                         get_blank_lid_overlay, init_plots,
-                                         maybe_update_radar_points, plot_lead,
-                                         plot_model,
-                                         pygame_modules_have_loaded)
-from msgq.visionipc import VisionIpcClient, VisionStreamType
+from openpilot.tools.replay.lib.ui_helpers import (
+  UP,
+  BLACK,
+  GREEN,
+  YELLOW,
+  Calibration,
+  get_blank_lid_overlay,
+  init_plots,
+  maybe_update_radar_points,
+  plot_lead,
+  plot_model,
+)
+from msgq.visionipc import VisionStreamType
+from openpilot.selfdrive.ui.mici.onroad.cameraview import CameraView
 
 os.environ['BASEDIR'] = BASEDIR
 
 ANGLE_SCALE = 5.0
 
-def ui_thread(addr):
-  cv2.setNumThreads(1)
-  pygame.init()
-  pygame.font.init()
-  assert pygame_modules_have_loaded()
 
-  disp_info = pygame.display.Info()
-  max_height = disp_info.current_h
+def ui_thread(addr):
+  # Get monitor info before creating window
+  rl.set_config_flags(rl.ConfigFlags.FLAG_MSAA_4X_HINT)
+  rl.init_window(1, 1, "")
+  max_height = rl.get_monitor_height(0)
+  rl.close_window()
 
   hor_mode = os.getenv("HORIZONTAL") is not None
-  hor_mode = True if max_height < 960+300 else hor_mode
+  hor_mode = True if max_height < 960 + 300 else hor_mode
 
   if hor_mode:
-    size = (640+384+640, 960)
+    size = (640 + 384 + 640, 960)
     write_x = 5
     write_y = 680
   else:
-    size = (640+384, 960+300)
+    size = (640 + 384, 960 + 300)
     write_x = 645
     write_y = 970
 
-  pygame.display.set_caption("openpilot debug UI")
-  screen = pygame.display.set_mode(size, pygame.DOUBLEBUF)
-
-  alert1_font = pygame.font.SysFont("arial", 30)
-  alert2_font = pygame.font.SysFont("arial", 20)
-  info_font = pygame.font.SysFont("arial", 15)
-
-  camera_surface = pygame.surface.Surface((640, 480), 0, 24).convert()
-  top_down_surface = pygame.surface.Surface((UP.lidar_x, UP.lidar_y), 0, 8)
-
-  sm = messaging.SubMaster(['carState', 'longitudinalPlan', 'carControl', 'radarState', 'liveCalibration', 'controlsState',
-                            'selfdriveState', 'liveTracks', 'modelV2', 'liveParameters', 'roadCameraState'], addr=addr)
+  rl.set_trace_log_level(rl.TraceLogLevel.LOG_ERROR)
+  rl.set_config_flags(rl.ConfigFlags.FLAG_MSAA_4X_HINT)
+  rl.init_window(size[0], size[1], "openpilot debug UI")
+  rl.set_target_fps(60)
+
+  # Load font
+  font_path = os.path.join(BASEDIR, "selfdrive/assets/fonts/JetBrainsMono-Medium.ttf")
+  font = rl.load_font_ex(font_path, 32, None, 0)
+
+  camera_view = CameraView("camerad", VisionStreamType.VISION_STREAM_ROAD)
+
+  # Overlay texture for model/lane line drawing
+  overlay_img = np.zeros((480, 640, 4), dtype='uint8')
+  overlay_image = rl.gen_image_color(640, 480, rl.BLANK)
+  overlay_texture = rl.load_texture_from_image(overlay_image)
+  rl.unload_image(overlay_image)
+
+  # lid_overlay array is (lidar_x, lidar_y) = (384, 960)
+  top_down_image = rl.gen_image_color(UP.lidar_x, UP.lidar_y, rl.BLACK)
+  top_down_texture = rl.load_texture_from_image(top_down_image)
+  rl.unload_image(top_down_image)
+
+  sm = messaging.SubMaster(
+    [
+      'carState',
+      'longitudinalPlan',
+      'carControl',
+      'radarState',
+      'liveCalibration',
+      'controlsState',
+      'selfdriveState',
+      'liveTracks',
+      'modelV2',
+      'liveParameters',
+      'roadCameraState',
+    ],
+    addr=addr,
+  )
 
   img = np.zeros((480, 640, 3), dtype='uint8')
-  imgff = None
   num_px = 0
   calibration = None
 
   lid_overlay_blank = get_blank_lid_overlay(UP)
 
   # plots
-  name_to_arr_idx = { "gas": 0,
-                      "computer_gas": 1,
-                      "user_brake": 2,
-                      "computer_brake": 3,
-                      "v_ego": 4,
-                      "v_pid": 5,
-                      "angle_steers_des": 6,
-                      "angle_steers": 7,
-                      "angle_steers_k": 8,
-                      "steer_torque": 9,
-                      "v_override": 10,
-                      "v_cruise": 11,
-                      "a_ego": 12,
-                      "a_target": 13}
+  name_to_arr_idx = {
+    "gas": 0,
+    "computer_gas": 1,
+    "user_brake": 2,
+    "computer_brake": 3,
+    "v_ego": 4,
+    "v_pid": 5,
+    "angle_steers_des": 6,
+    "angle_steers": 7,
+    "angle_steers_k": 8,
+    "steer_torque": 9,
+    "v_override": 10,
+    "v_cruise": 11,
+    "a_ego": 12,
+    "a_target": 13,
+  }
 
   plot_arr = np.zeros((100, len(name_to_arr_idx.values())))
 
   plot_xlims = [(0, plot_arr.shape[0]), (0, plot_arr.shape[0]), (0, plot_arr.shape[0]), (0, plot_arr.shape[0])]
-  plot_ylims = [(-0.1, 1.1), (-ANGLE_SCALE, ANGLE_SCALE), (0., 75.), (-3.0, 2.0)]
-  plot_names = [["gas", "computer_gas", "user_brake", "computer_brake"],
-                ["angle_steers", "angle_steers_des", "angle_steers_k", "steer_torque"],
-                ["v_ego", "v_override", "v_pid", "v_cruise"],
-                ["a_ego", "a_target"]]
-  plot_colors = [["b", "b", "g", "r", "y"],
-                 ["b", "g", "y", "r"],
-                 ["b", "g", "r", "y"],
-                 ["b", "r"]]
-  plot_styles = [["-", "-", "-", "-", "-"],
-                 ["-", "-", "-", "-"],
-                 ["-", "-", "-", "-"],
-                 ["-", "-"]]
+  plot_ylims = [(-0.1, 1.1), (-ANGLE_SCALE, ANGLE_SCALE), (0.0, 75.0), (-3.5, 2.0)]
+  plot_names = [
+    ["gas", "computer_gas", "user_brake", "computer_brake"],
+    ["angle_steers", "angle_steers_des", "angle_steers_k", "steer_torque"],
+    ["v_ego", "v_override", "v_pid", "v_cruise"],
+    ["a_ego", "a_target"],
+  ]
+  plot_colors = [["b", "b", "g", "r", "y"], ["b", "g", "y", "r"], ["b", "g", "r", "y"], ["b", "r"]]
+  plot_styles = [["-", "-", "-", "-", "-"], ["-", "-", "-", "-"], ["-", "-", "-", "-"], ["-", "-"]]
 
   draw_plots = init_plots(plot_arr, name_to_arr_idx, plot_xlims, plot_ylims, plot_names, plot_colors, plot_styles)
 
-  vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_ROAD, True)
-  while True:
-    for event in pygame.event.get():
-      if event.type == pygame.QUIT:
-        pygame.quit()
-        sys.exit()
+  # Palette for converting lid_overlay grayscale indices to RGBA colors
+  palette = np.zeros((256, 4), dtype=np.uint8)
+  palette[:, 3] = 255  # alpha
+  palette[1] = [255, 0, 0, 255]  # RED
+  palette[2] = [0, 255, 0, 255]  # GREEN
+  palette[3] = [0, 0, 255, 255]  # BLUE
+  palette[4] = [255, 255, 0, 255]  # YELLOW
+  palette[110] = [110, 110, 110, 255]  # car_color (gray)
+  palette[255] = [255, 255, 255, 255]  # WHITE
+
+  while not rl.window_should_close():
+    rl.begin_drawing()
+    rl.clear_background(rl.Color(64, 64, 64, 255))
+
+    # Render camera (NV12->RGB on GPU via shader)
+    if camera_view.frame:
+      cam_h = 640.0 * camera_view.frame.height / camera_view.frame.width
+    else:
+      cam_h = 480.0
+    camera_view.render(rl.Rectangle(0, 0, 640, cam_h))
 
-    screen.fill((64, 64, 64))
     lid_overlay = lid_overlay_blank.copy()
-    top_down = top_down_surface, lid_overlay
-
-    # ***** frame *****
-    if not vipc_client.is_connected():
-      vipc_client.connect(True)
-
-    yuv_img_raw = vipc_client.recv()
-    if yuv_img_raw is None or not yuv_img_raw.data.any():
-      continue
+    top_down = top_down_texture, lid_overlay
 
     sm.update(0)
 
     camera = DEVICE_CAMERAS[("tici", str(sm['roadCameraState'].sensor))]
+    calib_scale = camera.fcam.width / 640.0
 
-    imgff = np.frombuffer(yuv_img_raw.data, dtype=np.uint8).reshape((len(yuv_img_raw.data) // vipc_client.stride, vipc_client.stride))
-    num_px = vipc_client.width * vipc_client.height
-    rgb = cv2.cvtColor(imgff[:vipc_client.height * 3 // 2, :vipc_client.width], cv2.COLOR_YUV2RGB_NV12)
-
-    qcam = "QCAM" in os.environ
-    bb_scale = (528 if qcam else camera.fcam.width) / 640.
-    calib_scale = camera.fcam.width / 640.
-    zoom_matrix = np.asarray([
-        [bb_scale, 0., 0.],
-        [0., bb_scale, 0.],
-        [0., 0., 1.]])
-    cv2.warpAffine(rgb, zoom_matrix[:2], (img.shape[1], img.shape[0]), dst=img, flags=cv2.WARP_INVERSE_MAP)
+    if camera_view.frame:
+      num_px = camera_view.frame.width * camera_view.frame.height
 
     intrinsic_matrix = camera.fcam.intrinsics
 
@@ -145,24 +168,26 @@ def ui_thread(addr):
     else:
       angle_steers_k = np.inf
 
-    plot_arr[:-1] = plot_arr[1:]
+    if sm.updated['carState']:
+      plot_arr[:-1] = plot_arr[1:]
     plot_arr[-1, name_to_arr_idx['angle_steers']] = sm['carState'].steeringAngleDeg
     plot_arr[-1, name_to_arr_idx['angle_steers_des']] = sm['carControl'].actuators.steeringAngleDeg
     plot_arr[-1, name_to_arr_idx['angle_steers_k']] = angle_steers_k
     plot_arr[-1, name_to_arr_idx['gas']] = sm['carState'].gasDEPRECATED
     # TODO gas is deprecated
-    plot_arr[-1, name_to_arr_idx['computer_gas']] = np.clip(sm['carControl'].actuators.accel/4.0, 0.0, 1.0)
+    plot_arr[-1, name_to_arr_idx['computer_gas']] = np.clip(sm['carControl'].actuators.accel / 4.0, 0.0, 1.0)
     plot_arr[-1, name_to_arr_idx['user_brake']] = sm['carState'].brake
     plot_arr[-1, name_to_arr_idx['steer_torque']] = sm['carControl'].actuators.torque * ANGLE_SCALE
     # TODO brake is deprecated
-    plot_arr[-1, name_to_arr_idx['computer_brake']] = np.clip(-sm['carControl'].actuators.accel/4.0, 0.0, 1.0)
+    plot_arr[-1, name_to_arr_idx['computer_brake']] = np.clip(-sm['carControl'].actuators.accel / 4.0, 0.0, 1.0)
     plot_arr[-1, name_to_arr_idx['v_ego']] = sm['carState'].vEgo
     plot_arr[-1, name_to_arr_idx['v_cruise']] = sm['carState'].cruiseState.speed
     plot_arr[-1, name_to_arr_idx['a_ego']] = sm['carState'].aEgo
 
-    if len(sm['longitudinalPlan'].accels):
-      plot_arr[-1, name_to_arr_idx['a_target']] = sm['longitudinalPlan'].accels[0]
+    plot_arr[-1, name_to_arr_idx['a_target']] = sm['longitudinalPlan'].aTarget
 
+    # Draw model overlays onto img, then blit as transparent overlay
+    img[:] = 0
     if sm.recv_frame['modelV2']:
       plot_model(sm['modelV2'], img, calibration, top_down)
 
@@ -176,57 +201,66 @@ def ui_thread(addr):
       rpyCalib = np.asarray(sm['liveCalibration'].rpyCalib)
       calibration = Calibration(num_px, rpyCalib, intrinsic_matrix, calib_scale)
 
-    # *** blits ***
-    pygame.surfarray.blit_array(camera_surface, img.swapaxes(0, 1))
-    screen.blit(camera_surface, (0, 0))
+    # Update overlay texture (RGB img -> RGBA with non-black pixels visible)
+    mask = np.any(img > 0, axis=2)
+    overlay_img[:, :, :3] = img
+    overlay_img[:, :, 3] = mask * 255
+    rl.update_texture(overlay_texture, rl.ffi.cast("void *", overlay_img.ctypes.data))
+    rl.draw_texture(overlay_texture, 0, 0, rl.WHITE)  # noqa: TID251
 
     # display alerts
-    alert_line1 = alert1_font.render(sm['selfdriveState'].alertText1, True, (255, 0, 0))
-    alert_line2 = alert2_font.render(sm['selfdriveState'].alertText2, True, (255, 0, 0))
-    screen.blit(alert_line1, (180, 150))
-    screen.blit(alert_line2, (180, 190))
+    rl.draw_text_ex(font, sm['selfdriveState'].alertText1, rl.Vector2(180, 150), 30, 0, rl.RED)
+    rl.draw_text_ex(font, sm['selfdriveState'].alertText2, rl.Vector2(180, 190), 20, 0, rl.RED)
 
+    # draw plots (texture is reused internally)
+    plot_texture = draw_plots(plot_arr)
     if hor_mode:
-      screen.blit(draw_plots(plot_arr), (640+384, 0))
+      rl.draw_texture(plot_texture, 640 + 384, 0, rl.WHITE)  # noqa: TID251
     else:
-      screen.blit(draw_plots(plot_arr), (0, 600))
+      rl.draw_texture(plot_texture, 0, 600, rl.WHITE)  # noqa: TID251
 
-    pygame.surfarray.blit_array(*top_down)
-    screen.blit(top_down[0], (640, 0))
+    # Convert lid_overlay to RGBA and update top_down texture
+    # lid_overlay is (384, 960), need to transpose to (960, 384) for row-major RGBA buffer
+    lid_rgba = palette[lid_overlay.T]
+    rl.update_texture(top_down_texture, rl.ffi.cast("void *", np.ascontiguousarray(lid_rgba).ctypes.data))
+    rl.draw_texture(top_down_texture, 640, 0, rl.WHITE)  # noqa: TID251
 
     SPACING = 25
-
     lines = [
-      info_font.render("ENABLED", True, GREEN if sm['selfdriveState'].enabled else BLACK),
-      info_font.render("SPEED: " + str(round(sm['carState'].vEgo, 1)) + " m/s", True, YELLOW),
-      info_font.render("LONG CONTROL STATE: " + str(sm['controlsState'].longControlState), True, YELLOW),
-      info_font.render("LONG MPC SOURCE: " + str(sm['longitudinalPlan'].longitudinalPlanSource), True, YELLOW),
+      ("ENABLED", GREEN if sm['selfdriveState'].enabled else BLACK),
+      ("SPEED: " + str(round(sm['carState'].vEgo, 1)) + " m/s", YELLOW),
+      ("LONG CONTROL STATE: " + str(sm['controlsState'].longControlState), YELLOW),
+      ("LONG MPC SOURCE: " + str(sm['longitudinalPlan'].longitudinalPlanSource), YELLOW),
       None,
-      info_font.render("ANGLE OFFSET (AVG): " + str(round(sm['liveParameters'].angleOffsetAverageDeg, 2)) + " deg", True, YELLOW),
-      info_font.render("ANGLE OFFSET (INSTANT): " + str(round(sm['liveParameters'].angleOffsetDeg, 2)) + " deg", True, YELLOW),
-      info_font.render("STIFFNESS: " + str(round(sm['liveParameters'].stiffnessFactor * 100., 2)) + " %", True, YELLOW),
-      info_font.render("STEER RATIO: " + str(round(sm['liveParameters'].steerRatio, 2)), True, YELLOW)
+      ("ANGLE OFFSET (AVG): " + str(round(sm['liveParameters'].angleOffsetAverageDeg, 2)) + " deg", YELLOW),
+      ("ANGLE OFFSET (INSTANT): " + str(round(sm['liveParameters'].angleOffsetDeg, 2)) + " deg", YELLOW),
+      ("STIFFNESS: " + str(round(sm['liveParameters'].stiffnessFactor * 100.0, 2)) + " %", YELLOW),
+      ("STEER RATIO: " + str(round(sm['liveParameters'].steerRatio, 2)), YELLOW),
     ]
 
     for i, line in enumerate(lines):
       if line is not None:
-        screen.blit(line, (write_x, write_y + i * SPACING))
+        color = rl.Color(line[1][0], line[1][1], line[1][2], 255)
+        rl.draw_text_ex(font, line[0], rl.Vector2(write_x, write_y + i * SPACING), 20, 0, color)
+
+    rl.end_drawing()
+
+  rl.unload_texture(overlay_texture)
+  rl.unload_texture(top_down_texture)
+  rl.unload_font(font)
+  camera_view.close()
+  rl.close_window()
 
-    # this takes time...vsync or something
-    pygame.display.flip()
 
 def get_arg_parser():
-  parser = argparse.ArgumentParser(
-    description="Show replay data in a UI.",
-    formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+  parser = argparse.ArgumentParser(description="Show replay data in a UI.", formatter_class=argparse.ArgumentDefaultsHelpFormatter)
 
-  parser.add_argument("ip_address", nargs="?", default="127.0.0.1",
-                      help="The ip address on which to receive zmq messages.")
+  parser.add_argument("ip_address", nargs="?", default="127.0.0.1", help="The ip address on which to receive zmq messages.")
 
-  parser.add_argument("--frame-address", default=None,
-                      help="The frame address (fully qualified ZMQ endpoint for frames) on which to receive zmq messages.")
+  parser.add_argument("--frame-address", default=None, help="The frame address (fully qualified ZMQ endpoint for frames) on which to receive zmq messages.")
   return parser
 
+
 if __name__ == "__main__":
   args = get_arg_parser().parse_args(sys.argv[1:])
 
diff --git a/tools/replay/util.cc b/tools/replay/util.cc
index 94cea961ffc..7b308b5c3d4 100644
--- a/tools/replay/util.cc
+++ b/tools/replay/util.cc
@@ -1,20 +1,12 @@
 #include "tools/replay/util.h"
 
 #include <bzlib.h>
-#include <curl/curl.h>
-#include <openssl/sha.h>
 
 #include <cassert>
-#include <algorithm>
-#include <cmath>
 #include <cstdarg>
 #include <cstring>
-#include <fstream>
 #include <iostream>
-#include <map>
 #include <mutex>
-#include <numeric>
-#include <utility>
 #include <zstd.h>
 
 #include "common/timing.h"
@@ -51,91 +43,6 @@ void logMessage(ReplyMsgType type, const char *fmt, ...) {
   free(msg_buf);
 }
 
-namespace {
-
-struct CURLGlobalInitializer {
-  CURLGlobalInitializer() { curl_global_init(CURL_GLOBAL_DEFAULT); }
-  ~CURLGlobalInitializer() { curl_global_cleanup(); }
-};
-
-static CURLGlobalInitializer curl_initializer;
-
-template <class T>
-struct MultiPartWriter {
-  T *buf;
-  size_t *total_written;
-  size_t offset;
-  size_t end;
-
-  size_t write(char *data, size_t size, size_t count) {
-    size_t bytes = size * count;
-    if ((offset + bytes) > end) return 0;
-
-    if constexpr (std::is_same<T, std::string>::value) {
-      memcpy(buf->data() + offset, data, bytes);
-    } else if constexpr (std::is_same<T, std::ofstream>::value) {
-      buf->seekp(offset);
-      buf->write(data, bytes);
-    }
-
-    offset += bytes;
-    *total_written += bytes;
-    return bytes;
-  }
-};
-
-template <class T>
-size_t write_cb(char *data, size_t size, size_t count, void *userp) {
-  auto w = (MultiPartWriter<T> *)userp;
-  return w->write(data, size, count);
-}
-
-size_t dumy_write_cb(char *data, size_t size, size_t count, void *userp) { return size * count; }
-
-struct DownloadStats {
-  void installDownloadProgressHandler(DownloadProgressHandler handler) {
-    std::lock_guard lk(lock);
-    download_progress_handler = handler;
-  }
-
-  void add(const std::string &url, uint64_t total_bytes) {
-    std::lock_guard lk(lock);
-    items[url] = {0, total_bytes};
-  }
-
-  void remove(const std::string &url) {
-    std::lock_guard lk(lock);
-    items.erase(url);
-  }
-
-  void update(const std::string &url, uint64_t downloaded, bool success = true) {
-    std::lock_guard lk(lock);
-    items[url].first = downloaded;
-
-    auto stat = std::accumulate(items.begin(), items.end(), std::pair<int, int>{}, [=](auto &a, auto &b){
-      return std::pair{a.first + b.second.first, a.second + b.second.second};
-    });
-    double tm = millis_since_boot();
-    if (download_progress_handler && ((tm - prev_tm) > 500 || !success || stat.first >= stat.second)) {
-      download_progress_handler(stat.first, stat.second, success);
-      prev_tm = tm;
-    }
-  }
-
-  std::mutex lock;
-  std::map<std::string, std::pair<uint64_t, uint64_t>> items;
-  double prev_tm = 0;
-  DownloadProgressHandler download_progress_handler = nullptr;
-};
-
-static DownloadStats download_stats;
-
-} // namespace
-
-void installDownloadProgressHandler(DownloadProgressHandler handler) {
-  download_stats.installDownloadProgressHandler(handler);
-}
-
 std::string formattedDataSize(size_t size) {
   if (size < 1024) {
     return std::to_string(size) + " B";
@@ -146,138 +53,11 @@ std::string formattedDataSize(size_t size) {
   }
 }
 
-size_t getRemoteFileSize(const std::string &url, std::atomic<bool> *abort) {
-  CURL *curl = curl_easy_init();
-  if (!curl) return -1;
-
-  curl_easy_setopt(curl, CURLOPT_URL, url.c_str());
-  curl_easy_setopt(curl, CURLOPT_WRITEFUNCTION, dumy_write_cb);
-  curl_easy_setopt(curl, CURLOPT_HEADER, 1);
-  curl_easy_setopt(curl, CURLOPT_NOBODY, 1);
-
-  CURLM *cm = curl_multi_init();
-  curl_multi_add_handle(cm, curl);
-  int still_running = 1;
-  while (still_running > 0 && !(abort && *abort)) {
-    CURLMcode mc = curl_multi_perform(cm, &still_running);
-    if (mc != CURLM_OK) break;
-    if (still_running > 0) {
-      curl_multi_wait(cm, nullptr, 0, 1000, nullptr);
-    }
-  }
-
-  double content_length = -1;
-  curl_easy_getinfo(curl, CURLINFO_CONTENT_LENGTH_DOWNLOAD, &content_length);
-  curl_multi_remove_handle(cm, curl);
-  curl_easy_cleanup(curl);
-  curl_multi_cleanup(cm);
-  return content_length > 0 ? (size_t)content_length : 0;
-}
-
 std::string getUrlWithoutQuery(const std::string &url) {
   size_t idx = url.find("?");
   return (idx == std::string::npos ? url : url.substr(0, idx));
 }
 
-template <class T>
-bool httpDownload(const std::string &url, T &buf, size_t chunk_size, size_t content_length, std::atomic<bool> *abort) {
-  download_stats.add(url, content_length);
-
-  int parts = 1;
-  if (chunk_size > 0 && content_length > 10 * 1024 * 1024) {
-    parts = std::nearbyint(content_length / (float)chunk_size);
-    parts = std::clamp(parts, 1, 5);
-  }
-
-  CURLM *cm = curl_multi_init();
-  size_t written = 0;
-  std::map<CURL *, MultiPartWriter<T>> writers;
-  const int part_size = content_length / parts;
-  for (int i = 0; i < parts; ++i) {
-    CURL *eh = curl_easy_init();
-    writers[eh] = {
-        .buf = &buf,
-        .total_written = &written,
-        .offset = (size_t)(i * part_size),
-        .end = i == parts - 1 ? content_length : (i + 1) * part_size,
-    };
-    curl_easy_setopt(eh, CURLOPT_WRITEFUNCTION, write_cb<T>);
-    curl_easy_setopt(eh, CURLOPT_WRITEDATA, (void *)(&writers[eh]));
-    curl_easy_setopt(eh, CURLOPT_URL, url.c_str());
-    curl_easy_setopt(eh, CURLOPT_RANGE, util::string_format("%d-%d", writers[eh].offset, writers[eh].end - 1).c_str());
-    curl_easy_setopt(eh, CURLOPT_HTTPGET, 1);
-    curl_easy_setopt(eh, CURLOPT_NOSIGNAL, 1);
-    curl_easy_setopt(eh, CURLOPT_FOLLOWLOCATION, 1);
-
-    curl_multi_add_handle(cm, eh);
-  }
-
-  int still_running = 1;
-  size_t prev_written = 0;
-  while (still_running > 0 && !(abort && *abort)) {
-    CURLMcode mc = curl_multi_perform(cm, &still_running);
-    if (mc != CURLM_OK) {
-      break;
-    }
-    if (still_running > 0) {
-      curl_multi_wait(cm, nullptr, 0, 1000, nullptr);
-    }
-
-    if (((written - prev_written) / (double)content_length) >= 0.01) {
-      download_stats.update(url, written);
-      prev_written = written;
-    }
-  }
-
-  CURLMsg *msg;
-  int msgs_left = -1;
-  int complete = 0;
-  while ((msg = curl_multi_info_read(cm, &msgs_left)) && !(abort && *abort)) {
-    if (msg->msg == CURLMSG_DONE) {
-      if (msg->data.result == CURLE_OK) {
-        long res_status = 0;
-        curl_easy_getinfo(msg->easy_handle, CURLINFO_RESPONSE_CODE, &res_status);
-        if (res_status == 206) {
-          complete++;
-        } else {
-          rWarning("Download failed: http error code: %d", res_status);
-        }
-      } else {
-        rWarning("Download failed: connection failure: %d",  msg->data.result);
-      }
-    }
-  }
-
-  bool success = complete == parts;
-  download_stats.update(url, written, success);
-  download_stats.remove(url);
-
-  for (const auto &[e, w] : writers) {
-    curl_multi_remove_handle(cm, e);
-    curl_easy_cleanup(e);
-  }
-  curl_multi_cleanup(cm);
-
-  return success;
-}
-
-std::string httpGet(const std::string &url, size_t chunk_size, std::atomic<bool> *abort) {
-  size_t size = getRemoteFileSize(url, abort);
-  if (size == 0) return {};
-
-  std::string result(size, '\0');
-  return httpDownload(url, result, chunk_size, size, abort) ? result : "";
-}
-
-bool httpDownload(const std::string &url, const std::string &file, size_t chunk_size, std::atomic<bool> *abort) {
-  size_t size = getRemoteFileSize(url, abort);
-  if (size == 0) return false;
-
-  std::ofstream of(file, std::ios::binary | std::ios::out);
-  of.seekp(size - 1).write("\0", 1);
-  return httpDownload(url, of, chunk_size, size, abort);
-}
-
 std::string decompressBZ2(const std::string &in, std::atomic<bool> *abort) {
   return decompressBZ2((std::byte *)in.data(), in.size(), abort);
 }
@@ -381,15 +161,6 @@ void precise_nano_sleep(int64_t nanoseconds, std::atomic<bool> &interrupt_reques
   }
 }
 
-std::string sha256(const std::string &str) {
-  unsigned char hash[SHA256_DIGEST_LENGTH];
-  SHA256_CTX sha256;
-  SHA256_Init(&sha256);
-  SHA256_Update(&sha256, str.c_str(), str.size());
-  SHA256_Final(hash, &sha256);
-  return util::hexdump(hash, SHA256_DIGEST_LENGTH);
-}
-
 std::vector<std::string> split(std::string_view source, char delimiter) {
   std::vector<std::string> fields;
   size_t last = 0;
diff --git a/tools/replay/util.h b/tools/replay/util.h
index 1f61951d213..a2d0f6203a8 100644
--- a/tools/replay/util.h
+++ b/tools/replay/util.h
@@ -46,19 +46,12 @@ class MonotonicBuffer {
   static constexpr float growth_factor = 1.5;
 };
 
-std::string sha256(const std::string &str);
 void precise_nano_sleep(int64_t nanoseconds, std::atomic<bool> &interrupt_requested);
 std::string decompressBZ2(const std::string &in, std::atomic<bool> *abort = nullptr);
 std::string decompressBZ2(const std::byte *in, size_t in_size, std::atomic<bool> *abort = nullptr);
 std::string decompressZST(const std::string &in, std::atomic<bool> *abort = nullptr);
 std::string decompressZST(const std::byte *in, size_t in_size, std::atomic<bool> *abort = nullptr);
 std::string getUrlWithoutQuery(const std::string &url);
-size_t getRemoteFileSize(const std::string &url, std::atomic<bool> *abort = nullptr);
-std::string httpGet(const std::string &url, size_t chunk_size = 0, std::atomic<bool> *abort = nullptr);
-
-typedef std::function<void(uint64_t cur, uint64_t total, bool success)> DownloadProgressHandler;
-void installDownloadProgressHandler(DownloadProgressHandler);
-bool httpDownload(const std::string &url, const std::string &file, size_t chunk_size = 0, std::atomic<bool> *abort = nullptr);
 std::string formattedDataSize(size_t size);
 std::string extractFileName(const std::string& file);
 std::vector<std::string> split(std::string_view source, char delimiter);
diff --git a/tools/scripts/adb_ssh.sh b/tools/scripts/adb_ssh.sh
index ad65693722c..b9668e7e0b4 100755
--- a/tools/scripts/adb_ssh.sh
+++ b/tools/scripts/adb_ssh.sh
@@ -2,7 +2,9 @@
 set -euo pipefail
 
 # Forward all openpilot service ports
-mapfile -t SERVICE_PORTS < <(python3 - <<'PY'
+while IFS=' ' read -r name port; do
+  adb forward "tcp:${port}" "tcp:${port}" > /dev/null
+done < <(python3 - <<'PY'
 from cereal.services import SERVICE_LIST
 
 FNV_PRIME = 0x100000001b3
@@ -29,14 +31,12 @@ for name, port in sorted(ports):
 PY
 )
 
-for entry in "${SERVICE_PORTS[@]}"; do
-  name="${entry% *}"
-  port="${entry##* }"
-  adb forward "tcp:${port}" "tcp:${port}" > /dev/null
+# Forward SSH port, finding a free local port if 2222 is taken.
+SSH_PORT=2222
+while ss -tln | grep -q ":${SSH_PORT} "; do
+  SSH_PORT=$((SSH_PORT + 1))
 done
-
-# Forward SSH port first for interactive shell access.
-adb forward tcp:2222 tcp:22
+adb forward tcp:${SSH_PORT} tcp:22
 
 # SSH!
-ssh comma@localhost -p 2222 "$@"
+ssh comma@localhost -p ${SSH_PORT} "$@"
diff --git a/tools/setup.sh b/tools/setup.sh
index fd7efcee90e..dafd466ef92 100755
--- a/tools/setup.sh
+++ b/tools/setup.sh
@@ -33,39 +33,6 @@ cat << 'EOF'
 EOF
 }
 
-function sentry_send_event() {
-  SENTRY_KEY=dd0cba62ba0ac07ff9f388f8f1e6a7f4
-  SENTRY_URL=https://sentry.io/api/4507726145781760/store/
-
-  EVENT=$1
-  EVENT_TYPE=${2:-$EVENT}
-  EVENT_LOG=${3:-"NA"}
-
-  PLATFORM=$(uname -s)
-  ARCH=$(uname -m)
-  SYSTEM=$(uname -a)
-  if [[ $PLATFORM == "Darwin" ]]; then
-    OS="macos"
-  elif [[ $PLATFORM == "Linux" ]]; then
-    OS="linux"
-  fi
-
-  if [[ $ARCH == armv8* ]] || [[ $ARCH == arm64* ]] || [[ $ARCH == aarch64* ]]; then
-    ARCH="aarch64"
-  elif [[ $ARCH == "x86_64" ]] || [[ $ARCH == i686* ]]; then
-    ARCH="x86"
-  fi
-
-  PYTHON_VERSION=$(echo $(python3 --version 2> /dev/null || echo "NA"))
-  BRANCH=$(echo $(git -C $OPENPILOT_ROOT rev-parse --abbrev-ref HEAD 2> /dev/null || echo "NA"))
-  COMMIT=$(echo $(git -C $OPENPILOT_ROOT rev-parse HEAD 2> /dev/null || echo "NA"))
-
-  curl -s -o /dev/null -X POST -g --data "{ \"exception\": { \"values\": [{ \"type\": \"$EVENT\" }] }, \"tags\" : { \"event_type\" : \"$EVENT_TYPE\", \"event_log\" : \"$EVENT_LOG\", \"os\" : \"$OS\", \"arch\" : \"$ARCH\", \"python_version\" : \"$PYTHON_VERSION\" , \"git_branch\" : \"$BRANCH\", \"git_commit\" : \"$COMMIT\", \"system\" : \"$SYSTEM\" }  }" \
-    -H 'Content-Type: application/json' \
-    -H "X-Sentry-Auth: Sentry sentry_version=7, sentry_key=$SENTRY_KEY, sentry_client=op_setup/0.1" \
-    $SENTRY_URL 2> /dev/null
-}
-
 function check_stdin() {
   if [ -t 0 ]; then
     INTERACTIVE=1
@@ -131,7 +98,6 @@ function check_git() {
   echo "Checking for git..."
   if ! command -v "git" > /dev/null 2>&1; then
     echo -e " ↳ [${RED}✗${NC}] git not found on your system, can't continue!"
-    sentry_send_event "SETUP_FAILURE" "ERROR_GIT_NOT_FOUND"
     return 1
   else
     echo -e " ↳ [${GREEN}✔${NC}] git found.\n"
@@ -150,7 +116,6 @@ function git_clone() {
   fi
 
   echo -e " ↳ [${RED}✗${NC}] failed to clone openpilot!"
-  sentry_send_event "SETUP_FAILURE" "ERROR_GIT_CLONE"
   return 1
 }
 
@@ -159,18 +124,9 @@ function install_with_op() {
   $OPENPILOT_ROOT/tools/op.sh install
   $OPENPILOT_ROOT/tools/op.sh post-commit
 
-  LOG_FILE=$(mktemp)
-
-  if ! $OPENPILOT_ROOT/tools/op.sh --log $LOG_FILE setup; then
+  if ! $OPENPILOT_ROOT/tools/op.sh setup; then
     echo -e "\n[${RED}✗${NC}] failed to install openpilot!"
-
-    ERROR_TYPE="$(cat "$LOG_FILE" | sed '1p;d')"
-    ERROR_LOG="$(cat "$LOG_FILE" | sed '2p;d')"
-    sentry_send_event "SETUP_FAILURE" "$ERROR_TYPE" "$ERROR_LOG" || true
-
     return 1
-  else
-    sentry_send_event "SETUP_SUCCESS" || true
   fi
 
   echo -e "\n----------------------------------------------------------------------"
diff --git a/tools/setup_dependencies.sh b/tools/setup_dependencies.sh
new file mode 100755
index 00000000000..73cee5569b7
--- /dev/null
+++ b/tools/setup_dependencies.sh
@@ -0,0 +1,127 @@
+#!/usr/bin/env bash
+set -e
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
+ROOT="$(cd "$DIR/../" && pwd)"
+
+function retry() {
+  local attempts=$1
+  shift
+  for i in $(seq 1 "$attempts"); do
+    if "$@"; then
+      return 0
+    fi
+    if [ "$i" -lt "$attempts" ]; then
+      echo "  Attempt $i/$attempts failed, retrying in 5s..."
+      sleep 5
+    fi
+  done
+  return 1
+}
+
+function install_linux_deps() {
+  SUDO=""
+
+  if [[ ! $(id -u) -eq 0 ]]; then
+    if [[ -z $(which sudo) ]]; then
+      echo "Please install sudo or run as root"
+      exit 1
+    fi
+    SUDO="sudo"
+  fi
+
+  # normal stuff, this mostly for bare docker images
+  if command -v apt-get > /dev/null 2>&1; then
+    $SUDO apt-get update
+    $SUDO apt-get install -y --no-install-recommends ca-certificates build-essential curl libcurl4-openssl-dev locales git xvfb
+  elif command -v dnf > /dev/null 2>&1; then
+    $SUDO dnf install -y ca-certificates gcc gcc-c++ make curl libcurl-devel glibc-langpack-en git xorg-x11-server-Xvfb
+  elif command -v yum > /dev/null 2>&1; then
+    $SUDO yum install -y ca-certificates gcc gcc-c++ make curl libcurl-devel glibc-langpack-en git xorg-x11-server-Xvfb
+  elif command -v pacman > /dev/null 2>&1; then
+    $SUDO pacman -Syu --noconfirm --needed base-devel ca-certificates curl git xorg-server-xvfb
+  elif command -v zypper > /dev/null 2>&1; then
+    $SUDO zypper --non-interactive refresh
+    $SUDO zypper --non-interactive install ca-certificates gcc gcc-c++ make curl libcurl-devel glibc-locale git xorg-x11-server
+  elif command -v apk > /dev/null 2>&1; then
+    $SUDO apk add --no-cache ca-certificates build-base curl curl-dev musl-locales git xvfb
+  elif command -v xbps-install > /dev/null 2>&1; then
+    $SUDO xbps-install -Syu base-devel ca-certificates curl git libcurl-devel glibc-locales xorg-server-xvfb
+  else
+    echo "Unsupported Linux distribution. Supported package managers: apt-get, dnf, yum, pacman, zypper, apk, xbps-install."
+    exit 1
+  fi
+
+  if [[ -d "/etc/udev/rules.d/" ]]; then
+    $SUDO tee /etc/udev/rules.d/11-openpilot.rules > /dev/null <<-EOF
+	# Panda Jungle devices
+	SUBSYSTEM=="usb", ATTRS{idVendor}=="3801", ATTRS{idProduct}=="ddcf", MODE="0666"
+	SUBSYSTEM=="usb", ATTRS{idVendor}=="3801", ATTRS{idProduct}=="ddef", MODE="0666"
+	SUBSYSTEM=="usb", ATTRS{idVendor}=="bbaa", ATTRS{idProduct}=="ddcf", MODE="0666"
+	SUBSYSTEM=="usb", ATTRS{idVendor}=="bbaa", ATTRS{idProduct}=="ddef", MODE="0666"
+
+	# Panda devices
+	SUBSYSTEM=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="df11", MODE="0666"
+	SUBSYSTEM=="usb", ATTRS{idVendor}=="3801", ATTRS{idProduct}=="ddcc", MODE="0666"
+	SUBSYSTEM=="usb", ATTRS{idVendor}=="3801", ATTRS{idProduct}=="ddee", MODE="0666"
+	SUBSYSTEM=="usb", ATTRS{idVendor}=="bbaa", ATTRS{idProduct}=="ddcc", MODE="0666"
+	SUBSYSTEM=="usb", ATTRS{idVendor}=="bbaa", ATTRS{idProduct}=="ddee", MODE="0666"
+
+	# comma devices over ADB
+	SUBSYSTEM=="usb", ATTR{idVendor}=="04d8", ATTR{idProduct}=="1234", ENV{adb_user}="yes"
+	EOF
+
+    # delete the old ones
+    $SUDO rm -f /etc/udev/rules.d/11-panda.rules /etc/udev/rules.d/12-panda_jungle.rules /etc/udev/rules.d/50-comma-adb.rules
+
+    $SUDO udevadm control --reload-rules && $SUDO udevadm trigger || true
+  fi
+}
+
+function install_python_deps() {
+  # Increase the pip timeout to handle TimeoutError
+  export PIP_DEFAULT_TIMEOUT=200
+
+  cd "$ROOT"
+
+  if ! command -v "uv" > /dev/null 2>&1; then
+    echo "installing uv..."
+    # TODO: outer retry can be removed once https://github.com/axodotdev/cargo-dist/pull/2311 is merged
+    retry 3 sh -c 'curl --retry 5 --retry-delay 5 --retry-all-errors -LsSf https://astral.sh/uv/install.sh | UV_GITHUB_TOKEN="${GITHUB_TOKEN:-}" sh'
+    UV_BIN="$HOME/.local/bin"
+    PATH="$UV_BIN:$PATH"
+  fi
+
+  echo "updating uv..."
+  # ok to fail, can also fail due to installing with brew
+  uv self update || true
+
+  echo "installing python packages..."
+  uv sync --frozen --all-extras
+  source .venv/bin/activate
+}
+
+# --- Main ---
+
+if [[ "$OSTYPE" == "linux-gnu"* ]]; then
+  install_linux_deps
+  echo "[ ] installed system dependencies t=$SECONDS"
+elif [[ "$OSTYPE" == "darwin"* ]]; then
+  if [[ $SHELL == "/bin/zsh" ]]; then
+    RC_FILE="$HOME/.zshrc"
+  elif [[ $SHELL == "/bin/bash" ]]; then
+    RC_FILE="$HOME/.bash_profile"
+  fi
+fi
+
+if [ -f "$ROOT/pyproject.toml" ]; then
+  install_python_deps
+  echo "[ ] installed python dependencies t=$SECONDS"
+fi
+
+if [[ "$OSTYPE" == "darwin"* ]] && [[ -n "${RC_FILE:-}" ]]; then
+  echo
+  echo "----   OPENPILOT SETUP DONE   ----"
+  echo "Open a new shell or configure your active shell env by running:"
+  echo "source $RC_FILE"
+fi
diff --git a/tools/sim/bridge/metadrive/metadrive_common.py b/tools/sim/bridge/metadrive/metadrive_common.py
index 42a7eb60dd4..0106579b20c 100644
--- a/tools/sim/bridge/metadrive/metadrive_common.py
+++ b/tools/sim/bridge/metadrive/metadrive_common.py
@@ -13,11 +13,9 @@ def __init__(self, *args, **kwargs):
 
   def get_rgb_array_cpu(self):
     origin_img = self.cpu_texture
-    img = np.frombuffer(origin_img.getRamImage().getData(), dtype=np.uint8)
-    img = img.reshape((origin_img.getYSize(), origin_img.getXSize(), -1))
-    img = img[:,:,:3] # RGBA to RGB
-    # img = np.swapaxes(img, 1, 0)
-    img = img[::-1] # Flip on vertical axis
+    img = np.frombuffer(origin_img.getRamImageAs("RGB").getData(), dtype=np.uint8)
+    img = img.reshape((origin_img.getYSize(), origin_img.getXSize(), 3))
+    img = img[::-1]  # Flip on vertical axis
     return img
 
 
diff --git a/tools/sim/launch_openpilot.sh b/tools/sim/launch_openpilot.sh
index fa5ac731bd3..392f365d037 100755
--- a/tools/sim/launch_openpilot.sh
+++ b/tools/sim/launch_openpilot.sh
@@ -6,7 +6,7 @@ export SIMULATION="1"
 export SKIP_FW_QUERY="1"
 export FINGERPRINT="HONDA_CIVIC_2022"
 
-export BLOCK="${BLOCK},camerad,loggerd,encoderd,micd,logmessaged"
+export BLOCK="${BLOCK},camerad,loggerd,encoderd,micd,logmessaged,manage_athenad"
 if [[ "$CI" ]]; then
   # TODO: offscreen UI should work
   export BLOCK="${BLOCK},ui"
diff --git a/tools/sim/lib/camerad.py b/tools/sim/lib/camerad.py
index be4e1a610c3..7634b8524d1 100644
--- a/tools/sim/lib/camerad.py
+++ b/tools/sim/lib/camerad.py
@@ -1,14 +1,39 @@
 import numpy as np
-import os
-import pyopencl as cl
-import pyopencl.array as cl_array
 
 from msgq.visionipc import VisionIpcServer, VisionStreamType
 from cereal import messaging
 
-from openpilot.common.basedir import BASEDIR
 from openpilot.tools.sim.lib.common import W, H
 
+
+def rgb_to_nv12(rgb):
+  """Convert RGB image to NV12 (YUV420) format using BT.601 coefficients."""
+  h, w = rgb.shape[:2]
+  r = rgb[:, :, 0].astype(np.int32)
+  g = rgb[:, :, 1].astype(np.int32)
+  b = rgb[:, :, 2].astype(np.int32)
+
+  # Y plane - BT.601 coefficients (matches original OpenCL kernel)
+  y = (((b * 13 + g * 65 + r * 33) + 64) >> 7) + 16
+  y = np.clip(y, 0, 255).astype(np.uint8)
+
+  # Subsample RGB for UV (2x2 box filter)
+  r_sub = (r[0::2, 0::2] + r[0::2, 1::2] + r[1::2, 0::2] + r[1::2, 1::2] + 2) >> 2
+  g_sub = (g[0::2, 0::2] + g[0::2, 1::2] + g[1::2, 0::2] + g[1::2, 1::2] + 2) >> 2
+  b_sub = (b[0::2, 0::2] + b[0::2, 1::2] + b[1::2, 0::2] + b[1::2, 1::2] + 2) >> 2
+
+  # U and V planes
+  u = np.clip((b_sub * 56 - g_sub * 37 - r_sub * 19 + 0x8080) >> 8, 0, 255).astype(np.uint8)
+  v = np.clip((r_sub * 56 - g_sub * 47 - b_sub * 9 + 0x8080) >> 8, 0, 255).astype(np.uint8)
+
+  # Interleave UV for NV12 format
+  uv = np.empty((h // 2, w), dtype=np.uint8)
+  uv[:, 0::2] = u
+  uv[:, 1::2] = v
+
+  return np.concatenate([y.ravel(), uv.ravel()]).tobytes()
+
+
 class Camerad:
   """Simulates the camerad daemon"""
   def __init__(self, dual_camera):
@@ -24,18 +49,6 @@ def __init__(self, dual_camera):
 
     self.vipc_server.start_listener()
 
-    # set up for pyopencl rgb to yuv conversion
-    self.ctx = cl.create_some_context()
-    self.queue = cl.CommandQueue(self.ctx)
-    cl_arg = f" -DHEIGHT={H} -DWIDTH={W} -DRGB_STRIDE={W * 3} -DUV_WIDTH={W // 2} -DUV_HEIGHT={H // 2} -DRGB_SIZE={W * H} -DCL_DEBUG "
-
-    kernel_fn = os.path.join(BASEDIR, "tools/sim/rgb_to_nv12.cl")
-    with open(kernel_fn) as f:
-      prg = cl.Program(self.ctx, f.read()).build(cl_arg)
-      self.krnl = prg.rgb_to_nv12
-    self.Wdiv4 = W // 4 if (W % 4 == 0) else (W + (4 - W % 4)) // 4
-    self.Hdiv4 = H // 4 if (H % 4 == 0) else (H + (4 - H % 4)) // 4
-
   def cam_send_yuv_road(self, yuv):
     self._send_yuv(yuv, self.frame_road_id, 'roadCameraState', VisionStreamType.VISION_STREAM_ROAD)
     self.frame_road_id += 1
@@ -44,16 +57,11 @@ def cam_send_yuv_wide_road(self, yuv):
     self._send_yuv(yuv, self.frame_wide_id, 'wideRoadCameraState', VisionStreamType.VISION_STREAM_WIDE_ROAD)
     self.frame_wide_id += 1
 
-  # Returns: yuv bytes
   def rgb_to_yuv(self, rgb):
+    """Convert RGB to NV12 YUV format."""
     assert rgb.shape == (H, W, 3), f"{rgb.shape}"
     assert rgb.dtype == np.uint8
-
-    rgb_cl = cl_array.to_device(self.queue, rgb)
-    yuv_cl = cl_array.empty_like(rgb_cl)
-    self.krnl(self.queue, (self.Wdiv4, self.Hdiv4), None, rgb_cl.data, yuv_cl.data).wait()
-    yuv = np.resize(yuv_cl.get(), rgb.size // 2)
-    return yuv.data.tobytes()
+    return rgb_to_nv12(rgb)
 
   def _send_yuv(self, yuv, frame_id, pub_type, yuv_type):
     eof = int(frame_id * 0.05 * 1e9)
diff --git a/tools/sim/lib/simulated_sensors.py b/tools/sim/lib/simulated_sensors.py
index a8374a00cdb..d6d822c582b 100644
--- a/tools/sim/lib/simulated_sensors.py
+++ b/tools/sim/lib/simulated_sensors.py
@@ -23,17 +23,12 @@ def __init__(self, dual_camera=False):
   def send_imu_message(self, simulator_state: 'SimulatorState'):
     for _ in range(5):
       dat = messaging.new_message('accelerometer', valid=True)
-      dat.accelerometer.sensor = 4
-      dat.accelerometer.type = 0x10
       dat.accelerometer.timestamp = dat.logMonoTime  # TODO: use the IMU timestamp
       dat.accelerometer.init('acceleration')
       dat.accelerometer.acceleration.v = [simulator_state.imu.accelerometer.x, simulator_state.imu.accelerometer.y, simulator_state.imu.accelerometer.z]
       self.pm.send('accelerometer', dat)
 
-      # copied these numbers from locationd
       dat = messaging.new_message('gyroscope', valid=True)
-      dat.gyroscope.sensor = 5
-      dat.gyroscope.type = 0x10
       dat.gyroscope.timestamp = dat.logMonoTime  # TODO: use the IMU timestamp
       dat.gyroscope.init('gyroUncalibrated')
       dat.gyroscope.gyroUncalibrated.v = [simulator_state.imu.gyroscope.x, simulator_state.imu.gyroscope.y, simulator_state.imu.gyroscope.z]
@@ -92,11 +87,12 @@ def send_fake_driver_monitoring(self):
 
     # dmonitoringd output
     dat = messaging.new_message('driverMonitoringState', valid=True)
-    dat.driverMonitoringState = {
-      "faceDetected": True,
-      "isDistracted": False,
-      "awarenessStatus": 1.,
-    }
+    dm = dat.driverMonitoringState
+    dm.alertLevel = log.DriverMonitoringState.AlertLevel.none
+    dm.activePolicy = log.DriverMonitoringState.MonitoringPolicy.vision
+    dm.visionPolicyState.faceDetected = True
+    dm.visionPolicyState.isDistracted = False
+    dm.visionPolicyState.awarenessPercent = 100
     self.pm.send('driverMonitoringState', dat)
 
   def send_camera_images(self, world: 'World'):
diff --git a/tools/sim/rgb_to_nv12.cl b/tools/sim/rgb_to_nv12.cl
deleted file mode 100644
index 54816d5d7d5..00000000000
--- a/tools/sim/rgb_to_nv12.cl
+++ /dev/null
@@ -1,119 +0,0 @@
-#define RGB_TO_Y(r, g, b) ((((mul24(b, 13) + mul24(g, 65) + mul24(r, 33)) + 64) >> 7) + 16)
-#define RGB_TO_U(r, g, b) ((mul24(b, 56) - mul24(g, 37) - mul24(r, 19) + 0x8080) >> 8)
-#define RGB_TO_V(r, g, b) ((mul24(r, 56) - mul24(g, 47) - mul24(b, 9) + 0x8080) >> 8)
-#define AVERAGE(x, y, z, w) ((convert_ushort(x) + convert_ushort(y) + convert_ushort(z) + convert_ushort(w) + 1) >> 1)
-
-inline void convert_2_ys(__global uchar * out_yuv, int yi, const uchar8 rgbs1) {
-  uchar2 yy = (uchar2)(
-    RGB_TO_Y(rgbs1.s2, rgbs1.s1, rgbs1.s0),
-    RGB_TO_Y(rgbs1.s5, rgbs1.s4, rgbs1.s3)
-  );
-#ifdef CL_DEBUG
-  if(yi >= RGB_SIZE)
-    printf("Y vector2 overflow, %d > %d\n", yi, RGB_SIZE);
-#endif
-  vstore2(yy, 0, out_yuv + yi);
-}
-
-inline void convert_4_ys(__global uchar * out_yuv, int yi, const uchar8 rgbs1, const uchar8 rgbs3) {
-  const uchar4 yy = (uchar4)(
-    RGB_TO_Y(rgbs1.s2, rgbs1.s1, rgbs1.s0),
-    RGB_TO_Y(rgbs1.s5, rgbs1.s4, rgbs1.s3),
-    RGB_TO_Y(rgbs3.s0, rgbs1.s7, rgbs1.s6),
-    RGB_TO_Y(rgbs3.s3, rgbs3.s2, rgbs3.s1)
-  );
-#ifdef CL_DEBUG
-  if(yi > RGB_SIZE - 4)
-    printf("Y vector4 overflow, %d > %d\n", yi, RGB_SIZE - 4);
-#endif
-  vstore4(yy, 0, out_yuv + yi);
-}
-
-inline void convert_uv(__global uchar * out_yuv, int uvi,
-                    const uchar8 rgbs1, const uchar8 rgbs2) {
-  // U & V: average of 2x2 pixels square
-  const short ab = AVERAGE(rgbs1.s0, rgbs1.s3, rgbs2.s0, rgbs2.s3);
-  const short ag = AVERAGE(rgbs1.s1, rgbs1.s4, rgbs2.s1, rgbs2.s4);
-  const short ar = AVERAGE(rgbs1.s2, rgbs1.s5, rgbs2.s2, rgbs2.s5);
-#ifdef CL_DEBUG
-  if(uvi >= RGB_SIZE  + RGB_SIZE / 2)
-    printf("UV overflow, %d >= %d\n", uvi, RGB_SIZE  + RGB_SIZE / 2);
-#endif
-  out_yuv[uvi] = RGB_TO_U(ar, ag, ab);
-  out_yuv[uvi+1] = RGB_TO_V(ar, ag, ab);
-}
-
-inline void convert_2_uvs(__global uchar * out_yuv, int uvi,
-                    const uchar8 rgbs1, const uchar8 rgbs2, const uchar8 rgbs3, const uchar8 rgbs4) {
-  // U & V: average of 2x2 pixels square
-  const short ab1 = AVERAGE(rgbs1.s0, rgbs1.s3, rgbs2.s0, rgbs2.s3);
-  const short ag1 = AVERAGE(rgbs1.s1, rgbs1.s4, rgbs2.s1, rgbs2.s4);
-  const short ar1 = AVERAGE(rgbs1.s2, rgbs1.s5, rgbs2.s2, rgbs2.s5);
-  const short ab2 = AVERAGE(rgbs1.s6, rgbs3.s1, rgbs2.s6, rgbs4.s1);
-  const short ag2 = AVERAGE(rgbs1.s7, rgbs3.s2, rgbs2.s7, rgbs4.s2);
-  const short ar2 = AVERAGE(rgbs3.s0, rgbs3.s3, rgbs4.s0, rgbs4.s3);
-  uchar4 uv = (uchar4)(
-    RGB_TO_U(ar1, ag1, ab1),
-    RGB_TO_V(ar1, ag1, ab1),
-    RGB_TO_U(ar2, ag2, ab2),
-    RGB_TO_V(ar2, ag2, ab2)
-  );
-#ifdef CL_DEBUG1
-  if(uvi > RGB_SIZE  + RGB_SIZE / 2 - 4)
-    printf("UV2 overflow, %d >= %d\n", uvi, RGB_SIZE  + RGB_SIZE / 2 - 2);
-#endif
-  vstore4(uv, 0, out_yuv + uvi);
-}
-
-__kernel void rgb_to_nv12(__global uchar const * const rgb,
-                    __global uchar * out_yuv)
-{
-  const int dx = get_global_id(0);
-  const int dy = get_global_id(1);
-  const int col = mul24(dx, 4); // Current column in rgb image
-  const int row = mul24(dy, 4); // Current row in rgb image
-  const int bgri_start = mad24(row, RGB_STRIDE, mul24(col, 3)); // Start offset of rgb data being converted
-  const int yi_start = mad24(row,  WIDTH, col); // Start offset in the target yuv buffer
-  int uvi = mad24(row / 2, WIDTH, RGB_SIZE + col);
-  int num_col = min(WIDTH - col, 4);
-  int num_row = min(HEIGHT - row, 4);
-  if(num_row == 4) {
-    const uchar8 rgbs0_0 = vload8(0, rgb + bgri_start);
-    const uchar8 rgbs0_1 = vload8(0, rgb + bgri_start + 8);
-    const uchar8 rgbs1_0 = vload8(0, rgb + bgri_start + RGB_STRIDE);
-    const uchar8 rgbs1_1 = vload8(0, rgb + bgri_start + RGB_STRIDE + 8);
-    const uchar8 rgbs2_0 = vload8(0, rgb + bgri_start + RGB_STRIDE * 2);
-    const uchar8 rgbs2_1 = vload8(0, rgb + bgri_start + RGB_STRIDE * 2 + 8);
-    const uchar8 rgbs3_0 = vload8(0, rgb + bgri_start + RGB_STRIDE * 3);
-    const uchar8 rgbs3_1 = vload8(0, rgb + bgri_start + RGB_STRIDE * 3 + 8);
-    if(num_col == 4) {
-      convert_4_ys(out_yuv, yi_start, rgbs0_0, rgbs0_1);
-      convert_4_ys(out_yuv, yi_start + WIDTH, rgbs1_0, rgbs1_1);
-      convert_4_ys(out_yuv, yi_start + WIDTH * 2, rgbs2_0, rgbs2_1);
-      convert_4_ys(out_yuv, yi_start + WIDTH * 3, rgbs3_0, rgbs3_1);
-      convert_2_uvs(out_yuv, uvi, rgbs0_0, rgbs1_0, rgbs0_1, rgbs1_1);
-      convert_2_uvs(out_yuv, uvi + WIDTH, rgbs2_0, rgbs3_0, rgbs2_1, rgbs3_1);
-    } else if(num_col == 2) {
-      convert_2_ys(out_yuv, yi_start, rgbs0_0);
-      convert_2_ys(out_yuv, yi_start + WIDTH, rgbs1_0);
-      convert_2_ys(out_yuv, yi_start + WIDTH * 2, rgbs2_0);
-      convert_2_ys(out_yuv, yi_start + WIDTH * 3, rgbs3_0);
-      convert_uv(out_yuv, uvi, rgbs0_0, rgbs1_0);
-      convert_uv(out_yuv, uvi + WIDTH, rgbs2_0, rgbs3_0);
-    }
-  } else {
-    const uchar8 rgbs0_0 = vload8(0, rgb + bgri_start);
-    const uchar8 rgbs0_1 = vload8(0, rgb + bgri_start + 8);
-    const uchar8 rgbs1_0 = vload8(0, rgb + bgri_start + RGB_STRIDE);
-    const uchar8 rgbs1_1 = vload8(0, rgb + bgri_start + RGB_STRIDE + 8);
-    if(num_col == 4) {
-      convert_4_ys(out_yuv, yi_start, rgbs0_0, rgbs0_1);
-      convert_4_ys(out_yuv, yi_start + WIDTH, rgbs1_0, rgbs1_1);
-      convert_2_uvs(out_yuv, uvi, rgbs0_0, rgbs1_0, rgbs0_1, rgbs1_1);
-    } else if(num_col == 2) {
-      convert_2_ys(out_yuv, yi_start, rgbs0_0);
-      convert_2_ys(out_yuv, yi_start + WIDTH, rgbs1_0);
-      convert_uv(out_yuv, uvi, rgbs0_0, rgbs1_0);
-    }
-  }
-}
diff --git a/tools/sim/tests/test_metadrive_bridge.py b/tools/sim/tests/test_metadrive_bridge.py
index 04ce5d584f9..9be640d736e 100644
--- a/tools/sim/tests/test_metadrive_bridge.py
+++ b/tools/sim/tests/test_metadrive_bridge.py
@@ -8,7 +8,6 @@
 from openpilot.tools.sim.tests.test_sim_bridge import TestSimBridgeBase
 
 @pytest.mark.slow
-@pytest.mark.filterwarnings("ignore::pyopencl.CompilerWarning") # Unimportant warning of non-empty compile log
 class TestMetaDriveBridge(TestSimBridgeBase):
   @pytest.fixture(autouse=True)
   def setup_create_bridge(self, test_duration):
diff --git a/tools/ubuntu_setup.sh b/tools/ubuntu_setup.sh
deleted file mode 100755
index be4cfb68fa9..00000000000
--- a/tools/ubuntu_setup.sh
+++ /dev/null
@@ -1,10 +0,0 @@
-#!/usr/bin/env bash
-
-set -e
-
-DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
-
-# NOTE: this is used in a docker build, so do not run any scripts here.
-
-"$DIR"/install_ubuntu_dependencies.sh
-"$DIR"/install_python_dependencies.sh
diff --git a/tools/webcam/README.md b/tools/webcam/README.md
index 67ad2cc8cbc..6abbc47935e 100644
--- a/tools/webcam/README.md
+++ b/tools/webcam/README.md
@@ -10,10 +10,6 @@ What's needed:
 
 ## Setup openpilot
 - Follow [this readme](../README.md) to install and build the requirements
-- Install OpenCL Driver (Ubuntu)
-```
-sudo apt install pocl-opencl-icd
-```
 
 ## Connect the hardware
 - Connect the camera first
diff --git a/uv.lock b/uv.lock
index b179517e0b2..f8278c13681 100644
--- a/uv.lock
+++ b/uv.lock
@@ -1,14 +1,6 @@
 version = 1
 revision = 3
-requires-python = ">=3.11, <3.13"
-resolution-markers = [
-    "python_full_version >= '3.12' and sys_platform == 'darwin'",
-    "python_full_version >= '3.12' and platform_machine == 'aarch64' and sys_platform == 'linux'",
-    "(python_full_version >= '3.12' and platform_machine != 'aarch64' and sys_platform == 'linux') or (python_full_version >= '3.12' and sys_platform != 'darwin' and sys_platform != 'linux')",
-    "python_full_version < '3.12' and sys_platform == 'darwin'",
-    "python_full_version < '3.12' and platform_machine == 'aarch64' and sys_platform == 'linux'",
-    "(python_full_version < '3.12' and platform_machine != 'aarch64' and sys_platform == 'linux') or (python_full_version < '3.12' and sys_platform != 'darwin' and sys_platform != 'linux')",
-]
+requires-python = ">=3.12.3, <3.13"
 
 [[package]]
 name = "aiohappyeyeballs"
@@ -21,7 +13,7 @@ wheels = [
 
 [[package]]
 name = "aiohttp"
-version = "3.12.15"
+version = "3.13.5"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "aiohappyeyeballs" },
@@ -32,80 +24,56 @@ dependencies = [
     { name = "propcache" },
     { name = "yarl" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/9b/e7/d92a237d8802ca88483906c388f7c201bbe96cd80a165ffd0ac2f6a8d59f/aiohttp-3.12.15.tar.gz", hash = "sha256:4fc61385e9c98d72fcdf47e6dd81833f47b2f77c114c29cd64a361be57a763a2", size = 7823716, upload-time = "2025-07-29T05:52:32.215Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/77/9a/152096d4808df8e4268befa55fba462f440f14beab85e8ad9bf990516918/aiohttp-3.13.5.tar.gz", hash = "sha256:9d98cc980ecc96be6eb4c1994ce35d28d8b1f5e5208a23b421187d1209dbb7d1", size = 7858271, upload-time = "2026-03-31T22:01:03.343Z" }
 wheels = [
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@@ -1319,24 +747,31 @@ source = { editable = "." }
 dependencies = [
     { name = "aiohttp" },
     { name = "aiortc" },
+    { name = "av" },
+    { name = "bzip2" },
+    { name = "capnproto" },
     { name = "casadi" },
     { name = "cffi" },
-    { name = "crcmod" },
+    { name = "crcmod-plus" },
     { name = "cython" },
-    { name = "future-fstrings" },
+    { name = "eigen" },
+    { name = "ffmpeg" },
+    { name = "gcc-arm-none-eabi" },
+    { name = "git-lfs" },
     { name = "inputs" },
+    { name = "jeepney" },
     { name = "json-rpc" },
-    { name = "kaitaistruct" },
+    { name = "libjpeg" },
+    { name = "libusb" },
     { name = "libusb1" },
-    { name = "mapbox-earcut" },
+    { name = "libyuv" },
+    { name = "ncurses" },
     { name = "numpy" },
-    { name = "onnx" },
+    { name = "pillow" },
     { name = "psutil" },
-    { name = "pyaudio" },
     { name = "pycapnp" },
     { name = "pycryptodome" },
     { name = "pyjwt" },
-    { name = "pyopenssl" },
     { name = "pyserial" },
     { name = "pyzmq" },
     { name = "qrcode" },
@@ -1346,61 +781,42 @@ dependencies = [
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     { name = "setproctitle" },
     { name = "setuptools" },
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     { name = "sounddevice" },
     { name = "spidev", marker = "sys_platform == 'linux'" },
     { name = "sympy" },
     { name = "tqdm" },
     { name = "websocket-client" },
     { name = "xattr" },
+    { name = "zeromq" },
     { name = "zstandard" },
+    { name = "zstd" },
 ]
 
 [package.optional-dependencies]
 dev = [
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-    { name = "azure-identity" },
-    { name = "azure-storage-blob" },
-    { name = "dbus-next" },
-    { name = "dictdiffer" },
-    { name = "jeepney" },
     { name = "matplotlib" },
     { name = "opencv-python-headless" },
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-    { name = "pyautogui" },
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-    { name = "pyprof2calltree" },
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-    { name = "pywinctl" },
-    { name = "tabulate" },
-    { name = "types-requests" },
-    { name = "types-tabulate" },
 ]
 docs = [
     { name = "jinja2" },
-    { name = "mkdocs" },
-    { name = "natsort" },
+    { name = "zensical" },
 ]
 testing = [
     { name = "codespell" },
     { name = "coverage" },
     { name = "hypothesis" },
-    { name = "mypy" },
     { name = "pre-commit-hooks" },
     { name = "pytest" },
     { name = "pytest-asyncio" },
     { name = "pytest-cpp" },
     { name = "pytest-mock" },
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-    { name = "pytest-repeat" },
     { name = "pytest-subtests" },
-    { name = "pytest-timeout" },
     { name = "pytest-xdist" },
     { name = "ruff" },
+    { name = "ty" },
 ]
 tools = [
-    { name = "dearpygui", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
+    { name = "imgui" },
     { name = "metadrive-simulator", marker = "platform_machine != 'aarch64'" },
 ]
 
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     { name = "aiortc" },
-    { name = "av", marker = "extra == 'dev'" },
-    { name = "azure-identity", marker = "extra == 'dev'" },
-    { name = "azure-storage-blob", marker = "extra == 'dev'" },
+    { name = "av" },
+    { name = "bzip2", git = "https://github.com/commaai/dependencies.git?subdirectory=bzip2&rev=release-bzip2" },
+    { name = "capnproto", git = "https://github.com/commaai/dependencies.git?subdirectory=capnproto&rev=release-capnproto" },
     { name = "casadi", specifier = ">=3.6.6" },
     { name = "cffi" },
     { name = "codespell", marker = "extra == 'testing'" },
     { name = "coverage", marker = "extra == 'testing'" },
-    { name = "crcmod" },
+    { name = "crcmod-plus" },
     { name = "cython" },
-    { name = "dbus-next", marker = "extra == 'dev'" },
-    { name = "dearpygui", marker = "(platform_machine != 'aarch64' and extra == 'tools') or (sys_platform != 'linux' and extra == 'tools')", specifier = ">=2.1.0" },
-    { name = "dictdiffer", marker = "extra == 'dev'" },
-    { name = "future-fstrings" },
+    { name = "eigen", git = "https://github.com/commaai/dependencies.git?subdirectory=eigen&rev=release-eigen" },
+    { name = "ffmpeg", git = "https://github.com/commaai/dependencies.git?subdirectory=ffmpeg&rev=release-ffmpeg" },
+    { name = "gcc-arm-none-eabi", git = "https://github.com/commaai/dependencies.git?subdirectory=gcc-arm-none-eabi&rev=release-gcc-arm-none-eabi" },
+    { name = "git-lfs", git = "https://github.com/commaai/dependencies.git?subdirectory=git-lfs&rev=release-git-lfs" },
     { name = "hypothesis", marker = "extra == 'testing'", specifier = "==6.47.*" },
+    { name = "imgui", marker = "extra == 'tools'", git = "https://github.com/commaai/dependencies.git?subdirectory=imgui&rev=release-imgui" },
     { name = "inputs" },
-    { name = "jeepney", marker = "extra == 'dev'" },
+    { name = "jeepney" },
     { name = "jinja2", marker = "extra == 'docs'" },
     { name = "json-rpc" },
-    { name = "kaitaistruct" },
+    { name = "libjpeg", git = "https://github.com/commaai/dependencies.git?subdirectory=libjpeg&rev=release-libjpeg" },
+    { name = "libusb", git = "https://github.com/commaai/dependencies.git?subdirectory=libusb&rev=release-libusb" },
     { name = "libusb1" },
-    { name = "mapbox-earcut" },
+    { name = "libyuv", git = "https://github.com/commaai/dependencies.git?subdirectory=libyuv&rev=release-libyuv" },
     { name = "matplotlib", marker = "extra == 'dev'" },
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-    { name = "mkdocs", marker = "extra == 'docs'" },
-    { name = "mypy", marker = "extra == 'testing'" },
-    { name = "natsort", marker = "extra == 'docs'" },
+    { name = "metadrive-simulator", marker = "platform_machine != 'aarch64' and extra == 'tools'", git = "https://github.com/commaai/metadrive.git?rev=minimal" },
+    { name = "ncurses", git = "https://github.com/commaai/dependencies.git?subdirectory=ncurses&rev=release-ncurses" },
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-    { name = "onnx", specifier = ">=1.14.0" },
     { name = "opencv-python-headless", marker = "extra == 'dev'" },
-    { name = "parameterized", marker = "extra == 'dev'", specifier = ">=0.8,<0.9" },
+    { name = "pillow" },
     { name = "pre-commit-hooks", marker = "extra == 'testing'" },
     { name = "psutil" },
-    { name = "pyaudio" },
-    { name = "pyautogui", marker = "extra == 'dev'" },
-    { name = "pycapnp", specifier = "==2.1.0" },
+    { name = "pycapnp" },
     { name = "pycryptodome" },
-    { name = "pygame", marker = "extra == 'dev'" },
     { name = "pyjwt" },
-    { name = "pyopencl", marker = "platform_machine != 'aarch64' and extra == 'dev'" },
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     { name = "pyzmq" },
     { name = "qrcode" },
-    { name = "raylib", specifier = "<5.5.0.3" },
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     { name = "requests" },
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     { name = "scons" },
     { name = "sentry-sdk" },
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     { name = "tqdm" },
-    { name = "types-requests", marker = "extra == 'dev'" },
-    { name = "types-tabulate", marker = "extra == 'dev'" },
+    { name = "ty", marker = "extra == 'testing'" },
     { name = "websocket-client" },
     { name = "xattr" },
+    { name = "zensical", marker = "extra == 'docs'" },
+    { name = "zeromq", git = "https://github.com/commaai/dependencies.git?subdirectory=zeromq&rev=release-zeromq" },
     { name = "zstandard" },
+    { name = "zstd", git = "https://github.com/commaai/dependencies.git?subdirectory=zstd&rev=release-zstd" },
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 provides-extras = ["docs", "testing", "dev", "tools"]
 
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diff --git a/zensical.toml b/zensical.toml
new file mode 100644
index 00000000000..7e5ca2c5db4
--- /dev/null
+++ b/zensical.toml
@@ -0,0 +1,81 @@
+[project]
+site_name = "openpilot docs"
+site_url = "https://docs.comma.ai"
+repo_url = "https://github.com/commaai/openpilot/"
+
+docs_dir = "docs"
+site_dir = "docs_site/"
+
+extra_css = ["stylesheets/extra.css"]
+
+nav = [
+  { "What is openpilot?" = "index.md" },
+  { "How-to" = [
+    { "Turn the speed blue" = "how-to/turn-the-speed-blue.md" },
+    { "Connect to a comma 3X or four" = "how-to/connect-to-comma.md" },
+    { "Add support for a car" = "how-to/car-port.md" },
+  ] },
+  { "Concepts" = [
+    { "Logs" = "concepts/logs.md" },
+    { "Safety" = "concepts/safety.md" },
+    { "Glossary" = "concepts/glossary.md" },
+  ] },
+  { "Contributing" = [
+    { "Feedback" = "contributing/feedback.md" },
+    { "Roadmap" = "contributing/roadmap.md" },
+    { "Contributing Guide →" = "https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md" },
+  ] },
+  { "Links" = [
+    { "Blog →" = "https://blog.comma.ai" },
+    { "Bounties →" = "https://comma.ai/bounties" },
+    { "GitHub →" = "https://github.com/commaai" },
+    { "Discord →" = "https://discord.comma.ai" },
+    { "X →" = "https://x.com/comma_ai" },
+  ] },
+]
+
+[project.theme]
+logo = "assets/comma-logo.png"
+features = [
+  "navigation.expand",
+  "navigation.sections",
+  "navigation.instant",
+  "navigation.instant.prefetch",
+  "content.code.copy",
+  "content.action.edit",
+  "content.action.view",
+]
+
+[[project.extra.social]]
+icon = "fontawesome/brands/github"
+link = "https://github.com/commaai"
+
+[[project.extra.social]]
+icon = "fontawesome/brands/discord"
+link = "https://discord.comma.ai"
+
+[[project.extra.social]]
+icon = "fontawesome/brands/x-twitter"
+link = "https://x.com/comma_ai"
+
+[project.markdown_extensions.attr_list]
+
+[project.markdown_extensions.admonition]
+
+[project.markdown_extensions.md_in_html]
+
+[project.markdown_extensions.pymdownx.highlight]
+anchor_linenums = true
+line_spans = "__span"
+pygments_lang_class = true
+
+[project.markdown_extensions.pymdownx.inlinehilite]
+
+[project.markdown_extensions.pymdownx.magiclink]
+
+[project.markdown_extensions.pymdownx.superfences]
+custom_fences = [{ name = "mermaid", class = "mermaid" }]
+
+[project.markdown_extensions.pymdownx.details]
+
+[project.markdown_extensions."ext.glossary"]