IQ.Pilot Release Commit @ 0babf78

system/flockd.service

@@ -0,0 +1,34 @@
+# Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+
+[Unit]
+Description=Konn3kt Flock/ALPR RF Detector
+Documentation=https://gitlvb.teallvbs.xyz/teal/iqpilot
+After=bluetooth.service dbus.service NetworkManager.service
+Wants=bluetooth.service dbus.service
+StartLimitIntervalSec=300
+StartLimitBurst=10
+
+[Service]
+Type=simple
+User=comma
+AmbientCapabilities=CAP_SYS_NICE
+Environment="IQPILOT_SOURCE_ROOT=/data/openpilot/openpilot"
+Environment="PYTHONPATH=/usr/libexec/iqpilot/python:/data/openpilot"
+Environment="PYTHONSAFEPATH=1"
+Environment="PATH=/usr/local/venv/bin:/usr/sbin:/usr/bin:/sbin:/bin"
+WorkingDirectory=/data/openpilot
+ExecStartPre=/bin/bash -c 'for i in $(seq 1 120); do if [ -x /usr/libexec/iqpilot/iqpilot_bundle_runner ]; then exit 0; fi; echo "Waiting for iqpilot_bundle_runner..."; sleep 5; done; exit 1'
+ExecStartPre=/bin/bash -c 'if [ -f /data/openpilot/artifacts/runtime/ensure_private_installed.sh ]; then bash /data/openpilot/artifacts/runtime/ensure_private_installed.sh || true; fi'
+ExecStart=/bin/bash -lc 'exec /usr/libexec/iqpilot/iqpilot_bundle_runner --bundle iqpilot_hephaestusd_private --mode python-module --entry iqpilot_private.konn3kt.flockd.flockd --daemon-name flockd'
+TimeoutStartSec=600
+Restart=always
+RestartSec=15
+StandardOutput=journal
+StandardError=journal
+PrivateTmp=yes
+NoNewPrivileges=false
+ProtectSystem=full
+ProtectHome=no
+
+[Install]
+WantedBy=multi-user.target

system/hardware/base.py

@@ -200,6 +200,9 @@ class HardwareBase(ABC):
   def reboot_modem(self):
     pass
 
+  def recover_sim_detection(self) -> bool:
+    return False
+
   def get_networks(self):
     return None
 

system/hardware/hardwared.py

@@ -204,6 +204,7 @@ def hw_state_thread(end_event, hw_queue):
   modem_configured = False
   modem_missing_count = 0
   modem_restart_count = 0
+  sim_detection_recovered = False
 
   while not end_event.is_set():
     # these are expensive calls. update every 10s
@@ -254,6 +255,10 @@ def hw_state_thread(end_event, hw_queue):
           HARDWARE.configure_modem()
           modem_configured = True
 
+        if modem_configured and not sim_detection_recovered and HARDWARE.recover_sim_detection():
+          cloudlog.event("sim missing with hot-swap detect armed, rebooting modem with detect disabled", error=True)
+          sim_detection_recovered = True
+
         prev_hw_state = hw_state
       except Exception:
         cloudlog.exception("Error getting hardware state")
@@ -462,7 +467,7 @@ def hardware_thread(end_event, hw_queue) -> None:
     startup_conditions["device_booted"] = startup_conditions.get("device_booted", False) or HARDWARE.booted()
 
     # user-forced status (Always Offroad can be temporarily overridden)
-    offroad_mode = params.get_bool("OffroadMode")
+    offroad_mode = params.get_bool("IQAlwaysOffroad")
     force_onroad_until = params.get("ForceOnroadUntil", return_default=True)
     now = int(time.time())
     force_onroad_active = offroad_mode and force_onroad_until > now
@@ -549,15 +554,17 @@ def hardware_thread(end_event, hw_queue) -> None:
     som_power_draw = HARDWARE.get_som_power_draw()
     msg.deviceState.somPowerDrawW = som_power_draw
 
-    # FastSleep deep standby: shed heavy processes at low battery instead of shutting down,
-    # recover on ignition or once the alternator is charging
+    # FastSleep deep standby: shed heavy processes once parked with the screen idled off
+    # (or at low battery) instead of shutting down, recover on ignition or once the
+    # alternator is charging
     fast_sleep = params.get_bool("FastSleep")
     if fast_sleep and not tesla_no_sleep:
       if low_power:
         if onroad_conditions["ignition"] or power_monitor.car_voltage_mV >= (VBATT_LOW_POWER_EXIT * 1e3):
           low_power = False
       else:
-        low_power = power_monitor.should_enter_low_power(onroad_conditions["ignition"], in_car, off_ts)
+        screen_off = msg.deviceState.screenBrightnessPercent < 1e-3
+        low_power = power_monitor.should_enter_low_power(onroad_conditions["ignition"], in_car, off_ts, screen_off)
     else:
       low_power = False
 

system/hardware/power_monitoring.py

@@ -13,11 +13,13 @@ CAR_CHARGING_RATE_W = 45
 
 VBATT_PAUSE_CHARGING = 11.8           # Lower limit on the LPF car battery voltage
 
-# FastSleep (deep standby): enter low power at the normal shutdown voltage, shut down
-# at a lower floor, exit once the alternator is charging
+# FastSleep (deep standby): enter low power once parked with the screen idled off, or
+# immediately at the normal shutdown voltage; shut down at a lower floor, exit once the
+# alternator is charging
 VBATT_LOW_POWER_ENTRY = 11.8
 VBATT_LOW_POWER_EXIT = 12.8
 VBATT_HARD_SHUTDOWN = 11.5
+LOW_POWER_ENTRY_TIME_S = 300
 MAX_TIME_OFFROAD_S = 30*3600
 MIN_ON_TIME_S = 3600
 DELAY_SHUTDOWN_TIME_S = 300 # Wait at least DELAY_SHUTDOWN_TIME_S seconds after offroad_time to shutdown.
@@ -124,14 +126,18 @@ class PowerMonitoring:
     return 0 < iq_max_time_val_s <= offroad_time
 
   # FastSleep: see if we should enter low power mode instead of shutting down
-  def should_enter_low_power(self, ignition: bool, in_car: bool, offroad_timestamp: float | None) -> bool:
+  def should_enter_low_power(self, ignition: bool, in_car: bool, offroad_timestamp: float | None, screen_off: bool) -> bool:
     if offroad_timestamp is None or ignition or not in_car:
       return False
     if not self.params.get_bool("FastSleep"):
       return False
     offroad_time = time.monotonic() - offroad_timestamp
-    return (self.car_voltage_mV < (VBATT_LOW_POWER_ENTRY * 1e3) and
-            offroad_time > VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S)
+    # a healthy battery rests above VBATT_LOW_POWER_ENTRY, so parked entry must be
+    # time-based; the voltage trigger stays as the sagging-battery fast path
+    low_voltage = (self.car_voltage_mV < (VBATT_LOW_POWER_ENTRY * 1e3) and
+                   offroad_time > VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S)
+    parked_idle = screen_off and offroad_time > LOW_POWER_ENTRY_TIME_S
+    return low_voltage or parked_idle
 
   # See if we need to shutdown
   def should_shutdown(self, ignition: bool, in_car: bool, offroad_timestamp: float | None, started_seen: bool):
@@ -141,12 +147,15 @@ class PowerMonitoring:
     now = time.monotonic()
     should_shutdown = False
     offroad_time = (now - offroad_timestamp)
-    vbatt_min = VBATT_HARD_SHUTDOWN if self.params.get_bool("FastSleep") else VBATT_PAUSE_CHARGING
+    fast_sleep = self.params.get_bool("FastSleep")
+    vbatt_min = VBATT_HARD_SHUTDOWN if fast_sleep else VBATT_PAUSE_CHARGING
     low_voltage_shutdown = (self.car_voltage_mV < (vbatt_min * 1e3) and
                             offroad_time > VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S)
     should_shutdown |= self.max_time_offroad_exceeded(offroad_time)
     should_shutdown |= low_voltage_shutdown
-    should_shutdown |= (self.car_battery_capacity_uWh <= 0)
+    # the 30 Wh bookkeeping model empties within hours at offroad draw regardless of the
+    # real battery state; under FastSleep the measured voltage floors govern instead
+    should_shutdown |= (self.car_battery_capacity_uWh <= 0) and not fast_sleep
     should_shutdown &= not ignition
     should_shutdown &= (not self.params.get_bool("DisablePowerDown"))
     should_shutdown &= in_car

system/hardware/tests/test_power_monitoring.py

@@ -2,7 +2,8 @@ import pytest
 
 from openpilot.common.params import Params
 from openpilot.system.hardware.power_monitoring import PowerMonitoring, CAR_BATTERY_CAPACITY_uWh, \
-  CAR_CHARGING_RATE_W, VBATT_PAUSE_CHARGING, DELAY_SHUTDOWN_TIME_S, MAX_TIME_OFFROAD_S
+  CAR_CHARGING_RATE_W, VBATT_PAUSE_CHARGING, DELAY_SHUTDOWN_TIME_S, MAX_TIME_OFFROAD_S, \
+  VBATT_HARD_SHUTDOWN, LOW_POWER_ENTRY_TIME_S
 
 # Create fake time
 ssb = 0.
@@ -232,3 +233,59 @@ class TestPowerMonitoring:
     result = pm.max_time_offroad_exceeded(offroad_time_s)
 
     assert result == expected_result
+
+  # FastSleep must not shut down on the empty bookkeeping model while voltage is healthy
+  def test_fast_sleep_ignores_battery_capacity_model(self, mocker):
+    self.params.put_bool("FastSleep", True)
+    self.params.put("MaxTimeOffroad", 0)
+    try:
+      pm_patch(mocker, "HARDWARE.get_current_power_draw", 0)
+      pm = PowerMonitoring()
+      pm.car_battery_capacity_uWh = 0
+      start_time = ssb
+      for _ in range(DELAY_SHUTDOWN_TIME_S + 100):
+        pm.calculate(GOOD_VOLTAGE, False)
+      assert not pm.should_shutdown(False, True, start_time, True)
+    finally:
+      self.params.put_bool("FastSleep", False)
+
+  # FastSleep still shuts down below the hard voltage floor
+  def test_fast_sleep_hard_voltage_floor(self, mocker):
+    self.params.put_bool("FastSleep", True)
+    try:
+      pm_patch(mocker, "HARDWARE.get_current_power_draw", 0)
+      pm = PowerMonitoring()
+      pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
+      start_time = ssb
+      for _ in range(DELAY_SHUTDOWN_TIME_S + 100):
+        pm.calculate((VBATT_HARD_SHUTDOWN - 0.5) * 1e3, False)
+      assert pm.should_shutdown(False, True, start_time, True)
+    finally:
+      self.params.put_bool("FastSleep", False)
+
+  def test_fast_sleep_low_power_entry(self, mocker):
+    self.params.put_bool("FastSleep", True)
+    try:
+      pm_patch(mocker, "HARDWARE.get_current_power_draw", 0)
+
+      # parked with the screen idled off: time-based entry at healthy voltage
+      pm = PowerMonitoring()
+      start_time = ssb
+      for _ in range(LOW_POWER_ENTRY_TIME_S + 10):
+        pm.calculate(GOOD_VOLTAGE, False)
+      assert pm.should_enter_low_power(False, True, start_time, screen_off=True)
+      assert not pm.should_enter_low_power(False, True, start_time, screen_off=False)
+      assert not pm.should_enter_low_power(True, True, start_time, screen_off=True)
+      assert not pm.should_enter_low_power(False, False, start_time, screen_off=True)
+
+      # sagging battery: voltage entry regardless of screen state
+      pm = PowerMonitoring()
+      start_time = ssb
+      for _ in range(100):
+        pm.calculate((VBATT_HARD_SHUTDOWN + 0.1) * 1e3, False)
+      assert pm.should_enter_low_power(False, True, start_time, screen_off=False)
+
+      self.params.put_bool("FastSleep", False)
+      assert not pm.should_enter_low_power(False, True, start_time, screen_off=True)
+    finally:
+      self.params.put_bool("FastSleep", False)

system/hardware/tici/agnos.json

@@ -78,17 +78,17 @@
   },
   {
     "name": "system",
-    "url": "https://sdn.konn3kt.com/agnos/16-iqlvbs/system-036bb0bcf945115c6488efadcdb56a42192201290a5fe4572ac7b46549146c79.img.xz",
-    "hash": "a0bf6d22e1134fc6c47158d63901c06324ea3b3808ed2fec35801a888cf3d526",
-    "hash_raw": "036bb0bcf945115c6488efadcdb56a42192201290a5fe4572ac7b46549146c79",
+    "url": "https://sdn.konn3kt.com/agnos/16-iqlvbs/system-03397de3da2e9a6d2808b95b72c945b3af71ab79f7f0298624aed62b8749fc5a.img.xz",
+    "hash": "0c9e7dee6c7365600c77b33c4996456459d04aad005e3e41bf6ee2e8af74ceb9",
+    "hash_raw": "03397de3da2e9a6d2808b95b72c945b3af71ab79f7f0298624aed62b8749fc5a",
     "size": 6291456000,
     "sparse": true,
     "full_check": false,
     "has_ab": true,
-    "ondevice_hash": "9a08b97618dceceed48205ec674330bb97c7f76487a6cca2f68288aaa42aaf8e",
+    "ondevice_hash": "1ee589d3d728a03561718383bf640171f1aef048573e46fe17239617c7c19fff",
     "alt": {
-      "hash": "036bb0bcf945115c6488efadcdb56a42192201290a5fe4572ac7b46549146c79",
-      "url": "https://sdn.konn3kt.com/agnos/16-iqlvbs/system-036bb0bcf945115c6488efadcdb56a42192201290a5fe4572ac7b46549146c79.img",
+      "hash": "03397de3da2e9a6d2808b95b72c945b3af71ab79f7f0298624aed62b8749fc5a",
+      "url": "https://sdn.konn3kt.com/agnos/16-iqlvbs/system-03397de3da2e9a6d2808b95b72c945b3af71ab79f7f0298624aed62b8749fc5a.img",
       "size": 6291456000
     }
   }

system/hardware/tici/agnos.json.sig

@@ -1 +1 @@
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++LyP/p4uBBxbTwRwPrwR/2qPaHkAXmlFkg0GdxOBuujPY89GxP4t5SNKxirqiw9LmMcfA0JfVwMeR3QD9rQ6Dg==

system/hardware/tici/agnos_tici_15_1.json

@@ -67,17 +67,17 @@
   },
   {
     "name": "system",
-    "url": "https://sdn.konn3kt.com/agnos/16-iqlvbs/system-036bb0bcf945115c6488efadcdb56a42192201290a5fe4572ac7b46549146c79.img.xz",
-    "hash": "a0bf6d22e1134fc6c47158d63901c06324ea3b3808ed2fec35801a888cf3d526",
-    "hash_raw": "036bb0bcf945115c6488efadcdb56a42192201290a5fe4572ac7b46549146c79",
+    "url": "https://sdn.konn3kt.com/agnos/16-iqlvbs/system-03397de3da2e9a6d2808b95b72c945b3af71ab79f7f0298624aed62b8749fc5a.img.xz",
+    "hash": "0c9e7dee6c7365600c77b33c4996456459d04aad005e3e41bf6ee2e8af74ceb9",
+    "hash_raw": "03397de3da2e9a6d2808b95b72c945b3af71ab79f7f0298624aed62b8749fc5a",
     "size": 6291456000,
     "sparse": true,
     "full_check": false,
     "has_ab": true,
-    "ondevice_hash": "9a08b97618dceceed48205ec674330bb97c7f76487a6cca2f68288aaa42aaf8e",
+    "ondevice_hash": "1ee589d3d728a03561718383bf640171f1aef048573e46fe17239617c7c19fff",
     "alt": {
-      "hash": "036bb0bcf945115c6488efadcdb56a42192201290a5fe4572ac7b46549146c79",
-      "url": "https://sdn.konn3kt.com/agnos/16-iqlvbs/system-036bb0bcf945115c6488efadcdb56a42192201290a5fe4572ac7b46549146c79.img",
+      "hash": "03397de3da2e9a6d2808b95b72c945b3af71ab79f7f0298624aed62b8749fc5a",
+      "url": "https://sdn.konn3kt.com/agnos/16-iqlvbs/system-03397de3da2e9a6d2808b95b72c945b3af71ab79f7f0298624aed62b8749fc5a.img",
       "size": 6291456000
     }
   }

system/hardware/tici/agnos_tici_15_1.json.sig

@@ -1 +1 @@
-IeObYseNfOAYVt6hNKkFMX+RmBAQBU9iiwbox8y6sUdZZs7ZdrUqWJ1ou6yxxsx2JCkgOCQk8z9yT5frz5CeDg==
+RCYk34Ifjx7S9PIhPm6p49vFMhamPwvw8Lfbb6a6HO8sUOi3J2PcY4VDUcqQZWU6+Am++HP3nJSea8OmAsckAg==

system/hardware/tici/hardware.py

@@ -69,6 +69,9 @@ NetworkStrength = log.DeviceState.NetworkStrength
 MM_MODEM_ACCESS_TECHNOLOGY_UMTS = 1 << 5
 MM_MODEM_ACCESS_TECHNOLOGY_LTE = 1 << 14
 
+# MMModemStateFailedReason
+MM_MODEM_STATE_FAILED_REASON_SIM_MISSING = 2
+
 
 def affine_irq(val, action):
   irqs = get_irqs_for_action(action)
@@ -605,6 +608,32 @@ class Tici(HardwareBase):
         os.system(f"sudo cp {tf.name} {dest}")
       os.system(f"sudo nmcli con load {dest}")
 
+  def recover_sim_detection(self) -> bool:
+    # A worn SIM-tray presence switch can read "removed" while the SIM pads still make
+    # contact; with hot-swap detect armed (AT+QSIMDET=1) the modem never powers the SIM
+    # and lands in failed/sim-missing. Disabling detect and rebooting the modem makes it
+    # probe the SIM electrically. Safe to retry on failure: firing disarms the QSIMDET
+    # gate, so a genuinely SIM-less device gets at most one extra modem reboot per boot.
+    if self.get_device_type() not in ("tici", "tizi"):
+      return False
+
+    try:
+      modem = self.get_modem()
+      state = modem.Get(MM_MODEM, 'State', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
+      if state != MM_MODEM_STATE.FAILED:
+        return False
+      reason = modem.Get(MM_MODEM, 'StateFailedReason', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
+      if reason != MM_MODEM_STATE_FAILED_REASON_SIM_MISSING:
+        return False
+      detect = str(modem.Command('AT+QSIMDET?', math.ceil(TIMEOUT), dbus_interface=MM_MODEM, timeout=TIMEOUT)).strip()
+      if not detect.startswith('+QSIMDET: 1'):
+        return False
+      modem.Command('AT+QSIMDET=0,0', math.ceil(TIMEOUT), dbus_interface=MM_MODEM, timeout=TIMEOUT)
+      modem.Command('AT+CFUN=1,1', math.ceil(TIMEOUT), dbus_interface=MM_MODEM, timeout=TIMEOUT)
+      return True
+    except Exception:
+      return False
+
   def reboot_modem(self):
     modem = None
     try:

system/install_flockd_service.sh

@@ -0,0 +1,42 @@
+#!/usr/bin/bash
+set -e
+
+SERVICE_FILE="/data/openpilot/system/flockd.service"
+SERVICE_NAME="flockd.service"
+SERVICE_OVERRIDE="/etc/systemd/system/${SERVICE_NAME}"
+SERVICE_BAKED="/lib/systemd/system/${SERVICE_NAME}"
+
+echo "Installing Flock RF detector systemd service..."
+
+if [ -f "$SERVICE_BAKED" ] && grep -q "/usr/libexec/iqpilot/iqpilot_bundle_runner" "$SERVICE_BAKED"; then
+    echo "Using IQ.OS baked ${SERVICE_NAME}; removing stale override if present..."
+    sudo mount -o remount,rw /
+    sudo rm -f "$SERVICE_OVERRIDE"
+    sudo systemctl daemon-reload
+    sudo mount -o remount,ro /
+else
+    if [ ! -f "$SERVICE_FILE" ]; then
+        echo "ERROR: Service file not found at $SERVICE_FILE"
+        exit 1
+    fi
+
+    echo "IQ.OS baked unit unavailable; installing fallback override into /etc/systemd/system..."
+    sudo cp "$SERVICE_FILE" "$SERVICE_OVERRIDE"
+    sudo systemctl daemon-reload
+fi
+
+echo "Enabling $SERVICE_NAME to start at boot..."
+sudo systemctl enable "$SERVICE_NAME"
+
+echo "Starting $SERVICE_NAME..."
+sudo systemctl restart "$SERVICE_NAME"
+
+echo ""
+echo "Service status:"
+sudo systemctl status "$SERVICE_NAME" --no-pager
+
+echo ""
+echo "Useful commands:"
+echo "  sudo systemctl status flockd    - Check service status"
+echo "  sudo systemctl restart flockd   - Restart service"
+echo "  sudo journalctl -u flockd -f    - View live logs"

system/loggerd/loggerd.h

@@ -28,6 +28,13 @@ const int SEGMENT_LENGTH = LOGGERD_TEST ? atoi(getenv("LOGGERD_SEGMENT_LENGTH"))
 constexpr char PRESERVE_ATTR_NAME[] = "user.preserve";
 constexpr char PRESERVE_ATTR_VALUE = '1';
 
+// 2.5x the stock 526x330 qcamera, rounded up to even. The msm_vidc encoder rejects
+// VIDIOC_S_FMT with ENOTSUPP (524) on an odd width or height, which throws out of
+// encoder_thread and SIGABRTs all of encoderd -- taking fcamera/dcamera/ecamera with it.
+constexpr int QCAM_WIDTH = 1316;
+constexpr int QCAM_HEIGHT = 826;
+static_assert(QCAM_WIDTH % 2 == 0 && QCAM_HEIGHT % 2 == 0, "qcamera dimensions must be even");
+
 struct EncoderSettings {
   cereal::EncodeIndex::Type encode_type;
   int bitrate;
@@ -43,10 +50,10 @@ struct EncoderSettings {
   }
 
   static EncoderSettings QcamEncoderSettings() {
-    // qcamera.ts is the small "dashcam" copy uploaded to konn3kt. Stock 256kbps @ 526x330 is potato;
-    // bump the bitrate to match the higher resolution below. Still H264/.ts (web/HLS compatible) and
-    // ~1/4 the bitrate of fcamera.hevc, so the file stays small. Override with QCAM_BITRATE if needed.
-    int _qcam_bitrate = getenv("QCAM_BITRATE") ? atoi(getenv("QCAM_BITRATE")) : 1'600'000;
+    // Keep Konn3kt route uploads useful without turning each 60-second qcamera
+    // segment into a 26 MB file. This is still a substantial improvement over
+    // stock qcam, while CBR keeps storage and upload usage predictable.
+    int _qcam_bitrate = getenv("QCAM_BITRATE") ? atoi(getenv("QCAM_BITRATE")) : 2'400'000;
     return EncoderSettings{.encode_type = cereal::EncodeIndex::Type::QCAMERA_H264, .bitrate = _qcam_bitrate, .gop_size = 15};
   }
 
@@ -140,8 +147,8 @@ const EncoderInfo qcam_encoder_info = {
   .filename = "qcamera.ts",
   .cbr = true,           // enforce the bitrate so upload size stays predictable (no VBR overshoot)
   .get_settings = [](int){return EncoderSettings::QcamEncoderSettings();},
-  .frame_width = 1052,   // 2x the stock 526x330, same road-cam aspect ratio
-  .frame_height = 660,
+  .frame_width = QCAM_WIDTH,
+  .frame_height = QCAM_HEIGHT,
   .include_audio = Params().getBool("RecordAudio"),
   INIT_ENCODE_FUNCTIONS(QRoadEncode),
 };

system/manager/helpers.py

@@ -11,7 +11,6 @@ import threading
 
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
-from openpilot.common.swaglog import cloudlog
 
 def unblock_stdout() -> None:
   # get a non-blocking stdout
@@ -103,51 +102,3 @@ def save_bootlog():
   t = threading.Thread(target=fn, args=(tmp, ))
   t.daemon = True
   t.start()
-
-
-# REVERT ME!  ---------------------------------------------------------------
-# One-shot migration carrying values across the sunny -> IQ param key renames.
-# Old keys are no longer registered in params_keys.h, so their values are read
-# straight off disk, copied to the new IQ key, and the stale file removed.
-# Delete this block (and its manager_init() call) once fielded devices have
-# booted past it at least once.
-_RENAMED_PARAMS = {
-  "QuietMode": "IQAlertSilence",
-  "SpeedLimitMode": "IQSpeedAssistMode",
-  "SpeedLimitPolicy": "IQSpeedAssistPolicy",
-  "SpeedLimitOffsetType": "IQSpeedAssistOffsetType",
-  "SpeedLimitValueOffset": "IQSpeedAssistValueOffset",
-  "LaneTurnDesire": "IQLaneTurnDesire",
-  "LaneTurnValue": "IQLaneTurnValue",
-  "BlinkerPauseLateralControl": "IQBlinkerPauseLateral",
-  "BlinkerMinLateralControlSpeed": "IQBlinkerMinLateralSpeed",
-  "DevUIInfo": "IQDevUIInfo",
-}
-
-
-def migrate_renamed_params(params: Params | None = None) -> None:
-  """REVERT ME! carry stored values across the sunny->IQ key renames, then drop the old files.
-
-  Copies at the file level: on-disk param values are raw bytes, so this preserves the exact
-  stored representation and sidesteps put()'s typed-value check for BOOL/INT/FLOAT keys.
-  """
-  p = params if params is not None else Params()
-  for old, new in _RENAMED_PARAMS.items():
-    try:
-      old_path = p.get_param_path(old)
-      if not os.path.isfile(old_path):
-        continue
-      new_path = p.get_param_path(new)
-      if not os.path.exists(new_path):
-        with open(old_path, "rb") as f:
-          value = f.read()
-        tmp = new_path + ".tmp"
-        with open(tmp, "wb") as f:
-          f.write(value)
-          f.flush()
-          os.fsync(f.fileno())
-        os.rename(tmp, new_path)
-      os.remove(old_path)
-    except Exception:
-      cloudlog.exception(f"param rename migration failed for {old} -> {new}")
-# END REVERT ME! ------------------------------------------------------------

system/manager/manager.py

@@ -17,7 +17,7 @@ from openpilot.common.params import Params, ParamKeyFlag
 from openpilot.common.text_window import TextWindow
 from openpilot.system.hardware import HARDWARE
 from openpilot.system.loggerd.crash_recovery import recover_unclean_segments
-from openpilot.system.manager.helpers import unblock_stdout, write_onroad_params, save_bootlog, heal_param_perms, migrate_renamed_params
+from openpilot.system.manager.helpers import unblock_stdout, write_onroad_params, save_bootlog, heal_param_perms
 from openpilot.system.manager.process import ensure_running
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.iqpilot.konn3kt.registration import register, UNREGISTERED_DONGLE_ID
@@ -40,7 +40,6 @@ def manager_init() -> None:
   build_metadata = get_build_metadata()
 
   params = Params()
-  migrate_renamed_params(params)  # REVERT ME! sunny->IQ param key migration (runs before defaults are filled)
   params.clear_all(ParamKeyFlag.CLEAR_ON_MANAGER_START)
   params.clear_all(ParamKeyFlag.CLEAR_ON_ONROAD_TRANSITION)
   params.clear_all(ParamKeyFlag.CLEAR_ON_OFFROAD_TRANSITION)
@@ -50,7 +49,7 @@ def manager_init() -> None:
 
   # device boot mode
   if params.get("DeviceBootMode") == 1:  # start in Always Offroad mode
-    params.put_bool("OffroadMode", True)
+    params.put_bool("IQAlwaysOffroad", True)
 
   if params.get_bool("RecordFrontLock"):
     params.put_bool("RecordFront", True)

system/manager/process.py

@@ -181,6 +181,32 @@ class NativeProcess(ManagerProcess):
     self.shutting_down = False
 
 
+def _normalize_bundle_modes(bundle: str) -> None:
+  import json
+  candidates = []
+  if env_root := os.environ.get("IQPILOT_PROPRIETARY_ROOT"):
+    candidates += [os.path.join(env_root, bundle), env_root]
+  candidates += [
+    os.path.join(BASEDIR, ".iqpilot", "bundles", bundle),
+    os.path.join(os.path.dirname(BASEDIR), ".iqpilot", "bundles", bundle),
+    os.path.join(BASEDIR, "artifacts", bundle),
+  ]
+  root = next((c for c in candidates if os.path.isfile(os.path.join(c, "manifest.json"))), None)
+  if root is None:
+    return
+  try:
+    with open(os.path.join(root, "manifest.json")) as f:
+      manifest = json.load(f)
+    for rel, meta in manifest.items():
+      if not (isinstance(meta, dict) and "mode" in meta and "sha256" in meta):
+        continue
+      path = os.path.join(root, rel)
+      if os.path.isfile(path) and (os.stat(path).st_mode & 0o777) != meta["mode"]:
+        os.chmod(path, meta["mode"])
+  except Exception:
+    cloudlog.exception(f"failed to normalize bundle modes for {bundle}")
+
+
 class BundleProcess(NativeProcess):
   def __init__(self, name, bundle, entry, should_run, enabled=True, sigkill=False, restart_if_crash=False):
     self.bundle = bundle
@@ -204,6 +230,11 @@ class BundleProcess(NativeProcess):
       sigkill=sigkill,
     )
 
+  def start(self) -> None:
+    if self.proc is None:
+      _normalize_bundle_modes(self.bundle)
+    super().start()
+
 
 class PythonProcess(ManagerProcess):
   def __init__(self, name, module, should_run, enabled=True, sigkill=False, restart_if_crash=False):

system/ui/iqwidgets/lib/utils.py

@@ -1,9 +1,9 @@
 """
 Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
 """
-from openpilot.system.ui.iqpilot.widgets.list_view import IQButtonAction
+from openpilot.system.ui.iqwidgets.widgets.list_view import IQButtonAction
 
 
-class NoElideButtonAction(IQButtonAction):
+class WideButtonAction(IQButtonAction):
   def get_width_hint(self):
     return super().get_width_hint() + 1

system/ui/iqwidgets/widgets/list_view.py

@@ -7,9 +7,9 @@ import time
 from collections.abc import Callable
 
 import pyray as rl
-from openpilot.system.ui.iqpilot.lib.styles import ink, metrics
+from openpilot.system.ui.iqwidgets.lib.styles import ink, metrics
 from openpilot.system.ui.widgets.button import Button, ButtonStyle
-from openpilot.system.ui.iqpilot.lib import canvas
+from openpilot.system.ui.iqwidgets.lib import canvas
 from openpilot.system.ui.widgets.scroller_tici import LineSeparator, LINE_COLOR, LINE_PADDING
 from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.system.ui.widgets.toggle import Toggle
@@ -899,8 +899,8 @@ def progress_item(title):
 
 from dataclasses import dataclass, field
 from openpilot.common.params import Params
-from openpilot.system.ui.iqpilot.lib.styles import ink
-from openpilot.system.ui.iqpilot.widgets.helpers.glyphs import draw_star
+from openpilot.system.ui.iqwidgets.lib.styles import ink
+from openpilot.system.ui.iqwidgets.widgets.helpers.glyphs import draw_star
 from openpilot.system.ui.lib.application import FontWeight, gui_app
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.lib.multilang import tr
@@ -925,13 +925,13 @@ _FRAME_PAD = 50
 
 
 @dataclass
-class TreeNode:
+class PickerItem:
   ref: str
   data: dict = field(default_factory=dict)
 
 
 @dataclass
-class TreeFolder:
+class PickerGroup:
   folder: str
   nodes: list
 
@@ -999,7 +999,7 @@ class _TreeRow(Button):
     return super()._handle_mouse_release(mouse_pos)
 
 
-class TreeOptionDialog(MultiOptionDialog):
+class PickerDialog(MultiOptionDialog):
   """Folder/leaf picker with search, favourites, and a pinned current selection."""
 
   def __init__(self, title, folders, current_ref="", fav_param="", option_font_weight=FontWeight.MEDIUM, search_prompt=None,
@@ -1018,7 +1018,7 @@ class TreeOptionDialog(MultiOptionDialog):
     self.on_exit = on_exit
     self.display_func = display_func or (lambda node: node.data.get('display_name', node.ref))
     self.search_funcs = search_funcs or [lambda node: node.data.get('display_name', ''), lambda node: node.data.get('short_name', '')]
-    self.search_title = search_title or tr("Enter search query")
+    self.search_title = search_title or tr("Type to search")
     self.search_subtitle = search_subtitle
     self._search_rect: rl.Rectangle | None = None
     self._search_pressed = False

system/ui/lib/application.py

@@ -26,7 +26,7 @@ from openpilot.system.hardware import HARDWARE, PC
 from openpilot.system.ui.lib.multilang import multilang
 from openpilot.common.realtime import Ratekeeper
 
-from openpilot.system.ui.iqpilot.lib.application import IQAppHooks
+from openpilot.system.ui.iqwidgets.lib.application import IQAppHooks
 from openpilot.system.ui.lib.screen_recorder import ScreenRecorder
 
 _DEFAULT_FPS = int(os.getenv("FPS", {'tizi': 20, 'tici': 20}.get(HARDWARE.get_device_type(), 60)))

system/ui/lib/emoji.py

@@ -33,10 +33,19 @@ EMOJI_REGEX = re.compile(
   flags=re.UNICODE
 )
 
+_emoji_font_loaded = False
+
 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)
+  global _emoji_font, _emoji_font_loaded
+  if not _emoji_font_loaded:
+    _emoji_font_loaded = True
+    try:
+      # FONT_DIR is an importlib.resources path. Inside the setup zipapp it points into the archive,
+      # so str() yields a path through the .zip that PIL can't open ("cannot open resource"). Read
+      # the bytes and hand PIL a file object so it works both on disk and inside the zipapp.
+      _emoji_font = ImageFont.truetype(io.BytesIO(FONT_DIR.joinpath("NotoColorEmoji.ttf").read_bytes()), 109)
+    except Exception:
+      _emoji_font = None  # never crash the whole UI over an emoji glyph
   return _emoji_font
 
 def find_emoji(text):
@@ -44,12 +53,15 @@ def find_emoji(text):
 
 def emoji_tex(emoji):
   if emoji not in _cache:
+    font = _load_emoji_font()
+    if font is None:
+      return None
     img = Image.new("RGBA", (128, 128), (0, 0, 0, 0))
     draw = ImageDraw.Draw(img)
-    draw.text((0, 0), emoji, font=_load_emoji_font(), embedded_color=True)
+    draw.text((0, 0), emoji, font=font, embedded_color=True)
     with io.BytesIO() as buffer:
       img.save(buffer, format="PNG")
       l = buffer.tell()
       buffer.seek(0)
       _cache[emoji] = rl.load_texture_from_image(rl.load_image_from_memory(".png", buffer.getvalue(), l))
-  return _cache[emoji]
+  return _cache.get(emoji)

system/ui/lib/wifi_manager.py

@@ -67,6 +67,9 @@ class MeteredType(IntEnum):
   NO = 2
 
 
+_WARNED_UNSUPPORTED_NETWORKS: set[tuple[int, int, int]] = set()
+
+
 def get_security_type(flags: int, wpa_flags: int, rsn_flags: int) -> SecurityType:
   wpa_props = wpa_flags | rsn_flags
 
@@ -83,7 +86,10 @@ def get_security_type(flags: int, wpa_flags: int, rsn_flags: int) -> SecurityTyp
     # WPA2, WPA2+WPA3 mixed, or WPA — all handled via WPA key_mgmt (NM negotiates SAE if available)
     return SecurityType.WPA2
   else:
-    cloudlog.warning(f"Unsupported network! flags: {flags}, wpa_flags: {wpa_flags}, rsn_flags: {rsn_flags}")
+    _key = (flags, wpa_flags, rsn_flags)
+    if _key not in _WARNED_UNSUPPORTED_NETWORKS:
+      _WARNED_UNSUPPORTED_NETWORKS.add(_key)
+      cloudlog.warning(f"Unsupported network! flags: {flags}, wpa_flags: {wpa_flags}, rsn_flags: {rsn_flags}")
     return SecurityType.UNSUPPORTED
 
 
@@ -630,6 +636,7 @@ class WifiManager:
           cloudlog.warning("No WiFi device found")
           return
 
+        self._set_device_autoconnect(True)
         self._connecting_to_ssid = ssid
         self._router_main.send(new_method_call(self._nm, 'ActivateConnection', 'ooo',
                                                (conn_path, self._wifi_device, "/")))
@@ -639,6 +646,37 @@ class WifiManager:
     else:
       threading.Thread(target=worker, daemon=True).start()
 
+  def disconnect_connection(self, ssid: str, block: bool = False):
+    def worker():
+      if self._router_main is None:
+        cloudlog.warning(f"WiFi not ready while disconnecting {ssid}")
+        return
+
+      if ssid not in self._get_connections():
+        return
+
+      # the profile stays saved and untouched; without clearing autoconnect on the device
+      # NetworkManager re-associates within seconds
+      self._set_device_autoconnect(False)
+      self._connecting_to_ssid = ""
+      self._deactivate_connection(ssid)
+      self._update_networks()
+      self._enqueue_callbacks(self._disconnected)
+
+    if block:
+      worker()
+    else:
+      threading.Thread(target=worker, daemon=True).start()
+
+  def _set_device_autoconnect(self, enabled: bool) -> None:
+    if self._router_main is None or self._wifi_device is None:
+      return
+
+    dev_addr = DBusAddress(self._wifi_device, bus_name=NM, interface=NM_DEVICE_IFACE)
+    reply = self._router_main.send_and_get_reply(Properties(dev_addr).set('Autoconnect', 'b', enabled))
+    if reply.header.message_type == MessageType.error:
+      cloudlog.warning(f'Failed to set device autoconnect={enabled}: {reply}')
+
   def _deactivate_connection(self, ssid: str):
     target_conn_path = self._get_connections().get(ssid, None)
     if target_conn_path is None:

system/ui/mici_setup.py

@@ -50,6 +50,8 @@ INSTALLER_URL_PATH = "/tmp/installer_url"
 # "<user>/<branch>" maps to a GitHub fork. IQ.OS uses the DRM "magic" compositor, not Wayland,
 # so comma's downloaded installers (installer.comma.ai) crash on launch; clone the fork directly.
 GITHUB_FORK_URL = "https://github.com/{user}/openpilot.git"
+# IQ.Pilot lives on the IQ Lvbs git server; github.com/IQLvbs is DMCA'd and dead.
+GIT_URL_OVERRIDES = {"IQLvbs": "https://git.konn3kt.com/IQ.Lvbs/IQ.Pilot.git"}
 
 CONTINUE = """#!/usr/bin/env bash
 
@@ -756,7 +758,7 @@ class Setup(Widget):
       pass
 
   def _fork_install_thread(self, user: str, branch: str):
-    git_url = GITHUB_FORK_URL.format(user=user)
+    git_url = GIT_URL_OVERRIDES.get(user) or GITHUB_FORK_URL.format(user=user)
     label = f"{user}/{branch}"
     try:
       subprocess.run(["rm", "-rf", TMP_INSTALL_PATH], check=False)
@@ -774,7 +776,8 @@ class Setup(Widget):
       subprocess.run(["git", "-C", TMP_INSTALL_PATH, "submodule", "update", "--init"], check=False)
 
       run_cmd(["rm", "-f", VALID_CACHE_PATH])
-      run_cmd(["rm", "-rf", INSTALL_PATH])
+      # sudo: a prior *run* install can leave root-owned .pyc here that a comma-user rm can't delete.
+      run_cmd(["sudo", "rm", "-rf", INSTALL_PATH])
       run_cmd(["mv", TMP_INSTALL_PATH, INSTALL_PATH])
 
       self._ble_progress("installing", 90)
@@ -882,6 +885,11 @@ class Setup(Widget):
       # AGNOS might try to execute the installer before this process exits.
       # Therefore, important to close the fd before renaming the installer.
       os.close(fd)
+      # comma's ELF installer does `rm -rf /data/openpilot` as the comma user and asserts it
+      # succeeds; a prior *run* install leaves root-owned __pycache__ .pyc it can't delete, so it
+      # aborts before continue.sh and bounces back to setup. Clear the old tree first (sudo) so the
+      # installer's rm succeeds.
+      subprocess.run(["sudo", "rm", "-rf", INSTALL_PATH], check=False)
       os.rename(tmpfile, INSTALLER_DESTINATION_PATH)
 
       with open(INSTALLER_URL_PATH, "w") as f:

system/ui/tici_setup.py

@@ -51,6 +51,8 @@ INSTALLER_DESTINATION_PATH = "/tmp/installer"
 INSTALLER_URL_PATH = "/tmp/installer_url"
 
 GITHUB_FORK_URL = "https://github.com/{user}/openpilot.git"
+# IQ.Pilot lives on the IQ Lvbs git server; github.com/IQLvbs is DMCA'd and dead.
+GIT_URL_OVERRIDES = {"IQLvbs": "https://git.konn3kt.com/IQ.Lvbs/IQ.Pilot.git"}
 
 CONTINUE = """#!/usr/bin/env bash
 
@@ -589,7 +591,7 @@ class Setup(Widget):
       pass
 
   def _fork_install_thread(self, user: str, branch: str):
-    git_url = GITHUB_FORK_URL.format(user=user)
+    git_url = GIT_URL_OVERRIDES.get(user) or GITHUB_FORK_URL.format(user=user)
     label = f"{user}/{branch}"
     fail_msg = "Ensure the entered URL is valid, and the device's internet connection is good."
     try:
@@ -609,7 +611,8 @@ class Setup(Widget):
       subprocess.run(["git", "-C", TMP_INSTALL_PATH, "submodule", "update", "--init"], check=False)
 
       run_cmd(["rm", "-f", VALID_CACHE_PATH])
-      run_cmd(["rm", "-rf", INSTALL_PATH])
+      # sudo: a prior *run* install can leave root-owned .pyc here that a comma-user rm can't delete.
+      run_cmd(["sudo", "rm", "-rf", INSTALL_PATH])
       run_cmd(["mv", TMP_INSTALL_PATH, INSTALL_PATH])
 
       self._ble_progress("installing", 90)
@@ -718,6 +721,11 @@ class Setup(Widget):
       # AGNOS might try to execute the installer before this process exits.
       # Therefore, important to close the fd before renaming the installer.
       os.close(fd)
+      # comma's ELF installer does `rm -rf /data/openpilot` as the comma user and asserts it
+      # succeeds; a prior *run* install leaves root-owned __pycache__ .pyc it can't delete, so it
+      # aborts before continue.sh and bounces back to setup. Clear the old tree first (sudo) so the
+      # installer's rm succeeds.
+      subprocess.run(["sudo", "rm", "-rf", INSTALL_PATH], check=False)
       os.rename(tmpfile, INSTALLER_DESTINATION_PATH)
 
       with open(INSTALLER_URL_PATH, "w") as f:

system/ui/widgets/label.py

@@ -406,7 +406,8 @@ class Label(Widget):
         line_pos.x += width_before.x
 
         tex = emoji_tex(emoji)
-        rl.draw_texture_ex(tex, line_pos, 0.0, self._font_size / tex.height * FONT_SCALE, self._text_color)
+        if tex is not None:
+          rl.draw_texture_ex(tex, line_pos, 0.0, self._font_size / tex.height * FONT_SCALE, self._text_color)
         line_pos.x += self._font_size * FONT_SCALE
         prev_index = end
       rl.draw_text_ex(self._font, text[prev_index:], line_pos, self._font_size, 0, self._text_color)
@@ -849,8 +850,9 @@ class UnifiedLabel(Widget):
 
       # Draw emoji
       tex = emoji_tex(emoji)
-      emoji_scale = self._font_size / tex.height * FONT_SCALE
-      rl.draw_texture_ex(tex, line_pos, 0.0, emoji_scale, self._text_color)
+      if tex is not None:
+        emoji_scale = self._font_size / tex.height * FONT_SCALE
+        rl.draw_texture_ex(tex, line_pos, 0.0, emoji_scale, self._text_color)
       # Emoji width is font_size * FONT_SCALE (as per measure_text_cached)
       line_pos.x += self._font_size * FONT_SCALE
       prev_index = end

system/ui/widgets/network.py

@@ -17,10 +17,10 @@ from openpilot.system.ui.widgets.scroller_tici import Scroller
 from openpilot.system.ui.widgets.list_view import ButtonAction, ListItem, MultipleButtonAction, ToggleAction, button_item, text_item
 
 if gui_app.iqpilot_ui():
-  from openpilot.system.ui.iqpilot.widgets.list_view import button_item
-  from openpilot.system.ui.iqpilot.widgets.list_view import IQListItem as ListItem
-  from openpilot.system.ui.iqpilot.widgets.list_view import IQToggleAction as ToggleAction
-  from openpilot.system.ui.iqpilot.widgets.list_view import IQMultipleButtonAction as MultipleButtonAction
+  from openpilot.system.ui.iqwidgets.widgets.list_view import button_item
+  from openpilot.system.ui.iqwidgets.widgets.list_view import IQListItem as ListItem
+  from openpilot.system.ui.iqwidgets.widgets.list_view import IQToggleAction as ToggleAction
+  from openpilot.system.ui.iqwidgets.widgets.list_view import IQMultipleButtonAction as MultipleButtonAction
 
 # These are only used for AdvancedNetworkSettings, standalone apps just need WifiManagerUI
 try:
@@ -66,6 +66,7 @@ class UIState(IntEnum):
   NEEDS_AUTH = 2
   SHOW_FORGET_CONFIRM = 3
   FORGETTING = 4
+  DISCONNECTING = 5
 
 
 class NavButton(Widget):
@@ -328,6 +329,7 @@ class WifiManagerUI(Widget):
     self._state_network: Network | None = None  # for CONNECTING / NEEDS_AUTH / SHOW_FORGET_CONFIRM / FORGETTING
     self._password_retry: bool = False  # for NEEDS_AUTH
     self.btn_width: int = 200
+    self.disconnect_btn_width: int = 300
     self.scroll_panel = GuiScrollPanel()
     self.keyboard = Keyboard(max_text_size=MAX_PASSWORD_LENGTH, min_text_size=MIN_PASSWORD_LENGTH, show_password_toggle=True)
     self._load_icons()
@@ -335,6 +337,7 @@ class WifiManagerUI(Widget):
     self._networks: list[Network] = []
     self._networks_buttons: dict[str, Button] = {}
     self._forget_networks_buttons: dict[str, Button] = {}
+    self._disconnect_networks_buttons: dict[str, Button] = {}
 
     self._wifi_manager.add_callbacks(need_auth=self._on_need_auth,
                                      activated=self._on_activated,
@@ -417,7 +420,9 @@ class WifiManagerUI(Widget):
 
   def _draw_network_item(self, rect, network: Network):
     spacing = 50
-    ssid_rect = rl.Rectangle(rect.x, rect.y, rect.width - self.btn_width * 2, ITEM_HEIGHT)
+    show_disconnect = network.is_connected and self.state not in (UIState.CONNECTING, UIState.DISCONNECTING)
+    reserved = self.btn_width * 2 + (self.disconnect_btn_width + spacing if show_disconnect else 0)
+    ssid_rect = rl.Rectangle(rect.x, rect.y, rect.width - reserved, ITEM_HEIGHT)
     signal_icon_rect = rl.Rectangle(rect.x + rect.width - ICON_SIZE, rect.y + (ITEM_HEIGHT - ICON_SIZE) / 2, ICON_SIZE, ICON_SIZE)
     security_icon_rect = rl.Rectangle(signal_icon_rect.x - spacing - ICON_SIZE, rect.y + (ITEM_HEIGHT - ICON_SIZE) / 2, ICON_SIZE, ICON_SIZE)
 
@@ -434,6 +439,10 @@ class WifiManagerUI(Widget):
       if self._state_network.ssid == network.ssid:
         self._networks_buttons[network.ssid].set_enabled(False)
         status_text = tr("FORGETTING...")
+    elif self.state == UIState.DISCONNECTING and self._state_network:
+      if self._state_network.ssid == network.ssid:
+        self._networks_buttons[network.ssid].set_enabled(False)
+        status_text = tr("DISCONNECTING...")
     elif network.security_type == SecurityType.UNSUPPORTED:
       self._networks_buttons[network.ssid].set_enabled(False)
     else:
@@ -455,6 +464,15 @@ class WifiManagerUI(Widget):
         )
         self._forget_networks_buttons[network.ssid].render(forget_btn_rect)
 
+        if show_disconnect:
+          disconnect_btn_rect = rl.Rectangle(
+            forget_btn_rect.x - self.btn_width - spacing,
+            forget_btn_rect.y,
+            self.btn_width,
+            80,
+          )
+          self._disconnect_networks_buttons[network.ssid].render(disconnect_btn_rect)
+
     self._draw_status_icon(security_icon_rect, network)
     self._draw_signal_strength_icon(signal_icon_rect, network)
 
@@ -470,6 +488,9 @@ class WifiManagerUI(Widget):
     self.state = UIState.SHOW_FORGET_CONFIRM
     self._state_network = network
 
+  def _disconnect_networks_buttons_callback(self, network):
+    self.disconnect_network(network)
+
   def _draw_status_icon(self, rect, network: Network):
     """Draw the status icon based on network's connection state"""
     icon_file = None
@@ -506,6 +527,11 @@ class WifiManagerUI(Widget):
     self._state_network = network
     self._wifi_manager.forget_connection(network.ssid)
 
+  def disconnect_network(self, network: Network):
+    self.state = UIState.DISCONNECTING
+    self._state_network = network
+    self._wifi_manager.disconnect_connection(network.ssid)
+
   def _on_network_updated(self, networks: list[Network]):
     self._networks = networks
     for n in self._networks:
@@ -515,6 +541,9 @@ class WifiManagerUI(Widget):
       self._forget_networks_buttons[n.ssid] = Button(tr("Forget"), partial(self._forget_networks_buttons_callback, n), button_style=ButtonStyle.FORGET_WIFI,
                                                      font_size=45)
       self._forget_networks_buttons[n.ssid].set_touch_valid_callback(lambda: self.scroll_panel.is_touch_valid())
+      self._disconnect_networks_buttons[n.ssid] = Button(tr("Disconnect"), partial(self._disconnect_networks_buttons_callback, n),
+                                                         button_style=ButtonStyle.FORGET_WIFI, font_size=45)
+      self._disconnect_networks_buttons[n.ssid].set_touch_valid_callback(lambda: self.scroll_panel.is_touch_valid())
 
   def _on_need_auth(self, ssid):
     network = next((n for n in self._networks if n.ssid == ssid), None)
@@ -532,7 +561,7 @@ class WifiManagerUI(Widget):
       self.state = UIState.IDLE
 
   def _on_disconnected(self):
-    if self.state == UIState.CONNECTING:
+    if self.state in (UIState.CONNECTING, UIState.DISCONNECTING):
       self.state = UIState.IDLE