IQ.Pilot Release Commit @ 24db8ae

iqpilot/common/params_keys.h

@@ -15,6 +15,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"AthenadPid", {PERSISTENT, INT}},
     {"AthenadUploadQueue", {PERSISTENT, JSON}},
     {"AthenadRecentlyViewedRoutes", {PERSISTENT, STRING}},
+    {"IQUploaderDeferred", {PERSISTENT, JSON}},
     {"BackupManagerK3_CreateBackup", {CLEAR_ON_MANAGER_START, BOOL}},
     {"BackupManagerK3_RestoreVersion", {CLEAR_ON_MANAGER_START, STRING}},
     {"BootCount", {PERSISTENT, INT}},
@@ -269,6 +270,32 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"iqMqbAccResume", {PERSISTENT, BOOL, "0"}},
     {"iqMqbSteeringLockout", {PERSISTENT, BOOL, "0"}},
     {"AllowLateralWhenLongUnavailable", {PERSISTENT, BOOL}},
+    {"IQEmacEnabled", {PERSISTENT, BOOL, "0"}},
+    {"IQEmacHost", {PERSISTENT, STRING}},
+    {"IQEmacModel", {PERSISTENT, STRING}},
+    {"IQEmacCatalogCache", {PERSISTENT, JSON}},
+    {"IQEgpuDisabled", {PERSISTENT, BOOL, "0"}},
+    {"IQEgpuEnabled", {PERSISTENT, BOOL, "0"}},
+    {"MacModelStatus", {CLEAR_ON_MANAGER_START, JSON}},
+    {"MacModelLatencyMs", {CLEAR_ON_MANAGER_START, FLOAT}},
+    {"MacModelMissRate", {CLEAR_ON_MANAGER_START, FLOAT}},
+    {"MacModelPresent", {CLEAR_ON_MANAGER_START, BOOL}},
+    {"MacModelReachable", {CLEAR_ON_MANAGER_START, BOOL}},
+    {"MacModelCompiled", {CLEAR_ON_MANAGER_START, BOOL}},
+    {"MacModelReady", {CLEAR_ON_MANAGER_START, BOOL}},
+    {"MacModelActive", {CLEAR_ON_MANAGER_START, BOOL}},
+    {"MacModelFailed", {CLEAR_ON_MANAGER_START, BOOL}},
+    {"MacModelLastError", {CLEAR_ON_MANAGER_START, STRING}},
+    {"MacModelDownloadProgress", {CLEAR_ON_MANAGER_START, FLOAT}},
+    {"UsbGpuStatus", {CLEAR_ON_MANAGER_START, JSON}},
+    {"UsbGpuLatencyMs", {CLEAR_ON_MANAGER_START, FLOAT}},
+    {"UsbGpuActive", {CLEAR_ON_MANAGER_START, BOOL}},
+    {"UsbGpuFailed", {CLEAR_ON_MANAGER_START, BOOL}},
+    {"UsbGpuPresent", {CLEAR_ON_MANAGER_START, BOOL}},
+    {"UsbGpuLastError", {CLEAR_ON_MANAGER_START, STRING}},
+    {"UsbGpuSetupProgress", {CLEAR_ON_MANAGER_START, FLOAT}},
+    {"UsbGpuCompiled", {CLEAR_ON_MANAGER_START, BOOL}},
+    {"UsbGpuLoading", {CLEAR_ON_MANAGER_START, BOOL}},
 
     {"IQDynamicMode", {PERSISTENT, BOOL, "0"}},
     {"IQDynamicBlendStockRadar", {PERSISTENT, BOOL, "0"}},

iqpilot/iq_maps/tile_bundle_downloader.py

@@ -21,11 +21,21 @@ except Exception:  # ProprietaryModuleMissing or import errors in stripped build
   _private_base_urls = None
   _private_auth = None
 
-DEFAULT_TILE_BUNDLE_BASE_URL = "https://maps.konn3kt.com/iqosmd/v1"
+# Tile bundles live as LFS objects in the PRIVATE repo IQ.Lvbs/iqmaps (R2 is gone).
+# Anonymous access 404s by design; devices authenticate with the embedded read-only PAT
+# carried by the closed-source updater bundle (same fetch account as the OS images).
+DEFAULT_TILE_BUNDLE_BASE_URL = "https://git.konn3kt.com/IQ.Lvbs/iqmaps/raw/branch/master"
+FALLBACK_TILE_BUNDLE_BASE_URL = "https://gitlvb.teallvbs.xyz/IQ.Lvbs/iqmaps/raw/branch/master"
+
+# Gitea /raw NEVER returns LFS content -- it returns this pointer, and the real bytes come
+# from the LFS batch API (see _resolve_object_url).
+LFS_POINTER_MAGIC = b"version https://git-lfs"
 BASE_URL_PARAM = "OfflineTilesBaseUrl"
 PROGRESS_PARAM = "OfflineTilesDownloadProgress"
 REQUEST_PARAM = "OfflineTilesDownloadRequest"
 CHUNK_BYTES = 1 << 20
+# must match scripts/iqpilot/tile_factory/upload_bundles_lfs.py
+PART_BYTES = 90 * 1024 * 1024
 HTTP_TIMEOUT_S = 30.0
 STREAM_RETRIES = 8
 
@@ -44,9 +54,52 @@ def candidate_base_urls(params: Params) -> list[str]:
     except Exception:
       pass
   urls.append(DEFAULT_TILE_BUNDLE_BASE_URL)
+  urls.append(FALLBACK_TILE_BUNDLE_BASE_URL)
   return urls
 
 
+def _maps_auth_module():
+  """The read PAT lives in the compiled updater bundle (never in this open file)."""
+  try:
+    from iqpilot.system.proprietary_runtime._verified_import import import_verified_module
+    return import_verified_module("iqpilot_updater_private", "iqpilot_private.updater.git_remote")
+  except Exception:
+    pass
+  try:
+    import importlib
+    import os
+    import sys
+    root = os.path.abspath(os.path.join(os.path.dirname(__file__), "..", ".."))
+    bundle_python = os.path.join(root, "artifacts", "iqpilot_updater_private", "python")
+    if os.path.isdir(bundle_python):
+      if bundle_python not in sys.path:
+        sys.path.insert(0, bundle_python)
+      return importlib.import_module("iqpilot_private.updater.git_remote")
+  except Exception:
+    pass
+  return None
+
+
+def request_headers(url: str) -> dict:
+  mod = _maps_auth_module()
+  if mod is not None:
+    try:
+      headers = mod.map_tiles_headers(url)
+      if headers:
+        return headers
+    except Exception:
+      pass
+  try:
+    from iqpilot.common.git_creds import get_credentials
+    creds = get_credentials()
+    if creds and all(creds) and "/iq.lvbs/iqmaps" in url.lower():
+      import base64
+      return {"Authorization": "Basic " + base64.b64encode(f"{creds[0]}:{creds[1]}".encode()).decode()}
+  except Exception:
+    pass
+  return {}
+
+
 def request_auth() -> tuple[str, str] | None:
   if _private_auth is None:
     return None
@@ -56,8 +109,67 @@ def request_auth() -> tuple[str, str] | None:
     return None
 
 
+def _lfs_endpoint(base_url: str) -> str:
+  """<host>/<owner>/<repo>/raw/branch/<b> -> <host>/<owner>/<repo>.git/info/lfs"""
+  return base_url.split("/raw/", 1)[0] + ".git/info/lfs"
+
+
+def _resolve_oid_url(session: requests.Session, base_url: str, oid: str, size: int,
+                     headers: dict) -> tuple[str, dict]:
+  """Bundles are stored as bare LFS objects addressed by oid from the index -- no pointer
+  files, because committing one per part meant hundreds of concurrent commits per branch."""
+  batch = session.post(f"{_lfs_endpoint(base_url)}/objects/batch",
+                       data=json.dumps({"operation": "download", "transfers": ["basic"],
+                                        "objects": [{"oid": oid, "size": size}]}),
+                       headers={"Content-Type": "application/vnd.git-lfs+json",
+                                "Accept": "application/vnd.git-lfs+json", **headers},
+                       timeout=HTTP_TIMEOUT_S)
+  batch.raise_for_status()
+  entry = batch.json()["objects"][0]
+  if "actions" not in entry:
+    raise requests.RequestException(f"LFS object unavailable: {entry.get('error', oid)}")
+  action = entry["actions"]["download"]
+  return action["href"], action.get("header", {})
+
+
+def _resolve_object_url(session: requests.Session, url: str, headers: dict) -> tuple[str, dict]:
+  """Follow a Gitea LFS pointer to the real (pre-signed) object URL.
+
+  Returns the URL to stream plus any extra headers it needs. A plain host that serves the
+  bytes directly (local test server, static mirror) resolves to itself unchanged."""
+  probe = session.get(url, headers={**headers, "Accept-Encoding": None}, stream=True,
+                      timeout=HTTP_TIMEOUT_S)
+  probe.raise_for_status()
+  if int(probe.headers.get("content-length") or 0) >= 1024:
+    probe.close()
+    return url, {}
+  body = probe.content
+  probe.close()
+  if not body.startswith(LFS_POINTER_MAGIC):
+    return url, {}
+
+  meta = dict(line.split(" ", 1) for line in body.decode().strip().splitlines() if " " in line)
+  oid = meta["oid"].split(":", 1)[1]
+  size = int(meta["size"])
+  lfs_base = url.split("/raw/", 1)[0] + ".git/info/lfs"
+  batch = session.post(f"{lfs_base}/objects/batch",
+                       data=json.dumps({"operation": "download", "transfers": ["basic"],
+                                        "objects": [{"oid": oid, "size": size}]}),
+                       headers={"Content-Type": "application/vnd.git-lfs+json",
+                                "Accept": "application/vnd.git-lfs+json", **headers},
+                       timeout=HTTP_TIMEOUT_S)
+  batch.raise_for_status()
+  action = batch.json()["objects"][0]["actions"]["download"]
+  return action["href"], action.get("header", {})
+
+
 def fetch_index(base_url: str, session: requests.Session) -> dict:
-  response = session.get(f"{base_url}/index.json", timeout=HTTP_TIMEOUT_S, auth=request_auth())
+  index_url = f"{base_url}/index.json"
+  headers = request_headers(index_url)
+  # requests' auth= rewrites the Authorization header, so only fall back to it when the
+  # closed-source bundle gave us nothing.
+  response = session.get(index_url, timeout=HTTP_TIMEOUT_S, headers=headers,
+                         auth=None if headers else request_auth())
   response.raise_for_status()
   index = response.json()
   regions = index.get("regions")
@@ -164,7 +276,7 @@ class TileBundleDownloader:
     ok = self._download_file(
       selector, base_url, entry["path"], int(entry.get("bytes", 0)),
       str(entry.get("sha256", "")).strip().lower(), night_path,
-      progress_offset, progress_total,
+      progress_offset, progress_total, int(entry.get("parts", 1)), entry.get("objects"),
     )
     if not ok:
       return False
@@ -174,6 +286,7 @@ class TileBundleDownloader:
         str(entry.get("day_sha256", "")).strip().lower(),
         night_path.with_name("offline_day.mbtiles"),
         progress_offset + int(entry.get("bytes", 0)), progress_total,
+        int(entry.get("day_parts", 1)), entry.get("day_objects"),
       )
       if not day_ok:
         cloudlog.warning(f"iq_maps: day-style bundle failed for {selector}; night set installed")
@@ -183,8 +296,16 @@ class TileBundleDownloader:
 
   def _download_file(self, selector: str, base_url: str, remote_path: str, expected_bytes: int,
                      expected_sha: str, final_path: Path,
-                     progress_offset: int, progress_total: int) -> bool:
-    url = f"{base_url}/{remote_path.lstrip('/')}"
+                     progress_offset: int, progress_total: int, parts: int = 1,
+                     objects: list | None = None) -> bool:
+    # Bundles are published as <name>.pNN because Cloudflare caps proxied bodies at ~100MB.
+    # They stream back-to-back into ONE .part file: concatenating afterwards would need
+    # double the free space, which devices do not have.
+    base = f"{base_url}/{remote_path.lstrip('/')}"
+    if objects:
+      urls = [None] * len(objects)   # resolved per-attempt from the oid
+    else:
+      urls = [base] if parts <= 1 else [f"{base}.p{i:02d}" for i in range(parts)]
     part_path = final_path.with_name(final_path.name + ".part")
     part_path.parent.mkdir(parents=True, exist_ok=True)
 
@@ -207,28 +328,45 @@ class TileBundleDownloader:
             digest = hashlib.sha256()
             resume_from = 0
 
-        headers = {"Range": f"bytes={resume_from}-"} if resume_from else {}
-        auth = request_auth()
-        response = self.session.get(url, headers=headers, stream=True, timeout=HTTP_TIMEOUT_S, auth=auth)
-        if resume_from and response.status_code != 206:
-          digest = hashlib.sha256()
-          resume_from = 0
-          part_path.unlink(missing_ok=True)
-          if response.status_code == 416:
-            response = self.session.get(url, stream=True, timeout=HTTP_TIMEOUT_S, auth=auth)
-        response.raise_for_status()
-
+        # every part but the last is exactly PART_BYTES, so a byte offset maps to a part index
+        first_part = resume_from // PART_BYTES if len(urls) > 1 else 0
+        skip_in_part = resume_from - first_part * PART_BYTES if len(urls) > 1 else resume_from
         downloaded = resume_from
         mode = "ab" if resume_from else "wb"
         with open(part_path, mode) as f:
-          for chunk in response.iter_content(chunk_size=CHUNK_BYTES):
-            if self._should_abort():
-              cloudlog.warning(f"iq_maps: tile bundle download cancelled for {selector}")
-              return False
-            f.write(chunk)
-            digest.update(chunk)
-            downloaded += len(chunk)
-            self._publish_progress(selector, progress_offset + downloaded, progress_total, active=True)
+          for index in range(first_part, len(urls)):
+            if objects:
+              url_headers = request_headers(base_url)
+              auth = None if url_headers else request_auth()
+              object_url, object_headers = _resolve_oid_url(
+                self.session, base_url, objects[index]["oid"], int(objects[index]["size"]),
+                url_headers)
+            else:
+              url = urls[index]
+              url_headers = request_headers(url)
+              auth = None if url_headers else request_auth()
+              # Re-resolve per part: a pre-signed LFS object URL can expire mid-download.
+              object_url, object_headers = _resolve_object_url(self.session, url, url_headers)
+            headers = dict(object_headers)
+            offset = skip_in_part if index == first_part else 0
+            if offset:
+              headers["Range"] = f"bytes={offset}-"
+            response = self.session.get(object_url, headers=headers, stream=True,
+                                        timeout=HTTP_TIMEOUT_S, auth=auth)
+            if offset and response.status_code != 206:
+              # server ignored the range: restart this whole file cleanly
+              f.close()
+              part_path.unlink(missing_ok=True)
+              raise requests.RequestException(f"range not honoured for part {index}")
+            response.raise_for_status()
+            for chunk in response.iter_content(chunk_size=CHUNK_BYTES):
+              if self._should_abort():
+                cloudlog.warning(f"iq_maps: tile bundle download cancelled for {selector}")
+                return False
+              f.write(chunk)
+              digest.update(chunk)
+              downloaded += len(chunk)
+              self._publish_progress(selector, progress_offset + downloaded, progress_total, active=True)
         break
       except requests.RequestException as exc:
         last_error = exc

iqpilot/selfdrive/controls/controlsd.py

@@ -48,6 +48,7 @@ CTRL_FLAG_MISSING_INPUTS = 1 << 0
 CTRL_FLAG_RK_OVERRUN = 1 << 1
 SMOOTH_STEER_W0 = 46.0
 SMOOTH_STEER_ZETA = 1.0
+SMOOTH_STEER_HOLD_FRAMES = 50
 LAT_SMOOTH_SECONDS = 0.0
 
 
@@ -100,6 +101,7 @@ class Controls(IQControlsLayer):
     self.VM = VehicleModel(self.CP)
 
     self.smooth_steer = PT2Filter(SMOOTH_STEER_W0, SMOOTH_STEER_ZETA, DT_CTRL)
+    self.smooth_steer_inactive_frames = SMOOTH_STEER_HOLD_FRAMES
     self.is_curvature_car = self.CP.steerControlType == car.CarParams.SteerControlType.curvatureDEPRECATED
     if self.is_curvature_car and self.params.get("EnableSmoothSteer") is None:
       self.params.put_bool("EnableSmoothSteer", True)
@@ -235,7 +237,8 @@ class Controls(IQControlsLayer):
     else:
       new_desired_curvature = model_v2.action.desiredCurvature
 
-    if self.is_curvature_car and self.enable_smooth_steer and CC.latActive:
+    self.smooth_steer_inactive_frames = 0 if CC.latActive else self.smooth_steer_inactive_frames + 1
+    if self.is_curvature_car and self.enable_smooth_steer and self.smooth_steer_inactive_frames < SMOOTH_STEER_HOLD_FRAMES:
       new_desired_curvature = self.smooth_steer.update(new_desired_curvature)
     else:
       self.smooth_steer.reset(new_desired_curvature)

iqpilot/selfdrive/monitoring/dmonitoringd.py

@@ -13,7 +13,8 @@ def dmonitoringd_thread():
   sm = messaging.SubMaster(['driverStateV2', 'extrinsicsCalibration', 'carState', 'selfdriveState', 'modelV2',
                             'carControl'], poll='driverStateV2')
 
-  DM = DriverMonitoring(rhd_saved=params.get_bool("IsRhdDetected"), always_on=params.get_bool("AlwaysOnDM"))
+  DM = DriverMonitoring(rhd_saved=params.get_bool("IsRhdDetected"), always_on=params.get_bool("AlwaysOnDM"),
+                        force_rhd=params.get_bool("ForceRHDForBSM"))
   demo_mode=False
 
   # 20Hz <- dmonitoringmodeld
@@ -36,10 +37,11 @@ def dmonitoringd_thread():
     # load live always-on toggle
     if sm['driverStateV2'].frameId % 40 == 1:
       DM.always_on = params.get_bool("AlwaysOnDM")
+      DM.force_rhd = params.get_bool("ForceRHDForBSM")
       demo_mode = params.get_bool("IsDriverViewEnabled")
 
     # save rhd virtual toggle every 5 mins
-    if (sm['driverStateV2'].frameId % 6000 == 0 and not demo_mode and
+    if (sm['driverStateV2'].frameId % 6000 == 0 and not demo_mode and not DM.force_rhd 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)):
       params.put_bool_nonblocking("IsRhdDetected", DM.wheel_on_right)

iqpilot/selfdrive/monitoring/helpers.py

@@ -145,7 +145,7 @@ def face_orientation_from_net(angles_desc, pos_desc, rpy_calib):
 
 
 class DriverMonitoring:
-  def __init__(self, rhd_saved=False, settings=None, always_on=False):
+  def __init__(self, rhd_saved=False, settings=None, always_on=False, force_rhd=False):
     # init policy settings
     self.settings = settings if settings is not None else DRIVER_MONITOR_SETTINGS(device_type=HARDWARE.get_device_type())
 
@@ -158,6 +158,7 @@ class DriverMonitoring:
     self.blink = DriverBlink()
 
     self.always_on = always_on
+    self.force_rhd = force_rhd
     self.distracted_types = []
     self.driver_distracted = False
     self.driver_distraction_filter = FirstOrderFilter(0., self.settings._DISTRACTED_FILTER_TS, self.settings._DT_DMON)
@@ -268,18 +269,20 @@ class DriverMonitoring:
   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
+    if not self.force_rhd and 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:
+    if self.force_rhd:
+      self.wheel_on_right = True
+    elif 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:
+    if not self.force_rhd and 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,

iqpilot/selfdrive/monitoring/test_monitoring.py

@@ -247,6 +247,22 @@ class TestMonitoring:
     dm._update_states(ds, [0., 0., 0.], 20.0, True, False)
     assert dm.wheel_on_right
 
+  def test_state_update_forces_rhd(self):
+    dm = DriverMonitoring(force_rhd=True)
+    dm.wheel_on_right_last = False
+    dm.wheelpos.prob_offseter.filtered_stat.M = 0.0
+    dm.wheelpos.prob_offseter.filtered_stat.n = dm.settings._WHEELPOS_FILTER_MIN_COUNT + 1
+    ds = log.DriverStateV2.new_message()
+    ds.wheelOnRightProb = 0.0
+    set_driver_data(ds.rightDriverData)
+
+    dm._update_states(ds, [0., 0., 0.], 20.0, True, False)
+
+    assert dm.wheel_on_right
+    assert dm.face_detected
+    assert dm.wheelpos.prob_offseter.filtered_stat.n == dm.settings._WHEELPOS_FILTER_MIN_COUNT + 1
+    assert dm.get_state_packet().driverMonitoringState.isRHD
+
   def test_state_update_rejects_incomplete_driver_data(self):
     dm = DriverMonitoring()
     dm._update_states(log.DriverStateV2.new_message(), [0., 0., 0.], 0.0, False, False)

iqpilot/selfdrive/ui/mici/layouts/settings/device.py

@@ -93,6 +93,33 @@ class EngagedConfirmationButton(BigButton):
     self.set_click_callback(lambda: _engaged_confirmation_click(callback, action_text, icon, exit_on_confirm=exit_on_confirm, red=red))
 
 
+class ForceOffroadButton(BigButton):
+  def __init__(self):
+    self._offroad_icon = gui_app.texture("icons/iq/square-parking.png", 64, 64)
+    super().__init__(tr("force\noffroad"), "", self._offroad_icon)
+    self.set_press_effect_enabled(False)
+    self._label.set_font_size(40)
+    self._label.set_line_height(0.95)
+    self.set_click_callback(self._on_click)
+    self._sync_from_params()
+
+  def _forced(self) -> bool:
+    return ui_state.params.get_bool("IQAlwaysOffroad")
+
+  def _on_click(self):
+    forced = self._forced()
+    action = tr("disable force offroad") if forced else tr("force offroad")
+    _engaged_confirmation_click(lambda: ui_state.params.put_bool("IQAlwaysOffroad", not forced),
+                                action, self._offroad_icon, exit_on_confirm=False)
+
+  def _sync_from_params(self):
+    self.set_text(tr("disable\nforce offroad") if self._forced() else tr("force\noffroad"))
+
+  def _update_state(self):
+    super()._update_state()
+    self._sync_from_params()
+
+
 class DeviceInfoLayoutMici(Widget):
   def __init__(self):
     super().__init__()
@@ -226,6 +253,7 @@ class DeviceLayoutMici(NavScroller):
       terms_btn,
       regulatory_btn,
       reset_calibration_btn,
+      ForceOffroadButton(),
       reboot_btn,
       self._power_off_btn,
     ])

iqpilot/selfdrive/ui/translations/app.pot

@@ -1830,6 +1830,31 @@ msgstr ""
 msgid "power off"
 msgstr ""
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:111
+#, python-brace-format
+msgid "disable force offroad"
+msgstr ""
+
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:111
+#, python-brace-format
+msgid "force offroad"
+msgstr ""
+
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:116
+#, python-brace-format
+msgid ""
+"disable\n"
+"force offroad"
+msgstr ""
+
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:99
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:116
+#, python-brace-format
+msgid ""
+"force\n"
+"offroad"
+msgstr ""
+
 #: openpilot/selfdrive/ui/mici/layouts/onboarding.py:100
 #, python-brace-format
 msgid ""

iqpilot/selfdrive/ui/translations/app_ar.po

@@ -3386,6 +3386,20 @@ msgstr "الجهاز"
 msgid "device ID"
 msgstr "معرّف الجهاز"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:116
+#, python-brace-format
+msgid ""
+"disable\n"
+"force offroad"
+msgstr ""
+"إلغاء\n"
+"فرض التوقف"
+
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:111
+#, python-brace-format
+msgid "disable force offroad"
+msgstr "إلغاء فرض وضع التوقف"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:56
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:190
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:199
@@ -3543,11 +3557,26 @@ msgstr "لـ \"{}\""
 msgid "for private branch updates"
 msgstr "لتحديثات الفروع الخاصة"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:99
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:116
+#, python-brace-format
+msgid ""
+"force\n"
+"offroad"
+msgstr ""
+"فرض\n"
+"وضع التوقف"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/display.py:28
 #, python-brace-format
 msgid "force mici UI"
 msgstr "فرض واجهة mici"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:111
+#, python-brace-format
+msgid "force offroad"
+msgstr "فرض وضع التوقف"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py:247
 #, python-brace-format
 msgid "forgetting..."

iqpilot/selfdrive/ui/translations/app_de.po

@@ -3453,6 +3453,20 @@ msgstr "gerät"
 msgid "device ID"
 msgstr "geräte-ID"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:116
+#, python-brace-format
+msgid ""
+"disable\n"
+"force offroad"
+msgstr ""
+"parkmodus\n"
+"freigeben"
+
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:111
+#, python-brace-format
+msgid "disable force offroad"
+msgstr "parkmodus freigeben"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:56
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:190
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:199
@@ -3610,11 +3624,26 @@ msgstr "für „{}“"
 msgid "for private branch updates"
 msgstr "für Updates aus privaten Branches"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:99
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:116
+#, python-brace-format
+msgid ""
+"force\n"
+"offroad"
+msgstr ""
+"parkmodus\n"
+"erzwingen"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/display.py:28
 #, python-brace-format
 msgid "force mici UI"
 msgstr "mici-oberfläche erzwingen"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:111
+#, python-brace-format
+msgid "force offroad"
+msgstr "parkmodus erzwingen"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py:247
 #, python-brace-format
 msgid "forgetting..."

iqpilot/selfdrive/ui/translations/app_en.po

@@ -3411,6 +3411,20 @@ msgstr "device"
 msgid "device ID"
 msgstr "device ID"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:116
+#, python-brace-format
+msgid ""
+"disable\n"
+"force offroad"
+msgstr ""
+"disable\n"
+"force offroad"
+
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:111
+#, python-brace-format
+msgid "disable force offroad"
+msgstr "disable force offroad"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:56
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:190
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:199
@@ -3568,11 +3582,26 @@ msgstr "for \"{}\""
 msgid "for private branch updates"
 msgstr "for private branch updates"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:99
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:116
+#, python-brace-format
+msgid ""
+"force\n"
+"offroad"
+msgstr ""
+"force\n"
+"offroad"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/display.py:28
 #, python-brace-format
 msgid "force mici UI"
 msgstr "force mici UI"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:111
+#, python-brace-format
+msgid "force offroad"
+msgstr "force offroad"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py:247
 #, python-brace-format
 msgid "forgetting..."

iqpilot/selfdrive/ui/translations/app_es.po

@@ -3458,6 +3458,20 @@ msgstr "dispositivo"
 msgid "device ID"
 msgstr "ID del dispositivo"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:116
+#, python-brace-format
+msgid ""
+"disable\n"
+"force offroad"
+msgstr ""
+"salir de\n"
+"aparcado"
+
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:111
+#, python-brace-format
+msgid "disable force offroad"
+msgstr "desactivar aparcado forzado"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:56
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:190
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:199
@@ -3615,11 +3629,26 @@ msgstr "para «{}»"
 msgid "for private branch updates"
 msgstr "para actualizaciones de ramas privadas"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:99
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:116
+#, python-brace-format
+msgid ""
+"force\n"
+"offroad"
+msgstr ""
+"forzar\n"
+"aparcado"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/display.py:28
 #, python-brace-format
 msgid "force mici UI"
 msgstr "forzar interfaz mici"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:111
+#, python-brace-format
+msgid "force offroad"
+msgstr "forzar aparcado"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py:247
 #, python-brace-format
 msgid "forgetting..."

iqpilot/selfdrive/ui/translations/app_fr.po

@@ -3475,6 +3475,20 @@ msgstr "appareil"
 msgid "device ID"
 msgstr "ID appareil"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:116
+#, python-brace-format
+msgid ""
+"disable\n"
+"force offroad"
+msgstr ""
+"quitter\n"
+"hors route"
+
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:111
+#, python-brace-format
+msgid "disable force offroad"
+msgstr "désactiver hors route forcé"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:56
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:190
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:199
@@ -3632,11 +3646,26 @@ msgstr "pour \"{}\""
 msgid "for private branch updates"
 msgstr "pour les mises à jour de branches privées"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:99
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:116
+#, python-brace-format
+msgid ""
+"force\n"
+"offroad"
+msgstr ""
+"forcer\n"
+"hors route"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/display.py:28
 #, python-brace-format
 msgid "force mici UI"
 msgstr "forcer l'interface mici"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:111
+#, python-brace-format
+msgid "force offroad"
+msgstr "forcer hors route"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py:247
 #, python-brace-format
 msgid "forgetting..."

iqpilot/selfdrive/ui/translations/app_ja.po

@@ -3281,6 +3281,20 @@ msgstr "デバイス"
 msgid "device ID"
 msgstr "デバイスID"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:116
+#, python-brace-format
+msgid ""
+"disable\n"
+"force offroad"
+msgstr ""
+"強制オフロード\n"
+"解除"
+
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:111
+#, python-brace-format
+msgid "disable force offroad"
+msgstr "強制オフロードを解除"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:56
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:190
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:199
@@ -3438,11 +3452,26 @@ msgstr "「{}」向け"
 msgid "for private branch updates"
 msgstr "プライベートブランチの更新用"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:99
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:116
+#, python-brace-format
+msgid ""
+"force\n"
+"offroad"
+msgstr ""
+"強制\n"
+"オフロード"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/display.py:28
 #, python-brace-format
 msgid "force mici UI"
 msgstr "mici UIを強制"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:111
+#, python-brace-format
+msgid "force offroad"
+msgstr "強制オフロード"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py:247
 #, python-brace-format
 msgid "forgetting..."

iqpilot/selfdrive/ui/translations/app_ko.po

@@ -3303,6 +3303,20 @@ msgstr "기기"
 msgid "device ID"
 msgstr "기기 ID"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:116
+#, python-brace-format
+msgid ""
+"disable\n"
+"force offroad"
+msgstr ""
+"강제 오프로드\n"
+"해제"
+
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:111
+#, python-brace-format
+msgid "disable force offroad"
+msgstr "강제 오프로드 해제"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:56
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:190
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:199
@@ -3460,11 +3474,26 @@ msgstr "\"{}\"용"
 msgid "for private branch updates"
 msgstr "비공개 브랜치 업데이트용"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:99
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:116
+#, python-brace-format
+msgid ""
+"force\n"
+"offroad"
+msgstr ""
+"강제\n"
+"오프로드"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/display.py:28
 #, python-brace-format
 msgid "force mici UI"
 msgstr "mici UI 강제"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:111
+#, python-brace-format
+msgid "force offroad"
+msgstr "강제 오프로드"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py:247
 #, python-brace-format
 msgid "forgetting..."

iqpilot/selfdrive/ui/translations/app_pl.po

@@ -3450,6 +3450,20 @@ msgstr "urządzenie"
 msgid "device ID"
 msgstr "ID urządzenia"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:116
+#, python-brace-format
+msgid ""
+"disable\n"
+"force offroad"
+msgstr ""
+"wyłącz\n"
+"wymuszenie"
+
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:111
+#, python-brace-format
+msgid "disable force offroad"
+msgstr "wyłącz wymuszony postój"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:56
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:190
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:199
@@ -3607,11 +3621,26 @@ msgstr "dla „{}”"
 msgid "for private branch updates"
 msgstr "do aktualizacji z prywatnych gałęzi"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:99
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:116
+#, python-brace-format
+msgid ""
+"force\n"
+"offroad"
+msgstr ""
+"wymuś\n"
+"postój"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/display.py:28
 #, python-brace-format
 msgid "force mici UI"
 msgstr "wymuś interfejs mici"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:111
+#, python-brace-format
+msgid "force offroad"
+msgstr "wymuś postój"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py:247
 #, python-brace-format
 msgid "forgetting..."

iqpilot/selfdrive/ui/translations/app_pt-BR.po

@@ -3452,6 +3452,20 @@ msgstr "dispositivo"
 msgid "device ID"
 msgstr "ID do dispositivo"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:116
+#, python-brace-format
+msgid ""
+"disable\n"
+"force offroad"
+msgstr ""
+"sair de\n"
+"estacionado"
+
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:111
+#, python-brace-format
+msgid "disable force offroad"
+msgstr "desativar estacionado forçado"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:56
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:190
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:199
@@ -3609,11 +3623,26 @@ msgstr "para \"{}\""
 msgid "for private branch updates"
 msgstr "para atualizações de branches privadas"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:99
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:116
+#, python-brace-format
+msgid ""
+"force\n"
+"offroad"
+msgstr ""
+"forçar\n"
+"estacionado"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/display.py:28
 #, python-brace-format
 msgid "force mici UI"
 msgstr "forçar interface mici"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:111
+#, python-brace-format
+msgid "force offroad"
+msgstr "forçar estacionado"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py:247
 #, python-brace-format
 msgid "forgetting..."

iqpilot/selfdrive/ui/translations/app_th.po

@@ -3392,6 +3392,20 @@ msgstr "อุปกรณ์"
 msgid "device ID"
 msgstr "รหัสอุปกรณ์"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:116
+#, python-brace-format
+msgid ""
+"disable\n"
+"force offroad"
+msgstr ""
+"ปิดโหมด\n"
+"จอดบังคับ"
+
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:111
+#, python-brace-format
+msgid "disable force offroad"
+msgstr "ปิดโหมดจอดแบบบังคับ"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:56
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:190
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:199
@@ -3549,11 +3563,26 @@ msgstr "สำหรับ \"{}\""
 msgid "for private branch updates"
 msgstr "สำหรับการอัปเดตจากสาขาส่วนตัว"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:99
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:116
+#, python-brace-format
+msgid ""
+"force\n"
+"offroad"
+msgstr ""
+"บังคับ\n"
+"โหมดจอด"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/display.py:28
 #, python-brace-format
 msgid "force mici UI"
 msgstr "บังคับใช้อินเทอร์เฟซ mici"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:111
+#, python-brace-format
+msgid "force offroad"
+msgstr "บังคับโหมดจอด"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py:247
 #, python-brace-format
 msgid "forgetting..."

iqpilot/selfdrive/ui/translations/app_tr.po

@@ -3427,6 +3427,20 @@ msgstr "cihaz"
 msgid "device ID"
 msgstr "cihaz kimliği"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:116
+#, python-brace-format
+msgid ""
+"disable\n"
+"force offroad"
+msgstr ""
+"zorlamayı\n"
+"kapat"
+
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:111
+#, python-brace-format
+msgid "disable force offroad"
+msgstr "park zorlamasını kapat"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:56
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:190
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:199
@@ -3584,11 +3598,26 @@ msgstr "\"{}\" için"
 msgid "for private branch updates"
 msgstr "özel dal güncellemeleri için"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:99
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:116
+#, python-brace-format
+msgid ""
+"force\n"
+"offroad"
+msgstr ""
+"park modunu\n"
+"zorla"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/display.py:28
 #, python-brace-format
 msgid "force mici UI"
 msgstr "mici arayüzünü zorla"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:111
+#, python-brace-format
+msgid "force offroad"
+msgstr "park modunu zorla"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py:247
 #, python-brace-format
 msgid "forgetting..."

iqpilot/selfdrive/ui/translations/app_uk.po

@@ -3436,6 +3436,20 @@ msgstr "пристрій"
 msgid "device ID"
 msgstr "ID пристрою"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:116
+#, python-brace-format
+msgid ""
+"disable\n"
+"force offroad"
+msgstr ""
+"вимкнути\n"
+"примус"
+
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:111
+#, python-brace-format
+msgid "disable force offroad"
+msgstr "вимкнути примусовий офроуд"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:56
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:190
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:199
@@ -3593,11 +3607,26 @@ msgstr "для \"{}\""
 msgid "for private branch updates"
 msgstr "для оновлень із приватних гілок"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:99
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:116
+#, python-brace-format
+msgid ""
+"force\n"
+"offroad"
+msgstr ""
+"офроуд\n"
+"примусово"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/display.py:28
 #, python-brace-format
 msgid "force mici UI"
 msgstr "примусовий інтерфейс mici"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:111
+#, python-brace-format
+msgid "force offroad"
+msgstr "примусовий офроуд"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py:247
 #, python-brace-format
 msgid "forgetting..."

iqpilot/selfdrive/ui/translations/app_zh-CHS.po

@@ -3260,6 +3260,20 @@ msgstr "设备"
 msgid "device ID"
 msgstr "设备 ID"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:116
+#, python-brace-format
+msgid ""
+"disable\n"
+"force offroad"
+msgstr ""
+"关闭\n"
+"强制驻车"
+
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:111
+#, python-brace-format
+msgid "disable force offroad"
+msgstr "关闭强制驻车"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:56
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:190
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:199
@@ -3417,11 +3431,26 @@ msgstr "用于“{}”"
 msgid "for private branch updates"
 msgstr "用于私有分支更新"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:99
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:116
+#, python-brace-format
+msgid ""
+"force\n"
+"offroad"
+msgstr ""
+"强制\n"
+"驻车"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/display.py:28
 #, python-brace-format
 msgid "force mici UI"
 msgstr "强制使用 mici 界面"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:111
+#, python-brace-format
+msgid "force offroad"
+msgstr "强制驻车"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py:247
 #, python-brace-format
 msgid "forgetting..."

iqpilot/selfdrive/ui/translations/app_zh-CHT.po

@@ -3262,6 +3262,20 @@ msgstr "裝置"
 msgid "device ID"
 msgstr "裝置 ID"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:116
+#, python-brace-format
+msgid ""
+"disable\n"
+"force offroad"
+msgstr ""
+"關閉\n"
+"強制駐車"
+
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:111
+#, python-brace-format
+msgid "disable force offroad"
+msgstr "關閉強制駐車"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:56
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:190
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:199
@@ -3419,11 +3433,26 @@ msgstr "適用於「{}」"
 msgid "for private branch updates"
 msgstr "用於私有分支更新"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:99
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:116
+#, python-brace-format
+msgid ""
+"force\n"
+"offroad"
+msgstr ""
+"強制\n"
+"駐車"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/display.py:28
 #, python-brace-format
 msgid "force mici UI"
 msgstr "強制使用 mici 介面"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:111
+#, python-brace-format
+msgid "force offroad"
+msgstr "強制駐車"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py:247
 #, python-brace-format
 msgid "forgetting..."

iqpilot/selfdrive/ui/ui.py

@@ -13,7 +13,7 @@ from iqpilot.selfdrive.ui.ui_state import ui_state
 
 _FPS_OVERRIDE = os.getenv("FPS")
 UI_OFFROAD_FPS = int(os.getenv("UI_OFFROAD_FPS", _FPS_OVERRIDE or "60"))
-UI_ONROAD_FPS = int(os.getenv("UI_ONROAD_FPS", _FPS_OVERRIDE or "20"))
+UI_ONROAD_FPS = int(os.getenv("UI_ONROAD_FPS", _FPS_OVERRIDE or "60"))
 
 
 def main():

iqpilot/system/webrtc/rtc/stream.py

@@ -83,6 +83,7 @@ class WebRTCBaseStream(abc.ABC):
     self._audio_track_state: List[Tuple[Track, Any, RtpPacketizationConfig]] = []
     self._receiver_reports: Dict[str, RtcpReceiverReport] = {}
     self._receiver_report_tracks: Dict[str, Tuple[Track, int]] = {}
+    self._negotiated_tracks: Dict[str, Track] = {}
 
     self.incoming_media_ready_event = asyncio.Event()
     self.messaging_channel_ready_event = asyncio.Event()
@@ -206,7 +207,11 @@ class WebRTCBaseStream(abc.ABC):
   def _add_producer_tracks(self, remote_sdp: Optional[str] = None):
     for track in self.outgoing_video_tracks:
       media, ssrc, payload_type, cname = self._make_video_media(track, remote_sdp or "")
-      rtc_track = self.peer_connection.add_track(media)
+      rtc_track = self._negotiated_tracks.get(media.mid())
+      if rtc_track is not None:
+        rtc_track.set_description(media)
+      else:
+        rtc_track = self.peer_connection.add_track(media)
 
       rtp_config = RtpPacketizationConfig(ssrc, cname, payload_type, H264RtpPacketizer.CLOCK_RATE)
       rtp_config.start_timestamp = random.randint(0, 0xFFFFFFFF)
@@ -232,6 +237,8 @@ class WebRTCBaseStream(abc.ABC):
         # same MID, which leaves libdatachannel stuck in signalling/ICE negotiation.
         rtc_track = self.incoming_audio_tracks[0]
         negotiated_media = rtc_track.description()
+        negotiated_media.clear_ssrcs()
+        negotiated_media.remove_attribute("msid")
         negotiated_media.add_ssrc(ssrc, cname, "audio", "audio")
         rtc_track.set_description(negotiated_media)
       else:
@@ -276,6 +283,7 @@ class WebRTCBaseStream(abc.ABC):
 
   def _on_incoming_track(self, track: Track):
     self._log_debug("got track: %s", track.mid())
+    self._negotiated_tracks[track.mid()] = track
     media_type = track.description().type()
     if media_type == "audio":
       if self.expected_incoming_audio:
@@ -478,6 +486,7 @@ class WebRTCBaseStream(abc.ABC):
     self._audio_track_state.clear()
     self._receiver_reports.clear()
     self._receiver_report_tracks.clear()
+    self._negotiated_tracks.clear()
 
   @abc.abstractmethod
   async def start(self) -> RTCSessionDescription:

iqpilot/system/webrtc/tests/test_rtc_integration.py

@@ -19,8 +19,17 @@ async def test_native_video_audio_and_data_channel():
 
   async def connect(offer):
     nonlocal answer_session
-    answer_session = StreamSession(offer.sdp, offer.video, [], [], [], debug_mode=True)
+    browser_offer = offer.sdp.replace("profile-level-id=42e01f", "profile-level-id=640c1f", 1)
+    audio_offset = browser_offer.index("m=audio")
+    browser_offer = browser_offer[:audio_offset] + browser_offer[audio_offset:].replace(
+      "a=recvonly",
+      "a=sendrecv\r\na=msid:ios-microphone ios-audio-track\r\na=ssrc:123456 cname:ios-audio\r\na=ssrc:123456 msid:ios-microphone ios-audio-track",
+      1,
+    )
+    answer_session = StreamSession(browser_offer, offer.video, [], [], [], debug_mode=True)
     answer = await answer_session.get_answer()
+    assert not any(line.startswith("m=video 0 ") for line in answer.sdp.splitlines())
+    assert answer_session.stream._track_state[0][0] is answer_session.stream._negotiated_tracks["road"]
     answer_session.start()
     return RTCSessionDescription(answer.sdp, answer.type)
 
@@ -56,9 +65,16 @@ async def test_native_duplex_audio_negotiation():
 
   async def connect(offer):
     nonlocal answer_session
-    sendrecv_offer = offer.sdp.replace("a=recvonly", "a=sendrecv", 1)
+    sendrecv_offer = offer.sdp.replace(
+      "a=recvonly",
+      "a=sendrecv\r\na=msid:ios-microphone ios-audio-track\r\na=ssrc:123456 cname:ios-audio\r\na=ssrc:123456 msid:ios-microphone ios-audio-track",
+      1,
+    )
     answer_session = StreamSession(sendrecv_offer, offer.video, [], [], [], debug_mode=True)
     answer = await answer_session.get_answer()
+    assert "ios-microphone" not in answer.sdp
+    assert "ios-audio-track" not in answer.sdp
+    assert answer.sdp.count("a=msid:audio audio") == 1
     answer_session.start()
     return RTCSessionDescription(answer.sdp, answer.type)