diff --git a/Jenkinsfile b/Jenkinsfile index 8a2f83be2..128273792 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -154,6 +154,7 @@ pipeline { ["build openpilot", "cd selfdrive/manager && ./build.py"], ["check dirty", "release/check-dirty.sh"], ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"], + ["time to onroad", "cd selfdrive/test/ && pytest test_time_to_onroad.py"], ["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"], ]) } @@ -174,12 +175,12 @@ pipeline { steps { phone_steps("tici-common", [ ["build", "cd selfdrive/manager && ./build.py"], + ["test pandad", "python selfdrive/boardd/tests/test_pandad.py"], ["test power draw", "python system/hardware/tici/tests/test_power_draw.py"], ["test loggerd", "python system/loggerd/tests/test_loggerd.py"], ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python system/loggerd/tests/test_encoder.py"], ["test pigeond", "python system/sensord/tests/test_pigeond.py"], ["test manager", "python selfdrive/manager/test/test_manager.py"], - ["test pandad", "python selfdrive/boardd/tests/test_pandad.py"], ]) } } @@ -219,7 +220,7 @@ pipeline { steps { phone_steps("tici-common", [ ["build", "cd selfdrive/manager && ./build.py"], - ["model replay", "cd selfdrive/test/process_replay && NO_NAV=1 ./model_replay.py"], + ["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"], ]) } } diff --git a/RELEASES.md b/RELEASES.md index a4b2a7687..bc18fd3a9 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,3 +1,16 @@ +Version 0.9.3 (2023-06-29) +======================== +* New driving model + * Improved height estimation and added height tracking in liveCalibration + * Model inputs refactor +* New driving personality setting + * Three settings: aggressive, standard, and relaxed + * Standard is recommended and the default + * In aggressive mode, lead follow distance is shorter and acceleration response is quicker + * In relaxed mode, lead follow distance is longer +* Improved fuzzy fingerprinting for Hyundai, Kia, and Genesis +* Improved thermal management logic + Version 0.9.2 (2023-05-22) ======================== * New driving model diff --git a/cereal/SConscript b/cereal/SConscript index e40d3ba1a..192e42d0e 100644 --- a/cereal/SConscript +++ b/cereal/SConscript @@ -8,7 +8,7 @@ messaging_dir = Dir('messaging') # Build cereal -schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp'] +schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp', 'custom.capnp'] env.Command(["gen/c/include/c++.capnp.h"], [], "mkdir -p " + gen_dir.path + "/c/include && touch $TARGETS") env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files], schema_files, @@ -26,8 +26,10 @@ services_h = env.Command(['services.h'], ['services.py'], 'python3 ' + cereal_di messaging_objects = env.SharedObject([ 'messaging/messaging.cc', + 'messaging/event.cc', 'messaging/impl_zmq.cc', 'messaging/impl_msgq.cc', + 'messaging/impl_fake.cc', 'messaging/msgq.cc', 'messaging/socketmaster.cc', ]) diff --git a/cereal/__init__.py b/cereal/__init__.py index 88a181cbc..4e26ffb2e 100644 --- a/cereal/__init__.py +++ b/cereal/__init__.py @@ -7,3 +7,4 @@ capnp.remove_import_hook() log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp")) car = capnp.load(os.path.join(CEREAL_PATH, "car.capnp")) +custom = capnp.load(os.path.join(CEREAL_PATH, "custom.capnp")) diff --git a/cereal/car.capnp b/cereal/car.capnp index 2730888f7..319e3b7b6 100644 --- a/cereal/car.capnp +++ b/cereal/car.capnp @@ -23,7 +23,6 @@ struct CarEvent @0x9b1657f34caf3ad3 { enum EventName @0xbaa8c5d505f727de { canError @0; steerUnavailable @1; - brakeUnavailable @2; wrongGear @4; doorOpen @5; seatbeltNotLatched @6; @@ -140,6 +139,7 @@ struct CarEvent @0x9b1657f34caf3ad3 { startupOneplusDEPRECATED @82; startupFuzzyFingerprintDEPRECATED @97; noTargetDEPRECATED @25; + brakeUnavailableDEPRECATED @2; } } @@ -166,6 +166,8 @@ struct CarState { # gas pedal, 0.0-1.0 gas @3 :Float32; # this is user pedal only gasPressed @4 :Bool; # this is user pedal only + + engineRpm @46 :Float32; # brake pedal, 0.0-1.0 brake @5 :Float32; # this is user pedal only @@ -187,6 +189,7 @@ struct CarState { stockFcw @31 :Bool; espDisabled @32 :Bool; accFaulted @42 :Bool; + carFaultedNonCritical @47 :Bool; # some ECU is faulted, but car remains controllable # cruise state cruiseState @10 :CruiseState; diff --git a/cereal/custom.capnp b/cereal/custom.capnp new file mode 100644 index 000000000..369222add --- /dev/null +++ b/cereal/custom.capnp @@ -0,0 +1,39 @@ +using Cxx = import "./include/c++.capnp"; +$Cxx.namespace("cereal"); + +@0xb526ba661d550a59; + +# custom.capnp: a home for empty structs reserved for custom forks +# These structs are guaranteed to remain reserved and empty in mainline +# cereal, so use these if you want custom events in your fork. + +# you can rename the struct, but don't change the identifier +struct CustomReserved0 @0x81c2f05a394cf4af { +} + +struct CustomReserved1 @0xaedffd8f31e7b55d { +} + +struct CustomReserved2 @0xf35cc4560bbf6ec2 { +} + +struct CustomReserved3 @0xda96579883444c35 { +} + +struct CustomReserved4 @0x80ae746ee2596b11 { +} + +struct CustomReserved5 @0xa5cd762cd951a455 { +} + +struct CustomReserved6 @0xf98d843bfd7004a3 { +} + +struct CustomReserved7 @0xb86e6369214c01c8 { +} + +struct CustomReserved8 @0xf416ec09499d9d19 { +} + +struct CustomReserved9 @0xa1680744031fdb2d { +} diff --git a/cereal/log.capnp b/cereal/log.capnp index 03aadfba4..538c319df 100644 --- a/cereal/log.capnp +++ b/cereal/log.capnp @@ -3,6 +3,7 @@ $Cxx.namespace("cereal"); using Car = import "car.capnp"; using Legacy = import "legacy.capnp"; +using Custom = import "custom.capnp"; @0xf3b1f17e25a4285b; @@ -16,6 +17,12 @@ struct Map(Key, Value) { } } +enum LongitudinalPersonality { + aggressive @0; + standard @1; + relaxed @2; +} + struct InitData { kernelArgs @0 :List(Text); kernelVersion @15 :Text; @@ -326,6 +333,7 @@ struct DeviceState @0xa4d8b5af2aa492eb { nvmeTempC @35 :List(Float32); modemTempC @36 :List(Float32); pmicTempC @39 :List(Float32); + maxTempC @44 :Float32; # max of other temps, used to control fan thermalZones @38 :List(ThermalZone); thermalStatus @14 :ThermalStatus; @@ -601,12 +609,13 @@ struct LiveCalibrationData { rpyCalib @7 :List(Float32); rpyCalibSpread @8 :List(Float32); 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; calibrated @1; @@ -936,13 +945,17 @@ struct EncodeIndex { len @9 :UInt32; enum Type { - bigBoxLossless @0; # rcamera.mkv - fullHEVC @1; # fcamera.hevc - bigBoxHEVC @2; # bcamera.hevc - chffrAndroidH264 @3; # acamera - fullLosslessClip @4; # prcamera.mkv - front @5; # dcamera.hevc - qcameraH264 @6; # qcamera.ts + bigBoxLossless @0; + fullHEVC @1; + qcameraH264 @6; + livestreamH264 @7; + + # deprecated + bigBoxHEVCDEPRECATED @2; + chffrAndroidH264DEPRECATED @3; + fullLosslessClipDEPRECATED @4; + frontDEPRECATED @5; + } } @@ -969,6 +982,7 @@ struct LongitudinalPlan @0xe00b5b3eba12876c { jerks @34 :List(Float32); solverExecutionTime @35 :Float32; + personality @36 :LongitudinalPersonality; enum LongitudinalPlanSource { cruise @0; @@ -1124,6 +1138,8 @@ struct LiveLocationKalman { excessiveResets @24 :Bool; timeToFirstFix @25 :Float32; + filterState @26 : Measurement; + enum Status { uninitialized @0; uncalibrated @1; @@ -1979,6 +1995,8 @@ struct CameraOdometry { rotStd @3 :List(Float32); # std rad/s in device frame wideFromDeviceEuler @6 :List(Float32); wideFromDeviceEulerStd @7 :List(Float32); + roadTransformTrans @8 :List(Float32); + roadTransformTransStd @9 :List(Float32); } struct Sentinel { @@ -2169,6 +2187,10 @@ struct Event { wideRoadEncodeIdx @77 :EncodeIndex; qRoadEncodeIdx @90 :EncodeIndex; + livestreamRoadEncodeIdx @117 :EncodeIndex; + livestreamWideRoadEncodeIdx @118 :EncodeIndex; + livestreamDriverEncodeIdx @119 :EncodeIndex; + # microphone data microphone @103 :Microphone; @@ -2199,6 +2221,22 @@ struct Event { wideRoadEncodeData @88 :EncodeData; qRoadEncodeData @89 :EncodeData; + livestreamRoadEncodeData @120 :EncodeData; + livestreamWideRoadEncodeData @121 :EncodeData; + livestreamDriverEncodeData @122 :EncodeData; + + # *********** Custom: reserved for forks *********** + customReserved0 @107 :Custom.CustomReserved0; + customReserved1 @108 :Custom.CustomReserved1; + customReserved2 @109 :Custom.CustomReserved2; + customReserved3 @110 :Custom.CustomReserved3; + customReserved4 @111 :Custom.CustomReserved4; + customReserved5 @112 :Custom.CustomReserved5; + customReserved6 @113 :Custom.CustomReserved6; + customReserved7 @114 :Custom.CustomReserved7; + customReserved8 @115 :Custom.CustomReserved8; + customReserved9 @116 :Custom.CustomReserved9; + # *********** legacy + deprecated *********** model @9 :Legacy.ModelData; # TODO: rename modelV2 and mark this as deprecated liveMpcDEPRECATED @36 :LiveMpcData; diff --git a/cereal/messaging/__init__.py b/cereal/messaging/__init__.py index c695769e6..bc1167f03 100644 --- a/cereal/messaging/__init__.py +++ b/cereal/messaging/__init__.py @@ -1,5 +1,5 @@ # must be build with scons -from .messaging_pyx import Context, Poller, SubSocket, PubSocket # pylint: disable=no-name-in-module, import-error +from .messaging_pyx import Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, set_fake_prefix, get_fake_prefix, delete_fake_prefix, wait_for_one_event # pylint: disable=no-name-in-module, import-error from .messaging_pyx import MultiplePublishersError, MessagingError # pylint: disable=no-name-in-module, import-error import os import capnp @@ -12,6 +12,11 @@ from cereal.services import service_list assert MultiplePublishersError assert MessagingError +assert toggle_fake_events +assert set_fake_prefix +assert get_fake_prefix +assert delete_fake_prefix +assert wait_for_one_event NO_TRAVERSAL_LIMIT = 2**64-1 AVG_FREQ_HISTORY = 100 @@ -27,9 +32,20 @@ except ImportError: context = Context() + +def fake_event_handle(endpoint: str, identifier: Optional[str] = None, override: bool = True, enable: bool = False) -> SocketEventHandle: + identifier = identifier or get_fake_prefix() + handle = SocketEventHandle(endpoint, identifier, override) + if override: + handle.enabled = enable + + return handle + + def log_from_bytes(dat: bytes) -> capnp.lib.capnp._DynamicStructReader: return log.Event.from_bytes(dat, traversal_limit_in_words=NO_TRAVERSAL_LIMIT) + def new_message(service: Optional[str] = None, size: Optional[int] = None) -> capnp.lib.capnp._DynamicStructBuilder: dat = log.Event.new_message() dat.logMonoTime = int(sec_since_boot() * 1e9) @@ -41,11 +57,13 @@ def new_message(service: Optional[str] = None, size: Optional[int] = None) -> ca dat.init(service, size) return dat + def pub_sock(endpoint: str) -> PubSocket: sock = PubSocket() sock.connect(context, endpoint) return sock + def sub_sock(endpoint: str, poller: Optional[Poller] = None, addr: str = "127.0.0.1", conflate: bool = False, timeout: Optional[int] = None) -> SubSocket: sock = SubSocket() @@ -75,6 +93,7 @@ def drain_sock_raw(sock: SubSocket, wait_for_one: bool = False) -> List[bytes]: return ret + def drain_sock(sock: SubSocket, wait_for_one: bool = False) -> List[capnp.lib.capnp._DynamicStructReader]: """Receive all message currently available on the queue""" ret: List[capnp.lib.capnp._DynamicStructReader] = [] @@ -114,18 +133,21 @@ def recv_sock(sock: SubSocket, wait: bool = False) -> Optional[capnp.lib.capnp._ return dat + def recv_one(sock: SubSocket) -> Optional[capnp.lib.capnp._DynamicStructReader]: dat = sock.receive() if dat is not None: dat = log_from_bytes(dat) return dat + def recv_one_or_none(sock: SubSocket) -> Optional[capnp.lib.capnp._DynamicStructReader]: dat = sock.receive(non_blocking=True) if dat is not None: dat = log_from_bytes(dat) return dat + def recv_one_retry(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader: """Keep receiving until we get a message""" while True: @@ -133,6 +155,7 @@ def recv_one_retry(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader: if dat is not None: return log_from_bytes(dat) + class SubMaster: def __init__(self, services: List[str], poll: Optional[List[str]] = None, ignore_alive: Optional[List[str]] = None, ignore_avg_freq: Optional[List[str]] = None, @@ -247,6 +270,7 @@ class SubMaster: and self.all_freq_ok(service_list=service_list) \ and self.all_valid(service_list=service_list) + class PubMaster: def __init__(self, services: List[str]): self.sock = {} diff --git a/cereal/messaging/event.cc b/cereal/messaging/event.cc new file mode 100644 index 000000000..f7e343b59 --- /dev/null +++ b/cereal/messaging/event.cc @@ -0,0 +1,208 @@ +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include + +#include "cereal/messaging/event.h" + +void event_state_shm_mmap(std::string endpoint, std::string identifier, char **shm_mem, std::string *shm_path) { + const char* op_prefix = std::getenv("OPENPILOT_PREFIX"); + + std::string full_path = "/dev/shm/"; + if (op_prefix) { + full_path += std::string(op_prefix) + "/"; + } + full_path += CEREAL_EVENTS_PREFIX + "/"; + if (identifier.size() > 0) { + full_path += identifier + "/"; + } + std::filesystem::create_directories(full_path); + full_path += endpoint; + + int shm_fd = open(full_path.c_str(), O_RDWR | O_CREAT, 0664); + if (shm_fd < 0) { + throw std::runtime_error("Could not open shared memory file."); + } + + int rc = ftruncate(shm_fd, sizeof(EventState)); + if (rc < 0){ + close(shm_fd); + throw std::runtime_error("Could not truncate shared memory file."); + } + + char * mem = (char*)mmap(NULL, sizeof(EventState), PROT_READ | PROT_WRITE, MAP_SHARED, shm_fd, 0); + close(shm_fd); + if (mem == nullptr) { + throw std::runtime_error("Could not map shared memory file."); + } + + if (shm_mem != nullptr) + *shm_mem = mem; + if (shm_path != nullptr) + *shm_path = full_path; +} + +SocketEventHandle::SocketEventHandle(std::string endpoint, std::string identifier, bool override) { + char *mem; + event_state_shm_mmap(endpoint, identifier, &mem, &this->shm_path); + + this->state = (EventState*)mem; + if (override) { + this->state->fds[0] = eventfd(0, EFD_NONBLOCK); + this->state->fds[1] = eventfd(0, EFD_NONBLOCK); + } +} + +SocketEventHandle::~SocketEventHandle() { + close(this->state->fds[0]); + close(this->state->fds[1]); + munmap(this->state, sizeof(EventState)); + unlink(this->shm_path.c_str()); +} + +bool SocketEventHandle::is_enabled() { + return this->state->enabled; +} + +void SocketEventHandle::set_enabled(bool enabled) { + this->state->enabled = enabled; +} + +Event SocketEventHandle::recv_called() { + return Event(this->state->fds[0]); +} + +Event SocketEventHandle::recv_ready() { + return Event(this->state->fds[1]); +} + +void SocketEventHandle::toggle_fake_events(bool enabled) { + if (enabled) + setenv("CEREAL_FAKE", "1", true); + else + unsetenv("CEREAL_FAKE"); +} + +void SocketEventHandle::set_fake_prefix(std::string prefix) { + if (prefix.size() == 0) { + unsetenv("CEREAL_FAKE_PREFIX"); + } else { + setenv("CEREAL_FAKE_PREFIX", prefix.c_str(), true); + } +} + +std::string SocketEventHandle::fake_prefix() { + const char* prefix = std::getenv("CEREAL_FAKE_PREFIX"); + if (prefix == nullptr) { + return ""; + } else { + return std::string(prefix); + } +} + +Event::Event(int fd): event_fd(fd) {} + +void Event::set() const { + throw_if_invalid(); + + uint64_t val = 1; + size_t count = write(this->event_fd, &val, sizeof(uint64_t)); + assert(count == sizeof(uint64_t)); +} + +int Event::clear() const { + throw_if_invalid(); + + uint64_t val = 0; + // read the eventfd to clear it + read(this->event_fd, &val, sizeof(uint64_t)); + + return val; +} + +void Event::wait(int timeout_sec) const { + throw_if_invalid(); + + int event_count; + struct pollfd fds = { this->event_fd, POLLIN, 0 }; + + struct timespec timeout = { timeout_sec, 0 }; + + sigset_t signals; + sigfillset(&signals); + sigdelset(&signals, SIGALRM); + sigdelset(&signals, SIGINT); + sigdelset(&signals, SIGTERM); + sigdelset(&signals, SIGQUIT); + + event_count = ppoll(&fds, 1, timeout_sec < 0 ? nullptr : &timeout, &signals); + + if (event_count == 0) { + throw std::runtime_error("Event timed out pid: " + std::to_string(getpid())); + } else if (event_count < 0) { + throw std::runtime_error("Event poll failed, errno: " + std::to_string(errno) + " pid: " + std::to_string(getpid())); + } +} + +bool Event::peek() const { + throw_if_invalid(); + + int event_count; + struct pollfd fds = { this->event_fd, POLLIN, 0 }; + + // poll with timeout zero to return status immediately + event_count = poll(&fds, 1, 0); + + return event_count != 0; +} + +bool Event::is_valid() const { + return event_fd != -1; +} + +int Event::fd() const { + return event_fd; +} + +int Event::wait_for_one(const std::vector& events, int timeout_sec) { + struct pollfd fds[events.size()]; + for (size_t i = 0; i < events.size(); i++) { + fds[i] = { events[i].fd(), POLLIN, 0 }; + } + + struct timespec timeout = { timeout_sec, 0 }; + + sigset_t signals; + sigfillset(&signals); + sigdelset(&signals, SIGALRM); + sigdelset(&signals, SIGINT); + sigdelset(&signals, SIGTERM); + sigdelset(&signals, SIGQUIT); + + int event_count = ppoll(fds, events.size(), timeout_sec < 0 ? nullptr : &timeout, &signals); + + if (event_count == 0) { + throw std::runtime_error("Event timed out pid: " + std::to_string(getpid())); + } else if (event_count < 0) { + throw std::runtime_error("Event poll failed, errno: " + std::to_string(errno) + " pid: " + std::to_string(getpid())); + } + + for (size_t i = 0; i < events.size(); i++) { + if (fds[i].revents & POLLIN) { + return i; + } + } + + throw std::runtime_error("Event poll failed, no events ready"); +} diff --git a/cereal/messaging/event.h b/cereal/messaging/event.h new file mode 100644 index 000000000..c638b6b4e --- /dev/null +++ b/cereal/messaging/event.h @@ -0,0 +1,58 @@ +#pragma once + +#include +#include + +#define CEREAL_EVENTS_PREFIX std::string("cereal_events") + +void event_state_shm_mmap(std::string endpoint, std::string identifier, char **shm_mem, std::string *shm_path); + +enum EventPurpose { + RECV_CALLED, + RECV_READY +}; + +struct EventState { + int fds[2]; + bool enabled; +}; + +class Event { +private: + int event_fd = -1; + + inline void throw_if_invalid() const { + if (!this->is_valid()) { + throw std::runtime_error("Event does not have valid file descriptor."); + } + } +public: + Event(int fd = -1); + + void set() const; + int clear() const; + void wait(int timeout_sec = -1) const; + bool peek() const; + bool is_valid() const; + int fd() const; + + static int wait_for_one(const std::vector& events, int timeout_sec = -1); +}; + +class SocketEventHandle { +private: + std::string shm_path; + EventState* state; +public: + SocketEventHandle(std::string endpoint, std::string identifier = "", bool override = true); + ~SocketEventHandle(); + + bool is_enabled(); + void set_enabled(bool enabled); + Event recv_called(); + Event recv_ready(); + + static void toggle_fake_events(bool enabled); + static void set_fake_prefix(std::string prefix); + static std::string fake_prefix(); +}; diff --git a/cereal/messaging/impl_fake.cc b/cereal/messaging/impl_fake.cc new file mode 100644 index 000000000..178b8b7a0 --- /dev/null +++ b/cereal/messaging/impl_fake.cc @@ -0,0 +1,9 @@ +#include "cereal/messaging/impl_fake.h" + +void FakePoller::registerSocket(SubSocket *socket) { + this->sockets.push_back(socket); +} + +std::vector FakePoller::poll(int timeout) { + return this->sockets; +} diff --git a/cereal/messaging/impl_fake.h b/cereal/messaging/impl_fake.h new file mode 100644 index 000000000..0b3f6eb41 --- /dev/null +++ b/cereal/messaging/impl_fake.h @@ -0,0 +1,67 @@ +#pragma once + +#include +#include +#include +#include +#include + +#include +#include +#include +#include + +#include "cereal/messaging/messaging.h" +#include "cereal/messaging/event.h" + +template +class FakeSubSocket: public TSubSocket { +private: + Event *recv_called = nullptr; + Event *recv_ready = nullptr; + EventState *state = nullptr; + +public: + FakeSubSocket(): TSubSocket() {} + ~FakeSubSocket() { + delete recv_called; + delete recv_ready; + if (state != nullptr) { + munmap(state, sizeof(EventState)); + } + } + + int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true) override { + const char* cereal_prefix = std::getenv("CEREAL_FAKE_PREFIX"); + + char* mem; + std::string identifier = cereal_prefix != nullptr ? std::string(cereal_prefix) : ""; + event_state_shm_mmap(endpoint, identifier, &mem, nullptr); + + this->state = (EventState*)mem; + this->recv_called = new Event(state->fds[EventPurpose::RECV_CALLED]); + this->recv_ready = new Event(state->fds[EventPurpose::RECV_READY]); + + return TSubSocket::connect(context, endpoint, address, conflate, check_endpoint); + } + + Message *receive(bool non_blocking=false) override { + if (this->state->enabled) { + this->recv_called->set(); + this->recv_ready->wait(); + this->recv_ready->clear(); + } + + return TSubSocket::receive(non_blocking); + } +}; + +class FakePoller: public Poller { +private: + std::vector sockets; + +public: + void registerSocket(SubSocket *socket) override; + std::vector poll(int timeout) override; + ~FakePoller() {}; +}; diff --git a/cereal/messaging/messaging.cc b/cereal/messaging/messaging.cc index 802662873..6b7fe8f90 100644 --- a/cereal/messaging/messaging.cc +++ b/cereal/messaging/messaging.cc @@ -4,6 +4,7 @@ #include "cereal/messaging/messaging.h" #include "cereal/messaging/impl_zmq.h" #include "cereal/messaging/impl_msgq.h" +#include "cereal/messaging/impl_fake.h" #ifdef __APPLE__ const bool MUST_USE_ZMQ = true; @@ -22,6 +23,11 @@ bool messaging_use_zmq(){ return false; } +bool messaging_use_fake(){ + char* fake_enabled = std::getenv("CEREAL_FAKE"); + return fake_enabled != NULL; +} + Context * Context::create(){ Context * c; if (messaging_use_zmq()){ @@ -34,11 +40,20 @@ Context * Context::create(){ SubSocket * SubSocket::create(){ SubSocket * s; - if (messaging_use_zmq()){ - s = new ZMQSubSocket(); + if (messaging_use_fake()) { + if (messaging_use_zmq()) { + s = new FakeSubSocket(); + } else { + s = new FakeSubSocket(); + } } else { - s = new MSGQSubSocket(); + if (messaging_use_zmq()){ + s = new ZMQSubSocket(); + } else { + s = new MSGQSubSocket(); + } } + return s; } @@ -49,8 +64,10 @@ SubSocket * SubSocket::create(Context * context, std::string endpoint, std::stri if (r == 0) { return s; } else { + std::cerr << "Error, failed to connect SubSocket to " << endpoint << ": " << strerror(errno) << std::endl; + delete s; - return NULL; + return nullptr; } } @@ -61,6 +78,7 @@ PubSocket * PubSocket::create(){ } else { s = new MSGQPubSocket(); } + return s; } @@ -71,17 +89,23 @@ PubSocket * PubSocket::create(Context * context, std::string endpoint, bool chec if (r == 0) { return s; } else { + std::cerr << "Error, failed to bind PubSocket to " << endpoint << ": " << strerror(errno) << std::endl; + delete s; - return NULL; + return nullptr; } } Poller * Poller::create(){ Poller * p; - if (messaging_use_zmq()){ - p = new ZMQPoller(); + if (messaging_use_fake()) { + p = new FakePoller(); } else { - p = new MSGQPoller(); + if (messaging_use_zmq()){ + p = new ZMQPoller(); + } else { + p = new MSGQPoller(); + } } return p; } diff --git a/cereal/messaging/messaging.pxd b/cereal/messaging/messaging.pxd index 38c6b09e1..97b9a22b0 100644 --- a/cereal/messaging/messaging.pxd +++ b/cereal/messaging/messaging.pxd @@ -6,6 +6,34 @@ from libcpp.vector cimport vector from libcpp cimport bool +cdef extern from "cereal/messaging/impl_fake.h": + cdef cppclass Event: + @staticmethod + int wait_for_one(vector[Event], int) except + + + Event() + Event(int) + void set() + int clear() + void wait(int) except + + bool peek() + int fd() + + cdef cppclass SocketEventHandle: + @staticmethod + void toggle_fake_events(bool) + @staticmethod + void set_fake_prefix(string) + @staticmethod + string fake_prefix() + + SocketEventHandle(string, string, bool) + bool is_enabled() + void set_enabled(bool) + Event recv_called() + Event recv_ready() + + cdef extern from "cereal/messaging/messaging.h": cdef cppclass Context: @staticmethod diff --git a/cereal/messaging/messaging_pyx.pyx b/cereal/messaging/messaging_pyx.pyx index eed548bb8..3e0768504 100644 --- a/cereal/messaging/messaging_pyx.pyx +++ b/cereal/messaging/messaging_pyx.pyx @@ -3,8 +3,11 @@ import sys from libcpp.string cimport string +from libcpp.vector cimport vector from libcpp cimport bool from libc cimport errno +from libc.string cimport strerror +from cython.operator import dereference from .messaging cimport Context as cppContext @@ -12,16 +15,105 @@ from .messaging cimport SubSocket as cppSubSocket from .messaging cimport PubSocket as cppPubSocket from .messaging cimport Poller as cppPoller from .messaging cimport Message as cppMessage +from .messaging cimport Event as cppEvent, SocketEventHandle as cppSocketEventHandle class MessagingError(Exception): - pass + def __init__(self, endpoint=None): + suffix = "with {endpoint}" if endpoint else "" + message = f"Messaging failure {suffix}: {strerror(errno.errno)}" + super().__init__(message) class MultiplePublishersError(MessagingError): pass +def toggle_fake_events(bool enabled): + cppSocketEventHandle.toggle_fake_events(enabled) + + +def set_fake_prefix(string prefix): + cppSocketEventHandle.set_fake_prefix(prefix) + + +def get_fake_prefix(): + return cppSocketEventHandle.fake_prefix() + + +def delete_fake_prefix(): + cppSocketEventHandle.set_fake_prefix(b"") + + +def wait_for_one_event(list events, int timeout=-1): + cdef vector[cppEvent] items + for event in events: + items.push_back(dereference(event.ptr)) + return cppEvent.wait_for_one(items, timeout) + + +cdef class Event: + cdef cppEvent event; + + def __cinit__(self): + pass + + cdef setEvent(self, cppEvent event): + self.event = event + + def set(self): + self.event.set() + + def clear(self): + return self.event.clear() + + def wait(self, int timeout=-1): + self.event.wait(timeout) + + def peek(self): + return self.event.peek() + + @property + def fd(self): + return self.event.fd() + + @property + def ptr(self): + return &self.event + + +cdef class SocketEventHandle: + cdef cppSocketEventHandle * handle; + + def __cinit__(self, string endpoint, string identifier, bool override): + self.handle = new cppSocketEventHandle(endpoint, identifier, override) + + def __dealloc__(self): + del self.handle + + @property + def enabled(self): + return self.handle.is_enabled() + + @enabled.setter + def enabled(self, bool value): + self.handle.set_enabled(value) + + @property + def recv_called_event(self): + e = Event() + e.setEvent(self.handle.recv_called()) + + return e + + @property + def recv_ready_event(self): + e = Event() + e.setEvent(self.handle.recv_ready()) + + return e + + cdef class Context: cdef cppContext * context @@ -68,6 +160,7 @@ cdef class Poller: return sockets + cdef class SubSocket: cdef cppSubSocket * socket cdef bool is_owner @@ -95,9 +188,9 @@ cdef class SubSocket: if r != 0: if errno.errno == errno.EADDRINUSE: - raise MultiplePublishersError + raise MultiplePublishersError(endpoint) else: - raise MessagingError + raise MessagingError(endpoint) def setTimeout(self, int timeout): self.socket.setTimeout(timeout) @@ -136,9 +229,9 @@ cdef class PubSocket: if r != 0: if errno.errno == errno.EADDRINUSE: - raise MultiplePublishersError + raise MultiplePublishersError(endpoint) else: - raise MessagingError + raise MessagingError(endpoint) def send(self, bytes data): length = len(data) diff --git a/cereal/services.py b/cereal/services.py index 58f802c6d..1ff98cfe8 100755 --- a/cereal/services.py +++ b/cereal/services.py @@ -46,7 +46,7 @@ services = { "carState": (True, 100., 10), "carControl": (True, 100., 10), "longitudinalPlan": (True, 20., 5), - "procLog": (True, 0.5), + "procLog": (True, 0.5, 15), "gpsLocationExternal": (True, 10., 10), "gpsLocation": (True, 1., 1), "ubloxGnss": (True, 10.), @@ -88,6 +88,12 @@ services = { "driverEncodeData": (False, 20.), "wideRoadEncodeData": (False, 20.), "qRoadEncodeData": (False, 20.), + "livestreamWideRoadEncodeIdx": (False, 20.), + "livestreamRoadEncodeIdx": (False, 20.), + "livestreamDriverEncodeIdx": (False, 20.), + "livestreamWideRoadEncodeData": (False, 20.), + "livestreamRoadEncodeData": (False, 20.), + "livestreamDriverEncodeData": (False, 20.), } service_list = {name: Service(new_port(idx), *vals) for # type: ignore idx, (name, vals) in enumerate(services.items())} diff --git a/cereal/visionipc/__init__.py b/cereal/visionipc/__init__.py index 89915b8ef..c6460600c 100644 --- a/cereal/visionipc/__init__.py +++ b/cereal/visionipc/__init__.py @@ -1,4 +1,5 @@ -from cereal.visionipc.visionipc_pyx import VisionIpcClient, VisionIpcServer, VisionStreamType # pylint: disable=no-name-in-module, import-error +from cereal.visionipc.visionipc_pyx import VisionIpcClient, VisionIpcServer, VisionStreamType, get_endpoint_name # pylint: disable=no-name-in-module, import-error assert VisionIpcClient assert VisionIpcServer assert VisionStreamType +assert get_endpoint_name diff --git a/cereal/visionipc/visionipc.pxd b/cereal/visionipc/visionipc.pxd index d508e2e39..0fc76595f 100644 --- a/cereal/visionipc/visionipc.pxd +++ b/cereal/visionipc/visionipc.pxd @@ -27,6 +27,8 @@ cdef extern from "cereal/visionipc/visionipc.h": uint64_t timestamp_eof cdef extern from "cereal/visionipc/visionipc_server.h": + string get_endpoint_name(string, VisionStreamType) + cdef cppclass VisionIpcServer: VisionIpcServer(string, void*, void*) void create_buffers(VisionStreamType, size_t, bool, size_t, size_t) diff --git a/cereal/visionipc/visionipc_client.cc b/cereal/visionipc/visionipc_client.cc index 0b86d9d6e..61e050a02 100644 --- a/cereal/visionipc/visionipc_client.cc +++ b/cereal/visionipc/visionipc_client.cc @@ -124,7 +124,7 @@ std::set VisionIpcClient::getAvailableStreams(const std::strin VisionStreamType available_streams[VISION_STREAM_MAX] = {}; r = ipc_sendrecv_with_fds(false, socket_fd, &available_streams, sizeof(available_streams), nullptr, 0, nullptr); - assert(r >= sizeof(VisionStreamType) && r % sizeof(VisionStreamType) == 0); + assert((r >= 0) && (r % sizeof(VisionStreamType) == 0)); close(socket_fd); return std::set(available_streams, available_streams + r / sizeof(VisionStreamType)); } diff --git a/cereal/visionipc/visionipc_pyx.pyx b/cereal/visionipc/visionipc_pyx.pyx index 531e7a5ef..2ec788863 100644 --- a/cereal/visionipc/visionipc_pyx.pyx +++ b/cereal/visionipc/visionipc_pyx.pyx @@ -14,6 +14,12 @@ from .visionipc cimport VisionIpcServer as cppVisionIpcServer from .visionipc cimport VisionIpcClient as cppVisionIpcClient from .visionipc cimport VisionBuf as cppVisionBuf from .visionipc cimport VisionIpcBufExtra +from .visionipc cimport get_endpoint_name as cpp_get_endpoint_name + + +def get_endpoint_name(string name, VisionStreamType stream): + return cpp_get_endpoint_name(name, stream).decode('utf-8') + cpdef enum VisionStreamType: VISION_STREAM_ROAD diff --git a/cereal/visionipc/visionipc_server.cc b/cereal/visionipc/visionipc_server.cc index 24d8bb9bb..65ba26a8d 100644 --- a/cereal/visionipc/visionipc_server.cc +++ b/cereal/visionipc/visionipc_server.cc @@ -154,6 +154,7 @@ void VisionIpcServer::listener(){ std::cout << "Stopping listener for: " << name << std::endl; close(sock); + unlink(path.c_str()); } diff --git a/common/logging_extra.py b/common/logging_extra.py index 5baaac1f9..899ad7a39 100644 --- a/common/logging_extra.py +++ b/common/logging_extra.py @@ -153,9 +153,9 @@ class SwagLogger(logging.Logger): def bind_global(self, **kwargs): self.global_ctx.update(kwargs) - def event(self, event_name, *args, **kwargs): + def event(self, event, *args, **kwargs): evt = NiceOrderedDict() - evt['event'] = event_name + evt['event'] = event if args: evt['args'] = args evt.update(kwargs) diff --git a/common/params.cc b/common/params.cc index bc1e414fa..d880db278 100644 --- a/common/params.cc +++ b/common/params.cc @@ -104,6 +104,7 @@ std::unordered_map keys = { {"DisablePowerDown", PERSISTENT}, {"ExperimentalMode", PERSISTENT}, {"ExperimentalModeConfirmed", PERSISTENT}, + {"LongitudinalPersonality", PERSISTENT}, {"ExperimentalLongitudinalEnabled", PERSISTENT}, {"DisableUpdates", PERSISTENT}, {"DisengageOnAccelerator", PERSISTENT}, @@ -112,7 +113,7 @@ std::unordered_map keys = { {"DoShutdown", CLEAR_ON_MANAGER_START}, {"DoUninstall", CLEAR_ON_MANAGER_START}, {"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, - {"ForcePowerDown", CLEAR_ON_MANAGER_START}, + {"ForcePowerDown", PERSISTENT}, {"GitBranch", PERSISTENT}, {"GitCommit", PERSISTENT}, {"GitDiff", PERSISTENT}, @@ -150,6 +151,7 @@ std::unordered_map keys = { {"LiveParameters", PERSISTENT}, {"LiveTorqueCarParams", PERSISTENT}, {"LiveTorqueParameters", PERSISTENT | DONT_LOG}, + {"LastOffroadStatusPacket", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION}, {"NavDestination", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION}, {"NavDestinationWaypoints", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION}, {"NavSettingTime24h", PERSISTENT}, @@ -185,11 +187,9 @@ std::unordered_map keys = { {"UpdaterNewReleaseNotes", CLEAR_ON_MANAGER_START}, {"Version", PERSISTENT}, {"VisionRadarToggle", PERSISTENT}, - {"WideCameraOnly", PERSISTENT}, {"ApiCache_Device", PERSISTENT}, {"ApiCache_DriveStats", PERSISTENT}, {"ApiCache_NavDestinations", PERSISTENT}, - {"ApiCache_Owner", PERSISTENT}, {"Offroad_BadNvme", CLEAR_ON_MANAGER_START}, {"Offroad_CarUnrecognized", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, {"Offroad_ConnectivityNeeded", CLEAR_ON_MANAGER_START}, diff --git a/common/time.py b/common/time.py new file mode 100644 index 000000000..8dac17815 --- /dev/null +++ b/common/time.py @@ -0,0 +1,3 @@ +import datetime + +MIN_DATE = datetime.datetime(year=2023, month=6, day=1) diff --git a/common/util.cc b/common/util.cc index ee1080cbd..55a8b1fb3 100644 --- a/common/util.cc +++ b/common/util.cc @@ -189,7 +189,7 @@ bool create_directories(const std::string& dir, mode_t mode) { return createDirectory(dir, mode); } -std::string getenv(const char* key, const char* default_val) { +std::string getenv(const char* key, std::string default_val) { const char* val = ::getenv(key); return val ? val : default_val; } @@ -260,7 +260,7 @@ struct tm get_time() { bool time_valid(struct tm sys_time) { int year = 1900 + sys_time.tm_year; int month = 1 + sys_time.tm_mon; - return (year > 2021) || (year == 2021 && month >= 6); + return (year > 2023) || (year == 2023 && month >= 6); } } // namespace util diff --git a/common/util.h b/common/util.h index c80dc234f..34721700e 100644 --- a/common/util.h +++ b/common/util.h @@ -70,7 +70,7 @@ std::string string_format(const std::string& format, Args... args) { return std::string(buf.get(), buf.get() + size - 1); } -std::string getenv(const char* key, const char* default_val = ""); +std::string getenv(const char* key, std::string default_val = ""); int getenv(const char* key, int default_val); float getenv(const char* key, float default_val); diff --git a/common/version.h b/common/version.h index 5637029cf..57d60e7f6 100644 --- a/common/version.h +++ b/common/version.h @@ -1 +1 @@ -#define COMMA_VERSION "0.9.2" +#define COMMA_VERSION "0.9.3" diff --git a/docs/CARS.md b/docs/CARS.md index 46f8bd278..a7fb40864 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -6,262 +6,262 @@ A supported vehicle is one that just works when you install a comma three. All s # 252 Supported Cars -|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness Kit
 |Video| +|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Hardware Needed
 |Video| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:| -|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Acura|RDX 2019-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
|| -|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
|| -|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
|| -|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
|| -|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
|| -|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
|| -|Buick|LaCrosse 2017-19[3](#footnotes)|Driver Confidence Package 2|openpilot|18 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 OBD-II connector
- 1 USB-C coupler
- 1 long OBD-C cable
|| -|Cadillac|Escalade 2017[3](#footnotes)|Driver Assist Package|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 OBD-II connector
- 1 USB-C coupler
- 1 long OBD-C cable
|| -|Cadillac|Escalade ESV 2016[3](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 OBD-II connector
- 1 USB-C coupler
- 1 long OBD-C cable
|| -|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 GM connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 GM connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 GM connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 GM connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Chevrolet|Volt 2017-18[3](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 OBD-II connector
- 1 USB-C coupler
- 1 long OBD-C cable
|| -|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|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)](##)|
View- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Chrysler|Pacifica Hybrid 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| +|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Acura|RDX 2019-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Buick|LaCrosse 2017-19[3](#footnotes)|Driver Confidence Package 2|openpilot|18 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 OBD-II connector
- 1 comma three
- 2 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Cadillac|Escalade 2017[3](#footnotes)|Driver Assist Package|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 OBD-II connector
- 1 comma three
- 2 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Cadillac|Escalade ESV 2016[3](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 OBD-II connector
- 1 comma three
- 2 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 GM connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 GM connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 GM connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 GM connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Chevrolet|Volt 2017-18[3](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 OBD-II connector
- 1 comma three
- 2 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|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)](##)|
View- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Chrysler|Pacifica Hybrid 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|| -|Ford|Bronco Sport 2021-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Ford|Escape 2020-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Ford|Explorer 2020-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Ford|Maverick 2022-23|Co-Pilot360 Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Genesis|G70 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai J connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Genesis|G90 2017-18|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Genesis|GV60 (Advanced Trim) 2023[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Genesis|GV60 (Performance Trim) 2023[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Genesis|GV70 (2.5T Trim) 2022-23[5](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Genesis|GV70 (3.5T Trim) 2022-23[5](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai M connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Genesis|GV80 2023[5](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai M connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|GMC|Acadia 2018[3](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 OBD-II connector
- 1 USB-C coupler
- 1 long OBD-C cable
|| -|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 GM connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Honda|Accord 2018-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Honda|Accord Hybrid 2018-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Honda|Civic 2019-21|All|openpilot available[1](#footnotes)|0 mph|2 mph[4](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Honda|Civic 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch B connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Honda|Civic Hatchback 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch B connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Honda|CR-V 2017-22|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Honda|e 2020|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Honda|HR-V 2023|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch B connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Honda|Insight 2019-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Honda|Inspire 2018|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Honda|Passport 2019-22|All|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Honda|Ridgeline 2017-23|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai B connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai J connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|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)](##)|
View- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai Q connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Hyundai|Ioniq 5 (with HDA II) 2022-23[5](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai Q connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Hyundai|Ioniq 5 (without HDA II) 2022-23[5](#footnotes)|Highway Driving Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Hyundai|Ioniq Electric 2020|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Hyundai|Ioniq Plug-in Hybrid 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai B connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai G connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai O connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai I connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Hyundai|Palisade 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Hyundai|Santa Cruz 2022-23[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Hyundai|Santa Fe 2019-20|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai D connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Hyundai|Santa Fe 2021-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Hyundai|Santa Fe Hybrid 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Hyundai|Santa Fe Plug-in Hybrid 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|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)](##)|
View- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Hyundai|Sonata 2020-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Hyundai|Sonata Hybrid 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Hyundai|Tucson 2022[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Hyundai|Tucson 2023[5](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Hyundai|Tucson Hybrid 2022-23[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|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)](##)|
View- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|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)](##)|
View- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Kia|EV6 (Southeast Asia only) 2022-23[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai P connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Kia|EV6 (with HDA II) 2022-23[5](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai P connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Kia|EV6 (without HDA II) 2022-23[5](#footnotes)|Highway Driving Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai G connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Kia|Forte 2023|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Kia|K5 Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Kia|Niro EV 2019|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Kia|Niro EV 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Kia|Niro EV 2021|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Kia|Niro EV 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Kia|Niro EV 2023[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Kia|Niro Hybrid 2021-22|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Kia|Niro Hybrid 2023[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Kia|Niro Plug-in Hybrid 2018-19|All|openpilot available[1](#footnotes)|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Kia|Niro Plug-in Hybrid 2020|All|openpilot available[1](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai D connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai B connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|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)](##)|
View- 1 Hyundai G connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Kia|Sorento 2021-23[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Kia|Sorento Plug-in Hybrid 2022-23[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Kia|Sportage 2023[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Kia|Sportage Hybrid 2023[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Kia|Stinger 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Kia|Telluride 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Lexus|ES 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Lexus|ES Hybrid 2017-18|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Lexus|ES Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Lexus|NX 2018-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Lexus|NX Hybrid 2018-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Lexus|RC 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Lexus|RX 2016|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Lexus|RX 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Lexus|RX Hybrid 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Lincoln|Aviator 2021|Co-Pilot360 Plus|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
|| -|MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
|| -|Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Mazda connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Mazda connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Nissan B connector
- 1 RJ45 cable (7 ft)
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
|| -|Nissan|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Nissan A connector
- 1 RJ45 cable (7 ft)
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
|| -|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Nissan A connector
- 1 RJ45 cable (7 ft)
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
|| -|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Nissan A connector
- 1 RJ45 cable (7 ft)
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
|| -|Ram|1500 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Ram connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
|| -|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
|| -|Subaru|Ascent 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Subaru A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Subaru A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Subaru A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Subaru|Forester 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Subaru A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Subaru|Impreza 2017-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Subaru A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Subaru|Impreza 2020-22|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Subaru A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Subaru|Legacy 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Subaru B connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Subaru|Outback 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Subaru B connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Subaru|XV 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Subaru A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Subaru|XV 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Subaru A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Škoda|Fabia 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
[10](#footnotes)|| -|Škoda|Kamiq 2021[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
[10](#footnotes)|| -|Škoda|Karoq 2019-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
|| -|Škoda|Kodiaq 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
|| -|Škoda|Octavia 2015, 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
|| -|Škoda|Octavia RS 2016|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
|| -|Škoda|Scala 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
[10](#footnotes)|| -|Škoda|Superb 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
|| -|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Toyota|Avalon 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Toyota|Avalon 2019-21|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Toyota|Avalon Hybrid 2019-21|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Toyota|C-HR 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Toyota|C-HR 2021|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Toyota|C-HR Hybrid 2021-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Toyota|Camry 2018-20|All|Stock|0 mph[6](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Toyota|Camry 2021-23|All|openpilot|0 mph[6](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Toyota|Camry Hybrid 2021-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Toyota|Corolla 2017-19|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|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-full.svg)](##)|
View- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Toyota|Corolla Hybrid (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Toyota|Highlander 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Toyota|Highlander Hybrid 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Toyota|Prius 2017-20|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Toyota|Prius Prime 2017-20|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Toyota|RAV4 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Toyota|RAV4 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Toyota|Sienna 2018-20|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
|| -|Volkswagen|Arteon 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
|| -|Volkswagen|Arteon eHybrid 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
|| -|Volkswagen|Arteon R 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
|| -|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
|| -|Volkswagen|Atlas Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
|| -|Volkswagen|California 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
|| -|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
|| -|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
|| -|Volkswagen|Crafter 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
|| -|Volkswagen|e-Crafter 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
|| -|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
|| -|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
|| -|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
|| -|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
|| -|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
|| -|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
|| -|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
|| -|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
|| -|Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
|| -|Volkswagen|Jetta 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
|| -|Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
|| -|Volkswagen|Passat 2015-22[8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
|| -|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
|| -|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
|| -|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
[10](#footnotes)|| -|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
[10](#footnotes)|| -|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
[10](#footnotes)|| -|Volkswagen|T-Roc 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
[10](#footnotes)|| -|Volkswagen|Taos 2022|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
|| -|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
|| -|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
|| -|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
|| -|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
|| -|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
|| -|Volkswagen|Touran 2017|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
|| +|Ford|Bronco Sport 2021-22|Co-Pilot360 Assist+|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 angled mount (8 degrees)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Ford|Explorer 2020-22|Co-Pilot360 Assist+|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Ford|Maverick 2022-23|Co-Pilot360 Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 angled mount (8 degrees)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Genesis|G70 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai J connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Genesis|G90 2017-18|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Genesis|GV60 (Advanced Trim) 2023[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Genesis|GV60 (Performance Trim) 2023[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Genesis|GV70 (2.5T Trim) 2022-23[5](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Genesis|GV70 (3.5T Trim) 2022-23[5](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai M connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Genesis|GV80 2023[5](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai M connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|GMC|Acadia 2018[3](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 OBD-II connector
- 1 comma three
- 2 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 GM connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|Accord 2018-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|Accord Hybrid 2018-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|Civic 2019-21|All|openpilot available[1](#footnotes)|0 mph|2 mph[4](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|Civic 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch B connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|Civic Hatchback 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch B connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|CR-V 2017-22|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|e 2020|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|HR-V 2023|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch B connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|Insight 2019-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|Inspire 2018|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|Passport 2019-23|All|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|Ridgeline 2017-23|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai B connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai J connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|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)](##)|
View- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai Q connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Ioniq 5 (with HDA II) 2022-23[5](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai Q connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Ioniq 5 (without HDA II) 2022-23[5](#footnotes)|Highway Driving Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Ioniq Electric 2020|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Ioniq Plug-in Hybrid 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai B connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai G connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai O connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai I connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Palisade 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Santa Cruz 2022-23[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Santa Fe 2019-20|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai D connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Santa Fe 2021-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Santa Fe Hybrid 2022-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Santa Fe Plug-in Hybrid 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|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)](##)|
View- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Sonata 2020-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Sonata Hybrid 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Tucson 2022[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Tucson 2023[5](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Tucson Hybrid 2022-23[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|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)](##)|
View- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|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)](##)|
View- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|EV6 (Southeast Asia only) 2022-23[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai P connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|EV6 (with HDA II) 2022-23[5](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai P connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|EV6 (without HDA II) 2022-23[5](#footnotes)|Highway Driving Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai G connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Forte 2023|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|K5 Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Niro EV 2019|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Niro EV 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Niro EV 2021|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Niro EV 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Niro EV 2023[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Niro Hybrid 2021-22|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Niro Hybrid 2023[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Niro Plug-in Hybrid 2018-19|All|openpilot available[1](#footnotes)|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Niro Plug-in Hybrid 2020|All|openpilot available[1](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai D connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai B connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|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)](##)|
View- 1 Hyundai G connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Sorento 2021-23[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Sorento Plug-in Hybrid 2022-23[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Sportage 2023[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Sportage Hybrid 2023[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Stinger 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Telluride 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|ES 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|ES Hybrid 2017-18|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Lexus|ES Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Lexus|NX 2018-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Lexus|NX Hybrid 2018-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Lexus|RC 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|RX 2016|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|RX 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|RX Hybrid 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lincoln|Aviator 2020-21|Co-Pilot360 Plus|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
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|| +|MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Mazda connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Mazda connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Nissan B connector
- 1 RJ45 cable (7 ft)
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Nissan|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Nissan A connector
- 1 RJ45 cable (7 ft)
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Nissan A connector
- 1 RJ45 cable (7 ft)
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Nissan A connector
- 1 RJ45 cable (7 ft)
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Ram|1500 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Ram connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Subaru|Ascent 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Subaru|Forester 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Subaru|Impreza 2017-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Subaru|Impreza 2020-22|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Subaru|Legacy 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Subaru B connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Subaru|Outback 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Subaru B connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Subaru|XV 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Subaru|XV 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Škoda|Fabia 2022-23[9](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[11](#footnotes)|| +|Škoda|Kamiq 2021[7,9](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[11](#footnotes)|| +|Škoda|Karoq 2019-21[9](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Škoda|Kodiaq 2017-23[9](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Škoda|Octavia 2015, 2018-19[9](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Škoda|Octavia RS 2016[9](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Škoda|Scala 2020[9](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[11](#footnotes)|| +|Škoda|Superb 2015-22[9](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Avalon 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Avalon 2019-21|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Avalon Hybrid 2019-21|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|C-HR 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|C-HR 2021|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|C-HR Hybrid 2021-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Camry 2018-20|All|Stock|0 mph[6](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Camry 2021-23|All|openpilot|0 mph[6](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Camry Hybrid 2021-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Corolla 2017-19|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|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-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Corolla Hybrid (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Highlander 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Highlander Hybrid 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Prius 2017-20|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Prius Prime 2017-20|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|RAV4 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|RAV4 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Sienna 2018-20|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Arteon 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Arteon eHybrid 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Arteon R 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Atlas Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|California 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Crafter 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|e-Crafter 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Jetta 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Passat 2015-22[8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[11](#footnotes)|| +|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[11](#footnotes)|| +|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[11](#footnotes)|| +|Volkswagen|T-Roc 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[11](#footnotes)|| +|Volkswagen|Taos 2022|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| - +### Footnotes 1Experimental openpilot longitudinal control is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `master-ci`.
2By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace stock ACC. NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).
3Requires a community built ASCM harness. NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).
@@ -270,8 +270,9 @@ A supported vehicle is one that just works when you install a comma three. All s 6openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.
7Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform.
8Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets.
-9Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC.
-10Model-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.
+9Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma three functionality.
+10Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC.
+11Model-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.
## 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/opendbc/can/common.pxd b/opendbc/can/common.pxd index 2d3a8eefd..aeb1f0a92 100644 --- a/opendbc/can/common.pxd +++ b/opendbc/can/common.pxd @@ -3,10 +3,8 @@ from libc.stdint cimport uint8_t, uint16_t, uint32_t, uint64_t from libcpp cimport bool -from libcpp.map cimport map from libcpp.string cimport string from libcpp.vector cimport vector -from libcpp.unordered_set cimport unordered_set ctypedef unsigned int (*calc_checksum_type)(uint32_t, const Signal&, const vector[uint8_t] &) @@ -54,7 +52,6 @@ cdef extern from "common_dbc.h": uint32_t address string name - cdef struct MessageParseOptions: uint32_t address int check_frequency @@ -72,7 +69,7 @@ cdef extern from "common_dbc.h": cdef extern from "common.h": - cdef const DBC* dbc_lookup(const string); + cdef const DBC* dbc_lookup(const string) cdef cppclass CANParser: bool can_valid diff --git a/opendbc/can/dbc.cc b/opendbc/can/dbc.cc index 22317169b..7abe6b679 100644 --- a/opendbc/can/dbc.cc +++ b/opendbc/can/dbc.cc @@ -7,8 +7,9 @@ #include #include #include -#include #include +#include +#include #include "opendbc/can/common.h" #include "opendbc/can/common_dbc.h" @@ -106,6 +107,7 @@ DBC* dbc_parse_from_stream(const std::string &dbc_name, std::istream &stream, Ch std::map> signals; DBC* dbc = new DBC; dbc->name = dbc_name; + std::setlocale(LC_NUMERIC, "C"); // used to find big endian LSB from MSB and size std::vector be_bits; diff --git a/opendbc/can/packer_pyx.pyx b/opendbc/can/packer_pyx.pyx index c8024f2fa..b0179d7f9 100644 --- a/opendbc/can/packer_pyx.pyx +++ b/opendbc/can/packer_pyx.pyx @@ -1,12 +1,10 @@ # distutils: language = c++ # cython: c_string_encoding=ascii, language_level=3 -from libc.stdint cimport uint8_t, uint32_t, uint64_t +from libc.stdint cimport uint8_t from libcpp.vector cimport vector from libcpp.map cimport map from libcpp.string cimport string -from libcpp cimport bool -from posix.dlfcn cimport dlopen, dlsym, RTLD_LAZY from .common cimport CANPacker as cpp_CANPacker from .common cimport dbc_lookup, SignalPackValue, DBC @@ -36,7 +34,7 @@ cdef class CANPacker: cdef SignalPackValue spv for name, value in values.iteritems(): - spv.name = name.encode('utf8') + spv.name = name.encode("utf8") spv.value = value values_thing.push_back(spv) @@ -48,7 +46,7 @@ cdef class CANPacker: addr = name_or_addr size = self.address_to_size[name_or_addr] else: - addr, size = self.name_to_address_and_size[name_or_addr.encode('utf8')] + addr, size = self.name_to_address_and_size[name_or_addr.encode("utf8")] cdef vector[uint8_t] val = self.pack(addr, values) return [addr, 0, (&val[0])[:size], bus] diff --git a/opendbc/can/parser_pyx.pyx b/opendbc/can/parser_pyx.pyx index be88859e1..1a387cfee 100644 --- a/opendbc/can/parser_pyx.pyx +++ b/opendbc/can/parser_pyx.pyx @@ -5,14 +5,12 @@ from cython.operator cimport dereference as deref, preincrement as preinc from libcpp.string cimport string from libcpp.vector cimport vector from libcpp.unordered_set cimport unordered_set -from libc.stdint cimport uint32_t, uint64_t, uint16_t -from libcpp cimport bool +from libc.stdint cimport uint32_t from libcpp.map cimport map from .common cimport CANParser as cpp_CANParser from .common cimport SignalParseOptions, MessageParseOptions, dbc_lookup, SignalValue, DBC -import os import numbers from collections import defaultdict @@ -46,7 +44,7 @@ cdef class CANParser: for i in range(self.dbc[0].msgs.size()): msg = self.dbc[0].msgs[i] - name = msg.name.decode('utf8') + name = msg.name.decode("utf8") msg_name_to_address[name] = msg.address self.address_to_msg_name[msg.address] = name @@ -61,9 +59,9 @@ cdef class CANParser: for i in range(len(signals)): s = signals[i] if not isinstance(s[1], numbers.Number): - if name not in msg_name_to_address: + if s[1] not in msg_name_to_address: print(msg_name_to_address) - raise RuntimeError(f"could not find message {repr(name)} in DBC {self.dbc_name}") + raise RuntimeError(f"could not find message {repr(s[1])} in DBC {self.dbc_name}") s = (s[0], msg_name_to_address[s[1]]) signals[i] = s @@ -72,7 +70,7 @@ cdef class CANParser: if not isinstance(c[0], numbers.Number): if c[0] not in msg_name_to_address: print(msg_name_to_address) - raise RuntimeError(f"could not find message {repr(name)} in DBC {self.dbc_name}") + raise RuntimeError(f"could not find message {repr(c[0])} in DBC {self.dbc_name}") c = (msg_name_to_address[c[0]], c[1]) checks[i] = c @@ -81,7 +79,7 @@ cdef class CANParser: signal_addrs = {s[1] for s in signals} unchecked = signal_addrs - checked_addrs if len(unchecked): - err_msg = ', '.join(f"{self.address_to_msg_name[addr].decode()} ({hex(addr)})" for addr in unchecked) + err_msg = ", ".join(f"{self.address_to_msg_name[addr].decode()} ({hex(addr)})" for addr in unchecked) raise RuntimeError(f"Unchecked addrs: {err_msg}") cdef vector[SignalParseOptions] signal_options_v @@ -106,7 +104,7 @@ cdef class CANParser: def update_strings(self, strings, sendcan=False): for v in self.vl_all.values(): - for l in v.values(): + for l in v.values(): # no-cython-lint l.clear() cdef vector[SignalValue] new_vals @@ -154,7 +152,7 @@ cdef class CANDefine(): for i in range(self.dbc[0].msgs.size()): msg = self.dbc[0].msgs[i] - name = msg.name.decode('utf8') + name = msg.name.decode("utf8") address = msg.address address_to_msg_name[address] = name @@ -163,8 +161,8 @@ cdef class CANDefine(): for i in range(self.dbc[0].vals.size()): val = self.dbc[0].vals[i] - sgname = val.name.decode('utf8') - def_val = val.def_val.decode('utf8') + sgname = val.name.decode("utf8") + def_val = val.def_val.decode("utf8") address = val.address msgname = address_to_msg_name[address] diff --git a/opendbc/honda_civic_ex_2022_can_generated.dbc b/opendbc/honda_civic_ex_2022_can_generated.dbc index f696d13b4..581e7c66e 100644 --- a/opendbc/honda_civic_ex_2022_can_generated.dbc +++ b/opendbc/honda_civic_ex_2022_can_generated.dbc @@ -438,6 +438,12 @@ BO_ 401 GEARBOX: 8 PCM SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON +BO_ 419 GEARBOX_ALT: 8 PCM + SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON + SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + BO_ 432 STANDSTILL: 7 VSA SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON @@ -513,3 +519,4 @@ CM_ SG_ 456 STANDSTILL "set to 1 when camera requests -4.0 m/s^2"; VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P"; VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P"; +VAL_ 419 GEAR_SHIFTER 32 "D" 16 "N" 8 "R" 4 "P" 0 "B" ; diff --git a/opendbc/hyundai_canfd.dbc b/opendbc/hyundai_canfd.dbc index f88afe298..2ce413c09 100644 --- a/opendbc/hyundai_canfd.dbc +++ b/opendbc/hyundai_canfd.dbc @@ -76,7 +76,7 @@ BO_ 81 ADRV_0x51: 32 ADRV BO_ 96 ESP_STATUS: 32 XXX SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX - SG_ ESP_DISABLED : 42|3@1+ (1,0) [0|63] "" XXX + SG_ TRACTION_AND_STABILITY_CONTROL : 42|3@1+ (1,0) [0|63] "" XXX SG_ BRAKE_PRESSURE : 128|10@1+ (1,0) [0|65535] "" XXX SG_ BRAKE_PRESSED : 148|1@1+ (1,0) [0|3] "" XXX @@ -94,6 +94,10 @@ BO_ 112 GEAR_ALT_2: 32 XXX BO_ 160 WHEEL_SPEEDS: 24 XXX SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + SG_ MOVING_FORWARD : 56|1@0+ (1,0) [0|1] "" XXX + SG_ MOVING_BACKWARD : 57|1@0+ (1,0) [0|1] "" XXX + SG_ MOVING_FORWARD2 : 58|1@0+ (1,0) [0|1] "" XXX + SG_ MOVING_BACKWARD2 : 59|1@0+ (1,0) [0|1] "" XXX SG_ WHEEL_SPEED_1 : 64|16@1+ (0.03125,0) [0|65535] "m/s" XXX SG_ WHEEL_SPEED_2 : 80|16@1+ (0.03125,0) [0|65535] "m/s" XXX SG_ WHEEL_SPEED_3 : 96|16@1+ (0.03125,0) [0|65535] "m/s" XXX @@ -301,6 +305,8 @@ BO_ 463 CRUISE_BUTTONS: 8 XXX SG_ NORMAL_CRUISE_MAIN_BTN : 21|1@1+ (1,0) [0|1] "" XXX SG_ COUNTER : 12|4@1+ (1,0) [0|255] "" XXX SG_ CRUISE_BUTTONS : 16|3@1+ (1,0) [0|3] "" XXX + SG_ RIGHT_PADDLE : 25|1@1+ (1,0) [0|1] "" XXX + SG_ LEFT_PADDLE : 27|1@1+ (1,0) [0|1] "" XXX BO_ 474 ADRV_0x1da: 32 ADRV SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX @@ -498,8 +504,12 @@ BO_ 961 BLINKER_STALKS: 8 XXX BO_ 1041 DOORS_SEATBELTS: 8 XXX SG_ CHECKSUM_MAYBE : 7|8@0+ (1,0) [0|65535] "" XXX SG_ COUNTER_ALT : 15|4@0+ (1,0) [0|15] "" XXX - SG_ DRIVER_SEATBELT_LATCHED : 42|1@0+ (1,0) [0|1] "" XXX - SG_ DRIVER_DOOR_OPEN : 24|1@1+ (1,0) [0|1] "" XXX + SG_ DRIVER_DOOR : 24|1@1+ (1,0) [0|1] "" XXX + SG_ PASSENGER_DOOR : 34|1@0+ (1,0) [0|1] "" XXX + SG_ DRIVER_REAR_DOOR : 52|1@0+ (1,0) [0|1] "" XXX + SG_ PASSENGER_REAR_DOOR : 56|1@0+ (1,0) [0|1] "" XXX + SG_ DRIVER_SEATBELT : 42|1@0+ (1,0) [0|1] "" XXX + SG_ PASSENGER_SEATBELT : 36|1@0+ (1,0) [0|1] "" XXX BO_ 1043 BLINKERS: 8 XXX SG_ COUNTER_ALT : 15|4@0+ (1,0) [0|15] "" XXX @@ -551,6 +561,33 @@ BO_ 506 CLUSTER_SPEED_LIMIT: 32 XXX SG_ SECONDARY_LIMIT_2 : 103|8@0+ (1,0) [0|127] "" XXX SG_ SCHOOL_ZONE : 155|1@0+ (1,0) [0|1] "" XXX +BO_ 1144 DRIVE_MODE: 8 XXX + SG_ DRIVE_MODE : 0|16@1+ (1,-61611) [0|61611] "" XXX + SG_ DRIVE_MODE2 : 28|3@1+ (1,0) [1|3] "" XXX + +BO_ 1151 HVAC_TOUCH_BUTTONS: 8 XXX + SG_ AUTO_BUTTON : 8|1@0+ (1,0) [0|1] "" XXX + SG_ SYNC_BUTTON : 12|1@0+ (1,0) [0|1] "" XXX + SG_ FR_DEFROST_BUTTON : 20|1@0+ (1,0) [0|1] "" XXX + SG_ RR_DEFROST_BUTTON : 22|1@0+ (1,0) [0|1] "" XXX + SG_ FAN_SPEED_UP_BUTTON : 24|1@0+ (1,0) [0|1] "" XXX + SG_ FAN_SPEED_DOWN_BUTTON : 26|1@0+ (1,0) [0|1] "" XXX + SG_ AIR_DIRECTION_BUTTON : 28|1@0+ (1,0) [0|1] "" XXX + SG_ AC_BUTTON : 40|1@0+ (1,0) [0|1] "" XXX + SG_ DRIVER_ONLY_BUTTON : 44|1@0+ (1,0) [0|1] "" XXX + SG_ RECIRC_BUTTON : 48|1@0+ (1,0) [0|1] "" XXX + SG_ HEAT_BUTTON : 52|1@0+ (1,0) [0|1] "" XXX + +BO_ 1259 LOCAL_TIME2: 8 XXX + SG_ HOURS : 15|5@0+ (1,0) [0|31] "" XXX + SG_ MINUTES : 21|6@0+ (1,0) [0|63] "" XXX + SG_ SECONDS : 24|6@1+ (1,0) [0|63] "" XXX + SG_ NEW_SIGNAL_3 : 39|1@0+ (1,0) [0|1] "" XXX + +BO_ 1264 LOCAL_TIME: 8 XXX + SG_ HOURS : 12|5@0+ (1,0) [0|31] "" XXX + SG_ MINUTES : 21|6@0+ (1,0) [0|63] "" XXX + SG_ SECONDS : 31|8@0+ (1,0) [0|59] "" XXX CM_ SG_ 96 BRAKE_PRESSURE "User applied brake pedal pressure. Ramps from computer applied pressure on falling edge of cruise. Cruise cancels if !=0"; @@ -570,9 +607,12 @@ VAL_ 69 GEAR 0 "P" 5 "D" 6 "N" 7 "R" ; VAL_ 112 GEAR 0 "P" 5 "D" 6 "N" 7 "R" ; VAL_ 80 LKA_ICON 0 "hidden" 1 "grey" 2 "green" 3 "flashing green" ; VAL_ 80 LKA_MODE 1 "warning only" 2 "assist" 6 "off" ; +VAL_ 96 TRACTION_AND_STABILITY_CONTROL 0 "On" 5 "Limited" 1 "Off"; VAL_ 234 LKA_FAULT 0 "ok" 1 "lka fault" ; VAL_ 298 LKA_ICON 0 "hidden" 1 "grey" 2 "green" 3 "flashing green" ; VAL_ 298 LKA_MODE 1 "warning only" 2 "assist" 6 "off" ; +VAL_ 304 PARK_BUTTON 1 "Pressed" 2 "Not Pressed"; +VAL_ 304 KNOB_POSITION 1 "R" 2 "N (on R side)" 3 "Centered" 4 "N (on D side)" 5 "D"; VAL_ 304 GEAR 1 "P" 2 "R" 3 "N" 4 "D" ; VAL_ 352 AEB_SETTING 1 "off" 2 "warning only" 3 "active assist" ; VAL_ 362 BLINKER_CONTROL 1 "hazards" 2 "hazards button backlight" 3 "left blinkers" 4 "right blinkers"; @@ -580,3 +620,13 @@ VAL_ 373 ACCEnable 0 "SCC ready" 1 "SCC temp fault" 2 "SCC permanent fault" 3 "S VAL_ 416 ACCMode 0 "off" 1 "enabled" 2 "driver_override" 3 "off_maybe_fault" 4 "cancelled" ; VAL_ 426 CRUISE_BUTTONS 0 "none" 1 "res_accel" 2 "set_decel" 3 "gap_distance" 4 "pause_resume" ; VAL_ 463 CRUISE_BUTTONS 0 "none" 1 "res_accel" 2 "set_decel" 3 "gap_distance" 4 "pause_resume" ; +VAL_ 463 RIGHT_PADDLE 0 "Not Pulled" 1 "Pulled"; +VAL_ 463 LEFT_PADDLE 0 "Not Pulled" 1 "Pulled"; +VAL_ 1041 DRIVER_DOOR 0 "Closed" 1 "Opened"; +VAL_ 1041 PASSENGER_DOOR 0 "Closed" 1 "Opened"; +VAL_ 1041 DRIVER_REAR_DOOR 0 "Closed" 1 "Opened"; +VAL_ 1041 PASSENGER_REAR_DOOR 0 "Closed" 1 "Opened"; +VAL_ 1041 DRIVER_SEATBELT 0 "Unlatched" 1 "Latched"; +VAL_ 1041 PASSENGER_SEATBELT 0 "Unlatched" 1 "Latched"; +VAL_ 1144 DRIVE_MODE2 3 "Set Sport" 1 "Set Normal" 2 "Set Eco"; +VAL_ 1240 DISTANCE_UNIT 1 "Miles" 0 "Kilometers"; diff --git a/opendbc/mazda_2017.dbc b/opendbc/mazda_2017.dbc index cc1f339aa..339894659 100644 --- a/opendbc/mazda_2017.dbc +++ b/opendbc/mazda_2017.dbc @@ -690,13 +690,13 @@ BO_ 1143 BSM: 8 XXX SG_ BSM_OFF : 0|1@0+ (1,0) [0|1] "" XXX SG_ RIGHT_BS_3 : 37|1@0+ (1,0) [0|1] "" XXX SG_ STANDSTILL : 8|1@0+ (1,0) [0|1] "" XXX - SG_ LEFT_BS1 : 12|1@0+ (1,0) [0|1] "" XXX + SG_ LEFT_BS_STATUS : 13|2@0+ (1,0) [0|3] "" XXX + SG_ RIGHT_BS_STATUS : 15|2@0+ (1,0) [0|3] "" XXX SG_ LEFT_BS3 : 38|1@0+ (1,0) [0|1] "" XXX SG_ RIGHT_BS4 : 39|1@0+ (1,0) [0|1] "" XXX SG_ LEFT_BS_SIDE : 36|1@0+ (1,0) [0|1] "" XXX SG_ IS_MOVING : 9|1@0+ (1,0) [0|1] "" XXX SG_ LEFT_BS_BEHIND : 46|2@1+ (1,0) [0|16777215] "" XXX - SG_ RIGHT_BS1 : 14|1@0+ (1,0) [0|63] "" XXX SG_ RIGHT_BS_DISTANCE : 35|3@0+ (1,0) [0|1] "" XXX SG_ NEW_SIGNAL_1 : 32|1@0+ (1,0) [0|1] "" XXX SG_ REAR_CT_ALERT : 23|5@0+ (1,0) [0|63] "" XXX @@ -773,3 +773,5 @@ CM_ SG_ 1143 REAR_CT_ALERT "Rear Cross Traffic Alert"; VAL_ 552 GEAR 1 "P" 2 "R" 3 "N" 4 "D" ; VAL_ 540 RADAR_HAS_LEAD 0 "NO LEAD" 1 "HAS LEAD" ; VAL_ 540 RADAR_LEAD_RELATIVE_DISTANCE 0 "NO LEAD" 1 "FARTHEST" 2 "4" 3 "3" 4 "2" 5 "NEAREST" ; +VAL_ 1143 LEFT_BS_STATUS 0 "No object detected" 1 "Object detected in left blindspot" 2 "Object detected in left blindspot with blinker - warning" +VAL_ 1143 RIGHT_BS_STATUS 0 "No object detected" 1 "Object detected in right blindspot" 2 "Object detected in right blindspot with blinker - warning" diff --git a/opendbc/nissan_leaf_2018.dbc b/opendbc/nissan_leaf_2018_generated.dbc similarity index 94% rename from opendbc/nissan_leaf_2018.dbc rename to opendbc/nissan_leaf_2018_generated.dbc index 6483d9cbf..bfd30e483 100644 --- a/opendbc/nissan_leaf_2018.dbc +++ b/opendbc/nissan_leaf_2018_generated.dbc @@ -1,62 +1,20 @@ -VERSION "" - - -NS_ : - NS_DESC_ - CM_ - BA_DEF_ - BA_ - VAL_ - CAT_DEF_ - CAT_ - FILTER - BA_DEF_DEF_ - EV_DATA_ - ENVVAR_DATA_ - SGTYPE_ - SGTYPE_VAL_ - BA_DEF_SGTYPE_ - BA_SGTYPE_ - SIG_TYPE_REF_ - VAL_TABLE_ - SIG_GROUP_ - SIG_VALTYPE_ - SIGTYPE_VALTYPE_ - BO_TX_BU_ - BA_DEF_REL_ - BA_REL_ - BA_DEF_DEF_REL_ - BU_SG_REL_ - BU_EV_REL_ - BU_BO_REL_ - SG_MUL_VAL_ - -BS_: - -BU_: XXX +CM_ "AUTOGENERATED FILE, DO NOT EDIT"; +CM_ "Imported file _nissan_common.dbc starts here"; BO_ 2 STEER_ANGLE_SENSOR: 5 XXX SG_ STEER_ANGLE_RATE : 16|8@1+ (1,0) [0|255] "" XXX SG_ SET_ME_X07 : 24|8@1+ (1,0) [0|255] "" XXX SG_ STEER_ANGLE : 0|16@1- (-0.1,0) [0|65535] "" XXX SG_ COUNTER : 32|4@1+ (1,0) [0|15] "" XXX -BO_ 42 SEATBELT: 8 XXX - SG_ SEATBELT_DRIVER_LATCHED : 27|1@1+ (1,0) [0|3] "" XXX - SG_ SEATBELT_DRIVER_UNLATCHED : 26|1@0+ (1,0) [0|1] "" XXX - SG_ unknown2 : 31|4@0+ (1,0) [0|15] "" XXX - SG_ unknown3 : 24|2@1+ (1,0) [0|3] "" XXX - SG_ unknown1 : 7|24@0+ (1,0) [0|16777215] "" XXX - SG_ unknown4 : 39|16@0+ (1,0) [0|65535] "" XXX - BO_ 361 LKAS: 8 XXX SG_ MAX_TORQUE : 39|8@0+ (0.01,0) [0|255] "Nm" XXX SG_ SET_0x80 : 47|8@0+ (1,0) [0|255] "" XXX SG_ LKA_ACTIVE : 52|1@0+ (1,0) [0|15] "" XXX SG_ SET_0x80_2 : 31|8@0+ (1,0) [0|255] "" XXX SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX - SG_ DESIRED_ANGLE : 7|18@0+ (-0.01,1310) [0|255] "" XXX + SG_ DESIRED_ANGLE : 7|18@0+ (-0.01,1310) [-1311.43|1310] "" XXX SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX BO_ 389 STEER_TORQUE_SENSOR: 8 XXX @@ -67,38 +25,6 @@ BO_ 389 STEER_TORQUE_SENSOR: 8 XXX SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX SG_ CHECKSUM : 63|8@0+ (1,0) [0|127] "" XXX -BO_ 460 BRAKE_PEDAL: 8 XXX - SG_ BRAKE_PEDAL : 7|8@0+ (1,0) [0|256] "" XXX - -BO_ 569 CRUISE_THROTTLE: 8 XXX - SG_ GAS_PEDAL_INVERTED : 15|8@0+ (1,0) [0|255] "" XXX - SG_ GAS_PEDAL : 7|8@0+ (1,0) [0|255] "" XXX - SG_ CRUISE_AVAILABLE : 17|1@0+ (1,0) [0|1] "" XXX - SG_ unsure1 : 23|6@0+ (1,0) [0|63] "" XXX - SG_ unsure2 : 16|1@0+ (1,0) [0|1] "" XXX - SG_ unsure3 : 31|2@0+ (1,0) [0|3] "" XXX - SG_ NO_BUTTON_PRESSED : 29|1@0+ (1,0) [0|1] "" XXX - SG_ RES_BUTTON : 28|1@0+ (1,0) [0|1] "" XXX - SG_ SET_BUTTON : 27|1@0+ (1,0) [0|1] "" XXX - SG_ FOLLOW_DISTANCE_BUTTON : 26|1@0+ (1,0) [0|1] "" XXX - SG_ CANCEL_BUTTON : 25|1@0+ (1,0) [0|1] "" XXX - SG_ PROPILOT_BUTTON : 24|1@0+ (1,0) [0|1] "" XXX - SG_ USER_BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX - SG_ COUNTER : 32|2@1+ (1,0) [0|3] "" XXX - SG_ unsure5 : 47|8@0+ (1,0) [0|255] "" XXX - SG_ unsure6 : 55|8@0+ (1,0) [0|255] "" XXX - SG_ unsure7 : 63|8@0+ (1,0) [0|255] "" XXX - -BO_ 640 CANCEL_MSG: 8 XXX - SG_ CANCEL_SEATBELT : 1|1@0+ (1,0) [0|1] "" XXX - SG_ NEW_SIGNAL_1 : 7|6@0+ (1,0) [0|63] "" XXX - SG_ NEW_SIGNAL_2 : 0|1@0+ (1,0) [0|1] "" XXX - SG_ NEW_SIGNAL_3 : 15|56@0+ (1,0) [0|72057594037927940] "" XXX - -BO_ 644 WHEEL_SPEEDS_FRONT: 8 XXX - SG_ WHEEL_SPEED_FR : 7|16@0+ (0.005,0) [0|65535] "KPH" XXX - SG_ WHEEL_SPEED_FL : 23|16@0+ (0.005,0) [0|65535] "KPH" XXX - BO_ 645 WHEEL_SPEEDS_REAR: 8 XXX SG_ WHEEL_SPEED_RR : 7|16@0+ (0.005,0) [0|65535] "KPH" XXX SG_ WHEEL_SPEED_RL : 23|16@0+ (0.005,0) [0|65535] "KPH" XXX @@ -139,19 +65,6 @@ BO_ 689 PROPILOT_HUD: 8 XXX BO_ 783 CRUISE_STATE: 3 XXX SG_ CRUISE_ENABLED : 3|1@0+ (1,0) [0|1] "" XXX -BO_ 852 ESP: 8 XXX - SG_ ESP_DISABLED : 38|1@0+ (1,0) [0|1] "" XXX - -BO_ 853 HUD_SETTINGS: 8 XXX - SG_ SPEED_MPH : 37|1@0+ (1,0) [0|1] "" XXX - -BO_ 856 LIGHTS: 8 XXX - SG_ LEFT_BLINKER : 17|1@0+ (1,0) [0|1] "" XXX - SG_ RIGHT_BLINKER : 18|1@0+ (1,0) [0|1] "" XXX - -BO_ 1057 GEARBOX: 3 XXX - SG_ GEAR_SHIFTER : 5|3@0+ (1,0) [0|255] "" XXX - BO_ 1228 PROPILOT_HUD_INFO_MSG: 8 XXX SG_ NA_HIGH_ACCEL_TEMP : 0|1@0+ (1,0) [0|1] "" XXX SG_ SIDE_RADAR_NA_HIGH_CABIN_TEMP : 8|1@0+ (1,0) [0|1] "" XXX @@ -193,19 +106,75 @@ BO_ 1228 PROPILOT_HUD_INFO_MSG: 8 XXX SG_ unknown55 : 55|1@0+ (1,0) [0|1] "" XXX SG_ unknown61 : 61|6@0+ (1,0) [0|63] "" XXX -BO_ 1549 DOORS_LIGHTS: 8 XXX - SG_ DOOR_OPEN_FL : 3|1@0+ (1,0) [0|1] "" XXX - SG_ DOOR_OPEN_FR : 4|1@0+ (1,0) [0|1] "" XXX - SG_ DOOR_OPEN_RL : 5|1@0+ (1,0) [0|1] "" XXX - SG_ DOOR_OPEN_RR : 6|1@0+ (1,0) [0|1] "" XXX - BO_ 1227 LKAS_SETTINGS: 8 XXX SG_ LKAS_ENABLED : 51|1@0+ (1,0) [0|1] "" XXX -VAL_ 1057 GEAR_SHIFTER 7 "B" 4 "D" 3 "N" 2 "R" 1 "P" ; VAL_ 1228 PROPILOT_NA_MSGS 0 "NO_MSG" 1 "NA_FRONT_CAMERA_IMPARED" 2 "STEERING_ASSIST_ON_STANDBY" 3 "NA_PARKING_ASSIST_ENABLED" 4 "STEER_ASSIST_CURRENTLY_NA" 5 "NA_BAD_WEATHER" 6 "NA_PARK_BRAKE_ON" 7 "NA_SEATBELT_NOT_FASTENED" ; VAL_ 1228 BOTTOM_MSG 0 "OK_STEER_ASSIST_SETTINGS" 1 "NO_MSG" 2 "PRESS_SET_TO_SET_SPEED" 3 "PRESS_RES_SET_TO_CHANGE_SPEED" 4 "PRESS_RES_TO_RESTART" 5 "NO_MSG" 6 "CRUISE_NOT_AVAIL" 7 "NO_MSG" ; VAL_ 689 FOLLOW_DISTANCE 0 "NO_FOLLOW_DISTANCE" 1 "FOLLOW_DISTANCE_1" 2 "FOLLOW_DISTANCE_2" 3 "FOLLOW_DISANCE_3" ; VAL_ 689 AUDIBLE_TONE 0 "NO_TONE" 1 "CONT" 2 "FAST_BEEP_CONT" 3 "TRIPLE_FAST_BEEP_CONT" 4 "SLOW_BEEP_CONT" 5 "QUAD_SLOW_BEEP_CONT" 6 "SINGLE_BEEP_ONCE" 7 "DOUBLE_BEEP_ONCE" ; VAL_ 689 SMALL_STEERING_WHEEL_ICON 0 "NO_ICON" 1 "GRAY_ICON" 2 "GRAY_ICON_FLASHING" 3 "GREEN_ICON" 4 "GREEN_ICON_FLASHING" 5 "RED_ICON" 6 "RED_ICON_FLASHING" 7 "YELLOW_ICON" ; VAL_ 689 LARGE_STEERING_WHEEL_ICON 0 "NO_STEERINGWHEEL" 1 "GRAY_STEERINGWHEEL" 2 "GREEN_STEERINGWHEEL" 3 "GREEN_STEERINGWHEEL_FLASHING" ; + +CM_ "nissan_leaf_2018.dbc starts here"; + +BO_ 42 SEATBELT: 8 XXX + SG_ SEATBELT_DRIVER_LATCHED : 27|1@1+ (1,0) [0|3] "" XXX + SG_ SEATBELT_DRIVER_UNLATCHED : 26|1@0+ (1,0) [0|1] "" XXX + SG_ unknown2 : 31|4@0+ (1,0) [0|15] "" XXX + SG_ unknown3 : 24|2@1+ (1,0) [0|3] "" XXX + SG_ unknown1 : 7|24@0+ (1,0) [0|16777215] "" XXX + SG_ unknown4 : 39|16@0+ (1,0) [0|65535] "" XXX + +BO_ 460 BRAKE_PEDAL: 8 XXX + SG_ BRAKE_PEDAL : 7|8@0+ (1,0) [0|256] "" XXX + +BO_ 569 CRUISE_THROTTLE: 8 XXX + SG_ GAS_PEDAL_INVERTED : 15|8@0+ (1,0) [0|255] "" XXX + SG_ GAS_PEDAL : 7|8@0+ (1,0) [0|255] "" XXX + SG_ CRUISE_AVAILABLE : 17|1@0+ (1,0) [0|1] "" XXX + SG_ unsure1 : 23|6@0+ (1,0) [0|63] "" XXX + SG_ unsure2 : 16|1@0+ (1,0) [0|1] "" XXX + SG_ unsure3 : 31|2@0+ (1,0) [0|3] "" XXX + SG_ NO_BUTTON_PRESSED : 29|1@0+ (1,0) [0|1] "" XXX + SG_ RES_BUTTON : 28|1@0+ (1,0) [0|1] "" XXX + SG_ SET_BUTTON : 27|1@0+ (1,0) [0|1] "" XXX + SG_ FOLLOW_DISTANCE_BUTTON : 26|1@0+ (1,0) [0|1] "" XXX + SG_ CANCEL_BUTTON : 25|1@0+ (1,0) [0|1] "" XXX + SG_ PROPILOT_BUTTON : 24|1@0+ (1,0) [0|1] "" XXX + SG_ USER_BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 32|2@1+ (1,0) [0|3] "" XXX + SG_ unsure5 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ unsure6 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ unsure7 : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 640 CANCEL_MSG: 8 XXX + SG_ CANCEL_SEATBELT : 1|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_1 : 7|6@0+ (1,0) [0|63] "" XXX + SG_ NEW_SIGNAL_2 : 0|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_3 : 15|56@0+ (1,0) [0|72057594037927940] "" XXX + +BO_ 644 WHEEL_SPEEDS_FRONT: 8 XXX + SG_ WHEEL_SPEED_FR : 7|16@0+ (0.005,0) [0|65535] "KPH" XXX + SG_ WHEEL_SPEED_FL : 23|16@0+ (0.005,0) [0|65535] "KPH" XXX + +BO_ 852 ESP: 8 XXX + SG_ ESP_DISABLED : 38|1@0+ (1,0) [0|1] "" XXX + +BO_ 853 HUD_SETTINGS: 8 XXX + SG_ SPEED_MPH : 37|1@0+ (1,0) [0|1] "" XXX + +BO_ 856 LIGHTS: 8 XXX + SG_ LEFT_BLINKER : 17|1@0+ (1,0) [0|1] "" XXX + SG_ RIGHT_BLINKER : 18|1@0+ (1,0) [0|1] "" XXX + +BO_ 1057 GEARBOX: 3 XXX + SG_ GEAR_SHIFTER : 5|3@0+ (1,0) [0|255] "" XXX + +BO_ 1549 DOORS_LIGHTS: 8 XXX + SG_ DOOR_OPEN_FL : 3|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_FR : 4|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RL : 5|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RR : 6|1@0+ (1,0) [0|1] "" XXX + +VAL_ 1057 GEAR_SHIFTER 7 "B" 4 "D" 3 "N" 2 "R" 1 "P" ; diff --git a/opendbc/nissan_x_trail_2017.dbc b/opendbc/nissan_x_trail_2017_generated.dbc similarity index 94% rename from opendbc/nissan_x_trail_2017.dbc rename to opendbc/nissan_x_trail_2017_generated.dbc index ea27445d3..c6a3ef7a8 100644 --- a/opendbc/nissan_x_trail_2017.dbc +++ b/opendbc/nissan_x_trail_2017_generated.dbc @@ -1,58 +1,20 @@ -VERSION "" - - -NS_ : - NS_DESC_ - CM_ - BA_DEF_ - BA_ - VAL_ - CAT_DEF_ - CAT_ - FILTER - BA_DEF_DEF_ - EV_DATA_ - ENVVAR_DATA_ - SGTYPE_ - SGTYPE_VAL_ - BA_DEF_SGTYPE_ - BA_SGTYPE_ - SIG_TYPE_REF_ - VAL_TABLE_ - SIG_GROUP_ - SIG_VALTYPE_ - SIGTYPE_VALTYPE_ - BO_TX_BU_ - BA_DEF_REL_ - BA_REL_ - BA_DEF_DEF_REL_ - BU_SG_REL_ - BU_EV_REL_ - BU_BO_REL_ - SG_MUL_VAL_ - -BS_: - -BU_: XXX +CM_ "AUTOGENERATED FILE, DO NOT EDIT"; +CM_ "Imported file _nissan_common.dbc starts here"; BO_ 2 STEER_ANGLE_SENSOR: 5 XXX SG_ STEER_ANGLE_RATE : 16|8@1+ (1,0) [0|255] "" XXX SG_ SET_ME_X07 : 24|8@1+ (1,0) [0|255] "" XXX SG_ STEER_ANGLE : 0|16@1- (-0.1,0) [0|65535] "" XXX SG_ COUNTER : 32|4@1+ (1,0) [0|15] "" XXX -BO_ 348 GAS_PEDAL: 8 XXX - SG_ GAS_PEDAL_RAW : 26|11@0+ (1,0) [0|2047] "" XXX - SG_ GAS_PEDAL : 47|10@0+ (1,0) [0|1023] "" XXX - BO_ 361 LKAS: 8 XXX SG_ MAX_TORQUE : 39|8@0+ (0.01,0) [0|255] "Nm" XXX SG_ SET_0x80 : 47|8@0+ (1,0) [0|255] "" XXX SG_ LKA_ACTIVE : 52|1@0+ (1,0) [0|15] "" XXX SG_ SET_0x80_2 : 31|8@0+ (1,0) [0|255] "" XXX SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX - SG_ DESIRED_ANGLE : 7|18@0+ (-0.01,1310) [0|255] "" XXX + SG_ DESIRED_ANGLE : 7|18@0+ (-0.01,1310) [-1311.43|1310] "" XXX SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX BO_ 389 STEER_TORQUE_SENSOR: 8 XXX @@ -63,42 +25,10 @@ BO_ 389 STEER_TORQUE_SENSOR: 8 XXX SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX SG_ CHECKSUM : 63|8@0+ (1,0) [0|127] "" XXX -BO_ 438 PRO_PILOT: 8 XXX - SG_ COUNTER : 55|4@0+ (1,0) [0|255] "" XXX - SG_ SET_ME_X03 : 33|2@0+ (1,0) [0|15] "" XXX - SG_ CRUISE_ACTIVATED : 38|1@0+ (1,0) [0|3] "" XXX - SG_ CRUISE_ON : 36|1@0+ (1,0) [0|255] "" XXX - SG_ STEER_STATUS : 51|1@0+ (1,0) [0|3] "" XXX - -BO_ 523 CRUISE_THROTTLE: 6 XXX - SG_ PROPILOT_BUTTON : 8|1@0+ (1,0) [0|1] "" XXX - SG_ CANCEL_BUTTON : 9|1@0+ (1,0) [0|1] "" XXX - SG_ GAS_PEDAL_INVERTED : 37|10@0+ (1,0) [0|1023] "" XXX - SG_ SET_BUTTON : 11|1@0+ (1,0) [0|1] "" XXX - SG_ RES_BUTTON : 12|1@0+ (1,0) [0|1] "" XXX - SG_ FOLLOW_DISTANCE_BUTTON : 10|1@0+ (1,0) [0|1] "" XXX - SG_ NO_BUTTON_PRESSED : 13|1@0+ (1,0) [0|1] "" XXX - SG_ GAS_PEDAL : 31|10@0+ (1,0) [0|255] "" XXX - SG_ USER_BRAKE_PRESSED : 21|1@0+ (1,0) [0|1] "" XXX - SG_ USER_BRAKE_PRESSED_INVERTED : 22|1@0+ (1,0) [0|3] "" XXX - SG_ NEW_SIGNAL_2 : 23|1@0+ (1,0) [0|1] "" XXX - SG_ GAS_PRESSED_INVERTED : 20|1@0+ (1,0) [0|255] "" XXX - SG_ COUNTER : 17|2@0+ (1,0) [0|3] "" XXX - SG_ unsure1 : 7|10@0+ (1,0) [0|1023] "" XXX - SG_ unsure2 : 43|4@0+ (1,0) [0|1] "" XXX - SG_ unsure3 : 19|2@0+ (1,0) [0|3] "" XXX - BO_ 645 WHEEL_SPEEDS_REAR: 8 XXX SG_ WHEEL_SPEED_RR : 7|16@0+ (0.005,0) [0|65535] "KPH" XXX SG_ WHEEL_SPEED_RL : 23|16@0+ (0.005,0) [0|65535] "KPH" XXX -BO_ 665 ESP: 8 XXX - SG_ ESP_DISABLED : 24|1@0+ (1,0) [0|1] "" XXX - -BO_ 666 WHEEL_SPEEDS_FRONT: 8 XXX - SG_ WHEEL_SPEED_FR : 7|16@0+ (0.005,0) [0|65535] "KPH" XXX - SG_ WHEEL_SPEED_FL : 23|16@0+ (0.005,0) [0|65535] "KPH" XXX - BO_ 689 PROPILOT_HUD: 8 XXX SG_ LARGE_WARNING_FLASHING : 9|1@0+ (1,0) [0|1] "" XXX SG_ SIDE_RADAR_ERROR_FLASHING1 : 10|1@0+ (1,0) [0|1] "" XXX @@ -132,35 +62,9 @@ BO_ 689 PROPILOT_HUD: 8 XXX SG_ unknown55 : 55|8@0+ (1,0) [0|63] "" XXX SG_ unknown59 : 59|4@0+ (1,0) [0|15] "" XXX -BO_ 768 STEER_TORQUE_SENSOR2: 2 XXX - SG_ STEERING_TORQUE : 6|7@0+ (1,0) [0|127] "" XXX - SG_ STEERING_PRESSED : 15|1@0+ (-1,1) [0|7] "" XXX - BO_ 783 CRUISE_STATE: 3 XXX SG_ CRUISE_ENABLED : 3|1@0+ (1,0) [0|1] "" XXX -BO_ 1055 GEARBOX: 2 XXX - SG_ SPORTS_MODE : 13|1@0+ (1,0) [0|1] "" XXX - SG_ GEAR_SHIFTER : 5|3@0+ (1,0) [0|255] "" XXX - -BO_ 1107 LIGHTS: 8 XXX - SG_ RIGHT_BLINKER : 12|1@0+ (1,0) [0|1] "" XXX - SG_ LEFT_BLINKER : 11|1@0+ (1,0) [0|1] "" XXX - SG_ HEADLIGHTS : 5|1@0+ (1,0) [0|1] "" XXX - -BO_ 1108 DOORS_LIGHTS: 8 XXX - SG_ DOOR_CLOSED_RR : 40|1@0+ (1,0) [0|1] "" XXX - SG_ DOOR_OPEN_RR : 41|1@0+ (1,0) [0|1] "" XXX - SG_ DOOR_CLOSED_RL : 42|1@0+ (1,0) [0|1] "" XXX - SG_ DOOR_OPEN_RL : 43|1@0+ (1,0) [0|1] "" XXX - SG_ DOOR_CLOSED_FL : 44|1@0+ (1,0) [0|1] "" XXX - SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX - SG_ DOOR_CLOSED_FR : 46|1@0+ (1,0) [0|3] "" XXX - SG_ DOOR_OPEN_FR : 47|1@0+ (1,0) [0|3] "" XXX - SG_ BOOT_OPEN : 55|1@0+ (1,0) [0|1] "" XXX - SG_ BRAKE_LIGHT : 54|1@0+ (1,0) [0|1] "" XXX - SG_ USER_BRAKE_PRESSED : 23|1@0+ (1,0) [0|1] "" XXX - BO_ 1228 PROPILOT_HUD_INFO_MSG: 8 XXX SG_ NA_HIGH_ACCEL_TEMP : 0|1@0+ (1,0) [0|1] "" XXX SG_ SIDE_RADAR_NA_HIGH_CABIN_TEMP : 8|1@0+ (1,0) [0|1] "" XXX @@ -205,14 +109,79 @@ BO_ 1228 PROPILOT_HUD_INFO_MSG: 8 XXX BO_ 1227 LKAS_SETTINGS: 8 XXX SG_ LKAS_ENABLED : 51|1@0+ (1,0) [0|1] "" XXX -BO_ 1273 HUD: 7 XXX - SG_ SEATBELT_DRIVER_LATCHED : 25|1@0+ (1,0) [0|1] "" XXX - SG_ SPEED_MPH : 5|1@0+ (1,0) [0|1] "" XXX - -VAL_ 1055 GEAR_SHIFTER 6 "L" 4 "D" 3 "N" 2 "R" 1 "P" ; VAL_ 1228 PROPILOT_NA_MSGS 0 "NO_MSG" 1 "NA_FRONT_CAMERA_IMPARED" 2 "STEERING_ASSIST_ON_STANDBY" 3 "NA_PARKING_ASSIST_ENABLED" 4 "STEER_ASSIST_CURRENTLY_NA" 5 "NA_BAD_WEATHER" 6 "NA_PARK_BRAKE_ON" 7 "NA_SEATBELT_NOT_FASTENED" ; VAL_ 1228 BOTTOM_MSG 0 "OK_STEER_ASSIST_SETTINGS" 1 "NO_MSG" 2 "PRESS_SET_TO_SET_SPEED" 3 "PRESS_RES_SET_TO_CHANGE_SPEED" 4 "PRESS_RES_TO_RESTART" 5 "NO_MSG" 6 "CRUISE_NOT_AVAIL" 7 "NO_MSG" ; VAL_ 689 FOLLOW_DISTANCE 0 "NO_FOLLOW_DISTANCE" 1 "FOLLOW_DISTANCE_1" 2 "FOLLOW_DISTANCE_2" 3 "FOLLOW_DISANCE_3" ; VAL_ 689 AUDIBLE_TONE 0 "NO_TONE" 1 "CONT" 2 "FAST_BEEP_CONT" 3 "TRIPLE_FAST_BEEP_CONT" 4 "SLOW_BEEP_CONT" 5 "QUAD_SLOW_BEEP_CONT" 6 "SINGLE_BEEP_ONCE" 7 "DOUBLE_BEEP_ONCE" ; VAL_ 689 SMALL_STEERING_WHEEL_ICON 0 "NO_ICON" 1 "GRAY_ICON" 2 "GRAY_ICON_FLASHING" 3 "GREEN_ICON" 4 "GREEN_ICON_FLASHING" 5 "RED_ICON" 6 "RED_ICON_FLASHING" 7 "YELLOW_ICON" ; VAL_ 689 LARGE_STEERING_WHEEL_ICON 0 "NO_STEERINGWHEEL" 1 "GRAY_STEERINGWHEEL" 2 "GREEN_STEERINGWHEEL" 3 "GREEN_STEERINGWHEEL_FLASHING" ; + +CM_ "nissan_x_trail_2017.dbc starts here"; + +BO_ 348 GAS_PEDAL: 8 XXX + SG_ GAS_PEDAL_RAW : 26|11@0+ (1,0) [0|2047] "" XXX + SG_ GAS_PEDAL : 47|10@0+ (1,0) [0|1023] "" XXX + +BO_ 438 PRO_PILOT: 8 XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X03 : 33|2@0+ (1,0) [0|15] "" XXX + SG_ CRUISE_ACTIVATED : 38|1@0+ (1,0) [0|3] "" XXX + SG_ CRUISE_ON : 36|1@0+ (1,0) [0|255] "" XXX + SG_ STEER_STATUS : 51|1@0+ (1,0) [0|3] "" XXX + +BO_ 523 CRUISE_THROTTLE: 6 XXX + SG_ PROPILOT_BUTTON : 8|1@0+ (1,0) [0|1] "" XXX + SG_ CANCEL_BUTTON : 9|1@0+ (1,0) [0|1] "" XXX + SG_ GAS_PEDAL_INVERTED : 37|10@0+ (1,0) [0|1023] "" XXX + SG_ SET_BUTTON : 11|1@0+ (1,0) [0|1] "" XXX + SG_ RES_BUTTON : 12|1@0+ (1,0) [0|1] "" XXX + SG_ FOLLOW_DISTANCE_BUTTON : 10|1@0+ (1,0) [0|1] "" XXX + SG_ NO_BUTTON_PRESSED : 13|1@0+ (1,0) [0|1] "" XXX + SG_ GAS_PEDAL : 31|10@0+ (1,0) [0|255] "" XXX + SG_ USER_BRAKE_PRESSED : 21|1@0+ (1,0) [0|1] "" XXX + SG_ USER_BRAKE_PRESSED_INVERTED : 22|1@0+ (1,0) [0|3] "" XXX + SG_ NEW_SIGNAL_2 : 23|1@0+ (1,0) [0|1] "" XXX + SG_ GAS_PRESSED_INVERTED : 20|1@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 17|2@0+ (1,0) [0|3] "" XXX + SG_ unsure1 : 7|10@0+ (1,0) [0|1023] "" XXX + SG_ unsure2 : 43|4@0+ (1,0) [0|1] "" XXX + SG_ unsure3 : 19|2@0+ (1,0) [0|3] "" XXX + +BO_ 665 ESP: 8 XXX + SG_ ESP_DISABLED : 24|1@0+ (1,0) [0|1] "" XXX + +BO_ 666 WHEEL_SPEEDS_FRONT: 8 XXX + SG_ WHEEL_SPEED_FR : 7|16@0+ (0.005,0) [0|65535] "KPH" XXX + SG_ WHEEL_SPEED_FL : 23|16@0+ (0.005,0) [0|65535] "KPH" XXX + +BO_ 768 STEER_TORQUE_SENSOR2: 2 XXX + SG_ STEERING_TORQUE : 6|7@0+ (1,0) [0|127] "" XXX + SG_ STEERING_PRESSED : 15|1@0+ (-1,1) [0|7] "" XXX + +BO_ 1055 GEARBOX: 2 XXX + SG_ SPORTS_MODE : 13|1@0+ (1,0) [0|1] "" XXX + SG_ GEAR_SHIFTER : 5|3@0+ (1,0) [0|255] "" XXX + +BO_ 1107 LIGHTS: 8 XXX + SG_ RIGHT_BLINKER : 12|1@0+ (1,0) [0|1] "" XXX + SG_ LEFT_BLINKER : 11|1@0+ (1,0) [0|1] "" XXX + SG_ HEADLIGHTS : 5|1@0+ (1,0) [0|1] "" XXX + +BO_ 1108 DOORS_LIGHTS: 8 XXX + SG_ DOOR_CLOSED_RR : 40|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RR : 41|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_CLOSED_RL : 42|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RL : 43|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_CLOSED_FL : 44|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_CLOSED_FR : 46|1@0+ (1,0) [0|3] "" XXX + SG_ DOOR_OPEN_FR : 47|1@0+ (1,0) [0|3] "" XXX + SG_ BOOT_OPEN : 55|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_LIGHT : 54|1@0+ (1,0) [0|1] "" XXX + SG_ USER_BRAKE_PRESSED : 23|1@0+ (1,0) [0|1] "" XXX + +BO_ 1273 HUD: 7 XXX + SG_ SEATBELT_DRIVER_LATCHED : 25|1@0+ (1,0) [0|1] "" XXX + SG_ SPEED_MPH : 5|1@0+ (1,0) [0|1] "" XXX + +VAL_ 1055 GEAR_SHIFTER 6 "L" 4 "D" 3 "N" 2 "R" 1 "P" ; diff --git a/opendbc/toyota_new_mc_pt_generated.dbc b/opendbc/toyota_new_mc_pt_generated.dbc index e7702572a..3bd679205 100644 --- a/opendbc/toyota_new_mc_pt_generated.dbc +++ b/opendbc/toyota_new_mc_pt_generated.dbc @@ -120,8 +120,9 @@ BO_ 452 ENGINE_RPM: 8 CGW BO_ 466 PCM_CRUISE: 8 XXX SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX - SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX - SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s^2" XXX + SG_ ACC_BRAKING : 12|1@0+ (1,0) [0|1] "" XXX + SG_ ACCEL_NET : 23|16@0- (0.0009765625,0) [-20|20] "m/s^2" XXX + SG_ NEUTRAL_FORCE : 39|16@0- (2,0) [-65536|65534] "N" XXX SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX @@ -262,8 +263,13 @@ BO_ 1041 ACC_HUD: 8 DSU SG_ PCS_INDICATOR : 7|2@0+ (1,0) [0|3] "" XXX SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX + SG_ PCS_DUST : 34|1@0+ (1,0) [0|0] "" XXX + SG_ PCS_TEMP : 35|1@0+ (1,0) [0|0] "" XXX + SG_ PCS_DUST2 : 41|1@0+ (1,0) [0|0] "" XXX + SG_ PCS_TEMP2 : 42|1@0+ (1,0) [0|0] "" XXX SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX SG_ PCS_OFF : 40|1@0+ (1,0) [0|0] "" XXX + SG_ FRD_ADJ : 53|3@0+ (1,0) [0|0] "" XXX SG_ PCS_SENSITIVITY : 55|8@0+ (1,0) [0|1] "" XXX BO_ 1042 LKAS_HUD: 8 DSU @@ -417,6 +423,8 @@ CM_ SG_ 36 YAW_RATE "verify"; CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd"; CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set"; CM_ SG_ 37 STEER_RATE "factor is tbd"; +CM_ SG_ 466 NEUTRAL_FORCE "force in newtons the engine/electric motors are applying without any acceleration commands or user input"; +CM_ SG_ 466 ACC_BRAKING "whether brakes are being actuated from ACC command"; CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors"; CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10"; CM_ SG_ 467 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement"; @@ -441,7 +449,7 @@ CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file."; CM_ SG_ 865 GAS_PEDAL_ALT "copy of main GAS_PEDAL. Both use 8 bits. Might indicate that this message is for pedals."; CM_ SG_ 865 CLUTCH_RELEASED "boolean of clutch for 6MT."; -CM_ SG_ 865 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement"; +CM_ SG_ 865 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement. Also describes a lockout when the ACC_CONTROL->ACC_MALFUNCTION bit is set."; CM_ SG_ 921 UI_SET_SPEED "set speed shown in the vehicle's UI with the vehicle's unit"; CM_ SG_ 921 TEMP_ACC_FAULTED "1 when the UI is displaying or playing fault-related alerts or sounds. Also 1 when pressing main on."; CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel"; @@ -449,6 +457,11 @@ CM_ SG_ 956 GEAR "on 6MT, only R shows."; CM_ SG_ 1009 UI_SET_SPEED "units seem to be whatever the car is set to"; CM_ SG_ 1041 PCS_INDICATOR "Pre-Collision System Indicator"; CM_ SG_ 1041 PCS_SENSITIVITY "Pre-Collision System Sensitivity"; +CM_ SG_ 1041 PCS_DUST "alert: Front Camera Low Visibility Unavailable See Owner's Manual"; +CM_ SG_ 1041 PCS_DUST2 "alert: Pre-Collision System Radar Sensor Blocked Unavailable Clean Radar Sensor"; +CM_ SG_ 1041 PCS_TEMP "alert: Front Camera Out of Temperature Range Unavailable Wait until Normal Temperature"; +CM_ SG_ 1041 PCS_TEMP2 "alert: Pre-Collision System Out of Temperature Range Unavailable See Owner's Manual"; +CM_ SG_ 1041 FRD_ADJ "alert: ERROR ADJUSTING FRONT RADAR BEAM"; CM_ SG_ 1042 LDA_SA_TOGGLE "LDA Steering Assist Toggle"; CM_ SG_ 1042 LDW_EXIST "Unclear what this is, it's usually set to 0"; CM_ SG_ 1042 LDA_SENSITIVITY "LDA Sensitivity"; diff --git a/opendbc/toyota_nodsu_pt_generated.dbc b/opendbc/toyota_nodsu_pt_generated.dbc index 3c88adc4d..f409b5c3c 100644 --- a/opendbc/toyota_nodsu_pt_generated.dbc +++ b/opendbc/toyota_nodsu_pt_generated.dbc @@ -120,8 +120,9 @@ BO_ 452 ENGINE_RPM: 8 CGW BO_ 466 PCM_CRUISE: 8 XXX SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX - SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX - SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s^2" XXX + SG_ ACC_BRAKING : 12|1@0+ (1,0) [0|1] "" XXX + SG_ ACCEL_NET : 23|16@0- (0.0009765625,0) [-20|20] "m/s^2" XXX + SG_ NEUTRAL_FORCE : 39|16@0- (2,0) [-65536|65534] "N" XXX SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX @@ -262,8 +263,13 @@ BO_ 1041 ACC_HUD: 8 DSU SG_ PCS_INDICATOR : 7|2@0+ (1,0) [0|3] "" XXX SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX + SG_ PCS_DUST : 34|1@0+ (1,0) [0|0] "" XXX + SG_ PCS_TEMP : 35|1@0+ (1,0) [0|0] "" XXX + SG_ PCS_DUST2 : 41|1@0+ (1,0) [0|0] "" XXX + SG_ PCS_TEMP2 : 42|1@0+ (1,0) [0|0] "" XXX SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX SG_ PCS_OFF : 40|1@0+ (1,0) [0|0] "" XXX + SG_ FRD_ADJ : 53|3@0+ (1,0) [0|0] "" XXX SG_ PCS_SENSITIVITY : 55|8@0+ (1,0) [0|1] "" XXX BO_ 1042 LKAS_HUD: 8 DSU @@ -417,6 +423,8 @@ CM_ SG_ 36 YAW_RATE "verify"; CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd"; CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set"; CM_ SG_ 37 STEER_RATE "factor is tbd"; +CM_ SG_ 466 NEUTRAL_FORCE "force in newtons the engine/electric motors are applying without any acceleration commands or user input"; +CM_ SG_ 466 ACC_BRAKING "whether brakes are being actuated from ACC command"; CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors"; CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10"; CM_ SG_ 467 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement"; @@ -441,7 +449,7 @@ CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file."; CM_ SG_ 865 GAS_PEDAL_ALT "copy of main GAS_PEDAL. Both use 8 bits. Might indicate that this message is for pedals."; CM_ SG_ 865 CLUTCH_RELEASED "boolean of clutch for 6MT."; -CM_ SG_ 865 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement"; +CM_ SG_ 865 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement. Also describes a lockout when the ACC_CONTROL->ACC_MALFUNCTION bit is set."; CM_ SG_ 921 UI_SET_SPEED "set speed shown in the vehicle's UI with the vehicle's unit"; CM_ SG_ 921 TEMP_ACC_FAULTED "1 when the UI is displaying or playing fault-related alerts or sounds. Also 1 when pressing main on."; CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel"; @@ -449,6 +457,11 @@ CM_ SG_ 956 GEAR "on 6MT, only R shows."; CM_ SG_ 1009 UI_SET_SPEED "units seem to be whatever the car is set to"; CM_ SG_ 1041 PCS_INDICATOR "Pre-Collision System Indicator"; CM_ SG_ 1041 PCS_SENSITIVITY "Pre-Collision System Sensitivity"; +CM_ SG_ 1041 PCS_DUST "alert: Front Camera Low Visibility Unavailable See Owner's Manual"; +CM_ SG_ 1041 PCS_DUST2 "alert: Pre-Collision System Radar Sensor Blocked Unavailable Clean Radar Sensor"; +CM_ SG_ 1041 PCS_TEMP "alert: Front Camera Out of Temperature Range Unavailable Wait until Normal Temperature"; +CM_ SG_ 1041 PCS_TEMP2 "alert: Pre-Collision System Out of Temperature Range Unavailable See Owner's Manual"; +CM_ SG_ 1041 FRD_ADJ "alert: ERROR ADJUSTING FRONT RADAR BEAM"; CM_ SG_ 1042 LDA_SA_TOGGLE "LDA Steering Assist Toggle"; CM_ SG_ 1042 LDW_EXIST "Unclear what this is, it's usually set to 0"; CM_ SG_ 1042 LDA_SENSITIVITY "LDA Sensitivity"; diff --git a/opendbc/toyota_tnga_k_pt_generated.dbc b/opendbc/toyota_tnga_k_pt_generated.dbc index ba432a818..22c0a1ca2 100644 --- a/opendbc/toyota_tnga_k_pt_generated.dbc +++ b/opendbc/toyota_tnga_k_pt_generated.dbc @@ -120,8 +120,9 @@ BO_ 452 ENGINE_RPM: 8 CGW BO_ 466 PCM_CRUISE: 8 XXX SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX - SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX - SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s^2" XXX + SG_ ACC_BRAKING : 12|1@0+ (1,0) [0|1] "" XXX + SG_ ACCEL_NET : 23|16@0- (0.0009765625,0) [-20|20] "m/s^2" XXX + SG_ NEUTRAL_FORCE : 39|16@0- (2,0) [-65536|65534] "N" XXX SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX @@ -262,8 +263,13 @@ BO_ 1041 ACC_HUD: 8 DSU SG_ PCS_INDICATOR : 7|2@0+ (1,0) [0|3] "" XXX SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX + SG_ PCS_DUST : 34|1@0+ (1,0) [0|0] "" XXX + SG_ PCS_TEMP : 35|1@0+ (1,0) [0|0] "" XXX + SG_ PCS_DUST2 : 41|1@0+ (1,0) [0|0] "" XXX + SG_ PCS_TEMP2 : 42|1@0+ (1,0) [0|0] "" XXX SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX SG_ PCS_OFF : 40|1@0+ (1,0) [0|0] "" XXX + SG_ FRD_ADJ : 53|3@0+ (1,0) [0|0] "" XXX SG_ PCS_SENSITIVITY : 55|8@0+ (1,0) [0|1] "" XXX BO_ 1042 LKAS_HUD: 8 DSU @@ -417,6 +423,8 @@ CM_ SG_ 36 YAW_RATE "verify"; CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd"; CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set"; CM_ SG_ 37 STEER_RATE "factor is tbd"; +CM_ SG_ 466 NEUTRAL_FORCE "force in newtons the engine/electric motors are applying without any acceleration commands or user input"; +CM_ SG_ 466 ACC_BRAKING "whether brakes are being actuated from ACC command"; CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors"; CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10"; CM_ SG_ 467 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement"; @@ -441,7 +449,7 @@ CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file."; CM_ SG_ 865 GAS_PEDAL_ALT "copy of main GAS_PEDAL. Both use 8 bits. Might indicate that this message is for pedals."; CM_ SG_ 865 CLUTCH_RELEASED "boolean of clutch for 6MT."; -CM_ SG_ 865 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement"; +CM_ SG_ 865 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement. Also describes a lockout when the ACC_CONTROL->ACC_MALFUNCTION bit is set."; CM_ SG_ 921 UI_SET_SPEED "set speed shown in the vehicle's UI with the vehicle's unit"; CM_ SG_ 921 TEMP_ACC_FAULTED "1 when the UI is displaying or playing fault-related alerts or sounds. Also 1 when pressing main on."; CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel"; @@ -449,6 +457,11 @@ CM_ SG_ 956 GEAR "on 6MT, only R shows."; CM_ SG_ 1009 UI_SET_SPEED "units seem to be whatever the car is set to"; CM_ SG_ 1041 PCS_INDICATOR "Pre-Collision System Indicator"; CM_ SG_ 1041 PCS_SENSITIVITY "Pre-Collision System Sensitivity"; +CM_ SG_ 1041 PCS_DUST "alert: Front Camera Low Visibility Unavailable See Owner's Manual"; +CM_ SG_ 1041 PCS_DUST2 "alert: Pre-Collision System Radar Sensor Blocked Unavailable Clean Radar Sensor"; +CM_ SG_ 1041 PCS_TEMP "alert: Front Camera Out of Temperature Range Unavailable Wait until Normal Temperature"; +CM_ SG_ 1041 PCS_TEMP2 "alert: Pre-Collision System Out of Temperature Range Unavailable See Owner's Manual"; +CM_ SG_ 1041 FRD_ADJ "alert: ERROR ADJUSTING FRONT RADAR BEAM"; CM_ SG_ 1042 LDA_SA_TOGGLE "LDA Steering Assist Toggle"; CM_ SG_ 1042 LDW_EXIST "Unclear what this is, it's usually set to 0"; CM_ SG_ 1042 LDA_SENSITIVITY "LDA Sensitivity"; diff --git a/opendbc/vw_golf_mk4.dbc b/opendbc/vw_golf_mk4.dbc index eb8f6c959..c562b9e05 100644 --- a/opendbc/vw_golf_mk4.dbc +++ b/opendbc/vw_golf_mk4.dbc @@ -303,7 +303,8 @@ BO_ 1408 Motor_Flexia: 8 XXX SG_ Multiplex_Schalter_Motor_Flexia M : 0|1@1+ (1,0) [0|0] "" XXX BO_ 1416 Motor_7: 8 XXX - SG_ Frei_Motor_7_3 : 40|24@1+ (1,0) [0|0] "" XXX + SG_ Oltemperatur : 56|8@1+ (1,0) [0|0] "" XXX + SG_ Frei_Motor_7_3 : 40|16@1+ (1,0) [0|0] "" XXX SG_ Ladedruck : 32|8@1+ (0.01,0) [0|2.54] "bar" XXX SG_ Vorzeichen_Motordrehzahlgradien : 31|1@1+ (1,0) [0|0] "" XXX SG_ Motordrehzahlgradient : 24|7@1+ (1,0) [0|126] "U/min" XXX @@ -321,7 +322,8 @@ BO_ 1160 Motor_6: 8 XXX SG_ Frei_Motor_6_4 : 58|2@1+ (1,0) [0|0] "" XXX SG_ ltemperaturschutz : 57|1@1+ (1,0) [0|0] "" XXX SG_ GRA_Bremseingriff_Freigabe : 56|1@1+ (1,0) [0|0] "" XXX - SG_ Frei_Motor_6_3 : 40|16@1+ (1,0) [0|0] "" XXX + SG_ Frei_Motor_6_3 : 48|8@1+ (1,0) [0|0] "" XXX + SG_ Ruckmeldung_Momenten : 40|8@1+ (0.39,0) [0|100] "" XXX SG_ GRA_Sollbeschleunigung : 32|8@1+ (0.024,-3.984) [-3.984|2.112] "m/s2" XXX SG_ Hoeheninfo__Motor_6_ : 24|8@1+ (0.00787,0) [0|2] "" XXX SG_ Istmoment_f_r_Getriebe : 16|8@1+ (0.39,0) [0|99] "MDI" XXX @@ -770,25 +772,19 @@ BO_ 1340 Fahrwerk_1: 1 XXX SG_ Ansteuererung_Fahrzeugniveau : 0|4@1+ (1,0) [0|15] "" XXX BO_ 1472 EPB_1: 8 XXX - SG_ CHECKSUM : 56|8@1+ (1,0) [0|255] "" XXX SG_ COUNTER : 0|4@1+ (1,0) [0|15] "" XXX - SG_ EP1__Text : 52|4@1+ (1,0) [0|8] "" Vector__XXX - SG_ EP1_Failure_gelb : 51|1@1+ (1,0) [0|1] "" XXX - SG_ EP1_Failure_BKL : 50|1@1+ (1,0) [0|1] "" XXX - SG_ EP1_Warnton : 49|1@1+ (1,0) [0|1] "" XXX - SG_ EP1_Fkt_Lampe : 48|1@1+ (1,0) [0|1] "" Vector__XXX - SG_ EP1_Freigabe_Ver : 33|1@1+ (1,0) [0|1] "" XXX - SG_ EP1_Failureeintr : 32|1@1+ (1,0) [0|1] "" XXX - SG_ EP1_Neig_winkel : 16|8@1+ (1,-128) [-128|127] "g" XXX - SG_ EP1_Verzoegerung : 24|8@1+ (0.048,-7.968) [-7.968|4.224] "g" XXX - SG_ EP1_Sta_NWS : 15|1@1+ (1,0) [0|1] "" XXX - SG_ EP1_Schalterinfo : 13|2@1+ (1,0) [0|3] "" XXX - SG_ EP1_Spannkraft : 8|5@1+ (1,0) [0|30] "kN" XXX - SG_ EP1_Sta_Schalter : 7|1@1+ (1,0) [0|1] "" XXX + SG_ EP1_Fehler_Sta : 4|2@1+ (1,0) [0|3] "" Vector__XXX SG_ EP1_Sta_EPB : 6|1@1+ (1,0) [0|1] "" XXX - SG_ EP1_Failure_Sta : 4|2@1+ (1,0) [0|3] "" XXX + SG_ EP1_Sta_Schalter : 7|1@1+ (1,0) [0|1] "" XXX + SG_ EP1_Spannkraft : 8|5@1+ (1,0) [0|30] "Unit_KiloNewto" XXX + SG_ EP1_Schalterinfo : 13|2@1+ (1,0) [0|3] "" XXX + SG_ EP1_Sta_NWS : 15|1@1+ (1,0) [0|1] "" XXX + SG_ EP1_Neig_winkel : 16|8@1+ (1,-128) [-128|127] "Unit_PerCentOfForceOfGravi" XXX + SG_ EP1_Verzoegerung : 24|8@1+ (0.048,-7.968) [-7.968|4.224] "Unit_MeterPerSeconSquar" XXX + SG_ EP1_Fehlereintr : 32|1@1+ (1,0) [0|1] "" XXX + SG_ EP1_Freigabe_Ver : 33|1@1+ (1,0) [0|1] "" XXX SG_ EP1_AutoHold_zul : 34|1@1+ (1,0) [0|1] "" XXX - SG_ EP1_AutoHold_active : 35|1@1+ (1,0) [0|1] "" XXX + SG_ EP1_AutoHold_aktiv : 35|1@1+ (1,0) [0|1] "" XXX SG_ EP1_SleepInd : 36|1@1+ (1,0) [0|1] "" XXX SG_ EP1_Status_Kl_15 : 37|1@1+ (1,0) [0|1] "" XXX SG_ EP1_Lampe_AutoP : 38|1@1+ (1,0) [0|1] "" XXX @@ -797,9 +793,15 @@ BO_ 1472 EPB_1: 8 XXX SG_ EP1_Warnton2 : 41|1@1+ (1,0) [0|1] "" XXX SG_ EP1_AnfShLock : 42|1@1+ (1,0) [0|1] "" XXX SG_ EPB_Autoholdlampe : 43|1@1+ (1,0) [0|1] "" XXX + SG_ EP1_QualNeigWi : 44|1@1+ (1,0) [0|1] "" XXX SG_ EP1_KuppModBer : 45|2@1+ (1,0) [0|3] "" XXX SG_ EP1_HydrHalten : 47|1@1+ (1,0) [0|1] "" XXX - SG_ EP1_QualNeigWi : 44|1@1+ (1,0) [0|1] "" XXX + SG_ EP1_Fkt_Lampe : 48|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ EP1_Warnton : 49|1@1+ (1,0) [0|1] "" XXX + SG_ EP1_Fehler_BKL : 50|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ EP1_Fehler_gelb : 51|1@1+ (1,0) [0|1] "" XXX + SG_ EP1__Text : 52|4@1+ (1,0) [0|8] "" Vector__XXX + SG_ CHECKSUM : 56|8@1+ (1,0) [0|255] "" XXX BO_ 1326 Diag_Lenkhilfe: 3 XXX SG_ Werkstattcode__Diag_ : 16|8@1+ (1,0) [0|0] "" XXX @@ -1169,28 +1171,39 @@ BO_ 644 Motor_Bremse: 6 XXX SG_ MOB_Bremsstgr : 16|11@1+ (0.048852,0) [0|100] "Unit_PerCent" Vector__XXX SG_ MOB_Bremsmom : 27|13@1+ (4,0) [0|32760] "Unit_NewtoMeter" Bremse_MK25AESP -BO_ 870 AWV: 5 XXX - SG_ AWV_2_Gurtstraffer : 39|1@1+ (1,0) [0|1] "" Bremsbooster - SG_ AWV_Infoton : 38|1@1+ (1,0) [0|1] "" Gateway_Kbi_VW_A,Bremsbooster - SG_ AWV_2_Warnsymbol : 37|1@1+ (1,0) [0|1] "" Gateway_Kbi_VW_A,Bremsbooster - SG_ AWV_2_Warnton : 36|1@1+ (1,0) [0|1] "" Gateway_Kbi_VW_A,Bremsbooster - SG_ AWV_2_Ruckprofil : 33|3@1+ (1,0) [0|7] "" Bremsbooster - SG_ AWV_2_Freigabe : 32|1@1+ (1,0) [0|1] "" Bremsbooster - SG_ AWV_2_Umfeldwarn : 31|1@1+ (1,0) [0|1] "" Bremsbooster - SG_ AWV_2_SU_Lampe : 30|1@1+ (1,0) [0|1] "" Bremsbooster - SG_ AWV_2_SU_Gong : 29|1@1+ (1,0) [0|1] "" Bremsbooster - SG_ AWV_2_SU_Bremsruck : 28|1@1+ (1,0) [0|1] "" Bremsbooster - SG_ AWV_2_SU_Warnzeit : 26|2@1+ (1,0) [0|3] "" Bremsbooster - SG_ AWV_2_Fehler : 25|1@1+ (1,0) [0|1] "" Gateway_Kbi_VW_A,Bremsbooster - SG_ AWV_2_Status : 24|1@1+ (1,0) [0|1] "" Gateway_Kbi_VW_A,Bremsbooster - SG_ AWV_res_20 : 20|4@1+ (1,0) [0|0] "" Bremsbooster - SG_ AWV_1_Parameter : 18|2@1+ (1,0) [0|3] "" Bremsbooster - SG_ AWV_1_Prefill : 17|1@1+ (1,0) [0|1] "" Bremsbooster - SG_ AWV_1_Freigabe : 16|1@1+ (1,0) [0|1] "" Bremsbooster - SG_ AWV_Text : 12|4@1+ (1,0) [0|15] "" Gateway_Kbi_VW_A,Bremsbooster - SG_ AWV_Zaehler : 8|4@1+ (1,0) [0|15] "" Bremsbooster - SG_ AWV_Checksumme : 0|8@1+ (1,0) [0|255] "" Bremsbooster - +BO_ 870 AWV: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" Vector__XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" Vector__XXX + SG_ AWV_Text : 12|4@1+ (1,0) [0|14] "" Vector__XXX + SG_ AWV_1_Freigabe : 16|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ AWV_1_Prefill : 17|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ AWV_1_Parameter : 18|2@1+ (1,0) [0|3] "" Vector__XXX + SG_ AWV_only : 20|4@1+ (1,0) [0|0] "" Vector__XXX + SG_ AWV_CityANB_Auspraegung : 21|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ AWV_Halten : 22|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ ANB_Teilbremsung_Freigabe : 23|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ AWV_2_Status : 24|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ AWV_2_Fehler : 25|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ AWV_2_SU_Warnzeit : 26|2@1+ (1,0) [0|3] "" Vector__XXX + SG_ AWV_2_SU_Bremsruck : 28|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ AWV_2_SU_Gong : 29|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ AWV_2_SU_Lampe : 30|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ AWV_2_Umfeldwarn : 31|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ AWV_2_Freigabe : 32|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ AWV_2_Ruckprofil : 33|3@1+ (1,0) [0|7] "" Vector__XXX + SG_ AWV_2_Warnton : 36|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ AWV_2_Warnsymbol : 37|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ AWV_Infoton : 38|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ AWV_2_Gurtstraffer : 39|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ AWV_Konfiguration_Menueanf : 40|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ AWV_Konfiguration_Vorw_Menueanf : 41|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ AWV_Konfiguration_Status : 42|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ AWV_Konfiguration_Vorw_Status : 43|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ AWV_2_Abstandswarnung : 51|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ ANB_Zielbremsung_Freigabe : 52|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ ANB_CM_Anforderung : 53|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ ANB_Ziel_Teilbrems_Verz_Anf : 54|10@1+ (0.024,-20.016) [0|1023] "Unit_MeterPerSeconSquar" Vector__XXX + BO_ 1470 LDW_Status: 8 XXX SG_ LDW_Lernmodus_rechts : 0|2@1+ (1,0) [0|3] "" XXX SG_ LDW_Lernmodus_links : 2|2@1+ (1,0) [0|3] "" XXX @@ -1473,6 +1486,7 @@ CM_ SG_ 640 mechanisches_Motor_Verlustmomen "Mechanical Torque Loss"; CM_ SG_ 640 Fahrpedalwert_oder_Drosselklapp "Accelerator Pedal or Throttle Position"; CM_ SG_ 640 Motordrehzahl "Engine Speed"; CM_ SG_ 640 Momentenangaben_ungenau "Approximate Torque Values"; +CM_ SG_ 640 inneres_Motor_Moment_ohne_exter "Inner torque without external"; CM_ SG_ 644 MOB_CHECKSUM "Checksum MOB"; CM_ SG_ 644 MOB_COUNTER "Counter MOB"; @@ -1503,6 +1517,9 @@ CM_ SG_ 912 BSK_HD_Hauptraste "Status of trunk lid main detent"; CM_ SG_ 1088 Zaehler_Getriebe_1 "Counter Getriebe_1"; CM_ SG_ 1088 Waehlhebelposition__Getriebe_1_ "Gear Selector Position"; +CM_ SG_ 1088 inneres_Soll_Motormoment "Desired Inner Torque"; +CM_ SG_ 1088 Schaltabsicht "Shift Intent"; +CM_ SG_ 1088 Wandlerverlustmoment "Converter Torque Loss"; CM_ SG_ 1056 Fehlerstatus_Aussentemp__4_1 "ambient temp error"; CM_ SG_ 1056 Fehlerstatus_Oeltemperatur_4_1 "oil temp error"; @@ -1513,15 +1530,30 @@ CM_ SG_ 1056 Kuehlmitteltemp__4_1__Kombi_2_ "kombi coolant temperature"; CM_ SG_ 1096 Zaehler_Waehlhebel_1 "Counter Waehlhebel_1"; -CM_ SG_ 1152 Checksumme_Motor_5 "Checksum Motor_5"; +CM_ SG_ 1152 CHECKSUM "Checksum Motor_5"; +CM_ SG_ 1152 Anlasser_Ausspuren "Starter Disable"; +CM_ SG_ 1152 Anlasser_Freigabe "Starter Release"; +CM_ SG_ 1152 Klimadrucksignal__Motor_5_ "Air conditioning pressure signal"; +CM_ SG_ 1152 Kraftstoffverbrauchssignal "Fuel consumption signal"; +CM_ SG_ 1152 K_hlerluefteransteuerung "Cooling fan control signal"; +CM_ SG_ 1152 Klimakompressor_Leistungsreduzi "Air conditioning compressor power reduction flag"; +CM_ SG_ 1152 Klimakompressor_aus__Motor_5_ "Air conditioning compressor"; +CM_ SG_ 1152 Anlasser_Freigabe "Starter release"; +CM_ SG_ 1152 OBD_2_Lampe "OBD light"; +CM_ SG_ 1152 E_Gas_Lampe "ETB light"; +CM_ SG_ 1152 Ladekontroll_Lampe "Charge light"; +CM_ SG_ 1152 Vorgluehlampe__Motor_5_ "Glow light"; CM_ SG_ 1160 Zaehler_Motor_6 "Counter Motor_6"; CM_ SG_ 1160 Hoeheninfo__Motor_6_ "Altitude Correction"; -CM_ SG_ 1160 Istmoment_f_r_Getriebe "Actual Torque"; -CM_ SG_ 1160 Sollmoment_f_r_Getriebe "Target Torque"; +CM_ SG_ 1160 Istmoment_f_r_Getriebe "Actual torque for gear"; +CM_ SG_ 1160 Sollmoment_f_r_Getriebe "Target torque for gearbox"; CM_ SG_ 1160 Checksumme_Motor_6 "Checksum Motor_6"; +CM_ SG_ 1160 GRA_Sollbeschleunigung "GRA target acceleration"; +CM_ SG_ 1160 Ruckmeldung_Momenten "Feedback torque-integral gear intervention"; CM_ SG_ 1344 Zahler_Getriebe_2 "Counter Getriebe_2"; +CM_ SG_ 1344 Hochschaltlampe "Upshift Flag"; CM_ SG_ 1386 ACA_V_Wunsch "255=unset"; @@ -1536,6 +1568,9 @@ CM_ SG_ 1408 Ansaugsystem "Induction System"; CM_ SG_ 1408 Motorleistung "Maximum engine power"; CM_ SG_ 1416 Ladedruck "Boost Pressure"; +CM_ SG_ 1416 Motordrehzahlgradient "Engine speed gradient"; +CM_ SG_ 1416 Hoeheninfo__Motor_7_ "Altitude correction factor"; +CM_ SG_ 1416 Oltemperatur "Oil temperature"; CM_ SG_ 1470 LDW_Direction "0=right,1=left"; CM_ SG_ 1470 XX_DLCORTLC1 "Might be DLC or TLC"; @@ -1543,6 +1578,34 @@ CM_ SG_ 1470 XX_DLCORTLC2 "Might be DLC or TLC, might have wrong size"; CM_ SG_ 1550 MFA_v_Signal_02 "0=km/h, 1=mph"; +VAL_ 870 AWV_Text 0 "kein_Text" 1 "FrontAssist_aus" 2 "FrontAssist_startet" 3 "FrontAssist_Warnung" 4 "FrontAssist_Sens_reinig" 5 "FrontAssist_Failure" 6 "FrontAssist_Demo" 7 "Vorhalt" 8 "Bremsung_wird_gerade_durchgefuehrt" 9 "Sensor_not_verfuegbar" 10 "Sensor_reinigen" 11 "Service_notwendig_Failure" 12 "Funktion_vom_Fahrer_deactivated" 13 "Funktion_vom_Fahrer_activated" 14 "FrontAssist_zur_Zeit_not_verfuegbar__rev_Failure"; +VAL_ 870 AWV_1_Freigabe 0 "nicht_freigegeben" 1 "freigegeben"; +VAL_ 870 AWV_1_Prefill 0 "keine_Prefill_Anf" 1 "Prefill_Anf"; +VAL_ 870 AWV_1_Parameter 0 "Defaultparametersatz" 1 "Par_leicht_erh_Empf" 2 "Par_erh_Empf" 3 "Par_hoechster_Empf"; +VAL_ 870 AWV_only 0 "ACC_und_AWV_verbaut" 1 "AWV_ohne_ACC_verbaut"; +VAL_ 870 AWV_CityANB_Auspraegung 0 "autom_Bremsung_im_ges_vBereich" 1 "autom_Bremsung_im_def_vBereich"; +VAL_ 870 AWV_Halten 0 "keine_Anforderung" 1 "Anforderung_das_Fzg_im_Stillstand_zu_halten"; +VAL_ 870 ANB_Teilbremsung_Freigabe 0 "Teilbremsung_nicht_freigegeben" 1 "Teilbremsung_freigegeben"; +VAL_ 870 AWV_2_Status 0 "Lampe_aus" 1 "Lampe_ein"; +VAL_ 870 AWV_2_Fehler 0 "Lampe_aus" 1 "Lampe_ein"; +VAL_ 870 AWV_2_SU_Warnzeit 0 "frueh" 1 "normal" 2 "spaet" 3 "adaptiv"; +VAL_ 870 AWV_2_SU_Bremsruck 0 "Bremsruck_deaktiviert" 1 "Bremsruck_aktiviert"; +VAL_ 870 AWV_2_SU_Gong 0 "Gong_deaktiviert" 1 "Gong_aktiviert"; +VAL_ 870 AWV_2_SU_Lampe 0 "Lampe_deaktiviert" 1 "Lampe_aktiviert"; +VAL_ 870 AWV_2_Umfeldwarn 0 "keine_Warnung" 1 "Warnung"; +VAL_ 870 AWV_2_Freigabe 0 "keine_Ruckfreigabe" 1 "Ruckfreigabe"; +VAL_ 870 AWV_2_Ruckprofil 0 "kein_Ruck" 1 "Ruckprofil_1" 2 "Ruckprofil_2" 3 "Ruckprofil_3" 4 "Ruckprofil_4" 5 "Ruckprofil_5" 6 "not_erlaubt" 7 "not_erlaubt"; +VAL_ 870 AWV_2_Warnton 0 "Aus" 1 "Ein"; +VAL_ 870 AWV_2_Warnsymbol 0 "Aus" 1 "Ein"; +VAL_ 870 AWV_Infoton 0 "Aus" 1 "Ein"; +VAL_ 870 AWV_2_Gurtstraffer 0 "Gurt_not_straffen" 1 "Gurt_straffen"; +VAL_ 870 AWV_Konfiguration_Menueanf 0 "Menue_deaktivieren" 1 "Menue_aktivieren"; +VAL_ 870 AWV_Konfiguration_Vorw_Menueanf 0 "Menue_deaktivieren" 1 "Menue_aktivieren"; +VAL_ 870 AWV_Konfiguration_Status 0 "AWV_inaktiv" 1 "AWV_aktiv"; +VAL_ 870 AWV_Konfiguration_Vorw_Status 0 "AWV_Vorwarnung_inaktiv" 1 "AWV_Vorwarnung_aktiv"; +VAL_ 870 AWV_2_Abstandswarnung 0 "kein_Warnhinweis" 1 "Warnhinweis"; +VAL_ 870 ANB_Zielbremsung_Freigabe 0 "Zielbremsung_nicht_freigegeben" 1 "Zielbremsung_freigegeben"; +VAL_ 870 ANB_CM_Anforderung 0 "keine_Anforderung" 1 "Anforderung_aktiv"; VAL_ 872 ACS_Sta_ADR 2 "ADR_passiv" 0 "ADR_nicht_aktiv" 1 "ADR_aktiv" 3 "irrev_Fehler" ; VAL_ 872 ACS_ADR_Schub 1 "Verz_begr_auf_Schub" 0 "Verz_nicht_begr_auf_Schub" ; @@ -1577,3 +1640,30 @@ VAL_ 1386 ACA_ID_StaGRA 0 "keine_Anzeige" ; VAL_ 1386 ACA_Codierung 0 "ACC" 1 "GRA" ; VAL_ 1386 ACA_Tachokranz 0 "nicht_beleuchtet" 1 "beleuchtet" ; VAL_ 1386 ACA_Aend_Zeitluecke 1 "Anzeige_angef" 0 "keine_Anzeige" ; + +VAL_ 1472 EP1_Fehler_Sta 0 "volle_Funktion" 1 "linke_Seite_fehlerhaft" 2 "rechte_Seite_fehlerhaft" 3 "beide_Seiten_fehlerhaft"; +VAL_ 1472 EP1_Sta_EPB 0 "Bremse_geoeffnet" 1 "Bremse_geschlossen"; +VAL_ 1472 EP1_Sta_Schalter 0 "volle_Funktion" 1 "Schalter_ausser_Funktion"; +VAL_ 1472 EP1_Spannkraft 31 "Fehler"; +VAL_ 1472 EP1_Schalterinfo 0 "keine_Fahreranforderung" 1 "Fahreranforderung_oeffnen" 2 "Fahreranforderung_schliessen" 3 "Schalterfehler"; +VAL_ 1472 EP1_Sta_NWS 0 "volle_Funktion" 1 "keine_Funktion"; +VAL_ 1472 EP1_Fehlereintr 0 "kein_Fehlerspeichereintrag" 1 "Fehlerspeichereintrag"; +VAL_ 1472 EP1_Freigabe_Ver 0 "Verzoegerungsanf_nicht_freigegeb" 1 "Verzoegerungsanf_freigegeben"; +VAL_ 1472 EP1_AutoHold_zul 0 "Pers_nicht_zulaessig" 1 "Pers_zulaessig"; +VAL_ 1472 EP1_AutoHold_aktiv 0 "nein" 1 "ja"; +VAL_ 1472 EP1_SleepInd 0 "CAN_wird_benoetigt" 1 "Sleep_bereit"; +VAL_ 1472 EP1_Status_Kl_15 0 "Kl_15_aus" 1 "Kl_15_ein"; +VAL_ 1472 EP1_Lampe_AutoP 0 "Lampe_aus" 1 "Lampe_ein"; +VAL_ 1472 EP1_Bremslicht 0 "Aus" 1 "Ein"; +VAL_ 1472 EP1_Warnton1 0 "Aus" 1 "Ein"; +VAL_ 1472 EP1_Warnton2 0 "Aus" 1 "Ein"; +VAL_ 1472 EP1_AnfShLock 0 "Aus" 1 "Ein"; +VAL_ 1472 EPB_Autoholdlampe 0 "Lampe_aus" 1 "Lampe_ein"; +VAL_ 1472 EP1_QualNeigWi 0 "gueltiger_Wert" 1 "Ersatz_Init_oder_Fehlerwert"; +VAL_ 1472 EP1_KuppModBer 0 "Kuppsensor_aus_Modbereich" 1 "Kupplsensor_im_Modbereich" 2 "Sensorsignal_ungenau" 3 "Sensor_defekt"; +VAL_ 1472 EP1_HydrHalten 0 "Fzg_nicht_hydr_geh" 1 "Fzg_hydr_geh"; +VAL_ 1472 EP1_Fkt_Lampe 0 "Lampe_aus" 1 "Lampe_ein"; +VAL_ 1472 EP1_Warnton 0 "Warnton_aus" 1 "Warnton_an"; +VAL_ 1472 EP1_Fehler_BKL 0 "BKL_aus" 1 "BKL_an"; +VAL_ 1472 EP1_Fehler_gelb 0 "Lampe_aus" 1 "Lampe_ein"; +VAL_ 1472 EP1__Text 0 "kein_Text" 1 "Text_1" 2 "Text_2" 3 "Text_3" 4 "Text_4" 5 "Text_5" 6 "reserviert" 7 "reserviert" 8 "Text_8"; diff --git a/panda/__init__.py b/panda/__init__.py index 8b43e9938..d3a558f43 100644 --- a/panda/__init__.py +++ b/panda/__init__.py @@ -1,4 +1,4 @@ -from .python.constants import McuType, BASEDIR # noqa: F401 +from .python.constants import McuType, BASEDIR, FW_PATH # noqa: F401 from .python.serial import PandaSerial # noqa: F401 from .python import (Panda, PandaDFU, # noqa: F401 pack_can_buffer, unpack_can_buffer, calculate_checksum, diff --git a/panda/board/can_comms.h b/panda/board/can_comms.h index 02bc0aef3..980d12ba8 100644 --- a/panda/board/can_comms.h +++ b/panda/board/can_comms.h @@ -100,6 +100,8 @@ void comms_can_write(uint8_t *data, uint32_t len) { pos += can_write_buffer.ptr; } } + + refresh_can_tx_slots_available(); } void comms_can_reset(void) { @@ -110,8 +112,11 @@ void comms_can_reset(void) { } // TODO: make this more general! -void usb_cb_ep3_out_complete(void) { - if (can_tx_check_min_slots_free(MAX_CAN_MSGS_PER_BULK_TRANSFER)) { - usb_outep3_resume_if_paused(); +void refresh_can_tx_slots_available(void) { + if (can_tx_check_min_slots_free(MAX_CAN_MSGS_PER_USB_BULK_TRANSFER)) { + can_tx_comms_resume_usb(); + } + if (can_tx_check_min_slots_free(MAX_CAN_MSGS_PER_SPI_BULK_TRANSFER)) { + can_tx_comms_resume_spi(); } } diff --git a/panda/board/config.h b/panda/board/config.h index 12b514007..903161876 100644 --- a/panda/board/config.h +++ b/panda/board/config.h @@ -13,7 +13,8 @@ #define CAN_INIT_TIMEOUT_MS 500U #define DEEPSLEEP_WAKEUP_DELAY 3U #define USBPACKET_MAX_SIZE 0x40U -#define MAX_CAN_MSGS_PER_BULK_TRANSFER 51U +#define MAX_CAN_MSGS_PER_USB_BULK_TRANSFER 51U +#define MAX_CAN_MSGS_PER_SPI_BULK_TRANSFER 170U #define VIN_READOUT_DIVIDER 11U diff --git a/panda/board/drivers/bxcan.h b/panda/board/drivers/bxcan.h index 815ef0fe1..15e34d038 100644 --- a/panda/board/drivers/bxcan.h +++ b/panda/board/drivers/bxcan.h @@ -151,7 +151,7 @@ void process_can(uint8_t can_number) { can_health[can_number].total_tx_checksum_error_cnt += 1U; } - usb_cb_ep3_out_complete(); + refresh_can_tx_slots_available(); } } diff --git a/panda/board/drivers/can_common.h b/panda/board/drivers/can_common.h index 3f2f0830a..be6b5b2a5 100644 --- a/panda/board/drivers/can_common.h +++ b/panda/board/drivers/can_common.h @@ -147,7 +147,7 @@ void can_clear(can_ring *q) { q->r_ptr = 0; EXIT_CRITICAL(); // handle TX buffer full with zero ECUs awake on the bus - usb_cb_ep3_out_complete(); + refresh_can_tx_slots_available(); } // assign CAN numbering diff --git a/panda/board/drivers/fdcan.h b/panda/board/drivers/fdcan.h index 4dcc3fdf4..4fe583dfb 100644 --- a/panda/board/drivers/fdcan.h +++ b/panda/board/drivers/fdcan.h @@ -119,7 +119,7 @@ void process_can(uint8_t can_number) { can_health[can_number].total_tx_checksum_error_cnt += 1U; } - usb_cb_ep3_out_complete(); + refresh_can_tx_slots_available(); } } @@ -134,85 +134,83 @@ void can_rx(uint8_t can_number) { FDCAN_GlobalTypeDef *CANx = CANIF_FROM_CAN_NUM(can_number); uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number); - // Rx FIFO 0 new message - if((CANx->IR & FDCAN_IR_RF0N) != 0) { - CANx->IR |= FDCAN_IR_RF0N; - while((CANx->RXF0S & FDCAN_RXF0S_F0FL) != 0) { - can_health[can_number].total_rx_cnt += 1U; + // Clear all new messages from Rx FIFO 0 + CANx->IR |= FDCAN_IR_RF0N; + while((CANx->RXF0S & FDCAN_RXF0S_F0FL) != 0) { + can_health[can_number].total_rx_cnt += 1U; - // can is live - pending_can_live = 1; + // can is live + pending_can_live = 1; - // get the index of the next RX FIFO element (0 to FDCAN_RX_FIFO_0_EL_CNT - 1) - uint8_t rx_fifo_idx = (uint8_t)((CANx->RXF0S >> FDCAN_RXF0S_F0GI_Pos) & 0x3F); + // get the index of the next RX FIFO element (0 to FDCAN_RX_FIFO_0_EL_CNT - 1) + uint8_t rx_fifo_idx = (uint8_t)((CANx->RXF0S >> FDCAN_RXF0S_F0GI_Pos) & 0x3F); - // Recommended to offset get index by at least +1 if RX FIFO is in overwrite mode and full (datasheet) - if((CANx->RXF0S & FDCAN_RXF0S_F0F) == FDCAN_RXF0S_F0F) { - rx_fifo_idx = ((rx_fifo_idx + 1U) >= FDCAN_RX_FIFO_0_EL_CNT) ? 0U : (rx_fifo_idx + 1U); - can_health[can_number].total_rx_lost_cnt += 1U; // At least one message was lost - } - - uint32_t RxFIFO0SA = FDCAN_START_ADDRESS + (can_number * FDCAN_OFFSET); - CANPacket_t to_push; - canfd_fifo *fifo; - - // getting address - fifo = (canfd_fifo *)(RxFIFO0SA + (rx_fifo_idx * FDCAN_RX_FIFO_0_EL_SIZE)); - - to_push.returned = 0U; - to_push.rejected = 0U; - to_push.extended = (fifo->header[0] >> 30) & 0x1U; - to_push.addr = ((to_push.extended != 0U) ? (fifo->header[0] & 0x1FFFFFFFU) : ((fifo->header[0] >> 18) & 0x7FFU)); - to_push.bus = bus_number; - to_push.data_len_code = ((fifo->header[1] >> 16) & 0xFU); - - bool canfd_frame = ((fifo->header[1] >> 21) & 0x1U); - bool brs_frame = ((fifo->header[1] >> 20) & 0x1U); - - uint8_t data_len_w = (dlc_to_len[to_push.data_len_code] / 4U); - data_len_w += ((dlc_to_len[to_push.data_len_code] % 4U) > 0U) ? 1U : 0U; - for (unsigned int i = 0; i < data_len_w; i++) { - WORD_TO_BYTE_ARRAY(&to_push.data[i*4U], fifo->data_word[i]); - } - can_set_checksum(&to_push); - - // forwarding (panda only) - int bus_fwd_num = safety_fwd_hook(bus_number, to_push.addr); - if (bus_fwd_num != -1) { - CANPacket_t to_send; - - to_send.returned = 0U; - to_send.rejected = 0U; - to_send.extended = to_push.extended; - to_send.addr = to_push.addr; - to_send.bus = to_push.bus; - to_send.data_len_code = to_push.data_len_code; - (void)memcpy(to_send.data, to_push.data, dlc_to_len[to_push.data_len_code]); - can_set_checksum(&to_send); - - can_send(&to_send, bus_fwd_num, true); - can_health[can_number].total_fwd_cnt += 1U; - } - - safety_rx_invalid += safety_rx_hook(&to_push) ? 0U : 1U; - ignition_can_hook(&to_push); - - current_board->set_led(LED_BLUE, true); - rx_buffer_overflow += can_push(&can_rx_q, &to_push) ? 0U : 1U; - - // Enable CAN FD and BRS if CAN FD message was received - if (!(bus_config[can_number].canfd_enabled) && (canfd_frame)) { - bus_config[can_number].canfd_enabled = true; - } - if (!(bus_config[can_number].brs_enabled) && (brs_frame)) { - bus_config[can_number].brs_enabled = true; - } - - // update read index - CANx->RXF0A = rx_fifo_idx; + // Recommended to offset get index by at least +1 if RX FIFO is in overwrite mode and full (datasheet) + if((CANx->RXF0S & FDCAN_RXF0S_F0F) == FDCAN_RXF0S_F0F) { + rx_fifo_idx = ((rx_fifo_idx + 1U) >= FDCAN_RX_FIFO_0_EL_CNT) ? 0U : (rx_fifo_idx + 1U); + can_health[can_number].total_rx_lost_cnt += 1U; // At least one message was lost } + uint32_t RxFIFO0SA = FDCAN_START_ADDRESS + (can_number * FDCAN_OFFSET); + CANPacket_t to_push; + canfd_fifo *fifo; + + // getting address + fifo = (canfd_fifo *)(RxFIFO0SA + (rx_fifo_idx * FDCAN_RX_FIFO_0_EL_SIZE)); + + to_push.returned = 0U; + to_push.rejected = 0U; + to_push.extended = (fifo->header[0] >> 30) & 0x1U; + to_push.addr = ((to_push.extended != 0U) ? (fifo->header[0] & 0x1FFFFFFFU) : ((fifo->header[0] >> 18) & 0x7FFU)); + to_push.bus = bus_number; + to_push.data_len_code = ((fifo->header[1] >> 16) & 0xFU); + + bool canfd_frame = ((fifo->header[1] >> 21) & 0x1U); + bool brs_frame = ((fifo->header[1] >> 20) & 0x1U); + + uint8_t data_len_w = (dlc_to_len[to_push.data_len_code] / 4U); + data_len_w += ((dlc_to_len[to_push.data_len_code] % 4U) > 0U) ? 1U : 0U; + for (unsigned int i = 0; i < data_len_w; i++) { + WORD_TO_BYTE_ARRAY(&to_push.data[i*4U], fifo->data_word[i]); + } + can_set_checksum(&to_push); + + // forwarding (panda only) + int bus_fwd_num = safety_fwd_hook(bus_number, to_push.addr); + if (bus_fwd_num != -1) { + CANPacket_t to_send; + + to_send.returned = 0U; + to_send.rejected = 0U; + to_send.extended = to_push.extended; + to_send.addr = to_push.addr; + to_send.bus = to_push.bus; + to_send.data_len_code = to_push.data_len_code; + (void)memcpy(to_send.data, to_push.data, dlc_to_len[to_push.data_len_code]); + can_set_checksum(&to_send); + + can_send(&to_send, bus_fwd_num, true); + can_health[can_number].total_fwd_cnt += 1U; + } + + safety_rx_invalid += safety_rx_hook(&to_push) ? 0U : 1U; + ignition_can_hook(&to_push); + + current_board->set_led(LED_BLUE, true); + rx_buffer_overflow += can_push(&can_rx_q, &to_push) ? 0U : 1U; + + // Enable CAN FD and BRS if CAN FD message was received + if (!(bus_config[can_number].canfd_enabled) && (canfd_frame)) { + bus_config[can_number].canfd_enabled = true; + } + if (!(bus_config[can_number].brs_enabled) && (brs_frame)) { + bus_config[can_number].brs_enabled = true; + } + + // update read index + CANx->RXF0A = rx_fifo_idx; } + // Error handling bool error_irq = ((CANx->IR & (FDCAN_IR_PED | FDCAN_IR_PEA | FDCAN_IR_EW | FDCAN_IR_EP | FDCAN_IR_ELO | FDCAN_IR_BO | FDCAN_IR_TEFL | FDCAN_IR_RF0L)) != 0); update_can_health_pkt(can_number, error_irq); diff --git a/panda/board/drivers/interrupts.h b/panda/board/drivers/interrupts.h index ad1ec5c02..c03d40d56 100644 --- a/panda/board/drivers/interrupts.h +++ b/panda/board/drivers/interrupts.h @@ -46,8 +46,7 @@ void handle_interrupt(IRQn_Type irq_type){ interrupts[irq_type].handler(); // Check that the interrupts don't fire too often - if(check_interrupt_rate && (interrupts[irq_type].call_counter > interrupts[irq_type].max_call_rate)){ - print("Interrupt 0x"); puth(irq_type); print(" fired too often (0x"); puth(interrupts[irq_type].call_counter); print("/s)!\n"); + if (check_interrupt_rate && (interrupts[irq_type].call_counter > interrupts[irq_type].max_call_rate)) { fault_occurred(interrupts[irq_type].call_rate_fault); } @@ -64,8 +63,13 @@ void handle_interrupt(IRQn_Type irq_type){ // Every second void interrupt_timer_handler(void) { if (INTERRUPT_TIMER->SR != 0) { - // Reset interrupt counters - for(uint16_t i=0U; i interrupts[i].max_call_rate)) { + print("Interrupt 0x"); puth(i); print(" fired too often (0x"); puth(interrupts[i].call_counter); print("/s)!\n"); + } + + // Reset interrupt counters interrupts[i].call_counter = 0U; } diff --git a/panda/board/drivers/spi.h b/panda/board/drivers/spi.h index a18597498..ed88f6ea8 100644 --- a/panda/board/drivers/spi.h +++ b/panda/board/drivers/spi.h @@ -37,7 +37,7 @@ uint8_t spi_endpoint; uint16_t spi_data_len_mosi; uint16_t spi_data_len_miso; uint16_t spi_checksum_error_count = 0; - +bool spi_can_tx_ready = false; #define SPI_HEADER_SIZE 7U @@ -46,6 +46,10 @@ void llspi_init(void); void llspi_mosi_dma(uint8_t *addr, int len); void llspi_miso_dma(uint8_t *addr, int len); +void can_tx_comms_resume_spi(void) { + spi_can_tx_ready = true; +} + void spi_init(void) { // platform init llspi_init(); @@ -114,8 +118,14 @@ void spi_rx_done(void) { response_ack = true; } else if (spi_endpoint == 3U) { if (spi_data_len_mosi > 0U) { - comms_can_write(&spi_buf_rx[SPI_HEADER_SIZE], spi_data_len_mosi); - response_ack = true; + if (spi_can_tx_ready) { + spi_can_tx_ready = false; + comms_can_write(&spi_buf_rx[SPI_HEADER_SIZE], spi_data_len_mosi); + response_ack = true; + } else { + response_ack = false; + print("SPI: CAN NACK\n"); + } } else { print("SPI: did expect data for can_write\n"); } @@ -126,7 +136,7 @@ void spi_rx_done(void) { // Checksum was incorrect response_ack = false; print("- incorrect data checksum "); - puth2(spi_data_len_mosi); + puth4(spi_data_len_mosi); print("\n"); hexdump(spi_buf_rx, SPI_HEADER_SIZE); hexdump(&(spi_buf_rx[SPI_HEADER_SIZE]), MIN(spi_data_len_mosi, 64)); diff --git a/panda/board/drivers/usb.h b/panda/board/drivers/usb.h index 469299d74..d10bed15e 100644 --- a/panda/board/drivers/usb.h +++ b/panda/board/drivers/usb.h @@ -27,8 +27,7 @@ bool usb_enumerated = false; uint16_t usb_last_frame_num = 0U; void usb_init(void); -void usb_cb_ep3_out_complete(void); -void usb_outep3_resume_if_paused(void); +void refresh_can_tx_slots_available(void); // **** supporting defines **** @@ -808,7 +807,7 @@ void usb_irqhandler(void) { #endif // NAK cleared by process_can (if tx buffers have room) outep3_processing = false; - usb_cb_ep3_out_complete(); + refresh_can_tx_slots_available(); } else if ((USBx_OUTEP(3)->DOEPINT & 0x2000) != 0) { #ifdef DEBUG_USB print(" OUT3 PACKET WTF\n"); @@ -926,7 +925,7 @@ void usb_irqhandler(void) { //USBx->GINTMSK = 0xFFFFFFFF & ~(USB_OTG_GINTMSK_NPTXFEM | USB_OTG_GINTMSK_PTXFEM | USB_OTG_GINTSTS_SOF | USB_OTG_GINTSTS_EOPF); } -void usb_outep3_resume_if_paused(void) { +void can_tx_comms_resume_usb(void) { ENTER_CRITICAL(); if (!outep3_processing && (USBx_OUTEP(3)->DOEPCTL & USB_OTG_DOEPCTL_NAKSTS) != 0) { USBx_OUTEP(3)->DOEPTSIZ = (32U << 19) | 0x800U; diff --git a/panda/board/faults.h b/panda/board/faults.h index 294ac1176..6c6bef475 100644 --- a/panda/board/faults.h +++ b/panda/board/faults.h @@ -38,18 +38,20 @@ uint8_t fault_status = FAULT_STATUS_NONE; uint32_t faults = 0U; void fault_occurred(uint32_t fault) { - faults |= fault; - if((PERMANENT_FAULTS & fault) != 0U){ - print("Permanent fault occurred: 0x"); puth(fault); print("\n"); - fault_status = FAULT_STATUS_PERMANENT; - } else { - print("Temporary fault occurred: 0x"); puth(fault); print("\n"); - fault_status = FAULT_STATUS_TEMPORARY; + if ((faults & fault) == 0U) { + if ((PERMANENT_FAULTS & fault) != 0U) { + print("Permanent fault occurred: 0x"); puth(fault); print("\n"); + fault_status = FAULT_STATUS_PERMANENT; + } else { + print("Temporary fault occurred: 0x"); puth(fault); print("\n"); + fault_status = FAULT_STATUS_TEMPORARY; + } } + faults |= fault; } void fault_recovered(uint32_t fault) { - if((PERMANENT_FAULTS & fault) == 0U){ + if ((PERMANENT_FAULTS & fault) == 0U) { faults &= ~fault; } else { print("Cannot recover from a permanent fault!\n"); diff --git a/panda/board/flasher.h b/panda/board/flasher.h index 97d81096e..bcd98daf0 100644 --- a/panda/board/flasher.h +++ b/panda/board/flasher.h @@ -110,7 +110,7 @@ int comms_can_read(uint8_t *data, uint32_t max_len) { return 0; } -void usb_cb_ep3_out_complete(void) {} +void refresh_can_tx_slots_available(void) {} void comms_endpoint2_write(uint8_t *data, uint32_t len) { current_board->set_led(LED_RED, 0); diff --git a/panda/board/pedal/main.c b/panda/board/pedal/main.c index e6b197cf7..eb4046610 100644 --- a/panda/board/pedal/main.c +++ b/panda/board/pedal/main.c @@ -54,7 +54,7 @@ void comms_endpoint2_write(uint8_t *data, uint32_t len) { UNUSED(data); UNUSED(len); } -void usb_cb_ep3_out_complete(void) {} +void refresh_can_tx_slots_available(void) {} int comms_control_handler(ControlPacket_t *req, uint8_t *resp) { unsigned int resp_len = 0; diff --git a/panda/board/safety/safety_tesla.h b/panda/board/safety/safety_tesla.h index 484cb8412..676670aaa 100644 --- a/panda/board/safety/safety_tesla.h +++ b/panda/board/safety/safety_tesla.h @@ -2,11 +2,11 @@ const SteeringLimits TESLA_STEERING_LIMITS = { .angle_deg_to_can = 10, .angle_rate_up_lookup = { {0., 5., 15.}, - {5., .8, .15} + {10., 1.6, .3} }, .angle_rate_down_lookup = { {0., 5., 15.}, - {5., 3.5, .4} + {10., 7.0, .8} }, }; diff --git a/panda/board/stm32h7/llspi.h b/panda/board/stm32h7/llspi.h index ad1dc4d7b..c04934f55 100644 --- a/panda/board/stm32h7/llspi.h +++ b/panda/board/stm32h7/llspi.h @@ -51,12 +51,9 @@ void llspi_miso_dma(uint8_t *addr, int len) { // master -> panda DMA finished void DMA2_Stream2_IRQ_Handler(void) { // Clear interrupt flag - ENTER_CRITICAL(); DMA2->LIFCR = DMA_LIFCR_CTCIF2; spi_rx_done(); - - EXIT_CRITICAL(); } // panda -> master DMA finished @@ -71,8 +68,6 @@ void DMA2_Stream3_IRQ_Handler(void) { // panda TX finished void SPI4_IRQ_Handler(void) { - ENTER_CRITICAL(); - // clear flag SPI4->IFCR |= (0x1FFU << 3U); @@ -80,8 +75,6 @@ void SPI4_IRQ_Handler(void) { spi_tx_dma_done = false; spi_tx_done(false); } - - EXIT_CRITICAL(); } diff --git a/panda/python/__init__.py b/panda/python/__init__.py index 0849f0a75..68f01439a 100644 --- a/panda/python/__init__.py +++ b/panda/python/__init__.py @@ -14,7 +14,7 @@ from typing import Optional from itertools import accumulate from .base import BaseHandle -from .constants import McuType +from .constants import FW_PATH, McuType from .dfu import PandaDFU from .isotp import isotp_send, isotp_recv from .spi import PandaSpiHandle, PandaSpiException @@ -401,14 +401,16 @@ class Panda: return [] def reset(self, enter_bootstub=False, enter_bootloader=False, reconnect=True): + # no response is expected since it resets right away + timeout = 5000 if isinstance(self._handle, PandaSpiHandle) else 15000 try: if enter_bootloader: - self._handle.controlWrite(Panda.REQUEST_IN, 0xd1, 0, 0, b'') + self._handle.controlWrite(Panda.REQUEST_IN, 0xd1, 0, 0, b'', timeout=timeout, expect_disconnect=True) else: if enter_bootstub: - self._handle.controlWrite(Panda.REQUEST_IN, 0xd1, 1, 0, b'') + self._handle.controlWrite(Panda.REQUEST_IN, 0xd1, 1, 0, b'', timeout=timeout, expect_disconnect=True) else: - self._handle.controlWrite(Panda.REQUEST_IN, 0xd8, 0, 0, b'') + self._handle.controlWrite(Panda.REQUEST_IN, 0xd8, 0, 0, b'', timeout=timeout, expect_disconnect=True) except Exception: pass if not enter_bootloader and reconnect: @@ -477,13 +479,13 @@ class Panda: # reset logging.warning("flash: resetting") try: - handle.controlWrite(Panda.REQUEST_IN, 0xd8, 0, 0, b'') + handle.controlWrite(Panda.REQUEST_IN, 0xd8, 0, 0, b'', expect_disconnect=True) except Exception: pass def flash(self, fn=None, code=None, reconnect=True): if not fn: - fn = self._mcu_type.config.app_path + fn = os.path.join(FW_PATH, self._mcu_type.config.app_fn) assert os.path.isfile(fn) logging.debug("flash: main version is %s", self.get_version()) if not self.bootstub: @@ -523,18 +525,33 @@ class Panda: return True @staticmethod - def wait_for_dfu(dfu_serial: str, timeout: Optional[int] = None) -> bool: + def wait_for_dfu(dfu_serial: Optional[str], timeout: Optional[int] = None) -> bool: t_start = time.monotonic() - while dfu_serial not in PandaDFU.list(): + dfu_list = PandaDFU.list() + while (dfu_serial is None and len(dfu_list) == 0) or (dfu_serial is not None and dfu_serial not in dfu_list): logging.debug("waiting for DFU...") time.sleep(0.1) if timeout is not None and (time.monotonic() - t_start) > timeout: return False + dfu_list = PandaDFU.list() + return True + + @staticmethod + def wait_for_panda(serial: Optional[str], timeout: int) -> bool: + t_start = time.monotonic() + serials = Panda.list() + while (serial is None and len(serials) == 0) or (serial is not None and serial not in serials): + logging.debug("waiting for panda...") + time.sleep(0.1) + if timeout is not None and (time.monotonic() - t_start) > timeout: + return False + serials = Panda.list() return True def up_to_date(self) -> bool: current = self.get_signature() - expected = Panda.get_signature_from_firmware(self.get_mcu_type().config.app_path) + fn = os.path.join(FW_PATH, self.get_mcu_type().config.app_fn) + expected = Panda.get_signature_from_firmware(fn) return (current == expected) def call_control_api(self, msg): @@ -617,12 +634,6 @@ class Panda: # ******************* control ******************* - def enter_bootloader(self): - try: - self._handle.controlWrite(Panda.REQUEST_OUT, 0xd1, 0, 0, b'') - except Exception: - logging.exception("exception while entering bootloader") - def get_version(self): return self._handle.controlRead(Panda.REQUEST_IN, 0xd6, 0, 0, 0x40).decode('utf8') diff --git a/panda/python/constants.py b/panda/python/constants.py index c55fd2c9b..4c3e778ad 100644 --- a/panda/python/constants.py +++ b/panda/python/constants.py @@ -3,7 +3,7 @@ import enum from typing import List, NamedTuple BASEDIR = os.path.join(os.path.dirname(os.path.realpath(__file__)), "../") - +FW_PATH = os.path.join(BASEDIR, "board/obj/") class McuConfig(NamedTuple): mcu: str @@ -13,9 +13,9 @@ class McuConfig(NamedTuple): sector_sizes: List[int] serial_number_address: int app_address: int - app_path: str + app_fn: str bootstub_address: int - bootstub_path: str + bootstub_fn: str Fx = ( 0x1FFF7A10, @@ -23,9 +23,9 @@ Fx = ( [0x4000 for _ in range(4)] + [0x10000] + [0x20000 for _ in range(11)], 0x1FFF79C0, 0x8004000, - os.path.join(BASEDIR, "board", "obj", "panda.bin.signed"), + "panda.bin.signed", 0x8000000, - os.path.join(BASEDIR, "board", "obj", "bootstub.panda.bin"), + "bootstub.panda.bin", ) F2Config = McuConfig("STM32F2", 0x411, *Fx) F4Config = McuConfig("STM32F4", 0x463, *Fx) @@ -39,9 +39,9 @@ H7Config = McuConfig( [0x20000 for _ in range(7)], 0x080FFFC0, 0x8020000, - os.path.join(BASEDIR, "board", "obj", "panda_h7.bin.signed"), + "panda_h7.bin.signed", 0x8000000, - os.path.join(BASEDIR, "board", "obj", "bootstub.panda_h7.bin"), + "bootstub.panda_h7.bin", ) @enum.unique diff --git a/panda/python/dfu.py b/panda/python/dfu.py index f724bf15d..bebc243ce 100644 --- a/panda/python/dfu.py +++ b/panda/python/dfu.py @@ -1,3 +1,4 @@ +import os import usb1 import struct import binascii @@ -6,7 +7,7 @@ from typing import List, Optional from .base import BaseSTBootloaderHandle from .spi import STBootloaderSPIHandle, PandaSpiException from .usb import STBootloaderUSBHandle -from .constants import McuType +from .constants import FW_PATH, McuType class PandaDFU: @@ -110,10 +111,10 @@ class PandaDFU: self._handle.erase_bootstub() self._handle.erase_app() self._handle.program(self._mcu_type.config.bootstub_address, code_bootstub) - self.reset() def recover(self): - with open(self._mcu_type.config.bootstub_path, "rb") as f: + fn = os.path.join(FW_PATH, self._mcu_type.config.bootstub_fn) + with open(fn, "rb") as f: code = f.read() self.program_bootstub(code) - + self.reset() diff --git a/panda/python/spi.py b/panda/python/spi.py index e427bea86..22d257b29 100644 --- a/panda/python/spi.py +++ b/panda/python/spi.py @@ -116,54 +116,64 @@ class PandaSpiHandle(BaseHandle): raise PandaSpiMissingAck - def _transfer(self, spi, endpoint: int, data, timeout: int, max_rx_len: int = 1000) -> bytes: + def _transfer(self, spi, endpoint: int, data, timeout: int, max_rx_len: int = 1000, expect_disconnect: bool = False) -> bytes: logging.debug("starting transfer: endpoint=%d, max_rx_len=%d", endpoint, max_rx_len) logging.debug("==============================================") + n = 0 + start_time = time.monotonic() exc = PandaSpiException() - for n in range(MAX_XFER_RETRY_COUNT): - logging.debug("\ntry #%d", n+1) + while (time.monotonic() - start_time) < timeout*1e-3: + n += 1 + logging.debug("\ntry #%d", n) try: logging.debug("- send header") packet = struct.pack(" max_rx_len: - raise PandaSpiException("response length greater than max") + # get response length, then response + response_len_bytes = bytes(spi.xfer2(b"\x00" * 2)) + response_len = struct.unpack(" max_rx_len: + raise PandaSpiException("response length greater than max") - logging.debug("- receiving response") - dat = bytes(spi.xfer2(b"\x00" * (response_len + 1))) - if self._calc_checksum([DACK, *response_len_bytes, *dat]) != 0: - raise PandaSpiBadChecksum + logging.debug("- receiving response") + dat = bytes(spi.xfer2(b"\x00" * (response_len + 1))) + if self._calc_checksum([DACK, *response_len_bytes, *dat]) != 0: + raise PandaSpiBadChecksum - return dat[:-1] + return dat[:-1] except PandaSpiException as e: exc = e - logging.debug("SPI transfer failed, %d retries left", MAX_XFER_RETRY_COUNT - n - 1, exc_info=True) + logging.debug("SPI transfer failed, retrying", exc_info=True) + raise exc # libusb1 functions def close(self): self.dev.close() - def controlWrite(self, request_type: int, request: int, value: int, index: int, data, timeout: int = TIMEOUT): + def controlWrite(self, request_type: int, request: int, value: int, index: int, data, timeout: int = TIMEOUT, expect_disconnect: bool = False): with self.dev.acquire() as spi: - return self._transfer(spi, 0, struct.pack(" + + + + + diff --git a/selfdrive/athena/athenad.py b/selfdrive/athena/athenad.py index 8e335c2b5..842c64967 100755 --- a/selfdrive/athena/athenad.py +++ b/selfdrive/athena/athenad.py @@ -171,7 +171,7 @@ def jsonrpc_handler(end_event: threading.Event) -> None: try: data = recv_queue.get(timeout=1) if "method" in data: - cloudlog.debug(f"athena.jsonrpc_handler.call_method {data}") + cloudlog.event("athena.jsonrpc_handler.call_method", data=data) response = JSONRPCResponseManager.handle(data, dispatcher) send_queue.put_nowait(response.json) elif "id" in data and ("result" in data or "error" in data): diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc index 6248da7d4..4205d8478 100644 --- a/selfdrive/boardd/boardd.cc +++ b/selfdrive/boardd/boardd.cc @@ -94,11 +94,12 @@ void sync_time(Panda *panda, SyncTimeDir dir) { } } } else if (dir == SyncTimeDir::FROM_PANDA) { + LOGW("System time: %s, RTC time: %s", get_time_str(sys_time).c_str(), get_time_str(rtc_time).c_str()); + if (!util::time_valid(sys_time) && util::time_valid(rtc_time)) { const struct timeval tv = {mktime(&rtc_time), 0}; settimeofday(&tv, 0); - LOGE("System time wrong, setting from RTC. System: %s RTC: %s", - get_time_str(sys_time).c_str(), get_time_str(rtc_time).c_str()); + LOGE("System time wrong, setting from RTC."); } } } @@ -472,6 +473,11 @@ void panda_state_thread(PubMaster *pm, std::vector pandas, bool spoofin bool is_onroad_last = false; std::future safety_future; + std::vector connected_serials; + for (Panda *p : pandas) { + connected_serials.push_back(p->hw_serial()); + } + LOGD("start panda state thread"); // run at 2hz @@ -499,10 +505,15 @@ void panda_state_thread(PubMaster *pm, std::vector pandas, bool spoofin LOGE("Reconnecting, communication to pandas not healthy"); do_exit = true; - // TODO: list is slow, takes 16ms - } else if (pandas.size() != Panda::list().size()) { - LOGW("Reconnecting to changed amount of pandas!"); - 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; + } + } } if (do_exit) { diff --git a/selfdrive/boardd/panda.cc b/selfdrive/boardd/panda.cc index 980a31b83..716bfe94e 100644 --- a/selfdrive/boardd/panda.cc +++ b/selfdrive/boardd/panda.cc @@ -11,7 +11,7 @@ Panda::Panda(std::string serial, uint32_t bus_offset) : bus_offset(bus_offset) { handle = std::make_unique(serial); - LOGW("conntected to %s over USB", serial.c_str()); + LOGW("connected to %s over USB", serial.c_str()); hw_type = get_hw_type(); @@ -36,13 +36,15 @@ std::string Panda::hw_serial() { return handle->hw_serial; } -std::vector Panda::list() { +std::vector Panda::list(bool usb_only) { std::vector serials = PandaUsbHandle::list(); #if 0 - for (auto s : PandaSpiHandle::list()) { - if (std::find(serials.begin(), serials.end(), s) == serials.end()) { - serials.push_back(s); + if (!usb_only) { + for (auto s : PandaSpiHandle::list()) { + if (std::find(serials.begin(), serials.end(), s) == serials.end()) { + serials.push_back(s); + } } } #endif diff --git a/selfdrive/boardd/panda.h b/selfdrive/boardd/panda.h index 69df2e2b6..ea9322972 100644 --- a/selfdrive/boardd/panda.h +++ b/selfdrive/boardd/panda.h @@ -57,7 +57,7 @@ public: std::string hw_serial(); // Static functions - static std::vector list(); + static std::vector list(bool usb_only=false); // Panda functionality cereal::PandaState::PandaType get_hw_type(); diff --git a/selfdrive/boardd/panda_comms.h b/selfdrive/boardd/panda_comms.h index f93d29217..b07aec509 100644 --- a/selfdrive/boardd/panda_comms.h +++ b/selfdrive/boardd/panda_comms.h @@ -74,9 +74,9 @@ private: uint8_t rx_buf[SPI_BUF_SIZE]; inline static std::recursive_mutex hw_lock; - int wait_for_ack(spi_ioc_transfer &transfer, uint8_t ack); - int bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t rx_len); - int spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len); - int spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len); + int wait_for_ack(uint8_t ack, uint8_t tx, unsigned int timeout); + 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); }; #endif diff --git a/selfdrive/boardd/pandad.py b/selfdrive/boardd/pandad.py index 50027f340..6ab6d05b0 100755 --- a/selfdrive/boardd/pandad.py +++ b/selfdrive/boardd/pandad.py @@ -7,16 +7,18 @@ import subprocess from typing import List, NoReturn from functools import cmp_to_key -from panda import Panda, PandaDFU +from panda import Panda, PandaDFU, FW_PATH from common.basedir import BASEDIR from common.params import Params +from selfdrive.boardd.set_time import set_time from system.hardware import HARDWARE from system.swaglog import cloudlog def get_expected_signature(panda: Panda) -> bytes: try: - return Panda.get_signature_from_firmware(panda.get_mcu_type().config.app_path) + fn = os.path.join(FW_PATH, panda.get_mcu_type().config.app_fn) + return Panda.get_signature_from_firmware(fn) except Exception: cloudlog.exception("Error computing expected signature") return b"" @@ -132,6 +134,11 @@ def main() -> NoReturn: cloudlog.event("heartbeat lost", deviceState=health, serial=panda.get_usb_serial()) if first_run: + if panda.is_internal(): + # update time from RTC + set_time(cloudlog) + + # reset panda to ensure we're in a good state cloudlog.info(f"Resetting panda {panda.get_usb_serial()}") if panda.is_internal(): HARDWARE.reset_internal_panda() diff --git a/selfdrive/boardd/set_time.py b/selfdrive/boardd/set_time.py index 2159eba5e..93453dcd9 100755 --- a/selfdrive/boardd/set_time.py +++ b/selfdrive/boardd/set_time.py @@ -3,7 +3,7 @@ import os import datetime from panda import Panda -MIN_DATE = datetime.datetime(year=2023, month=4, day=1) +from common.time import MIN_DATE def set_time(logger): sys_time = datetime.datetime.today() diff --git a/selfdrive/boardd/spi.cc b/selfdrive/boardd/spi.cc index 82a95f775..e10fd744d 100644 --- a/selfdrive/boardd/spi.cc +++ b/selfdrive/boardd/spi.cc @@ -22,6 +22,12 @@ #define SPI_NACK 0x1FU #define SPI_CHECKSUM_START 0xABU + +enum SpiError { + NACK = -2, + ACK_TIMEOUT = -3, +}; + struct __attribute__((packed)) spi_header { uint8_t sync; uint8_t endpoint; @@ -29,8 +35,7 @@ struct __attribute__((packed)) spi_header { uint16_t max_rx_len; }; -const int SPI_MAX_RETRIES = 5; -const int SPI_ACK_TIMEOUT = 50; // milliseconds +const unsigned int SPI_ACK_TIMEOUT = 500; // milliseconds const std::string SPI_DEVICE = "/dev/spidev0.0"; class LockEx { @@ -41,8 +46,8 @@ public: }; ~LockEx() { - m.unlock(); flock(fd, LOCK_UN); + m.unlock(); } private: @@ -63,6 +68,10 @@ PandaSpiHandle::PandaSpiHandle(std::string serial) : PandaCommsHandle(serial) { // revs of the comma three may not support this speed uint32_t spi_speed = 50000000; + if (!util::file_exists(SPI_DEVICE)) { + goto fail; + } + spi_fd = open(SPI_DEVICE.c_str(), O_RDWR); if (spi_fd < 0) { LOGE("failed opening SPI device %d", spi_fd); @@ -89,7 +98,7 @@ PandaSpiHandle::PandaSpiHandle(std::string serial) : PandaCommsHandle(serial) { } // get hw UID/serial - ret = control_read(0xc3, 0, 0, uid, uid_len); + ret = control_read(0xc3, 0, 0, uid, uid_len, 100); if (ret == uid_len) { std::stringstream stream; for (int i = 0; i < uid_len; i++) { @@ -127,37 +136,33 @@ void PandaSpiHandle::cleanup() { int PandaSpiHandle::control_write(uint8_t request, uint16_t param1, uint16_t param2, unsigned int timeout) { - LockEx lock(spi_fd, hw_lock); ControlPacket_t packet = { .request = request, .param1 = param1, .param2 = param2, .length = 0 }; - return spi_transfer_retry(0, (uint8_t *) &packet, sizeof(packet), NULL, 0); + return spi_transfer_retry(0, (uint8_t *) &packet, sizeof(packet), NULL, 0, timeout); } int PandaSpiHandle::control_read(uint8_t request, uint16_t param1, uint16_t param2, unsigned char *data, uint16_t length, unsigned int timeout) { - LockEx lock(spi_fd, hw_lock); ControlPacket_t packet = { .request = request, .param1 = param1, .param2 = param2, .length = length }; - return spi_transfer_retry(0, (uint8_t *) &packet, sizeof(packet), data, length); + return spi_transfer_retry(0, (uint8_t *) &packet, sizeof(packet), data, length, timeout); } int PandaSpiHandle::bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) { - LockEx lock(spi_fd, hw_lock); - return bulk_transfer(endpoint, data, length, NULL, 0); + return bulk_transfer(endpoint, data, length, NULL, 0, timeout); } int PandaSpiHandle::bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) { - LockEx lock(spi_fd, hw_lock); - return bulk_transfer(endpoint, NULL, 0, data, length); + return bulk_transfer(endpoint, NULL, 0, data, length, timeout); } -int PandaSpiHandle::bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t rx_len) { +int PandaSpiHandle::bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t rx_len, unsigned int timeout) { const int xfer_size = 0x40 * 15; int ret = 0; @@ -166,16 +171,16 @@ int PandaSpiHandle::bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t t int d; if (tx_data != NULL) { int len = std::min(xfer_size, tx_len - (xfer_size * i)); - d = spi_transfer_retry(endpoint, tx_data + (xfer_size * i), len, NULL, 0); + d = spi_transfer_retry(endpoint, tx_data + (xfer_size * i), len, NULL, 0, timeout); } else { uint16_t to_read = std::min(xfer_size, rx_len - ret); - d = spi_transfer_retry(endpoint, NULL, 0, rx_data + (xfer_size * i), to_read); + d = spi_transfer_retry(endpoint, NULL, 0, rx_data + (xfer_size * i), to_read, timeout); } if (d < 0) { LOGE("SPI: bulk transfer failed with %d", d); comms_healthy = false; - return -1; + return d; } ret += d; @@ -213,21 +218,43 @@ bool check_checksum(uint8_t *data, int data_len) { } -int PandaSpiHandle::spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len) { +int PandaSpiHandle::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 ret; - - int count = SPI_MAX_RETRIES; + int count = 0; + bool timed_out = false; + double start_time = millis_since_boot(); do { - // TODO: handle error - ret = spi_transfer(endpoint, tx_data, tx_len, rx_data, max_rx_len); - count--; - } while (ret < 0 && connected && count > 0); + ret = spi_transfer(endpoint, tx_data, tx_len, rx_data, max_rx_len, timeout); + + if (ret < 0) { + timed_out = (timeout != 0) && (count > 5); + count += ret == SpiError::ACK_TIMEOUT; + std::this_thread::yield(); + } + } while (ret < 0 && connected && !timed_out); + + if (ret < 0) { + LOGE("transfer failed, after %d tries, %.2fms", count, millis_since_boot() - start_time); + } return ret; } -int PandaSpiHandle::wait_for_ack(spi_ioc_transfer &transfer, uint8_t ack) { +int PandaSpiHandle::wait_for_ack(uint8_t ack, uint8_t tx, unsigned int timeout) { double start_millis = millis_since_boot(); + if (timeout == 0) { + timeout = SPI_ACK_TIMEOUT; + } + timeout = std::clamp(timeout, 100U, SPI_ACK_TIMEOUT); + + spi_ioc_transfer transfer = { + .tx_buf = (uint64_t)tx_buf, + .rx_buf = (uint64_t)rx_buf, + .delay_usecs = 5, + .len = 1 + }; + tx_buf[0] = tx; + while (true) { int ret = util::safe_ioctl(spi_fd, SPI_IOC_MESSAGE(1), &transfer); if (ret < 0) { @@ -238,23 +265,24 @@ int PandaSpiHandle::wait_for_ack(spi_ioc_transfer &transfer, uint8_t ack) { if (rx_buf[0] == ack) { break; } else if (rx_buf[0] == SPI_NACK) { - LOGW("SPI: got NACK"); - return -1; + LOGD("SPI: got NACK"); + return SpiError::NACK; } // handle timeout - if (millis_since_boot() - start_millis > SPI_ACK_TIMEOUT) { + if (millis_since_boot() - start_millis > timeout) { LOGD("SPI: timed out waiting for ACK"); - return -1; + return SpiError::ACK_TIMEOUT; } } return 0; } -int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len) { +int PandaSpiHandle::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 ret; uint16_t rx_data_len; + LockEx lock(spi_fd, hw_lock); // needs to be less, since we need to have space for the checksum assert(tx_len < SPI_BUF_SIZE); @@ -283,9 +311,7 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx } // Wait for (N)ACK - tx_buf[0] = 0x11; - transfer.len = 1; - ret = wait_for_ack(transfer, SPI_HACK); + ret = wait_for_ack(SPI_HACK, 0x11, timeout); if (ret < 0) { goto transfer_fail; } @@ -303,9 +329,7 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx } // Wait for (N)ACK - tx_buf[0] = 0x13; - transfer.len = 1; - ret = wait_for_ack(transfer, SPI_DACK); + ret = wait_for_ack(SPI_DACK, 0x13, timeout); if (ret < 0) { goto transfer_fail; } diff --git a/selfdrive/boardd/tests/test_boardd_loopback.py b/selfdrive/boardd/tests/test_boardd_loopback.py index 4be5b3f7e..d0504d6bf 100755 --- a/selfdrive/boardd/tests/test_boardd_loopback.py +++ b/selfdrive/boardd/tests/test_boardd_loopback.py @@ -1,9 +1,11 @@ #!/usr/bin/env python3 import os +import copy import random import time import unittest from collections import defaultdict +from pprint import pprint import cereal.messaging as messaging from cereal import car, log @@ -59,16 +61,18 @@ class TestBoardd(unittest.TestCase): sendcan = messaging.pub_sock('sendcan') can = messaging.sub_sock('can', conflate=False, timeout=100) + sm = messaging.SubMaster(['pandaStates']) time.sleep(0.5) n = 200 for i in range(n): + print(f"boardd loopback {i}/{n}") self.spinner.update(f"boardd loopback {i}/{n}") sent_msgs = defaultdict(set) - for _ in range(random.randrange(10)): + for _ in range(random.randrange(20, 100)): to_send = [] - for __ in range(random.randrange(100)): + for __ in range(random.randrange(20)): bus = random.choice([b for b in range(3*num_pandas) if b % 4 != 3]) addr = random.randrange(1, 1<<29) dat = bytes(random.getrandbits(8) for _ in range(random.randrange(1, 9))) @@ -76,21 +80,29 @@ class TestBoardd(unittest.TestCase): to_send.append(make_can_msg(addr, dat, bus)) sendcan.send(can_list_to_can_capnp(to_send, msgtype='sendcan')) - for _ in range(100 * 2): + sent_loopback = copy.deepcopy(sent_msgs) + sent_loopback.update({k+128: copy.deepcopy(v) for k, v in sent_msgs.items()}) + sent_total = {k: len(v) for k, v in sent_loopback.items()} + for _ in range(100 * 5): + sm.update(0) recvd = messaging.drain_sock(can, wait_for_one=True) for msg in recvd: for m in msg.can: - if m.src >= 128: - key = (m.address, m.dat) - assert key in sent_msgs[m.src-128], f"got unexpected msg: {m.src=} {m.address=} {m.dat=}" - sent_msgs[m.src-128].discard(key) + key = (m.address, m.dat) + assert key in sent_loopback[m.src], f"got unexpected msg: {m.src=} {m.address=} {m.dat=}" + sent_loopback[m.src].discard(key) - if all(len(v) == 0 for v in sent_msgs.values()): + if all(len(v) == 0 for v in sent_loopback.values()): break # if a set isn't empty, messages got dropped - for bus in sent_msgs.keys(): - assert not len(sent_msgs[bus]), f"loop {i}: bus {bus} missing {len(sent_msgs[bus])} messages" + pprint(sent_msgs) + pprint(sent_loopback) + print({k: len(x) for k, x in sent_loopback.items()}) + print(sum([len(x) for x in sent_loopback.values()])) + pprint(sm['pandaStates']) # may drop messages due to RX buffer overflow + for bus in sent_loopback.keys(): + assert not len(sent_loopback[bus]), f"loop {i}: bus {bus} missing {len(sent_loopback[bus])} out of {sent_total[bus]} messages" if __name__ == "__main__": diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py index 58cde8581..74197ad94 100644 --- a/selfdrive/car/__init__.py +++ b/selfdrive/car/__init__.py @@ -1,10 +1,13 @@ # functions common among cars -import capnp +import math from collections import namedtuple +from typing import Dict, Optional + +import capnp from cereal import car from common.numpy_fast import clip, interp -from typing import Dict + # kg of standard extra cargo to count for drive, gas, etc... STD_CARGO_KG = 136. @@ -175,3 +178,15 @@ def get_safety_config(safety_model, safety_param = None): if safety_param is not None: ret.safetyParam = safety_param return ret + + +class CanBusBase: + offset: int + + def __init__(self, CP, fingerprint: Optional[Dict[int, Dict[int, int]]]) -> None: + if CP is None: + assert fingerprint is not None + num = math.ceil(max([k for k, v in fingerprint.items() if len(v)], default=1) / 4) + else: + num = len(CP.safetyConfigs) + self.offset = 4 * (num - 1) diff --git a/selfdrive/car/body/carcontroller.py b/selfdrive/car/body/carcontroller.py index bcaf6f6f9..64c5617ef 100644 --- a/selfdrive/car/body/carcontroller.py +++ b/selfdrive/car/body/carcontroller.py @@ -40,7 +40,7 @@ class CarController: torque_l = 0 torque_r = 0 - llk_valid = len(CC.orientationNED) > 0 and len(CC.angularVelocity) > 0 + llk_valid = len(CC.orientationNED) > 1 and len(CC.angularVelocity) > 1 if CC.enabled and llk_valid: # Read these from the joystick # TODO: this isn't acceleration, okay? diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py index 17ba59f96..e86807bf5 100644 --- a/selfdrive/car/chrysler/values.py +++ b/selfdrive/car/chrysler/values.py @@ -5,7 +5,7 @@ from typing import Dict, List, Optional, Union from cereal import car from panda.python import uds from selfdrive.car import dbc_dict -from selfdrive.car.docs_definitions import CarInfo, Harness, HarnessKit +from selfdrive.car.docs_definitions import CarHarness, CarInfo, CarParts from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16 Ecu = car.CarParams.Ecu @@ -60,7 +60,7 @@ RAM_CARS = RAM_DT | RAM_HD @dataclass class ChryslerCarInfo(CarInfo): package: str = "Adaptive Cruise Control (ACC)" - harness_kit: HarnessKit = HarnessKit(Harness.fca) + car_parts: CarParts = CarParts.common([CarHarness.fca]) CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = { @@ -74,10 +74,10 @@ CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = { ], CAR.JEEP_CHEROKEE: ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"), CAR.JEEP_CHEROKEE_2019: ChryslerCarInfo("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"), - CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-23", harness_kit=HarnessKit(Harness.ram)), + CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-23", car_parts=CarParts.common([CarHarness.ram])), CAR.RAM_HD: [ - ChryslerCarInfo("Ram 2500 2020-22", harness_kit=HarnessKit(Harness.ram)), - ChryslerCarInfo("Ram 3500 2019-22", harness_kit=HarnessKit(Harness.ram)), + ChryslerCarInfo("Ram 2500 2020-22", car_parts=CarParts.common([CarHarness.ram])), + ChryslerCarInfo("Ram 3500 2019-22", car_parts=CarParts.common([CarHarness.ram])), ], } @@ -224,9 +224,11 @@ FW_VERSIONS = { b'68453511AC', b'68453513AD', b'68453514AD', + b'68510280AG', b'68510283AG', - b'68527375AD', b'68527346AE', + b'68527375AD', + b'68527382AE', ], (Ecu.srs, 0x744, None): [ b'68428609AB', @@ -235,6 +237,7 @@ FW_VERSIONS = { b'68490898AA', b'68500728AA', b'68615033AA', + b'68615034AA', ], (Ecu.abs, 0x747, None): [ b'68292406AH', @@ -248,12 +251,13 @@ FW_VERSIONS = { b'68438456AF', b'68535469AB', b'68535470AC', - b'68586307AB', b'68548900AB', + b'68586307AB', ], (Ecu.fwdRadar, 0x753, None): [ b'04672892AB', b'04672932AB', + b'22DTRHD_AA', b'68320950AH', b'68320950AI', b'68320950AJ', @@ -265,8 +269,10 @@ FW_VERSIONS = { b'68475160AG', ], (Ecu.eps, 0x75A, None): [ + b'21590101AA', b'68273275AF', b'68273275AG', + b'68273275AH', b'68312176AE', b'68312176AG', b'68440789AC', @@ -275,23 +281,28 @@ FW_VERSIONS = { b'68522583AB', b'68522585AB', b'68552788AA', - b'68552790AA', - b'68585112AB', b'68552789AA', + b'68552790AA', + b'68585109AB', + b'68585112AB', ], (Ecu.engine, 0x7e0, None): [ b'05036065AE ', b'05036066AE ', + b'05149591AD ', + b'05149846AA ', + b'05149848AA ', b'68378701AI ', + b'68378748AL ', b'68378758AM ', b'68448163AJ', b'68448165AK', b'68500630AD', b'68500630AE', b'68539650AD', - b'05149846AA ', ], (Ecu.transmission, 0x7e1, None): [ + b'05149536AC', b'68360078AL', b'68360080AM', b'68360081AM', @@ -301,8 +312,8 @@ FW_VERSIONS = { b'68445533AB', b'68484467AC', b'68502994AD', - b'68540431AB', b'68520867AE', + b'68540431AB', ], }, @@ -314,6 +325,7 @@ FW_VERSIONS = { b'68525485AB', b'68525487AB', b'68525498AB', + b'68528791AF', ], (Ecu.srs, 0x744, None): [ b'68399794AC', @@ -329,9 +341,11 @@ FW_VERSIONS = { b'68504022AC', b'68530686AB', b'68530686AC', + b'68544596AC', ], (Ecu.fwdRadar, 0x753, None): [ b'04672895AB', + b'04672934AB', b'56029827AG', b'56029827AH', b'68462657AE', @@ -341,6 +355,7 @@ FW_VERSIONS = { (Ecu.eps, 0x761, None): [ b'68421036AC', b'68507906AB', + b'68534023AC', ], (Ecu.engine, 0x7e0, None): [ b'52370131AF', @@ -349,6 +364,7 @@ FW_VERSIONS = { b'52370931CT', b'52401032AE', b'52421132AF', + b'52421332AF', b'68527616AD ', b'M2370131MB', b'M2421132MB', diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py index bfb182c5e..23b460147 100644 --- a/selfdrive/car/docs_definitions.py +++ b/selfdrive/car/docs_definitions.py @@ -1,6 +1,5 @@ import re from collections import namedtuple -import copy from dataclasses import dataclass, field from enum import Enum from typing import Dict, List, Optional, Tuple, Union @@ -21,7 +20,7 @@ class Column(Enum): FSR_STEERING = "No ALC below" STEERING_TORQUE = "Steering Torque" AUTO_RESUME = "Resume from stop" - HARNESS = "Harness Kit" + HARDWARE = "Hardware Needed" VIDEO = "Video" @@ -31,60 +30,130 @@ class Star(Enum): EMPTY = "empty" -class Harness(Enum): - nidec = "Honda Nidec" - bosch_a = "Honda Bosch A" - bosch_b = "Honda Bosch B" - toyota = "Toyota" - subaru_a = "Subaru A" - subaru_b = "Subaru B" - fca = "FCA" - ram = "Ram" - vw = "VW" - j533 = "J533" - hyundai_a = "Hyundai A" - hyundai_b = "Hyundai B" - hyundai_c = "Hyundai C" - hyundai_d = "Hyundai D" - hyundai_e = "Hyundai E" - hyundai_f = "Hyundai F" - hyundai_g = "Hyundai G" - hyundai_h = "Hyundai H" - hyundai_i = "Hyundai I" - hyundai_j = "Hyundai J" - hyundai_k = "Hyundai K" - hyundai_l = "Hyundai L" - hyundai_m = "Hyundai M" - hyundai_n = "Hyundai N" - hyundai_o = "Hyundai O" - hyundai_p = "Hyundai P" - hyundai_q = "Hyundai Q" - custom = "Developer" - obd_ii = "OBD-II" - gm = "GM" - nissan_a = "Nissan A" - nissan_b = "Nissan B" - mazda = "Mazda" - ford_q3 = "Ford Q3" - ford_q4 = "Ford Q4" - none = "None" +# A part + its comprised parts +@dataclass +class BasePart: + name: str + parts: List[Enum] = field(default_factory=list) + + def all_parts(self): + # Recursively get all parts + _parts = 'parts' + parts = [] + parts.extend(getattr(self, _parts)) + for part in getattr(self, _parts): + parts.extend(part.value.all_parts()) + + return parts -class HarnessPart(Enum): - harness_box = "harness box" - comma_power_v2 = "comma power v2" - rj45_cable = "RJ45 cable (7 ft)" - long_obdc_cable = "long OBD-C cable" - usbc_coupler = "USB-C coupler" +class EnumBase(Enum): + @property + def type(self): + return PartType(self.__class__) -DEFAULT_HARNESS_PARTS: List[HarnessPart] = [HarnessPart.harness_box, HarnessPart.comma_power_v2, HarnessPart.rj45_cable] +class Mount(EnumBase): + mount = BasePart("mount") + angled_mount_8_degrees = BasePart("angled mount (8 degrees)") + + +class Cable(EnumBase): + rj45_cable_7ft = BasePart("RJ45 cable (7 ft)") + long_obdc_cable = BasePart("long OBD-C cable") + usb_a_2_a_cable = BasePart("USB A-A cable") + usbc_otg_cable = BasePart("USB C OTG cable") + usbc_coupler = BasePart("USB-C coupler") + obd_c_cable_1_5ft = BasePart("OBD-C cable (1.5 ft)") + right_angle_obd_c_cable_1_5ft = BasePart("right angle OBD-C cable (1.5 ft)") + + +class Accessory(EnumBase): + harness_box = BasePart("harness box") + comma_power_v2 = BasePart("comma power v2") @dataclass -class HarnessKit: - connector: Harness = Harness.none - parts: List[HarnessPart] = field(default_factory=lambda: copy.copy(DEFAULT_HARNESS_PARTS)) +class BaseCarHarness(BasePart): + parts: List[Enum] = field(default_factory=lambda: [Accessory.harness_box, Accessory.comma_power_v2, Cable.rj45_cable_7ft]) + has_connector: bool = True # without are hidden on the harness connector page + + +class CarHarness(EnumBase): + nidec = BaseCarHarness("Honda Nidec connector") + bosch_a = BaseCarHarness("Honda Bosch A connector") + bosch_b = BaseCarHarness("Honda Bosch B connector") + toyota = BaseCarHarness("Toyota connector") + subaru_a = BaseCarHarness("Subaru A connector") + subaru_b = BaseCarHarness("Subaru B connector") + fca = BaseCarHarness("FCA connector") + ram = BaseCarHarness("Ram connector") + vw = BaseCarHarness("VW connector") + j533 = BaseCarHarness("J533 connector", parts=[Accessory.harness_box, Cable.long_obdc_cable, Cable.usbc_coupler]) + hyundai_a = BaseCarHarness("Hyundai A connector") + hyundai_b = BaseCarHarness("Hyundai B connector") + hyundai_c = BaseCarHarness("Hyundai C connector") + hyundai_d = BaseCarHarness("Hyundai D connector") + hyundai_e = BaseCarHarness("Hyundai E connector") + hyundai_f = BaseCarHarness("Hyundai F connector") + hyundai_g = BaseCarHarness("Hyundai G connector") + hyundai_h = BaseCarHarness("Hyundai H connector") + hyundai_i = BaseCarHarness("Hyundai I connector") + hyundai_j = BaseCarHarness("Hyundai J connector") + hyundai_k = BaseCarHarness("Hyundai K connector") + hyundai_l = BaseCarHarness("Hyundai L connector") + hyundai_m = BaseCarHarness("Hyundai M connector") + hyundai_n = BaseCarHarness("Hyundai N connector") + hyundai_o = BaseCarHarness("Hyundai O connector") + hyundai_p = BaseCarHarness("Hyundai P connector") + hyundai_q = BaseCarHarness("Hyundai Q connector") + custom = BaseCarHarness("Developer connector") + obd_ii = BaseCarHarness("OBD-II connector", parts=[Cable.long_obdc_cable, Cable.long_obdc_cable], has_connector=False) + gm = BaseCarHarness("GM connector") + nissan_a = BaseCarHarness("Nissan A connector", parts=[Accessory.harness_box, Cable.rj45_cable_7ft, Cable.long_obdc_cable, Cable.usbc_coupler]) + nissan_b = BaseCarHarness("Nissan B connector", parts=[Accessory.harness_box, Cable.rj45_cable_7ft, Cable.long_obdc_cable, Cable.usbc_coupler]) + mazda = BaseCarHarness("Mazda connector") + ford_q3 = BaseCarHarness("Ford Q3 connector") + ford_q4 = BaseCarHarness("Ford Q4 connector") + + +class Device(EnumBase): + three = BasePart("comma three", parts=[Mount.mount, Cable.right_angle_obd_c_cable_1_5ft]) + # variant of comma three with angled mounts + three_angled_mount = BasePart("comma three", parts=[Mount.angled_mount_8_degrees, Cable.right_angle_obd_c_cable_1_5ft]) + red_panda = BasePart("red panda") + + +class Kit(EnumBase): + red_panda_kit = BasePart("CAN FD panda kit", parts=[Device.red_panda, Accessory.harness_box, Cable.usb_a_2_a_cable, Cable.usbc_otg_cable, Cable.obd_c_cable_1_5ft]) + + +class PartType(Enum): + accessory = Accessory + cable = Cable + connector = CarHarness + device = Device + kit = Kit + mount = Mount + + +DEFAULT_CAR_PARTS: List[EnumBase] = [Device.three] + + +@dataclass +class CarParts: + parts: List[EnumBase] = field(default_factory=list) + + @classmethod + def common(cls, add: List[EnumBase] = None, remove: List[EnumBase] = None): + p = [part for part in (add or []) + DEFAULT_CAR_PARTS if part not in (remove or [])] + return cls(p) + + def all_parts(self): + parts = [] + for part in self.parts: + parts.extend(part.value.all_parts()) + return self.parts + parts CarFootnote = namedtuple("CarFootnote", ["text", "column", "docs_only", "shop_footnote"], defaults=(False, False)) @@ -153,9 +222,10 @@ class CarInfo: footnotes: List[Enum] = field(default_factory=list) min_steer_speed: Optional[float] = None min_enable_speed: Optional[float] = None + auto_resume: Optional[bool] = None - # harness connectors + all the parts needed - harness_kit: HarnessKit = HarnessKit() + # all the parts needed for the supported car + car_parts: CarParts = CarParts() def init(self, CP: car.CarParams, all_footnotes: Dict[Enum, int]): self.car_name = CP.carName @@ -184,13 +254,17 @@ class CarInfo: if self.min_enable_speed is None: self.min_enable_speed = CP.minEnableSpeed - # harness column - harness_col = self.harness_kit.connector.value - if self.harness_kit.connector is not Harness.none: + if self.auto_resume is None: + self.auto_resume = CP.autoResumeSng + + # hardware column + hardware_col = "None" + if self.car_parts.parts: model_years = self.model + (' ' + self.years if self.years else '') - harness_connector = f'- 1 {harness_col} connector' - harness_parts = '
'.join([f"- {self.harness_kit.parts.count(part)} {part.value}" for part in sorted(set(self.harness_kit.parts), key=lambda part: part.value)]) - harness_col = f'
View{harness_connector}
{harness_parts}
' + buy_link = f'Buy Here' + car_parts_docs = self.car_parts.all_parts() + parts = '
'.join([f"- {car_parts_docs.count(part)} {part.value.name}" for part in sorted(set(car_parts_docs), key=lambda part: str(part.value.name))]) + hardware_col = f'
View{parts}
{buy_link}
' self.row: Dict[Enum, Union[str, Star]] = { Column.MAKE: self.make, @@ -200,8 +274,8 @@ class CarInfo: Column.FSR_LONGITUDINAL: f"{max(self.min_enable_speed * CV.MS_TO_MPH, 0):.0f} mph", Column.FSR_STEERING: f"{max(self.min_steer_speed * CV.MS_TO_MPH, 0):.0f} mph", Column.STEERING_TORQUE: Star.EMPTY, - Column.AUTO_RESUME: Star.FULL if CP.autoResumeSng else Star.EMPTY, - Column.HARNESS: harness_col, + Column.AUTO_RESUME: Star.FULL if self.auto_resume else Star.EMPTY, + Column.HARDWARE: hardware_col, Column.VIDEO: self.video_link if self.video_link is not None else "", # replaced with an image and link from template in get_column } @@ -232,7 +306,7 @@ class CarInfo: acc = "" if self.min_enable_speed > 0: acc = f" while driving above {self.min_enable_speed * CV.MS_TO_MPH:.0f} mph" - elif CP.autoResumeSng: + elif self.auto_resume: acc = " that automatically resumes from a stop" if self.row[Column.STEERING_TORQUE] != Star.FULL: diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py index d9a9ae6bc..2a930e735 100644 --- a/selfdrive/car/ford/carcontroller.py +++ b/selfdrive/car/ford/carcontroller.py @@ -2,9 +2,9 @@ from cereal import car from common.numpy_fast import clip from opendbc.can.packer import CANPacker from selfdrive.car import apply_std_steer_angle_limits -from selfdrive.car.ford.fordcan import create_acc_msg, create_acc_ui_msg, create_button_msg, create_lat_ctl_msg, \ - create_lat_ctl2_msg, create_lka_msg, create_lkas_ui_msg -from selfdrive.car.ford.values import CANBUS, CANFD_CARS, CarControllerParams +from selfdrive.car.ford.fordcan import CanBus, create_acc_msg, create_acc_ui_msg, create_button_msg, \ + create_lat_ctl_msg, create_lat_ctl2_msg, create_lka_msg, create_lkas_ui_msg +from selfdrive.car.ford.values import CANFD_CARS, CarControllerParams LongCtrlState = car.CarControl.Actuators.LongControlState VisualAlert = car.CarControl.HUDControl.VisualAlert @@ -27,6 +27,7 @@ class CarController: self.CP = CP self.VM = VM self.packer = CANPacker(dbc_name) + self.CAN = CanBus(CP) self.frame = 0 self.apply_curvature_last = 0 @@ -45,15 +46,15 @@ class CarController: ### acc buttons ### if CC.cruiseControl.cancel: - can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, cancel=True)) - can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, cancel=True, bus=CANBUS.main)) + can_sends.append(create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, cancel=True)) + can_sends.append(create_button_msg(self.packer, self.CAN.main, CS.buttons_stock_values, cancel=True)) elif CC.cruiseControl.resume and (self.frame % CarControllerParams.BUTTONS_STEP) == 0: - can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, resume=True)) - can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, resume=True, bus=CANBUS.main)) + can_sends.append(create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, resume=True)) + can_sends.append(create_button_msg(self.packer, self.CAN.main, CS.buttons_stock_values, resume=True)) # if stock lane centering isn't off, send a button press to toggle it off # the stock system checks for steering pressed, and eventually disengages cruise control elif CS.acc_tja_status_stock_values["Tja_D_Stat"] != 0 and (self.frame % CarControllerParams.ACC_UI_STEP) == 0: - can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, tja_toggle=True)) + can_sends.append(create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, tja_toggle=True)) ### lateral control ### # send steer msg at 20Hz @@ -70,14 +71,14 @@ class CarController: if self.CP.carFingerprint in CANFD_CARS: # TODO: extended mode mode = 1 if CC.latActive else 0 - counter = self.frame // CarControllerParams.STEER_STEP - can_sends.append(create_lat_ctl2_msg(self.packer, mode, 0., 0., -apply_curvature, 0., counter)) + counter = (self.frame // CarControllerParams.STEER_STEP) % 0xF + can_sends.append(create_lat_ctl2_msg(self.packer, self.CAN, mode, 0., 0., -apply_curvature, 0., counter)) else: - can_sends.append(create_lat_ctl_msg(self.packer, CC.latActive, 0., 0., -apply_curvature, 0.)) + can_sends.append(create_lat_ctl_msg(self.packer, self.CAN, CC.latActive, 0., 0., -apply_curvature, 0.)) # send lka msg at 33Hz if (self.frame % CarControllerParams.LKA_STEP) == 0: - can_sends.append(create_lka_msg(self.packer)) + can_sends.append(create_lka_msg(self.packer, self.CAN)) ### longitudinal control ### # send acc msg at 50Hz @@ -89,16 +90,16 @@ class CarController: gas = CarControllerParams.INACTIVE_GAS stopping = CC.actuators.longControlState == LongCtrlState.stopping - can_sends.append(create_acc_msg(self.packer, CC.longActive, gas, accel, stopping)) + can_sends.append(create_acc_msg(self.packer, self.CAN, CC.longActive, gas, accel, stopping)) ### ui ### send_ui = (self.main_on_last != main_on) or (self.lkas_enabled_last != CC.latActive) or (self.steer_alert_last != steer_alert) # send lkas ui msg at 1Hz or if ui state changes if (self.frame % CarControllerParams.LKAS_UI_STEP) == 0 or send_ui: - can_sends.append(create_lkas_ui_msg(self.packer, main_on, CC.latActive, steer_alert, hud_control, CS.lkas_status_stock_values)) + can_sends.append(create_lkas_ui_msg(self.packer, self.CAN, main_on, CC.latActive, steer_alert, hud_control, CS.lkas_status_stock_values)) # send acc ui msg at 5Hz or if ui state changes if (self.frame % CarControllerParams.ACC_UI_STEP) == 0 or send_ui: - can_sends.append(create_acc_ui_msg(self.packer, self.CP, main_on, CC.latActive, + can_sends.append(create_acc_ui_msg(self.packer, self.CAN, self.CP, main_on, CC.latActive, CS.out.cruiseState.standstill, hud_control, CS.acc_tja_status_stock_values)) diff --git a/selfdrive/car/ford/carstate.py b/selfdrive/car/ford/carstate.py index 9be2c7637..b76874932 100644 --- a/selfdrive/car/ford/carstate.py +++ b/selfdrive/car/ford/carstate.py @@ -3,7 +3,8 @@ from common.conversions import Conversions as CV from opendbc.can.can_define import CANDefine from opendbc.can.parser import CANParser from selfdrive.car.interfaces import CarStateBase -from selfdrive.car.ford.values import CANBUS, DBC, CarControllerParams +from selfdrive.car.ford.fordcan import CanBus +from selfdrive.car.ford.values import DBC, CarControllerParams GearShifter = car.CarState.GearShifter TransmissionType = car.CarParams.TransmissionType @@ -211,7 +212,7 @@ class CarState(CarStateBase): ("Side_Detect_R_Stat", 5), ] - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CANBUS.main) + return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus(CP).main) @staticmethod def get_cam_can_parser(CP): @@ -268,4 +269,4 @@ class CarState(CarStateBase): ("IPMA_Data", 1), ] - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CANBUS.camera) + return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus(CP).camera) diff --git a/selfdrive/car/ford/fordcan.py b/selfdrive/car/ford/fordcan.py index 97a8c025d..30a53597d 100644 --- a/selfdrive/car/ford/fordcan.py +++ b/selfdrive/car/ford/fordcan.py @@ -1,9 +1,26 @@ from cereal import car -from selfdrive.car.ford.values import CANBUS +from selfdrive.car import CanBusBase HUDControl = car.CarControl.HUDControl +class CanBus(CanBusBase): + def __init__(self, CP=None, fingerprint=None) -> None: + super().__init__(CP, fingerprint) + + @property + def main(self) -> int: + return self.offset + + @property + def radar(self): + return self.offset + 1 + + @property + def camera(self): + return self.offset + 2 + + def calculate_lat_ctl2_checksum(mode: int, counter: int, dat: bytearray): curvature = (dat[2] << 3) | ((dat[3]) >> 5) curvature_rate = (dat[6] << 3) | ((dat[7]) >> 5) @@ -17,7 +34,7 @@ def calculate_lat_ctl2_checksum(mode: int, counter: int, dat: bytearray): return 0xFF - (checksum & 0xFF) -def create_lka_msg(packer): +def create_lka_msg(packer, CAN: CanBus): """ Creates an empty CAN message for the Ford LKA Command. @@ -26,10 +43,10 @@ def create_lka_msg(packer): Frequency is 33Hz. """ - return packer.make_can_msg("Lane_Assist_Data1", CANBUS.main, {}) + return packer.make_can_msg("Lane_Assist_Data1", CAN.main, {}) -def create_lat_ctl_msg(packer, lat_active: bool, path_offset: float, path_angle: float, curvature: float, +def create_lat_ctl_msg(packer, CAN: CanBus, lat_active: bool, path_offset: float, path_angle: float, curvature: float, curvature_rate: float): """ Creates a CAN message for the Ford TJA/LCA Command. @@ -66,10 +83,10 @@ def create_lat_ctl_msg(packer, lat_active: bool, path_offset: float, path_angle: "LatCtlCurv_NoRate_Actl": curvature_rate, # Curvature rate [-0.001024|0.00102375] 1/meter^2 "LatCtlCurv_No_Actl": curvature, # Curvature [-0.02|0.02094] 1/meter } - return packer.make_can_msg("LateralMotionControl", CANBUS.main, values) + return packer.make_can_msg("LateralMotionControl", CAN.main, values) -def create_lat_ctl2_msg(packer, mode: int, path_offset: float, path_angle: float, curvature: float, +def create_lat_ctl2_msg(packer, CAN: CanBus, mode: int, path_offset: float, path_angle: float, curvature: float, curvature_rate: float, counter: int): """ Create a CAN message for the new Ford Lane Centering command. @@ -95,13 +112,13 @@ def create_lat_ctl2_msg(packer, mode: int, path_offset: float, path_angle: float } # calculate checksum - dat = packer.make_can_msg("LateralMotionControl2", CANBUS.main, values)[2] + dat = packer.make_can_msg("LateralMotionControl2", 0, values)[2] values["LatCtlPath_No_Cs"] = calculate_lat_ctl2_checksum(mode, counter, dat) - return packer.make_can_msg("LateralMotionControl2", CANBUS.main, values) + return packer.make_can_msg("LateralMotionControl2", CAN.main, values) -def create_acc_msg(packer, long_active: bool, gas: float, accel: float, stopping: bool): +def create_acc_msg(packer, CAN: CanBus, long_active: bool, gas: float, accel: float, stopping: bool): """ Creates a CAN message for the Ford ACC Command. @@ -122,10 +139,10 @@ def create_acc_msg(packer, long_active: bool, gas: float, accel: float, stopping "AccBrkDecel_B_Rq": 1 if decel else 0, # Deceleration request: 0=Inactive, 1=Active "AccStopStat_B_Rq": 1 if stopping else 0, } - return packer.make_can_msg("ACCDATA", CANBUS.main, values) + return packer.make_can_msg("ACCDATA", CAN.main, values) -def create_acc_ui_msg(packer, CP, main_on: bool, enabled: bool, standstill: bool, hud_control, +def create_acc_ui_msg(packer, CAN: CanBus, CP, main_on: bool, enabled: bool, standstill: bool, hud_control, stock_values: dict): """ Creates a CAN message for the Ford IPC adaptive cruise, forward collision warning and traffic jam @@ -197,10 +214,11 @@ def create_acc_ui_msg(packer, CP, main_on: bool, enabled: bool, standstill: bool "AccTGap_D_Dsply": 4, # Fixed time gap in UI }) - return packer.make_can_msg("ACCDATA_3", CANBUS.main, values) + return packer.make_can_msg("ACCDATA_3", CAN.main, values) -def create_lkas_ui_msg(packer, main_on: bool, enabled: bool, steer_alert: bool, hud_control, stock_values: dict): +def create_lkas_ui_msg(packer, CAN: CanBus, main_on: bool, enabled: bool, steer_alert: bool, hud_control, + stock_values: dict): """ Creates a CAN message for the Ford IPC IPMA/LKAS status. @@ -263,11 +281,10 @@ def create_lkas_ui_msg(packer, main_on: bool, enabled: bool, steer_alert: bool, "LaActvStats_D_Dsply": lines, # LKAS status (lines) [0|31] "LaHandsOff_D_Dsply": hands_on_wheel_dsply, # 0=HandsOn, 1=Level1 (w/o chime), 2=Level2 (w/ chime), 3=Suppressed }) - return packer.make_can_msg("IPMA_Data", CANBUS.main, values) + return packer.make_can_msg("IPMA_Data", CAN.main, values) -def create_button_msg(packer, stock_values: dict, cancel=False, resume=False, tja_toggle=False, - bus: int = CANBUS.camera): +def create_button_msg(packer, bus: int, stock_values: dict, cancel=False, resume=False, tja_toggle=False): """ Creates a CAN message for the Ford SCCM buttons/switches. diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py index 937980899..fef7fcefc 100644 --- a/selfdrive/car/ford/interface.py +++ b/selfdrive/car/ford/interface.py @@ -1,7 +1,9 @@ #!/usr/bin/env python3 from cereal import car +from panda import Panda from common.conversions import Conversions as CV from selfdrive.car import STD_CARGO_KG, get_safety_config +from selfdrive.car.ford.fordcan import CanBus from selfdrive.car.ford.values import CAR, Ecu from selfdrive.car.interfaces import CarInterfaceBase @@ -13,7 +15,6 @@ class CarInterface(CarInterfaceBase): @staticmethod def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): ret.carName = "ford" - ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.ford)] # These cars are dashcam only for lack of test coverage. # Once a user confirms each car works and a test route is @@ -25,6 +26,17 @@ class CarInterface(CarInterfaceBase): ret.steerActuatorDelay = 0.2 ret.steerLimitTimer = 1.0 + CAN = CanBus(fingerprint=fingerprint) + cfgs = [get_safety_config(car.CarParams.SafetyModel.ford)] + if CAN.main >= 4: + cfgs.insert(0, get_safety_config(car.CarParams.SafetyModel.noOutput)) + ret.safetyConfigs = cfgs + + ret.experimentalLongitudinalAvailable = True + if experimental_long: + ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_FORD_LONG_CONTROL + ret.openpilotLongitudinalControl = True + if candidate == CAR.BRONCO_SPORT_MK1: ret.wheelbase = 2.67 ret.steerRatio = 17.7 @@ -55,7 +67,7 @@ class CarInterface(CarInterfaceBase): # Auto Transmission: 0x732 ECU or Gear_Shift_by_Wire_FD1 found_ecus = [fw.ecu for fw in car_fw] - if Ecu.shiftByWire in found_ecus or 0x5A in fingerprint[0] or docs: + if Ecu.shiftByWire in found_ecus or 0x5A in fingerprint[CAN.main] or docs: ret.transmissionType = TransmissionType.automatic else: ret.transmissionType = TransmissionType.manual @@ -63,7 +75,7 @@ class CarInterface(CarInterfaceBase): # BSM: Side_Detect_L_Stat, Side_Detect_R_Stat # TODO: detect bsm in car_fw? - ret.enableBsm = 0x3A6 in fingerprint[0] and 0x3A7 in fingerprint[0] + ret.enableBsm = 0x3A6 in fingerprint[CAN.main] and 0x3A7 in fingerprint[CAN.main] # LCA can steer down to zero ret.minSteerSpeed = 0. diff --git a/selfdrive/car/ford/radar_interface.py b/selfdrive/car/ford/radar_interface.py index ee4efb311..e44730ca4 100644 --- a/selfdrive/car/ford/radar_interface.py +++ b/selfdrive/car/ford/radar_interface.py @@ -3,7 +3,8 @@ from math import cos, sin from cereal import car from opendbc.can.parser import CANParser from common.conversions import Conversions as CV -from selfdrive.car.ford.values import CANBUS, DBC, RADAR +from selfdrive.car.ford.fordcan import CanBus +from selfdrive.car.ford.values import DBC, RADAR from selfdrive.car.interfaces import RadarInterfaceBase DELPHI_ESR_RADAR_MSGS = list(range(0x500, 0x540)) @@ -12,16 +13,16 @@ DELPHI_MRR_RADAR_START_ADDR = 0x120 DELPHI_MRR_RADAR_MSG_COUNT = 64 -def _create_delphi_esr_radar_can_parser(): +def _create_delphi_esr_radar_can_parser(CP) -> CANParser: msg_n = len(DELPHI_ESR_RADAR_MSGS) signals = list(zip(['X_Rel'] * msg_n + ['Angle'] * msg_n + ['V_Rel'] * msg_n, DELPHI_ESR_RADAR_MSGS * 3)) checks = list(zip(DELPHI_ESR_RADAR_MSGS, [20] * msg_n)) - return CANParser(RADAR.DELPHI_ESR, signals, checks, CANBUS.radar) + return CANParser(RADAR.DELPHI_ESR, signals, checks, CanBus(CP).radar) -def _create_delphi_mrr_radar_can_parser(): +def _create_delphi_mrr_radar_can_parser(CP) -> CANParser: signals = [] checks = [] @@ -37,7 +38,7 @@ def _create_delphi_mrr_radar_can_parser(): ] checks += [(msg, 20)] - return CANParser(RADAR.DELPHI_MRR, signals, checks, CANBUS.radar) + return CANParser(RADAR.DELPHI_MRR, signals, checks, CanBus(CP).radar) class RadarInterface(RadarInterfaceBase): @@ -50,11 +51,11 @@ class RadarInterface(RadarInterfaceBase): if self.radar is None or CP.radarUnavailable: self.rcp = None elif self.radar == RADAR.DELPHI_ESR: - self.rcp = _create_delphi_esr_radar_can_parser() + self.rcp = _create_delphi_esr_radar_can_parser(CP) self.trigger_msg = DELPHI_ESR_RADAR_MSGS[-1] self.valid_cnt = {key: 0 for key in DELPHI_ESR_RADAR_MSGS} elif self.radar == RADAR.DELPHI_MRR: - self.rcp = _create_delphi_mrr_radar_can_parser() + self.rcp = _create_delphi_mrr_radar_can_parser(CP) self.trigger_msg = DELPHI_MRR_RADAR_START_ADDR + DELPHI_MRR_RADAR_MSG_COUNT - 1 else: raise ValueError(f"Unsupported radar: {self.radar}") diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py index 6425179a2..d3a5951b7 100644 --- a/selfdrive/car/ford/values.py +++ b/selfdrive/car/ford/values.py @@ -4,7 +4,7 @@ from typing import Dict, List, Set, Union from cereal import car from selfdrive.car import AngleRateLimit, dbc_dict -from selfdrive.car.docs_definitions import CarInfo, Harness, HarnessKit +from selfdrive.car.docs_definitions import CarHarness, CarInfo, CarParts, Device from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries Ecu = car.CarParams.Ecu @@ -29,8 +29,8 @@ class CarControllerParams: ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[5, 25], angle_v=[0.000225, 0.00015]) CURVATURE_ERROR = 0.002 # ~6 degrees at 10 m/s, ~10 degrees at 35 m/s - ACCEL_MAX = 2.0 # m/s^s max acceleration - ACCEL_MIN = -3.5 # m/s^s max deceleration + ACCEL_MAX = 2.0 # m/s^2 max acceleration + ACCEL_MIN = -3.5 # m/s^2 max deceleration MIN_GAS = -0.5 INACTIVE_GAS = -5.0 @@ -38,12 +38,6 @@ class CarControllerParams: pass -class CANBUS: - main = 0 - radar = 1 - camera = 2 - - class CAR: BRONCO_SPORT_MK1 = "FORD BRONCO SPORT 1ST GEN" ESCAPE_MK4 = "FORD ESCAPE 4TH GEN" @@ -66,7 +60,11 @@ DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict("ford_lincoln_base @dataclass class FordCarInfo(CarInfo): package: str = "Co-Pilot360 Assist+" - harness_kit: HarnessKit = HarnessKit(Harness.ford_q3) + car_parts: CarParts = CarParts.common([CarHarness.ford_q3]) + + def init_make(self, CP: car.CarParams): + if CP.carFingerprint in (CAR.BRONCO_SPORT_MK1, CAR.MAVERICK_MK1): + self.car_parts = CarParts([Device.three_angled_mount, CarHarness.ford_q3]) CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = { @@ -77,7 +75,7 @@ CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = { ], CAR.EXPLORER_MK6: [ FordCarInfo("Ford Explorer 2020-22"), - FordCarInfo("Lincoln Aviator 2021", "Co-Pilot360 Plus"), + FordCarInfo("Lincoln Aviator 2020-21", "Co-Pilot360 Plus"), ], CAR.FOCUS_MK4: FordCarInfo("Ford Focus EU 2018", "Adaptive Cruise Control with Lane Centering"), CAR.MAVERICK_MK1: FordCarInfo("Ford Maverick 2022-23", "Co-Pilot360 Assist"), @@ -97,6 +95,9 @@ FW_QUERY_CONFIG = FwQueryConfig( whitelist_ecus=[Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.shiftByWire], ), ], + extra_ecus=[ + (Ecu.shiftByWire, 0x732, None), + ], ) FW_VERSIONS = { @@ -119,10 +120,6 @@ FW_VERSIONS = { b'M1PA-14C204-GF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'N1PA-14C204-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], - (Ecu.shiftByWire, 0x732, None): [ - b'LX6P-14G395-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PZ1P-14G395-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], }, CAR.ESCAPE_MK4: { (Ecu.eps, 0x730, None): [ @@ -144,16 +141,12 @@ FW_VERSIONS = { ], (Ecu.engine, 0x7E0, None): [ b'LX6A-14C204-BJV\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LX6A-14C204-BJX\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'LX6A-14C204-ESG\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'MX6A-14C204-BEF\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'MX6A-14C204-BEJ\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'NX6A-14C204-BLE\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], - (Ecu.shiftByWire, 0x732, None): [ - b'LX6P-14G395-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LX6P-14G395-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PZ1P-14G395-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], }, CAR.EXPLORER_MK6: { (Ecu.eps, 0x730, None): [ @@ -180,18 +173,13 @@ FW_VERSIONS = { ], (Ecu.engine, 0x7E0, None): [ b'LB5A-14C204-ATJ\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LB5A-14C204-AZL\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'LB5A-14C204-BUJ\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'LB5A-14C204-EAC\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'MB5A-14C204-MD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'MB5A-14C204-RC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'NB5A-14C204-HB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], - (Ecu.shiftByWire, 0x732, None): [ - b'L1MP-14C561-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'L1MP-14G395-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'L1MP-14G395-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'L1MP-14G395-JB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], }, CAR.FOCUS_MK4: { (Ecu.eps, 0x730, None): [ @@ -209,8 +197,6 @@ FW_VERSIONS = { (Ecu.engine, 0x7E0, None): [ b'JX6A-14C204-BPL\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], - (Ecu.shiftByWire, 0x732, None): [ - ], }, CAR.MAVERICK_MK1: { (Ecu.eps, 0x730, None): [ @@ -232,8 +218,5 @@ FW_VERSIONS = { b'NZ6A-14C204-ZA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PZ6A-14C204-JC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], - (Ecu.shiftByWire, 0x732, None): [ - b'NZ6P-14G395-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], }, } diff --git a/selfdrive/car/fw_query_definitions.py b/selfdrive/car/fw_query_definitions.py index 7ae9bee40..f9f8e30a6 100755 --- a/selfdrive/car/fw_query_definitions.py +++ b/selfdrive/car/fw_query_definitions.py @@ -3,7 +3,7 @@ import capnp import copy from dataclasses import dataclass, field import struct -from typing import Dict, List, Optional, Tuple +from typing import Callable, Dict, List, Optional, Set, Tuple import panda.python.uds as uds @@ -74,6 +74,9 @@ class FwQueryConfig: non_essential_ecus: Dict[capnp.lib.capnp._EnumModule, List[str]] = field(default_factory=dict) # Ecus added for data collection, not to be fingerprinted on extra_ecus: List[Tuple[capnp.lib.capnp._EnumModule, int, Optional[int]]] = field(default_factory=list) + # Function a brand can implement to provide better fuzzy matching. Takes in FW versions, + # returns set of candidates. Only will match if one candidate is returned + match_fw_to_car_fuzzy: Optional[Callable[[Dict[Tuple[int, Optional[int]], Set[bytes]]], Set[str]]] = None def __post_init__(self): for i in range(len(self.requests)): diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py index 1c0d5003e..5a7a2174c 100755 --- a/selfdrive/car/fw_versions.py +++ b/selfdrive/car/fw_versions.py @@ -1,7 +1,8 @@ #!/usr/bin/env python3 from collections import defaultdict -from typing import Any, Dict, List, Set +from typing import Any, DefaultDict, Dict, List, Optional, Set, Tuple from tqdm import tqdm +import capnp import panda.python.uds as uds from cereal import car @@ -14,6 +15,7 @@ from system.swaglog import cloudlog Ecu = car.CarParams.Ecu ESSENTIAL_ECUS = [Ecu.engine, Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.vsa] +FUZZY_EXCLUDE_ECUS = [Ecu.fwdCamera, Ecu.fwdRadar, Ecu.eps, Ecu.debug] FW_QUERY_CONFIGS = get_interface_attr('FW_QUERY_CONFIG', ignore_none=True) VERSIONS = get_interface_attr('FW_VERSIONS', ignore_none=True) @@ -27,36 +29,36 @@ def chunks(l, n=128): yield l[i:i + n] -def build_fw_dict(fw_versions, filter_brand=None): +def is_brand(brand: str, filter_brand: Optional[str]) -> bool: + """Returns if brand matches filter_brand or no brand filter is specified""" + return filter_brand is None or brand == filter_brand + + +def build_fw_dict(fw_versions: List[capnp.lib.capnp._DynamicStructBuilder], + filter_brand: Optional[str] = None) -> Dict[Tuple[int, Optional[int]], Set[bytes]]: fw_versions_dict = defaultdict(set) for fw in fw_versions: - if (filter_brand is None or fw.brand == filter_brand) and not fw.logging: + if is_brand(fw.brand, filter_brand) and not fw.logging: sub_addr = fw.subAddress if fw.subAddress != 0 else None fw_versions_dict[(fw.address, sub_addr)].add(fw.fwVersion) return dict(fw_versions_dict) -def get_brand_addrs(): - brand_addrs = defaultdict(set) +def get_brand_addrs() -> Dict[str, Set[Tuple[int, Optional[int]]]]: + brand_addrs: DefaultDict[str, Set[Tuple[int, Optional[int]]]] = defaultdict(set) for brand, cars in VERSIONS.items(): # Add ecus in database + extra ecus to match against brand_addrs[brand] |= {(addr, sub_addr) for _, addr, sub_addr in FW_QUERY_CONFIGS[brand].extra_ecus} for fw in cars.values(): brand_addrs[brand] |= {(addr, sub_addr) for _, addr, sub_addr in fw.keys()} - return brand_addrs + return dict(brand_addrs) -def match_fw_to_car_fuzzy(fw_versions_dict, log=True, exclude=None): +def match_fw_to_car_fuzzy(live_fw_versions, log=True, exclude=None): """Do a fuzzy FW match. This function will return a match, and the number of firmware version that were matched uniquely to that specific car. If multiple ECUs uniquely match to different cars the match is rejected.""" - # These ECUs are known to be shared between models (EPS only between hybrid/ICE version) - # Getting this exactly right isn't crucial, but excluding camera and radar makes it almost - # impossible to get 3 matching versions, even if two models with shared parts are released at the same - # time and only one is in our database. - exclude_types = [Ecu.fwdCamera, Ecu.fwdRadar, Ecu.eps, Ecu.debug] - # Build lookup table from (addr, sub_addr, fw) to list of candidate cars all_fw_versions = defaultdict(list) for candidate, fw_by_addr in FW_VERSIONS.items(): @@ -64,49 +66,56 @@ def match_fw_to_car_fuzzy(fw_versions_dict, log=True, exclude=None): continue for addr, fws in fw_by_addr.items(): - if addr[0] in exclude_types: + # These ECUs are known to be shared between models (EPS only between hybrid/ICE version) + # Getting this exactly right isn't crucial, but excluding camera and radar makes it almost + # impossible to get 3 matching versions, even if two models with shared parts are released at the same + # time and only one is in our database. + if addr[0] in FUZZY_EXCLUDE_ECUS: continue for f in fws: all_fw_versions[(addr[1], addr[2], f)].append(candidate) - match_count = 0 + matched_ecus = set() candidate = None - for addr, versions in fw_versions_dict.items(): + for addr, versions in live_fw_versions.items(): + ecu_key = (addr[0], addr[1]) for version in versions: # All cars that have this FW response on the specified address - candidates = all_fw_versions[(addr[0], addr[1], version)] + candidates = all_fw_versions[(*ecu_key, version)] if len(candidates) == 1: - match_count += 1 + matched_ecus.add(ecu_key) if candidate is None: candidate = candidates[0] # We uniquely matched two different cars. No fuzzy match possible elif candidate != candidates[0]: return set() - if match_count >= 2: + # Note that it is possible to match to a candidate without all its ECUs being present + # if there are enough matches. FIXME: parameterize this or require all ECUs to exist like exact matching + if len(matched_ecus) >= 2: if log: - cloudlog.error(f"Fingerprinted {candidate} using fuzzy match. {match_count} matching ECUs") + cloudlog.error(f"Fingerprinted {candidate} using fuzzy match. {len(matched_ecus)} matching ECUs") return {candidate} else: return set() -def match_fw_to_car_exact(fw_versions_dict) -> Set[str]: +def match_fw_to_car_exact(live_fw_versions, log=True) -> Set[str]: """Do an exact FW match. Returns all cars that match the given FW versions for a list of "essential" ECUs. If an ECU is not considered essential the FW version can be missing to get a fingerprint, but if it's present it needs to match the database.""" - invalid = [] + invalid = set() candidates = FW_VERSIONS for candidate, fws in candidates.items(): + config = FW_QUERY_CONFIGS[MODEL_TO_BRAND[candidate]] for ecu, expected_versions in fws.items(): - config = FW_QUERY_CONFIGS[MODEL_TO_BRAND[candidate]] ecu_type = ecu[0] addr = ecu[1:] - found_versions = fw_versions_dict.get(addr, set()) + found_versions = live_fw_versions.get(addr, set()) if not len(found_versions): # Some models can sometimes miss an ecu, or show on two different addresses if candidate in config.non_essential_ecus.get(ecu_type, []): @@ -121,13 +130,13 @@ def match_fw_to_car_exact(fw_versions_dict) -> Set[str]: continue if not any([found_version in expected_versions for found_version in found_versions]): - invalid.append(candidate) + invalid.add(candidate) break - return set(candidates.keys()) - set(invalid) + return set(candidates.keys()) - invalid -def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True): +def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True, log=True): # Try exact matching first exact_matches = [] if allow_exact: @@ -140,7 +149,12 @@ def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True): matches = set() for brand in VERSIONS.keys(): fw_versions_dict = build_fw_dict(fw_versions, filter_brand=brand) - matches |= match_func(fw_versions_dict) + matches |= match_func(fw_versions_dict, log=log) + + # If specified and no matches so far, fall back to brand's fuzzy fingerprinting function + config = FW_QUERY_CONFIGS[brand] + if not exact_match and not len(matches) and config.match_fw_to_car_fuzzy is not None: + matches |= config.match_fw_to_car_fuzzy(fw_versions_dict) if len(matches): return exact_match, matches @@ -214,7 +228,8 @@ def set_obd_multiplexing(params: Params, obd_multiplexing: bool): cloudlog.warning("OBD multiplexing set successfully") -def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pandas=1, debug=False, progress=False): +def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pandas=1, debug=False, progress=False) -> \ + List[capnp.lib.capnp._DynamicStructBuilder]: """Queries for FW versions ordering brands by likelihood, breaks when exact match is found""" all_car_fw = [] @@ -235,14 +250,11 @@ def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pand return all_car_fw -def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, num_pandas=1, debug=False, progress=False): +def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, num_pandas=1, debug=False, progress=False) -> \ + List[capnp.lib.capnp._DynamicStructBuilder]: versions = VERSIONS.copy() params = Params() - # Each brand can define extra ECUs to query for data collection - for brand, config in FW_QUERY_CONFIGS.items(): - versions[brand]["debug"] = {ecu: [] for ecu in config.extra_ecus} - if query_brand is not None: versions = {query_brand: versions[query_brand]} @@ -256,8 +268,10 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, ecu_types = {} for brand, brand_versions in versions.items(): + config = FW_QUERY_CONFIGS[brand] for ecu in brand_versions.values(): - for ecu_type, addr, sub_addr in ecu.keys(): + # Each brand can define extra ECUs to query for data collection + for ecu_type, addr, sub_addr in list(ecu) + config.extra_ecus: a = (brand, addr, sub_addr) if a not in ecu_types: ecu_types[a] = ecu_type @@ -273,7 +287,7 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, # Get versions and build capnp list to put into CarParams car_fw = [] - requests = [(brand, config, r) for brand, config, r in REQUESTS if query_brand is None or brand == query_brand] + requests = [(brand, config, r) for brand, config, r in REQUESTS if is_brand(brand, query_brand)] for addr in tqdm(addrs, disable=not progress): for addr_chunk in chunks(addr): for brand, config, r in requests: @@ -286,11 +300,11 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, set_obd_multiplexing(params, r.obd_multiplexing) try: - addrs = [(a, s) for (b, a, s) in addr_chunk if b in (brand, 'any') and - (len(r.whitelist_ecus) == 0 or ecu_types[(b, a, s)] in r.whitelist_ecus)] + query_addrs = [(a, s) for (b, a, s) in addr_chunk if b in (brand, 'any') and + (len(r.whitelist_ecus) == 0 or ecu_types[(b, a, s)] in r.whitelist_ecus)] - if addrs: - query = IsoTpParallelQuery(sendcan, logcan, r.bus, addrs, r.request, r.response, r.rx_offset, debug=debug) + if query_addrs: + query = IsoTpParallelQuery(sendcan, logcan, r.bus, query_addrs, r.request, r.response, r.rx_offset, debug=debug) for (tx_addr, sub_addr), version in query.get_data(timeout).items(): f = car.CarParams.CarFw.new_message() diff --git a/selfdrive/car/gm/gmcan.py b/selfdrive/car/gm/gmcan.py index 63189bcd8..0de206667 100644 --- a/selfdrive/car/gm/gmcan.py +++ b/selfdrive/car/gm/gmcan.py @@ -20,10 +20,20 @@ def create_buttons(packer, bus, idx, button): def create_pscm_status(packer, bus, pscm_status): - checksum_mod = int(1 - pscm_status["HandsOffSWlDetectionStatus"]) << 5 - pscm_status["HandsOffSWlDetectionStatus"] = 1 - pscm_status["PSCMStatusChecksum"] += checksum_mod - return packer.make_can_msg("PSCMStatus", bus, pscm_status) + values = {s: pscm_status[s] for s in [ + "HandsOffSWDetectionMode", + "HandsOffSWlDetectionStatus", + "LKATorqueDeliveredStatus", + "LKADriverAppldTrq", + "LKATorqueDelivered", + "LKATotalTorqueDelivered", + "RollingCounter", + "PSCMStatusChecksum", + ]} + checksum_mod = int(1 - values["HandsOffSWlDetectionStatus"]) << 5 + values["HandsOffSWlDetectionStatus"] = 1 + values["PSCMStatusChecksum"] += checksum_mod + return packer.make_can_msg("PSCMStatus", bus, values) def create_steering_control(packer, bus, apply_steer, idx, lkas_active): diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py index 865ba8ed0..b21c303d8 100644 --- a/selfdrive/car/gm/values.py +++ b/selfdrive/car/gm/values.py @@ -5,7 +5,7 @@ from typing import Dict, List, Union from cereal import car from selfdrive.car import dbc_dict -from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness, HarnessKit, HarnessPart +from selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column Ecu = car.CarParams.Ecu @@ -89,9 +89,9 @@ class GMCarInfo(CarInfo): def init_make(self, CP: car.CarParams): if CP.networkLocation == car.CarParams.NetworkLocation.fwdCamera: - self.harness_kit = HarnessKit(Harness.gm) + self.car_parts = CarParts.common([CarHarness.gm]) else: - self.harness_kit = HarnessKit(Harness.obd_ii, parts=[HarnessPart.long_obdc_cable, HarnessPart.usbc_coupler]) + self.car_parts = CarParts.common([CarHarness.obd_ii]) self.footnotes.append(Footnote.OBD_II) diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py index bcc239c2d..35d627990 100644 --- a/selfdrive/car/honda/carstate.py +++ b/selfdrive/car/honda/carstate.py @@ -148,7 +148,6 @@ class CarState(CarStateBase): self.shifter_values = can_define.dv[self.gearbox_msg]["GEAR_SHIFTER"] self.steer_status_values = defaultdict(lambda: "UNKNOWN", can_define.dv["STEER_STATUS"]["STEER_STATUS"]) - self.brake_error = False self.brake_switch_prev = False self.brake_switch_active = False self.cruise_setting = 0 @@ -195,9 +194,17 @@ class CarState(CarStateBase): ret.steerFaultTemporary = steer_status not in ("NORMAL", "LOW_SPEED_LOCKOUT", "NO_TORQUE_ALERT_2") if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS: - self.brake_error = cp.vl["CRUISE_FAULT_STATUS"]["CRUISE_FAULT"] - elif self.CP.openpilotLongitudinalControl: - self.brake_error = cp.vl["STANDSTILL"]["BRAKE_ERROR_1"] or cp.vl["STANDSTILL"]["BRAKE_ERROR_2"] + ret.accFaulted = bool(cp.vl["CRUISE_FAULT_STATUS"]["CRUISE_FAULT"]) + else: + # On some cars, these two signals are always 1, this flag is masking a bug in release + # FIXME: find and set the ACC faulted signals on more platforms + if self.CP.openpilotLongitudinalControl: + ret.accFaulted = bool(cp.vl["STANDSTILL"]["BRAKE_ERROR_1"] or cp.vl["STANDSTILL"]["BRAKE_ERROR_2"]) + + # Log non-critical stock ACC/LKAS faults if Nidec (camera) + if self.CP.carFingerprint not in HONDA_BOSCH: + ret.carFaultedNonCritical = bool(cp_cam.vl["ACC_HUD"]["ACC_PROBLEM"] or cp_cam.vl["LKAS_HUD"]["LKAS_PROBLEM"]) + ret.espDisabled = cp.vl["VSA_STATUS"]["ESP_DISABLED"] != 0 ret.wheelSpeeds = self.get_wheel_speeds( @@ -332,12 +339,15 @@ class CarState(CarStateBase): ("AEB_REQ_1", "BRAKE_COMMAND"), ("FCW", "BRAKE_COMMAND"), ("CHIME", "BRAKE_COMMAND"), + ("LKAS_PROBLEM", "LKAS_HUD"), ("FCM_OFF", "ACC_HUD"), ("FCM_OFF_2", "ACC_HUD"), ("FCM_PROBLEM", "ACC_HUD"), + ("ACC_PROBLEM", "ACC_HUD"), ("ICONS", "ACC_HUD")] checks += [ ("ACC_HUD", 10), + ("LKAS_HUD", 10), ("BRAKE_COMMAND", 50), ] diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index 65deab740..11eff61b3 100755 --- a/selfdrive/car/honda/interface.py +++ b/selfdrive/car/honda/interface.py @@ -292,8 +292,8 @@ class CarInterface(CarInterfaceBase): # min speed to enable ACC. if car can do stop and go, then set enabling speed # to a negative value, so it won't matter. Otherwise, add 0.5 mph margin to not # conflict with PCM acc - stop_and_go = candidate in (HONDA_BOSCH | {CAR.CIVIC}) or ret.enableGasInterceptor - ret.minEnableSpeed = -1. if stop_and_go else 25.5 * CV.MPH_TO_MS + ret.autoResumeSng = candidate in (HONDA_BOSCH | {CAR.CIVIC}) or ret.enableGasInterceptor + ret.minEnableSpeed = -1. if ret.autoResumeSng else 25.5 * CV.MPH_TO_MS # TODO: start from empirically derived lateral slip stiffness for the civic and scale by # mass and CG position, so all cars will have approximately similar dyn behaviors @@ -326,9 +326,6 @@ class CarInterface(CarInterfaceBase): # events events = self.create_common_events(ret, pcm_enable=False) - if self.CS.brake_error: - events.add(EventName.brakeUnavailable) - if self.CP.pcmCruise and ret.vEgo < self.CP.minEnableSpeed: events.add(EventName.belowEngageSpeed) diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index 05c6f2543..ba7a42d2a 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -6,7 +6,7 @@ from cereal import car from common.conversions import Conversions as CV from panda.python import uds from selfdrive.car import dbc_dict -from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness, HarnessKit +from selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16 Ecu = car.CarParams.Ecu @@ -110,9 +110,9 @@ class HondaCarInfo(CarInfo): def init_make(self, CP: car.CarParams): if CP.carFingerprint in HONDA_BOSCH: - self.harness_kit = HarnessKit(Harness.bosch_b) if CP.carFingerprint in HONDA_BOSCH_RADARLESS else HarnessKit(Harness.bosch_a) + self.car_parts = CarParts.common([CarHarness.bosch_b]) if CP.carFingerprint in HONDA_BOSCH_RADARLESS else CarParts.common([CarHarness.bosch_a]) else: - self.harness_kit = HarnessKit(Harness.nidec) + self.car_parts = CarParts.common([CarHarness.nidec]) CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = { @@ -146,7 +146,7 @@ CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = { CAR.ACURA_RDX_3G: HondaCarInfo("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS), CAR.PILOT: [ HondaCarInfo("Honda Pilot 2016-22", min_steer_speed=12. * CV.MPH_TO_MS), - HondaCarInfo("Honda Passport 2019-22", "All", min_steer_speed=12. * CV.MPH_TO_MS), + HondaCarInfo("Honda Passport 2019-23", "All", min_steer_speed=12. * CV.MPH_TO_MS), ], CAR.RIDGELINE: HondaCarInfo("Honda Ridgeline 2017-23", min_steer_speed=12. * CV.MPH_TO_MS), CAR.INSIGHT: HondaCarInfo("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS), @@ -1130,6 +1130,7 @@ FW_VERSIONS = { b'37805-RLV-B210\x00\x00', b'37805-RLV-L160\x00\x00', b'37805-RLV-B420\x00\x00', + b'37805-RLV-F120\x00\x00', ], (Ecu.gateway, 0x18daeff1, None): [ b'38897-TG7-A030\x00\x00', diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index cec2c3e69..9bf2e0d4c 100644 --- a/selfdrive/car/hyundai/carstate.py +++ b/selfdrive/car/hyundai/carstate.py @@ -173,8 +173,8 @@ class CarState(CarStateBase): ret.brakePressed = cp.vl["TCS"]["DriverBraking"] == 1 - ret.doorOpen = cp.vl["DOORS_SEATBELTS"]["DRIVER_DOOR_OPEN"] == 1 - ret.seatbeltUnlatched = cp.vl["DOORS_SEATBELTS"]["DRIVER_SEATBELT_LATCHED"] == 0 + ret.doorOpen = cp.vl["DOORS_SEATBELTS"]["DRIVER_DOOR"] == 1 + ret.seatbeltUnlatched = cp.vl["DOORS_SEATBELTS"]["DRIVER_SEATBELT"] == 0 gear = cp.vl[self.gear_msg_canfd]["GEAR"] ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear)) @@ -457,8 +457,8 @@ class CarState(CarStateBase): ("LEFT_LAMP", "BLINKERS"), ("RIGHT_LAMP", "BLINKERS"), - ("DRIVER_DOOR_OPEN", "DOORS_SEATBELTS"), - ("DRIVER_SEATBELT_LATCHED", "DOORS_SEATBELTS"), + ("DRIVER_DOOR", "DOORS_SEATBELTS"), + ("DRIVER_SEATBELT", "DOORS_SEATBELTS"), ] checks = [ @@ -486,6 +486,8 @@ class CarState(CarStateBase): if not (CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value) and not CP.openpilotLongitudinalControl: signals += [ + ("COUNTER", "SCC_CONTROL"), + ("CHECKSUM", "SCC_CONTROL"), ("ACCMode", "SCC_CONTROL"), ("VSetDis", "SCC_CONTROL"), ("CRUISE_STANDSTILL", "SCC_CONTROL"), @@ -528,6 +530,7 @@ class CarState(CarStateBase): elif CP.flags & HyundaiFlags.CANFD_CAMERA_SCC: signals += [ ("COUNTER", "SCC_CONTROL"), + ("CHECKSUM", "SCC_CONTROL"), ("NEW_SIGNAL_1", "SCC_CONTROL"), ("MainMode_ACC", "SCC_CONTROL"), ("ACCMode", "SCC_CONTROL"), diff --git a/selfdrive/car/hyundai/hyundaican.py b/selfdrive/car/hyundai/hyundaican.py index 858f3d087..afd112326 100644 --- a/selfdrive/car/hyundai/hyundaican.py +++ b/selfdrive/car/hyundai/hyundaican.py @@ -21,7 +21,7 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.GENESIS_G70_2020, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, - CAR.SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020): + CAR.SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020, CAR.KIA_CEED): values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1) values["CF_Lkas_LdwsOpt_USM"] = 2 diff --git a/selfdrive/car/hyundai/hyundaicanfd.py b/selfdrive/car/hyundai/hyundaicanfd.py index 3717a4590..c727649ff 100644 --- a/selfdrive/car/hyundai/hyundaicanfd.py +++ b/selfdrive/car/hyundai/hyundaicanfd.py @@ -1,17 +1,15 @@ -import math - from common.numpy_fast import clip +from selfdrive.car import CanBusBase from selfdrive.car.hyundai.values import HyundaiFlags -class CanBus: - def __init__(self, CP, hda2=None, fingerprint=None): - if CP is None: - assert None not in (hda2, fingerprint) - num = math.ceil(max([k for k, v in fingerprint.items() if len(v)], default=1) / 4) - else: +class CanBus(CanBusBase): + def __init__(self, CP, hda2=None, fingerprint=None) -> None: + super().__init__(CP, fingerprint) + + if hda2 is None: + assert CP is not None hda2 = CP.flags & HyundaiFlags.CANFD_HDA2.value - num = len(CP.safetyConfigs) # On the CAN-FD platforms, the LKAS camera is on both A-CAN and E-CAN. HDA2 cars # have a different harness than the HDA1 and non-HDA variants in order to split @@ -20,10 +18,9 @@ class CanBus: if hda2: self._a, self._e = 0, 1 - offset = 4*(num - 1) - self._a += offset - self._e += offset - self._cam = 2 + offset + self._a += self.offset + self._e += self.offset + self._cam = 2 + self.offset @property def ECAN(self): diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 59d7319de..418068a5c 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -311,7 +311,7 @@ class CarInterface(CarInterfaceBase): # for blinkers if CP.flags & HyundaiFlags.ENABLE_BLINKERS: - disable_ecu(logcan, sendcan, bus=CanBus(CP.ECAN), addr=0x7B1, com_cont_req=b'\x28\x83\x01') + disable_ecu(logcan, sendcan, bus=CanBus(CP).ECAN, addr=0x7B1, com_cont_req=b'\x28\x83\x01') def _update(self, c): ret = self.CS.update(self.cp, self.cp_cam) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 8be3a5fe5..1d0573085 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -1,12 +1,13 @@ +import re from dataclasses import dataclass from enum import Enum, IntFlag -from typing import Dict, List, Optional, Union +from typing import Dict, List, Optional, Set, Tuple, Union from cereal import car from panda.python import uds from common.conversions import Conversions as CV from selfdrive.car import dbc_dict -from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness, HarnessKit +from selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16 Ecu = car.CarParams.Ecu @@ -147,114 +148,114 @@ class HyundaiCarInfo(CarInfo): CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { CAR.ELANTRA: [ - HyundaiCarInfo("Hyundai Elantra 2017-19", min_enable_speed=19 * CV.MPH_TO_MS, harness_kit=HarnessKit(Harness.hyundai_b)), - HyundaiCarInfo("Hyundai Elantra GT 2017-19", harness_kit=HarnessKit(Harness.hyundai_e)), - HyundaiCarInfo("Hyundai i30 2017-19", harness_kit=HarnessKit(Harness.hyundai_e)), + HyundaiCarInfo("Hyundai Elantra 2017-19", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_b])), + HyundaiCarInfo("Hyundai Elantra GT 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])), + HyundaiCarInfo("Hyundai i30 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])), ], - CAR.ELANTRA_2021: HyundaiCarInfo("Hyundai Elantra 2021-23", video_link="https://youtu.be/_EdYQtV52-c", harness_kit=HarnessKit(Harness.hyundai_k)), - CAR.ELANTRA_HEV_2021: HyundaiCarInfo("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c", harness_kit=HarnessKit(Harness.hyundai_k)), + CAR.ELANTRA_2021: HyundaiCarInfo("Hyundai Elantra 2021-23", video_link="https://youtu.be/_EdYQtV52-c", car_parts=CarParts.common([CarHarness.hyundai_k])), + CAR.ELANTRA_HEV_2021: HyundaiCarInfo("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c", car_parts=CarParts.common([CarHarness.hyundai_k])), CAR.HYUNDAI_GENESIS: [ - HyundaiCarInfo("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, harness_kit=HarnessKit(Harness.hyundai_j)), # TODO: check 2015 packages - HyundaiCarInfo("Genesis G80 2017", "All", min_enable_speed=19 * CV.MPH_TO_MS, harness_kit=HarnessKit(Harness.hyundai_j)), + HyundaiCarInfo("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])), # TODO: check 2015 packages + HyundaiCarInfo("Genesis G80 2017", "All", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])), ], - CAR.IONIQ: HyundaiCarInfo("Hyundai Ioniq Hybrid 2017-19", harness_kit=HarnessKit(Harness.hyundai_c)), - CAR.IONIQ_HEV_2022: HyundaiCarInfo("Hyundai Ioniq Hybrid 2020-22", harness_kit=HarnessKit(Harness.hyundai_h)), # TODO: confirm 2020-21 harness - CAR.IONIQ_EV_LTD: HyundaiCarInfo("Hyundai Ioniq Electric 2019", harness_kit=HarnessKit(Harness.hyundai_c)), - CAR.IONIQ_EV_2020: HyundaiCarInfo("Hyundai Ioniq Electric 2020", "All", harness_kit=HarnessKit(Harness.hyundai_h)), - CAR.IONIQ_PHEV_2019: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2019", harness_kit=HarnessKit(Harness.hyundai_c)), - CAR.IONIQ_PHEV: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-22", "All", harness_kit=HarnessKit(Harness.hyundai_h)), - CAR.KONA: HyundaiCarInfo("Hyundai Kona 2020", harness_kit=HarnessKit(Harness.hyundai_b)), - CAR.KONA_EV: HyundaiCarInfo("Hyundai Kona Electric 2018-21", harness_kit=HarnessKit(Harness.hyundai_g)), - CAR.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022", harness_kit=HarnessKit(Harness.hyundai_o)), - CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", video_link="https://youtu.be/0dwpAHiZgFo", harness_kit=HarnessKit(Harness.hyundai_i)), # TODO: check packages - CAR.SANTA_FE: HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", harness_kit=HarnessKit(Harness.hyundai_d)), - CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-22", "All", video_link="https://youtu.be/VnHzSTygTS4", harness_kit=HarnessKit(Harness.hyundai_l)), - CAR.SANTA_FE_HEV_2022: HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022", "All", harness_kit=HarnessKit(Harness.hyundai_l)), - CAR.SANTA_FE_PHEV_2022: HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022", "All", harness_kit=HarnessKit(Harness.hyundai_l)), - CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-23", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw", harness_kit=HarnessKit(Harness.hyundai_a)), - CAR.SONATA_LF: HyundaiCarInfo("Hyundai Sonata 2018-19", harness_kit=HarnessKit(Harness.hyundai_e)), + CAR.IONIQ: HyundaiCarInfo("Hyundai Ioniq Hybrid 2017-19", car_parts=CarParts.common([CarHarness.hyundai_c])), + CAR.IONIQ_HEV_2022: HyundaiCarInfo("Hyundai Ioniq Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_h])), # TODO: confirm 2020-21 harness + CAR.IONIQ_EV_LTD: HyundaiCarInfo("Hyundai Ioniq Electric 2019", car_parts=CarParts.common([CarHarness.hyundai_c])), + CAR.IONIQ_EV_2020: HyundaiCarInfo("Hyundai Ioniq Electric 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_h])), + CAR.IONIQ_PHEV_2019: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_c])), + CAR.IONIQ_PHEV: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])), + CAR.KONA: HyundaiCarInfo("Hyundai Kona 2020", car_parts=CarParts.common([CarHarness.hyundai_b])), + CAR.KONA_EV: HyundaiCarInfo("Hyundai Kona Electric 2018-21", car_parts=CarParts.common([CarHarness.hyundai_g])), + CAR.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022", car_parts=CarParts.common([CarHarness.hyundai_o])), + CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", video_link="https://youtu.be/0dwpAHiZgFo", car_parts=CarParts.common([CarHarness.hyundai_i])), # TODO: check packages + CAR.SANTA_FE: HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", car_parts=CarParts.common([CarHarness.hyundai_d])), + CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-22", "All", video_link="https://youtu.be/VnHzSTygTS4", car_parts=CarParts.common([CarHarness.hyundai_l])), + CAR.SANTA_FE_HEV_2022: HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])), + CAR.SANTA_FE_PHEV_2022: HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_l])), + CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-23", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw", car_parts=CarParts.common([CarHarness.hyundai_a])), + CAR.SONATA_LF: HyundaiCarInfo("Hyundai Sonata 2018-19", car_parts=CarParts.common([CarHarness.hyundai_e])), CAR.TUCSON: [ - HyundaiCarInfo("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, harness_kit=HarnessKit(Harness.hyundai_l)), - HyundaiCarInfo("Hyundai Tucson Diesel 2019", harness_kit=HarnessKit(Harness.hyundai_l)), + HyundaiCarInfo("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_l])), + HyundaiCarInfo("Hyundai Tucson Diesel 2019", car_parts=CarParts.common([CarHarness.hyundai_l])), ], CAR.PALISADE: [ - HyundaiCarInfo("Hyundai Palisade 2020-22", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456", harness_kit=HarnessKit(Harness.hyundai_h)), - HyundaiCarInfo("Kia Telluride 2020-22", "All", harness_kit=HarnessKit(Harness.hyundai_h)), + HyundaiCarInfo("Hyundai Palisade 2020-22", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456", car_parts=CarParts.common([CarHarness.hyundai_h])), + HyundaiCarInfo("Kia Telluride 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])), ], - CAR.VELOSTER: HyundaiCarInfo("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, harness_kit=HarnessKit(Harness.hyundai_e)), - CAR.SONATA_HYBRID: HyundaiCarInfo("Hyundai Sonata Hybrid 2020-22", "All", harness_kit=HarnessKit(Harness.hyundai_a)), + CAR.VELOSTER: HyundaiCarInfo("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_e])), + CAR.SONATA_HYBRID: HyundaiCarInfo("Hyundai Sonata Hybrid 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_a])), CAR.IONIQ_5: [ - HyundaiCarInfo("Hyundai Ioniq 5 (Southeast Asia only) 2022-23", "All", harness_kit=HarnessKit(Harness.hyundai_q)), - HyundaiCarInfo("Hyundai Ioniq 5 (without HDA II) 2022-23", "Highway Driving Assist", harness_kit=HarnessKit(Harness.hyundai_k)), - HyundaiCarInfo("Hyundai Ioniq 5 (with HDA II) 2022-23", "Highway Driving Assist II", harness_kit=HarnessKit(Harness.hyundai_q)), + HyundaiCarInfo("Hyundai Ioniq 5 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_q])), + HyundaiCarInfo("Hyundai Ioniq 5 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_k])), + HyundaiCarInfo("Hyundai Ioniq 5 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])), ], CAR.TUCSON_4TH_GEN: [ - HyundaiCarInfo("Hyundai Tucson 2022", harness_kit=HarnessKit(Harness.hyundai_n)), - HyundaiCarInfo("Hyundai Tucson 2023", "All", harness_kit=HarnessKit(Harness.hyundai_n)), + HyundaiCarInfo("Hyundai Tucson 2022", car_parts=CarParts.common([CarHarness.hyundai_n])), + HyundaiCarInfo("Hyundai Tucson 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_n])), ], - CAR.TUCSON_HYBRID_4TH_GEN: HyundaiCarInfo("Hyundai Tucson Hybrid 2022-23", "All", harness_kit=HarnessKit(Harness.hyundai_n)), - CAR.SANTA_CRUZ_1ST_GEN: HyundaiCarInfo("Hyundai Santa Cruz 2022-23", harness_kit=HarnessKit(Harness.hyundai_n)), + CAR.TUCSON_HYBRID_4TH_GEN: HyundaiCarInfo("Hyundai Tucson Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_n])), + CAR.SANTA_CRUZ_1ST_GEN: HyundaiCarInfo("Hyundai Santa Cruz 2022-23", car_parts=CarParts.common([CarHarness.hyundai_n])), # Kia CAR.KIA_FORTE: [ - HyundaiCarInfo("Kia Forte 2019-21", harness_kit=HarnessKit(Harness.hyundai_g)), - HyundaiCarInfo("Kia Forte 2023", harness_kit=HarnessKit(Harness.hyundai_e)), + HyundaiCarInfo("Kia Forte 2019-21", car_parts=CarParts.common([CarHarness.hyundai_g])), + HyundaiCarInfo("Kia Forte 2023", car_parts=CarParts.common([CarHarness.hyundai_e])), ], - CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-22", harness_kit=HarnessKit(Harness.hyundai_a)), - CAR.KIA_K5_HEV_2020: HyundaiCarInfo("Kia K5 Hybrid 2020", harness_kit=HarnessKit(Harness.hyundai_a)), + CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-22", car_parts=CarParts.common([CarHarness.hyundai_a])), + CAR.KIA_K5_HEV_2020: HyundaiCarInfo("Kia K5 Hybrid 2020", car_parts=CarParts.common([CarHarness.hyundai_a])), CAR.KIA_NIRO_EV: [ - HyundaiCarInfo("Kia Niro EV 2019", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness_kit=HarnessKit(Harness.hyundai_h)), - HyundaiCarInfo("Kia Niro EV 2020", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness_kit=HarnessKit(Harness.hyundai_f)), - HyundaiCarInfo("Kia Niro EV 2021", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness_kit=HarnessKit(Harness.hyundai_c)), - HyundaiCarInfo("Kia Niro EV 2022", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness_kit=HarnessKit(Harness.hyundai_h)), + HyundaiCarInfo("Kia Niro EV 2019", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])), + HyundaiCarInfo("Kia Niro EV 2020", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_f])), + HyundaiCarInfo("Kia Niro EV 2021", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_c])), + HyundaiCarInfo("Kia Niro EV 2022", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])), ], - CAR.KIA_NIRO_EV_2ND_GEN: HyundaiCarInfo("Kia Niro EV 2023", "All", harness_kit=HarnessKit(Harness.hyundai_a)), + CAR.KIA_NIRO_EV_2ND_GEN: HyundaiCarInfo("Kia Niro EV 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a])), CAR.KIA_NIRO_PHEV: [ - HyundaiCarInfo("Kia Niro Plug-in Hybrid 2018-19", "All", min_enable_speed=10. * CV.MPH_TO_MS, harness_kit=HarnessKit(Harness.hyundai_c)), - HyundaiCarInfo("Kia Niro Plug-in Hybrid 2020", "All", harness_kit=HarnessKit(Harness.hyundai_d)), + HyundaiCarInfo("Kia Niro Plug-in Hybrid 2018-19", "All", min_enable_speed=10. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_c])), + HyundaiCarInfo("Kia Niro Plug-in Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_d])), ], CAR.KIA_NIRO_HEV_2021: [ - HyundaiCarInfo("Kia Niro Hybrid 2021-22", harness_kit=HarnessKit(Harness.hyundai_f)), # TODO: 2021 could be hyundai_d, verify + HyundaiCarInfo("Kia Niro Hybrid 2021-22", car_parts=CarParts.common([CarHarness.hyundai_f])), # TODO: 2021 could be hyundai_d, verify ], - CAR.KIA_NIRO_HEV_2ND_GEN: HyundaiCarInfo("Kia Niro Hybrid 2023", harness_kit=HarnessKit(Harness.hyundai_a)), - CAR.KIA_OPTIMA_G4: HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control", harness_kit=HarnessKit(Harness.hyundai_b)), # TODO: may support 2016, 2018 - CAR.KIA_OPTIMA_G4_FL: HyundaiCarInfo("Kia Optima 2019-20", harness_kit=HarnessKit(Harness.hyundai_g)), + CAR.KIA_NIRO_HEV_2ND_GEN: HyundaiCarInfo("Kia Niro Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_a])), + CAR.KIA_OPTIMA_G4: HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control", car_parts=CarParts.common([CarHarness.hyundai_b])), # TODO: may support 2016, 2018 + CAR.KIA_OPTIMA_G4_FL: HyundaiCarInfo("Kia Optima 2019-20", car_parts=CarParts.common([CarHarness.hyundai_g])), CAR.KIA_OPTIMA_H: [ HyundaiCarInfo("Kia Optima Hybrid 2017", "Advanced Smart Cruise Control"), # TODO: may support adjacent years HyundaiCarInfo("Kia Optima Hybrid 2019"), ], - CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021", harness_kit=HarnessKit(Harness.hyundai_a)), - CAR.KIA_SPORTAGE_5TH_GEN: HyundaiCarInfo("Kia Sportage 2023", harness_kit=HarnessKit(Harness.hyundai_n)), + CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021", car_parts=CarParts.common([CarHarness.hyundai_a])), + CAR.KIA_SPORTAGE_5TH_GEN: HyundaiCarInfo("Kia Sportage 2023", car_parts=CarParts.common([CarHarness.hyundai_n])), CAR.KIA_SORENTO: [ - HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness_kit=HarnessKit(Harness.hyundai_c)), - HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness_kit=HarnessKit(Harness.hyundai_e)), + HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", car_parts=CarParts.common([CarHarness.hyundai_c])), + HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", car_parts=CarParts.common([CarHarness.hyundai_e])), ], - CAR.KIA_SORENTO_4TH_GEN: HyundaiCarInfo("Kia Sorento 2021-23", harness_kit=HarnessKit(Harness.hyundai_k)), - CAR.KIA_SORENTO_PHEV_4TH_GEN: HyundaiCarInfo("Kia Sorento Plug-in Hybrid 2022-23", harness_kit=HarnessKit(Harness.hyundai_a)), - CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: HyundaiCarInfo("Kia Sportage Hybrid 2023", harness_kit=HarnessKit(Harness.hyundai_n)), - CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", harness_kit=HarnessKit(Harness.hyundai_c)), - CAR.KIA_STINGER_2022: HyundaiCarInfo("Kia Stinger 2022", "All", harness_kit=HarnessKit(Harness.hyundai_k)), - CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", harness_kit=HarnessKit(Harness.hyundai_e)), + CAR.KIA_SORENTO_4TH_GEN: HyundaiCarInfo("Kia Sorento 2021-23", car_parts=CarParts.common([CarHarness.hyundai_k])), + CAR.KIA_SORENTO_PHEV_4TH_GEN: HyundaiCarInfo("Kia Sorento Plug-in Hybrid 2022-23", car_parts=CarParts.common([CarHarness.hyundai_a])), + CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: HyundaiCarInfo("Kia Sportage Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_n])), + CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", car_parts=CarParts.common([CarHarness.hyundai_c])), + CAR.KIA_STINGER_2022: HyundaiCarInfo("Kia Stinger 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), + CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", car_parts=CarParts.common([CarHarness.hyundai_e])), CAR.KIA_EV6: [ - HyundaiCarInfo("Kia EV6 (Southeast Asia only) 2022-23", "All", harness_kit=HarnessKit(Harness.hyundai_p)), - HyundaiCarInfo("Kia EV6 (without HDA II) 2022-23", "Highway Driving Assist", harness_kit=HarnessKit(Harness.hyundai_l)), - HyundaiCarInfo("Kia EV6 (with HDA II) 2022-23", "Highway Driving Assist II", harness_kit=HarnessKit(Harness.hyundai_p)) + HyundaiCarInfo("Kia EV6 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_p])), + HyundaiCarInfo("Kia EV6 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_l])), + HyundaiCarInfo("Kia EV6 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p])) ], # Genesis CAR.GENESIS_GV60_EV_1ST_GEN: [ - HyundaiCarInfo("Genesis GV60 (Advanced Trim) 2023", "All", harness_kit=HarnessKit(Harness.hyundai_a)), - HyundaiCarInfo("Genesis GV60 (Performance Trim) 2023", "All", harness_kit=HarnessKit(Harness.hyundai_k)), + HyundaiCarInfo("Genesis GV60 (Advanced Trim) 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a])), + HyundaiCarInfo("Genesis GV60 (Performance Trim) 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), ], - CAR.GENESIS_G70: HyundaiCarInfo("Genesis G70 2018-19", "All", harness_kit=HarnessKit(Harness.hyundai_f)), - CAR.GENESIS_G70_2020: HyundaiCarInfo("Genesis G70 2020", "All", harness_kit=HarnessKit(Harness.hyundai_f)), + CAR.GENESIS_G70: HyundaiCarInfo("Genesis G70 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_f])), + CAR.GENESIS_G70_2020: HyundaiCarInfo("Genesis G70 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_f])), CAR.GENESIS_GV70_1ST_GEN: [ - HyundaiCarInfo("Genesis GV70 (2.5T Trim) 2022-23", "All", harness_kit=HarnessKit(Harness.hyundai_l)), - HyundaiCarInfo("Genesis GV70 (3.5T Trim) 2022-23", "All", harness_kit=HarnessKit(Harness.hyundai_m)), + HyundaiCarInfo("Genesis GV70 (2.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])), + HyundaiCarInfo("Genesis GV70 (3.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_m])), ], - CAR.GENESIS_G80: HyundaiCarInfo("Genesis G80 2018-19", "All", harness_kit=HarnessKit(Harness.hyundai_h)), - CAR.GENESIS_G90: HyundaiCarInfo("Genesis G90 2017-18", "All", harness_kit=HarnessKit(Harness.hyundai_c)), - CAR.GENESIS_GV80: HyundaiCarInfo("Genesis GV80 2023", "All", harness_kit=HarnessKit(Harness.hyundai_m)), + CAR.GENESIS_G80: HyundaiCarInfo("Genesis G80 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_h])), + CAR.GENESIS_G90: HyundaiCarInfo("Genesis G90 2017-18", "All", car_parts=CarParts.common([CarHarness.hyundai_c])), + CAR.GENESIS_GV80: HyundaiCarInfo("Genesis GV80 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_m])), } class Buttons: @@ -342,6 +343,76 @@ FINGERPRINTS = { }], } + +def get_platform_codes(fw_versions: List[bytes]) -> Set[Tuple[bytes, Optional[bytes]]]: + # Returns unique, platform-specific identification codes for a set of versions + codes = set() # (code-Optional[part], date) + for fw in fw_versions: + code_match = PLATFORM_CODE_FW_PATTERN.search(fw) + part_match = PART_NUMBER_FW_PATTERN.search(fw) + date_match = DATE_FW_PATTERN.search(fw) + if code_match is not None: + code: bytes = code_match.group() + part = part_match.group() if part_match else None + date = date_match.group() if date_match else None + if part is not None: + # part number starts with generic ECU part type, add what is specific to platform + code += b"-" + part[-5:] + + codes.add((code, date)) + return codes + + +def match_fw_to_car_fuzzy(live_fw_versions) -> Set[str]: + # Non-electric CAN FD platforms often do not have platform code specifiers needed + # to distinguish between hybrid and ICE. All EVs so far are either exclusively + # electric or specify electric in the platform code. + fuzzy_platform_blacklist = set(CANFD_CAR - EV_CAR) + candidates = set() + + for candidate, fws in FW_VERSIONS.items(): + # Keep track of ECUs which pass all checks (platform codes, within date range) + valid_found_ecus = set() + valid_expected_ecus = {ecu[1:] for ecu in fws if ecu[0] in PLATFORM_CODE_ECUS} + for ecu, expected_versions in fws.items(): + addr = ecu[1:] + # Only check ECUs expected to have platform codes + if ecu[0] not in PLATFORM_CODE_ECUS: + continue + + # Expected platform codes & dates + codes = get_platform_codes(expected_versions) + expected_platform_codes = {code for code, _ in codes} + expected_dates = {date for _, date in codes if date is not None} + + # Found platform codes & dates + codes = get_platform_codes(live_fw_versions.get(addr, set())) + found_platform_codes = {code for code, _ in codes} + found_dates = {date for _, date in codes if date is not None} + + # Check platform code + part number matches for any found versions + if not any(found_platform_code in expected_platform_codes for found_platform_code in found_platform_codes): + break + + if ecu[0] in DATE_FW_ECUS: + # If ECU can have a FW date, require it to exist + # (this excludes candidates in the database without dates) + if not len(expected_dates) or not len(found_dates): + break + + # Check any date within range in the database, format is %y%m%d + if not any(min(expected_dates) <= found_date <= max(expected_dates) for found_date in found_dates): + break + + valid_found_ecus.add(addr) + + # If all live ECUs pass all checks for candidate, add it as a match + if valid_expected_ecus.issubset(valid_found_ecus): + candidates.add(candidate) + + return candidates - fuzzy_platform_blacklist + + HYUNDAI_VERSION_REQUEST_LONG = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ p16(0xf100) # Long description @@ -355,6 +426,18 @@ HYUNDAI_VERSION_REQUEST_MULTI = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER] HYUNDAI_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) +# Regex patterns for parsing platform code, FW date, and part number from FW versions +PLATFORM_CODE_FW_PATTERN = re.compile(b'((?<=' + HYUNDAI_VERSION_REQUEST_LONG[1:] + + b')[A-Z]{2}[A-Za-z0-9]{0,2})') +DATE_FW_PATTERN = re.compile(b'(?<=[ -])([0-9]{6}$)') +PART_NUMBER_FW_PATTERN = re.compile(b'(?<=[0-9][.,][0-9]{2} )([0-9]{5}[-/]?[A-Z][A-Z0-9]{3}[0-9])') + +# List of ECUs expected to have platform codes, camera and radar should exist on all cars +# TODO: use abs, it has the platform code and part number on many platforms +PLATFORM_CODE_ECUS = [Ecu.fwdRadar, Ecu.fwdCamera, Ecu.eps] +# So far we've only seen dates in fwdCamera +DATE_FW_ECUS = [Ecu.fwdCamera] + FW_QUERY_CONFIG = FwQueryConfig( requests=[ # TODO: minimize shared whitelists for CAN and cornerRadar for CAN-FD @@ -411,6 +494,8 @@ FW_QUERY_CONFIG = FwQueryConfig( (Ecu.hvac, 0x7b3, None), # HVAC Control Assembly (Ecu.cornerRadar, 0x7b7, None), ], + # Custom fuzzy fingerprinting function using platform codes, part numbers + FW dates: + match_fw_to_car_fuzzy=match_fw_to_car_fuzzy, ) FW_VERSIONS = { @@ -542,14 +627,11 @@ FW_VERSIONS = { }, CAR.SONATA: { (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00DN8 1.00 99110-L0000 \xaa\xaa\xaa\xaa\xaa\xaa\xaa ', - b'\xf1\x00DN8 1.00 99110-L0000 \xaa\xaa\xaa\xaa\xaa\xaa\xaa\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'\xf1\x00DN8_ SCC F-CU- 1.00 1.00 99110-L0000 ', b'\xf1\x00DN8_ SCC F-CUP 1.00 1.00 99110-L0000 ', b'\xf1\x00DN8_ SCC F-CUP 1.00 1.02 99110-L1000 ', b'\xf1\x00DN8_ SCC FHCUP 1.00 1.00 99110-L0000 ', b'\xf1\x00DN8_ SCC FHCUP 1.00 1.01 99110-L1000 ', - b'\xf1\x00DN89110-L0000 \xaa\xaa\xaa\xaa\xaa\xaa\xaa ', ], (Ecu.abs, 0x7d1, None): [ b'\xf1\x00DN ESC \x07 106 \x07\x01 58910-L0100', @@ -590,11 +672,9 @@ FW_VERSIONS = { b'\xf1\x00DN8 MDPS C 1,00 1,01 56310L0010\x00 4DNAC101', # modified firmware b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0210\x00 4DNAC102', b'\xf1\x8756310L0010\x00\xf1\x00DN8 MDPS C 1,00 1,01 56310L0010\x00 4DNAC101', # modified firmware - b'\xf1\x00DN8 MDPS C 1.00 1.01 \x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00 4DNAC101', b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0010 4DNAC101', b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0010\x00 4DNAC101', b'\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP100', - b'\xf1\x87\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x00DN8 MDPS C 1.00 1.01 \x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00 4DNAC101', b'\xf1\x8756310-L0010\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0010 4DNAC101', b'\xf1\x8756310-L0210\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0210 4DNAC101', b'\xf1\x8756310-L1010\xf1\x00DN8 MDPS C 1.00 1.03 56310-L1010 4DNDC103', @@ -755,7 +835,7 @@ FW_VERSIONS = { b'\xf1\x00TM MDPS C 1.00 1.00 56340-S2000 8409', b'\xf1\x00TM MDPS C 1.00 1.00 56340-S2000 8A12', b'\xf1\x00TM MDPS C 1.00 1.01 56340-S2000 9129', - b'\xf1\x00TM MDPS R 1.00 1.02 57700-S1100 4TMDP102' + b'\xf1\x00TM MDPS R 1.00 1.02 57700-S1100 4TMDP102', ], (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00TM MFC AT EUR LHD 1.00 1.01 99211-S1010 181207', @@ -850,19 +930,25 @@ FW_VERSIONS = { ], (Ecu.eps, 0x7d4, None): [ b'\xf1\x00TM MDPS C 1.00 1.02 56310-CLAC0 4TSHC102', + b'\xf1\x00TM MDPS C 1.00 1.02 56310-CLEC0 4TSHC102', b'\xf1\x00TM MDPS R 1.00 1.05 57700-CL000 4TSHP105', + b'\xf1\x00TM MDPS C 1.00 1.02 56310-GA000 4TSHA100', ], (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00TMH MFC AT EUR LHD 1.00 1.06 99211-S1500 220727', b'\xf1\x00TMH MFC AT USA LHD 1.00 1.03 99211-S1500 210224', + b'\xf1\x00TMH MFC AT USA LHD 1.00 1.06 99211-S1500 220727', + b'\xf1\x00TMA MFC AT USA LHD 1.00 1.03 99211-S2500 220414', ], (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TTM2H16SA3\xa3\x1b\xe14', b'\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TTM2H16UA3I\x94\xac\x8f', b'\xf1\x87959102T250\x00\x00\x00\x00\x00\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333 E14\x00\x00\x00\x00\x00\x00\x00TTM2H16SA2\x80\xd7l\xb2', ], (Ecu.engine, 0x7e0, None): [ b'\xf1\x87391312MTC1', b'\xf1\x87391312MTE0', + b'\xf1\x87391312MTL0', ], }, CAR.SANTA_FE_PHEV_2022: { @@ -1101,12 +1187,14 @@ FW_VERSIONS = { b'\xf1\x00IK MDPS R 1.00 1.07 57700-G9220 4I2VL107', b'\xf1\x00IK MDPS R 1.00 1.07 57700-G9420 4I4VL107', b'\xf1\x00IK MDPS R 1.00 1.08 57700-G9420 4I4VL108', + b'\xf1\x00IK MDPS R 1.00 1.08 57700-G9200 4I2CL108', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x87VCJLP18407832DN3\x88vXfvUVT\x97eFU\x87d7v\x88eVeveFU\x89\x98\x7f\xff\xb2\xb0\xf1\x81E25\x00\x00\x00', b'\x00\x00\x00\x00\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB4\xecE\xefL', b'\xf1\x87VDKLT18912362DN4wfVfwefeveVUwfvw\x88vWfvUFU\x89\xa9\x8f\xff\x87w\xf1\x81E25\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB4\xecE\xefL', b'\xf1\x87VDJLC18480772DK9\x88eHfwfff\x87eFUeDEU\x98eFe\x86T5DVyo\xff\x87s\xf1\x81E25\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T33KB5\x9f\xa5&\x81', + b'\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T20KB3Wuvz', ], (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00IK__ SCC F-CUP 1.00 1.02 96400-G9100 ', @@ -1120,6 +1208,7 @@ FW_VERSIONS = { (Ecu.engine, 0x7e0, None): [ b'\xf1\x81640J0051\x00\x00\x00\x00\x00\x00\x00\x00', b'\xf1\x81640H0051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x81606G2051\x00\x00\x00\x00\x00\x00\x00\x00', ], }, CAR.GENESIS_G80: { @@ -1142,7 +1231,10 @@ FW_VERSIONS = { ], }, CAR.GENESIS_G90: { - (Ecu.transmission, 0x7e1, None): [b'\xf1\x87VDGMD15866192DD3x\x88x\x89wuFvvfUf\x88vWwgwwwvfVgx\x87o\xff\xbc^\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcshcm49 E14\x00\x00\x00\x00\x00\x00\x00SHI0G50NB1tc5\xb7'], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x87VDGMD15352242DD3w\x87gxwvgv\x87wvw\x88wXwffVfffUfw\x88o\xff\x06J\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcshcm49 E14\x00\x00\x00\x00\x00\x00\x00SHI0G50NB1tc5\xb7', + b'\xf1\x87VDGMD15866192DD3x\x88x\x89wuFvvfUf\x88vWwgwwwvfVgx\x87o\xff\xbc^\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcshcm49 E14\x00\x00\x00\x00\x00\x00\x00SHI0G50NB1tc5\xb7', + ], (Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x00HI__ SCC F-CUP 1.00 1.01 96400-D2100 '], (Ecu.fwdCamera, 0x7c4, None): [b'\xf1\x00HI LKAS AT USA LHD 1.00 1.00 95895-D2020 160302'], (Ecu.engine, 0x7e0, None): [b'\xf1\x810000000000\x00'], @@ -1484,10 +1576,8 @@ FW_VERSIONS = { b'\xf1\x8799110AA000\xf1\x00CN7_ SCC F-CUP 1.00 1.01 99110-AA000 ', ], (Ecu.eps, 0x7d4, None): [ - b'\xf1\x87\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x00CN7 MDPS C 1.00 1.06 \x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00 4CNDC106', - b'\xf1\x8756310/AA070\xf1\x00CN7 MDPS C 1.00 1.06 56310/AA070 4CNDC106', - b'\xf1\x8756310AA050\x00\xf1\x00CN7 MDPS C 1.00 1.06 56310AA050\x00 4CNDC106\xf1\xa01.06', b'\xf1\x00CN7 MDPS C 1.00 1.06 56310AA050\x00 4CNDC106', + b'\xf1\x00CN7 MDPS C 1.00 1.06 56310/AA070 4CNDC106', ], (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.00 99210-AB000 200819', diff --git a/selfdrive/car/isotp_parallel_query.py b/selfdrive/car/isotp_parallel_query.py index 965d2e183..8ab9728e5 100644 --- a/selfdrive/car/isotp_parallel_query.py +++ b/selfdrive/car/isotp_parallel_query.py @@ -90,12 +90,14 @@ class IsoTpParallelQuery: for addr in self.functional_addrs: self._create_isotp_msg(addr, None, -1).send(self.request[0]) - # If querying functional addrs, set up physical IsoTpMessages to send consecutive frames + # Send first frame (single or first) to all addresses and receive asynchronously in the loop below. + # If querying functional addrs, only set up physical IsoTpMessages to send consecutive frames for msg in msgs.values(): msg.send(self.request[0], setup_only=len(self.functional_addrs) > 0) results = {} start_time = time.monotonic() + addrs_responded = set() # track addresses that have ever sent a valid iso-tp frame for timeout logging response_timeouts = {tx_addr: start_time + timeout for tx_addr in self.msg_addrs} while True: self.rx() @@ -110,6 +112,7 @@ class IsoTpParallelQuery: # Extend timeout for each consecutive ISO-TP frame to avoid timing out on long responses if rx_in_progress: + addrs_responded.add(tx_addr) response_timeouts[tx_addr] = time.monotonic() + timeout if not dat: @@ -117,7 +120,7 @@ class IsoTpParallelQuery: counter = request_counter[tx_addr] expected_response = self.response[counter] - response_valid = dat[:len(expected_response)] == expected_response + response_valid = dat.startswith(expected_response) if response_valid: if counter + 1 < len(self.request): @@ -140,8 +143,14 @@ class IsoTpParallelQuery: cur_time = time.monotonic() for tx_addr in response_timeouts: if cur_time - response_timeouts[tx_addr] > 0: - if request_counter[tx_addr] > 0 and not request_done[tx_addr]: - cloudlog.error(f"iso-tp query timeout after receiving response: {tx_addr}") + if not request_done[tx_addr]: + if request_counter[tx_addr] > 0: + cloudlog.error(f"iso-tp query timeout after receiving partial response: {tx_addr}") + elif tx_addr in addrs_responded: + cloudlog.error(f"iso-tp query timeout while receiving response: {tx_addr}") + # TODO: handle functional addresses + # else: + # cloudlog.error(f"iso-tp query timeout with no response: {tx_addr}") request_done[tx_addr] = True # Break if all requests are done (finished or timed out) diff --git a/selfdrive/car/mazda/carstate.py b/selfdrive/car/mazda/carstate.py index 944d79809..af8830895 100644 --- a/selfdrive/car/mazda/carstate.py +++ b/selfdrive/car/mazda/carstate.py @@ -38,8 +38,8 @@ class CarState(CarStateBase): ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None)) ret.genericToggle = bool(cp.vl["BLINK_INFO"]["HIGH_BEAMS"]) - ret.leftBlindspot = cp.vl["BSM"]["LEFT_BS1"] == 1 - ret.rightBlindspot = cp.vl["BSM"]["RIGHT_BS1"] == 1 + ret.leftBlindspot = cp.vl["BSM"]["LEFT_BS_STATUS"] != 0 + ret.rightBlindspot = cp.vl["BSM"]["RIGHT_BS_STATUS"] != 0 ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(40, cp.vl["BLINK_INFO"]["LEFT_BLINK"] == 1, cp.vl["BLINK_INFO"]["RIGHT_BLINK"] == 1) @@ -151,8 +151,8 @@ class CarState(CarStateBase): ("PEDAL_GAS", "ENGINE_DATA"), ("SPEED", "ENGINE_DATA"), ("CTR", "CRZ_BTNS"), - ("LEFT_BS1", "BSM"), - ("RIGHT_BS1", "BSM"), + ("LEFT_BS_STATUS", "BSM"), + ("RIGHT_BS_STATUS", "BSM"), ] checks += [ diff --git a/selfdrive/car/mazda/mazdacan.py b/selfdrive/car/mazda/mazdacan.py index e2ee93e02..58a505f91 100644 --- a/selfdrive/car/mazda/mazdacan.py +++ b/selfdrive/car/mazda/mazdacan.py @@ -1,5 +1,3 @@ -import copy - from selfdrive.car.mazda.values import GEN1, Buttons @@ -46,6 +44,7 @@ def create_steering_control(packer, car_fingerprint, frame, apply_steer, lkas): csum = csum % 256 + values = {} if car_fingerprint in GEN1: values = { "LKAS_REQUEST": apply_steer, @@ -64,7 +63,17 @@ def create_steering_control(packer, car_fingerprint, frame, apply_steer, lkas): def create_alert_command(packer, cam_msg: dict, ldw: bool, steer_required: bool): - values = copy.copy(cam_msg) + values = {s: cam_msg[s] for s in [ + "LINE_VISIBLE", + "LINE_NOT_VISIBLE", + "LANE_LINES", + "BIT1", + "BIT2", + "BIT3", + "NO_ERR_BIT", + "S1", + "S1_HBEAM", + ]} values.update({ # TODO: what's the difference between all these? do we need to send all? "HANDS_WARN_3_BITS": 0b111 if steer_required else 0, diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py index 79f07a1fd..3fbf34e5f 100644 --- a/selfdrive/car/mazda/values.py +++ b/selfdrive/car/mazda/values.py @@ -3,7 +3,7 @@ from typing import Dict, List, Union from cereal import car from selfdrive.car import dbc_dict -from selfdrive.car.docs_definitions import CarInfo, Harness, HarnessKit +from selfdrive.car.docs_definitions import CarHarness, CarInfo, CarParts from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries Ecu = car.CarParams.Ecu @@ -37,7 +37,7 @@ class CAR: @dataclass class MazdaCarInfo(CarInfo): package: str = "All" - harness_kit: HarnessKit = HarnessKit(Harness.mazda) + car_parts: CarParts = CarParts.common([CarHarness.mazda]) CAR_INFO: Dict[str, Union[MazdaCarInfo, List[MazdaCarInfo]]] = { diff --git a/selfdrive/car/nissan/carcontroller.py b/selfdrive/car/nissan/carcontroller.py index 5064e8c45..4e99d2490 100644 --- a/selfdrive/car/nissan/carcontroller.py +++ b/selfdrive/car/nissan/carcontroller.py @@ -63,6 +63,7 @@ class CarController: can_sends.append(nissancan.create_steering_control( self.packer, apply_angle, self.frame, CC.latActive, self.lkas_max_torque)) + # Below are the HUD messages. We copy the stock message and modify if self.CP.carFingerprint != CAR.ALTIMA: if self.frame % 2 == 0: can_sends.append(nissancan.create_lkas_hud_msg( diff --git a/selfdrive/car/nissan/carstate.py b/selfdrive/car/nissan/carstate.py index bbba92dde..7fbc80766 100644 --- a/selfdrive/car/nissan/carstate.py +++ b/selfdrive/car/nissan/carstate.py @@ -171,6 +171,7 @@ class CarState(CarStateBase): ("USER_BRAKE_PRESSED", "CRUISE_THROTTLE"), ("NEW_SIGNAL_2", "CRUISE_THROTTLE"), ("GAS_PRESSED_INVERTED", "CRUISE_THROTTLE"), + ("COUNTER", "CRUISE_THROTTLE"), ("unsure1", "CRUISE_THROTTLE"), ("unsure2", "CRUISE_THROTTLE"), ("unsure3", "CRUISE_THROTTLE"), diff --git a/selfdrive/car/nissan/nissancan.py b/selfdrive/car/nissan/nissancan.py index 01fb3463a..89754775b 100644 --- a/selfdrive/car/nissan/nissancan.py +++ b/selfdrive/car/nissan/nissancan.py @@ -1,4 +1,3 @@ -import copy import crcmod from selfdrive.car.nissan.values import CAR @@ -23,7 +22,23 @@ def create_steering_control(packer, apply_steer, frame, steer_on, lkas_max_torqu def create_acc_cancel_cmd(packer, car_fingerprint, cruise_throttle_msg): - values = copy.copy(cruise_throttle_msg) + values = {s: cruise_throttle_msg[s] for s in [ + "COUNTER", + "PROPILOT_BUTTON", + "CANCEL_BUTTON", + "GAS_PEDAL_INVERTED", + "SET_BUTTON", + "RES_BUTTON", + "FOLLOW_DISTANCE_BUTTON", + "NO_BUTTON_PRESSED", + "GAS_PEDAL", + "USER_BRAKE_PRESSED", + "NEW_SIGNAL_2", + "GAS_PRESSED_INVERTED", + "unsure1", + "unsure2", + "unsure3", + ]} can_bus = 1 if car_fingerprint == CAR.ALTIMA else 2 values["CANCEL_BUTTON"] = 1 @@ -37,7 +52,12 @@ def create_acc_cancel_cmd(packer, car_fingerprint, cruise_throttle_msg): def create_cancel_msg(packer, cancel_msg, cruise_cancel): - values = copy.copy(cancel_msg) + values = {s: cancel_msg[s] for s in [ + "CANCEL_SEATBELT", + "NEW_SIGNAL_1", + "NEW_SIGNAL_2", + "NEW_SIGNAL_3", + ]} if cruise_cancel: values["CANCEL_SEATBELT"] = 1 @@ -46,7 +66,34 @@ def create_cancel_msg(packer, cancel_msg, cruise_cancel): def create_lkas_hud_msg(packer, lkas_hud_msg, enabled, left_line, right_line, left_lane_depart, right_lane_depart): - values = lkas_hud_msg + values = {s: lkas_hud_msg[s] for s in [ + "LARGE_WARNING_FLASHING", + "SIDE_RADAR_ERROR_FLASHING1", + "SIDE_RADAR_ERROR_FLASHING2", + "LEAD_CAR", + "LEAD_CAR_ERROR", + "FRONT_RADAR_ERROR", + "FRONT_RADAR_ERROR_FLASHING", + "SIDE_RADAR_ERROR_FLASHING3", + "LKAS_ERROR_FLASHING", + "SAFETY_SHIELD_ACTIVE", + "RIGHT_LANE_GREEN_FLASH", + "LEFT_LANE_GREEN_FLASH", + "FOLLOW_DISTANCE", + "AUDIBLE_TONE", + "SPEED_SET_ICON", + "SMALL_STEERING_WHEEL_ICON", + "unknown59", + "unknown55", + "unknown26", + "unknown28", + "unknown31", + "SET_SPEED", + "unknown43", + "unknown08", + "unknown05", + "unknown02", + ]} values["RIGHT_LANE_YELLOW_FLASH"] = 1 if right_lane_depart else 0 values["LEFT_LANE_YELLOW_FLASH"] = 1 if left_lane_depart else 0 @@ -59,7 +106,47 @@ def create_lkas_hud_msg(packer, lkas_hud_msg, enabled, left_line, right_line, le def create_lkas_hud_info_msg(packer, lkas_hud_info_msg, steer_hud_alert): - values = lkas_hud_info_msg + values = {s: lkas_hud_info_msg[s] for s in [ + "NA_HIGH_ACCEL_TEMP", + "SIDE_RADAR_NA_HIGH_CABIN_TEMP", + "SIDE_RADAR_MALFUNCTION", + "LKAS_MALFUNCTION", + "FRONT_RADAR_MALFUNCTION", + "SIDE_RADAR_NA_CLEAN_REAR_CAMERA", + "NA_POOR_ROAD_CONDITIONS", + "CURRENTLY_UNAVAILABLE", + "SAFETY_SHIELD_OFF", + "FRONT_COLLISION_NA_FRONT_RADAR_OBSTRUCTION", + "PEDAL_MISSAPPLICATION_SYSTEM_ACTIVATED", + "SIDE_IMPACT_NA_RADAR_OBSTRUCTION", + "WARNING_DO_NOT_ENTER", + "SIDE_IMPACT_SYSTEM_OFF", + "SIDE_IMPACT_MALFUNCTION", + "FRONT_COLLISION_MALFUNCTION", + "SIDE_RADAR_MALFUNCTION2", + "LKAS_MALFUNCTION2", + "FRONT_RADAR_MALFUNCTION2", + "PROPILOT_NA_MSGS", + "BOTTOM_MSG", + "HANDS_ON_WHEEL_WARNING", + "WARNING_STEP_ON_BRAKE_NOW", + "PROPILOT_NA_FRONT_CAMERA_OBSTRUCTED", + "PROPILOT_NA_HIGH_CABIN_TEMP", + "WARNING_PROPILOT_MALFUNCTION", + "ACC_UNAVAILABLE_HIGH_CABIN_TEMP", + "ACC_NA_FRONT_CAMERA_IMPARED", + "unknown07", + "unknown10", + "unknown15", + "unknown23", + "unknown19", + "unknown31", + "unknown32", + "unknown46", + "unknown61", + "unknown55", + "unknown50", + ]} if steer_hud_alert: values["HANDS_ON_WHEEL_WARNING"] = 1 diff --git a/selfdrive/car/nissan/values.py b/selfdrive/car/nissan/values.py index cbe62645d..568c33630 100644 --- a/selfdrive/car/nissan/values.py +++ b/selfdrive/car/nissan/values.py @@ -4,7 +4,7 @@ from typing import Dict, List, Optional, Union from cereal import car from panda.python import uds from selfdrive.car import AngleRateLimit, dbc_dict -from selfdrive.car.docs_definitions import CarInfo, Harness, HarnessKit, HarnessPart +from selfdrive.car.docs_definitions import CarInfo, CarHarness, CarParts from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries Ecu = car.CarParams.Ecu @@ -30,13 +30,10 @@ class CAR: ALTIMA = "NISSAN ALTIMA 2020" -NISSAN_HARNESS_PARTS = [HarnessPart.harness_box, HarnessPart.rj45_cable, HarnessPart.long_obdc_cable, HarnessPart.usbc_coupler] - - @dataclass class NissanCarInfo(CarInfo): package: str = "ProPILOT Assist" - harness_kit: HarnessKit = HarnessKit(Harness.nissan_a, parts=NISSAN_HARNESS_PARTS) + car_parts: CarParts = CarParts.common([CarHarness.nissan_a]) CAR_INFO: Dict[str, Optional[Union[NissanCarInfo, List[NissanCarInfo]]]] = { @@ -44,7 +41,7 @@ CAR_INFO: Dict[str, Optional[Union[NissanCarInfo, List[NissanCarInfo]]]] = { CAR.LEAF: NissanCarInfo("Nissan Leaf 2018-23", video_link="https://youtu.be/vaMbtAh_0cY"), CAR.LEAF_IC: None, # same platforms CAR.ROGUE: NissanCarInfo("Nissan Rogue 2018-20"), - CAR.ALTIMA: NissanCarInfo("Nissan Altima 2019-20", harness_kit=HarnessKit(Harness.nissan_b, parts=NISSAN_HARNESS_PARTS)), + CAR.ALTIMA: NissanCarInfo("Nissan Altima 2019-20", car_parts=CarParts.common([CarHarness.nissan_b])), } FINGERPRINTS = { @@ -171,9 +168,9 @@ FW_VERSIONS = { } DBC = { - CAR.XTRAIL: dbc_dict('nissan_x_trail_2017', None), - CAR.LEAF: dbc_dict('nissan_leaf_2018', None), - CAR.LEAF_IC: dbc_dict('nissan_leaf_2018', None), - CAR.ROGUE: dbc_dict('nissan_x_trail_2017', None), - CAR.ALTIMA: dbc_dict('nissan_x_trail_2017', None), + CAR.XTRAIL: dbc_dict('nissan_x_trail_2017_generated', None), + CAR.LEAF: dbc_dict('nissan_leaf_2018_generated', None), + CAR.LEAF_IC: dbc_dict('nissan_leaf_2018_generated', None), + CAR.ROGUE: dbc_dict('nissan_x_trail_2017_generated', None), + CAR.ALTIMA: dbc_dict('nissan_x_trail_2017_generated', None), } diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py index c4246b380..c6ef0f11d 100644 --- a/selfdrive/car/subaru/carcontroller.py +++ b/selfdrive/car/subaru/carcontroller.py @@ -10,10 +10,6 @@ class CarController: self.apply_steer_last = 0 self.frame = 0 - self.es_lkas_state_cnt = -1 - self.es_distance_cnt = -1 - self.es_dashstatus_cnt = -1 - self.infotainmentstatus_cnt = -1 self.cruise_button_prev = 0 self.last_cancel_frame = 0 @@ -29,7 +25,6 @@ class CarController: # *** steering *** if (self.frame % self.p.STEER_STEP) == 0: - apply_steer = int(round(actuators.steer * self.p.STEER_MAX)) # limits due to driver torque @@ -41,9 +36,9 @@ class CarController: apply_steer = 0 if self.CP.carFingerprint in PREGLOBAL_CARS: - can_sends.append(subarucan.create_preglobal_steering_control(self.packer, apply_steer)) + can_sends.append(subarucan.create_preglobal_steering_control(self.packer, apply_steer, CC.latActive)) else: - can_sends.append(subarucan.create_steering_control(self.packer, apply_steer)) + can_sends.append(subarucan.create_steering_control(self.packer, apply_steer, CC.latActive)) self.apply_steer_last = apply_steer @@ -51,7 +46,7 @@ class CarController: # *** alerts and pcm cancel *** if self.CP.carFingerprint in PREGLOBAL_CARS: - if self.es_distance_cnt != CS.es_distance_msg["COUNTER"]: + if self.frame % 5 == 0: # 1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 = resume deep # disengage ACC when OP is disengaged if pcm_cancel_cmd: @@ -68,7 +63,6 @@ class CarController: self.cruise_button_prev = cruise_button can_sends.append(subarucan.create_preglobal_es_distance(self.packer, cruise_button, CS.es_distance_msg)) - self.es_distance_cnt = CS.es_distance_msg["COUNTER"] else: if pcm_cancel_cmd and (self.frame - self.last_cancel_frame) > 0.2: @@ -76,19 +70,15 @@ class CarController: can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg, bus, pcm_cancel_cmd)) self.last_cancel_frame = self.frame - if self.es_dashstatus_cnt != CS.es_dashstatus_msg["COUNTER"]: + if self.frame % 10 == 0: can_sends.append(subarucan.create_es_dashstatus(self.packer, CS.es_dashstatus_msg)) - self.es_dashstatus_cnt = CS.es_dashstatus_msg["COUNTER"] - if self.es_lkas_state_cnt != CS.es_lkas_state_msg["COUNTER"]: can_sends.append(subarucan.create_es_lkas_state(self.packer, CS.es_lkas_state_msg, CC.enabled, hud_control.visualAlert, hud_control.leftLaneVisible, hud_control.rightLaneVisible, hud_control.leftLaneDepart, hud_control.rightLaneDepart)) - self.es_lkas_state_cnt = CS.es_lkas_state_msg["COUNTER"] - if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT and self.infotainmentstatus_cnt != CS.es_infotainmentstatus_msg["COUNTER"]: - can_sends.append(subarucan.create_infotainmentstatus(self.packer, CS.es_infotainmentstatus_msg, hud_control.visualAlert)) - self.infotainmentstatus_cnt = CS.es_infotainmentstatus_msg["COUNTER"] + if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT: + can_sends.append(subarucan.create_infotainmentstatus(self.packer, CS.es_infotainmentstatus_msg, hud_control.visualAlert)) new_actuators = actuators.copy() new_actuators.steer = self.apply_steer_last / self.p.STEER_MAX diff --git a/selfdrive/car/subaru/carstate.py b/selfdrive/car/subaru/carstate.py index 9d7b0a65c..8ce31b184 100644 --- a/selfdrive/car/subaru/carstate.py +++ b/selfdrive/car/subaru/carstate.py @@ -110,6 +110,7 @@ class CarState(CarStateBase): def get_global_es_distance_signals(): signals = [ ("COUNTER", "ES_Distance"), + ("CHECKSUM", "ES_Distance"), ("Signal1", "ES_Distance"), ("Cruise_Fault", "ES_Distance"), ("Cruise_Throttle", "ES_Distance"), @@ -251,6 +252,7 @@ class CarState(CarStateBase): else: signals = [ ("COUNTER", "ES_DashStatus"), + ("CHECKSUM", "ES_DashStatus"), ("PCB_Off", "ES_DashStatus"), ("LDW_Off", "ES_DashStatus"), ("Signal1", "ES_DashStatus"), @@ -278,6 +280,7 @@ class CarState(CarStateBase): ("Cruise_State", "ES_DashStatus"), ("COUNTER", "ES_LKAS_State"), + ("CHECKSUM", "ES_LKAS_State"), ("LKAS_Alert_Msg", "ES_LKAS_State"), ("Signal1", "ES_LKAS_State"), ("LKAS_ACTIVE", "ES_LKAS_State"), @@ -305,6 +308,8 @@ class CarState(CarStateBase): if CP.flags & SubaruFlags.SEND_INFOTAINMENT: signals += [ + ("COUNTER", "INFOTAINMENT_STATUS"), + ("CHECKSUM", "INFOTAINMENT_STATUS"), ("LKAS_State_Infotainment", "INFOTAINMENT_STATUS"), ("LKAS_Blue_Lines", "INFOTAINMENT_STATUS"), ("Signal1", "INFOTAINMENT_STATUS"), diff --git a/selfdrive/car/subaru/subarucan.py b/selfdrive/car/subaru/subarucan.py index 3b498d3f7..033ba7f76 100644 --- a/selfdrive/car/subaru/subarucan.py +++ b/selfdrive/car/subaru/subarucan.py @@ -1,13 +1,12 @@ -import copy from cereal import car VisualAlert = car.CarControl.HUDControl.VisualAlert -def create_steering_control(packer, apply_steer): +def create_steering_control(packer, apply_steer, steer_req): values = { "LKAS_Output": apply_steer, - "LKAS_Request": 1 if apply_steer != 0 else 0, + "LKAS_Request": steer_req, "SET_1": 1 } return packer.make_can_msg("ES_LKAS", 0, values) @@ -18,7 +17,28 @@ def create_steering_status(packer): def create_es_distance(packer, es_distance_msg, bus, pcm_cancel_cmd): - values = copy.copy(es_distance_msg) + values = {s: es_distance_msg[s] for s in [ + "CHECKSUM", + "COUNTER", + "Signal1", + "Cruise_Fault", + "Cruise_Throttle", + "Signal2", + "Car_Follow", + "Signal3", + "Cruise_Soft_Disable", + "Signal7", + "Cruise_Brake_Active", + "Distance_Swap", + "Cruise_EPB", + "Signal4", + "Close_Distance", + "Signal5", + "Cruise_Cancel", + "Cruise_Set", + "Cruise_Resume", + "Signal6", + ]} values["COUNTER"] = (values["COUNTER"] + 1) % 0x10 if pcm_cancel_cmd: values["Cruise_Cancel"] = 1 @@ -26,7 +46,24 @@ def create_es_distance(packer, es_distance_msg, bus, pcm_cancel_cmd): def create_es_lkas_state(packer, es_lkas_state_msg, enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart): - values = copy.copy(es_lkas_state_msg) + values = {s: es_lkas_state_msg[s] for s in [ + "CHECKSUM", + "COUNTER", + "LKAS_Alert_Msg", + "Signal1", + "LKAS_ACTIVE", + "LKAS_Dash_State", + "Signal2", + "Backward_Speed_Limit_Menu", + "LKAS_Left_Line_Enable", + "LKAS_Left_Line_Light_Blink", + "LKAS_Right_Line_Enable", + "LKAS_Right_Line_Light_Blink", + "LKAS_Left_Line_Visible", + "LKAS_Right_Line_Visible", + "LKAS_Alert", + "Signal3", + ]} # Filter the stock LKAS "Keep hands on wheel" alert if values["LKAS_Alert_Msg"] == 1: @@ -69,7 +106,35 @@ def create_es_lkas_state(packer, es_lkas_state_msg, enabled, visual_alert, left_ def create_es_dashstatus(packer, dashstatus_msg): - values = copy.copy(dashstatus_msg) + values = {s: dashstatus_msg[s] for s in [ + "CHECKSUM", + "COUNTER", + "PCB_Off", + "LDW_Off", + "Signal1", + "Cruise_State_Msg", + "LKAS_State_Msg", + "Signal2", + "Cruise_Soft_Disable", + "Cruise_Status_Msg", + "Signal3", + "Cruise_Distance", + "Signal4", + "Conventional_Cruise", + "Signal5", + "Cruise_Disengaged", + "Cruise_Activated", + "Signal6", + "Cruise_Set_Speed", + "Cruise_Fault", + "Cruise_On", + "Display_Own_Car", + "Brake_Lights", + "Car_Follow", + "Signal7", + "Far_Distance", + "Cruise_State", + ]} # Filter stock LKAS disabled and Keep hands on steering wheel OFF alerts if values["LKAS_State_Msg"] in (2, 3): @@ -80,18 +145,26 @@ def create_es_dashstatus(packer, dashstatus_msg): def create_infotainmentstatus(packer, infotainmentstatus_msg, visual_alert): # Filter stock LKAS disabled and Keep hands on steering wheel OFF alerts - if infotainmentstatus_msg["LKAS_State_Infotainment"] in (3, 4): - infotainmentstatus_msg["LKAS_State_Infotainment"] = 0 + values = {s: infotainmentstatus_msg[s] for s in [ + "CHECKSUM", + "COUNTER", + "LKAS_State_Infotainment", + "LKAS_Blue_Lines", + "Signal1", + "Signal2", + ]} + if values["LKAS_State_Infotainment"] in (3, 4): + values["LKAS_State_Infotainment"] = 0 # Show Keep hands on wheel alert for openpilot steerRequired alert if visual_alert == VisualAlert.steerRequired: - infotainmentstatus_msg["LKAS_State_Infotainment"] = 3 + values["LKAS_State_Infotainment"] = 3 # Show Obstacle Detected for fcw if visual_alert == VisualAlert.fcw: - infotainmentstatus_msg["LKAS_State_Infotainment"] = 2 + values["LKAS_State_Infotainment"] = 2 - return packer.make_can_msg("INFOTAINMENT_STATUS", 0, infotainmentstatus_msg) + return packer.make_can_msg("INFOTAINMENT_STATUS", 0, values) # *** Subaru Pre-global *** @@ -101,10 +174,10 @@ def subaru_preglobal_checksum(packer, values, addr): return (sum(dat[:7])) % 256 -def create_preglobal_steering_control(packer, apply_steer): +def create_preglobal_steering_control(packer, apply_steer, steer_req): values = { "LKAS_Command": apply_steer, - "LKAS_Active": 1 if apply_steer != 0 else 0 + "LKAS_Active": steer_req, } values["Checksum"] = subaru_preglobal_checksum(packer, values, "ES_LKAS") @@ -112,9 +185,27 @@ def create_preglobal_steering_control(packer, apply_steer): def create_preglobal_es_distance(packer, cruise_button, es_distance_msg): - values = copy.copy(es_distance_msg) - values["Cruise_Button"] = cruise_button + values = {s: es_distance_msg[s] for s in [ + "Cruise_Throttle", + "Signal1", + "Car_Follow", + "Signal2", + "Brake_On", + "Distance_Swap", + "Standstill", + "Signal3", + "Close_Distance", + "Signal4", + "Standstill_2", + "Cruise_Fault", + "Signal5", + "COUNTER", + "Signal6", + "Cruise_Button", + "Signal7", + ]} + values["Cruise_Button"] = cruise_button values["Checksum"] = subaru_preglobal_checksum(packer, values, "ES_Distance") return packer.make_can_msg("ES_Distance", 0, values) diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py index f90f015bf..12367d9b5 100644 --- a/selfdrive/car/subaru/values.py +++ b/selfdrive/car/subaru/values.py @@ -5,7 +5,7 @@ from typing import Dict, List, Union from cereal import car from panda.python import uds from selfdrive.car import dbc_dict -from selfdrive.car.docs_definitions import CarInfo, Harness, HarnessKit +from selfdrive.car.docs_definitions import CarHarness, CarInfo, CarParts from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16 Ecu = car.CarParams.Ecu @@ -53,13 +53,13 @@ class CAR: @dataclass class SubaruCarInfo(CarInfo): package: str = "EyeSight Driver Assistance" - harness_kit: HarnessKit = HarnessKit(Harness.subaru_a) + car_parts: CarParts = CarParts.common([CarHarness.subaru_a]) CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = { CAR.ASCENT: SubaruCarInfo("Subaru Ascent 2019-21", "All"), - CAR.OUTBACK: SubaruCarInfo("Subaru Outback 2020-22", "All", harness_kit=HarnessKit(Harness.subaru_b)), - CAR.LEGACY: SubaruCarInfo("Subaru Legacy 2020-22", "All", harness_kit=HarnessKit(Harness.subaru_b)), + CAR.OUTBACK: SubaruCarInfo("Subaru Outback 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b])), + CAR.LEGACY: SubaruCarInfo("Subaru Legacy 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b])), CAR.IMPREZA: [ SubaruCarInfo("Subaru Impreza 2017-19"), SubaruCarInfo("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"), @@ -510,6 +510,7 @@ FW_VERSIONS = { b'\xf1\x82\xe2,\xa0@\x07', b'\xbc"`q\x07', b'\xe3,\xa0@\x07', + b'\xbc,\xa0u\x07', ], (Ecu.transmission, 0x7e1, None): [ b'\xa5\xfe\xf7@\x00', @@ -519,6 +520,7 @@ FW_VERSIONS = { b'\xf1\x82\xa7\xf6D@\x00', b'\xa7\xf6D@\x00', b'\xa7\xfe\xf4@\x00', + b'\xa5\xfe\xf8@\x00', ], }, } diff --git a/selfdrive/car/tesla/carcontroller.py b/selfdrive/car/tesla/carcontroller.py index 1f18c3d0e..aeaaba88e 100644 --- a/selfdrive/car/tesla/carcontroller.py +++ b/selfdrive/car/tesla/carcontroller.py @@ -24,17 +24,18 @@ class CarController: hands_on_fault = CS.steer_warning == "EAC_ERROR_HANDS_ON" and CS.hands_on_level >= 3 lkas_enabled = CC.latActive and not hands_on_fault - if lkas_enabled: - # Angular rate limit based on speed - apply_angle = apply_std_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgo, CarControllerParams) + if self.frame % 2 == 0: + if lkas_enabled: + # Angular rate limit based on speed + apply_angle = apply_std_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgo, CarControllerParams) - # To not fault the EPS - apply_angle = clip(apply_angle, CS.out.steeringAngleDeg - 20, CS.out.steeringAngleDeg + 20) - else: - apply_angle = CS.out.steeringAngleDeg + # To not fault the EPS + apply_angle = clip(apply_angle, CS.out.steeringAngleDeg - 20, CS.out.steeringAngleDeg + 20) + else: + apply_angle = CS.out.steeringAngleDeg - self.apply_angle_last = apply_angle - can_sends.append(self.tesla_can.create_steering_control(apply_angle, lkas_enabled, self.frame)) + self.apply_angle_last = apply_angle + can_sends.append(self.tesla_can.create_steering_control(apply_angle, lkas_enabled, (self.frame // 2) % 16)) # Longitudinal control (in sync with stock message, about 40Hz) if self.CP.openpilotLongitudinalControl: @@ -59,7 +60,7 @@ class CarController: # TODO: HUD control new_actuators = actuators.copy() - new_actuators.steeringAngleDeg = apply_angle + new_actuators.steeringAngleDeg = self.apply_angle_last self.frame += 1 return new_actuators, can_sends diff --git a/selfdrive/car/tesla/teslacan.py b/selfdrive/car/tesla/teslacan.py index e5d904f80..a491c030f 100644 --- a/selfdrive/car/tesla/teslacan.py +++ b/selfdrive/car/tesla/teslacan.py @@ -1,4 +1,3 @@ -import copy import crcmod from common.conversions import Conversions as CV @@ -18,12 +17,12 @@ class TeslaCAN: ret += sum(dat) return ret & 0xFF - def create_steering_control(self, angle, enabled, frame): + def create_steering_control(self, angle, enabled, counter): values = { "DAS_steeringAngleRequest": -angle, "DAS_steeringHapticRequest": 0, "DAS_steeringControlType": 1 if enabled else 0, - "DAS_steeringControlCounter": (frame % 16), + "DAS_steeringControlCounter": counter, } data = self.packer.make_can_msg("DAS_steeringControl", CANBUS.chassis, values)[2] @@ -31,7 +30,40 @@ class TeslaCAN: return self.packer.make_can_msg("DAS_steeringControl", CANBUS.chassis, values) def create_action_request(self, msg_stw_actn_req, cancel, bus, counter): - values = copy.copy(msg_stw_actn_req) + # We copy this whole message when spamming cancel + values = {s: msg_stw_actn_req[s] for s in [ + "SpdCtrlLvr_Stat", + "VSL_Enbl_Rq", + "SpdCtrlLvrStat_Inv", + "DTR_Dist_Rq", + "TurnIndLvr_Stat", + "HiBmLvr_Stat", + "WprWashSw_Psd", + "WprWash_R_Sw_Posn_V2", + "StW_Lvr_Stat", + "StW_Cond_Flt", + "StW_Cond_Psd", + "HrnSw_Psd", + "StW_Sw00_Psd", + "StW_Sw01_Psd", + "StW_Sw02_Psd", + "StW_Sw03_Psd", + "StW_Sw04_Psd", + "StW_Sw05_Psd", + "StW_Sw06_Psd", + "StW_Sw07_Psd", + "StW_Sw08_Psd", + "StW_Sw09_Psd", + "StW_Sw10_Psd", + "StW_Sw11_Psd", + "StW_Sw12_Psd", + "StW_Sw13_Psd", + "StW_Sw14_Psd", + "StW_Sw15_Psd", + "WprSw6Posn", + "MC_STW_ACTN_RQ", + "CRC_STW_ACTN_RQ", + ]} if cancel: values["SpdCtrlLvr_Stat"] = 1 diff --git a/selfdrive/car/tesla/values.py b/selfdrive/car/tesla/values.py index bac025a9c..f79e5f009 100644 --- a/selfdrive/car/tesla/values.py +++ b/selfdrive/car/tesla/values.py @@ -103,8 +103,8 @@ BUTTONS = [ ] class CarControllerParams: - ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[5., .8, .15]) - ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[5., 3.5, 0.4]) + ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[10., 1.6, .3]) + ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[10., 7.0, 0.8]) JERK_LIMIT_MAX = 8 JERK_LIMIT_MIN = -8 ACCEL_TO_SPEED_MULTIPLIER = 3 diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py index 7198218d6..918d2cf87 100755 --- a/selfdrive/car/tests/test_car_interfaces.py +++ b/selfdrive/car/tests/test_car_interfaces.py @@ -1,6 +1,7 @@ #!/usr/bin/env python3 import math import unittest +from hypothesis import given, settings import importlib from parameterized import parameterized @@ -8,12 +9,15 @@ from cereal import car from selfdrive.car import gen_empty_fingerprint from selfdrive.car.car_helpers import interfaces from selfdrive.car.fingerprints import _FINGERPRINTS as FINGERPRINTS, all_known_cars +from selfdrive.test.fuzzy_generation import get_random_msg class TestCarInterfaces(unittest.TestCase): @parameterized.expand([(car,) for car in all_known_cars()]) - def test_car_interfaces(self, car_name): + @settings(max_examples=5) + @given(cc_msg=get_random_msg(car.CarControl, real_floats=True)) + def test_car_interfaces(self, car_name, cc_msg): if car_name in FINGERPRINTS: fingerprint = FINGERPRINTS[car_name][0] else: @@ -57,13 +61,13 @@ class TestCarInterfaces(unittest.TestCase): self.assertTrue(len(tune.indi.outerLoopGainV)) # Run car interface - CC = car.CarControl.new_message() + CC = car.CarControl.new_message(**cc_msg) for _ in range(10): car_interface.update(CC, []) car_interface.apply(CC, 0) car_interface.apply(CC, 0) - CC = car.CarControl.new_message() + CC = car.CarControl.new_message(**cc_msg) CC.enabled = True for _ in range(10): car_interface.update(CC, []) diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 00552485a..422c7560f 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -6,7 +6,7 @@ from typing import Dict, List, Union from cereal import car from common.conversions import Conversions as CV from selfdrive.car import dbc_dict -from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness, HarnessKit +from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, CarParts, CarHarness from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries Ecu = car.CarParams.Ecu @@ -102,7 +102,7 @@ class Footnote(Enum): @dataclass class ToyotaCarInfo(CarInfo): package: str = "All" - harness_kit: HarnessKit = HarnessKit(Harness.toyota) + car_parts: CarParts = CarParts.common([CarHarness.toyota]) CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { @@ -1131,7 +1131,6 @@ FW_VERSIONS = { b'\x01896630EF8000\x00\x00\x00\x00', b'\x02896630E66000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00', b'\x02896630E66100\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00', - b'\x01896630EA1000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00', b'\x02896630EB3000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00', b'\x02896630EB3100\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00', ], diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py index c17b63245..3b897c0c1 100644 --- a/selfdrive/car/volkswagen/carcontroller.py +++ b/selfdrive/car/volkswagen/carcontroller.py @@ -101,8 +101,7 @@ class CarController: gra_send_ready = self.CP.pcmCruise and CS.gra_stock_values["COUNTER"] != self.gra_acc_counter_last if gra_send_ready and (CC.cruiseControl.cancel or CC.cruiseControl.resume): - counter = (CS.gra_stock_values["COUNTER"] + 1) % 16 - can_sends.append(self.CCS.create_acc_buttons_control(self.packer_pt, ext_bus, CS.gra_stock_values, counter, + can_sends.append(self.CCS.create_acc_buttons_control(self.packer_pt, ext_bus, CS.gra_stock_values, cancel=CC.cruiseControl.cancel, resume=CC.cruiseControl.resume)) new_actuators = actuators.copy() diff --git a/selfdrive/car/volkswagen/mqbcan.py b/selfdrive/car/volkswagen/mqbcan.py index b461fd02a..849d99592 100644 --- a/selfdrive/car/volkswagen/mqbcan.py +++ b/selfdrive/car/volkswagen/mqbcan.py @@ -11,7 +11,15 @@ def create_steering_control(packer, bus, apply_steer, lkas_enabled): def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pressed, hud_alert, hud_control): - values = ldw_stock_values.copy() + values = {} + if len(ldw_stock_values): + values = {s: ldw_stock_values[s] for s in [ + "LDW_SW_Warnung_links", # Blind spot in warning mode on left side due to lane departure + "LDW_SW_Warnung_rechts", # Blind spot in warning mode on right side due to lane departure + "LDW_Seite_DLCTLC", # Direction of most likely lane departure (left or right) + "LDW_DLC", # Lane departure, distance to line crossing + "LDW_TLC", # Lane departure, time to line crossing + ]} values.update({ "LDW_Status_LED_gelb": 1 if enabled and steering_pressed else 0, @@ -23,11 +31,17 @@ def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pres return packer.make_can_msg("LDW_02", bus, values) -def create_acc_buttons_control(packer, bus, gra_stock_values, counter, cancel=False, resume=False): - values = gra_stock_values.copy() +def create_acc_buttons_control(packer, bus, gra_stock_values, cancel=False, resume=False): + values = {s: gra_stock_values[s] for s in [ + "GRA_Hauptschalter", # ACC button, on/off + "GRA_Typ_Hauptschalter", # ACC main button type + "GRA_Codierung", # ACC button configuration/coding + "GRA_Tip_Stufe_2", # unknown related to stalk type + "GRA_ButtonTypeInfo", # unknown related to stalk type + ]} values.update({ - "COUNTER": counter, + "COUNTER": (gra_stock_values["COUNTER"] + 1) % 16, "GRA_Abbrechen": cancel, "GRA_Tip_Wiederaufnahme": resume, }) diff --git a/selfdrive/car/volkswagen/pqcan.py b/selfdrive/car/volkswagen/pqcan.py index bac3ca121..f42c3cf78 100644 --- a/selfdrive/car/volkswagen/pqcan.py +++ b/selfdrive/car/volkswagen/pqcan.py @@ -10,7 +10,15 @@ def create_steering_control(packer, bus, apply_steer, lkas_enabled): def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pressed, hud_alert, hud_control): - values = ldw_stock_values.copy() + values = {} + if len(ldw_stock_values): + values = {s: ldw_stock_values[s] for s in [ + "LDW_SW_Warnung_links", # Blind spot in warning mode on left side due to lane departure + "LDW_SW_Warnung_rechts", # Blind spot in warning mode on right side due to lane departure + "LDW_Seite_DLCTLC", # Direction of most likely lane departure (left or right) + "LDW_DLC", # Lane departure, distance to line crossing + "LDW_TLC", # Lane departure, time to line crossing + ]} values.update({ "LDW_Lampe_gelb": 1 if enabled and steering_pressed else 0, @@ -23,11 +31,16 @@ def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pres return packer.make_can_msg("LDW_Status", bus, values) -def create_acc_buttons_control(packer, bus, gra_stock_values, counter, cancel=False, resume=False): - values = gra_stock_values.copy() +def create_acc_buttons_control(packer, bus, gra_stock_values, cancel=False, resume=False): + values = {s: gra_stock_values[s] for s in [ + "GRA_Hauptschalt", # ACC button, on/off + "GRA_Typ_Hauptschalt", # ACC button, momentary vs latching + "GRA_Kodierinfo", # ACC button, configuration + "GRA_Sender", # ACC button, CAN message originator + ]} values.update({ - "COUNTER": counter, + "COUNTER": (gra_stock_values["COUNTER"] + 1) % 16, "GRA_Abbrechen": cancel, "GRA_Recall": resume, }) diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index db28a6243..5159d5a37 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -7,7 +7,8 @@ from cereal import car from panda.python import uds from opendbc.can.can_define import CANDefine from selfdrive.car import dbc_dict -from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness, HarnessKit, HarnessPart +from selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column, \ + Device from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16 Ecu = car.CarParams.Ecu @@ -153,23 +154,32 @@ class Footnote(Enum): PASSAT = CarFootnote( "Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets.", Column.MODEL) - VW_EXP_LONG = CarFootnote ( + SKODA_HEATED_WINDSHIELD = CarFootnote( + "Some Škoda vehicles are equipped with heated windshields, which are known " + + "to block GPS signal needed for some comma three functionality.", + Column.MODEL) + VW_EXP_LONG = CarFootnote( "Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness " + "are limited to using stock ACC.", Column.LONGITUDINAL) VW_MQB_A0 = CarFootnote( "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.", - Column.HARNESS) + Column.HARDWARE) @dataclass class VWCarInfo(CarInfo): package: str = "Adaptive Cruise Control (ACC) & Lane Assist" - harness_kit: HarnessKit = HarnessKit(Harness.j533, parts=[HarnessPart.harness_box, HarnessPart.long_obdc_cable, HarnessPart.usbc_coupler]) + car_parts: CarParts = CarParts.common([CarHarness.j533]) def init_make(self, CP: car.CarParams): - self.footnotes.insert(0, Footnote.VW_EXP_LONG) + self.footnotes.append(Footnote.VW_EXP_LONG) + if "SKODA" in CP.carFingerprint: + self.footnotes.append(Footnote.SKODA_HEATED_WINDSHIELD) + + if CP.carFingerprint in (CAR.CRAFTER_MK2, CAR.TRANSPORTER_T61): + self.car_parts = CarParts([Device.three_angled_mount, CarHarness.j533]) CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = { @@ -195,11 +205,11 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = { ], CAR.GOLF_MK7: [ VWCarInfo("Volkswagen e-Golf 2014-20"), - VWCarInfo("Volkswagen Golf 2015-20"), - VWCarInfo("Volkswagen Golf Alltrack 2015-19"), + VWCarInfo("Volkswagen Golf 2015-20", auto_resume=False), + VWCarInfo("Volkswagen Golf Alltrack 2015-19", auto_resume=False), VWCarInfo("Volkswagen Golf GTD 2015-20"), VWCarInfo("Volkswagen Golf GTE 2015-20"), - VWCarInfo("Volkswagen Golf GTI 2015-21"), + VWCarInfo("Volkswagen Golf GTI 2015-21", auto_resume=False), VWCarInfo("Volkswagen Golf R 2015-19"), VWCarInfo("Volkswagen Golf SportsVan 2015-20"), ], @@ -227,7 +237,7 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = { VWCarInfo("Volkswagen Tiguan 2018-23"), VWCarInfo("Volkswagen Tiguan eHybrid 2021-23"), ], - CAR.TOURAN_MK2: VWCarInfo("Volkswagen Touran 2017"), + CAR.TOURAN_MK2: VWCarInfo("Volkswagen Touran 2016-23"), CAR.TRANSPORTER_T61: [ VWCarInfo("Volkswagen Caravelle 2020"), VWCarInfo("Volkswagen California 2021"), @@ -292,33 +302,35 @@ FW_QUERY_CONFIG = FwQueryConfig( FW_VERSIONS = { CAR.ARTEON_MK1: { (Ecu.engine, 0x7e0, None): [ - b'\xf1\x873G0906259M \xf1\x890003', b'\xf1\x873G0906259F \xf1\x890004', + b'\xf1\x873G0906259G \xf1\x890004', + b'\xf1\x873G0906259G \xf1\x890005', + b'\xf1\x873G0906259M \xf1\x890003', b'\xf1\x873G0906259N \xf1\x890004', b'\xf1\x873G0906259P \xf1\x890001', b'\xf1\x875NA907115H \xf1\x890002', - b'\xf1\x873G0906259G \xf1\x890004', ], (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x870DL300014C \xf1\x893704', b'\xf1\x8709G927158L \xf1\x893611', + b'\xf1\x870DL300014C \xf1\x893704', b'\xf1\x870GC300011L \xf1\x891401', b'\xf1\x870GC300014M \xf1\x892802', b'\xf1\x870GC300040P \xf1\x891401', ], (Ecu.srs, 0x715, None): [ - b'\xf1\x875QF959655AP\xf1\x890755\xf1\x82\x1311110011111311111100110200--1611125F49', b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e1616001613121157161111572900', b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e1616001613121177161113772900', - b'\xf1\x873Q0959655DL\xf1\x890732\xf1\x82\0161812141812171105141123052J00', b'\xf1\x873Q0959655CK\xf1\x890711\xf1\x82\x0e1712141712141105121122052900', + b'\xf1\x873Q0959655DA\xf1\x890720\xf1\x82\x0e1712141712141105121122052900', + b'\xf1\x873Q0959655DL\xf1\x890732\xf1\x82\0161812141812171105141123052J00', + b'\xf1\x875QF959655AP\xf1\x890755\xf1\x82\x1311110011111311111100110200--1611125F49', ], (Ecu.eps, 0x712, None): [ - b'\xf1\x875WA907145M \xf1\x891051\xf1\x82\x002NB4202N7N', b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571B41815A1', b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571B00817A1', b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567B0020800', b'\xf1\x875WA907145M \xf1\x891051\xf1\x82\x002MB4092M7N', + b'\xf1\x875WA907145M \xf1\x891051\xf1\x82\x002NB4202N7N', ], (Ecu.fwdRadar, 0x757, None): [ b'\xf1\x872Q0907572AA\xf1\x890396', @@ -392,6 +404,7 @@ FW_VERSIONS = { CAR.GOLF_MK7: { (Ecu.engine, 0x7e0, None): [ b'\xf1\x8704E906016A \xf1\x897697', + b'\xf1\x8704E906016N \xf1\x899105', b'\xf1\x8704E906016AD\xf1\x895758', b'\xf1\x8704E906016CE\xf1\x899096', b'\xf1\x8704E906016CH\xf1\x899226', @@ -534,6 +547,7 @@ FW_VERSIONS = { b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A00504A1', b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A00604A1', b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A07A02A1', + b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521A00407A1', b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521A00507A1', b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521A07B04A1', b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521A20B03A1', @@ -631,6 +645,7 @@ FW_VERSIONS = { b'\xf1\x870DD300045T \xf1\x891601', b'\xf1\x870DL300011H \xf1\x895201', b'\xf1\x870CW300042H \xf1\x891601', + b'\xf1\x870CW300042H \xf1\x891607', b'\xf1\x870GC300042H \xf1\x891404', b'\xf1\x870D9300018C \xf1\x895297', b'\xf1\x870GC300043 \xf1\x892301', @@ -638,6 +653,7 @@ FW_VERSIONS = { (Ecu.srs, 0x715, None): [ b'\xf1\x873Q0959655AE\xf1\x890195\xf1\x82\r56140056130012416612124111', b'\xf1\x873Q0959655AF\xf1\x890195\xf1\x82\r56140056130012026612120211', + b'\xf1\x873Q0959655AN\xf1\x890305\xf1\x82\r58160058140013036914110311', b'\xf1\x873Q0959655AN\xf1\x890306\xf1\x82\r58160058140013036914110311', b'\xf1\x873Q0959655BA\xf1\x890195\xf1\x82\r56140056130012516612125111', b'\xf1\x873Q0959655BB\xf1\x890195\xf1\x82\r56140056130012026612120211', @@ -654,6 +670,7 @@ FW_VERSIONS = { b'\xf1\x875Q0909143K \xf1\x892033\xf1\x820514B0060703', b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522B0060803', b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522B0080803', + b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820526B0060905', b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\00521B00606A1', b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\00516B00501A1', b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\00521B00703A1', @@ -666,6 +683,7 @@ FW_VERSIONS = { b'\xf1\x873Q0907572B \xf1\x890192', b'\xf1\x873Q0907572C \xf1\x890195', b'\xf1\x873Q0907572C \xf1\x890196', + b'\xf1\x875Q0907572P \xf1\x890682', b'\xf1\x875Q0907572R \xf1\x890771', ], }, @@ -860,24 +878,28 @@ FW_VERSIONS = { b'\xf1\x8704L906056AL\xf1\x899970', b'\xf1\x8704L906057AP\xf1\x891186', b'\xf1\x8704L906057N \xf1\x890413', + b'\xf1\x8705L906023E \xf1\x891352', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x870BT300012G \xf1\x893102', b'\xf1\x870BT300012E \xf1\x893105', b'\xf1\x870BT300046R \xf1\x893102', + b'\xf1\x870DV300012B \xf1\x893701', ], (Ecu.srs, 0x715, None): [ b'\xf1\x872Q0959655AE\xf1\x890506\xf1\x82\x1316170411110411--04041704161611152S1411', b'\xf1\x872Q0959655AE\xf1\x890506\xf1\x82\x1316170411110411--04041704171711152S1411', b'\xf1\x872Q0959655AF\xf1\x890506\xf1\x82\x1316171111110411--04041711121211152S1413', + b'\xf1\x872Q0959655AQ\xf1\x890511\xf1\x82\x1316170411110411--0404170426261215391421', ], (Ecu.eps, 0x712, None): [ b'\xf1\x877LA909144F \xf1\x897150\xf1\x82\x0532380518A2', b'\xf1\x877LA909144G \xf1\x897160\xf1\x82\x05333A5519A2', - b'\xf1\x877LA909144F \xf1\x897150\xf1\x82\005323A5519A2', + b'\xf1\x877LA909144F \xf1\x897150\xf1\x82\x05323A5519A2', ], (Ecu.fwdRadar, 0x757, None): [ b'\xf1\x872Q0907572R \xf1\x890372', + b'\xf1\x872Q0907572AA\xf1\x890396', ], }, CAR.TROC_MK1: { @@ -907,6 +929,7 @@ FW_VERSIONS = { b'\xf1\x8704E906027CJ\xf1\x897798', b'\xf1\x8704L997022N \xf1\x899459', b'\xf1\x875G0906259A \xf1\x890004', + b'\xf1\x875G0906259D \xf1\x890002', b'\xf1\x875G0906259L \xf1\x890002', b'\xf1\x875G0906259Q \xf1\x890002', b'\xf1\x878V0906259F \xf1\x890002', @@ -916,7 +939,7 @@ FW_VERSIONS = { b'\xf1\x878V0906264B \xf1\x890003', b'\xf1\x878V0907115B \xf1\x890007', b'\xf1\x878V0907404A \xf1\x890005', - b'\xf1\x875G0906259D \xf1\x890002', + b'\xf1\x878V0907404G \xf1\x890005', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x870CW300044T \xf1\x895245', @@ -933,6 +956,7 @@ FW_VERSIONS = { b'\xf1\x870DD300046F \xf1\x891602', b'\xf1\x870DD300046G \xf1\x891601', b'\xf1\x870DL300012E \xf1\x892012', + b'\xf1\x870DL300012H \xf1\x892112', b'\xf1\x870GC300011 \xf1\x890403', b'\xf1\x870GC300013M \xf1\x892402', b'\xf1\x870GC300042J \xf1\x891402', @@ -945,9 +969,9 @@ FW_VERSIONS = { b'\xf1\x875Q0959655BJ\xf1\x890339\xf1\x82\x1311110011131100311111011731179321342100', b'\xf1\x875Q0959655J \xf1\x890825\xf1\x82\x13111112111111--241115141112221291163221', b'\xf1\x875Q0959655J \xf1\x890825\xf1\x82\023111112111111--171115141112221291163221', - b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\023121111111211--261117141112231291163221', b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13111112111111--241115141112221291163221', b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13121111111111--341117141212231291163221', + b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13121111111211--261117141112231291163221', b'\xf1\x875Q0959655N \xf1\x890361\xf1\x82\0211212001112110004110411111421149114', b'\xf1\x875Q0959655N \xf1\x890361\xf1\x82\0211212001112111104110411111521159114', ], @@ -956,6 +980,7 @@ FW_VERSIONS = { b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566G0HA14A1', b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571G01A16A1', b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571G0HA16A1', + b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571G0JA13A1', b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571G0JA14A1', b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\00521G0G809A1', b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\00503G00303A0', @@ -1045,24 +1070,29 @@ FW_VERSIONS = { b'\xf1\x8704L906021EL\xf1\x897542', b'\xf1\x8704L906026BP\xf1\x891198', b'\xf1\x8704L906026BP\xf1\x897608', + b'\xf1\x8704L906056CR\xf1\x892181', b'\xf1\x8704L906056CR\xf1\x892797', b'\xf1\x8705E906018AS\xf1\x899596', b'\xf1\x878V0906264H \xf1\x890005', + b'\xf1\x878V0907115E \xf1\x890002', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x870CW300041D \xf1\x891004', b'\xf1\x870CW300041G \xf1\x891003', b'\xf1\x870CW300050J \xf1\x891908', b'\xf1\x870D9300042M \xf1\x895016', + b'\xf1\x870GC300043A \xf1\x892304', ], (Ecu.srs, 0x715, None): [ b'\xf1\x873Q0959655AC\xf1\x890189\xf1\x82\r11110011110011021511110200', b'\xf1\x873Q0959655AS\xf1\x890200\xf1\x82\r11110011110011021511110200', b'\xf1\x873Q0959655AS\xf1\x890200\xf1\x82\r12110012120012021612110200', b'\xf1\x873Q0959655BH\xf1\x890703\xf1\x82\x0e1312001313001305171311052900', + b'\xf1\x873Q0959655BH\xf1\x890712\xf1\x82\x0e1312001313001305171311052900', b'\xf1\x873Q0959655CM\xf1\x890720\xf1\x82\0161312001313001305171311052900', ], (Ecu.eps, 0x712, None): [ + b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\x0521N01842A1', b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\00521N01342A1', b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\00511N01805A0', b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521N01309A1', @@ -1073,6 +1103,7 @@ FW_VERSIONS = { b'\xf1\x875Q0907572H \xf1\x890620', b'\xf1\x875Q0907572K \xf1\x890402\xf1\x82\x0101', b'\xf1\x875Q0907572P \xf1\x890682', + b'\xf1\x875Q0907572R \xf1\x890771', ], }, CAR.SKODA_FABIA_MK4: { @@ -1111,6 +1142,7 @@ FW_VERSIONS = { }, CAR.SKODA_KAROQ_MK1: { (Ecu.engine, 0x7e0, None): [ + b'\xf1\x8705E906018P \xf1\x895472', b'\xf1\x8705E906018P \xf1\x896020', b'\xf1\x8705L906022BS\xf1\x890913', ], @@ -1119,14 +1151,17 @@ FW_VERSIONS = { b'\xf1\x870GC300014L \xf1\x892802', ], (Ecu.srs, 0x715, None): [ + b'\xf1\x873Q0959655BH\xf1\x890703\xf1\x82\x0e1213001211001101131112012100', b'\xf1\x873Q0959655BH\xf1\x890712\xf1\x82\0161213001211001101131122012100', b'\xf1\x873Q0959655DE\xf1\x890731\xf1\x82\x0e1213001211001101131121012J00', ], (Ecu.eps, 0x712, None): [ + b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\x0563T6090500', b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\00567T6100500', b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T6100700', ], (Ecu.fwdRadar, 0x757, None): [ + b'\xf1\x872Q0907572AB\xf1\x890397', b'\xf1\x872Q0907572M \xf1\x890233', b'\xf1\x872Q0907572T \xf1\x890383', ], @@ -1134,6 +1169,7 @@ FW_VERSIONS = { CAR.SKODA_KODIAQ_MK1: { (Ecu.engine, 0x7e0, None): [ b'\xf1\x8704E906027DD\xf1\x893123', + b'\xf1\x8704E906027NB\xf1\x896517', b'\xf1\x8704L906026DE\xf1\x895418', b'\xf1\x8704L906026EJ\xf1\x893661', b'\xf1\x8704L906026HT\xf1\x893617', @@ -1142,6 +1178,7 @@ FW_VERSIONS = { b'\xf1\x8705E906018DJ\xf1\x891903', b'\xf1\x875NA907115E \xf1\x890003', b'\xf1\x875NA907115E \xf1\x890005', + b'\xf1\x875NA906259E \xf1\x890003', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x870D9300043 \xf1\x895202', @@ -1150,6 +1187,7 @@ FW_VERSIONS = { b'\xf1\x870DL300012N \xf1\x892110', b'\xf1\x870DL300013G \xf1\x892119', b'\xf1\x870GC300014N \xf1\x892801', + b'\xf1\x870GC300019H \xf1\x892806', b'\xf1\x870GC300046Q \xf1\x892802', ], (Ecu.srs, 0x715, None): [ @@ -1159,6 +1197,7 @@ FW_VERSIONS = { b'\xf1\x873Q0959655CN\xf1\x890720\xf1\x82\x0e1213001211001205212112052100', b'\xf1\x873Q0959655CQ\xf1\x890720\xf1\x82\x0e1213111211001205212112052111', b'\xf1\x873Q0959655DJ\xf1\x890731\xf1\x82\x0e1513001511001205232113052J00', + b'\xf1\x875QF959655AT\xf1\x890755\xf1\x82\x1311110011110011111100010200--1121240749', ], (Ecu.eps, 0x712, None): [ b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527T6050405', @@ -1166,6 +1205,7 @@ FW_VERSIONS = { b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527T6070405', b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T600G500', b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T600G600', + b'\xf1\x875TA907145F \xf1\x891063\xf1\x82\x002LT61A2LOM', ], (Ecu.fwdRadar, 0x757, None): [ b'\xf1\x872Q0907572Q \xf1\x890342', @@ -1254,9 +1294,10 @@ FW_VERSIONS = { b'\xf1\x870D9300012 \xf1\x894940', b'\xf1\x870D9300013A \xf1\x894905', b'\xf1\x870D9300041H \xf1\x894905', - b'\xf1\x870GC300014M \xf1\x892801', - b'\xf1\x870GC300043 \xf1\x892301', b'\xf1\x870D9300043F \xf1\x895202', + b'\xf1\x870GC300014M \xf1\x892801', + b'\xf1\x870GC300019G \xf1\x892803', + b'\xf1\x870GC300043 \xf1\x892301', ], (Ecu.srs, 0x715, None): [ b'\xf1\x875Q0959655AE\xf1\x890130\xf1\x82\x12111200111121001121110012211292221111', @@ -1265,6 +1306,7 @@ FW_VERSIONS = { b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\02331310031313100313131013141319331413100', b'\xf1\x875Q0959655CA\xf1\x890403\xf1\x82\x1331310031313100313151013141319331423100', b'\xf1\x875Q0959655CH\xf1\x890421\xf1\x82\x1333310031313100313152025350539331463100', + b'\xf1\x875Q0959655CH\xf1\x890421\xf1\x82\x1333310031313100313152855372539331463100', ], (Ecu.eps, 0x712, None): [ b'\xf1\x875Q0909143K \xf1\x892033\xf1\x820514UZ070203', diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 959740d97..f2f9cef86 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -9,6 +9,7 @@ from common.realtime import sec_since_boot, config_realtime_process, Priority, R from common.profiler import Profiler from common.params import Params, put_nonblocking import cereal.messaging as messaging +from cereal.visionipc import VisionIpcClient, VisionStreamType from common.conversions import Conversions as CV from panda import ALTERNATIVE_EXPERIENCE from system.swaglog import cloudlog @@ -20,7 +21,6 @@ from selfdrive.controls.lib.drive_helpers import VCruiseHelper, get_lag_adjusted from selfdrive.controls.lib.latcontrol import LatControl, MIN_LATERAL_CONTROL_SPEED from selfdrive.controls.lib.longcontrol import LongControl from selfdrive.controls.lib.latcontrol_pid import LatControlPID -from selfdrive.controls.lib.latcontrol_indi import LatControlINDI from selfdrive.controls.lib.latcontrol_angle import LatControlAngle, STEER_ANGLE_SATURATION_THRESHOLD from selfdrive.controls.lib.latcontrol_torque import LatControlTorque from selfdrive.controls.lib.events import Events, ET @@ -34,6 +34,7 @@ LANE_DEPARTURE_THRESHOLD = 0.1 REPLAY = "REPLAY" in os.environ SIMULATION = "SIMULATION" in os.environ +TESTING_CLOSET = "TESTING_CLOSET" in os.environ NOSENSOR = "NOSENSOR" in os.environ IGNORE_PROCESSES = {"loggerd", "encoderd", "statsd"} @@ -82,12 +83,10 @@ class Controls: ignore = ['testJoystick'] if SIMULATION: ignore += ['driverCameraState', 'managerState'] - if self.params.get_bool('WideCameraOnly'): - ignore += ['roadCameraState'] self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration', 'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman', 'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters', 'testJoystick'] + self.camera_packets, - ignore_alive=ignore, ignore_avg_freq=['radarState', 'longitudinalPlan', 'testJoystick']) + ignore_alive=ignore, ignore_avg_freq=['radarState', 'testJoystick']) if CI is None: # wait for one pandaState and one CAN packet @@ -151,8 +150,6 @@ class Controls: self.LaC = LatControlAngle(self.CP, self.CI) elif self.CP.lateralTuning.which() == 'pid': self.LaC = LatControlPID(self.CP, self.CI) - elif self.CP.lateralTuning.which() == 'indi': - self.LaC = LatControlINDI(self.CP, self.CI) elif self.CP.lateralTuning.which() == 'torque': self.LaC = LatControlTorque(self.CP, self.CI) @@ -172,12 +169,14 @@ class Controls: self.events_prev = [] self.current_alert_types = [ET.PERMANENT] self.logged_comm_issue = None + self.not_running_prev = None self.last_actuators = car.CarControl.Actuators.new_message() self.steer_limited = False self.desired_curvature = 0.0 self.desired_curvature_rate = 0.0 self.experimental_mode = False self.v_cruise_helper = VCruiseHelper(self.CP) + self.recalibrating_seen = False # TODO: no longer necessary, aside from process replay self.sm['liveParameters'].valid = True @@ -262,7 +261,6 @@ class Controls: if self.sm['deviceState'].freeSpacePercent < 7 and not SIMULATION: # under 7% of space free no enable allowed self.events.add(EventName.outOfSpace) - # TODO: make tici threshold the same if self.sm['deviceState'].memoryUsagePercent > 90 and not SIMULATION: self.events.add(EventName.lowMemory) @@ -286,7 +284,9 @@ class Controls: if cal_status == log.LiveCalibrationData.Status.uncalibrated: self.events.add(EventName.calibrationIncomplete) elif cal_status == log.LiveCalibrationData.Status.recalibrating: - set_offroad_alert("Offroad_Recalibration", True) + if not self.recalibrating_seen: + set_offroad_alert("Offroad_Recalibration", True) + self.recalibrating_seen = True self.events.add(EventName.calibrationRecalibrating) else: self.events.add(EventName.calibrationInvalid) @@ -329,6 +329,9 @@ class Controls: not_running = {p.name for p in self.sm['managerState'].processes if not p.running and p.shouldBeRunning} if self.sm.rcv_frame['managerState'] and (not_running - IGNORE_PROCESSES): self.events.add(EventName.processNotRunning) + if not_running != self.not_running_prev: + cloudlog.event("process_not_running", not_running=not_running, error=True) + self.not_running_prev = not_running else: if not SIMULATION and not self.rk.lagging: if not self.sm.all_alive(self.camera_packets): @@ -370,7 +373,7 @@ class Controls: else: self.logged_comm_issue = None - if not self.sm['liveParameters'].valid: + if not self.sm['liveParameters'].valid and not TESTING_CLOSET: self.events.add(EventName.vehicleModelInvalid) if not self.sm['lateralPlan'].mpcSolutionValid: self.events.add(EventName.plannerError) @@ -434,6 +437,12 @@ class Controls: all_valid = CS.canValid and self.sm.all_checks() timed_out = self.sm.frame * DT_CTRL > (6. if REPLAY else 3.5) if all_valid or timed_out or SIMULATION: + available_streams = VisionIpcClient.available_streams("camerad", block=False) + if VisionStreamType.VISION_STREAM_ROAD not in available_streams: + self.sm.ignore_alive.append('roadCameraState') + if VisionStreamType.VISION_STREAM_WIDE_ROAD not in available_streams: + self.sm.ignore_alive.append('wideRoadCameraState') + if not self.read_only: self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan']) diff --git a/selfdrive/controls/lib/alerts_offroad.json b/selfdrive/controls/lib/alerts_offroad.json index 42d2512e5..9226c94d8 100644 --- a/selfdrive/controls/lib/alerts_offroad.json +++ b/selfdrive/controls/lib/alerts_offroad.json @@ -30,7 +30,7 @@ "severity": 0 }, "Offroad_UnofficialHardware": { - "text": "Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, contact support@comma.ai.", + "text": "Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support.", "severity": 1 }, "Offroad_StorageMissing": { diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py index b935e2461..da358127c 100644 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -885,12 +885,6 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = { ET.NO_ENTRY: NoEntryAlert("LKAS Fault: Restart the Car"), }, - EventName.brakeUnavailable: { - ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Cruise Fault: Restart the Car"), - ET.PERMANENT: NormalPermanentAlert("Cruise Fault: Restart the car to engage"), - ET.NO_ENTRY: NoEntryAlert("Cruise Fault: Restart the Car"), - }, - EventName.reverseGear: { ET.PERMANENT: Alert( "Reverse\nGear", diff --git a/selfdrive/controls/lib/latcontrol_indi.py b/selfdrive/controls/lib/latcontrol_indi.py deleted file mode 100644 index dca82c672..000000000 --- a/selfdrive/controls/lib/latcontrol_indi.py +++ /dev/null @@ -1,120 +0,0 @@ -import math -import numpy as np - -from cereal import log -from common.filter_simple import FirstOrderFilter -from common.numpy_fast import clip, interp -from common.realtime import DT_CTRL -from selfdrive.controls.lib.latcontrol import LatControl - - -class LatControlINDI(LatControl): - def __init__(self, CP, CI): - super().__init__(CP, CI) - self.angle_steers_des = 0. - - A = np.array([[1.0, DT_CTRL, 0.0], - [0.0, 1.0, DT_CTRL], - [0.0, 0.0, 1.0]]) - C = np.array([[1.0, 0.0, 0.0], - [0.0, 1.0, 0.0]]) - - # Q = np.matrix([[1e-2, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 10.0]]) - # R = np.matrix([[1e-2, 0.0], [0.0, 1e3]]) - - # (x, l, K) = control.dare(np.transpose(A), np.transpose(C), Q, R) - # K = np.transpose(K) - K = np.array([[7.30262179e-01, 2.07003658e-04], - [7.29394177e+00, 1.39159419e-02], - [1.71022442e+01, 3.38495381e-02]]) - - self.speed = 0. - - self.K = K - self.A_K = A - np.dot(K, C) - self.x = np.array([[0.], [0.], [0.]]) - - self._RC = (CP.lateralTuning.indi.timeConstantBP, CP.lateralTuning.indi.timeConstantV) - self._G = (CP.lateralTuning.indi.actuatorEffectivenessBP, CP.lateralTuning.indi.actuatorEffectivenessV) - self._outer_loop_gain = (CP.lateralTuning.indi.outerLoopGainBP, CP.lateralTuning.indi.outerLoopGainV) - self._inner_loop_gain = (CP.lateralTuning.indi.innerLoopGainBP, CP.lateralTuning.indi.innerLoopGainV) - - self.steer_filter = FirstOrderFilter(0., self.RC, DT_CTRL) - self.reset() - - @property - def RC(self): - return interp(self.speed, self._RC[0], self._RC[1]) - - @property - def G(self): - return interp(self.speed, self._G[0], self._G[1]) - - @property - def outer_loop_gain(self): - return interp(self.speed, self._outer_loop_gain[0], self._outer_loop_gain[1]) - - @property - def inner_loop_gain(self): - return interp(self.speed, self._inner_loop_gain[0], self._inner_loop_gain[1]) - - def reset(self): - super().reset() - self.steer_filter.x = 0. - self.speed = 0. - - def update(self, active, CS, VM, params, last_actuators, steer_limited, desired_curvature, desired_curvature_rate, llk): - self.speed = CS.vEgo - # Update Kalman filter - y = np.array([[math.radians(CS.steeringAngleDeg)], [math.radians(CS.steeringRateDeg)]]) - self.x = np.dot(self.A_K, self.x) + np.dot(self.K, y) - - indi_log = log.ControlsState.LateralINDIState.new_message() - indi_log.steeringAngleDeg = math.degrees(self.x[0]) - indi_log.steeringRateDeg = math.degrees(self.x[1]) - indi_log.steeringAccelDeg = math.degrees(self.x[2]) - - steers_des = VM.get_steer_from_curvature(-desired_curvature, CS.vEgo, params.roll) - steers_des += math.radians(params.angleOffsetDeg) - indi_log.steeringAngleDesiredDeg = math.degrees(steers_des) - - # desired rate is the desired rate of change in the setpoint, not the absolute desired curvature - rate_des = VM.get_steer_from_curvature(-desired_curvature_rate, CS.vEgo, 0) - indi_log.steeringRateDesiredDeg = math.degrees(rate_des) - - if not active: - indi_log.active = False - self.steer_filter.x = 0.0 - output_steer = 0 - else: - # Expected actuator value - self.steer_filter.update_alpha(self.RC) - self.steer_filter.update(last_actuators.steer) - - # Compute acceleration error - rate_sp = self.outer_loop_gain * (steers_des - self.x[0]) + rate_des - accel_sp = self.inner_loop_gain * (rate_sp - self.x[1]) - accel_error = accel_sp - self.x[2] - - # Compute change in actuator - g_inv = 1. / self.G - delta_u = g_inv * accel_error - - # If steering pressed, only allow wind down - if CS.steeringPressed and (delta_u * last_actuators.steer > 0): - delta_u = 0 - - output_steer = self.steer_filter.x + delta_u - - output_steer = clip(output_steer, -self.steer_max, self.steer_max) - - indi_log.active = True - indi_log.rateSetPoint = float(rate_sp) - indi_log.accelSetPoint = float(accel_sp) - indi_log.accelError = float(accel_error) - indi_log.delayedOutput = float(self.steer_filter.x) - indi_log.delta = float(delta_u) - indi_log.output = float(output_steer) - indi_log.saturated = self._check_saturation(self.steer_max - abs(output_steer) < 1e-3, CS, steer_limited) - - return float(output_steer), float(steers_des), indi_log diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py index fc29aeb08..0593becba 100644 --- a/selfdrive/controls/lib/lateral_planner.py +++ b/selfdrive/controls/lib/lateral_planner.py @@ -112,7 +112,7 @@ class LateralPlanner: self.last_cloudlog_t = t cloudlog.warning("Lateral mpc - nan: True") - if self.lat_mpc.cost > 20000. or mpc_nans: + if self.lat_mpc.cost > 1e6 or mpc_nans: self.solution_invalid_cnt += 1 else: self.solution_invalid_cnt = 0 diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index 660002691..b5998a256 100644 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 import os import numpy as np - +from cereal import log from common.realtime import sec_since_boot from common.numpy_fast import clip from system.swaglog import cloudlog @@ -54,18 +54,38 @@ FCW_IDXS = T_IDXS < 5.0 T_DIFFS = np.diff(T_IDXS, prepend=[0.]) MIN_ACCEL = -3.5 MAX_ACCEL = 2.0 -T_FOLLOW = 1.45 COMFORT_BRAKE = 2.5 STOP_DISTANCE = 6.0 +def get_jerk_factor(personality=log.LongitudinalPersonality.standard): + if personality==log.LongitudinalPersonality.relaxed: + return 1.0 + elif personality==log.LongitudinalPersonality.standard: + return 1.0 + elif personality==log.LongitudinalPersonality.aggressive: + return 0.5 + else: + raise NotImplementedError("Longitudinal personality not supported") + + +def get_T_FOLLOW(personality=log.LongitudinalPersonality.standard): + if personality==log.LongitudinalPersonality.relaxed: + return 1.75 + elif personality==log.LongitudinalPersonality.standard: + return 1.45 + elif personality==log.LongitudinalPersonality.aggressive: + return 1.25 + else: + raise NotImplementedError("Longitudinal personality not supported") + def get_stopped_equivalence_factor(v_lead): return (v_lead**2) / (2 * COMFORT_BRAKE) -def get_safe_obstacle_distance(v_ego, t_follow=T_FOLLOW): +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): - return get_safe_obstacle_distance(v_ego) - get_stopped_equivalence_factor(v_lead) +def desired_follow_distance(v_ego, v_lead, t_follow=get_T_FOLLOW()): + return get_safe_obstacle_distance(v_ego, t_follow) - get_stopped_equivalence_factor(v_lead) def gen_long_model(): @@ -161,7 +181,8 @@ def gen_long_ocp(): x0 = np.zeros(X_DIM) ocp.constraints.x0 = x0 - ocp.parameter_values = np.array([-1.2, 1.2, 0.0, 0.0, T_FOLLOW, LEAD_DANGER_FACTOR]) + ocp.parameter_values = np.array([-1.2, 1.2, 0.0, 0.0, get_T_FOLLOW(), LEAD_DANGER_FACTOR]) + # We put all constraint cost weights to 0 and only set them at runtime cost_weights = np.zeros(CONSTR_DIM) @@ -249,10 +270,11 @@ class LongitudinalMpc: for i in range(N): self.solver.cost_set(i, 'Zl', Zl) - def set_weights(self, prev_accel_constraint=True): + 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, a_change_cost, J_EGO_COST] + 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 @@ -307,7 +329,8 @@ class LongitudinalMpc: self.cruise_min_a = min_a self.max_a = max_a - def update(self, radarstate, v_cruise, x, v, a, j): + def update(self, radarstate, v_cruise, x, v, a, j, personality=log.LongitudinalPersonality.standard): + t_follow = get_T_FOLLOW(personality) v_ego = self.x0[1] self.status = radarstate.leadOne.status or radarstate.leadTwo.status @@ -334,7 +357,7 @@ class LongitudinalMpc: 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) + cruise_obstacle = np.cumsum(T_DIFFS * v_cruise_clipped) + get_safe_obstacle_distance(v_cruise_clipped, get_T_FOLLOW(personality)) x_obstacles = np.column_stack([lead_0_obstacle, lead_1_obstacle, cruise_obstacle]) self.source = SOURCES[np.argmin(x_obstacles[0])] @@ -368,7 +391,7 @@ class LongitudinalMpc: self.params[:,2] = np.min(x_obstacles, axis=1) self.params[:,3] = np.copy(self.prev_a) - self.params[:,4] = T_FOLLOW + self.params[:,4] = t_follow self.run() if (np.any(lead_xv_0[FCW_IDXS,0] - self.x_sol[FCW_IDXS,0] < CRASH_DISTANCE) and @@ -380,9 +403,9 @@ class LongitudinalMpc: # 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): + 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 \ + 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' diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 308949968..a9c3cc780 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -2,6 +2,8 @@ import math import numpy as np from common.numpy_fast import clip, interp +from common.params import Params +from cereal import log import cereal.messaging as messaging from common.conversions import Conversions as CV @@ -57,6 +59,16 @@ class LongitudinalPlanner: self.a_desired_trajectory = np.zeros(CONTROL_N) self.j_desired_trajectory = np.zeros(CONTROL_N) self.solverExecutionTime = 0.0 + self.params = Params() + self.param_read_counter = 0 + self.read_param() + self.personality = log.LongitudinalPersonality.standard + + def read_param(self): + try: + self.personality = int(self.params.get('LongitudinalPersonality')) + except (ValueError, TypeError): + self.personality = log.LongitudinalPersonality.standard @staticmethod def parse_model(model_msg, model_error): @@ -75,6 +87,9 @@ class LongitudinalPlanner: return x, v, a, j def update(self, sm): + if self.param_read_counter % 50 == 0: + self.read_param() + self.param_read_counter += 1 self.mpc.mode = 'blended' if sm['controlsState'].experimentalMode else 'acc' v_ego = sm['carState'].vEgo @@ -114,11 +129,11 @@ class LongitudinalPlanner: accel_limits_turns[0] = min(accel_limits_turns[0], self.a_desired + 0.05) accel_limits_turns[1] = max(accel_limits_turns[1], self.a_desired - 0.05) - self.mpc.set_weights(prev_accel_constraint) + self.mpc.set_weights(prev_accel_constraint, personality=self.personality) self.mpc.set_accel_limits(accel_limits_turns[0], accel_limits_turns[1]) self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired) x, v, a, j = self.parse_model(sm['modelV2'], self.v_model_error) - self.mpc.update(sm['radarState'], v_cruise, x, v, a, j) + self.mpc.update(sm['radarState'], v_cruise, x, v, a, j, personality=self.personality) self.v_desired_trajectory_full = np.interp(T_IDXS, T_IDXS_MPC, self.mpc.v_solution) self.a_desired_trajectory_full = np.interp(T_IDXS, T_IDXS_MPC, self.mpc.a_solution) @@ -154,5 +169,6 @@ class LongitudinalPlanner: longitudinalPlan.fcw = self.fcw longitudinalPlan.solverExecutionTime = self.mpc.solve_time + longitudinalPlan.personality = self.personality pm.send('longitudinalPlan', plan_send) diff --git a/selfdrive/controls/lib/radar_helpers.py b/selfdrive/controls/lib/radar_helpers.py index 4bb017926..4184340dc 100644 --- a/selfdrive/controls/lib/radar_helpers.py +++ b/selfdrive/controls/lib/radar_helpers.py @@ -130,15 +130,16 @@ class Cluster(): "aLeadTau": float(self.aLeadTau) } - def get_RadarState_from_vision(self, lead_msg, v_ego): + def get_RadarState_from_vision(self, lead_msg, v_ego, model_v_ego): + lead_v_rel_pred = lead_msg.v[0] - model_v_ego return { "dRel": float(lead_msg.x[0] - RADAR_TO_CAMERA), "yRel": float(-lead_msg.y[0]), - "vRel": float(lead_msg.v[0] - v_ego), - "vLead": float(lead_msg.v[0]), - "vLeadK": float(lead_msg.v[0]), - "aLeadK": float(0), - "aLeadTau": _LEAD_ACCEL_TAU, + "vRel": float(lead_v_rel_pred), + "vLead": float(v_ego + lead_v_rel_pred), + "vLeadK": float(v_ego + lead_v_rel_pred), + "aLeadK": 0.0, + "aLeadTau": 0.3, "fcw": False, "modelProb": float(lead_msg.prob), "radar": False, diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py index 34f0f274f..521cea816 100755 --- a/selfdrive/controls/radard.py +++ b/selfdrive/controls/radard.py @@ -64,7 +64,7 @@ def match_vision_to_cluster(v_ego, lead, clusters): return None -def get_lead(v_ego, ready, clusters, lead_msg, low_speed_override=True): +def get_lead(v_ego, ready, clusters, lead_msg, model_v_ego, low_speed_override=True): # Determine leads, this is where the essential logic happens if len(clusters) > 0 and ready and lead_msg.prob > .5: cluster = match_vision_to_cluster(v_ego, lead_msg, clusters) @@ -75,7 +75,7 @@ def get_lead(v_ego, ready, clusters, lead_msg, low_speed_override=True): if cluster is not None: lead_dict = cluster.get_RadarState(lead_msg.prob) elif (cluster is None) and ready and (lead_msg.prob > .5): - lead_dict = Cluster().get_RadarState_from_vision(lead_msg, v_ego) + lead_dict = Cluster().get_RadarState_from_vision(lead_msg, v_ego, model_v_ego) if low_speed_override: low_speed_clusters = [c for c in clusters if c.potential_low_speed_lead(v_ego)] @@ -168,10 +168,14 @@ class RadarD(): radarState.radarErrors = list(rr.errors) radarState.carStateMonoTime = sm.logMonoTime['carState'] + if len(sm['modelV2'].temporalPose.trans): + model_v_ego = sm['modelV2'].temporalPose.trans[0] + else: + model_v_ego = self.v_ego leads_v3 = sm['modelV2'].leadsV3 if len(leads_v3) > 1: - radarState.leadOne = get_lead(self.v_ego, self.ready, clusters, leads_v3[0], low_speed_override=True) - radarState.leadTwo = get_lead(self.v_ego, self.ready, clusters, leads_v3[1], low_speed_override=False) + radarState.leadOne = get_lead(self.v_ego, self.ready, clusters, leads_v3[0], model_v_ego, low_speed_override=True) + radarState.leadTwo = get_lead(self.v_ego, self.ready, clusters, leads_v3[1], model_v_ego, low_speed_override=False) return dat diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py index dc4ffbb1f..c9d9340a2 100755 --- a/selfdrive/locationd/calibrationd.py +++ b/selfdrive/locationd/calibrationd.py @@ -24,6 +24,8 @@ MIN_SPEED_FILTER = 15 * CV.MPH_TO_MS MAX_VEL_ANGLE_STD = np.radians(0.25) MAX_YAW_RATE_FILTER = np.radians(2) # per second +MAX_HEIGHT_STD = np.exp(-3.5) + # This is at model frequency, blocks needed for efficiency SMOOTH_CYCLES = 10 BLOCK_SIZE = 100 @@ -32,9 +34,10 @@ INPUTS_WANTED = 50 # We want a little bit more than we need for stability MAX_ALLOWED_SPREAD = np.radians(2) RPY_INIT = np.array([0.0,0.0,0.0]) WIDE_FROM_DEVICE_EULER_INIT = np.array([0.0, 0.0, 0.0]) +HEIGHT_INIT = np.array([1.22]) -# These values are needed to accommodate biggest modelframe -PITCH_LIMITS = np.array([-0.09074112085129739, 0.14907572052989657]) +# These values are needed to accommodate the model frame in the narrow cam of the C3 +PITCH_LIMITS = np.array([-0.09074112085129739, 0.17]) YAW_LIMITS = np.array([-0.06912048084718224, 0.06912048084718235]) DEBUG = os.getenv("DEBUG") is not None @@ -50,6 +53,8 @@ def sanity_clip(rpy: np.ndarray) -> np.ndarray: np.clip(rpy[1], PITCH_LIMITS[0] - .005, PITCH_LIMITS[1] + .005), np.clip(rpy[2], YAW_LIMITS[0] - .005, YAW_LIMITS[1] + .005)]) +def moving_avg_with_linear_decay(prev_mean: np.ndarray, new_val: np.ndarray, idx: int, block_size: float) -> np.ndarray: + return (idx*prev_mean + (block_size - idx) * new_val) / block_size class Calibrator: def __init__(self, param_put: bool = False): @@ -62,6 +67,7 @@ class Calibrator: calibration_params = params.get("CalibrationParams") rpy_init = RPY_INIT wide_from_device_euler = WIDE_FROM_DEVICE_EULER_INIT + height = HEIGHT_INIT valid_blocks = 0 self.cal_status = log.LiveCalibrationData.Status.uncalibrated @@ -71,21 +77,28 @@ class Calibrator: rpy_init = np.array(msg.liveCalibration.rpyCalib) valid_blocks = msg.liveCalibration.validBlocks wide_from_device_euler = np.array(msg.liveCalibration.wideFromDeviceEuler) + height = np.array(msg.liveCalibration.height) except Exception: cloudlog.exception("Error reading cached CalibrationParams") - self.reset(rpy_init, valid_blocks, wide_from_device_euler) + self.reset(rpy_init, valid_blocks, wide_from_device_euler, height) self.update_status() 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: Optional[np.ndarray] = None) -> None: if not np.isfinite(rpy_init).all(): self.rpy = RPY_INIT.copy() else: self.rpy = rpy_init.copy() + if not np.isfinite(height_init).all() or len(height_init) != 1: + self.height = HEIGHT_INIT.copy() + else: + self.height = height_init.copy() + if not np.isfinite(wide_from_device_euler_init).all() or len(wide_from_device_euler_init) != 3: self.wide_from_device_euler = WIDE_FROM_DEVICE_EULER_INIT.copy() else: @@ -98,6 +111,7 @@ class Calibrator: self.rpys = np.tile(self.rpy, (INPUTS_WANTED, 1)) self.wide_from_device_eulers = np.tile(self.wide_from_device_euler, (INPUTS_WANTED, 1)) + self.heights = np.tile(self.height, (INPUTS_WANTED, 1)) self.idx = 0 self.block_idx = 0 @@ -120,6 +134,7 @@ class Calibrator: valid_idxs = self.get_valid_idxs() if valid_idxs: self.wide_from_device_euler = np.mean(self.wide_from_device_eulers[valid_idxs], axis=0) + self.height = np.mean(self.heights[valid_idxs], axis=0) rpys = self.rpys[valid_idxs] self.rpy = np.mean(rpys, axis=0) max_rpy_calib = np.array(np.max(rpys, axis=0)) @@ -140,6 +155,7 @@ class Calibrator: # If spread is too high, assume mounting was changed and reset to last block. # Make the transition smooth. Abrupt transitions are not good for feedback loop through supercombo model. + # TODO: add height spread check with smooth transition too if max(self.calib_spread) > MAX_ALLOWED_SPREAD and self.cal_status == log.LiveCalibrationData.Status.calibrated: self.reset(self.rpys[self.block_idx - 1], valid_blocks=1, smooth_from=self.rpy) self.cal_status = log.LiveCalibrationData.Status.recalibrating @@ -160,13 +176,21 @@ class Calibrator: def handle_cam_odom(self, trans: List[float], rot: List[float], wide_from_device_euler: List[float], - trans_std: List[float]) -> Optional[np.ndarray]: + trans_std: List[float], + road_transform_trans: List[float], + road_transform_trans_std: List[float]) -> Optional[np.ndarray]: self.old_rpy_weight = max(0.0, self.old_rpy_weight - 1/SMOOTH_CYCLES) straight_and_fast = ((self.v_ego > MIN_SPEED_FILTER) and (trans[0] > MIN_SPEED_FILTER) and (abs(rot[2]) < MAX_YAW_RATE_FILTER)) angle_std_threshold = MAX_VEL_ANGLE_STD - certain_if_calib = ((np.arctan2(trans_std[1], trans[0]) < angle_std_threshold) or - (self.valid_blocks < INPUTS_NEEDED)) + height_std_threshold = MAX_HEIGHT_STD + rpy_certain = np.arctan2(trans_std[1], trans[0]) < angle_std_threshold + if len(road_transform_trans_std) == 3: + height_certain = road_transform_trans_std[2] < height_std_threshold + else: + height_certain = True + + certain_if_calib = (rpy_certain and height_certain) or (self.valid_blocks < INPUTS_NEEDED) if not (straight_and_fast and certain_if_calib): return None @@ -180,10 +204,16 @@ class Calibrator: new_wide_from_device_euler = np.array(wide_from_device_euler) else: new_wide_from_device_euler = WIDE_FROM_DEVICE_EULER_INIT - self.rpys[self.block_idx] = (self.idx*self.rpys[self.block_idx] + - (BLOCK_SIZE - self.idx) * new_rpy) / float(BLOCK_SIZE) - self.wide_from_device_eulers[self.block_idx] = (self.idx*self.wide_from_device_eulers[self.block_idx] + - (BLOCK_SIZE - self.idx) * new_wide_from_device_euler) / float(BLOCK_SIZE) + + if (len(road_transform_trans) == 3): + new_height = np.array([road_transform_trans[2]]) + else: + new_height = HEIGHT_INIT + + self.rpys[self.block_idx] = moving_avg_with_linear_decay(self.rpys[self.block_idx], new_rpy, self.idx, float(BLOCK_SIZE)) + self.wide_from_device_eulers[self.block_idx] = moving_avg_with_linear_decay(self.wide_from_device_eulers[self.block_idx], new_wide_from_device_euler, self.idx, float(BLOCK_SIZE)) + self.heights[self.block_idx] = moving_avg_with_linear_decay(self.heights[self.block_idx], new_height, self.idx, float(BLOCK_SIZE)) + self.idx = (self.idx + 1) % BLOCK_SIZE if self.idx == 0: self.block_idx += 1 @@ -206,6 +236,7 @@ class Calibrator: liveCalibration.rpyCalib = smooth_rpy.tolist() liveCalibration.rpyCalibSpread = self.calib_spread.tolist() liveCalibration.wideFromDeviceEuler = self.wide_from_device_euler.tolist() + liveCalibration.height = self.height.tolist() if self.not_car: liveCalibration.validBlocks = INPUTS_NEEDED @@ -243,7 +274,9 @@ def calibrationd_thread(sm: Optional[messaging.SubMaster] = None, pm: Optional[m new_rpy = calibrator.handle_cam_odom(sm['cameraOdometry'].trans, sm['cameraOdometry'].rot, sm['cameraOdometry'].wideFromDeviceEuler, - sm['cameraOdometry'].transStd) + sm['cameraOdometry'].transStd, + sm['cameraOdometry'].roadTransformTrans, + sm['cameraOdometry'].roadTransformTransStd) if DEBUG and new_rpy is not None: print('got new rpy', new_rpy) diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index 71b81cc30..ed922f89c 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -192,15 +192,15 @@ class Laikad: def is_good_report(self, gnss_msg): if gnss_msg.which() == 'drMeasurementReport' and self.use_qcom: - constellation_id = ConstellationId.from_qcom_source(gnss_msg.drMeasurementReport.source) # TODO: Understand and use remaining unknown constellations try: + constellation_id = ConstellationId.from_qcom_source(gnss_msg.drMeasurementReport.source) good_constellation = constellation_id in [ConstellationId.GPS, ConstellationId.SBAS, ConstellationId.GLONASS] + report_time = self.gps_time_from_qcom_report(gnss_msg) except NotImplementedError: - good_constellation = False + return False # Garbage timestamps with week > 32767 are sometimes sent by module. # This is an issue with gpsTime and GLONASS time. - report_time = self.gps_time_from_qcom_report(gnss_msg) good_week = report_time.week < np.iinfo(np.int16).max return good_constellation and good_week elif gnss_msg.which() == 'measurementReport' and not self.use_qcom: @@ -457,12 +457,10 @@ def main(sm=None, pm=None): pm = messaging.PubMaster(['gnssMeasurements']) # disable until set as main gps source, to better analyze startup time + # TODO ensure low CPU usage before enabling use_internet = False # "LAIKAD_NO_INTERNET" not in os.environ replay = "REPLAY" in os.environ - if replay: - use_internet = True - laikad = Laikad(save_ephemeris=not replay, auto_fetch_navs=use_internet, use_qcom=use_qcom) while True: diff --git a/selfdrive/locationd/locationd.cc b/selfdrive/locationd/locationd.cc index 9ee9e33fb..3616f0af8 100755 --- a/selfdrive/locationd/locationd.cc +++ b/selfdrive/locationd/locationd.cc @@ -35,6 +35,8 @@ const float GPS_VEL_STD_RESET_THRESHOLD = 0.5; const float GPS_ORIENTATION_ERROR_RESET_THRESHOLD = 1.0; const int GPS_ORIENTATION_ERROR_RESET_CNT = 3; +const bool DEBUG = getenv("DEBUG") != nullptr && std::string(getenv("DEBUG")) != "0"; + static VectorXd floatlist2vector(const capnp::List::Reader& floatlist) { VectorXd res(floatlist.size()); for (int i = 0; i < floatlist.size(); i++) { @@ -68,7 +70,7 @@ static VectorXd rotate_std(const MatrixXdr& rot_matrix, const VectorXd& std_in) return rotate_cov(rot_matrix, std_in.array().square().matrix().asDiagonal()).diagonal().array().sqrt(); } -Localizer::Localizer() { +Localizer::Localizer(LocalizerGnssSource gnss_source) { this->kf = std::make_unique(); this->reset_kalman(); @@ -82,10 +84,9 @@ Localizer::Localizer() { VectorXd ecef_pos = this->kf->get_x().segment(STATE_ECEF_POS_START); this->converter = std::make_unique((ECEF) { .x = ecef_pos[0], .y = ecef_pos[1], .z = ecef_pos[2] }); + this->configure_gnss_source(gnss_source); } -Localizer::Localizer(bool has_ublox) : Localizer() { ublox_available = has_ublox; } - void Localizer::build_live_location(cereal::LiveLocationKalman::Builder& fix) { VectorXd predicted_state = this->kf->get_x(); MatrixXdr predicted_cov = this->kf->get_P(); @@ -161,6 +162,9 @@ void Localizer::build_live_location(cereal::LiveLocationKalman::Builder& fix) { init_measurement(fix.initVelocityCalibrated(), vel_calib, vel_calib_std, this->calibrated); init_measurement(fix.initAngularVelocityCalibrated(), ang_vel_calib, ang_vel_calib_std, this->calibrated); init_measurement(fix.initAccelerationCalibrated(), acc_calib, acc_calib_std, this->calibrated); + if (DEBUG) { + init_measurement(fix.initFilterState(), predicted_state, predicted_std, true); + } double old_mean = 0.0, new_mean = 0.0; int i = 0; @@ -320,12 +324,7 @@ void Localizer::handle_gps(double current_time, const cereal::GpsLocationData::R VectorXd ecef_pos = this->converter->ned2ecef({ 0.0, 0.0, 0.0 }).to_vector(); VectorXd ecef_vel = this->converter->ned2ecef({ log.getVNED()[0], log.getVNED()[1], log.getVNED()[2] }).to_vector() - ecef_pos; - float ecef_pos_std; - if (ublox_available) { - ecef_pos_std = std::sqrt(std::pow(log.getAccuracy(), 2) + std::pow(log.getVerticalAccuracy(), 2)); - } else { - ecef_pos_std = std::sqrt(3 * std::pow(log.getVerticalAccuracy(), 2)); - } + float ecef_pos_std = std::sqrt(this->gps_variance_factor * std::pow(log.getAccuracy(), 2) + this->gps_vertical_variance_factor * std::pow(log.getVerticalAccuracy(), 2)); MatrixXdr ecef_pos_R = Vector3d::Constant(std::pow(this->gps_std_factor * ecef_pos_std, 2)).asDiagonal(); MatrixXdr ecef_vel_R = Vector3d::Constant(std::pow(this->gps_std_factor * log.getSpeedAccuracy(), 2)).asDiagonal(); @@ -367,10 +366,7 @@ void Localizer::handle_gnss(double current_time, const cereal::GnssMeasurements: } double sensor_time = log.getMeasTime() * 1e-9; - if (ublox_available) - sensor_time -= GPS_UBLOX_SENSOR_TIME_OFFSET; - else - sensor_time -= GPS_QUECTEL_SENSOR_TIME_OFFSET; + sensor_time -= this->gps_time_offset; auto ecef_pos_v = log.getPositionECEF().getValue(); VectorXd ecef_pos = Vector3d(ecef_pos_v[0], ecef_pos_v[1], ecef_pos_v[2]); @@ -659,16 +655,33 @@ void Localizer::determine_gps_mode(double current_time) { } } -int Localizer::locationd_thread() { - ublox_available = Params().getBool("UbloxAvailable", true); - const char* gps_location_socket; - if (ublox_available) { - gps_location_socket = "gpsLocationExternal"; +void Localizer::configure_gnss_source(LocalizerGnssSource source) { + this->gnss_source = source; + if (source == LocalizerGnssSource::UBLOX) { this->gps_std_factor = 10.0; + this->gps_variance_factor = 1.0; + this->gps_vertical_variance_factor = 1.0; + this->gps_time_offset = GPS_UBLOX_SENSOR_TIME_OFFSET; } else { - gps_location_socket = "gpsLocation"; this->gps_std_factor = 2.0; + this->gps_variance_factor = 0.0; + this->gps_vertical_variance_factor = 3.0; + this->gps_time_offset = GPS_QUECTEL_SENSOR_TIME_OFFSET; } +} + +int Localizer::locationd_thread() { + LocalizerGnssSource source; + const char* gps_location_socket; + if (Params().getBool("UbloxAvailable", true)) { + source = LocalizerGnssSource::UBLOX; + gps_location_socket = "gpsLocationExternal"; + } else { + source = LocalizerGnssSource::QCOM; + gps_location_socket = "gpsLocation"; + } + + this->configure_gnss_source(source); const std::initializer_list service_list = {gps_location_socket, "cameraOdometry", "liveCalibration", "carState", "carParams", "accelerometer", "gyroscope"}; diff --git a/selfdrive/locationd/locationd.h b/selfdrive/locationd/locationd.h index e2b2096af..e8f2f04a2 100755 --- a/selfdrive/locationd/locationd.h +++ b/selfdrive/locationd/locationd.h @@ -21,10 +21,13 @@ #define POSENET_STD_HIST_HALF 20 +enum LocalizerGnssSource { + UBLOX, QCOM +}; + class Localizer { public: - Localizer(); - Localizer(bool has_ublox); + Localizer(LocalizerGnssSource gnss_source = LocalizerGnssSource::UBLOX); int locationd_thread(); @@ -81,10 +84,15 @@ private: double first_valid_log_time = NAN; double ttff = NAN; double last_gps_msg = 0; - bool ublox_available = true; + LocalizerGnssSource gnss_source; bool observation_timings_invalid = false; std::map observation_values_invalid; bool standstill = true; int32_t orientation_reset_count = 0; float gps_std_factor; + float gps_variance_factor; + float gps_vertical_variance_factor; + double gps_time_offset; + + void configure_gnss_source(LocalizerGnssSource source); }; diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py index 7e30b1e3a..830f0df6e 100755 --- a/selfdrive/locationd/paramsd.py +++ b/selfdrive/locationd/paramsd.py @@ -16,8 +16,11 @@ from system.swaglog import cloudlog MAX_ANGLE_OFFSET_DELTA = 20 * DT_MDL # Max 20 deg/s ROLL_MAX_DELTA = math.radians(20.0) * DT_MDL # 20deg in 1 second is well within curvature limits ROLL_MIN, ROLL_MAX = math.radians(-10), math.radians(10) +ROLL_LOWERED_MAX = math.radians(8) ROLL_STD_MAX = math.radians(1.5) LATERAL_ACC_SENSOR_THRESHOLD = 4.0 +OFFSET_MAX = 10.0 +OFFSET_LOWERED_MAX = 8.0 class ParamsLearner: @@ -102,6 +105,14 @@ class ParamsLearner: self.kf.filter.reset_rewind() +def check_valid_with_hysteresis(current_valid: bool, val: float, threshold: float, lowered_threshold: float): + if current_valid: + current_valid = abs(val) < threshold + else: + current_valid = abs(val) < lowered_threshold + return current_valid + + def main(sm=None, pm=None): config_realtime_process([0, 1, 2, 3], 5) @@ -130,10 +141,8 @@ def main(sm=None, pm=None): # Check if starting values are sane if params is not None: try: - angle_offset_sane = abs(params.get('angleOffsetAverageDeg')) < 10.0 steer_ratio_sane = min_sr <= params['steerRatio'] <= max_sr - params_sane = angle_offset_sane and steer_ratio_sane - if not params_sane: + if not steer_ratio_sane: cloudlog.info(f"Invalid starting values found {params}") params = None except Exception as e: @@ -157,6 +166,9 @@ def main(sm=None, pm=None): angle_offset_average = params['angleOffsetAverageDeg'] angle_offset = angle_offset_average roll = 0.0 + avg_offset_valid = True + total_offset_valid = True + roll_valid = True while True: sm.update() @@ -180,6 +192,9 @@ def main(sm=None, pm=None): roll_std = float(P[States.ROAD_ROLL]) # Account for the opposite signs of the yaw rates sensors_valid = bool(abs(learner.speed * (x[States.YAW_RATE] + learner.yaw_rate)) < LATERAL_ACC_SENSOR_THRESHOLD) + avg_offset_valid = check_valid_with_hysteresis(avg_offset_valid, angle_offset_average, OFFSET_MAX, OFFSET_LOWERED_MAX) + total_offset_valid = check_valid_with_hysteresis(total_offset_valid, angle_offset, OFFSET_MAX, OFFSET_LOWERED_MAX) + roll_valid = check_valid_with_hysteresis(roll_valid, roll, ROLL_MAX, ROLL_LOWERED_MAX) msg = messaging.new_message('liveParameters') @@ -192,9 +207,9 @@ def main(sm=None, pm=None): liveParameters.angleOffsetAverageDeg = angle_offset_average liveParameters.angleOffsetDeg = angle_offset liveParameters.valid = all(( - abs(liveParameters.angleOffsetAverageDeg) < 10.0, - abs(liveParameters.angleOffsetDeg) < 10.0, - abs(liveParameters.roll) < ROLL_MAX, + avg_offset_valid, + total_offset_valid, + roll_valid, roll_std < ROLL_STD_MAX, 0.2 <= liveParameters.stiffnessFactor <= 5.0, min_sr <= liveParameters.steerRatio <= max_sr, diff --git a/selfdrive/manager/manager.py b/selfdrive/manager/manager.py index a1efd564f..e9a1b2cb5 100755 --- a/selfdrive/manager/manager.py +++ b/selfdrive/manager/manager.py @@ -7,6 +7,7 @@ import sys import traceback from typing import List, Tuple, Union +from cereal import log import cereal.messaging as messaging import selfdrive.sentry as sentry from common.basedir import BASEDIR @@ -34,6 +35,8 @@ def manager_init() -> None: params = Params() params.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START) + params.clear_all(ParamKeyType.CLEAR_ON_ONROAD_TRANSITION) + params.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION) default_params: List[Tuple[str, Union[str, bytes]]] = [ ("CompletedTrainingVersion", "0"), @@ -42,6 +45,7 @@ def manager_init() -> None: ("HasAcceptedTerms", "0"), ("LanguageSetting", "main_en"), ("OpenpilotEnabledToggle", "1"), + ("LongitudinalPersonality", str(log.LongitudinalPersonality.standard)), ] if not PC: default_params.append(("LastUpdateTime", datetime.datetime.utcnow().isoformat().encode('utf8'))) diff --git a/selfdrive/manager/process.py b/selfdrive/manager/process.py index ce18073d9..f4d2b3984 100644 --- a/selfdrive/manager/process.py +++ b/selfdrive/manager/process.py @@ -91,7 +91,7 @@ class ManagerProcess(ABC): pass def restart(self) -> None: - self.stop() + self.stop(sig=signal.SIGKILL) self.start() def check_watchdog(self, started: bool) -> None: @@ -108,21 +108,21 @@ class ManagerProcess(ABC): dt = sec_since_boot() - self.last_watchdog_time / 1e9 if dt > self.watchdog_max_dt: - # Only restart while offroad for now if self.watchdog_seen and ENABLE_WATCHDOG: cloudlog.error(f"Watchdog timeout for {self.name} (exitcode {self.proc.exitcode}) restarting ({started=})") self.restart() else: self.watchdog_seen = True - def stop(self, retry: bool=True, block: bool=True) -> Optional[int]: + def stop(self, retry: bool = True, block: bool = True, sig: Optional[signal.Signals] = None) -> Optional[int]: if self.proc is None: return None if self.proc.exitcode is None: if not self.shutting_down: cloudlog.info(f"killing {self.name}") - sig = signal.SIGKILL if self.sigkill else signal.SIGINT + if sig is None: + sig = signal.SIGKILL if self.sigkill else signal.SIGINT self.signal(sig) self.shutting_down = True @@ -285,7 +285,7 @@ class DaemonProcess(ManagerProcess): params.put(self.param_name, str(proc.pid)) - def stop(self, retry=True, block=True) -> None: + def stop(self, retry=True, block=True, sig=None) -> None: pass diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py index 57c42aaaa..687ffb674 100644 --- a/selfdrive/manager/process_config.py +++ b/selfdrive/manager/process_config.py @@ -22,7 +22,8 @@ def ublox_available() -> bool: def ublox(started, params, CP: car.CarParams) -> bool: use_ublox = ublox_available() - params.put_bool("UbloxAvailable", use_ublox) + if use_ublox != params.get_bool("UbloxAvailable"): + params.put_bool("UbloxAvailable", use_ublox) return started and use_ublox def qcomgps(started, params, CP: car.CarParams) -> bool: @@ -47,7 +48,7 @@ procs = [ NativeProcess("navmodeld", "selfdrive/modeld", ["./navmodeld"], enabled=False), NativeProcess("sensord", "system/sensord", ["./sensord"], enabled=not PC), NativeProcess("ui", "selfdrive/ui", ["./ui"], offroad=True, watchdog_max_dt=(5 if not PC else None)), - NativeProcess("soundd", "selfdrive/ui/soundd", ["./soundd"], offroad=True), + NativeProcess("soundd", "selfdrive/ui/soundd", ["./soundd"]), NativeProcess("locationd", "selfdrive/locationd", ["./locationd"]), NativeProcess("boardd", "selfdrive/boardd", ["./boardd"], enabled=False), PythonProcess("calibrationd", "selfdrive.locationd.calibrationd"), diff --git a/selfdrive/modeld/modeld.cc b/selfdrive/modeld/modeld.cc index 0a8a8d635..265bd4071 100644 --- a/selfdrive/modeld/modeld.cc +++ b/selfdrive/modeld/modeld.cc @@ -179,9 +179,6 @@ int main(int argc, char **argv) { assert(ret == 0); } - bool main_wide_camera = Params().getBool("WideCameraOnly"); - bool use_extra_client = !main_wide_camera; // set for single camera mode - // cl init cl_device_id device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT); cl_context context = CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err)); @@ -191,8 +188,22 @@ int main(int argc, char **argv) { model_init(&model, device_id, context); LOGW("models loaded, modeld starting"); + bool main_wide_camera = false; + bool use_extra_client = true; // set to false to use single camera + while (!do_exit) { + auto streams = VisionIpcClient::getAvailableStreams("camerad", false); + if (!streams.empty()) { + use_extra_client = streams.count(VISION_STREAM_WIDE_ROAD) > 0 && streams.count(VISION_STREAM_ROAD) > 0; + main_wide_camera = streams.count(VISION_STREAM_ROAD) == 0; + break; + } + + util::sleep_for(100); + } + VisionIpcClient vipc_client_main = VisionIpcClient("camerad", main_wide_camera ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD, true, device_id, context); VisionIpcClient vipc_client_extra = VisionIpcClient("camerad", VISION_STREAM_WIDE_ROAD, false, device_id, context); + LOGW("vision stream set up, main_wide_camera: %d, use_extra_client: %d", main_wide_camera, use_extra_client); while (!do_exit && !vipc_client_main.connect(false)) { util::sleep_for(100); diff --git a/selfdrive/modeld/models/driving.cc b/selfdrive/modeld/models/driving.cc index 5538d6ff9..6b0e626c5 100644 --- a/selfdrive/modeld/models/driving.cc +++ b/selfdrive/modeld/models/driving.cc @@ -390,15 +390,18 @@ void posenet_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t vipc_droppe const auto &v_std = net_outputs.pose.velocity_std; const auto &r_std = net_outputs.pose.rotation_std; const auto &t_std = net_outputs.wide_from_device_euler.std; + const auto &road_transform_trans_mean = net_outputs.road_transform.position_mean; + const auto &road_transform_trans_std = net_outputs.road_transform.position_std; auto posenetd = msg.initEvent(valid && (vipc_dropped_frames < 1)).initCameraOdometry(); posenetd.setTrans({v_mean.x, v_mean.y, v_mean.z}); posenetd.setRot({r_mean.x, r_mean.y, r_mean.z}); posenetd.setWideFromDeviceEuler({t_mean.x, t_mean.y, t_mean.z}); + posenetd.setRoadTransformTrans({road_transform_trans_mean.x, road_transform_trans_mean.y, road_transform_trans_mean.z}); posenetd.setTransStd({exp(v_std.x), exp(v_std.y), exp(v_std.z)}); posenetd.setRotStd({exp(r_std.x), exp(r_std.y), exp(r_std.z)}); posenetd.setWideFromDeviceEulerStd({exp(t_std.x), exp(t_std.y), exp(t_std.z)}); - + posenetd.setRoadTransformTransStd({exp(road_transform_trans_std.x), exp(road_transform_trans_std.y), exp(road_transform_trans_std.z)}); posenetd.setTimestampEof(timestamp_eof); posenetd.setFrameId(vipc_frame_id); diff --git a/selfdrive/modeld/models/driving.h b/selfdrive/modeld/models/driving.h index 5734c68cb..1214c3006 100644 --- a/selfdrive/modeld/models/driving.h +++ b/selfdrive/modeld/models/driving.h @@ -1,10 +1,5 @@ #pragma once -// gate this here -#define TEMPORAL -#define DESIRE -#define TRAFFIC_CONVENTION - #include #include @@ -17,6 +12,12 @@ #include "selfdrive/modeld/models/nav.h" #include "selfdrive/modeld/runners/run.h" +// gate this here +#define TEMPORAL +#define DESIRE +#define TRAFFIC_CONVENTION +#define NAV + constexpr int FEATURE_LEN = 128; constexpr int HISTORY_BUFFER_LEN = 99; constexpr int DESIRE_LEN = 8; @@ -177,6 +178,14 @@ struct ModelOutputTemporalPose { }; static_assert(sizeof(ModelOutputTemporalPose) == sizeof(ModelOutputXYZ)*4); +struct ModelOutputRoadTransform { + ModelOutputXYZ position_mean; + ModelOutputXYZ rotation_mean; + ModelOutputXYZ position_std; + ModelOutputXYZ rotation_std; +}; +static_assert(sizeof(ModelOutputRoadTransform) == sizeof(ModelOutputXYZ)*4); + struct ModelOutputDisengageProb { float gas_disengage; float brake_disengage; @@ -236,6 +245,7 @@ struct ModelOutput { const ModelOutputPose pose; const ModelOutputWideFromDeviceEuler wide_from_device_euler; const ModelOutputTemporalPose temporal_pose; + const ModelOutputRoadTransform road_transform; }; constexpr int OUTPUT_SIZE = sizeof(ModelOutput) / sizeof(float); diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx index 915883ad0..8e6ccbd0d 100644 Binary files a/selfdrive/modeld/models/supercombo.onnx and b/selfdrive/modeld/models/supercombo.onnx differ diff --git a/selfdrive/modeld/runners/onnxmodel.cc b/selfdrive/modeld/runners/onnxmodel.cc index 5616a6c9c..a5a83bccd 100644 --- a/selfdrive/modeld/runners/onnxmodel.cc +++ b/selfdrive/modeld/runners/onnxmodel.cc @@ -138,14 +138,14 @@ void ONNXModel::execute() { if (desire_input_buf != NULL) { pwrite(desire_input_buf, desire_state_size); } - if (nav_features_input_buf != NULL) { - pwrite(nav_features_input_buf, nav_features_size); + if (traffic_convention_input_buf != NULL) { + pwrite(traffic_convention_input_buf, traffic_convention_size); } if (driving_style_input_buf != NULL) { pwrite(driving_style_input_buf, driving_style_size); } - if (traffic_convention_input_buf != NULL) { - pwrite(traffic_convention_input_buf, traffic_convention_size); + if (nav_features_input_buf != NULL) { + pwrite(nav_features_input_buf, nav_features_size); } if (calib_input_buf != NULL) { pwrite(calib_input_buf, calib_size); diff --git a/selfdrive/modeld/runners/thneedmodel.cc b/selfdrive/modeld/runners/thneedmodel.cc index 4fdd7ca46..2ac3d6449 100644 --- a/selfdrive/modeld/runners/thneedmodel.cc +++ b/selfdrive/modeld/runners/thneedmodel.cc @@ -41,13 +41,13 @@ void ThneedModel::addExtra(float *extra_input_buf, int buf_size) { } void* ThneedModel::getInputBuf() { - if (use_extra && thneed->input_clmem.size() > 4) return &(thneed->input_clmem[4]); - else if (!use_extra && thneed->input_clmem.size() > 3) return &(thneed->input_clmem[3]); + if (use_extra && thneed->input_clmem.size() > 5) return &(thneed->input_clmem[5]); + else if (!use_extra && thneed->input_clmem.size() > 4) return &(thneed->input_clmem[4]); else return nullptr; } void* ThneedModel::getExtraBuf() { - if (thneed->input_clmem.size() > 3) return &(thneed->input_clmem[3]); + if (thneed->input_clmem.size() > 4) return &(thneed->input_clmem[4]); else return nullptr; } @@ -55,10 +55,10 @@ void ThneedModel::execute() { if (!recorded) { thneed->record = true; if (use_extra) { - float *inputs[5] = {recurrent, trafficConvention, desire, extra, input}; + float *inputs[6] = {recurrent, navFeatures, trafficConvention, desire, extra, input}; thneed->copy_inputs(inputs); } else { - float *inputs[4] = {recurrent, trafficConvention, desire, input}; + float *inputs[5] = {recurrent, navFeatures, trafficConvention, desire, input}; thneed->copy_inputs(inputs); } thneed->clexec(); @@ -68,12 +68,11 @@ void ThneedModel::execute() { recorded = true; } else { if (use_extra) { - float *inputs[5] = {recurrent, trafficConvention, desire, extra, input}; + float *inputs[6] = {recurrent, navFeatures, trafficConvention, desire, extra, input}; thneed->execute(inputs, output); } else { - float *inputs[4] = {recurrent, trafficConvention, desire, input}; + float *inputs[5] = {recurrent, navFeatures, trafficConvention, desire, input}; thneed->execute(inputs, output); } } } - diff --git a/selfdrive/modeld/thneed/thneed_qcom2.cc b/selfdrive/modeld/thneed/thneed_qcom2.cc index a29a82c8c..a3bfb8a8c 100644 --- a/selfdrive/modeld/thneed/thneed_qcom2.cc +++ b/selfdrive/modeld/thneed/thneed_qcom2.cc @@ -43,7 +43,7 @@ int ioctl(int filedes, unsigned long request, void *argp) { if (request == IOCTL_KGSL_DRAWCTXT_CREATE) { struct kgsl_drawctxt_create *create = (struct kgsl_drawctxt_create *)argp; create->flags &= ~KGSL_CONTEXT_PRIORITY_MASK; - create->flags |= 1 << KGSL_CONTEXT_PRIORITY_SHIFT; // priority from 1-15, 1 is max priority + create->flags |= 6 << KGSL_CONTEXT_PRIORITY_SHIFT; // priority from 1-15, 1 is max priority printf("IOCTL_KGSL_DRAWCTXT_CREATE: creating context with flags 0x%x\n", create->flags); } @@ -238,24 +238,6 @@ void Thneed::execute(float **finputs, float *foutput, bool slow) { // ****** copy inputs copy_inputs(finputs, true); - // ****** set power constraint - int ret; - struct kgsl_device_constraint_pwrlevel pwrlevel; - pwrlevel.level = KGSL_CONSTRAINT_PWR_MAX; - - struct kgsl_device_constraint constraint; - constraint.type = KGSL_CONSTRAINT_PWRLEVEL; - constraint.context_id = context_id; - constraint.data = (void*)&pwrlevel; - constraint.size = sizeof(pwrlevel); - - struct kgsl_device_getproperty prop; - prop.type = KGSL_PROP_PWR_CONSTRAINT; - prop.value = (void*)&constraint; - prop.sizebytes = sizeof(constraint); - ret = ioctl(fd, IOCTL_KGSL_SETPROPERTY, &prop); - assert(ret == 0); - // ****** run commands int i = 0; for (auto &it : cmds) { @@ -268,14 +250,6 @@ void Thneed::execute(float **finputs, float *foutput, bool slow) { // ****** copy outputs copy_output(foutput); - // ****** unset power constraint - constraint.type = KGSL_CONSTRAINT_NONE; - constraint.data = NULL; - constraint.size = 0; - - ret = ioctl(fd, IOCTL_KGSL_SETPROPERTY, &prop); - assert(ret == 0); - if (debug >= 1) { te = nanos_since_boot(); printf("model exec in %lu us\n", (te-tb)/1000); diff --git a/selfdrive/navd/map_renderer.cc b/selfdrive/navd/map_renderer.cc index 203470bb4..5c7e17cd5 100644 --- a/selfdrive/navd/map_renderer.cc +++ b/selfdrive/navd/map_renderer.cc @@ -15,7 +15,9 @@ const int HEIGHT = 256, WIDTH = 256; const int NUM_VIPC_BUFFERS = 4; const int EARTH_CIRCUMFERENCE_METERS = 40075000; +const int EARTH_RADIUS_METERS = 6378137; const int PIXELS_PER_TILE = 256; +const int MAP_OFFSET = 128; const bool TEST_MODE = getenv("MAP_RENDER_TEST_MODE"); const int LLK_DECIMATION = TEST_MODE ? 1 : 10; @@ -26,6 +28,14 @@ float get_zoom_level_for_scale(float lat, float meters_per_pixel) { return log2(num_tiles) - 1; } +QMapbox::Coordinate get_point_along_line(float lat, float lon, float bearing, float dist) { + float ang_dist = dist / EARTH_RADIUS_METERS; + float lat1 = DEG2RAD(lat), lon1 = DEG2RAD(lon), bearing1 = DEG2RAD(bearing); + float lat2 = asin(sin(lat1)*cos(ang_dist) + cos(lat1)*sin(ang_dist)*cos(bearing1)); + float lon2 = lon1 + atan2(sin(bearing1)*sin(ang_dist)*cos(lat1), cos(ang_dist)-sin(lat1)*sin(lat2)); + return QMapbox::Coordinate(RAD2DEG(lat2), RAD2DEG(lon2)); +} + MapRenderer::MapRenderer(const QMapboxGLSettings &settings, bool online) : m_settings(settings) { QSurfaceFormat fmt; @@ -70,7 +80,7 @@ MapRenderer::MapRenderer(const QMapboxGLSettings &settings, bool online) : m_set if (online) { vipc_server.reset(new VisionIpcServer("navd")); - vipc_server->create_buffers(VisionStreamType::VISION_STREAM_MAP, NUM_VIPC_BUFFERS, false, WIDTH/2, HEIGHT/2); + vipc_server->create_buffers(VisionStreamType::VISION_STREAM_MAP, NUM_VIPC_BUFFERS, false, WIDTH, HEIGHT); vipc_server->start_listener(); pm.reset(new PubMaster({"navThumbnail", "mapRenderState"})); @@ -93,7 +103,8 @@ void MapRenderer::msgUpdate() { bool localizer_valid = (location.getStatus() == cereal::LiveLocationKalman::Status::VALID) && pos.getValid(); if (localizer_valid && (sm->rcv_frame("liveLocationKalman") % LLK_DECIMATION) == 0) { - updatePosition(QMapbox::Coordinate(pos.getValue()[0], pos.getValue()[1]), RAD2DEG(orientation.getValue()[2])); + float bearing = RAD2DEG(orientation.getValue()[2]); + updatePosition(get_point_along_line(pos.getValue()[0], pos.getValue()[1], bearing, MAP_OFFSET), bearing); // TODO: use the static rendering mode if (!loaded() && frame_id > 0) { diff --git a/selfdrive/test/fuzzy_generation.py b/selfdrive/test/fuzzy_generation.py new file mode 100644 index 000000000..3dc43e734 --- /dev/null +++ b/selfdrive/test/fuzzy_generation.py @@ -0,0 +1,69 @@ +import hypothesis.strategies as st +import random + +class FuzzyGenerator: + def __init__(self, real_floats): + self.real_floats=real_floats + + def generate_native_type(self, field): + def floats(**kwargs): + allow_nan = not self.real_floats + allow_infinity = not self.real_floats + return st.floats(**kwargs, allow_nan=allow_nan, allow_infinity=allow_infinity) + + if field == 'bool': + return st.booleans() + elif field == 'int8': + return st.integers(min_value=-2**7, max_value=2**7-1) + elif field == 'int16': + return st.integers(min_value=-2**15, max_value=2**15-1) + elif field == 'int32': + return st.integers(min_value=-2**31, max_value=2**31-1) + elif field == 'int64': + return st.integers(min_value=-2**63, max_value=2**63-1) + elif field == 'uint8': + return st.integers(min_value=0, max_value=2**8-1) + elif field == 'uint16': + return st.integers(min_value=0, max_value=2**16-1) + elif field == 'uint32': + return st.integers(min_value=0, max_value=2**32-1) + elif field == 'uint64': + return st.integers(min_value=0, max_value=2**64-1) + elif field == 'float32': + return floats(width=32) + elif field == 'float64': + return floats(width=64) + elif field == 'text': + return st.text(max_size=1000) + elif field == 'data': + return st.text(max_size=1000) + elif field == 'anyPointer': + return st.text() + else: + raise NotImplementedError(f'Invalid type : {field}') + + def generate_field(self, field): + def rec(field_type): + if field_type.which() == 'struct': + return self.generate_struct(field.schema.elementType if base_type == 'list' else field.schema) + elif field_type.which() == 'list': + return st.lists(rec(field_type.list.elementType)) + elif field_type.which() == 'enum': + schema = field.schema.elementType if base_type == 'list' else field.schema + return st.sampled_from(list(schema.enumerants.keys())) + else: + return self.generate_native_type(field_type.which()) + + if 'slot' in field.proto.to_dict(): + base_type = field.proto.slot.type.which() + return rec(field.proto.slot.type) + else: + return self.generate_struct(field.schema) + + def generate_struct(self, schema): + full_fill = list(schema.non_union_fields) if schema.non_union_fields else [] + single_fill = [random.choice(schema.union_fields)] if schema.union_fields else [] + return st.fixed_dictionaries(dict((field, self.generate_field(schema.fields[field])) for field in full_fill + single_fill)) + +def get_random_msg(struct, real_floats=False): + return FuzzyGenerator(real_floats=real_floats).generate_struct(struct.schema) diff --git a/selfdrive/test/helpers.py b/selfdrive/test/helpers.py index 281c90293..f7dab576f 100644 --- a/selfdrive/test/helpers.py +++ b/selfdrive/test/helpers.py @@ -3,13 +3,18 @@ import time from functools import wraps import cereal.messaging as messaging +from common.params import Params from selfdrive.manager.process_config import managed_processes from system.hardware import PC from system.version import training_version, terms_version def set_params_enabled(): - from common.params import Params + os.environ['PASSIVE'] = "0" + os.environ['REPLAY'] = "1" + os.environ['FINGERPRINT'] = "TOYOTA COROLLA TSS2 2019" + os.environ['LOGPRINT'] = "debug" + params = Params() params.put("HasAcceptedTerms", terms_version) params.put("CompletedTrainingVersion", training_version) diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index 22ddb6e9c..ef6ce6520 100755 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -18,6 +18,7 @@ from common.basedir import BASEDIR from common.timeout import Timeout from common.params import Params from selfdrive.controls.lib.events import EVENTS, ET +from system.hardware import HARDWARE from system.loggerd.config import ROOT from selfdrive.test.helpers import set_params_enabled, release_only from tools.lib.logreader import LogReader @@ -25,17 +26,16 @@ from tools.lib.logreader import LogReader # Baseline CPU usage by process PROCS = { "selfdrive.controls.controlsd": 39.0, - "./loggerd": 10.0, + "./loggerd": 14.0, "./encoderd": 17.0, "./camerad": 14.5, "./locationd": 11.0, "selfdrive.controls.plannerd": 16.5, - "./_ui": 19.2, + "./_ui": 21.0, "selfdrive.locationd.paramsd": 9.0, "./_sensord": 12.0, "selfdrive.controls.radard": 4.5, "./_modeld": 4.48, - "./boardd": 3.63, "./_dmonitoringmodeld": 5.0, "selfdrive.thermald.thermald": 3.87, "selfdrive.locationd.calibrationd": 2.0, @@ -45,20 +45,30 @@ PROCS = { "./proclogd": 1.54, "system.logmessaged": 0.2, "./clocksd": 0.02, - "./ubloxd": 0.02, "selfdrive.tombstoned": 0, "./logcatd": 0, "system.micd": 10.0, "system.timezoned": 0, - "system.sensord.pigeond": 6.0, "selfdrive.boardd.pandad": 0, "selfdrive.statsd": 0.4, "selfdrive.navd.navd": 0.4, - "system.loggerd.uploader": 4.0, + "system.loggerd.uploader": 3.0, "system.loggerd.deleter": 0.1, "selfdrive.locationd.laikad": None, # TODO: laikad cpu usage is sporadic } +PROCS.update({ + "tici": { + "./boardd": 4.0, + "./ubloxd": 0.02, + "system.sensord.pigeond": 6.0, + }, + "tizi": { + "./boardd": 19.0, + "system.sensord.rawgps.rawgpsd": 1.0, + } +}[HARDWARE.get_device_type()]) + TIMINGS = { # rtols: max/min, rsd "can": [2.5, 0.35], @@ -95,17 +105,15 @@ class TestOnroad(unittest.TestCase): return # setup env - os.environ['PASSIVE'] = "0" - os.environ['REPLAY'] = "1" - os.environ['SKIP_FW_QUERY'] = "1" - os.environ['FINGERPRINT'] = "TOYOTA COROLLA TSS2 2019" - os.environ['LOGPRINT'] = "debug" - params = Params() - params.clear_all() + if "CI" in os.environ: + params.clear_all() + params.remove("CurrentRoute") set_params_enabled() + os.environ['TESTING_CLOSET'] = '1' if os.path.exists(ROOT): shutil.rmtree(ROOT) + os.system("rm /dev/shm/*") # Make sure athena isn't running os.system("pkill -9 -f athena") @@ -161,11 +169,11 @@ class TestOnroad(unittest.TestCase): for s, msgs in self.service_msgs.items(): if s in ('initData', 'sentinel'): continue - + # skip gps services for now - if s in ('ubloxGnss', 'ubloxRaw', 'gnssMeasurements'): + if s in ('ubloxGnss', 'ubloxRaw', 'gnssMeasurements', 'gpsLocation', 'gpsLocationExternal', 'qcomGnss'): continue - + with self.subTest(service=s): assert len(msgs) >= math.floor(service_list[s].frequency*55) @@ -249,6 +257,14 @@ class TestOnroad(unittest.TestCase): self.assertTrue(cpu_ok) + def test_memory_usage(self): + mems = [m.deviceState.memoryUsagePercent for m in self.service_msgs['deviceState']] + print("Memory usage: ", mems) + + # check for big leaks. note that memory usage is + # expected to go up while the MSGQ buffers fill up + self.assertLessEqual(max(mems) - min(mems), 3.0) + def test_camera_processing_time(self): result = "\n" result += "------------------------------------------------\n" @@ -263,6 +279,23 @@ class TestOnroad(unittest.TestCase): result += "------------------------------------------------\n" print(result) + @unittest.skip("TODO: enable once timings are fixed") + def test_camera_frame_timings(self): + result = "\n" + result += "------------------------------------------------\n" + result += "----------------- SoF Timing ------------------\n" + result += "------------------------------------------------\n" + for name in ['roadCameraState', 'wideRoadCameraState', 'driverCameraState']: + ts = [getattr(getattr(m, m.which()), "timestampSof") for m in self.lr if name in m.which()] + d_ms = np.diff(ts) / 1e6 + d50 = np.abs(d_ms-50) + self.assertLess(max(d50), 1.0, f"high sof delta vs 50ms: {max(d50)}") + result += f"{name} sof delta vs 50ms: min {min(d50):.5f}s\n" + result += f"{name} sof delta vs 50ms: max {max(d50):.5f}s\n" + result += f"{name} sof delta vs 50ms: mean {d50.mean():.5f}s\n" + result += "------------------------------------------------\n" + print(result) + def test_mpc_execution_timings(self): result = "\n" result += "------------------------------------------------\n" diff --git a/selfdrive/test/test_time_to_onroad.py b/selfdrive/test/test_time_to_onroad.py new file mode 100755 index 000000000..599125094 --- /dev/null +++ b/selfdrive/test/test_time_to_onroad.py @@ -0,0 +1,45 @@ +#!/usr/bin/env python3 +import os +import time +import subprocess + +import cereal.messaging as messaging +from common.basedir import BASEDIR +from common.timeout import Timeout +from selfdrive.test.helpers import set_params_enabled + + +def test_time_to_onroad(): + # launch + set_params_enabled() + manager_path = os.path.join(BASEDIR, "selfdrive/manager/manager.py") + proc = subprocess.Popen(["python", manager_path]) + + start_time = time.monotonic() + sm = messaging.SubMaster(['controlsState', 'deviceState']) + try: + # wait for onroad + with Timeout(20, "timed out waiting to go onroad"): + while True: + sm.update(1000) + if sm['deviceState'].started: + break + time.sleep(1) + + # wait for engageability + with Timeout(10, "timed out waiting for engageable"): + while True: + sm.update(1000) + if sm['controlsState'].engageable: + break + time.sleep(1) + print(f"engageable after {time.monotonic() - start_time:.2f}s") + + # once we're enageable, must be for the next few seconds + for _ in range(500): + sm.update(100) + assert sm['controlsState'].engageable + finally: + proc.terminate() + if proc.wait(60) is None: + proc.kill() diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py index 57387e518..d3d53b7d8 100755 --- a/selfdrive/thermald/thermald.py +++ b/selfdrive/thermald/thermald.py @@ -1,6 +1,7 @@ #!/usr/bin/env python3 import datetime import os +import json import queue import threading import time @@ -13,6 +14,7 @@ import psutil import cereal.messaging as messaging from cereal import log from common.dict_helpers import strip_deprecated_keys +from common.time import MIN_DATE from common.filter_simple import FirstOrderFilter from common.params import Params from common.realtime import DT_TRML, sec_since_boot @@ -41,12 +43,12 @@ HardwareState = namedtuple("HardwareState", ['network_type', 'network_info', 'ne THERMAL_BANDS = OrderedDict({ ThermalStatus.green: ThermalBand(None, 80.0), ThermalStatus.yellow: ThermalBand(75.0, 96.0), - ThermalStatus.red: ThermalBand(80.0, 107.), + ThermalStatus.red: ThermalBand(88.0, 107.), ThermalStatus.danger: ThermalBand(94.0, None), }) # Override to highest thermal band when offroad and above this temp -OFFROAD_DANGER_TEMP = 79.5 +OFFROAD_DANGER_TEMP = 77 prev_offroad_states: Dict[str, Tuple[bool, Optional[str]]] = {} @@ -165,7 +167,8 @@ def thermald_thread(end_event, hw_queue): off_ts = None started_ts = None started_seen = False - thermal_status = ThermalStatus.green + startup_blocked_ts = None + thermal_status = ThermalStatus.yellow last_hw_state = HardwareState( network_type=NetworkType.none, @@ -177,8 +180,8 @@ def thermald_thread(end_event, hw_queue): modem_temps=[], ) - all_temp_filter = FirstOrderFilter(0., TEMP_TAU, DT_TRML) - offroad_temp_filter = FirstOrderFilter(0., TEMP_TAU, DT_TRML) + all_temp_filter = FirstOrderFilter(0., TEMP_TAU, DT_TRML, initialized=False) + offroad_temp_filter = FirstOrderFilter(0., TEMP_TAU, DT_TRML, initialized=False) should_start_prev = False in_car = False engaged_prev = False @@ -240,7 +243,7 @@ def thermald_thread(end_event, hw_queue): msg.deviceState.screenBrightnessPercent = HARDWARE.get_screen_brightness() - # this one is only used for offroad + # this subset is only used for offroad temp_sources = [ msg.deviceState.memoryTempC, max(msg.deviceState.cpuTempC), @@ -251,14 +254,15 @@ def thermald_thread(end_event, hw_queue): # this drives the thermal status while onroad temp_sources.append(max(msg.deviceState.pmicTempC)) 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"]) is_offroad_for_5_min = (started_ts is None) and ((not started_seen) or (off_ts is None) or (sec_since_boot() - off_ts > 60 * 5)) if is_offroad_for_5_min and offroad_comp_temp > OFFROAD_DANGER_TEMP: - # If device is offroad we want to cool down before going onroad - # since going onroad increases load and can make temps go over 107 + # if device is offroad and already hot without the extra onroad load, + # we want to cool down first before increasing load thermal_status = ThermalStatus.danger else: current_band = THERMAL_BANDS[thermal_status] @@ -272,13 +276,12 @@ def thermald_thread(end_event, hw_queue): # Ensure date/time are valid now = datetime.datetime.utcnow() - startup_conditions["time_valid"] = (now.year > 2020) or (now.year == 2020 and now.month >= 10) + startup_conditions["time_valid"] = now > MIN_DATE set_offroad_alert_if_changed("Offroad_InvalidTime", (not startup_conditions["time_valid"])) startup_conditions["up_to_date"] = params.get("Offroad_ConnectivityNeeded") is None or params.get_bool("DisableUpdates") or params.get_bool("SnoozeUpdate") startup_conditions["not_uninstalling"] = not params.get_bool("DoUninstall") startup_conditions["accepted_terms"] = params.get("HasAcceptedTerms") == terms_version - startup_conditions["offroad_min_time"] = (not started_seen) or ((off_ts is not None) and (sec_since_boot() - off_ts) > 5.) # with 2% left, we killall, otherwise the phone will take a long time to boot startup_conditions["free_space"] = msg.deviceState.freeSpacePercent > 2 @@ -286,8 +289,11 @@ def thermald_thread(end_event, hw_queue): params.get_bool("Passive") startup_conditions["not_driver_view"] = not params.get_bool("IsDriverViewEnabled") startup_conditions["not_taking_snapshot"] = not params.get_bool("IsTakingSnapshot") - # if any CPU gets above 107 or the battery gets above 63, kill all processes - # controls will warn with CPU above 95 or battery above 60 + + # must be at an engageable thermal band to go onroad + startup_conditions["device_temp_engageable"] = thermal_status < ThermalStatus.red + + # if the temperature enters the danger zone, go offroad to cool down onroad_conditions["device_temp_good"] = thermal_status < ThermalStatus.danger set_offroad_alert_if_changed("Offroad_TemperatureTooHigh", (not onroad_conditions["device_temp_good"])) @@ -334,10 +340,16 @@ def thermald_thread(end_event, hw_queue): if started_ts is None: started_ts = sec_since_boot() started_seen = True + if startup_blocked_ts is not None: + cloudlog.event("Startup after block", block_duration=(sec_since_boot() - startup_blocked_ts), + startup_conditions=startup_conditions, onroad_conditions=onroad_conditions, + startup_conditions_prev=startup_conditions_prev, error=True) + startup_blocked_ts = None else: if onroad_conditions["ignition"] and (startup_conditions != startup_conditions_prev): cloudlog.event("Startup blocked", startup_conditions=startup_conditions, onroad_conditions=onroad_conditions, error=True) startup_conditions_prev = startup_conditions.copy() + startup_blocked_ts = sec_since_boot() started_ts = None if off_ts is None: @@ -371,8 +383,6 @@ def thermald_thread(end_event, hw_queue): msg.deviceState.thermalStatus = thermal_status pm.send("deviceState", msg) - should_start_prev = should_start - # Log to statsd statlog.gauge("free_space_percent", msg.deviceState.freeSpacePercent) statlog.gauge("gpu_usage_percent", msg.deviceState.gpuUsagePercent) @@ -395,15 +405,26 @@ def thermald_thread(end_event, hw_queue): statlog.gauge("screen_brightness_percent", msg.deviceState.screenBrightnessPercent) # report to server once every 10 minutes - if (count % int(600. / DT_TRML)) == 0: - cloudlog.event("STATUS_PACKET", - count=count, - pandaStates=[strip_deprecated_keys(p.to_dict()) for p in pandaStates], - peripheralState=strip_deprecated_keys(peripheralState.to_dict()), - location=(strip_deprecated_keys(sm["gpsLocationExternal"].to_dict()) if sm.alive["gpsLocationExternal"] else None), - deviceState=strip_deprecated_keys(msg.to_dict())) + rising_edge_started = should_start and not should_start_prev + if rising_edge_started or (count % int(600. / DT_TRML)) == 0: + dat = { + 'count': count, + 'pandaStates': [strip_deprecated_keys(p.to_dict()) for p in pandaStates], + 'peripheralState': strip_deprecated_keys(peripheralState.to_dict()), + 'location': (strip_deprecated_keys(sm["gpsLocationExternal"].to_dict()) if sm.alive["gpsLocationExternal"] else None), + 'deviceState': strip_deprecated_keys(msg.to_dict()) + } + cloudlog.event("STATUS_PACKET", **dat) + + # save last one before going onroad + if rising_edge_started: + try: + params.put("LastOffroadStatusPacket", json.dumps(dat)) + except Exception: + cloudlog.exception("failed to save offroad status") count += 1 + should_start_prev = should_start def main(): diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript index a8c8463bd..f46e3d587 100644 --- a/selfdrive/ui/SConscript +++ b/selfdrive/ui/SConscript @@ -20,7 +20,7 @@ if arch == "Darwin": qt_env['FRAMEWORKS'] += ['OpenCL'] qt_util = qt_env.Library("qt_util", ["#selfdrive/ui/qt/api.cc", "#selfdrive/ui/qt/util.cc"], LIBS=base_libs) -widgets_src = ["ui.cc", "qt/widgets/input.cc", "qt/widgets/drive_stats.cc", +widgets_src = ["ui.cc", "qt/widgets/input.cc", "qt/widgets/drive_stats.cc", "qt/widgets/wifi.cc", "qt/widgets/ssh_keys.cc", "qt/widgets/toggle.cc", "qt/widgets/controls.cc", "qt/widgets/offroad_alerts.cc", "qt/widgets/prime.cc", "qt/widgets/keyboard.cc", "qt/widgets/scrollview.cc", "qt/widgets/cameraview.cc", "#third_party/qrcode/QrCode.cc", @@ -64,6 +64,7 @@ qt_env.Program("_ui", qt_src + [asset_obj], LIBS=qt_libs) if GetOption('test'): qt_src.remove("main.cc") # replaced by test_runner qt_env.Program('tests/test_translations', [asset_obj, 'tests/test_runner.cc', 'tests/test_translations.cc'] + qt_src, LIBS=qt_libs) + qt_env.Program('tests/ui_snapshot', [asset_obj, "tests/ui_snapshot.cc"] + qt_src, LIBS=qt_libs) # build translation files diff --git a/selfdrive/ui/qt/home.cc b/selfdrive/ui/qt/home.cc index 3f3c9a588..587e2f445 100644 --- a/selfdrive/ui/qt/home.cc +++ b/selfdrive/ui/qt/home.cc @@ -2,6 +2,7 @@ #include #include +#include #include #include "selfdrive/ui/qt/offroad/experimental_mode.h" @@ -102,11 +103,11 @@ void HomeWindow::mouseDoubleClickEvent(QMouseEvent* e) { OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) { QVBoxLayout* main_layout = new QVBoxLayout(this); - main_layout->setContentsMargins(40, 40, 40, 45); + main_layout->setContentsMargins(40, 40, 40, 40); // top header QHBoxLayout* header_layout = new QHBoxLayout(); - header_layout->setContentsMargins(15, 15, 15, 0); + header_layout->setContentsMargins(0, 0, 0, 0); header_layout->setSpacing(16); update_notif = new QPushButton(tr("UPDATE")); @@ -130,27 +131,42 @@ OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) { main_layout->addSpacing(25); center_layout = new QStackedLayout(); - // Vertical experimental button and drive stats layout - QWidget* statsAndExperimentalModeButtonWidget = new QWidget(this); - QVBoxLayout* statsAndExperimentalModeButton = new QVBoxLayout(statsAndExperimentalModeButtonWidget); - statsAndExperimentalModeButton->setSpacing(30); - statsAndExperimentalModeButton->setMargin(0); + QWidget *home_widget = new QWidget(this); + { + QHBoxLayout *home_layout = new QHBoxLayout(home_widget); + home_layout->setContentsMargins(0, 0, 0, 0); + home_layout->setSpacing(30); - ExperimentalModeButton *experimental_mode = new ExperimentalModeButton(this); - QObject::connect(experimental_mode, &ExperimentalModeButton::openSettings, this, &OffroadHome::openSettings); + // left: DriveStats/PrimeAdWidget + QStackedWidget *left_widget = new QStackedWidget(this); + left_widget->addWidget(new DriveStats); + left_widget->addWidget(new PrimeAdWidget); - statsAndExperimentalModeButton->addWidget(experimental_mode, 1); - statsAndExperimentalModeButton->addWidget(new DriveStats, 1); + left_widget->setCurrentIndex(uiState()->primeType() ? 0 : 1); + connect(uiState(), &UIState::primeTypeChanged, [=](int prime_type) { + left_widget->setCurrentIndex(prime_type ? 0 : 1); + }); - // Horizontal experimental + drive stats and setup widget - QWidget* statsAndSetupWidget = new QWidget(this); - QHBoxLayout* statsAndSetup = new QHBoxLayout(statsAndSetupWidget); - statsAndSetup->setMargin(0); - statsAndSetup->setSpacing(30); - statsAndSetup->addWidget(statsAndExperimentalModeButtonWidget, 1); - statsAndSetup->addWidget(new SetupWidget); + home_layout->addWidget(left_widget, 1); - center_layout->addWidget(statsAndSetupWidget); + // right: ExperimentalModeButton, SetupWidget + QWidget* right_widget = new QWidget(this); + QVBoxLayout* right_column = new QVBoxLayout(right_widget); + right_column->setContentsMargins(0, 0, 0, 0); + right_widget->setFixedWidth(750); + right_column->setSpacing(30); + + ExperimentalModeButton *experimental_mode = new ExperimentalModeButton(this); + QObject::connect(experimental_mode, &ExperimentalModeButton::openSettings, this, &OffroadHome::openSettings); + right_column->addWidget(experimental_mode, 1); + + SetupWidget *setup_widget = new SetupWidget; + QObject::connect(setup_widget, &SetupWidget::openSettings, this, &OffroadHome::openSettings); + right_column->addWidget(setup_widget, 1); + + home_layout->addWidget(right_widget, 1); + } + center_layout->addWidget(home_widget); // add update & alerts widgets update_widget = new UpdateAlert(); @@ -168,7 +184,7 @@ OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) { setStyleSheet(R"( * { - color: white; + color: white; } OffroadHome { background-color: black; diff --git a/selfdrive/ui/qt/maps/map_settings.cc b/selfdrive/ui/qt/maps/map_settings.cc index 3205ca517..f626925ad 100644 --- a/selfdrive/ui/qt/maps/map_settings.cc +++ b/selfdrive/ui/qt/maps/map_settings.cc @@ -13,46 +13,46 @@ static QString shorten(const QString &str, int max_len) { } MapPanel::MapPanel(QWidget* parent) : QWidget(parent) { - stack = new QStackedWidget; + QStackedLayout *stack = new QStackedLayout(this); - QWidget * main_widget = new QWidget; + QWidget *main_widget = new QWidget; QVBoxLayout *main_layout = new QVBoxLayout(main_widget); - const int icon_size = 200; - - // Home - QHBoxLayout *home_layout = new QHBoxLayout; - home_button = new QPushButton; - home_button->setIconSize(QSize(icon_size, icon_size)); - home_layout->addWidget(home_button); - - home_address = new QLabel; - home_address->setWordWrap(true); - home_layout->addSpacing(30); - home_layout->addWidget(home_address); - home_layout->addStretch(); - - // Work - QHBoxLayout *work_layout = new QHBoxLayout; - work_button = new QPushButton; - work_button->setIconSize(QSize(icon_size, icon_size)); - work_layout->addWidget(work_button); - - work_address = new QLabel; - work_address->setWordWrap(true); - work_layout->addSpacing(30); - work_layout->addWidget(work_address); - work_layout->addStretch(); + main_layout->setSpacing(20); // Home & Work layout QHBoxLayout *home_work_layout = new QHBoxLayout; - home_work_layout->addLayout(home_layout, 1); - home_work_layout->addSpacing(50); - home_work_layout->addLayout(work_layout, 1); + { + // Home + home_button = new QPushButton; + home_button->setIconSize(QSize(MAP_PANEL_ICON_SIZE, MAP_PANEL_ICON_SIZE)); + home_address = new QLabel; + home_address->setWordWrap(true); + + QHBoxLayout *home_layout = new QHBoxLayout; + home_layout->addWidget(home_button); + home_layout->addSpacing(30); + home_layout->addWidget(home_address); + home_layout->addStretch(); + + // Work + work_button = new QPushButton; + work_button->setIconSize(QSize(MAP_PANEL_ICON_SIZE, MAP_PANEL_ICON_SIZE)); + work_address = new QLabel; + work_address->setWordWrap(true); + + QHBoxLayout *work_layout = new QHBoxLayout; + work_layout->addWidget(work_button); + work_layout->addSpacing(30); + work_layout->addWidget(work_address); + work_layout->addStretch(); + + home_work_layout->addLayout(home_layout, 1); + home_work_layout->addSpacing(50); + home_work_layout->addLayout(work_layout, 1); + } main_layout->addLayout(home_work_layout); - main_layout->addSpacing(20); main_layout->addWidget(horizontal_line()); - main_layout->addSpacing(20); // Current route { @@ -81,7 +81,6 @@ MapPanel::MapPanel(QWidget* parent) : QWidget(parent) { QLabel *recents_title = new QLabel(tr("Recent Destinations")); recents_title->setStyleSheet("font-size: 55px"); main_layout->addWidget(recents_title); - main_layout->addSpacing(20); recent_layout = new QVBoxLayout; QWidget *recent_widget = new LayoutWidget(recent_layout, this); @@ -119,9 +118,6 @@ MapPanel::MapPanel(QWidget* parent) : QWidget(parent) { stack->setCurrentIndex(prime_type ? 0 : 1); }); - QVBoxLayout *wrapper = new QVBoxLayout(this); - wrapper->addWidget(stack); - clear(); @@ -207,8 +203,9 @@ void MapPanel::refresh() { prev_destinations = cur_destinations; clear(); + // add favorites before recents bool has_recents = false; - for (auto &save_type: {"favorite", "recent"}) { + for (auto &save_type: {NAV_TYPE_FAVORITE, NAV_TYPE_RECENT}) { for (auto location : doc.array()) { auto obj = location.toObject(); @@ -219,7 +216,7 @@ void MapPanel::refresh() { if (type != save_type) continue; - if (type == "favorite" && label == "home") { + if (type == NAV_TYPE_FAVORITE && label == NAV_FAVORITE_LABEL_HOME) { home_address->setText(name); home_address->setStyleSheet(R"(font-size: 50px; color: white;)"); home_button->setIcon(QPixmap("../assets/navigation/home.png")); @@ -227,7 +224,7 @@ void MapPanel::refresh() { navigateTo(obj); emit closeSettings(); }); - } else if (type == "favorite" && label == "work") { + } else if (type == NAV_TYPE_FAVORITE && label == NAV_FAVORITE_LABEL_WORK) { work_address->setText(name); work_address->setStyleSheet(R"(font-size: 50px; color: white;)"); work_button->setIcon(QPixmap("../assets/navigation/work.png")); @@ -245,7 +242,7 @@ void MapPanel::refresh() { sp.setRetainSizeWhenHidden(true); star->setSizePolicy(sp); - star->setVisible(type == "favorite"); + star->setVisible(type == NAV_TYPE_FAVORITE); star->setStyleSheet(R"(font-size: 60px;)"); layout->addWidget(star); layout->addSpacing(10); @@ -284,7 +281,6 @@ void MapPanel::refresh() { has_recents = true; } } - } if (!has_recents) { diff --git a/selfdrive/ui/qt/maps/map_settings.h b/selfdrive/ui/qt/maps/map_settings.h index 165673b7c..8dd044c37 100644 --- a/selfdrive/ui/qt/maps/map_settings.h +++ b/selfdrive/ui/qt/maps/map_settings.h @@ -11,6 +11,14 @@ #include "common/params.h" #include "selfdrive/ui/qt/widgets/controls.h" +const int MAP_PANEL_ICON_SIZE = 200; + +const QString NAV_TYPE_FAVORITE = "favorite"; +const QString NAV_TYPE_RECENT = "recent"; + +const QString NAV_FAVORITE_LABEL_HOME = "home"; +const QString NAV_FAVORITE_LABEL_WORK = "work"; + class MapPanel : public QWidget { Q_OBJECT public: @@ -27,7 +35,6 @@ private: Params params; QString prev_destinations, cur_destinations; - QStackedWidget *stack; QPushButton *home_button, *work_button; QLabel *home_address, *work_address; QVBoxLayout *recent_layout; diff --git a/selfdrive/ui/qt/offroad/onboarding.cc b/selfdrive/ui/qt/offroad/onboarding.cc index 64cb35799..72c341fdf 100644 --- a/selfdrive/ui/qt/offroad/onboarding.cc +++ b/selfdrive/ui/qt/offroad/onboarding.cc @@ -111,6 +111,9 @@ void TermsPage::showEvent(QShowEvent *event) { QPushButton { background-color: #465BEA; } + QPushButton:pressed { + background-color: #3049F4; + } QPushButton:disabled { background-color: #4F4F4F; } diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index b9fec9d62..d9f200865 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -27,7 +27,7 @@ #include "selfdrive/ui/qt/widgets/input.h" TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { - // param, title, desc, icon, confirm + // param, title, desc, icon std::vector> toggle_defs{ { "OpenpilotEnabledToggle", @@ -35,12 +35,6 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { tr("Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off."), "../assets/offroad/icon_openpilot.png", }, - { - "ExperimentalMode", - tr("Experimental Mode"), - "", - "../assets/img_experimental_white.svg", - }, { "ExperimentalLongitudinalEnabled", tr("openpilot Longitudinal Control (Alpha)"), @@ -49,18 +43,24 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { .arg(tr("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.")), "../assets/offroad/icon_speed_limit.png", }, + { + "ExperimentalMode", + tr("Experimental Mode"), + "", + "../assets/img_experimental_white.svg", + }, + { + "DisengageOnAccelerator", + tr("Disengage on Accelerator Pedal"), + tr("When enabled, pressing the accelerator pedal will disengage openpilot."), + "../assets/offroad/icon_disengage_on_accelerator.svg", + }, { "IsLdwEnabled", tr("Enable Lane Departure Warnings"), tr("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)."), "../assets/offroad/icon_warning.png", }, - { - "IsMetric", - tr("Use Metric System"), - tr("Display speed in km/h instead of mph."), - "../assets/offroad/icon_metric.png", - }, { "RecordFront", tr("Record and Upload Driver Camera"), @@ -68,10 +68,10 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { "../assets/offroad/icon_monitoring.png", }, { - "DisengageOnAccelerator", - tr("Disengage on Accelerator Pedal"), - tr("When enabled, pressing the accelerator pedal will disengage openpilot."), - "../assets/offroad/icon_disengage_on_accelerator.svg", + "IsMetric", + tr("Use Metric System"), + tr("Display speed in km/h instead of mph."), + "../assets/offroad/icon_metric.png", }, #ifdef ENABLE_MAPS { @@ -89,6 +89,12 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { #endif }; + + std::vector longi_button_texts{tr("Aggressive"), tr("Standard"), tr("Relaxed")}; + long_personality_setting = new ButtonParamControl("LongitudinalPersonality", tr("Driving Personality"), + tr("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."), + "../assets/offroad/icon_speed_limit.png", + longi_button_texts); for (auto &[param, title, desc, icon] : toggle_defs) { auto toggle = new ParamControl(param, title, desc, icon, this); @@ -97,6 +103,11 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { addItem(toggle); toggles[param.toStdString()] = toggle; + + // insert longitudinal personality after NDOG toggle + if (param == "DisengageOnAccelerator") { + addItem(long_personality_setting); + } } // Toggles with confirmation dialogs @@ -132,6 +143,7 @@ void TogglesPanel::updateToggles() { .arg(tr("New Driving Visualization")) .arg(tr("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.")); + long_personality_setting->setEnabled(false); const bool is_release = params.getBool("IsReleaseBranch"); auto cp_bytes = params.get("CarParamsPersistent"); if (!cp_bytes.empty()) { @@ -150,6 +162,7 @@ void TogglesPanel::updateToggles() { // normal description and toggle e2e_toggle->setEnabled(true); e2e_toggle->setDescription(e2e_description); + long_personality_setting->setEnabled(true); } else { // no long for now e2e_toggle->setEnabled(false); @@ -161,7 +174,7 @@ void TogglesPanel::updateToggles() { tr("openpilot longitudinal control may come in a future update."); if (CP.getExperimentalLongitudinalAvailable()) { if (is_release) { - long_desc = unavailable + " " + tr("An experimental version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches."); + long_desc = unavailable + " " + tr("An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches."); } else { long_desc = tr("Enable experimental longitudinal control to allow Experimental mode."); } diff --git a/selfdrive/ui/qt/offroad/settings.h b/selfdrive/ui/qt/offroad/settings.h index c63be4e13..e35811fdc 100644 --- a/selfdrive/ui/qt/offroad/settings.h +++ b/selfdrive/ui/qt/offroad/settings.h @@ -64,6 +64,7 @@ public slots: private: Params params; std::map toggles; + ButtonParamControl *long_personality_setting; void updateToggles(); }; diff --git a/selfdrive/ui/qt/offroad/software_settings.cc b/selfdrive/ui/qt/offroad/software_settings.cc index 6db6a6cdf..d25c8490f 100644 --- a/selfdrive/ui/qt/offroad/software_settings.cc +++ b/selfdrive/ui/qt/offroad/software_settings.cc @@ -126,19 +126,19 @@ void SoftwarePanel::updateLabels() { downloadBtn->setValue(updater_state); } else { if (failed) { - downloadBtn->setText("CHECK"); - downloadBtn->setValue("failed to check for update"); + downloadBtn->setText(tr("CHECK")); + downloadBtn->setValue(tr("failed to check for update")); } else if (params.getBool("UpdaterFetchAvailable")) { - downloadBtn->setText("DOWNLOAD"); - downloadBtn->setValue("update available"); + downloadBtn->setText(tr("DOWNLOAD")); + downloadBtn->setValue(tr("update available")); } else { - QString lastUpdate = "never"; + QString lastUpdate = tr("never"); auto tm = params.get("LastUpdateTime"); if (!tm.empty()) { lastUpdate = timeAgo(QDateTime::fromString(QString::fromStdString(tm + "Z"), Qt::ISODate)); } - downloadBtn->setText("CHECK"); - downloadBtn->setValue("up to date, last checked " + lastUpdate); + downloadBtn->setText(tr("CHECK")); + downloadBtn->setValue(tr("up to date, last checked %1").arg(lastUpdate)); } downloadBtn->setEnabled(true); } diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index 51c3f3dbb..0dcf38ccf 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -95,7 +95,7 @@ void OnroadWindow::offroadTransition(bool offroad) { QObject::connect(uiState(), &UIState::offroadTransition, m, &MapWindow::offroadTransition); - m->setFixedWidth(topWidget(this)->width() / 2); + m->setFixedWidth(topWidget(this)->width() / 2 - bdr_s); split->insertWidget(0, m); // Make map visible after adding to split @@ -281,14 +281,12 @@ void AnnotatedCameraWidget::updateState(const UIState &s) { // update engageability/experimental mode button experimental_btn->updateState(s); - // update DM icons at 2Hz - if (sm.frame % (UI_FREQ / 2) == 0) { - setProperty("dmActive", sm["driverMonitoringState"].getDriverMonitoringState().getIsActiveMode()); - setProperty("rightHandDM", sm["driverMonitoringState"].getDriverMonitoringState().getIsRHD()); - } - + // update DM icon + auto dm_state = sm["driverMonitoringState"].getDriverMonitoringState(); + setProperty("dmActive", dm_state.getIsActiveMode()); + setProperty("rightHandDM", dm_state.getIsRHD()); // DM icon transition - dm_fade_state = fmax(0.0, fmin(1.0, dm_fade_state+0.2*(0.5-(float)(dmActive)))); + dm_fade_state = std::clamp(dm_fade_state+0.2*(0.5-dmActive), 0.0, 1.0); } void AnnotatedCameraWidget::drawHud(QPainter &p) { diff --git a/selfdrive/ui/qt/setup/reset.cc b/selfdrive/ui/qt/setup/reset.cc index ccf9bf805..7999dd640 100644 --- a/selfdrive/ui/qt/setup/reset.cc +++ b/selfdrive/ui/qt/setup/reset.cc @@ -79,7 +79,14 @@ Reset::Reset(ResetMode mode, QWidget *parent) : QWidget(parent) { #endif confirmBtn = new QPushButton(tr("Confirm")); - confirmBtn->setStyleSheet("background-color: #465BEA;"); + confirmBtn->setStyleSheet(R"( + QPushButton { + background-color: #465BEA; + } + QPushButton:pressed { + background-color: #3049F4; + } + )"); blayout->addWidget(confirmBtn); QObject::connect(confirmBtn, &QPushButton::clicked, this, &Reset::confirm); @@ -111,6 +118,9 @@ Reset::Reset(ResetMode mode, QWidget *parent) : QWidget(parent) { border-radius: 10px; background-color: #333333; } + QPushButton:pressed { + background-color: #444444; + } )"); } diff --git a/selfdrive/ui/qt/setup/updater.cc b/selfdrive/ui/qt/setup/updater.cc index fd7148c53..ae5f26c77 100644 --- a/selfdrive/ui/qt/setup/updater.cc +++ b/selfdrive/ui/qt/setup/updater.cc @@ -46,7 +46,14 @@ Updater::Updater(const QString &updater_path, const QString &manifest_path, QWid QPushButton *install = new QPushButton(tr("Install")); install->setObjectName("navBtn"); - install->setStyleSheet("background-color: #465BEA;"); + install->setStyleSheet(R"( + QPushButton { + background-color: #465BEA; + } + QPushButton:pressed { + background-color: #3049F4; + } + )"); QObject::connect(install, &QPushButton::clicked, this, &Updater::installUpdate); hlayout->addWidget(install); } @@ -124,6 +131,9 @@ Updater::Updater(const QString &updater_path, const QString &manifest_path, QWid border-radius: 10px; background-color: #333333; } + QPushButton#navBtn:pressed { + background-color: #444444; + } QProgressBar { border: none; background-color: #292929; diff --git a/selfdrive/ui/qt/widgets/controls.h b/selfdrive/ui/qt/widgets/controls.h index 770b9b92d..807441cc8 100644 --- a/selfdrive/ui/qt/widgets/controls.h +++ b/selfdrive/ui/qt/widgets/controls.h @@ -1,5 +1,6 @@ #pragma once +#include #include #include #include @@ -60,7 +61,7 @@ public: public slots: void showDescription() { description->setVisible(true); - }; + } signals: void showDescriptionEvent(); @@ -106,7 +107,7 @@ signals: void clicked(); public slots: - void setEnabled(bool enabled) { btn.setEnabled(enabled); }; + void setEnabled(bool enabled) { btn.setEnabled(enabled); } private: QPushButton btn; @@ -163,7 +164,7 @@ public: void setConfirmation(bool _confirm, bool _store_confirm) { confirm = _confirm; store_confirm = _store_confirm; - }; + } void setActiveIcon(const QString &icon) { active_icon_pixmap = QPixmap(icon).scaledToWidth(80, Qt::SmoothTransformation); @@ -175,11 +176,11 @@ public: toggle.togglePosition(); setIcon(state); } - }; + } void showEvent(QShowEvent *event) override { refresh(); - }; + } private: void setIcon(bool state) { @@ -188,7 +189,7 @@ private: } else if (!icon_pixmap.isNull()) { icon_label->setPixmap(icon_pixmap); } - }; + } std::string key; Params params; @@ -197,6 +198,65 @@ private: bool store_confirm = false; }; +class ButtonParamControl : public AbstractControl { + Q_OBJECT +public: + ButtonParamControl(const QString ¶m, const QString &title, const QString &desc, const QString &icon, + const std::vector &button_texts, const int minimum_button_width = 225) : AbstractControl(title, desc, icon) { + const QString style = R"( + QPushButton { + border-radius: 50px; + font-size: 40px; + font-weight: 500; + height:100px; + padding: 0 25 0 25; + color: #E4E4E4; + background-color: #393939; + } + QPushButton:pressed { + background-color: #4a4a4a; + } + QPushButton:checked:enabled { + background-color: #33Ab4C; + } + QPushButton:disabled { + color: #33E4E4E4; + } + )"; + key = param.toStdString(); + int value = atoi(params.get(key).c_str()); + + button_group = new QButtonGroup(this); + button_group->setExclusive(true); + for (int i = 0; i < button_texts.size(); i++) { + QPushButton *button = new QPushButton(button_texts[i], this); + button->setCheckable(true); + button->setChecked(i == value); + button->setStyleSheet(style); + button->setMinimumWidth(minimum_button_width); + hlayout->addWidget(button); + button_group->addButton(button, i); + } + + QObject::connect(button_group, QOverload::of(&QButtonGroup::buttonToggled), [=](int id, bool checked) { + if (checked) { + params.put(key, std::to_string(id)); + } + }); + } + + void setEnabled(bool enable) { + for (auto btn : button_group->buttons()) { + btn->setEnabled(enable); + } + } + +private: + std::string key; + Params params; + QButtonGroup *button_group; +}; + class ListWidget : public QWidget { Q_OBJECT public: @@ -236,7 +296,7 @@ class LayoutWidget : public QWidget { public: LayoutWidget(QLayout *l, QWidget *parent = nullptr) : QWidget(parent) { setLayout(l); - }; + } }; class ClickableWidget : public QWidget { diff --git a/selfdrive/ui/qt/widgets/input.cc b/selfdrive/ui/qt/widgets/input.cc index 2026a7047..49fbdff22 100644 --- a/selfdrive/ui/qt/widgets/input.cc +++ b/selfdrive/ui/qt/widgets/input.cc @@ -71,10 +71,15 @@ InputDialog::InputDialog(const QString &title, QWidget *parent, const QString &s QPushButton* cancel_btn = new QPushButton(tr("Cancel")); cancel_btn->setFixedSize(386, 125); cancel_btn->setStyleSheet(R"( - font-size: 48px; - border-radius: 10px; - color: #E4E4E4; - background-color: #444444; + QPushButton { + font-size: 48px; + border-radius: 10px; + color: #E4E4E4; + background-color: #333333; + } + QPushButton:pressed { + background-color: #444444; + } )"); header_layout->addWidget(cancel_btn, 0, Qt::AlignRight); QObject::connect(cancel_btn, &QPushButton::clicked, this, &InputDialog::reject); diff --git a/selfdrive/ui/qt/widgets/keyboard.cc b/selfdrive/ui/qt/widgets/keyboard.cc index 1c5968653..162d27db0 100644 --- a/selfdrive/ui/qt/widgets/keyboard.cc +++ b/selfdrive/ui/qt/widgets/keyboard.cc @@ -59,7 +59,14 @@ KeyboardLayout::KeyboardLayout(QWidget* parent, const std::vectorsetAutoRepeat(true); } else if (p == ENTER_KEY) { - btn->setStyleSheet("background-color: #465BEA;"); + btn->setStyleSheet(R"( + QPushButton { + background-color: #465BEA; + } + QPushButton:pressed { + background-color: #444444; + } + )"); } btn->setFixedHeight(135 + key_spacing_vertical); btn_group->addButton(btn); diff --git a/selfdrive/ui/qt/widgets/prime.cc b/selfdrive/ui/qt/widgets/prime.cc index 7f88b049a..86bd918e0 100644 --- a/selfdrive/ui/qt/widgets/prime.cc +++ b/selfdrive/ui/qt/widgets/prime.cc @@ -14,6 +14,7 @@ #include "selfdrive/ui/qt/request_repeater.h" #include "selfdrive/ui/qt/util.h" #include "selfdrive/ui/qt/qt_window.h" +#include "selfdrive/ui/qt/widgets/wifi.h" using qrcodegen::QrCode; @@ -114,76 +115,33 @@ PairingPopup::PairingPopup(QWidget *parent) : QDialogBase(parent) { } -PrimeUserWidget::PrimeUserWidget(QWidget* parent) : QWidget(parent) { - mainLayout = new QVBoxLayout(this); - mainLayout->setMargin(0); +PrimeUserWidget::PrimeUserWidget(QWidget* parent) : QFrame(parent) { + QVBoxLayout *mainLayout = new QVBoxLayout(this); + mainLayout->setContentsMargins(0, 0, 0, 0); mainLayout->setSpacing(30); // subscribed prime layout QWidget *primeWidget = new QWidget; primeWidget->setObjectName("primeWidget"); QVBoxLayout *primeLayout = new QVBoxLayout(primeWidget); - primeLayout->setMargin(0); - primeWidget->setContentsMargins(60, 50, 60, 50); + primeLayout->setContentsMargins(56, 40, 56, 40); + primeLayout->setSpacing(20); - QLabel* subscribed = new QLabel(tr("✓ SUBSCRIBED")); + QLabel *subscribed = new QLabel(tr("✓ SUBSCRIBED")); subscribed->setStyleSheet("font-size: 41px; font-weight: bold; color: #86FF4E;"); - primeLayout->addWidget(subscribed, 0, Qt::AlignTop); + primeLayout->addWidget(subscribed); - primeLayout->addSpacing(60); - - QLabel* commaPrime = new QLabel(tr("comma prime")); + QLabel *commaPrime = new QLabel(tr("comma prime")); commaPrime->setStyleSheet("font-size: 75px; font-weight: bold;"); - primeLayout->addWidget(commaPrime, 0, Qt::AlignTop); - - primeLayout->addSpacing(20); - - QLabel* connectUrl = new QLabel(tr("CONNECT.COMMA.AI")); - connectUrl->setStyleSheet("font-size: 41px; font-family: Inter SemiBold; color: #A0A0A0;"); - primeLayout->addWidget(connectUrl, 0, Qt::AlignTop); + primeLayout->addWidget(commaPrime); mainLayout->addWidget(primeWidget); - - // comma points layout - QWidget *pointsWidget = new QWidget; - pointsWidget->setObjectName("primeWidget"); - QVBoxLayout *pointsLayout = new QVBoxLayout(pointsWidget); - pointsLayout->setMargin(0); - pointsWidget->setContentsMargins(60, 50, 60, 50); - - QLabel* commaPoints = new QLabel(tr("COMMA POINTS")); - commaPoints->setStyleSheet("font-size: 41px; font-family: Inter SemiBold;"); - pointsLayout->addWidget(commaPoints, 0, Qt::AlignTop); - - points = new QLabel("0"); - points->setStyleSheet("font-size: 91px; font-weight: bold;"); - pointsLayout->addWidget(points, 0, Qt::AlignTop); - - mainLayout->addWidget(pointsWidget); - mainLayout->addStretch(); - - // set up API requests - if (auto dongleId = getDongleId()) { - QString url = CommaApi::BASE_URL + "/v1/devices/" + *dongleId + "/owner"; - RequestRepeater *repeater = new RequestRepeater(this, url, "ApiCache_Owner", 6); - QObject::connect(repeater, &RequestRepeater::requestDone, this, &PrimeUserWidget::replyFinished); - } } -void PrimeUserWidget::replyFinished(const QString &response) { - QJsonDocument doc = QJsonDocument::fromJson(response.toUtf8()); - if (doc.isNull()) { - qDebug() << "JSON Parse failed on getting points"; - return; - } - - QJsonObject json = doc.object(); - points->setText(QString::number(json["points"].toInt())); -} PrimeAdWidget::PrimeAdWidget(QWidget* parent) : QFrame(parent) { - QVBoxLayout* main_layout = new QVBoxLayout(this); + QVBoxLayout *main_layout = new QVBoxLayout(this); main_layout->setContentsMargins(80, 90, 80, 60); main_layout->setSpacing(0); @@ -227,33 +185,31 @@ SetupWidget::SetupWidget(QWidget* parent) : QFrame(parent) { // Unpaired, registration prompt layout - QWidget* finishRegistration = new QWidget; + QFrame* finishRegistration = new QFrame; finishRegistration->setObjectName("primeWidget"); QVBoxLayout* finishRegistationLayout = new QVBoxLayout(finishRegistration); - finishRegistationLayout->setContentsMargins(30, 75, 30, 45); - finishRegistationLayout->setSpacing(0); + finishRegistationLayout->setSpacing(38); + finishRegistationLayout->setContentsMargins(64, 48, 64, 48); QLabel* registrationTitle = new QLabel(tr("Finish Setup")); - registrationTitle->setStyleSheet("font-size: 75px; font-weight: bold; margin-left: 55px;"); + registrationTitle->setStyleSheet("font-size: 75px; font-weight: bold;"); finishRegistationLayout->addWidget(registrationTitle); - finishRegistationLayout->addSpacing(30); - QLabel* registrationDescription = new QLabel(tr("Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.")); registrationDescription->setWordWrap(true); - registrationDescription->setStyleSheet("font-size: 55px; font-weight: light; margin-left: 55px;"); + registrationDescription->setStyleSheet("font-size: 50px; font-weight: light;"); finishRegistationLayout->addWidget(registrationDescription); finishRegistationLayout->addStretch(); QPushButton* pair = new QPushButton(tr("Pair device")); - pair->setFixedHeight(220); pair->setStyleSheet(R"( QPushButton { font-size: 55px; - font-weight: 400; + font-weight: 500; border-radius: 10px; background-color: #465BEA; + padding: 64px; } QPushButton:pressed { background-color: #3049F4; @@ -271,15 +227,24 @@ SetupWidget::SetupWidget(QWidget* parent) : QFrame(parent) { outer_layout->setContentsMargins(0, 0, 0, 0); outer_layout->addWidget(mainLayout); - primeAd = new PrimeAdWidget; - mainLayout->addWidget(primeAd); + QWidget *content = new QWidget; + QVBoxLayout *content_layout = new QVBoxLayout(content); + content_layout->setContentsMargins(0, 0, 0, 0); + content_layout->setSpacing(30); primeUser = new PrimeUserWidget; - mainLayout->addWidget(primeUser); + content_layout->addWidget(primeUser); - mainLayout->setCurrentWidget(uiState()->primeType() ? (QWidget*)primeUser : (QWidget*)primeAd); + WiFiPromptWidget *wifi_prompt = new WiFiPromptWidget; + QObject::connect(wifi_prompt, &WiFiPromptWidget::openSettings, this, &SetupWidget::openSettings); + content_layout->addWidget(wifi_prompt); + content_layout->addStretch(); + + mainLayout->addWidget(content); + + primeUser->setVisible(uiState()->primeType()); + mainLayout->setCurrentIndex(1); - setFixedWidth(750); setStyleSheet(R"( #primeWidget { border-radius: 10px; @@ -319,10 +284,7 @@ void SetupWidget::replyFinished(const QString &response, bool success) { } else { popup->reject(); - if (prime_type) { - mainLayout->setCurrentWidget(primeUser); - } else { - mainLayout->setCurrentWidget(primeAd); - } + primeUser->setVisible(prime_type); + mainLayout->setCurrentIndex(1); } } diff --git a/selfdrive/ui/qt/widgets/prime.h b/selfdrive/ui/qt/widgets/prime.h index 0a1d93250..b41bab169 100644 --- a/selfdrive/ui/qt/widgets/prime.h +++ b/selfdrive/ui/qt/widgets/prime.h @@ -15,6 +15,7 @@ enum PrimeType { MAGENTA_NEW = 4, }; + // pairing QR code class PairingQRWidget : public QWidget { Q_OBJECT @@ -34,6 +35,7 @@ private slots: void refresh(); }; + // pairing popup widget class PairingPopup : public QDialogBase { Q_OBJECT @@ -42,18 +44,13 @@ public: explicit PairingPopup(QWidget* parent); }; + // widget for paired users with prime -class PrimeUserWidget : public QWidget { +class PrimeUserWidget : public QFrame { Q_OBJECT + public: explicit PrimeUserWidget(QWidget* parent = 0); - -private: - QVBoxLayout* mainLayout; - QLabel* points; - -private slots: - void replyFinished(const QString &response); }; @@ -64,6 +61,7 @@ public: explicit PrimeAdWidget(QWidget* parent = 0); }; + // container widget class SetupWidget : public QFrame { Q_OBJECT @@ -71,10 +69,12 @@ class SetupWidget : public QFrame { public: explicit SetupWidget(QWidget* parent = 0); +signals: + void openSettings(int index = 0, const QString ¶m = ""); + private: PairingPopup *popup; QStackedWidget *mainLayout; - PrimeAdWidget *primeAd; PrimeUserWidget *primeUser; private slots: diff --git a/selfdrive/ui/qt/widgets/wifi.cc b/selfdrive/ui/qt/widgets/wifi.cc new file mode 100644 index 000000000..b717a00d9 --- /dev/null +++ b/selfdrive/ui/qt/widgets/wifi.cc @@ -0,0 +1,103 @@ +#include "selfdrive/ui/qt/widgets/wifi.h" + +#include +#include +#include +#include + +WiFiPromptWidget::WiFiPromptWidget(QWidget *parent) : QFrame(parent) { + stack = new QStackedLayout(this); + + // Setup Wi-Fi + QFrame *setup = new QFrame; + QVBoxLayout *setup_layout = new QVBoxLayout(setup); + setup_layout->setContentsMargins(56, 40, 56, 40); + setup_layout->setSpacing(20); + { + QHBoxLayout *title_layout = new QHBoxLayout; + title_layout->setSpacing(32); + { + QLabel *icon = new QLabel; + QPixmap *pixmap = new QPixmap("../assets/offroad/icon_wifi_strength_full.svg"); + icon->setPixmap(pixmap->scaledToWidth(80, Qt::SmoothTransformation)); + title_layout->addWidget(icon); + + QLabel *title = new QLabel(tr("Setup Wi-Fi")); + title->setStyleSheet("font-size: 64px; font-weight: 600;"); + title_layout->addWidget(title); + title_layout->addStretch(); + } + setup_layout->addLayout(title_layout); + + QLabel *desc = new QLabel(tr("Connect to Wi-Fi to upload driving data and help improve openpilot")); + desc->setStyleSheet("font-size: 40px; font-weight: 400;"); + desc->setWordWrap(true); + setup_layout->addWidget(desc); + + QPushButton *settings_btn = new QPushButton(tr("Open Settings")); + connect(settings_btn, &QPushButton::clicked, [=]() { emit openSettings(1); }); + settings_btn->setStyleSheet(R"( + QPushButton { + font-size: 48px; + font-weight: 500; + border-radius: 10px; + background-color: #465BEA; + padding: 32px; + } + QPushButton:pressed { + background-color: #3049F4; + } + )"); + setup_layout->addWidget(settings_btn); + } + stack->addWidget(setup); + + // Uploading data + QWidget *uploading = new QWidget; + QVBoxLayout *uploading_layout = new QVBoxLayout(uploading); + uploading_layout->setContentsMargins(64, 56, 64, 56); + uploading_layout->setSpacing(36); + { + QHBoxLayout *title_layout = new QHBoxLayout; + { + QLabel *title = new QLabel(tr("Uploading training data")); + title->setStyleSheet("font-size: 64px; font-weight: 600;"); + title->setWordWrap(true); + title->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Minimum); + title_layout->addWidget(title); + title_layout->addStretch(); + + QLabel *icon = new QLabel; + QPixmap *pixmap = new QPixmap("../assets/offroad/icon_wifi_uploading.svg"); + icon->setPixmap(pixmap->scaledToWidth(120, Qt::SmoothTransformation)); + title_layout->addWidget(icon); + } + uploading_layout->addLayout(title_layout); + + QLabel *desc = new QLabel(tr("Your data is used to train driving models and help improve openpilot")); + desc->setStyleSheet("font-size: 48px; font-weight: 400;"); + desc->setWordWrap(true); + uploading_layout->addWidget(desc); + } + stack->addWidget(uploading); + + setStyleSheet(R"( + WiFiPromptWidget { + background-color: #333333; + border-radius: 10px; + } + )"); + + QObject::connect(uiState(), &UIState::uiUpdate, this, &WiFiPromptWidget::updateState); +} + +void WiFiPromptWidget::updateState(const UIState &s) { + if (!isVisible()) return; + + auto &sm = *(s.sm); + + auto network_type = sm["deviceState"].getDeviceState().getNetworkType(); + auto uploading = network_type == cereal::DeviceState::NetworkType::WIFI || + network_type == cereal::DeviceState::NetworkType::ETHERNET; + stack->setCurrentIndex(uploading ? 1 : 0); +} diff --git a/selfdrive/ui/qt/widgets/wifi.h b/selfdrive/ui/qt/widgets/wifi.h new file mode 100644 index 000000000..60c865f2b --- /dev/null +++ b/selfdrive/ui/qt/widgets/wifi.h @@ -0,0 +1,23 @@ +#pragma once + +#include +#include +#include + +#include "selfdrive/ui/ui.h" + +class WiFiPromptWidget : public QFrame { + Q_OBJECT + +public: + explicit WiFiPromptWidget(QWidget* parent = 0); + +signals: + void openSettings(int index = 0, const QString ¶m = ""); + +public slots: + void updateState(const UIState &s); + +protected: + QStackedLayout *stack; +}; diff --git a/selfdrive/ui/qt/window.cc b/selfdrive/ui/qt/window.cc index 198b1edbf..a1aa4b831 100644 --- a/selfdrive/ui/qt/window.cc +++ b/selfdrive/ui/qt/window.cc @@ -79,11 +79,16 @@ void MainWindow::closeSettings() { } bool MainWindow::eventFilter(QObject *obj, QEvent *event) { - const static QSet evts({QEvent::MouseButtonPress, QEvent::MouseMove, - QEvent::TouchBegin, QEvent::TouchUpdate, QEvent::TouchEnd}); - - if (evts.contains(event->type())) { - device.resetInteractiveTimout(); + switch (event->type()) { + case QEvent::TouchBegin: + case QEvent::TouchUpdate: + case QEvent::TouchEnd: + case QEvent::MouseButtonPress: + case QEvent::MouseMove: + device.resetInteractiveTimout(); + break; + default: + break; } return false; } diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts index 2e4e833e0..55b66c132 100644 --- a/selfdrive/ui/translations/main_de.ts +++ b/selfdrive/ui/translations/main_de.ts @@ -517,14 +517,6 @@ location set comma prime comma prime - - CONNECT.COMMA.AI - CONNECT.COMMA.AI - - - COMMA POINTS - COMMA PUNKTE - QObject @@ -866,6 +858,26 @@ This may take up to a minute. Uninstall Deinstallieren + + failed to check for update + + + + up to date, last checked %1 + + + + DOWNLOAD + + + + update available + + + + never + + SshControl @@ -1024,10 +1036,6 @@ This may take up to a minute. openpilot longitudinal control may come in a future update. - - An experimental version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. - - Enable experimental longitudinal control to allow Experimental mode. Aktiviere den experimentellen Openpilot Tempomaten für experimentelle Funktionen. @@ -1044,6 +1052,30 @@ This may take up to a minute. 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. + + Aggressive + + + + Standard + + + + Relaxed + + + + Driving Personality + + + + 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. + + + + An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. + + Updater @@ -1080,6 +1112,29 @@ This may take up to a minute. Aktualisierung fehlgeschlagen + + WiFiPromptWidget + + Setup Wi-Fi + + + + Connect to Wi-Fi to upload driving data and help improve openpilot + + + + Open Settings + + + + Uploading training data + + + + Your data is used to train driving models and help improve openpilot + + + WifiUI diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index 06435d3b4..162c92c40 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -518,14 +518,6 @@ location set comma prime comma prime - - CONNECT.COMMA.AI - CONNECT.COMMA.AI - - - COMMA POINTS - COMMA POINTS - QObject @@ -862,6 +854,26 @@ This may take up to a minute. Uninstall アンインストール + + failed to check for update + + + + up to date, last checked %1 + + + + DOWNLOAD + + + + update available + + + + never + + SshControl @@ -1018,10 +1030,6 @@ This may take up to a minute. openpilot longitudinal control may come in a future update. - - An experimental version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. - - Enable experimental longitudinal control to allow Experimental mode. 実験段階のopenpilotによるアクセル制御を有効にしてください。 @@ -1038,6 +1046,30 @@ This may take up to a minute. 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. + + Aggressive + + + + Standard + + + + Relaxed + + + + Driving Personality + + + + 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. + + + + An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. + + Updater @@ -1074,6 +1106,29 @@ This may take up to a minute. 更新失敗 + + WiFiPromptWidget + + Setup Wi-Fi + + + + Connect to Wi-Fi to upload driving data and help improve openpilot + + + + Open Settings + + + + Uploading training data + + + + Your data is used to train driving models and help improve openpilot + + + WifiUI diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index b55a56a06..ef5a89750 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -518,14 +518,6 @@ location set comma prime comma prime - - CONNECT.COMMA.AI - CONNECT.COMMA.AI - - - COMMA POINTS - COMMA POINTS - QObject @@ -863,6 +855,26 @@ This may take up to a minute. Uninstall 제거 + + failed to check for update + 업데이트 확인 실패 + + + up to date, last checked %1 + 최신 상태, 마지막으로 확인 %1 + + + DOWNLOAD + 다운로드 + + + update available + 업데이트 가능 + + + never + 업데이트 안함 + SshControl @@ -1019,10 +1031,6 @@ This may take up to a minute. openpilot longitudinal control may come in a future update. 오픈파일럿 롱컨트롤은 향후 업데이트에서 제공될 수 있습니다. - - An experimental version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. - 오픈파일럿 롱컨트롤의 실험 버전은 실험적 모드와 함께 릴리즈 되지 않은 브랜치에서 테스트할 수 있습니다. - Enable experimental longitudinal control to allow Experimental mode. 실험적 롱컨트롤을 사용하려면 실험적 모드를 활성화 하세요. @@ -1039,6 +1047,30 @@ This may take up to a minute. 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. 이 차량은 openpilot 롱컨트롤 대신 차량의 내장 ACC로 기본 설정됩니다. openpilot 롱컨트롤으로 전환하려면 이 기능을 활성화하세요. openpilot 롱컨트롤 알파를 활성화하는경우 실험적 모드 활성화를 권장합니다. + + Aggressive + 공격적 + + + Standard + 표준 + + + Relaxed + 편안한 + + + Driving Personality + 주행 모드 + + + 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. + 표준 모드를 권장합니다. 공격적 모드에서는 openpilot은 앞차를 더 가까이 따라가며 가속과 감속을 더 공격적으로 사용합니다. 편안한 모드에서 openpilot은 선두 차량에서 더 멀리 떨어져 있습니다. + + + An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. + + Updater @@ -1075,6 +1107,29 @@ This may take up to a minute. 업데이트 실패 + + WiFiPromptWidget + + Setup Wi-Fi + Wi-Fi 설정 + + + Connect to Wi-Fi to upload driving data and help improve openpilot + Wi-Fi에 연결하여 주행 데이터를 업로드하고 openpilot 개선에 참여하세요. + + + Open Settings + 설정 열기 + + + Uploading training data + 트레이닝 데이터 업로드 + + + Your data is used to train driving models and help improve openpilot + 귀하의 데이터는 운전 모델을 교육하고 openpilot을 개선하는 데 사용됩니다. + + WifiUI diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index 34fbc8abf..87a813111 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -285,11 +285,11 @@ ExperimentalModeButton EXPERIMENTAL MODE ON - MODO EXPERIMENTAL ATIVADO + MODO EXPERIMENTAL ON CHILL MODE ON - MODO CHILL ATIVADO + MODO CHILL ON @@ -519,14 +519,6 @@ trabalho definido comma prime comma prime - - CONNECT.COMMA.AI - CONNECT.COMMA.AI - - - COMMA POINTS - PONTOS COMMA - QObject @@ -867,6 +859,26 @@ Isso pode levar até um minuto. Uninstall Desinstalar + + failed to check for update + falha ao verificar por atualizações + + + up to date, last checked %1 + atualizado, última verificação %1 + + + DOWNLOAD + BAIXAR + + + update available + atualização disponível + + + never + nunca + SshControl @@ -1023,10 +1035,6 @@ Isso pode levar até um minuto. openpilot longitudinal control may come in a future update. O controle longitudinal openpilot pode vir em uma atualização futura. - - An experimental version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. - Uma versão experimental do controle longitudinal openpilot pode ser testada, juntamente com o modo Experimental, em branches de desenvolvimento. - Enable experimental longitudinal control to allow Experimental mode. Ative o controle longitudinal experimental para permitir o modo Experimental. @@ -1043,6 +1051,30 @@ Isso pode levar até um minuto. 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. Neste carro, o openpilot tem como padrão o ACC embutido do carro em vez do controle longitudinal do openpilot. Habilite isso para alternar para o controle longitudinal openpilot. Recomenda-se ativar o modo Experimental ao ativar o alfa de controle longitudinal openpilot. + + Aggressive + Disputa + + + Standard + Neutro + + + Relaxed + Calmo + + + Driving Personality + Temperamento de Direção + + + 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. + Neutro é o recomendado. No modo disputa o openpilot seguirá o carro da frente mais de perto e será mais agressivo com a aceleração e frenagem. No modo calmo o openpilot se manterá mais longe do carro da frente. + + + An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. + + Updater @@ -1079,6 +1111,30 @@ Isso pode levar até um minuto. Falha na atualização + + WiFiPromptWidget + + Setup Wi-Fi + Configurar +Wi-Fi + + + Connect to Wi-Fi to upload driving data and help improve openpilot + Conecte se ao Wi-Fi para upload de dados de condução e ajudar a melhorar o openpilot + + + Open Settings + Abrir Configurações + + + Uploading training data + Subindo dados para treinamento + + + Your data is used to train driving models and help improve openpilot + Seus dados são utilizados para treinar modelos de direção e ajudar a melhorar o openpilot + + WifiUI diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 7cacc72f1..4a92d963d 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -516,14 +516,6 @@ location set comma prime comma prime - - CONNECT.COMMA.AI - CONNECT.COMMA.AI - - - COMMA POINTS - COMMA POINTS点数 - QObject @@ -860,6 +852,26 @@ This may take up to a minute. Uninstall 卸载 + + failed to check for update + + + + up to date, last checked %1 + + + + DOWNLOAD + + + + update available + + + + never + + SshControl @@ -1016,10 +1028,6 @@ This may take up to a minute. openpilot longitudinal control may come in a future update. - - An experimental version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. - - Enable experimental longitudinal control to allow Experimental mode. 启用试验性的纵向控制，以便允许使用试验模式。 @@ -1036,6 +1044,30 @@ This may take up to a minute. 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. + + Aggressive + + + + Standard + + + + Relaxed + + + + Driving Personality + + + + 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. + + + + An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. + + Updater @@ -1072,6 +1104,29 @@ This may take up to a minute. 更新失败 + + WiFiPromptWidget + + Setup Wi-Fi + + + + Connect to Wi-Fi to upload driving data and help improve openpilot + + + + Open Settings + + + + Uploading training data + + + + Your data is used to train driving models and help improve openpilot + + + WifiUI diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index e559ca88a..01fab62fe 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -518,14 +518,6 @@ location set comma prime comma 高級會員 - - CONNECT.COMMA.AI - CONNECT.COMMA.AI - - - COMMA POINTS - COMMA 積分 - QObject @@ -862,6 +854,26 @@ This may take up to a minute. Uninstall 解除安裝 + + failed to check for update + 檢查更新失敗 + + + up to date, last checked %1 + 已經是最新版本，上次檢查時間為 %1 + + + DOWNLOAD + 下載 + + + update available + 有可用的更新 + + + never + 從未更新 + SshControl @@ -1018,24 +1030,44 @@ This may take up to a minute. openpilot longitudinal control may come in a future update. 未來可能會推出openpilot縱向控制 - - An experimental version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. - 在非發行分支中 可找到包含實驗模式的openpilot縱向控制測試版本 - Enable experimental longitudinal control to allow Experimental mode. 啟用實驗性縱向控制以使用實驗模式。 openpilot Longitudinal Control (Alpha) - + openpilot 縱向控制 (Alpha 版) WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). - + 警告：此車輛的 Openpilot 縱向控制功能目前處於 Alpha 版本，使用此功能將會停用自動緊急制動（AEB）功能。 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. + 在這輛車上，Openpilot 預設使用車輛內建的主動巡航控制（ACC），而非 Openpilot 的縱向控制。啟用此項功能可切換至 Openpilot 的縱向控制。當啟用 Openpilot 縱向控制 Alpha 版本時，建議同時啟用實驗性模式（Experimental mode）。 + + + Aggressive + 積極 + + + Standard + 標準 + + + Relaxed + 舒適 + + + Driving Personality + 駕駛風格 + + + 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. + 推薦使用標準模式。在積極模式中，openpilot 會更靠近前車並在加速和剎車方面更積極。在舒適模式中，openpilot 會與前車保持較遠的距離。 + + + An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. @@ -1074,6 +1106,29 @@ This may take up to a minute. 更新失敗 + + WiFiPromptWidget + + Setup Wi-Fi + 設置 Wi-Fi 連接 + + + Connect to Wi-Fi to upload driving data and help improve openpilot + 請連接至 Wi-Fi 以上傳駕駛數據，並協助改進 openpilot。 + + + Open Settings + 開啟設置 + + + Uploading training data + 正在上傳訓練數據 + + + Your data is used to train driving models and help improve openpilot + 您的數據將用於訓練駕駛模型並協助改進 openpilot + + WifiUI diff --git a/system/hardware/hw.h b/system/hardware/hw.h index 5599e7918..3b0583a10 100644 --- a/system/hardware/hw.h +++ b/system/hardware/hw.h @@ -19,7 +19,7 @@ inline std::string log_root() { return Hardware::PC() ? util::getenv("HOME") + "/.comma/media/0/realdata" : "/data/media/0/realdata"; } inline std::string params() { - return Hardware::PC() ? util::getenv("HOME") + "/.comma/params" : "/data/params"; + return Hardware::PC() ? util::getenv("PARAMS_ROOT", util::getenv("HOME") + "/.comma/params") : "/data/params"; } inline std::string rsa_file() { return Hardware::PC() ? util::getenv("HOME") + "/.comma/persist/comma/id_rsa" : "/persist/comma/id_rsa"; diff --git a/system/hardware/tici/hardware.h b/system/hardware/tici/hardware.h index fba67d96c..580dc83ee 100644 --- a/system/hardware/tici/hardware.h +++ b/system/hardware/tici/hardware.h @@ -77,6 +77,7 @@ public: static std::map get_init_logs() { std::map ret = { {"/BUILD", util::read_file("/BUILD")}, + {"lsblk", util::check_output("lsblk -o NAME,SIZE,STATE,VENDOR,MODEL,REV,SERIAL")}, }; std::string bs = util::check_output("abctl --boot_slot"); diff --git a/system/loggerd/encoder/encoder.cc b/system/loggerd/encoder/encoder.cc index 08eaf0ff0..7ac294886 100644 --- a/system/loggerd/encoder/encoder.cc +++ b/system/loggerd/encoder/encoder.cc @@ -5,9 +5,7 @@ VideoEncoder::~VideoEncoder() {} void VideoEncoder::publisher_init() { // publish - service_name = this->type == DriverCam ? "driverEncodeData" : - (this->type == WideRoadCam ? "wideRoadEncodeData" : - (this->in_width == this->out_width ? "roadEncodeData" : "qRoadEncodeData")); + service_name = this->publish_name; pm.reset(new PubMaster({service_name})); } @@ -38,45 +36,5 @@ void VideoEncoder::publisher_publish(VideoEncoder *e, int segment_num, uint32_t auto words = new kj::Array(capnp::messageToFlatArray(msg)); auto bytes = words->asBytes(); e->pm->send(e->service_name, bytes.begin(), bytes.size()); - if (e->write) { - e->to_write.push(words); - } else { - delete words; - } -} - -// TODO: writing should be moved to loggerd -void VideoEncoder::write_handler(VideoEncoder *e, const char *path) { - VideoWriter writer(path, e->filename, e->codec != cereal::EncodeIndex::Type::FULL_H_E_V_C, e->out_width, e->out_height, e->fps, e->codec); - - bool first = true; - kj::Array* out_buf; - while ((out_buf = e->to_write.pop())) { - capnp::FlatArrayMessageReader cmsg(*out_buf); - cereal::Event::Reader event = cmsg.getRoot(); - - auto edata = (e->type == DriverCam) ? event.getDriverEncodeData() : - ((e->type == WideRoadCam) ? event.getWideRoadEncodeData() : - (e->in_width == e->out_width ? event.getRoadEncodeData() : event.getQRoadEncodeData())); - auto idx = edata.getIdx(); - auto flags = idx.getFlags(); - - if (first) { - assert(flags & V4L2_BUF_FLAG_KEYFRAME); - auto header = edata.getHeader(); - writer.write((uint8_t *)header.begin(), header.size(), idx.getTimestampEof()/1000, true, false); - first = false; - } - - // dangerous cast from const, but should be fine - auto data = edata.getData(); - if (data.size() > 0) { - writer.write((uint8_t *)data.begin(), data.size(), idx.getTimestampEof()/1000, false, flags & V4L2_BUF_FLAG_KEYFRAME); - } - - // free the data - delete out_buf; - } - - // VideoWriter is freed on out of scope + delete words; } diff --git a/system/loggerd/encoder/encoder.h b/system/loggerd/encoder/encoder.h index 88dd5cee2..9ea6b884c 100644 --- a/system/loggerd/encoder/encoder.h +++ b/system/loggerd/encoder/encoder.h @@ -7,7 +7,6 @@ #include "cereal/messaging/messaging.h" #include "cereal/visionipc/visionipc.h" #include "common/queue.h" -#include "system/loggerd/video_writer.h" #include "system/camerad/cameras/camera_common.h" #define V4L2_BUF_FLAG_KEYFRAME 8 @@ -15,9 +14,11 @@ class VideoEncoder { public: VideoEncoder(const char* filename, CameraType type, int in_width, int in_height, int fps, - int bitrate, cereal::EncodeIndex::Type codec, int out_width, int out_height, bool write) + int bitrate, cereal::EncodeIndex::Type codec, int out_width, int out_height, + const char* publish_name) : filename(filename), type(type), in_width(in_width), in_height(in_height), fps(fps), - bitrate(bitrate), codec(codec), out_width(out_width), out_height(out_height), write(write) { } + bitrate(bitrate), codec(codec), out_width(out_width), out_height(out_height), + publish_name(publish_name) { } virtual ~VideoEncoder(); virtual int encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra) = 0; virtual void encoder_open(const char* path) = 0; @@ -26,21 +27,10 @@ public: void publisher_init(); static void publisher_publish(VideoEncoder *e, int segment_num, uint32_t idx, VisionIpcBufExtra &extra, unsigned int flags, kj::ArrayPtr header, kj::ArrayPtr dat); - void writer_open(const char* path) { - if (this->write) write_handler_thread = std::thread(VideoEncoder::write_handler, this, path); - } - - void writer_close() { - if (this->write) { - to_write.push(NULL); - write_handler_thread.join(); - } - assert(to_write.empty()); - } protected: - bool write; const char* filename; + const char* publish_name; int in_width, in_height; int out_width, out_height, fps; int bitrate; @@ -54,9 +44,4 @@ private: // publishing std::unique_ptr pm; const char *service_name; - - // writing support - static void write_handler(VideoEncoder *e, const char *path); - std::thread write_handler_thread; - SafeQueue* > to_write; }; diff --git a/system/loggerd/encoder/ffmpeg_encoder.cc b/system/loggerd/encoder/ffmpeg_encoder.cc index 275da34f1..af05b5df9 100644 --- a/system/loggerd/encoder/ffmpeg_encoder.cc +++ b/system/loggerd/encoder/ffmpeg_encoder.cc @@ -60,7 +60,6 @@ void FfmpegEncoder::encoder_open(const char* path) { int err = avcodec_open2(this->codec_ctx, codec, NULL); assert(err >= 0); - writer_open(path); is_open = true; segment_num++; counter = 0; @@ -69,7 +68,6 @@ void FfmpegEncoder::encoder_open(const char* path) { void FfmpegEncoder::encoder_close() { if (!is_open) return; - writer_close(); avcodec_free_context(&codec_ctx); is_open = false; } diff --git a/system/loggerd/encoder/ffmpeg_encoder.h b/system/loggerd/encoder/ffmpeg_encoder.h index 9095a6e81..6b4b6e104 100644 --- a/system/loggerd/encoder/ffmpeg_encoder.h +++ b/system/loggerd/encoder/ffmpeg_encoder.h @@ -17,8 +17,10 @@ extern "C" { class FfmpegEncoder : public VideoEncoder { public: FfmpegEncoder(const char* filename, CameraType type, int in_width, int in_height, int fps, - int bitrate, cereal::EncodeIndex::Type codec, int out_width, int out_height, bool write) : - VideoEncoder(filename, type, in_width, in_height, fps, bitrate, cereal::EncodeIndex::Type::BIG_BOX_LOSSLESS, out_width, out_height, write) { encoder_init(); } + + int bitrate, cereal::EncodeIndex::Type codec, int out_width, int out_height, + const char* publish_name) : + VideoEncoder(filename, type, in_width, in_height, fps, bitrate, cereal::EncodeIndex::Type::BIG_BOX_LOSSLESS, out_width, out_height, publish_name) { encoder_init(); } ~FfmpegEncoder(); void encoder_init(); int encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra); diff --git a/system/loggerd/encoder/v4l_encoder.cc b/system/loggerd/encoder/v4l_encoder.cc index 16e7246ff..976839eef 100644 --- a/system/loggerd/encoder/v4l_encoder.cc +++ b/system/loggerd/encoder/v4l_encoder.cc @@ -255,7 +255,6 @@ void V4LEncoder::encoder_init() { void V4LEncoder::encoder_open(const char* path) { dequeue_handler_thread = std::thread(V4LEncoder::dequeue_handler, this); - writer_open(path); this->is_open = true; this->counter = 0; } @@ -288,7 +287,6 @@ void V4LEncoder::encoder_close() { // join waits for V4L2_QCOM_BUF_FLAG_EOS dequeue_handler_thread.join(); assert(extras.empty()); - writer_close(); } this->is_open = false; } diff --git a/system/loggerd/encoder/v4l_encoder.h b/system/loggerd/encoder/v4l_encoder.h index d4b0a1211..b0af4039f 100644 --- a/system/loggerd/encoder/v4l_encoder.h +++ b/system/loggerd/encoder/v4l_encoder.h @@ -9,8 +9,8 @@ class V4LEncoder : public VideoEncoder { public: V4LEncoder(const char* filename, CameraType type, int in_width, int in_height, int fps, - int bitrate, cereal::EncodeIndex::Type codec, int out_width, int out_height, bool write) : - VideoEncoder(filename, type, in_width, in_height, fps, bitrate, codec, out_width, out_height, write) { encoder_init(); } + int bitrate, cereal::EncodeIndex::Type codec, int out_width, int out_height, const char* publish_name) : + VideoEncoder(filename, type, in_width, in_height, fps, bitrate, codec, out_width, out_height, publish_name) { encoder_init(); } ~V4LEncoder(); void encoder_init(); int encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra); diff --git a/system/loggerd/encoderd.cc b/system/loggerd/encoderd.cc index 12b58b659..b4f0b913e 100644 --- a/system/loggerd/encoderd.cc +++ b/system/loggerd/encoderd.cc @@ -35,7 +35,7 @@ bool sync_encoders(EncoderdState *s, CameraType cam_type, uint32_t frame_id) { void encoder_thread(EncoderdState *s, const LogCameraInfo &cam_info) { - util::set_thread_name(cam_info.filename); + util::set_thread_name(cam_info.thread_name); std::vector encoders; VisionIpcClient vipc_client = VisionIpcClient("camerad", cam_info.stream_type, false); @@ -50,20 +50,15 @@ void encoder_thread(EncoderdState *s, const LogCameraInfo &cam_info) { // init encoders if (encoders.empty()) { VisionBuf buf_info = vipc_client.buffers[0]; - LOGW("encoder %s init %dx%d", cam_info.filename, buf_info.width, buf_info.height); + LOGW("encoder %s init %dx%d", cam_info.thread_name, buf_info.width, buf_info.height); if (buf_info.width > 0 && buf_info.height > 0) { - // main encoder - encoders.push_back(new Encoder(cam_info.filename, cam_info.type, buf_info.width, buf_info.height, - cam_info.fps, cam_info.bitrate, - cam_info.is_h265 ? cereal::EncodeIndex::Type::FULL_H_E_V_C : cereal::EncodeIndex::Type::QCAMERA_H264, - buf_info.width, buf_info.height, false)); - // qcamera encoder - if (cam_info.has_qcamera) { - encoders.push_back(new Encoder(qcam_info.filename, cam_info.type, buf_info.width, buf_info.height, - qcam_info.fps, qcam_info.bitrate, - qcam_info.is_h265 ? cereal::EncodeIndex::Type::FULL_H_E_V_C : cereal::EncodeIndex::Type::QCAMERA_H264, - qcam_info.frame_width, qcam_info.frame_height, false)); + for (const auto &encoder_info: cam_info.encoder_infos){ + encoders.push_back(new Encoder(encoder_info.filename, cam_info.type, buf_info.width, buf_info.height, + encoder_info.fps, encoder_info.bitrate, + encoder_info.encode_type, + encoder_info.frame_width, encoder_info.frame_height, + encoder_info.publish_name)); } } else { LOGE("not initting empty encoder"); @@ -85,7 +80,7 @@ void encoder_thread(EncoderdState *s, const LogCameraInfo &cam_info) { // detect loop around and drop the frames if (buf->get_frame_id() != extra.frame_id) { if (!lagging) { - LOGE("encoder %s lag buffer id: %d extra id: %d", cam_info.filename, buf->get_frame_id(), extra.frame_id); + LOGE("encoder %s lag buffer id: %d extra id: %d", cam_info.thread_name, buf->get_frame_id(), extra.frame_id); lagging = true; } continue; diff --git a/system/loggerd/loggerd.cc b/system/loggerd/loggerd.cc index a7f7db480..9ad368761 100644 --- a/system/loggerd/loggerd.cc +++ b/system/loggerd/loggerd.cc @@ -58,18 +58,13 @@ struct RemoteEncoder { bool seen_first_packet = false; }; -int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct RemoteEncoder &re) { - const LogCameraInfo &cam_info = (name == "driverEncodeData") ? cameras_logged[1] : - ((name == "wideRoadEncodeData") ? cameras_logged[2] : - ((name == "qRoadEncodeData") ? qcam_info : cameras_logged[0])); +int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct RemoteEncoder &re, EncoderInfo encoder_info) { int bytes_count = 0; // extract the message capnp::FlatArrayMessageReader cmsg(kj::ArrayPtr((capnp::word *)msg->getData(), msg->getSize() / sizeof(capnp::word))); auto event = cmsg.getRoot(); - auto edata = (name == "driverEncodeData") ? event.getDriverEncodeData() : - ((name == "wideRoadEncodeData") ? event.getWideRoadEncodeData() : - ((name == "qRoadEncodeData") ? event.getQRoadEncodeData() : event.getRoadEncodeData())); + auto edata = (event.*(encoder_info.get_encode_data_func))(); auto idx = edata.getIdx(); auto flags = idx.getFlags(); @@ -95,7 +90,7 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct // we are in this segment now, process any queued messages before this one if (!re.q.empty()) { for (auto &qmsg: re.q) { - bytes_count += handle_encoder_msg(s, qmsg, name, re); + bytes_count += handle_encoder_msg(s, qmsg, name, re, encoder_info); } re.q.clear(); } @@ -111,10 +106,10 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct re.dropped_frames = 0; } // if we aren't actually recording, don't create the writer - if (cam_info.record) { + if (encoder_info.record) { re.writer.reset(new VideoWriter(s->segment_path, - cam_info.filename, idx.getType() != cereal::EncodeIndex::Type::FULL_H_E_V_C, - cam_info.frame_width, cam_info.frame_height, cam_info.fps, idx.getType())); + encoder_info.filename, idx.getType() != cereal::EncodeIndex::Type::FULL_H_E_V_C, + encoder_info.frame_width, encoder_info.frame_height, encoder_info.fps, idx.getType())); // write the header auto header = edata.getHeader(); re.writer->write((uint8_t *)header.begin(), header.size(), idx.getTimestampEof()/1000, true, false); @@ -142,10 +137,7 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct MessageBuilder bmsg; auto evt = bmsg.initEvent(event.getValid()); evt.setLogMonoTime(event.getLogMonoTime()); - if (name == "driverEncodeData") { evt.setDriverEncodeIdx(idx); } - if (name == "wideRoadEncodeData") { evt.setWideRoadEncodeIdx(idx); } - if (name == "qRoadEncodeData") { evt.setQRoadEncodeIdx(idx); } - if (name == "roadEncodeData") { evt.setRoadEncodeIdx(idx); } + (evt.*(encoder_info.set_encode_idx_func))(idx); auto new_msg = bmsg.toBytes(); logger_log(&s->logger, (uint8_t *)new_msg.begin(), new_msg.size(), true); // always in qlog? bytes_count += new_msg.size(); @@ -211,11 +203,12 @@ void loggerd_thread() { logger_rotate(&s); Params().put("CurrentRoute", s.logger.route_name); - // init encoders - s.last_camera_seen_tms = millis_since_boot(); + std::map encoder_infos_dict; for (const auto &cam : cameras_logged) { - s.max_waiting++; - if (cam.has_qcamera) { s.max_waiting++; } + for (const auto &encoder_info: cam.encoder_infos) { + encoder_infos_dict[encoder_info.publish_name] = encoder_info; + s.max_waiting++; + } } uint64_t msg_count = 0, bytes_count = 0; @@ -234,7 +227,7 @@ void loggerd_thread() { if (qs.encoder) { s.last_camera_seen_tms = millis_since_boot(); - bytes_count += handle_encoder_msg(&s, msg, qs.name, remote_encoders[sock]); + bytes_count += handle_encoder_msg(&s, msg, qs.name, remote_encoders[sock], encoder_infos_dict[qs.name]); } else { logger_log(&s.logger, (uint8_t *)msg->getData(), msg->getSize(), in_qlog); bytes_count += msg->getSize(); diff --git a/system/loggerd/loggerd.h b/system/loggerd/loggerd.h index 1b8f9e0d2..579b079db 100644 --- a/system/loggerd/loggerd.h +++ b/system/loggerd/loggerd.h @@ -35,69 +35,87 @@ constexpr int MAIN_FPS = 20; const int MAIN_BITRATE = 10000000; -const int DCAM_BITRATE = MAIN_BITRATE; #define NO_CAMERA_PATIENCE 500 // fall back to time-based rotation if all cameras are dead const bool LOGGERD_TEST = getenv("LOGGERD_TEST"); const int SEGMENT_LENGTH = LOGGERD_TEST ? atoi(getenv("LOGGERD_SEGMENT_LENGTH")) : 60; -struct LogCameraInfo { - CameraType type; +class EncoderInfo { +public: + const char *publish_name; const char *filename; - VisionStreamType stream_type; - int frame_width, frame_height; - int fps; - int bitrate; - bool is_h265; - bool has_qcamera; - bool record; + bool record = true; + int frame_width = 1928; + int frame_height = 1208; + int fps = MAIN_FPS; + int bitrate = MAIN_BITRATE; + cereal::EncodeIndex::Type encode_type = cereal::EncodeIndex::Type::FULL_H_E_V_C; + ::cereal::EncodeData::Reader (cereal::Event::Reader::*get_encode_data_func)() const; + void (cereal::Event::Builder::*set_encode_idx_func)(::cereal::EncodeIndex::Reader); }; -const LogCameraInfo cameras_logged[] = { - { - .type = RoadCam, - .stream_type = VISION_STREAM_ROAD, - .filename = "fcamera.hevc", - .fps = MAIN_FPS, - .bitrate = MAIN_BITRATE, - .is_h265 = true, - .has_qcamera = true, - .record = true, - .frame_width = 1928, - .frame_height = 1208, - }, - { - .type = DriverCam, - .stream_type = VISION_STREAM_DRIVER, - .filename = "dcamera.hevc", - .fps = MAIN_FPS, - .bitrate = DCAM_BITRATE, - .is_h265 = true, - .has_qcamera = false, - .record = Params().getBool("RecordFront"), - .frame_width = 1928, - .frame_height = 1208, - }, - { - .type = WideRoadCam, - .stream_type = VISION_STREAM_WIDE_ROAD, - .filename = "ecamera.hevc", - .fps = MAIN_FPS, - .bitrate = MAIN_BITRATE, - .is_h265 = true, - .has_qcamera = false, - .record = true, - .frame_width = 1928, - .frame_height = 1208, - }, +class LogCameraInfo { +public: + const char *thread_name; + int fps = MAIN_FPS; + CameraType type; + VisionStreamType stream_type; + std::vector encoder_infos; }; -const LogCameraInfo qcam_info = { + +const EncoderInfo main_road_encoder_info = { + .publish_name = "roadEncodeData", + .filename = "fcamera.hevc", + .get_encode_data_func = &cereal::Event::Reader::getRoadEncodeData, + .set_encode_idx_func = &cereal::Event::Builder::setRoadEncodeIdx, +}; +const EncoderInfo main_wide_road_encoder_info = { + .publish_name = "wideRoadEncodeData", + .filename = "ecamera.hevc", + .get_encode_data_func = &cereal::Event::Reader::getWideRoadEncodeData, + .set_encode_idx_func = &cereal::Event::Builder::setWideRoadEncodeIdx, +}; +const EncoderInfo main_driver_encoder_info = { + .publish_name = "driverEncodeData", + .filename = "dcamera.hevc", + .record = Params().getBool("RecordFront"), + .get_encode_data_func = &cereal::Event::Reader::getDriverEncodeData, + .set_encode_idx_func = &cereal::Event::Builder::setDriverEncodeIdx, +}; + +const EncoderInfo qcam_encoder_info = { + .publish_name = "qRoadEncodeData", .filename = "qcamera.ts", - .fps = MAIN_FPS, .bitrate = 256000, - .is_h265 = false, - .record = true, + .encode_type = cereal::EncodeIndex::Type::QCAMERA_H264, .frame_width = 526, .frame_height = 330, + .get_encode_data_func = &cereal::Event::Reader::getQRoadEncodeData, + .set_encode_idx_func = &cereal::Event::Builder::setQRoadEncodeIdx, }; + + +const LogCameraInfo road_camera_info{ + .thread_name = "road_cam_encoder", + .type = RoadCam, + .stream_type = VISION_STREAM_ROAD, + .encoder_infos = {main_road_encoder_info, qcam_encoder_info} + }; + +const LogCameraInfo wide_road_camera_info{ + .thread_name = "wide_road_cam_encoder", + .type = WideRoadCam, + .stream_type = VISION_STREAM_WIDE_ROAD, + .encoder_infos = {main_wide_road_encoder_info} + }; + +const LogCameraInfo driver_camera_info{ + .thread_name = "driver_cam_encoder", + .type = DriverCam, + .stream_type = VISION_STREAM_DRIVER, + .encoder_infos = {main_driver_encoder_info} + }; + +const LogCameraInfo cameras_logged[] = {road_camera_info, wide_road_camera_info, driver_camera_info}; + diff --git a/system/logmessaged.py b/system/logmessaged.py index 280a23cf1..04101d042 100755 --- a/system/logmessaged.py +++ b/system/logmessaged.py @@ -12,7 +12,7 @@ def main() -> NoReturn: log_handler.setFormatter(SwagLogFileFormatter(None)) log_level = 20 # logging.INFO - ctx = zmq.Context().instance() + ctx = zmq.Context.instance() sock = ctx.socket(zmq.PULL) sock.bind("ipc:///tmp/logmessage") @@ -20,23 +20,37 @@ def main() -> NoReturn: log_message_sock = messaging.pub_sock('logMessage') error_log_message_sock = messaging.pub_sock('errorLogMessage') - while True: - dat = b''.join(sock.recv_multipart()) - level = dat[0] - record = dat[1:].decode("utf-8") - if level >= log_level: - log_handler.emit(record) + try: + while True: + dat = b''.join(sock.recv_multipart()) + level = dat[0] + record = dat[1:].decode("utf-8") + if level >= log_level: + log_handler.emit(record) - # then we publish them - msg = messaging.new_message() - msg.logMessage = record - log_message_sock.send(msg.to_bytes()) + if len(record) > 2*1024*1024: + print("WARNING: log too big to publish", len(record)) + print(print(record[:100])) + continue - if level >= 40: # logging.ERROR + # then we publish them msg = messaging.new_message() - msg.errorLogMessage = record - error_log_message_sock.send(msg.to_bytes()) + msg.logMessage = record + log_message_sock.send(msg.to_bytes()) + if level >= 40: # logging.ERROR + msg = messaging.new_message() + msg.errorLogMessage = record + error_log_message_sock.send(msg.to_bytes()) + finally: + sock.close() + ctx.term() + + # can hit this if interrupted during a rollover + try: + log_handler.close() + except ValueError: + pass if __name__ == "__main__": main() diff --git a/system/sensord/rawgps/rawgpsd.py b/system/sensord/rawgps/rawgpsd.py index 8f243af9a..46f5cf83c 100755 --- a/system/sensord/rawgps/rawgpsd.py +++ b/system/sensord/rawgps/rawgpsd.py @@ -5,7 +5,9 @@ import signal import itertools import math import time +import pycurl import subprocess +from datetime import datetime from typing import NoReturn from struct import unpack_from, calcsize, pack @@ -107,6 +109,54 @@ def gps_enabled() -> bool: except subprocess.CalledProcessError as exc: raise Exception("failed to execute QGPS mmcli command") from exc +def download_and_inject_assistance(): + assist_data_file = '/tmp/xtra3grc.bin' + assistance_url = 'http://xtrapath3.izatcloud.net/xtra3grc.bin' + + try: + # download assistance + try: + c = pycurl.Curl() + c.setopt(pycurl.URL, assistance_url) + c.setopt(pycurl.NOBODY, 1) + c.setopt(pycurl.CONNECTTIMEOUT, 2) + c.perform() + bytes_n = c.getinfo(pycurl.CONTENT_LENGTH_DOWNLOAD) + c.close() + if bytes_n > 1e5: + cloudlog.error("Qcom assistance data larger than expected") + return + + with open(assist_data_file, 'wb') as fp: + c = pycurl.Curl() + c.setopt(pycurl.URL, assistance_url) + c.setopt(pycurl.CONNECTTIMEOUT, 5) + + c.setopt(pycurl.WRITEDATA, fp) + c.perform() + c.close() + except pycurl.error: + cloudlog.exception("Failed to download assistance file") + return + + # inject into module + try: + 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") + except subprocess.CalledProcessError as e: + cloudlog.event( + "rawgps.assistance_loading_failed", + error=True, + cmd=e.cmd, + output=e.output, + returncode=e.returncode + ) + finally: + if os.path.exists(assist_data_file): + os.remove(assist_data_file) + + def setup_quectel(diag: ModemDiag): # enable OEMDRE in the NV # TODO: it has to reboot for this to take effect @@ -120,13 +170,20 @@ def setup_quectel(diag: ModemDiag): if gps_enabled(): at_cmd("AT+QGPSEND") + #at_cmd("AT+QGPSDEL=0") # 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") - at_cmd("AT+QGPSSUPLURL=\"supl.google.com:7275\"") + # Do internet assistance + at_cmd("AT+QGPSXTRA=1") + download_and_inject_assistance() + #at_cmd("AT+QGPSXTRADATA?") + time_str = datetime.utcnow().strftime("%Y/%m/%d,%H:%M:%S") + at_cmd(f"AT+QGPSXTRATIME=0,\"{time_str}\",1,1,1000") + at_cmd("AT+QGPSCFG=\"outport\",\"usbnmea\"") at_cmd("AT+QGPS=1") diff --git a/system/ubloxd/ublox_msg.cc b/system/ubloxd/ublox_msg.cc index a01187d56..92a2ba678 100644 --- a/system/ubloxd/ublox_msg.cc +++ b/system/ubloxd/ublox_msg.cc @@ -112,8 +112,7 @@ std::pair> UbloxMsgParser::gen_msg() { case 0x0a0b: return {"ubloxGnss", gen_mon_hw2(static_cast(body))}; case 0x0135: - // TODO return {"ubloxGnss", gen_nav_sat(static_cast(body))}; - return {"ubloxGnss", kj::Array()}; + return {"ubloxGnss", gen_nav_sat(static_cast(body))}; default: LOGE("Unknown message type %x", ubx_message.msg_type()); return {"ubloxGnss", kj::Array()}; diff --git a/tools/lib/helpers.py b/tools/lib/helpers.py index efe704b9e..067b64b6a 100644 --- a/tools/lib/helpers.py +++ b/tools/lib/helpers.py @@ -1,3 +1,4 @@ +import bz2 import datetime TIME_FMT = "%Y-%m-%d--%H-%M-%S" @@ -13,8 +14,19 @@ class RE: EXPLORER_FILE = r'^(?P{})--(?P[a-z]+\.[a-z0-9]+)$'.format(SEGMENT_NAME) OP_SEGMENT_DIR = r'^(?P{})$'.format(SEGMENT_NAME) + def timestamp_to_datetime(t: str) -> datetime.datetime: """ Convert an openpilot route timestamp to a python datetime """ return datetime.datetime.strptime(t, TIME_FMT) + + +def save_log(dest, log_msgs, compress=True): + dat = b"".join(msg.as_builder().to_bytes() for msg in log_msgs) + + if compress: + dat = bz2.compress(dat) + + with open(dest, "wb") as f: + f.write(dat) diff --git a/tools/replay/logreader.cc b/tools/replay/logreader.cc index e3d507141..3313e11d4 100644 --- a/tools/replay/logreader.cc +++ b/tools/replay/logreader.cc @@ -68,20 +68,16 @@ bool LogReader::parse(const std::set &allow, std::atomic words((const capnp::word *)raw_.data(), raw_.size() / sizeof(capnp::word)); while (words.size() > 0 && !(abort && *abort)) { - if (!allow.empty()) { - capnp::FlatArrayMessageReader reader(words); - auto which = reader.getRoot().which(); - if (allow.find(which) == allow.end()) { - words = kj::arrayPtr(reader.getEnd(), words.end()); - continue; - } - } - #ifdef HAS_MEMORY_RESOURCE Event *evt = new (mbr_) Event(words); #else Event *evt = new Event(words); #endif + if (!allow.empty() && allow.find(evt->which) == allow.end()) { + delete evt; + words = kj::arrayPtr(evt->reader.getEnd(), words.end()); + continue; + } // Add encodeIdx packet again as a frame packet for the video stream if (evt->which == cereal::Event::ROAD_ENCODE_IDX || diff --git a/tools/replay/main.cc b/tools/replay/main.cc index 6b624aa1f..78be2acd0 100644 --- a/tools/replay/main.cc +++ b/tools/replay/main.cc @@ -8,6 +8,7 @@ int main(int argc, char *argv[]) { QCoreApplication app(argc, argv); + const QStringList base_blacklist = {"uiDebug", "userFlag"}; const std::tuple flags[] = { {"dcam", REPLAY_FLAG_DCAM, "load driver camera"}, {"ecam", REPLAY_FLAG_ECAM, "load wide road camera"}, @@ -16,6 +17,8 @@ int main(int argc, char *argv[]) { {"qcam", REPLAY_FLAG_QCAMERA, "load qcamera"}, {"no-hw-decoder", REPLAY_FLAG_NO_HW_DECODER, "disable HW video decoding"}, {"no-vipc", REPLAY_FLAG_NO_VIPC, "do not output video"}, + {"all", REPLAY_FLAG_ALL_SERVICES, "do output all messages including " + base_blacklist.join(", ") + + ". this may causes issues when used along with UI"} }; QCommandLineParser parser; @@ -56,7 +59,7 @@ int main(int argc, char *argv[]) { op_prefix.reset(new OpenpilotPrefix(prefix.toStdString())); } - Replay *replay = new Replay(route, allow, block, nullptr, replay_flags, parser.value("data_dir"), &app); + Replay *replay = new Replay(route, allow, block, base_blacklist, nullptr, replay_flags, parser.value("data_dir"), &app); if (!parser.value("c").isEmpty()) { replay->setSegmentCacheLimit(parser.value("c").toInt()); } diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc index b68330f68..28adcffb9 100644 --- a/tools/replay/replay.cc +++ b/tools/replay/replay.cc @@ -10,14 +10,20 @@ #include "system/hardware/hw.h" #include "tools/replay/util.h" -Replay::Replay(QString route, QStringList allow, QStringList block, SubMaster *sm_, uint32_t flags, QString data_dir, QObject *parent) +Replay::Replay(QString route, QStringList allow, QStringList block, QStringList base_blacklist, SubMaster *sm_, uint32_t flags, QString data_dir, QObject *parent) : sm(sm_), flags_(flags), QObject(parent) { std::vector s; auto event_struct = capnp::Schema::from().asStruct(); sockets_.resize(event_struct.getUnionFields().size()); for (const auto &it : services) { + uint16_t which = event_struct.getFieldByName(it.name).getProto().getDiscriminantValue(); + if ((which == cereal::Event::Which::UI_DEBUG || which == cereal::Event::Which::USER_FLAG) && + !(flags & REPLAY_FLAG_ALL_SERVICES) && + !allow.contains(it.name)) { + continue; + } + if ((allow.empty() || allow.contains(it.name)) && !block.contains(it.name)) { - uint16_t which = event_struct.getFieldByName(it.name).getProto().getDiscriminantValue(); sockets_[which] = it.name; if (!allow.empty() || !block.empty()) { allow_list.insert((cereal::Event::Which)which); @@ -30,6 +36,9 @@ Replay::Replay(QString route, QStringList allow, QStringList block, SubMaster *s // the following events are needed for replay to work properly. allow_list.insert(cereal::Event::Which::INIT_DATA); allow_list.insert(cereal::Event::Which::CAR_PARAMS); + if (sockets_[cereal::Event::Which::PANDA_STATES] != nullptr) { + allow_list.insert(cereal::Event::Which::PANDA_STATE_D_E_P_R_E_C_A_T_E_D); + } } qDebug() << "services " << s; @@ -128,8 +137,18 @@ void Replay::seekToFlag(FindFlag flag) { void Replay::buildTimeline() { uint64_t engaged_begin = 0; + bool engaged = false; + + auto alert_status = cereal::ControlsState::AlertStatus::NORMAL; + auto alert_size = cereal::ControlsState::AlertSize::NONE; uint64_t alert_begin = 0; - TimelineType alert_type = TimelineType::None; + std::string alert_type; + + const TimelineType timeline_types[] = { + [(int)cereal::ControlsState::AlertStatus::NORMAL] = TimelineType::AlertInfo, + [(int)cereal::ControlsState::AlertStatus::USER_PROMPT] = TimelineType::AlertWarning, + [(int)cereal::ControlsState::AlertStatus::CRITICAL] = TimelineType::AlertCritical, + }; for (auto it = segments_.cbegin(); it != segments_.cend() && !exit_; ++it) { LogReader log; @@ -141,26 +160,24 @@ void Replay::buildTimeline() { if (e->which == cereal::Event::Which::CONTROLS_STATE) { auto cs = e->event.getControlsState(); - if (!engaged_begin && cs.getEnabled()) { + if (engaged != cs.getEnabled()) { + if (engaged) { + std::lock_guard lk(timeline_lock); + timeline.push_back({toSeconds(engaged_begin), toSeconds(e->mono_time), TimelineType::Engaged}); + } engaged_begin = e->mono_time; - } else if (engaged_begin && !cs.getEnabled()) { - std::lock_guard lk(timeline_lock); - timeline.push_back({toSeconds(engaged_begin), toSeconds(e->mono_time), TimelineType::Engaged}); - engaged_begin = 0; + engaged = cs.getEnabled(); } - if (!alert_begin && cs.getAlertType().size() > 0) { - alert_begin = e->mono_time; - alert_type = TimelineType::AlertInfo; - if (cs.getAlertStatus() != cereal::ControlsState::AlertStatus::NORMAL) { - alert_type = cs.getAlertStatus() == cereal::ControlsState::AlertStatus::USER_PROMPT - ? TimelineType::AlertWarning - : TimelineType::AlertCritical; + if (alert_type != cs.getAlertType().cStr() || alert_status != cs.getAlertStatus()) { + if (!alert_type.empty() && alert_size != cereal::ControlsState::AlertSize::NONE) { + std::lock_guard lk(timeline_lock); + timeline.push_back({toSeconds(alert_begin), toSeconds(e->mono_time), timeline_types[(int)alert_status]}); } - } else if (alert_begin && cs.getAlertType().size() == 0) { - std::lock_guard lk(timeline_lock); - timeline.push_back({toSeconds(alert_begin), toSeconds(e->mono_time), alert_type}); - alert_begin = 0; + alert_begin = e->mono_time; + alert_type = cs.getAlertType().cStr(); + alert_size = cs.getAlertSize(); + alert_status = cs.getAlertStatus(); } } else if (e->which == cereal::Event::Which::USER_FLAG) { std::lock_guard lk(timeline_lock); diff --git a/tools/replay/replay.h b/tools/replay/replay.h index 2bb426361..b7704132c 100644 --- a/tools/replay/replay.h +++ b/tools/replay/replay.h @@ -22,6 +22,7 @@ enum REPLAY_FLAGS { REPLAY_FLAG_NO_HW_DECODER = 0x0100, REPLAY_FLAG_FULL_SPEED = 0x0200, REPLAY_FLAG_NO_VIPC = 0x0400, + REPLAY_FLAG_ALL_SERVICES = 0x0800, }; enum class FindFlag { @@ -40,7 +41,7 @@ class Replay : public QObject { Q_OBJECT public: - Replay(QString route, QStringList allow, QStringList block, SubMaster *sm = nullptr, + Replay(QString route, QStringList allow, QStringList block, QStringList base_blacklist, SubMaster *sm = nullptr, uint32_t flags = REPLAY_FLAG_NONE, QString data_dir = "", QObject *parent = 0); ~Replay(); bool load(); @@ -67,7 +68,7 @@ public: inline QDateTime currentDateTime() const { return route_->datetime().addSecs(currentSeconds()); } inline uint64_t routeStartTime() const { return route_start_ts_; } inline int toSeconds(uint64_t mono_time) const { return (mono_time - route_start_ts_) / 1e9; } - inline int totalSeconds() const { return segments_.size() * 60; } + inline int totalSeconds() const { return (!segments_.empty()) ? (segments_.rbegin()->first + 1) * 60 : 0; } inline void setSpeed(float speed) { speed_ = speed; } inline float getSpeed() const { return speed_; } inline const std::vector *events() const { return events_.get(); }