openpilot v0.3.4 tweaks

Revert "Pulled in new panda firmware and updated boardd to support the changes."

.editorconfig

@@ -1,11 +0,0 @@
-root = true
-
-[*]
-end_of_line = lf
-insert_final_newline = true
-trim_trailing_whitespace = true
-
-[*.{py,pyx,pxd}]
-charset = utf-8
-indent_style = space
-indent_size = 2

.gitattributes

@@ -1,59 +0,0 @@
-* text=auto eol=lf
-
-# Binary resources are ordinary Git blobs.
-*.onnx -text
-openpilot/selfdrive/modeld/models/big_*_tinygrad.pkl -text
-*.svg -text
-*.png -text
-*.gif -text
-*.ttf -text
-*.otf -text
-*.woff -text
-*.woff2 -text
-*.wav -text
-openpilot/starpilot/galaxy/web/vendor/vue/vue.esm-browser.js -text
-*.apk -text
-openpilot/starpilot/galaxy/bin/hev-socks5-tunnel_linux_arm64 -text
-openpilot/starpilot/soloist/pulseaudio/bin/pulseaudio -text
-openpilot/starpilot/soloist/pulseaudio/bin/pactl -text
-openpilot/starpilot/soloist/bluealsa/bin/bluealsa-aplay -text
-openpilot/starpilot/soloist/bluealsa/bin/bluealsad -text
-
-openpilot/selfdrive/car/tests/test_models_segs.txt -text
-openpilot/common/hardware/comma/updater -text
-
-# Dependency snapshots keep their own storage attributes.
-msgq_repo/** !filter !diff !merge -text
-opendbc_repo/** !filter !diff !merge -text
-panda/** !filter !diff !merge -text
-rednose_repo/** !filter !diff !merge -text
-teleoprtc_repo/** !filter !diff !merge -text
-tinygrad_repo/** !filter !diff !merge -text
-tinygrad_model_runtime/** !filter !diff !merge -text
-
-# Compiled model parts must retain exact binary bytes.
-*.pkl.chunk* -text
-*.pkl -text
-
-# Native release artifacts must retain exact binary bytes.
-*.a -text
-*.so -text
-*.so.* -text
-openpilot/cereal/messaging/bridge -text
-openpilot/selfdrive/pandad/pandad -text
-openpilot/tools/replay/replay -text
-openpilot/system/camerad/camerad -text
-openpilot/system/loggerd/bootlog -text
-openpilot/system/loggerd/encoderd -text
-openpilot/system/loggerd/loggerd -text
-openpilot/starpilot/galaxy/bin/frpc_linux_arm64 -text
-openpilot/starpilot/maps/provider/mapd -text
-openpilot/selfdrive/test/process_replay/refs/starpilot/*.zst -text
-
-# Published Panda object files are AArch64 ELF, not text.
-openpilot/selfdrive/pandad/main.o -text
-openpilot/selfdrive/pandad/panda.o -text
-openpilot/selfdrive/pandad/panda_safety.o -text
-openpilot/selfdrive/pandad/panda_usb.o -text
-openpilot/selfdrive/pandad/pandad.o -text
-openpilot/selfdrive/pandad/spi.o -text

.github/FUNDING.yml

@@ -1,6 +0,0 @@
-github: firestar5683
-patreon: firestar4430
-custom:
-  - "https://cash.app/$domkthompson"
-  - "https://account.venmo.com/u/firestar4430"
-  - "https://www.paypal.com/paypalme/firestar4430"

.github/ISSUE_TEMPLATE/bug_report.yml

@@ -1,47 +0,0 @@
-name: Bug report
-description: For issues with running openpilot on your comma device
-labels: ["bug"]
-body:
-
-  - type: markdown
-    attributes:
-      value: >
-        Before creating a **bug report**, please check the following:
-          * If the issue likely only affects your car model or make, go back and open a **car bug report** instead.
-          * If the issue is related to the driving or driver monitoring models, you should open a [discussion](https://github.com/commaai/openpilot/discussions/categories/model-feedback) instead.
-          * Ensure you're running the latest openpilot release.
-          * Ensure you're using officially supported hardware. Issues running on PCs have a different issue template.
-          * Ensure there isn't an existing issue for your bug. If there is, leave a comment on the existing issue.
-          * Ensure you're running stock openpilot. We cannot look into bug reports from forks.
-
-        If you're unsure whether you've hit a bug, check out the #installation-help channel in the [community Discord server](https://discord.comma.ai).
-
-  - type: textarea
-    attributes:
-      label: Describe the bug
-      description: Also include a description of how to reproduce the bug
-    validations:
-      required: true
-
-  - type: input
-    id: route
-    attributes:
-      label: Provide a route where the issue occurs
-      description: Ensure the route is fully uploaded at https://useradmin.comma.ai. We cannot look into issues without routes, or at least a Dongle ID.
-      placeholder: 77611a1fac303767|2020-05-11--16-37-07
-    validations:
-      required: true
-
-  - type: input
-    id: version
-    attributes:
-      label: openpilot version
-      description: If you're not on release, provide the commit hash
-      placeholder: 0.8.10
-    validations:
-      required: true
-
-  - type: textarea
-    attributes:
-      label: Additional info
-

.github/ISSUE_TEMPLATE/config.yml

@@ -1,14 +0,0 @@
-blank_issues_enabled: false
-contact_links:
-  - name: Car bug report
-    url: https://github.com/commaai/opendbc/issues/new
-    about: For issues with a particular car make or model
-  - name: Join the Discord
-    url: https://discord.comma.ai
-    about: The community Discord is for both openpilot development and experience discussion
-  - name: Report driving behavior feedback
-    url: https://discord.com/channels/469524606043160576/1254834193066623017
-    about: Feedback for the driving and driver monitoring models goes in the #driving-feedback in Discord
-  - name: Community Wiki
-    url: https://github.com/commaai/openpilot/wiki
-    about: Check out our community wiki

.github/ISSUE_TEMPLATE/pc_bug_report.yml

@@ -1,42 +0,0 @@
-name: PC bug report
-description: For issues with running openpilot on PC
-labels: ["PC"]
-body:
-
-  - type: markdown
-    attributes:
-      value: >
-        Before creating a **bug report**, please check the following:
-          * Ensure you're running the latest openpilot release.
-          * Ensure there isn't an existing issue for your bug. If there is, leave a comment on the existing issue.
-          * Ensure you're running stock openpilot. We cannot look into bug reports from forks.
-
-        If you're unsure whether you've hit a bug, check out the #installation-help channel in the [community Discord server](https://discord.comma.ai).
-
-  - type: textarea
-    attributes:
-      label: Describe the bug
-      description: Also include a description of how to reproduce the bug
-    validations:
-      required: true
-
-  - type: input
-    id: os-version
-    attributes:
-      label: OS Version
-      placeholder: Ubuntu 24.04
-    validations:
-      required: true
-
-  - type: input
-    id: version
-    attributes:
-      label: openpilot version or commit
-      placeholder: bd36f2ec8d3559909678eff2690c10a520938367
-    validations:
-      required: false
-
-  - type: textarea
-    attributes:
-      label: Additional info
-

.github/labeler.yaml

@@ -1,27 +0,0 @@
-CI / testing:
-  - changed-files:
-    - any-glob-to-all-files: "{.github/**,**/test_*,**/test/**,Jenkinsfile}"
-
-car:
-  - changed-files:
-    - any-glob-to-all-files: '{openpilot/selfdrive/car/**,opendbc_repo}'
-
-simulation:
-  - changed-files:
-    - any-glob-to-all-files: 'openpilot/tools/sim/**'
-
-ui:
-  - changed-files:
-    - any-glob-to-all-files: '{openpilot/selfdrive/assets/**,openpilot/selfdrive/ui/**,openpilot/system/ui/**}'
-
-tools:
-  - changed-files:
-    - any-glob-to-all-files: 'openpilot/tools/**'
-
-multilanguage:
-  - changed-files:
-    - any-glob-to-all-files: 'openpilot/selfdrive/ui/translations/**'
-
-autonomy:
-  - changed-files:
-    - any-glob-to-all-files: "{openpilot/selfdrive/modeld/models/**,openpilot/selfdrive/test/process_replay/model_replay_ref_commit}"

.github/workflows/auto_pr_review.yaml

@@ -1,33 +0,0 @@
-name: "PR review"
-on:
-  pull_request_target:
-    types: [opened, reopened, synchronize, edited]
-
-jobs:
-  labeler:
-    name: review
-    permissions:
-      contents: read
-      pull-requests: write
-    runs-on: ubuntu-latest
-    steps:
-    - uses: actions/checkout@v7
-
-    # Label PRs
-    - uses: actions/labeler@v6
-      with:
-        dot: true
-        configuration-path: .github/labeler.yaml
-
-    # Check PR target branch
-    - name: check branch
-      uses: Vankka/pr-target-branch-action@5da68a42bcb7b43d39104295a876a6f3f8d7908b
-      if: github.repository == 'commaai/openpilot'
-      env:
-        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-      with:
-        target: /^(?!master$).*/
-        exclude: /commaai:.*/
-        change-to: ${{ github.base_ref }}
-        already-exists-action: close_this
-        already-exists-comment: "Your PR should be made against the `master` branch"

.github/workflows/diff_report.yaml

@@ -1,58 +0,0 @@
-name: diff report
-
-on:
-  pull_request_target:
-    types: [opened, synchronize, reopened]
-
-jobs:
-  comment:
-    name: comment
-    runs-on: ubuntu-latest
-    timeout-minutes: 10
-    permissions:
-      contents: read
-      pull-requests: write
-      actions: read
-    steps:
-    - name: Wait for process replay
-      id: wait
-      continue-on-error: true
-      uses: lewagon/wait-on-check-action@1d57e2c51a58d812d2765e036a028b6bdb5a6154
-      with:
-        ref: ${{ github.event.pull_request.head.sha }}
-        check-name: process replay
-        repo-token: ${{ secrets.GITHUB_TOKEN }}
-        allowed-conclusions: success,failure
-        wait-interval: 20
-    - name: Get tests run ID
-      if: steps.wait.outcome == 'success'
-      id: tests-run
-      env:
-        GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-      run: |
-        run_id=$(gh api \
-          "repos/${{ github.repository }}/actions/workflows/tests.yaml/runs?event=pull_request&head_sha=${{ github.event.pull_request.head.sha }}&per_page=1" \
-          --jq '.workflow_runs[0].id // empty')
-        if [ -z "$run_id" ]; then
-          echo "No tests.yaml run found for ${{ github.event.pull_request.head.sha }}" >&2
-          exit 1
-        fi
-        echo "run-id=$run_id" >> "$GITHUB_OUTPUT"
-    - name: Download diff
-      if: steps.wait.outcome == 'success'
-      continue-on-error: true
-      uses: actions/download-artifact@3e5f45b2cfb9172054b4087a40e8e0b5a5461e7c
-      with:
-        github-token: ${{ secrets.GITHUB_TOKEN }}
-        repository: ${{ github.repository }}
-        run-id: ${{ steps.tests-run.outputs.run-id }}
-        name: diff_report_${{ github.event.number }}
-        path: .
-    - name: Comment on PR
-      if: steps.wait.outcome == 'success' && hashFiles('diff_report.txt') != ''
-      uses: thollander/actions-comment-pull-request@24bffb9b452ba05a4f3f77933840a6a841d1b32b
-      with:
-        file-path: diff_report.txt
-        comment-tag: diff_report
-        pr-number: ${{ github.event.number }}
-        github-token: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/docs.yaml

@@ -1,71 +0,0 @@
-name: docs
-
-on:
-  push:
-    branches:
-      - master
-      - Domathon
-      - SecretGoodStarPilot
-  pull_request:
-  workflow_call:
-    inputs:
-      run_number:
-        default: '1'
-        required: false
-        type: string
-concurrency:
-  group: docs-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
-  cancel-in-progress: true
-
-jobs:
-  docs:
-    name: build docs
-    runs-on: ${{
-      (github.repository == 'commaai/openpilot') &&
-      ((github.event_name != 'pull_request') ||
-      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    steps:
-    - uses: commaai/timeout@v1
-    - uses: actions/checkout@v7
-      with:
-        sparse-checkout: |
-          /docs/
-          /openpilot/selfdrive/assets/icons_mici/settings/comma_icon.png
-        sparse-checkout-cone-mode: false
-
-    # Build
-    - name: Build docs
-      run: python3 docs/serve.py --build
-
-    # Push to docs.comma.ai
-    - uses: actions/checkout@v7
-      if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
-      with:
-        path: openpilot-docs
-        ssh-key: ${{ secrets.OPENPILOT_DOCS_KEY }}
-        repository: commaai/openpilot-docs
-    - name: Push
-      if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
-      run: |
-        set -x
-
-        source tools/release/identity.sh
-
-        cd openpilot-docs
-        git checkout --orphan tmp
-        git rm -rf .
-
-        # copy over docs
-        cp -r ../docs/_site/ docs/
-
-        # GitHub pages config
-        touch docs/.nojekyll
-        echo -n docs.comma.ai > docs/CNAME
-
-        git add -f .
-        git commit -m "build docs"
-
-        # docs live in different repo to not bloat openpilot's full clone size
-        git push -f origin tmp:gh-pages

.github/workflows/ios-companion.yaml

@@ -1,69 +0,0 @@
-name: iOS companion
-
-on:
-  push:
-    branches: [SecretGoodStarPilot, secretgood-ios-integration]
-    paths:
-      - 'openpilot/starpilot/companion/ios/**'
-      - 'openpilot/starpilot/galaxy_bluetooth/**'
-      - '.github/workflows/ios-companion.yaml'
-  pull_request:
-    paths:
-      - 'openpilot/starpilot/companion/ios/**'
-      - 'openpilot/starpilot/galaxy_bluetooth/**'
-      - '.github/workflows/ios-companion.yaml'
-  workflow_dispatch:
-
-permissions:
-  contents: read
-
-concurrency:
-  group: ios-companion-${{ github.event.pull_request.number || github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  app:
-    name: Swift tests and iOS Simulator build
-    runs-on: macos-26
-    timeout-minutes: 25
-    defaults:
-      run:
-        working-directory: openpilot/starpilot/companion/ios
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          submodules: false
-          lfs: false
-          persist-credentials: false
-      - uses: actions/setup-node@v4
-        with:
-          node-version: '22'
-      - name: Run companion regressions
-        env:
-          CI_PRIMARY_REPOSITORY_PATH: ${{ github.workspace }}/openpilot/starpilot/companion/ios
-        run: sh ci_scripts/ci_post_clone.sh
-      - name: Build for iOS Simulator
-        run: >-
-          xcodebuild -project GalaxyBluetooth.xcodeproj
-          -scheme GalaxyBluetooth -configuration Debug
-          -sdk iphonesimulator -destination 'generic/platform=iOS Simulator'
-          -derivedDataPath "$RUNNER_TEMP/galaxy-ios-build"
-          CODE_SIGNING_ALLOWED=NO build
-
-  bridge:
-    name: Comma Bluetooth bridge tests
-    runs-on: ubuntu-24.04
-    timeout-minutes: 10
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          submodules: false
-          lfs: false
-          persist-credentials: false
-      - uses: actions/setup-python@v5
-        with:
-          python-version: '3.12'
-      - name: Install bridge test dependencies
-        run: python -m pip install pycryptodome
-      - name: Run bridge regressions
-        run: python -m unittest discover -s openpilot/starpilot/galaxy_bluetooth/tests -v

.github/workflows/jenkins-pr-trigger.yaml

@@ -1,96 +0,0 @@
-name: jenkins scan
-
-on:
-  issue_comment:
-    types: [created, edited]
-
-jobs:
-  cleanup-branches:
-    runs-on: ubuntu-latest
-    permissions:
-      contents: write
-    steps:
-      - name: Delete stale Jenkins branches
-        uses: actions/github-script@v9
-        with:
-          script: |
-            const cutoff = Date.now() - 24 * 60 * 60 * 1000;
-            const prefixes = ['tmp-jenkins', '__jenkins'];
-
-            for await (const response of github.paginate.iterator(github.rest.repos.listBranches, {
-              owner: context.repo.owner,
-              repo: context.repo.repo,
-              per_page: 100,
-            })) {
-              for (const branch of response.data) {
-                if (!prefixes.some(p => branch.name.startsWith(p))) continue;
-
-                const { data: commit } = await github.rest.repos.getCommit({
-                  owner: context.repo.owner,
-                  repo: context.repo.repo,
-                  ref: branch.commit.sha,
-                });
-
-                const commitDate = new Date(commit.commit.committer.date).getTime();
-                if (commitDate < cutoff) {
-                  console.log(`Deleting branch: ${branch.name} (last commit: ${commit.commit.committer.date})`);
-                  await github.rest.git.deleteRef({
-                    owner: context.repo.owner,
-                    repo: context.repo.repo,
-                    ref: `heads/${branch.name}`,
-                  });
-                }
-              }
-            }
-
-  scan-comments:
-    runs-on: ubuntu-latest
-    if: ${{ github.event.issue.pull_request }}
-    permissions:
-      contents: write
-      issues: write
-    steps:
-    - name: Check for trigger phrase
-      id: check_comment
-      uses: actions/github-script@v9
-      with:
-        script: |
-          const triggerPhrase = "trigger-jenkins";
-          const comment = context.payload.comment.body;
-          const commenter = context.payload.comment.user.login;
-
-          const { data: permissions } = await github.rest.repos.getCollaboratorPermissionLevel({
-            owner: context.repo.owner,
-            repo: context.repo.repo,
-            username: commenter
-          });
-
-          const hasWriteAccess = permissions.permission === 'write' || permissions.permission === 'admin';
-
-          return (hasWriteAccess && comment.includes(triggerPhrase));
-        result-encoding: json
-
-    - name: Checkout repository
-      if: steps.check_comment.outputs.result == 'true'
-      uses: actions/checkout@v7
-      with:
-        ref: refs/pull/${{ github.event.issue.number }}/head
-
-    - name: Push to tmp-jenkins branch
-      if: steps.check_comment.outputs.result == 'true'
-      run: |
-        git config --global user.name "github-actions[bot]"
-        git config --global user.email "github-actions[bot]@users.noreply.github.com"
-        git checkout -b tmp-jenkins-${{ github.event.issue.number }}
-        git push -f origin tmp-jenkins-${{ github.event.issue.number }}
-
-    - name: Delete trigger comment
-      if: steps.check_comment.outputs.result == 'true' && always()
-      uses: actions/github-script@v9
-      with:
-        script: |
-          await github.rest.issues.deleteComment({
-            owner: context.repo.owner,
-            repo: context.repo.repo,
-            comment_id: context.payload.comment.id,
-          });

.github/workflows/release.yaml

@@ -1,33 +0,0 @@
-name: release
-on:
-  schedule:
-    - cron: '0 9 * * *'
-  workflow_dispatch:
-
-jobs:
-  build_masterci:
-    name: build master-ci
-    runs-on: ubuntu-latest
-    if: github.repository == 'commaai/openpilot'
-    permissions:
-      checks: read
-      contents: write
-    steps:
-    - name: Wait for green check mark
-      if: ${{ github.event_name == 'schedule' }}
-      uses: lewagon/wait-on-check-action@1d57e2c51a58d812d2765e036a028b6bdb5a6154
-      with:
-        ref: master
-        wait-interval: 30
-        running-workflow-name: 'build master-ci'
-        repo-token: ${{ secrets.GITHUB_TOKEN }}
-        check-regexp: ^((?!.*(build prebuilt|create badges).*).)*$
-    - uses: actions/checkout@v4 # checkout version > v4 breaks nightly release script
-      with:
-        fetch-depth: 0
-    - run: ./tools/op.sh setup
-    - name: Push master-ci
-      run: BRANCH=__nightly tools/release/build_stripped.sh
-    - name: Push chestnut nightly
-      run: |
-        INCLUDE_BIG_MODEL=1 BRANCH=__nightly-chestnut tools/release/build_stripped.sh

.github/workflows/repo-maintenance.yaml

@@ -1,121 +0,0 @@
-name: repo maintenance
-
-on:
-  schedule:
-    - cron: "0 14 * * 1" # every Monday at 2am UTC (6am PST)
-  pull_request:
-    types: [closed]
-  workflow_dispatch:
-
-env:
-  PYTHONPATH: ${{ github.workspace }}
-
-jobs:
-  package_updates:
-    name: package_updates
-    runs-on: ubuntu-latest
-    if: >-
-      github.repository == 'commaai/openpilot' &&
-      (github.event_name == 'schedule' || github.event_name == 'workflow_dispatch')
-    steps:
-    - uses: actions/checkout@v7
-    - run: ./tools/op.sh setup
-    - name: uv lock
-      run: uv lock --upgrade
-    - name: uv pip tree
-      id: pip_tree
-      run: |
-        echo 'PIP_TREE<<EOF' >> $GITHUB_OUTPUT
-        uv pip tree >> $GITHUB_OUTPUT
-        echo 'EOF' >> $GITHUB_OUTPUT
-    - name: venv size
-      id: venv_size
-      run: |
-        echo 'VENV_SIZE<<EOF' >> $GITHUB_OUTPUT
-        echo "Total: $(du -sh .venv | cut -f1)" >> $GITHUB_OUTPUT
-        echo "" >> $GITHUB_OUTPUT
-        echo "Top 10 by size:" >> $GITHUB_OUTPUT
-        du -sh .venv/lib/python*/site-packages/* 2>/dev/null \
-          | grep -v '\.dist-info' \
-          | grep -v '__pycache__' \
-          | sort -rh \
-          | head -10 \
-          | while IFS=$'\t' read size path; do echo "$size  ${path##*/}"; done >> $GITHUB_OUTPUT
-        echo 'EOF' >> $GITHUB_OUTPUT
-    - name: Check tracked dependencies
-      run: python3 tools/vendor/check.py
-    - name: update car docs
-      run: |
-        python openpilot/selfdrive/car/docs.py
-        git add docs/CARS.md
-    - name: Create Pull Request
-      uses: peter-evans/create-pull-request@5f6978faf089d4d20b00c7766989d076bb2fc7f1
-      with:
-        author: Vehicle Researcher <user@comma.ai>
-        token: ${{ secrets.ACTIONS_CREATE_PR_PAT }}
-        commit-message: Update Python packages
-        title: '[bot] Update Python packages'
-        branch: auto-package-updates
-        base: master
-        delete-branch: true
-        body: |
-          Automatic PR from repo-maintenance -> package_updates
-
-          ```
-          $ du -sh .venv && du -sh .venv/lib/python*/site-packages/* | sort -rh | head -10
-          ${{ steps.venv_size.outputs.VENV_SIZE }}
-          ```
-
-          ```
-          $ uv pip tree
-          ${{ steps.pip_tree.outputs.PIP_TREE }}
-          ```
-        labels: bot
-
-  cleanup_closed_branches:
-    if: github.repository == 'commaai/openpilot' && github.event_name == 'pull_request'
-    runs-on: ubuntu-latest
-    permissions:
-      contents: write
-      pull-requests: read
-    steps:
-      - uses: actions/github-script@v9
-        with:
-          script: |
-            const { owner, repo } = context.repo;
-            const upstream = `${owner}/${repo}`;
-
-            const closed = context.payload.pull_request;
-            if (closed) {
-              if (closed.head.repo?.full_name === upstream) {
-                await github.rest.git.deleteRef({ owner, repo, ref: `heads/${closed.head.ref}` }).catch(console.log);
-              }
-              return;
-            }
-
-            for await (const response of github.paginate.iterator(github.rest.pulls.list, {
-              owner,
-              repo,
-              state: 'closed',
-              per_page: 100,
-            })) {
-              for (const pr of response.data) {
-                if (pr.head.repo?.full_name !== upstream) continue;
-
-                const branch = pr.head.ref;
-                try {
-                  await github.rest.git.deleteRef({
-                    owner,
-                    repo,
-                    ref: `heads/${branch}`,
-                  });
-                  console.log(`Deleted branch ${branch} (PR #${pr.number})`);
-                } catch (error) {
-                  if (error.status === 422 || error.status === 403) {
-                    console.log(`Skipping branch ${branch} (PR #${pr.number}): ${error.message}`);
-                    continue;
-                  }
-                  throw error;
-                }
-              }
-            }

.github/workflows/safety.yaml

@@ -1,32 +0,0 @@
-name: safety qualification
-
-on:
-  push:
-    branches: [master, Domathon, SecretGoodStarPilot]
-  pull_request:
-  workflow_dispatch:
-
-permissions:
-  contents: read
-
-jobs:
-  host_gates:
-    name: ${{ matrix.gate }}
-    runs-on: ubuntu-24.04
-    timeout-minutes: 100
-    strategy:
-      fail-fast: false
-      matrix:
-        gate: [coverage, opendbc-misra, panda-misra, panda-host]
-    steps:
-    - uses: actions/checkout@v7
-    - run: ./tools/op.sh setup
-    - name: Run isolated source-pinned gate
-      run: .venv/bin/python tools/ci/run_safety_qualification.py --gate "${{ matrix.gate }}" --output "ci-results/safety-${{ matrix.gate }}"
-    - name: Save full gate evidence
-      if: always()
-      uses: actions/upload-artifact@v4
-      with:
-        name: safety-${{ matrix.gate }}
-        path: ci-results/safety-${{ matrix.gate }}/
-        if-no-files-found: error

.github/workflows/simulator-driving.yaml

@@ -1,28 +0,0 @@
-name: simulator driving (manual)
-
-on:
-  workflow_dispatch:
-
-permissions:
-  contents: read
-
-env:
-  CI: 1
-  PYTHONPATH: ${{ github.workspace }}
-
-jobs:
-  simulator_driving:
-    name: simulator driving
-    runs-on: ubuntu-24.04
-    timeout-minutes: 30
-    steps:
-    - uses: actions/checkout@v7
-    - run: ./tools/op.sh setup
-    - name: Build openpilot
-      run: scons
-    - name: Driving test
-      timeout-minutes: 2
-      env:
-        # MetaDrive renders offscreen through panda3d's EGL pipe on llvmpipe
-        EGL_PLATFORM: surfaceless
-      run: python openpilot/tools/sim/tests/test_metadrive_bridge.py

.github/workflows/stale.yaml

@@ -1,52 +0,0 @@
-name: stale
-on:
-  schedule:
-    - cron: '30 1 * * *'
-  workflow_dispatch:
-
-env:
-  DAYS_BEFORE_PR_CLOSE: 7
-  DAYS_BEFORE_PR_STALE: 24
-  DAYS_BEFORE_PR_STALE_DRAFT: 30
-
-jobs:
-  stale:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/stale@v10
-        with:
-          exempt-all-milestones: true
-
-          # pull request config
-          stale-pr-message: 'This PR has had no activity for ${{ env.DAYS_BEFORE_PR_STALE }} days. It will be automatically closed in ${{ env.DAYS_BEFORE_PR_CLOSE }} days if there is no activity.'
-          close-pr-message: 'This PR has been automatically closed due to inactivity. Feel free to re-open once activity resumes.'
-          stale-pr-label: stale
-          delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'commaai/openpilot' }} # only delete branches on the main repo
-          exempt-pr-labels: "ignore stale,needs testing" # if wip or it needs testing from the community, don't mark as stale
-          days-before-pr-stale: ${{ env.DAYS_BEFORE_PR_STALE }}
-          days-before-pr-close: ${{ env.DAYS_BEFORE_PR_CLOSE }}
-          exempt-draft-pr: false
-
-          # issue config
-          days-before-issue-stale: -1 # ignore issues for now
-
-  # same as above, but give draft PRs more time
-  stale_drafts:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/stale@v10
-        with:
-          exempt-all-milestones: true
-
-          # pull request config
-          stale-pr-message: 'This PR has had no activity for ${{ env.DAYS_BEFORE_PR_STALE_DRAFT }} days. It will be automatically closed in ${{ env.DAYS_BEFORE_PR_CLOSE }} days if there is no activity.'
-          close-pr-message: 'This PR has been automatically closed due to inactivity. Feel free to re-open once activity resumes.'
-          stale-pr-label: stale
-          delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'commaai/openpilot' }} # only delete branches on the main repo
-          exempt-pr-labels: "ignore stale,needs testing" # if wip or it needs testing from the community, don't mark as stale
-          days-before-pr-stale: ${{ env.DAYS_BEFORE_PR_STALE_DRAFT }}
-          days-before-pr-close: ${{ env.DAYS_BEFORE_PR_CLOSE }}
-          exempt-draft-pr: true
-
-          # issue config
-          days-before-issue-stale: -1 # ignore issues for now

.github/workflows/tests.yaml

@@ -1,644 +0,0 @@
-name: tests
-
-on:
-  push:
-    branches:
-      - master
-      - Domathon
-      - SecretGoodStarPilot
-  pull_request:
-  workflow_dispatch:
-  workflow_call:
-    inputs:
-      run_number:
-        default: '1'
-        required: false
-        type: string
-
-concurrency:
-  group: tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
-  cancel-in-progress: true
-
-permissions:
-  contents: read
-
-env:
-  CI: 1
-  PYTHONPATH: ${{ github.workspace }}
-
-jobs:
-  source_integrity:
-    name: source integrity
-    runs-on: ubuntu-24.04
-    permissions:
-      contents: read
-    steps:
-    - uses: actions/checkout@v7
-    - name: Validate published device build receipt
-      if: github.event_name == 'push' && github.ref == 'refs/heads/SecretGoodStarPilot'
-      run: python3 tools/ci/check_prebuilt_receipt.py --revision HEAD
-    - name: Check shipped device runtime dependencies
-      run: python3 -m unittest tools.laptop_device_build.tests.test_runtime_dependencies -v
-    - name: Validate tracked dependencies
-      run: python3 tools/vendor/check.py --revision HEAD
-    - run: ./tools/op.sh setup
-      id: setup
-    - name: Build native dependencies for packaging tests
-      id: build
-      run: scons -j2 openpilot/common/libparams_c.so msgq_repo/msgq/ipc_pyx.so
-    - name: Test dependency tools
-      if: ${{ !cancelled() && steps.build.outcome == 'success' }}
-      run: python3 -m unittest discover -s tools/vendor/tests -v
-    - name: Test release packaging
-      if: ${{ !cancelled() && steps.build.outcome == 'success' }}
-      run: python3 -m pytest -q tools/release/tests
-    - name: Test CI tools
-      if: ${{ !cancelled() && steps.build.outcome == 'success' }}
-      run: python3 -m unittest discover -s tools/ci/tests -v
-    - name: Test updater
-      if: ${{ !cancelled() && steps.build.outcome == 'success' }}
-      run: python3 -m unittest discover -s openpilot/system/updated/tests -v
-    - name: Check setup and release shell syntax
-      if: ${{ !cancelled() && steps.setup.outcome == 'success' }}
-      run: |
-        for script in tools/op.sh tools/release/*.sh openpilot/selfdrive/test/setup_device_ci.sh; do
-          bash -n "$script"
-        done
-
-  build_release:
-    name: build release
-    runs-on: ubuntu-24.04-arm
-    env:
-      STRIPPED_DIR: /tmp/releasepilot
-      PYTHONPATH: /tmp/releasepilot
-      STARPILOT_CI_BUILD_MANIFEST: /tmp/starpilot-release-build-${{ github.run_id }}-${{ github.run_attempt }}.json
-    steps:
-    - uses: actions/checkout@v7
-    - uses: actions/setup-go@v7
-      with:
-        go-version: '1.25.1'
-        cache-dependency-path: mapd_repo/go.sum
-    - name: Build the pinned release map provider
-      env:
-        GOTOOLCHAIN: local
-      run: |
-        sudo apt-get update && sudo apt-get install -y --no-install-recommends pkg-config zlib1g-dev
-        (cd mapd_repo && go mod download)
-        PYTHONPATH="$GITHUB_WORKSPACE" python3 -m openpilot.starpilot.maps.package_shadow
-    - name: Build devel
-      timeout-minutes: 1
-      run: TARGET_DIR=$STRIPPED_DIR tools/release/build_stripped.sh
-    - run: ./tools/op.sh setup
-    - name: Build openpilot and run checks
-      timeout-minutes: 30
-      working-directory: ${{ env.STRIPPED_DIR }}
-      run: python3 openpilot/system/manager/build.py
-    - name: Run tests
-      timeout-minutes: 1
-      working-directory: ${{ env.STRIPPED_DIR }}
-      run: tools/release/check-dirty.sh
-    - name: Check tracked dependencies
-      timeout-minutes: 3
-      run: python3 tools/vendor/check.py --revision HEAD
-
-  developer_commands:
-    name: developer commands (${{ matrix.os }})
-    strategy:
-      fail-fast: false
-      matrix:
-        os: [ubuntu-24.04, macos-latest]
-    runs-on: ${{ matrix.os }}
-    permissions:
-      contents: read
-    timeout-minutes: 30
-    steps:
-    - uses: actions/checkout@v7
-    - name: Install developer prerequisites
-      run: tools/setup_dependencies.sh
-    - name: Check launchers without starting tools
-      run: |
-        ./build --help
-        ./dev help
-        ./test --help
-        ./tool help
-        ./tools/host help
-        ./c3 --help
-        ./c4 --help
-        ./onroad --help
-    - name: Test commands through the isolated host environment
-      run: |
-        ./dev pytest -q tools/ci/tests/test_dev_runtime.py tools/ci/tests/test_dev_runtime_review.py tools/ci/tests/test_build_entry.py openpilot/starpilot/ui/tests/test_host_launch.py openpilot/tools/replay/tests/test_onroad_host.py openpilot/starpilot/ui/tests/test_host_window_failure.py
-    - name: Build both desktop UI entrypoints without a display
-      run: |
-        SP_C3_COMPILE_ONLY=1 ./c3
-        SP_C4_COMPILE_ONLY=1 ./c4
-
-  build_mac:
-    name: build macOS
-    runs-on: ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-macos-8x14' || 'macos-latest' }}
-    steps:
-    - uses: actions/checkout@v7
-    - name: Remove Homebrew from environment
-      run: |
-        FILTERED=$(echo "$PATH" | tr ':' '\n' | grep -v '/opt/homebrew' | tr '\n' ':')
-        echo "PATH=${FILTERED}/usr/local/bin:/usr/bin:/bin:/usr/sbin:/sbin" >> $GITHUB_ENV
-    - run: ./tools/op.sh setup
-    - name: Building openpilot
-      run: scons
-
-  static_analysis:
-    name: static analysis
-    runs-on: ${{
-      (github.repository == 'commaai/openpilot') &&
-      ((github.event_name != 'pull_request') ||
-      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    steps:
-    - uses: actions/checkout@v7
-    - run: ./tools/op.sh setup
-    - name: Static analysis
-      timeout-minutes: 1
-      run: scripts/lint/lint.sh
-
-  unit_tests:
-    name: unit tests
-    runs-on: ${{
-      (github.repository == 'commaai/openpilot') &&
-      ((github.event_name != 'pull_request') ||
-      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    steps:
-    - uses: actions/checkout@v7
-    - name: Provide JavaScript runtime for Galaxy contract tests
-      uses: actions/setup-node@v7
-      with:
-        node-version: '24'
-        package-manager-cache: false
-    - name: Provide pinned map provider toolchain
-      uses: actions/setup-go@v7
-      with:
-        go-version: '1.25.1'
-        cache-dependency-path: mapd_repo/go.sum
-    - name: Fetch pinned map provider dependencies
-      working-directory: mapd_repo
-      env:
-        GOTOOLCHAIN: local
-      run: go mod download
-    - run: ./tools/op.sh setup
-      id: setup
-    - name: Build openpilot
-      id: build
-      run: scons
-    - name: Provide H.264 encoder for Android Auto integration tests
-      if: ${{ !cancelled() && steps.build.outcome == 'success' }}
-      run: |
-        uv pip install --python .venv/bin/python --only-binary av av==19.0.1
-        .venv/bin/python -c "import av; assert 'libx264' in av.codecs_available"
-    - name: Run unit tests
-      if: ${{ !cancelled() && steps.build.outcome == 'success' }}
-      timeout-minutes: ${{ contains(runner.name, 'nsc') && 2 || 20 }}
-      env:
-        RAYLIB_BACKEND: headless
-        STARPILOT_TEST_DIAGNOSTICS: ci-results/host-test-diagnostics/unittest
-      run: tools/op.sh test --json-output unit-test-results.json
-    - name: Test GM vehicle configurations and CAN behavior
-      if: ${{ !cancelled() && steps.build.outcome == 'success' }}
-      timeout-minutes: 5
-      run: tools/op.sh test opendbc_repo/opendbc/car/gm/tests --json-output gm-test-results.json
-    - name: Test native independent-axis protocol
-      if: ${{ !cancelled() && steps.build.outcome == 'success' }}
-      run: |
-        openpilot/selfdrive/pandad/tests/test_panda_usb
-        openpilot/selfdrive/pandad/tests/test_pandad_canprotocol
-        openpilot/selfdrive/pandad/tests/test_aol_protocol
-        openpilot/selfdrive/pandad/tests/test_aol_wire
-        openpilot/selfdrive/pandad/tests/test_producer_timing
-        openpilot/selfdrive/pandad/tests/test_producer_sink
-    - name: Test map provider to host messaging
-      if: ${{ !cancelled() && steps.build.outcome == 'success' }}
-      working-directory: mapd_repo
-      timeout-minutes: 5
-      env:
-        GOTOOLCHAIN: local
-        STARPILOT_SHADOW_IPC_REQUIRED: '1'
-        STARPILOT_SHADOW_EXEC_REQUIRED: '1'
-        STARPILOT_PYTHON: ${{ github.workspace }}/.venv/bin/python
-      run: go test -mod=readonly -race -run '^Test(MsgqNativeLayout|Shadow(GoPythonIPC|ExecutableHostGpsIPC))$' -count=1 -v
-    - name: Save complete unit test results
-      if: ${{ always() && (hashFiles('unit-test-results.json') != '' || hashFiles('gm-test-results.json') != '' || hashFiles('ci-results/host-test-diagnostics/**') != '') }}
-      uses: actions/upload-artifact@v4
-      with:
-        name: unit-test-results
-        path: |
-          unit-test-results.json
-          gm-test-results.json
-          ci-results/host-test-diagnostics/
-        if-no-files-found: error
-
-  custom_pytest:
-    name: custom pytest (${{ matrix.shard }})
-    runs-on: ubuntu-24.04
-    timeout-minutes: 35
-    permissions:
-      contents: read
-    strategy:
-      fail-fast: false
-      matrix:
-        shard: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23]
-    steps:
-    - uses: actions/checkout@v7
-    - name: Provide JavaScript runtime for Galaxy contract tests
-      uses: actions/setup-node@v7
-      with:
-        node-version: '24'
-        package-manager-cache: false
-    - name: Provide pinned map provider toolchain
-      uses: actions/setup-go@v7
-      with:
-        go-version: '1.25.1'
-        cache-dependency-path: mapd_repo/go.sum
-    - name: Fetch pinned map provider dependencies
-      working-directory: mapd_repo
-      env:
-        GOTOOLCHAIN: local
-      run: go mod download
-    - run: ./tools/op.sh setup
-      id: setup
-    - name: Build openpilot
-      id: build
-      run: scons
-    - name: Provide H.264 encoder for Android Auto integration tests
-      if: ${{ !cancelled() && steps.build.outcome == 'success' }}
-      run: |
-        uv pip install --python .venv/bin/python --only-binary av av==19.0.1
-        .venv/bin/python -c "import av; assert 'libx264' in av.codecs_available"
-    - name: Test every assigned custom pytest node serially
-      if: ${{ !cancelled() && steps.build.outcome == 'success' }}
-      timeout-minutes: 15
-      env:
-        RAYLIB_BACKEND: headless
-      run: .venv/bin/python -m tools.ci.custom_pytest_shards run --index "${{ matrix.shard }}" --count 24 --output "ci-results/custom-pytest-${{ matrix.shard }}"
-    - name: Save collection, every outcome, JUnit and durable worker diagnostics
-      if: always()
-      uses: actions/upload-artifact@v4
-      with:
-        name: custom-pytest-${{ matrix.shard }}
-        path: ci-results/custom-pytest-${{ matrix.shard }}/
-        if-no-files-found: error
-
-  custom_pytest_complete:
-    name: complete custom pytest catalog
-    needs: custom_pytest
-    if: ${{ always() && !cancelled() }}
-    runs-on: ubuntu-24.04
-    permissions:
-      contents: read
-    steps:
-    - uses: actions/checkout@v7
-    - uses: actions/download-artifact@v4
-      with:
-        pattern: custom-pytest-*
-        path: ci-results/custom-pytest-shards
-    - name: Require every case passed or audited capability-unavailable
-      run: python3 -m tools.ci.custom_pytest_shards aggregate --directory ci-results/custom-pytest-shards --count 24 --output ci-results/custom-pytest-complete.json
-    - name: Save complete custom catalog verdict
-      if: always()
-      uses: actions/upload-artifact@v4
-      with:
-        name: custom-pytest-complete
-        path: ci-results/custom-pytest-complete.json
-        if-no-files-found: error
-
-  aol_lifecycles:
-    name: AOL lifecycles (${{ matrix.shard }})
-    runs-on: ubuntu-24.04
-    timeout-minutes: 35
-    permissions:
-      contents: read
-    strategy:
-      fail-fast: false
-      matrix:
-        shard: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15]
-    env:
-      FUZZ_SEED: '0'
-    steps:
-    - uses: actions/checkout@v7
-    - run: ./tools/op.sh setup
-    - name: Build native host dependencies
-      run: scons
-    - name: Gate every assigned lifecycle module serially
-      timeout-minutes: 10
-      run: python3 tools/ci/run_vehicle_tests.py --suite aol-lifecycle --shard-index "${{ matrix.shard }}" --shard-count 16 --output "ci-results/aol-lifecycle-${{ matrix.shard }}"
-    - name: Save every lifecycle outcome and native build
-      if: always()
-      uses: actions/upload-artifact@v4
-      with:
-        name: aol-lifecycle-${{ matrix.shard }}
-        path: ci-results/aol-lifecycle-${{ matrix.shard }}/
-        if-no-files-found: error
-
-  aol_lifecycle_complete:
-    name: complete AOL lifecycle catalog
-    needs: aol_lifecycles
-    if: ${{ always() && !cancelled() }}
-    runs-on: ubuntu-24.04
-    permissions:
-      contents: read
-    steps:
-    - uses: actions/checkout@v7
-    - uses: actions/download-artifact@v4
-      with:
-        pattern: aol-lifecycle-*
-        path: ci-results/aol-lifecycles
-    - name: Require every full-catalog case exactly once and passed
-      run: python3 tools/ci/lifecycle_shards.py ci-results/aol-lifecycles --count 16 --output ci-results/aol-lifecycle-complete.json
-    - name: Save complete catalog verdict
-      if: always()
-      uses: actions/upload-artifact@v4
-      with:
-        name: aol-lifecycle-complete
-        path: ci-results/aol-lifecycle-complete.json
-        if-no-files-found: error
-
-  map_provider:
-    name: map provider
-    runs-on: ubuntu-24.04
-    timeout-minutes: 15
-    permissions:
-      contents: read
-    steps:
-    - uses: actions/checkout@v7
-    - uses: actions/setup-go@v7
-      with:
-        go-version: '1.25.1'
-        cache-dependency-path: mapd_repo/go.sum
-    - name: Install native build dependencies
-      run: sudo apt-get update && sudo apt-get install -y --no-install-recommends pkg-config zlib1g-dev
-    - name: Test and build pinned map provider
-      run: python3 tools/ci/run_map_tests.py --output ci-results/map-provider
-    - name: Save test and build evidence
-      if: always()
-      uses: actions/upload-artifact@v4
-      with:
-        name: map-provider
-        path: ci-results/map-provider/
-        if-no-files-found: error
-
-  vehicle_contracts:
-    name: vehicle contracts (${{ matrix.suite }})
-    runs-on: ubuntu-24.04
-    timeout-minutes: 35
-    permissions:
-      contents: read
-    strategy:
-      fail-fast: false
-      matrix:
-        suite: [interfaces, safety-debug]
-    env:
-      FUZZ_SEED: '0'
-    steps:
-    - uses: actions/checkout@v7
-    - run: ./tools/op.sh setup
-    - name: Build native host dependencies
-      run: scons
-    - name: Run explicit vehicle suite and record every result
-      timeout-minutes: 20
-      run: python3 tools/ci/run_vehicle_tests.py --suite "${{ matrix.suite }}" --output "ci-results/${{ matrix.suite }}"
-    - name: Require current complete interface regression coverage
-      if: ${{ always() && matrix.suite == 'interfaces' }}
-      run: |
-        python3 tools/ci/fleet_coverage.py --require interfaces \
-          --interface-coverage ci-results/interfaces/coverage.json \
-          --interface-results ci-results/interfaces/results.json \
-          --output ci-results/interfaces/fleet-coverage.json
-    - name: Save collection, outcomes, and native build evidence
-      if: always()
-      uses: actions/upload-artifact@v4
-      with:
-        name: vehicle-contracts-${{ matrix.suite }}
-        path: ci-results/${{ matrix.suite }}/
-        if-no-files-found: error
-
-  safety_release_contracts:
-    name: RELEASE vehicle contracts (${{ matrix.shard }})
-    runs-on: ubuntu-24.04
-    timeout-minutes: 35
-    permissions:
-      contents: read
-    strategy:
-      fail-fast: false
-      matrix:
-        shard: [0, 1, 2, 3]
-    env:
-      FUZZ_SEED: '0'
-    steps:
-    - uses: actions/checkout@v7
-    - run: ./tools/op.sh setup
-    - name: Build native host dependencies
-      run: scons
-    - name: Run every assigned RELEASE target serially
-      timeout-minutes: 20
-      run: python3 tools/ci/run_vehicle_tests.py --suite safety-release --shard-index "${{ matrix.shard }}" --shard-count 4 --output "ci-results/safety-release-${{ matrix.shard }}"
-    - name: Save every RELEASE outcome and native build
-      if: always()
-      uses: actions/upload-artifact@v4
-      with:
-        name: safety-release-${{ matrix.shard }}
-        path: ci-results/safety-release-${{ matrix.shard }}/
-        if-no-files-found: error
-
-  safety_release_complete:
-    name: complete RELEASE vehicle catalog
-    needs: safety_release_contracts
-    if: ${{ always() && !cancelled() }}
-    runs-on: ubuntu-24.04
-    permissions:
-      contents: read
-    steps:
-    - uses: actions/checkout@v7
-    - uses: actions/download-artifact@v4
-      with:
-        pattern: safety-release-*
-        path: ci-results/safety-release-shards
-    - name: Require every RELEASE case exactly once and passed
-      run: python3 tools/ci/lifecycle_shards.py ci-results/safety-release-shards --suite safety-release --count 4 --output ci-results/safety-release-complete.json
-    - name: Save complete RELEASE verdict
-      if: always()
-      uses: actions/upload-artifact@v4
-      with:
-        name: safety-release-complete
-        path: ci-results/safety-release-complete.json
-        if-no-files-found: error
-
-  recorded_vehicles:
-    name: recorded vehicles (${{ matrix.variant }})
-    runs-on: ubuntu-24.04
-    timeout-minutes: 30
-    permissions:
-      contents: read
-    strategy:
-      fail-fast: false
-      matrix:
-        variant: [debug, release]
-    env:
-      FUZZ_SEED: '0'
-    steps:
-    - uses: actions/checkout@v7
-    - name: Install host prerequisites
-      run: tools/setup_dependencies.sh
-    - name: Replay pinned public CAN recordings
-      timeout-minutes: 20
-      run: |
-        ./dev python tools/ci/run_recorded_vehicle_tests.py \
-          --variant "${{ matrix.variant }}" \
-          --cache "${{ runner.temp }}/recorded-fixtures" \
-          --output "$GITHUB_WORKSPACE/ci-results/recorded-${{ matrix.variant }}" \
-          --download
-    - name: Save recorded results and native build evidence
-      if: always()
-      uses: actions/upload-artifact@v4
-      with:
-        name: recorded-vehicles-${{ matrix.variant }}
-        path: ci-results/recorded-${{ matrix.variant }}/
-        if-no-files-found: error
-
-  panda_build_variants:
-    name: Panda compile (${{ matrix.variant }})
-    runs-on: ubuntu-24.04
-    timeout-minutes: 35
-    permissions:
-      contents: read
-    strategy:
-      fail-fast: false
-      matrix:
-        variant: [debug, release]
-    steps:
-    - uses: actions/checkout@v7
-    - run: ./tools/op.sh setup
-    - name: Compile firmware with the checked-in development certificate
-      timeout-minutes: 15
-      shell: bash
-      run: |
-        set -euo pipefail
-        mkdir -p ci-results/firmware
-        if [[ "${{ matrix.variant }}" == release ]]; then
-          export RELEASE=1
-          export CERT="$PWD/panda/board/crypto/certs/debug"
-        else
-          unset RELEASE
-        fi
-        scons --verbose panda/board/obj/version panda/board/obj/panda.bin.signed panda/board/obj/bootstub.panda.bin panda/board/obj/panda_h7.bin.signed panda/board/obj/bootstub.panda_h7.bin 2>&1 | tee ci-results/firmware/build.log
-        python3 tools/ci/record_firmware.py --variant "${{ matrix.variant }}" --build-log ci-results/firmware/build.log --output ci-results/firmware/provenance.json
-    - name: Save compile evidence
-      if: always()
-      uses: actions/upload-artifact@v4
-      with:
-        name: panda-compile-${{ matrix.variant }}
-        path: ci-results/firmware/
-        if-no-files-found: error
-
-  process_replay:
-    name: process replay
-    runs-on: ${{
-      (github.repository == 'commaai/openpilot') &&
-      ((github.event_name != 'pull_request') ||
-      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    steps:
-    - uses: actions/checkout@v7
-    - run: ./tools/op.sh setup
-    - name: Build openpilot
-      run: scons
-    - name: Run replay
-      timeout-minutes: ${{ contains(runner.name, 'nsc') && 2 || 20 }}
-      run: openpilot/selfdrive/test/process_replay/test_processes.py -j$(nproc)
-    - name: Print diff
-      id: print-diff
-      if: ${{ always() && hashFiles('openpilot/selfdrive/test/process_replay/diff.txt') != '' }}
-      run: cat openpilot/selfdrive/test/process_replay/diff.txt
-    - name: Save process replay input coverage
-      if: always()
-      uses: actions/upload-artifact@v4
-      with:
-        name: process-replay-coverage
-        path: openpilot/selfdrive/test/process_replay/coverage.json
-        if-no-files-found: error
-    - name: Print diff report
-      if: ${{ always() && hashFiles('openpilot/selfdrive/test/process_replay/diff_report.txt') != '' }}
-      run: cat openpilot/selfdrive/test/process_replay/diff_report.txt
-    - uses: actions/upload-artifact@v7
-      if: always()
-      continue-on-error: true
-      with:
-        name: process_replay_diff.txt
-        path: openpilot/selfdrive/test/process_replay/diff.txt
-    - name: Save complete replay outputs for review
-      uses: actions/upload-artifact@v7
-      if: always()
-      with:
-        name: process-replay-outputs
-        path: |
-          openpilot/selfdrive/test/process_replay/fakedata/*.zst
-          openpilot/selfdrive/test/process_replay/coverage.json
-        if-no-files-found: error
-    - name: Upload diff report
-      uses: actions/upload-artifact@v7
-      if: always() && github.event_name == 'pull_request'
-      continue-on-error: true
-      with:
-        name: diff_report_${{ github.event.number }}
-        path: openpilot/selfdrive/test/process_replay/diff_report.txt
-    - name: Checkout ci-artifacts
-      if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
-      uses: actions/checkout@v7
-      with:
-        repository: commaai/ci-artifacts
-        ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
-        path: ${{ github.workspace }}/ci-artifacts
-    - name: Prepare refs
-      if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
-      working-directory: ${{ github.workspace }}/ci-artifacts
-      run: |
-        git config user.name "GitHub Actions Bot"
-        git config user.email "<>"
-        git fetch origin process-replay || true
-        git checkout process-replay 2>/dev/null || git checkout --orphan process-replay
-        cp ${{ github.workspace }}/openpilot/selfdrive/test/process_replay/fakedata/*.zst .
-        echo "${{ github.sha }}" > ref_commit
-        git add .
-        git commit -m "process-replay refs for ${{ github.repository }}@${{ github.sha }}" || echo "No changes to commit"
-    - name: Push refs
-      if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
-      uses: nick-fields/retry@ad984534de44a9489a53aefd81eb77f87c70dc60
-      with:
-        timeout_minutes: 2
-        max_attempts: 3
-        command: cd ${{ github.workspace }}/ci-artifacts && git push origin process-replay --force
-
-  create_ui_report:
-    name: Create UI Report
-    runs-on: ${{
-      (github.repository == 'commaai/openpilot') &&
-      ((github.event_name != 'pull_request') ||
-      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    steps:
-      - uses: actions/checkout@v7
-      - run: ./tools/op.sh setup
-      - name: Build openpilot
-        run: scons
-      - name: Create UI Report
-        env:
-          RAYLIB_BACKEND: headless
-        run: |
-          python3 openpilot/selfdrive/ui/tests/diff/replay.py
-          python3 openpilot/selfdrive/ui/tests/diff/replay.py --big
-      - name: Upload UI Report
-        uses: actions/upload-artifact@v7
-        with:
-          name: ui-report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
-          path: openpilot/selfdrive/ui/tests/diff/report

.github/workflows/ui_preview.yaml

@@ -1,174 +0,0 @@
-name: "ui preview"
-on:
-  push:
-    branches:
-      - master
-  pull_request_target:
-    types: [assigned, opened, synchronize, reopened, edited]
-    branches:
-      - 'master'
-    paths:
-      - 'openpilot/selfdrive/assets/**'
-      - 'openpilot/selfdrive/ui/**'
-      - 'openpilot/system/ui/**'
-  workflow_dispatch:
-
-env:
-  UI_JOB_NAME: "Create UI Report"
-  REPORT_NAME: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
-  SHA: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.sha || github.event.pull_request.head.sha }}
-  BRANCH_NAME: "openpilot/pr-${{ github.event.number }}-ui-preview"
-  REPORT_FILES_BRANCH_NAME: "mici-raylib-ui-reports"
-
-  # variant:video_prefix:master_branch
-  VARIANTS: "mici:mici_ui_replay:openpilot_master_ui_mici_raylib big:tizi_ui_replay:openpilot_master_ui_big_raylib"
-
-jobs:
-  preview:
-    if: false # tmp disable due to GH API rate limiting flakiness
-    #if: github.repository == 'commaai/openpilot'
-    name: preview
-    runs-on: ubuntu-latest
-    timeout-minutes: 20
-    permissions:
-      contents: read
-      pull-requests: write
-      actions: read
-    steps:
-      - uses: actions/checkout@v7
-
-      - name: Waiting for ui generation to end
-        uses: lewagon/wait-on-check-action@1d57e2c51a58d812d2765e036a028b6bdb5a6154
-        with:
-          ref: ${{ env.SHA }}
-          check-name: ${{ env.UI_JOB_NAME }}
-          repo-token: ${{ secrets.GITHUB_TOKEN }}
-          allowed-conclusions: success
-          wait-interval: 20
-
-      - name: Getting workflow run ID
-        id: get_run_id
-        run: |
-          echo "run_id=$(curl https://api.github.com/repos/${{ github.repository }}/commits/${{ env.SHA }}/check-runs | jq -r '.check_runs[] | select(.name == "${{ env.UI_JOB_NAME }}") | .html_url | capture("(?<number>[0-9]+)") | .number')" >> $GITHUB_OUTPUT
-
-      - name: Getting proposed ui
-        uses: dawidd6/action-download-artifact@b6e2e70617bc3265edd6dab6c906732b2f1ae151
-        with:
-          github_token: ${{ secrets.GITHUB_TOKEN }}
-          run_id: ${{ steps.get_run_id.outputs.run_id }}
-          search_artifacts: true
-          name: ui-report-1-${{ env.REPORT_NAME }}
-          path: ${{ github.workspace }}/pr_ui
-
-      - name: Getting mici master ui
-        uses: actions/checkout@v7
-        with:
-          repository: commaai/ci-artifacts
-          ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
-          path: ${{ github.workspace }}/master_mici
-          ref: openpilot_master_ui_mici_raylib
-
-      - name: Getting big master ui
-        uses: actions/checkout@v7
-        with:
-          repository: commaai/ci-artifacts
-          ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
-          path: ${{ github.workspace }}/master_big
-          ref: openpilot_master_ui_big_raylib
-
-      - name: Saving new master ui
-        if: github.ref == 'refs/heads/master' && github.event_name == 'push'
-        run: |
-          for variant in $VARIANTS; do
-            IFS=':' read -r name video branch <<< "$variant"
-            master_dir="${{ github.workspace }}/master_${name}"
-            cd "$master_dir"
-            git checkout --orphan=new_branch
-            git rm -rf *
-            git branch -D "$branch"
-            git branch -m "$branch"
-            git config user.name "GitHub Actions Bot"
-            git config user.email "<>"
-            cp "${{ github.workspace }}/pr_ui/${video}.mp4" .
-            git add .
-            git commit -m "${name} video for commit ${{ env.SHA }}"
-            git push origin "$branch" --force
-          done
-
-      - name: Setup FFmpeg
-        uses: AnimMouse/setup-ffmpeg@178e0b4a408f06ce40d896c3cd79f50fa6f8b0c3
-
-      - name: Finding diffs
-        if: github.event_name == 'pull_request_target'
-        id: find_diff
-        run: |
-          export PYTHONPATH=${{ github.workspace }}
-          baseurl="https://github.com/commaai/ci-artifacts/raw/refs/heads/${{ env.BRANCH_NAME }}"
-
-          COMMENT=""
-          for variant in $VARIANTS; do
-            IFS=':' read -r name video _ <<< "$variant"
-            diff_name="${name}_diff"
-
-            mv "${{ github.workspace }}/pr_ui/${video}.mp4" "${{ github.workspace }}/pr_ui/${video}_proposed.mp4"
-            cp "${{ github.workspace }}/master_${name}/${video}.mp4" "${{ github.workspace }}/pr_ui/${video}_master.mp4"
-
-            diff_exit_code=0
-            python3 ${{ github.workspace }}/openpilot/selfdrive/ui/tests/diff/diff.py \
-              "${{ github.workspace }}/pr_ui/${video}_master.mp4" \
-              "${{ github.workspace }}/pr_ui/${video}_proposed.mp4" \
-              "${diff_name}.html" --basedir "$baseurl" --no-open || diff_exit_code=$?
-
-            cp "${{ github.workspace }}/openpilot/selfdrive/ui/tests/diff/report/${diff_name}.html" "${{ github.workspace }}/pr_ui/"
-            cp "${{ github.workspace }}/openpilot/selfdrive/ui/tests/diff/report/${diff_name}.mp4" "${{ github.workspace }}/pr_ui/"
-
-            REPORT_URL="https://commaai.github.io/ci-artifacts/${diff_name}_pr_${{ github.event.number }}.html"
-            if [ $diff_exit_code -eq 0 ]; then
-              COMMENT+="**${name}**: Videos are identical! [View Diff Report]($REPORT_URL)"$'\n'
-            else
-              COMMENT+="**${name}**: ⚠️ <strong>Videos differ!</strong> [View Diff Report]($REPORT_URL)"$'\n'
-            fi
-          done
-
-          {
-            echo "COMMENT<<EOF"
-            echo "$COMMENT"
-            echo "EOF"
-          } >> "$GITHUB_OUTPUT"
-
-      - name: Saving proposed ui
-        if: github.event_name == 'pull_request_target'
-        working-directory: ${{ github.workspace }}/master_mici
-        run: |
-          git config user.name "GitHub Actions Bot"
-          git config user.email "<>"
-          git checkout --orphan=${{ env.BRANCH_NAME }}
-          git rm -rf *
-          mv ${{ github.workspace }}/pr_ui/* .
-          git add .
-          git commit -m "ui videos for PR #${{ github.event.number }}"
-          git push origin ${{ env.BRANCH_NAME }} --force
-
-          # Append diff reports to report files branch
-          git fetch origin ${{ env.REPORT_FILES_BRANCH_NAME }}
-          git checkout ${{ env.REPORT_FILES_BRANCH_NAME }}
-          for variant in $VARIANTS; do
-            IFS=':' read -r name _ _ <<< "$variant"
-            diff_name="${name}_diff"
-            cp "${{ github.workspace }}/openpilot/selfdrive/ui/tests/diff/report/${diff_name}.html" "${diff_name}_pr_${{ github.event.number }}.html"
-            git add "${diff_name}_pr_${{ github.event.number }}.html"
-          done
-          git commit -m "ui diff reports for PR #${{ github.event.number }}" || echo "No changes to commit"
-          git push origin ${{ env.REPORT_FILES_BRANCH_NAME }}
-
-      - name: Comment on PR
-        if: github.event_name == 'pull_request_target'
-        uses: thollander/actions-comment-pull-request@24bffb9b452ba05a4f3f77933840a6a841d1b32b
-        with:
-          message: |
-            <!-- _(run_id_ui_preview **${{ github.run_id }}**)_ -->
-            ## UI Preview
-            ${{ steps.find_diff.outputs.COMMENT }}
-          comment-tag: run_id_ui_preview
-          pr-number: ${{ github.event.number }}
-          github-token: ${{ secrets.GITHUB_TOKEN }}

.gitignore

@@ -1,145 +1,29 @@
-venv/
-.venv/
-.ci_cache
-.env
-.clang-format
 .DS_Store
 .tags
 .ipynb_checkpoints
 .idea
-.overlay_init
-.overlay_consistent
-.sconsign.dblite
-a.out
-.hypothesis
-.cache/
-.host_runtime/
-.comma_sysroot/
-.venv-linux-arm64/
-bin/
-!openpilot/starpilot/galaxy/bin/
-!openpilot/starpilot/soloist/pulseaudio/bin/
+model2.png
 
-# created at launch for comma hardware PYTHONPATH (PC uses editable installs via pyproject.toml)
-/msgq
-/opendbc
-/rednose
-/teleoprtc
-/tinygrad
-/jetlink
-
-*.mp4
-*.dylib
-*.DSYM
 *.d
-*.pem
 *.pyc
 *.pyo
 .*.swp
 .*.swo
 .*.un~
-*.tmp
 *.o
-*.o-*
-*.os
-*.os-*
 *.so
-!openpilot/tools/replay/libmedia_mux.so
-!openpilot/starpilot/soloist/pulseaudio/lib/*.so
-!openpilot/starpilot/soloist/pulseaudio/modules/*.so
 *.a
-st[0-9A-Za-z][0-9A-Za-z][0-9A-Za-z][0-9A-Za-z][0-9A-Za-z][0-9A-Za-z]
-*.unchunked
 *.clb
 *.class
 *.pyxbldc
 *.vcd
-*.mo
-*_pyx.cpp
-*.stats
-*.pkl
-*.pkl*
 config.json
-compile_commands.json
-compare_runtime*.html
-openpilot/selfdrive/modeld/models/tg_input_devices.json
+clcache
 
-# build artifacts
-docs/_site/
-openpilot/selfdrive/pandad/pandad
-openpilot/selfdrive/pandad/tests/test_aol_protocol
-openpilot/selfdrive/pandad/tests/test_aol_wire
-openpilot/selfdrive/pandad/tests/test_panda_usb
-openpilot/cereal/services.h
-openpilot/cereal/gen
-openpilot/cereal/messaging/bridge
-openpilot/selfdrive/ui/translations/tmp
-openpilot/selfdrive/car/tests/cars_dump
-openpilot/system/camerad/camerad
-openpilot/system/camerad/test/ae_gray_test
+board/obj/
+selfdrive/boardd/boardd
+selfdrive/logcatd/logcatd
+selfdrive/proclogd/proclogd
+selfdrive/ui/ui
+/src/
 
-.coverage*
-coverage.xml
-htmlcov
-
-# openpilot log files
-*.bz2
-*.zst
-*.rlog
-
-build/
-
-!**/.gitkeep
-
-
-### VisualStudioCode ###
-*.vsix
-.history
-.ionide
-.vscode/*
-.history/
-!.vscode/settings.json
-!.vscode/tasks.json
-!.vscode/launch.json
-!.vscode/extensions.json
-!.vscode/*.code-snippets
-
-# agents
-.claude/
-.context/
-PLAN.md
-TASK.md
-
-# Disk-backed model cache reconstructed from published numbered parts.
-openpilot/selfdrive/modeld/models/*.unchunked
-
-# Publish only small compiled model packages, never raw pickles or caches.
-!openpilot/selfdrive/modeld/models/dmonitoring_model_tinygrad.pkl.chunk[0-9][0-9]of[0-9][0-9]
-!openpilot/selfdrive/modeld/models/dmonitoring_model_tinygrad.pkl.chunk[0-9][0-9]of[0-9][0-9][0-9]
-!openpilot/selfdrive/modeld/models/dmonitoring_model_tinygrad.pkl.chunk[0-9][0-9]of[0-9][0-9][0-9][0-9]
-!openpilot/selfdrive/modeld/models/dmonitoring_model_tinygrad.pkl.chunk[0-9][0-9][0-9]of[0-9][0-9]
-!openpilot/selfdrive/modeld/models/dmonitoring_model_tinygrad.pkl.chunk[0-9][0-9][0-9]of[0-9][0-9][0-9]
-!openpilot/selfdrive/modeld/models/dmonitoring_model_tinygrad.pkl.chunk[0-9][0-9][0-9]of[0-9][0-9][0-9][0-9]
-!openpilot/selfdrive/modeld/models/dmonitoring_model_tinygrad.pkl.chunk[0-9][0-9][0-9][0-9]of[0-9][0-9]
-!openpilot/selfdrive/modeld/models/dmonitoring_model_tinygrad.pkl.chunk[0-9][0-9][0-9][0-9]of[0-9][0-9][0-9]
-!openpilot/selfdrive/modeld/models/dmonitoring_model_tinygrad.pkl.chunk[0-9][0-9][0-9][0-9]of[0-9][0-9][0-9][0-9]
-!openpilot/selfdrive/modeld/models/dmonitoring_model_tinygrad.pkl.chunkmanifest
-!openpilot/selfdrive/modeld/models/dmonitoring_model_tinygrad.pkl.chunksha256
-!openpilot/selfdrive/modeld/models/rdf43_driving_tinygrad.pkl.chunk[0-9][0-9]of[0-9][0-9]
-!openpilot/selfdrive/modeld/models/rdf43_driving_tinygrad.pkl.chunk[0-9][0-9]of[0-9][0-9][0-9]
-!openpilot/selfdrive/modeld/models/rdf43_driving_tinygrad.pkl.chunk[0-9][0-9]of[0-9][0-9][0-9][0-9]
-!openpilot/selfdrive/modeld/models/rdf43_driving_tinygrad.pkl.chunk[0-9][0-9][0-9]of[0-9][0-9]
-!openpilot/selfdrive/modeld/models/rdf43_driving_tinygrad.pkl.chunk[0-9][0-9][0-9]of[0-9][0-9][0-9]
-!openpilot/selfdrive/modeld/models/rdf43_driving_tinygrad.pkl.chunk[0-9][0-9][0-9]of[0-9][0-9][0-9][0-9]
-!openpilot/selfdrive/modeld/models/rdf43_driving_tinygrad.pkl.chunk[0-9][0-9][0-9][0-9]of[0-9][0-9]
-!openpilot/selfdrive/modeld/models/rdf43_driving_tinygrad.pkl.chunk[0-9][0-9][0-9][0-9]of[0-9][0-9][0-9]
-!openpilot/selfdrive/modeld/models/rdf43_driving_tinygrad.pkl.chunk[0-9][0-9][0-9][0-9]of[0-9][0-9][0-9][0-9]
-!openpilot/selfdrive/modeld/models/rdf43_driving_tinygrad.pkl.chunkmanifest
-!openpilot/selfdrive/modeld/models/rdf43_driving_tinygrad.pkl.chunksha256
-
-# Jetlink editable-install metadata.
-/jetlink_repo/jetlink.egg-info/
-
-# Local Google Play resolver build output (source and lockfile are versioned).
-
-openpilot/starpilot/flm/_primitive_walk.cpp

.gitmodules

@@ -0,0 +1,9 @@
+[submodule "panda"]
+	path = panda
+	url = https://github.com/commaai/panda.git
+[submodule "opendbc"]
+	path = opendbc
+	url = https://github.com/commaai/opendbc.git
+[submodule "pyextra"]
+	path = pyextra
+	url = https://github.com/commaai/openpilot-pyextra.git

.python-version

@@ -1 +0,0 @@
-3.12.13

.travis.yml

@@ -0,0 +1,12 @@
+sudo: required
+
+services:
+  - docker
+
+install:
+  - docker build -t tmppilot -f Dockerfile.openpilot .
+
+script:
+  - docker run --rm
+      -v "$(pwd)"/selfdrive/test/plant/out:/tmp/openpilot/selfdrive/test/plant/out
+      tmppilot /bin/sh -c 'cd /tmp/openpilot/selfdrive/test/plant && ./runtest.sh'

.vscode/extensions.json

@@ -1,8 +0,0 @@
-{
-  "recommendations": [
-    "ms-python.python",
-    "ms-vscode.cpptools",
-    "elagil.pre-commit-helper",
-    "charliermarsh.ruff",
-  ]
-}

.vscode/launch.json

@@ -1,88 +0,0 @@
-{
-  "version": "0.2.0",
-  "inputs": [
-    {
-      "id": "python_process",
-      "type": "pickString",
-      "description": "Select the process to debug",
-      "options": [
-        "openpilot/selfdrive/controls/controlsd.py",
-        "openpilot/system/timed/timed.py",
-        "openpilot/tools/sim/run_bridge.py"
-      ]
-    },
-    {
-      "id": "cpp_process",
-      "type": "pickString",
-      "description": "Select the process to debug",
-      "options": [
-        "openpilot/selfdrive/ui/ui"
-      ]
-    },
-    {
-      "id": "args",
-      "description": "Arguments to pass to the process",
-      "type": "promptString"
-    },
-    {
-      "id": "replayArg",
-      "type": "promptString",
-      "description": "Enter route or segment to replay."
-    }
-  ],
-  "configurations": [
-    {
-      "name": "Python: openpilot Process",
-      "type": "debugpy",
-      "request": "launch",
-      "program": "${input:python_process}",
-      "console": "integratedTerminal",
-      "justMyCode": true,
-      "args": "${input:args}"
-    },
-    {
-      "name": "C++: openpilot Process",
-      "type": "cppdbg",
-      "request": "launch",
-      "program": "${workspaceFolder}/${input:cpp_process}",
-      "cwd": "${workspaceFolder}"
-    },
-    {
-      "name": "Attach LLDB to Replay drive",
-      "type": "lldb",
-      "request": "attach",
-      "pid": "${command:pickMyProcess}",
-      "sourceMap": {
-        ".": "${workspaceFolder}/opendbc/safety"
-      },
-      "initCommands": [
-        "script import time; time.sleep(3)"
-      ]
-    },
-    {
-      "name": "Replay drive",
-      "type": "debugpy",
-      "request": "launch",
-      "program": "${workspaceFolder}/opendbc/safety/tests/safety_replay/replay_drive.py",
-      "args": [
-        "${input:replayArg}"
-      ],
-      "console": "integratedTerminal",
-      "justMyCode": false,
-      "env": {
-        "PYTHONPATH": "${workspaceFolder}"
-      },
-      "subProcess": true,
-      "stopOnEntry": false
-    }
-  ],
-  "compounds": [
-    {
-      "name": "Replay drive + Safety LLDB",
-      "configurations": [
-        "Replay drive",
-        "Attach LLDB to Replay drive"
-      ]
-    }
-  ]
-}

.vscode/settings.json

@@ -1,21 +0,0 @@
-{
-  "editor.tabSize": 2,
-  "editor.insertSpaces": true,
-  "editor.renderWhitespace": "trailing",
-  "files.trimTrailingWhitespace": true,
-  "search.exclude": {
-    "**/.git": true,
-    "**/.venv": true,
-    "**/__pycache__": true
-  },
-  "files.exclude": {
-    "**/.git": true,
-    "**/.venv": true,
-    "**/__pycache__": true
-  },
-  "python.analysis.exclude": [
-    "**/.git",
-    "**/.venv",
-    "**/__pycache__",
-  ]
-}

CREDITS.md

@@ -1,35 +0,0 @@
-# Source provenance
-
-## Jetlink external inference
-
-The comma-side Jetlink client and USB transport in `jetlink_repo` are by Zeph Leggett and the [Jetlink contributors](https://github.com/zoompilot/jetlink). They are vendored from revision `bf4dc940e98f5d3ed9b7163adb021439010d634f` under the MIT license, retained in [jetlink_repo/LICENSE](jetlink_repo/LICENSE). StarPilot's adapter (`openpilot/starpilot/models/jetlink_adapter.py`) builds on Jetlink's openpilot layer and owns its param names, Always On Lateral rule, model runner reset, settings and alerts. Companion applications and inference servers remain distributed by Jetlink.
-
-## MRR35 Hyundai angle and radar
-
-The four MRR35 angle platforms (2026 Genesis GV70, second-generation electrified GV70, 2025 Genesis GV80, and Hyundai Ioniq 9) adapt Hyundai CAN FD angle-control design and the MRR35 radar DBC generator from the locally frozen StarPilot source snapshot `678af783`. That snapshot traces its Hyundai extension work to sunnypilot/opendbc `hkg-angle-steering-2025` at `cc4b08625a98e94b318cab15e45e05dad58042bd`; its historical import revision is not established. The relevant upstream contributors include Haibin (Jason) Wen, Shane Smiskol, and DevTekVE. Their authorship remains attributable to the upstream history; they do not maintain or endorse this port.
-
-The copied MRR35 generator source and DBC definition are at `opendbc_repo/opendbc/dbc/generator/hyundai/hyundai_mrr35_radar.py` and `.dbc`. The host angle adapter and native safety profile are adaptations, not copies of a generic DBC or of unrelated vehicle support. Applicable upstream notices are preserved in [THIRD_PARTY_NOTICES.md](THIRD_PARTY_NOTICES.md).
-
-## Ford support adapted from BluePilot
-
-The Ford lateral strategies, extended CAN constructors, camera-radar filtering and native checks are adapted from StarPilot `2efe6017bfe14cee4807833e05f9a7f6ba255cdb`. Their lineage includes BluePilot's `bp-7.0` Ford work, principally by Alan Polk, with contributions from John Christman, Jacob Neulight, tonesto7, Haibin Wen and other sunnypilot and BluePilot contributors. The reference snapshot is [`e1d051d7ba270261b4455068bd68f1a58db15a4a`](https://github.com/BluePilotDev/bluepilot/commit/e1d051d7ba270261b4455068bd68f1a58db15a4a); the exact checkout used for the earlier StarPilot import was not recorded.
-
-Relevant lineage includes the controller and integration work in [`db2bdff05`](https://github.com/BluePilotDev/bluepilot/commit/db2bdff05df103d71df62f45c2a3cb5211aba6e6) and [`d0aac605f`](https://github.com/BluePilotDev/bluepilot/commit/d0aac605f99d37e9da205e419f7989c1e9eaa386), extended CAN and safety work in [`8f8d6d15f`](https://github.com/BluePilotDev/bluepilot/commit/8f8d6d15f0a590f42b78de964ffb0d0af7f5d63d), and manual-turn detection in [`97867c1eb`](https://github.com/BluePilotDev/bluepilot/commit/97867c1eb57b7472f6fc3de62f0fef576e5a5497).
-
-The vehicle strategy and CAN/native owners preserve that attribution while adapting to the current controller interfaces and shared safety limits. Upstream contributors do not maintain or endorse this adaptation. Applicable notices are retained in [THIRD_PARTY_NOTICES.md](THIRD_PARTY_NOTICES.md).
-
-## Optional Ford angle controller
-
-The vendored `opendbc_repo/opendbc/bluepilot_lateral` angle core, codecs and Ford-only safety hooks are adapted directly from [BluePilot bp-7.0 e1d051d7ba270261b4455068bd68f1a58db15a4a](https://github.com/BluePilotDev/bluepilot/commit/e1d051d7ba270261b4455068bd68f1a58db15a4a), principally by Alan Polk, with John Christman, Jacob Neulight, Nathan Ingraham, Praeuner and other BluePilot, sunnypilot and comma contributors. Exact source paths and intentionally stricter safety checks are recorded in that folder. Both upstream `LICENSE` and `LICENSE.md` notices are retained. Its layout follows Alan Polk's September 2026 library proposal; this is a StarPilot adapter, not a published BluePilot library release.
-
-## RAV4 Continental ARS510 receiver
-
-The optional ACC-target and fused-track receivers and DBC preserve firestar5683's Dom integration from `b220a37f4bd119e402225a7aa16a7cd84878d0af` (Sea Turtles, 2026-10-13) and its ARS510 source attribution to ds-sebastian/ars510-radar `fb5b29c2b5999f34afeb6f7ac494a73949d66c67`, copyright 2026 ARS510 radar contributors. The complete MIT permission and warranty notice is retained in THIRD_PARTY_NOTICES.md. Startup/settings ownership is adapted to the current StarPilot architecture; no original firmware binaries or safety permissions are copied.
-
-## Spotify Bluetooth output
-
-Spotify's Bluetooth output binds the comma's BlueALSA A2DP source to the selected speaker through a process-local ALSA configuration, leaving the system ALSA default, soundd and the warning speaker untouched. That approach is adapted from firestar5683's RoadScore Bluetooth output (`roadscore/prototype/bluetooth_output.py`, firestar5683/StarPilot `RoadScore` at `249eb88b3a397db847e4a595d7e23b7e85d329e5`). The Soloist player itself is never included: each user downloads it from Spotify, and the PulseAudio server that carries its audio is vendored unmodified from Ubuntu (see THIRD_PARTY_NOTICES.md).
-
-## Tesla Pre-AP pedal control
-
-The Pre-AP configuration, pedal codec/feedback, VirtualDAS feedforward table, grade compensation, torque-zero estimator and vehicle-specific gains preserve firestar5683's intentional Dom work, including `7837a3c1aab`, `aed0b7fdb9e9` and pinned `b220a37f4bd119e402225a7aa16a7cd84878d0af`. Original author attribution: firestar5683 <168790843+firestar5683@users.noreply.github.com>. Startup/calibration ownership, current upstream button/PID interfaces and native command bounds are adapted to the current StarPilot architecture; the old permissive native gateway is not transplanted. Existing source/license notices remain intact.

Dockerfile.openpilot

@@ -0,0 +1,13 @@
+FROM ubuntu:16.04
+ENV PYTHONUNBUFFERED 1
+
+RUN apt-get update && apt-get install -y build-essential clang vim screen wget bzip2 git libglib2.0-0 python-pip capnproto libcapnp-dev libzmq5-dev libffi-dev
+
+RUN pip install numpy==1.11.2 scipy==0.18.1 matplotlib
+
+COPY requirements_openpilot.txt /tmp/
+RUN pip install -r /tmp/requirements_openpilot.txt
+
+ENV PYTHONPATH /tmp/openpilot:$PYTHONPATH
+
+COPY . /tmp/openpilot

Jenkinsfile

@@ -1,320 +0,0 @@
-def retryWithDelay(int maxRetries, int delay, Closure body) {
-  for (int i = 0; i < maxRetries; i++) {
-    try {
-      return body()
-    } catch (Exception e) {
-      sleep(delay)
-    }
-  }
-  throw Exception("Failed after ${maxRetries} retries")
-}
-
-def device(String ip, String step_label, String cmd) {
-  withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) {
-    def ssh_cmd = """
-ssh -o ControlMaster=no -o ControlPath=none -o ConnectTimeout=5 -o ServerAliveInterval=5 -o ServerAliveCountMax=12 -o BatchMode=yes -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' exec setpriv --pdeathsig HUP /usr/bin/bash <<'END'
-
-set -e
-
-export TERM=xterm-256color
-
-trap 'kill 0' HUP # stop this process group on SSH disconnect
-
-export CI=1
-export PYTHONWARNINGS=error
-export PYTHONFAULTHANDLER=1
-export COMMA_CACHE=/data/tmp/comma_download_cache
-#export LOGPRINT=debug # this has gotten too spammy...
-export TEST_DIR=${env.TEST_DIR}
-export SOURCE_DIR=${env.SOURCE_DIR}
-export GIT_BRANCH=${env.GIT_BRANCH}
-export GIT_COMMIT=${env.GIT_COMMIT}
-export CI_ARTIFACTS_TOKEN=${env.CI_ARTIFACTS_TOKEN}
-export GITHUB_COMMENTS_TOKEN=${env.GITHUB_COMMENTS_TOKEN}
-export AZURE_TOKEN='${env.AZURE_TOKEN}'
-# only use 1 thread since most require real hardware that can't be shared
-export PYTEST_ADDOPTS="-n0 -s"
-
-
-export GIT_SSH_COMMAND="ssh -i /data/gitkey"
-
-source ~/.bash_profile
-if [ -f /AGNOS ]; then
-  source /etc/profile
-
-  rm -rf /tmp/tmp*
-  rm -rf ~/.commacache
-  rm -rf /dev/shm/*
-  rm -rf /dev/tmp/tmp*
-
-  if ! systemctl is-active --quiet systemd-resolved; then
-    echo "restarting resolved"
-    sudo systemctl start systemd-resolved
-    sleep 3
-  fi
-
-  # restart aux USB
-  if [ -e /sys/bus/usb/drivers/hub/3-0:1.0 ]; then
-    echo "restarting aux usb"
-    echo "3-0:1.0" | sudo tee /sys/bus/usb/drivers/hub/unbind
-    sleep 0.5
-    echo "3-0:1.0" | sudo tee /sys/bus/usb/drivers/hub/bind
-  fi
-fi
-if [ -f /data/openpilot/launch_env.sh ]; then
-  source /data/openpilot/launch_env.sh
-fi
-
-export LD_LIBRARY_PATH="\$(python -c 'import ffmpeg; print(ffmpeg.LIB_DIR)'):/usr/local/lib:\${LD_LIBRARY_PATH:-}"
-
-ln -snf ${env.TEST_DIR} /data/pythonpath
-
-cd ${env.TEST_DIR} || true
-time ( ${cmd} ) &
-wait \$!
-END"""
-
-    sh script: ssh_cmd, label: step_label
-  }
-}
-
-def deviceStage(String stageName, String deviceType, List extra_env, def steps) {
-  stage(stageName) {
-    if (currentBuild.result != null) {
-        return
-    }
-
-    if (isReplay()) {
-      error("REPLAYING TESTS IS NOT ALLOWED. FIX THEM INSTEAD.")
-    }
-
-    def extra = extra_env.collect { "export ${it}" }.join('\n');
-    def branch = env.BRANCH_NAME ?: 'master';
-    def gitDiff = sh returnStdout: true, script: 'curl -s -H "Authorization: Bearer ${GITHUB_COMMENTS_TOKEN}" https://api.github.com/repos/commaai/openpilot/compare/master...${GIT_BRANCH} | jq .files[].filename || echo "/"', label: 'Getting changes'
-
-    lock(resource: "", label: deviceType, inversePrecedence: true, variable: 'device_ip', quantity: 1, resourceSelectStrategy: 'random') {
-      docker.image('ghcr.io/commaai/alpine-ssh').inside('--user=root') {
-        timeout(time: 35, unit: 'MINUTES') {
-          retry (3) {
-            def date = sh(script: 'date', returnStdout: true).trim();
-            device(device_ip, "set time", "date -s '" + date + "'")
-            device(device_ip, "git checkout", extra + "\n" + readFile("openpilot/selfdrive/test/setup_device_ci.sh"))
-          }
-          steps.each { item ->
-            def name = item[0]
-            def cmd = item[1]
-
-            def args = item[2]
-            def diffPaths = args.diffPaths ?: []
-            def cmdTimeout = args.timeout ?: 9999
-
-            if (branch != "master" && !branch.contains("__jenkins_loop_") && diffPaths && !hasPathChanged(gitDiff, diffPaths)) {
-              println "Skipping ${name}: no changes in ${diffPaths}."
-              return
-            } else {
-              timeout(time: cmdTimeout, unit: 'SECONDS') {
-                device(device_ip, name, cmd)
-              }
-            }
-          }
-        }
-      }
-    }
-  }
-}
-
-def hasPathChanged(String gitDiff, List<String> paths) {
-  for (path in paths) {
-    if (gitDiff.contains(path)) {
-      return true
-    }
-  }
-  return false
-}
-
-def isReplay() {
-  def replayClass = "org.jenkinsci.plugins.workflow.cps.replay.ReplayCause"
-  return currentBuild.rawBuild.getCauses().any{ cause -> cause.toString().contains(replayClass) }
-}
-
-def setupCredentials() {
-  withCredentials([
-    string(credentialsId: 'azure_token', variable: 'AZURE_TOKEN'),
-  ]) {
-    env.AZURE_TOKEN = "${AZURE_TOKEN}"
-  }
-
-  withCredentials([
-    string(credentialsId: 'ci_artifacts_pat', variable: 'CI_ARTIFACTS_TOKEN'),
-  ]) {
-    env.CI_ARTIFACTS_TOKEN = "${CI_ARTIFACTS_TOKEN}"
-  }
-
-  withCredentials([
-    string(credentialsId: 'post_comments_github_pat', variable: 'GITHUB_COMMENTS_TOKEN'),
-  ]) {
-    env.GITHUB_COMMENTS_TOKEN = "${GITHUB_COMMENTS_TOKEN}"
-  }
-}
-
-def step(String name, String cmd, Map args = [:]) {
-  return [name, cmd, args]
-}
-
-def chestnutStage(String name = "chestnut") {
-  deviceStage(name, "mici-chestnut-ci", ["UNSAFE=1", "CHESTNUT=1"], [
-    step("build", "./openpilot/selfdrive/test/chestnut.sh"),
-    step("model replay", "openpilot/selfdrive/test/process_replay/model_replay.py --chestnut"),
-    step("onroad tests", "./openpilot/selfdrive/test/test_onroad.py TestChestnutOnroad", [timeout: 120]),
-  ])
-}
-
-node {
-  env.CI = "1"
-  env.PYTHONWARNINGS = "error"
-  env.TEST_DIR = "/data/openpilot"
-  env.SOURCE_DIR = "/data/openpilot_source/"
-  setupCredentials()
-
-  env.GIT_BRANCH = checkout(scm).GIT_BRANCH
-  env.GIT_COMMIT = checkout(scm).GIT_COMMIT
-
-  if (env.JOB_BASE_NAME == 'chestnut-stresstest') {
-    sh 'git fetch --no-tags origin nightly-chestnut'
-    env.GIT_COMMIT = sh(script: 'git show FETCH_HEAD:git_src_commit', returnStdout: true).trim()
-    if (!(env.GIT_COMMIT ==~ /[0-9a-f]{40}/)) {
-      error("invalid nightly-chestnut source commit")
-    }
-    def results = []
-    try {
-      timeout(time: 12, unit: 'HOURS') {
-        for (int run = 1; run <= 100; run++) {
-          results << "run ${run}: INCOMPLETE"
-          try {
-            chestnutStage("chestnut ${run}/100")
-            results[run - 1] = "run ${run}: PASS"
-          } catch (hudson.AbortException e) {
-            results[run - 1] = "run ${run}: FAIL"
-            echo e.toString()
-          }
-        }
-      }
-    } finally {
-      writeFile file: 'chestnut_stress_report.txt', text: "commit: ${env.GIT_COMMIT}\ncompleted: ${results.count { !it.endsWith('INCOMPLETE') }}/100\n" + results.join('\n') + '\n'
-      archiveArtifacts artifacts: 'chestnut_stress_report.txt'
-    }
-    if (results.any { !it.endsWith('PASS') }) {
-      error("chestnut stress test failed")
-    }
-    return
-  }
-
-  def excludeBranches = ['__nightly', '__nightly-chestnut', 'devel', 'devel-staging',
-                         'release-tizi', 'release-tizi-staging', 'release-mici', 'release-mici-staging', 'testing-closet*', 'hotfix-*']
-  def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')
-
-  if (env.BRANCH_NAME != 'master' && !env.BRANCH_NAME.contains('__jenkins_loop_')) {
-    properties([
-        disableConcurrentBuilds(abortPrevious: true)
-    ])
-  }
-
-  try {
-    if (env.BRANCH_NAME == 'devel-staging') {
-      deviceStage("build release-tizi-staging", "tizi-needs-can", [], [
-        step("build release-tizi-staging", "RELEASE_BRANCH=release-tizi-staging,release-mici-staging $SOURCE_DIR/tools/release/build_release.sh"),
-      ])
-    }
-
-    if (env.BRANCH_NAME == '__nightly') {
-      parallel (
-        'nightly': {
-          deviceStage("build nightly", "tizi-needs-can", [], [
-            step("build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/tools/release/build_release.sh"),
-          ])
-        },
-        'nightly-dev': {
-          deviceStage("build nightly-dev", "tizi-needs-can", [], [
-            step("build nightly-dev", "PANDA_DEBUG_BUILD=1 RELEASE_BRANCH=nightly-dev $SOURCE_DIR/tools/release/build_release.sh"),
-          ])
-        },
-      )
-    }
-
-    if (env.BRANCH_NAME == '__nightly-chestnut') {
-      parallel (
-        'nightly-chestnut': {
-          deviceStage("build nightly-chestnut", "mici-chestnut-ci", ["CHESTNUT=1"], [
-            step("build nightly-chestnut", "SCONSFLAGS=-j4 INCLUDE_BIG_MODEL=1 RELEASE_BRANCH=nightly-chestnut $SOURCE_DIR/tools/release/build_release.sh TestChestnutOnroad"),
-          ])
-        },
-        'nightly-chestnut-dev': {
-          deviceStage("build nightly-chestnut-dev", "mici-chestnut-ci", ["CHESTNUT=1"], [
-            step("build nightly-chestnut-dev", "SCONSFLAGS=-j4 INCLUDE_BIG_MODEL=1 PANDA_DEBUG_BUILD=1 RELEASE_BRANCH=nightly-chestnut-dev $SOURCE_DIR/tools/release/build_release.sh TestChestnutOnroad"),
-          ])
-        },
-      )
-    }
-
-    if (!env.BRANCH_NAME.matches(excludeRegex)) {
-    parallel (
-      'onroad tests': {
-        deviceStage("onroad", "tizi-needs-can", ["UNSAFE=1"], [
-          step("build openpilot", "cd openpilot/system/manager && ./build.py"),
-          step("check dirty", "tools/release/check-dirty.sh"),
-          step("onroad tests", "./openpilot/selfdrive/test/test_onroad.py", [timeout: 60]),
-        ])
-      },
-      'HW + Unit Tests': {
-        deviceStage("tizi-hardware", "tizi-common", ["UNSAFE=1"], [
-          step("build", "cd openpilot/system/manager && ./build.py"),
-          step("test power draw", "./openpilot/selfdrive/test/test_power_draw.py"),
-          step("test encoder", "./openpilot/system/loggerd/tests/test_encoder.py", [diffPaths: ["openpilot/system/loggerd/"]]),
-          step("test manager", "./openpilot/system/manager/test/test_manager.py"),
-        ])
-      },
-      'camerad OX03C10': {
-        deviceStage("OX03C10", "tizi-ox03c10", ["UNSAFE=1"], [
-          step("build", "cd openpilot/system/manager && ./build.py"),
-          step("test pandad", "./openpilot/selfdrive/pandad/tests/test_pandad.py"),
-          step("test camerad", "./openpilot/system/camerad/test/test_camerad.py", [timeout: 90]),
-        ])
-      },
-      'camerad OS04C10': {
-        deviceStage("OS04C10", "tici-os04c10", ["UNSAFE=1"], [
-          step("build", "cd openpilot/system/manager && ./build.py"),
-          step("test pandad", "./openpilot/selfdrive/pandad/tests/test_pandad.py"),
-          step("test camerad", "./openpilot/system/camerad/test/test_camerad.py", [timeout: 90]),
-        ])
-      },
-      'sensord': {
-        deviceStage("LSM + MMC", "tizi-lsmc", ["UNSAFE=1"], [
-          step("build", "cd openpilot/system/manager && ./build.py"),
-          step("test sensord", "./openpilot/system/sensord/tests/test_sensord.py"),
-        ])
-      },
-      'replay': {
-        deviceStage("model-replay", "tizi-replay", ["UNSAFE=1"], [
-          step("build", "cd openpilot/system/manager && ./build.py", [diffPaths: ["openpilot/selfdrive/modeld/", "tinygrad_repo", "openpilot/selfdrive/test/process_replay/model_replay.py"]]),
-          step("model replay", "openpilot/selfdrive/test/process_replay/model_replay.py", [diffPaths: ["openpilot/selfdrive/modeld/", "tinygrad_repo", "openpilot/selfdrive/test/process_replay/model_replay.py"]]),
-        ])
-      },
-      'tizi': {
-        deviceStage("tizi", "tizi", ["UNSAFE=1"], [
-          step("build openpilot", "cd openpilot/system/manager && ./build.py"),
-          step("test pandad loopback", "./openpilot/selfdrive/pandad/tests/test_pandad_loopback.py"),
-          step("test pandad spi", "./openpilot/selfdrive/pandad/tests/test_pandad_spi.py"),
-          step("test amp", "./openpilot/common/hardware/comma/tests/test_amplifier.py"),
-        ])
-      },
-      'chestnut': {
-        chestnutStage()
-      },
-
-    )
-    }
-  } catch (Exception e) {
-    currentBuild.result = 'FAILED'
-    throw e
-  }
-}

LICENSE

@@ -1,7 +0,0 @@
-Copyright (c) 2018, Comma.ai, Inc.
-
-Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

LICENSE-MDI

@@ -1,202 +0,0 @@
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Makefile

@@ -0,0 +1,6 @@
+.PHONY: all
+
+# TODO: Add a global build system to openpilot
+all:
+	cd /data/openpilot/selfdrive && PYTHONPATH=/data/openpilot PREPAREONLY=1 /data/openpilot/selfdrive/manager.py
+

README.md

@@ -1,119 +1,108 @@
-# StarPilot
+Welcome to openpilot
+======
 
+[openpilot](http://github.com/commaai/openpilot) is an open source driving agent.
 
-[![Ask DeepWiki](https://img.shields.io/badge/Ask-DeepWiki-blue?logo=readthedocs&logoColor=white)](https://deepwiki.com/StarPilotHQ/StarPilot)
-[![Discord](https://img.shields.io/discord/1387432184121393333?label=Discord)](https://firestar.link/discord)
-[![Last Updated](https://img.shields.io/github/last-commit/StarPilotHQ/StarPilot/StarPilot)](https://github.com/StarPilotHQ/StarPilot)
-[![Wiki](https://img.shields.io/badge/Wiki-StarPilot-blue?logo=wiki)](https://wiki.firestar.link)
-[![iOS App Store](https://img.shields.io/badge/iOS-App_Store-black?logo=apple&logoColor=white)](https://apps.apple.com/ca/app/starpilot-bt/id6821039119)
-[![Android Beta](https://img.shields.io/badge/Android-Join_Beta-green?logo=android&logoColor=white)](https://groups.google.com/g/galaxy-starpilot-android-beta)
+Currently it performs the functions of Adaptive Cruise Control (ACC) and Lane Keeping Assist System (LKAS) for Hondas and Acuras. It's about on par with Tesla Autopilot at launch, and better than [all other manufacturers](http://www.thedrive.com/tech/5707/the-war-for-autonomous-driving-part-iii-us-vs-germany-vs-japan).
 
-**StarPilot** is a custom fork of [comma.ai's openpilot](https://comma.ai/openpilot),
-an open source driver assistance system.
+The openpilot codebase has been written to be concise and enable rapid prototyping. We look forward to your contributions - improving real vehicle automation has never been easier.
 
-**This is the StarPilot 7.0 development branch (`SecretGoodStarPilot`). Feature migration,
-vehicle qualification, and Auto Learn validation are still in progress.**
+Here are [some](https://www.youtube.com/watch?v=9OwTJFuDI7g) [videos](https://www.youtube.com/watch?v=64Wvt5pYQmE) [of](https://www.youtube.com/watch?v=6IW7Nejsr3A) [it](https://www.youtube.com/watch?v=-VN1YcC83nA) [running](https://www.youtube.com/watch?v=EQJZvVeihZk). And a really cool [tutorial](https://www.youtube.com/watch?v=PwOnsT2UW5o).
 
-Openpilot provides
-* Automated Lane Centering
-* Adaptive Cruise Control
-* Lane Change Assist
-* Driver Monitoring *without wheel nags*
+Hardware
+------
 
-Ford-specific lateral-control and vehicle-support work includes substantial adaptations from
-[BluePilot](https://github.com/BluePilotDev/bluepilot/tree/bp-7.0), principally developed by
-[Alan Polk](https://github.com/alan-polk) with additional BluePilot contributors. StarPilot's
-implementation has since diverged, but that does not erase its lineage. See [CREDITS.md](CREDITS.md)
-for the code-level provenance and [THIRD_PARTY_NOTICES.md](THIRD_PARTY_NOTICES.md) for applicable
-upstream notices and terms. BluePilot and its contributors do not maintain or endorse StarPilot;
-please direct support requests for this adaptation to the StarPilot project.
+Right now openpilot supports the [neo research platform](http://github.com/commaai/neo) for vehicle control. We'd like to support other platforms as well.
 
-Hyundai, Kia, and Genesis angle steering and related vehicle support include substantial adaptations
-from [sunnypilot](https://github.com/sunnypilot/sunnypilot/tree/hkg-angle-steering-2025) and its
-[opendbc angle-steering branch](https://github.com/sunnypilot/opendbc/tree/hkg-angle-steering-2025).
-StarPilot's implementation has diverged significantly; the upstream contributors do not maintain
-this adaptation. Detailed code lineage is recorded in [CREDITS.md](CREDITS.md).
+Install openpilot on a neo device by entering ``https://openpilot.comma.ai`` during NEOS setup.
 
-StarPilot has a vibrant, welcoming community [discord](https://firestar.link/discord).
-Stop by to chat or ask questions!
-If your car isn't driving as well as you'd like, [open a ticket so we can help](https://firestar.link/logs)!
+Supported Cars
+------
 
-## Documentation
+- Acura ILX 2016 with AcuraWatch Plus
+  - Due to use of the cruise control for gas, it can only be enabled above 25 mph
 
-Please see [https://wiki.firestar.link](https://wiki.firestar.link) for hardware lists,
-installation guides, and software configuration.
+- Honda Civic 2016 with Honda Sensing
+  - Due to limitations in steering firmware, steering is disabled below 12 mph
 
-## Features
+- Honda CR-V Touring 2015-2016 (very alpha!)
+  - Can only be enabled above 25 mph
 
-* **Full support for Comma C3, C3X, and C4**
-* Full support for chestnut/eGPU on C3, C3X, and C4. C3/C3X may require special gps handling.
-* Model switcher with all of comma's tinygrad driving models
-* StarPilot custom torque controller
-* StarPilot custom longitudinal planner for both radar and VoACC (visual only, radar-less) vehicles
-* **Custom tuning for an expanding list of vehicles**
-* Firestar Lateral Method -
-Auto tuning system to adapt openpilot to *your* car's unique lateral characteristics.
-* Galaxy: StarPilot's portal to configure your comma device using your phone from anywhere.
-Download models, change settings, update software, diagnostics, manage dashcam video, and more.
-* Navigation - Display routes and give the driving model hints on taking exits and turns.
-* Always On Lateral (full time steering assist)
-* Lane Centering - Enable to center between detected lane lines,
-with graceful fallback to model E2E lateral outputs and safety breakout
-* Force Stop 2.0 - Better stops at stop signs and traffic lights.
-* Speed Limit Controller - Use dashboard, map data, and/or vision detection for speed limit signs
-* Curve Speed Controller - Learns from how you take curves
-* Conditional Experimental Mode (CEM)
-* Conditional Chill Mode (CCM)
-* Driving Profiles and Traffic Mode
-* Custom themes
-* Alert volume customization
-* Comma Pedal Interceptor support
-* Bluetooth support - Connect keyboards, controllers, steering wheel remotes, and more.
-* Sentry mode - Record when motion is detected while parked.
-* V-ASM - Detect vehicles in the adjacent/blind spots using the driver-facing camera.
-* Additional car support - Toyota SDSU, ZSS, CAN filter; pre-AP tesla; ford; Polestar 2; and more.
-* And more!
+Directory structure
+------
 
+- cereal        -- The messaging spec used for all logs on the phone
+- common        -- Library like functionality we've developed here
+- opendbc       -- Files showing how to interpret data from cars
+- panda         -- Code used to communicate on CAN and LIN
+- phonelibs     -- Libraries used on the phone
+- selfdrive     -- Code needed to drive the car
+  - assets        -- Fonts for ui
+  - boardd        -- Daemon to talk to the board
+  - car           -- Code that talks to the car and implements CarInterface
+  - common        -- Shared C/C++ code for the daemons
+  - controls      -- Python controls (PID loops etc) for the car
+  - debug         -- Tools to help you debug and do car ports
+  - logcatd       -- Android logcat as a service
+  - loggerd       -- Logger and uploader of car data
+  - proclogd      -- Logs information from proc
+  - radar         -- Code that talks to the radar and implements RadarInterface
+  - sensord       -- IMU / GPS interface code
+  - test/plant    -- Car simulator running code through virtual maneuvers
+  - ui            -- The UI
+  - visiond       -- embedded vision pipeline
 
-## GM-only Features
+To understand how the services interact, see `selfdrive/service_list.yaml`
 
-* Increased LKAS fault resiliency
-* ASCM_INT and SASCM support
-* Custom lateral torque controller, with special tuning for Bolts
-* 50% extra torque on 2017 Chevy Bolt
-* Improved lateral and longitudinal tuning
-* Dashboard cruise control display speed spoofing for vehicles with pedal interceptor
-* Extra steering wheel button functionality for vehicles with pedal interceptor
-* Optional toggle to boot comma when remote starting your vehicle
+Testing on PC
+------
 
-## Development
+There is rudimentary infrastructure to run a basic simulation and generate a report of openpilot's behavior in different scenarios.
 
-Dependencies are included as ordinary source folders. No recursive submodule checkout is needed. [upstream-sync.json](upstream-sync.json) records the openpilot baseline and the source revisions used for vendored dependencies.
+```bash
+# Requires working docker
+./run_docker_tests.sh
+```
 
-The familiar development entry points are retained:
+The results are written to `selfdrive/test/plant/out/index.html`
 
-| Command | Purpose |
-| --- | --- |
-| `./build` | Build the device software using the matching AGNOS environment |
-| `./build --panda` | Build the supported Panda firmware targets |
-| `./c3` | Open the comma 3 interface on a development host |
-| `./c4` | Open the comma four interface on a development host |
-| `./onroad` | Open the onroad development view |
-| `./dev` | Use the isolated host development environment |
-| `./test` | Run local pre-push regression checks without changing device artifacts |
+More extensive testing infrastructure and simulation environments are coming soon.
 
-See the [build guide](docs/how-to/laptop-device-build.md) for setup, prerequisites, and target-specific behavior. The [UI guide](openpilot/starpilot/ui/README.md) describes desktop previews and their limits.
+Adding Car Support
+------
 
-## Testing and vehicle support
+comma.ai offers [bounties](http://comma.ai/bounties.html) for adding additional car support.
 
-StarPilot retains upstream vehicle and Panda safety interfaces and adds regression coverage for its custom behavior. The [safety workflow](.github/workflows/safety.yaml) and feature tests cover distinct parts of the system. A passing interface test, model comparison, or bench run does not establish driving support for every configuration.
+CR-V Touring support came in through this program. Chevy Volt is close. Accord is close as well.
 
-Support depends on the vehicle configuration and enabled feature. An existing vehicle identifier or settings page does not by itself establish driving support. Model Laboratory currently exposes management controls, but paired driving inference remains unavailable pending integration and Chestnut validation.
+User Data / chffr Account / Crash Reporting
+------
 
-## Third-Party Notices
+By default openpilot creates an account and includes a client for chffr, our dashcam app. We use your data to train better models and improve openpilot for everyone.
 
-* Portions of this software include modified versions of the Material Design Icons provided by Google under the Apache License 2.0. A copy of the license is included in the `LICENSE-MDI` file.
-* Ford support includes software adapted from BluePilot's `bp-7.0` branch. The source repository contains both a standard MIT notice and a separate custom SUNNYPILOT LLC notice; StarPilot preserves both in [THIRD_PARTY_NOTICES.md](THIRD_PARTY_NOTICES.md).
-* Hyundai, Kia, and Genesis support includes software adapted directly from sunnypilot's HKG angle-steering branch and sunnypilot/opendbc. StarPilot preserves the applicable notices in [THIRD_PARTY_NOTICES.md](THIRD_PARTY_NOTICES.md).
+It's open source software, so you are free to disable it if you wish. 
 
-> This project uses software from Haibin Wen and SUNNYPILOT LLC and is licensed under a custom license requiring permission for use.
+It logs the road facing camera, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
+It does not log the user facing camera or the microphone.
+
+By using it, you agree to [our privacy policy](https://beta.comma.ai/privacy.html). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma.ai. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma.ai for the use of this data.
+
+Contributing
+------
+
+We welcome both pull requests and issues on
+[github](http://github.com/commaai/openpilot). See the TODO file for a list of
+good places to start.
+
+Want to get paid to work on openpilot? [comma.ai is hiring](http://comma.ai/positions.html)
+
+Licensing
+------
+
+openpilot is released under the MIT license.
+
+Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.
+
+**THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT.
+YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS.
+NO WARRANTY EXPRESSED OR IMPLIED.**

SAFETY.md

@@ -0,0 +1,36 @@
+openpilot Safety
+======
+
+openpilot is an Adaptive Cruise Control and Lane Keeping Assist System. Like
+other ACC and LKAS systems, openpilot requires the driver to be alert and to pay
+attention at all times. We repeat, **driver alertness is necessary, but not
+sufficient, for openpilot to be used safely**.
+
+Even with an attentive driver, we must make further efforts for the system to be
+safe. We have designed openpilot with two other safety considerations.
+
+1. The vehicle must always be controllable by the driver.
+2. The vehicle must not alter its trajectory too quickly for the driver to safely
+   react.
+
+To address these, we came up with two safety principles.
+
+1. Enforced disengagements. Step on either pedal or press the cancel button to
+   retake manual control of the car immediately.
+  - These are hard enforced by the board, and soft enforced by the software. The
+    green led on the board signifies if the board is allowing control messages.
+  - Honda CAN uses both a counter and a checksum to ensure integrity and prevent
+    replay of the same message.
+
+2. Actuation limits. While the system is engaged, the actuators are constrained
+   to operate within reasonable limits; the same limits used by the stock system on
+   the Honda.
+  - Without an interceptor, the gas is controlled by the PCM. The PCM limits
+    acceleration to what is reasonable for a cruise control system.  With an
+    interceptor, the gas is clipped to 60% in longcontrol.py
+  - The brake is controlled by the 0x1FA CAN message. This message allows full
+    braking, although the board and the software clip it to 1/4th of the max.
+    This is around .3g of braking.
+  - Steering is controlled by the 0xE4 CAN message. The EPS controller in the
+    car limits the torque to a very small amount, so regardless of the message,
+    the controller cannot jerk the wheel.

SConstruct

@@ -1,406 +0,0 @@
-import os
-import subprocess
-import sys
-import sysconfig
-import platform
-import shlex
-import importlib
-import re
-import stat
-import numpy as np
-
-import SCons.Errors
-from SCons.Defaults import _stripixes
-
-COMMA_HARDWARE = os.path.isfile('/AGNOS')
-
-SCons.Warnings.warningAsException(True)
-
-Decider('MD5-timestamp')
-
-SetOption('num_jobs', max(1, int(os.cpu_count()/(1 if "CI" in os.environ else 2))))
-
-AddOption('--ccflags', action='store', type='string', default='', help='pass arbitrary flags over the command line')
-AddOption('--verbose', action='store_true', default=False, help='show full build commands')
-release = os.path.exists(File('#git_src_commit').abspath)  # written by release packaging
-AddOption('--minimal',
-          action='store_false',
-          dest='extras',
-          default=(not COMMA_HARDWARE and not release),
-          help='the minimum build to run openpilot. no tests, tools, etc.')
-
-dependency_python_paths = [
-  Dir("#").abspath,
-  Dir("#msgq_repo").abspath,
-  Dir("#opendbc_repo").abspath,
-  Dir("#rednose_repo").abspath,
-  Dir("#teleoprtc_repo").abspath,
-  Dir("#tinygrad_repo").abspath,
-]
-for p in reversed(dependency_python_paths):
-  if p not in sys.path:
-    sys.path.insert(0, p)
-
-if external_pythonpath := os.environ.get("PYTHONPATH"):
-  dependency_python_paths += [p for p in external_pythonpath.split(os.pathsep) if p and p not in dependency_python_paths]
-
-# Detect platform
-arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
-if platform.system() == "Darwin":
-  arch = "Darwin"
-elif arch == "aarch64" and COMMA_HARDWARE:
-  arch = "comma_arm64"
-assert arch in [
-  "comma_arm64",  # linux comma hardware (AGNOS) arm64
-  "aarch64",      # linux pc arm64
-  "x86_64",       # linux pc x64
-  "Darwin",       # macOS arm64 (x86 not supported)
-]
-
-pkg_names = ['acados', 'capnproto', 'ffmpeg', 'json11', 'ncurses', 'zeromq', 'zstd']
-if arch != 'Darwin':
-  pkg_names.append('libusb')
-pkgs = [importlib.import_module(name) for name in pkg_names]
-acados = pkgs[pkg_names.index('acados')]
-ffmpeg = pkgs[pkg_names.index('ffmpeg')]
-from tools.laptop_device_build.runtime_paths import runtime_library_path
-
-build_sysroot = os.environ.get("COMMA_BUILD_SYSROOT") if arch == "comma_arm64" else None
-ffmpeg_runtime_dir = runtime_library_path(ffmpeg.LIB_DIR, sys.prefix, "/usr/local/venv" if build_sysroot else None)
-# Shared package ships .so/.dylib; older device venvs still have static .a only.
-# Keep static link deps (x264/z/va/drm) when the installed package is static so
-# COMMA_HARDWARE CI works without upgrading the device venv yet.
-# TODO: drop the static fallback once device venvs have comma-deps-ffmpeg>=7.1.0.post94
-_ffmpeg_lib_names = os.listdir(ffmpeg.LIB_DIR) if os.path.isdir(ffmpeg.LIB_DIR) else []
-ffmpeg_shared = any(
-  n.startswith('libavcodec.so') or (n.startswith('libavcodec') and n.endswith('.dylib'))
-  for n in _ffmpeg_lib_names
-)
-ffmpeg_libs = ['avformat', 'avcodec', 'swresample', 'avutil']
-if not ffmpeg_shared:
-  ffmpeg_libs += ['x264', 'z']
-  if arch != "Darwin":
-    ffmpeg_libs += ['va', 'va-drm', 'drm']
-acados_include_dirs = [
-  acados.INCLUDE_DIR,
-  os.path.join(acados.INCLUDE_DIR, "blasfeo", "include"),
-  os.path.join(acados.INCLUDE_DIR, "hpipm", "include"),
-]
-
-
-# ***** enforce a whitelist of system libraries *****
-# this prevents silently relying on a 3rd party package,
-# e.g. apt-installed libusb. all libraries should either
-# be distributed with all Linux distros and macOS, or
-# vendored in commaai/dependencies.
-allowed_system_libs = {
-  "EGL", "GLESv2", "GL",
-  "dl", "drm", "gbm", "m", "pthread",
-}
-
-def _resolve_lib(env, name):
-  for d in env.Flatten(env.get('LIBPATH', [])):
-    p = Dir(str(d)).abspath
-    for ext in ('.a', '.so', '.dylib'):
-      f = File(os.path.join(p, f'lib{name}{ext}'))
-      if f.exists() or f.has_builder():
-        return name
-  if name in allowed_system_libs:
-    return name
-  raise SCons.Errors.UserError(f"Unexpected non-vendored library '{name}'")
-
-def _libflags(target, source, env, for_signature):
-  libs = []
-  lp = env.subst('$LIBLITERALPREFIX')
-  for lib in env.Flatten(env.get('LIBS', [])):
-    if isinstance(lib, str):
-      if os.sep in lib or lib.startswith('#'):
-        libs.append(File(lib))
-      elif lib.startswith('-') or (lp and lib.startswith(lp)):
-        libs.append(lib)
-      else:
-        libs.append(_resolve_lib(env, lib))
-    else:
-      libs.append(lib)
-  return _stripixes(env['LIBLINKPREFIX'], libs, env['LIBLINKSUFFIX'],
-                    env['LIBPREFIXES'], env['LIBSUFFIXES'], env, env['LIBLITERALPREFIX'])
-
-env = Environment(
-  ENV={
-    "PATH": os.environ['PATH'],
-    "PYTHONPATH": os.pathsep.join(dependency_python_paths),
-    "ACADOS_SOURCE_DIR": acados.DIR,
-    "ACADOS_PYTHON_INTERFACE_PATH": acados.TEMPLATE_DIR,
-    "TERA_PATH": acados.TERA_PATH
-  },
-  CCFLAGS=[
-    "-g",
-    "-fPIC",
-    "-pipe",
-    "-O2",
-    "-Wunused",
-    "-Werror",
-    "-Wshadow" if arch in ("Darwin", "comma_arm64") else "-Wshadow=local",
-    "-Wno-unknown-warning-option",
-    "-Wno-inconsistent-missing-override",
-    "-Wno-c99-designator",
-    "-Wno-reorder-init-list",
-    "-Wno-vla-cxx-extension",
-  ],
-  CFLAGS=["-std=gnu11"],
-  CXXFLAGS=["-std=c++1z"],
-  CPPPATH=[
-    "#openpilot",
-    "#msgq_repo",            # #include "msgq/..."
-    "#opendbc_repo",         # #include "opendbc/..."
-    "#rednose_repo",         # #include "rednose/..."
-    "#rednose_repo/rednose", # #include "logger/..." (rednose package root)
-    "#openpilot/cereal/gen/cpp",
-    acados_include_dirs,
-    [x.INCLUDE_DIR for x in pkgs],
-    "#",
-  ],
-  LIBPATH=[
-    "#openpilot/common",
-    "#msgq_repo",
-    "#openpilot/selfdrive/pandad",
-    "#rednose_repo/rednose/helpers",
-    [x.LIB_DIR for x in pkgs],
-  ],
-  RPATH=[ffmpeg_runtime_dir] if ffmpeg_shared else [],
-  CYTHONCFILESUFFIX=".cpp",
-  COMPILATIONDB_USE_ABSPATH=True,
-  REDNOSE_ROOT="#rednose_repo",
-  tools=["default", "cython", "compilation_db", "rednose_filter"],
-  toolpath=["#msgq_repo/site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
-)
-# SCons' Darwin linker tool doesn't define the variables used to expand RPATH.
-if arch == "Darwin":
-  env["RPATHPREFIX"] = "-Wl,-rpath,"
-  env["RPATHSUFFIX"] = ""
-  env["_RPATH"] = "${_concat(RPATHPREFIX, RPATH, RPATHSUFFIX, __env__)}"
-if arch != "comma_arm64":
-  env['_LIBFLAGS'] = _libflags
-
-# Arch-specific flags and paths
-if arch == "comma_arm64":
-  env["CC"] = "clang"
-  env["CXX"] = "clang++"
-  env.Append(LIBPATH=[
-    "/usr/lib/aarch64-linux-gnu",
-  ])
-  arch_flags = ["-D__COMMA_HARDWARE__", "-mcpu=cortex-a57"]
-  env.Append(CCFLAGS=arch_flags)
-  env.Append(CXXFLAGS=arch_flags)
-  if build_sysroot:
-    if not all(os.path.isdir(os.path.join(build_sysroot, part)) for part in ("usr/include", "usr/lib/aarch64-linux-gnu", "lib/aarch64-linux-gnu")):
-      raise SCons.Errors.UserError(f"Incomplete COMMA_BUILD_SYSROOT: {build_sysroot}")
-    # Clang's --sysroot controls the standard headers and linker startup/libs;
-    # explicit SCons paths make device libraries win over container libraries.
-    env.Prepend(CPPPATH=[os.path.join(build_sysroot, part) for part in ("usr/local/include", "usr/include")])
-    env.Prepend(LIBPATH=[os.path.join(build_sysroot, part) for part in ("usr/local/lib", "usr/lib/aarch64-linux-gnu", "lib/aarch64-linux-gnu")])
-    env.Append(CCFLAGS=[f"--sysroot={build_sysroot}"])
-    env.Append(LINKFLAGS=[f"--sysroot={build_sysroot}"])
-elif arch == "Darwin":
-  env.Append(LIBPATH=[
-    "/System/Library/Frameworks/OpenGL.framework/Libraries",
-  ])
-  env.Append(CCFLAGS=["-DGL_SILENCE_DEPRECATION"])
-  env.Append(CXXFLAGS=["-DGL_SILENCE_DEPRECATION"])
-
-_extra_cc = shlex.split(GetOption('ccflags') or '')
-if _extra_cc:
-  env.Append(CCFLAGS=_extra_cc)
-
-# no --as-needed on mac linker
-if arch != "Darwin":
-  env.Append(LINKFLAGS=["-Wl,--as-needed", "-Wl,--no-undefined"])
-
-# Shorter build output: show brief descriptions instead of full commands.
-# Full command lines are still printed on failure by scons.
-if not GetOption('verbose'):
-  for action, short in (
-    ("CC",     "CC"),
-    ("CXX",    "CXX"),
-    ("LINK",   "LINK"),
-    ("SHCC",   "CC"),
-    ("SHCXX",  "CXX"),
-    ("SHLINK", "LINK"),
-    ("AR",     "AR"),
-    ("RANLIB", "RANLIB"),
-    ("AS",     "AS"),
-  ):
-    env[f"{action}COMSTR"] = f"  [{short}] $TARGET"
-
-# ********** Cython build environment **********
-envCython = env.Clone()
-envCython["CPPPATH"] += [sysconfig.get_paths()['include'], np.get_include()]
-envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-cpp", "-Wno-shadow", "-Wno-deprecated-declarations"]
-envCython["CCFLAGS"].remove("-Werror")
-
-envCython["LIBS"] = []
-if arch == "Darwin":
-  envCython["LINKFLAGS"] = env["LINKFLAGS"] + ["-bundle", "-undefined", "dynamic_lookup"]
-else:
-  envCython["LINKFLAGS"] = ["-pthread", "-shared"]
-  if build_sysroot:
-    envCython.Append(LINKFLAGS=[f"--sysroot={build_sysroot}"])
-
-np_version = SCons.Script.Value(np.__version__)
-Export('envCython', 'np_version')
-
-Export('env', 'arch', 'acados', 'ffmpeg_libs')
-
-# Setup cache dir
-cache_dir = os.environ.get('SCONS_CACHE', '/data/scons_cache' if arch == "comma_arm64" else '/tmp/scons_cache')
-cache_size_limit = 4e9 if "CI" in os.environ else 2e9
-CacheDir(cache_dir)
-Clean(["."], cache_dir)
-
-def prune_cache_dir(target=None, source=None, env=None):
-  cache_files = []
-  cache_root = os.path.normpath(cache_dir)
-  for root, _, files in os.walk(cache_root):
-    shard = os.path.basename(root)
-    if os.path.dirname(root) != cache_root or re.fullmatch(r'[0-9A-Fa-f]{2}', shard) is None:
-      continue
-    for name in files:
-      if re.fullmatch(r'(?:[0-9a-f]{32}|[0-9a-f]{64})', name) is None or name[:2].lower() != shard.lower():
-        continue
-      path = os.path.join(root, name)
-      try:
-        info = os.stat(path, follow_symlinks=False)
-      except FileNotFoundError:
-        continue
-      if stat.S_ISREG(info.st_mode):
-        cache_files.append((info.st_mtime, info.st_size, path))
-  cache_files.sort()
-  cache_size = sum(size for _, size, _ in cache_files)
-  for _, size, path in cache_files:
-    if cache_size < cache_size_limit:
-      break
-    try:
-      os.unlink(path)
-    except FileNotFoundError:
-      pass
-    cache_size -= size
-
-# ********** start building stuff **********
-
-SConscript(['opendbc_repo/opendbc/can/SConscript'])
-
-# Build common module
-SConscript(['openpilot/common/SConscript'])
-Import('_common')
-common = [_common, 'json11', 'zmq']
-Export('common')
-
-# Build messaging (cereal + msgq + socketmaster + their dependencies)
-SConscript(['msgq_repo/SConscript'])
-
-SConscript(['openpilot/cereal/SConscript'])
-
-Import('socketmaster', 'msgq')
-messaging = [socketmaster, msgq, 'capnp', 'kj',]
-Export('messaging')
-
-
-# Build dependency sources
-SConscript(['panda/SConscript'])
-
-# Build rednose library
-SConscript(['rednose_repo/rednose/SConscript'])
-
-# Build system services
-SConscript([
-  'openpilot/system/loggerd/SConscript',
-])
-
-if arch == "comma_arm64":
-  SConscript(['openpilot/system/camerad/SConscript'])
-  SConscript(['openpilot/starpilot/system/android_auto/SConscript'])
-
-# Build selfdrive
-SConscript([
-  'openpilot/selfdrive/pandad/SConscript',
-  'openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript',
-  'openpilot/selfdrive/locationd/SConscript',
-  'openpilot/selfdrive/modeld/SConscript',
-  'openpilot/selfdrive/ui/SConscript',
-  'openpilot/starpilot/audio/native/SConscript',
-  'openpilot/starpilot/models/runtime_bridge/SConscript',
-  'openpilot/starpilot/flm/SConscript',
-])
-
-# Replay is also the isolated on-device viewer engine.
-if GetOption('extras') or arch == "comma_arm64":
-  SConscript(['openpilot/tools/replay/SConscript'])
-
-# Build desktop-only tools
-if GetOption('extras') and arch != "comma_arm64":
-  SConscript([
-    'openpilot/tools/cabana/SConscript',
-    'openpilot/tools/jotpluggler/SConscript',
-  ])
-
-
-env.CompilationDatabase('compile_commands.json')
-
-# progress output
-def count_scons_nodes(nodes):
-  seen = set()
-  stack = list(nodes)
-
-  while stack:
-    node = stack.pop().disambiguate()
-    if node in seen:
-      continue
-    seen.add(node)
-    executor = node.get_executor()
-    if executor is not None:
-      stack += executor.get_all_prerequisites() + executor.get_all_children()
-
-  return len(seen)
-
-progress_interval = 5
-progress_count = 0
-progress_total = max(1, count_scons_nodes(env.arg2nodes(BUILD_TARGETS or [Dir('.')], env.fs.Entry)))
-
-def progress_function(node):
-  global progress_count
-  if progress_count >= progress_total:
-    return
-  progress_count = min(progress_count + progress_interval, progress_total)
-  progress = round(100. * progress_count / progress_total, 1)
-  sys.stderr.write("\rBuilding: %5.1f%%" % progress if sys.stderr.isatty() else "progress: %.1f\n" % progress)
-  if progress == 100. and sys.stderr.isatty():
-    sys.stderr.write("\n")
-  sys.stderr.flush()
-
-Progress(progress_function, interval=progress_interval)
-AddPostAction(BUILD_TARGETS or [Dir('.')], prune_cache_dir)
-
-# Release CI rebuilds tracked device outputs for the host architecture.
-if manifest_path := os.environ.get("STARPILOT_CI_BUILD_MANIFEST"):
-  from tools.release.build_manifest import capture
-  manifest_nodes = env.arg2nodes(BUILD_TARGETS or [Dir('.')], env.fs.Entry)
-  manifest_seen = set()
-  manifest_outputs = set()
-  while manifest_nodes:
-    manifest_node = manifest_nodes.pop().disambiguate()
-    if manifest_node in manifest_seen:
-      continue
-    manifest_seen.add(manifest_node)
-    manifest_executor = manifest_node.get_executor()
-    if manifest_executor is not None:
-      manifest_nodes += manifest_executor.get_all_prerequisites() + manifest_executor.get_all_children()
-      for target in manifest_executor.get_all_targets():
-        if target.is_derived() and hasattr(target, 'abspath'):
-          relative = os.path.relpath(target.abspath, Dir('#').abspath)
-          if not relative.startswith('../'):
-            manifest_outputs.add(relative)
-  capture(Dir('#').abspath, manifest_path, manifest_outputs,
-          {'arch': arch, 'targets': list(BUILD_TARGETS), 'extras': GetOption('extras'),
-           'ccflags': GetOption('ccflags'), 'release': release, 'arguments': dict(ARGUMENTS),
-           'toolchain': {key: str(env.get(key, '')) for key in
-                         ('CC', 'CXX', 'CCFLAGS', 'CFLAGS', 'CXXFLAGS', 'LINKFLAGS')}})

SECURITY.md

@@ -1,5 +0,0 @@
-# Security Policy
-
-## Reporting a Vulnerability
-
-Suspected vulnerabilities can be reported to both `adeeb@comma.ai` and `security@comma.ai`.

THIRD_PARTY_NOTICES.md

@@ -1,142 +0,0 @@
-# Third-party notices
-
-## Jetlink
-
-Jetlink's comma client is copyright (c) 2026 Zeph Leggett and distributed under the MIT License. Its complete license and permission notice are retained in [jetlink_repo/LICENSE](jetlink_repo/LICENSE); source and revision are recorded in [CREDITS.md](CREDITS.md#jetlink-external-inference) and `upstream-sync.json`.
-
-## MRR35 Hyundai angle and radar
-
-The MRR35 radar generator and related Hyundai angle integration derive from the frozen StarPilot snapshot `678af783`, with relevant sunnypilot/opendbc angle-branch ancestry at `cc4b08625a98e94b318cab15e45e05dad58042bd`. Both upstream `LICENSE` and `LICENSE.md` were published for that source. Their scope is not unambiguous, so both applicable notices and the extension-file attribution are retained here without choosing between them. See [CREDITS.md](CREDITS.md) for the narrow source map.
-
-### Upstream `opendbc` `LICENSE` notice (MIT)
-
-Copyright (c) 2020, Comma.ai, Inc.
-
-Permission is hereby granted, free of charge, to any person obtaining a copy of this software and
-associated documentation files (the "Software"), to deal in the Software without restriction,
-including without limitation the rights to use, copy, modify, merge, publish, distribute,
-sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in all copies or
-substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT
-NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
-NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
-DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT
-OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
-
-### Upstream extension file notice
-
-> Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
->
-> This file is part of sunnypilot and is licensed under the MIT License.
-> See the LICENSE.md file in the root directory for more details.
-
-### Upstream `LICENSE.md` notice (published as “Custom MIT License”)
-
-The following notice is reproduced verbatim from the reference branch:
-
-> # Custom MIT License
->
-> Copyright (c) 2024, Haibin Wen, SUNNYPILOT LLC
->
-> Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to view and modify the Software, subject to the following conditions:
->
-> 1. **Permission Required**: Permission Required for Commercial, For-Profit, or Closed Source Use: Use of the Software, in whole or in part, for any commercial purposes, for-profit projects, or in closed source projects requires explicit written permission from the original author(s).
->
-> 2. **Redistribution**: Any redistribution of the Software, modified or unmodified, must retain this license notice and the following acknowledgment:
->    "This software is licensed under a custom license requiring permission for use."
->
-> 3. **Visibility**: Any project that uses the Software must visibly mention the following acknowledgment:
->    "This project uses software from Haibin Wen and SUNNYPILOT LLC and is licensed under a custom license requiring permission for use."
->
-> 4. **No Warranty**: THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
->
-> Contact sunnypilot Support <support@sunnypilot.ai> for permission requests.
->
-> ---
->
-> Haibin Wen, SUNNYPILOT LLC
-
-Required upstream acknowledgments:
-
-> This software is licensed under a custom license requiring permission for use.
->
-> This project uses software from Haibin Wen and SUNNYPILOT LLC and is licensed under a custom license requiring permission for use.
-
-For commercial, for-profit, or closed-source use, consult the upstream notice and obtain any
-permission it requires. The upstream repository's simultaneous publication of two differently
-scoped notices should be clarified with the relevant copyright holders before relying on one to
-the exclusion of the other.
-
-## BluePilot Ford support
-
-The Ford lateral strategies, CAN constructors, camera-radar filtering and native checks include work adapted from BluePilot's `bp-7.0` source, through StarPilot `2efe6017bfe14cee4807833e05f9a7f6ba255cdb`. See [CREDITS.md](CREDITS.md#ford-support-adapted-from-bluepilot) for contributors and source revisions. The upstream extension-file and `LICENSE.md` notices reproduced above also apply to the Ford extension sources; they are retained without resolving the difference between their published license descriptions.
-
-## Optional BluePilot angle library adapter
-
-The angle-only adapter in `opendbc_repo/opendbc/bluepilot_lateral` is sourced directly from BluePilot bp-7.0 commit e1d051d7ba270261b4455068bd68f1a58db15a4a. The complete upstream MIT notice is retained in that folder's `LICENSE`, and the simultaneously published Custom MIT notice is retained verbatim in `LICENSE.md`. The applicable SUNNYPILOT acknowledgments reproduced above are also retained in its `CREDITS.md`. This preserves the published terms without resolving their scope or representing the adapted extension as unambiguously plain MIT.
-
-The optional, default-disabled angle lane-centering trim additionally derives from
-BluePilot bp-dev e22afa6be9b881fa784c92ebb316db47728a3d81. Its exact source and
-contributors are recorded in the library CREDITS.md; the same root/opendbc MIT
-and Custom MIT notices coexist unchanged at that revision. This adds attribution,
-not a license-scope decision or permission grant.
-
-## Continental ARS510 radar
-
-The optional RAV4 radar decoders and `toyota_tss2_ars510.dbc` are adapted from
-<https://github.com/ds-sebastian/ars510-radar> at
-`fb5b29c2b5999f34afeb6f7ac494a73949d66c67`.
-
-MIT License
-
-Copyright (c) 2026 ARS510 radar contributors
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in all
-copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-SOFTWARE.
-
-## PulseAudio server for Spotify
-
-`openpilot/starpilot/soloist/pulseaudio/` contains unmodified AArch64 binaries from Ubuntu 24.04 packages: PulseAudio 16.1 (LGPL-2.1-or-later), libltdl (LGPL-2.1-or-later), libtdb (LGPL-3.0-or-later), libsoxr (LGPL-2.1-or-later), liborc and speexdsp (BSD-style). The complete copyright and license notices are in that directory's `licenses/`, package hashes in `PACKAGES.sha512`, and the corresponding source is available from Ubuntu's archive for the exact versions listed in its README. The libraries are dynamically linked and may be replaced with `update.sh`.
-
-## Galaxy Android companion tunnel
-
-`openpilot/starpilot/galaxy/bin/hev-socks5-tunnel_linux_arm64` is the upstream
-[hev-socks5-tunnel 2.18.0](https://github.com/heiher/hev-socks5-tunnel/releases/tag/2.18.0)
-static Linux ARM64 release, under the MIT license. Its notice is retained in
-`openpilot/starpilot/galaxy/bin/LICENSE.hev-socks5-tunnel`; the adjacent SHA-256
-file pins the downloaded artifact. The Android companion uses the Kotlin
-standard library (Apache-2.0) and the Gradle wrapper (Apache-2.0); no third-party
-UI framework is bundled.
-
-## Galaxy Bluetooth companion source snapshot
-
-The Galaxy Bluetooth phone bridge and iOS app from https://github.com/StarPilotHQ/StarPilot
-(natehuby76, PRs #224/#225) are included under `openpilot/starpilot/galaxy_bluetooth/`
-and `openpilot/starpilot/companion/ios/`, with their license files (`UPSTREAM-LICENSE`, `openpilot/starpilot/companion/ios/UPSTREAM-GALAXY-LICENSE`).
-The bridge runs on openpilot's Python with PyCryptodome 3.23.0 (BSD/public-domain
-components, from opendbc). Its other dependencies are vendored unmodified, as
-pure-Python sources, in `openpilot/starpilot/galaxy_bluetooth/vendor/`:
-dbus-next 0.2.3 (MIT), ifaddr 0.2.0 (MIT) and Zeroconf 0.151.3
-(LGPL-2.1-or-later). Their license texts are in `vendor/licenses/`, and
-`vendor/VENDOR.json` records each PyPI source file and its SHA-256. Zeroconf is
-kept as separate, unmodified source files that can be replaced with another
-compatible version, as the LGPL requires.

build

@@ -1,156 +0,0 @@
-#!/usr/bin/env bash
-# Project build shortcuts. AGNOS builds natively; laptops use the ARM64 container.
-set -euo pipefail
-
-ROOT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
-if [[ "${1:-}" == -h || "${1:-}" == --help ]]; then
-  cat <<'EOF'
-Usage: ./build [jobs] [scons options]
-       ./build [--params] [--cereal] [--panda] [jobs] [scons options]
-       ./build --mapd
-       ./build --check-startup <Params root or namespace> <recovery storage>
-
-On AGNOS/aarch64, builds run natively. On laptops, builds use a Linux/ARM64 container.
---params builds libparams_c.so; --cereal builds cereal outputs; --panda
-builds signed panda (C3), panda_h7 and body_h7 firmware only. Numeric jobs become -jN.
-RELEASE and CERT are environment variables, not trailing SCons arguments:
-  RELEASE=1 CERT=/path/to/certificate ./build --panda 4
-CERT must name a readable certificate file. Omit RELEASE for DEBUG firmware.
---mapd explicitly packages the pinned offline Linux/ARM64 Go provider; it
-does not fetch map regions or participate in the default build.
-Run scripts/laptop_device_build.sh doctor to check local prerequisites.
-Full laptop builds require a source-matched QCOM artifact package in
-.cache/qcom-artifact-package; device builds still compile models natively.
---check-startup checks retained settings admission read-only using the local
-native developer runtime. Supply a matching Params namespace and recovery
-storage. A relocated copy can fail its path-bound profile marker.
-EOF
-  exit 0
-fi
-if [[ "${1:-}" == --check-startup ]]; then
-  if [[ $# -ne 3 ]]; then
-    echo "Usage: ./build --check-startup <Params root or namespace> <recovery storage>" >&2
-    exit 2
-  fi
-  exec "${ROOT_DIR}/dev" python "${ROOT_DIR}/tools/check_startup.py" "$2" "$3"
-fi
-for arg in "$@"; do
-  case "${arg}" in
-    RELEASE=*|CERT=*)
-      echo "ERROR: RELEASE and CERT must be environment variables, not SCons arguments." >&2
-      echo "Use: RELEASE=1 CERT=/path/to/certificate ./build --panda 4" >&2
-      exit 2
-      ;;
-  esac
-done
-
-build_helper="${ROOT_DIR}/scripts/laptop_device_build.sh"
-if [[ -f /AGNOS && "$(uname -s)" == Linux && "$(uname -m)" == aarch64 ]]; then
-  build_helper="${ROOT_DIR}/scripts/native_device_build.sh"
-fi
-if [[ $# -eq 1 && "$1" == --mapd ]]; then
-  exec "${ROOT_DIR}/scripts/build_mapd_provider.sh"
-fi
-if [[ $# -gt 0 ]]; then
-  for arg in "$@"; do
-    if [[ "$arg" == --mapd ]]; then
-      echo "ERROR: --mapd is a standalone package operation; use ./build --mapd" >&2
-      exit 2
-    fi
-  done
-fi
-shortcut_targets=()
-passthrough_args=()
-default_args=()
-jobs_arg=""
-shortcut_includes_panda=0
-panda_generated_files=(panda/board/obj/gitversion.h panda/board/obj/version)
-
-while [[ $# -gt 0 ]]; do
-  case "$1" in
-    --params|-params|-param)
-      shortcut_targets+=(openpilot/common/libparams_c.so)
-      ;;
-    --panda|-panda)
-      shortcut_includes_panda=1
-      shortcut_targets+=(panda/board/obj/panda.bin.signed panda/board/obj/panda_h7.bin.signed panda/board/obj/body_h7.bin.signed)
-      ;;
-    --cereal|-cereal)
-      shortcut_targets+=(openpilot/cereal/libcereal.a openpilot/cereal/libsocketmaster.a
-                         openpilot/cereal/messaging/bridge openpilot/cereal/services.h)
-      ;;
-    -j|--jobs)
-      passthrough_args+=("$1")
-      default_args+=("$1")
-      if [[ $# -gt 1 ]]; then
-        passthrough_args+=("$2")
-        default_args+=("$2")
-        shift
-      fi
-      ;;
-    *)
-      if [[ "$1" =~ ^[0-9]+$ ]]; then
-        if [[ "$1" =~ ^0+$ ]]; then
-          echo "ERROR: jobs must be positive" >&2
-          exit 2
-        fi
-        jobs_arg="$1"
-        passthrough_args+=("-j$1")
-      else
-        passthrough_args+=("$1")
-        default_args+=("$1")
-      fi
-      ;;
-  esac
-  shift
-done
-
-if [[ "${#shortcut_targets[@]}" -gt 0 ]]; then
-  scons_args=(--no-scrub "${shortcut_targets[@]}")
-  if [[ ${passthrough_args[0]+present} ]]; then
-    scons_args+=("${passthrough_args[@]}")
-  fi
-  if [[ "$shortcut_includes_panda" -eq 1 ]]; then
-    exec "${build_helper}" scons "${scons_args[@]}"
-  fi
-
-  # Panda/SConscript updates these even for unrelated targets. Restore their
-  # prior bytes for the non-firmware shortcuts, including on build failure.
-  tmpdir="$(mktemp -d)"
-  restore_panda_metadata() {
-    local path safe
-    for path in "${panda_generated_files[@]}"; do
-      safe="${path//\//__}"
-      if [[ -e "${tmpdir}/${safe}.missing" ]]; then
-        rm -f "${ROOT_DIR}/${path}"
-      else
-        cp -p "${tmpdir}/${safe}" "${ROOT_DIR}/${path}"
-      fi
-    done
-    rm -rf "${tmpdir}"
-  }
-  trap restore_panda_metadata EXIT
-  for path in "${panda_generated_files[@]}"; do
-    safe="${path//\//__}"
-    if [[ -e "${ROOT_DIR}/${path}" ]]; then
-      cp -p "${ROOT_DIR}/${path}" "${tmpdir}/${safe}"
-    else
-      touch "${tmpdir}/${safe}.missing"
-    fi
-  done
-  "${build_helper}" scons "${scons_args[@]}"
-  exit $?
-fi
-
-python3 "${ROOT_DIR}/tools/release/stage_mapd_provider.py" --source "${ROOT_DIR}" --require-tracked
-
-if [[ -n "${jobs_arg}" ]]; then
-  if [[ ${default_args[0]+present} ]]; then
-    exec "${build_helper}" build "${jobs_arg}" "${default_args[@]}"
-  fi
-  exec "${build_helper}" build "${jobs_arg}"
-fi
-if [[ ${default_args[0]+present} ]]; then
-  exec "${build_helper}" build "${default_args[@]}"
-fi
-exec "${build_helper}" build

c3

@@ -1,4 +0,0 @@
-#!/usr/bin/env bash
-set -euo pipefail
-ROOT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
-exec "${ROOT_DIR}/scripts/host_tool_runner.sh" c3 "$@"

c4

@@ -1,4 +0,0 @@
-#!/usr/bin/env bash
-set -euo pipefail
-ROOT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
-exec "${ROOT_DIR}/scripts/host_tool_runner.sh" c4 "$@"

cereal/.gitignore

@@ -0,0 +1 @@
+gen

cereal/Makefile

@@ -0,0 +1,4 @@
+-include build_from_src.mk
+
+release:
+	@echo "cereal: this is a release"

cereal/__init__.py

@@ -0,0 +1,20 @@
+import os
+import capnp
+
+CEREAL_PATH = os.path.dirname(os.path.abspath(__file__))
+capnp.remove_import_hook()
+
+if os.getenv("NEWCAPNP"):
+  import tempfile
+  import pyximport
+
+  importers = pyximport.install(build_dir=os.path.join(tempfile.gettempdir(), ".pyxbld"))
+  try:
+    import cereal.gen.cython.log_capnp_cython as log
+    import cereal.gen.cython.car_capnp_cython as car
+  finally:
+    pyximport.uninstall(*importers)
+    del importers
+else:
+  log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp"))
+  car = capnp.load(os.path.join(CEREAL_PATH, "car.capnp"))

cereal/build_from_src.mk

@@ -0,0 +1,45 @@
+SRCS := log.capnp car.capnp
+
+GENS := gen/cpp/car.capnp.c++ gen/cpp/log.capnp.c++
+
+
+UNAME_M := $(shell uname -m)
+
+# only generate C++ for docker tests
+ifneq ($(OPTEST),1)
+	GENS += gen/c/car.capnp.c gen/c/log.capnp.c gen/c/c++.capnp.h gen/c/java.capnp.h
+
+# Dont build java on the phone...
+ifeq ($(UNAME_M),x86_64)
+	GENS += gen/java/Car.java gen/java/Log.java
+endif
+
+endif
+
+.PHONY: all
+all: $(GENS)
+
+.PHONY: clean
+clean:
+	rm -rf gen
+
+gen/c/%.capnp.c: %.capnp
+	@echo "[ CAPNPC C ] $@"
+	mkdir -p gen/c/
+	capnpc '$<' -o c:gen/c/
+
+gen/cpp/%.capnp.c++: %.capnp
+	@echo "[ CAPNPC C++ ] $@"
+	mkdir -p gen/cpp/
+	capnpc '$<' -o c++:gen/cpp/
+
+gen/java/Car.java gen/java/Log.java: $(SRCS)
+	@echo "[ CAPNPC java ] $@"
+	mkdir -p gen/java/
+	capnpc $^ -o java:gen/java
+
+# c-capnproto needs some empty headers
+gen/c/c++.capnp.h gen/c/java.capnp.h:
+	mkdir -p gen/c/
+	touch '$@'
+

cereal/car.capnp

@@ -0,0 +1,203 @@
+using Cxx = import "c++.capnp";
+$Cxx.namespace("cereal");
+
+using Java = import "java.capnp";
+$Java.package("ai.comma.openpilot.cereal");
+$Java.outerClassname("Car");
+
+@0x8e2af1e708af8b8d;
+
+# ******* main car state @ 100hz *******
+# all speeds in m/s
+
+struct CarState {
+  errors @0: List(Error);
+
+  # car speed
+  vEgo @1 :Float32;       # best estimate of speed
+  wheelSpeeds @2 :WheelSpeeds;
+
+  # gas pedal, 0.0-1.0
+  gas @3 :Float32;        # this is user + computer
+  gasPressed @4 :Bool;    # this is user pedal only
+
+  # brake pedal, 0.0-1.0
+  brake @5 :Float32;      # this is user pedal only
+  brakePressed @6 :Bool;  # this is user pedal only
+
+  # steering wheel
+  steeringAngle @7 :Float32;   # deg
+  steeringTorque @8 :Float32;  # TODO: standardize units
+  steeringPressed @9 :Bool;    # if the user is using the steering wheel
+
+  # cruise state
+  cruiseState @10 :CruiseState;
+
+  # button presses
+  buttonEvents @11 :List(ButtonEvent);
+
+  # which packets this state came from
+  canMonoTimes @12: List(UInt64);
+
+  struct WheelSpeeds {
+    # optional wheel speeds
+    fl @0 :Float32;
+    fr @1 :Float32;
+    rl @2 :Float32;
+    rr @3 :Float32;
+  }
+
+  struct CruiseState {
+    enabled @0: Bool;
+    speed @1: Float32;
+    available @2: Bool;
+  }
+
+  enum Error {
+    # TODO: copy from error list
+    commIssue @0;
+    steerUnavailable @1;
+    brakeUnavailable @2;
+    gasUnavailable @3;
+    wrongGear @4;
+    doorOpen @5;
+    seatbeltNotLatched @6;
+    espDisabled @7;
+    wrongCarMode @8;
+    steerTempUnavailable @9;
+    reverseGear @10;
+    # ...
+  }
+
+  # send on change
+  struct ButtonEvent {
+    pressed @0: Bool;
+    type @1: Type;
+
+    enum Type {
+      unknown @0;
+      leftBlinker @1;
+      rightBlinker @2;
+      accelCruise @3;
+      decelCruise @4;
+      cancel @5;
+      altButton1 @6;
+      altButton2 @7;
+      altButton3 @8;
+    }
+  }
+}
+
+# ******* radar state @ 20hz *******
+
+struct RadarState {
+  errors @0: List(Error);
+  points @1: List(RadarPoint);
+
+  # which packets this state came from
+  canMonoTimes @2: List(UInt64);
+
+  enum Error {
+    notValid @0;
+  }
+
+  # similar to LiveTracks
+  # is one timestamp valid for all? I think so
+  struct RadarPoint {
+    trackId @0: UInt64;  # no trackId reuse
+
+    # these 3 are the minimum required
+    dRel @1: Float32; # m from the front bumper of the car
+    yRel @2: Float32; # m
+    vRel @3: Float32; # m/s
+
+    # these are optional and valid if they are not NaN
+    aRel @4: Float32; # m/s^2
+    yvRel @5: Float32; # m/s
+  }
+}
+
+# ******* car controls @ 100hz *******
+
+struct CarControl {
+  # must be true for any actuator commands to work
+  enabled @0: Bool;
+
+  # range from 0.0 - 1.0
+  gas @1: Float32;
+  brake @2: Float32;
+
+  # range from -1.0 - 1.0
+  steeringTorque @3 :Float32;
+
+  cruiseControl @4: CruiseControl;
+  hudControl @5: HUDControl;
+
+  struct CruiseControl {
+    cancel @0: Bool;
+    override @1: Bool;
+    speedOverride @2: Float32;
+    accelOverride @3: Float32;
+  }
+
+  struct HUDControl {
+    speedVisible @0: Bool;
+    setSpeed @1: Float32;
+    lanesVisible @2: Bool;
+    leadVisible @3: Bool;
+    visualAlert @4: VisualAlert;
+    audibleAlert @5: AudibleAlert;
+
+    enum VisualAlert {
+      # these are the choices from the Honda
+      # map as good as you can for your car
+      none @0;
+      fcw @1;
+      steerRequired @2;
+      brakePressed @3;
+      wrongGear @4;
+      seatbeltUnbuckled @5;
+      speedTooHigh @6;
+    }
+
+    enum AudibleAlert {
+      # these are the choices from the Honda
+      # map as good as you can for your car
+      none @0;
+      beepSingle @1;
+      beepTriple @2;
+      beepRepeated @3;
+      chimeSingle @4;
+      chimeDouble @5;
+      chimeRepeated @6;
+      chimeContinuous @7;
+    }
+  }
+}
+
+# ****** car param ******
+
+struct CarParams {
+  carName @0: Text;
+  radarName @1: Text;
+  carFingerprint @11: Text;
+
+  enableSteer @2: Bool;
+  enableGas @3: Bool;
+  enableBrake @4: Bool;
+  enableCruise @5: Bool;
+
+  # things about the car in the manual
+  wheelBase @6: Float32;     # in meters
+  steerRatio @7: Float32;
+
+  # things we can derive
+  slipFactor @8: Float32;
+
+  # Kp and Ki for the lateral control
+  steerKp @9: Float32;
+  steerKi @10: Float32;
+
+  # TODO: Kp and Ki for long control, perhaps not needed?
+}
+

cereal/java.capnp

@@ -0,0 +1,28 @@
+# Copyright (c) 2013-2015 Sandstorm Development Group, Inc. and contributors
+# Licensed under the MIT License:
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in
+# all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+# THE SOFTWARE.
+
+@0xc5f1af96651f70ea;
+
+annotation package @0x9ee4c8f803b3b596 (file) : Text;
+# Name of the package, such as "org.example.foo", in which the generated code will reside.
+
+annotation outerClassname @0x9b066bb4881f7cd3 (file) : Text;
+# Name of the outer class that will wrap the generated code.

common/api/__init__.py

@@ -0,0 +1,15 @@
+import requests
+
+from selfdrive.version import version
+
+def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
+  backend = "https://api.commadotai.com/"
+
+  headers = {}
+  if access_token is not None:
+    headers['Authorization'] = "JWT "+access_token
+
+  headers['User-Agent'] = "openpilot-" + version
+
+  return requests.request(method, backend+endpoint, timeout=timeout, headers = headers, params=params)
+

common/crash.py

@@ -0,0 +1,36 @@
+"""Install exception handler for process crash."""
+import os
+import sys
+
+if os.getenv("NOLOG"):
+  def capture_exception(*exc_info):
+    pass
+  def bind_user(**kwargs):
+    pass
+  def bind_extra(**kwargs):
+    pass
+  def install():
+    pass
+else:
+  from raven import Client
+  from raven.transport.http import HTTPTransport
+
+  client = Client('https://1994756b5e6f41cf939a4c65de45f4f2:cefebaf3a8aa40d182609785f7189bd7@app.getsentry.com/77924',
+                  install_sys_hook=False, transport=HTTPTransport)
+
+  capture_exception = client.captureException
+
+  def bind_user(**kwargs):
+    client.user_context(kwargs)
+
+  def bind_extra(**kwargs):
+    client.extra_context(kwargs)
+
+  def install():
+    # installs a sys.excepthook
+    __excepthook__ = sys.excepthook
+    def handle_exception(*exc_info):
+      if exc_info[0] not in (KeyboardInterrupt, SystemExit):
+        client.captureException(exc_info=exc_info)
+      __excepthook__(*exc_info)
+    sys.excepthook = handle_exception

common/dbc.py

@@ -0,0 +1,195 @@
+import re
+import os
+import struct
+import bitstring
+from collections import namedtuple
+
+def int_or_float(s):
+  # return number, trying to maintain int format
+  try:
+    return int(s)
+  except ValueError:
+    return float(s)
+
+DBCSignal = namedtuple(
+  "DBCSignal", ["name", "start_bit", "size", "is_little_endian", "is_signed",
+                "factor", "offset", "tmin", "tmax", "units"])
+
+class dbc(object):
+  def __init__(self, fn):
+    self.name, _ = os.path.splitext(os.path.basename(fn))
+    with open(fn) as f:
+      self.txt = f.read().split("\n")
+    self._warned_addresses = set()
+
+    # regexps from https://github.com/ebroecker/canmatrix/blob/master/canmatrix/importdbc.py
+    bo_regexp = re.compile("^BO\_ (\w+) (\w+) *: (\w+) (\w+)")
+    sg_regexp = re.compile("^SG\_ (\w+) : (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*)")
+    sgm_regexp = re.compile("^SG\_ (\w+) (\w+) *: (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*)")
+
+    # A dictionary which maps message ids to tuples ((name, size), signals).
+    #   name is the ASCII name of the message.
+    #   size is the size of the message in bytes.
+    #   signals is a list signals contained in the message.
+    # signals is a list of DBCSignal in order of increasing start_bit.
+    self.msgs = {}
+
+    # lookup to bit reverse each byte
+    self.bits_index = [(i & ~0b111) + ((-i-1) & 0b111) for i in xrange(64)]
+
+    for l in self.txt:
+      l = l.strip()
+
+      if l.startswith("BO_ "):
+        # new group
+        dat = bo_regexp.match(l)
+
+        if dat is None:
+          print "bad BO", l
+        name = dat.group(2)
+        size = int(dat.group(3))
+        ids = int(dat.group(1), 0) # could be hex
+
+        self.msgs[ids] = ((name, size), [])
+
+      if l.startswith("SG_ "):
+        # new signal
+        dat = sg_regexp.match(l)
+        go = 0
+        if dat is None:
+          dat = sgm_regexp.match(l)
+          go = 1
+        if dat is None:
+          print "bad SG", l
+
+        sgname = dat.group(1)
+        start_bit = int(dat.group(go+2))
+        signal_size = int(dat.group(go+3))
+        is_little_endian = int(dat.group(go+4))==1
+        is_signed = dat.group(go+5)=='-'
+        factor = int_or_float(dat.group(go+6))
+        offset = int_or_float(dat.group(go+7))
+        tmin = int_or_float(dat.group(go+8))
+        tmax = int_or_float(dat.group(go+9))
+        units = dat.group(go+10)
+
+        self.msgs[ids][1].append(
+          DBCSignal(sgname, start_bit, signal_size, is_little_endian,
+                    is_signed, factor, offset, tmin, tmax, units))
+
+    for msg in self.msgs.viewvalues():
+      msg[1].sort(key=lambda x: x.start_bit)
+
+  def encode(self, msg_id, dd):
+    """Encode a CAN message using the dbc.
+
+       Inputs:
+        msg_id: The message ID.
+        dd: A dictionary mapping signal name to signal data.
+    """
+    # TODO: Stop using bitstring, which is super slow.
+    msg_def = self.msgs[msg_id]
+    size = msg_def[0][1]
+
+    bsf = bitstring.Bits(hex="00"*size)
+    for s in msg_def[1]:
+      ival = dd.get(s.name)
+      if ival is not None:
+        ival = (ival / s.factor) - s.offset
+        ival = int(round(ival))
+
+        # should pack this
+        if s.is_little_endian:
+          ss = s.start_bit
+        else:
+          ss = self.bits_index[s.start_bit]
+
+
+        if s.is_signed:
+          tbs = bitstring.Bits(int=ival, length=s.size)
+        else:
+          tbs = bitstring.Bits(uint=ival, length=s.size)
+
+        lpad = bitstring.Bits(bin="0b"+"0"*ss)
+        rpad = bitstring.Bits(bin="0b"+"0"*(8*size-(ss+s.size)))
+        tbs = lpad+tbs+rpad
+
+        bsf |= tbs
+    return bsf.tobytes()
+
+  def decode(self, x, arr=None, debug=False):
+    """Decode a CAN message using the dbc.
+
+       Inputs:
+        x: A collection with elements (address, time, data), where address is
+           the CAN address, time is the bus time, and data is the CAN data as a
+           hex string.
+        arr: Optional list of signals which should be decoded and returned.
+        debug: True to print debugging statements.
+
+       Returns:
+        A tuple (name, data), where name is the name of the CAN message and data
+        is the decoded result. If arr is None, data is a dict of properties.
+        Otherwise data is a list of the same length as arr.
+
+        Returns (None, None) if the message could not be decoded.
+    """
+    
+    if arr is None:
+      out = {}
+    else:
+      out = [None]*len(arr)
+
+    msg = self.msgs.get(x[0])
+    if msg is None:
+      if x[0] not in self._warned_addresses:
+        print("WARNING: Unknown message address {}".format(x[0]))
+        self._warned_addresses.add(x[0])
+      return None, None
+
+    name = msg[0][0]
+    if debug:
+      print name
+
+    blen = 8*len(x[2])
+
+    st = x[2].rjust(8, '\x00')
+    le, be = None, None
+
+    for s in msg[1]:
+      if arr is not None and s[0] not in arr:
+        continue
+
+      # big or little endian?
+      #   see http://vi-firmware.openxcplatform.com/en/master/config/bit-numbering.html
+      if s[3] is False:
+        ss = self.bits_index[s[1]]
+        if be is None:
+          be = struct.unpack(">Q", st)[0]
+        x2_int = be
+        data_bit_pos = (blen - (ss + s[2]))
+      else:
+        if le is None:
+          le = struct.unpack("<Q", st)[0]
+        x2_int = le
+        ss = s[1]
+        data_bit_pos = ss
+
+      if data_bit_pos < 0:
+        continue
+      ival = (x2_int >> data_bit_pos) & ((1 << (s[2])) - 1)
+
+      if s[4] and (ival & (1<<(s[2]-1))): # signed
+        ival -= (1<<s[2])
+
+      # control the offset
+      ival = (ival * s[5]) + s[6]
+      #if debug:
+      #  print "%40s  %2d %2d  %7.2f %s" % (s[0], s[1], s[2], ival, s[-1])
+
+      if arr is None:
+        out[s[0]] = ival
+      else:
+        out[arr.index(s[0])] = ival
+    return name, out
+    

common/fingerprints.py

@@ -0,0 +1,82 @@
+import os
+
+_FINGERPRINTS = {
+  "ACURA ILX 2016 ACURAWATCH PLUS": {
+    1024L: 5, 513L: 5, 1027L: 5, 1029L: 8, 929L: 4, 1057L: 5, 777L: 8, 1034L: 5, 1036L: 8, 398L: 3, 399L: 7, 145L: 8, 660L: 8, 985L: 3, 923L: 2, 542L: 7, 773L: 7, 800L: 8, 432L: 7, 419L: 8, 420L: 8, 1030L: 5, 422L: 8, 808L: 8, 428L: 8, 304L: 8, 819L: 7, 821L: 5, 57L: 3, 316L: 8, 545L: 4, 464L: 8, 1108L: 8, 597L: 8, 342L: 6, 983L: 8, 344L: 8, 804L: 8, 1039L: 8, 476L: 4, 892L: 8, 490L: 8, 1064L: 7, 882L: 2, 884L: 7, 887L: 8, 888L: 8, 380L: 8, 1365L: 5,
+    # sent messages
+    0xe4: 5, 0x1fa: 8, 0x200: 3, 0x30c: 8, 0x33d: 5,
+  },
+  "HONDA CIVIC 2016 TOURING": {
+    1024L: 5, 513L: 5, 1027L: 5, 1029L: 8, 777L: 8, 1036L: 8, 1039L: 8, 1424L: 5, 401L: 8, 148L: 8, 662L: 4, 985L: 3, 795L: 8, 773L: 7, 800L: 8, 545L: 6, 420L: 8, 806L: 8, 808L: 8, 1322L: 5, 427L: 3, 428L: 8, 304L: 8, 432L: 7, 57L: 3, 450L: 8, 929L: 8, 330L: 8, 1302L: 8, 464L: 8, 1361L: 5, 1108L: 8, 597L: 8, 470L: 2, 344L: 8, 804L: 8, 399L: 7, 476L: 7, 1633L: 8, 487L: 4, 892L: 8, 490L: 8, 493L: 5, 884L: 8, 891L: 8, 380L: 8, 1365L: 5,
+    # sent messages
+    0xe4: 5, 0x1fa: 8, 0x200: 3, 0x30c: 8, 0x33d: 5, 0x35e: 8, 0x39f: 8,
+  },
+  "HONDA ACCORD 2016 TOURING": {
+    1024L: 5, 929L: 8, 1027L: 5, 773L: 7, 1601L: 8, 777L: 8, 1036L: 8, 398L: 3, 1039L: 8, 401L: 8, 145L: 8, 1424L: 5, 660L: 8, 661L: 4, 918L: 7, 985L: 3, 923L: 2, 542L: 7, 927L: 8, 800L: 8, 545L: 4, 420L: 8, 422L: 8, 808L: 8, 426L: 8, 1029L: 8, 432L: 7, 57L: 3, 316L: 8, 829L: 5, 1600L: 5, 1089L: 8, 1057L: 5, 780L: 8, 1088L: 8, 464L: 8, 1108L: 8, 597L: 8, 342L: 6, 983L: 8, 344L: 8, 804L: 8, 476L: 4, 1296L: 3, 891L: 8, 1125L: 8, 487L: 4, 892L: 8, 490L: 8, 871L: 8, 1064L: 7, 882L: 2, 884L: 8, 506L: 8, 507L: 1, 380L: 8, 1365L: 5
+  },
+  "HONDA CR-V 2016 TOURING": {
+    57L: 3, 145L: 8, 316L: 8, 340L: 8, 342L: 6, 344L: 8, 380L: 8, 398L: 3, 399L: 6, 401L: 8, 420L: 8, 422L: 8, 426L: 8, 432L: 7, 464L: 8, 474L: 5, 476L: 4, 487L: 4, 490L: 8, 493L: 3, 507L: 1, 542L: 7, 545L: 4, 597L: 8, 660L: 8, 661L: 4, 773L: 7, 777L: 8, 800L: 8, 804L: 8, 808L: 8, 882L: 2, 884L: 7, 888L: 8, 891L: 8, 892L: 8, 923L: 2, 929L: 8, 983L: 8, 985L: 3, 1024L: 5, 1027L: 5, 1029L: 8, 1033L: 5, 1036L: 8, 1039L: 8, 1057L: 5, 1064L: 7, 1108L: 8, 1125L: 8, 1296L: 8, 1365L: 5, 1424L: 5, 1600L: 5, 1601L: 8,
+    # sent messages
+    0x194: 4, 0x1fa: 8, 0x30c: 8, 0x33d: 5,
+  }
+}
+
+def eliminate_incompatible_cars(msg, candidate_cars):
+  """Removes cars that could not have sent msg.
+
+     Inputs:
+      msg: A cereal/log CanData message from the car.
+      candidate_cars: A list of cars to consider.
+
+     Returns:
+      A list containing the subset of candidate_cars that could have sent msg.
+  """
+  compatible_cars = []
+  for car_name in candidate_cars:
+    adr = msg.address
+    if msg.src != 0 or (adr in _FINGERPRINTS[car_name] and
+                        _FINGERPRINTS[car_name][adr] == len(msg.dat)):
+      compatible_cars.append(car_name)
+    else:
+      pass
+      #isin = adr in _FINGERPRINTS[car_name]
+      #print "eliminate", car_name, hex(adr), isin, len(msg.dat), msg.dat.encode("hex")
+  return compatible_cars
+
+def all_known_cars():
+  """Returns a list of all known car strings."""
+  return _FINGERPRINTS.keys()
+
+# **** for use live only ****
+def fingerprint(logcan):
+  import selfdrive.messaging as messaging
+  from cereal import car
+  from common.realtime import sec_since_boot
+
+  if os.getenv("SIMULATOR") is not None or logcan is None:
+    return ("simulator", None)
+  elif os.getenv("SIMULATOR2") is not None:
+    return ("simulator2", None)
+
+  print "waiting for fingerprint..."
+  candidate_cars = all_known_cars()
+  finger = {}
+  st = None
+  while 1:
+    for a in messaging.drain_sock(logcan, wait_for_one=True):
+      if st is None:
+        st = sec_since_boot()
+      for can in a.can:
+        if can.src == 0:
+          finger[can.address] = len(can.dat)
+        candidate_cars = eliminate_incompatible_cars(can, candidate_cars)
+
+    # if we only have one car choice and it's been 100ms since we got our first message, exit
+    if len(candidate_cars) == 1 and st is not None and (sec_since_boot()-st) > 0.1:
+      break
+    elif len(candidate_cars) == 0:
+      print map(hex, finger.keys())
+      raise Exception("car doesn't match any fingerprints")
+
+  print "fingerprinted", candidate_cars[0]
+  return (candidate_cars[0], finger)

common/kalman/ekf.py

@@ -0,0 +1,250 @@
+import abc
+import numpy as np
+import numpy.matlib
+# The EKF class contains the framework for an Extended Kalman Filter, but must be subclassed to use.
+# A subclass must implement:
+#   1) calc_transfer_fun(); see bottom of file for more info.
+#   2) __init__() to initialize self.state, self.covar, and self.process_noise appropriately
+
+# Alternatively, the existing implementations of EKF can be used (e.g. EKF2D)
+
+# Sensor classes are optionally used to pass measurement information into the EKF, to keep
+#   sensor parameters and processing methods for a each sensor together.
+# Sensor classes have a read() method which takes raw sensor data and returns
+#   a SensorReading object, which can be passed to the EKF update() method.
+
+# For usage, see run_ekf1d.py in selfdrive/new for a simple example.
+# ekf.predict(dt) should be called between update cycles with the time since it was last called.
+# Ideally, predict(dt) should be called at a relatively constant rate.
+# update() should be called once per sensor, and can be called multiple times between predict steps.
+# Access and set the state of the filter directly with ekf.state and ekf.covar.
+
+class SensorReading:
+  # Given a perfect model and no noise, data = obs_model * state
+  def __init__(self, data, covar, obs_model):
+    self.data = data
+    self.obs_model = obs_model
+    self.covar = covar
+
+  def __repr__(self):
+    return "SensorReading(data={}, covar={}, obs_model={})".format(
+      repr(self.data), repr(self.covar), repr(self.obs_model))
+
+
+# A generic sensor class that does no pre-processing of data
+class SimpleSensor:
+  # obs_model can be 
+  #   a full obesrvation model matrix, or
+  #   an integer or tuple of indices into ekf.state, indicating which variables are being directly observed
+  # covar can be
+  #   a full covariance matrix
+  #   a float or tuple of individual covars for each component of the sensor reading
+  # dims is the number of states in the EKF
+  def __init__(self, obs_model, covar, dims):
+    # Allow for integer covar/obs_model
+    if not hasattr(obs_model, "__len__"):
+      obs_model = (obs_model, )
+    if not hasattr(covar, "__len__"):
+      covar = (covar, )
+
+    # Full observation model passed
+    if dims in np.array(obs_model).shape:
+      self.obs_model = np.asmatrix(obs_model)
+      self.covar = np.asmatrix(covar)
+    # Indices of unit observations passed
+    else:
+      self.obs_model = np.matlib.zeros((len(obs_model), dims))
+      self.obs_model[:, list(obs_model)] = np.identity(len(obs_model))
+      if np.asarray(covar).ndim == 2:
+        self.covar = np.asmatrix(covar)
+      elif len(covar) == len(obs_model):
+        self.covar = np.matlib.diag(covar)
+      else:
+        self.covar = np.matlib.identity(len(obs_model)) * covar
+
+  def read(self, data, covar=None):
+    if covar:
+      self.covar = covar
+    return SensorReading(data, self.covar, self.obs_model)
+
+
+class EKF:
+  __metaclass__ = abc.ABCMeta
+
+  def __init__(self, debug=False):
+    self.DEBUG = debug
+
+
+  def __str__(self):
+    return "EKF(state={}, covar={})".format(self.state, self.covar)
+
+  # Measurement update
+  # Reading should be a SensorReading object with data, covar, and obs_model attributes
+  def update(self, reading):
+    # Potential improvements:
+    # deal with negative covars
+    # add noise to really low covars to ensure stability
+    # use mahalanobis distance to reject outliers
+    # wrap angles after state updates and innovation
+
+    # y = z - H*x
+    innovation = reading.data - reading.obs_model * self.state
+
+    if self.DEBUG:
+      print "reading:\n",reading.data
+      print "innovation:\n",innovation
+
+    # S = H*P*H' + R
+    innovation_covar = reading.obs_model * self.covar * reading.obs_model.T + reading.covar
+
+    # K = P*H'*S^-1
+    kalman_gain = self.covar * reading.obs_model.T * np.linalg.inv(
+      innovation_covar)
+
+    if self.DEBUG:
+      print "gain:\n", kalman_gain
+      print "innovation_covar:\n", innovation_covar
+      print "innovation: ", innovation
+      print "test: ", self.covar * reading.obs_model.T * (
+        reading.obs_model * self.covar * reading.obs_model.T + reading.covar *
+        0).I
+
+    # x = x + K*y
+    self.state += kalman_gain*innovation
+
+    # print "covar", np.diag(self.covar)
+    #self.state[(roll_vel, yaw_vel, pitch_vel),:] = reading.data
+
+    # Standard form: P = (I - K*H)*P
+    # self.covar = (self.identity - kalman_gain*reading.obs_model) * self.covar
+
+    # Use the Joseph form for numerical stability: P = (I-K*H)*P*(I - K*H)' + K*R*K'
+    aux_mtrx = (self.identity - kalman_gain * reading.obs_model)
+    self.covar = aux_mtrx * self.covar * aux_mtrx.T + kalman_gain * reading.covar * kalman_gain.T
+
+    if self.DEBUG:
+      print "After update"
+      print "state\n", self.state
+      print "covar:\n",self.covar
+
+  def update_scalar(self, reading):
+    # like update but knowing that measurment is a scalar
+    # this avoids matrix inversions and speeds up (surprisingly) drived.py a lot
+
+    # innovation = reading.data - np.matmul(reading.obs_model, self.state)   
+    # innovation_covar = np.matmul(np.matmul(reading.obs_model, self.covar), reading.obs_model.T) + reading.covar    
+    # kalman_gain = np.matmul(self.covar, reading.obs_model.T)/innovation_covar   
+    # self.state += np.matmul(kalman_gain, innovation)   
+    # aux_mtrx = self.identity - np.matmul(kalman_gain, reading.obs_model)    
+    # self.covar =  np.matmul(aux_mtrx, np.matmul(self.covar, aux_mtrx.T)) + np.matmul(kalman_gain, np.matmul(reading.covar, kalman_gain.T))
+
+    # written without np.matmul
+    es = np.einsum
+    ABC_T = "ij,jk,lk->il"
+    AB_T = "ij,kj->ik"
+    AB = "ij,jk->ik"
+    innovation = reading.data - es(AB, reading.obs_model, self.state)
+    innovation_covar = es(ABC_T, reading.obs_model, self.covar,
+                          reading.obs_model) + reading.covar
+    kalman_gain = es(AB_T, self.covar, reading.obs_model) / innovation_covar
+
+    self.state += es(AB, kalman_gain, innovation)
+    aux_mtrx = self.identity - es(AB, kalman_gain, reading.obs_model)
+    self.covar = es(ABC_T, aux_mtrx, self.covar, aux_mtrx) + \
+                 es(ABC_T, kalman_gain, reading.covar, kalman_gain)
+
+  # Prediction update
+  def predict(self, dt):
+    es = np.einsum
+    ABC_T = "ij,jk,lk->il"
+    AB = "ij,jk->ik"
+
+    # State update
+    transfer_fun, transfer_fun_jacobian = self.calc_transfer_fun(dt)
+
+    # self.state = np.matmul(transfer_fun, self.state)
+    # self.covar = np.matmul(np.matmul(transfer_fun_jacobian, self.covar), transfer_fun_jacobian.T) + self.process_noise * dt
+
+    # x = f(x, u), written in the form x = A(x, u)*x
+    self.state = es(AB, transfer_fun, self.state)
+
+    # P = J*P*J' + Q
+    self.covar = es(ABC_T, transfer_fun_jacobian, self.covar,
+                    transfer_fun_jacobian) + self.process_noise * dt  #!dt
+
+    #! Clip covariance to avoid explosions
+    self.covar = np.clip(self.covar,-1e10,1e10)
+    
+  @abc.abstractmethod
+  def calc_transfer_fun(self, dt):
+    """Return a tuple with the transfer function and transfer function jacobian
+    The transfer function and jacobian should both be a numpy matrix of size DIMSxDIMS
+
+    The transfer function matrix A should satisfy the state-update equation
+      x_(k+1) = A * x_k
+
+    The jacobian J is the direct jacobian A*x_k. For linear systems J=A.
+
+    Current implementations calculate A and J as functions of state. Control input
+      can be added trivially by adding a control parameter to predict() and calc_tranfer_update(),
+      and using it during calcualtion of A and J
+    """
+
+class FastEKF1D(EKF):
+  """Fast version of EKF for 1D problems with scalar readings."""
+
+  def __init__(self, dt, var_init, Q):
+    super(FastEKF1D, self).__init__(False)
+    self.state = [0, 0]
+    self.covar = [var_init, var_init, 0]
+
+    # Process Noise
+    self.dtQ0 = dt * Q[0]
+    self.dtQ1 = dt * Q[1]
+
+  def update(self, reading):
+    raise NotImplementedError
+
+  def update_scalar(self, reading):
+    # TODO(mgraczyk): Delete this for speed.
+    # assert np.all(reading.obs_model == [1, 0])
+
+    rcov = reading.covar[0, 0]
+
+    x = self.state
+    S = self.covar
+
+    innovation = reading.data - x[0]
+    innovation_covar = S[0] + rcov
+
+    k0 = S[0] / innovation_covar
+    k1 = S[2] / innovation_covar
+
+    x[0] += k0 * innovation
+    x[1] += k1 * innovation
+
+    mk = 1 - k0
+    S[1] += k1 * (k1 * (S[0] + rcov) - 2 * S[2])
+    S[2] = mk * (S[2] - k1 * S[0]) + rcov * k0 * k1
+    S[0] = mk * mk * S[0] + rcov * k0 * k0
+
+  def predict(self, dt):
+    # State update
+    x = self.state
+
+    x[0] += dt * x[1]
+
+    # P = J*P*J' + Q
+    S = self.covar
+    S[0] += dt * (2 * S[2] + dt * S[1]) + self.dtQ0
+    S[2] += dt * S[1]
+    S[1] += self.dtQ1
+
+    # Clip covariance to avoid explosions
+    S = max(-1e10, min(S, 1e10))
+
+  def calc_transfer_fun(self, dt):
+    tf = np.identity(2)
+    tf[0, 1] = dt
+    tfj = tf
+    return tf, tfj

common/logging_extra.py

@@ -0,0 +1,142 @@
+import os
+import sys
+import copy
+import json
+import socket
+import logging
+from threading import local
+from collections import OrderedDict
+from contextlib import contextmanager
+
+def json_handler(obj):
+  # if isinstance(obj, (datetime.date, datetime.time)):
+  #   return obj.isoformat()
+  return repr(obj)
+
+def json_robust_dumps(obj):
+  return json.dumps(obj, default=json_handler)
+
+class NiceOrderedDict(OrderedDict):
+  def __str__(self):
+    return '{'+', '.join("%r: %r" % p for p in self.iteritems())+'}'
+
+class SwagFormatter(logging.Formatter):
+  def __init__(self, swaglogger):
+    logging.Formatter.__init__(self, None, '%a %b %d %H:%M:%S %Z %Y')
+
+    self.swaglogger = swaglogger
+    self.host = socket.gethostname()
+
+  def format_dict(self, record):
+    record_dict = NiceOrderedDict()
+
+    if isinstance(record.msg, dict):
+      record_dict['msg'] = record.msg
+    else:
+      try:
+        record_dict['msg'] = record.getMessage()
+      except (ValueError, TypeError):
+        record_dict['msg'] = [record.msg]+record.args
+
+    record_dict['ctx'] = self.swaglogger.get_ctx()
+
+    if record.exc_info:
+      record_dict['exc_info'] = self.formatException(record.exc_info)
+
+    record_dict['level'] = record.levelname
+    record_dict['levelnum'] = record.levelno
+    record_dict['name'] = record.name
+    record_dict['filename'] = record.filename
+    record_dict['lineno'] = record.lineno
+    record_dict['pathname'] = record.pathname
+    record_dict['module'] = record.module
+    record_dict['funcName'] = record.funcName
+    record_dict['host'] = self.host
+    record_dict['process'] = record.process
+    record_dict['thread'] = record.thread
+    record_dict['threadName'] = record.threadName
+    record_dict['created'] = record.created
+
+    return record_dict
+
+  def format(self, record):
+    return json_robust_dumps(self.format_dict(record))
+
+_tmpfunc = lambda: 0
+_srcfile = os.path.normcase(_tmpfunc.__code__.co_filename)
+
+class SwagLogger(logging.Logger):
+  def __init__(self):
+    logging.Logger.__init__(self, "swaglog")
+
+    self.global_ctx = {}
+
+    self.log_local = local()
+    self.log_local.ctx = {}
+
+  def findCaller(self):
+    """
+      Find the stack frame of the caller so that we can note the source
+      file name, line number and function name.
+      """
+    # f = currentframe()
+    f = sys._getframe(3)
+    #On some versions of IronPython, currentframe() returns None if
+    #IronPython isn't run with -X:Frames.
+    if f is not None:
+      f = f.f_back
+    rv = "(unknown file)", 0, "(unknown function)"
+    while hasattr(f, "f_code"):
+      co = f.f_code
+      filename = os.path.normcase(co.co_filename)
+      if filename in (logging._srcfile, _srcfile):
+        f = f.f_back
+        continue
+      rv = (co.co_filename, f.f_lineno, co.co_name)
+      break
+    return rv
+
+  def local_ctx(self):
+    try:
+      return self.log_local.ctx
+    except AttributeError:
+      self.log_local.ctx = {}
+      return self.log_local.ctx
+
+  def get_ctx(self):
+    return dict(self.local_ctx(), **self.global_ctx)
+
+  @contextmanager
+  def ctx(self, **kwargs):
+    old_ctx = self.local_ctx()
+    self.log_local.ctx = copy.copy(old_ctx) or {}
+    self.log_local.ctx.update(kwargs)
+    try:
+      yield
+    finally:
+      self.log_local.ctx = old_ctx
+
+  def bind(self, **kwargs):
+    self.local_ctx().update(kwargs)
+
+  def bind_global(self, **kwargs):
+    self.global_ctx.update(kwargs)
+
+  def event(self, event_name, *args, **kwargs):
+    evt = NiceOrderedDict()
+    evt['event'] = event_name
+    if args:
+      evt['args'] = args
+    evt.update(kwargs)
+    self.info(evt)
+
+if __name__ == "__main__":
+  log = SwagLogger()
+
+  log.info("asdasd %s", "a")
+  log.info({'wut': 1})
+
+  with log.ctx():
+    log.bind(user="some user")
+    log.info("in req")
+    log.event("do_req")

common/numpy_fast.py

@@ -0,0 +1,25 @@
+def clip(x, lo, hi):
+  return max(lo, min(hi, x))
+
+
+def interp(x, xp, fp):
+  N = len(xp)
+  if not hasattr(x, '__iter__'):
+    hi = 0
+    while hi < N and x > xp[hi]:
+      hi += 1
+    low = hi - 1
+    return fp[-1] if hi == N and x > xp[low] else (
+      fp[0] if hi == 0 else
+      (x - xp[low]) * (fp[hi] - fp[low]) / (xp[hi] - xp[low]) + fp[low])
+
+  result = []
+  for v in x:
+    hi = 0
+    while hi < N and v > xp[hi]:
+      hi += 1
+    low = hi - 1
+    result.append(fp[-1] if hi == N and v > xp[low] else (fp[
+      0] if hi == 0 else (v - xp[low]) * (fp[hi] - fp[low]) / (xp[hi] - xp[low]
+                                                               ) + fp[low]))
+  return result

common/params.py

@@ -0,0 +1,289 @@
+#!/usr/bin/env python
+"""ROS has a parameter server, we have files.
+
+The parameter store is a persistent key value store, implemented as a directory with a writer lock.
+On Android, we store params under params_dir = /data/params. The writer lock is a file
+"<params_dir>/.lock" taken using flock(), and data is stored in a directory symlinked to by
+"<params_dir>/d".
+
+Each key, value pair is stored as a file with named <key> with contents <value>, located in
+  <params_dir>/d/<key>
+
+Readers of a single key can just open("<params_dir>/d/<key>") and read the file contents.
+Readers who want a consistent snapshot of multiple keys should take the lock.
+
+Writers should take the lock before modifying anything. Writers should also leave the DB in a
+consistent state after a crash. The implementation below does this by copying all params to a temp
+directory <params_dir>/<tmp>, then atomically symlinking <params_dir>/<d> to <params_dir>/<tmp>
+before deleting the old <params_dir>/<d> directory.
+
+Writers that only modify a single key can simply take the lock, then swap the corresponding value
+file in place without messing with <params_dir>/d.
+"""
+import time
+import os
+import errno
+import sys
+import shutil
+import fcntl
+import tempfile
+from enum import Enum
+
+def mkdirs_exists_ok(path):
+  try:
+    os.makedirs(path)
+  except OSError:
+    if not os.path.isdir(path):
+      raise
+
+class TxType(Enum):
+  PERSISTANT = 1
+  CLEAR_ON_MANAGER_START = 2
+  CLEAR_ON_CAR_START = 3
+
+class UnknownKeyName(Exception):
+  pass
+
+keys = {
+# written: manager
+# read:    loggerd, uploaderd, baseui
+  "DongleId": TxType.PERSISTANT,
+  "AccessToken": TxType.PERSISTANT,
+  "Version": TxType.PERSISTANT,
+  "GitCommit": TxType.PERSISTANT,
+  "GitBranch": TxType.PERSISTANT,
+# written: baseui
+# read:    ui, controls
+  "IsMetric": TxType.PERSISTANT,
+  "IsRearViewMirror": TxType.PERSISTANT,
+# written: visiond
+# read:    visiond
+  "CalibrationParams": TxType.PERSISTANT,
+# written: visiond
+# read:    visiond, ui
+  "CloudCalibration": TxType.PERSISTANT,
+# written: controlsd
+# read:    radard
+  "CarParams": TxType.CLEAR_ON_CAR_START}
+
+
+class FileLock(object):
+  def __init__(self, path, create):
+    self._path = path
+    self._create = create
+    self._fd = None
+
+  def acquire(self):
+    self._fd = os.open(self._path, os.O_CREAT if self._create else 0)
+    fcntl.flock(self._fd, fcntl.LOCK_EX)
+
+  def release(self):
+    if self._fd is not None:
+      os.close(self._fd)
+      self._fd = None
+
+
+class DBAccessor(object):
+  def __init__(self, path):
+    self._path = path
+    self._vals = None
+
+  def keys(self):
+    self._check_entered()
+    return self._vals.keys()
+
+  def get(self, key):
+    self._check_entered()
+    try:
+      return self._vals[key]
+    except KeyError:
+      return None
+
+  def _get_lock(self, create):
+    lock = FileLock(os.path.join(self._path, ".lock"), create)
+    lock.acquire()
+    return lock
+
+  def _read_values_locked(self):
+    """Callers should hold a lock while calling this method."""
+    vals = {}
+    try:
+      data_path = self._data_path()
+      keys = os.listdir(data_path)
+      for key in keys:
+        with open(os.path.join(data_path, key), "rb") as f:
+          vals[key] = f.read()
+    except (OSError, IOError) as e:
+      # Either the DB hasn't been created yet, or somebody wrote a bug and left the DB in an
+      # inconsistent state. Either way, return empty.
+      if e.errno == errno.ENOENT:
+        return {}
+
+    return vals
+
+  def _data_path(self):
+    return os.path.join(self._path, "d")
+
+  def _check_entered(self):
+    if self._vals is None:
+      raise Exception("Must call __enter__ before using DB")
+
+
+class DBReader(DBAccessor):
+  def __enter__(self):
+    try:
+      lock = self._get_lock(False)
+    except OSError as e:
+      # Do not create lock if it does not exist.
+      if e.errno == errno.ENOENT:
+        self._vals = {}
+        return self
+
+    try:
+      # Read everything.
+      self._vals = self._read_values_locked()
+      return self
+    finally:
+      lock.release()
+
+  def __exit__(self, type, value, traceback): pass
+
+
+class DBWriter(DBAccessor):
+  def __init__(self, path):
+    super(DBWriter, self).__init__(path)
+    self._lock = None
+    self._prev_umask = None
+
+  def put(self, key, value):
+    self._vals[key] = value
+
+  def delete(self, key):
+    self._vals.pop(key, None)
+
+  def __enter__(self):
+    mkdirs_exists_ok(self._path)
+
+    # Make sure we can write and that permissions are correct.
+    self._prev_umask = os.umask(0)
+
+    try:
+      os.chmod(self._path, 0o777)
+      self._lock = self._get_lock(True)
+      self._vals = self._read_values_locked()
+    except:
+      os.umask(self._prev_umask)
+      self._prev_umask = None
+      raise
+
+    return self
+
+  def __exit__(self, type, value, traceback):
+    self._check_entered()
+
+    try:
+      old_data_path = None
+      new_data_path = None
+      tempdir_path = tempfile.mkdtemp(prefix=".tmp", dir=self._path)
+      try:
+        # Write back all keys.
+        os.chmod(tempdir_path, 0o777)
+        for k, v in self._vals.items():
+          with open(os.path.join(tempdir_path, k), "wb") as f:
+            f.write(v)
+
+        data_path = self._data_path()
+        try:
+          old_data_path = os.path.join(self._path, os.readlink(data_path))
+        except (OSError, IOError) as e:
+          # NOTE(mgraczyk): If other DB implementations have bugs, this could cause
+          #                 copies to be left behind, but we still want to overwrite.
+          pass
+
+        new_data_path = "{}.link".format(tempdir_path)
+        os.symlink(os.path.basename(tempdir_path), new_data_path)
+        os.rename(new_data_path, data_path)
+      # TODO(mgraczyk): raise useful error when values are bad.
+      except:
+        shutil.rmtree(tempdir_path)
+        if new_data_path is not None:
+          os.remove(new_data_path)
+        raise
+
+      # Keep holding the lock while we clean up the old data.
+      if old_data_path is not None:
+        shutil.rmtree(old_data_path)
+    finally:
+      os.umask(self._prev_umask)
+      self._prev_umask = None
+
+      # Always release the lock.
+      self._lock.release()
+      self._lock = None
+
+
+
+class JSDB(object):
+  def __init__(self, fn):
+    self._fn = fn
+
+  def begin(self, write=False):
+    if write:
+      return DBWriter(self._fn)
+    else:
+      return DBReader(self._fn)
+
+class Params(object):
+  def __init__(self, db='/data/params'):
+    self.env = JSDB(db)
+
+  def _clear_keys_with_type(self, tx_type):
+    with self.env.begin(write=True) as txn:
+      for key in keys:
+        if keys[key] == tx_type:
+          txn.delete(key)
+
+  def manager_start(self):
+    self._clear_keys_with_type(TxType.CLEAR_ON_MANAGER_START)
+
+  def car_start(self):
+    self._clear_keys_with_type(TxType.CLEAR_ON_CAR_START)
+
+  def get(self, key, block=False):
+    if key not in keys:
+      raise UnknownKeyName(key)
+
+    while 1:
+      with self.env.begin() as txn:
+        ret = txn.get(key)
+      if not block or ret is not None:
+        break
+      # is polling really the best we can do?
+      time.sleep(0.05)
+    return ret
+
+  def put(self, key, dat):
+    if key not in keys:
+      raise UnknownKeyName(key)
+
+    with self.env.begin(write=True) as txn:
+      txn.put(key, dat)
+    print "set", key
+
+if __name__ == "__main__":
+  params = Params()
+  if len(sys.argv) > 2:
+    params.put(sys.argv[1], sys.argv[2])
+  else:
+    for k in keys:
+      pp = params.get(k)
+      if pp is None:
+        print k, "is None"
+      elif all(ord(c) < 128 and ord(c) >= 32 for c in pp):
+        print k, pp
+      else:
+        print k, pp.encode("hex")
+
+  # Test multiprocess:
+  # seq 0 100000 | xargs -P20 -I{} python common/params.py DongleId {} && sleep 0.05
+  # while python common/params.py DongleId; do sleep 0.05; done

common/profiler.py

@@ -0,0 +1,26 @@
+from common.realtime import sec_since_boot
+
+class Profiler(object):
+  def __init__(self, enabled=False):
+    self.enabled = enabled
+    self.cp = []
+    self.start_time = sec_since_boot()
+    self.last_time = self.start_time
+
+  def checkpoint(self, name):
+    if not self.enabled:
+      return
+    tt = sec_since_boot()
+    self.cp.append((name, tt - self.last_time))
+    self.last_time = tt
+
+  def display(self):
+    if not self.enabled:
+      return
+    print "******* Profiling *******"
+    tot = 0.0
+    for n, ms in self.cp:
+      print "%30s: %7.2f" % (n, ms*1000.0)
+      tot += ms
+    print "    TOTAL: %7.2f" % (tot*1000.0)
+

common/realtime.py

@@ -0,0 +1,111 @@
+"""Utilities for reading real time clocks and keeping soft real time constraints."""
+import os
+import time
+import ctypes
+import platform
+import threading
+import subprocess
+import multiprocessing
+
+from cffi import FFI
+ffi = FFI()
+ffi.cdef("""
+
+typedef int clockid_t;
+struct timespec {
+    long tv_sec;   /* Seconds.  */
+    long tv_nsec;  /* Nanoseconds.  */
+};
+int clock_gettime (clockid_t clk_id, struct timespec *tp);
+
+long syscall(long number, ...);
+
+"""
+)
+libc = ffi.dlopen(None)
+
+
+# see <linux/time.h>
+CLOCK_MONOTONIC_RAW = 4
+CLOCK_BOOTTIME = 7
+
+if platform.system() != 'Darwin' and hasattr(libc, 'clock_gettime'):
+  c_clock_gettime = libc.clock_gettime
+
+  tlocal = threading.local()
+  def clock_gettime(clk_id):
+    if not hasattr(tlocal, 'ts'):
+      tlocal.ts = ffi.new('struct timespec *')
+
+    ts = tlocal.ts
+
+    r = c_clock_gettime(clk_id, ts)
+    if r != 0:
+      raise OSError("clock_gettime")
+    return ts.tv_sec + ts.tv_nsec * 1e-9
+else:
+  # hack. only for OS X < 10.12
+  def clock_gettime(clk_id):
+    return time.time()
+
+def monotonic_time():
+  return clock_gettime(CLOCK_MONOTONIC_RAW)
+
+def sec_since_boot():
+  return clock_gettime(CLOCK_BOOTTIME)
+
+
+def set_realtime_priority(level):
+  if os.getuid() != 0:
+    print("not setting priority, not root")
+    return
+  if platform.machine() == "x86_64":
+    NR_gettid = 186
+  elif platform.machine() == "aarch64":
+    NR_gettid = 178
+  else:
+    raise NotImplementedError
+
+  tid = libc.syscall(NR_gettid)
+  return subprocess.call(['chrt', '-f', '-p', str(level), str(tid)])
+
+
+class Ratekeeper(object):
+  def __init__(self, rate, print_delay_threshold=0.):
+    """Rate in Hz for ratekeeping. print_delay_threshold must be nonnegative."""
+    self._interval = 1. / rate
+    self._next_frame_time = sec_since_boot() + self._interval
+    self._print_delay_threshold = print_delay_threshold
+    self._frame = 0
+    self._remaining = 0
+    self._process_name = multiprocessing.current_process().name
+
+  @property
+  def frame(self):
+    return self._frame
+
+  @property
+  def remaining(self):
+    return self._remaining
+
+  # Maintain loop rate by calling this at the end of each loop
+  def keep_time(self):
+    lagged = self.monitor_time()
+    if self._remaining > 0:
+      time.sleep(self._remaining)
+    return lagged
+
+  # this only monitor the cumulative lag, but does not enforce a rate
+  def monitor_time(self):
+    lagged = False
+    remaining = self._next_frame_time - sec_since_boot()
+    self._next_frame_time += self._interval
+    if remaining < -self._print_delay_threshold:
+      print("%s lagging by %.2f ms" % (self._process_name, -remaining * 1000))
+      lagged = True
+    self._frame += 1
+    self._remaining = remaining
+    return lagged
+
+if __name__ == "__main__":
+  print sec_since_boot()

common/testing.py

@@ -0,0 +1,9 @@
+import os
+from nose.tools import nottest
+
+def phone_only(x):
+  if os.path.isfile("/init.qcom.rc"):
+    return x
+  else:
+    return nottest(x)
+

dev

@@ -1,4 +0,0 @@
-#!/usr/bin/env bash
-set -euo pipefail
-ROOT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
-exec "${ROOT_DIR}/scripts/host_tool_runner.sh" "$@"

docs/CARS.md

@@ -1,410 +0,0 @@
-<!--- AUTOGENERATED FROM openpilot/selfdrive/car/CARS_template.md, DO NOT EDIT. --->
-
-# Supported Cars
-
-A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
-
-# 335 Supported Cars
-
-|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|Setup Video|
-|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
-|Acura|ILX 2016-18|Technology Plus Package or AcuraWatch Plus|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2016-18">Buy Here</a></sub></details>|||
-|Acura|ILX 2019|All|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2019">Buy Here</a></sub></details>|||
-|Acura|MDX 2022-24|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|43 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2022-24">Buy Here</a></sub></details>|||
-|Acura|MDX 2025-26|All except Type S|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2025-26">Buy Here</a></sub></details>|||
-|Acura|RDX 2016-18|AcuraWatch Plus or Advance Package|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2016-18">Buy Here</a></sub></details>|||
-|Acura|RDX 2019-21|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2019-21">Buy Here</a></sub></details>|||
-|Acura|TLX 2021-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2021-22">Buy Here</a></sub></details>|||
-|Acura|TLX 2025|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2025">Buy Here</a></sub></details>|||
-|Audi[<sup>12</sup>](#footnotes)|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
-|Audi[<sup>12</sup>](#footnotes)|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
-|Audi[<sup>12</sup>](#footnotes)|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
-|Audi[<sup>12</sup>](#footnotes)|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
-|Audi[<sup>12</sup>](#footnotes)|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
-|Audi[<sup>12</sup>](#footnotes)|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
-|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim, without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV 2022-23">Buy Here</a></sub></details>|||
-|Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Equinox 2019-22">Buy Here</a></sub></details>|||
-|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Silverado 1500 2020-21">Buy Here</a></sub></details>|||
-|Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Trailblazer 2021-22">Buy Here</a></sub></details>|||
-|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)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica 2017-18">Buy Here</a></sub></details>|||
-|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)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica 2019-20">Buy Here</a></sub></details>|||
-|Chrysler|Pacifica 2021-23|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica 2021-23">Buy Here</a></sub></details>|||
-|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2017-18">Buy Here</a></sub></details>|||
-|Chrysler|Pacifica Hybrid 2019-25|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2019-25">Buy Here</a></sub></details>|||
-|comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|<a href="https://youtu.be/VT-i3yRsX2s?t=2736" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|CUPRA[<sup>12</sup>](#footnotes)|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
-|CUPRA|Born 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW MEB connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Born 2021-23">Buy Here</a></sub></details>|||
-|Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Dodge Durango 2020-21">Buy Here</a></sub></details>|||
-|Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Bronco Sport 2021-24">Buy Here</a></sub></details>|||
-|Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2020-22">Buy Here</a></sub></details>|||
-|Ford|Escape 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
-|Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Hybrid 2020-22">Buy Here</a></sub></details>|||
-|Ford|Escape Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Hybrid 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
-|Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Plug-in Hybrid 2020-22">Buy Here</a></sub></details>|||
-|Ford|Escape Plug-in Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Plug-in Hybrid 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
-|Ford|Expedition 2022-24|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Expedition 2022-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
-|Ford|Explorer 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Explorer 2020-24">Buy Here</a></sub></details>|||
-|Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Explorer Hybrid 2020-24">Buy Here</a></sub></details>|||
-|Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
-|Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 Hybrid 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
-|Ford|Focus 2018-22[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus 2018-22">Buy Here</a></sub></details>|||
-|Ford|Focus Hybrid 2018-22[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus Hybrid 2018-22">Buy Here</a></sub></details>|||
-|Ford|Kuga 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga 2020-23">Buy Here</a></sub></details>|||
-|Ford|Kuga Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2020-23">Buy Here</a></sub></details>|||
-|Ford|Kuga Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
-|Ford|Kuga Plug-in Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Plug-in Hybrid 2020-23">Buy Here</a></sub></details>|||
-|Ford|Kuga Plug-in Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Plug-in Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
-|Ford|Maverick 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick 2022">Buy Here</a></sub></details>|||
-|Ford|Maverick 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick 2023-24">Buy Here</a></sub></details>|||
-|Ford|Maverick Hybrid 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick Hybrid 2022">Buy Here</a></sub></details>|||
-|Ford|Maverick Hybrid 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick Hybrid 2023-24">Buy Here</a></sub></details>|||
-|Ford|Mustang Mach-E 2021-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Mustang Mach-E 2021-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
-|Ford|Ranger 2024|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Ranger 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
-|Genesis|G70 2018|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G70 2018">Buy Here</a></sub></details>|||
-|Genesis|G70 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G70 2019-21">Buy Here</a></sub></details>|||
-|Genesis|G70 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G70 2022-23">Buy Here</a></sub></details>|||
-|Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G80 2017">Buy Here</a></sub></details>|||
-|Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G80 2018-19">Buy Here</a></sub></details>|||
-|Genesis|G80 (2.5T Advanced Trim, with HDA II) 2024|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G80 (2.5T Advanced Trim, with HDA II) 2024">Buy Here</a></sub></details>|||
-|Genesis|G90 2017-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G90 2017-20">Buy Here</a></sub></details>|||
-|Genesis|GV60 (Advanced Trim) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV60 (Advanced Trim) 2023">Buy Here</a></sub></details>|||
-|Genesis|GV60 (Performance Trim) 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV60 (Performance Trim) 2022-23">Buy Here</a></sub></details>|||
-|Genesis|GV70 (2.5T Trim, without HDA II) 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV70 (2.5T Trim, without HDA II) 2022-24">Buy Here</a></sub></details>|||
-|Genesis|GV70 (3.5T Trim, without HDA II) 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV70 (3.5T Trim, without HDA II) 2022-23">Buy Here</a></sub></details>|||
-|Genesis|GV70 Electrified (Australia Only) 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV70 Electrified (Australia Only) 2022">Buy Here</a></sub></details>|||
-|Genesis|GV70 Electrified (with HDA II) 2023-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV70 Electrified (with HDA II) 2023-24">Buy Here</a></sub></details>|||
-|Genesis|GV80 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV80 2023">Buy Here</a></sub></details>|||
-|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=GMC Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Honda|Accord 2018-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Honda|Accord 2023-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2023-25">Buy Here</a></sub></details>|||
-|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
-|Honda|Accord Hybrid 2023-26|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2023-26">Buy Here</a></sub></details>|||
-|Honda|City (Brazil only) 2023|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|14 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023">Buy Here</a></sub></details>|||
-|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Honda|Civic 2019-21|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Honda|Civic 2022-26|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-26">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
-|Honda|Civic Hatchback 2019-21|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
-|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Honda|Civic Hatchback Hybrid 2025-26|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025-26">Buy Here</a></sub></details>|||
-|Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
-|Honda|Civic Hybrid 2025-26|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hybrid 2025-26">Buy Here</a></sub></details>|||
-|Honda|CR-V 2015-16|Touring Trim|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2015-16">Buy Here</a></sub></details>|||
-|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|15 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2017-22">Buy Here</a></sub></details>|||
-|Honda|CR-V 2023-26|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2023-26">Buy Here</a></sub></details>|||
-|Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2017-22">Buy Here</a></sub></details>|||
-|Honda|CR-V Hybrid 2023-26|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2023-26">Buy Here</a></sub></details>|||
-|Honda|e 2020|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda e 2020">Buy Here</a></sub></details>|||
-|Honda|Fit 2018-20|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Fit 2018-20">Buy Here</a></sub></details>|||
-|Honda|Freed 2020|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Freed 2020">Buy Here</a></sub></details>|||
-|Honda|HR-V 2019-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2019-22">Buy Here</a></sub></details>|||
-|Honda|HR-V 2023-27|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2023-27">Buy Here</a></sub></details>|||
-|Honda|Insight 2019-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Insight 2019-22">Buy Here</a></sub></details>|||
-|Honda|Inspire 2018|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Inspire 2018">Buy Here</a></sub></details>|||
-|Honda|N-Box 2018|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|11 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda N-Box 2018">Buy Here</a></sub></details>|||
-|Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2018-20">Buy Here</a></sub></details>|||
-|Honda|Odyssey 2021-26|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|43 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2021-26">Buy Here</a></sub></details>|||
-|Honda|Odyssey (Singapore) 2021|Honda Sensing|openpilot|19 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey (Singapore) 2021">Buy Here</a></sub></details>|||
-|Honda|Odyssey (Taiwan) 2018-19|Honda Sensing|openpilot|19 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey (Taiwan) 2018-19">Buy Here</a></sub></details>|||
-|Honda|Passport 2019-25|All|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2019-25">Buy Here</a></sub></details>|||
-|Honda|Passport 2026|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2026">Buy Here</a></sub></details>|||
-|Honda|Pilot 2016-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2016-22">Buy Here</a></sub></details>|||
-|Honda|Pilot 2023-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2023-25">Buy Here</a></sub></details>|||
-|Honda|Ridgeline 2017-25|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Ridgeline 2017-25">Buy Here</a></sub></details>|||
-|Hyundai|Azera 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Azera 2022">Buy Here</a></sub></details>|||
-|Hyundai|Azera Hybrid 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Azera Hybrid 2019">Buy Here</a></sub></details>|||
-|Hyundai|Azera Hybrid 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Azera Hybrid 2020">Buy Here</a></sub></details>|||
-|Hyundai|Custin 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Custin 2023">Buy Here</a></sub></details>|||
-|Hyundai|Elantra 2017-18|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra 2017-18">Buy Here</a></sub></details>|||
-|Hyundai|Elantra 2019|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra 2019">Buy Here</a></sub></details>|||
-|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Hyundai|Elantra GT 2017-20|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra GT 2017-20">Buy Here</a></sub></details>|||
-|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Genesis 2015-16">Buy Here</a></sub></details>|||
-|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai i30 2017-19">Buy Here</a></sub></details>|||
-|Hyundai|Ioniq 5 (Southeast Asia and Europe only) 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (Southeast Asia and Europe only) 2022-24">Buy Here</a></sub></details>|||
-|Hyundai|Ioniq 5 (with HDA II) 2022-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (with HDA II) 2022-24">Buy Here</a></sub></details>|||
-|Hyundai|Ioniq 5 (without HDA II) 2022-24|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (without HDA II) 2022-24">Buy Here</a></sub></details>|||
-|Hyundai|Ioniq 6 (with HDA II) 2023-24|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 6 (with HDA II) 2023-24">Buy Here</a></sub></details>|||
-|Hyundai|Ioniq 6 (without HDA II) 2023-24|Highway Driving Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 6 (without HDA II) 2023-24">Buy Here</a></sub></details>|||
-|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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Electric 2019">Buy Here</a></sub></details>|||
-|Hyundai|Ioniq Electric 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Electric 2020">Buy Here</a></sub></details>|||
-|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Hybrid 2017-19">Buy Here</a></sub></details>|||
-|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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Hybrid 2020-22">Buy Here</a></sub></details>|||
-|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Plug-in Hybrid 2019">Buy Here</a></sub></details>|||
-|Hyundai|Ioniq Plug-in Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Plug-in Hybrid 2020-22">Buy Here</a></sub></details>|||
-|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona 2020">Buy Here</a></sub></details>|||
-|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric 2018-21">Buy Here</a></sub></details>|||
-|Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric 2022-23">Buy Here</a></sub></details>|||
-|Hyundai|Kona Electric (with HDA II, Korea only) 2023|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Hybrid 2020">Buy Here</a></sub></details>|||
-|Hyundai|Nexo 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Nexo 2021">Buy Here</a></sub></details>|||
-|Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Hyundai|Santa Cruz 2022-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Cruz 2022-24">Buy Here</a></sub></details>|||
-|Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe 2019-20">Buy Here</a></sub></details>|<a href="https://youtu.be/bjDR0YjM__s" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Hyundai|Santa Fe 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Hyundai|Santa Fe Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe Hybrid 2022-23">Buy Here</a></sub></details>|||
-|Hyundai|Santa Fe Plug-in Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe Plug-in Hybrid 2022-23">Buy Here</a></sub></details>|||
-|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Sonata 2018-19">Buy Here</a></sub></details>|||
-|Hyundai|Sonata 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Sonata 2020-23">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Hyundai|Sonata Hybrid 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Sonata Hybrid 2020-23">Buy Here</a></sub></details>|||
-|Hyundai|Staria 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Staria 2023">Buy Here</a></sub></details>|||
-|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson 2021">Buy Here</a></sub></details>|||
-|Hyundai|Tucson 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson 2022">Buy Here</a></sub></details>|||
-|Hyundai|Tucson 2023-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson 2023-24">Buy Here</a></sub></details>|||
-|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson Diesel 2019">Buy Here</a></sub></details>|||
-|Hyundai|Tucson Hybrid 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson Hybrid 2022-24">Buy Here</a></sub></details>|||
-|Hyundai|Tucson Plug-in Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson Plug-in Hybrid 2024">Buy Here</a></sub></details>|||
-|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Veloster 2019-20">Buy Here</a></sub></details>|||
-|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Jeep Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Jeep Grand Cherokee 2019-21">Buy Here</a></sub></details>|||
-|Kia|Carnival 2022-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival 2022-24">Buy Here</a></sub></details>|||
-|Kia|Carnival (China only) 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival (China only) 2023">Buy Here</a></sub></details>|||
-|Kia|Ceed 2019-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Ceed 2019-21">Buy Here</a></sub></details>|||
-|Kia|EV6 (Southeast Asia only) 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (Southeast Asia only) 2022-24">Buy Here</a></sub></details>|||
-|Kia|EV6 (with HDA II) 2022-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (with HDA II) 2022-24">Buy Here</a></sub></details>|||
-|Kia|EV6 (without HDA II) 2022-24|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (without HDA II) 2022-24">Buy Here</a></sub></details>|||
-|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Forte 2019-21">Buy Here</a></sub></details>|||
-|Kia|Forte 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Forte 2022-23">Buy Here</a></sub></details>|||
-|Kia|K5 2021-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K5 2021-24">Buy Here</a></sub></details>|||
-|Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K5 Hybrid 2020-22">Buy Here</a></sub></details>|||
-|Kia|K7 2017|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K7 2017">Buy Here</a></sub></details>|||
-|Kia|K8 Hybrid (with HDA II) 2023|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K8 Hybrid (with HDA II) 2023">Buy Here</a></sub></details>|||
-|Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2020">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2021">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2022">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Kia|Niro EV (with HDA II) 2024-25|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV (with HDA II) 2024-25">Buy Here</a></sub></details>|||
-|Kia|Niro EV (without HDA II) 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV (without HDA II) 2023-25">Buy Here</a></sub></details>|||
-|Kia|Niro Hybrid 2018|Smart Cruise Control (SCC)|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Hybrid 2018">Buy Here</a></sub></details>|||
-|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Hybrid 2021">Buy Here</a></sub></details>|||
-|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Hybrid 2022">Buy Here</a></sub></details>|||
-|Kia|Niro Hybrid 2023-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Hybrid 2023-24">Buy Here</a></sub></details>|||
-|Kia|Niro Plug-in Hybrid 2018-19|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Plug-in Hybrid 2018-19">Buy Here</a></sub></details>|||
-|Kia|Niro Plug-in Hybrid 2020|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Plug-in Hybrid 2020">Buy Here</a></sub></details>|||
-|Kia|Niro Plug-in Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Plug-in Hybrid 2021">Buy Here</a></sub></details>|||
-|Kia|Niro Plug-in Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Plug-in Hybrid 2022">Buy Here</a></sub></details>|||
-|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Optima 2017">Buy Here</a></sub></details>|||
-|Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Optima 2019-20">Buy Here</a></sub></details>|||
-|Kia|Optima Hybrid 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Optima Hybrid 2019">Buy Here</a></sub></details>|||
-|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Seltos 2021">Buy Here</a></sub></details>|||
-|Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Kia|Sorento 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2021-23">Buy Here</a></sub></details>|||
-|Kia|Sorento Hybrid 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento Hybrid 2021-23">Buy Here</a></sub></details>|||
-|Kia|Sorento Plug-in Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>|||
-|Kia|Sportage 2023-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sportage 2023-24">Buy Here</a></sub></details>|||
-|Kia|Sportage Hybrid 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sportage Hybrid 2023">Buy Here</a></sub></details>|||
-|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Stinger 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Kia|Stinger 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Stinger 2022-23">Buy Here</a></sub></details>|||
-|Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Telluride 2020-22">Buy Here</a></sub></details>|||
-|Lexus|CT Hybrid 2017-18|Lexus Safety System+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus CT Hybrid 2017-18">Buy Here</a></sub></details>|||
-|Lexus|ES 2017-18|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES 2017-18">Buy Here</a></sub></details>|||
-|Lexus|ES 2019-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES 2019-25">Buy Here</a></sub></details>|||
-|Lexus|ES Hybrid 2017-18|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES Hybrid 2017-18">Buy Here</a></sub></details>|||
-|Lexus|ES Hybrid 2019-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES Hybrid 2019-25">Buy Here</a></sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Lexus|GS F 2016|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus GS F 2016">Buy Here</a></sub></details>|||
-|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus IS 2017-19">Buy Here</a></sub></details>|||
-|Lexus|IS 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus IS 2022-24">Buy Here</a></sub></details>|||
-|Lexus|LC 2024-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus LC 2024-25">Buy Here</a></sub></details>|||
-|Lexus|LS 2018|All except Lexus Safety System+ A|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus LS 2018">Buy Here</a></sub></details>|||
-|Lexus|NX 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus NX 2018-19">Buy Here</a></sub></details>|||
-|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus NX 2020-21">Buy Here</a></sub></details>|||
-|Lexus|NX Hybrid 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus NX Hybrid 2018-19">Buy Here</a></sub></details>|||
-|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus NX Hybrid 2020-21">Buy Here</a></sub></details>|||
-|Lexus|RC 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RC 2018-20">Buy Here</a></sub></details>|||
-|Lexus|RC 2023|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RC 2023">Buy Here</a></sub></details>|||
-|Lexus|RX 2016|Lexus Safety System+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX 2016">Buy Here</a></sub></details>|||
-|Lexus|RX 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX 2017-19">Buy Here</a></sub></details>|||
-|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX 2020-22">Buy Here</a></sub></details>|||
-|Lexus|RX Hybrid 2016|Lexus Safety System+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX Hybrid 2016">Buy Here</a></sub></details>|||
-|Lexus|RX Hybrid 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX Hybrid 2017-19">Buy Here</a></sub></details>|||
-|Lexus|RX Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX Hybrid 2020-22">Buy Here</a></sub></details>|||
-|Lexus|UX Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus UX Hybrid 2019-24">Buy Here</a></sub></details>|||
-|Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator 2020-24">Buy Here</a></sub></details>|||
-|Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>|||
-|MAN[<sup>12</sup>](#footnotes)|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|MAN[<sup>12</sup>](#footnotes)|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-5 2022-25">Buy Here</a></sub></details>|||
-|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Nissan[<sup>6</sup>](#footnotes)|Altima 2019-24|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-24">Buy Here</a></sub></details>|||
-|Nissan[<sup>6</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Nissan[<sup>6</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Rogue 2018-20">Buy Here</a></sub></details>|||
-|Nissan[<sup>6</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
-|Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 1500 2019-24">Buy Here</a></sub></details>|||
-|Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/dflSSGQwYNc" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
-|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/dflSSGQwYNc" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
-|SEAT[<sup>12</sup>](#footnotes)|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
-|SEAT[<sup>12</sup>](#footnotes)|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
-|Subaru|Ascent 2019-21|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Forester 2019-21|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Legacy 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Outback 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Škoda|Fabia 2022-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Fabia 2022-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
-|Škoda|Kamiq 2021-23[<sup>13,15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
-|Škoda[<sup>12</sup>](#footnotes)|Karoq 2019-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||
-|Škoda[<sup>12</sup>](#footnotes)|Kodiaq 2017-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kodiaq 2017-23">Buy Here</a></sub></details>|||
-|Škoda[<sup>12</sup>](#footnotes)|Octavia 2015-19[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia 2015-19">Buy Here</a></sub></details>|||
-|Škoda[<sup>12</sup>](#footnotes)|Octavia RS 2016[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia RS 2016">Buy Here</a></sub></details>|||
-|Škoda[<sup>12</sup>](#footnotes)|Octavia Scout 2017-19[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia Scout 2017-19">Buy Here</a></sub></details>|||
-|Škoda|Scala 2020-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Scala 2020-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
-|Škoda[<sup>12</sup>](#footnotes)|Superb 2015-22[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Superb 2015-22">Buy Here</a></sub></details>|||
-|Tesla[<sup>10</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>|||
-|Tesla[<sup>10</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>|||
-|Tesla[<sup>10</sup>](#footnotes)|Model Y (with HW3) 2020-24[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW3) 2020-24">Buy Here</a></sub></details>|||
-|Tesla[<sup>10</sup>](#footnotes)|Model Y (with HW4) 2023-25[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW4) 2023-25">Buy Here</a></sub></details>|||
-|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Alphard 2019-20">Buy Here</a></sub></details>|||
-|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Alphard Hybrid 2021">Buy Here</a></sub></details>|||
-|Toyota|Avalon 2016|Toyota Safety Sense P|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2016">Buy Here</a></sub></details>|||
-|Toyota|Avalon 2017-18|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2017-18">Buy Here</a></sub></details>|||
-|Toyota|Avalon 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2019-21">Buy Here</a></sub></details>|||
-|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2022">Buy Here</a></sub></details>|||
-|Toyota|Avalon Hybrid 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon Hybrid 2019-21">Buy Here</a></sub></details>|||
-|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon Hybrid 2022">Buy Here</a></sub></details>|||
-|Toyota|C-HR 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR 2017-20">Buy Here</a></sub></details>|||
-|Toyota|C-HR 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR 2021">Buy Here</a></sub></details>|||
-|Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR Hybrid 2017-20">Buy Here</a></sub></details>|||
-|Toyota|C-HR Hybrid 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR Hybrid 2021-22">Buy Here</a></sub></details>|||
-|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>11</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>11</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2021-24">Buy Here</a></sub></details>|||
-|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Toyota|Camry Hybrid 2021-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry Hybrid 2021-24">Buy Here</a></sub></details>|||
-|Toyota|Corolla 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla 2017-19">Buy Here</a></sub></details>|||
-|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla 2020-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Cross (Non-US only) 2020-23">Buy Here</a></sub></details>|||
-|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Cross Hybrid (Non-US only) 2020-22">Buy Here</a></sub></details>|||
-|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Hatchback 2019-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Hybrid 2020-22">Buy Here</a></sub></details>|||
-|Toyota|Corolla Hybrid (South America only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Hybrid (South America only) 2020-23">Buy Here</a></sub></details>|||
-|Toyota|Highlander 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander 2017-19">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander 2020-23">Buy Here</a></sub></details>|||
-|Toyota|Highlander Hybrid 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander Hybrid 2017-19">Buy Here</a></sub></details>|||
-|Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander Hybrid 2020-23">Buy Here</a></sub></details>|||
-|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Mirai 2021">Buy Here</a></sub></details>|||
-|Toyota|Prius 2016|Toyota Safety Sense P|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 2016">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Toyota|Prius 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Toyota|Prius Prime 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius Prime 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius Prime 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Toyota|Prius v 2017|Toyota Safety Sense P|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius v 2017">Buy Here</a></sub></details>|||
-|Toyota|RAV4 2016|Toyota Safety Sense P|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2016">Buy Here</a></sub></details>|||
-|Toyota|RAV4 2017-18|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2017-18">Buy Here</a></sub></details>|||
-|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=wJxjDd42gGA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Toyota|RAV4 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2022">Buy Here</a></sub></details>|||
-|Toyota|RAV4 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2023-25">Buy Here</a></sub></details>|||
-|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2016">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Toyota|RAV4 Hybrid 2017-18|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2019-21">Buy Here</a></sub></details>|||
-|Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Toyota|RAV4 Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Toyota|Sienna 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>12</sup>](#footnotes)|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>12</sup>](#footnotes)|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>12</sup>](#footnotes)|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>12</sup>](#footnotes)|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>12</sup>](#footnotes)|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas 2018-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen California 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Caravelle 2020">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>12</sup>](#footnotes)|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>12</sup>](#footnotes)|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>12</sup>](#footnotes)|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Golf 2014-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTD 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTE 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTI 2015-21">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen|ID.4 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW MEB connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen ID.4 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen|ID.4 2024-25|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW MEB connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen ID.4 2024-25">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Jetta 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2019-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen|Passat 2015-22[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat Alltrack 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat GTE 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo 2018-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
-|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
-|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Cross 2021">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
-|Volkswagen[<sup>12</sup>](#footnotes)|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Roc 2018-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Taos 2022-24">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont 2018-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont X 2021-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan 2018-24">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Touran 2016-23">Buy Here</a></sub></details>|||
-
-### Footnotes
-<sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `nightly-dev`. <br />
-<sup>2</sup>Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in North and South America/Southeast Asia. <br />
-<sup>3</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/gm" target="_blank">GM</a>. <br />
-<sup>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
-<sup>5</sup>Enabling longitudinal control (alpha) will disable all CMBS functionality, including AEB and FCW. <br />
-<sup>6</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/nissan" target="_blank">Nissan</a>. <br />
-<sup>7</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
-<sup>8</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
-<sup>9</sup>Model years 2023 and 2024 can have either hardware type, depending on build date and factory. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
-<sup>10</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/tesla" target="_blank">Tesla</a>. <br />
-<sup>11</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
-<sup>12</sup>The J533 harness plugs in at the CAN gateway under the dashboard, just above the steering column. More information can be found at <a href="https://docs.howtocomma.com/docs/j533-harness-install" target="_blank">this guide</a>. <br />
-<sup>13</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
-<sup>14</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
-<sup>15</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma four functionality. <br />
-<sup>16</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
-<sup>17</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
-
-## Community Maintained Cars
-Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
-
-# Don't see your car here?
-
-**openpilot can support many more cars than it currently does.** There are a few reasons your car may not be supported.
-If your car doesn't fit into any of the incompatibility criteria here, then there's a good chance it can be supported! We're adding support for new cars all the time. **We don't have a roadmap for car support**, and in fact, most car support comes from users like you!
-
-### Which cars are able to be supported?
-
-openpilot uses the existing steering, gas, and brake interfaces in your car. If your car lacks any one of these interfaces, openpilot will not be able to control the car. If your car has [ACC](https://en.wikipedia.org/wiki/Adaptive_cruise_control) and any form of [LKAS](https://en.wikipedia.org/wiki/Automated_Lane_Keeping_Systems)/[LCA](https://en.wikipedia.org/wiki/Lane_centering), then it almost certainly has these interfaces. These features generally started shipping on cars around 2016. Note that manufacturers will often make their own [marketing terms](https://en.wikipedia.org/wiki/Adaptive_cruise_control#Vehicle_models_supporting_adaptive_cruise_control) for these features, such as Hyundai's "Smart Cruise Control" branding of Adaptive Cruise Control.
-
-If your car has the following packages or features, then it's a good candidate for support.
-
-| Make | Required Package/Features |
-| ---- | ------------------------- |
-| Acura | Any car with AcuraWatch will work. AcuraWatch comes standard on many newer models. |
-| Ford | Any car with Lane Centering will likely work. |
-| Honda | Any car with Honda Sensing will work. Honda Sensing comes standard on many newer models. |
-| Subaru | Any car with EyeSight will work. EyeSight comes standard on many newer models. |
-| Nissan | Any car with ProPILOT will likely work. |
-| Toyota & Lexus | Any car that has Toyota/Lexus Safety Sense with "Lane Departure Alert with Steering Assist (LDA w/SA)" and/or "Lane Tracing Assist (LTA)" will work. Note that LDA without Steering Assist will not work. These features come standard on most newer models. |
-| Hyundai, Kia, & Genesis | Any car with Smart Cruise Control (SCC) and Lane Following Assist (LFA) or Lane Keeping Assist (LKAS) will work. LKAS/LFA comes standard on most newer models. Any form of SCC will work, such as NSCC. |
-| Chrysler, Jeep, & Ram | Any car with LaneSense and Adaptive Cruise Control will likely work. These come standard on many newer models. |
-
-### FlexRay
-
-All the cars that openpilot supports use a [CAN bus](https://en.wikipedia.org/wiki/CAN_bus) for communication between all the car's computers, however a CAN bus isn't the only way that the computers in your car can communicate. Most, if not all, vehicles from the following manufacturers use [FlexRay](https://en.wikipedia.org/wiki/FlexRay) instead of a CAN bus: **BMW, Mercedes, Audi, Land Rover, and some Volvo**. These cars may one day be supported, but we have no immediate plans to support FlexRay.
-
-### Toyota Security
-
-openpilot does not yet support these Toyota models due to a new message authentication method.
-[Vote](https://comma.ai/shop#toyota-security) if you'd like to see openpilot support on these models.
-
-* Toyota RAV4 Prime 2021+
-* Toyota Sienna 2021+
-* Toyota Venza 2021+
-* Toyota Sequoia 2023+
-* Toyota Tundra 2022+
-* Toyota Highlander 2024+
-* Toyota Corolla Cross 2022+ (only US model)
-* Toyota Camry 2025+
-* Lexus NX 2022+
-* Toyota bZ4x 2023+
-* Subaru Solterra 2023+

docs/CONTRIBUTING.md

@@ -1,33 +0,0 @@
-# Contributing to StarPilot
-
-Start with the [project overview](../README.md), [build guide](how-to/laptop-device-build.md), and [developer commands](../tools/STARPILOT_DEVELOPMENT.md).
-
-## Scope and behavior
-
-Keep each change focused on one feature or defect. Describe the behavior before and after the change, the affected vehicle configurations or interfaces, and how it was verified. Preserve intentional StarPilot behavior and familiar controls unless the change explicitly proposes a different experience.
-
-Prefer small integration points around upstream interfaces. Keep feature settings, state, and side effects with their owning feature. Shared code should express a real common contract, with regression coverage for the features that use it. Comments should explain an invariant, protocol requirement, or non-obvious decision.
-
-## Interfaces and dependencies
-
-Follow cereal's [custom-fork guidance](../openpilot/cereal/README.md#custom-forks). Preserve upstream message definitions and field meanings; put fork-specific messaging in the custom schema. Vehicle support outside an upstream platform's contract needs a distinct platform identity and corresponding interface and safety evidence.
-
-Dependencies are tracked source folders. Use the [vendoring workflow](../tools/vendor/README.md), retain provenance and licenses, and review local changes when updating an upstream revision.
-
-## Verification
-
-Run checks appropriate to the change and describe the result in the pull request:
-
-- For a bug fix, demonstrate the failure and the corrected behavior.
-- For driving behavior, compare against the intended source behavior or recorded evidence and cover engagement, override, reset, and relevant limits.
-- For vehicle or safety changes, identify the exact configuration and run the affected interface and native safety checks.
-- For UI changes, inspect the affected interface at its actual size and preserve the intended interactions.
-- For performance changes, provide a reproducible comparison and distinguish a component benchmark from whole-system performance.
-
-Keep automated tests, bench observations, and driving results separate. State what remains unverified rather than broadening a narrow result into a fleet-wide claim.
-
-## Commit history
-
-Use concise feature or behavior names. Keep related changes together, including their tests and documentation. Preserve ordinary follow-up commits so contributors can follow changes.
-
-The original [openpilot contribution guide](https://github.com/commaai/openpilot/blob/521db4c825d37eb5f29acf955daa88da003e4433/docs/CONTRIBUTING.md) documents upstream's process. Changes intended for comma's openpilot should follow that project's contribution requirements.

docs/DEBUGGING_SAFETY.md

@@ -1,30 +0,0 @@
-# Debugging Panda Safety with Replay Drive + LLDB
-
-## 1. Start the debugger in VS Code
-
-* Select **Replay drive + Safety LLDB**.
-* Enter the route or segment when prompted.
-[<img src="https://github.com/user-attachments/assets/b0cc320a-083e-46a7-a9f8-ca775bbe5604">](https://github.com/user-attachments/assets/b0cc320a-083e-46a7-a9f8-ca775bbe5604)
-
-## 2. Attach LLDB
-
-* When prompted, pick the running **`replay_drive` process**.
-* ⚠️ Attach quickly, or `replay_drive` will start consuming messages.
-
-> [!TIP]
-> Add a Python breakpoint at the start of `replay_drive.py` to pause execution and give yourself time to attach LLDB.
-
-## 3. Set breakpoints in VS Code
-Breakpoints can be set directly in `modes/xxx.h` (or any C file).
-No extra LLDB commands are required — just place breakpoints in the editor.
-
-## 4. Resume execution
-Once attached, you can step through both Python (on the replay) and C safety code as CAN logs are replayed.
-
-> [!NOTE]
-> * Use short routes for quicker iteration.
-> * Pause `replay_drive` early to avoid wasting log messages.
-
-## Video
-
-View a demo of this workflow on the PR that added it: https://github.com/commaai/openpilot/pull/36055#issue-3352911578

docs/INTEGRATION.md

@@ -1,11 +0,0 @@
-# Integration with Stock Features
-
-In all supported cars:
-* Stock Lane Keep Assist (LKA) and stock ALC are replaced by openpilot ALC, which only functions when openpilot is engaged by the user.
-* Stock LDW is replaced by openpilot LDW.
-
-Additionally, on specific supported cars (see ACC column in [supported cars](CARS.md)):
-* Stock ACC is replaced by openpilot ACC.
-* openpilot FCW operates in addition to stock FCW.
-
-openpilot should preserve all other vehicle's stock features, including, but not limited to: FCW, Automatic Emergency Braking (AEB), auto high-beam, blind spot warning, and side collision warning.

docs/LIMITATIONS.md

@@ -1,58 +0,0 @@
-# Limitations
-## Limitations of openpilot ALC and LDW
-
-openpilot ALC and openpilot LDW do not automatically drive the vehicle or reduce the amount of attention that must be paid to operate your vehicle. The driver must always keep control of the steering wheel and be ready to correct the openpilot ALC action at all times.
-
-While changing lanes, openpilot is not capable of looking next to you or checking your blind spot. Only nudge the wheel to initiate a lane change after you have confirmed it's safe to do so.
-
-Many factors can impact the performance of openpilot ALC and openpilot LDW, causing them to be unable to function as intended. These include, but are not limited to:
-
-* Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation.
-* The road facing camera is obstructed, covered or damaged by mud, ice, snow, etc.
-* Obstruction caused by applying excessive paint or adhesive products (such as wraps, stickers, rubber coating, etc.) onto the vehicle.
-* The device is mounted incorrectly.
-* When in sharp curves, like on-off ramps, intersections etc...; openpilot is designed to be limited in the amount of steering torque it can produce.
-* In the presence of restricted lanes or construction zones.
-* When driving on highly banked roads or in presence of strong cross-wind.
-* Extremely hot or cold temperatures.
-* Bright light (due to oncoming headlights, direct sunlight, etc.).
-* Driving on hills, narrow, or winding roads.
-
-The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. It is the driver's responsibility to be in control of the vehicle at all times.
-
-## Limitations of openpilot ACC and FCW
-
-openpilot ACC and openpilot FCW are not systems that allow careless or inattentive driving. It is still necessary for the driver to pay close attention to the vehicle’s surroundings and to be ready to re-take control of the gas and the brake at all times.
-
-Many factors can impact the performance of openpilot ACC and openpilot FCW, causing them to be unable to function as intended. These include, but are not limited to:
-
-* Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation.
-* The road facing camera or radar are obstructed, covered, or damaged by mud, ice, snow, etc.
-* Obstruction caused by applying excessive paint or adhesive products (such as wraps, stickers, rubber coating, etc.) onto the vehicle.
-* The device is mounted incorrectly.
-* Approaching a toll booth, a bridge or a large metal plate.
-* When driving on roads with pedestrians, cyclists, etc...
-* In presence of traffic signs or stop lights, which are not detected by openpilot at this time.
-* When the posted speed limit is below the user selected set speed. openpilot does not detect speed limits at this time.
-* In presence of vehicles in the same lane that are not moving.
-* When abrupt braking maneuvers are required. openpilot is designed to be limited in the amount of deceleration and acceleration that it can produce.
-* When surrounding vehicles perform close cut-ins from neighbor lanes.
-* Driving on hills, narrow, or winding roads.
-* Extremely hot or cold temperatures.
-* Bright light (due to oncoming headlights, direct sunlight, etc.).
-* Interference from other equipment that generates radar waves.
-
-The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. It is the driver's responsibility to be in control of the vehicle at all times.
-
-## Limitations of openpilot DM
-
-openpilot DM should not be considered an exact measurement of the alertness of the driver.
-
-Many factors can impact the performance of openpilot DM, causing it to be unable to function as intended. These include, but are not limited to:
-
-* Low light conditions, such as driving at night or in dark tunnels.
-* Bright light (due to oncoming headlights, direct sunlight, etc.).
-* The driver's face is partially or completely outside field of view of the cabin camera.
-* The cabin camera is obstructed, covered, or damaged.
-
-The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. A driver should not rely on openpilot DM to assess their level of attention.

docs/README.md

@@ -1,14 +0,0 @@
-# Docs development
-
-The `docs/` tree is the source for [docs.comma.ai](https://docs.comma.ai).
-The site is updated on pushes to master by this [workflow](../.github/workflows/docs.yaml).
-
-**1. Build the site**
-``` bash
-op docs --build
-```
-
-**2. Run the site locally** (rebuilds on change)
-``` bash
-op docs
-```

docs/SAFETY.md

@@ -1,46 +0,0 @@
-# Safety
-
-openpilot is an Adaptive Cruise Control (ACC) and Automated Lane Centering (ALC) system.
-Like other ACC and ALC systems, openpilot is a failsafe passive system and it requires the
-driver to be alert and to pay attention at all times.
-
-To assist the driver in maintaining alertness, openpilot includes a driver monitoring feature
-that alerts when it detects driver distraction.
-
-However, even with an attentive driver, we must make further efforts for the system to be
-safe. We repeat, **driver alertness is necessary, but not sufficient, for openpilot to be
-used safely** and openpilot is provided with no warranty of fitness for any purpose.
-
-openpilot is developed in good faith to be compliant with FMVSS requirements and to follow
-industry standards of safety for Level 2 Driver Assistance Systems. In particular, we observe
-ISO26262 guidelines, including those from [pertinent documents](https://www.nhtsa.gov/sites/nhtsa.dot.gov/files/documents/13498a_812_573_alcsystemreport.pdf)
-released by NHTSA. In addition, we impose strict coding guidelines (like [MISRA C : 2012](https://www.misra.org.uk/what-is-misra/))
-on parts of openpilot that are safety relevant. We also perform software-in-the-loop,
-hardware-in-the-loop, and in-vehicle tests before each software release.
-
-Following Hazard and Risk Analysis and FMEA, at a very high level, we have designed openpilot
-ensuring two main safety requirements.
-
-1. The driver must always be capable to immediately retake manual control of the vehicle,
-   by stepping on the brake pedal or by pressing the cancel button.
-2. The vehicle must not alter its trajectory too quickly for the driver to safely
-   react. This means that while the system is engaged, the actuators are constrained
-   to operate within reasonable limits[^1].
-
-For additional safety implementation details, refer to [panda safety model](https://github.com/commaai/panda#safety-model). For vehicle specific implementation of the safety concept, refer to [opendbc/safety/safety](https://github.com/commaai/opendbc/tree/master/opendbc/safety/safety).
-
-[^1]: For these actuator limits we observe ISO11270 and ISO15622. Lateral limits described there translate to 0.9 seconds of maximum actuation to achieve a 1m lateral deviation.
-
----
-
-### Forks of openpilot
-
-* Do not disable or nerf [driver monitoring](https://github.com/commaai/openpilot/tree/master/openpilot/selfdrive/monitoring)
-* Do not disable or nerf [excessive actuation checks](https://github.com/commaai/openpilot/tree/master/openpilot/selfdrive/selfdrived/helpers.py)
-* If your fork modifies any of the code in `opendbc/safety/`:
-   * your fork cannot use the openpilot trademark
-   * your fork must preserve the full [safety test suite](https://github.com/commaai/opendbc/tree/master/opendbc/safety/tests) and all tests must pass, including any new coverage required by the fork's changes
-
-Failure to comply with these standards will get you and your users banned from comma.ai servers.
-
-**comma.ai strongly discourages the use of openpilot forks with safety code either missing or not fully meeting the above requirements.**

docs/assets/comma-logo.png

@@ -1 +0,0 @@
-../../openpilot/selfdrive/assets/icons_mici/settings/comma_icon.png

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docs/concepts/logs.md

@@ -1,27 +0,0 @@
-# Logging
-
-openpilot records routes in one minute chunks called segments. A route starts on the rising edge of ignition and ends on the falling edge.
-
-Check out our [Python library](https://github.com/commaai/openpilot/blob/master/openpilot/tools/lib/logreader.py) for reading openpilot logs. Also checkout our [tools](https://github.com/commaai/openpilot/tree/master/openpilot/tools) to replay and view your data. These are the same tools we use to debug and develop openpilot.
-
-For each segment, openpilot records the following log types:
-
-## rlog.zst
-
-rlogs contain all the messages passed amongst openpilot's processes. See [openpilot/cereal/services.py](https://github.com/commaai/openpilot/blob/master/openpilot/cereal/services.py) for a list of all the logged services. They're a zstd archive of the serialized [Cap’n Proto](https://capnproto.org/) messages.
-
-## camera video files
-
-Each camera stream is H.265 encoded and written to its respective file.
-
-* `fcamera.hevc` is the narrow road camera (the main forward camera)
-* `ecamera.hevc` is the wide road camera
-* `dcamera.hevc` is the cabin camera
-
-## qlog.zst & qcamera.ts
-
-qlogs are a decimated subset of the rlogs. Check out [openpilot/cereal/services.py](https://github.com/commaai/openpilot/blob/master/openpilot/cereal/services.py) for the decimation.
-
-qcameras are H.264 encoded, lower res versions of the fcamera.hevc. The video shown in [comma connect](https://connect.comma.ai/) is from the qcameras.
-
-qlogs and qcameras are designed to be small enough to upload instantly on slow internet, yet useful enough for most analysis and debugging.

docs/concepts/safety.md

@@ -1 +0,0 @@
-../SAFETY.md

docs/contributing/architecture.md

@@ -1 +0,0 @@
-# Architecture

docs/contributing/feedback.md

@@ -1,36 +0,0 @@
-# How to Give Feedback
-
-Feedback is one of the highest leverage ways to contribute to openpilot as a user.
-
-## Driving
-
-Got feedback about how your car drives?
-Join the community Discord, then use the form in `#submit-feedback`.
-
-Before posting feedback, please ensure:
-
-- **openpilot is up to date** you should be on the latest openpilot release or nightly
-- **both road-facing cameras have a clear view** your windshield is clean, lenses are clean, etc.
-- **your device is mounted properly** your device must be mounted horizontally center and relatively high on the windshield
-
-## Driver Monitoring
-
-If you find DM annoying while being perfectly attentive, these are likely false positives and we want to fix them!
-In general, driver monitoring feedback is very actionable, and we can fix your complaint within a release cycle.
-
-To post your feedback:
-
-1. Join the [community Discord](https://discord.comma.ai).
-2. If cabin camera recording is toggled off, temporarily enable cabin camera recording in the settings until you reproduce the issue.
-3. Using comma connect, identify the relevant segment and upload the segment's logs and cabin camera.
-4. Post the segment in the `#openpilot-experience` channel on Discord with a good description.
-
-Before posting feedback, please ensure:
-
-- **openpilot is up to date** you should be on the latest openpilot release or nightly
-- **the cabin camera has a clear view of the driver** ensure nothing blocks view of the driver (e.g. a cable), the lens is clean, etc.
-- **your device is mounted properly** your device must be mounted horizontally center and relatively high on the windshield
-
-## Other bugs
-
-Got an issue with something else? Open an issue on our [GitHub issue tracker](https://github.com/commaai/openpilot/issues/new/choose).

docs/contributing/roadmap.md

@@ -1,17 +0,0 @@
-# Roadmap
-
-This is the roadmap for the next major openpilot releases. Also check out
-
-* [Milestones](https://github.com/commaai/openpilot/milestones) for minor releases
-* [Projects](https://github.com/commaai/openpilot/projects?query=is%3Aopen) for shorter-term projects not tied to releases
-* [Bounties](https://comma.ai/bounties) for paid individual issues
-* [#current-projects](https://discord.com/channels/469524606043160576/1249579909739708446) in Discord for discussion on work-in-progress projects
-
-## openpilot 1.0
-
-openpilot 1.0 will feature a fully end-to-end driving policy.
-
-* End-to-end longitudinal control in Chill mode
-* Driver monitoring with sleep detection
-* Rolling updates/releases pushed out by CI
-* [panda safety 1.0](https://github.com/orgs/commaai/projects/27)

docs/how-to/car-port.md

@@ -1,51 +0,0 @@
-# What is a car port?
-
-A car port enables openpilot support on a particular car. Each car model openpilot supports needs to be individually ported. The complexity of a car port varies depending on many factors including:
-
-* existing openpilot support for similar cars
-* architecture and APIs available in the car
-
-
-# Structure of a car port
-
-All car-specific code is contained in the [opendbc](https://github.com/commaai/opendbc) project.
-
-## opendbc
-
-Each car brand is supported by a standard interface structure in `opendbc/car/[brand]`:
-
-* `interface.py`: Interface for the car, defines the CarInterface class
-* `carstate.py`: Reads CAN messages from the car and builds openpilot CarState messages
-* `carcontroller.py`: Control logic for executing openpilot CarControl actions on the car
-* `[brand]can.py`: Composes CAN messages for carcontroller to send
-* `values.py`: Limits for actuation, general constants for cars, and supported car documentation
-* `radar_interface.py`: Interface for parsing radar points from the car, if applicable
-
-## safety
-
-* `opendbc/safety/modes/[brand].h`: Brand-specific safety logic
-* `opendbc/safety/tests/test_[brand].py`: Brand-specific safety CI tests
-
-## openpilot
-
-For historical reasons, openpilot still contains a small amount of car-specific logic. This will eventually be migrated to opendbc or otherwise removed.
-
-* `openpilot/selfdrive/car/car_specific.py`: Brand-specific event logic
-
-# How do I port car?
-
-[Jason Young](https://github.com/jyoung8607) gave a talk at COMMA_CON with an overview of the car porting process. The talk is available on YouTube:
-
-https://www.youtube.com/watch?v=XxPS5TpTUnI
-
-## Brand Port
-
-A brand port is a port of openpilot to a substantially new car brand or platform within a brand.
-
-Here's an example of one: https://github.com/commaai/openpilot/pull/23331.
-
-## Model Port
-
-A model port is a port of openpilot to a new car model within an already supported brand. Model ports are easier than brand ports because the car's existing APIs are already known.
-
-Here's an example of one: https://github.com/commaai/openpilot/pull/30672/.

docs/how-to/connect-to-comma.md

@@ -1,100 +0,0 @@
-# connect to a comma 3X or comma four
-
-A comma device is a normal [Linux](https://github.com/commaai/agnos-builder) computer that exposes [SSH](https://wiki.archlinux.org/title/Secure_Shell) and a [serial console](https://wiki.archlinux.org/title/Working_with_the_serial_console).
-
-## Serial Console
-
-On the comma 3X, the serial console is accessible from the main OBD-C port, forwarded through the panda.
-Access it using `panda/scripts/som_debug.sh`.
-
-comma four also exposes a serial console, albeit through an internal debug connector. Dedicated debug hardware coming soon to the comma shop.
-
-Login to the default user with:
-
-  * Username: `comma`
-  * Password: `comma`
-
-## SSH
-
-In order to SSH into your device, you'll need a GitHub account with SSH keys. See this [GitHub article](https://docs.github.com/en/github/authenticating-to-github/connecting-to-github-with-ssh) for getting your account setup with SSH keys.
-
-* Enable SSH in your device's settings
-* Enter your GitHub username in the device's settings
-* Connect to your device
-    * Username: `comma`
-    * Port: `22`
-
-Here's an example command for connecting to your device using its tethered connection:<br />
-`ssh comma@192.168.43.1 -i ~/.ssh/my_github_key`
-
-For doing development work on device, it's recommended to use [SSH agent forwarding](https://docs.github.com/en/developers/overview/using-ssh-agent-forwarding).
-
-
-## ADB
-
-In order to use ADB on your device, you'll need to perform the following steps using the image below for reference:
-
-![comma 3/3x back](../assets/three-back.svg)
-
-* Plug your device into constant power using port 2, letting the device boot up
-* Enable ADB in your device's settings
-* Plug in your device to your PC using port 1
-* Connect to your device
-    * `adb shell` over USB
-    * `adb connect` over WiFi
-    * Here's an example command for connecting to your device using its tethered connection: `adb connect 192.168.43.1:5555`
-
-> [!NOTE]
-> The default port for ADB is 5555.
-
-For more info on ADB, see the [Android Debug Bridge (ADB) documentation](https://developer.android.com/tools/adb).
-
-### Notes
-
-The public keys are only fetched from your GitHub account once. In order to update your device's authorized keys, you'll need to re-enter your GitHub username.
-
-The `id_rsa` key in this directory only works while your device is in the setup state with no software installed. After installation, that default key will be removed.
-
-## ssh.comma.ai proxy
-
-With a [comma prime subscription](https://comma.ai/connect), you can SSH into your comma device from anywhere.
-
-With the below SSH configuration, you can type `ssh comma-{dongleid}` to connect to your device through `ssh.comma.ai`.
-
-```
-Host comma-*
-  Port 22
-  User comma
-  IdentityFile ~/.ssh/my_github_key
-  ProxyCommand ssh %h@ssh.comma.ai -W %h:%p
-
-Host ssh.comma.ai
-  Hostname ssh.comma.ai
-  Port 22
-  IdentityFile ~/.ssh/my_github_key
-```
-
-### One-off connection
-
-```
-ssh -i ~/.ssh/my_github_key -o ProxyCommand="ssh -i ~/.ssh/my_github_key -W %h:%p -p %p %h@ssh.comma.ai" comma@ffffffffffffffff
-```
-
-(Replace `ffffffffffffffff` with your dongle_id)
-
-### ssh.comma.ai host key fingerprint
-
-```
-Host key fingerprint is SHA256:X22GOmfjGb9J04IA2+egtdaJ7vW9Fbtmpz9/x8/W1X4
-+---[RSA 4096]----+
-|                 |
-|                 |
-|        .        |
-|         +   o   |
-|        S = + +..|
-|         + @ = .=|
-|        . B @ ++=|
-|         o * B XE|
-|         .o o OB/|
-+----[SHA256]-----+
-```

docs/how-to/laptop-device-build.md

@@ -1,72 +0,0 @@
-# Laptop and device builds
-
-`./build` uses a Linux/ARM64 container and a matching AGNOS sysroot on a laptop. On an actual AGNOS/aarch64 device it runs SCons natively in that checkout, using the device Python environment and vendored source imports. It does not copy host-built model files into a device build. The container image pins Cap'n Proto 1.0.1 to the generated cereal contract in this tree.
-
-## Prepare the build environment
-
-Install Docker or Podman with Linux/ARM64 support. Run `scripts/laptop_device_build.sh doctor` to see which local prerequisites are missing. The first setup/build can download a container image, Python dependencies, and an AGNOS system image; run it only when you intend that network activity.
-
-To prepare without a physical device, run:
-
-```sh
-scripts/laptop_device_build.sh setup
-```
-
-To use an explicitly supplied device sysroot instead, run `scripts/laptop_device_build.sh setup-sysroot <device-host> [user] [ssh-port]`, then `scripts/laptop_device_build.sh build-image`. The build does not connect to a device or flash firmware. The compatibility alias `scripts/starpilot_build_flow.sh laptop-setup` invokes the same explicit setup.
-
-If the matching AGNOS ext4 system image is already local, use `scripts/laptop_device_build.sh setup-sysroot-local <system-image-path>` instead. This extracts a separate ignored `.comma_sysroot`; it does not change the image. Verify its `VERSION` against the intended device OS. A sysroot copied from a different AGNOS build does not establish ABI compatibility.
-
-## Build
-
-```sh
-./build                 # complete device-target build
-./build 8               # complete build with eight SCons jobs
-./build --params        # current params shared library only
-./build --cereal        # cereal libraries, bridge, and service header
-./build --panda         # signed panda_h7 and body_h7 firmware targets only
-./build --panda 8       # same H7 targets with eight jobs
-./build --mapd          # explicit offline Mapd provider package, separate from SCons
-```
-
-`--mapd` cannot be combined with SCons targets or jobs. It builds the pinned
-Linux/ARM64 static Mapd binary and manifest in ignored
-`openpilot/starpilot/maps/provider/`. It does not download map regions, change
-the selected offline snapshot, start Mapd, or run during plain `./build`.
-
-The Mapd shortcut requires Go 1.25.1 and an already populated module cache.
-On Linux/ARM64 it uses a local Go executable. On other hosts it uses the
-`openpilot-local-mapd-builder:go1.25.1` Linux/ARM64 image, built **explicitly**
-from `tools/laptop_device_build/Dockerfile.mapd`:
-
-```sh
-docker build --platform linux/arm64 -f tools/laptop_device_build/Dockerfile.mapd \
-  -t openpilot-local-mapd-builder:go1.25.1 .
-mkdir -p .cache/mapd-go-modules
-docker run --rm --platform linux/arm64 \
-  --mount "type=bind,src=$PWD/mapd_repo,dst=/work,readonly" \
-  --mount "type=bind,src=$PWD/.cache/mapd-go-modules,dst=/gomodcache" \
-  -e GOMODCACHE=/gomodcache -w /work \
-  openpilot-local-mapd-builder:go1.25.1 go mod download
-./build --mapd
-```
-
-The image build and module-cache population above are explicit network setup
-steps. `./build --mapd` itself uses `--network none`, `--pull never`,
-`GOPROXY=off`, and a read-only module cache. An existing offline cache can be
-selected with `COMMA_MAPD_MODULE_CACHE`; an existing reviewed ARM64 Go image
-can be selected with `COMMA_MAPD_BUILD_IMAGE`. The generated package is checked
-for the exact source digest and ARM64/static format by `package_shadow.py`.
-It is a build artifact; stage it separately with the source manifest for a
-device, rather than treating the source-only checkout as containing it.
-
-The historical wrapper's other Panda variants are not targets in the current `panda/SConscript`; `--panda` does not claim to build them. Shortcut targets use `--no-scrub` and leave `prebuilt` alone. Other SCons arguments pass through the container helper. A full-build invocation with options or explicit targets cannot mark `prebuilt`: clean, question, and dry-run commands do not compile the complete default graph. `scripts/starpilot_build_flow.sh laptop-device [jobs]` is the compatibility alias for a complete `./build`.
-
-The complete build selects the current `comma_arm64` SCons profile in its container, including Ion-backed VisionIPC and QCOM model compilation. It checks the driving model, driver-monitoring model, camera warps, and core runtime libraries before setting `prebuilt`. QCOM model compilation may require device-class hardware even with an ARM64 container; if it cannot complete, the build fails and `prebuilt` remains unset. A local `DEV=METAL` model artifact is not a device build substitute.
-
-`scripts/laptop_device_build.sh verify-artifacts` inspects the outputs without loading pickle files: it requires ARM64 ELF objects, exact current camera warp dimensions, and QCOM captured backends. It does not run inference. The matching sysroot is passed to Clang at both compile and link time. For a cached compatible base image, `COMMA_BASE_IMAGE=<local-image>` overrides the Dockerfile's default base only while building the image; record that override when reporting build provenance.
-
-For a single explicit target, use `scripts/laptop_device_build.sh scons --no-scrub <target>`. Sysroot, cache, and build-venv path overrides must resolve to direct children of this checkout. Relative overrides resolve from the checkout root before Docker bind mounts. The `doctor` command checks availability only; it does not prove the image or sysroot can compile every target.
-
-`scripts/laptop_device_build.sh manager` remains an **explicit** container runtime mode for developers with a complete build. Neither `./build` nor the checks above launch it. It can start ordinary manager processes; review that mode separately before using it with connected hardware.
-
-The legacy alias also supports `verify`, `mac`, and `device`. `mac` checks Python compilation only and does not produce device binaries. `device` requires AGNOS on ARM64 hardware and is never part of laptop validation.

docs/how-to/replay-a-drive.md

@@ -1,14 +0,0 @@
-# Replay
-
-Replaying is a critical tool for openpilot development and debugging.
-
-## Replaying a route
-*Hardware required: none*
-
-Just run `openpilot/tools/replay/replay --demo`.
-
-## Replaying CAN data
-*Hardware required: jungle and comma four*
-
-1. Connect your PC to a jungle.
-2.

docs/how-to/turn-the-speed-blue.md

@@ -1,111 +0,0 @@
-# Turn the speed blue
-*A getting started guide for openpilot development*
-
-In 30 minutes, we'll get an openpilot development environment set up on your computer and make some changes to openpilot's UI.
-
-And if you have a comma four, we'll deploy the change to your device for testing.
-
-## 1. Set up your development environment
-
-Run this to clone openpilot and install all the dependencies:
-```bash
-bash <(curl -fsSL openpilot.comma.ai)
-```
-
-Navigate to openpilot folder & activate a Python virtual environment
-```bash
-cd openpilot
-source .venv/bin/activate
-```
-
-Then, compile openpilot:
-```bash
-scons
-```
-
-## 2. Run replay
-
-We'll run the `replay` tool with the demo route to get data streaming for testing our UI changes.
-```bash
-# in terminal 1
-openpilot/tools/replay/replay --demo
-
-# in terminal 2
-./openpilot/selfdrive/ui/ui.py
-```
-
-The openpilot UI should launch and show a replay of the demo route.
-
-If you have your own comma device, you can replace `--demo` with one of your own routes from comma connect.
-
-
-## 3. Make the speed blue
-
-Now let’s update the speed display color in the UI.
-
-Search for the function responsible for rendering the current speed:
-```bash
-git grep "_draw_current_speed" openpilot/selfdrive/ui/onroad/hud_renderer.py
-```
-
-You'll find the relevant code inside `openpilot/selfdrive/ui/onroad/hud_renderer.py`, in this function:
-
-```python
-def _draw_current_speed(self, rect: rl.Rectangle) -> None:
-  """Draw the current vehicle speed and unit."""
-  speed_text = str(round(self.speed))
-  speed_text_size = measure_text_cached(self._font_bold, speed_text, FONT_SIZES.current_speed)
-  speed_pos = rl.Vector2(rect.x + rect.width / 2 - speed_text_size.x / 2, 180 - speed_text_size.y / 2)
-  rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, COLORS.white)  # <- this sets the speed text color
-```
-
-Change `COLORS.white` to make it **blue** instead of white. A nice soft blue is `#8080FF`, which you can change inline:
-
-```diff
-- rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, COLORS.white)
-+ rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, rl.Color(0x80, 0x80, 0xFF, 255))
-```
-
----
-
-## 4. Re-run the UI
-
-After making changes, re-run the UI to see your new UI:
-```bash
-./openpilot/selfdrive/ui/ui.py
-```
-![](https://blog.comma.ai/img/blue_speed_ui.png)
-
-You should now see the speed displayed in a nice blue shade during the demo replay.
-
----
-
-## 5. Push your fork to GitHub
-
-Click **"Fork"** on the [Openpilot GitHub repo](https://github.com/commaai/openpilot). Then push with:
-```bash
-git remote rm origin
-git remote add origin git@github.com:<your-github-username>/openpilot.git
-git add .
-git commit -m "Make the speed display blue"
-git push --set-upstream origin master
-```
-
----
-
-## 6. Run your fork on your comma device
-
-Uninstall Openpilot through the settings on your device.
-
-Then reinstall using your own GitHub-hosted fork:
-```
-installer.comma.ai/<your-github-username>/master
-```
-
----
-
-## 7. Admire your work IRL 🚗💨
-
-You’ve now successfully modified Openpilot’s UI and deployed it to your own car!
-
-![](https://blog.comma.ai/img/c3_blue_ui.jpg)

docs/index.md

@@ -1,12 +0,0 @@
-# What is openpilot?
-
-[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW), and Lane Departure Warning (LDW) for a growing variety of [supported car makes, models, and model years](https://github.com/commaai/openpilot/blob/master/docs/CARS.md). In addition, while openpilot is engaged, a camera-based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration](https://github.com/commaai/openpilot/blob/master/docs/INTEGRATION.md) and [limitations](https://github.com/commaai/openpilot/blob/master/docs/LIMITATIONS.md).
-
-
-## How do I use it?
-
-openpilot is designed to be used on the comma four.
-
-## How does it work?
-
-In short, openpilot uses the car's existing APIs for the built-in [ADAS](https://en.wikipedia.org/wiki/Advanced_driver-assistance_system) system and simply provides better acceleration, braking, and steering inputs than the stock system.

docs/serve.py

@@ -1,555 +0,0 @@
-import argparse
-import functools
-import html
-import http.server
-import json
-import posixpath
-import re
-import shutil
-import threading
-import time
-import urllib.parse
-from pathlib import Path
-
-DOCS_DIR = Path(__file__).resolve().parent
-SITE_DIR = DOCS_DIR / "_site"
-TEMPLATE_FILE = DOCS_DIR / "template.html"
-EXCLUDE_DIRS = {"_site", "__pycache__"}
-
-REPO_URL = "https://github.com/commaai/openpilot/"
-
-# (title, target) pairs. target is a page path or an absolute URL.
-# A None target marks a section header.
-NAV: list[tuple[str, str | None]] = [
-  ("What is openpilot?", "index.md"),
-  ("How-to", None),
-  ("Turn the speed blue", "how-to/turn-the-speed-blue.md"),
-  ("Connect to a comma 3X or four", "how-to/connect-to-comma.md"),
-  ("Add support for a car", "how-to/car-port.md"),
-  ("Concepts", None),
-  ("Logs", "concepts/logs.md"),
-  ("Safety", "concepts/safety.md"),
-  ("Glossary", "concepts/glossary.md"),
-  ("Contributing", None),
-  ("Feedback", "contributing/feedback.md"),
-  ("Roadmap", "contributing/roadmap.md"),
-  ("Contributing Guide →", "https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md"),
-  ("Links", None),
-  ("Blog →", "https://blog.comma.ai"),
-  ("Bounties →", "https://comma.ai/bounties"),
-  ("GitHub →", "https://github.com/commaai"),
-  ("Discord →", "https://discord.comma.ai"),
-  ("X →", "https://x.com/comma_ai"),
-]
-
-GLOSSARY_DESCRIPTIONS = {
-  "onroad": "openpilot's system state while ignition is on.",
-  "offroad": "openpilot's system state while ignition is off.",
-  "route": "A route is a recording of an onroad session.",
-  "segment": "Routes are split into one minute chunks called segments.",
-  "comma connect": "The web viewer for all your routes; check it out at [connect.comma.ai](https://connect.comma.ai).",
-  "panda": "The secondary processor on the device that implements the functional safety and directly talks to the car over CAN. See the [panda repo](https://github.com/commaai/panda).",
-  "comma four": "The latest hardware by comma.ai for running openpilot. More info at [comma.ai/shop/comma-four](https://www.comma.ai/shop/comma-four).",
-}
-GLOSSARY_PAGE = "concepts/glossary.md"
-GLOSSARY_ROUTE = GLOSSARY_PAGE.removesuffix(".md")
-GLOSSARY_SKIP = frozenset("a code h1 h2 h3 h4 h5 h6 kbd pre script style".split())
-
-_ENTITY = re.compile(r"&(?:#x?[0-9a-fA-F]+|[a-zA-Z]+);")
-_LIST = re.compile(r"^(\s*)([*+-]|\d+\.)\s+(.*)$")
-_HEADING = re.compile(r"^(#{1,6})\s+(.*)$")
-_HR = re.compile(r"^(-{3,}|\*{3,}|_{3,})$")
-_ATTR_URL = re.compile(r"""(?P<pre>\b(?:href|src)=(?P<q>["']))(?P<url>.*?)(?P=q)""")
-_VOID = frozenset("br img hr meta link input".split())
-_URL = re.compile(r"https?://[^\s<>\[\]\"']+")
-_ADMONITION = re.compile(r"^\[!(NOTE|TIP|IMPORTANT|WARNING|CAUTION)\]$", re.I)
-
-
-def page_route(path: str) -> str:
-  path = path.removesuffix(".md")
-  return posixpath.dirname(path) or "." if posixpath.basename(path) == "index" else path
-
-
-def page_href(current: str, target: str) -> str:
-  route = posixpath.relpath(page_route(target), page_route(current))
-  return ("." if route == "." else route) + "/"
-
-
-def rewrite_relative_url(value: str, page: str) -> str | None:
-  url = urllib.parse.urlparse(value)
-  if value.startswith(("#", "/")) or url.scheme or url.netloc or not url.path:
-    return None
-  target = posixpath.normpath(posixpath.join(posixpath.dirname(page), url.path))
-  if target == ".." or target.startswith("../"):
-    return None
-  path = page_href(page, target) if target.endswith(".md") else posixpath.relpath(target, page_route(page))
-  return url._replace(path=path).geturl()
-
-
-def rewrite_html_urls(fragment: str, page: str) -> str:
-  def repl(m: re.Match[str]) -> str:
-    r = rewrite_relative_url(m.group("url"), page)
-    return m.group(0) if r is None else f'{m.group("pre")}{r}{m.group("q")}'
-
-  return _ATTR_URL.sub(repl, fragment)
-
-
-def esc(text: str, attr: bool = False) -> str:
-  held: list[str] = []
-
-  def hold(m: re.Match[str]) -> str:
-    held.append(m.group(0))
-    return f"\0{len(held) - 1}\0"
-
-  return re.sub(r"\0(\d+)\0", lambda m: held[int(m.group(1))], html.escape(_ENTITY.sub(hold, text), quote=attr))
-
-
-def clean_tooltip(description: str) -> str:
-  text = re.sub(r"\[([^\]]+)]\([^)]+\)", r"\1", description)
-  return re.sub(r"\s+", " ", re.sub(r"[*_~]", "", re.sub(r"`([^`]+)`", r"\1", text))).strip()
-
-
-def glossary_slug(label: str) -> str:
-  return label.replace(" ", "-").replace("_", "-").lower()
-
-
-GLOSSARY_TERMS = [(glossary_slug(l), re.compile(rf"(?<!\w){re.escape(l)}(?!\w)", re.I), clean_tooltip(d)) for l, d in GLOSSARY_DESCRIPTIONS.items()]
-GLOSSARY_DEFINITIONS = "\n".join(f'* <span id="{glossary_slug(l)}"></span>**{l}**: {d}' for l, d in GLOSSARY_DESCRIPTIONS.items())
-
-
-def inject_glossary(body: str, page: str) -> str:
-  if page == GLOSSARY_PAGE:
-    return body
-  route = "." if page == "index.md" else page.removesuffix(".md")
-  base, seen, out, skip, depth = f"{posixpath.relpath(GLOSSARY_ROUTE, route)}/#", set(), [], None, 0
-  for part in re.split(r"(<[^>]+>)", body):
-    if not part:
-      continue
-    if part.startswith("<"):
-      out.append(part)
-      if part.startswith("<!") or not (m := re.match(r"</?\s*([a-zA-Z0-9]+)", part)):
-        continue
-      tag = m.group(1).lower()
-      if tag not in GLOSSARY_SKIP:
-        continue
-      closing, void = part.startswith("</"), part.endswith("/>") or tag in _VOID
-      if closing and skip == tag and depth:
-        depth -= 1
-        skip = None if not depth else skip
-      elif not closing and not void:
-        skip, depth = (tag, 1) if skip is None else (skip, depth + (skip == tag))
-      continue
-    if depth:
-      out.append(part)
-      continue
-    cur, text = 0, part
-    while True:
-      best = None
-      for order, (slug, pat, tip) in enumerate(GLOSSARY_TERMS):
-        if slug in seen or (found := pat.search(text, cur)) is None:
-          continue
-        cand = (found.start(), found.start() - found.end(), order, slug, tip, found.end(), found.group(0))
-        if best is None or cand[:3] < best[:3]:
-          best = cand
-      if best is None:
-        out.append(text[cur:])
-        break
-      start, _, _, slug, tip, end, matched = best
-      out.append(text[cur:start])
-      out.append(
-        f'<a class="glossary-term" data-glossary-term="" href="{base}{slug}">'
-        + f'<span class="glossary-term__label">{matched}</span>'
-        + f'<span class="glossary-term__tooltip" data-search-exclude="">{esc(tip)}</span></a>'
-      )
-      seen.add(slug)
-      cur = end
-  return "".join(out)
-
-
-def slugify(text: str) -> str:
-  text = html.unescape(re.sub(r"<[^>]+>", "", text)).lower()
-  return re.sub(r"[-\s]+", "-", re.sub(r"[^\w\s-]", "", text, flags=re.UNICODE)).strip("-")
-
-
-def _parse_link(text: str, start: int) -> tuple[str, str, int] | None:
-  if start >= len(text) or text[start] != "[":
-    return None
-  depth, i = 0, start
-  while i < len(text):
-    depth += (text[i] == "[") - (text[i] == "]")
-    if text[i] == "]" and depth == 0:
-      label = text[start + 1 : i]
-      if i + 1 >= len(text) or text[i + 1] != "(":
-        return None
-      j, dp = i + 2, 1
-      while j < len(text) and dp:
-        dp += (text[j] == "(") - (text[j] == ")")
-        j += 1
-      return None if dp else (label, text[i + 2 : j - 1], j)
-    i += 1
-  return None
-
-
-def autolink_plain(text: str) -> str:
-  parts: list[str] = []
-  last = 0
-  for m in _URL.finditer(text):
-    start = m.start()
-    if start > 0 and text[start - 1].isalnum():
-      continue
-    parts.append(esc(text[last:start]))
-    url = m.group(0).rstrip(".,;:!?)]")
-    parts.append(f'<a href="{esc(url, True)}">{esc(url)}</a>')
-    last = start + len(url)
-  parts.append(esc(text[last:]))
-  return "".join(parts)
-
-
-def render_inline(text: str, page: str) -> str:
-  out, i, n = [], 0, len(text)
-  while i < n:
-    if text[i] == "\n" and i >= 2 and text[i - 2 : i] == "  " and out and out[-1].endswith("  "):
-      out[-1] = out[-1][:-2]
-      out.append("<br>\n")
-      i += 1
-      continue
-    if text[i] == "`" and (end := text.find("`", i + 1)) != -1:
-      out.append(f"<code>{esc(text[i + 1 : end])}</code>")
-      i = end + 1
-      continue
-    if text[i] == "!" and i + 1 < n and text[i + 1] == "[" and (p := _parse_link(text, i + 1)):
-      label, url, end = p
-      src = rewrite_relative_url(url, page) or url
-      out.append(f'<img alt="{esc(label, True)}" src="{esc(src, True)}">')
-      i = end
-      continue
-    if text[i] == "[" and (p := _parse_link(text, i)):
-      label, url, end = p
-      href = rewrite_relative_url(url, page) or url
-      out.append(f'<a href="{esc(href, True)}">{render_inline(label, page)}</a>')
-      i = end
-      continue
-    if text[i] == "<":
-      if text.startswith("<!--", i):
-        end = text.find("-->", i + 4)
-        end = n if end < 0 else end + 3
-        out.append(rewrite_html_urls(text[i:end], page))
-        i = end
-        continue
-      if m := re.match(r"<[^>]+>", text[i:]):
-        out.append(rewrite_html_urls(m.group(0), page))
-        i += len(m.group(0))
-        continue
-    if (text.startswith("**", i) or text.startswith("__", i)) and (end := text.find(text[i : i + 2], i + 2)) != -1:
-      out.append(f"<strong>{render_inline(text[i + 2 : end], page)}</strong>")
-      i = end + 2
-      continue
-    if text[i] in "*_" and i + 1 < n and text[i + 1] not in " \t\n" and (end := text.find(text[i], i + 1)) > i + 1:
-      out.append(f"<em>{render_inline(text[i + 1 : end], page)}</em>")
-      i = end + 1
-      continue
-    j = i + 1
-    while j < n and text[j] not in "`[<!*_":
-      j += 1
-    out.append(autolink_plain(text[i:j]))
-    i = j
-  return "".join(out)
-
-
-def _trow(line: str) -> list[str]:
-  return [c.strip() for c in line.strip().removeprefix("|").removesuffix("|").split("|")]
-
-
-def _is_sep(line: str) -> bool:
-  return "|" in line and all(re.fullmatch(r":?-{3,}:?", c.strip()) for c in _trow(line))
-
-
-def _align(sep: str) -> str:
-  s = sep.strip()
-  if s.startswith(":") and s.endswith(":"):
-    return ' style="text-align: center;"'
-  if s.endswith(":"):
-    return ' style="text-align: right;"'
-  if s.startswith(":"):
-    return ' style="text-align: left;"'
-  return ""
-
-
-def _list_info(line: str) -> tuple[int, str, str] | None:
-  m = _LIST.match(line)
-  return None if not m else (len(m.group(1)) // 4, "ol" if m.group(2)[-1] == "." else "ul", m.group(3))
-
-
-def _render_blocks(text: str, page: str) -> str:
-  lines, out, i, n = text.splitlines(), [], 0, 0
-  n = len(lines)
-  while i < n:
-    line, s = lines[i], lines[i].strip()
-    if not s:
-      i += 1
-      continue
-
-    if s.startswith("```"):
-      lang, body = s[3:].strip(), []
-      i += 1
-      while i < n and not lines[i].strip().startswith("```"):
-        body.append(lines[i])
-        i += 1
-      if i < n:
-        i += 1
-      code = html.escape("\n".join(body) + ("\n" if body else ""))
-      cls = f' class="language-{html.escape(lang)}"' if lang else ""
-      out.append(f"<pre><code{cls}>{code}</code></pre>")
-      continue
-
-    if m := _HEADING.match(s):
-      content, level = m.group(2).rstrip("#").strip(), len(m.group(1))
-      sid = slugify(content)
-      out.append(f'<h{level} id="{sid}">{render_inline(content, page)}<a class="headerlink" href="#{sid}" title="Permanent link">#</a></h{level}>')
-      i += 1
-      continue
-
-    if _HR.fullmatch(s):
-      out.append("<hr>")
-      i += 1
-      continue
-
-    if "|" in line and i + 1 < n and _is_sep(lines[i + 1]):
-      headers, aligns = _trow(line), [_align(c) for c in _trow(lines[i + 1])]
-      i += 2
-      rows = []
-      while i < n and "|" in lines[i] and lines[i].strip():
-        rows.append(_trow(lines[i]))
-        i += 1
-      parts = (
-        ["<table>", "<thead>", "<tr>"]
-        + [f"<th{aligns[j] if j < len(aligns) else ''}>{render_inline(h, page)}</th>" for j, h in enumerate(headers)]
-        + ["</tr>", "</thead>", "<tbody>"]
-      )
-      for row in rows:
-        parts.append("<tr>")
-        for j in range(len(headers)):
-          parts.append(f"<td{aligns[j] if j < len(aligns) else ''}>{render_inline(row[j] if j < len(row) else '', page)}</td>")
-        parts.append("</tr>")
-      out.append("\n".join(parts + ["</tbody>", "</table>"]))
-      continue
-
-    if _list_info(line):
-      items: list[tuple[int, str, list[str]]] = []
-      while i < n:
-        if not lines[i].strip():
-          if i + 1 < n and _list_info(lines[i + 1]):
-            i += 1
-            continue
-          break
-        info = _list_info(lines[i])
-        if not info:
-          break
-        level, kind, body = info
-        chunk = [body]
-        i += 1
-        while i < n and lines[i].strip() and _list_info(lines[i]) is None:
-          t = lines[i].strip()
-          if t.startswith(("```", ">")) or _HEADING.match(t) or _HR.fullmatch(t):
-            break
-          chunk.append(lines[i])
-          i += 1
-        items.append((level, kind, chunk))
-
-      def render_list(items: list[tuple[int, str, list[str]]], start: int, min_level: int) -> tuple[str, int]:
-        if start >= len(items) or items[start][0] < min_level:
-          return "", start
-        kind, chunks, idx = items[start][1], [f"<{items[start][1]}>"], start
-        while idx < len(items) and items[idx][0] >= min_level:
-          level, ikind, body_lines = items[idx]
-          if level > min_level:
-            nested, idx = render_list(items, idx, level)
-            chunks[-1] = (chunks[-1][:-5] + nested + "</li>") if chunks[-1].endswith("</li>") else chunks[-1] + nested
-            continue
-          if ikind != kind:
-            chunks += [f"</{kind}>", f"<{ikind}>"]
-            kind = ikind
-          idx += 1
-          body = render_inline("\n".join(body_lines), page)
-          nested = ""
-          if idx < len(items) and items[idx][0] > min_level:
-            nested, idx = render_list(items, idx, min_level + 1)
-          chunks.append(f"<li>{body}{nested}\n</li>" if nested else f"<li>{body}</li>")
-        chunks.append(f"</{kind}>")
-        return "\n".join(chunks), idx
-
-      out.append(render_list(items, 0, items[0][0])[0])
-      continue
-
-    if s.startswith(">"):
-      q = []
-      while i < n and lines[i].strip().startswith(">"):
-        q.append(re.sub(r"^>\s?", "", lines[i].strip()))
-        i += 1
-      m = _ADMONITION.match(q[0].strip()) if q else None
-      if m:
-        kind = m.group(1).lower()
-        title = m.group(1).capitalize()
-        body = _render_blocks("\n".join(q[1:]), page)
-        out.append(f'<div class="admonition {kind}">\n<p class="admonition-title">{title}</p>\n{body}\n</div>')
-      else:
-        out.append(f"<blockquote>\n<p>{render_inline(chr(10).join(q), page)}</p>\n</blockquote>")
-      continue
-
-    if s.startswith("<!--"):
-      out.append(rewrite_html_urls(line, page))
-      i += 1
-      # Preserve a blank line after HTML comments (python-markdown does).
-      if i < n and not lines[i].strip():
-        out.append("")
-        while i < n and not lines[i].strip():
-          i += 1
-      continue
-
-    buf = [line]
-    i += 1
-    while i < n and lines[i].strip():
-      t = lines[i].strip()
-      if t.startswith(("```", ">")) or _HEADING.match(t) or _HR.fullmatch(t):
-        break
-      if "|" in lines[i] and i + 1 < n and _is_sep(lines[i + 1]):
-        break
-      buf.append(lines[i])
-      i += 1
-    out.append(f"<p>{render_inline(chr(10).join(buf), page)}</p>")
-
-  return "\n".join(out)
-
-
-def render_markdown(text: str, page: str) -> str:
-  return inject_glossary(_render_blocks(text, page), page)
-
-
-def page_title(source: str) -> str:
-  for line in source.splitlines():
-    if line.startswith("# "):
-      return line[2:].strip()
-  return "openpilot docs"
-
-
-def write_html_redirect(rel: Path) -> None:
-  if rel.name == "index.md":
-    return
-  target = f"{rel.stem}/"
-  out = SITE_DIR / rel.with_suffix(".html")
-  out.parent.mkdir(parents=True, exist_ok=True)
-  out.write_text(
-    "\n".join(
-      [
-        "<!doctype html>",
-        f'<meta http-equiv="refresh" content="0; url={html.escape(target)}">',
-        f'<link rel="canonical" href="{html.escape(target)}">',
-        f"<script>location.replace({json.dumps(target)} + location.search + location.hash)</script>",
-      ]
-    )
-  )
-
-
-def copy_assets() -> None:
-  for src in DOCS_DIR.rglob("*"):
-    if not src.is_file():
-      continue
-    rel = src.relative_to(DOCS_DIR)
-    if any(part in EXCLUDE_DIRS for part in rel.parts):
-      continue
-    if src.suffix == ".md" or src in (Path(__file__).resolve(), TEMPLATE_FILE):
-      continue
-    dest = SITE_DIR / rel
-    dest.parent.mkdir(parents=True, exist_ok=True)
-    shutil.copy2(src, dest)
-
-
-def render_nav_html(current_page: str) -> str:
-  parts: list[str] = []
-  for title, target in NAV:
-    if target is None:
-      parts.append(f'<div class="nav-section">{html.escape(title)}</div>')
-    elif target.startswith(("http://", "https://")):
-      parts.append(f'<a href="{html.escape(target)}">{html.escape(title)}</a>')
-    else:
-      active = ' class="active"' if target == current_page else ""
-      parts.append(f'<a href="{html.escape(page_href(current_page, target))}"{active}>{html.escape(title)}</a>')
-  return "\n".join(parts)
-
-
-def build() -> None:
-  template = TEMPLATE_FILE.read_text()
-  pages = [
-    (path.relative_to(DOCS_DIR), path.read_text())
-    for path in sorted(DOCS_DIR.rglob("*.md"))
-    if path != DOCS_DIR / "README.md" and not any(part in EXCLUDE_DIRS for part in path.relative_to(DOCS_DIR).parts)
-  ]
-  pages.append((Path(GLOSSARY_PAGE), f"# openpilot glossary\n\n{GLOSSARY_DEFINITIONS}"))
-  pages.sort()
-
-  if SITE_DIR.exists():
-    shutil.rmtree(SITE_DIR)
-  SITE_DIR.mkdir(parents=True)
-  copy_assets()
-
-  for rel_path, source in pages:
-    rel = rel_path.as_posix()
-    body = render_markdown(source, rel)
-    title = page_title(source)
-    route = page_route(rel)
-    root = "../" * (0 if route == "." else len(route.split("/")))
-    edit_path = "serve.py" if rel == GLOSSARY_PAGE else rel
-    page_html = template
-    for name, value in {
-      "TITLE": html.escape(title),
-      "ROOT": root,
-      "HOME_HREF": page_href(rel, "index.md"),
-      "NAV": render_nav_html(rel),
-      "BODY": body,
-      "EDIT_URL": html.escape(f"{REPO_URL}blob/master/docs/{edit_path}"),
-    }.items():
-      page_html = page_html.replace(f"{{{{{name}}}}}", value)
-    out = SITE_DIR / ("" if route == "." else route) / "index.html"
-    out.parent.mkdir(parents=True, exist_ok=True)
-    out.write_text(page_html)
-    write_html_redirect(rel_path)
-
-  print(f"docs: built {len(pages)} pages into {SITE_DIR}")
-
-
-def _watched_files() -> list[Path]:
-  return [p for p in DOCS_DIR.rglob("*") if p.is_file() and not any(part in EXCLUDE_DIRS for part in p.relative_to(DOCS_DIR).parts)]
-
-
-def serve() -> None:
-  build()
-  mtimes = {p: p.stat().st_mtime for p in _watched_files()}
-  handler = functools.partial(http.server.SimpleHTTPRequestHandler, directory=str(SITE_DIR))
-  httpd = http.server.ThreadingHTTPServer(("", 0), handler)
-  print(f"docs: serving on http://localhost:{httpd.server_port}/ (watching for changes)")
-  try:
-    threading.Thread(target=httpd.serve_forever, daemon=True).start()
-    while True:
-      time.sleep(0.5)
-      new_mtimes = {p: p.stat().st_mtime for p in _watched_files()}
-      if new_mtimes != mtimes:
-        mtimes = new_mtimes
-        print("docs: change detected, rebuilding...")
-        try:
-          build()
-        except Exception as e:
-          print(f"docs: build failed: {e}")
-  except KeyboardInterrupt:
-    pass
-  finally:
-    httpd.shutdown()
-
-
-if __name__ == "__main__":
-  parser = argparse.ArgumentParser(description="Build or serve the openpilot documentation site.")
-  parser.add_argument("--build", action="store_true", help="Build the site and exit.")
-  args = parser.parse_args()
-  if args.build:
-    build()
-  else:
-    serve()

docs/template.html

@@ -1,224 +0,0 @@
-<!DOCTYPE html>
-<html lang="en">
-<head>
-  <meta charset="utf-8">
-  <meta name="viewport" content="width=device-width, initial-scale=1">
-  <title>{{TITLE}} · openpilot docs</title>
-  <link rel="icon" href="{{ROOT}}assets/favicon.svg">
-
-  <style>
-:root {
-  --bg: #fff;
-  --bg-elev: #f5f5f5;
-  --bg-hover: #eef0ff;
-  --fg: #262626;
-  --fg-dim: #666;
-  --accent: #4051b5;
-  --border: #e5e5e5;
-  --max-width: 76rem;
-}
-
-* { box-sizing: border-box; }
-html { scrollbar-gutter: stable; }
-html, body { margin: 0; padding: 0; }
-body {
-  background: var(--bg);
-  color: var(--fg);
-  font-family: -apple-system, BlinkMacSystemFont, "Segoe UI", Roboto, Helvetica, Arial, sans-serif;
-  line-height: 1.6;
-  font-size: 15px;
-}
-
-a { color: var(--accent); text-decoration: none; }
-a:hover { text-decoration: underline; }
-
-header.site {
-  display: flex; align-items: center; gap: 0.75rem;
-  min-height: 3rem;
-  padding: 0.5rem max(1.25rem, calc((100% - var(--max-width)) / 2));
-  background: var(--bg);
-  border-bottom: 1px solid var(--border);
-  position: sticky; top: 0; z-index: 10;
-}
-header.site img { display: block; height: 24px; filter: invert(1); }
-header.site .brand { display: flex; align-items: center; gap: 0.75rem; color: var(--fg); }
-header.site .brand:hover { text-decoration: none; }
-header.site .site-name { font-weight: 600; font-size: 1.05rem; }
-header.site .spacer { flex: 1; }
-header.site .social { display: flex; gap: 1rem; }
-header.site .social a { display: flex; color: var(--fg); }
-header.site .social a:hover { color: var(--accent); }
-header.site .social svg { width: 1.75rem; height: 1.75rem; fill: currentColor; }
-header.site .social a[aria-label="Discord"] svg { transform: scale(1.15); }
-
-.layout { display: flex; width: 100%; max-width: var(--max-width); margin: 0 auto; }
-
-nav.sidebar {
-  width: 14rem; flex-shrink: 0;
-  padding: 3.3rem 1.25rem 2rem 0;
-  position: sticky; top: 3rem; align-self: start;
-  max-height: calc(100vh - 3rem); overflow-y: auto;
-}
-nav.sidebar .nav-section { font-weight: 600; margin: 1.15rem 0.8rem 0.45rem; }
-nav.sidebar a {
-  display: block; padding: 0.28rem 0.8rem; border-radius: 0.45rem;
-  color: var(--fg); line-height: 1.35;
-}
-nav.sidebar a:hover { background: var(--bg-hover); text-decoration: none; }
-nav.sidebar a.active { background: var(--bg-hover); color: var(--accent); font-weight: 600; }
-
-main.content { width: min(100%, 46.5rem); min-width: 0; padding: 2.7rem 2rem 5rem; }
-main.content h1, main.content h2, main.content h3 { line-height: 1.25; margin-top: 1.8rem; }
-main.content h1 { margin-top: 0; }
-main.content img { max-width: 100%; }
-main.content table { border-collapse: collapse; display: block; overflow-x: auto; }
-main.content th, main.content td { border: 1px solid var(--border); padding: 0.4rem 0.6rem; text-align: left; }
-main.content th { background: var(--bg-elev); }
-main.content pre {
-  position: relative;
-  background: var(--bg-elev);
-  padding: 0.9rem 1rem;
-  border-radius: 0.25rem;
-  overflow-x: auto;
-}
-main.content code { font-family: ui-monospace, SFMono-Regular, Menlo, Consolas, monospace; }
-main.content :not(pre) > code { background: var(--bg-elev); padding: 0.1rem 0.35rem; border-radius: 0.2rem; font-size: 0.88em; }
-main.content blockquote { border-left: 3px solid var(--border); margin: 1rem 0; padding: 0.2rem 1rem; color: var(--fg-dim); }
-main.content .admonition {
-  margin: 1rem 0; padding: 0.5rem 1rem; border-radius: 0.3rem; border-left: 3px solid var(--border);
-  background: var(--bg-elev);
-}
-main.content .admonition .admonition-title { margin: 0.2rem 0 0.4rem; font-weight: 600; }
-main.content .admonition.note { border-left-color: #0969da; }
-main.content .admonition.note .admonition-title { color: #0969da; }
-main.content .admonition.tip { border-left-color: #1a7f37; }
-main.content .admonition.tip .admonition-title { color: #1a7f37; }
-main.content .admonition.important { border-left-color: #8250df; }
-main.content .admonition.important .admonition-title { color: #8250df; }
-main.content .admonition.warning { border-left-color: #9a6700; }
-main.content .admonition.warning .admonition-title { color: #9a6700; }
-main.content .admonition.caution { border-left-color: #cf222e; }
-main.content .admonition.caution .admonition-title { color: #cf222e; }
-main.content details { margin: 0.5rem 0; }
-main.content hr { border: none; border-top: 1px solid var(--border); margin: 2rem 0; }
-.headerlink { margin-left: 0.25rem; opacity: 0; font-size: 0.7em; }
-h1:hover .headerlink, h2:hover .headerlink, h3:hover .headerlink { opacity: 1; }
-
-.edit-link { margin-top: 3rem; font-size: 0.85rem; }
-
-.copy-btn {
-  position: absolute; top: 0.4rem; right: 0.4rem;
-  background: var(--bg); color: var(--fg-dim);
-  border: 1px solid var(--border); border-radius: 0.35rem;
-  padding: 0.2rem 0.5rem; font-size: 0.78rem; cursor: pointer;
-  opacity: 0; transition: opacity 120ms;
-}
-main.content pre:hover .copy-btn { opacity: 1; }
-
-@media (max-width: 48rem) {
-  nav.sidebar { display: none; }
-  main.content { padding: 2rem 1.25rem 4rem; }
-}
-
-.glossary-term {
-  position: relative;
-  color: inherit;
-}
-
-.glossary-term__label {
-  border-bottom: 1px dotted currentColor;
-}
-
-.glossary-term__tooltip {
-  position: absolute;
-  top: calc(100% + 0.4rem);
-  left: 50%;
-  width: max-content;
-  max-width: min(30rem, 80vw);
-  padding: 0.65rem 0.8rem;
-  border-radius: 0.6rem;
-  background: rgb(26 26 26 / 96%);
-  color: white;
-  box-shadow: 0 0.6rem 1.8rem rgb(0 0 0 / 22%);
-  font-size: 0.85rem;
-  line-height: 1.45;
-  opacity: 0;
-  pointer-events: none;
-  transform: translateX(-50%) translateY(-0.15rem);
-  transition: opacity 120ms ease, transform 120ms ease;
-  visibility: hidden;
-  z-index: 20;
-}
-
-.glossary-term:hover .glossary-term__tooltip,
-.glossary-term:focus-visible .glossary-term__tooltip,
-.glossary-term:focus-within .glossary-term__tooltip {
-  opacity: 1;
-  transform: translateX(-50%) translateY(0);
-  visibility: visible;
-}
-  </style>
-</head>
-<body>
-  <header class="site">
-    <a class="brand" href="{{HOME_HREF}}">
-      <img src="{{ROOT}}assets/comma-logo.png" alt="">
-      <span class="site-name">openpilot docs</span>
-    </a>
-    <span class="spacer"></span>
-    <div class="social">
-      <a href="https://github.com/commaai" aria-label="GitHub">
-        <svg viewBox="0 0 24 24" aria-hidden="true"><path d="
-          M12 .7A11.5 11.5 0 0 0 8.4 23c.6.1.8-.2.8-.5v-2c-3.3.7-4-1.4-4-1.4-.5-1.4-1.3-1.8-1.3-1.8-1.1-.7.1-.7.1-.7
-          1.2.1 1.8 1.2 1.8 1.2 1.1 1.8 2.8 1.3 3.5 1 .1-.8.4-1.3.8-1.6-2.7-.3-5.5-1.3-5.5-5.7 0-1.3.5-2.3 1.2-3.1
-          -.1-.3-.5-1.6.1-3.1 0 0 1-.3 3.2 1.2a11 11 0 0 1 5.8 0C15.8 6 16.8 6.3 16.8 6.3c.6 1.5.2 2.8.1 3.1
-          .8.8 1.2 1.8 1.2 3.1 0 4.4-2.8 5.4-5.5 5.7.4.4.8 1.1.8 2.2v2.1c0 .3.2.6.8.5A11.5 11.5 0 0 0 12 .7Z"/></svg>
-      </a>
-      <a href="https://discord.comma.ai" aria-label="Discord">
-        <svg viewBox="0 0 24 24" aria-hidden="true"><path d="
-          M20.3 4.4A16 16 0 0 0 16.3 3l-.5 1.1a15 15 0 0 0-7.6 0L7.7 3a16 16 0 0 0-4 1.4C1.1 8.2.4 11.9.8 15.5
-          a16 16 0 0 0 4.9 2.6l1.2-1.7-1.8-.9.4-.3c3.5 1.6 9.4 1.6 13 0l.4.3-1.8.9 1.2 1.7a16 16 0 0 0 4.9-2.6
-          c.5-4.2-.8-7.8-2.9-11.1ZM8.3 13.3c-1.1 0-1.9-1-1.9-2.2 0-1.3.8-2.3 1.9-2.3s2 1 1.9 2.3c0 1.2-.8 2.2-1.9 2.2Z
-          m7.4 0c-1.1 0-1.9-1-1.9-2.2 0-1.3.8-2.3 1.9-2.3s2 1 1.9 2.3c0 1.2-.8 2.2-1.9 2.2Z"/></svg>
-      </a>
-      <a href="https://x.com/comma_ai" aria-label="X">
-        <svg viewBox="0 0 24 24" aria-hidden="true"><path d="
-          M18.2 2.3h3.3l-7.2 8.3 8.5 11.2h-6.7l-5.2-6.8-6 6.8H1.6l7.8-8.9L1.2 2.3h6.8l4.7 6.2 5.5-6.2Z
-          m-1.2 17.5h1.8L7 4.2H5Z"/></svg>
-      </a>
-    </div>
-  </header>
-
-  <div class="layout">
-    <nav class="sidebar">
-      {{NAV}}
-    </nav>
-
-    <main class="content">
-      {{BODY}}
-      <div class="edit-link">
-        <a href="{{EDIT_URL}}">Edit this page on GitHub</a>
-      </div>
-    </main>
-  </div>
-
-  <script>
-    document.addEventListener('DOMContentLoaded', function () {
-      document.querySelectorAll('pre').forEach(function (el) {
-        var btn = document.createElement('button');
-        btn.className = 'copy-btn';
-        btn.textContent = 'copy';
-        btn.addEventListener('click', function () {
-          var code = el.querySelector('code');
-          if (!code) return;
-          navigator.clipboard.writeText(code.innerText).then(function () {
-            btn.textContent = 'copied';
-            setTimeout(function () { btn.textContent = 'copy'; }, 1200);
-          });
-        });
-        el.appendChild(btn);
-      });
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-  </script>
-</body>
-</html>

heatdeath

@@ -1,8 +0,0 @@
-#!/usr/bin/env bash
-set -euo pipefail
-ROOT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
-PYTHON_BIN="${HEATDEATH_PYTHON:-python3}"
-if [[ -z "${HEATDEATH_PYTHON:-}" && -x /usr/local/venv/bin/python3 ]]; then
-  PYTHON_BIN=/usr/local/venv/bin/python3
-fi
-exec "$PYTHON_BIN" -B "$ROOT_DIR/tools/heatdeath/heatdeath.py" "$@"

jetlink_repo/LICENSE

@@ -1,21 +0,0 @@
-MIT License
-
-Copyright (c) 2026 Zeph Leggett
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in all
-copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-SOFTWARE.

jetlink_repo/README.md

@@ -1,79 +0,0 @@
-<p align="center">
-  <img src="macos/Resources/Assets.xcassets/AppIcon.appiconset/icon_128x128@2x.png" width="128" height="128" alt="Jetlink icon">
-</p>
-
-<h1 align="center">Jetlink</h1>
-
-<p align="center">
-  Run openpilot's large driving models on a computer connected to your comma.
-</p>
-
-**Jetlink is experimental.** It requires a comma running an openpilot fork
-with Jetlink support: zoompilot's
-[`main` release](https://github.com/zoompilot/zoompilot/tree/main), or StarPilot.
-If the link drops or lags while engaged, the comma says **TAKE CONTROL** and
-stays engaged on the small model. Be ready to take over.
-
-## Quick start
-
-You need a **comma 3X or comma 4**, a **USB 3 data cable**, and **separate power
-for the comma and computer**. Set up offroad with both devices online.
-
-Choose your computer. Each guide covers installation and connecting the comma.
-
-| Computer | Setup guide |
-| --- | --- |
-| Jetson Orin Nano Super | [Set up a Jetson](docs/jetson.md) |
-| Apple silicon Mac | [Set up a Mac](docs/macos-app.md) |
-| Linux PC with an NVIDIA GPU | [Set up a Linux PC](docs/linux-pc.md) |
-| iPhone or iPad with USB-C | [Install with TestFlight](docs/iphone-app.md) |
-| Android phone with USB 3 | [Try the experimental Android app](docs/android-app.md) |
-
-## Demos
-
-### Jetson
-
-<a href="docs/images/install-demo.mp4"><img src="docs/images/install-demo.webp" width="100%" alt="Jetlink installer on a Jetson"></a>
-
-<details>
-<summary>Watch the web page</summary>
-
-<a href="docs/images/webui-demo.mp4"><img src="docs/images/webui-demo.webp" width="100%" alt="The Jetson's web page on a phone and a computer, with simulated drive data: sign in, frame timing against the 50 ms budget, a model downloaded and prepared (sped up), the power setting applied, and keep awake"></a>
-
-</details>
-
-### Mac
-
-<a href="docs/images/mac-demo.mp4"><img src="docs/images/mac-demo.webp" width="100%" alt="Jetlink for Mac: Use Model downloads and prepares a model, the comma connects over USB, and Status shows each frame against the 50 ms budget"></a>
-
-### iPhone and iPad (experimental)
-
-Simulator demo.
-
-<a href="docs/images/iphone-demo.mp4"><img src="docs/images/iphone-demo.webp" width="100%" alt="Jetlink for iPhone, recorded in the iOS Simulator: Get downloads and prepares a model, the comma connects over USB, and Status shows each frame against the 50 ms budget, with timings modeled on an iPhone 17 Pro measurement"></a>
-
-<a href="https://testflight.apple.com/join/DAsYk5sP"><img src="docs/images/testflight-badge.svg" alt="Available on TestFlight" height="40"></a>
-
-### Android (experimental)
-
-Emulator demo.
-
-<a href="docs/images/android-demo.mp4"><img src="docs/images/android-demo.webp" width="100%" alt="Jetlink for Android, recorded in the Android emulator: Get downloads a model, the comma connects over USB, and Status shows each frame against the 50 ms budget. The download is sped up, the emulator's CPU preparation cut, and the model's time modeled on an estimate for a Snapdragon 8 Gen 3"></a>
-
-<a id="comma-setup-all-platforms"></a>
-<a id="jetson-or-linux-pc"></a>
-<a id="linux-pc"></a>
-<a id="what-to-expect-when-driving"></a>
-<a id="if-something-is-wrong"></a>
-<a id="more"></a>
-
-## Help
-
-[Setup guides](docs/README.md#set-up) ·
-[Daily use](docs/using-jetlink.md) ·
-[Troubleshooting](docs/troubleshooting.md) ·
-[Operating limits](docs/status.md)
-
-## License
-
-[MIT](LICENSE).

jetlink_repo/jetlink/__init__.py

@@ -1,13 +0,0 @@
-"""
-Copyright (c) 2026-, Zeph Leggett.
-
-This file is part of jetlink and is licensed under the MIT License.
-See the LICENSE file in the root directory for more details.
-
-jetlink: run openpilot's large driving models on an attached Jetson.
-"""
-# The one place the version is written: pyproject.toml reads it from here, and
-# so does the release check (macos/scripts/check-version.sh). The comma runs
-# jetlink from a checkout, not an install, so this is also all it has. The Swift
-# reads it from Pinned.swift: run JetlinkKit/Scripts/make_pins.py after a bump.
-__version__ = '0.8.9'

jetlink_repo/jetlink/client.py

@@ -1,642 +0,0 @@
-"""
-Copyright (c) 2026-, Zeph Leggett.
-
-This file is part of jetlink and is licensed under the MIT License.
-See the LICENSE file in the root directory for more details.
-
-The comma side of the link.
-
-Knows nothing about openpilot: warped frame and packed scalars in, model output
-out. The glue lives in the fork (sunnypilot/jetlink/), so any fork can import
-this.
-
-Every error is a LinkError, which modeld already catches and answers with the
-small model. A frame blocks until the answer arrives, as it does on a chestnut;
-only a stall past FRAME_TIMEOUT is a failure.
-"""
-from __future__ import annotations
-
-import json
-import logging
-import os
-import secrets
-import sys
-import time
-from collections import deque
-from collections.abc import Callable
-from pathlib import Path
-from typing import NamedTuple
-
-import numpy as np
-
-from jetlink import protocol as P
-from jetlink.spec import CHUNK, DEFAULT_FRAME_SKIP, ModelSpec
-from jetlink.transport.base import LinkError, LinkTimeout, Message, Transport
-
-
-def _name(enum_cls, value) -> str:
-  """Enum name for a value off the wire, which may be anything."""
-  try:
-    return enum_cls(value).name
-  except ValueError:
-    return f'unknown({value})'
-
-log = logging.getLogger('jetlink.client')
-
-ProgressFn = Callable[[str, float, str], None]
-
-# Not a frame budget: a long frame is a dropped camera frame, which modeld
-# tolerates as it does on a chestnut. This is chestnut's HCQDEV_WAIT_TIMEOUT_MS
-# (3000) - past it the far end is gone, not slow.
-FRAME_TIMEOUT = 3.0
-
-StopFn = Callable[[], bool]
-
-# openpilot logs the whole output vector as modelV2.rawPredictions when this is
-# set, from what infer_end returns. The server keeps the hidden state, so ask for
-# it on those runs, or the log would carry zeros where it goes.
-RAW_PRED_ENV = 'SEND_RAW_PRED'
-
-
-class Sent(NamedTuple):
-  """A frame sent and not yet answered."""
-  seq: int
-  frame_id: int
-  flags: int
-  sent_at: float
-
-
-class EngineMissing(LinkError):
-  """The server has no engine and this caller has no ONNX to upload.
-
-  Raised in modeld, which never carries the file: the Jetson's cache was pruned,
-  re-flashed or swapped since a provisioning run recorded it ready.
-  """
-
-
-def _default_name() -> str:
-  """Something the Jetson's journal can tell one comma process from another by."""
-  return (Path(sys.argv[0]).stem if sys.argv else '') or 'python'
-
-
-class JetlinkClient:
-  def __init__(self, transport: Transport, deadline: float = FRAME_TIMEOUT,
-               name: str | None = None, want_hidden: bool | None = None):
-    self.t = transport
-    self.deadline = deadline
-    # Flag.WANT_HIDDEN on every frame; see RAW_PRED_ENV
-    self.want_hidden = bool(os.environ.get(RAW_PRED_ENV)) if want_hidden is None else want_hidden
-    # Who the server logs this connection as. The nonce is per client object,
-    # so two processes taking turns on one gadget, or one process reopening
-    # the link, are separable in a journal whose clock is wrong anyway.
-    self.name = name or _default_name()
-    self.nonce = secrets.token_hex(4)
-    self.seq = 0
-    self.spec: ModelSpec | None = None
-    self.progress_cb: ProgressFn | None = None
-    self._engine_state: dict | None = None
-    self._should_stop: StopFn = lambda: False
-    self.dead = False
-    self.last_timings = (0, 0, 0)  # gpu_us, queue_us, total_us, server-side
-    self.last_state: dict | None = None  # most recent piggybacked telemetry
-    # the newest model output read off the link, whichever call read it: what
-    # a frame whose own reply is late publishes again (JetlinkModelState.end)
-    self.last_output: np.ndarray | None = None
-    # frames sent and not yet answered, oldest first. More than one after a
-    # reply a frame gave up on (infer_end with hold)
-    self._in_flight: deque[Sent] = deque()
-    # seqs sent with no reply wanted (leave): an ERROR to one is not this link's
-    self._no_reply_wanted: set[int] = set()
-    # frames the server never answered this session, for the log: a lost
-    # datagram is one, and to the caller a held frame like any late reply
-    self.frames_lost = 0
-    # take a server's offer of frame datagrams (_take_datagrams); False keeps frames on the stream, for A/B runs
-    self.allow_datagrams = True
-
-  # -- construction ---------------------------------------------------------
-
-  @classmethod
-  def open_ffs(cls, mount: str = '/dev/ffs-jetlink', gadget: str | None = None,
-               udc: str | None = None, **kw) -> JetlinkClient:
-    """This end is the USB gadget (FunctionFS).
-
-    The roles follow what the two kernels support, not who is the client: AGNOS
-    has F_FS built in, and a host needs no driver at all. See docs/transport.md.
-    """
-    from jetlink.transport.ffs import FfsTransport
-    return cls(FfsTransport(mount, gadget=gadget, udc=udc), **kw)
-
-  @classmethod
-  def open_borrowed_ffs(cls, mount: str, udc: str, bounce=None, owner_gadget: str | None = None,
-                        **kw) -> JetlinkClient:
-    """This end is the USB gadget, over a gadget another process owns.
-
-    The owner holds ep0 and the UDC bind for as long as the link is enabled,
-    so a drive starting or ending is not an unplug the host has to recover
-    from. See FfsTransport.borrowed.
-    """
-    from jetlink.transport.ffs import FfsTransport
-    return cls(FfsTransport.borrowed(mount, udc, bounce=bounce, owner_gadget=owner_gadget), **kw)
-
-  @classmethod
-  def open_tcp(cls, host: str, port: int = 5599, **kw) -> JetlinkClient:
-    from jetlink.transport.tcp import TcpTransport
-    return cls(TcpTransport.connect(host, port), **kw)
-
-  @classmethod
-  def open_listen(cls, address: str, timeout: float | None = None, **kw) -> JetlinkClient:
-    """Wait for one peer to dial `address`, '[HOST:]PORT' (every interface by
-    default), and run the session over that connection, as the comma takes a
-    phone's dial (docs/transport.md). For the bench and parity scripts."""
-    from jetlink.transport.tcp import TcpTransport
-    host, _, port = address.rpartition(':')
-    if not port.isdigit():
-      raise ValueError(f'listen on [HOST:]PORT, not {address!r}')
-    transport, peer = TcpTransport.listen_once(host or '0.0.0.0', int(port), timeout)
-    log.info('peer dialed in from %s:%d', peer[0], peer[1])
-    return cls(transport, **kw)
-
-  @classmethod
-  def open_socket(cls, sock, **kw) -> JetlinkClient:
-    """Over a socket somebody else connected: a phone that dialed the comma
-    over the cable's network interface, accepted by whoever holds the loan
-    (jetlink.openpilot.link.connect). The same session as open_tcp from here on."""
-    from jetlink.transport.tcp import TcpTransport
-    return cls(TcpTransport(sock), **kw)
-
-  # -- plumbing -------------------------------------------------------------
-
-  def _next_seq(self) -> int:
-    self.seq = (self.seq + 1) & 0xFFFFFFFF
-    return self.seq
-
-  def _dispatch(self, msg: Message) -> None:
-    """Handle the messages the server may send at any time."""
-    if msg.msg_type == P.Msg.PROGRESS:
-      p = json.loads(bytes(msg.payload))
-      if self.progress_cb:
-        self.progress_cb(p.get('stage', ''), float(p.get('frac', 0.0)), p.get('msg', ''))
-    elif msg.msg_type == P.Msg.ENGINE_RESP:
-      state = json.loads(bytes(msg.payload))
-      # A build that finished for a model this client has moved off would
-      # otherwise read as ready, and every frame after it as NOT_READY.
-      wanted = (self._engine_state or {}).get('sha256')
-      if wanted is not None and state.get('sha256') not in (None, wanted):
-        log.warning("ignoring engine state for %s (we want %s)",
-                    str(state.get('sha256'))[:16], wanted[:16])
-      else:
-        self._engine_state = state
-    elif msg.msg_type == P.Msg.ERROR:
-      e = json.loads(bytes(msg.payload))
-      if msg.seq in self._no_reply_wanted:
-        # an older server answering a message it does not know; see leave()
-        self._no_reply_wanted.discard(msg.seq)
-        log.info("the server did not take seq %d (%s: %s)", msg.seq, e.get('error'), e.get('detail'))
-        return
-      raise LinkError(f"server error: {e.get('error')}: {e.get('detail')}")
-
-  def _expect(self, msg_type: int, seq: int, timeout: float | None) -> Message:
-    """Wait for one specific reply, servicing anything unsolicited on the way.
-    A timeout of 0 still takes a reply that has already arrived: one read
-    that does not wait, as the transport does it."""
-    end = None if timeout is None else time.monotonic() + timeout
-    read_once_late = False
-    while True:
-      remaining = None if end is None else end - time.monotonic()
-      if remaining is not None and remaining <= 0:
-        if read_once_late:
-          raise LinkTimeout(f'timed out waiting for {_name(P.Msg, msg_type)} seq={seq}')
-        read_once_late, remaining = True, 0.0
-      msg = self.t.recv(timeout=remaining)
-      if msg.msg_type == msg_type and msg.seq == seq:
-        return msg
-      if msg.msg_type in (P.Msg.PROGRESS, P.Msg.ENGINE_RESP, P.Msg.ERROR):
-        self._dispatch(msg)
-        continue
-      if msg.msg_type == P.Msg.INFER_RESP and any(f.seq == msg.seq for f in self._in_flight):
-        # the answer to a frame that gave up waiting for it (a held frame):
-        # read like any other, then on to what is wanted
-        self._take_reply(msg)
-        continue
-      # A reply a caller gave up on. Drop it, or every frame reads one behind.
-      log.warning("discarding stale %s seq=%d (waiting for %s seq=%d)",
-                  _name(P.Msg, msg.msg_type), msg.seq, _name(P.Msg, msg_type), seq)
-
-  # -- handshake ------------------------------------------------------------
-
-  def hello(self, timeout: float = 5.0) -> dict:
-    """Introduce this client. The server starts its session over on a hello,
-    so this is also how a new owner of the gadget takes over one the server
-    never saw end; see Session.greet in JetlinkServer."""
-    seq = self._next_seq()
-    client = {'nonce': self.nonce, 'name': self.name}
-    try:
-      link = self.t.link_info()
-    except Exception:
-      link = {}   # never worth a failed hello
-    if link:
-      # Which link this is and how fast: the server shows it (USB 3, USB 2,
-      # TCP), and only this end always knows. See Transport.link_info.
-      client['link'] = link
-    # a new session: frames of the old one still unanswered will not be, and
-    # its last output is nothing the new model may publish
-    self._in_flight.clear()
-    self.last_output = None
-    self.frames_lost = 0
-    self.t.send_json(P.Msg.HELLO_REQ, seq, {'client': client})
-    resp = json.loads(bytes(self._expect(P.Msg.HELLO_RESP, seq, timeout).payload))
-    self._take_datagrams(resp)
-    return resp
-
-  def _take_datagrams(self, hello: dict) -> None:
-    """Frames as datagrams when the server offers them (only a phone's server,
-    over the cable). A session that offers none puts frames back on the link."""
-    port, token = hello.get('frame_port'), hello.get('frame_token')
-    if port and token is not None and self.allow_datagrams and self.t.use_datagrams(int(port), int(token)):
-      log.info("frames go to the server as datagrams (port %d)", int(port))
-    else:
-      self.t.stop_datagrams()
-
-  def state(self, timeout: float = 2.0) -> dict:
-    seq = self._next_seq()
-    self.t.send_json(P.Msg.STATE_REQ, seq, {})
-    return json.loads(bytes(self._expect(P.Msg.STATE_RESP, seq, timeout).payload))
-
-  def ping(self, timeout: float = 1.0) -> float:
-    seq = self._next_seq()
-    t0 = time.perf_counter()
-    self.t.send(P.Msg.PING, seq)
-    self._expect(P.Msg.PONG, seq, timeout)
-    return time.perf_counter() - t0
-
-  def shutdown(self, reason: str = '', timeout: float = 5.0) -> dict:
-    """Ask the Jetson to power off, not sleep: only a DC cycle or the button
-    brings it back, so this is for the comma's low-battery shutdown alone. The
-    reply comes before the box goes down."""
-    seq = self._next_seq()
-    self.t.send_json(P.Msg.SHUTDOWN_REQ, seq, {'reason': reason})
-    return json.loads(bytes(self._expect(P.Msg.SHUTDOWN_RESP, seq, timeout).payload))
-
-  def leave(self, reason: str, timeout: float = 0.5, **measured) -> None:
-    """Say why this client stops using the link (protocol.LEAVE_REASONS), and
-    what it measured over it (JetlinkModelState.trips): the server logs both
-    next to its own numbers, which are the half the comma cannot see, and the
-    other way round. No reply is read, and the connection stays: a later hello
-    starts a new session over it. An older server answers ERROR
-    unknown_message, which _dispatch discards by this seq. Never raises, and
-    says nothing over a dead link; a send that fails leaves it dead."""
-    if self.dead:
-      return
-    seq = self._next_seq()
-    self._no_reply_wanted.add(seq)
-    try:
-      self.t.send_json(P.Msg.LEAVE, seq, {'reason': reason, **measured}, timeout=timeout)
-    except LinkError as e:
-      self.dead = True
-      log.warning("could not say why the link is left (%s)", e)
-
-  # -- model provisioning ---------------------------------------------------
-
-  def ensure_engine(self, sha256: str, nbytes: int, onnx_path: str | Path | None = None,
-                    frame_skip: int = DEFAULT_FRAME_SKIP,
-                    progress: ProgressFn | None = None,
-                    build_timeout: float = 900.0,
-                    should_stop: StopFn | None = None) -> ModelSpec:
-    """Make the server ready to run this model, uploading and building if needed.
-
-    Blocks until ready or the build fails, and returns the spec the server
-    derived from the ONNX. Only the server parses the model, so a device whose
-    parser rejects an export (tinygrad and the org.tinygrad domain) still runs.
-
-    `onnx_path` None means the caller cannot upload (modeld) and a missing
-    engine is EngineMissing. `progress(stage, frac, msg)` has stage in
-    upload/patch/parse/build/load. `should_stop` is polled during long waits.
-    """
-    self.progress_cb = progress
-    self._should_stop = should_stop or (lambda: False)
-    self.spec = None
-    self._engine_state = None
-
-    seq = self._next_seq()
-    self.t.send_json(P.Msg.ENGINE_REQ, seq, {'sha256': sha256, 'nbytes': nbytes, 'frame_skip': frame_skip})
-    resp = json.loads(bytes(self._expect(P.Msg.ENGINE_RESP, seq, 60.0).payload))
-    self._engine_state = resp
-    log.info("server engine state: %s (%s)", resp['state'], resp.get('detail', ''))
-
-    if resp['state'] == 'need_upload':
-      if onnx_path is None:
-        raise EngineMissing(f"server has no engine for {sha256[:16]} ({resp.get('detail', '')})")
-      self._upload(Path(onnx_path), nbytes, int(resp.get('chunk') or CHUNK))
-
-    try:
-      self._await_ready(build_timeout)
-    except EngineMissing:
-      # need_upload came later, once the job holding the device (a preload
-      # of another model) was done. A caller with the file sends it now.
-      if onnx_path is None:
-        raise
-      self._upload(Path(onnx_path), nbytes, int(self._engine_state.get('chunk') or CHUNK))
-      self._await_ready(build_timeout)
-    spec = ModelSpec.from_dict(self._engine_state['spec'])
-    if spec.sha256 != sha256:
-      raise LinkError(f"server answered for {spec.sha256[:16]}, we asked for {sha256[:16]}")
-    self.spec = spec
-    return spec
-
-  def _stopped(self) -> None:
-    if self._should_stop():
-      raise LinkError("stopped while waiting for the engine")
-
-  def _upload(self, onnx_path: Path, nbytes: int, chunk: int) -> None:
-    log.info("uploading %s (%d MB)", onnx_path.name, nbytes >> 20)
-    t0 = time.time()
-    sent = 0
-    with open(onnx_path, 'rb') as f:
-      while data := f.read(chunk):
-        self._stopped()
-        self.t.send(P.Msg.UPLOAD_CHUNK, self._next_seq(),
-                    (sent.to_bytes(8, 'little'), data))
-        sent += len(data)
-        if self.progress_cb:
-          self.progress_cb('upload', sent / nbytes, f'{sent >> 20}/{nbytes >> 20} MB')
-    seq = self._next_seq()
-    self.t.send_json(P.Msg.UPLOAD_DONE, seq, {})
-    resp = json.loads(bytes(self._expect(P.Msg.ENGINE_RESP, seq, 300.0).payload))
-    self._engine_state = resp
-    rate = sent / max(1e-6, time.time() - t0) / 1e6
-    log.info("uploaded %d MB at %.1f MB/s -> %s", sent >> 20, rate, resp['state'])
-    if resp['state'] == 'failed':
-      raise LinkError(f"upload rejected: {resp.get('detail')}")
-
-  def _await_ready(self, timeout: float) -> None:
-    end = time.monotonic() + timeout
-    while True:
-      st = (self._engine_state or {}).get('state')
-      if st == 'ready':
-        if 'spec' not in (self._engine_state or {}):
-          raise LinkError("server reported ready without a model spec")
-        return
-      if st == 'failed':
-        raise LinkError(f"engine build failed: {self._engine_state.get('detail')}")
-      if st == 'need_upload':
-        # pushed when the device came free: without this the wait ran to
-        # build_timeout, a whole drive for provisioning's 1800 s
-        sha = str(self._engine_state.get('sha256'))
-        raise EngineMissing(f"server has no engine for {sha[:16]} ({self._engine_state.get('detail', '')})")
-      if time.monotonic() > end:
-        raise LinkTimeout(f"engine not ready after {timeout:.0f}s (state={st})")
-      self._stopped()
-      try:
-        self._dispatch(self.t.recv(timeout=min(1.0, max(0.1, end - time.monotonic()))))
-      except LinkTimeout:
-        continue
-
-  # -- inference ------------------------------------------------------------
-
-  def infer_begin(self, warped: np.ndarray, packed: np.ndarray, frame_id: int = 0,
-                  reset: bool = False, want_state: bool = False, deadline: float | None = None,
-                  skip_if_busy: bool = False) -> int | None:
-    """Send a frame and return immediately with its sequence number.
-
-    Split from infer_end so the caller can work while the Jetson is busy;
-    openpilot publishes chestnutState in that window. A frame whose reply
-    infer_end stopped waiting for is read by the next drain or infer_end. A
-    host that has answered none of them for the client's deadline is gone,
-    not slow, and the link is done here, before another frame goes out to
-    it. `deadline` bounds this frame's send.
-
-    `skip_if_busy` says the caller can do without this frame's reply: it
-    holds the last output, as JetlinkModelState.end does. A frame the link
-    cannot take without waiting for the host to drain earlier ones is then
-    not sent, and None comes back: the link is as good as it was
-    (Transport.try_send). Over a phone's cable it goes as datagrams instead,
-    where a lost one is a frame the server never answers, and the next reply
-    takes it out of flight (_take_reply).
-    """
-    if self.spec is None:
-      raise LinkError("ensure_engine() first")
-    if self.dead:
-      raise LinkError("link previously failed")
-    if self.waiting_for() > self.deadline:
-      self.dead = True
-      raise LinkError(f"no answer to {len(self._in_flight)} frames in {self.deadline:.1f}s; link abandoned")
-    warped = _as_bytes(warped, self.spec.warped_nbytes, 'warped')
-    packed = _as_bytes(packed, self.spec.packed_nbytes, 'packed')
-    seq = self._next_seq()
-    flags = ((P.Flag.RESET_QUEUES if reset else 0) | (P.Flag.WANT_STATE if want_state else 0)
-             | (P.Flag.WANT_HIDDEN if self.want_hidden else 0))
-    parts = (P.pack_infer_req(frame_id, flags), warped, packed)
-    sent = Sent(seq, frame_id, flags, time.monotonic())
-    timeout = self.deadline if deadline is None else deadline
-    try:
-      if skip_if_busy and self.t.datagrams:
-        self.t.send_datagrams(P.Msg.INFER_REQ, seq, parts)
-      elif skip_if_busy:
-        if not self.t.try_send(P.Msg.INFER_REQ, seq, parts, timeout=timeout):
-          return None   # the seq is skipped; replies are matched by seq, not counted
-      else:
-        self.t.send(P.Msg.INFER_REQ, seq, parts, timeout=timeout)
-    except LinkError:
-      self.dead = True
-      raise
-    self._in_flight.append(sent)
-    return seq
-
-  def infer_end(self, seq: int, deadline: float | None = None, hold: float | None = None) -> np.ndarray | None:
-    """Block for the frame's output, as modeld blocks on a chestnut.
-
-    A long frame is a dropped camera frame, which modeld tolerates. Only a stall
-    past `deadline` (the client's by default) is a failure, and then the link
-    is done. With `hold`, wait that long and no longer: None comes back when
-    the reply has not, the link is as good as it was, and the reply is read
-    off the stream by whatever reads it next. Another frame can go out
-    meanwhile, so the camera frame is not dropped waiting for this one.
-    """
-    sent = next((f for f in self._in_flight if f.seq == seq), None)
-    if sent is None:
-      raise LinkError(f'frame seq {seq} was not sent, or has been read already')
-    failing = hold is None
-    if failing:
-      hold = (self.deadline if deadline is None else deadline) - (time.monotonic() - sent.sent_at)
-    try:
-      if failing and hold <= 0:
-        raise LinkTimeout('frame deadline elapsed during send')
-      msg = self._expect(P.Msg.INFER_RESP, seq, hold)
-    except LinkTimeout as e:
-      if not failing:
-        return None
-      self.dead = True
-      raise LinkError(f"no answer for frame in {self.deadline:.1f}s; link abandoned") from e
-    except LinkError:
-      self.dead = True
-      raise
-    return self._take_reply(msg)
-
-  def drain(self) -> int:
-    """Read every reply that has already arrived, without waiting for one that
-    has not. How many frames were answered. What they carried is kept as
-    last_output, last_timings and last_state, as infer_end keeps it; a frame
-    the server failed is this link's failure, as it would have been there."""
-    answered = 0
-    while self._in_flight:   # with nothing out there is nothing to read for
-      try:
-        msg = self.t.recv(timeout=0)
-      except LinkTimeout:
-        break
-      except LinkError:
-        self.dead = True
-        raise
-      if msg.msg_type == P.Msg.INFER_RESP:
-        self._take_reply(msg)
-        answered += 1
-      else:
-        self._dispatch(msg)
-    return answered
-
-  @property
-  def unanswered(self) -> int:
-    """Frames sent and not yet answered."""
-    return len(self._in_flight)
-
-  def waiting_for(self) -> float:
-    """How long the oldest frame still unanswered has been out, in seconds;
-    0 with none. A host that has gone quiet shows here before any frame
-    waits on it."""
-    return time.monotonic() - self._in_flight[0].sent_at if self._in_flight else 0.0
-
-  def _take_reply(self, msg: Message) -> np.ndarray:
-    """One INFER_RESP off the stream: checked against the frame it answers,
-    its timings and telemetry kept, the frame and any older one taken out of
-    flight. Raises NotFinite on Status.NOT_FINITE, the link kept, and with
-    the link dead on anything else but a good answer."""
-    while self._in_flight and self._in_flight[0].seq != msg.seq:
-      # an older frame the server never answered: it answers in order, so a
-      # frame that fell out of its session (a hello between), or whose
-      # datagrams did not all arrive, is not coming
-      skipped = self._in_flight.popleft()
-      log.warning('frame %d (seq %d) was never answered', skipped.frame_id, skipped.seq)
-      self.frames_lost += 1
-    if not self._in_flight:
-      self.dead = True
-      raise LinkError(f'inference response seq {msg.seq} answers no frame sent')
-    _, frame_id, flags, _ = self._in_flight.popleft()
-    if msg.payload.nbytes < P.INFER_RESP_SIZE:
-      self.dead = True
-      raise LinkError('inference response is missing its header')
-    fid, status, gpu_us, queue_us, total_us = P.unpack_infer_resp(msg.payload)
-    self.last_timings = (gpu_us, queue_us, total_us)
-    if status == P.Status.NOT_FINITE and fid == frame_id:
-      # the server's session goes on, keeping nothing of the frame
-      # (Session.infer), so the link stays and last_output is the one before
-      raise P.NotFinite(f"inference output is not finite: NOT_FINITE (frame {fid})")
-    if status != P.Status.OK:
-      self.dead = True
-      raise LinkError(f"inference failed: {_name(P.Status, status)} (frame {fid})")
-    if fid != frame_id:
-      self.dead = True
-      raise LinkError(f'inference response frame {fid}, expected {frame_id}')
-    whole = bool(flags & P.Flag.WANT_HIDDEN)
-    n = self.spec.output_nelem if whole else self.spec.reply_nelem
-    end = P.INFER_RESP_SIZE + n * 4
-    if msg.payload.nbytes < end:
-      self.dead = True
-      raise LinkError('inference response is missing model outputs')
-    if msg.payload.nbytes > end:
-      # piggybacked telemetry, when asked for; anything else is outputs laid
-      # out some other way (hidden_state left in by a server that says
-      # protocol 3, or a slice the two ends resolve differently): every float
-      # after it would be misread
-      state = _telemetry(msg.payload[end:]) if flags & P.Flag.WANT_STATE else None
-      if state is None:
-        self.dead = True
-        raise LinkError(f'inference response is {msg.payload.nbytes} bytes, expected {end}')
-      self.last_state = state
-    receive = getattr(self.t, 'last_receive', None)
-    if receive is not None and total_us > 50_000:
-      log.warning('frame %d receive maxima: prepare %.1f read_wait %.1f handoff %.1f ms; '
-                  'server gpu %.1f queue %.1f total %.1f ms', fid,
-                  receive['prepare'] * 1e3, receive['read_wait'] * 1e3, receive['handoff'] * 1e3,
-                  gpu_us / 1e3, queue_us / 1e3, total_us / 1e3)
-    self.last_output = _whole_output(self.spec, np.frombuffer(msg.payload, np.float32, n, P.INFER_RESP_SIZE), whole)
-    return self.last_output
-
-  def infer(self, warped: np.ndarray, packed: np.ndarray, frame_id: int = 0,
-            reset: bool = False, deadline: float | None = None,
-            want_state: bool = False) -> np.ndarray:
-    """One frame. Returns the model output as float32, shaped (n,), laid out
-    as the spec's output_slices say; hidden_state reads as zeros unless
-    `want_hidden`, since it stays on the server.
-
-    `warped` is (2, 6, H, W) uint8 off openpilot's warp, `packed` the float32
-    packed_npy_inputs. Either may be any buffer, so a tinygrad Tensor.data()
-    memoryview reaches the wire with no numpy round trip.
-    """
-    return self.infer_end(self.infer_begin(warped, packed, frame_id, reset, want_state, deadline), deadline)
-
-  @property
-  def lendable(self) -> bool:
-    """Could another process take the IO over from this link? See
-    FfsTransport.lendable."""
-    return self.t.lendable
-
-  def rebind(self) -> bool:
-    """Make the peer see the link arrive again, where that is a thing this
-    transport can do. See FfsTransport.rebind; False everywhere else."""
-    return self.t.rebind()
-
-  def release_endpoints(self) -> bool:
-    """Give the endpoints up without giving the gadget up. See
-    FfsTransport.release_endpoints; False everywhere else."""
-    return self.t.release_endpoints()
-
-  def close(self) -> None:
-    # a closed client is as dead as a failed one: whoever still holds it must
-    # open a new one rather than reuse a closed socket or endpoint file
-    self.dead = True
-    self.t.close()
-
-
-def _telemetry(tail) -> dict | None:
-  """A WANT_STATE reply's telemetry: the JSON object after the outputs. None
-  for anything else, floats included, which is a reply laid out another way."""
-  raw = bytes(tail)
-  if raw[:1] != b'{':
-    return None
-  try:
-    state = json.loads(raw)
-  except ValueError:
-    return None
-  return state if isinstance(state, dict) else None
-
-
-def _whole_output(spec: ModelSpec, reply: np.ndarray, whole: bool) -> np.ndarray:
-  """The output vector, from a reply that may leave hidden_state out.
-
-  Always a new array: `reply` views the transport's reusable receive buffer.
-  The full length keeps the spec's output_slices valid, so the caller slices
-  as it did when the whole vector crossed the link.
-  """
-  hidden = spec.hidden_range
-  if whole or hidden is None:
-    return reply.copy()
-  start, stop = hidden
-  out = np.empty(spec.output_nelem, np.float32)
-  out[:start] = reply[:start]
-  out[start:stop] = 0
-  out[stop:] = reply[start:]
-  return out
-
-
-def _as_bytes(buf, expect: int, name: str) -> memoryview:
-  """Byte view over a numpy array or any buffer, size-checked.
-
-  Bytes rather than shape, so the caller can pass whatever it has and a
-  mismatch fails here instead of misparsing on the far end.
-  """
-  mv = memoryview(buf)
-  if not mv.contiguous:
-    raise LinkError(f"{name} must be contiguous")
-  mv = mv.cast('B')
-  if mv.nbytes != expect:
-    raise LinkError(f"{name} is {mv.nbytes} bytes, expected {expect}")
-  return mv

jetlink_repo/jetlink/comma/__init__.py

@@ -1,17 +0,0 @@
-"""
-Copyright (c) 2026-, Zeph Leggett.
-
-This file is part of jetlink and is licensed under the MIT License.
-See the LICENSE file in the root directory for more details.
-
-What runs on the comma itself, beside openpilot: the USB gadget (gadget), the
-process that holds it for the whole time the link is on (owner), the lease
-other processes borrow its endpoints on (lending), the USB-C port (port), and
-the one root script all of it goes through (root), the VM tuning included. For
-the comma four and the comma 3X.
-
-The standard library and jetlink's transport only: the owner that imports it
-stays resident at about 10 MB. openpilot starts the owner through
-jetlink.openpilot.owner, with what the fork's adapter names: the settings, the
-chestnut's USB ids and the provisioning worker.
-"""

jetlink_repo/jetlink/comma/gadget.py

@@ -1,478 +0,0 @@
-"""
-Copyright (c) 2026-, Zeph Leggett.
-
-This file is part of jetlink and is licensed under the MIT License.
-See the LICENSE file in the root directory for more details.
-
-The comma's USB gadget, and how to look at it, using nothing but the
-standard library and jetlink's own transport.
-
-Kept apart from openpilot so the process that owns the gadget can be small.
-Holding ep0 needs sysfs and a unix socket; `openpilot.common.swaglog` costs
-28 MB because it drags numpy, capnp and zmq in to publish a log line, and
-`openpilot.common.params` imports swaglog, so a module that touches either
-prices the owner out of being minimal. Measured on the comma: python plus this
-plus the FunctionFS transport is 10.4 MB against 47.5 MB with openpilot's
-modules imported.
-
-Nothing in jetlink.comma may import openpilot or knows a param: the settings
-come from jetlink.openpilot.settings, over the directory and the keys the
-fork's adapter names. tests/test_comma_gadget.py holds the line.
-
-jetlink.openpilot's heavy processes import it too, and bind() points `log` at
-the fork's cloudlog (set_logger), so their lines still reach the drive's log
-while the owner's go to a file.
-"""
-from __future__ import annotations
-
-import json
-import logging
-import os
-import time
-from pathlib import Path
-
-from jetlink.comma import root
-from jetlink.transport import ffs
-from jetlink.transport.base import UDC_SYSFS, udc_speed
-from jetlink.transport.tcp import CABLE_ADDRESS, DEFAULT_PORT
-
-# -- logging --------------------------------------------------------------
-# a module-level indirection rather than an import: the owner has no swaglog
-# and must not grow one, and every other process wants its lines in the drive.
-log = logging.getLogger('jetlink.comma.gadget')
-
-
-def set_logger(logger) -> None:
-  """Send this module's lines somewhere else, and the root script's failures
-  with them: jetlink.openpilot.bind points it at the fork's cloudlog."""
-  global log
-  log = logger
-  root.log = logger
-
-
-# -- what carries the link ------------------------------------------------
-# The Jetlink setting names the host: USB (a Jetson or a Mac on the
-# FunctionFS vendor interface) or iOS (an iPhone, which gives apps no USB
-# access). For iOS the gadget is composite, with a CDC-NCM network interface
-# whose comma end is 192.168.60.1 (jetlink-root.sh gadget --ios, and net, which
-# also runs the DHCP server), and the phone dials CABLE_ADDR whenever it holds
-# a lease on that network.
-# Whoever holds the loan listens for the dial, the owner while nobody does;
-# nothing writes to the endpoint files, which a phone never reads. The setting,
-# not a guess, says which: a hello over FunctionFS to a phone blocks 15 s and
-# bounces the gadget, and waiting to see whether a phone dials cost every
-# Jetson reconnect 5 to 10 s.
-LINK = Path("/dev/shm/jetlink-link")        # "cable <peer ip>" while a phone is dialed in
-NET_STATUS = Path("/dev/shm/jetlink-net")   # jetlink-root.sh: "ok 192.168.60.1 <netdev>", "error: ...", "net: off" (USB)
-CABLE_ADDR = (CABLE_ADDRESS, DEFAULT_PORT)
-
-
-def read(path: Path) -> str:
-  """A record's or a sysfs file's text, stripped; '' when it is missing or
-  unreadable."""
-  try:
-    return path.read_text().strip()
-  except OSError:
-    return ''
-
-
-def _write(path: Path, text: str | None, what: str) -> bool:
-  """Write a record, or remove it with None. False, and logged, when that fails."""
-  try:
-    if text is None:
-      path.unlink(missing_ok=True)
-    else:
-      path.write_text(text)
-    return True
-  except OSError:
-    log.exception("jetlink: could not %s", what)
-    return False
-
-
-def link_state() -> tuple[str | None, str | None]:
-  """The link record in one read: the gadget the owner built, 'cable' for
-  iOS (the phone's network interface on the gadget) or 'usb', and on the
-  cable the phone's address while a link is up. (None, None) before the
-  owner has said."""
-  record = read(LINK).split()
-  if record[:1] not in (['cable'], ['usb']):
-    return None, None
-  return record[0], (record[1] if record[0] == 'cable' and len(record) > 1 else None)
-
-
-def link_kind(mode: str | None = None) -> str:
-  """link_state's kind, or a stand-in: `mode`, the Jetlink setting as
-  the caller read it, stands in only until the owner has said: it may have
-  moved and be waiting for the car to park. Without either, 'usb'."""
-  kind, _ = link_state()
-  return kind or ('cable' if mode == 'ios' else 'usb')
-
-
-def link_peer() -> str | None:
-  """The phone's address, while a cable link is up."""
-  return link_state()[1]
-
-
-def note_link(kind: str, peer: str | None = None) -> None:
-  """The owner's record of the gadget it built, 'usb' or 'cable', and on the
-  cable the phone that dialed in; see link_kind and link_peer."""
-  _write(LINK, f"{kind} {peer}".strip() if peer else kind, "record the link")
-
-
-def clear_link() -> None:
-  _write(LINK, None, "clear the link record")
-
-
-def net_status() -> str | None:
-  """What jetlink-root.sh said about the gadget's network interface, if it ran."""
-  return read(NET_STATUS) or None
-
-
-def usb_speed() -> str | None:
-  """The bus speed the host enumerated us at: 458 KB a frame is ~1 ms on
-  super-speed and ~11 ms on high-speed, so this is the first thing to read
-  when the link is slow. None while unbound or where the UDC does not say."""
-  udc = bound_udc()
-  return None if udc is None else udc_speed(udc, str(UDC_PATH))
-
-
-# -- where the gadget lives -----------------------------------------------
-# the comma is the USB gadget and the Jetson the host, decided by the kernels:
-# AGNOS has CONFIG_USB_F_FS built in, L4T images are often stripped of the
-# gadget modules. See docs/transport.md
-GADGET_PATH = Path(ffs.GADGET)
-FFS_MOUNT = Path(ffs.MOUNT)
-UDC_PATH = Path(UDC_SYSFS)
-# the network function jetlink-root.sh gadget --ios adds after ffs.jetlink. Its
-# netdev is not usb0, which the modem holds, but whatever the kernel names it
-NET_FUNCTION = 'ncm.usb0'
-# written by jetlink/comma/jetlink-root.sh gadget, which the owner runs when the
-# link is on and there is no gadget: "ok", or "error: <reason>"
-GADGET_STATUS = Path("/dev/shm/jetlink-gadget")
-# the owner's own: "error: the lender could not listen: <reason>" while nothing
-# can borrow the gadget from it, absent otherwise. Not GADGET_STATUS, which
-# root owns and every build rewrites
-LENDER_STATUS = Path("/dev/shm/jetlink-lender")
-CC_ORIENTATION = Path('/sys/class/power_supply/usb/typec_cc_orientation')
-# the owner's pid while it has released the gadget on purpose so the Jetson can
-# sleep. Presence comes from this, not the UDC; a marker whose writer is dead is
-# a leftover from a kill
-DORMANT = Path("/dev/shm/jetlink-dormant")
-# hardwared's request to power the Jetson off; see request_shutdown
-SHUTDOWN_REQUEST = Path("/dev/shm/jetlink-shutdown")
-# the owner's status record: the owner's state in one file, rewritten whole
-# every step, which makes it the owner's heartbeat too. A clean stop removes it
-STATUS = Path("/dev/shm/jetlink/status.json")
-# how old that record may be before a reader takes its owner for gone: six of
-# its 0.5 s steps. A wait inside a step renews it (Owner.beat)
-HEARTBEAT_TIMEOUT = 3.0
-# how the owner's crash-loop backoff starts its record's error, which
-# status.Status.reason_code reads it by
-BACKING_OFF = "the service keeps stopping"
-# the owner's start times, for its crash-loop backoff (see the owner)
-STARTS = Path("/dev/shm/jetlink/starts.json")
-# held with flock by the owner for its whole life, so there is only ever one
-OWNER_LOCK = Path("/dev/shm/jetlink/owner.lock")
-# what the server's last hello said (lending.SERVER_FIELDS), kept apart from
-# the status record so a clean stop leaves it for the next owner
-SERVER = Path("/dev/shm/jetlink/server.json")
-# the joining model's runtime record, rewritten by a thread in modeld once a
-# second and on every handover: whether the big model drives, for a reader
-# with no modelV2 (status.runtime). modeld's close() leaves it stopping
-MODELD = Path("/dev/shm/jetlink/modeld.json")
-# how often modeld rewrites that record without a handover
-RECORD_PERIOD = 1.0
-# how long a host that stopped reading configured still counts as there: long
-# enough to bridge a USB3 link recovery passing through "addressed", and a
-# bounce made on purpose when a host will not enumerate (wait_for_host)
-PRESENCE_HOLD = 5.0
-
-
-def write_record(path: Path, record) -> None:
-  """Replace a JSON record whole: a reader gets the old one or the new one,
-  never half of either. Raises OSError, for the writer to say once; the
-  temporary goes with a failure (a SIGKILL between the two leaves it for
-  the next owner to clear, clear_leftovers)."""
-  path.parent.mkdir(parents=True, exist_ok=True)
-  tmp = path.with_name(f".{path.name}.{os.getpid()}")
-  try:
-    tmp.write_text(json.dumps(record))
-    os.replace(tmp, path)
-  except BaseException:
-    tmp.unlink(missing_ok=True)
-    raise
-
-
-def clear_leftovers(directory: Path) -> None:
-  """The temporaries a writer killed between its write and its rename left
-  in `directory`, for the owner's start. Only a dead writer's (write_record
-  names them by pid): modeld writes its runtime record there too, and a
-  live one's is mid-write."""
-  try:
-    for leftover in directory.glob('.*.json.*'):
-      pid = leftover.name.rsplit('.', 1)[-1]
-      if not (pid.isdigit() and pid_alive(int(pid))):
-        leftover.unlink(missing_ok=True)
-  except OSError:
-    pass
-
-
-def read_record(path: Path) -> dict | None:
-  """A JSON record write_record wrote, or None: missing, or not a record."""
-  try:
-    record = json.loads(read(path))
-  except ValueError:
-    return None
-  return record if isinstance(record, dict) else None
-
-
-def owner_status() -> dict | None:
-  """The owner's status record, or None without one: no owner has run since
-  boot, the last one stopped cleanly, or it is one too old to write it."""
-  return read_record(STATUS)
-
-
-def owner_alive(record: dict) -> bool:
-  """Was this record written within HEARTBEAT_TIMEOUT? time.monotonic is the
-  system's CLOCK_MONOTONIC, the same in every process on the device, and
-  unlike the wall clock it does not jump when the comma sets its time."""
-  at = record.get('at')
-  return isinstance(at, (int, float)) and time.monotonic() - at < HEARTBEAT_TIMEOUT
-
-
-def _status_error(path: Path) -> str | None:
-  """The reason in an "ok" or "error: <reason>" file. A missing file is not an
-  error: whatever writes it has not run."""
-  reason = read(path)
-  if not reason or reason == 'ok':
-    return None
-  return reason.removeprefix('error:').strip() or None
-
-
-def build_error() -> str | None:
-  """Why the gadget could not be built, if it could not."""
-  return _status_error(GADGET_STATUS)
-
-
-def gadget_error() -> str | None:
-  """Why the link is unavailable, if it is: the gadget could not be built, or
-  it was and nothing can borrow it from the owner.
-
-  Both happen in the owner, nowhere a user would look, so this is how the
-  reason reaches the panels.
-  """
-  return build_error() or _status_error(LENDER_STATUS)
-
-
-def note_lender_error(reason: str | None) -> None:
-  """The owner's record of a lender that cannot listen, or None once it can."""
-  _write(LENDER_STATUS, None if reason is None else f"error: the lender could not listen: {reason}\n",
-         "record the lender's state")
-
-
-def bound_udc() -> str | None:
-  """The device controller our gadget is attached to, if it is attached."""
-  return read(GADGET_PATH / "UDC") or None
-
-
-def other_gadget() -> str | None:
-  """Another gadget bound to a device controller, by name: on a comma, AGNOS's
-  ADB gadget (g1) while ADB is on. jetlink-root.sh refuses to take the
-  controller from it."""
-  for udc in GADGET_PATH.parent.glob("*/UDC"):
-    if udc.parent != GADGET_PATH and read(udc):
-      return udc.parent.name
-  return None
-
-
-def udc_state() -> str | None:
-  """What the device controller says about the bus, or None if we are unbound.
-
-  "configured" is a host that has us; "default" and "addressed" are one that
-  reset the bus and stopped part way, which is what a Jetson that took the
-  bind as a wake and did not finish waking looks like.
-  """
-  udc = bound_udc()
-  return None if udc is None else read(UDC_PATH / udc / "state") or None
-
-
-def host_attached() -> bool:
-  """Has a host (the Jetson) enumerated and configured us?"""
-  return udc_state() == "configured"
-
-
-def cc_orientation() -> int | None:
-  """What the USB-C port controller reads on the CC pin, so electrically true
-  whether or not anything enumerated: 0 is a port with nothing on it, 1 or 2 a
-  cable with a live host behind it (it cannot say what kind). A legacy A-to-C
-  cable's pull-up rides on the host's VBUS and reads the same. None where the
-  kernel does not say."""
-  try:
-    return int(read(CC_ORIENTATION))
-  except ValueError:
-    return None
-
-
-def port_has_host() -> bool:
-  """Does the USB-C port controller see a host on the cable?"""
-  return bool(cc_orientation())
-
-
-# how long the UDC may sit half enumerated with a host on the cable before the
-# gadget is bounced. A real enumeration is milliseconds; this only fires for a
-# host that answered the bind with a bus reset and then stopped, which is what
-# an unarmed hub does to a box asleep. See FfsTransport.rebind
-STALLED_ENUMERATION = 20.0
-STALLED_STATES = ('default', 'addressed')
-HOST_POLL = 0.5
-
-
-def wait_for_host(timeout: float, bounce=None, should_stop=None, report=None, mode: str | None = None) -> bool:
-  """Wait for the Jetson to enumerate us, bouncing a bus that stalled.
-
-  The gadget stays bound throughout. An unbind is an unplug as the far end sees
-  it, and while one boots it takes ~50 s a cycle, so an unbind on a timer can
-  land on a box seconds from enumerating.
-
-  The one case that needs an edge is a host that took the bind as a wake, reset
-  the bus and stopped. The UDC then sits in default or addressed with the CC
-  pin still showing a host, and only another connect moves it: that is what
-  `bounce` is for, and it is spent once.
-
-  On the cable there is nothing to wait for: the connect that made the client
-  already reached the phone. The UDC is configured too, but by the phone, and
-  it is the dial that proved it is there. `mode` is the link setting, for
-  before the owner has recorded which gadget it built (link_kind).
-  """
-  if link_kind(mode) == 'cable':
-    return True
-  deadline = time.monotonic() + timeout
-  stalled_since = None
-  bounced = False
-  reported = False
-  while True:
-    state = udc_state()
-    if state == "configured":
-      return True
-    now = time.monotonic()
-    if now >= deadline or (should_stop is not None and should_stop()):
-      return False
-    if report is not None and not reported:
-      reported = True
-      report()
-    if state in STALLED_STATES and port_has_host():
-      stalled_since = now if stalled_since is None else stalled_since
-      if not bounced and bounce is not None and now - stalled_since > STALLED_ENUMERATION:
-        bounced = True
-        log.warning("jetlink: the bus has been half enumerated for %.0f s, bouncing the gadget",
-                    STALLED_ENUMERATION)
-        try:
-          bounce()
-        except Exception:
-          log.exception("jetlink: could not bounce the gadget")
-    else:
-      stalled_since = None
-    time.sleep(HOST_POLL)
-
-
-def setup_gadget(ios: bool) -> bool:
-  """Create the gadget, for USB or iOS: there is none yet, or the setting
-  moved between the two. The script records "ok" or the reason itself, in
-  GADGET_STATUS, so a failure here reaches the offroad alert. Off AGNOS
-  there is nothing to create it with, and this is a False."""
-  if not root.run('gadget', *(['--ios'] if ios else [])):
-    return False
-  log.warning("jetlink: gadget set up for %s", 'iOS' if ios else 'USB')
-  return link_configured()
-
-
-def built_for_ios() -> bool:
-  """Does the gadget carry the network function, as jetlink-root.sh gadget --ios builds it?"""
-  return os.path.lexists(GADGET_PATH / 'configs' / 'c.1' / NET_FUNCTION)
-
-
-def net_up() -> bool:
-  """Bring the gadget's network interface up, for a phone to dial over.
-
-  The netdev does not exist until the first UDC bind (f_ncm registers it in
-  its bind), and the gadget subcommand never binds, so the owner runs this
-  after it binds. `net` is idempotent: nmcli unmanaged, 192.168.60.1/24, the
-  DHCP server, and NET_STATUS written as "ok 192.168.60.1 <netdev>" or
-  "error: <reason>".
-  """
-  if not root.run('net'):
-    return False
-  status = net_status() or ''
-  log.warning("jetlink: gadget network: %s", status or 'no status written')
-  return status.startswith('ok')
-
-
-def link_configured() -> bool:
-  """Can we even attempt a link? The gadget exists.
-
-  Not host_attached(): the UDC only binds when something opens ep0, and nothing
-  opens ep0 unless the link looks usable. Waiting for a host deadlocks.
-
-  The cable too: a phone is on the gadget's own network interface, which
-  exists only while ep0 is held.
-  """
-  if build_error() is not None:
-    return False
-  try:
-    return (FFS_MOUNT / "ep0").exists()
-  except OSError:
-    # a root-only mount raises PermissionError from stat; unusable either way
-    return False
-
-
-def set_dormant(on: bool) -> None:
-  _write(DORMANT, str(os.getpid()) if on else None, "update the dormant marker")
-
-
-def dormant() -> bool:
-  """Has a live owner released the gadget on purpose?"""
-  try:
-    pid = int(read(DORMANT))
-  except ValueError:
-    return False
-  return pid_alive(pid)
-
-
-def pid_alive(pid) -> bool:
-  if not isinstance(pid, int) or isinstance(pid, bool) or pid <= 0:
-    return False   # 0 and below name process groups, never one process
-  try:
-    os.kill(pid, 0)
-  except (ProcessLookupError, OverflowError, ValueError):
-    return False
-  except PermissionError:
-    pass  # alive, just not ours to signal
-  return True
-
-
-def request_shutdown(reason: str) -> bool:
-  """Hand the owner a power-off request, whole or not at all: a partial one (a
-  full /dev/shm) is one the owner cannot read, so it never takes it. False,
-  and logged, when it cannot be written."""
-  try:
-    write_record(SHUTDOWN_REQUEST, {'reason': reason})
-    return True
-  except OSError:
-    log.exception("jetlink: could not write the shutdown request")
-    return False
-
-
-def pending_shutdown() -> str | None:
-  """The reason in a shutdown request that has not been dealt with, if any.
-
-  Read twice a second for the life of the process and almost never there, so
-  the miss is a stat rather than an open that raises.
-  """
-  if not SHUTDOWN_REQUEST.exists():
-    return None
-  record = read_record(SHUTDOWN_REQUEST)
-  return None if record is None else str(record.get('reason', ''))
-
-
-def finish_shutdown() -> None:
-  _write(SHUTDOWN_REQUEST, None, "remove the shutdown request")

jetlink_repo/jetlink/comma/jetlink-root.sh

@@ -1,728 +0,0 @@
-#!/usr/bin/env bash
-#
-# Copyright (c) 2026-, Zeph Leggett.
-# This file is part of jetlink and is licensed under the MIT License.
-#
-# Everything jetlink does as root on the comma, in one place. The owner runs it
-# through jetlink/comma/root.py, which is sudo -n and a timeout:
-#
-#   sudo jetlink/comma/jetlink-root.sh gadget            # the gadget for a Jetson or a Mac
-#   sudo jetlink/comma/jetlink-root.sh gadget --ios      # the gadget for an iPhone
-#   sudo jetlink/comma/jetlink-root.sh net               # after a bind, iOS only: address, DHCP
-#   sudo jetlink/comma/jetlink-root.sh rps               # the cable's receive work onto core 6, read back
-#   sudo jetlink/comma/jetlink-root.sh check             # what is there now
-#   sudo jetlink/comma/jetlink-root.sh teardown
-#   sudo jetlink/comma/jetlink-root.sh port hold|off     # the USB-C port held as the device, or let go
-#   sudo jetlink/comma/jetlink-root.sh port device|reset # ask the far end to host over USB PD, or reset PD
-#   sudo jetlink/comma/jetlink-root.sh port source       # ask the far end for the source role: the comma charges it
-#   sudo jetlink/comma/jetlink-root.sh udc apply|restore # the USB device controller kept a device and its debug log off, or stock
-#   sudo jetlink/comma/jetlink-root.sh udc start|stop    # its device side turned on, or off
-#   sudo jetlink/comma/jetlink-root.sh vm apply|restore  # the link's VM tuning, or the stock values
-#   sudo jetlink/comma/jetlink-root.sh draw off|on       # no current drawn from the port, or the charger's own
-#   sudo jetlink/comma/jetlink-root.sh boot SETTING      # at boot: draw off while the Jetlink setting's file is not 0
-#
-# For the comma four and the comma 3X only. Both are SDM845 on the same AGNOS
-# kernel (4.9, dwc3 at a600000.dwc3), with configfs, FunctionFS and NCM built
-# in and no modules to load.
-# The 3X is assumed from the kernel it shares with the four; only the four is tested.
-#
-# gadget: the USB gadget, chosen by the comma's Jetlink setting. The
-# comma is the USB device and the host runs the model; docs/transport.md says
-# why. For a Jetson or a Mac (USB), the FunctionFS vendor interface alone. For
-# an iPhone (iOS, with --ios), a composite: the vendor interface first, so it
-# stays interface 0, and a CDC-NCM network interface after it, since an iPhone
-# app can only use the network: the phone gets 192.168.60.x by DHCP from the
-# dnsmasq this script starts on the gadget's netdev, and dials the comma at
-# 192.168.60.1:5599.
-#
-# It does not bind the UDC: a FunctionFS gadget cannot attach to a controller
-# until its descriptors are written, and the owner, which opens ep0, writes
-# them and binds. The NCM function rides on that bind, and its netdev exists
-# only from the first bind on, so the network is set up by net, which the owner
-# runs after each bind.
-#
-# On failure the reason is left in $STATUS_FILE as well as on stderr, so the
-# openpilot side can say why the link is unavailable. net reports in
-# $NET_STATUS_FILE; it never fails the gadget.
-set -euo pipefail
-
-GADGET=${JETLINK_GADGET:-/sys/kernel/config/usb_gadget/jetlink}
-FFS_MOUNT=/dev/ffs-jetlink
-FFS_NAME=jetlink
-CONFIGFS=/sys/kernel/config
-# who openpilot runs as: the owner opens the endpoints and binds the UDC as it
-OPENPILOT_USER=comma
-# tmpfs on purpose: per-boot state, and the comma's flash is precious
-STATUS_FILE=/dev/shm/jetlink-gadget
-NET_STATUS_FILE=/dev/shm/jetlink-net
-# pid.codes test allocation; get a real PID before distributing this
-VID=0x1209
-PID=0x0001
-NET_IF=usb0    # the function name suffix only; see net_ifname for the netdev
-# NCM batches packets, which a 460 KB frame benefits from
-NET_FN=ncm.$NET_IF
-COMMA_ADDR=192.168.60.1
-COMMA_PREFIX=24
-# The whole subnet and short leases: the comma's 4.9 kernel gives the host a new
-# random MAC every bind, so each bind is a new DHCP client. With 8 addresses and
-# an hour's lease, eight rebinds in an hour left the next host without one.
-DHCP_RANGE=192.168.60.2,192.168.60.254,10m
-DNSMASQ_PID=/dev/shm/jetlink-dnsmasq.pid
-DNSMASQ_IF=/dev/shm/jetlink-dnsmasq.if
-DNSMASQ_LEASES=/dev/shm/jetlink-usb0.leases
-SYS_NET=${JETLINK_SYS_NET:-/sys/class/net}
-# The cable's receive work (RPS): core 6, the one big core openpilot runs no
-# real-time thread on. It clocks out the rest of each frame and takes the
-# phone's reply, and under load 4.9 hands it to ksoftirqd, which waits behind
-# any SCHED_FIFO thread on its core. With f0 (cores 4-7) each connection hashed
-# to one of them: 4 is card/controlsd/selfdrived, 5 the ui, 87 and 77 % busy on
-# a drive. A ui-like FIFO 53 load on the receive core took the link from 7.6 to
-# 12.4 ms (p90 36 to 47 ms round trip); on core 6, 7.7.
-# The kernel keeps only the cores online at the write, so with the big cores
-# parked it reads 00: the owner steers again once a drive starts.
-RPS_CPUS=40
-# No connection tracking on the cable. AGNOS builds conntrack and the legacy
-# tables in, so every packet to and from the phone would be tracked and walk four
-# empty tables: NOTRACK in raw for the cable's netdev takes 0.37 ms off a TCP
-# frame's send, and covers the TCP that frame
-# datagrams fall back to. The rules carry a comment and are replaced as a set:
-# the netdev's name moves between binds, and usb0 is the modem's when it has one.
-IPTABLES=${JETLINK_IPTABLES:-iptables-legacy}
-TRACK_TAG=jetlink
-
-# port: the charger's DISABLE_POWER_ROLE_SWITCH voter on the PMI8998, the one
-# role lever that holds across plugs, and the policy engine's own USB PD
-# requests; jetlink/comma/port.py says when each is used
-POWER_ROLE_VOTER=${JETLINK_POWER_ROLE_VOTER:-/sys/kernel/debug/pmic-votable/DISABLE_POWER_ROLE_SWITCH}
-USBPD=${JETLINK_USBPD:-/sys/class/usbpd/usbpd0}
-DUAL_ROLE=${JETLINK_DUAL_ROLE:-/sys/class/dual_role_usb/otg_default}
-
-# udc: the dwc3 glue for the port's controller (usb0, ssusb@a600000) and the
-# policy engine's parameters. Both have a usb_compliance_mode, and each gates
-# one place only: the policy engine's turns the device side on at every sink
-# attach, not just when the charger detection read a USB port (SDP, CDP or
-# floating lines); the glue's keeps dwc3 from turning it off again when the
-# lines read floating and no host enumerated it in 10 s. An Apple port connects
-# its data lines only after USB PD, and at boot no gadget is bound for 10 s.
-UDC_GLUE=${JETLINK_UDC_GLUE:-/sys/devices/platform/soc/a600000.ssusb}
-PE_PARAMS=${JETLINK_PE_PARAMS:-/sys/module/policy_engine/parameters}
-# And Qualcomm's FunctionFS logs four lines to an IPC debug ring for every USB
-# request, inside io_submit on modeld's frame thread: about 200 a frame, into
-# a buffer only debugfs reads. Turned off while recording, the frame's
-# io_submit goes from 1.20 to 0.88 ms and frames from 21.14 to 20.86 ms at
-# p50. 1 turns it off; stock is 0.
-FFS_LOG_OFF=${JETLINK_FFS_LOG_OFF:-/sys/kernel/debug/ipc_logging/f_fs/log_disable}
-USB_PSY=${JETLINK_USB_PSY:-/sys/class/power_supply/usb}
-
-# draw: the charger's USB_ICL voter, the input current limit on the port. As
-# the sink the charger draws up to 900 mA from whatever powers the port, though
-# the comma runs on its own supply. A 3X browns out the moment it draws from a
-# laptop (PMIC power-off reason UVLO). An iPhone powers what it plugs into with
-# little current; under that draw its supply sags, the charger's weak-charger
-# and reverse-boost handlers cut and restore the input in a loop, and the phone
-# never sees a device. Forced to 0 the input is suspended: the port still reads
-# present and the roles still settle, and those handlers stand down at 25 mA or
-# less. As the source the kernel votes the input to 0 itself.
-USB_ICL_VOTER=${JETLINK_USB_ICL_VOTER:-/sys/kernel/debug/pmic-votable/USB_ICL}
-
-# vm: loggerd's dirty pages pile up until the kernel reclaims them
-# synchronously, right while a FunctionFS transfer allocates its buffer: gadget
-# reads stall 200-350 ms and the big model falls back. Capping dirty memory
-# keeps that reclaim cheap. System-wide, since the gadget read shares the
-# kernel with every writer.
-# Not vm.min_free_kbytes: a 128 MB floor takes about three times that out of
-# MemAvailable, 360 MB on a 3.6 GB comma, and openpilot's LOW MEMORY alert
-# reads MemTotal-MemAvailable against 90 %, so a drive at 80 % would alert. vm.extra_free_kbytes (Android's) instead has kswapd keep that much
-# more free ahead of the allocators, leaving the direct-reclaim floor where it
-# is: 32 MB took 3 minutes of recording from 49 direct-reclaim stalls (the
-# longest 148 ms) to none, for 2.7 points on that gauge, as the kernel takes
-# it out of MemAvailable about 2.5 times; 64 MB adds nothing but costs 4.5.
-# A drive sits near 71 %.
-# And the socket buffer caps, for the iPhone's TCP link: transport/tcp.py asks
-# for 4 MB, which turns autotuning off, and the kernel clamps it to these, 224
-# KB on AGNOS and so 448 KB of buffer. A 393 KB frame in 1448-byte segments does
-# not fit, so the send waits on the phone's ACKs: 6 to 50 ms, following its
-# round trip. With 4 MB the frame goes in one write and the send takes ~4 ms. Only a socket that asks gets more; one set up
-# before the apply keeps the old cap until the phone reconnects.
-VM_SYSCTLS=(vm.dirty_bytes=16777216 vm.dirty_background_bytes=8388608 vm.extra_free_kbytes=32768
-            net.core.wmem_max=4194304 net.core.rmem_max=4194304)
-PROC_SYS=${JETLINK_PROC_SYS:-/proc/sys}
-# the stock values to write back, one key=value a line, recorded by the first
-# apply and dropped by restore
-SYSCTL_PREV=${JETLINK_SYSCTL_PREV:-/dev/shm/jetlink-sysctl-prev}
-
-usage() {
-  echo "usage: $0 gadget [--ios] | net | rps | check | teardown | port hold|off|device|reset|source|sink | udc apply|restore|start|stop | vm apply|restore | draw off|on | boot SETTING" >&2
-  exit 2
-}
-
-status() {
-  # best effort: a device with no /dev/shm still gets the stderr line
-  { echo "$1" > "$STATUS_FILE" && chmod 0644 "$STATUS_FILE"; } 2>/dev/null || true
-}
-
-net_status() {
-  { echo "$1" > "$NET_STATUS_FILE" && chmod 0644 "$NET_STATUS_FILE"; } 2>/dev/null || true
-}
-
-fail() {
-  echo "jetlink: $1" >&2
-  status "error: $1"
-  exit 1
-}
-
-# -- the gadget's network, iOS only -------------------------------------------
-
-net_present() {
-  [[ -d "$GADGET/functions/$NET_FN" ]]
-}
-
-dnsmasq_alive() {
-  local pid
-  pid=$(cat "$DNSMASQ_PID" 2>/dev/null || true)
-  [[ -n "$pid" ]] && kill -0 "$pid" 2>/dev/null
-}
-
-# The interface the kernel gave the network function. The function is named
-# ncm.usb0 but the netdev is not usb0: the modem already holds that name on a
-# comma, so ours comes up as usb1 or later, and the number can change from one
-# bind to the next. u_ether records the real name in the function's ifname,
-# readable only while the gadget is bound.
-net_ifname() {
-  local name
-  name=$(cat "$GADGET/functions/$NET_FN/ifname" 2>/dev/null || true)
-  [[ -n "$name" && -d "$SYS_NET/$name" ]] || return 1
-  echo "$name"
-}
-
-# The cable's receive work onto RPS_CPUS; 0 only when the mask reads it back.
-steer() {
-  local dev=$1 mask got
-  mask="$SYS_NET/$dev/queues/rx-0/rps_cpus"
-  [[ -w "$mask" ]] || { echo "jetlink: $dev has no receive steering to set" >&2; return 1; }
-  put "$RPS_CPUS" "$mask" "could not steer $dev's receive work" || return 1
-  got=$(cat "$mask" 2>/dev/null || true)
-  if [[ -z "$got" ]] || (( 16#$got != 16#$RPS_CPUS )); then
-    echo "jetlink: $dev's receive steering reads ${got:-nothing}, not $RPS_CPUS (core 6 offline?)" >&2
-    return 1
-  fi
-}
-
-# Every raw-table rule of ours gone, each found by its comment. Never fatal;
-# fails only without the tool, which untrack reads as nothing to do.
-retrack() {
-  local rule
-  command -v "$IPTABLES" >/dev/null 2>&1 || return 1
-  while read -r rule; do
-    [[ -n "$rule" ]] || continue
-    # word splitting is the point: one rule's arguments
-    # shellcheck disable=SC2086
-    "$IPTABLES" -w -t raw $rule 2>/dev/null || true
-  done < <("$IPTABLES" -w -t raw -S 2>/dev/null | sed -n "/--comment $TRACK_TAG /s/^-A /-D /p")
-  return 0
-}
-
-# The cable's traffic, both ways, out of conntrack: ours replaced by these two.
-untrack() {
-  local dev=$1
-  retrack || return 0
-  "$IPTABLES" -w -t raw -I PREROUTING -i "$dev" -m comment --comment "$TRACK_TAG" -j CT --notrack 2>/dev/null || true
-  "$IPTABLES" -w -t raw -I OUTPUT -o "$dev" -m comment --comment "$TRACK_TAG" -j CT --notrack 2>/dev/null || true
-}
-
-# The comma's end of the cable network. Idempotent, and never fatal. The owner
-# runs it through net once it has bound the UDC and the interface has appeared.
-net_up() {
-  local dev why
-  if ! dev=$(net_ifname); then
-    net_status "error: no netdev yet; it appears when the owner binds the UDC (then run net)"
-    echo "$NET_FN present, its netdev not yet created (appears at bind); run net after binding" >&2
-    return 0
-  fi
-  # NetworkManager manages every device on AGNOS and would DHCP on it itself
-  nmcli dev set "$dev" managed no >/dev/null 2>&1 || true
-  if ! ip addr replace "$COMMA_ADDR/$COMMA_PREFIX" dev "$dev" 2>/dev/null; then
-    why="could not set $COMMA_ADDR/$COMMA_PREFIX on $dev"
-    net_status "error: $why"; echo "jetlink: $why" >&2
-    return 0
-  fi
-  if ! ip link set "$dev" up 2>/dev/null; then
-    why="could not bring $dev up"
-    net_status "error: $why"; echo "jetlink: $why" >&2
-    return 0
-  fi
-  # parked big cores read back 00 here; the owner steers again onroad
-  steer "$dev" 2>/dev/null || true
-  untrack "$dev"
-  # DHCP for the phone, and only that: no router (option 3) and no DNS (option 6),
-  # so the phone keeps its default route over Wi-Fi. No DNS service (--port=0).
-  # dnsmasq binds the interface by name, so a netdev that came back under a new
-  # name after a rebind needs a fresh dnsmasq: the running one is on a ghost.
-  if dnsmasq_alive && [[ "$(cat "$DNSMASQ_IF" 2>/dev/null || true)" != "$dev" ]]; then
-    kill "$(cat "$DNSMASQ_PID")" 2>/dev/null || true
-    sleep 0.2
-  fi
-  if ! dnsmasq_alive; then
-    rm -f "$DNSMASQ_PID" 2>/dev/null || true
-    if ! dnsmasq --conf-file=/dev/null --bind-interfaces --interface="$dev" \
-        --except-interface=lo --port=0 --dhcp-range="$DHCP_RANGE" \
-        --dhcp-option=3 --dhcp-option=6 --dhcp-leasefile="$DNSMASQ_LEASES" \
-        --pid-file="$DNSMASQ_PID" 2>/dev/null; then
-      why="dnsmasq would not start on $dev"
-      net_status "error: $why"; echo "jetlink: $why" >&2
-      return 0
-    fi
-    echo "$dev" > "$DNSMASQ_IF"
-  fi
-  net_status "ok $COMMA_ADDR $dev"
-  echo "$dev (ncm) at $COMMA_ADDR/$COMMA_PREFIX, DHCP $DHCP_RANGE"
-  return 0
-}
-
-net_down() {
-  local pid
-  pid=$(cat "$DNSMASQ_PID" 2>/dev/null || true)
-  if [[ -n "$pid" ]]; then
-    kill "$pid" 2>/dev/null || true
-  fi
-  rm -f "$DNSMASQ_PID" 2>/dev/null || true
-  retrack || true
-}
-
-# The network function and its DHCP server, gone: for teardown, and for a USB
-# gadget left with one by an iOS boot. Unlinking it force-unbinds the UDC.
-net_remove() {
-  local f
-  net_down
-  for f in "$GADGET"/configs/c.1/*."$NET_IF"; do
-    if [[ -L "$f" ]]; then rm -f "$f" 2>/dev/null || true; fi
-  done
-  for f in "$GADGET"/functions/*."$NET_IF"; do
-    if [[ -d "$f" ]]; then rmdir "$f" 2>/dev/null || true; fi
-  done
-}
-
-# -- subcommands ----------------------------------------------------------------
-
-cmd_gadget() {
-  local ios=0 udcs other owner bound serial uid gid
-  case "${1:-}" in
-    "") ;;
-    --ios) ios=1 ;;
-    *) usage ;;
-  esac
-  [[ $EUID -eq 0 ]] || fail "jetlink-root.sh gadget must run as root"
-
-  # set -e alone exits without going through fail, leaving last boot's "ok" in
-  # $STATUS_FILE for the openpilot side to read.
-  trap 'fail "line $LINENO: $BASH_COMMAND failed"' ERR
-
-  mountpoint -q "$CONFIGFS" || mount -t configfs none "$CONFIGFS" 2>/dev/null || true
-  mountpoint -q "$CONFIGFS" || fail "no configfs at $CONFIGFS; this kernel cannot configure a USB gadget"
-
-  # absent means this AGNOS build has no CONFIG_USB_LIBCOMPOSITE, which nothing
-  # in userspace can fix
-  [[ -d "$CONFIGFS/usb_gadget" ]] || fail "kernel has no USB gadget support (CONFIG_USB_LIBCOMPOSITE); jetlink needs an AGNOS build that has it"
-
-  # No FunctionFS preflight on purpose: the kernel registers the functionfs
-  # filesystem only while some ffs.* function exists, so /proc/filesystems never
-  # lists it on a cold boot. The mkdir, mount and ep0 checks below test it in use.
-
-  # a gadget needs a device controller
-  shopt -s nullglob
-  udcs=("/sys/class/udc"/*)
-  shopt -u nullglob
-  [[ ${#udcs[@]} -gt 0 ]] || fail "no USB device controller in /sys/class/udc; this device cannot act as a USB gadget"
-
-  # refuse to fight another gadget for the controller rather than unbinding it
-  for other in "$CONFIGFS"/usb_gadget/*/UDC; do
-    if [[ -e "$other" ]]; then
-      owner=$(basename "$(dirname "$other")")
-      bound=$(cat "$other" 2>/dev/null || true)
-      if [[ "$owner" != "jetlink" && -n "$bound" ]]; then
-        fail "USB gadget '$owner' already holds the device controller ($bound); tear it down first"
-      fi
-    fi
-  done
-
-  mkdir -p "$GADGET" || fail "could not create the gadget at $GADGET"
-  cd "$GADGET"
-
-  echo "$VID"   > idVendor
-  echo "$PID"   > idProduct
-  echo 0x0320   > bcdUSB            # 3.2: advertise SuperSpeed
-  if [[ $ios -eq 1 ]]; then
-    # its own bcdDevice, so hosts that cache descriptors by VID/PID/bcdDevice
-    # (macOS, Windows) fetch the composite ones rather than the plain gadget's
-    echo 0x0101 > bcdDevice
-    # Miscellaneous / Common Class / IAD: the composite device class, which tells
-    # a host to bind a driver per interface association (the vendor interface
-    # for jetlink, CDC-NCM for the network) rather than one for the whole device
-    echo 0xEF   > bDeviceClass
-    echo 0x02   > bDeviceSubClass
-    echo 0x01   > bDeviceProtocol
-  else
-    # the plain gadget: class per interface
-    echo 0x0100 > bcdDevice
-    echo 0x00   > bDeviceClass
-    echo 0x00   > bDeviceSubClass
-    echo 0x00   > bDeviceProtocol
-  fi
-
-  # The device tree carries a serial on some commas and not others; any stable
-  # string will do.
-  serial=$({ tr -d '\0' < /proc/device-tree/serial-number; } 2>/dev/null || cat /etc/machine-id 2>/dev/null || echo 0001)
-  [[ -n "$serial" ]] || serial=0001
-  mkdir -p strings/0x409
-  echo "zoompilot"  > strings/0x409/manufacturer
-  echo "jetlink"    > strings/0x409/product
-  echo "$serial"    > strings/0x409/serialnumber
-
-  mkdir -p configs/c.1/strings/0x409
-  echo "jetlink inference link" > configs/c.1/strings/0x409/configuration
-  # self-powered, and as little as the spec allows: the Jetson has its own 12 V feed
-  echo 0xC0 > configs/c.1/bmAttributes
-  echo 8    > configs/c.1/MaxPower
-
-  # the mkdir instantiates the function and registers functionfs, so a kernel
-  # genuinely without it fails here
-  mkdir -p "functions/ffs.$FFS_NAME" ||
-    fail "kernel has no ffs gadget function (CONFIG_USB_CONFIGFS_F_FS); jetlink cannot present its endpoints"
-  # Link once: this is re-run on every deploy, and unlinking a function from a bound
-  # config force-unbinds the UDC, so an unconditional ln -sf drops a live link.
-  # Linked before the network function so it is interface 0: hosts that open the
-  # vendor interface by number depend on that.
-  [[ -L "configs/c.1/ffs.$FFS_NAME" ]] ||
-    ln -s "$GADGET/functions/ffs.$FFS_NAME" "configs/c.1/ffs.$FFS_NAME" ||
-    fail "could not link ffs.$FFS_NAME into configs/c.1"
-
-  # The network interface, for an iPhone only. A USB gadget left with one from an
-  # iOS boot loses it here: unlinking it force-unbinds the UDC, which is why the
-  # owner switches only while parked. The 4.9 kernel picks the interface's MAC
-  # addresses itself and refuses them from configfs; DHCP makes that harmless.
-  if [[ $ios -eq 0 ]]; then
-    if net_present; then net_remove; fi
-  else
-    mkdir -p "functions/$NET_FN" || fail "could not create the $NET_FN gadget function"
-    # after ffs, so it takes the next interface numbers
-    [[ -L "configs/c.1/$NET_FN" ]] ||
-      ln -s "$GADGET/functions/$NET_FN" "configs/c.1/$NET_FN" ||
-      fail "could not link $NET_FN into configs/c.1"
-  fi
-
-  mkdir -p "$FFS_MOUNT"
-  # Owned by the user openpilot runs as: on a root-only mount the owner and
-  # modeld cannot open the endpoints, and Path.exists() raises rather than
-  # returning False.
-  uid=$(id -u "$OPENPILOT_USER")
-  gid=$(id -g "$OPENPILOT_USER")
-  mountpoint -q "$FFS_MOUNT" || mount -t functionfs -o "uid=$uid,gid=$gid" "$FFS_NAME" "$FFS_MOUNT" ||
-    fail "could not mount functionfs at $FFS_MOUNT"
-
-  # the check that proves the chain: ep0 is what the owner opens to write the
-  # descriptors and bind the controller
-  [[ -e "$FFS_MOUNT/ep0" ]] || fail "functionfs mounted at $FFS_MOUNT but has no ep0"
-
-  # the owner binds the UDC as the openpilot user, so hand it that one attribute
-  chown "$OPENPILOT_USER" "$GADGET/UDC" 2>/dev/null || true
-
-  status ok
-  echo "gadget ready at $GADGET"
-  echo "functionfs mounted at $FFS_MOUNT"
-  if [[ $ios -eq 1 ]]; then
-    echo "network function: $NET_FN (after ffs.$FFS_NAME in configs/c.1)"
-    # its netdev appears at the owner's bind, and net sets it up then
-    rm -f "$NET_STATUS_FILE" 2>/dev/null || true
-  else
-    net_status "net: off"
-  fi
-  echo "available UDCs: ${udcs[*]##*/}"
-  echo "the owner writes the descriptors and binds the UDC"
-}
-
-cmd_net() {
-  [[ $EUID -eq 0 ]] || fail "jetlink-root.sh net must run as root"
-  [[ -d "$GADGET" ]] || { net_status "error: no gadget"; fail "no gadget at $GADGET; run gadget first"; }
-  net_up
-}
-
-# Not fail(): that is the gadget's record.
-cmd_rps() {
-  local dev
-  dev=$(net_ifname) || { echo "jetlink: no cable network interface to steer" >&2; exit 1; }
-  steer "$dev" || exit 1
-}
-
-cmd_teardown() {
-  local f linked=0
-  net_remove
-  if [[ -d "$GADGET" ]]; then
-    echo "" > "$GADGET/UDC" 2>/dev/null || true
-    rm -f "$GADGET/configs/c.1/ffs.$FFS_NAME" 2>/dev/null || true
-    rmdir "$GADGET/configs/c.1/strings/0x409" 2>/dev/null || true
-    # a config with a function still linked cannot go, and trying is a
-    # configfs error worth not making
-    for f in "$GADGET"/configs/c.1/*; do
-      if [[ -L "$f" ]]; then linked=1; fi
-    done
-    if [[ $linked -eq 0 ]]; then
-      rmdir "$GADGET/configs/c.1" 2>/dev/null || true
-    else
-      echo "jetlink: configs/c.1 still has a function linked; left in place" >&2
-    fi
-    rmdir "$GADGET/functions/ffs.$FFS_NAME" 2>/dev/null || true
-    rmdir "$GADGET/strings/0x409" 2>/dev/null || true
-    rmdir "$GADGET" 2>/dev/null || true
-  fi
-  # A plain umount can block or segfault on a FunctionFS instance whose owner died
-  # with endpoints open; lazy-detach unhooks it now and lets the kernel finish.
-  umount -l "$FFS_MOUNT" 2>/dev/null || umount "$FFS_MOUNT" 2>/dev/null || true
-  rmdir "$FFS_MOUNT" 2>/dev/null || true
-  status "error: gadget torn down"
-  net_status "error: gadget torn down"
-  echo "jetlink gadget torn down"
-}
-
-cmd_check() {
-  local u g dev udcs
-  [[ $EUID -eq 0 ]] || { echo "run check as root (sudo)" >&2; exit 1; }
-  echo "kernel: $(uname -r)"
-  if mountpoint -q "$CONFIGFS" && [[ -d "$CONFIGFS/usb_gadget" ]]; then
-    echo "configfs USB gadgets: yes"
-  else
-    echo "configfs USB gadgets: NO (no $CONFIGFS/usb_gadget)"
-  fi
-  shopt -s nullglob
-  udcs=(/sys/class/udc/*)
-  shopt -u nullglob
-  for u in "${udcs[@]}"; do
-    # current_speed is the negotiated bus speed: super-speed is USB 3, and a
-    # 460 KB frame is ~1 ms there against ~11 ms at high-speed (USB 2). The
-    # owner logs it on every configured edge, since nothing in this script
-    # runs after enumeration.
-    echo "device controller: $(basename "$u"), state $(cat "$u/state" 2>/dev/null || echo unknown), speed $(cat "$u/current_speed" 2>/dev/null || echo unknown)"
-  done
-  [[ ${#udcs[@]} -gt 0 ]] || echo "device controller: NONE"
-  for g in "$CONFIGFS"/usb_gadget/*/; do
-    [[ -d "$g" ]] || continue
-    echo "gadget $(basename "$g"): bound to '$(cat "$g/UDC" 2>/dev/null)'"
-  done
-  echo "gadget status: $(cat "$STATUS_FILE" 2>/dev/null || echo none)"
-  # A phone plugged straight into the comma negotiates power and the comma may
-  # end up sourcing it, which reboots the comma. Through a hub the comma sinks.
-  # On a C-to-C cable the comma can come out the host instead; port hold fixes that.
-  if [[ -d "$USBPD" ]]; then
-    echo "USB-C port: power role $(cat "$USBPD/current_pr" 2>/dev/null || echo unknown), data role $(cat "$USBPD/current_dr" 2>/dev/null || echo unknown), USB PD contract $(cat "$USBPD/contract" 2>/dev/null || echo unknown), Type-C $(cat "$USB_PSY/typec_mode" 2>/dev/null || echo unknown)"
-  fi
-  if [[ "$(cat "$POWER_ROLE_VOTER/force_active" 2>/dev/null || true)" == 1 ]]; then
-    echo "USB-C port: held as the device (port hold)"
-  fi
-  if [[ "$(cat "$USB_ICL_VOTER/force_active" 2>/dev/null || true)" == 1 ]]; then
-    echo "USB-C port: no current drawn from it (draw off)"
-  fi
-  if [[ -d "$UDC_GLUE" ]]; then
-    echo "USB device controller: $(cat "$UDC_GLUE/mode" 2>/dev/null || echo unknown), charger detection $(cat "$USB_PSY/real_type" 2>/dev/null || echo unknown), kept a device $(cat "$PE_PARAMS/usb_compliance_mode" 2>/dev/null || echo '?')/$(cat "$UDC_GLUE/usb_compliance_mode" 2>/dev/null || echo '?')"
-  fi
-  if ! net_present; then
-    echo "network function: none (the USB gadget, or no gadget)"
-    return 0
-  fi
-  echo "network function: $NET_FN"
-  if dev=$(net_ifname); then
-    echo "$dev: $(cat "/sys/class/net/$dev/operstate" 2>/dev/null || echo unknown), $(ip -4 -o addr show dev "$dev" 2>/dev/null | awk '{print $4}' | tr '\n' ' ')"
-  else
-    echo "netdev: absent (it appears when the owner binds the UDC)"
-  fi
-  echo "network status: $(cat "$NET_STATUS_FILE" 2>/dev/null || echo unknown)"
-  if dnsmasq_alive; then echo "dnsmasq: running"; else echo "dnsmasq: not running"; fi
-}
-
-# The comma's USB-C port, for a link that runs over USB. hold keeps the port at
-# sink, which makes the far end the host; off is dual role, as AGNOS boots it.
-# device asks the far end over USB PD to take the host role (a DR_Swap): for a
-# far end that powers the comma and still came out the device, which hold
-# cannot change. reset is a USB PD hard reset, which puts both ends back to
-# the roles their power gives them: a sink is the device. source asks a far end
-# that powers the comma for the source role (a PR_Swap), which leaves the data
-# roles as they are: an iPhone that hosts the comma stays the host and charges
-# from it. The voter gates it, so port off comes first. sink is the swap back,
-# for a phone whose link went down once it charged.
-cmd_port() {
-  case "${1:-}" in
-    hold) force_voter "$POWER_ROLE_VOTER" 1 "to hold the port" || exit 1 ;;
-    # letting go applies the voters' own result, which is dual role
-    off) release_voter "$POWER_ROLE_VOTER" || exit 1 ;;
-    # the kernel sends the DR_Swap and waits 100 ms for it; a refusal, or PD not
-    # ready yet, is a failed write
-    device) put device "$DUAL_ROLE/data_role" "the far end did not take the host role ($DUAL_ROLE/data_role)" || exit 1 ;;
-    reset) put 1 "$USBPD/hard_reset" "could not reset USB PD ($USBPD/hard_reset)" || exit 1 ;;
-    # the kernel sends the PR_Swap and waits up to 2 s for it; only with a USB PD
-    # contract, so a write before one, or a refusal, fails
-    source) put source "$DUAL_ROLE/power_role" "the far end did not give up the source role ($DUAL_ROLE/power_role)" || exit 1 ;;
-    sink) put sink "$DUAL_ROLE/power_role" "the far end did not take the source role back ($DUAL_ROLE/power_role)" || exit 1 ;;
-    *) usage ;;
-  esac
-}
-
-# The port's USB device controller, while the link is on. apply keeps it a
-# device whatever the charger detection made of the far end's data lines, and
-# restore puts the stock behaviour back; see UDC_GLUE. start turns the device
-# side on now, for a host that powers the port while it is off, and stop turns
-# it off again once that host is gone.
-cmd_udc() {
-  case "${1:-}" in
-    apply) udc_set Y 1 || exit 1 ;;
-    restore) udc_set N 0 || exit 1 ;;
-    start) put peripheral "$UDC_GLUE/mode" "could not start the USB device controller ($UDC_GLUE/mode)" || exit 1 ;;
-    stop) put none "$UDC_GLUE/mode" "could not stop the USB device controller ($UDC_GLUE/mode)" || exit 1 ;;
-    *) usage ;;
-  esac
-}
-
-# The compliance modes to $1 and FunctionFS's debug log switch to $2, each on
-# its own, so one the kernel lacks does not keep the others.
-udc_set() {
-  local failed=0 knob
-  for knob in "$PE_PARAMS/usb_compliance_mode" "$UDC_GLUE/usb_compliance_mode"; do
-    put "$1" "$knob" "could not set $knob" || failed=1
-  done
-  put "$2" "$FFS_LOG_OFF" "could not set $FFS_LOG_OFF" || failed=1
-  return $failed
-}
-
-# One value into one kernel file; a line on stderr, with the kernel's reason,
-# and a failure when the kernel refuses it. Not fail(): that is the gadget's record.
-put() {
-  local err
-  if ! err=$( { echo "$1" > "$2"; } 2>&1 ); then
-    echo "jetlink: $3${err:+: ${err##*: }}" >&2
-    return 1
-  fi
-}
-
-# A charger voter under debugfs forced to a value, and let go: force_val first,
-# since forcing applies whatever force_val holds at that moment.
-force_voter() {
-  { echo "$2" > "$1/force_val" && echo 1 > "$1/force_active"; } 2>/dev/null ||
-    { echo "jetlink: could not force $1 $3" >&2; return 1; }
-}
-
-release_voter() {
-  { echo 0 > "$1/force_active" && echo 0 > "$1/force_val"; } 2>/dev/null ||
-    { echo "jetlink: could not release $1" >&2; return 1; }
-}
-
-# A key's value, or nothing when it cannot be read.
-sysctl_read() {
-  local value=""
-  { read -r value < "$PROC_SYS/${1//.//}"; } 2>/dev/null || true
-  echo "$value"
-}
-
-# One key per write, so a value the kernel rejects does not take the rest with it.
-sysctl_write() {
-  put "$2" "$PROC_SYS/${1//.//}" "could not set $1=$2"
-}
-
-# apply records the stock values, once a boot, and writes the link's; restore
-# writes the record back and drops it, and without one does nothing. Either
-# is safe to repeat. A reboot resets them.
-vm_apply() {
-  local pair key value had="" rec="" failed=0
-  # A key already in the record keeps its first value: a second apply must
-  # not record our own. One missing from it (added by a newer jetlink
-  # since this boot's first apply) is recorded now, while it is stock.
-  [[ -e "$SYSCTL_PREV" ]] && had=$(cat "$SYSCTL_PREV" 2>/dev/null)
-  for pair in "${VM_SYSCTLS[@]}"; do
-    key=${pair%%=*}
-    if [[ $'\n'"$had" == *$'\n'"$key="* || $'\n'"$had" == *$'\n'"${key%_bytes}_ratio="* ]]; then
-      continue
-    fi
-    value=$(sysctl_read "$key")
-    if [[ "$value" == 0 && "$key" == *_bytes ]]; then
-      # Stock AGNOS runs the dirty limits in ratio mode, so the *_bytes keys
-      # read 0, and the kernel silently drops a 0 written back to one.
-      # Writing the ratio key is what zeroes the bytes key, so that is the
-      # one to put back.
-      key=${key%_bytes}_ratio
-      value=$(sysctl_read "$key")
-    fi
-    if [[ -n "$value" ]]; then
-      rec+="$key=$value"$'\n'
-    else
-      echo "jetlink: could not read $key" >&2
-    fi
-  done
-  if [[ -n "$rec" ]]; then
-    { printf '%s' "$rec" >> "$SYSCTL_PREV" && chmod 0644 "$SYSCTL_PREV"; } 2>/dev/null ||
-      echo "jetlink: could not record the previous sysctls in $SYSCTL_PREV" >&2
-  fi
-  for pair in "${VM_SYSCTLS[@]}"; do
-    sysctl_write "${pair%%=*}" "${pair#*=}" || failed=1
-  done
-  return $failed
-}
-
-# Writes the record back line by line: a vm or net.core key and a number,
-# nothing else.
-vm_restore() {
-  local key value failed=0
-  [[ -e "$SYSCTL_PREV" ]] || return 0
-  while IFS='=' read -r key value; do
-    if [[ "$key" =~ ^(vm|net\.core)\.[a-z_]+$ && "$value" =~ ^[0-9]+$ ]]; then
-      sysctl_write "$key" "$value" || failed=1
-    else
-      echo "jetlink: not restoring '$key=$value' from $SYSCTL_PREV" >&2
-      failed=1
-    fi
-  done < "$SYSCTL_PREV"
-  rm -f "$SYSCTL_PREV" 2>/dev/null || true
-  return $failed
-}
-
-cmd_vm() {
-  case "${1:-}" in
-    apply) vm_apply || exit 1 ;;
-    restore) vm_restore || exit 1 ;;
-    *) usage ;;
-  esac
-}
-
-# The port's input current while the link is on; see USB_ICL_VOTER. off forces
-# the limit to 0 and on gives the charger its own limit back; either is safe
-# to repeat. A reboot clears it.
-cmd_draw() {
-  case "${1:-}" in
-    off) force_voter "$USB_ICL_VOTER" 0 "to stop drawing from the port" || exit 1 ;;
-    on) release_voter "$USB_ICL_VOTER" || exit 1 ;;
-    *) usage ;;
-  esac
-}
-
-# The fork's launch script, before manager: with the link on, draw nothing from
-# the port from boot rather than from the owner's first step, ~20 s later. The
-# comma runs off its own power port. SETTING is the Jetlink setting's params
-# file; anything but 0 is on, a missing file is off.
-cmd_boot() {
-  [[ $# -eq 1 ]] || usage
-  local mode
-  mode=$(cat "$1" 2>/dev/null) || return 0
-  [[ -n "$mode" && "$mode" != 0 ]] || return 0
-  cmd_draw off
-}
-
-cmd=${1:-}
-if [[ $# -gt 0 ]]; then shift; fi
-case "$cmd" in
-  gadget) cmd_gadget "$@" ;;
-  net) cmd_net ;;
-  rps) cmd_rps ;;
-  check) cmd_check ;;
-  teardown) cmd_teardown ;;
-  port) cmd_port "$@" ;;
-  udc) cmd_udc "$@" ;;
-  vm) cmd_vm "$@" ;;
-  draw) cmd_draw "$@" ;;
-  boot) cmd_boot "$@" ;;
-  *) usage ;;
-esac