Compare commits
18 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 mawei
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226de210e5 | ||
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mawei
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ee9c2bf1b5 | ||
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mawei
|
f60b02f960 | ||
|
1okko
|
77120beecb | ||
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1okko
|
0ee81b0a59 | ||
|
1okko
|
68280833d2 | ||
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1okko
|
9bd42a4529 | ||
|
1okko
|
d649c96e78 | ||
|
1okko
|
847572c2a0 | ||
|
Rick Lan
|
b5dbdfd323 | ||
|
Rick Lan
|
3a14e92645 | ||
|
Rick Lan
|
51c577fcd0 | ||
|
Rick Lan
|
82d1cb463f | ||
|
Rick Lan
|
14b6393cb5 | ||
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Rick Lan
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39b7b3ae6e | ||
|
Rick Lan
|
d328bb844d | ||
|
Rick Lan
|
ce6611af1f | ||
|
Vehicle Researcher
|
6adb63b915 |
-19
@@ -1,19 +0,0 @@
|
||||
---
|
||||
Checks: '
|
||||
bugprone-*,
|
||||
-bugprone-integer-division,
|
||||
-bugprone-narrowing-conversions,
|
||||
performance-*,
|
||||
clang-analyzer-*,
|
||||
misc-*,
|
||||
-misc-unused-parameters,
|
||||
modernize-*,
|
||||
-modernize-avoid-c-arrays,
|
||||
-modernize-deprecated-headers,
|
||||
-modernize-use-auto,
|
||||
-modernize-use-using,
|
||||
-modernize-use-nullptr,
|
||||
-modernize-use-trailing-return-type,
|
||||
'
|
||||
CheckOptions:
|
||||
...
|
||||
@@ -13,27 +13,6 @@
|
||||
*.o-*
|
||||
*.os
|
||||
*.os-*
|
||||
*.so
|
||||
*.a
|
||||
|
||||
venv/
|
||||
.venv/
|
||||
|
||||
notebooks
|
||||
phone
|
||||
massivemap
|
||||
neos
|
||||
installer
|
||||
chffr/app2
|
||||
chffr/backend/env
|
||||
selfdrive/nav
|
||||
selfdrive/baseui
|
||||
selfdrive/test/simulator2
|
||||
**/cache_data
|
||||
xx/plus
|
||||
xx/community
|
||||
xx/projects
|
||||
!xx/projects/eon_testing_master
|
||||
!xx/projects/map3d
|
||||
xx/ops
|
||||
xx/junk
|
||||
|
||||
@@ -1,8 +0,0 @@
|
||||
---
|
||||
name: Enhancement
|
||||
about: For openpilot enhancement suggestions
|
||||
title: ''
|
||||
labels: 'enhancement'
|
||||
assignees: ''
|
||||
---
|
||||
|
||||
@@ -12,7 +12,7 @@ simulation:
|
||||
|
||||
ui:
|
||||
- changed-files:
|
||||
- any-glob-to-all-files: '{selfdrive/ui/**,system/ui/**}'
|
||||
- any-glob-to-all-files: '{selfdrive/assets/**,selfdrive/ui/**,system/ui/**}'
|
||||
|
||||
tools:
|
||||
- changed-files:
|
||||
|
||||
+22
-34
@@ -7,21 +7,19 @@ venv/
|
||||
.tags
|
||||
.ipynb_checkpoints
|
||||
.idea
|
||||
*.iml
|
||||
.overlay_init
|
||||
.overlay_consistent
|
||||
.sconsign.dblite
|
||||
model2.png
|
||||
a.out
|
||||
.hypothesis
|
||||
.cache/
|
||||
|
||||
/docs_site/
|
||||
bin/
|
||||
|
||||
*.mp4
|
||||
*.dylib
|
||||
*.DSYM
|
||||
*.d
|
||||
*.pem
|
||||
*.pyc
|
||||
*.pyo
|
||||
.*.swp
|
||||
@@ -38,68 +36,58 @@ a.out
|
||||
*.class
|
||||
*.pyxbldc
|
||||
*.vcd
|
||||
*.qm
|
||||
*.mo
|
||||
*_pyx.cpp
|
||||
*.stats
|
||||
*.pkl
|
||||
*.pkl*
|
||||
config.json
|
||||
clcache
|
||||
compile_commands.json
|
||||
compare_runtime*.html
|
||||
selfdrive/modeld/models/tg_input_devices.json
|
||||
|
||||
persist
|
||||
# build artifacts
|
||||
docs_site/
|
||||
selfdrive/pandad/pandad
|
||||
cereal/services.h
|
||||
cereal/gen
|
||||
cereal/messaging/bridge
|
||||
selfdrive/mapd/default_speeds_by_region.json
|
||||
system/proclogd/proclogd
|
||||
selfdrive/ui/translations/tmp
|
||||
selfdrive/test/longitudinal_maneuvers/out
|
||||
selfdrive/car/tests/cars_dump
|
||||
system/camerad/camerad
|
||||
system/camerad/test/ae_gray_test
|
||||
|
||||
notebooks
|
||||
hyperthneed
|
||||
provisioning
|
||||
|
||||
.coverage*
|
||||
coverage.xml
|
||||
htmlcov
|
||||
pandaextra
|
||||
|
||||
.mypy_cache/
|
||||
flycheck_*
|
||||
|
||||
cppcheck_report.txt
|
||||
comma*.sh
|
||||
|
||||
selfdrive/modeld/models/*.pkl
|
||||
|
||||
# openpilot log files
|
||||
*.bz2
|
||||
*.zst
|
||||
*.rlog
|
||||
|
||||
build/
|
||||
|
||||
!**/.gitkeep
|
||||
|
||||
poetry.toml
|
||||
Pipfile
|
||||
|
||||
### VisualStudioCode ###
|
||||
*.vsix
|
||||
.history
|
||||
.ionide
|
||||
.vscode/*
|
||||
.history/
|
||||
!.vscode/settings.json
|
||||
!.vscode/tasks.json
|
||||
!.vscode/launch.json
|
||||
!.vscode/extensions.json
|
||||
!.vscode/*.code-snippets
|
||||
|
||||
# Local History for Visual Studio Code
|
||||
.history/
|
||||
# agents
|
||||
.claude/
|
||||
.context/
|
||||
PLAN.md
|
||||
TASK.md
|
||||
|
||||
# Built Visual Studio Code Extensions
|
||||
*.vsix
|
||||
|
||||
### VisualStudioCode Patch ###
|
||||
# Ignore all local history of files
|
||||
.history
|
||||
.ionide
|
||||
# rick - keep panda_tici standalone
|
||||
panda_tici/
|
||||
|
||||
@@ -0,0 +1 @@
|
||||
3.12.13
|
||||
Vendored
+3
@@ -4,5 +4,8 @@
|
||||
"ms-vscode.cpptools",
|
||||
"elagil.pre-commit-helper",
|
||||
"charliermarsh.ruff",
|
||||
"JamiTech.simply-blame",
|
||||
"k--kato.intellij-idea-keybindings",
|
||||
"trinm1709.dracula-theme-from-intellij"
|
||||
]
|
||||
}
|
||||
|
||||
Vendored
+43
-1
@@ -23,6 +23,11 @@
|
||||
"id": "args",
|
||||
"description": "Arguments to pass to the process",
|
||||
"type": "promptString"
|
||||
},
|
||||
{
|
||||
"id": "replayArg",
|
||||
"type": "promptString",
|
||||
"description": "Enter route or segment to replay."
|
||||
}
|
||||
],
|
||||
"configurations": [
|
||||
@@ -40,7 +45,44 @@
|
||||
"type": "cppdbg",
|
||||
"request": "launch",
|
||||
"program": "${workspaceFolder}/${input:cpp_process}",
|
||||
"cwd": "${workspaceFolder}",
|
||||
"cwd": "${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"
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
Vendored
+15
-2
@@ -3,10 +3,24 @@
|
||||
"editor.insertSpaces": true,
|
||||
"editor.renderWhitespace": "trailing",
|
||||
"files.trimTrailingWhitespace": true,
|
||||
"terminal.integrated.defaultProfile.linux": "dragonpilot",
|
||||
"terminal.integrated.profiles.linux": {
|
||||
"dragonpilot": {
|
||||
"path": "bash",
|
||||
"args": ["-c", "distrobox enter dp"]
|
||||
}
|
||||
},
|
||||
"search.exclude": {
|
||||
"**/.git": true,
|
||||
"**/.venv": true,
|
||||
"**/__pycache__": true
|
||||
"**/__pycache__": true,
|
||||
"msgq_repo/": true,
|
||||
"rednose/": true,
|
||||
"rednose_repo/": true,
|
||||
"openpilot/": true,
|
||||
"teleoprtc_repo/": true,
|
||||
"tinygrad/": true,
|
||||
"tinygrad_repo/": true
|
||||
},
|
||||
"files.exclude": {
|
||||
"**/.git": true,
|
||||
@@ -21,7 +35,6 @@
|
||||
"common/**",
|
||||
"selfdrive/**",
|
||||
"system/**",
|
||||
"third_party/**",
|
||||
"tools/**",
|
||||
]
|
||||
}
|
||||
|
||||
+140
@@ -0,0 +1,140 @@
|
||||
# ALKA (Always-on Lane Keeping Assist) Design v3
|
||||
|
||||
## Overview
|
||||
|
||||
ALKA enables lateral control (steering) when ACC Main is ON, without requiring cruise to be engaged. This allows lane keeping assist to function independently of longitudinal control.
|
||||
|
||||
**Simplified Behavior (v3):**
|
||||
- All brands use direct tracking: `lkas_on = acc_main_on`
|
||||
- No button/toggle tracking (removed TJA, LKAS button, LKAS HUD)
|
||||
- ACC Main ON = ALKA enabled, ACC Main OFF = ALKA disabled
|
||||
|
||||
---
|
||||
|
||||
## Per-Brand Summary
|
||||
|
||||
| Brand | Status | ACC Main Source | Notes |
|
||||
|-------|--------|-----------------|-------|
|
||||
| Body | Disabled | - | No steering capability |
|
||||
| Chrysler | Disabled | - | Needs special handling |
|
||||
| Ford | Enabled | EngBrakeData (0x165) CcStat | |
|
||||
| GM | Disabled | - | No ACC Main signal |
|
||||
| Honda Nidec | Enabled | SCM_FEEDBACK (0x326) MAIN_ON | |
|
||||
| Honda Bosch | Enabled | SCM_FEEDBACK (0x326) MAIN_ON | |
|
||||
| Hyundai | Enabled | SCC11 (0x420) bit 0 | |
|
||||
| Hyundai CAN-FD | Enabled | SCC_CONTROL (0x1A0) bit 66 | |
|
||||
| Hyundai Legacy | Enabled | SCC11 (0x420) bit 0 | |
|
||||
| Mazda | Enabled | CRZ_CTRL (0x21C) bit 17 | |
|
||||
| Nissan | Enabled | CRUISE_THROTTLE (0x239) bit 17 | |
|
||||
| PSA | Disabled | - | Not implemented |
|
||||
| Rivian | Disabled | - | Different architecture |
|
||||
| Subaru | Enabled | CruiseControl (0x240) bit 40 | |
|
||||
| Subaru Preglobal | Enabled | CruiseControl (0x144) bit 48 | |
|
||||
| Tesla | Disabled | - | Different architecture |
|
||||
| Toyota | Enabled | PCM_CRUISE_2 (0x1D3) bit 15 | |
|
||||
| Toyota (UNSUPPORTED_DSU) | Enabled | DSU_CRUISE (0x365) bit 0 | |
|
||||
| VW MQB | Enabled | TSK_06 TSK_Status (>=2) | |
|
||||
| VW PQ | Enabled | Motor_5 (0x480) bit 50 (long) | |
|
||||
|
||||
---
|
||||
|
||||
## Permission Model
|
||||
|
||||
Lateral control requires checks at both layers. Normal path uses `controls_allowed`, ALKA path uses additional checks.
|
||||
|
||||
| Check | Panda | openpilot | Notes |
|
||||
|-------|:-----:|:---------:|-------|
|
||||
| **Normal Path** |
|
||||
| `controls_allowed` (cruise engaged) | ✓ | ✓ | Either this OR ALKA path |
|
||||
| **ALKA Path** |
|
||||
| `alka_allowed` (brand supports) | ✓ | ✓ | Set per brand in safety init |
|
||||
| `ALT_EXP_ALKA` (user enabled) | ✓ | ✓ | alternativeExperience flag |
|
||||
| `lkas_on` (ACC Main ON) | ✓ | ✓ | Tracked via CAN messages |
|
||||
| `vehicle_moving` / `!standstill` | ✓ | ✓ | |
|
||||
| **openpilot Additional** |
|
||||
| `gear_ok` (not P/N/R) | ✗ | ✓ | Python layer only |
|
||||
| `calibrated` | ✗ | ✓ | Python layer only |
|
||||
| `seatbelt latched` | ✗ | ✓ | Python layer only |
|
||||
| `doors closed` | ✗ | ✓ | Python layer only |
|
||||
| `!steerFaultTemporary` | ✗ | ✓ | Python layer only |
|
||||
| `!steerFaultPermanent` | ✗ | ✓ | Python layer only |
|
||||
|
||||
---
|
||||
|
||||
## Data Flow
|
||||
|
||||
```
|
||||
┌─────────────────────────────────────────────────────────────────────┐
|
||||
│ CAN Bus │
|
||||
└─────────────────────────────────────────────────────────────────────┘
|
||||
│ │
|
||||
▼ ▼
|
||||
┌─────────────────────────────────┐ ┌─────────────────────────────────┐
|
||||
│ Safety Layer (panda C code) │ │ Python Layer │
|
||||
│ │ │ │
|
||||
│ rx_hook: │ │ carstate.py: │
|
||||
│ - Parse ACC Main signal │ │ - Parse cruiseState.available │
|
||||
│ - Set lkas_on = acc_main_on │ │ - Set self.lkas_on │
|
||||
│ │ │ │
|
||||
│ lat_control_allowed(): │ └─────────────┬───────────────────┘
|
||||
│ - Check lkas_on + other flags │ │
|
||||
│ - Gate steering commands │ ▼
|
||||
└─────────────────────────────────┘ ┌─────────────────────────────────┐
|
||||
│ card.py: │
|
||||
│ - Publish carStateExt.lkasOn │
|
||||
└─────────────┬───────────────────┘
|
||||
│
|
||||
▼
|
||||
┌─────────────────────────────────┐
|
||||
│ controlsd.py: │
|
||||
│ - Read carStateExt.lkasOn │
|
||||
│ - Check ALKA conditions │
|
||||
│ - Set CC.latActive │
|
||||
└─────────────────────────────────┘
|
||||
```
|
||||
|
||||
### Key Files
|
||||
|
||||
| File | Purpose |
|
||||
|------|---------|
|
||||
| `custom.capnp` | Defines `CarStateExt` struct with `lkasOn` field |
|
||||
| `log.capnp` | Includes `carStateExt` in event union |
|
||||
| `interfaces.py` | Defines `self.lkas_on = False` default in `CarStateBase` |
|
||||
| `carstate.py` (per brand) | Tracks `lkas_on` based on ACC Main |
|
||||
| `card.py` | Publishes `carStateExt.lkasOn` from `CI.CS.lkas_on` |
|
||||
| `controlsd.py` | Reads `carStateExt.lkasOn` to determine `alka_active` |
|
||||
|
||||
---
|
||||
|
||||
## ACC Main Tracking
|
||||
|
||||
All brands use simple direct tracking:
|
||||
|
||||
```c
|
||||
// Panda (C code)
|
||||
if (alka_allowed && (alternative_experience & ALT_EXP_ALKA)) {
|
||||
lkas_on = acc_main_on; // or GET_BIT(msg, bit_position)
|
||||
}
|
||||
```
|
||||
|
||||
```python
|
||||
# Python carstate.py
|
||||
self.lkas_on = ret.cruiseState.available
|
||||
```
|
||||
|
||||
This guard ensures:
|
||||
1. Brand supports ALKA (`alka_allowed`)
|
||||
2. User enabled ALKA (`ALT_EXP_ALKA`)
|
||||
|
||||
Without both conditions, no ACC Main tracking occurs, and ALKA remains disabled.
|
||||
|
||||
---
|
||||
|
||||
## Testing
|
||||
|
||||
Safety tests verify:
|
||||
- `alka_allowed` flag set correctly per brand
|
||||
- ACC Main tracking updates `lkas_on` directly
|
||||
- `lat_control_allowed()` returns true only when all conditions met
|
||||
- Steering TX blocked when ALKA conditions not met
|
||||
- Bus routing variants (camera_scc, unsupported_dsu)
|
||||
+30
-4
@@ -1,12 +1,38 @@
|
||||
FROM ghcr.io/commaai/openpilot-base:latest
|
||||
FROM ubuntu:24.04
|
||||
|
||||
ENV PYTHONUNBUFFERED=1
|
||||
|
||||
ENV OPENPILOT_PATH=/home/batman/openpilot
|
||||
ENV DEBIAN_FRONTEND=noninteractive
|
||||
RUN apt-get update && \
|
||||
apt-get install -y --no-install-recommends sudo tzdata locales && \
|
||||
rm -rf /var/lib/apt/lists/*
|
||||
|
||||
RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
|
||||
ENV LANG=en_US.UTF-8
|
||||
ENV LANGUAGE=en_US:en
|
||||
ENV LC_ALL=en_US.UTF-8
|
||||
|
||||
ENV NVIDIA_VISIBLE_DEVICES=all
|
||||
ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
|
||||
|
||||
ARG USER=batman
|
||||
ARG USER_UID=1001
|
||||
RUN useradd -m -s /bin/bash -u $USER_UID $USER
|
||||
RUN usermod -aG sudo $USER
|
||||
RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
|
||||
USER $USER
|
||||
|
||||
ENV OPENPILOT_PATH=/home/$USER/openpilot
|
||||
RUN mkdir -p ${OPENPILOT_PATH}
|
||||
WORKDIR ${OPENPILOT_PATH}
|
||||
|
||||
COPY . ${OPENPILOT_PATH}/
|
||||
COPY --chown=$USER . ${OPENPILOT_PATH}/
|
||||
|
||||
RUN scons --cache-readonly -j$(nproc)
|
||||
ENV UV_BIN="/home/$USER/.local/bin/"
|
||||
ENV VIRTUAL_ENV=${OPENPILOT_PATH}/.venv
|
||||
ENV PATH="$UV_BIN:$VIRTUAL_ENV/bin:$PATH"
|
||||
RUN tools/setup_dependencies.sh && \
|
||||
sudo rm -rf /var/lib/apt/lists/*
|
||||
|
||||
USER root
|
||||
RUN git config --global --add safe.directory '*'
|
||||
|
||||
@@ -1,81 +0,0 @@
|
||||
FROM ubuntu:24.04
|
||||
|
||||
ENV PYTHONUNBUFFERED=1
|
||||
|
||||
ENV DEBIAN_FRONTEND=noninteractive
|
||||
RUN apt-get update && \
|
||||
apt-get install -y --no-install-recommends sudo tzdata locales ssh pulseaudio xvfb x11-xserver-utils gnome-screenshot python3-tk python3-dev && \
|
||||
rm -rf /var/lib/apt/lists/*
|
||||
|
||||
RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
|
||||
ENV LANG=en_US.UTF-8
|
||||
ENV LANGUAGE=en_US:en
|
||||
ENV LC_ALL=en_US.UTF-8
|
||||
|
||||
COPY tools/install_ubuntu_dependencies.sh /tmp/tools/
|
||||
RUN /tmp/tools/install_ubuntu_dependencies.sh && \
|
||||
rm -rf /var/lib/apt/lists/* /tmp/* && \
|
||||
cd /usr/lib/gcc/arm-none-eabi/* && \
|
||||
rm -rf arm/ thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
|
||||
|
||||
# Add OpenCL
|
||||
RUN apt-get update && apt-get install -y --no-install-recommends \
|
||||
apt-utils \
|
||||
alien \
|
||||
unzip \
|
||||
tar \
|
||||
curl \
|
||||
xz-utils \
|
||||
dbus \
|
||||
gcc-arm-none-eabi \
|
||||
tmux \
|
||||
vim \
|
||||
libx11-6 \
|
||||
wget \
|
||||
&& rm -rf /var/lib/apt/lists/*
|
||||
|
||||
RUN mkdir -p /tmp/opencl-driver-intel && \
|
||||
cd /tmp/opencl-driver-intel && \
|
||||
wget https://github.com/intel/llvm/releases/download/2024-WW14/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
|
||||
wget https://github.com/oneapi-src/oneTBB/releases/download/v2021.12.0/oneapi-tbb-2021.12.0-lin.tgz && \
|
||||
mkdir -p /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
|
||||
cd /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
|
||||
tar -zxvf /tmp/opencl-driver-intel/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
|
||||
mkdir -p /etc/OpenCL/vendors && \
|
||||
echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64/libintelocl.so > /etc/OpenCL/vendors/intel_expcpu.icd && \
|
||||
cd /opt/intel && \
|
||||
tar -zxvf /tmp/opencl-driver-intel/oneapi-tbb-2021.12.0-lin.tgz && \
|
||||
ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
|
||||
ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
|
||||
ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so.12 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
|
||||
ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so.2 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
|
||||
mkdir -p /etc/ld.so.conf.d && \
|
||||
echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 > /etc/ld.so.conf.d/libintelopenclexp.conf && \
|
||||
ldconfig -f /etc/ld.so.conf.d/libintelopenclexp.conf && \
|
||||
cd / && \
|
||||
rm -rf /tmp/opencl-driver-intel
|
||||
|
||||
ENV NVIDIA_VISIBLE_DEVICES=all
|
||||
ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
|
||||
ENV QTWEBENGINE_DISABLE_SANDBOX=1
|
||||
|
||||
RUN dbus-uuidgen > /etc/machine-id
|
||||
|
||||
ARG USER=batman
|
||||
ARG USER_UID=1001
|
||||
RUN useradd -m -s /bin/bash -u $USER_UID $USER
|
||||
RUN usermod -aG sudo $USER
|
||||
RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
|
||||
USER $USER
|
||||
|
||||
COPY --chown=$USER pyproject.toml uv.lock /home/$USER
|
||||
COPY --chown=$USER tools/install_python_dependencies.sh /home/$USER/tools/
|
||||
|
||||
ENV VIRTUAL_ENV=/home/$USER/.venv
|
||||
ENV PATH="$VIRTUAL_ENV/bin:$PATH"
|
||||
RUN cd /home/$USER && \
|
||||
tools/install_python_dependencies.sh && \
|
||||
rm -rf tools/ pyproject.toml uv.lock .cache
|
||||
|
||||
USER root
|
||||
RUN sudo git config --global --add safe.directory /tmp/openpilot
|
||||
Vendored
+259
@@ -0,0 +1,259 @@
|
||||
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 ConnectTimeout=5 -o ServerAliveInterval=5 -o ServerAliveCountMax=2 -o BatchMode=yes -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' exec /usr/bin/bash <<'END'
|
||||
|
||||
set -e
|
||||
|
||||
export TERM=xterm-256color
|
||||
|
||||
shopt -s huponexit # kill all child processes when the shell exits
|
||||
|
||||
export CI=1
|
||||
export PYTHONWARNINGS=error
|
||||
#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 for tici tests since most require HIL
|
||||
export PYTEST_ADDOPTS="-n0 -s"
|
||||
|
||||
|
||||
export GIT_SSH_COMMAND="ssh -i /data/gitkey"
|
||||
|
||||
source ~/.bash_profile
|
||||
if [ -f /TICI ]; 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
|
||||
|
||||
ln -snf ${env.TEST_DIR} /data/pythonpath
|
||||
|
||||
cd ${env.TEST_DIR} || true
|
||||
time ${cmd}
|
||||
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("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]
|
||||
}
|
||||
|
||||
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
|
||||
|
||||
def excludeBranches = ['__nightly', '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/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/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/release/build_release.sh"),
|
||||
])
|
||||
},
|
||||
)
|
||||
}
|
||||
|
||||
if (!env.BRANCH_NAME.matches(excludeRegex)) {
|
||||
parallel (
|
||||
'onroad tests': {
|
||||
deviceStage("onroad", "tizi-needs-can", ["UNSAFE=1"], [
|
||||
step("build openpilot", "cd system/manager && ./build.py"),
|
||||
step("check dirty", "release/check-dirty.sh"),
|
||||
step("onroad tests", "pytest selfdrive/test/test_onroad.py -s", [timeout: 60]),
|
||||
])
|
||||
},
|
||||
'HW + Unit Tests': {
|
||||
deviceStage("tizi-hardware", "tizi-common", ["UNSAFE=1"], [
|
||||
step("build", "cd system/manager && ./build.py"),
|
||||
step("test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"),
|
||||
step("test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py", [diffPaths: ["system/loggerd/"]]),
|
||||
step("test manager", "pytest system/manager/test/test_manager.py"),
|
||||
])
|
||||
},
|
||||
'camerad OX03C10': {
|
||||
deviceStage("OX03C10", "tizi-ox03c10", ["UNSAFE=1"], [
|
||||
step("build", "cd system/manager && ./build.py"),
|
||||
step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"),
|
||||
step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 90]),
|
||||
])
|
||||
},
|
||||
'camerad OS04C10': {
|
||||
deviceStage("OS04C10", "tici-os04c10", ["UNSAFE=1"], [
|
||||
step("build", "cd system/manager && ./build.py"),
|
||||
step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"),
|
||||
step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 90]),
|
||||
])
|
||||
},
|
||||
'sensord': {
|
||||
deviceStage("LSM + MMC", "tizi-lsmc", ["UNSAFE=1"], [
|
||||
step("build", "cd system/manager && ./build.py"),
|
||||
step("test sensord", "pytest system/sensord/tests/test_sensord.py"),
|
||||
])
|
||||
},
|
||||
'replay': {
|
||||
deviceStage("model-replay", "tizi-replay", ["UNSAFE=1"], [
|
||||
step("build", "cd system/manager && ./build.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
|
||||
step("model replay", "selfdrive/test/process_replay/model_replay.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
|
||||
])
|
||||
},
|
||||
'tizi': {
|
||||
deviceStage("tizi", "tizi", ["UNSAFE=1"], [
|
||||
step("build openpilot", "cd system/manager && ./build.py"),
|
||||
step("test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
|
||||
step("test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"),
|
||||
step("test amp", "pytest system/hardware/tici/tests/test_amplifier.py"),
|
||||
])
|
||||
},
|
||||
|
||||
)
|
||||
}
|
||||
} catch (Exception e) {
|
||||
currentBuild.result = 'FAILED'
|
||||
throw e
|
||||
}
|
||||
}
|
||||
+30
@@ -0,0 +1,30 @@
|
||||
Copyright (c) 2019, Rick Lan
|
||||
|
||||
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, and/or sublicense,
|
||||
for non-commercial purposes only, 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.
|
||||
- Commercial use (e.g. use in a product, service, or activity intended to
|
||||
generate revenue) is prohibited without explicit written permission from
|
||||
the copyright holder.
|
||||
|
||||
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.
|
||||
|
||||
---
|
||||
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.
|
||||
@@ -1,107 +1,74 @@
|
||||
<div align="center" style="text-align: center;">
|
||||
|
||||
|
||||
<h1>openpilot</h1>
|
||||
[Read this in English](README_EN.md)
|
||||
|
||||
<p>
|
||||
<b>openpilot is an operating system for robotics.</b>
|
||||
<br>
|
||||
Currently, it upgrades the driver assistance system in 300+ supported cars.
|
||||
</p>
|
||||
# **🐲 dragonpilot - 赋予您的爱车「龙」之魂**
|
||||
|
||||
<h3>
|
||||
<a href="https://docs.comma.ai">Docs</a>
|
||||
<span> · </span>
|
||||
<a href="https://docs.comma.ai/contributing/roadmap/">Roadmap</a>
|
||||
<span> · </span>
|
||||
<a href="https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md">Contribute</a>
|
||||
<span> · </span>
|
||||
<a href="https://discord.comma.ai">Community</a>
|
||||
<span> · </span>
|
||||
<a href="https://comma.ai/shop">Try it on a comma 3X</a>
|
||||
</h3>
|
||||
**我们与您一同翱翔于更智慧、更贴心的驾驶旅程。**
|
||||
|
||||
Quick start: `bash <(curl -fsSL openpilot.comma.ai)`
|
||||
## **👋 嘿，朋友，欢迎您到来！**
|
||||
|
||||
[](https://github.com/commaai/openpilot/actions/workflows/selfdrive_tests.yaml)
|
||||
[](LICENSE)
|
||||
[](https://x.com/comma_ai)
|
||||
[](https://discord.comma.ai)
|
||||
`dragonpilot` 诞生于 2019 年，由三位早期的 openpilot 华人玩家共同创立。初衷很简单：为广大的华人用户、玩家们提供一个友善的交流环境、更简便的设定协助，并加入更多适合在地使用的贴心功能。
|
||||
|
||||
</div>
|
||||
我们深知本地化的重要性，特别是语言的亲切感。因此，我们率先导入了完整的中文界面，让 `dragonpilot` 迅速在中文地区积累了口碑，也让华人的使用者数量在全球名列前茅。这份来自社区的的支持，是我们持续前进的最大动力。
|
||||
|
||||
<table>
|
||||
<tr>
|
||||
<td><a href="https://youtu.be/NmBfgOanCyk" title="Video By Greer Viau"><img src="https://github.com/commaai/openpilot/assets/8762862/2f7112ae-f748-4f39-b617-fabd689c3772"></a></td>
|
||||
<td><a href="https://youtu.be/VHKyqZ7t8Gw" title="Video By Logan LeGrand"><img src="https://github.com/commaai/openpilot/assets/8762862/92351544-2833-40d7-9e0b-7ef7ae37ec4c"></a></td>
|
||||
<td><a href="https://youtu.be/SUIZYzxtMQs" title="A drive to Taco Bell"><img src="https://github.com/commaai/openpilot/assets/8762862/05ceefc5-2628-439c-a9b2-89ce77dc6f63"></a></td>
|
||||
</tr>
|
||||
</table>
|
||||
我们以功能强大的 [openpilot](https://github.com/commaai/openpilot) 为基础——这套据美国消费者报告评测优于市售车方案的开源辅助驾驶系统——融入了更多本地化的巧思与定制化的温度，希望能打造出最符合您需求的驾驶伙伴。（您也可以参考我们 repo 中保留的 [openpilot 原始说明文件](README_OPENPILOT.md)）
|
||||
|
||||
取名 `dragonpilot`，是因为我们希望它能像神话中的「龙」一样，既强大又充满智慧，为您的行车安全保驾护航。龙，在我们华人文化中，更是吉祥与力量的象征，也代表着我们的根源与骄傲。
|
||||
|
||||
Using openpilot in a car
|
||||
------
|
||||
## **✨ dragonpilot 的里程碑**
|
||||
|
||||
To use openpilot in a car, you need four things:
|
||||
1. **Supported Device:** a comma 3/3X, available at [comma.ai/shop](https://comma.ai/shop/comma-3x).
|
||||
2. **Software:** The setup procedure for the comma 3/3X allows users to enter a URL for custom software. Use the URL `openpilot.comma.ai` to install the release version.
|
||||
3. **Supported Car:** Ensure that you have one of [the 275+ supported cars](docs/CARS.md).
|
||||
4. **Car Harness:** You will also need a [car harness](https://comma.ai/shop/car-harness) to connect your comma 3/3X to your car.
|
||||
我们不仅保留了 openpilot 的核心优势，更达成了许多从社区反馈中诞生的里程碑，这些是我们引以为傲的足迹：
|
||||
|
||||
We have detailed instructions for [how to install the harness and device in a car](https://comma.ai/setup). Note that it's possible to run openpilot on [other hardware](https://blog.comma.ai/self-driving-car-for-free/), although it's not plug-and-play.
|
||||
* **🚘 全时居中车道保持 (ALKA)**
|
||||
|
||||
### Branches
|
||||
| branch | URL | description |
|
||||
|------------------|----------------------------------------|-------------------------------------------------------------------------------------|
|
||||
| `release3` | openpilot.comma.ai | This is openpilot's release branch. |
|
||||
| `release3-staging` | openpilot-test.comma.ai | This is the staging branch for releases. Use it to get new releases slightly early. |
|
||||
| `nightly` | openpilot-nightly.comma.ai | This is the bleeding edge development branch. Do not expect this to be stable. |
|
||||
| `nightly-dev` | installer.comma.ai/commaai/nightly-dev | Same as nightly, but includes experimental development features for some cars. |
|
||||
这不只是一个功能，更是 `dragonpilot` 的哲学。我们最早于 [0.6.2 版本](https://github.com/dragonpilot-community/dragonpilot/blob/2861467183d62151024320447ba04d18fc3fe1e6/selfdrive/car/toyota/carstate.py#L199) 时便实现了这个功能，其开发历程始于 2017 Lexus IS300h，接着扩展至 Toyota 全车系，并逐步延伸到其他支持的品牌。它能温柔地辅助您，让车辆始终稳定地保持在车道中央，提供一份额外的安心与从容。
|
||||
|
||||
To start developing openpilot
|
||||
------
|
||||
* **🌐 率先导入多语言界面**
|
||||
|
||||
openpilot is developed by [comma](https://comma.ai/) and by users like you. We welcome both pull requests and issues on [GitHub](http://github.com/commaai/openpilot).
|
||||
在官方 openpilot 还未支持前，我们便已将多语言界面实现。`dragonpilot` 完整支持繁体中文、简体中文与英文，让操作毫无隔阂。
|
||||
|
||||
* Join the [community Discord](https://discord.comma.ai)
|
||||
* Check out [the contributing docs](docs/CONTRIBUTING.md)
|
||||
* Check out the [openpilot tools](tools/)
|
||||
* Code documentation lives at https://docs.comma.ai
|
||||
* Information about running openpilot lives on the [community wiki](https://github.com/commaai/openpilot/wiki)
|
||||
* **💻 唯一同时支持多硬件平台**
|
||||
|
||||
Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs#open-positions) and offers lots of [bounties](https://comma.ai/bounties) for external contributors.
|
||||
我们是唯一曾致力于让项目同时兼容 EON、comma two、comma 3 与 Jetson 平台的社区分支，这份努力是为了服务最广大的玩家社群。
|
||||
此外，在 comma.ai 团队于 0.10.0 版本宣布停止支持 comma 3 后，我们仍是唯一一个完整同时支持 comma 3、comma 3X 以及 O3、O3L、O3XL（O3 系列为第三方硬件）的社区分支。
|
||||
|
||||
Safety and Testing
|
||||
----
|
||||
* **📜 曾荣获官方认证第一大分支**
|
||||
|
||||
* openpilot observes [ISO26262](https://en.wikipedia.org/wiki/ISO_26262) guidelines, see [SAFETY.md](docs/SAFETY.md) for more details.
|
||||
* openpilot has software-in-the-loop [tests](.github/workflows/selfdrive_tests.yaml) that run on every commit.
|
||||
* The code enforcing the safety model lives in panda and is written in C, see [code rigor](https://github.com/commaai/panda#code-rigor) for more details.
|
||||
* panda has software-in-the-loop [safety tests](https://github.com/commaai/panda/tree/master/tests/safety).
|
||||
* Internally, we have a hardware-in-the-loop Jenkins test suite that builds and unit tests the various processes.
|
||||
* panda has additional hardware-in-the-loop [tests](https://github.com/commaai/panda/blob/master/Jenkinsfile).
|
||||
* We run the latest openpilot in a testing closet containing 10 comma devices continuously replaying routes.
|
||||
基于活跃的社区与功能创新，`dragonpilot` 曾一度成长为 comma ai 官方认证的第一大 openpilot 分支，这份荣耀属于每一位参与者。
|
||||
|
||||
<details>
|
||||
<summary>MIT Licensed</summary>
|
||||
## **🧑💻 设计理念 - 少即是多 (Less is More)**
|
||||
|
||||
openpilot is released under the MIT license. Some parts of the software are released under other licenses as specified.
|
||||
随着 openpilot 的 AI 模型日益强大，许多过去需要手动微调的功能，现在都已能通过更先进的模型来实现。因此，我们现在的开发重心回归到 **「最小化修改」(minimal changes)** 的核心原则上。
|
||||
|
||||
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.
|
||||
我们的目标是为您提供最纯粹、最接近官方的 openpilot 驾驶感受，同时保留 `dragonpilot` 那些经过时间考验、最受社区喜爱的经典功能。我们相信，在强大的 AI 基础上，简洁即是力量。
|
||||
|
||||
**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.**
|
||||
</details>
|
||||
## **🛠️ 硬件的足迹 - 一路走来的伙伴们**
|
||||
|
||||
<details>
|
||||
<summary>User Data and comma Account</summary>
|
||||
从最早的 **EON**，到官方的 **comma two / three (C2/C3/C3X)**，再到社区中各式各样充满智慧的**第三方硬件（如 C1.5, O2, O3, O3L, O3XL 等）**，甚至我们也曾探索过在 [**Jetson Xavier NX**](https://github.com/eFiniLan/xnxpilot) 上的可能性。
|
||||
|
||||
By default, openpilot uploads the driving data to our servers. You can also access your data through [comma connect](https://connect.comma.ai/). We use your data to train better models and improve openpilot for everyone.
|
||||
目前最新版本主要支持： **comma3 / 3X** 以及 **O3 / O3L / O3XL** 等社区硬件。
|
||||
针对 EON / C1.5 / C2 等旧款硬件，最后支持的版本位于 [d2 分支](https://github.com/dragonpilot-community/dragonpilot/tree/d2)。
|
||||
无论您手上是哪一款设备，都代表着您对开源驾驶辅助的一份热情。
|
||||
|
||||
openpilot is open source software: the user is free to disable data collection if they wish to do so.
|
||||
## **🫂 加入我们，成为「寻龙者」的一份子**
|
||||
|
||||
openpilot logs the road-facing cameras, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
|
||||
The driver-facing camera and microphone are only logged if you explicitly opt-in in settings.
|
||||
`dragonpilot` 的成长，离不开每一位用户的贡献与反馈。我们是一个以**公开、透明**为原则的温暖社区，希望在这里能与所有对 openpilot / dragonpilot 感兴趣的用户分享、交流开发与使用上的经验。
|
||||
|
||||
By using openpilot, you agree to [our Privacy Policy](https://comma.ai/privacy). 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. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
|
||||
</details>
|
||||
[**欢迎加入我们的 Facebook 社团进行交流！**](https://www.facebook.com/groups/930190251238639)
|
||||
|
||||
## **❤️ 特别感谢**
|
||||
|
||||
`dragonpilot` 从创立至今，从未打算通过 Patreon 等平台进行任何形式的募资。我们的初衷是建立一个让大家能一起学习、一起成长的社区。It's all about fun, not money.
|
||||
|
||||
然而，我们仍要对那些自发性支持本项目的朋友们，致上最诚挚的感谢。正是因为有了您们的鼓励，我们才有更大的动力持续前进。
|
||||
|
||||
[**我们的赞助者名单**](SPONSORS.md)
|
||||
|
||||
### **安全声明**
|
||||
|
||||
`dragonpilot` 是一种驾驶**辅助**系统，并非全自动驾驶。它旨在减轻您的驾驶疲劳，提升行车安全，但驾驶人仍需时刻保持专注，并随时准备接管车辆。请务必遵守您所在地的交通法规。
|
||||
|
||||
**最后，再次感谢您的到来。**
|
||||
|
||||
**期待与您一同在智慧驾驶的道路上，乘「龙」而行！**
|
||||
|
||||
@@ -0,0 +1,74 @@
|
||||
|
||||
|
||||
[Read this in Chinese](README.md)
|
||||
|
||||
# **🐲 dragonpilot - Bringing the Spirit of the Dragon to Your Car**
|
||||
|
||||
**Join us on a smarter, more thoughtful driving journey.**
|
||||
|
||||
## **👋 Welcome, friend!**
|
||||
|
||||
`dragonpilot` was launched in 2019 by three early openpilot enthusiasts from the Chinese community. Our mission was simple: create a friendly space for users to share experiences, provide easier setup help, and add features tailored for local needs.
|
||||
|
||||
Localization has always been at the heart of what we do—starting with a fully Chinese interface. This made `dragonpilot` quickly popular in Chinese-speaking regions and helped our user base grow into one of the largest worldwide. That community support is what keeps us moving forward.
|
||||
|
||||
Built on top of the powerful [openpilot](https://github.com/commaai/openpilot)—an open-source driver assistance system rated by Consumer Reports as outperforming commercial offerings—we add localized refinements and user-focused features to create a driving companion that truly fits your needs. (You can also see the [original openpilot README](README_OPENPILOT.md) preserved in our repo.)
|
||||
|
||||
The name `dragonpilot` reflects our vision: like the dragon of mythology, it is strong and wise, guarding your safety on the road. In Chinese culture, the dragon is also a symbol of luck and strength, representing our roots and pride.
|
||||
|
||||
## **✨ Milestones**
|
||||
|
||||
Beyond carrying forward openpilot's core strengths, we've reached several milestones inspired by community feedback:
|
||||
|
||||
* **🚘 Always Lane Keep Assist (ALKA)**
|
||||
|
||||
More than a feature—it's part of the `dragonpilot` philosophy. Introduced as early as [version 0.6.2](https://github.com/dragonpilot-community/dragonpilot/blob/2861467183d62151024320447ba04d18fc3fe1e6/selfdrive/car/toyota/carstate.py#L199), first tested on a 2017 Lexus IS300h, then expanded to Toyota's lineup and beyond. ALKA helps keep your vehicle steadily centered, giving you extra confidence on the road.
|
||||
|
||||
* **🌐 First to add multilingual support**
|
||||
|
||||
Before openpilot officially supported it, we had already introduced multiple languages. `dragonpilot` fully supports Traditional Chinese, Simplified Chinese, and English.
|
||||
|
||||
* **💻 Only community fork to support multiple hardware platforms at once**
|
||||
|
||||
We uniquely worked to make the project run on EON, comma two, comma 3, and Jetson—serving the widest range of users possible.
|
||||
Additionally, after the comma.ai team deprecated the comma 3 in version 0.10.0, we remain the only community fork to offer full, simultaneous support for the comma 3, comma 3X, and the O3, O3L, and O3XL (the O3 series being third-party hardware).
|
||||
|
||||
* **📜 Once recognized as the #1 openpilot fork**
|
||||
|
||||
Thanks to an active community and continuous innovation, `dragonpilot` was once the largest openpilot fork officially recognized by comma ai. This honor belongs to everyone who contributed.
|
||||
|
||||
## **🧑💻 Design Philosophy - Less is More**
|
||||
|
||||
As openpilot's AI grows stronger, many features that once required manual tuning are now handled by advanced models. That's why our focus has returned to **“minimal changes.”**
|
||||
|
||||
We aim to give you the purest, most official-like openpilot driving experience—while preserving `dragonpilot`'s classic, community-loved features. With a solid AI foundation, simplicity is strength.
|
||||
|
||||
## **🛠️ Hardware Journey**
|
||||
|
||||
From the early **EON**, to official devices like **comma two / three (C2/C3/C3X)**, to creative community builds (**C1.5, O2, O3, O3L, O3XL, etc.**), and even experiments with [**Jetson Xavier NX**](https://github.com/eFiniLan/xnxpilot).
|
||||
|
||||
Currently, the latest versions support: **comma3 / 3X** and community hardware like **O3 / O3L / O3XL**.
|
||||
Older devices such as **EON / C1.5 / C2** are supported in the [d2 branch](https://github.com/dragonpilot-community/dragonpilot/tree/d2).
|
||||
Whatever device you're on, it represents your passion for open-source driver assistance.
|
||||
|
||||
## **🫂 Join Us – Become a “Dragon Seeker”**
|
||||
|
||||
`dragonpilot` thrives thanks to every user's contributions and feedback. We're an open, transparent, and welcoming community where enthusiasts can share experiences with openpilot and `dragonpilot`.
|
||||
|
||||
[**Join our Facebook group here!**](https://www.facebook.com/groups/930190251238639)
|
||||
|
||||
## **❤️ Special Thanks**
|
||||
|
||||
Since day one, `dragonpilot` has never asked for funding through Patreon or similar platforms. Our vision is a community where everyone learns and grows together. It's about fun, not money.
|
||||
|
||||
That said, we're deeply grateful to those who voluntarily supported the project. Your encouragement keeps us motivated to keep building.
|
||||
|
||||
[**See our sponsors**](SPONSORS.md)
|
||||
|
||||
### **Safety Notice**
|
||||
|
||||
`dragonpilot` is a driver **assistance** system, not full self-driving. It reduces fatigue and improves safety, but you must remain alert and ready to take control at all times. Always follow your local traffic laws.
|
||||
|
||||
**Thanks again for being here.**
|
||||
|
||||
**We look forward to riding the “dragon” with you on the road to smarter driving!**
|
||||
@@ -0,0 +1,111 @@
|
||||
<div align="center" style="text-align: center;">
|
||||
|
||||
<h1>openpilot</h1>
|
||||
|
||||
<p>
|
||||
<b>openpilot is an operating system for robotics.</b>
|
||||
<br>
|
||||
Currently, it upgrades the driver assistance system in 300+ supported cars.
|
||||
</p>
|
||||
|
||||
<h3>
|
||||
<a href="https://docs.comma.ai">Docs</a>
|
||||
<span> · </span>
|
||||
<a href="https://docs.comma.ai/contributing/roadmap/">Roadmap</a>
|
||||
<span> · </span>
|
||||
<a href="https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md">Contribute</a>
|
||||
<span> · </span>
|
||||
<a href="https://discord.comma.ai">Community</a>
|
||||
<span> · </span>
|
||||
<a href="https://comma.ai/shop">Try it on a comma four</a>
|
||||
</h3>
|
||||
|
||||
Quick start: `bash <(curl -fsSL openpilot.comma.ai)`
|
||||
|
||||
[](https://github.com/commaai/openpilot/actions/workflows/tests.yaml)
|
||||
[](LICENSE)
|
||||
[](https://x.com/comma_ai)
|
||||
[](https://discord.comma.ai)
|
||||
|
||||
</div>
|
||||
|
||||
<table>
|
||||
<tr>
|
||||
<td><a href="https://youtu.be/NmBfgOanCyk" title="Video By Greer Viau"><img src="https://github.com/commaai/openpilot/assets/8762862/2f7112ae-f748-4f39-b617-fabd689c3772"></a></td>
|
||||
<td><a href="https://youtu.be/VHKyqZ7t8Gw" title="Video By Logan LeGrand"><img src="https://github.com/commaai/openpilot/assets/8762862/92351544-2833-40d7-9e0b-7ef7ae37ec4c"></a></td>
|
||||
<td><a href="https://youtu.be/SUIZYzxtMQs" title="A drive to Taco Bell"><img src="https://github.com/commaai/openpilot/assets/8762862/05ceefc5-2628-439c-a9b2-89ce77dc6f63"></a></td>
|
||||
</tr>
|
||||
</table>
|
||||
|
||||
|
||||
Using openpilot in a car
|
||||
------
|
||||
|
||||
To use openpilot in a car, you need four things:
|
||||
1. **Supported Device:** a comma four, available at [comma.ai/shop/comma-four](https://www.comma.ai/shop/comma-four).
|
||||
2. **Software:** The setup procedure for the comma four allows users to enter a URL for custom software. Use the URL `openpilot.comma.ai` to install the release version.
|
||||
3. **Supported Car:** Ensure that you have one of [the 300+ supported cars](docs/CARS.md).
|
||||
4. **Car Harness:** You will also need a [car harness](https://comma.ai/shop/car-harness) to connect your comma four to your car.
|
||||
|
||||
We have detailed instructions for [how to install the harness and device in a car](https://comma.ai/setup). Note that it's possible to run openpilot on [other hardware](https://blog.comma.ai/self-driving-car-for-free/), although it's not plug-and-play.
|
||||
|
||||
|
||||
### Branches
|
||||
|
||||
Running `master` and other branches directly is supported, but it's recommended to run one of the following prebuilt branches:
|
||||
|
||||
| comma four branch | comma 3X branch | URL | description |
|
||||
|------------------------|------------------------|----------------------------------------|-------------------------------------------------------------------------------------|
|
||||
| `release-mici` | `release-tizi` | openpilot.comma.ai | This is openpilot's release branch. |
|
||||
| `release-mici-staging` | `release-tizi-staging` | openpilot-test.comma.ai | This is the staging branch for releases. Use it to get new releases slightly early. |
|
||||
| `nightly` | `nightly` | openpilot-nightly.comma.ai | This is the bleeding edge development branch. Do not expect this to be stable. |
|
||||
| `nightly-dev` | `nightly-dev` | installer.comma.ai/commaai/nightly-dev | Same as nightly, but includes experimental development features for some cars. |
|
||||
|
||||
To start developing openpilot
|
||||
------
|
||||
|
||||
openpilot is developed by [comma](https://comma.ai/) and by users like you. We welcome both pull requests and issues on [GitHub](http://github.com/commaai/openpilot).
|
||||
|
||||
* Join the [community Discord](https://discord.comma.ai)
|
||||
* Check out [the contributing docs](docs/CONTRIBUTING.md)
|
||||
* Check out the [openpilot tools](tools/)
|
||||
* Code documentation lives at https://docs.comma.ai
|
||||
* Information about running openpilot lives on the [community wiki](https://github.com/commaai/openpilot/wiki)
|
||||
|
||||
Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs#open-positions) and offers lots of [bounties](https://comma.ai/bounties) for external contributors.
|
||||
|
||||
Safety and Testing
|
||||
----
|
||||
|
||||
* openpilot observes [ISO26262](https://en.wikipedia.org/wiki/ISO_26262) guidelines, see [SAFETY.md](docs/SAFETY.md) for more details.
|
||||
* openpilot has software-in-the-loop [tests](.github/workflows/tests.yaml) that run on every commit.
|
||||
* The code enforcing the safety model lives in panda and is written in C, see [code rigor](https://github.com/commaai/panda#code-rigor) for more details.
|
||||
* panda has software-in-the-loop [safety tests](https://github.com/commaai/panda/tree/master/tests/safety).
|
||||
* Internally, we have a hardware-in-the-loop Jenkins test suite that builds and unit tests the various processes.
|
||||
* panda has additional hardware-in-the-loop [tests](https://github.com/commaai/panda/blob/master/Jenkinsfile).
|
||||
* We run the latest openpilot in a testing closet containing 10 comma devices continuously replaying routes.
|
||||
|
||||
<details>
|
||||
<summary>MIT Licensed</summary>
|
||||
|
||||
openpilot is released under the MIT license. Some parts of the software are released under other licenses as specified.
|
||||
|
||||
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.**
|
||||
</details>
|
||||
|
||||
<details>
|
||||
<summary>User Data and comma Account</summary>
|
||||
|
||||
By default, openpilot uploads driving data to our servers. You can also access your data through [comma connect](https://connect.comma.ai/). We use your data to train better models and improve openpilot for everyone.
|
||||
|
||||
openpilot is open source software, and users can disable data collection if they wish.
|
||||
|
||||
openpilot logs the road-facing cameras, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
|
||||
The driver-facing camera and microphone are only logged if you explicitly opt-in in settings.
|
||||
|
||||
By using openpilot, you agree to [our Privacy Policy](https://comma.ai/privacy). 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. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
|
||||
</details>
|
||||
+42
-2
@@ -1,7 +1,47 @@
|
||||
Version 0.11.1 (2026-05-18)
|
||||
========================
|
||||
* New driver monitoring model
|
||||
* Improved image processing pipeline for driver camera
|
||||
* Improved thermal policy for comma four
|
||||
* Acura MDX 2022-24 support thanks to mvl-boston!
|
||||
* Rivian R1S and R1T 2025 support thanks to lukasloetkolben!
|
||||
|
||||
Version 0.11.0 (2026-03-17)
|
||||
========================
|
||||
* New driving model #36798
|
||||
* Fully trained using a learned simulator
|
||||
* Improved longitudinal performance in Experimental mode
|
||||
* Reduce comma four standby power usage by 77% to 52 mW
|
||||
* Kia K7 2017 support thanks to royjr!
|
||||
* Lexus LS 2018 support thanks to Hacheoy!
|
||||
|
||||
Version 0.10.3 (2025-12-17)
|
||||
========================
|
||||
* New driving model #36249
|
||||
* New temporal policy architecture
|
||||
* New on-policy training physics noise model
|
||||
* New driver monitoring model #36409
|
||||
* Trained on a new dataset, including comma four data
|
||||
* Improved inter-process communication memory efficiency
|
||||
|
||||
Version 0.10.2 (2025-11-19)
|
||||
========================
|
||||
* comma four support
|
||||
|
||||
Version 0.10.1 (2025-09-08)
|
||||
========================
|
||||
* Record driving feedback using LKAS button
|
||||
* Honda City 2023 support thanks to drFritz!
|
||||
* New driving model #36276
|
||||
* World Model: removed global localization inputs
|
||||
* World Model: 2x the number of parameters
|
||||
* World Model: trained on 4x the number of segments
|
||||
* VAE Compression Model: new architecture and training objective
|
||||
* Driving Vision Model: trained on 4x the number of segments
|
||||
* New Driver Monitoring model #36198
|
||||
* Acura TLX 2021 support thanks to MVL!
|
||||
* Honda City 2023 support thanks to vanillagorillaa and drFritz!
|
||||
* Honda N-Box 2018 support thanks to miettal!
|
||||
* Honda Odyssey 2021-25 support thanks to csouers and MVL!
|
||||
* Honda Passport 2026 support thanks to vanillagorillaa and MVL!
|
||||
|
||||
Version 0.10.0 (2025-08-05)
|
||||
========================
|
||||
|
||||
+202
-254
@@ -3,322 +3,233 @@ import subprocess
|
||||
import sys
|
||||
import sysconfig
|
||||
import platform
|
||||
import shlex
|
||||
import importlib
|
||||
import numpy as np
|
||||
|
||||
import SCons.Errors
|
||||
from SCons.Defaults import _stripixes
|
||||
|
||||
TICI = os.path.isfile('/TICI')
|
||||
|
||||
SCons.Warnings.warningAsException(True)
|
||||
|
||||
# pending upstream fix - https://github.com/SCons/scons/issues/4461
|
||||
#SetOption('warn', 'all')
|
||||
|
||||
TICI = os.path.isfile('/TICI')
|
||||
AGNOS = TICI
|
||||
|
||||
Decider('MD5-timestamp')
|
||||
|
||||
SetOption('num_jobs', max(1, int(os.cpu_count()/2)))
|
||||
|
||||
AddOption('--kaitai',
|
||||
action='store_true',
|
||||
help='Regenerate kaitai struct parsers')
|
||||
|
||||
AddOption('--asan',
|
||||
action='store_true',
|
||||
help='turn on ASAN')
|
||||
|
||||
AddOption('--ubsan',
|
||||
action='store_true',
|
||||
help='turn on UBSan')
|
||||
|
||||
AddOption('--coverage',
|
||||
action='store_true',
|
||||
help='build with test coverage options')
|
||||
|
||||
AddOption('--clazy',
|
||||
action='store_true',
|
||||
help='build with clazy')
|
||||
|
||||
AddOption('--ccflags',
|
||||
action='store',
|
||||
type='string',
|
||||
default='',
|
||||
help='pass arbitrary flags over the command line')
|
||||
|
||||
AddOption('--external-sconscript',
|
||||
action='store',
|
||||
metavar='FILE',
|
||||
dest='external_sconscript',
|
||||
help='add an external SConscript to the build')
|
||||
|
||||
AddOption('--mutation',
|
||||
action='store_true',
|
||||
help='generate mutation-ready code')
|
||||
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 = not os.path.exists(File('#.gitattributes').abspath) # file absent on release branch, see release_files.py
|
||||
AddOption('--minimal',
|
||||
action='store_false',
|
||||
dest='extras',
|
||||
default=os.path.exists(File('#.lfsconfig').abspath), # minimal by default on release branch (where there's no LFS)
|
||||
default=(not TICI and not release),
|
||||
help='the minimum build to run openpilot. no tests, tools, etc.')
|
||||
|
||||
## Architecture name breakdown (arch)
|
||||
## - larch64: linux tici aarch64
|
||||
## - aarch64: linux pc aarch64
|
||||
## - x86_64: linux pc x64
|
||||
## - Darwin: mac x64 or arm64
|
||||
real_arch = arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
|
||||
# Detect platform
|
||||
arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
|
||||
if platform.system() == "Darwin":
|
||||
arch = "Darwin"
|
||||
brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip()
|
||||
elif arch == "aarch64" and AGNOS:
|
||||
elif arch == "aarch64" and TICI:
|
||||
arch = "larch64"
|
||||
assert arch in ["larch64", "aarch64", "x86_64", "Darwin"]
|
||||
assert arch in [
|
||||
"larch64", # linux tici arm64
|
||||
"aarch64", # linux pc arm64
|
||||
"x86_64", # linux pc x64
|
||||
"Darwin", # macOS arm64 (x86 not supported)
|
||||
]
|
||||
|
||||
lenv = {
|
||||
"PATH": os.environ['PATH'],
|
||||
"PYTHONPATH": Dir("#").abspath + ':' + Dir(f"#third_party/acados").abspath,
|
||||
pkg_names = ['acados', 'bzip2', 'capnproto', 'catch2', 'eigen', 'ffmpeg', 'json11', 'libjpeg', 'libyuv', 'ncurses', 'zeromq', 'zstd']
|
||||
pkgs = [importlib.import_module(name) for name in pkg_names]
|
||||
acados = pkgs[pkg_names.index('acados')]
|
||||
acados_include_dirs = [
|
||||
acados.INCLUDE_DIR,
|
||||
os.path.join(acados.INCLUDE_DIR, "blasfeo", "include"),
|
||||
os.path.join(acados.INCLUDE_DIR, "hpipm", "include"),
|
||||
]
|
||||
|
||||
"ACADOS_SOURCE_DIR": Dir("#third_party/acados").abspath,
|
||||
"ACADOS_PYTHON_INTERFACE_PATH": Dir("#third_party/acados/acados_template").abspath,
|
||||
"TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer"
|
||||
|
||||
# ***** enforce a whitelist of system libraries *****
|
||||
# this prevents silently relying on a 3rd party package,
|
||||
# e.g. apt-installed libusb. all libraries should either
|
||||
# be distributed with all Linux distros and macOS, or
|
||||
# vendored in commaai/dependencies.
|
||||
allowed_system_libs = {
|
||||
"EGL", "GLESv2", "GL",
|
||||
"Qt5Charts", "Qt5Core", "Qt5Gui", "Qt5Widgets",
|
||||
"dl", "drm", "gbm", "m", "pthread",
|
||||
# dragonpilot: comma3 multi-panda USB (selfdrive/pandad_tici) + cabana/jotpluggler need libusb.
|
||||
# Upstream removed USB and dropped libusb from this whitelist; we keep aux-panda so re-allow it.
|
||||
"usb-1.0",
|
||||
}
|
||||
|
||||
rpath = []
|
||||
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}'")
|
||||
|
||||
if arch == "larch64":
|
||||
cpppath = [
|
||||
"#third_party/opencl/include",
|
||||
]
|
||||
|
||||
libpath = [
|
||||
"/usr/local/lib",
|
||||
"/system/vendor/lib64",
|
||||
f"#third_party/acados/{arch}/lib",
|
||||
]
|
||||
|
||||
libpath += [
|
||||
"#third_party/libyuv/larch64/lib",
|
||||
"/usr/lib/aarch64-linux-gnu"
|
||||
]
|
||||
cflags = ["-DQCOM2", "-mcpu=cortex-a57"]
|
||||
cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"]
|
||||
rpath += ["/usr/local/lib"]
|
||||
else:
|
||||
cflags = []
|
||||
cxxflags = []
|
||||
cpppath = []
|
||||
rpath += []
|
||||
|
||||
# MacOS
|
||||
if arch == "Darwin":
|
||||
libpath = [
|
||||
f"#third_party/libyuv/{arch}/lib",
|
||||
f"#third_party/acados/{arch}/lib",
|
||||
f"{brew_prefix}/lib",
|
||||
f"{brew_prefix}/opt/openssl@3.0/lib",
|
||||
"/System/Library/Frameworks/OpenGL.framework/Libraries",
|
||||
]
|
||||
|
||||
cflags += ["-DGL_SILENCE_DEPRECATION"]
|
||||
cxxflags += ["-DGL_SILENCE_DEPRECATION"]
|
||||
cpppath += [
|
||||
f"{brew_prefix}/include",
|
||||
f"{brew_prefix}/opt/openssl@3.0/include",
|
||||
]
|
||||
# Linux
|
||||
else:
|
||||
libpath = [
|
||||
f"#third_party/acados/{arch}/lib",
|
||||
f"#third_party/libyuv/{arch}/lib",
|
||||
"/usr/lib",
|
||||
"/usr/local/lib",
|
||||
]
|
||||
|
||||
if GetOption('asan'):
|
||||
ccflags = ["-fsanitize=address", "-fno-omit-frame-pointer"]
|
||||
ldflags = ["-fsanitize=address"]
|
||||
elif GetOption('ubsan'):
|
||||
ccflags = ["-fsanitize=undefined"]
|
||||
ldflags = ["-fsanitize=undefined"]
|
||||
else:
|
||||
ccflags = []
|
||||
ldflags = []
|
||||
|
||||
# no --as-needed on mac linker
|
||||
if arch != "Darwin":
|
||||
ldflags += ["-Wl,--as-needed", "-Wl,--no-undefined"]
|
||||
|
||||
ccflags_option = GetOption('ccflags')
|
||||
if ccflags_option:
|
||||
ccflags += ccflags_option.split(' ')
|
||||
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=lenv,
|
||||
ENV={
|
||||
"PATH": os.environ['PATH'],
|
||||
"PYTHONPATH": Dir("#").abspath,
|
||||
"ACADOS_SOURCE_DIR": acados.DIR,
|
||||
"ACADOS_PYTHON_INTERFACE_PATH": acados.TEMPLATE_DIR,
|
||||
"TERA_PATH": acados.TERA_PATH
|
||||
},
|
||||
CCFLAGS=[
|
||||
"-g",
|
||||
"-fPIC",
|
||||
"-O2",
|
||||
"-Wunused",
|
||||
"-Werror",
|
||||
"-Wshadow",
|
||||
"-Wshadow" if arch in ("Darwin", "larch64") else "-Wshadow=local",
|
||||
"-Wno-unknown-warning-option",
|
||||
"-Wno-inconsistent-missing-override",
|
||||
"-Wno-c99-designator",
|
||||
"-Wno-reorder-init-list",
|
||||
"-Wno-vla-cxx-extension",
|
||||
] + cflags + ccflags,
|
||||
|
||||
CPPPATH=cpppath + [
|
||||
],
|
||||
CFLAGS=["-std=gnu11"],
|
||||
CXXFLAGS=["-std=c++1z"],
|
||||
CPPPATH=[
|
||||
"#",
|
||||
"#third_party/acados/include",
|
||||
"#third_party/acados/include/blasfeo/include",
|
||||
"#third_party/acados/include/hpipm/include",
|
||||
"#third_party/catch2/include",
|
||||
"#third_party/libyuv/include",
|
||||
"#third_party/json11",
|
||||
"#third_party/linux/include",
|
||||
"#third_party",
|
||||
"#msgq",
|
||||
acados_include_dirs,
|
||||
[x.INCLUDE_DIR for x in pkgs],
|
||||
],
|
||||
|
||||
CC='clang',
|
||||
CXX='clang++',
|
||||
LINKFLAGS=ldflags,
|
||||
|
||||
RPATH=rpath,
|
||||
|
||||
CFLAGS=["-std=gnu11"] + cflags,
|
||||
CXXFLAGS=["-std=c++1z"] + cxxflags,
|
||||
LIBPATH=libpath + [
|
||||
"#msgq_repo",
|
||||
"#third_party",
|
||||
"#selfdrive/pandad",
|
||||
LIBPATH=[
|
||||
"#common",
|
||||
"#msgq_repo",
|
||||
"#selfdrive/pandad_tici" if "TICI_DOS" in os.environ else "#selfdrive/pandad",
|
||||
"#rednose/helpers",
|
||||
[x.LIB_DIR for x in pkgs],
|
||||
],
|
||||
RPATH=[],
|
||||
CYTHONCFILESUFFIX=".cpp",
|
||||
COMPILATIONDB_USE_ABSPATH=True,
|
||||
REDNOSE_ROOT="#",
|
||||
tools=["default", "cython", "compilation_db", "rednose_filter"],
|
||||
toolpath=["#site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
|
||||
)
|
||||
if arch != "larch64":
|
||||
env['_LIBFLAGS'] = _libflags
|
||||
|
||||
if arch == "Darwin":
|
||||
# RPATH is not supported on macOS, instead use the linker flags
|
||||
darwin_rpath_link_flags = [f"-Wl,-rpath,{path}" for path in env["RPATH"]]
|
||||
env["LINKFLAGS"] += darwin_rpath_link_flags
|
||||
# Arch-specific flags and paths
|
||||
if arch == "larch64":
|
||||
env["CC"] = "clang"
|
||||
env["CXX"] = "clang++"
|
||||
env.Append(LIBPATH=[
|
||||
"/usr/lib/aarch64-linux-gnu",
|
||||
])
|
||||
arch_flags = ["-D__TICI__", "-mcpu=cortex-a57"]
|
||||
env.Append(CCFLAGS=arch_flags)
|
||||
env.Append(CXXFLAGS=arch_flags)
|
||||
elif arch == "Darwin":
|
||||
env.Append(LIBPATH=[
|
||||
"/System/Library/Frameworks/OpenGL.framework/Libraries",
|
||||
])
|
||||
env.Append(CCFLAGS=["-DGL_SILENCE_DEPRECATION"])
|
||||
env.Append(CXXFLAGS=["-DGL_SILENCE_DEPRECATION"])
|
||||
|
||||
env.CompilationDatabase('compile_commands.json')
|
||||
_extra_cc = shlex.split(GetOption('ccflags') or '')
|
||||
if _extra_cc:
|
||||
env.Append(CCFLAGS=_extra_cc)
|
||||
|
||||
# Setup cache dir
|
||||
cache_dir = '/data/scons_cache' if AGNOS else '/tmp/scons_cache'
|
||||
CacheDir(cache_dir)
|
||||
Clean(["."], cache_dir)
|
||||
# no --as-needed on mac linker
|
||||
if arch != "Darwin":
|
||||
env.Append(LINKFLAGS=["-Wl,--as-needed", "-Wl,--no-undefined"])
|
||||
|
||||
node_interval = 5
|
||||
node_count = 0
|
||||
def progress_function(node):
|
||||
global node_count
|
||||
node_count += node_interval
|
||||
sys.stderr.write("progress: %d\n" % node_count)
|
||||
# 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"
|
||||
|
||||
if os.environ.get('SCONS_PROGRESS'):
|
||||
Progress(progress_function, interval=node_interval)
|
||||
|
||||
# Cython build environment
|
||||
py_include = sysconfig.get_paths()['include']
|
||||
# ********** Cython build environment **********
|
||||
envCython = env.Clone()
|
||||
envCython["CPPPATH"] += [py_include, np.get_include()]
|
||||
envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-shadow", "-Wno-deprecated-declarations"]
|
||||
envCython["CPPPATH"] += [sysconfig.get_paths()['include'], np.get_include()]
|
||||
envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-cpp", "-Wno-shadow", "-Wno-deprecated-declarations"]
|
||||
envCython["CCFLAGS"].remove("-Werror")
|
||||
|
||||
envCython["LIBS"] = []
|
||||
if arch == "Darwin":
|
||||
envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"] + darwin_rpath_link_flags
|
||||
envCython["LINKFLAGS"] = env["LINKFLAGS"] + ["-bundle", "-undefined", "dynamic_lookup"]
|
||||
else:
|
||||
envCython["LINKFLAGS"] = ["-pthread", "-shared"]
|
||||
|
||||
np_version = SCons.Script.Value(np.__version__)
|
||||
Export('envCython', 'np_version')
|
||||
|
||||
# Qt build environment
|
||||
qt_env = env.Clone()
|
||||
qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "DBus", "Xml"]
|
||||
Export('env', 'arch', 'acados')
|
||||
|
||||
qt_libs = []
|
||||
if arch == "Darwin":
|
||||
qt_env['QTDIR'] = f"{brew_prefix}/opt/qt@5"
|
||||
qt_dirs = [
|
||||
os.path.join(qt_env['QTDIR'], "include"),
|
||||
]
|
||||
qt_dirs += [f"{qt_env['QTDIR']}/include/Qt{m}" for m in qt_modules]
|
||||
qt_env["LINKFLAGS"] += ["-F" + os.path.join(qt_env['QTDIR'], "lib")]
|
||||
qt_env["FRAMEWORKS"] += [f"Qt{m}" for m in qt_modules] + ["OpenGL"]
|
||||
qt_env.AppendENVPath('PATH', os.path.join(qt_env['QTDIR'], "bin"))
|
||||
else:
|
||||
qt_install_prefix = subprocess.check_output(['qmake', '-query', 'QT_INSTALL_PREFIX'], encoding='utf8').strip()
|
||||
qt_install_headers = subprocess.check_output(['qmake', '-query', 'QT_INSTALL_HEADERS'], encoding='utf8').strip()
|
||||
# Setup cache dir
|
||||
cache_dir = '/data/scons_cache' if arch == "larch64" else '/tmp/scons_cache'
|
||||
cache_size_limit = 4e9 if "CI" in os.environ else 2e9
|
||||
CacheDir(cache_dir)
|
||||
Clean(["."], cache_dir)
|
||||
|
||||
qt_env['QTDIR'] = qt_install_prefix
|
||||
qt_dirs = [
|
||||
f"{qt_install_headers}",
|
||||
]
|
||||
def prune_cache_dir(target=None, source=None, env=None):
|
||||
cache_files = sorted((os.path.join(root, f) for root, _, files in os.walk(cache_dir) for f in files), key=os.path.getmtime)
|
||||
cache_size = sum(os.path.getsize(f) for f in cache_files)
|
||||
for f in cache_files:
|
||||
if cache_size < cache_size_limit:
|
||||
break
|
||||
cache_size -= os.path.getsize(f)
|
||||
os.unlink(f)
|
||||
|
||||
qt_gui_path = os.path.join(qt_install_headers, "QtGui")
|
||||
qt_gui_dirs = [d for d in os.listdir(qt_gui_path) if os.path.isdir(os.path.join(qt_gui_path, d))]
|
||||
qt_dirs += [f"{qt_install_headers}/QtGui/{qt_gui_dirs[0]}/QtGui", ] if qt_gui_dirs else []
|
||||
qt_dirs += [f"{qt_install_headers}/Qt{m}" for m in qt_modules]
|
||||
# dragonpilot settings generation — runs every scons invocation, idempotent.
|
||||
# Writes common/params_keys.h in place; we don't declare a target so scons
|
||||
# treats it purely as a pre-build side effect.
|
||||
if env.Execute('./generate_settings.py') != 0:
|
||||
Exit('generate_settings.py failed')
|
||||
|
||||
qt_libs = [f"Qt5{m}" for m in qt_modules]
|
||||
if arch == "larch64":
|
||||
qt_libs += ["GLESv2", "wayland-client"]
|
||||
qt_env.PrependENVPath('PATH', Dir("#third_party/qt5/larch64/bin/").abspath)
|
||||
elif arch != "Darwin":
|
||||
qt_libs += ["GL"]
|
||||
qt_env['QT3DIR'] = qt_env['QTDIR']
|
||||
qt_env.Tool('qt3')
|
||||
|
||||
qt_env['CPPPATH'] += qt_dirs + ["#third_party/qrcode"]
|
||||
qt_flags = [
|
||||
"-D_REENTRANT",
|
||||
"-DQT_NO_DEBUG",
|
||||
"-DQT_WIDGETS_LIB",
|
||||
"-DQT_GUI_LIB",
|
||||
"-DQT_CORE_LIB",
|
||||
"-DQT_MESSAGELOGCONTEXT",
|
||||
]
|
||||
qt_env['CXXFLAGS'] += qt_flags
|
||||
qt_env['LIBPATH'] += ['#selfdrive/ui', ]
|
||||
qt_env['LIBS'] = qt_libs
|
||||
|
||||
if GetOption("clazy"):
|
||||
checks = [
|
||||
"level0",
|
||||
"level1",
|
||||
"no-range-loop",
|
||||
"no-non-pod-global-static",
|
||||
]
|
||||
qt_env['CXX'] = 'clazy'
|
||||
qt_env['ENV']['CLAZY_IGNORE_DIRS'] = qt_dirs[0]
|
||||
qt_env['ENV']['CLAZY_CHECKS'] = ','.join(checks)
|
||||
|
||||
Export('env', 'qt_env', 'arch', 'real_arch')
|
||||
# ********** start building stuff **********
|
||||
|
||||
# Build common module
|
||||
SConscript(['common/SConscript'])
|
||||
Import('_common', '_gpucommon')
|
||||
|
||||
Import('_common')
|
||||
common = [_common, 'json11', 'zmq']
|
||||
gpucommon = [_gpucommon]
|
||||
|
||||
Export('common', 'gpucommon')
|
||||
Export('common')
|
||||
|
||||
# Build messaging (cereal + msgq + socketmaster + their dependencies)
|
||||
# Enable swaglog include in submodules
|
||||
env_swaglog = env.Clone()
|
||||
env_swaglog['CXXFLAGS'].append('-DSWAGLOG="\\"common/swaglog.h\\""')
|
||||
SConscript(['msgq_repo/SConscript'], exports={'env': env_swaglog})
|
||||
SConscript(['opendbc_repo/SConscript'], exports={'env': env_swaglog})
|
||||
|
||||
SConscript(['cereal/SConscript'])
|
||||
|
||||
@@ -329,34 +240,71 @@ Export('messaging')
|
||||
|
||||
# Build other submodules
|
||||
SConscript(['panda/SConscript'])
|
||||
SConscript(['panda_tici/SConscript'])
|
||||
|
||||
# Build rednose library
|
||||
SConscript(['rednose/SConscript'])
|
||||
|
||||
# Build system services
|
||||
SConscript([
|
||||
'system/ubloxd/SConscript',
|
||||
'system/loggerd/SConscript',
|
||||
])
|
||||
if arch != "Darwin":
|
||||
SConscript([
|
||||
'system/logcatd/SConscript',
|
||||
'system/proclogd/SConscript',
|
||||
])
|
||||
|
||||
if arch == "larch64":
|
||||
SConscript(['system/camerad/SConscript'])
|
||||
|
||||
# Build openpilot
|
||||
SConscript(['third_party/SConscript'])
|
||||
# Build selfdrive
|
||||
SConscript([
|
||||
'selfdrive/pandad/SConscript',
|
||||
'selfdrive/pandad_tici/SConscript',
|
||||
'selfdrive/controls/lib/lateral_mpc_lib/SConscript',
|
||||
'selfdrive/controls/lib/longitudinal_mpc_lib/SConscript',
|
||||
'selfdrive/locationd/SConscript',
|
||||
'selfdrive/modeld/SConscript',
|
||||
'selfdrive/ui/SConscript',
|
||||
])
|
||||
|
||||
SConscript(['selfdrive/SConscript'])
|
||||
# Build desktop-only tools
|
||||
if GetOption('extras') and arch != "larch64":
|
||||
SConscript([
|
||||
'tools/replay/SConscript',
|
||||
'tools/cabana/SConscript',
|
||||
'tools/jotpluggler/SConscript',
|
||||
])
|
||||
|
||||
if Dir('#tools/cabana/').exists() and GetOption('extras'):
|
||||
SConscript(['tools/replay/SConscript'])
|
||||
if arch != "larch64":
|
||||
SConscript(['tools/cabana/SConscript'])
|
||||
|
||||
external_sconscript = GetOption('external_sconscript')
|
||||
if external_sconscript:
|
||||
SConscript([external_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)
|
||||
|
||||
+2
-2
@@ -4,7 +4,7 @@ cereal_dir = Dir('.')
|
||||
gen_dir = Dir('gen')
|
||||
|
||||
# Build cereal
|
||||
schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp', 'custom.capnp']
|
||||
schema_files = ['log.capnp', 'car.capnp', 'deprecated.capnp', 'custom.capnp']
|
||||
env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files],
|
||||
schema_files,
|
||||
f"capnpc --src-prefix={cereal_dir.path} $SOURCES -o c++:{gen_dir.path}/cpp/")
|
||||
@@ -13,7 +13,7 @@ cereal = env.Library('cereal', [f'gen/cpp/{s}.c++' for s in schema_files])
|
||||
|
||||
# Build messaging
|
||||
services_h = env.Command(['services.h'], ['services.py'], 'python3 ' + cereal_dir.path + '/services.py > $TARGET')
|
||||
env.Program('messaging/bridge', ['messaging/bridge.cc', 'messaging/msgq_to_zmq.cc'], LIBS=[msgq, common, 'pthread'])
|
||||
env.Program('messaging/bridge', ['messaging/bridge.cc', 'messaging/msgq_to_zmq.cc', 'messaging/bridge_zmq.cc'], LIBS=[msgq, common, 'pthread'])
|
||||
|
||||
socketmaster = env.Library('socketmaster', ['messaging/socketmaster.cc'])
|
||||
|
||||
|
||||
+12
-4
@@ -10,16 +10,24 @@ $Cxx.namespace("cereal");
|
||||
# DO rename the structs
|
||||
# DON'T change the identifier (e.g. @0x81c2f05a394cf4af)
|
||||
|
||||
struct CustomReserved0 @0x81c2f05a394cf4af {
|
||||
struct ControlsStateExt @0x81c2f05a394cf4af {
|
||||
alkaActive @0 :Bool;
|
||||
}
|
||||
|
||||
struct CustomReserved1 @0xaedffd8f31e7b55d {
|
||||
struct CarStateExt @0xaedffd8f31e7b55d {
|
||||
# dp - ALKA: lkasOn state from carstate (mirrors panda's lkas_on)
|
||||
lkasOn @0 :Bool;
|
||||
}
|
||||
|
||||
struct CustomReserved2 @0xf35cc4560bbf6ec2 {
|
||||
struct ModelExt @0xf35cc4560bbf6ec2 {
|
||||
leftEdgeDetected @0 :Bool;
|
||||
rightEdgeDetected @1 :Bool;
|
||||
}
|
||||
|
||||
struct CustomReserved3 @0xda96579883444c35 {
|
||||
struct DashyState @0xda96579883444c35 {
|
||||
# Pre-serialized JSON bytes for dashy UI
|
||||
# Aggregates all topics needed by dashy into single message
|
||||
json @0 :Data;
|
||||
}
|
||||
|
||||
struct CustomReserved4 @0x80ae746ee2596b11 {
|
||||
|
||||
@@ -0,0 +1,789 @@
|
||||
using Cxx = import "./include/c++.capnp";
|
||||
$Cxx.namespace("cereal");
|
||||
|
||||
@0x80ef1ec4889c2a63;
|
||||
|
||||
# deprecated.capnp: a home for deprecated structs
|
||||
|
||||
struct LogRotate @0x9811e1f38f62f2d1 {
|
||||
segmentNum @0 :Int32;
|
||||
path @1 :Text;
|
||||
}
|
||||
|
||||
struct LiveUI @0xc08240f996aefced {
|
||||
rearViewCam @0 :Bool;
|
||||
alertText1 @1 :Text;
|
||||
alertText2 @2 :Text;
|
||||
awarenessStatus @3 :Float32;
|
||||
}
|
||||
|
||||
struct UiLayoutState @0x88dcce08ad29dda0 {
|
||||
activeApp @0 :App;
|
||||
sidebarCollapsed @1 :Bool;
|
||||
mapEnabled @2 :Bool;
|
||||
mockEngaged @3 :Bool;
|
||||
|
||||
enum App @0x9917470acf94d285 {
|
||||
home @0;
|
||||
music @1;
|
||||
nav @2;
|
||||
settings @3;
|
||||
none @4;
|
||||
}
|
||||
}
|
||||
|
||||
struct OrbslamCorrection @0x8afd33dc9b35e1aa {
|
||||
correctionMonoTime @0 :UInt64;
|
||||
prePositionECEF @1 :List(Float64);
|
||||
postPositionECEF @2 :List(Float64);
|
||||
prePoseQuatECEF @3 :List(Float32);
|
||||
postPoseQuatECEF @4 :List(Float32);
|
||||
numInliers @5 :UInt32;
|
||||
}
|
||||
|
||||
struct EthernetPacket @0xa99a9d5b33cf5859 {
|
||||
pkt @0 :Data;
|
||||
ts @1 :Float32;
|
||||
}
|
||||
|
||||
struct CellInfo @0xcff7566681c277ce {
|
||||
timestamp @0 :UInt64;
|
||||
repr @1 :Text; # android toString() for now
|
||||
}
|
||||
|
||||
struct WifiScan @0xd4df5a192382ba0b {
|
||||
bssid @0 :Text;
|
||||
ssid @1 :Text;
|
||||
capabilities @2 :Text;
|
||||
frequency @3 :Int32;
|
||||
level @4 :Int32;
|
||||
timestamp @5 :Int64;
|
||||
|
||||
centerFreq0 @6 :Int32;
|
||||
centerFreq1 @7 :Int32;
|
||||
channelWidth @8 :ChannelWidth;
|
||||
operatorFriendlyName @9 :Text;
|
||||
venueName @10 :Text;
|
||||
is80211mcResponder @11 :Bool;
|
||||
passpoint @12 :Bool;
|
||||
|
||||
distanceCm @13 :Int32;
|
||||
distanceSdCm @14 :Int32;
|
||||
|
||||
enum ChannelWidth @0xcb6a279f015f6b51 {
|
||||
w20Mhz @0;
|
||||
w40Mhz @1;
|
||||
w80Mhz @2;
|
||||
w160Mhz @3;
|
||||
w80Plus80Mhz @4;
|
||||
}
|
||||
}
|
||||
|
||||
struct LiveEventData @0x94b7baa90c5c321e {
|
||||
name @0 :Text;
|
||||
value @1 :Int32;
|
||||
}
|
||||
|
||||
struct ModelData @0xb8aad62cffef28a9 {
|
||||
frameId @0 :UInt32;
|
||||
frameAge @12 :UInt32;
|
||||
frameDropPerc @13 :Float32;
|
||||
timestampEof @9 :UInt64;
|
||||
modelExecutionTime @14 :Float32;
|
||||
gpuExecutionTime @16 :Float32;
|
||||
rawPred @15 :Data;
|
||||
|
||||
path @1 :PathData;
|
||||
leftLane @2 :PathData;
|
||||
rightLane @3 :PathData;
|
||||
lead @4 :LeadData;
|
||||
freePath @6 :List(Float32);
|
||||
|
||||
settings @5 :ModelSettings;
|
||||
leadFuture @7 :LeadData;
|
||||
speed @8 :List(Float32);
|
||||
meta @10 :MetaData;
|
||||
longitudinal @11 :LongitudinalData;
|
||||
|
||||
struct PathData @0x8817eeea389e9f08 {
|
||||
points @0 :List(Float32);
|
||||
prob @1 :Float32;
|
||||
std @2 :Float32;
|
||||
stds @3 :List(Float32);
|
||||
poly @4 :List(Float32);
|
||||
validLen @5 :Float32;
|
||||
}
|
||||
|
||||
struct LeadData @0xd1c9bef96d26fa91 {
|
||||
dist @0 :Float32;
|
||||
prob @1 :Float32;
|
||||
std @2 :Float32;
|
||||
relVel @3 :Float32;
|
||||
relVelStd @4 :Float32;
|
||||
relY @5 :Float32;
|
||||
relYStd @6 :Float32;
|
||||
relA @7 :Float32;
|
||||
relAStd @8 :Float32;
|
||||
}
|
||||
|
||||
struct ModelSettings @0xa26e3710efd3e914 {
|
||||
bigBoxX @0 :UInt16;
|
||||
bigBoxY @1 :UInt16;
|
||||
bigBoxWidth @2 :UInt16;
|
||||
bigBoxHeight @3 :UInt16;
|
||||
boxProjection @4 :List(Float32);
|
||||
yuvCorrection @5 :List(Float32);
|
||||
inputTransform @6 :List(Float32);
|
||||
}
|
||||
|
||||
struct MetaData @0x9744f25fb60f2bf8 {
|
||||
engagedProb @0 :Float32;
|
||||
desirePrediction @1 :List(Float32);
|
||||
brakeDisengageProb @2 :Float32;
|
||||
gasDisengageProb @3 :Float32;
|
||||
steerOverrideProb @4 :Float32;
|
||||
desireState @5 :List(Float32);
|
||||
}
|
||||
|
||||
struct LongitudinalData @0xf98f999c6a071122 {
|
||||
distances @2 :List(Float32);
|
||||
speeds @0 :List(Float32);
|
||||
accelerations @1 :List(Float32);
|
||||
}
|
||||
}
|
||||
|
||||
struct ECEFPoint @0xc25bbbd524983447 {
|
||||
x @0 :Float64;
|
||||
y @1 :Float64;
|
||||
z @2 :Float64;
|
||||
}
|
||||
|
||||
struct ECEFPointDEPRECATED @0xe10e21168db0c7f7 {
|
||||
x @0 :Float32;
|
||||
y @1 :Float32;
|
||||
z @2 :Float32;
|
||||
}
|
||||
|
||||
struct GPSPlannerPoints @0xab54c59699f8f9f3 {
|
||||
curPosDEPRECATED @0 :ECEFPointDEPRECATED;
|
||||
pointsDEPRECATED @1 :List(ECEFPointDEPRECATED);
|
||||
curPos @6 :ECEFPoint;
|
||||
points @7 :List(ECEFPoint);
|
||||
valid @2 :Bool;
|
||||
trackName @3 :Text;
|
||||
speedLimit @4 :Float32;
|
||||
accelTarget @5 :Float32;
|
||||
}
|
||||
|
||||
struct GPSPlannerPlan @0xf5ad1d90cdc1dd6b {
|
||||
valid @0 :Bool;
|
||||
poly @1 :List(Float32);
|
||||
trackName @2 :Text;
|
||||
speed @3 :Float32;
|
||||
acceleration @4 :Float32;
|
||||
pointsDEPRECATED @5 :List(ECEFPointDEPRECATED);
|
||||
points @6 :List(ECEFPoint);
|
||||
xLookahead @7 :Float32;
|
||||
}
|
||||
|
||||
struct UiNavigationEvent @0x90c8426c3eaddd3b {
|
||||
type @0: Type;
|
||||
status @1: Status;
|
||||
distanceTo @2: Float32;
|
||||
endRoadPointDEPRECATED @3: ECEFPointDEPRECATED;
|
||||
endRoadPoint @4: ECEFPoint;
|
||||
|
||||
enum Type @0xe8db07dcf8fcea05 {
|
||||
none @0;
|
||||
laneChangeLeft @1;
|
||||
laneChangeRight @2;
|
||||
mergeLeft @3;
|
||||
mergeRight @4;
|
||||
turnLeft @5;
|
||||
turnRight @6;
|
||||
}
|
||||
|
||||
enum Status @0xb9aa88c75ef99a1f {
|
||||
none @0;
|
||||
passive @1;
|
||||
approaching @2;
|
||||
active @3;
|
||||
}
|
||||
}
|
||||
|
||||
struct LiveLocationData @0xb99b2bc7a57e8128 {
|
||||
status @0 :UInt8;
|
||||
|
||||
# 3D fix
|
||||
lat @1 :Float64;
|
||||
lon @2 :Float64;
|
||||
alt @3 :Float32; # m
|
||||
|
||||
# speed
|
||||
speed @4 :Float32; # m/s
|
||||
|
||||
# NED velocity components
|
||||
vNED @5 :List(Float32);
|
||||
|
||||
# roll, pitch, heading (x,y,z)
|
||||
roll @6 :Float32; # WRT to center of earth?
|
||||
pitch @7 :Float32; # WRT to center of earth?
|
||||
heading @8 :Float32; # WRT to north?
|
||||
|
||||
# what are these?
|
||||
wanderAngle @9 :Float32;
|
||||
trackAngle @10 :Float32;
|
||||
|
||||
# car frame -- https://upload.wikimedia.org/wikipedia/commons/f/f5/RPY_angles_of_cars.png
|
||||
|
||||
# gyro, in car frame, deg/s
|
||||
gyro @11 :List(Float32);
|
||||
|
||||
# accel, in car frame, m/s^2
|
||||
accel @12 :List(Float32);
|
||||
|
||||
accuracy @13 :Accuracy;
|
||||
|
||||
source @14 :SensorSource;
|
||||
# if we are fixing a location in the past
|
||||
fixMonoTime @15 :UInt64;
|
||||
|
||||
gpsWeek @16 :Int32;
|
||||
timeOfWeek @17 :Float64;
|
||||
|
||||
positionECEF @18 :List(Float64);
|
||||
poseQuatECEF @19 :List(Float32);
|
||||
pitchCalibration @20 :Float32;
|
||||
yawCalibration @21 :Float32;
|
||||
imuFrame @22 :List(Float32);
|
||||
|
||||
struct Accuracy @0x943dc4625473b03f {
|
||||
pNEDError @0 :List(Float32);
|
||||
vNEDError @1 :List(Float32);
|
||||
rollError @2 :Float32;
|
||||
pitchError @3 :Float32;
|
||||
headingError @4 :Float32;
|
||||
ellipsoidSemiMajorError @5 :Float32;
|
||||
ellipsoidSemiMinorError @6 :Float32;
|
||||
ellipsoidOrientationError @7 :Float32;
|
||||
}
|
||||
|
||||
enum SensorSource @0xc871d3cc252af657 {
|
||||
applanix @0;
|
||||
kalman @1;
|
||||
orbslam @2;
|
||||
timing @3;
|
||||
dummy @4;
|
||||
}
|
||||
}
|
||||
|
||||
struct OrbOdometry @0xd7700859ed1f5b76 {
|
||||
# timing first
|
||||
startMonoTime @0 :UInt64;
|
||||
endMonoTime @1 :UInt64;
|
||||
|
||||
# fundamental matrix and error
|
||||
f @2: List(Float64);
|
||||
err @3: Float64;
|
||||
|
||||
# number of inlier points
|
||||
inliers @4: Int32;
|
||||
|
||||
# for debug only
|
||||
# indexed by endMonoTime features
|
||||
# value is startMonoTime feature match
|
||||
# -1 if no match
|
||||
matches @5: List(Int16);
|
||||
}
|
||||
|
||||
struct OrbFeatures @0xcd60164a8a0159ef {
|
||||
timestampEof @0 :UInt64;
|
||||
# transposed arrays of normalized image coordinates
|
||||
# len(xs) == len(ys) == len(descriptors) * 32
|
||||
xs @1 :List(Float32);
|
||||
ys @2 :List(Float32);
|
||||
descriptors @3 :Data;
|
||||
octaves @4 :List(Int8);
|
||||
|
||||
# match index to last OrbFeatures
|
||||
# -1 if no match
|
||||
timestampLastEof @5 :UInt64;
|
||||
matches @6: List(Int16);
|
||||
}
|
||||
|
||||
struct OrbFeaturesSummary @0xd500d30c5803fa4f {
|
||||
timestampEof @0 :UInt64;
|
||||
timestampLastEof @1 :UInt64;
|
||||
|
||||
featureCount @2 :UInt16;
|
||||
matchCount @3 :UInt16;
|
||||
computeNs @4 :UInt64;
|
||||
}
|
||||
|
||||
struct OrbKeyFrame @0xc8233c0345e27e24 {
|
||||
# this is a globally unique id for the KeyFrame
|
||||
id @0: UInt64;
|
||||
|
||||
# this is the location of the KeyFrame
|
||||
pos @1: ECEFPoint;
|
||||
|
||||
# these are the features in the world
|
||||
# len(dpos) == len(descriptors) * 32
|
||||
dpos @2 :List(ECEFPoint);
|
||||
descriptors @3 :Data;
|
||||
}
|
||||
|
||||
struct KalmanOdometry @0x92e21bb7ea38793a {
|
||||
trans @0 :List(Float32); # m/s in device frame
|
||||
rot @1 :List(Float32); # rad/s in device frame
|
||||
transStd @2 :List(Float32); # std m/s in device frame
|
||||
rotStd @3 :List(Float32); # std rad/s in device frame
|
||||
}
|
||||
|
||||
struct OrbObservation @0x9b326d4e436afec7 {
|
||||
observationMonoTime @0 :UInt64;
|
||||
normalizedCoordinates @1 :List(Float32);
|
||||
locationECEF @2 :List(Float64);
|
||||
matchDistance @3: UInt32;
|
||||
}
|
||||
|
||||
struct CalibrationFeatures @0x8fdfadb254ea867a {
|
||||
frameId @0 :UInt32;
|
||||
|
||||
p0 @1 :List(Float32);
|
||||
p1 @2 :List(Float32);
|
||||
status @3 :List(Int8);
|
||||
}
|
||||
|
||||
struct NavStatus @0xbd8822120928120c {
|
||||
isNavigating @0 :Bool;
|
||||
currentAddress @1 :Address;
|
||||
|
||||
struct Address @0xce7cd672cacc7814 {
|
||||
title @0 :Text;
|
||||
lat @1 :Float64;
|
||||
lng @2 :Float64;
|
||||
house @3 :Text;
|
||||
address @4 :Text;
|
||||
street @5 :Text;
|
||||
city @6 :Text;
|
||||
state @7 :Text;
|
||||
country @8 :Text;
|
||||
}
|
||||
}
|
||||
|
||||
struct NavUpdate @0xdb98be6565516acb {
|
||||
isNavigating @0 :Bool;
|
||||
curSegment @1 :Int32;
|
||||
segments @2 :List(Segment);
|
||||
|
||||
struct LatLng @0x9eaef9187cadbb9b {
|
||||
lat @0 :Float64;
|
||||
lng @1 :Float64;
|
||||
}
|
||||
|
||||
struct Segment @0xa5b39b4fc4d7da3f {
|
||||
from @0 :LatLng;
|
||||
to @1 :LatLng;
|
||||
updateTime @2 :Int32;
|
||||
distance @3 :Int32;
|
||||
crossTime @4 :Int32;
|
||||
exitNo @5 :Int32;
|
||||
instruction @6 :Instruction;
|
||||
|
||||
parts @7 :List(LatLng);
|
||||
|
||||
enum Instruction @0xc5417a637451246f {
|
||||
turnLeft @0;
|
||||
turnRight @1;
|
||||
keepLeft @2;
|
||||
keepRight @3;
|
||||
straight @4;
|
||||
roundaboutExitNumber @5;
|
||||
roundaboutExit @6;
|
||||
roundaboutTurnLeft @7;
|
||||
unkn8 @8;
|
||||
roundaboutStraight @9;
|
||||
unkn10 @10;
|
||||
roundaboutTurnRight @11;
|
||||
unkn12 @12;
|
||||
roundaboutUturn @13;
|
||||
unkn14 @14;
|
||||
arrive @15;
|
||||
exitLeft @16;
|
||||
exitRight @17;
|
||||
unkn18 @18;
|
||||
uturn @19;
|
||||
# ...
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
struct TrafficEvent @0xacfa74a094e62626 {
|
||||
type @0 :Type;
|
||||
distance @1 :Float32;
|
||||
action @2 :Action;
|
||||
resuming @3 :Bool;
|
||||
|
||||
enum Type @0xd85d75253435bf4b {
|
||||
stopSign @0;
|
||||
lightRed @1;
|
||||
lightYellow @2;
|
||||
lightGreen @3;
|
||||
stopLight @4;
|
||||
}
|
||||
|
||||
enum Action @0xa6f6ce72165ccb49 {
|
||||
none @0;
|
||||
yield @1;
|
||||
stop @2;
|
||||
resumeReady @3;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
struct AndroidGnss @0xdfdf30d03fc485bd {
|
||||
union {
|
||||
measurements @0 :Measurements;
|
||||
navigationMessage @1 :NavigationMessage;
|
||||
}
|
||||
|
||||
struct Measurements @0xa20710d4f428d6cd {
|
||||
clock @0 :Clock;
|
||||
measurements @1 :List(Measurement);
|
||||
|
||||
struct Clock @0xa0e27b453a38f450 {
|
||||
timeNanos @0 :Int64;
|
||||
hardwareClockDiscontinuityCount @1 :Int32;
|
||||
|
||||
hasTimeUncertaintyNanos @2 :Bool;
|
||||
timeUncertaintyNanos @3 :Float64;
|
||||
|
||||
hasLeapSecond @4 :Bool;
|
||||
leapSecond @5 :Int32;
|
||||
|
||||
hasFullBiasNanos @6 :Bool;
|
||||
fullBiasNanos @7 :Int64;
|
||||
|
||||
hasBiasNanos @8 :Bool;
|
||||
biasNanos @9 :Float64;
|
||||
|
||||
hasBiasUncertaintyNanos @10 :Bool;
|
||||
biasUncertaintyNanos @11 :Float64;
|
||||
|
||||
hasDriftNanosPerSecond @12 :Bool;
|
||||
driftNanosPerSecond @13 :Float64;
|
||||
|
||||
hasDriftUncertaintyNanosPerSecond @14 :Bool;
|
||||
driftUncertaintyNanosPerSecond @15 :Float64;
|
||||
}
|
||||
|
||||
struct Measurement @0xd949bf717d77614d {
|
||||
svId @0 :Int32;
|
||||
constellation @1 :Constellation;
|
||||
|
||||
timeOffsetNanos @2 :Float64;
|
||||
state @3 :Int32;
|
||||
receivedSvTimeNanos @4 :Int64;
|
||||
receivedSvTimeUncertaintyNanos @5 :Int64;
|
||||
cn0DbHz @6 :Float64;
|
||||
pseudorangeRateMetersPerSecond @7 :Float64;
|
||||
pseudorangeRateUncertaintyMetersPerSecond @8 :Float64;
|
||||
accumulatedDeltaRangeState @9 :Int32;
|
||||
accumulatedDeltaRangeMeters @10 :Float64;
|
||||
accumulatedDeltaRangeUncertaintyMeters @11 :Float64;
|
||||
|
||||
hasCarrierFrequencyHz @12 :Bool;
|
||||
carrierFrequencyHz @13 :Float32;
|
||||
hasCarrierCycles @14 :Bool;
|
||||
carrierCycles @15 :Int64;
|
||||
hasCarrierPhase @16 :Bool;
|
||||
carrierPhase @17 :Float64;
|
||||
hasCarrierPhaseUncertainty @18 :Bool;
|
||||
carrierPhaseUncertainty @19 :Float64;
|
||||
hasSnrInDb @20 :Bool;
|
||||
snrInDb @21 :Float64;
|
||||
|
||||
multipathIndicator @22 :MultipathIndicator;
|
||||
|
||||
enum Constellation @0x9ef1f3ff0deb5ffb {
|
||||
unknown @0;
|
||||
gps @1;
|
||||
sbas @2;
|
||||
glonass @3;
|
||||
qzss @4;
|
||||
beidou @5;
|
||||
galileo @6;
|
||||
}
|
||||
|
||||
enum State @0xcbb9490adce12d72 {
|
||||
unknown @0;
|
||||
codeLock @1;
|
||||
bitSync @2;
|
||||
subframeSync @3;
|
||||
towDecoded @4;
|
||||
msecAmbiguous @5;
|
||||
symbolSync @6;
|
||||
gloStringSync @7;
|
||||
gloTodDecoded @8;
|
||||
bdsD2BitSync @9;
|
||||
bdsD2SubframeSync @10;
|
||||
galE1bcCodeLock @11;
|
||||
galE1c2ndCodeLock @12;
|
||||
galE1bPageSync @13;
|
||||
sbasSync @14;
|
||||
}
|
||||
|
||||
enum MultipathIndicator @0xc04e7b6231d4caa8 {
|
||||
unknown @0;
|
||||
detected @1;
|
||||
notDetected @2;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
struct NavigationMessage @0xe2517b083095fd4e {
|
||||
type @0 :Int32;
|
||||
svId @1 :Int32;
|
||||
messageId @2 :Int32;
|
||||
submessageId @3 :Int32;
|
||||
data @4 :Data;
|
||||
status @5 :Status;
|
||||
|
||||
enum Status @0xec1ff7996b35366f {
|
||||
unknown @0;
|
||||
parityPassed @1;
|
||||
parityRebuilt @2;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
struct LidarPts @0xe3d6685d4e9d8f7a {
|
||||
r @0 :List(UInt16); # uint16 m*500.0
|
||||
theta @1 :List(UInt16); # uint16 deg*100.0
|
||||
reflect @2 :List(UInt8); # uint8 0-255
|
||||
|
||||
# For storing out of file.
|
||||
idx @3 :UInt64;
|
||||
|
||||
# For storing in file
|
||||
pkt @4 :Data;
|
||||
}
|
||||
|
||||
struct LiveTracksDEPRECATED @0xb16f60103159415a {
|
||||
trackId @0 :Int32;
|
||||
dRel @1 :Float32;
|
||||
yRel @2 :Float32;
|
||||
vRel @3 :Float32;
|
||||
aRel @4 :Float32;
|
||||
timeStamp @5 :Float32;
|
||||
status @6 :Float32;
|
||||
currentTime @7 :Float32;
|
||||
stationary @8 :Bool;
|
||||
oncoming @9 :Bool;
|
||||
}
|
||||
|
||||
struct LiveMpcData @0x92a5e332a85f32a0 {
|
||||
x @0 :List(Float32);
|
||||
y @1 :List(Float32);
|
||||
psi @2 :List(Float32);
|
||||
curvature @3 :List(Float32);
|
||||
qpIterations @4 :UInt32;
|
||||
calculationTime @5 :UInt64;
|
||||
cost @6 :Float64;
|
||||
}
|
||||
|
||||
struct LiveLongitudinalMpcData @0xe7e17c434f865ae2 {
|
||||
xEgo @0 :List(Float32);
|
||||
vEgo @1 :List(Float32);
|
||||
aEgo @2 :List(Float32);
|
||||
xLead @3 :List(Float32);
|
||||
vLead @4 :List(Float32);
|
||||
aLead @5 :List(Float32);
|
||||
aLeadTau @6 :Float32; # lead accel time constant
|
||||
qpIterations @7 :UInt32;
|
||||
mpcId @8 :UInt32;
|
||||
calculationTime @9 :UInt64;
|
||||
cost @10 :Float64;
|
||||
}
|
||||
|
||||
struct DriverStateDEPRECATED @0xb83c6cc593ed0a00 {
|
||||
frameId @0 :UInt32;
|
||||
modelExecutionTime @14 :Float32;
|
||||
dspExecutionTime @16 :Float32;
|
||||
rawPredictions @15 :Data;
|
||||
|
||||
faceOrientation @3 :List(Float32);
|
||||
facePosition @4 :List(Float32);
|
||||
faceProb @5 :Float32;
|
||||
leftEyeProb @6 :Float32;
|
||||
rightEyeProb @7 :Float32;
|
||||
leftBlinkProb @8 :Float32;
|
||||
rightBlinkProb @9 :Float32;
|
||||
faceOrientationStd @11 :List(Float32);
|
||||
facePositionStd @12 :List(Float32);
|
||||
sunglassesProb @13 :Float32;
|
||||
poorVision @17 :Float32;
|
||||
partialFace @18 :Float32;
|
||||
distractedPose @19 :Float32;
|
||||
distractedEyes @20 :Float32;
|
||||
eyesOnRoad @21 :Float32;
|
||||
phoneUse @22 :Float32;
|
||||
occludedProb @23 :Float32;
|
||||
|
||||
readyProb @24 :List(Float32);
|
||||
notReadyProb @25 :List(Float32);
|
||||
|
||||
irPwrDEPRECATED @10 :Float32;
|
||||
descriptorDEPRECATED @1 :List(Float32);
|
||||
stdDEPRECATED @2 :Float32;
|
||||
}
|
||||
|
||||
struct NavModelData @0xac3de5c437be057a {
|
||||
frameId @0 :UInt32;
|
||||
locationMonoTime @6 :UInt64;
|
||||
modelExecutionTime @1 :Float32;
|
||||
dspExecutionTime @2 :Float32;
|
||||
features @3 :List(Float32);
|
||||
# predicted future position
|
||||
position @4 :XYData;
|
||||
desirePrediction @5 :List(Float32);
|
||||
|
||||
# All SI units and in device frame
|
||||
struct XYData @0xbe09e615b2507e26 {
|
||||
x @0 :List(Float32);
|
||||
y @1 :List(Float32);
|
||||
xStd @2 :List(Float32);
|
||||
yStd @3 :List(Float32);
|
||||
}
|
||||
}
|
||||
|
||||
struct AndroidBuildInfo @0xfe2919d5c21f426c {
|
||||
board @0 :Text;
|
||||
bootloader @1 :Text;
|
||||
brand @2 :Text;
|
||||
device @3 :Text;
|
||||
display @4 :Text;
|
||||
fingerprint @5 :Text;
|
||||
hardware @6 :Text;
|
||||
host @7 :Text;
|
||||
id @8 :Text;
|
||||
manufacturer @9 :Text;
|
||||
model @10 :Text;
|
||||
product @11 :Text;
|
||||
radioVersion @12 :Text;
|
||||
serial @13 :Text;
|
||||
supportedAbis @14 :List(Text);
|
||||
tags @15 :Text;
|
||||
time @16 :Int64;
|
||||
type @17 :Text;
|
||||
user @18 :Text;
|
||||
|
||||
versionCodename @19 :Text;
|
||||
versionRelease @20 :Text;
|
||||
versionSdk @21 :Int32;
|
||||
versionSecurityPatch @22 :Text;
|
||||
}
|
||||
|
||||
struct AndroidSensor @0x9b513b93a887dbcd {
|
||||
id @0 :Int32;
|
||||
name @1 :Text;
|
||||
vendor @2 :Text;
|
||||
version @3 :Int32;
|
||||
handle @4 :Int32;
|
||||
type @5 :Int32;
|
||||
maxRange @6 :Float32;
|
||||
resolution @7 :Float32;
|
||||
power @8 :Float32;
|
||||
minDelay @9 :Int32;
|
||||
fifoReservedEventCount @10 :UInt32;
|
||||
fifoMaxEventCount @11 :UInt32;
|
||||
stringType @12 :Text;
|
||||
maxDelay @13 :Int32;
|
||||
}
|
||||
|
||||
struct IosBuildInfo @0xd97e3b28239f5580 {
|
||||
appVersion @0 :Text;
|
||||
appBuild @1 :UInt32;
|
||||
osVersion @2 :Text;
|
||||
deviceModel @3 :Text;
|
||||
}
|
||||
|
||||
enum FrameTypeDEPRECATED @0xa37f0d8558e193fd {
|
||||
unknown @0;
|
||||
neo @1;
|
||||
chffrAndroid @2;
|
||||
front @3;
|
||||
}
|
||||
|
||||
struct AndroidCaptureResult @0xbcc3efbac41d2048 {
|
||||
sensitivity @0 :Int32;
|
||||
frameDuration @1 :Int64;
|
||||
exposureTime @2 :Int64;
|
||||
rollingShutterSkew @3 :UInt64;
|
||||
colorCorrectionTransform @4 :List(Int32);
|
||||
colorCorrectionGains @5 :List(Float32);
|
||||
displayRotation @6 :Int8;
|
||||
}
|
||||
|
||||
enum UsbPowerModeDEPRECATED @0xa8883583b32c9877 {
|
||||
none @0;
|
||||
client @1;
|
||||
cdp @2;
|
||||
dcp @3;
|
||||
}
|
||||
|
||||
struct LateralINDIState @0x939463348632375e {
|
||||
active @0 :Bool;
|
||||
steeringAngleDeg @1 :Float32;
|
||||
steeringRateDeg @2 :Float32;
|
||||
steeringAccelDeg @3 :Float32;
|
||||
rateSetPoint @4 :Float32;
|
||||
accelSetPoint @5 :Float32;
|
||||
accelError @6 :Float32;
|
||||
delayedOutput @7 :Float32;
|
||||
delta @8 :Float32;
|
||||
output @9 :Float32;
|
||||
saturated @10 :Bool;
|
||||
steeringAngleDesiredDeg @11 :Float32;
|
||||
steeringRateDesiredDeg @12 :Float32;
|
||||
}
|
||||
|
||||
struct LateralLQRState @0x9024e2d790c82ade {
|
||||
active @0 :Bool;
|
||||
steeringAngleDeg @1 :Float32;
|
||||
i @2 :Float32;
|
||||
output @3 :Float32;
|
||||
lqrOutput @4 :Float32;
|
||||
saturated @5 :Bool;
|
||||
steeringAngleDesiredDeg @6 :Float32;
|
||||
}
|
||||
|
||||
struct LateralCurvatureState @0xad9d8095c06f7c61 {
|
||||
active @0 :Bool;
|
||||
actualCurvature @1 :Float32;
|
||||
desiredCurvature @2 :Float32;
|
||||
error @3 :Float32;
|
||||
p @4 :Float32;
|
||||
i @5 :Float32;
|
||||
f @6 :Float32;
|
||||
output @7 :Float32;
|
||||
saturated @8 :Bool;
|
||||
}
|
||||
|
||||
struct LateralPlannerSolution @0x84caeca5a6b4acfe {
|
||||
x @0 :List(Float32);
|
||||
y @1 :List(Float32);
|
||||
yaw @2 :List(Float32);
|
||||
yawRate @3 :List(Float32);
|
||||
xStd @4 :List(Float32);
|
||||
yStd @5 :List(Float32);
|
||||
yawStd @6 :List(Float32);
|
||||
yawRateStd @7 :List(Float32);
|
||||
}
|
||||
|
||||
struct GpsTrajectory @0x8cfeb072f5301000 {
|
||||
x @0 :List(Float32);
|
||||
y @1 :List(Float32);
|
||||
}
|
||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
@@ -1,777 +0,0 @@
|
||||
// Generated by Cap'n Proto compiler, DO NOT EDIT
|
||||
// source: custom.capnp
|
||||
|
||||
#include "custom.capnp.h"
|
||||
|
||||
namespace capnp {
|
||||
namespace schemas {
|
||||
static const ::capnp::_::AlignedData<17> b_81c2f05a394cf4af = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
175, 244, 76, 57, 90, 240, 194, 129,
|
||||
13, 0, 0, 0, 1, 0, 0, 0,
|
||||
89, 10, 85, 29, 102, 186, 38, 181,
|
||||
0, 0, 7, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 0, 0, 0, 234, 0, 0, 0,
|
||||
33, 0, 0, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
99, 117, 115, 116, 111, 109, 46, 99,
|
||||
97, 112, 110, 112, 58, 67, 117, 115,
|
||||
116, 111, 109, 82, 101, 115, 101, 114,
|
||||
118, 101, 100, 48, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_81c2f05a394cf4af = b_81c2f05a394cf4af.words;
|
||||
#if !CAPNP_LITE
|
||||
const ::capnp::_::RawSchema s_81c2f05a394cf4af = {
|
||||
0x81c2f05a394cf4af, b_81c2f05a394cf4af.words, 17, nullptr, nullptr,
|
||||
0, 0, nullptr, nullptr, nullptr, { &s_81c2f05a394cf4af, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<17> b_aedffd8f31e7b55d = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
93, 181, 231, 49, 143, 253, 223, 174,
|
||||
13, 0, 0, 0, 1, 0, 0, 0,
|
||||
89, 10, 85, 29, 102, 186, 38, 181,
|
||||
0, 0, 7, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 0, 0, 0, 234, 0, 0, 0,
|
||||
33, 0, 0, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
99, 117, 115, 116, 111, 109, 46, 99,
|
||||
97, 112, 110, 112, 58, 67, 117, 115,
|
||||
116, 111, 109, 82, 101, 115, 101, 114,
|
||||
118, 101, 100, 49, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_aedffd8f31e7b55d = b_aedffd8f31e7b55d.words;
|
||||
#if !CAPNP_LITE
|
||||
const ::capnp::_::RawSchema s_aedffd8f31e7b55d = {
|
||||
0xaedffd8f31e7b55d, b_aedffd8f31e7b55d.words, 17, nullptr, nullptr,
|
||||
0, 0, nullptr, nullptr, nullptr, { &s_aedffd8f31e7b55d, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<17> b_f35cc4560bbf6ec2 = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
194, 110, 191, 11, 86, 196, 92, 243,
|
||||
13, 0, 0, 0, 1, 0, 0, 0,
|
||||
89, 10, 85, 29, 102, 186, 38, 181,
|
||||
0, 0, 7, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 0, 0, 0, 234, 0, 0, 0,
|
||||
33, 0, 0, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
99, 117, 115, 116, 111, 109, 46, 99,
|
||||
97, 112, 110, 112, 58, 67, 117, 115,
|
||||
116, 111, 109, 82, 101, 115, 101, 114,
|
||||
118, 101, 100, 50, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_f35cc4560bbf6ec2 = b_f35cc4560bbf6ec2.words;
|
||||
#if !CAPNP_LITE
|
||||
const ::capnp::_::RawSchema s_f35cc4560bbf6ec2 = {
|
||||
0xf35cc4560bbf6ec2, b_f35cc4560bbf6ec2.words, 17, nullptr, nullptr,
|
||||
0, 0, nullptr, nullptr, nullptr, { &s_f35cc4560bbf6ec2, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<17> b_da96579883444c35 = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
53, 76, 68, 131, 152, 87, 150, 218,
|
||||
13, 0, 0, 0, 1, 0, 0, 0,
|
||||
89, 10, 85, 29, 102, 186, 38, 181,
|
||||
0, 0, 7, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 0, 0, 0, 234, 0, 0, 0,
|
||||
33, 0, 0, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
99, 117, 115, 116, 111, 109, 46, 99,
|
||||
97, 112, 110, 112, 58, 67, 117, 115,
|
||||
116, 111, 109, 82, 101, 115, 101, 114,
|
||||
118, 101, 100, 51, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_da96579883444c35 = b_da96579883444c35.words;
|
||||
#if !CAPNP_LITE
|
||||
const ::capnp::_::RawSchema s_da96579883444c35 = {
|
||||
0xda96579883444c35, b_da96579883444c35.words, 17, nullptr, nullptr,
|
||||
0, 0, nullptr, nullptr, nullptr, { &s_da96579883444c35, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<17> b_80ae746ee2596b11 = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
17, 107, 89, 226, 110, 116, 174, 128,
|
||||
13, 0, 0, 0, 1, 0, 0, 0,
|
||||
89, 10, 85, 29, 102, 186, 38, 181,
|
||||
0, 0, 7, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 0, 0, 0, 234, 0, 0, 0,
|
||||
33, 0, 0, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
99, 117, 115, 116, 111, 109, 46, 99,
|
||||
97, 112, 110, 112, 58, 67, 117, 115,
|
||||
116, 111, 109, 82, 101, 115, 101, 114,
|
||||
118, 101, 100, 52, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_80ae746ee2596b11 = b_80ae746ee2596b11.words;
|
||||
#if !CAPNP_LITE
|
||||
const ::capnp::_::RawSchema s_80ae746ee2596b11 = {
|
||||
0x80ae746ee2596b11, b_80ae746ee2596b11.words, 17, nullptr, nullptr,
|
||||
0, 0, nullptr, nullptr, nullptr, { &s_80ae746ee2596b11, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<17> b_a5cd762cd951a455 = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
85, 164, 81, 217, 44, 118, 205, 165,
|
||||
13, 0, 0, 0, 1, 0, 0, 0,
|
||||
89, 10, 85, 29, 102, 186, 38, 181,
|
||||
0, 0, 7, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 0, 0, 0, 234, 0, 0, 0,
|
||||
33, 0, 0, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
99, 117, 115, 116, 111, 109, 46, 99,
|
||||
97, 112, 110, 112, 58, 67, 117, 115,
|
||||
116, 111, 109, 82, 101, 115, 101, 114,
|
||||
118, 101, 100, 53, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_a5cd762cd951a455 = b_a5cd762cd951a455.words;
|
||||
#if !CAPNP_LITE
|
||||
const ::capnp::_::RawSchema s_a5cd762cd951a455 = {
|
||||
0xa5cd762cd951a455, b_a5cd762cd951a455.words, 17, nullptr, nullptr,
|
||||
0, 0, nullptr, nullptr, nullptr, { &s_a5cd762cd951a455, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<17> b_f98d843bfd7004a3 = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
163, 4, 112, 253, 59, 132, 141, 249,
|
||||
13, 0, 0, 0, 1, 0, 0, 0,
|
||||
89, 10, 85, 29, 102, 186, 38, 181,
|
||||
0, 0, 7, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 0, 0, 0, 234, 0, 0, 0,
|
||||
33, 0, 0, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
99, 117, 115, 116, 111, 109, 46, 99,
|
||||
97, 112, 110, 112, 58, 67, 117, 115,
|
||||
116, 111, 109, 82, 101, 115, 101, 114,
|
||||
118, 101, 100, 54, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_f98d843bfd7004a3 = b_f98d843bfd7004a3.words;
|
||||
#if !CAPNP_LITE
|
||||
const ::capnp::_::RawSchema s_f98d843bfd7004a3 = {
|
||||
0xf98d843bfd7004a3, b_f98d843bfd7004a3.words, 17, nullptr, nullptr,
|
||||
0, 0, nullptr, nullptr, nullptr, { &s_f98d843bfd7004a3, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<17> b_b86e6369214c01c8 = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
200, 1, 76, 33, 105, 99, 110, 184,
|
||||
13, 0, 0, 0, 1, 0, 0, 0,
|
||||
89, 10, 85, 29, 102, 186, 38, 181,
|
||||
0, 0, 7, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 0, 0, 0, 234, 0, 0, 0,
|
||||
33, 0, 0, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
99, 117, 115, 116, 111, 109, 46, 99,
|
||||
97, 112, 110, 112, 58, 67, 117, 115,
|
||||
116, 111, 109, 82, 101, 115, 101, 114,
|
||||
118, 101, 100, 55, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_b86e6369214c01c8 = b_b86e6369214c01c8.words;
|
||||
#if !CAPNP_LITE
|
||||
const ::capnp::_::RawSchema s_b86e6369214c01c8 = {
|
||||
0xb86e6369214c01c8, b_b86e6369214c01c8.words, 17, nullptr, nullptr,
|
||||
0, 0, nullptr, nullptr, nullptr, { &s_b86e6369214c01c8, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<17> b_f416ec09499d9d19 = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
25, 157, 157, 73, 9, 236, 22, 244,
|
||||
13, 0, 0, 0, 1, 0, 0, 0,
|
||||
89, 10, 85, 29, 102, 186, 38, 181,
|
||||
0, 0, 7, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 0, 0, 0, 234, 0, 0, 0,
|
||||
33, 0, 0, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
99, 117, 115, 116, 111, 109, 46, 99,
|
||||
97, 112, 110, 112, 58, 67, 117, 115,
|
||||
116, 111, 109, 82, 101, 115, 101, 114,
|
||||
118, 101, 100, 56, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_f416ec09499d9d19 = b_f416ec09499d9d19.words;
|
||||
#if !CAPNP_LITE
|
||||
const ::capnp::_::RawSchema s_f416ec09499d9d19 = {
|
||||
0xf416ec09499d9d19, b_f416ec09499d9d19.words, 17, nullptr, nullptr,
|
||||
0, 0, nullptr, nullptr, nullptr, { &s_f416ec09499d9d19, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<17> b_a1680744031fdb2d = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
45, 219, 31, 3, 68, 7, 104, 161,
|
||||
13, 0, 0, 0, 1, 0, 0, 0,
|
||||
89, 10, 85, 29, 102, 186, 38, 181,
|
||||
0, 0, 7, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 0, 0, 0, 234, 0, 0, 0,
|
||||
33, 0, 0, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
99, 117, 115, 116, 111, 109, 46, 99,
|
||||
97, 112, 110, 112, 58, 67, 117, 115,
|
||||
116, 111, 109, 82, 101, 115, 101, 114,
|
||||
118, 101, 100, 57, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_a1680744031fdb2d = b_a1680744031fdb2d.words;
|
||||
#if !CAPNP_LITE
|
||||
const ::capnp::_::RawSchema s_a1680744031fdb2d = {
|
||||
0xa1680744031fdb2d, b_a1680744031fdb2d.words, 17, nullptr, nullptr,
|
||||
0, 0, nullptr, nullptr, nullptr, { &s_a1680744031fdb2d, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<17> b_cb9fd56c7057593a = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
58, 89, 87, 112, 108, 213, 159, 203,
|
||||
13, 0, 0, 0, 1, 0, 0, 0,
|
||||
89, 10, 85, 29, 102, 186, 38, 181,
|
||||
0, 0, 7, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 0, 0, 0, 242, 0, 0, 0,
|
||||
33, 0, 0, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
99, 117, 115, 116, 111, 109, 46, 99,
|
||||
97, 112, 110, 112, 58, 67, 117, 115,
|
||||
116, 111, 109, 82, 101, 115, 101, 114,
|
||||
118, 101, 100, 49, 48, 0, 0, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_cb9fd56c7057593a = b_cb9fd56c7057593a.words;
|
||||
#if !CAPNP_LITE
|
||||
const ::capnp::_::RawSchema s_cb9fd56c7057593a = {
|
||||
0xcb9fd56c7057593a, b_cb9fd56c7057593a.words, 17, nullptr, nullptr,
|
||||
0, 0, nullptr, nullptr, nullptr, { &s_cb9fd56c7057593a, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<17> b_c2243c65e0340384 = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
132, 3, 52, 224, 101, 60, 36, 194,
|
||||
13, 0, 0, 0, 1, 0, 0, 0,
|
||||
89, 10, 85, 29, 102, 186, 38, 181,
|
||||
0, 0, 7, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 0, 0, 0, 242, 0, 0, 0,
|
||||
33, 0, 0, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
99, 117, 115, 116, 111, 109, 46, 99,
|
||||
97, 112, 110, 112, 58, 67, 117, 115,
|
||||
116, 111, 109, 82, 101, 115, 101, 114,
|
||||
118, 101, 100, 49, 49, 0, 0, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_c2243c65e0340384 = b_c2243c65e0340384.words;
|
||||
#if !CAPNP_LITE
|
||||
const ::capnp::_::RawSchema s_c2243c65e0340384 = {
|
||||
0xc2243c65e0340384, b_c2243c65e0340384.words, 17, nullptr, nullptr,
|
||||
0, 0, nullptr, nullptr, nullptr, { &s_c2243c65e0340384, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<17> b_9ccdc8676701b412 = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
18, 180, 1, 103, 103, 200, 205, 156,
|
||||
13, 0, 0, 0, 1, 0, 0, 0,
|
||||
89, 10, 85, 29, 102, 186, 38, 181,
|
||||
0, 0, 7, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 0, 0, 0, 242, 0, 0, 0,
|
||||
33, 0, 0, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
99, 117, 115, 116, 111, 109, 46, 99,
|
||||
97, 112, 110, 112, 58, 67, 117, 115,
|
||||
116, 111, 109, 82, 101, 115, 101, 114,
|
||||
118, 101, 100, 49, 50, 0, 0, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_9ccdc8676701b412 = b_9ccdc8676701b412.words;
|
||||
#if !CAPNP_LITE
|
||||
const ::capnp::_::RawSchema s_9ccdc8676701b412 = {
|
||||
0x9ccdc8676701b412, b_9ccdc8676701b412.words, 17, nullptr, nullptr,
|
||||
0, 0, nullptr, nullptr, nullptr, { &s_9ccdc8676701b412, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<17> b_cd96dafb67a082d0 = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
208, 130, 160, 103, 251, 218, 150, 205,
|
||||
13, 0, 0, 0, 1, 0, 0, 0,
|
||||
89, 10, 85, 29, 102, 186, 38, 181,
|
||||
0, 0, 7, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 0, 0, 0, 242, 0, 0, 0,
|
||||
33, 0, 0, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
99, 117, 115, 116, 111, 109, 46, 99,
|
||||
97, 112, 110, 112, 58, 67, 117, 115,
|
||||
116, 111, 109, 82, 101, 115, 101, 114,
|
||||
118, 101, 100, 49, 51, 0, 0, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_cd96dafb67a082d0 = b_cd96dafb67a082d0.words;
|
||||
#if !CAPNP_LITE
|
||||
const ::capnp::_::RawSchema s_cd96dafb67a082d0 = {
|
||||
0xcd96dafb67a082d0, b_cd96dafb67a082d0.words, 17, nullptr, nullptr,
|
||||
0, 0, nullptr, nullptr, nullptr, { &s_cd96dafb67a082d0, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<17> b_b057204d7deadf3f = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
63, 223, 234, 125, 77, 32, 87, 176,
|
||||
13, 0, 0, 0, 1, 0, 0, 0,
|
||||
89, 10, 85, 29, 102, 186, 38, 181,
|
||||
0, 0, 7, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 0, 0, 0, 242, 0, 0, 0,
|
||||
33, 0, 0, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
99, 117, 115, 116, 111, 109, 46, 99,
|
||||
97, 112, 110, 112, 58, 67, 117, 115,
|
||||
116, 111, 109, 82, 101, 115, 101, 114,
|
||||
118, 101, 100, 49, 52, 0, 0, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_b057204d7deadf3f = b_b057204d7deadf3f.words;
|
||||
#if !CAPNP_LITE
|
||||
const ::capnp::_::RawSchema s_b057204d7deadf3f = {
|
||||
0xb057204d7deadf3f, b_b057204d7deadf3f.words, 17, nullptr, nullptr,
|
||||
0, 0, nullptr, nullptr, nullptr, { &s_b057204d7deadf3f, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<17> b_bd443b539493bc68 = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
104, 188, 147, 148, 83, 59, 68, 189,
|
||||
13, 0, 0, 0, 1, 0, 0, 0,
|
||||
89, 10, 85, 29, 102, 186, 38, 181,
|
||||
0, 0, 7, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 0, 0, 0, 242, 0, 0, 0,
|
||||
33, 0, 0, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
99, 117, 115, 116, 111, 109, 46, 99,
|
||||
97, 112, 110, 112, 58, 67, 117, 115,
|
||||
116, 111, 109, 82, 101, 115, 101, 114,
|
||||
118, 101, 100, 49, 53, 0, 0, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_bd443b539493bc68 = b_bd443b539493bc68.words;
|
||||
#if !CAPNP_LITE
|
||||
const ::capnp::_::RawSchema s_bd443b539493bc68 = {
|
||||
0xbd443b539493bc68, b_bd443b539493bc68.words, 17, nullptr, nullptr,
|
||||
0, 0, nullptr, nullptr, nullptr, { &s_bd443b539493bc68, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<17> b_fc6241ed8877b611 = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
17, 182, 119, 136, 237, 65, 98, 252,
|
||||
13, 0, 0, 0, 1, 0, 0, 0,
|
||||
89, 10, 85, 29, 102, 186, 38, 181,
|
||||
0, 0, 7, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 0, 0, 0, 242, 0, 0, 0,
|
||||
33, 0, 0, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
99, 117, 115, 116, 111, 109, 46, 99,
|
||||
97, 112, 110, 112, 58, 67, 117, 115,
|
||||
116, 111, 109, 82, 101, 115, 101, 114,
|
||||
118, 101, 100, 49, 54, 0, 0, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_fc6241ed8877b611 = b_fc6241ed8877b611.words;
|
||||
#if !CAPNP_LITE
|
||||
const ::capnp::_::RawSchema s_fc6241ed8877b611 = {
|
||||
0xfc6241ed8877b611, b_fc6241ed8877b611.words, 17, nullptr, nullptr,
|
||||
0, 0, nullptr, nullptr, nullptr, { &s_fc6241ed8877b611, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<17> b_a30662f84033036c = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
108, 3, 51, 64, 248, 98, 6, 163,
|
||||
13, 0, 0, 0, 1, 0, 0, 0,
|
||||
89, 10, 85, 29, 102, 186, 38, 181,
|
||||
0, 0, 7, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 0, 0, 0, 242, 0, 0, 0,
|
||||
33, 0, 0, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
99, 117, 115, 116, 111, 109, 46, 99,
|
||||
97, 112, 110, 112, 58, 67, 117, 115,
|
||||
116, 111, 109, 82, 101, 115, 101, 114,
|
||||
118, 101, 100, 49, 55, 0, 0, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_a30662f84033036c = b_a30662f84033036c.words;
|
||||
#if !CAPNP_LITE
|
||||
const ::capnp::_::RawSchema s_a30662f84033036c = {
|
||||
0xa30662f84033036c, b_a30662f84033036c.words, 17, nullptr, nullptr,
|
||||
0, 0, nullptr, nullptr, nullptr, { &s_a30662f84033036c, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<17> b_c86a3d38d13eb3ef = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
239, 179, 62, 209, 56, 61, 106, 200,
|
||||
13, 0, 0, 0, 1, 0, 0, 0,
|
||||
89, 10, 85, 29, 102, 186, 38, 181,
|
||||
0, 0, 7, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 0, 0, 0, 242, 0, 0, 0,
|
||||
33, 0, 0, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
99, 117, 115, 116, 111, 109, 46, 99,
|
||||
97, 112, 110, 112, 58, 67, 117, 115,
|
||||
116, 111, 109, 82, 101, 115, 101, 114,
|
||||
118, 101, 100, 49, 56, 0, 0, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_c86a3d38d13eb3ef = b_c86a3d38d13eb3ef.words;
|
||||
#if !CAPNP_LITE
|
||||
const ::capnp::_::RawSchema s_c86a3d38d13eb3ef = {
|
||||
0xc86a3d38d13eb3ef, b_c86a3d38d13eb3ef.words, 17, nullptr, nullptr,
|
||||
0, 0, nullptr, nullptr, nullptr, { &s_c86a3d38d13eb3ef, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<17> b_a4f1eb3323f5f582 = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
130, 245, 245, 35, 51, 235, 241, 164,
|
||||
13, 0, 0, 0, 1, 0, 0, 0,
|
||||
89, 10, 85, 29, 102, 186, 38, 181,
|
||||
0, 0, 7, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 0, 0, 0, 242, 0, 0, 0,
|
||||
33, 0, 0, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
99, 117, 115, 116, 111, 109, 46, 99,
|
||||
97, 112, 110, 112, 58, 67, 117, 115,
|
||||
116, 111, 109, 82, 101, 115, 101, 114,
|
||||
118, 101, 100, 49, 57, 0, 0, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_a4f1eb3323f5f582 = b_a4f1eb3323f5f582.words;
|
||||
#if !CAPNP_LITE
|
||||
const ::capnp::_::RawSchema s_a4f1eb3323f5f582 = {
|
||||
0xa4f1eb3323f5f582, b_a4f1eb3323f5f582.words, 17, nullptr, nullptr,
|
||||
0, 0, nullptr, nullptr, nullptr, { &s_a4f1eb3323f5f582, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
} // namespace schemas
|
||||
} // namespace capnp
|
||||
|
||||
// =======================================================================================
|
||||
|
||||
namespace cereal {
|
||||
|
||||
// CustomReserved0
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr uint16_t CustomReserved0::_capnpPrivate::dataWordSize;
|
||||
constexpr uint16_t CustomReserved0::_capnpPrivate::pointerCount;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#if !CAPNP_LITE
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr ::capnp::Kind CustomReserved0::_capnpPrivate::kind;
|
||||
constexpr ::capnp::_::RawSchema const* CustomReserved0::_capnpPrivate::schema;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
// CustomReserved1
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr uint16_t CustomReserved1::_capnpPrivate::dataWordSize;
|
||||
constexpr uint16_t CustomReserved1::_capnpPrivate::pointerCount;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#if !CAPNP_LITE
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr ::capnp::Kind CustomReserved1::_capnpPrivate::kind;
|
||||
constexpr ::capnp::_::RawSchema const* CustomReserved1::_capnpPrivate::schema;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
// CustomReserved2
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr uint16_t CustomReserved2::_capnpPrivate::dataWordSize;
|
||||
constexpr uint16_t CustomReserved2::_capnpPrivate::pointerCount;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#if !CAPNP_LITE
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr ::capnp::Kind CustomReserved2::_capnpPrivate::kind;
|
||||
constexpr ::capnp::_::RawSchema const* CustomReserved2::_capnpPrivate::schema;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
// CustomReserved3
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr uint16_t CustomReserved3::_capnpPrivate::dataWordSize;
|
||||
constexpr uint16_t CustomReserved3::_capnpPrivate::pointerCount;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#if !CAPNP_LITE
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr ::capnp::Kind CustomReserved3::_capnpPrivate::kind;
|
||||
constexpr ::capnp::_::RawSchema const* CustomReserved3::_capnpPrivate::schema;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
// CustomReserved4
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr uint16_t CustomReserved4::_capnpPrivate::dataWordSize;
|
||||
constexpr uint16_t CustomReserved4::_capnpPrivate::pointerCount;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#if !CAPNP_LITE
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr ::capnp::Kind CustomReserved4::_capnpPrivate::kind;
|
||||
constexpr ::capnp::_::RawSchema const* CustomReserved4::_capnpPrivate::schema;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
// CustomReserved5
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr uint16_t CustomReserved5::_capnpPrivate::dataWordSize;
|
||||
constexpr uint16_t CustomReserved5::_capnpPrivate::pointerCount;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#if !CAPNP_LITE
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr ::capnp::Kind CustomReserved5::_capnpPrivate::kind;
|
||||
constexpr ::capnp::_::RawSchema const* CustomReserved5::_capnpPrivate::schema;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
// CustomReserved6
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr uint16_t CustomReserved6::_capnpPrivate::dataWordSize;
|
||||
constexpr uint16_t CustomReserved6::_capnpPrivate::pointerCount;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#if !CAPNP_LITE
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr ::capnp::Kind CustomReserved6::_capnpPrivate::kind;
|
||||
constexpr ::capnp::_::RawSchema const* CustomReserved6::_capnpPrivate::schema;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
// CustomReserved7
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr uint16_t CustomReserved7::_capnpPrivate::dataWordSize;
|
||||
constexpr uint16_t CustomReserved7::_capnpPrivate::pointerCount;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#if !CAPNP_LITE
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr ::capnp::Kind CustomReserved7::_capnpPrivate::kind;
|
||||
constexpr ::capnp::_::RawSchema const* CustomReserved7::_capnpPrivate::schema;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
// CustomReserved8
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr uint16_t CustomReserved8::_capnpPrivate::dataWordSize;
|
||||
constexpr uint16_t CustomReserved8::_capnpPrivate::pointerCount;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#if !CAPNP_LITE
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr ::capnp::Kind CustomReserved8::_capnpPrivate::kind;
|
||||
constexpr ::capnp::_::RawSchema const* CustomReserved8::_capnpPrivate::schema;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
// CustomReserved9
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr uint16_t CustomReserved9::_capnpPrivate::dataWordSize;
|
||||
constexpr uint16_t CustomReserved9::_capnpPrivate::pointerCount;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#if !CAPNP_LITE
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr ::capnp::Kind CustomReserved9::_capnpPrivate::kind;
|
||||
constexpr ::capnp::_::RawSchema const* CustomReserved9::_capnpPrivate::schema;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
// CustomReserved10
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr uint16_t CustomReserved10::_capnpPrivate::dataWordSize;
|
||||
constexpr uint16_t CustomReserved10::_capnpPrivate::pointerCount;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#if !CAPNP_LITE
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr ::capnp::Kind CustomReserved10::_capnpPrivate::kind;
|
||||
constexpr ::capnp::_::RawSchema const* CustomReserved10::_capnpPrivate::schema;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
// CustomReserved11
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr uint16_t CustomReserved11::_capnpPrivate::dataWordSize;
|
||||
constexpr uint16_t CustomReserved11::_capnpPrivate::pointerCount;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#if !CAPNP_LITE
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr ::capnp::Kind CustomReserved11::_capnpPrivate::kind;
|
||||
constexpr ::capnp::_::RawSchema const* CustomReserved11::_capnpPrivate::schema;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
// CustomReserved12
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr uint16_t CustomReserved12::_capnpPrivate::dataWordSize;
|
||||
constexpr uint16_t CustomReserved12::_capnpPrivate::pointerCount;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#if !CAPNP_LITE
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr ::capnp::Kind CustomReserved12::_capnpPrivate::kind;
|
||||
constexpr ::capnp::_::RawSchema const* CustomReserved12::_capnpPrivate::schema;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
// CustomReserved13
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr uint16_t CustomReserved13::_capnpPrivate::dataWordSize;
|
||||
constexpr uint16_t CustomReserved13::_capnpPrivate::pointerCount;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#if !CAPNP_LITE
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr ::capnp::Kind CustomReserved13::_capnpPrivate::kind;
|
||||
constexpr ::capnp::_::RawSchema const* CustomReserved13::_capnpPrivate::schema;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
// CustomReserved14
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr uint16_t CustomReserved14::_capnpPrivate::dataWordSize;
|
||||
constexpr uint16_t CustomReserved14::_capnpPrivate::pointerCount;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#if !CAPNP_LITE
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr ::capnp::Kind CustomReserved14::_capnpPrivate::kind;
|
||||
constexpr ::capnp::_::RawSchema const* CustomReserved14::_capnpPrivate::schema;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
// CustomReserved15
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr uint16_t CustomReserved15::_capnpPrivate::dataWordSize;
|
||||
constexpr uint16_t CustomReserved15::_capnpPrivate::pointerCount;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#if !CAPNP_LITE
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr ::capnp::Kind CustomReserved15::_capnpPrivate::kind;
|
||||
constexpr ::capnp::_::RawSchema const* CustomReserved15::_capnpPrivate::schema;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
// CustomReserved16
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr uint16_t CustomReserved16::_capnpPrivate::dataWordSize;
|
||||
constexpr uint16_t CustomReserved16::_capnpPrivate::pointerCount;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#if !CAPNP_LITE
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr ::capnp::Kind CustomReserved16::_capnpPrivate::kind;
|
||||
constexpr ::capnp::_::RawSchema const* CustomReserved16::_capnpPrivate::schema;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
// CustomReserved17
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr uint16_t CustomReserved17::_capnpPrivate::dataWordSize;
|
||||
constexpr uint16_t CustomReserved17::_capnpPrivate::pointerCount;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#if !CAPNP_LITE
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr ::capnp::Kind CustomReserved17::_capnpPrivate::kind;
|
||||
constexpr ::capnp::_::RawSchema const* CustomReserved17::_capnpPrivate::schema;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
// CustomReserved18
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr uint16_t CustomReserved18::_capnpPrivate::dataWordSize;
|
||||
constexpr uint16_t CustomReserved18::_capnpPrivate::pointerCount;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#if !CAPNP_LITE
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr ::capnp::Kind CustomReserved18::_capnpPrivate::kind;
|
||||
constexpr ::capnp::_::RawSchema const* CustomReserved18::_capnpPrivate::schema;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
// CustomReserved19
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr uint16_t CustomReserved19::_capnpPrivate::dataWordSize;
|
||||
constexpr uint16_t CustomReserved19::_capnpPrivate::pointerCount;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#if !CAPNP_LITE
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr ::capnp::Kind CustomReserved19::_capnpPrivate::kind;
|
||||
constexpr ::capnp::_::RawSchema const* CustomReserved19::_capnpPrivate::schema;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
|
||||
} // namespace
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
@@ -1,574 +0,0 @@
|
||||
using Cxx = import "./include/c++.capnp";
|
||||
$Cxx.namespace("cereal");
|
||||
|
||||
@0x80ef1ec4889c2a63;
|
||||
|
||||
# legacy.capnp: a home for deprecated structs
|
||||
|
||||
struct LogRotate @0x9811e1f38f62f2d1 {
|
||||
segmentNum @0 :Int32;
|
||||
path @1 :Text;
|
||||
}
|
||||
|
||||
struct LiveUI @0xc08240f996aefced {
|
||||
rearViewCam @0 :Bool;
|
||||
alertText1 @1 :Text;
|
||||
alertText2 @2 :Text;
|
||||
awarenessStatus @3 :Float32;
|
||||
}
|
||||
|
||||
struct UiLayoutState @0x88dcce08ad29dda0 {
|
||||
activeApp @0 :App;
|
||||
sidebarCollapsed @1 :Bool;
|
||||
mapEnabled @2 :Bool;
|
||||
mockEngaged @3 :Bool;
|
||||
|
||||
enum App @0x9917470acf94d285 {
|
||||
home @0;
|
||||
music @1;
|
||||
nav @2;
|
||||
settings @3;
|
||||
none @4;
|
||||
}
|
||||
}
|
||||
|
||||
struct OrbslamCorrection @0x8afd33dc9b35e1aa {
|
||||
correctionMonoTime @0 :UInt64;
|
||||
prePositionECEF @1 :List(Float64);
|
||||
postPositionECEF @2 :List(Float64);
|
||||
prePoseQuatECEF @3 :List(Float32);
|
||||
postPoseQuatECEF @4 :List(Float32);
|
||||
numInliers @5 :UInt32;
|
||||
}
|
||||
|
||||
struct EthernetPacket @0xa99a9d5b33cf5859 {
|
||||
pkt @0 :Data;
|
||||
ts @1 :Float32;
|
||||
}
|
||||
|
||||
struct CellInfo @0xcff7566681c277ce {
|
||||
timestamp @0 :UInt64;
|
||||
repr @1 :Text; # android toString() for now
|
||||
}
|
||||
|
||||
struct WifiScan @0xd4df5a192382ba0b {
|
||||
bssid @0 :Text;
|
||||
ssid @1 :Text;
|
||||
capabilities @2 :Text;
|
||||
frequency @3 :Int32;
|
||||
level @4 :Int32;
|
||||
timestamp @5 :Int64;
|
||||
|
||||
centerFreq0 @6 :Int32;
|
||||
centerFreq1 @7 :Int32;
|
||||
channelWidth @8 :ChannelWidth;
|
||||
operatorFriendlyName @9 :Text;
|
||||
venueName @10 :Text;
|
||||
is80211mcResponder @11 :Bool;
|
||||
passpoint @12 :Bool;
|
||||
|
||||
distanceCm @13 :Int32;
|
||||
distanceSdCm @14 :Int32;
|
||||
|
||||
enum ChannelWidth @0xcb6a279f015f6b51 {
|
||||
w20Mhz @0;
|
||||
w40Mhz @1;
|
||||
w80Mhz @2;
|
||||
w160Mhz @3;
|
||||
w80Plus80Mhz @4;
|
||||
}
|
||||
}
|
||||
|
||||
struct LiveEventData @0x94b7baa90c5c321e {
|
||||
name @0 :Text;
|
||||
value @1 :Int32;
|
||||
}
|
||||
|
||||
struct ModelData @0xb8aad62cffef28a9 {
|
||||
frameId @0 :UInt32;
|
||||
frameAge @12 :UInt32;
|
||||
frameDropPerc @13 :Float32;
|
||||
timestampEof @9 :UInt64;
|
||||
modelExecutionTime @14 :Float32;
|
||||
gpuExecutionTime @16 :Float32;
|
||||
rawPred @15 :Data;
|
||||
|
||||
path @1 :PathData;
|
||||
leftLane @2 :PathData;
|
||||
rightLane @3 :PathData;
|
||||
lead @4 :LeadData;
|
||||
freePath @6 :List(Float32);
|
||||
|
||||
settings @5 :ModelSettings;
|
||||
leadFuture @7 :LeadData;
|
||||
speed @8 :List(Float32);
|
||||
meta @10 :MetaData;
|
||||
longitudinal @11 :LongitudinalData;
|
||||
|
||||
struct PathData @0x8817eeea389e9f08 {
|
||||
points @0 :List(Float32);
|
||||
prob @1 :Float32;
|
||||
std @2 :Float32;
|
||||
stds @3 :List(Float32);
|
||||
poly @4 :List(Float32);
|
||||
validLen @5 :Float32;
|
||||
}
|
||||
|
||||
struct LeadData @0xd1c9bef96d26fa91 {
|
||||
dist @0 :Float32;
|
||||
prob @1 :Float32;
|
||||
std @2 :Float32;
|
||||
relVel @3 :Float32;
|
||||
relVelStd @4 :Float32;
|
||||
relY @5 :Float32;
|
||||
relYStd @6 :Float32;
|
||||
relA @7 :Float32;
|
||||
relAStd @8 :Float32;
|
||||
}
|
||||
|
||||
struct ModelSettings @0xa26e3710efd3e914 {
|
||||
bigBoxX @0 :UInt16;
|
||||
bigBoxY @1 :UInt16;
|
||||
bigBoxWidth @2 :UInt16;
|
||||
bigBoxHeight @3 :UInt16;
|
||||
boxProjection @4 :List(Float32);
|
||||
yuvCorrection @5 :List(Float32);
|
||||
inputTransform @6 :List(Float32);
|
||||
}
|
||||
|
||||
struct MetaData @0x9744f25fb60f2bf8 {
|
||||
engagedProb @0 :Float32;
|
||||
desirePrediction @1 :List(Float32);
|
||||
brakeDisengageProb @2 :Float32;
|
||||
gasDisengageProb @3 :Float32;
|
||||
steerOverrideProb @4 :Float32;
|
||||
desireState @5 :List(Float32);
|
||||
}
|
||||
|
||||
struct LongitudinalData @0xf98f999c6a071122 {
|
||||
distances @2 :List(Float32);
|
||||
speeds @0 :List(Float32);
|
||||
accelerations @1 :List(Float32);
|
||||
}
|
||||
}
|
||||
|
||||
struct ECEFPoint @0xc25bbbd524983447 {
|
||||
x @0 :Float64;
|
||||
y @1 :Float64;
|
||||
z @2 :Float64;
|
||||
}
|
||||
|
||||
struct ECEFPointDEPRECATED @0xe10e21168db0c7f7 {
|
||||
x @0 :Float32;
|
||||
y @1 :Float32;
|
||||
z @2 :Float32;
|
||||
}
|
||||
|
||||
struct GPSPlannerPoints @0xab54c59699f8f9f3 {
|
||||
curPosDEPRECATED @0 :ECEFPointDEPRECATED;
|
||||
pointsDEPRECATED @1 :List(ECEFPointDEPRECATED);
|
||||
curPos @6 :ECEFPoint;
|
||||
points @7 :List(ECEFPoint);
|
||||
valid @2 :Bool;
|
||||
trackName @3 :Text;
|
||||
speedLimit @4 :Float32;
|
||||
accelTarget @5 :Float32;
|
||||
}
|
||||
|
||||
struct GPSPlannerPlan @0xf5ad1d90cdc1dd6b {
|
||||
valid @0 :Bool;
|
||||
poly @1 :List(Float32);
|
||||
trackName @2 :Text;
|
||||
speed @3 :Float32;
|
||||
acceleration @4 :Float32;
|
||||
pointsDEPRECATED @5 :List(ECEFPointDEPRECATED);
|
||||
points @6 :List(ECEFPoint);
|
||||
xLookahead @7 :Float32;
|
||||
}
|
||||
|
||||
struct UiNavigationEvent @0x90c8426c3eaddd3b {
|
||||
type @0: Type;
|
||||
status @1: Status;
|
||||
distanceTo @2: Float32;
|
||||
endRoadPointDEPRECATED @3: ECEFPointDEPRECATED;
|
||||
endRoadPoint @4: ECEFPoint;
|
||||
|
||||
enum Type @0xe8db07dcf8fcea05 {
|
||||
none @0;
|
||||
laneChangeLeft @1;
|
||||
laneChangeRight @2;
|
||||
mergeLeft @3;
|
||||
mergeRight @4;
|
||||
turnLeft @5;
|
||||
turnRight @6;
|
||||
}
|
||||
|
||||
enum Status @0xb9aa88c75ef99a1f {
|
||||
none @0;
|
||||
passive @1;
|
||||
approaching @2;
|
||||
active @3;
|
||||
}
|
||||
}
|
||||
|
||||
struct LiveLocationData @0xb99b2bc7a57e8128 {
|
||||
status @0 :UInt8;
|
||||
|
||||
# 3D fix
|
||||
lat @1 :Float64;
|
||||
lon @2 :Float64;
|
||||
alt @3 :Float32; # m
|
||||
|
||||
# speed
|
||||
speed @4 :Float32; # m/s
|
||||
|
||||
# NED velocity components
|
||||
vNED @5 :List(Float32);
|
||||
|
||||
# roll, pitch, heading (x,y,z)
|
||||
roll @6 :Float32; # WRT to center of earth?
|
||||
pitch @7 :Float32; # WRT to center of earth?
|
||||
heading @8 :Float32; # WRT to north?
|
||||
|
||||
# what are these?
|
||||
wanderAngle @9 :Float32;
|
||||
trackAngle @10 :Float32;
|
||||
|
||||
# car frame -- https://upload.wikimedia.org/wikipedia/commons/f/f5/RPY_angles_of_cars.png
|
||||
|
||||
# gyro, in car frame, deg/s
|
||||
gyro @11 :List(Float32);
|
||||
|
||||
# accel, in car frame, m/s^2
|
||||
accel @12 :List(Float32);
|
||||
|
||||
accuracy @13 :Accuracy;
|
||||
|
||||
source @14 :SensorSource;
|
||||
# if we are fixing a location in the past
|
||||
fixMonoTime @15 :UInt64;
|
||||
|
||||
gpsWeek @16 :Int32;
|
||||
timeOfWeek @17 :Float64;
|
||||
|
||||
positionECEF @18 :List(Float64);
|
||||
poseQuatECEF @19 :List(Float32);
|
||||
pitchCalibration @20 :Float32;
|
||||
yawCalibration @21 :Float32;
|
||||
imuFrame @22 :List(Float32);
|
||||
|
||||
struct Accuracy @0x943dc4625473b03f {
|
||||
pNEDError @0 :List(Float32);
|
||||
vNEDError @1 :List(Float32);
|
||||
rollError @2 :Float32;
|
||||
pitchError @3 :Float32;
|
||||
headingError @4 :Float32;
|
||||
ellipsoidSemiMajorError @5 :Float32;
|
||||
ellipsoidSemiMinorError @6 :Float32;
|
||||
ellipsoidOrientationError @7 :Float32;
|
||||
}
|
||||
|
||||
enum SensorSource @0xc871d3cc252af657 {
|
||||
applanix @0;
|
||||
kalman @1;
|
||||
orbslam @2;
|
||||
timing @3;
|
||||
dummy @4;
|
||||
}
|
||||
}
|
||||
|
||||
struct OrbOdometry @0xd7700859ed1f5b76 {
|
||||
# timing first
|
||||
startMonoTime @0 :UInt64;
|
||||
endMonoTime @1 :UInt64;
|
||||
|
||||
# fundamental matrix and error
|
||||
f @2: List(Float64);
|
||||
err @3: Float64;
|
||||
|
||||
# number of inlier points
|
||||
inliers @4: Int32;
|
||||
|
||||
# for debug only
|
||||
# indexed by endMonoTime features
|
||||
# value is startMonoTime feature match
|
||||
# -1 if no match
|
||||
matches @5: List(Int16);
|
||||
}
|
||||
|
||||
struct OrbFeatures @0xcd60164a8a0159ef {
|
||||
timestampEof @0 :UInt64;
|
||||
# transposed arrays of normalized image coordinates
|
||||
# len(xs) == len(ys) == len(descriptors) * 32
|
||||
xs @1 :List(Float32);
|
||||
ys @2 :List(Float32);
|
||||
descriptors @3 :Data;
|
||||
octaves @4 :List(Int8);
|
||||
|
||||
# match index to last OrbFeatures
|
||||
# -1 if no match
|
||||
timestampLastEof @5 :UInt64;
|
||||
matches @6: List(Int16);
|
||||
}
|
||||
|
||||
struct OrbFeaturesSummary @0xd500d30c5803fa4f {
|
||||
timestampEof @0 :UInt64;
|
||||
timestampLastEof @1 :UInt64;
|
||||
|
||||
featureCount @2 :UInt16;
|
||||
matchCount @3 :UInt16;
|
||||
computeNs @4 :UInt64;
|
||||
}
|
||||
|
||||
struct OrbKeyFrame @0xc8233c0345e27e24 {
|
||||
# this is a globally unique id for the KeyFrame
|
||||
id @0: UInt64;
|
||||
|
||||
# this is the location of the KeyFrame
|
||||
pos @1: ECEFPoint;
|
||||
|
||||
# these are the features in the world
|
||||
# len(dpos) == len(descriptors) * 32
|
||||
dpos @2 :List(ECEFPoint);
|
||||
descriptors @3 :Data;
|
||||
}
|
||||
|
||||
struct KalmanOdometry @0x92e21bb7ea38793a {
|
||||
trans @0 :List(Float32); # m/s in device frame
|
||||
rot @1 :List(Float32); # rad/s in device frame
|
||||
transStd @2 :List(Float32); # std m/s in device frame
|
||||
rotStd @3 :List(Float32); # std rad/s in device frame
|
||||
}
|
||||
|
||||
struct OrbObservation @0x9b326d4e436afec7 {
|
||||
observationMonoTime @0 :UInt64;
|
||||
normalizedCoordinates @1 :List(Float32);
|
||||
locationECEF @2 :List(Float64);
|
||||
matchDistance @3: UInt32;
|
||||
}
|
||||
|
||||
struct CalibrationFeatures @0x8fdfadb254ea867a {
|
||||
frameId @0 :UInt32;
|
||||
|
||||
p0 @1 :List(Float32);
|
||||
p1 @2 :List(Float32);
|
||||
status @3 :List(Int8);
|
||||
}
|
||||
|
||||
struct NavStatus @0xbd8822120928120c {
|
||||
isNavigating @0 :Bool;
|
||||
currentAddress @1 :Address;
|
||||
|
||||
struct Address @0xce7cd672cacc7814 {
|
||||
title @0 :Text;
|
||||
lat @1 :Float64;
|
||||
lng @2 :Float64;
|
||||
house @3 :Text;
|
||||
address @4 :Text;
|
||||
street @5 :Text;
|
||||
city @6 :Text;
|
||||
state @7 :Text;
|
||||
country @8 :Text;
|
||||
}
|
||||
}
|
||||
|
||||
struct NavUpdate @0xdb98be6565516acb {
|
||||
isNavigating @0 :Bool;
|
||||
curSegment @1 :Int32;
|
||||
segments @2 :List(Segment);
|
||||
|
||||
struct LatLng @0x9eaef9187cadbb9b {
|
||||
lat @0 :Float64;
|
||||
lng @1 :Float64;
|
||||
}
|
||||
|
||||
struct Segment @0xa5b39b4fc4d7da3f {
|
||||
from @0 :LatLng;
|
||||
to @1 :LatLng;
|
||||
updateTime @2 :Int32;
|
||||
distance @3 :Int32;
|
||||
crossTime @4 :Int32;
|
||||
exitNo @5 :Int32;
|
||||
instruction @6 :Instruction;
|
||||
|
||||
parts @7 :List(LatLng);
|
||||
|
||||
enum Instruction @0xc5417a637451246f {
|
||||
turnLeft @0;
|
||||
turnRight @1;
|
||||
keepLeft @2;
|
||||
keepRight @3;
|
||||
straight @4;
|
||||
roundaboutExitNumber @5;
|
||||
roundaboutExit @6;
|
||||
roundaboutTurnLeft @7;
|
||||
unkn8 @8;
|
||||
roundaboutStraight @9;
|
||||
unkn10 @10;
|
||||
roundaboutTurnRight @11;
|
||||
unkn12 @12;
|
||||
roundaboutUturn @13;
|
||||
unkn14 @14;
|
||||
arrive @15;
|
||||
exitLeft @16;
|
||||
exitRight @17;
|
||||
unkn18 @18;
|
||||
uturn @19;
|
||||
# ...
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
struct TrafficEvent @0xacfa74a094e62626 {
|
||||
type @0 :Type;
|
||||
distance @1 :Float32;
|
||||
action @2 :Action;
|
||||
resuming @3 :Bool;
|
||||
|
||||
enum Type @0xd85d75253435bf4b {
|
||||
stopSign @0;
|
||||
lightRed @1;
|
||||
lightYellow @2;
|
||||
lightGreen @3;
|
||||
stopLight @4;
|
||||
}
|
||||
|
||||
enum Action @0xa6f6ce72165ccb49 {
|
||||
none @0;
|
||||
yield @1;
|
||||
stop @2;
|
||||
resumeReady @3;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
struct AndroidGnss @0xdfdf30d03fc485bd {
|
||||
union {
|
||||
measurements @0 :Measurements;
|
||||
navigationMessage @1 :NavigationMessage;
|
||||
}
|
||||
|
||||
struct Measurements @0xa20710d4f428d6cd {
|
||||
clock @0 :Clock;
|
||||
measurements @1 :List(Measurement);
|
||||
|
||||
struct Clock @0xa0e27b453a38f450 {
|
||||
timeNanos @0 :Int64;
|
||||
hardwareClockDiscontinuityCount @1 :Int32;
|
||||
|
||||
hasTimeUncertaintyNanos @2 :Bool;
|
||||
timeUncertaintyNanos @3 :Float64;
|
||||
|
||||
hasLeapSecond @4 :Bool;
|
||||
leapSecond @5 :Int32;
|
||||
|
||||
hasFullBiasNanos @6 :Bool;
|
||||
fullBiasNanos @7 :Int64;
|
||||
|
||||
hasBiasNanos @8 :Bool;
|
||||
biasNanos @9 :Float64;
|
||||
|
||||
hasBiasUncertaintyNanos @10 :Bool;
|
||||
biasUncertaintyNanos @11 :Float64;
|
||||
|
||||
hasDriftNanosPerSecond @12 :Bool;
|
||||
driftNanosPerSecond @13 :Float64;
|
||||
|
||||
hasDriftUncertaintyNanosPerSecond @14 :Bool;
|
||||
driftUncertaintyNanosPerSecond @15 :Float64;
|
||||
}
|
||||
|
||||
struct Measurement @0xd949bf717d77614d {
|
||||
svId @0 :Int32;
|
||||
constellation @1 :Constellation;
|
||||
|
||||
timeOffsetNanos @2 :Float64;
|
||||
state @3 :Int32;
|
||||
receivedSvTimeNanos @4 :Int64;
|
||||
receivedSvTimeUncertaintyNanos @5 :Int64;
|
||||
cn0DbHz @6 :Float64;
|
||||
pseudorangeRateMetersPerSecond @7 :Float64;
|
||||
pseudorangeRateUncertaintyMetersPerSecond @8 :Float64;
|
||||
accumulatedDeltaRangeState @9 :Int32;
|
||||
accumulatedDeltaRangeMeters @10 :Float64;
|
||||
accumulatedDeltaRangeUncertaintyMeters @11 :Float64;
|
||||
|
||||
hasCarrierFrequencyHz @12 :Bool;
|
||||
carrierFrequencyHz @13 :Float32;
|
||||
hasCarrierCycles @14 :Bool;
|
||||
carrierCycles @15 :Int64;
|
||||
hasCarrierPhase @16 :Bool;
|
||||
carrierPhase @17 :Float64;
|
||||
hasCarrierPhaseUncertainty @18 :Bool;
|
||||
carrierPhaseUncertainty @19 :Float64;
|
||||
hasSnrInDb @20 :Bool;
|
||||
snrInDb @21 :Float64;
|
||||
|
||||
multipathIndicator @22 :MultipathIndicator;
|
||||
|
||||
enum Constellation @0x9ef1f3ff0deb5ffb {
|
||||
unknown @0;
|
||||
gps @1;
|
||||
sbas @2;
|
||||
glonass @3;
|
||||
qzss @4;
|
||||
beidou @5;
|
||||
galileo @6;
|
||||
}
|
||||
|
||||
enum State @0xcbb9490adce12d72 {
|
||||
unknown @0;
|
||||
codeLock @1;
|
||||
bitSync @2;
|
||||
subframeSync @3;
|
||||
towDecoded @4;
|
||||
msecAmbiguous @5;
|
||||
symbolSync @6;
|
||||
gloStringSync @7;
|
||||
gloTodDecoded @8;
|
||||
bdsD2BitSync @9;
|
||||
bdsD2SubframeSync @10;
|
||||
galE1bcCodeLock @11;
|
||||
galE1c2ndCodeLock @12;
|
||||
galE1bPageSync @13;
|
||||
sbasSync @14;
|
||||
}
|
||||
|
||||
enum MultipathIndicator @0xc04e7b6231d4caa8 {
|
||||
unknown @0;
|
||||
detected @1;
|
||||
notDetected @2;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
struct NavigationMessage @0xe2517b083095fd4e {
|
||||
type @0 :Int32;
|
||||
svId @1 :Int32;
|
||||
messageId @2 :Int32;
|
||||
submessageId @3 :Int32;
|
||||
data @4 :Data;
|
||||
status @5 :Status;
|
||||
|
||||
enum Status @0xec1ff7996b35366f {
|
||||
unknown @0;
|
||||
parityPassed @1;
|
||||
parityRebuilt @2;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
struct LidarPts @0xe3d6685d4e9d8f7a {
|
||||
r @0 :List(UInt16); # uint16 m*500.0
|
||||
theta @1 :List(UInt16); # uint16 deg*100.0
|
||||
reflect @2 :List(UInt8); # uint8 0-255
|
||||
|
||||
# For storing out of file.
|
||||
idx @3 :UInt64;
|
||||
|
||||
# For storing in file
|
||||
pkt @4 :Data;
|
||||
}
|
||||
|
||||
|
||||
+419
-482
File diff suppressed because it is too large
Load Diff
@@ -1,10 +1,8 @@
|
||||
# must be built with scons
|
||||
from msgq.ipc_pyx import Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, \
|
||||
set_fake_prefix, get_fake_prefix, delete_fake_prefix, wait_for_one_event
|
||||
from msgq.ipc_pyx import MultiplePublishersError, IpcError
|
||||
from msgq import fake_event_handle, pub_sock, sub_sock, drain_sock_raw
|
||||
from msgq import fake_event_handle, drain_sock_raw, MultiplePublishersError, IpcError, \
|
||||
Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, \
|
||||
set_fake_prefix, get_fake_prefix, delete_fake_prefix, wait_for_one_event
|
||||
import msgq
|
||||
|
||||
import os
|
||||
import capnp
|
||||
import time
|
||||
@@ -13,11 +11,25 @@ from typing import Optional, List, Union, Dict
|
||||
|
||||
from cereal import log
|
||||
from cereal.services import SERVICE_LIST
|
||||
from openpilot.common.util import MovingAverage
|
||||
from openpilot.common.utils import MovingAverage
|
||||
|
||||
NO_TRAVERSAL_LIMIT = 2**64-1
|
||||
|
||||
|
||||
def pub_sock(endpoint: str) -> PubSocket:
|
||||
service = SERVICE_LIST.get(endpoint)
|
||||
segment_size = service.queue_size if service else 0
|
||||
return msgq.pub_sock(endpoint, segment_size)
|
||||
|
||||
|
||||
def sub_sock(endpoint: str, poller: Optional[Poller] = None, addr: str = "127.0.0.1",
|
||||
conflate: bool = False, timeout: Optional[int] = None) -> SubSocket:
|
||||
service = SERVICE_LIST.get(endpoint)
|
||||
segment_size = service.queue_size if service else 0
|
||||
return msgq.sub_sock(endpoint, poller=poller, addr=addr, conflate=conflate,
|
||||
timeout=timeout, segment_size=segment_size)
|
||||
|
||||
|
||||
def reset_context():
|
||||
msgq.context = Context()
|
||||
|
||||
@@ -28,12 +40,16 @@ def log_from_bytes(dat: bytes, struct: capnp.lib.capnp._StructModule = log.Event
|
||||
|
||||
|
||||
def new_message(service: Optional[str], size: Optional[int] = None, **kwargs) -> capnp.lib.capnp._DynamicStructBuilder:
|
||||
args = {
|
||||
'valid': False,
|
||||
'logMonoTime': int(time.monotonic() * 1e9),
|
||||
**kwargs
|
||||
}
|
||||
dat = log.Event.new_message(**args)
|
||||
valid = kwargs.pop('valid', False)
|
||||
log_mono_time = kwargs.pop('logMonoTime', int(time.monotonic() * 1e9))
|
||||
|
||||
# pycapnp 2.2.x's kwargs/from_dict path creates cyclic garbage here. Realtime processes disable GC.
|
||||
dat = log.Event.new_message()
|
||||
dat.valid = valid
|
||||
dat.logMonoTime = log_mono_time
|
||||
for field, value in kwargs.items():
|
||||
setattr(dat, field, value)
|
||||
|
||||
if service is not None:
|
||||
if size is None:
|
||||
dat.init(service)
|
||||
@@ -247,11 +263,11 @@ class PubMaster:
|
||||
self.sock[s].send(dat)
|
||||
|
||||
def wait_for_readers_to_update(self, s: str, timeout: int, dt: float = 0.05) -> bool:
|
||||
for _ in range(int(timeout*(1./dt))):
|
||||
if self.sock[s].all_readers_updated():
|
||||
return True
|
||||
time.sleep(dt)
|
||||
return False
|
||||
try:
|
||||
self.sock[s].wait_for_readers(timeout=timeout, interval=dt)
|
||||
return True
|
||||
except TimeoutError:
|
||||
return False
|
||||
|
||||
def all_readers_updated(self, s: str) -> bool:
|
||||
return self.sock[s].all_readers_updated() # type: ignore
|
||||
return self.sock[s].all_readers_updated()
|
||||
|
||||
Binary file not shown.
@@ -25,15 +25,16 @@ void msgq_to_zmq(const std::vector<std::string> &endpoints, const std::string &i
|
||||
}
|
||||
|
||||
void zmq_to_msgq(const std::vector<std::string> &endpoints, const std::string &ip) {
|
||||
auto poller = std::make_unique<ZMQPoller>();
|
||||
auto pub_context = std::make_unique<MSGQContext>();
|
||||
auto sub_context = std::make_unique<ZMQContext>();
|
||||
std::map<SubSocket *, PubSocket *> sub2pub;
|
||||
auto poller = std::make_unique<BridgeZmqPoller>();
|
||||
auto pub_context = std::make_unique<Context>();
|
||||
auto sub_context = std::make_unique<BridgeZmqContext>();
|
||||
std::map<BridgeZmqSubSocket *, PubSocket *> sub2pub;
|
||||
|
||||
for (auto endpoint : endpoints) {
|
||||
auto pub_sock = new MSGQPubSocket();
|
||||
auto sub_sock = new ZMQSubSocket();
|
||||
pub_sock->connect(pub_context.get(), endpoint);
|
||||
auto pub_sock = new PubSocket();
|
||||
auto sub_sock = new BridgeZmqSubSocket();
|
||||
size_t queue_size = services.at(endpoint).queue_size;
|
||||
pub_sock->connect(pub_context.get(), endpoint, true, queue_size);
|
||||
sub_sock->connect(sub_context.get(), endpoint, ip, false);
|
||||
|
||||
poller->registerSocket(sub_sock);
|
||||
|
||||
@@ -0,0 +1,170 @@
|
||||
#include "cereal/messaging/bridge_zmq.h"
|
||||
|
||||
#include <cassert>
|
||||
#include <cstring>
|
||||
#include <unistd.h>
|
||||
|
||||
static size_t fnv1a_hash(const std::string &str) {
|
||||
const size_t fnv_prime = 0x100000001b3;
|
||||
size_t hash_value = 0xcbf29ce484222325;
|
||||
for (char c : str) {
|
||||
hash_value ^= (unsigned char)c;
|
||||
hash_value *= fnv_prime;
|
||||
}
|
||||
return hash_value;
|
||||
}
|
||||
|
||||
// FIXME: This is a hack to get the port number from the socket name, might have collisions.
|
||||
static int get_port(std::string endpoint) {
|
||||
size_t hash_value = fnv1a_hash(endpoint);
|
||||
int start_port = 8023;
|
||||
int max_port = 65535;
|
||||
return start_port + (hash_value % (max_port - start_port));
|
||||
}
|
||||
|
||||
BridgeZmqContext::BridgeZmqContext() {
|
||||
context = zmq_ctx_new();
|
||||
}
|
||||
|
||||
BridgeZmqContext::~BridgeZmqContext() {
|
||||
if (context != nullptr) {
|
||||
zmq_ctx_term(context);
|
||||
}
|
||||
}
|
||||
|
||||
void BridgeZmqMessage::init(size_t sz) {
|
||||
size = sz;
|
||||
data = new char[size];
|
||||
}
|
||||
|
||||
void BridgeZmqMessage::init(char *d, size_t sz) {
|
||||
size = sz;
|
||||
data = new char[size];
|
||||
memcpy(data, d, size);
|
||||
}
|
||||
|
||||
void BridgeZmqMessage::close() {
|
||||
if (size > 0) {
|
||||
delete[] data;
|
||||
}
|
||||
data = nullptr;
|
||||
size = 0;
|
||||
}
|
||||
|
||||
BridgeZmqMessage::~BridgeZmqMessage() {
|
||||
close();
|
||||
}
|
||||
|
||||
int BridgeZmqSubSocket::connect(BridgeZmqContext *context, std::string endpoint, std::string address, bool conflate, bool check_endpoint) {
|
||||
sock = zmq_socket(context->getRawContext(), ZMQ_SUB);
|
||||
if (sock == nullptr) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
zmq_setsockopt(sock, ZMQ_SUBSCRIBE, "", 0);
|
||||
|
||||
if (conflate) {
|
||||
int arg = 1;
|
||||
zmq_setsockopt(sock, ZMQ_CONFLATE, &arg, sizeof(int));
|
||||
}
|
||||
|
||||
int reconnect_ivl = 500;
|
||||
zmq_setsockopt(sock, ZMQ_RECONNECT_IVL_MAX, &reconnect_ivl, sizeof(reconnect_ivl));
|
||||
|
||||
full_endpoint = "tcp://" + address + ":";
|
||||
if (check_endpoint) {
|
||||
full_endpoint += std::to_string(get_port(endpoint));
|
||||
} else {
|
||||
full_endpoint += endpoint;
|
||||
}
|
||||
|
||||
return zmq_connect(sock, full_endpoint.c_str());
|
||||
}
|
||||
|
||||
void BridgeZmqSubSocket::setTimeout(int timeout) {
|
||||
zmq_setsockopt(sock, ZMQ_RCVTIMEO, &timeout, sizeof(int));
|
||||
}
|
||||
|
||||
Message *BridgeZmqSubSocket::receive(bool non_blocking) {
|
||||
zmq_msg_t msg;
|
||||
assert(zmq_msg_init(&msg) == 0);
|
||||
|
||||
int flags = non_blocking ? ZMQ_DONTWAIT : 0;
|
||||
int rc = zmq_msg_recv(&msg, sock, flags);
|
||||
|
||||
Message *ret = nullptr;
|
||||
if (rc >= 0) {
|
||||
ret = new BridgeZmqMessage;
|
||||
ret->init((char *)zmq_msg_data(&msg), zmq_msg_size(&msg));
|
||||
}
|
||||
|
||||
zmq_msg_close(&msg);
|
||||
return ret;
|
||||
}
|
||||
|
||||
BridgeZmqSubSocket::~BridgeZmqSubSocket() {
|
||||
if (sock != nullptr) {
|
||||
zmq_close(sock);
|
||||
}
|
||||
}
|
||||
|
||||
int BridgeZmqPubSocket::connect(BridgeZmqContext *context, std::string endpoint, bool check_endpoint) {
|
||||
sock = zmq_socket(context->getRawContext(), ZMQ_PUB);
|
||||
if (sock == nullptr) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
full_endpoint = "tcp://*:";
|
||||
if (check_endpoint) {
|
||||
full_endpoint += std::to_string(get_port(endpoint));
|
||||
} else {
|
||||
full_endpoint += endpoint;
|
||||
}
|
||||
|
||||
// ZMQ pub sockets cannot be shared between processes, so we need to ensure pid stays the same.
|
||||
pid = getpid();
|
||||
|
||||
return zmq_bind(sock, full_endpoint.c_str());
|
||||
}
|
||||
|
||||
int BridgeZmqPubSocket::sendMessage(Message *message) {
|
||||
assert(pid == getpid());
|
||||
return zmq_send(sock, message->getData(), message->getSize(), ZMQ_DONTWAIT);
|
||||
}
|
||||
|
||||
int BridgeZmqPubSocket::send(char *data, size_t size) {
|
||||
assert(pid == getpid());
|
||||
return zmq_send(sock, data, size, ZMQ_DONTWAIT);
|
||||
}
|
||||
|
||||
BridgeZmqPubSocket::~BridgeZmqPubSocket() {
|
||||
if (sock != nullptr) {
|
||||
zmq_close(sock);
|
||||
}
|
||||
}
|
||||
|
||||
void BridgeZmqPoller::registerSocket(BridgeZmqSubSocket *socket) {
|
||||
assert(num_polls + 1 < (sizeof(polls) / sizeof(polls[0])));
|
||||
polls[num_polls].socket = socket->getRawSocket();
|
||||
polls[num_polls].events = ZMQ_POLLIN;
|
||||
|
||||
sockets.push_back(socket);
|
||||
num_polls++;
|
||||
}
|
||||
|
||||
std::vector<BridgeZmqSubSocket *> BridgeZmqPoller::poll(int timeout) {
|
||||
std::vector<BridgeZmqSubSocket *> ret;
|
||||
|
||||
int rc = zmq_poll(polls, num_polls, timeout);
|
||||
if (rc < 0) {
|
||||
return ret;
|
||||
}
|
||||
|
||||
for (size_t i = 0; i < num_polls; i++) {
|
||||
if (polls[i].revents) {
|
||||
ret.push_back(sockets[i]);
|
||||
}
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
@@ -0,0 +1,72 @@
|
||||
#pragma once
|
||||
|
||||
#include <cstddef>
|
||||
#include <string>
|
||||
#include <vector>
|
||||
|
||||
#include <zmq.h>
|
||||
|
||||
#include "msgq/ipc.h"
|
||||
|
||||
class BridgeZmqContext {
|
||||
public:
|
||||
BridgeZmqContext();
|
||||
void *getRawContext() { return context; }
|
||||
~BridgeZmqContext();
|
||||
|
||||
private:
|
||||
void *context = nullptr;
|
||||
};
|
||||
|
||||
class BridgeZmqMessage : public Message {
|
||||
public:
|
||||
void init(size_t size);
|
||||
void init(char *data, size_t size);
|
||||
void close();
|
||||
size_t getSize() { return size; }
|
||||
char *getData() { return data; }
|
||||
~BridgeZmqMessage();
|
||||
|
||||
private:
|
||||
char *data = nullptr;
|
||||
size_t size = 0;
|
||||
};
|
||||
|
||||
class BridgeZmqSubSocket {
|
||||
public:
|
||||
int connect(BridgeZmqContext *context, std::string endpoint, std::string address, bool conflate = false, bool check_endpoint = true);
|
||||
void setTimeout(int timeout);
|
||||
Message *receive(bool non_blocking = false);
|
||||
void *getRawSocket() { return sock; }
|
||||
~BridgeZmqSubSocket();
|
||||
|
||||
private:
|
||||
void *sock = nullptr;
|
||||
std::string full_endpoint;
|
||||
};
|
||||
|
||||
class BridgeZmqPubSocket {
|
||||
public:
|
||||
int connect(BridgeZmqContext *context, std::string endpoint, bool check_endpoint = true);
|
||||
int sendMessage(Message *message);
|
||||
int send(char *data, size_t size);
|
||||
void *getRawSocket() { return sock; }
|
||||
~BridgeZmqPubSocket();
|
||||
|
||||
private:
|
||||
void *sock = nullptr;
|
||||
std::string full_endpoint;
|
||||
int pid = -1;
|
||||
};
|
||||
|
||||
class BridgeZmqPoller {
|
||||
public:
|
||||
void registerSocket(BridgeZmqSubSocket *socket);
|
||||
std::vector<BridgeZmqSubSocket *> poll(int timeout);
|
||||
|
||||
private:
|
||||
static constexpr size_t MAX_BRIDGE_ZMQ_POLLERS = 128;
|
||||
std::vector<BridgeZmqSubSocket *> sockets;
|
||||
zmq_pollitem_t polls[MAX_BRIDGE_ZMQ_POLLERS] = {};
|
||||
size_t num_polls = 0;
|
||||
};
|
||||
@@ -2,6 +2,7 @@
|
||||
|
||||
#include <cassert>
|
||||
|
||||
#include "cereal/services.h"
|
||||
#include "common/util.h"
|
||||
|
||||
extern ExitHandler do_exit;
|
||||
@@ -21,14 +22,14 @@ static std::string recv_zmq_msg(void *sock) {
|
||||
}
|
||||
|
||||
void MsgqToZmq::run(const std::vector<std::string> &endpoints, const std::string &ip) {
|
||||
zmq_context = std::make_unique<ZMQContext>();
|
||||
msgq_context = std::make_unique<MSGQContext>();
|
||||
zmq_context = std::make_unique<BridgeZmqContext>();
|
||||
msgq_context = std::make_unique<Context>();
|
||||
|
||||
// Create ZMQPubSockets for each endpoint
|
||||
for (const auto &endpoint : endpoints) {
|
||||
auto &socket_pair = socket_pairs.emplace_back();
|
||||
socket_pair.endpoint = endpoint;
|
||||
socket_pair.pub_sock = std::make_unique<ZMQPubSocket>();
|
||||
socket_pair.pub_sock = std::make_unique<BridgeZmqPubSocket>();
|
||||
int ret = socket_pair.pub_sock->connect(zmq_context.get(), endpoint);
|
||||
if (ret != 0) {
|
||||
printf("Failed to create ZMQ publisher for [%s]: %s\n", endpoint.c_str(), zmq_strerror(zmq_errno()));
|
||||
@@ -48,7 +49,7 @@ void MsgqToZmq::run(const std::vector<std::string> &endpoints, const std::string
|
||||
|
||||
for (auto sub_sock : msgq_poller->poll(100)) {
|
||||
// Process messages for each socket
|
||||
ZMQPubSocket *pub_sock = sub2pub.at(sub_sock);
|
||||
BridgeZmqPubSocket *pub_sock = sub2pub.at(sub_sock);
|
||||
for (int i = 0; i < MAX_MESSAGES_PER_SOCKET; ++i) {
|
||||
auto msg = std::unique_ptr<Message>(sub_sock->receive(true));
|
||||
if (!msg) break;
|
||||
@@ -71,7 +72,7 @@ void MsgqToZmq::zmqMonitorThread() {
|
||||
// Set up ZMQ monitor for each pub socket
|
||||
for (int i = 0; i < socket_pairs.size(); ++i) {
|
||||
std::string addr = "inproc://op-bridge-monitor-" + std::to_string(i);
|
||||
zmq_socket_monitor(socket_pairs[i].pub_sock->sock, addr.c_str(), ZMQ_EVENT_ACCEPTED | ZMQ_EVENT_DISCONNECTED);
|
||||
zmq_socket_monitor(socket_pairs[i].pub_sock->getRawSocket(), addr.c_str(), ZMQ_EVENT_ACCEPTED | ZMQ_EVENT_DISCONNECTED);
|
||||
|
||||
void *monitor_socket = zmq_socket(zmq_context->getRawContext(), ZMQ_PAIR);
|
||||
zmq_connect(monitor_socket, addr.c_str());
|
||||
@@ -108,7 +109,8 @@ void MsgqToZmq::zmqMonitorThread() {
|
||||
if (++pair.connected_clients == 1) {
|
||||
// Create new MSGQ subscriber socket and map to ZMQ publisher
|
||||
pair.sub_sock = std::make_unique<MSGQSubSocket>();
|
||||
pair.sub_sock->connect(msgq_context.get(), pair.endpoint, "127.0.0.1");
|
||||
size_t queue_size = services.at(pair.endpoint).queue_size;
|
||||
pair.sub_sock->connect(msgq_context.get(), pair.endpoint, "127.0.0.1", false, true, queue_size);
|
||||
sub2pub[pair.sub_sock.get()] = pair.pub_sock.get();
|
||||
registerSockets();
|
||||
}
|
||||
@@ -128,7 +130,7 @@ void MsgqToZmq::zmqMonitorThread() {
|
||||
|
||||
// Clean up monitor sockets
|
||||
for (int i = 0; i < pollitems.size(); ++i) {
|
||||
zmq_socket_monitor(socket_pairs[i].pub_sock->sock, nullptr, 0);
|
||||
zmq_socket_monitor(socket_pairs[i].pub_sock->getRawSocket(), nullptr, 0);
|
||||
zmq_close(pollitems[i].socket);
|
||||
}
|
||||
cv.notify_one();
|
||||
|
||||
@@ -7,9 +7,8 @@
|
||||
#include <string>
|
||||
#include <vector>
|
||||
|
||||
#define private public
|
||||
#include "msgq/impl_msgq.h"
|
||||
#include "msgq/impl_zmq.h"
|
||||
#include "cereal/messaging/bridge_zmq.h"
|
||||
|
||||
class MsgqToZmq {
|
||||
public:
|
||||
@@ -22,16 +21,16 @@ protected:
|
||||
|
||||
struct SocketPair {
|
||||
std::string endpoint;
|
||||
std::unique_ptr<ZMQPubSocket> pub_sock;
|
||||
std::unique_ptr<BridgeZmqPubSocket> pub_sock;
|
||||
std::unique_ptr<MSGQSubSocket> sub_sock;
|
||||
int connected_clients = 0;
|
||||
};
|
||||
|
||||
std::unique_ptr<MSGQContext> msgq_context;
|
||||
std::unique_ptr<ZMQContext> zmq_context;
|
||||
std::unique_ptr<Context> msgq_context;
|
||||
std::unique_ptr<BridgeZmqContext> zmq_context;
|
||||
std::mutex mutex;
|
||||
std::condition_variable cv;
|
||||
std::unique_ptr<MSGQPoller> msgq_poller;
|
||||
std::map<SubSocket *, ZMQPubSocket *> sub2pub;
|
||||
std::map<SubSocket *, BridgeZmqPubSocket *> sub2pub;
|
||||
std::vector<SocketPair> socket_pairs;
|
||||
};
|
||||
|
||||
@@ -33,7 +33,7 @@ MessageContext message_context;
|
||||
struct SubMaster::SubMessage {
|
||||
std::string name;
|
||||
SubSocket *socket = nullptr;
|
||||
int freq = 0;
|
||||
float freq = 0.0f;
|
||||
bool updated = false, alive = false, valid = false, ignore_alive;
|
||||
uint64_t rcv_time = 0, rcv_frame = 0;
|
||||
void *allocated_msg_reader = nullptr;
|
||||
@@ -50,7 +50,7 @@ SubMaster::SubMaster(const std::vector<const char *> &service_list, const std::v
|
||||
assert(services.count(std::string(name)) > 0);
|
||||
|
||||
service serv = services.at(std::string(name));
|
||||
SubSocket *socket = SubSocket::create(message_context.context(), name, address ? address : "127.0.0.1", true);
|
||||
SubSocket *socket = SubSocket::create(message_context.context(), name, address ? address : "127.0.0.1", true, true, serv.queue_size);
|
||||
assert(socket != 0);
|
||||
bool is_polled = inList(poll, name) || poll.empty();
|
||||
if (is_polled) poller_->registerSocket(socket);
|
||||
@@ -187,7 +187,8 @@ SubMaster::~SubMaster() {
|
||||
PubMaster::PubMaster(const std::vector<const char *> &service_list) {
|
||||
for (auto name : service_list) {
|
||||
assert(services.count(name) > 0);
|
||||
PubSocket *socket = PubSocket::create(message_context.context(), name);
|
||||
service serv = services.at(std::string(name));
|
||||
PubSocket *socket = PubSocket::create(message_context.context(), name, true, serv.queue_size);
|
||||
assert(socket);
|
||||
sockets_[name] = socket;
|
||||
}
|
||||
|
||||
@@ -5,7 +5,7 @@ import numbers
|
||||
import random
|
||||
import threading
|
||||
import time
|
||||
from parameterized import parameterized
|
||||
from openpilot.common.parameterized import parameterized
|
||||
import pytest
|
||||
|
||||
from cereal import log, car
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
import os
|
||||
import tempfile
|
||||
from typing import Dict
|
||||
from parameterized import parameterized
|
||||
from openpilot.common.parameterized import parameterized
|
||||
|
||||
import cereal.services as services
|
||||
from cereal.services import SERVICE_LIST
|
||||
|
||||
@@ -1,91 +0,0 @@
|
||||
/* THIS IS AN AUTOGENERATED FILE, PLEASE EDIT services.py */
|
||||
#ifndef __SERVICES_H
|
||||
#define __SERVICES_H
|
||||
#include <map>
|
||||
#include <string>
|
||||
struct service { std::string name; bool should_log; int frequency; int decimation; };
|
||||
static std::map<std::string, service> services = {
|
||||
{ "gyroscope", {"gyroscope", true, 104, 104}},
|
||||
{ "gyroscope2", {"gyroscope2", true, 100, 100}},
|
||||
{ "accelerometer", {"accelerometer", true, 104, 104}},
|
||||
{ "accelerometer2", {"accelerometer2", true, 100, 100}},
|
||||
{ "magnetometer", {"magnetometer", true, 25, -1}},
|
||||
{ "lightSensor", {"lightSensor", true, 100, 100}},
|
||||
{ "temperatureSensor", {"temperatureSensor", true, 2, 200}},
|
||||
{ "temperatureSensor2", {"temperatureSensor2", true, 2, 200}},
|
||||
{ "gpsNMEA", {"gpsNMEA", true, 9, -1}},
|
||||
{ "deviceState", {"deviceState", true, 2, 1}},
|
||||
{ "touch", {"touch", true, 20, 1}},
|
||||
{ "can", {"can", true, 100, 2053}},
|
||||
{ "controlsState", {"controlsState", true, 100, 10}},
|
||||
{ "selfdriveState", {"selfdriveState", true, 100, 10}},
|
||||
{ "pandaStates", {"pandaStates", true, 10, 1}},
|
||||
{ "peripheralState", {"peripheralState", true, 2, 1}},
|
||||
{ "radarState", {"radarState", true, 20, 5}},
|
||||
{ "roadEncodeIdx", {"roadEncodeIdx", false, 20, 1}},
|
||||
{ "liveTracks", {"liveTracks", true, 20, -1}},
|
||||
{ "sendcan", {"sendcan", true, 100, 139}},
|
||||
{ "logMessage", {"logMessage", true, 0, -1}},
|
||||
{ "errorLogMessage", {"errorLogMessage", true, 0, 1}},
|
||||
{ "liveCalibration", {"liveCalibration", true, 4, 4}},
|
||||
{ "liveTorqueParameters", {"liveTorqueParameters", true, 4, 1}},
|
||||
{ "liveDelay", {"liveDelay", true, 4, 1}},
|
||||
{ "androidLog", {"androidLog", true, 0, -1}},
|
||||
{ "carState", {"carState", true, 100, 10}},
|
||||
{ "carControl", {"carControl", true, 100, 10}},
|
||||
{ "carOutput", {"carOutput", true, 100, 10}},
|
||||
{ "longitudinalPlan", {"longitudinalPlan", true, 20, 10}},
|
||||
{ "driverAssistance", {"driverAssistance", true, 20, 20}},
|
||||
{ "procLog", {"procLog", true, 0, 15}},
|
||||
{ "gpsLocationExternal", {"gpsLocationExternal", true, 10, 10}},
|
||||
{ "gpsLocation", {"gpsLocation", true, 1, 1}},
|
||||
{ "ubloxGnss", {"ubloxGnss", true, 10, -1}},
|
||||
{ "qcomGnss", {"qcomGnss", true, 2, -1}},
|
||||
{ "gnssMeasurements", {"gnssMeasurements", true, 10, 10}},
|
||||
{ "clocks", {"clocks", true, 0, 1}},
|
||||
{ "ubloxRaw", {"ubloxRaw", true, 20, -1}},
|
||||
{ "livePose", {"livePose", true, 20, 4}},
|
||||
{ "liveParameters", {"liveParameters", true, 20, 5}},
|
||||
{ "cameraOdometry", {"cameraOdometry", true, 20, 10}},
|
||||
{ "thumbnail", {"thumbnail", true, 0, 1}},
|
||||
{ "onroadEvents", {"onroadEvents", true, 1, 1}},
|
||||
{ "carParams", {"carParams", true, 0, 1}},
|
||||
{ "roadCameraState", {"roadCameraState", true, 20, 20}},
|
||||
{ "driverCameraState", {"driverCameraState", true, 20, 20}},
|
||||
{ "driverEncodeIdx", {"driverEncodeIdx", false, 20, 1}},
|
||||
{ "driverStateV2", {"driverStateV2", true, 20, 10}},
|
||||
{ "driverMonitoringState", {"driverMonitoringState", true, 20, 10}},
|
||||
{ "wideRoadEncodeIdx", {"wideRoadEncodeIdx", false, 20, 1}},
|
||||
{ "wideRoadCameraState", {"wideRoadCameraState", true, 20, 20}},
|
||||
{ "drivingModelData", {"drivingModelData", true, 20, 10}},
|
||||
{ "modelV2", {"modelV2", true, 20, -1}},
|
||||
{ "managerState", {"managerState", true, 2, 1}},
|
||||
{ "uploaderState", {"uploaderState", true, 0, 1}},
|
||||
{ "navInstruction", {"navInstruction", true, 1, 10}},
|
||||
{ "navRoute", {"navRoute", true, 0, -1}},
|
||||
{ "navThumbnail", {"navThumbnail", true, 0, -1}},
|
||||
{ "qRoadEncodeIdx", {"qRoadEncodeIdx", false, 20, -1}},
|
||||
{ "userBookmark", {"userBookmark", true, 0, 1}},
|
||||
{ "soundPressure", {"soundPressure", true, 10, 10}},
|
||||
{ "rawAudioData", {"rawAudioData", false, 20, -1}},
|
||||
{ "bookmarkButton", {"bookmarkButton", true, 0, 1}},
|
||||
{ "audioFeedback", {"audioFeedback", true, 0, 1}},
|
||||
{ "uiDebug", {"uiDebug", true, 0, 1}},
|
||||
{ "testJoystick", {"testJoystick", true, 0, -1}},
|
||||
{ "alertDebug", {"alertDebug", true, 20, 5}},
|
||||
{ "roadEncodeData", {"roadEncodeData", false, 20, -1}},
|
||||
{ "driverEncodeData", {"driverEncodeData", false, 20, -1}},
|
||||
{ "wideRoadEncodeData", {"wideRoadEncodeData", false, 20, -1}},
|
||||
{ "qRoadEncodeData", {"qRoadEncodeData", false, 20, -1}},
|
||||
{ "livestreamWideRoadEncodeIdx", {"livestreamWideRoadEncodeIdx", false, 20, -1}},
|
||||
{ "livestreamRoadEncodeIdx", {"livestreamRoadEncodeIdx", false, 20, -1}},
|
||||
{ "livestreamDriverEncodeIdx", {"livestreamDriverEncodeIdx", false, 20, -1}},
|
||||
{ "livestreamWideRoadEncodeData", {"livestreamWideRoadEncodeData", false, 20, -1}},
|
||||
{ "livestreamRoadEncodeData", {"livestreamRoadEncodeData", false, 20, -1}},
|
||||
{ "livestreamDriverEncodeData", {"livestreamDriverEncodeData", false, 20, -1}},
|
||||
{ "customReservedRawData0", {"customReservedRawData0", true, 0, -1}},
|
||||
{ "customReservedRawData1", {"customReservedRawData1", true, 0, -1}},
|
||||
{ "customReservedRawData2", {"customReservedRawData2", true, 0, -1}},
|
||||
};
|
||||
#endif
|
||||
|
||||
+33
-31
@@ -1,39 +1,43 @@
|
||||
#!/usr/bin/env python3
|
||||
from enum import IntEnum
|
||||
from typing import Optional
|
||||
|
||||
|
||||
# TODO: this should be automatically determined using the capnp schema
|
||||
class QueueSize(IntEnum):
|
||||
BIG = 10 * 1024 * 1024 # 10MB - video frames, large AI outputs
|
||||
MEDIUM = 2 * 1024 * 1024 # 2MB - high freq (CAN), livestream
|
||||
SMALL = 250 * 1024 # 250KB - most services
|
||||
|
||||
|
||||
class Service:
|
||||
def __init__(self, should_log: bool, frequency: float, decimation: Optional[int] = None):
|
||||
def __init__(self, should_log: bool, frequency: float, decimation: Optional[int] = None,
|
||||
queue_size: QueueSize = QueueSize.SMALL):
|
||||
self.should_log = should_log
|
||||
self.frequency = frequency
|
||||
self.decimation = decimation
|
||||
self.queue_size = queue_size
|
||||
|
||||
|
||||
_services: dict[str, tuple] = {
|
||||
# service: (should_log, frequency, qlog decimation (optional))
|
||||
# note: the "EncodeIdx" packets will still be in the log
|
||||
"gyroscope": (True, 104., 104),
|
||||
"gyroscope2": (True, 100., 100),
|
||||
"accelerometer": (True, 104., 104),
|
||||
"accelerometer2": (True, 100., 100),
|
||||
"magnetometer": (True, 25.),
|
||||
"lightSensor": (True, 100., 100),
|
||||
"temperatureSensor": (True, 2., 200),
|
||||
"temperatureSensor2": (True, 2., 200),
|
||||
"gpsNMEA": (True, 9.),
|
||||
"deviceState": (True, 2., 1),
|
||||
"touch": (True, 20., 1),
|
||||
"can": (True, 100., 2053), # decimation gives ~3 msgs in a full segment
|
||||
"controlsState": (True, 100., 10),
|
||||
"can": (True, 100., 2053, QueueSize.BIG), # decimation gives ~3 msgs in a full segment
|
||||
"controlsState": (True, 100., 10, QueueSize.MEDIUM),
|
||||
"selfdriveState": (True, 100., 10),
|
||||
"pandaStates": (True, 10., 1),
|
||||
"peripheralState": (True, 2., 1),
|
||||
"radarState": (True, 20., 5),
|
||||
"roadEncodeIdx": (False, 20., 1),
|
||||
"liveTracks": (True, 20.),
|
||||
"sendcan": (True, 100., 139),
|
||||
"logMessage": (True, 0.),
|
||||
"errorLogMessage": (True, 0., 1),
|
||||
"sendcan": (True, 100., 139, QueueSize.MEDIUM),
|
||||
"logMessage": (True, 0., None, QueueSize.BIG),
|
||||
"errorLogMessage": (True, 0., 1, QueueSize.BIG),
|
||||
"liveCalibration": (True, 4., 4),
|
||||
"liveTorqueParameters": (True, 4., 1),
|
||||
"liveDelay": (True, 4., 1),
|
||||
@@ -42,13 +46,13 @@ _services: dict[str, tuple] = {
|
||||
"carControl": (True, 100., 10),
|
||||
"carOutput": (True, 100., 10),
|
||||
"longitudinalPlan": (True, 20., 10),
|
||||
"lateralManeuverPlan": (True, 20.),
|
||||
"driverAssistance": (True, 20., 20),
|
||||
"procLog": (True, 0.5, 15),
|
||||
"procLog": (True, 0.5, 15, QueueSize.BIG),
|
||||
"gpsLocationExternal": (True, 10., 10),
|
||||
"gpsLocation": (True, 1., 1),
|
||||
"ubloxGnss": (True, 10.),
|
||||
"qcomGnss": (True, 2.),
|
||||
"gnssMeasurements": (True, 10., 10),
|
||||
"clocks": (True, 0.1, 1),
|
||||
"ubloxRaw": (True, 20.),
|
||||
"livePose": (True, 20., 4),
|
||||
@@ -65,36 +69,34 @@ _services: dict[str, tuple] = {
|
||||
"wideRoadEncodeIdx": (False, 20., 1),
|
||||
"wideRoadCameraState": (True, 20., 20),
|
||||
"drivingModelData": (True, 20., 10),
|
||||
"modelV2": (True, 20.),
|
||||
"modelV2": (True, 20., None, QueueSize.BIG),
|
||||
"managerState": (True, 2., 1),
|
||||
"uploaderState": (True, 0., 1),
|
||||
"navInstruction": (True, 1., 10),
|
||||
"navRoute": (True, 0.),
|
||||
"navThumbnail": (True, 0.),
|
||||
"qRoadEncodeIdx": (False, 20.),
|
||||
"userBookmark": (True, 0., 1),
|
||||
"soundPressure": (True, 10., 10),
|
||||
"rawAudioData": (False, 20.),
|
||||
"bookmarkButton": (True, 0., 1),
|
||||
"audioFeedback": (True, 0., 1),
|
||||
"roadEncodeData": (False, 20., None, QueueSize.BIG),
|
||||
"driverEncodeData": (False, 20., None, QueueSize.BIG),
|
||||
"wideRoadEncodeData": (False, 20., None, QueueSize.BIG),
|
||||
"qRoadEncodeData": (False, 20., None, QueueSize.BIG),
|
||||
|
||||
# debug
|
||||
"uiDebug": (True, 0., 1),
|
||||
"testJoystick": (True, 0.),
|
||||
"alertDebug": (True, 20., 5),
|
||||
"roadEncodeData": (False, 20.),
|
||||
"driverEncodeData": (False, 20.),
|
||||
"wideRoadEncodeData": (False, 20.),
|
||||
"qRoadEncodeData": (False, 20.),
|
||||
"livestreamWideRoadEncodeIdx": (False, 20.),
|
||||
"livestreamRoadEncodeIdx": (False, 20.),
|
||||
"livestreamDriverEncodeIdx": (False, 20.),
|
||||
"livestreamWideRoadEncodeData": (False, 20.),
|
||||
"livestreamRoadEncodeData": (False, 20.),
|
||||
"livestreamDriverEncodeData": (False, 20.),
|
||||
"livestreamWideRoadEncodeData": (False, 20., None, QueueSize.MEDIUM),
|
||||
"livestreamRoadEncodeData": (False, 20., None, QueueSize.MEDIUM),
|
||||
"livestreamDriverEncodeData": (False, 20., None, QueueSize.MEDIUM),
|
||||
"customReservedRawData0": (True, 0.),
|
||||
"customReservedRawData1": (True, 0.),
|
||||
"customReservedRawData2": (True, 0.),
|
||||
"controlsStateExt": (True, 100.),
|
||||
"carStateExt": (True, 100.),
|
||||
"modelExt": (True, 20.),
|
||||
"dashyState": (True, 0.), # Aggregated dashy UI state (optional)
|
||||
}
|
||||
SERVICE_LIST = {name: Service(*vals) for
|
||||
idx, (name, vals) in enumerate(_services.items())}
|
||||
@@ -109,13 +111,13 @@ def build_header():
|
||||
h += "#include <map>\n"
|
||||
h += "#include <string>\n"
|
||||
|
||||
h += "struct service { std::string name; bool should_log; int frequency; int decimation; };\n"
|
||||
h += "struct service { std::string name; bool should_log; float frequency; int decimation; size_t queue_size; };\n"
|
||||
h += "static std::map<std::string, service> services = {\n"
|
||||
for k, v in SERVICE_LIST.items():
|
||||
should_log = "true" if v.should_log else "false"
|
||||
decimation = -1 if v.decimation is None else v.decimation
|
||||
h += ' { "%s", {"%s", %s, %d, %d}},\n' % \
|
||||
(k, k, should_log, v.frequency, decimation)
|
||||
h += ' { "%s", {"%s", %s, %f, %d, %d}},\n' % \
|
||||
(k, k, should_log, v.frequency, decimation, v.queue_size)
|
||||
h += "};\n"
|
||||
|
||||
h += "#endif\n"
|
||||
|
||||
@@ -1 +0,0 @@
|
||||
*.cpp
|
||||
+4
-16
@@ -1,21 +1,14 @@
|
||||
Import('env', 'envCython', 'arch')
|
||||
Import('env', 'envCython')
|
||||
|
||||
common_libs = [
|
||||
'params.cc',
|
||||
'swaglog.cc',
|
||||
'util.cc',
|
||||
'watchdog.cc',
|
||||
'ratekeeper.cc'
|
||||
'ratekeeper.cc',
|
||||
]
|
||||
|
||||
_common = env.Library('common', common_libs, LIBS="json11")
|
||||
|
||||
files = [
|
||||
'clutil.cc',
|
||||
]
|
||||
|
||||
_gpucommon = env.Library('gpucommon', files)
|
||||
Export('_common', '_gpucommon')
|
||||
Export('_common')
|
||||
|
||||
if GetOption('extras'):
|
||||
env.Program('tests/test_common',
|
||||
@@ -25,11 +18,6 @@ if GetOption('extras'):
|
||||
# Cython bindings
|
||||
params_python = envCython.Program('params_pyx.so', 'params_pyx.pyx', LIBS=envCython['LIBS'] + [_common, 'zmq', 'json11'])
|
||||
|
||||
SConscript([
|
||||
'transformations/SConscript',
|
||||
])
|
||||
|
||||
Import('transformations_python')
|
||||
common_python = [params_python, transformations_python]
|
||||
common_python = [params_python]
|
||||
|
||||
Export('common_python')
|
||||
|
||||
+22
-6
@@ -7,11 +7,15 @@ from openpilot.system.version import get_version
|
||||
|
||||
API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')
|
||||
|
||||
# name: jwt signature algorithm
|
||||
KEYS = {"id_rsa": "RS256",
|
||||
"id_ecdsa": "ES256"}
|
||||
|
||||
|
||||
class Api:
|
||||
def __init__(self, dongle_id):
|
||||
self.dongle_id = dongle_id
|
||||
with open(Paths.persist_root()+'/comma/id_rsa') as f:
|
||||
self.private_key = f.read()
|
||||
self.jwt_algorithm, self.private_key, _ = get_key_pair()
|
||||
|
||||
def get(self, *args, **kwargs):
|
||||
return self.request('GET', *args, **kwargs)
|
||||
@@ -22,7 +26,7 @@ class Api:
|
||||
def request(self, method, endpoint, timeout=None, access_token=None, **params):
|
||||
return api_get(endpoint, method=method, timeout=timeout, access_token=access_token, **params)
|
||||
|
||||
def get_token(self, expiry_hours=1):
|
||||
def get_token(self, payload_extra=None, expiry_hours=1):
|
||||
now = datetime.now(UTC).replace(tzinfo=None)
|
||||
payload = {
|
||||
'identity': self.dongle_id,
|
||||
@@ -30,17 +34,29 @@ class Api:
|
||||
'iat': now,
|
||||
'exp': now + timedelta(hours=expiry_hours)
|
||||
}
|
||||
token = jwt.encode(payload, self.private_key, algorithm='RS256')
|
||||
if payload_extra is not None:
|
||||
payload.update(payload_extra)
|
||||
token = jwt.encode(payload, self.private_key, algorithm=self.jwt_algorithm)
|
||||
if isinstance(token, bytes):
|
||||
token = token.decode('utf8')
|
||||
return token
|
||||
|
||||
|
||||
def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
|
||||
def api_get(endpoint, method='GET', timeout=None, access_token=None, session=None, **params):
|
||||
headers = {}
|
||||
if access_token is not None:
|
||||
headers['Authorization'] = "JWT " + access_token
|
||||
|
||||
headers['User-Agent'] = "openpilot-" + get_version()
|
||||
|
||||
return requests.request(method, API_HOST + "/" + endpoint, timeout=timeout, headers=headers, params=params)
|
||||
# TODO: add session to Api
|
||||
req = requests if session is None else session
|
||||
return req.request(method, API_HOST + "/" + endpoint, timeout=timeout, headers=headers, params=params)
|
||||
|
||||
|
||||
def get_key_pair() -> tuple[str, str, str] | tuple[None, None, None]:
|
||||
for key in KEYS:
|
||||
if os.path.isfile(Paths.persist_root() + f'/comma/{key}') and os.path.isfile(Paths.persist_root() + f'/comma/{key}.pub'):
|
||||
with open(Paths.persist_root() + f'/comma/{key}') as private, open(Paths.persist_root() + f'/comma/{key}.pub') as public:
|
||||
return KEYS[key], private.read(), public.read()
|
||||
return None, None, None
|
||||
|
||||
@@ -1,98 +0,0 @@
|
||||
#include "common/clutil.h"
|
||||
|
||||
#include <cassert>
|
||||
#include <iostream>
|
||||
#include <memory>
|
||||
|
||||
#include "common/util.h"
|
||||
#include "common/swaglog.h"
|
||||
|
||||
namespace { // helper functions
|
||||
|
||||
template <typename Func, typename Id, typename Name>
|
||||
std::string get_info(Func get_info_func, Id id, Name param_name) {
|
||||
size_t size = 0;
|
||||
CL_CHECK(get_info_func(id, param_name, 0, NULL, &size));
|
||||
std::string info(size, '\0');
|
||||
CL_CHECK(get_info_func(id, param_name, size, info.data(), NULL));
|
||||
return info;
|
||||
}
|
||||
inline std::string get_platform_info(cl_platform_id id, cl_platform_info name) { return get_info(&clGetPlatformInfo, id, name); }
|
||||
inline std::string get_device_info(cl_device_id id, cl_device_info name) { return get_info(&clGetDeviceInfo, id, name); }
|
||||
|
||||
void cl_print_info(cl_platform_id platform, cl_device_id device) {
|
||||
size_t work_group_size = 0;
|
||||
cl_device_type device_type = 0;
|
||||
clGetDeviceInfo(device, CL_DEVICE_MAX_WORK_GROUP_SIZE, sizeof(work_group_size), &work_group_size, NULL);
|
||||
clGetDeviceInfo(device, CL_DEVICE_TYPE, sizeof(device_type), &device_type, NULL);
|
||||
const char *type_str = "Other...";
|
||||
switch (device_type) {
|
||||
case CL_DEVICE_TYPE_CPU: type_str ="CL_DEVICE_TYPE_CPU"; break;
|
||||
case CL_DEVICE_TYPE_GPU: type_str = "CL_DEVICE_TYPE_GPU"; break;
|
||||
case CL_DEVICE_TYPE_ACCELERATOR: type_str = "CL_DEVICE_TYPE_ACCELERATOR"; break;
|
||||
}
|
||||
|
||||
LOGD("vendor: %s", get_platform_info(platform, CL_PLATFORM_VENDOR).c_str());
|
||||
LOGD("platform version: %s", get_platform_info(platform, CL_PLATFORM_VERSION).c_str());
|
||||
LOGD("profile: %s", get_platform_info(platform, CL_PLATFORM_PROFILE).c_str());
|
||||
LOGD("extensions: %s", get_platform_info(platform, CL_PLATFORM_EXTENSIONS).c_str());
|
||||
LOGD("name: %s", get_device_info(device, CL_DEVICE_NAME).c_str());
|
||||
LOGD("device version: %s", get_device_info(device, CL_DEVICE_VERSION).c_str());
|
||||
LOGD("max work group size: %zu", work_group_size);
|
||||
LOGD("type = %d, %s", (int)device_type, type_str);
|
||||
}
|
||||
|
||||
void cl_print_build_errors(cl_program program, cl_device_id device) {
|
||||
cl_build_status status;
|
||||
clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_STATUS, sizeof(status), &status, NULL);
|
||||
size_t log_size;
|
||||
clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_LOG, 0, NULL, &log_size);
|
||||
std::string log(log_size, '\0');
|
||||
clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_LOG, log_size, &log[0], NULL);
|
||||
|
||||
LOGE("build failed; status=%d, log: %s", status, log.c_str());
|
||||
}
|
||||
|
||||
} // namespace
|
||||
|
||||
cl_device_id cl_get_device_id(cl_device_type device_type) {
|
||||
cl_uint num_platforms = 0;
|
||||
CL_CHECK(clGetPlatformIDs(0, NULL, &num_platforms));
|
||||
std::unique_ptr<cl_platform_id[]> platform_ids = std::make_unique<cl_platform_id[]>(num_platforms);
|
||||
CL_CHECK(clGetPlatformIDs(num_platforms, &platform_ids[0], NULL));
|
||||
|
||||
for (size_t i = 0; i < num_platforms; ++i) {
|
||||
LOGD("platform[%zu] CL_PLATFORM_NAME: %s", i, get_platform_info(platform_ids[i], CL_PLATFORM_NAME).c_str());
|
||||
|
||||
// Get first device
|
||||
if (cl_device_id device_id = NULL; clGetDeviceIDs(platform_ids[i], device_type, 1, &device_id, NULL) == 0 && device_id) {
|
||||
cl_print_info(platform_ids[i], device_id);
|
||||
return device_id;
|
||||
}
|
||||
}
|
||||
LOGE("No valid openCL platform found");
|
||||
assert(0);
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
cl_context cl_create_context(cl_device_id device_id) {
|
||||
return CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
|
||||
}
|
||||
|
||||
void cl_release_context(cl_context context) {
|
||||
clReleaseContext(context);
|
||||
}
|
||||
|
||||
cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args) {
|
||||
return cl_program_from_source(ctx, device_id, util::read_file(path), args);
|
||||
}
|
||||
|
||||
cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args) {
|
||||
const char *csrc = src.c_str();
|
||||
cl_program prg = CL_CHECK_ERR(clCreateProgramWithSource(ctx, 1, &csrc, NULL, &err));
|
||||
if (int err = clBuildProgram(prg, 1, &device_id, args, NULL, NULL); err != 0) {
|
||||
cl_print_build_errors(prg, device_id);
|
||||
assert(0);
|
||||
}
|
||||
return prg;
|
||||
}
|
||||
@@ -1,28 +0,0 @@
|
||||
#pragma once
|
||||
|
||||
#ifdef __APPLE__
|
||||
#include <OpenCL/cl.h>
|
||||
#else
|
||||
#include <CL/cl.h>
|
||||
#endif
|
||||
|
||||
#include <string>
|
||||
|
||||
#define CL_CHECK(_expr) \
|
||||
do { \
|
||||
assert(CL_SUCCESS == (_expr)); \
|
||||
} while (0)
|
||||
|
||||
#define CL_CHECK_ERR(_expr) \
|
||||
({ \
|
||||
cl_int err = CL_INVALID_VALUE; \
|
||||
__typeof__(_expr) _ret = _expr; \
|
||||
assert(_ret&& err == CL_SUCCESS); \
|
||||
_ret; \
|
||||
})
|
||||
|
||||
cl_device_id cl_get_device_id(cl_device_type device_type);
|
||||
cl_context cl_create_context(cl_device_id device_id);
|
||||
void cl_release_context(cl_context context);
|
||||
cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args = nullptr);
|
||||
cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args);
|
||||
@@ -1,9 +0,0 @@
|
||||
# remove all keys that end in DEPRECATED
|
||||
def strip_deprecated_keys(d):
|
||||
for k in list(d.keys()):
|
||||
if isinstance(k, str):
|
||||
if k.endswith('DEPRECATED'):
|
||||
d.pop(k)
|
||||
elif isinstance(d[k], dict):
|
||||
strip_deprecated_keys(d[k])
|
||||
return d
|
||||
Executable
+55
@@ -0,0 +1,55 @@
|
||||
#!/usr/bin/env python3
|
||||
import sys
|
||||
import math
|
||||
import os
|
||||
from pathlib import Path
|
||||
|
||||
CHUNK_SIZE = 45 * 1024 * 1024 # 45MB, under GitHub's 50MB limit
|
||||
|
||||
def get_chunk_name(name, idx, num_chunks):
|
||||
return f"{name}.chunk{idx+1:02d}of{num_chunks:02d}"
|
||||
|
||||
def get_manifest_path(name):
|
||||
return f"{name}.chunkmanifest"
|
||||
|
||||
def _chunk_paths(path, num_chunks):
|
||||
return [get_manifest_path(path)] + [get_chunk_name(path, i, num_chunks) for i in range(num_chunks)]
|
||||
|
||||
def get_chunk_targets(path, file_size):
|
||||
num_chunks = math.ceil(file_size / CHUNK_SIZE)
|
||||
return _chunk_paths(path, num_chunks)
|
||||
|
||||
def chunk_file(path, targets):
|
||||
manifest_path, *chunk_paths = targets
|
||||
with open(path, 'rb') as f:
|
||||
data = f.read()
|
||||
actual_num_chunks = max(1, math.ceil(len(data) / CHUNK_SIZE))
|
||||
assert len(chunk_paths) >= actual_num_chunks, f"Allowed {len(chunk_paths)} chunks but needs at least {actual_num_chunks}, for path {path}"
|
||||
for i, chunk_path in enumerate(chunk_paths):
|
||||
with open(chunk_path, 'wb') as f:
|
||||
f.write(data[i * CHUNK_SIZE:(i + 1) * CHUNK_SIZE])
|
||||
Path(manifest_path).write_text(str(len(chunk_paths)))
|
||||
os.remove(path)
|
||||
|
||||
def get_existing_chunks(path):
|
||||
if os.path.isfile(path):
|
||||
return [path]
|
||||
if os.path.isfile(manifest := get_manifest_path(path)):
|
||||
num_chunks = int(Path(manifest).read_text().strip())
|
||||
return _chunk_paths(path, num_chunks)
|
||||
raise FileNotFoundError(path)
|
||||
|
||||
def read_file_chunked(path):
|
||||
manifest_path = get_manifest_path(path)
|
||||
if os.path.isfile(manifest_path):
|
||||
num_chunks = int(Path(manifest_path).read_text().strip())
|
||||
return b''.join(Path(get_chunk_name(path, i, num_chunks)).read_bytes() for i in range(num_chunks))
|
||||
if os.path.isfile(path):
|
||||
return Path(path).read_bytes()
|
||||
raise FileNotFoundError(path)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
path = sys.argv[1]
|
||||
chunk_paths = get_chunk_targets(path, os.path.getsize(path))
|
||||
chunk_file(path, chunk_paths)
|
||||
@@ -1,58 +0,0 @@
|
||||
import io
|
||||
import os
|
||||
import tempfile
|
||||
import contextlib
|
||||
import zstandard as zstd
|
||||
|
||||
LOG_COMPRESSION_LEVEL = 10 # little benefit up to level 15. level ~17 is a small step change
|
||||
|
||||
|
||||
class CallbackReader:
|
||||
"""Wraps a file, but overrides the read method to also
|
||||
call a callback function with the number of bytes read so far."""
|
||||
def __init__(self, f, callback, *args):
|
||||
self.f = f
|
||||
self.callback = callback
|
||||
self.cb_args = args
|
||||
self.total_read = 0
|
||||
|
||||
def __getattr__(self, attr):
|
||||
return getattr(self.f, attr)
|
||||
|
||||
def read(self, *args, **kwargs):
|
||||
chunk = self.f.read(*args, **kwargs)
|
||||
self.total_read += len(chunk)
|
||||
self.callback(*self.cb_args, self.total_read)
|
||||
return chunk
|
||||
|
||||
|
||||
@contextlib.contextmanager
|
||||
def atomic_write_in_dir(path: str, mode: str = 'w', buffering: int = -1, encoding: str = None, newline: str = None,
|
||||
overwrite: bool = False):
|
||||
"""Write to a file atomically using a temporary file in the same directory as the destination file."""
|
||||
dir_name = os.path.dirname(path)
|
||||
|
||||
if not overwrite and os.path.exists(path):
|
||||
raise FileExistsError(f"File '{path}' already exists. To overwrite it, set 'overwrite' to True.")
|
||||
|
||||
with tempfile.NamedTemporaryFile(mode=mode, buffering=buffering, encoding=encoding, newline=newline, dir=dir_name, delete=False) as tmp_file:
|
||||
yield tmp_file
|
||||
tmp_file_name = tmp_file.name
|
||||
os.replace(tmp_file_name, path)
|
||||
|
||||
|
||||
def get_upload_stream(filepath: str, should_compress: bool) -> tuple[io.BufferedIOBase, int]:
|
||||
if not should_compress:
|
||||
file_size = os.path.getsize(filepath)
|
||||
file_stream = open(filepath, "rb")
|
||||
return file_stream, file_size
|
||||
|
||||
# Compress the file on the fly
|
||||
compressed_stream = io.BytesIO()
|
||||
compressor = zstd.ZstdCompressor(level=LOG_COMPRESSION_LEVEL)
|
||||
|
||||
with open(filepath, "rb") as f:
|
||||
compressor.copy_stream(f, compressed_stream)
|
||||
compressed_size = compressed_stream.tell()
|
||||
compressed_stream.seek(0)
|
||||
return compressed_stream, compressed_size
|
||||
@@ -15,3 +15,20 @@ class FirstOrderFilter:
|
||||
self.initialized = True
|
||||
self.x = x
|
||||
return self.x
|
||||
|
||||
|
||||
class BounceFilter(FirstOrderFilter):
|
||||
def __init__(self, x0, rc, dt, initialized=True, bounce=2):
|
||||
self.velocity = FirstOrderFilter(0.0, 0.15, dt)
|
||||
self.bounce = bounce
|
||||
super().__init__(x0, rc, dt, initialized)
|
||||
|
||||
def update(self, x):
|
||||
super().update(x)
|
||||
scale = self.dt / (1.0 / 60.0) # tuned at 60 fps
|
||||
self.velocity.x += (x - self.x) * self.bounce * scale * self.dt
|
||||
self.velocity.update(0.0)
|
||||
if abs(self.velocity.x) < 1e-3:
|
||||
self.velocity.x = 0.0
|
||||
self.x += self.velocity.x
|
||||
return self.x
|
||||
|
||||
+7
-7
@@ -1,30 +1,30 @@
|
||||
from functools import cache
|
||||
import subprocess
|
||||
from openpilot.common.run import run_cmd, run_cmd_default
|
||||
from openpilot.common.utils import run_cmd, run_cmd_default
|
||||
|
||||
|
||||
@cache
|
||||
def get_commit(cwd: str = None, branch: str = "HEAD") -> str:
|
||||
def get_commit(cwd: str | None = None, branch: str = "HEAD") -> str:
|
||||
return run_cmd_default(["git", "rev-parse", branch], cwd=cwd)
|
||||
|
||||
|
||||
@cache
|
||||
def get_commit_date(cwd: str = None, commit: str = "HEAD") -> str:
|
||||
def get_commit_date(cwd: str | None = None, commit: str = "HEAD") -> str:
|
||||
return run_cmd_default(["git", "show", "--no-patch", "--format='%ct %ci'", commit], cwd=cwd)
|
||||
|
||||
|
||||
@cache
|
||||
def get_short_branch(cwd: str = None) -> str:
|
||||
def get_short_branch(cwd: str | None = None) -> str:
|
||||
return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "HEAD"], cwd=cwd)
|
||||
|
||||
|
||||
@cache
|
||||
def get_branch(cwd: str = None) -> str:
|
||||
def get_branch(cwd: str | None = None) -> str:
|
||||
return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "--symbolic-full-name", "@{u}"], cwd=cwd)
|
||||
|
||||
|
||||
@cache
|
||||
def get_origin(cwd: str = None) -> str:
|
||||
def get_origin(cwd: str | None = None) -> str:
|
||||
try:
|
||||
local_branch = run_cmd(["git", "name-rev", "--name-only", "HEAD"], cwd=cwd)
|
||||
tracking_remote = run_cmd(["git", "config", "branch." + local_branch + ".remote"], cwd=cwd)
|
||||
@@ -34,7 +34,7 @@ def get_origin(cwd: str = None) -> str:
|
||||
|
||||
|
||||
@cache
|
||||
def get_normalized_origin(cwd: str = None) -> str:
|
||||
def get_normalized_origin(cwd: str | None = None) -> str:
|
||||
return get_origin(cwd) \
|
||||
.replace("git@", "", 1) \
|
||||
.replace(".git", "", 1) \
|
||||
|
||||
@@ -0,0 +1,81 @@
|
||||
import os
|
||||
import fcntl
|
||||
import ctypes
|
||||
|
||||
# I2C constants from /usr/include/linux/i2c-dev.h
|
||||
I2C_SLAVE = 0x0703
|
||||
I2C_SLAVE_FORCE = 0x0706
|
||||
I2C_SMBUS = 0x0720
|
||||
|
||||
# SMBus transfer types
|
||||
I2C_SMBUS_READ = 1
|
||||
I2C_SMBUS_WRITE = 0
|
||||
I2C_SMBUS_BYTE_DATA = 2
|
||||
I2C_SMBUS_I2C_BLOCK_DATA = 8
|
||||
|
||||
I2C_SMBUS_BLOCK_MAX = 32
|
||||
|
||||
|
||||
class _I2cSmbusData(ctypes.Union):
|
||||
_fields_ = [
|
||||
("byte", ctypes.c_uint8),
|
||||
("word", ctypes.c_uint16),
|
||||
("block", ctypes.c_uint8 * (I2C_SMBUS_BLOCK_MAX + 2)),
|
||||
]
|
||||
|
||||
|
||||
class _I2cSmbusIoctlData(ctypes.Structure):
|
||||
_fields_ = [
|
||||
("read_write", ctypes.c_uint8),
|
||||
("command", ctypes.c_uint8),
|
||||
("size", ctypes.c_uint32),
|
||||
("data", ctypes.POINTER(_I2cSmbusData)),
|
||||
]
|
||||
|
||||
|
||||
class SMBus:
|
||||
def __init__(self, bus: int):
|
||||
self._fd = os.open(f'/dev/i2c-{bus}', os.O_RDWR)
|
||||
|
||||
def __enter__(self) -> 'SMBus':
|
||||
return self
|
||||
|
||||
def __exit__(self, *args) -> None:
|
||||
self.close()
|
||||
|
||||
def close(self) -> None:
|
||||
if hasattr(self, '_fd') and self._fd >= 0:
|
||||
os.close(self._fd)
|
||||
self._fd = -1
|
||||
|
||||
def _set_address(self, addr: int, force: bool = False) -> None:
|
||||
ioctl_arg = I2C_SLAVE_FORCE if force else I2C_SLAVE
|
||||
fcntl.ioctl(self._fd, ioctl_arg, addr)
|
||||
|
||||
def _smbus_access(self, read_write: int, command: int, size: int, data: _I2cSmbusData) -> None:
|
||||
ioctl_data = _I2cSmbusIoctlData(read_write, command, size, ctypes.pointer(data))
|
||||
fcntl.ioctl(self._fd, I2C_SMBUS, ioctl_data)
|
||||
|
||||
def read_byte_data(self, addr: int, register: int, force: bool = False) -> int:
|
||||
self._set_address(addr, force)
|
||||
data = _I2cSmbusData()
|
||||
self._smbus_access(I2C_SMBUS_READ, register, I2C_SMBUS_BYTE_DATA, data)
|
||||
return int(data.byte)
|
||||
|
||||
def write_byte_data(self, addr: int, register: int, value: int, force: bool = False) -> None:
|
||||
self._set_address(addr, force)
|
||||
data = _I2cSmbusData()
|
||||
data.byte = value & 0xFF
|
||||
self._smbus_access(I2C_SMBUS_WRITE, register, I2C_SMBUS_BYTE_DATA, data)
|
||||
|
||||
def read_i2c_block_data(self, addr: int, register: int, length: int, force: bool = False) -> list[int]:
|
||||
self._set_address(addr, force)
|
||||
if not (0 <= length <= I2C_SMBUS_BLOCK_MAX):
|
||||
raise ValueError(f"length must be 0..{I2C_SMBUS_BLOCK_MAX}")
|
||||
|
||||
data = _I2cSmbusData()
|
||||
data.block[0] = length
|
||||
self._smbus_access(I2C_SMBUS_READ, register, I2C_SMBUS_I2C_BLOCK_DATA, data)
|
||||
read_len = int(data.block[0]) or length
|
||||
read_len = min(read_len, length)
|
||||
return [int(b) for b in data.block[1 : read_len + 1]]
|
||||
@@ -1,85 +0,0 @@
|
||||
#pragma once
|
||||
|
||||
typedef struct vec3 {
|
||||
float v[3];
|
||||
} vec3;
|
||||
|
||||
typedef struct vec4 {
|
||||
float v[4];
|
||||
} vec4;
|
||||
|
||||
typedef struct mat3 {
|
||||
float v[3*3];
|
||||
} mat3;
|
||||
|
||||
typedef struct mat4 {
|
||||
float v[4*4];
|
||||
} mat4;
|
||||
|
||||
static inline mat3 matmul3(const mat3 &a, const mat3 &b) {
|
||||
mat3 ret = {{0.0}};
|
||||
for (int r=0; r<3; r++) {
|
||||
for (int c=0; c<3; c++) {
|
||||
float v = 0.0;
|
||||
for (int k=0; k<3; k++) {
|
||||
v += a.v[r*3+k] * b.v[k*3+c];
|
||||
}
|
||||
ret.v[r*3+c] = v;
|
||||
}
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
static inline vec3 matvecmul3(const mat3 &a, const vec3 &b) {
|
||||
vec3 ret = {{0.0}};
|
||||
for (int r=0; r<3; r++) {
|
||||
for (int c=0; c<3; c++) {
|
||||
ret.v[r] += a.v[r*3+c] * b.v[c];
|
||||
}
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
static inline mat4 matmul(const mat4 &a, const mat4 &b) {
|
||||
mat4 ret = {{0.0}};
|
||||
for (int r=0; r<4; r++) {
|
||||
for (int c=0; c<4; c++) {
|
||||
float v = 0.0;
|
||||
for (int k=0; k<4; k++) {
|
||||
v += a.v[r*4+k] * b.v[k*4+c];
|
||||
}
|
||||
ret.v[r*4+c] = v;
|
||||
}
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
static inline vec4 matvecmul(const mat4 &a, const vec4 &b) {
|
||||
vec4 ret = {{0.0}};
|
||||
for (int r=0; r<4; r++) {
|
||||
for (int c=0; c<4; c++) {
|
||||
ret.v[r] += a.v[r*4+c] * b.v[c];
|
||||
}
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
// scales the input and output space of a transformation matrix
|
||||
// that assumes pixel-center origin.
|
||||
static inline mat3 transform_scale_buffer(const mat3 &in, float s) {
|
||||
// in_pt = ( transform(out_pt/s + 0.5) - 0.5) * s
|
||||
|
||||
mat3 transform_out = {{
|
||||
1.0f/s, 0.0f, 0.5f,
|
||||
0.0f, 1.0f/s, 0.5f,
|
||||
0.0f, 0.0f, 1.0f,
|
||||
}};
|
||||
|
||||
mat3 transform_in = {{
|
||||
s, 0.0f, -0.5f*s,
|
||||
0.0f, s, -0.5f*s,
|
||||
0.0f, 0.0f, 1.0f,
|
||||
}};
|
||||
|
||||
return matmul3(transform_in, matmul3(in, transform_out));
|
||||
}
|
||||
@@ -0,0 +1,47 @@
|
||||
import sys
|
||||
import pytest
|
||||
import inspect
|
||||
|
||||
|
||||
class parameterized:
|
||||
@staticmethod
|
||||
def expand(cases):
|
||||
cases = list(cases)
|
||||
|
||||
if not cases:
|
||||
return lambda func: pytest.mark.skip("no parameterized cases")(func)
|
||||
|
||||
def decorator(func):
|
||||
params = [p for p in inspect.signature(func).parameters if p != 'self']
|
||||
normalized = [c if isinstance(c, tuple) else (c,) for c in cases]
|
||||
# Infer arg count from first case so extra params (e.g. from @given) are left untouched
|
||||
expand_params = params[: len(normalized[0])]
|
||||
if len(expand_params) == 1:
|
||||
return pytest.mark.parametrize(expand_params[0], [c[0] for c in normalized])(func)
|
||||
return pytest.mark.parametrize(', '.join(expand_params), normalized)(func)
|
||||
|
||||
return decorator
|
||||
|
||||
|
||||
def parameterized_class(attrs, input_list=None):
|
||||
if isinstance(attrs, list) and (not attrs or isinstance(attrs[0], dict)):
|
||||
params_list = attrs
|
||||
else:
|
||||
assert input_list is not None
|
||||
attr_names = (attrs,) if isinstance(attrs, str) else tuple(attrs)
|
||||
params_list = [dict(zip(attr_names, v if isinstance(v, (tuple, list)) else (v,), strict=False)) for v in input_list]
|
||||
|
||||
def decorator(cls):
|
||||
globs = sys._getframe(1).f_globals
|
||||
for i, params in enumerate(params_list):
|
||||
name = f"{cls.__name__}_{i}"
|
||||
new_cls = type(name, (cls,), dict(params))
|
||||
new_cls.__module__ = cls.__module__
|
||||
new_cls.__test__ = True # override inherited False so pytest collects this subclass
|
||||
globs[name] = new_cls
|
||||
# Don't collect the un-parametrised base, but return it so outer decorators
|
||||
# (e.g. @pytest.mark.skip) land on it and propagate to subclasses via MRO.
|
||||
cls.__test__ = False
|
||||
return cls
|
||||
|
||||
return decorator
|
||||
+1
-1
@@ -14,6 +14,6 @@ if __name__ == "__main__":
|
||||
if len(sys.argv) == 3:
|
||||
val = sys.argv[2]
|
||||
print(f"SET: {key} = {val}")
|
||||
params.put(key, val)
|
||||
params.put(key, val, block=True)
|
||||
elif len(sys.argv) == 2:
|
||||
print(f"GET: {key} = {params.get(key)}")
|
||||
|
||||
+11
-7
@@ -28,7 +28,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"ControlsReady", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
|
||||
{"CurrentBootlog", {PERSISTENT, STRING}},
|
||||
{"CurrentRoute", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, STRING}},
|
||||
{"DisableLogging", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
|
||||
{"DisableLogging", {PERSISTENT, BOOL, "0"}},
|
||||
{"DisablePowerDown", {PERSISTENT, BOOL}},
|
||||
{"DisableUpdates", {PERSISTENT, BOOL}},
|
||||
{"DisengageOnAccelerator", {PERSISTENT, BOOL, "0"}},
|
||||
@@ -66,11 +66,12 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"IsTakingSnapshot", {CLEAR_ON_MANAGER_START, BOOL}},
|
||||
{"IsTestedBranch", {CLEAR_ON_MANAGER_START, BOOL}},
|
||||
{"JoystickDebugMode", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
|
||||
{"LanguageSetting", {PERSISTENT, STRING, "main_en"}},
|
||||
{"LanguageSetting", {PERSISTENT, STRING, "en"}},
|
||||
{"LastAthenaPingTime", {CLEAR_ON_MANAGER_START, INT}},
|
||||
{"LastGPSPosition", {PERSISTENT, STRING}},
|
||||
{"LastManagerExitReason", {CLEAR_ON_MANAGER_START, STRING}},
|
||||
{"LastOffroadStatusPacket", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, JSON}},
|
||||
{"LastAgnosPowerMonitorShutdown", {CLEAR_ON_MANAGER_START, STRING}},
|
||||
{"LastPowerDropDetected", {CLEAR_ON_MANAGER_START, STRING}},
|
||||
{"LastUpdateException", {CLEAR_ON_MANAGER_START, STRING}},
|
||||
{"LastUpdateRouteCount", {PERSISTENT, INT, "0"}},
|
||||
@@ -81,6 +82,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"LiveParametersV2", {PERSISTENT, BYTES}},
|
||||
{"LiveTorqueParameters", {PERSISTENT | DONT_LOG, BYTES}},
|
||||
{"LocationFilterInitialState", {PERSISTENT, BYTES}},
|
||||
{"LateralManeuverMode", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
|
||||
{"LongitudinalManeuverMode", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
|
||||
{"LongitudinalPersonality", {PERSISTENT, INT, std::to_string(static_cast<int>(cereal::LongitudinalPersonality::STANDARD))}},
|
||||
{"NetworkMetered", {PERSISTENT, BOOL}},
|
||||
@@ -94,26 +96,23 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"Offroad_NeosUpdate", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"Offroad_NoFirmware", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
|
||||
{"Offroad_Recalibration", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
|
||||
{"Offroad_StorageMissing", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"Offroad_TemperatureTooHigh", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"Offroad_UnregisteredHardware", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"Offroad_UpdateFailed", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"Offroad_DriverMonitoringUncertain", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
|
||||
{"OnroadCycleRequested", {CLEAR_ON_MANAGER_START, BOOL}},
|
||||
{"OpenpilotEnabledToggle", {PERSISTENT, BOOL, "1"}},
|
||||
{"PandaHeartbeatLost", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
|
||||
{"PandaSomResetTriggered", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
|
||||
{"PandaSignatures", {CLEAR_ON_MANAGER_START, BYTES}},
|
||||
{"PrimeType", {PERSISTENT, INT}},
|
||||
{"RecordAudio", {PERSISTENT, BOOL}},
|
||||
{"RecordAudioFeedback", {PERSISTENT, BOOL, "0"}},
|
||||
{"RecordFront", {PERSISTENT, BOOL}},
|
||||
{"RecordFrontLock", {PERSISTENT, BOOL}}, // for the internal fleet
|
||||
{"SecOCKey", {PERSISTENT | DONT_LOG, STRING}},
|
||||
{"ShowDebugInfo", {PERSISTENT, BOOL}},
|
||||
{"RouteCount", {PERSISTENT, INT, "0"}},
|
||||
{"SnoozeUpdate", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
|
||||
{"SshEnabled", {PERSISTENT, BOOL}},
|
||||
{"TermsVersion", {PERSISTENT, STRING}},
|
||||
{"TrainingVersion", {PERSISTENT, STRING}},
|
||||
{"UbloxAvailable", {PERSISTENT, BOOL}},
|
||||
{"UpdateAvailable", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
|
||||
{"UpdateFailedCount", {CLEAR_ON_MANAGER_START, INT}},
|
||||
@@ -128,5 +127,10 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"UpdaterLastFetchTime", {PERSISTENT, TIME}},
|
||||
{"UptimeOffroad", {PERSISTENT, FLOAT, "0.0"}},
|
||||
{"UptimeOnroad", {PERSISTENT, FLOAT, "0.0"}},
|
||||
{"UsbGpuPresent", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
|
||||
{"UsbGpuCompiled", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
|
||||
{"Version", {PERSISTENT, STRING}},
|
||||
{"dp_dev_last_log", {CLEAR_ON_ONROAD_TRANSITION, STRING}},
|
||||
{"dp_dev_reset_conf", {CLEAR_ON_MANAGER_START, BOOL, "0"}},
|
||||
{"dp_dev_go_off_road", {CLEAR_ON_MANAGER_START, BOOL, "0"}},
|
||||
};
|
||||
|
||||
-17719
File diff suppressed because it is too large
Load Diff
+13
-18
@@ -141,33 +141,28 @@ cdef class Params:
|
||||
cdef ParamKeyType t = self.p.getKeyType(k)
|
||||
return ensure_bytes(self.python2cpp(type(dat), t, dat, key))
|
||||
|
||||
def put(self, key, dat):
|
||||
def put(self, key, dat, bool block = False):
|
||||
"""
|
||||
Warning: This function blocks until the param is written to disk!
|
||||
Warning: block=True blocks until the param is written to disk!
|
||||
In very rare cases this can take over a second, and your code will hang.
|
||||
Use the put_nonblocking, put_bool_nonblocking in time sensitive code, but
|
||||
in general try to avoid writing params as much as possible.
|
||||
Use block=False in time sensitive code, but in general try to avoid
|
||||
writing params as much as possible.
|
||||
"""
|
||||
cdef string k = self.check_key(key)
|
||||
cdef string dat_bytes = self._put_cast(key, dat)
|
||||
with nogil:
|
||||
self.p.put(k, dat_bytes)
|
||||
if block:
|
||||
self.p.put(k, dat_bytes)
|
||||
else:
|
||||
self.p.putNonBlocking(k, dat_bytes)
|
||||
|
||||
def put_bool(self, key, bool val):
|
||||
def put_bool(self, key, bool val, bool block = False):
|
||||
cdef string k = self.check_key(key)
|
||||
with nogil:
|
||||
self.p.putBool(k, val)
|
||||
|
||||
def put_nonblocking(self, key, dat):
|
||||
cdef string k = self.check_key(key)
|
||||
cdef string dat_bytes = self._put_cast(key, dat)
|
||||
with nogil:
|
||||
self.p.putNonBlocking(k, dat_bytes)
|
||||
|
||||
def put_bool_nonblocking(self, key, bool val):
|
||||
cdef string k = self.check_key(key)
|
||||
with nogil:
|
||||
self.p.putBoolNonBlocking(k, val)
|
||||
if block:
|
||||
self.p.putBool(k, val)
|
||||
else:
|
||||
self.p.putBoolNonBlocking(k, val)
|
||||
|
||||
def remove(self, key):
|
||||
cdef string k = self.check_key(key)
|
||||
|
||||
Binary file not shown.
+9
-16
@@ -2,21 +2,14 @@ import numpy as np
|
||||
from numbers import Number
|
||||
|
||||
class PIDController:
|
||||
def __init__(self, k_p, k_i, k_f=0., k_d=0., pos_limit=1e308, neg_limit=-1e308, rate=100):
|
||||
self._k_p = k_p
|
||||
self._k_i = k_i
|
||||
self._k_d = k_d
|
||||
self.k_f = k_f # feedforward gain
|
||||
if isinstance(self._k_p, Number):
|
||||
self._k_p = [[0], [self._k_p]]
|
||||
if isinstance(self._k_i, Number):
|
||||
self._k_i = [[0], [self._k_i]]
|
||||
if isinstance(self._k_d, Number):
|
||||
self._k_d = [[0], [self._k_d]]
|
||||
def __init__(self, k_p, k_i, k_d=0., pos_limit=1e308, neg_limit=-1e308, rate=100):
|
||||
self._k_p: list[list[float]] = [[0], [k_p]] if isinstance(k_p, Number) else k_p
|
||||
self._k_i: list[list[float]] = [[0], [k_i]] if isinstance(k_i, Number) else k_i
|
||||
self._k_d: list[list[float]] = [[0], [k_d]] if isinstance(k_d, Number) else k_d
|
||||
|
||||
self.set_limits(pos_limit, neg_limit)
|
||||
|
||||
self.i_rate = 1.0 / rate
|
||||
self.i_dt = 1.0 / rate
|
||||
self.speed = 0.0
|
||||
|
||||
self.reset()
|
||||
@@ -46,12 +39,12 @@ class PIDController:
|
||||
|
||||
def update(self, error, error_rate=0.0, speed=0.0, feedforward=0., freeze_integrator=False):
|
||||
self.speed = speed
|
||||
self.p = float(error) * self.k_p
|
||||
self.f = feedforward * self.k_f
|
||||
self.d = error_rate * self.k_d
|
||||
self.p = self.k_p * float(error)
|
||||
self.d = self.k_d * error_rate
|
||||
self.f = feedforward
|
||||
|
||||
if not freeze_integrator:
|
||||
i = self.i + error * self.k_i * self.i_rate
|
||||
i = self.i + self.k_i * self.i_dt * error
|
||||
|
||||
# Don't allow windup if already clipping
|
||||
test_control = self.p + i + self.d + self.f
|
||||
|
||||
+9
-5
@@ -13,7 +13,11 @@ public:
|
||||
if (prefix.empty()) {
|
||||
prefix = util::random_string(15);
|
||||
}
|
||||
msgq_path = Path::shm_path() + "/" + prefix;
|
||||
#ifdef __APPLE__
|
||||
msgq_path = "/tmp/msgq_" + prefix;
|
||||
#else
|
||||
msgq_path = "/dev/shm/msgq_" + prefix;
|
||||
#endif
|
||||
bool ret = util::create_directories(msgq_path, 0777);
|
||||
assert(ret);
|
||||
setenv("OPENPILOT_PREFIX", prefix.c_str(), 1);
|
||||
@@ -23,14 +27,14 @@ public:
|
||||
auto param_path = Params().getParamPath();
|
||||
if (util::file_exists(param_path)) {
|
||||
std::string real_path = util::readlink(param_path);
|
||||
system(util::string_format("rm %s -rf", real_path.c_str()).c_str());
|
||||
util::check_system(util::string_format("rm %s -rf", real_path.c_str()));
|
||||
unlink(param_path.c_str());
|
||||
}
|
||||
if (getenv("COMMA_CACHE") == nullptr) {
|
||||
system(util::string_format("rm %s -rf", Path::download_cache_root().c_str()).c_str());
|
||||
util::check_system(util::string_format("rm %s -rf", Path::download_cache_root().c_str()));
|
||||
}
|
||||
system(util::string_format("rm %s -rf", Path::comma_home().c_str()).c_str());
|
||||
system(util::string_format("rm %s -rf", msgq_path.c_str()).c_str());
|
||||
util::check_system(util::string_format("rm %s -rf", Path::comma_home().c_str()));
|
||||
util::check_system(util::string_format("rm %s -rf", msgq_path.c_str()));
|
||||
unsetenv("OPENPILOT_PREFIX");
|
||||
}
|
||||
|
||||
|
||||
+4
-2
@@ -1,4 +1,5 @@
|
||||
import os
|
||||
import platform
|
||||
import shutil
|
||||
import uuid
|
||||
|
||||
@@ -9,9 +10,10 @@ from openpilot.system.hardware.hw import Paths
|
||||
from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
|
||||
|
||||
class OpenpilotPrefix:
|
||||
def __init__(self, prefix: str = None, create_dirs_on_enter: bool = True, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False):
|
||||
def __init__(self, prefix: str | None = None, create_dirs_on_enter: bool = True, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False):
|
||||
self.prefix = prefix if prefix else str(uuid.uuid4().hex[0:15])
|
||||
self.msgq_path = os.path.join(Paths.shm_path(), self.prefix)
|
||||
shm_path = "/tmp" if platform.system() == "Darwin" else "/dev/shm"
|
||||
self.msgq_path = os.path.join(shm_path, "msgq_" + self.prefix)
|
||||
self.create_dirs_on_enter = create_dirs_on_enter
|
||||
self.clean_dirs_on_exit = clean_dirs_on_exit
|
||||
self.shared_download_cache = shared_download_cache
|
||||
|
||||
@@ -6,9 +6,9 @@
|
||||
#include "common/timing.h"
|
||||
#include "common/util.h"
|
||||
|
||||
RateKeeper::RateKeeper(const std::string &name, float rate, float print_delay_threshold)
|
||||
: name(name),
|
||||
print_delay_threshold(std::max(0.f, print_delay_threshold)) {
|
||||
RateKeeper::RateKeeper(const std::string &name_, float rate, float print_delay_threshold_)
|
||||
: name(name_),
|
||||
print_delay_threshold(std::max(0.f, print_delay_threshold_)) {
|
||||
interval = 1 / rate;
|
||||
last_monitor_time = seconds_since_boot();
|
||||
next_frame_time = last_monitor_time + interval;
|
||||
|
||||
+6
-1
@@ -6,7 +6,7 @@ import time
|
||||
|
||||
from setproctitle import getproctitle
|
||||
|
||||
from openpilot.common.util import MovingAverage
|
||||
from openpilot.common.utils import MovingAverage
|
||||
from openpilot.system.hardware import PC
|
||||
|
||||
|
||||
@@ -28,6 +28,11 @@ class Priority:
|
||||
CTRL_HIGH = 53
|
||||
|
||||
|
||||
def drop_realtime() -> None:
|
||||
if sys.platform == 'linux' and not PC:
|
||||
os.sched_setscheduler(0, os.SCHED_OTHER, os.sched_param(0))
|
||||
|
||||
|
||||
def set_core_affinity(cores: list[int]) -> None:
|
||||
if sys.platform == 'linux' and not PC:
|
||||
os.sched_setaffinity(0, cores)
|
||||
|
||||
@@ -1,30 +0,0 @@
|
||||
import time
|
||||
import functools
|
||||
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
|
||||
|
||||
def retry(attempts=3, delay=1.0, ignore_failure=False):
|
||||
def decorator(func):
|
||||
@functools.wraps(func)
|
||||
def wrapper(*args, **kwargs):
|
||||
for _ in range(attempts):
|
||||
try:
|
||||
return func(*args, **kwargs)
|
||||
except Exception:
|
||||
cloudlog.exception(f"{func.__name__} failed, trying again")
|
||||
time.sleep(delay)
|
||||
|
||||
if ignore_failure:
|
||||
cloudlog.error(f"{func.__name__} failed after retry")
|
||||
else:
|
||||
raise Exception(f"{func.__name__} failed after retry")
|
||||
return wrapper
|
||||
return decorator
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
@retry(attempts=10)
|
||||
def abc():
|
||||
raise ValueError("abc failed :(")
|
||||
abc()
|
||||
@@ -1,28 +0,0 @@
|
||||
import subprocess
|
||||
from contextlib import contextmanager
|
||||
from subprocess import Popen, PIPE, TimeoutExpired
|
||||
|
||||
|
||||
def run_cmd(cmd: list[str], cwd=None, env=None) -> str:
|
||||
return subprocess.check_output(cmd, encoding='utf8', cwd=cwd, env=env).strip()
|
||||
|
||||
|
||||
def run_cmd_default(cmd: list[str], default: str = "", cwd=None, env=None) -> str:
|
||||
try:
|
||||
return run_cmd(cmd, cwd=cwd, env=env)
|
||||
except subprocess.CalledProcessError:
|
||||
return default
|
||||
|
||||
|
||||
@contextmanager
|
||||
def managed_proc(cmd: list[str], env: dict[str, str]):
|
||||
proc = Popen(cmd, env=env, stdout=PIPE, stderr=PIPE)
|
||||
try:
|
||||
yield proc
|
||||
finally:
|
||||
if proc.poll() is None:
|
||||
proc.terminate()
|
||||
try:
|
||||
proc.wait(timeout=5)
|
||||
except TimeoutExpired:
|
||||
proc.kill()
|
||||
+1
-1
@@ -11,7 +11,7 @@
|
||||
|
||||
#include <zmq.h>
|
||||
#include <stdarg.h>
|
||||
#include "third_party/json11/json11.hpp"
|
||||
#include "json11/json11.hpp"
|
||||
#include "common/version.h"
|
||||
#include "system/hardware/hw.h"
|
||||
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
import os
|
||||
from uuid import uuid4
|
||||
|
||||
from openpilot.common.file_helpers import atomic_write_in_dir
|
||||
from openpilot.common.utils import atomic_write
|
||||
|
||||
|
||||
class TestFileHelpers:
|
||||
@@ -15,5 +15,5 @@ class TestFileHelpers:
|
||||
assert f.read() == "test"
|
||||
os.remove(path)
|
||||
|
||||
def test_atomic_write_in_dir(self):
|
||||
self.run_atomic_write_func(atomic_write_in_dir)
|
||||
def test_atomic_write(self):
|
||||
self.run_atomic_write_func(atomic_write)
|
||||
|
||||
+19
-19
@@ -12,17 +12,17 @@ class TestParams:
|
||||
self.params = Params()
|
||||
|
||||
def test_params_put_and_get(self):
|
||||
self.params.put("DongleId", "cb38263377b873ee")
|
||||
self.params.put("DongleId", "cb38263377b873ee", block=True)
|
||||
assert self.params.get("DongleId") == "cb38263377b873ee"
|
||||
|
||||
def test_params_non_ascii(self):
|
||||
st = b"\xe1\x90\xff"
|
||||
self.params.put("CarParams", st)
|
||||
self.params.put("CarParams", st, block=True)
|
||||
assert self.params.get("CarParams") == st
|
||||
|
||||
def test_params_get_cleared_manager_start(self):
|
||||
self.params.put("CarParams", b"test")
|
||||
self.params.put("DongleId", "cb38263377b873ee")
|
||||
self.params.put("CarParams", b"test", block=True)
|
||||
self.params.put("DongleId", "cb38263377b873ee", block=True)
|
||||
assert self.params.get("CarParams") == b"test"
|
||||
|
||||
undefined_param = self.params.get_param_path(uuid.uuid4().hex)
|
||||
@@ -36,15 +36,15 @@ class TestParams:
|
||||
assert not os.path.isfile(undefined_param)
|
||||
|
||||
def test_params_two_things(self):
|
||||
self.params.put("DongleId", "bob")
|
||||
self.params.put("AthenadPid", 123)
|
||||
self.params.put("DongleId", "bob", block=True)
|
||||
self.params.put("AthenadPid", 123, block=True)
|
||||
assert self.params.get("DongleId") == "bob"
|
||||
assert self.params.get("AthenadPid") == 123
|
||||
|
||||
def test_params_get_block(self):
|
||||
def _delayed_writer():
|
||||
time.sleep(0.1)
|
||||
self.params.put("CarParams", b"test")
|
||||
self.params.put("CarParams", b"test", block=True)
|
||||
threading.Thread(target=_delayed_writer).start()
|
||||
assert self.params.get("CarParams") is None
|
||||
assert self.params.get("CarParams", block=True) == b"test"
|
||||
@@ -57,10 +57,10 @@ class TestParams:
|
||||
self.params.get_bool("swag")
|
||||
|
||||
with pytest.raises(UnknownKeyName):
|
||||
self.params.put("swag", "abc")
|
||||
self.params.put("swag", "abc", block=True)
|
||||
|
||||
with pytest.raises(UnknownKeyName):
|
||||
self.params.put_bool("swag", True)
|
||||
self.params.put_bool("swag", True, block=True)
|
||||
|
||||
def test_remove_not_there(self):
|
||||
assert self.params.get("CarParams") is None
|
||||
@@ -71,23 +71,23 @@ class TestParams:
|
||||
self.params.remove("IsMetric")
|
||||
assert not self.params.get_bool("IsMetric")
|
||||
|
||||
self.params.put_bool("IsMetric", True)
|
||||
self.params.put_bool("IsMetric", True, block=True)
|
||||
assert self.params.get_bool("IsMetric")
|
||||
|
||||
self.params.put_bool("IsMetric", False)
|
||||
self.params.put_bool("IsMetric", False, block=True)
|
||||
assert not self.params.get_bool("IsMetric")
|
||||
|
||||
self.params.put("IsMetric", True)
|
||||
self.params.put("IsMetric", True, block=True)
|
||||
assert self.params.get_bool("IsMetric")
|
||||
|
||||
self.params.put("IsMetric", False)
|
||||
self.params.put("IsMetric", False, block=True)
|
||||
assert not self.params.get_bool("IsMetric")
|
||||
|
||||
def test_put_non_blocking_with_get_block(self):
|
||||
q = Params()
|
||||
def _delayed_writer():
|
||||
time.sleep(0.1)
|
||||
Params().put_nonblocking("CarParams", b"test")
|
||||
Params().put("CarParams", b"test")
|
||||
threading.Thread(target=_delayed_writer).start()
|
||||
assert q.get("CarParams") is None
|
||||
assert q.get("CarParams", True) == b"test"
|
||||
@@ -96,7 +96,7 @@ class TestParams:
|
||||
q = Params()
|
||||
def _delayed_writer():
|
||||
time.sleep(0.1)
|
||||
Params().put_bool_nonblocking("CarParams", True)
|
||||
Params().put_bool("CarParams", True)
|
||||
threading.Thread(target=_delayed_writer).start()
|
||||
assert q.get("CarParams") is None
|
||||
assert q.get("CarParams", True) == b"1"
|
||||
@@ -123,19 +123,19 @@ class TestParams:
|
||||
|
||||
def test_params_get_type(self):
|
||||
# json
|
||||
self.params.put("ApiCache_FirehoseStats", {"a": 0})
|
||||
self.params.put("ApiCache_FirehoseStats", {"a": 0}, block=True)
|
||||
assert self.params.get("ApiCache_FirehoseStats") == {"a": 0}
|
||||
|
||||
# int
|
||||
self.params.put("BootCount", 1441)
|
||||
self.params.put("BootCount", 1441, block=True)
|
||||
assert self.params.get("BootCount") == 1441
|
||||
|
||||
# bool
|
||||
self.params.put("AdbEnabled", True)
|
||||
self.params.put("AdbEnabled", True, block=True)
|
||||
assert self.params.get("AdbEnabled")
|
||||
assert isinstance(self.params.get("AdbEnabled"), bool)
|
||||
|
||||
# time
|
||||
now = datetime.datetime.now(datetime.UTC)
|
||||
self.params.put("InstallDate", now)
|
||||
self.params.put("InstallDate", now, block=True)
|
||||
assert self.params.get("InstallDate") == now
|
||||
|
||||
@@ -7,7 +7,7 @@
|
||||
#include "common/util.h"
|
||||
#include "common/version.h"
|
||||
#include "system/hardware/hw.h"
|
||||
#include "third_party/json11/json11.hpp"
|
||||
#include "json11/json11.hpp"
|
||||
|
||||
std::string daemon_name = "testy";
|
||||
std::string dongle_id = "test_dongle_id";
|
||||
|
||||
@@ -36,7 +36,7 @@ TEST_CASE("util::read_file") {
|
||||
REQUIRE(util::read_file(filename).empty());
|
||||
|
||||
std::string content = random_bytes(64 * 1024);
|
||||
write(fd, content.c_str(), content.size());
|
||||
REQUIRE(write(fd, content.c_str(), content.size()) == (ssize_t)content.size());
|
||||
std::string ret = util::read_file(filename);
|
||||
bool equal = (ret == content);
|
||||
REQUIRE(equal);
|
||||
@@ -114,12 +114,12 @@ TEST_CASE("util::safe_fwrite") {
|
||||
}
|
||||
|
||||
TEST_CASE("util::create_directories") {
|
||||
system("rm /tmp/test_create_directories -rf");
|
||||
REQUIRE(system("rm /tmp/test_create_directories -rf") == 0);
|
||||
std::string dir = "/tmp/test_create_directories/a/b/c/d/e/f";
|
||||
|
||||
auto check_dir_permissions = [](const std::string &dir, mode_t mode) -> bool {
|
||||
auto check_dir_permissions = [](const std::string &path, mode_t mode) -> bool {
|
||||
struct stat st = {};
|
||||
return stat(dir.c_str(), &st) == 0 && (st.st_mode & S_IFMT) == S_IFDIR && (st.st_mode & (S_IRWXU | S_IRWXG | S_IRWXO)) == mode;
|
||||
return stat(path.c_str(), &st) == 0 && (st.st_mode & S_IFMT) == S_IFDIR && (st.st_mode & (S_IRWXU | S_IRWXG | S_IRWXO)) == mode;
|
||||
};
|
||||
|
||||
SECTION("create_directories") {
|
||||
@@ -132,7 +132,7 @@ TEST_CASE("util::create_directories") {
|
||||
}
|
||||
SECTION("a file exists with the same name") {
|
||||
REQUIRE(util::create_directories(dir, 0755));
|
||||
int f = open((dir + "/file").c_str(), O_RDWR | O_CREAT);
|
||||
int f = open((dir + "/file").c_str(), O_RDWR | O_CREAT, 0644);
|
||||
REQUIRE(f != -1);
|
||||
close(f);
|
||||
REQUIRE(util::create_directories(dir + "/file", 0755) == false);
|
||||
|
||||
@@ -2,6 +2,7 @@ import datetime
|
||||
from pathlib import Path
|
||||
|
||||
MIN_DATE = datetime.datetime(year=2025, month=2, day=21)
|
||||
MAX_DATE = datetime.datetime(year=2035, month=1, day=1)
|
||||
|
||||
def min_date():
|
||||
# on systemd systems, the default time is the systemd build time
|
||||
@@ -12,4 +13,4 @@ def min_date():
|
||||
return MIN_DATE
|
||||
|
||||
def system_time_valid():
|
||||
return datetime.datetime.now() > min_date()
|
||||
return min_date() < datetime.datetime.now() < MAX_DATE
|
||||
|
||||
@@ -1,2 +0,0 @@
|
||||
transformations
|
||||
transformations.cpp
|
||||
@@ -1,5 +0,0 @@
|
||||
Import('env', 'envCython')
|
||||
|
||||
transformations = env.Library('transformations', ['orientation.cc', 'coordinates.cc'])
|
||||
transformations_python = envCython.Program('transformations.so', 'transformations.pyx')
|
||||
Export('transformations', 'transformations_python')
|
||||
@@ -1,100 +0,0 @@
|
||||
#define _USE_MATH_DEFINES
|
||||
|
||||
#include "common/transformations/coordinates.hpp"
|
||||
|
||||
#include <iostream>
|
||||
#include <cmath>
|
||||
#include <eigen3/Eigen/Dense>
|
||||
|
||||
double a = 6378137; // lgtm [cpp/short-global-name]
|
||||
double b = 6356752.3142; // lgtm [cpp/short-global-name]
|
||||
double esq = 6.69437999014 * 0.001; // lgtm [cpp/short-global-name]
|
||||
double e1sq = 6.73949674228 * 0.001;
|
||||
|
||||
|
||||
static Geodetic to_degrees(Geodetic geodetic){
|
||||
geodetic.lat = RAD2DEG(geodetic.lat);
|
||||
geodetic.lon = RAD2DEG(geodetic.lon);
|
||||
return geodetic;
|
||||
}
|
||||
|
||||
static Geodetic to_radians(Geodetic geodetic){
|
||||
geodetic.lat = DEG2RAD(geodetic.lat);
|
||||
geodetic.lon = DEG2RAD(geodetic.lon);
|
||||
return geodetic;
|
||||
}
|
||||
|
||||
|
||||
ECEF geodetic2ecef(const Geodetic &geodetic) {
|
||||
auto g = to_radians(geodetic);
|
||||
double xi = sqrt(1.0 - esq * pow(sin(g.lat), 2));
|
||||
double x = (a / xi + g.alt) * cos(g.lat) * cos(g.lon);
|
||||
double y = (a / xi + g.alt) * cos(g.lat) * sin(g.lon);
|
||||
double z = (a / xi * (1.0 - esq) + g.alt) * sin(g.lat);
|
||||
return {x, y, z};
|
||||
}
|
||||
|
||||
Geodetic ecef2geodetic(const ECEF &e) {
|
||||
// Convert from ECEF to geodetic using Ferrari's methods
|
||||
// https://en.wikipedia.org/wiki/Geographic_coordinate_conversion#Ferrari.27s_solution
|
||||
double x = e.x;
|
||||
double y = e.y;
|
||||
double z = e.z;
|
||||
|
||||
double r = sqrt(x * x + y * y);
|
||||
double Esq = a * a - b * b;
|
||||
double F = 54 * b * b * z * z;
|
||||
double G = r * r + (1 - esq) * z * z - esq * Esq;
|
||||
double C = (esq * esq * F * r * r) / (pow(G, 3));
|
||||
double S = cbrt(1 + C + sqrt(C * C + 2 * C));
|
||||
double P = F / (3 * pow((S + 1 / S + 1), 2) * G * G);
|
||||
double Q = sqrt(1 + 2 * esq * esq * P);
|
||||
double r_0 = -(P * esq * r) / (1 + Q) + sqrt(0.5 * a * a*(1 + 1.0 / Q) - P * (1 - esq) * z * z / (Q * (1 + Q)) - 0.5 * P * r * r);
|
||||
double U = sqrt(pow((r - esq * r_0), 2) + z * z);
|
||||
double V = sqrt(pow((r - esq * r_0), 2) + (1 - esq) * z * z);
|
||||
double Z_0 = b * b * z / (a * V);
|
||||
double h = U * (1 - b * b / (a * V));
|
||||
|
||||
double lat = atan((z + e1sq * Z_0) / r);
|
||||
double lon = atan2(y, x);
|
||||
|
||||
return to_degrees({lat, lon, h});
|
||||
}
|
||||
|
||||
LocalCoord::LocalCoord(const Geodetic &geodetic, const ECEF &e) {
|
||||
init_ecef << e.x, e.y, e.z;
|
||||
|
||||
auto g = to_radians(geodetic);
|
||||
|
||||
ned2ecef_matrix <<
|
||||
-sin(g.lat)*cos(g.lon), -sin(g.lon), -cos(g.lat)*cos(g.lon),
|
||||
-sin(g.lat)*sin(g.lon), cos(g.lon), -cos(g.lat)*sin(g.lon),
|
||||
cos(g.lat), 0, -sin(g.lat);
|
||||
ecef2ned_matrix = ned2ecef_matrix.transpose();
|
||||
}
|
||||
|
||||
NED LocalCoord::ecef2ned(const ECEF &e) {
|
||||
Eigen::Vector3d ecef;
|
||||
ecef << e.x, e.y, e.z;
|
||||
|
||||
Eigen::Vector3d ned = (ecef2ned_matrix * (ecef - init_ecef));
|
||||
return {ned[0], ned[1], ned[2]};
|
||||
}
|
||||
|
||||
ECEF LocalCoord::ned2ecef(const NED &n) {
|
||||
Eigen::Vector3d ned;
|
||||
ned << n.n, n.e, n.d;
|
||||
|
||||
Eigen::Vector3d ecef = (ned2ecef_matrix * ned) + init_ecef;
|
||||
return {ecef[0], ecef[1], ecef[2]};
|
||||
}
|
||||
|
||||
NED LocalCoord::geodetic2ned(const Geodetic &g) {
|
||||
ECEF e = ::geodetic2ecef(g);
|
||||
return ecef2ned(e);
|
||||
}
|
||||
|
||||
Geodetic LocalCoord::ned2geodetic(const NED &n) {
|
||||
ECEF e = ned2ecef(n);
|
||||
return ::ecef2geodetic(e);
|
||||
}
|
||||
@@ -1,43 +0,0 @@
|
||||
#pragma once
|
||||
|
||||
#include <eigen3/Eigen/Dense>
|
||||
|
||||
#define DEG2RAD(x) ((x) * M_PI / 180.0)
|
||||
#define RAD2DEG(x) ((x) * 180.0 / M_PI)
|
||||
|
||||
struct ECEF {
|
||||
double x, y, z;
|
||||
Eigen::Vector3d to_vector() const {
|
||||
return Eigen::Vector3d(x, y, z);
|
||||
}
|
||||
};
|
||||
|
||||
struct NED {
|
||||
double n, e, d;
|
||||
Eigen::Vector3d to_vector() const {
|
||||
return Eigen::Vector3d(n, e, d);
|
||||
}
|
||||
};
|
||||
|
||||
struct Geodetic {
|
||||
double lat, lon, alt;
|
||||
bool radians=false;
|
||||
};
|
||||
|
||||
ECEF geodetic2ecef(const Geodetic &g);
|
||||
Geodetic ecef2geodetic(const ECEF &e);
|
||||
|
||||
class LocalCoord {
|
||||
public:
|
||||
Eigen::Matrix3d ned2ecef_matrix;
|
||||
Eigen::Matrix3d ecef2ned_matrix;
|
||||
Eigen::Vector3d init_ecef;
|
||||
LocalCoord(const Geodetic &g, const ECEF &e);
|
||||
LocalCoord(const Geodetic &g) : LocalCoord(g, ::geodetic2ecef(g)) {}
|
||||
LocalCoord(const ECEF &e) : LocalCoord(::ecef2geodetic(e), e) {}
|
||||
|
||||
NED ecef2ned(const ECEF &e);
|
||||
ECEF ned2ecef(const NED &n);
|
||||
NED geodetic2ned(const Geodetic &g);
|
||||
Geodetic ned2geodetic(const NED &n);
|
||||
};
|
||||
@@ -1,144 +0,0 @@
|
||||
#define _USE_MATH_DEFINES
|
||||
|
||||
#include <iostream>
|
||||
#include <cmath>
|
||||
#include <eigen3/Eigen/Dense>
|
||||
|
||||
#include "common/transformations/orientation.hpp"
|
||||
#include "common/transformations/coordinates.hpp"
|
||||
|
||||
Eigen::Quaterniond ensure_unique(const Eigen::Quaterniond &quat) {
|
||||
if (quat.w() > 0){
|
||||
return quat;
|
||||
} else {
|
||||
return Eigen::Quaterniond(-quat.w(), -quat.x(), -quat.y(), -quat.z());
|
||||
}
|
||||
}
|
||||
|
||||
Eigen::Quaterniond euler2quat(const Eigen::Vector3d &euler) {
|
||||
Eigen::Quaterniond q;
|
||||
|
||||
q = Eigen::AngleAxisd(euler(2), Eigen::Vector3d::UnitZ())
|
||||
* Eigen::AngleAxisd(euler(1), Eigen::Vector3d::UnitY())
|
||||
* Eigen::AngleAxisd(euler(0), Eigen::Vector3d::UnitX());
|
||||
return ensure_unique(q);
|
||||
}
|
||||
|
||||
|
||||
Eigen::Vector3d quat2euler(const Eigen::Quaterniond &quat) {
|
||||
// TODO: switch to eigen implementation if the range of the Euler angles doesn't matter anymore
|
||||
// Eigen::Vector3d euler = quat.toRotationMatrix().eulerAngles(2, 1, 0);
|
||||
// return {euler(2), euler(1), euler(0)};
|
||||
double gamma = atan2(2 * (quat.w() * quat.x() + quat.y() * quat.z()), 1 - 2 * (quat.x()*quat.x() + quat.y()*quat.y()));
|
||||
double asin_arg_clipped = std::clamp(2 * (quat.w() * quat.y() - quat.z() * quat.x()), -1.0, 1.0);
|
||||
double theta = asin(asin_arg_clipped);
|
||||
double psi = atan2(2 * (quat.w() * quat.z() + quat.x() * quat.y()), 1 - 2 * (quat.y()*quat.y() + quat.z()*quat.z()));
|
||||
return {gamma, theta, psi};
|
||||
}
|
||||
|
||||
Eigen::Matrix3d quat2rot(const Eigen::Quaterniond &quat) {
|
||||
return quat.toRotationMatrix();
|
||||
}
|
||||
|
||||
Eigen::Quaterniond rot2quat(const Eigen::Matrix3d &rot) {
|
||||
return ensure_unique(Eigen::Quaterniond(rot));
|
||||
}
|
||||
|
||||
Eigen::Matrix3d euler2rot(const Eigen::Vector3d &euler) {
|
||||
return quat2rot(euler2quat(euler));
|
||||
}
|
||||
|
||||
Eigen::Vector3d rot2euler(const Eigen::Matrix3d &rot) {
|
||||
return quat2euler(rot2quat(rot));
|
||||
}
|
||||
|
||||
Eigen::Matrix3d rot_matrix(double roll, double pitch, double yaw) {
|
||||
return euler2rot({roll, pitch, yaw});
|
||||
}
|
||||
|
||||
Eigen::Matrix3d rot(const Eigen::Vector3d &axis, double angle) {
|
||||
Eigen::Quaterniond q;
|
||||
q = Eigen::AngleAxisd(angle, axis);
|
||||
return q.toRotationMatrix();
|
||||
}
|
||||
|
||||
|
||||
Eigen::Vector3d ecef_euler_from_ned(const ECEF &ecef_init, const Eigen::Vector3d &ned_pose) {
|
||||
/*
|
||||
Using Rotations to Build Aerospace Coordinate Systems
|
||||
Don Koks
|
||||
https://apps.dtic.mil/dtic/tr/fulltext/u2/a484864.pdf
|
||||
*/
|
||||
LocalCoord converter = LocalCoord(ecef_init);
|
||||
Eigen::Vector3d zero = ecef_init.to_vector();
|
||||
|
||||
Eigen::Vector3d x0 = converter.ned2ecef({1, 0, 0}).to_vector() - zero;
|
||||
Eigen::Vector3d y0 = converter.ned2ecef({0, 1, 0}).to_vector() - zero;
|
||||
Eigen::Vector3d z0 = converter.ned2ecef({0, 0, 1}).to_vector() - zero;
|
||||
|
||||
Eigen::Vector3d x1 = rot(z0, ned_pose(2)) * x0;
|
||||
Eigen::Vector3d y1 = rot(z0, ned_pose(2)) * y0;
|
||||
Eigen::Vector3d z1 = rot(z0, ned_pose(2)) * z0;
|
||||
|
||||
Eigen::Vector3d x2 = rot(y1, ned_pose(1)) * x1;
|
||||
Eigen::Vector3d y2 = rot(y1, ned_pose(1)) * y1;
|
||||
Eigen::Vector3d z2 = rot(y1, ned_pose(1)) * z1;
|
||||
|
||||
Eigen::Vector3d x3 = rot(x2, ned_pose(0)) * x2;
|
||||
Eigen::Vector3d y3 = rot(x2, ned_pose(0)) * y2;
|
||||
|
||||
|
||||
x0 = Eigen::Vector3d(1, 0, 0);
|
||||
y0 = Eigen::Vector3d(0, 1, 0);
|
||||
z0 = Eigen::Vector3d(0, 0, 1);
|
||||
|
||||
double psi = atan2(x3.dot(y0), x3.dot(x0));
|
||||
double theta = atan2(-x3.dot(z0), sqrt(pow(x3.dot(x0), 2) + pow(x3.dot(y0), 2)));
|
||||
|
||||
y2 = rot(z0, psi) * y0;
|
||||
z2 = rot(y2, theta) * z0;
|
||||
|
||||
double phi = atan2(y3.dot(z2), y3.dot(y2));
|
||||
|
||||
return {phi, theta, psi};
|
||||
}
|
||||
|
||||
Eigen::Vector3d ned_euler_from_ecef(const ECEF &ecef_init, const Eigen::Vector3d &ecef_pose) {
|
||||
/*
|
||||
Using Rotations to Build Aerospace Coordinate Systems
|
||||
Don Koks
|
||||
https://apps.dtic.mil/dtic/tr/fulltext/u2/a484864.pdf
|
||||
*/
|
||||
LocalCoord converter = LocalCoord(ecef_init);
|
||||
|
||||
Eigen::Vector3d x0 = Eigen::Vector3d(1, 0, 0);
|
||||
Eigen::Vector3d y0 = Eigen::Vector3d(0, 1, 0);
|
||||
Eigen::Vector3d z0 = Eigen::Vector3d(0, 0, 1);
|
||||
|
||||
Eigen::Vector3d x1 = rot(z0, ecef_pose(2)) * x0;
|
||||
Eigen::Vector3d y1 = rot(z0, ecef_pose(2)) * y0;
|
||||
Eigen::Vector3d z1 = rot(z0, ecef_pose(2)) * z0;
|
||||
|
||||
Eigen::Vector3d x2 = rot(y1, ecef_pose(1)) * x1;
|
||||
Eigen::Vector3d y2 = rot(y1, ecef_pose(1)) * y1;
|
||||
Eigen::Vector3d z2 = rot(y1, ecef_pose(1)) * z1;
|
||||
|
||||
Eigen::Vector3d x3 = rot(x2, ecef_pose(0)) * x2;
|
||||
Eigen::Vector3d y3 = rot(x2, ecef_pose(0)) * y2;
|
||||
|
||||
Eigen::Vector3d zero = ecef_init.to_vector();
|
||||
x0 = converter.ned2ecef({1, 0, 0}).to_vector() - zero;
|
||||
y0 = converter.ned2ecef({0, 1, 0}).to_vector() - zero;
|
||||
z0 = converter.ned2ecef({0, 0, 1}).to_vector() - zero;
|
||||
|
||||
double psi = atan2(x3.dot(y0), x3.dot(x0));
|
||||
double theta = atan2(-x3.dot(z0), sqrt(pow(x3.dot(x0), 2) + pow(x3.dot(y0), 2)));
|
||||
|
||||
y2 = rot(z0, psi) * y0;
|
||||
z2 = rot(y2, theta) * z0;
|
||||
|
||||
double phi = atan2(y3.dot(z2), y3.dot(y2));
|
||||
|
||||
return {phi, theta, psi};
|
||||
}
|
||||
|
||||
@@ -1,17 +0,0 @@
|
||||
#pragma once
|
||||
#include <eigen3/Eigen/Dense>
|
||||
#include "common/transformations/coordinates.hpp"
|
||||
|
||||
|
||||
Eigen::Quaterniond ensure_unique(const Eigen::Quaterniond &quat);
|
||||
|
||||
Eigen::Quaterniond euler2quat(const Eigen::Vector3d &euler);
|
||||
Eigen::Vector3d quat2euler(const Eigen::Quaterniond &quat);
|
||||
Eigen::Matrix3d quat2rot(const Eigen::Quaterniond &quat);
|
||||
Eigen::Quaterniond rot2quat(const Eigen::Matrix3d &rot);
|
||||
Eigen::Matrix3d euler2rot(const Eigen::Vector3d &euler);
|
||||
Eigen::Vector3d rot2euler(const Eigen::Matrix3d &rot);
|
||||
Eigen::Matrix3d rot_matrix(double roll, double pitch, double yaw);
|
||||
Eigen::Matrix3d rot(const Eigen::Vector3d &axis, double angle);
|
||||
Eigen::Vector3d ecef_euler_from_ned(const ECEF &ecef_init, const Eigen::Vector3d &ned_pose);
|
||||
Eigen::Vector3d ned_euler_from_ecef(const ECEF &ecef_init, const Eigen::Vector3d &ecef_pose);
|
||||
@@ -102,3 +102,36 @@ class TestNED:
|
||||
np.testing.assert_allclose(converter.ned2ecef(ned_offsets_batch),
|
||||
ecef_positions_offset_batch,
|
||||
rtol=1e-9, atol=1e-7)
|
||||
|
||||
def test_errors(self):
|
||||
# Test wrong shape/type for geodetic2ecef
|
||||
# numpy_wrap raises IndexError for scalar input
|
||||
with np.testing.assert_raises(IndexError):
|
||||
coord.geodetic2ecef(1.0)
|
||||
|
||||
with np.testing.assert_raises_regex(ValueError, "Geodetic must be size 3"):
|
||||
coord.geodetic2ecef([0, 0])
|
||||
|
||||
with np.testing.assert_raises_regex(ValueError, "Geodetic must be size 3"):
|
||||
coord.geodetic2ecef([0, 0, 0, 0])
|
||||
|
||||
with np.testing.assert_raises(TypeError):
|
||||
coord.geodetic2ecef(['a', 'b', 'c'])
|
||||
|
||||
# Test LocalCoord constructor errors
|
||||
with np.testing.assert_raises(ValueError):
|
||||
coord.LocalCoord.from_geodetic([0, 0])
|
||||
|
||||
with np.testing.assert_raises(ValueError):
|
||||
coord.LocalCoord.from_geodetic(1)
|
||||
|
||||
with np.testing.assert_raises(TypeError):
|
||||
coord.LocalCoord.from_geodetic(['a', 'b', 'c'])
|
||||
|
||||
# Test wrong shape/type for ecef2geodetic
|
||||
with np.testing.assert_raises(ValueError):
|
||||
coord.ecef2geodetic([1, 2])
|
||||
with np.testing.assert_raises(ValueError):
|
||||
coord.ecef2geodetic([1, 2, 3, 4])
|
||||
with np.testing.assert_raises(IndexError):
|
||||
coord.ecef2geodetic(1.0)
|
||||
|
||||
@@ -1,4 +1,5 @@
|
||||
import numpy as np
|
||||
import pytest
|
||||
|
||||
from openpilot.common.transformations.orientation import euler2quat, quat2euler, euler2rot, rot2euler, \
|
||||
rot2quat, quat2rot, \
|
||||
@@ -59,3 +60,32 @@ class TestOrientation:
|
||||
np.testing.assert_allclose(ned_eulers[i], ned_euler_from_ecef(ecef_positions[i], eulers[i]), rtol=1e-7)
|
||||
#np.testing.assert_allclose(eulers[i], ecef_euler_from_ned(ecef_positions[i], ned_eulers[i]), rtol=1e-7)
|
||||
# np.testing.assert_allclose(ned_eulers, ned_euler_from_ecef(ecef_positions, eulers), rtol=1e-7)
|
||||
|
||||
def test_inputs(self):
|
||||
with pytest.raises(ValueError):
|
||||
euler2quat([1, 2])
|
||||
|
||||
with pytest.raises(ValueError):
|
||||
quat2rot([1, 2, 3])
|
||||
|
||||
with pytest.raises(IndexError):
|
||||
rot2quat(np.zeros((2, 2)))
|
||||
|
||||
def test_euler_rot_consistency(self):
|
||||
rpy = [0.1, 0.2, 0.3]
|
||||
R = euler2rot(rpy)
|
||||
|
||||
# R -> q -> R
|
||||
q = rot2quat(R)
|
||||
R_new = quat2rot(q)
|
||||
np.testing.assert_allclose(R, R_new, atol=1e-15)
|
||||
|
||||
# q -> R -> Euler (quat2euler) -> R
|
||||
rpy_new = quat2euler(q)
|
||||
R_new2 = euler2rot(rpy_new)
|
||||
np.testing.assert_allclose(R, R_new2, atol=1e-15)
|
||||
|
||||
# R -> Euler (rot2euler) -> R
|
||||
rpy_from_rot = rot2euler(R)
|
||||
R_new3 = euler2rot(rpy_from_rot)
|
||||
np.testing.assert_allclose(R, R_new3, atol=1e-15)
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,72 +0,0 @@
|
||||
# cython: language_level=3
|
||||
from libcpp cimport bool
|
||||
|
||||
cdef extern from "orientation.cc":
|
||||
pass
|
||||
|
||||
cdef extern from "orientation.hpp":
|
||||
cdef cppclass Quaternion "Eigen::Quaterniond":
|
||||
Quaternion()
|
||||
Quaternion(double, double, double, double)
|
||||
double w()
|
||||
double x()
|
||||
double y()
|
||||
double z()
|
||||
|
||||
cdef cppclass Vector3 "Eigen::Vector3d":
|
||||
Vector3()
|
||||
Vector3(double, double, double)
|
||||
double operator()(int)
|
||||
|
||||
cdef cppclass Matrix3 "Eigen::Matrix3d":
|
||||
Matrix3()
|
||||
Matrix3(double*)
|
||||
|
||||
double operator()(int, int)
|
||||
|
||||
Quaternion euler2quat(const Vector3 &)
|
||||
Vector3 quat2euler(const Quaternion &)
|
||||
Matrix3 quat2rot(const Quaternion &)
|
||||
Quaternion rot2quat(const Matrix3 &)
|
||||
Vector3 rot2euler(const Matrix3 &)
|
||||
Matrix3 euler2rot(const Vector3 &)
|
||||
Matrix3 rot_matrix(double, double, double)
|
||||
Vector3 ecef_euler_from_ned(const ECEF &, const Vector3 &)
|
||||
Vector3 ned_euler_from_ecef(const ECEF &, const Vector3 &)
|
||||
|
||||
|
||||
cdef extern from "coordinates.cc":
|
||||
cdef struct ECEF:
|
||||
double x
|
||||
double y
|
||||
double z
|
||||
|
||||
cdef struct NED:
|
||||
double n
|
||||
double e
|
||||
double d
|
||||
|
||||
cdef struct Geodetic:
|
||||
double lat
|
||||
double lon
|
||||
double alt
|
||||
bool radians
|
||||
|
||||
ECEF geodetic2ecef(const Geodetic &)
|
||||
Geodetic ecef2geodetic(const ECEF &)
|
||||
|
||||
cdef cppclass LocalCoord_c "LocalCoord":
|
||||
Matrix3 ned2ecef_matrix
|
||||
Matrix3 ecef2ned_matrix
|
||||
|
||||
LocalCoord_c(const Geodetic &, const ECEF &)
|
||||
LocalCoord_c(const Geodetic &)
|
||||
LocalCoord_c(const ECEF &)
|
||||
|
||||
NED ecef2ned(const ECEF &)
|
||||
ECEF ned2ecef(const NED &)
|
||||
NED geodetic2ned(const Geodetic &)
|
||||
Geodetic ned2geodetic(const NED &)
|
||||
|
||||
cdef extern from "coordinates.hpp":
|
||||
pass
|
||||
@@ -0,0 +1,342 @@
|
||||
import numpy as np
|
||||
|
||||
|
||||
# Constants
|
||||
a = 6378137.0
|
||||
b = 6356752.3142
|
||||
esq = 6.69437999014e-3
|
||||
e1sq = 6.73949674228e-3
|
||||
|
||||
|
||||
def geodetic2ecef_single(g):
|
||||
"""
|
||||
Convert geodetic coordinates (latitude, longitude, altitude) to ECEF.
|
||||
"""
|
||||
try:
|
||||
if len(g) != 3:
|
||||
raise ValueError("Geodetic must be size 3")
|
||||
except TypeError:
|
||||
raise ValueError("Geodetic must be a sequence of length 3") from None
|
||||
|
||||
lat, lon, alt = g
|
||||
lat = np.radians(lat)
|
||||
lon = np.radians(lon)
|
||||
xi = np.sqrt(1.0 - esq * np.sin(lat)**2)
|
||||
x = (a / xi + alt) * np.cos(lat) * np.cos(lon)
|
||||
y = (a / xi + alt) * np.cos(lat) * np.sin(lon)
|
||||
z = (a / xi * (1.0 - esq) + alt) * np.sin(lat)
|
||||
return np.array([x, y, z])
|
||||
|
||||
|
||||
def ecef2geodetic_single(e):
|
||||
"""
|
||||
Convert ECEF to geodetic coordinates using Ferrari's solution.
|
||||
"""
|
||||
x, y, z = e
|
||||
r = np.sqrt(x**2 + y**2)
|
||||
Esq = a**2 - b**2
|
||||
F = 54 * b**2 * z**2
|
||||
G = r**2 + (1 - esq) * z**2 - esq * Esq
|
||||
C = (esq**2 * F * r**2) / (G**3)
|
||||
S = np.cbrt(1 + C + np.sqrt(C**2 + 2 * C))
|
||||
P = F / (3 * (S + 1 / S + 1)**2 * G**2)
|
||||
Q = np.sqrt(1 + 2 * esq**2 * P)
|
||||
r_0 = -(P * esq * r) / (1 + Q) + np.sqrt(0.5 * a**2 * (1 + 1.0 / Q) - P * (1 - esq) * z**2 / (Q * (1 + Q)) - 0.5 * P * r**2)
|
||||
U = np.sqrt((r - esq * r_0)**2 + z**2)
|
||||
V = np.sqrt((r - esq * r_0)**2 + (1 - esq) * z**2)
|
||||
Z_0 = b**2 * z / (a * V)
|
||||
h = U * (1 - b**2 / (a * V))
|
||||
lat = np.arctan((z + e1sq * Z_0) / r)
|
||||
lon = np.arctan2(y, x)
|
||||
return np.array([np.degrees(lat), np.degrees(lon), h])
|
||||
|
||||
|
||||
def euler2quat_single(euler):
|
||||
"""
|
||||
Convert Euler angles (roll, pitch, yaw) to a quaternion.
|
||||
Rotation order: Z-Y-X (yaw, pitch, roll).
|
||||
"""
|
||||
phi, theta, psi = euler
|
||||
|
||||
c_phi, s_phi = np.cos(phi / 2), np.sin(phi / 2)
|
||||
c_theta, s_theta = np.cos(theta / 2), np.sin(theta / 2)
|
||||
c_psi, s_psi = np.cos(psi / 2), np.sin(psi / 2)
|
||||
|
||||
w = c_phi * c_theta * c_psi + s_phi * s_theta * s_psi
|
||||
x = s_phi * c_theta * c_psi - c_phi * s_theta * s_psi
|
||||
y = c_phi * s_theta * c_psi + s_phi * c_theta * s_psi
|
||||
z = c_phi * c_theta * s_psi - s_phi * s_theta * c_psi
|
||||
|
||||
if w < 0:
|
||||
return np.array([-w, -x, -y, -z])
|
||||
return np.array([w, x, y, z])
|
||||
|
||||
|
||||
def quat2euler_single(q):
|
||||
"""
|
||||
Convert a quaternion to Euler angles (roll, pitch, yaw).
|
||||
"""
|
||||
w, x, y, z = q
|
||||
gamma = np.arctan2(2 * (w * x + y * z), 1 - 2 * (x**2 + y**2))
|
||||
sin_arg = 2 * (w * y - z * x)
|
||||
sin_arg = np.clip(sin_arg, -1.0, 1.0)
|
||||
theta = np.arcsin(sin_arg)
|
||||
psi = np.arctan2(2 * (w * z + x * y), 1 - 2 * (y**2 + z**2))
|
||||
return np.array([gamma, theta, psi])
|
||||
|
||||
|
||||
def quat2rot_single(q):
|
||||
"""
|
||||
Convert a quaternion to a 3x3 rotation matrix.
|
||||
"""
|
||||
w, x, y, z = q
|
||||
xx, yy, zz = x * x, y * y, z * z
|
||||
xy, xz, yz = x * y, x * z, y * z
|
||||
wx, wy, wz = w * x, w * y, w * z
|
||||
|
||||
mat = np.array([
|
||||
[1 - 2 * (yy + zz), 2 * (xy - wz), 2 * (xz + wy)],
|
||||
[2 * (xy + wz), 1 - 2 * (xx + zz), 2 * (yz - wx)],
|
||||
[2 * (xz - wy), 2 * (yz + wx), 1 - 2 * (xx + yy)]
|
||||
])
|
||||
return mat
|
||||
|
||||
|
||||
def rot2quat_single(rot):
|
||||
"""
|
||||
Convert a 3x3 rotation matrix to a quaternion.
|
||||
"""
|
||||
trace = np.trace(rot)
|
||||
if trace > 0:
|
||||
s = 0.5 / np.sqrt(trace + 1.0)
|
||||
w = 0.25 / s
|
||||
x = (rot[2, 1] - rot[1, 2]) * s
|
||||
y = (rot[0, 2] - rot[2, 0]) * s
|
||||
z = (rot[1, 0] - rot[0, 1]) * s
|
||||
else:
|
||||
if rot[0, 0] > rot[1, 1] and rot[0, 0] > rot[2, 2]:
|
||||
s = 2.0 * np.sqrt(1.0 + rot[0, 0] - rot[1, 1] - rot[2, 2])
|
||||
w = (rot[2, 1] - rot[1, 2]) / s
|
||||
x = 0.25 * s
|
||||
y = (rot[0, 1] + rot[1, 0]) / s
|
||||
z = (rot[0, 2] + rot[2, 0]) / s
|
||||
elif rot[1, 1] > rot[2, 2]:
|
||||
s = 2.0 * np.sqrt(1.0 + rot[1, 1] - rot[0, 0] - rot[2, 2])
|
||||
w = (rot[0, 2] - rot[2, 0]) / s
|
||||
x = (rot[0, 1] + rot[1, 0]) / s
|
||||
y = 0.25 * s
|
||||
z = (rot[1, 2] + rot[2, 1]) / s
|
||||
else:
|
||||
s = 2.0 * np.sqrt(1.0 + rot[2, 2] - rot[0, 0] - rot[1, 1])
|
||||
w = (rot[1, 0] - rot[0, 1]) / s
|
||||
x = (rot[0, 2] + rot[2, 0]) / s
|
||||
y = (rot[1, 2] + rot[2, 1]) / s
|
||||
z = 0.25 * s
|
||||
|
||||
if w < 0:
|
||||
return np.array([-w, -x, -y, -z])
|
||||
return np.array([w, x, y, z])
|
||||
|
||||
|
||||
def euler2rot_single(euler):
|
||||
"""
|
||||
Convert Euler angles (roll, pitch, yaw) to a 3x3 rotation matrix.
|
||||
Rotation order: Z-Y-X (yaw, pitch, roll).
|
||||
"""
|
||||
phi, theta, psi = euler
|
||||
|
||||
cx, sx = np.cos(phi), np.sin(phi)
|
||||
cy, sy = np.cos(theta), np.sin(theta)
|
||||
cz, sz = np.cos(psi), np.sin(psi)
|
||||
|
||||
Rx = np.array([[1, 0, 0], [0, cx, -sx], [0, sx, cx]])
|
||||
Ry = np.array([[cy, 0, sy], [0, 1, 0], [-sy, 0, cy]])
|
||||
Rz = np.array([[cz, -sz, 0], [sz, cz, 0], [0, 0, 1]])
|
||||
|
||||
return Rz @ Ry @ Rx
|
||||
|
||||
|
||||
def rot2euler_single(rot):
|
||||
"""
|
||||
Convert a 3x3 rotation matrix to Euler angles (roll, pitch, yaw).
|
||||
"""
|
||||
return quat2euler_single(rot2quat_single(rot))
|
||||
|
||||
|
||||
def rot_matrix(roll, pitch, yaw):
|
||||
"""
|
||||
Create a 3x3 rotation matrix from roll, pitch, and yaw angles.
|
||||
"""
|
||||
return euler2rot_single([roll, pitch, yaw])
|
||||
|
||||
|
||||
def axis_angle_to_rot(axis, angle):
|
||||
"""
|
||||
Convert an axis-angle representation to a 3x3 rotation matrix.
|
||||
"""
|
||||
c = np.cos(angle / 2)
|
||||
s = np.sin(angle / 2)
|
||||
q = np.array([c, s*axis[0], s*axis[1], s*axis[2]])
|
||||
return quat2rot_single(q)
|
||||
|
||||
|
||||
class LocalCoord:
|
||||
"""
|
||||
A class to handle conversions between ECEF and local NED coordinates.
|
||||
"""
|
||||
def __init__(self, geodetic=None, ecef=None):
|
||||
"""
|
||||
Initialize LocalCoord with either geodetic or ECEF coordinates.
|
||||
"""
|
||||
if geodetic is not None:
|
||||
self.init_ecef = geodetic2ecef_single(geodetic)
|
||||
lat, lon, _ = geodetic
|
||||
elif ecef is not None:
|
||||
self.init_ecef = np.array(ecef)
|
||||
lat, lon, _ = ecef2geodetic_single(ecef)
|
||||
else:
|
||||
raise ValueError("Must provide geodetic or ecef")
|
||||
|
||||
lat = np.radians(lat)
|
||||
lon = np.radians(lon)
|
||||
|
||||
self.ned2ecef_matrix = np.array([
|
||||
[-np.sin(lat) * np.cos(lon), -np.sin(lon), -np.cos(lat) * np.cos(lon)],
|
||||
[-np.sin(lat) * np.sin(lon), np.cos(lon), -np.cos(lat) * np.sin(lon)],
|
||||
[np.cos(lat), 0, -np.sin(lat)]
|
||||
])
|
||||
self.ecef2ned_matrix = self.ned2ecef_matrix.T
|
||||
|
||||
@classmethod
|
||||
def from_geodetic(cls, geodetic):
|
||||
"""
|
||||
Create a LocalCoord instance from geodetic coordinates.
|
||||
"""
|
||||
return cls(geodetic=geodetic)
|
||||
|
||||
@classmethod
|
||||
def from_ecef(cls, ecef):
|
||||
"""
|
||||
Create a LocalCoord instance from ECEF coordinates.
|
||||
"""
|
||||
return cls(ecef=ecef)
|
||||
|
||||
def ecef2ned_single(self, ecef):
|
||||
"""
|
||||
Convert a single ECEF point to NED coordinates relative to the origin.
|
||||
"""
|
||||
return self.ecef2ned_matrix @ (ecef - self.init_ecef)
|
||||
|
||||
def ned2ecef_single(self, ned):
|
||||
"""
|
||||
Convert a single NED point to ECEF coordinates.
|
||||
"""
|
||||
return self.ned2ecef_matrix @ ned + self.init_ecef
|
||||
|
||||
def geodetic2ned_single(self, geodetic):
|
||||
"""
|
||||
Convert a single geodetic point to NED coordinates.
|
||||
"""
|
||||
ecef = geodetic2ecef_single(geodetic)
|
||||
return self.ecef2ned_single(ecef)
|
||||
|
||||
def ned2geodetic_single(self, ned):
|
||||
"""
|
||||
Convert a single NED point to geodetic coordinates.
|
||||
"""
|
||||
ecef = self.ned2ecef_single(ned)
|
||||
return ecef2geodetic_single(ecef)
|
||||
|
||||
@property
|
||||
def ned_from_ecef_matrix(self):
|
||||
"""
|
||||
Returns the rotation matrix from ECEF to NED coordinates.
|
||||
"""
|
||||
return self.ecef2ned_matrix
|
||||
|
||||
@property
|
||||
def ecef_from_ned_matrix(self):
|
||||
"""
|
||||
Returns the rotation matrix from NED to ECEF coordinates.
|
||||
"""
|
||||
return self.ned2ecef_matrix
|
||||
|
||||
|
||||
def ecef_euler_from_ned_single(ecef_init, ned_pose):
|
||||
"""
|
||||
Convert NED Euler angles (roll, pitch, yaw) at a given ECEF origin
|
||||
to equivalent ECEF Euler angles.
|
||||
"""
|
||||
converter = LocalCoord(ecef=ecef_init)
|
||||
zero = np.array(ecef_init)
|
||||
|
||||
x0 = converter.ned2ecef_single([1, 0, 0]) - zero
|
||||
y0 = converter.ned2ecef_single([0, 1, 0]) - zero
|
||||
z0 = converter.ned2ecef_single([0, 0, 1]) - zero
|
||||
|
||||
phi, theta, psi = ned_pose
|
||||
|
||||
x1 = axis_angle_to_rot(z0, psi) @ x0
|
||||
y1 = axis_angle_to_rot(z0, psi) @ y0
|
||||
z1 = axis_angle_to_rot(z0, psi) @ z0
|
||||
|
||||
x2 = axis_angle_to_rot(y1, theta) @ x1
|
||||
y2 = axis_angle_to_rot(y1, theta) @ y1
|
||||
z2 = axis_angle_to_rot(y1, theta) @ z1
|
||||
|
||||
x3 = axis_angle_to_rot(x2, phi) @ x2
|
||||
y3 = axis_angle_to_rot(x2, phi) @ y2
|
||||
|
||||
x0 = np.array([1.0, 0, 0])
|
||||
y0 = np.array([0, 1.0, 0])
|
||||
z0 = np.array([0, 0, 1.0])
|
||||
|
||||
psi_out = np.arctan2(np.dot(x3, y0), np.dot(x3, x0))
|
||||
theta_out = np.arctan2(-np.dot(x3, z0), np.sqrt(np.dot(x3, x0)**2 + np.dot(x3, y0)**2))
|
||||
|
||||
y2 = axis_angle_to_rot(z0, psi_out) @ y0
|
||||
z2 = axis_angle_to_rot(y2, theta_out) @ z0
|
||||
|
||||
phi_out = np.arctan2(np.dot(y3, z2), np.dot(y3, y2))
|
||||
|
||||
return np.array([phi_out, theta_out, psi_out])
|
||||
|
||||
|
||||
def ned_euler_from_ecef_single(ecef_init, ecef_pose):
|
||||
"""
|
||||
Convert ECEF Euler angles (roll, pitch, yaw) at a given ECEF origin
|
||||
to equivalent NED Euler angles.
|
||||
"""
|
||||
converter = LocalCoord(ecef=ecef_init)
|
||||
|
||||
x0 = np.array([1.0, 0, 0])
|
||||
y0 = np.array([0, 1.0, 0])
|
||||
z0 = np.array([0, 0, 1.0])
|
||||
|
||||
phi, theta, psi = ecef_pose
|
||||
|
||||
x1 = axis_angle_to_rot(z0, psi) @ x0
|
||||
y1 = axis_angle_to_rot(z0, psi) @ y0
|
||||
z1 = axis_angle_to_rot(z0, psi) @ z0
|
||||
|
||||
x2 = axis_angle_to_rot(y1, theta) @ x1
|
||||
y2 = axis_angle_to_rot(y1, theta) @ y1
|
||||
z2 = axis_angle_to_rot(y1, theta) @ z1
|
||||
|
||||
x3 = axis_angle_to_rot(x2, phi) @ x2
|
||||
y3 = axis_angle_to_rot(x2, phi) @ y2
|
||||
|
||||
zero = np.array(ecef_init)
|
||||
x0 = converter.ned2ecef_single([1, 0, 0]) - zero
|
||||
y0 = converter.ned2ecef_single([0, 1, 0]) - zero
|
||||
z0 = converter.ned2ecef_single([0, 0, 1]) - zero
|
||||
|
||||
psi_out = np.arctan2(np.dot(x3, y0), np.dot(x3, x0))
|
||||
theta_out = np.arctan2(-np.dot(x3, z0), np.sqrt(np.dot(x3, x0)**2 + np.dot(x3, y0)**2))
|
||||
|
||||
y2 = axis_angle_to_rot(z0, psi_out) @ y0
|
||||
z2 = axis_angle_to_rot(y2, theta_out) @ z0
|
||||
|
||||
phi_out = np.arctan2(np.dot(y3, z2), np.dot(y3, y2))
|
||||
|
||||
return np.array([phi_out, theta_out, psi_out])
|
||||
@@ -1,173 +0,0 @@
|
||||
# distutils: language = c++
|
||||
# cython: language_level = 3
|
||||
from openpilot.common.transformations.transformations cimport Matrix3, Vector3, Quaternion
|
||||
from openpilot.common.transformations.transformations cimport ECEF, NED, Geodetic
|
||||
|
||||
from openpilot.common.transformations.transformations cimport euler2quat as euler2quat_c
|
||||
from openpilot.common.transformations.transformations cimport quat2euler as quat2euler_c
|
||||
from openpilot.common.transformations.transformations cimport quat2rot as quat2rot_c
|
||||
from openpilot.common.transformations.transformations cimport rot2quat as rot2quat_c
|
||||
from openpilot.common.transformations.transformations cimport euler2rot as euler2rot_c
|
||||
from openpilot.common.transformations.transformations cimport rot2euler as rot2euler_c
|
||||
from openpilot.common.transformations.transformations cimport rot_matrix as rot_matrix_c
|
||||
from openpilot.common.transformations.transformations cimport ecef_euler_from_ned as ecef_euler_from_ned_c
|
||||
from openpilot.common.transformations.transformations cimport ned_euler_from_ecef as ned_euler_from_ecef_c
|
||||
from openpilot.common.transformations.transformations cimport geodetic2ecef as geodetic2ecef_c
|
||||
from openpilot.common.transformations.transformations cimport ecef2geodetic as ecef2geodetic_c
|
||||
from openpilot.common.transformations.transformations cimport LocalCoord_c
|
||||
|
||||
|
||||
import numpy as np
|
||||
cimport numpy as np
|
||||
|
||||
cdef np.ndarray[double, ndim=2] matrix2numpy(Matrix3 m):
|
||||
return np.array([
|
||||
[m(0, 0), m(0, 1), m(0, 2)],
|
||||
[m(1, 0), m(1, 1), m(1, 2)],
|
||||
[m(2, 0), m(2, 1), m(2, 2)],
|
||||
])
|
||||
|
||||
cdef Matrix3 numpy2matrix(np.ndarray[double, ndim=2, mode="fortran"] m):
|
||||
assert m.shape[0] == 3
|
||||
assert m.shape[1] == 3
|
||||
return Matrix3(<double*>m.data)
|
||||
|
||||
cdef ECEF list2ecef(ecef):
|
||||
cdef ECEF e
|
||||
e.x = ecef[0]
|
||||
e.y = ecef[1]
|
||||
e.z = ecef[2]
|
||||
return e
|
||||
|
||||
cdef NED list2ned(ned):
|
||||
cdef NED n
|
||||
n.n = ned[0]
|
||||
n.e = ned[1]
|
||||
n.d = ned[2]
|
||||
return n
|
||||
|
||||
cdef Geodetic list2geodetic(geodetic):
|
||||
cdef Geodetic g
|
||||
g.lat = geodetic[0]
|
||||
g.lon = geodetic[1]
|
||||
g.alt = geodetic[2]
|
||||
return g
|
||||
|
||||
def euler2quat_single(euler):
|
||||
cdef Vector3 e = Vector3(euler[0], euler[1], euler[2])
|
||||
cdef Quaternion q = euler2quat_c(e)
|
||||
return [q.w(), q.x(), q.y(), q.z()]
|
||||
|
||||
def quat2euler_single(quat):
|
||||
cdef Quaternion q = Quaternion(quat[0], quat[1], quat[2], quat[3])
|
||||
cdef Vector3 e = quat2euler_c(q)
|
||||
return [e(0), e(1), e(2)]
|
||||
|
||||
def quat2rot_single(quat):
|
||||
cdef Quaternion q = Quaternion(quat[0], quat[1], quat[2], quat[3])
|
||||
cdef Matrix3 r = quat2rot_c(q)
|
||||
return matrix2numpy(r)
|
||||
|
||||
def rot2quat_single(rot):
|
||||
cdef Matrix3 r = numpy2matrix(np.asfortranarray(rot, dtype=np.double))
|
||||
cdef Quaternion q = rot2quat_c(r)
|
||||
return [q.w(), q.x(), q.y(), q.z()]
|
||||
|
||||
def euler2rot_single(euler):
|
||||
cdef Vector3 e = Vector3(euler[0], euler[1], euler[2])
|
||||
cdef Matrix3 r = euler2rot_c(e)
|
||||
return matrix2numpy(r)
|
||||
|
||||
def rot2euler_single(rot):
|
||||
cdef Matrix3 r = numpy2matrix(np.asfortranarray(rot, dtype=np.double))
|
||||
cdef Vector3 e = rot2euler_c(r)
|
||||
return [e(0), e(1), e(2)]
|
||||
|
||||
def rot_matrix(roll, pitch, yaw):
|
||||
return matrix2numpy(rot_matrix_c(roll, pitch, yaw))
|
||||
|
||||
def ecef_euler_from_ned_single(ecef_init, ned_pose):
|
||||
cdef ECEF init = list2ecef(ecef_init)
|
||||
cdef Vector3 pose = Vector3(ned_pose[0], ned_pose[1], ned_pose[2])
|
||||
|
||||
cdef Vector3 e = ecef_euler_from_ned_c(init, pose)
|
||||
return [e(0), e(1), e(2)]
|
||||
|
||||
def ned_euler_from_ecef_single(ecef_init, ecef_pose):
|
||||
cdef ECEF init = list2ecef(ecef_init)
|
||||
cdef Vector3 pose = Vector3(ecef_pose[0], ecef_pose[1], ecef_pose[2])
|
||||
|
||||
cdef Vector3 e = ned_euler_from_ecef_c(init, pose)
|
||||
return [e(0), e(1), e(2)]
|
||||
|
||||
def geodetic2ecef_single(geodetic):
|
||||
cdef Geodetic g = list2geodetic(geodetic)
|
||||
cdef ECEF e = geodetic2ecef_c(g)
|
||||
return [e.x, e.y, e.z]
|
||||
|
||||
def ecef2geodetic_single(ecef):
|
||||
cdef ECEF e = list2ecef(ecef)
|
||||
cdef Geodetic g = ecef2geodetic_c(e)
|
||||
return [g.lat, g.lon, g.alt]
|
||||
|
||||
|
||||
cdef class LocalCoord:
|
||||
cdef LocalCoord_c * lc
|
||||
|
||||
def __init__(self, geodetic=None, ecef=None):
|
||||
assert (geodetic is not None) or (ecef is not None)
|
||||
if geodetic is not None:
|
||||
self.lc = new LocalCoord_c(list2geodetic(geodetic))
|
||||
elif ecef is not None:
|
||||
self.lc = new LocalCoord_c(list2ecef(ecef))
|
||||
|
||||
@property
|
||||
def ned2ecef_matrix(self):
|
||||
return matrix2numpy(self.lc.ned2ecef_matrix)
|
||||
|
||||
@property
|
||||
def ecef2ned_matrix(self):
|
||||
return matrix2numpy(self.lc.ecef2ned_matrix)
|
||||
|
||||
@property
|
||||
def ned_from_ecef_matrix(self):
|
||||
return self.ecef2ned_matrix
|
||||
|
||||
@property
|
||||
def ecef_from_ned_matrix(self):
|
||||
return self.ned2ecef_matrix
|
||||
|
||||
@classmethod
|
||||
def from_geodetic(cls, geodetic):
|
||||
return cls(geodetic=geodetic)
|
||||
|
||||
@classmethod
|
||||
def from_ecef(cls, ecef):
|
||||
return cls(ecef=ecef)
|
||||
|
||||
def ecef2ned_single(self, ecef):
|
||||
assert self.lc
|
||||
cdef ECEF e = list2ecef(ecef)
|
||||
cdef NED n = self.lc.ecef2ned(e)
|
||||
return [n.n, n.e, n.d]
|
||||
|
||||
def ned2ecef_single(self, ned):
|
||||
assert self.lc
|
||||
cdef NED n = list2ned(ned)
|
||||
cdef ECEF e = self.lc.ned2ecef(n)
|
||||
return [e.x, e.y, e.z]
|
||||
|
||||
def geodetic2ned_single(self, geodetic):
|
||||
assert self.lc
|
||||
cdef Geodetic g = list2geodetic(geodetic)
|
||||
cdef NED n = self.lc.geodetic2ned(g)
|
||||
return [n.n, n.e, n.d]
|
||||
|
||||
def ned2geodetic_single(self, ned):
|
||||
assert self.lc
|
||||
cdef NED n = list2ned(ned)
|
||||
cdef Geodetic g = self.lc.ned2geodetic(n)
|
||||
return [g.lat, g.lon, g.alt]
|
||||
|
||||
def __dealloc__(self):
|
||||
del self.lc
|
||||
Binary file not shown.
+4
-4
@@ -181,9 +181,9 @@ bool file_exists(const std::string& fn) {
|
||||
}
|
||||
|
||||
static bool createDirectory(std::string dir, mode_t mode) {
|
||||
auto verify_dir = [](const std::string& dir) -> bool {
|
||||
auto verify_dir = [](const std::string& path) -> bool {
|
||||
struct stat st = {};
|
||||
return (stat(dir.c_str(), &st) == 0 && (st.st_mode & S_IFMT) == S_IFDIR);
|
||||
return (stat(path.c_str(), &st) == 0 && (st.st_mode & S_IFMT) == S_IFDIR);
|
||||
};
|
||||
// remove trailing /'s
|
||||
while (dir.size() > 1 && dir.back() == '/') {
|
||||
@@ -288,7 +288,7 @@ std::string strip(const std::string &str) {
|
||||
std::string check_output(const std::string& command) {
|
||||
char buffer[128];
|
||||
std::string result;
|
||||
std::unique_ptr<FILE, decltype(&pclose)> pipe(popen(command.c_str(), "r"), pclose);
|
||||
std::unique_ptr<FILE, int(*)(FILE*)> pipe(popen(command.c_str(), "r"), pclose);
|
||||
|
||||
if (!pipe) {
|
||||
return "";
|
||||
@@ -303,7 +303,7 @@ std::string check_output(const std::string& command) {
|
||||
|
||||
bool system_time_valid() {
|
||||
// Default to August 26, 2024
|
||||
tm min_tm = {.tm_year = 2024 - 1900, .tm_mon = 7, .tm_mday = 26};
|
||||
tm min_tm = {.tm_mday = 26, .tm_mon = 7, .tm_year = 2024 - 1900};
|
||||
time_t min_date = mktime(&min_tm);
|
||||
|
||||
struct stat st;
|
||||
|
||||
@@ -96,6 +96,13 @@ bool create_directories(const std::string &dir, mode_t mode);
|
||||
|
||||
std::string check_output(const std::string& command);
|
||||
|
||||
inline void check_system(const std::string& cmd) {
|
||||
int ret = std::system(cmd.c_str());
|
||||
if (ret != 0) {
|
||||
fprintf(stderr, "system command failed (%d): %s\n", ret, cmd.c_str());
|
||||
}
|
||||
}
|
||||
|
||||
bool system_time_valid();
|
||||
|
||||
inline void sleep_for(const int milliseconds) {
|
||||
|
||||
@@ -1,46 +0,0 @@
|
||||
import os
|
||||
import subprocess
|
||||
|
||||
def sudo_write(val: str, path: str) -> None:
|
||||
try:
|
||||
with open(path, 'w') as f:
|
||||
f.write(str(val))
|
||||
except PermissionError:
|
||||
os.system(f"sudo chmod a+w {path}")
|
||||
try:
|
||||
with open(path, 'w') as f:
|
||||
f.write(str(val))
|
||||
except PermissionError:
|
||||
# fallback for debugfs files
|
||||
os.system(f"sudo su -c 'echo {val} > {path}'")
|
||||
|
||||
def sudo_read(path: str) -> str:
|
||||
try:
|
||||
return subprocess.check_output(f"sudo cat {path}", shell=True, encoding='utf8').strip()
|
||||
except Exception:
|
||||
return ""
|
||||
|
||||
class MovingAverage:
|
||||
def __init__(self, window_size: int):
|
||||
self.window_size: int = window_size
|
||||
self.buffer: list[float] = [0.0] * window_size
|
||||
self.index: int = 0
|
||||
self.count: int = 0
|
||||
self.sum: float = 0.0
|
||||
|
||||
def add_value(self, new_value: float):
|
||||
# Update the sum: subtract the value being replaced and add the new value
|
||||
self.sum -= self.buffer[self.index]
|
||||
self.buffer[self.index] = new_value
|
||||
self.sum += new_value
|
||||
|
||||
# Update the index in a circular manner
|
||||
self.index = (self.index + 1) % self.window_size
|
||||
|
||||
# Track the number of added values (for partial windows)
|
||||
self.count = min(self.count + 1, self.window_size)
|
||||
|
||||
def get_average(self) -> float:
|
||||
if self.count == 0:
|
||||
return float('nan')
|
||||
return self.sum / self.count
|
||||
+272
@@ -0,0 +1,272 @@
|
||||
import io
|
||||
import os
|
||||
import tempfile
|
||||
import contextlib
|
||||
import subprocess
|
||||
import time
|
||||
import functools
|
||||
from subprocess import Popen, PIPE, TimeoutExpired
|
||||
import zstandard as zstd
|
||||
|
||||
LOG_COMPRESSION_LEVEL = 10 # little benefit up to level 15. level ~17 is a small step change
|
||||
|
||||
class Timer:
|
||||
"""Simple lap timer for profiling sequential operations."""
|
||||
|
||||
def __init__(self):
|
||||
self._start = self._lap = time.monotonic()
|
||||
self._sections = {}
|
||||
|
||||
def lap(self, name):
|
||||
now = time.monotonic()
|
||||
self._sections[name] = now - self._lap
|
||||
self._lap = now
|
||||
|
||||
@property
|
||||
def total(self):
|
||||
return time.monotonic() - self._start
|
||||
|
||||
def fmt(self, duration):
|
||||
parts = ", ".join(f"{k}={v:.2f}s" + (f" ({duration/v:.0f}x)" if k == 'render' and v > 0 else "") for k, v in self._sections.items())
|
||||
total = self.total
|
||||
realtime = f"{duration/total:.1f}x realtime" if total > 0 else "N/A"
|
||||
return f"{duration}s in {total:.1f}s ({realtime}) | {parts}"
|
||||
|
||||
def sudo_write(val: str, path: str) -> None:
|
||||
try:
|
||||
with open(path, 'w') as f:
|
||||
f.write(str(val))
|
||||
except PermissionError:
|
||||
os.system(f"sudo chmod a+w {path}")
|
||||
try:
|
||||
with open(path, 'w') as f:
|
||||
f.write(str(val))
|
||||
except PermissionError:
|
||||
# fallback for debugfs files
|
||||
os.system(f"sudo su -c 'echo {val} > {path}'")
|
||||
|
||||
|
||||
def sudo_read(path: str) -> str:
|
||||
try:
|
||||
return subprocess.check_output(["sudo", "cat", "--", path], encoding='utf8').strip()
|
||||
except Exception:
|
||||
return ""
|
||||
|
||||
|
||||
class MovingAverage:
|
||||
def __init__(self, window_size: int):
|
||||
self.window_size: int = window_size
|
||||
self.buffer: list[float] = [0.0] * window_size
|
||||
self.index: int = 0
|
||||
self.count: int = 0
|
||||
self.sum: float = 0.0
|
||||
|
||||
def add_value(self, new_value: float):
|
||||
# Update the sum: subtract the value being replaced and add the new value
|
||||
self.sum -= self.buffer[self.index]
|
||||
self.buffer[self.index] = new_value
|
||||
self.sum += new_value
|
||||
|
||||
# Update the index in a circular manner
|
||||
self.index = (self.index + 1) % self.window_size
|
||||
|
||||
# Track the number of added values (for partial windows)
|
||||
self.count = min(self.count + 1, self.window_size)
|
||||
|
||||
def get_average(self) -> float:
|
||||
if self.count == 0:
|
||||
return float('nan')
|
||||
return self.sum / self.count
|
||||
|
||||
|
||||
class CallbackReader:
|
||||
"""Wraps a file, but overrides the read method to also
|
||||
call a callback function with the number of bytes read so far."""
|
||||
|
||||
def __init__(self, f, callback, *args):
|
||||
self.f = f
|
||||
self.callback = callback
|
||||
self.cb_args = args
|
||||
self.total_read = 0
|
||||
|
||||
def __getattr__(self, attr):
|
||||
return getattr(self.f, attr)
|
||||
|
||||
def read(self, *args, **kwargs):
|
||||
chunk = self.f.read(*args, **kwargs)
|
||||
self.total_read += len(chunk)
|
||||
self.callback(*self.cb_args, self.total_read)
|
||||
return chunk
|
||||
|
||||
|
||||
@contextlib.contextmanager
|
||||
def atomic_write(path: str, mode: str = 'w', buffering: int = -1, encoding: str | None = None, newline: str | None = None,
|
||||
overwrite: bool = False):
|
||||
"""Write to a file atomically using a temporary file in the same directory as the destination file."""
|
||||
dir_name = os.path.dirname(path)
|
||||
|
||||
if not overwrite and os.path.exists(path):
|
||||
raise FileExistsError(f"File '{path}' already exists. To overwrite it, set 'overwrite' to True.")
|
||||
|
||||
with tempfile.NamedTemporaryFile(mode=mode, buffering=buffering, encoding=encoding, newline=newline, dir=dir_name, delete=False) as tmp_file:
|
||||
yield tmp_file
|
||||
tmp_file_name = tmp_file.name
|
||||
os.replace(tmp_file_name, path)
|
||||
|
||||
|
||||
def get_upload_stream(filepath: str, should_compress: bool) -> tuple[io.BufferedIOBase, int]:
|
||||
if not should_compress:
|
||||
file_size = os.path.getsize(filepath)
|
||||
file_stream = open(filepath, "rb")
|
||||
return file_stream, file_size
|
||||
|
||||
# Compress the file on the fly
|
||||
compressed_stream = io.BytesIO()
|
||||
compressor = zstd.ZstdCompressor(level=LOG_COMPRESSION_LEVEL)
|
||||
|
||||
with open(filepath, "rb") as f:
|
||||
compressor.copy_stream(f, compressed_stream)
|
||||
compressed_size = compressed_stream.tell()
|
||||
compressed_stream.seek(0)
|
||||
return compressed_stream, compressed_size
|
||||
|
||||
|
||||
# remove all keys that end in DEPRECATED, plus any "deprecated" group
|
||||
def strip_deprecated_keys(d):
|
||||
for k in list(d.keys()):
|
||||
if isinstance(k, str):
|
||||
if k.endswith('DEPRECATED') or k == 'deprecated':
|
||||
d.pop(k)
|
||||
elif isinstance(d[k], dict):
|
||||
strip_deprecated_keys(d[k])
|
||||
return d
|
||||
|
||||
|
||||
def run_cmd(cmd: list[str], cwd=None, env=None) -> str:
|
||||
return subprocess.check_output(cmd, encoding='utf8', cwd=cwd, env=env).strip()
|
||||
|
||||
|
||||
def run_cmd_default(cmd: list[str], default: str = "", cwd=None, env=None) -> str:
|
||||
try:
|
||||
return run_cmd(cmd, cwd=cwd, env=env)
|
||||
except subprocess.CalledProcessError:
|
||||
return default
|
||||
|
||||
|
||||
@contextlib.contextmanager
|
||||
def managed_proc(cmd: list[str], env: dict[str, str]):
|
||||
proc = Popen(cmd, env=env, stdout=PIPE, stderr=PIPE)
|
||||
try:
|
||||
yield proc
|
||||
finally:
|
||||
if proc.poll() is None:
|
||||
proc.terminate()
|
||||
try:
|
||||
proc.wait(timeout=5)
|
||||
except TimeoutExpired:
|
||||
proc.kill()
|
||||
|
||||
|
||||
def tabulate(tabular_data, headers=(), tablefmt="simple", floatfmt="g", stralign="left", numalign=None):
|
||||
rows = [list(row) for row in tabular_data]
|
||||
|
||||
def fmt(val):
|
||||
if isinstance(val, str):
|
||||
return val
|
||||
if isinstance(val, (bool, int)):
|
||||
return str(val)
|
||||
try:
|
||||
return format(val, floatfmt)
|
||||
except (TypeError, ValueError):
|
||||
return str(val)
|
||||
|
||||
formatted = [[fmt(c) for c in row] for row in rows]
|
||||
hdrs = [str(h) for h in headers] if headers else None
|
||||
|
||||
ncols = max((len(r) for r in formatted), default=0)
|
||||
if hdrs:
|
||||
ncols = max(ncols, len(hdrs))
|
||||
if ncols == 0:
|
||||
return ""
|
||||
|
||||
for r in formatted:
|
||||
r.extend([""] * (ncols - len(r)))
|
||||
if hdrs:
|
||||
hdrs.extend([""] * (ncols - len(hdrs)))
|
||||
|
||||
widths = [0] * ncols
|
||||
if hdrs:
|
||||
for i in range(ncols):
|
||||
widths[i] = len(hdrs[i])
|
||||
for row in formatted:
|
||||
for i in range(ncols):
|
||||
widths[i] = max(widths[i], max(len(ln) for ln in row[i].split('\n')))
|
||||
|
||||
def _align(s, w):
|
||||
if stralign == "center":
|
||||
return s.center(w)
|
||||
return s.ljust(w)
|
||||
|
||||
if tablefmt == "html":
|
||||
parts = ["<table>"]
|
||||
if hdrs:
|
||||
parts.append("<thead>")
|
||||
parts.append("<tr>" + "".join(f"<th>{h}</th>" for h in hdrs) + "</tr>")
|
||||
parts.append("</thead>")
|
||||
parts.append("<tbody>")
|
||||
for row in formatted:
|
||||
parts.append("<tr>" + "".join(f"<td>{c}</td>" for c in row) + "</tr>")
|
||||
parts.append("</tbody>")
|
||||
parts.append("</table>")
|
||||
return "\n".join(parts)
|
||||
|
||||
if tablefmt == "simple_grid":
|
||||
def _sep(left, mid, right):
|
||||
return left + mid.join("\u2500" * (w + 2) for w in widths) + right
|
||||
|
||||
top, mid_sep, bot = _sep("\u250c", "\u252c", "\u2510"), _sep("\u251c", "\u253c", "\u2524"), _sep("\u2514", "\u2534", "\u2518")
|
||||
|
||||
def _fmt_row(cells):
|
||||
split = [c.split('\n') for c in cells]
|
||||
nlines = max(len(s) for s in split)
|
||||
for s in split:
|
||||
s.extend([""] * (nlines - len(s)))
|
||||
return ["\u2502" + "\u2502".join(f" {_align(split[i][li], widths[i])} " for i in range(ncols)) + "\u2502" for li in range(nlines)]
|
||||
|
||||
lines = [top]
|
||||
if hdrs:
|
||||
lines.extend(_fmt_row(hdrs))
|
||||
lines.append(mid_sep)
|
||||
for ri, row in enumerate(formatted):
|
||||
lines.extend(_fmt_row(row))
|
||||
lines.append(mid_sep if ri < len(formatted) - 1 else bot)
|
||||
return "\n".join(lines)
|
||||
|
||||
# simple
|
||||
gap = " "
|
||||
lines = []
|
||||
if hdrs:
|
||||
lines.append(gap.join(h.ljust(w) for h, w in zip(hdrs, widths, strict=True)))
|
||||
lines.append(gap.join("-" * w for w in widths))
|
||||
for row in formatted:
|
||||
lines.append(gap.join(_align(row[i], widths[i]) for i in range(ncols)))
|
||||
return "\n".join(lines)
|
||||
|
||||
|
||||
def retry(attempts=3, delay=1.0, ignore_failure=False):
|
||||
def decorator(func):
|
||||
@functools.wraps(func)
|
||||
def wrapper(*args, **kwargs):
|
||||
for _ in range(attempts):
|
||||
try:
|
||||
return func(*args, **kwargs)
|
||||
except Exception:
|
||||
print(f"{func.__name__} failed, trying again")
|
||||
time.sleep(delay)
|
||||
|
||||
if ignore_failure:
|
||||
print(f"{func.__name__} failed after retry")
|
||||
else:
|
||||
raise Exception(f"{func.__name__} failed after retry")
|
||||
return wrapper
|
||||
return decorator
|
||||
+1
-1
@@ -1 +1 @@
|
||||
#define COMMA_VERSION "0.10.1"
|
||||
#define COMMA_VERSION "0.11.1"
|
||||
|
||||
@@ -1,12 +0,0 @@
|
||||
#include <string>
|
||||
|
||||
#include "common/watchdog.h"
|
||||
#include "common/util.h"
|
||||
#include "system/hardware/hw.h"
|
||||
|
||||
const std::string watchdog_fn_prefix = Path::shm_path() + "/wd_"; // + <pid>
|
||||
|
||||
bool watchdog_kick(uint64_t ts) {
|
||||
static std::string fn = watchdog_fn_prefix + std::to_string(getpid());
|
||||
return util::write_file(fn.c_str(), &ts, sizeof(ts), O_WRONLY | O_CREAT) > 0;
|
||||
}
|
||||
@@ -1,5 +0,0 @@
|
||||
#pragma once
|
||||
|
||||
#include <cstdint>
|
||||
|
||||
bool watchdog_kick(uint64_t ts);
|
||||
@@ -1,22 +0,0 @@
|
||||
import os
|
||||
import time
|
||||
import struct
|
||||
from openpilot.system.hardware.hw import Paths
|
||||
|
||||
WATCHDOG_FN = f"{Paths.shm_path()}/wd_"
|
||||
_LAST_KICK = 0.0
|
||||
|
||||
def kick_watchdog():
|
||||
global _LAST_KICK
|
||||
current_time = time.monotonic()
|
||||
|
||||
if current_time - _LAST_KICK < 1.0:
|
||||
return
|
||||
|
||||
try:
|
||||
with open(f"{WATCHDOG_FN}{os.getpid()}", 'wb') as f:
|
||||
f.write(struct.pack('<Q', int(current_time * 1e9)))
|
||||
f.flush()
|
||||
_LAST_KICK = current_time
|
||||
except OSError:
|
||||
pass
|
||||
File diff suppressed because it is too large
Load Diff
+1
-22
@@ -7,25 +7,16 @@ from openpilot.common.prefix import OpenpilotPrefix
|
||||
from openpilot.system.manager import manager
|
||||
from openpilot.system.hardware import TICI, HARDWARE
|
||||
|
||||
# TODO: pytest-cpp doesn't support FAIL, and we need to create test translations in sessionstart
|
||||
# pending https://github.com/pytest-dev/pytest-cpp/pull/147
|
||||
# these are heavy CI-only tests, invoked explicitly in .github/workflows/tests.yaml
|
||||
collect_ignore = [
|
||||
"selfdrive/ui/tests/test_translations",
|
||||
"selfdrive/test/process_replay/test_processes.py",
|
||||
"selfdrive/test/process_replay/test_regen.py",
|
||||
]
|
||||
collect_ignore_glob = [
|
||||
"selfdrive/debug/*.py",
|
||||
"selfdrive/modeld/*.py",
|
||||
]
|
||||
|
||||
|
||||
def pytest_sessionstart(session):
|
||||
# TODO: fix tests and enable test order randomization
|
||||
if session.config.pluginmanager.hasplugin('randomly'):
|
||||
session.config.option.randomly_reorganize = False
|
||||
|
||||
|
||||
@pytest.hookimpl(hookwrapper=True, trylast=True)
|
||||
def pytest_runtest_call(item):
|
||||
# ensure we run as a hook after capturemanager's
|
||||
@@ -97,15 +88,3 @@ def pytest_collection_modifyitems(config, items):
|
||||
class_property_name = item.get_closest_marker('xdist_group_class_property').args[0]
|
||||
class_property_value = getattr(item.cls, class_property_name)
|
||||
item.add_marker(pytest.mark.xdist_group(class_property_value))
|
||||
|
||||
|
||||
@pytest.hookimpl(trylast=True)
|
||||
def pytest_configure(config):
|
||||
config_line = "xdist_group_class_property: group tests by a property of the class that contains them"
|
||||
config.addinivalue_line("markers", config_line)
|
||||
|
||||
config_line = "nocapture: don't capture test output"
|
||||
config.addinivalue_line("markers", config_line)
|
||||
|
||||
config_line = "shared_download_cache: share download cache between tests"
|
||||
config.addinivalue_line("markers", config_line)
|
||||
|
||||
+349
-336
@@ -4,348 +4,361 @@
|
||||
|
||||
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.
|
||||
|
||||
# 321 Supported Cars
|
||||
# 334 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> |Video|Setup Video|
|
||||
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
|
||||
|Acura|ILX 2016-18|Technology Plus Package or AcuraWatch Plus|openpilot|26 mph|25 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2019">Buy Here</a></sub></details>|||
|
||||
|Acura|MDX 2025|All except Type S|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2025">Buy Here</a></sub></details>|||
|
||||
|Acura|RDX 2016-18|AcuraWatch Plus or Advance Package|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2016-18">Buy Here</a></sub></details>|||
|
||||
|Acura|RDX 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2019-21">Buy Here</a></sub></details>|||
|
||||
|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
|
||||
|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
|
||||
|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
|
||||
|Audi|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
|
||||
|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
|
||||
|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|None|<a href="https://youtu.be/VT-i3yRsX2s?t=2736" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
|
||||
|Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Hybrid 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Plug-in Hybrid 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Expedition 2022-24|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Expedition 2022-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Explorer 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 Hybrid 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Focus 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus 2018">Buy Here</a></sub></details>|||
|
||||
|Ford|Focus Hybrid 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus Hybrid 2018">Buy Here</a></sub></details>|||
|
||||
|Ford|Kuga 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Kuga Plug-in Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Plug-in Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Maverick 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Mustang Mach-E 2021-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Ranger 2024|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Ranger 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Genesis|G70 2018|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G90 2017-20">Buy Here</a></sub></details>|||
|
||||
|Genesis|GV60 (Advanced Trim) 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=GMC Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Honda|Accord 2023-25|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
|
||||
|Honda|Accord Hybrid 2023-25|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|City (Brazil only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|14 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>5</sup>](#footnotes)|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Honda|Civic 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hatchback 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Honda|Civic Hatchback Hybrid 2025|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hybrid 2025">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V 2015-16|Touring Trim|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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</sup>](#footnotes)|0 mph|15 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2017-22">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V 2023-25|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2017-22">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V Hybrid 2023-25|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2019-22">Buy Here</a></sub></details>|||
|
||||
|Honda|HR-V 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Inspire 2018">Buy Here</a></sub></details>|||
|
||||
|Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2018-20">Buy Here</a></sub></details>|||
|
||||
|Honda|Passport 2019-25|All|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2019-25">Buy Here</a></sub></details>|||
|
||||
|Honda|Pilot 2016-22|Honda Sensing|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2016-22">Buy Here</a></sub></details>|||
|
||||
|Honda|Pilot 2023-25|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Hyundai|Elantra GT 2017-20|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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[<sup>6</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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[<sup>6</sup>](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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 Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Hyundai|Santa Cruz 2022-24[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe 2019-20">Buy Here</a></sub></details>|<a href="https://youtu.be/bjDR0YjM__s" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Hyundai|Santa Fe 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Hyundai|Santa Fe Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Sonata 2020-23">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Hyundai|Sonata Hybrid 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Sonata Hybrid 2020-23">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Staria 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson 2021">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Tucson 2022[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson 2022">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Tucson 2023-24[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson Diesel 2019">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Tucson Hybrid 2022-24[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Jeep Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Jeep Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Kia|Carnival 2022-24[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival 2022-24">Buy Here</a></sub></details>|||
|
||||
|Kia|Carnival (China only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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[<sup>6</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K5 Hybrid 2020-22">Buy Here</a></sub></details>|||
|
||||
|Kia|K8 Hybrid (with HDA II) 2023[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2020">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2021">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2022">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Kia|Niro EV (with HDA II) 2025[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV (with HDA II) 2025">Buy Here</a></sub></details>|||
|
||||
|Kia|Niro EV (without HDA II) 2023-25[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Hybrid 2022">Buy Here</a></sub></details>|||
|
||||
|Kia|Niro Hybrid 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Hybrid 2023">Buy Here</a></sub></details>|||
|
||||
|Kia|Niro Plug-in Hybrid 2018-19|All|Stock|10 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Kia|Sorento 2021-23[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2021-23">Buy Here</a></sub></details>|||
|
||||
|Kia|Sorento Hybrid 2021-23[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sportage 2023-24">Buy Here</a></sub></details>|||
|
||||
|Kia|Sportage Hybrid 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Stinger 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Kia|Stinger 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<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+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES Hybrid 2019-25">Buy Here</a></sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Lexus|GS F 2016|All|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus LC 2024-25">Buy Here</a></sub></details>|||
|
||||
|Lexus|NX 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RC 2023">Buy Here</a></sub></details>|||
|
||||
|Lexus|RX 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX 2016">Buy Here</a></sub></details>|||
|
||||
|Lexus|RX 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>|||
|
||||
|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Nissan[<sup>7</sup>](#footnotes)|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-20">Buy Here</a></sub></details>|||
|
||||
|Nissan[<sup>7</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Nissan[<sup>7</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Rogue 2018-20">Buy Here</a></sub></details>|||
|
||||
|Nissan[<sup>7</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ram connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
|
||||
|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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>8</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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>8</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
|
||||
|Škoda|Karoq 2019-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||
|
||||
|Škoda|Kodiaq 2017-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kodiaq 2017-23">Buy Here</a></sub></details>|||
|
||||
|Škoda|Octavia 2015-19[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia 2015-19">Buy Here</a></sub></details>|||
|
||||
|Škoda|Octavia RS 2016[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia RS 2016">Buy Here</a></sub></details>|||
|
||||
|Škoda|Octavia Scout 2017-19[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Scala 2020-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
|
||||
|Škoda|Superb 2015-22[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Superb 2015-22">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>11</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>11</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>11</sup>](#footnotes)|Model Y (with HW3) 2020-23[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW3) 2020-23">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>11</sup>](#footnotes)|Model Y (with HW4) 2024[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW4) 2024">Buy Here</a></sub></details>|||
|
||||
|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2016">Buy Here</a></sub></details>|||
|
||||
|Toyota|Avalon 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2017-18">Buy Here</a></sub></details>|||
|
||||
|Toyota|Avalon 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2022">Buy Here</a></sub></details>|||
|
||||
|Toyota|Avalon Hybrid 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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>12</sup>](#footnotes)|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>12</sup>](#footnotes)|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|Camry Hybrid 2021-24|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla 2020-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Hatchback 2019-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander 2017-19">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 2016">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|Prius 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|Prius Prime 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius Prime 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius Prime 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2016">Buy Here</a></sub></details>|||
|
||||
|Toyota|RAV4 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=wJxjDd42gGA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|RAV4 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2016">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|RAV4 Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas 2018-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
|
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|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen California 2021-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Caravelle 2020">Buy Here</a></sub></details>|||
|
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|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
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|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Golf 2014-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf 2015-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTD 2015-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTE 2015-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTI 2015-21">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen|Jetta 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2018-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat Alltrack 2015-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Cross 2021">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
|
||||
|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Roc 2018-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Taos 2022-24">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont 2018-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont X 2021-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan 2018-24">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Touran 2016-23">Buy Here</a></sub></details>|||
|
||||
|Acura|ILX 2016-18|Technology Plus Package or AcuraWatch Plus|openpilot|26 mph|25 mph|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
|
||||
|Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 Hybrid 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
|
||||
|Ford|Focus 2018[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus 2018">Buy Here</a></sub></details>|||
|
||||
|Ford|Focus Hybrid 2018[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus Hybrid 2018">Buy Here</a></sub></details>|||
|
||||
|Ford|Kuga 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
|
||||
|Honda|Accord Hybrid 2023-25|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|City (Brazil only) 2023|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|14 mph|[](##)|[](##)|<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|[](##)|[](##)|<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)|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Civic 2022-24|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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 2023-25|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<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 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|Insight 2019-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Jeep Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Kia|Carnival 2022-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
|
||||
|Rivian|R1S 2025|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2025">Buy Here</a></sub></details>|||
|
||||
|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
|
||||
|Rivian|R1T 2025|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2025">Buy Here</a></sub></details>|||
|
||||
|SEAT[<sup>12</sup>](#footnotes)|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<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|[](##)|[](##)|<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)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<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)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<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)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<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)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<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)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<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)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<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)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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) 2020-23[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW3) 2020-23">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>10</sup>](#footnotes)|Model Y (with HW4) 2024-25[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW4) 2024-25">Buy Here</a></sub></details>|||
|
||||
|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Jetta 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<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|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Touran 2016-23">Buy Here</a></sub></details>|||
|
||||
|
||||
### Footnotes
|
||||
<sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `nightly-dev`. <br />
|
||||
<sup>2</sup>By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace stock ACC. <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br />
|
||||
<sup>3</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>4</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/gm" target="_blank">GM</a>. <br />
|
||||
<sup>5</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
|
||||
<sup>6</sup>Requires a <a href="https://comma.ai/shop/can-fd-panda-kit" target="_blank">CAN FD panda kit</a> if not using comma 3X for this <a href="https://en.wikipedia.org/wiki/CAN_FD" target="_blank">CAN FD car</a>. <br />
|
||||
<sup>7</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/nissan" target="_blank">Nissan</a>. <br />
|
||||
<sup>8</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
|
||||
<sup>9</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
|
||||
<sup>10</sup>Some 2023 model years have HW4. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
|
||||
<sup>11</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/tesla" target="_blank">Tesla</a>. <br />
|
||||
<sup>12</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>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>Some 2023 model years have HW4. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
|
||||
<sup>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 3X functionality. <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 />
|
||||
|
||||
@@ -365,7 +378,7 @@ If your car has the following packages or features, then it's a good candidate f
|
||||
|
||||
| Make | Required Package/Features |
|
||||
| ---- | ------------------------- |
|
||||
| Acura | Any car with AcuraWatch Plus will work. AcuraWatch Plus comes standard on many newer models. |
|
||||
| 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. |
|
||||
|
||||
@@ -13,13 +13,13 @@ Development is coordinated through [Discord](https://discord.comma.ai) and GitHu
|
||||
## What contributions are we looking for?
|
||||
|
||||
**openpilot's priorities are [safety](SAFETY.md), stability, quality, and features, in that order.**
|
||||
openpilot is part of comma's mission to *solve self-driving cars while delivering shippable intermediaries*, and all development is towards that goal.
|
||||
openpilot is part of comma's mission to *solve self-driving cars while delivering shippable intermediaries*, and all development is towards that goal.
|
||||
|
||||
### What gets merged?
|
||||
|
||||
The probability of a pull request being merged is a function of its value to the project and the effort it will take us to get it merged.
|
||||
If a PR offers *some* value but will take lots of time to get merged, it will be closed.
|
||||
Simple, well-tested bug fixes are the easiest to merge, and new features are the hardest to get merged.
|
||||
Simple, well-tested bug fixes are the easiest to merge, and new features are the hardest to get merged.
|
||||
|
||||
All of these are examples of good PRs:
|
||||
* typo fix: https://github.com/commaai/openpilot/pull/30678
|
||||
@@ -29,17 +29,17 @@ All of these are examples of good PRs:
|
||||
|
||||
### What doesn't get merged?
|
||||
|
||||
* **style changes**: code is art, and it's up to the author to make it beautiful
|
||||
* **style changes**: code is art, and it's up to the author to make it beautiful
|
||||
* **500+ line PRs**: clean it up, break it up into smaller PRs, or both
|
||||
* **PRs without a clear goal**: every PR must have a singular and clear goal
|
||||
* **UI design**: we do not have a good review process for this yet
|
||||
* **New features**: We believe openpilot is mostly feature-complete, and the rest is a matter of refinement and fixing bugs. As a result of this, most feature PRs will be immediately closed, however the beauty of open source is that forks can and do offer features that upstream openpilot doesn't.
|
||||
* **Negative expected value**: This a class of PRs that makes an improvement, but the risk or validation costs more than the improvement. The risk can be mitigated by first getting a failing test merged.
|
||||
* **Negative expected value**: This is a class of PRs that makes an improvement, but the risk or validation costs more than the improvement. The risk can be mitigated by first getting a failing test merged.
|
||||
|
||||
### First contribution
|
||||
|
||||
[Projects / openpilot bounties](https://github.com/orgs/commaai/projects/26/views/1?pane=info) is the best place to get started and goes in-depth on what's expected when working on a bounty.
|
||||
There's lot of bounties that don't require a comma 3/3X or a car.
|
||||
There are a lot of bounties that don't require a comma four or a car.
|
||||
|
||||
## Pull Requests
|
||||
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user