diff --git a/.github/ISSUE_TEMPLATE/car_bug_report.yml b/.github/ISSUE_TEMPLATE/car_bug_report.yml deleted file mode 100644 index 7f368f11b..000000000 --- a/.github/ISSUE_TEMPLATE/car_bug_report.yml +++ /dev/null @@ -1,53 +0,0 @@ -name: Car bug report -description: For issues with a particular car make or model -labels: ["car", "bug"] -body: - - - type: markdown - attributes: - value: > - Before creating a **bug report**, please check the following: - * Ensure you're running the latest openpilot release. - * Ensure you're using officially supported hardware. Issues running on PCs have a different issue template. - * Ensure there isn't an existing issue for your bug. If there is, leave a comment on the existing issue. - * Ensure you're running stock openpilot. We cannot look into bug reports from forks. - - If you're unsure whether you've hit a bug, check out the #installation-help channel in the [community Discord server](https://discord.comma.ai). - - - type: textarea - attributes: - label: Describe the bug - description: Also include a description of how to reproduce the bug - validations: - required: true - - - type: input - id: car - attributes: - label: Which car does this affect? - placeholder: Toyota Prius 2017 - validations: - required: true - - - type: input - id: route - attributes: - label: Provide a route where the issue occurs - description: Ensure the route is fully uploaded at https://useradmin.comma.ai - placeholder: 77611a1fac303767|2020-05-11--16-37-07 - validations: - required: true - - - type: input - id: version - attributes: - label: openpilot version - description: If you're not on release, provide the commit hash - placeholder: 0.8.10 - validations: - required: true - - - type: textarea - attributes: - label: Additional info - diff --git a/.github/ISSUE_TEMPLATE/config.yml b/.github/ISSUE_TEMPLATE/config.yml index 9e9f6af61..6efdc059a 100644 --- a/.github/ISSUE_TEMPLATE/config.yml +++ b/.github/ISSUE_TEMPLATE/config.yml @@ -1,9 +1,12 @@ blank_issues_enabled: false contact_links: + - name: Car bug report + url: https://github.com/commaai/opendbc/issues/new + about: For issues with a particular car make or model - name: Join the Discord url: https://discord.comma.ai about: The community Discord is for both openpilot development and experience discussion - - name: Report model bugs + - name: Report driving behavior feedback url: https://discord.com/channels/469524606043160576/1254834193066623017 about: Feedback for the driving and driver monitoring models goes in the #driving-feedback in Discord - name: Community Wiki diff --git a/Jenkinsfile b/Jenkinsfile index 49d656574..330967c65 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -31,7 +31,7 @@ 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="-n 0" +export PYTEST_ADDOPTS="-n0 -s" export GIT_SSH_COMMAND="ssh -i /data/gitkey" @@ -208,7 +208,6 @@ node { 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]), - //["time to onroad", "pytest selfdrive/test/test_time_to_onroad.py"], ]) }, 'HW + Unit Tests': { @@ -227,18 +226,29 @@ node { step("test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"), ]) }, - 'camerad': { + 'camerad AR0231': { deviceStage("AR0231", "tici-ar0231", ["UNSAFE=1"], [ step("build", "cd system/manager && ./build.py"), step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]), step("test exposure", "pytest system/camerad/test/test_exposure.py"), ]) + }, + 'camerad OX03C10': { deviceStage("OX03C10", "tici-ox03c10", ["UNSAFE=1"], [ step("build", "cd system/manager && ./build.py"), step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]), step("test exposure", "pytest system/camerad/test/test_exposure.py"), ]) }, + /* + 'camerad OS04C10': { + deviceStage("OS04C10", "tici-os04c10", ["UNSAFE=1"], [ + step("build", "cd system/manager && ./build.py"), + step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]), + step("test exposure", "pytest system/camerad/test/test_exposure.py"), + ]) + }, + */ 'sensord': { deviceStage("LSM + MMC", "tici-lsmc", ["UNSAFE=1"], [ step("build", "cd system/manager && ./build.py"), diff --git a/RELEASES.md b/RELEASES.md index ec7d488be..37e4a01b2 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,4 +1,8 @@ -Version 0.9.8 (2025-02-27) +Version 0.9.9 (2025-04-XX) +======================== +* Tesla Model 3 and Y support thanks to lukasloetkolben! + +Version 0.9.8 (2025-02-28) ======================== * New driving model * Model now gates applying positive acceleration in Chill mode @@ -8,15 +12,11 @@ Version 0.9.8 (2025-02-27) * More GPU time for bigger driving models * Power draw reduced 0.5W, which means your device runs cooler * Added toggle to enable driver monitoring even when openpilot is not engaged -* FIREHOSE mode - * Allows you to maximize your training data uploads to improve the models +* Firehose Mode for maximizing your training data uploads * Enable openpilot longitudinal control for Ford Q3 vehicles * New Toyota TSS2 longitudinal tune -* Coming soon - * Rivian support - * F-150 & Mach-E support - * Tesla Model 3 support - +* Rivian R1S and R1T support thanks to lukasloetkolben! +* Ford F-150, F-150 Hybrid, Mach-E, and Ranger support Version 0.9.7 (2024-06-13) ======================== diff --git a/cereal/log.capnp b/cereal/log.capnp index 4b0e10c3f..49697687f 100644 --- a/cereal/log.capnp +++ b/cereal/log.capnp @@ -2238,6 +2238,11 @@ struct LiveParametersData { roll @14 :Float32; debugFilterState @16 :FilterState; + angleOffsetValid @17 :Bool = true; + angleOffsetAverageValid @18 :Bool = true; + steerRatioValid @19 :Bool = true; + stiffnessFactorValid @20 :Bool = true; + yawRateDEPRECATED @7 :Float32; filterStateDEPRECATED @15 :LiveLocationKalman.Measurement; diff --git a/cereal/messaging/__init__.py b/cereal/messaging/__init__.py index 2466f6e9c..8ad956b61 100644 --- a/cereal/messaging/__init__.py +++ b/cereal/messaging/__init__.py @@ -9,11 +9,11 @@ import os import capnp import time -from typing import Optional, List, Union, Dict, Deque -from collections import deque +from typing import Optional, List, Union, Dict from cereal import log from cereal.services import SERVICE_LIST +from openpilot.common.util import MovingAverage NO_TRAVERSAL_LIMIT = 2**64-1 @@ -108,10 +108,8 @@ class FrequencyTracker: self.min_freq = min_freq * 0.8 self.max_freq = max_freq * 1.2 - self.recv_dts: Deque[float] = deque(maxlen=int(10 * freq)) - self.recv_dts_sum = 0.0 - self.recent_recv_dts: Deque[float] = deque(maxlen=int(freq)) - self.recent_recv_dts_sum = 0.0 + self.avg_dt = MovingAverage(int(10 * freq)) + self.recent_avg_dt = MovingAverage(int(freq)) self.prev_time = 0.0 def record_recv_time(self, cur_time: float) -> None: @@ -119,28 +117,21 @@ class FrequencyTracker: if self.prev_time > 1e-5: dt = cur_time - self.prev_time - if len(self.recv_dts) == self.recv_dts.maxlen: - self.recv_dts_sum -= self.recv_dts[0] - self.recv_dts.append(dt) - self.recv_dts_sum += dt - - if len(self.recent_recv_dts) == self.recent_recv_dts.maxlen: - self.recent_recv_dts_sum -= self.recent_recv_dts[0] - self.recent_recv_dts.append(dt) - self.recent_recv_dts_sum += dt + self.avg_dt.add_value(dt) + self.recent_avg_dt.add_value(dt) self.prev_time = cur_time @property def valid(self) -> bool: - if not self.recv_dts: + if self.avg_dt.count == 0: return False - avg_freq = len(self.recv_dts) / self.recv_dts_sum + avg_freq = 1.0 / self.avg_dt.get_average() if self.min_freq <= avg_freq <= self.max_freq: return True - avg_freq_recent = len(self.recent_recv_dts) / self.recent_recv_dts_sum + avg_freq_recent = 1.0 / self.recent_avg_dt.get_average() return self.min_freq <= avg_freq_recent <= self.max_freq diff --git a/cereal/services.py b/cereal/services.py index c6889d6d8..602524a71 100755 --- a/cereal/services.py +++ b/cereal/services.py @@ -29,7 +29,7 @@ _services: dict[str, tuple] = { "pandaStates": (True, 10., 1), "peripheralState": (True, 2., 1), "radarState": (True, 20., 5), - "roadEncodeIdx": (False, 20., 20), + "roadEncodeIdx": (False, 20., 1), "liveTracks": (True, 20.), "sendcan": (True, 100., 139), "logMessage": (True, 0.), @@ -58,10 +58,10 @@ _services: dict[str, tuple] = { "carParams": (True, 0.02, 1), "roadCameraState": (True, 20., 20), "driverCameraState": (True, 20., 20), - "driverEncodeIdx": (False, 20., 20), + "driverEncodeIdx": (False, 20., 1), "driverStateV2": (True, 20., 10), "driverMonitoringState": (True, 20., 10), - "wideRoadEncodeIdx": (False, 20., 20), + "wideRoadEncodeIdx": (False, 20., 1), "wideRoadCameraState": (True, 20., 20), "drivingModelData": (True, 20., 10), "modelV2": (True, 20.), diff --git a/common/params.cc b/common/params.cc index 9924f677b..d1e5a3646 100644 --- a/common/params.cc +++ b/common/params.cc @@ -8,6 +8,7 @@ #include #include +#include "common/params_keys.h" #include "common/queue.h" #include "common/swaglog.h" #include "common/util.h" @@ -87,160 +88,6 @@ private: int fd_ = -1; }; -std::unordered_map keys = { - {"AccessToken", CLEAR_ON_MANAGER_START | DONT_LOG}, - {"AdbEnabled", PERSISTENT}, - {"AlwaysOnDM", PERSISTENT}, - {"ApiCache_Device", PERSISTENT}, - {"AssistNowToken", PERSISTENT}, - {"AthenadPid", PERSISTENT}, - {"AthenadUploadQueue", PERSISTENT}, - {"AthenadRecentlyViewedRoutes", PERSISTENT}, - {"BootCount", PERSISTENT}, - {"CalibrationParams", PERSISTENT}, - {"CameraDebugExpGain", CLEAR_ON_MANAGER_START}, - {"CameraDebugExpTime", CLEAR_ON_MANAGER_START}, - {"CarBatteryCapacity", PERSISTENT}, - {"CarParams", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, - {"CarParamsCache", CLEAR_ON_MANAGER_START}, - {"CarParamsPersistent", PERSISTENT}, - {"CarParamsPrevRoute", PERSISTENT}, - {"CompletedTrainingVersion", PERSISTENT}, - {"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, - {"CurrentBootlog", PERSISTENT}, - {"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, - {"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, - {"DisablePowerDown", PERSISTENT | BACKUP}, - {"DisableUpdates", PERSISTENT | BACKUP}, - {"DisengageOnAccelerator", PERSISTENT | BACKUP}, - {"DongleId", PERSISTENT}, - {"DoReboot", CLEAR_ON_MANAGER_START}, - {"DoShutdown", CLEAR_ON_MANAGER_START}, - {"DoUninstall", CLEAR_ON_MANAGER_START}, - {"ExperimentalLongitudinalEnabled", PERSISTENT | DEVELOPMENT_ONLY | BACKUP}, - {"ExperimentalMode", PERSISTENT | BACKUP}, - {"ExperimentalModeConfirmed", PERSISTENT | BACKUP}, - {"FirehoseMode", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, - {"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, - {"ForcePowerDown", PERSISTENT}, - {"GitBranch", PERSISTENT}, - {"GitCommit", PERSISTENT}, - {"GitCommitDate", PERSISTENT}, - {"GitDiff", PERSISTENT}, - {"GithubSshKeys", PERSISTENT | BACKUP}, - {"GithubUsername", PERSISTENT | BACKUP}, - {"GitRemote", PERSISTENT}, - {"GsmApn", PERSISTENT | BACKUP}, - {"GsmMetered", PERSISTENT | BACKUP}, - {"GsmRoaming", PERSISTENT | BACKUP}, - {"HardwareSerial", PERSISTENT}, - {"HasAcceptedTerms", PERSISTENT}, - {"InstallDate", PERSISTENT}, - {"IsDriverViewEnabled", CLEAR_ON_MANAGER_START}, - {"IsEngaged", PERSISTENT}, - {"IsLdwEnabled", PERSISTENT | BACKUP}, - {"IsMetric", PERSISTENT | BACKUP}, - {"IsOffroad", CLEAR_ON_MANAGER_START}, - {"IsOnroad", PERSISTENT}, - {"IsRhdDetected", PERSISTENT}, - {"IsReleaseBranch", CLEAR_ON_MANAGER_START}, - {"IsTakingSnapshot", CLEAR_ON_MANAGER_START}, - {"IsTestedBranch", CLEAR_ON_MANAGER_START}, - {"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION}, - {"LanguageSetting", PERSISTENT | BACKUP}, - {"LastAthenaPingTime", CLEAR_ON_MANAGER_START}, - {"LastGPSPosition", PERSISTENT}, - {"LastManagerExitReason", CLEAR_ON_MANAGER_START}, - {"LastOffroadStatusPacket", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION}, - {"LastPowerDropDetected", CLEAR_ON_MANAGER_START}, - {"LastUpdateException", CLEAR_ON_MANAGER_START}, - {"LastUpdateTime", PERSISTENT}, - {"LiveParameters", PERSISTENT}, - {"LiveTorqueParameters", PERSISTENT | DONT_LOG}, - {"LocationFilterInitialState", PERSISTENT}, - {"LongitudinalManeuverMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION}, - {"LongitudinalPersonality", PERSISTENT | BACKUP}, - {"NetworkMetered", PERSISTENT}, - {"ObdMultiplexingChanged", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, - {"ObdMultiplexingEnabled", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, - {"Offroad_BadNvme", CLEAR_ON_MANAGER_START}, - {"Offroad_CarUnrecognized", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, - {"Offroad_ConnectivityNeeded", CLEAR_ON_MANAGER_START}, - {"Offroad_ConnectivityNeededPrompt", CLEAR_ON_MANAGER_START}, - {"Offroad_IsTakingSnapshot", CLEAR_ON_MANAGER_START}, - {"Offroad_NeosUpdate", CLEAR_ON_MANAGER_START}, - {"Offroad_NoFirmware", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, - {"Offroad_Recalibration", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, - {"Offroad_StorageMissing", CLEAR_ON_MANAGER_START}, - {"Offroad_TemperatureTooHigh", CLEAR_ON_MANAGER_START}, - {"Offroad_UnofficialHardware", CLEAR_ON_MANAGER_START}, - {"Offroad_UpdateFailed", CLEAR_ON_MANAGER_START}, - {"OpenpilotEnabledToggle", PERSISTENT | BACKUP}, - {"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION}, - {"PandaSomResetTriggered", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION}, - {"PandaSignatures", CLEAR_ON_MANAGER_START}, - {"PrimeType", PERSISTENT}, - {"RecordFront", PERSISTENT | BACKUP}, - {"RecordFrontLock", PERSISTENT}, // for the internal fleet - {"SecOCKey", PERSISTENT | DONT_LOG}, // Candidate for | BACKUP - {"RouteCount", PERSISTENT}, - {"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION}, - {"SshEnabled", PERSISTENT | BACKUP}, - {"TermsVersion", PERSISTENT}, - {"TrainingVersion", PERSISTENT}, - {"UbloxAvailable", PERSISTENT}, - {"UpdateAvailable", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, - {"UpdateFailedCount", CLEAR_ON_MANAGER_START}, - {"UpdaterAvailableBranches", PERSISTENT}, - {"UpdaterCurrentDescription", CLEAR_ON_MANAGER_START}, - {"UpdaterCurrentReleaseNotes", CLEAR_ON_MANAGER_START}, - {"UpdaterFetchAvailable", CLEAR_ON_MANAGER_START}, - {"UpdaterNewDescription", CLEAR_ON_MANAGER_START}, - {"UpdaterNewReleaseNotes", CLEAR_ON_MANAGER_START}, - {"UpdaterState", CLEAR_ON_MANAGER_START}, - {"UpdaterTargetBranch", CLEAR_ON_MANAGER_START}, - {"UpdaterLastFetchTime", PERSISTENT}, - {"Version", PERSISTENT}, - - // --- sunnypilot params --- // - {"ApiCache_DriveStats", PERSISTENT}, - {"CarParamsSP", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, - {"CarParamsSPCache", CLEAR_ON_MANAGER_START}, - {"CarParamsSPPersistent", PERSISTENT}, - {"CarPlatformBundle", PERSISTENT}, - {"EnableGithubRunner", PERSISTENT | BACKUP}, - {"ModelRunnerTypeCache", CLEAR_ON_ONROAD_TRANSITION}, - {"OffroadMode", CLEAR_ON_MANAGER_START}, - {"OffroadMode_Status", CLEAR_ON_MANAGER_START}, - - // MADS params - {"Mads", PERSISTENT | BACKUP}, - {"MadsMainCruiseAllowed", PERSISTENT | BACKUP}, - {"MadsPauseLateralOnBrake", PERSISTENT | BACKUP}, - {"MadsUnifiedEngagementMode", PERSISTENT | BACKUP}, - - // Model Manager params - {"ModelManager_ActiveBundle", PERSISTENT}, - {"ModelManager_DownloadIndex", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, - {"ModelManager_LastSyncTime", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION}, - {"ModelManager_ModelsCache", PERSISTENT | BACKUP}, - - // sunnylink params - {"EnableSunnylinkUploader", PERSISTENT | BACKUP}, - {"LastSunnylinkPingTime", CLEAR_ON_MANAGER_START}, - {"SunnylinkDongleId", PERSISTENT}, - {"SunnylinkdPid", PERSISTENT}, - {"SunnylinkEnabled", PERSISTENT}, - - // sunnypilot car specific params - {"HyundaiRadarTracks", PERSISTENT}, - {"HyundaiRadarTracksConfirmed", PERSISTENT}, - {"HyundaiRadarTracksPersistent", PERSISTENT}, - {"HyundaiRadarTracksToggle", PERSISTENT}, - - {"DynamicExperimentalControl", PERSISTENT}, -}; - } // namespace diff --git a/common/params_keys.h b/common/params_keys.h new file mode 100644 index 000000000..904b9491a --- /dev/null +++ b/common/params_keys.h @@ -0,0 +1,158 @@ +#pragma once + +#include +#include + +inline static std::unordered_map keys = { + {"AccessToken", CLEAR_ON_MANAGER_START | DONT_LOG}, + {"AdbEnabled", PERSISTENT}, + {"AlwaysOnDM", PERSISTENT}, + {"ApiCache_Device", PERSISTENT}, + {"AssistNowToken", PERSISTENT}, + {"AthenadPid", PERSISTENT}, + {"AthenadUploadQueue", PERSISTENT}, + {"AthenadRecentlyViewedRoutes", PERSISTENT}, + {"BootCount", PERSISTENT}, + {"CalibrationParams", PERSISTENT}, + {"CameraDebugExpGain", CLEAR_ON_MANAGER_START}, + {"CameraDebugExpTime", CLEAR_ON_MANAGER_START}, + {"CarBatteryCapacity", PERSISTENT}, + {"CarParams", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, + {"CarParamsCache", CLEAR_ON_MANAGER_START}, + {"CarParamsPersistent", PERSISTENT}, + {"CarParamsPrevRoute", PERSISTENT}, + {"CompletedTrainingVersion", PERSISTENT}, + {"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, + {"CurrentBootlog", PERSISTENT}, + {"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, + {"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, + {"DisablePowerDown", PERSISTENT | BACKUP}, + {"DisableUpdates", PERSISTENT | BACKUP}, + {"DisengageOnAccelerator", PERSISTENT | BACKUP}, + {"DongleId", PERSISTENT}, + {"DoReboot", CLEAR_ON_MANAGER_START}, + {"DoShutdown", CLEAR_ON_MANAGER_START}, + {"DoUninstall", CLEAR_ON_MANAGER_START}, + {"ExperimentalLongitudinalEnabled", PERSISTENT | DEVELOPMENT_ONLY | BACKUP}, + {"ExperimentalMode", PERSISTENT | BACKUP}, + {"ExperimentalModeConfirmed", PERSISTENT | BACKUP}, + {"FirehoseMode", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, + {"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, + {"ForcePowerDown", PERSISTENT}, + {"GitBranch", PERSISTENT}, + {"GitCommit", PERSISTENT}, + {"GitCommitDate", PERSISTENT}, + {"GitDiff", PERSISTENT}, + {"GithubSshKeys", PERSISTENT | BACKUP}, + {"GithubUsername", PERSISTENT | BACKUP}, + {"GitRemote", PERSISTENT}, + {"GsmApn", PERSISTENT | BACKUP}, + {"GsmMetered", PERSISTENT | BACKUP}, + {"GsmRoaming", PERSISTENT | BACKUP}, + {"HardwareSerial", PERSISTENT}, + {"HasAcceptedTerms", PERSISTENT}, + {"InstallDate", PERSISTENT}, + {"IsDriverViewEnabled", CLEAR_ON_MANAGER_START}, + {"IsEngaged", PERSISTENT}, + {"IsLdwEnabled", PERSISTENT | BACKUP}, + {"IsMetric", PERSISTENT | BACKUP}, + {"IsOffroad", CLEAR_ON_MANAGER_START}, + {"IsOnroad", PERSISTENT}, + {"IsRhdDetected", PERSISTENT}, + {"IsReleaseBranch", CLEAR_ON_MANAGER_START}, + {"IsTakingSnapshot", CLEAR_ON_MANAGER_START}, + {"IsTestedBranch", CLEAR_ON_MANAGER_START}, + {"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION}, + {"LanguageSetting", PERSISTENT | BACKUP}, + {"LastAthenaPingTime", CLEAR_ON_MANAGER_START}, + {"LastGPSPosition", PERSISTENT}, + {"LastManagerExitReason", CLEAR_ON_MANAGER_START}, + {"LastOffroadStatusPacket", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION}, + {"LastPowerDropDetected", CLEAR_ON_MANAGER_START}, + {"LastUpdateException", CLEAR_ON_MANAGER_START}, + {"LastUpdateTime", PERSISTENT}, + {"LiveParameters", PERSISTENT}, + {"LiveTorqueParameters", PERSISTENT | DONT_LOG}, + {"LocationFilterInitialState", PERSISTENT}, + {"LongitudinalManeuverMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION}, + {"LongitudinalPersonality", PERSISTENT | BACKUP}, + {"NetworkMetered", PERSISTENT}, + {"ObdMultiplexingChanged", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, + {"ObdMultiplexingEnabled", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, + {"Offroad_BadNvme", CLEAR_ON_MANAGER_START}, + {"Offroad_CarUnrecognized", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, + {"Offroad_ConnectivityNeeded", CLEAR_ON_MANAGER_START}, + {"Offroad_ConnectivityNeededPrompt", CLEAR_ON_MANAGER_START}, + {"Offroad_IsTakingSnapshot", CLEAR_ON_MANAGER_START}, + {"Offroad_NeosUpdate", CLEAR_ON_MANAGER_START}, + {"Offroad_NoFirmware", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, + {"Offroad_Recalibration", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, + {"Offroad_StorageMissing", CLEAR_ON_MANAGER_START}, + {"Offroad_TemperatureTooHigh", CLEAR_ON_MANAGER_START}, + {"Offroad_UnofficialHardware", CLEAR_ON_MANAGER_START}, + {"Offroad_UpdateFailed", CLEAR_ON_MANAGER_START}, + {"OpenpilotEnabledToggle", PERSISTENT | BACKUP}, + {"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION}, + {"PandaSomResetTriggered", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION}, + {"PandaSignatures", CLEAR_ON_MANAGER_START}, + {"PrimeType", PERSISTENT}, + {"RecordFront", PERSISTENT | BACKUP}, + {"RecordFrontLock", PERSISTENT}, // for the internal fleet + {"SecOCKey", PERSISTENT | DONT_LOG}, // Candidate for | BACKUP + {"RouteCount", PERSISTENT}, + {"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION}, + {"SshEnabled", PERSISTENT | BACKUP}, + {"TermsVersion", PERSISTENT}, + {"TrainingVersion", PERSISTENT}, + {"UbloxAvailable", PERSISTENT}, + {"UpdateAvailable", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, + {"UpdateFailedCount", CLEAR_ON_MANAGER_START}, + {"UpdaterAvailableBranches", PERSISTENT}, + {"UpdaterCurrentDescription", CLEAR_ON_MANAGER_START}, + {"UpdaterCurrentReleaseNotes", CLEAR_ON_MANAGER_START}, + {"UpdaterFetchAvailable", CLEAR_ON_MANAGER_START}, + {"UpdaterNewDescription", CLEAR_ON_MANAGER_START}, + {"UpdaterNewReleaseNotes", CLEAR_ON_MANAGER_START}, + {"UpdaterState", CLEAR_ON_MANAGER_START}, + {"UpdaterTargetBranch", CLEAR_ON_MANAGER_START}, + {"UpdaterLastFetchTime", PERSISTENT}, + {"Version", PERSISTENT}, + + // --- sunnypilot params --- // + {"ApiCache_DriveStats", PERSISTENT}, + {"CarParamsSP", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, + {"CarParamsSPCache", CLEAR_ON_MANAGER_START}, + {"CarParamsSPPersistent", PERSISTENT}, + {"CarPlatformBundle", PERSISTENT}, + {"EnableGithubRunner", PERSISTENT | BACKUP}, + {"ModelRunnerTypeCache", CLEAR_ON_ONROAD_TRANSITION}, + {"OffroadMode", CLEAR_ON_MANAGER_START}, + {"OffroadMode_Status", CLEAR_ON_MANAGER_START}, + + // MADS params + {"Mads", PERSISTENT | BACKUP}, + {"MadsMainCruiseAllowed", PERSISTENT | BACKUP}, + {"MadsPauseLateralOnBrake", PERSISTENT | BACKUP}, + {"MadsUnifiedEngagementMode", PERSISTENT | BACKUP}, + + // Model Manager params + {"ModelManager_ActiveBundle", PERSISTENT}, + {"ModelManager_DownloadIndex", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, + {"ModelManager_LastSyncTime", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION}, + {"ModelManager_ModelsCache", PERSISTENT | BACKUP}, + + // sunnylink params + {"EnableSunnylinkUploader", PERSISTENT | BACKUP}, + {"LastSunnylinkPingTime", CLEAR_ON_MANAGER_START}, + {"SunnylinkDongleId", PERSISTENT}, + {"SunnylinkdPid", PERSISTENT}, + {"SunnylinkEnabled", PERSISTENT}, + + // sunnypilot car specific params + {"HyundaiRadarTracks", PERSISTENT}, + {"HyundaiRadarTracksConfirmed", PERSISTENT}, + {"HyundaiRadarTracksPersistent", PERSISTENT}, + {"HyundaiRadarTracksToggle", PERSISTENT}, + + {"DynamicExperimentalControl", PERSISTENT}, +}; diff --git a/common/realtime.py b/common/realtime.py index 017869241..82176a00a 100644 --- a/common/realtime.py +++ b/common/realtime.py @@ -2,10 +2,10 @@ import gc import os import time -from collections import deque from setproctitle import getproctitle +from openpilot.common.util import MovingAverage from openpilot.system.hardware import PC @@ -48,10 +48,12 @@ class Ratekeeper: self._frame = 0 self._remaining = 0.0 self._process_name = getproctitle() - self._dts = deque([self._interval], maxlen=100) self._last_monitor_time = -1. self._next_frame_time = -1. + self.avg_dt = MovingAverage(100) + self.avg_dt.add_value(self._interval) + @property def frame(self) -> int: return self._frame @@ -62,9 +64,8 @@ class Ratekeeper: @property def lagging(self) -> bool: - avg_dt = sum(self._dts) / len(self._dts) expected_dt = self._interval * (1 / 0.9) - return avg_dt > expected_dt + return self.avg_dt.get_average() > expected_dt # Maintain loop rate by calling this at the end of each loop def keep_time(self) -> bool: @@ -81,7 +82,7 @@ class Ratekeeper: prev = self._last_monitor_time self._last_monitor_time = time.monotonic() - self._dts.append(self._last_monitor_time - prev) + self.avg_dt.add_value(self._last_monitor_time - prev) lagged = False remaining = self._next_frame_time - time.monotonic() diff --git a/common/time_helpers.py b/common/time_helpers.py index 60233e17f..8564e270c 100644 --- a/common/time_helpers.py +++ b/common/time_helpers.py @@ -1,15 +1,15 @@ import datetime from pathlib import Path -_MIN_DATE = datetime.datetime(year=2024, month=8, day=26) +MIN_DATE = datetime.datetime(year=2025, month=2, day=21) def min_date(): # on systemd systems, the default time is the systemd build time systemd_path = Path("/lib/systemd/systemd") if systemd_path.exists(): d = datetime.datetime.fromtimestamp(systemd_path.stat().st_mtime) - return d + datetime.timedelta(days=1) - return _MIN_DATE + return max(MIN_DATE, d + datetime.timedelta(days=1)) + return MIN_DATE def system_time_valid(): return datetime.datetime.now() > min_date() diff --git a/common/util.py b/common/util.py new file mode 100644 index 000000000..33885a902 --- /dev/null +++ b/common/util.py @@ -0,0 +1,24 @@ +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 diff --git a/common/version.h b/common/version.h index 1f651fb39..6351a5b3f 100644 --- a/common/version.h +++ b/common/version.h @@ -1 +1 @@ -#define COMMA_VERSION "0.9.8" +#define COMMA_VERSION "0.9.9" diff --git a/conftest.py b/conftest.py index 29921c787..baa352094 100644 --- a/conftest.py +++ b/conftest.py @@ -14,7 +14,6 @@ collect_ignore = [ "selfdrive/ui/tests/test_translations", "selfdrive/test/process_replay/test_processes.py", "selfdrive/test/process_replay/test_regen.py", - "selfdrive/test/test_time_to_onroad.py", ] collect_ignore_glob = [ "selfdrive/debug/*.py", diff --git a/docs/CARS.md b/docs/CARS.md index da65858b8..fa32aec55 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -4,300 +4,312 @@ 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. -# 290 Supported Cars +# 302 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Hardware Needed
 |Video| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:| -|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Acura|RDX 2019-21|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Acura|RDX 2019-21|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 comma 3X
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 comma 3X
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 comma 3X
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[1](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 comma 3X
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 comma 3X
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Chrysler|Pacifica 2021-23|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Chrysler|Pacifica Hybrid 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Chrysler|Pacifica 2021-23|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Chrysler|Pacifica Hybrid 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|| -|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ford|Explorer 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ford|Focus 2018[3](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ford|Focus Hybrid 2018[3](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ford|Kuga Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ford|Kuga Plug-in Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ford|Maverick 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ford|Maverick 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ford|Maverick Hybrid 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ford|Maverick Hybrid 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Genesis|G70 2018|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Genesis|G70 2019-21|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Genesis|G70 2022-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai J connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Genesis|G80 (2.5T Advanced Trim, with HDA II) 2024[5](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai P connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Genesis|G90 2017-20|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Genesis|GV60 (Advanced Trim) 2023[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Genesis|GV60 (Performance Trim) 2022-23[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Genesis|GV70 (2.5T Trim, without HDA II) 2022-23[5](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Genesis|GV70 (3.5T Trim, without HDA II) 2022-23[5](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai M connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Genesis|GV70 Electrified (Australia Only) 2022[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai Q connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Genesis|GV70 Electrified (with HDA II) 2023[5](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai Q connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Genesis|GV80 2023[5](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai M connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Ford|Explorer 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Ford|Focus 2018[3](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Ford|Focus Hybrid 2018[3](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Ford|Kuga Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Ford|Kuga Plug-in Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Ford|Maverick 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Ford|Maverick 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Ford|Maverick Hybrid 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Ford|Maverick Hybrid 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Ford|Mustang Mach-E 2021-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Ford|Ranger 2024|Adaptive Cruise Control with Lane Centering|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Genesis|G70 2018|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Genesis|G70 2019-21|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Genesis|G70 2022-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai J connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Genesis|G80 (2.5T Advanced Trim, with HDA II) 2024[5](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai P connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Genesis|G90 2017-20|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Genesis|GV60 (Advanced Trim) 2023[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Genesis|GV60 (Performance Trim) 2022-23[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Genesis|GV70 (2.5T Trim, without HDA II) 2022-24[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Genesis|GV70 (3.5T Trim, without HDA II) 2022-23[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai M connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Genesis|GV70 Electrified (Australia Only) 2022[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai Q connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Genesis|GV70 Electrified (with HDA II) 2023-24[5](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai Q connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Genesis|GV80 2023[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai M connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[1](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 comma 3X
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Honda|Accord 2018-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Honda|Accord Hybrid 2018-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Honda|Civic 2019-21|All|openpilot available[1](#footnotes)|0 mph|2 mph[4](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Honda|Civic 2022-24|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Honda|Civic Hatchback 2022-24|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Honda|CR-V 2015-16|Touring Trim|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Honda|CR-V 2017-22|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Honda|e 2020|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Honda|Fit 2018-20|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Honda|Freed 2020|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Honda|HR-V 2019-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Honda|HR-V 2023|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Honda|Insight 2019-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Honda|Inspire 2018|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Honda|Passport 2019-23|All|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Honda|Pilot 2016-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Honda|Ridgeline 2017-25|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Azera 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Azera Hybrid 2019|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Azera Hybrid 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Custin 2023|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Elantra 2017-18|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai B connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Elantra 2019|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai G connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Elantra GT 2017-20|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai J connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Ioniq 5 (Southeast Asia and Europe only) 2022-24[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai Q connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Ioniq 5 (with HDA II) 2022-24[5](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai Q connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Ioniq 5 (without HDA II) 2022-24[5](#footnotes)|Highway Driving Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Ioniq 6 (with HDA II) 2023-24[5](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai P connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Ioniq Electric 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Ioniq Plug-in Hybrid 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai B connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai G connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai O connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Kona Electric (with HDA II, Korea only) 2023[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai R connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai I connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Palisade 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Santa Cruz 2022-24[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Santa Fe 2019-20|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai D connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Santa Fe 2021-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Santa Fe Hybrid 2022-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Santa Fe Plug-in Hybrid 2022-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Sonata 2020-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Sonata Hybrid 2020-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Staria 2023[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Tucson 2022[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Tucson 2023-24[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Tucson Hybrid 2022-24[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Tucson Plug-in Hybrid 2024[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Carnival 2022-24[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Carnival (China only) 2023[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Ceed 2019-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|EV6 (Southeast Asia only) 2022-24[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai P connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|EV6 (with HDA II) 2022-24[5](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai P connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|EV6 (without HDA II) 2022-24[5](#footnotes)|Highway Driving Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai G connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Forte 2022-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|K5 2021-24|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|K8 Hybrid (with HDA II) 2023[5](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai Q connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Niro EV 2019|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Niro EV 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Niro EV 2021|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Niro EV 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Niro EV 2023[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Niro Hybrid 2018|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai D connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Niro Hybrid 2023[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Niro Plug-in Hybrid 2018-19|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Niro Plug-in Hybrid 2020|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai D connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Niro Plug-in Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai D connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Niro Plug-in Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai B connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai G connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Optima Hybrid 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Sorento 2021-23[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Sorento Hybrid 2021-23[5](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Sorento Plug-in Hybrid 2022-23[5](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Sportage 2023-24[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Sportage Hybrid 2023[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Stinger 2022-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Telluride 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Lexus|ES 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Lexus|ES 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Lexus|ES Hybrid 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Lexus|ES Hybrid 2019-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Lexus|GS F 2016|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Lexus|IS 2022-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Lexus|LC 2024|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Lexus|NX 2018-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Lexus|NX Hybrid 2018-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Lexus|RC 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Lexus|RX 2016|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Lexus|RX 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Lexus|RX Hybrid 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Lexus|RX Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Lexus|UX Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Mazda connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Mazda connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan B connector
- 1 RJ45 cable (7 ft)
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Nissan|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 RJ45 cable (7 ft)
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 RJ45 cable (7 ft)
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 RJ45 cable (7 ft)
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Ram connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Subaru|Ascent 2019-21|All[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| -|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| -|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| -|Subaru|Forester 2019-21|All[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| -|Subaru|Impreza 2017-19|EyeSight Driver Assistance[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| -|Subaru|Impreza 2020-22|EyeSight Driver Assistance[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| -|Subaru|Legacy 2020-22|All[6](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru B connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| -|Subaru|Outback 2020-22|All[6](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru B connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| -|Subaru|XV 2018-19|EyeSight Driver Assistance[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| -|Subaru|XV 2020-21|EyeSight Driver Assistance[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| -|Škoda|Fabia 2022-23[11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[13](#footnotes)|| -|Škoda|Kamiq 2021-23[9,11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[13](#footnotes)|| -|Škoda|Karoq 2019-23[11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Škoda|Kodiaq 2017-23[11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Škoda|Octavia 2015-19[11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Škoda|Octavia RS 2016[11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Škoda|Octavia Scout 2017-19[11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Škoda|Scala 2020-23[11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[13](#footnotes)|| -|Škoda|Superb 2015-22[11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Avalon 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Avalon 2019-21|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Avalon Hybrid 2019-21|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|C-HR 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|C-HR 2021|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|C-HR Hybrid 2021-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Camry 2018-20|All|Stock|0 mph[8](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Camry 2021-24|All|openpilot|0 mph[8](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Camry Hybrid 2021-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Corolla 2017-19|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Corolla Hybrid (South America only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Highlander 2017-19|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Highlander Hybrid 2017-19|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Prius 2017-20|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Prius Prime 2017-20|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|RAV4 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|RAV4 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|RAV4 2023-24|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|RAV4 Hybrid 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|RAV4 Hybrid 2023-25|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Sienna 2018-20|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Jetta 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Passat 2015-22[10](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[13](#footnotes)|| -|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[13](#footnotes)|| -|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[13](#footnotes)|| -|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|Accord 2018-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|Accord Hybrid 2018-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|Civic 2019-21|All|openpilot available[1](#footnotes)|0 mph|2 mph[4](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|Civic 2022-24|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|Civic Hatchback 2022-24|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|CR-V 2015-16|Touring Trim|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|CR-V 2017-22|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|e 2020|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|Fit 2018-20|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|Freed 2020|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|HR-V 2019-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|HR-V 2023|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|Insight 2019-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|Inspire 2018|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|Passport 2019-23|All|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|Pilot 2016-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|Ridgeline 2017-25|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Azera 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Azera Hybrid 2019|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Azera Hybrid 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Custin 2023|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Elantra 2017-18|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai B connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Elantra 2019|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai G connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Elantra GT 2017-20|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai J connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Ioniq 5 (Southeast Asia and Europe only) 2022-24[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai Q connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Ioniq 5 (with HDA II) 2022-24[5](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai Q connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Ioniq 5 (without HDA II) 2022-24[5](#footnotes)|Highway Driving Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Ioniq 6 (with HDA II) 2023-24[5](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai P connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Ioniq Electric 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Ioniq Plug-in Hybrid 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai B connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Kona 2022|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai O connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai G connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai O connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Kona Electric (with HDA II, Korea only) 2023[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai R connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai I connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Nexo 2021|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Palisade 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Santa Cruz 2022-24[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Santa Fe 2019-20|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai D connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Santa Fe 2021-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Santa Fe Hybrid 2022-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Santa Fe Plug-in Hybrid 2022-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Sonata 2020-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Sonata Hybrid 2020-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Staria 2023[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai L connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Tucson 2022[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Tucson 2023-24[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Tucson Hybrid 2022-24[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Tucson Plug-in Hybrid 2024[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai E connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Carnival 2022-24[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Carnival (China only) 2023[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Ceed 2019-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|EV6 (Southeast Asia only) 2022-24[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai P connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|EV6 (with HDA II) 2022-24[5](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai P connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|EV6 (without HDA II) 2022-24[5](#footnotes)|Highway Driving Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai G connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Forte 2022-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|K5 2021-24|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|K8 Hybrid (with HDA II) 2023[5](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai Q connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Niro EV 2019|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Niro EV 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Niro EV 2021|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Niro EV 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Niro EV 2023[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Niro Hybrid 2018|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai C connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai D connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Niro Hybrid 2023[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Niro Plug-in Hybrid 2018-19|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai C connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Niro Plug-in Hybrid 2020|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai D connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Niro Plug-in Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai D connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Niro Plug-in Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai B connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai G connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Optima Hybrid 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Sorento 2021-23[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Sorento Hybrid 2021-23[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Sorento Plug-in Hybrid 2022-23[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Sportage 2023-24[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Sportage Hybrid 2023[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Stinger 2022-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Telluride 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Lexus|ES 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Lexus|ES 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Lexus|ES Hybrid 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Lexus|ES Hybrid 2019-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Lexus|GS F 2016|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Lexus|IS 2022-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Lexus|LC 2024|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Lexus|NX 2018-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Lexus|NX Hybrid 2018-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Lexus|RC 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Lexus|RX 2016|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Lexus|RX 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Lexus|RX Hybrid 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Lexus|RX Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Lexus|UX Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
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|| +|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Mazda connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Mazda connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan B connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Nissan|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ram connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Rivian A connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Rivian A connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Subaru|Ascent 2019-21|All[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| +|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| +|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| +|Subaru|Forester 2019-21|All[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| +|Subaru|Impreza 2017-19|EyeSight Driver Assistance[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| +|Subaru|Impreza 2020-22|EyeSight Driver Assistance[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| +|Subaru|Legacy 2020-22|All[6](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru B connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| +|Subaru|Outback 2020-22|All[6](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru B connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| +|Subaru|XV 2018-19|EyeSight Driver Assistance[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| +|Subaru|XV 2020-21|EyeSight Driver Assistance[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| +|Škoda|Fabia 2022-23[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[14](#footnotes)|| +|Škoda|Kamiq 2021-23[10,12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[14](#footnotes)|| +|Škoda|Karoq 2019-23[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Škoda|Kodiaq 2017-23[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Škoda|Octavia 2015-19[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Škoda|Octavia RS 2016[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Škoda|Octavia Scout 2017-19[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Škoda|Scala 2020-23[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[14](#footnotes)|| +|Škoda|Superb 2015-22[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Tesla|Model 3 (with HW3) 2019-23[8](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla A connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Tesla|Model 3 (with HW4) 2024[8](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla B connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Tesla|Model Y (with HW3) 2020-23[8](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla A connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Tesla|Model Y (with HW4) 2024[8](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla B connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Avalon 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Avalon 2019-21|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Avalon Hybrid 2019-21|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|C-HR 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|C-HR 2021|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|C-HR Hybrid 2021-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Camry 2018-20|All|Stock|0 mph[9](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Camry 2021-24|All|openpilot|0 mph[9](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Camry Hybrid 2021-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Corolla 2017-19|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Corolla Hybrid (South America only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Highlander 2017-19|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Highlander Hybrid 2017-19|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Prius 2017-20|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Prius Prime 2017-20|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|RAV4 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|RAV4 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|RAV4 2023-24|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|RAV4 Hybrid 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|RAV4 Hybrid 2023-25|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Sienna 2018-20|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Jetta 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Passat 2015-22[11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[14](#footnotes)|| +|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[14](#footnotes)|| +|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[14](#footnotes)|| +|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| ### Footnotes 1openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `master-ci`.
@@ -307,12 +319,13 @@ A supported vehicle is one that just works when you install a comma device. All 5Requires a CAN FD panda kit if not using comma 3X for this CAN FD car.
6In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance.
7Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB.
-8openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.
-9Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform.
-10Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets.
-11Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma 3X functionality.
-12Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC.
-13Model-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.
+8Some 2023 model years have HW4. To check which hardware type your vehicle has, look for Autopilot computer under Software -> Additional Vehicle Information on your vehicle's touchscreen. See this page for more information.
+9openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.
+10Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform.
+11Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets.
+12Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma 3X functionality.
+13Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC.
+14Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store.
## Community Maintained Cars Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/). diff --git a/opendbc_repo b/opendbc_repo index 29d6e5977..a98ee4ec9 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 29d6e5977f53caf1f1d92866810e2ea60a2432d2 +Subproject commit a98ee4ec96cdfbd7ef81ee3672c07af0343153a0 diff --git a/panda b/panda index 44a9806bf..0bacdb126 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 44a9806bfb26322ed31d8fec55411edf67150ef5 +Subproject commit 0bacdb126818d5126e7807231a7056c7aa7991fd diff --git a/pyproject.toml b/pyproject.toml index be9a9044e..a71ada13f 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -42,7 +42,7 @@ dependencies = [ # modeld "onnx >= 1.14.0", - "onnxruntime >=1.16.3", + "llvmlite", # logging "pyzmq", diff --git a/release/build_release.sh b/release/build_release.sh index e7fbad6f7..ff28179ee 100755 --- a/release/build_release.sh +++ b/release/build_release.sh @@ -74,7 +74,8 @@ find . -name '*.pyc' -delete find . -name 'moc_*' -delete find . -name '__pycache__' -delete rm -rf .sconsign.dblite Jenkinsfile release/ -rm selfdrive/modeld/models/supercombo.onnx +rm selfdrive/modeld/models/driving_vision.onnx +rm selfdrive/modeld/models/driving_policy.onnx rm sunnypilot/modeld*/models/supercombo.onnx find third_party/ -name '*x86*' -exec rm -r {} + diff --git a/scripts/jenkins_loop_test.sh b/scripts/jenkins_loop_test.sh index d1167aa23..0b242e98d 100755 --- a/scripts/jenkins_loop_test.sh +++ b/scripts/jenkins_loop_test.sh @@ -13,6 +13,8 @@ RUNS="20" COOKIE_JAR=/tmp/cookies CRUMB=$(curl -s --cookie-jar $COOKIE_JAR 'https://jenkins.comma.life/crumbIssuer/api/xml?xpath=concat(//crumbRequestField,":",//crumb)') +FIRST_LOOP=1 + function loop() { JENKINS_BRANCH="__jenkins_loop_${BRANCH}" API_ROUTE="https://jenkins.comma.life/job/openpilot/job/$JENKINS_BRANCH" @@ -20,17 +22,12 @@ function loop() { for run in $(seq 1 $((RUNS / 2))); do N=2 - TEST_BUILDS=() - # Try to find previous builds - ALL_BUILDS=( $(curl -s $API_ROUTE/api/json | jq .builds.[].number 2> /dev/null || :) ) - - # No builds. Create branch - if [[ ${#ALL_BUILDS[@]} -eq 0 ]]; then + if [[ $FIRST_LOOP ]]; then TEMP_DIR=$(mktemp -d) GIT_LFS_SKIP_SMUDGE=1 git clone --quiet -b $BRANCH --depth=1 --no-tags git@github.com:commaai/openpilot $TEMP_DIR git -C $TEMP_DIR checkout --quiet -b $JENKINS_BRANCH - echo "TESTING" >> $TEMP_DIR/testing_jenkins + echo "TESTING: $(date)" >> $TEMP_DIR/testing_jenkins git -C $TEMP_DIR add testing_jenkins git -C $TEMP_DIR commit --quiet -m "testing" git -C $TEMP_DIR push --quiet -f origin $JENKINS_BRANCH @@ -40,34 +37,21 @@ function loop() { echo 'waiting on Jenkins...' echo '' sleep 90 - else - # Found some builds. Wait for them to end if they are still running - for i in ${ALL_BUILDS[@]}; do - running=$(curl -s $API_ROUTE/$i/api/json/ | jq .inProgress) - if [[ $running == "false" ]]; then - continue - fi - TEST_BUILDS=( ${ALL_BUILDS[@]} ) - N=${#TEST_BUILDS[@]} - break - done + FIRST_LOOP="" fi - # No running builds found - if [[ ${#TEST_BUILDS[@]} -eq 0 ]]; then - FIRST_BUILD=$(curl -s $API_ROUTE/api/json | jq .nextBuildNumber) - LAST_BUILD=$((FIRST_BUILD+N-1)) - TEST_BUILDS=( $(seq $FIRST_BUILD $LAST_BUILD) ) + FIRST_BUILD=$(curl -s $API_ROUTE/api/json | jq .nextBuildNumber) + LAST_BUILD=$((FIRST_BUILD+N-1)) + TEST_BUILDS=( $(seq $FIRST_BUILD $LAST_BUILD) ) - # Start N new builds - for i in ${TEST_BUILDS[@]}; - do - echo "Starting build $i" - curl -s --output /dev/null --cookie $COOKIE_JAR -H "$CRUMB" -X POST $API_ROUTE/build?delay=0sec - sleep 5 - done - echo "" - fi + # Start N new builds + for i in ${TEST_BUILDS[@]}; + do + echo "Starting build $i" + curl -s --output /dev/null --cookie $COOKIE_JAR -H "$CRUMB" -X POST $API_ROUTE/build?delay=0sec + sleep 5 + done + echo "" # Wait for all builds to end while true; do diff --git a/selfdrive/car/CARS_template.md b/selfdrive/car/CARS_template.md index 2f49e79b8..c7500ffad 100644 --- a/selfdrive/car/CARS_template.md +++ b/selfdrive/car/CARS_template.md @@ -23,7 +23,7 @@ A supported vehicle is one that just works when you install a comma device. All ### Footnotes {% for footnote in footnotes %} -{{loop.index}}{{footnote}}
+{{loop.index}}{{footnote | replace('
', '')}}
{% endfor %} ## Community Maintained Cars diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py index 10b245d1b..c10443c2f 100644 --- a/selfdrive/car/tests/test_car_interfaces.py +++ b/selfdrive/car/tests/test_car_interfaces.py @@ -9,9 +9,9 @@ from opendbc.car import DT_CTRL from opendbc.car.car_helpers import interfaces from opendbc.car.structs import CarParams from opendbc.car.tests.test_car_interfaces import get_fuzzy_car_interface_args -from opendbc.car.fingerprints import all_known_cars from opendbc.car.fw_versions import FW_VERSIONS, FW_QUERY_CONFIGS from opendbc.car.mock.values import CAR as MOCK +from opendbc.car.values import PLATFORMS from openpilot.selfdrive.car.helpers import convert_carControlSP from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID @@ -30,7 +30,7 @@ MAX_EXAMPLES = int(os.environ.get('MAX_EXAMPLES', '60')) class TestCarInterfaces: # FIXME: Due to the lists used in carParams, Phase.target is very slow and will cause # many generated examples to overrun when max_examples > ~20, don't use it - @parameterized.expand([(car,) for car in sorted(all_known_cars())] + [MOCK.MOCK]) + @parameterized.expand([(car,) for car in sorted(PLATFORMS)] + [MOCK.MOCK]) @settings(max_examples=MAX_EXAMPLES, deadline=None, phases=(Phase.reuse, Phase.generate, Phase.shrink)) @given(data=st.data()) @@ -87,6 +87,8 @@ class TestCarInterfaces: CC = car.CarControl.new_message(**cc_msg) CC.enabled = True + CC.latActive = True + CC.longActive = True CC = CC.as_reader() for _ in range(10): car_interface.update([]) diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index 36e36ac31..8a3c18eac 100644 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -14,11 +14,12 @@ from parameterized import parameterized_class from opendbc.car import DT_CTRL, gen_empty_fingerprint, structs from opendbc.car.can_definitions import CanData from opendbc.car.car_helpers import FRAME_FINGERPRINT, interfaces -from opendbc.car.fingerprints import all_known_cars, MIGRATION +from opendbc.car.fingerprints import MIGRATION from opendbc.car.honda.values import CAR as HONDA, HondaFlags from opendbc.car.structs import car from opendbc.car.tests.routes import non_tested_cars, routes, CarTestRoute -from opendbc.car.values import Platform +from opendbc.car.values import Platform, PLATFORMS +from opendbc.safety.tests.libsafety import libsafety_py from openpilot.common.basedir import BASEDIR from openpilot.selfdrive.pandad import can_capnp_to_list from openpilot.selfdrive.test.helpers import read_segment_list @@ -27,9 +28,8 @@ from openpilot.tools.lib.logreader import LogReader, LogsUnavailable, openpilotc internal_source_zst, comma_api_source, auto_source from openpilot.tools.lib.route import SegmentName -from panda.tests.libpanda import libpanda_py - SafetyModel = car.CarParams.SafetyModel +SteerControlType = structs.CarParams.SteerControlType NUM_JOBS = int(os.environ.get("NUM_JOBS", "1")) JOB_ID = int(os.environ.get("JOB_ID", "0")) @@ -45,9 +45,9 @@ def get_test_cases() -> list[tuple[str, CarTestRoute | None]]: if not len(INTERNAL_SEG_LIST): routes_by_car = defaultdict(set) for r in routes: - routes_by_car[r.car_model].add(r) + routes_by_car[str(r.car_model)].add(r) - for i, c in enumerate(sorted(all_known_cars())): + for i, c in enumerate(sorted(PLATFORMS)): if i % NUM_JOBS == JOB_ID: test_cases.extend(sorted((c, r) for r in routes_by_car.get(c, (None,)))) @@ -128,7 +128,7 @@ class TestCarModelBase(unittest.TestCase): try: source = partial(auto_source, sources=[internal_source, internal_source_zst] if len(INTERNAL_SEG_LIST) else \ [openpilotci_source_zst, openpilotci_source, comma_api_source]) - lr = LogReader(segment_range, source=source) + lr = LogReader(segment_range, source=source, sort_by_time=True) return cls.get_testing_data_from_logreader(lr) except (LogsUnavailable, AssertionError): pass @@ -172,7 +172,7 @@ class TestCarModelBase(unittest.TestCase): assert self.CI # TODO: check safetyModel is in release panda build - self.safety = libpanda_py.libpanda + self.safety = libsafety_py.libsafety cfg = self.CP.safetyConfigs[-1] set_status = self.safety.set_safety_hooks(cfg.safetyModel.raw, cfg.safetyParam) @@ -186,7 +186,7 @@ class TestCarModelBase(unittest.TestCase): # make sure car params are within a valid range self.assertGreater(self.CP.mass, 1) - if self.CP.steerControlType != structs.CarParams.SteerControlType.angle: + if self.CP.steerControlType != SteerControlType.angle: tuning = self.CP.lateralTuning.which() if tuning == 'pid': self.assertTrue(len(self.CP.lateralTuning.pid.kpV)) @@ -245,7 +245,7 @@ class TestCarModelBase(unittest.TestCase): if msg.src >= 64: continue - to_send = libpanda_py.make_CANPacket(msg.address, msg.src % 4, msg.dat) + to_send = libsafety_py.make_CANPacket(msg.address, msg.src % 4, msg.dat) if self.safety.safety_rx_hook(to_send) != 1: failed_addrs[hex(msg.address)] += 1 @@ -284,7 +284,7 @@ class TestCarModelBase(unittest.TestCase): now_nanos += DT_CTRL * 1e9 msgs_sent += len(sendcan) for addr, dat, bus in sendcan: - to_send = libpanda_py.make_CANPacket(addr, bus % 4, dat) + to_send = libsafety_py.make_CANPacket(addr, bus % 4, dat) self.assertTrue(self.safety.safety_tx_hook(to_send), (addr, dat, bus)) # Make sure we attempted to send messages @@ -325,6 +325,8 @@ class TestCarModelBase(unittest.TestCase): msg_strategy = st.binary(min_size=size, max_size=size) msgs = data.draw(st.lists(msg_strategy, min_size=20)) + vehicle_speed_seen = self.CP.steerControlType == SteerControlType.angle and not self.CP.notCar + for dat in msgs: # due to panda updating state selectively, only edges are expected to match # TODO: warm up CarState with real CAN messages to check edge of both sources @@ -333,10 +335,12 @@ class TestCarModelBase(unittest.TestCase): prev_panda_brake = self.safety.get_brake_pressed_prev() prev_panda_regen_braking = self.safety.get_regen_braking_prev() prev_panda_vehicle_moving = self.safety.get_vehicle_moving() + prev_panda_vehicle_speed_min = self.safety.get_vehicle_speed_min() + prev_panda_vehicle_speed_max = self.safety.get_vehicle_speed_max() prev_panda_cruise_engaged = self.safety.get_cruise_engaged_prev() prev_panda_acc_main_on = self.safety.get_acc_main_on() - to_send = libpanda_py.make_CANPacket(address, bus, dat) + to_send = libsafety_py.make_CANPacket(address, bus, dat) self.safety.safety_rx_hook(to_send) can = [(int(time.monotonic() * 1e9), [CanData(address=address, dat=dat, src=bus)])] @@ -360,6 +364,16 @@ class TestCarModelBase(unittest.TestCase): if self.safety.get_vehicle_moving() != prev_panda_vehicle_moving: self.assertEqual(not CS.standstill, self.safety.get_vehicle_moving()) + # check vehicle speed if angle control car or available + if self.safety.get_vehicle_speed_min() > 0 or self.safety.get_vehicle_speed_max() > 0: + vehicle_speed_seen = True + + if vehicle_speed_seen and (self.safety.get_vehicle_speed_min() != prev_panda_vehicle_speed_min or + self.safety.get_vehicle_speed_max() != prev_panda_vehicle_speed_max): + v_ego_raw = CS.vEgoRaw / self.CP.wheelSpeedFactor + self.assertFalse(v_ego_raw > (self.safety.get_vehicle_speed_max() + 1e-3) or + v_ego_raw < (self.safety.get_vehicle_speed_min() - 1e-3)) + if not (self.CP.brand == "honda" and not (self.CP.flags & HondaFlags.BOSCH)): if self.safety.get_cruise_engaged_prev() != prev_panda_cruise_engaged: self.assertEqual(CS.cruiseState.enabled, self.safety.get_cruise_engaged_prev()) @@ -379,16 +393,17 @@ class TestCarModelBase(unittest.TestCase): for can in self.can_msgs[:300]: self.CI.update(can_capnp_to_list((can.as_builder().to_bytes(), ))) for msg in filter(lambda m: m.src in range(64), can.can): - to_send = libpanda_py.make_CANPacket(msg.address, msg.src % 4, msg.dat) + to_send = libsafety_py.make_CANPacket(msg.address, msg.src % 4, msg.dat) self.safety.safety_rx_hook(to_send) controls_allowed_prev = False CS_prev = car.CarState.new_message() checks = defaultdict(int) + vehicle_speed_seen = self.CP.steerControlType == SteerControlType.angle and not self.CP.notCar for idx, can in enumerate(self.can_msgs): CS = self.CI.update(can_capnp_to_list((can.as_builder().to_bytes(), ))).as_reader() for msg in filter(lambda m: m.src in range(64), can.can): - to_send = libpanda_py.make_CANPacket(msg.address, msg.src % 4, msg.dat) + to_send = libsafety_py.make_CANPacket(msg.address, msg.src % 4, msg.dat) ret = self.safety.safety_rx_hook(to_send) self.assertEqual(1, ret, f"safety rx failed ({ret=}): {(msg.address, msg.src % 4)}") @@ -405,6 +420,15 @@ class TestCarModelBase(unittest.TestCase): checks['gasPressed'] += CS.gasPressed != self.safety.get_gas_pressed_prev() checks['standstill'] += CS.standstill == self.safety.get_vehicle_moving() + # check vehicle speed if angle control car or available + if self.safety.get_vehicle_speed_min() > 0 or self.safety.get_vehicle_speed_max() > 0: + vehicle_speed_seen = True + + if vehicle_speed_seen: + v_ego_raw = CS.vEgoRaw / self.CP.wheelSpeedFactor + checks['vEgoRaw'] += (v_ego_raw > (self.safety.get_vehicle_speed_max() + 1e-3) or + v_ego_raw < (self.safety.get_vehicle_speed_min() - 1e-3)) + # TODO: remove this exception once this mismatch is resolved brake_pressed = CS.brakePressed if CS.brakePressed and not self.safety.get_brake_pressed_prev(): diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index fb5bb8748..40280b8d1 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -10,13 +10,13 @@ from openpilot.common.realtime import config_realtime_process, Priority, Ratekee from openpilot.common.swaglog import cloudlog from opendbc.car.car_helpers import get_car_interface +from opendbc.car.vehicle_model import VehicleModel from openpilot.selfdrive.controls.lib.drive_helpers import clip_curvature from openpilot.selfdrive.controls.lib.latcontrol import LatControl, MIN_LATERAL_CONTROL_SPEED from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle, STEER_ANGLE_SATURATION_THRESHOLD from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque from openpilot.selfdrive.controls.lib.longcontrol import LongControl -from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose State = log.SelfdriveState.OpenpilotState @@ -25,6 +25,7 @@ LaneChangeDirection = log.LaneChangeDirection ACTUATOR_FIELDS = tuple(car.CarControl.Actuators.schema.fields.keys()) + class Controls: def __init__(self) -> None: self.params = Params() @@ -48,7 +49,7 @@ class Controls: self.desired_curvature = 0.0 self.pose_calibrator = PoseCalibrator() - self.calibrated_pose: Pose|None = None + self.calibrated_pose: Pose | None = None self.LoC = LongControl(self.CP) self.VM = VehicleModel(self.CP) @@ -123,9 +124,9 @@ class Controls: self.desired_curvature = clip_curvature(CS.vEgo, self.desired_curvature, model_v2.action.desiredCurvature) actuators.curvature = float(self.desired_curvature) steer, steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp, - self.steer_limited, self.desired_curvature, - self.calibrated_pose) # TODO what if not available - actuators.steer = float(steer) + self.steer_limited, self.desired_curvature, + self.calibrated_pose) # TODO what if not available + actuators.torque = float(steer) actuators.steeringAngleDeg = float(steeringAngleDeg) # Ensure no NaNs/Infs for p in ACTUATOR_FIELDS: @@ -178,7 +179,7 @@ class Controls: self.steer_limited = abs(CC.actuators.steeringAngleDeg - CO.actuatorsOutput.steeringAngleDeg) > \ STEER_ANGLE_SATURATION_THRESHOLD else: - self.steer_limited = abs(CC.actuators.steer - CO.actuatorsOutput.steer) > 1e-2 + self.steer_limited = abs(CC.actuators.torque - CO.actuatorsOutput.torque) > 1e-2 # TODO: both controlsState and carControl valids should be set by # sm.all_checks(), but this creates a circular dependency @@ -232,6 +233,7 @@ class Controls: self.publish(CC, CC_SP, lac_log) rk.monitor_time() + def main(): config_realtime_process(4, Priority.CTRL_HIGH) controls = Controls() diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py index d66e5be28..f677b7f89 100644 --- a/selfdrive/controls/lib/latcontrol_torque.py +++ b/selfdrive/controls/lib/latcontrol_torque.py @@ -3,9 +3,9 @@ import numpy as np from cereal import log from opendbc.car.interfaces import LatControlInputs +from opendbc.car.vehicle_model import ACCELERATION_DUE_TO_GRAVITY from openpilot.selfdrive.controls.lib.latcontrol import LatControl from openpilot.common.pid import PIDController -from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY # At higher speeds (25+mph) we can assume: # Lateral acceleration achieved by a specific car correlates to diff --git a/selfdrive/controls/lib/tests/test_latcontrol.py b/selfdrive/controls/lib/tests/test_latcontrol.py index 5ea0aa15f..61d85e4f9 100644 --- a/selfdrive/controls/lib/tests/test_latcontrol.py +++ b/selfdrive/controls/lib/tests/test_latcontrol.py @@ -5,10 +5,10 @@ from opendbc.car.car_helpers import interfaces from opendbc.car.honda.values import CAR as HONDA from opendbc.car.toyota.values import CAR as TOYOTA from opendbc.car.nissan.values import CAR as NISSAN +from opendbc.car.vehicle_model import VehicleModel from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle -from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel from openpilot.selfdrive.locationd.helpers import Pose from openpilot.common.mock.generators import generate_livePose diff --git a/selfdrive/controls/lib/tests/test_vehicle_model.py b/selfdrive/controls/lib/tests/test_vehicle_model.py deleted file mode 100644 index d15519a86..000000000 --- a/selfdrive/controls/lib/tests/test_vehicle_model.py +++ /dev/null @@ -1,67 +0,0 @@ -import pytest -import math - -import numpy as np - -from opendbc.car.honda.interface import CarInterface -from opendbc.car.honda.values import CAR -from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel, dyn_ss_sol, create_dyn_state_matrices - - -class TestVehicleModel: - def setup_method(self): - CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC) - self.VM = VehicleModel(CP) - - def test_round_trip_yaw_rate(self): - # TODO: fix VM to work at zero speed - for u in np.linspace(1, 30, num=10): - for roll in np.linspace(math.radians(-20), math.radians(20), num=11): - for sa in np.linspace(math.radians(-20), math.radians(20), num=11): - yr = self.VM.yaw_rate(sa, u, roll) - new_sa = self.VM.get_steer_from_yaw_rate(yr, u, roll) - - assert sa == pytest.approx(new_sa) - - def test_dyn_ss_sol_against_yaw_rate(self): - """Verify that the yaw_rate helper function matches the results - from the state space model.""" - - for roll in np.linspace(math.radians(-20), math.radians(20), num=11): - for u in np.linspace(1, 30, num=10): - for sa in np.linspace(math.radians(-20), math.radians(20), num=11): - - # Compute yaw rate based on state space model - _, yr1 = dyn_ss_sol(sa, u, roll, self.VM) - - # Compute yaw rate using direct computations - yr2 = self.VM.yaw_rate(sa, u, roll) - assert float(yr1[0]) == pytest.approx(yr2) - - def test_syn_ss_sol_simulate(self): - """Verifies that dyn_ss_sol matches a simulation""" - - for roll in np.linspace(math.radians(-20), math.radians(20), num=11): - for u in np.linspace(1, 30, num=10): - A, B = create_dyn_state_matrices(u, self.VM) - - # Convert to discrete time system - dt = 0.01 - top = np.hstack((A, B)) - full = np.vstack((top, np.zeros_like(top))) * dt - Md = sum([np.linalg.matrix_power(full, k) / math.factorial(k) for k in range(25)]) - Ad = Md[:A.shape[0], :A.shape[1]] - Bd = Md[:A.shape[0], A.shape[1]:] - - for sa in np.linspace(math.radians(-20), math.radians(20), num=11): - inp = np.array([[sa], [roll]]) - - # Simulate for 1 second - x1 = np.zeros((2, 1)) - for _ in range(100): - x1 = Ad @ x1 + Bd @ inp - - # Compute steady state solution directly - x2 = dyn_ss_sol(sa, u, roll, self.VM) - - np.testing.assert_almost_equal(x1, x2, decimal=3) diff --git a/selfdrive/controls/lib/vehicle_model.py b/selfdrive/controls/lib/vehicle_model.py deleted file mode 100755 index b6f50b4ba..000000000 --- a/selfdrive/controls/lib/vehicle_model.py +++ /dev/null @@ -1,230 +0,0 @@ -#!/usr/bin/env python3 -""" -Dynamic bicycle model from "The Science of Vehicle Dynamics (2014), M. Guiggiani" - -The state is x = [v, r]^T -with v lateral speed [m/s], and r rotational speed [rad/s] - -The input u is the steering angle [rad], and roll [rad] - -The system is defined by -x_dot = A*x + B*u - -A depends on longitudinal speed, u [m/s], and vehicle parameters CP -""" - -import numpy as np -from numpy.linalg import solve - -from cereal import car - -ACCELERATION_DUE_TO_GRAVITY = 9.8 - - -class VehicleModel: - def __init__(self, CP: car.CarParams): - """ - Args: - CP: Car Parameters - """ - # for math readability, convert long names car params into short names - self.m: float = CP.mass - self.j: float = CP.rotationalInertia - self.l: float = CP.wheelbase - self.aF: float = CP.centerToFront - self.aR: float = CP.wheelbase - CP.centerToFront - self.chi: float = CP.steerRatioRear - - self.cF_orig: float = CP.tireStiffnessFront - self.cR_orig: float = CP.tireStiffnessRear - self.update_params(1.0, CP.steerRatio) - - def update_params(self, stiffness_factor: float, steer_ratio: float) -> None: - """Update the vehicle model with a new stiffness factor and steer ratio""" - self.cF: float = stiffness_factor * self.cF_orig - self.cR: float = stiffness_factor * self.cR_orig - self.sR: float = steer_ratio - - def steady_state_sol(self, sa: float, u: float, roll: float) -> np.ndarray: - """Returns the steady state solution. - - If the speed is too low we can't use the dynamic model (tire slip is undefined), - we then have to use the kinematic model - - Args: - sa: Steering wheel angle [rad] - u: Speed [m/s] - roll: Road Roll [rad] - - Returns: - 2x1 matrix with steady state solution (lateral speed, rotational speed) - """ - if u > 0.1: - return dyn_ss_sol(sa, u, roll, self) - else: - return kin_ss_sol(sa, u, self) - - def calc_curvature(self, sa: float, u: float, roll: float) -> float: - """Returns the curvature. Multiplied by the speed this will give the yaw rate. - - Args: - sa: Steering wheel angle [rad] - u: Speed [m/s] - roll: Road Roll [rad] - - Returns: - Curvature factor [1/m] - """ - return (self.curvature_factor(u) * sa / self.sR) + self.roll_compensation(roll, u) - - def curvature_factor(self, u: float) -> float: - """Returns the curvature factor. - Multiplied by wheel angle (not steering wheel angle) this will give the curvature. - - Args: - u: Speed [m/s] - - Returns: - Curvature factor [1/m] - """ - sf = calc_slip_factor(self) - return (1. - self.chi) / (1. - sf * u**2) / self.l - - def get_steer_from_curvature(self, curv: float, u: float, roll: float) -> float: - """Calculates the required steering wheel angle for a given curvature - - Args: - curv: Desired curvature [1/m] - u: Speed [m/s] - roll: Road Roll [rad] - - Returns: - Steering wheel angle [rad] - """ - - return (curv - self.roll_compensation(roll, u)) * self.sR * 1.0 / self.curvature_factor(u) - - def roll_compensation(self, roll: float, u: float) -> float: - """Calculates the roll-compensation to curvature - - Args: - roll: Road Roll [rad] - u: Speed [m/s] - - Returns: - Roll compensation curvature [rad] - """ - sf = calc_slip_factor(self) - - if abs(sf) < 1e-6: - return 0 - else: - return (ACCELERATION_DUE_TO_GRAVITY * roll) / ((1 / sf) - u**2) - - def get_steer_from_yaw_rate(self, yaw_rate: float, u: float, roll: float) -> float: - """Calculates the required steering wheel angle for a given yaw_rate - - Args: - yaw_rate: Desired yaw rate [rad/s] - u: Speed [m/s] - roll: Road Roll [rad] - - Returns: - Steering wheel angle [rad] - """ - curv = yaw_rate / u - return self.get_steer_from_curvature(curv, u, roll) - - def yaw_rate(self, sa: float, u: float, roll: float) -> float: - """Calculate yaw rate - - Args: - sa: Steering wheel angle [rad] - u: Speed [m/s] - roll: Road Roll [rad] - - Returns: - Yaw rate [rad/s] - """ - return self.calc_curvature(sa, u, roll) * u - - -def kin_ss_sol(sa: float, u: float, VM: VehicleModel) -> np.ndarray: - """Calculate the steady state solution at low speeds - At low speeds the tire slip is undefined, so a kinematic - model is used. - - Args: - sa: Steering angle [rad] - u: Speed [m/s] - VM: Vehicle model - - Returns: - 2x1 matrix with steady state solution - """ - K = np.zeros((2, 1)) - K[0, 0] = VM.aR / VM.sR / VM.l * u - K[1, 0] = 1. / VM.sR / VM.l * u - return K * sa - - -def create_dyn_state_matrices(u: float, VM: VehicleModel) -> tuple[np.ndarray, np.ndarray]: - """Returns the A and B matrix for the dynamics system - - Args: - u: Vehicle speed [m/s] - VM: Vehicle model - - Returns: - A tuple with the 2x2 A matrix, and 2x2 B matrix - - Parameters in the vehicle model: - cF: Tire stiffness Front [N/rad] - cR: Tire stiffness Front [N/rad] - aF: Distance from CG to front wheels [m] - aR: Distance from CG to rear wheels [m] - m: Mass [kg] - j: Rotational inertia [kg m^2] - sR: Steering ratio [-] - chi: Steer ratio rear [-] - """ - A = np.zeros((2, 2)) - B = np.zeros((2, 2)) - A[0, 0] = - (VM.cF + VM.cR) / (VM.m * u) - A[0, 1] = - (VM.cF * VM.aF - VM.cR * VM.aR) / (VM.m * u) - u - A[1, 0] = - (VM.cF * VM.aF - VM.cR * VM.aR) / (VM.j * u) - A[1, 1] = - (VM.cF * VM.aF**2 + VM.cR * VM.aR**2) / (VM.j * u) - - # Steering input - B[0, 0] = (VM.cF + VM.chi * VM.cR) / VM.m / VM.sR - B[1, 0] = (VM.cF * VM.aF - VM.chi * VM.cR * VM.aR) / VM.j / VM.sR - - # Roll input - B[0, 1] = -ACCELERATION_DUE_TO_GRAVITY - - return A, B - - -def dyn_ss_sol(sa: float, u: float, roll: float, VM: VehicleModel) -> np.ndarray: - """Calculate the steady state solution when x_dot = 0, - Ax + Bu = 0 => x = -A^{-1} B u - - Args: - sa: Steering angle [rad] - u: Speed [m/s] - roll: Road Roll [rad] - VM: Vehicle model - - Returns: - 2x1 matrix with steady state solution - """ - A, B = create_dyn_state_matrices(u, VM) - inp = np.array([[sa], [roll]]) - return -solve(A, B) @ inp # type: ignore - - -def calc_slip_factor(VM: VehicleModel) -> float: - """The slip factor is a measure of how the curvature changes with speed - it's positive for Oversteering vehicle, negative (usual case) otherwise. - """ - return VM.m * (VM.cF * VM.aF - VM.cR * VM.aR) / (VM.l**2 * VM.cF * VM.cR) diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py index ea05c00d3..80ce10380 100755 --- a/selfdrive/controls/radard.py +++ b/selfdrive/controls/radard.py @@ -150,7 +150,7 @@ def get_RadarState_from_vision(lead_msg: capnp._DynamicStructReader, v_ego: floa "vRel": float(lead_v_rel_pred), "vLead": float(v_ego + lead_v_rel_pred), "vLeadK": float(v_ego + lead_v_rel_pred), - "aLeadK": 0.0, + "aLeadK": float(lead_msg.a[0]), "aLeadTau": 0.3, "fcw": False, "modelProb": float(lead_msg.prob), diff --git a/selfdrive/debug/clear_dtc.py b/selfdrive/debug/clear_dtc.py index 357893038..b2c5fe3db 100755 --- a/selfdrive/debug/clear_dtc.py +++ b/selfdrive/debug/clear_dtc.py @@ -4,7 +4,7 @@ import argparse from subprocess import check_output, CalledProcessError from opendbc.car.carlog import carlog from opendbc.car.uds import UdsClient, MessageTimeoutError, SESSION_TYPE, DTC_GROUP_TYPE -from opendbc.safety import Safety +from opendbc.car.structs import CarParams from panda import Panda parser = argparse.ArgumentParser(description="clear DTC status") @@ -25,7 +25,7 @@ except CalledProcessError as e: raise e panda = Panda() -panda.set_safety_mode(Safety.SAFETY_ELM327) +panda.set_safety_mode(CarParams.SafetyModel.elm327) uds_client = UdsClient(panda, args.addr, bus=args.bus) print("extended diagnostic session ...") try: diff --git a/selfdrive/debug/debug_fw_fingerprinting_offline.py b/selfdrive/debug/debug_fw_fingerprinting_offline.py index 2c6a946b6..d841e9105 100755 --- a/selfdrive/debug/debug_fw_fingerprinting_offline.py +++ b/selfdrive/debug/debug_fw_fingerprinting_offline.py @@ -6,7 +6,7 @@ from openpilot.tools.lib.live_logreader import live_logreader from openpilot.tools.lib.logreader import LogReader, ReadMode -def main(route: str | None, addrs: list[int]): +def main(route: str | None, addrs: list[int], rxoffset: int | None): """ TODO: - highlight TX vs RX clearly @@ -23,7 +23,7 @@ def main(route: str | None, addrs: list[int]): prev_mono_time = 0 # include rx addresses - addrs = addrs + [uds.get_rx_addr_for_tx_addr(addr) for addr in addrs] + addrs = addrs + [uds.get_rx_addr_for_tx_addr(addr, rxoffset) for addr in addrs] for msg in lr: if msg.which() == 'can': @@ -36,7 +36,7 @@ def main(route: str | None, addrs: list[int]): if msg.logMonoTime != prev_mono_time: print() prev_mono_time = msg.logMonoTime - print(f"{msg.which():>7}: rxaddr={can.address}, bus={can.src}, {round((msg.logMonoTime - start_mono_time) * 1e-6, 2)} ms, " + + print(f"{msg.which():>7}: rxaddr={can.address}, bus={str(can.src) + ',':<4} {round((msg.logMonoTime - start_mono_time) * 1e-6)} ms, " + f"0x{can.dat.hex()}, {can.dat}, {len(can.dat)=}") @@ -44,7 +44,9 @@ if __name__ == "__main__": parser = argparse.ArgumentParser(description='View back and forth ISO-TP communication between various ECUs given an address') parser.add_argument('route', nargs='?', help='Route name, live if not specified') parser.add_argument('--addrs', nargs='*', default=[], help='List of tx address to view (0x7e0 for engine)') + parser.add_argument('--rxoffset', default='') args = parser.parse_args() addrs = [int(addr, base=16) if addr.startswith('0x') else int(addr) for addr in args.addrs] - main(args.route, addrs) + rxoffset = int(args.rxoffset, base=16) if args.rxoffset else None + main(args.route, addrs, rxoffset) diff --git a/selfdrive/debug/hyundai_enable_radar_points.py b/selfdrive/debug/hyundai_enable_radar_points.py index 8612018b0..93f5949ea 100755 --- a/selfdrive/debug/hyundai_enable_radar_points.py +++ b/selfdrive/debug/hyundai_enable_radar_points.py @@ -18,7 +18,7 @@ from subprocess import check_output, CalledProcessError from opendbc.car.carlog import carlog from opendbc.car.uds import UdsClient, SESSION_TYPE, DATA_IDENTIFIER_TYPE -from opendbc.safety import Safety +from opendbc.car.structs import CarParams from panda.python import Panda class ConfigValues(NamedTuple): @@ -97,7 +97,7 @@ if __name__ == "__main__": sys.exit(0) panda = Panda() - panda.set_safety_mode(Safety.SAFETY_ELM327) + panda.set_safety_mode(CarParams.SafetyModel.elm327) uds_client = UdsClient(panda, 0x7D0, bus=args.bus) print("\n[START DIAGNOSTIC SESSION]") diff --git a/selfdrive/debug/max_lat_accel.py b/selfdrive/debug/max_lat_accel.py new file mode 100755 index 000000000..2369d99d8 --- /dev/null +++ b/selfdrive/debug/max_lat_accel.py @@ -0,0 +1,116 @@ +#!/usr/bin/env python3 +import argparse +import numpy as np +import matplotlib.pyplot as plt +from typing import NamedTuple +from openpilot.tools.lib.logreader import LogReader +from openpilot.selfdrive.locationd.models.pose_kf import EARTH_G + +RLOG_MIN_LAT_ACTIVE = 50 +RLOG_MIN_STEERING_UNPRESSED = 50 +RLOG_MIN_REQUESTING_MAX = 25 # sample many times after reaching max torque + +QLOG_DECIMATION = 10 + + +class Event(NamedTuple): + lateral_accel: float + speed: float + roll: float + timestamp: float # relative to start of route (s) + + +def find_events(lr: LogReader, qlog: bool = False) -> list[Event]: + min_lat_active = RLOG_MIN_LAT_ACTIVE // QLOG_DECIMATION if qlog else RLOG_MIN_LAT_ACTIVE + min_steering_unpressed = RLOG_MIN_STEERING_UNPRESSED // QLOG_DECIMATION if qlog else RLOG_MIN_STEERING_UNPRESSED + min_requesting_max = RLOG_MIN_REQUESTING_MAX // QLOG_DECIMATION if qlog else RLOG_MIN_REQUESTING_MAX + + events = [] + + start_ts = 0 + + # state tracking + steering_unpressed = 0 # frames + requesting_max = 0 # frames + lat_active = 0 # frames + + # current state + curvature = 0 + v_ego = 0 + roll = 0 + + for msg in lr: + if msg.which() == 'carControl': + if start_ts == 0: + start_ts = msg.logMonoTime + + lat_active = lat_active + 1 if msg.carControl.latActive else 0 + + elif msg.which() == 'carOutput': + # if we test with driver torque safety, max torque can be slightly noisy + requesting_max = requesting_max + 1 if abs(msg.carOutput.actuatorsOutput.torque) > 0.95 else 0 + + elif msg.which() == 'carState': + steering_unpressed = steering_unpressed + 1 if not msg.carState.steeringPressed else 0 + v_ego = msg.carState.vEgo + + elif msg.which() == 'controlsState': + curvature = msg.controlsState.curvature + + elif msg.which() == 'liveParameters': + roll = msg.liveParameters.roll + + if lat_active > min_lat_active and steering_unpressed > min_steering_unpressed and requesting_max > min_requesting_max: + # TODO: record max lat accel at the end of the event, need to use the past lat accel as overriding can happen before we detect it + requesting_max = 0 + + current_lateral_accel = curvature * v_ego ** 2 - roll * EARTH_G + events.append(Event(current_lateral_accel, v_ego, roll, round((msg.logMonoTime - start_ts) * 1e-9, 2))) + print(events[-1]) + + return events + + +if __name__ == '__main__': + parser = argparse.ArgumentParser(description="Find max lateral acceleration events", + formatter_class=argparse.ArgumentDefaultsHelpFormatter) + + parser.add_argument("route") + args = parser.parse_args() + + lr = LogReader(args.route, sort_by_time=True) + qlog = args.route.endswith('/q') + if qlog: + print('WARNING: Treating route as qlog!') + + print('Finding events...') + events = find_events(lr, qlog=qlog) + + print() + print(f'Found {len(events)} events') + + perc_left_accel = -np.percentile([-ev.lateral_accel for ev in events if ev.lateral_accel < 0], 90) + perc_right_accel = np.percentile([ev.lateral_accel for ev in events if ev.lateral_accel > 0], 90) + + CP = lr.first('carParams') + + plt.ion() + plt.clf() + plt.suptitle(f'{CP.carFingerprint} - Max lateral acceleration events') + plt.title(args.route) + plt.scatter([ev.speed for ev in events], [ev.lateral_accel for ev in events], label='max lateral accel events') + + plt.plot([0, 35], [3, 3], c='r', label='ISO 11270 - 3 m/s^2') + plt.plot([0, 35], [-3, -3], c='r') + + plt.plot([0, 35], [perc_left_accel, perc_left_accel], c='g', linestyle='--', label='90th percentile left lateral accel') + plt.plot([0, 35], [perc_right_accel, perc_right_accel], c='#ff7f0e', linestyle='--', label='90th percentile right lateral accel') + plt.text(0.4, float(perc_left_accel + 0.4), f'{perc_left_accel:.2f} m/s^2', verticalalignment='center', fontsize=12) + plt.text(0.4, float(perc_right_accel - 0.4), f'{perc_right_accel:.2f} m/s^2', verticalalignment='center', fontsize=12) + + plt.xlim(0, 35) + plt.ylim(-5, 5) + plt.xlabel('speed (m/s)') + plt.ylabel('lateral acceleration (m/s^2)') + plt.legend() + plt.show(block=True) diff --git a/selfdrive/debug/read_dtc_status.py b/selfdrive/debug/read_dtc_status.py index 56f32abf4..f9dad5357 100755 --- a/selfdrive/debug/read_dtc_status.py +++ b/selfdrive/debug/read_dtc_status.py @@ -4,7 +4,7 @@ import argparse from subprocess import check_output, CalledProcessError from opendbc.car.carlog import carlog from opendbc.car.uds import UdsClient, SESSION_TYPE, DTC_REPORT_TYPE, DTC_STATUS_MASK_TYPE, get_dtc_num_as_str, get_dtc_status_names -from opendbc.safety import Safety +from opendbc.car.structs import CarParams from panda import Panda parser = argparse.ArgumentParser(description="read DTC status") @@ -25,7 +25,7 @@ except CalledProcessError as e: raise e panda = Panda() -panda.set_safety_mode(Safety.SAFETY_ELM327) +panda.set_safety_mode(CarParams.SafetyModel.elm327) uds_client = UdsClient(panda, args.addr, bus=args.bus) print("extended diagnostic session ...") uds_client.diagnostic_session_control(SESSION_TYPE.EXTENDED_DIAGNOSTIC) diff --git a/selfdrive/debug/vw_mqb_config.py b/selfdrive/debug/vw_mqb_config.py index bc92d3a4c..7ff5774a7 100755 --- a/selfdrive/debug/vw_mqb_config.py +++ b/selfdrive/debug/vw_mqb_config.py @@ -6,7 +6,7 @@ from enum import IntEnum from opendbc.car.carlog import carlog from opendbc.car.uds import UdsClient, MessageTimeoutError, NegativeResponseError, SESSION_TYPE,\ DATA_IDENTIFIER_TYPE, ACCESS_TYPE -from opendbc.safety import Safety +from opendbc.car.structs import CarParams from panda import Panda from datetime import date @@ -39,7 +39,7 @@ if __name__ == "__main__": carlog.setLevel('DEBUG') panda = Panda() - panda.set_safety_mode(Safety.SAFETY_ELM327) + panda.set_safety_mode(CarParams.SafetyModel.elm327) bus = 1 if panda.has_obd() else 0 uds_client = UdsClient(panda, MQB_EPS_CAN_ADDR, MQB_EPS_CAN_ADDR + RX_OFFSET, bus, timeout=0.2) diff --git a/selfdrive/locationd/models/car_kf.py b/selfdrive/locationd/models/car_kf.py index 87a93cdd0..5f40f19e4 100755 --- a/selfdrive/locationd/models/car_kf.py +++ b/selfdrive/locationd/models/car_kf.py @@ -5,7 +5,7 @@ from typing import Any import numpy as np -from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY +from opendbc.car.vehicle_model import ACCELERATION_DUE_TO_GRAVITY from openpilot.selfdrive.locationd.models.constants import ObservationKind from openpilot.common.swaglog import cloudlog diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py index da2f3f20b..24bf6619c 100755 --- a/selfdrive/locationd/paramsd.py +++ b/selfdrive/locationd/paramsd.py @@ -224,17 +224,21 @@ def main(): liveParameters.posenetValid = True liveParameters.sensorValid = sensors_valid liveParameters.steerRatio = float(x[States.STEER_RATIO].item()) + liveParameters.steerRatioValid = min_sr <= liveParameters.steerRatio <= max_sr liveParameters.stiffnessFactor = float(x[States.STIFFNESS].item()) + liveParameters.stiffnessFactorValid = 0.2 <= liveParameters.stiffnessFactor <= 5.0 liveParameters.roll = float(roll) liveParameters.angleOffsetAverageDeg = float(angle_offset_average) + liveParameters.angleOffsetAverageValid = bool(avg_offset_valid) liveParameters.angleOffsetDeg = float(angle_offset) + liveParameters.angleOffsetValid = bool(total_offset_valid) liveParameters.valid = all(( - avg_offset_valid, - total_offset_valid, + liveParameters.angleOffsetAverageValid, + liveParameters.angleOffsetValid , roll_valid, roll_std < ROLL_STD_MAX, - 0.2 <= liveParameters.stiffnessFactor <= 5.0, - min_sr <= liveParameters.steerRatio <= max_sr, + liveParameters.stiffnessFactorValid, + liveParameters.steerRatioValid, )) liveParameters.steerRatioStd = float(P[States.STEER_RATIO].item()) liveParameters.stiffnessFactorStd = float(P[States.STIFFNESS].item()) diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py index 986c5349f..590b6cc6f 100755 --- a/selfdrive/locationd/torqued.py +++ b/selfdrive/locationd/torqued.py @@ -4,11 +4,11 @@ from collections import deque, defaultdict import cereal.messaging as messaging from cereal import car, log +from opendbc.car.vehicle_model import ACCELERATION_DUE_TO_GRAVITY from openpilot.common.params import Params from openpilot.common.realtime import config_realtime_process, DT_MDL from openpilot.common.filter_simple import FirstOrderFilter from openpilot.common.swaglog import cloudlog -from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY from openpilot.selfdrive.locationd.helpers import PointBuckets, ParameterEstimator, PoseCalibrator, Pose HISTORY = 5 # secs @@ -167,7 +167,7 @@ class TorqueEstimator(ParameterEstimator): self.raw_points["lat_active"].append(msg.latActive) elif which == "carOutput": self.raw_points["carOutput_t"].append(t + self.lag) - self.raw_points["steer_torque"].append(-msg.actuatorsOutput.steer) + self.raw_points["steer_torque"].append(-msg.actuatorsOutput.torque) elif which == "carState": self.raw_points["carState_t"].append(t + self.lag) # TODO: check if high aEgo affects resulting lateral accel diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript index cb0ce22d8..cecebfa18 100644 --- a/selfdrive/modeld/SConscript +++ b/selfdrive/modeld/SConscript @@ -32,18 +32,22 @@ lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LI tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=env.Dir("#").abspath) if 'pycache' not in x] # Get model metadata -fn = File("models/supercombo").abspath -cmd = f'python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx' -lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files, cmd) +for model_name in ['driving_vision', 'driving_policy']: + fn = File(f"models/{model_name}").abspath + script_files = [File(Dir("#selfdrive/modeld").File("get_model_metadata.py").abspath)] + cmd = f'python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx' + lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files + script_files, cmd) # Compile tinygrad model pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"' if arch == 'larch64': device_string = 'QCOM=1' -else: +elif arch == 'Darwin': device_string = 'CLANG=1 IMAGE=0' +else: + device_string = 'LLVM=1 LLVMOPT=1 BEAM=0 IMAGE=0' -for model_name in ['supercombo', 'dmonitoring_model']: +for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']: fn = File(f"models/{model_name}").abspath cmd = f'{pythonpath_string} {device_string} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {fn}_tinygrad.pkl' lenv.Command(fn + "_tinygrad.pkl", [fn + ".onnx"] + tinygrad_files, cmd) diff --git a/selfdrive/modeld/__init__.py b/selfdrive/modeld/__init__.py index 639622e82..e69de29bb 100644 --- a/selfdrive/modeld/__init__.py +++ b/selfdrive/modeld/__init__.py @@ -1,5 +0,0 @@ -from pathlib import Path - -MODEL_PATH = Path(__file__).parent / 'models/supercombo.onnx' -MODEL_PKL_PATH = Path(__file__).parent / 'models/supercombo_tinygrad.pkl' -METADATA_PATH = Path(__file__).parent / 'models/supercombo_metadata.pkl' diff --git a/selfdrive/modeld/constants.py b/selfdrive/modeld/constants.py index cf5157591..2bb7b8100 100644 --- a/selfdrive/modeld/constants.py +++ b/selfdrive/modeld/constants.py @@ -15,7 +15,7 @@ class ModelConstants: # model inputs constants MODEL_FREQ = 20 FEATURE_LEN = 512 - FULL_HISTORY_BUFFER_LEN = 99 + FULL_HISTORY_BUFFER_LEN = 100 DESIRE_LEN = 8 TRAFFIC_CONVENTION_LEN = 2 LAT_PLANNER_STATE_LEN = 4 diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py index a20155e3e..9ebdea4c7 100755 --- a/selfdrive/modeld/dmonitoringmodeld.py +++ b/selfdrive/modeld/dmonitoringmodeld.py @@ -1,13 +1,13 @@ #!/usr/bin/env python3 import os from openpilot.system.hardware import TICI +from tinygrad.tensor import Tensor +from tinygrad.dtype import dtypes if TICI: - from tinygrad.tensor import Tensor - from tinygrad.dtype import dtypes from openpilot.selfdrive.modeld.runners.tinygrad_helpers import qcom_tensor_from_opencl_address os.environ['QCOM'] = '1' else: - from openpilot.selfdrive.modeld.runners.ort_helpers import make_onnx_cpu_runner + os.environ['LLVM'] = '1' import math import time import pickle @@ -34,7 +34,6 @@ OUTPUT_SIZE = 84 + FEATURE_LEN PROCESS_NAME = "selfdrive.modeld.dmonitoringmodeld" SEND_RAW_PRED = os.getenv('SEND_RAW_PRED') -MODEL_PATH = Path(__file__).parent / 'models/dmonitoring_model.onnx' MODEL_PKL_PATH = Path(__file__).parent / 'models/dmonitoring_model_tinygrad.pkl' @@ -78,12 +77,9 @@ class ModelState: 'calib': np.zeros((1, CALIB_LEN), dtype=np.float32), } - if TICI: - self.tensor_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()} - with open(MODEL_PKL_PATH, "rb") as f: - self.model_run = pickle.load(f) - else: - self.onnx_cpu_runner = make_onnx_cpu_runner(MODEL_PATH) + self.tensor_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()} + with open(MODEL_PKL_PATH, "rb") as f: + self.model_run = pickle.load(f) def run(self, buf: VisionBuf, calib: np.ndarray, transform: np.ndarray) -> tuple[np.ndarray, float]: self.numpy_inputs['calib'][0,:] = calib @@ -96,12 +92,10 @@ class ModelState: if 'input_img' not in self.tensor_inputs: self.tensor_inputs['input_img'] = qcom_tensor_from_opencl_address(input_img_cl.mem_address, (1, MODEL_WIDTH*MODEL_HEIGHT), dtype=dtypes.uint8) else: - self.numpy_inputs['input_img'] = self.frame.buffer_from_cl(input_img_cl).reshape((1, MODEL_WIDTH*MODEL_HEIGHT)) + self.tensor_inputs['input_img'] = Tensor(self.frame.buffer_from_cl(input_img_cl).reshape((1, MODEL_WIDTH*MODEL_HEIGHT)), dtype=dtypes.uint8).realize() - if TICI: - output = self.model_run(**self.tensor_inputs).numpy().flatten() - else: - output = self.onnx_cpu_runner.run(None, self.numpy_inputs)[0].flatten() + + output = self.model_run(**self.tensor_inputs).numpy().flatten() t2 = time.perf_counter() return output, t2 - t1 diff --git a/selfdrive/modeld/fill_model_msg.py b/selfdrive/modeld/fill_model_msg.py index 753ac89c7..a254d6a06 100644 --- a/selfdrive/modeld/fill_model_msg.py +++ b/selfdrive/modeld/fill_model_msg.py @@ -2,33 +2,13 @@ import os import capnp import numpy as np from cereal import log -from openpilot.selfdrive.modeld.constants import ModelConstants, Plan -from openpilot.selfdrive.controls.lib.drive_helpers import MIN_SPEED +from openpilot.selfdrive.modeld.constants import ModelConstants, Plan, Meta SEND_RAW_PRED = os.getenv('SEND_RAW_PRED') ConfidenceClass = log.ModelDataV2.ConfidenceClass -def curv_from_psis(psi_target, psi_rate, vego, delay): - vego = np.clip(vego, MIN_SPEED, np.inf) - curv_from_psi = psi_target / (vego * delay) # epsilon to prevent divide-by-zero - return 2 * curv_from_psi - psi_rate / vego - - -def get_curvature_from_plan(plan, vego, delay): - psi_target = np.interp(delay, ModelConstants.T_IDXS, plan[:, Plan.T_FROM_CURRENT_EULER][:, 2]) - psi_rate = plan[:, Plan.ORIENTATION_RATE][0, 2] - return curv_from_psis(psi_target, psi_rate, vego, delay) - - -def get_curvature_from_output(output, vego, delay): - if desired_curv := output.get('desired_curvature'): # If the model outputs the desired curvature, use that directly - return float(desired_curv[0, 0]) - - return float(get_curvature_from_plan(output['plan'][0], vego, delay)) - - class PublishState: def __init__(self): self.disengage_buffer = np.zeros(ModelConstants.CONFIDENCE_BUFFER_LEN*ModelConstants.DISENGAGE_WIDTH, dtype=np.float32) @@ -79,21 +59,19 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D net_output_data: dict[str, np.ndarray], v_ego: float, delay: float, publish_state: PublishState, vipc_frame_id: int, vipc_frame_id_extra: int, frame_id: int, frame_drop: float, timestamp_eof: int, model_execution_time: float, - valid: bool, model_meta) -> None: + valid: bool) -> None: frame_age = frame_id - vipc_frame_id if frame_id > vipc_frame_id else 0 frame_drop_perc = frame_drop * 100 extended_msg.valid = valid base_msg.valid = valid - desired_curvature = float(get_curvature_from_output(net_output_data, v_ego, delay)) - driving_model_data = base_msg.drivingModelData driving_model_data.frameId = vipc_frame_id driving_model_data.frameIdExtra = vipc_frame_id_extra driving_model_data.frameDropPerc = frame_drop_perc driving_model_data.modelExecutionTime = model_execution_time - driving_model_data.action.desiredCurvature = desired_curvature + driving_model_data.action.desiredCurvature = float(net_output_data['desired_curvature'][0,0]) modelV2 = extended_msg.modelV2 modelV2.frameId = vipc_frame_id @@ -128,7 +106,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D fill_xyz_poly(driving_model_data.path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T) # lateral planning - modelV2.action.desiredCurvature = desired_curvature + modelV2.action.desiredCurvature = float(net_output_data['desired_curvature'][0,0]) # times at X_IDXS according to model plan PLAN_T_IDXS = [np.nan] * ModelConstants.IDX_N @@ -178,25 +156,23 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D meta = modelV2.meta meta.desireState = net_output_data['desire_state'][0].reshape(-1).tolist() meta.desirePrediction = net_output_data['desire_pred'][0].reshape(-1).tolist() - meta.engagedProb = net_output_data['meta'][0,model_meta.ENGAGED].item() + meta.engagedProb = net_output_data['meta'][0,Meta.ENGAGED].item() meta.init('disengagePredictions') disengage_predictions = meta.disengagePredictions disengage_predictions.t = ModelConstants.META_T_IDXS - disengage_predictions.brakeDisengageProbs = net_output_data['meta'][0,model_meta.BRAKE_DISENGAGE].tolist() - disengage_predictions.gasDisengageProbs = net_output_data['meta'][0,model_meta.GAS_DISENGAGE].tolist() - disengage_predictions.steerOverrideProbs = net_output_data['meta'][0,model_meta.STEER_OVERRIDE].tolist() - disengage_predictions.brake3MetersPerSecondSquaredProbs = net_output_data['meta'][0,model_meta.HARD_BRAKE_3].tolist() - disengage_predictions.brake4MetersPerSecondSquaredProbs = net_output_data['meta'][0,model_meta.HARD_BRAKE_4].tolist() - disengage_predictions.brake5MetersPerSecondSquaredProbs = net_output_data['meta'][0,model_meta.HARD_BRAKE_5].tolist() - - if hasattr(model_meta, 'GAS_PRESS') and hasattr(model_meta, 'BRAKE_PRESS'): - disengage_predictions.gasPressProbs = net_output_data['meta'][0,model_meta.GAS_PRESS].tolist() - disengage_predictions.brakePressProbs = net_output_data['meta'][0,model_meta.BRAKE_PRESS].tolist() + disengage_predictions.brakeDisengageProbs = net_output_data['meta'][0,Meta.BRAKE_DISENGAGE].tolist() + disengage_predictions.gasDisengageProbs = net_output_data['meta'][0,Meta.GAS_DISENGAGE].tolist() + disengage_predictions.steerOverrideProbs = net_output_data['meta'][0,Meta.STEER_OVERRIDE].tolist() + disengage_predictions.brake3MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_3].tolist() + disengage_predictions.brake4MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_4].tolist() + disengage_predictions.brake5MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_5].tolist() + disengage_predictions.gasPressProbs = net_output_data['meta'][0,Meta.GAS_PRESS].tolist() + disengage_predictions.brakePressProbs = net_output_data['meta'][0,Meta.BRAKE_PRESS].tolist() publish_state.prev_brake_5ms2_probs[:-1] = publish_state.prev_brake_5ms2_probs[1:] - publish_state.prev_brake_5ms2_probs[-1] = net_output_data['meta'][0,model_meta.HARD_BRAKE_5][0] + publish_state.prev_brake_5ms2_probs[-1] = net_output_data['meta'][0,Meta.HARD_BRAKE_5][0] publish_state.prev_brake_3ms2_probs[:-1] = publish_state.prev_brake_3ms2_probs[1:] - publish_state.prev_brake_3ms2_probs[-1] = net_output_data['meta'][0,model_meta.HARD_BRAKE_3][0] + publish_state.prev_brake_3ms2_probs[-1] = net_output_data['meta'][0,Meta.HARD_BRAKE_3][0] hard_brake_predicted = (publish_state.prev_brake_5ms2_probs > ModelConstants.FCW_THRESHOLDS_5MS2).all() and \ (publish_state.prev_brake_3ms2_probs > ModelConstants.FCW_THRESHOLDS_3MS2).all() meta.hardBrakePredicted = hard_brake_predicted.item() @@ -204,9 +180,9 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D # confidence if vipc_frame_id % (2*ModelConstants.MODEL_FREQ) == 0: # any disengage prob - brake_disengage_probs = net_output_data['meta'][0,model_meta.BRAKE_DISENGAGE] - gas_disengage_probs = net_output_data['meta'][0,model_meta.GAS_DISENGAGE] - steer_override_probs = net_output_data['meta'][0,model_meta.STEER_OVERRIDE] + brake_disengage_probs = net_output_data['meta'][0,Meta.BRAKE_DISENGAGE] + gas_disengage_probs = net_output_data['meta'][0,Meta.GAS_DISENGAGE] + steer_override_probs = net_output_data['meta'][0,Meta.STEER_OVERRIDE] any_disengage_probs = 1-((1-brake_disengage_probs)*(1-gas_disengage_probs)*(1-steer_override_probs)) # independent disengage prob for each 2s slice ind_disengage_probs = np.r_[any_disengage_probs[0], np.diff(any_disengage_probs) / (1 - any_disengage_probs[:-1])] diff --git a/selfdrive/modeld/get_model_metadata.py b/selfdrive/modeld/get_model_metadata.py index 144860204..2001d23d7 100755 --- a/selfdrive/modeld/get_model_metadata.py +++ b/selfdrive/modeld/get_model_metadata.py @@ -4,22 +4,31 @@ import pathlib import onnx import codecs import pickle +from typing import Any def get_name_and_shape(value_info:onnx.ValueInfoProto) -> tuple[str, tuple[int,...]]: shape = tuple([int(dim.dim_value) for dim in value_info.type.tensor_type.shape.dim]) name = value_info.name return name, shape +def get_metadata_value_by_name(model:onnx.ModelProto, name:str) -> str | Any: + for prop in model.metadata_props: + if prop.key == name: + return prop.value + return None + if __name__ == "__main__": model_path = pathlib.Path(sys.argv[1]) model = onnx.load(str(model_path)) - i = [x.key for x in model.metadata_props].index('output_slices') - output_slices = model.metadata_props[i].value + output_slices = get_metadata_value_by_name(model, 'output_slices') + assert output_slices is not None, 'output_slices not found in metadata' - metadata = {} - metadata['output_slices'] = pickle.loads(codecs.decode(output_slices.encode(), "base64")) - metadata['input_shapes'] = dict([get_name_and_shape(x) for x in model.graph.input]) - metadata['output_shapes'] = dict([get_name_and_shape(x) for x in model.graph.output]) + metadata = { + 'model_checkpoint': get_metadata_value_by_name(model, 'model_checkpoint'), + 'output_slices': pickle.loads(codecs.decode(output_slices.encode(), "base64")), + 'input_shapes': dict([get_name_and_shape(x) for x in model.graph.input]), + 'output_shapes': dict([get_name_and_shape(x) for x in model.graph.output]) + } metadata_path = model_path.parent / (model_path.stem + '_metadata.pkl') with open(metadata_path, 'wb') as f: diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 9cbe847ab..ee825d158 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -1,11 +1,19 @@ #!/usr/bin/env python3 +import os from openpilot.system.hardware import TICI - -# +from tinygrad.tensor import Tensor +from tinygrad.dtype import dtypes +if TICI: + from openpilot.selfdrive.modeld.runners.tinygrad_helpers import qcom_tensor_from_opencl_address + os.environ['QCOM'] = '1' +else: + os.environ['LLVM'] = '1' import time +import pickle import numpy as np import cereal.messaging as messaging from cereal import car, log +from pathlib import Path from setproctitle import setproctitle from cereal.messaging import PubMaster, SubMaster from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf @@ -23,11 +31,14 @@ from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_ from openpilot.selfdrive.modeld.constants import ModelConstants from openpilot.selfdrive.modeld.models.commonmodel_pyx import DrivingModelFrame, CLContext -from openpilot.sunnypilot.modeld_v2.meta_helper import load_meta_constants -from openpilot.sunnypilot.modeld_v2.model_runner import ONNXRunner, TinygradRunner PROCESS_NAME = "selfdrive.modeld.modeld" +SEND_RAW_PRED = os.getenv('SEND_RAW_PRED') +VISION_PKL_PATH = Path(__file__).parent / 'models/driving_vision_tinygrad.pkl' +POLICY_PKL_PATH = Path(__file__).parent / 'models/driving_policy_tinygrad.pkl' +VISION_METADATA_PATH = Path(__file__).parent / 'models/driving_vision_metadata.pkl' +POLICY_METADATA_PATH = Path(__file__).parent / 'models/driving_policy_metadata.pkl' class FrameMeta: frame_id: int = 0 @@ -45,35 +56,46 @@ class ModelState: prev_desire: np.ndarray # for tracking the rising edge of the pulse def __init__(self, context: CLContext): - try: - self.model_runner = TinygradRunner() if TICI else ONNXRunner() - except Exception as e: - cloudlog.exception(f"Failed to initialize model runner: {str(e)}") - - buffer_length = 5 if self.model_runner.is_20hz else 2 - self.frames = {'input_imgs': DrivingModelFrame(context, buffer_length), 'big_input_imgs': DrivingModelFrame(context, buffer_length)} + self.frames = {'input_imgs': DrivingModelFrame(context), 'big_input_imgs': DrivingModelFrame(context)} self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32) - if self.model_runner.is_20hz: - self.full_features_20Hz = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.FEATURE_LEN), dtype=np.float32) - self.desire_20Hz = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN + 1, ModelConstants.DESIRE_LEN), dtype=np.float32) + + # policy inputs + self.numpy_inputs = { + 'desire': np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.DESIRE_LEN), dtype=np.float32), + 'traffic_convention': np.zeros((1, ModelConstants.TRAFFIC_CONVENTION_LEN), dtype=np.float32), + 'lateral_control_params': np.zeros((1, ModelConstants.LATERAL_CONTROL_PARAMS_LEN), dtype=np.float32), + 'prev_desired_curv': np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32), + 'features_buffer': np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.FEATURE_LEN), dtype=np.float32), + } + + with open(VISION_METADATA_PATH, 'rb') as f: + vision_metadata = pickle.load(f) + self.vision_input_shapes = vision_metadata['input_shapes'] + self.vision_output_slices = vision_metadata['output_slices'] + vision_output_size = vision_metadata['output_shapes']['outputs'][1] + + with open(POLICY_METADATA_PATH, 'rb') as f: + policy_metadata = pickle.load(f) + self.policy_input_shapes = policy_metadata['input_shapes'] + self.policy_output_slices = policy_metadata['output_slices'] + policy_output_size = policy_metadata['output_shapes']['outputs'][1] # img buffers are managed in openCL transform code - self.numpy_inputs = {} - - for key, shape in self.model_runner.input_shapes.items(): - if key not in self.frames: # Managed by opencl - self.numpy_inputs[key] = np.zeros(shape, dtype=np.float32) - + self.vision_inputs: dict[str, Tensor] = {} + self.vision_output = np.zeros(vision_output_size, dtype=np.float32) + self.policy_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()} + self.policy_output = np.zeros(policy_output_size, dtype=np.float32) self.parser = Parser() - if self.model_runner.is_20hz: - net_output_size = self.model_runner.model_metadata['output_shapes']['outputs'][1] - self.output = np.zeros(net_output_size, dtype=np.float32) + with open(VISION_PKL_PATH, "rb") as f: + self.vision_run = pickle.load(f) - num_elements = self.numpy_inputs['features_buffer'].shape[1] - step_size = int(-100 / num_elements) - self.full_features_20Hz_idxs = np.arange(step_size, step_size * (num_elements + 1), step_size)[::-1] - self.desire_reshape_dims = (self.numpy_inputs['desire'].shape[0], self.numpy_inputs['desire'].shape[1], -1, self.numpy_inputs['desire'].shape[2]) + with open(POLICY_PKL_PATH, "rb") as f: + self.policy_run = pickle.load(f) + + def slice_outputs(self, model_outputs: np.ndarray, output_slices: dict[str, slice]) -> dict[str, np.ndarray]: + parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in output_slices.items()} + return parsed_model_outputs def run(self, buf: VisionBuf, wbuf: VisionBuf, transform: np.ndarray, transform_wide: np.ndarray, inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None: @@ -82,54 +104,45 @@ class ModelState: new_desire = np.where(inputs['desire'] - self.prev_desire > .99, inputs['desire'], 0) self.prev_desire[:] = inputs['desire'] - if self.model_runner.is_20hz: - self.desire_20Hz[:-1] = self.desire_20Hz[1:] - self.desire_20Hz[-1] = new_desire - self.numpy_inputs['desire'][:] = self.desire_20Hz.reshape(self.desire_reshape_dims).max(axis=2) - else: - length = inputs['desire'].shape[0] - self.numpy_inputs['desire'][0, :-1] = self.numpy_inputs['desire'][0, 1:] - self.numpy_inputs['desire'][0, -1, :length] = new_desire[:length] - - for key in self.numpy_inputs: - if key in inputs and key not in ['desire']: - self.numpy_inputs[key][:] = inputs[key] + self.numpy_inputs['desire'][0,:-1] = self.numpy_inputs['desire'][0,1:] + self.numpy_inputs['desire'][0,-1] = new_desire + self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention'] + self.numpy_inputs['lateral_control_params'][:] = inputs['lateral_control_params'] imgs_cl = {'input_imgs': self.frames['input_imgs'].prepare(buf, transform.flatten()), 'big_input_imgs': self.frames['big_input_imgs'].prepare(wbuf, transform_wide.flatten())} - # Prepare inputs using the model runner - self.model_runner.prepare_inputs(imgs_cl, self.numpy_inputs, self.frames) + if TICI: + # The imgs tensors are backed by opencl memory, only need init once + for key in imgs_cl: + if key not in self.vision_inputs: + self.vision_inputs[key] = qcom_tensor_from_opencl_address(imgs_cl[key].mem_address, self.vision_input_shapes[key], dtype=dtypes.uint8) + else: + for key in imgs_cl: + frame_input = self.frames[key].buffer_from_cl(imgs_cl[key]).reshape(self.vision_input_shapes[key]) + self.vision_inputs[key] = Tensor(frame_input, dtype=dtypes.uint8).realize() if prepare_only: return None - # Run model inference - self.output = self.model_runner.run_model() - outputs = self.parser.parse_outputs(self.model_runner.slice_outputs(self.output)) + self.vision_output = self.vision_run(**self.vision_inputs).numpy().flatten() + vision_outputs_dict = self.parser.parse_vision_outputs(self.slice_outputs(self.vision_output, self.vision_output_slices)) - if self.model_runner.is_20hz: - self.full_features_20Hz[:-1] = self.full_features_20Hz[1:] - self.full_features_20Hz[-1] = outputs['hidden_state'][0, :] - self.numpy_inputs['features_buffer'][:] = self.full_features_20Hz[self.full_features_20Hz_idxs] - else: - feature_len = outputs['hidden_state'].shape[1] - self.numpy_inputs['features_buffer'][0, :-1] = self.numpy_inputs['features_buffer'][0, 1:] - self.numpy_inputs['features_buffer'][0, -1, :feature_len] = outputs['hidden_state'][0, :feature_len] + self.numpy_inputs['features_buffer'][0,:-1] = self.numpy_inputs['features_buffer'][0,1:] + self.numpy_inputs['features_buffer'][0,-1] = vision_outputs_dict['hidden_state'][0, :] - if "desired_curvature" in outputs: - input_name_prev = None + self.policy_output = self.policy_run(**self.policy_inputs).numpy().flatten() + policy_outputs_dict = self.parser.parse_policy_outputs(self.slice_outputs(self.policy_output, self.policy_output_slices)) - if "prev_desired_curvs" in self.numpy_inputs.keys(): - input_name_prev = 'prev_desired_curvs' - elif "prev_desired_curv" in self.numpy_inputs.keys(): - input_name_prev = 'prev_desired_curv' + # TODO model only uses last value now + self.numpy_inputs['prev_desired_curv'][0,:-1] = self.numpy_inputs['prev_desired_curv'][0,1:] + self.numpy_inputs['prev_desired_curv'][0,-1,:] = policy_outputs_dict['desired_curvature'][0, :] - if input_name_prev is not None: - length = outputs['desired_curvature'][0].size - self.numpy_inputs[input_name_prev][0, :-length, 0] = self.numpy_inputs[input_name_prev][0, length:, 0] - self.numpy_inputs[input_name_prev][0, -length:, 0] = outputs['desired_curvature'][0] - return outputs + combined_outputs_dict = {**vision_outputs_dict, **policy_outputs_dict} + if SEND_RAW_PRED: + combined_outputs_dict['raw_pred'] = np.concatenate([self.vision_output.copy(), self.policy_output.copy()]) + + return combined_outputs_dict def main(demo=False): @@ -239,6 +252,7 @@ def main(demo=False): is_rhd = sm["driverMonitoringState"].isRHD frame_id = sm["roadCameraState"].frameId v_ego = max(sm["carState"].vEgo, 0.) + lateral_control_params = np.array([v_ego, steer_delay], dtype=np.float32) if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']: device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32) dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))] @@ -269,10 +283,8 @@ def main(demo=False): inputs:dict[str, np.ndarray] = { 'desire': vec_desire, 'traffic_convention': traffic_convention, - } - - if "lateral_control_params" in model.numpy_inputs.keys(): - inputs['lateral_control_params'] = np.array([v_ego, steer_delay], dtype=np.float32) + 'lateral_control_params': lateral_control_params, + } mt1 = time.perf_counter() model_output = model.run(buf_main, buf_extra, model_transform_main, model_transform_extra, inputs, prepare_only) @@ -285,7 +297,7 @@ def main(demo=False): posenet_send = messaging.new_message('cameraOdometry') fill_model_msg(drivingdata_send, modelv2_send, model_output, v_ego, steer_delay, publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id, - frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen, load_meta_constants()) + frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen) desire_state = modelv2_send.modelV2.meta.desireState l_lane_change_prob = desire_state[log.Desire.laneChangeLeft] diff --git a/selfdrive/modeld/models/README.md b/selfdrive/modeld/models/README.md index 9e11ca825..255f28d80 100644 --- a/selfdrive/modeld/models/README.md +++ b/selfdrive/modeld/models/README.md @@ -1,8 +1,8 @@ ## Neural networks in openpilot To view the architecture of the ONNX networks, you can use [netron](https://netron.app/) -## Supercombo -### Supercombo input format (Full size: 799906 x float32) +## Driving Model (vision model + temporal policy model) +### Vision inputs (Full size: 799906 x float32) * **image stream** * Two consecutive images (256 * 512 * 3 in RGB) recorded at 20 Hz : 393216 = 2 * 6 * 128 * 256 * Each 256 * 512 image is represented in YUV420 with 6 channels : 6 * 128 * 256 @@ -15,16 +15,21 @@ To view the architecture of the ONNX networks, you can use [netron](https://netr * Channels 0,1,2,3 represent the full-res Y channel and are represented in numpy as Y[::2, ::2], Y[::2, 1::2], Y[1::2, ::2], and Y[1::2, 1::2] * Channel 4 represents the half-res U channel * Channel 5 represents the half-res V channel +### Policy inputs * **desire** * one-hot encoded buffer to command model to execute certain actions, bit needs to be sent for the past 5 seconds (at 20FPS) : 100 * 8 * **traffic convention** * one-hot encoded vector to tell model whether traffic is right-hand or left-hand traffic : 2 +* **lateral control params** + * speed and steering delay for predicting the desired curvature: 2 +* **previous desired curvatures** + * vector of previously predicted desired curvatures: 100 * 1 * **feature buffer** - * A buffer of intermediate features that gets appended to the current feature to form a 5 seconds temporal context (at 20FPS) : 99 * 512 + * a buffer of intermediate features including the current feature to form a 5 seconds temporal context (at 20FPS) : 100 * 512 -### Supercombo output format (Full size: XXX x float32) -Read [here](https://github.com/commaai/openpilot/blob/90af436a121164a51da9fa48d093c29f738adf6a/selfdrive/modeld/models/driving.h#L236) for more. +### Driving Model output format (Full size: XXX x float32) +Refer to **slice_outputs** and **parse_vision_outputs/parse_policy_outputs** in modeld. ## Driver Monitoring Model diff --git a/selfdrive/modeld/models/commonmodel.cc b/selfdrive/modeld/models/commonmodel.cc index 399836b0c..9973d1858 100644 --- a/selfdrive/modeld/models/commonmodel.cc +++ b/selfdrive/modeld/models/commonmodel.cc @@ -5,14 +5,13 @@ #include "common/clutil.h" -DrivingModelFrame::DrivingModelFrame(cl_device_id device_id, cl_context context, uint8_t buffer_length) : ModelFrame(device_id, context), buffer_length(buffer_length) { +DrivingModelFrame::DrivingModelFrame(cl_device_id device_id, cl_context context) : ModelFrame(device_id, context) { input_frames = std::make_unique(buf_size); input_frames_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buf_size, NULL, &err)); - img_buffer_20hz_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buffer_length*frame_size_bytes, NULL, &err)); - region.origin = (buffer_length - 1) * frame_size_bytes; + img_buffer_20hz_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, 2*frame_size_bytes, NULL, &err)); + region.origin = 1 * frame_size_bytes; region.size = frame_size_bytes; last_img_cl = CL_CHECK_ERR(clCreateSubBuffer(img_buffer_20hz_cl, CL_MEM_READ_WRITE, CL_BUFFER_CREATE_TYPE_REGION, ®ion, &err)); - // printf("Buffer length: %d, region origin: %lu, region size: %lu\n", buffer_length, region.origin, region.size); loadyuv_init(&loadyuv, context, device_id, MODEL_WIDTH, MODEL_HEIGHT); init_transform(device_id, context, MODEL_WIDTH, MODEL_HEIGHT); @@ -21,7 +20,7 @@ DrivingModelFrame::DrivingModelFrame(cl_device_id device_id, cl_context context, cl_mem* DrivingModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) { run_transform(yuv_cl, MODEL_WIDTH, MODEL_HEIGHT, frame_width, frame_height, frame_stride, frame_uv_offset, projection); - for (int i = 0; i < (buffer_length - 1); i++) { + for (int i = 0; i < 1; i++) { CL_CHECK(clEnqueueCopyBuffer(q, img_buffer_20hz_cl, img_buffer_20hz_cl, (i+1)*frame_size_bytes, i*frame_size_bytes, frame_size_bytes, 0, nullptr, nullptr)); } loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, last_img_cl); diff --git a/selfdrive/modeld/models/commonmodel.h b/selfdrive/modeld/models/commonmodel.h index 3b5db05c7..14409943e 100644 --- a/selfdrive/modeld/models/commonmodel.h +++ b/selfdrive/modeld/models/commonmodel.h @@ -64,7 +64,7 @@ protected: class DrivingModelFrame : public ModelFrame { public: - DrivingModelFrame(cl_device_id device_id, cl_context context, uint8_t buffer_length); + DrivingModelFrame(cl_device_id device_id, cl_context context); ~DrivingModelFrame(); cl_mem* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection); @@ -73,7 +73,6 @@ public: const int MODEL_FRAME_SIZE = MODEL_WIDTH * MODEL_HEIGHT * 3 / 2; const int buf_size = MODEL_FRAME_SIZE * 2; const size_t frame_size_bytes = MODEL_FRAME_SIZE * sizeof(uint8_t); - const uint8_t buffer_length; private: LoadYUVState loadyuv; diff --git a/selfdrive/modeld/models/commonmodel.pxd b/selfdrive/modeld/models/commonmodel.pxd index f640597b8..b4f08b12a 100644 --- a/selfdrive/modeld/models/commonmodel.pxd +++ b/selfdrive/modeld/models/commonmodel.pxd @@ -20,7 +20,7 @@ cdef extern from "selfdrive/modeld/models/commonmodel.h": cppclass DrivingModelFrame: int buf_size - DrivingModelFrame(cl_device_id, cl_context, unsigned char) + DrivingModelFrame(cl_device_id, cl_context) cppclass MonitoringModelFrame: int buf_size diff --git a/selfdrive/modeld/models/commonmodel_pyx.pyx b/selfdrive/modeld/models/commonmodel_pyx.pyx index 78a891f03..7b3a5bb34 100644 --- a/selfdrive/modeld/models/commonmodel_pyx.pyx +++ b/selfdrive/modeld/models/commonmodel_pyx.pyx @@ -4,7 +4,7 @@ import numpy as np cimport numpy as cnp from libc.string cimport memcpy -from libc.stdint cimport uintptr_t, uint8_t +from libc.stdint cimport uintptr_t from msgq.visionipc.visionipc cimport cl_mem from msgq.visionipc.visionipc_pyx cimport VisionBuf, CLContext as BaseCLContext @@ -59,8 +59,8 @@ cdef class ModelFrame: cdef class DrivingModelFrame(ModelFrame): cdef cppDrivingModelFrame * _frame - def __cinit__(self, CLContext context, int buffer_length=2): - self._frame = new cppDrivingModelFrame(context.device_id, context.context, buffer_length) + def __cinit__(self, CLContext context): + self._frame = new cppDrivingModelFrame(context.device_id, context.context) self.frame = (self._frame) self.buf_size = self._frame.buf_size diff --git a/selfdrive/modeld/models/driving_policy.onnx b/selfdrive/modeld/models/driving_policy.onnx new file mode 100644 index 000000000..f804b4ec3 --- /dev/null +++ b/selfdrive/modeld/models/driving_policy.onnx @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5cae3285c876804e649b14adadcfb8be79a9bd5a1b928113e37f1f08e25e9688 +size 16581121 diff --git a/selfdrive/modeld/models/driving_vision.onnx b/selfdrive/modeld/models/driving_vision.onnx new file mode 100644 index 000000000..06c87d875 --- /dev/null +++ b/selfdrive/modeld/models/driving_vision.onnx @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:29bbf79f9dfd7048c0013bb81e86d9b2979275b95ea1ed8a86d1a86a88695240 +size 34882971 diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx deleted file mode 100644 index 4c9f79557..000000000 --- a/selfdrive/modeld/models/supercombo.onnx +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:d21daa542227ecc5972da45df4e26f018ba113c0461f270e367d57e3ad89221a -size 51461700 diff --git a/selfdrive/modeld/parse_model_outputs.py b/selfdrive/modeld/parse_model_outputs.py index d3c090649..810c44ccb 100644 --- a/selfdrive/modeld/parse_model_outputs.py +++ b/selfdrive/modeld/parse_model_outputs.py @@ -84,24 +84,32 @@ class Parser: outs[name] = pred_mu_final.reshape(final_shape) outs[name + '_stds'] = pred_std_final.reshape(final_shape) - def parse_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]: + def parse_vision_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]: + self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,)) + self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,)) + self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,)) + self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH)) + self.parse_binary_crossentropy('meta', outs) + return outs + + def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]: self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION, out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH)) self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH)) self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH)) - self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,)) - self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,)) - if 'sim_pose' in outs: - self.parse_mdn('sim_pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,)) - self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,)) + self.parse_mdn('sim_pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,)) self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION, out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH)) if 'lat_planner_solution' in outs: self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N,ModelConstants.LAT_PLANNER_SOLUTION_WIDTH)) if 'desired_curvature' in outs: self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,)) - for k in ['lead_prob', 'lane_lines_prob', 'meta']: + for k in ['lead_prob', 'lane_lines_prob']: self.parse_binary_crossentropy(k, outs) self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,)) - self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH)) + return outs + + def parse_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]: + outs = self.parse_vision_outputs(outs) + outs = self.parse_policy_outputs(outs) return outs diff --git a/selfdrive/modeld/runners/ort_helpers.py b/selfdrive/modeld/runners/ort_helpers.py deleted file mode 100644 index 26afb0356..000000000 --- a/selfdrive/modeld/runners/ort_helpers.py +++ /dev/null @@ -1,36 +0,0 @@ -import onnx -import onnxruntime as ort -import numpy as np -import itertools - -ORT_TYPES_TO_NP_TYPES = {'tensor(float16)': np.float16, 'tensor(float)': np.float32, 'tensor(uint8)': np.uint8} - -def attributeproto_fp16_to_fp32(attr): - float32_list = np.frombuffer(attr.raw_data, dtype=np.float16) - attr.data_type = 1 - attr.raw_data = float32_list.astype(np.float32).tobytes() - -def convert_fp16_to_fp32(model): - for i in model.graph.initializer: - if i.data_type == 10: - attributeproto_fp16_to_fp32(i) - for i in itertools.chain(model.graph.input, model.graph.output): - if i.type.tensor_type.elem_type == 10: - i.type.tensor_type.elem_type = 1 - for i in model.graph.node: - if i.op_type == 'Cast' and i.attribute[0].i == 10: - i.attribute[0].i = 1 - for a in i.attribute: - if hasattr(a, 't'): - if a.t.data_type == 10: - attributeproto_fp16_to_fp32(a.t) - return model.SerializeToString() - - -def make_onnx_cpu_runner(model_path): - options = ort.SessionOptions() - options.intra_op_num_threads = 4 - options.execution_mode = ort.ExecutionMode.ORT_SEQUENTIAL - options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_ENABLE_ALL - model_data = convert_fp16_to_fp32(onnx.load(model_path)) - return ort.InferenceSession(model_data, options, providers=['CPUExecutionProvider']) diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py index f0194ef9f..f93cbaa74 100755 --- a/selfdrive/selfdrived/events.py +++ b/selfdrive/selfdrived/events.py @@ -132,6 +132,24 @@ def calibration_invalid_alert(CP: car.CarParams, CS: car.CarState, sm: messaging return NormalPermanentAlert("Calibration Invalid", angles) +def paramsd_invalid_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert: + if not sm['liveParameters'].angleOffsetValid: + angle_offset_deg = sm['liveParameters'].angleOffsetDeg + title = "Steering misalignment detected" + text = f"Angle offset too high (Offset: {angle_offset_deg:.1f}°)" + elif not sm['liveParameters'].steerRatioValid: + steer_ratio = sm['liveParameters'].steerRatio + title = "Steer ratio mismatch" + text = f"Steering rack geometry may be off (Ratio: {steer_ratio:.1f})" + elif not sm['liveParameters'].stiffnessFactorValid: + stiffness_factor = sm['liveParameters'].stiffnessFactor + title = "Abnormal tire stiffness" + text = f"Check tires, pressure, or alignment (Factor: {stiffness_factor:.1f})" + else: + return NoEntryAlert("paramsd Temporary Error") + + return NoEntryAlert(alert_text_1=title, alert_text_2=text) + def overheat_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert: cpu = max(sm['deviceState'].cpuTempC, default=0.) gpu = max(sm['deviceState'].gpuTempC, default=0.) @@ -161,7 +179,7 @@ def wrong_car_mode_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubM def joystick_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert: gb = sm['carControl'].actuators.accel / 4. - steer = sm['carControl'].actuators.steer + steer = sm['carControl'].actuators.torque vals = f"Gas: {round(gb * 100.)}%, Steer: {round(steer * 100.)}%" return NormalPermanentAlert("Joystick Mode", vals) @@ -444,7 +462,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = { # This alert is thrown when any of these values exceed a sanity check. This can be caused by # bad alignment or bad sensor data. If this happens consistently consider creating an issue on GitHub EventName.paramsdTemporaryError: { - ET.NO_ENTRY: NoEntryAlert("paramsd Temporary Error"), + ET.NO_ENTRY: paramsd_invalid_alert, ET.SOFT_DISABLE: soft_disable_alert("paramsd Temporary Error"), }, diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py index fbe891abe..061da31de 100644 --- a/selfdrive/test/process_replay/migration.py +++ b/selfdrive/test/process_replay/migration.py @@ -269,12 +269,12 @@ def migrate_carOutput(msgs): def migrate_pandaStates(msgs): # TODO: safety param migration should be handled automatically safety_param_migration = { - "TOYOTA_PRIUS": EPS_SCALE["TOYOTA_PRIUS"] | ToyotaSafetyFlags.FLAG_TOYOTA_STOCK_LONGITUDINAL, - "TOYOTA_RAV4": EPS_SCALE["TOYOTA_RAV4"] | ToyotaSafetyFlags.FLAG_TOYOTA_ALT_BRAKE, - "KIA_EV6": HyundaiSafetyFlags.FLAG_HYUNDAI_EV_GAS | HyundaiSafetyFlags.FLAG_HYUNDAI_CANFD_HDA2, + "TOYOTA_PRIUS": EPS_SCALE["TOYOTA_PRIUS"] | ToyotaSafetyFlags.STOCK_LONGITUDINAL, + "TOYOTA_RAV4": EPS_SCALE["TOYOTA_RAV4"] | ToyotaSafetyFlags.ALT_BRAKE, + "KIA_EV6": HyundaiSafetyFlags.EV_GAS | HyundaiSafetyFlags.CANFD_LKA_STEERING, } # TODO: get new Ford route - safety_param_migration |= {car: FordSafetyFlags.FLAG_FORD_LONG_CONTROL for car in (set(FORD) - FORD.with_flags(FordFlags.CANFD))} + safety_param_migration |= {car: FordSafetyFlags.LONG_CONTROL for car in (set(FORD) - FORD.with_flags(FordFlags.CANFD))} # Migrate safety param base on carParams CP = next((m.carParams for _, m in msgs if m.which() == 'carParams'), None) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 65120c58b..3c63f0030 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -a0a1635c552b2909fe808726ca0cd9201fcaea6a \ No newline at end of file +d343af55506b14a4011bfe43b2a49c7e3c387d75 \ No newline at end of file diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index 0792449fc..2c4ed4996 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -36,6 +36,7 @@ source_segments = [ ("VOLKSWAGEN", "de9592456ad7d144|2021-06-29--11-00-15--6"), # VOLKSWAGEN.VOLKSWAGEN_GOLF ("MAZDA", "bd6a637565e91581|2021-10-30--15-14-53--4"), # MAZDA.MAZDA_CX9_2021 ("FORD", "54827bf84c38b14f|2023-01-26--21-59-07--4"), # FORD.FORD_BRONCO_SPORT_MK1 + ("RIVIAN", "bc095dc92e101734|000000db--ee9fe46e57--1"), # RIVIAN.RIVIAN_R1_GEN1 # Enable when port is tested and dashcamOnly is no longer set #("VOLKSWAGEN2", "3cfdec54aa035f3f|2022-07-19--23-45-10--2"), # VOLKSWAGEN.VOLKSWAGEN_PASSAT_NMS @@ -59,10 +60,11 @@ segments = [ ("VOLKSWAGEN", "regenED976DEB757|2024-08-30--03-18-02--0"), ("MAZDA", "regenACF84CCF482|2024-08-30--03-21-55--0"), ("FORD", "regen756F8230C21|2024-11-07--00-08-24--0"), + ("RIVIAN", "bc095dc92e101734|000000db--ee9fe46e57--1"), ] # dashcamOnly makes don't need to be tested until a full port is done -excluded_interfaces = ["mock", "tesla"] +excluded_interfaces = ["mock", "tesla", "rivian"] BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/" REF_COMMIT_FN = os.path.join(PROC_REPLAY_DIR, "ref_commit") diff --git a/selfdrive/test/setup_device_ci.sh b/selfdrive/test/setup_device_ci.sh index 238af373f..69555b19f 100755 --- a/selfdrive/test/setup_device_ci.sh +++ b/selfdrive/test/setup_device_ci.sh @@ -97,7 +97,7 @@ unsafe_checkout() {( set -e git fetch --no-tags --no-recurse-submodules -j8 --verbose --depth 1 origin $GIT_COMMIT git checkout --force --no-recurse-submodules $GIT_COMMIT git reset --hard $GIT_COMMIT - git clean -df + git clean -dff git submodule sync git submodule foreach --recursive "git reset --hard && git clean -df" git submodule update --init --recursive diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index af2b4fc6e..23d168777 100644 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -119,7 +119,6 @@ class TestOnroad: if "DEBUG" in os.environ: segs = filter(lambda x: os.path.exists(os.path.join(x, "rlog.zst")), Path(Paths.log_root()).iterdir()) segs = sorted(segs, key=lambda x: x.stat().st_mtime) - print(segs[-3]) cls.lr = list(LogReader(os.path.join(segs[-3], "rlog.zst"))) return @@ -186,7 +185,6 @@ class TestOnroad: for m in cls.lr: cls.msgs[m.which()].append(m) - def test_service_frequencies(self, subtests): for s, msgs in self.msgs.items(): if s in ('initData', 'sentinel'): @@ -315,6 +313,7 @@ class TestOnroad: assert self.gpu_procs == {"weston", "ui", "camerad", "selfdrive.modeld.modeld", "selfdrive.modeld.dmonitoringmodeld"} def test_camera_frame_timings(self, subtests): + # test timing within a single camera result = "\n" result += "------------------------------------------------\n" result += "----------------- SOF Timing ------------------\n" @@ -331,6 +330,43 @@ class TestOnroad: result += "------------------------------------------------\n" print(result) + def test_camera_sync(self, subtests): + cam_states = ['roadCameraState', 'wideRoadCameraState', 'driverCameraState'] + encode_cams = ['roadEncodeIdx', 'wideRoadEncodeIdx', 'driverEncodeIdx'] + for cams in (cam_states, encode_cams): + with subtests.test(cams=cams): + # sanity checks within a single cam + for cam in cams: + with subtests.test(test="frame_skips", camera=cam): + cam_log = [getattr(x, x.which()) for x in self.msgs[cam]] + assert set(np.diff([x.frameId for x in cam_log])) == {1, }, "Frame ID skips" + + # EOF > SOF + eof_sof_diff = np.array([x.timestampEof - x.timestampSof for x in cam_log]) + assert np.all(eof_sof_diff > 0) + assert np.all(eof_sof_diff < 50*1e6) + + fid = {c: [getattr(m, m.which()).frameId for m in self.msgs[c]] for c in cams} + first_fid = [min(x) for x in fid.values()] + if cam.endswith('CameraState'): + # camerad guarantees that all cams start on frame ID 0 + # (note loggerd also needs to start up fast enough to catch it) + assert set(first_fid) == {0, }, "Cameras don't start on frame ID 0" + else: + # encoder guarantees all cams start on the same frame ID + assert len(set(first_fid)) == 1, "Cameras don't start on same frame ID" + + # we don't do a full segment rotation, so these might not match exactly + last_fid = [max(x) for x in fid.values()] + assert max(last_fid) - min(last_fid) < 10 + + start, end = min(first_fid), min(last_fid) + all_ts = [[getattr(m, m.which()).timestampSof for m in self.msgs[c]] for c in cams] + for i in range(end-start): + ts = [round(x[i]/1e6, 1) for x in all_ts] + diff = max(ts) - min(ts) + assert diff < 2, f"Cameras not synced properly: frame_id={start+i}, {diff=:.1f}ms, {ts=}" + def test_mpc_execution_timings(self): result = "\n" result += "------------------------------------------------\n" @@ -348,7 +384,7 @@ class TestOnroad: result += "------------------------------------------------\n" print(result) - def test_model_execution_timings(self): + def test_model_execution_timings(self, subtests): result = "\n" result += "------------------------------------------------\n" result += "----------------- Model Timing -----------------\n" @@ -361,11 +397,12 @@ class TestOnroad: ts = [getattr(m, s).modelExecutionTime for m in self.msgs[s]] # TODO some init can happen in first iteration ts = ts[1:] - assert max(ts) < instant_max, f"high '{s}' execution time: {max(ts)}" - assert np.mean(ts) < avg_max, f"high avg '{s}' execution time: {np.mean(ts)}" result += f"'{s}' execution time: min {min(ts):.5f}s\n" result += f"'{s}' execution time: max {max(ts):.5f}s\n" result += f"'{s}' execution time: mean {np.mean(ts):.5f}s\n" + with subtests.test(s): + assert max(ts) < instant_max, f"high '{s}' execution time: {max(ts)}" + assert np.mean(ts) < avg_max, f"high avg '{s}' execution time: {np.mean(ts)}" result += "------------------------------------------------\n" print(result) diff --git a/selfdrive/test/test_time_to_onroad.py b/selfdrive/test/test_time_to_onroad.py deleted file mode 100644 index e68386bb5..000000000 --- a/selfdrive/test/test_time_to_onroad.py +++ /dev/null @@ -1,57 +0,0 @@ -import os -import pytest -import time -import subprocess - -from cereal import log -import cereal.messaging as messaging -from openpilot.common.basedir import BASEDIR -from openpilot.common.timeout import Timeout -from openpilot.selfdrive.test.helpers import set_params_enabled - -EventName = log.OnroadEvent.EventName - - -@pytest.mark.tici -def test_time_to_onroad(): - # launch - set_params_enabled() - manager_path = os.path.join(BASEDIR, "system/manager/manager.py") - proc = subprocess.Popen(["python", manager_path]) - - start_time = time.monotonic() - sm = messaging.SubMaster(['selfdriveState', 'deviceState', 'onroadEvents']) - try: - # wait for onroad. timeout assumes panda is up to date - with Timeout(10, "timed out waiting to go onroad"): - while not sm['deviceState'].started: - sm.update(100) - - # wait for engageability - try: - with Timeout(10, "timed out waiting for engageable"): - initialized = False - while True: - sm.update(100) - - if sm.seen['onroadEvents'] and not any(EventName.selfdriveInitializing == e.name for e in sm['onroadEvents']): - initialized = True - - if initialized: - sm.update(100) - assert sm['selfdriveState'].engageable, f"events: {sm['onroadEvents']}" - break - finally: - print(f"onroad events: {sm['onroadEvents']}") - print(f"engageable after {time.monotonic() - start_time:.2f}s") - - # once we're enageable, must stay for the next few seconds - st = time.monotonic() - while (time.monotonic() - st) < 10.: - sm.update(100) - assert sm.all_alive(), sm.alive - assert sm['selfdriveState'].engageable, f"events: {sm['onroadEvents']}" - finally: - proc.terminate() - if proc.wait(20) is None: - proc.kill() diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript index 5acd2f9f3..12b1b023f 100644 --- a/selfdrive/ui/SConscript +++ b/selfdrive/ui/SConscript @@ -36,7 +36,7 @@ qt_libs = [widgets, qt_util] + base_libs qt_src = ["main.cc", "ui.cc", "qt/sidebar.cc", "qt/body.cc", "qt/window.cc", "qt/home.cc", "qt/offroad/settings.cc", "qt/offroad/offroad_home.cc", "qt/offroad/software_settings.cc", "qt/offroad/developer_panel.cc", "qt/offroad/onboarding.cc", - "qt/offroad/driverview.cc", "qt/offroad/experimental_mode.cc", + "qt/offroad/driverview.cc", "qt/offroad/experimental_mode.cc", "qt/offroad/firehose.cc", "qt/onroad/onroad_home.cc", "qt/onroad/annotated_camera.cc", "qt/onroad/model.cc", "qt/onroad/buttons.cc", "qt/onroad/alerts.cc", "qt/onroad/driver_monitoring.cc", "qt/onroad/hud.cc"] + sp_qt_src diff --git a/selfdrive/ui/qt/offroad/firehose.cc b/selfdrive/ui/qt/offroad/firehose.cc new file mode 100644 index 000000000..ef542535a --- /dev/null +++ b/selfdrive/ui/qt/offroad/firehose.cc @@ -0,0 +1,104 @@ +#include "selfdrive/ui/qt/offroad/firehose.h" + +#include +#include +#include +#include +#include +#include +#include +#include + +FirehosePanel::FirehosePanel(SettingsWindow *parent) : QWidget((QWidget*)parent) { + layout = new QVBoxLayout(this); + layout->setContentsMargins(40, 40, 40, 40); + layout->setSpacing(20); + + // header + QLabel *title = new QLabel(tr("🔥 Firehose Mode 🔥")); + title->setStyleSheet("font-size: 100px; font-weight: 500; font-family: 'Noto Color Emoji';"); + layout->addWidget(title, 0, Qt::AlignCenter); + + // Create a container for the content + QFrame *content = new QFrame(); + content->setStyleSheet("background-color: #292929; border-radius: 15px; padding: 20px;"); + QVBoxLayout *content_layout = new QVBoxLayout(content); + content_layout->setSpacing(20); + + // Top description + QLabel *description = new QLabel(tr("openpilot learns to drive by watching humans, like you, drive.\n\nFirehose Mode allows you to maximize your training data uploads to improve openpilot's driving models. More data means bigger models with better Experimental Mode.")); + description->setStyleSheet("font-size: 45px; padding-bottom: 20px;"); + description->setWordWrap(true); + content_layout->addWidget(description); + + // Add a separator + QFrame *line = new QFrame(); + line->setFrameShape(QFrame::HLine); + line->setFrameShadow(QFrame::Sunken); + line->setStyleSheet("background-color: #444444; margin-top: 5px; margin-bottom: 5px;"); + content_layout->addWidget(line); + + enable_firehose = new ParamControl("FirehoseMode", tr("Enable Firehose Mode"), "", ""); + + content_layout->addWidget(enable_firehose); + + // Create progress bar container + progress_container = new QFrame(); + progress_container->hide(); + QHBoxLayout *progress_layout = new QHBoxLayout(progress_container); + progress_layout->setContentsMargins(10, 0, 10, 10); + progress_layout->setSpacing(20); + + progress_bar = new QProgressBar(); + progress_bar->setRange(0, 100); + progress_bar->setValue(0); + progress_bar->setTextVisible(false); + progress_bar->setStyleSheet(R"( + QProgressBar { + background-color: #444444; + border-radius: 10px; + height: 20px; + } + QProgressBar::chunk { + background-color: #3498db; + border-radius: 10px; + } + )"); + progress_bar->setFixedHeight(40); + + // Progress text + progress_text = new QLabel(tr("0%")); + progress_text->setStyleSheet("font-size: 40px; font-weight: bold; color: white;"); + + progress_layout->addWidget(progress_text); + + content_layout->addWidget(progress_container); + + // Add a separator before detailed instructions + QFrame *line2 = new QFrame(); + line2->setFrameShape(QFrame::HLine); + line2->setFrameShadow(QFrame::Sunken); + line2->setStyleSheet("background-color: #444444; margin-top: 10px; margin-bottom: 10px;"); + content_layout->addWidget(line2); + + // Detailed instructions at the bottom + detailed_instructions = new QLabel(tr( + "Follow these steps to get your device ready:
" + "\t1. Bring your device inside and connect to a good USB-C adapter
" + "\t2. Connect to Wi-Fi
" + "\t3. Enable the toggle
" + "\t4. Leave it connected for at least 30 minutes
" + "
" + "The toggle turns off once you restart your device. Repeat at least once a week for maximum effectiveness." + "

FAQ
" + "Does it matter how or where I drive? Nope, just drive as you normally would.
" + "What's a good USB-C adapter? Any fast phone or laptop charger should be fine.
" + "Do I need to be on Wi-Fi? Yes.
" + "Do I need to bring the device inside? No, you can enable once you're parked, however your uploads will be limited by your car's battery.
" + )); + detailed_instructions->setStyleSheet("font-size: 40px; padding: 20px; color: #E4E4E4;"); + detailed_instructions->setWordWrap(true); + content_layout->addWidget(detailed_instructions); + + layout->addWidget(content, 1); +} diff --git a/selfdrive/ui/qt/offroad/firehose.h b/selfdrive/ui/qt/offroad/firehose.h new file mode 100644 index 000000000..c43e28325 --- /dev/null +++ b/selfdrive/ui/qt/offroad/firehose.h @@ -0,0 +1,37 @@ +#pragma once + +#include +#include +#include +#include +#include "common/params.h" + +#ifdef SUNNYPILOT +#include "selfdrive/ui/sunnypilot/ui.h" +#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h" +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h" +#else +#include "selfdrive/ui/ui.h" +#include "selfdrive/ui/qt/widgets/controls.h" +#include "selfdrive/ui/qt/offroad/settings.h" +#endif + +// Forward declarations +class SettingsWindow; + +class FirehosePanel : public QWidget { + Q_OBJECT +public: + explicit FirehosePanel(SettingsWindow *parent); + +private: + QVBoxLayout *layout; + + ParamControl *enable_firehose; + QFrame *progress_container; + QProgressBar *progress_bar; + QLabel *progress_text; + QLabel *detailed_instructions; + + void updateFirehoseState(bool enabled); +}; diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index 076ba99b1..c6d352071 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -14,6 +14,7 @@ #include "selfdrive/ui/qt/widgets/prime.h" #include "selfdrive/ui/qt/widgets/scrollview.h" #include "selfdrive/ui/qt/offroad/developer_panel.h" +#include "selfdrive/ui/qt/offroad/firehose.h" TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { // param, title, desc, icon @@ -42,20 +43,6 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { tr("When enabled, pressing the accelerator pedal will disengage openpilot."), "../assets/offroad/icon_disengage_on_accelerator.svg", }, - { - "FirehoseMode", - tr("FIREHOSE Mode"), - tr("Enable FIREHOSE Mode to get your driving data in the training set.

" - "Follow these steps to get your device ready:
" - " 1. Bring your device inside and connect to a good USB-C adapter
" - " 2. Connect to Wi-Fi
" - " 3. Enable this toggle
" - " 4. Leave it connected for at least 30 minutes
" - "
" - "This toggle turns off once you restart your device. Repeat once a week for maximum effectiveness." - ""), - "../assets/offroad/icon_warning.png", - }, { "IsLdwEnabled", tr("Enable Lane Departure Warnings"), @@ -349,11 +336,26 @@ void SettingsWindow::showEvent(QShowEvent *event) { } void SettingsWindow::setCurrentPanel(int index, const QString ¶m) { + if (!param.isEmpty()) { + // Check if param ends with "Panel" to determine if it's a panel name + if (param.endsWith("Panel")) { + QString panelName = param; + panelName.chop(5); // Remove "Panel" suffix + + // Find the panel by name + for (int i = 0; i < nav_btns->buttons().size(); i++) { + if (nav_btns->buttons()[i]->text() == tr(panelName.toStdString().c_str())) { + index = i; + break; + } + } + } else { + emit expandToggleDescription(param); + } + } + panel_widget->setCurrentIndex(index); nav_btns->buttons()[index]->setChecked(true); - if (!param.isEmpty()) { - emit expandToggleDescription(param); - } } SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) { @@ -398,6 +400,7 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) { {tr("Network"), networking}, {tr("Toggles"), toggles}, {tr("Software"), new SoftwarePanel(this)}, + {tr("Firehose"), new FirehosePanel(this)}, {tr("Developer"), new DeveloperPanel(this)}, }; diff --git a/selfdrive/ui/qt/offroad/settings.h b/selfdrive/ui/qt/offroad/settings.h index 80e8ac54c..8b162bb84 100644 --- a/selfdrive/ui/qt/offroad/settings.h +++ b/selfdrive/ui/qt/offroad/settings.h @@ -110,3 +110,6 @@ protected: Params params; ParamWatcher *fs_watch; }; + +// Forward declaration +class FirehosePanel; diff --git a/selfdrive/ui/qt/widgets/wifi.cc b/selfdrive/ui/qt/widgets/wifi.cc index 9c5289a22..d7eb8beeb 100644 --- a/selfdrive/ui/qt/widgets/wifi.cc +++ b/selfdrive/ui/qt/widgets/wifi.cc @@ -6,80 +6,35 @@ #include WiFiPromptWidget::WiFiPromptWidget(QWidget *parent) : QFrame(parent) { - stack = new QStackedLayout(this); + // Setup Firehose Mode + QVBoxLayout *main_layout = new QVBoxLayout(this); + main_layout->setContentsMargins(56, 40, 56, 40); + main_layout->setSpacing(42); + + QLabel *title = new QLabel(tr("🔥 Firehose Mode 🔥")); + title->setStyleSheet("font-size: 64px; font-weight: 500;"); + main_layout->addWidget(title); - // Setup Wi-Fi - QFrame *setup = new QFrame; - QVBoxLayout *setup_layout = new QVBoxLayout(setup); - setup_layout->setContentsMargins(56, 40, 56, 40); - setup_layout->setSpacing(20); - { - QHBoxLayout *title_layout = new QHBoxLayout; - title_layout->setSpacing(32); - { - QLabel *icon = new QLabel; - QPixmap pixmap("../assets/offroad/icon_wifi_strength_full.svg"); - icon->setPixmap(pixmap.scaledToWidth(80, Qt::SmoothTransformation)); - title_layout->addWidget(icon); + QLabel *desc = new QLabel(tr("Maximize your training data uploads to improve openpilot's driving models.")); + desc->setStyleSheet("font-size: 40px; font-weight: 400;"); + desc->setWordWrap(true); + main_layout->addWidget(desc); - QLabel *title = new QLabel(tr("Setup Wi-Fi")); - title->setStyleSheet("font-size: 64px; font-weight: 600;"); - title_layout->addWidget(title); - title_layout->addStretch(); + QPushButton *settings_btn = new QPushButton(tr("Open")); + connect(settings_btn, &QPushButton::clicked, [=]() { emit openSettings(1, "FirehosePanel"); }); + settings_btn->setStyleSheet(R"( + QPushButton { + font-size: 48px; + font-weight: 500; + border-radius: 10px; + background-color: #465BEA; + padding: 32px; } - setup_layout->addLayout(title_layout); - - QLabel *desc = new QLabel(tr("Connect to Wi-Fi to upload driving data and help improve openpilot")); - desc->setStyleSheet("font-size: 40px; font-weight: 400;"); - desc->setWordWrap(true); - setup_layout->addWidget(desc); - - QPushButton *settings_btn = new QPushButton(tr("Open Settings")); - connect(settings_btn, &QPushButton::clicked, [=]() { emit openSettings(1); }); - settings_btn->setStyleSheet(R"( - QPushButton { - font-size: 48px; - font-weight: 500; - border-radius: 10px; - background-color: #465BEA; - padding: 32px; - } - QPushButton:pressed { - background-color: #3049F4; - } - )"); - setup_layout->addWidget(settings_btn); - } - stack->addWidget(setup); - - // Uploading data - QWidget *uploading = new QWidget; - QVBoxLayout *uploading_layout = new QVBoxLayout(uploading); - uploading_layout->setContentsMargins(64, 56, 64, 56); - uploading_layout->setSpacing(36); - { - QHBoxLayout *title_layout = new QHBoxLayout; - { - QLabel *title = new QLabel(tr("Ready to upload")); - title->setStyleSheet("font-size: 64px; font-weight: 600;"); - title->setWordWrap(true); - title->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Minimum); - title_layout->addWidget(title); - title_layout->addStretch(); - - QLabel *icon = new QLabel; - QPixmap pixmap("../assets/offroad/icon_wifi_uploading.svg"); - icon->setPixmap(pixmap.scaledToWidth(120, Qt::SmoothTransformation)); - title_layout->addWidget(icon); + QPushButton:pressed { + background-color: #3049F4; } - uploading_layout->addLayout(title_layout); - - QLabel *desc = new QLabel(tr("Training data will be pulled periodically while your device is on Wi-Fi")); - desc->setStyleSheet("font-size: 48px; font-weight: 400;"); - desc->setWordWrap(true); - uploading_layout->addWidget(desc); - } - stack->addWidget(uploading); + )"); + main_layout->addWidget(settings_btn); setStyleSheet(R"( WiFiPromptWidget { @@ -87,17 +42,4 @@ WiFiPromptWidget::WiFiPromptWidget(QWidget *parent) : QFrame(parent) { border-radius: 10px; } )"); - - QObject::connect(uiState(), &UIState::uiUpdate, this, &WiFiPromptWidget::updateState); -} - -void WiFiPromptWidget::updateState(const UIState &s) { - if (!isVisible()) return; - - auto &sm = *(s.sm); - - auto network_type = sm["deviceState"].getDeviceState().getNetworkType(); - auto uploading = network_type == cereal::DeviceState::NetworkType::WIFI || - network_type == cereal::DeviceState::NetworkType::ETHERNET; - stack->setCurrentIndex(uploading ? 1 : 0); -} +} \ No newline at end of file diff --git a/selfdrive/ui/qt/widgets/wifi.h b/selfdrive/ui/qt/widgets/wifi.h index 3daf25a12..3e68a15b7 100644 --- a/selfdrive/ui/qt/widgets/wifi.h +++ b/selfdrive/ui/qt/widgets/wifi.h @@ -1,16 +1,8 @@ #pragma once #include -#include #include -#ifdef SUNNYPILOT -#include "selfdrive/ui/sunnypilot/ui.h" -#define UIState UIStateSP -#else -#include "selfdrive/ui/ui.h" -#endif - class WiFiPromptWidget : public QFrame { Q_OBJECT @@ -19,10 +11,4 @@ public: signals: void openSettings(int index = 0, const QString ¶m = ""); - -public slots: - void updateState(const UIState &s); - -protected: - QStackedLayout *stack; }; diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc index bdf4f626d..a27561edf 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc @@ -9,6 +9,7 @@ #include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h" #include "selfdrive/ui/qt/offroad/developer_panel.h" +#include "selfdrive/ui/qt/offroad/firehose.h" #include "selfdrive/ui/sunnypilot/qt/network/networking.h" #include "selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h" @@ -80,6 +81,7 @@ SettingsWindowSP::SettingsWindowSP(QWidget *parent) : SettingsWindow(parent) { PanelInfo(" " + tr("sunnypilot"), new SunnypilotPanel(this), "../assets/images/button_home.png"), PanelInfo(" " + tr("Trips"), new TripsPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_trips.png"), PanelInfo(" " + tr("Vehicle"), new VehiclePanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_vehicle.png"), + PanelInfo(" " + tr("Firehose"), new FirehosePanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_firehose.svg"), PanelInfo(" " + tr("Developer"), new DeveloperPanel(this), "../assets/offroad/icon_shell.png"), }; diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py index 8eb5eb4fd..f371c7bba 100755 --- a/selfdrive/ui/tests/test_ui/run.py +++ b/selfdrive/ui/tests/test_ui/run.py @@ -1,4 +1,4 @@ -from collections import namedtuple +#!/usr/bin/env python3 import capnp import json import pathlib @@ -9,6 +9,7 @@ import pywinctl import pyautogui import pickle import time +from collections import namedtuple from cereal import car, log from msgq.visionipc import VisionIpcServer, VisionStreamType @@ -59,6 +60,10 @@ def setup_settings_software(click, pm: PubMaster, scroll=None): click(278, 742) time.sleep(UI_DELAY) +def setup_settings_firehose(click, pm: PubMaster, scroll=None): + scroll(-400, 278, 962) + click(278, 862) + def setup_settings_developer(click, pm: PubMaster, scroll=None): CP = car.CarParams() CP.experimentalLongitudinalAvailable = True @@ -229,8 +234,8 @@ def setup_settings_vehicle(click, pm: PubMaster, scroll=None): )) setup_settings_device(click, pm) - scroll(-400, 278, 862) - click(278, 862) + scroll(-400, 278, 962) + click(278, 754) time.sleep(UI_DELAY) CASES = { @@ -242,6 +247,7 @@ CASES = { "settings_network_advanced": setup_settings_network_advanced, "settings_toggles": setup_settings_toggles, "settings_software": setup_settings_software, + "settings_firehose": setup_settings_firehose, "settings_developer": setup_settings_developer, "onroad": setup_onroad, "onroad_disengaged": setup_onroad_disengaged, diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts index 8c01a6318..101a3de43 100644 --- a/selfdrive/ui/translations/main_ar.ts +++ b/selfdrive/ui/translations/main_ar.ts @@ -137,11 +137,11 @@ Enable ADB - + تمكين ADB ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info. - + أداة ADB (Android Debug Bridge) تسمح بالاتصال بجهازك عبر USB أو عبر الشبكة. راجع هذا الرابط: https://docs.comma.ai/how-to/connect-to-comma لمزيد من المعلومات. Hyundai: Enable Radar Tracks @@ -415,6 +415,31 @@ تشغيل وضع الراحة + + FirehosePanel + + 🔥 Firehose Mode 🔥 + + + + Enable Firehose Mode + + + + openpilot learns to drive by watching humans, like you, drive. + +Firehose Mode allows you to maximize your training data uploads to improve openpilot's driving models. More data means bigger models with better Experimental Mode. + + + + 0% + 5G {0%?} + + + Follow these steps to get your device ready:<br> 1. Bring your device inside and connect to a good USB-C adapter<br> 2. Connect to Wi-Fi<br> 3. Enable the toggle<br> 4. Leave it connected for at least 30 minutes<br><br>The toggle turns off once you restart your device. Repeat at least once a week for maximum effectiveness.<br><br><b>FAQ</b><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><i>Do I need to be on Wi-Fi?</i> Yes.<br><i>Do I need to bring the device inside?</i> No, you can enable once you're parked, however your uploads will be limited by your car's battery.<br> + + + HudRenderer @@ -688,24 +713,20 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.Search your vehicle - - SEARCHING - - - - No vehicles found for query: %1 - - - - Select a vehicle - - Enter model year (e.g., 2021) and model name (Toyota Corolla): - Vehicle Selector + SEARCHING + + + + REMOVE + إزالة + + + This setting will take effect immediately. @@ -713,7 +734,7 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed. - This setting will take effect immediately. + Vehicle Selector @@ -725,8 +746,12 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.إلغاء - REMOVE - إزالة + No vehicles found for query: %1 + + + + Select a vehicle + @@ -890,6 +915,10 @@ This may take up to a minute. Developer المطور + + Firehose + + SettingsWindowSP @@ -933,6 +962,10 @@ This may take up to a minute. Developer المطور + + Firehose + + Setup @@ -1553,14 +1586,6 @@ This may take up to a minute. Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal. - - FIREHOSE Mode - - - - Enable <b>FIREHOSE Mode</b> to get your driving data in the training set.<br><br>Follow these steps to get your device ready:<br> 1. Bring your device inside and connect to a good USB-C adapter<br> 2. Connect to Wi-Fi<br> 3. Enable this toggle<br> 4. Leave it connected for at least 30 minutes<br><br>This toggle turns off once you restart your device. Repeat once a week for maximum effectiveness. - - Updater @@ -1600,24 +1625,16 @@ This may take up to a minute. WiFiPromptWidget - Setup Wi-Fi - إعداد شبكة الواي فاي + Open + - Connect to Wi-Fi to upload driving data and help improve openpilot - الاتصال بشبكة الواي فاي لتحميل بيانات القيادة والمساهمة في تحسين openpilot + Maximize your training data uploads to improve openpilot's driving models. + - Open Settings - فتح الإعدادات - - - Ready to upload - جاهز للتحميل - - - Training data will be pulled periodically while your device is on Wi-Fi - سيتم سحب بيانات التدريب دورياً عندما يكون جهازك متصل بشبكة واي فاي + <span style='font-family: "Noto Color Emoji";'>🔥</span> Firehose Mode <span style='font-family: Noto Color Emoji;'>🔥</span> + diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts index 9543cb58d..2fcb2d4c8 100644 --- a/selfdrive/ui/translations/main_de.ts +++ b/selfdrive/ui/translations/main_de.ts @@ -124,19 +124,15 @@ - Enables or disables the github runner service. + openpilot Longitudinal Control (Alpha) - Enable GitHub runner service + WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). - Hyundai: Enable Radar Tracks - - - - Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance. + On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. @@ -148,15 +144,19 @@ - openpilot Longitudinal Control (Alpha) + Hyundai: Enable Radar Tracks - WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). + Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance. - On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. + Enable GitHub runner service + + + + Enables or disables the github runner service. @@ -313,18 +313,14 @@ Training Guide - - Language - - - - Reboot - Neustart - Regulatory Rechtliche Hinweise + + Language + + Are you sure you want to review the training guide? Bist du sicher, dass du die Trainingsanleitung wiederholen möchtest? @@ -337,6 +333,10 @@ Select a language Sprache wählen + + Reboot + Neustart + Power Off Ausschalten @@ -374,27 +374,27 @@ DriveStats Drives - Fahrten + Hours - Stunden + ALL TIME - Gesamtzeit + PAST WEEK - Letzte Woche + KM - KM + Miles - Meilen + @@ -415,6 +415,31 @@ ENTSPANNTER MODUS AN + + FirehosePanel + + 🔥 Firehose Mode 🔥 + + + + Enable Firehose Mode + + + + openpilot learns to drive by watching humans, like you, drive. + +Firehose Mode allows you to maximize your training data uploads to improve openpilot's driving models. More data means bigger models with better Experimental Mode. + + + + 0% + 5G {0%?} + + + Follow these steps to get your device ready:<br> 1. Bring your device inside and connect to a good USB-C adapter<br> 2. Connect to Wi-Fi<br> 3. Enable the toggle<br> 4. Leave it connected for at least 30 minutes<br><br>The toggle turns off once you restart your device. Repeat at least once a week for maximum effectiveness.<br><br><b>FAQ</b><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><i>Do I need to be on Wi-Fi?</i> Yes.<br><i>Do I need to bring the device inside?</i> No, you can enable once you're parked, however your uploads will be limited by your car's battery.<br> + + + HudRenderer @@ -457,6 +482,10 @@ Toggle with Main Cruise + + Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement. + + Unified Engagement Mode (UEM) @@ -488,10 +517,6 @@ Remain Active: ALC will remain active even after the brake pedal is pressed. Pause Steering: ALC will be paused after the brake pedal is manually pressed. - - Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement. - - MultiOptionDialog @@ -661,12 +686,12 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed. ParamControlSP - Cancel - Abbrechen + Enable + Aktivieren - Enable - Aktivieren + Cancel + Abbrechen @@ -683,24 +708,20 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.Search your vehicle - - SEARCHING - - - - No vehicles found for query: %1 - - - - Select a vehicle - - Enter model year (e.g., 2021) and model name (Toyota Corolla): - Vehicle Selector + SEARCHING + + + + REMOVE + LÖSCHEN + + + This setting will take effect immediately. @@ -708,7 +729,7 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed. - This setting will take effect immediately. + Vehicle Selector @@ -720,8 +741,12 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.Abbrechen - REMOVE - LÖSCHEN + No vehicles found for query: %1 + + + + Select a vehicle + @@ -872,41 +897,41 @@ This may take up to a minute. Developer + + Firehose + + SettingsWindowSP × - x + x Device - Gerät + Gerät Network - Netzwerk - - - Toggles - Schalter - - - Software - Software - - - Developer - - - - sunnypilot - sunnypilot + Netzwerk sunnylink + + Toggles + Schalter + + + Software + Software + + + sunnypilot + + Trips @@ -915,6 +940,14 @@ This may take up to a minute. Vehicle + + Developer + + + + Firehose + + Setup @@ -1207,32 +1240,16 @@ This may take up to a minute. SoftwarePanelSP + + Current Model + + SELECT AUSWÄHLEN - Reset Calibration - Neu kalibrieren - - - Warning: You are on a metered connection! - - - - Continue - Fortsetzen - - - on Metered - - - - %1 model [%2] pending... - - - - Current Model + No custom model selected! @@ -1251,22 +1268,6 @@ This may take up to a minute. Downloading %1 model [%2]... (%3%) - - %1 model [%2] download failed - - - - Select a Model - - - - Fetching models... - - - - Model download has started in the background. - - %1 model [%2] %3 @@ -1283,12 +1284,24 @@ This may take up to a minute. from cache + + %1 model [%2] download failed + + + + %1 model [%2] pending... + + + + Fetching models... + + Use Default - No custom model selected! + Select a Model @@ -1296,11 +1309,7 @@ This may take up to a minute. - Cancel - Abbrechen - - - Driving Model Selector + Model download has started in the background. @@ -1311,6 +1320,30 @@ This may take up to a minute. Would you like to do that now? + + Reset Calibration + Neu kalibrieren + + + Driving Model Selector + + + + Warning: You are on a metered connection! + + + + Continue + Fortsetzen + + + on Metered + + + + Cancel + Abbrechen + SshControl @@ -1369,11 +1402,11 @@ This may take up to a minute. - N/A - Nicht verfügbar + 🎉Welcome back! We're excited to see you've enabled sunnylink again! 🚀 + - 🎉Welcome back! We're excited to see you've enabled sunnylink again! 🚀 + 👋Not going to lie, it's sad to see you disabled sunnylink 😢, but we'll be here when you're ready to come back 🎉. @@ -1381,16 +1414,12 @@ This may take up to a minute. - 👋Not going to lie, it's sad to see you disabled sunnylink 😢, but we'll be here when you're ready to come back 🎉. - + N/A + Nicht verfügbar SunnypilotPanel - - Customize MADS - - Modular Assistive Driving System (MADS) @@ -1399,6 +1428,10 @@ This may take up to a minute. Enable the beloved MADS feature. Disable toggle to revert back to stock openpilot engagement/disengagement. + + Customize MADS + + TermsPage @@ -1537,14 +1570,6 @@ This may take up to a minute. Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal. - - FIREHOSE Mode - - - - Enable <b>FIREHOSE Mode</b> to get your driving data in the training set.<br><br>Follow these steps to get your device ready:<br> 1. Bring your device inside and connect to a good USB-C adapter<br> 2. Connect to Wi-Fi<br> 3. Enable this toggle<br> 4. Leave it connected for at least 30 minutes<br><br>This toggle turns off once you restart your device. Repeat once a week for maximum effectiveness. - - Updater @@ -1584,23 +1609,15 @@ This may take up to a minute. WiFiPromptWidget - Setup Wi-Fi + Open - Connect to Wi-Fi to upload driving data and help improve openpilot + Maximize your training data uploads to improve openpilot's driving models. - Open Settings - - - - Ready to upload - - - - Training data will be pulled periodically while your device is on Wi-Fi + <span style='font-family: "Noto Color Emoji";'>🔥</span> Firehose Mode <span style='font-family: Noto Color Emoji;'>🔥</span> diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts index cba2a915d..e3086c7e0 100644 --- a/selfdrive/ui/translations/main_es.ts +++ b/selfdrive/ui/translations/main_es.ts @@ -124,11 +124,23 @@ Modo de maniobra longitudinal - Enables or disables the github runner service. + openpilot Longitudinal Control (Alpha) + Control longitudinal de openpilot (fase experimental) + + + WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). + AVISO: el control longitudinal de openpilot está en fase experimental para este automóvil y desactivará el Frenado Automático de Emergencia (AEB). + + + On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. + En este automóvil, openpilot se configura de manera predeterminada con el Autocrucero Adaptativo (ACC) incorporado en el automóvil en lugar del control longitudinal de openpilot. Habilita esta opción para cambiar al control longitudinal de openpilot. Se recomienda activar el modo experimental al habilitar el control longitudinal de openpilot (aún en fase experimental). + + + Enable ADB - Enable GitHub runner service + ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info. @@ -140,25 +152,13 @@ - Enable ADB + Enable GitHub runner service - ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info. + Enables or disables the github runner service. - - openpilot Longitudinal Control (Alpha) - Control longitudinal de openpilot (fase experimental) - - - WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). - AVISO: el control longitudinal de openpilot está en fase experimental para este automóvil y desactivará el Frenado Automático de Emergencia (AEB). - - - On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. - En este automóvil, openpilot se configura de manera predeterminada con el Autocrucero Adaptativo (ACC) incorporado en el automóvil en lugar del control longitudinal de openpilot. Habilita esta opción para cambiar al control longitudinal de openpilot. Se recomienda activar el modo experimental al habilitar el control longitudinal de openpilot (aún en fase experimental). - DevicePanel @@ -313,18 +313,14 @@ Training Guide - - Language - - - - Reboot - Reiniciar - Regulatory Regulador + + Language + + Are you sure you want to review the training guide? ¿Seguro que quiere revisar la guía de entrenamiento? @@ -337,6 +333,10 @@ Select a language + + Reboot + Reiniciar + Power Off Apagar @@ -415,6 +415,31 @@ MODO CHILL + + FirehosePanel + + 🔥 Firehose Mode 🔥 + + + + Enable Firehose Mode + + + + openpilot learns to drive by watching humans, like you, drive. + +Firehose Mode allows you to maximize your training data uploads to improve openpilot's driving models. More data means bigger models with better Experimental Mode. + + + + 0% + 5G {0%?} + + + Follow these steps to get your device ready:<br> 1. Bring your device inside and connect to a good USB-C adapter<br> 2. Connect to Wi-Fi<br> 3. Enable the toggle<br> 4. Leave it connected for at least 30 minutes<br><br>The toggle turns off once you restart your device. Repeat at least once a week for maximum effectiveness.<br><br><b>FAQ</b><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><i>Do I need to be on Wi-Fi?</i> Yes.<br><i>Do I need to bring the device inside?</i> No, you can enable once you're parked, however your uploads will be limited by your car's battery.<br> + + + HudRenderer @@ -459,7 +484,7 @@ Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement. - Nota: Para vehículos sin botón de LFA/LKAS, deshabilitar este ajuste evitará que se active el control lateral. + Unified Engagement Mode (UEM) @@ -527,11 +552,11 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.NetworkingSP Scan - Escanear + Scanning... - Escaneando... + @@ -645,7 +670,7 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed. Please connect to Wi-Fi to complete initial pairing - + Conéctese a Wi-Fi para completar el emparejamiento inicial @@ -663,11 +688,11 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.ParamControlSP Enable - Activar + Activar Cancel - Cancelar + Cancelar @@ -684,24 +709,20 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.Search your vehicle - - SEARCHING - - - - No vehicles found for query: %1 - - - - Select a vehicle - - Enter model year (e.g., 2021) and model name (Toyota Corolla): - Vehicle Selector + SEARCHING + + + + REMOVE + ELIMINAR + + + This setting will take effect immediately. @@ -709,7 +730,7 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed. - This setting will take effect immediately. + Vehicle Selector @@ -721,8 +742,12 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.Cancelar - REMOVE - ELIMINAR + No vehicles found for query: %1 + + + + Select a vehicle + @@ -874,40 +899,40 @@ Esto puede tardar un minuto. Developer Desarrollador + + Firehose + + SettingsWindowSP × - × + × Device - Dispositivo + Dispositivo Network - Red - - - Toggles - Ajustes - - - Software - Software - - - Developer - Desarrollador - - - sunnypilot - sunnypilot + Red sunnylink - sunnylink + + + + Toggles + Ajustes + + + Software + Software + + + sunnypilot + Trips @@ -917,6 +942,14 @@ Esto puede tardar un minuto. Vehicle + + Developer + Desarrollador + + + Firehose + + Setup @@ -1107,7 +1140,7 @@ Esto puede tardar un minuto. SidebarSP DISABLED - DESHABILITADO + OFFLINE @@ -1115,19 +1148,19 @@ Esto puede tardar un minuto. REGIST... - REGIST... + ONLINE - EN LÍNEA + EN LÍNEA ERROR - ERROR + ERROR SUNNYLINK - SUNNYLINK + @@ -1207,14 +1240,94 @@ Esto puede tardar un minuto. SoftwarePanelSP + + Current Model + + SELECT SELECCIONAR + + No custom model selected! + + + + Driving + + + + Navigation + + + + Metadata + + + + Downloading %1 model [%2]... (%3%) + + + + %1 model [%2] %3 + + + + downloaded + + + + ready + + + + from cache + + + + %1 model [%2] download failed + + + + %1 model [%2] pending... + + + + Fetching models... + + + + Use Default + + + + Select a Model + + + + Default + + + + Model download has started in the background. + + + + We STRONGLY suggest you to reset calibration. + + + + Would you like to do that now? + + Reset Calibration Formatear Calibración + + Driving Model Selector + + Warning: You are on a metered connection! @@ -1227,90 +1340,10 @@ Esto puede tardar un minuto. on Metered - - %1 model [%2] pending... - modelo de %1 [%2] pendiente... - - - Fetching models... - Obteniendo modelos - - - Model download has started in the background. - Descarga de modelo iniciada en segundo plano. - - - Current Model - Modelo Actual - - - Driving - Conducción - - - Navigation - Navegación - - - Metadata - Metadatos - - - Downloading %1 model [%2]... (%3%) - Descargando modelo de %1 [%2]... (%3%) - - - %1 model [%2] download failed - Falló descarga modelo de %1 [%2] - - - Select a Model - Selecciona un Modelo - - - %1 model [%2] %3 - Modelo de %1 [%2] %3 - - - downloaded - descargado - - - ready - listo - - - from cache - desde caché - - - Use Default - Por Defecto - - - No custom model selected! - No hay ningún modelo personalizado elegido!. - - - Default - Por Defecto - Cancel Cancelar - - Driving Model Selector - - - - We STRONGLY suggest you to reset calibration. - - - - Would you like to do that now? - - SshControl @@ -1362,35 +1395,31 @@ Esto puede tardar un minuto. SunnylinkPanel This is the master switch, it will allow you to cutoff any sunnylink requests should you want to do that. - Este es el interruptor principal; te permitirá desactivar completamente cualquier connectividad de sunnylink si así lo deseas. + Enable sunnylink - Habilitar sunnylink + + + + 🎉Welcome back! We're excited to see you've enabled sunnylink again! 🚀 + + + + 👋Not going to lie, it's sad to see you disabled sunnylink 😢, but we'll be here when you're ready to come back 🎉. + + + + Device ID + N/A N/A - - 🎉Welcome back! We're excited to see you've enabled sunnylink again! 🚀 - 🎉¡Bienvenido de vuelta! Nos alegra que hayas reactivado sunnylink. 🚀 - - - Device ID - ID del dispositivo - - - 👋Not going to lie, it's sad to see you disabled sunnylink 😢, but we'll be here when you're ready to come back 🎉. - 👋No te mentiremos, nos entristece que hayas desactivado sunnylink 😢. Estaremos aquí cuando estes listo para volver 🎉. - SunnypilotPanel - - Customize MADS - - Modular Assistive Driving System (MADS) @@ -1399,6 +1428,10 @@ Esto puede tardar un minuto. Enable the beloved MADS feature. Disable toggle to revert back to stock openpilot engagement/disengagement. + + Customize MADS + + TermsPage @@ -1537,14 +1570,6 @@ Esto puede tardar un minuto. Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal. - - FIREHOSE Mode - - - - Enable <b>FIREHOSE Mode</b> to get your driving data in the training set.<br><br>Follow these steps to get your device ready:<br> 1. Bring your device inside and connect to a good USB-C adapter<br> 2. Connect to Wi-Fi<br> 3. Enable this toggle<br> 4. Leave it connected for at least 30 minutes<br><br>This toggle turns off once you restart your device. Repeat once a week for maximum effectiveness. - - Updater @@ -1584,24 +1609,16 @@ Esto puede tardar un minuto. WiFiPromptWidget - Setup Wi-Fi - Configurar Wi-Fi + Open + - Connect to Wi-Fi to upload driving data and help improve openpilot - Conectarse al Wi-Fi para subir los datos de conducción y mejorar openpilot + Maximize your training data uploads to improve openpilot's driving models. + - Open Settings - Abrir Configuraciones - - - Ready to upload - Listo para subir - - - Training data will be pulled periodically while your device is on Wi-Fi - Los datos de entrenamiento se extraerán periódicamente mientras tu dispositivo esté conectado a Wi-Fi + <span style='font-family: "Noto Color Emoji";'>🔥</span> Firehose Mode <span style='font-family: Noto Color Emoji;'>🔥</span> + diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts index 3358af2f3..f5fe64d8f 100644 --- a/selfdrive/ui/translations/main_fr.ts +++ b/selfdrive/ui/translations/main_fr.ts @@ -144,7 +144,11 @@ - Enables or disables the github runner service. + Hyundai: Enable Radar Tracks + + + + Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance. @@ -152,11 +156,7 @@ - Hyundai: Enable Radar Tracks - - - - Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance. + Enables or disables the github runner service. @@ -313,18 +313,14 @@ Training Guide - - Language - - - - Reboot - Redémarrer - Regulatory Réglementaire + + Language + + Are you sure you want to review the training guide? Êtes-vous sûr de vouloir revoir le guide de formation ? @@ -337,6 +333,10 @@ Select a language Choisir une langue + + Reboot + Redémarrer + Power Off Éteindre @@ -374,27 +374,27 @@ DriveStats Drives - Trajets + Hours - Heures + ALL TIME - DEPUIS TOUJOURS + PAST WEEK - CETTE SEMAINE + KM - KM + Miles - Miles + @@ -415,6 +415,31 @@ MODE DÉTENTE ACTIVÉ + + FirehosePanel + + 🔥 Firehose Mode 🔥 + + + + Enable Firehose Mode + + + + openpilot learns to drive by watching humans, like you, drive. + +Firehose Mode allows you to maximize your training data uploads to improve openpilot's driving models. More data means bigger models with better Experimental Mode. + + + + 0% + 5G {0%?} + + + Follow these steps to get your device ready:<br> 1. Bring your device inside and connect to a good USB-C adapter<br> 2. Connect to Wi-Fi<br> 3. Enable the toggle<br> 4. Leave it connected for at least 30 minutes<br><br>The toggle turns off once you restart your device. Repeat at least once a week for maximum effectiveness.<br><br><b>FAQ</b><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><i>Do I need to be on Wi-Fi?</i> Yes.<br><i>Do I need to bring the device inside?</i> No, you can enable once you're parked, however your uploads will be limited by your car's battery.<br> + + + HudRenderer @@ -457,6 +482,10 @@ Toggle with Main Cruise + + Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement. + + Unified Engagement Mode (UEM) @@ -488,10 +517,6 @@ Remain Active: ALC will remain active even after the brake pedal is pressed. Pause Steering: ALC will be paused after the brake pedal is manually pressed. - - Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement. - - MultiOptionDialog @@ -663,11 +688,11 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.ParamControlSP Enable - Activer + Activer Cancel - Annuler + Annuler @@ -684,24 +709,20 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.Search your vehicle - - SEARCHING - - - - No vehicles found for query: %1 - - - - Select a vehicle - - Enter model year (e.g., 2021) and model name (Toyota Corolla): - Vehicle Selector + SEARCHING + + + + REMOVE + SUPPRIMER + + + This setting will take effect immediately. @@ -709,7 +730,7 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed. - This setting will take effect immediately. + Vehicle Selector @@ -721,8 +742,12 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.Annuler - REMOVE - SUPPRIMER + No vehicles found for query: %1 + + + + Select a vehicle + @@ -874,41 +899,41 @@ Cela peut prendre jusqu'à une minute. Developer Dév. + + Firehose + + SettingsWindowSP × - × + × Device - Appareil + Appareil Network - Réseau - - - Toggles - Options - - - Software - Logiciel - - - Developer - Dév. - - - sunnypilot - sunnypilot + Réseau sunnylink + + Toggles + Options + + + Software + Logiciel + + + sunnypilot + + Trips @@ -917,6 +942,14 @@ Cela peut prendre jusqu'à une minute. Vehicle + + Developer + Dév. + + + Firehose + + Setup @@ -1207,32 +1240,16 @@ Cela peut prendre jusqu'à une minute. SoftwarePanelSP + + Current Model + + SELECT SÉLECTIONNER - Reset Calibration - Réinitialiser la calibration - - - Warning: You are on a metered connection! - - - - Continue - Continuer - - - on Metered - - - - %1 model [%2] pending... - - - - Current Model + No custom model selected! @@ -1251,22 +1268,6 @@ Cela peut prendre jusqu'à une minute. Downloading %1 model [%2]... (%3%) - - %1 model [%2] download failed - - - - Select a Model - - - - Fetching models... - - - - Model download has started in the background. - - %1 model [%2] %3 @@ -1283,12 +1284,24 @@ Cela peut prendre jusqu'à une minute. from cache + + %1 model [%2] download failed + + + + %1 model [%2] pending... + + + + Fetching models... + + Use Default - No custom model selected! + Select a Model @@ -1296,11 +1309,7 @@ Cela peut prendre jusqu'à une minute. - Cancel - Annuler - - - Driving Model Selector + Model download has started in the background. @@ -1311,6 +1320,30 @@ Cela peut prendre jusqu'à une minute. Would you like to do that now? + + Reset Calibration + Réinitialiser la calibration + + + Driving Model Selector + + + + Warning: You are on a metered connection! + + + + Continue + Continuer + + + on Metered + + + + Cancel + Annuler + SshControl @@ -1369,11 +1402,11 @@ Cela peut prendre jusqu'à une minute. - N/A - N/A + 🎉Welcome back! We're excited to see you've enabled sunnylink again! 🚀 + - 🎉Welcome back! We're excited to see you've enabled sunnylink again! 🚀 + 👋Not going to lie, it's sad to see you disabled sunnylink 😢, but we'll be here when you're ready to come back 🎉. @@ -1381,16 +1414,12 @@ Cela peut prendre jusqu'à une minute. - 👋Not going to lie, it's sad to see you disabled sunnylink 😢, but we'll be here when you're ready to come back 🎉. - + N/A + N/A SunnypilotPanel - - Customize MADS - - Modular Assistive Driving System (MADS) @@ -1399,6 +1428,10 @@ Cela peut prendre jusqu'à une minute. Enable the beloved MADS feature. Disable toggle to revert back to stock openpilot engagement/disengagement. + + Customize MADS + + TermsPage @@ -1537,14 +1570,6 @@ Cela peut prendre jusqu'à une minute. Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal. - - FIREHOSE Mode - - - - Enable <b>FIREHOSE Mode</b> to get your driving data in the training set.<br><br>Follow these steps to get your device ready:<br> 1. Bring your device inside and connect to a good USB-C adapter<br> 2. Connect to Wi-Fi<br> 3. Enable this toggle<br> 4. Leave it connected for at least 30 minutes<br><br>This toggle turns off once you restart your device. Repeat once a week for maximum effectiveness. - - Updater @@ -1584,24 +1609,16 @@ Cela peut prendre jusqu'à une minute. WiFiPromptWidget - Setup Wi-Fi - Configurer Wi-Fi + Open + - Connect to Wi-Fi to upload driving data and help improve openpilot - Connectez-vous au Wi-Fi pour publier les données de conduite et aider à améliorer openpilot + Maximize your training data uploads to improve openpilot's driving models. + - Open Settings - Ouvrir les paramètres - - - Ready to upload - Prêt à uploader - - - Training data will be pulled periodically while your device is on Wi-Fi - Les données d'entraînement seront envoyées périodiquement lorsque votre appareil est connecté au réseau Wi-Fi + <span style='font-family: "Noto Color Emoji";'>🔥</span> Firehose Mode <span style='font-family: Noto Color Emoji;'>🔥</span> + diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index 6023796b7..84854192e 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -137,19 +137,11 @@ Enable ADB - + ADBを有効にする ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info. - - - - Enables or disables the github runner service. - - - - Enable GitHub runner service - + ADB（Android Debug Bridge）により、USBまたはネットワーク経由でデバイスに接続できます。詳細は、https://docs.comma.ai/how-to/connect-to-comma を参照してください。 Hyundai: Enable Radar Tracks @@ -159,6 +151,14 @@ Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance. + + Enable GitHub runner service + + + + Enables or disables the github runner service. + + DevicePanel @@ -313,33 +313,33 @@ Training Guide + + Regulatory + 規約 + Language - - Reboot - 再起動 - - - Regulatory - 認証情報 - Are you sure you want to review the training guide? - 使い方の確認をしますか？ + トレーニングガイドを始めてもよろしいですか？ Review - 確認 + 見る Select a language 言語を選択 + + Reboot + 再起動 + Power Off - 電源を切る + パワーオフ Offroad Mode @@ -374,27 +374,27 @@ DriveStats Drives - 運転履歴 + Hours - 時間 + ALL TIME - 累計 + PAST WEEK - 先週 + KM - km + Miles - マイル + @@ -415,6 +415,31 @@ CHILLモード + + FirehosePanel + + 🔥 Firehose Mode 🔥 + + + + Enable Firehose Mode + + + + openpilot learns to drive by watching humans, like you, drive. + +Firehose Mode allows you to maximize your training data uploads to improve openpilot's driving models. More data means bigger models with better Experimental Mode. + + + + 0% + 5G {0%?} + + + Follow these steps to get your device ready:<br> 1. Bring your device inside and connect to a good USB-C adapter<br> 2. Connect to Wi-Fi<br> 3. Enable the toggle<br> 4. Leave it connected for at least 30 minutes<br><br>The toggle turns off once you restart your device. Repeat at least once a week for maximum effectiveness.<br><br><b>FAQ</b><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><i>Do I need to be on Wi-Fi?</i> Yes.<br><i>Do I need to bring the device inside?</i> No, you can enable once you're parked, however your uploads will be limited by your car's battery.<br> + + + HudRenderer @@ -456,6 +481,10 @@ Toggle with Main Cruise + + Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement. + + Unified Engagement Mode (UEM) @@ -487,10 +516,6 @@ Remain Active: ALC will remain active even after the brake pedal is pressed. Pause Steering: ALC will be paused after the brake pedal is manually pressed. - - Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement. - - MultiOptionDialog @@ -661,12 +686,12 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed. ParamControlSP - Cancel - キャンセル + Enable + 有効にする - Enable - を有効化 + Cancel + キャンセル @@ -683,24 +708,20 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.Search your vehicle - - SEARCHING - - - - No vehicles found for query: %1 - - - - Select a vehicle - - Enter model year (e.g., 2021) and model name (Toyota Corolla): - Vehicle Selector + SEARCHING + + + + REMOVE + 削除 + + + This setting will take effect immediately. @@ -708,7 +729,7 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed. - This setting will take effect immediately. + Vehicle Selector @@ -720,8 +741,12 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.キャンセル - REMOVE - 削除 + No vehicles found for query: %1 + + + + Select a vehicle + @@ -870,41 +895,41 @@ This may take up to a minute. Developer 開発 + + Firehose + + SettingsWindowSP × - × + × Device - デバイス + デバイス Network - ﾈｯﾄﾜｰｸ - - - Toggles - 機能設定 - - - Software - ｿﾌﾄｳｪｱ - - - Developer - 開発 - - - sunnypilot - sunnypilot + ネット sunnylink + + Toggles + 機能 + + + Software + ソフト + + + sunnypilot + + Trips @@ -913,6 +938,14 @@ This may take up to a minute. Vehicle + + Developer + 開発 + + + Firehose + + Setup @@ -1203,32 +1236,16 @@ This may take up to a minute. SoftwarePanelSP + + Current Model + + SELECT 選択 - Reset Calibration - ｷｬﾘﾌﾞﾚｰｼｮﾝをﾘｾｯﾄ - - - Warning: You are on a metered connection! - - - - Continue - 続ける - - - on Metered - - - - %1 model [%2] pending... - - - - Current Model + No custom model selected! @@ -1247,22 +1264,6 @@ This may take up to a minute. Downloading %1 model [%2]... (%3%) - - %1 model [%2] download failed - - - - Select a Model - - - - Fetching models... - - - - Model download has started in the background. - - %1 model [%2] %3 @@ -1279,12 +1280,24 @@ This may take up to a minute. from cache + + %1 model [%2] download failed + + + + %1 model [%2] pending... + + + + Fetching models... + + Use Default - No custom model selected! + Select a Model @@ -1292,11 +1305,7 @@ This may take up to a minute. - Cancel - キャンセル - - - Driving Model Selector + Model download has started in the background. @@ -1307,6 +1316,30 @@ This may take up to a minute. Would you like to do that now? + + Reset Calibration + キャリブレーションリセット + + + Driving Model Selector + + + + Warning: You are on a metered connection! + + + + Continue + 続ける + + + on Metered + + + + Cancel + キャンセル + SshControl @@ -1365,11 +1398,11 @@ This may take up to a minute. - N/A - N/A + 🎉Welcome back! We're excited to see you've enabled sunnylink again! 🚀 + - 🎉Welcome back! We're excited to see you've enabled sunnylink again! 🚀 + 👋Not going to lie, it's sad to see you disabled sunnylink 😢, but we'll be here when you're ready to come back 🎉. @@ -1377,16 +1410,12 @@ This may take up to a minute. - 👋Not going to lie, it's sad to see you disabled sunnylink 😢, but we'll be here when you're ready to come back 🎉. - + N/A + 該当なし SunnypilotPanel - - Customize MADS - - Modular Assistive Driving System (MADS) @@ -1395,6 +1424,10 @@ This may take up to a minute. Enable the beloved MADS feature. Disable toggle to revert back to stock openpilot engagement/disengagement. + + Customize MADS + + TermsPage @@ -1499,7 +1532,7 @@ This may take up to a minute. openpilot longitudinal control may come in a future update. - openpilotのアクセル制御は将来のアップデートで提供される可能性があります。 + openpilotのアクセル制御は将来のアップデートで利用できる可能性があります。 An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. @@ -1533,14 +1566,6 @@ This may take up to a minute. Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal. - - FIREHOSE Mode - - - - Enable <b>FIREHOSE Mode</b> to get your driving data in the training set.<br><br>Follow these steps to get your device ready:<br> 1. Bring your device inside and connect to a good USB-C adapter<br> 2. Connect to Wi-Fi<br> 3. Enable this toggle<br> 4. Leave it connected for at least 30 minutes<br><br>This toggle turns off once you restart your device. Repeat once a week for maximum effectiveness. - - Updater @@ -1580,24 +1605,16 @@ This may take up to a minute. WiFiPromptWidget - Setup Wi-Fi - Wi-Fiセットアップ + Open + - Connect to Wi-Fi to upload driving data and help improve openpilot - ドライブデータをアップロードしてopenpilotの改善に役立てるためにWi-Fi接続してください + Maximize your training data uploads to improve openpilot's driving models. + - Open Settings - 設定を開く - - - Ready to upload - アップロード準備完了 - - - Training data will be pulled periodically while your device is on Wi-Fi - デバイスがWi-Fiに接続されている間、トレーニングデータが定期的に送信されます + <span style='font-family: "Noto Color Emoji";'>🔥</span> Firehose Mode <span style='font-family: Noto Color Emoji;'>🔥</span> + diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index 4b0bedfc8..875e97d90 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -124,11 +124,23 @@ 롱컨 기동 모드 - Enables or disables the github runner service. + openpilot Longitudinal Control (Alpha) + openpilot 가감속 제어 (알파) + + + WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). + 경고: openpilot 가감속 제어 알파 기능으로 차량의 자동긴급제동(AEB)을 비활성화합니다. + + + On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. + 이 차량은 openpilot 가감속 제어 대신 기본적으로 차량의 ACC로 가감속을 제어합니다. openpilot의 가감속 제어로 전환하려면 이 기능을 활성화하세요. openpilot 가감속 제어 알파를 활성화하는 경우 실험 모드 활성화를 권장합니다. + + + Enable ADB - Enable GitHub runner service + ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info. @@ -140,25 +152,13 @@ - Enable ADB + Enable GitHub runner service - ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info. + Enables or disables the github runner service. - - openpilot Longitudinal Control (Alpha) - openpilot 가감속 제어 (알파) - - - WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). - 경고: openpilot 가감속 제어 알파 기능으로 차량의 자동긴급제동(AEB)을 비활성화합니다. - - - On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. - 이 차량은 openpilot 가감속 제어 대신 기본적으로 차량의 ACC로 가감속을 제어합니다. openpilot의 가감속 제어로 전환하려면 이 기능을 활성화하세요. openpilot 가감속 제어 알파를 활성화하는 경우 실험 모드 활성화를 권장합니다. - DevicePanel @@ -188,7 +188,7 @@ Reset Calibration - 캘리브레이션 초기화 + 캘리브레이션 RESET @@ -200,7 +200,7 @@ Review Training Guide - 트레이닝 가이드 다시보기 + 트레이닝 가이드 REVIEW @@ -292,7 +292,7 @@ Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. - 장치를 comma connect (connect.comma.ai)에서 페어링하고 comma prime 무료 이용권을 사용하세요. + 장치를 comma connect (connect.comma.ai)에서 동기화하고 comma prime 무료 이용권을 사용하세요. Pair Device @@ -313,18 +313,14 @@ Training Guide - - Language - - - - Reboot - 재부팅 - Regulatory 규제 + + Language + + Are you sure you want to review the training guide? 트레이닝 가이드를 다시 확인하시겠습니까? @@ -337,6 +333,10 @@ Select a language 언어를 선택하세요 + + Reboot + 재부팅 + Power Off 전원 끄기 @@ -374,27 +374,27 @@ DriveStats Drives - 주행 + Hours - 시간 + ALL TIME - 전체 + PAST WEEK - 지난 주 + KM - km + Miles - 마일 + @@ -415,6 +415,31 @@ 안정 모드 사용 + + FirehosePanel + + 🔥 Firehose Mode 🔥 + + + + Enable Firehose Mode + + + + openpilot learns to drive by watching humans, like you, drive. + +Firehose Mode allows you to maximize your training data uploads to improve openpilot's driving models. More data means bigger models with better Experimental Mode. + + + + 0% + 5G {0%?} + + + Follow these steps to get your device ready:<br> 1. Bring your device inside and connect to a good USB-C adapter<br> 2. Connect to Wi-Fi<br> 3. Enable the toggle<br> 4. Leave it connected for at least 30 minutes<br><br>The toggle turns off once you restart your device. Repeat at least once a week for maximum effectiveness.<br><br><b>FAQ</b><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><i>Do I need to be on Wi-Fi?</i> Yes.<br><i>Do I need to bring the device inside?</i> No, you can enable once you're parked, however your uploads will be limited by your car's battery.<br> + + + HudRenderer @@ -456,6 +481,10 @@ Toggle with Main Cruise + + Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement. + + Unified Engagement Mode (UEM) @@ -487,10 +516,6 @@ Remain Active: ALC will remain active even after the brake pedal is pressed. Pause Steering: ALC will be paused after the brake pedal is manually pressed. - - Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement. - - MultiOptionDialog @@ -644,7 +669,7 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed. Please connect to Wi-Fi to complete initial pairing - + 초기 동기화를 완료하려면 Wi-Fi에 연결하세요. @@ -661,12 +686,12 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed. ParamControlSP - Cancel - 취소 + Enable + 활성화 - Enable - 활성화 + Cancel + 취소 @@ -683,24 +708,20 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.Search your vehicle - - SEARCHING - - - - No vehicles found for query: %1 - - - - Select a vehicle - - Enter model year (e.g., 2021) and model name (Toyota Corolla): - Vehicle Selector + SEARCHING + + + + REMOVE + 삭제 + + + This setting will take effect immediately. @@ -708,7 +729,7 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed. - This setting will take effect immediately. + Vehicle Selector @@ -720,8 +741,12 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.취소 - REMOVE - 삭제 + No vehicles found for query: %1 + + + + Select a vehicle + @@ -870,41 +895,41 @@ This may take up to a minute. Developer 개발자 + + Firehose + + SettingsWindowSP × - × + × Device - 장치 + 장치 Network - 네트워크 - - - Toggles - 토글 - - - Software - 소프트웨어 - - - Developer - 개발자 - - - sunnypilot - sunnypilot + 네트워크 sunnylink + + Toggles + 토글 + + + Software + 소프트웨어 + + + sunnypilot + + Trips @@ -913,6 +938,14 @@ This may take up to a minute. Vehicle + + Developer + 개발자 + + + Firehose + + Setup @@ -1017,11 +1050,11 @@ This may take up to a minute. Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. - 장치를 comma connect (connect.comma.ai)에서 페어링하고 comma prime 무료 이용권을 사용하세요. + 장치를 comma connect (connect.comma.ai)에서 동기화하고 comma prime 무료 이용권을 사용하세요. Pair device - 장치 페어링 + 장치 동기화 @@ -1203,32 +1236,16 @@ This may take up to a minute. SoftwarePanelSP + + Current Model + + SELECT 선택 - Reset Calibration - 캘리브레이션 초기화 - - - Warning: You are on a metered connection! - - - - Continue - 계속 - - - on Metered - - - - %1 model [%2] pending... - - - - Current Model + No custom model selected! @@ -1247,22 +1264,6 @@ This may take up to a minute. Downloading %1 model [%2]... (%3%) - - %1 model [%2] download failed - - - - Select a Model - - - - Fetching models... - - - - Model download has started in the background. - - %1 model [%2] %3 @@ -1279,12 +1280,24 @@ This may take up to a minute. from cache + + %1 model [%2] download failed + + + + %1 model [%2] pending... + + + + Fetching models... + + Use Default - No custom model selected! + Select a Model @@ -1292,11 +1305,7 @@ This may take up to a minute. - Cancel - 취소 - - - Driving Model Selector + Model download has started in the background. @@ -1307,6 +1316,30 @@ This may take up to a minute. Would you like to do that now? + + Reset Calibration + 캘리브레이션 + + + Driving Model Selector + + + + Warning: You are on a metered connection! + + + + Continue + 계속 + + + on Metered + + + + Cancel + 취소 + SshControl @@ -1365,11 +1398,11 @@ This may take up to a minute. - N/A - N/A + 🎉Welcome back! We're excited to see you've enabled sunnylink again! 🚀 + - 🎉Welcome back! We're excited to see you've enabled sunnylink again! 🚀 + 👋Not going to lie, it's sad to see you disabled sunnylink 😢, but we'll be here when you're ready to come back 🎉. @@ -1377,16 +1410,12 @@ This may take up to a minute. - 👋Not going to lie, it's sad to see you disabled sunnylink 😢, but we'll be here when you're ready to come back 🎉. - + N/A + N/A SunnypilotPanel - - Customize MADS - - Modular Assistive Driving System (MADS) @@ -1395,6 +1424,10 @@ This may take up to a minute. Enable the beloved MADS feature. Disable toggle to revert back to stock openpilot engagement/disengagement. + + Customize MADS + + TermsPage @@ -1533,14 +1566,6 @@ This may take up to a minute. Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal. - - FIREHOSE Mode - - - - Enable <b>FIREHOSE Mode</b> to get your driving data in the training set.<br><br>Follow these steps to get your device ready:<br> 1. Bring your device inside and connect to a good USB-C adapter<br> 2. Connect to Wi-Fi<br> 3. Enable this toggle<br> 4. Leave it connected for at least 30 minutes<br><br>This toggle turns off once you restart your device. Repeat once a week for maximum effectiveness. - - Updater @@ -1580,24 +1605,16 @@ This may take up to a minute. WiFiPromptWidget - Setup Wi-Fi - Wi-Fi 설정 + Open + - Connect to Wi-Fi to upload driving data and help improve openpilot - Wi-Fi에 연결하여 주행 데이터를 업로드하고 openpilot 개선에 기여하세요 + Maximize your training data uploads to improve openpilot's driving models. + - Open Settings - 설정 열기 - - - Ready to upload - 업로드 준비 완료 - - - Training data will be pulled periodically while your device is on Wi-Fi - 기기가 Wi-Fi에 연결되어 있는 동안 트레이닝 데이터를 주기적으로 전송합니다 + <span style='font-family: "Noto Color Emoji";'>🔥</span> Firehose Mode <span style='font-family: Noto Color Emoji;'>🔥</span> + diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index de663d589..b9eaf7aeb 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -124,12 +124,24 @@ Modo Longitudinal Maneuver - Enables or disables the github runner service. - + openpilot Longitudinal Control (Alpha) + Controle Longitudinal openpilot (Embrionário) - Enable GitHub runner service - + WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). + AVISO: o controle longitudinal openpilot está em estado embrionário para este carro e desativará a Frenagem Automática de Emergência (AEB). + + + On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. + Neste carro, o openpilot tem como padrão o ACC embutido do carro em vez do controle longitudinal do openpilot. Habilite isso para alternar para o controle longitudinal openpilot. Recomenda-se ativar o modo Experimental ao ativar o embrionário controle longitudinal openpilot. + + + Enable ADB + Habilitar ADB + + + ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info. + ADB (Android Debug Bridge) permite conectar ao seu dispositivo por meio do USB ou através da rede. Veja https://docs.comma.ai/how-to/connect-to-comma para maiores informações. Hyundai: Enable Radar Tracks @@ -140,25 +152,13 @@ - Enable ADB + Enable GitHub runner service - ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info. + Enables or disables the github runner service. - - openpilot Longitudinal Control (Alpha) - Controle Longitudinal openpilot (Embrionário) - - - WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). - AVISO: o controle longitudinal openpilot está em estado embrionário para este carro e desativará a Frenagem Automática de Emergência (AEB). - - - On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. - Neste carro, o openpilot tem como padrão o ACC embutido do carro em vez do controle longitudinal do openpilot. Habilite isso para alternar para o controle longitudinal openpilot. Recomenda-se ativar o modo Experimental ao ativar o embrionário controle longitudinal openpilot. - DevicePanel @@ -313,18 +313,14 @@ Training Guide - - Language - - - - Reboot - Reiniciar - Regulatory Regulatório + + Language + + Are you sure you want to review the training guide? Tem certeza que quer rever o treinamento? @@ -337,6 +333,10 @@ Select a language Selecione o Idioma + + Reboot + Reiniciar + Power Off Desligar @@ -374,27 +374,27 @@ DriveStats Drives - Dirigidas + Hours - Horas + ALL TIME - TOTAL + PAST WEEK - SEMANA PASSADA + KM - KM + Miles - Milhas + @@ -415,6 +415,31 @@ MODO CHILL ON + + FirehosePanel + + 🔥 Firehose Mode 🔥 + + + + Enable Firehose Mode + + + + openpilot learns to drive by watching humans, like you, drive. + +Firehose Mode allows you to maximize your training data uploads to improve openpilot's driving models. More data means bigger models with better Experimental Mode. + + + + 0% + 5G {0%?} + + + Follow these steps to get your device ready:<br> 1. Bring your device inside and connect to a good USB-C adapter<br> 2. Connect to Wi-Fi<br> 3. Enable the toggle<br> 4. Leave it connected for at least 30 minutes<br><br>The toggle turns off once you restart your device. Repeat at least once a week for maximum effectiveness.<br><br><b>FAQ</b><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><i>Do I need to be on Wi-Fi?</i> Yes.<br><i>Do I need to bring the device inside?</i> No, you can enable once you're parked, however your uploads will be limited by your car's battery.<br> + + + HudRenderer @@ -457,6 +482,10 @@ Toggle with Main Cruise + + Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement. + + Unified Engagement Mode (UEM) @@ -488,10 +517,6 @@ Remain Active: ALC will remain active even after the brake pedal is pressed. Pause Steering: ALC will be paused after the brake pedal is manually pressed. - - Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement. - - MultiOptionDialog @@ -645,7 +670,7 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed. Please connect to Wi-Fi to complete initial pairing - + Por favor conecte ao Wi-Fi para completar o pareamento inicial @@ -662,12 +687,12 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed. ParamControlSP - Cancel - Cancelar + Enable + Ativar - Enable - Ativar + Cancel + Cancelar @@ -684,24 +709,20 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.Search your vehicle - - SEARCHING - - - - No vehicles found for query: %1 - - - - Select a vehicle - - Enter model year (e.g., 2021) and model name (Toyota Corolla): - Vehicle Selector + SEARCHING + + + + REMOVE + REMOVER + + + This setting will take effect immediately. @@ -709,7 +730,7 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed. - This setting will take effect immediately. + Vehicle Selector @@ -721,8 +742,12 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.Cancelar - REMOVE - REMOVER + No vehicles found for query: %1 + + + + Select a vehicle + @@ -874,41 +899,41 @@ Isso pode levar até um minuto. Developer Desenvdor + + Firehose + + SettingsWindowSP × - × + × Device - Dispositivo + Dispositivo Network - Rede - - - Toggles - Ajustes - - - Software - Software - - - Developer - Desenvdor - - - sunnypilot - sunnypilot + Rede sunnylink + + Toggles + Ajustes + + + Software + Software + + + sunnypilot + + Trips @@ -917,6 +942,14 @@ Isso pode levar até um minuto. Vehicle + + Developer + Desenvdor + + + Firehose + + Setup @@ -1207,32 +1240,16 @@ Isso pode levar até um minuto. SoftwarePanelSP + + Current Model + + SELECT SELECIONE - Reset Calibration - Reinicializar Calibragem - - - Warning: You are on a metered connection! - - - - Continue - Continuar - - - on Metered - - - - %1 model [%2] pending... - - - - Current Model + No custom model selected! @@ -1251,22 +1268,6 @@ Isso pode levar até um minuto. Downloading %1 model [%2]... (%3%) - - %1 model [%2] download failed - - - - Select a Model - - - - Fetching models... - - - - Model download has started in the background. - - %1 model [%2] %3 @@ -1283,12 +1284,24 @@ Isso pode levar até um minuto. from cache + + %1 model [%2] download failed + + + + %1 model [%2] pending... + + + + Fetching models... + + Use Default - No custom model selected! + Select a Model @@ -1296,11 +1309,7 @@ Isso pode levar até um minuto. - Cancel - Cancelar - - - Driving Model Selector + Model download has started in the background. @@ -1311,6 +1320,30 @@ Isso pode levar até um minuto. Would you like to do that now? + + Reset Calibration + Reinicializar Calibragem + + + Driving Model Selector + + + + Warning: You are on a metered connection! + + + + Continue + Continuar + + + on Metered + + + + Cancel + Cancelar + SshControl @@ -1369,11 +1402,11 @@ Isso pode levar até um minuto. - N/A - N/A + 🎉Welcome back! We're excited to see you've enabled sunnylink again! 🚀 + - 🎉Welcome back! We're excited to see you've enabled sunnylink again! 🚀 + 👋Not going to lie, it's sad to see you disabled sunnylink 😢, but we'll be here when you're ready to come back 🎉. @@ -1381,16 +1414,12 @@ Isso pode levar até um minuto. - 👋Not going to lie, it's sad to see you disabled sunnylink 😢, but we'll be here when you're ready to come back 🎉. - + N/A + N/A SunnypilotPanel - - Customize MADS - - Modular Assistive Driving System (MADS) @@ -1399,6 +1428,10 @@ Isso pode levar até um minuto. Enable the beloved MADS feature. Disable toggle to revert back to stock openpilot engagement/disengagement. + + Customize MADS + + TermsPage @@ -1537,14 +1570,6 @@ Isso pode levar até um minuto. Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal. - - FIREHOSE Mode - - - - Enable <b>FIREHOSE Mode</b> to get your driving data in the training set.<br><br>Follow these steps to get your device ready:<br> 1. Bring your device inside and connect to a good USB-C adapter<br> 2. Connect to Wi-Fi<br> 3. Enable this toggle<br> 4. Leave it connected for at least 30 minutes<br><br>This toggle turns off once you restart your device. Repeat once a week for maximum effectiveness. - - Updater @@ -1584,24 +1609,16 @@ Isso pode levar até um minuto. WiFiPromptWidget - Setup Wi-Fi - Configurar Wi-Fi + Open + - Connect to Wi-Fi to upload driving data and help improve openpilot - Conecte se ao Wi-Fi para realizar upload de dados de condução e ajudar a melhorar o openpilot + Maximize your training data uploads to improve openpilot's driving models. + - Open Settings - Abrir Configurações - - - Ready to upload - Pronto para upload - - - Training data will be pulled periodically while your device is on Wi-Fi - Os dados de treinamento serão extraídos periodicamente enquanto o dispositivo estiver no Wi-Fi + <span style='font-family: "Noto Color Emoji";'>🔥</span> Firehose Mode <span style='font-family: Noto Color Emoji;'>🔥</span> + diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts index 62df4cc1a..0ee7de61f 100644 --- a/selfdrive/ui/translations/main_th.ts +++ b/selfdrive/ui/translations/main_th.ts @@ -124,11 +124,23 @@ - Enables or disables the github runner service. + openpilot Longitudinal Control (Alpha) + ระบบควบคุมการเร่ง/เบรคโดย openpilot (Alpha) + + + WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). + คำเตือน: การควบคุมการเร่ง/เบรคโดย openpilot สำหรับรถคันนี้ยังอยู่ในสถานะ alpha และระบบเบรคฉุกเฉินอัตโนมัติ (AEB) จะถูกปิด + + + On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. + โดยปกติสำหรับรถคันนี้ openpilot จะควบคุมการเร่ง/เบรคด้วยระบบ ACC จากโรงงาน แทนการควยคุมโดย openpilot เปิดสวิตซ์นี้เพื่อให้ openpilot ควบคุมการเร่ง/เบรค แนะนำให้เปิดโหมดทดลองเมื่อต้องการให้ openpilot ควบคุมการเร่ง/เบรค ซึ่งอยู่ในสถานะ alpha + + + Enable ADB - Enable GitHub runner service + ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info. @@ -140,25 +152,13 @@ - Enable ADB + Enable GitHub runner service - ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info. + Enables or disables the github runner service. - - openpilot Longitudinal Control (Alpha) - ระบบควบคุมการเร่ง/เบรคโดย openpilot (Alpha) - - - WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). - คำเตือน: การควบคุมการเร่ง/เบรคโดย openpilot สำหรับรถคันนี้ยังอยู่ในสถานะ alpha และระบบเบรคฉุกเฉินอัตโนมัติ (AEB) จะถูกปิด - - - On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. - โดยปกติสำหรับรถคันนี้ openpilot จะควบคุมการเร่ง/เบรคด้วยระบบ ACC จากโรงงาน แทนการควยคุมโดย openpilot เปิดสวิตซ์นี้เพื่อให้ openpilot ควบคุมการเร่ง/เบรค แนะนำให้เปิดโหมดทดลองเมื่อต้องการให้ openpilot ควบคุมการเร่ง/เบรค ซึ่งอยู่ในสถานะ alpha - DevicePanel @@ -313,18 +313,14 @@ Training Guide - - Language - - - - Reboot - รีบูต - Regulatory ระเบียบข้อบังคับ + + Language + + Are you sure you want to review the training guide? คุณแน่ใจหรือไม่ว่าต้องการทบทวนคู่มือการใช้งาน? @@ -337,6 +333,10 @@ Select a language เลือกภาษา + + Reboot + รีบูต + Power Off ปิดเครื่อง @@ -374,27 +374,27 @@ DriveStats Drives - การขับขี่ + Hours - ชั่วโมง + ALL TIME - ทั้งหมด + PAST WEEK - สัปดาห์ที่ผ่านมา + KM - กิโลเมตร + Miles - ไมล์ + @@ -415,6 +415,31 @@ คุณกำลังใช้โหมดชิล + + FirehosePanel + + 🔥 Firehose Mode 🔥 + + + + Enable Firehose Mode + + + + openpilot learns to drive by watching humans, like you, drive. + +Firehose Mode allows you to maximize your training data uploads to improve openpilot's driving models. More data means bigger models with better Experimental Mode. + + + + 0% + 5G {0%?} + + + Follow these steps to get your device ready:<br> 1. Bring your device inside and connect to a good USB-C adapter<br> 2. Connect to Wi-Fi<br> 3. Enable the toggle<br> 4. Leave it connected for at least 30 minutes<br><br>The toggle turns off once you restart your device. Repeat at least once a week for maximum effectiveness.<br><br><b>FAQ</b><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><i>Do I need to be on Wi-Fi?</i> Yes.<br><i>Do I need to bring the device inside?</i> No, you can enable once you're parked, however your uploads will be limited by your car's battery.<br> + + + HudRenderer @@ -456,6 +481,10 @@ Toggle with Main Cruise + + Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement. + + Unified Engagement Mode (UEM) @@ -487,10 +516,6 @@ Remain Active: ALC will remain active even after the brake pedal is pressed. Pause Steering: ALC will be paused after the brake pedal is manually pressed. - - Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement. - - MultiOptionDialog @@ -662,11 +687,11 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.ParamControlSP Enable - เปิดใช้งาน + เปิดใช้งาน Cancel - ยกเลิก + ยกเลิก @@ -683,24 +708,20 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.Search your vehicle - - SEARCHING - - - - No vehicles found for query: %1 - - - - Select a vehicle - - Enter model year (e.g., 2021) and model name (Toyota Corolla): - Vehicle Selector + SEARCHING + + + + REMOVE + ลบ + + + This setting will take effect immediately. @@ -708,7 +729,7 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed. - This setting will take effect immediately. + Vehicle Selector @@ -720,8 +741,12 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.ยกเลิก - REMOVE - ลบ + No vehicles found for query: %1 + + + + Select a vehicle + @@ -870,41 +895,41 @@ This may take up to a minute. Developer + + Firehose + + SettingsWindowSP × - × + × Device - อุปกรณ์ + อุปกรณ์ Network - เครือข่าย - - - Toggles - ตัวเลือก - - - Software - ซอฟต์แวร์ - - - Developer - - - - sunnypilot - sunnypilot + เครือข่าย sunnylink + + Toggles + ตัวเลือก + + + Software + ซอฟต์แวร์ + + + sunnypilot + + Trips @@ -913,6 +938,14 @@ This may take up to a minute. Vehicle + + Developer + + + + Firehose + + Setup @@ -1203,32 +1236,16 @@ This may take up to a minute. SoftwarePanelSP + + Current Model + + SELECT เลือก - Reset Calibration - รีเซ็ตการคาลิเบรท - - - Warning: You are on a metered connection! - - - - Continue - ดำเนินการต่อ - - - on Metered - - - - %1 model [%2] pending... - - - - Current Model + No custom model selected! @@ -1247,22 +1264,6 @@ This may take up to a minute. Downloading %1 model [%2]... (%3%) - - %1 model [%2] download failed - - - - Select a Model - - - - Fetching models... - - - - Model download has started in the background. - - %1 model [%2] %3 @@ -1279,12 +1280,24 @@ This may take up to a minute. from cache + + %1 model [%2] download failed + + + + %1 model [%2] pending... + + + + Fetching models... + + Use Default - No custom model selected! + Select a Model @@ -1292,11 +1305,7 @@ This may take up to a minute. - Cancel - ยกเลิก - - - Driving Model Selector + Model download has started in the background. @@ -1307,6 +1316,30 @@ This may take up to a minute. Would you like to do that now? + + Reset Calibration + รีเซ็ตการคาลิเบรท + + + Driving Model Selector + + + + Warning: You are on a metered connection! + + + + Continue + ดำเนินการต่อ + + + on Metered + + + + Cancel + ยกเลิก + SshControl @@ -1365,11 +1398,11 @@ This may take up to a minute. - N/A - ไม่มี + 🎉Welcome back! We're excited to see you've enabled sunnylink again! 🚀 + - 🎉Welcome back! We're excited to see you've enabled sunnylink again! 🚀 + 👋Not going to lie, it's sad to see you disabled sunnylink 😢, but we'll be here when you're ready to come back 🎉. @@ -1377,16 +1410,12 @@ This may take up to a minute. - 👋Not going to lie, it's sad to see you disabled sunnylink 😢, but we'll be here when you're ready to come back 🎉. - + N/A + ไม่มี SunnypilotPanel - - Customize MADS - - Modular Assistive Driving System (MADS) @@ -1395,6 +1424,10 @@ This may take up to a minute. Enable the beloved MADS feature. Disable toggle to revert back to stock openpilot engagement/disengagement. + + Customize MADS + + TermsPage @@ -1533,14 +1566,6 @@ This may take up to a minute. Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal. - - FIREHOSE Mode - - - - Enable <b>FIREHOSE Mode</b> to get your driving data in the training set.<br><br>Follow these steps to get your device ready:<br> 1. Bring your device inside and connect to a good USB-C adapter<br> 2. Connect to Wi-Fi<br> 3. Enable this toggle<br> 4. Leave it connected for at least 30 minutes<br><br>This toggle turns off once you restart your device. Repeat once a week for maximum effectiveness. - - Updater @@ -1580,24 +1605,16 @@ This may take up to a minute. WiFiPromptWidget - Setup Wi-Fi - ตั้งค่า Wi-Fi + Open + - Connect to Wi-Fi to upload driving data and help improve openpilot - เชื่อมต่อกับ Wi-Fi เพื่ออัปโหลดข้อมูลการขับขี่และช่วยปรับปรุง openpilot + Maximize your training data uploads to improve openpilot's driving models. + - Open Settings - เปิดการตั้งค่า - - - Ready to upload - พร้อมจะอัปโหลด - - - Training data will be pulled periodically while your device is on Wi-Fi - ข้อมูลการฝึกฝนจะถูกดึงเป็นระยะระหว่างที่อุปกรณ์ของคุณเชื่อมต่อกับ Wi-Fi + <span style='font-family: "Noto Color Emoji";'>🔥</span> Firehose Mode <span style='font-family: Noto Color Emoji;'>🔥</span> + diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts index 8661d669b..41c430408 100644 --- a/selfdrive/ui/translations/main_tr.ts +++ b/selfdrive/ui/translations/main_tr.ts @@ -124,19 +124,15 @@ - Enables or disables the github runner service. + openpilot Longitudinal Control (Alpha) - Enable GitHub runner service + WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). - Hyundai: Enable Radar Tracks - - - - Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance. + On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. @@ -148,15 +144,19 @@ - openpilot Longitudinal Control (Alpha) + Hyundai: Enable Radar Tracks - WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). + Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance. - On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. + Enable GitHub runner service + + + + Enables or disables the github runner service. @@ -313,18 +313,14 @@ Training Guide - - Language - - - - Reboot - Yeniden başlat - Regulatory Mevzuat + + Language + + Are you sure you want to review the training guide? Eğitim kılavuzunu incelemek istediğinizden emin misiniz? @@ -337,6 +333,10 @@ Select a language Dil seçin + + Reboot + Yeniden başlat + Power Off Sistemi kapat @@ -374,27 +374,27 @@ DriveStats Drives - Sürücüler + Hours - Saat + ALL TIME - TÜM ZAMANLAR + PAST WEEK - GEÇEN HAFTA + KM - KM + Miles - Mil + @@ -415,6 +415,31 @@ + + FirehosePanel + + 🔥 Firehose Mode 🔥 + + + + Enable Firehose Mode + + + + openpilot learns to drive by watching humans, like you, drive. + +Firehose Mode allows you to maximize your training data uploads to improve openpilot's driving models. More data means bigger models with better Experimental Mode. + + + + 0% + 5G {0%?} + + + Follow these steps to get your device ready:<br> 1. Bring your device inside and connect to a good USB-C adapter<br> 2. Connect to Wi-Fi<br> 3. Enable the toggle<br> 4. Leave it connected for at least 30 minutes<br><br>The toggle turns off once you restart your device. Repeat at least once a week for maximum effectiveness.<br><br><b>FAQ</b><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><i>Do I need to be on Wi-Fi?</i> Yes.<br><i>Do I need to bring the device inside?</i> No, you can enable once you're parked, however your uploads will be limited by your car's battery.<br> + + + HudRenderer @@ -456,6 +481,10 @@ Toggle with Main Cruise + + Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement. + + Unified Engagement Mode (UEM) @@ -487,10 +516,6 @@ Remain Active: ALC will remain active even after the brake pedal is pressed. Pause Steering: ALC will be paused after the brake pedal is manually pressed. - - Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement. - - MultiOptionDialog @@ -682,24 +707,20 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.Search your vehicle - - SEARCHING - - - - No vehicles found for query: %1 - - - - Select a vehicle - - Enter model year (e.g., 2021) and model name (Toyota Corolla): - Vehicle Selector + SEARCHING + + + + REMOVE + KALDIR + + + This setting will take effect immediately. @@ -707,7 +728,7 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed. - This setting will take effect immediately. + Vehicle Selector @@ -719,8 +740,12 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed. - REMOVE - KALDIR + No vehicles found for query: %1 + + + + Select a vehicle + @@ -868,41 +893,41 @@ This may take up to a minute. Developer + + Firehose + + SettingsWindowSP × - x + x Device - Cihaz + Cihaz Network - Ağ - - - Toggles - Değiştirme - - - Software - Yazılım - - - Developer - - - - sunnypilot - sunnypilot + Ağ sunnylink + + Toggles + Değiştirme + + + Software + Yazılım + + + sunnypilot + + Trips @@ -911,6 +936,14 @@ This may take up to a minute. Vehicle + + Developer + + + + Firehose + + Setup @@ -1201,32 +1234,16 @@ This may take up to a minute. SoftwarePanelSP + + Current Model + + SELECT - Reset Calibration - Kalibrasyonu sıfırla - - - Warning: You are on a metered connection! - - - - Continue - Devam et - - - on Metered - - - - %1 model [%2] pending... - - - - Current Model + No custom model selected! @@ -1245,22 +1262,6 @@ This may take up to a minute. Downloading %1 model [%2]... (%3%) - - %1 model [%2] download failed - - - - Select a Model - - - - Fetching models... - - - - Model download has started in the background. - - %1 model [%2] %3 @@ -1277,12 +1278,24 @@ This may take up to a minute. from cache + + %1 model [%2] download failed + + + + %1 model [%2] pending... + + + + Fetching models... + + Use Default - No custom model selected! + Select a Model @@ -1290,11 +1303,7 @@ This may take up to a minute. - Cancel - - - - Driving Model Selector + Model download has started in the background. @@ -1305,6 +1314,30 @@ This may take up to a minute. Would you like to do that now? + + Reset Calibration + Kalibrasyonu sıfırla + + + Driving Model Selector + + + + Warning: You are on a metered connection! + + + + Continue + Devam et + + + on Metered + + + + Cancel + + SshControl @@ -1363,11 +1396,11 @@ This may take up to a minute. - N/A - N/A + 🎉Welcome back! We're excited to see you've enabled sunnylink again! 🚀 + - 🎉Welcome back! We're excited to see you've enabled sunnylink again! 🚀 + 👋Not going to lie, it's sad to see you disabled sunnylink 😢, but we'll be here when you're ready to come back 🎉. @@ -1375,16 +1408,12 @@ This may take up to a minute. - 👋Not going to lie, it's sad to see you disabled sunnylink 😢, but we'll be here when you're ready to come back 🎉. - + N/A + N/A SunnypilotPanel - - Customize MADS - - Modular Assistive Driving System (MADS) @@ -1393,6 +1422,10 @@ This may take up to a minute. Enable the beloved MADS feature. Disable toggle to revert back to stock openpilot engagement/disengagement. + + Customize MADS + + TermsPage @@ -1531,14 +1564,6 @@ This may take up to a minute. Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal. - - FIREHOSE Mode - - - - Enable <b>FIREHOSE Mode</b> to get your driving data in the training set.<br><br>Follow these steps to get your device ready:<br> 1. Bring your device inside and connect to a good USB-C adapter<br> 2. Connect to Wi-Fi<br> 3. Enable this toggle<br> 4. Leave it connected for at least 30 minutes<br><br>This toggle turns off once you restart your device. Repeat once a week for maximum effectiveness. - - Updater @@ -1578,23 +1603,15 @@ This may take up to a minute. WiFiPromptWidget - Setup Wi-Fi + Open - Connect to Wi-Fi to upload driving data and help improve openpilot + Maximize your training data uploads to improve openpilot's driving models. - Open Settings - - - - Ready to upload - - - - Training data will be pulled periodically while your device is on Wi-Fi + <span style='font-family: "Noto Color Emoji";'>🔥</span> Firehose Mode <span style='font-family: Noto Color Emoji;'>🔥</span> diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index ae2643661..552d25f47 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -117,19 +117,31 @@ DeveloperPanel Joystick Debug Mode - + 摇杆调试模式 Longitudinal Maneuver Mode - + 纵向机动模式 - Enables or disables the github runner service. - + openpilot Longitudinal Control (Alpha) + openpilot纵向控制（Alpha 版） - Enable GitHub runner service - + WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). + 警告：此车辆的 openpilot 纵向控制功能目前处于Alpha版本，使用此功能将会停用自动紧急制动（AEB）功能。 + + + On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. + 在这辆车上，openpilot 默认使用车辆内建的主动巡航控制（ACC），而非 openpilot 的纵向控制。启用此项功能可切换至 openpilot 的纵向控制。当启用 openpilot 纵向控制 Alpha 版本时，建议同时启用实验性模式（Experimental mode）。 + + + Enable ADB + 启用 ADB + + + ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info. + ADB（Android调试桥接）允许通过USB或网络连接到您的设备。更多信息请参见 [https://docs.comma.ai/how-to/connect-to-comma](https://docs.comma.ai/how-to/connect-to-comma)。 Hyundai: Enable Radar Tracks @@ -140,25 +152,13 @@ - Enable ADB + Enable GitHub runner service - ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info. + Enables or disables the github runner service. - - openpilot Longitudinal Control (Alpha) - openpilot纵向控制（Alpha 版） - - - WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). - 警告：此车辆的 openpilot 纵向控制功能目前处于Alpha版本，使用此功能将会停用自动紧急制动（AEB）功能。 - - - On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. - 在这辆车上，openpilot 默认使用车辆内建的主动巡航控制（ACC），而非 openpilot 的纵向控制。启用此项功能可切换至 openpilot 的纵向控制。当启用 openpilot 纵向控制 Alpha 版本时，建议同时启用实验性模式（Experimental mode）。 - DevicePanel @@ -313,18 +313,14 @@ Training Guide - - Language - - - - Reboot - 重启 - Regulatory 监管信息 + + Language + + Are you sure you want to review the training guide? 您确定要查看新手指南吗？ @@ -337,6 +333,10 @@ Select a language 选择语言 + + Reboot + 重启 + Power Off 关机 @@ -374,27 +374,27 @@ DriveStats Drives - 旅程数 + Hours - 小时 + ALL TIME - 全部 + PAST WEEK - 过去一周 + KM - 公里 + Miles - 英里 + @@ -415,6 +415,31 @@ 轻松模式运行 + + FirehosePanel + + 🔥 Firehose Mode 🔥 + + + + Enable Firehose Mode + + + + openpilot learns to drive by watching humans, like you, drive. + +Firehose Mode allows you to maximize your training data uploads to improve openpilot's driving models. More data means bigger models with better Experimental Mode. + + + + 0% + 5G {0%?} + + + Follow these steps to get your device ready:<br> 1. Bring your device inside and connect to a good USB-C adapter<br> 2. Connect to Wi-Fi<br> 3. Enable the toggle<br> 4. Leave it connected for at least 30 minutes<br><br>The toggle turns off once you restart your device. Repeat at least once a week for maximum effectiveness.<br><br><b>FAQ</b><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><i>Do I need to be on Wi-Fi?</i> Yes.<br><i>Do I need to bring the device inside?</i> No, you can enable once you're parked, however your uploads will be limited by your car's battery.<br> + + + HudRenderer @@ -456,6 +481,10 @@ Toggle with Main Cruise + + Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement. + + Unified Engagement Mode (UEM) @@ -487,10 +516,6 @@ Remain Active: ALC will remain active even after the brake pedal is pressed. Pause Steering: ALC will be paused after the brake pedal is manually pressed. - - Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement. - - MultiOptionDialog @@ -644,7 +669,7 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed. Please connect to Wi-Fi to complete initial pairing - + 请连接 Wi-Fi 以完成初始配对 @@ -661,12 +686,12 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed. ParamControlSP - Cancel - 取消 + Enable + 启用 - Enable - 启用 + Cancel + 取消 @@ -683,24 +708,20 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.Search your vehicle - - SEARCHING - - - - No vehicles found for query: %1 - - - - Select a vehicle - - Enter model year (e.g., 2021) and model name (Toyota Corolla): - Vehicle Selector + SEARCHING + + + + REMOVE + 删除 + + + This setting will take effect immediately. @@ -708,7 +729,7 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed. - This setting will take effect immediately. + Vehicle Selector @@ -720,8 +741,12 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.取消 - REMOVE - 删除 + No vehicles found for query: %1 + + + + Select a vehicle + @@ -868,6 +893,10 @@ This may take up to a minute. Developer + 开发人员 + + + Firehose @@ -875,36 +904,32 @@ This may take up to a minute. SettingsWindowSP × - × + × Device - 设备 + 设备 Network - 网络 - - - Toggles - 设定 - - - Software - 软件 - - - Developer - - - - sunnypilot - sunnypilot + 网络 sunnylink + + Toggles + 设定 + + + Software + 软件 + + + sunnypilot + + Trips @@ -913,6 +938,14 @@ This may take up to a minute. Vehicle + + Developer + 开发人员 + + + Firehose + + Setup @@ -1203,32 +1236,16 @@ This may take up to a minute. SoftwarePanelSP + + Current Model + + SELECT 选择 - Reset Calibration - 重置设备校准 - - - Warning: You are on a metered connection! - - - - Continue - 继续 - - - on Metered - - - - %1 model [%2] pending... - - - - Current Model + No custom model selected! @@ -1247,22 +1264,6 @@ This may take up to a minute. Downloading %1 model [%2]... (%3%) - - %1 model [%2] download failed - - - - Select a Model - - - - Fetching models... - - - - Model download has started in the background. - - %1 model [%2] %3 @@ -1279,12 +1280,24 @@ This may take up to a minute. from cache + + %1 model [%2] download failed + + + + %1 model [%2] pending... + + + + Fetching models... + + Use Default - No custom model selected! + Select a Model @@ -1292,11 +1305,7 @@ This may take up to a minute. - Cancel - 取消 - - - Driving Model Selector + Model download has started in the background. @@ -1307,6 +1316,30 @@ This may take up to a minute. Would you like to do that now? + + Reset Calibration + 重置设备校准 + + + Driving Model Selector + + + + Warning: You are on a metered connection! + + + + Continue + 继续 + + + on Metered + + + + Cancel + 取消 + SshControl @@ -1365,11 +1398,11 @@ This may take up to a minute. - N/A - N/A + 🎉Welcome back! We're excited to see you've enabled sunnylink again! 🚀 + - 🎉Welcome back! We're excited to see you've enabled sunnylink again! 🚀 + 👋Not going to lie, it's sad to see you disabled sunnylink 😢, but we'll be here when you're ready to come back 🎉. @@ -1377,16 +1410,12 @@ This may take up to a minute. - 👋Not going to lie, it's sad to see you disabled sunnylink 😢, but we'll be here when you're ready to come back 🎉. - + N/A + N/A SunnypilotPanel - - Customize MADS - - Modular Assistive Driving System (MADS) @@ -1395,6 +1424,10 @@ This may take up to a minute. Enable the beloved MADS feature. Disable toggle to revert back to stock openpilot engagement/disengagement. + + Customize MADS + + TermsPage @@ -1533,14 +1566,6 @@ This may take up to a minute. Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal. - - FIREHOSE Mode - - - - Enable <b>FIREHOSE Mode</b> to get your driving data in the training set.<br><br>Follow these steps to get your device ready:<br> 1. Bring your device inside and connect to a good USB-C adapter<br> 2. Connect to Wi-Fi<br> 3. Enable this toggle<br> 4. Leave it connected for at least 30 minutes<br><br>This toggle turns off once you restart your device. Repeat once a week for maximum effectiveness. - - Updater @@ -1580,24 +1605,16 @@ This may take up to a minute. WiFiPromptWidget - Setup Wi-Fi - 设置 Wi-Fi 连接 + Open + - Connect to Wi-Fi to upload driving data and help improve openpilot - 请连接至 Wi-Fi 上传驾驶数据以协助改进openpilot + Maximize your training data uploads to improve openpilot's driving models. + - Open Settings - 打开设置 - - - Ready to upload - 准备好上传 - - - Training data will be pulled periodically while your device is on Wi-Fi - 训练数据将定期通过 Wi-Fi 上载 + <span style='font-family: "Noto Color Emoji";'>🔥</span> Firehose Mode <span style='font-family: Noto Color Emoji;'>🔥</span> + diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index d967a33d6..1b747b1b1 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -117,19 +117,31 @@ DeveloperPanel Joystick Debug Mode - + 搖桿調試模式 Longitudinal Maneuver Mode - + 縱向機動模式 - Enables or disables the github runner service. - + openpilot Longitudinal Control (Alpha) + openpilot 縱向控制 (Alpha 版) - Enable GitHub runner service - + WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). + 警告：此車輛的 openpilot 縱向控制功能目前處於 Alpha 版本，使用此功能將會停用自動緊急煞車（AEB）功能。 + + + On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. + 在這輛車上，openpilot 預設使用車輛內建的主動巡航控制（ACC），而非 openpilot 的縱向控制。啟用此項功能可切換至 openpilot 的縱向控制。當啟用 openpilot 縱向控制 Alpha 版本時，建議同時啟用實驗性模式（Experimental mode）。 + + + Enable ADB + 啟用 ADB + + + ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info. + ADB（Android 調試橋接）允許通過 USB 或網絡連接到您的設備。更多信息請參見 [https://docs.comma.ai/how-to/connect-to-comma](https://docs.comma.ai/how-to/connect-to-comma)。 Hyundai: Enable Radar Tracks @@ -140,25 +152,13 @@ - Enable ADB + Enable GitHub runner service - ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info. + Enables or disables the github runner service. - - openpilot Longitudinal Control (Alpha) - openpilot 縱向控制 (Alpha 版) - - - WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). - 警告：此車輛的 openpilot 縱向控制功能目前處於 Alpha 版本，使用此功能將會停用自動緊急煞車（AEB）功能。 - - - On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. - 在這輛車上，openpilot 預設使用車輛內建的主動巡航控制（ACC），而非 openpilot 的縱向控制。啟用此項功能可切換至 openpilot 的縱向控制。當啟用 openpilot 縱向控制 Alpha 版本時，建議同時啟用實驗性模式（Experimental mode）。 - DevicePanel @@ -313,18 +313,14 @@ Training Guide - - Language - - - - Reboot - 重新啟動 - Regulatory 法規/監管 + + Language + + Are you sure you want to review the training guide? 您確定要觀看使用教學嗎？ @@ -337,6 +333,10 @@ Select a language 選擇語言 + + Reboot + 重新啟動 + Power Off 關機 @@ -374,27 +374,27 @@ DriveStats Drives - 旅程 + Hours - 小時 + ALL TIME - 總共 + PAST WEEK - 上週 + KM - 公里 + Miles - 英里 + @@ -415,6 +415,31 @@ 輕鬆模式 ON + + FirehosePanel + + 🔥 Firehose Mode 🔥 + + + + Enable Firehose Mode + + + + openpilot learns to drive by watching humans, like you, drive. + +Firehose Mode allows you to maximize your training data uploads to improve openpilot's driving models. More data means bigger models with better Experimental Mode. + + + + 0% + 5G {0%?} + + + Follow these steps to get your device ready:<br> 1. Bring your device inside and connect to a good USB-C adapter<br> 2. Connect to Wi-Fi<br> 3. Enable the toggle<br> 4. Leave it connected for at least 30 minutes<br><br>The toggle turns off once you restart your device. Repeat at least once a week for maximum effectiveness.<br><br><b>FAQ</b><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><i>Do I need to be on Wi-Fi?</i> Yes.<br><i>Do I need to bring the device inside?</i> No, you can enable once you're parked, however your uploads will be limited by your car's battery.<br> + + + HudRenderer @@ -456,6 +481,10 @@ Toggle with Main Cruise + + Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement. + + Unified Engagement Mode (UEM) @@ -487,10 +516,6 @@ Remain Active: ALC will remain active even after the brake pedal is pressed. Pause Steering: ALC will be paused after the brake pedal is manually pressed. - - Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement. - - MultiOptionDialog @@ -644,7 +669,7 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed. Please connect to Wi-Fi to complete initial pairing - + 請連接 Wi-Fi 以完成初始配對 @@ -661,12 +686,12 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed. ParamControlSP - Cancel - 取消 + Enable + 啟用 - Enable - 啟用 + Cancel + 取消 @@ -683,24 +708,20 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.Search your vehicle - - SEARCHING - - - - No vehicles found for query: %1 - - - - Select a vehicle - - Enter model year (e.g., 2021) and model name (Toyota Corolla): - Vehicle Selector + SEARCHING + + + + REMOVE + 移除 + + + This setting will take effect immediately. @@ -708,7 +729,7 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed. - This setting will take effect immediately. + Vehicle Selector @@ -720,8 +741,12 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.取消 - REMOVE - 移除 + No vehicles found for query: %1 + + + + Select a vehicle + @@ -868,6 +893,10 @@ This may take up to a minute. Developer + 開發人員 + + + Firehose @@ -875,36 +904,32 @@ This may take up to a minute. SettingsWindowSP × - × + × Device - 裝置 + 裝置 Network - 網路 - - - Toggles - 設定 - - - Software - 軟體 - - - Developer - - - - sunnypilot - sunnypilot + 網路 sunnylink + + Toggles + 設定 + + + Software + 軟體 + + + sunnypilot + + Trips @@ -913,6 +938,14 @@ This may take up to a minute. Vehicle + + Developer + 開發人員 + + + Firehose + + Setup @@ -1203,32 +1236,16 @@ This may take up to a minute. SoftwarePanelSP + + Current Model + + SELECT 選取 - Reset Calibration - 重設校準 - - - Warning: You are on a metered connection! - - - - Continue - 繼續 - - - on Metered - - - - %1 model [%2] pending... - - - - Current Model + No custom model selected! @@ -1247,22 +1264,6 @@ This may take up to a minute. Downloading %1 model [%2]... (%3%) - - %1 model [%2] download failed - - - - Select a Model - - - - Fetching models... - - - - Model download has started in the background. - - %1 model [%2] %3 @@ -1279,12 +1280,24 @@ This may take up to a minute. from cache + + %1 model [%2] download failed + + + + %1 model [%2] pending... + + + + Fetching models... + + Use Default - No custom model selected! + Select a Model @@ -1292,11 +1305,7 @@ This may take up to a minute. - Cancel - 取消 - - - Driving Model Selector + Model download has started in the background. @@ -1307,6 +1316,30 @@ This may take up to a minute. Would you like to do that now? + + Reset Calibration + 重設校準 + + + Driving Model Selector + + + + Warning: You are on a metered connection! + + + + Continue + 繼續 + + + on Metered + + + + Cancel + 取消 + SshControl @@ -1365,11 +1398,11 @@ This may take up to a minute. - N/A - 無法使用 + 🎉Welcome back! We're excited to see you've enabled sunnylink again! 🚀 + - 🎉Welcome back! We're excited to see you've enabled sunnylink again! 🚀 + 👋Not going to lie, it's sad to see you disabled sunnylink 😢, but we'll be here when you're ready to come back 🎉. @@ -1377,16 +1410,12 @@ This may take up to a minute. - 👋Not going to lie, it's sad to see you disabled sunnylink 😢, but we'll be here when you're ready to come back 🎉. - + N/A + 無法使用 SunnypilotPanel - - Customize MADS - - Modular Assistive Driving System (MADS) @@ -1395,6 +1424,10 @@ This may take up to a minute. Enable the beloved MADS feature. Disable toggle to revert back to stock openpilot engagement/disengagement. + + Customize MADS + + TermsPage @@ -1533,14 +1566,6 @@ This may take up to a minute. Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal. - - FIREHOSE Mode - - - - Enable <b>FIREHOSE Mode</b> to get your driving data in the training set.<br><br>Follow these steps to get your device ready:<br> 1. Bring your device inside and connect to a good USB-C adapter<br> 2. Connect to Wi-Fi<br> 3. Enable this toggle<br> 4. Leave it connected for at least 30 minutes<br><br>This toggle turns off once you restart your device. Repeat once a week for maximum effectiveness. - - Updater @@ -1580,24 +1605,16 @@ This may take up to a minute. WiFiPromptWidget - Setup Wi-Fi - 設置 Wi-Fi 連接 + Open + - Connect to Wi-Fi to upload driving data and help improve openpilot - 請連接至 Wi-Fi 傳駕駛數據以協助改進 openpilot + Maximize your training data uploads to improve openpilot's driving models. + - Open Settings - 開啟設置 - - - Ready to upload - 準備好上傳 - - - Training data will be pulled periodically while your device is on Wi-Fi - 訓練數據將定期經過 Wi-Fi 上傳 + <span style='font-family: "Noto Color Emoji";'>🔥</span> Firehose Mode <span style='font-family: Noto Color Emoji;'>🔥</span> + diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py index 6335517a4..9e53a8eee 100644 --- a/sunnypilot/mads/mads.py +++ b/sunnypilot/mads/mads.py @@ -27,7 +27,6 @@ Last updated: July 29, 2024 from cereal import car, log, custom from opendbc.car.hyundai.values import HyundaiFlags -from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP from openpilot.sunnypilot.mads.helpers import MadsParams from openpilot.sunnypilot.mads.state import StateMachine, GEARS_ALLOW_PAUSED_SILENT @@ -57,8 +56,7 @@ class ModularAssistiveDrivingSystem: self.events_sp = self.selfdrive.events_sp if self.selfdrive.CP.brand == "hyundai": - if (self.selfdrive.CP_SP.flags & HyundaiFlagsSP.HAS_LFA_BUTTON) or \ - (self.selfdrive.CP.flags & HyundaiFlags.CANFD): + if self.selfdrive.CP.flags & (HyundaiFlags.HAS_LDA_BUTTON | HyundaiFlags.CANFD): self.allow_always = True # read params on init diff --git a/sunnypilot/modeld/tests/model_hash b/sunnypilot/modeld/tests/model_hash deleted file mode 100644 index 5121e0f7e..000000000 --- a/sunnypilot/modeld/tests/model_hash +++ /dev/null @@ -1 +0,0 @@ -d21daa542227ecc5972da45df4e26f018ba113c0461f270e367d57e3ad89221a \ No newline at end of file diff --git a/sunnypilot/modeld/tests/test_default_model.py b/sunnypilot/modeld/tests/test_default_model.py deleted file mode 100644 index 3e3c14523..000000000 --- a/sunnypilot/modeld/tests/test_default_model.py +++ /dev/null @@ -1,11 +0,0 @@ -from openpilot.sunnypilot.modeld.default_model import get_hash, MODEL_HASH_PATH, ONNX_PATH - - -class TestDefaultModel: - def test_compare_onnx_hashes(self): - new_hash = get_hash(ONNX_PATH) - - with open(MODEL_HASH_PATH) as f: - current_hash = f.read().strip() - - assert new_hash == current_hash, "Run sunnypilot/modeld/default_model.py to update the default model name and hash" diff --git a/sunnypilot/modeld/default_model.py b/sunnypilot/models/default_model.py similarity index 72% rename from sunnypilot/modeld/default_model.py rename to sunnypilot/models/default_model.py index 21f73ee8b..718c910c5 100644 --- a/sunnypilot/modeld/default_model.py +++ b/sunnypilot/models/default_model.py @@ -5,11 +5,12 @@ import hashlib from openpilot.common.basedir import BASEDIR DEFAULT_MODEL_NAME_PATH = os.path.join(BASEDIR, "common", "model.h") -MODEL_HASH_PATH = os.path.join(BASEDIR, "sunnypilot", "modeld", "tests", "model_hash") -ONNX_PATH = os.path.join(BASEDIR, "selfdrive", "modeld", "models", "supercombo.onnx") +MODEL_HASH_PATH = os.path.join(BASEDIR, "sunnypilot", "models", "tests", "model_hash") +VISION_ONNX_PATH = os.path.join(BASEDIR, "selfdrive", "modeld", "models", "driving_vision.onnx") +POLICY_ONNX_PATH = os.path.join(BASEDIR, "selfdrive", "modeld", "models", "driving_policy.onnx") -def get_hash(path: str) -> str: +def get_file_hash(path: str) -> str: sha256_hash = hashlib.sha256() with open(path, "rb") as f: for byte_block in iter(lambda: f.read(4096), b""): @@ -18,10 +19,15 @@ def get_hash(path: str) -> str: def update_model_hash(): - new_hash = get_hash(ONNX_PATH) + vision_hash = get_file_hash(VISION_ONNX_PATH) + policy_hash = get_file_hash(POLICY_ONNX_PATH) + + combined_hash = hashlib.sha256((vision_hash + policy_hash).encode()).hexdigest() + with open(MODEL_HASH_PATH, "w") as f: - f.write(new_hash) - print(f"Generated and updated new hash to {MODEL_HASH_PATH}") + f.write(combined_hash) + + print(f"Generated and updated new combined model hash to {MODEL_HASH_PATH}") def get_current_default_model_name(): @@ -55,7 +61,7 @@ if __name__ == "__main__": new_name = f"{args.new_name} (Default)" if current_name == new_name: print(f'Proposed default model name: "{new_name}"') - confirm = input("Proposed default model name is the same as the current default model name. Confirm? (y/n):").upper().strip() + confirm = input("Proposed default model name is the same as the current default model name. Confirm? (y/n): ").upper().strip() if confirm != "Y": print("Default model name and hash will not be updated! (aborted)") exit(0) diff --git a/sunnypilot/models/tests/model_hash b/sunnypilot/models/tests/model_hash new file mode 100644 index 000000000..1f2d773fa --- /dev/null +++ b/sunnypilot/models/tests/model_hash @@ -0,0 +1 @@ +c0636e407aa49a3e227d63dd7bc9c625fa681c10a11af1ab4e11214cface123e \ No newline at end of file diff --git a/sunnypilot/models/tests/test_default_model.py b/sunnypilot/models/tests/test_default_model.py new file mode 100644 index 000000000..5067dbaf4 --- /dev/null +++ b/sunnypilot/models/tests/test_default_model.py @@ -0,0 +1,15 @@ +from openpilot.sunnypilot.models.default_model import get_file_hash, MODEL_HASH_PATH, VISION_ONNX_PATH, POLICY_ONNX_PATH +import hashlib + + +class TestDefaultModel: + def test_compare_onnx_hashes(self): + vision_hash = get_file_hash(VISION_ONNX_PATH) + policy_hash = get_file_hash(POLICY_ONNX_PATH) + + combined_hash = hashlib.sha256((vision_hash + policy_hash).encode()).hexdigest() + + with open(MODEL_HASH_PATH) as f: + current_hash = f.read().strip() + + assert combined_hash == current_hash, "Run sunnypilot/models/default_model.py to update the default model name and hash" diff --git a/sunnypilot/selfdrive/assets/offroad/icon_firehose.svg b/sunnypilot/selfdrive/assets/offroad/icon_firehose.svg new file mode 100644 index 000000000..9e5353da3 --- /dev/null +++ b/sunnypilot/selfdrive/assets/offroad/icon_firehose.svg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fefe69ef501c2c18ddba6d946ac0646c9b07d408ee03bcebbf2e91195b6ccb76 +size 1914 diff --git a/system/camerad/SConscript b/system/camerad/SConscript index 0d936176b..fe5cf87b7 100644 --- a/system/camerad/SConscript +++ b/system/camerad/SConscript @@ -1,6 +1,6 @@ Import('env', 'arch', 'messaging', 'common', 'gpucommon', 'visionipc') -libs = ['pthread', common, 'OpenCL', messaging, visionipc, gpucommon] +libs = [common, 'OpenCL', messaging, visionipc, gpucommon] if arch != "Darwin": camera_obj = env.Object(['cameras/camera_qcom2.cc', 'cameras/camera_common.cc', 'cameras/spectra.cc', diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc index 666d027be..a08ebdecf 100644 --- a/system/camerad/cameras/camera_common.cc +++ b/system/camerad/cameras/camera_common.cc @@ -3,58 +3,10 @@ #include #include -#include "common/clutil.h" #include "common/swaglog.h" - #include "system/camerad/cameras/spectra.h" -class ImgProc { -public: - ImgProc(cl_device_id device_id, cl_context context, const CameraBuf *b, const SensorInfo *sensor, int camera_num, int buf_width, int uv_offset) { - char args[4096]; - snprintf(args, sizeof(args), - "-cl-fast-relaxed-math -cl-denorms-are-zero -Isensors " - "-DFRAME_WIDTH=%d -DFRAME_HEIGHT=%d -DFRAME_STRIDE=%d -DFRAME_OFFSET=%d " - "-DRGB_WIDTH=%d -DRGB_HEIGHT=%d -DYUV_STRIDE=%d -DUV_OFFSET=%d " - "-DSENSOR_ID=%hu -DHDR_OFFSET=%d -DVIGNETTING=%d ", - sensor->frame_width, sensor->frame_height, sensor->hdr_offset > 0 ? sensor->frame_stride * 2 : sensor->frame_stride, sensor->frame_offset, - b->out_img_width, b->out_img_height, buf_width, uv_offset, - static_cast(sensor->image_sensor), sensor->hdr_offset, camera_num == 1); - const char *cl_file = "cameras/process_raw.cl"; - cl_program prg_imgproc = cl_program_from_file(context, device_id, cl_file, args); - krnl_ = CL_CHECK_ERR(clCreateKernel(prg_imgproc, "process_raw", &err)); - CL_CHECK(clReleaseProgram(prg_imgproc)); - - const cl_queue_properties props[] = {0}; //CL_QUEUE_PRIORITY_KHR, CL_QUEUE_PRIORITY_HIGH_KHR, 0}; - queue = CL_CHECK_ERR(clCreateCommandQueueWithProperties(context, device_id, props, &err)); - } - - void runKernel(cl_mem cam_buf_cl, cl_mem buf_cl, int width, int height, int expo_time) { - CL_CHECK(clSetKernelArg(krnl_, 0, sizeof(cl_mem), &cam_buf_cl)); - CL_CHECK(clSetKernelArg(krnl_, 1, sizeof(cl_mem), &buf_cl)); - CL_CHECK(clSetKernelArg(krnl_, 2, sizeof(cl_int), &expo_time)); - - const size_t globalWorkSize[] = {size_t(width / 2), size_t(height / 2)}; - const int imgproc_local_worksize = 16; - const size_t localWorkSize[] = {imgproc_local_worksize, imgproc_local_worksize}; - - cl_event event; - CL_CHECK(clEnqueueNDRangeKernel(queue, krnl_, 2, NULL, globalWorkSize, localWorkSize, 0, 0, &event)); - clWaitForEvents(1, &event); - CL_CHECK(clReleaseEvent(event)); - } - - ~ImgProc() { - CL_CHECK(clReleaseKernel(krnl_)); - CL_CHECK(clReleaseCommandQueue(queue)); - } - -private: - cl_kernel krnl_; - cl_command_queue queue; -}; - void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera *cam, VisionIpcServer * v, int frame_cnt, VisionStreamType type) { vipc_server = v; stream_type = type; @@ -62,9 +14,6 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera * const SensorInfo *sensor = cam->sensor.get(); - is_raw = cam->output_type == ISP_RAW_OUTPUT; - frame_metadata = std::make_unique(frame_buf_count); - // RAW frames from ISP if (cam->output_type != ISP_IFE_PROCESSED) { camera_bufs_raw = std::make_unique(frame_buf_count); @@ -86,8 +35,6 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera * vipc_server->create_buffers_with_sizes(stream_type, VIPC_BUFFER_COUNT, out_img_width, out_img_height, nv12_size, cam->stride, cam->uv_offset); LOGD("created %d YUV vipc buffers with size %dx%d", VIPC_BUFFER_COUNT, cam->stride, cam->y_height); - - if (is_raw) imgproc = new ImgProc(device_id, context, this, sensor, cam->cc.camera_num, cam->stride, cam->uv_offset); } CameraBuf::~CameraBuf() { @@ -96,29 +43,16 @@ CameraBuf::~CameraBuf() { camera_bufs_raw[i].free(); } } - if (imgproc) delete imgproc; } -bool CameraBuf::acquire(int expo_time) { - if (!safe_queue.try_pop(cur_buf_idx, 50)) return false; +void CameraBuf::sendFrameToVipc() { + assert(cur_buf_idx >=0 && cur_buf_idx < frame_buf_count); - if (frame_metadata[cur_buf_idx].frame_id == -1) { - LOGE("no frame data? wtf"); - return false; + if (camera_bufs_raw) { + cur_camera_buf = &camera_bufs_raw[cur_buf_idx]; } - cur_frame_data = frame_metadata[cur_buf_idx]; - cur_camera_buf = &camera_bufs_raw[cur_buf_idx]; - if (is_raw) { - cur_yuv_buf = vipc_server->get_buffer(stream_type); - - double start_time = millis_since_boot(); - imgproc->runKernel(camera_bufs_raw[cur_buf_idx].buf_cl, cur_yuv_buf->buf_cl, out_img_width, out_img_height, expo_time); - cur_frame_data.processing_time = (millis_since_boot() - start_time) / 1000.0; - } else { - cur_yuv_buf = vipc_server->get_buffer(stream_type, cur_buf_idx); - cur_frame_data.processing_time = (double)(cur_frame_data.timestamp_end_of_isp - cur_frame_data.timestamp_eof)*1e-9; - } + cur_yuv_buf = vipc_server->get_buffer(stream_type, cur_buf_idx); VisionIpcBufExtra extra = { cur_frame_data.frame_id, @@ -127,12 +61,6 @@ bool CameraBuf::acquire(int expo_time) { }; cur_yuv_buf->set_frame_id(cur_frame_data.frame_id); vipc_server->send(cur_yuv_buf, &extra); - - return true; -} - -void CameraBuf::queue(size_t buf_idx) { - safe_queue.push(buf_idx); } // common functions @@ -148,7 +76,7 @@ kj::Array get_raw_frame_image(const CameraBuf *b) { return kj::mv(frame_image); } -float set_exposure_target(const CameraBuf *b, Rect ae_xywh, int x_skip, int y_skip) { +float calculate_exposure_value(const CameraBuf *b, Rect ae_xywh, int x_skip, int y_skip) { int lum_med; uint32_t lum_binning[256] = {0}; const uint8_t *pix_ptr = b->cur_yuv_buf->y; diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h index 242e17ef2..c0426678b 100644 --- a/system/camerad/cameras/camera_common.h +++ b/system/camerad/cameras/camera_common.h @@ -4,7 +4,6 @@ #include "cereal/messaging/messaging.h" #include "msgq/visionipc/visionipc_server.h" -#include "common/queue.h" #include "common/util.h" @@ -15,41 +14,33 @@ typedef struct FrameMetadata { uint32_t request_id; uint64_t timestamp_sof; uint64_t timestamp_eof; - uint64_t timestamp_end_of_isp; float processing_time; } FrameMetadata; class SpectraCamera; -class CameraState; -class ImgProc; class CameraBuf { private: - ImgProc *imgproc = nullptr; - int cur_buf_idx; - SafeQueue safe_queue; int frame_buf_count; - bool is_raw; public: VisionIpcServer *vipc_server; VisionStreamType stream_type; + int cur_buf_idx; FrameMetadata cur_frame_data; VisionBuf *cur_yuv_buf; VisionBuf *cur_camera_buf; std::unique_ptr camera_bufs_raw; - std::unique_ptr frame_metadata; int out_img_width, out_img_height; CameraBuf() = default; ~CameraBuf(); void init(cl_device_id device_id, cl_context context, SpectraCamera *cam, VisionIpcServer * v, int frame_cnt, VisionStreamType type); - bool acquire(int expo_time); - void queue(size_t buf_idx); + void sendFrameToVipc(); }; void camerad_thread(); kj::Array get_raw_frame_image(const CameraBuf *b); -float set_exposure_target(const CameraBuf *b, Rect ae_xywh, int x_skip, int y_skip); +float calculate_exposure_value(const CameraBuf *b, Rect ae_xywh, int x_skip, int y_skip); int open_v4l_by_name_and_index(const char name[], int index = 0, int flags = O_RDWR | O_NONBLOCK); diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc index 0aa9f1443..d969d092e 100644 --- a/system/camerad/cameras/camera_qcom2.cc +++ b/system/camerad/cameras/camera_qcom2.cc @@ -37,7 +37,6 @@ const bool env_ctrl_exp_from_params = getenv("CTRL_EXP_FROM_PARAMS") != nullptr; class CameraState { public: SpectraCamera camera; - std::thread thread; int exposure_time = 5; bool dc_gain_enabled = false; int dc_gain_weight = 0; @@ -54,6 +53,7 @@ public: float target_grey_fraction = 0.3; float fl_pix = 0; + std::unique_ptr pm; CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config, config.stream_type == VISION_STREAM_DRIVER ? ISP_BPS_PROCESSED : ISP_IFE_PROCESSED) {}; ~CameraState(); @@ -61,7 +61,7 @@ public: void update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain); void set_camera_exposure(float grey_frac); void set_exposure_rect(); - void run(); + void sendState(); float get_gain_factor() const { return (1 + dc_gain_weight * (camera.sensor->dc_gain_factor-1) / camera.sensor->dc_gain_max_weight); @@ -80,12 +80,10 @@ void CameraState::init(VisionIpcServer *v, cl_device_id device_id, cl_context ct gain_idx = camera.sensor->analog_gain_rec_idx; cur_ev[0] = cur_ev[1] = cur_ev[2] = get_gain_factor() * camera.sensor->sensor_analog_gains[gain_idx] * exposure_time; - thread = std::thread(&CameraState::run, this); + pm = std::make_unique(std::vector{camera.cc.publish_name}); } -CameraState::~CameraState() { - if (thread.joinable()) thread.join(); -} +CameraState::~CameraState() {} void CameraState::set_exposure_rect() { // set areas for each camera, shouldn't be changed @@ -216,56 +214,43 @@ void CameraState::set_camera_exposure(float grey_frac) { float gain = analog_gain_frac * get_gain_factor(); cur_ev[camera.buf.cur_frame_data.frame_id % 3] = exposure_time * gain; - // Processing a frame takes right about 50ms, so we need to wait a few ms - // so we don't send i2c commands around the frame start. - int ms = (nanos_since_boot() - camera.buf.cur_frame_data.timestamp_sof) / 1000000; - if (ms < 60) { - util::sleep_for(60 - ms); - } // LOGE("ae - camera %d, cur_t %.5f, sof %.5f, dt %.5f", camera.cc.camera_num, 1e-9 * nanos_since_boot(), 1e-9 * camera.buf.cur_frame_data.timestamp_sof, 1e-9 * (nanos_since_boot() - camera.buf.cur_frame_data.timestamp_sof)); auto exp_reg_array = sensor->getExposureRegisters(exposure_time, new_exp_g, dc_gain_enabled); camera.sensors_i2c(exp_reg_array.data(), exp_reg_array.size(), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, camera.sensor->data_word); } -void CameraState::run() { - util::set_thread_name(camera.cc.publish_name); +void CameraState::sendState() { + camera.buf.sendFrameToVipc(); - PubMaster pm(std::vector{camera.cc.publish_name}); + MessageBuilder msg; + auto framed = (msg.initEvent().*camera.cc.init_camera_state)(); + const FrameMetadata &meta = camera.buf.cur_frame_data; + framed.setFrameId(meta.frame_id); + framed.setRequestId(meta.request_id); + framed.setTimestampEof(meta.timestamp_eof); + framed.setTimestampSof(meta.timestamp_sof); + framed.setIntegLines(exposure_time); + framed.setGain(analog_gain_frac * get_gain_factor()); + framed.setHighConversionGain(dc_gain_enabled); + framed.setMeasuredGreyFraction(measured_grey_fraction); + framed.setTargetGreyFraction(target_grey_fraction); + framed.setProcessingTime(meta.processing_time); - for (uint32_t cnt = 0; !do_exit; ++cnt) { - // Acquire the buffer; continue if acquisition fails - if (!camera.buf.acquire(exposure_time)) continue; + const float ev = cur_ev[meta.frame_id % 3]; + const float perc = util::map_val(ev, camera.sensor->min_ev, camera.sensor->max_ev, 0.0f, 100.0f); + framed.setExposureValPercent(perc); + framed.setSensor(camera.sensor->image_sensor); - MessageBuilder msg; - auto framed = (msg.initEvent().*camera.cc.init_camera_state)(); - const FrameMetadata &meta = camera.buf.cur_frame_data; - framed.setFrameId(meta.frame_id); - framed.setRequestId(meta.request_id); - framed.setTimestampEof(meta.timestamp_eof); - framed.setTimestampSof(meta.timestamp_sof); - framed.setIntegLines(exposure_time); - framed.setGain(analog_gain_frac * get_gain_factor()); - framed.setHighConversionGain(dc_gain_enabled); - framed.setMeasuredGreyFraction(measured_grey_fraction); - framed.setTargetGreyFraction(target_grey_fraction); - framed.setProcessingTime(meta.processing_time); - - const float ev = cur_ev[meta.frame_id % 3]; - const float perc = util::map_val(ev, camera.sensor->min_ev, camera.sensor->max_ev, 0.0f, 100.0f); - framed.setExposureValPercent(perc); - framed.setSensor(camera.sensor->image_sensor); - - // Log raw frames for road camera - if (env_log_raw_frames && camera.cc.stream_type == VISION_STREAM_ROAD && cnt % 100 == 5) { // no overlap with qlog decimation - framed.setImage(get_raw_frame_image(&camera.buf)); - } - - set_camera_exposure(set_exposure_target(&camera.buf, ae_xywh, 2, camera.cc.stream_type != VISION_STREAM_DRIVER ? 2 : 4)); - - // Send the message - pm.send(camera.cc.publish_name, msg); + // Log raw frames for road camera + if (env_log_raw_frames && camera.cc.stream_type == VISION_STREAM_ROAD && meta.frame_id % 100 == 5) { // no overlap with qlog decimation + framed.setImage(get_raw_frame_image(&camera.buf)); } + + set_camera_exposure(calculate_exposure_value(&camera.buf, ae_xywh, 2, camera.cc.stream_type != VISION_STREAM_DRIVER ? 2 : 4)); + + // Send the message + pm->send(camera.cc.publish_name, msg); } void camerad_thread() { @@ -321,7 +306,9 @@ void camerad_thread() { for (auto &cam : cams) { if (event_data->session_hdl == cam->camera.session_handle) { - cam->camera.handle_camera_event(event_data); + if (cam->camera.handle_camera_event(event_data)) { + cam->sendState(); + } break; } } diff --git a/system/camerad/cameras/hw.h b/system/camerad/cameras/hw.h index f9ebc0705..bc40e0134 100644 --- a/system/camerad/cameras/hw.h +++ b/system/camerad/cameras/hw.h @@ -53,3 +53,5 @@ const CameraConfig DRIVER_CAMERA_CONFIG = { .phy = CAM_ISP_IFE_IN_RES_PHY_2, .vignetting_correction = false, }; + +const CameraConfig ALL_CAMERA_CONFIGS[] = {WIDE_ROAD_CAMERA_CONFIG, ROAD_CAMERA_CONFIG, DRIVER_CAMERA_CONFIG}; diff --git a/system/camerad/cameras/process_raw.cl b/system/camerad/cameras/process_raw.cl deleted file mode 100644 index ff6060d85..000000000 --- a/system/camerad/cameras/process_raw.cl +++ /dev/null @@ -1,252 +0,0 @@ -#include "ar0231_cl.h" -#include "ox03c10_cl.h" -#include "os04c10_cl.h" - -#define UV_WIDTH RGB_WIDTH / 2 -#define UV_HEIGHT RGB_HEIGHT / 2 - -#define RGB_TO_Y(r, g, b) ((((mul24(b, 13) + mul24(g, 65) + mul24(r, 33)) + 64) >> 7) + 16) -#define RGB_TO_U(r, g, b) ((mul24(b, 56) - mul24(g, 37) - mul24(r, 19) + 0x8080) >> 8) -#define RGB_TO_V(r, g, b) ((mul24(r, 56) - mul24(g, 47) - mul24(b, 9) + 0x8080) >> 8) -#define AVERAGE(x, y, z, w) ((convert_ushort(x) + convert_ushort(y) + convert_ushort(z) + convert_ushort(w) + 1) >> 1) - -#if defined(BGGR) - #define ROW_READ_ORDER (int[]){3, 2, 1, 0} - #define RGB_WRITE_ORDER (int[]){2, 3, 0, 1} -#else - #define ROW_READ_ORDER (int[]){0, 1, 2, 3} - #define RGB_WRITE_ORDER (int[]){0, 1, 2, 3} -#endif - -float get_vignetting_s(float r) { -#if defined(VIGNETTE_PROFILE_4DT6MM) - if (r < 100000) { - return 1.0f + 0.0000013f*r; - } else if (r < 250000) { - return 1.02f + 0.0000011f*r; - } else if (r < 400000) { - return 0.92f + 0.0000015f*r; - } else { - return 0.44f + 0.0000027f*r; - } -#elif defined(VIGNETTE_PROFILE_8DT0MM) - if (r < 62500) { - return (1.0f + 0.0000008f*r); - } else if (r < 490000) { - return (0.9625f + 0.0000014f*r); - } else if (r < 1102500) { - return (1.26434f + 0.0000000000016f*r*r); - } else { - return (0.53503625f + 0.0000000000022f*r*r); - } -#else - return 1.0f; -#endif -} - -int4 parse_12bit(uchar8 pvs) { - // lower bits scambled? - return (int4)(((int)pvs.s0<<4) + (pvs.s1>>4), - ((int)pvs.s2<<4) + (pvs.s4&0xF), - ((int)pvs.s3<<4) + (pvs.s4>>4), - ((int)pvs.s5<<4) + (pvs.s7&0xF)); -} - -int4 parse_10bit(uchar8 pvs, uchar ext, bool aligned) { - if (aligned) { - return (int4)(((int)pvs.s0 << 2) + (pvs.s1 & 0b00000011), - ((int)pvs.s2 << 2) + ((pvs.s6 & 0b11000000) / 64), - ((int)pvs.s3 << 2) + ((pvs.s6 & 0b00110000) / 16), - ((int)pvs.s4 << 2) + ((pvs.s6 & 0b00001100) / 4)); - } else { - return (int4)(((int)pvs.s0 << 2) + ((pvs.s3 & 0b00110000) / 16), - ((int)pvs.s1 << 2) + ((pvs.s3 & 0b00001100) / 4), - ((int)pvs.s2 << 2) + ((pvs.s3 & 0b00000011)), - ((int)pvs.s4 << 2) + ((ext & 0b11000000) / 64)); - } -} - -float get_k(float a, float b, float c, float d) { - return 2.0 - (fabs(a - b) + fabs(c - d)); -} - -__kernel void process_raw(const __global uchar * in, __global uchar * out, int expo_time) -{ - const int gid_x = get_global_id(0); - const int gid_y = get_global_id(1); - - // estimate vignetting - #if VIGNETTING - int gx = (gid_x*2 - RGB_WIDTH/2); - int gy = (gid_y*2 - RGB_HEIGHT/2); - const float vignette_factor = get_vignetting_s(gx*gx + gy*gy); - #else - const float vignette_factor = 1.0; - #endif - - const int row_before_offset = (gid_y == 0) ? 2 : 0; - const int row_after_offset = (gid_y == (RGB_HEIGHT/2 - 1)) ? 1 : 3; - - float3 rgb_tmp; - uchar3 rgb_out[4]; // output is 2x2 window - - // read offset - int start_idx; - #if BIT_DEPTH == 10 - bool aligned10; - if (gid_x % 2 == 0) { - aligned10 = true; - start_idx = (2 * gid_y - 1) * FRAME_STRIDE + (5 * gid_x / 2 - 2) + (FRAME_STRIDE * FRAME_OFFSET); - } else { - aligned10 = false; - start_idx = (2 * gid_y - 1) * FRAME_STRIDE + (5 * (gid_x - 1) / 2 + 1) + (FRAME_STRIDE * FRAME_OFFSET); - } - #else - start_idx = (2 * gid_y - 1) * FRAME_STRIDE + (3 * gid_x - 2) + (FRAME_STRIDE * FRAME_OFFSET); - #endif - - // read in 4 rows, 8 uchars each - uchar8 dat[4]; - // row_before - dat[0] = vload8(0, in + start_idx + FRAME_STRIDE*row_before_offset); - // row_0 - if (gid_x == 0 && gid_y == 0) { - // this wasn't a problem due to extra rows - dat[1] = vload8(0, in + start_idx + FRAME_STRIDE*1 + 2); - dat[1] = (uchar8)(0, 0, dat[1].s0, dat[1].s1, dat[1].s2, dat[1].s3, dat[1].s4, dat[1].s5); - } else { - dat[1] = vload8(0, in + start_idx + FRAME_STRIDE*1); - } - // row_1 - dat[2] = vload8(0, in + start_idx + FRAME_STRIDE*2); - // row_after - dat[3] = vload8(0, in + start_idx + FRAME_STRIDE*row_after_offset); - // need extra bit for 10-bit, 4 rows, 1 uchar each - #if BIT_DEPTH == 10 - uchar extra_dat[4]; - if (!aligned10) { - extra_dat[0] = in[start_idx + FRAME_STRIDE*row_before_offset + 8]; - extra_dat[1] = in[start_idx + FRAME_STRIDE*1 + 8]; - extra_dat[2] = in[start_idx + FRAME_STRIDE*2 + 8]; - extra_dat[3] = in[start_idx + FRAME_STRIDE*row_after_offset + 8]; - } - #endif - - // read odd rows for staggered second exposure - #if HDR_OFFSET > 0 - uchar8 short_dat[4]; - short_dat[0] = vload8(0, in + start_idx + FRAME_STRIDE*(row_before_offset+HDR_OFFSET/2) + FRAME_STRIDE/2); - short_dat[1] = vload8(0, in + start_idx + FRAME_STRIDE*(1+HDR_OFFSET/2) + FRAME_STRIDE/2); - short_dat[2] = vload8(0, in + start_idx + FRAME_STRIDE*(2+HDR_OFFSET/2) + FRAME_STRIDE/2); - short_dat[3] = vload8(0, in + start_idx + FRAME_STRIDE*(row_after_offset+HDR_OFFSET/2) + FRAME_STRIDE/2); - #if BIT_DEPTH == 10 - uchar short_extra_dat[4]; - if (!aligned10) { - short_extra_dat[0] = in[start_idx + FRAME_STRIDE*(row_before_offset+HDR_OFFSET/2) + FRAME_STRIDE/2 + 8]; - short_extra_dat[1] = in[start_idx + FRAME_STRIDE*(1+HDR_OFFSET/2) + FRAME_STRIDE/2 + 8]; - short_extra_dat[2] = in[start_idx + FRAME_STRIDE*(2+HDR_OFFSET/2) + FRAME_STRIDE/2 + 8]; - short_extra_dat[3] = in[start_idx + FRAME_STRIDE*(row_after_offset+HDR_OFFSET/2) + FRAME_STRIDE/2 + 8]; - } - #endif - #endif - - // parse into floats 0.0-1.0 - float4 v_rows[4]; - #if BIT_DEPTH == 10 - // for now it's always HDR - int4 parsed = parse_10bit(dat[0], extra_dat[0], aligned10); - int4 short_parsed = parse_10bit(short_dat[0], short_extra_dat[0], aligned10); - v_rows[ROW_READ_ORDER[0]] = normalize_pv_hdr(parsed, short_parsed, vignette_factor, expo_time); - parsed = parse_10bit(dat[1], extra_dat[1], aligned10); - short_parsed = parse_10bit(short_dat[1], short_extra_dat[1], aligned10); - v_rows[ROW_READ_ORDER[1]] = normalize_pv_hdr(parsed, short_parsed, vignette_factor, expo_time); - parsed = parse_10bit(dat[2], extra_dat[2], aligned10); - short_parsed = parse_10bit(short_dat[2], short_extra_dat[2], aligned10); - v_rows[ROW_READ_ORDER[2]] = normalize_pv_hdr(parsed, short_parsed, vignette_factor, expo_time); - parsed = parse_10bit(dat[3], extra_dat[3], aligned10); - short_parsed = parse_10bit(short_dat[3], short_extra_dat[3], aligned10); - v_rows[ROW_READ_ORDER[3]] = normalize_pv_hdr(parsed, short_parsed, vignette_factor, expo_time); - #else - // no HDR here - int4 parsed = parse_12bit(dat[0]); - v_rows[ROW_READ_ORDER[0]] = normalize_pv(parsed, vignette_factor); - parsed = parse_12bit(dat[1]); - v_rows[ROW_READ_ORDER[1]] = normalize_pv(parsed, vignette_factor); - parsed = parse_12bit(dat[2]); - v_rows[ROW_READ_ORDER[2]] = normalize_pv(parsed, vignette_factor); - parsed = parse_12bit(dat[3]); - v_rows[ROW_READ_ORDER[3]] = normalize_pv(parsed, vignette_factor); - #endif - - // mirror padding - if (gid_x == 0) { - v_rows[0].s0 = v_rows[0].s2; - v_rows[1].s0 = v_rows[1].s2; - v_rows[2].s0 = v_rows[2].s2; - v_rows[3].s0 = v_rows[3].s2; - } else if (gid_x == RGB_WIDTH/2 - 1) { - v_rows[0].s3 = v_rows[0].s1; - v_rows[1].s3 = v_rows[1].s1; - v_rows[2].s3 = v_rows[2].s1; - v_rows[3].s3 = v_rows[3].s1; - } - - // debayering - // a simplified version of https://opensignalprocessingjournal.com/contents/volumes/V6/TOSIGPJ-6-1/TOSIGPJ-6-1.pdf - const float k01 = get_k(v_rows[0].s0, v_rows[1].s1, v_rows[0].s2, v_rows[1].s1); - const float k02 = get_k(v_rows[0].s2, v_rows[1].s1, v_rows[2].s2, v_rows[1].s1); - const float k03 = get_k(v_rows[2].s0, v_rows[1].s1, v_rows[2].s2, v_rows[1].s1); - const float k04 = get_k(v_rows[0].s0, v_rows[1].s1, v_rows[2].s0, v_rows[1].s1); - rgb_tmp.x = (k02*v_rows[1].s2+k04*v_rows[1].s0)/(k02+k04); // R_G1 - rgb_tmp.y = v_rows[1].s1; // G1(R) - rgb_tmp.z = (k01*v_rows[0].s1+k03*v_rows[2].s1)/(k01+k03); // B_G1 - rgb_out[RGB_WRITE_ORDER[0]] = convert_uchar3_sat(apply_gamma(color_correct(clamp(rgb_tmp, 0.0, 1.0)), expo_time) * 255.0); - - const float k11 = get_k(v_rows[0].s1, v_rows[2].s1, v_rows[0].s3, v_rows[2].s3); - const float k12 = get_k(v_rows[0].s2, v_rows[1].s1, v_rows[1].s3, v_rows[2].s2); - const float k13 = get_k(v_rows[0].s1, v_rows[0].s3, v_rows[2].s1, v_rows[2].s3); - const float k14 = get_k(v_rows[0].s2, v_rows[1].s3, v_rows[2].s2, v_rows[1].s1); - rgb_tmp.x = v_rows[1].s2; // R - rgb_tmp.y = (k11*(v_rows[0].s2+v_rows[2].s2)*0.5+k13*(v_rows[1].s3+v_rows[1].s1)*0.5)/(k11+k13); // G_R - rgb_tmp.z = (k12*(v_rows[0].s3+v_rows[2].s1)*0.5+k14*(v_rows[0].s1+v_rows[2].s3)*0.5)/(k12+k14); // B_R - rgb_out[RGB_WRITE_ORDER[1]] = convert_uchar3_sat(apply_gamma(color_correct(clamp(rgb_tmp, 0.0, 1.0)), expo_time) * 255.0); - - const float k21 = get_k(v_rows[1].s0, v_rows[3].s0, v_rows[1].s2, v_rows[3].s2); - const float k22 = get_k(v_rows[1].s1, v_rows[2].s0, v_rows[2].s2, v_rows[3].s1); - const float k23 = get_k(v_rows[1].s0, v_rows[1].s2, v_rows[3].s0, v_rows[3].s2); - const float k24 = get_k(v_rows[1].s1, v_rows[2].s2, v_rows[3].s1, v_rows[2].s0); - rgb_tmp.x = (k22*(v_rows[1].s2+v_rows[3].s0)*0.5+k24*(v_rows[1].s0+v_rows[3].s2)*0.5)/(k22+k24); // R_B - rgb_tmp.y = (k21*(v_rows[1].s1+v_rows[3].s1)*0.5+k23*(v_rows[2].s2+v_rows[2].s0)*0.5)/(k21+k23); // G_B - rgb_tmp.z = v_rows[2].s1; // B - rgb_out[RGB_WRITE_ORDER[2]] = convert_uchar3_sat(apply_gamma(color_correct(clamp(rgb_tmp, 0.0, 1.0)), expo_time) * 255.0); - - const float k31 = get_k(v_rows[1].s1, v_rows[2].s2, v_rows[1].s3, v_rows[2].s2); - const float k32 = get_k(v_rows[1].s3, v_rows[2].s2, v_rows[3].s3, v_rows[2].s2); - const float k33 = get_k(v_rows[3].s1, v_rows[2].s2, v_rows[3].s3, v_rows[2].s2); - const float k34 = get_k(v_rows[1].s1, v_rows[2].s2, v_rows[3].s1, v_rows[2].s2); - rgb_tmp.x = (k31*v_rows[1].s2+k33*v_rows[3].s2)/(k31+k33); // R_G2 - rgb_tmp.y = v_rows[2].s2; // G2(B) - rgb_tmp.z = (k32*v_rows[2].s3+k34*v_rows[2].s1)/(k32+k34); // B_G2 - rgb_out[RGB_WRITE_ORDER[3]] = convert_uchar3_sat(apply_gamma(color_correct(clamp(rgb_tmp, 0.0, 1.0)), expo_time) * 255.0); - - // rgb2yuv(nv12) - uchar2 yy = (uchar2)( - RGB_TO_Y(rgb_out[0].s0, rgb_out[0].s1, rgb_out[0].s2), - RGB_TO_Y(rgb_out[1].s0, rgb_out[1].s1, rgb_out[1].s2) - ); - vstore2(yy, 0, out + mad24(gid_y * 2, YUV_STRIDE, gid_x * 2)); - yy = (uchar2)( - RGB_TO_Y(rgb_out[2].s0, rgb_out[2].s1, rgb_out[2].s2), - RGB_TO_Y(rgb_out[3].s0, rgb_out[3].s1, rgb_out[3].s2) - ); - vstore2(yy, 0, out + mad24(gid_y * 2 + 1, YUV_STRIDE, gid_x * 2)); - - const short ar = AVERAGE(rgb_out[0].s0, rgb_out[1].s0, rgb_out[2].s0, rgb_out[3].s0); - const short ag = AVERAGE(rgb_out[0].s1, rgb_out[1].s1, rgb_out[2].s1, rgb_out[3].s1); - const short ab = AVERAGE(rgb_out[0].s2, rgb_out[1].s2, rgb_out[2].s2, rgb_out[3].s2); - uchar2 uv = (uchar2)( - RGB_TO_U(ar, ag, ab), - RGB_TO_V(ar, ag, ab) - ); - vstore2(uv, 0, out + UV_OFFSET + mad24(gid_y, YUV_STRIDE, gid_x * 2)); -} diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc index 9a4a6f354..7e991755c 100644 --- a/system/camerad/cameras/spectra.cc +++ b/system/camerad/cameras/spectra.cc @@ -1,5 +1,6 @@ #include "cdm.h" +#include #include #include #include @@ -136,26 +137,23 @@ static cam_cmd_power *power_set_wait(cam_cmd_power *power, int16_t delay_ms) { // *** MemoryManager *** void *MemoryManager::alloc_buf(int size, uint32_t *handle) { - lock.lock(); void *ptr; - if (!cached_allocations[size].empty()) { - ptr = cached_allocations[size].front(); - cached_allocations[size].pop(); + auto &cache = cached_allocations[size]; + if (!cache.empty()) { + ptr = cache.front(); + cache.pop(); *handle = handle_lookup[ptr]; } else { ptr = alloc_w_mmu_hdl(video0_fd, size, handle); handle_lookup[ptr] = *handle; size_lookup[ptr] = size; } - lock.unlock(); memset(ptr, 0, size); return ptr; } void MemoryManager::free(void *ptr) { - lock.lock(); cached_allocations[size_lookup[ptr]].push(ptr); - lock.unlock(); } MemoryManager::~MemoryManager() { @@ -229,6 +227,8 @@ void SpectraMaster::init() { sub.id = V4L_EVENT_CAM_REQ_MGR_SOF_BOOT_TS; ret = HANDLE_EINTR(ioctl(video0_fd, VIDIOC_SUBSCRIBE_EVENT, &sub)); LOGD("req mgr subscribe: %d", ret); + + mem_mgr.init(video0_fd); } // *** SpectraCamera *** @@ -238,9 +238,7 @@ SpectraCamera::SpectraCamera(SpectraMaster *master, const CameraConfig &config, enabled(config.enabled), cc(config), output_type(out) { - mm.init(m->video0_fd); - - ife_buf_depth = (out != ISP_IFE_PROCESSED) ? 4 : VIPC_BUFFER_COUNT; + ife_buf_depth = (out == ISP_RAW_OUTPUT) ? 4 : VIPC_BUFFER_COUNT; assert(ife_buf_depth < MAX_IFE_BUFS); } @@ -258,7 +256,7 @@ int SpectraCamera::clear_req_queue() { int ret = do_cam_control(m->video0_fd, CAM_REQ_MGR_FLUSH_REQ, &req_mgr_flush_request, sizeof(req_mgr_flush_request)); LOGD("flushed all req: %d", ret); - if (icp_dev_handle) { + if (icp_dev_handle > 0) { struct cam_flush_dev_cmd cmd = { .session_handle = session_handle, .dev_handle = icp_dev_handle, @@ -305,14 +303,13 @@ void SpectraCamera::camera_open(VisionIpcServer *v, cl_device_id device_id, cl_c LOGD("camera init %d", cc.camera_num); buf.init(device_id, ctx, this, v, ife_buf_depth, cc.stream_type); camera_map_bufs(); - enqueue_req_multi(1, ife_buf_depth, 0); + enqueue_req_multi(1, ife_buf_depth); } -void SpectraCamera::enqueue_req_multi(uint64_t start, int n, bool dp) { - for (uint64_t i = start; i < start + n; ++i) { - uint64_t idx = (i - 1) % ife_buf_depth; - request_ids[idx] = i; - enqueue_buffer(idx, dp); +void SpectraCamera::enqueue_req_multi(uint64_t start, int n) { + for (uint64_t request_id = start; request_id < start + n; ++request_id) { + uint64_t idx = (request_id - 1) % ife_buf_depth; + enqueue_buffer(idx, request_id); } } @@ -325,7 +322,7 @@ void SpectraCamera::sensors_start() { void SpectraCamera::sensors_poke(int request_id) { uint32_t cam_packet_handle = 0; int size = sizeof(struct cam_packet); - auto pkt = mm.alloc(size, &cam_packet_handle); + auto pkt = m->mem_mgr.alloc(size, &cam_packet_handle); pkt->num_cmd_buf = 0; pkt->kmd_cmd_buf_index = -1; pkt->header.size = size; @@ -344,7 +341,7 @@ void SpectraCamera::sensors_i2c(const struct i2c_random_wr_payload* dat, int len // LOGD("sensors_i2c: %d", len); uint32_t cam_packet_handle = 0; int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*1; - auto pkt = mm.alloc(size, &cam_packet_handle); + auto pkt = m->mem_mgr.alloc(size, &cam_packet_handle); pkt->num_cmd_buf = 1; pkt->kmd_cmd_buf_index = -1; pkt->header.size = size; @@ -354,7 +351,7 @@ void SpectraCamera::sensors_i2c(const struct i2c_random_wr_payload* dat, int len buf_desc[0].size = buf_desc[0].length = sizeof(struct i2c_rdwr_header) + len*sizeof(struct i2c_random_wr_payload); buf_desc[0].type = CAM_CMD_BUF_I2C; - auto i2c_random_wr = mm.alloc(buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle); + auto i2c_random_wr = m->mem_mgr.alloc(buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle); i2c_random_wr->header.count = len; i2c_random_wr->header.op_code = 1; i2c_random_wr->header.cmd_type = CAMERA_SENSOR_CMD_TYPE_I2C_RNDM_WR; @@ -373,7 +370,7 @@ void SpectraCamera::sensors_i2c(const struct i2c_random_wr_payload* dat, int len int SpectraCamera::sensors_init() { uint32_t cam_packet_handle = 0; int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*2; - auto pkt = mm.alloc(size, &cam_packet_handle); + auto pkt = m->mem_mgr.alloc(size, &cam_packet_handle); pkt->num_cmd_buf = 2; pkt->kmd_cmd_buf_index = -1; pkt->header.op_code = CSLDeviceTypeImageSensor | CAM_SENSOR_PACKET_OPCODE_SENSOR_PROBE; @@ -382,7 +379,7 @@ int SpectraCamera::sensors_init() { buf_desc[0].size = buf_desc[0].length = sizeof(struct cam_cmd_i2c_info) + sizeof(struct cam_cmd_probe); buf_desc[0].type = CAM_CMD_BUF_LEGACY; - auto i2c_info = mm.alloc(buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle); + auto i2c_info = m->mem_mgr.alloc(buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle); auto probe = (struct cam_cmd_probe *)(i2c_info.get() + 1); probe->camera_id = cc.camera_num; @@ -403,7 +400,7 @@ int SpectraCamera::sensors_init() { //buf_desc[1].size = buf_desc[1].length = 148; buf_desc[1].size = buf_desc[1].length = 196; buf_desc[1].type = CAM_CMD_BUF_I2C; - auto power_settings = mm.alloc(buf_desc[1].size, (uint32_t*)&buf_desc[1].mem_handle); + auto power_settings = m->mem_mgr.alloc(buf_desc[1].size, (uint32_t*)&buf_desc[1].mem_handle); // power on struct cam_cmd_power *power = power_settings.get(); @@ -485,7 +482,7 @@ void SpectraCamera::config_bps(int idx, int request_id) { size += sizeof(struct cam_patch_desc)*9; uint32_t cam_packet_handle = 0; - auto pkt = mm.alloc(size, &cam_packet_handle); + auto pkt = m->mem_mgr.alloc(size, &cam_packet_handle); pkt->header.op_code = CSLDeviceTypeBPS | CAM_ICP_OPCODE_BPS_UPDATE; pkt->header.request_id = request_id; @@ -621,7 +618,7 @@ void SpectraCamera::config_bps(int idx, int request_id) { buf_desc[1].length = buf_desc[1].size - buf_desc[1].offset; buf_desc[1].type = CAM_CMD_BUF_GENERIC; buf_desc[1].meta_data = CAM_ICP_CMD_META_GENERIC_BLOB; - auto buf2 = mm.alloc(buf_desc[1].size, (uint32_t*)&buf_desc[1].mem_handle); + auto buf2 = m->mem_mgr.alloc(buf_desc[1].size, (uint32_t*)&buf_desc[1].mem_handle); memcpy(buf2.get(), &tmp, sizeof(tmp)); } @@ -717,7 +714,7 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) { } uint32_t cam_packet_handle = 0; - auto pkt = mm.alloc(size, &cam_packet_handle); + auto pkt = m->mem_mgr.alloc(size, &cam_packet_handle); if (!init) { pkt->header.op_code = CSLDeviceTypeIFE | OpcodesIFEUpdate; // 0xf000001 @@ -821,7 +818,7 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) { buf_desc[1].length = buf_desc[1].size - buf_desc[1].offset; buf_desc[1].type = CAM_CMD_BUF_GENERIC; buf_desc[1].meta_data = CAM_ISP_PACKET_META_GENERIC_BLOB_COMMON; - auto buf2 = mm.alloc(buf_desc[1].size, (uint32_t*)&buf_desc[1].mem_handle); + auto buf2 = m->mem_mgr.alloc(buf_desc[1].size, (uint32_t*)&buf_desc[1].mem_handle); memcpy(buf2.get(), &tmp, sizeof(tmp)); } @@ -903,9 +900,10 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) { assert(ret == 0); } -void SpectraCamera::enqueue_buffer(int i, bool dp) { +// Enqueue buffer for the given index and return true if the frame is ready +bool SpectraCamera::enqueue_buffer(int i, uint64_t request_id) { int ret; - uint64_t request_id = request_ids[i]; + bool frame_ready = false; // Before queuing up a new frame, wait for the // previous one in this slot (index) to come in. @@ -919,6 +917,9 @@ void SpectraCamera::enqueue_buffer(int i, bool dp) { // in IFE_PROCESSED mode, this is both frame readout and image processing (~1ms) sync_wait.sync_obj = sync_objs_ife[i]; sync_wait.timeout_ms = 100; + if (stress_test("IFE sync")) { + sync_wait.timeout_ms = 1; + } ret = do_sync_control(m->cam_sync_fd, CAM_SYNC_WAIT, &sync_wait, sizeof(sync_wait)); if (ret != 0) { LOGE("failed to wait for IFE sync: %d %d", ret, sync_wait.sync_obj); @@ -928,19 +929,18 @@ void SpectraCamera::enqueue_buffer(int i, bool dp) { if (ret == 0 && sync_objs_bps[i]) { sync_wait.sync_obj = sync_objs_bps[i]; sync_wait.timeout_ms = 50; // typically 7ms + if (stress_test("BPS sync")) { + sync_wait.timeout_ms = 1; + } ret = do_sync_control(m->cam_sync_fd, CAM_SYNC_WAIT, &sync_wait, sizeof(sync_wait)); if (ret != 0) { LOGE("failed to wait for BPS sync: %d %d", ret, sync_wait.sync_obj); } } - // in IFE_PROCESSED mode, we can't know the true EOF, so recover it with sensor readout time - buf.frame_metadata[i].timestamp_eof = buf.frame_metadata[i].timestamp_sof + sensor->readout_time_ns; - buf.frame_metadata[i].timestamp_end_of_isp = (uint64_t)nanos_since_boot(); - // all good, hand off frame - if (dp && ret == 0) { - buf.queue(i); + if (ret == 0) { + frame_ready = true; } if (ret != 0) { @@ -956,15 +956,17 @@ void SpectraCamera::enqueue_buffer(int i, bool dp) { ret = do_sync_control(m->cam_sync_fd, CAM_SYNC_CREATE, &sync_create, sizeof(sync_create)); if (ret != 0) { LOGE("failed to create fence: %d %d", ret, sync_create.sync_obj); + } else { + sync_objs_ife[i] = sync_create.sync_obj; } - sync_objs_ife[i] = sync_create.sync_obj; if (icp_dev_handle > 0) { ret = do_cam_control(m->cam_sync_fd, CAM_SYNC_CREATE, &sync_create, sizeof(sync_create)); if (ret != 0) { LOGE("failed to create fence: %d %d", ret, sync_create.sync_obj); + } else { + sync_objs_bps[i] = sync_create.sync_obj; } - sync_objs_bps[i] = sync_create.sync_obj; } // schedule request with camera request manager @@ -983,6 +985,8 @@ void SpectraCamera::enqueue_buffer(int i, bool dp) { // submit request to IFE and BPS config_ife(i, request_id); if (output_type == ISP_BPS_PROCESSED) config_bps(i, request_id); + + return frame_ready; } void SpectraCamera::destroySyncObjectAt(int index) { @@ -1143,26 +1147,18 @@ void SpectraCamera::configISP() { LOGD("acquire isp dev"); // allocate IFE memory, then configure it - ife_cmd.init(m, 67984, 0x20, - CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, - m->device_iommu, m->cdm_iommu, ife_buf_depth); + ife_cmd.init(m, 67984, 0x20, false, m->device_iommu, m->cdm_iommu, ife_buf_depth); if (output_type == ISP_IFE_PROCESSED) { assert(sensor->gamma_lut_rgb.size() == 64); - ife_gamma_lut.init(m, sensor->gamma_lut_rgb.size()*sizeof(uint32_t), 0x20, - CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, - m->device_iommu, m->cdm_iommu, 3); // 3 for RGB + ife_gamma_lut.init(m, sensor->gamma_lut_rgb.size()*sizeof(uint32_t), 0x20, false, m->device_iommu, m->cdm_iommu, 3); // 3 for RGB for (int i = 0; i < 3; i++) { memcpy(ife_gamma_lut.ptr + ife_gamma_lut.size*i, sensor->gamma_lut_rgb.data(), ife_gamma_lut.size); } assert(sensor->linearization_lut.size() == 36); - ife_linearization_lut.init(m, sensor->linearization_lut.size()*sizeof(uint32_t), 0x20, - CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, - m->device_iommu, m->cdm_iommu); + ife_linearization_lut.init(m, sensor->linearization_lut.size()*sizeof(uint32_t), 0x20, false, m->device_iommu, m->cdm_iommu); memcpy(ife_linearization_lut.ptr, sensor->linearization_lut.data(), ife_linearization_lut.size); assert(sensor->vignetting_lut.size() == 221); - ife_vignetting_lut.init(m, sensor->vignetting_lut.size()*sizeof(uint32_t), 0x20, - CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, - m->device_iommu, m->cdm_iommu, 2); + ife_vignetting_lut.init(m, sensor->vignetting_lut.size()*sizeof(uint32_t), 0x20, false, m->device_iommu, m->cdm_iommu, 2); for (int i = 0; i < 2; i++) { memcpy(ife_vignetting_lut.ptr + ife_vignetting_lut.size*i, sensor->vignetting_lut.data(), ife_vignetting_lut.size); } @@ -1212,40 +1208,28 @@ void SpectraCamera::configICP() { release(m->video0_fd, cfg_handle); // BPS has a lot of buffers to init - bps_cmd.init(m, 464, 0x20, - CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE | CAM_MEM_FLAG_HW_SHARED_ACCESS, - m->icp_device_iommu, 0, ife_buf_depth); + bps_cmd.init(m, 464, 0x20, true, m->icp_device_iommu, 0, ife_buf_depth); // BPSIQSettings struct uint32_t settings_size = sizeof(bps_settings[0]) / sizeof(bps_settings[0][0]); - bps_iq.init(m, settings_size, 0x20, - CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE | CAM_MEM_FLAG_HW_SHARED_ACCESS, - m->icp_device_iommu); + bps_iq.init(m, settings_size, 0x20, true, m->icp_device_iommu); memcpy(bps_iq.ptr, bps_settings[sensor->num()], settings_size); // for cdm register writes, just make it bigger than you need - bps_cdm_program_array.init(m, 0x1000, 0x20, - CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE | CAM_MEM_FLAG_HW_SHARED_ACCESS, - m->icp_device_iommu); + bps_cdm_program_array.init(m, 0x1000, 0x20, true, m->icp_device_iommu); // striping lib output uint32_t striping_size = sizeof(bps_striping_output[0]) / sizeof(bps_striping_output[0][0]); - bps_striping.init(m, striping_size, 0x20, - CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE | CAM_MEM_FLAG_HW_SHARED_ACCESS, - m->icp_device_iommu); + bps_striping.init(m, striping_size, 0x20, true, m->icp_device_iommu); memcpy(bps_striping.ptr, bps_striping_output[sensor->num()], striping_size); // used internally by the BPS, we just allocate it. // size comes from the BPSStripingLib - bps_cdm_striping_bl.init(m, 0xa100, 0x20, - CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE | CAM_MEM_FLAG_HW_SHARED_ACCESS, - m->icp_device_iommu); + bps_cdm_striping_bl.init(m, 0xa100, 0x20, true, m->icp_device_iommu); // LUTs /* - bps_linearization_lut.init(m, sensor->linearization_lut.size()*sizeof(uint32_t), 0x20, - CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE | CAM_MEM_FLAG_HW_SHARED_ACCESS, - m->icp_device_iommu); + bps_linearization_lut.init(m, sensor->linearization_lut.size()*sizeof(uint32_t), 0x20, true, m->icp_device_iommu); memcpy(bps_linearization_lut.ptr, sensor->linearization_lut.data(), bps_linearization_lut.size); */ } @@ -1266,7 +1250,7 @@ void SpectraCamera::configCSIPHY() { { uint32_t cam_packet_handle = 0; int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*1; - auto pkt = mm.alloc(size, &cam_packet_handle); + auto pkt = m->mem_mgr.alloc(size, &cam_packet_handle); pkt->num_cmd_buf = 1; pkt->kmd_cmd_buf_index = -1; pkt->header.size = size; @@ -1275,7 +1259,7 @@ void SpectraCamera::configCSIPHY() { buf_desc[0].size = buf_desc[0].length = sizeof(struct cam_csiphy_info); buf_desc[0].type = CAM_CMD_BUF_GENERIC; - auto csiphy_info = mm.alloc(buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle); + auto csiphy_info = m->mem_mgr.alloc(buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle); csiphy_info->lane_mask = 0x1f; csiphy_info->lane_assign = 0x3210;// skip clk. How is this 16 bit for 5 channels?? csiphy_info->csiphy_3phase = 0x0; // no 3 phase, only 2 conductors per lane @@ -1387,53 +1371,120 @@ void SpectraCamera::camera_close() { LOGD("destroyed session %d: %d", cc.camera_num, ret); } -void SpectraCamera::handle_camera_event(const cam_req_mgr_message *event_data) { - if (!enabled) return; +// Processes camera events and returns true if the frame is ready for further processing +bool SpectraCamera::handle_camera_event(const cam_req_mgr_message *event_data) { + if (stress_test("skipping handling camera event")) { + LOGW("skipping event"); + return false; + } - uint64_t timestamp = event_data->u.frame_msg.timestamp; - uint64_t main_id = event_data->u.frame_msg.frame_id; - uint64_t real_id = event_data->u.frame_msg.request_id; + if (!enabled) return false; - if (real_id != 0) { // next ready - if (real_id == 1) { - idx_offset = main_id; - } - int buf_idx = (real_id - 1) % ife_buf_depth; + // ID from the qcom camera request manager + uint64_t request_id = event_data->u.frame_msg.request_id; - // check for skipped frames - if (main_id > frame_id_last + 1 && !skipped) { + // raw as opposed to our re-indexed frame ID + uint64_t frame_id_raw = event_data->u.frame_msg.frame_id; + + if (request_id != 0) { // next ready + // check for skipped_last frames + if (frame_id_raw > frame_id_raw_last + 1 && !skipped_last) { LOGE("camera %d realign", cc.camera_num); clear_req_queue(); - enqueue_req_multi(real_id + 1, ife_buf_depth - 1, 0); - skipped = true; - } else if (main_id == frame_id_last + 1) { - skipped = false; + enqueue_req_multi(request_id + 1, ife_buf_depth - 1); + skipped_last = true; + } else if (frame_id_raw == frame_id_raw_last + 1) { + skipped_last = false; } // check for dropped requests - if (real_id > request_id_last + 1) { - LOGE("camera %d dropped requests %ld %ld", cc.camera_num, real_id, request_id_last); - enqueue_req_multi(request_id_last + 1 + ife_buf_depth, real_id - (request_id_last + 1), 0); + if (request_id > request_id_last + 1) { + LOGE("camera %d dropped requests %ld %ld", cc.camera_num, request_id, request_id_last); + enqueue_req_multi(request_id_last + 1 + ife_buf_depth, request_id - (request_id_last + 1)); } // metas - frame_id_last = main_id; - request_id_last = real_id; + frame_id_raw_last = frame_id_raw; + request_id_last = request_id; - auto &meta_data = buf.frame_metadata[buf_idx]; - meta_data.frame_id = main_id - idx_offset; - meta_data.request_id = real_id; - meta_data.timestamp_sof = timestamp; // this is timestamped in the kernel's SOF IRQ callback + int buf_idx = (request_id - 1) % ife_buf_depth; + uint64_t timestamp = event_data->u.frame_msg.timestamp; // this is timestamped in the kernel's SOF IRQ callback + if (syncFirstFrame(cc.camera_num, request_id, frame_id_raw, timestamp)) { + // wait for this frame's EOF, then queue up the next one + if (enqueue_buffer(buf_idx, request_id + ife_buf_depth)) { + // Frame is ready - // dispatch - enqueue_req_multi(real_id + ife_buf_depth, 1, 1); + // in IFE_PROCESSED mode, we can't know the true EOF, so recover it with sensor readout time + uint64_t timestamp_eof = timestamp + sensor->readout_time_ns; + + // Update buffer and frame data + buf.cur_buf_idx = buf_idx; + buf.cur_frame_data = { + .frame_id = (uint32_t)(frame_id_raw - camera_sync_data[cc.camera_num].frame_id_offset), + .request_id = (uint32_t)request_id, + .timestamp_sof = timestamp, + .timestamp_eof = timestamp_eof, + .processing_time = float((nanos_since_boot() - timestamp_eof) * 1e-9) + }; + return true; + } + // LOGW("camerad %d synced req %d fid %d, publishing ts %.2f cereal_frame_id %d", cc.camera_num, (int)request_id, (int)frame_id_raw, (double)(timestamp)*1e-6, meta_data.frame_id); + } else { + // Frames not yet synced + enqueue_req_multi(request_id + ife_buf_depth, 1); + // LOGW("camerad %d not synced req %d fid %d", cc.camera_num, (int)request_id, (int)frame_id_raw); + } } else { // not ready - if (main_id > frame_id_last + 10) { + if (frame_id_raw > frame_id_raw_last + 10) { LOGE("camera %d reset after half second of no response", cc.camera_num); clear_req_queue(); - enqueue_req_multi(request_id_last + 1, ife_buf_depth, 0); - frame_id_last = main_id; - skipped = true; + enqueue_req_multi(request_id_last + 1, ife_buf_depth); + frame_id_raw_last = frame_id_raw; + skipped_last = true; } } + + return false; +} + +bool SpectraCamera::syncFirstFrame(int camera_id, uint64_t request_id, uint64_t raw_id, uint64_t timestamp) { + if (first_frame_synced) return true; + + // OX and OS cameras require a few frames for the FSIN to sync up + if (request_id < 3) { + return false; + } + + // Store the frame data for this camera + camera_sync_data[camera_id] = SyncData{timestamp, raw_id + 1}; + + // Ensure all cameras are up + int enabled_camera_count = std::count_if(std::begin(ALL_CAMERA_CONFIGS), std::end(ALL_CAMERA_CONFIGS), + [](const auto &config) { return config.enabled; }); + bool all_cams_up = camera_sync_data.size() == enabled_camera_count; + + // Wait until the timestamps line up + bool all_cams_synced = true; + for (const auto &[_, sync_data] : camera_sync_data) { + uint64_t diff = std::max(timestamp, sync_data.timestamp) - + std::min(timestamp, sync_data.timestamp); + if (diff > 0.5*1e6) { // within 0.5ms + all_cams_synced = false; + } + } + + if (all_cams_up && all_cams_synced) { + first_frame_synced = true; + for (const auto&[cam, sync_data] : camera_sync_data) { + LOGW("camera %d synced on frame_id_offset %ld timestamp %lu", cam, sync_data.frame_id_offset, sync_data.timestamp); + } + } + + // Timeout in case the timestamps never line up + if (raw_id > 40) { + LOGE("camera first frame sync timed out"); + first_frame_synced = true; + } + + return false; } diff --git a/system/camerad/cameras/spectra.h b/system/camerad/cameras/spectra.h index 58a9b9b90..d9abf884c 100644 --- a/system/camerad/cameras/spectra.h +++ b/system/camerad/cameras/spectra.h @@ -3,12 +3,14 @@ #include #include #include +#include #include #include #include "media/cam_req_mgr.h" #include "common/util.h" +#include "common/swaglog.h" #include "system/camerad/cameras/hw.h" #include "system/camerad/cameras/camera_common.h" #include "system/camerad/sensors/sensor.h" @@ -57,7 +59,6 @@ private: void *alloc_buf(int len, uint32_t *handle); void free(void *ptr); - std::mutex lock; std::map handle_lookup; std::map size_lookup; std::map > cached_allocations; @@ -75,6 +76,7 @@ public: int device_iommu = -1; int cdm_iommu = -1; int icp_device_iommu = -1; + MemoryManager mem_mgr; }; class SpectraBuf { @@ -88,11 +90,17 @@ public: } } - void init(SpectraMaster *m, int s, int a, int flags, int mmu_hdl = 0, int mmu_hdl2 = 0, int count=1) { + void init(SpectraMaster *m, int s, int a, bool shared_access, int mmu_hdl = 0, int mmu_hdl2 = 0, int count = 1) { video_fd = m->video0_fd; size = s; alignment = a; mmap_size = aligned_size() * count; + + uint32_t flags = CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE; + if (shared_access) { + flags |= CAM_MEM_FLAG_HW_SHARED_ACCESS; + } + void *p = alloc_w_mmu_hdl(video_fd, mmap_size, (uint32_t*)&handle, alignment, flags, mmu_hdl, mmu_hdl2); ptr = (unsigned char*)p; assert(ptr != NULL); @@ -113,15 +121,15 @@ public: ~SpectraCamera(); void camera_open(VisionIpcServer *v, cl_device_id device_id, cl_context ctx); - void handle_camera_event(const cam_req_mgr_message *event_data); + bool handle_camera_event(const cam_req_mgr_message *event_data); void camera_close(); void camera_map_bufs(); void config_bps(int idx, int request_id); void config_ife(int idx, int request_id, bool init=false); int clear_req_queue(); - void enqueue_buffer(int i, bool dp); - void enqueue_req_multi(uint64_t start, int n, bool dp); + bool enqueue_buffer(int i, uint64_t request_id); + void enqueue_req_multi(uint64_t start, int n); int sensors_init(); void sensors_start(); @@ -180,15 +188,32 @@ public: int buf_handle_raw[MAX_IFE_BUFS] = {}; int sync_objs_ife[MAX_IFE_BUFS] = {}; int sync_objs_bps[MAX_IFE_BUFS] = {}; - uint64_t request_ids[MAX_IFE_BUFS] = {}; uint64_t request_id_last = 0; - uint64_t frame_id_last = 0; - uint64_t idx_offset = 0; - bool skipped = true; + uint64_t frame_id_raw_last = 0; + int64_t frame_id_offset = 0; + bool skipped_last = true; SpectraOutputType output_type; CameraBuf buf; - MemoryManager mm; SpectraMaster *m; + +private: + static bool syncFirstFrame(int camera_id, uint64_t request_id, uint64_t raw_id, uint64_t timestamp); + struct SyncData { + uint64_t timestamp; + uint64_t frame_id_offset = 0; + }; + inline static std::map camera_sync_data; + inline static bool first_frame_synced = false; + + // a mode for stressing edge cases: realignment, sync failures, etc. + inline bool stress_test(const char* log, float prob=0.01) { + static bool enable = getenv("SPECTRA_STRESS_TEST") != nullptr; + bool triggered = enable && ((static_cast(rand()) / RAND_MAX) < prob); + if (triggered) { + LOGE("stress test: %s", log); + } + return triggered; + } }; diff --git a/system/camerad/sensors/ox03c10_registers.h b/system/camerad/sensors/ox03c10_registers.h index ffa0b7957..5c6282942 100644 --- a/system/camerad/sensors/ox03c10_registers.h +++ b/system/camerad/sensors/ox03c10_registers.h @@ -64,21 +64,8 @@ const struct i2c_random_wr_payload init_array_ox03c10[] = { {0x3007, 0x01}, // io_pad_sel {0x3008, 0x80}, // io_pad_sel - // FSIN first frame - /* - {0x3009, 0x2}, - {0x3015, 0x2}, - {0x3822, 0x20}, - {0x3823, 0x58}, - - {0x3826, 0x0}, {0x3827, 0x8}, - {0x3881, 0x4}, - - {0x3882, 0x8}, {0x3883, 0x0D}, - {0x3836, 0x1F}, {0x3837, 0x40}, - */ - - // FSIN with external pulses + // FSIN (frame sync) with external pulses + {0x3822, 0x33}, // wait for pulse before first frame {0x3009, 0x2}, {0x3015, 0x2}, {0x383E, 0x80}, @@ -87,7 +74,7 @@ const struct i2c_random_wr_payload init_array_ox03c10[] = { {0x3836, 0x1F}, {0x3837, 0x40}, {0x3892, 0x44}, - {0x3823, 0x48}, + {0x3823, 0x41}, {0x3012, 0x41}, // SC_PHY_CTRL = 4 lane MIPI {0x3020, 0x05}, // SC_CTRL_20 diff --git a/system/camerad/test/test_ae_gray.cc b/system/camerad/test/test_ae_gray.cc index 0620551ec..39c3d9c4e 100644 --- a/system/camerad/test/test_ae_gray.cc +++ b/system/camerad/test/test_ae_gray.cc @@ -27,7 +27,7 @@ float gts[TONE_SPLITS * TONE_SPLITS * TONE_SPLITS * TONE_SPLITS] = { 0.000000}; -TEST_CASE("camera.test_set_exposure_target") { +TEST_CASE("camera.test_calculate_exposure_value") { // set up fake camerabuf CameraBuf cb = {}; VisionBuf vb = {}; @@ -61,7 +61,7 @@ TEST_CASE("camera.test_set_exposure_target") { memset(&fb_y[h_0*W+h_1*W], l[2], h_2*W); memset(&fb_y[h_0*W+h_1*W+h_2*W], l[3], h_3*W); memset(&fb_y[h_0*W+h_1*W+h_2*W+h_3*W], l[4], h_4*W); - float ev = set_exposure_target((const CameraBuf*) &cb, rect, 1, 1); + float ev = calculate_exposure_value((const CameraBuf*) &cb, rect, 1, 1); // printf("%d/%d/%d/%d/%d ev is %f\n", h_0, h_1, h_2, h_3, h_4, ev); // printf("%f\n", ev); diff --git a/system/camerad/test/test_camerad.py b/system/camerad/test/test_camerad.py index c259fe788..e88a7bf4b 100644 --- a/system/camerad/test/test_camerad.py +++ b/system/camerad/test/test_camerad.py @@ -1,85 +1,70 @@ -import pytest +import os import time +import pytest import numpy as np -from collections import defaultdict import cereal.messaging as messaging -from cereal import log from cereal.services import SERVICE_LIST -from openpilot.common.retry import retry from openpilot.system.manager.process_config import managed_processes +from openpilot.tools.lib.log_time_series import msgs_to_time_series TEST_TIMESPAN = 10 -LAG_FRAME_TOLERANCE = {log.FrameData.ImageSensor.ar0231: 0.5, # ARs use synced pulses for frame starts - log.FrameData.ImageSensor.ox03c10: 1.1} # OXs react to out-of-sync at next frame -FRAME_DELTA_TOLERANCE = {log.FrameData.ImageSensor.ar0231: 1.0, - log.FrameData.ImageSensor.ox03c10: 1.0} - CAMERAS = ('roadCameraState', 'driverCameraState', 'wideRoadCameraState') -@retry(attempts=3, delay=5.0) -def setup_camerad(cls): - # run camerad and record logs - managed_processes['camerad'].start() - time.sleep(3) - socks = {c: messaging.sub_sock(c, conflate=False, timeout=100) for c in CAMERAS} - cls.logs = defaultdict(list) - start_time = time.monotonic() - while time.monotonic()- start_time < TEST_TIMESPAN: - for cam, s in socks.items(): - cls.logs[cam] += messaging.drain_sock(s) - time.sleep(0.2) - managed_processes['camerad'].stop() +def run_and_log(procs, services, duration): + logs = [] - cls.log_by_frame_id = defaultdict(list) - cls.sensor_type = None - for cam, msgs in cls.logs.items(): - if cls.sensor_type is None: - cls.sensor_type = getattr(msgs[0], msgs[0].which()).sensor.raw + try: + for p in procs: + managed_processes[p].start() + socks = [messaging.sub_sock(s, conflate=False, timeout=100) for s in services] + + start_time = time.monotonic() + while time.monotonic() - start_time < duration: + for s in socks: + logs.extend(messaging.drain_sock(s)) + for p in procs: + assert managed_processes[p].proc.is_alive() + finally: + for p in procs: + managed_processes[p].stop() + + return logs + +@pytest.fixture(scope="module") +def logs(): + logs = run_and_log(["camerad", ], CAMERAS, TEST_TIMESPAN) + ts = msgs_to_time_series(logs) + + for cam in CAMERAS: expected_frames = SERVICE_LIST[cam].frequency * TEST_TIMESPAN - assert expected_frames*0.95 < len(msgs) < expected_frames*1.05, f"unexpected frame count {cam}: {expected_frames=}, got {len(msgs)}" + cnt = len(ts[cam]['t']) + assert expected_frames*0.8 < cnt < expected_frames*1.2, f"unexpected frame count {cam}: {expected_frames=}, got {cnt}" - dts = np.abs(np.diff([getattr(m, m.which()).timestampSof/1e6 for m in msgs]) - 1000/SERVICE_LIST[cam].frequency) - assert (dts < FRAME_DELTA_TOLERANCE[cls.sensor_type]).all(), f"{cam} dts(ms) out of spec: max diff {dts.max()}, 99 percentile {np.percentile(dts, 99)}" - - for m in msgs: - cls.log_by_frame_id[getattr(m, m.which()).frameId].append(m) - - # strip beginning and end - for _ in range(3): - mn, mx = min(cls.log_by_frame_id.keys()), max(cls.log_by_frame_id.keys()) - del cls.log_by_frame_id[mn] - del cls.log_by_frame_id[mx] + dts = np.abs(np.diff([ts[cam]['timestampSof']/1e6]) - 1000/SERVICE_LIST[cam].frequency) + assert (dts < 1.0).all(), f"{cam} dts(ms) out of spec: max diff {dts.max()}, 99 percentile {np.percentile(dts, 99)}" + return ts @pytest.mark.tici class TestCamerad: - @classmethod - def setup_class(cls): - setup_camerad(cls) + def test_frame_skips(self, logs): + for c in CAMERAS: + assert set(np.diff(logs[c]['frameId'])) == {1, }, f"{c} has frame skips" - def test_frame_skips(self): - skips = {} - frame_ids = self.log_by_frame_id.keys() - for frame_id in range(min(frame_ids), max(frame_ids)): - seen_cams = [msg.which() for msg in self.log_by_frame_id[frame_id]] - skip_cams = set(CAMERAS) - set(seen_cams) - if len(skip_cams): - skips[frame_id] = skip_cams - assert len(skips) == 0, f"Found frame skips, missing cameras for the following frames: {skips}" + def test_frame_sync(self, logs): + n = range(len(logs['roadCameraState']['t'][:-10])) - def test_frame_sync(self): - frame_times = {frame_id: [getattr(m, m.which()).timestampSof for m in msgs] for frame_id, msgs in self.log_by_frame_id.items()} - diffs = {frame_id: (max(ts) - min(ts))/1e6 for frame_id, ts in frame_times.items()} + frame_ids = {i: [logs[cam]['frameId'][i] for cam in CAMERAS] for i in n} + assert all(len(set(v)) == 1 for v in frame_ids.values()), "frame IDs not aligned" - def get_desc(fid, diff): - cam_times = [(m.which(), getattr(m, m.which()).timestampSof/1e6) for m in self.log_by_frame_id[fid]] - return (diff, cam_times) - laggy_frames = {k: get_desc(k, v) for k, v in diffs.items() if v > LAG_FRAME_TOLERANCE[self.sensor_type]} + frame_times = {i: [logs[cam]['timestampSof'][i] for cam in CAMERAS] for i in n} + diffs = {i: (max(ts) - min(ts))/1e6 for i, ts in frame_times.items()} - def in_tol(diff): - return 50 - LAG_FRAME_TOLERANCE[self.sensor_type] < diff and diff < 50 + LAG_FRAME_TOLERANCE[self.sensor_type] - if len(laggy_frames) != 0 and all( in_tol(laggy_frames[lf][0]) for lf in laggy_frames): - print("TODO: handle camera out of sync") - else: - assert len(laggy_frames) == 0, f"Frames not synced properly: {laggy_frames=}" + laggy_frames = {k: v for k, v in diffs.items() if v > 1.1} + assert len(laggy_frames) == 0, f"Frames not synced properly: {laggy_frames=}" + + @pytest.mark.skip("TODO: enable this") + def test_stress_test(self, logs): + os.environ['SPECTRA_STRESS_TEST'] = '1' + run_and_log(["camerad", ], CAMERAS, 5) diff --git a/system/hardware/tici/hardware.h b/system/hardware/tici/hardware.h index 00e7950ba..7d73f86ee 100644 --- a/system/hardware/tici/hardware.h +++ b/system/hardware/tici/hardware.h @@ -76,6 +76,7 @@ public: } int value = util::map_val(std::clamp(percent, 0, 100), 0, 100, 0, 255); + std::ofstream("/sys/class/leds/led:switch_2/brightness") << 0 << "\n"; std::ofstream("/sys/class/leds/led:torch_2/brightness") << value << "\n"; std::ofstream("/sys/class/leds/led:switch_2/brightness") << value << "\n"; } diff --git a/system/loggerd/encoder/encoder.cc b/system/loggerd/encoder/encoder.cc index 366a4b961..b8f2f274d 100644 --- a/system/loggerd/encoder/encoder.cc +++ b/system/loggerd/encoder/encoder.cc @@ -11,7 +11,6 @@ VideoEncoder::VideoEncoder(const EncoderInfo &encoder_info, int in_width, int in void VideoEncoder::publisher_publish(int segment_num, uint32_t idx, VisionIpcBufExtra &extra, unsigned int flags, kj::ArrayPtr header, kj::ArrayPtr dat) { - // broadcast packet MessageBuilder msg; auto event = msg.initEvent(true); auto edat = (event.*(encoder_info.init_encode_data_func))(); diff --git a/system/loggerd/encoder/encoder.h b/system/loggerd/encoder/encoder.h index d94904f10..57146fafc 100644 --- a/system/loggerd/encoder/encoder.h +++ b/system/loggerd/encoder/encoder.h @@ -24,7 +24,7 @@ public: VideoEncoder(const EncoderInfo &encoder_info, int in_width, int in_height); virtual ~VideoEncoder() {} virtual int encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra) = 0; - virtual void encoder_open(const char* path) = 0; + virtual void encoder_open() = 0; virtual void encoder_close() = 0; void publisher_publish(int segment_num, uint32_t idx, VisionIpcBufExtra &extra, unsigned int flags, kj::ArrayPtr header, kj::ArrayPtr dat); diff --git a/system/loggerd/encoder/ffmpeg_encoder.cc b/system/loggerd/encoder/ffmpeg_encoder.cc index 02d557422..4e6946363 100644 --- a/system/loggerd/encoder/ffmpeg_encoder.cc +++ b/system/loggerd/encoder/ffmpeg_encoder.cc @@ -47,7 +47,7 @@ FfmpegEncoder::~FfmpegEncoder() { av_frame_free(&frame); } -void FfmpegEncoder::encoder_open(const char* path) { +void FfmpegEncoder::encoder_open() { auto codec_id = encoder_info.encode_type == cereal::EncodeIndex::Type::QCAMERA_H264 ? AV_CODEC_ID_H264 : AV_CODEC_ID_FFVHUFF; diff --git a/system/loggerd/encoder/ffmpeg_encoder.h b/system/loggerd/encoder/ffmpeg_encoder.h index 9e45a3d82..cd5ac1e13 100644 --- a/system/loggerd/encoder/ffmpeg_encoder.h +++ b/system/loggerd/encoder/ffmpeg_encoder.h @@ -19,7 +19,7 @@ public: FfmpegEncoder(const EncoderInfo &encoder_info, int in_width, int in_height); ~FfmpegEncoder(); int encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra); - void encoder_open(const char* path); + void encoder_open(); void encoder_close(); private: diff --git a/system/loggerd/encoder/v4l_encoder.cc b/system/loggerd/encoder/v4l_encoder.cc index a4697af27..ac1da0969 100644 --- a/system/loggerd/encoder/v4l_encoder.cc +++ b/system/loggerd/encoder/v4l_encoder.cc @@ -186,7 +186,7 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei // TODO: more stuff here? we don't know .timeperframe = { .numerator = 1, - .denominator = 20 + .denominator = (unsigned int)encoder_info.fps } } } @@ -275,7 +275,7 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei } } -void V4LEncoder::encoder_open(const char* path) { +void V4LEncoder::encoder_open() { dequeue_handler_thread = std::thread(V4LEncoder::dequeue_handler, this); this->is_open = true; this->counter = 0; diff --git a/system/loggerd/encoder/v4l_encoder.h b/system/loggerd/encoder/v4l_encoder.h index 9336bf3d8..58011d60e 100644 --- a/system/loggerd/encoder/v4l_encoder.h +++ b/system/loggerd/encoder/v4l_encoder.h @@ -11,8 +11,9 @@ public: V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_height); ~V4LEncoder(); int encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra); - void encoder_open(const char* path); + void encoder_open(); void encoder_close(); + private: int fd; diff --git a/system/loggerd/encoderd.cc b/system/loggerd/encoderd.cc index c777e6eb7..3237d1307 100644 --- a/system/loggerd/encoderd.cc +++ b/system/loggerd/encoderd.cc @@ -68,7 +68,7 @@ void encoder_thread(EncoderdState *s, const LogCameraInfo &cam_info) { for (const auto &encoder_info : cam_info.encoder_infos) { auto &e = encoders.emplace_back(new Encoder(encoder_info, buf_info.width, buf_info.height)); - e->encoder_open(nullptr); + e->encoder_open(); } // Only one thumbnail can be generated per camera stream @@ -103,7 +103,7 @@ void encoder_thread(EncoderdState *s, const LogCameraInfo &cam_info) { if (cur_seg >= 0 && extra.frame_id >= ((cur_seg + 1) * frames_per_seg) + s->start_frame_id) { for (auto &e : encoders) { e->encoder_close(); - e->encoder_open(NULL); + e->encoder_open(); } ++cur_seg; } diff --git a/system/loggerd/loggerd.cc b/system/loggerd/loggerd.cc index c9632c0dd..daf0cc112 100644 --- a/system/loggerd/loggerd.cc +++ b/system/loggerd/loggerd.cc @@ -270,7 +270,7 @@ void loggerd_thread() { rotate_if_needed(&s); - if ((++msg_count % 1000) == 0) { + if ((++msg_count % 10000) == 0) { double seconds = (millis_since_boot() - start_ts) / 1000.0; LOGD("%" PRIu64 " messages, %.2f msg/sec, %.2f KB/sec", msg_count, msg_count / seconds, bytes_count * 0.001 / seconds); } diff --git a/system/manager/build.py b/system/manager/build.py index d4961850c..93c0546c8 100755 --- a/system/manager/build.py +++ b/system/manager/build.py @@ -7,7 +7,7 @@ from pathlib import Path from openpilot.common.basedir import BASEDIR from openpilot.common.spinner import Spinner from openpilot.common.text_window import TextWindow -from openpilot.system.hardware import AGNOS +from openpilot.system.hardware import HARDWARE, AGNOS from openpilot.common.swaglog import cloudlog, add_file_handler from openpilot.system.version import get_build_metadata @@ -26,6 +26,10 @@ def build(spinner: Spinner, dirty: bool = False, minimal: bool = False) -> None: extra_args = ["--minimal"] if minimal else [] + if AGNOS: + HARDWARE.set_power_save(False) + os.sched_setaffinity(0, range(8)) # ensure we can use the isolcpus cores + # building with all cores can result in using too # much memory, so retry with less parallelism compile_output: list[bytes] = [] diff --git a/system/manager/process_config.py b/system/manager/process_config.py index 77c73cad1..5d714fefd 100644 --- a/system/manager/process_config.py +++ b/system/manager/process_config.py @@ -93,19 +93,20 @@ def and_(*fns): procs = [ DaemonProcess("manage_athenad", "system.athena.manage_athenad", "AthenadPid"), + NativeProcess("loggerd", "system/loggerd", ["./loggerd"], logging), + NativeProcess("encoderd", "system/loggerd", ["./encoderd"], only_onroad), + NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], notcar), + PythonProcess("logmessaged", "system.logmessaged", always_run), + NativeProcess("camerad", "system/camerad", ["./camerad"], driverview, enabled=not WEBCAM), PythonProcess("webcamerad", "tools.webcam.camerad", driverview, enabled=WEBCAM), NativeProcess("logcatd", "system/logcatd", ["./logcatd"], only_onroad), NativeProcess("proclogd", "system/proclogd", ["./proclogd"], only_onroad), - PythonProcess("logmessaged", "system.logmessaged", always_run), PythonProcess("micd", "system.micd", iscar), PythonProcess("timed", "system.timed", always_run, enabled=not PC), # TODO Make python process once TG allows opening QCOM from child proc NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], driverview, enabled=(WEBCAM or not PC)), - NativeProcess("encoderd", "system/loggerd", ["./encoderd"], only_onroad), - NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], notcar), - NativeProcess("loggerd", "system/loggerd", ["./loggerd"], logging), # TODO Make python process once TG allows opening QCOM from child proc NativeProcess("modeld", "selfdrive/modeld", ["./modeld"], and_(only_onroad, is_stock_model)), NativeProcess("sensord", "system/sensord", ["./sensord"], only_onroad, enabled=not PC), diff --git a/system/ui/README.md b/system/ui/README.md new file mode 100644 index 000000000..5f47961a5 --- /dev/null +++ b/system/ui/README.md @@ -0,0 +1,9 @@ +# ui + +The user interfaces here are built with [raylib](https://www.raylib.com/). + +Quick start: +* set `DEBUG_FPS=1` to show the FPS +* set `STRICT_MODE=1` to kill the app if it drops too much below 60fps +* https://www.raylib.com/cheatsheet/cheatsheet.html +* https://electronstudio.github.io/raylib-python-cffi/README.html#quickstart diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py index 908b8e0cd..22c6ed71f 100644 --- a/system/ui/lib/application.py +++ b/system/ui/lib/application.py @@ -1,13 +1,23 @@ import atexit import os +import time import pyray as rl from enum import IntEnum from openpilot.common.basedir import BASEDIR +from openpilot.common.swaglog import cloudlog + +DEFAULT_FPS = 60 +FPS_LOG_INTERVAL = 5 # Seconds between logging FPS drops +FPS_DROP_THRESHOLD = 0.9 # FPS drop threshold for triggering a warning +FPS_CRITICAL_THRESHOLD = 0.5 # Critical threshold for triggering strict actions + +DEBUG_FPS = os.getenv("DEBUG_FPS") == '1' +STRICT_MODE = os.getenv("STRICT_MODE") == '1' DEFAULT_TEXT_SIZE = 60 -DEFAULT_FPS = 60 FONT_DIR = os.path.join(BASEDIR, "selfdrive/assets/fonts") + class FontWeight(IntEnum): BLACK = 0 BOLD = 1 @@ -15,7 +25,7 @@ class FontWeight(IntEnum): EXTRA_LIGHT = 3 MEDIUM = 4 NORMAL = 5 - SEMI_BOLD= 6 + SEMI_BOLD = 6 THIN = 7 @@ -25,6 +35,8 @@ class GuiApplication: self._width = width self._height = height self._textures: list[rl.Texture] = [] + self._target_fps: int = DEFAULT_FPS + self._last_fps_log_time: float = time.monotonic() def init_window(self, title: str, fps: int=DEFAULT_FPS): atexit.register(self.close) # Automatically call close() on exit @@ -33,6 +45,7 @@ class GuiApplication: rl.init_window(self._width, self._height, title) rl.set_target_fps(fps) + self._target_fps = fps self._set_styles() self._load_fonts() @@ -58,6 +71,19 @@ class GuiApplication: rl.close_window() + def render(self): + while not rl.window_should_close(): + rl.begin_drawing() + rl.clear_background(rl.BLACK) + + yield + + if DEBUG_FPS: + rl.draw_fps(10, 10) + + rl.end_drawing() + self._monitor_fps() + def font(self, font_wight: FontWeight=FontWeight.NORMAL): return self._fonts[font_wight] @@ -96,5 +122,20 @@ class GuiApplication: rl.gui_set_style(rl.GuiControl.DEFAULT, rl.GuiDefaultProperty.BACKGROUND_COLOR, rl.color_to_int(rl.Color(30, 30, 30, 255))) rl.gui_set_style(rl.GuiControl.DEFAULT, rl.GuiControlProperty.BASE_COLOR_NORMAL, rl.color_to_int(rl.Color(50, 50, 50, 255))) + def _monitor_fps(self): + fps = rl.get_fps() + + # Log FPS drop below threshold at regular intervals + if fps < self._target_fps * FPS_DROP_THRESHOLD: + current_time = time.monotonic() + if current_time - self._last_fps_log_time >= FPS_LOG_INTERVAL: + cloudlog.warning(f"FPS dropped below {self._target_fps}: {fps}") + self._last_fps_log_time = current_time + + # Strict mode: terminate UI if FPS drops too much + if STRICT_MODE and fps < self._target_fps * FPS_CRITICAL_THRESHOLD: + cloudlog.error(f"FPS dropped critically below {fps}. Shutting down UI.") + os._exit(1) + gui_app = GuiApplication(2160, 1080) diff --git a/system/ui/lib/button.py b/system/ui/lib/button.py index 87a11b6b4..9bcf3f7e0 100644 --- a/system/ui/lib/button.py +++ b/system/ui/lib/button.py @@ -1,14 +1,70 @@ - import pyray as rl -from openpilot.system.ui.lib.utils import GuiStyleContext +from enum import IntEnum +from openpilot.system.ui.lib.application import gui_app, FontWeight -BUTTON_DEFAULT_BG_COLOR = rl.Color(51, 51, 51, 255) -def gui_button(rect, text, bg_color=BUTTON_DEFAULT_BG_COLOR): - styles = [ - (rl.GuiControl.DEFAULT, rl.GuiDefaultProperty.TEXT_ALIGNMENT_VERTICAL, rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE), - (rl.GuiControl.DEFAULT, rl.GuiControlProperty.BASE_COLOR_NORMAL, rl.color_to_int(bg_color)) - ] +class ButtonStyle(IntEnum): + NORMAL = 0 # Most common, neutral buttons + PRIMARY = 1 # For main actions + DANGER = 2 # For critical actions, like reboot or delete + TRANSPARENT = 3 # For buttons with transparent background and border - with GuiStyleContext(styles): - return rl.gui_button(rect, text) + +DEFAULT_BUTTON_FONT_SIZE = 60 +BUTTON_ENABLED_TEXT_COLOR = rl.Color(228, 228, 228, 255) +BUTTON_DISABLED_TEXT_COLOR = rl.Color(228, 228, 228, 51) + + +BUTTON_BACKGROUND_COLORS = { + ButtonStyle.NORMAL: rl.Color(51, 51, 51, 255), + ButtonStyle.PRIMARY: rl.Color(70, 91, 234, 255), + ButtonStyle.DANGER: rl.Color(255, 36, 36, 255), + ButtonStyle.TRANSPARENT: rl.BLACK, +} + +BUTTON_PRESSED_BACKGROUND_COLORS = { + ButtonStyle.NORMAL: rl.Color(74, 74, 74, 255), + ButtonStyle.PRIMARY: rl.Color(48, 73, 244, 255), + ButtonStyle.DANGER: rl.Color(255, 36, 36, 255), + ButtonStyle.TRANSPARENT: rl.BLACK, +} + + +def gui_button( + rect: rl.Rectangle, + text: str, + font_size: int = DEFAULT_BUTTON_FONT_SIZE, + font_weight: FontWeight = FontWeight.MEDIUM, + button_style: ButtonStyle = ButtonStyle.NORMAL, + is_enabled: bool = True, + border_radius: int = 10, # Corner rounding in pixels +) -> int: + result = 0 + + # Set background color based on button type + bg_color = BUTTON_BACKGROUND_COLORS[button_style] + if is_enabled and rl.check_collision_point_rec(rl.get_mouse_position(), rect): + if rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT): + bg_color = BUTTON_PRESSED_BACKGROUND_COLORS[button_style] + elif rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT): + result = 1 + + # Draw the button with rounded corners + roundness = border_radius / (min(rect.width, rect.height) / 2) + if button_style != ButtonStyle.TRANSPARENT: + rl.draw_rectangle_rounded(rect, roundness, 20, bg_color) + else: + rl.draw_rectangle_rounded_lines_ex(rect, roundness, 20, 2, rl.WHITE) + + font = gui_app.font(font_weight) + # Center text in the button + text_size = rl.measure_text_ex(font, text, font_size, 0) + text_pos = rl.Vector2( + rect.x + (rect.width - text_size.x) // 2, rect.y + (rect.height - text_size.y) // 2 + ) + + # Draw the button text + text_color = BUTTON_ENABLED_TEXT_COLOR if is_enabled else BUTTON_DISABLED_TEXT_COLOR + rl.draw_text_ex(font, text, text_pos, font_size, 0, text_color) + + return result diff --git a/system/ui/lib/scroll_panel.py b/system/ui/lib/scroll_panel.py index b8fa211ec..0dc757ff6 100644 --- a/system/ui/lib/scroll_panel.py +++ b/system/ui/lib/scroll_panel.py @@ -1,40 +1,75 @@ import pyray as rl -from cffi import FFI +from enum import IntEnum MOUSE_WHEEL_SCROLL_SPEED = 30 +INERTIA_FRICTION = 0.95 # The rate at which the inertia slows down +MIN_VELOCITY = 0.1 # Minimum velocity before stopping the inertia + + +class ScrollState(IntEnum): + IDLE = 0 + DRAGGING_CONTENT = 1 + DRAGGING_SCROLLBAR = 2 + class GuiScrollPanel: - def __init__(self, bounds: rl.Rectangle, content: rl.Rectangle, show_vertical_scroll_bar: bool = False): - self._dragging: bool = False + def __init__(self, show_vertical_scroll_bar: bool = False): + self._scroll_state: ScrollState = ScrollState.IDLE self._last_mouse_y: float = 0.0 - self._bounds = bounds - self._content = content - self._scroll = rl.Vector2(0, 0) + self._offset = rl.Vector2(0, 0) self._view = rl.Rectangle(0, 0, 0, 0) self._show_vertical_scroll_bar: bool = show_vertical_scroll_bar + self._velocity_y = 0.0 # Velocity for inertia - def handle_scroll(self)-> rl.Vector2: + def handle_scroll(self, bounds: rl.Rectangle, content: rl.Rectangle) -> rl.Vector2: mouse_pos = rl.get_mouse_position() - if rl.check_collision_point_rec(mouse_pos, self._bounds) and rl.is_mouse_button_pressed(rl.MouseButton.MOUSE_BUTTON_LEFT): - if not self._dragging: - self._dragging = True - self._last_mouse_y = mouse_pos.y - if self._dragging: + # Handle dragging logic + if rl.check_collision_point_rec(mouse_pos, bounds) and rl.is_mouse_button_pressed(rl.MouseButton.MOUSE_BUTTON_LEFT): + if self._scroll_state == ScrollState.IDLE: + self._scroll_state = ScrollState.DRAGGING_CONTENT + if self._show_vertical_scroll_bar: + scrollbar_width = rl.gui_get_style(rl.GuiControl.LISTVIEW, rl.GuiListViewProperty.SCROLLBAR_WIDTH) + scrollbar_x = bounds.x + bounds.width - scrollbar_width + if mouse_pos.x >= scrollbar_x: + self._scroll_state = ScrollState.DRAGGING_SCROLLBAR + + self._last_mouse_y = mouse_pos.y + self._velocity_y = 0.0 # Reset velocity when drag starts + + if self._scroll_state != ScrollState.IDLE: if rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT): delta_y = mouse_pos.y - self._last_mouse_y - self._scroll.y += delta_y - self._last_mouse_y = mouse_pos.y - else: - self._dragging = False + if self._scroll_state == ScrollState.DRAGGING_CONTENT: + self._offset.y += delta_y + else: + delta_y = -delta_y + + self._last_mouse_y = mouse_pos.y + self._velocity_y = delta_y # Update velocity during drag + else: + self._scroll_state = ScrollState.IDLE + + # Handle mouse wheel scrolling wheel_move = rl.get_mouse_wheel_move() if self._show_vertical_scroll_bar: - self._scroll.y += wheel_move * (MOUSE_WHEEL_SCROLL_SPEED - 20) - rl.gui_scroll_panel(self._bounds, FFI().NULL, self._content, self._scroll, self._view) + self._offset.y += wheel_move * (MOUSE_WHEEL_SCROLL_SPEED - 20) + rl.gui_scroll_panel(bounds, rl.ffi.NULL, content, self._offset, self._view) else: - self._scroll.y += wheel_move * MOUSE_WHEEL_SCROLL_SPEED - max_scroll_y = self._content.height - self._bounds.height - self._scroll.y = max(min(self._scroll.y, 0), -max_scroll_y) + self._offset.y += wheel_move * MOUSE_WHEEL_SCROLL_SPEED - return self._scroll + # Apply inertia (continue scrolling after mouse release) + if self._scroll_state == ScrollState.IDLE: + self._offset.y += self._velocity_y + self._velocity_y *= INERTIA_FRICTION # Slow down velocity over time + + # Stop scrolling when velocity is low + if abs(self._velocity_y) < MIN_VELOCITY: + self._velocity_y = 0.0 + + # Ensure scrolling doesn't go beyond bounds + max_scroll_y = max(content.height - bounds.height, 0) + self._offset.y = max(min(self._offset.y, 0), -max_scroll_y) + + return self._offset diff --git a/system/ui/lib/utils.py b/system/ui/lib/utils.py index e6fc2ee0d..77035d0da 100644 --- a/system/ui/lib/utils.py +++ b/system/ui/lib/utils.py @@ -1,5 +1,6 @@ import pyray as rl + class GuiStyleContext: def __init__(self, styles: list[tuple[int, int, int]]): """styles is a list of tuples (control, prop, new_value)""" diff --git a/system/ui/reset.py b/system/ui/reset.py new file mode 100755 index 000000000..a5a8a84b0 --- /dev/null +++ b/system/ui/reset.py @@ -0,0 +1,120 @@ +#!/usr/bin/env python3 +import os +import pyray as rl +import sys +import threading +from enum import IntEnum + +from openpilot.system.ui.lib.application import gui_app, FontWeight +from openpilot.system.ui.lib.button import gui_button, ButtonStyle +from openpilot.system.ui.lib.label import gui_label + +NVME = "/dev/nvme0n1" +USERDATA = "/dev/disk/by-partlabel/userdata" + + +class ResetMode(IntEnum): + USER_RESET = 0 # user initiated a factory reset from openpilot + RECOVER = 1 # userdata is corrupt for some reason, give a chance to recover + FORMAT = 2 # finish up a factory reset from a tool that doesn't flash an empty partition to userdata + + +class ResetState(IntEnum): + NONE = 0 + CONFIRM = 1 + RESETTING = 2 + FAILED = 3 + + +class Reset: + def __init__(self, mode): + self.mode = mode + self.reset_state = ResetState.NONE + + def do_reset(self): + # Best effort to wipe NVME + os.system(f"sudo umount {NVME}") + os.system(f"yes | sudo mkfs.ext4 {NVME}") + + # Removing data and formatting + rm = os.system("sudo rm -rf /data/*") + os.system(f"sudo umount {USERDATA}") + fmt = os.system(f"yes | sudo mkfs.ext4 {USERDATA}") + + if rm == 0 or fmt == 0: + os.system("sudo reboot") + else: + self.reset_state = ResetState.FAILED + + def start_reset(self): + self.reset_state = ResetState.RESETTING + threading.Timer(0.1, self.do_reset).start() + + def render(self, rect: rl.Rectangle): + rl.gui_set_font(gui_app.font(FontWeight.BOLD)) + label_rect = rl.Rectangle(rect.x + 140, rect.y, rect.width - 280, rect.height) + gui_label(label_rect, "System Reset", 90) + rl.gui_set_font(gui_app.font(FontWeight.NORMAL)) + + label_rect.y += 150 + gui_label(label_rect, self.get_body_text(), 80) + + button_height = 160 + button_spacing = 50 + button_top = rect.y + rect.height - button_height + button_width = (rect.width - button_spacing) / 2.0 + + if self.reset_state != ResetState.RESETTING: + if self.mode == ResetMode.RECOVER or self.reset_state == ResetState.FAILED: + if gui_button(rl.Rectangle(rect.x, button_top, button_width, button_height), "Reboot"): + os.system("sudo reboot") + elif self.mode == ResetMode.USER_RESET: + if gui_button(rl.Rectangle(rect.x, button_top, button_width, button_height), "Cancel"): + return False + + if self.reset_state != ResetState.FAILED: + if gui_button(rl.Rectangle(rect.x + button_width + 50, button_top, button_width, button_height), + "Confirm", button_style=ButtonStyle.PRIMARY): + self.confirm() + + return True + + def confirm(self): + if self.reset_state == ResetState.CONFIRM: + self.start_reset() + else: + self.reset_state = ResetState.CONFIRM + + def get_body_text(self): + if self.reset_state == ResetState.CONFIRM: + return "Are you sure you want to reset your device?" + if self.reset_state == ResetState.RESETTING: + return "Resetting device...\nThis may take up to a minute." + if self.reset_state == ResetState.FAILED: + return "Reset failed. Reboot to try again." + if self.mode == ResetMode.RECOVER: + return "Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device." + return "System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot." + + +def main(): + mode = ResetMode.USER_RESET + if len(sys.argv) > 1: + if sys.argv[1] == '--recover': + mode = ResetMode.RECOVER + elif sys.argv[1] == "--format": + mode = ResetMode.FORMAT + + gui_app.init_window("System Reset") + reset = Reset(mode) + + if mode == ResetMode.FORMAT: + reset.start_reset() + + for _ in gui_app.render(): + if not reset.render(rl.Rectangle(45, 200, gui_app.width - 90, gui_app.height - 245)): + break + + +if __name__ == "__main__": + main() diff --git a/system/ui/spinner.py b/system/ui/spinner.py index 24193ff3d..639de2674 100755 --- a/system/ui/spinner.py +++ b/system/ui/spinner.py @@ -10,19 +10,22 @@ from openpilot.system.ui.lib.application import gui_app # Constants PROGRESS_BAR_WIDTH = 1000 PROGRESS_BAR_HEIGHT = 20 -ROTATION_RATE = 12.0 +ROTATION_TIME_SECONDS = 1.0 # Time for one full circle MARGIN = 200 TEXTURE_SIZE = 360 FONT_SIZE = 80 + def clamp(value, min_value, max_value): return max(min(value, max_value), min_value) + def check_input_non_blocking(): if sys.stdin in select.select([sys.stdin], [], [], 0)[0]: return sys.stdin.readline().strip() return "" + def main(): gui_app.init_window("Spinner") @@ -37,12 +40,11 @@ def main(): spinner_origin = rl.Vector2(TEXTURE_SIZE / 2.0, TEXTURE_SIZE / 2.0) comma_position = rl.Vector2(center.x - TEXTURE_SIZE / 2.0, center.y - TEXTURE_SIZE / 2.0) - while not rl.window_should_close(): - rl.begin_drawing() - rl.clear_background(rl.BLACK) - - # Update rotation - rotation = (rotation + ROTATION_RATE) % 360.0 + for _ in gui_app.render(): + fps = rl.get_fps() + if fps > 0: + degrees_per_frame = 360.0 / (ROTATION_TIME_SECONDS * fps) + rotation = (rotation + degrees_per_frame) % 360.0 # Draw rotating spinner and static comma logo rl.draw_texture_pro(spinner_texture, rl.Rectangle(0, 0, TEXTURE_SIZE, TEXTURE_SIZE), @@ -69,8 +71,6 @@ def main(): rl.draw_text_ex(gui_app.font(), user_input, rl.Vector2(center.x - text_size.x / 2, y_pos), FONT_SIZE, 1.0, rl.WHITE) - rl.end_drawing() - if __name__ == "__main__": main() diff --git a/system/ui/text.py b/system/ui/text.py index 82c19e5b5..77a0d267e 100755 --- a/system/ui/text.py +++ b/system/ui/text.py @@ -3,7 +3,7 @@ import sys import pyray as rl from openpilot.system.hardware import HARDWARE -from openpilot.system.ui.lib.button import gui_button +from openpilot.system.ui.lib.button import gui_button, ButtonStyle from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel from openpilot.system.ui.lib.application import gui_app @@ -14,7 +14,7 @@ LINE_HEIGHT = 64 BUTTON_SIZE = rl.Vector2(310, 160) DEMO_TEXT = """This is a sample text that will be wrapped and scrolled if necessary. - The text is long enough to demonstrate scrolling and word wrapping.""" * 20 + The text is long enough to demonstrate scrolling and word wrapping.""" * 30 def wrap_text(text, font_size, max_width): lines = [] @@ -42,26 +42,23 @@ def main(): textarea_rect = rl.Rectangle(MARGIN, MARGIN, gui_app.width - MARGIN * 2, gui_app.height - MARGIN * 2 - BUTTON_SIZE.y - SPACING) wrapped_lines = wrap_text(text_content, FONT_SIZE, textarea_rect.width - 20) content_rect = rl.Rectangle(0, 0, textarea_rect.width - 20, len(wrapped_lines) * LINE_HEIGHT) - scroll_panel = GuiScrollPanel(textarea_rect, content_rect, show_vertical_scroll_bar=True) + scroll_panel = GuiScrollPanel(show_vertical_scroll_bar=True) - while not rl.window_should_close(): - rl.begin_drawing() - rl.clear_background(rl.BLACK) - - scroll = scroll_panel.handle_scroll() + for _ in gui_app.render(): + scroll = scroll_panel.handle_scroll(textarea_rect, content_rect) rl.begin_scissor_mode(int(textarea_rect.x), int(textarea_rect.y), int(textarea_rect.width), int(textarea_rect.height)) for i, line in enumerate(wrapped_lines): position = rl.Vector2(textarea_rect.x + scroll.x, textarea_rect.y + scroll.y + i * LINE_HEIGHT) + if position.y + LINE_HEIGHT < textarea_rect.y or position.y > textarea_rect.y + textarea_rect.height: + continue rl.draw_text_ex(gui_app.font(), line.strip(), position, FONT_SIZE, 0, rl.WHITE) rl.end_scissor_mode() button_bounds = rl.Rectangle(gui_app.width - MARGIN - BUTTON_SIZE.x, gui_app.height - MARGIN - BUTTON_SIZE.y, BUTTON_SIZE.x, BUTTON_SIZE.y) - if gui_button(button_bounds, "Reboot"): + if gui_button(button_bounds, "Reboot", button_style=ButtonStyle.TRANSPARENT): HARDWARE.reboot() - rl.end_drawing() - if __name__ == "__main__": main() diff --git a/tinygrad_repo b/tinygrad_repo index 2619a86d2..6f39c4d65 160000 --- a/tinygrad_repo +++ b/tinygrad_repo @@ -1 +1 @@ -Subproject commit 2619a86d2a6157c12cc9b1773b4a03cf968a1309 +Subproject commit 6f39c4d653737c056540194605dc18a7273df280 diff --git a/tools/adb_shell.sh b/tools/adb_shell.sh new file mode 100755 index 000000000..985c5c072 --- /dev/null +++ b/tools/adb_shell.sh @@ -0,0 +1,8 @@ +#!/usr/bin/env expect +spawn adb shell +expect "#" +send "cd usr/comma\r" +send "export TERM=xterm-256color\r" +send "su comma\r" +send "clear\r" +interact diff --git a/tools/cabana/README.md b/tools/cabana/README.md index 1d9a2a2cc..0b7c5bf3e 100644 --- a/tools/cabana/README.md +++ b/tools/cabana/README.md @@ -14,11 +14,11 @@ Options: --demo use a demo route instead of providing your own --qcam load qcamera --ecam load wide road camera - --stream read can messages from live streaming + --msgq read can messages from msgq --panda read can messages from panda --panda-serial read can messages from panda with given serial --socketcan read can messages from given SocketCAN device - --zmq the ip address on which to receive zmq + --zmq read can messages from zmq at the specified ip-address messages --data_dir local directory with routes --no-vipc do not output video @@ -68,7 +68,7 @@ cd /data/openpilot/cereal/messaging/ Then Run Cabana with the device's IP address: ```shell -cabana --stream --zmq +cabana --zmq ``` Replace <ipaddress> with your comma device's IP address. diff --git a/tools/cabana/cabana.cc b/tools/cabana/cabana.cc index cd7a0be0d..d140a323e 100644 --- a/tools/cabana/cabana.cc +++ b/tools/cabana/cabana.cc @@ -26,13 +26,13 @@ int main(int argc, char *argv[]) { cmd_parser.addOption({"qcam", "load qcamera"}); cmd_parser.addOption({"ecam", "load wide road camera"}); cmd_parser.addOption({"dcam", "load driver camera"}); - cmd_parser.addOption({"stream", "read can messages from live streaming"}); + cmd_parser.addOption({"msgq", "read can messages from the msgq"}); cmd_parser.addOption({"panda", "read can messages from panda"}); cmd_parser.addOption({"panda-serial", "read can messages from panda with given serial", "panda-serial"}); if (SocketCanStream::available()) { cmd_parser.addOption({"socketcan", "read can messages from given SocketCAN device", "socketcan"}); } - cmd_parser.addOption({"zmq", "the ip address on which to receive zmq messages", "zmq"}); + cmd_parser.addOption({"zmq", "read can messages from zmq at the specified ip-address", "ip-address"}); cmd_parser.addOption({"data_dir", "local directory with routes", "data_dir"}); cmd_parser.addOption({"no-vipc", "do not output video"}); cmd_parser.addOption({"dbc", "dbc file to open", "dbc"}); @@ -40,7 +40,9 @@ int main(int argc, char *argv[]) { AbstractStream *stream = nullptr; - if (cmd_parser.isSet("stream")) { + if (cmd_parser.isSet("msgq")) { + stream = new DeviceStream(&app); + } else if (cmd_parser.isSet("zmq")) { stream = new DeviceStream(&app, cmd_parser.value("zmq")); } else if (cmd_parser.isSet("panda") || cmd_parser.isSet("panda-serial")) { try { diff --git a/tools/cabana/streams/socketcanstream.cc b/tools/cabana/streams/socketcanstream.cc index 1346a496b..e4801df9c 100644 --- a/tools/cabana/streams/socketcanstream.cc +++ b/tools/cabana/streams/socketcanstream.cc @@ -27,6 +27,7 @@ bool SocketCanStream::connect() { // These are expected and can be ignored, we don't need the advanced features of libsocketcan QString errorString; device.reset(QCanBus::instance()->createDevice("socketcan", config.device, &errorString)); + device->setConfigurationParameter(QCanBusDevice::CanFdKey, true); if (!device) { qDebug() << "Failed to create SocketCAN device" << errorString; diff --git a/tools/install_ubuntu_dependencies.sh b/tools/install_ubuntu_dependencies.sh index 150999fe7..03302364e 100755 --- a/tools/install_ubuntu_dependencies.sh +++ b/tools/install_ubuntu_dependencies.sh @@ -98,19 +98,25 @@ if [ -f "/etc/os-release" ]; then esac if [[ -d "/etc/udev/rules.d/" ]]; then - # Setup panda udev rules + # Setup jungle udev rules $SUDO tee /etc/udev/rules.d/12-panda_jungle.rules > /dev/null < /dev/null < 1e-2 + steer_limited = abs(sm['carControl'].actuators.torque - sm['carControl'].actuatorsOutput.torque) > 1e-2 overriding = sm['carState'].steeringPressed changing_lanes = sm['modelV2'].meta.laneChangeState != 0 model_points = sm['modelV2'].position.y diff --git a/uv.lock b/uv.lock index ec79f74f1..3923154ec 100644 --- a/uv.lock +++ b/uv.lock @@ -21,7 +21,7 @@ wheels = [ [[package]] name = "aiohttp" -version = 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