mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-08-03 21:39:24 +08:00
Sync: sunnypilot/sunnypilot:master into sunnypilot/openpilot-special:master-priv
This commit is contained in:
Adeeb Shihadeh
@@ -1,11 +1,12 @@
|
||||
FROM ghcr.io/commaai/openpilot-base:latest
|
||||
|
||||
RUN apt update && apt install -y vim net-tools usbutils htop ripgrep tmux wget mesa-utils xvfb libxtst6 libxv1 libglu1-mesa libegl1-mesa gdb bash-completion
|
||||
RUN pip install ipython jupyter jupyterlab
|
||||
RUN apt update && apt install -y vim net-tools usbutils htop ripgrep tmux wget mesa-utils xvfb libxtst6 libxv1 libglu1-mesa gdb bash-completion
|
||||
RUN python3 -m ensurepip --upgrade
|
||||
RUN pip3 install ipython jupyter jupyterlab
|
||||
|
||||
RUN cd /tmp && \
|
||||
ARCH=$(arch | sed s/aarch64/arm64/ | sed s/x86_64/amd64/) && \
|
||||
curl -L -o virtualgl.deb "https://downloads.sourceforge.net/project/virtualgl/3.1/virtualgl_3.1_$ARCH.deb" && \
|
||||
curl -L -o virtualgl.deb "https://github.com/VirtualGL/virtualgl/releases/download/3.1.1/virtualgl_3.1.1_$ARCH.deb" && \
|
||||
dpkg -i virtualgl.deb
|
||||
|
||||
RUN usermod -aG video batman
|
||||
|
||||
@@ -0,0 +1,123 @@
|
||||
name: weekly CI test report
|
||||
on:
|
||||
schedule:
|
||||
- cron: '37 9 * * 1' # 9:37AM UTC -> 2:37AM PST every monday
|
||||
workflow_dispatch:
|
||||
inputs:
|
||||
ci_runs:
|
||||
description: 'The amount of runs to trigger in CI test report'
|
||||
concurrency:
|
||||
group: ${{ github.workflow }}-${{ github.ref }}
|
||||
cancel-in-progress: true
|
||||
|
||||
jobs:
|
||||
setup:
|
||||
if: github.repository == 'commaai/openpilot'
|
||||
runs-on: ubuntu-latest
|
||||
outputs:
|
||||
ci_runs: ${{ steps.ci_runs_setup.outputs.value }}
|
||||
steps:
|
||||
- id: ci_runs_setup
|
||||
run: |
|
||||
CI_RUNS=${{ inputs.ci_runs || '50' }}
|
||||
mylist="value=["
|
||||
|
||||
for i in $(seq 1 $CI_RUNS);
|
||||
do
|
||||
if [ $i != $CI_RUNS ]; then
|
||||
mylist+="\"$i\", "
|
||||
else
|
||||
mylist+="\"$i\"]"
|
||||
fi
|
||||
done
|
||||
|
||||
echo "$mylist" >> $GITHUB_OUTPUT
|
||||
echo "Number of CI runs for report: $CI_RUNS"
|
||||
ci_matrix_run:
|
||||
needs: [ setup ]
|
||||
strategy:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
value: ${{fromJSON(needs.setup.outputs.ci_runs)}}
|
||||
uses: commaai/openpilot/.github/workflows/ci_weekly_run.yaml@master
|
||||
with:
|
||||
run_number: ${{ matrix.value }}
|
||||
|
||||
report:
|
||||
needs: [ci_matrix_run]
|
||||
runs-on: ubuntu-latest
|
||||
if: always()
|
||||
steps:
|
||||
- name: Get job results
|
||||
uses: actions/github-script@v7
|
||||
id: get-job-results
|
||||
with:
|
||||
script: |
|
||||
const jobs = await github
|
||||
.paginate("GET /repos/{owner}/{repo}/actions/runs/{run_id}/attempts/{attempt}/jobs", {
|
||||
owner: "commaai",
|
||||
repo: "${{ github.event.repository.name }}",
|
||||
run_id: "${{ github.run_id }}",
|
||||
attempt: "${{ github.run_attempt }}",
|
||||
})
|
||||
var report = {}
|
||||
jobs.slice(1, jobs.length-1).forEach(job => {
|
||||
const jobName = job.name.split('/')[2].trim();
|
||||
report[jobName] = report[jobName] || { successes: [], failures: [], cancelled: [] };
|
||||
switch (job.conclusion) {
|
||||
case "success":
|
||||
report[jobName].successes.push(job.html_url); break;
|
||||
case "failure":
|
||||
report[jobName].failures.push(job.html_url); break;
|
||||
case "cancelled":
|
||||
report[jobName].cancelled.push(job.html_url); break;
|
||||
}
|
||||
});
|
||||
return JSON.stringify(report);
|
||||
|
||||
- name: Add job results to summary
|
||||
env:
|
||||
JOB_RESULTS: ${{ fromJSON(steps.get-job-results.outputs.result) }}
|
||||
run: |
|
||||
echo $JOB_RESULTS > job_results.json
|
||||
generate_html_table() {
|
||||
echo "<table>"
|
||||
echo "<thead>"
|
||||
echo " <tr>"
|
||||
echo " <th>Job</th>"
|
||||
echo " <th>Succeeded ✅</th>"
|
||||
echo " <th>Failed ❌</th>"
|
||||
echo " <th>Cancelled (timed out) ⏰</th>"
|
||||
echo " </tr>"
|
||||
echo "</thead>"
|
||||
jq -r '
|
||||
"<tbody>",
|
||||
keys[] as $job |
|
||||
"<tr>",
|
||||
" <td>\($job)</td>",
|
||||
" <td>",
|
||||
" <details>",
|
||||
" <summary>(\(.[$job].successes | length))</summary>",
|
||||
" \(.[$job].successes[])<br>",
|
||||
" </details>",
|
||||
" </td>",
|
||||
" <td>",
|
||||
" <details>",
|
||||
" <summary>(\(.[$job].failures | length))</summary>",
|
||||
" \(.[$job].failures[])<br>",
|
||||
" </details>",
|
||||
" </td>",
|
||||
" <td>",
|
||||
" <details>",
|
||||
" <summary>(\(.[$job].cancelled | length))</summary>",
|
||||
" \(.[$job].cancelled[])<br>",
|
||||
" </details>",
|
||||
" </td>",
|
||||
"</tr>"
|
||||
' job_results.json
|
||||
echo "</tbody>"
|
||||
echo "</table>"
|
||||
}
|
||||
echo "# CI Job Summary" >> $GITHUB_STEP_SUMMARY
|
||||
generate_html_table >> $GITHUB_STEP_SUMMARY
|
||||
|
||||
@@ -0,0 +1,21 @@
|
||||
name: weekly CI test run
|
||||
on:
|
||||
workflow_call:
|
||||
inputs:
|
||||
run_number:
|
||||
required: true
|
||||
type: string
|
||||
|
||||
concurrency:
|
||||
group: ci-run-${{ inputs.run_number }}-${{ github.ref }}
|
||||
cancel-in-progress: true
|
||||
|
||||
jobs:
|
||||
selfdrive_tests:
|
||||
uses: commaai/openpilot/.github/workflows/selfdrive_tests.yaml@master
|
||||
with:
|
||||
run_number: ${{ inputs.run_number }}
|
||||
tools_tests:
|
||||
uses: commaai/openpilot/.github/workflows/tools_tests.yaml@master
|
||||
with:
|
||||
run_number: ${{ inputs.run_number }}
|
||||
@@ -5,9 +5,14 @@ on:
|
||||
branches:
|
||||
- master
|
||||
pull_request:
|
||||
|
||||
workflow_call:
|
||||
inputs:
|
||||
run_number:
|
||||
default: '1'
|
||||
required: true
|
||||
type: string
|
||||
concurrency:
|
||||
group: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
|
||||
group: docs-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
|
||||
cancel-in-progress: true
|
||||
|
||||
env:
|
||||
@@ -22,6 +27,7 @@ jobs:
|
||||
name: build docs
|
||||
runs-on: ubuntu-latest
|
||||
timeout-minutes: 45
|
||||
if: false # TODO: replace this with the new docs
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
|
||||
@@ -41,10 +41,11 @@ jobs:
|
||||
if: github.repository == 'commaai/openpilot'
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
- name: poetry lock
|
||||
- name: uv lock
|
||||
run: |
|
||||
pip install poetry
|
||||
poetry lock
|
||||
python3 -m ensurepip --upgrade
|
||||
pip3 install uv
|
||||
uv lock --upgrade
|
||||
- name: pre-commit autoupdate
|
||||
run: |
|
||||
git config --global --add safe.directory '*'
|
||||
|
||||
@@ -6,9 +6,15 @@ on:
|
||||
- master
|
||||
pull_request:
|
||||
workflow_dispatch:
|
||||
workflow_call:
|
||||
inputs:
|
||||
run_number:
|
||||
default: '1'
|
||||
required: true
|
||||
type: string
|
||||
|
||||
concurrency:
|
||||
group: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
|
||||
group: selfdrive-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
|
||||
cancel-in-progress: true
|
||||
|
||||
env:
|
||||
@@ -62,7 +68,6 @@ jobs:
|
||||
cd $GITHUB_WORKSPACE
|
||||
cp .pre-commit-config.yaml $STRIPPED_DIR
|
||||
cp pyproject.toml $STRIPPED_DIR
|
||||
cp poetry.lock $STRIPPED_DIR
|
||||
cd $STRIPPED_DIR
|
||||
${{ env.RUN }} "unset PYTHONWARNINGS && SKIP=check-added-large-files,check-hooks-apply,check-useless-excludes pre-commit run --all && chmod -R 777 /tmp/pre-commit"
|
||||
|
||||
@@ -79,7 +84,7 @@ jobs:
|
||||
if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
|
||||
run: |
|
||||
echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
|
||||
echo "TARGET_ARCHITECTURE=${{ matrix.arch }}" >> "$GITHUB_ENV"
|
||||
: # (TODO: Re-add this once we test other archs) echo "TARGET_ARCHITECTURE=${{ matrix.arch }}" >> "$GITHUB_ENV"
|
||||
$DOCKER_LOGIN
|
||||
- uses: ./.github/workflows/setup-with-retry
|
||||
with:
|
||||
@@ -87,6 +92,23 @@ jobs:
|
||||
- uses: ./.github/workflows/compile-openpilot
|
||||
timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 15 || 30) }} # allow more time when we missed the scons cache
|
||||
|
||||
build_mac:
|
||||
name: build macos
|
||||
runs-on: macos-latest
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
submodules: true
|
||||
- run: git lfs pull
|
||||
- name: Install dependencies
|
||||
run: ./tools/mac_setup.sh
|
||||
env:
|
||||
SKIP_PROMPT: 1
|
||||
# package install has DeprecationWarnings
|
||||
PYTHONWARNINGS: default
|
||||
- name: Test openpilot environment
|
||||
run: . .venv/bin/activate && scons -h
|
||||
|
||||
static_analysis:
|
||||
name: static analysis
|
||||
runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
|
||||
@@ -306,5 +328,55 @@ jobs:
|
||||
- name: Upload Test Report
|
||||
uses: actions/upload-artifact@v4
|
||||
with:
|
||||
name: report
|
||||
path: selfdrive/ui/tests/test_ui/report
|
||||
name: report-${{ inputs.run_number }}
|
||||
path: selfdrive/ui/tests/test_ui/report_${{ inputs.run_number }}
|
||||
- name: Get changes to selfdrive/ui
|
||||
if: ${{ github.event_name == 'pull_request' }}
|
||||
id: changed-files
|
||||
uses: tj-actions/changed-files@v44
|
||||
with:
|
||||
files: |
|
||||
selfdrive/ui/**
|
||||
- name: Checkout ci-artifacts
|
||||
if: ${{ github.event_name == 'pull_request' && steps.changed-files.outputs.any_changed == 'true' }}
|
||||
uses: actions/checkout@v4
|
||||
with:
|
||||
repository: commaai/ci-artifacts
|
||||
ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
|
||||
path: ${{ github.workspace }}/ci-artifacts
|
||||
ref: master
|
||||
- name: Push Screenshots
|
||||
if: ${{ github.event_name == 'pull_request' && steps.changed-files.outputs.any_changed == 'true' }}
|
||||
working-directory: ${{ github.workspace }}/ci-artifacts
|
||||
run: |
|
||||
git checkout -b openpilot/pr-${{ github.event.pull_request.number }}
|
||||
git config user.name "GitHub Actions Bot"
|
||||
git config user.email "<>"
|
||||
sudo mv ${{ github.workspace }}/selfdrive/ui/tests/test_ui/report/screenshots/* .
|
||||
git add .
|
||||
git commit -m "screenshots for PR #${{ github.event.pull_request.number }}"
|
||||
git push origin openpilot/pr-${{ github.event.pull_request.number }} --force
|
||||
- name: Comment Screenshots on PR
|
||||
if: ${{ github.event_name == 'pull_request' && steps.changed-files.outputs.any_changed == 'true' }}
|
||||
uses: thollander/actions-comment-pull-request@v2
|
||||
with:
|
||||
message: |
|
||||
<!-- _(run_id_screenshots **${{ github.run_id }}**)_ -->
|
||||
## UI Screenshots
|
||||
<table>
|
||||
<tr>
|
||||
<td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.pull_request.number }}/homescreen.png"></td>
|
||||
<td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.pull_request.number }}/onroad.png"></td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.pull_request.number }}/onroad_map.png"></td>
|
||||
<td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.pull_request.number }}/onroad_sidebar.png"></td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.pull_request.number }}/settings_network.png"></td>
|
||||
<td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.pull_request.number }}/settings_device.png"></td>
|
||||
</tr>
|
||||
</table>
|
||||
comment_tag: run_id_screenshots
|
||||
pr_number: ${{ github.event.pull_request.number }}
|
||||
GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
|
||||
|
||||
@@ -60,4 +60,4 @@ runs:
|
||||
find . -type f -not -executable -not -perm 644 -exec chmod 644 {} \;
|
||||
# build our docker image
|
||||
- shell: bash
|
||||
run: eval ${{ env.BUILD }}
|
||||
run: eval ${{ env.BUILD }}
|
||||
|
||||
@@ -14,7 +14,7 @@ jobs:
|
||||
steps:
|
||||
- uses: actions/stale@v9
|
||||
with:
|
||||
exempt-milestones: true
|
||||
exempt-all-milestones: true
|
||||
|
||||
# pull request config
|
||||
stale-pr-message: 'This PR has had no activity for ${{ env.DAYS_BEFORE_PR_STALE }} days. It will be automatically closed in ${{ env.DAYS_BEFORE_PR_CLOSE }} days if there is no activity.'
|
||||
|
||||
@@ -5,9 +5,14 @@ on:
|
||||
branches:
|
||||
- master
|
||||
pull_request:
|
||||
|
||||
workflow_call:
|
||||
inputs:
|
||||
run_number:
|
||||
default: '1'
|
||||
required: true
|
||||
type: string
|
||||
concurrency:
|
||||
group: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
|
||||
group: tools-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
|
||||
cancel-in-progress: true
|
||||
|
||||
env:
|
||||
@@ -39,12 +44,13 @@ jobs:
|
||||
source selfdrive/test/setup_vsound.sh && \
|
||||
CI=1 pytest tools/sim/tests/test_metadrive_bridge.py"
|
||||
|
||||
test_python311:
|
||||
name: test python3.11 support
|
||||
runs-on: ubuntu-latest
|
||||
timeout-minutes: 5
|
||||
test_compatibility:
|
||||
name: test 20.04 + 3.11
|
||||
runs-on: ubuntu-20.04
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
submodules: true
|
||||
- name: Installing ubuntu dependencies
|
||||
run: INSTALL_EXTRA_PACKAGES=no tools/install_ubuntu_dependencies.sh
|
||||
- name: Installing python
|
||||
@@ -53,10 +59,27 @@ jobs:
|
||||
python-version: '3.11.4'
|
||||
- name: Installing pip
|
||||
run: pip install pip==24.0
|
||||
- name: Installing poetry
|
||||
run: pip install poetry==1.7.0
|
||||
- name: Installing python dependencies
|
||||
run: poetry install --no-cache --no-root
|
||||
- name: Installing uv
|
||||
run: pip install uv
|
||||
- name: git LFS
|
||||
run: git lfs pull
|
||||
- run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
|
||||
- name: Getting scons cache
|
||||
uses: 'actions/cache@v4'
|
||||
with:
|
||||
path: /tmp/scons_cache
|
||||
key: scons-${{ runner.arch }}-ubuntu2004-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
|
||||
restore-keys: |
|
||||
scons-${{ runner.arch }}-ubuntu2004-${{ env.CACHE_COMMIT_DATE }}
|
||||
scons-${{ runner.arch }}-ubuntu2004
|
||||
- name: Building openpilot
|
||||
run: uv run scons -u -j$(nproc)
|
||||
- name: Saving scons cache
|
||||
uses: actions/cache/save@v4
|
||||
if: github.ref == 'refs/heads/master'
|
||||
with:
|
||||
path: /tmp/scons_cache
|
||||
key: scons-${{ runner.arch }}-ubuntu2004-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
|
||||
|
||||
devcontainer:
|
||||
name: devcontainer
|
||||
@@ -81,6 +104,6 @@ jobs:
|
||||
- name: Test environment
|
||||
run: |
|
||||
devcontainer exec --workspace-folder . scons -j$(nproc) cereal/ common/
|
||||
devcontainer exec --workspace-folder . pip install pip-install-test
|
||||
devcontainer exec --workspace-folder . pip3 install pip-install-test
|
||||
devcontainer exec --workspace-folder . touch /home/batman/.comma/auth.json
|
||||
devcontainer exec --workspace-folder . sudo touch /root/test.txt
|
||||
|
||||
@@ -43,6 +43,7 @@ persist
|
||||
selfdrive/pandad/pandad
|
||||
cereal/services.h
|
||||
cereal/gen
|
||||
cereal/messaging/bridge
|
||||
selfdrive/logcatd/logcatd
|
||||
selfdrive/mapd/default_speeds_by_region.json
|
||||
system/proclogd/proclogd
|
||||
|
||||
+6
-11
@@ -19,7 +19,7 @@ repos:
|
||||
- id: check-executables-have-shebangs
|
||||
- id: check-shebang-scripts-are-executable
|
||||
- id: check-added-large-files
|
||||
exclude: '(docs/CARS.md)|(poetry.lock)|(third_party/acados/include/blasfeo/include/blasfeo_d_kernel.h)'
|
||||
exclude: '(docs/CARS.md)|(uv.lock)|(third_party/acados/include/blasfeo/include/blasfeo_d_kernel.h)'
|
||||
args:
|
||||
- --maxkb=120
|
||||
- --enforce-all
|
||||
@@ -27,13 +27,13 @@ repos:
|
||||
rev: v2.3.0
|
||||
hooks:
|
||||
- id: codespell
|
||||
exclude: '^(third_party/)|(body/)|(msgq/)|(panda/)|(opendbc/)|(rednose/)|(rednose_repo/)|(teleoprtc/)|(teleoprtc_repo/)|(selfdrive/ui/translations/.*.ts)|(poetry.lock)'
|
||||
exclude: '^(third_party/)|(body/)|(msgq/)|(panda/)|(opendbc/)|(rednose/)|(rednose_repo/)|(teleoprtc/)|(teleoprtc_repo/)|(selfdrive/ui/translations/.*.ts)|(uv.lock)'
|
||||
args:
|
||||
# if you've got a short variable name that's getting flagged, add it here
|
||||
- -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn
|
||||
- --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US
|
||||
- repo: https://github.com/astral-sh/ruff-pre-commit
|
||||
rev: v0.4.8
|
||||
rev: v0.5.0
|
||||
hooks:
|
||||
- id: ruff
|
||||
exclude: '^(third_party/)|(msgq/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'
|
||||
@@ -62,6 +62,8 @@ repos:
|
||||
- --quiet
|
||||
- --force
|
||||
- -j8
|
||||
- --library=qt
|
||||
- --include=third_party/kaitai/kaitaistream.h
|
||||
- repo: https://github.com/cpplint/cpplint
|
||||
rev: 1.6.1
|
||||
hooks:
|
||||
@@ -90,14 +92,7 @@ repos:
|
||||
language: system
|
||||
pass_filenames: false
|
||||
files: '^selfdrive/ui/translations/'
|
||||
- repo: https://github.com/python-poetry/poetry
|
||||
rev: '1.8.0'
|
||||
hooks:
|
||||
- id: poetry-check
|
||||
name: validate poetry lock
|
||||
args:
|
||||
- --lock
|
||||
- repo: https://github.com/python-jsonschema/check-jsonschema
|
||||
rev: 0.28.4
|
||||
rev: 0.28.6
|
||||
hooks:
|
||||
- id: check-github-workflows
|
||||
|
||||
+1
-18
@@ -8,23 +8,6 @@ ENV PYTHONPATH ${OPENPILOT_PATH}:${PYTHONPATH}
|
||||
RUN mkdir -p ${OPENPILOT_PATH}
|
||||
WORKDIR ${OPENPILOT_PATH}
|
||||
|
||||
COPY SConstruct ${OPENPILOT_PATH}
|
||||
|
||||
COPY ./openpilot ${OPENPILOT_PATH}/openpilot
|
||||
COPY ./third_party ${OPENPILOT_PATH}/third_party
|
||||
COPY ./site_scons ${OPENPILOT_PATH}/site_scons
|
||||
COPY ./rednose ${OPENPILOT_PATH}/rednose
|
||||
COPY ./rednose_repo/site_scons ${OPENPILOT_PATH}/rednose_repo/site_scons
|
||||
COPY ./tools ${OPENPILOT_PATH}/tools
|
||||
COPY ./release ${OPENPILOT_PATH}/release
|
||||
COPY ./common ${OPENPILOT_PATH}/common
|
||||
COPY ./opendbc ${OPENPILOT_PATH}/opendbc
|
||||
COPY ./cereal ${OPENPILOT_PATH}/cereal
|
||||
COPY ./msgq_repo ${OPENPILOT_PATH}/msgq_repo
|
||||
COPY ./msgq ${OPENPILOT_PATH}/msgq
|
||||
COPY ./panda ${OPENPILOT_PATH}/panda
|
||||
COPY ./selfdrive ${OPENPILOT_PATH}/selfdrive
|
||||
COPY ./system ${OPENPILOT_PATH}/system
|
||||
COPY ./body ${OPENPILOT_PATH}/body
|
||||
COPY . ${OPENPILOT_PATH}/
|
||||
|
||||
RUN scons --cache-readonly -j$(nproc)
|
||||
|
||||
+27
-25
@@ -1,4 +1,4 @@
|
||||
FROM ubuntu:20.04
|
||||
FROM ubuntu:24.04
|
||||
|
||||
ENV PYTHONUNBUFFERED 1
|
||||
|
||||
@@ -15,7 +15,7 @@ ENV LC_ALL en_US.UTF-8
|
||||
COPY tools/install_ubuntu_dependencies.sh /tmp/tools/
|
||||
RUN INSTALL_EXTRA_PACKAGES=no /tmp/tools/install_ubuntu_dependencies.sh && \
|
||||
rm -rf /var/lib/apt/lists/* /tmp/* && \
|
||||
cd /usr/lib/gcc/arm-none-eabi/9.2.1 && \
|
||||
cd /usr/lib/gcc/arm-none-eabi/* && \
|
||||
rm -rf arm/ thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
|
||||
|
||||
# Add OpenCL
|
||||
@@ -30,23 +30,28 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
|
||||
gcc-arm-none-eabi \
|
||||
tmux \
|
||||
vim \
|
||||
lsb-core \
|
||||
libx11-6 \
|
||||
wget \
|
||||
&& rm -rf /var/lib/apt/lists/*
|
||||
|
||||
ARG INTEL_DRIVER=l_opencl_p_18.1.0.015.tgz
|
||||
ARG INTEL_DRIVER_URL=https://registrationcenter-download.intel.com/akdlm/irc_nas/vcp/15532
|
||||
RUN mkdir -p /tmp/opencl-driver-intel
|
||||
|
||||
RUN cd /tmp/opencl-driver-intel && \
|
||||
echo INTEL_DRIVER is $INTEL_DRIVER && \
|
||||
curl -O $INTEL_DRIVER_URL/$INTEL_DRIVER && \
|
||||
tar -xzf $INTEL_DRIVER && \
|
||||
for i in $(basename $INTEL_DRIVER .tgz)/rpm/*.rpm; do alien --to-deb $i; done && \
|
||||
dpkg -i *.deb && \
|
||||
rm -rf $INTEL_DRIVER $(basename $INTEL_DRIVER .tgz) *.deb && \
|
||||
RUN mkdir -p /tmp/opencl-driver-intel && \
|
||||
cd /tmp/opencl-driver-intel && \
|
||||
wget https://github.com/intel/llvm/releases/download/2024-WW14/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
|
||||
wget https://github.com/oneapi-src/oneTBB/releases/download/v2021.12.0/oneapi-tbb-2021.12.0-lin.tgz && \
|
||||
mkdir -p /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
|
||||
cd /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
|
||||
tar -zxvf /tmp/opencl-driver-intel/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
|
||||
mkdir -p /etc/OpenCL/vendors && \
|
||||
echo /opt/intel/opencl_compilers_and_libraries_18.1.0.015/linux/compiler/lib/intel64_lin/libintelocl.so > /etc/OpenCL/vendors/intel.icd && \
|
||||
echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64/libintelocl.so > /etc/OpenCL/vendors/intel_expcpu.icd && \
|
||||
cd /opt/intel && \
|
||||
tar -zxvf /tmp/opencl-driver-intel/oneapi-tbb-2021.12.0-lin.tgz && \
|
||||
ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
|
||||
ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
|
||||
ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so.12 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
|
||||
ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so.2 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
|
||||
mkdir -p /etc/ld.so.conf.d && \
|
||||
echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 > /etc/ld.so.conf.d/libintelopenclexp.conf && \
|
||||
ldconfig -f /etc/ld.so.conf.d/libintelopenclexp.conf && \
|
||||
cd / && \
|
||||
rm -rf /tmp/opencl-driver-intel
|
||||
|
||||
@@ -57,26 +62,23 @@ ENV QTWEBENGINE_DISABLE_SANDBOX 1
|
||||
RUN dbus-uuidgen > /etc/machine-id
|
||||
|
||||
ARG USER=batman
|
||||
ARG USER_UID=1000
|
||||
ARG USER_UID=1001
|
||||
RUN useradd -m -s /bin/bash -u $USER_UID $USER
|
||||
RUN usermod -aG sudo $USER
|
||||
RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
|
||||
USER $USER
|
||||
|
||||
ENV POETRY_VIRTUALENVS_CREATE=false
|
||||
ENV PYENV_VERSION=3.12.4
|
||||
ENV PYENV_ROOT="/home/$USER/pyenv"
|
||||
ENV PATH="$PYENV_ROOT/bin:$PYENV_ROOT/shims:$PATH"
|
||||
|
||||
COPY --chown=$USER pyproject.toml poetry.lock /tmp/
|
||||
COPY --chown=$USER pyproject.toml uv.lock /tmp/
|
||||
COPY --chown=$USER tools/install_python_dependencies.sh /tmp/tools/
|
||||
|
||||
ENV VIRTUAL_ENV=/home/$USER/.venv
|
||||
ENV PATH="$VIRTUAL_ENV/bin:$PATH"
|
||||
RUN cd /tmp && \
|
||||
tools/install_python_dependencies.sh && \
|
||||
mkdir -p $VIRTUAL_ENV && \
|
||||
cp -r /tmp/.venv/* $VIRTUAL_ENV && \
|
||||
rm -rf /tmp/* && \
|
||||
rm -rf /home/$USER/.cache && \
|
||||
find /home/$USER/pyenv -type d -name ".git" | xargs rm -rf && \
|
||||
rm -rf /home/$USER/pyenv/versions/3.12.4/lib/python3.12/test
|
||||
rm -rf /home/$USER/.cache
|
||||
|
||||
USER root
|
||||
RUN sudo git config --global --add safe.directory /tmp/openpilot
|
||||
|
||||
@@ -14,6 +14,8 @@ SCons.Warnings.warningAsException(True)
|
||||
|
||||
TICI = os.path.isfile('/TICI')
|
||||
AGNOS = TICI
|
||||
UBUNTU_FOCAL = int(subprocess.check_output('[ -f /etc/os-release ] && . /etc/os-release && [ "$ID" = "ubuntu" ] && [ "$VERSION_ID" = "20.04" ] && echo 1 || echo 0', shell=True, encoding='utf-8').rstrip())
|
||||
Export('UBUNTU_FOCAL')
|
||||
|
||||
Decider('MD5-timestamp')
|
||||
|
||||
|
||||
+33
-31
@@ -116,27 +116,28 @@ struct CarEvent @0x9b1657f34caf3ad3 {
|
||||
paramsdTemporaryError @50;
|
||||
paramsdPermanentError @119;
|
||||
actuatorsApiUnavailable @120;
|
||||
manualSteeringRequired @121;
|
||||
manualLongitudinalRequired @122;
|
||||
silentPedalPressed @123;
|
||||
silentButtonEnable @124;
|
||||
silentBrakeHold @125;
|
||||
silentWrongGear @126;
|
||||
spReverseGear @127;
|
||||
preKeepHandsOnWheel @128;
|
||||
promptKeepHandsOnWheel @129;
|
||||
keepHandsOnWheel @130;
|
||||
speedLimitActive @131;
|
||||
speedLimitValueChange @132;
|
||||
e2eLongStop @133;
|
||||
e2eLongStart @134;
|
||||
controlsMismatchLong @135;
|
||||
cruiseEngageBlocked @136;
|
||||
laneChangeRoadEdge @137;
|
||||
speedLimitPreActive @138;
|
||||
speedLimitConfirmed @139;
|
||||
torqueNNLoad @140;
|
||||
spAutoBrakeHold @141;
|
||||
espActive @121;
|
||||
manualSteeringRequired @122;
|
||||
manualLongitudinalRequired @123;
|
||||
silentPedalPressed @124;
|
||||
silentButtonEnable @125;
|
||||
silentBrakeHold @126;
|
||||
silentWrongGear @127;
|
||||
spReverseGear @128;
|
||||
preKeepHandsOnWheel @129;
|
||||
promptKeepHandsOnWheel @130;
|
||||
keepHandsOnWheel @131;
|
||||
speedLimitActive @132;
|
||||
speedLimitValueChange @133;
|
||||
e2eLongStop @134;
|
||||
e2eLongStart @135;
|
||||
controlsMismatchLong @136;
|
||||
cruiseEngageBlocked @137;
|
||||
laneChangeRoadEdge @138;
|
||||
speedLimitPreActive @139;
|
||||
speedLimitConfirmed @140;
|
||||
torqueNNLoad @141;
|
||||
spAutoBrakeHold @142;
|
||||
|
||||
radarCanErrorDEPRECATED @15;
|
||||
communityFeatureDisallowedDEPRECATED @62;
|
||||
@@ -215,6 +216,7 @@ struct CarState {
|
||||
espDisabled @32 :Bool;
|
||||
accFaulted @42 :Bool;
|
||||
carFaultedNonCritical @47 :Bool; # some ECU is faulted, but car remains controllable
|
||||
espActive @51 :Bool;
|
||||
|
||||
# cruise state
|
||||
cruiseState @10 :CruiseState;
|
||||
@@ -235,16 +237,16 @@ struct CarState {
|
||||
# clutch (manual transmission only)
|
||||
clutchPressed @28 :Bool;
|
||||
|
||||
madsEnabled @51 :Bool;
|
||||
leftBlinkerOn @52 :Bool;
|
||||
rightBlinkerOn @53 :Bool;
|
||||
disengageByBrake @54 :Bool;
|
||||
belowLaneChangeSpeed @55 :Bool;
|
||||
accEnabled @56 :Bool;
|
||||
latActive @57 :Bool;
|
||||
gapAdjustCruiseTr @58 :Int32;
|
||||
endToEndLong @59 :Bool;
|
||||
customStockLong @60 :CustomStockLong;
|
||||
madsEnabled @52 :Bool;
|
||||
leftBlinkerOn @53 :Bool;
|
||||
rightBlinkerOn @54 :Bool;
|
||||
disengageByBrake @55 :Bool;
|
||||
belowLaneChangeSpeed @56 :Bool;
|
||||
accEnabled @57 :Bool;
|
||||
latActive @58 :Bool;
|
||||
gapAdjustCruiseTr @59 :Int32;
|
||||
endToEndLong @60 :Bool;
|
||||
customStockLong @61 :CustomStockLong;
|
||||
|
||||
struct CustomStockLong {
|
||||
cruiseButton @0 :Int16;
|
||||
|
||||
@@ -868,6 +868,37 @@ struct ControlsState @0x97ff69c53601abf1 {
|
||||
vPidDEPRECATED @2 :Float32;
|
||||
}
|
||||
|
||||
struct DrivingModelData {
|
||||
frameId @0 :UInt32;
|
||||
frameIdExtra @1 :UInt32;
|
||||
frameDropPerc @6 :Float32;
|
||||
|
||||
action @2 :ModelDataV2.Action;
|
||||
|
||||
laneLineMeta @3 :LaneLineMeta;
|
||||
meta @4 :MetaData;
|
||||
|
||||
path @5 :PolyPath;
|
||||
|
||||
struct PolyPath {
|
||||
xCoefficients @0 :List(Float32);
|
||||
yCoefficients @1 :List(Float32);
|
||||
zCoefficients @2 :List(Float32);
|
||||
}
|
||||
|
||||
struct LaneLineMeta {
|
||||
leftY @0 :Float32;
|
||||
rightY @1 :Float32;
|
||||
leftProb @2 :Float32;
|
||||
rightProb @3 :Float32;
|
||||
}
|
||||
|
||||
struct MetaData {
|
||||
laneChangeState @0 :LaneChangeState;
|
||||
laneChangeDirection @1 :LaneChangeDirection;
|
||||
}
|
||||
}
|
||||
|
||||
# All SI units and in device frame
|
||||
struct XYZTData @0xc3cbae1fd505ae80 {
|
||||
x @0 :List(Float32);
|
||||
@@ -2263,6 +2294,7 @@ struct Event {
|
||||
driverMonitoringState @71: DriverMonitoringState;
|
||||
liveLocationKalman @72 :LiveLocationKalman;
|
||||
modelV2 @75 :ModelDataV2;
|
||||
drivingModelData @128 :DrivingModelData;
|
||||
driverStateV2 @92 :DriverStateV2;
|
||||
|
||||
# camera stuff, each camera state has a matching encode idx
|
||||
|
||||
@@ -1,10 +0,0 @@
|
||||
demo
|
||||
bridge
|
||||
test_runner
|
||||
*.o
|
||||
*.os
|
||||
*.d
|
||||
*.a
|
||||
*.so
|
||||
messaging_pyx.cpp
|
||||
build/
|
||||
@@ -5,20 +5,13 @@
|
||||
#include <string>
|
||||
#include <vector>
|
||||
#include <utility>
|
||||
#include <time.h>
|
||||
|
||||
#include <capnp/serialize.h>
|
||||
|
||||
#include "cereal/gen/cpp/log.capnp.h"
|
||||
#include "common/timing.h"
|
||||
#include "msgq/ipc.h"
|
||||
|
||||
#ifdef __APPLE__
|
||||
#define CLOCK_BOOTTIME CLOCK_MONOTONIC
|
||||
#endif
|
||||
|
||||
#define MSG_MULTIPLE_PUBLISHERS 100
|
||||
|
||||
|
||||
class SubMaster {
|
||||
public:
|
||||
SubMaster(const std::vector<const char *> &service_list, const std::vector<const char *> &poll = {},
|
||||
@@ -53,10 +46,7 @@ public:
|
||||
|
||||
cereal::Event::Builder initEvent(bool valid = true) {
|
||||
cereal::Event::Builder event = initRoot<cereal::Event>();
|
||||
struct timespec t;
|
||||
clock_gettime(CLOCK_BOOTTIME, &t);
|
||||
uint64_t current_time = t.tv_sec * 1000000000ULL + t.tv_nsec;
|
||||
event.setLogMonoTime(current_time);
|
||||
event.setLogMonoTime(nanos_since_boot());
|
||||
event.setValid(valid);
|
||||
return event;
|
||||
}
|
||||
|
||||
@@ -1,4 +1,3 @@
|
||||
#include <time.h>
|
||||
#include <assert.h>
|
||||
#include <stdlib.h>
|
||||
#include <string>
|
||||
@@ -7,15 +6,8 @@
|
||||
#include "cereal/services.h"
|
||||
#include "cereal/messaging/messaging.h"
|
||||
|
||||
|
||||
const bool SIMULATION = (getenv("SIMULATION") != nullptr) && (std::string(getenv("SIMULATION")) == "1");
|
||||
|
||||
static inline uint64_t nanos_since_boot() {
|
||||
struct timespec t;
|
||||
clock_gettime(CLOCK_BOOTTIME, &t);
|
||||
return t.tv_sec * 1000000000ULL + t.tv_nsec;
|
||||
}
|
||||
|
||||
static inline bool inList(const std::vector<const char *> &list, const char *value) {
|
||||
for (auto &v : list) {
|
||||
if (strcmp(value, v) == 0) return true;
|
||||
|
||||
@@ -15,6 +15,7 @@ class TestServices(unittest.TestCase):
|
||||
def test_services(self, s):
|
||||
service = SERVICE_LIST[s]
|
||||
self.assertTrue(service.frequency <= 104)
|
||||
self.assertTrue(service.decimation != 0)
|
||||
|
||||
def test_generated_header(self):
|
||||
with tempfile.NamedTemporaryFile(suffix=".h") as f:
|
||||
|
||||
+2
-1
@@ -61,7 +61,8 @@ _services: dict[str, tuple] = {
|
||||
"driverMonitoringState": (True, 20., 10),
|
||||
"wideRoadEncodeIdx": (False, 20., 1),
|
||||
"wideRoadCameraState": (True, 20., 20),
|
||||
"modelV2": (True, 20., 40),
|
||||
"drivingModelData": (True, 20., 10),
|
||||
"modelV2": (True, 20.),
|
||||
"managerState": (True, 2., 1),
|
||||
"uploaderState": (True, 0., 1),
|
||||
"navInstruction": (True, 1., 10),
|
||||
|
||||
@@ -194,7 +194,6 @@ std::unordered_map<std::string, uint32_t> keys = {
|
||||
{"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
|
||||
{"SshEnabled", PERSISTENT | BACKUP},
|
||||
{"TermsVersion", PERSISTENT},
|
||||
{"Timezone", PERSISTENT},
|
||||
{"TrainingVersion", PERSISTENT},
|
||||
{"UbloxAvailable", PERSISTENT},
|
||||
{"UpdateAvailable", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
|
||||
|
||||
+61
-61
@@ -11,12 +11,12 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=ILX 2016-19">Buy Here</a></sub></details>||
|
||||
|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2016-18">Buy Here</a></sub></details>||
|
||||
|Acura|RDX 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2019-22">Buy Here</a></sub></details>||
|
||||
|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>||
|
||||
|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>||
|
||||
|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q2 2018">Buy Here</a></sub></details>||
|
||||
|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q3 2019-23">Buy Here</a></sub></details>||
|
||||
|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=RS3 2018">Buy Here</a></sub></details>||
|
||||
|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=S3 2015-17">Buy Here</a></sub></details>||
|
||||
|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>||
|
||||
|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>||
|
||||
|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q2 2018">Buy Here</a></sub></details>||
|
||||
|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q3 2019-23">Buy Here</a></sub></details>||
|
||||
|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=RS3 2018">Buy Here</a></sub></details>||
|
||||
|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=S3 2015-17">Buy Here</a></sub></details>||
|
||||
|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Bolt EV 2022-23">Buy Here</a></sub></details>||
|
||||
|Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Equinox 2019-22">Buy Here</a></sub></details>||
|
||||
@@ -27,9 +27,9 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Chrysler|Pacifica 2021-23|All|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2021-23">Buy Here</a></sub></details>||
|
||||
|Chrysler|Pacifica Hybrid 2017|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2017">Buy Here</a></sub></details>||
|
||||
|Chrysler|Pacifica Hybrid 2018|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2018">Buy Here</a></sub></details>||
|
||||
|Chrysler|Pacifica Hybrid 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2019-23">Buy Here</a></sub></details>||
|
||||
|Chrysler|Pacifica Hybrid 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2019-24">Buy Here</a></sub></details>||
|
||||
|comma|body|All|openpilot|0 mph|0 mph|[](##)|[](##)|None||
|
||||
|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=CUPRA&model=Ateca 2018-23">Buy Here</a></sub></details>||
|
||||
|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=CUPRA&model=Ateca 2018-23">Buy Here</a></sub></details>||
|
||||
|Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Dodge&model=Durango 2020-21">Buy Here</a></sub></details>||
|
||||
|Ford|Bronco Sport 2021-23|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Bronco Sport 2021-23">Buy Here</a></sub></details>||
|
||||
|Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape 2020-22">Buy Here</a></sub></details>||
|
||||
@@ -54,17 +54,17 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Genesis|G90 2017-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G90 2017-20">Buy Here</a></sub></details>||
|
||||
|Genesis|GV60 (Advanced Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Buy Here</a></sub></details>||
|
||||
|Genesis|GV60 (Performance Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Performance Trim) 2023">Buy Here</a></sub></details>||
|
||||
|Genesis|GV70 (2.5T Trim) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (2.5T Trim) 2022-23">Buy Here</a></sub></details>||
|
||||
|Genesis|GV70 (3.5T Trim) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (3.5T Trim) 2022-23">Buy Here</a></sub></details>||
|
||||
|Genesis|GV70 (2.5T Trim, without HDA II) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (2.5T Trim, without HDA II) 2022-23">Buy Here</a></sub></details>||
|
||||
|Genesis|GV70 (3.5T Trim, without HDA II) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (3.5T Trim, without HDA II) 2022-23">Buy Here</a></sub></details>||
|
||||
|Genesis|GV80 2023[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV80 2023">Buy Here</a></sub></details>||
|
||||
|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=GMC&model=Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Accord Hybrid 2018-22">Buy Here</a></sub></details>||
|
||||
|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Civic 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Civic 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2017-21">Buy Here</a></sub></details>||
|
||||
|Honda|Civic Hatchback 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2015-16">Buy Here</a></sub></details>||
|
||||
|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2017-22">Buy Here</a></sub></details>||
|
||||
|Honda|CR-V Hybrid 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V Hybrid 2017-21">Buy Here</a></sub></details>||
|
||||
@@ -185,8 +185,8 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Lexus|UX Hybrid 2019-23|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=UX Hybrid 2019-23">Buy Here</a></sub></details>||
|
||||
|Lincoln|Aviator 2020-23|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator 2020-23">Buy Here</a></sub></details>||
|
||||
|Lincoln|Aviator Plug-in Hybrid 2020-23|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator Plug-in Hybrid 2020-23">Buy Here</a></sub></details>||
|
||||
|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Mazda|CX-5 2022-24|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-5 2022-24">Buy Here</a></sub></details>||
|
||||
|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Altima 2019-20">Buy Here</a></sub></details>||
|
||||
@@ -194,8 +194,8 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Rogue 2018-20">Buy Here</a></sub></details>||
|
||||
|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=X-Trail 2017">Buy Here</a></sub></details>||
|
||||
|Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Ram connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ram&model=1500 2019-24">Buy Here</a></sub></details>||
|
||||
|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Ateca 2016-23">Buy Here</a></sub></details>||
|
||||
|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Leon 2014-20">Buy Here</a></sub></details>||
|
||||
|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Ateca 2016-23">Buy Here</a></sub></details>||
|
||||
|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Leon 2014-20">Buy Here</a></sub></details>||
|
||||
|Subaru|Ascent 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
|
||||
|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
|
||||
@@ -206,15 +206,15 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Subaru|Outback 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
|
||||
|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
|
||||
|Škoda|Fabia 2022-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Fabia 2022-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
|
||||
|Škoda|Kamiq 2021-23[<sup>9,11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kamiq 2021-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
|
||||
|Škoda|Karoq 2019-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Karoq 2019-23">Buy Here</a></sub></details>||
|
||||
|Škoda|Kodiaq 2017-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kodiaq 2017-23">Buy Here</a></sub></details>||
|
||||
|Škoda|Octavia 2015-19[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia 2015-19">Buy Here</a></sub></details>||
|
||||
|Škoda|Octavia RS 2016[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia RS 2016">Buy Here</a></sub></details>||
|
||||
|Škoda|Octavia Scout 2017-19[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia Scout 2017-19">Buy Here</a></sub></details>||
|
||||
|Škoda|Scala 2020-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Scala 2020-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
|
||||
|Škoda|Superb 2015-22[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Superb 2015-22">Buy Here</a></sub></details>||
|
||||
|Škoda|Fabia 2022-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Fabia 2022-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
|
||||
|Škoda|Kamiq 2021-23[<sup>9,11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kamiq 2021-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
|
||||
|Škoda|Karoq 2019-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Karoq 2019-23">Buy Here</a></sub></details>||
|
||||
|Škoda|Kodiaq 2017-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kodiaq 2017-23">Buy Here</a></sub></details>||
|
||||
|Škoda|Octavia 2015-19[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia 2015-19">Buy Here</a></sub></details>||
|
||||
|Škoda|Octavia RS 2016[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia RS 2016">Buy Here</a></sub></details>||
|
||||
|Škoda|Octavia Scout 2017-19[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia Scout 2017-19">Buy Here</a></sub></details>||
|
||||
|Škoda|Scala 2020-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Scala 2020-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
|
||||
|Škoda|Superb 2015-22[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Superb 2015-22">Buy Here</a></sub></details>||
|
||||
|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Alphard 2019-20">Buy Here</a></sub></details>||
|
||||
|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Alphard Hybrid 2021">Buy Here</a></sub></details>||
|
||||
|Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon 2016">Buy Here</a></sub></details>||
|
||||
@@ -260,42 +260,42 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|RAV4 Hybrid 2023-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2023-24">Buy Here</a></sub></details>||
|
||||
|Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas 2018-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas Cross Sport 2020-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=California 2021-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Caravelle 2020">Buy Here</a></sub></details>||
|
||||
|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Golf 2014-20">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf 2015-20">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf Alltrack 2015-19">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTD 2015-20">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTE 2015-20">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTI 2015-21">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf R 2015-19">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf SportsVan 2015-20">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Jetta 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta 2018-24">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Jetta GLI 2021-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta GLI 2021-24">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Passat 2015-22[<sup>10</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat 2015-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat Alltrack 2015-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat GTE 2015-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo 2018-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
|
||||
|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
|
||||
|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Cross 2021">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
|
||||
|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Roc 2018-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Taos 2022-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan 2018-24">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas 2018-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas Cross Sport 2020-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=California 2021-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Caravelle 2020">Buy Here</a></sub></details>||
|
||||
|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Golf 2014-20">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf 2015-20">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf Alltrack 2015-19">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTD 2015-20">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTE 2015-20">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTI 2015-21">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf R 2015-19">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf SportsVan 2015-20">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Jetta 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta 2018-24">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Jetta GLI 2021-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta GLI 2021-24">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Passat 2015-22[<sup>10</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat 2015-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat Alltrack 2015-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat GTE 2015-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo 2018-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
|
||||
|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
|
||||
|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Cross 2021">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
|
||||
|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Roc 2018-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Taos 2022-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan 2018-24">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>||
|
||||
|
||||
### Footnotes
|
||||
<sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `master-ci`. <br />
|
||||
|
||||
@@ -1,53 +0,0 @@
|
||||
# Minimal makefile for Sphinx documentation
|
||||
#
|
||||
|
||||
OPENPILOT_ROOT = `git rev-parse --show-toplevel`
|
||||
|
||||
# You can set these variables from the command line, and also
|
||||
# from the environment for the first two.
|
||||
SPHINXOPTS ?=
|
||||
SPHINXBUILD ?= sphinx-build
|
||||
DOCSDIR = "$(OPENPILOT_ROOT)/docs"
|
||||
SOURCEDIR = "$(OPENPILOT_ROOT)/build/docs"
|
||||
DOCSBUILDDIR = "$(OPENPILOT_ROOT)/build/docs"
|
||||
BUILDDIR = "$(OPENPILOT_ROOT)/build"
|
||||
|
||||
# Put it first so that "make" without argument is like "make help".
|
||||
help:
|
||||
@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(DOCSBUILDDIR)" $(SPHINXOPTS) $(O)
|
||||
|
||||
clean:
|
||||
@echo "Cleaning build folder..."
|
||||
rm -rf "$(BUILDDIR)"
|
||||
|
||||
.PHONY: help Makefile
|
||||
|
||||
# Catch-all target: route all unknown targets to Sphinx using the new
|
||||
# "make mode" option. $(O) is meant as a shortcut for $(SPHINXOPTS).
|
||||
%: Makefile
|
||||
@echo "Cleaning build folder..."
|
||||
rm -rf "$(BUILDDIR)"
|
||||
mkdir -p "$(DOCSBUILDDIR)"
|
||||
|
||||
@echo "Copying docs & config to build folder..."
|
||||
cp -a "$(DOCSDIR)" "$(BUILDDIR)"
|
||||
cd "$(OPENPILOT_ROOT)" && \
|
||||
find . -type f \( -name "*.md" -o -name "*.rst" -o -name "*.png" -o -name "*.jpg" -o -name "*.svg" \) \
|
||||
-not -path "*/.*" \
|
||||
-not -path "./build/*" \
|
||||
-not -path "./docs/*" \
|
||||
-not -path "./xx/*" \
|
||||
-exec cp --parents "{}" ./build/docs/ \;
|
||||
|
||||
@echo "Building rst files..."
|
||||
sphinx-apidoc -o "$(DOCSBUILDDIR)" ../ \
|
||||
../xx ../rednose_repo ../notebooks ../panda_jungle \
|
||||
../third_party \
|
||||
../panda/examples \
|
||||
../scripts \
|
||||
../selfdrive/modeld \
|
||||
../selfdrive/debug \
|
||||
$(shell find .. -type d -name "*test* -not -path "**.venv**" \")
|
||||
|
||||
@echo "Building html files..."
|
||||
@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(DOCSBUILDDIR)" $(SPHINXOPTS) $(O)
|
||||
+2
-1
@@ -9,6 +9,7 @@ Most development happens on normal Ubuntu workstations, and not in cars or direc
|
||||
```bash
|
||||
# get the latest stuff
|
||||
git pull
|
||||
git lfs pull
|
||||
git submodule update --init --recursive
|
||||
|
||||
# update dependencies
|
||||
@@ -22,7 +23,7 @@ scons -j8 selfdrive/ui/
|
||||
cd selfdrive/ui/ && scons -u -j8
|
||||
|
||||
# test everything
|
||||
pytest .
|
||||
pytest
|
||||
|
||||
# test just logging services
|
||||
cd system/loggerd && pytest .
|
||||
|
||||
Vendored
BIN
Binary file not shown.
|
Before Width: | Height: | Size: 15 KiB |
Vendored
-3
@@ -1,3 +0,0 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:42bc589954cad7f16cef694887dee2c819378f7dacfdddea2ff833ff65a109fd
|
||||
size 1122
|
||||
Vendored
-2
@@ -1,2 +0,0 @@
|
||||
User-agent: *
|
||||
Sitemap: https://docs.comma.ai/sitemap.xml
|
||||
@@ -1,89 +0,0 @@
|
||||
openpilot
|
||||
==========
|
||||
|
||||
|
||||
opendbc
|
||||
------
|
||||
.. autodoxygenindex::
|
||||
:project: opendbc_can
|
||||
|
||||
|
||||
cereal
|
||||
------
|
||||
|
||||
messaging
|
||||
^^^^^^^^^
|
||||
.. autodoxygenindex::
|
||||
:project: msgq_repo_msgq
|
||||
|
||||
visionipc
|
||||
^^^^^^^^^
|
||||
.. autodoxygenindex::
|
||||
:project: msgq_repo_msgq_visionipc
|
||||
|
||||
|
||||
selfdrive
|
||||
---------
|
||||
|
||||
camerad
|
||||
^^^^^^^
|
||||
.. autodoxygenindex::
|
||||
:project: system_camerad_cameras
|
||||
|
||||
locationd
|
||||
^^^^^^^^^
|
||||
.. autodoxygenindex::
|
||||
:project: selfdrive_locationd
|
||||
|
||||
ui
|
||||
^^
|
||||
|
||||
.. autodoxygenindex::
|
||||
:project: selfdrive_ui
|
||||
|
||||
replay
|
||||
""""""
|
||||
.. autodoxygenindex::
|
||||
:project: tools_replay
|
||||
|
||||
qt
|
||||
""
|
||||
.. autodoxygenindex::
|
||||
:project: selfdrive_ui_qt_offroad
|
||||
.. autodoxygenindex::
|
||||
:project: selfdrive_ui_qt_maps
|
||||
|
||||
proclogd
|
||||
^^^^^^^^
|
||||
.. autodoxygenindex::
|
||||
:project: system_proclogd
|
||||
|
||||
modeld
|
||||
^^^^^^
|
||||
.. autodoxygenindex::
|
||||
:project: selfdrive_modeld_transforms
|
||||
.. autodoxygenindex::
|
||||
:project: selfdrive_modeld_models
|
||||
.. autodoxygenindex::
|
||||
:project: selfdrive_modeld_runners
|
||||
|
||||
common
|
||||
^^^^^^
|
||||
.. autodoxygenindex::
|
||||
:project: common
|
||||
|
||||
sensorsd
|
||||
^^^^^^^^
|
||||
.. autodoxygenindex::
|
||||
:project: system_sensord_sensors
|
||||
|
||||
pandad
|
||||
^^^^^^
|
||||
.. autodoxygenindex::
|
||||
:project: selfdrive_pandad
|
||||
|
||||
|
||||
rednose
|
||||
-------
|
||||
.. autodoxygenindex::
|
||||
:project: rednose_repo_rednose_helpers
|
||||
-147
@@ -1,147 +0,0 @@
|
||||
# type: ignore
|
||||
|
||||
# Configuration file for the Sphinx documentation builder.
|
||||
#
|
||||
# This file only contains a selection of the most common options. For a full
|
||||
# list see the documentation:
|
||||
# https://www.sphinx-doc.org/en/master/usage/configuration.html
|
||||
|
||||
# -- Path setup --------------------------------------------------------------
|
||||
|
||||
# If extensions (or modules to document with autodoc) are in another directory,
|
||||
# add these directories to sys.path here. If the directory is relative to the
|
||||
# documentation root, use os.path.abspath to make it absolute, like shown here.
|
||||
#
|
||||
import os
|
||||
import sys
|
||||
from os.path import exists
|
||||
|
||||
from openpilot.common.basedir import BASEDIR
|
||||
from openpilot.system.version import get_version
|
||||
|
||||
sys.path.insert(0, os.path.abspath('.'))
|
||||
sys.path.insert(0, os.path.abspath('..'))
|
||||
|
||||
VERSION = get_version()
|
||||
|
||||
|
||||
# -- Project information -----------------------------------------------------
|
||||
|
||||
project = 'openpilot docs'
|
||||
copyright = '2021, comma.ai' # noqa: A001
|
||||
author = 'comma.ai'
|
||||
version = VERSION
|
||||
release = VERSION
|
||||
language = 'en'
|
||||
|
||||
|
||||
# -- General configuration ---------------------------------------------------
|
||||
|
||||
# Add any Sphinx extension module names here, as strings. They can be
|
||||
# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
|
||||
# ones.
|
||||
extensions = [
|
||||
'sphinx.ext.autodoc', # Auto-generate docs
|
||||
'sphinx.ext.viewcode', # Add view code link to modules
|
||||
'sphinx_rtd_theme', # Read The Docs theme
|
||||
'myst_parser', # Markdown parsing
|
||||
'breathe', # Doxygen C/C++ integration
|
||||
'sphinx_sitemap', # sitemap generation for SEO
|
||||
]
|
||||
|
||||
myst_html_meta = {
|
||||
"description": "openpilot docs",
|
||||
"keywords": "op, openpilot, docs, documentation",
|
||||
"robots": "all,follow",
|
||||
"googlebot": "index,follow,snippet,archive",
|
||||
"property=og:locale": "en_US",
|
||||
"property=og:site_name": "docs.comma.ai",
|
||||
"property=og:url": "https://docs.comma.ai",
|
||||
"property=og:title": "openpilot Documentation",
|
||||
"property=og:type": "website",
|
||||
"property=og:image:type": "image/jpeg",
|
||||
"property=og:image:width": "400",
|
||||
"property=og:image": "https://docs.comma.ai/_static/logo.png",
|
||||
"property=og:image:url": "https://docs.comma.ai/_static/logo.png",
|
||||
"property=og:image:secure_url": "https://docs.comma.ai/_static/logo.png",
|
||||
"property=og:description": "openpilot Documentation",
|
||||
"property=twitter:card": "summary_large_image",
|
||||
"property=twitter:logo": "https://docs.comma.ai/_static/logo.png",
|
||||
"property=twitter:title": "openpilot Documentation",
|
||||
"property=twitter:description": "openpilot Documentation"
|
||||
}
|
||||
|
||||
html_baseurl = 'https://docs.comma.ai/'
|
||||
sitemap_filename = "sitemap.xml"
|
||||
|
||||
# Add any paths that contain templates here, relative to this directory.
|
||||
templates_path = ['_templates']
|
||||
|
||||
# List of patterns, relative to source directory, that match files and
|
||||
# directories to ignore when looking for source files.
|
||||
# This pattern also affects html_static_path and html_extra_path.
|
||||
exclude_patterns = []
|
||||
|
||||
|
||||
# -- c docs configuration ---------------------------------------------------
|
||||
|
||||
# Breathe Configuration
|
||||
# breathe_default_project = "c_docs"
|
||||
breathe_build_directory = f"{BASEDIR}/build/docs/html/xml"
|
||||
breathe_separate_member_pages = True
|
||||
breathe_default_members = ('members', 'private-members', 'undoc-members')
|
||||
breathe_domain_by_extension = {
|
||||
"h": "cc",
|
||||
}
|
||||
breathe_implementation_filename_extensions = ['.c', '.cc']
|
||||
breathe_doxygen_config_options = {}
|
||||
breathe_projects_source = {}
|
||||
|
||||
# only document files that have accompanying .cc files next to them
|
||||
print("searching for c_docs...")
|
||||
for root, _, files in os.walk(BASEDIR):
|
||||
found = False
|
||||
breath_src = {}
|
||||
breathe_srcs_list = []
|
||||
|
||||
for file in files:
|
||||
ccFile = os.path.join(root, file)[:-2] + ".cc"
|
||||
|
||||
if file.endswith(".h") and exists(ccFile):
|
||||
f = os.path.join(root, file)
|
||||
|
||||
parent_dir_abs = os.path.dirname(f)
|
||||
parent_dir = parent_dir_abs[len(BASEDIR) + 1:]
|
||||
parent_project = parent_dir.replace('/', '_')
|
||||
print(f"\tFOUND: {f} in {parent_project}")
|
||||
|
||||
breathe_srcs_list.append(file)
|
||||
found = True
|
||||
|
||||
if found:
|
||||
breath_src[parent_project] = (parent_dir_abs, breathe_srcs_list)
|
||||
breathe_projects_source.update(breath_src)
|
||||
|
||||
print(f"breathe_projects_source: {breathe_projects_source.keys()}")
|
||||
|
||||
# -- Options for HTML output -------------------------------------------------
|
||||
|
||||
# The theme to use for HTML and HTML Help pages. See the documentation for
|
||||
# a list of builtin themes.
|
||||
#
|
||||
html_theme = 'sphinx_rtd_theme'
|
||||
html_show_copyright = True
|
||||
|
||||
# Add any paths that contain custom static files (such as style sheets) here,
|
||||
# relative to this directory. They are copied after the builtin static files,
|
||||
# so a file named "default.css" will overwrite the builtin "default.css".
|
||||
html_static_path = ['_static']
|
||||
html_logo = '_static/logo.png'
|
||||
html_favicon = '_static/favicon.ico'
|
||||
html_theme_options = {
|
||||
'logo_only': False,
|
||||
'display_version': True,
|
||||
'vcs_pageview_mode': 'blob',
|
||||
'style_nav_header_background': '#000000',
|
||||
}
|
||||
html_extra_path = ['_static']
|
||||
@@ -1,42 +0,0 @@
|
||||
# openpilot Documentation
|
||||
|
||||
```{include} README.md
|
||||
```
|
||||
|
||||
```{toctree}
|
||||
:caption: 'General'
|
||||
:maxdepth: 4
|
||||
|
||||
CARS.md
|
||||
CONTRIBUTING.md
|
||||
INTEGRATION.md
|
||||
LIMITATIONS.md
|
||||
SAFETY.md
|
||||
```
|
||||
|
||||
```{toctree}
|
||||
:caption: 'Overview'
|
||||
:maxdepth: 2
|
||||
|
||||
overview.rst
|
||||
```
|
||||
|
||||
## API Documentation
|
||||
|
||||
- {ref}`genindex`
|
||||
- {ref}`modindex`
|
||||
- {ref}`search`
|
||||
|
||||
```{toctree}
|
||||
:caption: 'Python API'
|
||||
:maxdepth: 2
|
||||
|
||||
modules.rst
|
||||
```
|
||||
|
||||
```{toctree}
|
||||
:caption: 'C/C++ API'
|
||||
:maxdepth: 4
|
||||
|
||||
c_docs.rst
|
||||
```
|
||||
@@ -0,0 +1,12 @@
|
||||
This is the source for a new https://docs.comma.ai. It's not hosted anywhere yet, but it's easy to run locally.
|
||||
|
||||
https://www.mkdocs.org/getting-started/
|
||||
|
||||
```
|
||||
pip install mkdocs mkdocs-terminal
|
||||
mkdocs serve
|
||||
```
|
||||
|
||||
inspiration:
|
||||
* https://rerun.io/docs/
|
||||
* https://docs.expo.dev/
|
||||
@@ -0,0 +1,5 @@
|
||||
# Developing a car brand port
|
||||
|
||||
A brand port is a port of openpilot to a substantially new car brand or platform within a brand.
|
||||
|
||||
Here's an example of one: https://github.com/commaai/openpilot/pull/23331.
|
||||
@@ -0,0 +1,5 @@
|
||||
# Developing a car model port
|
||||
|
||||
A model port is a port of openpilot to a new car model within an already supported brand. Model ports are easier than brand ports because the car's existing APIs are already known.
|
||||
|
||||
Here's an example of one: https://github.com/commaai/openpilot/pull/30672/.
|
||||
@@ -0,0 +1,9 @@
|
||||
# What is a car port?
|
||||
|
||||
All car ports live in `openpilot/selfdrive/car/`.
|
||||
|
||||
* interface.py: Interface for the car, defines the CarInterface class
|
||||
* carstate.py: Reads CAN from car and builds openpilot CarState message
|
||||
* carcontroller.py: Builds CAN messages to send to car
|
||||
* values.py: Limits for actuation, general constants for cars, and supported car documentation
|
||||
* radar_interface.py: Interface for parsing radar points from the car
|
||||
@@ -0,0 +1,12 @@
|
||||
# What is openpilot?
|
||||
|
||||
[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW), and Lane Departure Warning (LDW) for a growing variety of [supported car makes, models, and model years](docs/CARS.md). In addition, while openpilot is engaged, a camera-based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration](docs/INTEGRATION.md) and [limitations](docs/LIMITATIONS.md).
|
||||
|
||||
|
||||
## How do I use it?
|
||||
|
||||
openpilot is designed to be used on the comma 3X.
|
||||
|
||||
## How does it work?
|
||||
|
||||
In short, openpilot uses the car's existing APIs for the built-in [ADAS](https://en.wikipedia.org/wiki/Advanced_driver-assistance_system) system and simply provides better acceleration, braking, and steering inputs than the stock system.
|
||||
@@ -0,0 +1,4 @@
|
||||
This section is for how-to's on common workflows.
|
||||
|
||||
They'll be like this blog post we wrote:
|
||||
https://blog.comma.ai/turning-the-speed-blue/
|
||||
@@ -0,0 +1,18 @@
|
||||
site_name: openpilot docs
|
||||
docs_dir: docs
|
||||
repo_url: https://github.com/commaai/openpilot/
|
||||
|
||||
theme:
|
||||
name: terminal
|
||||
features:
|
||||
- navigation.side.toc.hide
|
||||
|
||||
nav:
|
||||
- Getting Started:
|
||||
- What is openpilot?: getting-started/what-is-openpilot.md
|
||||
- How-to:
|
||||
- Turn the speed blue: how-to/turning-the-speed-blue.md
|
||||
- Car Porting:
|
||||
- What is a car port?: car-porting/what-is-a-car-port.md
|
||||
- Porting a car brand: car-porting/brand-port.md
|
||||
- Porting a car model: car-porting/model-port.md
|
||||
@@ -1,72 +0,0 @@
|
||||
openpilot
|
||||
=========
|
||||
|
||||
.. toctree::
|
||||
:maxdepth: 4
|
||||
|
||||
Debugging <selfdrive/debug/README.md>
|
||||
system/loggerd/README.md
|
||||
Driver Monitoring <selfdrive/monitoring/README.md>
|
||||
Process Replay <selfdrive/test/process_replay/README.md>
|
||||
|
||||
cereal
|
||||
=========
|
||||
|
||||
.. toctree::
|
||||
:maxdepth: 4
|
||||
|
||||
cereal/README.md
|
||||
cereal/messaging/msgq.md
|
||||
|
||||
models
|
||||
=========
|
||||
|
||||
.. toctree::
|
||||
:maxdepth: 4
|
||||
|
||||
models/README.md
|
||||
|
||||
opendbc
|
||||
=========
|
||||
|
||||
.. toctree::
|
||||
:maxdepth: 4
|
||||
|
||||
opendbc/README.md
|
||||
|
||||
panda
|
||||
=========
|
||||
|
||||
.. toctree::
|
||||
:maxdepth: 4
|
||||
|
||||
panda/README.md
|
||||
panda/UPDATING.md
|
||||
panda/board/README.md
|
||||
panda/drivers/linux/README.md
|
||||
panda/drivers/windows/README.md
|
||||
|
||||
|
||||
rednose
|
||||
=========
|
||||
.. toctree::
|
||||
:maxdepth: 4
|
||||
|
||||
rednose_repo/README.md
|
||||
|
||||
|
||||
tools
|
||||
=========
|
||||
.. toctree::
|
||||
:maxdepth: 4
|
||||
|
||||
tools/CTF.md
|
||||
tools/joystick/README.md
|
||||
tools/lib/README.md
|
||||
tools/plotjuggler/README.md
|
||||
tools/replay/README.md
|
||||
tools/serial/README.md
|
||||
Simulator <tools/sim/README.md>
|
||||
tools/ssh/README.md
|
||||
Webcam <tools/webcam/README.md>
|
||||
tools/cabana/README.md
|
||||
+1
-1
Submodule msgq_repo updated: 3fe8b7b121...da77480a96
+1
-1
Submodule opendbc updated: e8aea8b34d...adc1fffe60
+1
-1
Submodule panda updated: 9b76d69484...4a50d59066
Generated
-8113
File diff suppressed because one or more lines are too long
+129
-130
@@ -1,15 +1,140 @@
|
||||
[project]
|
||||
name = "openpilot"
|
||||
requires-python = ">= 3.11"
|
||||
readme = "README.md"
|
||||
license = {text = "MIT License"}
|
||||
version = "0.1.0"
|
||||
description = "an open source driver assistance system"
|
||||
authors = [
|
||||
{name ="Vehicle Researcher", email="user@comma.ai"}
|
||||
]
|
||||
|
||||
dependencies = [
|
||||
# multiple users
|
||||
"sounddevice", # micd + soundd
|
||||
"pyserial", # pigeond + qcomgpsd
|
||||
"requests", # many one-off uses
|
||||
"sympy", # rednose + friends
|
||||
"crcmod", # cars + qcomgpsd
|
||||
"tqdm", # cars (fw_versions.py) on start + many one-off uses
|
||||
|
||||
# hardwared
|
||||
"smbus2", # configuring amp
|
||||
|
||||
# core
|
||||
"cffi",
|
||||
"scons",
|
||||
"pycapnp",
|
||||
"Cython",
|
||||
"setuptools",
|
||||
"numpy < 2.0.0", # control does not support numpy 2
|
||||
|
||||
# body / webrtcd
|
||||
"aiohttp",
|
||||
"aiortc",
|
||||
"pyaudio",
|
||||
|
||||
# panda
|
||||
"libusb1",
|
||||
"spidev; platform_system == 'Linux'",
|
||||
|
||||
# modeld
|
||||
"onnx >= 1.14.0",
|
||||
"onnxruntime >=1.16.3; platform_system == 'Linux' and platform_machine == 'aarch64'",
|
||||
"onnxruntime-gpu >=1.16.3; platform_system == 'Linux' and platform_machine == 'x86_64'",
|
||||
|
||||
# logging
|
||||
"pyzmq",
|
||||
"sentry-sdk",
|
||||
|
||||
# athena
|
||||
"PyJWT",
|
||||
"json-rpc",
|
||||
"websocket_client",
|
||||
|
||||
# acados deps
|
||||
"casadi",
|
||||
"future-fstrings",
|
||||
|
||||
# these should be removed
|
||||
"psutil",
|
||||
"pycryptodome", # used in updated/casync, panda, body, and a test
|
||||
|
||||
#logreader
|
||||
"zstd",
|
||||
]
|
||||
|
||||
[project.optional-dependencies]
|
||||
docs = [
|
||||
"Jinja2",
|
||||
]
|
||||
|
||||
testing = [
|
||||
"coverage",
|
||||
"hypothesis ==6.47.*",
|
||||
"mypy",
|
||||
"pre-commit",
|
||||
"pytest",
|
||||
"pytest-cov",
|
||||
"pytest-cpp",
|
||||
"pytest-subtests",
|
||||
"pytest-xdist",
|
||||
"pytest-timeout",
|
||||
"pytest-randomly",
|
||||
"pytest-asyncio",
|
||||
"pytest-mock",
|
||||
"pytest-repeat",
|
||||
"ruff"
|
||||
]
|
||||
|
||||
dev = [
|
||||
"av",
|
||||
"azure-identity",
|
||||
"azure-storage-blob",
|
||||
"breathe",
|
||||
"control",
|
||||
"dictdiffer",
|
||||
"flaky",
|
||||
"inputs",
|
||||
"lru-dict",
|
||||
"matplotlib",
|
||||
"metadrive-simulator; platform_machine != 'aarch64'",
|
||||
"mpld3",
|
||||
"myst-parser",
|
||||
"natsort",
|
||||
"opencv-python-headless",
|
||||
"parameterized >=0.8, <0.9",
|
||||
#pprofile = "*"
|
||||
"pyautogui",
|
||||
"pygame",
|
||||
"pyopencl; platform_machine != 'aarch64'", # broken on arm64
|
||||
"pywinctl",
|
||||
"pyprof2calltree",
|
||||
"rerun-sdk",
|
||||
"tabulate",
|
||||
"types-requests",
|
||||
"types-tabulate",
|
||||
|
||||
# this is only pinned since 5.15.11 is broken
|
||||
"pyqt5 ==5.15.2; platform_machine == 'x86_64'", # no aarch64 wheels for macOS/linux
|
||||
|
||||
]
|
||||
|
||||
[tool.uv.sources]
|
||||
metadrive-simulator = { git = "https://github.com/commaai/metadrive.git", branch = "opencv_headless" }
|
||||
|
||||
[project.urls]
|
||||
Homepage = "https://comma.ai"
|
||||
|
||||
[build-system]
|
||||
requires = ["hatchling"]
|
||||
build-backend = "hatchling.build"
|
||||
|
||||
[tool.hatch.build.targets.wheel]
|
||||
packages = [ "." ]
|
||||
|
||||
[tool.pytest.ini_options]
|
||||
minversion = "6.0"
|
||||
addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup"
|
||||
addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ --ignore=msgq/ -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup"
|
||||
cpp_files = "test_*"
|
||||
cpp_harness = "selfdrive/test/cpp_harness.py"
|
||||
python_files = "test_*.py"
|
||||
@@ -25,7 +150,6 @@ testpaths = [
|
||||
"selfdrive/controls",
|
||||
"selfdrive/locationd",
|
||||
"selfdrive/monitoring",
|
||||
"selfdrive/navd/tests",
|
||||
"selfdrive/test/longitudinal_maneuvers",
|
||||
"selfdrive/test/process_replay/test_fuzzy.py",
|
||||
"system/updated",
|
||||
@@ -76,132 +200,6 @@ warn_return_any=true
|
||||
# allow implicit optionals for default args
|
||||
implicit_optional = true
|
||||
|
||||
|
||||
[tool.poetry]
|
||||
name = "openpilot"
|
||||
version = "0.1.0"
|
||||
description = "an open source driver assistance system"
|
||||
authors = ["Vehicle Researcher <user@comma.ai>"]
|
||||
license = "MIT"
|
||||
readme = "README.md"
|
||||
repository = "https://github.com/commaai/openpilot"
|
||||
documentation = "https://docs.comma.ai"
|
||||
|
||||
[tool.poetry.dependencies]
|
||||
python = ">=3.11, <3.13"
|
||||
|
||||
# multiple users
|
||||
sounddevice = "*" # micd + soundd
|
||||
pyserial = "*" # pigeond + qcomgpsd
|
||||
requests = "*" # many one-off uses
|
||||
sympy = "*" # rednose + friends
|
||||
crcmod = "*" # cars + qcomgpsd
|
||||
|
||||
# hardwared
|
||||
smbus2 = "*" # configuring amp
|
||||
|
||||
# core
|
||||
cffi = "*"
|
||||
scons = "*"
|
||||
pycapnp = "*"
|
||||
Cython = "*"
|
||||
numpy = "*"
|
||||
|
||||
# body / webrtcd
|
||||
aiohttp = "*"
|
||||
aiortc = "*"
|
||||
pyaudio = "*"
|
||||
|
||||
# panda
|
||||
libusb1 = "*"
|
||||
spidev = { version = "*", platform = "linux" }
|
||||
|
||||
# modeld
|
||||
onnx = ">=1.14.0"
|
||||
onnxruntime = { version = ">=1.16.3", platform = "linux", markers = "platform_machine == 'aarch64'" }
|
||||
onnxruntime-gpu = { version = ">=1.16.3", platform = "linux", markers = "platform_machine == 'x86_64'" }
|
||||
|
||||
# logging
|
||||
pyzmq = "*"
|
||||
sentry-sdk = "*"
|
||||
|
||||
# athena
|
||||
PyJWT = "*"
|
||||
json-rpc = "*"
|
||||
websocket_client = "*"
|
||||
|
||||
# acados deps
|
||||
casadi = "*"
|
||||
future-fstrings = "*"
|
||||
|
||||
# these should be removed
|
||||
psutil = "*"
|
||||
timezonefinder = "*" # just used for nav ETA
|
||||
pycryptodome = "*" # used in updated/casync, panda, body, and a test
|
||||
|
||||
#logreader
|
||||
zstd = "*"
|
||||
|
||||
[tool.poetry.group.docs.dependencies]
|
||||
Jinja2 = "*"
|
||||
sphinx = "*"
|
||||
sphinx-rtd-theme = "*"
|
||||
sphinx-sitemap = "*"
|
||||
|
||||
[tool.poetry.group.testing.dependencies]
|
||||
coverage = "*"
|
||||
hypothesis = "~6.47"
|
||||
mypy = "*"
|
||||
pre-commit = "*"
|
||||
pytest = "*"
|
||||
pytest-cov = "*"
|
||||
pytest-cpp = "*"
|
||||
pytest-subtests = "*"
|
||||
pytest-xdist = "*"
|
||||
pytest-timeout = "*"
|
||||
pytest-randomly = "*"
|
||||
pytest-asyncio = "*"
|
||||
pytest-mock = "*"
|
||||
pytest-repeat = "*"
|
||||
ruff = "*"
|
||||
|
||||
[tool.poetry.group.dev.dependencies]
|
||||
av = "*"
|
||||
azure-identity = "*"
|
||||
azure-storage-blob = "*"
|
||||
breathe = "*"
|
||||
control = "*"
|
||||
dictdiffer = "*"
|
||||
flaky = "*"
|
||||
inputs = "*"
|
||||
lru-dict = "*"
|
||||
matplotlib = "*"
|
||||
metadrive-simulator = { git = "https://github.com/commaai/metadrive.git", branch = "python3.12", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies
|
||||
mpld3 = "*"
|
||||
myst-parser = "*"
|
||||
natsort = "*"
|
||||
opencv-python-headless = "*"
|
||||
parameterized = "^0.8"
|
||||
#pprofile = "*"
|
||||
polyline = "*"
|
||||
pyautogui = "*"
|
||||
pygame = "*"
|
||||
pyopencl = { version = "*", markers = "platform_machine != 'aarch64'" } # broken on arm64
|
||||
pywinctl = "*"
|
||||
pyprof2calltree = "*"
|
||||
rerun-sdk = "*"
|
||||
tabulate = "*"
|
||||
types-requests = "*"
|
||||
types-tabulate = "*"
|
||||
tqdm = "*"
|
||||
|
||||
# this is only pinned since 5.15.11 is broken
|
||||
pyqt5 = { version = "==5.15.2", markers = "platform_machine == 'x86_64'" } # no aarch64 wheels for macOS/linux
|
||||
|
||||
[build-system]
|
||||
requires = ["poetry-core"]
|
||||
build-backend = "poetry.core.masonry.api"
|
||||
|
||||
# https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml
|
||||
[tool.ruff]
|
||||
indent-width = 2
|
||||
@@ -211,7 +209,8 @@ lint.select = [
|
||||
"UP", # pyupgrade
|
||||
"TRY302", "TRY400", "TRY401", # try/excepts
|
||||
"RUF008", "RUF100",
|
||||
"TID251"
|
||||
"TID251",
|
||||
"PLR1704",
|
||||
]
|
||||
lint.ignore = [
|
||||
"E741",
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
#!/bin/bash
|
||||
|
||||
while read hash submodule ref; do
|
||||
git -C $submodule fetch --depth 2000 origin master
|
||||
git -C $submodule fetch --depth 3000 origin master
|
||||
git -C $submodule branch -r --contains $hash | grep "origin/master"
|
||||
if [ "$?" -eq 0 ]; then
|
||||
echo "$submodule ok"
|
||||
|
||||
@@ -23,7 +23,7 @@ blacklist = [
|
||||
"^common/tests/",
|
||||
|
||||
# particularly large text files
|
||||
"poetry.lock",
|
||||
"uv.lock",
|
||||
"third_party/catch2",
|
||||
"selfdrive/car/tests/test_models.*",
|
||||
|
||||
|
||||
@@ -232,6 +232,7 @@ FW_VERSIONS = {
|
||||
b'68540436AD',
|
||||
b'68598670AB',
|
||||
b'68598670AC',
|
||||
b'68645752AA',
|
||||
],
|
||||
(Ecu.eps, 0x75a, None): [
|
||||
b'68416741AA',
|
||||
@@ -253,6 +254,7 @@ FW_VERSIONS = {
|
||||
b'68526772AD ',
|
||||
b'68526772AH ',
|
||||
b'68599493AC ',
|
||||
b'68657433AA ',
|
||||
],
|
||||
(Ecu.hybrid, 0x7e2, None): [
|
||||
b'05185116AF',
|
||||
@@ -267,6 +269,7 @@ FW_VERSIONS = {
|
||||
b'68540977AH',
|
||||
b'68540977AK',
|
||||
b'68597647AE',
|
||||
b'68632416AB',
|
||||
],
|
||||
},
|
||||
CAR.JEEP_GRAND_CHEROKEE: {
|
||||
@@ -290,6 +293,7 @@ FW_VERSIONS = {
|
||||
(Ecu.abs, 0x747, None): [
|
||||
b'68252642AG',
|
||||
b'68306178AD',
|
||||
b'68336275AB',
|
||||
b'68336276AB',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x753, None): [
|
||||
@@ -311,6 +315,7 @@ FW_VERSIONS = {
|
||||
b'68284456AI ',
|
||||
b'68284477AF ',
|
||||
b'68325564AH ',
|
||||
b'68325564AI ',
|
||||
b'68325565AH ',
|
||||
b'68325565AI ',
|
||||
b'68325618AD ',
|
||||
@@ -375,6 +380,7 @@ FW_VERSIONS = {
|
||||
b'68449435AE ',
|
||||
b'68496223AA ',
|
||||
b'68504959AD ',
|
||||
b'68504959AE ',
|
||||
b'68504960AD ',
|
||||
b'68504993AC ',
|
||||
],
|
||||
@@ -433,6 +439,7 @@ FW_VERSIONS = {
|
||||
b'68527381AE',
|
||||
b'68527382AE',
|
||||
b'68527383AD',
|
||||
b'68527383AE',
|
||||
b'68527387AE',
|
||||
b'68527403AC',
|
||||
b'68527403AD',
|
||||
@@ -536,6 +543,7 @@ FW_VERSIONS = {
|
||||
b'05190341AD',
|
||||
b'68378695AJ ',
|
||||
b'68378696AJ ',
|
||||
b'68378696AK ',
|
||||
b'68378701AI ',
|
||||
b'68378702AI ',
|
||||
b'68378710AL ',
|
||||
|
||||
@@ -47,7 +47,7 @@ class CAR(Platforms):
|
||||
CHRYSLER_PACIFICA_2017_HYBRID.specs,
|
||||
)
|
||||
CHRYSLER_PACIFICA_2019_HYBRID = ChryslerPlatformConfig(
|
||||
[ChryslerCarDocs("Chrysler Pacifica Hybrid 2019-23")],
|
||||
[ChryslerCarDocs("Chrysler Pacifica Hybrid 2019-24")],
|
||||
CHRYSLER_PACIFICA_2017_HYBRID.specs,
|
||||
)
|
||||
CHRYSLER_PACIFICA_2018 = ChryslerPlatformConfig(
|
||||
|
||||
@@ -91,8 +91,8 @@ class CarHarness(EnumBase):
|
||||
subaru_d = BaseCarHarness("Subaru D connector")
|
||||
fca = BaseCarHarness("FCA connector")
|
||||
ram = BaseCarHarness("Ram connector")
|
||||
vw = BaseCarHarness("VW connector")
|
||||
j533 = BaseCarHarness("J533 connector", parts=[Accessory.harness_box, Cable.long_obdc_cable, Cable.usbc_coupler])
|
||||
vw_a = BaseCarHarness("VW A connector")
|
||||
vw_j533 = BaseCarHarness("VW J533 connector", parts=[Accessory.harness_box, Cable.long_obdc_cable, Cable.usbc_coupler])
|
||||
hyundai_a = BaseCarHarness("Hyundai A connector")
|
||||
hyundai_b = BaseCarHarness("Hyundai B connector")
|
||||
hyundai_c = BaseCarHarness("Hyundai C connector")
|
||||
|
||||
@@ -15,7 +15,7 @@ class CarState(CarStateBase):
|
||||
super().__init__(CP)
|
||||
can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
|
||||
if CP.transmissionType == TransmissionType.automatic:
|
||||
self.shifter_values = can_define.dv["Gear_Shift_by_Wire_FD1"]["TrnRng_D_RqGsm"]
|
||||
self.shifter_values = can_define.dv["PowertrainData_10"]["TrnRng_D_Rq"]
|
||||
|
||||
self.vehicle_sensors_valid = False
|
||||
|
||||
@@ -78,7 +78,7 @@ class CarState(CarStateBase):
|
||||
|
||||
# gear
|
||||
if self.CP.transmissionType == TransmissionType.automatic:
|
||||
gear = self.shifter_values.get(cp.vl["Gear_Shift_by_Wire_FD1"]["TrnRng_D_RqGsm"])
|
||||
gear = self.shifter_values.get(cp.vl["PowertrainData_10"]["TrnRng_D_Rq"])
|
||||
ret.gearShifter = self.parse_gear_shifter(gear)
|
||||
elif self.CP.transmissionType == TransmissionType.manual:
|
||||
ret.clutchPressed = cp.vl["Engine_Clutch_Data"]["CluPdlPos_Pc_Meas"] > 0
|
||||
@@ -157,7 +157,7 @@ class CarState(CarStateBase):
|
||||
|
||||
if CP.transmissionType == TransmissionType.automatic:
|
||||
messages += [
|
||||
("Gear_Shift_by_Wire_FD1", 10),
|
||||
("PowertrainData_10", 10),
|
||||
]
|
||||
elif CP.transmissionType == TransmissionType.manual:
|
||||
messages += [
|
||||
|
||||
@@ -53,7 +53,12 @@ class CarInterface(CarInterfaceBase):
|
||||
friction = get_friction(lateral_accel_error, lateral_accel_deadzone, FRICTION_THRESHOLD, torque_params, friction_compensation)
|
||||
|
||||
def sig(val):
|
||||
return 1 / (1 + exp(-val)) - 0.5
|
||||
# https://timvieira.github.io/blog/post/2014/02/11/exp-normalize-trick
|
||||
if val >= 0:
|
||||
return 1 / (1 + exp(-val)) - 0.5
|
||||
else:
|
||||
z = exp(val)
|
||||
return z / (1 + z) - 0.5
|
||||
|
||||
# The "lat_accel vs torque" relationship is assumed to be the sum of "sigmoid + linear" curves
|
||||
# An important thing to consider is that the slope at 0 should be > 0 (ideally >1)
|
||||
|
||||
@@ -924,7 +924,10 @@ FW_VERSIONS = {
|
||||
b'36161-T20-A070\x00\x00',
|
||||
b'36161-T20-A080\x00\x00',
|
||||
b'36161-T24-T070\x00\x00',
|
||||
b'36161-T47-A050\x00\x00',
|
||||
b'36161-T47-A070\x00\x00',
|
||||
b'8S102-T20-AA10\x00\x00',
|
||||
b'8S102-T47-AA10\x00\x00',
|
||||
],
|
||||
(Ecu.vsa, 0x18da28f1, None): [
|
||||
b'57114-T20-AB40\x00\x00',
|
||||
|
||||
@@ -149,8 +149,8 @@ class CAR(Platforms):
|
||||
)
|
||||
HONDA_CIVIC_2022 = HondaBoschPlatformConfig(
|
||||
[
|
||||
HondaCarDocs("Honda Civic 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
|
||||
HondaCarDocs("Honda Civic Hatchback 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
|
||||
HondaCarDocs("Honda Civic 2022-24", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
|
||||
HondaCarDocs("Honda Civic Hatchback 2022-24", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
|
||||
],
|
||||
HONDA_CIVIC_BOSCH.specs,
|
||||
dbc_dict('honda_civic_ex_2022_can_generated', None),
|
||||
|
||||
@@ -139,6 +139,7 @@ class CarState(CarStateBase):
|
||||
ret.brakeHoldActive = cp.vl["TCS15"]["AVH_LAMP"] == 2 # 0 OFF, 1 ERROR, 2 ACTIVE, 3 READY
|
||||
ret.parkingBrake = cp.vl["TCS13"]["PBRAKE_ACT"] == 1
|
||||
ret.espDisabled = cp.vl["TCS11"]["TCS_PAS"] == 1
|
||||
ret.espActive = cp.vl["TCS11"]["ABS_ACT"] == 1
|
||||
ret.brakeLightsDEPRECATED = bool(cp.vl["TCS13"]["BrakeLight"])
|
||||
ret.accFaulted = cp.vl["TCS13"]["ACCEnable"] != 0 # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
|
||||
|
||||
|
||||
@@ -1,47 +1,11 @@
|
||||
# ruff: noqa: E501
|
||||
from cereal import car
|
||||
from openpilot.selfdrive.car.hyundai.values import CAR
|
||||
|
||||
Ecu = car.CarParams.Ecu
|
||||
|
||||
# The existence of SCC or RDR in the fwdRadar FW usually determines the radar's function,
|
||||
# i.e. if it sends the SCC messages or if another ECU like the camera or ADAS Driving ECU does
|
||||
|
||||
Ecu = car.CarParams.Ecu
|
||||
|
||||
FINGERPRINTS = {
|
||||
CAR.HYUNDAI_SANTA_FE: [{
|
||||
67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1379: 8, 1384: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1456: 4, 1470: 8
|
||||
},
|
||||
{
|
||||
67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 6, 764: 8, 809: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1155: 8, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1180: 8, 1183: 8, 1186: 2, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1384: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1456: 4, 1470: 8, 1988: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8
|
||||
},
|
||||
{
|
||||
67: 8, 68: 8, 80: 4, 160: 8, 161: 8, 272: 8, 288: 4, 339: 8, 356: 8, 357: 8, 399: 8, 544: 8, 608: 8, 672: 8, 688: 5, 704: 1, 790: 8, 809: 8, 848: 8, 880: 8, 898: 8, 900: 8, 901: 8, 904: 8, 1056: 8, 1064: 8, 1065: 8, 1072: 8, 1075: 8, 1087: 8, 1088: 8, 1151: 8, 1200: 8, 1201: 8, 1232: 4, 1264: 8, 1265: 8, 1266: 8, 1296: 8, 1306: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1348: 8, 1349: 8, 1369: 8, 1370: 8, 1371: 8, 1407: 8, 1415: 8, 1419: 8, 1440: 8, 1442: 4, 1461: 8, 1470: 8
|
||||
}],
|
||||
CAR.HYUNDAI_SONATA: [{
|
||||
67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 546: 8, 549: 8, 550: 8, 576: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 8, 865: 8, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 908: 8, 909: 8, 912: 7, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1089: 5, 1096: 8, 1107: 5, 1108: 8, 1114: 8, 1136: 8, 1145: 8, 1151: 8, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 8, 1170: 8, 1173: 8, 1180: 8, 1183: 8, 1184: 8, 1186: 2, 1191: 2, 1193: 8, 1210: 8, 1225: 8, 1227: 8, 1265: 4, 1268: 8, 1280: 8, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1330: 8, 1339: 8, 1342: 6, 1343: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1379: 8, 1384: 8, 1394: 8, 1407: 8, 1419: 8, 1427: 6, 1446: 8, 1456: 4, 1460: 8, 1470: 8, 1485: 8, 1504: 3, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 2015: 8
|
||||
}],
|
||||
CAR.KIA_STINGER: [{
|
||||
67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 359: 8, 544: 8, 576: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 4, 1379: 8, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1456: 4, 1470: 8
|
||||
}],
|
||||
CAR.GENESIS_G90: [{
|
||||
67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 359: 8, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1162: 4, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 3, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1434: 2, 1456: 4, 1470: 8, 1988: 8, 2000: 8, 2003: 8, 2004: 8, 2005: 8, 2008: 8, 2011: 8, 2012: 8, 2013: 8
|
||||
}],
|
||||
CAR.HYUNDAI_KONA_EV: [{
|
||||
127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 549: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1307: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1378: 4, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 1157: 4, 1193: 8, 1379: 8, 1988: 8, 1996: 8
|
||||
}],
|
||||
CAR.HYUNDAI_KONA_EV_2022: [{
|
||||
127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1069: 8, 1078: 4, 1136: 8, 1145: 8, 1151: 8, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 8, 1173: 8, 1183: 8, 1188: 8, 1191: 2, 1193: 8, 1225: 8, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1339: 8, 1342: 8, 1343: 8, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1379: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1446: 8, 1456: 4, 1470: 8, 1473: 8, 1485: 8, 1507: 8, 1535: 8, 1990: 8, 1998: 8
|
||||
}],
|
||||
CAR.KIA_NIRO_EV: [{
|
||||
127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 516: 8, 544: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1156: 8, 1157: 4, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1193: 8, 1225: 8, 1260: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 1990: 8, 1998: 8, 1996: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 2015: 8
|
||||
}],
|
||||
CAR.KIA_OPTIMA_H: [{
|
||||
68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 6, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 6, 1151: 6, 1168: 7, 1173: 8, 1236: 2, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1371: 8, 1407: 8, 1419: 8, 1427: 6, 1429: 8, 1430: 8, 1448: 8, 1456: 4, 1470: 8, 1476: 8, 1535: 8
|
||||
},
|
||||
{
|
||||
68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 576: 8, 593: 8, 688: 5, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 909: 8, 912: 7, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 6, 1151: 6, 1168: 7, 1173: 8, 1180: 8, 1186: 2, 1191: 2, 1265: 4, 1268: 8, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1371: 8, 1407: 8, 1419: 8, 1420: 8, 1425: 2, 1427: 6, 1429: 8, 1430: 8, 1448: 8, 1456: 4, 1470: 8, 1476: 8, 1535: 8
|
||||
}],
|
||||
}
|
||||
|
||||
FW_VERSIONS = {
|
||||
CAR.HYUNDAI_AZERA_6TH_GEN: {
|
||||
@@ -712,6 +676,7 @@ FW_VERSIONS = {
|
||||
b'\xf1\x00DEE MFC AT EUR LHD 1.00 1.00 99211-Q4000 191211',
|
||||
b'\xf1\x00DEE MFC AT EUR LHD 1.00 1.00 99211-Q4100 200706',
|
||||
b'\xf1\x00DEE MFC AT EUR LHD 1.00 1.03 95740-Q4000 180821',
|
||||
b'\xf1\x00DEE MFC AT KOR LHD 1.00 1.02 95740-Q4000 180705',
|
||||
b'\xf1\x00DEE MFC AT KOR LHD 1.00 1.03 95740-Q4000 180821',
|
||||
b'\xf1\x00DEE MFC AT USA LHD 1.00 1.00 99211-Q4000 191211',
|
||||
b'\xf1\x00DEE MFC AT USA LHD 1.00 1.01 99211-Q4500 210428',
|
||||
@@ -985,7 +950,9 @@ FW_VERSIONS = {
|
||||
(Ecu.fwdCamera, 0x7c4, None): [
|
||||
b'\xf1\x00NE1 MFC AT CAN LHD 1.00 1.01 99211-GI010 211007',
|
||||
b'\xf1\x00NE1 MFC AT CAN LHD 1.00 1.05 99211-GI010 220614',
|
||||
b'\xf1\x00NE1 MFC AT EUR LHD 1.00 1.00 99211-GI100 230915',
|
||||
b'\xf1\x00NE1 MFC AT EUR LHD 1.00 1.01 99211-GI010 211007',
|
||||
b'\xf1\x00NE1 MFC AT EUR LHD 1.00 1.01 99211-GI100 240110',
|
||||
b'\xf1\x00NE1 MFC AT EUR LHD 1.00 1.06 99211-GI000 210813',
|
||||
b'\xf1\x00NE1 MFC AT EUR LHD 1.00 1.06 99211-GI010 230110',
|
||||
b'\xf1\x00NE1 MFC AT EUR RHD 1.00 1.01 99211-GI010 211007',
|
||||
@@ -993,13 +960,12 @@ FW_VERSIONS = {
|
||||
b'\xf1\x00NE1 MFC AT KOR LHD 1.00 1.00 99211-GI020 230719',
|
||||
b'\xf1\x00NE1 MFC AT KOR LHD 1.00 1.05 99211-GI010 220614',
|
||||
b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.00 99211-GI020 230719',
|
||||
b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.00 99211-GI100 230915',
|
||||
b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.01 99211-GI010 211007',
|
||||
b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.02 99211-GI010 211206',
|
||||
b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.03 99211-GI010 220401',
|
||||
b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.05 99211-GI010 220614',
|
||||
b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.06 99211-GI010 230110',
|
||||
b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.00 99211-GI100 230915',
|
||||
b'\xf1\x00NE1 MFC AT EUR LHD 1.00 1.00 99211-GI100 230915',
|
||||
],
|
||||
},
|
||||
CAR.HYUNDAI_IONIQ_6: {
|
||||
|
||||
@@ -534,8 +534,9 @@ class CAR(Platforms):
|
||||
)
|
||||
GENESIS_GV70_1ST_GEN = HyundaiCanFDPlatformConfig(
|
||||
[
|
||||
HyundaiCarDocs("Genesis GV70 (2.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
|
||||
HyundaiCarDocs("Genesis GV70 (3.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_m])),
|
||||
# TODO: Hyundai P is likely the correct harness for HDA II for 2.5T (unsupported due to missing ADAS ECU, is that the radar?)
|
||||
HyundaiCarDocs("Genesis GV70 (2.5T Trim, without HDA II) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
|
||||
HyundaiCarDocs("Genesis GV70 (3.5T Trim, without HDA II) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_m])),
|
||||
],
|
||||
CarSpecs(mass=1950, wheelbase=2.87, steerRatio=14.6),
|
||||
flags=HyundaiFlags.RADAR_SCC,
|
||||
|
||||
@@ -474,6 +474,8 @@ class CarInterfaceBase(ABC):
|
||||
events.add(EventName.wrongCarMode)
|
||||
if cs_out.espDisabled:
|
||||
events.add(EventName.espDisabled)
|
||||
if cs_out.espActive:
|
||||
events.add(EventName.espActive)
|
||||
if cs_out.stockFcw:
|
||||
events.add(EventName.stockFcw)
|
||||
if cs_out.stockAeb:
|
||||
|
||||
@@ -16,6 +16,7 @@ FW_VERSIONS = {
|
||||
b'PX2H-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'PX2H-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'PX85-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'PXFG-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'PXFG-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'SH54-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
|
||||
@@ -23,7 +23,7 @@ ALL_ECUS |= {ecu for config in FW_QUERY_CONFIGS.values() for ecu in config.extra
|
||||
|
||||
ALL_REQUESTS = {tuple(r.request) for config in FW_QUERY_CONFIGS.values() for r in config.requests}
|
||||
|
||||
MAX_EXAMPLES = int(os.environ.get('MAX_EXAMPLES', '40'))
|
||||
MAX_EXAMPLES = int(os.environ.get('MAX_EXAMPLES', '60'))
|
||||
|
||||
|
||||
def get_fuzzy_car_interface_args(draw: DrawType) -> dict:
|
||||
@@ -62,6 +62,7 @@ class TestCarInterfaces:
|
||||
|
||||
car_params = CarInterface.get_params(car_name, args['fingerprints'], args['car_fw'],
|
||||
experimental_long=args['experimental_long'], docs=False)
|
||||
car_params = car_params.as_reader()
|
||||
car_interface = CarInterface(car_params, CarController, CarState)
|
||||
assert car_params
|
||||
assert car_interface
|
||||
|
||||
@@ -160,6 +160,7 @@ FW_VERSIONS = {
|
||||
b'8821F0607200 ',
|
||||
b'8821F0608000 ',
|
||||
b'8821F0608200 ',
|
||||
b'8821F0608300 ',
|
||||
b'8821F0609000 ',
|
||||
b'8821F0609100 ',
|
||||
],
|
||||
@@ -205,6 +206,7 @@ FW_VERSIONS = {
|
||||
b'8821F0607200 ',
|
||||
b'8821F0608000 ',
|
||||
b'8821F0608200 ',
|
||||
b'8821F0608300 ',
|
||||
b'8821F0609000 ',
|
||||
b'8821F0609100 ',
|
||||
],
|
||||
@@ -234,6 +236,7 @@ FW_VERSIONS = {
|
||||
b'\x01F152606390\x00\x00\x00\x00\x00\x00',
|
||||
b'\x01F152606400\x00\x00\x00\x00\x00\x00',
|
||||
b'\x01F152606431\x00\x00\x00\x00\x00\x00',
|
||||
b'\x01F152633E11\x00\x00\x00\x00\x00\x00',
|
||||
b'F152633310\x00\x00\x00\x00\x00\x00',
|
||||
b'F152633D00\x00\x00\x00\x00\x00\x00',
|
||||
b'F152633D60\x00\x00\x00\x00\x00\x00',
|
||||
@@ -251,6 +254,7 @@ FW_VERSIONS = {
|
||||
b'\x018966306T4000\x00\x00\x00\x00',
|
||||
b'\x018966306T4100\x00\x00\x00\x00',
|
||||
b'\x018966306V1000\x00\x00\x00\x00',
|
||||
b'\x018966333Z1000\x00\x00\x00\x00',
|
||||
b'\x01896633T20000\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x750, 0xf): [
|
||||
@@ -266,6 +270,7 @@ FW_VERSIONS = {
|
||||
b'\x028646F3305200\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
|
||||
b'\x028646F3305300\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
|
||||
b'\x028646F3305300\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
|
||||
b'\x028646F3305400\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
|
||||
b'\x028646F3305500\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
|
||||
],
|
||||
},
|
||||
@@ -796,6 +801,7 @@ FW_VERSIONS = {
|
||||
b'\x018821F6201400\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.fwdCamera, 0x750, 0x6d): [
|
||||
b'\x028646F5303300\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
|
||||
b'\x028646F5303300\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
|
||||
b'\x028646F5303400\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
|
||||
],
|
||||
@@ -848,6 +854,7 @@ FW_VERSIONS = {
|
||||
b'\x038966347A3000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701003\x00\x00\x00\x00',
|
||||
b'\x038966347A3000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4707001\x00\x00\x00\x00',
|
||||
b'\x038966347B6000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710001\x00\x00\x00\x00',
|
||||
b'\x038966347B7000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF1203001\x00\x00\x00\x00',
|
||||
b'\x038966347B7000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710001\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.eps, 0x7a1, None): [
|
||||
@@ -1486,6 +1493,7 @@ FW_VERSIONS = {
|
||||
b'\x01896630EA6300\x00\x00\x00\x00',
|
||||
b'\x018966348R1300\x00\x00\x00\x00',
|
||||
b'\x018966348R8500\x00\x00\x00\x00',
|
||||
b'\x018966348R9300\x00\x00\x00\x00',
|
||||
b'\x018966348W1300\x00\x00\x00\x00',
|
||||
b'\x018966348W2300\x00\x00\x00\x00',
|
||||
],
|
||||
|
||||
@@ -12,7 +12,8 @@ ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
|
||||
|
||||
|
||||
def check_fw_version(fw_version: bytes) -> bool:
|
||||
return b'?' not in fw_version
|
||||
# TODO: just use the FW patterns, need to support all chunks
|
||||
return b'?' not in fw_version and b'!' not in fw_version
|
||||
|
||||
|
||||
class TestToyotaInterfaces:
|
||||
|
||||
@@ -574,6 +574,7 @@ FW_VERSIONS = {
|
||||
b'\xf1\x8704E906024AP\xf1\x891461',
|
||||
b'\xf1\x8704E906027NB\xf1\x899504',
|
||||
b'\xf1\x8704L906026EJ\xf1\x893661',
|
||||
b'\xf1\x8704L906026EJ\xf1\x893916',
|
||||
b'\xf1\x8704L906027G \xf1\x899893',
|
||||
b'\xf1\x8705E906018BS\xf1\x890914',
|
||||
b'\xf1\x875N0906259 \xf1\x890002',
|
||||
@@ -604,6 +605,7 @@ FW_VERSIONS = {
|
||||
b'\xf1\x870DD300046K \xf1\x892302',
|
||||
b'\xf1\x870DL300011N \xf1\x892001',
|
||||
b'\xf1\x870DL300011N \xf1\x892012',
|
||||
b'\xf1\x870DL300011N \xf1\x892014',
|
||||
b'\xf1\x870DL300012M \xf1\x892107',
|
||||
b'\xf1\x870DL300012P \xf1\x892103',
|
||||
b'\xf1\x870DL300013A \xf1\x893005',
|
||||
@@ -617,6 +619,7 @@ FW_VERSIONS = {
|
||||
b'\xf1\x875Q0959655AG\xf1\x890336\xf1\x82\x1316143231313500314617011730179333423100',
|
||||
b'\xf1\x875Q0959655AG\xf1\x890338\xf1\x82\x1316143231313500314617011730179333423100',
|
||||
b'\xf1\x875Q0959655AR\xf1\x890317\xf1\x82\x1331310031333334313132573732379333313100',
|
||||
b'\xf1\x875Q0959655BJ\xf1\x890336\xf1\x82\x1311140031333300314232583632369333423100',
|
||||
b'\xf1\x875Q0959655BJ\xf1\x890336\xf1\x82\x1312110031333300314232583732379333423100',
|
||||
b'\xf1\x875Q0959655BJ\xf1\x890339\xf1\x82\x1331310031333334313132013730379333423100',
|
||||
b'\xf1\x875Q0959655BM\xf1\x890403\xf1\x82\x1316143231313500314641011750179333423100',
|
||||
@@ -636,6 +639,7 @@ FW_VERSIONS = {
|
||||
b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521A60604A1',
|
||||
b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A6000600',
|
||||
b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A6017A00',
|
||||
b'\xf1\x875QF909144 \xf1\x895572\xf1\x82\x0571A60833A1',
|
||||
b'\xf1\x875QF909144A \xf1\x895581\xf1\x82\x0571A60834A1',
|
||||
b'\xf1\x875QF909144B \xf1\x895582\xf1\x82\x0571A60634A1',
|
||||
b'\xf1\x875QF909144B \xf1\x895582\xf1\x82\x0571A62A32A1',
|
||||
|
||||
@@ -205,7 +205,7 @@ class Footnote(Enum):
|
||||
@dataclass
|
||||
class VWCarDocs(CarDocs):
|
||||
package: str = "Adaptive Cruise Control (ACC) & Lane Assist"
|
||||
car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.j533]))
|
||||
car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.vw_j533]))
|
||||
|
||||
def init_make(self, CP: car.CarParams):
|
||||
self.footnotes.append(Footnote.VW_EXP_LONG)
|
||||
@@ -213,7 +213,7 @@ class VWCarDocs(CarDocs):
|
||||
self.footnotes.append(Footnote.SKODA_HEATED_WINDSHIELD)
|
||||
|
||||
if CP.carFingerprint in (CAR.VOLKSWAGEN_CRAFTER_MK2, CAR.VOLKSWAGEN_TRANSPORTER_T61):
|
||||
self.car_parts = CarParts([Device.threex_angled_mount, CarHarness.j533])
|
||||
self.car_parts = CarParts([Device.threex_angled_mount, CarHarness.vw_j533])
|
||||
|
||||
if abs(CP.minSteerSpeed - CarControllerParams.DEFAULT_MIN_STEER_SPEED) < 1e-3:
|
||||
self.min_steer_speed = 0
|
||||
|
||||
@@ -71,8 +71,7 @@ class Controls:
|
||||
if CI is None:
|
||||
cloudlog.info("controlsd is waiting for CarParams")
|
||||
with car.CarParams.from_bytes(self.params.get("CarParams", block=True)) as msg:
|
||||
# TODO: this shouldn't need to be a builder
|
||||
self.CP = msg.as_builder()
|
||||
self.CP = msg
|
||||
cloudlog.info("controlsd got CarParams")
|
||||
|
||||
# Uses car interface helper functions, altering state won't be considered by card for actuation
|
||||
|
||||
@@ -997,6 +997,11 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
|
||||
ET.NO_ENTRY: NoEntryAlert("Cruise Fault: Restart the Car"),
|
||||
},
|
||||
|
||||
EventName.espActive: {
|
||||
ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Electronic Stability Control Active"),
|
||||
ET.NO_ENTRY: NoEntryAlert("Electronic Stability Control Active"),
|
||||
},
|
||||
|
||||
EventName.controlsMismatch: {
|
||||
ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Controls Mismatch"),
|
||||
ET.NO_ENTRY: NoEntryAlert("Controls Mismatch"),
|
||||
|
||||
@@ -71,7 +71,7 @@ def roll_pitch_adjust(roll, pitch):
|
||||
class LatControlTorque(LatControl):
|
||||
def __init__(self, CP, CI):
|
||||
super().__init__(CP, CI)
|
||||
self.torque_params = CP.lateralTuning.torque
|
||||
self.torque_params = CP.lateralTuning.torque.as_builder()
|
||||
self.pid = PIDController(self.torque_params.kp, self.torque_params.ki,
|
||||
k_f=self.torque_params.kf, pos_limit=self.steer_max, neg_limit=-self.steer_max)
|
||||
self.torque_from_lateral_accel = CI.torque_from_lateral_accel()
|
||||
|
||||
@@ -56,11 +56,10 @@ def limit_accel_in_turns(v_ego, angle_steers, a_target, CP):
|
||||
return [a_target[0], min(a_target[1], a_x_allowed)]
|
||||
|
||||
|
||||
def get_accel_from_plan(CP, long_plan):
|
||||
speeds = long_plan.speeds
|
||||
def get_accel_from_plan(CP, speeds, accels):
|
||||
if len(speeds) == CONTROL_N:
|
||||
v_target_now = interp(DT_MDL, CONTROL_N_T_IDX, speeds)
|
||||
a_target_now = interp(DT_MDL, CONTROL_N_T_IDX, long_plan.accels)
|
||||
a_target_now = interp(DT_MDL, CONTROL_N_T_IDX, accels)
|
||||
|
||||
v_target = interp(CP.longitudinalActuatorDelay + DT_MDL, CONTROL_N_T_IDX, speeds)
|
||||
a_target = 2 * (v_target - v_target_now) / CP.longitudinalActuatorDelay - a_target_now
|
||||
@@ -197,11 +196,9 @@ class LongitudinalPlanner:
|
||||
x, v, a, j = self.parse_model(sm['modelV2'], self.v_model_error)
|
||||
self.mpc.update(sm['radarState'], v_cruise, x, v, a, j, personality=sm['controlsStateSP'].personality, dynamic_personality=sm['controlsStateSP'].dynamicPersonality)
|
||||
|
||||
self.v_desired_trajectory_full = np.interp(ModelConstants.T_IDXS, T_IDXS_MPC, self.mpc.v_solution)
|
||||
self.a_desired_trajectory_full = np.interp(ModelConstants.T_IDXS, T_IDXS_MPC, self.mpc.a_solution)
|
||||
self.v_desired_trajectory = self.v_desired_trajectory_full[:CONTROL_N]
|
||||
self.a_desired_trajectory = self.a_desired_trajectory_full[:CONTROL_N]
|
||||
self.j_desired_trajectory = np.interp(ModelConstants.T_IDXS[:CONTROL_N], T_IDXS_MPC[:-1], self.mpc.j_solution)
|
||||
self.v_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.v_solution)
|
||||
self.a_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.a_solution)
|
||||
self.j_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC[:-1], self.mpc.j_solution)
|
||||
|
||||
# TODO counter is only needed because radar is glitchy, remove once radar is gone
|
||||
self.fcw = self.mpc.crash_cnt > 2 and not sm['carState'].standstill
|
||||
@@ -210,7 +207,7 @@ class LongitudinalPlanner:
|
||||
|
||||
# Interpolate 0.05 seconds and save as starting point for next iteration
|
||||
a_prev = self.a_desired
|
||||
self.a_desired = float(interp(self.dt, ModelConstants.T_IDXS[:CONTROL_N], self.a_desired_trajectory))
|
||||
self.a_desired = float(interp(self.dt, CONTROL_N_T_IDX, self.a_desired_trajectory))
|
||||
self.v_desired_filter.x = self.v_desired_filter.x + self.dt * (self.a_desired + a_prev) / 2.0
|
||||
|
||||
self.e2e_events(sm)
|
||||
@@ -220,15 +217,11 @@ class LongitudinalPlanner:
|
||||
|
||||
plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState'])
|
||||
|
||||
|
||||
longitudinalPlan = plan_send.longitudinalPlan
|
||||
longitudinalPlan.modelMonoTime = sm.logMonoTime['modelV2']
|
||||
longitudinalPlan.processingDelay = (plan_send.logMonoTime / 1e9) - sm.logMonoTime['modelV2']
|
||||
longitudinalPlan.solverExecutionTime = self.mpc.solve_time
|
||||
|
||||
longitudinalPlan.allowBrake = True
|
||||
longitudinalPlan.allowThrottle = True
|
||||
|
||||
longitudinalPlan.speeds = self.v_desired_trajectory.tolist()
|
||||
longitudinalPlan.accels = self.a_desired_trajectory.tolist()
|
||||
longitudinalPlan.jerks = self.j_desired_trajectory.tolist()
|
||||
@@ -237,7 +230,7 @@ class LongitudinalPlanner:
|
||||
longitudinalPlan.longitudinalPlanSource = self.mpc.source
|
||||
longitudinalPlan.fcw = self.fcw
|
||||
|
||||
a_target, should_stop = get_accel_from_plan(self.CP, longitudinalPlan)
|
||||
a_target, should_stop = get_accel_from_plan(self.CP, longitudinalPlan.speeds, longitudinalPlan.accels)
|
||||
longitudinalPlan.aTarget = a_target
|
||||
longitudinalPlan.shouldStop = should_stop
|
||||
longitudinalPlan.allowBrake = True
|
||||
|
||||
@@ -21,7 +21,7 @@ class TestLatControl:
|
||||
CI = CarInterface(CP, CarController, CarState)
|
||||
VM = VehicleModel(CP)
|
||||
|
||||
controller = controller(CP, CI)
|
||||
controller = controller(CP.as_reader(), CI)
|
||||
|
||||
CS = car.CarState.new_message()
|
||||
CS.vEgo = 30
|
||||
|
||||
@@ -38,7 +38,7 @@ class KalmanParams:
|
||||
#Q = np.matrix([[10., 0.0], [0.0, 100.]])
|
||||
#R = 1e3
|
||||
#K = np.matrix([[ 0.05705578], [ 0.03073241]])
|
||||
dts = [dt * 0.01 for dt in range(1, 21)]
|
||||
dts = [i * 0.01 for i in range(1, 21)]
|
||||
K0 = [0.12287673, 0.14556536, 0.16522756, 0.18281627, 0.1988689, 0.21372394,
|
||||
0.22761098, 0.24069424, 0.253096, 0.26491023, 0.27621103, 0.28705801,
|
||||
0.29750003, 0.30757767, 0.31732515, 0.32677158, 0.33594201, 0.34485814,
|
||||
|
||||
@@ -23,12 +23,12 @@ def can_printer(bus, max_msg, addr, ascii_decode):
|
||||
if time.monotonic() - lp > 0.1:
|
||||
dd = chr(27) + "[2J"
|
||||
dd += f"{time.monotonic() - start:5.2f}\n"
|
||||
for addr in sorted(msgs.keys()):
|
||||
a = f"\"{msgs[addr][-1].decode('ascii', 'backslashreplace')}\"" if ascii_decode else ""
|
||||
x = binascii.hexlify(msgs[addr][-1]).decode('ascii')
|
||||
freq = len(msgs[addr]) / (time.monotonic() - start)
|
||||
if max_msg is None or addr < max_msg:
|
||||
dd += "%04X(%4d)(%6d)(%3dHz) %s %s\n" % (addr, addr, len(msgs[addr]), freq, x.ljust(20), a)
|
||||
for _addr in sorted(msgs.keys()):
|
||||
a = f"\"{msgs[_addr][-1].decode('ascii', 'backslashreplace')}\"" if ascii_decode else ""
|
||||
x = binascii.hexlify(msgs[_addr][-1]).decode('ascii')
|
||||
freq = len(msgs[_addr]) / (time.monotonic() - start)
|
||||
if max_msg is None or _addr < max_msg:
|
||||
dd += "%04X(%4d)(%6d)(%3dHz) %s %s\n" % (_addr, _addr, len(msgs[_addr]), freq, x.ljust(20), a)
|
||||
print(dd)
|
||||
lp = time.monotonic()
|
||||
|
||||
|
||||
@@ -63,6 +63,8 @@ class ModelConstants:
|
||||
RYG_GREEN = 0.01165
|
||||
RYG_YELLOW = 0.06157
|
||||
|
||||
POLY_PATH_DEGREE = 4
|
||||
|
||||
# model outputs slices
|
||||
class Plan:
|
||||
POSITION = slice(0, 3)
|
||||
|
||||
@@ -42,19 +42,38 @@ def fill_xyvat(builder, t, x, y, v, a, x_std=None, y_std=None, v_std=None, a_std
|
||||
if a_std is not None:
|
||||
builder.aStd = a_std.tolist()
|
||||
|
||||
def fill_model_msg(msg: capnp._DynamicStructBuilder, net_output_data: dict[str, np.ndarray], publish_state: PublishState,
|
||||
def fill_xyz_poly(builder, degree, x, y, z):
|
||||
xyz = np.stack([x, y, z], axis=1)
|
||||
coeffs = np.polynomial.polynomial.polyfit(ModelConstants.T_IDXS, xyz, deg=degree)
|
||||
builder.xCoefficients = coeffs[:, 0].tolist()
|
||||
builder.yCoefficients = coeffs[:, 1].tolist()
|
||||
builder.zCoefficients = coeffs[:, 2].tolist()
|
||||
|
||||
def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._DynamicStructBuilder,
|
||||
net_output_data: dict[str, np.ndarray], publish_state: PublishState,
|
||||
vipc_frame_id: int, vipc_frame_id_extra: int, frame_id: int, frame_drop: float,
|
||||
timestamp_eof: int, timestamp_llk: int, model_execution_time: float,
|
||||
nav_enabled: bool, valid: bool,
|
||||
model_use_lateral_planner: bool, model_use_nav: bool) -> None:
|
||||
frame_age = frame_id - vipc_frame_id if frame_id > vipc_frame_id else 0
|
||||
msg.valid = valid
|
||||
frame_drop_perc = frame_drop * 100
|
||||
extended_msg.valid = valid
|
||||
base_msg.valid = valid
|
||||
|
||||
modelV2 = msg.modelV2
|
||||
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
|
||||
|
||||
action = driving_model_data.action
|
||||
action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])
|
||||
|
||||
modelV2 = extended_msg.modelV2
|
||||
modelV2.frameId = vipc_frame_id
|
||||
modelV2.frameIdExtra = vipc_frame_id_extra
|
||||
modelV2.frameAge = frame_age
|
||||
modelV2.frameDropPerc = frame_drop * 100
|
||||
modelV2.frameDropPerc = frame_drop_perc
|
||||
modelV2.timestampEof = timestamp_eof
|
||||
if model_use_nav:
|
||||
modelV2.locationMonoTimeDEPRECATED = timestamp_llk
|
||||
@@ -74,6 +93,10 @@ def fill_model_msg(msg: capnp._DynamicStructBuilder, net_output_data: dict[str,
|
||||
orientation_rate = modelV2.orientationRate
|
||||
fill_xyzt(orientation_rate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T)
|
||||
|
||||
# poly path
|
||||
poly_path = driving_model_data.path
|
||||
fill_xyz_poly(poly_path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T)
|
||||
|
||||
# lateral planning
|
||||
if model_use_lateral_planner:
|
||||
solution = modelV2.lateralPlannerSolutionDEPRECATED
|
||||
@@ -110,6 +133,12 @@ def fill_model_msg(msg: capnp._DynamicStructBuilder, net_output_data: dict[str,
|
||||
modelV2.laneLineStds = net_output_data['lane_lines_stds'][0,:,0,0].tolist()
|
||||
modelV2.laneLineProbs = net_output_data['lane_lines_prob'][0,1::2].tolist()
|
||||
|
||||
lane_line_meta = driving_model_data.laneLineMeta
|
||||
lane_line_meta.leftY = modelV2.laneLines[1].y[0]
|
||||
lane_line_meta.leftProb = modelV2.laneLineProbs[1]
|
||||
lane_line_meta.rightY = modelV2.laneLines[2].y[0]
|
||||
lane_line_meta.rightProb = modelV2.laneLineProbs[2]
|
||||
|
||||
# road edges
|
||||
modelV2.init('roadEdges', 2)
|
||||
for i in range(2):
|
||||
|
||||
@@ -212,7 +212,7 @@ def main(demo=False):
|
||||
extended_svs = ["lateralPlanDEPRECATED", "lateralPlanSPDEPRECATED"]
|
||||
if custom_model and model_capabilities & ModelCapabilities.NoO:
|
||||
extended_svs += ["navModelDEPRECATED", "navInstruction"]
|
||||
pm = PubMaster(["modelV2", "modelV2SP", "cameraOdometry"])
|
||||
pm = PubMaster(["modelV2", "modelV2SP", "drivingModelData", "cameraOdometry"])
|
||||
sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl"] + extended_svs)
|
||||
|
||||
publish_state = PublishState()
|
||||
@@ -373,10 +373,11 @@ def main(demo=False):
|
||||
|
||||
if model_output is not None:
|
||||
modelv2_send = messaging.new_message('modelV2')
|
||||
drivingdata_send = messaging.new_message('drivingModelData')
|
||||
posenet_send = messaging.new_message('cameraOdometry')
|
||||
fill_model_msg(modelv2_send, model_output, publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id, frame_drop_ratio,
|
||||
meta_main.timestamp_eof, timestamp_llk, model_execution_time, nav_enabled, live_calib_seen,
|
||||
custom_model and model_capabilities & ModelCapabilities.LateralPlannerSolution, custom_model and model_capabilities & ModelCapabilities.NoO)
|
||||
fill_model_msg(drivingdata_send, modelv2_send, model_output, publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
|
||||
frame_drop_ratio, meta_main.timestamp_eof, timestamp_llk, model_execution_time, nav_enabled, live_calib_seen,
|
||||
custom_model and model_capabilities & ModelCapabilities.LateralPlannerSolution, custom_model and model_capabilities & ModelCapabilities.NoO)
|
||||
|
||||
if not (custom_model and model_capabilities & ModelCapabilities.LateralPlannerSolution):
|
||||
desire_state = modelv2_send.modelV2.meta.desireState
|
||||
@@ -387,8 +388,12 @@ def main(demo=False):
|
||||
modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
|
||||
modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
|
||||
|
||||
drivingdata_send.drivingModelData.meta.laneChangeState = DH.lane_change_state
|
||||
drivingdata_send.drivingModelData.meta.laneChangeDirection = DH.lane_change_direction
|
||||
|
||||
fill_pose_msg(posenet_send, model_output, meta_main.frame_id, vipc_dropped_frames, meta_main.timestamp_eof, live_calib_seen)
|
||||
pm.send('modelV2', modelv2_send)
|
||||
pm.send('drivingModelData', drivingdata_send)
|
||||
pm.send('cameraOdometry', posenet_send)
|
||||
|
||||
modelv2_sp_send = messaging.new_message('modelV2SP')
|
||||
|
||||
@@ -1,3 +1,3 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:b31b504bc0b440d3bc72967507a00eb4f112285626fbfb3135011500325ee6d6
|
||||
size 51452435
|
||||
oid sha256:39786068cae1ed8c0dc34ef80c281dfcc67ed18a50e06b90765c49bcfdbf7db4
|
||||
size 51453312
|
||||
|
||||
@@ -1,4 +1,4 @@
|
||||
Import('qt_env', 'arch', 'common', 'messaging', 'visionipc', 'transformations')
|
||||
Import('qt_env', 'arch', 'common', 'messaging', 'visionipc', 'transformations', 'UBUNTU_FOCAL')
|
||||
|
||||
map_env = qt_env.Clone()
|
||||
libs = ['qt_widgets', 'qt_util', 'QMapLibre', common, messaging, visionipc, transformations,
|
||||
@@ -6,7 +6,7 @@ libs = ['qt_widgets', 'qt_util', 'QMapLibre', common, messaging, visionipc, tran
|
||||
if arch == 'larch64':
|
||||
libs.append(':libEGL_mesa.so.0')
|
||||
|
||||
if arch in ['larch64', 'aarch64', 'x86_64']:
|
||||
if arch in ['larch64', 'aarch64', 'x86_64'] and not UBUNTU_FOCAL:
|
||||
if arch == 'x86_64':
|
||||
rpath = Dir(f"#third_party/maplibre-native-qt/{arch}/lib").srcnode().abspath
|
||||
map_env["RPATH"] += [rpath, ]
|
||||
|
||||
@@ -121,15 +121,16 @@ if __name__ == "__main__":
|
||||
all_logs = list(LogReader(BASE_URL + log_fn))
|
||||
cmp_log = []
|
||||
|
||||
# logs are ordered based on type: modelV2, driverStateV2
|
||||
# logs are ordered based on type: modelV2, drivingModelData, driverStateV2
|
||||
if not NO_MODEL:
|
||||
model_start_index = next(i for i, m in enumerate(all_logs) if m.which() in ("modelV2", "cameraOdometry"))
|
||||
cmp_log += all_logs[model_start_index:model_start_index + MAX_FRAMES*2]
|
||||
model_start_index = next(i for i, m in enumerate(all_logs) if m.which() in ("modelV2", "drivingModelData", "cameraOdometry"))
|
||||
cmp_log += all_logs[model_start_index:model_start_index + MAX_FRAMES*3]
|
||||
dmon_start_index = next(i for i, m in enumerate(all_logs) if m.which() == "driverStateV2")
|
||||
cmp_log += all_logs[dmon_start_index:dmon_start_index + MAX_FRAMES]
|
||||
|
||||
ignore = [
|
||||
'logMonoTime',
|
||||
'drivingModelData.frameDropPerc',
|
||||
'modelV2.frameDropPerc',
|
||||
'modelV2.modelExecutionTime',
|
||||
'driverStateV2.modelExecutionTime',
|
||||
|
||||
@@ -1 +1 @@
|
||||
73eb11111fb6407fa307c3f2bdd3331f2514c707
|
||||
01e8432830805165527d1dbadd5f009d19430b39
|
||||
@@ -565,7 +565,7 @@ CONFIGS = [
|
||||
ProcessConfig(
|
||||
proc_name="modeld",
|
||||
pubs=["deviceState", "roadCameraState", "wideRoadCameraState", "liveCalibration", "driverMonitoringState"],
|
||||
subs=["modelV2", "cameraOdometry"],
|
||||
subs=["modelV2", "drivingModelData", "cameraOdometry"],
|
||||
ignore=["logMonoTime", "modelV2.frameDropPerc", "modelV2.modelExecutionTime"],
|
||||
should_recv_callback=ModeldCameraSyncRcvCallback(),
|
||||
tolerance=NUMPY_TOLERANCE,
|
||||
|
||||
@@ -1 +1 @@
|
||||
8737e368e17f859291164286feb4246e00c0b4a5
|
||||
f6ff3601bd0496e78d8bc3b019d58bb7739f096b
|
||||
@@ -207,7 +207,7 @@ class TestOnroad:
|
||||
if f.name == "qcamera.ts":
|
||||
assert 2.15 < sz < 2.35
|
||||
elif f.name == "qlog":
|
||||
assert 0.7 < sz < 1.0
|
||||
assert 0.6 < sz < 1.0
|
||||
elif f.name == "rlog":
|
||||
assert 5 < sz < 50
|
||||
elif f.name.endswith('.hevc'):
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
import os
|
||||
import json
|
||||
Import('qt_env', 'arch', 'common', 'messaging', 'visionipc', 'transformations')
|
||||
Import('qt_env', 'arch', 'common', 'messaging', 'visionipc', 'transformations', 'UBUNTU_FOCAL')
|
||||
|
||||
base_libs = [common, messaging, visionipc, transformations,
|
||||
'm', 'OpenCL', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"]
|
||||
@@ -8,7 +8,7 @@ base_libs = [common, messaging, visionipc, transformations,
|
||||
if arch == 'larch64':
|
||||
base_libs.append('EGL')
|
||||
|
||||
maps = arch in ['larch64', 'aarch64', 'x86_64']
|
||||
maps = arch in ['larch64', 'aarch64', 'x86_64'] and not UBUNTU_FOCAL
|
||||
|
||||
if arch == "Darwin":
|
||||
del base_libs[base_libs.index('OpenCL')]
|
||||
@@ -129,10 +129,6 @@ if GetOption('extras') and arch in ['larch64']:
|
||||
if "internal" in name:
|
||||
d['INTERNAL'] = "1"
|
||||
|
||||
import requests
|
||||
r = requests.get("https://github.com/commaci2.keys")
|
||||
r.raise_for_status()
|
||||
d['SSH_KEYS'] = f'\\"{r.text.strip()}\\"'
|
||||
obj = senv.Object(f"installer/installers/installer_{name}.o", ["installer/installer.cc"], CPPDEFINES=d)
|
||||
f = senv.Program(f"installer/installers/installer_{name}", [obj, cont], LIBS=qt_libs)
|
||||
# keep installers small
|
||||
|
||||
@@ -180,10 +180,12 @@ void Installer::cloneFinished(int exitCode, QProcess::ExitStatus exitStatus) {
|
||||
#ifdef INTERNAL
|
||||
run("mkdir -p /data/params/d/");
|
||||
|
||||
// https://github.com/commaci2.keys
|
||||
const std::string ssh_keys = "ssh-ed25519 AAAAC3NzaC1lZDI1NTE5AAAAIMX2kU8eBZyEWmbq0tjMPxksWWVuIV/5l64GabcYbdpI";
|
||||
std::map<std::string, std::string> params = {
|
||||
{"SshEnabled", "1"},
|
||||
{"RecordFrontLock", "1"},
|
||||
{"GithubSshKeys", SSH_KEYS},
|
||||
{"GithubSshKeys", ssh_keys},
|
||||
};
|
||||
for (const auto& [key, value] : params) {
|
||||
std::ofstream param;
|
||||
|
||||
@@ -143,11 +143,11 @@ std::pair<QString, QString> map_format_distance(float d, bool is_metric) {
|
||||
|
||||
d = std::max(d, 0.0f);
|
||||
if (is_metric) {
|
||||
return (d > 500) ? std::pair{round_distance(d / 1000), QObject::tr("km")}
|
||||
: std::pair{QString::number(50 * std::nearbyint(d / 50)), QObject::tr("m")};
|
||||
return (d > 500) ? std::pair(round_distance(d / 1000), QObject::tr("km"))
|
||||
: std::pair(QString::number(50 * std::nearbyint(d / 50)), QObject::tr("m"));
|
||||
} else {
|
||||
float feet = d * METER_TO_FOOT;
|
||||
return (feet > 500) ? std::pair{round_distance(d * METER_TO_MILE), QObject::tr("mi")}
|
||||
: std::pair{QString::number(50 * std::nearbyint(d / 50)), QObject::tr("ft")};
|
||||
return (feet > 500) ? std::pair(round_distance(d * METER_TO_MILE), QObject::tr("mi"))
|
||||
: std::pair(QString::number(50 * std::nearbyint(d / 50)), QObject::tr("ft"));
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1,6 +1,4 @@
|
||||
test
|
||||
playsound
|
||||
test_sound
|
||||
test_translations
|
||||
ui_snapshot
|
||||
test_ui/report
|
||||
@@ -1,30 +0,0 @@
|
||||
#include <QApplication>
|
||||
#include <QSoundEffect>
|
||||
#include <QTimer>
|
||||
#include <QDebug>
|
||||
|
||||
int main(int argc, char **argv) {
|
||||
|
||||
QApplication a(argc, argv);
|
||||
|
||||
QTimer::singleShot(0, [=]{
|
||||
QSoundEffect s;
|
||||
const char *vol = getenv("VOLUME");
|
||||
s.setVolume(vol ? atof(vol) : 1.0);
|
||||
for (int i = 1; i < argc; i++) {
|
||||
QString fn = argv[i];
|
||||
qDebug() << "playing" << fn;
|
||||
|
||||
QEventLoop loop;
|
||||
s.setSource(QUrl::fromLocalFile(fn));
|
||||
QEventLoop::connect(&s, &QSoundEffect::loadedChanged, &loop, &QEventLoop::quit);
|
||||
loop.exec();
|
||||
s.play();
|
||||
QEventLoop::connect(&s, &QSoundEffect::playingChanged, &loop, &QEventLoop::quit);
|
||||
loop.exec();
|
||||
}
|
||||
QCoreApplication::exit();
|
||||
});
|
||||
|
||||
return a.exec();
|
||||
}
|
||||
@@ -116,7 +116,7 @@ CASES = {
|
||||
|
||||
TEST_DIR = pathlib.Path(__file__).parent
|
||||
|
||||
TEST_OUTPUT_DIR = TEST_DIR / "report"
|
||||
TEST_OUTPUT_DIR = TEST_DIR / "report_1"
|
||||
SCREENSHOTS_DIR = TEST_OUTPUT_DIR / "screenshots"
|
||||
|
||||
|
||||
|
||||
@@ -3,6 +3,7 @@
|
||||
"Deutsch": "main_de",
|
||||
"Français": "main_fr",
|
||||
"Português": "main_pt-BR",
|
||||
"Español": "main_es",
|
||||
"Türkçe": "main_tr",
|
||||
"العربية": "main_ar",
|
||||
"ไทย": "main_th",
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
@@ -37,9 +37,9 @@ def get_preserved_segments(dirs_by_creation: list[str]) -> list[str]:
|
||||
except ValueError:
|
||||
continue
|
||||
|
||||
# preserve segment and its prior
|
||||
preserved.append(d)
|
||||
preserved.append(f"{date_str}--{seg_num - 1}")
|
||||
# preserve segment and two prior
|
||||
for _seg_num in range(max(0, seg_num - 2), seg_num + 1):
|
||||
preserved.append(f"{date_str}--{_seg_num}")
|
||||
|
||||
return preserved
|
||||
|
||||
|
||||
@@ -31,7 +31,7 @@ def main() -> NoReturn:
|
||||
|
||||
if len(record) > 2*1024*1024:
|
||||
print("WARNING: log too big to publish", len(record))
|
||||
print(print(record[:100]))
|
||||
print(record[:100])
|
||||
continue
|
||||
|
||||
# then we publish them
|
||||
|
||||
+2
-46
@@ -1,36 +1,12 @@
|
||||
#!/usr/bin/env python3
|
||||
import datetime
|
||||
import os
|
||||
import subprocess
|
||||
import time
|
||||
from typing import NoReturn
|
||||
|
||||
from timezonefinder import TimezoneFinder
|
||||
|
||||
import cereal.messaging as messaging
|
||||
from openpilot.common.time import system_time_valid
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
from openpilot.system.hardware import AGNOS
|
||||
|
||||
|
||||
def set_timezone(timezone):
|
||||
valid_timezones = subprocess.check_output('timedatectl list-timezones', shell=True, encoding='utf8').strip().split('\n')
|
||||
if timezone not in valid_timezones:
|
||||
cloudlog.error(f"Timezone not supported {timezone}")
|
||||
return
|
||||
|
||||
cloudlog.debug(f"Setting timezone to {timezone}")
|
||||
try:
|
||||
if AGNOS:
|
||||
tzpath = os.path.join("/usr/share/zoneinfo/", timezone)
|
||||
subprocess.check_call(f'sudo su -c "ln -snf {tzpath} /data/etc/tmptime && \
|
||||
mv /data/etc/tmptime /data/etc/localtime"', shell=True)
|
||||
subprocess.check_call(f'sudo su -c "echo \"{timezone}\" > /data/etc/timezone"', shell=True)
|
||||
else:
|
||||
subprocess.check_call(f'sudo timedatectl set-timezone {timezone}', shell=True)
|
||||
except subprocess.CalledProcessError:
|
||||
cloudlog.exception(f"Error setting timezone to {timezone}")
|
||||
|
||||
|
||||
def set_time(new_time):
|
||||
@@ -48,23 +24,13 @@ def set_time(new_time):
|
||||
|
||||
def main() -> NoReturn:
|
||||
"""
|
||||
timed has two responsibilities:
|
||||
timed has one responsibility:
|
||||
- getting the current time
|
||||
- getting the current timezone
|
||||
|
||||
GPS directly gives time, and timezone is looked up from GPS position.
|
||||
GPS directly gives time.
|
||||
AGNOS will also use NTP to update the time.
|
||||
"""
|
||||
|
||||
params = Params()
|
||||
|
||||
# Restore timezone from param
|
||||
tz = params.get("Timezone", encoding='utf8')
|
||||
tf = TimezoneFinder()
|
||||
if tz is not None:
|
||||
cloudlog.debug("Restoring timezone from param")
|
||||
set_timezone(tz)
|
||||
|
||||
pm = messaging.PubMaster(['clocks'])
|
||||
sm = messaging.SubMaster(['liveLocationKalman'])
|
||||
while True:
|
||||
@@ -84,16 +50,6 @@ def main() -> NoReturn:
|
||||
gps_time = datetime.datetime.fromtimestamp(llk.unixTimestampMillis / 1000.)
|
||||
set_time(gps_time)
|
||||
|
||||
# set timezone
|
||||
pos = llk.positionGeodetic.value
|
||||
if len(pos) == 3:
|
||||
gps_timezone = tf.timezone_at(lat=pos[0], lng=pos[1])
|
||||
if gps_timezone is None:
|
||||
cloudlog.critical(f"No timezone found based on {pos=}")
|
||||
else:
|
||||
set_timezone(gps_timezone)
|
||||
params.put_nonblocking("Timezone", gps_timezone)
|
||||
|
||||
time.sleep(10)
|
||||
|
||||
if __name__ == "__main__":
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user