diff --git a/.github/workflows/docs.yaml b/.github/workflows/docs.yaml
index 27d36f9a4e..23b20a86ff 100644
--- a/.github/workflows/docs.yaml
+++ b/.github/workflows/docs.yaml
@@ -29,9 +29,9 @@ jobs:
# Build
- name: Build docs
run: |
- # TODO: can we install just the "docs" dependency group without the normal deps?
- pip install mkdocs
- mkdocs build
+ git lfs pull
+ pip install zensical
+ python scripts/docs.py build
# Push to docs.comma.ai
- uses: actions/checkout@v6
diff --git a/.gitignore b/.gitignore
index 738a150b7e..3434c7254a 100644
--- a/.gitignore
+++ b/.gitignore
@@ -46,6 +46,7 @@ compile_commands.json
compare_runtime*.html
# build artifacts
+docs_site/
selfdrive/pandad/pandad
cereal/services.h
cereal/gen
diff --git a/docs/CARS.md b/docs/CARS.md
index 92e6392236..288d5b7a47 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -22,7 +22,7 @@ A supported vehicle is one that just works when you install a comma device. All
|Audi[11](#footnotes)|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[](##)|[](##)|Parts
- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy HereParts
- 1 GM connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 harness box
- 1 mount
Buy Here
||
+|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim, without Super Cruise Package|openpilot available[1](#footnotes)|3 mph|6 mph|[](##)|[](##)|Parts
- 1 GM connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 harness box
- 1 mount
Buy HereParts
- 1 GM connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 harness box
- 1 mount
Buy HereParts
- 1 GM connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 harness box
- 1 mount
Buy HereParts
- 1 GM connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 harness box
- 1 mount
Buy HereParts
- 1 FCA connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 FCA connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 FCA connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy HereParts
- 1 FCA connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Ford Q3 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Ford Q3 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Ford Q4 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy HereParts
- 1 Ford Q4 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy HereParts
- 1 Ford Q3 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Ford Q4 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy HereParts
- 1 Ford Q4 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy HereParts
- 1 Ford Q3 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Ford Q4 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy HereParts
- 1 Ford Q4 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy HereParts
- 1 Ford Q4 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy HereParts
- 1 Ford Q4 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy HereParts
- 1 Ford Q3 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Ford Q3 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Ford Q4 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy HereParts
- 1 Ford Q4 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy HereParts
- 1 Ford Q4 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy HereParts
- 1 Ford Q4 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy HereParts
- 1 Ford Q3 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Ford Q3 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Ford Q3 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Ford Q3 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Ford Q4 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy HereParts
- 1 Ford Q4 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy HereParts
- 1 Ford Q3 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Ford Q4 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy HereParts
- 1 Ford Q4 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy HereParts
- 1 Ford Q3 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Ford Q3 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Ford Q3 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Ford Q3 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Ford Q4 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy HereParts
- 1 Ford Q4 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy HereParts
- 1 Ford Q4 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy HereParts
- 1 Ford Q4 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy HereParts
- 1 Hyundai F connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Hyundai F connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Hyundai L connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Hyundai Q connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Hyundai Q connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Hyundai M connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 GM connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 harness box
- 1 mount
Buy HereParts
- 1 Honda Bosch A connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 GM connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 harness box
- 1 mount
Buy HereParts
- 1 Honda Bosch A connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Honda Bosch C connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Honda Bosch A connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Honda Bosch C connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Honda Bosch B connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Honda Nidec connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Honda Bosch A connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Honda Bosch B connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Honda Nidec connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Honda Bosch A connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Honda Bosch B connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Honda Bosch A connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Honda Bosch A connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Honda Bosch B connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Honda Bosch B connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Honda Bosch B connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Honda Bosch B connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Honda Bosch B connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Hyundai K connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Hyundai B connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Hyundai G connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Hyundai K connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Hyundai K connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Hyundai E connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Hyundai K connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Hyundai K connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Hyundai J connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Hyundai E connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Hyundai Q connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Hyundai O connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Hyundai G connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Hyundai O connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Hyundai R connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Hyundai R connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Hyundai I connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Hyundai H connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Hyundai H connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Hyundai H connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Hyundai N connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Hyundai D connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Hyundai L connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Hyundai D connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Hyundai L connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Hyundai L connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Hyundai L connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Hyundai E connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Hyundai A connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Hyundai A connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Hyundai A connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Hyundai K connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Hyundai L connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Hyundai N connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Hyundai N connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Hyundai E connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 FCA connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 FCA connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 FCA connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 FCA connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Hyundai A connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Hyundai K connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Hyundai E connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Hyundai A connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Hyundai C connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Hyundai Q connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Hyundai H connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Hyundai F connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Hyundai C connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Hyundai H connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Hyundai H connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Hyundai F connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Hyundai C connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Hyundai H connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Hyundai R connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Hyundai A connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Hyundai C connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Hyundai G connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Hyundai H connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Hyundai A connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Hyundai E connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Hyundai E connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Hyundai E connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Hyundai E connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Hyundai K connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Hyundai A connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Hyundai A connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Hyundai N connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Hyundai N connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
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- 1 Hyundai C connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
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- 1 Hyundai C connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
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- 1 Hyundai K connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
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- 1 Hyundai H connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
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- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
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- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
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- 1 Ford Q3 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
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- 1 Ford Q3 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
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- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
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- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
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- 1 Mazda connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
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- 1 Mazda connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
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- 1 Mazda connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
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- 1 Nissan B connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy HereParts
- 1 Nissan A connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy HereParts
- 1 Nissan A connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy HereParts
- 1 Nissan A connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
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- 1 Nissan A connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
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- 1 OBD-C cable (2 ft)
- 1 Ram connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
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- 1 OBD-C cable (2 ft)
- 1 Ram connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
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- 1 OBD-C cable (2 ft)
- 1 Ram connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
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- 1 OBD-C cable (2 ft)
- 1 Rivian A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 Rivian A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 Rivian B connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 Rivian A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 Rivian A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 Rivian B connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
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- 1 OBD-C cable (2 ft)
- 1 Subaru A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
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- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)Parts
- 1 OBD-C cable (2 ft)
- 1 Subaru A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereTools
- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)Parts
- 1 OBD-C cable (2 ft)
- 1 Subaru A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereTools
- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)Parts
- 1 OBD-C cable (2 ft)
- 1 Subaru A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereTools
- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)Parts
- 1 OBD-C cable (2 ft)
- 1 Subaru A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereTools
- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)Parts
- 1 OBD-C cable (2 ft)
- 1 Subaru A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereTools
- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)Parts
- 1 OBD-C cable (2 ft)
- 1 Subaru A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereTools
- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)Parts
- 1 OBD-C cable (2 ft)
- 1 Subaru A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereTools
- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)Parts
- 1 OBD-C cable (2 ft)
- 1 Subaru B connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereTools
- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)Parts
- 1 OBD-C cable (2 ft)
- 1 Subaru A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereTools
- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)Parts
- 1 OBD-C cable (2 ft)
- 1 Subaru A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereTools
- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)Parts
- 1 OBD-C cable (2 ft)
- 1 Subaru A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereTools
- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)Parts
- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
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- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
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-`ssh comma@192.168.43.1`
+`ssh comma@192.168.43.1 -i ~/.ssh/my_github_key`
For doing development work on device, it's recommended to use [SSH agent forwarding](https://docs.github.com/en/developers/overview/using-ssh-agent-forwarding).
@@ -45,7 +45,7 @@ In order to use ADB on your device, you'll need to perform the following steps u
* Here's an example command for connecting to your device using its tethered connection: `adb connect 192.168.43.1:5555`
> [!NOTE]
-> The default port for ADB is 5555 on the comma four.
+> The default port for ADB is 5555.
For more info on ADB, see the [Android Debug Bridge (ADB) documentation](https://developer.android.com/tools/adb).
@@ -55,7 +55,7 @@ The public keys are only fetched from your GitHub account once. In order to upda
The `id_rsa` key in this directory only works while your device is in the setup state with no software installed. After installation, that default key will be removed.
-#### ssh.comma.ai proxy
+## ssh.comma.ai proxy
With a [comma prime subscription](https://comma.ai/connect), you can SSH into your comma device from anywhere.
@@ -79,6 +79,7 @@ Host ssh.comma.ai
```
ssh -i ~/.ssh/my_github_key -o ProxyCommand="ssh -i ~/.ssh/my_github_key -W %h:%p -p %p %h@ssh.comma.ai" comma@ffffffffffffffff
```
+
(Replace `ffffffffffffffff` with your dongle_id)
### ssh.comma.ai host key fingerprint
diff --git a/docs/index.md b/docs/index.md
deleted file mode 120000
index 74ea27aeeb..0000000000
--- a/docs/index.md
+++ /dev/null
@@ -1 +0,0 @@
-getting-started/what-is-openpilot.md
\ No newline at end of file
diff --git a/docs/index.md b/docs/index.md
new file mode 100644
index 0000000000..6fab2b979b
--- /dev/null
+++ b/docs/index.md
@@ -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](https://github.com/commaai/openpilot/blob/master/docs/CARS.md). In addition, while openpilot is engaged, a camera-based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration](https://github.com/commaai/openpilot/blob/master/docs/INTEGRATION.md) and [limitations](https://github.com/commaai/openpilot/blob/master/docs/LIMITATIONS.md).
+
+
+## How do I use it?
+
+openpilot is designed to be used on the comma four.
+
+## How does it work?
+
+In short, openpilot uses the car's existing APIs for the built-in [ADAS](https://en.wikipedia.org/wiki/Advanced_driver-assistance_system) system and simply provides better acceleration, braking, and steering inputs than the stock system.
diff --git a/docs/stylesheets/extra.css b/docs/stylesheets/extra.css
new file mode 100644
index 0000000000..36ce354af1
--- /dev/null
+++ b/docs/stylesheets/extra.css
@@ -0,0 +1,42 @@
+.md-logo img {
+ filter: invert(1);
+}
+
+.glossary-term {
+ position: relative;
+ color: inherit;
+ text-decoration: none;
+}
+
+.glossary-term__label {
+ border-bottom: 1px dotted currentColor;
+}
+
+.glossary-term__tooltip {
+ position: absolute;
+ top: calc(100% + 0.4rem);
+ left: 50%;
+ width: max-content;
+ max-width: min(30rem, 80vw);
+ padding: 0.65rem 0.8rem;
+ border-radius: 0.6rem;
+ background: rgb(26 26 26 / 96%);
+ color: white;
+ box-shadow: 0 0.6rem 1.8rem rgb(0 0 0 / 22%);
+ font-size: 0.85rem;
+ line-height: 1.45;
+ opacity: 0;
+ pointer-events: none;
+ transform: translateX(-50%) translateY(-0.15rem);
+ transition: opacity 120ms ease, transform 120ms ease;
+ visibility: hidden;
+ z-index: 20;
+}
+
+.glossary-term:hover .glossary-term__tooltip,
+.glossary-term:focus-visible .glossary-term__tooltip,
+.glossary-term:focus-within .glossary-term__tooltip {
+ opacity: 1;
+ transform: translateX(-50%) translateY(0);
+ visibility: visible;
+}
diff --git a/mkdocs.yml b/mkdocs.yml
deleted file mode 100644
index 550f807aca..0000000000
--- a/mkdocs.yml
+++ /dev/null
@@ -1,44 +0,0 @@
-site_name: openpilot docs
-repo_url: https://github.com/commaai/openpilot/
-site_url: https://docs.comma.ai
-
-exclude_docs: README.md
-
-strict: true
-docs_dir: docs
-site_dir: docs_site/
-
-hooks:
- - docs/hooks/glossary.py
-extra_css:
- - css/tooltip.css
-theme:
- name: readthedocs
- navigation_depth: 3
-
-nav:
- - Getting Started:
- - What is openpilot?: getting-started/what-is-openpilot.md
- - How-to:
- - Turn the speed blue: how-to/turn-the-speed-blue.md
- - Connect to a comma 3X: how-to/connect-to-comma.md
- # - Make your first pull request: how-to/make-first-pr.md
- #- Replay a drive: how-to/replay-a-drive.md
- - Concepts:
- - Logs: concepts/logs.md
- - Safety: concepts/safety.md
- - Glossary: concepts/glossary.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
- - Contributing:
- - Roadmap: contributing/roadmap.md
- #- Architecture: contributing/architecture.md
- - Contributing Guide →: https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md
- - Links:
- - Blog →: https://blog.comma.ai
- - Bounties →: https://comma.ai/bounties
- - GitHub →: https://github.com/commaai
- - Discord →: https://discord.comma.ai
- - X →: https://x.com/comma_ai
diff --git a/pyproject.toml b/pyproject.toml
index a05f1a8944..fd72c128fc 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -82,7 +82,7 @@ dependencies = [
[project.optional-dependencies]
docs = [
"Jinja2",
- "mkdocs",
+ "zensical",
]
testing = [
@@ -150,7 +150,7 @@ quiet-level = 3
# if you've got a short variable name that's getting flagged, add it here
ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn,ws,uint,grey,deque,stdio,amin,BA,LITE,atEnd,UIs,errorString,arange,FocusIn,od,tim,relA,hist,copyable,jupyter,thead,TGE,abl,lite,ser"
builtin = "clear,rare,informal,code,names,en-GB_to_en-US"
-skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, *.po, uv.lock, *.onnx, ./cereal/gen/*, */c_generated_code/*, docs/assets/*, tools/plotjuggler/layouts/*, selfdrive/assets/offroad/mici_fcc.html"
+skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, *.po, uv.lock, *.onnx, *.pem, ./cereal/gen/*, */c_generated_code/*, docs/assets/*, tools/plotjuggler/layouts/*, selfdrive/assets/offroad/mici_fcc.html"
# https://docs.astral.sh/ruff/configuration/#using-pyprojecttoml
[tool.ruff]
diff --git a/scripts/docs.py b/scripts/docs.py
new file mode 100644
index 0000000000..d60bfb791f
--- /dev/null
+++ b/scripts/docs.py
@@ -0,0 +1,63 @@
+"""
+ wrapper that materializes symlinks in docs/ before build
+
+ we can delete this once zensical supports symlinks:
+ https://github.com/zensical/backlog/issues/55
+"""
+import os
+import shutil
+import signal
+import sys
+from pathlib import Path
+
+REPO_ROOT = Path(__file__).resolve().parent.parent
+DOCS_DIR = REPO_ROOT / "docs"
+SITE_DIR = REPO_ROOT / "docs_site"
+sys.path.insert(0, str(REPO_ROOT))
+# Local docs build helpers live under docs/ so they stay near the content
+# source. The wrapper prunes them from docs_site/ after build.
+sys.path.insert(0, str(DOCS_DIR))
+
+
+def _materialize(docs: Path) -> dict[Path, str]:
+ originals: dict[Path, str] = {}
+ for link in docs.rglob("*"):
+ if not link.is_symlink():
+ continue
+ target = link.resolve()
+ if not target.is_file():
+ continue
+ originals[link] = os.readlink(link)
+ link.unlink()
+ shutil.copy2(target, link)
+ return originals
+
+
+def _restore(originals: dict[Path, str]) -> None:
+ for link, target in originals.items():
+ link.unlink(missing_ok=True)
+ os.symlink(target, link)
+
+
+def _raise_interrupt(*_):
+ raise KeyboardInterrupt
+
+
+def _prune_site_output() -> None:
+ shutil.rmtree(SITE_DIR / "ext", ignore_errors=True)
+
+
+def main() -> None:
+ signal.signal(signal.SIGTERM, _raise_interrupt)
+ originals = _materialize(DOCS_DIR)
+ try:
+ from zensical.main import cli
+ cli(standalone_mode=False)
+ if len(sys.argv) > 1 and sys.argv[1] == "build":
+ _prune_site_output()
+ finally:
+ _restore(originals)
+
+
+if __name__ == "__main__":
+ main()
diff --git a/selfdrive/assets/icons_mici/alerts_bell.png b/selfdrive/assets/icons_mici/alerts_bell.png
new file mode 100644
index 0000000000..5d775425eb
--- /dev/null
+++ b/selfdrive/assets/icons_mici/alerts_bell.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ce1d357acadd798939b398cce1761ceb05564b44f2a5bc6865c7842e60e79f2
+size 1474
diff --git a/selfdrive/assets/icons_mici/alerts_pill.png b/selfdrive/assets/icons_mici/alerts_pill.png
new file mode 100644
index 0000000000..29ab2ad5b3
--- /dev/null
+++ b/selfdrive/assets/icons_mici/alerts_pill.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3fe73cd1a24c05346a9b4a02e4f900a314c83a422beb38b0f88f91389582cd4
+size 3960
diff --git a/selfdrive/assets/icons_mici/onroad/driver_monitoring/dm_center.png b/selfdrive/assets/icons_mici/onroad/driver_monitoring/dm_center.png
deleted file mode 100644
index a8a68b372c..0000000000
--- a/selfdrive/assets/icons_mici/onroad/driver_monitoring/dm_center.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:b5aee9f6cec03f1967014cd2ea2a23982b262e7d86dadca602ecfa8875b38101
-size 5875
diff --git a/selfdrive/car/CARS_template.md b/selfdrive/car/CARS_template.md
index cd352b2ede..bc335b6bd3 100644
--- a/selfdrive/car/CARS_template.md
+++ b/selfdrive/car/CARS_template.md
@@ -1,6 +1,6 @@
{% set footnote_tag = '[{}](#footnotes)' %}
{% set star_icon = '[](##)' %}
-{% set video_icon = '' %}
+{% set video_icon = '' %}
{# Force hardware column wider by using a blank image with max width. #}
{% set width_tag = '![]()
%s
' %}
{% set hardware_col_name = 'Hardware Needed' %}
diff --git a/selfdrive/debug/print_docs_diff.py b/selfdrive/debug/print_docs_diff.py
index 388acf3af5..c7850939f0 100755
--- a/selfdrive/debug/print_docs_diff.py
+++ b/selfdrive/debug/print_docs_diff.py
@@ -11,7 +11,7 @@ FOOTNOTE_TAG = "{}"
STAR_ICON = '![]()
'
VIDEO_ICON = '' + \
- '
'
+ ''
COLUMNS = "|" + "|".join([column.value for column in Column]) + "|"
COLUMN_HEADER = "|---|---|---|{}|".format("|".join([":---:"] * (len(Column) - 3)))
ARROW_SYMBOL = "➡️"
diff --git a/selfdrive/pandad/pandad.cc b/selfdrive/pandad/pandad.cc
index cafc3e1225..cb60917008 100644
--- a/selfdrive/pandad/pandad.cc
+++ b/selfdrive/pandad/pandad.cc
@@ -299,7 +299,7 @@ void process_panda_state(Panda *panda, PubMaster *pm, bool engaged, bool engaged
panda->send_heartbeat(engaged, engaged_mads);
}
-void process_peripheral_state(Panda *panda, PubMaster *pm, bool no_fan_control) {
+void process_peripheral_state(Panda *panda, PubMaster *pm, bool no_fan_control, bool is_onroad) {
static Params params;
static SubMaster sm({"deviceState", "driverCameraState"});
@@ -309,6 +309,8 @@ void process_peripheral_state(Panda *panda, PubMaster *pm, bool no_fan_control)
static int prev_ir_pwr = 999;
static uint32_t prev_frame_id = UINT32_MAX;
static bool driver_view = false;
+ static bool not_car = false;
+ static bool not_car_checked = false;
// TODO: can we merge these?
static FirstOrderFilter integ_lines_filter(0, 30.0, 0.05);
@@ -354,6 +356,21 @@ void process_peripheral_state(Panda *panda, PubMaster *pm, bool no_fan_control)
ir_pwr = 0;
}
+ // turn off IR leds if body
+ if (!not_car_checked && is_onroad) {
+ std::string cp_bytes = params.get("CarParams");
+ if (cp_bytes.size() > 0) {
+ AlignedBuffer aligned_buf;
+ capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
+ cereal::CarParams::Reader CP = cmsg.getRoot();
+ not_car = CP.getNotCar();
+ not_car_checked = true;
+ }
+ }
+ if (not_car) {
+ ir_pwr = 0;
+ }
+
if (ir_pwr != prev_ir_pwr || sm.frame % 100 == 0) {
int16_t ir_panda = util::map_val(ir_pwr, 0, 100, 0, MAX_IR_PANDA_VAL);
panda->set_ir_pwr(ir_panda);
@@ -387,7 +404,7 @@ void pandad_run(Panda *panda) {
// Process peripheral state at 20 Hz
if (rk.frame() % 5 == 0) {
- process_peripheral_state(panda, &pm, no_fan_control);
+ process_peripheral_state(panda, &pm, no_fan_control, is_onroad);
}
// Process panda state at 10 Hz
diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index 94d73392ad..1a10d91cd7 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -230,7 +230,7 @@ class SelfdriveD(CruiseHelper):
if self.CP.notCar:
# wait for everything to init first
- if self.sm.frame > int(5. / DT_CTRL) and self.initialized:
+ if self.sm.frame > int(2. / DT_CTRL) and self.initialized:
# body always wants to enable
self.events.add(EventName.pcmEnable)
diff --git a/selfdrive/test/process_replay/compare_logs.py b/selfdrive/test/process_replay/compare_logs.py
index e2d912a833..4c522c9150 100755
--- a/selfdrive/test/process_replay/compare_logs.py
+++ b/selfdrive/test/process_replay/compare_logs.py
@@ -76,7 +76,7 @@ def _diff_capnp_values(v1, v2, path, tolerance):
for i in range(n):
yield from _diff_capnp_values(v1[i], v2[i], path + (str(i),), tolerance)
if n2 > n:
- yield 'add', dot, list(enumerate(v2[n:], n))
+ yield 'add', dot, [(i, v2[i]) for i in range(n, n2)]
if n1 > n:
yield 'remove', dot, list(reversed([(i, v1[i]) for i in range(n, n1)]))
diff --git a/selfdrive/test/process_replay/diff_report.py b/selfdrive/test/process_replay/diff_report.py
index 32f058f8ee..5da78657f4 100644
--- a/selfdrive/test/process_replay/diff_report.py
+++ b/selfdrive/test/process_replay/diff_report.py
@@ -49,6 +49,8 @@ def diff_format(diffs, ref, new, field) -> list[str]:
msg_type = field.split(".")[0]
ref_ts = [(m.logMonoTime, MsgWrap(m)) for m in ref.get(msg_type, [])]
new_wrapped = [MsgWrap(m) for m in new.get(msg_type, [])]
+ if not ref_ts or not new_wrapped:
+ return format_numeric_diffs(diffs)
return format_diff(diffs, ref_ts, new_wrapped, field)
diff --git a/selfdrive/ui/mici/layouts/home.py b/selfdrive/ui/mici/layouts/home.py
index 8200089c28..cc424fa62b 100644
--- a/selfdrive/ui/mici/layouts/home.py
+++ b/selfdrive/ui/mici/layouts/home.py
@@ -7,13 +7,15 @@ from collections.abc import Callable
from openpilot.system.ui.widgets import Widget
from openpilot.system.ui.widgets.layouts import HBoxLayout
from openpilot.system.ui.widgets.icon_widget import IconWidget
-from openpilot.system.ui.widgets.label import UnifiedLabel
+from openpilot.system.ui.widgets.label import UnifiedLabel, gui_label
from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
from openpilot.selfdrive.ui.ui_state import ui_state
from openpilot.system.version import RELEASE_BRANCHES
HEAD_BUTTON_FONT_SIZE = 40
HOME_PADDING = 8
+SETTINGS_ZONE_WIDTH = 280
+ALERTS_ZONE_WIDTH = 180
NetworkType = log.DeviceState.NetworkType
@@ -28,6 +30,37 @@ NETWORK_TYPES = {
}
+class AlertsPill(Widget):
+ ICON_OFFSET = 12
+ COUNT_OFFSET = 40
+
+ def __init__(self):
+ super().__init__()
+ self.set_rect(rl.Rectangle(0, 0, 104, 52))
+
+ self._pill_bg_txt = gui_app.texture("icons_mici/alerts_pill.png", 104, 52)
+ self._warning_txt = gui_app.texture("icons_mici/offroad_alerts/red_warning.png", 36, 36)
+ self._alert_count_callback: Callable[[], int] | None = None
+
+ def set_alert_count_callback(self, callback: Callable[[], int] | None):
+ self._alert_count_callback = callback
+
+ def _render(self, _):
+ alert_count = self._alert_count_callback() if self._alert_count_callback else 0
+ if alert_count > 0:
+ pill_w, pill_h = self._pill_bg_txt.width, self._pill_bg_txt.height
+ rl.draw_texture_ex(self._pill_bg_txt, rl.Vector2(self.rect.x, self.rect.y), 0.0, 1.0, rl.WHITE)
+
+ warn_x = self.rect.x + self.ICON_OFFSET
+ warn_y = self.rect.y + (pill_h - self._warning_txt.height) / 2
+ rl.draw_texture_ex(self._warning_txt, rl.Vector2(warn_x, warn_y), 0.0, 1.0, rl.WHITE)
+
+ count_rect = rl.Rectangle(self.rect.x + self.COUNT_OFFSET, self.rect.y, pill_w - self.COUNT_OFFSET, pill_h)
+ gui_label(count_rect, str(alert_count), font_size=36,
+ alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
+ alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
+
+
class NetworkIcon(Widget):
def __init__(self):
super().__init__()
@@ -84,6 +117,8 @@ class MiciHomeLayout(Widget):
def __init__(self):
super().__init__()
self._on_settings_click: Callable | None = None
+ self._on_alerts_click: Callable | None = None
+ self._alert_count_callback: Callable[[], int] | None = None
self._last_refresh = 0
self._mouse_down_t: None | float = None
@@ -96,6 +131,8 @@ class MiciHomeLayout(Widget):
self._experimental_icon = IconWidget("icons_mici/experimental_mode.png", (48, 48))
self._mic_icon = IconWidget("icons_mici/microphone.png", (32, 46))
+ self._alerts_pill = AlertsPill()
+
self._status_bar_layout = HBoxLayout([
IconWidget("icons_mici/settings.png", (48, 48), opacity=0.9),
NetworkIcon(),
@@ -141,13 +178,23 @@ class MiciHomeLayout(Widget):
self._last_refresh = rl.get_time()
self._update_params()
- def set_callbacks(self, on_settings: Callable | None = None):
+ def set_callbacks(self, on_settings: Callable | None = None, on_alerts: Callable | None = None,
+ alert_count_callback: Callable[[], int] | None = None):
self._on_settings_click = on_settings
+ self._on_alerts_click = on_alerts
+ self._alert_count_callback = alert_count_callback
+ self._alerts_pill.set_alert_count_callback(alert_count_callback)
def _handle_mouse_release(self, mouse_pos: MousePos):
if not self._did_long_press:
- if self._on_settings_click:
- self._on_settings_click()
+ relative_x = mouse_pos.x - self.rect.x
+ has_alerts = self._alert_count_callback and self._alert_count_callback() > 0
+ if relative_x < SETTINGS_ZONE_WIDTH:
+ if self._on_settings_click:
+ self._on_settings_click()
+ elif has_alerts and relative_x > self.rect.width - ALERTS_ZONE_WIDTH:
+ if self._on_alerts_click:
+ self._on_alerts_click()
self._did_long_press = False
def _get_version_text(self) -> tuple[str, str, str, str] | None:
@@ -203,3 +250,8 @@ class MiciHomeLayout(Widget):
footer_rect = rl.Rectangle(self.rect.x + HOME_PADDING, self.rect.y + self.rect.height - 48, self.rect.width - HOME_PADDING, 48)
self._status_bar_layout.render(footer_rect)
+
+ # TODO: add alignment to hboxlayout and add to there
+ self._alerts_pill.set_position(self.rect.x + self.rect.width - self._alerts_pill.rect.width - HOME_PADDING,
+ self.rect.y + self.rect.height - self._alerts_pill.rect.height)
+ self._alerts_pill.render()
diff --git a/selfdrive/ui/mici/layouts/main.py b/selfdrive/ui/mici/layouts/main.py
index e7dfd34101..0c762e098d 100644
--- a/selfdrive/ui/mici/layouts/main.py
+++ b/selfdrive/ui/mici/layouts/main.py
@@ -60,7 +60,11 @@ class MiciMainLayout(Scroller):
gui_app.push_widget(self._onboarding_window)
def _setup_callbacks(self):
- self._home_layout.set_callbacks(on_settings=lambda: gui_app.push_widget(self._settings_layout))
+ self._home_layout.set_callbacks(
+ on_settings=lambda: gui_app.push_widget(self._settings_layout),
+ on_alerts=lambda: self._scroll_to(self._alerts_layout),
+ alert_count_callback=self._alerts_layout.active_alerts,
+ )
self._onroad_layout.set_click_callback(lambda: self._scroll_to(self._home_layout))
device.add_interactive_timeout_callback(self._on_interactive_timeout)
@@ -68,6 +72,11 @@ class MiciMainLayout(Scroller):
layout_x = int(layout.rect.x)
self._scroller.scroll_to(layout_x, smooth=True)
+ def _update_state(self):
+ super()._update_state()
+ # TODO: Hack to run alert updates while not in view. Add a nav stack tick?
+ self._alerts_layout._update_state()
+
def _render(self, _):
if not self._setup:
if self._alerts_layout.active_alerts() > 0:
diff --git a/selfdrive/ui/mici/onroad/augmented_road_view.py b/selfdrive/ui/mici/onroad/augmented_road_view.py
index 72be9cbe4d..9910c955ec 100644
--- a/selfdrive/ui/mici/onroad/augmented_road_view.py
+++ b/selfdrive/ui/mici/onroad/augmented_road_view.py
@@ -178,6 +178,8 @@ class AugmentedRoadView(CameraView):
# update offroad label
if ui_state.panda_type == log.PandaState.PandaType.unknown:
self._offroad_label.set_text("system booting")
+ elif ui_state.ignition and not ui_state.started:
+ self._offroad_label.set_text("openpilot can't start\ncheck alerts")
else:
self._offroad_label.set_text("start the car to\nuse sunnypilot")
diff --git a/selfdrive/ui/mici/onroad/driver_state.py b/selfdrive/ui/mici/onroad/driver_state.py
index 92ff07c1e9..b2be5a8e34 100644
--- a/selfdrive/ui/mici/onroad/driver_state.py
+++ b/selfdrive/ui/mici/onroad/driver_state.py
@@ -6,11 +6,13 @@ from openpilot.common.filter_simple import FirstOrderFilter
from openpilot.system.ui.lib.application import gui_app
from openpilot.system.ui.widgets import Widget
from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.selfdrive.monitoring.helpers import face_orientation_from_net
AlertSize = log.SelfdriveState.AlertSize
DEBUG = False
+# TODO: Only left for DM preview, remove
LOOKING_CENTER_THRESHOLD_UPPER = math.radians(6)
LOOKING_CENTER_THRESHOLD_LOWER = math.radians(3)
@@ -59,8 +61,6 @@ class DriverStateRenderer(Widget):
self._dm_person = gui_app.texture("icons_mici/onroad/driver_monitoring/dm_person.png", cone_and_person_size, cone_and_person_size)
self._dm_cone = gui_app.texture("icons_mici/onroad/driver_monitoring/dm_cone.png", cone_and_person_size, cone_and_person_size)
- center_size = round(36 / self.BASE_SIZE * self._rect.width)
- self._dm_center = gui_app.texture("icons_mici/onroad/driver_monitoring/dm_center.png", center_size, center_size)
self._dm_background = gui_app.texture("icons_mici/onroad/driver_monitoring/dm_background.png", int(self._rect.width), int(self._rect.height))
def set_should_draw(self, should_draw: bool):
@@ -113,16 +113,7 @@ class DriverStateRenderer(Widget):
dest_rect,
rl.Vector2(dest_rect.width / 2, dest_rect.height / 2),
self._rotation_filter.x - 90,
- rl.Color(255, 255, 255, int(255 * self._fade_filter.x * (1 - self._looking_center_filter.x))),
- )
-
- rl.draw_texture_ex(
- self._dm_center,
- (int(self._rect.x + (self._rect.width - self._dm_center.width) / 2),
- int(self._rect.y + (self._rect.height - self._dm_center.height) / 2)),
- 0,
- 1.0,
- rl.Color(255, 255, 255, int(255 * self._fade_filter.x * self._looking_center_filter.x)),
+ rl.Color(255, 255, 255, int(255 * self._fade_filter.x)),
)
else:
@@ -174,11 +165,22 @@ class DriverStateRenderer(Widget):
# Get monitoring state
driver_data = self.get_driver_data()
driver_orient = driver_data.faceOrientation
+ driver_position = driver_data.facePosition
if len(driver_orient) != 3:
return
- pitch, yaw, roll = driver_orient
+ # Calibrate orientation so looking straight ahead at road (instead of at device) is (0, 0, 0)
+ sm = ui_state.sm
+ if sm.valid['liveCalibration'] and len(sm['liveCalibration'].rpyCalib) == 3:
+ cal_rpy = sm['liveCalibration'].rpyCalib
+ else:
+ cal_rpy = [0.0, 0.0, 0.0]
+
+ _, pitch, yaw = face_orientation_from_net(driver_orient, driver_position, cal_rpy)
+ pitch += math.radians(6) # calib or DM pose is not accurate, add a fake upward pitch to bias forward
+ yaw = -yaw # undo sign flip in face_orientation_from_net to match UI convention
+
pitch = self._pitch_filter.update(pitch)
yaw = self._yaw_filter.update(yaw)
@@ -192,7 +194,6 @@ class DriverStateRenderer(Widget):
if DEBUG:
pitchd = math.degrees(pitch)
yawd = math.degrees(yaw)
- rolld = math.degrees(roll)
rl.draw_line_ex((0, 100), (200, 100), 3, rl.RED)
rl.draw_line_ex((0, 120), (200, 120), 3, rl.RED)
@@ -200,13 +201,11 @@ class DriverStateRenderer(Widget):
pitch_x = 100 + pitchd
yaw_x = 100 + yawd
- roll_x = 100 + rolld
rl.draw_circle(int(pitch_x), 100, 5, rl.GREEN)
rl.draw_circle(int(yaw_x), 120, 5, rl.GREEN)
- rl.draw_circle(int(roll_x), 140, 5, rl.GREEN)
# filter head rotation, handling wrap-around
- rotation = math.degrees(math.atan2(pitch, yaw))
+ rotation = math.degrees(math.atan2(pitch * 2, yaw)) # reduce yaw sensitivity
angle_diff = rotation - self._rotation_filter.x
angle_diff = ((angle_diff + 180) % 360) - 180
self._rotation_filter.update(self._rotation_filter.x + angle_diff)
diff --git a/sunnypilot/system/updated/tests/test_sp_branch_migrations.py b/sunnypilot/system/updated/tests/test_sp_branch_migrations.py
new file mode 100644
index 0000000000..661fa19840
--- /dev/null
+++ b/sunnypilot/system/updated/tests/test_sp_branch_migrations.py
@@ -0,0 +1,73 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import pytest
+
+from openpilot.common.params import Params
+from openpilot.system.updated.updated import Updater
+
+
+@pytest.mark.parametrize(("device_type", "branch", "expected"), [
+ ("tici", "staging-c3-new", "staging-tici"),
+ ("tici", "dev-c3-new", "staging-tici"),
+ ("tici", "master", "master-tici"),
+ ("tici", "master-dev-c3-new", "master-tici"),
+ ("tizi", "staging-c3-new", "staging"),
+ ("tizi", "dev-c3-new", "dev"),
+ ("tizi", "master-dev-c3-new", "master-dev"),
+ ("tizi", "release3", "release-tizi"),
+ ("tizi", "release3-staging", "release-tizi-staging"),
+ ("mici", "release3", "release-mici"),
+ ("mici", "release3-staging", "release-mici-staging"),
+])
+def test_sp_branch_migrations_from_current_branch(mocker, device_type, branch, expected):
+ params = Params()
+ params.remove("UpdaterTargetBranch")
+
+ mocker.patch("openpilot.system.updated.updated.HARDWARE.get_device_type", return_value=device_type)
+ mocker.patch.object(Updater, "get_branch", return_value=branch)
+
+ assert Updater().target_branch == expected
+
+
+@pytest.mark.parametrize(("device_type", "branch", "expected"), [
+ ("tici", "staging-c3-new", "staging-tici"),
+ ("tici", "dev-c3-new", "staging-tici"),
+ ("tici", "master", "master-tici"),
+ ("tici", "master-dev-c3-new", "master-tici"),
+ ("tizi", "staging-c3-new", "staging"),
+ ("tizi", "dev-c3-new", "dev"),
+ ("tizi", "master-dev-c3-new", "master-dev"),
+ ("tizi", "release3", "release-tizi"),
+ ("tizi", "release3-staging", "release-tizi-staging"),
+ ("mici", "release3", "release-mici"),
+ ("mici", "release3-staging", "release-mici-staging"),
+])
+def test_sp_branch_migrations_from_param(mocker, device_type, branch, expected):
+ params = Params()
+ params.put("UpdaterTargetBranch", branch)
+
+ mocker.patch("openpilot.system.updated.updated.HARDWARE.get_device_type", return_value=device_type)
+
+ try:
+ assert Updater().target_branch == expected
+ finally:
+ params.remove("UpdaterTargetBranch")
+
+
+@pytest.mark.parametrize(("device_type", "branch"), [
+ ("tici", "unknown"),
+ ("tizi", "unknown"),
+ ("mici", "unknown"),
+])
+def test_sp_branch_migrations_passthrough(mocker, device_type, branch):
+ params = Params()
+ params.remove("UpdaterTargetBranch")
+
+ mocker.patch("openpilot.system.updated.updated.HARDWARE.get_device_type", return_value=device_type)
+ mocker.patch.object(Updater, "get_branch", return_value=branch)
+
+ assert Updater().target_branch == branch
diff --git a/system/hardware/base.py b/system/hardware/base.py
index 1a19f908c6..ef2b146043 100644
--- a/system/hardware/base.py
+++ b/system/hardware/base.py
@@ -91,6 +91,9 @@ class LPABase(ABC):
def switch_profile(self, iccid: str) -> None:
pass
+ def process_notifications(self) -> None:
+ pass
+
def is_comma_profile(self, iccid: str) -> bool:
return any(iccid.startswith(prefix) for prefix in ('8985235',))
diff --git a/system/hardware/tici/gsma_ci_bundle.pem b/system/hardware/tici/gsma_ci_bundle.pem
new file mode 100644
index 0000000000..3ee7fd1252
--- /dev/null
+++ b/system/hardware/tici/gsma_ci_bundle.pem
@@ -0,0 +1,133 @@
+# GSMA Certificate Issuer (CI) bundle for eSIM RSP
+# Source: https://euicc-manual.osmocom.org/docs/pki/ci/bundle.pem
+
+issuer=
+ countryName = CH
+ organizationName = OISTE Foundation
+ commonName = OISTE GSMA CI G1
+notBefore=2024-01-16 23:17:39Z
+notAfter=2059-01-07 23:17:38Z
+-----BEGIN CERTIFICATE-----
+MIIB9zCCAZ2gAwIBAgIUSpBSCCDYPOEG/IFHUCKpZ2pIAQMwCgYIKoZIzj0EAwIw
+QzELMAkGA1UEBhMCQ0gxGTAXBgNVBAoMEE9JU1RFIEZvdW5kYXRpb24xGTAXBgNV
+BAMMEE9JU1RFIEdTTUEgQ0kgRzEwIBcNMjQwMTE2MjMxNzM5WhgPMjA1OTAxMDcy
+MzE3MzhaMEMxCzAJBgNVBAYTAkNIMRkwFwYDVQQKDBBPSVNURSBGb3VuZGF0aW9u
+MRkwFwYDVQQDDBBPSVNURSBHU01BIENJIEcxMFkwEwYHKoZIzj0CAQYIKoZIzj0D
+AQcDQgAEvZ3s3PFC4NgrCcCMmHJ6DJ66uzAHuLcvjJnOn+TtBNThS7YHLDyHCa2v
+7D+zTP+XTtgqgcLoB56Gha9EQQQ4xKNtMGswDwYDVR0TAQH/BAUwAwEB/zAQBgNV
+HREECTAHiAVghXQFDjAXBgNVHSABAf8EDTALMAkGB2eBEgECAQAwHQYDVR0OBBYE
+FEwnlnrSDBSzkelgHkHmBK1XwCIvMA4GA1UdDwEB/wQEAwIBBjAKBggqhkjOPQQD
+AgNIADBFAiBVcywTj017jKpAQ+gwy4MqK2hQvzve6lkvQkgSP6ykHwIhAI0KFwCD
+jnPbmcJsG41hUrWNlf+IcrMvFuYii0DasBNi
+-----END CERTIFICATE-----
+issuer=
+ organizationName = GSM Association
+ commonName = GSM Association - RSP2 Root CI1
+notBefore=2017-02-22 00:00:00Z
+notAfter=2052-02-21 23:59:59Z
+-----BEGIN CERTIFICATE-----
+MIICSTCCAe+gAwIBAgIQbmhWeneg7nyF7hg5Y9+qejAKBggqhkjOPQQDAjBEMRgw
+FgYDVQQKEw9HU00gQXNzb2NpYXRpb24xKDAmBgNVBAMTH0dTTSBBc3NvY2lhdGlv
+biAtIFJTUDIgUm9vdCBDSTEwIBcNMTcwMjIyMDAwMDAwWhgPMjA1MjAyMjEyMzU5
+NTlaMEQxGDAWBgNVBAoTD0dTTSBBc3NvY2lhdGlvbjEoMCYGA1UEAxMfR1NNIEFz
+c29jaWF0aW9uIC0gUlNQMiBSb290IENJMTBZMBMGByqGSM49AgEGCCqGSM49AwEH
+A0IABJ1qutL0HCMX52GJ6/jeibsAqZfULWj/X10p/Min6seZN+hf5llovbCNuB2n
+unLz+O8UD0SUCBUVo8e6n9X1TuajgcAwgb0wDgYDVR0PAQH/BAQDAgEGMA8GA1Ud
+EwEB/wQFMAMBAf8wEwYDVR0RBAwwCogIKwYBBAGC6WAwFwYDVR0gAQH/BA0wCzAJ
+BgdngRIBAgEAME0GA1UdHwRGMEQwQqBAoD6GPGh0dHA6Ly9nc21hLWNybC5zeW1h
+dXRoLmNvbS9vZmZsaW5lY2EvZ3NtYS1yc3AyLXJvb3QtY2kxLmNybDAdBgNVHQ4E
+FgQUgTcPUSXQsdQI1MOyMubSXnlb6/swCgYIKoZIzj0EAwIDSAAwRQIgIJdYsOMF
+WziPK7l8nh5mu0qiRiVf25oa9ullG/OIASwCIQDqCmDrYf+GziHXBOiwJwnBaeBO
+aFsiLzIEOaUuZwdNUw==
+-----END CERTIFICATE-----
+issuer=
+ countryName = US
+ organizationName = Entrust, Inc.
+ organizationalUnitName = See www.entrust.net/legal-terms
+ organizationalUnitName = (c) 2016 Entrust, Inc. - for authorized use only
+ commonName = Entrust eSIM Certification Authority
+notBefore=2016-11-16 16:04:02Z
+notAfter=2051-10-16 16:34:02Z
+-----BEGIN CERTIFICATE-----
+MIIC6DCCAo2gAwIBAgIRAIy4GT7M5nHsAAAAAFgsinowCgYIKoZIzj0EAwIwgbkx
+CzAJBgNVBAYTAlVTMRYwFAYDVQQKEw1FbnRydXN0LCBJbmMuMSgwJgYDVQQLEx9T
+ZWUgd3d3LmVudHJ1c3QubmV0L2xlZ2FsLXRlcm1zMTkwNwYDVQQLEzAoYykgMjAx
+NiBFbnRydXN0LCBJbmMuIC0gZm9yIGF1dGhvcml6ZWQgdXNlIG9ubHkxLTArBgNV
+BAMTJEVudHJ1c3QgZVNJTSBDZXJ0aWZpY2F0aW9uIEF1dGhvcml0eTAgFw0xNjEx
+MTYxNjA0MDJaGA8yMDUxMTAxNjE2MzQwMlowgbkxCzAJBgNVBAYTAlVTMRYwFAYD
+VQQKEw1FbnRydXN0LCBJbmMuMSgwJgYDVQQLEx9TZWUgd3d3LmVudHJ1c3QubmV0
+L2xlZ2FsLXRlcm1zMTkwNwYDVQQLEzAoYykgMjAxNiBFbnRydXN0LCBJbmMuIC0g
+Zm9yIGF1dGhvcml6ZWQgdXNlIG9ubHkxLTArBgNVBAMTJEVudHJ1c3QgZVNJTSBD
+ZXJ0aWZpY2F0aW9uIEF1dGhvcml0eTBZMBMGByqGSM49AgEGCCqGSM49AwEHA0IA
+BAdzwGHeQ1Wb2f4DmHTByR5/IWL3JugQ1U3908a++bHdlt+TTA7K4c5cYZ+51Yz/
+hg/bacxguPDh9uQUK6Wg3a6jcjBwMA8GA1UdEwEB/wQFMAMBAf8wDgYDVR0PAQH/
+BAQDAgEGMBcGA1UdIAEB/wQNMAswCQYHZ4ESAQIBADAVBgNVHREEDjAMiApghkgB
+hvpsFAoAMB0GA1UdDgQWBBQWcEt/NR42B/GMS3AAXDoAPf1BSjAKBggqhkjOPQQD
+AgNJADBGAiEAspjXMvaBZyAg86Z0AAtT0yBRAi1EyaAfNz9kDJeAE04CIQC3efj8
+ATL7/tDBOhANy3cK8PS/1NIlu9vqMLCZsZvJ0Q==
+-----END CERTIFICATE-----
+issuer=
+ countryName = FR
+ organizationName = OBERTHUR TECHNOLOGIES
+ organizationalUnitName = TELECOM
+ commonName = MC4 OT ROOT CI v1
+notBefore=2016-11-15 00:00:01Z
+notAfter=2046-11-08 23:59:59Z
+-----BEGIN CERTIFICATE-----
+MIICOjCCAeGgAwIBAgIBATAKBggqhkjOPQQDAjBbMQswCQYDVQQGEwJGUjEeMBwG
+A1UEChMVT0JFUlRIVVIgVEVDSE5PTE9HSUVTMRAwDgYDVQQLEwdURUxFQ09NMRow
+GAYDVQQDExFNQzQgT1QgUk9PVCBDSSB2MTAeFw0xNjExMTUwMDAwMDFaFw00NjEx
+MDgyMzU5NTlaMFsxCzAJBgNVBAYTAkZSMR4wHAYDVQQKExVPQkVSVEhVUiBURUNI
+Tk9MT0dJRVMxEDAOBgNVBAsTB1RFTEVDT00xGjAYBgNVBAMTEU1DNCBPVCBST09U
+IENJIHYxMFkwEwYHKoZIzj0CAQYIKoZIzj0DAQcDQgAEHb/Gajt3OZxuaDSklBQE
+D4lOd6PGPLSvtfkM952ubdyy45tJwAeA0eEii0CLrFT6tcfXkW+H/5mQyMRXaAUk
+T6OBlTCBkjAfBgNVHSMEGDAWgBTNbmC3LXoGPLyEYluR6A/jBAbhPjAdBgNVHQ4E
+FgQUzW5gty16Bjy8hGJbkegP4wQG4T4wDgYDVR0PAQH/BAQDAgAGMBcGA1UdIAEB
+/wQNMAswCQYHZ4ESAQIBADAWBgNVHREEDzANiAsrBgEEAYHvb7OITTAPBgNVHRMB
+Af8EBTADAQH/MAoGCCqGSM49BAMCA0cAMEQCIEw4Nc7f2fDtoH+6ON/bknfDQxmT
+ikThXjhpLtSrSKN2AiAxHxgC87L0FDnH8dJNlkdGX9c0JIx6oLheIplfS6k+jg==
+-----END CERTIFICATE-----
+issuer=
+ commonName = SubMan V4.2 CI Google Pixel
+ organizationName = Giesecke and Devrient GmbH
+ organizationalUnitName = Mobile Security
+ countryName = DE
+notBefore=2017-05-10 00:00:00Z
+notAfter=2027-05-10 00:00:00Z
+-----BEGIN CERTIFICATE-----
+MIICaTCCAg6gAwIBAgICASwwCgYIKoZIzj0EAwIwczElMCMGA1UEAxMcIFN1Yk1h
+biBWNC4yIENJIEdvb2dsZSBQaXhlbDEjMCEGA1UEChMaR2llc2Vja2UgYW5kIERl
+dnJpZW50IEdtYkgxGDAWBgNVBAsTD01vYmlsZSBTZWN1cml0eTELMAkGA1UEBhMC
+REUwHhcNMTcwNTEwMDAwMDAwWhcNMjcwNTEwMDAwMDAwWjBzMSUwIwYDVQQDExwg
+U3ViTWFuIFY0LjIgQ0kgR29vZ2xlIFBpeGVsMSMwIQYDVQQKExpHaWVzZWNrZSBh
+bmQgRGV2cmllbnQgR21iSDEYMBYGA1UECxMPTW9iaWxlIFNlY3VyaXR5MQswCQYD
+VQQGEwJERTBZMBMGByqGSM49AgEGCCqGSM49AwEHA0IABHNorfaJsGzqWNawyAhl
+IAv9QL2/+b9RsUoso06t/dKX1MRr5CUJ51acvv5TAFhQKIml+dwLbFnV5aO+8W6Z
+wxajgZEwgY4wHwYDVR0jBBgwFoAUtg8LiX/WMLiM/tYWH46oCMU4KsMwHQYDVR0O
+BBYEFLYPC4l/1jC4jP7WFh+OqAjFOCrDMA4GA1UdDwEB/wQEAwIBBjAXBgNVHSAB
+Af8EDTALMAkGB2eBEgECAQAwDwYDVR0TAQH/BAUwAwEB/zASBgNVHREECzAJiAcr
+BgEEAdwPMAoGCCqGSM49BAMCA0kAMEYCIQDpoZcuAQrjATW8U+AWqMUJ0dY6nWW1
+R1QmFzVZ1yMXSwIhALCvRqkCtgiavdeFeSgsSNbY5Fhd+QoCltuSh1U4TE7A
+-----END CERTIFICATE-----
+issuer=
+ countryName = DE
+ commonName = SubMan V4.2 CI
+ organizationName = Giesecke and Devrient
+ organizationalUnitName = Mobile Security
+notBefore=2016-08-12 13:51:48Z
+notAfter=2026-08-12 13:51:48Z
+-----BEGIN CERTIFICATE-----
+MIICUjCCAfigAwIBAgIDQgAAMAoGCCqGSM49BAMCMGAxCzAJBgNVBAYTAkRFMRcw
+FQYDVQQDEw5TdWJNYW4gVjQuMiBDSTEeMBwGA1UEChMVR2llc2Vja2UgYW5kIERl
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+HRMBAf8EBTADAQH/MBIGA1UdEQQLMAmIBysGAQQB3A8wLgYDVR0fBCcwJTAjoCGg
+H4YdaHR0cDovL2dpLWRlLmNvbS90ZXN0LmNybC5wZW0wCgYIKoZIzj0EAwIDSAAw
+RQIhAMMx2L/VHDiOW+Fl/OuFmhCdizYM17Yn9zAVieKO2T0iAiANWtCMmY+DzkqK
+yHxBFX0U2tBd682zP4DpgRt8j3Ylew==
+-----END CERTIFICATE-----
diff --git a/system/hardware/tici/lpa.py b/system/hardware/tici/lpa.py
index ceb901e2f7..e46ac005b8 100644
--- a/system/hardware/tici/lpa.py
+++ b/system/hardware/tici/lpa.py
@@ -3,8 +3,10 @@
import atexit
import base64
import fcntl
+import hashlib
import math
import os
+import requests
import serial
import subprocess
import sys
@@ -15,8 +17,12 @@ from collections.abc import Callable, Generator
from contextlib import contextmanager
from typing import Any
+from pathlib import Path
+
+from openpilot.common.time_helpers import system_time_valid
from openpilot.system.hardware.base import LPABase, LPAError, Profile
+GSMA_CI_BUNDLE = str(Path(__file__).parent / "gsma_ci_bundle.pem")
DEFAULT_DEVICE = "/dev/modem_at0"
DEFAULT_BAUD = 9600
@@ -26,6 +32,7 @@ ISDR_AID = "A0000005591010FFFFFFFF8900000100"
MM = "org.freedesktop.ModemManager1"
MM_MODEM = MM + ".Modem"
ES10X_MSS = 120
+HTTP_TIMEOUT = 30
OPEN_ISDR_RETRIES = 10
OPEN_ISDR_RETRY_DELAY_S = 0.25
OPEN_ISDR_RESET_ATTEMPT = 5
@@ -37,10 +44,24 @@ DEBUG = os.environ.get("DEBUG") == "1"
# TLV Tags
TAG_ICCID = 0x5A
TAG_STATUS = 0x80
-TAG_PROFILE_INFO_LIST = 0xBF2D
+TAG_EUICC_INFO = 0xBF20
+TAG_PREPARE_DOWNLOAD = 0xBF21
+TAG_BPP_COMMAND = 0xBF23
+TAG_PROFILE_METADATA = 0xBF25
+TAG_INSTALL_RESULT_DATA = 0xBF27
+TAG_LIST_NOTIFICATION = 0xBF28
TAG_SET_NICKNAME = 0xBF29
+TAG_RETRIEVE_NOTIFICATION = 0xBF2B
+TAG_PROFILE_INFO_LIST = 0xBF2D
+TAG_EUICC_CHALLENGE = 0xBF2E
+TAG_NOTIFICATION_METADATA = 0xBF2F
+TAG_NOTIFICATION_SENT = 0xBF30
TAG_ENABLE_PROFILE = 0xBF31
TAG_DELETE_PROFILE = 0xBF33
+TAG_BPP = 0xBF36
+TAG_PROFILE_INSTALL_RESULT = 0xBF37
+TAG_AUTH_SERVER = 0xBF38
+TAG_CANCEL_SESSION = 0xBF41
TAG_OK = 0xA0
PROFILE_OK = 0x00
@@ -52,6 +73,42 @@ PROFILE_ERROR_CODES = {
0x03: "disallowedByPolicy", 0x04: "wrongProfileReenabling",
PROFILE_CAT_BUSY: "catBusy", 0x06: "undefinedError",
}
+AUTH_SERVER_ERROR_CODES = {
+ 0x01: "eUICCVerificationFailed", 0x02: "eUICCCertificateExpired",
+ 0x03: "eUICCCertificateRevoked", 0x05: "invalidServerSignature",
+ 0x06: "euiccCiPKUnknown", 0x0A: "matchingIdRefused",
+ 0x10: "insufficientMemory",
+}
+BPP_COMMAND_NAMES = {
+ 0: "initialiseSecureChannel", 1: "configureISDP", 2: "storeMetadata",
+ 3: "storeMetadata2", 4: "replaceSessionKeys", 5: "loadProfileElements",
+}
+BPP_ERROR_REASONS = {
+ 1: "incorrectInputValues", 2: "invalidSignature", 3: "invalidTransactionId",
+ 4: "unsupportedCrtValues", 5: "unsupportedRemoteOperationType",
+ 6: "unsupportedProfileClass", 7: "scp03tStructureError", 8: "scp03tSecurityError",
+ 9: "iccidAlreadyExistsOnEuicc", 10: "insufficientMemoryForProfile",
+ 11: "installInterrupted", 12: "peProcessingError", 13: "dataMismatch",
+ 14: "invalidNAA",
+}
+BPP_ERROR_MESSAGES = {
+ 9: "This eSIM profile is already installed on this device.",
+ 10: "Not enough memory on the eUICC to install this profile.",
+ 12: "Profile installation failed. The QR code may have already been used.",
+}
+
+# SGP.22 §5.2.6 — SM-DP+ reason/subject codes mapped to user-friendly messages
+ES9P_ERROR_MESSAGES: dict[tuple[str, str], str] = {
+ ('3.8', '8.2.6'): "This eSIM profile is already installed on another device. Please use a new QR code.",
+ ('3.8', '8.2.1'): "This eSIM profile has expired. Please request a new QR code.",
+ ('3.8', '8.1'): "The SM-DP+ server refused this request.",
+ ('3.1', '8.2.6'): "This eSIM profile has been revoked by the carrier.",
+ ('3.9', '8.2.6'): "This eSIM profile download has already been completed.",
+ ('2.1', '8.8'): "The device is not compatible with this eSIM profile.",
+ ('1.2', '8.1'): "The SM-DP+ server is temporarily unavailable. Try again later.",
+}
+
+NOTIFICATION_OPERATIONS = {0x80: "install", 0x40: "enable", 0x20: "disable", 0x10: "delete"}
STATE_LABELS = {0: "disabled", 1: "enabled", 255: "unknown"}
ICON_LABELS = {0: "jpeg", 1: "png", 255: "unknown"}
@@ -345,6 +402,15 @@ def es10x_command(client: AtClient, data: bytes) -> bytes:
# --- Profile operations ---
+NOTIFICATION: FieldMap = {
+ TAG_STATUS: ("seqNumber", lambda v: int.from_bytes(v, "big")),
+ 0x81: ("profileManagementOperation",
+ lambda v: NOTIFICATION_OPERATIONS.get(next((m for m in NOTIFICATION_OPERATIONS if len(v) >= 2 and v[1] & m), 0), "unknown")),
+ 0x0C: ("notificationAddress", lambda v: v.decode("utf-8", errors="ignore")),
+ TAG_ICCID: ("iccid", tbcd_to_string),
+}
+
+
def decode_profiles(blob: bytes) -> list[dict]:
root = require_tag(blob, TAG_PROFILE_INFO_LIST, "ProfileInfoList")
list_ok = find_tag(root, TAG_OK)
@@ -370,6 +436,278 @@ def set_profile_nickname(client: AtClient, iccid: str, nickname: str) -> None:
raise RuntimeError(f"SetNickname failed with status 0x{code:02X}")
+# --- ES9P HTTP ---
+
+def es9p_request(smdp_address: str, endpoint: str, payload: dict, error_prefix: str = "Request", session: requests.Session | None = None) -> dict:
+ url = f"https://{smdp_address}/gsma/rsp2/es9plus/{endpoint}"
+ headers = {"User-Agent": "gsma-rsp-lpad", "X-Admin-Protocol": "gsma/rsp/v2.3.0", "Content-Type": "application/json"}
+ http = session or requests
+ resp = http.post(url, json=payload, headers=headers, timeout=HTTP_TIMEOUT, verify=GSMA_CI_BUNDLE)
+ resp.raise_for_status()
+ if not resp.content:
+ return {}
+ data = resp.json()
+ if "header" in data and "functionExecutionStatus" in data["header"]:
+ status = data["header"]["functionExecutionStatus"]
+ if status.get("status") == "Failed":
+ sd = status.get("statusCodeData", {})
+ reason = sd.get("reasonCode", "unknown")
+ subject = sd.get("subjectCode", "unknown")
+ msg = ES9P_ERROR_MESSAGES.get((reason, subject),
+ f"{error_prefix} failed: {reason}/{subject} - {sd.get('message', 'unknown')}")
+ raise RuntimeError(msg)
+ return data
+
+
+# --- Notifications ---
+
+def list_notifications(client: AtClient) -> list[dict]:
+ response = es10x_command(client, encode_tlv(TAG_LIST_NOTIFICATION, b""))
+ root = require_tag(response, TAG_LIST_NOTIFICATION, "ListNotificationResponse")
+ metadata_list = find_tag(root, TAG_OK)
+ if metadata_list is None:
+ return []
+ return [decode_struct(value, NOTIFICATION) for tag, value in iter_tlv(metadata_list) if tag == TAG_NOTIFICATION_METADATA]
+
+
+def process_notifications(client: AtClient) -> None:
+ for notification in list_notifications(client):
+ seq_number, smdp_address = notification["seqNumber"], notification["notificationAddress"]
+ try:
+ request = encode_tlv(TAG_RETRIEVE_NOTIFICATION, encode_tlv(TAG_OK, encode_tlv(TAG_STATUS, int_bytes(seq_number))))
+ response = es10x_command(client, request)
+ content = require_tag(require_tag(response, TAG_RETRIEVE_NOTIFICATION, "RetrieveNotificationsListResponse"),
+ TAG_OK, "RetrieveNotificationsListResponse")
+ pending_notif = next((v for t, v in iter_tlv(content) if t in (TAG_PROFILE_INSTALL_RESULT, 0x30)), None)
+ if pending_notif is None:
+ raise RuntimeError("Missing PendingNotification")
+
+ es9p_request(smdp_address, "handleNotification", {"pendingNotification": b64e(pending_notif)}, "HandleNotification")
+
+ response = es10x_command(client, encode_tlv(TAG_NOTIFICATION_SENT, encode_tlv(TAG_STATUS, int_bytes(seq_number))))
+ root = require_tag(response, TAG_NOTIFICATION_SENT, "NotificationSentResponse")
+ if int.from_bytes(require_tag(root, TAG_STATUS, "RemoveNotificationFromList status"), "big") != 0:
+ raise RuntimeError("RemoveNotificationFromList failed")
+ except Exception as e:
+ print(f"notification {seq_number} failed: {e}", file=sys.stderr)
+
+
+# --- Authentication & Download ---
+
+def get_challenge_and_info(client: AtClient) -> tuple[bytes, bytes]:
+ challenge_resp = es10x_command(client, encode_tlv(TAG_EUICC_CHALLENGE, b""))
+ challenge = require_tag(require_tag(challenge_resp, TAG_EUICC_CHALLENGE, "GetEuiccDataResponse"),
+ TAG_STATUS, "challenge in response")
+ info_resp = es10x_command(client, encode_tlv(TAG_EUICC_INFO, b""))
+ require_tag(info_resp, TAG_EUICC_INFO, "GetEuiccInfo1Response")
+ return challenge, info_resp
+
+
+def authenticate_server(client: AtClient, b64_signed1: str, b64_sig1: str, b64_pk_id: str, b64_cert: str, matching_id: str) -> str:
+ tac = bytes([0x35, 0x29, 0x06, 0x11])
+ device_info = encode_tlv(TAG_STATUS, tac) + encode_tlv(0xA1, b"")
+ ctx_inner = encode_tlv(TAG_STATUS, matching_id.encode("utf-8")) + encode_tlv(0xA1, device_info)
+ content = b64d(b64_signed1) + b64d(b64_sig1) + b64d(b64_pk_id) + b64d(b64_cert) + encode_tlv(0xA0, ctx_inner)
+ response = es10x_command(client, encode_tlv(TAG_AUTH_SERVER, content))
+ root = require_tag(response, TAG_AUTH_SERVER, "AuthenticateServerResponse")
+ error_tag = find_tag(root, 0xA1)
+ if error_tag is not None:
+ code = int.from_bytes(error_tag, "big") if error_tag else 0
+ raise RuntimeError(f"AuthenticateServer rejected by eUICC: {AUTH_SERVER_ERROR_CODES.get(code, 'unknown')} (0x{code:02X})")
+ return b64e(response)
+
+
+def prepare_download(client: AtClient, b64_signed2: str, b64_sig2: str, b64_cert: str, cc: str | None = None) -> str:
+ smdp_signed2 = b64d(b64_signed2)
+ smdp_signature2 = b64d(b64_sig2)
+ smdp_certificate = b64d(b64_cert)
+ smdp_signed2_root = find_tag(smdp_signed2, 0x30)
+ if smdp_signed2_root is None:
+ raise RuntimeError("Invalid smdpSigned2")
+ transaction_id = find_tag(smdp_signed2_root, TAG_STATUS)
+ cc_required_flag = find_tag(smdp_signed2_root, 0x01)
+ if transaction_id is None or cc_required_flag is None:
+ raise RuntimeError("Invalid smdpSigned2")
+ content = smdp_signed2 + smdp_signature2
+ if int.from_bytes(cc_required_flag, "big") != 0:
+ if not cc:
+ raise RuntimeError("Confirmation code required but not provided")
+ content += encode_tlv(0x04, hashlib.sha256(hashlib.sha256(cc.encode("utf-8")).digest() + transaction_id).digest())
+ content += smdp_certificate
+ response = es10x_command(client, encode_tlv(TAG_PREPARE_DOWNLOAD, content))
+ require_tag(response, TAG_PREPARE_DOWNLOAD, "PrepareDownloadResponse")
+ return b64e(response)
+
+
+def _parse_tlv_header_len(data: bytes) -> int:
+ tag_len = 2 if data[0] & 0x1F == 0x1F else 1
+ length_byte = data[tag_len]
+ return tag_len + (1 + (length_byte & 0x7F) if length_byte & 0x80 else 1)
+
+
+def _split_bpp(bpp: bytes) -> list[bytes]:
+ """Split a BoundProfilePackage into APDU chunks per SGP.22 §5.7.6."""
+ root_value = None
+ for tag, value, start, end in iter_tlv(bpp, with_positions=True):
+ if tag == TAG_BPP:
+ root_value = value
+ val_start = start + _parse_tlv_header_len(bpp[start:end])
+ break
+ if root_value is None:
+ raise RuntimeError("Invalid BoundProfilePackage")
+
+ chunks: list[bytes] = []
+ for tag, value, start, end in iter_tlv(root_value, with_positions=True):
+ if tag == TAG_BPP_COMMAND:
+ chunks.append(bpp[0 : val_start + end])
+ elif tag in (0xA0, 0xA2):
+ chunks.append(bpp[val_start + start : val_start + end])
+ elif tag in (0xA1, 0xA3):
+ hdr_len = _parse_tlv_header_len(root_value[start:end])
+ chunks.append(bpp[val_start + start : val_start + start + hdr_len])
+ for _, _, cs, ce in iter_tlv(value, with_positions=True):
+ chunks.append(value[cs:ce])
+ return chunks
+
+
+def _parse_install_result(response: bytes) -> dict[str, Any] | None:
+ """Parse a ProfileInstallResult from an APDU response, or None if not present."""
+ root = find_tag(response, TAG_PROFILE_INSTALL_RESULT)
+ if not root:
+ return None
+ result_data = find_tag(root, TAG_INSTALL_RESULT_DATA)
+ if not result_data:
+ return None
+ result: dict[str, Any] = {"seqNumber": 0, "success": False, "bppCommandId": None, "errorReason": None}
+ notif_meta = find_tag(result_data, TAG_NOTIFICATION_METADATA)
+ if notif_meta:
+ seq_num = find_tag(notif_meta, TAG_STATUS)
+ if seq_num:
+ result["seqNumber"] = int.from_bytes(seq_num, "big")
+ final_result = find_tag(result_data, 0xA2)
+ if final_result:
+ for tag, value in iter_tlv(final_result):
+ if tag == 0xA0:
+ result["success"] = True
+ elif tag == 0xA1:
+ bpp_cmd = find_tag(value, TAG_STATUS)
+ if bpp_cmd:
+ result["bppCommandId"] = int.from_bytes(bpp_cmd, "big")
+ err = find_tag(value, 0x81)
+ if err:
+ result["errorReason"] = int.from_bytes(err, "big")
+ return result
+
+
+def load_bpp(client: AtClient, b64_bpp: str) -> dict:
+ bpp = b64d(b64_bpp)
+ result = None
+ for chunk in _split_bpp(bpp):
+ response = es10x_command(client, chunk)
+ if response:
+ result = _parse_install_result(response) or result
+
+ if result is None:
+ raise RuntimeError("Profile installation failed: no result from eUICC")
+ if not result["success"] and result["errorReason"] is not None:
+ msg = BPP_ERROR_MESSAGES.get(result["errorReason"])
+ if not msg:
+ cmd_name = BPP_COMMAND_NAMES.get(result["bppCommandId"], f"unknown({result['bppCommandId']})")
+ err_name = BPP_ERROR_REASONS.get(result["errorReason"], f"unknown({result['errorReason']})")
+ msg = f"Profile installation failed at {cmd_name}: {err_name}"
+ raise RuntimeError(msg)
+ if not result["success"]:
+ raise RuntimeError("Profile installation failed: no result from eUICC")
+ return result
+
+
+def parse_metadata(b64_metadata: str) -> dict:
+ root = find_tag(b64d(b64_metadata), TAG_PROFILE_METADATA)
+ if root is None:
+ raise RuntimeError("Invalid profileMetadata")
+ return decode_struct(root, PROFILE)
+
+
+def cancel_session(client: AtClient, transaction_id: bytes, reason: int = 127) -> str:
+ content = encode_tlv(0x80, transaction_id) + encode_tlv(0x81, bytes([reason]))
+ response = es10x_command(client, encode_tlv(TAG_CANCEL_SESSION, content))
+ return b64e(response)
+
+
+def parse_lpa_activation_code(activation_code: str) -> tuple[str, str]:
+ """Parse 'LPA:1$smdp.example.com$MATCHING-ID' into (smdp_address, matching_id)."""
+ if not activation_code.startswith("LPA:"):
+ raise ValueError("Invalid activation code format")
+ parts = activation_code[4:].split("$")
+ if len(parts) != 3:
+ raise ValueError("Invalid activation code format")
+ return parts[1], parts[2]
+
+
+def _b64_field(data: dict, key: str) -> str:
+ return base64_trim(data[key])
+
+
+def _cancel_session_safe(client: AtClient, smdp: str, tx_id: str, session: requests.Session) -> None:
+ b64_cancel = ""
+ try:
+ b64_cancel = cancel_session(client, b64d(tx_id))
+ except Exception:
+ pass
+ try:
+ es9p_request(smdp, "cancelSession", {"transactionId": tx_id, "cancelSessionResponse": b64_cancel}, "CancelSession", session=session)
+ except Exception:
+ pass
+
+
+def download_profile(client: AtClient, activation_code: str) -> str:
+ """Download and install an eSIM profile. Returns the ICCID of the installed profile."""
+ if not system_time_valid():
+ raise RuntimeError("System time is not set; TLS certificate validation requires a valid clock")
+ smdp, matching_id = parse_lpa_activation_code(activation_code)
+ challenge, euicc_info = get_challenge_and_info(client)
+ session = requests.Session()
+ tx_id = None
+
+ try:
+ # step 1: initiate authentication
+ auth = es9p_request(smdp, "initiateAuthentication", {
+ "smdpAddress": smdp, "euiccChallenge": b64e(challenge),
+ "euiccInfo1": b64e(euicc_info), "matchingId": matching_id,
+ }, "Authentication", session=session)
+ tx_id = _b64_field(auth, "transactionId")
+
+ # step 2: authenticate server
+ b64_auth = authenticate_server(client,
+ _b64_field(auth, "serverSigned1"), _b64_field(auth, "serverSignature1"),
+ _b64_field(auth, "euiccCiPKIdToBeUsed"), _b64_field(auth, "serverCertificate"),
+ matching_id)
+
+ # step 3: authenticate client + get metadata
+ cli = es9p_request(smdp, "authenticateClient", {
+ "transactionId": tx_id, "authenticateServerResponse": b64_auth,
+ }, "Authentication", session=session)
+ iccid = parse_metadata(_b64_field(cli, "profileMetadata"))["iccid"]
+
+ # step 4: prepare download
+ b64_prep = prepare_download(client,
+ _b64_field(cli, "smdpSigned2"), _b64_field(cli, "smdpSignature2"),
+ _b64_field(cli, "smdpCertificate"))
+
+ # step 5: get and install bound profile package
+ bpp = es9p_request(smdp, "getBoundProfilePackage", {
+ "transactionId": tx_id, "prepareDownloadResponse": b64_prep,
+ }, "GetBoundProfilePackage", session=session)
+ load_bpp(client, _b64_field(bpp, "boundProfilePackage"))
+ return iccid
+ except Exception:
+ if tx_id:
+ _cancel_session_safe(client, smdp, tx_id, session)
+ raise
+ finally:
+ session.close()
+
+
class TiciLPA(LPABase):
def __init__(self):
if hasattr(self, '_client'):
@@ -409,6 +747,12 @@ class TiciLPA(LPABase):
def get_active_profile(self) -> Profile | None:
return None
+ def process_notifications(self) -> None:
+ if not system_time_valid():
+ raise RuntimeError("System time is not set; TLS certificate validation requires a valid clock")
+ with self._acquire_channel():
+ process_notifications(self._client)
+
def delete_profile(self, iccid: str) -> None:
if self.is_comma_profile(iccid):
raise LPAError("refusing to delete a comma profile")
@@ -420,7 +764,10 @@ class TiciLPA(LPABase):
raise LPAError(f"DeleteProfile failed: {PROFILE_ERROR_CODES.get(code, 'unknown')} (0x{code:02X})")
def download_profile(self, qr: str, nickname: str | None = None) -> None:
- return None
+ with self._acquire_channel():
+ iccid = download_profile(self._client, qr)
+ if nickname and iccid:
+ set_profile_nickname(self._client, iccid, nickname)
def nickname_profile(self, iccid: str, nickname: str) -> None:
with self._acquire_channel():
diff --git a/system/updated/tests/test_updated.py b/system/updated/tests/test_updated.py
new file mode 100644
index 0000000000..d36d4dd4e1
--- /dev/null
+++ b/system/updated/tests/test_updated.py
@@ -0,0 +1,38 @@
+import pytest
+
+from openpilot.common.params import Params
+from openpilot.system.updated.updated import Updater
+
+
+@pytest.mark.parametrize(("device_type", "branch", "expected"), [
+ ("tizi", "release3", "release-tizi"),
+ ("tizi", "release3-staging", "release-tizi-staging"),
+ ("mici", "release3", "release-mici"),
+ ("mici", "release3-staging", "release-mici-staging"),
+])
+def test_target_branch_migration_from_current_branch(mocker, device_type, branch, expected):
+ params = Params()
+ params.remove("UpdaterTargetBranch")
+
+ mocker.patch("openpilot.system.updated.updated.HARDWARE.get_device_type", return_value=device_type)
+ mocker.patch.object(Updater, "get_branch", return_value=branch)
+
+ assert Updater().target_branch == expected
+
+
+@pytest.mark.parametrize(("device_type", "branch", "expected"), [
+ ("tizi", "release3", "release-tizi"),
+ ("tizi", "release3-staging", "release-tizi-staging"),
+ ("mici", "release3", "release-mici"),
+ ("mici", "release3-staging", "release-mici-staging"),
+])
+def test_target_branch_migration_from_param(mocker, device_type, branch, expected):
+ params = Params()
+ params.put("UpdaterTargetBranch", branch)
+
+ mocker.patch("openpilot.system.updated.updated.HARDWARE.get_device_type", return_value=device_type)
+
+ try:
+ assert Updater().target_branch == expected
+ finally:
+ params.remove("UpdaterTargetBranch")
diff --git a/system/version.py b/system/version.py
index ae6ac1b13a..2d4fc8f765 100755
--- a/system/version.py
+++ b/system/version.py
@@ -24,6 +24,10 @@ SP_BRANCH_MIGRATIONS = {
("tizi", "staging-c3-new"): "staging",
("tizi", "dev-c3-new"): "dev",
("tizi", "master-dev-c3-new"): "master-dev",
+ ("tizi", "release3"): "release-tizi",
+ ("tizi", "release3-staging"): "release-tizi-staging",
+ ("mici", "release3"): "release-mici",
+ ("mici", "release3-staging"): "release-mici-staging",
}
BUILD_METADATA_FILENAME = "build.json"
diff --git a/tools/jotpluggler/app.h b/tools/jotpluggler/app.h
index 71f71f2d9f..872a6973d7 100644
--- a/tools/jotpluggler/app.h
+++ b/tools/jotpluggler/app.h
@@ -276,7 +276,10 @@ struct RouteIdentifier {
std::string display_slice() const {
const int begin = slice_explicit ? slice_begin : available_begin;
const int end = slice_explicit ? slice_end : available_end;
- if (end < 0 || end == begin) {
+ if (end < 0) {
+ return std::to_string(begin) + ":";
+ }
+ if (end == begin) {
return std::to_string(begin);
}
return std::to_string(begin) + ":" + std::to_string(end);
@@ -378,7 +381,7 @@ public:
StreamAccumulator &operator=(const StreamAccumulator &) = delete;
void setDbcName(const std::string &dbc_name);
- void appendEvent(cereal::Event::Which which, kj::ArrayPtr data);
+ void appendEvent(kj::ArrayPtr data);
void appendCanFrames(CanServiceKind service, const std::vector &frames);
StreamExtractBatch takeBatch();
const std::string &carFingerprint() const;
diff --git a/tools/jotpluggler/runtime.cc b/tools/jotpluggler/runtime.cc
index 47344c5519..6eb2be80e8 100644
--- a/tools/jotpluggler/runtime.cc
+++ b/tools/jotpluggler/runtime.cc
@@ -598,9 +598,7 @@ struct StreamPoller::Impl {
}
kj::ArrayPtr data(reinterpret_cast(msg->getData()),
size / sizeof(capnp::word));
- capnp::FlatArrayMessageReader event_reader(data);
- const cereal::Event::Reader event = event_reader.getRoot();
- accumulator->appendEvent(event.which(), data);
+ accumulator->appendEvent(data);
received_messages.fetch_add(1);
}
}
diff --git a/tools/jotpluggler/session.cc b/tools/jotpluggler/session.cc
index 22dd7dd463..173df7bc04 100644
--- a/tools/jotpluggler/session.cc
+++ b/tools/jotpluggler/session.cc
@@ -355,7 +355,7 @@ bool apply_route_slice_change(AppSession *session, UiState *state, std::string_v
int begin = 0;
int end = 0;
if (!parse_slice_spec(slice_text, &begin, &end)) {
- state->error_text = "Slice must be N or N:M.";
+ state->error_text = "Slice must be N, N:, or N:M.";
state->open_error_popup = true;
return false;
}
diff --git a/tools/jotpluggler/sketch_layout.cc b/tools/jotpluggler/sketch_layout.cc
index bc110b534f..d9622dde6d 100644
--- a/tools/jotpluggler/sketch_layout.cc
+++ b/tools/jotpluggler/sketch_layout.cc
@@ -3,6 +3,7 @@
#include "tools/jotpluggler/common.h"
#include
+#include
#include
#include
@@ -205,6 +206,18 @@ struct LoadStats {
mutable std::mutex progress_mutex;
};
+// Skip individual messages that our local Cap'n Proto schema can't project,
+// such as logs recorded by a newer build.
+template
+void with_parseable_event(kj::ArrayPtr data, Fn &&fn) {
+ try {
+ capnp::FlatArrayMessageReader event_reader(data);
+ fn(event_reader.getRoot());
+ } catch (const kj::Exception &) {
+ return;
+ }
+}
+
std::string curve_label(std::string_view series_name) {
return std::string(series_name.empty() ? std::string_view{"plot"} : series_name);
}
@@ -666,11 +679,11 @@ std::vector extract_segment_timeline(const std::vector &ev
if (event_record.which != cereal::Event::Which::SELFDRIVE_STATE) {
continue;
}
- capnp::FlatArrayMessageReader event_reader(event_record.data);
- const cereal::Event::Reader event = event_reader.getRoot();
- const auto sd = event.getSelfdriveState();
- const double mono_time = static_cast(event.getLogMonoTime()) / 1.0e9;
- append_timeline_entry(&timeline, mono_time, alert_status_to_timeline_type(sd.getAlertStatus(), sd.getEnabled()));
+ with_parseable_event(event_record.data, [&](const cereal::Event::Reader &event) {
+ const auto sd = event.getSelfdriveState();
+ const double mono_time = static_cast(event.getLogMonoTime()) / 1.0e9;
+ append_timeline_entry(&timeline, mono_time, alert_status_to_timeline_type(sd.getAlertStatus(), sd.getEnabled()));
+ });
}
return timeline;
@@ -682,9 +695,9 @@ std::vector extract_segment_logs(const std::vector &events) {
std::string last_alert_key;
for (const Event &event_record : events) {
- capnp::FlatArrayMessageReader event_reader(event_record.data);
- const cereal::Event::Reader event = event_reader.getRoot();
- append_log_event(event_record.which, event, 0.0, &logs, &last_alert_key);
+ with_parseable_event(event_record.data, [&](const cereal::Event::Reader &event) {
+ append_log_event(event_record.which, event, 0.0, &logs, &last_alert_key);
+ });
}
return logs;
@@ -694,9 +707,9 @@ RouteMetadata extract_segment_metadata(const std::vector &events) {
RouteMetadata metadata;
for (const Event &event_record : events) {
if (event_record.which != cereal::Event::Which::CAR_PARAMS) continue;
- capnp::FlatArrayMessageReader event_reader(event_record.data);
- const cereal::Event::Reader event = event_reader.getRoot();
- metadata.car_fingerprint = event.getCarParams().getCarFingerprint().cStr();
+ with_parseable_event(event_record.data, [&](const cereal::Event::Reader &event) {
+ metadata.car_fingerprint = event.getCarParams().getCarFingerprint().cStr();
+ });
if (!metadata.car_fingerprint.empty()) break;
}
return metadata;
@@ -1263,24 +1276,20 @@ void append_fast_node(const ResolvedNode &node,
}
}
-void append_event_fast(cereal::Event::Which which,
- int32_t eidx_segnum,
- kj::ArrayPtr data,
- const SchemaIndex &schema,
- const dbc::Database *can_dbc,
- bool skip_raw_can,
- double time_offset,
- SeriesAccumulator *series) {
- if (eidx_segnum != -1) {
- return;
- }
+void append_event_fast_reader(cereal::Event::Which which,
+ const cereal::Event::Reader &event,
+ const SchemaIndex &schema,
+ const dbc::Database *can_dbc,
+ bool skip_raw_can,
+ double time_offset,
+ SeriesAccumulator *series) {
const uint16_t which_index = static_cast(which);
if (which_index >= schema.by_which.size() || !schema.by_which[which_index].has_value()) {
return;
}
const ResolvedService &service = *schema.by_which[which_index];
- capnp::FlatArrayMessageReader event_reader(data);
- const cereal::Event::Reader event = event_reader.getRoot();
+ const capnp::DynamicStruct::Reader dynamic_event(event);
+ const capnp::DynamicValue::Reader payload = dynamic_event.get(service.union_field);
const double tm = static_cast(event.getLogMonoTime()) / 1.0e9 - time_offset;
append_fixed_scalar_point(&series->fixed_series[static_cast(service.valid_slot)],
tm,
@@ -1329,8 +1338,23 @@ void append_event_fast(cereal::Event::Which which,
}
}
- const capnp::DynamicStruct::Reader dynamic_event(event);
- append_fast_node(service.payload, dynamic_event.get(service.union_field), tm, series);
+ append_fast_node(service.payload, payload, tm, series);
+}
+
+void append_event_fast(cereal::Event::Which which,
+ int32_t eidx_segnum,
+ kj::ArrayPtr data,
+ const SchemaIndex &schema,
+ const dbc::Database *can_dbc,
+ bool skip_raw_can,
+ double time_offset,
+ SeriesAccumulator *series) {
+ if (eidx_segnum != -1) {
+ return;
+ }
+ with_parseable_event(data, [&](const cereal::Event::Reader &event) {
+ append_event_fast_reader(which, event, schema, can_dbc, skip_raw_can, time_offset, series);
+ });
}
void append_events_fast_range(const std::vector &events,
@@ -1987,10 +2011,7 @@ struct StreamAccumulator::Impl {
return;
}
detected_dbc_name = next_dbc;
- can_dbc.reset();
- if (!detected_dbc_name.empty()) {
- can_dbc.emplace(resolve_dbc_path(detected_dbc_name));
- }
+ can_dbc = load_dbc_by_name(detected_dbc_name);
}
};
@@ -2008,35 +2029,35 @@ void StreamAccumulator::setDbcName(const std::string &dbc_name) {
impl_->refresh_dbc();
}
-void StreamAccumulator::appendEvent(cereal::Event::Which which, kj::ArrayPtr data) {
- capnp::FlatArrayMessageReader event_reader(data);
- const cereal::Event::Reader event = event_reader.getRoot();
- const double boot_time = static_cast(event.getLogMonoTime()) / 1.0e9;
- if (!impl_->time_offset.has_value()) {
- impl_->time_offset = boot_time;
- }
- if (which == cereal::Event::Which::CAR_PARAMS) {
- const std::string fingerprint = event.getCarParams().getCarFingerprint().cStr();
- if (!fingerprint.empty() && fingerprint != impl_->car_fingerprint) {
- impl_->car_fingerprint = fingerprint;
- impl_->refresh_dbc();
+void StreamAccumulator::appendEvent(kj::ArrayPtr data) {
+ with_parseable_event(data, [&](const cereal::Event::Reader &event) {
+ const cereal::Event::Which which = event.which();
+ const double boot_time = static_cast(event.getLogMonoTime()) / 1.0e9;
+ if (!impl_->time_offset.has_value()) {
+ impl_->time_offset = boot_time;
+ }
+ if (which == cereal::Event::Which::CAR_PARAMS) {
+ const std::string fingerprint = event.getCarParams().getCarFingerprint().cStr();
+ if (!fingerprint.empty() && fingerprint != impl_->car_fingerprint) {
+ impl_->car_fingerprint = fingerprint;
+ impl_->refresh_dbc();
+ }
}
- }
- append_event_fast(which,
- -1,
- data,
- impl_->schema,
- impl_->can_dbc ? &*impl_->can_dbc : nullptr,
- true,
- *impl_->time_offset,
- &impl_->series);
- append_log_event(which, event, *impl_->time_offset, &impl_->logs, &impl_->last_alert_key);
- if (which == cereal::Event::Which::SELFDRIVE_STATE) {
- const auto sd = event.getSelfdriveState();
- append_timeline_entry(&impl_->timeline, boot_time - *impl_->time_offset,
- alert_status_to_timeline_type(sd.getAlertStatus(), sd.getEnabled()));
- }
+ append_event_fast_reader(which,
+ event,
+ impl_->schema,
+ impl_->can_dbc ? &*impl_->can_dbc : nullptr,
+ impl_->can_dbc.has_value(),
+ *impl_->time_offset,
+ &impl_->series);
+ append_log_event(which, event, *impl_->time_offset, &impl_->logs, &impl_->last_alert_key);
+ if (which == cereal::Event::Which::SELFDRIVE_STATE) {
+ const auto sd = event.getSelfdriveState();
+ append_timeline_entry(&impl_->timeline, boot_time - *impl_->time_offset,
+ alert_status_to_timeline_type(sd.getAlertStatus(), sd.getEnabled()));
+ }
+ });
}
void StreamAccumulator::appendCanFrames(CanServiceKind service, const std::vector &frames) {
@@ -2126,13 +2147,11 @@ RouteData load_route_data(const std::string &route_name,
const RouteMetadata metadata = detect_route_metadata(segments, route.selector);
const std::string resolved_dbc = !dbc_name.empty() ? dbc_name : detect_dbc_for_fingerprint(metadata.car_fingerprint);
- const std::optional can_dbc = resolved_dbc.empty()
- ? std::nullopt
- : std::optional(std::in_place, resolve_dbc_path(resolved_dbc));
+ const std::optional can_dbc = load_dbc_by_name(resolved_dbc);
const SchemaIndex &schema = SchemaIndex::instance();
LoadedRouteArtifacts artifacts = load_route_series_parallel(segments, schema, can_dbc ? &*can_dbc : nullptr,
- route.selector, !resolved_dbc.empty(), &stats);
+ route.selector, can_dbc.has_value(), &stats);
RouteData route_data = build_route_data(std::move(artifacts.series),
std::move(artifacts.can_messages),
std::move(artifacts.logs),
diff --git a/tools/op.sh b/tools/op.sh
index 3b02602619..dccf080829 100755
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -26,15 +26,6 @@ function op_install() {
echo -e " ↳ [${GREEN}✔${NC}] op installed successfully. Open a new shell to use it."
}
-function loge() {
- if [[ -f "$LOG_FILE" ]]; then
- # error type
- echo "$1" >> $LOG_FILE
- # error log
- echo "$2" >> $LOG_FILE
- fi
-}
-
function retry() {
local attempts=$1
shift
@@ -148,13 +139,11 @@ function op_check_os() {
;;
* )
echo -e " ↳ [${RED}✗${NC}] Incompatible Ubuntu version $VERSION_CODENAME detected!"
- loge "ERROR_INCOMPATIBLE_UBUNTU" "$VERSION_CODENAME"
return 1
;;
esac
else
echo -e " ↳ [${RED}✗${NC}] No /etc/os-release on your system. Make sure you're running on Ubuntu, or similar!"
- loge "ERROR_UNKNOWN_UBUNTU"
return 1
fi
@@ -162,7 +151,6 @@ function op_check_os() {
echo -e " ↳ [${GREEN}✔${NC}] macOS detected."
else
echo -e " ↳ [${RED}✗${NC}] OS type $OSTYPE not supported!"
- loge "ERROR_UNKNOWN_OS" "$OSTYPE"
return 1
fi
}
@@ -210,7 +198,6 @@ function op_setup() {
SETUP_SCRIPT="tools/setup_dependencies.sh"
if ! $OPENPILOT_ROOT/$SETUP_SCRIPT; then
echo -e " ↳ [${RED}✗${NC}] Dependencies installation failed!"
- loge "ERROR_DEPENDENCIES_INSTALLATION"
return 1
fi
et="$(date +%s)"
@@ -222,7 +209,6 @@ function op_setup() {
st="$(date +%s)"
if ! retry 3 git submodule update --jobs 4 --init --recursive; then
echo -e " ↳ [${RED}✗${NC}] Getting git submodules failed!"
- loge "ERROR_GIT_SUBMODULES"
return 1
fi
et="$(date +%s)"
@@ -232,7 +218,6 @@ function op_setup() {
st="$(date +%s)"
if ! retry 3 git lfs pull; then
echo -e " ↳ [${RED}✗${NC}] Pulling git lfs files failed!"
- loge "ERROR_GIT_LFS"
return 1
fi
et="$(date +%s)"
@@ -468,7 +453,6 @@ function _op() {
-d | --dir ) shift 1; OPENPILOT_ROOT="$1"; shift 1 ;;
--dry ) shift 1; DRY="1" ;;
-n | --no-verify ) shift 1; NO_VERIFY="1" ;;
- -l | --log ) shift 1; LOG_FILE="$1" ; shift 1 ;;
esac
# parse Commands
diff --git a/tools/setup.sh b/tools/setup.sh
index fd7efcee90..dafd466ef9 100755
--- a/tools/setup.sh
+++ b/tools/setup.sh
@@ -33,39 +33,6 @@ cat << 'EOF'
EOF
}
-function sentry_send_event() {
- SENTRY_KEY=dd0cba62ba0ac07ff9f388f8f1e6a7f4
- SENTRY_URL=https://sentry.io/api/4507726145781760/store/
-
- EVENT=$1
- EVENT_TYPE=${2:-$EVENT}
- EVENT_LOG=${3:-"NA"}
-
- PLATFORM=$(uname -s)
- ARCH=$(uname -m)
- SYSTEM=$(uname -a)
- if [[ $PLATFORM == "Darwin" ]]; then
- OS="macos"
- elif [[ $PLATFORM == "Linux" ]]; then
- OS="linux"
- fi
-
- if [[ $ARCH == armv8* ]] || [[ $ARCH == arm64* ]] || [[ $ARCH == aarch64* ]]; then
- ARCH="aarch64"
- elif [[ $ARCH == "x86_64" ]] || [[ $ARCH == i686* ]]; then
- ARCH="x86"
- fi
-
- PYTHON_VERSION=$(echo $(python3 --version 2> /dev/null || echo "NA"))
- BRANCH=$(echo $(git -C $OPENPILOT_ROOT rev-parse --abbrev-ref HEAD 2> /dev/null || echo "NA"))
- COMMIT=$(echo $(git -C $OPENPILOT_ROOT rev-parse HEAD 2> /dev/null || echo "NA"))
-
- curl -s -o /dev/null -X POST -g --data "{ \"exception\": { \"values\": [{ \"type\": \"$EVENT\" }] }, \"tags\" : { \"event_type\" : \"$EVENT_TYPE\", \"event_log\" : \"$EVENT_LOG\", \"os\" : \"$OS\", \"arch\" : \"$ARCH\", \"python_version\" : \"$PYTHON_VERSION\" , \"git_branch\" : \"$BRANCH\", \"git_commit\" : \"$COMMIT\", \"system\" : \"$SYSTEM\" } }" \
- -H 'Content-Type: application/json' \
- -H "X-Sentry-Auth: Sentry sentry_version=7, sentry_key=$SENTRY_KEY, sentry_client=op_setup/0.1" \
- $SENTRY_URL 2> /dev/null
-}
-
function check_stdin() {
if [ -t 0 ]; then
INTERACTIVE=1
@@ -131,7 +98,6 @@ function check_git() {
echo "Checking for git..."
if ! command -v "git" > /dev/null 2>&1; then
echo -e " ↳ [${RED}✗${NC}] git not found on your system, can't continue!"
- sentry_send_event "SETUP_FAILURE" "ERROR_GIT_NOT_FOUND"
return 1
else
echo -e " ↳ [${GREEN}✔${NC}] git found.\n"
@@ -150,7 +116,6 @@ function git_clone() {
fi
echo -e " ↳ [${RED}✗${NC}] failed to clone openpilot!"
- sentry_send_event "SETUP_FAILURE" "ERROR_GIT_CLONE"
return 1
}
@@ -159,18 +124,9 @@ function install_with_op() {
$OPENPILOT_ROOT/tools/op.sh install
$OPENPILOT_ROOT/tools/op.sh post-commit
- LOG_FILE=$(mktemp)
-
- if ! $OPENPILOT_ROOT/tools/op.sh --log $LOG_FILE setup; then
+ if ! $OPENPILOT_ROOT/tools/op.sh setup; then
echo -e "\n[${RED}✗${NC}] failed to install openpilot!"
-
- ERROR_TYPE="$(cat "$LOG_FILE" | sed '1p;d')"
- ERROR_LOG="$(cat "$LOG_FILE" | sed '2p;d')"
- sentry_send_event "SETUP_FAILURE" "$ERROR_TYPE" "$ERROR_LOG" || true
-
return 1
- else
- sentry_send_event "SETUP_SUCCESS" || true
fi
echo -e "\n----------------------------------------------------------------------"
diff --git a/uv.lock b/uv.lock
index 7ecb51f5d1..f8278c1368 100644
--- a/uv.lock
+++ b/uv.lock
@@ -116,12 +116,12 @@ wheels = [
[[package]]
name = "bzip2"
version = "1.0.8"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=bzip2&rev=release-bzip2#1ddfd3eb7b9e30a957c263930e1b0660e5dce6d1" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=bzip2&rev=release-bzip2#13755b73dbcda1b186641fcccce90d55f815d6bc" }
[[package]]
name = "capnproto"
version = "1.0.1"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=capnproto&rev=release-capnproto#6e99db11a1dc5dfa74be40d1e0666ebe10c8e0d7" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=capnproto&rev=release-capnproto#eba2fe8b8208b5408fbda1bc0104a91e4375aee3" }
[[package]]
name = "casadi"
@@ -359,6 +359,15 @@ wheels = [
{ url = "https://files.pythonhosted.org/packages/ff/fa/d3c15189f7c52aaefbaea76fb012119b04b9013f4bf446cb4eb4c26c4e6b/cython-3.2.4-py3-none-any.whl", hash = "sha256:732fc93bc33ae4b14f6afaca663b916c2fdd5dcbfad7114e17fb2434eeaea45c", size = 1257078, upload-time = "2026-01-04T14:14:12.373Z" },
]
+[[package]]
+name = "deepmerge"
+version = "2.0"
+source = { registry = "https://pypi.org/simple" }
+sdist = { url = "https://files.pythonhosted.org/packages/a8/3a/b0ba594708f1ad0bc735884b3ad854d3ca3bdc1d741e56e40bbda6263499/deepmerge-2.0.tar.gz", hash = "sha256:5c3d86081fbebd04dd5de03626a0607b809a98fb6ccba5770b62466fe940ff20", size = 19890, upload-time = "2024-08-30T05:31:50.308Z" }
+wheels = [
+ { url = "https://files.pythonhosted.org/packages/2d/82/e5d2c1c67d19841e9edc74954c827444ae826978499bde3dfc1d007c8c11/deepmerge-2.0-py3-none-any.whl", hash = "sha256:6de9ce507115cff0bed95ff0ce9ecc31088ef50cbdf09bc90a09349a318b3d00", size = 13475, upload-time = "2024-08-30T05:31:48.659Z" },
+]
+
[[package]]
name = "dnspython"
version = "2.8.0"
@@ -371,7 +380,7 @@ wheels = [
[[package]]
name = "eigen"
version = "3.4.0"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=eigen&rev=release-eigen#891c42d8029b2a633f3aca7f60cc7aa4b5305405" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=eigen&rev=release-eigen#9157467a9e343d876e85f6187eae8c974fe3d83f" }
[[package]]
name = "execnet"
@@ -385,7 +394,7 @@ wheels = [
[[package]]
name = "ffmpeg"
version = "7.1.0"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=ffmpeg&rev=release-ffmpeg#8261317427e81a0fa1f53a7ef77f15004ec78889" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=ffmpeg&rev=release-ffmpeg#4be3ad687902199df76b78cc8cf07f61e69ec266" }
[[package]]
name = "fonttools"
@@ -432,24 +441,12 @@ wheels = [
[[package]]
name = "gcc-arm-none-eabi"
version = "13.2.1"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=gcc-arm-none-eabi&rev=release-gcc-arm-none-eabi#fd995de677db114e2862cf4ed245ca9a17536668" }
-
-[[package]]
-name = "ghp-import"
-version = "2.1.0"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
- { name = "python-dateutil" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/d9/29/d40217cbe2f6b1359e00c6c307bb3fc876ba74068cbab3dde77f03ca0dc4/ghp-import-2.1.0.tar.gz", hash = "sha256:9c535c4c61193c2df8871222567d7fd7e5014d835f97dc7b7439069e2413d343", size = 10943, upload-time = "2022-05-02T15:47:16.11Z" }
-wheels = [
- { url = "https://files.pythonhosted.org/packages/f7/ec/67fbef5d497f86283db54c22eec6f6140243aae73265799baaaa19cd17fb/ghp_import-2.1.0-py3-none-any.whl", hash = "sha256:8337dd7b50877f163d4c0289bc1f1c7f127550241988d568c1db512c4324a619", size = 11034, upload-time = "2022-05-02T15:47:14.552Z" },
-]
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=gcc-arm-none-eabi&rev=release-gcc-arm-none-eabi#0e1ae2548977f6cd78c51d4d0c16ebd1863241b8" }
[[package]]
name = "git-lfs"
version = "3.6.1"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=git-lfs&rev=release-git-lfs#9fdbe7eb0257d7a13851ed4baa52fbccbe7e2e9d" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=git-lfs&rev=release-git-lfs#ab3064b6e7df110e32aa7748689cb43b26f07b54" }
[[package]]
name = "google-crc32c"
@@ -498,7 +495,7 @@ wheels = [
[[package]]
name = "imgui"
version = "1.92.7"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=imgui&rev=release-imgui#f3d874be2f3aa44869ffd4775e0957e986a30a68" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=imgui&rev=release-imgui#58d66087adacabb2bb4e56e74ebdea7d55c78e34" }
[[package]]
name = "iniconfig"
@@ -578,12 +575,12 @@ wheels = [
[[package]]
name = "libjpeg"
version = "3.1.0"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=libjpeg&rev=release-libjpeg#d90bc630661092de49428bfc3a82a371ee35a889" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=libjpeg&rev=release-libjpeg#71f7a3f2aaccdc0612d93fac858b78f35bc2a565" }
[[package]]
name = "libusb"
version = "1.0.29"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=libusb&rev=release-libusb#6562b0138726a380368d68a6ac5f6e36d6aea2da" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=libusb&rev=release-libusb#222120c19c857d6d0a681aff2e335c829ffcf89c" }
[[package]]
name = "libusb1"
@@ -599,7 +596,7 @@ wheels = [
[[package]]
name = "libyuv"
version = "1922.0"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=libyuv&rev=release-libyuv#22b976c39a3f2607ef5458056b1a10558da0e85f" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=libyuv&rev=release-libyuv#febc42742ebf25429575caf784adecc6e516b892" }
[[package]]
name = "markdown"
@@ -655,15 +652,6 @@ wheels = [
{ url = "https://files.pythonhosted.org/packages/f1/76/934db220026b5fef85f45d51a738b91dea7d70207581063cd9bd8fafcf74/matplotlib-3.10.8-cp312-cp312-win_arm64.whl", hash = "sha256:3c624e43ed56313651bc18a47f838b60d7b8032ed348911c54906b130b20071b", size = 8012751, upload-time = "2025-12-10T22:55:42.684Z" },
]
-[[package]]
-name = "mergedeep"
-version = "1.3.4"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/3a/41/580bb4006e3ed0361b8151a01d324fb03f420815446c7def45d02f74c270/mergedeep-1.3.4.tar.gz", hash = "sha256:0096d52e9dad9939c3d975a774666af186eda617e6ca84df4c94dec30004f2a8", size = 4661, upload-time = "2021-02-05T18:55:30.623Z" }
-wheels = [
- { url = "https://files.pythonhosted.org/packages/2c/19/04f9b178c2d8a15b076c8b5140708fa6ffc5601fb6f1e975537072df5b2a/mergedeep-1.3.4-py3-none-any.whl", hash = "sha256:70775750742b25c0d8f36c55aed03d24c3384d17c951b3175d898bd778ef0307", size = 6354, upload-time = "2021-02-05T18:55:29.583Z" },
-]
-
[[package]]
name = "metadrive-simulator"
version = "0.4.2.3"
@@ -674,44 +662,6 @@ dependencies = [
{ name = "panda3d-gltf" },
]
-[[package]]
-name = "mkdocs"
-version = "1.6.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
- { name = "click" },
- { name = "colorama", marker = "sys_platform == 'win32'" },
- { name = "ghp-import" },
- { name = "jinja2" },
- { name = "markdown" },
- { name = "markupsafe" },
- { name = "mergedeep" },
- { name = "mkdocs-get-deps" },
- { name = "packaging" },
- { name = "pathspec" },
- { name = "pyyaml" },
- { name = "pyyaml-env-tag" },
- { name = "watchdog" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/bc/c6/bbd4f061bd16b378247f12953ffcb04786a618ce5e904b8c5a01a0309061/mkdocs-1.6.1.tar.gz", hash = "sha256:7b432f01d928c084353ab39c57282f29f92136665bdd6abf7c1ec8d822ef86f2", size = 3889159, upload-time = "2024-08-30T12:24:06.899Z" }
-wheels = [
- { url = "https://files.pythonhosted.org/packages/22/5b/dbc6a8cddc9cfa9c4971d59fb12bb8d42e161b7e7f8cc89e49137c5b279c/mkdocs-1.6.1-py3-none-any.whl", hash = "sha256:db91759624d1647f3f34aa0c3f327dd2601beae39a366d6e064c03468d35c20e", size = 3864451, upload-time = "2024-08-30T12:24:05.054Z" },
-]
-
-[[package]]
-name = "mkdocs-get-deps"
-version = "0.2.2"
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index 0000000000..7e5ca2c5db
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+ { "Contributing Guide →" = "https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md" },
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+ { "GitHub →" = "https://github.com/commaai" },
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