mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-08-24 04:23:47 +08:00
Compare commits
6 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 Jason Wen
|
83c18209c8 | ||
|
Jason Wen
|
0ffa2f846b | ||
|
Jason Wen
|
a7114fad7c | ||
|
DP
|
810a067e24 | ||
|
DP
|
0d4f363aa0 | ||
|
DP
|
09cf8ef734 |
@@ -11,6 +11,8 @@
|
||||
|
||||
selfdrive/car/tests/test_models_segs.txt filter=lfs diff=lfs merge=lfs -text
|
||||
system/hardware/tici/updater filter=lfs diff=lfs merge=lfs -text
|
||||
selfdrive/ui/qt/spinner_larch64 filter=lfs diff=lfs merge=lfs -text
|
||||
selfdrive/ui/qt/text_larch64 filter=lfs diff=lfs merge=lfs -text
|
||||
third_party/**/*.a filter=lfs diff=lfs merge=lfs -text
|
||||
third_party/**/*.so filter=lfs diff=lfs merge=lfs -text
|
||||
third_party/**/*.so.* filter=lfs diff=lfs merge=lfs -text
|
||||
|
||||
@@ -16,7 +16,7 @@ simulation:
|
||||
|
||||
ui:
|
||||
- changed-files:
|
||||
- any-glob-to-all-files: '{selfdrive/ui/**,system/ui/**}'
|
||||
- any-glob-to-all-files: 'selfdrive/ui/**'
|
||||
|
||||
tools:
|
||||
- changed-files:
|
||||
|
||||
@@ -12,7 +12,7 @@ inputs:
|
||||
required: true
|
||||
save:
|
||||
description: 'whether to save the cache'
|
||||
default: 'true'
|
||||
default: 'false'
|
||||
required: false
|
||||
outputs:
|
||||
cache-hit:
|
||||
|
||||
@@ -1,42 +0,0 @@
|
||||
name: "model review"
|
||||
|
||||
on:
|
||||
pull_request:
|
||||
types: [opened, reopened, synchronize]
|
||||
paths:
|
||||
- 'selfdrive/modeld/models/*.onnx'
|
||||
workflow_dispatch:
|
||||
|
||||
jobs:
|
||||
comment:
|
||||
permissions:
|
||||
contents: read
|
||||
pull-requests: write
|
||||
runs-on: ubuntu-latest
|
||||
if: github.repository == 'commaai/openpilot'
|
||||
steps:
|
||||
- name: Checkout
|
||||
uses: actions/checkout@v4
|
||||
- name: Checkout master
|
||||
uses: actions/checkout@v4
|
||||
with:
|
||||
ref: master
|
||||
path: base
|
||||
- run: git lfs pull
|
||||
- run: cd base && git lfs pull
|
||||
|
||||
- run: pip install onnx
|
||||
|
||||
- name: scripts/reporter.py
|
||||
id: report
|
||||
run: |
|
||||
echo "content<<EOF" >> $GITHUB_OUTPUT
|
||||
echo "## Model Review" >> $GITHUB_OUTPUT
|
||||
MASTER_PATH=${{ github.workspace }}/base python scripts/reporter.py >> $GITHUB_OUTPUT
|
||||
echo "EOF" >> $GITHUB_OUTPUT
|
||||
|
||||
- name: Post model report comment
|
||||
uses: marocchino/sticky-pull-request-comment@baa7203ed60924babbe5dcd0ac8eae3b66ec5e16
|
||||
with:
|
||||
header: model-review
|
||||
message: ${{ steps.report.outputs.content }}
|
||||
@@ -53,6 +53,10 @@ jobs:
|
||||
timeout-minutes: 1
|
||||
run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
|
||||
- uses: ./.github/workflows/setup-with-retry
|
||||
- name: Check submodules
|
||||
if: github.repository == 'sunnypilot/sunnypilot'
|
||||
timeout-minutes: 3
|
||||
run: release/check-submodules.sh
|
||||
- name: Build openpilot and run checks
|
||||
timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
|
||||
run: |
|
||||
@@ -63,10 +67,6 @@ jobs:
|
||||
run: |
|
||||
cd $STRIPPED_DIR
|
||||
${{ env.RUN }} "release/check-dirty.sh"
|
||||
- name: Check submodules
|
||||
if: github.repository == 'sunnypilot/sunnypilot'
|
||||
timeout-minutes: 3
|
||||
run: release/check-submodules.sh
|
||||
|
||||
build:
|
||||
runs-on:
|
||||
|
||||
@@ -8,16 +8,14 @@ env:
|
||||
PUBLIC_REPO_URL: "https://github.com/sunnypilot/sunnypilot"
|
||||
|
||||
# Branch configurations
|
||||
STAGING_C3_SOURCE_BRANCH: ${{ vars.STAGING_C3_SOURCE_BRANCH || 'master-new' }} # vars are set on repo settings.
|
||||
DEV_C3_SOURCE_BRANCH: ${{ vars.DEV_C3_SOURCE_BRANCH || 'master-dev-c3-new' }} # vars are set on repo settings.
|
||||
MASTER_BRANCH: "master"
|
||||
MASTER_NEW_BRANCH: "master-new"
|
||||
DEV_C3_SOURCE_BRANCH: "master-dev-c3-new"
|
||||
|
||||
# Target branch configurations
|
||||
STAGING_TARGET_BRANCH: ${{ vars.STAGING_TARGET_BRANCH || 'staging-c3-new' }} # vars are set on repo settings.
|
||||
DEV_TARGET_BRANCH: ${{ vars.DEV_TARGET_BRANCH || 'dev-c3-new' }} # vars are set on repo settings.
|
||||
RELEASE_TARGET_BRANCH: ${{ vars.RELEASE_TARGET_BRANCH || 'release-c3-new' }} # vars are set on repo settings.
|
||||
|
||||
# Runtime configuration
|
||||
SOURCE_BRANCH: "${{ github.head_ref || github.ref_name }}"
|
||||
STAGING_TARGET_BRANCH: "staging-c3-new"
|
||||
DEV_TARGET_BRANCH: "dev-c3-new"
|
||||
RELEASE_TARGET_BRANCH: "release-c3-new"
|
||||
|
||||
on:
|
||||
push:
|
||||
@@ -61,7 +59,7 @@ jobs:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
submodules: recursive
|
||||
ref: ${{ env.SOURCE_BRANCH }}
|
||||
ref: ${{ github.head_ref || github.ref_name }}
|
||||
repository: ${{ github.event.pull_request.head.repo.fork && github.event.pull_request.head.repo.full_name || github.repository }}
|
||||
- run: git lfs pull
|
||||
|
||||
@@ -69,62 +67,53 @@ jobs:
|
||||
uses: actions/cache@v4
|
||||
with:
|
||||
path: ${{env.SCONS_CACHE_DIR}}
|
||||
key: scons-${{ runner.os }}-${{ runner.arch }}-${{ env.SOURCE_BRANCH }}-${{ github.sha }}
|
||||
key: scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-${{ github.sha }}
|
||||
# Note: GitHub Actions enforces cache isolation between different build sources (PR builds, workflow dispatches, etc.)
|
||||
# for security. Only caches from the default branch are shared across all builds. This is by design and cannot be overridden.
|
||||
restore-keys: |
|
||||
scons-${{ runner.os }}-${{ runner.arch }}-${{ env.SOURCE_BRANCH }}
|
||||
scons-${{ runner.os }}-${{ runner.arch }}-${{ env.STAGING_C3_SOURCE_BRANCH }}
|
||||
scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}
|
||||
scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_NEW_BRANCH }}
|
||||
scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_BRANCH }}
|
||||
scons-${{ runner.os }}-${{ runner.arch }}
|
||||
|
||||
- name: Set Feature Branch Prebuilt Configuration
|
||||
id: set_feature_configuration
|
||||
if: (
|
||||
!(env.SOURCE_BRANCH == env.DEV_C3_SOURCE_BRANCH) &&
|
||||
!(env.SOURCE_BRANCH == env.STAGING_C3_SOURCE_BRANCH) &&
|
||||
!(startsWith(github.ref, 'refs/tags/'))
|
||||
)
|
||||
- name: Set Configuration
|
||||
if: (!github.event.pull_request.head.repo.fork)
|
||||
run: |
|
||||
echo "NEW_BRANCH=${{ env.SOURCE_BRANCH }}${{ github.event.pull_request.head.repo.fork && '-fork' || '' }}-prebuilt" >> $GITHUB_ENV
|
||||
if [[ "${{ github.head_ref || github.ref_name }}" == "${{ env.DEV_C3_SOURCE_BRANCH }}" ]]; then
|
||||
# Dev configuration
|
||||
echo "BRANCH_TYPE=dev" >> $GITHUB_ENV
|
||||
echo "NEW_BRANCH=${{ env.DEV_TARGET_BRANCH }}" >> $GITHUB_ENV
|
||||
echo "VERSION=$(date '+%Y.%m.%d')-${{ github.run_number }}" >> $GITHUB_ENV
|
||||
echo "EXTRA_VERSION_IDENTIFIER=${{ github.run_number }}" >> $GITHUB_ENV
|
||||
|
||||
elif [[ "${{ github.head_ref || github.ref_name }}" == "${{ env.MASTER_BRANCH }}" || "${{ github.ref_name }}" == "${{ env.MASTER_NEW_BRANCH }}" ]]; then
|
||||
# Master configuration
|
||||
echo "BRANCH_TYPE=master" >> $GITHUB_ENV
|
||||
echo "NEW_BRANCH=${{ env.STAGING_TARGET_BRANCH }}" >> $GITHUB_ENV
|
||||
echo "EXTRA_VERSION_IDENTIFIER=staging" >> $GITHUB_ENV
|
||||
echo "VERSION=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g')-staging" >> $GITHUB_ENV
|
||||
|
||||
elif [[ "${{ github.ref }}" == refs/tags/* ]]; then
|
||||
# Tag configuration
|
||||
echo "BRANCH_TYPE=tag" >> $GITHUB_ENV
|
||||
echo "NEW_BRANCH=${{ env.RELEASE_TARGET_BRANCH }}" >> $GITHUB_ENV
|
||||
echo "EXTRA_VERSION_IDENTIFIER=release" >> $GITHUB_ENV
|
||||
echo "VERSION=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g')-release" >> $GITHUB_ENV
|
||||
|
||||
else
|
||||
# Feature branch configuration
|
||||
echo "BRANCH_TYPE=dispatch" >> $GITHUB_ENV
|
||||
echo "NEW_BRANCH=${{ github.head_ref || github.ref_name }}-prebuilt" >> $GITHUB_ENV
|
||||
echo "VERSION=$(date '+%Y.%m.%d')-${{ github.run_number }}" >> $GITHUB_ENV
|
||||
fi
|
||||
|
||||
- name: Set Configuration (only forks)
|
||||
if: (github.event.pull_request.head.repo.fork)
|
||||
run: |
|
||||
echo "BRANCH_TYPE=dispatch" >> $GITHUB_ENV
|
||||
echo "NEW_BRANCH=${{ github.head_ref || github.ref_name }}-fork-prebuilt" >> $GITHUB_ENV
|
||||
echo "VERSION=$(date '+%Y.%m.%d')-${{ github.run_number }}" >> $GITHUB_ENV
|
||||
|
||||
- name: Set dev-c3-new prebuilt Configuration
|
||||
id: set_dev_configuration
|
||||
if: (
|
||||
steps.set_feature_configuration.outcome == 'skipped' &&
|
||||
env.SOURCE_BRANCH == env.DEV_C3_SOURCE_BRANCH
|
||||
)
|
||||
run: |
|
||||
echo "NEW_BRANCH=${{ env.DEV_TARGET_BRANCH }}" >> $GITHUB_ENV
|
||||
echo "VERSION=$(date '+%Y.%m.%d')-${{ github.run_number }}" >> $GITHUB_ENV
|
||||
echo "EXTRA_VERSION_IDENTIFIER=${{ github.run_number }}" >> $GITHUB_ENV
|
||||
|
||||
- name: Set staging-c3-new prebuilt Configuration
|
||||
id: set_staging_configuration
|
||||
if: (
|
||||
steps.set_feature_configuration.outcome == 'skipped' &&
|
||||
!contains(github.event_name, 'pull_request') &&
|
||||
steps.set_dev_configuration.outcome == 'skipped' &&
|
||||
(env.SOURCE_BRANCH == env.STAGING_C3_SOURCE_BRANCH)
|
||||
)
|
||||
run: |
|
||||
echo "NEW_BRANCH=${{ env.STAGING_TARGET_BRANCH }}" >> $GITHUB_ENV
|
||||
echo "EXTRA_VERSION_IDENTIFIER=staging" >> $GITHUB_ENV
|
||||
echo "VERSION=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g')-staging" >> $GITHUB_ENV
|
||||
|
||||
- name: Set release-c3-new prebuilt Configuration
|
||||
id: set_tag_configuration
|
||||
if: (
|
||||
steps.set_feature_configuration.outcome == 'skipped' &&
|
||||
!contains(github.event_name, 'pull_request') &&
|
||||
steps.set_staging_configuration.outcome == 'skipped' &&
|
||||
startsWith(github.ref, 'refs/tags/')
|
||||
)
|
||||
run: |
|
||||
echo "NEW_BRANCH=${{ env.RELEASE_TARGET_BRANCH }}" >> $GITHUB_ENV
|
||||
echo "EXTRA_VERSION_IDENTIFIER=release" >> $GITHUB_ENV
|
||||
echo "VERSION=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g')-release" >> $GITHUB_ENV
|
||||
|
||||
- name: Set environment variables
|
||||
id: set-env
|
||||
run: |
|
||||
@@ -289,12 +278,12 @@ jobs:
|
||||
|
||||
- name: Send Discord Notification
|
||||
env:
|
||||
DISCORD_WEBHOOK: ${{ contains(fromJSON(vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES), env.SOURCE_BRANCH) && secrets.DISCORD_DEV_FEEDBACK_CHANNEL_WEBHOOK || secrets.DISCORD_DEV_PRIVATE_CHANNEL_WEBHOOK }}
|
||||
DISCORD_WEBHOOK: ${{ contains(fromJSON(vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES), github.head_ref || github.ref_name) && secrets.DISCORD_DEV_FEEDBACK_CHANNEL_WEBHOOK || secrets.DISCORD_DEV_PRIVATE_CHANNEL_WEBHOOK }}
|
||||
run: |
|
||||
TEMPLATE='${{ vars.DISCORD_GENERAL_UPDATE_NOTICE }}'
|
||||
export EXTRA_VERSION_IDENTIFIER="${{ needs.build.outputs.extra_version_identifier }}"
|
||||
export VERSION="${{ needs.build.outputs.version }}"
|
||||
export branch_name=${{ env.SOURCE_BRANCH }}
|
||||
export branch_name=${{ github.head_ref || github.ref_name }}
|
||||
export new_branch=${{ needs.build.outputs.new_branch }}
|
||||
export extra_version_identifier=${{ needs.build.outputs.extra_version_identifier || github.run_number}}
|
||||
echo ${TEMPLATE} | envsubst | jq -c '.' | tee payload.json
|
||||
|
||||
@@ -40,13 +40,5 @@ runs:
|
||||
RUN_ID=$(gh run list --workflow=${{ inputs.workflow }} --branch="$BRANCH" --limit=1 --json databaseId --jq '.[0].databaseId')
|
||||
echo "Watching run ID: $RUN_ID"
|
||||
gh run watch "$RUN_ID"
|
||||
|
||||
CONCLUSION=$(gh run view "$RUN_ID" --json conclusion --jq '.conclusion')
|
||||
echo "Run concluded with: $CONCLUSION"
|
||||
|
||||
if [[ "$CONCLUSION" != "success" ]]; then
|
||||
echo "❌ Workflow run failed with conclusion: $CONCLUSION"
|
||||
exit 1
|
||||
fi
|
||||
env:
|
||||
GITHUB_TOKEN: ${{ inputs.github-token }}
|
||||
|
||||
@@ -47,8 +47,10 @@ selfdrive/pandad/pandad
|
||||
cereal/services.h
|
||||
cereal/gen
|
||||
cereal/messaging/bridge
|
||||
selfdrive/logcatd/logcatd
|
||||
selfdrive/mapd/default_speeds_by_region.json
|
||||
system/proclogd/proclogd
|
||||
selfdrive/ui/translations/alerts_generated.h
|
||||
selfdrive/ui/translations/tmp
|
||||
selfdrive/test/longitudinal_maneuvers/out
|
||||
selfdrive/car/tests/cars_dump
|
||||
|
||||
+3
-6
@@ -1,13 +1,10 @@
|
||||
Version 0.9.9 (2025-05-15)
|
||||
Version 0.9.9 (2025-04-30)
|
||||
========================
|
||||
* New driving model
|
||||
* New training architecture supervised by MLSIM
|
||||
* Steering actuator delay is now learned online
|
||||
* Tesla Model 3 and Y support thanks to lukasloetkolben!
|
||||
* Lexus RC 2023 support thanks to nelsonjchen!
|
||||
* Coming soon
|
||||
* New Honda models
|
||||
* Bigger vision model
|
||||
* New driving model supervised by MLSIM
|
||||
* An online learner for steering actuator delay
|
||||
|
||||
Version 0.9.8 (2025-02-28)
|
||||
========================
|
||||
|
||||
+18
-40
@@ -39,6 +39,20 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
|
||||
sha256 @1 :Text;
|
||||
}
|
||||
|
||||
enum Type {
|
||||
drive @0;
|
||||
navigation @1;
|
||||
metadata @2;
|
||||
}
|
||||
|
||||
struct Model {
|
||||
fullName @0 :Text;
|
||||
fileName @1 :Text;
|
||||
downloadUri @2 :DownloadUri;
|
||||
downloadProgress @3 :DownloadProgress;
|
||||
type @4 :Type;
|
||||
}
|
||||
|
||||
enum DownloadStatus {
|
||||
notDownloading @0;
|
||||
downloading @1;
|
||||
@@ -53,25 +67,6 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
|
||||
eta @2 :UInt32;
|
||||
}
|
||||
|
||||
struct Artifact {
|
||||
fileName @0 :Text;
|
||||
downloadUri @1 :DownloadUri;
|
||||
downloadProgress @2 :DownloadProgress;
|
||||
}
|
||||
|
||||
struct Model {
|
||||
type @0 :Type;
|
||||
artifact @1 :Artifact; # Main artifact
|
||||
metadata @2 :Artifact; # Metadata artifact
|
||||
|
||||
enum Type {
|
||||
supercombo @0;
|
||||
navigation @1;
|
||||
vision @2;
|
||||
policy @3;
|
||||
}
|
||||
}
|
||||
|
||||
enum Runner {
|
||||
snpe @0;
|
||||
tinygrad @1;
|
||||
@@ -88,14 +83,11 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
|
||||
environment @6 :Text;
|
||||
runner @7 :Runner;
|
||||
is20hz @8 :Bool;
|
||||
ref @9 :Text; # New field
|
||||
minimumSelectorVersion @10 :UInt32;
|
||||
}
|
||||
}
|
||||
|
||||
struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
|
||||
dec @0 :DynamicExperimentalControl;
|
||||
accelPersonality @1 :AccelerationPersonality;
|
||||
|
||||
struct DynamicExperimentalControl {
|
||||
state @0 :DynamicExperimentalControlState;
|
||||
@@ -107,13 +99,6 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
|
||||
blended @1;
|
||||
}
|
||||
}
|
||||
|
||||
enum AccelerationPersonality {
|
||||
sport @0;
|
||||
normal @1;
|
||||
eco @2;
|
||||
stock @3;
|
||||
}
|
||||
}
|
||||
|
||||
struct OnroadEventSP @0xda96579883444c35 {
|
||||
@@ -152,7 +137,6 @@ struct OnroadEventSP @0xda96579883444c35 {
|
||||
hyundaiRadarTracksConfirmed @13;
|
||||
experimentalModeSwitched @14;
|
||||
wrongCarModeAlertOnly @15;
|
||||
pedalPressedAlertOnly @16;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -175,12 +159,6 @@ struct CarParamsSP @0x80ae746ee2596b11 {
|
||||
|
||||
struct CarControlSP @0xa5cd762cd951a455 {
|
||||
mads @0 :ModularAssistiveDrivingSystem;
|
||||
params @1 :List(Param);
|
||||
|
||||
struct Param {
|
||||
key @0 :Text;
|
||||
value @1 :Text;
|
||||
}
|
||||
}
|
||||
|
||||
struct BackupManagerSP @0xf98d843bfd7004a3 {
|
||||
@@ -191,14 +169,14 @@ struct BackupManagerSP @0xf98d843bfd7004a3 {
|
||||
lastError @4 :Text;
|
||||
currentBackup @5 :BackupInfo;
|
||||
backupHistory @6 :List(BackupInfo);
|
||||
|
||||
|
||||
enum Status {
|
||||
idle @0;
|
||||
inProgress @1;
|
||||
completed @2;
|
||||
failed @3;
|
||||
}
|
||||
|
||||
|
||||
struct Version {
|
||||
major @0 :UInt16;
|
||||
minor @1 :UInt16;
|
||||
@@ -206,13 +184,13 @@ struct BackupManagerSP @0xf98d843bfd7004a3 {
|
||||
build @3 :UInt16;
|
||||
branch @4 :Text;
|
||||
}
|
||||
|
||||
|
||||
struct MetadataEntry {
|
||||
key @0 :Text;
|
||||
value @1 :Text;
|
||||
tags @2 :List(Text);
|
||||
}
|
||||
|
||||
|
||||
struct BackupInfo {
|
||||
deviceId @0 :Text;
|
||||
version @1 :UInt32;
|
||||
|
||||
@@ -48,7 +48,6 @@ struct OnroadEvent @0xc4fa6047f024e718 {
|
||||
preEnableStandstill @12; # added during pre-enable state with brake
|
||||
gasPressedOverride @13; # added when user is pressing gas with no disengage on gas
|
||||
steerOverride @14;
|
||||
steerDisengage @94; # exits active state
|
||||
cruiseDisabled @15;
|
||||
speedTooLow @16;
|
||||
outOfSpace @17;
|
||||
|
||||
+1
-1
@@ -1 +1 @@
|
||||
#define DEFAULT_MODEL "Tomb Raider 7 (Default)"
|
||||
#define DEFAULT_MODEL "Tomb Raider 3 (Default)"
|
||||
|
||||
@@ -138,7 +138,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
|
||||
// MADS params
|
||||
{"Mads", PERSISTENT | BACKUP},
|
||||
{"MadsMainCruiseAllowed", PERSISTENT | BACKUP},
|
||||
{"MadsSteeringMode", PERSISTENT | BACKUP},
|
||||
{"MadsPauseLateralOnBrake", PERSISTENT | BACKUP},
|
||||
{"MadsUnifiedEngagementMode", PERSISTENT | BACKUP},
|
||||
|
||||
// Model Manager params
|
||||
@@ -164,12 +164,10 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
|
||||
{"BackupManager_RestoreVersion", PERSISTENT},
|
||||
|
||||
// sunnypilot car specific params
|
||||
{"HyundaiLongitudinalTuning", PERSISTENT},
|
||||
{"HyundaiRadarTracks", PERSISTENT},
|
||||
{"HyundaiRadarTracksConfirmed", PERSISTENT},
|
||||
{"HyundaiRadarTracksPersistent", PERSISTENT},
|
||||
{"HyundaiRadarTracksToggle", PERSISTENT},
|
||||
|
||||
{"DynamicExperimentalControl", PERSISTENT},
|
||||
{"AccelPersonality", PERSISTENT},
|
||||
};
|
||||
|
||||
+2
-3
@@ -1,7 +1,6 @@
|
||||
"""Utilities for reading real time clocks and keeping soft real time constraints."""
|
||||
import gc
|
||||
import os
|
||||
import sys
|
||||
import time
|
||||
|
||||
from setproctitle import getproctitle
|
||||
@@ -29,13 +28,13 @@ class Priority:
|
||||
|
||||
|
||||
def set_core_affinity(cores: list[int]) -> None:
|
||||
if sys.platform == 'linux' and not PC:
|
||||
if not PC:
|
||||
os.sched_setaffinity(0, cores)
|
||||
|
||||
|
||||
def config_realtime_process(cores: int | list[int], priority: int) -> None:
|
||||
gc.disable()
|
||||
if sys.platform == 'linux' and not PC:
|
||||
if not PC:
|
||||
os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(priority))
|
||||
c = cores if isinstance(cores, list) else [cores, ]
|
||||
set_core_affinity(c)
|
||||
|
||||
@@ -0,0 +1,52 @@
|
||||
import os
|
||||
import subprocess
|
||||
from openpilot.common.basedir import BASEDIR
|
||||
|
||||
|
||||
class Spinner:
|
||||
def __init__(self):
|
||||
try:
|
||||
self.spinner_proc = subprocess.Popen(["./spinner"],
|
||||
stdin=subprocess.PIPE,
|
||||
cwd=os.path.join(BASEDIR, "selfdrive", "ui"),
|
||||
close_fds=True)
|
||||
except OSError:
|
||||
self.spinner_proc = None
|
||||
|
||||
def __enter__(self):
|
||||
return self
|
||||
|
||||
def update(self, spinner_text: str):
|
||||
if self.spinner_proc is not None:
|
||||
self.spinner_proc.stdin.write(spinner_text.encode('utf8') + b"\n")
|
||||
try:
|
||||
self.spinner_proc.stdin.flush()
|
||||
except BrokenPipeError:
|
||||
pass
|
||||
|
||||
def update_progress(self, cur: float, total: float):
|
||||
self.update(str(round(100 * cur / total)))
|
||||
|
||||
def close(self):
|
||||
if self.spinner_proc is not None:
|
||||
self.spinner_proc.kill()
|
||||
try:
|
||||
self.spinner_proc.communicate(timeout=2.)
|
||||
except subprocess.TimeoutExpired:
|
||||
print("WARNING: failed to kill spinner")
|
||||
self.spinner_proc = None
|
||||
|
||||
def __del__(self):
|
||||
self.close()
|
||||
|
||||
def __exit__(self, exc_type, exc_value, traceback):
|
||||
self.close()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
import time
|
||||
with Spinner() as s:
|
||||
s.update("Spinner text")
|
||||
time.sleep(5.0)
|
||||
print("gone")
|
||||
time.sleep(5.0)
|
||||
@@ -24,6 +24,6 @@ class TestSimpleKalman:
|
||||
self.kf.set_x([[1.0], [1.0]])
|
||||
assert self.kf.x == [[1.0], [1.0]]
|
||||
|
||||
def test_update_returns_state(self):
|
||||
def update_returns_state(self):
|
||||
x = self.kf.update(100)
|
||||
assert x == [i[0] for i in self.kf.x]
|
||||
assert x == self.kf.x
|
||||
|
||||
Executable
+63
@@ -0,0 +1,63 @@
|
||||
#!/usr/bin/env python3
|
||||
import os
|
||||
import time
|
||||
import subprocess
|
||||
from openpilot.common.basedir import BASEDIR
|
||||
|
||||
|
||||
class TextWindow:
|
||||
def __init__(self, text):
|
||||
try:
|
||||
self.text_proc = subprocess.Popen(["./text", text],
|
||||
stdin=subprocess.PIPE,
|
||||
cwd=os.path.join(BASEDIR, "selfdrive", "ui"),
|
||||
close_fds=True)
|
||||
except OSError:
|
||||
self.text_proc = None
|
||||
|
||||
def get_status(self):
|
||||
if self.text_proc is not None:
|
||||
self.text_proc.poll()
|
||||
return self.text_proc.returncode
|
||||
return None
|
||||
|
||||
def __enter__(self):
|
||||
return self
|
||||
|
||||
def close(self):
|
||||
if self.text_proc is not None:
|
||||
self.text_proc.terminate()
|
||||
self.text_proc = None
|
||||
|
||||
def wait_for_exit(self):
|
||||
if self.text_proc is not None:
|
||||
while True:
|
||||
if self.get_status() == 1:
|
||||
return
|
||||
time.sleep(0.1)
|
||||
|
||||
def __del__(self):
|
||||
self.close()
|
||||
|
||||
def __exit__(self, exc_type, exc_value, traceback):
|
||||
self.close()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
text = """Traceback (most recent call last):
|
||||
File "./controlsd.py", line 608, in <module>
|
||||
main()
|
||||
File "./controlsd.py", line 604, in main
|
||||
controlsd_thread(sm, pm, logcan)
|
||||
File "./controlsd.py", line 455, in controlsd_thread
|
||||
1/0
|
||||
ZeroDivisionError: division by zero"""
|
||||
print(text)
|
||||
|
||||
with TextWindow(text) as s:
|
||||
for _ in range(100):
|
||||
if s.get_status() == 1:
|
||||
print("Got exit button")
|
||||
break
|
||||
time.sleep(0.1)
|
||||
print("gone")
|
||||
+75
-83
@@ -4,20 +4,19 @@
|
||||
|
||||
A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
|
||||
|
||||
# 311 Supported Cars
|
||||
# 304 Supported Cars
|
||||
|
||||
|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br> |Video|
|
||||
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
|
||||
|Acura|ILX 2016-18|Technology Plus Package or AcuraWatch Plus|openpilot|26 mph|25 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=ILX 2016-18">Buy Here</a></sub></details>||
|
||||
|Acura|ILX 2019|All|openpilot|26 mph|25 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=ILX 2019">Buy Here</a></sub></details>||
|
||||
|Acura|RDX 2016-18|AcuraWatch Plus or Advance Package|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2016-18">Buy Here</a></sub></details>||
|
||||
|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|26 mph|25 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=ILX 2016-19">Buy Here</a></sub></details>||
|
||||
|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2016-18">Buy Here</a></sub></details>||
|
||||
|Acura|RDX 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2019-21">Buy Here</a></sub></details>||
|
||||
|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>||
|
||||
|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>||
|
||||
|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q2 2018">Buy Here</a></sub></details>||
|
||||
|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q3 2019-23">Buy Here</a></sub></details>||
|
||||
|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=RS3 2018">Buy Here</a></sub></details>||
|
||||
|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=S3 2015-17">Buy Here</a></sub></details>||
|
||||
|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>||
|
||||
|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>||
|
||||
|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q2 2018">Buy Here</a></sub></details>||
|
||||
|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q3 2019-23">Buy Here</a></sub></details>||
|
||||
|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=RS3 2018">Buy Here</a></sub></details>||
|
||||
|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=S3 2015-17">Buy Here</a></sub></details>||
|
||||
|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Bolt EV 2022-23">Buy Here</a></sub></details>||
|
||||
|Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Equinox 2019-22">Buy Here</a></sub></details>||
|
||||
@@ -29,26 +28,21 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2017-18">Buy Here</a></sub></details>||
|
||||
|Chrysler|Pacifica Hybrid 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2019-24">Buy Here</a></sub></details>||
|
||||
|comma|body|All|openpilot|0 mph|0 mph|[](##)|[](##)|None||
|
||||
|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=CUPRA&model=Ateca 2018-23">Buy Here</a></sub></details>||
|
||||
|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=CUPRA&model=Ateca 2018-23">Buy Here</a></sub></details>||
|
||||
|Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Dodge&model=Durango 2020-21">Buy Here</a></sub></details>||
|
||||
|Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Bronco Sport 2021-24">Buy Here</a></sub></details>||
|
||||
|Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape 2020-22">Buy Here</a></sub></details>||
|
||||
|Ford|Escape 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape 2023-24">Buy Here</a></sub></details>||
|
||||
|Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape Hybrid 2020-22">Buy Here</a></sub></details>||
|
||||
|Ford|Escape Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape Hybrid 2023-24">Buy Here</a></sub></details>||
|
||||
|Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
|
||||
|Ford|Escape Plug-in Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape Plug-in Hybrid 2023-24">Buy Here</a></sub></details>||
|
||||
|Ford|Explorer 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Explorer 2020-24">Buy Here</a></sub></details>||
|
||||
|Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Explorer Hybrid 2020-24">Buy Here</a></sub></details>||
|
||||
|Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=F-150 2021-23">Buy Here</a></sub></details>||
|
||||
|Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=F-150 Hybrid 2021-23">Buy Here</a></sub></details>||
|
||||
|Ford|Focus 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Focus 2018">Buy Here</a></sub></details>||
|
||||
|Ford|Focus Hybrid 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Focus Hybrid 2018">Buy Here</a></sub></details>||
|
||||
|Ford|Kuga 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga 2020-23">Buy Here</a></sub></details>||
|
||||
|Ford|Kuga Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga Hybrid 2020-23">Buy Here</a></sub></details>||
|
||||
|Ford|Kuga Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga Hybrid 2024">Buy Here</a></sub></details>||
|
||||
|Ford|Kuga Plug-in Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga Plug-in Hybrid 2020-23">Buy Here</a></sub></details>||
|
||||
|Ford|Kuga Plug-in Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga Plug-in Hybrid 2024">Buy Here</a></sub></details>||
|
||||
|Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga 2020-22">Buy Here</a></sub></details>||
|
||||
|Ford|Kuga Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga Hybrid 2020-22">Buy Here</a></sub></details>||
|
||||
|Ford|Kuga Plug-in Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
|
||||
|Ford|Maverick 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2022">Buy Here</a></sub></details>||
|
||||
|Ford|Maverick 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2023-24">Buy Here</a></sub></details>||
|
||||
|Ford|Maverick Hybrid 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick Hybrid 2022">Buy Here</a></sub></details>||
|
||||
@@ -86,7 +80,7 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Honda|Fit 2018-20|Honda Sensing|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Fit 2018-20">Buy Here</a></sub></details>||
|
||||
|Honda|Freed 2020|Honda Sensing|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Freed 2020">Buy Here</a></sub></details>||
|
||||
|Honda|HR-V 2019-22|Honda Sensing|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=HR-V 2019-22">Buy Here</a></sub></details>||
|
||||
|Honda|HR-V 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=HR-V 2023-25">Buy Here</a></sub></details>||
|
||||
|Honda|HR-V 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=HR-V 2023">Buy Here</a></sub></details>||
|
||||
|Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Insight 2019-22">Buy Here</a></sub></details>||
|
||||
|Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Inspire 2018">Buy Here</a></sub></details>||
|
||||
|Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Odyssey 2018-20">Buy Here</a></sub></details>||
|
||||
@@ -192,7 +186,6 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Lexus|NX Hybrid 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX Hybrid 2018-19">Buy Here</a></sub></details>||
|
||||
|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX Hybrid 2020-21">Buy Here</a></sub></details>||
|
||||
|Lexus|RC 2018-20|All|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RC 2018-20">Buy Here</a></sub></details>||
|
||||
|Lexus|RC 2023|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RC 2023">Buy Here</a></sub></details>||
|
||||
|Lexus|RX 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX 2016">Buy Here</a></sub></details>||
|
||||
|Lexus|RX 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX 2017-19">Buy Here</a></sub></details>||
|
||||
|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX 2020-22">Buy Here</a></sub></details>||
|
||||
@@ -202,8 +195,8 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Lexus|UX Hybrid 2019-24|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=UX Hybrid 2019-24">Buy Here</a></sub></details>||
|
||||
|Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator 2020-24">Buy Here</a></sub></details>||
|
||||
|Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>||
|
||||
|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-5 2022-25">Buy Here</a></sub></details>||
|
||||
|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Nissan[<sup>7</sup>](#footnotes)|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Altima 2019-20">Buy Here</a></sub></details>||
|
||||
@@ -213,8 +206,8 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ram connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ram&model=1500 2019-24">Buy Here</a></sub></details>||
|
||||
|Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Rivian&model=R1S 2022-24">Buy Here</a></sub></details>||
|
||||
|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Rivian&model=R1T 2022-24">Buy Here</a></sub></details>||
|
||||
|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Ateca 2016-23">Buy Here</a></sub></details>||
|
||||
|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Leon 2014-20">Buy Here</a></sub></details>||
|
||||
|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Ateca 2016-23">Buy Here</a></sub></details>||
|
||||
|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Leon 2014-20">Buy Here</a></sub></details>||
|
||||
|Subaru|Ascent 2019-21|All[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
|
||||
|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
|
||||
@@ -225,19 +218,19 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Subaru|Outback 2020-22|All[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
|
||||
|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
|
||||
|Škoda|Fabia 2022-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Fabia 2022-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)||
|
||||
|Škoda|Kamiq 2021-23[<sup>13,15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kamiq 2021-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)||
|
||||
|Škoda|Karoq 2019-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Karoq 2019-23">Buy Here</a></sub></details>||
|
||||
|Škoda|Kodiaq 2017-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kodiaq 2017-23">Buy Here</a></sub></details>||
|
||||
|Škoda|Octavia 2015-19[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia 2015-19">Buy Here</a></sub></details>||
|
||||
|Škoda|Octavia RS 2016[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia RS 2016">Buy Here</a></sub></details>||
|
||||
|Škoda|Octavia Scout 2017-19[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia Scout 2017-19">Buy Here</a></sub></details>||
|
||||
|Škoda|Scala 2020-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Scala 2020-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)||
|
||||
|Škoda|Superb 2015-22[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Superb 2015-22">Buy Here</a></sub></details>||
|
||||
|Tesla[<sup>11</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Tesla&model=Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>||
|
||||
|Tesla[<sup>11</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Tesla&model=Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>||
|
||||
|Tesla[<sup>11</sup>](#footnotes)|Model Y (with HW3) 2020-23[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Tesla&model=Model Y (with HW3) 2020-23">Buy Here</a></sub></details>||
|
||||
|Tesla[<sup>11</sup>](#footnotes)|Model Y (with HW4) 2024[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Tesla&model=Model Y (with HW4) 2024">Buy Here</a></sub></details>||
|
||||
|Škoda|Fabia 2022-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Fabia 2022-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)||
|
||||
|Škoda|Kamiq 2021-23[<sup>12,14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kamiq 2021-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)||
|
||||
|Škoda|Karoq 2019-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Karoq 2019-23">Buy Here</a></sub></details>||
|
||||
|Škoda|Kodiaq 2017-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kodiaq 2017-23">Buy Here</a></sub></details>||
|
||||
|Škoda|Octavia 2015-19[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia 2015-19">Buy Here</a></sub></details>||
|
||||
|Škoda|Octavia RS 2016[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia RS 2016">Buy Here</a></sub></details>||
|
||||
|Škoda|Octavia Scout 2017-19[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia Scout 2017-19">Buy Here</a></sub></details>||
|
||||
|Škoda|Scala 2020-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Scala 2020-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)||
|
||||
|Škoda|Superb 2015-22[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Superb 2015-22">Buy Here</a></sub></details>||
|
||||
|Tesla|Model 3 (with HW3) 2019-23[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Tesla&model=Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>||
|
||||
|Tesla|Model 3 (with HW4) 2024-25[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Tesla&model=Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>||
|
||||
|Tesla|Model Y (with HW3) 2020-23[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Tesla&model=Model Y (with HW3) 2020-23">Buy Here</a></sub></details>||
|
||||
|Tesla|Model Y (with HW4) 2024[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Tesla&model=Model Y (with HW4) 2024">Buy Here</a></sub></details>||
|
||||
|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Alphard 2019-20">Buy Here</a></sub></details>||
|
||||
|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Alphard Hybrid 2021">Buy Here</a></sub></details>||
|
||||
|Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon 2016">Buy Here</a></sub></details>||
|
||||
@@ -250,8 +243,8 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Toyota|C-HR 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR 2021">Buy Here</a></sub></details>||
|
||||
|Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR Hybrid 2017-20">Buy Here</a></sub></details>||
|
||||
|Toyota|C-HR Hybrid 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR Hybrid 2021-22">Buy Here</a></sub></details>||
|
||||
|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>12</sup>](#footnotes)|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>12</sup>](#footnotes)|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry 2021-24">Buy Here</a></sub></details>||
|
||||
|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>11</sup>](#footnotes)|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>11</sup>](#footnotes)|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry 2021-24">Buy Here</a></sub></details>||
|
||||
|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Camry Hybrid 2021-24|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry Hybrid 2021-24">Buy Here</a></sub></details>||
|
||||
|Toyota|Corolla 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla 2017-19">Buy Here</a></sub></details>||
|
||||
@@ -283,42 +276,42 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|RAV4 Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas 2018-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas Cross Sport 2020-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=California 2021-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Caravelle 2020">Buy Here</a></sub></details>||
|
||||
|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Golf 2014-20">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf 2015-20">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf Alltrack 2015-19">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTD 2015-20">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTE 2015-20">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTI 2015-21">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf R 2015-19">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf SportsVan 2015-20">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Jetta 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta 2018-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta GLI 2021-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Passat 2015-22[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat 2015-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat Alltrack 2015-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat GTE 2015-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo 2018-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)||
|
||||
|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)||
|
||||
|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Cross 2021">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)||
|
||||
|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Roc 2018-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Taos 2022-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan 2018-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas 2018-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas Cross Sport 2020-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=California 2021-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Caravelle 2020">Buy Here</a></sub></details>||
|
||||
|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Golf 2014-20">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf 2015-20">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf Alltrack 2015-19">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTD 2015-20">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTE 2015-20">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTI 2015-21">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf R 2015-19">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf SportsVan 2015-20">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Jetta 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta 2018-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta GLI 2021-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Passat 2015-22[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat 2015-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat Alltrack 2015-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat GTE 2015-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo 2018-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)||
|
||||
|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)||
|
||||
|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Cross 2021">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)||
|
||||
|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Roc 2018-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Taos 2022-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan 2018-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>||
|
||||
|
||||
### Footnotes
|
||||
<sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `nightly-dev`. <br />
|
||||
@@ -331,13 +324,12 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
<sup>8</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
|
||||
<sup>9</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
|
||||
<sup>10</sup>Some 2023 model years have HW4. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
|
||||
<sup>11</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/tesla" target="_blank">Tesla</a>. <br />
|
||||
<sup>12</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
|
||||
<sup>13</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
|
||||
<sup>14</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
|
||||
<sup>15</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma 3X functionality. <br />
|
||||
<sup>16</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
|
||||
<sup>17</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
|
||||
<sup>11</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
|
||||
<sup>12</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
|
||||
<sup>13</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
|
||||
<sup>14</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma 3X functionality. <br />
|
||||
<sup>15</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
|
||||
<sup>16</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
|
||||
|
||||
## Community Maintained Cars
|
||||
Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
|
||||
|
||||
+2
-2
@@ -25,9 +25,9 @@ ensuring two main safety requirements.
|
||||
by stepping on the brake pedal or by pressing the cancel button.
|
||||
2. The vehicle must not alter its trajectory too quickly for the driver to safely
|
||||
react. This means that while the system is engaged, the actuators are constrained
|
||||
to operate within reasonable limits[^1].
|
||||
to operate within reasonable limits[^1].
|
||||
|
||||
For additional safety implementation details, refer to [panda safety model](https://github.com/commaai/panda#safety-model). For vehicle specific implementation of the safety concept, refer to [opendbc/safety/safety](https://github.com/commaai/opendbc/tree/master/opendbc/safety/safety).
|
||||
For additional safety implementation details, refer to [panda safety model](https://github.com/commaai/panda#safety-model). For vehicle specific implementation of the safety concept, refer to [panda/board/safety/](https://github.com/commaai/panda/tree/master/board/safety).
|
||||
|
||||
**Extra note**: comma.ai strongly discourages the use of openpilot forks with safety code either missing or
|
||||
not fully meeting the above requirements.
|
||||
|
||||
@@ -20,7 +20,7 @@ source .venv/bin/activate
|
||||
|
||||
Then, compile openpilot:
|
||||
```bash
|
||||
scons -j$(nproc)
|
||||
scons -j8
|
||||
```
|
||||
|
||||
## 2. Run replay
|
||||
@@ -38,77 +38,61 @@ The openpilot UI should launch and show a replay of the demo route.
|
||||
|
||||
If you have your own comma device, you can replace `--demo` with one of your own routes from comma connect.
|
||||
|
||||
|
||||
## 3. Make the speed blue
|
||||
|
||||
Now let’s update the speed display color in the UI.
|
||||
|
||||
Search for the function responsible for rendering UI text:
|
||||
Search for “mph” with git grep in the `ui` folder.
|
||||
```bash
|
||||
git grep "drawText" selfdrive/ui/qt/onroad/hud.cc
|
||||
$ git grep "mph" selfdrive/ui/
|
||||
paint.cc: ui_draw_text(s, s->fb_w/2, 290, s->scene.is_metric ? "km/h" : "mph", 36 * 2.5, COLOR_WHITE_ALPHA(200), "sans-regular");
|
||||
```
|
||||
|
||||
You’ll find the relevant code inside `selfdrive/ui/qt/onroad/hud.cc`, in this function:
|
||||
|
||||
```cpp
|
||||
void HudRenderer::drawText(QPainter &p, int x, int y, const QString &text, int alpha) {
|
||||
QRect real_rect = p.fontMetrics().boundingRect(text);
|
||||
real_rect.moveCenter({x, y - real_rect.height() / 2});
|
||||
|
||||
p.setPen(QColor(0xff, 0xff, 0xff, alpha)); // <- this sets the speed text color
|
||||
p.drawText(real_rect.x(), real_rect.bottom(), text);
|
||||
}
|
||||
```
|
||||
|
||||
Change the `QColor(...)` line to make it **blue** instead of white. A nice soft blue is `#8080FF`, which translates to:
|
||||
|
||||
```diff
|
||||
- p.setPen(QColor(0xff, 0xff, 0xff, alpha));
|
||||
+ p.setPen(QColor(0x80, 0x80, 0xFF, alpha));
|
||||
```
|
||||
|
||||
This change will tint all speed-related UI text to blue with the same transparency (`alpha`).
|
||||
|
||||
---
|
||||
|
||||
## 4. Rebuild the UI
|
||||
|
||||
After making changes, rebuild Openpilot so your new UI is compiled:
|
||||
The line right above contains the actual speed. Unfortunately, COLOR_BLUE isn’t defined, but a git grep of COLOR_WHITE shows it’s nvgRGBA(255, 255, 255, 255). Personally, I like a lighter blue, so I went with #8080FF.
|
||||
```bash
|
||||
scons -j$(nproc) && selfdrive/ui/ui
|
||||
$ git diff
|
||||
diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
|
||||
index 821d95115..cc996eaa1 100644
|
||||
--- a/selfdrive/ui/paint.cc
|
||||
+++ b/selfdrive/ui/paint.cc
|
||||
@@ -175,8 +175,8 @@ static void ui_draw_vision_speed(UIState *s) {
|
||||
const float speed = std::max(0.0, (*s->sm)["carState"].getCarState().getVEgo() * (s->scene.is_metric ? 3.6 : 2.2369363));
|
||||
const std::string speed_str = std::to_string((int)std::nearbyint(speed));
|
||||
nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
|
||||
- ui_draw_text(s, s->fb_w/2, 210, speed_str.c_str(), 96 * 2.5, COLOR_WHITE, "sans-bold");
|
||||
- ui_draw_text(s, s->fb_w/2, 290, s->scene.is_metric ? "km/h" : "mph", 36 * 2.5, COLOR_WHITE_ALPHA(200), "sans-regular");
|
||||
+ ui_draw_text(s, s->fb_w/2, 210, speed_str.c_str(), 96 * 2.5, nvgRGBA(128, 128, 255, 255), "sans-bold");
|
||||
+ ui_draw_text(s, s->fb_w/2, 290, s->scene.is_metric ? "km/h" : "mph", 36 * 2.5, nvgRGBA(128, 128, 255, 200), "sans-regular");
|
||||
}
|
||||
|
||||
static void ui_draw_vision_event(UIState *s) {
|
||||
```
|
||||
|
||||
|
||||
## 4. Rebuild UI, and admire your work
|
||||
|
||||
```
|
||||
scons -j8 && selfdrive/ui/ui
|
||||
```
|
||||
|
||||
|
||||
|
||||
You should now see the speed displayed in a nice blue shade during the demo replay.
|
||||
|
||||
---
|
||||
|
||||
## 5. Push your fork to GitHub
|
||||
|
||||
Click **"Fork"** on the [Openpilot GitHub repo](https://github.com/commaai/openpilot). Then push with:
|
||||
Click fork on GitHub. Then, push with:
|
||||
```bash
|
||||
git remote rm origin
|
||||
git remote add origin git@github.com:<your-github-username>/openpilot.git
|
||||
git add .
|
||||
git commit -m "Make the speed display blue"
|
||||
git commit -m "Make the speed blue."
|
||||
git push --set-upstream origin master
|
||||
```
|
||||
|
||||
---
|
||||
## 6. Run your fork on device in your car!
|
||||
|
||||
## 6. Run your fork on your comma device
|
||||
|
||||
Uninstall Openpilot through the settings on your device.
|
||||
|
||||
Then reinstall using your own GitHub-hosted fork:
|
||||
Uninstall openpilot from your device through the settings. Then, enter the URL for your very own installer:
|
||||
```
|
||||
installer.comma.ai/<your-github-username>/master
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 7. Admire your work IRL 🚗💨
|
||||
|
||||
You’ve now successfully modified Openpilot’s UI and deployed it to your own car!
|
||||
## 7. Admire your work IRL
|
||||
|
||||
|
||||
|
||||
+1
-1
@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
|
||||
export VECLIB_MAXIMUM_THREADS=1
|
||||
|
||||
if [ -z "$AGNOS_VERSION" ]; then
|
||||
export AGNOS_VERSION="12.1"
|
||||
export AGNOS_VERSION="11.13"
|
||||
fi
|
||||
|
||||
export STAGING_ROOT="/data/safe_staging"
|
||||
|
||||
+1
-1
Submodule opendbc_repo updated: 52d2957b47...2e30aa37b3
+1
-1
Submodule panda updated: 77869d76e8...57f9ca1d14
@@ -47,7 +47,6 @@ dependencies = [
|
||||
# logging
|
||||
"pyzmq",
|
||||
"sentry-sdk",
|
||||
"xattr", # used in place of 'os.getxattr' for macos compatibility
|
||||
|
||||
# athena
|
||||
"PyJWT",
|
||||
|
||||
@@ -1,31 +0,0 @@
|
||||
#!/usr/bin/env python3
|
||||
import os
|
||||
import glob
|
||||
import onnx
|
||||
|
||||
BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
|
||||
MASTER_PATH = os.getenv("MASTER_PATH", BASEDIR)
|
||||
MODEL_PATH = "/selfdrive/modeld/models/"
|
||||
|
||||
def get_checkpoint(f):
|
||||
model = onnx.load(f)
|
||||
metadata = {prop.key: prop.value for prop in model.metadata_props}
|
||||
return metadata['model_checkpoint'].split('/')[0]
|
||||
|
||||
if __name__ == "__main__":
|
||||
print("| | master | PR branch |")
|
||||
print("|-| ----- | --------- |")
|
||||
|
||||
for f in glob.glob(BASEDIR + MODEL_PATH + "/*.onnx"):
|
||||
# TODO: add checkpoint to DM
|
||||
if "dmonitoring" in f:
|
||||
continue
|
||||
|
||||
fn = os.path.basename(f)
|
||||
master = get_checkpoint(MASTER_PATH + MODEL_PATH + fn)
|
||||
pr = get_checkpoint(BASEDIR + MODEL_PATH + fn)
|
||||
print(
|
||||
"|", fn, "|",
|
||||
f"[{master}](https://reporter.comma.life/experiment/{master})", "|",
|
||||
f"[{pr}](https://reporter.comma.life/experiment/{pr})", "|"
|
||||
)
|
||||
@@ -191,8 +191,6 @@ class CarSpecificEvents:
|
||||
events.add(EventName.accFaulted)
|
||||
if CS.steeringPressed:
|
||||
events.add(EventName.steerOverride)
|
||||
if CS.steeringDisengage and not CS_prev.steeringDisengage:
|
||||
events.add(EventName.steerDisengage)
|
||||
if CS.brakePressed and CS.standstill:
|
||||
events.add(EventName.preEnableStandstill)
|
||||
if CS.gasPressed:
|
||||
|
||||
@@ -108,7 +108,7 @@ class Car:
|
||||
fixed_fingerprint = json.loads(self.params.get("CarPlatformBundle", encoding='utf-8') or "{}").get("platform", None)
|
||||
|
||||
self.CI = get_car(*self.can_callbacks, obd_callback(self.params), alpha_long_allowed, num_pandas, cached_params, fixed_fingerprint)
|
||||
sunnypilot_interfaces.setup_interfaces(self.CI, self.params)
|
||||
sunnypilot_interfaces.setup_interfaces(self.CI.CP, self.CI.CP_SP, self.params)
|
||||
self.RI = interfaces[self.CI.CP.carFingerprint].RadarInterface(self.CI.CP, self.CI.CP_SP)
|
||||
self.CP = self.CI.CP
|
||||
self.CP_SP = self.CI.CP_SP
|
||||
|
||||
@@ -55,6 +55,5 @@ def convert_carControlSP(struct: capnp.lib.capnp._DynamicStructReader) -> struct
|
||||
struct_dataclass = structs.CarControlSP(**remove_deprecated({k: v for k, v in struct_dict.items() if not isinstance(k, dict)}))
|
||||
|
||||
struct_dataclass.mads = structs.ModularAssistiveDrivingSystem(**remove_deprecated(struct_dict.get('mads', {})))
|
||||
struct_dataclass.params = [structs.CarControlSP.Param(**remove_deprecated(p)) for p in struct_dict.get('params', [])]
|
||||
|
||||
return struct_dataclass
|
||||
|
||||
@@ -45,9 +45,9 @@ class TestCarInterfaces:
|
||||
alpha_long=args['alpha_long'], docs=False)
|
||||
car_params_sp = CarInterface.get_params_sp(car_params, car_name, args['fingerprints'], args['car_fw'],
|
||||
alpha_long=args['alpha_long'], docs=False)
|
||||
sunnypilot_interfaces.setup_interfaces(car_params, car_params_sp)
|
||||
car_params = car_params.as_reader()
|
||||
car_interface = CarInterface(car_params, car_params_sp)
|
||||
sunnypilot_interfaces.setup_interfaces(car_interface)
|
||||
assert car_params
|
||||
assert car_params_sp
|
||||
assert car_interface
|
||||
|
||||
@@ -4,7 +4,7 @@ from openpilot.common.basedir import BASEDIR
|
||||
from opendbc.car.docs import generate_cars_md, get_all_car_docs
|
||||
from openpilot.selfdrive.debug.dump_car_docs import dump_car_docs
|
||||
from openpilot.selfdrive.debug.print_docs_diff import print_car_docs_diff
|
||||
from openpilot.selfdrive.car.docs import CARS_MD_TEMPLATE
|
||||
from openpilot.selfdrive.car.docs import CARS_MD_OUT, CARS_MD_TEMPLATE
|
||||
|
||||
|
||||
class TestCarDocs:
|
||||
@@ -13,7 +13,11 @@ class TestCarDocs:
|
||||
cls.all_cars = get_all_car_docs()
|
||||
|
||||
def test_generator(self):
|
||||
generate_cars_md(self.all_cars, CARS_MD_TEMPLATE)
|
||||
generated_cars_md = generate_cars_md(self.all_cars, CARS_MD_TEMPLATE)
|
||||
with open(CARS_MD_OUT) as f:
|
||||
current_cars_md = f.read()
|
||||
|
||||
assert generated_cars_md == current_cars_md, "Run selfdrive/car/docs.py to update the compatibility documentation"
|
||||
|
||||
def test_docs_diff(self):
|
||||
dump_path = os.path.join(BASEDIR, "selfdrive", "car", "tests", "cars_dump")
|
||||
|
||||
@@ -338,7 +338,6 @@ class TestCarModelBase(unittest.TestCase):
|
||||
prev_panda_gas = self.safety.get_gas_pressed_prev()
|
||||
prev_panda_brake = self.safety.get_brake_pressed_prev()
|
||||
prev_panda_regen_braking = self.safety.get_regen_braking_prev()
|
||||
prev_panda_steering_disengage = self.safety.get_steering_disengage_prev()
|
||||
prev_panda_vehicle_moving = self.safety.get_vehicle_moving()
|
||||
prev_panda_vehicle_speed_min = self.safety.get_vehicle_speed_min()
|
||||
prev_panda_vehicle_speed_max = self.safety.get_vehicle_speed_max()
|
||||
@@ -366,9 +365,6 @@ class TestCarModelBase(unittest.TestCase):
|
||||
if self.safety.get_regen_braking_prev() != prev_panda_regen_braking:
|
||||
self.assertEqual(CS.regenBraking, self.safety.get_regen_braking_prev())
|
||||
|
||||
if self.safety.get_steering_disengage_prev() != prev_panda_steering_disengage:
|
||||
self.assertEqual(CS.steeringDisengage, self.safety.get_steering_disengage_prev())
|
||||
|
||||
if self.safety.get_vehicle_moving() != prev_panda_vehicle_moving:
|
||||
self.assertEqual(not CS.standstill, self.safety.get_vehicle_moving())
|
||||
|
||||
@@ -444,7 +440,6 @@ class TestCarModelBase(unittest.TestCase):
|
||||
brake_pressed = False
|
||||
checks['brakePressed'] += brake_pressed != self.safety.get_brake_pressed_prev()
|
||||
checks['regenBraking'] += CS.regenBraking != self.safety.get_regen_braking_prev()
|
||||
checks['steeringDisengage'] += CS.steeringDisengage != self.safety.get_steering_disengage_prev()
|
||||
|
||||
if self.CP.pcmCruise:
|
||||
# On most pcmCruise cars, openpilot's state is always tied to the PCM's cruise state.
|
||||
|
||||
@@ -1,10 +1,8 @@
|
||||
#!/usr/bin/env python3
|
||||
import math
|
||||
import threading
|
||||
import time
|
||||
from typing import SupportsFloat
|
||||
|
||||
from cereal import car, log
|
||||
from cereal import car, log, custom
|
||||
import cereal.messaging as messaging
|
||||
from openpilot.common.conversions import Conversions as CV
|
||||
from openpilot.common.params import Params
|
||||
@@ -21,8 +19,6 @@ from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
|
||||
from openpilot.selfdrive.controls.lib.longcontrol import LongControl
|
||||
from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose
|
||||
|
||||
from openpilot.sunnypilot.selfdrive.controls.controlsd_ext import ControlsExt
|
||||
|
||||
State = log.SelfdriveState.OpenpilotState
|
||||
LaneChangeState = log.LaneChangeState
|
||||
LaneChangeDirection = log.LaneChangeDirection
|
||||
@@ -30,23 +26,24 @@ LaneChangeDirection = log.LaneChangeDirection
|
||||
ACTUATOR_FIELDS = tuple(car.CarControl.Actuators.schema.fields.keys())
|
||||
|
||||
|
||||
class Controls(ControlsExt):
|
||||
class Controls:
|
||||
def __init__(self) -> None:
|
||||
self.params = Params()
|
||||
cloudlog.info("controlsd is waiting for CarParams")
|
||||
self.CP = messaging.log_from_bytes(self.params.get("CarParams", block=True), car.CarParams)
|
||||
cloudlog.info("controlsd got CarParams")
|
||||
|
||||
# Initialize sunnypilot controlsd extension
|
||||
ControlsExt.__init__(self, self.CP, self.params)
|
||||
cloudlog.info("controlsd is waiting for CarParamsSP")
|
||||
self.CP_SP = messaging.log_from_bytes(self.params.get("CarParamsSP", block=True), custom.CarParamsSP)
|
||||
cloudlog.info("controlsd got CarParamsSP")
|
||||
|
||||
self.CI = interfaces[self.CP.carFingerprint](self.CP, self.CP_SP)
|
||||
|
||||
self.sm = messaging.SubMaster(['liveParameters', 'liveTorqueParameters', 'modelV2', 'selfdriveState',
|
||||
'liveCalibration', 'livePose', 'longitudinalPlan', 'carState', 'carOutput',
|
||||
'driverMonitoringState', 'onroadEvents', 'driverAssistance'] + self.sm_services_ext,
|
||||
'driverMonitoringState', 'onroadEvents', 'driverAssistance'] + ['selfdriveStateSP'],
|
||||
poll='selfdriveState')
|
||||
self.pm = messaging.PubMaster(['carControl', 'controlsState'] + self.pm_services_ext)
|
||||
self.pm = messaging.PubMaster(['carControl', 'controlsState'] + ['carControlSP'])
|
||||
|
||||
self.steer_limited_by_controls = False
|
||||
self.curvature = 0.0
|
||||
@@ -103,8 +100,11 @@ class Controls(ControlsExt):
|
||||
# Check which actuators can be enabled
|
||||
standstill = abs(CS.vEgo) <= max(self.CP.minSteerSpeed, 0.3) or CS.standstill
|
||||
|
||||
# Get which state to use for active lateral control
|
||||
_lat_active = self.get_lat_active(self.sm)
|
||||
ss_sp = self.sm['selfdriveStateSP']
|
||||
if ss_sp.mads.available:
|
||||
_lat_active = ss_sp.mads.active
|
||||
else:
|
||||
_lat_active = self.sm['selfdriveState'].active
|
||||
|
||||
CC.latActive = _lat_active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \
|
||||
(not standstill or self.CP.steerAtStandstill)
|
||||
@@ -148,14 +148,16 @@ class Controls(ControlsExt):
|
||||
cloudlog.error(f"actuators.{p} not finite {actuators.to_dict()}")
|
||||
setattr(actuators, p, 0.0)
|
||||
|
||||
return CC, lac_log
|
||||
CC_SP = custom.CarControlSP.new_message()
|
||||
CC_SP.mads = ss_sp.mads
|
||||
|
||||
def publish(self, CC, lac_log):
|
||||
return CC, CC_SP, lac_log
|
||||
|
||||
def publish(self, CC, CC_SP, lac_log):
|
||||
CS = self.sm['carState']
|
||||
|
||||
# Orientation and angle rates can be useful for carcontroller
|
||||
# Only calibrated (car) frame is relevant for the carcontroller
|
||||
CC.currentCurvature = self.curvature
|
||||
if self.calibrated_pose is not None:
|
||||
CC.orientationNED = self.calibrated_pose.orientation.xyz.tolist()
|
||||
CC.angularVelocity = self.calibrated_pose.angular_velocity.xyz.tolist()
|
||||
@@ -224,27 +226,19 @@ class Controls(ControlsExt):
|
||||
cc_send.carControl = CC
|
||||
self.pm.send('carControl', cc_send)
|
||||
|
||||
def params_thread(self, evt):
|
||||
while not evt.is_set():
|
||||
self.get_params_sp()
|
||||
|
||||
time.sleep(0.1)
|
||||
# carControlSP
|
||||
cc_sp_send = messaging.new_message('carControlSP')
|
||||
cc_sp_send.valid = CS.canValid
|
||||
cc_sp_send.carControlSP = CC_SP
|
||||
self.pm.send('carControlSP', cc_sp_send)
|
||||
|
||||
def run(self):
|
||||
rk = Ratekeeper(100, print_delay_threshold=None)
|
||||
e = threading.Event()
|
||||
t = threading.Thread(target=self.params_thread, args=(e,))
|
||||
try:
|
||||
t.start()
|
||||
while True:
|
||||
self.update()
|
||||
CC, lac_log = self.state_control()
|
||||
self.publish(CC, lac_log)
|
||||
self.run_ext(self.sm, self.pm)
|
||||
rk.monitor_time()
|
||||
finally:
|
||||
e.set()
|
||||
t.join()
|
||||
while True:
|
||||
self.update()
|
||||
CC, CC_SP, lac_log = self.state_control()
|
||||
self.publish(CC, CC_SP, lac_log)
|
||||
rk.monitor_time()
|
||||
|
||||
|
||||
def main():
|
||||
|
||||
@@ -62,13 +62,3 @@ def get_accel_from_plan(speeds, accels, t_idxs, action_t=DT_MDL, vEgoStopping=0.
|
||||
should_stop = (v_target < vEgoStopping and
|
||||
v_target_1sec < vEgoStopping)
|
||||
return a_target, should_stop
|
||||
|
||||
def curv_from_psis(psi_target, psi_rate, vego, action_t):
|
||||
vego = np.clip(vego, MIN_SPEED, np.inf)
|
||||
curv_from_psi = psi_target / (vego * action_t)
|
||||
return 2*curv_from_psi - psi_rate / vego
|
||||
|
||||
def get_curvature_from_plan(yaws, yaw_rates, t_idxs, vego, action_t):
|
||||
psi_target = np.interp(action_t, t_idxs, yaws)
|
||||
psi_rate = yaw_rates[0]
|
||||
return curv_from_psis(psi_target, psi_rate, vego, action_t)
|
||||
|
||||
@@ -10,9 +10,6 @@ from openpilot.common.swaglog import cloudlog
|
||||
from openpilot.selfdrive.modeld.constants import index_function
|
||||
from openpilot.selfdrive.controls.radard import _LEAD_ACCEL_TAU
|
||||
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.accel_personality.accel_controller import AccelController
|
||||
|
||||
|
||||
if __name__ == '__main__': # generating code
|
||||
from openpilot.third_party.acados.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver
|
||||
else:
|
||||
@@ -231,7 +228,6 @@ class LongitudinalMpc:
|
||||
self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N)
|
||||
self.reset()
|
||||
self.source = SOURCES[2]
|
||||
self.accel_controller = AccelController()
|
||||
|
||||
def reset(self):
|
||||
# self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N)
|
||||
@@ -336,8 +332,6 @@ class LongitudinalMpc:
|
||||
v_ego = self.x0[1]
|
||||
self.status = radarstate.leadOne.status or radarstate.leadTwo.status
|
||||
|
||||
a_cruise_min = self.accel_controller._get_min_accel_for_speed(v_ego)
|
||||
|
||||
lead_xv_0 = self.process_lead(radarstate.leadOne)
|
||||
lead_xv_1 = self.process_lead(radarstate.leadTwo)
|
||||
|
||||
@@ -356,7 +350,7 @@ class LongitudinalMpc:
|
||||
|
||||
# Fake an obstacle for cruise, this ensures smooth acceleration to set speed
|
||||
# when the leads are no factor.
|
||||
v_lower = v_ego + (T_IDXS * a_cruise_min * 1.05)
|
||||
v_lower = v_ego + (T_IDXS * CRUISE_MIN_ACCEL * 1.05)
|
||||
# TODO does this make sense when max_a is negative?
|
||||
v_upper = v_ego + (T_IDXS * CRUISE_MAX_ACCEL * 1.05)
|
||||
v_cruise_clipped = np.clip(v_cruise * np.ones(N+1),
|
||||
|
||||
@@ -93,8 +93,8 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
|
||||
return x, v, a, j, throttle_prob
|
||||
|
||||
def update(self, sm):
|
||||
self.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc'
|
||||
LongitudinalPlannerSP.update(self, sm)
|
||||
self.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc'
|
||||
if dec_mpc_mode := self.get_mpc_mode():
|
||||
self.mode = dec_mpc_mode
|
||||
|
||||
@@ -126,16 +126,6 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
|
||||
else:
|
||||
accel_clip = [ACCEL_MIN, ACCEL_MAX]
|
||||
|
||||
# Override accel using Accel Controller if enabled
|
||||
if self.accel_controller.is_personality_enabled:
|
||||
max_limit = self.accel_controller._get_max_accel_for_speed(v_ego)
|
||||
if self.mpc.mode == 'acc':
|
||||
# Use the accel controller limits directly
|
||||
accel_clip = [ACCEL_MIN, max_limit]
|
||||
# Recalculate limit turn according to the new max limit
|
||||
steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg
|
||||
accel_clip = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_clip, self.CP)
|
||||
|
||||
if reset_state:
|
||||
self.v_desired_filter.x = v_ego
|
||||
# Clip aEgo to cruise limits to prevent large accelerations when becoming active
|
||||
@@ -188,10 +178,6 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
|
||||
output_a_target = min(output_a_target_mpc, output_a_target_e2e)
|
||||
self.output_should_stop = output_should_stop_e2e or output_should_stop_mpc
|
||||
|
||||
if not self.is_stock:
|
||||
# To support non Tomb Raider models
|
||||
output_a_target, self.output_should_stop = output_a_target_mpc, output_should_stop_mpc
|
||||
|
||||
for idx in range(2):
|
||||
accel_clip[idx] = np.clip(accel_clip[idx], self.prev_accel_clip[idx] - 0.05, self.prev_accel_clip[idx] + 0.05)
|
||||
self.output_a_target = np.clip(output_a_target, accel_clip[0], accel_clip[1])
|
||||
|
||||
@@ -23,7 +23,7 @@ class TestLatControl:
|
||||
CP = CarInterface.get_non_essential_params(car_name)
|
||||
CP_SP = CarInterface.get_non_essential_params_sp(CP, car_name)
|
||||
CI = CarInterface(CP, CP_SP)
|
||||
sunnypilot_interfaces.setup_interfaces(CI)
|
||||
sunnypilot_interfaces.setup_interfaces(CP, CP_SP)
|
||||
CP_SP = convert_to_capnp(CP_SP)
|
||||
VM = VehicleModel(CP)
|
||||
|
||||
|
||||
@@ -71,13 +71,6 @@ SUPPORTED_FW_VERSIONS = {
|
||||
b"DLhe SCC FHCUP 1.00 1.02 99110-L7000 \x01 \x102 ": ConfigValues(
|
||||
default_config=b"\x00\x00\x00\x01\x00\x00",
|
||||
tracks_enabled=b"\x00\x00\x00\x01\x00\x01"),
|
||||
# 2022 Niro EV
|
||||
b"DEev SCC F-CUP 1.00 1.00 99110-Q4600\x01\x42 ": ConfigValues(
|
||||
default_config=b"\x00\x00\x00\x01\x00\x00",
|
||||
tracks_enabled=b"\x00\x00\x00\x01\x00\x01"),
|
||||
b"DEev SCC F-CUP 1.00 1.00 99110-Q4600 \x07\x03\t% ": ConfigValues(
|
||||
default_config=b"\x00\x00\x00\x01\x00\x00",
|
||||
tracks_enabled=b"\x00\x00\x00\x01\x00\x01"),
|
||||
}
|
||||
|
||||
if __name__ == "__main__":
|
||||
|
||||
@@ -52,7 +52,7 @@ class TorqueBuckets(PointBuckets):
|
||||
class TorqueEstimator(ParameterEstimator):
|
||||
def __init__(self, CP, decimated=False, track_all_points=False):
|
||||
self.hist_len = int(HISTORY / DT_MDL)
|
||||
self.lag = 0.0
|
||||
self.lag = CP.steerActuatorDelay + .2 # from controlsd
|
||||
self.track_all_points = track_all_points # for offline analysis, without max lateral accel or max steer torque filters
|
||||
if decimated:
|
||||
self.min_bucket_points = MIN_BUCKET_POINTS / 10
|
||||
@@ -175,8 +175,7 @@ class TorqueEstimator(ParameterEstimator):
|
||||
self.raw_points["steer_override"].append(msg.steeringPressed)
|
||||
elif which == "liveCalibration":
|
||||
self.calibrator.feed_live_calib(msg)
|
||||
elif which == "liveDelay":
|
||||
self.lag = msg.lateralDelay
|
||||
|
||||
# calculate lateral accel from past steering torque
|
||||
elif which == "livePose":
|
||||
if len(self.raw_points['steer_torque']) == self.hist_len:
|
||||
@@ -242,7 +241,7 @@ def main(demo=False):
|
||||
config_realtime_process([0, 1, 2, 3], 5)
|
||||
|
||||
pm = messaging.PubMaster(['liveTorqueParameters'])
|
||||
sm = messaging.SubMaster(['carControl', 'carOutput', 'carState', 'liveCalibration', 'livePose', 'liveDelay'], poll='livePose')
|
||||
sm = messaging.SubMaster(['carControl', 'carOutput', 'carState', 'liveCalibration', 'livePose'], poll='livePose')
|
||||
|
||||
params = Params()
|
||||
estimator = TorqueEstimator(messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams))
|
||||
|
||||
@@ -47,10 +47,8 @@ elif arch == 'Darwin':
|
||||
else:
|
||||
device_string = 'LLVM=1 LLVMOPT=1 BEAM=0 IMAGE=0'
|
||||
|
||||
# TODO-SP: after 15.4 it's not possible to compile models locally on mac https://discord.com/channels/469524606043160576/1362735424644055230
|
||||
if arch != 'Darwin':
|
||||
for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
|
||||
fn = File(f"models/{model_name}").abspath
|
||||
cmd = f'{pythonpath_string} {device_string} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {fn}_tinygrad.pkl'
|
||||
lenv.Command(fn + "_tinygrad.pkl", [fn + ".onnx"] + tinygrad_files, cmd)
|
||||
for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
|
||||
fn = File(f"models/{model_name}").abspath
|
||||
cmd = f'{pythonpath_string} {device_string} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {fn}_tinygrad.pkl'
|
||||
lenv.Command(fn + "_tinygrad.pkl", [fn + ".onnx"] + tinygrad_files, cmd)
|
||||
|
||||
|
||||
@@ -90,11 +90,18 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
|
||||
fill_xyzt(modelV2.orientationRate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T)
|
||||
|
||||
# temporal pose
|
||||
#temporal_pose = modelV2.temporalPose
|
||||
#temporal_pose.trans = net_output_data['sim_pose'][0,:ModelConstants.POSE_WIDTH//2].tolist()
|
||||
#temporal_pose.transStd = net_output_data['sim_pose_stds'][0,:ModelConstants.POSE_WIDTH//2].tolist()
|
||||
#temporal_pose.rot = net_output_data['sim_pose'][0,ModelConstants.POSE_WIDTH//2:].tolist()
|
||||
#temporal_pose.rotStd = net_output_data['sim_pose_stds'][0,ModelConstants.POSE_WIDTH//2:].tolist()
|
||||
temporal_pose = modelV2.temporalPose
|
||||
if 'sim_pose' in net_output_data:
|
||||
temporal_pose.trans = net_output_data['sim_pose'][0,:ModelConstants.POSE_WIDTH//2].tolist()
|
||||
temporal_pose.transStd = net_output_data['sim_pose_stds'][0,:ModelConstants.POSE_WIDTH//2].tolist()
|
||||
temporal_pose.rot = net_output_data['sim_pose'][0,ModelConstants.POSE_WIDTH//2:].tolist()
|
||||
temporal_pose.rotStd = net_output_data['sim_pose_stds'][0,ModelConstants.POSE_WIDTH//2:].tolist()
|
||||
else:
|
||||
temporal_pose.trans = net_output_data['plan'][0,0,Plan.VELOCITY].tolist()
|
||||
temporal_pose.transStd = net_output_data['plan_stds'][0,0,Plan.VELOCITY].tolist()
|
||||
temporal_pose.rot = net_output_data['plan'][0,0,Plan.ORIENTATION_RATE].tolist()
|
||||
temporal_pose.rotStd = net_output_data['plan_stds'][0,0,Plan.ORIENTATION_RATE].tolist()
|
||||
|
||||
|
||||
# poly path
|
||||
fill_xyz_poly(driving_model_data.path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T)
|
||||
|
||||
@@ -26,7 +26,7 @@ from openpilot.common.transformations.camera import DEVICE_CAMERAS
|
||||
from openpilot.common.transformations.model import get_warp_matrix
|
||||
from openpilot.system import sentry
|
||||
from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
|
||||
from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value, get_curvature_from_plan
|
||||
from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value
|
||||
from openpilot.selfdrive.modeld.parse_model_outputs import Parser
|
||||
from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
|
||||
from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
|
||||
@@ -55,11 +55,7 @@ def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.
|
||||
action_t=long_action_t)
|
||||
desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, LONG_SMOOTH_SECONDS)
|
||||
|
||||
desired_curvature = get_curvature_from_plan(plan[:,Plan.T_FROM_CURRENT_EULER][:,2],
|
||||
plan[:,Plan.ORIENTATION_RATE][:,2],
|
||||
ModelConstants.T_IDXS,
|
||||
v_ego,
|
||||
lat_action_t)
|
||||
desired_curvature = model_output['desired_curvature'][0, 0]
|
||||
if v_ego > MIN_LAT_CONTROL_SPEED:
|
||||
desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, LAT_SMOOTH_SECONDS)
|
||||
else:
|
||||
@@ -224,7 +220,7 @@ def main(demo=False):
|
||||
|
||||
# messaging
|
||||
pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry"])
|
||||
sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl", "liveDelay"])
|
||||
sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl"])
|
||||
|
||||
publish_state = PublishState()
|
||||
params = Params()
|
||||
@@ -251,6 +247,7 @@ def main(demo=False):
|
||||
|
||||
# TODO this needs more thought, use .2s extra for now to estimate other delays
|
||||
# TODO Move smooth seconds to action function
|
||||
lat_delay = CP.steerActuatorDelay + .2 + LAT_SMOOTH_SECONDS
|
||||
long_delay = CP.longitudinalActuatorDelay + LONG_SMOOTH_SECONDS
|
||||
prev_action = log.ModelDataV2.Action()
|
||||
|
||||
@@ -294,7 +291,6 @@ def main(demo=False):
|
||||
is_rhd = sm["driverMonitoringState"].isRHD
|
||||
frame_id = sm["roadCameraState"].frameId
|
||||
v_ego = max(sm["carState"].vEgo, 0.)
|
||||
lat_delay = sm["liveDelay"].lateralDelay + LAT_SMOOTH_SECONDS
|
||||
lateral_control_params = np.array([v_ego, lat_delay], dtype=np.float32)
|
||||
if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
|
||||
device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
|
||||
|
||||
@@ -1,3 +1,3 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:19e30484236efff72d519938c3e26461dbeb89c11d81fa7ecbff8e0263333c18
|
||||
size 15588463
|
||||
oid sha256:84061882148485dabfdd23ee7e0925284a4370d0ae5be804d6099ae847352891
|
||||
size 15578328
|
||||
|
||||
@@ -1,3 +1,3 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:dad289ae367cefcb862ef1d707fb4919d008f0eeaa1ebaf18df58d8de5a7d96e
|
||||
oid sha256:f222d2c528f1763828de01bb55e8979b1e4056e1dbb41350f521d2d2bb09d177
|
||||
size 46265585
|
||||
|
||||
@@ -41,7 +41,7 @@
|
||||
#define CUTOFF_IL 400
|
||||
#define SATURATE_IL 1000
|
||||
|
||||
#define ALT_EXP_MADS_DISENGAGE_LATERAL_ON_BRAKE 2048
|
||||
#define ALT_EXP_DISENGAGE_LATERAL_ON_BRAKE 2048
|
||||
|
||||
ExitHandler do_exit;
|
||||
|
||||
@@ -57,7 +57,7 @@ bool check_all_connected(const std::vector<Panda *> &pandas) {
|
||||
|
||||
bool process_mads_heartbeat(SubMaster *sm) {
|
||||
const int &alt_exp = (*sm)["carParams"].getCarParams().getAlternativeExperience();
|
||||
const bool disengage_lateral_on_brake = (alt_exp & ALT_EXP_MADS_DISENGAGE_LATERAL_ON_BRAKE) != 0;
|
||||
const bool disengage_lateral_on_brake = (alt_exp & ALT_EXP_DISENGAGE_LATERAL_ON_BRAKE) != 0;
|
||||
|
||||
const auto &mads = (*sm)["selfdriveStateSP"].getSelfdriveStateSP().getMads();
|
||||
const bool heartbeat_type = disengage_lateral_on_brake ? mads.getActive() : mads.getEnabled();
|
||||
@@ -474,12 +474,7 @@ void pandad_run(std::vector<Panda *> &pandas) {
|
||||
for (auto *panda : pandas) {
|
||||
std::string log = panda->serial_read();
|
||||
if (!log.empty()) {
|
||||
if (log.find("Register 0x") != std::string::npos) {
|
||||
// Log register divergent faults as errors
|
||||
LOGE("%s", log.c_str());
|
||||
} else {
|
||||
LOGD("%s", log.c_str());
|
||||
}
|
||||
LOGD("%s", log.c_str());
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@@ -503,11 +503,6 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
|
||||
visual_alert=VisualAlert.brakePressed),
|
||||
},
|
||||
|
||||
EventName.steerDisengage: {
|
||||
ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
|
||||
ET.NO_ENTRY: NoEntryAlert("Steering Pressed"),
|
||||
},
|
||||
|
||||
EventName.preEnableStandstill: {
|
||||
ET.PRE_ENABLE: Alert(
|
||||
"Release Brake to Engage",
|
||||
|
||||
@@ -571,7 +571,7 @@ CONFIGS = [
|
||||
),
|
||||
ProcessConfig(
|
||||
proc_name="torqued",
|
||||
pubs=["livePose", "liveCalibration", "liveDelay", "carState", "carControl", "carOutput"],
|
||||
pubs=["livePose", "liveCalibration", "carState", "carControl", "carOutput"],
|
||||
subs=["liveTorqueParameters"],
|
||||
ignore=["logMonoTime"],
|
||||
init_callback=get_car_params_callback,
|
||||
@@ -580,7 +580,7 @@ CONFIGS = [
|
||||
),
|
||||
ProcessConfig(
|
||||
proc_name="modeld",
|
||||
pubs=["deviceState", "roadCameraState", "wideRoadCameraState", "liveCalibration", "liveDelay", "driverMonitoringState", "carState", "carControl"],
|
||||
pubs=["deviceState", "roadCameraState", "wideRoadCameraState", "liveCalibration", "driverMonitoringState", "carState", "carControl"],
|
||||
subs=["modelV2", "drivingModelData", "cameraOdometry"],
|
||||
ignore=["logMonoTime", "modelV2.frameDropPerc", "modelV2.modelExecutionTime", "drivingModelData.frameDropPerc", "drivingModelData.modelExecutionTime"],
|
||||
should_recv_callback=ModeldCameraSyncRcvCallback(),
|
||||
|
||||
@@ -1 +1 @@
|
||||
7bf4ae5b92a3ad1f073f675e24e28babad0f2aa0
|
||||
fcc771b9ceb487a61035885acbd84e592fb316bf
|
||||
@@ -3,6 +3,9 @@ moc_*
|
||||
|
||||
translations/main_test_en.*
|
||||
|
||||
_text
|
||||
_spinner
|
||||
|
||||
ui
|
||||
mui
|
||||
watch3
|
||||
|
||||
@@ -73,6 +73,10 @@ if GetOption('extras'):
|
||||
|
||||
qt_env.SharedLibrary("qt/python_helpers", ["qt/qt_window.cc"], LIBS=qt_libs)
|
||||
|
||||
# spinner and text window
|
||||
qt_env.Program("_text", ["qt/text.cc"], LIBS=qt_libs)
|
||||
qt_env.Program("_spinner", ["qt/spinner.cc"], LIBS=qt_libs)
|
||||
|
||||
# setup and factory resetter
|
||||
qt_env.Program("qt/setup/reset", ["qt/setup/reset.cc"], LIBS=qt_libs)
|
||||
qt_env.Program("qt/setup/setup", ["qt/setup/setup.cc", asset_obj],
|
||||
|
||||
@@ -439,7 +439,7 @@ void WifiManager::addTetheringConnection() {
|
||||
address["prefix"] = 24u;
|
||||
connection["ipv4"]["address-data"] = QVariant::fromValue(IpConfig() << address);
|
||||
connection["ipv4"]["gateway"] = "192.168.43.1";
|
||||
connection["ipv4"]["never-default"] = true;
|
||||
connection["ipv4"]["route-metric"] = 1100;
|
||||
connection["ipv6"]["method"] = "ignore";
|
||||
|
||||
asyncCall(NM_DBUS_PATH_SETTINGS, NM_DBUS_INTERFACE_SETTINGS, "AddConnection", QVariant::fromValue(connection));
|
||||
|
||||
@@ -78,16 +78,6 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
|
||||
"../assets/offroad/icon_speed_limit.png",
|
||||
longi_button_texts);
|
||||
|
||||
// accel controller
|
||||
std::vector<QString> accel_personality_texts{tr("Sport"), tr("Normal"), tr("Eco"), tr("Stock")};
|
||||
accel_personality_setting = new ButtonParamControlSP("AccelPersonality", tr("Acceleration Personality"),
|
||||
tr("Normal is recommended. In sport mode, sunnypilot will provide aggressive acceleration for a dynamic driving experience. "
|
||||
"In eco mode, sunnypilot will apply smoother and more relaxed acceleration. On supported cars, you can cycle through these "
|
||||
"acceleration personality within Onroad Settings on the driving screen."),
|
||||
"",
|
||||
accel_personality_texts);
|
||||
accel_personality_setting->showDescription();
|
||||
|
||||
// set up uiState update for personality setting
|
||||
QObject::connect(uiState(), &UIState::uiUpdate, this, &TogglesPanel::updateState);
|
||||
|
||||
@@ -103,7 +93,6 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
|
||||
// insert longitudinal personality after NDOG toggle
|
||||
if (param == "DisengageOnAccelerator") {
|
||||
addItem(long_personality_setting);
|
||||
addItem(accel_personality_setting);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -124,13 +113,6 @@ void TogglesPanel::updateState(const UIState &s) {
|
||||
}
|
||||
uiState()->scene.personality = personality;
|
||||
}
|
||||
if (sm.updated("longitudinalPlanSP")) {
|
||||
auto accel_personality = sm["longitudinalPlanSP"].getLongitudinalPlanSP().getAccelPersonality();
|
||||
if (accel_personality != s.scene.accel_personality && s.scene.started && isVisible()) {
|
||||
accel_personality_setting->setCheckedButton(static_cast<int>(accel_personality));
|
||||
}
|
||||
uiState()->scene.accel_personality = accel_personality;
|
||||
}
|
||||
}
|
||||
|
||||
void TogglesPanel::expandToggleDescription(const QString ¶m) {
|
||||
@@ -168,12 +150,10 @@ void TogglesPanel::updateToggles() {
|
||||
experimental_mode_toggle->setEnabled(true);
|
||||
experimental_mode_toggle->setDescription(e2e_description);
|
||||
long_personality_setting->setEnabled(true);
|
||||
accel_personality_setting->setEnabled(true);
|
||||
} else {
|
||||
// no long for now
|
||||
experimental_mode_toggle->setEnabled(false);
|
||||
long_personality_setting->setEnabled(false);
|
||||
accel_personality_setting->setEnabled(true);
|
||||
params.remove("ExperimentalMode");
|
||||
|
||||
const QString unavailable = tr("Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control.");
|
||||
|
||||
@@ -85,7 +85,6 @@ protected:
|
||||
Params params;
|
||||
std::map<std::string, ParamControl*> toggles;
|
||||
ButtonParamControl *long_personality_setting;
|
||||
ButtonParamControl *accel_personality_setting;
|
||||
|
||||
virtual void updateToggles();
|
||||
};
|
||||
|
||||
@@ -0,0 +1,120 @@
|
||||
#include "selfdrive/ui/qt/spinner.h"
|
||||
|
||||
#include <algorithm>
|
||||
#include <cstdio>
|
||||
#include <iostream>
|
||||
#include <string>
|
||||
|
||||
#include <QApplication>
|
||||
#include <QGridLayout>
|
||||
#include <QPainter>
|
||||
#include <QString>
|
||||
#include <QTransform>
|
||||
|
||||
#include "system/hardware/hw.h"
|
||||
#include "selfdrive/ui/qt/qt_window.h"
|
||||
#include "selfdrive/ui/qt/util.h"
|
||||
|
||||
TrackWidget::TrackWidget(QWidget *parent) : QWidget(parent) {
|
||||
setAttribute(Qt::WA_OpaquePaintEvent);
|
||||
setFixedSize(spinner_size);
|
||||
|
||||
// pre-compute all the track imgs. make this a gif instead?
|
||||
QPixmap comma_img = loadPixmap("../assets/img_spinner_comma.png", spinner_size);
|
||||
QPixmap track_img = loadPixmap("../assets/img_spinner_track.png", spinner_size);
|
||||
|
||||
QTransform transform(1, 0, 0, 1, width() / 2, height() / 2);
|
||||
QPixmap pm(spinner_size);
|
||||
QPainter p(&pm);
|
||||
p.setRenderHint(QPainter::SmoothPixmapTransform);
|
||||
for (int i = 0; i < track_imgs.size(); ++i) {
|
||||
p.resetTransform();
|
||||
p.fillRect(0, 0, spinner_size.width(), spinner_size.height(), Qt::black);
|
||||
p.drawPixmap(0, 0, comma_img);
|
||||
p.setTransform(transform.rotate(360 / spinner_fps));
|
||||
p.drawPixmap(-width() / 2, -height() / 2, track_img);
|
||||
track_imgs[i] = pm.copy();
|
||||
}
|
||||
|
||||
m_anim.setDuration(1000);
|
||||
m_anim.setStartValue(0);
|
||||
m_anim.setEndValue(int(track_imgs.size() -1));
|
||||
m_anim.setLoopCount(-1);
|
||||
m_anim.start();
|
||||
connect(&m_anim, SIGNAL(valueChanged(QVariant)), SLOT(update()));
|
||||
}
|
||||
|
||||
void TrackWidget::paintEvent(QPaintEvent *event) {
|
||||
QPainter painter(this);
|
||||
painter.drawPixmap(0, 0, track_imgs[m_anim.currentValue().toInt()]);
|
||||
}
|
||||
|
||||
// Spinner
|
||||
|
||||
Spinner::Spinner(QWidget *parent) : QWidget(parent) {
|
||||
QGridLayout *main_layout = new QGridLayout(this);
|
||||
main_layout->setSpacing(0);
|
||||
main_layout->setMargin(200);
|
||||
|
||||
main_layout->addWidget(new TrackWidget(this), 0, 0, Qt::AlignHCenter | Qt::AlignVCenter);
|
||||
|
||||
text = new QLabel();
|
||||
text->setWordWrap(true);
|
||||
text->setVisible(false);
|
||||
text->setAlignment(Qt::AlignCenter);
|
||||
main_layout->addWidget(text, 1, 0, Qt::AlignHCenter);
|
||||
|
||||
progress_bar = new QProgressBar();
|
||||
progress_bar->setRange(5, 100);
|
||||
progress_bar->setTextVisible(false);
|
||||
progress_bar->setVisible(false);
|
||||
progress_bar->setFixedHeight(20);
|
||||
main_layout->addWidget(progress_bar, 1, 0, Qt::AlignHCenter);
|
||||
|
||||
setStyleSheet(R"(
|
||||
Spinner {
|
||||
background-color: black;
|
||||
}
|
||||
QLabel {
|
||||
color: white;
|
||||
font-size: 80px;
|
||||
background-color: transparent;
|
||||
}
|
||||
QProgressBar {
|
||||
background-color: #373737;
|
||||
width: 1000px;
|
||||
border solid white;
|
||||
border-radius: 10px;
|
||||
}
|
||||
QProgressBar::chunk {
|
||||
border-radius: 10px;
|
||||
background-color: white;
|
||||
}
|
||||
)");
|
||||
|
||||
notifier = new QSocketNotifier(fileno(stdin), QSocketNotifier::Read);
|
||||
QObject::connect(notifier, &QSocketNotifier::activated, this, &Spinner::update);
|
||||
}
|
||||
|
||||
void Spinner::update(int n) {
|
||||
std::string line;
|
||||
std::getline(std::cin, line);
|
||||
|
||||
if (line.length()) {
|
||||
bool number = std::all_of(line.begin(), line.end(), ::isdigit);
|
||||
text->setVisible(!number);
|
||||
progress_bar->setVisible(number);
|
||||
text->setText(QString::fromStdString(line));
|
||||
if (number) {
|
||||
progress_bar->setValue(std::stoi(line));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
int main(int argc, char *argv[]) {
|
||||
initApp(argc, argv);
|
||||
QApplication a(argc, argv);
|
||||
Spinner spinner;
|
||||
setMainWindow(&spinner);
|
||||
return a.exec();
|
||||
}
|
||||
@@ -0,0 +1,37 @@
|
||||
#include <array>
|
||||
|
||||
#include <QLabel>
|
||||
#include <QPixmap>
|
||||
#include <QProgressBar>
|
||||
#include <QSocketNotifier>
|
||||
#include <QVariantAnimation>
|
||||
#include <QWidget>
|
||||
|
||||
constexpr int spinner_fps = 30;
|
||||
constexpr QSize spinner_size = QSize(360, 360);
|
||||
|
||||
class TrackWidget : public QWidget {
|
||||
Q_OBJECT
|
||||
public:
|
||||
TrackWidget(QWidget *parent = nullptr);
|
||||
|
||||
private:
|
||||
void paintEvent(QPaintEvent *event) override;
|
||||
std::array<QPixmap, spinner_fps> track_imgs;
|
||||
QVariantAnimation m_anim;
|
||||
};
|
||||
|
||||
class Spinner : public QWidget {
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
explicit Spinner(QWidget *parent = 0);
|
||||
|
||||
private:
|
||||
QLabel *text;
|
||||
QProgressBar *progress_bar;
|
||||
QSocketNotifier *notifier;
|
||||
|
||||
public slots:
|
||||
void update(int n);
|
||||
};
|
||||
Executable
+3
@@ -0,0 +1,3 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:81d7073d16e8ddc40d4d81fc88f8fc11c434df241593b455e2787935371383e4
|
||||
size 3821728
|
||||
@@ -0,0 +1,64 @@
|
||||
#include <QApplication>
|
||||
#include <QLabel>
|
||||
#include <QPushButton>
|
||||
#include <QScrollBar>
|
||||
#include <QVBoxLayout>
|
||||
#include <QWidget>
|
||||
|
||||
#include "system/hardware/hw.h"
|
||||
#include "selfdrive/ui/qt/util.h"
|
||||
#include "selfdrive/ui/qt/qt_window.h"
|
||||
#include "selfdrive/ui/qt/widgets/scrollview.h"
|
||||
|
||||
int main(int argc, char *argv[]) {
|
||||
initApp(argc, argv);
|
||||
QApplication a(argc, argv);
|
||||
QWidget window;
|
||||
setMainWindow(&window);
|
||||
|
||||
QGridLayout *main_layout = new QGridLayout(&window);
|
||||
main_layout->setMargin(50);
|
||||
|
||||
QLabel *label = new QLabel(argv[1]);
|
||||
label->setWordWrap(true);
|
||||
label->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::MinimumExpanding);
|
||||
ScrollView *scroll = new ScrollView(label);
|
||||
scroll->setVerticalScrollBarPolicy(Qt::ScrollBarAsNeeded);
|
||||
main_layout->addWidget(scroll, 0, 0, Qt::AlignTop);
|
||||
|
||||
// Scroll to the bottom
|
||||
QObject::connect(scroll->verticalScrollBar(), &QAbstractSlider::rangeChanged, [=]() {
|
||||
scroll->verticalScrollBar()->setValue(scroll->verticalScrollBar()->maximum());
|
||||
});
|
||||
|
||||
QPushButton *btn = new QPushButton();
|
||||
#ifdef __aarch64__
|
||||
btn->setText(QObject::tr("Reboot"));
|
||||
QObject::connect(btn, &QPushButton::clicked, [=]() {
|
||||
Hardware::reboot();
|
||||
});
|
||||
#else
|
||||
btn->setText(QObject::tr("Exit"));
|
||||
QObject::connect(btn, &QPushButton::clicked, &a, &QApplication::quit);
|
||||
#endif
|
||||
main_layout->addWidget(btn, 0, 0, Qt::AlignRight | Qt::AlignBottom);
|
||||
|
||||
window.setStyleSheet(R"(
|
||||
* {
|
||||
outline: none;
|
||||
color: white;
|
||||
background-color: black;
|
||||
font-size: 60px;
|
||||
}
|
||||
QPushButton {
|
||||
padding: 50px;
|
||||
padding-right: 100px;
|
||||
padding-left: 100px;
|
||||
border: 2px solid white;
|
||||
border-radius: 20px;
|
||||
margin-right: 40px;
|
||||
}
|
||||
)");
|
||||
|
||||
return a.exec();
|
||||
}
|
||||
Executable
+3
@@ -0,0 +1,3 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:61f539845ebfc9568c8d28867f1e5642e882f52ead8862c9b2224b7139f4a552
|
||||
size 3787480
|
||||
Executable
+7
@@ -0,0 +1,7 @@
|
||||
#!/bin/sh
|
||||
|
||||
if [ -f /TICI ] && [ ! -f _spinner ]; then
|
||||
cp qt/spinner_larch64 _spinner
|
||||
fi
|
||||
|
||||
exec ./_spinner "$1"
|
||||
@@ -3,7 +3,6 @@ widgets_src = [
|
||||
"sunnypilot/qt/widgets/toggle.cc",
|
||||
"sunnypilot/qt/widgets/controls.cc",
|
||||
"sunnypilot/qt/widgets/drive_stats.cc",
|
||||
"sunnypilot/qt/widgets/expandable_row.cc",
|
||||
"sunnypilot/qt/widgets/prime.cc",
|
||||
"sunnypilot/qt/widgets/scrollview.cc",
|
||||
"sunnypilot/qt/network/networking.cc",
|
||||
@@ -22,7 +21,6 @@ qt_src = [
|
||||
"sunnypilot/qt/offroad/offroad_home.cc",
|
||||
"sunnypilot/qt/offroad/settings/device_panel.cc",
|
||||
"sunnypilot/qt/offroad/settings/lateral_panel.cc",
|
||||
"sunnypilot/qt/offroad/settings/longitudinal_panel.cc",
|
||||
"sunnypilot/qt/offroad/settings/max_time_offroad.cc",
|
||||
"sunnypilot/qt/offroad/settings/settings.cc",
|
||||
"sunnypilot/qt/offroad/settings/software_panel.cc",
|
||||
@@ -51,28 +49,11 @@ network_src = [
|
||||
]
|
||||
|
||||
vehicle_panel_qt_src = [
|
||||
"sunnypilot/qt/offroad/settings/vehicle/brand_settings_factory.cc",
|
||||
"sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.cc",
|
||||
"sunnypilot/qt/offroad/settings/vehicle/platform_selector.cc",
|
||||
]
|
||||
|
||||
brand_settings_qt_src = [
|
||||
"sunnypilot/qt/offroad/settings/vehicle/chrysler_settings.cc",
|
||||
"sunnypilot/qt/offroad/settings/vehicle/ford_settings.cc",
|
||||
"sunnypilot/qt/offroad/settings/vehicle/gm_settings.cc",
|
||||
"sunnypilot/qt/offroad/settings/vehicle/honda_settings.cc",
|
||||
"sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.cc",
|
||||
"sunnypilot/qt/offroad/settings/vehicle/mazda_settings.cc",
|
||||
"sunnypilot/qt/offroad/settings/vehicle/nissan_settings.cc",
|
||||
"sunnypilot/qt/offroad/settings/vehicle/rivian_settings.cc",
|
||||
"sunnypilot/qt/offroad/settings/vehicle/subaru_settings.cc",
|
||||
"sunnypilot/qt/offroad/settings/vehicle/tesla_settings.cc",
|
||||
"sunnypilot/qt/offroad/settings/vehicle/toyota_settings.cc",
|
||||
"sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.cc",
|
||||
]
|
||||
|
||||
sp_widgets_src = widgets_src + network_src
|
||||
sp_qt_src = qt_src + lateral_panel_qt_src + vehicle_panel_qt_src + brand_settings_qt_src
|
||||
sp_qt_src = qt_src + lateral_panel_qt_src + vehicle_panel_qt_src
|
||||
sp_qt_util = qt_util
|
||||
|
||||
Export('sp_widgets_src', 'sp_qt_src', "sp_qt_util")
|
||||
|
||||
@@ -112,18 +112,9 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {
|
||||
|
||||
addItem(power_group_layout);
|
||||
|
||||
std::vector always_enabled_btns = {
|
||||
rebootBtn,
|
||||
poweroffBtn,
|
||||
offroadBtn,
|
||||
buttons["quietModeBtn"],
|
||||
};
|
||||
|
||||
QObject::connect(uiState(), &UIState::offroadTransition, [=](bool offroad) {
|
||||
for (auto btn : findChildren<PushButtonSP*>()) {
|
||||
bool always_enabled = std::find(always_enabled_btns.begin(), always_enabled_btns.end(), btn) != always_enabled_btns.end();
|
||||
|
||||
if (!always_enabled) {
|
||||
if (btn != rebootBtn && btn != poweroffBtn && btn != offroadBtn) {
|
||||
btn->setEnabled(offroad);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -21,19 +21,35 @@ MadsSettings::MadsSettings(QWidget *parent) : QWidget(parent) {
|
||||
|
||||
ListWidget *list = new ListWidget(this, false);
|
||||
// Main cruise
|
||||
madsMainCruiseToggle = new ParamControl("MadsMainCruiseAllowed", tr("Toggle with Main Cruise"), "", "");
|
||||
madsMainCruiseToggle = new ParamControl(
|
||||
"MadsMainCruiseAllowed",
|
||||
tr("Toggle with Main Cruise"),
|
||||
tr("Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement."),
|
||||
"");
|
||||
list->addItem(madsMainCruiseToggle);
|
||||
|
||||
// Unified Engagement Mode
|
||||
madsUnifiedEngagementModeToggle = new ParamControl("MadsUnifiedEngagementMode", tr("Unified Engagement Mode (UEM)"), "", "");
|
||||
madsUnifiedEngagementModeToggle = new ParamControl(
|
||||
"MadsUnifiedEngagementMode",
|
||||
tr("Unified Engagement Mode (UEM)"),
|
||||
QString("%1<br>"
|
||||
"<h4>%2</h4>")
|
||||
.arg(tr("Engage lateral and longitudinal control with cruise control engagement."))
|
||||
.arg(tr("Note: Once lateral control is engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off.")),
|
||||
"");
|
||||
list->addItem(madsUnifiedEngagementModeToggle);
|
||||
|
||||
// Steering Mode On Brake
|
||||
madsSteeringMode = new ButtonParamControl("MadsSteeringMode", tr("Steering Mode on Brake Pedal"), "", "", madsSteeringModeTexts(), 500);
|
||||
QObject::connect(madsSteeringMode, &ButtonParamControl::buttonToggled, [=] {
|
||||
updateToggles(offroad);
|
||||
});
|
||||
list->addItem(madsSteeringMode);
|
||||
// Pause Lateral On Brake
|
||||
std::vector<QString> lateral_on_brake_texts{tr("Remain Active"), tr("Pause Steering")};
|
||||
madsPauseLateralOnBrake = new ButtonParamControl(
|
||||
"MadsPauseLateralOnBrake",
|
||||
tr("Steering Mode After Braking"),
|
||||
tr("Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.\n\n"
|
||||
"Remain Active: ALC will remain active even after the brake pedal is pressed.\nPause Steering: ALC will be paused after the brake pedal is manually pressed."),
|
||||
"",
|
||||
lateral_on_brake_texts,
|
||||
500);
|
||||
list->addItem(madsPauseLateralOnBrake);
|
||||
|
||||
QObject::connect(uiState(), &UIState::offroadTransition, this, &MadsSettings::updateToggles);
|
||||
|
||||
@@ -45,58 +61,7 @@ void MadsSettings::showEvent(QShowEvent *event) {
|
||||
}
|
||||
|
||||
void MadsSettings::updateToggles(bool _offroad) {
|
||||
auto mads_steering_mode_param = std::atoi(params.get("MadsSteeringMode").c_str());
|
||||
|
||||
auto steering_mode = static_cast<MadsSteeringMode>(
|
||||
std::clamp(mads_steering_mode_param, static_cast<int>(MadsSteeringMode::REMAIN_ACTIVE), static_cast<int>(MadsSteeringMode::DISENGAGE))
|
||||
);
|
||||
|
||||
auto cp_bytes = params.get("CarParamsPersistent");
|
||||
if (!cp_bytes.empty()) {
|
||||
AlignedBuffer aligned_buf;
|
||||
capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
|
||||
cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
|
||||
|
||||
if (isBrandInList(CP.getBrand(), mads_limited_settings_brands)) {
|
||||
params.remove("MadsMainCruiseAllowed");
|
||||
params.putBool("MadsUnifiedEngagementMode", true);
|
||||
params.put("MadsSteeringMode", std::to_string(static_cast<int>(MadsSteeringMode::DISENGAGE)));
|
||||
|
||||
madsMainCruiseToggle->setEnabled(false);
|
||||
madsMainCruiseToggle->setDescription(madsDescriptionBuilder(DEFAULT_TO_OFF, MADS_MAIN_CRUISE_BASE_DESC));
|
||||
madsMainCruiseToggle->showDescription();
|
||||
|
||||
madsUnifiedEngagementModeToggle->setEnabled(false);
|
||||
madsUnifiedEngagementModeToggle->setDescription(madsDescriptionBuilder(DEFAULT_TO_ON, MADS_UNIFIED_ENGAGEMENT_MODE_BASE_DESC));
|
||||
madsUnifiedEngagementModeToggle->showDescription();
|
||||
|
||||
madsSteeringModeValues = convertMadsSteeringModeValues({MadsSteeringMode::DISENGAGE});
|
||||
madsSteeringMode->setDescription(madsDescriptionBuilder(STATUS_DISENGAGE_ONLY, madsSteeringModeDescription(steering_mode)));
|
||||
} else {
|
||||
madsMainCruiseToggle->setEnabled(true);
|
||||
madsMainCruiseToggle->setDescription(MADS_MAIN_CRUISE_BASE_DESC);
|
||||
|
||||
madsUnifiedEngagementModeToggle->setEnabled(true);
|
||||
madsUnifiedEngagementModeToggle->setDescription(MADS_UNIFIED_ENGAGEMENT_MODE_BASE_DESC);
|
||||
|
||||
madsSteeringModeValues = convertMadsSteeringModeValues(getMadsSteeringModeValues());
|
||||
madsSteeringMode->setDescription(madsSteeringModeDescription(steering_mode));
|
||||
}
|
||||
} else {
|
||||
madsMainCruiseToggle->setEnabled(false);
|
||||
madsMainCruiseToggle->setDescription(madsDescriptionBuilder(STATUS_CHECK_COMPATIBILITY, MADS_MAIN_CRUISE_BASE_DESC));
|
||||
madsMainCruiseToggle->showDescription();
|
||||
|
||||
madsUnifiedEngagementModeToggle->setEnabled(false);
|
||||
madsUnifiedEngagementModeToggle->setDescription(madsDescriptionBuilder(STATUS_CHECK_COMPATIBILITY, MADS_UNIFIED_ENGAGEMENT_MODE_BASE_DESC));
|
||||
madsUnifiedEngagementModeToggle->showDescription();
|
||||
|
||||
madsSteeringModeValues = {};
|
||||
madsSteeringMode->setDescription(madsDescriptionBuilder(STATUS_CHECK_COMPATIBILITY, madsSteeringModeDescription(steering_mode)));
|
||||
}
|
||||
|
||||
madsSteeringMode->setEnableSelectedButtons(_offroad, madsSteeringModeValues);
|
||||
madsSteeringMode->showDescription();
|
||||
madsPauseLateralOnBrake->setEnabled(_offroad);
|
||||
|
||||
offroad = _offroad;
|
||||
}
|
||||
|
||||
@@ -12,20 +12,6 @@
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
|
||||
|
||||
const std::vector<std::string> mads_limited_settings_brands = {"rivian", "tesla"};
|
||||
|
||||
enum class MadsSteeringMode {
|
||||
REMAIN_ACTIVE = 0,
|
||||
PAUSE = 1,
|
||||
DISENGAGE = 2,
|
||||
};
|
||||
|
||||
struct MadsSteeringModeOption {
|
||||
MadsSteeringMode mode;
|
||||
QString display_text;
|
||||
QString description;
|
||||
};
|
||||
|
||||
class MadsSettings : public QWidget {
|
||||
Q_OBJECT
|
||||
|
||||
@@ -46,70 +32,5 @@ private:
|
||||
|
||||
ParamControl *madsMainCruiseToggle;
|
||||
ParamControl *madsUnifiedEngagementModeToggle;
|
||||
ButtonParamControl *madsSteeringMode;
|
||||
|
||||
std::vector<int> madsSteeringModeValues = {};
|
||||
|
||||
const QString MADS_MAIN_CRUISE_BASE_DESC = tr("Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement.");
|
||||
const QString MADS_UNIFIED_ENGAGEMENT_MODE_BASE_DESC = QString("%1<br>"
|
||||
"<h4>%2</h4>")
|
||||
.arg(tr("Engage lateral and longitudinal control with cruise control engagement."))
|
||||
.arg(tr("Note: Once lateral control is engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off."));
|
||||
|
||||
const QString STATUS_CHECK_COMPATIBILITY = tr("Start the vehicle to check vehicle compatibility.");
|
||||
const QString DEFAULT_TO_OFF = tr("This feature defaults to OFF, and does not allow selection due to vehicle limitations.");
|
||||
const QString DEFAULT_TO_ON = tr("This feature defaults to ON, and does not allow selection due to vehicle limitations.");
|
||||
const QString STATUS_DISENGAGE_ONLY = tr("This platform only supports Disengage mode due to vehicle limitations.");
|
||||
|
||||
static const std::vector<MadsSteeringModeOption> &madsSteeringModeOptions() {
|
||||
static const std::vector<MadsSteeringModeOption> options = {
|
||||
{MadsSteeringMode::REMAIN_ACTIVE, tr("Remain Active"), tr("Remain Active: ALC will remain active when the brake pedal is pressed.")},
|
||||
{MadsSteeringMode::PAUSE, tr("Pause"), tr("Pause: ALC will pause when the brake pedal is pressed.")},
|
||||
{MadsSteeringMode::DISENGAGE, tr("Disengage"), tr("Disengage: ALC will disengage when the brake pedal is pressed.")},
|
||||
};
|
||||
return options;
|
||||
}
|
||||
|
||||
static std::vector<MadsSteeringMode> getMadsSteeringModeValues() {
|
||||
std::vector<MadsSteeringMode> values;
|
||||
for (const auto& option : madsSteeringModeOptions()) {
|
||||
values.push_back(option.mode);
|
||||
}
|
||||
return values;
|
||||
}
|
||||
|
||||
static std::vector<int> convertMadsSteeringModeValues(const std::vector<MadsSteeringMode> &modes) {
|
||||
std::vector<int> values;
|
||||
for (const auto& mode : modes) {
|
||||
values.push_back(static_cast<int>(mode));
|
||||
}
|
||||
return values;
|
||||
}
|
||||
|
||||
static std::vector<QString> madsSteeringModeTexts() {
|
||||
std::vector<QString> texts;
|
||||
for (const auto& option : madsSteeringModeOptions()) {
|
||||
texts.push_back(option.display_text);
|
||||
}
|
||||
return texts;
|
||||
}
|
||||
|
||||
static QString madsSteeringModeDescription(const MadsSteeringMode mode = MadsSteeringMode::REMAIN_ACTIVE) {
|
||||
QString base_desc = tr("Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.");
|
||||
QString result = base_desc + "<br><br>";
|
||||
|
||||
for (const auto& option : madsSteeringModeOptions()) {
|
||||
QString desc = option.description;
|
||||
if (option.mode == mode) {
|
||||
desc = "<font color='white'><b>" + desc + "</b></font>";
|
||||
}
|
||||
result += desc + "<br>";
|
||||
}
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
static QString madsDescriptionBuilder(const QString &custom_description, const QString &base_description) {
|
||||
return "<font color='white'><b>" + custom_description + "</b></font><br><br>" + base_description;
|
||||
}
|
||||
ButtonParamControl *madsPauseLateralOnBrake;
|
||||
};
|
||||
|
||||
@@ -122,21 +122,6 @@ void LateralPanel::updateToggles(bool _offroad) {
|
||||
toggle->setEnabled(_offroad);
|
||||
}
|
||||
|
||||
auto cp_bytes = params.get("CarParamsPersistent");
|
||||
if (!cp_bytes.empty()) {
|
||||
AlignedBuffer aligned_buf;
|
||||
capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
|
||||
cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
|
||||
|
||||
if (isBrandInList(CP.getBrand(), mads_limited_settings_brands)) {
|
||||
madsToggle->setDescription(descriptionBuilder(STATUS_MADS_SETTINGS_LIMITED_COMPATIBILITY, MADS_BASE_DESC));
|
||||
} else {
|
||||
madsToggle->setDescription(descriptionBuilder(STATUS_MADS_SETTINGS_FULL_COMPATIBILITY, MADS_BASE_DESC));
|
||||
}
|
||||
} else {
|
||||
madsToggle->setDescription(descriptionBuilder(STATUS_MADS_CHECK_COMPATIBILITY, MADS_BASE_DESC));
|
||||
}
|
||||
|
||||
madsSettingsButton->setEnabled(madsToggle->isToggled());
|
||||
|
||||
offroad = _offroad;
|
||||
|
||||
@@ -30,7 +30,6 @@ public slots:
|
||||
void updateToggles(bool _offroad);
|
||||
|
||||
private:
|
||||
Params params;
|
||||
QStackedLayout* main_layout = nullptr;
|
||||
QWidget* sunnypilotScreen = nullptr;
|
||||
ScrollViewSP *sunnypilotScroller = nullptr;
|
||||
@@ -43,14 +42,4 @@ private:
|
||||
PushButtonSP *laneChangeSettingsButton;
|
||||
LaneChangeSettings *laneChangeWidget = nullptr;
|
||||
NeuralNetworkLateralControl *nnlcToggle = nullptr;
|
||||
|
||||
const QString MADS_BASE_DESC = tr("Enables independent engagements of Automatic Lane Centering (ALC) and Adaptive Cruise Control (ACC).");
|
||||
|
||||
const QString STATUS_MADS_CHECK_COMPATIBILITY = tr("Start the vehicle to check vehicle compatibility.");
|
||||
const QString STATUS_MADS_SETTINGS_FULL_COMPATIBILITY = tr("This platform supports all MADS settings.");
|
||||
const QString STATUS_MADS_SETTINGS_LIMITED_COMPATIBILITY = tr("This platform supports limited MADS settings.");
|
||||
|
||||
static QString descriptionBuilder(const QString &custom_description, const QString &base_description) {
|
||||
return "<font color='white'><b>" + custom_description + "</b></font><br><br>" + base_description;
|
||||
}
|
||||
};
|
||||
|
||||
@@ -1,11 +0,0 @@
|
||||
/**
|
||||
* 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.
|
||||
*/
|
||||
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h"
|
||||
|
||||
LongitudinalPanel::LongitudinalPanel(QWidget *parent) : QWidget(parent) {
|
||||
}
|
||||
@@ -1,17 +0,0 @@
|
||||
/**
|
||||
* 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.
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
|
||||
|
||||
class LongitudinalPanel : public QWidget {
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
explicit LongitudinalPanel(QWidget *parent = nullptr);
|
||||
};
|
||||
@@ -16,7 +16,6 @@
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/trips_panel.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h"
|
||||
|
||||
@@ -80,7 +79,6 @@ SettingsWindowSP::SettingsWindowSP(QWidget *parent) : SettingsWindow(parent) {
|
||||
PanelInfo(" " + tr("Toggles"), toggles, "../../sunnypilot/selfdrive/assets/offroad/icon_toggle.png"),
|
||||
PanelInfo(" " + tr("Software"), new SoftwarePanelSP(this), "../../sunnypilot/selfdrive/assets/offroad/icon_software.png"),
|
||||
PanelInfo(" " + tr("Steering"), new LateralPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_lateral.png"),
|
||||
PanelInfo(" " + tr("Cruise"), new LongitudinalPanel(this), "../assets/offroad/icon_speed_limit.png"),
|
||||
PanelInfo(" " + tr("Trips"), new TripsPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_trips.png"),
|
||||
PanelInfo(" " + tr("Vehicle"), new VehiclePanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_vehicle.png"),
|
||||
PanelInfo(" " + tr("Firehose"), new FirehosePanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_firehose.svg"),
|
||||
|
||||
@@ -12,10 +12,6 @@
|
||||
|
||||
#include "selfdrive/ui/qt/offroad/settings.h"
|
||||
|
||||
inline bool isBrandInList(const std::string &brand, const std::vector<std::string> &list) {
|
||||
return std::find(list.begin(), list.end(), brand) != list.end();
|
||||
}
|
||||
|
||||
class SettingsWindowSP : public SettingsWindow {
|
||||
Q_OBJECT
|
||||
|
||||
|
||||
@@ -47,24 +47,24 @@ void SoftwarePanelSP::handleBundleDownloadProgress() {
|
||||
// Get status for each model type in order
|
||||
for (const auto &model: models) {
|
||||
QString typeName;
|
||||
QString modelName = QString::fromStdString(bundle.getDisplayName());
|
||||
QString modelName;
|
||||
|
||||
switch (model.getType()) {
|
||||
case cereal::ModelManagerSP::Model::Type::SUPERCOMBO:
|
||||
case cereal::ModelManagerSP::Type::DRIVE:
|
||||
typeName = tr("Driving");
|
||||
modelName = QString::fromStdString(bundle.getDisplayName());
|
||||
break;
|
||||
case cereal::ModelManagerSP::Model::Type::NAVIGATION:
|
||||
case cereal::ModelManagerSP::Type::NAVIGATION:
|
||||
typeName = tr("Navigation");
|
||||
modelName = QString::fromStdString(model.getFullName());
|
||||
break;
|
||||
case cereal::ModelManagerSP::Model::Type::VISION:
|
||||
typeName = tr("Vision");
|
||||
break;
|
||||
case cereal::ModelManagerSP::Model::Type::POLICY:
|
||||
typeName = tr("Policy");
|
||||
case cereal::ModelManagerSP::Type::METADATA:
|
||||
typeName = tr("Metadata");
|
||||
modelName = QString::fromStdString(model.getFullName());
|
||||
break;
|
||||
}
|
||||
|
||||
const auto &progress = model.getArtifact().getDownloadProgress();
|
||||
const auto &progress = model.getDownloadProgress();
|
||||
QString line;
|
||||
|
||||
if (progress.getStatus() == cereal::ModelManagerSP::DownloadStatus::DOWNLOADING) {
|
||||
|
||||
@@ -1,62 +0,0 @@
|
||||
/**
|
||||
* 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.
|
||||
*/
|
||||
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_factory.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brands.h"
|
||||
|
||||
static const QStringList supportedBrands = {
|
||||
"chrysler",
|
||||
"ford",
|
||||
"gm",
|
||||
"honda",
|
||||
"hyundai",
|
||||
"mazda",
|
||||
"nissan",
|
||||
"rivian",
|
||||
"subaru",
|
||||
"tesla",
|
||||
"toyota",
|
||||
"volkswagen",
|
||||
};
|
||||
|
||||
BrandSettingsInterface* BrandSettingsFactory::createBrandSettings(const QString& brand, QWidget* parent) {
|
||||
if (brand == "chrysler")
|
||||
return new ChryslerSettings(parent);
|
||||
if (brand == "ford")
|
||||
return new FordSettings(parent);
|
||||
if (brand == "gm")
|
||||
return new GMSettings(parent);
|
||||
if (brand == "honda")
|
||||
return new HondaSettings(parent);
|
||||
if (brand == "hyundai")
|
||||
return new HyundaiSettings(parent);
|
||||
if (brand == "mazda")
|
||||
return new MazdaSettings(parent);
|
||||
if (brand == "nissan")
|
||||
return new NissanSettings(parent);
|
||||
if (brand == "rivian")
|
||||
return new RivianSettings(parent);
|
||||
if (brand == "subaru")
|
||||
return new SubaruSettings(parent);
|
||||
if (brand == "tesla")
|
||||
return new TeslaSettings(parent);
|
||||
if (brand == "toyota")
|
||||
return new ToyotaSettings(parent);
|
||||
if (brand == "volkswagen")
|
||||
return new VolkswagenSettings(parent);
|
||||
|
||||
// Default empty settings if brand not supported
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
bool BrandSettingsFactory::isBrandSupported(const QString& brand) {
|
||||
return supportedBrands.contains(brand);
|
||||
}
|
||||
|
||||
QStringList BrandSettingsFactory::getSupportedBrands() {
|
||||
return supportedBrands;
|
||||
}
|
||||
@@ -1,18 +0,0 @@
|
||||
/**
|
||||
* 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.
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h"
|
||||
|
||||
class BrandSettingsFactory {
|
||||
|
||||
public:
|
||||
static BrandSettingsInterface* createBrandSettings(const QString &brand, QWidget *parent = nullptr);
|
||||
static bool isBrandSupported(const QString& brand);
|
||||
static QStringList getSupportedBrands();
|
||||
};
|
||||
@@ -1,21 +0,0 @@
|
||||
/**
|
||||
* 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.
|
||||
*/
|
||||
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h"
|
||||
|
||||
BrandSettingsInterface::BrandSettingsInterface(QWidget *parent) : QWidget(parent) {
|
||||
QVBoxLayout *main_layout = new QVBoxLayout(this);
|
||||
main_layout->setContentsMargins(0, 0, 0, 0);
|
||||
|
||||
list = new ListWidget(this, false);
|
||||
main_layout->addWidget(list);
|
||||
}
|
||||
|
||||
void BrandSettingsInterface::updatePanel(bool _offroad) {
|
||||
offroad = _offroad;
|
||||
updateSettings();
|
||||
}
|
||||
@@ -1,28 +0,0 @@
|
||||
/**
|
||||
* 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.
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "selfdrive/ui/sunnypilot/ui.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
|
||||
|
||||
class BrandSettingsInterface : public QWidget {
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
explicit BrandSettingsInterface(QWidget *parent = nullptr);
|
||||
virtual ~BrandSettingsInterface() = default;
|
||||
|
||||
void updatePanel(bool _offroad);
|
||||
virtual void updateSettings() = 0;
|
||||
|
||||
protected:
|
||||
ListWidget *list = nullptr;
|
||||
Params params;
|
||||
bool offroad = false;
|
||||
};
|
||||
@@ -1,21 +0,0 @@
|
||||
/**
|
||||
* 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.
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/chrysler_settings.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/ford_settings.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/gm_settings.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/honda_settings.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/mazda_settings.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/nissan_settings.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/rivian_settings.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/toyota_settings.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.h"
|
||||
@@ -1,14 +0,0 @@
|
||||
/**
|
||||
* 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.
|
||||
*/
|
||||
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/chrysler_settings.h"
|
||||
|
||||
ChryslerSettings::ChryslerSettings(QWidget *parent) : BrandSettingsInterface(parent) {
|
||||
}
|
||||
|
||||
void ChryslerSettings::updateSettings() {
|
||||
}
|
||||
@@ -1,26 +0,0 @@
|
||||
/**
|
||||
* 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.
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h"
|
||||
|
||||
#include "selfdrive/ui/qt/util.h"
|
||||
#include "selfdrive/ui/sunnypilot/ui.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
|
||||
|
||||
class ChryslerSettings : public BrandSettingsInterface {
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
explicit ChryslerSettings(QWidget *parent = nullptr);
|
||||
void updateSettings() override;
|
||||
|
||||
private:
|
||||
bool offroad = false;
|
||||
};
|
||||
@@ -1,14 +0,0 @@
|
||||
/**
|
||||
* 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.
|
||||
*/
|
||||
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/ford_settings.h"
|
||||
|
||||
FordSettings::FordSettings(QWidget *parent) : BrandSettingsInterface(parent) {
|
||||
}
|
||||
|
||||
void FordSettings::updateSettings() {
|
||||
}
|
||||
@@ -1,26 +0,0 @@
|
||||
/**
|
||||
* 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.
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h"
|
||||
|
||||
#include "selfdrive/ui/qt/util.h"
|
||||
#include "selfdrive/ui/sunnypilot/ui.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
|
||||
|
||||
class FordSettings : public BrandSettingsInterface {
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
explicit FordSettings(QWidget *parent = nullptr);
|
||||
void updateSettings() override;
|
||||
|
||||
private:
|
||||
bool offroad = false;
|
||||
};
|
||||
@@ -1,14 +0,0 @@
|
||||
/**
|
||||
* 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.
|
||||
*/
|
||||
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/gm_settings.h"
|
||||
|
||||
GMSettings::GMSettings(QWidget *parent) : BrandSettingsInterface(parent) {
|
||||
}
|
||||
|
||||
void GMSettings::updateSettings() {
|
||||
}
|
||||
@@ -1,26 +0,0 @@
|
||||
/**
|
||||
* 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.
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h"
|
||||
|
||||
#include "selfdrive/ui/qt/util.h"
|
||||
#include "selfdrive/ui/sunnypilot/ui.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
|
||||
|
||||
class GMSettings : public BrandSettingsInterface {
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
explicit GMSettings(QWidget *parent = nullptr);
|
||||
void updateSettings() override;
|
||||
|
||||
private:
|
||||
bool offroad = false;
|
||||
};
|
||||
@@ -1,14 +0,0 @@
|
||||
/**
|
||||
* 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.
|
||||
*/
|
||||
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/honda_settings.h"
|
||||
|
||||
HondaSettings::HondaSettings(QWidget *parent) : BrandSettingsInterface(parent) {
|
||||
}
|
||||
|
||||
void HondaSettings::updateSettings() {
|
||||
}
|
||||
@@ -1,26 +0,0 @@
|
||||
/**
|
||||
* 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.
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h"
|
||||
|
||||
#include "selfdrive/ui/qt/util.h"
|
||||
#include "selfdrive/ui/sunnypilot/ui.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
|
||||
|
||||
class HondaSettings : public BrandSettingsInterface {
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
explicit HondaSettings(QWidget *parent = nullptr);
|
||||
void updateSettings() override;
|
||||
|
||||
private:
|
||||
bool offroad = false;
|
||||
};
|
||||
@@ -1,57 +0,0 @@
|
||||
/**
|
||||
* 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.
|
||||
*/
|
||||
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h"
|
||||
|
||||
HyundaiSettings::HyundaiSettings(QWidget *parent) : BrandSettingsInterface(parent) {
|
||||
std::vector<QString> tuning_texts{ tr("Off"), tr("Dynamic"), tr("Predictive") };
|
||||
longitudinalTuningToggle = new ButtonParamControl(
|
||||
"HyundaiLongitudinalTuning",
|
||||
tr("Custom Longitudinal Tuning"),
|
||||
"",
|
||||
"",
|
||||
tuning_texts,
|
||||
500
|
||||
);
|
||||
QObject::connect(longitudinalTuningToggle, &ButtonParamControlSP::buttonToggled, this, &HyundaiSettings::updateSettings);
|
||||
list->addItem(longitudinalTuningToggle);
|
||||
longitudinalTuningToggle->showDescription();
|
||||
}
|
||||
|
||||
void HyundaiSettings::updateSettings() {
|
||||
auto longitudinal_tuning_param = std::atoi(params.get("HyundaiLongitudinalTuning").c_str());
|
||||
|
||||
auto cp_bytes = params.get("CarParamsPersistent");
|
||||
if (!cp_bytes.empty()) {
|
||||
AlignedBuffer aligned_buf;
|
||||
capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
|
||||
cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
|
||||
|
||||
has_longitudinal_control = hasLongitudinalControl(CP);
|
||||
} else {
|
||||
has_longitudinal_control = false;
|
||||
}
|
||||
|
||||
LongitudinalTuningOption longitudinal_tuning_option;
|
||||
if (longitudinal_tuning_param == int(LongitudinalTuningOption::PREDICTIVE)) {
|
||||
longitudinal_tuning_option = LongitudinalTuningOption::PREDICTIVE;
|
||||
} else if (longitudinal_tuning_param == int(LongitudinalTuningOption::DYNAMIC)) {
|
||||
longitudinal_tuning_option = LongitudinalTuningOption::DYNAMIC;
|
||||
} else {
|
||||
longitudinal_tuning_option = LongitudinalTuningOption::OFF;
|
||||
}
|
||||
|
||||
bool longitudinal_tuning_disabled = !offroad || !has_longitudinal_control;
|
||||
QString longitudinal_tuning_description = longitudinalTuningDescription(longitudinal_tuning_option);
|
||||
if (longitudinal_tuning_disabled) {
|
||||
longitudinal_tuning_description = toggleDisableMsg(offroad, has_longitudinal_control);
|
||||
}
|
||||
|
||||
longitudinalTuningToggle->setEnabled(!longitudinal_tuning_disabled);
|
||||
longitudinalTuningToggle->setDescription(longitudinal_tuning_description);
|
||||
longitudinalTuningToggle->showDescription();
|
||||
}
|
||||
@@ -1,65 +0,0 @@
|
||||
/**
|
||||
* 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.
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h"
|
||||
|
||||
#include "selfdrive/ui/qt/util.h"
|
||||
#include "selfdrive/ui/sunnypilot/ui.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
|
||||
|
||||
enum class LongitudinalTuningOption {
|
||||
OFF,
|
||||
DYNAMIC,
|
||||
PREDICTIVE,
|
||||
};
|
||||
|
||||
class HyundaiSettings : public BrandSettingsInterface {
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
explicit HyundaiSettings(QWidget *parent = nullptr);
|
||||
void updateSettings() override;
|
||||
|
||||
private:
|
||||
bool has_longitudinal_control = false;
|
||||
ButtonParamControl *longitudinalTuningToggle = nullptr;
|
||||
|
||||
static QString toggleDisableMsg(bool _offroad, bool _has_longitudinal_control) {
|
||||
if (!_has_longitudinal_control) {
|
||||
return tr("This feature can only be used with openpilot longitudinal control enabled.");
|
||||
}
|
||||
|
||||
if (!_offroad) {
|
||||
return tr("Enable \"Always Offroad\" in Device panel, or turn vehicle off to select an option.");
|
||||
}
|
||||
|
||||
return QString();
|
||||
}
|
||||
|
||||
static QString longitudinalTuningDescription(LongitudinalTuningOption option = LongitudinalTuningOption::OFF) {
|
||||
QString off_str = tr("Off: Uses default tuning");
|
||||
QString dynamic_str = tr("Dynamic: Adjusts acceleration limits based on current speed");
|
||||
QString predictive_str = tr("Predictive: Uses future trajectory data to anticipate needed adjustments");
|
||||
|
||||
if (option == LongitudinalTuningOption::PREDICTIVE) {
|
||||
predictive_str = "<font color='white'><b>" + predictive_str + "</b></font>";
|
||||
} else if (option == LongitudinalTuningOption::DYNAMIC) {
|
||||
dynamic_str = "<font color='white'><b>" + dynamic_str + "</b></font>";
|
||||
} else {
|
||||
off_str = "<font color='white'><b>" + off_str + "</b></font>";
|
||||
}
|
||||
|
||||
return QString("%1<br><br>%2<br>%3<br>%4<br>")
|
||||
.arg(tr("Fine-tune your driving experience by adjusting acceleration smoothness with openpilot longitudinal control."))
|
||||
.arg(off_str)
|
||||
.arg(dynamic_str)
|
||||
.arg(predictive_str);
|
||||
}
|
||||
};
|
||||
@@ -1,14 +0,0 @@
|
||||
/**
|
||||
* 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.
|
||||
*/
|
||||
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/mazda_settings.h"
|
||||
|
||||
MazdaSettings::MazdaSettings(QWidget *parent) : BrandSettingsInterface(parent) {
|
||||
}
|
||||
|
||||
void MazdaSettings::updateSettings() {
|
||||
}
|
||||
@@ -1,26 +0,0 @@
|
||||
/**
|
||||
* 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.
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h"
|
||||
|
||||
#include "selfdrive/ui/qt/util.h"
|
||||
#include "selfdrive/ui/sunnypilot/ui.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
|
||||
|
||||
class MazdaSettings : public BrandSettingsInterface {
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
explicit MazdaSettings(QWidget *parent = nullptr);
|
||||
void updateSettings() override;
|
||||
|
||||
private:
|
||||
bool offroad = false;
|
||||
};
|
||||
@@ -1,14 +0,0 @@
|
||||
/**
|
||||
* 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.
|
||||
*/
|
||||
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/nissan_settings.h"
|
||||
|
||||
NissanSettings::NissanSettings(QWidget *parent) : BrandSettingsInterface(parent) {
|
||||
}
|
||||
|
||||
void NissanSettings::updateSettings() {
|
||||
}
|
||||
@@ -1,26 +0,0 @@
|
||||
/**
|
||||
* 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.
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h"
|
||||
|
||||
#include "selfdrive/ui/qt/util.h"
|
||||
#include "selfdrive/ui/sunnypilot/ui.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
|
||||
|
||||
class NissanSettings : public BrandSettingsInterface {
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
explicit NissanSettings(QWidget *parent = nullptr);
|
||||
void updateSettings() override;
|
||||
|
||||
private:
|
||||
bool offroad = false;
|
||||
};
|
||||
@@ -43,73 +43,36 @@ PlatformSelector::PlatformSelector() : ButtonControl(tr("Vehicle"), "", "") {
|
||||
}
|
||||
});
|
||||
|
||||
main_layout->addStretch(0);
|
||||
refresh(offroad);
|
||||
}
|
||||
|
||||
void PlatformSelector::refresh(bool _offroad) {
|
||||
QString name = getPlatformBundle("name").toString();
|
||||
platform = unrecognized_str;
|
||||
QString platform_color = YELLOW_PLATFORM;
|
||||
|
||||
if (!name.isEmpty()) {
|
||||
platform = name;
|
||||
platform_color = BLUE_PLATFORM;
|
||||
brand = getPlatformBundle("brand").toString();
|
||||
setValue(name);
|
||||
setText(tr("REMOVE"));
|
||||
} else {
|
||||
setText(tr("SEARCH"));
|
||||
|
||||
platform = unrecognized_str;
|
||||
brand = "";
|
||||
auto cp_bytes = params.get("CarParamsPersistent");
|
||||
if (!cp_bytes.empty()) {
|
||||
AlignedBuffer aligned_buf;
|
||||
capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
|
||||
cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
|
||||
|
||||
platform = QString::fromStdString(CP.getCarFingerprint().cStr());
|
||||
|
||||
for (auto it = platforms.constBegin(); it != platforms.constEnd(); ++it) {
|
||||
if (it.value()["platform"].toString() == platform) {
|
||||
brand = it.value()["brand"].toString();
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
if (platform == "MOCK") {
|
||||
platform = unrecognized_str;
|
||||
} else {
|
||||
platform_color = GREEN_PLATFORM;
|
||||
}
|
||||
setValue(QString::fromStdString(CP.getCarFingerprint().cStr()));
|
||||
}
|
||||
}
|
||||
setValue(platform, platform_color);
|
||||
setEnabled(true);
|
||||
emit refreshPanel();
|
||||
|
||||
offroad = _offroad;
|
||||
|
||||
FingerprintStatus cur_status;
|
||||
if (platform_color == GREEN_PLATFORM) {
|
||||
cur_status = FingerprintStatus::AUTO_FINGERPRINT;
|
||||
} else if (platform_color == BLUE_PLATFORM) {
|
||||
cur_status = FingerprintStatus::MANUAL_FINGERPRINT;
|
||||
} else {
|
||||
cur_status = FingerprintStatus::UNRECOGNIZED;
|
||||
}
|
||||
|
||||
setDescription(platformDescription(cur_status));
|
||||
showDescription();
|
||||
}
|
||||
|
||||
void PlatformSelector::setPlatform(const QString &_platform) {
|
||||
QVariantMap platform_data = platforms[_platform];
|
||||
void PlatformSelector::setPlatform(const QString &platform) {
|
||||
QVariantMap platform_data = platforms[platform];
|
||||
|
||||
const QString offroad_msg = offroad ? tr("This setting will take effect immediately.") :
|
||||
tr("This setting will take effect once the device enters offroad state.");
|
||||
const QString msg = QString("<b>%1</b><br><br>%2")
|
||||
.arg(_platform, offroad_msg);
|
||||
.arg(platform, offroad_msg);
|
||||
|
||||
QString content("<body><h2 style=\"text-align: center;\">" + tr("Vehicle Selector") + "</h2><br>"
|
||||
"<p style=\"text-align: center; margin: 0 128px; font-size: 50px;\">" + msg + "</p></body>");
|
||||
@@ -117,7 +80,7 @@ void PlatformSelector::setPlatform(const QString &_platform) {
|
||||
if (ConfirmationDialog(content, tr("Confirm"), tr("Cancel"), true, this).exec()) {
|
||||
QJsonObject json_bundle;
|
||||
json_bundle["platform"] = platform_data["platform"].toString();
|
||||
json_bundle["name"] = _platform;
|
||||
json_bundle["name"] = platform;
|
||||
json_bundle["make"] = platform_data["make"].toString();
|
||||
json_bundle["brand"] = platform_data["brand"].toString();
|
||||
json_bundle["model"] = platform_data["model"].toString();
|
||||
|
||||
@@ -9,16 +9,6 @@
|
||||
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
|
||||
|
||||
static const QString GREEN_PLATFORM = "#00F100";
|
||||
static const QString BLUE_PLATFORM = "#0086E9";
|
||||
static const QString YELLOW_PLATFORM = "#FFD500";
|
||||
|
||||
enum class FingerprintStatus {
|
||||
AUTO_FINGERPRINT,
|
||||
MANUAL_FINGERPRINT,
|
||||
UNRECOGNIZED,
|
||||
};
|
||||
|
||||
class PlatformSelector : public ButtonControl {
|
||||
Q_OBJECT
|
||||
|
||||
@@ -26,15 +16,9 @@ public:
|
||||
PlatformSelector();
|
||||
QVariant getPlatformBundle(const QString &key);
|
||||
|
||||
QString platform;
|
||||
QString brand;
|
||||
|
||||
public slots:
|
||||
void refresh(bool _offroad);
|
||||
|
||||
signals:
|
||||
void refreshPanel();
|
||||
|
||||
private:
|
||||
void searchPlatforms(const QString &query);
|
||||
void setPlatform(const QString &platform = "");
|
||||
@@ -42,27 +26,4 @@ private:
|
||||
|
||||
Params params;
|
||||
bool offroad;
|
||||
|
||||
QString unrecognized_str = tr("Unrecognized Vehicle");
|
||||
|
||||
static QString platformDescription(FingerprintStatus status = FingerprintStatus::UNRECOGNIZED) {
|
||||
QString auto_str = "🟢 - " + tr("Fingerprinted automatically");
|
||||
QString manual_str = "🔵 - " + tr("Manually selected");
|
||||
QString unrecognized_str = "🟡 - " + tr("Not fingerprinted or manually selected");
|
||||
|
||||
if (status == FingerprintStatus::AUTO_FINGERPRINT) {
|
||||
auto_str = "<font color='white'><b>" + auto_str + "</b></font>";
|
||||
} else if (status == FingerprintStatus::MANUAL_FINGERPRINT) {
|
||||
manual_str = "<font color='white'><b>" + manual_str + "</b></font>";
|
||||
} else {
|
||||
unrecognized_str = "<font color='white'><b>" + unrecognized_str + "</b></font>";
|
||||
}
|
||||
|
||||
return QString("%1<br>%2<br><br>%3<br>%4<br>%5")
|
||||
.arg(tr("Select vehicle to force fingerprint manually."))
|
||||
.arg(tr("Colors represent fingerprint status:"))
|
||||
.arg(auto_str)
|
||||
.arg(manual_str)
|
||||
.arg(unrecognized_str);
|
||||
}
|
||||
};
|
||||
|
||||
@@ -1,14 +0,0 @@
|
||||
/**
|
||||
* 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.
|
||||
*/
|
||||
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/rivian_settings.h"
|
||||
|
||||
RivianSettings::RivianSettings(QWidget *parent) : BrandSettingsInterface(parent) {
|
||||
}
|
||||
|
||||
void RivianSettings::updateSettings() {
|
||||
}
|
||||
@@ -1,26 +0,0 @@
|
||||
/**
|
||||
* 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.
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h"
|
||||
|
||||
#include "selfdrive/ui/qt/util.h"
|
||||
#include "selfdrive/ui/sunnypilot/ui.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
|
||||
|
||||
class RivianSettings : public BrandSettingsInterface {
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
explicit RivianSettings(QWidget *parent = nullptr);
|
||||
void updateSettings() override;
|
||||
|
||||
private:
|
||||
bool offroad = false;
|
||||
};
|
||||
@@ -1,14 +0,0 @@
|
||||
/**
|
||||
* 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.
|
||||
*/
|
||||
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.h"
|
||||
|
||||
SubaruSettings::SubaruSettings(QWidget *parent) : BrandSettingsInterface(parent) {
|
||||
}
|
||||
|
||||
void SubaruSettings::updateSettings() {
|
||||
}
|
||||
@@ -1,26 +0,0 @@
|
||||
/**
|
||||
* 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.
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h"
|
||||
|
||||
#include "selfdrive/ui/qt/util.h"
|
||||
#include "selfdrive/ui/sunnypilot/ui.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
|
||||
|
||||
class SubaruSettings : public BrandSettingsInterface {
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
explicit SubaruSettings(QWidget *parent = nullptr);
|
||||
void updateSettings() override;
|
||||
|
||||
private:
|
||||
bool offroad = false;
|
||||
};
|
||||
@@ -1,14 +0,0 @@
|
||||
/**
|
||||
* 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.
|
||||
*/
|
||||
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.h"
|
||||
|
||||
TeslaSettings::TeslaSettings(QWidget *parent) : BrandSettingsInterface(parent) {
|
||||
}
|
||||
|
||||
void TeslaSettings::updateSettings() {
|
||||
}
|
||||
@@ -1,26 +0,0 @@
|
||||
/**
|
||||
* 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.
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h"
|
||||
|
||||
#include "selfdrive/ui/qt/util.h"
|
||||
#include "selfdrive/ui/sunnypilot/ui.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
|
||||
|
||||
class TeslaSettings : public BrandSettingsInterface {
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
explicit TeslaSettings(QWidget *parent = nullptr);
|
||||
void updateSettings() override;
|
||||
|
||||
private:
|
||||
bool offroad = false;
|
||||
};
|
||||
@@ -1,14 +0,0 @@
|
||||
/**
|
||||
* 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.
|
||||
*/
|
||||
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/toyota_settings.h"
|
||||
|
||||
ToyotaSettings::ToyotaSettings(QWidget *parent) : BrandSettingsInterface(parent) {
|
||||
}
|
||||
|
||||
void ToyotaSettings::updateSettings() {
|
||||
}
|
||||
@@ -1,26 +0,0 @@
|
||||
/**
|
||||
* 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.
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h"
|
||||
|
||||
#include "selfdrive/ui/qt/util.h"
|
||||
#include "selfdrive/ui/sunnypilot/ui.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
|
||||
|
||||
class ToyotaSettings : public BrandSettingsInterface {
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
explicit ToyotaSettings(QWidget *parent = nullptr);
|
||||
void updateSettings() override;
|
||||
|
||||
private:
|
||||
bool offroad = false;
|
||||
};
|
||||
@@ -1,14 +0,0 @@
|
||||
/**
|
||||
* 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.
|
||||
*/
|
||||
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.h"
|
||||
|
||||
VolkswagenSettings::VolkswagenSettings(QWidget *parent) : BrandSettingsInterface(parent) {
|
||||
}
|
||||
|
||||
void VolkswagenSettings::updateSettings() {
|
||||
}
|
||||
@@ -1,26 +0,0 @@
|
||||
/**
|
||||
* 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.
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h"
|
||||
|
||||
#include "selfdrive/ui/qt/util.h"
|
||||
#include "selfdrive/ui/sunnypilot/ui.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
|
||||
|
||||
class VolkswagenSettings : public BrandSettingsInterface {
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
explicit VolkswagenSettings(QWidget *parent = nullptr);
|
||||
void updateSettings() override;
|
||||
|
||||
private:
|
||||
bool offroad = false;
|
||||
};
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user