mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-06-20 01:02:07 +08:00
Compare commits
1 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 github-actions[bot]
|
f5e5d688c3 |
@@ -1 +0,0 @@
|
||||
{"cache_date": "2024-08-08", "page_authors": {"docs/index.md": {"last_commit_date": "2024-07-28", "authors": [{"login": "adeebshihadeh", "name": "adeebshihadeh", "url": "https://github.com/adeebshihadeh", "avatar": "https://avatars.githubusercontent.com/u/8762862?v=4"}, {"login": "tecandrew", "name": "tecandrew", "url": "https://github.com/tecandrew", "avatar": "https://avatars.githubusercontent.com/u/21319730?v=4"}, {"login": "pd0wm", "name": "pd0wm", "url": "https://github.com/pd0wm", "avatar": "https://avatars.githubusercontent.com/u/1314752?v=4"}]}, "docs/SAFETY.md": {"last_commit_date": "2023-07-25", "authors": [{"login": "haraschax", "name": "haraschax", "url": "https://github.com/haraschax", "avatar": "https://avatars.githubusercontent.com/u/6804392?v=4"}, {"login": "sshane", "name": "sshane", "url": "https://github.com/sshane", "avatar": "https://avatars.githubusercontent.com/u/25857203?v=4"}, {"login": "pd0wm", "name": "pd0wm", "url": "https://github.com/pd0wm", "avatar": "https://avatars.githubusercontent.com/u/1314752?v=4"}, {"login": "geohot", "name": "geohot", "url": "https://github.com/geohot", "avatar": "https://avatars.githubusercontent.com/u/72895?v=4"}]}, "docs/how-to/turn-the-speed-blue.md": {"last_commit_date": "2024-07-28", "authors": [{"login": "adeebshihadeh", "name": "adeebshihadeh", "url": "https://github.com/adeebshihadeh", "avatar": "https://avatars.githubusercontent.com/u/8762862?v=4"}]}}}
|
||||
@@ -1,23 +0,0 @@
|
||||
* text=auto
|
||||
|
||||
# to move existing files into LFS:
|
||||
# git add --renormalize .
|
||||
*.onnx filter=lfs diff=lfs merge=lfs -text
|
||||
*.svg filter=lfs diff=lfs merge=lfs -text
|
||||
*.png filter=lfs diff=lfs merge=lfs -text
|
||||
*.gif filter=lfs diff=lfs merge=lfs -text
|
||||
*.ttf filter=lfs diff=lfs merge=lfs -text
|
||||
*.wav filter=lfs diff=lfs merge=lfs -text
|
||||
|
||||
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
|
||||
third_party/**/*.dylib filter=lfs diff=lfs merge=lfs -text
|
||||
third_party/acados/*/t_renderer filter=lfs diff=lfs merge=lfs -text
|
||||
third_party/qt5/larch64/bin/lrelease filter=lfs diff=lfs merge=lfs -text
|
||||
third_party/qt5/larch64/bin/lupdate filter=lfs diff=lfs merge=lfs -text
|
||||
third_party/catch2/include/catch2/catch.hpp filter=lfs diff=lfs merge=lfs -text
|
||||
@@ -1,3 +0,0 @@
|
||||
* @sunnypilot/dev-internal
|
||||
/.github/ @devtekve @sunnyhaibin
|
||||
/release/ci/ @devtekve @sunnyhaibin
|
||||
@@ -1,47 +0,0 @@
|
||||
name: Bug report
|
||||
description: For issues with running openpilot on your comma device
|
||||
labels: ["bug"]
|
||||
body:
|
||||
|
||||
- type: markdown
|
||||
attributes:
|
||||
value: >
|
||||
Before creating a **bug report**, please check the following:
|
||||
* If the issue likely only affects your car model or make, go back and open a **car bug report** instead.
|
||||
* If the issue is related to the driving or driver monitoring models, you should open a [discussion](https://github.com/commaai/openpilot/discussions/categories/model-feedback) instead.
|
||||
* Ensure you're running the latest openpilot release.
|
||||
* Ensure you're using officially supported hardware. Issues running on PCs have a different issue template.
|
||||
* Ensure there isn't an existing issue for your bug. If there is, leave a comment on the existing issue.
|
||||
* Ensure you're running stock openpilot. We cannot look into bug reports from forks.
|
||||
|
||||
If you're unsure whether you've hit a bug, check out the #installation-help channel in the [community Discord server](https://discord.comma.ai).
|
||||
|
||||
- type: textarea
|
||||
attributes:
|
||||
label: Describe the bug
|
||||
description: Also include a description of how to reproduce the bug
|
||||
validations:
|
||||
required: true
|
||||
|
||||
- type: input
|
||||
id: route
|
||||
attributes:
|
||||
label: Provide a route where the issue occurs
|
||||
description: Ensure the route is fully uploaded at https://useradmin.comma.ai. We cannot look into issues without routes, or at least a Dongle ID.
|
||||
placeholder: 77611a1fac303767|2020-05-11--16-37-07
|
||||
validations:
|
||||
required: true
|
||||
|
||||
- type: input
|
||||
id: version
|
||||
attributes:
|
||||
label: openpilot version
|
||||
description: If you're not on release, provide the commit hash
|
||||
placeholder: 0.8.10
|
||||
validations:
|
||||
required: true
|
||||
|
||||
- type: textarea
|
||||
attributes:
|
||||
label: Additional info
|
||||
|
||||
@@ -1,14 +0,0 @@
|
||||
blank_issues_enabled: false
|
||||
contact_links:
|
||||
- name: Car bug report
|
||||
url: https://github.com/commaai/opendbc/issues/new
|
||||
about: For issues with a particular car make or model
|
||||
- name: Join the Discord
|
||||
url: https://discord.comma.ai
|
||||
about: The community Discord is for both openpilot development and experience discussion
|
||||
- name: Report driving behavior feedback
|
||||
url: https://discord.com/channels/469524606043160576/1254834193066623017
|
||||
about: Feedback for the driving and driver monitoring models goes in the #driving-feedback in Discord
|
||||
- name: Community Wiki
|
||||
url: https://github.com/commaai/openpilot/wiki
|
||||
about: Check out our community wiki
|
||||
@@ -1,8 +0,0 @@
|
||||
---
|
||||
name: Enhancement
|
||||
about: For openpilot enhancement suggestions
|
||||
title: ''
|
||||
labels: 'enhancement'
|
||||
assignees: ''
|
||||
---
|
||||
|
||||
@@ -1,42 +0,0 @@
|
||||
name: PC bug report
|
||||
description: For issues with running openpilot on PC
|
||||
labels: ["PC"]
|
||||
body:
|
||||
|
||||
- type: markdown
|
||||
attributes:
|
||||
value: >
|
||||
Before creating a **bug report**, please check the following:
|
||||
* Ensure you're running the latest openpilot release.
|
||||
* Ensure there isn't an existing issue for your bug. If there is, leave a comment on the existing issue.
|
||||
* Ensure you're running stock openpilot. We cannot look into bug reports from forks.
|
||||
|
||||
If you're unsure whether you've hit a bug, check out the #installation-help channel in the [community Discord server](https://discord.comma.ai).
|
||||
|
||||
- type: textarea
|
||||
attributes:
|
||||
label: Describe the bug
|
||||
description: Also include a description of how to reproduce the bug
|
||||
validations:
|
||||
required: true
|
||||
|
||||
- type: input
|
||||
id: os-version
|
||||
attributes:
|
||||
label: OS Version
|
||||
placeholder: Ubuntu 24.04
|
||||
validations:
|
||||
required: true
|
||||
|
||||
- type: input
|
||||
id: version
|
||||
attributes:
|
||||
label: openpilot version or commit
|
||||
placeholder: bd36f2ec8d3559909678eff2690c10a520938367
|
||||
validations:
|
||||
required: false
|
||||
|
||||
- type: textarea
|
||||
attributes:
|
||||
label: Additional info
|
||||
|
||||
@@ -1,27 +0,0 @@
|
||||
CI / testing:
|
||||
- changed-files:
|
||||
- any-glob-to-all-files: "{.github/**,**/test_*,Jenkinsfile}"
|
||||
|
||||
car:
|
||||
- changed-files:
|
||||
- any-glob-to-all-files: '{selfdrive/car/**,opendbc_repo}'
|
||||
|
||||
simulation:
|
||||
- changed-files:
|
||||
- any-glob-to-all-files: 'tools/sim/**'
|
||||
|
||||
ui:
|
||||
- changed-files:
|
||||
- any-glob-to-all-files: 'selfdrive/ui/**'
|
||||
|
||||
tools:
|
||||
- changed-files:
|
||||
- any-glob-to-all-files: 'tools/**'
|
||||
|
||||
multilanguage:
|
||||
- changed-files:
|
||||
- any-glob-to-all-files: 'selfdrive/ui/translations/**'
|
||||
|
||||
autonomy:
|
||||
- changed-files:
|
||||
- any-glob-to-all-files: "{selfdrive/modeld/models/**,selfdrive/test/process_replay/model_replay_ref_commit,sunnypilot/modeld*/models/**}"
|
||||
@@ -1,68 +0,0 @@
|
||||
<!-- Please copy and paste the relevant template -->
|
||||
|
||||
<!--- ***** Template: Fingerprint *****
|
||||
|
||||
**Car**
|
||||
Which car (make, model, year) this fingerprint is for
|
||||
|
||||
**Route**
|
||||
A route with the fingerprint
|
||||
|
||||
-->
|
||||
|
||||
<!--- ***** Template: Car Bugfix *****
|
||||
|
||||
**Description**
|
||||
|
||||
A description of the bug and the fix. Also link the issue if it exists.
|
||||
|
||||
**Verification**
|
||||
|
||||
Explain how you tested this bug fix.
|
||||
|
||||
**Route**
|
||||
|
||||
Route: [a route with the bug fix]
|
||||
|
||||
|
||||
-->
|
||||
|
||||
<!--- ***** Template: Bugfix *****
|
||||
|
||||
**Description**
|
||||
|
||||
A description of the bug and the fix. Also link the issue if it exists.
|
||||
|
||||
**Verification**
|
||||
|
||||
Explain how you tested this bug fix.
|
||||
|
||||
|
||||
-->
|
||||
|
||||
<!--- ***** Template: Car Port *****
|
||||
|
||||
**Checklist**
|
||||
|
||||
- [ ] added entry to CAR in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
|
||||
- [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/car/tests/routes.py)
|
||||
- [ ] route with openpilot:
|
||||
- [ ] route with stock system:
|
||||
- [ ] car harness used (if comma doesn't sell it, put N/A):
|
||||
|
||||
|
||||
-->
|
||||
|
||||
<!--- ***** Template: Refactor *****
|
||||
|
||||
**Description**
|
||||
|
||||
A description of the refactor, including the goals it accomplishes.
|
||||
|
||||
**Verification**
|
||||
|
||||
Explain how you tested the refactor for regressions.
|
||||
|
||||
|
||||
-->
|
||||
|
||||
@@ -1,43 +0,0 @@
|
||||
exclude-labels:
|
||||
- 'no-changelog'
|
||||
categories:
|
||||
- title: '🚀 Features'
|
||||
labels:
|
||||
- 'feature'
|
||||
- 'enhancement'
|
||||
- title: '🐛 Bug Fixes'
|
||||
collapse-after: 5
|
||||
labels:
|
||||
- 'fix'
|
||||
- 'bugfix'
|
||||
- 'bug'
|
||||
- title: '🧰 Maintenance'
|
||||
collapse-after: 5
|
||||
label: 'chore'
|
||||
change-template: '- $TITLE @$AUTHOR (#$NUMBER)'
|
||||
change-title-escapes: '\<*_&'
|
||||
replacers:
|
||||
- search: '/[Ss][Uu][Nn][Nn][Yy][Pp][Ii][Ll][Oo][Tt]/g'
|
||||
replace: 'sunnypilot'
|
||||
- search: '/\b[Ss][Pp]\b/g'
|
||||
replace: 'SP'
|
||||
version-resolver:
|
||||
major:
|
||||
labels:
|
||||
- 'major'
|
||||
minor:
|
||||
labels:
|
||||
- 'minor'
|
||||
patch:
|
||||
labels:
|
||||
- 'patch'
|
||||
default: patch
|
||||
name-template: 'v$RESOLVED_VERSION 🚀'
|
||||
tag-template: 'v$RESOLVED_VERSION'
|
||||
version-template: "0.$MAJOR.$MINOR.$PATCH" # The day OP becomes v1, we need to bump this
|
||||
tag-prefix: "v0." # The day OP becomes v1, we need to bump this
|
||||
prerelease-identifier: "staging"
|
||||
template: |
|
||||
## Changes
|
||||
|
||||
$CHANGES
|
||||
@@ -1,58 +0,0 @@
|
||||
name: 'automatically cache based on current runner'
|
||||
|
||||
inputs:
|
||||
path:
|
||||
description: 'path to cache'
|
||||
required: true
|
||||
key:
|
||||
description: 'key'
|
||||
required: true
|
||||
restore-keys:
|
||||
description: 'restore-keys'
|
||||
required: true
|
||||
save:
|
||||
description: 'whether to save the cache'
|
||||
default: 'false'
|
||||
required: false
|
||||
outputs:
|
||||
cache-hit:
|
||||
description: 'cache hit occurred'
|
||||
value: ${{ (contains(runner.name, 'nsc') && steps.ns-cache.outputs.cache-hit) ||
|
||||
(!contains(runner.name, 'nsc') && inputs.save != 'false' && steps.gha-cache.outputs.cache-hit) ||
|
||||
(!contains(runner.name, 'nsc') && inputs.save == 'false' && steps.gha-cache-ro.outputs.cache-hit) }}
|
||||
|
||||
runs:
|
||||
using: "composite"
|
||||
steps:
|
||||
- name: setup namespace cache
|
||||
id: ns-cache
|
||||
if: ${{ contains(runner.name, 'nsc') }}
|
||||
uses: namespacelabs/nscloud-cache-action@v1
|
||||
with:
|
||||
path: ${{ inputs.path }}
|
||||
|
||||
- name: setup github cache
|
||||
id: gha-cache
|
||||
if: ${{ !contains(runner.name, 'nsc') && inputs.save != 'false' }}
|
||||
uses: 'actions/cache@v4'
|
||||
with:
|
||||
path: ${{ inputs.path }}
|
||||
key: ${{ inputs.key }}
|
||||
restore-keys: ${{ inputs.restore-keys }}
|
||||
|
||||
- name: setup github cache
|
||||
id: gha-cache-ro
|
||||
if: ${{ !contains(runner.name, 'nsc') && inputs.save == 'false' }}
|
||||
uses: 'actions/cache/restore@v4'
|
||||
with:
|
||||
path: ${{ inputs.path }}
|
||||
key: ${{ inputs.key }}
|
||||
restore-keys: ${{ inputs.restore-keys }}
|
||||
|
||||
# make the directory manually in case we didn't get a hit, so it doesn't fail on future steps
|
||||
- id: scons-cache-setup
|
||||
shell: bash
|
||||
run: |
|
||||
mkdir -p ${{ inputs.path }}
|
||||
sudo chmod -R 777 ${{ inputs.path }}
|
||||
sudo chown -R $USER ${{ inputs.path }}
|
||||
@@ -1,52 +0,0 @@
|
||||
name: "PR review"
|
||||
on:
|
||||
pull_request_target:
|
||||
types: [opened, reopened, synchronize, edited]
|
||||
|
||||
jobs:
|
||||
labeler:
|
||||
name: review
|
||||
permissions:
|
||||
contents: read
|
||||
pull-requests: write
|
||||
runs-on: ubuntu-latest
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
submodules: false
|
||||
|
||||
# Label PRs
|
||||
- uses: actions/labeler@v5.0.0
|
||||
with:
|
||||
dot: true
|
||||
configuration-path: .github/labeler.yaml
|
||||
|
||||
# Check PR target branch
|
||||
- name: check branch
|
||||
uses: Vankka/pr-target-branch-action@def32ec9d93514138d6ac0132ee62e120a72aed5
|
||||
if: github.repository == 'sunnypilot/sunnypilot'
|
||||
env:
|
||||
GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
|
||||
with:
|
||||
target: /^(?!master$).*/
|
||||
exclude: /commaai:.*/
|
||||
change-to: ${{ github.base_ref }}
|
||||
already-exists-action: close_this
|
||||
already-exists-comment: "Your PR should be made against the `master` branch"
|
||||
|
||||
# Welcome comment
|
||||
- name: "First timers PR"
|
||||
uses: actions/first-interaction@v1
|
||||
if: github.event.pull_request.head.repo.full_name != 'sunnypilot/sunnypilot'
|
||||
with:
|
||||
repo-token: ${{ secrets.GITHUB_TOKEN }}
|
||||
pr-message: |
|
||||
<!-- _(run_id **${{ github.run_id }}**)_ -->
|
||||
Thanks for contributing to openpilot! In order for us to review your PR as quickly as possible, check the following:
|
||||
* Convert your PR to a draft unless it's ready to review
|
||||
* Read the [contributing docs](https://github.com/sunnypilot/sunnypilot/blob/master/docs/CONTRIBUTING.md)
|
||||
* Before marking as "ready for review", ensure:
|
||||
* the goal is clearly stated in the description
|
||||
* all the tests are passing
|
||||
* the change is [something we merge](https://github.com/sunnypilot/sunnypilot/blob/master/docs/CONTRIBUTING.md#what-gets-merged)
|
||||
* include a route or your device' dongle ID if relevant
|
||||
@@ -1,37 +0,0 @@
|
||||
name: badges
|
||||
on:
|
||||
schedule:
|
||||
- cron: '0 * * * *'
|
||||
workflow_dispatch:
|
||||
|
||||
env:
|
||||
BASE_IMAGE: openpilot-base
|
||||
DOCKER_REGISTRY: ghcr.io/commaai
|
||||
RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $DOCKER_REGISTRY/$BASE_IMAGE:latest /bin/bash -c
|
||||
|
||||
jobs:
|
||||
badges:
|
||||
name: create badges
|
||||
runs-on: ubuntu-latest
|
||||
if: github.repository == 'sunnypilot/sunnypilot'
|
||||
permissions:
|
||||
contents: write
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
submodules: true
|
||||
- uses: ./.github/workflows/setup-with-retry
|
||||
- name: Push badges
|
||||
run: |
|
||||
${{ env.RUN }} "scons -j$(nproc) && python3 selfdrive/ui/translations/create_badges.py"
|
||||
|
||||
rm .gitattributes
|
||||
|
||||
git checkout --orphan badges
|
||||
git rm -rf --cached .
|
||||
git config user.email "badge-researcher@sunnypilot.ai"
|
||||
git config user.name "Badge Researcher"
|
||||
|
||||
git add translation_badge.svg
|
||||
git commit -m "Add/Update badges"
|
||||
git push -f origin HEAD
|
||||
@@ -1,77 +0,0 @@
|
||||
name: cereal validation
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- master
|
||||
- master-new
|
||||
pull_request:
|
||||
paths:
|
||||
- 'cereal/**'
|
||||
workflow_dispatch:
|
||||
workflow_call:
|
||||
inputs:
|
||||
run_number:
|
||||
default: '1'
|
||||
required: true
|
||||
type: string
|
||||
|
||||
concurrency:
|
||||
group: cereal-validation-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
|
||||
cancel-in-progress: true
|
||||
|
||||
env:
|
||||
PYTHONWARNINGS: error
|
||||
BASE_IMAGE: openpilot-base
|
||||
BUILD: selfdrive/test/docker_build.sh base
|
||||
RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
|
||||
|
||||
jobs:
|
||||
generate_cereal_artifact:
|
||||
name: Generate cereal validation artifacts
|
||||
runs-on: ubuntu-24.04
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
submodules: true
|
||||
- uses: ./.github/workflows/setup-with-retry
|
||||
- name: Build openpilot
|
||||
run: ${{ env.RUN }} "scons -j$(nproc) cereal"
|
||||
- name: Generate the log file
|
||||
run: |
|
||||
${{ env.RUN }} "cereal/messaging/tests/validate_sp_cereal_upstream.py -g -f schema_instances.bin" && \
|
||||
ls -la
|
||||
ls -la cereal/messaging/tests
|
||||
- name: 'Prepare artifact'
|
||||
run: |
|
||||
mkdir -p "cereal/messaging/tests/cereal_validations"
|
||||
cp cereal/messaging/tests/validate_sp_cereal_upstream.py "cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py"
|
||||
cp schema_instances.bin "cereal/messaging/tests/cereal_validations/schema_instances.bin"
|
||||
- name: 'Upload Artifact'
|
||||
uses: actions/upload-artifact@v4
|
||||
with:
|
||||
name: cereal_validations
|
||||
path: cereal/messaging/tests/cereal_validations
|
||||
|
||||
validate_cereal_with_upstream:
|
||||
name: Validate cereal with Upstream
|
||||
runs-on: ubuntu-24.04
|
||||
needs: generate_cereal_artifact
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
repository: 'commaai/openpilot'
|
||||
submodules: true
|
||||
ref: "refs/heads/master"
|
||||
- uses: ./.github/workflows/setup-with-retry
|
||||
- name: Build openpilot
|
||||
run: ${{ env.RUN }} "scons -j$(nproc) cereal"
|
||||
- name: Download build artifacts
|
||||
uses: actions/download-artifact@v4
|
||||
with:
|
||||
name: cereal_validations
|
||||
path: cereal/messaging/tests/cereal_validations
|
||||
- name: 'Run the validation'
|
||||
run: |
|
||||
chmod +x cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py
|
||||
${{ env.RUN }} "cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py -r -f cereal/messaging/tests/cereal_validations/schema_instances.bin"
|
||||
@@ -1,101 +0,0 @@
|
||||
name: weekly CI test report
|
||||
on:
|
||||
schedule:
|
||||
- cron: '37 9 * * 1' # 9:37AM UTC -> 2:37AM PST every monday
|
||||
workflow_dispatch:
|
||||
inputs:
|
||||
ci_runs:
|
||||
description: 'The amount of runs to trigger in CI test report'
|
||||
concurrency:
|
||||
group: ${{ github.workflow }}-${{ github.ref }}
|
||||
cancel-in-progress: true
|
||||
|
||||
env:
|
||||
CI_RUNS: ${{ github.event.inputs.ci_runs || '50' }}
|
||||
|
||||
jobs:
|
||||
setup:
|
||||
if: github.repository == 'sunnypilot/sunnypilot'
|
||||
runs-on: ubuntu-latest
|
||||
outputs:
|
||||
ci_runs: ${{ steps.ci_runs_setup.outputs.matrix }}
|
||||
steps:
|
||||
- id: ci_runs_setup
|
||||
name: CI_RUNS=${{ env.CI_RUNS }}
|
||||
run: |
|
||||
matrix=$(python3 -c "import json; print(json.dumps({ 'run_number' : list(range(${{ env.CI_RUNS }})) }))")
|
||||
echo "matrix=$matrix" >> $GITHUB_OUTPUT
|
||||
|
||||
ci_matrix_run:
|
||||
needs: [ setup ]
|
||||
strategy:
|
||||
fail-fast: false
|
||||
matrix: ${{fromJSON(needs.setup.outputs.ci_runs)}}
|
||||
uses: sunnypilot/sunnypilot/.github/workflows/ci_weekly_run.yaml@master
|
||||
with:
|
||||
run_number: ${{ matrix.run_number }}
|
||||
|
||||
report:
|
||||
needs: [ci_matrix_run]
|
||||
runs-on: ubuntu-latest
|
||||
if: always()
|
||||
steps:
|
||||
- name: Get job results
|
||||
uses: actions/github-script@v7
|
||||
id: get-job-results
|
||||
with:
|
||||
script: |
|
||||
const jobs = await github
|
||||
.paginate("GET /repos/{owner}/{repo}/actions/runs/{run_id}/attempts/{attempt}/jobs", {
|
||||
owner: "commaai",
|
||||
repo: "${{ github.event.repository.name }}",
|
||||
run_id: "${{ github.run_id }}",
|
||||
attempt: "${{ github.run_attempt }}",
|
||||
})
|
||||
var report = {}
|
||||
jobs.slice(1, jobs.length-1).forEach(job => {
|
||||
if (job.conclusion === "skipped") return;
|
||||
const jobName = job.name.split(" / ")[2];
|
||||
const runRegex = /\((.*?)\)/;
|
||||
const run = job.name.match(runRegex)[1];
|
||||
report[jobName] = report[jobName] || { successes: [], failures: [], canceled: [] };
|
||||
switch (job.conclusion) {
|
||||
case "success":
|
||||
report[jobName].successes.push({ "run_number": run, "link": job.html_url}); break;
|
||||
case "failure":
|
||||
report[jobName].failures.push({ "run_number": run, "link": job.html_url }); break;
|
||||
case "canceled":
|
||||
report[jobName].canceled.push({ "run_number": run, "link": job.html_url }); break;
|
||||
}
|
||||
});
|
||||
return JSON.stringify({"jobs": report});
|
||||
|
||||
- name: Add job results to summary
|
||||
env:
|
||||
JOB_RESULTS: ${{ fromJSON(steps.get-job-results.outputs.result) }}
|
||||
run: |
|
||||
cat <<EOF >> template.html
|
||||
<table>
|
||||
<thead>
|
||||
<tr>
|
||||
<th></th>
|
||||
<th>Job</th>
|
||||
<th>✅ Passing</th>
|
||||
<th>❌ Failure Details</th>
|
||||
</tr>
|
||||
</thead>
|
||||
<tbody>
|
||||
{% for key in jobs.keys() %}<tr>
|
||||
<td>{% for i in range(5) %}{% if i+1 <= (5 * jobs[key]["successes"]|length // ${{ env.CI_RUNS }}) %}🟩{% else %}🟥{% endif %}{% endfor%}</td>
|
||||
<td>{{ key }}</td>
|
||||
<td>{{ 100 * jobs[key]["successes"]|length // ${{ env.CI_RUNS }} }}%</td>
|
||||
<td>{% if jobs[key]["failures"]|length > 0 %}<details>{% for failure in jobs[key]["failures"] %}<a href="{{ failure['link'] }}">Log for run #{{ failure['run_number'] }}</a><br>{% endfor %}</details>{% else %}{% endif %}</td>
|
||||
</td>
|
||||
</tr>{% endfor %}
|
||||
</table>
|
||||
EOF
|
||||
|
||||
pip install jinja2-cli
|
||||
echo $JOB_RESULTS | jinja2 template.html > report.html
|
||||
echo "# CI Test Report - ${{ env.CI_RUNS }} Runs" >> $GITHUB_STEP_SUMMARY
|
||||
cat report.html >> $GITHUB_STEP_SUMMARY
|
||||
@@ -1,17 +0,0 @@
|
||||
name: weekly CI test run
|
||||
on:
|
||||
workflow_call:
|
||||
inputs:
|
||||
run_number:
|
||||
required: true
|
||||
type: string
|
||||
|
||||
concurrency:
|
||||
group: ci-run-${{ inputs.run_number }}-${{ github.ref }}
|
||||
cancel-in-progress: true
|
||||
|
||||
jobs:
|
||||
selfdrive_tests:
|
||||
uses: sunnypilot/sunnypilot/.github/workflows/selfdrive_tests.yaml@master
|
||||
with:
|
||||
run_number: ${{ inputs.run_number }}
|
||||
@@ -1,21 +0,0 @@
|
||||
name: 'compile openpilot'
|
||||
|
||||
runs:
|
||||
using: "composite"
|
||||
steps:
|
||||
- shell: bash
|
||||
name: Build openpilot with all flags
|
||||
run: |
|
||||
${{ env.RUN }} "scons -j$(nproc)"
|
||||
${{ env.RUN }} "release/check-dirty.sh"
|
||||
- shell: bash
|
||||
name: Cleanup scons cache and rebuild
|
||||
run: |
|
||||
${{ env.RUN }} "rm -rf /tmp/scons_cache/* && \
|
||||
scons -j$(nproc) --cache-populate"
|
||||
- name: Save scons cache
|
||||
uses: actions/cache/save@v4
|
||||
if: (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new')
|
||||
with:
|
||||
path: .ci_cache/scons_cache
|
||||
key: scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
|
||||
@@ -1,65 +0,0 @@
|
||||
name: docs
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- master
|
||||
pull_request:
|
||||
workflow_call:
|
||||
inputs:
|
||||
run_number:
|
||||
default: '1'
|
||||
required: true
|
||||
type: string
|
||||
concurrency:
|
||||
group: docs-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
|
||||
cancel-in-progress: true
|
||||
|
||||
jobs:
|
||||
docs:
|
||||
name: build docs
|
||||
runs-on: ubuntu-24.04
|
||||
steps:
|
||||
- uses: commaai/timeout@v1
|
||||
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
submodules: true
|
||||
|
||||
# Build
|
||||
- name: Build docs
|
||||
run: |
|
||||
# TODO: can we install just the "docs" dependency group without the normal deps?
|
||||
pip install mkdocs
|
||||
mkdocs build
|
||||
|
||||
# Push to docs.comma.ai
|
||||
- uses: actions/checkout@v4
|
||||
if: github.ref == 'refs/heads/master' && github.repository == 'sunnypilot/sunnypilot'
|
||||
with:
|
||||
path: openpilot-docs
|
||||
ssh-key: ${{ secrets.OPENPILOT_DOCS_KEY }}
|
||||
repository: sunnypilot/sunnypilot-docs
|
||||
- name: Push
|
||||
if: github.ref == 'refs/heads/master' && github.repository == 'sunnypilot/sunnypilot'
|
||||
run: |
|
||||
set -x
|
||||
|
||||
source release/identity.sh
|
||||
|
||||
cd openpilot-docs
|
||||
git checkout --orphan tmp
|
||||
git rm -rf .
|
||||
|
||||
# copy over docs
|
||||
cp -r ../docs_site/ docs/
|
||||
|
||||
# GitHub pages config
|
||||
touch docs/.nojekyll
|
||||
echo -n docs.comma.ai > docs/CNAME
|
||||
|
||||
git add -f .
|
||||
git commit -m "build docs"
|
||||
|
||||
# docs live in different repo to not bloat openpilot's full clone size
|
||||
git push -f origin tmp:gh-pages
|
||||
@@ -1,45 +0,0 @@
|
||||
name: jenkins scan
|
||||
|
||||
on:
|
||||
issue_comment:
|
||||
types: [created, edited]
|
||||
|
||||
jobs:
|
||||
# TODO: gc old branches in a separate job in this workflow
|
||||
scan-comments:
|
||||
runs-on: ubuntu-latest
|
||||
if: ${{ github.event.issue.pull_request }}
|
||||
steps:
|
||||
- name: Check for trigger phrase
|
||||
id: check_comment
|
||||
uses: actions/github-script@v7
|
||||
with:
|
||||
script: |
|
||||
const triggerPhrase = "trigger-jenkins";
|
||||
const comment = context.payload.comment.body;
|
||||
const commenter = context.payload.comment.user.login;
|
||||
|
||||
const { data: permissions } = await github.rest.repos.getCollaboratorPermissionLevel({
|
||||
owner: context.repo.owner,
|
||||
repo: context.repo.repo,
|
||||
username: commenter
|
||||
});
|
||||
|
||||
const hasWriteAccess = permissions.permission === 'write' || permissions.permission === 'admin';
|
||||
|
||||
return (hasWriteAccess && comment.includes(triggerPhrase));
|
||||
result-encoding: json
|
||||
|
||||
- name: Checkout repository
|
||||
if: steps.check_comment.outputs.result == 'true'
|
||||
uses: actions/checkout@v4
|
||||
with:
|
||||
ref: refs/pull/${{ github.event.issue.number }}/head
|
||||
|
||||
- name: Push to tmp-jenkins branch
|
||||
if: steps.check_comment.outputs.result == 'true'
|
||||
run: |
|
||||
git config --global user.name "github-actions[bot]"
|
||||
git config --global user.email "github-actions[bot]@users.noreply.github.com"
|
||||
git checkout -b tmp-jenkins-${{ github.event.issue.number }}
|
||||
GIT_LFS_SKIP_PUSH=1 git push -f origin tmp-jenkins-${{ github.event.issue.number }}
|
||||
@@ -1,72 +0,0 @@
|
||||
name: Sync comma's LFS
|
||||
|
||||
env:
|
||||
LFS_URL: 'https://gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git/info/lfs'
|
||||
LFS_PUSH_URL: 'ssh://git@gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git'
|
||||
|
||||
on:
|
||||
schedule:
|
||||
- cron: '0 0 * * *' # Runs at 00:00 UTC every day
|
||||
push:
|
||||
branches:
|
||||
- 'master-new'
|
||||
pull_request:
|
||||
branches:
|
||||
- 'master-new'
|
||||
workflow_dispatch: # enables manual triggering
|
||||
inputs:
|
||||
upstream_branch:
|
||||
default: 'master'
|
||||
type: string
|
||||
|
||||
jobs:
|
||||
sync:
|
||||
runs-on: ubuntu-latest
|
||||
# Skip if PR is in draft mode
|
||||
if: (github.event_name != 'pull_request' || (github.event_name == 'pull_request' && github.event.pull_request.draft == false)) && !github.event.pull_request.head.repo.fork
|
||||
steps:
|
||||
- name: Checkout Repository
|
||||
uses: actions/checkout@v4
|
||||
with:
|
||||
repository: 'commaai/openpilot'
|
||||
ref: ${{ inputs.upstream_branch }}
|
||||
|
||||
- name: LFS Fetch
|
||||
run: |
|
||||
git lfs fetch
|
||||
|
||||
- name: Set up Git
|
||||
run: |
|
||||
git config --global user.name 'GitHub Action'
|
||||
git config --global user.email 'action@github.com'
|
||||
|
||||
- name: Set up SSH
|
||||
uses: webfactory/ssh-agent@v0.9.0
|
||||
with:
|
||||
ssh-private-key: ${{ secrets.SSH_PRIVATE_KEY }}
|
||||
|
||||
- name: Add GitLab public keys
|
||||
run: |
|
||||
ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
|
||||
|
||||
- name: Ensure branch
|
||||
run: |
|
||||
if git symbolic-ref -q HEAD >/dev/null; then
|
||||
echo "Already on a branch, proceeding with push"
|
||||
else
|
||||
echo "Detached HEAD state detected, creating temporary branch"
|
||||
git checkout -b temp_branch
|
||||
fi
|
||||
|
||||
- name: Update LFS Config
|
||||
run: |
|
||||
echo '[lfs]' > .lfsconfig
|
||||
echo ' url = ${{ env.LFS_URL }}' >> .lfsconfig
|
||||
echo ' pushurl = ${{ env.LFS_PUSH_URL }}' >> .lfsconfig
|
||||
echo ' locksverify = false' >> .lfsconfig
|
||||
|
||||
- name: Push LFS
|
||||
id: sync-and-commit
|
||||
run: |
|
||||
git lfs ls-files -l
|
||||
git lfs push --all origin
|
||||
@@ -1,39 +0,0 @@
|
||||
name: prebuilt
|
||||
on:
|
||||
schedule:
|
||||
- cron: '0 * * * *'
|
||||
workflow_dispatch:
|
||||
|
||||
env:
|
||||
DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
|
||||
BUILD: selfdrive/test/docker_build.sh prebuilt
|
||||
|
||||
jobs:
|
||||
build_prebuilt:
|
||||
name: build prebuilt
|
||||
runs-on: ubuntu-latest
|
||||
if: github.repository == 'sunnypilot/sunnypilot'
|
||||
env:
|
||||
PUSH_IMAGE: true
|
||||
permissions:
|
||||
checks: read
|
||||
contents: read
|
||||
packages: write
|
||||
steps:
|
||||
- name: Wait for green check mark
|
||||
if: ${{ github.event_name != 'workflow_dispatch' }}
|
||||
uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
|
||||
with:
|
||||
ref: master
|
||||
wait-interval: 30
|
||||
running-workflow-name: 'build prebuilt'
|
||||
repo-token: ${{ secrets.GITHUB_TOKEN }}
|
||||
check-regexp: ^((?!.*(build master-ci).*).)*$
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
submodules: true
|
||||
- run: git lfs pull
|
||||
- name: Build and Push docker image
|
||||
run: |
|
||||
$DOCKER_LOGIN
|
||||
eval "$BUILD"
|
||||
@@ -1,29 +0,0 @@
|
||||
name: Release Drafter
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- master-new
|
||||
- master
|
||||
tags:
|
||||
- 'v*'
|
||||
pull_request_target:
|
||||
types: [opened, reopened, synchronize]
|
||||
workflow_dispatch:
|
||||
|
||||
permissions:
|
||||
contents: read
|
||||
|
||||
jobs:
|
||||
update_release_draft:
|
||||
permissions:
|
||||
contents: write
|
||||
pull-requests: write
|
||||
runs-on: ubuntu-latest
|
||||
steps:
|
||||
- uses: release-drafter/release-drafter@v6
|
||||
with:
|
||||
config-name: release-drafter.yml
|
||||
prerelease: ${{ !startsWith(github.ref, 'refs/tags/v') }}
|
||||
env:
|
||||
GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
|
||||
@@ -1,54 +0,0 @@
|
||||
name: release
|
||||
on:
|
||||
schedule:
|
||||
- cron: '0 9 * * *'
|
||||
workflow_dispatch:
|
||||
|
||||
jobs:
|
||||
build_masterci:
|
||||
name: build master-ci
|
||||
env:
|
||||
TARGET_DIR: /tmp/openpilot
|
||||
ImageOS: ubuntu20
|
||||
container:
|
||||
image: ghcr.io/commaai/openpilot-base:latest
|
||||
runs-on: ubuntu-latest
|
||||
if: github.repository == 'sunnypilot/sunnypilot'
|
||||
permissions:
|
||||
checks: read
|
||||
contents: write
|
||||
steps:
|
||||
- name: Install wait-on-check-action dependencies
|
||||
run: |
|
||||
sudo apt-get update
|
||||
sudo apt-get install -y libyaml-dev
|
||||
- name: Wait for green check mark
|
||||
if: ${{ github.event_name != 'workflow_dispatch' }}
|
||||
uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
|
||||
with:
|
||||
ref: master
|
||||
wait-interval: 30
|
||||
running-workflow-name: 'build master-ci'
|
||||
repo-token: ${{ secrets.GITHUB_TOKEN }}
|
||||
check-regexp: ^((?!.*(build prebuilt).*).)*$
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
submodules: true
|
||||
fetch-depth: 0
|
||||
- name: Pull LFS
|
||||
run: |
|
||||
git config --global --add safe.directory '*'
|
||||
git lfs pull
|
||||
- name: Build master-ci
|
||||
run: |
|
||||
release/build_devel.sh
|
||||
- name: Run tests
|
||||
run: |
|
||||
export PYTHONPATH=$TARGET_DIR
|
||||
cd $TARGET_DIR
|
||||
scons -j$(nproc)
|
||||
pytest -n logical selfdrive/car/tests/test_car_interfaces.py
|
||||
- name: Push master-ci
|
||||
run: |
|
||||
unset TARGET_DIR
|
||||
BRANCH=__nightly release/build_devel.sh
|
||||
@@ -1,71 +0,0 @@
|
||||
name: repo maintenance
|
||||
|
||||
on:
|
||||
schedule:
|
||||
- cron: "0 14 * * 1" # every Monday at 2am UTC (6am PST)
|
||||
workflow_dispatch:
|
||||
|
||||
env:
|
||||
BASE_IMAGE: openpilot-base
|
||||
BUILD: selfdrive/test/docker_build.sh base
|
||||
RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
|
||||
|
||||
jobs:
|
||||
update_translations:
|
||||
runs-on: ubuntu-latest
|
||||
if: github.repository == 'commaai/openpilot'
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
- uses: ./.github/workflows/setup-with-retry
|
||||
- name: Update translations
|
||||
run: |
|
||||
${{ env.RUN }} "python3 selfdrive/ui/update_translations.py --vanish"
|
||||
- name: Create Pull Request
|
||||
uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
|
||||
with:
|
||||
author: Vehicle Researcher <user@comma.ai>
|
||||
commit-message: "Update translations"
|
||||
title: "[bot] Update translations"
|
||||
body: "Automatic PR from repo-maintenance -> update_translations"
|
||||
branch: "update-translations"
|
||||
base: "master"
|
||||
delete-branch: true
|
||||
labels: bot
|
||||
|
||||
package_updates:
|
||||
name: package_updates
|
||||
runs-on: ubuntu-latest
|
||||
container:
|
||||
image: ghcr.io/commaai/openpilot-base:latest
|
||||
if: github.repository == 'sunnypilot/sunnypilot'
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
submodules: true
|
||||
- name: uv lock
|
||||
run: |
|
||||
python3 -m ensurepip --upgrade
|
||||
pip3 install uv
|
||||
uv lock --upgrade
|
||||
- name: bump submodules
|
||||
run: |
|
||||
git config --global --add safe.directory '*'
|
||||
git -c submodule."tinygrad".update=none submodule update --remote
|
||||
git add .
|
||||
- name: update car docs
|
||||
run: |
|
||||
scons -j$(nproc) --minimal opendbc_repo
|
||||
PYTHONPATH=. python selfdrive/car/docs.py
|
||||
git add docs/CARS.md
|
||||
- name: Create Pull Request
|
||||
uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
|
||||
with:
|
||||
author: Vehicle Researcher <user@comma.ai>
|
||||
token: ${{ secrets.ACTIONS_CREATE_PR_PAT }}
|
||||
commit-message: Update Python packages
|
||||
title: '[bot] Update Python packages'
|
||||
branch: auto-package-updates
|
||||
base: master
|
||||
delete-branch: true
|
||||
body: 'Automatic PR from repo-maintenance -> package_updates'
|
||||
labels: bot
|
||||
@@ -1,366 +0,0 @@
|
||||
name: selfdrive
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- master
|
||||
- master-new
|
||||
pull_request:
|
||||
workflow_dispatch:
|
||||
workflow_call:
|
||||
inputs:
|
||||
run_number:
|
||||
default: '1'
|
||||
required: true
|
||||
type: string
|
||||
|
||||
concurrency:
|
||||
group: selfdrive-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
|
||||
cancel-in-progress: true
|
||||
|
||||
env:
|
||||
REPORT_NAME: report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && 'master' || github.event.number }}
|
||||
PYTHONWARNINGS: error
|
||||
BASE_IMAGE: openpilot-base
|
||||
AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }}
|
||||
|
||||
DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
|
||||
BUILD: selfdrive/test/docker_build.sh base
|
||||
|
||||
RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
|
||||
|
||||
PYTEST: pytest --continue-on-collection-errors --cov --cov-report=xml --cov-append --durations=0 --durations-min=5 --hypothesis-seed 0 -n logical
|
||||
|
||||
jobs:
|
||||
build_release:
|
||||
if: github.repository == 'commaai/openpilot' # build_release blocked for the time being to only comma as we may have a different process.
|
||||
name: build release
|
||||
runs-on:
|
||||
- 'ubuntu-24.04'
|
||||
env:
|
||||
STRIPPED_DIR: /tmp/releasepilot
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
submodules: true
|
||||
- name: Getting LFS files
|
||||
uses: nick-fields/retry@7152eba30c6575329ac0576536151aca5a72780e
|
||||
with:
|
||||
timeout_minutes: 2
|
||||
max_attempts: 3
|
||||
command: git lfs pull
|
||||
- name: Build devel
|
||||
timeout-minutes: 1
|
||||
run: TARGET_DIR=$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: |
|
||||
cd $STRIPPED_DIR
|
||||
${{ env.RUN }} "python3 system/manager/build.py"
|
||||
- name: Run tests
|
||||
timeout-minutes: 1
|
||||
run: |
|
||||
cd $STRIPPED_DIR
|
||||
${{ env.RUN }} "release/check-dirty.sh"
|
||||
|
||||
build:
|
||||
runs-on:
|
||||
- 'ubuntu-24.04'
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
submodules: true
|
||||
- name: Setup docker push
|
||||
if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
|
||||
run: |
|
||||
echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
|
||||
$DOCKER_LOGIN
|
||||
- uses: ./.github/workflows/setup-with-retry
|
||||
- uses: ./.github/workflows/compile-openpilot
|
||||
timeout-minutes: 30
|
||||
|
||||
build_mac:
|
||||
name: build macOS
|
||||
runs-on: ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-macos-8x14' || 'macos-latest' }}
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
submodules: true
|
||||
- run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
|
||||
- name: Homebrew cache
|
||||
uses: ./.github/workflows/auto-cache
|
||||
with:
|
||||
path: ~/Library/Caches/Homebrew
|
||||
key: brew-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
|
||||
restore-keys: |
|
||||
brew-macos-${{ env.CACHE_COMMIT_DATE }}
|
||||
brew-macos
|
||||
- name: Install dependencies
|
||||
run: ./tools/mac_setup.sh
|
||||
env:
|
||||
# package install has DeprecationWarnings
|
||||
PYTHONWARNINGS: default
|
||||
- name: Save Homebrew cache
|
||||
uses: actions/cache/save@v4
|
||||
if: (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new')
|
||||
with:
|
||||
path: ~/Library/Caches/Homebrew
|
||||
key: brew-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
|
||||
- run: git lfs pull
|
||||
- name: Getting scons cache
|
||||
uses: ./.github/workflows/auto-cache
|
||||
with:
|
||||
path: /tmp/scons_cache
|
||||
key: scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
|
||||
restore-keys: |
|
||||
scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}
|
||||
scons-${{ runner.arch }}-macos
|
||||
- name: Building openpilot
|
||||
run: . .venv/bin/activate && scons -j$(nproc)
|
||||
- name: Save scons cache
|
||||
uses: actions/cache/save@v4
|
||||
if: (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new')
|
||||
with:
|
||||
path: /tmp/scons_cache
|
||||
key: scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
|
||||
|
||||
static_analysis:
|
||||
name: static analysis
|
||||
runs-on:
|
||||
- 'ubuntu-latest'
|
||||
env:
|
||||
PYTHONWARNINGS: default
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
submodules: true
|
||||
- uses: ./.github/workflows/setup-with-retry
|
||||
- name: Static analysis
|
||||
timeout-minutes: 1
|
||||
run: ${{ env.RUN }} "scripts/lint/lint.sh"
|
||||
|
||||
unit_tests:
|
||||
name: unit tests
|
||||
runs-on:
|
||||
- 'ubuntu-24.04'
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
submodules: true
|
||||
- uses: ./.github/workflows/setup-with-retry
|
||||
- name: Build openpilot
|
||||
run: ${{ env.RUN }} "scons -j$(nproc)"
|
||||
- name: Run unit tests
|
||||
timeout-minutes: ${{ contains(runner.name, 'nsc') && 1 || 20 }}
|
||||
run: |
|
||||
${{ env.RUN }} "$PYTEST --collect-only -m 'not slow' &> /dev/null && \
|
||||
MAX_EXAMPLES=1 $PYTEST -m 'not slow' && \
|
||||
./selfdrive/ui/tests/create_test_translations.sh && \
|
||||
QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
|
||||
chmod -R 777 /tmp/comma_download_cache"
|
||||
- name: "Upload coverage to Codecov"
|
||||
uses: codecov/codecov-action@v4
|
||||
with:
|
||||
name: ${{ github.job }}
|
||||
env:
|
||||
CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}
|
||||
|
||||
process_replay:
|
||||
name: process replay
|
||||
if: github.repository == 'commaai/openpilot' # disable process_replay for forks
|
||||
runs-on:
|
||||
- 'ubuntu-24.04'
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
submodules: true
|
||||
- uses: ./.github/workflows/setup-with-retry
|
||||
- name: Cache test routes
|
||||
id: dependency-cache
|
||||
uses: actions/cache@v4
|
||||
with:
|
||||
path: .ci_cache/comma_download_cache
|
||||
key: proc-replay-${{ hashFiles('selfdrive/test/process_replay/ref_commit', 'selfdrive/test/process_replay/test_processes.py') }}
|
||||
- name: Build openpilot
|
||||
run: |
|
||||
${{ env.RUN }} "scons -j$(nproc)"
|
||||
- name: Run replay
|
||||
timeout-minutes: ${{ contains(runner.name, 'nsc') && (steps.dependency-cache.outputs.cache-hit == 'true') && 1 || 20 }}
|
||||
run: |
|
||||
${{ env.RUN }} "coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \
|
||||
chmod -R 777 /tmp/comma_download_cache && \
|
||||
coverage combine && \
|
||||
coverage xml"
|
||||
- name: Print diff
|
||||
id: print-diff
|
||||
if: always()
|
||||
run: cat selfdrive/test/process_replay/diff.txt
|
||||
- uses: actions/upload-artifact@v4
|
||||
if: always()
|
||||
continue-on-error: true
|
||||
with:
|
||||
name: process_replay_diff.txt
|
||||
path: selfdrive/test/process_replay/diff.txt
|
||||
- name: Upload reference logs
|
||||
if: ${{ failure() && steps.print-diff.outcome == 'success' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }}
|
||||
run: |
|
||||
${{ env.RUN }} "unset PYTHONWARNINGS && AZURE_TOKEN='$AZURE_TOKEN' python3 selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
|
||||
- name: Run regen
|
||||
if: false
|
||||
timeout-minutes: 4
|
||||
run: |
|
||||
${{ env.RUN }} "ONNXCPU=1 $PYTEST selfdrive/test/process_replay/test_regen.py && \
|
||||
chmod -R 777 /tmp/comma_download_cache"
|
||||
- name: "Upload coverage to Codecov"
|
||||
uses: codecov/codecov-action@v4
|
||||
with:
|
||||
name: ${{ github.job }}
|
||||
env:
|
||||
CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}
|
||||
|
||||
test_cars:
|
||||
name: cars
|
||||
runs-on:
|
||||
- 'ubuntu-24.04'
|
||||
strategy:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
job: [0, 1, 2, 3]
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
submodules: true
|
||||
- uses: ./.github/workflows/setup-with-retry
|
||||
- name: Cache test routes
|
||||
id: routes-cache
|
||||
uses: actions/cache@v4
|
||||
with:
|
||||
path: .ci_cache/comma_download_cache
|
||||
key: car_models-${{ hashFiles('selfdrive/car/tests/test_models.py', 'opendbc/car/tests/routes.py') }}-${{ matrix.job }}
|
||||
- name: Build openpilot
|
||||
run: ${{ env.RUN }} "scons -j$(nproc)"
|
||||
- name: Test car models
|
||||
timeout-minutes: ${{ contains(runner.name, 'nsc') && (steps.routes-cache.outputs.cache-hit == 'true') && 1 || 6 }}
|
||||
run: |
|
||||
${{ env.RUN }} "MAX_EXAMPLES=1 $PYTEST selfdrive/car/tests/test_models.py && \
|
||||
chmod -R 777 /tmp/comma_download_cache"
|
||||
env:
|
||||
NUM_JOBS: 4
|
||||
JOB_ID: ${{ matrix.job }}
|
||||
- name: "Upload coverage to Codecov"
|
||||
uses: codecov/codecov-action@v4
|
||||
with:
|
||||
name: ${{ github.job }}-${{ matrix.job }}
|
||||
env:
|
||||
CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}
|
||||
|
||||
car_docs_diff:
|
||||
name: PR comments
|
||||
runs-on: ubuntu-latest
|
||||
#if: github.event_name == 'pull_request'
|
||||
if: false # TODO: run this in opendbc?
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
submodules: true
|
||||
ref: ${{ github.event.pull_request.base.ref }}
|
||||
- run: git lfs pull
|
||||
- uses: ./.github/workflows/setup-with-retry
|
||||
- name: Get base car info
|
||||
run: |
|
||||
${{ env.RUN }} "scons -j$(nproc) && python3 selfdrive/debug/dump_car_docs.py --path /tmp/openpilot_cache/base_car_docs"
|
||||
sudo chown -R $USER:$USER ${{ github.workspace }}
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
submodules: true
|
||||
path: current
|
||||
- run: cd current && git lfs pull
|
||||
- name: Save car docs diff
|
||||
id: save_diff
|
||||
run: |
|
||||
cd current
|
||||
${{ env.RUN }} "scons -j$(nproc)"
|
||||
output=$(${{ env.RUN }} "python3 selfdrive/debug/print_docs_diff.py --path /tmp/openpilot_cache/base_car_docs")
|
||||
output="${output//$'\n'/'%0A'}"
|
||||
echo "::set-output name=diff::$output"
|
||||
- name: Find comment
|
||||
if: ${{ env.AZURE_TOKEN != '' }}
|
||||
uses: peter-evans/find-comment@3eae4d37986fb5a8592848f6a574fdf654e61f9e
|
||||
id: fc
|
||||
with:
|
||||
issue-number: ${{ github.event.pull_request.number }}
|
||||
body-includes: This PR makes changes to
|
||||
- name: Update comment
|
||||
if: ${{ steps.save_diff.outputs.diff != '' && env.AZURE_TOKEN != '' }}
|
||||
uses: peter-evans/create-or-update-comment@71345be0265236311c031f5c7866368bd1eff043
|
||||
with:
|
||||
comment-id: ${{ steps.fc.outputs.comment-id }}
|
||||
issue-number: ${{ github.event.pull_request.number }}
|
||||
body: "${{ steps.save_diff.outputs.diff }}"
|
||||
edit-mode: replace
|
||||
- name: Delete comment
|
||||
if: ${{ steps.fc.outputs.comment-id != '' && steps.save_diff.outputs.diff == '' && env.AZURE_TOKEN != '' }}
|
||||
uses: actions/github-script@v7
|
||||
with:
|
||||
script: |
|
||||
github.rest.issues.deleteComment({
|
||||
owner: context.repo.owner,
|
||||
repo: context.repo.repo,
|
||||
comment_id: ${{ steps.fc.outputs.comment-id }}
|
||||
})
|
||||
|
||||
simulator_driving:
|
||||
name: simulator driving
|
||||
runs-on:
|
||||
- 'ubuntu-24.04'
|
||||
if: (github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
submodules: true
|
||||
- uses: ./.github/workflows/setup-with-retry
|
||||
- name: Build openpilot
|
||||
run: |
|
||||
${{ env.RUN }} "scons -j$(nproc)"
|
||||
- name: Driving test
|
||||
timeout-minutes: 1
|
||||
run: |
|
||||
${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
|
||||
source selfdrive/test/setup_vsound.sh && \
|
||||
CI=1 pytest -s tools/sim/tests/test_metadrive_bridge.py"
|
||||
|
||||
create_ui_report:
|
||||
# This job name needs to be the same as UI_JOB_NAME in ui_preview.yaml
|
||||
name: Create UI Report
|
||||
runs-on:
|
||||
- 'ubuntu-24.04'
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
submodules: true
|
||||
- uses: ./.github/workflows/setup-with-retry
|
||||
- name: caching frames
|
||||
id: frames-cache
|
||||
uses: actions/cache@v4
|
||||
with:
|
||||
path: .ci_cache/comma_download_cache
|
||||
key: ui_screenshots_test_${{ hashFiles('selfdrive/ui/tests/test_ui/run.py') }}
|
||||
- name: Build openpilot
|
||||
run: ${{ env.RUN }} "scons -j$(nproc)"
|
||||
- name: Create Test Report
|
||||
timeout-minutes: ${{ ((steps.frames-cache.outputs.cache-hit == 'true') && 2 || 4) }}
|
||||
run: >
|
||||
${{ env.RUN }} "PYTHONWARNINGS=ignore &&
|
||||
source selfdrive/test/setup_xvfb.sh &&
|
||||
CACHE_ROOT=/tmp/comma_download_cache python3 selfdrive/ui/tests/test_ui/run.py &&
|
||||
chmod -R 777 /tmp/comma_download_cache"
|
||||
- name: Upload Test Report
|
||||
uses: actions/upload-artifact@v4
|
||||
with:
|
||||
name: ${{ env.REPORT_NAME }}
|
||||
path: selfdrive/ui/tests/test_ui/report_1/screenshots
|
||||
@@ -1,37 +0,0 @@
|
||||
name: 'openpilot env setup, with retry on failure'
|
||||
|
||||
inputs:
|
||||
docker_hub_pat:
|
||||
description: 'Auth token for Docker Hub, required for BuildJet jobs'
|
||||
required: false
|
||||
default: ''
|
||||
sleep_time:
|
||||
description: 'Time to sleep between retries'
|
||||
required: false
|
||||
default: 30
|
||||
|
||||
runs:
|
||||
using: "composite"
|
||||
steps:
|
||||
- id: setup1
|
||||
uses: ./.github/workflows/setup
|
||||
continue-on-error: true
|
||||
with:
|
||||
is_retried: true
|
||||
- if: steps.setup1.outcome == 'failure'
|
||||
shell: bash
|
||||
run: sleep ${{ inputs.sleep_time }}
|
||||
- id: setup2
|
||||
if: steps.setup1.outcome == 'failure'
|
||||
uses: ./.github/workflows/setup
|
||||
continue-on-error: true
|
||||
with:
|
||||
is_retried: true
|
||||
- if: steps.setup2.outcome == 'failure'
|
||||
shell: bash
|
||||
run: sleep ${{ inputs.sleep_time }}
|
||||
- id: setup3
|
||||
if: steps.setup2.outcome == 'failure'
|
||||
uses: ./.github/workflows/setup
|
||||
with:
|
||||
is_retried: true
|
||||
@@ -1,56 +0,0 @@
|
||||
name: 'openpilot env setup'
|
||||
|
||||
inputs:
|
||||
is_retried:
|
||||
description: 'A mock param that asserts that we use the setup-with-retry instead of this action directly'
|
||||
required: false
|
||||
default: 'false'
|
||||
|
||||
runs:
|
||||
using: "composite"
|
||||
steps:
|
||||
# assert that this action is retried using the setup-with-retry
|
||||
- shell: bash
|
||||
if: ${{ inputs.is_retried == 'false' }}
|
||||
run: |
|
||||
echo "You should not run this action directly. Use setup-with-retry instead"
|
||||
exit 1
|
||||
|
||||
- shell: bash
|
||||
name: No retries!
|
||||
run: |
|
||||
if [ "${{ github.run_attempt }}" -gt ${{ github.event.pull_request.head.repo.fork && github.event.pull_request.author_association == 'NONE' && 2 || 1}} ]; then
|
||||
echo -e "\033[0;31m##################################################"
|
||||
echo -e "\033[0;31m Retries not allowed! Fix the flaky test! "
|
||||
echo -e "\033[0;31m##################################################\033[0m"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
# do this after checkout to ensure our custom LFS config is used to pull from GitLab
|
||||
- shell: bash
|
||||
run: git lfs pull
|
||||
|
||||
# build cache
|
||||
- id: date
|
||||
shell: bash
|
||||
run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
|
||||
- shell: bash
|
||||
run: echo "$CACHE_COMMIT_DATE"
|
||||
- id: scons-cache
|
||||
uses: ./.github/workflows/auto-cache
|
||||
with:
|
||||
path: .ci_cache/scons_cache
|
||||
key: scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
|
||||
restore-keys: |
|
||||
scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}
|
||||
scons-${{ runner.arch }}
|
||||
# as suggested here: https://github.com/moby/moby/issues/32816#issuecomment-910030001
|
||||
- id: normalize-file-permissions
|
||||
shell: bash
|
||||
name: Normalize file permissions to ensure a consistent docker build cache
|
||||
run: |
|
||||
find . -type f -executable -not -perm 755 -exec chmod 755 {} \;
|
||||
find . -type f -not -executable -not -perm 644 -exec chmod 644 {} \;
|
||||
# build our docker image
|
||||
- shell: bash
|
||||
run: eval ${{ env.BUILD }}
|
||||
@@ -1,29 +0,0 @@
|
||||
name: stale
|
||||
on:
|
||||
schedule:
|
||||
- cron: '30 1 * * *'
|
||||
workflow_dispatch:
|
||||
|
||||
env:
|
||||
DAYS_BEFORE_PR_CLOSE: 2
|
||||
DAYS_BEFORE_PR_STALE: 9
|
||||
|
||||
jobs:
|
||||
stale:
|
||||
runs-on: ubuntu-latest
|
||||
steps:
|
||||
- uses: actions/stale@v9
|
||||
with:
|
||||
exempt-all-milestones: true
|
||||
|
||||
# pull request config
|
||||
stale-pr-message: 'This PR has had no activity for ${{ env.DAYS_BEFORE_PR_STALE }} days. It will be automatically closed in ${{ env.DAYS_BEFORE_PR_CLOSE }} days if there is no activity.'
|
||||
close-pr-message: 'This PR has been automatically closed due to inactivity. Feel free to re-open once activity resumes.'
|
||||
stale-pr-label: stale
|
||||
delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'sunnypilot/sunnypilot' }} # only delete branches on the main repo
|
||||
exempt-pr-labels: "ignore stale,needs testing" # if wip or it needs testing from the community, don't mark as stale
|
||||
days-before-pr-stale: ${{ env.DAYS_BEFORE_PR_STALE }}
|
||||
days-before-pr-close: ${{ env.DAYS_BEFORE_PR_CLOSE }}
|
||||
|
||||
# issue config
|
||||
days-before-issue-stale: -1 # ignore issues for now
|
||||
@@ -1,133 +0,0 @@
|
||||
name: Build Model from Upstream
|
||||
|
||||
env:
|
||||
BUILD_DIR: "/data/openpilot"
|
||||
OUTPUT_DIR: ${{ github.workspace }}/output
|
||||
SCONS_CACHE_DIR: ${{ github.workspace }}/release/ci/scons_cache
|
||||
UPSTREAM_REPO: "commaai/openpilot"
|
||||
|
||||
on:
|
||||
workflow_dispatch:
|
||||
inputs:
|
||||
upstream_branch:
|
||||
description: 'Upstream branch to build from'
|
||||
required: true
|
||||
default: 'master'
|
||||
type: string
|
||||
custom_name:
|
||||
description: 'Custom name for the model'
|
||||
required: false
|
||||
type: string
|
||||
file_name:
|
||||
description: 'File name prefix for the model files'
|
||||
required: false
|
||||
type: string
|
||||
is_20hz:
|
||||
description: 'Is this a 20Hz model'
|
||||
required: false
|
||||
type: boolean
|
||||
default: false
|
||||
|
||||
|
||||
run-name: Build model [${{ inputs.custom_name || inputs.upstream_branch }}] from ref [${{ inputs.upstream_branch }}]
|
||||
|
||||
jobs:
|
||||
build_model:
|
||||
runs-on: self-hosted
|
||||
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
repository: ${{ env.UPSTREAM_REPO }}
|
||||
ref: ${{ github.event.inputs.upstream_branch }}
|
||||
submodules: recursive
|
||||
|
||||
- run: git lfs pull
|
||||
|
||||
- name: Cache SCons
|
||||
uses: actions/cache@v4
|
||||
with:
|
||||
path: ${{env.SCONS_CACHE_DIR}}
|
||||
key: scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-model-${{ github.sha }}
|
||||
# Note: GitHub Actions enforces cache isolation between different build sources (PR builds, workflow dispatches, etc.)
|
||||
# for security. Only caches from the default branch are shared across all builds. This is by design and cannot be overridden.
|
||||
restore-keys: |
|
||||
scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-model
|
||||
scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}
|
||||
scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_NEW_BRANCH }}-model
|
||||
scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_BRANCH }}-model
|
||||
scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_NEW_BRANCH }}
|
||||
scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_BRANCH }}
|
||||
scons-${{ runner.os }}-${{ runner.arch }}
|
||||
|
||||
- name: Setup build environment
|
||||
run: |
|
||||
mkdir -p "${BUILD_DIR}/"
|
||||
sudo find $BUILD_DIR/ -mindepth 1 -delete
|
||||
echo "Starting build stage..."
|
||||
echo "Building from: ${{ env.UPSTREAM_REPO }} branch: ${{ github.event.inputs.upstream_branch }}"
|
||||
|
||||
- name: Patch SConstruct to pass arbitrary cache
|
||||
run: |
|
||||
sed -i.bak 's#cache_dir =#default_cache_dir =#' ${{ github.workspace }}/SConstruct
|
||||
printf '/default_cache_dir/a\\\ncache_dir = ARGUMENTS.get("cache_dir", default_cache_dir)\n' | sed -i.bak -f - ${{ github.workspace }}/SConstruct
|
||||
cat ${{ github.workspace }}/SConstruct
|
||||
|
||||
- name: Build Model
|
||||
run: |
|
||||
source /etc/profile
|
||||
export UV_PROJECT_ENVIRONMENT=${HOME}/venv
|
||||
export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
|
||||
scons -j$(nproc) cache_dir=${{ env.SCONS_CACHE_DIR }} ${{ github.workspace }}/selfdrive/modeld
|
||||
|
||||
- name: Prepare Output
|
||||
run: |
|
||||
sudo rm -rf ${OUTPUT_DIR}
|
||||
mkdir -p ${OUTPUT_DIR}
|
||||
|
||||
# Copy the model files
|
||||
rsync -avm \
|
||||
--include='*.dlc' \
|
||||
--include='*.thneed' \
|
||||
--include='*.pkl' \
|
||||
--include='*.onnx' \
|
||||
--exclude='*' \
|
||||
--delete-excluded \
|
||||
--chown=comma:comma \
|
||||
./selfdrive/modeld/models/ ${OUTPUT_DIR}/
|
||||
|
||||
# Rename files if file_name is provided
|
||||
if [ ! -z "${{ inputs.file_name }}" ]; then
|
||||
mv ${OUTPUT_DIR}/supercombo.thneed ${OUTPUT_DIR}/supercombo-${{ inputs.file_name }}.thneed
|
||||
mv ${OUTPUT_DIR}/supercombo_metadata.pkl ${OUTPUT_DIR}/supercombo-${{ inputs.file_name }}_metadata.pkl
|
||||
fi
|
||||
|
||||
# Calculate SHA256 hashes
|
||||
HASH=$(sha256sum ${OUTPUT_DIR}/supercombo*.thneed | cut -d' ' -f1)
|
||||
METADATA_HASH=$(sha256sum ${OUTPUT_DIR}/supercombo*_metadata.pkl | cut -d' ' -f1)
|
||||
|
||||
# Create metadata.json
|
||||
cat > ${OUTPUT_DIR}/metadata.json << EOF
|
||||
{
|
||||
"display_name": "${{ inputs.custom_name || inputs.upstream_branch }}",
|
||||
"full_name": "${{ inputs.file_name || 'default' }}",
|
||||
"is_20hz": ${{ inputs.is_20hz || false }},
|
||||
"files": {
|
||||
"drive_model": {
|
||||
"file_name": "$(basename ${OUTPUT_DIR}/supercombo*.thneed)",
|
||||
"sha256": "${HASH}"
|
||||
},
|
||||
"metadata": {
|
||||
"file_name": "$(basename ${OUTPUT_DIR}/supercombo*_metadata.pkl)",
|
||||
"sha256": "${METADATA_HASH}"
|
||||
}
|
||||
},
|
||||
"ref": "${{ inputs.upstream_branch }}",
|
||||
"build_time": "$(date -u +"%Y-%m-%dT%H:%M:%SZ")"
|
||||
}
|
||||
|
||||
- name: Upload Build Artifacts
|
||||
uses: actions/upload-artifact@v4
|
||||
with:
|
||||
name: model-${{ github.event.inputs.custom_name || github.event.inputs.upstream_branch }}-${{ github.run_number }}
|
||||
path: ${{ env.OUTPUT_DIR }}
|
||||
@@ -1,275 +0,0 @@
|
||||
name: sunnypilot prebuilt action
|
||||
|
||||
env:
|
||||
BUILD_DIR: "/data/openpilot"
|
||||
OUTPUT_DIR: ${{ github.workspace }}/output
|
||||
CI_DIR: ${{ github.workspace }}/release/ci
|
||||
SCONS_CACHE_DIR: ${{ github.workspace }}/release/ci/scons_cache
|
||||
PUBLIC_REPO_URL: "https://github.com/sunnypilot/sunnypilot"
|
||||
|
||||
# Branch configurations
|
||||
MASTER_BRANCH: "master"
|
||||
MASTER_NEW_BRANCH: "master-new"
|
||||
DEV_C3_SOURCE_BRANCH: "master-dev-c3-new"
|
||||
|
||||
# Target branch configurations
|
||||
STAGING_TARGET_BRANCH: "staging-c3-new"
|
||||
DEV_TARGET_BRANCH: "dev-c3-new"
|
||||
RELEASE_TARGET_BRANCH: "release-c3-new"
|
||||
|
||||
on:
|
||||
push:
|
||||
branches: [ master, master-new, master-dev-c3-new ]
|
||||
tags: [ '*' ]
|
||||
workflow_dispatch:
|
||||
inputs:
|
||||
extra_version:
|
||||
description: 'Extra version identifier'
|
||||
required: false
|
||||
default: ''
|
||||
|
||||
jobs:
|
||||
build:
|
||||
concurrency:
|
||||
group: build-${{ github.head_ref || github.ref_name }}
|
||||
cancel-in-progress: false
|
||||
runs-on: self-hosted
|
||||
outputs:
|
||||
new_branch: ${{ steps.set-env.outputs.new_branch }}
|
||||
version: ${{ steps.set-env.outputs.version }}
|
||||
extra_version_identifier: ${{ steps.set-env.outputs.extra_version_identifier }}
|
||||
commit_sha: ${{ steps.set-env.outputs.commit_sha }}
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
submodules: recursive
|
||||
- run: git lfs pull
|
||||
|
||||
- name: Cache SCons
|
||||
uses: actions/cache@v4
|
||||
with:
|
||||
path: ${{env.SCONS_CACHE_DIR}}
|
||||
key: scons-${{ 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 }}-${{ runner.arch }}-${{ 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 Configuration
|
||||
run: |
|
||||
if [[ "${{ github.ref_name }}" == "${{ 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.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 }}" >> $GITHUB_ENV
|
||||
fi
|
||||
|
||||
- name: Set environment variables
|
||||
id: set-env
|
||||
run: |
|
||||
# Write to GITHUB_OUTPUT from environment variables
|
||||
echo "new_branch=$NEW_BRANCH" >> $GITHUB_OUTPUT
|
||||
[[ ! -z "$EXTRA_VERSION_IDENTIFIER" ]] && echo "extra_version_identifier=$EXTRA_VERSION_IDENTIFIER" >> $GITHUB_OUTPUT
|
||||
[[ ! -z "$VERSION" ]] && echo "version=$VERSION" >> $GITHUB_OUTPUT
|
||||
echo "commit_sha=${{ github.sha }}" >> $GITHUB_OUTPUT
|
||||
|
||||
# Set up common environment
|
||||
source /etc/profile;
|
||||
export UV_PROJECT_ENVIRONMENT=${HOME}/venv
|
||||
export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
|
||||
printenv >> $GITHUB_ENV
|
||||
if [[ "${{ runner.debug }}" == "1" ]]; then
|
||||
cat $GITHUB_OUTPUT
|
||||
fi
|
||||
|
||||
- name: Setup build environment
|
||||
run: |
|
||||
mkdir -p "${BUILD_DIR}/"
|
||||
sudo find $BUILD_DIR/ -mindepth 1 -delete
|
||||
echo "Starting build stage..."
|
||||
echo "BUILD_DIR: ${BUILD_DIR}"
|
||||
echo "CI_DIR: ${CI_DIR}"
|
||||
echo "VERSION: ${{ steps.set-env.outputs.version }}"
|
||||
echo "UV_PROJECT_ENVIRONMENT: ${UV_PROJECT_ENVIRONMENT}"
|
||||
echo "VIRTUAL_ENV: ${VIRTUAL_ENV}"
|
||||
echo "-------"
|
||||
if [[ "${{ runner.debug }}" == "1" ]]; then
|
||||
printenv
|
||||
fi
|
||||
PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable
|
||||
|
||||
- name: Build Panda
|
||||
run: |
|
||||
scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} ${{ github.workspace }}/panda
|
||||
|
||||
- name: Build Main Project
|
||||
run: |
|
||||
export PYTHONPATH="$BUILD_DIR"
|
||||
./release/release_files.py | sort | uniq | rsync -rRl${RUNNER_DEBUG:+v} --files-from=- . $BUILD_DIR/
|
||||
cd $BUILD_DIR
|
||||
sed -i '/from .board.jungle import PandaJungle, PandaJungleDFU/s/^/#/' panda/__init__.py
|
||||
scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal
|
||||
touch ${BUILD_DIR}/prebuilt
|
||||
if [[ "${{ runner.debug }}" == "1" ]]; then
|
||||
ls -la ${BUILD_DIR}
|
||||
fi
|
||||
|
||||
- name: Prepare Output
|
||||
run: |
|
||||
sudo rm -rf ${OUTPUT_DIR}
|
||||
mkdir -p ${OUTPUT_DIR}
|
||||
rsync -am${RUNNER_DEBUG:+v} \
|
||||
--include='**/panda/board/' \
|
||||
--include='**/panda/board/obj' \
|
||||
--include='**/panda/board/obj/panda.bin.signed' \
|
||||
--include='**/panda/board/obj/panda_h7.bin.signed' \
|
||||
--include='**/panda/board/obj/bootstub.panda.bin' \
|
||||
--include='**/panda/board/obj/bootstub.panda_h7.bin' \
|
||||
--exclude='.sconsign.dblite' \
|
||||
--exclude='*.a' \
|
||||
--exclude='*.o' \
|
||||
--exclude='*.os' \
|
||||
--exclude='*.pyc' \
|
||||
--exclude='moc_*' \
|
||||
--exclude='*.cc' \
|
||||
--exclude='Jenkinsfile' \
|
||||
--exclude='supercombo.onnx' \
|
||||
--exclude='**/panda/board/*' \
|
||||
--exclude='**/panda/board/obj/**' \
|
||||
--exclude='**/panda/certs/' \
|
||||
--exclude='**/panda/crypto/' \
|
||||
--exclude='**/release/' \
|
||||
--exclude='**/.github/' \
|
||||
--exclude='**/selfdrive/ui/replay/' \
|
||||
--exclude='**/__pycache__/' \
|
||||
--exclude='**/selfdrive/ui/*.h' \
|
||||
--exclude='**/selfdrive/ui/**/*.h' \
|
||||
--exclude='**/selfdrive/ui/qt/offroad/sunnypilot/' \
|
||||
--exclude='${{env.SCONS_CACHE_DIR}}' \
|
||||
--exclude='**/.git/' \
|
||||
--exclude='**/SConstruct' \
|
||||
--exclude='**/SConscript' \
|
||||
--exclude='**/.venv/' \
|
||||
--delete-excluded \
|
||||
--chown=comma:comma \
|
||||
${BUILD_DIR}/ ${OUTPUT_DIR}/
|
||||
|
||||
- name: 'Tar.gz files'
|
||||
run: |
|
||||
tar czf prebuilt.tar.gz -C ${{ env.OUTPUT_DIR }} .
|
||||
ls -la prebuilt.tar.gz
|
||||
|
||||
- name: 'Upload Artifact'
|
||||
uses: actions/upload-artifact@v4
|
||||
with:
|
||||
name: prebuilt
|
||||
path: prebuilt.tar.gz
|
||||
|
||||
- name: Re-enable powersave
|
||||
if: always()
|
||||
run: |
|
||||
PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable
|
||||
|
||||
publish:
|
||||
concurrency:
|
||||
group: publish-${{ github.head_ref || github.ref_name }}
|
||||
cancel-in-progress: true
|
||||
if: ${{ github.event_name != 'pull_request' || github.event_name == 'pull_request' && github.event.pull_request.draft }}
|
||||
needs: build
|
||||
runs-on: ubuntu-24.04
|
||||
environment: ${{ contains(fromJSON(vars.AUTO_DEPLOY_PREBUILT_BRANCHES), github.head_ref || github.ref_name) && 'auto-deploy' || 'feature-branch' }}
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
|
||||
- name: Download build artifacts
|
||||
uses: actions/download-artifact@v4
|
||||
with:
|
||||
name: prebuilt
|
||||
|
||||
- name: Untar prebuilt
|
||||
run: |
|
||||
mkdir -p ${{ env.OUTPUT_DIR }}
|
||||
tar xzf prebuilt.tar.gz -C ${{ env.OUTPUT_DIR }}
|
||||
|
||||
- name: Configure Git
|
||||
run: |
|
||||
git config --global user.email "github-actions[bot]@users.noreply.github.com"
|
||||
git config --global user.name "github-actions[bot]"
|
||||
|
||||
- name: Publish to Public Repository
|
||||
env:
|
||||
GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
|
||||
run: |
|
||||
echo '${{ toJSON(needs.build.outputs) }}'
|
||||
ls -la ${{ env.OUTPUT_DIR }}
|
||||
|
||||
${{ env.CI_DIR }}/publish.sh \
|
||||
"${{ github.workspace }}" \
|
||||
"${{ env.OUTPUT_DIR }}" \
|
||||
"${{ needs.build.outputs.new_branch }}" \
|
||||
"${{ needs.build.outputs.version }}" \
|
||||
"https://x-access-token:${{github.token}}@github.com/sunnypilot/sunnypilot.git" \
|
||||
"-${{ needs.build.outputs.extra_version_identifier }}"
|
||||
|
||||
echo ""
|
||||
echo "---- ℹ️ To update the list of branches that auto deploy prebuilts -----"
|
||||
echo ""
|
||||
echo "1. Go to: ${{ github.server_url }}/${{ github.repository }}/settings/variables/actions/AUTO_DEPLOY_PREBUILT_BRANCHES"
|
||||
echo "2. Current value: ${{ vars.AUTO_DEPLOY_PREBUILT_BRANCHES }}"
|
||||
echo "3. Update as needed (JSON array with no spaces)"
|
||||
|
||||
notify:
|
||||
needs: [ build, publish ]
|
||||
runs-on: ubuntu-24.04
|
||||
if: success()
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
- name: Setup Alpine Linux environment
|
||||
uses: jirutka/setup-alpine@v1.2.0
|
||||
with:
|
||||
packages: 'jq gettext curl'
|
||||
|
||||
- name: Send Discord Notification
|
||||
env:
|
||||
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=${{ github.head_ref || github.ref_name }}
|
||||
export new_branch=${{ 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
|
||||
curl -X POST -H "Content-Type: application/json" -d @payload.json $DISCORD_WEBHOOK
|
||||
|
||||
echo ""
|
||||
echo "---- ℹ️ To update the list of branches that notify to dev-feedback -----"
|
||||
echo ""
|
||||
echo "1. Go to: ${{ github.server_url }}/${{ github.repository }}/settings/variables/actions/DEV_FEEDBACK_NOTIFICATION_BRANCHES"
|
||||
echo "2. Current value: ${{ vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES }}"
|
||||
echo "3. Update as needed (JSON array with no spaces)"
|
||||
shell: alpine.sh {0}
|
||||
@@ -1,182 +0,0 @@
|
||||
name: Nightly Branch Reset and PR Squash
|
||||
|
||||
env:
|
||||
DEFAULT_SOURCE_BRANCH: "master-new"
|
||||
DEFAULT_TARGET_BRANCH: "nightly"
|
||||
PR_LABEL: "dev-c3"
|
||||
LFS_URL: 'https://gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git/info/lfs'
|
||||
LFS_PUSH_URL: 'ssh://git@gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git'
|
||||
|
||||
on:
|
||||
workflow_dispatch:
|
||||
inputs:
|
||||
source_branch:
|
||||
description: 'Source branch to reset from'
|
||||
required: true
|
||||
default: 'master-new'
|
||||
type: string
|
||||
target_branch:
|
||||
description: 'Target branch to reset and squash into'
|
||||
required: true
|
||||
default: 'master-dev-c3-new'
|
||||
type: string
|
||||
# schedule:
|
||||
# - cron: '0 0 * * *' # Run at midnight UTC for nightly
|
||||
|
||||
jobs:
|
||||
reset-and-squash:
|
||||
runs-on: ubuntu-latest
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
fetch-depth: 0 # Fetch all history for all branches
|
||||
token: ${{ secrets.GITHUB_TOKEN }}
|
||||
|
||||
- name: Configure Git
|
||||
run: |
|
||||
git config --global user.name 'github-actions[bot]'
|
||||
git config --global user.email 'github-actions[bot]@users.noreply.github.com'
|
||||
|
||||
- name: Set up SSH
|
||||
uses: webfactory/ssh-agent@v0.9.0
|
||||
with:
|
||||
ssh-private-key: ${{ secrets.SSH_PRIVATE_KEY }}
|
||||
|
||||
- name: Add GitLab public keys
|
||||
run: |
|
||||
ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
|
||||
|
||||
- name: Set up Python
|
||||
uses: actions/setup-python@v5
|
||||
with:
|
||||
python-version: '3.10'
|
||||
|
||||
- name: Install dependencies
|
||||
run: |
|
||||
python -m pip install --upgrade pip
|
||||
pip install PyGithub
|
||||
|
||||
- name: Check branches exist
|
||||
run: |
|
||||
# Check if source branch exists
|
||||
if ! git ls-remote --heads origin ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }} | grep -q "${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}"; then
|
||||
echo "Source branch ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }} does not exist!"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
# Make sure we have the latest source branch
|
||||
git fetch origin ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}
|
||||
|
||||
# Check if target branch exists
|
||||
if ! git ls-remote --heads origin ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} | grep -q "${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"; then
|
||||
echo "Target branch ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} does not exist, creating it from ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}"
|
||||
git checkout -b ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} origin/${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}
|
||||
git push origin ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}
|
||||
else
|
||||
# Fetch target branch if it exists
|
||||
git fetch origin ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}
|
||||
fi
|
||||
|
||||
- name: Reset target branch
|
||||
run: |
|
||||
echo "Resetting ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} to match ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}"
|
||||
# Delete if exists and recreate pointing to source
|
||||
git branch -D ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} || true
|
||||
git branch ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} origin/${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}
|
||||
|
||||
- name: Get PRs to squash
|
||||
id: get-prs
|
||||
run: |
|
||||
# Use GitHub API to get PRs with specific label, ordered by creation date
|
||||
PR_LIST=$(gh api graphql -f query='
|
||||
query($label:String!) {
|
||||
search(query: $label, type:ISSUE, first:100) {
|
||||
nodes {
|
||||
... on PullRequest {
|
||||
number
|
||||
headRefName
|
||||
title
|
||||
createdAt
|
||||
commits(last: 1) {
|
||||
nodes {
|
||||
commit {
|
||||
statusCheckRollup {
|
||||
state
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}' -F label="is:pr is:open label:${PR_LABEL} sort:created-asc")
|
||||
|
||||
echo "PR_LIST=${PR_LIST}" >> $GITHUB_OUTPUT
|
||||
env:
|
||||
GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
|
||||
|
||||
- name: Process PRs
|
||||
run: |
|
||||
cp ${{ github.workspace }}/release/ci/squash_and_merge.py /tmp/squash_and_merge.py && \
|
||||
chmod +x /tmp/squash_and_merge.py && \
|
||||
python3 ${{ github.workspace }}/release/ci/squash_and_merge_prs.py \
|
||||
--pr-data '${{ steps.get-prs.outputs.PR_LIST }}' \
|
||||
--target-branch ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} \
|
||||
--squash-script-path '/tmp/squash_and_merge.py'
|
||||
env:
|
||||
GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
|
||||
|
||||
- name: Update LFS Config
|
||||
run: |
|
||||
echo '[lfs]' > .lfsconfig
|
||||
echo ' url = ${{ env.LFS_URL }}' >> .lfsconfig
|
||||
echo ' pushurl = ${{ env.LFS_PUSH_URL }}' >> .lfsconfig
|
||||
echo ' locksverify = false' >> .lfsconfig
|
||||
|
||||
- name: Push changes if there are diffs
|
||||
id: push-changes # Add an id so we can reference this step
|
||||
run: |
|
||||
TARGET_BRANCH="${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"
|
||||
|
||||
# Fetch the latest from remote
|
||||
git fetch origin $TARGET_BRANCH
|
||||
|
||||
# Check for diffs between local and remote
|
||||
if git diff $TARGET_BRANCH origin/$TARGET_BRANCH --quiet; then
|
||||
echo "No changes to push - local and remote branches are identical"
|
||||
echo "has_changes=false" >> $GITHUB_OUTPUT
|
||||
exit 0
|
||||
fi
|
||||
|
||||
# If we get here, there are diffs, so push
|
||||
if ! git push origin $TARGET_BRANCH --force; then
|
||||
echo "Failed to push changes to $TARGET_BRANCH"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
echo "Branch $TARGET_BRANCH has been reset and updated with squashed PRs"
|
||||
echo "has_changes=true" >> $GITHUB_OUTPUT
|
||||
|
||||
- name: Trigger and wait for selfdrive tests
|
||||
if: steps.push-changes.outputs.has_changes == 'true'
|
||||
run: |
|
||||
echo "Triggering selfdrive tests..."
|
||||
gh workflow run selfdrive_tests.yaml --ref "${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"
|
||||
|
||||
echo "Sleeping for 120s to give plenty of time for the action to start and then we wait"
|
||||
sleep 120
|
||||
|
||||
echo "Getting latest run ID..."
|
||||
RUN_ID=$(gh run list --workflow=selfdrive_tests.yaml --branch="${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}" --limit=1 --json databaseId --jq '.[0].databaseId')
|
||||
|
||||
echo "Watching run ID: $RUN_ID"
|
||||
gh run watch "$RUN_ID"
|
||||
env:
|
||||
GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
|
||||
|
||||
- name: Trigger prebuilt workflow
|
||||
if: success() && steps.push-changes.outputs.has_changes == 'true'
|
||||
run: |
|
||||
gh workflow run sunnypilot-build-prebuilt.yaml --ref "${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"
|
||||
env:
|
||||
GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
|
||||
@@ -1,175 +0,0 @@
|
||||
name: "ui preview"
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- master
|
||||
- master-new
|
||||
pull_request_target:
|
||||
types: [assigned, opened, synchronize, reopened, edited]
|
||||
branches:
|
||||
- 'master'
|
||||
- 'master-new'
|
||||
paths:
|
||||
- 'selfdrive/ui/**'
|
||||
workflow_dispatch:
|
||||
|
||||
env:
|
||||
UI_JOB_NAME: "Create UI Report"
|
||||
REPORT_NAME: ${{ github.event_name == 'push' && (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && 'master' || github.event.number }}
|
||||
SHA: ${{ github.event_name == 'push' && (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && github.sha || github.event.pull_request.head.sha }}
|
||||
BRANCH_NAME: "openpilot/pr-${{ github.event.number }}"
|
||||
|
||||
jobs:
|
||||
preview:
|
||||
if: github.repository == 'sunnypilot/sunnypilot'
|
||||
name: preview
|
||||
runs-on: ubuntu-latest
|
||||
timeout-minutes: 20
|
||||
permissions:
|
||||
contents: read
|
||||
pull-requests: write
|
||||
actions: read
|
||||
steps:
|
||||
- name: Waiting for ui generation to start
|
||||
run: sleep 30
|
||||
|
||||
- name: Waiting for ui generation to end
|
||||
uses: lewagon/wait-on-check-action@v1.3.4
|
||||
with:
|
||||
ref: ${{ env.SHA }}
|
||||
check-name: ${{ env.UI_JOB_NAME }}
|
||||
repo-token: ${{ secrets.GITHUB_TOKEN }}
|
||||
allowed-conclusions: success
|
||||
wait-interval: 20
|
||||
|
||||
- name: Getting workflow run ID
|
||||
id: get_run_id
|
||||
run: |
|
||||
echo "run_id=$(curl https://api.github.com/repos/${{ github.repository }}/commits/${{ env.SHA }}/check-runs | jq -r '.check_runs[] | select(.name == "${{ env.UI_JOB_NAME }}") | .html_url | capture("(?<number>[0-9]+)") | .number')" >> $GITHUB_OUTPUT
|
||||
|
||||
- name: Getting proposed ui
|
||||
id: download-artifact
|
||||
uses: dawidd6/action-download-artifact@v6
|
||||
with:
|
||||
github_token: ${{ secrets.GITHUB_TOKEN }}
|
||||
run_id: ${{ steps.get_run_id.outputs.run_id }}
|
||||
search_artifacts: true
|
||||
name: report-1-${{ env.REPORT_NAME }}
|
||||
path: ${{ github.workspace }}/pr_ui
|
||||
|
||||
- name: Getting master ui
|
||||
uses: actions/checkout@v4
|
||||
with:
|
||||
repository: sunnypilot/ci-artifacts
|
||||
ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
|
||||
path: ${{ github.workspace }}/master_ui
|
||||
ref: openpilot_master_ui
|
||||
|
||||
- name: Saving new master ui
|
||||
if: (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && github.event_name == 'push'
|
||||
working-directory: ${{ github.workspace }}/master_ui
|
||||
run: |
|
||||
git checkout --orphan=new_master_ui
|
||||
git rm -rf *
|
||||
git branch -D openpilot_master_ui
|
||||
git branch -m openpilot_master_ui
|
||||
git config user.name "GitHub Actions Bot"
|
||||
git config user.email "<>"
|
||||
mv ${{ github.workspace }}/pr_ui/*.png .
|
||||
git add .
|
||||
git commit -m "screenshots for commit ${{ env.SHA }}"
|
||||
git push origin openpilot_master_ui --force
|
||||
|
||||
- name: Finding diff
|
||||
if: github.event_name == 'pull_request_target'
|
||||
id: find_diff
|
||||
run: >-
|
||||
sudo apt-get update && sudo apt-get install -y imagemagick
|
||||
|
||||
scenes=$(find ${{ github.workspace }}/pr_ui/*.png -type f -printf "%f\n" | cut -d '.' -f 1 | grep -v 'pair_device')
|
||||
A=($scenes)
|
||||
|
||||
DIFF=""
|
||||
TABLE="<details><summary>All Screenshots</summary>"
|
||||
TABLE="${TABLE}<table>"
|
||||
|
||||
for ((i=0; i<${#A[*]}; i=i+1));
|
||||
do
|
||||
# Check if the master file exists
|
||||
if [ ! -f "${{ github.workspace }}/master_ui/${A[$i]}.png" ]; then
|
||||
# This is a new file in PR UI that doesn't exist in master
|
||||
DIFF="${DIFF}<details open>"
|
||||
DIFF="${DIFF}<summary>${A[$i]} : \$\${\\color{cyan}\\text{NEW}}\$\$</summary>"
|
||||
DIFF="${DIFF}<table>"
|
||||
|
||||
DIFF="${DIFF}<tr>"
|
||||
DIFF="${DIFF} <td> <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
|
||||
DIFF="${DIFF}</tr>"
|
||||
|
||||
DIFF="${DIFF}</table>"
|
||||
DIFF="${DIFF}</details>"
|
||||
elif ! compare -fuzz 2% -highlight-color DeepSkyBlue1 -lowlight-color Black -compose Src ${{ github.workspace }}/master_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png; then
|
||||
convert ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png -transparent black mask.png
|
||||
composite mask.png ${{ github.workspace }}/master_ui/${A[$i]}.png composite_diff.png
|
||||
convert -delay 100 ${{ github.workspace }}/master_ui/${A[$i]}.png composite_diff.png -loop 0 ${{ github.workspace }}/pr_ui/${A[$i]}_diff.gif
|
||||
|
||||
mv ${{ github.workspace }}/master_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}_master_ref.png
|
||||
|
||||
DIFF="${DIFF}<details open>"
|
||||
DIFF="${DIFF}<summary>${A[$i]} : \$\${\\color{red}\\text{DIFFERENT}}\$\$</summary>"
|
||||
DIFF="${DIFF}<table>"
|
||||
|
||||
DIFF="${DIFF}<tr>"
|
||||
DIFF="${DIFF} <td> master <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_master_ref.png\"> </td>"
|
||||
DIFF="${DIFF} <td> proposed <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
|
||||
DIFF="${DIFF}</tr>"
|
||||
|
||||
DIFF="${DIFF}<tr>"
|
||||
DIFF="${DIFF} <td> diff <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_diff.png\"> </td>"
|
||||
DIFF="${DIFF} <td> composite diff <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_diff.gif\"> </td>"
|
||||
DIFF="${DIFF}</tr>"
|
||||
|
||||
DIFF="${DIFF}</table>"
|
||||
DIFF="${DIFF}</details>"
|
||||
else
|
||||
rm -f ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png
|
||||
fi
|
||||
|
||||
INDEX=$(($i % 2))
|
||||
if [[ $INDEX -eq 0 ]]; then
|
||||
TABLE="${TABLE}<tr>"
|
||||
fi
|
||||
TABLE="${TABLE} <td> <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
|
||||
if [[ $INDEX -eq 1 || $(($i + 1)) -eq ${#A[*]} ]]; then
|
||||
TABLE="${TABLE}</tr>"
|
||||
fi
|
||||
done
|
||||
|
||||
TABLE="${TABLE}</table></details>"
|
||||
|
||||
echo "DIFF=$DIFF$TABLE" >> "$GITHUB_OUTPUT"
|
||||
|
||||
- name: Saving proposed ui
|
||||
if: github.event_name == 'pull_request_target'
|
||||
working-directory: ${{ github.workspace }}/master_ui
|
||||
run: |
|
||||
git config user.name "GitHub Actions Bot"
|
||||
git config user.email "<>"
|
||||
git checkout --orphan=${{ env.BRANCH_NAME }}
|
||||
git rm -rf *
|
||||
mv ${{ github.workspace }}/pr_ui/* .
|
||||
git add .
|
||||
git commit -m "screenshots for PR #${{ github.event.number }}"
|
||||
git push origin ${{ env.BRANCH_NAME }} --force
|
||||
|
||||
- name: Comment Screenshots on PR
|
||||
if: github.event_name == 'pull_request_target'
|
||||
uses: thollander/actions-comment-pull-request@v2
|
||||
with:
|
||||
message: |
|
||||
<!-- _(run_id_screenshots **${{ github.run_id }}**)_ -->
|
||||
## UI Preview
|
||||
${{ steps.find_diff.outputs.DIFF }}
|
||||
comment_tag: run_id_screenshots
|
||||
pr_number: ${{ github.event.number }}
|
||||
GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
|
||||
@@ -15,7 +15,6 @@ a.out
|
||||
.hypothesis
|
||||
|
||||
/docs_site/
|
||||
/docs_sp_site/
|
||||
|
||||
*.dylib
|
||||
*.DSYM
|
||||
|
||||
-21
@@ -1,21 +0,0 @@
|
||||
[submodule "panda"]
|
||||
path = panda
|
||||
url = https://github.com/sunnyhaibin/panda.git
|
||||
[submodule "opendbc"]
|
||||
path = opendbc_repo
|
||||
url = https://github.com/sunnypilot/opendbc.git
|
||||
[submodule "msgq"]
|
||||
path = msgq_repo
|
||||
url = https://github.com/sunnypilot/msgq.git
|
||||
[submodule "rednose_repo"]
|
||||
path = rednose_repo
|
||||
url = https://github.com/commaai/rednose.git
|
||||
[submodule "teleoprtc_repo"]
|
||||
path = teleoprtc_repo
|
||||
url = https://github.com/commaai/teleoprtc
|
||||
[submodule "tinygrad"]
|
||||
path = tinygrad_repo
|
||||
url = https://github.com/commaai/tinygrad.git
|
||||
[submodule "sunnypilot/neural_network_data"]
|
||||
path = sunnypilot/neural_network_data
|
||||
url = https://github.com/sunnypilot/neural-network-data.git
|
||||
@@ -1,4 +0,0 @@
|
||||
[lfs]
|
||||
url = https://gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git/info/lfs
|
||||
pushurl = ssh://git@gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git
|
||||
locksverify = false
|
||||
@@ -1,4 +0,0 @@
|
||||
[lfs]
|
||||
url = https://gitlab.com/commaai/openpilot-lfs.git/info/lfs
|
||||
pushurl = ssh://git@gitlab.com/commaai/openpilot-lfs.git
|
||||
locksverify = false
|
||||
Vendored
-281
@@ -1,281 +0,0 @@
|
||||
def retryWithDelay(int maxRetries, int delay, Closure body) {
|
||||
for (int i = 0; i < maxRetries; i++) {
|
||||
try {
|
||||
return body()
|
||||
} catch (Exception e) {
|
||||
sleep(delay)
|
||||
}
|
||||
}
|
||||
throw Exception("Failed after ${maxRetries} retries")
|
||||
}
|
||||
|
||||
def device(String ip, String step_label, String cmd) {
|
||||
withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) {
|
||||
def ssh_cmd = """
|
||||
ssh -o ConnectTimeout=5 -o ServerAliveInterval=5 -o ServerAliveCountMax=2 -o BatchMode=yes -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' exec /usr/bin/bash <<'END'
|
||||
|
||||
set -e
|
||||
|
||||
export TERM=xterm-256color
|
||||
|
||||
shopt -s huponexit # kill all child processes when the shell exits
|
||||
|
||||
export CI=1
|
||||
export PYTHONWARNINGS=error
|
||||
export LOGPRINT=debug
|
||||
export TEST_DIR=${env.TEST_DIR}
|
||||
export SOURCE_DIR=${env.SOURCE_DIR}
|
||||
export GIT_BRANCH=${env.GIT_BRANCH}
|
||||
export GIT_COMMIT=${env.GIT_COMMIT}
|
||||
export CI_ARTIFACTS_TOKEN=${env.CI_ARTIFACTS_TOKEN}
|
||||
export GITHUB_COMMENTS_TOKEN=${env.GITHUB_COMMENTS_TOKEN}
|
||||
export AZURE_TOKEN='${env.AZURE_TOKEN}'
|
||||
# only use 1 thread for tici tests since most require HIL
|
||||
export PYTEST_ADDOPTS="-n0 -s"
|
||||
|
||||
|
||||
export GIT_SSH_COMMAND="ssh -i /data/gitkey"
|
||||
|
||||
source ~/.bash_profile
|
||||
if [ -f /TICI ]; then
|
||||
source /etc/profile
|
||||
|
||||
rm -rf /tmp/tmp*
|
||||
rm -rf ~/.commacache
|
||||
rm -rf /dev/shm/*
|
||||
rm -rf /dev/tmp/tmp*
|
||||
|
||||
if ! systemctl is-active --quiet systemd-resolved; then
|
||||
echo "restarting resolved"
|
||||
sudo systemctl start systemd-resolved
|
||||
sleep 3
|
||||
fi
|
||||
|
||||
# restart aux USB
|
||||
if [ -e /sys/bus/usb/drivers/hub/3-0:1.0 ]; then
|
||||
echo "restarting aux usb"
|
||||
echo "3-0:1.0" | sudo tee /sys/bus/usb/drivers/hub/unbind
|
||||
sleep 0.5
|
||||
echo "3-0:1.0" | sudo tee /sys/bus/usb/drivers/hub/bind
|
||||
fi
|
||||
fi
|
||||
if [ -f /data/openpilot/launch_env.sh ]; then
|
||||
source /data/openpilot/launch_env.sh
|
||||
fi
|
||||
|
||||
ln -snf ${env.TEST_DIR} /data/pythonpath
|
||||
|
||||
cd ${env.TEST_DIR} || true
|
||||
time ${cmd}
|
||||
END"""
|
||||
|
||||
sh script: ssh_cmd, label: step_label
|
||||
}
|
||||
}
|
||||
|
||||
def deviceStage(String stageName, String deviceType, List extra_env, def steps) {
|
||||
stage(stageName) {
|
||||
if (currentBuild.result != null) {
|
||||
return
|
||||
}
|
||||
|
||||
if (isReplay()) {
|
||||
error("REPLAYING TESTS IS NOT ALLOWED. FIX THEM INSTEAD.")
|
||||
}
|
||||
|
||||
def extra = extra_env.collect { "export ${it}" }.join('\n');
|
||||
def branch = env.BRANCH_NAME ?: 'master';
|
||||
def gitDiff = sh returnStdout: true, script: 'curl -s -H "Authorization: Bearer ${GITHUB_COMMENTS_TOKEN}" https://api.github.com/repos/commaai/openpilot/compare/master...${GIT_BRANCH} | jq .files[].filename || echo "/"', label: 'Getting changes'
|
||||
|
||||
lock(resource: "", label: deviceType, inversePrecedence: true, variable: 'device_ip', quantity: 1, resourceSelectStrategy: 'random') {
|
||||
docker.image('ghcr.io/commaai/alpine-ssh').inside('--user=root') {
|
||||
timeout(time: 35, unit: 'MINUTES') {
|
||||
retry (3) {
|
||||
def date = sh(script: 'date', returnStdout: true).trim();
|
||||
device(device_ip, "set time", "date -s '" + date + "'")
|
||||
device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh"))
|
||||
}
|
||||
steps.each { item ->
|
||||
def name = item[0]
|
||||
def cmd = item[1]
|
||||
|
||||
def args = item[2]
|
||||
def diffPaths = args.diffPaths ?: []
|
||||
def cmdTimeout = args.timeout ?: 9999
|
||||
|
||||
if (branch != "master" && !branch.contains("__jenkins_loop_") && diffPaths && !hasPathChanged(gitDiff, diffPaths)) {
|
||||
println "Skipping ${name}: no changes in ${diffPaths}."
|
||||
return
|
||||
} else {
|
||||
timeout(time: cmdTimeout, unit: 'SECONDS') {
|
||||
device(device_ip, name, cmd)
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
def hasPathChanged(String gitDiff, List<String> paths) {
|
||||
for (path in paths) {
|
||||
if (gitDiff.contains(path)) {
|
||||
return true
|
||||
}
|
||||
}
|
||||
return false
|
||||
}
|
||||
|
||||
def isReplay() {
|
||||
def replayClass = "org.jenkinsci.plugins.workflow.cps.replay.ReplayCause"
|
||||
return currentBuild.rawBuild.getCauses().any{ cause -> cause.toString().contains(replayClass) }
|
||||
}
|
||||
|
||||
def setupCredentials() {
|
||||
withCredentials([
|
||||
string(credentialsId: 'azure_token', variable: 'AZURE_TOKEN'),
|
||||
]) {
|
||||
env.AZURE_TOKEN = "${AZURE_TOKEN}"
|
||||
}
|
||||
|
||||
withCredentials([
|
||||
string(credentialsId: 'ci_artifacts_pat', variable: 'CI_ARTIFACTS_TOKEN'),
|
||||
]) {
|
||||
env.CI_ARTIFACTS_TOKEN = "${CI_ARTIFACTS_TOKEN}"
|
||||
}
|
||||
|
||||
withCredentials([
|
||||
string(credentialsId: 'post_comments_github_pat', variable: 'GITHUB_COMMENTS_TOKEN'),
|
||||
]) {
|
||||
env.GITHUB_COMMENTS_TOKEN = "${GITHUB_COMMENTS_TOKEN}"
|
||||
}
|
||||
}
|
||||
|
||||
def step(String name, String cmd, Map args = [:]) {
|
||||
return [name, cmd, args]
|
||||
}
|
||||
|
||||
node {
|
||||
env.CI = "1"
|
||||
env.PYTHONWARNINGS = "error"
|
||||
env.TEST_DIR = "/data/openpilot"
|
||||
env.SOURCE_DIR = "/data/openpilot_source/"
|
||||
setupCredentials()
|
||||
|
||||
env.GIT_BRANCH = checkout(scm).GIT_BRANCH
|
||||
env.GIT_COMMIT = checkout(scm).GIT_COMMIT
|
||||
|
||||
def excludeBranches = ['__nightly', 'devel', 'devel-staging', 'release3', 'release3-staging',
|
||||
'testing-closet*', 'hotfix-*']
|
||||
def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')
|
||||
|
||||
if (env.BRANCH_NAME != 'master' && !env.BRANCH_NAME.contains('__jenkins_loop_')) {
|
||||
properties([
|
||||
disableConcurrentBuilds(abortPrevious: true)
|
||||
])
|
||||
}
|
||||
|
||||
try {
|
||||
if (env.BRANCH_NAME == 'devel-staging') {
|
||||
deviceStage("build release3-staging", "tici-needs-can", [], [
|
||||
step("build release3-staging", "RELEASE_BRANCH=release3-staging $SOURCE_DIR/release/build_release.sh"),
|
||||
])
|
||||
}
|
||||
|
||||
if (env.BRANCH_NAME == '__nightly') {
|
||||
parallel (
|
||||
'nightly': {
|
||||
deviceStage("build nightly", "tici-needs-can", [], [
|
||||
step("build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"),
|
||||
])
|
||||
},
|
||||
'nightly-dev': {
|
||||
deviceStage("build nightly-dev", "tici-needs-can", [], [
|
||||
step("build nightly-dev", "PANDA_DEBUG_BUILD=1 RELEASE_BRANCH=nightly-dev $SOURCE_DIR/release/build_release.sh"),
|
||||
])
|
||||
},
|
||||
)
|
||||
}
|
||||
|
||||
if (!env.BRANCH_NAME.matches(excludeRegex)) {
|
||||
parallel (
|
||||
// tici tests
|
||||
'onroad tests': {
|
||||
deviceStage("onroad", "tici-needs-can", ["UNSAFE=1"], [
|
||||
step("build openpilot", "cd system/manager && ./build.py"),
|
||||
step("check dirty", "release/check-dirty.sh"),
|
||||
step("onroad tests", "pytest selfdrive/test/test_onroad.py -s", [timeout: 60]),
|
||||
])
|
||||
},
|
||||
'HW + Unit Tests': {
|
||||
deviceStage("tici-hardware", "tici-common", ["UNSAFE=1"], [
|
||||
step("build", "cd system/manager && ./build.py"),
|
||||
step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
|
||||
step("test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"),
|
||||
step("test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py", [diffPaths: ["system/loggerd/"]]),
|
||||
step("test pigeond", "pytest system/ubloxd/tests/test_pigeond.py", [diffPaths: ["system/ubloxd/"]]),
|
||||
step("test manager", "pytest system/manager/test/test_manager.py"),
|
||||
])
|
||||
},
|
||||
'loopback': {
|
||||
deviceStage("loopback", "tici-loopback", ["UNSAFE=1"], [
|
||||
step("build openpilot", "cd system/manager && ./build.py"),
|
||||
step("test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
|
||||
])
|
||||
},
|
||||
'camerad AR0231': {
|
||||
deviceStage("AR0231", "tici-ar0231", ["UNSAFE=1"], [
|
||||
step("build", "cd system/manager && ./build.py"),
|
||||
step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
|
||||
step("test exposure", "pytest system/camerad/test/test_exposure.py"),
|
||||
])
|
||||
},
|
||||
'camerad OX03C10': {
|
||||
deviceStage("OX03C10", "tici-ox03c10", ["UNSAFE=1"], [
|
||||
step("build", "cd system/manager && ./build.py"),
|
||||
step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
|
||||
step("test exposure", "pytest system/camerad/test/test_exposure.py"),
|
||||
])
|
||||
},
|
||||
'camerad OS04C10': {
|
||||
deviceStage("OS04C10", "tici-os04c10", ["UNSAFE=1"], [
|
||||
step("build", "cd system/manager && ./build.py"),
|
||||
step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
|
||||
step("test exposure", "pytest system/camerad/test/test_exposure.py"),
|
||||
])
|
||||
},
|
||||
'sensord': {
|
||||
deviceStage("LSM + MMC", "tici-lsmc", ["UNSAFE=1"], [
|
||||
step("build", "cd system/manager && ./build.py"),
|
||||
step("test sensord", "pytest system/sensord/tests/test_sensord.py"),
|
||||
])
|
||||
deviceStage("BMX + LSM", "tici-bmx-lsm", ["UNSAFE=1"], [
|
||||
step("build", "cd system/manager && ./build.py"),
|
||||
step("test sensord", "pytest system/sensord/tests/test_sensord.py"),
|
||||
])
|
||||
},
|
||||
'replay': {
|
||||
deviceStage("model-replay", "tici-replay", ["UNSAFE=1"], [
|
||||
step("build", "cd system/manager && ./build.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
|
||||
step("model replay", "selfdrive/test/process_replay/model_replay.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
|
||||
])
|
||||
},
|
||||
'tizi': {
|
||||
deviceStage("tizi", "tizi", ["UNSAFE=1"], [
|
||||
step("build openpilot", "cd system/manager && ./build.py"),
|
||||
step("test pandad loopback", "SINGLE_PANDA=1 pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
|
||||
step("test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"),
|
||||
step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
|
||||
step("test amp", "pytest system/hardware/tici/tests/test_amplifier.py"),
|
||||
step("test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py", [diffPaths: ["system/qcomgpsd/"]]),
|
||||
])
|
||||
},
|
||||
|
||||
)
|
||||
}
|
||||
} catch (Exception e) {
|
||||
currentBuild.result = 'FAILED'
|
||||
throw e
|
||||
}
|
||||
}
|
||||
@@ -1,102 +1,107 @@
|
||||
|
||||
<div align="center" style="text-align: center;">
|
||||
|
||||
## 🌞 What is sunnypilot?
|
||||
[sunnypilot](https://github.com/sunnyhaibin/sunnypilot) is a fork of comma.ai's openpilot, an open source driver assistance system. sunnypilot offers the user a unique driving experience for over 300+ supported car makes and models with modified behaviors of driving assist engagements. sunnypilot complies with comma.ai's safety rules as accurately as possible.
|
||||
<h1>openpilot</h1>
|
||||
|
||||
## 💭 Join our Discord
|
||||
Join the official sunnypilot Discord server to stay up to date with all the latest features and be a part of shaping the future of sunnypilot!
|
||||
* https://discord.gg/sunnypilot
|
||||
<p>
|
||||
<b>openpilot is an operating system for robotics.</b>
|
||||
<br>
|
||||
Currently, it upgrades the driver assistance system in 275+ supported cars.
|
||||
</p>
|
||||
|
||||
 
|
||||
<h3>
|
||||
<a href="https://docs.comma.ai">Docs</a>
|
||||
<span> · </span>
|
||||
<a href="https://docs.comma.ai/contributing/roadmap/">Roadmap</a>
|
||||
<span> · </span>
|
||||
<a href="https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md">Contribute</a>
|
||||
<span> · </span>
|
||||
<a href="https://discord.comma.ai">Community</a>
|
||||
<span> · </span>
|
||||
<a href="https://comma.ai/shop">Try it on a comma 3X</a>
|
||||
</h3>
|
||||
|
||||
## Documentation
|
||||
https://docs.sunnypilot.ai/ is your one stop shop for everything from features to installation to FAQ about the sunnypilot
|
||||
Quick start: `bash <(curl -fsSL openpilot.comma.ai)`
|
||||
|
||||
## 🚘 Running on a dedicated device in a car
|
||||
* A supported device to run this software
|
||||
* a [comma three](https://comma.ai/shop/products/three) or a [C3X](https://comma.ai/shop/comma-3x)
|
||||
* This software
|
||||
* One of [the 300+ supported cars](https://github.com/commaai/openpilot/blob/master/docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, Ford and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run sunnypilot.
|
||||
* A [car harness](https://comma.ai/shop/products/car-harness) to connect to your car
|
||||
|
||||
[](https://codecov.io/gh/commaai/openpilot)
|
||||
[](LICENSE)
|
||||
[](https://x.com/comma_ai)
|
||||
[](https://discord.comma.ai)
|
||||
|
||||
Detailed instructions for [how to mount the device in a car](https://comma.ai/setup).
|
||||
</div>
|
||||
|
||||
## Installation
|
||||
Please refer to [Recommended Branches](#-recommended-branches) to find your preferred/supported branch. This guide will assume you want to install the latest `release-c3` branch.
|
||||
<table>
|
||||
<tr>
|
||||
<td><a href="https://youtu.be/NmBfgOanCyk" title="Video By Greer Viau"><img src="https://github.com/commaai/openpilot/assets/8762862/2f7112ae-f748-4f39-b617-fabd689c3772"></a></td>
|
||||
<td><a href="https://youtu.be/VHKyqZ7t8Gw" title="Video By Logan LeGrand"><img src="https://github.com/commaai/openpilot/assets/8762862/92351544-2833-40d7-9e0b-7ef7ae37ec4c"></a></td>
|
||||
<td><a href="https://youtu.be/SUIZYzxtMQs" title="A drive to Taco Bell"><img src="https://github.com/commaai/openpilot/assets/8762862/05ceefc5-2628-439c-a9b2-89ce77dc6f63"></a></td>
|
||||
</tr>
|
||||
</table>
|
||||
|
||||
* sunnypilot not installed or you installed a version before 0.8.17?
|
||||
1. [Factory reset/uninstall](https://github.com/commaai/openpilot/wiki/FAQ#how-can-i-reset-the-device) the previous software if you have another software/fork installed.
|
||||
2. After factory reset/uninstall and upon reboot, select `Custom Software` when given the option.
|
||||
3. Input the installation URL per [Recommended Branches](#-recommended-branches). Example: ```release-c3.sunnypilot.ai```.
|
||||
4. Complete the rest of the installation following the onscreen instructions.
|
||||
|
||||
* sunnypilot already installed and you installed a version after 0.8.17?
|
||||
1. On the comma three, go to `Settings` ▶️ `Software`.
|
||||
2. At the `Download` option, press `CHECK`. This will fetch the list of latest branches from sunnypilot.
|
||||
3. At the `Target Branch` option, press `SELECT` to open the Target Branch selector.
|
||||
4. Scroll to select the desired branch per Recommended Branches (see below). Example: `release-c3`
|
||||
Using openpilot in a car
|
||||
------
|
||||
|
||||
| Branch | Installation URL |
|
||||
|:------------:|:--------------------------------:|
|
||||
| `release-c3` | https://release-c3.sunnypilot.ai |
|
||||
| `staging-c3` | https://staging-c3.sunnypilot.ai |
|
||||
| `dev-c3` | https://dev-c3.sunnypilot.ai |
|
||||
To use openpilot in a car, you need four things:
|
||||
1. **Supported Device:** a comma 3/3X, available at [comma.ai/shop](https://comma.ai/shop/comma-3x).
|
||||
2. **Software:** The setup procedure for the comma 3/3X allows users to enter a URL for custom software. Use the URL `openpilot.comma.ai` to install the release version.
|
||||
3. **Supported Car:** Ensure that you have one of [the 275+ supported cars](docs/CARS.md).
|
||||
4. **Car Harness:** You will also need a [car harness](https://comma.ai/shop/car-harness) to connect your comma 3/3X to your car.
|
||||
|
||||
Requires further assistance with software installation? Join the [sunnypilot Discord server](https://discord.sunnypilot.com) and message us in the `#installation-help` channel.
|
||||
We have detailed instructions for [how to install the harness and device in a car](https://comma.ai/setup). Note that it's possible to run openpilot on [other hardware](https://blog.comma.ai/self-driving-car-for-free/), although it's not plug-and-play.
|
||||
|
||||
## 🎆 Pull Requests
|
||||
We welcome both pull requests and issues on GitHub. Bug fixes are encouraged.
|
||||
### Branches
|
||||
| branch | URL | description |
|
||||
|------------------|----------------------------------------|-------------------------------------------------------------------------------------|
|
||||
| `release3` | openpilot.comma.ai | This is openpilot's release branch. |
|
||||
| `release3-staging` | openpilot-test.comma.ai | This is the staging branch for releases. Use it to get new releases slightly early. |
|
||||
| `nightly` | openpilot-nightly.comma.ai | This is the bleeding edge development branch. Do not expect this to be stable. |
|
||||
| `nightly-dev` | installer.comma.ai/commaai/nightly-dev | Same as nightly, but includes experimental development features for some cars. |
|
||||
|
||||
Pull requests should be against the most current `master-new` branch.
|
||||
To start developing openpilot
|
||||
------
|
||||
|
||||
## 📊 User Data
|
||||
openpilot is developed by [comma](https://comma.ai/) and by users like you. We welcome both pull requests and issues on [GitHub](http://github.com/commaai/openpilot).
|
||||
|
||||
By default, sunnypilot uploads the driving data to comma servers. You can also access your data through [comma connect](https://connect.comma.ai/).
|
||||
* Join the [community Discord](https://discord.comma.ai)
|
||||
* Check out [the contributing docs](docs/CONTRIBUTING.md)
|
||||
* Check out the [openpilot tools](tools/)
|
||||
* Read about the [development workflow](docs/WORKFLOW.md)
|
||||
* Code documentation lives at https://docs.comma.ai
|
||||
* Information about running openpilot lives on the [community wiki](https://github.com/commaai/openpilot/wiki)
|
||||
|
||||
sunnypilot is open source software. The user is free to disable data collection if they wish to do so.
|
||||
Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs#open-positions) and offers lots of [bounties](https://comma.ai/bounties) for external contributors.
|
||||
|
||||
sunnypilot logs the road-facing camera, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
|
||||
Safety and Testing
|
||||
----
|
||||
|
||||
* openpilot observes [ISO26262](https://en.wikipedia.org/wiki/ISO_26262) guidelines, see [SAFETY.md](docs/SAFETY.md) for more details.
|
||||
* openpilot has software-in-the-loop [tests](.github/workflows/selfdrive_tests.yaml) that run on every commit.
|
||||
* The code enforcing the safety model lives in panda and is written in C, see [code rigor](https://github.com/commaai/panda#code-rigor) for more details.
|
||||
* panda has software-in-the-loop [safety tests](https://github.com/commaai/panda/tree/master/tests/safety).
|
||||
* Internally, we have a hardware-in-the-loop Jenkins test suite that builds and unit tests the various processes.
|
||||
* panda has additional hardware-in-the-loop [tests](https://github.com/commaai/panda/blob/master/Jenkinsfile).
|
||||
* We run the latest openpilot in a testing closet containing 10 comma devices continuously replaying routes.
|
||||
|
||||
Licensing
|
||||
------
|
||||
|
||||
openpilot is released under the MIT license. Some parts of the software are released under other licenses as specified.
|
||||
|
||||
Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.
|
||||
|
||||
**THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT.
|
||||
YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS.
|
||||
NO WARRANTY EXPRESSED OR IMPLIED.**
|
||||
|
||||
User Data and comma Account
|
||||
------
|
||||
|
||||
By default, openpilot uploads the driving data to our servers. You can also access your data through [comma connect](https://connect.comma.ai/). We use your data to train better models and improve openpilot for everyone.
|
||||
|
||||
openpilot is open source software: the user is free to disable data collection if they wish to do so.
|
||||
|
||||
openpilot logs the road-facing cameras, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
|
||||
The driver-facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded.
|
||||
|
||||
By using this software, you understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
|
||||
|
||||
## Licensing
|
||||
|
||||
sunnypilot is released under the [MIT License](LICENSE). This repository includes original work as well as significant portions of code derived from [openpilot by comma.ai](https://github.com/commaai/openpilot), which is also released under the MIT license with additional disclaimers.
|
||||
|
||||
The original openpilot license notice, including comma.ai’s indemnification and alpha software disclaimer, is reproduced below as required:
|
||||
|
||||
> openpilot is released under the MIT license. Some parts of the software are released under other licenses as specified.
|
||||
>
|
||||
> Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.
|
||||
>
|
||||
> **THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT.
|
||||
> YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS.
|
||||
> NO WARRANTY EXPRESSED OR IMPLIED.**
|
||||
|
||||
For full license terms, please see the [`LICENSE`](LICENSE) file.
|
||||
|
||||
## 💰 Support sunnypilot
|
||||
If you find any of the features useful, consider becoming a [sponsor on GitHub](https://github.com/sponsors/sunnyhaibin) to support future feature development and improvements.
|
||||
|
||||
|
||||
By becoming a sponsor, you will gain access to exclusive content, early access to new features, and the opportunity to directly influence the project's development.
|
||||
|
||||
|
||||
<h3>GitHub Sponsor</h3>
|
||||
|
||||
<a href="https://github.com/sponsors/sunnyhaibin">
|
||||
<img src="https://user-images.githubusercontent.com/47793918/244135584-9800acbd-69fd-4b2b-bec9-e5fa2d85c817.png" alt="Become a Sponsor" width="300" style="max-width: 100%; height: auto;">
|
||||
</a>
|
||||
<br>
|
||||
|
||||
<h3>PayPal</h3>
|
||||
|
||||
<a href="https://paypal.me/sunnyhaibin0850" target="_blank">
|
||||
<img src="https://www.paypalobjects.com/en_US/i/btn/btn_donateCC_LG.gif" alt="PayPal this" title="PayPal - The safer, easier way to pay online!" border="0" />
|
||||
</a>
|
||||
<br></br>
|
||||
|
||||
Your continuous love and support are greatly appreciated! Enjoy 🥰
|
||||
|
||||
<span>-</span> Jason, Founder of sunnypilot
|
||||
By using openpilot, you agree to [our Privacy Policy](https://comma.ai/privacy). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
|
||||
|
||||
+1
-5
@@ -1,10 +1,6 @@
|
||||
Version 0.9.9 (2025-04-30)
|
||||
Version 0.9.9 (2025-04-XX)
|
||||
========================
|
||||
* New driving model
|
||||
* Tesla Model 3 and Y support thanks to lukasloetkolben!
|
||||
* Coming soon
|
||||
* New driving model supervised by MLSIM
|
||||
* An online learner for steering actuator delay
|
||||
|
||||
Version 0.9.8 (2025-02-28)
|
||||
========================
|
||||
|
||||
-403
@@ -1,403 +0,0 @@
|
||||
import os
|
||||
import subprocess
|
||||
import sys
|
||||
import sysconfig
|
||||
import platform
|
||||
import numpy as np
|
||||
|
||||
import SCons.Errors
|
||||
|
||||
SCons.Warnings.warningAsException(True)
|
||||
|
||||
# pending upstream fix - https://github.com/SCons/scons/issues/4461
|
||||
#SetOption('warn', 'all')
|
||||
|
||||
TICI = os.path.isfile('/TICI')
|
||||
AGNOS = TICI
|
||||
|
||||
Decider('MD5-timestamp')
|
||||
|
||||
SetOption('num_jobs', int(os.cpu_count()/2))
|
||||
|
||||
AddOption('--kaitai',
|
||||
action='store_true',
|
||||
help='Regenerate kaitai struct parsers')
|
||||
|
||||
AddOption('--asan',
|
||||
action='store_true',
|
||||
help='turn on ASAN')
|
||||
|
||||
AddOption('--ubsan',
|
||||
action='store_true',
|
||||
help='turn on UBSan')
|
||||
|
||||
AddOption('--coverage',
|
||||
action='store_true',
|
||||
help='build with test coverage options')
|
||||
|
||||
AddOption('--clazy',
|
||||
action='store_true',
|
||||
help='build with clazy')
|
||||
|
||||
AddOption('--compile_db',
|
||||
action='store_true',
|
||||
help='build clang compilation database')
|
||||
|
||||
AddOption('--ccflags',
|
||||
action='store',
|
||||
type='string',
|
||||
default='',
|
||||
help='pass arbitrary flags over the command line')
|
||||
|
||||
AddOption('--external-sconscript',
|
||||
action='store',
|
||||
metavar='FILE',
|
||||
dest='external_sconscript',
|
||||
help='add an external SConscript to the build')
|
||||
|
||||
AddOption('--pc-thneed',
|
||||
action='store_true',
|
||||
dest='pc_thneed',
|
||||
help='use thneed on pc')
|
||||
|
||||
AddOption('--mutation',
|
||||
action='store_true',
|
||||
help='generate mutation-ready code')
|
||||
|
||||
AddOption('--minimal',
|
||||
action='store_false',
|
||||
dest='extras',
|
||||
default=os.path.exists(File('#.lfsconfig').abspath), # minimal by default on release branch (where there's no LFS)
|
||||
help='the minimum build to run openpilot. no tests, tools, etc.')
|
||||
|
||||
AddOption('--stock-ui',
|
||||
action='store_true',
|
||||
dest='stock_ui',
|
||||
default=False,
|
||||
help='Build stock openpilot UI instead of sunnypilot UI')
|
||||
|
||||
## Architecture name breakdown (arch)
|
||||
## - larch64: linux tici aarch64
|
||||
## - aarch64: linux pc aarch64
|
||||
## - x86_64: linux pc x64
|
||||
## - Darwin: mac x64 or arm64
|
||||
real_arch = arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
|
||||
if platform.system() == "Darwin":
|
||||
arch = "Darwin"
|
||||
brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip()
|
||||
elif arch == "aarch64" and AGNOS:
|
||||
arch = "larch64"
|
||||
assert arch in ["larch64", "aarch64", "x86_64", "Darwin"]
|
||||
|
||||
lenv = {
|
||||
"PATH": os.environ['PATH'],
|
||||
"LD_LIBRARY_PATH": [Dir(f"#third_party/acados/{arch}/lib").abspath],
|
||||
"PYTHONPATH": Dir("#").abspath + ':' + Dir(f"#third_party/acados").abspath,
|
||||
|
||||
"ACADOS_SOURCE_DIR": Dir("#third_party/acados").abspath,
|
||||
"ACADOS_PYTHON_INTERFACE_PATH": Dir("#third_party/acados/acados_template").abspath,
|
||||
"TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer"
|
||||
}
|
||||
|
||||
rpath = lenv["LD_LIBRARY_PATH"].copy()
|
||||
|
||||
if arch == "larch64":
|
||||
cpppath = [
|
||||
"#third_party/opencl/include",
|
||||
]
|
||||
|
||||
libpath = [
|
||||
"/usr/local/lib",
|
||||
"/system/vendor/lib64",
|
||||
f"#third_party/acados/{arch}/lib",
|
||||
]
|
||||
|
||||
libpath += [
|
||||
"#third_party/snpe/larch64",
|
||||
"#third_party/libyuv/larch64/lib",
|
||||
"/usr/lib/aarch64-linux-gnu"
|
||||
]
|
||||
cflags = ["-DQCOM2", "-mcpu=cortex-a57"]
|
||||
cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"]
|
||||
rpath += ["/usr/local/lib"]
|
||||
else:
|
||||
cflags = []
|
||||
cxxflags = []
|
||||
cpppath = []
|
||||
rpath += []
|
||||
|
||||
# MacOS
|
||||
if arch == "Darwin":
|
||||
libpath = [
|
||||
f"#third_party/libyuv/{arch}/lib",
|
||||
f"#third_party/acados/{arch}/lib",
|
||||
f"{brew_prefix}/lib",
|
||||
f"{brew_prefix}/opt/openssl@3.0/lib",
|
||||
"/System/Library/Frameworks/OpenGL.framework/Libraries",
|
||||
]
|
||||
|
||||
cflags += ["-DGL_SILENCE_DEPRECATION"]
|
||||
cxxflags += ["-DGL_SILENCE_DEPRECATION"]
|
||||
cpppath += [
|
||||
f"{brew_prefix}/include",
|
||||
f"{brew_prefix}/opt/openssl@3.0/include",
|
||||
]
|
||||
lenv["DYLD_LIBRARY_PATH"] = lenv["LD_LIBRARY_PATH"]
|
||||
# Linux
|
||||
else:
|
||||
libpath = [
|
||||
f"#third_party/acados/{arch}/lib",
|
||||
f"#third_party/libyuv/{arch}/lib",
|
||||
"/usr/lib",
|
||||
"/usr/local/lib",
|
||||
]
|
||||
|
||||
if arch == "x86_64":
|
||||
libpath += [
|
||||
f"#third_party/snpe/{arch}"
|
||||
]
|
||||
rpath += [
|
||||
Dir(f"#third_party/snpe/{arch}").abspath,
|
||||
]
|
||||
|
||||
if GetOption('asan'):
|
||||
ccflags = ["-fsanitize=address", "-fno-omit-frame-pointer"]
|
||||
ldflags = ["-fsanitize=address"]
|
||||
elif GetOption('ubsan'):
|
||||
ccflags = ["-fsanitize=undefined"]
|
||||
ldflags = ["-fsanitize=undefined"]
|
||||
else:
|
||||
ccflags = []
|
||||
ldflags = []
|
||||
|
||||
# no --as-needed on mac linker
|
||||
if arch != "Darwin":
|
||||
ldflags += ["-Wl,--as-needed", "-Wl,--no-undefined"]
|
||||
|
||||
if not GetOption('stock_ui'):
|
||||
cflags += ["-DSUNNYPILOT"]
|
||||
cxxflags += ["-DSUNNYPILOT"]
|
||||
|
||||
ccflags_option = GetOption('ccflags')
|
||||
if ccflags_option:
|
||||
ccflags += ccflags_option.split(' ')
|
||||
|
||||
env = Environment(
|
||||
ENV=lenv,
|
||||
CCFLAGS=[
|
||||
"-g",
|
||||
"-fPIC",
|
||||
"-O2",
|
||||
"-Wunused",
|
||||
"-Werror",
|
||||
"-Wshadow",
|
||||
"-Wno-unknown-warning-option",
|
||||
"-Wno-inconsistent-missing-override",
|
||||
"-Wno-c99-designator",
|
||||
"-Wno-reorder-init-list",
|
||||
"-Wno-vla-cxx-extension",
|
||||
] + cflags + ccflags,
|
||||
|
||||
CPPPATH=cpppath + [
|
||||
"#",
|
||||
"#third_party/acados/include",
|
||||
"#third_party/acados/include/blasfeo/include",
|
||||
"#third_party/acados/include/hpipm/include",
|
||||
"#third_party/catch2/include",
|
||||
"#third_party/libyuv/include",
|
||||
"#third_party/json11",
|
||||
"#third_party/linux/include",
|
||||
"#third_party/snpe/include",
|
||||
"#third_party",
|
||||
"#msgq",
|
||||
],
|
||||
|
||||
CC='clang',
|
||||
CXX='clang++',
|
||||
LINKFLAGS=ldflags,
|
||||
|
||||
RPATH=rpath,
|
||||
|
||||
CFLAGS=["-std=gnu11"] + cflags,
|
||||
CXXFLAGS=["-std=c++1z"] + cxxflags,
|
||||
LIBPATH=libpath + [
|
||||
"#msgq_repo",
|
||||
"#third_party",
|
||||
"#selfdrive/pandad",
|
||||
"#common",
|
||||
"#rednose/helpers",
|
||||
],
|
||||
CYTHONCFILESUFFIX=".cpp",
|
||||
COMPILATIONDB_USE_ABSPATH=True,
|
||||
REDNOSE_ROOT="#",
|
||||
tools=["default", "cython", "compilation_db", "rednose_filter"],
|
||||
toolpath=["#site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
|
||||
)
|
||||
|
||||
if arch == "Darwin":
|
||||
# RPATH is not supported on macOS, instead use the linker flags
|
||||
darwin_rpath_link_flags = [f"-Wl,-rpath,{path}" for path in env["RPATH"]]
|
||||
env["LINKFLAGS"] += darwin_rpath_link_flags
|
||||
|
||||
if GetOption('compile_db'):
|
||||
env.CompilationDatabase('compile_commands.json')
|
||||
|
||||
# Setup cache dir
|
||||
default_cache_dir = '/data/scons_cache' if AGNOS else '/tmp/scons_cache'
|
||||
cache_dir = ARGUMENTS.get('cache_dir', default_cache_dir)
|
||||
CacheDir(cache_dir)
|
||||
Clean(["."], cache_dir)
|
||||
|
||||
node_interval = 5
|
||||
node_count = 0
|
||||
def progress_function(node):
|
||||
global node_count
|
||||
node_count += node_interval
|
||||
sys.stderr.write("progress: %d\n" % node_count)
|
||||
|
||||
if os.environ.get('SCONS_PROGRESS'):
|
||||
Progress(progress_function, interval=node_interval)
|
||||
|
||||
# Cython build environment
|
||||
py_include = sysconfig.get_paths()['include']
|
||||
envCython = env.Clone()
|
||||
envCython["CPPPATH"] += [py_include, np.get_include()]
|
||||
envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-shadow", "-Wno-deprecated-declarations"]
|
||||
envCython["CCFLAGS"].remove("-Werror")
|
||||
|
||||
envCython["LIBS"] = []
|
||||
if arch == "Darwin":
|
||||
envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"] + darwin_rpath_link_flags
|
||||
else:
|
||||
envCython["LINKFLAGS"] = ["-pthread", "-shared"]
|
||||
|
||||
np_version = SCons.Script.Value(np.__version__)
|
||||
Export('envCython', 'np_version')
|
||||
|
||||
# Qt build environment
|
||||
qt_env = env.Clone()
|
||||
qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "DBus", "Xml"]
|
||||
|
||||
qt_libs = []
|
||||
if arch == "Darwin":
|
||||
qt_env['QTDIR'] = f"{brew_prefix}/opt/qt@5"
|
||||
qt_dirs = [
|
||||
os.path.join(qt_env['QTDIR'], "include"),
|
||||
]
|
||||
qt_dirs += [f"{qt_env['QTDIR']}/include/Qt{m}" for m in qt_modules]
|
||||
qt_env["LINKFLAGS"] += ["-F" + os.path.join(qt_env['QTDIR'], "lib")]
|
||||
qt_env["FRAMEWORKS"] += [f"Qt{m}" for m in qt_modules] + ["OpenGL"]
|
||||
qt_env.AppendENVPath('PATH', os.path.join(qt_env['QTDIR'], "bin"))
|
||||
else:
|
||||
qt_install_prefix = subprocess.check_output(['qmake', '-query', 'QT_INSTALL_PREFIX'], encoding='utf8').strip()
|
||||
qt_install_headers = subprocess.check_output(['qmake', '-query', 'QT_INSTALL_HEADERS'], encoding='utf8').strip()
|
||||
|
||||
qt_env['QTDIR'] = qt_install_prefix
|
||||
qt_dirs = [
|
||||
f"{qt_install_headers}",
|
||||
]
|
||||
|
||||
qt_gui_path = os.path.join(qt_install_headers, "QtGui")
|
||||
qt_gui_dirs = [d for d in os.listdir(qt_gui_path) if os.path.isdir(os.path.join(qt_gui_path, d))]
|
||||
qt_dirs += [f"{qt_install_headers}/QtGui/{qt_gui_dirs[0]}/QtGui", ] if qt_gui_dirs else []
|
||||
qt_dirs += [f"{qt_install_headers}/Qt{m}" for m in qt_modules]
|
||||
|
||||
qt_libs = [f"Qt5{m}" for m in qt_modules]
|
||||
if arch == "larch64":
|
||||
qt_libs += ["GLESv2", "wayland-client"]
|
||||
qt_env.PrependENVPath('PATH', Dir("#third_party/qt5/larch64/bin/").abspath)
|
||||
elif arch != "Darwin":
|
||||
qt_libs += ["GL"]
|
||||
qt_env['QT3DIR'] = qt_env['QTDIR']
|
||||
|
||||
# compatibility for older SCons versions
|
||||
try:
|
||||
qt_env.Tool('qt3')
|
||||
except SCons.Errors.UserError:
|
||||
qt_env.Tool('qt')
|
||||
|
||||
qt_env['CPPPATH'] += qt_dirs + ["#third_party/qrcode"]
|
||||
qt_flags = [
|
||||
"-D_REENTRANT",
|
||||
"-DQT_NO_DEBUG",
|
||||
"-DQT_WIDGETS_LIB",
|
||||
"-DQT_GUI_LIB",
|
||||
"-DQT_CORE_LIB",
|
||||
"-DQT_MESSAGELOGCONTEXT",
|
||||
]
|
||||
qt_env['CXXFLAGS'] += qt_flags
|
||||
qt_env['LIBPATH'] += ['#selfdrive/ui', ]
|
||||
qt_env['LIBS'] = qt_libs
|
||||
|
||||
if GetOption("clazy"):
|
||||
checks = [
|
||||
"level0",
|
||||
"level1",
|
||||
"no-range-loop",
|
||||
"no-non-pod-global-static",
|
||||
]
|
||||
qt_env['CXX'] = 'clazy'
|
||||
qt_env['ENV']['CLAZY_IGNORE_DIRS'] = qt_dirs[0]
|
||||
qt_env['ENV']['CLAZY_CHECKS'] = ','.join(checks)
|
||||
|
||||
Export('env', 'qt_env', 'arch', 'real_arch')
|
||||
|
||||
# Build common module
|
||||
SConscript(['common/SConscript'])
|
||||
Import('_common', '_gpucommon')
|
||||
|
||||
common = [_common, 'json11', 'zmq']
|
||||
gpucommon = [_gpucommon]
|
||||
|
||||
Export('common', 'gpucommon')
|
||||
|
||||
# Build messaging (cereal + msgq + socketmaster + their dependencies)
|
||||
# Enable swaglog include in submodules
|
||||
env_swaglog = env.Clone()
|
||||
env_swaglog['CXXFLAGS'].append('-DSWAGLOG="\\"common/swaglog.h\\""')
|
||||
SConscript(['msgq_repo/SConscript'], exports={'env': env_swaglog})
|
||||
SConscript(['opendbc_repo/SConscript'], exports={'env': env_swaglog})
|
||||
|
||||
SConscript(['cereal/SConscript'])
|
||||
|
||||
Import('socketmaster', 'msgq')
|
||||
messaging = [socketmaster, msgq, 'capnp', 'kj',]
|
||||
Export('messaging')
|
||||
|
||||
|
||||
# Build other submodules
|
||||
SConscript(['panda/SConscript'])
|
||||
|
||||
# Build rednose library
|
||||
SConscript(['rednose/SConscript'])
|
||||
|
||||
# Build system services
|
||||
SConscript([
|
||||
'system/proclogd/SConscript',
|
||||
'system/ubloxd/SConscript',
|
||||
'system/loggerd/SConscript',
|
||||
])
|
||||
if arch != "Darwin":
|
||||
SConscript([
|
||||
'system/sensord/SConscript',
|
||||
'system/logcatd/SConscript',
|
||||
])
|
||||
|
||||
if arch == "larch64":
|
||||
SConscript(['system/camerad/SConscript'])
|
||||
|
||||
# Build openpilot
|
||||
SConscript(['third_party/SConscript'])
|
||||
|
||||
SConscript(['selfdrive/SConscript'])
|
||||
|
||||
SConscript(['sunnypilot/SConscript'])
|
||||
|
||||
if Dir('#tools/cabana/').exists() and GetOption('extras'):
|
||||
SConscript(['tools/replay/SConscript'])
|
||||
if arch != "larch64":
|
||||
SConscript(['tools/cabana/SConscript'])
|
||||
|
||||
external_sconscript = GetOption('external_sconscript')
|
||||
if external_sconscript:
|
||||
SConscript([external_sconscript])
|
||||
@@ -1,20 +0,0 @@
|
||||
Import('env', 'common', 'msgq')
|
||||
|
||||
cereal_dir = Dir('.')
|
||||
gen_dir = Dir('gen')
|
||||
|
||||
# Build cereal
|
||||
schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp', 'custom.capnp']
|
||||
env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files],
|
||||
schema_files,
|
||||
f"capnpc --src-prefix={cereal_dir.path} $SOURCES -o c++:{gen_dir.path}/cpp/")
|
||||
|
||||
cereal = env.Library('cereal', [f'gen/cpp/{s}.c++' for s in schema_files])
|
||||
|
||||
# Build messaging
|
||||
services_h = env.Command(['services.h'], ['services.py'], 'python3 ' + cereal_dir.path + '/services.py > $TARGET')
|
||||
env.Program('messaging/bridge', ['messaging/bridge.cc', 'messaging/msgq_to_zmq.cc'], LIBS=[msgq, common, 'pthread'])
|
||||
|
||||
socketmaster = env.Library('socketmaster', ['messaging/socketmaster.cc'])
|
||||
|
||||
Export('cereal', 'socketmaster')
|
||||
+17
-63
@@ -102,23 +102,19 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
|
||||
}
|
||||
|
||||
struct OnroadEventSP @0xda96579883444c35 {
|
||||
events @0 :List(Event);
|
||||
name @0 :EventName;
|
||||
|
||||
struct Event {
|
||||
name @0 :EventName;
|
||||
|
||||
# event types
|
||||
enable @1 :Bool;
|
||||
noEntry @2 :Bool;
|
||||
warning @3 :Bool; # alerts presented only when enabled or soft disabling
|
||||
userDisable @4 :Bool;
|
||||
softDisable @5 :Bool;
|
||||
immediateDisable @6 :Bool;
|
||||
preEnable @7 :Bool;
|
||||
permanent @8 :Bool; # alerts presented regardless of openpilot state
|
||||
overrideLateral @10 :Bool;
|
||||
overrideLongitudinal @9 :Bool;
|
||||
}
|
||||
# event types
|
||||
enable @1 :Bool;
|
||||
noEntry @2 :Bool;
|
||||
warning @3 :Bool; # alerts presented only when enabled or soft disabling
|
||||
userDisable @4 :Bool;
|
||||
softDisable @5 :Bool;
|
||||
immediateDisable @6 :Bool;
|
||||
preEnable @7 :Bool;
|
||||
permanent @8 :Bool; # alerts presented regardless of openpilot state
|
||||
overrideLateral @10 :Bool;
|
||||
overrideLongitudinal @9 :Bool;
|
||||
|
||||
enum EventName {
|
||||
lkasEnable @0;
|
||||
@@ -146,13 +142,10 @@ struct CarParamsSP @0x80ae746ee2596b11 {
|
||||
neuralNetworkLateralControl @2 :NeuralNetworkLateralControl;
|
||||
|
||||
struct NeuralNetworkLateralControl {
|
||||
model @0 :Model;
|
||||
fuzzyFingerprint @1 :Bool;
|
||||
|
||||
struct Model {
|
||||
path @0 :Text;
|
||||
name @1 :Text;
|
||||
}
|
||||
enabled @0 :Bool;
|
||||
modelPath @1 :Text;
|
||||
modelName @2 :Text;
|
||||
fuzzyFingerprint @3 :Bool;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -160,46 +153,7 @@ struct CarControlSP @0xa5cd762cd951a455 {
|
||||
mads @0 :ModularAssistiveDrivingSystem;
|
||||
}
|
||||
|
||||
struct BackupManagerSP @0xf98d843bfd7004a3 {
|
||||
backupStatus @0 :Status;
|
||||
restoreStatus @1 :Status;
|
||||
backupProgress @2 :Float32;
|
||||
restoreProgress @3 :Float32;
|
||||
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;
|
||||
patch @2 :UInt16;
|
||||
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;
|
||||
config @2 :Text;
|
||||
isEncrypted @3 :Bool;
|
||||
createdAt @4 :Text; # ISO timestamp
|
||||
updatedAt @5 :Text; # ISO timestamp
|
||||
sunnypilotVersion @6 :Version;
|
||||
backupMetadata @7 :List(MetadataEntry);
|
||||
}
|
||||
struct CustomReserved6 @0xf98d843bfd7004a3 {
|
||||
}
|
||||
|
||||
struct CustomReserved7 @0xb86e6369214c01c8 {
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
+2
-22
@@ -1586,10 +1586,6 @@ struct UbloxGnss {
|
||||
svId @0 :UInt8;
|
||||
gnssId @1 :UInt8;
|
||||
flagsBitfield @2 :UInt32;
|
||||
cno @3 :UInt8;
|
||||
elevationDeg @4 :Int8;
|
||||
azimuthDeg @5 :Int16;
|
||||
pseudorangeResidual @6 :Float32;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -2278,21 +2274,6 @@ struct LiveTorqueParametersData {
|
||||
useParams @12 :Bool;
|
||||
}
|
||||
|
||||
struct LiveDelayData {
|
||||
lateralDelay @0 :Float32;
|
||||
validBlocks @1 :Int32;
|
||||
status @2 :Status;
|
||||
|
||||
lateralDelayEstimate @3 :Float32;
|
||||
points @4 :List(Float32);
|
||||
|
||||
enum Status {
|
||||
unestimated @0;
|
||||
estimated @1;
|
||||
invalid @2;
|
||||
}
|
||||
}
|
||||
|
||||
struct LiveMapDataDEPRECATED {
|
||||
speedLimitValid @0 :Bool;
|
||||
speedLimit @1 :Float32;
|
||||
@@ -2523,7 +2504,6 @@ struct Event {
|
||||
gnssMeasurements @91 :GnssMeasurements;
|
||||
liveParameters @61 :LiveParametersData;
|
||||
liveTorqueParameters @94 :LiveTorqueParametersData;
|
||||
liveDelay @146 : LiveDelayData;
|
||||
cameraOdometry @63 :CameraOdometry;
|
||||
thumbnail @66: Thumbnail;
|
||||
onroadEvents @134: List(OnroadEvent);
|
||||
@@ -2599,10 +2579,10 @@ struct Event {
|
||||
selfdriveStateSP @107 :Custom.SelfdriveStateSP;
|
||||
modelManagerSP @108 :Custom.ModelManagerSP;
|
||||
longitudinalPlanSP @109 :Custom.LongitudinalPlanSP;
|
||||
onroadEventsSP @110 :Custom.OnroadEventSP;
|
||||
onroadEventsSP @110 :List(Custom.OnroadEventSP);
|
||||
carParamsSP @111 :Custom.CarParamsSP;
|
||||
carControlSP @112 :Custom.CarControlSP;
|
||||
backupManagerSP @113 :Custom.BackupManagerSP;
|
||||
customReserved6 @113 :Custom.CustomReserved6;
|
||||
customReserved7 @114 :Custom.CustomReserved7;
|
||||
customReserved8 @115 :Custom.CustomReserved8;
|
||||
customReserved9 @116 :Custom.CustomReserved9;
|
||||
|
||||
Executable
BIN
Binary file not shown.
@@ -1,71 +0,0 @@
|
||||
#include <cassert>
|
||||
|
||||
#include "cereal/messaging/msgq_to_zmq.h"
|
||||
#include "cereal/services.h"
|
||||
#include "common/util.h"
|
||||
|
||||
ExitHandler do_exit;
|
||||
|
||||
static std::vector<std::string> get_services(const std::string &whitelist_str, bool zmq_to_msgq) {
|
||||
std::vector<std::string> service_list;
|
||||
for (const auto& it : services) {
|
||||
std::string name = it.second.name;
|
||||
bool in_whitelist = whitelist_str.find(name) != std::string::npos;
|
||||
if (zmq_to_msgq && !in_whitelist) {
|
||||
continue;
|
||||
}
|
||||
service_list.push_back(name);
|
||||
}
|
||||
return service_list;
|
||||
}
|
||||
|
||||
void msgq_to_zmq(const std::vector<std::string> &endpoints, const std::string &ip) {
|
||||
MsgqToZmq bridge;
|
||||
bridge.run(endpoints, ip);
|
||||
}
|
||||
|
||||
void zmq_to_msgq(const std::vector<std::string> &endpoints, const std::string &ip) {
|
||||
auto poller = std::make_unique<ZMQPoller>();
|
||||
auto pub_context = std::make_unique<MSGQContext>();
|
||||
auto sub_context = std::make_unique<ZMQContext>();
|
||||
std::map<SubSocket *, PubSocket *> sub2pub;
|
||||
|
||||
for (auto endpoint : endpoints) {
|
||||
auto pub_sock = new MSGQPubSocket();
|
||||
auto sub_sock = new ZMQSubSocket();
|
||||
pub_sock->connect(pub_context.get(), endpoint);
|
||||
sub_sock->connect(sub_context.get(), endpoint, ip, false);
|
||||
|
||||
poller->registerSocket(sub_sock);
|
||||
sub2pub[sub_sock] = pub_sock;
|
||||
}
|
||||
|
||||
while (!do_exit) {
|
||||
for (auto sub_sock : poller->poll(100)) {
|
||||
std::unique_ptr<Message> msg(sub_sock->receive(true));
|
||||
if (msg) {
|
||||
sub2pub[sub_sock]->sendMessage(msg.get());
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// Clean up allocated sockets
|
||||
for (auto &[sub_sock, pub_sock] : sub2pub) {
|
||||
delete sub_sock;
|
||||
delete pub_sock;
|
||||
}
|
||||
}
|
||||
|
||||
int main(int argc, char **argv) {
|
||||
bool is_zmq_to_msgq = argc > 2;
|
||||
std::string ip = is_zmq_to_msgq ? argv[1] : "127.0.0.1";
|
||||
std::string whitelist_str = is_zmq_to_msgq ? std::string(argv[2]) : "";
|
||||
std::vector<std::string> endpoints = get_services(whitelist_str, is_zmq_to_msgq);
|
||||
|
||||
if (is_zmq_to_msgq) {
|
||||
zmq_to_msgq(endpoints, ip);
|
||||
} else {
|
||||
msgq_to_zmq(endpoints, ip);
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
@@ -1,144 +0,0 @@
|
||||
#include "cereal/messaging/msgq_to_zmq.h"
|
||||
|
||||
#include <cassert>
|
||||
|
||||
#include "common/util.h"
|
||||
|
||||
extern ExitHandler do_exit;
|
||||
|
||||
// Max messages to process per socket per poll
|
||||
constexpr int MAX_MESSAGES_PER_SOCKET = 50;
|
||||
|
||||
static std::string recv_zmq_msg(void *sock) {
|
||||
zmq_msg_t msg;
|
||||
zmq_msg_init(&msg);
|
||||
std::string ret;
|
||||
if (zmq_msg_recv(&msg, sock, 0) > 0) {
|
||||
ret.assign((char *)zmq_msg_data(&msg), zmq_msg_size(&msg));
|
||||
}
|
||||
zmq_msg_close(&msg);
|
||||
return ret;
|
||||
}
|
||||
|
||||
void MsgqToZmq::run(const std::vector<std::string> &endpoints, const std::string &ip) {
|
||||
zmq_context = std::make_unique<ZMQContext>();
|
||||
msgq_context = std::make_unique<MSGQContext>();
|
||||
|
||||
// Create ZMQPubSockets for each endpoint
|
||||
for (const auto &endpoint : endpoints) {
|
||||
auto &socket_pair = socket_pairs.emplace_back();
|
||||
socket_pair.endpoint = endpoint;
|
||||
socket_pair.pub_sock = std::make_unique<ZMQPubSocket>();
|
||||
int ret = socket_pair.pub_sock->connect(zmq_context.get(), endpoint);
|
||||
if (ret != 0) {
|
||||
printf("Failed to create ZMQ publisher for [%s]: %s\n", endpoint.c_str(), zmq_strerror(zmq_errno()));
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
// Start ZMQ monitoring thread to monitor socket events
|
||||
std::thread thread(&MsgqToZmq::zmqMonitorThread, this);
|
||||
|
||||
// Main loop for processing messages
|
||||
while (!do_exit) {
|
||||
{
|
||||
std::unique_lock lk(mutex);
|
||||
cv.wait(lk, [this]() { return do_exit || !sub2pub.empty(); });
|
||||
if (do_exit) break;
|
||||
|
||||
for (auto sub_sock : msgq_poller->poll(100)) {
|
||||
// Process messages for each socket
|
||||
ZMQPubSocket *pub_sock = sub2pub.at(sub_sock);
|
||||
for (int i = 0; i < MAX_MESSAGES_PER_SOCKET; ++i) {
|
||||
auto msg = std::unique_ptr<Message>(sub_sock->receive(true));
|
||||
if (!msg) break;
|
||||
|
||||
while (pub_sock->sendMessage(msg.get()) == -1) {
|
||||
if (errno != EINTR) break;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
util::sleep_for(1); // Give zmqMonitorThread a chance to acquire the mutex
|
||||
}
|
||||
|
||||
thread.join();
|
||||
}
|
||||
|
||||
void MsgqToZmq::zmqMonitorThread() {
|
||||
std::vector<zmq_pollitem_t> pollitems;
|
||||
|
||||
// Set up ZMQ monitor for each pub socket
|
||||
for (int i = 0; i < socket_pairs.size(); ++i) {
|
||||
std::string addr = "inproc://op-bridge-monitor-" + std::to_string(i);
|
||||
zmq_socket_monitor(socket_pairs[i].pub_sock->sock, addr.c_str(), ZMQ_EVENT_ACCEPTED | ZMQ_EVENT_DISCONNECTED);
|
||||
|
||||
void *monitor_socket = zmq_socket(zmq_context->getRawContext(), ZMQ_PAIR);
|
||||
zmq_connect(monitor_socket, addr.c_str());
|
||||
pollitems.emplace_back(zmq_pollitem_t{.socket = monitor_socket, .events = ZMQ_POLLIN});
|
||||
}
|
||||
|
||||
while (!do_exit) {
|
||||
int ret = zmq_poll(pollitems.data(), pollitems.size(), 1000);
|
||||
if (ret < 0) {
|
||||
if (errno == EINTR) {
|
||||
// Due to frequent EINTR signals from msgq, introduce a brief delay (200 ms)
|
||||
// to reduce CPU usage during retry attempts.
|
||||
util::sleep_for(200);
|
||||
}
|
||||
continue;
|
||||
}
|
||||
|
||||
for (int i = 0; i < pollitems.size(); ++i) {
|
||||
if (pollitems[i].revents & ZMQ_POLLIN) {
|
||||
// First frame in message contains event number and value
|
||||
std::string frame = recv_zmq_msg(pollitems[i].socket);
|
||||
if (frame.empty()) continue;
|
||||
|
||||
uint16_t event_type = *(uint16_t *)(frame.data());
|
||||
|
||||
// Second frame in message contains event address
|
||||
frame = recv_zmq_msg(pollitems[i].socket);
|
||||
if (frame.empty()) continue;
|
||||
|
||||
std::unique_lock lk(mutex);
|
||||
auto &pair = socket_pairs[i];
|
||||
if (event_type & ZMQ_EVENT_ACCEPTED) {
|
||||
printf("socket [%s] connected\n", pair.endpoint.c_str());
|
||||
if (++pair.connected_clients == 1) {
|
||||
// Create new MSGQ subscriber socket and map to ZMQ publisher
|
||||
pair.sub_sock = std::make_unique<MSGQSubSocket>();
|
||||
pair.sub_sock->connect(msgq_context.get(), pair.endpoint, "127.0.0.1");
|
||||
sub2pub[pair.sub_sock.get()] = pair.pub_sock.get();
|
||||
registerSockets();
|
||||
}
|
||||
} else if (event_type & ZMQ_EVENT_DISCONNECTED) {
|
||||
printf("socket [%s] disconnected\n", pair.endpoint.c_str());
|
||||
if (pair.connected_clients == 0 || --pair.connected_clients == 0) {
|
||||
// Remove MSGQ subscriber socket from mapping and reset it
|
||||
sub2pub.erase(pair.sub_sock.get());
|
||||
pair.sub_sock.reset(nullptr);
|
||||
registerSockets();
|
||||
}
|
||||
}
|
||||
cv.notify_one();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// Clean up monitor sockets
|
||||
for (int i = 0; i < pollitems.size(); ++i) {
|
||||
zmq_socket_monitor(socket_pairs[i].pub_sock->sock, nullptr, 0);
|
||||
zmq_close(pollitems[i].socket);
|
||||
}
|
||||
cv.notify_one();
|
||||
}
|
||||
|
||||
void MsgqToZmq::registerSockets() {
|
||||
msgq_poller = std::make_unique<MSGQPoller>();
|
||||
for (const auto &socket_pair : socket_pairs) {
|
||||
if (socket_pair.sub_sock) {
|
||||
msgq_poller->registerSocket(socket_pair.sub_sock.get());
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -1,203 +0,0 @@
|
||||
#include <assert.h>
|
||||
#include <stdlib.h>
|
||||
#include <string>
|
||||
#include <mutex>
|
||||
|
||||
#include "cereal/services.h"
|
||||
#include "cereal/messaging/messaging.h"
|
||||
|
||||
const bool SIMULATION = (getenv("SIMULATION") != nullptr) && (std::string(getenv("SIMULATION")) == "1");
|
||||
|
||||
static inline bool inList(const std::vector<const char *> &list, const char *value) {
|
||||
for (auto &v : list) {
|
||||
if (strcmp(value, v) == 0) return true;
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
class MessageContext {
|
||||
public:
|
||||
MessageContext() : ctx_(nullptr) {}
|
||||
~MessageContext() { delete ctx_; }
|
||||
inline Context *context() {
|
||||
std::call_once(init_flag, [=]() { ctx_ = Context::create(); });
|
||||
return ctx_;
|
||||
}
|
||||
private:
|
||||
Context *ctx_;
|
||||
std::once_flag init_flag;
|
||||
};
|
||||
|
||||
MessageContext message_context;
|
||||
|
||||
struct SubMaster::SubMessage {
|
||||
std::string name;
|
||||
SubSocket *socket = nullptr;
|
||||
int freq = 0;
|
||||
bool updated = false, alive = false, valid = false, ignore_alive;
|
||||
uint64_t rcv_time = 0, rcv_frame = 0;
|
||||
void *allocated_msg_reader = nullptr;
|
||||
bool is_polled = false;
|
||||
capnp::FlatArrayMessageReader *msg_reader = nullptr;
|
||||
AlignedBuffer aligned_buf;
|
||||
cereal::Event::Reader event;
|
||||
};
|
||||
|
||||
SubMaster::SubMaster(const std::vector<const char *> &service_list, const std::vector<const char *> &poll,
|
||||
const char *address, const std::vector<const char *> &ignore_alive) {
|
||||
poller_ = Poller::create();
|
||||
for (auto name : service_list) {
|
||||
assert(services.count(std::string(name)) > 0);
|
||||
|
||||
service serv = services.at(std::string(name));
|
||||
SubSocket *socket = SubSocket::create(message_context.context(), name, address ? address : "127.0.0.1", true);
|
||||
assert(socket != 0);
|
||||
bool is_polled = inList(poll, name) || poll.empty();
|
||||
if (is_polled) poller_->registerSocket(socket);
|
||||
SubMessage *m = new SubMessage{
|
||||
.name = name,
|
||||
.socket = socket,
|
||||
.freq = serv.frequency,
|
||||
.ignore_alive = inList(ignore_alive, name),
|
||||
.allocated_msg_reader = malloc(sizeof(capnp::FlatArrayMessageReader)),
|
||||
.is_polled = is_polled};
|
||||
m->msg_reader = new (m->allocated_msg_reader) capnp::FlatArrayMessageReader({});
|
||||
messages_[socket] = m;
|
||||
services_[name] = m;
|
||||
}
|
||||
}
|
||||
|
||||
void SubMaster::update(int timeout) {
|
||||
for (auto &kv : messages_) kv.second->updated = false;
|
||||
|
||||
auto sockets = poller_->poll(timeout);
|
||||
|
||||
// add non-polled sockets for non-blocking receive
|
||||
for (auto &kv : messages_) {
|
||||
SubMessage *m = kv.second;
|
||||
SubSocket *s = kv.first;
|
||||
if (!m->is_polled) sockets.push_back(s);
|
||||
}
|
||||
|
||||
uint64_t current_time = nanos_since_boot();
|
||||
|
||||
std::vector<std::pair<std::string, cereal::Event::Reader>> messages;
|
||||
|
||||
for (auto s : sockets) {
|
||||
Message *msg = s->receive(true);
|
||||
if (msg == nullptr) continue;
|
||||
|
||||
SubMessage *m = messages_.at(s);
|
||||
|
||||
m->msg_reader->~FlatArrayMessageReader();
|
||||
capnp::ReaderOptions options;
|
||||
options.traversalLimitInWords = kj::maxValue; // Don't limit
|
||||
m->msg_reader = new (m->allocated_msg_reader) capnp::FlatArrayMessageReader(m->aligned_buf.align(msg), options);
|
||||
delete msg;
|
||||
messages.push_back({m->name, m->msg_reader->getRoot<cereal::Event>()});
|
||||
}
|
||||
|
||||
update_msgs(current_time, messages);
|
||||
}
|
||||
|
||||
void SubMaster::update_msgs(uint64_t current_time, const std::vector<std::pair<std::string, cereal::Event::Reader>> &messages){
|
||||
if (++frame == UINT64_MAX) frame = 1;
|
||||
|
||||
for (auto &kv : messages) {
|
||||
auto m_find = services_.find(kv.first);
|
||||
if (m_find == services_.end()){
|
||||
continue;
|
||||
}
|
||||
SubMessage *m = m_find->second;
|
||||
m->event = kv.second;
|
||||
m->updated = true;
|
||||
m->rcv_time = current_time;
|
||||
m->rcv_frame = frame;
|
||||
m->valid = m->event.getValid();
|
||||
if (SIMULATION) m->alive = true;
|
||||
}
|
||||
|
||||
if (!SIMULATION) {
|
||||
for (auto &kv : messages_) {
|
||||
SubMessage *m = kv.second;
|
||||
m->alive = (m->freq <= (1e-5) || ((current_time - m->rcv_time) * (1e-9)) < (10.0 / m->freq));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
bool SubMaster::all_(const std::vector<const char *> &service_list, bool valid, bool alive) {
|
||||
int found = 0;
|
||||
for (auto &kv : messages_) {
|
||||
SubMessage *m = kv.second;
|
||||
if (service_list.size() == 0 || inList(service_list, m->name.c_str())) {
|
||||
found += (!valid || m->valid) && (!alive || (m->alive || m->ignore_alive));
|
||||
}
|
||||
}
|
||||
return service_list.size() == 0 ? found == messages_.size() : found == service_list.size();
|
||||
}
|
||||
|
||||
void SubMaster::drain() {
|
||||
while (true) {
|
||||
auto polls = poller_->poll(0);
|
||||
if (polls.size() == 0)
|
||||
break;
|
||||
|
||||
for (auto sock : polls) {
|
||||
Message *msg = sock->receive(true);
|
||||
delete msg;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
bool SubMaster::updated(const char *name) const {
|
||||
return services_.at(name)->updated;
|
||||
}
|
||||
|
||||
bool SubMaster::alive(const char *name) const {
|
||||
return services_.at(name)->alive;
|
||||
}
|
||||
|
||||
bool SubMaster::valid(const char *name) const {
|
||||
return services_.at(name)->valid;
|
||||
}
|
||||
|
||||
uint64_t SubMaster::rcv_frame(const char *name) const {
|
||||
return services_.at(name)->rcv_frame;
|
||||
}
|
||||
|
||||
uint64_t SubMaster::rcv_time(const char *name) const {
|
||||
return services_.at(name)->rcv_time;
|
||||
}
|
||||
|
||||
cereal::Event::Reader &SubMaster::operator[](const char *name) const {
|
||||
return services_.at(name)->event;
|
||||
}
|
||||
|
||||
SubMaster::~SubMaster() {
|
||||
delete poller_;
|
||||
for (auto &kv : messages_) {
|
||||
SubMessage *m = kv.second;
|
||||
m->msg_reader->~FlatArrayMessageReader();
|
||||
free(m->allocated_msg_reader);
|
||||
delete m->socket;
|
||||
delete m;
|
||||
}
|
||||
}
|
||||
|
||||
PubMaster::PubMaster(const std::vector<const char *> &service_list) {
|
||||
for (auto name : service_list) {
|
||||
assert(services.count(name) > 0);
|
||||
PubSocket *socket = PubSocket::create(message_context.context(), name);
|
||||
assert(socket);
|
||||
sockets_[name] = socket;
|
||||
}
|
||||
}
|
||||
|
||||
int PubMaster::send(const char *name, MessageBuilder &msg) {
|
||||
auto bytes = msg.toBytes();
|
||||
return send(name, bytes.begin(), bytes.size());
|
||||
}
|
||||
|
||||
PubMaster::~PubMaster() {
|
||||
for (auto s : sockets_) delete s.second;
|
||||
}
|
||||
@@ -1,222 +0,0 @@
|
||||
#!/usr/bin/env python3
|
||||
import argparse
|
||||
import sys
|
||||
from typing import Any, List, Tuple
|
||||
|
||||
DEBUG = False
|
||||
|
||||
|
||||
def print_debug(string: str) -> None:
|
||||
if DEBUG:
|
||||
print(string)
|
||||
|
||||
|
||||
def create_schema_instance(struct: Any, prop: Tuple[str, Any]) -> Any:
|
||||
"""
|
||||
Create a new instance of a schema type, handling different field types.
|
||||
|
||||
Args:
|
||||
struct: The Cap'n Proto schema structure
|
||||
prop: A tuple containing the field name and field metadata
|
||||
|
||||
Returns:
|
||||
A new initialized schema instance
|
||||
"""
|
||||
struct_instance = struct.new_message()
|
||||
field_name, field_metadata = prop
|
||||
|
||||
try:
|
||||
field_type = field_metadata.proto.slot.type.which()
|
||||
|
||||
# Initialize different types of fields
|
||||
if field_type in ('list', 'text', 'data'):
|
||||
struct_instance.init(field_name, 1)
|
||||
print_debug(f"Initialized list/text/data field: {field_name}")
|
||||
elif field_type in ('struct', 'object'):
|
||||
struct_instance.init(field_name)
|
||||
print_debug(f"Initialized struct/object field: {field_name}")
|
||||
|
||||
return struct_instance
|
||||
|
||||
except Exception as e:
|
||||
print(f"Error creating instance for {field_name}: {e}")
|
||||
return None
|
||||
|
||||
|
||||
def get_schema_fields(schema_struct: Any) -> List[Tuple[str, Any]]:
|
||||
"""
|
||||
Retrieve all fields from a given schema structure.
|
||||
|
||||
Args:
|
||||
schema_struct: The Cap'n Proto schema structure
|
||||
|
||||
Returns:
|
||||
A list of field names and their metadata
|
||||
"""
|
||||
try:
|
||||
# Get all fields from the schema
|
||||
schema_fields = list(schema_struct.schema.fields.items())
|
||||
|
||||
print_debug("Discovered schema fields:")
|
||||
for field_name, field_metadata in schema_fields:
|
||||
print_debug(f"- {field_name}")
|
||||
|
||||
return schema_fields
|
||||
|
||||
except Exception as e:
|
||||
print(f"Error retrieving schema fields: {e}")
|
||||
return []
|
||||
|
||||
|
||||
def generate_schema_instances(schema_struct: Any) -> List[Any]:
|
||||
"""
|
||||
Generate instances for all fields in a given schema.
|
||||
|
||||
Args:
|
||||
schema_struct: The Cap'n Proto schema structure
|
||||
|
||||
Returns:
|
||||
A list of schema instances
|
||||
"""
|
||||
schema_fields = get_schema_fields(schema_struct)
|
||||
instances = []
|
||||
|
||||
for field_prop in schema_fields:
|
||||
try:
|
||||
instance = create_schema_instance(schema_struct, field_prop)
|
||||
if instance is not None:
|
||||
instances.append(instance)
|
||||
except Exception as e:
|
||||
print(f"Skipping field due to error: {e}")
|
||||
|
||||
print(f"Generated {len(instances)} schema instances")
|
||||
return instances
|
||||
|
||||
|
||||
def persist_instances(instances: List[Any], filename: str) -> None:
|
||||
"""
|
||||
Write schema instances to a binary file.
|
||||
|
||||
Args:
|
||||
instances: List of schema instances
|
||||
filename: Output file path
|
||||
"""
|
||||
try:
|
||||
with open(filename, 'wb') as f:
|
||||
for instance in instances:
|
||||
f.write(instance.to_bytes())
|
||||
|
||||
print(f"Successfully wrote {len(instances)} instances to {filename}")
|
||||
|
||||
except Exception as e:
|
||||
print(f"Error persisting instances: {e}")
|
||||
sys.exit(1)
|
||||
|
||||
|
||||
def read_instances(filename: str, schema_type: Any) -> List[Any]:
|
||||
"""
|
||||
Read schema instances from a binary file.
|
||||
|
||||
Args:
|
||||
filename: Input file path
|
||||
schema_type: The schema type to use for reading
|
||||
|
||||
Returns:
|
||||
A list of read schema instances
|
||||
"""
|
||||
try:
|
||||
with open(filename, 'rb') as f:
|
||||
data = f.read()
|
||||
|
||||
instances = list(schema_type.read_multiple_bytes(data))
|
||||
|
||||
print(f"Read {len(instances)} instances from {filename}")
|
||||
return instances
|
||||
|
||||
except Exception as e:
|
||||
print(f"Error reading instances: {e}")
|
||||
sys.exit(1)
|
||||
|
||||
|
||||
def compare_schemas(original_instances: List[Any], read_instances: List[Any]) -> bool:
|
||||
"""
|
||||
Compare original and read-back instances to detect potential breaking changes.
|
||||
|
||||
Args:
|
||||
original_instances: List of originally generated instances
|
||||
read_instances: List of instances read back from file
|
||||
|
||||
Returns:
|
||||
Boolean indicating whether schemas appear compatible
|
||||
"""
|
||||
if len(original_instances) != len(read_instances):
|
||||
print("❌ Schema Compatibility Warning: Instance count mismatch")
|
||||
return False
|
||||
|
||||
compatible = True
|
||||
for struct in read_instances:
|
||||
try:
|
||||
getattr(struct, struct.which()) # Attempting to access the field to validate readability
|
||||
except Exception as e:
|
||||
print(f"❌ Structural change detected: {struct.which()} is not readable.\nFull error: {e}")
|
||||
compatible = False
|
||||
|
||||
return compatible
|
||||
|
||||
|
||||
def main():
|
||||
"""
|
||||
CLI entry point for schema compatibility testing.
|
||||
"""
|
||||
# Setup argument parser
|
||||
parser = argparse.ArgumentParser(
|
||||
description='Cap\'n Proto Schema Compatibility Testing Tool',
|
||||
epilog='Test schema compatibility by generating and reading back instances.'
|
||||
)
|
||||
|
||||
# Add mutually exclusive group for generation or reading mode
|
||||
mode_group = parser.add_mutually_exclusive_group(required=True)
|
||||
mode_group.add_argument('-g', '--generate', action='store_true',
|
||||
help='Generate schema instances')
|
||||
mode_group.add_argument('-r', '--read', action='store_true',
|
||||
help='Read and validate schema instances')
|
||||
|
||||
# Common arguments
|
||||
parser.add_argument('-f', '--file',
|
||||
default='schema_instances.bin',
|
||||
help='Output/input binary file (default: schema_instances.bin)')
|
||||
|
||||
# Parse arguments
|
||||
args = parser.parse_args()
|
||||
|
||||
# Import the schema dynamically
|
||||
try:
|
||||
from cereal import log
|
||||
schema_type = log.Event
|
||||
except ImportError:
|
||||
print("Error: Unable to import schema. Ensure 'cereal' is installed.")
|
||||
sys.exit(1)
|
||||
|
||||
# Execute based on mode
|
||||
if args.generate:
|
||||
print("🔧 Generating Schema Instances")
|
||||
instances = generate_schema_instances(schema_type)
|
||||
persist_instances(instances, args.file)
|
||||
print("✅ Instance generation complete")
|
||||
|
||||
elif args.read:
|
||||
print("🔍 Reading and Validating Schema Instances")
|
||||
generated_instances = generate_schema_instances(schema_type)
|
||||
read_back_instances = read_instances(args.file, schema_type)
|
||||
|
||||
# Compare schemas
|
||||
if compare_schemas(generated_instances, read_back_instances):
|
||||
print("✅ Schema Compatibility: No breaking changes detected")
|
||||
sys.exit(0)
|
||||
else:
|
||||
print("❌ Potential Schema Breaking Changes Detected")
|
||||
sys.exit(1)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
@@ -0,0 +1,93 @@
|
||||
/* THIS IS AN AUTOGENERATED FILE, PLEASE EDIT services.py */
|
||||
#ifndef __SERVICES_H
|
||||
#define __SERVICES_H
|
||||
#include <map>
|
||||
#include <string>
|
||||
struct service { std::string name; bool should_log; int frequency; int decimation; };
|
||||
static std::map<std::string, service> services = {
|
||||
{ "gyroscope", {"gyroscope", true, 104, 104}},
|
||||
{ "gyroscope2", {"gyroscope2", true, 100, 100}},
|
||||
{ "accelerometer", {"accelerometer", true, 104, 104}},
|
||||
{ "accelerometer2", {"accelerometer2", true, 100, 100}},
|
||||
{ "magnetometer", {"magnetometer", true, 25, -1}},
|
||||
{ "lightSensor", {"lightSensor", true, 100, 100}},
|
||||
{ "temperatureSensor", {"temperatureSensor", true, 2, 200}},
|
||||
{ "temperatureSensor2", {"temperatureSensor2", true, 2, 200}},
|
||||
{ "gpsNMEA", {"gpsNMEA", true, 9, -1}},
|
||||
{ "deviceState", {"deviceState", true, 2, 1}},
|
||||
{ "touch", {"touch", true, 20, 1}},
|
||||
{ "can", {"can", true, 100, 2053}},
|
||||
{ "controlsState", {"controlsState", true, 100, 10}},
|
||||
{ "selfdriveState", {"selfdriveState", true, 100, 10}},
|
||||
{ "pandaStates", {"pandaStates", true, 10, 1}},
|
||||
{ "peripheralState", {"peripheralState", true, 2, 1}},
|
||||
{ "radarState", {"radarState", true, 20, 5}},
|
||||
{ "roadEncodeIdx", {"roadEncodeIdx", false, 20, 1}},
|
||||
{ "liveTracks", {"liveTracks", true, 20, -1}},
|
||||
{ "sendcan", {"sendcan", true, 100, 139}},
|
||||
{ "logMessage", {"logMessage", true, 0, -1}},
|
||||
{ "errorLogMessage", {"errorLogMessage", true, 0, 1}},
|
||||
{ "liveCalibration", {"liveCalibration", true, 4, 4}},
|
||||
{ "liveTorqueParameters", {"liveTorqueParameters", true, 4, 1}},
|
||||
{ "androidLog", {"androidLog", true, 0, -1}},
|
||||
{ "carState", {"carState", true, 100, 10}},
|
||||
{ "carControl", {"carControl", true, 100, 10}},
|
||||
{ "carOutput", {"carOutput", true, 100, 10}},
|
||||
{ "longitudinalPlan", {"longitudinalPlan", true, 20, 10}},
|
||||
{ "driverAssistance", {"driverAssistance", true, 20, 20}},
|
||||
{ "procLog", {"procLog", true, 0, 15}},
|
||||
{ "gpsLocationExternal", {"gpsLocationExternal", true, 10, 10}},
|
||||
{ "gpsLocation", {"gpsLocation", true, 1, 1}},
|
||||
{ "ubloxGnss", {"ubloxGnss", true, 10, -1}},
|
||||
{ "qcomGnss", {"qcomGnss", true, 2, -1}},
|
||||
{ "gnssMeasurements", {"gnssMeasurements", true, 10, 10}},
|
||||
{ "clocks", {"clocks", true, 0, 1}},
|
||||
{ "ubloxRaw", {"ubloxRaw", true, 20, -1}},
|
||||
{ "livePose", {"livePose", true, 20, 4}},
|
||||
{ "liveParameters", {"liveParameters", true, 20, 5}},
|
||||
{ "cameraOdometry", {"cameraOdometry", true, 20, 10}},
|
||||
{ "thumbnail", {"thumbnail", true, 0, 1}},
|
||||
{ "onroadEvents", {"onroadEvents", true, 1, 1}},
|
||||
{ "carParams", {"carParams", true, 0, 1}},
|
||||
{ "roadCameraState", {"roadCameraState", true, 20, 20}},
|
||||
{ "driverCameraState", {"driverCameraState", true, 20, 20}},
|
||||
{ "driverEncodeIdx", {"driverEncodeIdx", false, 20, 1}},
|
||||
{ "driverStateV2", {"driverStateV2", true, 20, 10}},
|
||||
{ "driverMonitoringState", {"driverMonitoringState", true, 20, 10}},
|
||||
{ "wideRoadEncodeIdx", {"wideRoadEncodeIdx", false, 20, 1}},
|
||||
{ "wideRoadCameraState", {"wideRoadCameraState", true, 20, 20}},
|
||||
{ "drivingModelData", {"drivingModelData", true, 20, 10}},
|
||||
{ "modelV2", {"modelV2", true, 20, -1}},
|
||||
{ "managerState", {"managerState", true, 2, 1}},
|
||||
{ "uploaderState", {"uploaderState", true, 0, 1}},
|
||||
{ "navInstruction", {"navInstruction", true, 1, 10}},
|
||||
{ "navRoute", {"navRoute", true, 0, -1}},
|
||||
{ "navThumbnail", {"navThumbnail", true, 0, -1}},
|
||||
{ "qRoadEncodeIdx", {"qRoadEncodeIdx", false, 20, -1}},
|
||||
{ "userFlag", {"userFlag", true, 0, 1}},
|
||||
{ "microphone", {"microphone", true, 10, 10}},
|
||||
{ "modelManagerSP", {"modelManagerSP", false, 1, 1}},
|
||||
{ "selfdriveStateSP", {"selfdriveStateSP", true, 100, 10}},
|
||||
{ "longitudinalPlanSP", {"longitudinalPlanSP", true, 20, 10}},
|
||||
{ "onroadEventsSP", {"onroadEventsSP", true, 1, 1}},
|
||||
{ "carParamsSP", {"carParamsSP", true, 0, 1}},
|
||||
{ "carControlSP", {"carControlSP", true, 100, 10}},
|
||||
{ "uiDebug", {"uiDebug", true, 0, 1}},
|
||||
{ "testJoystick", {"testJoystick", true, 0, -1}},
|
||||
{ "alertDebug", {"alertDebug", true, 20, 5}},
|
||||
{ "roadEncodeData", {"roadEncodeData", false, 20, -1}},
|
||||
{ "driverEncodeData", {"driverEncodeData", false, 20, -1}},
|
||||
{ "wideRoadEncodeData", {"wideRoadEncodeData", false, 20, -1}},
|
||||
{ "qRoadEncodeData", {"qRoadEncodeData", false, 20, -1}},
|
||||
{ "livestreamWideRoadEncodeIdx", {"livestreamWideRoadEncodeIdx", false, 20, -1}},
|
||||
{ "livestreamRoadEncodeIdx", {"livestreamRoadEncodeIdx", false, 20, -1}},
|
||||
{ "livestreamDriverEncodeIdx", {"livestreamDriverEncodeIdx", false, 20, -1}},
|
||||
{ "livestreamWideRoadEncodeData", {"livestreamWideRoadEncodeData", false, 20, -1}},
|
||||
{ "livestreamRoadEncodeData", {"livestreamRoadEncodeData", false, 20, -1}},
|
||||
{ "livestreamDriverEncodeData", {"livestreamDriverEncodeData", false, 20, -1}},
|
||||
{ "customReservedRawData0", {"customReservedRawData0", true, 0, -1}},
|
||||
{ "customReservedRawData1", {"customReservedRawData1", true, 0, -1}},
|
||||
{ "customReservedRawData2", {"customReservedRawData2", true, 0, -1}},
|
||||
};
|
||||
#endif
|
||||
|
||||
@@ -76,7 +76,6 @@ _services: dict[str, tuple] = {
|
||||
|
||||
# sunnypilot
|
||||
"modelManagerSP": (False, 1., 1),
|
||||
"backupManagerSP": (False, 1., 1),
|
||||
"selfdriveStateSP": (True, 100., 10),
|
||||
"longitudinalPlanSP": (True, 20., 10),
|
||||
"onroadEventsSP": (True, 1., 1),
|
||||
|
||||
@@ -1,39 +0,0 @@
|
||||
Import('env', 'envCython', 'arch')
|
||||
|
||||
common_libs = [
|
||||
'params.cc',
|
||||
'swaglog.cc',
|
||||
'util.cc',
|
||||
'i2c.cc',
|
||||
'watchdog.cc',
|
||||
'ratekeeper.cc'
|
||||
]
|
||||
|
||||
if arch != "Darwin":
|
||||
common_libs.append('gpio.cc')
|
||||
|
||||
_common = env.Library('common', common_libs, LIBS="json11")
|
||||
|
||||
files = [
|
||||
'clutil.cc',
|
||||
]
|
||||
|
||||
_gpucommon = env.Library('gpucommon', files)
|
||||
Export('_common', '_gpucommon')
|
||||
|
||||
if GetOption('extras'):
|
||||
env.Program('tests/test_common',
|
||||
['tests/test_runner.cc', 'tests/test_params.cc', 'tests/test_util.cc', 'tests/test_swaglog.cc'],
|
||||
LIBS=[_common, 'json11', 'zmq', 'pthread'])
|
||||
|
||||
# Cython bindings
|
||||
params_python = envCython.Program('params_pyx.so', 'params_pyx.pyx', LIBS=envCython['LIBS'] + [_common, 'zmq', 'json11'])
|
||||
|
||||
SConscript([
|
||||
'transformations/SConscript',
|
||||
])
|
||||
|
||||
Import('transformations_python')
|
||||
common_python = [params_python, transformations_python]
|
||||
|
||||
Export('common_python')
|
||||
+2
-2
@@ -45,7 +45,7 @@ class BaseApi:
|
||||
ascii_encoded_text = normalized_text.encode('ascii', 'ignore')
|
||||
return ascii_encoded_text.decode()
|
||||
|
||||
def api_get(self, endpoint, method='GET', timeout=None, access_token=None, json=None, **params):
|
||||
def api_get(self, endpoint, method='GET', timeout=None, access_token=None, **params):
|
||||
headers = {}
|
||||
if access_token is not None:
|
||||
headers['Authorization'] = "JWT " + access_token
|
||||
@@ -53,4 +53,4 @@ class BaseApi:
|
||||
version = self.remove_non_ascii_chars(get_version())
|
||||
headers['User-Agent'] = self.user_agent + version
|
||||
|
||||
return requests.request(method, f"{self.api_host}/{endpoint}", timeout=timeout, headers=headers, json=json, params=params)
|
||||
return requests.request(method, f"{self.api_host}/{endpoint}", timeout=timeout, headers=headers, params=params)
|
||||
|
||||
@@ -1,98 +0,0 @@
|
||||
#include "common/clutil.h"
|
||||
|
||||
#include <cassert>
|
||||
#include <iostream>
|
||||
#include <memory>
|
||||
|
||||
#include "common/util.h"
|
||||
#include "common/swaglog.h"
|
||||
|
||||
namespace { // helper functions
|
||||
|
||||
template <typename Func, typename Id, typename Name>
|
||||
std::string get_info(Func get_info_func, Id id, Name param_name) {
|
||||
size_t size = 0;
|
||||
CL_CHECK(get_info_func(id, param_name, 0, NULL, &size));
|
||||
std::string info(size, '\0');
|
||||
CL_CHECK(get_info_func(id, param_name, size, info.data(), NULL));
|
||||
return info;
|
||||
}
|
||||
inline std::string get_platform_info(cl_platform_id id, cl_platform_info name) { return get_info(&clGetPlatformInfo, id, name); }
|
||||
inline std::string get_device_info(cl_device_id id, cl_device_info name) { return get_info(&clGetDeviceInfo, id, name); }
|
||||
|
||||
void cl_print_info(cl_platform_id platform, cl_device_id device) {
|
||||
size_t work_group_size = 0;
|
||||
cl_device_type device_type = 0;
|
||||
clGetDeviceInfo(device, CL_DEVICE_MAX_WORK_GROUP_SIZE, sizeof(work_group_size), &work_group_size, NULL);
|
||||
clGetDeviceInfo(device, CL_DEVICE_TYPE, sizeof(device_type), &device_type, NULL);
|
||||
const char *type_str = "Other...";
|
||||
switch (device_type) {
|
||||
case CL_DEVICE_TYPE_CPU: type_str ="CL_DEVICE_TYPE_CPU"; break;
|
||||
case CL_DEVICE_TYPE_GPU: type_str = "CL_DEVICE_TYPE_GPU"; break;
|
||||
case CL_DEVICE_TYPE_ACCELERATOR: type_str = "CL_DEVICE_TYPE_ACCELERATOR"; break;
|
||||
}
|
||||
|
||||
LOGD("vendor: %s", get_platform_info(platform, CL_PLATFORM_VENDOR).c_str());
|
||||
LOGD("platform version: %s", get_platform_info(platform, CL_PLATFORM_VERSION).c_str());
|
||||
LOGD("profile: %s", get_platform_info(platform, CL_PLATFORM_PROFILE).c_str());
|
||||
LOGD("extensions: %s", get_platform_info(platform, CL_PLATFORM_EXTENSIONS).c_str());
|
||||
LOGD("name: %s", get_device_info(device, CL_DEVICE_NAME).c_str());
|
||||
LOGD("device version: %s", get_device_info(device, CL_DEVICE_VERSION).c_str());
|
||||
LOGD("max work group size: %zu", work_group_size);
|
||||
LOGD("type = %d, %s", (int)device_type, type_str);
|
||||
}
|
||||
|
||||
void cl_print_build_errors(cl_program program, cl_device_id device) {
|
||||
cl_build_status status;
|
||||
clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_STATUS, sizeof(status), &status, NULL);
|
||||
size_t log_size;
|
||||
clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_LOG, 0, NULL, &log_size);
|
||||
std::string log(log_size, '\0');
|
||||
clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_LOG, log_size, &log[0], NULL);
|
||||
|
||||
LOGE("build failed; status=%d, log: %s", status, log.c_str());
|
||||
}
|
||||
|
||||
} // namespace
|
||||
|
||||
cl_device_id cl_get_device_id(cl_device_type device_type) {
|
||||
cl_uint num_platforms = 0;
|
||||
CL_CHECK(clGetPlatformIDs(0, NULL, &num_platforms));
|
||||
std::unique_ptr<cl_platform_id[]> platform_ids = std::make_unique<cl_platform_id[]>(num_platforms);
|
||||
CL_CHECK(clGetPlatformIDs(num_platforms, &platform_ids[0], NULL));
|
||||
|
||||
for (size_t i = 0; i < num_platforms; ++i) {
|
||||
LOGD("platform[%zu] CL_PLATFORM_NAME: %s", i, get_platform_info(platform_ids[i], CL_PLATFORM_NAME).c_str());
|
||||
|
||||
// Get first device
|
||||
if (cl_device_id device_id = NULL; clGetDeviceIDs(platform_ids[i], device_type, 1, &device_id, NULL) == 0 && device_id) {
|
||||
cl_print_info(platform_ids[i], device_id);
|
||||
return device_id;
|
||||
}
|
||||
}
|
||||
LOGE("No valid openCL platform found");
|
||||
assert(0);
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
cl_context cl_create_context(cl_device_id device_id) {
|
||||
return CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
|
||||
}
|
||||
|
||||
void cl_release_context(cl_context context) {
|
||||
clReleaseContext(context);
|
||||
}
|
||||
|
||||
cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args) {
|
||||
return cl_program_from_source(ctx, device_id, util::read_file(path), args);
|
||||
}
|
||||
|
||||
cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args) {
|
||||
const char *csrc = src.c_str();
|
||||
cl_program prg = CL_CHECK_ERR(clCreateProgramWithSource(ctx, 1, &csrc, NULL, &err));
|
||||
if (int err = clBuildProgram(prg, 1, &device_id, args, NULL, NULL); err != 0) {
|
||||
cl_print_build_errors(prg, device_id);
|
||||
assert(0);
|
||||
}
|
||||
return prg;
|
||||
}
|
||||
@@ -1,84 +0,0 @@
|
||||
#include "common/gpio.h"
|
||||
|
||||
#include <string>
|
||||
|
||||
#ifdef __APPLE__
|
||||
int gpio_init(int pin_nr, bool output) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
int gpio_set(int pin_nr, bool high) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
int gpiochip_get_ro_value_fd(const char* consumer_label, int gpiochiop_id, int pin_nr) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
#else
|
||||
|
||||
#include <fcntl.h>
|
||||
#include <unistd.h>
|
||||
|
||||
#include <cstring>
|
||||
#include <linux/gpio.h>
|
||||
#include <sys/ioctl.h>
|
||||
|
||||
#include "common/util.h"
|
||||
#include "common/swaglog.h"
|
||||
|
||||
int gpio_init(int pin_nr, bool output) {
|
||||
char pin_dir_path[50];
|
||||
int pin_dir_path_len = snprintf(pin_dir_path, sizeof(pin_dir_path),
|
||||
"/sys/class/gpio/gpio%d/direction", pin_nr);
|
||||
if (pin_dir_path_len <= 0) {
|
||||
return -1;
|
||||
}
|
||||
const char *value = output ? "out" : "in";
|
||||
return util::write_file(pin_dir_path, (void*)value, strlen(value));
|
||||
}
|
||||
|
||||
int gpio_set(int pin_nr, bool high) {
|
||||
char pin_val_path[50];
|
||||
int pin_val_path_len = snprintf(pin_val_path, sizeof(pin_val_path),
|
||||
"/sys/class/gpio/gpio%d/value", pin_nr);
|
||||
if (pin_val_path_len <= 0) {
|
||||
return -1;
|
||||
}
|
||||
return util::write_file(pin_val_path, (void*)(high ? "1" : "0"), 1);
|
||||
}
|
||||
|
||||
int gpiochip_get_ro_value_fd(const char* consumer_label, int gpiochiop_id, int pin_nr) {
|
||||
|
||||
// Assumed that all interrupt pins are unexported and rights are given to
|
||||
// read from gpiochip0.
|
||||
std::string gpiochip_path = "/dev/gpiochip" + std::to_string(gpiochiop_id);
|
||||
int fd = open(gpiochip_path.c_str(), O_RDONLY);
|
||||
if (fd < 0) {
|
||||
LOGE("Error opening gpiochip0 fd");
|
||||
return -1;
|
||||
}
|
||||
|
||||
// Setup event
|
||||
struct gpioevent_request rq;
|
||||
rq.lineoffset = pin_nr;
|
||||
rq.handleflags = GPIOHANDLE_REQUEST_INPUT;
|
||||
|
||||
/* Requesting both edges as the data ready pulse from the lsm6ds sensor is
|
||||
very short(75us) and is mostly detected as falling edge instead of rising.
|
||||
So if it is detected as rising the following falling edge is skipped. */
|
||||
rq.eventflags = GPIOEVENT_REQUEST_BOTH_EDGES;
|
||||
|
||||
strncpy(rq.consumer_label, consumer_label, std::size(rq.consumer_label) - 1);
|
||||
int ret = util::safe_ioctl(fd, GPIO_GET_LINEEVENT_IOCTL, &rq);
|
||||
if (ret == -1) {
|
||||
LOGE("Unable to get line event from ioctl : %s", strerror(errno));
|
||||
close(fd);
|
||||
return -1;
|
||||
}
|
||||
|
||||
close(fd);
|
||||
return rq.fd;
|
||||
}
|
||||
|
||||
#endif
|
||||
@@ -1,92 +0,0 @@
|
||||
#include "common/i2c.h"
|
||||
|
||||
#include <fcntl.h>
|
||||
#include <sys/ioctl.h>
|
||||
#include <unistd.h>
|
||||
|
||||
#include <cassert>
|
||||
#include <cstdio>
|
||||
#include <stdexcept>
|
||||
|
||||
#include "common/swaglog.h"
|
||||
#include "common/util.h"
|
||||
|
||||
#define UNUSED(x) (void)(x)
|
||||
|
||||
#ifdef QCOM2
|
||||
// TODO: decide if we want to install libi2c-dev everywhere
|
||||
extern "C" {
|
||||
#include <linux/i2c-dev.h>
|
||||
#include <i2c/smbus.h>
|
||||
}
|
||||
|
||||
I2CBus::I2CBus(uint8_t bus_id) {
|
||||
char bus_name[20];
|
||||
snprintf(bus_name, 20, "/dev/i2c-%d", bus_id);
|
||||
|
||||
i2c_fd = HANDLE_EINTR(open(bus_name, O_RDWR));
|
||||
if (i2c_fd < 0) {
|
||||
throw std::runtime_error("Failed to open I2C bus");
|
||||
}
|
||||
}
|
||||
|
||||
I2CBus::~I2CBus() {
|
||||
if (i2c_fd >= 0) {
|
||||
close(i2c_fd);
|
||||
}
|
||||
}
|
||||
|
||||
int I2CBus::read_register(uint8_t device_address, uint register_address, uint8_t *buffer, uint8_t len) {
|
||||
std::lock_guard lk(m);
|
||||
|
||||
int ret = 0;
|
||||
|
||||
ret = HANDLE_EINTR(ioctl(i2c_fd, I2C_SLAVE, device_address));
|
||||
if (ret < 0) { goto fail; }
|
||||
|
||||
ret = i2c_smbus_read_i2c_block_data(i2c_fd, register_address, len, buffer);
|
||||
if ((ret < 0) || (ret != len)) { goto fail; }
|
||||
|
||||
fail:
|
||||
return ret;
|
||||
}
|
||||
|
||||
int I2CBus::set_register(uint8_t device_address, uint register_address, uint8_t data) {
|
||||
std::lock_guard lk(m);
|
||||
|
||||
int ret = 0;
|
||||
|
||||
ret = HANDLE_EINTR(ioctl(i2c_fd, I2C_SLAVE, device_address));
|
||||
if (ret < 0) { goto fail; }
|
||||
|
||||
ret = i2c_smbus_write_byte_data(i2c_fd, register_address, data);
|
||||
if (ret < 0) { goto fail; }
|
||||
|
||||
fail:
|
||||
return ret;
|
||||
}
|
||||
|
||||
#else
|
||||
|
||||
I2CBus::I2CBus(uint8_t bus_id) {
|
||||
UNUSED(bus_id);
|
||||
i2c_fd = -1;
|
||||
}
|
||||
|
||||
I2CBus::~I2CBus() {}
|
||||
|
||||
int I2CBus::read_register(uint8_t device_address, uint register_address, uint8_t *buffer, uint8_t len) {
|
||||
UNUSED(device_address);
|
||||
UNUSED(register_address);
|
||||
UNUSED(buffer);
|
||||
UNUSED(len);
|
||||
return -1;
|
||||
}
|
||||
|
||||
int I2CBus::set_register(uint8_t device_address, uint register_address, uint8_t data) {
|
||||
UNUSED(device_address);
|
||||
UNUSED(register_address);
|
||||
UNUSED(data);
|
||||
return -1;
|
||||
}
|
||||
#endif
|
||||
@@ -1,236 +0,0 @@
|
||||
#include "common/params.h"
|
||||
|
||||
#include <dirent.h>
|
||||
#include <sys/file.h>
|
||||
|
||||
#include <algorithm>
|
||||
#include <cassert>
|
||||
#include <csignal>
|
||||
#include <unordered_map>
|
||||
|
||||
#include "common/params_keys.h"
|
||||
#include "common/queue.h"
|
||||
#include "common/swaglog.h"
|
||||
#include "common/util.h"
|
||||
#include "system/hardware/hw.h"
|
||||
|
||||
namespace {
|
||||
|
||||
volatile sig_atomic_t params_do_exit = 0;
|
||||
void params_sig_handler(int signal) {
|
||||
params_do_exit = 1;
|
||||
}
|
||||
|
||||
int fsync_dir(const std::string &path) {
|
||||
int result = -1;
|
||||
int fd = HANDLE_EINTR(open(path.c_str(), O_RDONLY, 0755));
|
||||
if (fd >= 0) {
|
||||
result = HANDLE_EINTR(fsync(fd));
|
||||
HANDLE_EINTR(close(fd));
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
||||
bool create_params_path(const std::string ¶m_path, const std::string &key_path) {
|
||||
// Make sure params path exists
|
||||
if (!util::file_exists(param_path) && !util::create_directories(param_path, 0775)) {
|
||||
return false;
|
||||
}
|
||||
|
||||
// See if the symlink exists, otherwise create it
|
||||
if (!util::file_exists(key_path)) {
|
||||
// 1) Create temp folder
|
||||
// 2) Symlink it to temp link
|
||||
// 3) Move symlink to <params>/d
|
||||
|
||||
std::string tmp_path = param_path + "/.tmp_XXXXXX";
|
||||
// this should be OK since mkdtemp just replaces characters in place
|
||||
char *tmp_dir = mkdtemp((char *)tmp_path.c_str());
|
||||
if (tmp_dir == NULL) {
|
||||
return false;
|
||||
}
|
||||
|
||||
std::string link_path = std::string(tmp_dir) + ".link";
|
||||
if (symlink(tmp_dir, link_path.c_str()) != 0) {
|
||||
return false;
|
||||
}
|
||||
|
||||
// don't return false if it has been created by other
|
||||
if (rename(link_path.c_str(), key_path.c_str()) != 0 && errno != EEXIST) {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
std::string ensure_params_path(const std::string &prefix, const std::string &path = {}) {
|
||||
std::string params_path = path.empty() ? Path::params() : path;
|
||||
if (!create_params_path(params_path, params_path + prefix)) {
|
||||
throw std::runtime_error(util::string_format(
|
||||
"Failed to ensure params path, errno=%d, path=%s, param_prefix=%s",
|
||||
errno, params_path.c_str(), prefix.c_str()));
|
||||
}
|
||||
return params_path;
|
||||
}
|
||||
|
||||
class FileLock {
|
||||
public:
|
||||
FileLock(const std::string &fn) {
|
||||
fd_ = HANDLE_EINTR(open(fn.c_str(), O_CREAT, 0775));
|
||||
if (fd_ < 0 || HANDLE_EINTR(flock(fd_, LOCK_EX)) < 0) {
|
||||
LOGE("Failed to lock file %s, errno=%d", fn.c_str(), errno);
|
||||
}
|
||||
}
|
||||
~FileLock() { close(fd_); }
|
||||
|
||||
private:
|
||||
int fd_ = -1;
|
||||
};
|
||||
|
||||
} // namespace
|
||||
|
||||
|
||||
Params::Params(const std::string &path) {
|
||||
params_prefix = "/" + util::getenv("OPENPILOT_PREFIX", "d");
|
||||
params_path = ensure_params_path(params_prefix, path);
|
||||
}
|
||||
|
||||
Params::~Params() {
|
||||
if (future.valid()) {
|
||||
future.wait();
|
||||
}
|
||||
assert(queue.empty());
|
||||
}
|
||||
|
||||
std::vector<std::string> Params::allKeys(ParamKeyType type) const {
|
||||
std::vector<std::string> ret;
|
||||
for (auto &p : keys) {
|
||||
if (type == ALL || (p.second & type)) {
|
||||
ret.push_back(p.first);
|
||||
}
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
bool Params::checkKey(const std::string &key) {
|
||||
return keys.find(key) != keys.end();
|
||||
}
|
||||
|
||||
ParamKeyType Params::getKeyType(const std::string &key) {
|
||||
return static_cast<ParamKeyType>(keys[key]);
|
||||
}
|
||||
|
||||
int Params::put(const char* key, const char* value, size_t value_size) {
|
||||
// Information about safely and atomically writing a file: https://lwn.net/Articles/457667/
|
||||
// 1) Create temp file
|
||||
// 2) Write data to temp file
|
||||
// 3) fsync() the temp file
|
||||
// 4) rename the temp file to the real name
|
||||
// 5) fsync() the containing directory
|
||||
std::string tmp_path = params_path + "/.tmp_value_XXXXXX";
|
||||
int tmp_fd = mkstemp((char*)tmp_path.c_str());
|
||||
if (tmp_fd < 0) return -1;
|
||||
|
||||
int result = -1;
|
||||
do {
|
||||
// Write value to temp.
|
||||
ssize_t bytes_written = HANDLE_EINTR(write(tmp_fd, value, value_size));
|
||||
if (bytes_written < 0 || (size_t)bytes_written != value_size) {
|
||||
result = -20;
|
||||
break;
|
||||
}
|
||||
|
||||
// fsync to force persist the changes.
|
||||
if ((result = fsync(tmp_fd)) < 0) break;
|
||||
|
||||
FileLock file_lock(params_path + "/.lock");
|
||||
|
||||
// Move temp into place.
|
||||
if ((result = rename(tmp_path.c_str(), getParamPath(key).c_str())) < 0) break;
|
||||
|
||||
// fsync parent directory
|
||||
result = fsync_dir(getParamPath());
|
||||
} while (false);
|
||||
|
||||
close(tmp_fd);
|
||||
if (result != 0) {
|
||||
::unlink(tmp_path.c_str());
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
||||
int Params::remove(const std::string &key) {
|
||||
FileLock file_lock(params_path + "/.lock");
|
||||
int result = unlink(getParamPath(key).c_str());
|
||||
if (result != 0) {
|
||||
return result;
|
||||
}
|
||||
return fsync_dir(getParamPath());
|
||||
}
|
||||
|
||||
std::string Params::get(const std::string &key, bool block) {
|
||||
if (!block) {
|
||||
return util::read_file(getParamPath(key));
|
||||
} else {
|
||||
// blocking read until successful
|
||||
params_do_exit = 0;
|
||||
void (*prev_handler_sigint)(int) = std::signal(SIGINT, params_sig_handler);
|
||||
void (*prev_handler_sigterm)(int) = std::signal(SIGTERM, params_sig_handler);
|
||||
|
||||
std::string value;
|
||||
while (!params_do_exit) {
|
||||
if (value = util::read_file(getParamPath(key)); !value.empty()) {
|
||||
break;
|
||||
}
|
||||
util::sleep_for(100); // 0.1 s
|
||||
}
|
||||
|
||||
std::signal(SIGINT, prev_handler_sigint);
|
||||
std::signal(SIGTERM, prev_handler_sigterm);
|
||||
return value;
|
||||
}
|
||||
}
|
||||
|
||||
std::map<std::string, std::string> Params::readAll() {
|
||||
FileLock file_lock(params_path + "/.lock");
|
||||
return util::read_files_in_dir(getParamPath());
|
||||
}
|
||||
|
||||
void Params::clearAll(ParamKeyType key_type) {
|
||||
FileLock file_lock(params_path + "/.lock");
|
||||
|
||||
// 1) delete params of key_type
|
||||
// 2) delete files that are not defined in the keys.
|
||||
if (DIR *d = opendir(getParamPath().c_str())) {
|
||||
struct dirent *de = NULL;
|
||||
while ((de = readdir(d))) {
|
||||
if (de->d_type != DT_DIR) {
|
||||
auto it = keys.find(de->d_name);
|
||||
if (it == keys.end() || (it->second & key_type)) {
|
||||
unlink(getParamPath(de->d_name).c_str());
|
||||
}
|
||||
}
|
||||
}
|
||||
closedir(d);
|
||||
}
|
||||
|
||||
fsync_dir(getParamPath());
|
||||
}
|
||||
|
||||
void Params::putNonBlocking(const std::string &key, const std::string &val) {
|
||||
queue.push(std::make_pair(key, val));
|
||||
// start thread on demand
|
||||
if (!future.valid() || future.wait_for(std::chrono::milliseconds(0)) == std::future_status::ready) {
|
||||
future = std::async(std::launch::async, &Params::asyncWriteThread, this);
|
||||
}
|
||||
}
|
||||
|
||||
void Params::asyncWriteThread() {
|
||||
// TODO: write the latest one if a key has multiple values in the queue.
|
||||
std::pair<std::string, std::string> p;
|
||||
while (queue.try_pop(p, 0)) {
|
||||
// Params::put is Thread-Safe
|
||||
put(p.first, p.second);
|
||||
}
|
||||
}
|
||||
+1
-1
@@ -28,7 +28,7 @@ public:
|
||||
Params(const Params&) = delete;
|
||||
Params& operator=(const Params&) = delete;
|
||||
|
||||
std::vector<std::string> allKeys(ParamKeyType type = ALL) const;
|
||||
std::vector<std::string> allKeys() const;
|
||||
bool checkKey(const std::string &key);
|
||||
ParamKeyType getKeyType(const std::string &key);
|
||||
inline std::string getParamPath(const std::string &key = {}) {
|
||||
|
||||
@@ -120,17 +120,15 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
|
||||
|
||||
// --- sunnypilot params --- //
|
||||
{"ApiCache_DriveStats", PERSISTENT},
|
||||
{"AutoLaneChangeBsmDelay", PERSISTENT},
|
||||
{"AutoLaneChangeTimer", PERSISTENT},
|
||||
{"CarParamsSP", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
|
||||
{"CarParamsSPCache", CLEAR_ON_MANAGER_START},
|
||||
{"CarParamsSPPersistent", PERSISTENT},
|
||||
{"CarPlatformBundle", PERSISTENT},
|
||||
{"EnableGithubRunner", PERSISTENT | BACKUP},
|
||||
{"LateralTorqueControlLateralJerk", PERSISTENT | BACKUP},
|
||||
{"ModelRunnerTypeCache", CLEAR_ON_ONROAD_TRANSITION},
|
||||
{"OffroadMode", CLEAR_ON_MANAGER_START},
|
||||
{"OffroadMode_Status", CLEAR_ON_MANAGER_START},
|
||||
{"QuietMode", PERSISTENT | BACKUP},
|
||||
|
||||
// MADS params
|
||||
{"Mads", PERSISTENT | BACKUP},
|
||||
@@ -156,10 +154,6 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
|
||||
{"SunnylinkdPid", PERSISTENT},
|
||||
{"SunnylinkEnabled", PERSISTENT},
|
||||
|
||||
// Backup Manager params
|
||||
{"BackupManager_CreateBackup", PERSISTENT},
|
||||
{"BackupManager_RestoreVersion", PERSISTENT},
|
||||
|
||||
// sunnypilot car specific params
|
||||
{"HyundaiRadarTracks", PERSISTENT},
|
||||
{"HyundaiRadarTracksConfirmed", PERSISTENT},
|
||||
|
||||
+17914
File diff suppressed because it is too large
Load Diff
@@ -11,7 +11,6 @@ cdef extern from "common/params.h":
|
||||
CLEAR_ON_ONROAD_TRANSITION
|
||||
CLEAR_ON_OFFROAD_TRANSITION
|
||||
DEVELOPMENT_ONLY
|
||||
BACKUP
|
||||
ALL
|
||||
|
||||
cdef cppclass c_Params "Params":
|
||||
@@ -26,7 +25,7 @@ cdef extern from "common/params.h":
|
||||
bool checkKey(string) nogil
|
||||
string getParamPath(string) nogil
|
||||
void clearAll(ParamKeyType)
|
||||
vector[string] allKeys(ParamKeyType)
|
||||
vector[string] allKeys()
|
||||
|
||||
|
||||
def ensure_bytes(v):
|
||||
@@ -120,5 +119,5 @@ cdef class Params:
|
||||
cdef string key_bytes = ensure_bytes(key)
|
||||
return self.p.getParamPath(key_bytes).decode("utf-8")
|
||||
|
||||
def all_keys(self, type=ParamKeyType.ALL):
|
||||
return self.p.allKeys(type)
|
||||
def all_keys(self):
|
||||
return self.p.allKeys()
|
||||
|
||||
Executable
BIN
Binary file not shown.
@@ -1,40 +0,0 @@
|
||||
#include "common/ratekeeper.h"
|
||||
|
||||
#include <algorithm>
|
||||
|
||||
#include "common/swaglog.h"
|
||||
#include "common/timing.h"
|
||||
#include "common/util.h"
|
||||
|
||||
RateKeeper::RateKeeper(const std::string &name, float rate, float print_delay_threshold)
|
||||
: name(name),
|
||||
print_delay_threshold(std::max(0.f, print_delay_threshold)) {
|
||||
interval = 1 / rate;
|
||||
last_monitor_time = seconds_since_boot();
|
||||
next_frame_time = last_monitor_time + interval;
|
||||
}
|
||||
|
||||
bool RateKeeper::keepTime() {
|
||||
bool lagged = monitorTime();
|
||||
if (remaining_ > 0) {
|
||||
util::sleep_for(remaining_ * 1000);
|
||||
}
|
||||
return lagged;
|
||||
}
|
||||
|
||||
bool RateKeeper::monitorTime() {
|
||||
++frame_;
|
||||
last_monitor_time = seconds_since_boot();
|
||||
remaining_ = next_frame_time - last_monitor_time;
|
||||
|
||||
bool lagged = remaining_ < 0;
|
||||
if (lagged) {
|
||||
if (print_delay_threshold > 0 && remaining_ < -print_delay_threshold) {
|
||||
LOGW("%s lagging by %.2f ms", name.c_str(), -remaining_ * 1000);
|
||||
}
|
||||
next_frame_time = last_monitor_time + interval;
|
||||
} else {
|
||||
next_frame_time += interval;
|
||||
}
|
||||
return lagged;
|
||||
}
|
||||
@@ -1,155 +0,0 @@
|
||||
#ifndef _GNU_SOURCE
|
||||
#define _GNU_SOURCE
|
||||
#endif
|
||||
|
||||
#include "common/swaglog.h"
|
||||
|
||||
#include <cassert>
|
||||
#include <limits>
|
||||
#include <mutex>
|
||||
#include <string>
|
||||
|
||||
#include <zmq.h>
|
||||
#include <stdarg.h>
|
||||
#include "third_party/json11/json11.hpp"
|
||||
#include "common/version.h"
|
||||
#include "system/hardware/hw.h"
|
||||
|
||||
class SwaglogState {
|
||||
public:
|
||||
SwaglogState() {
|
||||
zctx = zmq_ctx_new();
|
||||
sock = zmq_socket(zctx, ZMQ_PUSH);
|
||||
|
||||
// Timeout on shutdown for messages to be received by the logging process
|
||||
int timeout = 100;
|
||||
zmq_setsockopt(sock, ZMQ_LINGER, &timeout, sizeof(timeout));
|
||||
zmq_connect(sock, Path::swaglog_ipc().c_str());
|
||||
|
||||
// workaround for https://github.com/dropbox/json11/issues/38
|
||||
setlocale(LC_NUMERIC, "C");
|
||||
|
||||
print_level = CLOUDLOG_WARNING;
|
||||
if (const char* print_lvl = getenv("LOGPRINT")) {
|
||||
if (strcmp(print_lvl, "debug") == 0) {
|
||||
print_level = CLOUDLOG_DEBUG;
|
||||
} else if (strcmp(print_lvl, "info") == 0) {
|
||||
print_level = CLOUDLOG_INFO;
|
||||
} else if (strcmp(print_lvl, "warning") == 0) {
|
||||
print_level = CLOUDLOG_WARNING;
|
||||
}
|
||||
}
|
||||
|
||||
ctx_j = json11::Json::object{};
|
||||
if (char* dongle_id = getenv("DONGLE_ID")) {
|
||||
ctx_j["dongle_id"] = dongle_id;
|
||||
}
|
||||
if (char* git_origin = getenv("GIT_ORIGIN")) {
|
||||
ctx_j["origin"] = git_origin;
|
||||
}
|
||||
if (char* git_branch = getenv("GIT_BRANCH")) {
|
||||
ctx_j["branch"] = git_branch;
|
||||
}
|
||||
if (char* git_commit = getenv("GIT_COMMIT")) {
|
||||
ctx_j["commit"] = git_commit;
|
||||
}
|
||||
if (char* daemon_name = getenv("MANAGER_DAEMON")) {
|
||||
ctx_j["daemon"] = daemon_name;
|
||||
}
|
||||
ctx_j["version"] = COMMA_VERSION;
|
||||
ctx_j["dirty"] = !getenv("CLEAN");
|
||||
ctx_j["device"] = Hardware::get_name();
|
||||
}
|
||||
|
||||
~SwaglogState() {
|
||||
zmq_close(sock);
|
||||
zmq_ctx_destroy(zctx);
|
||||
}
|
||||
|
||||
void log(int levelnum, const char* filename, int lineno, const char* func, const char* msg, const std::string& log_s) {
|
||||
std::lock_guard lk(lock);
|
||||
if (levelnum >= print_level) {
|
||||
printf("%s: %s\n", filename, msg);
|
||||
}
|
||||
zmq_send(sock, log_s.data(), log_s.length(), ZMQ_NOBLOCK);
|
||||
}
|
||||
|
||||
std::mutex lock;
|
||||
void* zctx = nullptr;
|
||||
void* sock = nullptr;
|
||||
int print_level;
|
||||
json11::Json::object ctx_j;
|
||||
};
|
||||
|
||||
bool LOG_TIMESTAMPS = getenv("LOG_TIMESTAMPS");
|
||||
uint32_t NO_FRAME_ID = std::numeric_limits<uint32_t>::max();
|
||||
|
||||
static void cloudlog_common(int levelnum, const char* filename, int lineno, const char* func,
|
||||
char* msg_buf, const json11::Json::object &msg_j={}) {
|
||||
static SwaglogState s;
|
||||
|
||||
json11::Json::object log_j = json11::Json::object {
|
||||
{"ctx", s.ctx_j},
|
||||
{"levelnum", levelnum},
|
||||
{"filename", filename},
|
||||
{"lineno", lineno},
|
||||
{"funcname", func},
|
||||
{"created", seconds_since_epoch()}
|
||||
};
|
||||
if (msg_j.empty()) {
|
||||
log_j["msg"] = msg_buf;
|
||||
} else {
|
||||
log_j["msg"] = msg_j;
|
||||
}
|
||||
|
||||
std::string log_s;
|
||||
log_s += (char)levelnum;
|
||||
((json11::Json)log_j).dump(log_s);
|
||||
s.log(levelnum, filename, lineno, func, msg_buf, log_s);
|
||||
|
||||
free(msg_buf);
|
||||
}
|
||||
|
||||
void cloudlog_e(int levelnum, const char* filename, int lineno, const char* func,
|
||||
const char* fmt, ...) {
|
||||
va_list args;
|
||||
va_start(args, fmt);
|
||||
char* msg_buf = nullptr;
|
||||
int ret = vasprintf(&msg_buf, fmt, args);
|
||||
va_end(args);
|
||||
if (ret <= 0 || !msg_buf) return;
|
||||
cloudlog_common(levelnum, filename, lineno, func, msg_buf);
|
||||
}
|
||||
|
||||
void cloudlog_t_common(int levelnum, const char* filename, int lineno, const char* func,
|
||||
uint32_t frame_id, const char* fmt, va_list args) {
|
||||
if (!LOG_TIMESTAMPS) return;
|
||||
char* msg_buf = nullptr;
|
||||
int ret = vasprintf(&msg_buf, fmt, args);
|
||||
if (ret <= 0 || !msg_buf) return;
|
||||
json11::Json::object tspt_j = json11::Json::object{
|
||||
{"event", msg_buf},
|
||||
{"time", std::to_string(nanos_since_boot())}
|
||||
};
|
||||
if (frame_id < NO_FRAME_ID) {
|
||||
tspt_j["frame_id"] = std::to_string(frame_id);
|
||||
}
|
||||
tspt_j = json11::Json::object{{"timestamp", tspt_j}};
|
||||
cloudlog_common(levelnum, filename, lineno, func, msg_buf, tspt_j);
|
||||
}
|
||||
|
||||
|
||||
void cloudlog_te(int levelnum, const char* filename, int lineno, const char* func,
|
||||
const char* fmt, ...) {
|
||||
va_list args;
|
||||
va_start(args, fmt);
|
||||
cloudlog_t_common(levelnum, filename, lineno, func, NO_FRAME_ID, fmt, args);
|
||||
va_end(args);
|
||||
}
|
||||
void cloudlog_te(int levelnum, const char* filename, int lineno, const char* func,
|
||||
uint32_t frame_id, const char* fmt, ...) {
|
||||
va_list args;
|
||||
va_start(args, fmt);
|
||||
cloudlog_t_common(levelnum, filename, lineno, func, frame_id, fmt, args);
|
||||
va_end(args);
|
||||
}
|
||||
@@ -1,27 +0,0 @@
|
||||
#include "catch2/catch.hpp"
|
||||
#define private public
|
||||
#include "common/params.h"
|
||||
#include "common/util.h"
|
||||
|
||||
TEST_CASE("params_nonblocking_put") {
|
||||
char tmp_path[] = "/tmp/asyncWriter_XXXXXX";
|
||||
const std::string param_path = mkdtemp(tmp_path);
|
||||
auto param_names = {"CarParams", "IsMetric"};
|
||||
{
|
||||
Params params(param_path);
|
||||
for (const auto &name : param_names) {
|
||||
params.putNonBlocking(name, "1");
|
||||
// param is empty
|
||||
REQUIRE(params.get(name).empty());
|
||||
}
|
||||
|
||||
// check if thread is running
|
||||
REQUIRE(params.future.valid());
|
||||
REQUIRE(params.future.wait_for(std::chrono::milliseconds(0)) == std::future_status::timeout);
|
||||
}
|
||||
// check results
|
||||
Params p(param_path);
|
||||
for (const auto &name : param_names) {
|
||||
REQUIRE(p.get(name) == "1");
|
||||
}
|
||||
}
|
||||
@@ -1,2 +0,0 @@
|
||||
#define CATCH_CONFIG_MAIN
|
||||
#include "catch2/catch.hpp"
|
||||
@@ -1,88 +0,0 @@
|
||||
#include <zmq.h>
|
||||
|
||||
#include <iostream>
|
||||
|
||||
#include "catch2/catch.hpp"
|
||||
#include "common/swaglog.h"
|
||||
#include "common/util.h"
|
||||
#include "common/version.h"
|
||||
#include "system/hardware/hw.h"
|
||||
#include "third_party/json11/json11.hpp"
|
||||
|
||||
std::string daemon_name = "testy";
|
||||
std::string dongle_id = "test_dongle_id";
|
||||
int LINE_NO = 0;
|
||||
|
||||
void log_thread(int thread_id, int msg_cnt) {
|
||||
for (int i = 0; i < msg_cnt; ++i) {
|
||||
LOGD("%d", thread_id);
|
||||
LINE_NO = __LINE__ - 1;
|
||||
usleep(1);
|
||||
}
|
||||
}
|
||||
|
||||
void recv_log(int thread_cnt, int thread_msg_cnt) {
|
||||
void *zctx = zmq_ctx_new();
|
||||
void *sock = zmq_socket(zctx, ZMQ_PULL);
|
||||
zmq_bind(sock, Path::swaglog_ipc().c_str());
|
||||
std::vector<int> thread_msgs(thread_cnt);
|
||||
int total_count = 0;
|
||||
|
||||
for (auto start = std::chrono::steady_clock::now(), now = start;
|
||||
now < start + std::chrono::seconds{1} && total_count < (thread_cnt * thread_msg_cnt);
|
||||
now = std::chrono::steady_clock::now()) {
|
||||
char buf[4096] = {};
|
||||
if (zmq_recv(sock, buf, sizeof(buf), ZMQ_DONTWAIT) <= 0) {
|
||||
if (errno == EAGAIN || errno == EINTR || errno == EFSM) continue;
|
||||
break;
|
||||
}
|
||||
|
||||
REQUIRE(buf[0] == CLOUDLOG_DEBUG);
|
||||
std::string err;
|
||||
auto msg = json11::Json::parse(buf + 1, err);
|
||||
REQUIRE(!msg.is_null());
|
||||
|
||||
REQUIRE(msg["levelnum"].int_value() == CLOUDLOG_DEBUG);
|
||||
REQUIRE_THAT(msg["filename"].string_value(), Catch::Contains("test_swaglog.cc"));
|
||||
REQUIRE(msg["funcname"].string_value() == "log_thread");
|
||||
REQUIRE(msg["lineno"].int_value() == LINE_NO);
|
||||
|
||||
auto ctx = msg["ctx"];
|
||||
|
||||
REQUIRE(ctx["daemon"].string_value() == daemon_name);
|
||||
REQUIRE(ctx["dongle_id"].string_value() == dongle_id);
|
||||
REQUIRE(ctx["dirty"].bool_value() == true);
|
||||
|
||||
REQUIRE(ctx["version"].string_value() == COMMA_VERSION);
|
||||
|
||||
std::string device = Hardware::get_name();
|
||||
REQUIRE(ctx["device"].string_value() == device);
|
||||
|
||||
int thread_id = atoi(msg["msg"].string_value().c_str());
|
||||
REQUIRE((thread_id >= 0 && thread_id < thread_cnt));
|
||||
thread_msgs[thread_id]++;
|
||||
total_count++;
|
||||
}
|
||||
for (int i = 0; i < thread_cnt; ++i) {
|
||||
INFO("thread :" << i);
|
||||
REQUIRE(thread_msgs[i] == thread_msg_cnt);
|
||||
}
|
||||
zmq_close(sock);
|
||||
zmq_ctx_destroy(zctx);
|
||||
}
|
||||
|
||||
TEST_CASE("swaglog") {
|
||||
setenv("MANAGER_DAEMON", daemon_name.c_str(), 1);
|
||||
setenv("DONGLE_ID", dongle_id.c_str(), 1);
|
||||
setenv("dirty", "1", 1);
|
||||
const int thread_cnt = 5;
|
||||
const int thread_msg_cnt = 100;
|
||||
|
||||
std::vector<std::thread> log_threads;
|
||||
for (int i = 0; i < thread_cnt; ++i) {
|
||||
log_threads.push_back(std::thread(log_thread, i, thread_msg_cnt));
|
||||
}
|
||||
for (auto &t : log_threads) t.join();
|
||||
|
||||
recv_log(thread_cnt, thread_msg_cnt);
|
||||
}
|
||||
@@ -1,147 +0,0 @@
|
||||
|
||||
#include <dirent.h>
|
||||
#include <sys/stat.h>
|
||||
#include <sys/types.h>
|
||||
|
||||
#include <algorithm>
|
||||
#include <climits>
|
||||
#include <fstream>
|
||||
#include <random>
|
||||
#include <string>
|
||||
|
||||
#include "catch2/catch.hpp"
|
||||
#include "common/util.h"
|
||||
|
||||
std::string random_bytes(int size) {
|
||||
std::random_device rd;
|
||||
std::independent_bits_engine<std::default_random_engine, CHAR_BIT, unsigned char> rbe(rd());
|
||||
std::string bytes(size + 1, '\0');
|
||||
std::generate(bytes.begin(), bytes.end(), std::ref(rbe));
|
||||
return bytes;
|
||||
}
|
||||
|
||||
TEST_CASE("util::read_file") {
|
||||
SECTION("read /proc/version") {
|
||||
std::string ret = util::read_file("/proc/version");
|
||||
REQUIRE(ret.find("Linux version") != std::string::npos);
|
||||
}
|
||||
SECTION("read from sysfs") {
|
||||
std::string ret = util::read_file("/sys/power/wakeup_count");
|
||||
REQUIRE(!ret.empty());
|
||||
}
|
||||
SECTION("read file") {
|
||||
char filename[] = "/tmp/test_read_XXXXXX";
|
||||
int fd = mkstemp(filename);
|
||||
|
||||
REQUIRE(util::read_file(filename).empty());
|
||||
|
||||
std::string content = random_bytes(64 * 1024);
|
||||
write(fd, content.c_str(), content.size());
|
||||
std::string ret = util::read_file(filename);
|
||||
bool equal = (ret == content);
|
||||
REQUIRE(equal);
|
||||
close(fd);
|
||||
}
|
||||
SECTION("read directory") {
|
||||
REQUIRE(util::read_file(".").empty());
|
||||
}
|
||||
SECTION("read non-existent file") {
|
||||
std::string ret = util::read_file("does_not_exist");
|
||||
REQUIRE(ret.empty());
|
||||
}
|
||||
SECTION("read non-permission") {
|
||||
REQUIRE(util::read_file("/proc/kmsg").empty());
|
||||
}
|
||||
}
|
||||
|
||||
TEST_CASE("util::file_exists") {
|
||||
char filename[] = "/tmp/test_file_exists_XXXXXX";
|
||||
int fd = mkstemp(filename);
|
||||
REQUIRE(fd != -1);
|
||||
close(fd);
|
||||
|
||||
SECTION("existent file") {
|
||||
REQUIRE(util::file_exists(filename));
|
||||
REQUIRE(util::file_exists("/tmp"));
|
||||
}
|
||||
SECTION("nonexistent file") {
|
||||
std::string fn = filename;
|
||||
REQUIRE(!util::file_exists(fn + "/nonexistent"));
|
||||
}
|
||||
SECTION("file has no access permissions") {
|
||||
std::string fn = "/proc/kmsg";
|
||||
std::ifstream f(fn);
|
||||
REQUIRE(f.good() == false);
|
||||
REQUIRE(util::file_exists(fn));
|
||||
}
|
||||
::remove(filename);
|
||||
}
|
||||
|
||||
TEST_CASE("util::read_files_in_dir") {
|
||||
char tmp_path[] = "/tmp/test_XXXXXX";
|
||||
const std::string test_path = mkdtemp(tmp_path);
|
||||
const std::string files[] = {".test1", "'test2'", "test3"};
|
||||
for (auto fn : files) {
|
||||
std::ofstream{test_path + "/" + fn} << fn;
|
||||
}
|
||||
mkdir((test_path + "/dir").c_str(), 0777);
|
||||
|
||||
std::map<std::string, std::string> result = util::read_files_in_dir(test_path);
|
||||
REQUIRE(result.find("dir") == result.end());
|
||||
REQUIRE(result.size() == std::size(files));
|
||||
for (auto& [k, v] : result) {
|
||||
REQUIRE(k == v);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
TEST_CASE("util::safe_fwrite") {
|
||||
char filename[] = "/tmp/XXXXXX";
|
||||
int fd = mkstemp(filename);
|
||||
close(fd);
|
||||
std::string dat = random_bytes(1024 * 1024);
|
||||
|
||||
FILE *f = util::safe_fopen(filename, "wb");
|
||||
REQUIRE(f != nullptr);
|
||||
size_t size = util::safe_fwrite(dat.data(), 1, dat.size(), f);
|
||||
REQUIRE(size == dat.size());
|
||||
int ret = util::safe_fflush(f);
|
||||
REQUIRE(ret == 0);
|
||||
ret = fclose(f);
|
||||
REQUIRE(ret == 0);
|
||||
bool equal = (dat == util::read_file(filename));
|
||||
REQUIRE(equal);
|
||||
}
|
||||
|
||||
TEST_CASE("util::create_directories") {
|
||||
system("rm /tmp/test_create_directories -rf");
|
||||
std::string dir = "/tmp/test_create_directories/a/b/c/d/e/f";
|
||||
|
||||
auto check_dir_permissions = [](const std::string &dir, mode_t mode) -> bool {
|
||||
struct stat st = {};
|
||||
return stat(dir.c_str(), &st) == 0 && (st.st_mode & S_IFMT) == S_IFDIR && (st.st_mode & (S_IRWXU | S_IRWXG | S_IRWXO)) == mode;
|
||||
};
|
||||
|
||||
SECTION("create_directories") {
|
||||
REQUIRE(util::create_directories(dir, 0755));
|
||||
REQUIRE(check_dir_permissions(dir, 0755));
|
||||
}
|
||||
SECTION("dir already exists") {
|
||||
REQUIRE(util::create_directories(dir, 0755));
|
||||
REQUIRE(util::create_directories(dir, 0755));
|
||||
}
|
||||
SECTION("a file exists with the same name") {
|
||||
REQUIRE(util::create_directories(dir, 0755));
|
||||
int f = open((dir + "/file").c_str(), O_RDWR | O_CREAT);
|
||||
REQUIRE(f != -1);
|
||||
close(f);
|
||||
REQUIRE(util::create_directories(dir + "/file", 0755) == false);
|
||||
REQUIRE(util::create_directories(dir + "/file/1/2/3", 0755) == false);
|
||||
}
|
||||
SECTION("end with slashes") {
|
||||
REQUIRE(util::create_directories(dir + "/", 0755));
|
||||
}
|
||||
SECTION("empty") {
|
||||
REQUIRE(util::create_directories("", 0755) == false);
|
||||
}
|
||||
}
|
||||
@@ -1,5 +0,0 @@
|
||||
Import('env', 'envCython')
|
||||
|
||||
transformations = env.Library('transformations', ['orientation.cc', 'coordinates.cc'])
|
||||
transformations_python = envCython.Program('transformations.so', 'transformations.pyx')
|
||||
Export('transformations', 'transformations_python')
|
||||
@@ -1,100 +0,0 @@
|
||||
#define _USE_MATH_DEFINES
|
||||
|
||||
#include "common/transformations/coordinates.hpp"
|
||||
|
||||
#include <iostream>
|
||||
#include <cmath>
|
||||
#include <eigen3/Eigen/Dense>
|
||||
|
||||
double a = 6378137; // lgtm [cpp/short-global-name]
|
||||
double b = 6356752.3142; // lgtm [cpp/short-global-name]
|
||||
double esq = 6.69437999014 * 0.001; // lgtm [cpp/short-global-name]
|
||||
double e1sq = 6.73949674228 * 0.001;
|
||||
|
||||
|
||||
static Geodetic to_degrees(Geodetic geodetic){
|
||||
geodetic.lat = RAD2DEG(geodetic.lat);
|
||||
geodetic.lon = RAD2DEG(geodetic.lon);
|
||||
return geodetic;
|
||||
}
|
||||
|
||||
static Geodetic to_radians(Geodetic geodetic){
|
||||
geodetic.lat = DEG2RAD(geodetic.lat);
|
||||
geodetic.lon = DEG2RAD(geodetic.lon);
|
||||
return geodetic;
|
||||
}
|
||||
|
||||
|
||||
ECEF geodetic2ecef(const Geodetic &geodetic) {
|
||||
auto g = to_radians(geodetic);
|
||||
double xi = sqrt(1.0 - esq * pow(sin(g.lat), 2));
|
||||
double x = (a / xi + g.alt) * cos(g.lat) * cos(g.lon);
|
||||
double y = (a / xi + g.alt) * cos(g.lat) * sin(g.lon);
|
||||
double z = (a / xi * (1.0 - esq) + g.alt) * sin(g.lat);
|
||||
return {x, y, z};
|
||||
}
|
||||
|
||||
Geodetic ecef2geodetic(const ECEF &e) {
|
||||
// Convert from ECEF to geodetic using Ferrari's methods
|
||||
// https://en.wikipedia.org/wiki/Geographic_coordinate_conversion#Ferrari.27s_solution
|
||||
double x = e.x;
|
||||
double y = e.y;
|
||||
double z = e.z;
|
||||
|
||||
double r = sqrt(x * x + y * y);
|
||||
double Esq = a * a - b * b;
|
||||
double F = 54 * b * b * z * z;
|
||||
double G = r * r + (1 - esq) * z * z - esq * Esq;
|
||||
double C = (esq * esq * F * r * r) / (pow(G, 3));
|
||||
double S = cbrt(1 + C + sqrt(C * C + 2 * C));
|
||||
double P = F / (3 * pow((S + 1 / S + 1), 2) * G * G);
|
||||
double Q = sqrt(1 + 2 * esq * esq * P);
|
||||
double r_0 = -(P * esq * r) / (1 + Q) + sqrt(0.5 * a * a*(1 + 1.0 / Q) - P * (1 - esq) * z * z / (Q * (1 + Q)) - 0.5 * P * r * r);
|
||||
double U = sqrt(pow((r - esq * r_0), 2) + z * z);
|
||||
double V = sqrt(pow((r - esq * r_0), 2) + (1 - esq) * z * z);
|
||||
double Z_0 = b * b * z / (a * V);
|
||||
double h = U * (1 - b * b / (a * V));
|
||||
|
||||
double lat = atan((z + e1sq * Z_0) / r);
|
||||
double lon = atan2(y, x);
|
||||
|
||||
return to_degrees({lat, lon, h});
|
||||
}
|
||||
|
||||
LocalCoord::LocalCoord(const Geodetic &geodetic, const ECEF &e) {
|
||||
init_ecef << e.x, e.y, e.z;
|
||||
|
||||
auto g = to_radians(geodetic);
|
||||
|
||||
ned2ecef_matrix <<
|
||||
-sin(g.lat)*cos(g.lon), -sin(g.lon), -cos(g.lat)*cos(g.lon),
|
||||
-sin(g.lat)*sin(g.lon), cos(g.lon), -cos(g.lat)*sin(g.lon),
|
||||
cos(g.lat), 0, -sin(g.lat);
|
||||
ecef2ned_matrix = ned2ecef_matrix.transpose();
|
||||
}
|
||||
|
||||
NED LocalCoord::ecef2ned(const ECEF &e) {
|
||||
Eigen::Vector3d ecef;
|
||||
ecef << e.x, e.y, e.z;
|
||||
|
||||
Eigen::Vector3d ned = (ecef2ned_matrix * (ecef - init_ecef));
|
||||
return {ned[0], ned[1], ned[2]};
|
||||
}
|
||||
|
||||
ECEF LocalCoord::ned2ecef(const NED &n) {
|
||||
Eigen::Vector3d ned;
|
||||
ned << n.n, n.e, n.d;
|
||||
|
||||
Eigen::Vector3d ecef = (ned2ecef_matrix * ned) + init_ecef;
|
||||
return {ecef[0], ecef[1], ecef[2]};
|
||||
}
|
||||
|
||||
NED LocalCoord::geodetic2ned(const Geodetic &g) {
|
||||
ECEF e = ::geodetic2ecef(g);
|
||||
return ecef2ned(e);
|
||||
}
|
||||
|
||||
Geodetic LocalCoord::ned2geodetic(const NED &n) {
|
||||
ECEF e = ned2ecef(n);
|
||||
return ::ecef2geodetic(e);
|
||||
}
|
||||
@@ -1,144 +0,0 @@
|
||||
#define _USE_MATH_DEFINES
|
||||
|
||||
#include <iostream>
|
||||
#include <cmath>
|
||||
#include <eigen3/Eigen/Dense>
|
||||
|
||||
#include "common/transformations/orientation.hpp"
|
||||
#include "common/transformations/coordinates.hpp"
|
||||
|
||||
Eigen::Quaterniond ensure_unique(const Eigen::Quaterniond &quat) {
|
||||
if (quat.w() > 0){
|
||||
return quat;
|
||||
} else {
|
||||
return Eigen::Quaterniond(-quat.w(), -quat.x(), -quat.y(), -quat.z());
|
||||
}
|
||||
}
|
||||
|
||||
Eigen::Quaterniond euler2quat(const Eigen::Vector3d &euler) {
|
||||
Eigen::Quaterniond q;
|
||||
|
||||
q = Eigen::AngleAxisd(euler(2), Eigen::Vector3d::UnitZ())
|
||||
* Eigen::AngleAxisd(euler(1), Eigen::Vector3d::UnitY())
|
||||
* Eigen::AngleAxisd(euler(0), Eigen::Vector3d::UnitX());
|
||||
return ensure_unique(q);
|
||||
}
|
||||
|
||||
|
||||
Eigen::Vector3d quat2euler(const Eigen::Quaterniond &quat) {
|
||||
// TODO: switch to eigen implementation if the range of the Euler angles doesn't matter anymore
|
||||
// Eigen::Vector3d euler = quat.toRotationMatrix().eulerAngles(2, 1, 0);
|
||||
// return {euler(2), euler(1), euler(0)};
|
||||
double gamma = atan2(2 * (quat.w() * quat.x() + quat.y() * quat.z()), 1 - 2 * (quat.x()*quat.x() + quat.y()*quat.y()));
|
||||
double asin_arg_clipped = std::clamp(2 * (quat.w() * quat.y() - quat.z() * quat.x()), -1.0, 1.0);
|
||||
double theta = asin(asin_arg_clipped);
|
||||
double psi = atan2(2 * (quat.w() * quat.z() + quat.x() * quat.y()), 1 - 2 * (quat.y()*quat.y() + quat.z()*quat.z()));
|
||||
return {gamma, theta, psi};
|
||||
}
|
||||
|
||||
Eigen::Matrix3d quat2rot(const Eigen::Quaterniond &quat) {
|
||||
return quat.toRotationMatrix();
|
||||
}
|
||||
|
||||
Eigen::Quaterniond rot2quat(const Eigen::Matrix3d &rot) {
|
||||
return ensure_unique(Eigen::Quaterniond(rot));
|
||||
}
|
||||
|
||||
Eigen::Matrix3d euler2rot(const Eigen::Vector3d &euler) {
|
||||
return quat2rot(euler2quat(euler));
|
||||
}
|
||||
|
||||
Eigen::Vector3d rot2euler(const Eigen::Matrix3d &rot) {
|
||||
return quat2euler(rot2quat(rot));
|
||||
}
|
||||
|
||||
Eigen::Matrix3d rot_matrix(double roll, double pitch, double yaw) {
|
||||
return euler2rot({roll, pitch, yaw});
|
||||
}
|
||||
|
||||
Eigen::Matrix3d rot(const Eigen::Vector3d &axis, double angle) {
|
||||
Eigen::Quaterniond q;
|
||||
q = Eigen::AngleAxisd(angle, axis);
|
||||
return q.toRotationMatrix();
|
||||
}
|
||||
|
||||
|
||||
Eigen::Vector3d ecef_euler_from_ned(const ECEF &ecef_init, const Eigen::Vector3d &ned_pose) {
|
||||
/*
|
||||
Using Rotations to Build Aerospace Coordinate Systems
|
||||
Don Koks
|
||||
https://apps.dtic.mil/dtic/tr/fulltext/u2/a484864.pdf
|
||||
*/
|
||||
LocalCoord converter = LocalCoord(ecef_init);
|
||||
Eigen::Vector3d zero = ecef_init.to_vector();
|
||||
|
||||
Eigen::Vector3d x0 = converter.ned2ecef({1, 0, 0}).to_vector() - zero;
|
||||
Eigen::Vector3d y0 = converter.ned2ecef({0, 1, 0}).to_vector() - zero;
|
||||
Eigen::Vector3d z0 = converter.ned2ecef({0, 0, 1}).to_vector() - zero;
|
||||
|
||||
Eigen::Vector3d x1 = rot(z0, ned_pose(2)) * x0;
|
||||
Eigen::Vector3d y1 = rot(z0, ned_pose(2)) * y0;
|
||||
Eigen::Vector3d z1 = rot(z0, ned_pose(2)) * z0;
|
||||
|
||||
Eigen::Vector3d x2 = rot(y1, ned_pose(1)) * x1;
|
||||
Eigen::Vector3d y2 = rot(y1, ned_pose(1)) * y1;
|
||||
Eigen::Vector3d z2 = rot(y1, ned_pose(1)) * z1;
|
||||
|
||||
Eigen::Vector3d x3 = rot(x2, ned_pose(0)) * x2;
|
||||
Eigen::Vector3d y3 = rot(x2, ned_pose(0)) * y2;
|
||||
|
||||
|
||||
x0 = Eigen::Vector3d(1, 0, 0);
|
||||
y0 = Eigen::Vector3d(0, 1, 0);
|
||||
z0 = Eigen::Vector3d(0, 0, 1);
|
||||
|
||||
double psi = atan2(x3.dot(y0), x3.dot(x0));
|
||||
double theta = atan2(-x3.dot(z0), sqrt(pow(x3.dot(x0), 2) + pow(x3.dot(y0), 2)));
|
||||
|
||||
y2 = rot(z0, psi) * y0;
|
||||
z2 = rot(y2, theta) * z0;
|
||||
|
||||
double phi = atan2(y3.dot(z2), y3.dot(y2));
|
||||
|
||||
return {phi, theta, psi};
|
||||
}
|
||||
|
||||
Eigen::Vector3d ned_euler_from_ecef(const ECEF &ecef_init, const Eigen::Vector3d &ecef_pose) {
|
||||
/*
|
||||
Using Rotations to Build Aerospace Coordinate Systems
|
||||
Don Koks
|
||||
https://apps.dtic.mil/dtic/tr/fulltext/u2/a484864.pdf
|
||||
*/
|
||||
LocalCoord converter = LocalCoord(ecef_init);
|
||||
|
||||
Eigen::Vector3d x0 = Eigen::Vector3d(1, 0, 0);
|
||||
Eigen::Vector3d y0 = Eigen::Vector3d(0, 1, 0);
|
||||
Eigen::Vector3d z0 = Eigen::Vector3d(0, 0, 1);
|
||||
|
||||
Eigen::Vector3d x1 = rot(z0, ecef_pose(2)) * x0;
|
||||
Eigen::Vector3d y1 = rot(z0, ecef_pose(2)) * y0;
|
||||
Eigen::Vector3d z1 = rot(z0, ecef_pose(2)) * z0;
|
||||
|
||||
Eigen::Vector3d x2 = rot(y1, ecef_pose(1)) * x1;
|
||||
Eigen::Vector3d y2 = rot(y1, ecef_pose(1)) * y1;
|
||||
Eigen::Vector3d z2 = rot(y1, ecef_pose(1)) * z1;
|
||||
|
||||
Eigen::Vector3d x3 = rot(x2, ecef_pose(0)) * x2;
|
||||
Eigen::Vector3d y3 = rot(x2, ecef_pose(0)) * y2;
|
||||
|
||||
Eigen::Vector3d zero = ecef_init.to_vector();
|
||||
x0 = converter.ned2ecef({1, 0, 0}).to_vector() - zero;
|
||||
y0 = converter.ned2ecef({0, 1, 0}).to_vector() - zero;
|
||||
z0 = converter.ned2ecef({0, 0, 1}).to_vector() - zero;
|
||||
|
||||
double psi = atan2(x3.dot(y0), x3.dot(x0));
|
||||
double theta = atan2(-x3.dot(z0), sqrt(pow(x3.dot(x0), 2) + pow(x3.dot(y0), 2)));
|
||||
|
||||
y2 = rot(z0, psi) * y0;
|
||||
z2 = rot(y2, theta) * z0;
|
||||
|
||||
double phi = atan2(y3.dot(z2), y3.dot(y2));
|
||||
|
||||
return {phi, theta, psi};
|
||||
}
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
Executable
BIN
Binary file not shown.
-309
@@ -1,309 +0,0 @@
|
||||
#include "common/util.h"
|
||||
|
||||
#include <sys/ioctl.h>
|
||||
#include <sys/stat.h>
|
||||
#include <sys/resource.h>
|
||||
|
||||
#include <cassert>
|
||||
#include <cerrno>
|
||||
#include <cstring>
|
||||
#include <dirent.h>
|
||||
#include <fstream>
|
||||
#include <iomanip>
|
||||
#include <random>
|
||||
#include <sstream>
|
||||
|
||||
#ifdef __linux__
|
||||
#include <sys/prctl.h>
|
||||
#include <sys/syscall.h>
|
||||
#ifndef __USE_GNU
|
||||
#define __USE_GNU
|
||||
#endif
|
||||
#include <sched.h>
|
||||
#endif // __linux__
|
||||
|
||||
namespace util {
|
||||
|
||||
void set_thread_name(const char* name) {
|
||||
#ifdef __linux__
|
||||
// pthread_setname_np is dumb (fails instead of truncates)
|
||||
prctl(PR_SET_NAME, (unsigned long)name, 0, 0, 0);
|
||||
#endif
|
||||
}
|
||||
|
||||
int set_realtime_priority(int level) {
|
||||
#ifdef __linux__
|
||||
long tid = syscall(SYS_gettid);
|
||||
|
||||
// should match python using chrt
|
||||
struct sched_param sa;
|
||||
memset(&sa, 0, sizeof(sa));
|
||||
sa.sched_priority = level;
|
||||
return sched_setscheduler(tid, SCHED_FIFO, &sa);
|
||||
#else
|
||||
return -1;
|
||||
#endif
|
||||
}
|
||||
|
||||
int set_core_affinity(std::vector<int> cores) {
|
||||
#ifdef __linux__
|
||||
long tid = syscall(SYS_gettid);
|
||||
cpu_set_t cpu;
|
||||
|
||||
CPU_ZERO(&cpu);
|
||||
for (const int n : cores) {
|
||||
CPU_SET(n, &cpu);
|
||||
}
|
||||
return sched_setaffinity(tid, sizeof(cpu), &cpu);
|
||||
#else
|
||||
return -1;
|
||||
#endif
|
||||
}
|
||||
|
||||
int set_file_descriptor_limit(uint64_t limit_val) {
|
||||
struct rlimit limit;
|
||||
int status;
|
||||
|
||||
if ((status = getrlimit(RLIMIT_NOFILE, &limit)) < 0)
|
||||
return status;
|
||||
|
||||
limit.rlim_cur = limit_val;
|
||||
if ((status = setrlimit(RLIMIT_NOFILE, &limit)) < 0)
|
||||
return status;
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
std::string read_file(const std::string& fn) {
|
||||
std::ifstream f(fn, std::ios::binary | std::ios::in);
|
||||
if (f.is_open()) {
|
||||
f.seekg(0, std::ios::end);
|
||||
int size = f.tellg();
|
||||
if (f.good() && size > 0) {
|
||||
std::string result(size, '\0');
|
||||
f.seekg(0, std::ios::beg);
|
||||
f.read(result.data(), size);
|
||||
// return either good() or has reached end-of-file (e.g. /sys/power/wakeup_count)
|
||||
if (f.good() || f.eof()) {
|
||||
result.resize(f.gcount());
|
||||
return result;
|
||||
}
|
||||
}
|
||||
// fallback for files created on read, e.g. procfs
|
||||
std::stringstream buffer;
|
||||
buffer << f.rdbuf();
|
||||
return buffer.str();
|
||||
}
|
||||
return std::string();
|
||||
}
|
||||
|
||||
std::map<std::string, std::string> read_files_in_dir(const std::string &path) {
|
||||
std::map<std::string, std::string> ret;
|
||||
DIR *d = opendir(path.c_str());
|
||||
if (!d) return ret;
|
||||
|
||||
struct dirent *de = NULL;
|
||||
while ((de = readdir(d))) {
|
||||
if (de->d_type != DT_DIR) {
|
||||
ret[de->d_name] = util::read_file(path + "/" + de->d_name);
|
||||
}
|
||||
}
|
||||
|
||||
closedir(d);
|
||||
return ret;
|
||||
}
|
||||
|
||||
int write_file(const char* path, const void* data, size_t size, int flags, mode_t mode) {
|
||||
int fd = HANDLE_EINTR(open(path, flags, mode));
|
||||
if (fd == -1) {
|
||||
return -1;
|
||||
}
|
||||
ssize_t n = HANDLE_EINTR(write(fd, data, size));
|
||||
close(fd);
|
||||
return (n >= 0 && (size_t)n == size) ? 0 : -1;
|
||||
}
|
||||
|
||||
FILE* safe_fopen(const char* filename, const char* mode) {
|
||||
FILE* fp = NULL;
|
||||
do {
|
||||
fp = fopen(filename, mode);
|
||||
} while ((nullptr == fp) && (errno == EINTR));
|
||||
return fp;
|
||||
}
|
||||
|
||||
size_t safe_fwrite(const void* ptr, size_t size, size_t count, FILE* stream) {
|
||||
size_t written = 0;
|
||||
do {
|
||||
size_t ret = ::fwrite((void*)((char *)ptr + written * size), size, count - written, stream);
|
||||
if (ret == 0 && errno != EINTR) break;
|
||||
written += ret;
|
||||
} while (written != count);
|
||||
return written;
|
||||
}
|
||||
|
||||
int safe_fflush(FILE *stream) {
|
||||
int ret = EOF;
|
||||
do {
|
||||
ret = fflush(stream);
|
||||
} while ((EOF == ret) && (errno == EINTR));
|
||||
return ret;
|
||||
}
|
||||
|
||||
int safe_ioctl(int fd, unsigned long request, void *argp) {
|
||||
int ret;
|
||||
do {
|
||||
ret = ioctl(fd, request, argp);
|
||||
} while ((ret == -1) && (errno == EINTR));
|
||||
return ret;
|
||||
}
|
||||
|
||||
std::string readlink(const std::string &path) {
|
||||
char buff[4096];
|
||||
ssize_t len = ::readlink(path.c_str(), buff, sizeof(buff)-1);
|
||||
if (len != -1) {
|
||||
buff[len] = '\0';
|
||||
return std::string(buff);
|
||||
}
|
||||
return "";
|
||||
}
|
||||
|
||||
bool file_exists(const std::string& fn) {
|
||||
struct stat st = {};
|
||||
return stat(fn.c_str(), &st) != -1;
|
||||
}
|
||||
|
||||
static bool createDirectory(std::string dir, mode_t mode) {
|
||||
auto verify_dir = [](const std::string& dir) -> bool {
|
||||
struct stat st = {};
|
||||
return (stat(dir.c_str(), &st) == 0 && (st.st_mode & S_IFMT) == S_IFDIR);
|
||||
};
|
||||
// remove trailing /'s
|
||||
while (dir.size() > 1 && dir.back() == '/') {
|
||||
dir.pop_back();
|
||||
}
|
||||
// try to mkdir this directory
|
||||
if (mkdir(dir.c_str(), mode) == 0) return true;
|
||||
if (errno == EEXIST) return verify_dir(dir);
|
||||
if (errno != ENOENT) return false;
|
||||
|
||||
// mkdir failed because the parent dir doesn't exist, so try to create it
|
||||
size_t slash = dir.rfind('/');
|
||||
if ((slash == std::string::npos || slash < 1) ||
|
||||
!createDirectory(dir.substr(0, slash), mode)) {
|
||||
return false;
|
||||
}
|
||||
|
||||
// try again
|
||||
if (mkdir(dir.c_str(), mode) == 0) return true;
|
||||
return errno == EEXIST && verify_dir(dir);
|
||||
}
|
||||
|
||||
bool create_directories(const std::string& dir, mode_t mode) {
|
||||
if (dir.empty()) return false;
|
||||
return createDirectory(dir, mode);
|
||||
}
|
||||
|
||||
std::string getenv(const char* key, std::string default_val) {
|
||||
const char* val = ::getenv(key);
|
||||
return val ? val : default_val;
|
||||
}
|
||||
|
||||
int getenv(const char* key, int default_val) {
|
||||
const char* val = ::getenv(key);
|
||||
return val ? atoi(val) : default_val;
|
||||
}
|
||||
|
||||
float getenv(const char* key, float default_val) {
|
||||
const char* val = ::getenv(key);
|
||||
return val ? atof(val) : default_val;
|
||||
}
|
||||
|
||||
std::string hexdump(const uint8_t* in, const size_t size) {
|
||||
std::stringstream ss;
|
||||
ss << std::hex << std::setfill('0');
|
||||
for (size_t i = 0; i < size; i++) {
|
||||
ss << std::setw(2) << static_cast<unsigned int>(in[i]);
|
||||
}
|
||||
return ss.str();
|
||||
}
|
||||
|
||||
int random_int(int min, int max) {
|
||||
std::random_device dev;
|
||||
std::mt19937 rng(dev());
|
||||
std::uniform_int_distribution<std::mt19937::result_type> dist(min, max);
|
||||
return dist(rng);
|
||||
}
|
||||
|
||||
std::string random_string(std::string::size_type length) {
|
||||
const std::string chrs = "0123456789abcdefghijklmnopqrstuvwxyzABCDEFGHIJKLMNOPQRSTUVWXYZ";
|
||||
std::mt19937 rg{std::random_device{}()};
|
||||
std::uniform_int_distribution<std::string::size_type> pick(0, chrs.length() - 1);
|
||||
std::string s;
|
||||
s.reserve(length);
|
||||
while (length--) {
|
||||
s += chrs[pick(rg)];
|
||||
}
|
||||
return s;
|
||||
}
|
||||
|
||||
bool starts_with(const std::string &s1, const std::string &s2) {
|
||||
return strncmp(s1.c_str(), s2.c_str(), s2.size()) == 0;
|
||||
}
|
||||
|
||||
bool ends_with(const std::string& s, const std::string& suffix) {
|
||||
return s.size() >= suffix.size() &&
|
||||
strcmp(s.c_str() + (s.size() - suffix.size()), suffix.c_str()) == 0;
|
||||
}
|
||||
|
||||
std::string strip(const std::string &str) {
|
||||
auto should_trim = [](unsigned char ch) {
|
||||
return std::isspace(ch) || ch == '\0';
|
||||
};
|
||||
|
||||
size_t start = 0;
|
||||
while (start < str.size() && should_trim(static_cast<unsigned char>(str[start]))) {
|
||||
start++;
|
||||
}
|
||||
|
||||
if (start == str.size()) {
|
||||
return "";
|
||||
}
|
||||
|
||||
size_t end = str.size() - 1;
|
||||
while (end > 0 && should_trim(static_cast<unsigned char>(str[end]))) {
|
||||
end--;
|
||||
}
|
||||
|
||||
return str.substr(start, end - start + 1);
|
||||
}
|
||||
|
||||
std::string check_output(const std::string& command) {
|
||||
char buffer[128];
|
||||
std::string result;
|
||||
std::unique_ptr<FILE, decltype(&pclose)> pipe(popen(command.c_str(), "r"), pclose);
|
||||
|
||||
if (!pipe) {
|
||||
return "";
|
||||
}
|
||||
|
||||
while (fgets(buffer, std::size(buffer), pipe.get()) != nullptr) {
|
||||
result += std::string(buffer);
|
||||
}
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
bool system_time_valid() {
|
||||
// Default to August 26, 2024
|
||||
tm min_tm = {.tm_year = 2024 - 1900, .tm_mon = 7, .tm_mday = 26};
|
||||
time_t min_date = mktime(&min_tm);
|
||||
|
||||
struct stat st;
|
||||
if (stat("/lib/systemd/systemd", &st) == 0) {
|
||||
min_date = std::max(min_date, st.st_mtime + 86400); // Add 1 day (86400 seconds)
|
||||
}
|
||||
|
||||
return time(nullptr) > min_date;
|
||||
}
|
||||
|
||||
} // namespace util
|
||||
+1
-1
@@ -1 +1 @@
|
||||
#define COMMA_VERSION "0.9.9"
|
||||
#define COMMA_VERSION "2025.03.18-1285"
|
||||
|
||||
@@ -1,12 +0,0 @@
|
||||
#include <string>
|
||||
|
||||
#include "common/watchdog.h"
|
||||
#include "common/util.h"
|
||||
#include "system/hardware/hw.h"
|
||||
|
||||
const std::string watchdog_fn_prefix = Path::shm_path() + "/wd_"; // + <pid>
|
||||
|
||||
bool watchdog_kick(uint64_t ts) {
|
||||
static std::string fn = watchdog_fn_prefix + std::to_string(getpid());
|
||||
return util::write_file(fn.c_str(), &ts, sizeof(ts), O_WRONLY | O_CREAT) > 0;
|
||||
}
|
||||
+295
-295
@@ -8,308 +8,308 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|
||||
|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 2016-19|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>1,13</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>1,13</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>1,13</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>1,13</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>1,13</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>1,13</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>||
|
||||
|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 v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=ILX 2016-19">Buy Here</a></sub></details>||
|
||||
|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=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 v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2019-21">Buy Here</a></sub></details>||
|
||||
|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>||
|
||||
|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>||
|
||||
|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q2 2018">Buy Here</a></sub></details>||
|
||||
|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q3 2019-23">Buy Here</a></sub></details>||
|
||||
|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=RS3 2018">Buy Here</a></sub></details>||
|
||||
|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=S3 2015-17">Buy Here</a></sub></details>||
|
||||
|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Bolt EV 2022-23">Buy Here</a></sub></details>||
|
||||
|Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Equinox 2019-22">Buy Here</a></sub></details>||
|
||||
|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Silverado 1500 2020-21">Buy Here</a></sub></details>||
|
||||
|Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Trailblazer 2021-22">Buy Here</a></sub></details>||
|
||||
|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2017-18">Buy Here</a></sub></details>||
|
||||
|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2019-20">Buy Here</a></sub></details>||
|
||||
|Chrysler|Pacifica 2021-23|All|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2021-23">Buy Here</a></sub></details>||
|
||||
|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.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>||
|
||||
|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2017-18">Buy Here</a></sub></details>||
|
||||
|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2019-20">Buy Here</a></sub></details>||
|
||||
|Chrysler|Pacifica 2021-23|All|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2021-23">Buy Here</a></sub></details>||
|
||||
|Chrysler|Pacifica Hybrid 2017-18|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 v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2017-18">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 v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2019-24">Buy Here</a></sub></details>||
|
||||
|comma|body|All|openpilot|0 mph|0 mph|[](##)|[](##)|None||
|
||||
|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 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 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|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 2020-22|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>||
|
||||
|Ford|Maverick Hybrid 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick Hybrid 2023-24">Buy Here</a></sub></details>||
|
||||
|Ford|Mustang Mach-E 2021-23|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=Mustang Mach-E 2021-23">Buy Here</a></sub></details>||
|
||||
|Ford|Ranger 2024|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Ranger 2024">Buy Here</a></sub></details>||
|
||||
|Genesis|G70 2018|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2018">Buy Here</a></sub></details>||
|
||||
|Genesis|G70 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2019-21">Buy Here</a></sub></details>||
|
||||
|Genesis|G70 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2022-23">Buy Here</a></sub></details>||
|
||||
|Genesis|G80 2017|All|Stock|19 mph|37 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 2017">Buy Here</a></sub></details>||
|
||||
|Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 2018-19">Buy Here</a></sub></details>||
|
||||
|Genesis|G80 (2.5T Advanced Trim, with HDA II) 2024[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 (2.5T Advanced Trim, with HDA II) 2024">Buy Here</a></sub></details>||
|
||||
|Genesis|G90 2017-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G90 2017-20">Buy Here</a></sub></details>||
|
||||
|Genesis|GV60 (Advanced Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Buy Here</a></sub></details>||
|
||||
|Genesis|GV60 (Performance Trim) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Performance Trim) 2022-23">Buy Here</a></sub></details>||
|
||||
|Genesis|GV70 (2.5T Trim, without HDA II) 2022-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (2.5T Trim, without HDA II) 2022-24">Buy Here</a></sub></details>||
|
||||
|Genesis|GV70 (3.5T Trim, without HDA II) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (3.5T Trim, without HDA II) 2022-23">Buy Here</a></sub></details>||
|
||||
|Genesis|GV70 Electrified (Australia Only) 2022[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 Electrified (Australia Only) 2022">Buy Here</a></sub></details>||
|
||||
|Genesis|GV70 Electrified (with HDA II) 2023-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 Electrified (with HDA II) 2023-24">Buy Here</a></sub></details>||
|
||||
|Genesis|GV80 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV80 2023">Buy Here</a></sub></details>||
|
||||
|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=CUPRA&model=Ateca 2018-23">Buy Here</a></sub></details>||
|
||||
|Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Dodge&model=Durango 2020-21">Buy Here</a></sub></details>||
|
||||
|Ford|Bronco Sport 2021-24|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 v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Bronco Sport 2021-24">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 v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape 2020-22">Buy Here</a></sub></details>||
|
||||
|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 v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape Hybrid 2020-22">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 v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape Plug-in Hybrid 2020-22">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 v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=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 v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=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 v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=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 v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=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 v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=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 v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Focus Hybrid 2018">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 v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=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 v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=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 v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=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 v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=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 v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=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 v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick Hybrid 2022">Buy Here</a></sub></details>||
|
||||
|Ford|Maverick Hybrid 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick Hybrid 2023-24">Buy Here</a></sub></details>||
|
||||
|Ford|Mustang Mach-E 2021-23|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 v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Mustang Mach-E 2021-23">Buy Here</a></sub></details>||
|
||||
|Ford|Ranger 2024|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Ranger 2024">Buy Here</a></sub></details>||
|
||||
|Genesis|G70 2018|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2018">Buy Here</a></sub></details>||
|
||||
|Genesis|G70 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2019-21">Buy Here</a></sub></details>||
|
||||
|Genesis|G70 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2022-23">Buy Here</a></sub></details>||
|
||||
|Genesis|G80 2017|All|Stock|19 mph|37 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 2017">Buy Here</a></sub></details>||
|
||||
|Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 2018-19">Buy Here</a></sub></details>||
|
||||
|Genesis|G80 (2.5T Advanced Trim, with HDA II) 2024[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 (2.5T Advanced Trim, with HDA II) 2024">Buy Here</a></sub></details>||
|
||||
|Genesis|G90 2017-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G90 2017-20">Buy Here</a></sub></details>||
|
||||
|Genesis|GV60 (Advanced Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Buy Here</a></sub></details>||
|
||||
|Genesis|GV60 (Performance Trim) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Performance Trim) 2022-23">Buy Here</a></sub></details>||
|
||||
|Genesis|GV70 (2.5T Trim, without HDA II) 2022-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (2.5T Trim, without HDA II) 2022-24">Buy Here</a></sub></details>||
|
||||
|Genesis|GV70 (3.5T Trim, without HDA II) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (3.5T Trim, without HDA II) 2022-23">Buy Here</a></sub></details>||
|
||||
|Genesis|GV70 Electrified (Australia Only) 2022[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 Electrified (Australia Only) 2022">Buy Here</a></sub></details>||
|
||||
|Genesis|GV70 Electrified (with HDA II) 2023-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 Electrified (with HDA II) 2023-24">Buy Here</a></sub></details>||
|
||||
|Genesis|GV80 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV80 2023">Buy Here</a></sub></details>||
|
||||
|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=GMC&model=Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Accord Hybrid 2018-22">Buy Here</a></sub></details>||
|
||||
|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Civic 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2017-21">Buy Here</a></sub></details>||
|
||||
|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|CR-V 2015-16|Touring Trim|openpilot|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=CR-V 2015-16">Buy Here</a></sub></details>||
|
||||
|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2017-22">Buy Here</a></sub></details>||
|
||||
|Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V Hybrid 2017-22">Buy Here</a></sub></details>||
|
||||
|Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=e 2020">Buy Here</a></sub></details>||
|
||||
|Honda|Fit 2018-20|Honda Sensing|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.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|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>||
|
||||
|Honda|Passport 2019-25|All|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Passport 2019-25">Buy Here</a></sub></details>||
|
||||
|Honda|Pilot 2016-22|Honda Sensing|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Pilot 2016-22">Buy Here</a></sub></details>||
|
||||
|Honda|Ridgeline 2017-25|Honda Sensing|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Ridgeline 2017-25">Buy Here</a></sub></details>||
|
||||
|Hyundai|Azera 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera 2022">Buy Here</a></sub></details>||
|
||||
|Hyundai|Azera Hybrid 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera Hybrid 2019">Buy Here</a></sub></details>||
|
||||
|Hyundai|Azera Hybrid 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera Hybrid 2020">Buy Here</a></sub></details>||
|
||||
|Hyundai|Custin 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Custin 2023">Buy Here</a></sub></details>||
|
||||
|Hyundai|Elantra 2017-18|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2017-18">Buy Here</a></sub></details>||
|
||||
|Hyundai|Elantra 2019|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2019">Buy Here</a></sub></details>||
|
||||
|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Elantra GT 2017-20|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra GT 2017-20">Buy Here</a></sub></details>||
|
||||
|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Genesis 2015-16">Buy Here</a></sub></details>||
|
||||
|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=i30 2017-19">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq 5 (Southeast Asia and Europe only) 2022-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (Southeast Asia and Europe only) 2022-24">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq 5 (with HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-24">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq 5 (without HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-24">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq 6 (with HDA II) 2023-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 6 (with HDA II) 2023-24">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Electric 2019">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq Electric 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Electric 2020">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Hybrid 2017-19">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Hybrid 2020-22">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2019">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq Plug-in Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
|
||||
|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona 2020">Buy Here</a></sub></details>||
|
||||
|Hyundai|Kona 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona 2022">Buy Here</a></sub></details>||
|
||||
|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2018-21">Buy Here</a></sub></details>||
|
||||
|Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2022-23">Buy Here</a></sub></details>||
|
||||
|Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Hybrid 2020">Buy Here</a></sub></details>||
|
||||
|Hyundai|Nexo 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Nexo 2021">Buy Here</a></sub></details>||
|
||||
|Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Santa Cruz 2022-24[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Cruz 2022-24">Buy Here</a></sub></details>||
|
||||
|Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe 2019-20">Buy Here</a></sub></details>|<a href="https://youtu.be/bjDR0YjM__s" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Santa Fe 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Santa Fe Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe Hybrid 2022-23">Buy Here</a></sub></details>||
|
||||
|Hyundai|Santa Fe Plug-in Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe Plug-in Hybrid 2022-23">Buy Here</a></sub></details>||
|
||||
|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata 2018-19">Buy Here</a></sub></details>||
|
||||
|Hyundai|Sonata 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata 2020-23">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Sonata Hybrid 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata Hybrid 2020-23">Buy Here</a></sub></details>||
|
||||
|Hyundai|Staria 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 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=Hyundai&model=Staria 2023">Buy Here</a></sub></details>||
|
||||
|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2021">Buy Here</a></sub></details>||
|
||||
|Hyundai|Tucson 2022[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2022">Buy Here</a></sub></details>||
|
||||
|Hyundai|Tucson 2023-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2023-24">Buy Here</a></sub></details>||
|
||||
|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Diesel 2019">Buy Here</a></sub></details>||
|
||||
|Hyundai|Tucson Hybrid 2022-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Hybrid 2022-24">Buy Here</a></sub></details>||
|
||||
|Hyundai|Tucson Plug-in Hybrid 2024[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Plug-in Hybrid 2024">Buy Here</a></sub></details>||
|
||||
|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Veloster 2019-20">Buy Here</a></sub></details>||
|
||||
|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Jeep&model=Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Jeep&model=Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Carnival 2022-24[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival 2022-24">Buy Here</a></sub></details>||
|
||||
|Kia|Carnival (China only) 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival (China only) 2023">Buy Here</a></sub></details>||
|
||||
|Kia|Ceed 2019-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Ceed 2019-21">Buy Here</a></sub></details>||
|
||||
|Kia|EV6 (Southeast Asia only) 2022-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (Southeast Asia only) 2022-24">Buy Here</a></sub></details>||
|
||||
|Kia|EV6 (with HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (with HDA II) 2022-24">Buy Here</a></sub></details>||
|
||||
|Kia|EV6 (without HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (without HDA II) 2022-24">Buy Here</a></sub></details>||
|
||||
|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Forte 2019-21">Buy Here</a></sub></details>||
|
||||
|Kia|Forte 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Forte 2022-23">Buy Here</a></sub></details>||
|
||||
|Kia|K5 2021-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K5 2021-24">Buy Here</a></sub></details>||
|
||||
|Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K5 Hybrid 2020-22">Buy Here</a></sub></details>||
|
||||
|Kia|K8 Hybrid (with HDA II) 2023[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K8 Hybrid (with HDA II) 2023">Buy Here</a></sub></details>||
|
||||
|Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2020">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2021">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2022">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Niro EV 2023-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 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=Kia&model=Niro EV 2023-24">Buy Here</a></sub></details>||
|
||||
|Kia|Niro Hybrid 2018|All|Stock|10 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2018">Buy Here</a></sub></details>||
|
||||
|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2021">Buy Here</a></sub></details>||
|
||||
|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2022">Buy Here</a></sub></details>||
|
||||
|Kia|Niro Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2023">Buy Here</a></sub></details>||
|
||||
|Kia|Niro Plug-in Hybrid 2018-19|All|Stock|10 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2018-19">Buy Here</a></sub></details>||
|
||||
|Kia|Niro Plug-in Hybrid 2020|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2020">Buy Here</a></sub></details>||
|
||||
|Kia|Niro Plug-in Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2021">Buy Here</a></sub></details>||
|
||||
|Kia|Niro Plug-in Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2022">Buy Here</a></sub></details>||
|
||||
|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Optima 2017">Buy Here</a></sub></details>||
|
||||
|Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Optima 2019-20">Buy Here</a></sub></details>||
|
||||
|Kia|Optima Hybrid 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Optima Hybrid 2019">Buy Here</a></sub></details>||
|
||||
|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Seltos 2021">Buy Here</a></sub></details>||
|
||||
|Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Sorento 2021-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2021-23">Buy Here</a></sub></details>||
|
||||
|Kia|Sorento Hybrid 2021-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 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=Kia&model=Sorento Hybrid 2021-23">Buy Here</a></sub></details>||
|
||||
|Kia|Sorento Plug-in Hybrid 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 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=Kia&model=Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>||
|
||||
|Kia|Sportage 2023-24[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage 2023-24">Buy Here</a></sub></details>||
|
||||
|Kia|Sportage Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage Hybrid 2023">Buy Here</a></sub></details>||
|
||||
|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Stinger 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Stinger 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Stinger 2022-23">Buy Here</a></sub></details>||
|
||||
|Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 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=Kia&model=Telluride 2020-22">Buy Here</a></sub></details>||
|
||||
|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=CT Hybrid 2017-18">Buy Here</a></sub></details>||
|
||||
|Lexus|ES 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES 2017-18">Buy Here</a></sub></details>||
|
||||
|Lexus|ES 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=ES 2019-24">Buy Here</a></sub></details>||
|
||||
|Lexus|ES Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES Hybrid 2017-18">Buy Here</a></sub></details>||
|
||||
|Lexus|ES Hybrid 2019-25|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES Hybrid 2019-25">Buy Here</a></sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Lexus|GS F 2016|All|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=GS F 2016">Buy Here</a></sub></details>||
|
||||
|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=IS 2017-19">Buy Here</a></sub></details>||
|
||||
|Lexus|IS 2022-23|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=IS 2022-23">Buy Here</a></sub></details>||
|
||||
|Lexus|LC 2024|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=LC 2024">Buy Here</a></sub></details>||
|
||||
|Lexus|NX 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX 2018-19">Buy Here</a></sub></details>||
|
||||
|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX 2020-21">Buy Here</a></sub></details>||
|
||||
|Lexus|NX Hybrid 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.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|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>||
|
||||
|Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX Hybrid 2016">Buy Here</a></sub></details>||
|
||||
|Lexus|RX Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX Hybrid 2017-19">Buy Here</a></sub></details>||
|
||||
|Lexus|RX Hybrid 2020-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX Hybrid 2020-22">Buy Here</a></sub></details>||
|
||||
|Lexus|UX Hybrid 2019-24|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.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>1,13</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>1,13</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|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>||
|
||||
|Nissan|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Rogue 2018-20">Buy Here</a></sub></details>||
|
||||
|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 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=X-Trail 2017">Buy Here</a></sub></details>||
|
||||
|Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ram connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.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>1,13</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>1,13</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>6</sup>](#footnotes)|openpilot available[<sup>1,7</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>6</sup>](#footnotes)|openpilot available[<sup>1,7</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>6</sup>](#footnotes)|openpilot available[<sup>1,7</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>||
|
||||
|Subaru|Forester 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</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=Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
|
||||
|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</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=Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
|
||||
|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</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=Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
|
||||
|Subaru|Legacy 2020-22|All[<sup>6</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=Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
|
||||
|Subaru|Outback 2020-22|All[<sup>6</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>6</sup>](#footnotes)|openpilot available[<sup>1,7</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>6</sup>](#footnotes)|openpilot available[<sup>1,7</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>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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>14</sup>](#footnotes)||
|
||||
|Škoda|Kamiq 2021-23[<sup>10,12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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>14</sup>](#footnotes)||
|
||||
|Škoda|Karoq 2019-23[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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>14</sup>](#footnotes)||
|
||||
|Škoda|Superb 2015-22[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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>8</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[<sup>8</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">Buy Here</a></sub></details>||
|
||||
|Tesla|Model Y (with HW3) 2020-23[<sup>8</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>8</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>||
|
||||
|Toyota|Avalon 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon 2017-18">Buy Here</a></sub></details>||
|
||||
|Toyota|Avalon 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon 2019-21">Buy Here</a></sub></details>||
|
||||
|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon 2022">Buy Here</a></sub></details>||
|
||||
|Toyota|Avalon Hybrid 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon Hybrid 2019-21">Buy Here</a></sub></details>||
|
||||
|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon Hybrid 2022">Buy Here</a></sub></details>||
|
||||
|Toyota|C-HR 2017-20|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR 2017-20">Buy Here</a></sub></details>||
|
||||
|Toyota|C-HR 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.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>9</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>9</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>||
|
||||
|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla 2020-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Cross (Non-US only) 2020-23">Buy Here</a></sub></details>||
|
||||
|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Cross Hybrid (Non-US only) 2020-22">Buy Here</a></sub></details>||
|
||||
|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hatchback 2019-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hybrid 2020-22">Buy Here</a></sub></details>||
|
||||
|Toyota|Corolla Hybrid (South America only) 2020-23|All|openpilot|17 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hybrid (South America only) 2020-23">Buy Here</a></sub></details>||
|
||||
|Toyota|Highlander 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander 2017-19">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander 2020-23">Buy Here</a></sub></details>||
|
||||
|Toyota|Highlander Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander Hybrid 2017-19">Buy Here</a></sub></details>||
|
||||
|Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander Hybrid 2020-23">Buy Here</a></sub></details>||
|
||||
|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Mirai 2021">Buy Here</a></sub></details>||
|
||||
|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius 2016">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Prius 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Prius Prime 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius Prime 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius Prime 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius v 2017">Buy Here</a></sub></details>||
|
||||
|Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2016">Buy Here</a></sub></details>||
|
||||
|Toyota|RAV4 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2017-18">Buy Here</a></sub></details>||
|
||||
|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=wJxjDd42gGA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|RAV4 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2022">Buy Here</a></sub></details>||
|
||||
|Toyota|RAV4 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2023-25">Buy Here</a></sub></details>||
|
||||
|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2016">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2019-21">Buy Here</a></sub></details>||
|
||||
|Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.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>1,13</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>1,13</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>1,13</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>1,13</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>1,13</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>1,13</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>1,13</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>1,13</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>1,13</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>1,13</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>1,13</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>1,13</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>1,13</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>1,13</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>1,13</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>1,13</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>1,13</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>1,13</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>1,13</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>1,13</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>1,13</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>1,13</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>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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>1,13</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>1,13</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>1,13</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>14</sup>](#footnotes)||
|
||||
|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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>14</sup>](#footnotes)||
|
||||
|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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>14</sup>](#footnotes)||
|
||||
|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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>1,13</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>1,13</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>1,13</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>1,13</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>1,13</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>1,13</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>1,13</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>||
|
||||
|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Accord Hybrid 2018-22">Buy Here</a></sub></details>||
|
||||
|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Civic 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2017-21">Buy Here</a></sub></details>||
|
||||
|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|CR-V 2015-16|Touring Trim|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2015-16">Buy Here</a></sub></details>||
|
||||
|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2017-22">Buy Here</a></sub></details>||
|
||||
|Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V Hybrid 2017-22">Buy Here</a></sub></details>||
|
||||
|Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=e 2020">Buy Here</a></sub></details>||
|
||||
|Honda|Fit 2018-20|Honda Sensing|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=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 v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=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 v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=HR-V 2019-22">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 v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=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 v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=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 v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=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 v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Odyssey 2018-20">Buy Here</a></sub></details>||
|
||||
|Honda|Passport 2019-23|All|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Passport 2019-23">Buy Here</a></sub></details>||
|
||||
|Honda|Pilot 2016-22|Honda Sensing|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Pilot 2016-22">Buy Here</a></sub></details>||
|
||||
|Honda|Ridgeline 2017-25|Honda Sensing|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Ridgeline 2017-25">Buy Here</a></sub></details>||
|
||||
|Hyundai|Azera 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera 2022">Buy Here</a></sub></details>||
|
||||
|Hyundai|Azera Hybrid 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera Hybrid 2019">Buy Here</a></sub></details>||
|
||||
|Hyundai|Azera Hybrid 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera Hybrid 2020">Buy Here</a></sub></details>||
|
||||
|Hyundai|Custin 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Custin 2023">Buy Here</a></sub></details>||
|
||||
|Hyundai|Elantra 2017-18|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2017-18">Buy Here</a></sub></details>||
|
||||
|Hyundai|Elantra 2019|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2019">Buy Here</a></sub></details>||
|
||||
|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Elantra GT 2017-20|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra GT 2017-20">Buy Here</a></sub></details>||
|
||||
|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Genesis 2015-16">Buy Here</a></sub></details>||
|
||||
|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=i30 2017-19">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq 5 (Southeast Asia and Europe only) 2022-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (Southeast Asia and Europe only) 2022-24">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq 5 (with HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-24">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq 5 (without HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-24">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq 6 (with HDA II) 2023-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 6 (with HDA II) 2023-24">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Electric 2019">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq Electric 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Electric 2020">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Hybrid 2017-19">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Hybrid 2020-22">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2019">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq Plug-in Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
|
||||
|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona 2020">Buy Here</a></sub></details>||
|
||||
|Hyundai|Kona 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona 2022">Buy Here</a></sub></details>||
|
||||
|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2018-21">Buy Here</a></sub></details>||
|
||||
|Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2022-23">Buy Here</a></sub></details>||
|
||||
|Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Hybrid 2020">Buy Here</a></sub></details>||
|
||||
|Hyundai|Nexo 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Nexo 2021">Buy Here</a></sub></details>||
|
||||
|Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Santa Cruz 2022-24[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Cruz 2022-24">Buy Here</a></sub></details>||
|
||||
|Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe 2019-20">Buy Here</a></sub></details>|<a href="https://youtu.be/bjDR0YjM__s" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Santa Fe 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Santa Fe Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe Hybrid 2022-23">Buy Here</a></sub></details>||
|
||||
|Hyundai|Santa Fe Plug-in Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe Plug-in Hybrid 2022-23">Buy Here</a></sub></details>||
|
||||
|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata 2018-19">Buy Here</a></sub></details>||
|
||||
|Hyundai|Sonata 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata 2020-23">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Sonata Hybrid 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata Hybrid 2020-23">Buy Here</a></sub></details>||
|
||||
|Hyundai|Staria 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Staria 2023">Buy Here</a></sub></details>||
|
||||
|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2021">Buy Here</a></sub></details>||
|
||||
|Hyundai|Tucson 2022[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2022">Buy Here</a></sub></details>||
|
||||
|Hyundai|Tucson 2023-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2023-24">Buy Here</a></sub></details>||
|
||||
|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Diesel 2019">Buy Here</a></sub></details>||
|
||||
|Hyundai|Tucson Hybrid 2022-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Hybrid 2022-24">Buy Here</a></sub></details>||
|
||||
|Hyundai|Tucson Plug-in Hybrid 2024[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Plug-in Hybrid 2024">Buy Here</a></sub></details>||
|
||||
|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Veloster 2019-20">Buy Here</a></sub></details>||
|
||||
|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Jeep&model=Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Jeep&model=Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Carnival 2022-24[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival 2022-24">Buy Here</a></sub></details>||
|
||||
|Kia|Carnival (China only) 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival (China only) 2023">Buy Here</a></sub></details>||
|
||||
|Kia|Ceed 2019-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Ceed 2019-21">Buy Here</a></sub></details>||
|
||||
|Kia|EV6 (Southeast Asia only) 2022-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (Southeast Asia only) 2022-24">Buy Here</a></sub></details>||
|
||||
|Kia|EV6 (with HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (with HDA II) 2022-24">Buy Here</a></sub></details>||
|
||||
|Kia|EV6 (without HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (without HDA II) 2022-24">Buy Here</a></sub></details>||
|
||||
|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Forte 2019-21">Buy Here</a></sub></details>||
|
||||
|Kia|Forte 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Forte 2022-23">Buy Here</a></sub></details>||
|
||||
|Kia|K5 2021-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K5 2021-24">Buy Here</a></sub></details>||
|
||||
|Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K5 Hybrid 2020-22">Buy Here</a></sub></details>||
|
||||
|Kia|K8 Hybrid (with HDA II) 2023[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K8 Hybrid (with HDA II) 2023">Buy Here</a></sub></details>||
|
||||
|Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2020">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2021">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2022">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Niro EV 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2023">Buy Here</a></sub></details>||
|
||||
|Kia|Niro Hybrid 2018|All|Stock|10 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2018">Buy Here</a></sub></details>||
|
||||
|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2021">Buy Here</a></sub></details>||
|
||||
|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2022">Buy Here</a></sub></details>||
|
||||
|Kia|Niro Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2023">Buy Here</a></sub></details>||
|
||||
|Kia|Niro Plug-in Hybrid 2018-19|All|Stock|10 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2018-19">Buy Here</a></sub></details>||
|
||||
|Kia|Niro Plug-in Hybrid 2020|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2020">Buy Here</a></sub></details>||
|
||||
|Kia|Niro Plug-in Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2021">Buy Here</a></sub></details>||
|
||||
|Kia|Niro Plug-in Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2022">Buy Here</a></sub></details>||
|
||||
|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Optima 2017">Buy Here</a></sub></details>||
|
||||
|Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Optima 2019-20">Buy Here</a></sub></details>||
|
||||
|Kia|Optima Hybrid 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Optima Hybrid 2019">Buy Here</a></sub></details>||
|
||||
|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Seltos 2021">Buy Here</a></sub></details>||
|
||||
|Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Sorento 2021-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2021-23">Buy Here</a></sub></details>||
|
||||
|Kia|Sorento Hybrid 2021-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Hybrid 2021-23">Buy Here</a></sub></details>||
|
||||
|Kia|Sorento Plug-in Hybrid 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>||
|
||||
|Kia|Sportage 2023-24[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage 2023-24">Buy Here</a></sub></details>||
|
||||
|Kia|Sportage Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage Hybrid 2023">Buy Here</a></sub></details>||
|
||||
|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Stinger 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Stinger 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Stinger 2022-23">Buy Here</a></sub></details>||
|
||||
|Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Telluride 2020-22">Buy Here</a></sub></details>||
|
||||
|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=CT Hybrid 2017-18">Buy Here</a></sub></details>||
|
||||
|Lexus|ES 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES 2017-18">Buy Here</a></sub></details>||
|
||||
|Lexus|ES 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 v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES 2019-24">Buy Here</a></sub></details>||
|
||||
|Lexus|ES Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES Hybrid 2017-18">Buy Here</a></sub></details>||
|
||||
|Lexus|ES Hybrid 2019-25|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES Hybrid 2019-25">Buy Here</a></sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Lexus|GS F 2016|All|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=GS F 2016">Buy Here</a></sub></details>||
|
||||
|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=IS 2017-19">Buy Here</a></sub></details>||
|
||||
|Lexus|IS 2022-23|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=IS 2022-23">Buy Here</a></sub></details>||
|
||||
|Lexus|LC 2024|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=LC 2024">Buy Here</a></sub></details>||
|
||||
|Lexus|NX 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX 2018-19">Buy Here</a></sub></details>||
|
||||
|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX 2020-21">Buy Here</a></sub></details>||
|
||||
|Lexus|NX Hybrid 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=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 v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=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 v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RC 2018-20">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 v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=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 v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=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 v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX 2020-22">Buy Here</a></sub></details>||
|
||||
|Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX Hybrid 2016">Buy Here</a></sub></details>||
|
||||
|Lexus|RX Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX Hybrid 2017-19">Buy Here</a></sub></details>||
|
||||
|Lexus|RX Hybrid 2020-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX Hybrid 2020-22">Buy Here</a></sub></details>||
|
||||
|Lexus|UX Hybrid 2019-24|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=UX Hybrid 2019-24">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 v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator 2020-24">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 v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>||
|
||||
|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=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 v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Altima 2019-20">Buy Here</a></sub></details>||
|
||||
|Nissan|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Rogue 2018-20">Buy Here</a></sub></details>||
|
||||
|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=X-Trail 2017">Buy Here</a></sub></details>||
|
||||
|Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ram connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ram&model=1500 2019-24">Buy Here</a></sub></details>||
|
||||
|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 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=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 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Rivian&model=R1T 2022-24">Buy Here</a></sub></details>||
|
||||
|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Ateca 2016-23">Buy Here</a></sub></details>||
|
||||
|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Leon 2014-20">Buy Here</a></sub></details>||
|
||||
|Subaru|Ascent 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
|
||||
|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
|
||||
|Subaru|Forester 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
|
||||
|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
|
||||
|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
|
||||
|Subaru|Legacy 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
|
||||
|Subaru|Outback 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
|
||||
|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
|
||||
|Škoda|Fabia 2022-23[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Fabia 2022-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
|
||||
|Škoda|Kamiq 2021-23[<sup>10,12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kamiq 2021-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
|
||||
|Škoda|Karoq 2019-23[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Karoq 2019-23">Buy Here</a></sub></details>||
|
||||
|Škoda|Kodiaq 2017-23[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kodiaq 2017-23">Buy Here</a></sub></details>||
|
||||
|Škoda|Octavia 2015-19[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia 2015-19">Buy Here</a></sub></details>||
|
||||
|Škoda|Octavia RS 2016[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia RS 2016">Buy Here</a></sub></details>||
|
||||
|Škoda|Octavia Scout 2017-19[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia Scout 2017-19">Buy Here</a></sub></details>||
|
||||
|Škoda|Scala 2020-23[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Scala 2020-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
|
||||
|Škoda|Superb 2015-22[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Superb 2015-22">Buy Here</a></sub></details>||
|
||||
|Tesla|Model 3 (with HW3) 2019-23[<sup>8</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 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Tesla&model=Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>||
|
||||
|Tesla|Model 3 (with HW4) 2024[<sup>8</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 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Tesla&model=Model 3 (with HW4) 2024">Buy Here</a></sub></details>||
|
||||
|Tesla|Model Y (with HW3) 2020-23[<sup>8</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 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Tesla&model=Model Y (with HW3) 2020-23">Buy Here</a></sub></details>||
|
||||
|Tesla|Model Y (with HW4) 2024[<sup>8</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 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=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 v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Alphard 2019-20">Buy Here</a></sub></details>||
|
||||
|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Alphard Hybrid 2021">Buy Here</a></sub></details>||
|
||||
|Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon 2016">Buy Here</a></sub></details>||
|
||||
|Toyota|Avalon 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon 2017-18">Buy Here</a></sub></details>||
|
||||
|Toyota|Avalon 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon 2019-21">Buy Here</a></sub></details>||
|
||||
|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon 2022">Buy Here</a></sub></details>||
|
||||
|Toyota|Avalon Hybrid 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon Hybrid 2019-21">Buy Here</a></sub></details>||
|
||||
|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon Hybrid 2022">Buy Here</a></sub></details>||
|
||||
|Toyota|C-HR 2017-20|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR 2017-20">Buy Here</a></sub></details>||
|
||||
|Toyota|C-HR 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=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 v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=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 v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR Hybrid 2021-22">Buy Here</a></sub></details>||
|
||||
|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>9</sup>](#footnotes)|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=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>9</sup>](#footnotes)|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=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 v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=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 v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=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 v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla 2017-19">Buy Here</a></sub></details>||
|
||||
|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla 2020-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Cross (Non-US only) 2020-23">Buy Here</a></sub></details>||
|
||||
|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Cross Hybrid (Non-US only) 2020-22">Buy Here</a></sub></details>||
|
||||
|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hatchback 2019-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hybrid 2020-22">Buy Here</a></sub></details>||
|
||||
|Toyota|Corolla Hybrid (South America only) 2020-23|All|openpilot|17 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hybrid (South America only) 2020-23">Buy Here</a></sub></details>||
|
||||
|Toyota|Highlander 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander 2017-19">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander 2020-23">Buy Here</a></sub></details>||
|
||||
|Toyota|Highlander Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander Hybrid 2017-19">Buy Here</a></sub></details>||
|
||||
|Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander Hybrid 2020-23">Buy Here</a></sub></details>||
|
||||
|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Mirai 2021">Buy Here</a></sub></details>||
|
||||
|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius 2016">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Prius 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Prius Prime 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius Prime 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius Prime 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius v 2017">Buy Here</a></sub></details>||
|
||||
|Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2016">Buy Here</a></sub></details>||
|
||||
|Toyota|RAV4 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2017-18">Buy Here</a></sub></details>||
|
||||
|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=wJxjDd42gGA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|RAV4 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2022">Buy Here</a></sub></details>||
|
||||
|Toyota|RAV4 2023-24|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 v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2023-24">Buy Here</a></sub></details>||
|
||||
|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2016">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2019-21">Buy Here</a></sub></details>||
|
||||
|Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|RAV4 Hybrid 2023-25|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 v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2023-25">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 v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas 2018-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas Cross Sport 2020-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=California 2021-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Caravelle 2020">Buy Here</a></sub></details>||
|
||||
|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Golf 2014-20">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf 2015-20">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf Alltrack 2015-19">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTD 2015-20">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTE 2015-20">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTI 2015-21">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf R 2015-19">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf SportsVan 2015-20">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Jetta 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta 2018-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta GLI 2021-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Passat 2015-22[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat 2015-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat Alltrack 2015-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat GTE 2015-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo 2018-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
|
||||
|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
|
||||
|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Cross 2021">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
|
||||
|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Roc 2018-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Taos 2022-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan 2018-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>||
|
||||
|
||||
### Footnotes
|
||||
<sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `nightly-dev`. <br />
|
||||
|
||||
@@ -31,3 +31,13 @@ cd system/loggerd && pytest .
|
||||
# run the linter
|
||||
op lint
|
||||
```
|
||||
|
||||
## Testing
|
||||
|
||||
### Automated Testing
|
||||
|
||||
All PRs and commits are automatically checked by GitHub Actions. Check out `.github/workflows/` for what GitHub Actions runs. Any new tests should be added to GitHub Actions.
|
||||
|
||||
### Code Style and Linting
|
||||
|
||||
Code is automatically checked for style by GitHub Actions as part of the automated tests. You can also run these tests yourself by running `pre-commit run --all`.
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|
||||
</g>
|
||||
<path d="M 425.503 122.113 L 428.63 127.117 L 422.376 127.117 L 425.503 122.113 Z" style="stroke: rgb(0, 0, 0); stroke-width: 0px; fill: rgb(255, 255, 255);" transform="matrix(0, 1, -1, 0, 636.212463, -239.192383)" bx:shape="triangle 422.376 122.113 6.254 5.004 0.5 0 1@278e08c4"/>
|
||||
</svg>
|
||||
|
Before Width: | Height: | Size: 129 B After Width: | Height: | Size: 1.2 KiB |
@@ -1,965 +0,0 @@
|
||||
sunnypilot - 0.9.8.0 (2024-xx-xx)
|
||||
========================
|
||||
* Always on driver monitoring toggle
|
||||
************************
|
||||
* UPDATED: Synced with commaai's openpilot
|
||||
* master commit 4ef757c (July 06, 2024)
|
||||
* NEW❗: Default Driving Model: Notre Dame (July 01, 2024)
|
||||
* NEW❗: Longitudinal: Acceleration Personality thanks to kegman, rav4kumar, and arne1282!
|
||||
* Select from three distinct acceleration personalities: Eco, Normal, and Sport
|
||||
* Acceleration personalities are integrated directly into the model's acceleration matrix and can be activated in real-time!
|
||||
* NEW❗: Longitudinal: Dynamic Personality thanks to rav4kumar!
|
||||
* Dynamically adjusts following distance and reaction based on your "Driving Personality" setting
|
||||
* Personalities adapt in real-time to your speed and the distance to the lead car
|
||||
* Provides a more responsive and tailored driving experience compared to predefined settings
|
||||
* UPDATED: Driving Personality: Updated mode names
|
||||
* Aggressive, Moderate, Standard, Relaxed
|
||||
* NEW❗: Toyota - Enhanced Blind Spot Monitor (BSM) thanks to arne182, rav4kumar, and eFiniLan!
|
||||
* Enables Blind Spot Monitor (BSM) signals parsing in sunnypilot using the factory Blind Spot Monitor (BSM)
|
||||
* sunnypilot will use debugging CAN messages to receive unfiltered BSM signals, allowing detection of more objects
|
||||
* Supported platforms
|
||||
* RAV4 TSS1, equipped with factory Blind Spot Monitoring (BSM)
|
||||
* Lexus LSS1, equipped with factory Blind Spot Monitoring (BSM)
|
||||
* Toyota TSS1/1.5, equipped with factory Blind Spot Monitoring (BSM)
|
||||
* Prius TSS2, equipped with factory Blind Spot Monitoring (BSM)
|
||||
* NOTE: Only enable this feature if your Toyota/Lexus vehicle has factory Blind Spot Monitor equipped, and mentioned in the supported platforms list
|
||||
* UPDATED: Toyota: TSS2 longitudinal: Custom Tuning
|
||||
* Re-tuned and tested by the community (July 1, 2024)
|
||||
* UPDATED: Driving Model Selector v5
|
||||
* NEW❗: Driving Model additions
|
||||
* Notre Dame (July 01, 2024) - NDv3
|
||||
* UPDATED: Toyota: Continued support for Smart DSU (SDSU) and Radar CAN Filter
|
||||
* In response to the official deprecation of support for Smart DSU (SDSU) and Radar CAN Filter in the upstream ([commaai/openpilot#32777](https://github.com/commaai/openpilot/pull/32777)), sunnypilot will continue maintaining software support for Smart DSU (SDSU) and Radar CAN Filter
|
||||
* UPDATED: Continued support for Mapbox navigation
|
||||
* In response to the official temporary deprecation of support for Mapbox navigation in the upstream ([commaai/openpilot#32773](https://github.com/commaai/openpilot/pull/32773)), sunnypilot will continue maintaining software support for Mapbox navigation
|
||||
* NEW❗: Toyota - Automatic Door Locking and Unlocking thanks to AlexandreSato, cydia2020, and dragonpilot-community!
|
||||
* Auto Lock by Speed: All doors are automatically locked when vehicle speed is approximately 6 mph (10 km/h) or higher
|
||||
* Auto Unlock by Shift to P: All doors are automatically unlocked when shifting the shift lever to P
|
||||
* FIXED: Driving Personality:
|
||||
* Maniac mode now correctly enforced when selected
|
||||
* UI Updates
|
||||
* Display Metrics Below Chevron
|
||||
* NEW❗: Time to Lead Car
|
||||
* Displays the time to reach the position previously occupied by the lead car
|
||||
* NEW❗: Display Distance, Speed, and Time to Lead Car simultaneously
|
||||
* Kia Ceed Plug-in Hybrid Non-SCC 2022 support thanks to TerminatorNL!
|
||||
|
||||
sunnypilot - 0.9.7.1 (2024-06-13)
|
||||
========================
|
||||
* New driving model
|
||||
* Inputs the past curvature for smoother and more accurate lateral control
|
||||
* Simplified neural network architecture in the model's last layers
|
||||
* Minor fixes to desire augmentation and weight decay
|
||||
* New driver monitoring model
|
||||
* Improved end-to-end bit for phone detection
|
||||
* Adjust driving personality with the follow distance button
|
||||
* Support for hybrid variants of supported Ford models
|
||||
* Fingerprinting without the OBD-II port on all cars
|
||||
* Improved fuzzy fingerprinting for Ford and Volkswagen
|
||||
************************
|
||||
* UPDATED: Synced with commaai's openpilot
|
||||
* master commit f8cb04e (June 10, 2024)
|
||||
* NEW❗: sunnylink (Alpha early access)
|
||||
* NEW❗: Config/Settings Backup
|
||||
* Remotely back up and restore sunnypilot settings easily
|
||||
* Device registration with sunnylink ensures a secure, integrated experience across services
|
||||
* AES encryption derived from the device's RSA private key is used for utmost security
|
||||
* Settings are encrypted on-device, transmitted securely via HTTPS, and stored encrypted on sunnylink
|
||||
* Prevents loss of settings after device resets, offering peace of mind through end-to-end encryption
|
||||
* Early alpha access to all current and previous GitHub Sponsors and Patreon supporters
|
||||
* GitHub account pairing from device settings scanning QR code
|
||||
* Pairing your account will allow you to access features via our API (still WIP but accessible if you dig a little on our code 😉)
|
||||
* Allow inheritance of your sponsorship status, allowing you to get extra features and early access whenever applicable
|
||||
* NEW❗: iOS Siri Shortcuts Navigation support thanks to twilsonco and mike86437!
|
||||
* iOS and macOS Shortcuts to quickly set navigation destinations from your iOS device
|
||||
* comma Prime support
|
||||
* Personal Mapbox/Amap/Google Maps token support
|
||||
* Instructions on how to set up your iOS Siri Shortcuts: https://routinehub.co/shortcut/17677/
|
||||
* NEW❗: Forced Offroad mode
|
||||
* Force sunnypilot in the offroad state even when the car is on
|
||||
* When Forced Offroad mode is on, allows changing offroad-only settings even when the car is turned on
|
||||
* To engage/disengage Force Offroad, go to Settings -> Device panel
|
||||
* UPDATED: Auto Lane Change Timer -> Auto Lane Change by Blinker
|
||||
* NEW❗: New "Off" option to disable lane change by blinker
|
||||
* UPDATED: Pause Lateral Below Speed with Blinker
|
||||
* NEW❗: Customizable Pause Lateral Speed
|
||||
* Pause lateral actuation with blinker when traveling below the desired speed selected. Default is 20 MPH or 32 km/h.
|
||||
* UPDATED: Hyundai CAN Longitudinal
|
||||
* Auto-enable radar tracks on platforms with applicable Mando radar
|
||||
* UPDATED: Hyundai CAN-FD Camera-based SCC
|
||||
* NEW❗: Parse lead info for camera-based SCC platforms with longitudinal support
|
||||
* Improve lead tracking when using openpilot longitudinal
|
||||
* RE-ENABLED: Map-based Turn Speed Control (M-TSC) for supported platforms
|
||||
* openpilot Longitudinal Control available cars
|
||||
* Custom Stock Longitudinal Control available cars
|
||||
* UPDATED: Continued support for comma Pedal
|
||||
* In response to the official deprecation of support for comma Pedal in the upstream, sunnypilot will continue maintaining software support for comma Pedal
|
||||
* UPDATED: Driving Model Selector v4
|
||||
* NEW❗: Driving Model additions
|
||||
* North Dakota (April 29, 2024) - NDv2
|
||||
* WD40 (April 09, 2024) - WD40
|
||||
* Duck Amigo (March 18, 2024) - DA
|
||||
* Recertified Herbalist (March 01, 2024) - CHLR
|
||||
* Legacy Driving Models with Navigate on openpilot (NoO) support
|
||||
* Includes Duck Amigo and all preceding models
|
||||
* UPDATED: Bumping mapd by [@pfeiferj](https://github.com/pfeiferj) to version [v1.9.0](https://github.com/pfeiferj/mapd/releases/tag/v1.9.0) thanks to pfeiferj!
|
||||
* UPDATED: Reset Mapbox Access Token -> Reset Access Tokens for Map Services
|
||||
* Reset self-service access tokens for Mapbox, Amap, and Google Maps
|
||||
* UPDATED: Upstream native support for Gap Adjust Cruise
|
||||
* UPDATED: Neural Network Lateral Control (NNLC)
|
||||
* Due to upstream changes with platform simplifications, most platforms will match and fallback to combined platform model
|
||||
* This will be updated when the new mapping of platforms are restructured (thanks @twilsonco 😉)
|
||||
* UI Updates
|
||||
* Display Metrics Below Chevron
|
||||
* NEW❗: Metrics is now being displayed below the chevron instead of above
|
||||
* NEW❗: Display both Distance and Speed simultaneously
|
||||
* NEW❗: View sunnylink connectivity status on the left sidebar!
|
||||
|
||||
sunnypilot - 0.9.6.2 (2024-05-29)
|
||||
========================
|
||||
* REMOVED: Screen Recorder
|
||||
* Screen Recorder is removed due to unnecessary resource usage
|
||||
* An improved version will be available in the near future. Stay tuned!
|
||||
|
||||
sunnypilot - 0.9.6.1 (2024-02-27)
|
||||
========================
|
||||
* New driving model
|
||||
* Vision model trained on more data
|
||||
* Improved driving performance
|
||||
* Directly outputs curvature for lateral control
|
||||
* New driver monitoring model
|
||||
* Trained on larger dataset
|
||||
* AGNOS 9
|
||||
* comma body streaming and controls over WebRTC
|
||||
* Improved fuzzy fingerprinting for many makes and models
|
||||
* Alpha longitudinal support for new Toyota models
|
||||
* Chevrolet Equinox 2019-22 support thanks to JasonJShuler and nworb-cire!
|
||||
* Dodge Durango 2020-21 support
|
||||
* Hyundai Staria 2023 support thanks to sunnyhaibin!
|
||||
* Kia Niro Plug-in Hybrid 2022 support thanks to sunnyhaibin!
|
||||
* Lexus LC 2024 support thanks to nelsonjchen!
|
||||
* Toyota RAV4 2023-24 support
|
||||
* Toyota RAV4 Hybrid 2023-24 support
|
||||
************************
|
||||
* UPDATED: Synced with commaai's openpilot
|
||||
* master commit db57a21 (February 22, 2024)
|
||||
* v0.9.6 release (February 27, 2024)
|
||||
* UPDATED: Dynamic Experimental Control (DEC)
|
||||
* Synced with dragonpilot-community/dragonpilot:beta3 commit f4ee52f
|
||||
* NEW❗: Default Driving Model: Certified Herbalist v2 (February 13, 2024)
|
||||
* UPDATED: Driving Model Selector v3
|
||||
* NEW❗: Driving Model additions
|
||||
* Certified Herbalist v2 (February 13, 2024) - CHv2
|
||||
* Certified Herbalist (February 5, 2024) - CH
|
||||
* Los Angeles v2 (January 24, 2024) - LAv2
|
||||
* Los Angeles (January 22, 2024) - LAv1
|
||||
* NEW❗: Model Caching thanks to DevTekVE!
|
||||
* Model caching allows the selection of previously downloaded Driving Model
|
||||
* Users can now access cached versions of selected models, eliminating redundant downloads for previously fetched models
|
||||
* Legacy Driving Models support
|
||||
* New Delhi (December 21, 2023) - ND
|
||||
* Blue Diamond v2 (December 11, 2023) - BDv2
|
||||
* Blue Diamond (November 18, 2023) - BDv1
|
||||
* Farmville (November 7, 2023) - FV
|
||||
* Night Strike (October 3, 2023) - NS
|
||||
* Certain features are deprecated with newer Driving Models
|
||||
* Dynamic Lane Profile (DLP)
|
||||
* Custom Offsets
|
||||
* UPDATED: Dynamic Lane Profile (DLP)
|
||||
* Continued support for Legacy Driving Models (e.g., ND, BDv2, BDv1, FV, NS)
|
||||
* Deprecated support for newer Driving Models (e.g., CHv2, CH, LAv2, LAv1)
|
||||
* UPDATED: Custom Offsets
|
||||
* Continued support for Legacy Driving Models (e.g., ND, BDv2, BDv1, FV, NS)
|
||||
* Deprecated support for newer Driving Models (e.g., CHv2, CH, LAv2, LAv1)
|
||||
* UPDATED: Hyundai/Kia/Genesis - ESCC Radar Interceptor
|
||||
* Message parsing improvements with the latest firmware update: https://github.com/sunnypilot/panda/tree/test-escc-smdps
|
||||
* UI Updates
|
||||
* NEW❗: Visuals: Display Feature Status toggle
|
||||
* Display the statuses of certain features on the driving screen
|
||||
* NEW❗: Visuals: Enable Onroad Settings toggle
|
||||
* Display the Onroad Settings button on the driving screen to adjust feature options on the driving screen, without navigating into the settings menu
|
||||
* REMOVED: "Device ambient" temperature option on the sidebar
|
||||
* FIXED: New comma 3X support
|
||||
* FIXED: New comma eSIM support
|
||||
* Bug fixes and performance improvements
|
||||
|
||||
sunnypilot - 0.9.5.3 (2023-12-24)
|
||||
========================
|
||||
* UPDATED: Dynamic Experimental Control (DEC)
|
||||
* Synced with dragonpilot-community/dragonpilot:lp-dp-beta2 commit 578d38b
|
||||
* UPDATED: Driving Model Selector v2
|
||||
* Driving models sort in descending order based on availability date
|
||||
* Experimental/unmerged driving models are only available in "dev-c3" branch
|
||||
* To select and use experimental driving models, navigate to "Software" panel, select the "dev-c3" branch, and check for update
|
||||
* UPDATED: Vision-based Turn Speed Control (V-TSC) implementation
|
||||
* Refactored implementation thanks to pfeiferj!
|
||||
* More accurate and consistent velocity calculation to achieve smoother longitudinal control in curves
|
||||
* NEW❗: Speed Limit Warning
|
||||
* Display alert and/or chime to warn the driver when the cruising speed is faster than the speed limit plus the Warning Offset
|
||||
* Customizable Warning Offset, independent of Speed Limit Control (SLC)'s Limit Offset
|
||||
* UPDATED: Speed Limit Source Policy
|
||||
* Selectable speed limit source for Speed Limit Control and Speed Limit Warning
|
||||
* Applicable to: Speed Limit Control, Speed Limit Warning
|
||||
* UPDATED: Speed Limit Control (SLC)
|
||||
* Engage Mode: Removed "Warning Only" mode - this has been replaced by the new Speed Limit Warning sub-menu
|
||||
* UPDATED: OpenStreetMap (OSM) implementation
|
||||
* Refactored implementation thanks to pfeiferj!
|
||||
* Less resource impact
|
||||
* Significantly smaller sizes with databases
|
||||
* All regions are available to download
|
||||
* Weekly map updates thanks to pfeiferj!
|
||||
* Increased the font size of the road name
|
||||
* C3X-specific changes
|
||||
* Altitude (ALT.) display on Developer UI
|
||||
* Current street name on top of driving screen when "OSM Debug UI" is enabled
|
||||
* UPDATED: Map-based Turn Speed Control (M-TSC) implementation
|
||||
* Only available in "staging-c3" and "dev-c3" branches. If you are using "release-c3" branch, navigate to "Software" panel, select the desired target branch, and check for update
|
||||
* Refactored implementation thanks to pfeiferj!
|
||||
* Based on the new OpenStreetMap implementation
|
||||
* Improved predicted curvature calculations from OpenStreetMap data
|
||||
* UI updates
|
||||
* RE-ENABLED: Navigation: Full screen support
|
||||
* Display the map view in full screen
|
||||
* To switch back to driving view, tap on the border edge
|
||||
* Hyundai Bayon Non-SCC 2019 support thanks to polein78!
|
||||
|
||||
sunnypilot - 0.9.5.2 (2023-12-07)
|
||||
========================
|
||||
* NEW❗: MADS: Allow Navigate on openpilot in Chill Mode
|
||||
* Allow navigation to feed map view into the driving model while using Chill Mode
|
||||
* Support all platforms, including platforms that do not support openpilot longitudinal control & Experimental Mode
|
||||
* NEW❗: Neural Network Lateral Controller
|
||||
* Formerly known as "NNFF", this replaces the lateral "torque" controller with one using a neural network trained on each car's (actually, each separate EPS firmware) driving data for increased controls accuracy
|
||||
* Contact @twilsonco in the sunnypilot Discord server with feedback, or to provide log data for your car if your car is currently unsupported
|
||||
* NEW❗: Driving Model Selector
|
||||
* Easily switch between driving models without reinstalling branches. Offering immediate access to the latest models upon release
|
||||
* An internet connection is required for downloading models. Each model switch currently involves downloading the model again. Future updates may allow for offline switching
|
||||
* Warning is displayed for metered connections to avoid unexpected data usage if on cellular data
|
||||
* Change driving models via **Settings -> Software -> Current Driving Model**.
|
||||
* NEW❗: Hyundai CAN longitudinal:
|
||||
* NEW❗: Enable radar tracks for certain Santa Fe platforms
|
||||
* Internal Combustion Engine (ICE) 2021-23
|
||||
* Hybrid 2022-23
|
||||
* Plug-in Hybrid 2022-23
|
||||
* NEW❗: Lane Change: When manually braking with steering engaged, turning on the turn signal will default to Nudge mode
|
||||
* Volkswagen MQB CC only platforms (radar or no radar) support thanks to jyoung8607!
|
||||
|
||||
sunnypilot - 0.9.5.1 (2023-11-17)
|
||||
========================
|
||||
* UPDATED: Synced with commaai's master commit e94c3c5
|
||||
* NEW❗: Farmville driving model
|
||||
* NEW❗: Onroad Settings Panel
|
||||
* Onroad buttons (i.e., DLP, GAC) moved to its dedicated panel
|
||||
* Driving Personality
|
||||
* Dynamic Lane Profile (DLP)
|
||||
* Dynamic Experimental Control (DEC)
|
||||
* Speed Limit Control (SLC)
|
||||
* NEW❗: Display main feature status on onroad view in real-time
|
||||
* GAP - Driving Personality
|
||||
* DLP - Dynamic Lane Profile
|
||||
* DEC - Dynamic Experimental Control
|
||||
* SLC - Speed Limit Control
|
||||
* NEW❗: Dynamic Experimental Control (DEC) thanks to dragonpilot-community!
|
||||
* Automatically determines and selects between openpilot ACC and openpilot End to End longitudinal based on conditions for a more natural drive
|
||||
* Dynamic Experimental Control is only active while in Experimental Mode
|
||||
* When Dynamic Experimental Control is ON, initially setting cruise speed will set to the vehicle's current speed
|
||||
* NEW❗: Hyundai CAN longitudinal:
|
||||
* NEW❗: Parse lead info for camera-based SCC platforms
|
||||
* Improve lead tracking when using openpilot longitudinal
|
||||
* NEW❗: Parse lead distance to display on car cluster
|
||||
* Introduced better lead distance calculation to display on the car's cluster, replacing the binary "lead visible" indication on the SCC cluster
|
||||
* Lead distance is now categorized into different ranges for more detailed and comprehensive information to the driver similar to how stock ACC does it
|
||||
* NEW❗: Parse speed limit sign recognition from camera for certain supported platforms
|
||||
* NEW❗: Subaru - Stop and Go auto-resume support thanks to martinl!
|
||||
* Global (excluding Gen 2 and Hybrid) and Pre-Global support
|
||||
* NEW❗: Toyota - Stop and Go hack
|
||||
* Allow some Toyota/Lexus cars to auto resume during stop and go traffic
|
||||
* Only applicable to certain models and model years
|
||||
* NEW❗: Toyota: ZSS support thanks to dragonpilot-community and ErichMoraga!
|
||||
* NEW❗: MSPA (Cereal structs refactor)
|
||||
* Make sunnypilot Parsable Again - @sshane
|
||||
* sunnypilot is now parsable with stock openpilot tools
|
||||
* NEW❗: Display 3D buildings on map thanks to jakethesnake420!
|
||||
* openpilot Longitudianl Control capable cars only
|
||||
* UPDATED: Gap Adjust Cruise is now a part of Driving Personality
|
||||
* [DISTANCE/FOLLOW DISTANCE/GAP DISTANCE] physical button on the steering wheel to select Driving Personality on by default
|
||||
* Status now viewable in onroad view or Onroad Settings Panel
|
||||
* REMOVED: Gap Adjust Cruise toggle
|
||||
* UPDATED: Speed Limit Control (SLC)
|
||||
* NEW❗: Speed Limit Engage Mode
|
||||
* Select the desired mode to set the cruising speed to the speed limit
|
||||
* Warning Only: Warn the driver when the vehicle is driven faster than the speed limit
|
||||
* Auto: Automatic speed adjustment on motorways based on speed limit data
|
||||
* User Confirm: Inform the driver to change set speed of Adaptive Cruise Control to help the driver stay within the speed limit
|
||||
* Supported platforms
|
||||
* openpilot Longitudinal Control available cars (Excluding certain Toyota/Lexus, Ford, explained below)
|
||||
* Custom Stock Longitudinal Control available cars
|
||||
* Unsupported platforms
|
||||
* Toyota/Lexus and Ford - most platforms do not allow us to control the PCM's set speed, requires testers to verify
|
||||
* NEW❗: Speed limit source selector
|
||||
* Select the desired precedence order of sources used to adapt cruise speed to road limits
|
||||
* UPDATED: Custom Stock Longitudinal Control
|
||||
* RE-ENABLED: Hyundai/Kia/Genesis CAN-FD platforms
|
||||
* UPDATED: Custom Offsets reimplementation
|
||||
* Camera Offset only works in Laneful (Laneful Only or Laneful in Auto mode when using Dynamic Lane Profile)
|
||||
* Path Offset can be applied to both Laneless and Laneful
|
||||
* UPDATED: Refactored Torque Lateral Control custom tuning menu
|
||||
* NEW❗: Less Restrict Settings for Self-Tune (Beta)
|
||||
* NEW❗: Custom Tuning for setting offline and live values in real-time
|
||||
* UPDATED: Auto-detect custom Mapbox token if a personal Mapbox token is provided
|
||||
* REMOVED: "Enable Mapbox Navigation" toggle
|
||||
* UI updates
|
||||
* New Settings menu redesign and improved interactions
|
||||
* FIXED: Retain hotspot/tethering state was not consistently saved
|
||||
* FIXED: Map stuck in "Map Loading" if comma Prime is active
|
||||
* FIXED: OpenStreetMap implementation on C3X devices
|
||||
* M-TSC
|
||||
* Altitude (ALT.) display on Developer UI
|
||||
* Current street name on top of driving screen when "OSM Debug UI" is enabled
|
||||
* Hyundai Kona Non-SCC 2019 support thanks to Quex!
|
||||
* Kia Seltos Non-SCC 2023-24 support thanks to Moodkiller and jeroid_!
|
||||
|
||||
sunnypilot - 0.9.4.1 (2023-08-11)
|
||||
========================
|
||||
* UPDATED: Synced with commaai's 0.9.4 release
|
||||
* NEW❗: Moonrise driving model
|
||||
* NEW❗: Ford upstream models support
|
||||
* UPDATED: Dynamic Lane Profile selector in the "SP - Controls" menu
|
||||
* REMOVED: Dynamic Lane Profile driving screen UI button
|
||||
* FIXED: Disallow torque lateral control for angle control platforms (e.g. Ford, Nissan, Tesla)
|
||||
* Torque lateral control cannot be used by angle control platforms, and would cause a "Controls Unresponsive" error if Torque lateral control is enforced in settings
|
||||
* REMOVED: Speed Limit Style override
|
||||
* Honda Accord 2016-17 support thanks to mlocoteta!
|
||||
* Serial Steering hardware required. For more information, see https://github.com/mlocoteta/serialSteeringHardware
|
||||
* mapd: utilize advisory speed limit in curves (#142) thanks to pfeiferj!
|
||||
|
||||
sunnypilot - 0.9.3.1 (2023-07-09)
|
||||
========================
|
||||
* UPDATED: Synced with commaai's 0.9.3 release
|
||||
* NEW❗: Display Temperature on Sidebar toggle
|
||||
* Display Ambient temperature, memory temperature, CPU core with the highest temperature, GPU temperature, or max of Memory/CPU/GPU on the sidebar
|
||||
* Replace "Display CPU Temperature on Sidebar" toggle
|
||||
* NEW❗: Hot Coffee driving model
|
||||
* NEW❗: HKG CAN: Smoother Stopping Performance (Beta) toggle
|
||||
* Smoother stopping behind a stopped car or desired stopping event.
|
||||
* This is only applicable to HKG CAN platforms using openpilot longitudinal control
|
||||
* NEW❗: Toyota: TSS2 longitudinal: Custom Tuning
|
||||
* Smoother longitudinal performance for Toyota/Lexus TSS2/LSS2 cars thanks to dragonpilot-community!
|
||||
* NEW❗: Enable Screen Recorder toggle
|
||||
* Enable this will display a button on the onroad screen to toggle on or off real-time screen recording with UI elements.
|
||||
* IMPROVED: Dynamic Lane Profile: when using Laneline planner via Laneline Mode or Auto Mode, enforce Laneless planner while traveling below 10 MPH or 16 km/h
|
||||
* REMOVED: Display CPU Temperature on Sidebar
|
||||
|
||||
sunnypilot - 0.9.2.3 (2023-06-18)
|
||||
========================
|
||||
* NEW❗: Auto Lane Change: Delay with Blind Spot
|
||||
* Toggle to enable a delay timer for seamless lane changes when blind spot monitoring (BSM) detects an obstructing vehicle, ensuring safe maneuvering
|
||||
* NEW❗: Driving Screen Off: Wake with Non-Critical Events
|
||||
* When Driving Screen Off Timer is not set to "Always On":
|
||||
* Enabled: Wake the brightness of the screen to display all events
|
||||
* Disabled: Wake the brightness of the screen to display critical events
|
||||
* Currently, all non-nudge modes are default to continue lane change after 1 seconds of blind spot detection
|
||||
* NEW❗: Fleet Manager PIN Requirement toggle
|
||||
* User can now enable or disable PIN requirement on the comma device before accessing Fleet Manager
|
||||
* NEW❗: Reset all sunnypilot settings toggle
|
||||
* NEW❗: Turn signals display on screen when blinker is used
|
||||
* Green: Blinker is on
|
||||
* Red: Blinker is on, car detected in the adjacent blind spot or road edge detected
|
||||
* IMPROVED: mapd: better exceptions handling when loading dependencies
|
||||
* UPDATED: Green Traffic Light Chime no longer displays an orange border when executed
|
||||
* FIXED: mapd: Road name flashing caused by desync with last GPS timestamp
|
||||
* FIXED: Ram HD (2500/3500): Ignore paramsd sanity check
|
||||
* Live parameters have trouble with self-tuning on this platform with upstream openpilot 0.9.2
|
||||
* Hyundai: Longitudinal support for CAN-based Camera SCC cars thanks to Zack1010OP's Patreon sponsor!
|
||||
|
||||
sunnypilot - 0.9.2.2 (2023-06-13)
|
||||
========================
|
||||
* NEW❗: Toyota: Allow M.A.D.S. toggling with LKAS Button (Beta)
|
||||
* IMPROVED: Ram: cruise button handling
|
||||
|
||||
sunnypilot - 0.9.2.1 (2023-06-10)
|
||||
========================
|
||||
* UPDATED: Synced with commaai's 0.9.2 release
|
||||
* UPDATED: feature revamp with better stability
|
||||
* UPDATED:
|
||||
* M.A.D.S.
|
||||
* Path color becomes LIGHT ORANGE during Driver Steering Override
|
||||
* Gap Adjust Cruise (now known as Driving Personality in upstream openpilot 0.9.3):
|
||||
* Updated profiles and jerk changes
|
||||
* Experimental Mode support
|
||||
* Three settings: Stock, Aggressive, and Maniac
|
||||
* Stock is recommended and the default
|
||||
* In Aggressive/Maniac mode, lead follow distance is shorter and quicker gas/brake response
|
||||
* Dynamic Lane Profile
|
||||
* Display blue borders on both sides of the driving path when Laneline mode is being used in the planner
|
||||
* Auto Mode optimization
|
||||
* Permanent: Laneless during Auto Lane Change execution
|
||||
* Mapd
|
||||
* OpenStreetMap Database: new regions added
|
||||
* Developer UI (Dev UI)
|
||||
* REMOVED: 2-column design
|
||||
* NEW❗: 1-column + 1-row design
|
||||
* Custom Stock Longitudinal Control
|
||||
* NEW❗: Chrysler/Jeep/Ram support
|
||||
* NEW❗: Mazda support
|
||||
* NEW❗: Volkswagen PQ support
|
||||
* DISABLED: Hyundai/Kia/Genesis CAN-FD platforms
|
||||
* NEW❗: Switch between Chill (openpilot ACC) and Experimental (E2E longitudinal) with DISTANCE button on the steering wheel
|
||||
* To switch between Chill and Experimental Mode: press and hold the DISTANCE button on the steering wheel for over 0.5 second
|
||||
* All openpilot longitudinal capable cars support
|
||||
* NEW❗: Nicki Minaj driving model
|
||||
* NEW❗: Nissan and Mazda upstream models support
|
||||
* NEW❗: Pre-Global Subaru upstream models support
|
||||
* NEW❗: Display End-to-end Longitudinal Status (Beta)
|
||||
* Display an icon that appears when the End-to-end model decides to start or stop
|
||||
* NEW❗: Green Traffic Light Chime (Beta)
|
||||
* A chime will play when the traffic light you are waiting for turns green, and you have no vehicle in front of you.
|
||||
* NEW❗: Lead Vehicle Departure Alert
|
||||
* Notify when the leading vehicle drives away
|
||||
* NEW❗: Speedometer: Display True Speed
|
||||
* Display the true vehicle current speed from wheel speed sensors.
|
||||
* NEW❗: Speedometer: Hide from Onroad Screen
|
||||
* NEW❗: Auto-Hide UI Buttons
|
||||
* Hide UI buttons on driving screen after a 30-second timeout. Tap on the screen at anytime to reveal the UI buttons
|
||||
* Applicable to Dynamic Lane Profile (DLP) and Gap Adjust Cruise (GAC)
|
||||
* NEW❗: Display DM Camera in Reverse Gear
|
||||
* Show Driver Monitoring camera while the car is in reverse gear
|
||||
* NEW❗: Block Lane Change: Road Edge Detection (Beta)
|
||||
* Block lane change when road edge is detected on the stalk actuated side
|
||||
* NEW❗: Display CPU Temperature on Sidebar
|
||||
* Display the CPU core with the highest temperature on the sidebar
|
||||
* NEW❗: Display current driving model in Software settings
|
||||
* NEW❗: HKG: smartMDPS automatic detection (installed with applicable firmware)
|
||||
* FIXED: Unintended siren/alarm from the comma device if the vehicle is turned off too quickly in PARK gear
|
||||
* FIXED: mapd: Exception handling for loading dependencies
|
||||
* Fleet Manager via Browser support thanks to actuallylemoncurd, AlexandreSato, ntegan1, and royjr!
|
||||
* Access your dashcam footage, screen recordings, and error logs when the car is turned off
|
||||
* Connect to the device via Wi-Fi, mobile hotspot, or tethering on the comma device, then navigate to http://ipAddress:5050 to access.
|
||||
* Honda Clarity 2018-22 support thanks to mcallbosco, vanillagorillaa and wirelessnet2!
|
||||
* Ram: Steer to 0/7 MPH support thanks to vincentw56!
|
||||
* Retain hotspot/tethering state across reboots thanks to rogerioaguas!
|
||||
|
||||
sunnypilot - Version Latest (2023-02-22)
|
||||
========================
|
||||
* UPDATED: Synced with commaai's master branch - 2023.02.19-04:52:00:GMT - 0.9.2
|
||||
* Refactor sunnypilot features to be more stable
|
||||
|
||||
sunnypilot - Version Latest (2022-12-16)
|
||||
========================
|
||||
* UPDATED: Synced with commaai's master branch - 2022.12.16-06:31:00:GMT - 0.9.1
|
||||
* NEW❗: GM:
|
||||
* NEW❗: Gap Adjust Cruise support - Chill, Normal, Aggressive
|
||||
* NEW❗: Experimental Mode: Hold DISTANCE button on the steering wheel for 0.5 second to switch between Experimental Mode and Chill Mode
|
||||
* REMOVED❌: Toytoa: SnG Hack
|
||||
* This method is not recommended and may cause some cars to not behave as expected
|
||||
* SDSU is strongly recommended to enable SnG for Toyota vehicles without SnG from factory
|
||||
* commaai: radard: add missing accel data for vision-only leads (commaai/openpilot#26619) - pending PR
|
||||
* VOACC performance is drastically improved when using Chill Mode
|
||||
* IMPROVED: M.A.D.S. events handling
|
||||
* IMPROVED: UI: screen recorder button change
|
||||
* IMPROVED: OpenStreetMap Offline Database optimization
|
||||
* FIXED: Toyota: vehicles' LKAS button no longer has a delay with toggling M.A.D.S.
|
||||
* FIXED: Toyota: brake pedal press at standstill causing Cruise Fault
|
||||
* FIXED: Volkswagen MQB: reduce Camera Malfunction occurrences (requires testing)
|
||||
* Bug fixes and performance improvements
|
||||
|
||||
sunnypilot - Version Latest (2022-12-10)
|
||||
========================
|
||||
* IMPROVED: NEW❗ Developer UI design
|
||||
* Second column metrics is now moved to the bottom of the screen
|
||||
* ACC. = Acceleration
|
||||
* L.S. = Lead Speed
|
||||
* E.T. = EPS Torque
|
||||
* B.D. = Bearing Degree
|
||||
* FRI. = Friction
|
||||
* L.A. = Lateral Acceleration
|
||||
* ALT. = Altitude
|
||||
* Bug fixes and performance improvements
|
||||
|
||||
sunnypilot - Version Latest (2022-12-07)
|
||||
========================
|
||||
* NEW❗: Screen Recorder support thanks to neokii and Kumar!
|
||||
* NEW❗: End-to-end longitudinal start/stop status icon
|
||||
* Only appears when Experimental Mode is enabled
|
||||
* NEW❗: End-to-end longitudinal car chime when starting
|
||||
* Hyundai/Kia/Genesis CAN platform, Honda/Acura Bosch/Nidec, Toyota/Lexus
|
||||
* i.e. Traffic light turns green, stop sign ready to go, etc.
|
||||
* Only appears when Experimental Mode is enabled AND longitudinal control is disengaged
|
||||
* Bug fixes and performance improvements
|
||||
|
||||
sunnypilot - Version Latest (2022-12-05)
|
||||
========================
|
||||
* UPDATED: Synced with commaai's master branch - 2022.12.04-22:46:00:GMT - 0.9.1
|
||||
* Bug fixes and performance improvements
|
||||
|
||||
sunnypilot - Version Latest (2022-11-12)
|
||||
========================
|
||||
* UPDATED: Synced with commaai's master branch - 2022.11.12-10:02:00:GMT - 0.8.17
|
||||
* FIXED: CAN Error for CAN HKG cars that do not have navigation from the factory
|
||||
* Bug fixes and performance improvements
|
||||
|
||||
sunnypilot - Version Latest (2022-11-11)
|
||||
========================
|
||||
* UPDATED: Synced with commaai's master branch - 2022.11.11-21:22:00:GMT - 0.8.17
|
||||
* commaai: AGNOS 6.2 (commaai/openpilot#26441)
|
||||
* NEW❗: Speed Limit Control - HKG - add speed limit from car's navigation head unit
|
||||
* Compatible with certain models, trims, and model years
|
||||
* DISABLED: FCA: RAM HD - steer down to 0
|
||||
* FIXED: UI: End-to-end longitudinal button on driving screen synchronization
|
||||
* FIXED: Honda: Longitudinal status with set cruise speed now displays properly in the car's dashboard
|
||||
* Bug fixes and performance improvements
|
||||
|
||||
sunnypilot - Version Latest (2022-11-08)
|
||||
========================
|
||||
* ADDED: New Zealand offline OpenStreetMap database
|
||||
|
||||
sunnypilot - Version Latest (2022-11-04)
|
||||
========================
|
||||
* UPDATED: Synced with commaai's master branch - 2022.11.05-01:44:00:GMT - 0.8.17
|
||||
* RE-ENABLED: Dynamic Lane Profile - preserves lanelines
|
||||
* Can be found in "SP - Controls" menu
|
||||
* NEW❗: DLP: switch to laneless for current/future curves thanks to @twilsonco!
|
||||
* Can be found in "SP - Controls" menu
|
||||
* NEW❗: UI: Road Camera Selector
|
||||
* Enable this will display a button on the driving screen to select the driving camera
|
||||
* Can be found in "SP - Visuals" menu
|
||||
* NEW❗: Controls: Camera & Path Custom Offsets
|
||||
* Only applicable to laneline mode when using Dynamic Lane Profile
|
||||
* NEW❗: Buttons on driving screen are now sorted based on priority and availability
|
||||
* Bug fixes and performance improvements
|
||||
|
||||
sunnypilot - Version Latest (2022-10-28)
|
||||
========================
|
||||
* UPDATED: Synced with commaai's master branch - 2022.10.28-03:53:00:GMT - 0.8.17
|
||||
* Bug fixes and performance improvements
|
||||
|
||||
sunnypilot - Version Latest (2022-10-26)
|
||||
========================
|
||||
* UPDATED: Synced with commaai's master branch - 2022.10.26-06:20:00:GMT - 0.8.17
|
||||
* Bug fixes and performance improvements
|
||||
|
||||
sunnypilot - Version Latest (2022-10-25)
|
||||
========================
|
||||
* UPDATED: Synced with commaai's master branch - 2022.10.25-23:53:00:GMT - 0.8.17
|
||||
* Pre-Global Subaru support thanks to @martinl!
|
||||
* NEW❗: Speed Limit values turn red when current speed is higher than posted speed limit
|
||||
* Bug fixes and performance improvements
|
||||
|
||||
sunnypilot - Version Latest (2022-10-23)
|
||||
========================
|
||||
* UPDATED: Synced with commaai's master branch - 2022.10.22-23:15:00:GMT - 0.8.17
|
||||
* IMPROVED: Custom Stock Longitudinal Control - HKG - only allow engagement on user button press
|
||||
* IMPROVED: Custom Stock Longitudinal Control - Volkswagen MQB & PQ - more consistent set speed change
|
||||
* Bug fixes and performance improvements
|
||||
|
||||
sunnypilot - Version Latest (2022-10-21)
|
||||
========================
|
||||
* UPDATED: Synced with commaai's master branch - 2022.10.21-17:33:00:GMT - 0.8.17
|
||||
* IMPROVED: Custom Stock Longitudinal Control - Volkswagen MQB & PQ - more predictable button send logic
|
||||
* Bug fixes and performance improvements
|
||||
|
||||
sunnypilot - Version Latest (2022-10-20)
|
||||
========================
|
||||
* UPDATED: Synced with commaai's master branch - 2022.10.20-20:25:00:GMT - 0.8.17
|
||||
* Bug fixes and performance improvements
|
||||
|
||||
sunnypilot - Version Latest (2022-10-19)
|
||||
========================
|
||||
* UPDATED: Synced with commaai's master branch - 2022.10.19-08:31:00:GMT - 0.8.17
|
||||
* IMPROVED: Controls: Speed Limit Control - accelerator press only disengage if "Disengage on Accelerator Pedal" is enabled
|
||||
* Bug fixes and performance improvements
|
||||
|
||||
sunnypilot - Version Latest (2022-10-18)
|
||||
========================
|
||||
* UPDATED: Synced with commaai's master branch - 2022.10.18-04:44:00:GMT - 0.8.17
|
||||
* RE-ENABLED: Volkswagen MQB & PQ with Custom Stock Longitudinal Control
|
||||
* NEW❗: Steering Rate Cost Live Tune
|
||||
* Enables live tune for Steering Rate Cost. Lower value allows steering wheel to move more freely at low speed
|
||||
* Can be found in "SP - Controls" menu
|
||||
* FIXED: MADS: GM - include Regen Paddle logic thanks to @twilsonco!
|
||||
* Bug fixes and performance improvements
|
||||
|
||||
sunnypilot - Version Latest (2022-10-17)
|
||||
========================
|
||||
* UPDATED: Synced with commaai's master branch - 2022.10.17-23:54:00:GMT+1 - 0.8.17
|
||||
* ENABLED: "Custom Stock Longitudinal Control" toggle for CAN-FD cars
|
||||
* FIXED: HKG CAN-FD: Could not engage when openpilot longitudinal is enabled
|
||||
* Bug fixes and performance improvements
|
||||
|
||||
sunnypilot - Version Latest (2022-10-13)
|
||||
========================
|
||||
* UPDATED: Synced with commaai's master branch - 2022.10.13-19:43:00:GMT+1 - 0.8.17
|
||||
* ADDED: Live Tmux toggle
|
||||
* Can be found in "SP - General" menu
|
||||
* IMPROVED: OpenStreetMap Database Update - only check for database update with explicit user decision
|
||||
* Bug fixes and performance improvements
|
||||
|
||||
sunnypilot - Version Latest (2022-10-11)
|
||||
========================
|
||||
* ADDED: Hyundai openpilot longitudinal improvements - huge thanks to @aragon7777!
|
||||
* ADDED: Check for OpenStreetMap Database Update button
|
||||
* UPDATED: commaai: Low speed lateral control improvements (commaai:openpilot#26022, bbcd448) - pending PR
|
||||
* FIXED: MUTCD speed limit spacing adjusts dynamically when no subtext is shown (i.e., speed limit offset, distance to next speed limit)
|
||||
* FIXED: MADS: Intermittent CAN Error when engaging for Toyota Prius TSS-P
|
||||
* Bug fixes and performance improvements
|
||||
|
||||
sunnypilot - Version Latest (2022-10-09)
|
||||
========================
|
||||
* ADDED: commaai: Low speed lateral control improvements (commaai:openpilot#26022, bca288bb) - pending PR
|
||||
* FIXED: MADS: Intermittent CAN Error when engaging for Toyota Prius TSS-P
|
||||
* IMPROVED: mapd: stop signs and other supported traffic_calming tags are now slowing/stopping as expected
|
||||
* Bug fixes and performance improvements
|
||||
|
||||
sunnypilot - Version Latest (2022-10-08)
|
||||
========================
|
||||
* UPDATED: Synced with commaai's master branch - 2022.10.08-12:07:00:GMT+1 - 0.8.17
|
||||
* FIXED: MADS: Intermittent CAN Error when engaging for Toyota Prius TSS-P
|
||||
* IMPROVED: mapd: Speed Humps are now set at 20 MPH or 32 km/h
|
||||
* IMPROVED: OpenStreetMap Offline Database download experience
|
||||
* Bug fixes and performance improvements
|
||||
|
||||
sunnypilot - Version Latest (2022-10-07)
|
||||
========================
|
||||
* UPDATED: Synced with commaai's master branch - 2022.10.07-08:16:00:GMT - 0.8.17
|
||||
* NEW❗: OpenStreetMap database can now be downloaded locally for offline use
|
||||
* Now offering US South, US West, US Northeast, US Florida, Taiwan, and South Africa
|
||||
* Databases updated - 2022.10.05-03:30:00:GMT
|
||||
* NEW❗: mapd: Stop Sign, Yield, Speed Bump, Speed Hump, Sharp Curve support - huge thanks to @move-fast and @dragonpilot-community!
|
||||
* Go to https://openstreetmap.org and start mapping out your area!
|
||||
* Bug fixes and performance improvements
|
||||
|
||||
sunnypilot - Version Latest (2022-09-30)
|
||||
========================
|
||||
* UPDATED: Synced with commaai's master branch - 2022.09.30-22:43:00:GMT - 0.8.17
|
||||
* RE-ADDED: Torque Lateral Controller Live Tune Menu
|
||||
* Bug fixes and performance improvements
|
||||
|
||||
sunnypilot - Version Latest (2022-09-23)
|
||||
========================
|
||||
* ADDED: Developer UI: latAccelFactorFiltered & frictionCoefficientFiltered values displays in green if Torque is using live params
|
||||
* Bug fixes and performance improvements
|
||||
|
||||
sunnypilot - Version Latest (2022-09-22)
|
||||
========================
|
||||
* UPDATED: Synced with commaai's master branch - 2022.09.19-22:19:00:GMT - 0.8.17
|
||||
* NEW❗: Toggle to explicitly enable Custom Stock Longitudinal Control
|
||||
* Applicable cars only: Honda, Hyundai/Kia/Genesis
|
||||
* Settings -> Toggles menu
|
||||
|
||||
sunnypilot - Version Latest (2022-09-21)
|
||||
========================
|
||||
* UPDATED: Synced with commaai's master branch - 2022.09.19-22:19:00:GMT - 0.8.17
|
||||
* ADDED: Toggle to enable Live Torque (self/auto tune) with Torque lateral controller
|
||||
* To enable, first enable "Enforce Torque Lateral Controller" toggle
|
||||
* UPDATED: New metrics in Developer UI (when Live Torque is enabled)
|
||||
* REMOVED: latAccelFactorRaw & frictionCoefficientRaw from torqued
|
||||
* ADDED: latAccelFactorFiltered & frictionCoefficientFiltered from torqued
|
||||
* REMOVED: Temporary remove Torque Lateral Controller Live Tune Menu
|
||||
|
||||
sunnypilot - Version Latest (2022-09-20)
|
||||
========================
|
||||
* UPDATED: Synced with commaai's master branch - 2022.09.19-22:19:00:GMT - 0.8.17
|
||||
* ADDED: Toggle to enable Live Torque (self/auto tune) with Torque lateral controller
|
||||
* To enable, first enable "Enforce Torque Lateral Controller" toggle
|
||||
* REMOVED: Temporary remove Torque Lateral Controller Live Tune Menu
|
||||
|
||||
sunnypilot - Version Latest (2022-09-18)
|
||||
========================
|
||||
* UPDATED: Synced with commaai's master branch - 2022.09.17-11:23:00:GMT - 0.8.17
|
||||
* ADDED: Kia Forte Non-SCC 2019 support for @askalice
|
||||
* FIXED: Torque Lateral Control Live Tune now syncs with commaai:openpilot#25822
|
||||
* FIXED: mapd dependencies no longer need to be re-downloaded after unknown reboots
|
||||
|
||||
sunnypilot - Version Latest (2022-09-17)
|
||||
========================
|
||||
* UPDATED: Synced with commaai's master branch - 2022.09.17-11:23:00:GMT - 0.8.17
|
||||
* NEW❗: Non SCC HKG support
|
||||
* Custom Stock Longitudinal Control
|
||||
* ❗No❗ openpilot longitudinal control
|
||||
* FIXED: Honda Bosch random low-value set speed changes
|
||||
|
||||
sunnypilot - Version Latest (2022-09-16)
|
||||
========================
|
||||
* UPDATED: Synced with commaai's master branch - 2022.09.16-20:23:00:GMT - 0.8.17
|
||||
|
||||
sunnypilot - Version Latest (2022-09-15)
|
||||
========================
|
||||
* UPDATED: Synced with commaai's master branch - 2022.09.16-02:00:00:GMT - 0.8.17
|
||||
* FIXED: Block additional auto lane change actions if blinker stays on after the first lane change
|
||||
* REVERTED: Some Toyota with LKAS button no longer requires double press to engage/disengage M.A.D.S.
|
||||
|
||||
sunnypilot - Version Latest (2022-09-14)u
|
||||
========================
|
||||
* UPDATED: Synced with commaai's master branch - 2022.09.11-02:47:00:GMT - 0.8.17
|
||||
* NEW❗: GM models supported in Force Car Recognition (FCR)
|
||||
* Under "SP - Vehicles"
|
||||
* NEW❗: Prompt to select car in "SP - Vehicles" if car unrecognized on startup
|
||||
* FIXED: Some Toyota with LKAS button no longer requires double press to engage/disengage M.A.D.S.
|
||||
* UPDATED: ESCC: Use radar tracks from radar if available
|
||||
|
||||
sunnypilot - Version Latest (2022-09-13)
|
||||
========================
|
||||
* UPDATED: Synced with commaai's master branch - 2022.09.11-02:47:00:GMT - 0.8.17
|
||||
* NEW❗: New metric in Developer UI
|
||||
* Actual Lateral Acceleration (Roll Compensated)
|
||||
|
||||
sunnypilot - Version Latest (2022-09-12)
|
||||
========================
|
||||
* UPDATED: Synced with commaai's master branch - 2022.09.11-02:47:00:GMT - 0.8.17
|
||||
* FIXED: Honda Nidec models not gaining speed when longitudinal engaged
|
||||
|
||||
sunnypilot - Version Latest (2022-09-11)
|
||||
========================
|
||||
* UPDATED: Synced with commaai's master branch - 2022.09.11-02:47:00:GMT - 0.8.17
|
||||
* NEW❗: Hyundai Enhanced SCC now forwards FCW and AEB signals and commands from radar to car
|
||||
* RE-ENABLED: MADS Status Icon toggle
|
||||
|
||||
sunnypilot - Version Latest (2022-09-10)
|
||||
========================
|
||||
* UPDATED: Synced with commaai's master branch - 2022.09.11-02:47:00:GMT - 0.8.17
|
||||
* NEW❗: RAM improvement implementation thanks to realfast!
|
||||
* DISABLED: Chrysler/Jeep/Ram with Custom Stock Longitudinal Control
|
||||
* DISABLED: Volkswagen MQB & PQ with Custom Stock Longitudinal Control
|
||||
|
||||
sunnypilot - Version Latest (2022-09-09)
|
||||
========================
|
||||
* UPDATED: Synced with commaai's master branch - 2022.09.09-07:35:00:GMT - 0.8.17
|
||||
* NEW❗: MADS now supporting General Motors (GM)
|
||||
* ADDED: Custom Stock Longitudinal Control - Volkswagen
|
||||
* MQB & PQ
|
||||
* ADDED: Reverse ACC Change
|
||||
* ACC +/-: Short=5, Long=1
|
||||
* ADDED: Custom Stock Longitudinal Control
|
||||
* Hyundai/Kia/Genesis
|
||||
* Honda Bosch
|
||||
* ADDED: Hyundai: 2015-16 Genesis resume from standstill fix (commaai:openpilot#25579) - pending PR
|
||||
* Vision Turn Speed Control re-enabled
|
||||
* Disable Onroad Uploads toggle re-enabled
|
||||
|
||||
sunnypilot - Version Latest (2022-09-08)
|
||||
========================
|
||||
* UPDATED: Synced with commaai's master branch - 2022.09.08-04:05:00:GMT - 0.8.17
|
||||
* NEW❗: Block lane change initiation while brake is pressed
|
||||
|
||||
sunnypilot - Version Latest (2022-09-07)
|
||||
========================
|
||||
* UPDATED: Synced with commaai's master branch - 2022.09.08-04:05:00:GMT - 0.8.17
|
||||
* NEW❗: Display End-to-end longitudinal 🌮 on screen
|
||||
* NEW❗: Hold DISTANCE button on the steering wheel for 1 second to switch between E2E Long and ACC mode
|
||||
* Enable toggle on the driving screen to switch between modes with End-to-end longitudinal
|
||||
* Only applicable to cars with openpilot longitudinal control
|
||||
* NEW❗: Block lane change initiation while brake is pressed
|
||||
* REMOVED: Dynamic Lane Profile - upstream laneless model is now on by default
|
||||
* REMOVED: hyundai: consistent start from stop (commaai:openpilot#25672) - pending PR
|
||||
|
||||
sunnypilot - Version Latest (2022-09-06)
|
||||
========================
|
||||
* UPDATED: Synced with commaai's master branch - 2022.09.06 - 0.8.17
|
||||
* NEW❗: Display useful metrics above the chevron that tracks the lead car
|
||||
* Under "SP - Visuals" menu
|
||||
* Only applicable to cars with openpilot longitudinal control
|
||||
* ADDED: hyundai: consistent start from stop (commaai:openpilot#25672) - pending PR
|
||||
* FIXED: Vienna speed limit interface now scales properly with the outer box
|
||||
* REMOVED: Hyundai long improvements (commaai:openpilot#25604) - closed PR
|
||||
|
||||
sunnypilot - Version Latest (2022-09-05)
|
||||
========================
|
||||
* UPDATED: Synced with commaai's master branch - 2022.09.03 - 0.8.17
|
||||
* NEW❗: Speed Limit Control (SLC) interface integrated with upstream
|
||||
* NEW❗: Speed limit from active navigation is now prioritized for Speed Limit Control
|
||||
* NEW❗: MUTCD (U.S.) or Vienna (E.U.) speed limit interfaces can now be selected under "SP - Controls"
|
||||
|
||||
sunnypilot - Version Latest (2022-09-04)
|
||||
========================
|
||||
* UPDATED: Synced with commaai's master branch - 2022.09.03 - 0.8.17
|
||||
* FIXED: Gap Adjust Cruise status now displays properly on screen
|
||||
* FIXED: mapd - missing index in list caused mapd to crash
|
||||
* REMOVED: Temporary removed Vision Turn Speed Control
|
||||
|
||||
sunnypilot - Version Latest (2022-09-03)
|
||||
========================
|
||||
* UPDATED: Synced with commaai's master branch - 2022.09.03 - 0.8.17
|
||||
* ADDED: New border colors for different operation engagements
|
||||
* ADDED: UI: Show barrier when car detected in blind spot
|
||||
* Only applicable to cars that have BSM detection with openpilot
|
||||
* FIXED: Cruise Cancel button no longer display prompt if cruise not engaged
|
||||
* TWEAKED: Update changelogs on startup in Settings -> Software -> Version
|
||||
* REMOVED: Upload Raw Logs and Full Resolution Videos toggles
|
||||
|
||||
sunnypilot - Version Latest (2022-08-31)
|
||||
========================
|
||||
* UPDATED: Synced with commaai's master branch - 2022.08.31 - 0.8.17
|
||||
* ADDED: New border colors for different operation engagements
|
||||
* ADDED: UI: Show barrier when car detected in blind spot
|
||||
* Only applicable to cars that have BSM detection with openpilot
|
||||
* FIXED: Cruise Cancel button no longer display prompt if cruise not engaged
|
||||
* REMOVED: Upload Raw Logs and Full Resolution Videos toggles
|
||||
|
||||
sunnypilot - Version 0.8.16 (2022-07-16)
|
||||
========================
|
||||
* Sync with commaai's master branches
|
||||
* NEW❗: Add toggle to pause lateral actuation below 30 MPH / 50 KM/H
|
||||
* IMPROVED: Better controls mismatch handling
|
||||
* IMPROVED: Less frequent Low Memory alert
|
||||
* IMPROVED: Only allow lateral control when in forward gears
|
||||
* IMPROVED: Better alerts handling on gear changes
|
||||
|
||||
sunnypilot - Version 0.8.14-1.3 (2022-06-29)
|
||||
========================
|
||||
* Hyundai/Kia/Genesis
|
||||
* NEW❗: MADS: Add GAP/Distance button on the steering wheel to engage/disengage
|
||||
* To engage/disengage MADS: Hold the button for 0.5 second
|
||||
* NEW❗: Dynamic Lane Profile: Add toggle to enable "Laneless for Curves in Auto Lane"
|
||||
* HOTFIX🛠: Improve Torque lateral control and reduce ping pong for some Toyota cars
|
||||
* Torque control: higher low speed gains and better steering angle deadzone logic
|
||||
* Developer UI: Remove Distance Traveled, replace with Memory Usage %
|
||||
* This may have a potential to fix the Low Memory alert that may appear
|
||||
|
||||
sunnypilot - Version 0.8.14-1 (2022-06-27)
|
||||
========================
|
||||
* HOTFIX🛠: Honda, Toyota, Volkswagen now initialized correctly with Torque Lateral Live Tune
|
||||
|
||||
sunnypilot - Version 0.8.14-1 (2022-06-27)
|
||||
========================
|
||||
* NEW❗: Added toggle to enable updates for sunnypilot
|
||||
* HOTFIX🛠: Volkswagen car list now displays properly in Force Car Recognition menu
|
||||
* REVERTED: Honda - temporary removes CRUISE (MAIN) for MADS engagement
|
||||
* LKAS button continues to be used for MADS engagement/disengagement
|
||||
|
||||
sunnypilot - Version 0.8.14-1 (2022-06-26)
|
||||
========================
|
||||
Visit https://bit.ly/sunnyreadme for more details
|
||||
* sunnypilot 0.8.14 release - based on openpilot 0.8.14 devel
|
||||
* "0.8.14-prod-c3" branch only supports comma three
|
||||
* If you have a comma two, EON, or other devices than a comma three, visit sunnyhaibin's discord server for more details: https://discord.gg/wRW3meAgtx
|
||||
* Mono-branch support
|
||||
* Honda/Acura
|
||||
* Hyundai/Kia/Genesis
|
||||
* Toyota/Lexus
|
||||
* Volkswagen MQB
|
||||
* Modified Assistive Driving Safety (MADS) Mode
|
||||
* NEW❗: CRUISE (MAIN) now engages MADS for all supported car makes
|
||||
* NEW❗: Added toggle to disable disengaging Automatic Lane Centering (ALC) on the brake pedal
|
||||
* Dynamic Lane Profile (DLP)
|
||||
* NEW❗: Gap Adjust Cruise (GAC)
|
||||
* openpilot longitudinal cars can now adjust between the lead car's following distance gap via 3 modes:
|
||||
* Steering Wheel (SW) | User Interface (UI) | Steering Wheel + User Interface (SW+UI)
|
||||
* NEW❗: Custom Camera & Path Offsets
|
||||
* NEW❗: Torque Lateral Control from openpilot 0.8.15 master (as of 2022-06-15)
|
||||
* NEW❗: Torque Lateral Control Live Tune Menu
|
||||
* NEW❗: Speed Limit Sign from openpilot 0.8.15 master (as of 2022-06-22)
|
||||
* NEW❗: Mapbox Speed Limit data will now be utilized in Speed Limit Control (SLC)
|
||||
* Speed limit data will be utilized in the following availability:
|
||||
* Mapbox (active navigation) -> OpenStreetMap -> Car Interface (Toyota's TSR)
|
||||
* Custom Stock Longitudinal Control
|
||||
* NEW❗: Volkswagen MQB
|
||||
* Honda
|
||||
* Hyundai/Kia/Genesis
|
||||
* NEW❗: Mapbox navigation support for non-Prime users
|
||||
* Visit sunnyhaibin's discord server for more details: https://discord.gg/wRW3meAgtx
|
||||
* Hyundai/Kia/Genesis
|
||||
* NEW❗: Enhanced SCC (ESCC) Support
|
||||
* Requires hardware modification. Visit sunnyhaibin's discord server for more details: https://discord.gg/wRW3meAgtx
|
||||
* NEW❗: Smart MDPS (SMDPS) Support - Auto-detection
|
||||
* Requires hardware modification and custom firmware for the SMDPS. Visit sunnyhaibin's discord server for more details: https://discord.gg/wRW3meAgtx
|
||||
* Toyota/Lexus
|
||||
* NEW❗: Added toggle to enforce stock longitudinal control
|
||||
|
||||
sunnypilot - Version 0.8.12-4
|
||||
========================
|
||||
* NEW❗: Custom Stock Longitudinal Control by setting the target speed via openpilot's "MAX" speed thanks to multikyd!
|
||||
* Speed Limit Control
|
||||
* Vision-based Turn Control
|
||||
* Map-based Turn Control
|
||||
* NEW❗: HDA status integration with Custom Stock Longitudinal Control on applicable HKG cars only
|
||||
* NEW❗: Roll Compensation and SteerRatio fix from comma's 0.8.13
|
||||
* NEW❗: Dev UI to display different metrics on screen
|
||||
* Click on the "MAX" box on the top left of the openpilot display to toggle different metrics display
|
||||
* Lead car relative distance; Lead car relative speed; Actual steering degree; Desired steering degree; Engine RPM; Longitudinal acceleration; Lead car actual speed; EPS torque; Current altitude; Compass direction
|
||||
* NEW❗: Stand Still Timer to display time spent at a stop with M.A.D.S engaged (i.e., stop lights, stop signs, traffic congestions)
|
||||
* NEW❗: Current car speed text turns red when the car is braking
|
||||
* NEW❗: Export GPS tracks into GPX files and upload to OSM thanks to eFini!
|
||||
* NEW❗: Enable ACC and M.A.D.S with a single press of the RES+/SET- button
|
||||
* NEW❗: ACC +/-: Short=5, Long=1
|
||||
* Change the ACC +/- buttons behavior with cruise speed change in openpilot
|
||||
* Disabled (Stock): Short=1, Long=5
|
||||
* Enabled: Short=5, Long=1
|
||||
* NEW❗: Speed Limit Value Offset (not %)*
|
||||
* Set speed limit higher or lower than actual speed limit for a more personalized drive.
|
||||
* *To use this feature, turn off "Enable Speed Limit % Offset"*
|
||||
* NEW❗: Dedicated icon to show the status of M.A.D.S.
|
||||
* NEW❗: No Offroad Fix for non-official devices that cannot shut down after the car is turned off
|
||||
* NEW❗: Stop N' Go Resume Alternative
|
||||
* Offer alternative behavior to auto resume when stopped behind a lead car using stock SCC/ACC. This feature removes the repeating prompt chime when stopped and/or allows some cars to use auto resume (i.e., Genesis)
|
||||
* IMPROVED: Show the lead car icon in the car's dashboard when a lead car is detected by openpilot's camera vision
|
||||
* FIXED: MADS button unintentionally set MAX when using stock longitudinal control thanks to Spektor56!
|
||||
|
||||
sunnypilot - Version 0.8.12-3
|
||||
========================
|
||||
* NEW❗: Bypass "System Malfunction" alert toggle
|
||||
* Prevent openpilot from returning the "System Malfunction" alert that hinders the ability use openpilot
|
||||
* FIXED: Hyundai/Kia/Genesis Brake Hold Active now outputs the correct events on screen with M.A.D.S. engaged
|
||||
|
||||
sunnypilot - Version 0.8.12-2
|
||||
========================
|
||||
* NEW❗: Disable M.A.D.S. toggle to disable the beloved M.A.D.S. feature
|
||||
* Enable Stock openpilot engagement/disengagement
|
||||
* ADJUST: Initialize Driving Screen Off Brightness at 50%
|
||||
|
||||
sunnypilot - Version 0.8.12-1
|
||||
========================
|
||||
* sunnypilot 0.8.12 release - based on openpilot 0.8.12 devel
|
||||
* Dedicated Hyundai/Kia/Genesis branch support
|
||||
* NEW❗: OpenStreetMap integration thanks to the Move Fast team!
|
||||
* NEW❗: Vision-based Turn Control
|
||||
* NEW❗: Map-Data-based Turn Control
|
||||
* NEW❗: Speed Limit Control w/ optional Speed Limit Offset
|
||||
* NEW❗: OpenStreetMap integration debug UI
|
||||
* Only available to openpilot longitudinal enabled cars
|
||||
* NEW❗: Hands on Wheel Monitoring according to EU r079r4e regulation
|
||||
* NEW❗: Disable Onroad Uploads for data-limited Wi-Fi hotspots when using OpenStreetMap related features
|
||||
* NEW❗: Fast Boot (Prebuilt)
|
||||
* NEW❗: Auto Lane Change Timer
|
||||
* NEW❗: Screen Brightness Control (Global)
|
||||
* NEW❗: Driving Screen Off Timer
|
||||
* NEW❗: Driving Screen Off Brightness (%)
|
||||
* NEW❗: Max Time Offroad
|
||||
* Improved user feedback with M.A.D.S. operations thanks to Spektor56!
|
||||
* Lane Path
|
||||
* Green🟢 (Laneful), Red🔴 (Laneless): M.A.D.S. engaged
|
||||
* White⚪: M.A.D.S. suspended or disengaged
|
||||
* Black⚫: M.A.D.S. engaged, steering is being manually override by user
|
||||
* Screen border now only illuminates Green when SCC/ACC is engaged
|
||||
|
||||
sunnypilot - Version 0.8.10-1 (Unreleased)
|
||||
========================
|
||||
* sunnypilot 0.8.10 release - based on openpilot 0.8.10 `devel`
|
||||
* Add Toyota cars to Force Car Recognition
|
||||
|
||||
sunnypilot - Version 0.8.9-4
|
||||
========================
|
||||
* Hyundai: Fix Ioniq Hybrid signals
|
||||
|
||||
sunnypilot - Version 0.8.9-3
|
||||
========================
|
||||
* Update home screen brand and version structure
|
||||
|
||||
sunnypilot - Version 0.8.9-2
|
||||
========================
|
||||
* Added additional Sonata Hybrid Firmware Versions
|
||||
* Features
|
||||
* Modified Assistive Driving Safety (MADS) Mode
|
||||
* Dynamic Lane Profile (DLP)
|
||||
* Quiet Drive 🤫
|
||||
* Force Car Recognition (FCR)
|
||||
* PID Controller: add kd into the stock PID controller
|
||||
|
||||
sunnypilot - Version 0.8.9-1
|
||||
========================
|
||||
* First changelog!
|
||||
* Features
|
||||
* Modified Assistive Driving Safety (MADS) Mode
|
||||
* Dynamic Lane Profile (DLP)
|
||||
* Quiet Drive 🤫
|
||||
* Force Car Recognition (FCR)
|
||||
* PID Controller: add kd into the stock PID controller
|
||||
@@ -1,36 +0,0 @@
|
||||
# Safety
|
||||
|
||||
openpilot is an Adaptive Cruise Control (ACC) and Automated Lane Centering (ALC) system.
|
||||
Like other ACC and ALC systems, openpilot is a failsafe passive system and it requires the
|
||||
driver to be alert and to pay attention at all times.
|
||||
|
||||
In order to enforce driver alertness, openpilot includes a driver monitoring feature
|
||||
that alerts the driver when distracted.
|
||||
|
||||
However, even with an attentive driver, we must make further efforts for the system to be
|
||||
safe. We repeat, **driver alertness is necessary, but not sufficient, for openpilot to be
|
||||
used safely** and openpilot is provided with no warranty of fitness for any purpose.
|
||||
|
||||
openpilot is developed in good faith to be compliant with FMVSS requirements and to follow
|
||||
industry standards of safety for Level 2 Driver Assistance Systems. In particular, we observe
|
||||
ISO26262 guidelines, including those from [pertinent documents](https://www.nhtsa.gov/sites/nhtsa.dot.gov/files/documents/13498a_812_573_alcsystemreport.pdf)
|
||||
released by NHTSA. In addition, we impose strict coding guidelines (like [MISRA C : 2012](https://www.misra.org.uk/what-is-misra/))
|
||||
on parts of openpilot that are safety relevant. We also perform software-in-the-loop,
|
||||
hardware-in-the-loop and in-vehicle tests before each software release.
|
||||
|
||||
Following Hazard and Risk Analysis and FMEA, at a very high level, we have designed openpilot
|
||||
ensuring two main safety requirements.
|
||||
|
||||
1. The driver must always be capable to immediately retake manual control of the vehicle,
|
||||
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].
|
||||
|
||||
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.
|
||||
|
||||
[^1]: For these actuator limits we observe ISO11270 and ISO15622. Lateral limits described there translate to 0.9 seconds of maximum actuation to achieve a 1m lateral deviation.
|
||||
|
||||
@@ -1,3 +0,0 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:996ef2f2fad71a5fa0c8a175c6f05fc841330ee57c1edee871077a95c737ac9f
|
||||
size 62046
|
||||
@@ -1,3 +0,0 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:2ac783627ef97d31bbe79281986226c1a06501a80ba57f73e5cc66bae318242c
|
||||
size 107559
|
||||
@@ -1,3 +0,0 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:abac3aad3f1f6fd8cd0d278e82c5a7e79aa7e9e3275fe261bc387acab63bd046
|
||||
size 164956
|
||||
@@ -1,11 +0,0 @@
|
||||
# Definitions
|
||||
|
||||
| Branch | Definition | Description | Stability/Readiness |
|
||||
|:------------:|------------|---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|---|
|
||||
| `release-c3` | Release branch | Stable release branches. After testing on `staging-c3`, updates are pushed here and published publicly. | **Ready to Use:** Highly stable, recommended for most users. |
|
||||
| `staging-c3` | Staging branch | Pre-release testing branches. Community feedback is essential to identify issues before public release. | **Varied Stability:** Generally stable, but intended for testing before public release. |
|
||||
| `dev-c3` | Development branches | Experimental branches with the latest features and bug fixes brought in manually. Expect bugs and braking changes. | **Experimental:** Least stable, suitable for testers and developers. |
|
||||
| `master` | Primary development branch | All Pull Requests are merged here for future releases. CI automatically strips, minifies, and pushes changes to `staging-c3`. Running the `master` branch is suitable for development purposes but not recommended for non-development use. | **For Development Use:** Suitable for developers, may be unstable for general use. |
|
||||
|
||||
!!! tip
|
||||
Your feedback is invaluable. Testers, even without software development experience, are encourage to run `dev-c3` or `staging-c3` and report issues.
|
||||
@@ -1,7 +0,0 @@
|
||||
# Recommended Branches
|
||||
|
||||
| Branch | Compatible Device | Installation URL | Change Logs |
|
||||
|:----------------:|-------------------|---------------------------|------------------------------------------------------------------------------------------|
|
||||
| `release-c3` | comma 3/3X | release-c3.sunnypilot.ai | [CHANGELOGS.md](https://github.com/sunnyhaibin/sunnypilot/blob/release-c3/CHANGELOGS.md) |
|
||||
| `staging-c3` | comma 3/3X | staging-c3.sunnypilot.ai | [CHANGELOGS.md](https://github.com/sunnyhaibin/sunnypilot/blob/release-c3/CHANGELOGS.md) |
|
||||
| `dev-c3` | comma 3/3X | dev-c3.sunnypilot.ai | [CHANGELOGS.md](https://github.com/sunnyhaibin/sunnypilot/blob/release-c3/CHANGELOGS.md) |
|
||||
@@ -1,68 +0,0 @@
|
||||
# How to contribute
|
||||
|
||||
Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use. Check out our [post about open-sourcing and externalization](https://www.sunnypilot.ai/blog/july/a-new-chapter-transparency/). Development activity is coordinated through our [GitHub Issues](https://github.com/sunnypilot/sunnypilot/issues), [GitHub Discussions](https://github.com/sunnypilot/sunnypilot/discussions), and [Discord](https://discord.sunnypilot.ai).
|
||||
|
||||
### Getting Started
|
||||
|
||||
* Setup your [development environment](https://github.com/sunnypilot/sunnypilot/tree/master/tools)
|
||||
* Read about the [development workflow](WORKFLOW.md)
|
||||
* Join our [Discord](https://discord.sunnypilot.ai)
|
||||
* Docs are at [https://docs.sunnypilot.ai](https://docs.sunnypilot.ai) and [https://www.sunnypilot.ai/blog](https://www.sunnypilot.ai/blog)
|
||||
|
||||
## What contributions are we looking for?
|
||||
|
||||
**sunnypilot's priorities are [safety](../SAFETY.md), stability, quality, and features, in that order.** Aligning with comma's ideals, part of sunnypilot's mission is to *solve self-driving cars while delivering shippable intermediaries*, and **all** development is towards that goal.
|
||||
|
||||
### What gets merged?
|
||||
|
||||
The probability of a pull request being merged is a function of its value to the project and the effort it will take us to get it merged.
|
||||
If a PR offers *some* value but will take lots of time to get merged, it will be closed.
|
||||
Simple, well-tested bug fixes are the easiest to merge, and new features are the hardest to get merged.
|
||||
|
||||
All of these are examples of good PRs:
|
||||
|
||||
* [typo fix](https://github.com/commaai/openpilot/pull/30678)
|
||||
* [removing unused code](https://github.com/commaai/openpilot/pull/30573)
|
||||
* [simple car model port](https://github.com/commaai/openpilot/pull/30245)
|
||||
* [car brand port](https://github.com/commaai/openpilot/pull/23331)
|
||||
* [UI design changes](https://github.com/sunnypilot/sunnypilot/commit/84f6fce90639135611ec568c4d39a352a300bede)
|
||||
* [new features](https://github.com/sunnypilot/sunnypilot/commit/68e1379003bfdb599921cf9cd5684bfb762fd676)
|
||||
|
||||
### What doesn't get merged?
|
||||
|
||||
* **arbitrary style changes**: code is art, and it's up to the author to make it beautiful
|
||||
* **500+ line PRs**: clean it up, break it up into smaller PRs, or both
|
||||
* **PRs without a clear goal**: every PR must have a singular and clear goal
|
||||
|
||||
### First contribution
|
||||
|
||||
Check out any [good first issue from commaai's openpilot](https://github.com/commaai/openpilot/issues?q=is%3Aissue+is%3Aopen+label%3A%22good+first+issue%22) to get started.
|
||||
|
||||
### What do I need to contribute?
|
||||
|
||||
A lot of sunnypilot work requires only a PC, and some requires a comma device.
|
||||
Most car-related contributions require access to that car, plus a comma device installed in the car.
|
||||
|
||||
## Pull Requests
|
||||
|
||||
Pull requests should be against the [`master`](https://github.com/sunnypilot/sunnypilot) branch. If you're unsure about a contribution, feel free to open a discussion, issue, or draft PR to discuss the problem you're trying to solve.
|
||||
|
||||
A good pull request has all of the following:
|
||||
|
||||
- a clearly stated purpose
|
||||
- every line changed directly contributes to the stated purpose
|
||||
- verification, i.e. how did you test your PR?
|
||||
- justification
|
||||
|
||||
* if you've optimized something, post benchmarks to prove it's better
|
||||
* if you've improved your car's tuning, post before and after plots
|
||||
|
||||
- passes the CI tests
|
||||
|
||||
## Contributing without Code
|
||||
|
||||
* Report bugs in [GitHub issues](https://github.com/sunnypilot/sunnypilot/issues).
|
||||
* Report driving issues in the `#general` Discord channel.
|
||||
* Consider opting into driver camera uploads to improve the driver monitoring model.
|
||||
* Connect your device to Wi-Fi regularly, so that comma can pull data for training better driving models.
|
||||
* Run the `staging-c3` branch and report issues. This branch is like `master` but it's built just like a release.
|
||||
@@ -1,43 +0,0 @@
|
||||
# sunnypilot development workflow
|
||||
|
||||
Aside from the ML models, most tools used for sunnypilot development are in this repo.
|
||||
|
||||
Most development happens on normal Ubuntu workstations, and not in cars or directly on comma devices. See the [setup guide](https://github.com/sunnypilot/sunnypilot/tree/master/tools) for getting your PC setup for sunnypilot development.
|
||||
|
||||
## Quick start
|
||||
|
||||
```bash
|
||||
# get the latest stuff
|
||||
git pull
|
||||
git lfs pull
|
||||
git submodule update --init --recursive
|
||||
|
||||
# update dependencies
|
||||
tools/ubuntu_setup.sh
|
||||
|
||||
# build everything
|
||||
scons -j$(nproc)
|
||||
|
||||
# build just the ui with either of these
|
||||
scons -j8 selfdrive/ui/
|
||||
cd selfdrive/ui/ && scons -u -j8
|
||||
|
||||
# test everything
|
||||
pytest
|
||||
|
||||
# test just logging services
|
||||
cd system/loggerd && pytest .
|
||||
|
||||
# run the linter
|
||||
op lint
|
||||
```
|
||||
|
||||
## Testing
|
||||
|
||||
### Automated Testing
|
||||
|
||||
All PRs and commits are automatically checked by GitHub Actions. Check out `.github/workflows/` for what GitHub Actions runs. Any new tests should be added to GitHub Actions.
|
||||
|
||||
### Code Style and Linting
|
||||
|
||||
Code is automatically checked for style by GitHub Actions as part of the automated tests. You can also run these tests yourself by running `pre-commit run --all`.
|
||||
@@ -1,274 +0,0 @@
|
||||
# Bug Reports
|
||||
|
||||
sunnypilot is an actively maintained project that we constantly strive to improve. With project of this size and complexity,
|
||||
bugs may occur. If you think you have discovered a bug, you can help us by submitting an issue
|
||||
in [comma's public issue tracker][comma's issue tracker],
|
||||
[sunnypilot's public issue tracker][sunnypilot's issue tracker] or on our [Discord][discord], following this guide.
|
||||
|
||||
[comma's issue tracker]: https://github.com/commaai/openpilot/issues
|
||||
[sunnypilot's issue tracker]: https://github.com/sunnypilot/sunnypilot/issues
|
||||
[discord]: https://discord.sunnypilot.ai
|
||||
|
||||
## Before creating an issue
|
||||
|
||||
With more than 2,500 users, issues are created frequently. The maintainers of this project are trying very hard to keep
|
||||
the number of open issues and reports down by fixing bugs as fast as possible. By following this guide, you will know
|
||||
exactly what information we need to help you quickly.
|
||||
|
||||
**But first, please do the following things before creating an issue.**
|
||||
|
||||
### Upgrade to the latest version
|
||||
|
||||
Chances are that the bug you discovered was already fixed in a subsequent version. Thus, before reporting an issue,
|
||||
ensure that you're running the [latest release version](https://github.com/sunnypilot/sunnypilot/releases) of sunnypilot.
|
||||
Please consult our [installation guide](../setup/read-before-installing.md) to learn how to upgrade to the latest version.
|
||||
|
||||
!!! warning "Bug fixes are not backported"
|
||||
Please understand that only bugs that occur in the latest version of sunnypilot will be addressed. Also, to reduce
|
||||
duplicate efforts, fixes cannot be backported to earlier versions.
|
||||
|
||||
### Remove customizations
|
||||
|
||||
If you're using customized features, such as your own tweaks of the features, please remove them from the branch
|
||||
you are testing from before reporting a bug. We can't offer official support for bugs that might hide in your implementations,
|
||||
so make sure to omit any customizations from the version being tested.
|
||||
|
||||
If, after removing the customizations, the bug is gone, the bug is likely caused by your customizations. A good idea is
|
||||
to add them back gradually to narrow down the root cause of the problem If you did a major version upgrade, make sure
|
||||
you adjusted all customizations you have implemented.
|
||||
|
||||
!!! tip
|
||||
If you are an advanced user, you could also utilize `git bisect`
|
||||
to perform a binary search in the history to find a particular regression.
|
||||
|
||||
!!! warning "Customizations mentioned in our documentation"
|
||||
A handful of the features sunnypilot offers can only be implemented with customizations. if you find a bug in any of
|
||||
the customizations that our documentations explicitly mentioned, you are, of course, encouraged to report it.
|
||||
|
||||
**Don't be shy to ask on our [Discord][discord] for help if you run into problems.**
|
||||
|
||||
### Search for solutions
|
||||
|
||||
At this stage, we know that the problem persists in the latest version and is not caused by any of your customizations.
|
||||
However, the problem might result from a small typo or a syntactical error in the source code, e.g., `selfdrive/car/interfaces.py`.
|
||||
|
||||
Now, before you go through the trouble of creating a bug report that is answered and closed right away with a link to
|
||||
the relevant documentation section or another already reported or closed issue or discussion, you can save time for us
|
||||
and yourself by doing some research:
|
||||
|
||||
1. [Search our documentation] and look for the relevant sections that could be related to your problem. If found, make
|
||||
sure that the settings are configured correctly.
|
||||
2. [Search our Discord][discord] to learn if other users are struggling with similar problems and work together with
|
||||
our
|
||||
great comunity towards a solution. Many problems are solved there.
|
||||
3. [Search comma's openpilot issue tracker][comma's issue tracker], as another user might
|
||||
already have reported the same problem that may exist in
|
||||
stock openpilot, and there might even be a known workaround or fix for it. Thus, no need to create a new issue.
|
||||
4. [Search sunnypilot's issue tracker][sunnypilot's issue tracker], as another user might already have
|
||||
reported the same problem, and there
|
||||
might even be a known workaround or fix for it. Thus, no need to create a new issue.
|
||||
|
||||
[Search our documentation]: ?q=
|
||||
|
||||
**Keep track of all <u>search terms</u> and <u>relevant links</u>, you'll need them in the bug report.**[^1]
|
||||
|
||||
[^1]:
|
||||
We might be using terminology in our documentation different from yours, but we mean the same. When you include the
|
||||
search terms and related links in your bug report, you help us to adjust and improve the documentation.
|
||||
|
||||
---
|
||||
|
||||
At this point, when you still haven't found a solution to your problem, we encourage you to report the issue on our
|
||||
[Discord][discord] because it's now very likely that you stumbled over something we don't know
|
||||
yet. Read the following section
|
||||
to learn how to create a complete and helpful bug report.
|
||||
|
||||
## Issue template
|
||||
|
||||
We have created an issue template to make the bug reporting process as simple as possible, and more efficient for our
|
||||
community and us.
|
||||
|
||||
- [Title]
|
||||
- [Context]<small>optional</small>
|
||||
- [Bug description]
|
||||
- [Related links]
|
||||
- [Reproduction]
|
||||
- [Steps to reproduce]
|
||||
- [Checklist]
|
||||
|
||||
[Title]: #title
|
||||
[Context]: #context
|
||||
[Bug description]: #bug-description
|
||||
[Related links]: #related-links
|
||||
[Reproduction]: #reproduction
|
||||
[Steps to reproduce]: #steps-to-reproduce
|
||||
[Checklist]: #checklist
|
||||
|
||||
### Title
|
||||
|
||||
A good title is short and descriptive. It should be a one-sentence executive summary of the issue, so the impact and
|
||||
severity of the bug you want to report can be inferred from the title.
|
||||
|
||||
| <!-- --> | Example |
|
||||
| -------- |--------------------------------------------------------------------------------------------------------------|
|
||||
| :material-check:{ style="color: #4DB6AC" } __Clear__ | Speed Limit Control (SLC) stuck in `preActive` when engaged |
|
||||
| :material-close:{ style="color: #EF5350" } __Wordy__ | The Speed Limit Control (SLC) remains in the `preActive` state when longitudinal it's supposed to be engaged |
|
||||
| :material-close:{ style="color: #EF5350" } __Unclear__ | SLC does not work |
|
||||
| :material-close:{ style="color: #EF5350" } __Useless__ | Help |
|
||||
|
||||
### Context <small>optional</small> { #context }
|
||||
|
||||
Before describing the bug, you can provide additional context for us to understand what you were trying to achieve.
|
||||
Explain the circumstances in which you're using sunnypilot, and what you _think_ might be relevant. Don't write
|
||||
about the bug here.
|
||||
|
||||
!!! note "__Why this might be helpful__"
|
||||
Some errors only manifest in specific settings, environments or edge cases, for example, when the feature is not available
|
||||
to certain cars.
|
||||
|
||||
### Bug description
|
||||
|
||||
Now, to the bug you want to report. Provide a clear, focused, specific, and concise summary of the bug you encountered.
|
||||
Explain why you think this is a bug that should be reported to sunnypilot, and not to one of its dependencies.[^3]
|
||||
Adhere to the following principles:
|
||||
|
||||
[^3]:
|
||||
Sometimes, users report bugs on our [sunnypilot's issue tracker] or [Discord][discord]
|
||||
that are caused by one of our upstream dependencies, including [comma's openpilot], [comma's panda],
|
||||
or other openpilot forks' dependencies. A good rule of thumb is
|
||||
to reproduce the issue with stock openpilot in the same conditions and
|
||||
check if the problem persists. If it does, the problem is likely not
|
||||
related to sunnypilot and should be reported upstream. When in
|
||||
doubt, use our [Discord][discord] to ask for help.
|
||||
|
||||
[comma's openpilot]: https://github.com/commaai/openpilot
|
||||
[comma's panda]: https://github.com/commaai/panda
|
||||
|
||||
- __Explain the <u>what</u>, not the <u>how</u>__ – don't explain
|
||||
[how to reproduce the bug][Steps to reproduce] here, we're getting there.
|
||||
Focus on articulating the problem and its impact as clearly as possible.
|
||||
|
||||
- __Keep it short and concise__ – if the bug can be precisely explained in one
|
||||
or two sentences, perfect. Don't inflate it – maintainers and future users
|
||||
will be grateful for having to read less.
|
||||
|
||||
- __One bug at a time__ – if you encounter several unrelated bugs, please
|
||||
create separate issues for them. Don't report them in the same issue, as
|
||||
this makes attribution difficult.
|
||||
|
||||
---
|
||||
|
||||
:material-run-fast: __Stretch goal__ – if you found a workaround or a way to fix
|
||||
the bug, you can help other users temporarily mitigate the problem before
|
||||
we maintainers can fix the bug in our code base.
|
||||
|
||||
!!! note "__Why we need this__"
|
||||
In order for us to understand the problem, we need a clear description of it and quantify its impact, which is
|
||||
essential for triage and prioritization.
|
||||
|
||||
### Related links
|
||||
|
||||
Of course, prior to reporting a bug, you have read our documentation and
|
||||
[could not find a working solution][search for solutions]. Please share links
|
||||
to all sections of our documentation that might be relevant to the bug, as it
|
||||
helps us gradually improve it.
|
||||
|
||||
Additionally, since you have searched [comma's issue tracker], [sunnypilot's issue tracker] or [Discord][discord]
|
||||
before reporting an issue, and have possibly found several issues or
|
||||
discussions, include those as well. Every link to an issue or discussion creates
|
||||
a backlink, guiding us maintainers and other users in the future.
|
||||
|
||||
---
|
||||
|
||||
:material-run-fast: __Stretch goal__ – if you also include the search terms you
|
||||
used when [searching for a solution][search for solutions] to your problem, you
|
||||
make it easier for us maintainers to improve the documentation.
|
||||
|
||||
[search for solutions]: #search-for-solutions
|
||||
|
||||
### Reproduction
|
||||
|
||||
A minimal reproduction is at the heart of every well-written bug report, as
|
||||
it allows us maintainers to instantly recreate the necessary conditions to
|
||||
inspect the bug to quickly find its root cause. It's a proven fact that issues
|
||||
with concise and small reproductions can be fixed much faster.
|
||||
|
||||
After you have created the reproduction, take note of your <u>__comma Dongle ID__</u>. It will be used during the bug
|
||||
report.
|
||||
|
||||
!!! note "__Why we need this__"
|
||||
If an issue contains no minimal reproduction or just a link to a repository with thousands of files, the
|
||||
maintainers would need to invest a lot of time into trying to recreate the right conditions to even inspect the
|
||||
bug, let alone fix it.
|
||||
|
||||
!!! warning "Don't share links to repositories"
|
||||
While we know that it is a good practice among developers to include a link
|
||||
to a repository with the bug report, we currently don't support those in our
|
||||
process. The reason is that the reproduction, which is automatically
|
||||
produced by the <u>__route ID__</u> contains all the necessary
|
||||
environment information that is often forgotten to be included.
|
||||
|
||||
Additionally, there are many non-technical users of sunnypilot that
|
||||
have trouble creating repositories.
|
||||
|
||||
### Steps to reproduce
|
||||
|
||||
At this point, you provided us with enough information to understand the bug
|
||||
and provided us with a reproduction that we could run and inspect. However, when
|
||||
we check your reproduction, it might not be immediately apparent how we can see
|
||||
the bug in action.
|
||||
|
||||
Thus, please list the specific steps we should follow when running your
|
||||
reproduction to observe the bug. Keep the steps short and concise, and make sure
|
||||
not to leave anything out. Use simple language as you would explain it to a
|
||||
five-year-old, and focus on continuity.
|
||||
|
||||
!!! note "__Why we need this__"
|
||||
We must know how to navigate your reproduction in order
|
||||
to observe the bug, as some bugs only occur at certain viewports or in
|
||||
specific conditions.
|
||||
|
||||
### Uploading logs and preserving routes
|
||||
|
||||
After reproducing the bug, please follow these steps to upload the necessary logs and preserve the routes.
|
||||
|
||||
1. Ensure the route is fully uploaded at [comma Connect]. We cannot look
|
||||
into issues without routes, or at least a comma Dongle ID.
|
||||
|
||||
1. Visit [comma Connect], select the route with the issue reproduced.
|
||||
2. Under the "Files" button, locate "All logs". Click "Upload x files".
|
||||
3. View the upload queue, and confirm that all raw logs are uploaded.
|
||||
|
||||
!!! note
|
||||
Sometimes when the qlogs of the route are still being uploaded, some raw logs may not be available to
|
||||
request for upload. Refresh the page a few times once you have confirmed all qlogs have been uploaded,
|
||||
then try to upload all raw logs again if available.
|
||||
|
||||
2. Share your Dongle ID with sunnypilot on [comma Connect].
|
||||
|
||||
1. Visit [comma Connect], navigate to the gear icon.
|
||||
2. Select "Share by email", and enter `support@sunnypilot.ai`.
|
||||
3. Confirm the sharing by clicking the share icon again.
|
||||
4. Set the device name to your vehicle's year/make/model and your Discord username, so it can be easily identified.
|
||||
|
||||
3. Once all raw logs are uploaded, click "More info" and enable the "Preserved" option to preserve the route.
|
||||
4. Attach the route ID in your issue submission.
|
||||
|
||||
[comma Connect]: https://connect.comma.ai
|
||||
|
||||
### Checklist
|
||||
|
||||
Thanks for following the guide and creating a high-quality and complete bug
|
||||
report – you are almost done. The checklist ensures that you have read this guide
|
||||
and have worked to your best knowledge to provide us with everything we need to
|
||||
know to help you.
|
||||
|
||||
- [ ] I have upgraded to the latest release version of sunnypilot.
|
||||
- [ ] I have removed or disable any customizations and confirmed the bug persists.
|
||||
- [ ] I have searched the documentation, issue trackers, and Discord for similar issues.
|
||||
- [ ] I have created a minimal reproduction and noted my comma Dongle ID.
|
||||
- [ ] I have shared my Dongle ID with sunnypilot at `support@sunnypilot.ai`.
|
||||
- [ ] I have filled out all required sections of the issue template.
|
||||
- [ ] I have followed this guide and ensured all necessary information is included.
|
||||
|
||||
__We'll take it from here.__
|
||||
@@ -1,97 +0,0 @@
|
||||
# Documentation issues
|
||||
|
||||
Our documentation is composed of many pages and includes extensive
|
||||
information on features, configurations, customizations, and much more. If you
|
||||
have found an inconsistency or see room for improvement, please follow this
|
||||
guide to submit an issue on our [issue tracker].
|
||||
|
||||
[issue tracker]: https://github.com/sunnypilot/sunnypilot/issues
|
||||
|
||||
## Issue template
|
||||
|
||||
Reporting a documentation issue is usually less involved than reporting a bug.
|
||||
Please thoroughly read this guide before creating a new documentation issue,
|
||||
and provide the following information as part of the issue:
|
||||
|
||||
- [Title]
|
||||
- [Description]
|
||||
- [Related links]
|
||||
- [Proposed change] <small>optional</small>
|
||||
- [Checklist]
|
||||
|
||||
[Title]: #title
|
||||
[Description]: #description
|
||||
[Related links]: #related-links
|
||||
[Proposed change]: #proposed-change
|
||||
[Checklist]: #checklist
|
||||
|
||||
### Title
|
||||
|
||||
A good title should be a short, one-sentence description of the issue, contain
|
||||
all relevant information and, in particular, keywords to simplify the search in
|
||||
our issue tracker.
|
||||
|
||||
| <!-- --> | Example |
|
||||
| -------- | -------- |
|
||||
| :material-check:{ style="color: #4DB6AC" } __Clear__ | Clarify Speed Limit Control engagement
|
||||
| :material-close:{ style="color: #EF5350" } __Unclear__ | Missing information in the docs
|
||||
| :material-close:{ style="color: #EF5350" } __Useless__ | Help
|
||||
|
||||
### Description
|
||||
|
||||
Provide a clear and concise summary of the inconsistency or issue you
|
||||
encountered in the documentation or the documentation section that needs
|
||||
improvement. Explain why you think the documentation should be adjusted and
|
||||
describe the severity of the issue:
|
||||
|
||||
- __Keep it short and concise__ – if the inconsistency or issue can be
|
||||
precisely explained in one or two sentences, perfect. Maintainers and future
|
||||
users will be grateful for having to read less.
|
||||
|
||||
- __One issue at a time__ – if you encounter several unrelated inconsistencies,
|
||||
please create separate issues for them. Don't report them in the same issue
|
||||
– it makes attribution difficult.
|
||||
|
||||
!!! note "__Why we need this__"
|
||||
Describing the problem clearly and concisely is a prerequisite for improving
|
||||
our documentation – we need to understand what's wrong, so we can fix it.
|
||||
|
||||
### Related links
|
||||
|
||||
After you described the documentation section that needs to be adjusted above,
|
||||
we now ask you to share the link to this specific documentation section and
|
||||
other possibly related sections. Make sure to use anchor links (permanent links)
|
||||
where possible, as it simplifies discovery.
|
||||
|
||||
!!! note "__Why we need this__"
|
||||
Providing the links to the documentation help us understand which sections
|
||||
of our documentation need to be adjusted, extended, or overhauled.
|
||||
|
||||
### Proposed change <small>optional</small> { #proposed-change }
|
||||
|
||||
Now that you have provided us with the description and links to the
|
||||
documentation sections, you can help us, maintainers, and the community by
|
||||
proposing an improvement. You can sketch out rough ideas or write a concrete
|
||||
proposal. This field is optional but very helpful.
|
||||
|
||||
!!! note "__Why we need this__"
|
||||
An improvement proposal can be beneficial for other users who encounter
|
||||
the same issue, as they offer solutions before we maintainers can update
|
||||
the documentation.
|
||||
|
||||
### Checklist
|
||||
|
||||
Thanks for following the guide and providing valuable feedback for our
|
||||
documentation – you are almost done. The checklist ensures that you have read
|
||||
this guide and have worked to your best knowledge to provide us with every piece
|
||||
of information we need to improve it.
|
||||
|
||||
- [ ] I have provided a clear and descriptive title for the documentation issue.
|
||||
- [ ] I have summarized the inconsistency or issue concisely in the description.
|
||||
- [ ] I have included links to the specific documentation section(s) that need
|
||||
adjustments.
|
||||
- [ ] (Optional) I have proposed a change or improvement to the documentation.
|
||||
- [ ] I have followed this guide and ensured all necessary information is included.
|
||||
|
||||
__We'll take it from here.__
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user