Merge branch 'palisade-2023-port-1' into palisade-2023-hda2-long

This reverts commit bf26c38397.

.devcontainer/Dockerfile

@@ -1,12 +1,11 @@
 FROM ghcr.io/commaai/openpilot-base:latest
 
-RUN apt update && apt install -y vim net-tools usbutils htop ripgrep tmux wget mesa-utils xvfb libxtst6 libxv1 libglu1-mesa gdb bash-completion
-RUN python3 -m ensurepip --upgrade
-RUN pip3 install ipython jupyter jupyterlab
+RUN apt update && apt install -y vim net-tools usbutils htop ripgrep tmux wget mesa-utils xvfb libxtst6 libxv1 libglu1-mesa libegl1-mesa gdb bash-completion
+RUN pip install ipython jupyter jupyterlab
 
 RUN cd /tmp && \
     ARCH=$(arch | sed s/aarch64/arm64/ | sed s/x86_64/amd64/) && \
-    curl -L -o virtualgl.deb "https://github.com/VirtualGL/virtualgl/releases/download/3.1.1/virtualgl_3.1.1_$ARCH.deb" && \
+    curl -L -o virtualgl.deb "https://downloads.sourceforge.net/project/virtualgl/3.1/virtualgl_3.1_$ARCH.deb" && \
     dpkg -i virtualgl.deb
 
 RUN usermod -aG video batman

.github/FUNDING.yml

@@ -1,12 +0,0 @@
-# These are supported funding model platforms
-
-github: [sunnyhaibin] # Replace with up to 4 GitHub Sponsors-enabled usernames e.g., [user1, user2]
-patreon: sunnyhaibin # Replace with a single Patreon username
-open_collective: # Replace with a single Open Collective username
-ko_fi: # Replace with a single Ko-fi username
-tidelift: # Replace with a single Tidelift platform-name/package-name e.g., npm/babel
-community_bridge: # Replace with a single Community Bridge project-name e.g., cloud-foundry
-liberapay: # Replace with a single Liberapay username
-issuehunt: # Replace with a single IssueHunt username
-otechie: # Replace with a single Otechie username
-custom: ['https://paypal.me/sunnyhaibin0850'] # Replace with up to 4 custom sponsorship URLs e.g., ['link1', 'link2']

.github/labeler.yaml

@@ -44,7 +44,7 @@ subaru:
 
 tesla:
   - changed-files:
-    - any-glob-to-all-files: 'selfdrive/car/tesla/*'
+    - any-glob-to-all-files: 'selfdrive/car/telsa/*'
 
 toyota:
   - changed-files:

.github/workflows/badges.yaml

@@ -7,7 +7,7 @@ on:
 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
+  RUN: docker run --shm-size 1G -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:

.github/workflows/ci_weekly_report.yaml

@@ -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 == 'commaai/openpilot'
-    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: commaai/openpilot/.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: [], cancelled: [] };
-              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 "cancelled":
-                  report[jobName].cancelled.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

.github/workflows/ci_weekly_run.yaml

@@ -1,21 +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: commaai/openpilot/.github/workflows/selfdrive_tests.yaml@master
-    with:
-      run_number: ${{ inputs.run_number }}
-  tools_tests:
-    uses: commaai/openpilot/.github/workflows/tools_tests.yaml@master
-    with:
-      run_number: ${{ inputs.run_number }}

.github/workflows/codeql.yml

@@ -1,97 +0,0 @@
-# For most projects, this workflow file will not need changing; you simply need
-# to commit it to your repository.
-#
-# You may wish to alter this file to override the set of languages analyzed,
-# or to provide custom queries or build logic.
-#
-# ******** NOTE ********
-# We have attempted to detect the languages in your repository. Please check
-# the `language` matrix defined below to confirm you have the correct set of
-# supported CodeQL languages.
-#
-name: "CodeQL"
-
-on:
-  push:
-    branches: [ "master", "*-c3", "master*" ]
-  pull_request:
-    branches: [ "master", "*-c3", "master*" ]
-  schedule:
-    - cron: '39 7 * * 2'
-
-jobs:
-  analyze:
-    name: Analyze (${{ matrix.language }})
-    # Runner size impacts CodeQL analysis time. To learn more, please see:
-    #   - https://gh.io/recommended-hardware-resources-for-running-codeql
-    #   - https://gh.io/supported-runners-and-hardware-resources
-    #   - https://gh.io/using-larger-runners (GitHub.com only)
-    # Consider using larger runners or machines with greater resources for possible analysis time improvements.
-    runs-on: ${{ (matrix.language == 'swift' && 'macos-latest') || 'ubuntu-latest' }}
-    timeout-minutes: ${{ (matrix.language == 'swift' && 120) || 360 }}
-    permissions:
-      # required for all workflows
-      security-events: write
-
-      # required to fetch internal or private CodeQL packs
-      packages: read
-
-      # only required for workflows in private repositories
-      actions: read
-      contents: read
-
-    strategy:
-      fail-fast: false
-      matrix:
-        include:
-        - language: c-cpp
-          build-mode: autobuild
-        - language: javascript-typescript
-          build-mode: none
-        - language: python
-          build-mode: none
-        # CodeQL supports the following values keywords for 'language': 'c-cpp', 'csharp', 'go', 'java-kotlin', 'javascript-typescript', 'python', 'ruby', 'swift'
-        # Use `c-cpp` to analyze code written in C, C++ or both
-        # Use 'java-kotlin' to analyze code written in Java, Kotlin or both
-        # Use 'javascript-typescript' to analyze code written in JavaScript, TypeScript or both
-        # To learn more about changing the languages that are analyzed or customizing the build mode for your analysis,
-        # see https://docs.github.com/en/code-security/code-scanning/creating-an-advanced-setup-for-code-scanning/customizing-your-advanced-setup-for-code-scanning.
-        # If you are analyzing a compiled language, you can modify the 'build-mode' for that language to customize how
-        # your codebase is analyzed, see https://docs.github.com/en/code-security/code-scanning/creating-an-advanced-setup-for-code-scanning/codeql-code-scanning-for-compiled-languages
-    steps:
-    - name: Checkout repository
-      uses: actions/checkout@v4
-
-    # Initializes the CodeQL tools for scanning.
-    - name: Initialize CodeQL
-      uses: github/codeql-action/init@v3
-      with:
-        languages: ${{ matrix.language }}
-        build-mode: ${{ matrix.build-mode }}
-        # If you wish to specify custom queries, you can do so here or in a config file.
-        # By default, queries listed here will override any specified in a config file.
-        # Prefix the list here with "+" to use these queries and those in the config file.
-
-        # For more details on CodeQL's query packs, refer to: https://docs.github.com/en/code-security/code-scanning/automatically-scanning-your-code-for-vulnerabilities-and-errors/configuring-code-scanning#using-queries-in-ql-packs
-        # queries: security-extended,security-and-quality
-
-    # If the analyze step fails for one of the languages you are analyzing with
-    # "We were unable to automatically build your code", modify the matrix above
-    # to set the build mode to "manual" for that language. Then modify this step
-    # to build your code.
-    # ℹ️ Command-line programs to run using the OS shell.
-    # 📚 See https://docs.github.com/en/actions/using-workflows/workflow-syntax-for-github-actions#jobsjob_idstepsrun
-    - if: matrix.build-mode == 'manual'
-      shell: bash
-      run: |
-        echo 'If you are using a "manual" build mode for one or more of the' \
-          'languages you are analyzing, replace this with the commands to build' \
-          'your code, for example:'
-        echo '  make bootstrap'
-        echo '  make release'
-        exit 1
-
-    - name: Perform CodeQL Analysis
-      uses: github/codeql-action/analyze@v3
-      with:
-        category: "/language:${{matrix.language}}"

.github/workflows/docs.yaml

@@ -5,34 +5,35 @@ on:
     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 }}
+  group: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
   cancel-in-progress: true
 
+env:
+  BASE_IMAGE: openpilot-base
+
+  BUILD: selfdrive/test/docker_build.sh base
+
+  RUN: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -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:
   docs:
     name: build docs
     runs-on: ubuntu-latest
-    timeout-minutes: 1
+    timeout-minutes: 45
     steps:
     - uses: actions/checkout@v4
       with:
         submodules: true
-
-    # Build
+    - uses: ./.github/workflows/setup-with-retry
+    - name: Build openpilot
+      run: |
+        ${{ env.RUN }} "scons -j$(nproc)"
     - name: Build docs
       run: |
-        # TODO: can we install just the "docs" dependency group without the normal deps?
-        pip install mkdocs
-        mkdocs build
+        ${{ env.RUN }} "apt update && apt install -y doxygen && cd docs && make -j$(nproc) html"
 
-    # Push to docs.comma.ai
     - uses: actions/checkout@v4
       if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
       with:
@@ -47,17 +48,16 @@ jobs:
         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
+        cp -r ../build/docs/html/ docs/
+        cp -r ../docs/README.md .
         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

.github/workflows/jenkins-pr-trigger.yaml

@@ -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 }}

.github/workflows/mirror_to_gitlab.yaml

@@ -1,46 +0,0 @@
-name: Mirror to GitLab
-
-on:
-  push:
-  delete:
-  workflow_dispatch:  # This enables manual triggering
-
-jobs:
-  sync:
-    runs-on: ubuntu-latest
-    steps:
-      - name: Wait for other instances of this workflow to conclude
-        uses: softprops/turnstyle@8db075d65b19bf94e6e8687b504db69938dc3c65
-        with:
-          same-branch-only: 'true'
-          abort-after-seconds: 300
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Checkout Repository
-        uses: actions/checkout@v3
-        with:
-          ref: ${{ github.ref }}
-          fetch-depth: 0  # Fetch full history
-
-      - 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
-
-      # Note: If you have issues with "push rejected missing LFS" or something make sure you disabled LFS on the GITLAB repo if you intend to use a different LFS repo other than the target repo.
-      - name: Sync and commit changes
-        id: sync-and-commit
-        run: |
-          # Add GitLab remote
-          git remote add gitlab git@gitlab.com:sunnypilot/sunnyhaibin/sunnypilot-github-mirror.git
-          git push -u --force gitlab ${{ github.ref }}

.github/workflows/repo-maintenance.yaml

@@ -41,18 +41,21 @@ jobs:
     if: github.repository == 'commaai/openpilot'
     steps:
     - uses: actions/checkout@v4
-    - name: uv lock
+    - name: poetry lock
       run: |
-        python3 -m ensurepip --upgrade
-        pip3 install uv
-        uv lock --upgrade
+        pip install poetry
+        poetry lock
+    - name: pre-commit autoupdate
+      run: |
+        git config --global --add safe.directory '*'
+        pre-commit autoupdate
     - 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'
+        commit-message: Update Python packages and pre-commit hooks
+        title: '[bot] Update Python packages and pre-commit hooks'
         branch: auto-package-updates
         base: master
         delete-branch: true

.github/workflows/selfdrive_tests.yaml

@@ -6,15 +6,9 @@ on:
       - master
   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.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  group: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
   cancel-in-progress: true
 
 env:
@@ -25,7 +19,7 @@ env:
   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
+  RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PRE_COMMIT_HOME=/tmp/pre-commit -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/pre-commit:/tmp/pre-commit -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
 
@@ -45,6 +39,7 @@ jobs:
     - name: Build devel
       timeout-minutes: 1
       run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
+    - uses: ./.github/workflows/setup-pre-commit
     - uses: ./.github/workflows/setup-with-retry
     - name: Check submodules
       if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
@@ -61,22 +56,21 @@ jobs:
         cd $STRIPPED_DIR
         ${{ env.RUN }} "release/check-dirty.sh && \
                         MAX_EXAMPLES=5 $PYTEST -m 'not slow' selfdrive/car"
-    - name: static analysis
-      timeout-minutes: 1
+    - name: pre-commit
+      timeout-minutes: 3
       run: |
         cd $GITHUB_WORKSPACE
+        cp .pre-commit-config.yaml $STRIPPED_DIR
         cp pyproject.toml $STRIPPED_DIR
+        cp poetry.lock $STRIPPED_DIR
         cd $STRIPPED_DIR
-        ${{ env.RUN }} "scripts/lint.sh"
+        ${{ env.RUN }} "unset PYTHONWARNINGS && SKIP=check-added-large-files,check-hooks-apply,check-useless-excludes pre-commit run --all && chmod -R 777 /tmp/pre-commit"
 
   build:
     strategy:
       matrix:
-        arch: ${{ fromJson(
-           ((github.repository == 'commaai/openpilot') &&
-              ((github.event_name != 'pull_request') ||
-               (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && '["x86_64", "aarch64"]' || '["x86_64"]' ) }}
-    runs-on: ${{ (matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8' || 'ubuntu-latest' }}
+        arch: ${{ fromJson('["x86_64"]') }} # TODO: Re-add build test for aarch64 once we switched to ubuntu-2404
+    runs-on: ubuntu-latest
     steps:
     - uses: actions/checkout@v4
       with:
@@ -93,48 +87,6 @@ jobs:
     - uses: ./.github/workflows/compile-openpilot
       timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 15 || 30) }} # allow more time when we missed the scons cache
 
-  build_mac:
-    name: build macOS
-    runs-on: macos-latest
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - run: git lfs pull
-    - name: Install dependencies
-      run: ./tools/mac_setup.sh
-      env:
-        # package install has DeprecationWarnings
-        PYTHONWARNINGS: default
-    - run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
-    - name: Getting scons cache
-      uses: 'actions/cache@v4'
-      with:
-        path: /tmp/scons_cache
-        key: scons-${{ runner.arch }}-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)
-
-  docker_push_multiarch:
-    name: docker push multiarch tag
-    runs-on: ubuntu-latest
-    if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
-    needs: [build]
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: false
-    - name: Setup docker
-      run: |
-        $DOCKER_LOGIN
-    - name: Merge x64 and arm64 tags
-      run: |
-        export PUSH_IMAGE=true
-        scripts/retry.sh selfdrive/test/docker_tag_multiarch.sh base x86_64 aarch64
-
   static_analysis:
     name: static analysis
     runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
@@ -144,12 +96,13 @@ jobs:
     - uses: actions/checkout@v4
       with:
         submodules: true
+    - uses: ./.github/workflows/setup-pre-commit
     - uses: ./.github/workflows/setup-with-retry
     - name: Build openpilot
       run: ${{ env.RUN }} "scons -j$(nproc)"
-    - name: static analysis
-      timeout-minutes: 1
-      run: ${{ env.RUN }} "scripts/lint.sh"
+    - name: pre-commit
+      timeout-minutes: 4
+      run: ${{ env.RUN }} "unset PYTHONWARNINGS && pre-commit run --all && chmod -R 777 /tmp/pre-commit"
 
   unit_tests:
     name: unit tests
@@ -335,10 +288,8 @@ jobs:
             })
 
   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-latest
-    if: github.event_name == 'pull_request'
     steps:
       - uses: actions/checkout@v4
         with:
@@ -355,5 +306,5 @@ jobs:
       - name: Upload Test Report
         uses: actions/upload-artifact@v4
         with:
-          name: report-${{ github.event.number }}
-          path: selfdrive/ui/tests/test_ui/report_1/screenshots
+          name: report
+          path: selfdrive/ui/tests/test_ui/report

.github/workflows/setup-pre-commit/action.yaml

@@ -0,0 +1,12 @@
+name: 'set up pre-commit environment'
+
+runs:
+  using: "composite"
+  steps:
+    - uses: ./.github/workflows/auto-cache
+      with:
+        path: .ci_cache/pre-commit
+        key: pre-commit-${{ hashFiles('**/.pre-commit-config.yaml') }}
+        restore-keys: |
+          pre-commit-
+        save: ${{ github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' }}

.github/workflows/setup/action.yaml

@@ -60,4 +60,4 @@ runs:
         find . -type f -not -executable -not -perm 644 -exec chmod 644 {} \;
     # build our docker image
     - shell: bash
-      run: eval ${{ env.BUILD }}
+      run: eval ${{ env.BUILD }}

.github/workflows/stale.yaml

@@ -5,8 +5,8 @@ on:
   workflow_dispatch:
 
 env:
-  DAYS_BEFORE_PR_CLOSE: 2
-  DAYS_BEFORE_PR_STALE: 9
+  DAYS_BEFORE_PR_CLOSE: 3
+  DAYS_BEFORE_PR_STALE: 14
 
 jobs:
   stale:
@@ -14,7 +14,7 @@ jobs:
     steps:
       - uses: actions/stale@v9
         with:
-          exempt-all-milestones: true
+          exempt-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.'

.github/workflows/tools_tests.yaml

@@ -5,14 +5,9 @@ on:
     branches:
       - master
   pull_request:
-  workflow_call:
-    inputs:
-      run_number:
-        default: '1'
-        required: true
-        type: string
+
 concurrency:
-  group: tools-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  group: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
   cancel-in-progress: true
 
 env:
@@ -21,7 +16,7 @@ env:
 
   BUILD: selfdrive/test/docker_build.sh base
 
-  RUN: docker run --shm-size 2G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -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
+  RUN: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -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:
@@ -44,13 +39,12 @@ jobs:
                         source selfdrive/test/setup_vsound.sh && \
                         CI=1 pytest tools/sim/tests/test_metadrive_bridge.py"
 
-  test_compatibility:
-    name: test 20.04 + 3.11
-    runs-on: ubuntu-20.04
+  test_python311:
+    name: test python3.11 support
+    runs-on: ubuntu-latest
+    timeout-minutes: 5
     steps:
     - uses: actions/checkout@v4
-      with:
-        submodules: true
     - name: Installing ubuntu dependencies
       run: INSTALL_EXTRA_PACKAGES=no tools/install_ubuntu_dependencies.sh
     - name: Installing python
@@ -59,21 +53,10 @@ jobs:
         python-version: '3.11.4'
     - name: Installing pip
       run: pip install pip==24.0
-    - name: Installing uv
-      run: pip install uv
-    - name: git LFS
-      run: git lfs pull
-    - run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
-    - name: Getting scons cache
-      uses: 'actions/cache@v4'
-      with:
-        path: /tmp/scons_cache
-        key: scons-${{ runner.arch }}-ubuntu2004-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
-        restore-keys: |
-          scons-${{ runner.arch }}-ubuntu2004-${{ env.CACHE_COMMIT_DATE }}
-          scons-${{ runner.arch }}-ubuntu2004
-    - name: Building openpilot
-      run: uv run scons -u -j$(nproc)
+    - name: Installing poetry
+      run: pip install poetry==1.7.0
+    - name: Installing python dependencies
+      run: poetry install --no-cache --no-root
 
   devcontainer:
     name: devcontainer
@@ -98,6 +81,6 @@ jobs:
     - name: Test environment
       run: |
         devcontainer exec --workspace-folder . scons -j$(nproc) cereal/ common/
-        devcontainer exec --workspace-folder . pip3 install pip-install-test
+        devcontainer exec --workspace-folder . pip install pip-install-test
         devcontainer exec --workspace-folder . touch /home/batman/.comma/auth.json
         devcontainer exec --workspace-folder . sudo touch /root/test.txt

.github/workflows/ui_preview.yaml

@@ -1,91 +0,0 @@
-name: "ui preview"
-on:
-  pull_request_target:
-    types: [assigned, opened, synchronize, reopened, edited]
-    branches:
-      - 'master'
-    paths:
-      - 'selfdrive/ui/**'
-
-env:
-  UI_JOB_NAME: "Create UI Report"
-
-jobs:
-  preview:
-    if: github.repository == 'commaai/openpilot'
-    name: preview
-    runs-on: ubuntu-latest
-    timeout-minutes: 5
-    permissions:
-      contents: read
-      pull-requests: write
-      actions: read
-    steps:
-      - name: Waiting for ui test to start
-        run: sleep 30
-
-      - name: Wait for ui report
-        uses: lewagon/wait-on-check-action@v1.3.4
-        with:
-          ref: ${{ github.event.pull_request.head.sha }}
-          check-name: ${{ env.UI_JOB_NAME }}
-          repo-token: ${{ secrets.GITHUB_TOKEN }}
-          allowed-conclusions: success
-          wait-interval: 20
-
-      - name: Get workflow run ID
-        id: get_run_id
-        run: |
-          echo "run_id=$(curl https://api.github.com/repos/${{ github.repository }}/commits/${{ github.event.pull_request.head.sha }}/check-runs | jq -r '.check_runs[] | select(.name == "${{ env.UI_JOB_NAME }}") | .html_url | capture("(?<number>[0-9]+)") | .number')" >> $GITHUB_OUTPUT
-
-      - name: Checkout ci-artifacts
-        uses: actions/checkout@v4
-        with:
-          repository: commaai/ci-artifacts
-          ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
-          path: ${{ github.workspace }}/ci-artifacts
-          ref: master
-
-      - name: Download artifact
-        id: download-artifact
-        uses: dawidd6/action-download-artifact@v6
-        with:
-          github_token: ${{ secrets.GITHUB_TOKEN }}
-          run_id: ${{ steps.get_run_id.outputs.run_id }}
-          search_artifacts: true
-          name: report-${{ github.event.number }}
-          path: ${{ github.workspace }}/ci-artifacts
-
-      - name: Push Screenshots
-        working-directory: ${{ github.workspace }}/ci-artifacts
-        run: |
-          git checkout -b openpilot/pr-${{ github.event.number }}
-          git config user.name "GitHub Actions Bot"
-          git config user.email "<>"
-          git add ${{ github.workspace }}/ci-artifacts/*
-          git commit -m "screenshots for PR #${{ github.event.number }}"
-          git push origin openpilot/pr-${{ github.event.number }} --force
-
-      - name: Comment Screenshots on PR
-        uses: thollander/actions-comment-pull-request@v2
-        with:
-          message: |
-            <!-- _(run_id_screenshots **${{ github.run_id }}**)_ -->
-            ## UI Screenshots
-            <table>
-              <tr>
-                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/homescreen.png"></td>
-                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/onroad.png"></td>
-              </tr>
-              <tr>
-                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/onroad_map.png"></td>
-                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/onroad_sidebar.png"></td>
-              </tr>
-              <tr>
-                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/settings_network.png"></td>
-                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/settings_device.png"></td>
-              </tr>
-            </table>
-          comment_tag: run_id_screenshots
-          pr_number: ${{ github.event.number }}
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

.gitignore

@@ -14,8 +14,6 @@ model2.png
 a.out
 .hypothesis
 
-/docs_site/
-
 *.dylib
 *.DSYM
 *.d
@@ -45,7 +43,6 @@ persist
 selfdrive/pandad/pandad
 cereal/services.h
 cereal/gen
-cereal/messaging/bridge
 selfdrive/logcatd/logcatd
 selfdrive/mapd/default_speeds_by_region.json
 system/proclogd/proclogd
@@ -56,7 +53,6 @@ selfdrive/car/tests/cars_dump
 system/camerad/camerad
 system/camerad/test/ae_gray_test
 selfdrive/modeld/_modeld
-selfdrive/modeld/_navmodeld
 selfdrive/modeld/_dmonitoringmodeld
 /src/
 
@@ -105,4 +101,4 @@ Pipfile
 ### VisualStudioCode Patch ###
 # Ignore all local history of files
 .history
-.ionide
+.ionide

.gitlab-ci.yml

@@ -1,240 +0,0 @@
-variables:
-  BUILD_DIR: "/data/openpilot"
-  OUTPUT_DIR: "${CI_PROJECT_DIR}/output"
-  CI_DIR: "${CI_PROJECT_DIR}/release/ci"
-  VERSION: 'echo $(date "+%Y.%m.%d")'
-  GIT_SUBMODULE_STRATEGY: recursive
-  GIT_DISCOVERY_ACROSS_FILESYSTEM: 1
-  DEV_C3_SOURCE_BRANCH: "master-dev-c3"
-  GIT_CONFIG_USER_EMAIL: "gitlab@pipeline.com"
-  GIT_CONFIG_USER_NAME: "Gitlab Pipeline"
-  PUBLIC_REPO_URL: "https://github.com/sunnyhaibin/sunnypilot"
-  BASE_BUILD_NUMER: 3000
-
-  EXTRA_VERSION_IDENTIFIER: "${CI_PIPELINE_IID}"
-  NEW_BRANCH: ${CI_COMMIT_REF_NAME}-prebuilt
-
-stages:
-  - build
-  - sanity
-  - publish
-  - notify
-
-default:
-  retry: 2
-  tags:
-    - sunnypilot
-    - x86
-
-.default_before_script: &default_before_script
-  - 'if [ "$EXTRA_VERSION_IDENTIFIER" = "$CI_PIPELINE_IID" ]; then export EXTRA_VERSION_IDENTIFIER=$((CI_PIPELINE_IID + BASE_BUILD_NUMER)); fi'
-  - 'export VERSION=$(eval $VERSION)-${EXTRA_VERSION_IDENTIFIER}'
-  - 'mkdir -p "${BUILD_DIR}/"'
-  - 'git config --global user.email "${GIT_CONFIG_USER_EMAIL}"'
-  - 'git config --global user.name "${GIT_CONFIG_USER_NAME}"'
-
-
-workflow: # If running on any branch other than main.
-  rules:
-    # We are an MR, but it's a draft, we won't proceed with anything.
-    - if: '$CI_MERGE_REQUEST_TITLE =~ /^wip:/i || $CI_MERGE_REQUEST_TITLE =~ /^draft:/i'
-      when: never
-
-    # Below are the rules when a commit is done (code has been added to the branch)
-    # Commit to master-dev-c3
-    - if: $CI_COMMIT_REF_NAME == $DEV_C3_SOURCE_BRANCH
-      variables:
-        EXTRA_VERSION_IDENTIFIER: "${CI_PIPELINE_IID}"
-        NEW_BRANCH: "dev-c3"
-        AUTO_BUILD: true
-      when: always
-    #commit made to main (master)
-    - if: $CI_COMMIT_REF_NAME == $CI_DEFAULT_BRANCH
-      variables:
-        NEW_BRANCH: "staging-c3"
-        VERSION: 'cat common/version.h | grep COMMA_VERSION | sed -e "s/[^0-9|.]//g"'
-        EXTRA_VERSION_IDENTIFIER: "staging"
-        AUTO_PUBLISH: true
-        AUTO_BUILD: true
-      when: always
-    # if tag
-    - if: $CI_COMMIT_TAG
-      variables:
-        NEW_BRANCH: "release-c3"
-        VERSION: 'cat common/version.h | grep COMMA_VERSION | sed -e "s/[^0-9|.]//g"'
-        EXTRA_VERSION_IDENTIFIER: "release"
-        AUTO_BUILD: true
-    - when: always
-
-
-build:
-  stage: build
-  cache:
-    key: "${CI_COMMIT_REF_SLUG}"
-    paths:
-      - "${CI_DIR}/scons_cache"
-  before_script:
-    - find $BUILD_DIR/ -mindepth 1 -delete
-    - *default_before_script
-    - "echo Starting build stage..."
-    - "echo BUILD_DIR: ${BUILD_DIR}"
-    - "echo CI_DIR: ${CI_DIR}"
-    - "echo VERSION: ${VERSION}"
-    - "echo CI_COMMIT_REF_NAME: ${CI_COMMIT_REF_NAME}"
-    - git config --global --add safe.directory ${CI_PROJECT_DIR}
-  script:
-    - export PYTHONPATH="$BUILD_DIR"
-    - "echo Building Panda..."
-    - scons -j$(nproc) cache_dir=${CI_DIR}/scons_cache ${CI_PROJECT_DIR}/panda
-    - mkdir -p ${BUILD_DIR}
-    - ls -la ${BUILD_DIR}
-    - "echo Building Rest..."
-    - ./release/release_files.py | sort | uniq | rsync -vrRl --files-from=- . $BUILD_DIR/
-    # - cp -pR --parents $(cat release/files_common release/files_tici | sort | uniq) $BUILD_DIR/ 2> >(grep -v 'warning:' >&2)
-    - cd $BUILD_DIR
-    - sed -i '/from .board.jungle import PandaJungle, PandaJungleDFU/s/^/#/' panda/__init__.py # comment panda jungle when prebuilt
-    - scons -j$(nproc) cache_dir=${CI_DIR}/scons_cache --minimal
-    - touch ${BUILD_DIR}/prebuilt
-    - sudo rm -rf ${OUTPUT_DIR}
-    - mkdir -p ${OUTPUT_DIR}
-    # We first include the paths we want to keep, even if we later will be excluding the other things on those paths
-    - rsync -avm
-      --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='*.A'
-      --exclude='*.o'
-      --exclude='*.O'
-      --exclude='*.os'
-      --exclude='*.OS'
-      --exclude='*.pyc'
-      --exclude='*.PYC'
-      --exclude='moc_*'
-      --exclude='MOC_*'
-      --exclude='*.cc'
-      --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='**/.git/'
-      --exclude='**/SConstruct'
-      --exclude='**/SConscript'
-      --delete-excluded
-      --chown=comma:comma
-      ${BUILD_DIR}/ ${OUTPUT_DIR}/
-  after_script:
-    # cleanup build dir after doing work
-    - find $BUILD_DIR/ -mindepth 1 -delete
-  artifacts:
-    paths:
-      - ${OUTPUT_DIR}/
-  tags: [ 'sunnypilot', 'tici' ]
-  rules:
-    - if: $AUTO_BUILD
-      when: always
-    - when: manual
-
-.publish_base: &publish_base
-  image: alpine
-  variables:
-    GIT_SUBMODULE_STRATEGY: normal
-  stage: publish
-  needs:
-    - job: build
-      artifacts: true
-  before_script:
-    - 'apk update && apk upgrade'
-    - 'apk add git bash openssh'
-    - 'eval $(ssh-agent -s)'
-    - echo "$SSH_PRIVATE_KEY" | tr -d '\r' | ssh-add -
-    - 'mkdir -p ~/.ssh/'
-    - 'chmod 700 ~/.ssh'
-    - export HOST=$(echo ${GIT_ORIGIN} | cut -d'@' -f2 | cut -d':' -f1)
-    - echo fetching ssh pub keys for ${HOST}
-    - 'ssh-keyscan -H ${HOST} >> ~/.ssh/known_hosts' # Adding gitlab to trusted
-    - 'chmod 644 ~/.ssh/known_hosts'
-    - *default_before_script
-  script:
-    - echo "${GIT_ORIGIN}"
-    - echo "Calling to publish [${CI_DIR}/publish.sh ${CI_PROJECT_DIR} ${OUTPUT_DIR} ${NEW_BRANCH} ${VERSION} ${GIT_ORIGIN}]"
-    - git config --global --add safe.directory ${OUTPUT_DIR}
-    - $CI_DIR/publish.sh "${CI_PROJECT_DIR}" "${OUTPUT_DIR}" "${NEW_BRANCH}" "${VERSION}" "${GIT_ORIGIN}" "-${EXTRA_VERSION_IDENTIFIER}"
-  allow_failure: false
-
-publish to private gitlab prebuilt:
-  extends: ".publish_base"
-  variables:
-    GIT_ORIGIN: git@gitlab.com:sunnypilot/public/sunnypilot-prebuilts.git
-  rules:
-    - if: $AUTO_BUILD
-      when: on_success
-    - if: $CI_MERGE_REQUEST_IID
-      when: on_success
-    - when: manual
-
-publish to public github prebuilt:
-  extends: ".publish_base"
-  variables:
-    GIT_ORIGIN: git@github.com:sunnyhaibin/sunnypilot.git
-    GIT_CONFIG_USER_EMAIL: "jason.wen@sunnypilot.ai"
-    GIT_CONFIG_USER_NAME: "Jason Wen"
-  rules:
-    - if: $AUTO_PUBLISH
-      when: on_success
-    - when: manual
-
-.notify_discord: &notify_discord
-  image: alpine
-  stage: notify
-  needs: ["build"]
-  variables:
-    DISCORD_HOOK: "${DISCORD_MANUAL_BUILD_WEBHOOK_URL}" # Default hook if not overriden by children
-  before_script:
-    - 'apk add curl jq envsubst'
-  script:
-    - echo using [${TEMPLATE}]
-    - cat release/ci/${TEMPLATE} | envsubst | tee payload.json
-    - 'curl -X POST -H "Content-Type: application/json" -d "$(cat payload.json)" ${DISCORD_HOOK} | jq .'
-  rules:
-    - if: $NEW_BRANCH
-      when: on_success
-    - when: never
-  allow_failure: true
-
-notify pending action:
-  extends: ".notify_discord"
-  variables:
-    TEMPLATE: "discord_template_notify_dev_private.json"
-  before_script:
-    - !reference [".notify_discord", "before_script"]
-    - export AVATAR_URL=$(curl -s -X GET "https://gitlab.com/api/v4/avatar?email=${GITLAB_USER_EMAIL}" | jq -r '.avatar_url')
-
-notify new dev build:
-  extends: ".notify_discord"
-  stage: notify
-  needs: ["publish to public github prebuilt"] # This notify shall only happen after a publish to github public
-  variables:
-    TEMPLATE: "discord_template_notify_dev_public.json"
-  before_script:
-    - !reference [".notify_discord", "before_script"]
-    - export EXTRA_VERSION_IDENTIFIER=$((CI_PIPELINE_IID + BASE_BUILD_NUMER))
-  rules:
-    - if: $NEW_BRANCH == "dev-c3"
-      variables:
-        DISCORD_HOOK: "${DISCORD_NEW_BUILD_WEBHOOK_URL}" # Overriding hook because we know we are dev-c3
-    - !reference [".notify_discord", "rules"]

.gitmodules

@@ -1,18 +1,21 @@
 [submodule "panda"]
   path = panda
-  url = https://github.com/sunnyhaibin/panda.git
+  url = ../../commaai/panda.git
 [submodule "opendbc"]
-  path = opendbc_repo
-  url = https://github.com/sunnypilot/opendbc.git
+  path = opendbc
+  url = ../../commaai/opendbc.git
 [submodule "msgq"]
   path = msgq_repo
-  url = https://github.com/sunnypilot/msgq.git
+  url = ../../commaai/msgq.git
 [submodule "rednose_repo"]
   path = rednose_repo
-  url = https://github.com/commaai/rednose.git
+  url = ../../commaai/rednose.git
+[submodule "body"]
+  path = body
+  url = ../../commaai/body.git
 [submodule "teleoprtc_repo"]
   path = teleoprtc_repo
-  url = https://github.com/commaai/teleoprtc
+  url = ../../commaai/teleoprtc
 [submodule "tinygrad"]
   path = tinygrad_repo
-  url = https://github.com/tinygrad/tinygrad.git
+  url = https://github.com/geohot/tinygrad.git

.idea/customTargets.xml

@@ -1,25 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="CLionExternalBuildManager">
-    <target id="a62f99e8-5ec4-434c-8122-49efed5af108" name="Poetry SCons Build Debug" defaultType="TOOL">
-      <configuration id="b93ec964-16e5-4962-a12e-3ed360ce8f02" name="Poetry SCons Build Debug">
-        <build type="TOOL">
-          <tool actionId="Tool_External Tools_Poetry SCons Build Debug" />
-        </build>
-        <clean type="TOOL">
-          <tool actionId="Tool_External Tools_Poetry SCons Clean" />
-        </clean>
-      </configuration>
-    </target>
-    <target id="edd8ad9d-183b-467c-a355-0d9a0ecab026" name="Poetry SCons Build Release" defaultType="TOOL">
-      <configuration id="09523339-5ce3-4223-ab9e-904f38ad7752" name="Poetry SCons Build Release">
-        <build type="TOOL">
-          <tool actionId="Tool_External Tools_Poetry SCons Build Release" />
-        </build>
-        <clean type="TOOL">
-          <tool actionId="Tool_External Tools_Poetry SCons Clean" />
-        </clean>
-      </configuration>
-    </target>
-  </component>
-</project>

.idea/tools/External Tools.xml

@@ -1,23 +0,0 @@
-<toolSet name="External Tools">
-  <tool name="Poetry SCons Build Debug" showInMainMenu="false" showInEditor="false" showInProject="false" showInSearchPopup="false" disabled="false" useConsole="true" showConsoleOnStdOut="false" showConsoleOnStdErr="false" synchronizeAfterRun="true">
-    <exec>
-      <option name="COMMAND" value="bash" />
-      <option name="PARAMETERS" value="-c &quot;source .venv/bin/activate &amp;&amp; scons -u -j$(nproc) --compile_db --ccflags=\&quot;-fno-inline\&quot;&quot;" />
-      <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
-    </exec>
-  </tool>
-  <tool name="Poetry SCons Clean" showInMainMenu="false" showInEditor="false" showInProject="false" showInSearchPopup="false" disabled="false" useConsole="true" showConsoleOnStdOut="false" showConsoleOnStdErr="false" synchronizeAfterRun="true">
-    <exec>
-      <option name="COMMAND" value="bash" />
-      <option name="PARAMETERS" value="-c &quot;source .venv/bin/activate &amp;&amp; scons -c&quot; " />
-      <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
-    </exec>
-  </tool>
-  <tool name="Poetry SCons Build Release" showInMainMenu="false" showInEditor="false" showInProject="false" showInSearchPopup="false" disabled="false" useConsole="true" showConsoleOnStdOut="false" showConsoleOnStdErr="false" synchronizeAfterRun="true">
-    <exec>
-      <option name="COMMAND" value="bash" />
-      <option name="PARAMETERS" value="-c &quot;source .venv/bin/activate &amp;&amp; scons -u -j$(nproc) --compile_db&quot; " />
-      <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
-    </exec>
-  </tool>
-</toolSet>

.importlinter

@@ -1,41 +0,0 @@
-[importlinter]
-root_packages =
-    openpilot
-
-[importlinter:contract:1]
-name = Forbid imports from openpilot.selfdrive.car to openpilot.system
-type = forbidden
-source_modules =
-    openpilot.selfdrive.car
-forbidden_modules =
-    openpilot.system
-    openpilot.body
-    openpilot.docs
-    openpilot.msgq
-    openpilot.panda
-    openpilot.rednose
-    openpilot.release
-    openpilot.teleoprtc
-    openpilot.tinygrad
-ignore_imports =
-    openpilot.selfdrive.car.card -> openpilot.common.realtime
-    openpilot.selfdrive.car.card -> openpilot.selfdrive.controls.lib.events
-    openpilot.selfdrive.car.interfaces -> openpilot.selfdrive.controls.lib.events
-    openpilot.selfdrive.car.tests.test_models -> openpilot.tools.lib.logreader
-    openpilot.selfdrive.car.tests.test_models -> openpilot.selfdrive.car.card
-    openpilot.selfdrive.car.tests.test_models -> openpilot.tools.lib.route
-    openpilot.selfdrive.car.tests.test_models -> openpilot.system.hardware.hw
-    openpilot.selfdrive.car.tests.test_models -> openpilot.selfdrive.test.helpers
-    openpilot.selfdrive.car.isotp_parallel_query -> openpilot.common.swaglog
-    openpilot.selfdrive.car.fw_versions -> openpilot.common.swaglog
-    openpilot.selfdrive.car.disable_ecu -> openpilot.common.swaglog
-    openpilot.selfdrive.car.vin -> openpilot.common.swaglog
-    openpilot.selfdrive.car.ecu_addrs -> openpilot.common.swaglog
-    openpilot.selfdrive.car.car_helpers -> openpilot.common.swaglog
-    openpilot.selfdrive.car.car_helpers -> openpilot.system.version
-    openpilot.selfdrive.car.interfaces -> openpilot.selfdrive.controls.lib.drive_helpers
-    openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.latcontrol_angle
-    openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.longcontrol
-    openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.latcontrol_torque
-    openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.latcontrol_pid
-unmatched_ignore_imports_alerting = warn

.lfsconfig

@@ -1,4 +1,4 @@
 [lfs]
-	url = https://gitlab.com/sunnypilot/public/sunnypilot-lfs.git/info/lfs
-	pushurl = ssh://git@gitlab.com/sunnypilot/public/sunnypilot-lfs.git
+	url = https://gitlab.com/commaai/openpilot-lfs.git/info/lfs
+	pushurl = ssh://git@gitlab.com/commaai/openpilot-lfs.git
 	locksverify = false

.lfsconfig-comma

@@ -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

.pre-commit-config.yaml

@@ -0,0 +1,103 @@
+exclude: '^(tinygrad_repo)'
+repos:
+-   repo: meta
+    hooks:
+    -   id: check-hooks-apply
+    -   id: check-useless-excludes
+-   repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.6.0
+    hooks:
+    -   id: check-ast
+        exclude: '^(third_party)/'
+    -   id: check-json
+        exclude: '.devcontainer/devcontainer.json|.vscode/'  # these support JSON with comments
+    -   id: check-toml
+    -   id: check-xml
+    -   id: check-yaml
+    -   id: check-merge-conflict
+    -   id: check-symlinks
+    -   id: check-executables-have-shebangs
+    -   id: check-shebang-scripts-are-executable
+    -   id: check-added-large-files
+        exclude: '(docs/CARS.md)|(poetry.lock)|(third_party/acados/include/blasfeo/include/blasfeo_d_kernel.h)'
+        args:
+        - --maxkb=120
+        - --enforce-all
+-   repo: https://github.com/codespell-project/codespell
+    rev: v2.3.0
+    hooks:
+    -   id: codespell
+        exclude: '^(third_party/)|(body/)|(msgq/)|(panda/)|(opendbc/)|(rednose/)|(rednose_repo/)|(teleoprtc/)|(teleoprtc_repo/)|(selfdrive/ui/translations/.*.ts)|(poetry.lock)'
+        args:
+        # if you've got a short variable name that's getting flagged, add it here
+        - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn
+        - --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US
+-   repo: https://github.com/astral-sh/ruff-pre-commit
+    rev: v0.4.8
+    hooks:
+    -   id: ruff
+        exclude: '^(third_party/)|(msgq/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'
+-   repo: local
+    hooks:
+    -   id: mypy
+        name: mypy
+        entry: mypy
+        language: system
+        types: [python]
+        args:
+        - --local-partial-types
+        - --explicit-package-bases
+        exclude: '^(third_party/)|(body/)|(msgq/)|(opendbc/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'
+-   repo: local
+    hooks:
+    -   id: cppcheck
+        name: cppcheck
+        entry: cppcheck
+        language: system
+        types: [c++]
+        exclude: '^(third_party/)|(msgq/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(tools/)|(selfdrive/modeld/thneed/debug/)|(selfdrive/modeld/test/)|(selfdrive/camerad/test/)|(installer/)'
+        args:
+        - --error-exitcode=1
+        - --language=c++
+        - --quiet
+        - --force
+        - -j8
+-   repo: https://github.com/cpplint/cpplint
+    rev: 1.6.1
+    hooks:
+    -   id: cpplint
+        exclude: '^(third_party/)|(msgq/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(generated/)'
+        args:
+        - --quiet
+        - --counting=total
+        - --linelength=240
+        # https://google.github.io/styleguide/cppguide.html
+        # relevant rules are whitelisted, see all options with: cpplint --filter=
+        - --filter=-build,-legal,-readability,-runtime,-whitespace,+build/include_subdir,+build/forward_decl,+build/include_what_you_use,+build/deprecated,+whitespace/comma,+whitespace/line_length,+whitespace/empty_if_body,+whitespace/empty_loop_body,+whitespace/empty_conditional_body,+whitespace/forcolon,+whitespace/parens,+whitespace/semicolon,+whitespace/tab,+readability/braces
+-   repo: https://github.com/MarcoGorelli/cython-lint
+    rev: v0.16.2
+    hooks:
+    -   id: cython-lint
+        exclude: '^(third_party/)|(msgq/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(generated/)'
+        args:
+        - --max-line-length=240
+        - --ignore=E111, E302, E305
+-   repo: local
+    hooks:
+    -   id: test_translations
+        name: test translations
+        entry: pytest selfdrive/ui/tests/test_translations.py
+        language: system
+        pass_filenames: false
+        files: '^selfdrive/ui/translations/'
+-   repo: https://github.com/python-poetry/poetry
+    rev: '1.8.0'
+    hooks:
+    -   id: poetry-check
+        name: validate poetry lock
+        args:
+        - --lock
+-   repo: https://github.com/python-jsonschema/check-jsonschema
+    rev: 0.28.4
+    hooks:
+    -   id: check-github-workflows

.run/Build Debug.run.xml

@@ -1,10 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Build Debug" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$ProjectFileDir$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="openpilot-special" TARGET_NAME="Poetry SCons Build Debug" CONFIG_NAME="Poetry SCons Build Debug" RUN_PATH="ui">
-    <envs>
-      <env name="QT_DBL_CLICK_DIST" value="150" />
-    </envs>
-    <method v="2">
-      <option name="CLION.EXTERNAL.BUILD" enabled="true" />
-    </method>
-  </configuration>
-</component>

.run/Build Release.run.xml

@@ -1,10 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Build Release" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$ProjectFileDir$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="openpilot-special" TARGET_NAME="Poetry SCons Build Release" CONFIG_NAME="Poetry SCons Build Release" RUN_PATH="ui">
-    <envs>
-      <env name="QT_DBL_CLICK_DIST" value="150" />
-    </envs>
-    <method v="2">
-      <option name="CLION.EXTERNAL.BUILD" enabled="true" />
-    </method>
-  </configuration>
-</component>

CHANGELOGS.md

@@ -1,989 +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! (CTV 2.0: GlideTech)
-  * 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❗: Toyota - Drive Mode Selector
-  *  When enabled you can control acceleration personality just with press of button!
-* UPDATED: Dynamic Experimental Control
-  * Switched to weighted moving averages to enhance responsiveness to recent data.
-  * Goal is to improve real-time detection accuracy in dynamic conditions.
-  * Capable of handling the increased complexity that comes with this approach.
-  * Particularly beneficial in environments where recent changes are critical to performance.
-* 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❗: Hyundai CAN: Enable Cruise Main by Default
-  * Set CRUISE MAIN to ON by default when the car starts, without engaging MADS
-  * This feature only applies when "openpilot Longitudinal Control (Alpha)" is enabled under the "Toggles" menu
-* 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 (CTV 2.0: GlideTech)
-  * Re-tuned and tested by the community (September 29, 2024)
-* UPDATED: Driving Model Selector v5
-  * NEW❗: Driving Model additions
-    * Notre Dame (July 01, 2024) - NDv3
-* UPDATED: Neural Network Lateral Control (NNLC)
-  * NEW❗: Remove Lateral Jerk Response (Alpha)
-  * FIXED: Hotfix for "lazy" steering performance in tighter curves thanks to twilsonco!
-* 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
-* FIXED: Experimental Model Distance Button Hold
-  * Experimental Model toggle with distance button hold no longer changes Personality
-  * Personality setting remains consistent when switching between Chill and Experimental Mode
-* 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
-* Ford F-150 2022-23 support
-* Ford F-150 Lightning 2021-23 support
-* Ford Mustang Mach-E 2021-23 support
-* Hyundai Kona Electric Non-SCC 2019 support thanks to NikitaNekrasov!
-* 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
-* NEW❗: Ford CAN-FD longitudinal
-  * NEW❗: Parse speed limit sign recognition from camera for certain supported platforms
-* 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 Radar-based SCC
-  * Longitudinal support for CAN-FD Radar-based SCC cars
-* 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

Dockerfile.openpilot

@@ -8,6 +8,23 @@ ENV PYTHONPATH ${OPENPILOT_PATH}:${PYTHONPATH}
 RUN mkdir -p ${OPENPILOT_PATH}
 WORKDIR ${OPENPILOT_PATH}
 
-COPY . ${OPENPILOT_PATH}/
+COPY SConstruct ${OPENPILOT_PATH}
+
+COPY ./openpilot ${OPENPILOT_PATH}/openpilot
+COPY ./third_party ${OPENPILOT_PATH}/third_party
+COPY ./site_scons ${OPENPILOT_PATH}/site_scons
+COPY ./rednose ${OPENPILOT_PATH}/rednose
+COPY ./rednose_repo/site_scons ${OPENPILOT_PATH}/rednose_repo/site_scons
+COPY ./tools ${OPENPILOT_PATH}/tools
+COPY ./release ${OPENPILOT_PATH}/release
+COPY ./common ${OPENPILOT_PATH}/common
+COPY ./opendbc ${OPENPILOT_PATH}/opendbc
+COPY ./cereal ${OPENPILOT_PATH}/cereal
+COPY ./msgq_repo ${OPENPILOT_PATH}/msgq_repo
+COPY ./msgq ${OPENPILOT_PATH}/msgq
+COPY ./panda ${OPENPILOT_PATH}/panda
+COPY ./selfdrive ${OPENPILOT_PATH}/selfdrive
+COPY ./system ${OPENPILOT_PATH}/system
+COPY ./body ${OPENPILOT_PATH}/body
 
 RUN scons --cache-readonly -j$(nproc)

Dockerfile.openpilot_base

@@ -1,4 +1,4 @@
-FROM ubuntu:24.04
+FROM ubuntu:20.04
 
 ENV PYTHONUNBUFFERED 1
 
@@ -15,7 +15,7 @@ ENV LC_ALL en_US.UTF-8
 COPY tools/install_ubuntu_dependencies.sh /tmp/tools/
 RUN INSTALL_EXTRA_PACKAGES=no /tmp/tools/install_ubuntu_dependencies.sh && \
     rm -rf /var/lib/apt/lists/* /tmp/* && \
-    cd /usr/lib/gcc/arm-none-eabi/* && \
+    cd /usr/lib/gcc/arm-none-eabi/9.2.1 && \
     rm -rf arm/ thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
 
 # Add OpenCL
@@ -30,28 +30,23 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
     gcc-arm-none-eabi \
     tmux \
     vim \
+    lsb-core \
     libx11-6 \
-    wget \
   && rm -rf /var/lib/apt/lists/*
 
-RUN mkdir -p /tmp/opencl-driver-intel && \
-    cd /tmp/opencl-driver-intel && \
-    wget https://github.com/intel/llvm/releases/download/2024-WW14/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
-    wget https://github.com/oneapi-src/oneTBB/releases/download/v2021.12.0/oneapi-tbb-2021.12.0-lin.tgz && \
-    mkdir -p /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
-    cd /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
-    tar -zxvf /tmp/opencl-driver-intel/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
+ARG INTEL_DRIVER=l_opencl_p_18.1.0.015.tgz
+ARG INTEL_DRIVER_URL=https://registrationcenter-download.intel.com/akdlm/irc_nas/vcp/15532
+RUN mkdir -p /tmp/opencl-driver-intel
+
+RUN cd /tmp/opencl-driver-intel && \
+    echo INTEL_DRIVER is $INTEL_DRIVER && \
+    curl -O $INTEL_DRIVER_URL/$INTEL_DRIVER && \
+    tar -xzf $INTEL_DRIVER && \
+    for i in $(basename $INTEL_DRIVER .tgz)/rpm/*.rpm; do alien --to-deb $i; done && \
+    dpkg -i *.deb && \
+    rm -rf $INTEL_DRIVER $(basename $INTEL_DRIVER .tgz) *.deb && \
     mkdir -p /etc/OpenCL/vendors && \
-    echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64/libintelocl.so > /etc/OpenCL/vendors/intel_expcpu.icd && \
-    cd /opt/intel && \
-    tar -zxvf /tmp/opencl-driver-intel/oneapi-tbb-2021.12.0-lin.tgz && \
-    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
-    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
-    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so.12 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
-    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so.2 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
-    mkdir -p /etc/ld.so.conf.d && \
-    echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 > /etc/ld.so.conf.d/libintelopenclexp.conf && \
-    ldconfig -f /etc/ld.so.conf.d/libintelopenclexp.conf && \
+    echo /opt/intel/opencl_compilers_and_libraries_18.1.0.015/linux/compiler/lib/intel64_lin/libintelocl.so > /etc/OpenCL/vendors/intel.icd && \
     cd / && \
     rm -rf /tmp/opencl-driver-intel
 
@@ -62,23 +57,26 @@ ENV QTWEBENGINE_DISABLE_SANDBOX 1
 RUN dbus-uuidgen > /etc/machine-id
 
 ARG USER=batman
-ARG USER_UID=1001
+ARG USER_UID=1000
 RUN useradd -m -s /bin/bash -u $USER_UID $USER
 RUN usermod -aG sudo $USER
 RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
 USER $USER
 
-COPY --chown=$USER pyproject.toml uv.lock /tmp/
+ENV POETRY_VIRTUALENVS_CREATE=false
+ENV PYENV_VERSION=3.12.4
+ENV PYENV_ROOT="/home/$USER/pyenv"
+ENV PATH="$PYENV_ROOT/bin:$PYENV_ROOT/shims:$PATH"
+
+COPY --chown=$USER pyproject.toml poetry.lock /tmp/
 COPY --chown=$USER tools/install_python_dependencies.sh /tmp/tools/
 
-ENV VIRTUAL_ENV=/home/$USER/.venv
-ENV PATH="$VIRTUAL_ENV/bin:$PATH"
 RUN cd /tmp && \
     tools/install_python_dependencies.sh && \
-    mkdir -p $VIRTUAL_ENV && \
-    cp -r /tmp/.venv/* $VIRTUAL_ENV && \
     rm -rf /tmp/* && \
-    rm -rf /home/$USER/.cache
+    rm -rf /home/$USER/.cache && \
+    find /home/$USER/pyenv -type d -name ".git" | xargs rm -rf && \
+    rm -rf /home/$USER/pyenv/versions/3.12.4/lib/python3.12/test
 
 USER root
 RUN sudo git config --global --add safe.directory /tmp/openpilot

HOW-TOS.md

@@ -1,77 +0,0 @@
-# How Tos
-This page is a repository of useful how-tos as a supplement for additional information.
-
-Table of Contents
-=======================
-
-* [Radar Tracks](#Radar-Tracks)
-    * [Enable Radar Tracks](#-Enable-Radar-Tracks)
-* [Enable Mapbox Navigation](#-Enable-Mapbox-Navigation)
-
----
-
-<details><summary><h3>📡 Radar Tracks</h3></summary>
-
-Radar tracks can now be enabled manually on applicable cars through SSH thanks to [@greghogan](https://github.com/greghogan) and [@pd0wm](https://github.com/pd0wm).
-
-Some Hyundai radars can be reconfigured to output (debug) radar points on bus 1.
-Reconfiguration is done over UDS by reading/writing to 0x0142 using the Read/Write Data By Identifier
-endpoints (0x22 & 0x2E). This script checks your radar firmware version against a list of known
-firmware versions. If you want to try on a new radar, make sure to note the default config value
-in case it is different from the other radars and you need to revert the changes.
-After changing the config the car should not show any faults when openpilot is not running.
-These config changes are persistent across car reboots. You need to run this script again
-to go back to the default values.
-
-**USE AT YOUR OWN RISK!** Stock system safety features, like AEB and FCW, might be affected by these changes.
-
-**How radar points can be used along with vision:**
-* Current OP long policy is identify with vision first, if vision sees a vehicle match it to a radar point. If vision sees nothing you get a false negative and no lead car detection. (Source: [Hubblesphere#7894 from comma.ai community Discord](https://discord.com/channels/469524606043160576/872899198738104330/872913890793635872))
-
-### 🚨 Enable Radar Tracks
-
-***(EXPERIMENTAL, as of January 1st, 2022)***
-
-***(Only applicable to some Hyundai, Kia, and Genesis cars, as of January 1st, 2022)***
-
-*(Base on version 0.8.12 [`devel`](https://github.com/commaai/openpilot/tree/devel))*
-
-**USE AT YOUR OWN RISK!** Stock system safety features, like AEB and FCW, might be affected by these changes.
-
-1. Ensure the car is at the `OFF` ignition position.
-2. Connect your compatible comma device (EON, C2, C3) to the car. comma device power should be ON.
-3. Use a laptop or applicable device to connect to your comma device via SSH. (Tips: Instructions to SSH in [HERE](https://github.com/commaai/openpilot/wiki/SSH))
-4. In the SSH terminal after successfully connected to your comma device, execute the following commands:
-    1. `pkill -f openpilot`
-    2. `python /data/openpilot/selfdrive/debug/hyundai_enable_radar_points.py`
-    3. Follow the instructions in the script:
-        * `Power on the vehicle keeping the engine off (press start button twice) then type OK to continue`.
-            * If successful, the following message should appear: `[DONE]. Restart your vehicle and ensure there are no faults`.
-            * If the script did not run successfully, reach out to the community in [Sunnyhaibin's Openpilot Discord Server](https://discord.gg/wRW3meAgtx) or `#hyundai-kia-genesis channel` on [commaai community Discord Server](https://discord.comma.ai) for assistance.
-    4. Reboot your comma device:
-        1. C3: `sudo reboot`
-        2. C2 or EON: `reboot`
-5. Once your comma device is rebooted, start your car with engine on (with or without comma device connected). Ensure that there are no faults from the car. If there are faults, reach out to the community in [Sunnyhaibin's Openpilot Discord Server](https://discord.gg/wRW3meAgtx) or `#hyundai-kia-genesis channel` on [commaai community Discord Server](https://discord.comma.ai) for assistance.
-6. Go for a quick drive and drive behind a lead car with varied follow distance. Then, come back and allow the drive to upload its `rlogs` in [comma Connect](https://connect.comma.ai).
-7. With all `rlogs` uploaded, open the drive in Cabana from [comma Connect](https://connect.comma.ai). Load DBC -> `hyundai_kia_mando_front_radar.dbc`, then search `RADAR_TRACK_50x` (`x` could be anything), open any of them, and look at `LONG_DIST`.
-8. If the radar tracks data is relevant with the lead car you drove behind, you are done! Your car now have radar tracks enabled.
-</details>
-
-<details><summary><h3>🗺 Enable Mapbox Navigation</h3></summary>
-
-1) Create a free mapbox account. Account will ask for a credit card for verification. You will not be charged for the free tier.
-2) On the Dashboard, you will see a section called Access Tokens. Click `Create a Token`. Name it whatever you like. Set the scopes to allow everything for both Public and Secret. Copy both of these keys. **YOU WON'T BE ABLE TO ACCESS THE SECRET KEY AFTER THIS WINDOW.**
-3) Once rebooted, connect your C3 to a network with internet access and find the C3’s IP address.
-4) In a browser, navigate to that IP with **port 8082** (i.e 192.168.1.69:8082). You should be greeted with the Comma logo and a public key input field.
-5) Paste your Public token (pk.xx), click enter, paste your Secret key (sk.xx), click enter. You can now search for places. This page will be available at your devices’s IP address/port 8082 to search for destinations.
-6) To set Home and Work addresses, search for a place, select Home/Work from the dropdown and click Navigate. For non-Home/Work destinations, select Recent Places.<br>*At this time, it is not possible to search directly on the C3.*
-
-**TIPS:**
-- If your C3 is showing a black screen that says “Map Loading”, performing a reboot via the UI should fix it.
-- If your phone can create a Hotspot, you are able to connect the C3 to your phone hotspot and use your phone browser to search for places.
-- In the Navigation panel on the C3, you can select Home, Work, and from a list of Recent Places you have navigated to without needing a browser (assuming the C3 is connected to the internet.)
-
-**IMPORTANT NOTE:** Your C3 will require an active internet connection to download map data, generate driving directions, and ETA. Once map data and directions are downloaded, it *is* possible to use it offline, however nothing will update (such as new driving direction after a missed turn, updated ETA, map data further into your drive etc.)
-
-***NAVIGATION NOTE:** At this time, mapbox does not support alphanumeric addresses (i.e W123N1234 Main St). There is currently no known workaround for this.*
-</details>

Jenkinsfile

@@ -83,7 +83,7 @@ def deviceStage(String stageName, String deviceType, List extra_env, def steps)
 
     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') {
+        timeout(time: 20, unit: 'MINUTES') {
           retry (3) {
             device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh"))
           }

LICENSE.md

@@ -1,21 +0,0 @@
-# Custom MIT License
-
-Copyright (c) 2024, Haibin Wen, SUNNYPILOT LLC
-
-Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to view and modify the Software, subject to the following conditions:
-
-1. **Permission Required**: Permission Required for Commercial, For-Profit, or Closed Source Use: Use of the Software, in whole or in part, for any commercial purposes, for-profit projects, or in closed source projects requires explicit written permission from the original author(s).
-
-2. **Redistribution**: Any redistribution of the Software, modified or unmodified, must retain this license notice and the following acknowledgment:
-   "This software is licensed under a custom license requiring permission for use."
-
-3. **Visibility**: Any project that uses the Software must visibly mention the following acknowledgment:
-   "This project uses software from Haibin Wen and SUNNYPILOT LLC and is licensed under a custom license requiring permission for use."
-
-4. **No Warranty**: THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
-
-Contact sunnypilot Support <support@sunnypilot.ai> for permission requests.
-
----
-
-Haibin Wen, SUNNYPILOT LLC

README.md

@@ -1,460 +1,80 @@
-![](https://user-images.githubusercontent.com/47793918/233812617-beab2e71-57b9-479e-8bff-c3931347ca40.png)
+[![openpilot on the comma 3X](https://github.com/commaai/openpilot/assets/8762862/f09e6d29-db2d-4179-80c2-51e8d92bdb5c)](https://comma.ai/shop/comma-3x)
 
-Table of Contents
-=======================
-
-* [Join our Discord](#-join-our-discord)
-* [What is sunnypilot?](#-what-is-sunnypilot)
-* [Running in a car](#-running-on-a-dedicated-device-in-a-car)
-* [Read Before Installing](#-read-before-installing)
-* [Prohibited Safety Modifications](#-prohibited-safety-modifications)
-* [Installation](#-installation)
-* [Highlight Features](#-highlight-features)
-* [Driving Enhancements](#-driving-enhancements)
-* [Branch Definitions](#-branch-definitions)
-* [Recommended Branches](#-recommended-branches)
-* [How-To's](#-How-Tos)
-* [Pull Requests](#-Pull-Requests)
-* [Special Thanks](#-special-thanks)
-* [User Data](#-user-data)
-* [Licensing](#licensing)
-* [Donate](#-support-sunnypilot)
-
----
-
-<details><summary><h3>💭 Join our Discord</h3></summary>
-
----
-
-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
-
-  ![](https://dcbadge.vercel.app/api/server/wRW3meAgtx?style=flat) ![Discord Shield](https://discordapp.com/api/guilds/880416502577266699/widget.png?style=shield)
-
-</details>
-
-<details><summary><h3>🌞 What is sunnypilot?</h3></summary>
-
----
-
-[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 250+ supported car makes and models with modified behaviors of driving assist engagements. sunnypilot complies with comma.ai's safety rules as accurately as possible.
-
-</details>
-
-<details><summary><h3>🚘 Running on a dedicated device in a car</h3></summary>
-
----
-
-To use sunnypilot in a car, you need the following:
-* A supported device to run this software
-    * a [comma three](https://comma.ai/shop/products/three), or
-    * a comma two (only with older versions below 0.8.13)
-* This software
-* One of [the 250+ 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
-
-Detailed instructions for [how to mount the device in a car](https://comma.ai/setup).
-
-</details>
-
-<details><summary><h3>🚨 Read Before Installing</h3></summary>
-
----
-
-It is recommended to read this **entire page** before proceeding. This will ensure that you fully understand each added feature on sunnypilot, and you are selecting the right branch for your car to have the best driving experience.
-
-This is a fork of [comma.ai's openpilot](https://github.com/commaai/openpilot). By installing this software, you accept all responsibility for anything that might occur while you use it. All contributors to sunnypilot are not liable. ❗<ins>**Use at your own risk.**</ins>❗
-
-</details>
-
-<details><summary><h3>⛔ Prohibited Safety Modifications</h3></summary>
-
----
-
-All [official sunnypilot branches](https://github.com/sunnyhaibin/sunnypilot/branches) strictly adhere to [comma.ai's safety policy](https://github.com/commaai/openpilot/blob/master/docs/SAFETY.md). Any changes that go against this policy will result in your fork and your device being banned from both comma.ai and sunnypilot channels.
-
-The following changes are a **VIOLATION** of this policy and **ARE NOT** included in any sunnypilot branches:
-* Driver Monitoring:
-    * ❌ "Nerfing" or reducing monitoring parameters.
-* Panda safety:
-    * ❌ No preventing disengaging of <ins>**LONGITUDINAL CONTROL**</ins> (acceleration/brake) on brake pedal press.
-    * ❌ No auto re-engaging of <ins>**LONGITUDINAL CONTROL**</ins> (acceleration/brake) on brake pedal release.
-    * ❌ No disengaging on ACC MAIN in OFF state.
-
-</details>
-
-
-<details><summary><h3>⚒ Installation</h3></summary>
-
----
-
-  <details><summary>URL (Easy)</summary>
-
-comma three
+What is openpilot?
 ------
 
-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.
+[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW), and Lane Departure Warning (LDW) for a growing variety of [supported car makes, models, and model years](docs/CARS.md). In addition, while openpilot is engaged, a camera-based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration](docs/INTEGRATION.md) and [limitations](docs/LIMITATIONS.md).
 
-* 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] (note: `https://` is not requirement on the comma three)
-  4. Complete the rest of the installation following the onscreen instructions.
+<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 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](#-recommended-branches). Example: `release-c3`
-
-|    Branch    |         Installation URL         |
-|:------------:|:--------------------------------:|
-| `release-c3` | https://release-c3.sunnypilot.ai |
-| `staging-c3` | https://staging-c3.sunnypilot.ai |
-|   `dev-c3`   | https://dev-c3.sunnypilot.ai     |
-
-Requires further assistance with software installation? Join the [sunnypilot Discord server](https://discord.sunnypilot.com) and message us in the `#installation-help` channel.
-
-comma two
+To start using openpilot in a car
 ------
 
-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: ```https://smiskol.com/fork/sunnyhaibin/0.8.12-4-prod```
-4. Complete the rest of the installation following the onscreen instructions.
+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 250+ 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.
 
-  </details>
-
-  <details>
-  <summary>SSH (More Versatile)</summary>
-  <br>
-
-Prerequisites: [How to SSH](https://github.com/commaai/openpilot/wiki/SSH)
-
-If you are looking to install sunnypilot via SSH, run the following command in an SSH terminal after connecting to your device:
-
-comma three:
+To start developing openpilot
 ------
-* [`release-c3`](https://github.com/sunnyhaibin/openpilot/tree/release-c3):
 
-  ```
-  cd /data; rm -rf ./openpilot; git clone -b release-c3 --recurse-submodules https://github.com/sunnyhaibin/sunnypilot.git openpilot; cd openpilot; sudo reboot
-  ```
+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).
 
-comma two:
+* 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)
+
+Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs#open-positions) and offers lots of [bounties](docs/BOUNTIES.md) for external contributors.
+
+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.
+
+User Data and comma Account
 ------
-* [`0.8.12-prod-personal-hkg`](https://github.com/sunnyhaibin/openpilot/tree/0.8.12-prod-personal-hkg):
 
-  ```
-  cd /data; rm -rf ./openpilot; git clone -b 0.8.12-prod-personal-hkg --recurse-submodules https://github.com/sunnyhaibin/sunnypilot.git openpilot; cd openpilot; sudo reboot
-  ```
+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.
 
-After running the command to install the desired branch, your comma device should reboot.
-  </details>
+openpilot is open source software: the user is free to disable data collection if they wish to do so.
 
-</details>
-
-
-<details><summary><h3>🚗 Highlight Features</h3></summary>
-
----
-
-### Quality of Life Enhancements
-- [**Modified Assistive Driving Safety (MADS)**](#modified-assistive-driving-safety-mads) - Automatic Lane Centering (ALC) / Lane Keep Assist System (LKAS) and Adaptive Cruise Control (ACC) / Smart Cruise Control (SCC) can be engaged independently of each other
-- [**Dynamic Lane Profile (DLP)**](#dynamic-lane-profile-dlp) - Dynamically switch lane profile (between Laneful and Laneless) based on lane recognition confidence
-- [**Enhanced Speed Control**](#enhanced-speed-control) - Automatically adjust cruise control speed using vision model, OpenStreetMap (OSM) data, and/or Speed Limit control (SLC) without user interaction
-    * Vision-based Turn Speed Control (V-TSC) - lower speed when going around corners using vision model
-    * Map-Data-based Turn Speed Control (M-TSC) - lower speed when going around corners using OSM data[^1]
-    * Speed Limit Control (SLC) - Set speed limit based on map data or car interface (if applicable)
-    * HKG only: Highway Driving Assist (HDA) status integration - Use cars native speed sign detection to set desired speed (on applicable HKG cars only)
-- [**Gap Adjust Cruise (GAC)**](#gap-adjust-cruise) - Allow `GAP`/`INTERVAL`/`DISTANCE` button on the steering wheel or on-screen button to adjust the follow distance from the lead car. See table below for options
-- [**Quiet Drive 🤫**](#-quiet-drive) - Toggle to mute all notification sounds (excluding driver safety warnings)
-- [**Auto Lane Change Timer**](#Auto-Lane-Change-Timer) - Set a timer to delay the auto lane change operation when the blinker is used. No nudge on the steering wheel is required to auto lane change if a timer is set
-- [**Force Car Recognition (FCR)**](#Force-Car-Recognition-) - Use a selector to force your car to be recognized by sunnypilot
-- [**Fix sunnypilot No Offroad**](#Fix-sunnypilot-No-Offroad) - Enforce sunnypilot to go offroad and turns off after shutting down the car. This feature fixes non-official devices running sunnypilot without comma power
-- [**Enable ACC+MADS with RES+/SET-**](#Enable-ACC+MADS-with-RES+/SET-) - Engage both ACC and MADS with a single press of RES+ or SET- button
-- [**Offline OSM Maps**](#Offline-OSM-Maps) - OSM database can now be downloaded locally for offline use[^2]. This enables offline SLC, V-TSC and M-TSC. Currently available for US South, US West, US Northeast, Florida, Taiwan, South Africa and New Zealand
-- [**Various Live Tuning**](#Various-Live-Tuning) - Ability to tailor your driving experience on the fly:
-    * Enforce Torque Lateral Control - Use the newest [torque controller](https://blog.comma.ai/0815release/#torque-controller) for all vehicles.
-    * Torque Lateral Control Live Tune - Ability to adjust the torque controller’s `FRICTION` and `LAT_ACCEL_FACTOR` values to suit your vehicle.
-    * Torque Lateral Controller Self-Tune - Enable automatic turning for the Torque controller.
-
-### Visual Enhancements
-* **M.A.D.S Status Icon** - Dedicated icon to display M.A.D.S. engagement status
-    * Green🟢: M.A.D.S. engaged
-    * White⚪: M.A.D.S. suspended or disengaged
-* **Lane Path Color** - Various lane path colors to display real-time Lane Model and M.A.D.S. engagement status
-    * 0.8.14 and later:
-        * Blue🔵: Laneful mode & M.A.D.S. engaged
-        * Green🟢: Laneless mode & M.A.D.S. engaged
-        * Yellow🟡: Experimental e2e & M.A.D.S. engaged
-    * Pre 0.8.14:
-        * Green🟢: Laneful mode & M.A.D.S. engaged
-        * Red🔴: Laneless mode & M.A.D.S. engaged
-    * White⚪: M.A.D.S. suspended or disengaged
-    * Black⚫: M.A.D.S. engaged, steering is being manually overridden by user
-* **Developer (Dev) UI** - Display various real-time metrics on screen while driving
-* **Stand Still Timer** - Display time spent at a stop with M.A.D.S engaged (i.e., at traffic lights, stop signs, traffic congestions)
-* **Braking Status** - Current car speed text turns red when the car is braking by the driver or ACC/SCC
-
-### Operational Enhancements
-* **Fast Boot** - sunnypilot will fast boot by creating a Prebuilt file
-* **Disable Onroad Uploads** - Disable uploads completely when onroad. Necessary to avoid high data usage when connected to Wi-Fi hotspot
-* **Brightness Control (Global)** - Manually adjusts the global brightness of the screen
-* **Driving Screen Off Timer** - Turns off the device screen or reduces brightness to protect the screen after car starts
-* **Driving Screen Off Brightness (%)** - When using the Driving Screen Off feature, the brightness is reduced according to the automatic brightness ratio
-* **Max Time Offroad** - Device is automatically turned off after a set time when the engine is turned off (off-road) after driving (on-road)
-
-</details>
-
-<details><summary><h3>🚗 Driving Enhancements</h3></summary>
-
----
-
-### Modified Assistive Driving Safety (MADS)
-The goal of Modified Assistive Driving Safety (MADS) is to enhance the user driving experience with modified behaviors of driving assist engagements. This feature complies with comma.ai's safety rules as accurately as possible with the following changes:
-* sunnypilot Automatic Lane Centering (ALC) and ACC/SCC can be engaged independently of each other
-* Dedicated button to toggle sunnypilot ALC:
-    * `CRUISE (MAIN)` button: All supported cars on sunnypilot
-        * `LFA` button: Newer HKG cars with `LFA` button
-        * `LKAS` button: Honda, Toyota, Global Subaru
-* `SET-` button enables ACC/SCC
-* `CANCEL` button only disables ACC/SCC
-* `CRUISE (MAIN)` must be `ON` to use ACC/SCC
-* `CRUISE (MAIN)` button disables ACC/SCC completely when `OFF` **(strictly enforced in panda safety code)**
-
-### Disengage Lateral ALC on Brake Press Mode toggle
-Dedicated toggle to handle Lateral state on brake pedal press and release:
-1. `ON`: `BRAKE pedal` press will pause Automatic Lane Centering; `BRAKE pedal` release will resume Automatic Lane Centering. Note: `BRAKE pedal` release will NOT resume ACC/SCC/Long control without explicit user engagement **(strictly enforced in panda safety code)**
-2. `OFF`: `BRAKE pedal` press will NOT pause Automatic Lane Centering; `BRAKE pedal` release will NOT resume ACC/SCC/Long control without explicit user engagement **(strictly enforced in panda safety code)**
-
-### Miscellaneous
-* `TURN SIGNALS` (`Left` or `Right`) will pause Automatic Lane Centering if the vehicle speed is below the [threshold](https://github.com/commaai/openpilot/blob/master/selfdrive/controls/lib/desire_helper.py#L8) for Automatic Lane Change
-* Event audible alerts are more relaxed to match manufacturer's stock behavior
-* Critical events trigger disengagement of Automatic Lane Centering completely. The disengagement is enforced in sunnypilot and panda safety
-
-### Dynamic Lane Profile (DLP)
-
-Dynamic Lane Profile (DLP) aims to provide the best driving experience at staying within a lane confidently. Dynamic Lane Profile allows sunnypilot to dynamically switch between lane profiles based on lane recognition confidence level on road.
-
-There are 3 modes to select on the onroad camera screen:
-* **Auto Lane**: sunnypilot dynamically chooses between `Laneline` or `Laneless` model
-* **Laneline**: sunnypilot uses Laneline model only.
-* **Laneless**: sunnypilot uses Laneless model only.
-
-To use Dynamic Lane Profile, do the following:
-```
-1. sunnypilot Settings -> `SP - Controls` -> Enable Dynamic Lane Profile -> ON toggle
-2. Reboot.
-3. Before driving, on the onroad camera screen, toggle between the 3 modes by pressing on the button.
-4. Drive.
-```
-
-### Enhanced Speed Control
-This fork now allows supported cars to dynamically adjust the longitudinal plan based on the fetched map data. Big thanks to the Move Fast team for the amazing implementation!
-
-**Supported cars:**
-* sunnypilot Longitudinal Control capable
-* Stock Longitudinal Control
-    * Hyundai/Kia/Genesis (non CAN-FD)
-    * Honda Bosch
-    * Volkswagen MQB
-
-Certain features are only available with an active data connection, via:
-* [comma Prime](https://comma.ai/prime) - Intuitive service provided directly by comma, or
-* Personal Hotspot - From your mobile device, or a dedicated hotspot from a cellular carrier.
-
-**Features:**
-* Vision-based Turn Speed Control (VTSC) - Use vision path predictions to estimate the appropriate speed to drive through turns ahead - i.e. slowing down for curves
-* Map-Data-based Turn Speed Control (MTSC) - Use curvature information from map data to define speed limits to take turns ahead - i.e. slowing down for curves[^1]
-* Speed Limit Control (SLC) - Use speed limit signs information from map data and car interface to automatically adapt cruise speed to road limits
-    * HKG only: Highway Driving Assist (HDA) status integration - on applicable HKG cars only[^1]
-    * Speed Limit Offset - When Speed Limit Control is enabled, set speed limit slightly higher than the actual speed limit for a more natural drive[^1]
-* Toggle Hands on Wheel Monitoring - Monitors and alerts the driver when their hands have not been on the steering wheel for an extended time
-
-### Custom Stock Longitudinal Control
-While using stock Adaptive/Smart Cruise Control, Custom Stock Longitudinal Control in sunnypilot allows sunnypilot to manipulate and take over the set speed on the car's dashboard.
-
-**Supported Cars:**
-* Hyundai/Kia/Genesis
-    * CAN platform
-    * CAN-FD platform with 0x1CF broadcasted in CAN traffic
-* Honda Bosch
-* Volkswagen MQB
-
-**Instruction**
-
-**📗 How to use Custom Longitudinal Control on sunnypilot **
-
-When using Speed Limit, Vision, or Map based Turn control, you will be setting the "MAX" ACC speed on the sunnypilot display instead of the one in the dashboard. The car will then set the ACC setting in the dashboard to the targeted speed, but will never exceed the max speed set on the sunnypilot display. A quick press of the RES+ or SET- buttons will change this speed by 5 MPH or KM/H on the sunnypilot display, while a long deliberate press (about a 1/2 second press) changes it by 1 MPH or KM/H. DO NOT hold the RES+ or SET- buttons for longer that a 1 second. Either make quick or long deliberate presses only.
-
-**‼ Where to look when setting ACC speed ‼**
-
-Do not look at the dashboard when setting your ACC max speed. Instead, only look at the one on the sunnypilot display, "MAX". The reason you need to look at the sunnypilot display is because sunnypilot will be changing the one in the dashboard. It will be adjusting it as needed, never raising it above the one set on the sunnypilot display. ONLY look at the MAX speed on the sunnypilot display when setting the ACC speed instead of the dashboard!
-
-(Courtesy instructions from John, author of jvePilot)
-
-### Gap Adjust Cruise
-This fork now allows supported openpilot longitudinal cars to adjust the cruise gap between the car and the lead car.
-
-**Supported cars:**
-* sunnypilot Longitudinal Control capable
-
-🚨**PROCEED WITH EXTREME CAUTION AND BE READY TO MANUALLY TAKE OVER AT ALL TIMES**
-
-There are 4 modes to select on the steering wheel and/or the onroad camera screen:
-* **Stock Gap**: Stock sunnypilot distance - 1.45 second profile
-* **Mild Gap**: Semi-aggressive distance - 1.25 second profile
-* 🚨**Aggro Gap**🚨: Aggressive distance - 1.0 second profile
-
-**Availability**
-
-|      Car Make       | Stock Gap | Mild Gap | Aggro Gap |
-|:-------------------:|:---------:|:--------:|:---------:|
-|     Honda/Acura     |     ✅     |    ✅     |     ✅     |
-| Hyundai/Kia/Genesis |     ✅     |    ✅     |     ✅     |
-|    Toyota/Lexus     |     ✅     |    ✅     |     ✅     |
-|  Volkswagen MQB/PQ  |     ✅     |    ✅     |     ✅     |
-
-</details>
-
-
-<details><summary><h3>⚒ Branch Definitions</h3></summary>
-
----
-
-|    Tag    | Definition           | Description                                                                                                                                                                                 |
-|:---------:|----------------------|---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
-| `release` | Release branches     | Include features that are **verified** by trusted testers and the community. Ready to use. ✅                                                                                                |
-| `staging` | Staging branches     | Include new features that are **tested** by trusted testers and the community. Stability may vary. ⚠                                                                                        |
-|   `dev`   | Development branches | All features are gathered in respective versions. Reviewed and merged features will be committed to `dev`. Stability may vary. ⚠                                                            |
-| `master`  | Main branch          | Syncs with [commaai's openpilot `master`](https://github.com/commaai/openpilot) upstream branch. Accepts all pull requests. Does not include all sunnypilot features. Stability may vary. ⚠ |
-
-Example:
-* [`release-c3`](https://github.com/sunnyhaibin/sunnypilot/tree/release-c3): Latest release branch for comma three that are verified by trusted testers and the community. Ready to use.
-* [`staging-c3`](https://github.com/sunnyhaibin/sunnypilot/tree/staging-c3): Latest staging branch for comma three that are tested by trusted testers and the community. Verification required.
-* [`dev-c3`](https://github.com/sunnyhaibin/sunnypilot/tree/dev-c3): Latest development branch for comma three that include all sunnypilot features. Testing required.
-
-</details>
-
-<details><summary><h3>✅ Recommended Branches</h3></summary>
-
----
-
-| Branch                                                                              | Definition                                              | Compatible Device | Changelogs                                                                                 |
-|:------------------------------------------------------------------------------------|---------------------------------------------------------|-------------------|--------------------------------------------------------------------------------------------|
-| [`release-c3`](https://github.com/sunnyhaibin/sunnypilot/tree/release-c3)           | • Latest release/stable branch                          | comma three       | [`CHANGELOGS.md`](https://github.com/sunnyhaibin/sunnypilot/blob/release-c3/CHANGELOGS.md) |
-| [`staging-c3`](https://github.com/sunnyhaibin/sunnypilot/tree/staging-c3)           | • Latest staging branch                                 | comma three       | [`CHANGELOGS.md`](https://github.com/sunnyhaibin/sunnypilot/blob/staging-c3/CHANGELOGS.md) |
-| [`dev-c3`](https://github.com/sunnyhaibin/sunnypilot/tree/dev-c3)                   | • Latest development branch with experimental features  | comma three       | [`CHANGELOGS.md`](https://github.com/sunnyhaibin/sunnypilot/blob/dev-c3/CHANGELOGS.md)     |
-
-</details>
-
-<details><summary><h3>📗 How To's</h3></summary>
-
----
-
-How-To instructions can be found in [HOW-TOS.md](https://github.com/sunnyhaibin/openpilot/blob/(!)README/HOW-TOS.md).
-
-</details>
-
-
-<details><summary><h3>🎆 Pull Requests</h3></summary>
-
----
-
-We welcome both pull requests and issues on GitHub. Bug fixes are encouraged.
-
-Pull requests should be against the most current `master` branch.
-
-</details>
-
-<details><summary><h3>🏆 Special Thanks</h3></summary>
-
----
-
-* [spektor56](https://github.com/spektor56/openpilot)
-* [rav4kumar](https://github.com/rav4kumar/openpilot)
-* [mob9221](https://github.com/mob9221/opendbc)
-* [briantran33](https://github.com/briantran33/openpilot)
-* [Aragon7777](https://github.com/aragon7777/openpilot)
-* [sshane](https://github.com/sshane/openpilot-installer-generator)
-* [jung](https://github.com/chanhojung/openpilot)
-* [dri94](https://github.com/dri94/openpilot)
-* [FrogAi](https://github.com/frogAi/FrogPilot/)
-* [twilsonco](https://github.com/twilsonco/openpilot)
-* [martinl](https://github.com/martinl/openpilot)
-* [multikyd](https://github.com/openpilotkr)
-* [Move Fast GmbH](https://github.com/move-fast/openpilot)
-* [dragonpilot](https://github.com/dragonpilot-community/dragonpilot)
-* [neokii](https://github.com/neokii/openpilot)
-* [AlexandreSato](https://github.com/AlexandreSato/openpilot)
-* [Moodkiller](https://github.com/moodkiller)
-
-</details>
-
-<details><summary><h3>📊 User Data</h3></summary>
-
----
-
-By default, sunnypilot uploads the driving data to comma servers. You can also access your data through [comma connect](https://connect.comma.ai/).
-
-sunnypilot is open source software. The user is free to disable data collection if they wish to do so.
-
-sunnypilot logs the road-facing camera, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
+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.
+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.
 
-</details>
-
-<details><summary><h3>Licensing</h3></summary>
+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.
+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.**
 
-</details>
-
-<h3>💰 Support sunnypilot</h3>
-
 ---
 
-If you find any of the features useful, consider becoming a [patron on Patreon](https://www.patreon.com/sunnyhaibin) or a [sponsor on GitHub](https://github.com/sponsors/sunnyhaibin) to support future feature development and improvements.
+<img src="https://d1qb2nb5cznatu.cloudfront.net/startups/i/1061157-bc7e9bf3b246ece7322e6ffe653f6af8-medium_jpg.jpg?buster=1458363130" width="75"></img> <img src="https://cdn-images-1.medium.com/max/1600/1*C87EjxGeMPrkTuVRVWVg4w.png" width="225"></img>
 
-
-By becoming a patron/sponsor, you will gain access to exclusive content, early access to new features, and the opportunity to directly influence the project's development.
-
-<h3>Patreon</h3>
-
-<a href="https://www.patreon.com/sunnyhaibin">
-  <img src="https://user-images.githubusercontent.com/47793918/244128051-bc7e913e-a196-4455-926e-23aec9a4bd3b.png" alt="Become a Patron" width="300" style="max-width: 100%; height: auto;">
-</a>
-<br>
-
-<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
-
-[^1]:Requires data connection if not using Offline Maps data
-[^2]:At least 50 GB of storage space is required. If you have the 32 GB version of comma three, upgrading with a compatible 250 GB or 1 TB SSD is strongly recommended
-[^4]:Shortened URL for convenience. Full URL is ```smiskol.com/fork/sunnyhaibin/release-c3```
+![openpilot tests](https://github.com/commaai/openpilot/actions/workflows/selfdrive_tests.yaml/badge.svg)
+[![codecov](https://codecov.io/gh/commaai/openpilot/branch/master/graph/badge.svg)](https://codecov.io/gh/commaai/openpilot)

RELEASES.md

@@ -1,6 +1,8 @@
 Version 0.9.8 (2024-XX-XX)
 ========================
 * Added toggle to enable driver monitoring even when openpilot is not engaged
+* Hyundai Palisade (with HDA II) 2023-24 support thanks to sunnyhaibin!
+* Kia Telluride (with HDA II) 2023-24 support thanks to sunnyhaibin!
 
 Version 0.9.7 (2024-06-13)
 ========================

SConstruct

@@ -14,8 +14,6 @@ SCons.Warnings.warningAsException(True)
 
 TICI = os.path.isfile('/TICI')
 AGNOS = TICI
-UBUNTU_FOCAL = int(subprocess.check_output('[ -f /etc/os-release ] && . /etc/os-release && [ "$ID" = "ubuntu" ] && [ "$VERSION_ID" = "20.04" ] && echo 1 || echo 0', shell=True, encoding='utf-8').rstrip())
-Export('UBUNTU_FOCAL')
 
 Decider('MD5-timestamp')
 
@@ -72,12 +70,6 @@ AddOption('--minimal',
           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 UI instead of sunnypilot UI')
-
 ## Architecture name breakdown (arch)
 ## - larch64: linux tici aarch64
 ## - aarch64: linux pc aarch64
@@ -110,6 +102,7 @@ if arch == "larch64":
 
   libpath = [
     "/usr/local/lib",
+    "/usr/lib",
     "/system/vendor/lib64",
     f"#third_party/acados/{arch}/lib",
   ]
@@ -177,12 +170,9 @@ if arch != "Darwin":
   ldflags += ["-Wl,--as-needed", "-Wl,--no-undefined"]
 
 # Enable swaglog include in submodules
+cflags += ['-DSWAGLOG="\\"common/swaglog.h\\""']
 cxxflags += ['-DSWAGLOG="\\"common/swaglog.h\\""']
 
-if not GetOption('stock_ui'):
-  cflags += ["-DSUNNYPILOT"]
-  cxxflags += ["-DSUNNYPILOT"]
-
 ccflags_option = GetOption('ccflags')
 if ccflags_option:
   ccflags += ccflags_option.split(' ')
@@ -216,6 +206,7 @@ env = Environment(
     "#third_party/json11",
     "#third_party/linux/include",
     "#third_party/snpe/include",
+    "#third_party/qrcode",
     "#third_party",
     "#cereal",
     "#msgq",
@@ -243,7 +234,7 @@ env = Environment(
   COMPILATIONDB_USE_ABSPATH=True,
   REDNOSE_ROOT="#",
   tools=["default", "cython", "compilation_db", "rednose_filter"],
-  toolpath=["#site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
+  toolpath=["#rednose_repo/site_scons/site_tools"],
 )
 
 if arch == "Darwin":
@@ -255,8 +246,7 @@ 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)
+cache_dir = '/data/scons_cache' if AGNOS else '/tmp/scons_cache'
 CacheDir(cache_dir)
 Clean(["."], cache_dir)
 
@@ -283,8 +273,7 @@ if arch == "Darwin":
 else:
   envCython["LINKFLAGS"] = ["-pthread", "-shared"]
 
-np_version = SCons.Script.Value(np.__version__)
-Export('envCython', 'np_version')
+Export('envCython')
 
 # Qt build environment
 qt_env = env.Clone()
@@ -328,7 +317,7 @@ try:
 except SCons.Errors.UserError:
   qt_env.Tool('qt')
 
-qt_env['CPPPATH'] += qt_dirs + ["#third_party/qrcode"]
+qt_env['CPPPATH'] += qt_dirs# + ["#selfdrive/ui/qt/"]
 qt_flags = [
   "-D_REENTRANT",
   "-DQT_NO_DEBUG",
@@ -377,6 +366,7 @@ Export('messaging')
 
 # Build other submodules
 SConscript([
+  'body/board/SConscript',
   'opendbc/can/SConscript',
   'panda/SConscript',
 ])

cereal/car.capnp

@@ -116,28 +116,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     paramsdTemporaryError @50;
     paramsdPermanentError @119;
     actuatorsApiUnavailable @120;
-    espActive @121;
-    manualSteeringRequired @122;
-    manualLongitudinalRequired @123;
-    silentPedalPressed @124;
-    silentButtonEnable @125;
-    silentBrakeHold @126;
-    silentWrongGear @127;
-    spReverseGear @128;
-    preKeepHandsOnWheel @129;
-    promptKeepHandsOnWheel @130;
-    keepHandsOnWheel @131;
-    speedLimitActive @132;
-    speedLimitValueChange @133;
-    e2eLongStop @134;
-    e2eLongStart @135;
-    controlsMismatchLong @136;
-    cruiseEngageBlocked @137;
-    laneChangeRoadEdge @138;
-    speedLimitPreActive @139;
-    speedLimitConfirmed @140;
-    torqueNNLoad @141;
-    hyundaiRadarTracksAvailable @142;
 
     radarCanErrorDEPRECATED @15;
     communityFeatureDisallowedDEPRECATED @62;
@@ -216,7 +194,6 @@ struct CarState {
   espDisabled @32 :Bool;
   accFaulted @42 :Bool;
   carFaultedNonCritical @47 :Bool;  # some ECU is faulted, but car remains controllable
-  espActive @51 :Bool;
 
   # cruise state
   cruiseState @10 :CruiseState;
@@ -237,27 +214,6 @@ struct CarState {
   # clutch (manual transmission only)
   clutchPressed @28 :Bool;
 
-  madsEnabled @52 :Bool;
-  leftBlinkerOn @53 :Bool;
-  rightBlinkerOn @54 :Bool;
-  disengageByBrake @55 :Bool;
-  belowLaneChangeSpeed @56 :Bool;
-  accEnabled @57 :Bool;
-  latActive @58 :Bool;
-  gapAdjustCruiseTr @59 :Int32;
-  endToEndLong @60 :Bool;
-  customStockLong @61 :CustomStockLong;
-
-  struct CustomStockLong {
-    cruiseButton @0 :Int16;
-    finalSpeedKph @1 :Float32;
-    vCruiseKphPrevDEPRECATED @2 :Float32;
-    targetSpeed @3 :Float32;
-    vSetDis @4 :Float32;
-    speedDiff @5 :Float32;
-    buttonType @6 :Int16;
-  }
-
   # blindspot sensors
   leftBlindspot @33 :Bool; # Is there something blocking the left lane change
   rightBlindspot @34 :Bool; # Is there something blocking the right lane change
@@ -284,7 +240,6 @@ struct CarState {
     speedOffset @3 :Float32;
     standstill @4 :Bool;
     nonAdaptive @5 :Bool;
-    speedLimit @7 :Float32;
   }
 
   enum GearShifter {
@@ -370,7 +325,6 @@ struct CarControl {
   enabled @0 :Bool;
   latActive @11: Bool;
   longActive @12: Bool;
-  vCruise @17 :Float32;  # actual set speed
 
   # Actuator commands as computed by controlsd
   actuators @6 :Actuators;
@@ -458,9 +412,6 @@ struct CarControl {
       prompt @6;
       promptRepeat @7;
       promptDistracted @8;
-      promptStarting @9;
-      promptSingleLow @10;
-      promptSingleHigh @11;
     }
   }
 
@@ -493,9 +444,6 @@ struct CarParams {
   enableBsm @56 :Bool;       # blind spot monitoring
   flags @64 :UInt32;         # flags for car specific quirks
   experimentalLongitudinalAvailable @71 :Bool;
-  pcmCruiseSpeed @74 :Bool;  # is openpilot's state tied to the PCM's cruise speed?
-  customStockLongAvailable @75 :Bool;
-  spFlags @76 :UInt32;       # flags for car specific quirks in sunnypilot
 
   minEnableSpeed @7 :Float32;
   minSteerSpeed @8 :Float32;
@@ -585,8 +533,6 @@ struct CarParams {
     steeringAngleDeadzoneDeg @5 :Float32;
     latAccelFactor @6 :Float32;
     latAccelOffset @7 :Float32;
-    nnModelName @8 :Text;
-    nnModelFuzzyMatch @9 :Bool;
   }
 
   struct LongitudinalPIDTuning {

cereal/custom.capnp

@@ -1,8 +1,6 @@
 using Cxx = import "./include/c++.capnp";
 $Cxx.namespace("cereal");
 
-using Car = import "car.capnp";
-
 @0xb526ba661d550a59;
 
 # custom.capnp: a home for empty structs reserved for custom forks
@@ -10,206 +8,25 @@ using Car = import "car.capnp";
 # cereal, so use these if you want custom events in your fork.
 
 # you can rename the struct, but don't change the identifier
-
-enum LongitudinalPersonalitySP {
-  aggressive @0;
-  moderate @1;
-  standard @2;
-  relaxed @3;
-  overtake @4;
+struct CustomReserved0 @0x81c2f05a394cf4af {
 }
 
-enum AccelerationPersonality {
-  sport @0;
-  normal @1;
-  eco @2;
-  stock @3;
+struct CustomReserved1 @0xaedffd8f31e7b55d {
 }
 
-enum ModelGeneration {
-  default @0;
-  one @1;
-  two @2;
-  three @3;
-  four @4;
-  five @5;
+struct CustomReserved2 @0xf35cc4560bbf6ec2 {
 }
 
-enum MpcSource {
-  acc @0;
-  blended @1;
+struct CustomReserved3 @0xda96579883444c35 {
 }
 
-struct ControlsStateSP @0x81c2f05a394cf4af {
-  lateralState @0 :Text;
-  personality @8 :LongitudinalPersonalitySP;
-  dynamicPersonality @9 :Bool;
-  accelPersonality @10 :AccelerationPersonality;
-  overtakingAccelerationAssist @11 :Bool;
-
-  lateralControlState :union {
-    indiState @1 :LateralINDIState;
-    pidState @2 :LateralPIDState;
-    angleState @3 :LateralAngleState;
-    debugState @4 :LateralDebugState;
-    torqueState @5 :LateralTorqueState;
-    curvatureState @6 :LateralCurvatureState;
-
-    lqrStateDEPRECATED @7 :LateralLQRState;
-  }
-
-  struct LateralINDIState {
-  }
-
-  struct LateralPIDState {
-  }
-
-  struct LateralAngleState {
-  }
-
-  struct LateralDebugState {
-  }
-
-  struct LateralTorqueState {
-    nnLog @0 :List(Float32);
-  }
-
-  struct LateralCurvatureState {
-  }
-
-  struct LateralLQRState {
-  }
+struct CustomReserved4 @0x80ae746ee2596b11 {
 }
 
-struct LongitudinalPlanSP @0xaedffd8f31e7b55d {
-  visionTurnControllerState @0 :VisionTurnControllerState;
-  visionTurnSpeed @1 :Float32;
-  visionCurrentLatAcc @16 :Float32;
-  visionMaxPredLatAcc @17 :Float32;
-
-  speedLimitControlState @2 :SpeedLimitControlState;
-  speedLimit @3 :Float32;
-  speedLimitOffset @4 :Float32;
-  distToSpeedLimit @5 :Float32;
-  isMapSpeedLimit @6 :Bool;
-  speedLimitPercOffset @11 :Bool;
-  speedLimitValueOffset @12 :Float32;
-  desiredTF @13 :Float32;
-  notSpeedLimit @14 :Int16;
-  e2eX @15 :List(Float32);
-  e2eBlendedDEPRECATED @18 :Text;
-  e2eStatus @22 :Bool;
-  mpcSource @23 :MpcSource;
-  dynamicExperimentalControl @24 :Bool;
-
-  distToTurn @7 :Float32;
-  turnSpeed @8 :Float32;
-  turnSpeedControlState @9 :SpeedLimitControlState;
-  turnSign @10 :Int16;
-
-  events @19 :List(Car.CarEvent);
-  longitudinalPlanSource @20 :LongitudinalPlanSource;
-
-  personalityDEPRECATED @21 :LongitudinalPersonalitySP;
-
-  enum SpeedLimitControlState {
-    inactive @0; # No speed limit set or not enabled by parameter.
-    tempInactive @1; # User wants to ignore speed limit until it changes.
-    adapting @2; # Reducing speed to match new speed limit.
-    active @3; # Cruising at speed limit.
-    preActive @4;
-  }
-
-  enum VisionTurnControllerState {
-    disabled @0; # No predicted substantial turn on vision range or feature disabled.
-    entering @1; # A substantial turn is predicted ahead, adapting speed to turn comfort levels.
-    turning @2; # Actively turning. Managing acceleration to provide a roll on turn feeling.
-    leaving @3; # Road ahead straightens. Start to allow positive acceleration.
-  }
-
-  enum LongitudinalPlanSource {
-    cruise @0;
-    lead0 @1;
-    lead1 @2;
-    lead2 @3;
-    e2e @4;
-    turn @5;
-    limit @6;
-    turnlimit @7;
-  }
+struct CustomReserved5 @0xa5cd762cd951a455 {
 }
 
-struct LateralPlanSP @0xf35cc4560bbf6ec2 {
-  laneWidth @0 :Float32;
-  lProb @1 :Float32;
-  rProb @2 :Float32;
-
-  dProb @3 :Float32;
-
-  dynamicLaneProfile @4 :Int8;
-  standstillElapsed @5 :Float32;
-  dynamicLaneProfileStatus @9 :Bool;
-
-  dPathWLinesXDEPRECATED @6 :List(Float32);
-  dPathWLinesYDEPRECATED @7 :List(Float32);
-  laneChangePrevDEPRECATED @8 :Bool;
-  laneChangeEdgeBlockDEPRECATED @10 :Bool;
-}
-
-struct DriverMonitoringStateSP @0xda96579883444c35 {
-  handsOnWheelState @0 :HandsOnWheelState;
-  notModified @1 :Float32;
-
-  enum HandsOnWheelState {
-    none @0;          # hand on wheel monitoring inactive
-    ok @1;            # driver has hands on steering wheel
-    minor @2;         # hands off steering wheel for acceptable period
-    warning @3;       # hands off steering wheel for warning period
-    critical @4;      # # hands off steering wheel for critical period
-    terminal @5;      # # hands off steering wheel for terminal period
-  }
-}
-
-struct LiveMapDataSP @0x80ae746ee2596b11 {
-  speedLimitValid @0 :Bool;
-  speedLimit @1 :Float32;
-  speedLimitAheadValid @2 :Bool;
-  speedLimitAhead @3 :Float32;
-  speedLimitAheadDistance @4 :Float32;
-  turnSpeedLimitValid @5 :Bool;
-  turnSpeedLimit @6 :Float32;
-  turnSpeedLimitEndDistance @7 :Float32;
-  turnSpeedLimitSign @8 :Int16;
-  turnSpeedLimitsAhead @9 :List(Float32);
-  turnSpeedLimitsAheadDistances @10 :List(Float32);
-  turnSpeedLimitsAheadSigns @11 :List(Int16);
-  lastGpsTimestamp @12 :Int64;  # Milliseconds since January 1, 1970.
-  currentRoadName @13 :Text;
-  lastGpsLatitude @14 :Float64;
-  lastGpsLongitude @15 :Float64;
-  lastGpsSpeed @16 :Float32;
-  lastGpsBearingDeg @17 :Float32;
-  lastGpsAccuracy @18 :Float32;
-  lastGpsBearingAccuracyDeg @19 :Float32;
-  dataType @20 :DataType;
-
-  enum DataType {
-    default @0;
-    offline @1;
-    online @2;
-  }
-}
-
-struct E2eLongStateSP @0xa5cd762cd951a455 {
-  status @0 :UInt16;
-}
-
-struct ModelDataV2SP @0xf98d843bfd7004a3 {
-  laneChangePrev @0 :Bool;
-  laneChangeEdgeBlock @1 :Bool;
-  customModel @2 :Bool;
-  modelGeneration @3 :ModelGeneration;
-  modelCapabilities @4 :UInt32;
+struct CustomReserved6 @0xf98d843bfd7004a3 {
 }
 
 struct CustomReserved7 @0xb86e6369214c01c8 {

cereal/log.capnp

@@ -137,6 +137,8 @@ struct FrameData {
   requestId @28 :UInt32;
   encodeId @1 :UInt32;
 
+  frameType @7 :FrameType;
+
   # Timestamps
   timestampEof @2 :UInt64;
   timestampSof @8 :UInt64;
@@ -156,7 +158,7 @@ struct FrameData {
 
   temperaturesC @24 :List(Float32);
 
-  enum FrameTypeDEPRECATED {
+  enum FrameType {
     unknown @0;
     neo @1;
     chffrAndroid @2;
@@ -173,7 +175,6 @@ struct FrameData {
 
   frameLengthDEPRECATED @3 :Int32;
   globalGainDEPRECATED @5 :Int32;
-  frameTypeDEPRECATED @7 :FrameTypeDEPRECATED;
   androidCaptureResultDEPRECATED @9 :AndroidCaptureResult;
   lensPosDEPRECATED @11 :Int32;
   lensSagDEPRECATED @12 :Float32;
@@ -336,9 +337,9 @@ enum LaneChangeDirection {
 
 struct CanData {
   address @0 :UInt32;
+  busTime @1 :UInt16;
   dat     @2 :Data;
   src     @3 :UInt8;
-  busTimeDEPRECATED @1 :UInt16;
 }
 
 struct DeviceState @0xa4d8b5af2aa492eb {
@@ -867,37 +868,6 @@ struct ControlsState @0x97ff69c53601abf1 {
   vPidDEPRECATED @2 :Float32;
 }
 
-struct DrivingModelData {
-  frameId @0 :UInt32;
-  frameIdExtra @1 :UInt32;
-  frameDropPerc @6 :Float32;
-
-  action @2 :ModelDataV2.Action;
-
-  laneLineMeta @3 :LaneLineMeta;
-  meta @4 :MetaData;
-
-  path @5 :PolyPath;
-
-  struct PolyPath {
-    xCoefficients @0 :List(Float32);
-    yCoefficients @1 :List(Float32);
-    zCoefficients @2 :List(Float32);
-  }
-
-  struct LaneLineMeta {
-    leftY @0 :Float32;
-    rightY @1 :Float32;
-    leftProb @2 :Float32;
-    rightProb @3 :Float32;
-  }
-
-  struct MetaData {
-    laneChangeState @0 :LaneChangeState;
-    laneChangeDirection @1 :LaneChangeDirection;
-  }
-}
-
 # All SI units and in device frame
 struct XYZTData @0xc3cbae1fd505ae80 {
   x @0 :List(Float32);
@@ -1251,38 +1221,6 @@ struct LiveLocationKalman {
   }
 }
 
-
-struct LivePose {
-  # More info on reference frames:
-  # https://github.com/commaai/openpilot/tree/master/common/transformations
-  orientationNED @0 :XYZMeasurement;
-  velocityDevice @1 :XYZMeasurement;
-  accelerationDevice @2 :XYZMeasurement;
-  angularVelocityDevice @3 :XYZMeasurement;
-
-  inputsOK @4 :Bool = false;
-  posenetOK @5 :Bool = false;
-  sensorsOK @6 :Bool = false;
-
-  filterState @7 :FilterState;
-
-  struct XYZMeasurement {
-    x @0 :Float32;
-    y @1 :Float32;
-    z @2 :Float32;
-    xStd @3 :Float32;
-    yStd @4 :Float32;
-    zStd @5 :Float32;
-    valid @6 :Bool;
-  }
-
-  struct FilterState {
-    value @0 : List(Float64);
-    std @1 : List(Float64);
-    valid @2 : Bool;
-  }
-}
-
 struct ProcLog {
   cpuTimes @0 :List(CPUTimes);
   mem @1 :Mem;
@@ -2324,9 +2262,7 @@ struct Event {
     carParams @69: Car.CarParams;
     driverMonitoringState @71: DriverMonitoringState;
     liveLocationKalman @72 :LiveLocationKalman;
-    livePose @129 :LivePose;
     modelV2 @75 :ModelDataV2;
-    drivingModelData @128 :DrivingModelData;
     driverStateV2 @92 :DriverStateV2;
 
     # camera stuff, each camera state has a matching encode idx
@@ -2381,13 +2317,13 @@ struct Event {
     customReservedRawData2 @126 :Data;
 
     # *********** Custom: reserved for forks ***********
-    controlsStateSP @107 :Custom.ControlsStateSP;
-    longitudinalPlanSP @108 :Custom.LongitudinalPlanSP;
-    lateralPlanSPDEPRECATED @109 :Custom.LateralPlanSP;
-    driverMonitoringStateSP @110 :Custom.DriverMonitoringStateSP;
-    liveMapDataSP @111 :Custom.LiveMapDataSP;
-    e2eLongStateSP @112 :Custom.E2eLongStateSP;
-    modelV2SP @113 :Custom.ModelDataV2SP;
+    customReserved0 @107 :Custom.CustomReserved0;
+    customReserved1 @108 :Custom.CustomReserved1;
+    customReserved2 @109 :Custom.CustomReserved2;
+    customReserved3 @110 :Custom.CustomReserved3;
+    customReserved4 @111 :Custom.CustomReserved4;
+    customReserved5 @112 :Custom.CustomReserved5;
+    customReserved6 @113 :Custom.CustomReserved6;
     customReserved7 @114 :Custom.CustomReserved7;
     customReserved8 @115 :Custom.CustomReserved8;
     customReserved9 @116 :Custom.CustomReserved9;

cereal/messaging/.gitignore

@@ -0,0 +1,10 @@
+demo
+bridge
+test_runner
+*.o
+*.os
+*.d
+*.a
+*.so
+messaging_pyx.cpp
+build/

cereal/messaging/__init__.py

@@ -2,8 +2,7 @@
 from msgq.ipc_pyx import Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, \
                                 set_fake_prefix, get_fake_prefix, delete_fake_prefix, wait_for_one_event
 from msgq.ipc_pyx import MultiplePublishersError, IpcError
-from msgq import fake_event_handle, pub_sock, sub_sock, drain_sock_raw
-import msgq
+from msgq import fake_event_handle, pub_sock, sub_sock, drain_sock_raw, context
 
 import os
 import capnp
@@ -18,12 +17,8 @@ from cereal.services import SERVICE_LIST
 NO_TRAVERSAL_LIMIT = 2**64-1
 
 
-def reset_context():
-  msgq.context = Context()
-
-
-def log_from_bytes(dat: bytes, struct: capnp.lib.capnp._StructModule = log.Event) -> capnp.lib.capnp._DynamicStructReader:
-  with struct.from_bytes(dat, traversal_limit_in_words=NO_TRAVERSAL_LIMIT) as msg:
+def log_from_bytes(dat: bytes) -> capnp.lib.capnp._DynamicStructReader:
+  with log.Event.from_bytes(dat, traversal_limit_in_words=NO_TRAVERSAL_LIMIT) as msg:
     return msg
 
 

cereal/messaging/messaging.h

@@ -5,13 +5,20 @@
 #include <string>
 #include <vector>
 #include <utility>
+#include <time.h>
 
 #include <capnp/serialize.h>
 
 #include "cereal/gen/cpp/log.capnp.h"
-#include "common/timing.h"
 #include "msgq/ipc.h"
 
+#ifdef __APPLE__
+#define CLOCK_BOOTTIME CLOCK_MONOTONIC
+#endif
+
+#define MSG_MULTIPLE_PUBLISHERS 100
+
+
 class SubMaster {
 public:
   SubMaster(const std::vector<const char *> &service_list, const std::vector<const char *> &poll = {},
@@ -46,7 +53,10 @@ public:
 
   cereal::Event::Builder initEvent(bool valid = true) {
     cereal::Event::Builder event = initRoot<cereal::Event>();
-    event.setLogMonoTime(nanos_since_boot());
+    struct timespec t;
+    clock_gettime(CLOCK_BOOTTIME, &t);
+    uint64_t current_time = t.tv_sec * 1000000000ULL + t.tv_nsec;
+    event.setLogMonoTime(current_time);
     event.setValid(valid);
     return event;
   }

cereal/messaging/socketmaster.cc

@@ -1,3 +1,4 @@
+#include <time.h>
 #include <assert.h>
 #include <stdlib.h>
 #include <string>
@@ -6,8 +7,15 @@
 #include "cereal/services.h"
 #include "cereal/messaging/messaging.h"
 
+
 const bool SIMULATION = (getenv("SIMULATION") != nullptr) && (std::string(getenv("SIMULATION")) == "1");
 
+static inline uint64_t nanos_since_boot() {
+  struct timespec t;
+  clock_gettime(CLOCK_BOOTTIME, &t);
+  return t.tv_sec * 1000000000ULL + t.tv_nsec;
+}
+
 static inline bool inList(const std::vector<const char *> &list, const char *value) {
   for (auto &v : list) {
     if (strcmp(value, v) == 0) return true;

cereal/messaging/tests/test_messaging.py

@@ -1,3 +1,4 @@
+#!/usr/bin/env python3
 import os
 import capnp
 import multiprocessing
@@ -5,8 +6,8 @@ import numbers
 import random
 import threading
 import time
+import unittest
 from parameterized import parameterized
-import pytest
 
 from cereal import log, car
 import cereal.messaging as messaging
@@ -27,6 +28,12 @@ def zmq_sleep(t=1):
   if "ZMQ" in os.environ:
     time.sleep(t)
 
+def zmq_expected_failure(func):
+  if "ZMQ" in os.environ:
+    return unittest.expectedFailure(func)
+  else:
+    return func
+
 
 # TODO: this should take any capnp struct and returrn a msg with random populated data
 def random_carstate():
@@ -51,12 +58,12 @@ def delayed_send(delay, sock, dat):
   threading.Timer(delay, send_func).start()
 
 
-class TestMessaging:
+class TestMessaging(unittest.TestCase):
   def setUp(self):
     # TODO: ZMQ tests are too slow; all sleeps will need to be
     # replaced with logic to block on the necessary condition
     if "ZMQ" in os.environ:
-      pytest.skip()
+      raise unittest.SkipTest
 
     # ZMQ pub socket takes too long to die
     # sleep to prevent multiple publishers error between tests
@@ -68,9 +75,9 @@ class TestMessaging:
       msg = messaging.new_message(evt)
     except capnp.lib.capnp.KjException:
       msg = messaging.new_message(evt, random.randrange(200))
-    assert (time.monotonic() - msg.logMonoTime) < 0.1
-    assert not msg.valid
-    assert evt == msg.which()
+    self.assertLess(time.monotonic() - msg.logMonoTime, 0.1)
+    self.assertFalse(msg.valid)
+    self.assertEqual(evt, msg.which())
 
   @parameterized.expand(events)
   def test_pub_sock(self, evt):
@@ -92,8 +99,8 @@ class TestMessaging:
 
     # no wait and no msgs in queue
     msgs = func(sub_sock)
-    assert isinstance(msgs, list)
-    assert len(msgs) == 0
+    self.assertIsInstance(msgs, list)
+    self.assertEqual(len(msgs), 0)
 
     # no wait but msgs are queued up
     num_msgs = random.randrange(3, 10)
@@ -101,9 +108,9 @@ class TestMessaging:
       pub_sock.send(messaging.new_message(sock).to_bytes())
     time.sleep(0.1)
     msgs = func(sub_sock)
-    assert isinstance(msgs, list)
-    assert all(isinstance(msg, expected_type) for msg in msgs)
-    assert len(msgs) == num_msgs
+    self.assertIsInstance(msgs, list)
+    self.assertTrue(all(isinstance(msg, expected_type) for msg in msgs))
+    self.assertEqual(len(msgs), num_msgs)
 
   def test_recv_sock(self):
     sock = "carState"
@@ -113,14 +120,14 @@ class TestMessaging:
 
     # no wait and no msg in queue, socket should timeout
     recvd = messaging.recv_sock(sub_sock)
-    assert recvd is None
+    self.assertTrue(recvd is None)
 
     # no wait and one msg in queue
     msg = random_carstate()
     pub_sock.send(msg.to_bytes())
     time.sleep(0.01)
     recvd = messaging.recv_sock(sub_sock)
-    assert isinstance(recvd, capnp._DynamicStructReader)
+    self.assertIsInstance(recvd, capnp._DynamicStructReader)
     # https://github.com/python/mypy/issues/13038
     assert_carstate(msg.carState, recvd.carState)
 
@@ -132,16 +139,16 @@ class TestMessaging:
 
     # no msg in queue, socket should timeout
     recvd = messaging.recv_one(sub_sock)
-    assert recvd is None
+    self.assertTrue(recvd is None)
 
     # one msg in queue
     msg = random_carstate()
     pub_sock.send(msg.to_bytes())
     recvd = messaging.recv_one(sub_sock)
-    assert isinstance(recvd, capnp._DynamicStructReader)
+    self.assertIsInstance(recvd, capnp._DynamicStructReader)
     assert_carstate(msg.carState, recvd.carState)
 
-  @pytest.mark.xfail(condition="ZMQ" in os.environ, reason='ZMQ detected')
+  @zmq_expected_failure
   def test_recv_one_or_none(self):
     sock = "carState"
     pub_sock = messaging.pub_sock(sock)
@@ -150,13 +157,13 @@ class TestMessaging:
 
     # no msg in queue, socket shouldn't block
     recvd = messaging.recv_one_or_none(sub_sock)
-    assert recvd is None
+    self.assertTrue(recvd is None)
 
     # one msg in queue
     msg = random_carstate()
     pub_sock.send(msg.to_bytes())
     recvd = messaging.recv_one_or_none(sub_sock)
-    assert isinstance(recvd, capnp._DynamicStructReader)
+    self.assertIsInstance(recvd, capnp._DynamicStructReader)
     assert_carstate(msg.carState, recvd.carState)
 
   def test_recv_one_retry(self):
@@ -172,7 +179,7 @@ class TestMessaging:
       p = multiprocessing.Process(target=messaging.recv_one_retry, args=(sub_sock,))
       p.start()
       time.sleep(sock_timeout*15)
-      assert p.is_alive()
+      self.assertTrue(p.is_alive())
       p.terminate()
 
     # wait 15 socket timeouts before sending
@@ -180,6 +187,9 @@ class TestMessaging:
     delayed_send(sock_timeout*15, pub_sock, msg.to_bytes())
     start_time = time.monotonic()
     recvd = messaging.recv_one_retry(sub_sock)
-    assert (time.monotonic() - start_time) >= sock_timeout*15
-    assert isinstance(recvd, capnp._DynamicStructReader)
+    self.assertGreaterEqual(time.monotonic() - start_time, sock_timeout*15)
+    self.assertIsInstance(recvd, capnp._DynamicStructReader)
     assert_carstate(msg.carState, recvd.carState)
+
+if __name__ == "__main__":
+  unittest.main()

cereal/messaging/tests/test_pub_sub_master.py

@@ -1,6 +1,8 @@
+#!/usr/bin/env python3
 import random
 import time
 from typing import Sized, cast
+import unittest
 
 import cereal.messaging as messaging
 from cereal.messaging.tests.test_messaging import events, random_sock, random_socks, \
@@ -8,9 +10,9 @@ from cereal.messaging.tests.test_messaging import events, random_sock, random_so
                                                   zmq_sleep
 
 
-class TestSubMaster:
+class TestSubMaster(unittest.TestCase):
 
-  def setup_method(self):
+  def setUp(self):
     # ZMQ pub socket takes too long to die
     # sleep to prevent multiple publishers error between tests
     zmq_sleep(3)
@@ -19,21 +21,21 @@ class TestSubMaster:
     sm = messaging.SubMaster(events)
     for p in [sm.updated, sm.recv_time, sm.recv_frame, sm.alive,
               sm.sock, sm.data, sm.logMonoTime, sm.valid]:
-      assert len(cast(Sized, p)) == len(events)
+      self.assertEqual(len(cast(Sized, p)), len(events))
 
   def test_init_state(self):
     socks = random_socks()
     sm = messaging.SubMaster(socks)
-    assert sm.frame == -1
-    assert not any(sm.updated.values())
-    assert not any(sm.alive.values())
-    assert all(t == 0. for t in sm.recv_time.values())
-    assert all(f == 0 for f in sm.recv_frame.values())
-    assert all(t == 0 for t in sm.logMonoTime.values())
+    self.assertEqual(sm.frame, -1)
+    self.assertFalse(any(sm.updated.values()))
+    self.assertFalse(any(sm.alive.values()))
+    self.assertTrue(all(t == 0. for t in sm.recv_time.values()))
+    self.assertTrue(all(f == 0 for f in sm.recv_frame.values()))
+    self.assertTrue(all(t == 0 for t in sm.logMonoTime.values()))
 
     for p in [sm.updated, sm.recv_time, sm.recv_frame, sm.alive,
               sm.sock, sm.data, sm.logMonoTime, sm.valid]:
-      assert len(cast(Sized, p)) == len(socks)
+      self.assertEqual(len(cast(Sized, p)), len(socks))
 
   def test_getitem(self):
     sock = "carState"
@@ -57,8 +59,8 @@ class TestSubMaster:
       msg = messaging.new_message(sock)
       pub_sock.send(msg.to_bytes())
       sm.update(1000)
-      assert sm.frame == i
-      assert all(sm.updated.values())
+      self.assertEqual(sm.frame, i)
+      self.assertTrue(all(sm.updated.values()))
 
   def test_update_timeout(self):
     sock = random_sock()
@@ -68,9 +70,9 @@ class TestSubMaster:
       start_time = time.monotonic()
       sm.update(timeout)
       t = time.monotonic() - start_time
-      assert t >= timeout/1000.
-      assert t < 5
-      assert not any(sm.updated.values())
+      self.assertGreaterEqual(t, timeout/1000.)
+      self.assertLess(t, 5)
+      self.assertFalse(any(sm.updated.values()))
 
   def test_avg_frequency_checks(self):
     for poll in (True, False):
@@ -116,12 +118,12 @@ class TestSubMaster:
       pub_sock.send(msg.to_bytes())
       time.sleep(0.01)
     sm.update(1000)
-    assert sm[sock].vEgo == n
+    self.assertEqual(sm[sock].vEgo, n)
 
 
-class TestPubMaster:
+class TestPubMaster(unittest.TestCase):
 
-  def setup_method(self):
+  def setUp(self):
     # ZMQ pub socket takes too long to die
     # sleep to prevent multiple publishers error between tests
     zmq_sleep(3)
@@ -154,4 +156,8 @@ class TestPubMaster:
         if capnp:
           msg.clear_write_flag()
           msg = msg.to_bytes()
-        assert msg == recvd, i
+        self.assertEqual(msg, recvd, i)
+
+
+if __name__ == "__main__":
+  unittest.main()

cereal/messaging/tests/test_services.py

@@ -1,21 +1,25 @@
+#!/usr/bin/env python3
 import os
 import tempfile
 from typing import Dict
+import unittest
 from parameterized import parameterized
 
 import cereal.services as services
 from cereal.services import SERVICE_LIST
 
 
-class TestServices:
+class TestServices(unittest.TestCase):
 
   @parameterized.expand(SERVICE_LIST.keys())
   def test_services(self, s):
     service = SERVICE_LIST[s]
-    assert service.frequency <= 104
-    assert service.decimation != 0
+    self.assertTrue(service.frequency <= 104)
 
   def test_generated_header(self):
     with tempfile.NamedTemporaryFile(suffix=".h") as f:
       ret = os.system(f"python3 {services.__file__} > {f.name} && clang++ {f.name}")
-      assert ret == 0, "generated services header is not valid C"
+      self.assertEqual(ret, 0, "generated services header is not valid C")
+
+if __name__ == "__main__":
+  unittest.main()

cereal/services.py

@@ -16,13 +16,13 @@ _services: dict[str, tuple] = {
   "gyroscope2": (True, 100., 100),
   "accelerometer": (True, 104., 104),
   "accelerometer2": (True, 100., 100),
-  "magnetometer": (True, 25.),
+  "magnetometer": (True, 25., 25),
   "lightSensor": (True, 100., 100),
   "temperatureSensor": (True, 2., 200),
   "temperatureSensor2": (True, 2., 200),
   "gpsNMEA": (True, 9.),
   "deviceState": (True, 2., 1),
-  "can": (True, 100., 2053),  # decimation gives ~3 msgs in a full segment
+  "can": (True, 100., 1223),  # decimation gives ~5 msgs in a full segment
   "controlsState": (True, 100., 10),
   "pandaStates": (True, 10., 1),
   "peripheralState": (True, 2., 1),
@@ -38,7 +38,7 @@ _services: dict[str, tuple] = {
   "carState": (True, 100., 10),
   "carControl": (True, 100., 10),
   "carOutput": (True, 100., 10),
-  "longitudinalPlan": (True, 20., 10),
+  "longitudinalPlan": (True, 20., 5),
   "procLog": (True, 0.5, 15),
   "gpsLocationExternal": (True, 10., 10),
   "gpsLocation": (True, 1., 1),
@@ -47,11 +47,9 @@ _services: dict[str, tuple] = {
   "gnssMeasurements": (True, 10., 10),
   "clocks": (True, 0.1, 1),
   "ubloxRaw": (True, 20.),
-  "livePose": (True, 20., 4),
-  "liveLocationKalman": (True, 20.),
+  "liveLocationKalman": (True, 20., 5),
   "liveParameters": (True, 20., 5),
-  "cameraOdometry": (True, 20., 10),
-  "lateralPlanDEPRECATED": (True, 20., 5),
+  "cameraOdometry": (True, 20., 5),
   "thumbnail": (True, 0.2, 1),
   "onroadEvents": (True, 1., 1),
   "carParams": (True, 0.02, 1),
@@ -62,28 +60,16 @@ _services: dict[str, tuple] = {
   "driverMonitoringState": (True, 20., 10),
   "wideRoadEncodeIdx": (False, 20., 1),
   "wideRoadCameraState": (True, 20., 20),
-  "drivingModelData": (True, 20., 10),
-  "modelV2": (True, 20.),
+  "modelV2": (True, 20., 40),
   "managerState": (True, 2., 1),
   "uploaderState": (True, 0., 1),
   "navInstruction": (True, 1., 10),
   "navRoute": (True, 0.),
   "navThumbnail": (True, 0.),
-  "navModelDEPRECATED": (True, 2., 4.),
-  "mapRenderState": (True, 2., 1.),
-  "uiPlanDEPRECATED": (True, 20., 40.),
   "qRoadEncodeIdx": (False, 20.),
   "userFlag": (True, 0., 1),
   "microphone": (True, 10., 10),
 
-  "controlsStateSP": (True, 100., 10),
-  "longitudinalPlanSP": (True, 20., 5),
-  "lateralPlanSPDEPRECATED": (True, 20., 5),
-  "driverMonitoringStateSP": (True, 20., 10),
-  "liveMapDataSP": (True, 0.),
-  "e2eLongStateSP": (True, 0.),
-  "modelV2SP": (True, 20., 40),
-
   # debug
   "uiDebug": (True, 0., 1),
   "testJoystick": (True, 0.),

common/api/__init__.py

@@ -1,27 +1,46 @@
-from .comma_connect import CommaConnectApi
-from .sunnylink import SunnylinkApi
+import jwt
+import os
+import requests
+from datetime import datetime, timedelta, UTC
+from openpilot.system.hardware.hw import Paths
+from openpilot.system.version import get_version
 
+API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')
 
 class Api:
-  def __init__(self, dongle_id, use_sunnylink=False):
-    if use_sunnylink:
-      self.service = SunnylinkApi(dongle_id)
-    else:
-      self.service = CommaConnectApi(dongle_id)
-
-  def request(self, method, endpoint, **params):
-    return self.service.request(method, endpoint, **params)
+  def __init__(self, dongle_id):
+    self.dongle_id = dongle_id
+    with open(Paths.persist_root()+'/comma/id_rsa') as f:
+      self.private_key = f.read()
 
   def get(self, *args, **kwargs):
-    return self.service.get(*args, **kwargs)
+    return self.request('GET', *args, **kwargs)
 
   def post(self, *args, **kwargs):
-    return self.service.post(*args, **kwargs)
+    return self.request('POST', *args, **kwargs)
+
+  def request(self, method, endpoint, timeout=None, access_token=None, **params):
+    return api_get(endpoint, method=method, timeout=timeout, access_token=access_token, **params)
 
   def get_token(self, expiry_hours=1):
-    return self.service.get_token(expiry_hours)
+    now = datetime.now(UTC).replace(tzinfo=None)
+    payload = {
+      'identity': self.dongle_id,
+      'nbf': now,
+      'iat': now,
+      'exp': now + timedelta(hours=expiry_hours)
+    }
+    token = jwt.encode(payload, self.private_key, algorithm='RS256')
+    if isinstance(token, bytes):
+      token = token.decode('utf8')
+    return token
 
 
-def api_get(endpoint, method='GET', timeout=None, access_token=None, use_sunnylink=False, **params):
-    return CommaConnectApi(None).api_get(endpoint, method, timeout, access_token, **params) if not use_sunnylink else \
-           SunnylinkApi(None).api_get(endpoint, method, timeout, access_token, **params)
+def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
+  headers = {}
+  if access_token is not None:
+    headers['Authorization'] = "JWT " + access_token
+
+  headers['User-Agent'] = "openpilot-" + get_version()
+
+  return requests.request(method, API_HOST + "/" + endpoint, timeout=timeout, headers=headers, params=params)

common/api/base.py

@@ -1,56 +0,0 @@
-import jwt
-import requests
-import unicodedata
-from datetime import datetime, timedelta, UTC
-from openpilot.system.hardware.hw import Paths
-from openpilot.system.version import get_version
-
-
-class BaseApi:
-  def __init__(self, dongle_id, api_host, user_agent="openpilot-"):
-    self.dongle_id = dongle_id
-    self.api_host = api_host
-    self.user_agent = user_agent
-    with open(Paths.persist_root()+'/comma/id_rsa') as f:
-      self.private_key = f.read()
-
-  def get(self, *args, **kwargs):
-    return self.request('GET', *args, **kwargs)
-
-  def post(self, *args, **kwargs):
-    return self.request('POST', *args, **kwargs)
-
-  def request(self, method, endpoint, timeout=None, access_token=None, **params):
-    return self.api_get(endpoint, method=method, timeout=timeout, access_token=access_token, **params)
-
-  def _get_token(self, expiry_hours=1, **extra_payload):
-    now = datetime.now(UTC).replace(tzinfo=None)
-    payload = {
-      'identity': self.dongle_id,
-      'nbf': now,
-      'iat': now,
-      'exp': now + timedelta(hours=expiry_hours),
-      **extra_payload
-    }
-    token = jwt.encode(payload, self.private_key, algorithm='RS256')
-    if isinstance(token, bytes):
-      token = token.decode('utf8')
-    return token
-
-  def get_token(self, expiry_hours=1):
-    return self._get_token(expiry_hours)
-
-  def remove_non_ascii_chars(self, text):
-    normalized_text = unicodedata.normalize('NFD', text)
-    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, **params):
-    headers = {}
-    if access_token is not None:
-      headers['Authorization'] = "JWT " + access_token
-
-    version = self.remove_non_ascii_chars(get_version())
-    headers['User-Agent'] = self.user_agent + version
-
-    return requests.request(method, self.api_host + "/" + endpoint, timeout=timeout, headers=headers, params=params)

common/api/comma_connect.py

@@ -1,11 +0,0 @@
-import os
-
-from openpilot.common.api.base import BaseApi
-
-API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')
-
-
-class CommaConnectApi(BaseApi):
-  def __init__(self, dongle_id):
-    super().__init__(dongle_id, API_HOST)
-    self.user_agent = "openpilot-"

common/api/sunnylink.py

@@ -1,155 +0,0 @@
-import os
-import time
-import jwt
-import json
-from pathlib import Path
-from datetime import datetime, timedelta
-from openpilot.common.params import Params
-from openpilot.system.hardware import HARDWARE
-from openpilot.system.hardware.hw import Paths
-
-from openpilot.common.api.base import BaseApi
-
-API_HOST = os.getenv('SUNNYLINK_API_HOST', 'https://stg.api.sunnypilot.ai')
-UNREGISTERED_SUNNYLINK_DONGLE_ID = "UnregisteredDevice"
-MAX_RETRIES = 6
-CRASH_LOG_DIR = '/data/community/crashes'
-
-class SunnylinkApi(BaseApi):
-  def __init__(self, dongle_id):
-    super().__init__(dongle_id, API_HOST)
-    self.user_agent = "sunnypilot-"
-    self.spinner = None
-    self.params = Params()
-
-  def api_get(self, endpoint, method='GET', timeout=10, access_token=None, **kwargs):
-    if not self.params.get_bool("SunnylinkEnabled"):
-      return None
-
-    return super().api_get(endpoint, method, timeout, access_token, **kwargs)
-
-  def resume_queued(self, timeout=10, **kwargs):
-    sunnylinkId, commaId = self._resolve_dongle_ids()
-    return self.api_get(f"ws/{sunnylinkId}/resume_queued", "POST", timeout, access_token=self.get_token(), **kwargs)
-
-  def get_token(self, expiry_hours=1):
-    # Add your additional data here
-    additional_data = {}
-    return super()._get_token(expiry_hours, **additional_data)
-
-  def _status_update(self, message):
-    print(message)
-    if self.spinner:
-      self.spinner.update(message)
-      time.sleep(0.5)
-
-  def _resolve_dongle_ids(self):
-    sunnylink_dongle_id = self.params.get("SunnylinkDongleId", encoding='utf-8')
-    comma_dongle_id = self.dongle_id or self.params.get("DongleId", encoding='utf-8')
-    return sunnylink_dongle_id, comma_dongle_id
-
-  def _resolve_imeis(self):
-    imei1, imei2 = None, None
-    imei_try = 0
-    while imei1 is None and imei2 is None and imei_try < MAX_RETRIES:
-      try:
-        imei1, imei2 = self.params.get("IMEI", encoding='utf8') or HARDWARE.get_imei(0), HARDWARE.get_imei(1)
-      except Exception:
-        self._status_update(f"Error getting imei, trying again... [{imei_try+1}/{MAX_RETRIES}]")
-        time.sleep(1)
-      imei_try += 1
-    return imei1, imei2
-
-  def _resolve_serial(self):
-    serial = self.params.get("HardwareSerial", encoding='utf8') or HARDWARE.get_serial()
-    return serial
-
-  def register_device(self, spinner=None, timeout=60, verbose=False):
-    self.spinner = spinner
-
-    sunnylink_dongle_id, comma_dongle_id = self._resolve_dongle_ids()
-
-    if comma_dongle_id is None:
-      self._status_update("Comma dongle ID not found, deferring sunnylink's registration to comma's registration process.")
-      return None
-
-    imei1, imei2 = self._resolve_imeis()
-    serial = self._resolve_serial()
-
-    if sunnylink_dongle_id not in (None, UNREGISTERED_SUNNYLINK_DONGLE_ID):
-      return sunnylink_dongle_id
-
-    privkey_path = Path(Paths.persist_root()+"/comma/id_rsa")
-    pubkey_path = Path(Paths.persist_root()+"/comma/id_rsa.pub")
-
-    start_time = time.monotonic()
-    successful_registration = False
-    if not pubkey_path.is_file():
-      sunnylink_dongle_id = UNREGISTERED_SUNNYLINK_DONGLE_ID
-      self._status_update("Public key not found, setting dongle ID to unregistered.")
-    else:
-      Params().put("LastSunnylinkPingTime", "0")  # Reset the last ping time to 0 if we are trying to register
-      with pubkey_path.open() as f1, privkey_path.open() as f2:
-        public_key = f1.read()
-        private_key = f2.read()
-
-      backoff = 1
-      while True:
-        register_token = jwt.encode({'register': True, 'exp': datetime.utcnow() + timedelta(hours=1)}, private_key, algorithm='RS256')
-        try:
-          if verbose or time.monotonic() - start_time < timeout / 2:
-            self._status_update("Registering device to sunnylink...")
-          elif time.monotonic() - start_time >= timeout / 2:
-            self._status_update("Still registering device to sunnylink...")
-
-          resp = self.api_get("v2/pilotauth/", method='POST', timeout=15, imei=imei1, imei2=imei2, serial=serial, comma_dongle_id=comma_dongle_id, public_key=public_key, register_token=register_token)
-
-          if resp is None:
-            raise Exception("Unable to register device, request was None")
-
-          if resp.status_code in (409, 412):
-            timeout = time.monotonic() - start_time  # Don't retry if the public key is already in use
-            key_in_use = "Public key is already in use, is your key unique? Contact your vendor for a new key."
-            unsafe_key = "Public key is known to not be unique and it's unsafe. Contact your vendor for a new key."
-            error_message = key_in_use if resp.status_code == 409 else unsafe_key
-            raise Exception(error_message)
-
-          if resp.status_code != 200:
-            raise Exception(f"Failed to register with sunnylink. Status code: {resp.status_code}\nData\n:{resp.text}")
-
-          dongleauth = json.loads(resp.text)
-          sunnylink_dongle_id = dongleauth["device_id"]
-          if sunnylink_dongle_id:
-            self._status_update("Device registered successfully.")
-            successful_registration = True
-            break
-        except Exception as e:
-          if verbose:
-            self._status_update(f"Waiting {backoff}s before retry, Exception occurred during registration: [{str(e)}]")
-
-          if not os.path.exists(CRASH_LOG_DIR):
-            os.makedirs(CRASH_LOG_DIR)
-
-          with open(f'{CRASH_LOG_DIR}/error.txt', 'a') as f:
-            f.write(f"[{datetime.now()}] sunnylink: {str(e)}\n")
-
-          backoff = min(backoff * 2, 60)
-          time.sleep(backoff)
-
-        if time.monotonic() - start_time > timeout:
-          self._status_update(f"Giving up on sunnylink's registration after {timeout}s. Will retry on next boot.")
-          time.sleep(3)
-          break
-
-    self.params.put("SunnylinkDongleId", sunnylink_dongle_id or UNREGISTERED_SUNNYLINK_DONGLE_ID)
-
-    # Set the last ping time to the current time since we were just talking to the API
-    last_ping = int(time.monotonic() * 1e9) if successful_registration else start_time
-    Params().put("LastSunnylinkPingTime", str(last_ping))
-
-    # Disable sunnylink if registration was not successful
-    if not successful_registration:
-      Params().put_bool("SunnylinkEnabled", False)
-
-    self.spinner = None
-    return sunnylink_dongle_id

common/model.h

@@ -1 +0,0 @@
-#define CURRENT_MODEL "Notre Dame (July 1, 2024)"

common/params.cc

@@ -24,8 +24,8 @@ 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));
+    result = fsync(fd);
+    close(fd);
   }
   return result;
 }
@@ -111,46 +111,45 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"CurrentBootlog", PERSISTENT},
     {"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-    {"DisablePowerDown", PERSISTENT | BACKUP},
-    {"DisableUpdates", PERSISTENT | BACKUP},
-    {"DisengageOnAccelerator", PERSISTENT | BACKUP},
+    {"DisablePowerDown", PERSISTENT},
+    {"DisableUpdates", PERSISTENT},
+    {"DisengageOnAccelerator", PERSISTENT},
     {"DmModelInitialized", CLEAR_ON_ONROAD_TRANSITION},
     {"DongleId", PERSISTENT},
     {"DoReboot", CLEAR_ON_MANAGER_START},
     {"DoShutdown", CLEAR_ON_MANAGER_START},
     {"DoUninstall", CLEAR_ON_MANAGER_START},
-    {"ExperimentalLongitudinalEnabled", PERSISTENT | DEVELOPMENT_ONLY | BACKUP},
-    {"ExperimentalMode", PERSISTENT | BACKUP},
-    {"ExperimentalModeConfirmed", PERSISTENT | BACKUP},
+    {"ExperimentalLongitudinalEnabled", PERSISTENT | DEVELOPMENT_ONLY},
+    {"ExperimentalMode", PERSISTENT},
+    {"ExperimentalModeConfirmed", PERSISTENT},
     {"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"ForcePowerDown", PERSISTENT},
     {"GitBranch", PERSISTENT},
     {"GitCommit", PERSISTENT},
     {"GitCommitDate", PERSISTENT},
     {"GitDiff", PERSISTENT},
-    {"GithubSshKeys", PERSISTENT | BACKUP},
-    {"GithubUsername", PERSISTENT | BACKUP},
+    {"GithubSshKeys", PERSISTENT},
+    {"GithubUsername", PERSISTENT},
     {"GitRemote", PERSISTENT},
-    {"GsmApn", PERSISTENT | BACKUP},
-    {"GsmMetered", PERSISTENT | BACKUP},
-    {"GsmRoaming", PERSISTENT | BACKUP},
+    {"GsmApn", PERSISTENT},
+    {"GsmMetered", PERSISTENT},
+    {"GsmRoaming", PERSISTENT},
     {"HardwareSerial", PERSISTENT},
     {"HasAcceptedTerms", PERSISTENT},
     {"IMEI", PERSISTENT},
     {"InstallDate", PERSISTENT},
     {"IsDriverViewEnabled", CLEAR_ON_MANAGER_START},
     {"IsEngaged", PERSISTENT},
-    {"IsLdwEnabled", PERSISTENT | BACKUP},
-    {"IsMetric", PERSISTENT | BACKUP},
+    {"IsLdwEnabled", PERSISTENT},
+    {"IsMetric", PERSISTENT},
     {"IsOffroad", CLEAR_ON_MANAGER_START},
     {"IsOnroad", PERSISTENT},
     {"IsRhdDetected", PERSISTENT},
     {"IsReleaseBranch", CLEAR_ON_MANAGER_START},
-    {"IsReleaseSPBranch", CLEAR_ON_MANAGER_START},
     {"IsTakingSnapshot", CLEAR_ON_MANAGER_START},
     {"IsTestedBranch", CLEAR_ON_MANAGER_START},
     {"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
-    {"LanguageSetting", PERSISTENT | BACKUP},
+    {"LanguageSetting", PERSISTENT},
     {"LastAthenaPingTime", CLEAR_ON_MANAGER_START},
     {"LastGPSPosition", PERSISTENT},
     {"LastManagerExitReason", CLEAR_ON_MANAGER_START},
@@ -160,12 +159,12 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"LastUpdateTime", PERSISTENT},
     {"LiveParameters", PERSISTENT},
     {"LiveTorqueParameters", PERSISTENT | DONT_LOG},
-    {"LongitudinalPersonality", PERSISTENT | BACKUP},
+    {"LongitudinalPersonality", PERSISTENT},
     {"NavDestination", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"NavDestinationWaypoints", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"NavPastDestinations", PERSISTENT},
-    {"NavSettingLeftSide", PERSISTENT | BACKUP},
-    {"NavSettingTime24h", PERSISTENT | BACKUP},
+    {"NavSettingLeftSide", PERSISTENT},
+    {"NavSettingTime24h", PERSISTENT},
     {"NetworkMetered", PERSISTENT},
     {"ObdMultiplexingChanged", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"ObdMultiplexingEnabled", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
@@ -181,19 +180,19 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"Offroad_TemperatureTooHigh", CLEAR_ON_MANAGER_START},
     {"Offroad_UnofficialHardware", CLEAR_ON_MANAGER_START},
     {"Offroad_UpdateFailed", CLEAR_ON_MANAGER_START},
-    {"Offroad_OSMUpdateRequired", CLEAR_ON_MANAGER_START},
-    {"OpenpilotEnabledToggle", PERSISTENT | BACKUP},
+    {"OpenpilotEnabledToggle", PERSISTENT},
     {"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"PandaSomResetTriggered", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"PandaSignatures", CLEAR_ON_MANAGER_START},
     {"PrimeType", PERSISTENT},
-    {"RecordFront", PERSISTENT | BACKUP},
+    {"RecordFront", PERSISTENT},
     {"RecordFrontLock", PERSISTENT},  // for the internal fleet
     {"ReplayControlsState", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"RouteCount", PERSISTENT},
     {"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
-    {"SshEnabled", PERSISTENT | BACKUP},
+    {"SshEnabled", PERSISTENT},
     {"TermsVersion", PERSISTENT},
+    {"Timezone", PERSISTENT},
     {"TrainingVersion", PERSISTENT},
     {"UbloxAvailable", PERSISTENT},
     {"UpdateAvailable", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
@@ -208,163 +207,6 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"UpdaterTargetBranch", CLEAR_ON_MANAGER_START},
     {"UpdaterLastFetchTime", PERSISTENT},
     {"Version", PERSISTENT},
-
-    {"AccelPersonality", PERSISTENT | BACKUP},
-    {"AccMadsCombo", PERSISTENT | BACKUP},
-    {"AmapKey1", PERSISTENT | BACKUP},
-    {"AmapKey2", PERSISTENT | BACKUP},
-    {"ApiCache_DriveStats", PERSISTENT | BACKUP},
-    {"AutoLaneChangeTimer", PERSISTENT | BACKUP},
-    {"AutoLaneChangeBsmDelay", PERSISTENT | BACKUP},
-    {"BelowSpeedPause", PERSISTENT | BACKUP},
-    {"BrakeLights", PERSISTENT | BACKUP},
-    {"BrightnessControl", PERSISTENT | BACKUP},
-    {"ButtonAutoHide", PERSISTENT | BACKUP},
-    {"CameraControl", PERSISTENT | BACKUP},
-    {"CameraControlToggle", PERSISTENT | BACKUP},
-    {"CameraOffset", PERSISTENT | BACKUP},
-    {"CarModel", PERSISTENT | BACKUP},
-    {"CarModelText", PERSISTENT | BACKUP},
-    {"ChevronInfo", PERSISTENT | BACKUP},
-    {"CustomBootScreen", PERSISTENT | BACKUP},
-    {"CustomDrivingModel", PERSISTENT},
-    {"CustomMapboxTokenPk", PERSISTENT | BACKUP},
-    {"CustomMapboxTokenSk", PERSISTENT | BACKUP},
-    {"CustomOffsets", PERSISTENT | BACKUP},
-    {"CustomStockLong", PERSISTENT | BACKUP},
-    {"CustomStockLongPlanner", PERSISTENT | BACKUP},
-    {"CustomTorqueLateral", PERSISTENT | BACKUP},
-    {"DevUIInfo", PERSISTENT | BACKUP},
-    {"DisableOnroadUploads", PERSISTENT | BACKUP},
-    {"DisengageLateralOnBrake", PERSISTENT | BACKUP},
-    {"DrivingModelGeneration", PERSISTENT},
-    {"DrivingModelMetadataText", PERSISTENT},
-    {"DrivingModelName", PERSISTENT},
-    {"DrivingModelText", PERSISTENT},
-    {"DrivingModelUrl", PERSISTENT},
-    {"DynamicExperimentalControl", PERSISTENT | BACKUP},
-    {"DynamicLaneProfile", PERSISTENT | BACKUP},
-    {"DynamicPersonality", PERSISTENT | BACKUP},
-    {"EnableAmap", PERSISTENT | BACKUP},
-    {"EnableGmap", PERSISTENT | BACKUP},
-    {"EnableMads", PERSISTENT | BACKUP},
-    {"EnableSlc", PERSISTENT | BACKUP},
-    {"EndToEndLongAlertLead", PERSISTENT | BACKUP},
-    {"EndToEndLongAlertLight", PERSISTENT | BACKUP},
-    {"EndToEndLongAlertUI", PERSISTENT | BACKUP},
-    {"EndToEndLongToggle", PERSISTENT | BACKUP},
-    {"EnforceTorqueLateral", PERSISTENT | BACKUP},
-    {"EnhancedScc", PERSISTENT | BACKUP},
-    {"FeatureStatus", PERSISTENT | BACKUP},
-    {"FleetManagerPin", PERSISTENT},
-    {"ForceOffroad", CLEAR_ON_MANAGER_START},
-    {"GmapKey", PERSISTENT | BACKUP},
-    {"HandsOnWheelMonitoring", PERSISTENT | BACKUP},
-    {"HasAcceptedTermsSP", PERSISTENT},
-    {"HideVEgoUi", PERSISTENT | BACKUP},
-    {"HyundaiCruiseMainDefault", PERSISTENT | BACKUP},
-    {"HkgCustomLongTuning", PERSISTENT | BACKUP},
-    {"HkgSmoothStop", PERSISTENT | BACKUP},
-    {"HyundaiCruiseMainDefault", PERSISTENT | BACKUP},
-    {"HotspotOnBoot", PERSISTENT},
-    {"HotspotOnBootConfirmed", PERSISTENT},
-    {"HyundaiRadarTracksAvailable", PERSISTENT},
-    {"HyundaiRadarTracksAvailableCache", PERSISTENT},
-    {"HyundaiRadarTracksAvailablePersistent", PERSISTENT},
-    {"LastCarModel", PERSISTENT | BACKUP},
-    {"LastSpeedLimitSignTap", PERSISTENT},
-    {"LastSunnylinkPingTime", CLEAR_ON_MANAGER_START},
-    {"LiveTorque", PERSISTENT | BACKUP},
-    {"LiveTorqueRelaxed", PERSISTENT | BACKUP},
-    {"LkasToggle", PERSISTENT | BACKUP},
-    {"MadsCruiseMain", PERSISTENT | BACKUP},
-    {"MadsIconToggle", PERSISTENT | BACKUP},
-    {"MapboxFullScreen", PERSISTENT | BACKUP},
-    {"MapTargetVelocities", PERSISTENT},
-    {"Map3DBuildings", PERSISTENT | BACKUP},
-    {"MaxTimeOffroad", PERSISTENT | BACKUP},
-    {"NavModelText", PERSISTENT | BACKUP},
-    {"NavModelUrl", PERSISTENT | BACKUP},
-    {"NNFF", PERSISTENT | BACKUP},
-    {"NNFFCarModel", PERSISTENT | BACKUP},
-    {"NNFFNoLateralJerk", PERSISTENT | BACKUP},
-    {"OnroadScreenOff", PERSISTENT | BACKUP},
-    {"OnroadScreenOffBrightness", PERSISTENT | BACKUP},
-    {"OnroadScreenOffEvent", PERSISTENT | BACKUP},
-    {"OnroadSettings", PERSISTENT | BACKUP},
-    {"OsmLocal", PERSISTENT},
-    {"OsmLocationName", PERSISTENT},
-    {"OsmLocationTitle", PERSISTENT},
-    {"OsmLocationUrl", PERSISTENT},
-    {"OsmWayTest", PERSISTENT},
-    {"OsmDownloadedDate", PERSISTENT},
-    {"OvertakingAccelerationAssist", PERSISTENT},
-    {"PathOffset", PERSISTENT | BACKUP},
-    {"PauseLateralSpeed", PERSISTENT | BACKUP},
-    {"PCMVCruiseOverride", PERSISTENT | BACKUP},
-    {"PCMVCruiseOverrideSpeed", PERSISTENT | BACKUP},
-    {"QuietDrive", PERSISTENT | BACKUP},
-    {"RoadEdge", PERSISTENT | BACKUP},
-    {"ReverseAccChange", PERSISTENT | BACKUP},
-    {"ReverseDmCam", PERSISTENT | BACKUP},
-    {"ScreenRecorder", PERSISTENT | BACKUP},
-    {"ShowDebugUI", PERSISTENT | BACKUP},
-    {"SidebarTemperatureOptions", PERSISTENT | BACKUP},
-    {"SpeedLimitControlPolicy", PERSISTENT | BACKUP},
-    {"SpeedLimitEngageType", PERSISTENT | BACKUP},
-    {"SpeedLimitValueOffset", PERSISTENT | BACKUP},
-    {"SpeedLimitOffsetType", PERSISTENT | BACKUP},
-    {"SpeedLimitWarningFlash", PERSISTENT | BACKUP},
-    {"SpeedLimitWarningType", PERSISTENT | BACKUP},
-    {"SpeedLimitWarningValueOffset", PERSISTENT | BACKUP},
-    {"SpeedLimitWarningOffsetType", PERSISTENT | BACKUP},
-    {"StandStillTimer", PERSISTENT | BACKUP},
-    {"StockLongToyota", PERSISTENT | BACKUP},
-    {"SubaruManualParkingBrakeSng", PERSISTENT | BACKUP},
-    {"SunnylinkDongleId", PERSISTENT},
-    {"SunnylinkEnabled", PERSISTENT},
-    {"SunnylinkdPid", PERSISTENT},
-    {"TermsVersionSunnypilot", PERSISTENT},
-    {"TorqueDeadzoneDeg", PERSISTENT | BACKUP},
-    {"TorqueFriction", PERSISTENT | BACKUP},
-    {"TorqueLateralJerk", PERSISTENT | BACKUP},
-    {"TorqueMaxLatAccel", PERSISTENT | BACKUP},
-    {"TorquedOverride", PERSISTENT | BACKUP},
-    {"ToyotaAutoLockBySpeed", PERSISTENT | BACKUP},
-    {"ToyotaAutoUnlockByShifter", PERSISTENT | BACKUP},
-    {"ToyotaDriveMode", PERSISTENT | BACKUP},
-    {"ToyotaEnhancedBsm", PERSISTENT | BACKUP},
-    {"ToyotaSnG", PERSISTENT | BACKUP},
-    {"ToyotaTSS2Long", PERSISTENT | BACKUP},
-    {"TrueVEgoUi", PERSISTENT | BACKUP},
-    {"TurnSpeedControl", PERSISTENT | BACKUP},
-    {"TurnVisionControl", PERSISTENT | BACKUP},
-    {"DriverCameraHardwareMissing", PERSISTENT},
-    {"VisionCurveLaneless", PERSISTENT | BACKUP},
-    {"VwAccType", PERSISTENT | BACKUP},
-    {"VwCCOnly", PERSISTENT | BACKUP},
-    {"Offroad_ForceStatus", CLEAR_ON_MANAGER_START},
-    {"Offroad_SupersededUpdate", PERSISTENT},
-
-    {"SunnylinkCache_Users", PERSISTENT},
-    {"SunnylinkCache_Roles", PERSISTENT},
-    {"EnableGitlabRunner", PERSISTENT | BACKUP},
-    {"EnableSunnylinkUploader", PERSISTENT | BACKUP},
-
-    // PFEIFER - MAPD {{
-    {"MapdVersion", PERSISTENT},
-    {"RoadName", CLEAR_ON_ONROAD_TRANSITION},
-    {"MapSpeedLimit", CLEAR_ON_ONROAD_TRANSITION},
-    {"MapAdvisorySpeedLimit", CLEAR_ON_ONROAD_TRANSITION},
-    {"NextMapSpeedLimit", CLEAR_ON_ONROAD_TRANSITION},
-    {"OSMDownloadBounds", PERSISTENT},
-    {"OSMDownloadLocations", PERSISTENT},
-    {"OsmDownloadedDate", PERSISTENT},
-    {"OsmStateTitle", PERSISTENT},
-    {"OsmStateName", PERSISTENT},
-    {"OSMDownloadProgress", CLEAR_ON_MANAGER_START},
-    {"OsmDbUpdatesCheck", CLEAR_ON_MANAGER_START},  // mapd database update happens with device ON, reset on boot
-    // }} PFEIFER - MAPD
 };
 
 } // namespace

common/params.h

@@ -16,7 +16,6 @@ enum ParamKeyType {
   CLEAR_ON_OFFROAD_TRANSITION = 0x10,
   DONT_LOG = 0x20,
   DEVELOPMENT_ONLY = 0x40,
-  BACKUP = 0x80,
   ALL = 0xFFFFFFFF
 };
 

common/params_pyx.pyx

@@ -3,7 +3,6 @@
 from libcpp cimport bool
 from libcpp.string cimport string
 from libcpp.vector cimport vector
-from libcpp.map cimport map
 
 cdef extern from "common/params.h":
   cpdef enum ParamKeyType:
@@ -12,7 +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":
@@ -28,7 +26,6 @@ cdef extern from "common/params.h":
     string getParamPath(string) nogil
     void clearAll(ParamKeyType)
     vector[string] allKeys()
-    map[string, string] readAll()
 
 
 def ensure_bytes(v):
@@ -119,6 +116,3 @@ cdef class Params:
 
   def all_keys(self):
     return self.p.allKeys()
-
-  def read_all(self):
-    return self.p.readAll()

common/realtime.py

@@ -2,8 +2,6 @@
 import gc
 import os
 import time
-import threading
-import psutil
 from collections import deque
 
 from openpilot.common.threadname import getthreadname
@@ -46,14 +44,6 @@ def config_realtime_process(cores: int | list[int], priority: int) -> None:
   set_core_affinity(c)
 
 
-def set_thread_affinity(thread: threading.Thread, cores: list[int]) -> None:
-  try:
-    process = psutil.Process(thread.ident)
-    process.cpu_affinity(cores)
-  except Exception as e:
-    print(f"Error setting thread affinity: {e}")
-
-
 class Ratekeeper:
   def __init__(self, rate: float, print_delay_threshold: float | None = 0.0) -> None:
     """Rate in Hz for ratekeeping. print_delay_threshold must be nonnegative."""

common/transformations/camera.py

@@ -47,9 +47,9 @@ class DeviceCameraConfig:
         yield cam, getattr(self, cam)
 
 _ar_ox_fisheye = CameraConfig(1928, 1208, 567.0)  # focal length probably wrong? magnification is not consistent across frame
-_os_fisheye = CameraConfig(2688 // 2, 1520 // 2, 567.0 / 4 * 3)
+_os_fisheye = CameraConfig(2688, 1520, 567.0 / 2 * 3)
 _ar_ox_config = DeviceCameraConfig(CameraConfig(1928, 1208, 2648.0), _ar_ox_fisheye, _ar_ox_fisheye)
-_os_config = DeviceCameraConfig(CameraConfig(2688 // 2, 1520 // 2, 1522.0 * 3 / 4), _os_fisheye, _os_fisheye)
+_os_config = DeviceCameraConfig(CameraConfig(2688, 1520, 2648.0 * 2 / 3), _os_fisheye, _os_fisheye)
 _neo_config = DeviceCameraConfig(CameraConfig(1164, 874, 910.0), CameraConfig(816, 612, 650.0), _NoneCameraConfig())
 
 DEVICE_CAMERAS = {

common/version.h

@@ -1 +1 @@
-#define COMMA_VERSION "0.9.8.0"
+#define COMMA_VERSION "0.9.8"

docs/CARS.md

@@ -4,19 +4,19 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 287 Supported Cars
+# 288 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
 |Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=ILX 2016-19">Buy Here</a></sub></details>||
 |Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2016-18">Buy Here</a></sub></details>||
 |Acura|RDX 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2019-22">Buy Here</a></sub></details>||
-|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>||
-|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>||
-|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q2 2018">Buy Here</a></sub></details>||
-|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q3 2019-23">Buy Here</a></sub></details>||
-|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=RS3 2018">Buy Here</a></sub></details>||
-|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=S3 2015-17">Buy Here</a></sub></details>||
+|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>||
+|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>||
+|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q2 2018">Buy Here</a></sub></details>||
+|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q3 2019-23">Buy Here</a></sub></details>||
+|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=RS3 2018">Buy Here</a></sub></details>||
+|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=S3 2015-17">Buy Here</a></sub></details>||
 |Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<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>||
@@ -25,10 +25,11 @@ A supported vehicle is one that just works when you install a comma device. All
 |Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2017-18">Buy Here</a></sub></details>||
 |Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2019-20">Buy Here</a></sub></details>||
 |Chrysler|Pacifica 2021-23|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2021-23">Buy Here</a></sub></details>||
-|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2017-18">Buy Here</a></sub></details>||
-|Chrysler|Pacifica Hybrid 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2019-24">Buy Here</a></sub></details>||
+|Chrysler|Pacifica Hybrid 2017|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2017">Buy Here</a></sub></details>||
+|Chrysler|Pacifica Hybrid 2018|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2018">Buy Here</a></sub></details>||
+|Chrysler|Pacifica Hybrid 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2019-23">Buy Here</a></sub></details>||
 |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None||
-|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=CUPRA&model=Ateca 2018-23">Buy Here</a></sub></details>||
+|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=CUPRA&model=Ateca 2018-23">Buy Here</a></sub></details>||
 |Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Dodge&model=Durango 2020-21">Buy Here</a></sub></details>||
 |Ford|Bronco Sport 2021-23|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Bronco Sport 2021-23">Buy Here</a></sub></details>||
 |Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape 2020-22">Buy Here</a></sub></details>||
@@ -53,17 +54,17 @@ A supported vehicle is one that just works when you install a comma device. All
 |Genesis|G90 2017-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G90 2017-20">Buy Here</a></sub></details>||
 |Genesis|GV60 (Advanced Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Buy Here</a></sub></details>||
 |Genesis|GV60 (Performance Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Performance Trim) 2023">Buy Here</a></sub></details>||
-|Genesis|GV70 (2.5T Trim, without HDA II) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (2.5T Trim, without HDA II) 2022-23">Buy Here</a></sub></details>||
-|Genesis|GV70 (3.5T Trim, without HDA II) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (3.5T Trim, without HDA II) 2022-23">Buy Here</a></sub></details>||
+|Genesis|GV70 (2.5T Trim) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (2.5T Trim) 2022-23">Buy Here</a></sub></details>||
+|Genesis|GV70 (3.5T Trim) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (3.5T Trim) 2022-23">Buy Here</a></sub></details>||
 |Genesis|GV80 2023[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV80 2023">Buy Here</a></sub></details>||
 |GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<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|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Accord Hybrid 2018-22">Buy Here</a></sub></details>||
 |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Honda|Civic 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Honda|Civic 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2017-21">Buy Here</a></sub></details>||
-|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Honda|Civic Hatchback 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2015-16">Buy Here</a></sub></details>||
 |Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2017-22">Buy Here</a></sub></details>||
 |Honda|CR-V Hybrid 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V Hybrid 2017-21">Buy Here</a></sub></details>||
@@ -184,8 +185,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lexus|UX Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=UX Hybrid 2019-23">Buy Here</a></sub></details>||
 |Lincoln|Aviator 2020-23|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator 2020-23">Buy Here</a></sub></details>||
 |Lincoln|Aviator Plug-in Hybrid 2020-23|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator Plug-in Hybrid 2020-23">Buy Here</a></sub></details>||
-|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Mazda|CX-5 2022-24|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-5 2022-24">Buy Here</a></sub></details>||
 |Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Altima 2019-20">Buy Here</a></sub></details>||
@@ -193,8 +194,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Rogue 2018-20">Buy Here</a></sub></details>||
 |Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=X-Trail 2017">Buy Here</a></sub></details>||
 |Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Ram connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ram&model=1500 2019-24">Buy Here</a></sub></details>||
-|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Ateca 2016-23">Buy Here</a></sub></details>||
-|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Leon 2014-20">Buy Here</a></sub></details>||
+|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Ateca 2016-23">Buy Here</a></sub></details>||
+|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Leon 2014-20">Buy Here</a></sub></details>||
 |Subaru|Ascent 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
 |Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
@@ -205,15 +206,15 @@ A supported vehicle is one that just works when you install a comma device. All
 |Subaru|Outback 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
 |Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Škoda|Fabia 2022-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Fabia 2022-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
-|Škoda|Kamiq 2021-23[<sup>9,11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kamiq 2021-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
-|Škoda|Karoq 2019-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Karoq 2019-23">Buy Here</a></sub></details>||
-|Škoda|Kodiaq 2017-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kodiaq 2017-23">Buy Here</a></sub></details>||
-|Škoda|Octavia 2015-19[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia 2015-19">Buy Here</a></sub></details>||
-|Škoda|Octavia RS 2016[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia RS 2016">Buy Here</a></sub></details>||
-|Škoda|Octavia Scout 2017-19[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia Scout 2017-19">Buy Here</a></sub></details>||
-|Škoda|Scala 2020-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Scala 2020-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
-|Škoda|Superb 2015-22[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Superb 2015-22">Buy Here</a></sub></details>||
+|Škoda|Fabia 2022-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Fabia 2022-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Škoda|Kamiq 2021-23[<sup>9,11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kamiq 2021-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Škoda|Karoq 2019-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Karoq 2019-23">Buy Here</a></sub></details>||
+|Škoda|Kodiaq 2017-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kodiaq 2017-23">Buy Here</a></sub></details>||
+|Škoda|Octavia 2015-19[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia 2015-19">Buy Here</a></sub></details>||
+|Škoda|Octavia RS 2016[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia RS 2016">Buy Here</a></sub></details>||
+|Škoda|Octavia Scout 2017-19[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia Scout 2017-19">Buy Here</a></sub></details>||
+|Škoda|Scala 2020-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Scala 2020-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Škoda|Superb 2015-22[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Superb 2015-22">Buy Here</a></sub></details>||
 |Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Alphard 2019-20">Buy Here</a></sub></details>||
 |Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Alphard Hybrid 2021">Buy Here</a></sub></details>||
 |Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon 2016">Buy Here</a></sub></details>||
@@ -259,42 +260,42 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|RAV4 Hybrid 2023-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2023-24">Buy Here</a></sub></details>||
 |Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas 2018-23">Buy Here</a></sub></details>||
-|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas Cross Sport 2020-22">Buy Here</a></sub></details>||
-|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=California 2021-23">Buy Here</a></sub></details>||
-|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Caravelle 2020">Buy Here</a></sub></details>||
-|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Golf 2014-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf Alltrack 2015-19">Buy Here</a></sub></details>||
-|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTD 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTE 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTI 2015-21">Buy Here</a></sub></details>||
-|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf R 2015-19">Buy Here</a></sub></details>||
-|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf SportsVan 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Jetta 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta 2018-24">Buy Here</a></sub></details>||
-|Volkswagen|Jetta GLI 2021-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta GLI 2021-24">Buy Here</a></sub></details>||
-|Volkswagen|Passat 2015-22[<sup>10</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat 2015-22">Buy Here</a></sub></details>||
-|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat Alltrack 2015-22">Buy Here</a></sub></details>||
-|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat GTE 2015-22">Buy Here</a></sub></details>||
-|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo 2018-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
-|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
-|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Cross 2021">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
-|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Roc 2018-23">Buy Here</a></sub></details>||
-|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Taos 2022-23">Buy Here</a></sub></details>||
-|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>||
-|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>||
-|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>||
-|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan 2018-24">Buy Here</a></sub></details>||
-|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>||
-|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>||
+|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas 2018-23">Buy Here</a></sub></details>||
+|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas Cross Sport 2020-22">Buy Here</a></sub></details>||
+|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=California 2021-23">Buy Here</a></sub></details>||
+|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Caravelle 2020">Buy Here</a></sub></details>||
+|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Golf 2014-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf Alltrack 2015-19">Buy Here</a></sub></details>||
+|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTD 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTE 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTI 2015-21">Buy Here</a></sub></details>||
+|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf R 2015-19">Buy Here</a></sub></details>||
+|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf SportsVan 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Jetta 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta 2018-24">Buy Here</a></sub></details>||
+|Volkswagen|Jetta GLI 2021-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta GLI 2021-24">Buy Here</a></sub></details>||
+|Volkswagen|Passat 2015-22[<sup>10</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat 2015-22">Buy Here</a></sub></details>||
+|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat Alltrack 2015-22">Buy Here</a></sub></details>||
+|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat GTE 2015-22">Buy Here</a></sub></details>||
+|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo 2018-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Cross 2021">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Roc 2018-23">Buy Here</a></sub></details>||
+|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Taos 2022-23">Buy Here</a></sub></details>||
+|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>||
+|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>||
+|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>||
+|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan 2018-24">Buy Here</a></sub></details>||
+|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>||
+|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>||
 
 ### Footnotes
 <sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `master-ci`. <br />

docs/HOW-TOS.md

@@ -1,77 +0,0 @@
-# How Tos
-This page is a repository of useful how-tos as a supplement for additional information.
-
-Table of Contents
-=======================
-
-* [Radar Tracks](#Radar-Tracks)
-    * [Enable Radar Tracks](#-Enable-Radar-Tracks)
-* [Enable Mapbox Navigation](#-Enable-Mapbox-Navigation)
-
----
-
-<details><summary><h3>📡 Radar Tracks</h3></summary>
-
-Radar tracks can now be enabled manually on applicable cars through SSH thanks to [@greghogan](https://github.com/greghogan) and [@pd0wm](https://github.com/pd0wm).
-
-Some Hyundai radars can be reconfigured to output (debug) radar points on bus 1.
-Reconfiguration is done over UDS by reading/writing to 0x0142 using the Read/Write Data By Identifier
-endpoints (0x22 & 0x2E). This script checks your radar firmware version against a list of known
-firmware versions. If you want to try on a new radar, make sure to note the default config value
-in case it is different from the other radars and you need to revert the changes.
-After changing the config the car should not show any faults when openpilot is not running.
-These config changes are persistent across car reboots. You need to run this script again
-to go back to the default values.
-
-**USE AT YOUR OWN RISK!** Stock system safety features, like AEB and FCW, might be affected by these changes.
-
-**How radar points can be used along with vision:**
-* Current OP long policy is identify with vision first, if vision sees a vehicle match it to a radar point. If vision sees nothing you get a false negative and no lead car detection. (Source: [Hubblesphere#7894 from comma.ai community Discord](https://discord.com/channels/469524606043160576/872899198738104330/872913890793635872))
-
-### 🚨 Enable Radar Tracks
-
-***(EXPERIMENTAL, as of January 1st, 2022)***
-
-***(Only applicable to some Hyundai, Kia, and Genesis cars, as of January 1st, 2022)***
-
-*(Base on version 0.8.12 [`devel`](https://github.com/commaai/openpilot/tree/devel))*
-
-**USE AT YOUR OWN RISK!** Stock system safety features, like AEB and FCW, might be affected by these changes.
-
-1. Ensure the car is at the `OFF` ignition position.
-2. Connect your compatible comma device (EON, C2, C3) to the car. comma device power should be ON.
-3. Use a laptop or applicable device to connect to your comma device via SSH. (Tips: Instructions to SSH in [HERE](https://github.com/commaai/openpilot/wiki/SSH))
-4. In the SSH terminal after successfully connected to your comma device, execute the following commands:
-    1. `pkill -f openpilot`
-    2. `python /data/openpilot/selfdrive/debug/hyundai_enable_radar_points.py`
-    3. Follow the instructions in the script:
-        * `Power on the vehicle keeping the engine off (press start button twice) then type OK to continue`.
-            * If successful, the following message should appear: `[DONE]. Restart your vehicle and ensure there are no faults`.
-            * If the script did not run successfully, reach out to the community in [Sunnyhaibin's Openpilot Discord Server](https://discord.gg/wRW3meAgtx) or `#hyundai-kia-genesis channel` on [commaai community Discord Server](https://discord.comma.ai) for assistance.
-    4. Reboot your comma device:
-        1. C3: `sudo reboot`
-        2. C2 or EON: `reboot`
-5. Once your comma device is rebooted, start your car with engine on (with or without comma device connected). Ensure that there are no faults from the car. If there are faults, reach out to the community in [Sunnyhaibin's Openpilot Discord Server](https://discord.gg/wRW3meAgtx) or `#hyundai-kia-genesis channel` on [commaai community Discord Server](https://discord.comma.ai) for assistance.
-6. Go for a quick drive and drive behind a lead car with varied follow distance. Then, come back and allow the drive to upload its `rlogs` in [comma Connect](https://connect.comma.ai).
-7. With all `rlogs` uploaded, open the drive in Cabana from [comma Connect](https://connect.comma.ai). Load DBC -> `hyundai_kia_mando_front_radar.dbc`, then search `RADAR_TRACK_50x` (`x` could be anything), open any of them, and look at `LONG_DIST`.
-8. If the radar tracks data is relevant with the lead car you drove behind, you are done! Your car now have radar tracks enabled.
-</details>
-
-<details><summary><h3>🗺 Enable Mapbox Navigation</h3></summary>
-
-1) Create a free mapbox account. Account will ask for a credit card for verification. You will not be charged for the free tier.
-2) On the Dashboard, you will see a section called Access Tokens. Click `Create a Token`. Name it whatever you like. Set the scopes to allow everything for both Public and Secret. Copy both of these keys. **YOU WON'T BE ABLE TO ACCESS THE SECRET KEY AFTER THIS WINDOW.**
-3) Once rebooted, connect your C3 to a network with internet access and find the C3’s IP address.
-4) In a browser, navigate to that IP with **port 8082** (i.e 192.168.1.69:8082). You should be greeted with the Comma logo and a public key input field.
-5) Paste your Public token (pk.xx), click enter, paste your Secret key (sk.xx), click enter. You can now search for places. This page will be available at your devices’s IP address/port 8082 to search for destinations.
-6) To set Home and Work addresses, search for a place, select Home/Work from the dropdown and click Navigate. For non-Home/Work destinations, select Recent Places.<br>*At this time, it is not possible to search directly on the C3.*
-
-**TIPS:**
-- If your C3 is showing a black screen that says “Map Loading”, performing a reboot via the UI should fix it.
-- If your phone can create a Hotspot, you are able to connect the C3 to your phone hotspot and use your phone browser to search for places.
-- In the Navigation panel on the C3, you can select Home, Work, and from a list of Recent Places you have navigated to without needing a browser (assuming the C3 is connected to the internet.)
-
-**IMPORTANT NOTE:** Your C3 will require an active internet connection to download map data, generate driving directions, and ETA. Once map data and directions are downloaded, it *is* possible to use it offline, however nothing will update (such as new driving direction after a missed turn, updated ETA, map data further into your drive etc.)
-
-***NAVIGATION NOTE:** At this time, mapbox does not support alphanumeric addresses (i.e W123N1234 Main St). There is currently no known workaround for this.*
-</details>

docs/Makefile

@@ -0,0 +1,53 @@
+# Minimal makefile for Sphinx documentation
+#
+
+OPENPILOT_ROOT = `git rev-parse --show-toplevel`
+
+# You can set these variables from the command line, and also
+# from the environment for the first two.
+SPHINXOPTS    ?=
+SPHINXBUILD   ?= sphinx-build
+DOCSDIR       = "$(OPENPILOT_ROOT)/docs"
+SOURCEDIR     = "$(OPENPILOT_ROOT)/build/docs"
+DOCSBUILDDIR  = "$(OPENPILOT_ROOT)/build/docs"
+BUILDDIR      = "$(OPENPILOT_ROOT)/build"
+
+# Put it first so that "make" without argument is like "make help".
+help:
+	@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(DOCSBUILDDIR)" $(SPHINXOPTS) $(O)
+
+clean:
+	@echo "Cleaning build folder..."
+	rm -rf "$(BUILDDIR)"
+
+.PHONY: help Makefile
+
+# Catch-all target: route all unknown targets to Sphinx using the new
+# "make mode" option.  $(O) is meant as a shortcut for $(SPHINXOPTS).
+%: Makefile
+	@echo "Cleaning build folder..."
+	rm -rf "$(BUILDDIR)"
+	mkdir -p "$(DOCSBUILDDIR)"
+
+	@echo "Copying docs & config to build folder..."
+	cp -a "$(DOCSDIR)" "$(BUILDDIR)"
+	cd "$(OPENPILOT_ROOT)" && \
+		find . -type f \( -name "*.md" -o -name "*.rst" -o -name "*.png" -o -name "*.jpg" -o -name "*.svg" \) \
+			-not -path "*/.*" \
+			-not -path "./build/*" \
+			-not -path "./docs/*" \
+			-not -path "./xx/*" \
+			-exec cp --parents "{}" ./build/docs/ \;
+
+	@echo "Building rst files..."
+	sphinx-apidoc -o "$(DOCSBUILDDIR)" ../ \
+		../xx ../rednose_repo ../notebooks ../panda_jungle \
+		../third_party \
+		../panda/examples \
+		../scripts \
+		../selfdrive/modeld \
+		../selfdrive/debug \
+		$(shell find .. -type d -name "*test* -not -path "**.venv**" \")
+
+	@echo "Building html files..."
+	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(DOCSBUILDDIR)" $(SPHINXOPTS) $(O)

docs/README.md

@@ -1,26 +1,3 @@
-# openpilot docs
+# openpilot-docs
 
-This is the source for [docs.comma.ai](https://docs.comma.ai).
-The site is updated on pushes to master by this [workflow](../.github/workflows/docs.yaml).
-
-## Development
-NOTE: Those commands must be run in the root directory of openpilot, **not /docs**
-
-**1. Install the docs dependencies**
-``` bash
-pip install .[docs]
-```
-
-**2. Build the new site**
-``` bash
-mkdocs build
-```
-
-**3. Run the new site locally**
-``` bash
-mkdocs serve
-```
-
-References:
-* https://www.mkdocs.org/getting-started/
-* https://github.com/ntno/mkdocs-terminal
+These docs are autogenerated from [this folder](https://github.com/commaai/openpilot/tree/master/docs) in the main openpilot repository.

docs/WORKFLOW.md

@@ -9,7 +9,6 @@ Most development happens on normal Ubuntu workstations, and not in cars or direc
 ```bash
 # get the latest stuff
 git pull
-git lfs pull
 git submodule update --init --recursive
 
 # update dependencies
@@ -23,13 +22,13 @@ scons -j8 selfdrive/ui/
 cd selfdrive/ui/ && scons -u -j8
 
 # test everything
-pytest
+pytest .
 
 # test just logging services
 cd system/loggerd && pytest .
 
 # run the linter
-op lint
+pre-commit run --all
 ```
 
 ## Testing

docs/_static/logo.png

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42bc589954cad7f16cef694887dee2c819378f7dacfdddea2ff833ff65a109fd
+size 1122

docs/_static/robots.txt

@@ -0,0 +1,2 @@
+User-agent: *
+Sitemap: https://docs.comma.ai/sitemap.xml

docs/c_docs.rst

@@ -0,0 +1,89 @@
+openpilot
+==========
+
+
+opendbc
+------
+.. autodoxygenindex::
+   :project: opendbc_can
+
+
+cereal
+------
+
+messaging
+^^^^^^^^^
+.. autodoxygenindex::
+   :project: msgq_repo_msgq
+
+visionipc
+^^^^^^^^^
+.. autodoxygenindex::
+   :project: msgq_repo_msgq_visionipc
+
+
+selfdrive
+---------
+
+camerad
+^^^^^^^
+.. autodoxygenindex::
+   :project: system_camerad_cameras
+
+locationd
+^^^^^^^^^
+.. autodoxygenindex::
+   :project: selfdrive_locationd
+
+ui
+^^
+
+.. autodoxygenindex::
+   :project: selfdrive_ui
+
+replay
+""""""
+.. autodoxygenindex::
+   :project: tools_replay
+
+qt
+""
+.. autodoxygenindex::
+   :project: selfdrive_ui_qt_offroad
+.. autodoxygenindex::
+   :project: selfdrive_ui_qt_maps
+
+proclogd
+^^^^^^^^
+.. autodoxygenindex::
+   :project: system_proclogd
+
+modeld
+^^^^^^
+.. autodoxygenindex::
+   :project: selfdrive_modeld_transforms
+.. autodoxygenindex::
+   :project: selfdrive_modeld_models
+.. autodoxygenindex::
+   :project: selfdrive_modeld_runners
+
+common
+^^^^^^
+.. autodoxygenindex::
+   :project: common
+
+sensorsd
+^^^^^^^^
+.. autodoxygenindex::
+   :project: system_sensord_sensors
+
+pandad
+^^^^^^
+.. autodoxygenindex::
+   :project: selfdrive_pandad
+
+
+rednose
+-------
+.. autodoxygenindex::
+   :project: rednose_repo_rednose_helpers

docs/car-porting/brand-port.md

@@ -1,5 +0,0 @@
-# Developing a car brand port
-
-A brand port is a port of openpilot to a substantially new car brand or platform within a brand.
-
-Here's an example of one: https://github.com/commaai/openpilot/pull/23331.

docs/car-porting/model-port.md

@@ -1,5 +0,0 @@
-# Developing a car model port
-
-A model port is a port of openpilot to a new car model within an already supported brand. Model ports are easier than brand ports because the car's existing APIs are already known.
-
-Here's an example of one: https://github.com/commaai/openpilot/pull/30672/.

docs/car-porting/what-is-a-car-port.md

@@ -1,22 +0,0 @@
-# What is a car port?
-
-A car port enables openpilot support on a particular car. Each car model openpilot supports needs to be individually ported. All car ports live in `openpilot/selfdrive/car/`.
-
-The complexity of a car port varies depending on many factors including:
-* existing openpilot support for similar cars
-* architecture and APIs available in the car
-
-
-# Structure of a car port
-* `interface.py`: Interface for the car, defines the CarInterface class
-* `carstate.py`: Reads CAN from car and builds openpilot CarState message
-* `carcontroller.py`: Builds CAN messages to send to car
-* `values.py`: Limits for actuation, general constants for cars, and supported car documentation
-* `radar_interface.py`: Interface for parsing radar points from the car
-
-
-# Overiew
-
-[Jason Young](https://github.com/jyoung8607) gave a talk at COMMA_CON with an overview of the car porting process. The talk is available on YouTube:
-
-https://youtu.be/KcfzEHB6ms4?si=5szh1PX6TksOCKmM

docs/concepts/glossary.md

@@ -1,8 +0,0 @@
-# openpilot glossary
-
-* **route**:
-* **segment**: routes are split into one minute chunks called segments.
-* **panda**: this is . See the repo.
-* **onroad**:
-* **offroad**:
-* **comma 3X**:

docs/concepts/safety.md

@@ -1 +0,0 @@
-../SAFETY.md

docs/conf.py

@@ -0,0 +1,147 @@
+# type: ignore
+
+# Configuration file for the Sphinx documentation builder.
+#
+# This file only contains a selection of the most common options. For a full
+# list see the documentation:
+# https://www.sphinx-doc.org/en/master/usage/configuration.html
+
+# -- Path setup --------------------------------------------------------------
+
+# If extensions (or modules to document with autodoc) are in another directory,
+# add these directories to sys.path here. If the directory is relative to the
+# documentation root, use os.path.abspath to make it absolute, like shown here.
+#
+import os
+import sys
+from os.path import exists
+
+from openpilot.common.basedir import BASEDIR
+from openpilot.system.version import get_version
+
+sys.path.insert(0, os.path.abspath('.'))
+sys.path.insert(0, os.path.abspath('..'))
+
+VERSION = get_version()
+
+
+# -- Project information -----------------------------------------------------
+
+project = 'openpilot docs'
+copyright = '2021, comma.ai' # noqa: A001
+author = 'comma.ai'
+version = VERSION
+release = VERSION
+language = 'en'
+
+
+# -- General configuration ---------------------------------------------------
+
+# Add any Sphinx extension module names here, as strings. They can be
+# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
+# ones.
+extensions = [
+  'sphinx.ext.autodoc',   # Auto-generate docs
+  'sphinx.ext.viewcode',  # Add view code link to modules
+  'sphinx_rtd_theme',     # Read The Docs theme
+  'myst_parser',          # Markdown parsing
+  'breathe',              # Doxygen C/C++ integration
+  'sphinx_sitemap',       # sitemap generation for SEO
+]
+
+myst_html_meta = {
+  "description": "openpilot docs",
+  "keywords": "op, openpilot, docs, documentation",
+  "robots": "all,follow",
+  "googlebot": "index,follow,snippet,archive",
+  "property=og:locale": "en_US",
+  "property=og:site_name": "docs.comma.ai",
+  "property=og:url": "https://docs.comma.ai",
+  "property=og:title": "openpilot Documentation",
+  "property=og:type": "website",
+  "property=og:image:type": "image/jpeg",
+  "property=og:image:width": "400",
+  "property=og:image": "https://docs.comma.ai/_static/logo.png",
+  "property=og:image:url": "https://docs.comma.ai/_static/logo.png",
+  "property=og:image:secure_url": "https://docs.comma.ai/_static/logo.png",
+  "property=og:description": "openpilot Documentation",
+  "property=twitter:card": "summary_large_image",
+  "property=twitter:logo": "https://docs.comma.ai/_static/logo.png",
+  "property=twitter:title": "openpilot Documentation",
+  "property=twitter:description": "openpilot Documentation"
+}
+
+html_baseurl = 'https://docs.comma.ai/'
+sitemap_filename = "sitemap.xml"
+
+# Add any paths that contain templates here, relative to this directory.
+templates_path = ['_templates']
+
+# List of patterns, relative to source directory, that match files and
+# directories to ignore when looking for source files.
+# This pattern also affects html_static_path and html_extra_path.
+exclude_patterns = []
+
+
+# -- c docs configuration ---------------------------------------------------
+
+# Breathe Configuration
+# breathe_default_project = "c_docs"
+breathe_build_directory = f"{BASEDIR}/build/docs/html/xml"
+breathe_separate_member_pages = True
+breathe_default_members = ('members', 'private-members', 'undoc-members')
+breathe_domain_by_extension = {
+  "h": "cc",
+}
+breathe_implementation_filename_extensions = ['.c', '.cc']
+breathe_doxygen_config_options = {}
+breathe_projects_source = {}
+
+# only document files that have accompanying .cc files next to them
+print("searching for c_docs...")
+for root, _, files in os.walk(BASEDIR):
+  found = False
+  breath_src = {}
+  breathe_srcs_list = []
+
+  for file in files:
+    ccFile = os.path.join(root, file)[:-2] + ".cc"
+
+    if file.endswith(".h") and exists(ccFile):
+      f = os.path.join(root, file)
+
+      parent_dir_abs = os.path.dirname(f)
+      parent_dir = parent_dir_abs[len(BASEDIR) + 1:]
+      parent_project = parent_dir.replace('/', '_')
+      print(f"\tFOUND: {f} in {parent_project}")
+
+      breathe_srcs_list.append(file)
+      found = True
+
+    if found:
+      breath_src[parent_project] = (parent_dir_abs, breathe_srcs_list)
+      breathe_projects_source.update(breath_src)
+
+print(f"breathe_projects_source: {breathe_projects_source.keys()}")
+
+# -- Options for HTML output -------------------------------------------------
+
+# The theme to use for HTML and HTML Help pages.  See the documentation for
+# a list of builtin themes.
+#
+html_theme = 'sphinx_rtd_theme'
+html_show_copyright = True
+
+# Add any paths that contain custom static files (such as style sheets) here,
+# relative to this directory. They are copied after the builtin static files,
+# so a file named "default.css" will overwrite the builtin "default.css".
+html_static_path = ['_static']
+html_logo = '_static/logo.png'
+html_favicon = '_static/favicon.ico'
+html_theme_options = {
+  'logo_only': False,
+  'display_version': True,
+  'vcs_pageview_mode': 'blob',
+  'style_nav_header_background': '#000000',
+}
+html_extra_path = ['_static']

docs/contributing/architecture.md

@@ -1 +0,0 @@
-# Architecture

docs/contributing/roadmap.md

@@ -1,30 +0,0 @@
-# Roadmap
-
-This is the roadmap for the next major openpilot releases. Also check out
-
-* [Milestones](https://github.com/commaai/openpilot/milestones) for minor releases
-* [Projects](https://github.com/commaai/openpilot/projects?query=is%3Aopen) for shorter-term projects not tied to releases
-* [Bounties](https://comma.ai/bounties) for paid individual issues
-
-## openpilot 0.10
-
-openpilot 0.10 will be the first release with a driving policy trained in
-a [learned simulator](https://youtu.be/EqQNZXqzFSI).
-
-* Driving model trained in a learned simlator
-* Always-on driver monitoring (behind a toggle)
-* GPS removed from the driving stack
-* 100KB qlogs
-* `master-ci` pushed after 1000 hours of hardware-in-the-loop testing
-* Car interface code moved into [opendbc](https://github.com/commaai/opendbc)
-* openpilot on PC for Linux x86, Linux arm64, and Mac (Apple Silicon)
-
-## openpilot 1.0
-
-openpilot 1.0 will feature a fully end-to-end driving policy.
-
-* End-to-end longitudinal control in Chill mode
-* Automatic Emergency Braking (AEB)
-* Driver monitoring with sleep detection
-* Rolling updates/releases pushed out by CI
-* [panda safety 1.0](https://github.com/orgs/commaai/projects/27)

docs/getting-started/what-is-openpilot.md

@@ -1,12 +0,0 @@
-# What is openpilot?
-
-[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW), and Lane Departure Warning (LDW) for a growing variety of [supported car makes, models, and model years](https://github.com/commaai/openpilot/blob/master/docs/CARS.md). In addition, while openpilot is engaged, a camera-based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration](https://github.com/commaai/openpilot/blob/master/docs/INTEGRATION.md) and [limitations](https://github.com/commaai/openpilot/blob/master/docs/LIMITATIONS.md).
-
-
-## How do I use it?
-
-openpilot is designed to be used on the comma 3X.
-
-## How does it work?
-
-In short, openpilot uses the car's existing APIs for the built-in [ADAS](https://en.wikipedia.org/wiki/Advanced_driver-assistance_system) system and simply provides better acceleration, braking, and steering inputs than the stock system.

docs/how-to/replay-a-drive.md

@@ -1,14 +0,0 @@
-# Replay
-
-Replaying is a critical tool for openpilot development and debugging.
-
-## Replaying a route
-*Hardware required: none*
-
-Just run `tools/replay/replay --demo`.
-
-## Replaying CAN data
-*Hardware required: jungle and comma 3/3X*
-
-1. Connect your PC to a jungle.
-2.

docs/how-to/turn-the-speed-blue.md

@@ -1,98 +0,0 @@
-# Turn the speed blue
-*A getting started guide for openpilot development*
-
-In 30 minutes, we'll get an openpilot development environment setup on your computer and make some changes to openpilot's UI.
-
-And if you have a comma 3/3X, we'll deploy the change to your device for testing.
-
-## 1. Setup your development environment
-
-Run this to clone openpilot and install all the dependencies:
-```bash
-curl -fsSL openpilot.comma.ai | bash
-```
-
-Navigate to openpilot folder & activate a Python virtual environment
-```bash
-cd openpilot
-source .venv/bin/activate
-```
-
-Then, compile openpilot:
-```bash
-scons -j8
-```
-
-## 2. Run replay
-
-We'll run the `replay` tool with the demo route to get data streaming for testing our UI changes.
-```bash
-# in terminal 1
-tools/replay/replay --demo
-
-# in terminal 2
-selfdrive/ui/ui
-```
-
-The openpilot UI should launch and show a replay of the demo route.
-
-If you have your own comma device, you can replace `--demo` with one of your own routes from comma connect.
-
-## 3. Make the speed blue
-
-Search for “mph” with git grep in the `ui` folder.
-```bash
-$ git grep "mph" selfdrive/ui/
-paint.cc:  ui_draw_text(s, s->fb_w/2, 290, s->scene.is_metric ? "km/h" : "mph", 36 * 2.5, COLOR_WHITE_ALPHA(200), "sans-regular");
-```
-
-The line right above contains the actual speed. Unfortunately, COLOR_BLUE isn’t defined, but a git grep of COLOR_WHITE shows it’s nvgRGBA(255, 255, 255, 255). Personally, I like a lighter blue, so I went with #8080FF.
-```bash
-$ git diff
-diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
-index 821d95115..cc996eaa1 100644
---- a/selfdrive/ui/paint.cc
-+++ b/selfdrive/ui/paint.cc
-@@ -175,8 +175,8 @@ static void ui_draw_vision_speed(UIState *s) {
-   const float speed = std::max(0.0, (*s->sm)["carState"].getCarState().getVEgo() * (s->scene.is_metric ? 3.6 : 2.2369363));
-   const std::string speed_str = std::to_string((int)std::nearbyint(speed));
-   nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
--  ui_draw_text(s, s->fb_w/2, 210, speed_str.c_str(), 96 * 2.5, COLOR_WHITE, "sans-bold");
--  ui_draw_text(s, s->fb_w/2, 290, s->scene.is_metric ? "km/h" : "mph", 36 * 2.5, COLOR_WHITE_ALPHA(200), "sans-regular");
-+  ui_draw_text(s, s->fb_w/2, 210, speed_str.c_str(), 96 * 2.5, nvgRGBA(128, 128, 255, 255), "sans-bold");
-+  ui_draw_text(s, s->fb_w/2, 290, s->scene.is_metric ? "km/h" : "mph", 36 * 2.5, nvgRGBA(128, 128, 255, 200), "sans-regular");
- }
-
- static void ui_draw_vision_event(UIState *s) {
-```
-
-
-## 4. Rebuild UI, and admire your work
-
-```
-scons -j8 && selfdrive/ui/ui
-```
-
-![](https://blog.comma.ai/img/blue_speed_ui.png)
-
-## 5. Push your fork to GitHub
-
-Click fork on GitHub. Then, push with:
-```bash
-git remote rm origin
-git remote add origin git@github.com:<your-github-username>/openpilot.git
-git add .
-git commit -m "Make the speed blue."
-git push --set-upstream origin master
-```
-
-## 6. Run your fork on device in your car!
-
-Uninstall openpilot from your device through the settings. Then, enter the URL for your very own installer:
-```
-installer.comma.ai/<your-github-username>/master
-```
-
-## 7. Admire your work IRL
-
-![](https://blog.comma.ai/img/c3_blue_ui.jpg)

docs/index.md

@@ -1 +0,0 @@
-getting-started/what-is-openpilot.md

docs/index.md

@@ -0,0 +1,42 @@
+# openpilot Documentation
+
+```{include} README.md
+```
+
+```{toctree}
+:caption: 'General'
+:maxdepth: 4
+
+CARS.md
+CONTRIBUTING.md
+INTEGRATION.md
+LIMITATIONS.md
+SAFETY.md
+```
+
+```{toctree}
+:caption: 'Overview'
+:maxdepth: 2
+
+overview.rst
+```
+
+## API Documentation
+
+- {ref}`genindex`
+- {ref}`modindex`
+- {ref}`search`
+
+```{toctree}
+:caption: 'Python API'
+:maxdepth: 2
+
+modules.rst
+```
+
+```{toctree}
+:caption: 'C/C++ API'
+:maxdepth: 4
+
+c_docs.rst
+```

docs/overview.rst

@@ -0,0 +1,72 @@
+openpilot
+=========
+
+.. toctree::
+   :maxdepth: 4
+
+   Debugging <selfdrive/debug/README.md>
+   system/loggerd/README.md
+   Driver Monitoring <selfdrive/monitoring/README.md>
+   Process Replay <selfdrive/test/process_replay/README.md>
+
+cereal
+=========
+
+.. toctree::
+   :maxdepth: 4
+
+   cereal/README.md
+   cereal/messaging/msgq.md
+
+models
+=========
+
+.. toctree::
+   :maxdepth: 4
+
+   models/README.md
+
+opendbc
+=========
+
+.. toctree::
+   :maxdepth: 4
+
+   opendbc/README.md
+
+panda
+=========
+
+.. toctree::
+   :maxdepth: 4
+
+   panda/README.md
+   panda/UPDATING.md
+   panda/board/README.md
+   panda/drivers/linux/README.md
+   panda/drivers/windows/README.md
+
+
+rednose
+=========
+.. toctree::
+   :maxdepth: 4
+
+   rednose_repo/README.md
+
+
+tools
+=========
+.. toctree::
+   :maxdepth: 4
+
+   tools/CTF.md
+   tools/joystick/README.md
+   tools/lib/README.md
+   tools/plotjuggler/README.md
+   tools/replay/README.md
+   tools/serial/README.md
+   Simulator <tools/sim/README.md>
+   tools/ssh/README.md
+   Webcam <tools/webcam/README.md>
+   tools/cabana/README.md

docs/sunnyhaibin0850_qrcode_paypal.me.png

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:4911804239b48a471bc2c0efcafeff6cefb3f3e9b6188b678c3d757780903443
-size 13021

launch_chffrplus.sh

@@ -86,8 +86,7 @@ function launch {
   if [ ! -f $DIR/prebuilt ]; then
     ./build.py
   fi
-
-  ./mapd_installer.py; ./manager.py
+  ./manager.py
 
   # if broken, keep on screen error
   while true; do sleep 1; done

mkdocs.yml

@@ -1,38 +0,0 @@
-site_name: openpilot docs
-repo_url: https://github.com/commaai/openpilot/
-site_url: https://docs.comma.ai
-
-exclude_docs: README.md
-
-strict: true
-docs_dir: docs
-site_dir: docs_site/
-
-theme:
-  name: readthedocs
-  navigation_depth: 3
-
-nav:
-  - Getting Started:
-    - What is openpilot?: getting-started/what-is-openpilot.md
-  - How-to:
-    - Turn the speed blue: how-to/turn-the-speed-blue.md
-    - Connect to a comma 3/3X: how-to/connect-to-comma.md
-    #- Replay a drive: how-to/replay-a-drive.md
-  - Concepts:
-    - Logs: concepts/logs.md
-    - Safety: concepts/safety.md
-  - Car Porting:
-    - What is a car port?: car-porting/what-is-a-car-port.md
-    - Porting a car brand: car-porting/brand-port.md
-    - Porting a car model: car-porting/model-port.md
-  - Contributing:
-    - Roadmap: contributing/roadmap.md
-    #- Architecture: contributing/architecture.md
-    - Contributing Guide →: https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md
-  - Links:
-    - Blog →: https://blog.comma.ai
-    - Bounties →: https://comma.ai/bounties
-    - GitHub →: https://github.com/commaai
-    - Discord →: https://discord.comma.ai
-    - X →: https://x.com/comma_ai

opendbc

@@ -1 +0,0 @@
-opendbc_repo/opendbc

pyproject.toml

@@ -1,137 +1,15 @@
 [project]
 name = "openpilot"
 requires-python = ">= 3.11"
+readme = "README.md"
 license = {text = "MIT License"}
-version = "0.1.0"
-description = "an open source driver assistance system"
-authors = [
-  {name ="Vehicle Researcher", email="user@comma.ai"}
-]
-
-dependencies = [
-  # multiple users
-  "sounddevice",  # micd + soundd
-  "pyserial",     # pigeond + qcomgpsd
-  "requests",     # many one-off uses
-  "sympy",        # rednose + friends
-  "crcmod",       # cars + qcomgpsd
-  "tqdm",         # cars (fw_versions.py) on start + many one-off uses
-
-  # hardwared
-  "smbus2", # configuring amp
-
-  # core
-  "cffi",
-  "scons",
-  "pycapnp",
-  "Cython",
-  "setuptools",
-  "numpy",
-
-  # body / webrtcd
-  "aiohttp",
-  "aiortc",
-  "pyaudio",
-
-  # panda
-  "libusb1",
-  "spidev; platform_system == 'Linux'",
-
-  # modeld
-  "onnx >= 1.14.0",
-  "onnxruntime >=1.16.3; platform_system == 'Linux' and platform_machine == 'aarch64'",
-  "onnxruntime-gpu >=1.16.3; platform_system == 'Linux' and platform_machine == 'x86_64'",
-
-  # logging
-  "pyzmq",
-  "sentry-sdk",
-
-  # athena
-  "PyJWT",
-  "json-rpc",
-  "websocket_client",
-
-  # acados deps
-  "casadi @ https://github.com/commaai/casadi/releases/download/nightly-release-3.6.6/casadi-3.6.6-cp312-none-manylinux2014_aarch64.whl ; (python_version == '3.12' and platform_machine == 'aarch64')", # TODO: Go back to pypi casadi when they fix aarch64 for python312
-  "casadi; platform_machine != 'aarch64' or python_version != '3.12'",
-  "future-fstrings",
-
-  # these should be removed
-  "psutil",
-  "pycryptodome", # used in updated/casync, panda, body, and a test
-
-  # logreader
-  "zstandard",
-]
-
-[project.optional-dependencies]
-docs = [
-  "Jinja2",
-  "natsort",
-  "mkdocs",
-]
-
-testing = [
-  "coverage",
-  "hypothesis ==6.47.*",
-  "import-linter",
-  "mypy",
-  "pytest",
-  "pytest-cov",
-  "pytest-cpp",
-  "pytest-subtests",
-  "pytest-xdist",
-  "pytest-timeout",
-  "pytest-randomly",
-  "pytest-asyncio",
-  "pytest-mock",
-  "pytest-repeat",
-  "ruff",
-  "codespell",
-]
-
-dev = [
-  "av",
-  "azure-identity",
-  "azure-storage-blob",
-  "dictdiffer",
-  "flaky",
-  "inputs",
-  "lru-dict",
-  "matplotlib",
-  "metadrive-simulator@git+https://github.com/commaai/metadrive@opencv_headless ; platform_machine != 'aarch64'",
-  "parameterized >=0.8, <0.9",
-  #"pprofile",
-  "pyautogui",
-  "pyopencl; platform_machine != 'aarch64'", # broken on arm64
-  "pytools < 2024.1.11; platform_machine != 'aarch64'", # pyopencl use a broken version
-  "pywinctl",
-  "pyprof2calltree",
-  "rerun-sdk",
-  "tabulate",
-  "types-requests",
-  "types-tabulate",
-
-  # this is only pinned since 5.15.11 is broken
-  "pyqt5 ==5.15.2; platform_machine == 'x86_64'", # no aarch64 wheels for macOS/linux
-]
 
 [project.urls]
 Homepage = "https://comma.ai"
 
-[build-system]
-requires = ["hatchling"]
-build-backend = "hatchling.build"
-
-[tool.hatch.build.targets.wheel]
-packages = [ "." ]
-
-[tool.hatch.metadata]
-allow-direct-references = true
-
 [tool.pytest.ini_options]
 minversion = "6.0"
-addopts = "--ignore=openpilot/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ --ignore=msgq/  -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup"
+addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup"
 cpp_files = "test_*"
 cpp_harness = "selfdrive/test/cpp_harness.py"
 python_files = "test_*.py"
@@ -147,6 +25,7 @@ testpaths = [
   "selfdrive/controls",
   "selfdrive/locationd",
   "selfdrive/monitoring",
+  "selfdrive/navd/tests",
   "selfdrive/test/longitudinal_maneuvers",
   "selfdrive/test/process_replay/test_fuzzy.py",
   "system/updated",
@@ -164,13 +43,6 @@ testpaths = [
   "cereal/messaging/tests",
 ]
 
-[tool.codespell]
-count = true
-quiet-level = 3
-# if you've got a short variable name that's getting flagged, add it here
-ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn"
-builtin = "clear,rare,informal,usage,code,names,en-GB_to_en-US"
-
 [tool.mypy]
 python_version = "3.11"
 plugins = [
@@ -204,6 +76,132 @@ warn_return_any=true
 # allow implicit optionals for default args
 implicit_optional = true
 
+
+[tool.poetry]
+name = "openpilot"
+version = "0.1.0"
+description = "an open source driver assistance system"
+authors = ["Vehicle Researcher <user@comma.ai>"]
+license = "MIT"
+readme = "README.md"
+repository = "https://github.com/commaai/openpilot"
+documentation = "https://docs.comma.ai"
+
+[tool.poetry.dependencies]
+python = ">=3.11, <3.13"
+
+# multiple users
+sounddevice = "*"  # micd + soundd
+pyserial = "*"     # pigeond + qcomgpsd
+requests = "*"     # many one-off uses
+sympy = "*"        # rednose + friends
+crcmod = "*"       # cars + qcomgpsd
+
+# hardwared
+smbus2 = "*"  # configuring amp
+
+# core
+cffi = "*"
+scons = "*"
+pycapnp = "*"
+Cython = "*"
+numpy = "*"
+
+# body / webrtcd
+aiohttp = "*"
+aiortc = "*"
+pyaudio = "*"
+
+# panda
+libusb1 = "*"
+spidev = { version = "*", platform = "linux" }
+
+# modeld
+onnx = ">=1.14.0"
+onnxruntime = { version = ">=1.16.3", platform = "linux", markers = "platform_machine == 'aarch64'" }
+onnxruntime-gpu = { version = ">=1.16.3", platform = "linux", markers = "platform_machine == 'x86_64'" }
+
+# logging
+pyzmq = "*"
+sentry-sdk = "*"
+
+# athena
+PyJWT = "*"
+json-rpc = "*"
+websocket_client = "*"
+
+# acados deps
+casadi = "*"
+future-fstrings = "*"
+
+# these should be removed
+psutil = "*"
+timezonefinder = "*"  # just used for nav ETA
+pycryptodome = "*"  # used in updated/casync, panda, body, and a test
+
+#logreader
+zstd = "*"
+
+[tool.poetry.group.docs.dependencies]
+Jinja2 = "*"
+sphinx = "*"
+sphinx-rtd-theme = "*"
+sphinx-sitemap = "*"
+
+[tool.poetry.group.testing.dependencies]
+coverage = "*"
+hypothesis = "~6.47"
+mypy = "*"
+pre-commit = "*"
+pytest = "*"
+pytest-cov = "*"
+pytest-cpp = "*"
+pytest-subtests = "*"
+pytest-xdist = "*"
+pytest-timeout = "*"
+pytest-randomly = "*"
+pytest-asyncio = "*"
+pytest-mock = "*"
+pytest-repeat = "*"
+ruff = "*"
+
+[tool.poetry.group.dev.dependencies]
+av = "*"
+azure-identity = "*"
+azure-storage-blob = "*"
+breathe = "*"
+control = "*"
+dictdiffer = "*"
+flaky = "*"
+inputs = "*"
+lru-dict = "*"
+matplotlib = "*"
+metadrive-simulator = { git = "https://github.com/commaai/metadrive.git", branch = "python3.12", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies
+mpld3 = "*"
+myst-parser = "*"
+natsort = "*"
+opencv-python-headless = "*"
+parameterized = "^0.8"
+#pprofile = "*"
+polyline = "*"
+pyautogui = "*"
+pygame = "*"
+pyopencl = { version = "*", markers = "platform_machine != 'aarch64'" }  # broken on arm64
+pywinctl = "*"
+pyprof2calltree = "*"
+rerun-sdk = "*"
+tabulate = "*"
+types-requests = "*"
+types-tabulate = "*"
+tqdm = "*"
+
+# this is only pinned since 5.15.11 is broken
+pyqt5 = { version = "==5.15.2", markers = "platform_machine == 'x86_64'" } # no aarch64 wheels for macOS/linux
+
+[build-system]
+requires = ["poetry-core"]
+build-backend = "poetry.core.masonry.api"
+
 # https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml
 [tool.ruff]
 indent-width = 2
@@ -213,8 +211,7 @@ lint.select = [
   "UP",  # pyupgrade
   "TRY302", "TRY400", "TRY401", # try/excepts
   "RUF008", "RUF100",
-  "TID251",
-  "PLR1704",
+  "TID251"
 ]
 lint.ignore = [
   "E741",
@@ -227,7 +224,7 @@ lint.ignore = [
   "UP038",   # (x, y) -> x|y for isinstance
 ]
 line-length = 160
-target-version ="py311"
+target-version="py311"
 exclude = [
   "body",
   "cereal",
@@ -239,8 +236,7 @@ exclude = [
   "teleoprtc_repo",
   "third_party",
 ]
-lint.flake8-implicit-str-concat.allow-multiline = false
-
+lint.flake8-implicit-str-concat.allow-multiline=false
 [tool.ruff.lint.flake8-tidy-imports.banned-api]
 "selfdrive".msg = "Use openpilot.selfdrive"
 "common".msg = "Use openpilot.common"
@@ -252,6 +248,5 @@ lint.flake8-implicit-str-concat.allow-multiline = false
 
 [tool.coverage.run]
 concurrency = ["multiprocessing", "thread"]
-
 [tool.ruff.format]
 quote-style = "preserve"

release/build_dev.sh

@@ -1,128 +0,0 @@
-#!/usr/bin/bash -e
-
-# git diff --name-status origin/release3-staging | grep "^A" | less
-
-DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
-
-cd $DIR
-
-BUILD_DIR=/data/openpilot
-SOURCE_DIR="$(git rev-parse --show-toplevel)"
-
-FILES_SRC="release/files_tici"
-DEV_BRANCH="dev-c3"
-
-
-# set git identity
-source $DIR/identity.sh
-export GIT_SSH_COMMAND="ssh -i /data/gitkey"
-
-echo "[-] Setting up repo T=$SECONDS"
-rm -rf $BUILD_DIR
-mkdir -p $BUILD_DIR
-cd $BUILD_DIR
-git init
-# set git username/password
-source /data/identity.sh
-git remote add origin https://github.com/sunnyhaibin/sunnypilot.git
-git fetch origin $DEV_BRANCH
-
-# do the files copy
-echo "[-] copying files T=$SECONDS"
-cd $SOURCE_DIR
-cp -pR --parents $(cat release/files_common) $BUILD_DIR/
-cp -pR --parents $(cat $FILES_SRC) $BUILD_DIR/
-
-# in the directory
-cd $BUILD_DIR
-
-rm -f panda/board/obj/panda.bin.signed
-rm -f panda/board/obj/panda_h7.bin.signed
-rm -f panda/board/obj/bootstub.panda.bin
-rm -f panda/board/obj/bootstub.panda_h7.bin
-
-VERSION=$(date '+%Y.%m.%d')
-echo "#define COMMA_VERSION \"$VERSION-dev\"" > common/version.h
-
-echo "[-] committing version $VERSION T=$SECONDS"
-git add -f .
-git commit -a -m "sunnypilot v$VERSION release"
-git branch --set-upstream-to=origin/$DEV_BRANCH
-
-# Build panda firmware
-pushd panda/
-scons -u .
-mv board/obj/panda.bin.signed /tmp/panda.bin.signed
-mv board/obj/panda_h7.bin.signed /tmp/panda_h7.bin.signed
-mv board/obj/bootstub.panda.bin /tmp/bootstub.panda.bin
-mv board/obj/bootstub.panda_h7.bin /tmp/bootstub.panda_h7.bin
-popd
-
-# Build
-export PYTHONPATH="$BUILD_DIR"
-scons -j$(nproc)
-
-# Ensure no submodules in release
-if test "$(git submodule--helper list | wc -l)" -gt "0"; then
-  echo "submodules found:"
-  git submodule--helper list
-  exit 1
-fi
-git submodule status
-
-# Cleanup
-find . -name '*.a' -delete
-find . -name '*.o' -delete
-find . -name '*.os' -delete
-find . -name '*.pyc' -delete
-find . -name 'moc_*' -delete
-find . -name '*.cc' -delete
-find . -name '__pycache__' -delete
-find selfdrive/ui/ -name '*.h' -delete
-rm -rf panda/board panda/certs panda/crypto
-rm -rf .sconsign.dblite Jenkinsfile release/
-rm selfdrive/modeld/models/supercombo.onnx
-rm -rf selfdrive/ui/replay/
-# Move back signed panda fw
-mkdir -p panda/board/obj
-mv /tmp/panda.bin.signed panda/board/obj/panda.bin.signed
-mv /tmp/panda_h7.bin.signed panda/board/obj/panda_h7.bin.signed
-mv /tmp/bootstub.panda.bin panda/board/obj/bootstub.panda.bin
-mv /tmp/bootstub.panda_h7.bin panda/board/obj/bootstub.panda_h7.bin
-
-# Restore third_party
-git checkout third_party/
-
-# Mark as prebuilt release
-touch prebuilt
-
-# include source commit hash and build date in commit
-GIT_HASH=$(git --git-dir=$SOURCE_DIR/.git rev-parse HEAD)
-DATETIME=$(date '+%Y-%m-%dT%H:%M:%S')
-SP_VERSION=$(cat $SOURCE_DIR/common/version.h | awk -F\" '{print $2}')
-
-# Add built files to git
-git add -f .
-git commit --amend -m "sunnypilot v$VERSION
-version: sunnypilot v$SP_VERSION release
-date: $DATETIME
-master commit: $GIT_HASH
-"
-git branch -m dev-c3
-
-# Run tests
-#TEST_FILES="tools/"
-#cd $SOURCE_DIR
-#cp -pR -n --parents $TEST_FILES $BUILD_DIR/
-#cd $BUILD_DIR
-#RELEASE=1 selfdrive/test/test_onroad.py
-#selfdrive/manager/test/test_manager.py
-#selfdrive/car/tests/test_car_interfaces.py
-#rm -rf $TEST_FILES
-
-if [ ! -z "$PUSH" ]; then
-  echo "[-] pushing T=$SECONDS"
-  git push -f origin $DEV_BRANCH
-fi
-
-echo "[-] done T=$SECONDS"

release/build_release.sh

@@ -19,17 +19,14 @@ fi
 
 # set git identity
 source $DIR/identity.sh
-export GIT_SSH_COMMAND="ssh -i /data/gitkey"
 
 echo "[-] Setting up repo T=$SECONDS"
 rm -rf $BUILD_DIR
 mkdir -p $BUILD_DIR
 cd $BUILD_DIR
 git init
-# set git username/password
-source /data/identity.sh
-git remote add origin https://github.com/sunnyhaibin/sunnypilot.git
-git fetch origin $RELEASE_BRANCH
+git remote add origin git@github.com:commaai/openpilot.git
+git checkout --orphan $RELEASE_BRANCH
 
 # do the files copy
 echo "[-] copying files T=$SECONDS"
@@ -41,23 +38,20 @@ cd $BUILD_DIR
 
 rm -f panda/board/obj/panda.bin.signed
 rm -f panda/board/obj/panda_h7.bin.signed
-rm -f panda/board/obj/bootstub.panda.bin
-rm -f panda/board/obj/bootstub.panda_h7.bin
 
 VERSION=$(cat common/version.h | awk -F[\"-]  '{print $2}')
 echo "#define COMMA_VERSION \"$VERSION-release\"" > common/version.h
 
 echo "[-] committing version $VERSION T=$SECONDS"
 git add -f .
-git commit -a -m "sunnypilot v$VERSION release"
-git branch --set-upstream-to=origin/$RELEASE_BRANCH
+git commit -a -m "openpilot v$VERSION release"
 
 # Build
 export PYTHONPATH="$BUILD_DIR"
 scons -j$(nproc) --minimal
 
 # release panda fw
-scons -j$(nproc) panda/
+CERT=/data/pandaextra/certs/release RELEASE=1 scons -j$(nproc) panda/
 
 # Ensure no submodules in release
 if test "$(git submodule--helper list | wc -l)" -gt "0"; then
@@ -73,12 +67,9 @@ find . -name '*.o' -delete
 find . -name '*.os' -delete
 find . -name '*.pyc' -delete
 find . -name 'moc_*' -delete
-find . -name '*.cc' -delete
 find . -name '__pycache__' -delete
-find selfdrive/ui/ -name '*.h' -delete
 rm -rf .sconsign.dblite Jenkinsfile release/
 rm selfdrive/modeld/models/supercombo.onnx
-rm -rf selfdrive/ui/replay/
 
 find third_party/ -name '*x86*' -exec rm -r {} +
 find third_party/ -name '*Darwin*' -exec rm -r {} +
@@ -90,25 +81,19 @@ git checkout third_party/
 # Mark as prebuilt release
 touch prebuilt
 
-# include source commit hash and build date in commit
-GIT_HASH=$(git --git-dir=$SOURCE_DIR/.git rev-parse HEAD)
-DATETIME=$(date '+%Y-%m-%dT%H:%M:%S')
-SP_VERSION=$(cat $SOURCE_DIR/common/version.h | awk -F\" '{print $2}')
-
 # Add built files to git
 git add -f .
-git commit --amend -m "sunnypilot v$VERSION"
-git branch -m release-c3
+git commit --amend -m "openpilot v$VERSION"
 
 # Run tests
-#TEST_FILES="tools/"
-#cd $SOURCE_DIR
-#cp -pR -n --parents $TEST_FILES $BUILD_DIR/
-#cd $BUILD_DIR
-#RELEASE=1 pytest -n0 -s selfdrive/test/test_onroad.py
+TEST_FILES="tools/"
+cd $SOURCE_DIR
+cp -pR -n --parents $TEST_FILES $BUILD_DIR/
+cd $BUILD_DIR
+RELEASE=1 pytest -n0 -s selfdrive/test/test_onroad.py
 #system/manager/test/test_manager.py
-#pytest selfdrive/car/tests/test_car_interfaces.py
-#rm -rf $TEST_FILES
+pytest selfdrive/car/tests/test_car_interfaces.py
+rm -rf $TEST_FILES
 
 if [ ! -z "$RELEASE_BRANCH" ]; then
   echo "[-] pushing release T=$SECONDS"

release/build_staging.sh

@@ -1,125 +0,0 @@
-#!/usr/bin/bash -e
-
-# git diff --name-status origin/release3-staging | grep "^A" | less
-
-DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
-
-cd $DIR
-
-BUILD_DIR=/data/openpilot
-SOURCE_DIR="$(git rev-parse --show-toplevel)"
-
-FILES_SRC="release/files_tici"
-STAGING_BRANCH="staging-c3"
-
-
-# set git identity
-source $DIR/identity.sh
-export GIT_SSH_COMMAND="ssh -i /data/gitkey"
-
-echo "[-] Setting up repo T=$SECONDS"
-rm -rf $BUILD_DIR
-mkdir -p $BUILD_DIR
-cd $BUILD_DIR
-git init
-# set git username/password
-source /data/identity.sh
-git remote add origin https://github.com/sunnyhaibin/sunnypilot.git
-git fetch origin $STAGING_BRANCH
-
-# do the files copy
-echo "[-] copying files T=$SECONDS"
-cd $SOURCE_DIR
-cp -pR --parents $(cat release/files_common) $BUILD_DIR/
-cp -pR --parents $(cat $FILES_SRC) $BUILD_DIR/
-
-# in the directory
-cd $BUILD_DIR
-
-rm -f panda/board/obj/panda.bin.signed
-rm -f panda/board/obj/panda_h7.bin.signed
-rm -f panda/board/obj/bootstub.panda.bin
-rm -f panda/board/obj/bootstub.panda_h7.bin
-
-VERSION=$(cat common/version.h | awk -F[\"-]  '{print $2}')
-echo "#define COMMA_VERSION \"$VERSION-staging\"" > common/version.h
-
-echo "[-] committing version $VERSION T=$SECONDS"
-git add -f .
-git commit -a -m "sunnypilot v$VERSION release"
-git branch --set-upstream-to=origin/$STAGING_BRANCH
-
-# Build panda firmware
-pushd panda/
-scons -u .
-mv board/obj/panda.bin.signed /tmp/panda.bin.signed
-mv board/obj/panda_h7.bin.signed /tmp/panda_h7.bin.signed
-mv board/obj/bootstub.panda.bin /tmp/bootstub.panda.bin
-mv board/obj/bootstub.panda_h7.bin /tmp/bootstub.panda_h7.bin
-popd
-
-# Build
-export PYTHONPATH="$BUILD_DIR"
-scons -j$(nproc)
-
-# Ensure no submodules in release
-if test "$(git submodule--helper list | wc -l)" -gt "0"; then
-  echo "submodules found:"
-  git submodule--helper list
-  exit 1
-fi
-git submodule status
-
-# Cleanup
-find . -name '*.a' -delete
-find . -name '*.o' -delete
-find . -name '*.os' -delete
-find . -name '*.pyc' -delete
-find . -name 'moc_*' -delete
-find . -name '*.cc' -delete
-find . -name '__pycache__' -delete
-find selfdrive/ui/ -name '*.h' -delete
-rm -rf panda/board panda/certs panda/crypto
-rm -rf .sconsign.dblite Jenkinsfile release/
-rm selfdrive/modeld/models/supercombo.onnx
-#rm models/supercombo_badweights.thneed
-rm -rf selfdrive/ui/replay/
-# Move back signed panda fw
-mkdir -p panda/board/obj
-mv /tmp/panda.bin.signed panda/board/obj/panda.bin.signed
-mv /tmp/panda_h7.bin.signed panda/board/obj/panda_h7.bin.signed
-mv /tmp/bootstub.panda.bin panda/board/obj/bootstub.panda.bin
-mv /tmp/bootstub.panda_h7.bin panda/board/obj/bootstub.panda_h7.bin
-
-# Restore third_party
-git checkout third_party/
-
-# Mark as prebuilt release
-touch prebuilt
-
-# include source commit hash and build date in commit
-GIT_HASH=$(git --git-dir=$SOURCE_DIR/.git rev-parse HEAD)
-DATETIME=$(date '+%Y-%m-%dT%H:%M:%S')
-SP_VERSION=$(cat $SOURCE_DIR/common/version.h | awk -F\" '{print $2}')
-
-# Add built files to git
-git add -f .
-git commit --amend -m "sunnypilot v$VERSION"
-git branch -m staging-c3
-
-# Run tests
-#TEST_FILES="tools/"
-#cd $SOURCE_DIR
-#cp -pR -n --parents $TEST_FILES $BUILD_DIR/
-#cd $BUILD_DIR
-#RELEASE=1 selfdrive/test/test_onroad.py
-#selfdrive/manager/test/test_manager.py
-#selfdrive/car/tests/test_car_interfaces.py
-#rm -rf $TEST_FILES
-
-if [ ! -z "$PUSH" ]; then
-  echo "[-] pushing T=$SECONDS"
-  git push -f origin $STAGING_BRANCH
-fi
-
-echo "[-] done T=$SECONDS"

release/check-submodules.sh

@@ -1,7 +1,7 @@
 #!/bin/bash
 
 while read hash submodule ref; do
-  git -C $submodule fetch --depth 3000 origin master
+  git -C $submodule fetch --depth 2000 origin master
   git -C $submodule branch -r --contains $hash | grep "origin/master"
   if [ "$?" -eq 0 ]; then
     echo "$submodule ok"

release/ci/build.sh

@@ -1,45 +0,0 @@
-# UNUSED YET BUT I WANT TO KEEP IT BECAUSE I INTEND TO USE IT SOON
-
-#!/usr/bin/env bash
-
-# set -e
-
-# DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
-# cd $DIR
-
-# # Take parameters as arguments
-# SOURCE_DIR=$1
-# OUTPUT_DIR=$2
-
-# # Check parameters
-# if [ -z "$SOURCE_DIR" ] || [ -z "$OUTPUT_DIR" ]; then
-#     echo "Error: No source or output directory provided."
-#     exit 1
-# fi
-
-# if [ -z "$TARGETPLATFORM" ]; then
-#     # Detect the platform (e.g., x86_64, aarch64, etc.)
-#     platform=$(uname -m)
-
-#     # Map to Docker's platform syntax
-#     if [ "$platform" = "x86_64" ]; then
-#         TARGETPLATFORM="linux/amd64"
-#     elif [ "$platform" = "aarch64" ]; then
-#         TARGETPLATFORM="linux/arm64"
-#     # Add here more elif statements for other architectures if needed.
-#     else
-#         echo "Unknown platform: $platform"
-#         exit 1
-#     fi
-
-#     export TARGETPLATFORM
-# fi
-
-# echo "TARGETPLATFORM IS: [${TARGETPLATFORM}]"
-
-# # Let's bring the submodules!
-# git submodule update --init --recursive
-
-# # Build
-# docker compose -f ${SOURCE_DIR}/docker-compose.yml build
-# docker compose -f ${SOURCE_DIR}/docker-compose.yml up

release/ci/build_and_publish.sh

@@ -1,27 +0,0 @@
-# UNUSED YET BUT I WANT TO KEEP IT BECAUSE I INTEND TO USE IT SOON
-
-# #!/usr/bin/env bash
-# DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
-# cd $DIR
-
-# DEV_BRANCH=$1
-# GIT_ORIGIN=$2
-# if [ -z "$DEV_BRANCH" ]; then
-#     DEV_BRANCH="dev-c3-test"
-# fi
-
-# if [ -z "$GIT_ORIGIN" ]; then
-#     GIT_ORIGIN="git@github.com:devtekve/openpilot-og.git" #This is a default that should be changed
-#     echo "No GIT_ORIGIN provided, we will use the default [${GIT_ORIGIN}]"
-# fi
-
-# VERSION=$(date '+%Y.%m.%d')
-# SOURCE_DIR="$(git rev-parse --show-toplevel)"
-# OUTPUT_DIR=${SOURCE_DIR}/output
-
-
-# echo "Calling to build [${DIR}/build.sh ${SOURCE_DIR} ${OUTPUT_DIR} ${VERSION}]"
-# $DIR/build.sh "${SOURCE_DIR}" "${OUTPUT_DIR}" "${VERSION}"
-
-# echo "Calling to publish [${DIR}/publish.sh ${SOURCE_DIR} ${OUTPUT_DIR} ${DEV_BRANCH} ${VERSION} ${GIT_ORIGIN}]"
-# $DIR/publish.sh "${SOURCE_DIR}" "${OUTPUT_DIR}" "${DEV_BRANCH}" "${VERSION}" "${GIT_ORIGIN}"