mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-06-23 21:02:08 +08:00
Compare commits
2 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 github-actions[bot]
|
9f226a4f5e | ||
|
github-actions[bot]
|
d5a9c45fc8 |
@@ -99,11 +99,6 @@ Pipfile
|
||||
.history
|
||||
.ionide
|
||||
|
||||
.claude/
|
||||
.context/
|
||||
PLAN.md
|
||||
TASK.md
|
||||
|
||||
### JetBrains ###
|
||||
!.idea/customTargets.xml
|
||||
!.idea/tools/*
|
||||
|
||||
+1
-100
@@ -1,104 +1,5 @@
|
||||
sunnypilot Version 2026.001.000 (2026-03-xx)
|
||||
sunnypilot Version 2025.003.000 (20xx-xx-xx)
|
||||
========================
|
||||
* What's Changed (sunnypilot/sunnypilot)
|
||||
* Complete rewrite of the user interface from Qt C++ to Raylib Python
|
||||
* comma four support
|
||||
* ui: sunnypilot toggle style by @nayan8teen
|
||||
* ui: fix scroll panel mouse wheel behavior by @nayan8teen
|
||||
* ui: sunnypilot panels by @nayan8teen
|
||||
* sunnylink: centralize key pair handling in sunnylink registration by @devtekve
|
||||
* ui: reimplement sunnypilot branding with Raylib by @sunnyhaibin
|
||||
* ui: Platform Selector by @Discountchubbs
|
||||
* ui: vehicle brand settings by @Discountchubbs
|
||||
* ui: sunnylink client-side implementation by @nayan8teen
|
||||
* ui: `NetworkUISP` by @Discountchubbs
|
||||
* ui: add sunnypilot font by @nayan8teen
|
||||
* ui: sunnypilot sponsor tier color mapping by @sunnyhaibin
|
||||
* ui: sunnylink panel by @nayan8teen
|
||||
* ui: Models panel by @Discountchubbs
|
||||
* ui: software panel by @Discountchubbs
|
||||
* modeld_v2: support planplus outputs by @Discountchubbs
|
||||
* ui: OSM panel by @Discountchubbs
|
||||
* ui: Developer panel extension by @Discountchubbs
|
||||
* sunnylink: Vehicle Selector support by @sunnyhaibin
|
||||
* [TIZI/TICI] ui: Developer Metrics by @rav4kumar
|
||||
* [comma 4] ui: sunnylink panel by @nayan8teen
|
||||
* ui: lateral-only and longitudinal-only UI statuses support by @royjr
|
||||
* sunnylink: elliptic curve keys support and improve key path handling by @nayan8teen
|
||||
* sunnylink: block remote modification of SSH key parameters by @zikeji
|
||||
* [TIZI/TICI] ui: rainbow path by @rav4kumar
|
||||
* [TIZI/TICI] ui: chevron metrics by @rav4kumar
|
||||
* ui: include MADS enabled state to `engaged` check by @sunnyhaibin
|
||||
* Toyota: Enforce Factory Longitudinal Control by @sunnyhaibin
|
||||
* ui: fix malformed dongle ID display on the PC if dongleID is not set by @dzid26
|
||||
* SL: Re enable and validate ingestion of swaglogs by @devtekve
|
||||
* modeld_v2: planplus model tuning by @Discountchubbs
|
||||
* ui: fix Always Offroad button visibility by @nayan8teen
|
||||
* Reimplement sunnypilot Terms of Service & sunnylink Consent Screens by @sunnyhaibin
|
||||
* [TIZI/TICI] ui: update dmoji position and Developer UI adjustments by @rav4kumar
|
||||
* modeld: configurable camera offset by @Discountchubbs
|
||||
* [TIZI/TICI] ui: sunnylink status on sidebar by @Copilot
|
||||
* ui: Global Brightness Override by @nayan8teen
|
||||
* ui: Customizable Interactive Timeout by @sunnyhaibin
|
||||
* sunnylink: add units to param metadata by @nayan8teen
|
||||
* ui: Customizable Onroad Brightness by @sunnyhaibin
|
||||
* [TIZI/TICI] ui: Steering panel by @nayan8teen
|
||||
* [TIZI/TICI] ui: Rocket Fuel by @rav4kumar
|
||||
* [TIZI/TICI] ui: MICI style turn signals by @rav4kumar
|
||||
* [TIZI/TICI] ui: MICI style blindspot indicators by @sunnyhaibin
|
||||
* [MICI] ui: display blindspot indicators when available by @rav4kumar
|
||||
* [TIZI/TICI] ui: Road Name by @rav4kumar
|
||||
* [TIZI/TICI] ui: Blue "Exit Always Offroad" button by @dzid26
|
||||
* [TIZI/TICI] ui: Speed Limit by @rav4kumar
|
||||
* Reapply "latcontrol_torque: lower kp and lower friction threshold (commaai/openpilot#36619)" by @sunnyhaibin
|
||||
* [TIZI/TICI] ui: steering arc by @royjr
|
||||
* [TIZI/TICI] ui: Smart Cruise Control elements by @sunnyhaibin
|
||||
* [TIZI/TICI] ui: Green Light and Lead Departure elements by @sunnyhaibin
|
||||
* [TIZI/TICI] ui: standstill timer by @sunnyhaibin
|
||||
* [MICI] ui: driving models selector by @Discountchubbs
|
||||
* [TIZI/TICI] ui: Hide vEgo and True vEgo by @sunnyhaibin
|
||||
* [TIZI/TICI] ui: Visuals panel by @nayan8teen
|
||||
* Device: Retain QuickBoot state after op switch by @nayan8teen
|
||||
* [TIZI/TICI] ui: Trips panel by @sunnyhaibin
|
||||
* [TIZI/TICI] ui: dynamic ICBM status by @sunnyhaibin
|
||||
* [TIZI/TICI] ui: Cruise panel by @sunnyhaibin
|
||||
* ui: better wake mode support by @nayan8teen
|
||||
* Pause Lateral Control with Blinker: Post-Blinker Delay by @CHaucke89
|
||||
* SCC-V: Use p97 for predicted lateral accel by @yasu-oh
|
||||
* Controls: Support for Torque Lateral Control v0 Tune by @sunnyhaibin
|
||||
* What's Changed (sunnypilot/opendbc)
|
||||
* Honda: DBC for Accord 9th Generation by @mvl-boston
|
||||
* FCA: update tire stiffness values for `RAM_HD` by @dparring
|
||||
* Honda: Nidec hybrid baseline brake support by @mvl-boston
|
||||
* Subaru Global Gen2: bump steering limits and update tuning by @sunnyhaibin
|
||||
* Toyota: Enforce Stock Longitudinal Control by @rav4kumar
|
||||
* Nissan: use MADS enabled status for LKAS HUD logic by @downquark7
|
||||
* Reapply "Lateral: lower friction threshold (#2915)" (#378) by @sunnyhaibin
|
||||
* HKG: add KIA_FORTE_2019_NON_SCC fingerprint by @royjr
|
||||
* Nissan: Parse cruise control buttons by @downquark7
|
||||
* Rivian: Add stalk down ACC behavior to match stock Rivian by @lukasloetkolben
|
||||
* Tesla: remove `TESLA_MODEL_X` from `dashcamOnly` by @ssysm
|
||||
* Hyundai Longitudinal: refactor tuning by @Discountchubbs
|
||||
* Tesla: add fingerprint for Model 3 Performance HW4 by @sunnyhaibin
|
||||
* Toyota: do not disable radar when smartDSU or CAN Filter detected by @sunnyhaibin
|
||||
* Honda: add missing `GasInterceptor` messages to Taiwan Odyssey DBC by @mvl-boston
|
||||
* GM: remove `CHEVROLET_EQUINOX_NON_ACC_3RD_GEN` from `dashcamOnly` by @sunnyhaibin
|
||||
* GM: remove `CHEVROLET_BOLT_NON_ACC_2ND_GEN` from `dashcamOnly` by @sunnyhaibin
|
||||
* New Contributors (sunnypilot/sunnypilot)
|
||||
* @TheSecurityDev made their first contribution in "ui: fix sidebar scroll in UI screenshots"
|
||||
* @zikeji made their first contribution in "sunnylink: block remote modification of SSH key parameters"
|
||||
* @Candy0707 made their first contribution in "[TIZI/TICI] ui: Fix misaligned turn signals and blindspot indicators with sidebar"
|
||||
* @CHaucke89 made their first contribution in "Pause Lateral Control with Blinker: Post-Blinker Delay"
|
||||
* @yasu-oh made their first contribution in "SCC-V: Use p97 for predicted lateral accel"
|
||||
* New Contributors (sunnypilot/opendbc)
|
||||
* @AmyJeanes made their first contribution in "Tesla: Fix stock LKAS being blocked when MADS is enabled"
|
||||
* @mvl-boston made their first contribution in "Honda: Update Clarity brake to renamed DBC message name"
|
||||
* @dzid26 made their first contribution in "Tesla: Parse speed limit from CAN"
|
||||
* @firestar5683 made their first contribution in "GM: Non-ACC platforms with steering only support"
|
||||
* @downquark7 made their first contribution in "Nissan: use MADS enabled status for LKAS HUD logic"
|
||||
* @royjr made their first contribution in "HKG: add KIA_FORTE_2019_NON_SCC fingerprint"
|
||||
* @ssysm made their first contribution in "Tesla: remove `TESLA_MODEL_X` from `dashcamOnly`"
|
||||
* Full Changelog: https://github.com/sunnypilot/sunnypilot/compare/v2025.002.000...v2026.001.000
|
||||
|
||||
sunnypilot Version 2025.002.000 (2025-11-06)
|
||||
========================
|
||||
|
||||
@@ -9,6 +9,4 @@ WORKDIR ${OPENPILOT_PATH}
|
||||
|
||||
COPY . ${OPENPILOT_PATH}/
|
||||
|
||||
ENV UV_BIN="/home/batman/.local/bin/"
|
||||
ENV PATH="$UV_BIN:$PATH"
|
||||
RUN UV_PROJECT_ENVIRONMENT=$VIRTUAL_ENV uv run scons --cache-readonly -j$(nproc)
|
||||
RUN scons --cache-readonly -j$(nproc)
|
||||
|
||||
@@ -1,7 +1,3 @@
|
||||
Version 0.10.4 (2026-02-17)
|
||||
========================
|
||||
* Lexus LS 2018 support thanks to Hacheoy!
|
||||
|
||||
Version 0.10.3 (2025-12-17)
|
||||
========================
|
||||
* New driving model #36249
|
||||
|
||||
+118
-4
@@ -153,7 +153,6 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
|
||||
navigation @1;
|
||||
vision @2;
|
||||
policy @3;
|
||||
offPolicy @4;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -289,6 +288,7 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
|
||||
sccVision @1;
|
||||
sccMap @2;
|
||||
speedLimitAssist @3;
|
||||
mapd @4;
|
||||
}
|
||||
|
||||
struct E2eAlerts {
|
||||
@@ -476,11 +476,125 @@ struct CustomReserved15 @0xbd443b539493bc68 {
|
||||
struct CustomReserved16 @0xfc6241ed8877b611 {
|
||||
}
|
||||
|
||||
struct CustomReserved17 @0xa30662f84033036c {
|
||||
struct MapdDownloadLocationDetails @0xff889853e7b0987f {
|
||||
location @0 :Text;
|
||||
totalFiles @1 :UInt32;
|
||||
downloadedFiles @2 :UInt32;
|
||||
}
|
||||
|
||||
struct CustomReserved18 @0xc86a3d38d13eb3ef {
|
||||
struct MapdDownloadProgress @0xfaa35dcac85073a2 {
|
||||
active @0 :Bool;
|
||||
cancelled @1 :Bool;
|
||||
totalFiles @2 :UInt32;
|
||||
downloadedFiles @3 :UInt32;
|
||||
locations @4 :List(Text);
|
||||
locationDetails @5 :List(MapdDownloadLocationDetails);
|
||||
}
|
||||
|
||||
struct CustomReserved19 @0xa4f1eb3323f5f582 {
|
||||
struct MapdPathPoint @0xd6f78acca1bc3939 {
|
||||
latitude @0 :Float64;
|
||||
longitude @1 :Float64;
|
||||
curvature @2 :Float32;
|
||||
targetVelocity @3 :Float32;
|
||||
}
|
||||
|
||||
struct MapdExtendedOut @0xa30662f84033036c {
|
||||
downloadProgress @0 :MapdDownloadProgress;
|
||||
settings @1 :Text;
|
||||
path @2 :List(MapdPathPoint);
|
||||
}
|
||||
|
||||
enum MapdInputType {
|
||||
download @0;
|
||||
setTargetLateralAccel @1;
|
||||
setSpeedLimitOffset @2;
|
||||
setSpeedLimitControl @3;
|
||||
setMapCurveSpeedControl @4;
|
||||
setVisionCurveSpeedControl @5;
|
||||
setLogLevel @6;
|
||||
setVisionCurveTargetLatA @7;
|
||||
setVisionCurveMinTargetV @8;
|
||||
reloadSettings @9;
|
||||
saveSettings @10;
|
||||
setEnableSpeed @11;
|
||||
setVisionCurveUseEnableSpeed @12;
|
||||
setMapCurveUseEnableSpeed @13;
|
||||
setSpeedLimitUseEnableSpeed @14;
|
||||
setHoldLastSeenSpeedLimit @15;
|
||||
setTargetSpeedJerk @16;
|
||||
setTargetSpeedAccel @17;
|
||||
setTargetSpeedTimeOffset @18;
|
||||
setDefaultLaneWidth @19;
|
||||
setMapCurveTargetLatA @20;
|
||||
loadDefaultSettings @21;
|
||||
loadRecommendedSettings @22;
|
||||
setSlowDownForNextSpeedLimit @23;
|
||||
setSpeedUpForNextSpeedLimit @24;
|
||||
setHoldSpeedLimitWhileChangingSetSpeed @25;
|
||||
loadPersistentSettings @26;
|
||||
cancelDownload @27;
|
||||
setLogJson @28;
|
||||
setLogSource @29;
|
||||
setExternalSpeedLimitControl @30;
|
||||
setExternalSpeedLimit @31;
|
||||
setSpeedLimitPriority @32;
|
||||
setSpeedLimitChangeRequiresAccept @33;
|
||||
acceptSpeedLimit @34;
|
||||
setPressGasToAcceptSpeedLimit @35;
|
||||
setAdjustSetSpeedToAcceptSpeedLimit @36;
|
||||
setAcceptSpeedLimitTimeout @37;
|
||||
setPressGasToOverrideSpeedLimit @38;
|
||||
}
|
||||
|
||||
enum WaySelectionType {
|
||||
current @0;
|
||||
predicted @1;
|
||||
possible @2;
|
||||
extended @3;
|
||||
fail @4;
|
||||
}
|
||||
|
||||
enum SpeedLimitOffsetType {
|
||||
static @0;
|
||||
percent @1;
|
||||
}
|
||||
|
||||
struct MapdIn @0xc86a3d38d13eb3ef {
|
||||
type @0 :MapdInputType;
|
||||
float @1 :Float32;
|
||||
str @2 :Text;
|
||||
bool @3 :Bool;
|
||||
}
|
||||
|
||||
enum RoadContext {
|
||||
freeway @0;
|
||||
city @1;
|
||||
unknown @2;
|
||||
}
|
||||
|
||||
struct MapdOut @0xa4f1eb3323f5f582 {
|
||||
wayName @0 :Text;
|
||||
wayRef @1 :Text;
|
||||
roadName @2 :Text;
|
||||
speedLimit @3 :Float32;
|
||||
nextSpeedLimit @4 :Float32;
|
||||
nextSpeedLimitDistance @5 :Float32;
|
||||
hazard @6 :Text;
|
||||
nextHazard @7 :Text;
|
||||
nextHazardDistance @8 :Float32;
|
||||
advisorySpeed @9 :Float32;
|
||||
nextAdvisorySpeed @10 :Float32;
|
||||
nextAdvisorySpeedDistance @11 :Float32;
|
||||
oneWay @12 :Bool;
|
||||
lanes @13 :UInt8;
|
||||
tileLoaded @14 :Bool;
|
||||
speedLimitSuggestedSpeed @15 :Float32;
|
||||
suggestedSpeed @16 :Float32;
|
||||
estimatedRoadWidth @17 :Float32;
|
||||
roadContext @18 :RoadContext;
|
||||
distanceFromWayCenter @19 :Float32;
|
||||
visionCurveSpeed @20 :Float32;
|
||||
mapCurveSpeed @21 :Float32;
|
||||
waySelectionType @22 :WaySelectionType;
|
||||
speedLimitAccepted @23 :Bool;
|
||||
}
|
||||
|
||||
+1345
-75
File diff suppressed because it is too large
Load Diff
+1509
-28
File diff suppressed because it is too large
Load Diff
+321
-378
@@ -369,7 +369,7 @@ const ::capnp::_::RawSchema s_c4fa6047f024e718 = {
|
||||
1, 11, i_c4fa6047f024e718, nullptr, nullptr, { &s_c4fa6047f024e718, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<553> b_91f1992a1f77fb03 = {
|
||||
static const ::capnp::_::AlignedData<548> b_91f1992a1f77fb03 = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
3, 251, 119, 31, 42, 153, 241, 145,
|
||||
22, 0, 0, 0, 2, 0, 0, 0,
|
||||
@@ -379,7 +379,7 @@ static const ::capnp::_::AlignedData<553> b_91f1992a1f77fb03 = {
|
||||
21, 0, 0, 0, 2, 1, 0, 0,
|
||||
33, 0, 0, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
29, 0, 0, 0, 79, 9, 0, 0,
|
||||
29, 0, 0, 0, 55, 9, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
108, 111, 103, 46, 99, 97, 112, 110,
|
||||
@@ -387,303 +387,300 @@ static const ::capnp::_::AlignedData<553> b_91f1992a1f77fb03 = {
|
||||
69, 118, 101, 110, 116, 46, 69, 118,
|
||||
101, 110, 116, 78, 97, 109, 101, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0,
|
||||
140, 1, 0, 0, 1, 0, 2, 0,
|
||||
136, 1, 0, 0, 1, 0, 2, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
157, 4, 0, 0, 74, 0, 0, 0,
|
||||
145, 4, 0, 0, 74, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
1, 0, 0, 0, 0, 0, 0, 0,
|
||||
153, 4, 0, 0, 138, 0, 0, 0,
|
||||
141, 4, 0, 0, 138, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
2, 0, 0, 0, 0, 0, 0, 0,
|
||||
153, 4, 0, 0, 82, 0, 0, 0,
|
||||
141, 4, 0, 0, 82, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
3, 0, 0, 0, 0, 0, 0, 0,
|
||||
149, 4, 0, 0, 74, 0, 0, 0,
|
||||
137, 4, 0, 0, 74, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
4, 0, 0, 0, 0, 0, 0, 0,
|
||||
145, 4, 0, 0, 154, 0, 0, 0,
|
||||
133, 4, 0, 0, 154, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
5, 0, 0, 0, 0, 0, 0, 0,
|
||||
145, 4, 0, 0, 98, 0, 0, 0,
|
||||
133, 4, 0, 0, 98, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
6, 0, 0, 0, 0, 0, 0, 0,
|
||||
141, 4, 0, 0, 106, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
7, 0, 0, 0, 0, 0, 0, 0,
|
||||
137, 4, 0, 0, 170, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
8, 0, 0, 0, 0, 0, 0, 0,
|
||||
137, 4, 0, 0, 98, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
9, 0, 0, 0, 0, 0, 0, 0,
|
||||
133, 4, 0, 0, 106, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
10, 0, 0, 0, 0, 0, 0, 0,
|
||||
129, 4, 0, 0, 106, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
7, 0, 0, 0, 0, 0, 0, 0,
|
||||
125, 4, 0, 0, 170, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
8, 0, 0, 0, 0, 0, 0, 0,
|
||||
125, 4, 0, 0, 98, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
9, 0, 0, 0, 0, 0, 0, 0,
|
||||
121, 4, 0, 0, 106, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
10, 0, 0, 0, 0, 0, 0, 0,
|
||||
117, 4, 0, 0, 106, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
11, 0, 0, 0, 0, 0, 0, 0,
|
||||
125, 4, 0, 0, 106, 0, 0, 0,
|
||||
113, 4, 0, 0, 106, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
12, 0, 0, 0, 0, 0, 0, 0,
|
||||
121, 4, 0, 0, 162, 0, 0, 0,
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45, 4, 0, 0, 82, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
53, 0, 0, 0, 0, 0, 0, 0,
|
||||
41, 4, 0, 0, 74, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
54, 0, 0, 0, 0, 0, 0, 0,
|
||||
181, 3, 0, 0, 82, 0, 0, 0,
|
||||
37, 4, 0, 0, 34, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
55, 0, 0, 0, 0, 0, 0, 0,
|
||||
29, 4, 0, 0, 130, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
56, 0, 0, 0, 0, 0, 0, 0,
|
||||
25, 4, 0, 0, 154, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
57, 0, 0, 0, 0, 0, 0, 0,
|
||||
25, 4, 0, 0, 106, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
58, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 4, 0, 0, 146, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
59, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 4, 0, 0, 138, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
60, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 4, 0, 0, 74, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
61, 0, 0, 0, 0, 0, 0, 0,
|
||||
17, 4, 0, 0, 66, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
62, 0, 0, 0, 0, 0, 0, 0,
|
||||
9, 4, 0, 0, 106, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
63, 0, 0, 0, 0, 0, 0, 0,
|
||||
5, 4, 0, 0, 138, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
64, 0, 0, 0, 0, 0, 0, 0,
|
||||
5, 4, 0, 0, 146, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
65, 0, 0, 0, 0, 0, 0, 0,
|
||||
5, 4, 0, 0, 114, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
66, 0, 0, 0, 0, 0, 0, 0,
|
||||
1, 4, 0, 0, 34, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
67, 0, 0, 0, 0, 0, 0, 0,
|
||||
249, 3, 0, 0, 122, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
68, 0, 0, 0, 0, 0, 0, 0,
|
||||
245, 3, 0, 0, 138, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
69, 0, 0, 0, 0, 0, 0, 0,
|
||||
245, 3, 0, 0, 50, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
70, 0, 0, 0, 0, 0, 0, 0,
|
||||
237, 3, 0, 0, 130, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
71, 0, 0, 0, 0, 0, 0, 0,
|
||||
233, 3, 0, 0, 114, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
72, 0, 0, 0, 0, 0, 0, 0,
|
||||
229, 3, 0, 0, 114, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
73, 0, 0, 0, 0, 0, 0, 0,
|
||||
225, 3, 0, 0, 122, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
74, 0, 0, 0, 0, 0, 0, 0,
|
||||
221, 3, 0, 0, 146, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
75, 0, 0, 0, 0, 0, 0, 0,
|
||||
221, 3, 0, 0, 130, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
76, 0, 0, 0, 0, 0, 0, 0,
|
||||
217, 3, 0, 0, 146, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
77, 0, 0, 0, 0, 0, 0, 0,
|
||||
217, 3, 0, 0, 98, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
78, 0, 0, 0, 0, 0, 0, 0,
|
||||
213, 3, 0, 0, 178, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
79, 0, 0, 0, 0, 0, 0, 0,
|
||||
213, 3, 0, 0, 74, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
80, 0, 0, 0, 0, 0, 0, 0,
|
||||
209, 3, 0, 0, 122, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
81, 0, 0, 0, 0, 0, 0, 0,
|
||||
205, 3, 0, 0, 114, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
82, 0, 0, 0, 0, 0, 0, 0,
|
||||
201, 3, 0, 0, 146, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
83, 0, 0, 0, 0, 0, 0, 0,
|
||||
201, 3, 0, 0, 114, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
84, 0, 0, 0, 0, 0, 0, 0,
|
||||
197, 3, 0, 0, 122, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
85, 0, 0, 0, 0, 0, 0, 0,
|
||||
193, 3, 0, 0, 178, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
86, 0, 0, 0, 0, 0, 0, 0,
|
||||
193, 3, 0, 0, 194, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
87, 0, 0, 0, 0, 0, 0, 0,
|
||||
193, 3, 0, 0, 194, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
88, 0, 0, 0, 0, 0, 0, 0,
|
||||
193, 3, 0, 0, 178, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
89, 0, 0, 0, 0, 0, 0, 0,
|
||||
193, 3, 0, 0, 178, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
90, 0, 0, 0, 0, 0, 0, 0,
|
||||
193, 3, 0, 0, 194, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
91, 0, 0, 0, 0, 0, 0, 0,
|
||||
193, 3, 0, 0, 82, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
92, 0, 0, 0, 0, 0, 0, 0,
|
||||
189, 3, 0, 0, 154, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
93, 0, 0, 0, 0, 0, 0, 0,
|
||||
189, 3, 0, 0, 34, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
27, 0, 0, 0, 0, 0, 0, 0,
|
||||
181, 3, 0, 0, 170, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
15, 0, 0, 0, 0, 0, 0, 0,
|
||||
181, 3, 0, 0, 122, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
94, 0, 0, 0, 0, 0, 0, 0,
|
||||
177, 3, 0, 0, 106, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
95, 0, 0, 0, 0, 0, 0, 0,
|
||||
173, 3, 0, 0, 154, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
96, 0, 0, 0, 0, 0, 0, 0,
|
||||
173, 3, 0, 0, 114, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
99, 97, 110, 69, 114, 114, 111, 114,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
@@ -920,16 +917,14 @@ static const ::capnp::_::AlignedData<553> b_91f1992a1f77fb03 = {
|
||||
101, 65, 99, 116, 117, 97, 116, 105,
|
||||
111, 110, 0, 0, 0, 0, 0, 0,
|
||||
97, 117, 100, 105, 111, 70, 101, 101,
|
||||
100, 98, 97, 99, 107, 0, 0, 0,
|
||||
115, 116, 111, 99, 107, 76, 107, 97,
|
||||
115, 0, 0, 0, 0, 0, 0, 0, }
|
||||
100, 98, 97, 99, 107, 0, 0, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_91f1992a1f77fb03 = b_91f1992a1f77fb03.words;
|
||||
#if !CAPNP_LITE
|
||||
static const uint16_t m_91f1992a1f77fb03[] = {41, 89, 92, 97, 67, 39, 26, 9, 10, 19, 20, 21, 74, 73, 80, 0, 54, 43, 44, 22, 15, 79, 76, 71, 3, 35, 38, 90, 5, 96, 72, 65, 13, 55, 29, 50, 57, 53, 86, 85, 30, 40, 51, 28, 70, 68, 17, 18, 88, 87, 27, 24, 23, 11, 91, 46, 33, 36, 12, 48, 49, 75, 34, 37, 25, 93, 58, 82, 32, 8, 4, 77, 81, 42, 47, 56, 16, 60, 64, 61, 62, 63, 94, 14, 66, 7, 31, 83, 1, 52, 59, 98, 45, 78, 95, 84, 6, 69, 2};
|
||||
static const uint16_t m_91f1992a1f77fb03[] = {41, 89, 92, 97, 67, 39, 26, 9, 10, 19, 20, 21, 74, 73, 80, 0, 54, 43, 44, 22, 15, 79, 76, 71, 3, 35, 38, 90, 5, 96, 72, 65, 13, 55, 29, 50, 57, 53, 86, 85, 30, 40, 51, 28, 70, 68, 17, 18, 88, 87, 27, 24, 23, 11, 91, 46, 33, 36, 12, 48, 49, 75, 34, 37, 25, 93, 58, 82, 32, 8, 4, 77, 81, 42, 47, 56, 16, 60, 64, 61, 62, 63, 94, 14, 66, 7, 31, 83, 1, 52, 59, 45, 78, 95, 84, 6, 69, 2};
|
||||
const ::capnp::_::RawSchema s_91f1992a1f77fb03 = {
|
||||
0x91f1992a1f77fb03, b_91f1992a1f77fb03.words, 553, nullptr, m_91f1992a1f77fb03,
|
||||
0, 99, nullptr, nullptr, nullptr, { &s_91f1992a1f77fb03, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
0x91f1992a1f77fb03, b_91f1992a1f77fb03.words, 548, nullptr, m_91f1992a1f77fb03,
|
||||
0, 98, nullptr, nullptr, nullptr, { &s_91f1992a1f77fb03, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
CAPNP_DEFINE_ENUM(EventName_91f1992a1f77fb03, 91f1992a1f77fb03);
|
||||
@@ -17015,17 +17010,17 @@ const ::capnp::_::RawSchema s_af85387b3f681406 = {
|
||||
3, 3, i_af85387b3f681406, nullptr, nullptr, { &s_af85387b3f681406, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<332> b_b0b85613f19e6d28 = {
|
||||
static const ::capnp::_::AlignedData<285> b_b0b85613f19e6d28 = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
40, 109, 158, 241, 19, 86, 184, 176,
|
||||
18, 0, 0, 0, 1, 0, 12, 0,
|
||||
18, 0, 0, 0, 1, 0, 9, 0,
|
||||
6, 20, 104, 63, 123, 56, 133, 175,
|
||||
3, 0, 7, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 0, 0, 0, 210, 0, 0, 0,
|
||||
33, 0, 0, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
29, 0, 0, 0, 103, 4, 0, 0,
|
||||
29, 0, 0, 0, 191, 3, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
108, 111, 103, 46, 99, 97, 112, 110,
|
||||
@@ -17033,147 +17028,126 @@ static const ::capnp::_::AlignedData<332> b_b0b85613f19e6d28 = {
|
||||
103, 46, 80, 114, 111, 99, 101, 115,
|
||||
115, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0,
|
||||
80, 0, 0, 0, 3, 0, 4, 0,
|
||||
68, 0, 0, 0, 3, 0, 4, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 1, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
33, 2, 0, 0, 34, 0, 0, 0,
|
||||
205, 1, 0, 0, 34, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
28, 2, 0, 0, 3, 0, 1, 0,
|
||||
40, 2, 0, 0, 2, 0, 1, 0,
|
||||
200, 1, 0, 0, 3, 0, 1, 0,
|
||||
212, 1, 0, 0, 2, 0, 1, 0,
|
||||
1, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 1, 0, 1, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
37, 2, 0, 0, 42, 0, 0, 0,
|
||||
209, 1, 0, 0, 42, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
32, 2, 0, 0, 3, 0, 1, 0,
|
||||
44, 2, 0, 0, 2, 0, 1, 0,
|
||||
204, 1, 0, 0, 3, 0, 1, 0,
|
||||
216, 1, 0, 0, 2, 0, 1, 0,
|
||||
2, 0, 0, 0, 4, 0, 0, 0,
|
||||
0, 0, 1, 0, 2, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
41, 2, 0, 0, 50, 0, 0, 0,
|
||||
213, 1, 0, 0, 50, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
36, 2, 0, 0, 3, 0, 1, 0,
|
||||
48, 2, 0, 0, 2, 0, 1, 0,
|
||||
208, 1, 0, 0, 3, 0, 1, 0,
|
||||
220, 1, 0, 0, 2, 0, 1, 0,
|
||||
3, 0, 0, 0, 2, 0, 0, 0,
|
||||
0, 0, 1, 0, 3, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
45, 2, 0, 0, 42, 0, 0, 0,
|
||||
217, 1, 0, 0, 42, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
40, 2, 0, 0, 3, 0, 1, 0,
|
||||
52, 2, 0, 0, 2, 0, 1, 0,
|
||||
212, 1, 0, 0, 3, 0, 1, 0,
|
||||
224, 1, 0, 0, 2, 0, 1, 0,
|
||||
4, 0, 0, 0, 3, 0, 0, 0,
|
||||
0, 0, 1, 0, 4, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
49, 2, 0, 0, 66, 0, 0, 0,
|
||||
221, 1, 0, 0, 66, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
44, 2, 0, 0, 3, 0, 1, 0,
|
||||
56, 2, 0, 0, 2, 0, 1, 0,
|
||||
216, 1, 0, 0, 3, 0, 1, 0,
|
||||
228, 1, 0, 0, 2, 0, 1, 0,
|
||||
5, 0, 0, 0, 4, 0, 0, 0,
|
||||
0, 0, 1, 0, 5, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
53, 2, 0, 0, 82, 0, 0, 0,
|
||||
225, 1, 0, 0, 82, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
52, 2, 0, 0, 3, 0, 1, 0,
|
||||
64, 2, 0, 0, 2, 0, 1, 0,
|
||||
224, 1, 0, 0, 3, 0, 1, 0,
|
||||
236, 1, 0, 0, 2, 0, 1, 0,
|
||||
6, 0, 0, 0, 5, 0, 0, 0,
|
||||
0, 0, 1, 0, 6, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
61, 2, 0, 0, 130, 0, 0, 0,
|
||||
233, 1, 0, 0, 130, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
60, 2, 0, 0, 3, 0, 1, 0,
|
||||
72, 2, 0, 0, 2, 0, 1, 0,
|
||||
232, 1, 0, 0, 3, 0, 1, 0,
|
||||
244, 1, 0, 0, 2, 0, 1, 0,
|
||||
7, 0, 0, 0, 6, 0, 0, 0,
|
||||
0, 0, 1, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
69, 2, 0, 0, 146, 0, 0, 0,
|
||||
241, 1, 0, 0, 146, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
72, 2, 0, 0, 3, 0, 1, 0,
|
||||
84, 2, 0, 0, 2, 0, 1, 0,
|
||||
244, 1, 0, 0, 3, 0, 1, 0,
|
||||
0, 2, 0, 0, 2, 0, 1, 0,
|
||||
8, 0, 0, 0, 4, 0, 0, 0,
|
||||
0, 0, 1, 0, 8, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
81, 2, 0, 0, 74, 0, 0, 0,
|
||||
253, 1, 0, 0, 74, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
80, 2, 0, 0, 3, 0, 1, 0,
|
||||
92, 2, 0, 0, 2, 0, 1, 0,
|
||||
252, 1, 0, 0, 3, 0, 1, 0,
|
||||
8, 2, 0, 0, 2, 0, 1, 0,
|
||||
9, 0, 0, 0, 7, 0, 0, 0,
|
||||
0, 0, 1, 0, 9, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
89, 2, 0, 0, 42, 0, 0, 0,
|
||||
5, 2, 0, 0, 42, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
84, 2, 0, 0, 3, 0, 1, 0,
|
||||
96, 2, 0, 0, 2, 0, 1, 0,
|
||||
0, 2, 0, 0, 3, 0, 1, 0,
|
||||
12, 2, 0, 0, 2, 0, 1, 0,
|
||||
10, 0, 0, 0, 10, 0, 0, 0,
|
||||
0, 0, 1, 0, 10, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
93, 2, 0, 0, 90, 0, 0, 0,
|
||||
9, 2, 0, 0, 90, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
92, 2, 0, 0, 3, 0, 1, 0,
|
||||
104, 2, 0, 0, 2, 0, 1, 0,
|
||||
8, 2, 0, 0, 3, 0, 1, 0,
|
||||
20, 2, 0, 0, 2, 0, 1, 0,
|
||||
11, 0, 0, 0, 6, 0, 0, 0,
|
||||
0, 0, 1, 0, 11, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
101, 2, 0, 0, 82, 0, 0, 0,
|
||||
17, 2, 0, 0, 82, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
100, 2, 0, 0, 3, 0, 1, 0,
|
||||
112, 2, 0, 0, 2, 0, 1, 0,
|
||||
16, 2, 0, 0, 3, 0, 1, 0,
|
||||
28, 2, 0, 0, 2, 0, 1, 0,
|
||||
12, 0, 0, 0, 7, 0, 0, 0,
|
||||
0, 0, 1, 0, 12, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
109, 2, 0, 0, 58, 0, 0, 0,
|
||||
25, 2, 0, 0, 58, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
104, 2, 0, 0, 3, 0, 1, 0,
|
||||
116, 2, 0, 0, 2, 0, 1, 0,
|
||||
20, 2, 0, 0, 3, 0, 1, 0,
|
||||
32, 2, 0, 0, 2, 0, 1, 0,
|
||||
13, 0, 0, 0, 8, 0, 0, 0,
|
||||
0, 0, 1, 0, 13, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
113, 2, 0, 0, 58, 0, 0, 0,
|
||||
29, 2, 0, 0, 58, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
108, 2, 0, 0, 3, 0, 1, 0,
|
||||
120, 2, 0, 0, 2, 0, 1, 0,
|
||||
24, 2, 0, 0, 3, 0, 1, 0,
|
||||
36, 2, 0, 0, 2, 0, 1, 0,
|
||||
14, 0, 0, 0, 11, 0, 0, 0,
|
||||
0, 0, 1, 0, 14, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
117, 2, 0, 0, 82, 0, 0, 0,
|
||||
33, 2, 0, 0, 82, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
116, 2, 0, 0, 3, 0, 1, 0,
|
||||
128, 2, 0, 0, 2, 0, 1, 0,
|
||||
32, 2, 0, 0, 3, 0, 1, 0,
|
||||
44, 2, 0, 0, 2, 0, 1, 0,
|
||||
15, 0, 0, 0, 1, 0, 0, 0,
|
||||
0, 0, 1, 0, 15, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
125, 2, 0, 0, 66, 0, 0, 0,
|
||||
41, 2, 0, 0, 66, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
120, 2, 0, 0, 3, 0, 1, 0,
|
||||
148, 2, 0, 0, 2, 0, 1, 0,
|
||||
36, 2, 0, 0, 3, 0, 1, 0,
|
||||
64, 2, 0, 0, 2, 0, 1, 0,
|
||||
16, 0, 0, 0, 2, 0, 0, 0,
|
||||
0, 0, 1, 0, 16, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
145, 2, 0, 0, 34, 0, 0, 0,
|
||||
61, 2, 0, 0, 34, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
140, 2, 0, 0, 3, 0, 1, 0,
|
||||
152, 2, 0, 0, 2, 0, 1, 0,
|
||||
17, 0, 0, 0, 9, 0, 0, 0,
|
||||
0, 0, 1, 0, 17, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
149, 2, 0, 0, 58, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
144, 2, 0, 0, 3, 0, 1, 0,
|
||||
156, 2, 0, 0, 2, 0, 1, 0,
|
||||
18, 0, 0, 0, 10, 0, 0, 0,
|
||||
0, 0, 1, 0, 18, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
153, 2, 0, 0, 90, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
152, 2, 0, 0, 3, 0, 1, 0,
|
||||
164, 2, 0, 0, 2, 0, 1, 0,
|
||||
19, 0, 0, 0, 11, 0, 0, 0,
|
||||
0, 0, 1, 0, 19, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
161, 2, 0, 0, 98, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
160, 2, 0, 0, 3, 0, 1, 0,
|
||||
172, 2, 0, 0, 2, 0, 1, 0,
|
||||
56, 2, 0, 0, 3, 0, 1, 0,
|
||||
68, 2, 0, 0, 2, 0, 1, 0,
|
||||
112, 105, 100, 0, 0, 0, 0, 0,
|
||||
4, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
@@ -17320,42 +17294,16 @@ static const ::capnp::_::AlignedData<332> b_b0b85613f19e6d28 = {
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
12, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
109, 101, 109, 80, 115, 115, 0, 0,
|
||||
9, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
9, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
109, 101, 109, 80, 115, 115, 65, 110,
|
||||
111, 110, 0, 0, 0, 0, 0, 0,
|
||||
9, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
9, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
109, 101, 109, 80, 115, 115, 83, 104,
|
||||
109, 101, 109, 0, 0, 0, 0, 0,
|
||||
9, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
9, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_b0b85613f19e6d28 = b_b0b85613f19e6d28.words;
|
||||
#if !CAPNP_LITE
|
||||
static const uint16_t m_b0b85613f19e6d28[] = {15, 7, 6, 5, 4, 16, 17, 18, 19, 13, 12, 1, 9, 10, 0, 3, 8, 14, 11, 2};
|
||||
static const uint16_t i_b0b85613f19e6d28[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19};
|
||||
static const uint16_t m_b0b85613f19e6d28[] = {15, 7, 6, 5, 4, 16, 13, 12, 1, 9, 10, 0, 3, 8, 14, 11, 2};
|
||||
static const uint16_t i_b0b85613f19e6d28[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16};
|
||||
const ::capnp::_::RawSchema s_b0b85613f19e6d28 = {
|
||||
0xb0b85613f19e6d28, b_b0b85613f19e6d28.words, 332, nullptr, m_b0b85613f19e6d28,
|
||||
0, 20, i_b0b85613f19e6d28, nullptr, nullptr, { &s_b0b85613f19e6d28, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
0xb0b85613f19e6d28, b_b0b85613f19e6d28.words, 285, nullptr, m_b0b85613f19e6d28,
|
||||
0, 17, i_b0b85613f19e6d28, nullptr, nullptr, { &s_b0b85613f19e6d28, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<138> b_f189c8c5bf2ce087 = {
|
||||
@@ -30606,7 +30554,7 @@ const ::capnp::_::RawSchema s_8795cd2944faeab6 = {
|
||||
0, 5, i_8795cd2944faeab6, nullptr, nullptr, { &s_8795cd2944faeab6, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<2560> b_d314cfd957229c11 = {
|
||||
static const ::capnp::_::AlignedData<2555> b_d314cfd957229c11 = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
17, 156, 34, 87, 217, 207, 20, 211,
|
||||
10, 0, 0, 0, 1, 0, 2, 0,
|
||||
@@ -31627,52 +31575,52 @@ static const ::capnp::_::AlignedData<2560> b_d314cfd957229c11 = {
|
||||
101, 0, 114, 255, 0, 0, 0, 0,
|
||||
0, 0, 1, 0, 143, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
5, 23, 0, 0, 138, 0, 0, 0,
|
||||
5, 23, 0, 0, 130, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
8, 23, 0, 0, 3, 0, 1, 0,
|
||||
20, 23, 0, 0, 2, 0, 1, 0,
|
||||
4, 23, 0, 0, 3, 0, 1, 0,
|
||||
16, 23, 0, 0, 2, 0, 1, 0,
|
||||
102, 0, 113, 255, 0, 0, 0, 0,
|
||||
0, 0, 1, 0, 144, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
17, 23, 0, 0, 138, 0, 0, 0,
|
||||
13, 23, 0, 0, 58, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
20, 23, 0, 0, 3, 0, 1, 0,
|
||||
32, 23, 0, 0, 2, 0, 1, 0,
|
||||
8, 23, 0, 0, 3, 0, 1, 0,
|
||||
20, 23, 0, 0, 2, 0, 1, 0,
|
||||
103, 0, 112, 255, 0, 0, 0, 0,
|
||||
0, 0, 1, 0, 145, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
29, 23, 0, 0, 138, 0, 0, 0,
|
||||
17, 23, 0, 0, 66, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
32, 23, 0, 0, 3, 0, 1, 0,
|
||||
44, 23, 0, 0, 2, 0, 1, 0,
|
||||
12, 23, 0, 0, 3, 0, 1, 0,
|
||||
24, 23, 0, 0, 2, 0, 1, 0,
|
||||
33, 0, 111, 255, 0, 0, 0, 0,
|
||||
0, 0, 1, 0, 146, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
41, 23, 0, 0, 82, 0, 0, 0,
|
||||
21, 23, 0, 0, 82, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
40, 23, 0, 0, 3, 0, 1, 0,
|
||||
52, 23, 0, 0, 2, 0, 1, 0,
|
||||
20, 23, 0, 0, 3, 0, 1, 0,
|
||||
32, 23, 0, 0, 2, 0, 1, 0,
|
||||
54, 0, 110, 255, 0, 0, 0, 0,
|
||||
0, 0, 1, 0, 147, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
49, 23, 0, 0, 106, 0, 0, 0,
|
||||
29, 23, 0, 0, 106, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
48, 23, 0, 0, 3, 0, 1, 0,
|
||||
60, 23, 0, 0, 2, 0, 1, 0,
|
||||
28, 23, 0, 0, 3, 0, 1, 0,
|
||||
40, 23, 0, 0, 2, 0, 1, 0,
|
||||
70, 0, 109, 255, 0, 0, 0, 0,
|
||||
0, 0, 1, 0, 148, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
57, 23, 0, 0, 122, 0, 0, 0,
|
||||
37, 23, 0, 0, 122, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
56, 23, 0, 0, 3, 0, 1, 0,
|
||||
68, 23, 0, 0, 2, 0, 1, 0,
|
||||
36, 23, 0, 0, 3, 0, 1, 0,
|
||||
48, 23, 0, 0, 2, 0, 1, 0,
|
||||
71, 0, 108, 255, 0, 0, 0, 0,
|
||||
0, 0, 1, 0, 149, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
65, 23, 0, 0, 114, 0, 0, 0,
|
||||
45, 23, 0, 0, 114, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
64, 23, 0, 0, 3, 0, 1, 0,
|
||||
76, 23, 0, 0, 2, 0, 1, 0,
|
||||
44, 23, 0, 0, 3, 0, 1, 0,
|
||||
56, 23, 0, 0, 2, 0, 1, 0,
|
||||
108, 111, 103, 77, 111, 110, 111, 84,
|
||||
105, 109, 101, 0, 0, 0, 0, 0,
|
||||
9, 0, 0, 0, 0, 0, 0, 0,
|
||||
@@ -33101,9 +33049,8 @@ static const ::capnp::_::AlignedData<2560> b_d314cfd957229c11 = {
|
||||
16, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
99, 117, 115, 116, 111, 109, 82, 101,
|
||||
115, 101, 114, 118, 101, 100, 49, 55,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
109, 97, 112, 100, 69, 120, 116, 101,
|
||||
110, 100, 101, 100, 79, 117, 116, 0,
|
||||
16, 0, 0, 0, 0, 0, 0, 0,
|
||||
108, 3, 51, 64, 248, 98, 6, 163,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
@@ -33111,9 +33058,7 @@ static const ::capnp::_::AlignedData<2560> b_d314cfd957229c11 = {
|
||||
16, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
99, 117, 115, 116, 111, 109, 82, 101,
|
||||
115, 101, 114, 118, 101, 100, 49, 56,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
109, 97, 112, 100, 73, 110, 0, 0,
|
||||
16, 0, 0, 0, 0, 0, 0, 0,
|
||||
239, 179, 62, 209, 56, 61, 106, 200,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
@@ -33121,9 +33066,7 @@ static const ::capnp::_::AlignedData<2560> b_d314cfd957229c11 = {
|
||||
16, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
99, 117, 115, 116, 111, 109, 82, 101,
|
||||
115, 101, 114, 118, 101, 100, 49, 57,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
109, 97, 112, 100, 79, 117, 116, 0,
|
||||
16, 0, 0, 0, 0, 0, 0, 0,
|
||||
130, 245, 245, 35, 51, 235, 241, 164,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
@@ -33280,10 +33223,10 @@ static const ::capnp::_::RawSchema* const d_d314cfd957229c11[] = {
|
||||
&s_fe346a9de48d9b50,
|
||||
&s_fe35ad896ffaeacf,
|
||||
};
|
||||
static const uint16_t m_d314cfd957229c11[] = {98, 101, 133, 30, 20, 55, 42, 149, 113, 148, 60, 63, 5, 23, 112, 127, 69, 111, 22, 114, 28, 35, 7, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 124, 125, 126, 6, 132, 70, 87, 76, 71, 59, 92, 128, 85, 26, 10, 91, 21, 48, 3, 41, 40, 99, 100, 1, 65, 64, 32, 96, 19, 146, 8, 46, 25, 72, 51, 44, 37, 62, 115, 36, 61, 129, 94, 131, 16, 14, 122, 119, 120, 117, 121, 118, 49, 18, 0, 24, 109, 95, 78, 105, 9, 116, 108, 75, 82, 104, 83, 38, 84, 27, 134, 68, 110, 54, 58, 56, 47, 53, 45, 12, 81, 80, 33, 89, 90, 31, 13, 147, 2, 86, 15, 130, 107, 17, 4, 11, 73, 103, 97, 123, 52, 66, 135, 43, 34, 39, 102, 57, 50, 106, 79, 93, 67, 74, 88, 77, 29};
|
||||
static const uint16_t m_d314cfd957229c11[] = {98, 101, 133, 30, 20, 55, 42, 149, 113, 148, 60, 63, 5, 23, 112, 127, 69, 111, 22, 114, 28, 35, 7, 136, 137, 138, 139, 140, 141, 142, 124, 125, 126, 6, 132, 70, 87, 76, 71, 59, 92, 128, 85, 26, 10, 91, 21, 48, 3, 41, 40, 99, 100, 1, 65, 64, 32, 96, 19, 146, 8, 46, 25, 72, 51, 44, 37, 62, 115, 36, 61, 129, 94, 131, 16, 14, 122, 119, 120, 117, 121, 118, 49, 18, 0, 24, 109, 95, 78, 105, 143, 144, 145, 9, 116, 108, 75, 82, 104, 83, 38, 84, 27, 134, 68, 110, 54, 58, 56, 47, 53, 45, 12, 81, 80, 33, 89, 90, 31, 13, 147, 2, 86, 15, 130, 107, 17, 4, 11, 73, 103, 97, 123, 52, 66, 135, 43, 34, 39, 102, 57, 50, 106, 79, 93, 67, 74, 88, 77, 29};
|
||||
static const uint16_t i_d314cfd957229c11[] = {1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 0, 67};
|
||||
const ::capnp::_::RawSchema s_d314cfd957229c11 = {
|
||||
0xd314cfd957229c11, b_d314cfd957229c11.words, 2560, d_d314cfd957229c11, m_d314cfd957229c11,
|
||||
0xd314cfd957229c11, b_d314cfd957229c11.words, 2555, d_d314cfd957229c11, m_d314cfd957229c11,
|
||||
108, 150, i_d314cfd957229c11, nullptr, nullptr, { &s_d314cfd957229c11, nullptr, nullptr, 0, 0, nullptr }, true
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
+115
-173
@@ -125,7 +125,6 @@ enum class EventName_91f1992a1f77fb03: uint16_t {
|
||||
USER_BOOKMARK,
|
||||
EXCESSIVE_ACTUATION,
|
||||
AUDIO_FEEDBACK,
|
||||
STOCK_LKAS,
|
||||
};
|
||||
CAPNP_DECLARE_ENUM(EventName, 91f1992a1f77fb03);
|
||||
CAPNP_DECLARE_SCHEMA(d692e23d1a247d99);
|
||||
@@ -1766,7 +1765,7 @@ struct ProcLog::Process {
|
||||
class Pipeline;
|
||||
|
||||
struct _capnpPrivate {
|
||||
CAPNP_DECLARE_STRUCT_HEADER(b0b85613f19e6d28, 12, 3)
|
||||
CAPNP_DECLARE_STRUCT_HEADER(b0b85613f19e6d28, 9, 3)
|
||||
#if !CAPNP_LITE
|
||||
static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; }
|
||||
#endif // !CAPNP_LITE
|
||||
@@ -2904,9 +2903,9 @@ struct Event {
|
||||
CUSTOM_RESERVED14,
|
||||
CUSTOM_RESERVED15,
|
||||
CUSTOM_RESERVED16,
|
||||
CUSTOM_RESERVED17,
|
||||
CUSTOM_RESERVED18,
|
||||
CUSTOM_RESERVED19,
|
||||
MAPD_EXTENDED_OUT,
|
||||
MAPD_IN,
|
||||
MAPD_OUT,
|
||||
LIVE_DELAY,
|
||||
RAW_AUDIO_DATA,
|
||||
BOOKMARK_BUTTON,
|
||||
@@ -12817,12 +12816,6 @@ public:
|
||||
inline bool hasExe() const;
|
||||
inline ::capnp::Text::Reader getExe() const;
|
||||
|
||||
inline ::uint64_t getMemPss() const;
|
||||
|
||||
inline ::uint64_t getMemPssAnon() const;
|
||||
|
||||
inline ::uint64_t getMemPssShmem() const;
|
||||
|
||||
private:
|
||||
::capnp::_::StructReader _reader;
|
||||
template <typename, ::capnp::Kind>
|
||||
@@ -12915,15 +12908,6 @@ public:
|
||||
inline void adoptExe(::capnp::Orphan< ::capnp::Text>&& value);
|
||||
inline ::capnp::Orphan< ::capnp::Text> disownExe();
|
||||
|
||||
inline ::uint64_t getMemPss();
|
||||
inline void setMemPss( ::uint64_t value);
|
||||
|
||||
inline ::uint64_t getMemPssAnon();
|
||||
inline void setMemPssAnon( ::uint64_t value);
|
||||
|
||||
inline ::uint64_t getMemPssShmem();
|
||||
inline void setMemPssShmem( ::uint64_t value);
|
||||
|
||||
private:
|
||||
::capnp::_::StructBuilder _builder;
|
||||
template <typename, ::capnp::Kind>
|
||||
@@ -21752,17 +21736,17 @@ public:
|
||||
inline bool hasCustomReserved16() const;
|
||||
inline ::cereal::CustomReserved16::Reader getCustomReserved16() const;
|
||||
|
||||
inline bool isCustomReserved17() const;
|
||||
inline bool hasCustomReserved17() const;
|
||||
inline ::cereal::CustomReserved17::Reader getCustomReserved17() const;
|
||||
inline bool isMapdExtendedOut() const;
|
||||
inline bool hasMapdExtendedOut() const;
|
||||
inline ::cereal::MapdExtendedOut::Reader getMapdExtendedOut() const;
|
||||
|
||||
inline bool isCustomReserved18() const;
|
||||
inline bool hasCustomReserved18() const;
|
||||
inline ::cereal::CustomReserved18::Reader getCustomReserved18() const;
|
||||
inline bool isMapdIn() const;
|
||||
inline bool hasMapdIn() const;
|
||||
inline ::cereal::MapdIn::Reader getMapdIn() const;
|
||||
|
||||
inline bool isCustomReserved19() const;
|
||||
inline bool hasCustomReserved19() const;
|
||||
inline ::cereal::CustomReserved19::Reader getCustomReserved19() const;
|
||||
inline bool isMapdOut() const;
|
||||
inline bool hasMapdOut() const;
|
||||
inline ::cereal::MapdOut::Reader getMapdOut() const;
|
||||
|
||||
inline bool isLiveDelay() const;
|
||||
inline bool hasLiveDelay() const;
|
||||
@@ -22943,29 +22927,29 @@ public:
|
||||
inline void adoptCustomReserved16(::capnp::Orphan< ::cereal::CustomReserved16>&& value);
|
||||
inline ::capnp::Orphan< ::cereal::CustomReserved16> disownCustomReserved16();
|
||||
|
||||
inline bool isCustomReserved17();
|
||||
inline bool hasCustomReserved17();
|
||||
inline ::cereal::CustomReserved17::Builder getCustomReserved17();
|
||||
inline void setCustomReserved17( ::cereal::CustomReserved17::Reader value);
|
||||
inline ::cereal::CustomReserved17::Builder initCustomReserved17();
|
||||
inline void adoptCustomReserved17(::capnp::Orphan< ::cereal::CustomReserved17>&& value);
|
||||
inline ::capnp::Orphan< ::cereal::CustomReserved17> disownCustomReserved17();
|
||||
inline bool isMapdExtendedOut();
|
||||
inline bool hasMapdExtendedOut();
|
||||
inline ::cereal::MapdExtendedOut::Builder getMapdExtendedOut();
|
||||
inline void setMapdExtendedOut( ::cereal::MapdExtendedOut::Reader value);
|
||||
inline ::cereal::MapdExtendedOut::Builder initMapdExtendedOut();
|
||||
inline void adoptMapdExtendedOut(::capnp::Orphan< ::cereal::MapdExtendedOut>&& value);
|
||||
inline ::capnp::Orphan< ::cereal::MapdExtendedOut> disownMapdExtendedOut();
|
||||
|
||||
inline bool isCustomReserved18();
|
||||
inline bool hasCustomReserved18();
|
||||
inline ::cereal::CustomReserved18::Builder getCustomReserved18();
|
||||
inline void setCustomReserved18( ::cereal::CustomReserved18::Reader value);
|
||||
inline ::cereal::CustomReserved18::Builder initCustomReserved18();
|
||||
inline void adoptCustomReserved18(::capnp::Orphan< ::cereal::CustomReserved18>&& value);
|
||||
inline ::capnp::Orphan< ::cereal::CustomReserved18> disownCustomReserved18();
|
||||
inline bool isMapdIn();
|
||||
inline bool hasMapdIn();
|
||||
inline ::cereal::MapdIn::Builder getMapdIn();
|
||||
inline void setMapdIn( ::cereal::MapdIn::Reader value);
|
||||
inline ::cereal::MapdIn::Builder initMapdIn();
|
||||
inline void adoptMapdIn(::capnp::Orphan< ::cereal::MapdIn>&& value);
|
||||
inline ::capnp::Orphan< ::cereal::MapdIn> disownMapdIn();
|
||||
|
||||
inline bool isCustomReserved19();
|
||||
inline bool hasCustomReserved19();
|
||||
inline ::cereal::CustomReserved19::Builder getCustomReserved19();
|
||||
inline void setCustomReserved19( ::cereal::CustomReserved19::Reader value);
|
||||
inline ::cereal::CustomReserved19::Builder initCustomReserved19();
|
||||
inline void adoptCustomReserved19(::capnp::Orphan< ::cereal::CustomReserved19>&& value);
|
||||
inline ::capnp::Orphan< ::cereal::CustomReserved19> disownCustomReserved19();
|
||||
inline bool isMapdOut();
|
||||
inline bool hasMapdOut();
|
||||
inline ::cereal::MapdOut::Builder getMapdOut();
|
||||
inline void setMapdOut( ::cereal::MapdOut::Reader value);
|
||||
inline ::cereal::MapdOut::Builder initMapdOut();
|
||||
inline void adoptMapdOut(::capnp::Orphan< ::cereal::MapdOut>&& value);
|
||||
inline ::capnp::Orphan< ::cereal::MapdOut> disownMapdOut();
|
||||
|
||||
inline bool isLiveDelay();
|
||||
inline bool hasLiveDelay();
|
||||
@@ -39718,48 +39702,6 @@ inline ::capnp::Orphan< ::capnp::Text> ProcLog::Process::Builder::disownExe() {
|
||||
::capnp::bounded<2>() * ::capnp::POINTERS));
|
||||
}
|
||||
|
||||
inline ::uint64_t ProcLog::Process::Reader::getMemPss() const {
|
||||
return _reader.getDataField< ::uint64_t>(
|
||||
::capnp::bounded<9>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline ::uint64_t ProcLog::Process::Builder::getMemPss() {
|
||||
return _builder.getDataField< ::uint64_t>(
|
||||
::capnp::bounded<9>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void ProcLog::Process::Builder::setMemPss( ::uint64_t value) {
|
||||
_builder.setDataField< ::uint64_t>(
|
||||
::capnp::bounded<9>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline ::uint64_t ProcLog::Process::Reader::getMemPssAnon() const {
|
||||
return _reader.getDataField< ::uint64_t>(
|
||||
::capnp::bounded<10>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline ::uint64_t ProcLog::Process::Builder::getMemPssAnon() {
|
||||
return _builder.getDataField< ::uint64_t>(
|
||||
::capnp::bounded<10>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void ProcLog::Process::Builder::setMemPssAnon( ::uint64_t value) {
|
||||
_builder.setDataField< ::uint64_t>(
|
||||
::capnp::bounded<10>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline ::uint64_t ProcLog::Process::Reader::getMemPssShmem() const {
|
||||
return _reader.getDataField< ::uint64_t>(
|
||||
::capnp::bounded<11>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline ::uint64_t ProcLog::Process::Builder::getMemPssShmem() {
|
||||
return _builder.getDataField< ::uint64_t>(
|
||||
::capnp::bounded<11>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void ProcLog::Process::Builder::setMemPssShmem( ::uint64_t value) {
|
||||
_builder.setDataField< ::uint64_t>(
|
||||
::capnp::bounded<11>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline ::int64_t ProcLog::CPUTimes::Reader::getCpuNum() const {
|
||||
return _reader.getDataField< ::int64_t>(
|
||||
::capnp::bounded<0>() * ::capnp::ELEMENTS);
|
||||
@@ -59294,165 +59236,165 @@ inline ::capnp::Orphan< ::cereal::CustomReserved16> Event::Builder::disownCustom
|
||||
::capnp::bounded<0>() * ::capnp::POINTERS));
|
||||
}
|
||||
|
||||
inline bool Event::Reader::isCustomReserved17() const {
|
||||
return which() == Event::CUSTOM_RESERVED17;
|
||||
inline bool Event::Reader::isMapdExtendedOut() const {
|
||||
return which() == Event::MAPD_EXTENDED_OUT;
|
||||
}
|
||||
inline bool Event::Builder::isCustomReserved17() {
|
||||
return which() == Event::CUSTOM_RESERVED17;
|
||||
inline bool Event::Builder::isMapdExtendedOut() {
|
||||
return which() == Event::MAPD_EXTENDED_OUT;
|
||||
}
|
||||
inline bool Event::Reader::hasCustomReserved17() const {
|
||||
if (which() != Event::CUSTOM_RESERVED17) return false;
|
||||
inline bool Event::Reader::hasMapdExtendedOut() const {
|
||||
if (which() != Event::MAPD_EXTENDED_OUT) return false;
|
||||
return !_reader.getPointerField(
|
||||
::capnp::bounded<0>() * ::capnp::POINTERS).isNull();
|
||||
}
|
||||
inline bool Event::Builder::hasCustomReserved17() {
|
||||
if (which() != Event::CUSTOM_RESERVED17) return false;
|
||||
inline bool Event::Builder::hasMapdExtendedOut() {
|
||||
if (which() != Event::MAPD_EXTENDED_OUT) return false;
|
||||
return !_builder.getPointerField(
|
||||
::capnp::bounded<0>() * ::capnp::POINTERS).isNull();
|
||||
}
|
||||
inline ::cereal::CustomReserved17::Reader Event::Reader::getCustomReserved17() const {
|
||||
KJ_IREQUIRE((which() == Event::CUSTOM_RESERVED17),
|
||||
inline ::cereal::MapdExtendedOut::Reader Event::Reader::getMapdExtendedOut() const {
|
||||
KJ_IREQUIRE((which() == Event::MAPD_EXTENDED_OUT),
|
||||
"Must check which() before get()ing a union member.");
|
||||
return ::capnp::_::PointerHelpers< ::cereal::CustomReserved17>::get(_reader.getPointerField(
|
||||
return ::capnp::_::PointerHelpers< ::cereal::MapdExtendedOut>::get(_reader.getPointerField(
|
||||
::capnp::bounded<0>() * ::capnp::POINTERS));
|
||||
}
|
||||
inline ::cereal::CustomReserved17::Builder Event::Builder::getCustomReserved17() {
|
||||
KJ_IREQUIRE((which() == Event::CUSTOM_RESERVED17),
|
||||
inline ::cereal::MapdExtendedOut::Builder Event::Builder::getMapdExtendedOut() {
|
||||
KJ_IREQUIRE((which() == Event::MAPD_EXTENDED_OUT),
|
||||
"Must check which() before get()ing a union member.");
|
||||
return ::capnp::_::PointerHelpers< ::cereal::CustomReserved17>::get(_builder.getPointerField(
|
||||
return ::capnp::_::PointerHelpers< ::cereal::MapdExtendedOut>::get(_builder.getPointerField(
|
||||
::capnp::bounded<0>() * ::capnp::POINTERS));
|
||||
}
|
||||
inline void Event::Builder::setCustomReserved17( ::cereal::CustomReserved17::Reader value) {
|
||||
inline void Event::Builder::setMapdExtendedOut( ::cereal::MapdExtendedOut::Reader value) {
|
||||
_builder.setDataField<Event::Which>(
|
||||
::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::CUSTOM_RESERVED17);
|
||||
::capnp::_::PointerHelpers< ::cereal::CustomReserved17>::set(_builder.getPointerField(
|
||||
::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::MAPD_EXTENDED_OUT);
|
||||
::capnp::_::PointerHelpers< ::cereal::MapdExtendedOut>::set(_builder.getPointerField(
|
||||
::capnp::bounded<0>() * ::capnp::POINTERS), value);
|
||||
}
|
||||
inline ::cereal::CustomReserved17::Builder Event::Builder::initCustomReserved17() {
|
||||
inline ::cereal::MapdExtendedOut::Builder Event::Builder::initMapdExtendedOut() {
|
||||
_builder.setDataField<Event::Which>(
|
||||
::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::CUSTOM_RESERVED17);
|
||||
return ::capnp::_::PointerHelpers< ::cereal::CustomReserved17>::init(_builder.getPointerField(
|
||||
::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::MAPD_EXTENDED_OUT);
|
||||
return ::capnp::_::PointerHelpers< ::cereal::MapdExtendedOut>::init(_builder.getPointerField(
|
||||
::capnp::bounded<0>() * ::capnp::POINTERS));
|
||||
}
|
||||
inline void Event::Builder::adoptCustomReserved17(
|
||||
::capnp::Orphan< ::cereal::CustomReserved17>&& value) {
|
||||
inline void Event::Builder::adoptMapdExtendedOut(
|
||||
::capnp::Orphan< ::cereal::MapdExtendedOut>&& value) {
|
||||
_builder.setDataField<Event::Which>(
|
||||
::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::CUSTOM_RESERVED17);
|
||||
::capnp::_::PointerHelpers< ::cereal::CustomReserved17>::adopt(_builder.getPointerField(
|
||||
::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::MAPD_EXTENDED_OUT);
|
||||
::capnp::_::PointerHelpers< ::cereal::MapdExtendedOut>::adopt(_builder.getPointerField(
|
||||
::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value));
|
||||
}
|
||||
inline ::capnp::Orphan< ::cereal::CustomReserved17> Event::Builder::disownCustomReserved17() {
|
||||
KJ_IREQUIRE((which() == Event::CUSTOM_RESERVED17),
|
||||
inline ::capnp::Orphan< ::cereal::MapdExtendedOut> Event::Builder::disownMapdExtendedOut() {
|
||||
KJ_IREQUIRE((which() == Event::MAPD_EXTENDED_OUT),
|
||||
"Must check which() before get()ing a union member.");
|
||||
return ::capnp::_::PointerHelpers< ::cereal::CustomReserved17>::disown(_builder.getPointerField(
|
||||
return ::capnp::_::PointerHelpers< ::cereal::MapdExtendedOut>::disown(_builder.getPointerField(
|
||||
::capnp::bounded<0>() * ::capnp::POINTERS));
|
||||
}
|
||||
|
||||
inline bool Event::Reader::isCustomReserved18() const {
|
||||
return which() == Event::CUSTOM_RESERVED18;
|
||||
inline bool Event::Reader::isMapdIn() const {
|
||||
return which() == Event::MAPD_IN;
|
||||
}
|
||||
inline bool Event::Builder::isCustomReserved18() {
|
||||
return which() == Event::CUSTOM_RESERVED18;
|
||||
inline bool Event::Builder::isMapdIn() {
|
||||
return which() == Event::MAPD_IN;
|
||||
}
|
||||
inline bool Event::Reader::hasCustomReserved18() const {
|
||||
if (which() != Event::CUSTOM_RESERVED18) return false;
|
||||
inline bool Event::Reader::hasMapdIn() const {
|
||||
if (which() != Event::MAPD_IN) return false;
|
||||
return !_reader.getPointerField(
|
||||
::capnp::bounded<0>() * ::capnp::POINTERS).isNull();
|
||||
}
|
||||
inline bool Event::Builder::hasCustomReserved18() {
|
||||
if (which() != Event::CUSTOM_RESERVED18) return false;
|
||||
inline bool Event::Builder::hasMapdIn() {
|
||||
if (which() != Event::MAPD_IN) return false;
|
||||
return !_builder.getPointerField(
|
||||
::capnp::bounded<0>() * ::capnp::POINTERS).isNull();
|
||||
}
|
||||
inline ::cereal::CustomReserved18::Reader Event::Reader::getCustomReserved18() const {
|
||||
KJ_IREQUIRE((which() == Event::CUSTOM_RESERVED18),
|
||||
inline ::cereal::MapdIn::Reader Event::Reader::getMapdIn() const {
|
||||
KJ_IREQUIRE((which() == Event::MAPD_IN),
|
||||
"Must check which() before get()ing a union member.");
|
||||
return ::capnp::_::PointerHelpers< ::cereal::CustomReserved18>::get(_reader.getPointerField(
|
||||
return ::capnp::_::PointerHelpers< ::cereal::MapdIn>::get(_reader.getPointerField(
|
||||
::capnp::bounded<0>() * ::capnp::POINTERS));
|
||||
}
|
||||
inline ::cereal::CustomReserved18::Builder Event::Builder::getCustomReserved18() {
|
||||
KJ_IREQUIRE((which() == Event::CUSTOM_RESERVED18),
|
||||
inline ::cereal::MapdIn::Builder Event::Builder::getMapdIn() {
|
||||
KJ_IREQUIRE((which() == Event::MAPD_IN),
|
||||
"Must check which() before get()ing a union member.");
|
||||
return ::capnp::_::PointerHelpers< ::cereal::CustomReserved18>::get(_builder.getPointerField(
|
||||
return ::capnp::_::PointerHelpers< ::cereal::MapdIn>::get(_builder.getPointerField(
|
||||
::capnp::bounded<0>() * ::capnp::POINTERS));
|
||||
}
|
||||
inline void Event::Builder::setCustomReserved18( ::cereal::CustomReserved18::Reader value) {
|
||||
inline void Event::Builder::setMapdIn( ::cereal::MapdIn::Reader value) {
|
||||
_builder.setDataField<Event::Which>(
|
||||
::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::CUSTOM_RESERVED18);
|
||||
::capnp::_::PointerHelpers< ::cereal::CustomReserved18>::set(_builder.getPointerField(
|
||||
::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::MAPD_IN);
|
||||
::capnp::_::PointerHelpers< ::cereal::MapdIn>::set(_builder.getPointerField(
|
||||
::capnp::bounded<0>() * ::capnp::POINTERS), value);
|
||||
}
|
||||
inline ::cereal::CustomReserved18::Builder Event::Builder::initCustomReserved18() {
|
||||
inline ::cereal::MapdIn::Builder Event::Builder::initMapdIn() {
|
||||
_builder.setDataField<Event::Which>(
|
||||
::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::CUSTOM_RESERVED18);
|
||||
return ::capnp::_::PointerHelpers< ::cereal::CustomReserved18>::init(_builder.getPointerField(
|
||||
::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::MAPD_IN);
|
||||
return ::capnp::_::PointerHelpers< ::cereal::MapdIn>::init(_builder.getPointerField(
|
||||
::capnp::bounded<0>() * ::capnp::POINTERS));
|
||||
}
|
||||
inline void Event::Builder::adoptCustomReserved18(
|
||||
::capnp::Orphan< ::cereal::CustomReserved18>&& value) {
|
||||
inline void Event::Builder::adoptMapdIn(
|
||||
::capnp::Orphan< ::cereal::MapdIn>&& value) {
|
||||
_builder.setDataField<Event::Which>(
|
||||
::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::CUSTOM_RESERVED18);
|
||||
::capnp::_::PointerHelpers< ::cereal::CustomReserved18>::adopt(_builder.getPointerField(
|
||||
::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::MAPD_IN);
|
||||
::capnp::_::PointerHelpers< ::cereal::MapdIn>::adopt(_builder.getPointerField(
|
||||
::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value));
|
||||
}
|
||||
inline ::capnp::Orphan< ::cereal::CustomReserved18> Event::Builder::disownCustomReserved18() {
|
||||
KJ_IREQUIRE((which() == Event::CUSTOM_RESERVED18),
|
||||
inline ::capnp::Orphan< ::cereal::MapdIn> Event::Builder::disownMapdIn() {
|
||||
KJ_IREQUIRE((which() == Event::MAPD_IN),
|
||||
"Must check which() before get()ing a union member.");
|
||||
return ::capnp::_::PointerHelpers< ::cereal::CustomReserved18>::disown(_builder.getPointerField(
|
||||
return ::capnp::_::PointerHelpers< ::cereal::MapdIn>::disown(_builder.getPointerField(
|
||||
::capnp::bounded<0>() * ::capnp::POINTERS));
|
||||
}
|
||||
|
||||
inline bool Event::Reader::isCustomReserved19() const {
|
||||
return which() == Event::CUSTOM_RESERVED19;
|
||||
inline bool Event::Reader::isMapdOut() const {
|
||||
return which() == Event::MAPD_OUT;
|
||||
}
|
||||
inline bool Event::Builder::isCustomReserved19() {
|
||||
return which() == Event::CUSTOM_RESERVED19;
|
||||
inline bool Event::Builder::isMapdOut() {
|
||||
return which() == Event::MAPD_OUT;
|
||||
}
|
||||
inline bool Event::Reader::hasCustomReserved19() const {
|
||||
if (which() != Event::CUSTOM_RESERVED19) return false;
|
||||
inline bool Event::Reader::hasMapdOut() const {
|
||||
if (which() != Event::MAPD_OUT) return false;
|
||||
return !_reader.getPointerField(
|
||||
::capnp::bounded<0>() * ::capnp::POINTERS).isNull();
|
||||
}
|
||||
inline bool Event::Builder::hasCustomReserved19() {
|
||||
if (which() != Event::CUSTOM_RESERVED19) return false;
|
||||
inline bool Event::Builder::hasMapdOut() {
|
||||
if (which() != Event::MAPD_OUT) return false;
|
||||
return !_builder.getPointerField(
|
||||
::capnp::bounded<0>() * ::capnp::POINTERS).isNull();
|
||||
}
|
||||
inline ::cereal::CustomReserved19::Reader Event::Reader::getCustomReserved19() const {
|
||||
KJ_IREQUIRE((which() == Event::CUSTOM_RESERVED19),
|
||||
inline ::cereal::MapdOut::Reader Event::Reader::getMapdOut() const {
|
||||
KJ_IREQUIRE((which() == Event::MAPD_OUT),
|
||||
"Must check which() before get()ing a union member.");
|
||||
return ::capnp::_::PointerHelpers< ::cereal::CustomReserved19>::get(_reader.getPointerField(
|
||||
return ::capnp::_::PointerHelpers< ::cereal::MapdOut>::get(_reader.getPointerField(
|
||||
::capnp::bounded<0>() * ::capnp::POINTERS));
|
||||
}
|
||||
inline ::cereal::CustomReserved19::Builder Event::Builder::getCustomReserved19() {
|
||||
KJ_IREQUIRE((which() == Event::CUSTOM_RESERVED19),
|
||||
inline ::cereal::MapdOut::Builder Event::Builder::getMapdOut() {
|
||||
KJ_IREQUIRE((which() == Event::MAPD_OUT),
|
||||
"Must check which() before get()ing a union member.");
|
||||
return ::capnp::_::PointerHelpers< ::cereal::CustomReserved19>::get(_builder.getPointerField(
|
||||
return ::capnp::_::PointerHelpers< ::cereal::MapdOut>::get(_builder.getPointerField(
|
||||
::capnp::bounded<0>() * ::capnp::POINTERS));
|
||||
}
|
||||
inline void Event::Builder::setCustomReserved19( ::cereal::CustomReserved19::Reader value) {
|
||||
inline void Event::Builder::setMapdOut( ::cereal::MapdOut::Reader value) {
|
||||
_builder.setDataField<Event::Which>(
|
||||
::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::CUSTOM_RESERVED19);
|
||||
::capnp::_::PointerHelpers< ::cereal::CustomReserved19>::set(_builder.getPointerField(
|
||||
::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::MAPD_OUT);
|
||||
::capnp::_::PointerHelpers< ::cereal::MapdOut>::set(_builder.getPointerField(
|
||||
::capnp::bounded<0>() * ::capnp::POINTERS), value);
|
||||
}
|
||||
inline ::cereal::CustomReserved19::Builder Event::Builder::initCustomReserved19() {
|
||||
inline ::cereal::MapdOut::Builder Event::Builder::initMapdOut() {
|
||||
_builder.setDataField<Event::Which>(
|
||||
::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::CUSTOM_RESERVED19);
|
||||
return ::capnp::_::PointerHelpers< ::cereal::CustomReserved19>::init(_builder.getPointerField(
|
||||
::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::MAPD_OUT);
|
||||
return ::capnp::_::PointerHelpers< ::cereal::MapdOut>::init(_builder.getPointerField(
|
||||
::capnp::bounded<0>() * ::capnp::POINTERS));
|
||||
}
|
||||
inline void Event::Builder::adoptCustomReserved19(
|
||||
::capnp::Orphan< ::cereal::CustomReserved19>&& value) {
|
||||
inline void Event::Builder::adoptMapdOut(
|
||||
::capnp::Orphan< ::cereal::MapdOut>&& value) {
|
||||
_builder.setDataField<Event::Which>(
|
||||
::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::CUSTOM_RESERVED19);
|
||||
::capnp::_::PointerHelpers< ::cereal::CustomReserved19>::adopt(_builder.getPointerField(
|
||||
::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::MAPD_OUT);
|
||||
::capnp::_::PointerHelpers< ::cereal::MapdOut>::adopt(_builder.getPointerField(
|
||||
::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value));
|
||||
}
|
||||
inline ::capnp::Orphan< ::cereal::CustomReserved19> Event::Builder::disownCustomReserved19() {
|
||||
KJ_IREQUIRE((which() == Event::CUSTOM_RESERVED19),
|
||||
inline ::capnp::Orphan< ::cereal::MapdOut> Event::Builder::disownMapdOut() {
|
||||
KJ_IREQUIRE((which() == Event::MAPD_OUT),
|
||||
"Must check which() before get()ing a union member.");
|
||||
return ::capnp::_::PointerHelpers< ::cereal::CustomReserved19>::disown(_builder.getPointerField(
|
||||
return ::capnp::_::PointerHelpers< ::cereal::MapdOut>::disown(_builder.getPointerField(
|
||||
::capnp::bounded<0>() * ::capnp::POINTERS));
|
||||
}
|
||||
|
||||
|
||||
+3
-9
@@ -87,7 +87,6 @@ struct OnroadEvent @0xc4fa6047f024e718 {
|
||||
laneChange @50;
|
||||
lowMemory @51;
|
||||
stockAeb @52;
|
||||
stockLkas @98;
|
||||
ldw @53;
|
||||
carUnrecognized @54;
|
||||
invalidLkasSetting @55;
|
||||
@@ -1478,11 +1477,6 @@ struct ProcLog {
|
||||
|
||||
cmdline @15 :List(Text);
|
||||
exe @16 :Text;
|
||||
|
||||
# from /proc/<pid>/smaps_rollup (proportional/private memory)
|
||||
memPss @17 :UInt64; # Pss — shared pages split by mapper count
|
||||
memPssAnon @18 :UInt64; # Pss_Anon — private anonymous (heap, stack)
|
||||
memPssShmem @19 :UInt64; # Pss_Shmem — proportional MSGQ/tmpfs share
|
||||
}
|
||||
|
||||
struct CPUTimes {
|
||||
@@ -2648,9 +2642,9 @@ struct Event {
|
||||
customReserved14 @140 :Custom.CustomReserved14;
|
||||
customReserved15 @141 :Custom.CustomReserved15;
|
||||
customReserved16 @142 :Custom.CustomReserved16;
|
||||
customReserved17 @143 :Custom.CustomReserved17;
|
||||
customReserved18 @144 :Custom.CustomReserved18;
|
||||
customReserved19 @145 :Custom.CustomReserved19;
|
||||
mapdExtendedOut @143 :Custom.MapdExtendedOut;
|
||||
mapdIn @144 :Custom.MapdIn;
|
||||
mapdOut @145 :Custom.MapdOut;
|
||||
|
||||
# *********** legacy + deprecated ***********
|
||||
model @9 :Legacy.ModelData; # TODO: rename modelV2 and mark this as deprecated
|
||||
|
||||
@@ -1,8 +1,10 @@
|
||||
# must be built with scons
|
||||
from msgq import fake_event_handle, drain_sock_raw, MultiplePublishersError, IpcError, \
|
||||
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 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, drain_sock_raw
|
||||
import msgq
|
||||
|
||||
import os
|
||||
import capnp
|
||||
import time
|
||||
@@ -11,7 +13,7 @@ from typing import Optional, List, Union, Dict
|
||||
|
||||
from cereal import log
|
||||
from cereal.services import SERVICE_LIST
|
||||
from openpilot.common.utils import MovingAverage
|
||||
from openpilot.common.util import MovingAverage
|
||||
|
||||
NO_TRAVERSAL_LIMIT = 2**64-1
|
||||
|
||||
|
||||
Binary file not shown.
@@ -25,16 +25,15 @@ void msgq_to_zmq(const std::vector<std::string> &endpoints, const std::string &i
|
||||
}
|
||||
|
||||
void zmq_to_msgq(const std::vector<std::string> &endpoints, const std::string &ip) {
|
||||
auto poller = std::make_unique<BridgeZmqPoller>();
|
||||
auto pub_context = std::make_unique<Context>();
|
||||
auto sub_context = std::make_unique<BridgeZmqContext>();
|
||||
std::map<BridgeZmqSubSocket *, PubSocket *> sub2pub;
|
||||
auto poller = std::make_unique<ZMQPoller>();
|
||||
auto pub_context = std::make_unique<MSGQContext>();
|
||||
auto sub_context = std::make_unique<ZMQContext>();
|
||||
std::map<SubSocket *, PubSocket *> sub2pub;
|
||||
|
||||
for (auto endpoint : endpoints) {
|
||||
auto pub_sock = new PubSocket();
|
||||
auto sub_sock = new BridgeZmqSubSocket();
|
||||
size_t queue_size = services.at(endpoint).queue_size;
|
||||
pub_sock->connect(pub_context.get(), endpoint, true, queue_size);
|
||||
auto pub_sock = new MSGQPubSocket();
|
||||
auto sub_sock = new ZMQSubSocket();
|
||||
pub_sock->connect(pub_context.get(), endpoint);
|
||||
sub_sock->connect(sub_context.get(), endpoint, ip, false);
|
||||
|
||||
poller->registerSocket(sub_sock);
|
||||
|
||||
@@ -1,170 +0,0 @@
|
||||
#include "cereal/messaging/bridge_zmq.h"
|
||||
|
||||
#include <cassert>
|
||||
#include <cstring>
|
||||
#include <unistd.h>
|
||||
|
||||
static size_t fnv1a_hash(const std::string &str) {
|
||||
const size_t fnv_prime = 0x100000001b3;
|
||||
size_t hash_value = 0xcbf29ce484222325;
|
||||
for (char c : str) {
|
||||
hash_value ^= (unsigned char)c;
|
||||
hash_value *= fnv_prime;
|
||||
}
|
||||
return hash_value;
|
||||
}
|
||||
|
||||
// FIXME: This is a hack to get the port number from the socket name, might have collisions.
|
||||
static int get_port(std::string endpoint) {
|
||||
size_t hash_value = fnv1a_hash(endpoint);
|
||||
int start_port = 8023;
|
||||
int max_port = 65535;
|
||||
return start_port + (hash_value % (max_port - start_port));
|
||||
}
|
||||
|
||||
BridgeZmqContext::BridgeZmqContext() {
|
||||
context = zmq_ctx_new();
|
||||
}
|
||||
|
||||
BridgeZmqContext::~BridgeZmqContext() {
|
||||
if (context != nullptr) {
|
||||
zmq_ctx_term(context);
|
||||
}
|
||||
}
|
||||
|
||||
void BridgeZmqMessage::init(size_t sz) {
|
||||
size = sz;
|
||||
data = new char[size];
|
||||
}
|
||||
|
||||
void BridgeZmqMessage::init(char *d, size_t sz) {
|
||||
size = sz;
|
||||
data = new char[size];
|
||||
memcpy(data, d, size);
|
||||
}
|
||||
|
||||
void BridgeZmqMessage::close() {
|
||||
if (size > 0) {
|
||||
delete[] data;
|
||||
}
|
||||
data = nullptr;
|
||||
size = 0;
|
||||
}
|
||||
|
||||
BridgeZmqMessage::~BridgeZmqMessage() {
|
||||
close();
|
||||
}
|
||||
|
||||
int BridgeZmqSubSocket::connect(BridgeZmqContext *context, std::string endpoint, std::string address, bool conflate, bool check_endpoint) {
|
||||
sock = zmq_socket(context->getRawContext(), ZMQ_SUB);
|
||||
if (sock == nullptr) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
zmq_setsockopt(sock, ZMQ_SUBSCRIBE, "", 0);
|
||||
|
||||
if (conflate) {
|
||||
int arg = 1;
|
||||
zmq_setsockopt(sock, ZMQ_CONFLATE, &arg, sizeof(int));
|
||||
}
|
||||
|
||||
int reconnect_ivl = 500;
|
||||
zmq_setsockopt(sock, ZMQ_RECONNECT_IVL_MAX, &reconnect_ivl, sizeof(reconnect_ivl));
|
||||
|
||||
full_endpoint = "tcp://" + address + ":";
|
||||
if (check_endpoint) {
|
||||
full_endpoint += std::to_string(get_port(endpoint));
|
||||
} else {
|
||||
full_endpoint += endpoint;
|
||||
}
|
||||
|
||||
return zmq_connect(sock, full_endpoint.c_str());
|
||||
}
|
||||
|
||||
void BridgeZmqSubSocket::setTimeout(int timeout) {
|
||||
zmq_setsockopt(sock, ZMQ_RCVTIMEO, &timeout, sizeof(int));
|
||||
}
|
||||
|
||||
Message *BridgeZmqSubSocket::receive(bool non_blocking) {
|
||||
zmq_msg_t msg;
|
||||
assert(zmq_msg_init(&msg) == 0);
|
||||
|
||||
int flags = non_blocking ? ZMQ_DONTWAIT : 0;
|
||||
int rc = zmq_msg_recv(&msg, sock, flags);
|
||||
|
||||
Message *ret = nullptr;
|
||||
if (rc >= 0) {
|
||||
ret = new BridgeZmqMessage;
|
||||
ret->init((char *)zmq_msg_data(&msg), zmq_msg_size(&msg));
|
||||
}
|
||||
|
||||
zmq_msg_close(&msg);
|
||||
return ret;
|
||||
}
|
||||
|
||||
BridgeZmqSubSocket::~BridgeZmqSubSocket() {
|
||||
if (sock != nullptr) {
|
||||
zmq_close(sock);
|
||||
}
|
||||
}
|
||||
|
||||
int BridgeZmqPubSocket::connect(BridgeZmqContext *context, std::string endpoint, bool check_endpoint) {
|
||||
sock = zmq_socket(context->getRawContext(), ZMQ_PUB);
|
||||
if (sock == nullptr) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
full_endpoint = "tcp://*:";
|
||||
if (check_endpoint) {
|
||||
full_endpoint += std::to_string(get_port(endpoint));
|
||||
} else {
|
||||
full_endpoint += endpoint;
|
||||
}
|
||||
|
||||
// ZMQ pub sockets cannot be shared between processes, so we need to ensure pid stays the same.
|
||||
pid = getpid();
|
||||
|
||||
return zmq_bind(sock, full_endpoint.c_str());
|
||||
}
|
||||
|
||||
int BridgeZmqPubSocket::sendMessage(Message *message) {
|
||||
assert(pid == getpid());
|
||||
return zmq_send(sock, message->getData(), message->getSize(), ZMQ_DONTWAIT);
|
||||
}
|
||||
|
||||
int BridgeZmqPubSocket::send(char *data, size_t size) {
|
||||
assert(pid == getpid());
|
||||
return zmq_send(sock, data, size, ZMQ_DONTWAIT);
|
||||
}
|
||||
|
||||
BridgeZmqPubSocket::~BridgeZmqPubSocket() {
|
||||
if (sock != nullptr) {
|
||||
zmq_close(sock);
|
||||
}
|
||||
}
|
||||
|
||||
void BridgeZmqPoller::registerSocket(BridgeZmqSubSocket *socket) {
|
||||
assert(num_polls + 1 < (sizeof(polls) / sizeof(polls[0])));
|
||||
polls[num_polls].socket = socket->getRawSocket();
|
||||
polls[num_polls].events = ZMQ_POLLIN;
|
||||
|
||||
sockets.push_back(socket);
|
||||
num_polls++;
|
||||
}
|
||||
|
||||
std::vector<BridgeZmqSubSocket *> BridgeZmqPoller::poll(int timeout) {
|
||||
std::vector<BridgeZmqSubSocket *> ret;
|
||||
|
||||
int rc = zmq_poll(polls, num_polls, timeout);
|
||||
if (rc < 0) {
|
||||
return ret;
|
||||
}
|
||||
|
||||
for (size_t i = 0; i < num_polls; i++) {
|
||||
if (polls[i].revents) {
|
||||
ret.push_back(sockets[i]);
|
||||
}
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
@@ -1,72 +0,0 @@
|
||||
#pragma once
|
||||
|
||||
#include <cstddef>
|
||||
#include <string>
|
||||
#include <vector>
|
||||
|
||||
#include <zmq.h>
|
||||
|
||||
#include "msgq/ipc.h"
|
||||
|
||||
class BridgeZmqContext {
|
||||
public:
|
||||
BridgeZmqContext();
|
||||
void *getRawContext() { return context; }
|
||||
~BridgeZmqContext();
|
||||
|
||||
private:
|
||||
void *context = nullptr;
|
||||
};
|
||||
|
||||
class BridgeZmqMessage : public Message {
|
||||
public:
|
||||
void init(size_t size);
|
||||
void init(char *data, size_t size);
|
||||
void close();
|
||||
size_t getSize() { return size; }
|
||||
char *getData() { return data; }
|
||||
~BridgeZmqMessage();
|
||||
|
||||
private:
|
||||
char *data = nullptr;
|
||||
size_t size = 0;
|
||||
};
|
||||
|
||||
class BridgeZmqSubSocket {
|
||||
public:
|
||||
int connect(BridgeZmqContext *context, std::string endpoint, std::string address, bool conflate = false, bool check_endpoint = true);
|
||||
void setTimeout(int timeout);
|
||||
Message *receive(bool non_blocking = false);
|
||||
void *getRawSocket() { return sock; }
|
||||
~BridgeZmqSubSocket();
|
||||
|
||||
private:
|
||||
void *sock = nullptr;
|
||||
std::string full_endpoint;
|
||||
};
|
||||
|
||||
class BridgeZmqPubSocket {
|
||||
public:
|
||||
int connect(BridgeZmqContext *context, std::string endpoint, bool check_endpoint = true);
|
||||
int sendMessage(Message *message);
|
||||
int send(char *data, size_t size);
|
||||
void *getRawSocket() { return sock; }
|
||||
~BridgeZmqPubSocket();
|
||||
|
||||
private:
|
||||
void *sock = nullptr;
|
||||
std::string full_endpoint;
|
||||
int pid = -1;
|
||||
};
|
||||
|
||||
class BridgeZmqPoller {
|
||||
public:
|
||||
void registerSocket(BridgeZmqSubSocket *socket);
|
||||
std::vector<BridgeZmqSubSocket *> poll(int timeout);
|
||||
|
||||
private:
|
||||
static constexpr size_t MAX_BRIDGE_ZMQ_POLLERS = 128;
|
||||
std::vector<BridgeZmqSubSocket *> sockets;
|
||||
zmq_pollitem_t polls[MAX_BRIDGE_ZMQ_POLLERS] = {};
|
||||
size_t num_polls = 0;
|
||||
};
|
||||
@@ -2,7 +2,6 @@
|
||||
|
||||
#include <cassert>
|
||||
|
||||
#include "cereal/services.h"
|
||||
#include "common/util.h"
|
||||
|
||||
extern ExitHandler do_exit;
|
||||
@@ -22,14 +21,14 @@ static std::string recv_zmq_msg(void *sock) {
|
||||
}
|
||||
|
||||
void MsgqToZmq::run(const std::vector<std::string> &endpoints, const std::string &ip) {
|
||||
zmq_context = std::make_unique<BridgeZmqContext>();
|
||||
msgq_context = std::make_unique<Context>();
|
||||
zmq_context = std::make_unique<ZMQContext>();
|
||||
msgq_context = std::make_unique<MSGQContext>();
|
||||
|
||||
// Create ZMQPubSockets for each endpoint
|
||||
for (const auto &endpoint : endpoints) {
|
||||
auto &socket_pair = socket_pairs.emplace_back();
|
||||
socket_pair.endpoint = endpoint;
|
||||
socket_pair.pub_sock = std::make_unique<BridgeZmqPubSocket>();
|
||||
socket_pair.pub_sock = std::make_unique<ZMQPubSocket>();
|
||||
int ret = socket_pair.pub_sock->connect(zmq_context.get(), endpoint);
|
||||
if (ret != 0) {
|
||||
printf("Failed to create ZMQ publisher for [%s]: %s\n", endpoint.c_str(), zmq_strerror(zmq_errno()));
|
||||
@@ -49,7 +48,7 @@ void MsgqToZmq::run(const std::vector<std::string> &endpoints, const std::string
|
||||
|
||||
for (auto sub_sock : msgq_poller->poll(100)) {
|
||||
// Process messages for each socket
|
||||
BridgeZmqPubSocket *pub_sock = sub2pub.at(sub_sock);
|
||||
ZMQPubSocket *pub_sock = sub2pub.at(sub_sock);
|
||||
for (int i = 0; i < MAX_MESSAGES_PER_SOCKET; ++i) {
|
||||
auto msg = std::unique_ptr<Message>(sub_sock->receive(true));
|
||||
if (!msg) break;
|
||||
@@ -72,7 +71,7 @@ void MsgqToZmq::zmqMonitorThread() {
|
||||
// Set up ZMQ monitor for each pub socket
|
||||
for (int i = 0; i < socket_pairs.size(); ++i) {
|
||||
std::string addr = "inproc://op-bridge-monitor-" + std::to_string(i);
|
||||
zmq_socket_monitor(socket_pairs[i].pub_sock->getRawSocket(), addr.c_str(), ZMQ_EVENT_ACCEPTED | ZMQ_EVENT_DISCONNECTED);
|
||||
zmq_socket_monitor(socket_pairs[i].pub_sock->sock, addr.c_str(), ZMQ_EVENT_ACCEPTED | ZMQ_EVENT_DISCONNECTED);
|
||||
|
||||
void *monitor_socket = zmq_socket(zmq_context->getRawContext(), ZMQ_PAIR);
|
||||
zmq_connect(monitor_socket, addr.c_str());
|
||||
@@ -109,8 +108,7 @@ void MsgqToZmq::zmqMonitorThread() {
|
||||
if (++pair.connected_clients == 1) {
|
||||
// Create new MSGQ subscriber socket and map to ZMQ publisher
|
||||
pair.sub_sock = std::make_unique<MSGQSubSocket>();
|
||||
size_t queue_size = services.at(pair.endpoint).queue_size;
|
||||
pair.sub_sock->connect(msgq_context.get(), pair.endpoint, "127.0.0.1", false, true, queue_size);
|
||||
pair.sub_sock->connect(msgq_context.get(), pair.endpoint, "127.0.0.1");
|
||||
sub2pub[pair.sub_sock.get()] = pair.pub_sock.get();
|
||||
registerSockets();
|
||||
}
|
||||
@@ -130,7 +128,7 @@ void MsgqToZmq::zmqMonitorThread() {
|
||||
|
||||
// Clean up monitor sockets
|
||||
for (int i = 0; i < pollitems.size(); ++i) {
|
||||
zmq_socket_monitor(socket_pairs[i].pub_sock->getRawSocket(), nullptr, 0);
|
||||
zmq_socket_monitor(socket_pairs[i].pub_sock->sock, nullptr, 0);
|
||||
zmq_close(pollitems[i].socket);
|
||||
}
|
||||
cv.notify_one();
|
||||
|
||||
@@ -7,8 +7,9 @@
|
||||
#include <string>
|
||||
#include <vector>
|
||||
|
||||
#define private public
|
||||
#include "msgq/impl_msgq.h"
|
||||
#include "cereal/messaging/bridge_zmq.h"
|
||||
#include "msgq/impl_zmq.h"
|
||||
|
||||
class MsgqToZmq {
|
||||
public:
|
||||
@@ -21,16 +22,16 @@ protected:
|
||||
|
||||
struct SocketPair {
|
||||
std::string endpoint;
|
||||
std::unique_ptr<BridgeZmqPubSocket> pub_sock;
|
||||
std::unique_ptr<ZMQPubSocket> pub_sock;
|
||||
std::unique_ptr<MSGQSubSocket> sub_sock;
|
||||
int connected_clients = 0;
|
||||
};
|
||||
|
||||
std::unique_ptr<Context> msgq_context;
|
||||
std::unique_ptr<BridgeZmqContext> zmq_context;
|
||||
std::unique_ptr<MSGQContext> msgq_context;
|
||||
std::unique_ptr<ZMQContext> zmq_context;
|
||||
std::mutex mutex;
|
||||
std::condition_variable cv;
|
||||
std::unique_ptr<MSGQPoller> msgq_poller;
|
||||
std::map<SubSocket *, BridgeZmqPubSocket *> sub2pub;
|
||||
std::map<SubSocket *, ZMQPubSocket *> sub2pub;
|
||||
std::vector<SocketPair> socket_pairs;
|
||||
};
|
||||
|
||||
+1
-1
@@ -79,9 +79,9 @@ static std::map<std::string, service> services = {
|
||||
{ "carParamsSP", {"carParamsSP", true, 0.020000, 1, 256000}},
|
||||
{ "carControlSP", {"carControlSP", true, 100.000000, 10, 256000}},
|
||||
{ "carStateSP", {"carStateSP", true, 100.000000, 10, 256000}},
|
||||
{ "liveMapDataSP", {"liveMapDataSP", true, 1.000000, 1, 256000}},
|
||||
{ "modelDataV2SP", {"modelDataV2SP", true, 20.000000, -1, 10485760}},
|
||||
{ "liveLocationKalman", {"liveLocationKalman", true, 20.000000, -1, 256000}},
|
||||
{ "mapdOut", {"mapdOut", true, 20.000000, 20, 2097152}},
|
||||
{ "uiDebug", {"uiDebug", true, 0.000000, 1, 256000}},
|
||||
{ "testJoystick", {"testJoystick", true, 0.000000, -1, 256000}},
|
||||
{ "alertDebug", {"alertDebug", true, 20.000000, 5, 256000}},
|
||||
|
||||
+1
-1
@@ -98,9 +98,9 @@ _services: dict[str, tuple] = {
|
||||
"carParamsSP": (True, 0.02, 1),
|
||||
"carControlSP": (True, 100., 10),
|
||||
"carStateSP": (True, 100., 10),
|
||||
"liveMapDataSP": (True, 1., 1),
|
||||
"modelDataV2SP": (True, 20., None, QueueSize.BIG),
|
||||
"liveLocationKalman": (True, 20.),
|
||||
"mapdOut": (True, 20., 20, QueueSize.MEDIUM),
|
||||
|
||||
# debug
|
||||
"uiDebug": (True, 0., 1),
|
||||
|
||||
@@ -18,8 +18,8 @@ class Api:
|
||||
return self.service.get_token(payload_extra, expiry_hours)
|
||||
|
||||
|
||||
def api_get(endpoint, method='GET', timeout=None, access_token=None, session=None, **params):
|
||||
return CommaConnectApi(None).api_get(endpoint, method, timeout, access_token, session, **params)
|
||||
def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
|
||||
return CommaConnectApi(None).api_get(endpoint, method, timeout, access_token, **params)
|
||||
|
||||
|
||||
def get_key_pair() -> tuple[str, str, str] | tuple[None, None, None]:
|
||||
|
||||
+2
-4
@@ -51,7 +51,7 @@ class BaseApi:
|
||||
ascii_encoded_text = normalized_text.encode('ascii', 'ignore')
|
||||
return ascii_encoded_text.decode()
|
||||
|
||||
def api_get(self, endpoint, method='GET', timeout=None, access_token=None, session=None, json=None, **params):
|
||||
def api_get(self, endpoint, method='GET', timeout=None, access_token=None, json=None, **params):
|
||||
headers = {}
|
||||
if access_token is not None:
|
||||
headers['Authorization'] = "JWT " + access_token
|
||||
@@ -59,9 +59,7 @@ class BaseApi:
|
||||
version = self.remove_non_ascii_chars(get_version())
|
||||
headers['User-Agent'] = self.user_agent + version
|
||||
|
||||
# TODO: add session to Api
|
||||
req = requests if session is None else session
|
||||
return req.request(method, f"{self.api_host}/{endpoint}", timeout=timeout, headers=headers, json=json, params=params)
|
||||
return requests.request(method, f"{self.api_host}/{endpoint}", timeout=timeout, headers=headers, json=json, params=params)
|
||||
|
||||
@staticmethod
|
||||
def get_key_pair() -> tuple[str, str, str] | tuple[None, None, None]:
|
||||
|
||||
+6
-6
@@ -4,27 +4,27 @@ from openpilot.common.utils import run_cmd, run_cmd_default
|
||||
|
||||
|
||||
@cache
|
||||
def get_commit(cwd: str | None = None, branch: str = "HEAD") -> str:
|
||||
def get_commit(cwd: str = None, branch: str = "HEAD") -> str:
|
||||
return run_cmd_default(["git", "rev-parse", branch], cwd=cwd)
|
||||
|
||||
|
||||
@cache
|
||||
def get_commit_date(cwd: str | None = None, commit: str = "HEAD") -> str:
|
||||
def get_commit_date(cwd: str = None, commit: str = "HEAD") -> str:
|
||||
return run_cmd_default(["git", "show", "--no-patch", "--format='%ct %ci'", commit], cwd=cwd)
|
||||
|
||||
|
||||
@cache
|
||||
def get_short_branch(cwd: str | None = None) -> str:
|
||||
def get_short_branch(cwd: str = None) -> str:
|
||||
return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "HEAD"], cwd=cwd)
|
||||
|
||||
|
||||
@cache
|
||||
def get_branch(cwd: str | None = None) -> str:
|
||||
def get_branch(cwd: str = None) -> str:
|
||||
return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "--symbolic-full-name", "@{u}"], cwd=cwd)
|
||||
|
||||
|
||||
@cache
|
||||
def get_origin(cwd: str | None = None) -> str:
|
||||
def get_origin(cwd: str = None) -> str:
|
||||
try:
|
||||
local_branch = run_cmd(["git", "name-rev", "--name-only", "HEAD"], cwd=cwd)
|
||||
tracking_remote = run_cmd(["git", "config", "branch." + local_branch + ".remote"], cwd=cwd)
|
||||
@@ -34,7 +34,7 @@ def get_origin(cwd: str | None = None) -> str:
|
||||
|
||||
|
||||
@cache
|
||||
def get_normalized_origin(cwd: str | None = None) -> str:
|
||||
def get_normalized_origin(cwd: str = None) -> str:
|
||||
return get_origin(cwd) \
|
||||
.replace("git@", "", 1) \
|
||||
.replace(".git", "", 1) \
|
||||
|
||||
@@ -1,81 +0,0 @@
|
||||
import os
|
||||
import fcntl
|
||||
import ctypes
|
||||
|
||||
# I2C constants from /usr/include/linux/i2c-dev.h
|
||||
I2C_SLAVE = 0x0703
|
||||
I2C_SLAVE_FORCE = 0x0706
|
||||
I2C_SMBUS = 0x0720
|
||||
|
||||
# SMBus transfer types
|
||||
I2C_SMBUS_READ = 1
|
||||
I2C_SMBUS_WRITE = 0
|
||||
I2C_SMBUS_BYTE_DATA = 2
|
||||
I2C_SMBUS_I2C_BLOCK_DATA = 8
|
||||
|
||||
I2C_SMBUS_BLOCK_MAX = 32
|
||||
|
||||
|
||||
class _I2cSmbusData(ctypes.Union):
|
||||
_fields_ = [
|
||||
("byte", ctypes.c_uint8),
|
||||
("word", ctypes.c_uint16),
|
||||
("block", ctypes.c_uint8 * (I2C_SMBUS_BLOCK_MAX + 2)),
|
||||
]
|
||||
|
||||
|
||||
class _I2cSmbusIoctlData(ctypes.Structure):
|
||||
_fields_ = [
|
||||
("read_write", ctypes.c_uint8),
|
||||
("command", ctypes.c_uint8),
|
||||
("size", ctypes.c_uint32),
|
||||
("data", ctypes.POINTER(_I2cSmbusData)),
|
||||
]
|
||||
|
||||
|
||||
class SMBus:
|
||||
def __init__(self, bus: int):
|
||||
self._fd = os.open(f'/dev/i2c-{bus}', os.O_RDWR)
|
||||
|
||||
def __enter__(self) -> 'SMBus':
|
||||
return self
|
||||
|
||||
def __exit__(self, *args) -> None:
|
||||
self.close()
|
||||
|
||||
def close(self) -> None:
|
||||
if hasattr(self, '_fd') and self._fd >= 0:
|
||||
os.close(self._fd)
|
||||
self._fd = -1
|
||||
|
||||
def _set_address(self, addr: int, force: bool = False) -> None:
|
||||
ioctl_arg = I2C_SLAVE_FORCE if force else I2C_SLAVE
|
||||
fcntl.ioctl(self._fd, ioctl_arg, addr)
|
||||
|
||||
def _smbus_access(self, read_write: int, command: int, size: int, data: _I2cSmbusData) -> None:
|
||||
ioctl_data = _I2cSmbusIoctlData(read_write, command, size, ctypes.pointer(data))
|
||||
fcntl.ioctl(self._fd, I2C_SMBUS, ioctl_data)
|
||||
|
||||
def read_byte_data(self, addr: int, register: int, force: bool = False) -> int:
|
||||
self._set_address(addr, force)
|
||||
data = _I2cSmbusData()
|
||||
self._smbus_access(I2C_SMBUS_READ, register, I2C_SMBUS_BYTE_DATA, data)
|
||||
return int(data.byte)
|
||||
|
||||
def write_byte_data(self, addr: int, register: int, value: int, force: bool = False) -> None:
|
||||
self._set_address(addr, force)
|
||||
data = _I2cSmbusData()
|
||||
data.byte = value & 0xFF
|
||||
self._smbus_access(I2C_SMBUS_WRITE, register, I2C_SMBUS_BYTE_DATA, data)
|
||||
|
||||
def read_i2c_block_data(self, addr: int, register: int, length: int, force: bool = False) -> list[int]:
|
||||
self._set_address(addr, force)
|
||||
if not (0 <= length <= I2C_SMBUS_BLOCK_MAX):
|
||||
raise ValueError(f"length must be 0..{I2C_SMBUS_BLOCK_MAX}")
|
||||
|
||||
data = _I2cSmbusData()
|
||||
data.block[0] = length
|
||||
self._smbus_access(I2C_SMBUS_READ, register, I2C_SMBUS_I2C_BLOCK_DATA, data)
|
||||
read_len = int(data.block[0]) or length
|
||||
read_len = min(read_len, length)
|
||||
return [int(b) for b in data.block[1 : read_len + 1]]
|
||||
+1
-1
@@ -1 +1 @@
|
||||
#define DEFAULT_MODEL "CD210 (Default)"
|
||||
#define DEFAULT_MODEL "Dark Souls 2 (Default)"
|
||||
|
||||
+4
-36
@@ -115,7 +115,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"SnoozeUpdate", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
|
||||
{"SshEnabled", {PERSISTENT | BACKUP, BOOL}},
|
||||
{"TermsVersion", {PERSISTENT, STRING}},
|
||||
{"TorqueBar", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"TrainingVersion", {PERSISTENT, STRING}},
|
||||
{"UbloxAvailable", {PERSISTENT, BOOL}},
|
||||
{"UpdateAvailable", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
|
||||
@@ -137,7 +136,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"ApiCache_DriveStats", {PERSISTENT, JSON}},
|
||||
{"AutoLaneChangeBsmDelay", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"AutoLaneChangeTimer", {PERSISTENT | BACKUP, INT, "0"}},
|
||||
{"BlinkerLateralReengageDelay", {PERSISTENT | BACKUP, INT, "0"}}, // seconds
|
||||
{"BlinkerMinLateralControlSpeed", {PERSISTENT | BACKUP, INT, "20"}}, // MPH or km/h
|
||||
{"BlinkerPauseLateralControl", {PERSISTENT | BACKUP, INT, "0"}},
|
||||
{"Brightness", {PERSISTENT | BACKUP, INT, "0"}},
|
||||
@@ -170,12 +168,12 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"OffroadMode", {CLEAR_ON_MANAGER_START, BOOL}},
|
||||
{"Offroad_TiciSupport", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"OnroadScreenOffBrightness", {PERSISTENT | BACKUP, INT, "0"}},
|
||||
{"OnroadScreenOffControl", {PERSISTENT | BACKUP, BOOL}},
|
||||
{"OnroadScreenOffTimer", {PERSISTENT | BACKUP, INT, "15"}},
|
||||
{"OnroadUploads", {PERSISTENT | BACKUP, BOOL, "1"}},
|
||||
{"QuickBootToggle", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"QuietMode", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"RainbowMode", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"RocketFuel", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"ShowAdvancedControls", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"ShowTurnSignals", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"StandstillTimer", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
@@ -195,6 +193,9 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"ModelManager_LastSyncTime", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, INT, "0"}},
|
||||
{"ModelManager_ModelsCache", {PERSISTENT | BACKUP, JSON}},
|
||||
|
||||
{"MapdSettings", {PERSISTENT, JSON}},
|
||||
{"Offroad_OSMUpdateRequired", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
|
||||
// Neural Network Lateral Control
|
||||
{"NeuralNetworkLateralControl", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
|
||||
@@ -231,44 +232,11 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"LaneTurnValue", {PERSISTENT | BACKUP, FLOAT, "19.0"}},
|
||||
{"PlanplusControl", {PERSISTENT | BACKUP, FLOAT, "1.0"}},
|
||||
|
||||
// mapd
|
||||
{"MapAdvisorySpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, FLOAT}},
|
||||
{"MapdVersion", {PERSISTENT, STRING}},
|
||||
{"MapSpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, FLOAT, "0.0"}},
|
||||
{"NextMapSpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, JSON}},
|
||||
{"Offroad_OSMUpdateRequired", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"OsmDbUpdatesCheck", {CLEAR_ON_MANAGER_START, BOOL}}, // mapd database update happens with device ON, reset on boot
|
||||
{"OSMDownloadBounds", {PERSISTENT, STRING}},
|
||||
{"OsmDownloadedDate", {PERSISTENT, STRING, "0.0"}},
|
||||
{"OSMDownloadLocations", {PERSISTENT, JSON}},
|
||||
{"OSMDownloadProgress", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"OsmLocal", {PERSISTENT, BOOL}},
|
||||
{"OsmLocationName", {PERSISTENT, STRING}},
|
||||
{"OsmLocationTitle", {PERSISTENT, STRING}},
|
||||
{"OsmLocationUrl", {PERSISTENT, STRING}},
|
||||
{"OsmStateName", {PERSISTENT, STRING, "All"}},
|
||||
{"OsmStateTitle", {PERSISTENT, STRING}},
|
||||
{"OsmWayTest", {PERSISTENT, STRING}},
|
||||
{"RoadName", {CLEAR_ON_ONROAD_TRANSITION, STRING}},
|
||||
{"RoadNameToggle", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
|
||||
// Speed Limit
|
||||
{"SpeedLimitMode", {PERSISTENT | BACKUP, INT, "1"}},
|
||||
{"SpeedLimitOffsetType", {PERSISTENT | BACKUP, INT, "0"}},
|
||||
{"SpeedLimitPolicy", {PERSISTENT | BACKUP, INT, "3"}},
|
||||
{"SpeedLimitValueOffset", {PERSISTENT | BACKUP, INT, "0"}},
|
||||
|
||||
// Smart Cruise Control
|
||||
{"MapTargetVelocities", {CLEAR_ON_ONROAD_TRANSITION, STRING}},
|
||||
{"SmartCruiseControlMap", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"SmartCruiseControlVision", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
|
||||
// Torque lateral control custom params
|
||||
{"CustomTorqueParams", {PERSISTENT | BACKUP , BOOL}},
|
||||
{"EnforceTorqueControl", {PERSISTENT | BACKUP, BOOL}},
|
||||
{"LiveTorqueParamsToggle", {PERSISTENT | BACKUP , BOOL}},
|
||||
{"LiveTorqueParamsRelaxedToggle", {PERSISTENT | BACKUP , BOOL}},
|
||||
{"TorqueControlTune", {PERSISTENT | BACKUP, FLOAT}},
|
||||
{"TorqueParamsOverrideEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"TorqueParamsOverrideFriction", {PERSISTENT | BACKUP, FLOAT, "0.1"}},
|
||||
{"TorqueParamsOverrideLatAccelFactor", {PERSISTENT | BACKUP, FLOAT, "2.5"}},
|
||||
|
||||
Binary file not shown.
+9
-3
@@ -3,9 +3,15 @@ from numbers import Number
|
||||
|
||||
class PIDController:
|
||||
def __init__(self, k_p, k_i, k_d=0., pos_limit=1e308, neg_limit=-1e308, rate=100):
|
||||
self._k_p: list[list[float]] = [[0], [k_p]] if isinstance(k_p, Number) else k_p
|
||||
self._k_i: list[list[float]] = [[0], [k_i]] if isinstance(k_i, Number) else k_i
|
||||
self._k_d: list[list[float]] = [[0], [k_d]] if isinstance(k_d, Number) else k_d
|
||||
self._k_p = k_p
|
||||
self._k_i = k_i
|
||||
self._k_d = k_d
|
||||
if isinstance(self._k_p, Number):
|
||||
self._k_p = [[0], [self._k_p]]
|
||||
if isinstance(self._k_i, Number):
|
||||
self._k_i = [[0], [self._k_i]]
|
||||
if isinstance(self._k_d, Number):
|
||||
self._k_d = [[0], [self._k_d]]
|
||||
|
||||
self.set_limits(pos_limit, neg_limit)
|
||||
|
||||
|
||||
+1
-5
@@ -13,11 +13,7 @@ public:
|
||||
if (prefix.empty()) {
|
||||
prefix = util::random_string(15);
|
||||
}
|
||||
#ifdef __APPLE__
|
||||
msgq_path = "/tmp/msgq_" + prefix;
|
||||
#else
|
||||
msgq_path = "/dev/shm/msgq_" + prefix;
|
||||
#endif
|
||||
msgq_path = Path::shm_path() + "/" + prefix;
|
||||
bool ret = util::create_directories(msgq_path, 0777);
|
||||
assert(ret);
|
||||
setenv("OPENPILOT_PREFIX", prefix.c_str(), 1);
|
||||
|
||||
+2
-4
@@ -1,5 +1,4 @@
|
||||
import os
|
||||
import platform
|
||||
import shutil
|
||||
import uuid
|
||||
|
||||
@@ -10,10 +9,9 @@ from openpilot.system.hardware.hw import Paths
|
||||
from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
|
||||
|
||||
class OpenpilotPrefix:
|
||||
def __init__(self, prefix: str | None = None, create_dirs_on_enter: bool = True, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False):
|
||||
def __init__(self, prefix: str = None, create_dirs_on_enter: bool = True, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False):
|
||||
self.prefix = prefix if prefix else str(uuid.uuid4().hex[0:15])
|
||||
shm_path = "/tmp" if platform.system() == "Darwin" else "/dev/shm"
|
||||
self.msgq_path = os.path.join(shm_path, "msgq_" + self.prefix)
|
||||
self.msgq_path = os.path.join(Paths.shm_path(), "msgq_" + self.prefix)
|
||||
self.create_dirs_on_enter = create_dirs_on_enter
|
||||
self.clean_dirs_on_exit = clean_dirs_on_exit
|
||||
self.shared_download_cache = shared_download_cache
|
||||
|
||||
+1
-1
@@ -6,7 +6,7 @@ import time
|
||||
|
||||
from setproctitle import getproctitle
|
||||
|
||||
from openpilot.common.utils import MovingAverage
|
||||
from openpilot.common.util import MovingAverage
|
||||
from openpilot.system.hardware import PC
|
||||
|
||||
|
||||
|
||||
+1
-1
@@ -1,6 +1,6 @@
|
||||
#define _USE_MATH_DEFINES
|
||||
|
||||
#include "sunnypilot/common/transformations/coordinates.hpp"
|
||||
#include "common/transformations/coordinates.hpp"
|
||||
|
||||
#include <iostream>
|
||||
#include <cmath>
|
||||
+3
-2
@@ -4,8 +4,8 @@
|
||||
#include <cmath>
|
||||
#include <eigen3/Eigen/Dense>
|
||||
|
||||
#include "sunnypilot/common/transformations/orientation.hpp"
|
||||
#include "sunnypilot/common/transformations/coordinates.hpp"
|
||||
#include "common/transformations/orientation.hpp"
|
||||
#include "common/transformations/coordinates.hpp"
|
||||
|
||||
Eigen::Quaterniond ensure_unique(const Eigen::Quaterniond &quat) {
|
||||
if (quat.w() > 0){
|
||||
@@ -141,3 +141,4 @@ Eigen::Vector3d ned_euler_from_ecef(const ECEF &ecef_init, const Eigen::Vector3d
|
||||
|
||||
return {phi, theta, psi};
|
||||
}
|
||||
|
||||
+1
-1
@@ -1,6 +1,6 @@
|
||||
#pragma once
|
||||
#include <eigen3/Eigen/Dense>
|
||||
#include "sunnypilot/common/transformations/coordinates.hpp"
|
||||
#include "common/transformations/coordinates.hpp"
|
||||
|
||||
|
||||
Eigen::Quaterniond ensure_unique(const Eigen::Quaterniond &quat);
|
||||
@@ -102,36 +102,3 @@ class TestNED:
|
||||
np.testing.assert_allclose(converter.ned2ecef(ned_offsets_batch),
|
||||
ecef_positions_offset_batch,
|
||||
rtol=1e-9, atol=1e-7)
|
||||
|
||||
def test_errors(self):
|
||||
# Test wrong shape/type for geodetic2ecef
|
||||
# numpy_wrap raises IndexError for scalar input
|
||||
with np.testing.assert_raises(IndexError):
|
||||
coord.geodetic2ecef(1.0)
|
||||
|
||||
with np.testing.assert_raises_regex(ValueError, "Geodetic must be size 3"):
|
||||
coord.geodetic2ecef([0, 0])
|
||||
|
||||
with np.testing.assert_raises_regex(ValueError, "Geodetic must be size 3"):
|
||||
coord.geodetic2ecef([0, 0, 0, 0])
|
||||
|
||||
with np.testing.assert_raises(TypeError):
|
||||
coord.geodetic2ecef(['a', 'b', 'c'])
|
||||
|
||||
# Test LocalCoord constructor errors
|
||||
with np.testing.assert_raises(ValueError):
|
||||
coord.LocalCoord.from_geodetic([0, 0])
|
||||
|
||||
with np.testing.assert_raises(ValueError):
|
||||
coord.LocalCoord.from_geodetic(1)
|
||||
|
||||
with np.testing.assert_raises(TypeError):
|
||||
coord.LocalCoord.from_geodetic(['a', 'b', 'c'])
|
||||
|
||||
# Test wrong shape/type for ecef2geodetic
|
||||
with np.testing.assert_raises(ValueError):
|
||||
coord.ecef2geodetic([1, 2])
|
||||
with np.testing.assert_raises(ValueError):
|
||||
coord.ecef2geodetic([1, 2, 3, 4])
|
||||
with np.testing.assert_raises(IndexError):
|
||||
coord.ecef2geodetic(1.0)
|
||||
|
||||
@@ -1,5 +1,4 @@
|
||||
import numpy as np
|
||||
import pytest
|
||||
|
||||
from openpilot.common.transformations.orientation import euler2quat, quat2euler, euler2rot, rot2euler, \
|
||||
rot2quat, quat2rot, \
|
||||
@@ -60,32 +59,3 @@ class TestOrientation:
|
||||
np.testing.assert_allclose(ned_eulers[i], ned_euler_from_ecef(ecef_positions[i], eulers[i]), rtol=1e-7)
|
||||
#np.testing.assert_allclose(eulers[i], ecef_euler_from_ned(ecef_positions[i], ned_eulers[i]), rtol=1e-7)
|
||||
# np.testing.assert_allclose(ned_eulers, ned_euler_from_ecef(ecef_positions, eulers), rtol=1e-7)
|
||||
|
||||
def test_inputs(self):
|
||||
with pytest.raises(ValueError):
|
||||
euler2quat([1, 2])
|
||||
|
||||
with pytest.raises(ValueError):
|
||||
quat2rot([1, 2, 3])
|
||||
|
||||
with pytest.raises(IndexError):
|
||||
rot2quat(np.zeros((2, 2)))
|
||||
|
||||
def test_euler_rot_consistency(self):
|
||||
rpy = [0.1, 0.2, 0.3]
|
||||
R = euler2rot(rpy)
|
||||
|
||||
# R -> q -> R
|
||||
q = rot2quat(R)
|
||||
R_new = quat2rot(q)
|
||||
np.testing.assert_allclose(R, R_new, atol=1e-15)
|
||||
|
||||
# q -> R -> Euler (quat2euler) -> R
|
||||
rpy_new = quat2euler(q)
|
||||
R_new2 = euler2rot(rpy_new)
|
||||
np.testing.assert_allclose(R, R_new2, atol=1e-15)
|
||||
|
||||
# R -> Euler (rot2euler) -> R
|
||||
rpy_from_rot = rot2euler(R)
|
||||
R_new3 = euler2rot(rpy_from_rot)
|
||||
np.testing.assert_allclose(R, R_new3, atol=1e-15)
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,72 @@
|
||||
# cython: language_level=3
|
||||
from libcpp cimport bool
|
||||
|
||||
cdef extern from "orientation.cc":
|
||||
pass
|
||||
|
||||
cdef extern from "orientation.hpp":
|
||||
cdef cppclass Quaternion "Eigen::Quaterniond":
|
||||
Quaternion()
|
||||
Quaternion(double, double, double, double)
|
||||
double w()
|
||||
double x()
|
||||
double y()
|
||||
double z()
|
||||
|
||||
cdef cppclass Vector3 "Eigen::Vector3d":
|
||||
Vector3()
|
||||
Vector3(double, double, double)
|
||||
double operator()(int)
|
||||
|
||||
cdef cppclass Matrix3 "Eigen::Matrix3d":
|
||||
Matrix3()
|
||||
Matrix3(double*)
|
||||
|
||||
double operator()(int, int)
|
||||
|
||||
Quaternion euler2quat(const Vector3 &)
|
||||
Vector3 quat2euler(const Quaternion &)
|
||||
Matrix3 quat2rot(const Quaternion &)
|
||||
Quaternion rot2quat(const Matrix3 &)
|
||||
Vector3 rot2euler(const Matrix3 &)
|
||||
Matrix3 euler2rot(const Vector3 &)
|
||||
Matrix3 rot_matrix(double, double, double)
|
||||
Vector3 ecef_euler_from_ned(const ECEF &, const Vector3 &)
|
||||
Vector3 ned_euler_from_ecef(const ECEF &, const Vector3 &)
|
||||
|
||||
|
||||
cdef extern from "coordinates.cc":
|
||||
cdef struct ECEF:
|
||||
double x
|
||||
double y
|
||||
double z
|
||||
|
||||
cdef struct NED:
|
||||
double n
|
||||
double e
|
||||
double d
|
||||
|
||||
cdef struct Geodetic:
|
||||
double lat
|
||||
double lon
|
||||
double alt
|
||||
bool radians
|
||||
|
||||
ECEF geodetic2ecef(const Geodetic &)
|
||||
Geodetic ecef2geodetic(const ECEF &)
|
||||
|
||||
cdef cppclass LocalCoord_c "LocalCoord":
|
||||
Matrix3 ned2ecef_matrix
|
||||
Matrix3 ecef2ned_matrix
|
||||
|
||||
LocalCoord_c(const Geodetic &, const ECEF &)
|
||||
LocalCoord_c(const Geodetic &)
|
||||
LocalCoord_c(const ECEF &)
|
||||
|
||||
NED ecef2ned(const ECEF &)
|
||||
ECEF ned2ecef(const NED &)
|
||||
NED geodetic2ned(const Geodetic &)
|
||||
Geodetic ned2geodetic(const NED &)
|
||||
|
||||
cdef extern from "coordinates.hpp":
|
||||
pass
|
||||
@@ -1,342 +0,0 @@
|
||||
import numpy as np
|
||||
|
||||
|
||||
# Constants
|
||||
a = 6378137.0
|
||||
b = 6356752.3142
|
||||
esq = 6.69437999014e-3
|
||||
e1sq = 6.73949674228e-3
|
||||
|
||||
|
||||
def geodetic2ecef_single(g):
|
||||
"""
|
||||
Convert geodetic coordinates (latitude, longitude, altitude) to ECEF.
|
||||
"""
|
||||
try:
|
||||
if len(g) != 3:
|
||||
raise ValueError("Geodetic must be size 3")
|
||||
except TypeError:
|
||||
raise ValueError("Geodetic must be a sequence of length 3") from None
|
||||
|
||||
lat, lon, alt = g
|
||||
lat = np.radians(lat)
|
||||
lon = np.radians(lon)
|
||||
xi = np.sqrt(1.0 - esq * np.sin(lat)**2)
|
||||
x = (a / xi + alt) * np.cos(lat) * np.cos(lon)
|
||||
y = (a / xi + alt) * np.cos(lat) * np.sin(lon)
|
||||
z = (a / xi * (1.0 - esq) + alt) * np.sin(lat)
|
||||
return np.array([x, y, z])
|
||||
|
||||
|
||||
def ecef2geodetic_single(e):
|
||||
"""
|
||||
Convert ECEF to geodetic coordinates using Ferrari's solution.
|
||||
"""
|
||||
x, y, z = e
|
||||
r = np.sqrt(x**2 + y**2)
|
||||
Esq = a**2 - b**2
|
||||
F = 54 * b**2 * z**2
|
||||
G = r**2 + (1 - esq) * z**2 - esq * Esq
|
||||
C = (esq**2 * F * r**2) / (G**3)
|
||||
S = np.cbrt(1 + C + np.sqrt(C**2 + 2 * C))
|
||||
P = F / (3 * (S + 1 / S + 1)**2 * G**2)
|
||||
Q = np.sqrt(1 + 2 * esq**2 * P)
|
||||
r_0 = -(P * esq * r) / (1 + Q) + np.sqrt(0.5 * a**2 * (1 + 1.0 / Q) - P * (1 - esq) * z**2 / (Q * (1 + Q)) - 0.5 * P * r**2)
|
||||
U = np.sqrt((r - esq * r_0)**2 + z**2)
|
||||
V = np.sqrt((r - esq * r_0)**2 + (1 - esq) * z**2)
|
||||
Z_0 = b**2 * z / (a * V)
|
||||
h = U * (1 - b**2 / (a * V))
|
||||
lat = np.arctan((z + e1sq * Z_0) / r)
|
||||
lon = np.arctan2(y, x)
|
||||
return np.array([np.degrees(lat), np.degrees(lon), h])
|
||||
|
||||
|
||||
def euler2quat_single(euler):
|
||||
"""
|
||||
Convert Euler angles (roll, pitch, yaw) to a quaternion.
|
||||
Rotation order: Z-Y-X (yaw, pitch, roll).
|
||||
"""
|
||||
phi, theta, psi = euler
|
||||
|
||||
c_phi, s_phi = np.cos(phi / 2), np.sin(phi / 2)
|
||||
c_theta, s_theta = np.cos(theta / 2), np.sin(theta / 2)
|
||||
c_psi, s_psi = np.cos(psi / 2), np.sin(psi / 2)
|
||||
|
||||
w = c_phi * c_theta * c_psi + s_phi * s_theta * s_psi
|
||||
x = s_phi * c_theta * c_psi - c_phi * s_theta * s_psi
|
||||
y = c_phi * s_theta * c_psi + s_phi * c_theta * s_psi
|
||||
z = c_phi * c_theta * s_psi - s_phi * s_theta * c_psi
|
||||
|
||||
if w < 0:
|
||||
return np.array([-w, -x, -y, -z])
|
||||
return np.array([w, x, y, z])
|
||||
|
||||
|
||||
def quat2euler_single(q):
|
||||
"""
|
||||
Convert a quaternion to Euler angles (roll, pitch, yaw).
|
||||
"""
|
||||
w, x, y, z = q
|
||||
gamma = np.arctan2(2 * (w * x + y * z), 1 - 2 * (x**2 + y**2))
|
||||
sin_arg = 2 * (w * y - z * x)
|
||||
sin_arg = np.clip(sin_arg, -1.0, 1.0)
|
||||
theta = np.arcsin(sin_arg)
|
||||
psi = np.arctan2(2 * (w * z + x * y), 1 - 2 * (y**2 + z**2))
|
||||
return np.array([gamma, theta, psi])
|
||||
|
||||
|
||||
def quat2rot_single(q):
|
||||
"""
|
||||
Convert a quaternion to a 3x3 rotation matrix.
|
||||
"""
|
||||
w, x, y, z = q
|
||||
xx, yy, zz = x * x, y * y, z * z
|
||||
xy, xz, yz = x * y, x * z, y * z
|
||||
wx, wy, wz = w * x, w * y, w * z
|
||||
|
||||
mat = np.array([
|
||||
[1 - 2 * (yy + zz), 2 * (xy - wz), 2 * (xz + wy)],
|
||||
[2 * (xy + wz), 1 - 2 * (xx + zz), 2 * (yz - wx)],
|
||||
[2 * (xz - wy), 2 * (yz + wx), 1 - 2 * (xx + yy)]
|
||||
])
|
||||
return mat
|
||||
|
||||
|
||||
def rot2quat_single(rot):
|
||||
"""
|
||||
Convert a 3x3 rotation matrix to a quaternion.
|
||||
"""
|
||||
trace = np.trace(rot)
|
||||
if trace > 0:
|
||||
s = 0.5 / np.sqrt(trace + 1.0)
|
||||
w = 0.25 / s
|
||||
x = (rot[2, 1] - rot[1, 2]) * s
|
||||
y = (rot[0, 2] - rot[2, 0]) * s
|
||||
z = (rot[1, 0] - rot[0, 1]) * s
|
||||
else:
|
||||
if rot[0, 0] > rot[1, 1] and rot[0, 0] > rot[2, 2]:
|
||||
s = 2.0 * np.sqrt(1.0 + rot[0, 0] - rot[1, 1] - rot[2, 2])
|
||||
w = (rot[2, 1] - rot[1, 2]) / s
|
||||
x = 0.25 * s
|
||||
y = (rot[0, 1] + rot[1, 0]) / s
|
||||
z = (rot[0, 2] + rot[2, 0]) / s
|
||||
elif rot[1, 1] > rot[2, 2]:
|
||||
s = 2.0 * np.sqrt(1.0 + rot[1, 1] - rot[0, 0] - rot[2, 2])
|
||||
w = (rot[0, 2] - rot[2, 0]) / s
|
||||
x = (rot[0, 1] + rot[1, 0]) / s
|
||||
y = 0.25 * s
|
||||
z = (rot[1, 2] + rot[2, 1]) / s
|
||||
else:
|
||||
s = 2.0 * np.sqrt(1.0 + rot[2, 2] - rot[0, 0] - rot[1, 1])
|
||||
w = (rot[1, 0] - rot[0, 1]) / s
|
||||
x = (rot[0, 2] + rot[2, 0]) / s
|
||||
y = (rot[1, 2] + rot[2, 1]) / s
|
||||
z = 0.25 * s
|
||||
|
||||
if w < 0:
|
||||
return np.array([-w, -x, -y, -z])
|
||||
return np.array([w, x, y, z])
|
||||
|
||||
|
||||
def euler2rot_single(euler):
|
||||
"""
|
||||
Convert Euler angles (roll, pitch, yaw) to a 3x3 rotation matrix.
|
||||
Rotation order: Z-Y-X (yaw, pitch, roll).
|
||||
"""
|
||||
phi, theta, psi = euler
|
||||
|
||||
cx, sx = np.cos(phi), np.sin(phi)
|
||||
cy, sy = np.cos(theta), np.sin(theta)
|
||||
cz, sz = np.cos(psi), np.sin(psi)
|
||||
|
||||
Rx = np.array([[1, 0, 0], [0, cx, -sx], [0, sx, cx]])
|
||||
Ry = np.array([[cy, 0, sy], [0, 1, 0], [-sy, 0, cy]])
|
||||
Rz = np.array([[cz, -sz, 0], [sz, cz, 0], [0, 0, 1]])
|
||||
|
||||
return Rz @ Ry @ Rx
|
||||
|
||||
|
||||
def rot2euler_single(rot):
|
||||
"""
|
||||
Convert a 3x3 rotation matrix to Euler angles (roll, pitch, yaw).
|
||||
"""
|
||||
return quat2euler_single(rot2quat_single(rot))
|
||||
|
||||
|
||||
def rot_matrix(roll, pitch, yaw):
|
||||
"""
|
||||
Create a 3x3 rotation matrix from roll, pitch, and yaw angles.
|
||||
"""
|
||||
return euler2rot_single([roll, pitch, yaw])
|
||||
|
||||
|
||||
def axis_angle_to_rot(axis, angle):
|
||||
"""
|
||||
Convert an axis-angle representation to a 3x3 rotation matrix.
|
||||
"""
|
||||
c = np.cos(angle / 2)
|
||||
s = np.sin(angle / 2)
|
||||
q = np.array([c, s*axis[0], s*axis[1], s*axis[2]])
|
||||
return quat2rot_single(q)
|
||||
|
||||
|
||||
class LocalCoord:
|
||||
"""
|
||||
A class to handle conversions between ECEF and local NED coordinates.
|
||||
"""
|
||||
def __init__(self, geodetic=None, ecef=None):
|
||||
"""
|
||||
Initialize LocalCoord with either geodetic or ECEF coordinates.
|
||||
"""
|
||||
if geodetic is not None:
|
||||
self.init_ecef = geodetic2ecef_single(geodetic)
|
||||
lat, lon, _ = geodetic
|
||||
elif ecef is not None:
|
||||
self.init_ecef = np.array(ecef)
|
||||
lat, lon, _ = ecef2geodetic_single(ecef)
|
||||
else:
|
||||
raise ValueError("Must provide geodetic or ecef")
|
||||
|
||||
lat = np.radians(lat)
|
||||
lon = np.radians(lon)
|
||||
|
||||
self.ned2ecef_matrix = np.array([
|
||||
[-np.sin(lat) * np.cos(lon), -np.sin(lon), -np.cos(lat) * np.cos(lon)],
|
||||
[-np.sin(lat) * np.sin(lon), np.cos(lon), -np.cos(lat) * np.sin(lon)],
|
||||
[np.cos(lat), 0, -np.sin(lat)]
|
||||
])
|
||||
self.ecef2ned_matrix = self.ned2ecef_matrix.T
|
||||
|
||||
@classmethod
|
||||
def from_geodetic(cls, geodetic):
|
||||
"""
|
||||
Create a LocalCoord instance from geodetic coordinates.
|
||||
"""
|
||||
return cls(geodetic=geodetic)
|
||||
|
||||
@classmethod
|
||||
def from_ecef(cls, ecef):
|
||||
"""
|
||||
Create a LocalCoord instance from ECEF coordinates.
|
||||
"""
|
||||
return cls(ecef=ecef)
|
||||
|
||||
def ecef2ned_single(self, ecef):
|
||||
"""
|
||||
Convert a single ECEF point to NED coordinates relative to the origin.
|
||||
"""
|
||||
return self.ecef2ned_matrix @ (ecef - self.init_ecef)
|
||||
|
||||
def ned2ecef_single(self, ned):
|
||||
"""
|
||||
Convert a single NED point to ECEF coordinates.
|
||||
"""
|
||||
return self.ned2ecef_matrix @ ned + self.init_ecef
|
||||
|
||||
def geodetic2ned_single(self, geodetic):
|
||||
"""
|
||||
Convert a single geodetic point to NED coordinates.
|
||||
"""
|
||||
ecef = geodetic2ecef_single(geodetic)
|
||||
return self.ecef2ned_single(ecef)
|
||||
|
||||
def ned2geodetic_single(self, ned):
|
||||
"""
|
||||
Convert a single NED point to geodetic coordinates.
|
||||
"""
|
||||
ecef = self.ned2ecef_single(ned)
|
||||
return ecef2geodetic_single(ecef)
|
||||
|
||||
@property
|
||||
def ned_from_ecef_matrix(self):
|
||||
"""
|
||||
Returns the rotation matrix from ECEF to NED coordinates.
|
||||
"""
|
||||
return self.ecef2ned_matrix
|
||||
|
||||
@property
|
||||
def ecef_from_ned_matrix(self):
|
||||
"""
|
||||
Returns the rotation matrix from NED to ECEF coordinates.
|
||||
"""
|
||||
return self.ned2ecef_matrix
|
||||
|
||||
|
||||
def ecef_euler_from_ned_single(ecef_init, ned_pose):
|
||||
"""
|
||||
Convert NED Euler angles (roll, pitch, yaw) at a given ECEF origin
|
||||
to equivalent ECEF Euler angles.
|
||||
"""
|
||||
converter = LocalCoord(ecef=ecef_init)
|
||||
zero = np.array(ecef_init)
|
||||
|
||||
x0 = converter.ned2ecef_single([1, 0, 0]) - zero
|
||||
y0 = converter.ned2ecef_single([0, 1, 0]) - zero
|
||||
z0 = converter.ned2ecef_single([0, 0, 1]) - zero
|
||||
|
||||
phi, theta, psi = ned_pose
|
||||
|
||||
x1 = axis_angle_to_rot(z0, psi) @ x0
|
||||
y1 = axis_angle_to_rot(z0, psi) @ y0
|
||||
z1 = axis_angle_to_rot(z0, psi) @ z0
|
||||
|
||||
x2 = axis_angle_to_rot(y1, theta) @ x1
|
||||
y2 = axis_angle_to_rot(y1, theta) @ y1
|
||||
z2 = axis_angle_to_rot(y1, theta) @ z1
|
||||
|
||||
x3 = axis_angle_to_rot(x2, phi) @ x2
|
||||
y3 = axis_angle_to_rot(x2, phi) @ y2
|
||||
|
||||
x0 = np.array([1.0, 0, 0])
|
||||
y0 = np.array([0, 1.0, 0])
|
||||
z0 = np.array([0, 0, 1.0])
|
||||
|
||||
psi_out = np.arctan2(np.dot(x3, y0), np.dot(x3, x0))
|
||||
theta_out = np.arctan2(-np.dot(x3, z0), np.sqrt(np.dot(x3, x0)**2 + np.dot(x3, y0)**2))
|
||||
|
||||
y2 = axis_angle_to_rot(z0, psi_out) @ y0
|
||||
z2 = axis_angle_to_rot(y2, theta_out) @ z0
|
||||
|
||||
phi_out = np.arctan2(np.dot(y3, z2), np.dot(y3, y2))
|
||||
|
||||
return np.array([phi_out, theta_out, psi_out])
|
||||
|
||||
|
||||
def ned_euler_from_ecef_single(ecef_init, ecef_pose):
|
||||
"""
|
||||
Convert ECEF Euler angles (roll, pitch, yaw) at a given ECEF origin
|
||||
to equivalent NED Euler angles.
|
||||
"""
|
||||
converter = LocalCoord(ecef=ecef_init)
|
||||
|
||||
x0 = np.array([1.0, 0, 0])
|
||||
y0 = np.array([0, 1.0, 0])
|
||||
z0 = np.array([0, 0, 1.0])
|
||||
|
||||
phi, theta, psi = ecef_pose
|
||||
|
||||
x1 = axis_angle_to_rot(z0, psi) @ x0
|
||||
y1 = axis_angle_to_rot(z0, psi) @ y0
|
||||
z1 = axis_angle_to_rot(z0, psi) @ z0
|
||||
|
||||
x2 = axis_angle_to_rot(y1, theta) @ x1
|
||||
y2 = axis_angle_to_rot(y1, theta) @ y1
|
||||
z2 = axis_angle_to_rot(y1, theta) @ z1
|
||||
|
||||
x3 = axis_angle_to_rot(x2, phi) @ x2
|
||||
y3 = axis_angle_to_rot(x2, phi) @ y2
|
||||
|
||||
zero = np.array(ecef_init)
|
||||
x0 = converter.ned2ecef_single([1, 0, 0]) - zero
|
||||
y0 = converter.ned2ecef_single([0, 1, 0]) - zero
|
||||
z0 = converter.ned2ecef_single([0, 0, 1]) - zero
|
||||
|
||||
psi_out = np.arctan2(np.dot(x3, y0), np.dot(x3, x0))
|
||||
theta_out = np.arctan2(-np.dot(x3, z0), np.sqrt(np.dot(x3, x0)**2 + np.dot(x3, y0)**2))
|
||||
|
||||
y2 = axis_angle_to_rot(z0, psi_out) @ y0
|
||||
z2 = axis_angle_to_rot(y2, theta_out) @ z0
|
||||
|
||||
phi_out = np.arctan2(np.dot(y3, z2), np.dot(y3, y2))
|
||||
|
||||
return np.array([phi_out, theta_out, psi_out])
|
||||
@@ -0,0 +1,173 @@
|
||||
# distutils: language = c++
|
||||
# cython: language_level = 3
|
||||
from openpilot.common.transformations.transformations cimport Matrix3, Vector3, Quaternion
|
||||
from openpilot.common.transformations.transformations cimport ECEF, NED, Geodetic
|
||||
|
||||
from openpilot.common.transformations.transformations cimport euler2quat as euler2quat_c
|
||||
from openpilot.common.transformations.transformations cimport quat2euler as quat2euler_c
|
||||
from openpilot.common.transformations.transformations cimport quat2rot as quat2rot_c
|
||||
from openpilot.common.transformations.transformations cimport rot2quat as rot2quat_c
|
||||
from openpilot.common.transformations.transformations cimport euler2rot as euler2rot_c
|
||||
from openpilot.common.transformations.transformations cimport rot2euler as rot2euler_c
|
||||
from openpilot.common.transformations.transformations cimport rot_matrix as rot_matrix_c
|
||||
from openpilot.common.transformations.transformations cimport ecef_euler_from_ned as ecef_euler_from_ned_c
|
||||
from openpilot.common.transformations.transformations cimport ned_euler_from_ecef as ned_euler_from_ecef_c
|
||||
from openpilot.common.transformations.transformations cimport geodetic2ecef as geodetic2ecef_c
|
||||
from openpilot.common.transformations.transformations cimport ecef2geodetic as ecef2geodetic_c
|
||||
from openpilot.common.transformations.transformations cimport LocalCoord_c
|
||||
|
||||
|
||||
import numpy as np
|
||||
cimport numpy as np
|
||||
|
||||
cdef np.ndarray[double, ndim=2] matrix2numpy(Matrix3 m):
|
||||
return np.array([
|
||||
[m(0, 0), m(0, 1), m(0, 2)],
|
||||
[m(1, 0), m(1, 1), m(1, 2)],
|
||||
[m(2, 0), m(2, 1), m(2, 2)],
|
||||
])
|
||||
|
||||
cdef Matrix3 numpy2matrix(np.ndarray[double, ndim=2, mode="fortran"] m):
|
||||
assert m.shape[0] == 3
|
||||
assert m.shape[1] == 3
|
||||
return Matrix3(<double*>m.data)
|
||||
|
||||
cdef ECEF list2ecef(ecef):
|
||||
cdef ECEF e
|
||||
e.x = ecef[0]
|
||||
e.y = ecef[1]
|
||||
e.z = ecef[2]
|
||||
return e
|
||||
|
||||
cdef NED list2ned(ned):
|
||||
cdef NED n
|
||||
n.n = ned[0]
|
||||
n.e = ned[1]
|
||||
n.d = ned[2]
|
||||
return n
|
||||
|
||||
cdef Geodetic list2geodetic(geodetic):
|
||||
cdef Geodetic g
|
||||
g.lat = geodetic[0]
|
||||
g.lon = geodetic[1]
|
||||
g.alt = geodetic[2]
|
||||
return g
|
||||
|
||||
def euler2quat_single(euler):
|
||||
cdef Vector3 e = Vector3(euler[0], euler[1], euler[2])
|
||||
cdef Quaternion q = euler2quat_c(e)
|
||||
return [q.w(), q.x(), q.y(), q.z()]
|
||||
|
||||
def quat2euler_single(quat):
|
||||
cdef Quaternion q = Quaternion(quat[0], quat[1], quat[2], quat[3])
|
||||
cdef Vector3 e = quat2euler_c(q)
|
||||
return [e(0), e(1), e(2)]
|
||||
|
||||
def quat2rot_single(quat):
|
||||
cdef Quaternion q = Quaternion(quat[0], quat[1], quat[2], quat[3])
|
||||
cdef Matrix3 r = quat2rot_c(q)
|
||||
return matrix2numpy(r)
|
||||
|
||||
def rot2quat_single(rot):
|
||||
cdef Matrix3 r = numpy2matrix(np.asfortranarray(rot, dtype=np.double))
|
||||
cdef Quaternion q = rot2quat_c(r)
|
||||
return [q.w(), q.x(), q.y(), q.z()]
|
||||
|
||||
def euler2rot_single(euler):
|
||||
cdef Vector3 e = Vector3(euler[0], euler[1], euler[2])
|
||||
cdef Matrix3 r = euler2rot_c(e)
|
||||
return matrix2numpy(r)
|
||||
|
||||
def rot2euler_single(rot):
|
||||
cdef Matrix3 r = numpy2matrix(np.asfortranarray(rot, dtype=np.double))
|
||||
cdef Vector3 e = rot2euler_c(r)
|
||||
return [e(0), e(1), e(2)]
|
||||
|
||||
def rot_matrix(roll, pitch, yaw):
|
||||
return matrix2numpy(rot_matrix_c(roll, pitch, yaw))
|
||||
|
||||
def ecef_euler_from_ned_single(ecef_init, ned_pose):
|
||||
cdef ECEF init = list2ecef(ecef_init)
|
||||
cdef Vector3 pose = Vector3(ned_pose[0], ned_pose[1], ned_pose[2])
|
||||
|
||||
cdef Vector3 e = ecef_euler_from_ned_c(init, pose)
|
||||
return [e(0), e(1), e(2)]
|
||||
|
||||
def ned_euler_from_ecef_single(ecef_init, ecef_pose):
|
||||
cdef ECEF init = list2ecef(ecef_init)
|
||||
cdef Vector3 pose = Vector3(ecef_pose[0], ecef_pose[1], ecef_pose[2])
|
||||
|
||||
cdef Vector3 e = ned_euler_from_ecef_c(init, pose)
|
||||
return [e(0), e(1), e(2)]
|
||||
|
||||
def geodetic2ecef_single(geodetic):
|
||||
cdef Geodetic g = list2geodetic(geodetic)
|
||||
cdef ECEF e = geodetic2ecef_c(g)
|
||||
return [e.x, e.y, e.z]
|
||||
|
||||
def ecef2geodetic_single(ecef):
|
||||
cdef ECEF e = list2ecef(ecef)
|
||||
cdef Geodetic g = ecef2geodetic_c(e)
|
||||
return [g.lat, g.lon, g.alt]
|
||||
|
||||
|
||||
cdef class LocalCoord:
|
||||
cdef LocalCoord_c * lc
|
||||
|
||||
def __init__(self, geodetic=None, ecef=None):
|
||||
assert (geodetic is not None) or (ecef is not None)
|
||||
if geodetic is not None:
|
||||
self.lc = new LocalCoord_c(list2geodetic(geodetic))
|
||||
elif ecef is not None:
|
||||
self.lc = new LocalCoord_c(list2ecef(ecef))
|
||||
|
||||
@property
|
||||
def ned2ecef_matrix(self):
|
||||
return matrix2numpy(self.lc.ned2ecef_matrix)
|
||||
|
||||
@property
|
||||
def ecef2ned_matrix(self):
|
||||
return matrix2numpy(self.lc.ecef2ned_matrix)
|
||||
|
||||
@property
|
||||
def ned_from_ecef_matrix(self):
|
||||
return self.ecef2ned_matrix
|
||||
|
||||
@property
|
||||
def ecef_from_ned_matrix(self):
|
||||
return self.ned2ecef_matrix
|
||||
|
||||
@classmethod
|
||||
def from_geodetic(cls, geodetic):
|
||||
return cls(geodetic=geodetic)
|
||||
|
||||
@classmethod
|
||||
def from_ecef(cls, ecef):
|
||||
return cls(ecef=ecef)
|
||||
|
||||
def ecef2ned_single(self, ecef):
|
||||
assert self.lc
|
||||
cdef ECEF e = list2ecef(ecef)
|
||||
cdef NED n = self.lc.ecef2ned(e)
|
||||
return [n.n, n.e, n.d]
|
||||
|
||||
def ned2ecef_single(self, ned):
|
||||
assert self.lc
|
||||
cdef NED n = list2ned(ned)
|
||||
cdef ECEF e = self.lc.ned2ecef(n)
|
||||
return [e.x, e.y, e.z]
|
||||
|
||||
def geodetic2ned_single(self, geodetic):
|
||||
assert self.lc
|
||||
cdef Geodetic g = list2geodetic(geodetic)
|
||||
cdef NED n = self.lc.geodetic2ned(g)
|
||||
return [n.n, n.e, n.d]
|
||||
|
||||
def ned2geodetic_single(self, ned):
|
||||
assert self.lc
|
||||
cdef NED n = list2ned(ned)
|
||||
cdef Geodetic g = self.lc.ned2geodetic(n)
|
||||
return [g.lat, g.lon, g.alt]
|
||||
|
||||
def __dealloc__(self):
|
||||
del self.lc
|
||||
Executable
BIN
Binary file not shown.
@@ -0,0 +1,46 @@
|
||||
import os
|
||||
import subprocess
|
||||
|
||||
def sudo_write(val: str, path: str) -> None:
|
||||
try:
|
||||
with open(path, 'w') as f:
|
||||
f.write(str(val))
|
||||
except PermissionError:
|
||||
os.system(f"sudo chmod a+w {path}")
|
||||
try:
|
||||
with open(path, 'w') as f:
|
||||
f.write(str(val))
|
||||
except PermissionError:
|
||||
# fallback for debugfs files
|
||||
os.system(f"sudo su -c 'echo {val} > {path}'")
|
||||
|
||||
def sudo_read(path: str) -> str:
|
||||
try:
|
||||
return subprocess.check_output(f"sudo cat {path}", shell=True, encoding='utf8').strip()
|
||||
except Exception:
|
||||
return ""
|
||||
|
||||
class MovingAverage:
|
||||
def __init__(self, window_size: int):
|
||||
self.window_size: int = window_size
|
||||
self.buffer: list[float] = [0.0] * window_size
|
||||
self.index: int = 0
|
||||
self.count: int = 0
|
||||
self.sum: float = 0.0
|
||||
|
||||
def add_value(self, new_value: float):
|
||||
# Update the sum: subtract the value being replaced and add the new value
|
||||
self.sum -= self.buffer[self.index]
|
||||
self.buffer[self.index] = new_value
|
||||
self.sum += new_value
|
||||
|
||||
# Update the index in a circular manner
|
||||
self.index = (self.index + 1) % self.window_size
|
||||
|
||||
# Track the number of added values (for partial windows)
|
||||
self.count = min(self.count + 1, self.window_size)
|
||||
|
||||
def get_average(self) -> float:
|
||||
if self.count == 0:
|
||||
return float('nan')
|
||||
return self.sum / self.count
|
||||
+3
-157
@@ -7,82 +7,14 @@ import time
|
||||
import functools
|
||||
from subprocess import Popen, PIPE, TimeoutExpired
|
||||
import zstandard as zstd
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
|
||||
LOG_COMPRESSION_LEVEL = 10 # little benefit up to level 15. level ~17 is a small step change
|
||||
|
||||
class Timer:
|
||||
"""Simple lap timer for profiling sequential operations."""
|
||||
|
||||
def __init__(self):
|
||||
self._start = self._lap = time.monotonic()
|
||||
self._sections = {}
|
||||
|
||||
def lap(self, name):
|
||||
now = time.monotonic()
|
||||
self._sections[name] = now - self._lap
|
||||
self._lap = now
|
||||
|
||||
@property
|
||||
def total(self):
|
||||
return time.monotonic() - self._start
|
||||
|
||||
def fmt(self, duration):
|
||||
parts = ", ".join(f"{k}={v:.2f}s" + (f" ({duration/v:.0f}x)" if k == 'render' and v > 0 else "") for k, v in self._sections.items())
|
||||
total = self.total
|
||||
realtime = f"{duration/total:.1f}x realtime" if total > 0 else "N/A"
|
||||
return f"{duration}s in {total:.1f}s ({realtime}) | {parts}"
|
||||
|
||||
def sudo_write(val: str, path: str) -> None:
|
||||
try:
|
||||
with open(path, 'w') as f:
|
||||
f.write(str(val))
|
||||
except PermissionError:
|
||||
os.system(f"sudo chmod a+w {path}")
|
||||
try:
|
||||
with open(path, 'w') as f:
|
||||
f.write(str(val))
|
||||
except PermissionError:
|
||||
# fallback for debugfs files
|
||||
os.system(f"sudo su -c 'echo {val} > {path}'")
|
||||
|
||||
|
||||
def sudo_read(path: str) -> str:
|
||||
try:
|
||||
return subprocess.check_output(f"sudo cat {path}", shell=True, encoding='utf8').strip()
|
||||
except Exception:
|
||||
return ""
|
||||
|
||||
|
||||
class MovingAverage:
|
||||
def __init__(self, window_size: int):
|
||||
self.window_size: int = window_size
|
||||
self.buffer: list[float] = [0.0] * window_size
|
||||
self.index: int = 0
|
||||
self.count: int = 0
|
||||
self.sum: float = 0.0
|
||||
|
||||
def add_value(self, new_value: float):
|
||||
# Update the sum: subtract the value being replaced and add the new value
|
||||
self.sum -= self.buffer[self.index]
|
||||
self.buffer[self.index] = new_value
|
||||
self.sum += new_value
|
||||
|
||||
# Update the index in a circular manner
|
||||
self.index = (self.index + 1) % self.window_size
|
||||
|
||||
# Track the number of added values (for partial windows)
|
||||
self.count = min(self.count + 1, self.window_size)
|
||||
|
||||
def get_average(self) -> float:
|
||||
if self.count == 0:
|
||||
return float('nan')
|
||||
return self.sum / self.count
|
||||
|
||||
|
||||
class CallbackReader:
|
||||
"""Wraps a file, but overrides the read method to also
|
||||
call a callback function with the number of bytes read so far."""
|
||||
|
||||
def __init__(self, f, callback, *args):
|
||||
self.f = f
|
||||
self.callback = callback
|
||||
@@ -167,92 +99,6 @@ def managed_proc(cmd: list[str], env: dict[str, str]):
|
||||
proc.kill()
|
||||
|
||||
|
||||
def tabulate(tabular_data, headers=(), tablefmt="simple", floatfmt="g", stralign="left", numalign=None):
|
||||
rows = [list(row) for row in tabular_data]
|
||||
|
||||
def fmt(val):
|
||||
if isinstance(val, str):
|
||||
return val
|
||||
if isinstance(val, (bool, int)):
|
||||
return str(val)
|
||||
try:
|
||||
return format(val, floatfmt)
|
||||
except (TypeError, ValueError):
|
||||
return str(val)
|
||||
|
||||
formatted = [[fmt(c) for c in row] for row in rows]
|
||||
hdrs = [str(h) for h in headers] if headers else None
|
||||
|
||||
ncols = max((len(r) for r in formatted), default=0)
|
||||
if hdrs:
|
||||
ncols = max(ncols, len(hdrs))
|
||||
if ncols == 0:
|
||||
return ""
|
||||
|
||||
for r in formatted:
|
||||
r.extend([""] * (ncols - len(r)))
|
||||
if hdrs:
|
||||
hdrs.extend([""] * (ncols - len(hdrs)))
|
||||
|
||||
widths = [0] * ncols
|
||||
if hdrs:
|
||||
for i in range(ncols):
|
||||
widths[i] = len(hdrs[i])
|
||||
for row in formatted:
|
||||
for i in range(ncols):
|
||||
widths[i] = max(widths[i], max(len(ln) for ln in row[i].split('\n')))
|
||||
|
||||
def _align(s, w):
|
||||
if stralign == "center":
|
||||
return s.center(w)
|
||||
return s.ljust(w)
|
||||
|
||||
if tablefmt == "html":
|
||||
parts = ["<table>"]
|
||||
if hdrs:
|
||||
parts.append("<thead>")
|
||||
parts.append("<tr>" + "".join(f"<th>{h}</th>" for h in hdrs) + "</tr>")
|
||||
parts.append("</thead>")
|
||||
parts.append("<tbody>")
|
||||
for row in formatted:
|
||||
parts.append("<tr>" + "".join(f"<td>{c}</td>" for c in row) + "</tr>")
|
||||
parts.append("</tbody>")
|
||||
parts.append("</table>")
|
||||
return "\n".join(parts)
|
||||
|
||||
if tablefmt == "simple_grid":
|
||||
def _sep(left, mid, right):
|
||||
return left + mid.join("\u2500" * (w + 2) for w in widths) + right
|
||||
|
||||
top, mid_sep, bot = _sep("\u250c", "\u252c", "\u2510"), _sep("\u251c", "\u253c", "\u2524"), _sep("\u2514", "\u2534", "\u2518")
|
||||
|
||||
def _fmt_row(cells):
|
||||
split = [c.split('\n') for c in cells]
|
||||
nlines = max(len(s) for s in split)
|
||||
for s in split:
|
||||
s.extend([""] * (nlines - len(s)))
|
||||
return ["\u2502" + "\u2502".join(f" {_align(split[i][li], widths[i])} " for i in range(ncols)) + "\u2502" for li in range(nlines)]
|
||||
|
||||
lines = [top]
|
||||
if hdrs:
|
||||
lines.extend(_fmt_row(hdrs))
|
||||
lines.append(mid_sep)
|
||||
for ri, row in enumerate(formatted):
|
||||
lines.extend(_fmt_row(row))
|
||||
lines.append(mid_sep if ri < len(formatted) - 1 else bot)
|
||||
return "\n".join(lines)
|
||||
|
||||
# simple
|
||||
gap = " "
|
||||
lines = []
|
||||
if hdrs:
|
||||
lines.append(gap.join(h.ljust(w) for h, w in zip(hdrs, widths, strict=True)))
|
||||
lines.append(gap.join("-" * w for w in widths))
|
||||
for row in formatted:
|
||||
lines.append(gap.join(_align(row[i], widths[i]) for i in range(ncols)))
|
||||
return "\n".join(lines)
|
||||
|
||||
|
||||
def retry(attempts=3, delay=1.0, ignore_failure=False):
|
||||
def decorator(func):
|
||||
@functools.wraps(func)
|
||||
@@ -261,11 +107,11 @@ def retry(attempts=3, delay=1.0, ignore_failure=False):
|
||||
try:
|
||||
return func(*args, **kwargs)
|
||||
except Exception:
|
||||
print(f"{func.__name__} failed, trying again")
|
||||
cloudlog.exception(f"{func.__name__} failed, trying again")
|
||||
time.sleep(delay)
|
||||
|
||||
if ignore_failure:
|
||||
print(f"{func.__name__} failed after retry")
|
||||
cloudlog.error(f"{func.__name__} failed after retry")
|
||||
else:
|
||||
raise Exception(f"{func.__name__} failed after retry")
|
||||
return wrapper
|
||||
|
||||
+1
-1
@@ -1 +1 @@
|
||||
#define COMMA_VERSION "0.10.4"
|
||||
#define COMMA_VERSION "0.10.3"
|
||||
|
||||
+36
-18
@@ -35,6 +35,24 @@
|
||||
"file": "/data/openpilot/common/params_pyx.cpp",
|
||||
"output": "/data/openpilot/common/params_pyx.o"
|
||||
},
|
||||
{
|
||||
"command": "clang++ -o common/transformations/orientation.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include common/transformations/orientation.cc",
|
||||
"directory": "/data/openpilot",
|
||||
"file": "/data/openpilot/common/transformations/orientation.cc",
|
||||
"output": "/data/openpilot/common/transformations/orientation.o"
|
||||
},
|
||||
{
|
||||
"command": "clang++ -o common/transformations/coordinates.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include common/transformations/coordinates.cc",
|
||||
"directory": "/data/openpilot",
|
||||
"file": "/data/openpilot/common/transformations/coordinates.cc",
|
||||
"output": "/data/openpilot/common/transformations/coordinates.o"
|
||||
},
|
||||
{
|
||||
"command": "clang++ -o common/transformations/transformations.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-#warnings -Wno-shadow -Wno-deprecated-declarations -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include -I/usr/include/python3.12 -I/usr/local/venv/lib/python3.12/site-packages/numpy/_core/include common/transformations/transformations.cpp",
|
||||
"directory": "/data/openpilot",
|
||||
"file": "/data/openpilot/common/transformations/transformations.cpp",
|
||||
"output": "/data/openpilot/common/transformations/transformations.o"
|
||||
},
|
||||
{
|
||||
"command": "clang++ -o msgq_repo/msgq/ipc.os -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -DSWAGLOG=\"\\\"common/swaglog.h\\\"\" -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include msgq_repo/msgq/ipc.cc",
|
||||
"directory": "/data/openpilot",
|
||||
@@ -47,6 +65,12 @@
|
||||
"file": "/data/openpilot/msgq_repo/msgq/event.cc",
|
||||
"output": "/data/openpilot/msgq_repo/msgq/event.os"
|
||||
},
|
||||
{
|
||||
"command": "clang++ -o msgq_repo/msgq/impl_zmq.os -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -DSWAGLOG=\"\\\"common/swaglog.h\\\"\" -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include msgq_repo/msgq/impl_zmq.cc",
|
||||
"directory": "/data/openpilot",
|
||||
"file": "/data/openpilot/msgq_repo/msgq/impl_zmq.cc",
|
||||
"output": "/data/openpilot/msgq_repo/msgq/impl_zmq.os"
|
||||
},
|
||||
{
|
||||
"command": "clang++ -o msgq_repo/msgq/impl_msgq.os -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -DSWAGLOG=\"\\\"common/swaglog.h\\\"\" -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include msgq_repo/msgq/impl_msgq.cc",
|
||||
"directory": "/data/openpilot",
|
||||
@@ -143,12 +167,6 @@
|
||||
"file": "/data/openpilot/cereal/messaging/msgq_to_zmq.cc",
|
||||
"output": "/data/openpilot/cereal/messaging/msgq_to_zmq.o"
|
||||
},
|
||||
{
|
||||
"command": "clang++ -o cereal/messaging/bridge_zmq.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include cereal/messaging/bridge_zmq.cc",
|
||||
"directory": "/data/openpilot",
|
||||
"file": "/data/openpilot/cereal/messaging/bridge_zmq.cc",
|
||||
"output": "/data/openpilot/cereal/messaging/bridge_zmq.o"
|
||||
},
|
||||
{
|
||||
"command": "clang++ -o cereal/messaging/socketmaster.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include cereal/messaging/socketmaster.cc",
|
||||
"directory": "/data/openpilot",
|
||||
@@ -401,6 +419,18 @@
|
||||
"file": "/data/openpilot/selfdrive/pandad/panda_safety.cc",
|
||||
"output": "/data/openpilot/selfdrive/pandad/panda_safety.o"
|
||||
},
|
||||
{
|
||||
"command": "clang++ -o selfdrive/pandad/can_list_to_can_capnp.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include selfdrive/pandad/can_list_to_can_capnp.cc",
|
||||
"directory": "/data/openpilot",
|
||||
"file": "/data/openpilot/selfdrive/pandad/can_list_to_can_capnp.cc",
|
||||
"output": "/data/openpilot/selfdrive/pandad/can_list_to_can_capnp.o"
|
||||
},
|
||||
{
|
||||
"command": "clang++ -o selfdrive/pandad/pandad_api_impl.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-#warnings -Wno-shadow -Wno-deprecated-declarations -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include -I/usr/include/python3.12 -I/usr/local/venv/lib/python3.12/site-packages/numpy/_core/include selfdrive/pandad/pandad_api_impl.cpp",
|
||||
"directory": "/data/openpilot",
|
||||
"file": "/data/openpilot/selfdrive/pandad/pandad_api_impl.cpp",
|
||||
"output": "/data/openpilot/selfdrive/pandad/pandad_api_impl.o"
|
||||
},
|
||||
{
|
||||
"command": "clang -o selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_solver_lat.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_solver_lat.c",
|
||||
"directory": "/data/openpilot",
|
||||
@@ -605,18 +635,6 @@
|
||||
"file": "/data/openpilot/selfdrive/modeld/models/commonmodel_pyx.cpp",
|
||||
"output": "/data/openpilot/selfdrive/modeld/models/commonmodel_pyx.o"
|
||||
},
|
||||
{
|
||||
"command": "clang++ -o sunnypilot/common/transformations/orientation.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include sunnypilot/common/transformations/orientation.cc",
|
||||
"directory": "/data/openpilot",
|
||||
"file": "/data/openpilot/sunnypilot/common/transformations/orientation.cc",
|
||||
"output": "/data/openpilot/sunnypilot/common/transformations/orientation.o"
|
||||
},
|
||||
{
|
||||
"command": "clang++ -o sunnypilot/common/transformations/coordinates.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include sunnypilot/common/transformations/coordinates.cc",
|
||||
"directory": "/data/openpilot",
|
||||
"file": "/data/openpilot/sunnypilot/common/transformations/coordinates.cc",
|
||||
"output": "/data/openpilot/sunnypilot/common/transformations/coordinates.o"
|
||||
},
|
||||
{
|
||||
"command": "clang++ -o sunnypilot/modeld/models/commonmodel.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -DTRANSFORM_PATH=\\\"/data/openpilot/sunnypilot/modeld/transforms/transform.cl\\\" -DLOADYUV_PATH=\\\"/data/openpilot/sunnypilot/modeld/transforms/loadyuv.cl\\\" -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -Ithird_party/libyuv/include -Ithird_party/opencl/include sunnypilot/modeld/models/commonmodel.cc",
|
||||
"directory": "/data/openpilot",
|
||||
|
||||
+88
-82
@@ -4,26 +4,28 @@
|
||||
|
||||
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.
|
||||
|
||||
# 335 Supported Cars
|
||||
# 341 Supported Cars
|
||||
|
||||
|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br> |Video|Setup Video|
|
||||
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|Acura|ILX 2016-18|Technology Plus Package or AcuraWatch Plus|openpilot|26 mph|25 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2016-18">Buy Here</a></sub></details>|||
|
||||
|Acura|ILX 2019|All|openpilot|26 mph|25 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2019">Buy Here</a></sub></details>|||
|
||||
|Acura|MDX 2025-26|All except Type S|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2025-26">Buy Here</a></sub></details>|||
|
||||
|Acura|MDX 2025|All except Type S|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2025">Buy Here</a></sub></details>|||
|
||||
|Acura|RDX 2016-18|AcuraWatch Plus or Advance Package|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2016-18">Buy Here</a></sub></details>|||
|
||||
|Acura|RDX 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2019-21">Buy Here</a></sub></details>|||
|
||||
|Acura|TLX 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2021">Buy Here</a></sub></details>|||
|
||||
|Acura|TLX 2025|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2025">Buy Here</a></sub></details>|||
|
||||
|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
|
||||
|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
|
||||
|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
|
||||
|Audi|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
|
||||
|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
|
||||
|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
|
||||
|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
|
||||
|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
|
||||
|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
|
||||
|Audi|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
|
||||
|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
|
||||
|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim, without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV 2022-23">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Bolt EV Non-ACC 2017|Adaptive Cruise Control (ACC)|Stock|24 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV Non-ACC 2017">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Bolt EV Non-ACC 2018-21|Adaptive Cruise Control (ACC)|Stock|24 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV Non-ACC 2018-21">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Equinox 2019-22">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Malibu Non-ACC 2016-23|Adaptive Cruise Control (ACC)|Stock|24 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Malibu Non-ACC 2016-23">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Silverado 1500 2020-21">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Trailblazer 2021-22">Buy Here</a></sub></details>|||
|
||||
|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica 2017-18">Buy Here</a></sub></details>|||
|
||||
@@ -32,33 +34,33 @@ A supported vehicle is one that just works when you install a comma device. All
|
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|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2017-18">Buy Here</a></sub></details>|||
|
||||
|Chrysler|Pacifica Hybrid 2019-25|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2019-25">Buy Here</a></sub></details>|||
|
||||
|comma|body|All|openpilot|0 mph|0 mph|[](##)|[](##)|None|<a href="https://youtu.be/VT-i3yRsX2s?t=2736" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
|
||||
|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
|
||||
|Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Dodge Durango 2020-21">Buy Here</a></sub></details>|||
|
||||
|Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Bronco Sport 2021-24">Buy Here</a></sub></details>|||
|
||||
|Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2020-22">Buy Here</a></sub></details>|||
|
||||
|Ford|Escape 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Escape 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Hybrid 2020-22">Buy Here</a></sub></details>|||
|
||||
|Ford|Escape Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Hybrid 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Escape Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Hybrid 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Plug-in Hybrid 2020-22">Buy Here</a></sub></details>|||
|
||||
|Ford|Escape Plug-in Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Plug-in Hybrid 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Expedition 2022-24|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Expedition 2022-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Escape Plug-in Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Plug-in Hybrid 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Expedition 2022-24|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Expedition 2022-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Explorer 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Explorer 2020-24">Buy Here</a></sub></details>|||
|
||||
|Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Explorer Hybrid 2020-24">Buy Here</a></sub></details>|||
|
||||
|Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 Hybrid 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 Hybrid 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Focus 2018[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus 2018">Buy Here</a></sub></details>|||
|
||||
|Ford|Focus Hybrid 2018[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus Hybrid 2018">Buy Here</a></sub></details>|||
|
||||
|Ford|Kuga 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga 2020-23">Buy Here</a></sub></details>|||
|
||||
|Ford|Kuga Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2020-23">Buy Here</a></sub></details>|||
|
||||
|Ford|Kuga Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Kuga Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Kuga Plug-in Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Plug-in Hybrid 2020-23">Buy Here</a></sub></details>|||
|
||||
|Ford|Kuga Plug-in Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Plug-in Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Kuga Plug-in Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Plug-in Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Maverick 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick 2022">Buy Here</a></sub></details>|||
|
||||
|Ford|Maverick 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick 2023-24">Buy Here</a></sub></details>|||
|
||||
|Ford|Maverick Hybrid 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick Hybrid 2022">Buy Here</a></sub></details>|||
|
||||
|Ford|Maverick Hybrid 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick Hybrid 2023-24">Buy Here</a></sub></details>|||
|
||||
|Ford|Mustang Mach-E 2021-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Mustang Mach-E 2021-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Ranger 2024|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Ranger 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Mustang Mach-E 2021-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Mustang Mach-E 2021-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Ranger 2024|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Ranger 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Genesis|G70 2018|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G70 2018">Buy Here</a></sub></details>|||
|
||||
|Genesis|G70 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G70 2019-21">Buy Here</a></sub></details>|||
|
||||
|Genesis|G70 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G70 2022-23">Buy Here</a></sub></details>|||
|
||||
@@ -88,11 +90,12 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Honda|Civic Hatchback Hybrid 2025-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025-26">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hybrid 2025-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hybrid 2025-26">Buy Here</a></sub></details>|||
|
||||
|Honda|Clarity 2018-21|Honda Sensing|openpilot|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector + Honda Clarity Proxy Board<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://shop.retropilot.org/product/honda-clarity-proxy-board-kit">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V 2015-16|Touring Trim|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2015-16">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|15 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2017-22">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V 2023-26|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2023-26">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2017-22">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V Hybrid 2023-26|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2023-26">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V Hybrid 2023-25|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda e 2020">Buy Here</a></sub></details>|||
|
||||
|Honda|Fit 2018-20|Honda Sensing|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Fit 2018-20">Buy Here</a></sub></details>|||
|
||||
|Honda|Freed 2020|Honda Sensing|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Freed 2020">Buy Here</a></sub></details>|||
|
||||
@@ -103,7 +106,6 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Honda|N-Box 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|11 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda N-Box 2018">Buy Here</a></sub></details>|||
|
||||
|Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2018-20">Buy Here</a></sub></details>|||
|
||||
|Honda|Odyssey 2021-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|43 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2021-26">Buy Here</a></sub></details>|||
|
||||
|Honda|Odyssey (Taiwan) 2018-19|Honda Sensing|openpilot|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey (Taiwan) 2018-19">Buy Here</a></sub></details>|||
|
||||
|Honda|Passport 2019-25|All|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2019-25">Buy Here</a></sub></details>|||
|
||||
|Honda|Passport 2026|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2026">Buy Here</a></sub></details>|||
|
||||
|Honda|Pilot 2016-22|Honda Sensing|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2016-22">Buy Here</a></sub></details>|||
|
||||
@@ -118,6 +120,7 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Hyundai|Elantra GT 2017-20|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra GT 2017-20">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Hyundai|Elantra Non-SCC 2022|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra Non-SCC 2022">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Genesis 2015-16">Buy Here</a></sub></details>|||
|
||||
|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai i30 2017-19">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq 5 (Southeast Asia and Europe only) 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (Southeast Asia and Europe only) 2022-24">Buy Here</a></sub></details>|||
|
||||
@@ -135,7 +138,9 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric 2018-21">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric 2022-23">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Kona Electric (with HDA II, Korea only) 2023|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Hyundai|Kona Electric Non-SCC 2019|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric Non-SCC 2019">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Hybrid 2020">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Kona Non-SCC 2019|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Non-SCC 2019">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Nexo 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Nexo 2021">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Hyundai|Santa Cruz 2022-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Cruz 2022-24">Buy Here</a></sub></details>|||
|
||||
@@ -159,11 +164,13 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Kia|Carnival 2022-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival 2022-24">Buy Here</a></sub></details>|||
|
||||
|Kia|Carnival (China only) 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival (China only) 2023">Buy Here</a></sub></details>|||
|
||||
|Kia|Ceed 2019-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Ceed 2019-21">Buy Here</a></sub></details>|||
|
||||
|Kia|Ceed Plug-in Hybrid Non-SCC 2022|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Ceed Plug-in Hybrid Non-SCC 2022">Buy Here</a></sub></details>|||
|
||||
|Kia|EV6 (Southeast Asia only) 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (Southeast Asia only) 2022-24">Buy Here</a></sub></details>|||
|
||||
|Kia|EV6 (with HDA II) 2022-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (with HDA II) 2022-24">Buy Here</a></sub></details>|||
|
||||
|Kia|EV6 (without HDA II) 2022-24|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (without HDA II) 2022-24">Buy Here</a></sub></details>|||
|
||||
|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Forte 2019-21">Buy Here</a></sub></details>|||
|
||||
|Kia|Forte 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Forte 2022-23">Buy Here</a></sub></details>|||
|
||||
|Kia|Forte Non-SCC 2019|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Forte Non-SCC 2019">Buy Here</a></sub></details>|||
|
||||
|Kia|K5 2021-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K5 2021-24">Buy Here</a></sub></details>|||
|
||||
|Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K5 Hybrid 2020-22">Buy Here</a></sub></details>|||
|
||||
|Kia|K8 Hybrid (with HDA II) 2023|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K8 Hybrid (with HDA II) 2023">Buy Here</a></sub></details>|||
|
||||
@@ -204,7 +211,6 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus IS 2017-19">Buy Here</a></sub></details>|||
|
||||
|Lexus|IS 2022-24|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus IS 2022-24">Buy Here</a></sub></details>|||
|
||||
|Lexus|LC 2024-25|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus LC 2024-25">Buy Here</a></sub></details>|||
|
||||
|Lexus|LS 2018|All except Lexus Safety System+ A|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus LS 2018">Buy Here</a></sub></details>|||
|
||||
|Lexus|NX 2018-19|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus NX 2018-19">Buy Here</a></sub></details>|||
|
||||
|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus NX 2020-21">Buy Here</a></sub></details>|||
|
||||
|Lexus|NX Hybrid 2018-19|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus NX Hybrid 2018-19">Buy Here</a></sub></details>|||
|
||||
@@ -220,21 +226,21 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Lexus|UX Hybrid 2019-24|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus UX Hybrid 2019-24">Buy Here</a></sub></details>|||
|
||||
|Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator 2020-24">Buy Here</a></sub></details>|||
|
||||
|Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>|||
|
||||
|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN 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>1,14</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN 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>1,14</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN 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>1,14</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-5 2022-25">Buy Here</a></sub></details>|||
|
||||
|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Nissan[<sup>5</sup>](#footnotes)|Altima 2019-20, 2024|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-20, 2024">Buy Here</a></sub></details>|||
|
||||
|Nissan[<sup>5</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Nissan[<sup>5</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Rogue 2018-20">Buy Here</a></sub></details>|||
|
||||
|Nissan[<sup>5</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
|
||||
|Nissan[<sup>5</sup>](#footnotes)|Altima 2019-20, 2024|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-20, 2024">Buy Here</a></sub></details>|||
|
||||
|Nissan[<sup>5</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Nissan[<sup>5</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Rogue 2018-20">Buy Here</a></sub></details>|||
|
||||
|Nissan[<sup>5</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
|
||||
|Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|32 mph|1 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 1500 2019-24">Buy Here</a></sub></details>|||
|
||||
|Ram|2500 2020-24|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 2500 2020-24">Buy Here</a></sub></details>|||
|
||||
|Ram|3500 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 3500 2019-22">Buy Here</a></sub></details>|||
|
||||
|Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
|
||||
|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
|
||||
|Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
|
||||
|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
|
||||
|Subaru|Ascent 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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>|||
|
||||
@@ -249,19 +255,19 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Subaru|Outback 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Fabia 2022-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
|
||||
|Škoda|Kamiq 2021-23[<sup>11,13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
|
||||
|Škoda|Karoq 2019-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||
|
||||
|Škoda|Kodiaq 2017-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kodiaq 2017-23">Buy Here</a></sub></details>|||
|
||||
|Škoda|Octavia 2015-19[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia 2015-19">Buy Here</a></sub></details>|||
|
||||
|Škoda|Octavia RS 2016[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia RS 2016">Buy Here</a></sub></details>|||
|
||||
|Škoda|Octavia Scout 2017-19[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia Scout 2017-19">Buy Here</a></sub></details>|||
|
||||
|Škoda|Scala 2020-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Scala 2020-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
|
||||
|Škoda|Superb 2015-22[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Superb 2015-22">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>9</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>9</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>9</sup>](#footnotes)|Model Y (with HW3) 2020-23[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW3) 2020-23">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>9</sup>](#footnotes)|Model Y (with HW4) 2024-25[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW4) 2024-25">Buy Here</a></sub></details>|||
|
||||
|Škoda|Fabia 2022-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Fabia 2022-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
|
||||
|Škoda|Kamiq 2021-23[<sup>11,13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
|
||||
|Škoda|Karoq 2019-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||
|
||||
|Škoda|Kodiaq 2017-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kodiaq 2017-23">Buy Here</a></sub></details>|||
|
||||
|Škoda|Octavia 2015-19[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia 2015-19">Buy Here</a></sub></details>|||
|
||||
|Škoda|Octavia RS 2016[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia RS 2016">Buy Here</a></sub></details>|||
|
||||
|Škoda|Octavia Scout 2017-19[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia Scout 2017-19">Buy Here</a></sub></details>|||
|
||||
|Škoda|Scala 2020-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Scala 2020-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
|
||||
|Škoda|Superb 2015-22[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Superb 2015-22">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>9</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>9</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>9</sup>](#footnotes)|Model Y (with HW3) 2020-23[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW3) 2020-23">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>9</sup>](#footnotes)|Model Y (with HW4) 2024-25[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW4) 2024-25">Buy Here</a></sub></details>|||
|
||||
|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Alphard 2019-20">Buy Here</a></sub></details>|||
|
||||
|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Alphard Hybrid 2021">Buy Here</a></sub></details>|||
|
||||
|Toyota|Avalon 2016|Toyota Safety Sense P|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2016">Buy Here</a></sub></details>|||
|
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@@ -307,42 +313,42 @@ A supported vehicle is one that just works when you install a comma device. All
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|Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|RAV4 Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|Sienna 2018-20|All|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota 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>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen 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>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen 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>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen 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>||
|
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|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen 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>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas 2018-23">Buy Here</a></sub></details>|||
|
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|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen California 2021-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Caravelle 2020">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen 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>1,14</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen 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>||
|
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|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen 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>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Golf 2014-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf 2015-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTD 2015-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTE 2015-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTI 2015-21">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen 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 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2019-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Passat 2015-22[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat Alltrack 2015-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat GTE 2015-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo 2018-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
|
||||
|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
|
||||
|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Cross 2021">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
|
||||
|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Roc 2018-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Taos 2022-24">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont 2018-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont X 2021-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan 2018-24">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Touran 2016-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen 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>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen 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>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen 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>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen 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>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas 2018-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen California 2021-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Caravelle 2020">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen 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>1,14</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen 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>1,14</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen 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>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Golf 2014-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf 2015-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTD 2015-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTE 2015-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTI 2015-21">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen|Jetta 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2018-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Passat 2015-22[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat Alltrack 2015-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat GTE 2015-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo 2018-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
|
||||
|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
|
||||
|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Cross 2021">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
|
||||
|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Roc 2018-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Taos 2022-24">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont 2018-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont X 2021-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan 2018-24">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Touran 2016-23">Buy Here</a></sub></details>|||
|
||||
|
||||
### Footnotes
|
||||
<sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `nightly-dev`. <br />
|
||||
|
||||
+1
-1
@@ -16,7 +16,7 @@ export VECLIB_MAXIMUM_THREADS=1
|
||||
export QCOM_PRIORITY=12
|
||||
|
||||
if [ -z "$AGNOS_VERSION" ]; then
|
||||
export AGNOS_VERSION="16"
|
||||
export AGNOS_VERSION="15.1"
|
||||
fi
|
||||
|
||||
export STAGING_ROOT="/data/safe_staging"
|
||||
|
||||
@@ -0,0 +1,49 @@
|
||||
files: ^msgq/
|
||||
repos:
|
||||
- repo: https://github.com/pre-commit/pre-commit-hooks
|
||||
rev: v6.0.0
|
||||
hooks:
|
||||
- id: check-ast
|
||||
- id: check-yaml
|
||||
- id: check-executables-have-shebangs
|
||||
- id: check-shebang-scripts-are-executable
|
||||
- repo: https://github.com/pre-commit/mirrors-mypy
|
||||
rev: v1.17.1
|
||||
hooks:
|
||||
- id: mypy
|
||||
- repo: https://github.com/astral-sh/ruff-pre-commit
|
||||
rev: v0.12.12
|
||||
hooks:
|
||||
- id: ruff
|
||||
- repo: local
|
||||
hooks:
|
||||
- id: cppcheck
|
||||
name: cppcheck
|
||||
entry: cppcheck
|
||||
language: system
|
||||
types: [c++]
|
||||
exclude: '^(msgq/msgq_tests.cc|msgq/test_runner.cc)'
|
||||
args:
|
||||
- --error-exitcode=1
|
||||
- --inline-suppr
|
||||
- --language=c++
|
||||
- --force
|
||||
- --quiet
|
||||
- -j4
|
||||
- --check-level=exhaustive
|
||||
- repo: https://github.com/cpplint/cpplint
|
||||
rev: 2.0.2
|
||||
hooks:
|
||||
- id: cpplint
|
||||
args:
|
||||
- --quiet
|
||||
- --counting=detailed
|
||||
- --linelength=240
|
||||
- --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/codespell-project/codespell
|
||||
rev: v2.4.1
|
||||
hooks:
|
||||
- id: codespell
|
||||
args:
|
||||
- -L ned
|
||||
- --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US
|
||||
+1
-1
@@ -1,7 +1,7 @@
|
||||
# MSGQ: A lock free single producer multi consumer message queue
|
||||
|
||||
## What is this library?
|
||||
MSGQ is a generic high performance IPC pub sub system with a single publisher and multiple subscribers. It uses a ring buffer in shared memory to efficiently read and write data. Each read requires a copy. Writing can be done without a copy, as long as the size of the data is known in advance. This library also provides a spoofed implementation that can be used for deterministic testing, and visionipc, an IPC system specifically for large contiguous buffers (like images/video).
|
||||
MSGQ is a generic high performance IPC pub sub system with a single publisher and multiple subscribers. MSGQ is designed to be a high performance replacement for ZMQ-like SUB/PUB patterns. It uses a ring buffer in shared memory to efficiently read and write data. Each read requires a copy. Writing can be done without a copy, as long as the size of the data is known in advance. While MSGQ is the core of this library, this library also allows replacing the MSGQ backend with ZMQ or a spoofed implementation that can be used for deterministic testing. This library also contains visionipc, an IPC system specifically for large contiguous buffers (like images/video).
|
||||
|
||||
## Storage
|
||||
The storage for the queue consists of an area of metadata, and the actual buffer. The metadata contains:
|
||||
|
||||
@@ -1,32 +0,0 @@
|
||||
output:
|
||||
- meta # Print lefthook version
|
||||
- summary # Print summary block (successful and failed steps)
|
||||
- empty_summary # Print summary heading when there are no steps to run
|
||||
- success # Print successful steps
|
||||
- failure # Print failed steps printing
|
||||
- execution # Print any execution logs
|
||||
#- execution_out # Print execution output
|
||||
#- execution_info # Print `EXECUTE > ...` logging
|
||||
- skips # Print "skip" (i.e. no files matched)
|
||||
|
||||
test:
|
||||
parallel: true
|
||||
commands:
|
||||
# *** static analysis ***
|
||||
ruff:
|
||||
run: ruff check .
|
||||
ty:
|
||||
run: ty check .
|
||||
codespell:
|
||||
run: codespell {files} -L ned,stdio,master --builtin clear,rare,informal,usage,code,names,en-GB_to_en-US -S uv.lock,*_pyx.cpp,catch2*
|
||||
files: git ls-tree -r HEAD --name-only
|
||||
cppcheck:
|
||||
run: cppcheck --error-exitcode=1 --inline-suppr --language=c++ --force --quiet -j4 --check-level=exhaustive $(git ls-files '*.cc' | grep -v -E '(msgq_tests|test_runner)\.cc')
|
||||
cpplint:
|
||||
run: cpplint --exclude=msgq/catch2/ --exclude=msgq/ipc_pyx.cpp --exclude=msgq/visionipc/visionipc_pyx.cpp --recursive --quiet --counting=detailed --linelength=240 --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 msgq/
|
||||
|
||||
# *** tests ***
|
||||
test_runner:
|
||||
run: msgq/test_runner
|
||||
pytest:
|
||||
run: pytest
|
||||
@@ -3,7 +3,7 @@ from msgq.ipc_pyx import Context, Poller, SubSocket, PubSocket, SocketEventHandl
|
||||
set_fake_prefix, get_fake_prefix, delete_fake_prefix, wait_for_one_event
|
||||
from msgq.ipc_pyx import MultiplePublishersError, IpcError
|
||||
|
||||
from typing import Optional, List, Union
|
||||
from typing import Optional, List
|
||||
|
||||
assert MultiplePublishersError
|
||||
assert IpcError
|
||||
@@ -18,9 +18,9 @@ NO_TRAVERSAL_LIMIT = 2**64-1
|
||||
context = Context()
|
||||
|
||||
|
||||
def fake_event_handle(endpoint: str, identifier: Optional[Union[str, bytes]] = None, override: bool = True, enable: bool = False) -> SocketEventHandle:
|
||||
ident = identifier if identifier is not None else get_fake_prefix()
|
||||
handle = SocketEventHandle(endpoint, ident, override)
|
||||
def fake_event_handle(endpoint: str, identifier: Optional[str] = None, override: bool = True, enable: bool = False) -> SocketEventHandle:
|
||||
identifier = identifier or get_fake_prefix()
|
||||
handle = SocketEventHandle(endpoint, identifier, override)
|
||||
if override:
|
||||
handle.enabled = enable
|
||||
|
||||
|
||||
@@ -1,6 +0,0 @@
|
||||
import pytest
|
||||
import msgq
|
||||
|
||||
@pytest.fixture(autouse=True)
|
||||
def msgq_context():
|
||||
msgq.context = msgq.Context()
|
||||
+25
-14
@@ -8,30 +8,36 @@
|
||||
|
||||
#include "msgq/impl_msgq.h"
|
||||
|
||||
void Message::init(size_t sz) {
|
||||
MSGQContext::MSGQContext() {
|
||||
}
|
||||
|
||||
MSGQContext::~MSGQContext() {
|
||||
}
|
||||
|
||||
void MSGQMessage::init(size_t sz) {
|
||||
size = sz;
|
||||
data = new char[size];
|
||||
}
|
||||
|
||||
void Message::init(char * d, size_t sz) {
|
||||
void MSGQMessage::init(char * d, size_t sz) {
|
||||
size = sz;
|
||||
data = new char[size];
|
||||
memcpy(data, d, size);
|
||||
}
|
||||
|
||||
void Message::takeOwnership(char * d, size_t sz) {
|
||||
void MSGQMessage::takeOwnership(char * d, size_t sz) {
|
||||
size = sz;
|
||||
data = d;
|
||||
}
|
||||
|
||||
void Message::close() {
|
||||
void MSGQMessage::close() {
|
||||
if (size > 0){
|
||||
delete[] data;
|
||||
}
|
||||
size = 0;
|
||||
}
|
||||
|
||||
Message::~Message() {
|
||||
MSGQMessage::~MSGQMessage() {
|
||||
this->close();
|
||||
}
|
||||
|
||||
@@ -61,7 +67,7 @@ int MSGQSubSocket::connect(Context *context, std::string endpoint, std::string a
|
||||
Message * MSGQSubSocket::receive(bool non_blocking){
|
||||
msgq_msg_t msg;
|
||||
|
||||
Message *r = NULL;
|
||||
MSGQMessage *r = NULL;
|
||||
|
||||
int rc = msgq_msg_recv(&msg, q);
|
||||
|
||||
@@ -86,11 +92,11 @@ Message * MSGQSubSocket::receive(bool non_blocking){
|
||||
}
|
||||
|
||||
if (rc > 0){
|
||||
r = new Message;
|
||||
r = new MSGQMessage;
|
||||
r->takeOwnership(msg.data, msg.size);
|
||||
}
|
||||
|
||||
return r;
|
||||
return (Message*)r;
|
||||
}
|
||||
|
||||
void MSGQSubSocket::setTimeout(int t){
|
||||
@@ -104,9 +110,14 @@ MSGQSubSocket::~MSGQSubSocket(){
|
||||
}
|
||||
}
|
||||
|
||||
int PubSocket::connect(Context *context, std::string endpoint, bool check_endpoint, size_t segment_size){
|
||||
int MSGQPubSocket::connect(Context *context, std::string endpoint, bool check_endpoint, size_t segment_size){
|
||||
assert(context);
|
||||
|
||||
// TODO
|
||||
//if (check_endpoint && !service_exists(std::string(endpoint))){
|
||||
// std::cout << "Warning, " << std::string(endpoint) << " is not in service list." << std::endl;
|
||||
//}
|
||||
|
||||
q = new msgq_queue_t;
|
||||
size_t size = segment_size > 0 ? segment_size : DEFAULT_SEGMENT_SIZE;
|
||||
int r = msgq_new_queue(q, endpoint.c_str(), size);
|
||||
@@ -119,7 +130,7 @@ int PubSocket::connect(Context *context, std::string endpoint, bool check_endpoi
|
||||
return 0;
|
||||
}
|
||||
|
||||
int PubSocket::sendMessage(Message *message){
|
||||
int MSGQPubSocket::sendMessage(Message *message){
|
||||
msgq_msg_t msg;
|
||||
msg.data = message->getData();
|
||||
msg.size = message->getSize();
|
||||
@@ -127,7 +138,7 @@ int PubSocket::sendMessage(Message *message){
|
||||
return msgq_msg_send(&msg, q);
|
||||
}
|
||||
|
||||
int PubSocket::send(char *data, size_t size){
|
||||
int MSGQPubSocket::send(char *data, size_t size){
|
||||
msgq_msg_t msg;
|
||||
msg.data = data;
|
||||
msg.size = size;
|
||||
@@ -135,11 +146,11 @@ int PubSocket::send(char *data, size_t size){
|
||||
return msgq_msg_send(&msg, q);
|
||||
}
|
||||
|
||||
bool PubSocket::all_readers_updated() {
|
||||
bool MSGQPubSocket::all_readers_updated() {
|
||||
return msgq_all_readers_updated(q);
|
||||
}
|
||||
|
||||
PubSocket::~PubSocket(){
|
||||
MSGQPubSocket::~MSGQPubSocket(){
|
||||
if (q != NULL){
|
||||
msgq_close_queue(q);
|
||||
delete q;
|
||||
@@ -149,7 +160,7 @@ PubSocket::~PubSocket(){
|
||||
|
||||
void MSGQPoller::registerSocket(SubSocket * socket){
|
||||
assert(num_polls + 1 < MAX_POLLERS);
|
||||
polls[num_polls].q = static_cast<MSGQSubSocket*>(socket)->getQueue();
|
||||
polls[num_polls].q = (msgq_queue_t*)socket->getRawSocket();
|
||||
|
||||
sockets.push_back(socket);
|
||||
num_polls++;
|
||||
|
||||
@@ -8,6 +8,29 @@
|
||||
|
||||
#define MAX_POLLERS 128
|
||||
|
||||
class MSGQContext : public Context {
|
||||
private:
|
||||
void * context = NULL;
|
||||
public:
|
||||
MSGQContext();
|
||||
void * getRawContext() {return context;}
|
||||
~MSGQContext();
|
||||
};
|
||||
|
||||
class MSGQMessage : public Message {
|
||||
private:
|
||||
char * data;
|
||||
size_t size;
|
||||
public:
|
||||
void init(size_t size);
|
||||
void init(char *data, size_t size);
|
||||
void takeOwnership(char *data, size_t size);
|
||||
size_t getSize(){return size;}
|
||||
char * getData(){return data;}
|
||||
void close();
|
||||
~MSGQMessage();
|
||||
};
|
||||
|
||||
class MSGQSubSocket : public SubSocket {
|
||||
private:
|
||||
msgq_queue_t * q = NULL;
|
||||
@@ -15,11 +38,22 @@ private:
|
||||
public:
|
||||
int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true, size_t segment_size=0);
|
||||
void setTimeout(int timeout);
|
||||
msgq_queue_t * getQueue() {return q;}
|
||||
void * getRawSocket() {return (void*)q;}
|
||||
Message *receive(bool non_blocking=false);
|
||||
~MSGQSubSocket();
|
||||
};
|
||||
|
||||
class MSGQPubSocket : public PubSocket {
|
||||
private:
|
||||
msgq_queue_t * q = NULL;
|
||||
public:
|
||||
int connect(Context *context, std::string endpoint, bool check_endpoint=true, size_t segment_size=0);
|
||||
int sendMessage(Message *message);
|
||||
int send(char *data, size_t size);
|
||||
bool all_readers_updated();
|
||||
~MSGQPubSocket();
|
||||
};
|
||||
|
||||
class MSGQPoller : public Poller {
|
||||
private:
|
||||
std::vector<SubSocket*> sockets;
|
||||
|
||||
@@ -0,0 +1,179 @@
|
||||
#include <cassert>
|
||||
#include <cstring>
|
||||
#include <iostream>
|
||||
#include <cstdlib>
|
||||
#include <cerrno>
|
||||
#include <unistd.h>
|
||||
#include <string>
|
||||
#include <vector>
|
||||
|
||||
#include "msgq/impl_zmq.h"
|
||||
|
||||
static size_t fnv1a_hash(const std::string &str) {
|
||||
const size_t fnv_prime = 0x100000001b3;
|
||||
size_t hash_value = 0xcbf29ce484222325;
|
||||
for (char c : str) {
|
||||
hash_value ^= (unsigned char)c;
|
||||
hash_value *= fnv_prime;
|
||||
}
|
||||
return hash_value;
|
||||
}
|
||||
|
||||
//FIXME: This is a hack to get the port number from the socket name, might have collisions
|
||||
static int get_port(std::string endpoint) {
|
||||
size_t hash_value = fnv1a_hash(endpoint);
|
||||
int start_port = 8023;
|
||||
int max_port = 65535;
|
||||
int port = start_port + (hash_value % (max_port - start_port));
|
||||
return port;
|
||||
}
|
||||
|
||||
ZMQContext::ZMQContext() {
|
||||
context = zmq_ctx_new();
|
||||
}
|
||||
|
||||
ZMQContext::~ZMQContext() {
|
||||
zmq_ctx_term(context);
|
||||
}
|
||||
|
||||
void ZMQMessage::init(size_t sz) {
|
||||
size = sz;
|
||||
data = new char[size];
|
||||
}
|
||||
|
||||
void ZMQMessage::init(char * d, size_t sz) {
|
||||
size = sz;
|
||||
data = new char[size];
|
||||
memcpy(data, d, size);
|
||||
}
|
||||
|
||||
void ZMQMessage::close() {
|
||||
if (size > 0){
|
||||
delete[] data;
|
||||
}
|
||||
size = 0;
|
||||
}
|
||||
|
||||
ZMQMessage::~ZMQMessage() {
|
||||
this->close();
|
||||
}
|
||||
|
||||
|
||||
int ZMQSubSocket::connect(Context *context, std::string endpoint, std::string address, bool conflate, bool check_endpoint, size_t segment_size){
|
||||
sock = zmq_socket(context->getRawContext(), ZMQ_SUB);
|
||||
if (sock == NULL){
|
||||
return -1;
|
||||
}
|
||||
|
||||
zmq_setsockopt(sock, ZMQ_SUBSCRIBE, "", 0);
|
||||
|
||||
if (conflate){
|
||||
int arg = 1;
|
||||
zmq_setsockopt(sock, ZMQ_CONFLATE, &arg, sizeof(int));
|
||||
}
|
||||
|
||||
int reconnect_ivl = 500;
|
||||
zmq_setsockopt(sock, ZMQ_RECONNECT_IVL_MAX, &reconnect_ivl, sizeof(reconnect_ivl));
|
||||
|
||||
|
||||
full_endpoint = "tcp://" + address + ":";
|
||||
if (check_endpoint){
|
||||
full_endpoint += std::to_string(get_port(endpoint));
|
||||
} else {
|
||||
full_endpoint += endpoint;
|
||||
}
|
||||
|
||||
return zmq_connect(sock, full_endpoint.c_str());
|
||||
}
|
||||
|
||||
|
||||
Message * ZMQSubSocket::receive(bool non_blocking){
|
||||
zmq_msg_t msg;
|
||||
assert(zmq_msg_init(&msg) == 0);
|
||||
|
||||
int flags = non_blocking ? ZMQ_DONTWAIT : 0;
|
||||
int rc = zmq_msg_recv(&msg, sock, flags);
|
||||
Message *r = NULL;
|
||||
|
||||
if (rc >= 0){
|
||||
// Make a copy to ensure the data is aligned
|
||||
r = new ZMQMessage;
|
||||
r->init((char*)zmq_msg_data(&msg), zmq_msg_size(&msg));
|
||||
}
|
||||
|
||||
zmq_msg_close(&msg);
|
||||
return r;
|
||||
}
|
||||
|
||||
void ZMQSubSocket::setTimeout(int timeout){
|
||||
zmq_setsockopt(sock, ZMQ_RCVTIMEO, &timeout, sizeof(int));
|
||||
}
|
||||
|
||||
ZMQSubSocket::~ZMQSubSocket(){
|
||||
zmq_close(sock);
|
||||
}
|
||||
|
||||
int ZMQPubSocket::connect(Context *context, std::string endpoint, bool check_endpoint, size_t segment_size){
|
||||
sock = zmq_socket(context->getRawContext(), ZMQ_PUB);
|
||||
if (sock == NULL){
|
||||
return -1;
|
||||
}
|
||||
|
||||
full_endpoint = "tcp://*:";
|
||||
if (check_endpoint){
|
||||
full_endpoint += std::to_string(get_port(endpoint));
|
||||
} else {
|
||||
full_endpoint += endpoint;
|
||||
}
|
||||
|
||||
// ZMQ pub sockets cannot be shared between processes, so we need to ensure pid stays the same
|
||||
pid = getpid();
|
||||
|
||||
return zmq_bind(sock, full_endpoint.c_str());
|
||||
}
|
||||
|
||||
int ZMQPubSocket::sendMessage(Message *message) {
|
||||
assert(pid == getpid());
|
||||
return zmq_send(sock, message->getData(), message->getSize(), ZMQ_DONTWAIT);
|
||||
}
|
||||
|
||||
int ZMQPubSocket::send(char *data, size_t size) {
|
||||
assert(pid == getpid());
|
||||
return zmq_send(sock, data, size, ZMQ_DONTWAIT);
|
||||
}
|
||||
|
||||
bool ZMQPubSocket::all_readers_updated() {
|
||||
assert(false); // TODO not implemented
|
||||
return false;
|
||||
}
|
||||
|
||||
ZMQPubSocket::~ZMQPubSocket(){
|
||||
zmq_close(sock);
|
||||
}
|
||||
|
||||
|
||||
void ZMQPoller::registerSocket(SubSocket * socket){
|
||||
assert(num_polls + 1 < MAX_POLLERS);
|
||||
polls[num_polls].socket = socket->getRawSocket();
|
||||
polls[num_polls].events = ZMQ_POLLIN;
|
||||
|
||||
sockets.push_back(socket);
|
||||
num_polls++;
|
||||
}
|
||||
|
||||
std::vector<SubSocket*> ZMQPoller::poll(int timeout){
|
||||
std::vector<SubSocket*> r;
|
||||
|
||||
int rc = zmq_poll(polls, num_polls, timeout);
|
||||
if (rc < 0){
|
||||
return r;
|
||||
}
|
||||
|
||||
for (size_t i = 0; i < num_polls; i++){
|
||||
if (polls[i].revents){
|
||||
r.push_back(sockets[i]);
|
||||
}
|
||||
}
|
||||
|
||||
return r;
|
||||
}
|
||||
@@ -0,0 +1,68 @@
|
||||
#pragma once
|
||||
|
||||
#include <zmq.h>
|
||||
#include <string>
|
||||
#include <vector>
|
||||
|
||||
#include "msgq/ipc.h"
|
||||
|
||||
#define MAX_POLLERS 128
|
||||
|
||||
class ZMQContext : public Context {
|
||||
private:
|
||||
void * context = NULL;
|
||||
public:
|
||||
ZMQContext();
|
||||
void * getRawContext() {return context;}
|
||||
~ZMQContext();
|
||||
};
|
||||
|
||||
class ZMQMessage : public Message {
|
||||
private:
|
||||
char * data;
|
||||
size_t size;
|
||||
public:
|
||||
void init(size_t size);
|
||||
void init(char *data, size_t size);
|
||||
size_t getSize(){return size;}
|
||||
char * getData(){return data;}
|
||||
void close();
|
||||
~ZMQMessage();
|
||||
};
|
||||
|
||||
class ZMQSubSocket : public SubSocket {
|
||||
private:
|
||||
void * sock;
|
||||
std::string full_endpoint;
|
||||
public:
|
||||
int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true, size_t segment_size=0);
|
||||
void setTimeout(int timeout);
|
||||
void * getRawSocket() {return sock;}
|
||||
Message *receive(bool non_blocking=false);
|
||||
~ZMQSubSocket();
|
||||
};
|
||||
|
||||
class ZMQPubSocket : public PubSocket {
|
||||
private:
|
||||
void * sock;
|
||||
std::string full_endpoint;
|
||||
int pid = -1;
|
||||
public:
|
||||
int connect(Context *context, std::string endpoint, bool check_endpoint=true, size_t segment_size=0);
|
||||
int sendMessage(Message *message);
|
||||
int send(char *data, size_t size);
|
||||
bool all_readers_updated();
|
||||
~ZMQPubSocket();
|
||||
};
|
||||
|
||||
class ZMQPoller : public Poller {
|
||||
private:
|
||||
std::vector<SubSocket*> sockets;
|
||||
zmq_pollitem_t polls[MAX_POLLERS];
|
||||
size_t num_polls = 0;
|
||||
|
||||
public:
|
||||
void registerSocket(SubSocket *socket);
|
||||
std::vector<SubSocket*> poll(int timeout);
|
||||
~ZMQPoller(){}
|
||||
};
|
||||
+56
-6
@@ -3,23 +3,59 @@
|
||||
#include <string>
|
||||
|
||||
#include "msgq/ipc.h"
|
||||
#include "msgq/impl_zmq.h"
|
||||
#include "msgq/impl_msgq.h"
|
||||
#include "msgq/impl_fake.h"
|
||||
|
||||
#ifdef __APPLE__
|
||||
const bool MUST_USE_ZMQ = true;
|
||||
#else
|
||||
const bool MUST_USE_ZMQ = false;
|
||||
#endif
|
||||
|
||||
bool messaging_use_zmq(){
|
||||
if (std::getenv("ZMQ") || MUST_USE_ZMQ) {
|
||||
if (std::getenv("OPENPILOT_PREFIX")) {
|
||||
std::cerr << "OPENPILOT_PREFIX not supported with ZMQ backend\n";
|
||||
assert(false);
|
||||
}
|
||||
return true;
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
bool messaging_use_fake(){
|
||||
char* fake_enabled = std::getenv("CEREAL_FAKE");
|
||||
return fake_enabled != NULL;
|
||||
}
|
||||
|
||||
Context * Context::create(){
|
||||
return new Context();
|
||||
Context * c;
|
||||
if (messaging_use_zmq()){
|
||||
c = new ZMQContext();
|
||||
} else {
|
||||
c = new MSGQContext();
|
||||
}
|
||||
return c;
|
||||
}
|
||||
|
||||
SubSocket * SubSocket::create(){
|
||||
SubSocket * s;
|
||||
if (messaging_use_fake()) {
|
||||
return new FakeSubSocket<MSGQSubSocket>();
|
||||
if (messaging_use_zmq()) {
|
||||
s = new FakeSubSocket<ZMQSubSocket>();
|
||||
} else {
|
||||
s = new FakeSubSocket<MSGQSubSocket>();
|
||||
}
|
||||
} else {
|
||||
if (messaging_use_zmq()){
|
||||
s = new ZMQSubSocket();
|
||||
} else {
|
||||
s = new MSGQSubSocket();
|
||||
}
|
||||
}
|
||||
return new MSGQSubSocket();
|
||||
|
||||
return s;
|
||||
}
|
||||
|
||||
SubSocket * SubSocket::create(Context * context, std::string endpoint, std::string address, bool conflate, bool check_endpoint, size_t segment_size){
|
||||
@@ -37,7 +73,14 @@ SubSocket * SubSocket::create(Context * context, std::string endpoint, std::stri
|
||||
}
|
||||
|
||||
PubSocket * PubSocket::create(){
|
||||
return new PubSocket();
|
||||
PubSocket * s;
|
||||
if (messaging_use_zmq()){
|
||||
s = new ZMQPubSocket();
|
||||
} else {
|
||||
s = new MSGQPubSocket();
|
||||
}
|
||||
|
||||
return s;
|
||||
}
|
||||
|
||||
PubSocket * PubSocket::create(Context * context, std::string endpoint, bool check_endpoint, size_t segment_size){
|
||||
@@ -55,10 +98,17 @@ PubSocket * PubSocket::create(Context * context, std::string endpoint, bool chec
|
||||
}
|
||||
|
||||
Poller * Poller::create(){
|
||||
Poller * p;
|
||||
if (messaging_use_fake()) {
|
||||
return new FakePoller();
|
||||
p = new FakePoller();
|
||||
} else {
|
||||
if (messaging_use_zmq()){
|
||||
p = new ZMQPoller();
|
||||
} else {
|
||||
p = new MSGQPoller();
|
||||
}
|
||||
}
|
||||
return new MSGQPoller();
|
||||
return p;
|
||||
}
|
||||
|
||||
Poller * Poller::create(std::vector<SubSocket*> sockets){
|
||||
|
||||
+17
-19
@@ -15,24 +15,23 @@
|
||||
|
||||
#define MSG_MULTIPLE_PUBLISHERS 100
|
||||
|
||||
bool messaging_use_zmq();
|
||||
|
||||
class Context {
|
||||
public:
|
||||
virtual void * getRawContext() = 0;
|
||||
static Context * create();
|
||||
~Context(){}
|
||||
virtual ~Context(){}
|
||||
};
|
||||
|
||||
class Message {
|
||||
private:
|
||||
char * data = nullptr;
|
||||
size_t size = 0;
|
||||
public:
|
||||
void init(size_t size);
|
||||
void init(char * data, size_t size);
|
||||
void takeOwnership(char * data, size_t size);
|
||||
void close();
|
||||
size_t getSize(){return size;}
|
||||
char * getData(){return data;}
|
||||
~Message();
|
||||
virtual void init(size_t size) = 0;
|
||||
virtual void init(char * data, size_t size) = 0;
|
||||
virtual void close() = 0;
|
||||
virtual size_t getSize() = 0;
|
||||
virtual char * getData() = 0;
|
||||
virtual ~Message(){}
|
||||
};
|
||||
|
||||
|
||||
@@ -41,22 +40,21 @@ public:
|
||||
virtual int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true, size_t segment_size=0) = 0;
|
||||
virtual void setTimeout(int timeout) = 0;
|
||||
virtual Message *receive(bool non_blocking=false) = 0;
|
||||
virtual void * getRawSocket() = 0;
|
||||
static SubSocket * create();
|
||||
static SubSocket * create(Context * context, std::string endpoint, std::string address="127.0.0.1", bool conflate=false, bool check_endpoint=true, size_t segment_size=0);
|
||||
virtual ~SubSocket(){}
|
||||
};
|
||||
|
||||
class PubSocket {
|
||||
private:
|
||||
struct msgq_queue_t * q = nullptr;
|
||||
public:
|
||||
int connect(Context *context, std::string endpoint, bool check_endpoint=true, size_t segment_size=0);
|
||||
int sendMessage(Message *message);
|
||||
int send(char *data, size_t size);
|
||||
bool all_readers_updated();
|
||||
virtual int connect(Context *context, std::string endpoint, bool check_endpoint=true, size_t segment_size=0) = 0;
|
||||
virtual int sendMessage(Message *message) = 0;
|
||||
virtual int send(char *data, size_t size) = 0;
|
||||
virtual bool all_readers_updated() = 0;
|
||||
static PubSocket * create();
|
||||
static PubSocket * create(Context * context, std::string endpoint, bool check_endpoint=true, size_t segment_size=0);
|
||||
~PubSocket();
|
||||
virtual ~PubSocket(){}
|
||||
};
|
||||
|
||||
class Poller {
|
||||
@@ -66,4 +64,4 @@ public:
|
||||
static Poller * create();
|
||||
static Poller * create(std::vector<SubSocket*> sockets);
|
||||
virtual ~Poller(){}
|
||||
};
|
||||
};
|
||||
Binary file not shown.
+7
-36
@@ -87,16 +87,12 @@ int msgq_new_queue(msgq_queue_t * q, const char * path, size_t size){
|
||||
assert(size < 0xFFFFFFFF); // Buffer must be smaller than 2^32 bytes
|
||||
std::signal(SIGUSR2, sigusr2_handler);
|
||||
|
||||
#ifdef __APPLE__
|
||||
std::string base_path = "/tmp/msgq_";
|
||||
#else
|
||||
std::string base_path = "/dev/shm/msgq_";
|
||||
#endif
|
||||
std::string full_path = "/dev/shm/msgq_";
|
||||
const char* prefix = std::getenv("OPENPILOT_PREFIX");
|
||||
if (prefix) {
|
||||
base_path += std::string(prefix) + "/";
|
||||
full_path += std::string(prefix) + "/";
|
||||
}
|
||||
std::string full_path = base_path + path;
|
||||
full_path += path;
|
||||
|
||||
auto fd = open(full_path.c_str(), O_RDWR | O_CREAT, 0664);
|
||||
if (fd < 0) {
|
||||
@@ -172,11 +168,8 @@ void msgq_init_publisher(msgq_queue_t * q) {
|
||||
}
|
||||
|
||||
static void thread_signal(uint32_t tid) {
|
||||
#ifdef __APPLE__
|
||||
// macOS doesn't have tkill, rely on polling instead
|
||||
(void)tid;
|
||||
#elif !defined(SYS_tkill)
|
||||
// fallback for systems without tkill
|
||||
#ifndef SYS_tkill
|
||||
// TODO: this won't work for multithreaded programs
|
||||
kill(tid, SIGUSR2);
|
||||
#else
|
||||
syscall(SYS_tkill, tid, SIGUSR2);
|
||||
@@ -446,18 +439,9 @@ int msgq_poll(msgq_pollitem_t * items, size_t nitems, int timeout){
|
||||
}
|
||||
|
||||
int ms = (timeout == -1) ? 100 : timeout;
|
||||
|
||||
#ifdef __APPLE__
|
||||
// On macOS, signals can't interrupt nanosleep, so poll more frequently
|
||||
int poll_ms = std::min(ms, 10);
|
||||
int remaining_ms = ms;
|
||||
#else
|
||||
int poll_ms = ms;
|
||||
#endif
|
||||
|
||||
struct timespec ts;
|
||||
ts.tv_sec = poll_ms / 1000;
|
||||
ts.tv_nsec = (poll_ms % 1000) * 1000 * 1000;
|
||||
ts.tv_sec = ms / 1000;
|
||||
ts.tv_nsec = (ms % 1000) * 1000 * 1000;
|
||||
|
||||
|
||||
while (num == 0) {
|
||||
@@ -473,23 +457,10 @@ int msgq_poll(msgq_pollitem_t * items, size_t nitems, int timeout){
|
||||
}
|
||||
}
|
||||
|
||||
#ifdef __APPLE__
|
||||
// exit if we had a timeout and we've exhausted it
|
||||
if (timeout != -1 && ret == 0){
|
||||
remaining_ms -= poll_ms;
|
||||
if (remaining_ms <= 0){
|
||||
break;
|
||||
}
|
||||
poll_ms = std::min(remaining_ms, 10);
|
||||
ts.tv_sec = poll_ms / 1000;
|
||||
ts.tv_nsec = (poll_ms % 1000) * 1000 * 1000;
|
||||
}
|
||||
#else
|
||||
// exit if we had a timeout and the sleep finished
|
||||
if (timeout != -1 && ret == 0){
|
||||
break;
|
||||
}
|
||||
#endif
|
||||
}
|
||||
|
||||
return num;
|
||||
|
||||
@@ -1,14 +1,6 @@
|
||||
#include "catch2/catch.hpp"
|
||||
#include "msgq/msgq.h"
|
||||
|
||||
static void cleanup_test_queue() {
|
||||
#ifdef __APPLE__
|
||||
remove("/tmp/msgq_test_queue");
|
||||
#else
|
||||
remove("/dev/shm/msgq_test_queue");
|
||||
#endif
|
||||
}
|
||||
|
||||
TEST_CASE("ALIGN")
|
||||
{
|
||||
REQUIRE(ALIGN(0) == 0);
|
||||
@@ -51,7 +43,7 @@ TEST_CASE("msgq_msg_init_data")
|
||||
|
||||
TEST_CASE("msgq_init_subscriber")
|
||||
{
|
||||
cleanup_test_queue();
|
||||
remove("/dev/shm/msgq_test_queue");
|
||||
msgq_queue_t q;
|
||||
msgq_new_queue(&q, "test_queue", 1024);
|
||||
REQUIRE(*q.num_readers == 0);
|
||||
@@ -71,7 +63,7 @@ TEST_CASE("msgq_init_subscriber")
|
||||
|
||||
TEST_CASE("msgq_msg_send first message")
|
||||
{
|
||||
cleanup_test_queue();
|
||||
remove("/dev/shm/msgq_test_queue");
|
||||
msgq_queue_t q;
|
||||
msgq_new_queue(&q, "test_queue", 1024);
|
||||
msgq_init_publisher(&q);
|
||||
@@ -108,7 +100,7 @@ TEST_CASE("msgq_msg_send first message")
|
||||
|
||||
TEST_CASE("msgq_msg_send test wraparound")
|
||||
{
|
||||
cleanup_test_queue();
|
||||
remove("/dev/shm/msgq_test_queue");
|
||||
msgq_queue_t q;
|
||||
msgq_new_queue(&q, "test_queue", 1024);
|
||||
msgq_init_publisher(&q);
|
||||
@@ -140,7 +132,7 @@ TEST_CASE("msgq_msg_send test wraparound")
|
||||
|
||||
TEST_CASE("msgq_msg_recv test wraparound")
|
||||
{
|
||||
cleanup_test_queue();
|
||||
remove("/dev/shm/msgq_test_queue");
|
||||
msgq_queue_t q_pub, q_sub;
|
||||
msgq_new_queue(&q_pub, "test_queue", 1024);
|
||||
msgq_new_queue(&q_sub, "test_queue", 1024);
|
||||
@@ -186,7 +178,7 @@ TEST_CASE("msgq_msg_recv test wraparound")
|
||||
|
||||
TEST_CASE("msgq_msg_send test invalidation")
|
||||
{
|
||||
cleanup_test_queue();
|
||||
remove("/dev/shm/msgq_test_queue");
|
||||
msgq_queue_t q_pub, q_sub;
|
||||
msgq_new_queue(&q_pub, "test_queue", 1024);
|
||||
msgq_new_queue(&q_sub, "test_queue", 1024);
|
||||
@@ -222,7 +214,7 @@ TEST_CASE("msgq_msg_send test invalidation")
|
||||
|
||||
TEST_CASE("msgq_init_subscriber init 2 subscribers")
|
||||
{
|
||||
cleanup_test_queue();
|
||||
remove("/dev/shm/msgq_test_queue");
|
||||
msgq_queue_t q1, q2;
|
||||
msgq_new_queue(&q1, "test_queue", 1024);
|
||||
msgq_new_queue(&q2, "test_queue", 1024);
|
||||
@@ -245,7 +237,7 @@ TEST_CASE("msgq_init_subscriber init 2 subscribers")
|
||||
|
||||
TEST_CASE("Write 1 msg, read 1 msg", "[integration]")
|
||||
{
|
||||
cleanup_test_queue();
|
||||
remove("/dev/shm/msgq_test_queue");
|
||||
const size_t msg_size = 128;
|
||||
msgq_queue_t writer, reader;
|
||||
|
||||
@@ -281,7 +273,7 @@ TEST_CASE("Write 1 msg, read 1 msg", "[integration]")
|
||||
|
||||
TEST_CASE("Write 2 msg, read 2 msg - conflate = false", "[integration]")
|
||||
{
|
||||
cleanup_test_queue();
|
||||
remove("/dev/shm/msgq_test_queue");
|
||||
const size_t msg_size = 128;
|
||||
msgq_queue_t writer, reader;
|
||||
|
||||
@@ -318,7 +310,7 @@ TEST_CASE("Write 2 msg, read 2 msg - conflate = false", "[integration]")
|
||||
|
||||
TEST_CASE("Write 2 msg, read 2 msg - conflate = true", "[integration]")
|
||||
{
|
||||
cleanup_test_queue();
|
||||
remove("/dev/shm/msgq_test_queue");
|
||||
const size_t msg_size = 128;
|
||||
msgq_queue_t writer, reader;
|
||||
|
||||
@@ -356,7 +348,7 @@ TEST_CASE("Write 2 msg, read 2 msg - conflate = true", "[integration]")
|
||||
|
||||
TEST_CASE("1 publisher, 1 slow subscriber", "[integration]")
|
||||
{
|
||||
cleanup_test_queue();
|
||||
remove("/dev/shm/msgq_test_queue");
|
||||
msgq_queue_t writer, reader;
|
||||
|
||||
msgq_new_queue(&writer, "test_queue", 1024);
|
||||
@@ -399,7 +391,7 @@ TEST_CASE("1 publisher, 1 slow subscriber", "[integration]")
|
||||
|
||||
TEST_CASE("1 publisher, 2 subscribers", "[integration]")
|
||||
{
|
||||
cleanup_test_queue();
|
||||
remove("/dev/shm/msgq_test_queue");
|
||||
msgq_queue_t writer, reader1, reader2;
|
||||
|
||||
msgq_new_queue(&writer, "test_queue", 1024);
|
||||
|
||||
@@ -1,4 +1,5 @@
|
||||
import pytest
|
||||
import os
|
||||
import multiprocessing
|
||||
import platform
|
||||
import msgq
|
||||
@@ -63,6 +64,7 @@ class TestEvents:
|
||||
|
||||
|
||||
@pytest.mark.skipif(condition=platform.system() == "Darwin", reason="FakeSockets not supported on macOS")
|
||||
@pytest.mark.skipif(condition="ZMQ" in os.environ, reason="FakeSockets not supported on ZMQ")
|
||||
@parameterized_class([{"prefix": None}, {"prefix": "test"}])
|
||||
class TestFakeSockets:
|
||||
prefix: Optional[str] = None
|
||||
|
||||
@@ -1,3 +1,4 @@
|
||||
import os
|
||||
import random
|
||||
import time
|
||||
import string
|
||||
@@ -10,12 +11,22 @@ def random_sock():
|
||||
def random_bytes(length=1000):
|
||||
return bytes([random.randrange(0xFF) for _ in range(length)])
|
||||
|
||||
def zmq_sleep(t=1):
|
||||
if "ZMQ" in os.environ:
|
||||
time.sleep(t)
|
||||
|
||||
class TestPubSubSockets:
|
||||
|
||||
def setup_method(self):
|
||||
# ZMQ pub socket takes too long to die
|
||||
# sleep to prevent multiple publishers error between tests
|
||||
zmq_sleep()
|
||||
|
||||
def test_pub_sub(self):
|
||||
sock = random_sock()
|
||||
pub_sock = msgq.pub_sock(sock)
|
||||
sub_sock = msgq.sub_sock(sock, conflate=False, timeout=None)
|
||||
zmq_sleep(3)
|
||||
|
||||
for _ in range(1000):
|
||||
msg = random_bytes()
|
||||
@@ -27,31 +38,35 @@ class TestPubSubSockets:
|
||||
sock = random_sock()
|
||||
pub_sock = msgq.pub_sock(sock)
|
||||
for conflate in [True, False]:
|
||||
num_msgs = random.randint(3, 10)
|
||||
sub_sock = msgq.sub_sock(sock, conflate=conflate, timeout=None)
|
||||
for _ in range(10):
|
||||
num_msgs = random.randint(3, 10)
|
||||
sub_sock = msgq.sub_sock(sock, conflate=conflate, timeout=None)
|
||||
zmq_sleep()
|
||||
|
||||
sent_msgs = []
|
||||
for __ in range(num_msgs):
|
||||
msg = random_bytes()
|
||||
pub_sock.send(msg)
|
||||
sent_msgs.append(msg)
|
||||
time.sleep(0.1)
|
||||
recvd_msgs = msgq.drain_sock_raw(sub_sock)
|
||||
if conflate:
|
||||
assert len(recvd_msgs) == 1
|
||||
assert recvd_msgs[0] == sent_msgs[-1]
|
||||
else:
|
||||
assert len(recvd_msgs) == len(sent_msgs)
|
||||
for rec_msg, sent_msg in zip(recvd_msgs, sent_msgs):
|
||||
assert rec_msg == sent_msg
|
||||
sent_msgs = []
|
||||
for __ in range(num_msgs):
|
||||
msg = random_bytes()
|
||||
pub_sock.send(msg)
|
||||
sent_msgs.append(msg)
|
||||
time.sleep(0.1)
|
||||
recvd_msgs = msgq.drain_sock_raw(sub_sock)
|
||||
if conflate:
|
||||
assert len(recvd_msgs) == 1
|
||||
assert recvd_msgs[0] == sent_msgs[-1]
|
||||
else:
|
||||
assert len(recvd_msgs) == len(sent_msgs)
|
||||
for rec_msg, sent_msg in zip(recvd_msgs, sent_msgs):
|
||||
assert rec_msg == sent_msg
|
||||
|
||||
@pytest.mark.flaky(retries=3, delay=1)
|
||||
def test_receive_timeout(self):
|
||||
sock = random_sock()
|
||||
timeout = random.randrange(200)
|
||||
sub_sock = msgq.sub_sock(sock, timeout=timeout)
|
||||
for _ in range(10):
|
||||
timeout = random.randrange(200)
|
||||
sub_sock = msgq.sub_sock(sock, timeout=timeout)
|
||||
zmq_sleep()
|
||||
|
||||
start_time = time.monotonic()
|
||||
recvd = sub_sock.receive()
|
||||
assert (time.monotonic() - start_time) < (timeout + 0.1)
|
||||
assert recvd is None
|
||||
start_time = time.monotonic()
|
||||
recvd = sub_sock.receive()
|
||||
assert (time.monotonic() - start_time) < 0.2
|
||||
assert recvd is None
|
||||
|
||||
@@ -111,7 +111,7 @@ class TestPoller:
|
||||
msg_seen = True
|
||||
i += 1
|
||||
|
||||
if r is None and msg_seen:
|
||||
if r is None and msg_seen: # ZMQ sometimes receives nothing on the first receive
|
||||
break
|
||||
|
||||
del pub
|
||||
|
||||
@@ -1,12 +1,15 @@
|
||||
import os
|
||||
import time
|
||||
import random
|
||||
from typing import Optional
|
||||
import numpy as np
|
||||
from msgq.visionipc import VisionIpcServer, VisionIpcClient, VisionStreamType
|
||||
|
||||
def zmq_sleep(t=1):
|
||||
if "ZMQ" in os.environ:
|
||||
time.sleep(t)
|
||||
|
||||
|
||||
class TestVisionIpc:
|
||||
server: VisionIpcServer
|
||||
client: Optional[VisionIpcClient]
|
||||
|
||||
def setup_vipc(self, name, *stream_types, num_buffers=1, width=100, height=100, conflate=False):
|
||||
self.server = VisionIpcServer(name)
|
||||
@@ -20,11 +23,11 @@ class TestVisionIpc:
|
||||
else:
|
||||
self.client = None
|
||||
|
||||
zmq_sleep()
|
||||
return self.server, self.client
|
||||
|
||||
def test_connect(self):
|
||||
self.setup_vipc("camerad", VisionStreamType.VISION_STREAM_ROAD)
|
||||
assert self.client is not None
|
||||
assert self.client.is_connected
|
||||
del self.client
|
||||
del self.server
|
||||
@@ -41,18 +44,16 @@ class TestVisionIpc:
|
||||
def test_buffers(self):
|
||||
width, height, num_buffers = 100, 200, 5
|
||||
self.setup_vipc("camerad", VisionStreamType.VISION_STREAM_ROAD, num_buffers=num_buffers, width=width, height=height)
|
||||
assert self.client is not None
|
||||
assert self.client.width == width
|
||||
assert self.client.height == height
|
||||
assert self.client.buffer_len is not None and self.client.buffer_len > 0
|
||||
assert self.client.buffer_len > 0
|
||||
assert self.client.num_buffers == num_buffers
|
||||
del self.client
|
||||
del self.server
|
||||
|
||||
def test_send_single_buffer(self):
|
||||
self.setup_vipc("camerad", VisionStreamType.VISION_STREAM_ROAD)
|
||||
assert self.client is not None
|
||||
assert self.client.buffer_len is not None
|
||||
|
||||
buf = np.zeros(self.client.buffer_len, dtype=np.uint8)
|
||||
buf.view('<i4')[0] = 1234
|
||||
self.server.send(VisionStreamType.VISION_STREAM_ROAD, buf, frame_id=1337)
|
||||
@@ -66,8 +67,7 @@ class TestVisionIpc:
|
||||
|
||||
def test_no_conflate(self):
|
||||
self.setup_vipc("camerad", VisionStreamType.VISION_STREAM_ROAD)
|
||||
assert self.client is not None
|
||||
assert self.client.buffer_len is not None
|
||||
|
||||
buf = np.zeros(self.client.buffer_len, dtype=np.uint8)
|
||||
self.server.send(VisionStreamType.VISION_STREAM_ROAD, buf, frame_id=1)
|
||||
self.server.send(VisionStreamType.VISION_STREAM_ROAD, buf, frame_id=2)
|
||||
@@ -84,8 +84,7 @@ class TestVisionIpc:
|
||||
|
||||
def test_conflate(self):
|
||||
self.setup_vipc("camerad", VisionStreamType.VISION_STREAM_ROAD, conflate=True)
|
||||
assert self.client is not None
|
||||
assert self.client.buffer_len is not None
|
||||
|
||||
buf = np.zeros(self.client.buffer_len, dtype=np.uint8)
|
||||
self.server.send(VisionStreamType.VISION_STREAM_ROAD, buf, frame_id=1)
|
||||
self.server.send(VisionStreamType.VISION_STREAM_ROAD, buf, frame_id=2)
|
||||
|
||||
@@ -52,8 +52,8 @@ bool VisionIpcClient::connect(bool blocking) {
|
||||
assert(r == sizeof(type));
|
||||
|
||||
// Get FDs
|
||||
int fds[VISIONIPC_MAX_FDS] = {};
|
||||
VisionBuf bufs[VISIONIPC_MAX_FDS] = {};
|
||||
int fds[VISIONIPC_MAX_FDS];
|
||||
VisionBuf bufs[VISIONIPC_MAX_FDS];
|
||||
r = ipc_sendrecv_with_fds(false, socket_fd, &bufs, sizeof(bufs), fds, VISIONIPC_MAX_FDS, &num_buffers);
|
||||
if (r < 0) {
|
||||
// only expected error is server shutting down
|
||||
|
||||
Binary file not shown.
@@ -10,12 +10,18 @@
|
||||
#include <sys/socket.h>
|
||||
#include <unistd.h>
|
||||
|
||||
#include "msgq/ipc.h"
|
||||
#include "msgq/visionipc/visionipc.h"
|
||||
#include "msgq/visionipc/visionipc_server.h"
|
||||
#include "msgq/logger/logger.h"
|
||||
|
||||
std::string get_endpoint_name(std::string name, VisionStreamType type){
|
||||
return "visionipc_" + name + "_" + std::to_string(type);
|
||||
if (messaging_use_zmq()){
|
||||
assert(name == "camerad" || name == "navd");
|
||||
return std::to_string(9000 + static_cast<int>(type));
|
||||
} else {
|
||||
return "visionipc_" + name + "_" + std::to_string(type);
|
||||
}
|
||||
}
|
||||
|
||||
std::string get_ipc_path(const std::string& name) {
|
||||
@@ -67,6 +73,7 @@ void VisionIpcServer::create_buffers_with_sizes(VisionStreamType type, size_t nu
|
||||
cur_idx[type] = 0;
|
||||
|
||||
// Create msgq publisher for each of the `name` + type combos
|
||||
// TODO: compute port number directly if using zmq
|
||||
sockets[type] = PubSocket::create(msg_ctx, get_endpoint_name(name, type), false);
|
||||
}
|
||||
|
||||
@@ -77,7 +84,7 @@ void VisionIpcServer::start_listener(){
|
||||
|
||||
|
||||
void VisionIpcServer::listener(){
|
||||
LOGD("Starting listener for: %s", name.c_str());
|
||||
std::cout << "Starting listener for: " << name << std::endl;
|
||||
|
||||
const std::string ipc_path = get_ipc_path(name);
|
||||
int sock = ipc_bind(ipc_path.c_str());
|
||||
@@ -127,9 +134,9 @@ void VisionIpcServer::listener(){
|
||||
continue;
|
||||
}
|
||||
|
||||
int fds[VISIONIPC_MAX_FDS] = {};
|
||||
int fds[VISIONIPC_MAX_FDS];
|
||||
int num_fds = buffers[type].size();
|
||||
VisionBuf bufs[VISIONIPC_MAX_FDS] = {};
|
||||
VisionBuf bufs[VISIONIPC_MAX_FDS];
|
||||
|
||||
for (int i = 0; i < num_fds; i++){
|
||||
fds[i] = buffers[type][i]->fd;
|
||||
@@ -148,7 +155,7 @@ void VisionIpcServer::listener(){
|
||||
close(fd);
|
||||
}
|
||||
|
||||
LOGD("Stopping listener for: %s", name.c_str());
|
||||
std::cout << "Stopping listener for: " << name << std::endl;
|
||||
close(sock);
|
||||
unlink(ipc_path.c_str());
|
||||
}
|
||||
|
||||
@@ -1,9 +1,18 @@
|
||||
#include <thread>
|
||||
#include <chrono>
|
||||
|
||||
#include "catch2/catch.hpp"
|
||||
|
||||
#include "msgq/visionipc/visionipc_server.h"
|
||||
#include "msgq/visionipc/visionipc_client.h"
|
||||
|
||||
|
||||
static void zmq_sleep(int milliseconds=1000){
|
||||
if (messaging_use_zmq()){
|
||||
std::this_thread::sleep_for(std::chrono::milliseconds(milliseconds));
|
||||
}
|
||||
}
|
||||
|
||||
TEST_CASE("Connecting"){
|
||||
VisionIpcServer server("camerad");
|
||||
server.create_buffers(VISION_STREAM_ROAD, 1, 100, 100);
|
||||
@@ -48,6 +57,8 @@ TEST_CASE("Send single buffer"){
|
||||
|
||||
VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_ROAD, false);
|
||||
REQUIRE(client.connect());
|
||||
zmq_sleep();
|
||||
|
||||
VisionBuf * buf = server.get_buffer(VISION_STREAM_ROAD);
|
||||
REQUIRE(buf != nullptr);
|
||||
|
||||
@@ -75,6 +86,8 @@ TEST_CASE("Test no conflate"){
|
||||
|
||||
VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_ROAD, false);
|
||||
REQUIRE(client.connect());
|
||||
zmq_sleep();
|
||||
|
||||
VisionBuf * buf = server.get_buffer(VISION_STREAM_ROAD);
|
||||
REQUIRE(buf != nullptr);
|
||||
|
||||
@@ -101,6 +114,8 @@ TEST_CASE("Test conflate"){
|
||||
|
||||
VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_ROAD, true);
|
||||
REQUIRE(client.connect());
|
||||
zmq_sleep();
|
||||
|
||||
VisionBuf * buf = server.get_buffer(VISION_STREAM_ROAD);
|
||||
REQUIRE(buf != nullptr);
|
||||
|
||||
|
||||
@@ -15,6 +15,7 @@ dependencies = [
|
||||
"setuptools", # for distutils
|
||||
"Cython",
|
||||
"scons",
|
||||
"pre-commit",
|
||||
"ruff",
|
||||
"parameterized",
|
||||
"coverage",
|
||||
@@ -22,10 +23,6 @@ dependencies = [
|
||||
"pytest",
|
||||
"pytest-retry",
|
||||
"cppcheck",
|
||||
"cpplint",
|
||||
"codespell",
|
||||
"ty",
|
||||
"lefthook",
|
||||
]
|
||||
|
||||
# https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml
|
||||
@@ -41,12 +38,18 @@ target-version="py311"
|
||||
"pytest.main".msg = "pytest.main requires special handling that is easy to mess up!"
|
||||
"unittest".msg = "Use pytest"
|
||||
|
||||
[tool.ty.src]
|
||||
exclude = ["site_scons/"]
|
||||
[tool.mypy]
|
||||
# third-party packages
|
||||
ignore_missing_imports=true
|
||||
|
||||
[tool.ty.rules]
|
||||
# Cython modules are compiled at build time, not available for static analysis
|
||||
unresolved-import = "ignore"
|
||||
# helpful warnings
|
||||
warn_redundant_casts=true
|
||||
warn_unreachable=true
|
||||
warn_unused_ignores=true
|
||||
|
||||
# restrict dynamic typing
|
||||
warn_return_any=true
|
||||
check_untyped_defs=true
|
||||
|
||||
[tool.pytest.ini_options]
|
||||
addopts = "--durations=10"
|
||||
|
||||
+5
-4
@@ -8,10 +8,10 @@ PLATFORM=$(uname -s)
|
||||
|
||||
echo "installing dependencies"
|
||||
if [[ $PLATFORM == "Darwin" ]]; then
|
||||
if ! command -v python3 &>/dev/null; then
|
||||
export HOMEBREW_NO_AUTO_UPDATE=1
|
||||
brew install python3
|
||||
fi
|
||||
export ZMQ=1
|
||||
|
||||
export HOMEBREW_NO_AUTO_UPDATE=1
|
||||
brew install python3 zeromq
|
||||
elif [[ $PLATFORM == "Linux" ]]; then
|
||||
# for AGNOS since we clear the apt lists
|
||||
if [[ ! -d /"var/lib/apt/" ]]; then
|
||||
@@ -20,6 +20,7 @@ elif [[ $PLATFORM == "Linux" ]]; then
|
||||
|
||||
sudo apt-get install -y --no-install-recommends \
|
||||
curl ca-certificates \
|
||||
libzmq3-dev \
|
||||
ocl-icd-opencl-dev opencl-headers \
|
||||
python3-dev python3-pip python3-venv
|
||||
else
|
||||
|
||||
+8
-7
@@ -1,18 +1,19 @@
|
||||
#!/bin/bash
|
||||
#!/usr/bin/env bash
|
||||
set -e
|
||||
|
||||
DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
|
||||
cd $DIR
|
||||
|
||||
# *** env setup ***
|
||||
source ./setup.sh
|
||||
|
||||
# *** build ***
|
||||
scons -j8
|
||||
|
||||
# *** lint + test ***
|
||||
lefthook run test
|
||||
# *** lint ***
|
||||
#ruff check .
|
||||
#mypy python/
|
||||
pre-commit run --all-files
|
||||
|
||||
# *** all done ***
|
||||
GREEN='\033[0;32m'
|
||||
NC='\033[0m'
|
||||
printf "\n${GREEN}All good!${NC} Finished build, lint, and test in ${SECONDS}s\n"
|
||||
# *** test ***
|
||||
pytest
|
||||
|
||||
@@ -1,5 +1,6 @@
|
||||
.cache/
|
||||
/build/
|
||||
.mypy_cache/
|
||||
*.pyc
|
||||
*.os
|
||||
*.o
|
||||
@@ -17,6 +18,7 @@
|
||||
*.gcno
|
||||
*.dump
|
||||
*.gcov
|
||||
uv.lock
|
||||
/dist/
|
||||
.vscode/
|
||||
__pycache__/
|
||||
@@ -31,4 +33,3 @@ cppcheck-addon-ctu-file-list
|
||||
opendbc/safety/tests/coverage-out
|
||||
|
||||
compile_commands.json
|
||||
.mull/
|
||||
|
||||
@@ -138,7 +138,7 @@ The above tests are themselves tested by:
|
||||
* a [mutation test](opendbc/safety/tests/misra/test_mutation.py) on the MISRA coverage
|
||||
* 100% line coverage enforced on the safety unit tests
|
||||
|
||||
In addition, we run the [ruff linter](https://github.com/astral-sh/ruff) and [ty](https://github.com/astral-sh/ty) on the car interface library.
|
||||
In addition, we run the [ruff linter](https://github.com/astral-sh/ruff) and [mypy](https://mypy-lang.org/) on the car interface library.
|
||||
|
||||
### Bounties
|
||||
|
||||
|
||||
+29
-62
@@ -1,18 +1,16 @@
|
||||
<!--- AUTOGENERATED FROM selfdrive/car/CARS_template.md, DO NOT EDIT. --->
|
||||
|
||||
# Support Information for 410 Known Cars
|
||||
# Support Information for 384 Known Cars
|
||||
|
||||
|Make|Model|Package|Support Level|
|
||||
|---|---|---|:---:|
|
||||
|Acura|ADX 2025-26|All|[Community](#community)|
|
||||
|Acura|ILX 2016-18|Technology Plus Package or AcuraWatch Plus|[Upstream](#upstream)|
|
||||
|Acura|ILX 2019|All|[Upstream](#upstream)|
|
||||
|Acura|Integra 2023-25|All|[Community](#community)|
|
||||
|Acura|MDX 2015-16|Advance Package|[Community](#community)|
|
||||
|Acura|MDX 2017-20|All|[Community](#community)|
|
||||
|Acura|MDX 2022-24|All|[Community](#community)|
|
||||
|Acura|MDX 2025-26|All except Type S|[Upstream](#upstream)|
|
||||
|Acura|MDX Hybrid 2017-20|All|[Community](#community)|
|
||||
|Acura|MDX 2025|All except Type S|[Upstream](#upstream)|
|
||||
|Acura|RDX 2016-18|AcuraWatch Plus or Advance Package|[Upstream](#upstream)|
|
||||
|Acura|RDX 2019-21|All|[Upstream](#upstream)|
|
||||
|Acura|RDX 2022-25|All|[Community](#community)|
|
||||
@@ -21,7 +19,6 @@
|
||||
|Acura|TLX 2018-20|All|[Community](#community)|
|
||||
|Acura|TLX 2021|All|[Upstream](#upstream)|
|
||||
|Acura|TLX 2022-23|All|[Community](#community)|
|
||||
|Acura|TLX 2025|All|[Upstream](#upstream)|
|
||||
|Acura|ZDX 2024|All|[Not compatible](#can-bus-security)|
|
||||
|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
@@ -32,21 +29,11 @@
|
||||
|Audi|Q5 2017-24|All|[Not compatible](#flexray)|
|
||||
|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Cadillac|CT6 Non-ACC 2017-18|No Adaptive Cruise Control (Non-ACC)|[Dashcam mode](#dashcam)|
|
||||
|Cadillac|XT5 Non-ACC 2018|No Adaptive Cruise Control (Non-ACC)|[Dashcam mode](#dashcam)|
|
||||
|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim, without Super Cruise Package|[Upstream](#upstream)|
|
||||
|Chevrolet|Bolt EUV LT Non-ACC 2022-23|No Adaptive Cruise Control (Non-ACC)|[Community](community)|
|
||||
|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|[Upstream](#upstream)|
|
||||
|Chevrolet|Bolt EV LT Non-ACC 2022-23|No Adaptive Cruise Control (Non-ACC)|[Community](community)|
|
||||
|Chevrolet|Bolt EV Non-ACC 2017|No Adaptive Cruise Control (Non-ACC)|[Community](community)|
|
||||
|Chevrolet|Bolt EV Non-ACC 2018-21|No Adaptive Cruise Control (Non-ACC)|[Community](community)|
|
||||
|Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|Chevrolet|Equinox Non-ACC 2019-22|No Adaptive Cruise Control (Non-ACC)|[Community](community)|
|
||||
|Chevrolet|Malibu Non-ACC 2016-23|No Adaptive Cruise Control (Non-ACC)|[Community](community)|
|
||||
|Chevrolet|Silverado 1500 2020-21|Safety Package II|[Upstream](#upstream)|
|
||||
|Chevrolet|Suburban Non-ACC 2016-20|No Adaptive Cruise Control (Non-ACC)|[Dashcam mode](#dashcam)|
|
||||
|Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|Chevrolet|Trailblazer Non-ACC 2021-22|No Adaptive Cruise Control (Non-ACC)|[Dashcam mode](#dashcam)|
|
||||
|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|Chrysler|Pacifica 2021-23|All|[Upstream](#upstream)|
|
||||
@@ -83,7 +70,6 @@
|
||||
|Genesis|G70 2018|All|[Upstream](#upstream)|
|
||||
|Genesis|G70 2019-21|All|[Upstream](#upstream)|
|
||||
|Genesis|G70 2022-23|All|[Upstream](#upstream)|
|
||||
|Genesis|G70 Non-SCC 2021|No Smart Cruise Control (Non-SCC)|[Dashcam mode](#dashcam)|
|
||||
|Genesis|G80 2017|All|[Upstream](#upstream)|
|
||||
|Genesis|G80 2018-19|All|[Upstream](#upstream)|
|
||||
|Genesis|G80 (2.5T Advanced Trim, with HDA II) 2024|Highway Driving Assist II|[Upstream](#upstream)|
|
||||
@@ -100,7 +86,6 @@
|
||||
|Honda|Accord 2016-17|Honda Sensing|[Community](#community)|
|
||||
|Honda|Accord 2018-22|All|[Upstream](#upstream)|
|
||||
|Honda|Accord 2023-25|All|[Upstream](#upstream)|
|
||||
|Honda|Accord Hybrid 2017|All|[Community](#community)|
|
||||
|Honda|Accord Hybrid 2018-22|All|[Upstream](#upstream)|
|
||||
|Honda|Accord Hybrid 2023-25|All|[Upstream](#upstream)|
|
||||
|Honda|City (Brazil only) 2023|All|[Upstream](#upstream)|
|
||||
@@ -113,13 +98,12 @@
|
||||
|Honda|Civic Hatchback Hybrid 2025-26|All|[Upstream](#upstream)|
|
||||
|Honda|Civic Hatchback Hybrid (Europe only) 2023|All|[Upstream](#upstream)|
|
||||
|Honda|Civic Hybrid 2025-26|All|[Upstream](#upstream)|
|
||||
|Honda|Clarity 2018-21|Honda Sensing|[Community](community)|
|
||||
|Honda|Clarity 2018-21|All|[Community](#community)|
|
||||
|Honda|CR-V 2015-16|Touring Trim|[Upstream](#upstream)|
|
||||
|Honda|CR-V 2017-22|Honda Sensing|[Upstream](#upstream)|
|
||||
|Honda|CR-V 2023-26|All|[Upstream](#upstream)|
|
||||
|Honda|CR-V Hybrid 2017-22|Honda Sensing|[Upstream](#upstream)|
|
||||
|Honda|CR-V Hybrid 2023-26|All|[Upstream](#upstream)|
|
||||
|Honda|CR-V Hybrid 2023-25|All|[Upstream](#upstream)|
|
||||
|Honda|e 2020|All|[Upstream](#upstream)|
|
||||
|Honda|Fit 2018-20|Honda Sensing|[Upstream](#upstream)|
|
||||
|Honda|Freed 2020|Honda Sensing|[Upstream](#upstream)|
|
||||
@@ -130,7 +114,6 @@
|
||||
|Honda|N-Box 2018|All|[Upstream](#upstream)|
|
||||
|Honda|Odyssey 2018-20|Honda Sensing|[Upstream](#upstream)|
|
||||
|Honda|Odyssey 2021-26|All|[Upstream](#upstream)|
|
||||
|Honda|Odyssey (Taiwan) 2018-19|Honda Sensing|[Upstream](#upstream)|
|
||||
|Honda|Passport 2019-25|All|[Upstream](#upstream)|
|
||||
|Honda|Passport 2026|All|[Upstream](#upstream)|
|
||||
|Honda|Pilot 2016-22|Honda Sensing|[Upstream](#upstream)|
|
||||
@@ -140,14 +123,12 @@
|
||||
|Hyundai|Azera 2022|All|[Upstream](#upstream)|
|
||||
|Hyundai|Azera Hybrid 2019|All|[Upstream](#upstream)|
|
||||
|Hyundai|Azera Hybrid 2020|All|[Upstream](#upstream)|
|
||||
|Hyundai|Bayon Non-SCC 2021|No Smart Cruise Control (Non-SCC)|[Dashcam mode](#dashcam)|
|
||||
|Hyundai|Custin 2023|All|[Upstream](#upstream)|
|
||||
|Hyundai|Elantra 2017-18|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Hyundai|Elantra 2019|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Hyundai|Elantra GT 2017-20|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Hyundai|Elantra Non-SCC 2022|No Smart Cruise Control (Non-SCC)|[Community](community)|
|
||||
|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Hyundai|Ioniq 5 (Southeast Asia and Europe only) 2022-24|All|[Upstream](#upstream)|
|
||||
@@ -161,16 +142,14 @@
|
||||
|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Hyundai|Ioniq Plug-in Hybrid 2020-22|All|[Upstream](#upstream)|
|
||||
|Hyundai|Kona 2020|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Hyundai|Kona 2022-23|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Hyundai|Kona 2022-23|Smart Cruise Control (SCC)|[Dashcam mode](#dashcam)|
|
||||
|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Hyundai|Kona Electric (with HDA II, Korea only) 2023|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Hyundai|Kona Electric Non-SCC 2019|No Smart Cruise Control (Non-SCC)|[Community](community)|
|
||||
|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Hyundai|Kona Non-SCC 2019|No Smart Cruise Control (Non-SCC)|[Community](community)|
|
||||
|Hyundai|Nexo 2021|All|[Upstream](#upstream)|
|
||||
|Hyundai|Palisade 2020-22|All|[Upstream](#upstream)|
|
||||
|Hyundai|Palisade 2023-24|Highway Driving Assist II|[Community](#community)|
|
||||
|Hyundai|Palisade 2023-24|HDA2|[Community](#community)|
|
||||
|Hyundai|Santa Cruz 2022-24|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Hyundai|Santa Fe 2019-20|All|[Upstream](#upstream)|
|
||||
|Hyundai|Santa Fe 2021-23|All|[Upstream](#upstream)|
|
||||
@@ -192,14 +171,11 @@
|
||||
|Kia|Carnival 2022-24|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Kia|Carnival (China only) 2023|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Kia|Ceed 2019-21|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Kia|Ceed Plug-in Hybrid Non-SCC 2022|No Smart Cruise Control (Non-SCC)|[Community](community)|
|
||||
|Kia|EV6 (Southeast Asia only) 2022-24|All|[Upstream](#upstream)|
|
||||
|Kia|EV6 (with HDA II) 2022-24|Highway Driving Assist II|[Upstream](#upstream)|
|
||||
|Kia|EV6 (without HDA II) 2022-24|Highway Driving Assist|[Upstream](#upstream)|
|
||||
|Kia|Forte 2019-21|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Kia|Forte 2022-23|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Kia|Forte Non-SCC 2019|No Smart Cruise Control (Non-SCC)|[Community](community)|
|
||||
|Kia|Forte Non-SCC 2021|No Smart Cruise Control (Non-SCC)|[Dashcam mode](#dashcam)|
|
||||
|Kia|K5 2021-24|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Kia|K8 Hybrid (with HDA II) 2023|Highway Driving Assist II|[Upstream](#upstream)|
|
||||
@@ -222,7 +198,6 @@
|
||||
|Kia|Optima Hybrid 2017|Advanced Smart Cruise Control|[Dashcam mode](#dashcam)|
|
||||
|Kia|Optima Hybrid 2019|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Kia|Seltos 2021|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Kia|Seltos Non-SCC 2023-24|No Smart Cruise Control (Non-SCC)|[Dashcam mode](#dashcam)|
|
||||
|Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|[Upstream](#upstream)|
|
||||
|Kia|Sorento 2019|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Kia|Sorento 2021-23|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
@@ -233,7 +208,7 @@
|
||||
|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Kia|Stinger 2022-23|All|[Upstream](#upstream)|
|
||||
|Kia|Telluride 2020-22|All|[Upstream](#upstream)|
|
||||
|Kia|Telluride 2023-24|Highway Driving Assist II|[Community](#community)|
|
||||
|Kia|Telluride 2023-24|HDA2|[Community](#community)|
|
||||
|Lexus|CT Hybrid 2017-18|Lexus Safety System+|[Upstream](#upstream)|
|
||||
|Lexus|ES 2017-18|All|[Upstream](#upstream)|
|
||||
|Lexus|ES 2019-25|All|[Upstream](#upstream)|
|
||||
@@ -243,8 +218,7 @@
|
||||
|Lexus|IS 2017-19|All|[Upstream](#upstream)|
|
||||
|Lexus|IS 2022-24|All|[Upstream](#upstream)|
|
||||
|Lexus|LC 2024-25|All|[Upstream](#upstream)|
|
||||
|Lexus|LS 2018|All except Lexus Safety System+ A|[Upstream](#upstream)|
|
||||
|Lexus|NS 2022-25|All|[Not compatible](#can-bus-security)|
|
||||
|Lexus|NS 2022-25|Any|[Not compatible](#can-bus-security)|
|
||||
|Lexus|NX 2018-19|All|[Upstream](#upstream)|
|
||||
|Lexus|NX 2020-21|All|[Upstream](#upstream)|
|
||||
|Lexus|NX Hybrid 2018-19|All|[Upstream](#upstream)|
|
||||
@@ -275,8 +249,8 @@
|
||||
|Peugeot|208 2019-25|Adaptive Cruise Control (ACC) & Lane Assist|[Dashcam mode](#dashcam)|
|
||||
|Porsche|Macan 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|[Dashcam mode](#dashcam)|
|
||||
|Ram|1500 2019-24|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|Ram|2500 2020-24|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|Ram|3500 2019-22|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|Ram|2500 2020-24|Adaptive Cruise Control (ACC)|[Dashcam mode](#dashcam)|
|
||||
|Ram|3500 2019-22|Adaptive Cruise Control (ACC)|[Dashcam mode](#dashcam)|
|
||||
|Rivian|R1S 2022-24|All|[Upstream](#upstream)|
|
||||
|Rivian|R1T 2022-24|All|[Upstream](#upstream)|
|
||||
|SEAT|Alhambra 2018-20|Adaptive Cruise Control (ACC) & Lane Assist|[Dashcam mode](#dashcam)|
|
||||
@@ -287,19 +261,19 @@
|
||||
|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|[Upstream](#upstream)|
|
||||
|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance|[Upstream](#upstream)|
|
||||
|Subaru|Crosstrek Hybrid 2020|EyeSight Driver Assistance|[Dashcam mode](#dashcam)|
|
||||
|Subaru|Forester 2017-18|EyeSight Driver Assistance|[Upstream](#upstream)|
|
||||
|Subaru|Forester 2017-18|EyeSight Driver Assistance|[Dashcam mode](#dashcam)|
|
||||
|Subaru|Forester 2019-21|All|[Upstream](#upstream)|
|
||||
|Subaru|Forester 2022-24|All|[Dashcam mode](#dashcam)|
|
||||
|Subaru|Forester Hybrid 2020|EyeSight Driver Assistance|[Dashcam mode](#dashcam)|
|
||||
|Subaru|Impreza 2017-19|EyeSight Driver Assistance|[Upstream](#upstream)|
|
||||
|Subaru|Impreza 2020-22|EyeSight Driver Assistance|[Upstream](#upstream)|
|
||||
|Subaru|Legacy 2015-18|EyeSight Driver Assistance|[Upstream](#upstream)|
|
||||
|Subaru|Legacy 2015-18|EyeSight Driver Assistance|[Dashcam mode](#dashcam)|
|
||||
|Subaru|Legacy 2020-22|All|[Upstream](#upstream)|
|
||||
|Subaru|Outback 2015-17|EyeSight Driver Assistance|[Upstream](#upstream)|
|
||||
|Subaru|Outback 2018-19|EyeSight Driver Assistance|[Upstream](#upstream)|
|
||||
|Subaru|Outback 2015-17|EyeSight Driver Assistance|[Dashcam mode](#dashcam)|
|
||||
|Subaru|Outback 2018-19|EyeSight Driver Assistance|[Dashcam mode](#dashcam)|
|
||||
|Subaru|Outback 2020-22|All|[Upstream](#upstream)|
|
||||
|Subaru|Outback 2023|All|[Dashcam mode](#dashcam)|
|
||||
|Subaru|Solterra 2023-25|All|[Not compatible](#can-bus-security)|
|
||||
|Subaru|Solterra 2023-25|Any|[Not compatible](#can-bus-security)|
|
||||
|Subaru|XV 2018-19|EyeSight Driver Assistance|[Upstream](#upstream)|
|
||||
|Subaru|XV 2020-21|EyeSight Driver Assistance|[Upstream](#upstream)|
|
||||
|Škoda|Fabia 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
@@ -313,7 +287,7 @@
|
||||
|Škoda|Superb 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Tesla|Model 3 (with HW3) 2019-23|All|[Upstream](#upstream)|
|
||||
|Tesla|Model 3 (with HW4) 2024-25|All|[Upstream](#upstream)|
|
||||
|Tesla|Model X (with HW4) 2024|All|[Community](community)|
|
||||
|Tesla|Model X (with HW4) 2024|All|[Dashcam mode](#dashcam)|
|
||||
|Tesla|Model Y (with HW3) 2020-23|All|[Upstream](#upstream)|
|
||||
|Tesla|Model Y (with HW4) 2024-25|All|[Upstream](#upstream)|
|
||||
|Toyota|Alphard 2019-20|All|[Upstream](#upstream)|
|
||||
@@ -324,19 +298,19 @@
|
||||
|Toyota|Avalon 2022|All|[Upstream](#upstream)|
|
||||
|Toyota|Avalon Hybrid 2019-21|All|[Upstream](#upstream)|
|
||||
|Toyota|Avalon Hybrid 2022|All|[Upstream](#upstream)|
|
||||
|Toyota|bZ4x 2023-25|All|[Not compatible](#can-bus-security)|
|
||||
|Toyota|bZ4x 2023-25|Any|[Not compatible](#can-bus-security)|
|
||||
|Toyota|C-HR 2017-20|All|[Upstream](#upstream)|
|
||||
|Toyota|C-HR 2021|All|[Upstream](#upstream)|
|
||||
|Toyota|C-HR Hybrid 2017-20|All|[Upstream](#upstream)|
|
||||
|Toyota|C-HR Hybrid 2021-22|All|[Upstream](#upstream)|
|
||||
|Toyota|Camry 2018-20|All|[Upstream](#upstream)|
|
||||
|Toyota|Camry 2021-24|All|[Upstream](#upstream)|
|
||||
|Toyota|Camry 2025|All|[Not compatible](#can-bus-security)|
|
||||
|Toyota|Camry 2025|Any|[Not compatible](#can-bus-security)|
|
||||
|Toyota|Camry Hybrid 2018-20|All|[Upstream](#upstream)|
|
||||
|Toyota|Camry Hybrid 2021-24|All|[Upstream](#upstream)|
|
||||
|Toyota|Corolla 2017-19|All|[Upstream](#upstream)|
|
||||
|Toyota|Corolla 2020-22|All|[Upstream](#upstream)|
|
||||
|Toyota|Corolla Cross 2022-25|All|[Not compatible](#can-bus-security)|
|
||||
|Toyota|Corolla Cross 2022-25|Any|[Not compatible](#can-bus-security)|
|
||||
|Toyota|Corolla Cross (Non-US only) 2020-23|All|[Upstream](#upstream)|
|
||||
|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|[Upstream](#upstream)|
|
||||
|Toyota|Corolla Hatchback 2019-22|All|[Upstream](#upstream)|
|
||||
@@ -344,7 +318,7 @@
|
||||
|Toyota|Corolla Hybrid (South America only) 2020-23|All|[Upstream](#upstream)|
|
||||
|Toyota|Highlander 2017-19|All|[Upstream](#upstream)|
|
||||
|Toyota|Highlander 2020-23|All|[Upstream](#upstream)|
|
||||
|Toyota|Highlander 2025|All|[Not compatible](#can-bus-security)|
|
||||
|Toyota|Highlander 2025|Any|[Not compatible](#can-bus-security)|
|
||||
|Toyota|Highlander Hybrid 2017-19|All|[Upstream](#upstream)|
|
||||
|Toyota|Highlander Hybrid 2020-23|All|[Upstream](#upstream)|
|
||||
|Toyota|Mirai 2021|All|[Upstream](#upstream)|
|
||||
@@ -364,15 +338,15 @@
|
||||
|Toyota|RAV4 Hybrid 2019-21|All|[Upstream](#upstream)|
|
||||
|Toyota|RAV4 Hybrid 2022|All|[Upstream](#upstream)|
|
||||
|Toyota|RAV4 Hybrid 2023-25|All|[Upstream](#upstream)|
|
||||
|Toyota|RAV4 Prime 2021-23|All|[Custom](#secoc-cars-with-recoverable-keys)|
|
||||
|Toyota|RAV4 Prime 2024-25|All|[Not compatible](#can-bus-security)|
|
||||
|Toyota|Sequoia 2023-25|All|[Not compatible](#can-bus-security)|
|
||||
|Toyota|RAV4 Prime 2021-23|All|[Community](#community)|
|
||||
|Toyota|RAV4 Prime 2024-25|Any|[Not compatible](#can-bus-security)|
|
||||
|Toyota|Sequoia 2023-25|Any|[Not compatible](#can-bus-security)|
|
||||
|Toyota|Sienna 2018-20|All|[Upstream](#upstream)|
|
||||
|Toyota|Sienna 2021-23|All|[Custom](#secoc-cars-with-recoverable-keys)|
|
||||
|Toyota|Sienna 2024-25|All|[Not compatible](#can-bus-security)|
|
||||
|Toyota|Tundra 2022-25|All|[Not compatible](#can-bus-security)|
|
||||
|Toyota|Venza 2021-25|All|[Not compatible](#can-bus-security)|
|
||||
|Toyota|Yaris (Non-US only) 2020, 2023|All|[Custom](#secoc-cars-with-recoverable-keys)|
|
||||
|Toyota|Sienna 2021-23|All|[Community](#community)|
|
||||
|Toyota|Sienna 2024-25|Any|[Not compatible](#can-bus-security)|
|
||||
|Toyota|Tundra 2022-25|Any|[Not compatible](#can-bus-security)|
|
||||
|Toyota|Venza 2021-25|Any|[Not compatible](#can-bus-security)|
|
||||
|Toyota|Yaris (Non-US only) 2020, 2023|All|[Community](#community)|
|
||||
|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
@@ -396,7 +370,7 @@
|
||||
|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|Jetta 2015-18|Adaptive Cruise Control (ACC) & Lane Assist|[Dashcam mode](#dashcam)|
|
||||
|Volkswagen|Jetta 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|Jetta 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|Passat 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
@@ -438,14 +412,7 @@ openpilot is installed, but custom forks may allow their use.
|
||||
|
||||
Vehicles in this category are not considered plug-and-play. Software support is included in upstream openpilot, but
|
||||
these vehicles might not have a harness in the comma store, or the physical install might be at an unusual or cumbersome
|
||||
location, or they might need unusual configuration after install. These vehicles will not work with release builds of
|
||||
openpilot, but depending on the situation, development builds or custom forks may allow their use.
|
||||
|
||||
### SecOC cars with recoverable keys
|
||||
|
||||
For a small subset of SecOC-protected vehicles, tools may be available in the community to recover the SecOC keys. These
|
||||
tools, and the recovery process, are not part of openpilot. If supplied with a valid SecOC key, development builds or
|
||||
custom forks may work with these vehicles. Release builds of openpilot don't support SecOC.
|
||||
location, or they might need unusual configuration after install.
|
||||
|
||||
## Dashcam
|
||||
|
||||
|
||||
@@ -15,8 +15,6 @@ test:
|
||||
# *** static analysis
|
||||
ruff:
|
||||
run: ruff check .
|
||||
ty:
|
||||
run: ty check
|
||||
codespell:
|
||||
run: codespell {files} -L tge,stdio -S *.dbc --ignore-words=.codespellignore
|
||||
files: git ls-tree -r HEAD --name-only
|
||||
|
||||
@@ -91,7 +91,7 @@ class MessageState:
|
||||
|
||||
if self.frequency < 1e-5 and len(self.timestamps) >= 3:
|
||||
dt = (self.timestamps[-1] - self.timestamps[0]) * 1e-9
|
||||
if (dt > 1.0 or (self.timestamps.maxlen is not None and len(self.timestamps) >= self.timestamps.maxlen)) and dt != 0:
|
||||
if (dt > 1.0 or len(self.timestamps) >= self.timestamps.maxlen) and dt != 0:
|
||||
self.frequency = min(len(self.timestamps) / dt, 100.0)
|
||||
self.timeout_threshold = (1_000_000_000 / self.frequency) * 10
|
||||
return True
|
||||
@@ -153,7 +153,7 @@ class CANParser:
|
||||
self.last_nonempty_nanos: int = 0
|
||||
self._last_update_nanos: int = 0
|
||||
|
||||
def _add_message(self, name_or_addr: str | int, freq: int | None = None) -> None:
|
||||
def _add_message(self, name_or_addr: str | int, freq: int = None) -> None:
|
||||
if isinstance(name_or_addr, numbers.Number):
|
||||
msg = self.dbc.addr_to_msg.get(int(name_or_addr))
|
||||
else:
|
||||
|
||||
@@ -32,14 +32,7 @@ openpilot is installed, but custom forks may allow their use.
|
||||
|
||||
Vehicles in this category are not considered plug-and-play. Software support is included in upstream openpilot, but
|
||||
these vehicles might not have a harness in the comma store, or the physical install might be at an unusual or cumbersome
|
||||
location, or they might need unusual configuration after install. These vehicles will not work with release builds of
|
||||
openpilot, but depending on the situation, development builds or custom forks may allow their use.
|
||||
|
||||
### SecOC cars with recoverable keys
|
||||
|
||||
For a small subset of SecOC-protected vehicles, tools may be available in the community to recover the SecOC keys. These
|
||||
tools, and the recovery process, are not part of openpilot. If supplied with a valid SecOC key, development builds or
|
||||
custom forks may work with these vehicles. Release builds of openpilot don't support SecOC.
|
||||
location, or they might need unusual configuration after install.
|
||||
|
||||
## Dashcam
|
||||
|
||||
|
||||
@@ -106,7 +106,7 @@ def make_tester_present_msg(addr, bus, subaddr=None, suppress_response=False):
|
||||
return CanData(addr, bytes(dat), bus)
|
||||
|
||||
|
||||
def get_safety_config(safety_model: structs.CarParams.SafetyModel, safety_param: int | None = None) -> structs.CarParams.SafetyConfig:
|
||||
def get_safety_config(safety_model: structs.CarParams.SafetyModel, safety_param: int = None) -> structs.CarParams.SafetyConfig:
|
||||
ret = structs.CarParams.SafetyConfig()
|
||||
ret.safetyModel = safety_model
|
||||
if safety_param is not None:
|
||||
@@ -131,15 +131,17 @@ class CanSignalRateCalculator:
|
||||
Calculates the instantaneous rate of a CAN signal by using the counter
|
||||
variable and the known frequency of the CAN message that contains it.
|
||||
"""
|
||||
def __init__(self, frequency: int):
|
||||
def __init__(self, frequency):
|
||||
self.frequency = frequency
|
||||
self.previous_counter = 0
|
||||
self.previous_value = 0
|
||||
self.rate = 0
|
||||
|
||||
def update(self, current_value: float, updated: bool):
|
||||
if updated:
|
||||
def update(self, current_value, current_counter):
|
||||
if current_counter != self.previous_counter:
|
||||
self.rate = (current_value - self.previous_value) * self.frequency
|
||||
|
||||
self.previous_counter = current_counter
|
||||
self.previous_value = current_value
|
||||
|
||||
return self.rate
|
||||
|
||||
@@ -1,6 +1,3 @@
|
||||
from opendbc.car.crc import CRC8BODY
|
||||
|
||||
|
||||
def create_control(packer, torque_l, torque_r):
|
||||
values = {
|
||||
"TORQUE_L": torque_l,
|
||||
@@ -12,6 +9,12 @@ def create_control(packer, torque_l, torque_r):
|
||||
|
||||
def body_checksum(address: int, sig, d: bytearray) -> int:
|
||||
crc = 0xFF
|
||||
poly = 0xD5
|
||||
for i in range(len(d) - 2, -1, -1):
|
||||
crc = CRC8BODY[crc ^ d[i]]
|
||||
crc ^= d[i]
|
||||
for _ in range(8):
|
||||
if crc & 0x80:
|
||||
crc = ((crc << 1) ^ poly) & 0xFF
|
||||
else:
|
||||
crc = (crc << 1) & 0xFF
|
||||
return crc
|
||||
|
||||
@@ -153,7 +153,7 @@ def fingerprint(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_mu
|
||||
|
||||
def get_car(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_multiplexing: ObdCallback, alpha_long_allowed: bool,
|
||||
is_release: bool, num_pandas: int = 1, cached_params: CarParamsT | None = None,
|
||||
fixed_fingerprint: str | None = None, init_params_list_sp: list[dict[str, str]] | None = None, is_release_sp: bool = False):
|
||||
fixed_fingerprint: str | None = None, init_params_list_sp: list[dict[str, str]] = None, is_release_sp: bool = False):
|
||||
candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(can_recv, can_send, set_obd_multiplexing, num_pandas, cached_params,
|
||||
fixed_fingerprint)
|
||||
|
||||
|
||||
@@ -217,7 +217,7 @@ class CcpClient:
|
||||
resp = self._recv_dto(0.025)
|
||||
# mta_addr_ext = resp[0]
|
||||
mta_addr = struct.unpack(f"{self.byte_order.value}I", resp[1:5])[0]
|
||||
return mta_addr
|
||||
return mta_addr # type: ignore
|
||||
|
||||
def download_6_bytes(self, data: bytes) -> int:
|
||||
if len(data) != 6:
|
||||
@@ -226,7 +226,7 @@ class CcpClient:
|
||||
resp = self._recv_dto(0.025)
|
||||
# mta_addr_ext = resp[0]
|
||||
mta_addr = struct.unpack(f"{self.byte_order.value}I", resp[1:5])[0]
|
||||
return mta_addr
|
||||
return mta_addr # type: ignore
|
||||
|
||||
def upload(self, size: int) -> bytes:
|
||||
if size > 5:
|
||||
@@ -325,7 +325,7 @@ class CcpClient:
|
||||
resp = self._recv_dto(0.1)
|
||||
# mta_addr_ext = resp[0]
|
||||
mta_addr = struct.unpack(f"{self.byte_order.value}I", resp[1:5])[0]
|
||||
return mta_addr
|
||||
return mta_addr # type: ignore
|
||||
|
||||
def program_6_bytes(self, data: bytes) -> int:
|
||||
if len(data) != 6:
|
||||
@@ -334,7 +334,7 @@ class CcpClient:
|
||||
resp = self._recv_dto(0.1)
|
||||
# mta_addr_ext = resp[0]
|
||||
mta_addr = struct.unpack(f"{self.byte_order.value}I", resp[1:5])[0]
|
||||
return mta_addr
|
||||
return mta_addr # type: ignore
|
||||
|
||||
def move_memory_block(self, size: int) -> None:
|
||||
self._send_cro(COMMAND_CODE.MOVE, struct.pack(f"{self.byte_order.value}I", size))
|
||||
|
||||
@@ -13,8 +13,6 @@ class CarInterface(CarInterfaceBase):
|
||||
CarController = CarController
|
||||
RadarInterface = RadarInterface
|
||||
|
||||
DRIVABLE_GEARS = (structs.CarState.GearShifter.low,)
|
||||
|
||||
@staticmethod
|
||||
def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
|
||||
ret.brand = "chrysler"
|
||||
|
||||
@@ -73,8 +73,8 @@ class RadarInterface(RadarInterfaceBase):
|
||||
if 'LONG_DIST' in cpt: # c_* message
|
||||
self.pts[trackId].dRel = cpt['LONG_DIST'] # from front of car
|
||||
# our lat_dist is positive to the right in car's frame.
|
||||
# LAT_DIST is right-positive, yRel is left-positive
|
||||
self.pts[trackId].yRel = -cpt['LAT_DIST'] # in car frame's y axis, left is positive
|
||||
# TODO what does yRel want?
|
||||
self.pts[trackId].yRel = cpt['LAT_DIST'] # in car frame's y axis, left is positive
|
||||
else: # d_* message
|
||||
self.pts[trackId].vRel = cpt['REL_SPEED']
|
||||
|
||||
|
||||
@@ -27,5 +27,4 @@ def _gen_crc16_table(poly: int) -> list[int]:
|
||||
|
||||
CRC8H2F = _gen_crc8_table(0x2F)
|
||||
CRC8J1850 = _gen_crc8_table(0x1D)
|
||||
CRC8BODY = _gen_crc8_table(0xD5)
|
||||
CRC16_XMODEM = _gen_crc16_table(0x1021)
|
||||
|
||||
@@ -1,13 +1,12 @@
|
||||
#!/usr/bin/env python3
|
||||
import re
|
||||
import os
|
||||
import jinja2
|
||||
import argparse
|
||||
import unicodedata
|
||||
import os
|
||||
from typing import get_args
|
||||
|
||||
from enum import Enum
|
||||
from collections import defaultdict
|
||||
import jinja2
|
||||
from enum import Enum
|
||||
from natsort import natsorted
|
||||
|
||||
from opendbc.car.common.basedir import BASEDIR
|
||||
from opendbc.car import gen_empty_fingerprint
|
||||
@@ -33,11 +32,11 @@ def get_params_for_docs(platform) -> tuple[CarParams, CarParamsSP]:
|
||||
cp_platform = platform if platform in interfaces else MOCK.MOCK
|
||||
CP: CarParams = interfaces[cp_platform].get_params(cp_platform, fingerprint=gen_empty_fingerprint(),
|
||||
car_fw=[CarParams.CarFw(ecu=CarParams.Ecu.unknown)],
|
||||
alpha_long=True, is_release=True, docs=True)
|
||||
alpha_long=True, is_release=False, docs=True)
|
||||
|
||||
CP_SP: CarParamsSP = interfaces[cp_platform].get_params_sp(CP, cp_platform, fingerprint=gen_empty_fingerprint(),
|
||||
car_fw=[CarParams.CarFw(ecu=CarParams.Ecu.unknown)],
|
||||
alpha_long=True, is_release_sp=True, docs=True)
|
||||
alpha_long=True, is_release_sp=False, docs=True)
|
||||
return CP, CP_SP
|
||||
|
||||
|
||||
@@ -48,12 +47,6 @@ def get_all_footnotes() -> dict[Enum, int]:
|
||||
return {fn: idx + 1 for idx, fn in enumerate(all_footnotes)}
|
||||
|
||||
|
||||
def _natural_sort_key(s):
|
||||
# NFKD normalization ensures accented characters sort with their base letter (e.g., Š sorts with S)
|
||||
normalized = unicodedata.normalize('NFKD', s)
|
||||
return [int(t) if t.isdigit() else t.lower() for t in re.split(r'(\d+)', normalized) if t]
|
||||
|
||||
|
||||
def build_sorted_car_docs_list(platforms, footnotes=None):
|
||||
collected_car_docs: list[CarDocs | ExtraCarDocs] = []
|
||||
for platform in platforms.values():
|
||||
@@ -71,7 +64,7 @@ def build_sorted_car_docs_list(platforms, footnotes=None):
|
||||
collected_car_docs.append(_car_docs)
|
||||
|
||||
# Sort cars by make and model + year
|
||||
sorted_cars = sorted(collected_car_docs, key=lambda car: _natural_sort_key(car.name))
|
||||
sorted_cars = natsorted(collected_car_docs, key=lambda car: car.name.lower())
|
||||
return sorted_cars
|
||||
|
||||
|
||||
|
||||
@@ -78,6 +78,7 @@ class Cable(EnumBase):
|
||||
long_obdc_cable = BasePart("long OBD-C cable (9.5 ft)")
|
||||
usb_a_2_a_cable = BasePart("USB A-A cable")
|
||||
usbc_otg_cable = BasePart("USB C OTG cable")
|
||||
usbc_coupler = BasePart("USB-C coupler")
|
||||
obd_c_cable_2ft = BasePart("OBD-C cable (2 ft)")
|
||||
|
||||
|
||||
@@ -111,7 +112,7 @@ class CarHarness(EnumBase):
|
||||
fca = BaseCarHarness("FCA connector")
|
||||
ram = BaseCarHarness("Ram connector")
|
||||
vw_a = BaseCarHarness("VW A connector")
|
||||
vw_j533 = BaseCarHarness("VW J533 connector", parts=[Accessory.harness_box, Cable.long_obdc_cable])
|
||||
vw_j533 = BaseCarHarness("VW J533 connector", parts=[Accessory.harness_box, Cable.long_obdc_cable, Cable.usbc_coupler])
|
||||
hyundai_a = BaseCarHarness("Hyundai A connector")
|
||||
hyundai_b = BaseCarHarness("Hyundai B connector")
|
||||
hyundai_c = BaseCarHarness("Hyundai C connector")
|
||||
@@ -131,18 +132,18 @@ class CarHarness(EnumBase):
|
||||
hyundai_q = BaseCarHarness("Hyundai Q connector")
|
||||
hyundai_r = BaseCarHarness("Hyundai R connector")
|
||||
custom = BaseCarHarness("Developer connector")
|
||||
obd_ii = BaseCarHarness("OBD-II connector", parts=[Cable.long_obdc_cable], has_connector=False)
|
||||
obd_ii = BaseCarHarness("OBD-II connector", parts=[Cable.long_obdc_cable, Cable.usbc_coupler], has_connector=False)
|
||||
gm = BaseCarHarness("GM connector", parts=[Accessory.harness_box])
|
||||
gmsdgm = BaseCarHarness("GM SDGM connector", parts=[Accessory.harness_box, Accessory.comma_power, Cable.long_obdc_cable])
|
||||
nissan_a = BaseCarHarness("Nissan A connector", parts=[Accessory.harness_box, Accessory.comma_power, Cable.long_obdc_cable])
|
||||
nissan_b = BaseCarHarness("Nissan B connector", parts=[Accessory.harness_box, Accessory.comma_power, Cable.long_obdc_cable])
|
||||
gmsdgm = BaseCarHarness("GM SDGM connector", parts=[Accessory.harness_box, Accessory.comma_power, Cable.long_obdc_cable, Cable.usbc_coupler])
|
||||
nissan_a = BaseCarHarness("Nissan A connector", parts=[Accessory.harness_box, Accessory.comma_power, Cable.long_obdc_cable, Cable.usbc_coupler])
|
||||
nissan_b = BaseCarHarness("Nissan B connector", parts=[Accessory.harness_box, Accessory.comma_power, Cable.long_obdc_cable, Cable.usbc_coupler])
|
||||
mazda = BaseCarHarness("Mazda connector")
|
||||
ford_q3 = BaseCarHarness("Ford Q3 connector")
|
||||
ford_q4 = BaseCarHarness("Ford Q4 connector", parts=[Accessory.harness_box, Accessory.comma_power, Cable.long_obdc_cable])
|
||||
rivian = BaseCarHarness("Rivian A connector", parts=[Accessory.harness_box, Accessory.comma_power, Cable.long_obdc_cable])
|
||||
tesla_a = BaseCarHarness("Tesla A connector", parts=[Accessory.harness_box, Cable.long_obdc_cable])
|
||||
tesla_b = BaseCarHarness("Tesla B connector", parts=[Accessory.harness_box, Cable.long_obdc_cable])
|
||||
psa_a = BaseCarHarness("PSA A connector", parts=[Accessory.harness_box, Cable.long_obdc_cable])
|
||||
ford_q4 = BaseCarHarness("Ford Q4 connector", parts=[Accessory.harness_box, Accessory.comma_power, Cable.long_obdc_cable, Cable.usbc_coupler])
|
||||
rivian = BaseCarHarness("Rivian A connector", parts=[Accessory.harness_box, Accessory.comma_power, Cable.long_obdc_cable, Cable.usbc_coupler])
|
||||
tesla_a = BaseCarHarness("Tesla A connector", parts=[Accessory.harness_box, Cable.long_obdc_cable, Cable.usbc_coupler])
|
||||
tesla_b = BaseCarHarness("Tesla B connector", parts=[Accessory.harness_box, Cable.long_obdc_cable, Cable.usbc_coupler])
|
||||
psa_a = BaseCarHarness("PSA A connector", parts=[Accessory.harness_box, Cable.long_obdc_cable, Cable.usbc_coupler])
|
||||
|
||||
# custom harness
|
||||
honda_clarity = BaseCarHarness("Honda Nidec connector + Honda Clarity Proxy Board")
|
||||
@@ -173,7 +174,7 @@ class CarParts:
|
||||
return copy.deepcopy(self)
|
||||
|
||||
@classmethod
|
||||
def common(cls, add: list[EnumBase] | None = None, remove: list[EnumBase] | None = None):
|
||||
def common(cls, add: list[EnumBase] = None, remove: list[EnumBase] = None):
|
||||
p = [part for part in (add or []) + DEFAULT_CAR_PARTS if part not in (remove or [])]
|
||||
return cls(p)
|
||||
|
||||
@@ -259,9 +260,11 @@ class CarDocs:
|
||||
self.longitudinal_control = CP.openpilotLongitudinalControl and not CP.alphaLongitudinalAvailable
|
||||
|
||||
if self.merged and CP.dashcamOnly:
|
||||
if self.support_type not in (SupportType.CUSTOM, SupportType.REVIEW):
|
||||
if self.support_type != SupportType.REVIEW:
|
||||
self.support_type = SupportType.DASHCAM
|
||||
self.support_link = "#dashcam"
|
||||
else:
|
||||
self.support_link = "#under-review"
|
||||
|
||||
# longitudinal column
|
||||
op_long = "Stock"
|
||||
@@ -400,7 +403,7 @@ class CarDocs:
|
||||
|
||||
@dataclass
|
||||
class ExtraCarDocs(CarDocs):
|
||||
package: str = "All"
|
||||
package: str = "Any"
|
||||
merged: bool = False
|
||||
support_type: SupportType = SupportType.INCOMPATIBLE
|
||||
support_link: str | None = "#incompatible"
|
||||
|
||||
@@ -6,7 +6,7 @@ from opendbc.car.carlog import carlog
|
||||
from opendbc.car.fw_query_definitions import EcuAddrBusType
|
||||
|
||||
|
||||
def _is_tester_present_response(msg: CanData, subaddr: int | None = None) -> bool:
|
||||
def _is_tester_present_response(msg: CanData, subaddr: int = None) -> bool:
|
||||
# ISO-TP messages may use CAN frame optimization (not always 8 bytes)
|
||||
# tester present response is always a single frame
|
||||
dat_offset = 1 if subaddr is not None else 0
|
||||
|
||||
@@ -37,29 +37,26 @@ class CAR(Platforms):
|
||||
|
||||
EXTRA_HONDA = ExtraPlatformConfig(
|
||||
[
|
||||
CommunityCarDocs("Acura ADX 2025-26"),
|
||||
CommunityCarDocs("Acura Integra 2023-25"),
|
||||
CommunityCarDocs("Acura Integra 2023-25", "All"),
|
||||
CommunityCarDocs("Acura MDX 2015-16", "Advance Package"),
|
||||
CommunityCarDocs("Acura MDX 2017-20"),
|
||||
CommunityCarDocs("Acura MDX Hybrid 2017-20"),
|
||||
CommunityCarDocs("Acura MDX 2022-24"),
|
||||
CommunityCarDocs("Acura RDX 2022-25"),
|
||||
CommunityCarDocs("Acura MDX 2017-20", "All"),
|
||||
CommunityCarDocs("Acura MDX 2022-24", "All"),
|
||||
CommunityCarDocs("Acura RDX 2022-25", "All"),
|
||||
CommunityCarDocs("Acura RLX 2017", "Advance Package or Technology Package"),
|
||||
CommunityCarDocs("Acura TLX 2015-17", "Advance Package"),
|
||||
CommunityCarDocs("Acura TLX 2018-20"),
|
||||
CommunityCarDocs("Acura TLX 2022-23"),
|
||||
GMSecurityCarDocs("Acura ZDX 2024"),
|
||||
CommunityCarDocs("Acura TLX 2018-20", "All"),
|
||||
CommunityCarDocs("Acura TLX 2022-23", "All"),
|
||||
GMSecurityCarDocs("Acura ZDX 2024", "All"),
|
||||
CommunityCarDocs("Honda Accord 2016-17", "Honda Sensing"),
|
||||
CommunityCarDocs("Honda Accord Hybrid 2017"),
|
||||
CommunityCarDocs("Honda Clarity 2018-21"),
|
||||
GMSecurityCarDocs("Honda Prologue 2024-25"),
|
||||
CommunityCarDocs("Honda Clarity 2018-21", "All"),
|
||||
GMSecurityCarDocs("Honda Prologue 2024-25", "All"),
|
||||
],
|
||||
)
|
||||
|
||||
EXTRA_HYUNDAI = ExtraPlatformConfig(
|
||||
[
|
||||
CommunityCarDocs("Hyundai Palisade 2023-24", "Highway Driving Assist II"),
|
||||
CommunityCarDocs("Kia Telluride 2023-24", "Highway Driving Assist II"),
|
||||
CommunityCarDocs("Hyundai Palisade 2023-24", package="HDA2"),
|
||||
CommunityCarDocs("Kia Telluride 2023-24", package="HDA2"),
|
||||
],
|
||||
)
|
||||
|
||||
@@ -81,8 +78,8 @@ class CAR(Platforms):
|
||||
|
||||
EXTRA_VOLKSWAGEN = ExtraPlatformConfig(
|
||||
[
|
||||
FlexRayCarDocs("Audi A4 2016-24"),
|
||||
FlexRayCarDocs("Audi A5 2016-24"),
|
||||
FlexRayCarDocs("Audi Q5 2017-24"),
|
||||
FlexRayCarDocs("Audi A4 2016-24", package="All"),
|
||||
FlexRayCarDocs("Audi A5 2016-24", package="All"),
|
||||
FlexRayCarDocs("Audi Q5 2017-24", package="All"),
|
||||
],
|
||||
)
|
||||
|
||||
@@ -17,8 +17,6 @@ class CarInterface(CarInterfaceBase):
|
||||
CarController = CarController
|
||||
RadarInterface = RadarInterface
|
||||
|
||||
DRIVABLE_GEARS = (structs.CarState.GearShifter.low, structs.CarState.GearShifter.manumatic)
|
||||
|
||||
@staticmethod
|
||||
def get_pid_accel_limits(CP, CP_SP, current_speed, cruise_speed):
|
||||
# PCM doesn't allow acceleration near cruise_speed,
|
||||
|
||||
@@ -37,7 +37,7 @@ def is_brand(brand: str, filter_brand: str | None) -> bool:
|
||||
return filter_brand is None or brand == filter_brand
|
||||
|
||||
|
||||
def build_fw_dict(fw_versions: list[CarParams.CarFw], filter_brand: str | None = None) -> dict[AddrType, set[bytes]]:
|
||||
def build_fw_dict(fw_versions: list[CarParams.CarFw], filter_brand: str = None) -> dict[AddrType, set[bytes]]:
|
||||
fw_versions_dict: defaultdict[AddrType, set[bytes]] = defaultdict(set)
|
||||
for fw in fw_versions:
|
||||
if is_brand(fw.brand, filter_brand) and not fw.logging:
|
||||
@@ -47,11 +47,11 @@ def build_fw_dict(fw_versions: list[CarParams.CarFw], filter_brand: str | None =
|
||||
|
||||
|
||||
class MatchFwToCar(Protocol):
|
||||
def __call__(self, live_fw_versions: LiveFwVersions, match_brand: str | None = None, log: bool = True) -> set[str]:
|
||||
def __call__(self, live_fw_versions: LiveFwVersions, match_brand: str = None, log: bool = True) -> set[str]:
|
||||
...
|
||||
|
||||
|
||||
def match_fw_to_car_fuzzy(live_fw_versions: LiveFwVersions, match_brand: str | None = None, log: bool = True, exclude: str | None = None) -> set[str]:
|
||||
def match_fw_to_car_fuzzy(live_fw_versions: LiveFwVersions, match_brand: str = None, log: bool = True, exclude: str = None) -> set[str]:
|
||||
"""Do a fuzzy FW match. This function will return a match, and the number of firmware version
|
||||
that were matched uniquely to that specific car. If multiple ECUs uniquely match to different cars
|
||||
the match is rejected."""
|
||||
@@ -101,8 +101,7 @@ def match_fw_to_car_fuzzy(live_fw_versions: LiveFwVersions, match_brand: str | N
|
||||
return set()
|
||||
|
||||
|
||||
def match_fw_to_car_exact(live_fw_versions: LiveFwVersions, match_brand: str | None = None,
|
||||
log: bool = True, extra_fw_versions: dict | None = None) -> set[str]:
|
||||
def match_fw_to_car_exact(live_fw_versions: LiveFwVersions, match_brand: str = None, log: bool = True, extra_fw_versions: dict = None) -> set[str]:
|
||||
"""Do an exact FW match. Returns all cars that match the given
|
||||
FW versions for a list of "essential" ECUs. If an ECU is not considered
|
||||
essential the FW version can be missing to get a fingerprint, but if it's present it
|
||||
@@ -253,8 +252,8 @@ def get_fw_versions_ordered(can_recv: CanRecvCallable, can_send: CanSendCallable
|
||||
return all_car_fw
|
||||
|
||||
|
||||
def get_fw_versions(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_multiplexing: ObdCallback, query_brand: str | None = None,
|
||||
extra: OfflineFwVersions | None = None, timeout: float = 0.1, num_pandas: int = 1, progress: bool = False) -> list[CarParams.CarFw]:
|
||||
def get_fw_versions(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_multiplexing: ObdCallback, query_brand: str = None,
|
||||
extra: OfflineFwVersions = None, timeout: float = 0.1, num_pandas: int = 1, progress: bool = False) -> list[CarParams.CarFw]:
|
||||
versions = VERSIONS.copy()
|
||||
|
||||
if query_brand is not None:
|
||||
|
||||
@@ -54,9 +54,6 @@ FINGERPRINTS = {
|
||||
}],
|
||||
CAR.CHEVROLET_SILVERADO: [{
|
||||
190: 6, 193: 8, 197: 8, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 460: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 534: 2, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 801: 8, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7
|
||||
},
|
||||
{
|
||||
190: 6, 193: 8, 197: 8, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 3, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 460: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 534: 2, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 801: 8, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7
|
||||
}],
|
||||
CAR.CHEVROLET_EQUINOX: [{
|
||||
190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 510: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7
|
||||
|
||||
@@ -35,9 +35,6 @@ class CarInterface(CarInterfaceBase, CarInterfaceExt):
|
||||
CarController = CarController
|
||||
RadarInterface = RadarInterface
|
||||
|
||||
DRIVABLE_GEARS = (structs.CarState.GearShifter.sport, structs.CarState.GearShifter.low,
|
||||
structs.CarState.GearShifter.eco, structs.CarState.GearShifter.manumatic)
|
||||
|
||||
def __init__(self, CP, CP_SP):
|
||||
CarInterfaceBase.__init__(self, CP, CP_SP)
|
||||
CarInterfaceExt.__init__(self, CP, CarInterfaceBase)
|
||||
@@ -59,7 +56,7 @@ class CarInterface(CarInterfaceBase, CarInterfaceExt):
|
||||
else:
|
||||
return CarInterfaceBase.get_steer_feedforward_default
|
||||
|
||||
def get_lataccel_torque_siglin(self) -> tuple[list[float], np.ndarray]:
|
||||
def get_lataccel_torque_siglin(self) -> float:
|
||||
|
||||
def torque_from_lateral_accel_siglin_func(lateral_acceleration: float) -> float:
|
||||
# The "lat_accel vs torque" relationship is assumed to be the sum of "sigmoid + linear" curves
|
||||
@@ -68,6 +65,7 @@ class CarInterface(CarInterfaceBase, CarInterfaceExt):
|
||||
non_linear_torque_params = NON_LINEAR_TORQUE_PARAMS.get(self.CP.carFingerprint)
|
||||
assert non_linear_torque_params, "The params are not defined"
|
||||
a, b, c, d = non_linear_torque_params
|
||||
d = d if NON_LINEAR_TORQUE_PARAMS_SP.get(self.CP.carFingerprint) else 0.0
|
||||
sig_input = a * lateral_acceleration
|
||||
sig = np.sign(sig_input) * (1 / (1 + exp(-fabs(sig_input))) - 0.5)
|
||||
steer_torque = (sig * b) + (lateral_acceleration * c) + d
|
||||
@@ -260,8 +258,9 @@ class CarInterface(CarInterfaceBase, CarInterfaceExt):
|
||||
stock_cp.minSteerSpeed = 3.0 # ~6 mph
|
||||
|
||||
# dashcamOnly platforms: untested platforms, need user validations
|
||||
if candidate in (CAR.CHEVROLET_SUBURBAN_NON_ACC_11TH_GEN, CAR.CADILLAC_CT6_NON_ACC_1ST_GEN,
|
||||
CAR.CHEVROLET_TRAILBLAZER_NON_ACC_2ND_GEN, CAR.CADILLAC_XT5_NON_ACC_1ST_GEN):
|
||||
if candidate in (CAR.CHEVROLET_BOLT_NON_ACC_2ND_GEN, CAR.CHEVROLET_EQUINOX_NON_ACC_3RD_GEN,
|
||||
CAR.CHEVROLET_SUBURBAN_NON_ACC_11TH_GEN, CAR.CADILLAC_CT6_NON_ACC_1ST_GEN, CAR.CHEVROLET_TRAILBLAZER_NON_ACC_2ND_GEN,
|
||||
CAR.CADILLAC_XT5_NON_ACC_1ST_GEN):
|
||||
stock_cp.dashcamOnly = True
|
||||
|
||||
return ret
|
||||
|
||||
@@ -3,7 +3,7 @@ from enum import Enum, IntFlag
|
||||
|
||||
from opendbc.car import Bus, PlatformConfig, DbcDict, Platforms, CarSpecs
|
||||
from opendbc.car.structs import CarParams
|
||||
from opendbc.car.docs_definitions import CarDocs, CarFootnote, CarHarness, CarParts, Column, SupportType
|
||||
from opendbc.car.docs_definitions import CarDocs, CarFootnote, CarHarness, CarParts, Column
|
||||
from opendbc.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
|
||||
|
||||
from opendbc.sunnypilot.car.gm.values_ext import GMFlagsSP
|
||||
@@ -88,13 +88,6 @@ class GMCarDocs(CarDocs):
|
||||
self.car_parts = CarParts.common([CarHarness.obd_ii])
|
||||
|
||||
|
||||
@dataclass
|
||||
class GMNonAccCarDocs(GMCarDocs):
|
||||
package: str = "No Adaptive Cruise Control (Non-ACC)"
|
||||
support_type: SupportType = SupportType.COMMUNITY
|
||||
support_link: str = "community"
|
||||
|
||||
|
||||
@dataclass(frozen=True, kw_only=True)
|
||||
class GMCarSpecs(CarSpecs):
|
||||
tireStiffnessFactor: float = 0.444 # not optimized yet
|
||||
@@ -123,12 +116,6 @@ class GMSDGMPlatformConfig(GMPlatformConfig):
|
||||
self.car_docs = []
|
||||
|
||||
|
||||
@dataclass
|
||||
class GMNonSccPlatformConfig(GMPlatformConfig):
|
||||
def init(self):
|
||||
self.sp_flags |= GMFlagsSP.NON_ACC
|
||||
|
||||
|
||||
class CAR(Platforms):
|
||||
HOLDEN_ASTRA = GMASCMPlatformConfig(
|
||||
[GMCarDocs("Holden Astra 2017")],
|
||||
@@ -212,48 +199,58 @@ class CAR(Platforms):
|
||||
# port extensions
|
||||
# Separate car def is required when there is no ASCM
|
||||
# (for now) unless there is a way to detect it when it has been unplugged...
|
||||
# CHEVROLET_VOLT_CC = GMNonSccPlatformConfig(
|
||||
# [GMNonAccCarDocs("Chevrolet Volt LT 2017-18")],
|
||||
# CHEVROLET_VOLT_CC = GMPlatformConfig(
|
||||
# [GMCarDocs("Chevrolet Volt LT 2017-18")],
|
||||
# CHEVROLET_VOLT.specs,
|
||||
# sp_flags=GMFlagsSP.NON_ACC,
|
||||
# )
|
||||
CHEVROLET_BOLT_NON_ACC = GMNonSccPlatformConfig(
|
||||
[GMNonAccCarDocs("Chevrolet Bolt EV Non-ACC 2017")],
|
||||
CHEVROLET_BOLT_NON_ACC = GMPlatformConfig(
|
||||
[GMCarDocs("Chevrolet Bolt EV Non-ACC 2017")],
|
||||
CHEVROLET_BOLT_EUV.specs,
|
||||
sp_flags=GMFlagsSP.NON_ACC,
|
||||
)
|
||||
CHEVROLET_BOLT_NON_ACC_1ST_GEN = GMNonSccPlatformConfig(
|
||||
[GMNonAccCarDocs("Chevrolet Bolt EV Non-ACC 2018-21")],
|
||||
CHEVROLET_BOLT_NON_ACC_1ST_GEN = GMPlatformConfig(
|
||||
[GMCarDocs("Chevrolet Bolt EV Non-ACC 2018-21")],
|
||||
CHEVROLET_BOLT_EUV.specs,
|
||||
sp_flags=GMFlagsSP.NON_ACC,
|
||||
)
|
||||
CHEVROLET_BOLT_NON_ACC_2ND_GEN = GMNonSccPlatformConfig(
|
||||
CHEVROLET_BOLT_NON_ACC_2ND_GEN = GMPlatformConfig(
|
||||
[
|
||||
GMNonAccCarDocs("Chevrolet Bolt EUV LT Non-ACC 2022-23"),
|
||||
GMNonAccCarDocs("Chevrolet Bolt EV LT Non-ACC 2022-23"),
|
||||
GMCarDocs("Chevrolet Bolt EUV LT Non-ACC 2022-23"),
|
||||
GMCarDocs("Chevrolet Bolt EV LT Non-ACC 2022-23"),
|
||||
],
|
||||
CHEVROLET_BOLT_EUV.specs,
|
||||
sp_flags=GMFlagsSP.NON_ACC,
|
||||
)
|
||||
CHEVROLET_EQUINOX_NON_ACC_3RD_GEN = GMNonSccPlatformConfig(
|
||||
[GMNonAccCarDocs("Chevrolet Equinox Non-ACC 2019-22")],
|
||||
CHEVROLET_EQUINOX_NON_ACC_3RD_GEN = GMPlatformConfig(
|
||||
[GMCarDocs("Chevrolet Equinox Non-ACC 2019-22")],
|
||||
CHEVROLET_EQUINOX.specs,
|
||||
sp_flags=GMFlagsSP.NON_ACC,
|
||||
)
|
||||
CHEVROLET_SUBURBAN_NON_ACC_11TH_GEN = GMNonSccPlatformConfig(
|
||||
[GMNonAccCarDocs("Chevrolet Suburban Non-ACC 2016-20")],
|
||||
CHEVROLET_SUBURBAN_NON_ACC_11TH_GEN = GMPlatformConfig(
|
||||
[GMCarDocs("Chevrolet Suburban Non-ACC 2016-20")],
|
||||
CarSpecs(mass=2731, wheelbase=3.302, steerRatio=17.3, centerToFrontRatio=0.49),
|
||||
sp_flags=GMFlagsSP.NON_ACC,
|
||||
)
|
||||
CADILLAC_CT6_NON_ACC_1ST_GEN = GMNonSccPlatformConfig(
|
||||
[GMNonAccCarDocs("Cadillac CT6 Non-ACC 2017-18")],
|
||||
CADILLAC_CT6_NON_ACC_1ST_GEN = GMPlatformConfig(
|
||||
[GMCarDocs("Cadillac CT6 Non-ACC 2017-18")],
|
||||
CarSpecs(mass=2358, wheelbase=3.11, steerRatio=17.7, centerToFrontRatio=0.4),
|
||||
sp_flags=GMFlagsSP.NON_ACC,
|
||||
)
|
||||
CHEVROLET_TRAILBLAZER_NON_ACC_2ND_GEN = GMNonSccPlatformConfig(
|
||||
[GMNonAccCarDocs("Chevrolet Trailblazer Non-ACC 2021-22")],
|
||||
CHEVROLET_TRAILBLAZER_NON_ACC_2ND_GEN = GMPlatformConfig(
|
||||
[GMCarDocs("Chevrolet Trailblazer Non-ACC 2021-22")],
|
||||
CHEVROLET_TRAILBLAZER.specs,
|
||||
sp_flags=GMFlagsSP.NON_ACC,
|
||||
)
|
||||
CHEVROLET_MALIBU_NON_ACC_9TH_GEN = GMNonSccPlatformConfig(
|
||||
[GMNonAccCarDocs("Chevrolet Malibu Non-ACC 2016-23")],
|
||||
CHEVROLET_MALIBU_NON_ACC_9TH_GEN = GMPlatformConfig(
|
||||
[GMCarDocs("Chevrolet Malibu Non-ACC 2016-23")],
|
||||
CarSpecs(mass=1450, wheelbase=2.8, steerRatio=15.8, centerToFrontRatio=0.4),
|
||||
sp_flags=GMFlagsSP.NON_ACC,
|
||||
)
|
||||
CADILLAC_XT5_NON_ACC_1ST_GEN = GMNonSccPlatformConfig(
|
||||
[GMNonAccCarDocs("Cadillac XT5 Non-ACC 2018")],
|
||||
CADILLAC_XT5_NON_ACC_1ST_GEN = GMPlatformConfig(
|
||||
[GMCarDocs("Cadillac XT5 Non-ACC 2018")],
|
||||
CarSpecs(mass=1810, wheelbase=2.86, steerRatio=16.34, centerToFrontRatio=0.5),
|
||||
sp_flags=GMFlagsSP.NON_ACC,
|
||||
)
|
||||
|
||||
|
||||
|
||||
@@ -51,8 +51,6 @@ class CarState(CarStateBase, CarStateExt):
|
||||
# When available we use cp.vl["CAR_SPEED"]["ROUGH_CAR_SPEED_2"] to populate vEgoCluster
|
||||
# However, on cars without a digital speedometer this is not always present (HRV, FIT, CRV 2016, ILX and RDX)
|
||||
self.dash_speed_seen = False
|
||||
self.is_metric = False
|
||||
self.v_cruise_factor = 1.
|
||||
|
||||
def update(self, can_parsers) -> tuple[structs.CarState, structs.CarStateSP]:
|
||||
cp = can_parsers[Bus.pt]
|
||||
@@ -74,8 +72,7 @@ class CarState(CarStateBase, CarStateExt):
|
||||
self.cruise_buttons = cp.vl["SCM_BUTTONS"]["CRUISE_BUTTONS"]
|
||||
|
||||
# used for car hud message
|
||||
# TODO: find CAR_SPEED for HONDA_ODYSSEY_TWN or use ACC_HUD w/ detection
|
||||
self.is_metric = self.CP.carFingerprint in (CAR.HONDA_ODYSSEY_TWN,) or not cp.vl["CAR_SPEED"]["IMPERIAL_UNIT"]
|
||||
self.is_metric = not cp.vl["CAR_SPEED"]["IMPERIAL_UNIT"]
|
||||
self.v_cruise_factor = CV.MPH_TO_MS if self.dynamic_v_cruise_units and not self.is_metric else CV.KPH_TO_MS
|
||||
|
||||
# ******************* parse out can *******************
|
||||
@@ -134,11 +131,10 @@ class CarState(CarStateBase, CarStateExt):
|
||||
|
||||
ret.espDisabled = cp.vl["VSA_STATUS"]["ESP_DISABLED"] != 0
|
||||
|
||||
if self.CP.carFingerprint not in (CAR.HONDA_ODYSSEY_TWN,):
|
||||
self.dash_speed_seen = self.dash_speed_seen or cp.vl["CAR_SPEED"]["ROUGH_CAR_SPEED_2"] > 1e-3
|
||||
if self.dash_speed_seen:
|
||||
conversion = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS
|
||||
ret.vEgoCluster = cp.vl["CAR_SPEED"]["ROUGH_CAR_SPEED_2"] * conversion
|
||||
self.dash_speed_seen = self.dash_speed_seen or cp.vl["CAR_SPEED"]["ROUGH_CAR_SPEED_2"] > 1e-3
|
||||
if self.dash_speed_seen:
|
||||
conversion = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS
|
||||
ret.vEgoCluster = cp.vl["CAR_SPEED"]["ROUGH_CAR_SPEED_2"] * conversion
|
||||
|
||||
ret.steeringAngleDeg = cp.vl["STEERING_SENSORS"]["STEER_ANGLE"]
|
||||
ret.steeringRateDeg = cp.vl["STEERING_SENSORS"]["STEER_ANGLE_RATE"]
|
||||
|
||||
@@ -223,12 +223,10 @@ FW_VERSIONS = {
|
||||
b'57114-TBG-A340\x00\x00',
|
||||
b'57114-TBG-A350\x00\x00',
|
||||
b'57114-TGG-A340\x00\x00',
|
||||
b'57114-TGG-C120\x00\x00',
|
||||
b'57114-TGG-C320\x00\x00',
|
||||
b'57114-TGG-G320\x00\x00',
|
||||
b'57114-TGG-L320\x00\x00',
|
||||
b'57114-TGG-L330\x00\x00',
|
||||
b'57114-TGH-A130\x00\x00',
|
||||
b'57114-TGH-L130\x00\x00',
|
||||
b'57114-TGJ-Q330\x00\x00',
|
||||
b'57114-TGK-T320\x00\x00',
|
||||
@@ -243,7 +241,6 @@ FW_VERSIONS = {
|
||||
b'39990-TGG-A020\x00\x00',
|
||||
b'39990-TGG-A120\x00\x00',
|
||||
b'39990-TGG-J510\x00\x00',
|
||||
b'39990-TGH-J020\x00\x00',
|
||||
b'39990-TGH-J530\x00\x00',
|
||||
b'39990-TGL-E130\x00\x00',
|
||||
b'39990-TGN-E120\x00\x00',
|
||||
@@ -260,7 +257,6 @@ FW_VERSIONS = {
|
||||
b'77959-TGG-J320\x00\x00',
|
||||
b'77959-TGG-Q810\x00\x00',
|
||||
b'77959-TGG-Z820\x00\x00',
|
||||
b'77959-TGH-E220\x00\x00',
|
||||
b'77959-TGH-J110\x00\x00',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x18dab0f1, None): [
|
||||
@@ -273,7 +269,6 @@ FW_VERSIONS = {
|
||||
b'36802-TGG-A130\x00\x00',
|
||||
b'36802-TGG-G040\x00\x00',
|
||||
b'36802-TGG-G130\x00\x00',
|
||||
b'36802-TGH-A030\x00\x00',
|
||||
b'36802-TGH-A140\x00\x00',
|
||||
b'36802-TGK-Q030\x00\x00',
|
||||
b'36802-TGK-Q120\x00\x00',
|
||||
@@ -290,7 +285,6 @@ FW_VERSIONS = {
|
||||
b'36161-TGG-G070\x00\x00',
|
||||
b'36161-TGG-G130\x00\x00',
|
||||
b'36161-TGG-G140\x00\x00',
|
||||
b'36161-TGH-A020\x00\x00',
|
||||
b'36161-TGH-A140\x00\x00',
|
||||
b'36161-TGK-Q040\x00\x00',
|
||||
b'36161-TGK-Q120\x00\x00',
|
||||
@@ -586,17 +580,6 @@ FW_VERSIONS = {
|
||||
b'54008-THR-A020\x00\x00',
|
||||
],
|
||||
},
|
||||
CAR.HONDA_ODYSSEY_TWN: {
|
||||
(Ecu.eps, 0x18da30f1, None): [
|
||||
b'39990-T6A-J210\x00\x00',
|
||||
],
|
||||
(Ecu.srs, 0x18da53f1, None): [
|
||||
b'77959-T6A-P110\x00\x00',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x18dab0f1, None): [
|
||||
b'36161-T6A-P040\x00\x00',
|
||||
],
|
||||
},
|
||||
CAR.HONDA_ODYSSEY_5G_MMR: {
|
||||
(Ecu.vsa, 0x18da28f1, None): [
|
||||
b'57114-THR-A240\x00\x00',
|
||||
@@ -875,7 +858,6 @@ FW_VERSIONS = {
|
||||
b'77959-3V0-A910\x00\x00',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x18dab0f1, None): [
|
||||
b'8S102-3M1-T050\x00\x00',
|
||||
b'8S102-3M3-T050\x00\x00',
|
||||
b'8S102-3M6-P030\x00\x00',
|
||||
b'8S102-3M6-PA20\x00\x00',
|
||||
@@ -1030,7 +1012,6 @@ FW_VERSIONS = {
|
||||
(Ecu.fwdCamera, 0x18dab5f1, None): [
|
||||
b'8S102-30A-A050\x00\x00',
|
||||
b'8S102-30A-A060\x00\x00',
|
||||
b'8S102-30A-A070\x00\x00',
|
||||
],
|
||||
},
|
||||
CAR.HONDA_CRV_6G: {
|
||||
@@ -1088,14 +1069,6 @@ FW_VERSIONS = {
|
||||
b'36161-TGV-A030\x00\x00',
|
||||
],
|
||||
},
|
||||
CAR.ACURA_TLX_2G_MMR: {
|
||||
(Ecu.fwdRadar, 0x18dab0f1, None): [
|
||||
b'8S302-TGV-A030\x00\x00',
|
||||
],
|
||||
(Ecu.fwdCamera, 0x18dab5f1, None): [
|
||||
b'8S102-TGV-A030\x00\x00',
|
||||
],
|
||||
},
|
||||
}
|
||||
|
||||
FW_VERSIONS = merge_fw_versions(FW_VERSIONS, FW_VERSIONS_EXT)
|
||||
|
||||
@@ -21,8 +21,6 @@ class CarInterface(CarInterfaceBase):
|
||||
CarController = CarController
|
||||
RadarInterface = RadarInterface
|
||||
|
||||
DRIVABLE_GEARS = (structs.CarState.GearShifter.sport,)
|
||||
|
||||
@staticmethod
|
||||
def get_pid_accel_limits(CP, CP_SP, current_speed, cruise_speed):
|
||||
if CP.carFingerprint in HONDA_BOSCH:
|
||||
@@ -167,10 +165,6 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]]
|
||||
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
|
||||
|
||||
elif candidate == CAR.HONDA_ODYSSEY_TWN:
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]]
|
||||
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 32767], [0, 32767]] # TODO: determine if there is a dead zone at the top end
|
||||
|
||||
elif candidate == CAR.HONDA_PILOT:
|
||||
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
|
||||
@@ -199,11 +193,6 @@ class CarInterface(CarInterfaceBase):
|
||||
# When using stock ACC, the radar intercepts and filters steering commands the EPS would otherwise accept
|
||||
ret.minSteerSpeed = 70. * CV.KPH_TO_MS
|
||||
|
||||
elif candidate == CAR.ACURA_TLX_2G_MMR:
|
||||
ret.steerActuatorDelay = 0.15
|
||||
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
# TODO-SP: remove when https://github.com/commaai/opendbc/pull/2687 is merged
|
||||
elif candidate == CAR.HONDA_CLARITY:
|
||||
pass
|
||||
@@ -214,7 +203,7 @@ class CarInterface(CarInterfaceBase):
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
# These cars use alternate user brake msg (0x1BE)
|
||||
if 0x1BE in fingerprint[CAN.pt] and candidate in (CAR.HONDA_ACCORD, CAR.HONDA_HRV_3G, CAR.ACURA_RDX_3G, *HONDA_BOSCH_CANFD):
|
||||
if 0x1BE in fingerprint[CAN.pt] and candidate in (CAR.HONDA_ACCORD, CAR.HONDA_HRV_3G, *HONDA_BOSCH_CANFD):
|
||||
ret.flags |= HondaFlags.BOSCH_ALT_BRAKE.value
|
||||
|
||||
if ret.flags & HondaFlags.BOSCH_ALT_BRAKE:
|
||||
@@ -232,12 +221,7 @@ class CarInterface(CarInterfaceBase):
|
||||
# to a negative value, so it won't matter. Otherwise, add 0.5 mph margin to not
|
||||
# conflict with PCM acc
|
||||
ret.autoResumeSng = candidate in (HONDA_BOSCH | {CAR.HONDA_CIVIC})
|
||||
if ret.autoResumeSng:
|
||||
ret.minEnableSpeed = -1.
|
||||
elif candidate == CAR.HONDA_ODYSSEY_TWN:
|
||||
ret.minEnableSpeed = 19. * CV.MPH_TO_MS
|
||||
else:
|
||||
ret.minEnableSpeed = 25.51 * CV.MPH_TO_MS
|
||||
ret.minEnableSpeed = -1. if ret.autoResumeSng else 25.51 * CV.MPH_TO_MS
|
||||
|
||||
ret.steerLimitTimer = 0.8
|
||||
ret.radarDelay = 0.1
|
||||
|
||||
@@ -3,7 +3,7 @@ from enum import Enum, IntFlag
|
||||
|
||||
from opendbc.car import Bus, CarSpecs, DbcDict, PlatformConfig, Platforms, structs, uds
|
||||
from opendbc.car.common.conversions import Conversions as CV
|
||||
from opendbc.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column, SupportType
|
||||
from opendbc.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column
|
||||
from opendbc.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
|
||||
|
||||
Ecu = structs.CarParams.Ecu
|
||||
@@ -114,8 +114,6 @@ class HondaCarDocs(CarDocs):
|
||||
if CP.carFingerprint in (CAR.HONDA_CLARITY,):
|
||||
self.car_parts = CarParts.common([CarHarness.honda_clarity])
|
||||
self.car_parts.custom_parts_url = "https://shop.retropilot.org/product/honda-clarity-proxy-board-kit"
|
||||
self.support_type: SupportType = SupportType.COMMUNITY
|
||||
self.support_link: str = "community"
|
||||
|
||||
|
||||
class Footnote(Enum):
|
||||
@@ -191,7 +189,6 @@ class CAR(Platforms):
|
||||
],
|
||||
CarSpecs(mass=1326, wheelbase=2.7, steerRatio=15.38, centerToFrontRatio=0.4), # steerRatio: 10.93 is end-to-end spec
|
||||
{Bus.pt: 'honda_civic_hatchback_ex_2017_can_generated'},
|
||||
flags=HondaFlags.ALLOW_MANUAL_TRANS,
|
||||
)
|
||||
HONDA_CIVIC_BOSCH_DIESEL = HondaBoschPlatformConfig(
|
||||
[], # don't show in docs
|
||||
@@ -221,7 +218,7 @@ class CAR(Platforms):
|
||||
HONDA_CRV_6G = HondaBoschCANFDPlatformConfig(
|
||||
[
|
||||
HondaCarDocs("Honda CR-V 2023-26", "All"),
|
||||
HondaCarDocs("Honda CR-V Hybrid 2023-26", "All"),
|
||||
HondaCarDocs("Honda CR-V Hybrid 2023-25", "All"),
|
||||
],
|
||||
CarSpecs(mass=1703, wheelbase=2.7, steerRatio=16.2, centerToFrontRatio=0.42),
|
||||
)
|
||||
@@ -269,7 +266,7 @@ class CAR(Platforms):
|
||||
)
|
||||
# mid-model refresh
|
||||
ACURA_MDX_4G_MMR = HondaBoschCANFDPlatformConfig(
|
||||
[HondaCarDocs("Acura MDX 2025-26", "All except Type S")],
|
||||
[HondaCarDocs("Acura MDX 2025", "All except Type S")],
|
||||
CarSpecs(mass=4544 * CV.LB_TO_KG, wheelbase=2.89, centerToFrontRatio=0.428, steerRatio=16.2),
|
||||
)
|
||||
HONDA_ODYSSEY_5G_MMR = HondaBoschPlatformConfig(
|
||||
@@ -284,11 +281,6 @@ class CAR(Platforms):
|
||||
{Bus.pt: 'honda_civic_hatchback_ex_2017_can_generated'},
|
||||
flags=HondaFlags.BOSCH_ALT_RADAR,
|
||||
)
|
||||
# mid-model refresh
|
||||
ACURA_TLX_2G_MMR = HondaBoschCANFDPlatformConfig(
|
||||
[HondaCarDocs("Acura TLX 2025", "All")],
|
||||
CarSpecs(mass=3990 * CV.LB_TO_KG, wheelbase=2.87, centerToFrontRatio=0.43, steerRatio=13.7),
|
||||
)
|
||||
|
||||
# Nidec Cars
|
||||
ACURA_ILX = HondaNidecPlatformConfig(
|
||||
@@ -336,12 +328,6 @@ class CAR(Platforms):
|
||||
radar_dbc_dict('honda_odyssey_exl_2018_generated'),
|
||||
flags=HondaFlags.NIDEC_ALT_PCM_ACCEL | HondaFlags.HAS_ALL_DOOR_STATES,
|
||||
)
|
||||
HONDA_ODYSSEY_TWN = HondaNidecPlatformConfig(
|
||||
[HondaCarDocs("Honda Odyssey (Taiwan) 2018-19")],
|
||||
CarSpecs(mass=1865, wheelbase=2.9, steerRatio=14.35, centerToFrontRatio=0.44, tireStiffnessFactor=0.82),
|
||||
radar_dbc_dict('honda_odyssey_twn_2018_generated'),
|
||||
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
|
||||
)
|
||||
ACURA_RDX = HondaNidecPlatformConfig(
|
||||
[HondaCarDocs("Acura RDX 2016-18", "AcuraWatch Plus or Advance Package", min_steer_speed=12. * CV.MPH_TO_MS)],
|
||||
CarSpecs(mass=3925 * CV.LB_TO_KG, wheelbase=2.68, steerRatio=15.0, centerToFrontRatio=0.38, tireStiffnessFactor=0.444), # as spec
|
||||
|
||||
@@ -71,7 +71,7 @@ class CarController(CarControllerBase, EsccCarController, LeadDataCarController,
|
||||
EsccCarController.update(self, CS)
|
||||
LeadDataCarController.update(self, CC_SP)
|
||||
MadsCarController.update(self, self.CP, CC, CC_SP, self.frame)
|
||||
if self.frame % 5 == 0:
|
||||
if self.frame % 2 == 0:
|
||||
LongitudinalController.update(self, CC, CS)
|
||||
|
||||
actuators = CC.actuators
|
||||
|
||||
@@ -701,7 +701,6 @@ FW_VERSIONS = {
|
||||
b'\xf1\x00OSP MDPS C 1.00 1.02 56310-K4271 4OEPC102',
|
||||
b'\xf1\x00OSP MDPS C 1.00 1.02 56310/K4271 4OEPC102',
|
||||
b'\xf1\x00OSP MDPS C 1.00 1.02 56310/K4970 4OEPC102',
|
||||
b'\xf1\x00OSP MDPS C 1.00 1.02 56310/K4971 4OEPC102',
|
||||
b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4260\x00 4OEPC102',
|
||||
b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4261\x00 4OEPC102',
|
||||
b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4971\x00 4OEPC102',
|
||||
@@ -864,11 +863,9 @@ FW_VERSIONS = {
|
||||
CAR.KIA_OPTIMA_H_G4_FL: {
|
||||
(Ecu.fwdRadar, 0x7d0, None): [
|
||||
b'\xf1\x00JFhe SCC FHCUP 1.00 1.01 99110-A8500 ',
|
||||
b'\xf1\x00JFhe SCC FHCUP 1.00 1.03 99110-A8500 ',
|
||||
],
|
||||
(Ecu.fwdCamera, 0x7c4, None): [
|
||||
b'\xf1\x00JFH MFC AT KOR LHD 1.00 1.01 95895-A8200 180323',
|
||||
b'\xf1\x00JFH MFC AT KOR LHD 1.00 1.04 95895-A8200 181217',
|
||||
],
|
||||
},
|
||||
CAR.HYUNDAI_ELANTRA: {
|
||||
@@ -1088,14 +1085,12 @@ FW_VERSIONS = {
|
||||
b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9260 14Y',
|
||||
b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N9100 14A',
|
||||
b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N9240 14T',
|
||||
b'\xf1\x00NX4 FR_CMR AT EUR LHD 1.00 1.00 99211-N9240 14Q',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x7d0, None): [
|
||||
b'\xf1\x00NX4__ 1.00 1.00 99110-N9100 ',
|
||||
b'\xf1\x00NX4__ 1.00 1.01 99110-N9000 ',
|
||||
b'\xf1\x00NX4__ 1.00 1.02 99110-N9000 ',
|
||||
b'\xf1\x00NX4__ 1.01 1.00 99110-N9100 ',
|
||||
b'\xf1\x00NX4__ 1.01 1.02 99110-N9000 ',
|
||||
],
|
||||
},
|
||||
CAR.HYUNDAI_SANTA_CRUZ_1ST_GEN: {
|
||||
@@ -1119,7 +1114,6 @@ FW_VERSIONS = {
|
||||
b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1040 663',
|
||||
b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1060 665',
|
||||
b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1070 690',
|
||||
b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.01 99211-P1060 680',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x7d0, None): [
|
||||
b'\xf1\x00NQ5__ 1.00 1.02 99110-P1000 ',
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user