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https://github.com/sunnypilot/sunnypilot.git
synced 2026-07-29 15:32:13 +08:00
Compare commits
2 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 github-actions[bot]
|
0fdfcb44c2 | ||
|
github-actions[bot]
|
78a6559143 |
+1
-35
@@ -1,39 +1,5 @@
|
||||
sunnypilot Version 2026.002.001 (2026-06-28)
|
||||
sunnypilot Version 2026.002.000 (2026-xx-xx)
|
||||
========================
|
||||
* What's Changed
|
||||
* safety: ignore frequency check for Toyota UNSUPPORTED_DSU cars by @sunnyhaibin in https://github.com/sunnypilot/opendbc/pull/489
|
||||
|
||||
sunnypilot Version 2026.002.000 (2026-06-28)
|
||||
========================
|
||||
* What's Changed (sunnypilot/sunnypilot)
|
||||
* ui: update gates for certain toggles by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1830
|
||||
* release: ignore upstream IsReleaseBranch by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1831
|
||||
* manager: disable DEVELOPMENT_ONLY reset by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1833
|
||||
* sunnylink: fix max time offroad values by @nayan8teen in https://github.com/sunnypilot/sunnypilot/pull/1835
|
||||
* ui: show default model name by @nayan8teen in https://github.com/sunnypilot/sunnypilot/pull/1837
|
||||
* sunnylink: add CarParams fallback for brand-specific capabilities by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1839
|
||||
* sunnylink SDUI: tweak DisableUpdate param for clarity by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1842
|
||||
* Revert "DM: Lancia Delta HF Integrale model" by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1849
|
||||
* modeld_v2: safe model validation by @Discountchubbs in https://github.com/sunnypilot/sunnypilot/pull/1855
|
||||
* Revert "deprecate `carState.brake`" for Honda Gas Interceptor by @mvl-boston in https://github.com/sunnypilot/sunnypilot/pull/1860
|
||||
* sunnylink: deprecate legacy params metadata by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1862
|
||||
* ui: reset Enforce Torque Control and NNLC if both are enabled by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1863
|
||||
* What's Changed (sunnypilot/opendbc)
|
||||
* Rivian: suppress ACM hold-the-wheel warning during MADS-only lateral by @lukasloetkolben in https://github.com/sunnypilot/opendbc/pull/465
|
||||
* Sync: `commaai/opendbc:master` → `sunnypilot/opendbc:master` by @sunnyhaibin in https://github.com/sunnypilot/opendbc/pull/479
|
||||
* safety: add option to ignore frequency check for RX checks by @sunnyhaibin in https://github.com/sunnypilot/opendbc/pull/480
|
||||
* Revert "deprecate carState.brake" for Honda Gas Interceptor by @mvl-boston in https://github.com/sunnypilot/opendbc/pull/481
|
||||
* New Contributors (sunnypilot/sunnypilot)
|
||||
* @mvl-boston made their first contribution in https://github.com/sunnypilot/sunnypilot/pull/1860
|
||||
* Full Changelog: https://github.com/sunnypilot/sunnypilot/compare/v2026.001.007...v2026.002.000
|
||||
************************
|
||||
* Synced with commaai's openpilot (v0.11.1)
|
||||
* master commit 69e2c321e49760e52f7983eaa0a5f77cb95de637 (June 02, 2026)
|
||||
* New driver monitoring model
|
||||
* Improved image processing pipeline for driver camera
|
||||
* Improved thermal policy for comma four
|
||||
* Acura MDX 2022-24 support thanks to mvl-boston!
|
||||
* Rivian R1S and R1T 2025 support thanks to lukasloetkolben!
|
||||
|
||||
sunnypilot Version 2026.001.000 (2026-05-06)
|
||||
========================
|
||||
|
||||
@@ -194,6 +194,7 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
|
||||
aTarget @5 :Float32;
|
||||
events @6 :List(OnroadEventSP.Event);
|
||||
e2eAlerts @7 :E2eAlerts;
|
||||
accelController @8 :AccelController;
|
||||
|
||||
struct DynamicExperimentalControl {
|
||||
state @0 :DynamicExperimentalControlState;
|
||||
@@ -296,6 +297,47 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
|
||||
greenLightAlert @0 :Bool;
|
||||
leadDepartAlert @1 :Bool;
|
||||
}
|
||||
|
||||
struct AccelController {
|
||||
enabled @0 :Bool;
|
||||
active @1 :Bool;
|
||||
shadowOnly @2 :Bool;
|
||||
profile @3 :Profile;
|
||||
state @4 :State;
|
||||
vTargetBase @5 :Float32;
|
||||
vTargetRaw @6 :Float32;
|
||||
vTargetFiltered @7 :Float32;
|
||||
vTargetShadow @8 :Float32;
|
||||
leadIndex @9 :Int8 = -1;
|
||||
usableGap @10 :Float32;
|
||||
closingSpeed @11 :Float32;
|
||||
requiredDecel @12 :Float32;
|
||||
aMaxProfile @13 :Float32;
|
||||
aMaxEffective @14 :Float32;
|
||||
|
||||
enum Profile {
|
||||
eco @0;
|
||||
normal @1;
|
||||
sport @2;
|
||||
}
|
||||
|
||||
enum State {
|
||||
inactive @0;
|
||||
free @1;
|
||||
restrict @2;
|
||||
hold @3;
|
||||
release @4;
|
||||
stopHold @5;
|
||||
}
|
||||
}
|
||||
|
||||
# Compatibility type for vehicle integrations that map physical drive modes
|
||||
# onto AccelPersonality. New controller telemetry uses AccelController.Profile.
|
||||
enum AccelerationPersonality {
|
||||
eco @0;
|
||||
normal @1;
|
||||
sport @2;
|
||||
}
|
||||
}
|
||||
|
||||
struct OnroadEventSP @0xda96579883444c35 {
|
||||
@@ -342,6 +384,7 @@ struct OnroadEventSP @0xda96579883444c35 {
|
||||
speedLimitChanged @21;
|
||||
speedLimitPending @22;
|
||||
e2eChime @23;
|
||||
laneChangeRoadEdge @24;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -448,6 +491,8 @@ struct LiveMapDataSP @0xf416ec09499d9d19 {
|
||||
|
||||
struct ModelDataV2SP @0xa1680744031fdb2d {
|
||||
laneTurnDirection @0 :TurnDirection;
|
||||
leftLaneChangeEdgeBlock @1 :Bool;
|
||||
rightLaneChangeEdgeBlock @2 :Bool;
|
||||
|
||||
enum TurnDirection {
|
||||
none @0;
|
||||
|
||||
+598
-95
@@ -1771,34 +1771,38 @@ const ::capnp::_::RawSchema s_e60821c0505ad473 = {
|
||||
4, 12, i_e60821c0505ad473, nullptr, nullptr, { &s_e60821c0505ad473, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<172> b_f35cc4560bbf6ec2 = {
|
||||
static const ::capnp::_::AlignedData<197> b_f35cc4560bbf6ec2 = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
194, 110, 191, 11, 86, 196, 92, 243,
|
||||
13, 0, 0, 0, 1, 0, 2, 0,
|
||||
89, 10, 85, 29, 102, 186, 38, 181,
|
||||
5, 0, 7, 0, 0, 0, 0, 0,
|
||||
6, 0, 7, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 0, 0, 0, 2, 1, 0, 0,
|
||||
33, 0, 0, 0, 87, 0, 0, 0,
|
||||
33, 0, 0, 0, 119, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
125, 0, 0, 0, 199, 1, 0, 0,
|
||||
161, 0, 0, 0, 255, 1, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
99, 117, 115, 116, 111, 109, 46, 99,
|
||||
97, 112, 110, 112, 58, 76, 111, 110,
|
||||
103, 105, 116, 117, 100, 105, 110, 97,
|
||||
108, 80, 108, 97, 110, 83, 80, 0,
|
||||
20, 0, 0, 0, 1, 0, 1, 0,
|
||||
28, 0, 0, 0, 1, 0, 1, 0,
|
||||
119, 191, 14, 16, 174, 91, 106, 188,
|
||||
33, 0, 0, 0, 218, 0, 0, 0,
|
||||
49, 0, 0, 0, 218, 0, 0, 0,
|
||||
163, 23, 92, 92, 71, 153, 141, 193,
|
||||
41, 0, 0, 0, 154, 0, 0, 0,
|
||||
57, 0, 0, 0, 154, 0, 0, 0,
|
||||
187, 34, 168, 255, 81, 184, 158, 154,
|
||||
45, 0, 0, 0, 90, 0, 0, 0,
|
||||
61, 0, 0, 0, 90, 0, 0, 0,
|
||||
196, 110, 217, 86, 5, 68, 71, 173,
|
||||
45, 0, 0, 0, 186, 0, 0, 0,
|
||||
61, 0, 0, 0, 186, 0, 0, 0,
|
||||
254, 40, 174, 34, 232, 188, 103, 165,
|
||||
49, 0, 0, 0, 82, 0, 0, 0,
|
||||
65, 0, 0, 0, 82, 0, 0, 0,
|
||||
161, 196, 243, 6, 208, 214, 220, 136,
|
||||
65, 0, 0, 0, 130, 0, 0, 0,
|
||||
158, 249, 255, 126, 235, 97, 45, 208,
|
||||
65, 0, 0, 0, 194, 0, 0, 0,
|
||||
68, 121, 110, 97, 109, 105, 99, 69,
|
||||
120, 112, 101, 114, 105, 109, 101, 110,
|
||||
116, 97, 108, 67, 111, 110, 116, 114,
|
||||
@@ -1813,63 +1817,75 @@ static const ::capnp::_::AlignedData<172> b_f35cc4560bbf6ec2 = {
|
||||
83, 111, 117, 114, 99, 101, 0, 0,
|
||||
69, 50, 101, 65, 108, 101, 114, 116,
|
||||
115, 0, 0, 0, 0, 0, 0, 0,
|
||||
32, 0, 0, 0, 3, 0, 4, 0,
|
||||
65, 99, 99, 101, 108, 67, 111, 110,
|
||||
116, 114, 111, 108, 108, 101, 114, 0,
|
||||
65, 99, 99, 101, 108, 101, 114, 97,
|
||||
116, 105, 111, 110, 80, 101, 114, 115,
|
||||
111, 110, 97, 108, 105, 116, 121, 0,
|
||||
36, 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,
|
||||
209, 0, 0, 0, 34, 0, 0, 0,
|
||||
237, 0, 0, 0, 34, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
204, 0, 0, 0, 3, 0, 1, 0,
|
||||
216, 0, 0, 0, 2, 0, 1, 0,
|
||||
232, 0, 0, 0, 3, 0, 1, 0,
|
||||
244, 0, 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,
|
||||
213, 0, 0, 0, 186, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
216, 0, 0, 0, 3, 0, 1, 0,
|
||||
228, 0, 0, 0, 2, 0, 1, 0,
|
||||
2, 0, 0, 0, 1, 0, 0, 0,
|
||||
0, 0, 1, 0, 2, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
225, 0, 0, 0, 154, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
228, 0, 0, 0, 3, 0, 1, 0,
|
||||
240, 0, 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,
|
||||
237, 0, 0, 0, 90, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
236, 0, 0, 0, 3, 0, 1, 0,
|
||||
248, 0, 0, 0, 2, 0, 1, 0,
|
||||
4, 0, 0, 0, 1, 0, 0, 0,
|
||||
0, 0, 1, 0, 4, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
245, 0, 0, 0, 66, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
240, 0, 0, 0, 3, 0, 1, 0,
|
||||
252, 0, 0, 0, 2, 0, 1, 0,
|
||||
5, 0, 0, 0, 2, 0, 0, 0,
|
||||
0, 0, 1, 0, 5, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
249, 0, 0, 0, 66, 0, 0, 0,
|
||||
241, 0, 0, 0, 186, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
244, 0, 0, 0, 3, 0, 1, 0,
|
||||
0, 1, 0, 0, 2, 0, 1, 0,
|
||||
6, 0, 0, 0, 3, 0, 0, 0,
|
||||
0, 0, 1, 0, 6, 0, 0, 0,
|
||||
2, 0, 0, 0, 1, 0, 0, 0,
|
||||
0, 0, 1, 0, 2, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
253, 0, 0, 0, 58, 0, 0, 0,
|
||||
253, 0, 0, 0, 154, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
248, 0, 0, 0, 3, 0, 1, 0,
|
||||
0, 1, 0, 0, 3, 0, 1, 0,
|
||||
12, 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,
|
||||
9, 1, 0, 0, 90, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
8, 1, 0, 0, 3, 0, 1, 0,
|
||||
20, 1, 0, 0, 2, 0, 1, 0,
|
||||
7, 0, 0, 0, 4, 0, 0, 0,
|
||||
0, 0, 1, 0, 7, 0, 0, 0,
|
||||
4, 0, 0, 0, 1, 0, 0, 0,
|
||||
0, 0, 1, 0, 4, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
17, 1, 0, 0, 82, 0, 0, 0,
|
||||
17, 1, 0, 0, 66, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
12, 1, 0, 0, 3, 0, 1, 0,
|
||||
24, 1, 0, 0, 2, 0, 1, 0,
|
||||
5, 0, 0, 0, 2, 0, 0, 0,
|
||||
0, 0, 1, 0, 5, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 1, 0, 0, 66, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
16, 1, 0, 0, 3, 0, 1, 0,
|
||||
28, 1, 0, 0, 2, 0, 1, 0,
|
||||
6, 0, 0, 0, 3, 0, 0, 0,
|
||||
0, 0, 1, 0, 6, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
25, 1, 0, 0, 58, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
20, 1, 0, 0, 3, 0, 1, 0,
|
||||
48, 1, 0, 0, 2, 0, 1, 0,
|
||||
7, 0, 0, 0, 4, 0, 0, 0,
|
||||
0, 0, 1, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
45, 1, 0, 0, 82, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
44, 1, 0, 0, 3, 0, 1, 0,
|
||||
56, 1, 0, 0, 2, 0, 1, 0,
|
||||
8, 0, 0, 0, 5, 0, 0, 0,
|
||||
0, 0, 1, 0, 8, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
53, 1, 0, 0, 130, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
52, 1, 0, 0, 3, 0, 1, 0,
|
||||
64, 1, 0, 0, 2, 0, 1, 0,
|
||||
100, 101, 99, 0, 0, 0, 0, 0,
|
||||
16, 0, 0, 0, 0, 0, 0, 0,
|
||||
119, 191, 14, 16, 174, 91, 106, 188,
|
||||
@@ -1941,6 +1957,15 @@ static const ::capnp::_::AlignedData<172> b_f35cc4560bbf6ec2 = {
|
||||
254, 40, 174, 34, 232, 188, 103, 165,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
16, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
97, 99, 99, 101, 108, 67, 111, 110,
|
||||
116, 114, 111, 108, 108, 101, 114, 0,
|
||||
16, 0, 0, 0, 0, 0, 0, 0,
|
||||
161, 196, 243, 6, 208, 214, 220, 136,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
16, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0, }
|
||||
@@ -1948,6 +1973,7 @@ static const ::capnp::_::AlignedData<172> b_f35cc4560bbf6ec2 = {
|
||||
::capnp::word const* const bp_f35cc4560bbf6ec2 = b_f35cc4560bbf6ec2.words;
|
||||
#if !CAPNP_LITE
|
||||
static const ::capnp::_::RawSchema* const d_f35cc4560bbf6ec2[] = {
|
||||
&s_88dcd6d006f3c4a1,
|
||||
&s_9a9eb851ffa822bb,
|
||||
&s_a567bce822ae28fe,
|
||||
&s_ad47440556d96ec4,
|
||||
@@ -1955,11 +1981,11 @@ static const ::capnp::_::RawSchema* const d_f35cc4560bbf6ec2[] = {
|
||||
&s_c18d99475c5c17a3,
|
||||
&s_f6e831752fcdf793,
|
||||
};
|
||||
static const uint16_t m_f35cc4560bbf6ec2[] = {5, 0, 7, 6, 1, 2, 3, 4};
|
||||
static const uint16_t i_f35cc4560bbf6ec2[] = {0, 1, 2, 3, 4, 5, 6, 7};
|
||||
static const uint16_t m_f35cc4560bbf6ec2[] = {5, 8, 0, 7, 6, 1, 2, 3, 4};
|
||||
static const uint16_t i_f35cc4560bbf6ec2[] = {0, 1, 2, 3, 4, 5, 6, 7, 8};
|
||||
const ::capnp::_::RawSchema s_f35cc4560bbf6ec2 = {
|
||||
0xf35cc4560bbf6ec2, b_f35cc4560bbf6ec2.words, 172, d_f35cc4560bbf6ec2, m_f35cc4560bbf6ec2,
|
||||
6, 8, i_f35cc4560bbf6ec2, nullptr, nullptr, { &s_f35cc4560bbf6ec2, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
0xf35cc4560bbf6ec2, b_f35cc4560bbf6ec2.words, 197, d_f35cc4560bbf6ec2, m_f35cc4560bbf6ec2,
|
||||
7, 9, i_f35cc4560bbf6ec2, nullptr, nullptr, { &s_f35cc4560bbf6ec2, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<73> b_bc6a5bae100ebf77 = {
|
||||
@@ -3131,6 +3157,430 @@ const ::capnp::_::RawSchema s_a567bce822ae28fe = {
|
||||
0, 2, i_a567bce822ae28fe, nullptr, nullptr, { &s_a567bce822ae28fe, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<262> b_88dcd6d006f3c4a1 = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
161, 196, 243, 6, 208, 214, 220, 136,
|
||||
32, 0, 0, 0, 1, 0, 6, 0,
|
||||
194, 110, 191, 11, 86, 196, 92, 243,
|
||||
0, 0, 7, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 0, 0, 0, 130, 1, 0, 0,
|
||||
41, 0, 0, 0, 39, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
61, 0, 0, 0, 79, 3, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
99, 117, 115, 116, 111, 109, 46, 99,
|
||||
97, 112, 110, 112, 58, 76, 111, 110,
|
||||
103, 105, 116, 117, 100, 105, 110, 97,
|
||||
108, 80, 108, 97, 110, 83, 80, 46,
|
||||
65, 99, 99, 101, 108, 67, 111, 110,
|
||||
116, 114, 111, 108, 108, 101, 114, 0,
|
||||
8, 0, 0, 0, 1, 0, 1, 0,
|
||||
166, 80, 70, 176, 68, 149, 159, 140,
|
||||
9, 0, 0, 0, 66, 0, 0, 0,
|
||||
163, 242, 21, 145, 201, 49, 239, 243,
|
||||
5, 0, 0, 0, 50, 0, 0, 0,
|
||||
80, 114, 111, 102, 105, 108, 101, 0,
|
||||
83, 116, 97, 116, 101, 0, 0, 0,
|
||||
60, 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,
|
||||
149, 1, 0, 0, 66, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
144, 1, 0, 0, 3, 0, 1, 0,
|
||||
156, 1, 0, 0, 2, 0, 1, 0,
|
||||
1, 0, 0, 0, 1, 0, 0, 0,
|
||||
0, 0, 1, 0, 1, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
153, 1, 0, 0, 58, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
148, 1, 0, 0, 3, 0, 1, 0,
|
||||
160, 1, 0, 0, 2, 0, 1, 0,
|
||||
2, 0, 0, 0, 2, 0, 0, 0,
|
||||
0, 0, 1, 0, 2, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
157, 1, 0, 0, 90, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
156, 1, 0, 0, 3, 0, 1, 0,
|
||||
168, 1, 0, 0, 2, 0, 1, 0,
|
||||
3, 0, 0, 0, 1, 0, 0, 0,
|
||||
0, 0, 1, 0, 3, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
165, 1, 0, 0, 66, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
160, 1, 0, 0, 3, 0, 1, 0,
|
||||
172, 1, 0, 0, 2, 0, 1, 0,
|
||||
4, 0, 0, 0, 2, 0, 0, 0,
|
||||
0, 0, 1, 0, 4, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
169, 1, 0, 0, 50, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
164, 1, 0, 0, 3, 0, 1, 0,
|
||||
176, 1, 0, 0, 2, 0, 1, 0,
|
||||
5, 0, 0, 0, 2, 0, 0, 0,
|
||||
0, 0, 1, 0, 5, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
173, 1, 0, 0, 98, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
172, 1, 0, 0, 3, 0, 1, 0,
|
||||
184, 1, 0, 0, 2, 0, 1, 0,
|
||||
6, 0, 0, 0, 3, 0, 0, 0,
|
||||
0, 0, 1, 0, 6, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
181, 1, 0, 0, 90, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
180, 1, 0, 0, 3, 0, 1, 0,
|
||||
192, 1, 0, 0, 2, 0, 1, 0,
|
||||
7, 0, 0, 0, 4, 0, 0, 0,
|
||||
0, 0, 1, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
189, 1, 0, 0, 130, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
188, 1, 0, 0, 3, 0, 1, 0,
|
||||
200, 1, 0, 0, 2, 0, 1, 0,
|
||||
8, 0, 0, 0, 5, 0, 0, 0,
|
||||
0, 0, 1, 0, 8, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
197, 1, 0, 0, 114, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
196, 1, 0, 0, 3, 0, 1, 0,
|
||||
208, 1, 0, 0, 2, 0, 1, 0,
|
||||
9, 0, 0, 0, 1, 0, 0, 0,
|
||||
0, 0, 1, 0, 9, 0, 0, 0,
|
||||
1, 0, 0, 0, 0, 0, 0, 0,
|
||||
205, 1, 0, 0, 82, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
204, 1, 0, 0, 3, 0, 1, 0,
|
||||
216, 1, 0, 0, 2, 0, 1, 0,
|
||||
10, 0, 0, 0, 6, 0, 0, 0,
|
||||
0, 0, 1, 0, 10, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
213, 1, 0, 0, 82, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
212, 1, 0, 0, 3, 0, 1, 0,
|
||||
224, 1, 0, 0, 2, 0, 1, 0,
|
||||
11, 0, 0, 0, 7, 0, 0, 0,
|
||||
0, 0, 1, 0, 11, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
221, 1, 0, 0, 106, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
220, 1, 0, 0, 3, 0, 1, 0,
|
||||
232, 1, 0, 0, 2, 0, 1, 0,
|
||||
12, 0, 0, 0, 8, 0, 0, 0,
|
||||
0, 0, 1, 0, 12, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
229, 1, 0, 0, 114, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
228, 1, 0, 0, 3, 0, 1, 0,
|
||||
240, 1, 0, 0, 2, 0, 1, 0,
|
||||
13, 0, 0, 0, 9, 0, 0, 0,
|
||||
0, 0, 1, 0, 13, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
237, 1, 0, 0, 98, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
236, 1, 0, 0, 3, 0, 1, 0,
|
||||
248, 1, 0, 0, 2, 0, 1, 0,
|
||||
14, 0, 0, 0, 10, 0, 0, 0,
|
||||
0, 0, 1, 0, 14, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
245, 1, 0, 0, 114, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
244, 1, 0, 0, 3, 0, 1, 0,
|
||||
0, 2, 0, 0, 2, 0, 1, 0,
|
||||
101, 110, 97, 98, 108, 101, 100, 0,
|
||||
1, 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,
|
||||
1, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
97, 99, 116, 105, 118, 101, 0, 0,
|
||||
1, 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,
|
||||
1, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
115, 104, 97, 100, 111, 119, 79, 110,
|
||||
108, 121, 0, 0, 0, 0, 0, 0,
|
||||
1, 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,
|
||||
1, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
112, 114, 111, 102, 105, 108, 101, 0,
|
||||
15, 0, 0, 0, 0, 0, 0, 0,
|
||||
166, 80, 70, 176, 68, 149, 159, 140,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
15, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
115, 116, 97, 116, 101, 0, 0, 0,
|
||||
15, 0, 0, 0, 0, 0, 0, 0,
|
||||
163, 242, 21, 145, 201, 49, 239, 243,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
15, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
118, 84, 97, 114, 103, 101, 116, 66,
|
||||
97, 115, 101, 0, 0, 0, 0, 0,
|
||||
10, 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,
|
||||
10, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
118, 84, 97, 114, 103, 101, 116, 82,
|
||||
97, 119, 0, 0, 0, 0, 0, 0,
|
||||
10, 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,
|
||||
10, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
118, 84, 97, 114, 103, 101, 116, 70,
|
||||
105, 108, 116, 101, 114, 101, 100, 0,
|
||||
10, 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,
|
||||
10, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
118, 84, 97, 114, 103, 101, 116, 83,
|
||||
104, 97, 100, 111, 119, 0, 0, 0,
|
||||
10, 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,
|
||||
10, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
108, 101, 97, 100, 73, 110, 100, 101,
|
||||
120, 0, 0, 0, 0, 0, 0, 0,
|
||||
2, 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,
|
||||
2, 0, 255, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
117, 115, 97, 98, 108, 101, 71, 97,
|
||||
112, 0, 0, 0, 0, 0, 0, 0,
|
||||
10, 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,
|
||||
10, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
99, 108, 111, 115, 105, 110, 103, 83,
|
||||
112, 101, 101, 100, 0, 0, 0, 0,
|
||||
10, 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,
|
||||
10, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
114, 101, 113, 117, 105, 114, 101, 100,
|
||||
68, 101, 99, 101, 108, 0, 0, 0,
|
||||
10, 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,
|
||||
10, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
97, 77, 97, 120, 80, 114, 111, 102,
|
||||
105, 108, 101, 0, 0, 0, 0, 0,
|
||||
10, 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,
|
||||
10, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
97, 77, 97, 120, 69, 102, 102, 101,
|
||||
99, 116, 105, 118, 101, 0, 0, 0,
|
||||
10, 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,
|
||||
10, 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_88dcd6d006f3c4a1 = b_88dcd6d006f3c4a1.words;
|
||||
#if !CAPNP_LITE
|
||||
static const ::capnp::_::RawSchema* const d_88dcd6d006f3c4a1[] = {
|
||||
&s_8c9f9544b04650a6,
|
||||
&s_f3ef31c99115f2a3,
|
||||
};
|
||||
static const uint16_t m_88dcd6d006f3c4a1[] = {14, 13, 1, 11, 0, 9, 3, 12, 2, 4, 10, 5, 7, 6, 8};
|
||||
static const uint16_t i_88dcd6d006f3c4a1[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14};
|
||||
const ::capnp::_::RawSchema s_88dcd6d006f3c4a1 = {
|
||||
0x88dcd6d006f3c4a1, b_88dcd6d006f3c4a1.words, 262, d_88dcd6d006f3c4a1, m_88dcd6d006f3c4a1,
|
||||
2, 15, i_88dcd6d006f3c4a1, nullptr, nullptr, { &s_88dcd6d006f3c4a1, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<33> b_8c9f9544b04650a6 = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
166, 80, 70, 176, 68, 149, 159, 140,
|
||||
48, 0, 0, 0, 2, 0, 0, 0,
|
||||
161, 196, 243, 6, 208, 214, 220, 136,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 0, 0, 0, 194, 1, 0, 0,
|
||||
45, 0, 0, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
41, 0, 0, 0, 79, 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, 46, 99,
|
||||
97, 112, 110, 112, 58, 76, 111, 110,
|
||||
103, 105, 116, 117, 100, 105, 110, 97,
|
||||
108, 80, 108, 97, 110, 83, 80, 46,
|
||||
65, 99, 99, 101, 108, 67, 111, 110,
|
||||
116, 114, 111, 108, 108, 101, 114, 46,
|
||||
80, 114, 111, 102, 105, 108, 101, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0,
|
||||
12, 0, 0, 0, 1, 0, 2, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
29, 0, 0, 0, 34, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
1, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 0, 0, 0, 58, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
2, 0, 0, 0, 0, 0, 0, 0,
|
||||
13, 0, 0, 0, 50, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
101, 99, 111, 0, 0, 0, 0, 0,
|
||||
110, 111, 114, 109, 97, 108, 0, 0,
|
||||
115, 112, 111, 114, 116, 0, 0, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_8c9f9544b04650a6 = b_8c9f9544b04650a6.words;
|
||||
#if !CAPNP_LITE
|
||||
static const uint16_t m_8c9f9544b04650a6[] = {0, 1, 2};
|
||||
const ::capnp::_::RawSchema s_8c9f9544b04650a6 = {
|
||||
0x8c9f9544b04650a6, b_8c9f9544b04650a6.words, 33, nullptr, m_8c9f9544b04650a6,
|
||||
0, 3, nullptr, nullptr, nullptr, { &s_8c9f9544b04650a6, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
CAPNP_DEFINE_ENUM(Profile_8c9f9544b04650a6, 8c9f9544b04650a6);
|
||||
static const ::capnp::_::AlignedData<48> b_f3ef31c99115f2a3 = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
163, 242, 21, 145, 201, 49, 239, 243,
|
||||
48, 0, 0, 0, 2, 0, 0, 0,
|
||||
161, 196, 243, 6, 208, 214, 220, 136,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 0, 0, 0, 178, 1, 0, 0,
|
||||
45, 0, 0, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
41, 0, 0, 0, 151, 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, 46, 99,
|
||||
97, 112, 110, 112, 58, 76, 111, 110,
|
||||
103, 105, 116, 117, 100, 105, 110, 97,
|
||||
108, 80, 108, 97, 110, 83, 80, 46,
|
||||
65, 99, 99, 101, 108, 67, 111, 110,
|
||||
116, 114, 111, 108, 108, 101, 114, 46,
|
||||
83, 116, 97, 116, 101, 0, 0, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0,
|
||||
24, 0, 0, 0, 1, 0, 2, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
65, 0, 0, 0, 74, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
1, 0, 0, 0, 0, 0, 0, 0,
|
||||
61, 0, 0, 0, 42, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
2, 0, 0, 0, 0, 0, 0, 0,
|
||||
53, 0, 0, 0, 74, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
3, 0, 0, 0, 0, 0, 0, 0,
|
||||
49, 0, 0, 0, 42, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
4, 0, 0, 0, 0, 0, 0, 0,
|
||||
41, 0, 0, 0, 66, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
5, 0, 0, 0, 0, 0, 0, 0,
|
||||
33, 0, 0, 0, 74, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
105, 110, 97, 99, 116, 105, 118, 101,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
102, 114, 101, 101, 0, 0, 0, 0,
|
||||
114, 101, 115, 116, 114, 105, 99, 116,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
104, 111, 108, 100, 0, 0, 0, 0,
|
||||
114, 101, 108, 101, 97, 115, 101, 0,
|
||||
115, 116, 111, 112, 72, 111, 108, 100,
|
||||
0, 0, 0, 0, 0, 0, 0, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_f3ef31c99115f2a3 = b_f3ef31c99115f2a3.words;
|
||||
#if !CAPNP_LITE
|
||||
static const uint16_t m_f3ef31c99115f2a3[] = {1, 3, 0, 4, 2, 5};
|
||||
const ::capnp::_::RawSchema s_f3ef31c99115f2a3 = {
|
||||
0xf3ef31c99115f2a3, b_f3ef31c99115f2a3.words, 48, nullptr, m_f3ef31c99115f2a3,
|
||||
0, 6, nullptr, nullptr, nullptr, { &s_f3ef31c99115f2a3, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
CAPNP_DEFINE_ENUM(State_f3ef31c99115f2a3, f3ef31c99115f2a3);
|
||||
static const ::capnp::_::AlignedData<33> b_d02d61eb7efff99e = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
158, 249, 255, 126, 235, 97, 45, 208,
|
||||
32, 0, 0, 0, 2, 0, 0, 0,
|
||||
194, 110, 191, 11, 86, 196, 92, 243,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 0, 0, 0, 194, 1, 0, 0,
|
||||
45, 0, 0, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
41, 0, 0, 0, 79, 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, 46, 99,
|
||||
97, 112, 110, 112, 58, 76, 111, 110,
|
||||
103, 105, 116, 117, 100, 105, 110, 97,
|
||||
108, 80, 108, 97, 110, 83, 80, 46,
|
||||
65, 99, 99, 101, 108, 101, 114, 97,
|
||||
116, 105, 111, 110, 80, 101, 114, 115,
|
||||
111, 110, 97, 108, 105, 116, 121, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0,
|
||||
12, 0, 0, 0, 1, 0, 2, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
29, 0, 0, 0, 34, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
1, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 0, 0, 0, 58, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
2, 0, 0, 0, 0, 0, 0, 0,
|
||||
13, 0, 0, 0, 50, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
101, 99, 111, 0, 0, 0, 0, 0,
|
||||
110, 111, 114, 109, 97, 108, 0, 0,
|
||||
115, 112, 111, 114, 116, 0, 0, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_d02d61eb7efff99e = b_d02d61eb7efff99e.words;
|
||||
#if !CAPNP_LITE
|
||||
static const uint16_t m_d02d61eb7efff99e[] = {0, 1, 2};
|
||||
const ::capnp::_::RawSchema s_d02d61eb7efff99e = {
|
||||
0xd02d61eb7efff99e, b_d02d61eb7efff99e.words, 33, nullptr, m_d02d61eb7efff99e,
|
||||
0, 3, nullptr, nullptr, nullptr, { &s_d02d61eb7efff99e, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
CAPNP_DEFINE_ENUM(AccelerationPersonality_d02d61eb7efff99e, d02d61eb7efff99e);
|
||||
static const ::capnp::_::AlignedData<44> b_da96579883444c35 = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
53, 76, 68, 131, 152, 87, 150, 218,
|
||||
@@ -3396,7 +3846,7 @@ const ::capnp::_::RawSchema s_f6e831752fcdf793 = {
|
||||
1, 11, i_f6e831752fcdf793, nullptr, nullptr, { &s_f6e831752fcdf793, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<158> b_b8007ed8a646b5e6 = {
|
||||
static const ::capnp::_::AlignedData<164> b_b8007ed8a646b5e6 = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
230, 181, 70, 166, 216, 126, 0, 184,
|
||||
27, 0, 0, 0, 2, 0, 0, 0,
|
||||
@@ -3406,7 +3856,7 @@ static const ::capnp::_::AlignedData<158> b_b8007ed8a646b5e6 = {
|
||||
21, 0, 0, 0, 42, 1, 0, 0,
|
||||
37, 0, 0, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
33, 0, 0, 0, 71, 2, 0, 0,
|
||||
33, 0, 0, 0, 95, 2, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
99, 117, 115, 116, 111, 109, 46, 99,
|
||||
@@ -3415,78 +3865,81 @@ static const ::capnp::_::AlignedData<158> b_b8007ed8a646b5e6 = {
|
||||
83, 80, 46, 69, 118, 101, 110, 116,
|
||||
78, 97, 109, 101, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0,
|
||||
96, 0, 0, 0, 1, 0, 2, 0,
|
||||
100, 0, 0, 0, 1, 0, 2, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
25, 1, 0, 0, 90, 0, 0, 0,
|
||||
37, 1, 0, 0, 90, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
1, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 1, 0, 0, 98, 0, 0, 0,
|
||||
33, 1, 0, 0, 98, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
2, 0, 0, 0, 0, 0, 0, 0,
|
||||
17, 1, 0, 0, 186, 0, 0, 0,
|
||||
29, 1, 0, 0, 186, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
3, 0, 0, 0, 0, 0, 0, 0,
|
||||
17, 1, 0, 0, 218, 0, 0, 0,
|
||||
29, 1, 0, 0, 218, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
4, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 1, 0, 0, 138, 0, 0, 0,
|
||||
33, 1, 0, 0, 138, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
5, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 1, 0, 0, 146, 0, 0, 0,
|
||||
33, 1, 0, 0, 146, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
6, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 1, 0, 0, 130, 0, 0, 0,
|
||||
33, 1, 0, 0, 130, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
7, 0, 0, 0, 0, 0, 0, 0,
|
||||
17, 1, 0, 0, 130, 0, 0, 0,
|
||||
29, 1, 0, 0, 130, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
8, 0, 0, 0, 0, 0, 0, 0,
|
||||
13, 1, 0, 0, 146, 0, 0, 0,
|
||||
25, 1, 0, 0, 146, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
9, 0, 0, 0, 0, 0, 0, 0,
|
||||
13, 1, 0, 0, 122, 0, 0, 0,
|
||||
25, 1, 0, 0, 122, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
10, 0, 0, 0, 0, 0, 0, 0,
|
||||
9, 1, 0, 0, 202, 0, 0, 0,
|
||||
21, 1, 0, 0, 202, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
11, 0, 0, 0, 0, 0, 0, 0,
|
||||
13, 1, 0, 0, 130, 0, 0, 0,
|
||||
25, 1, 0, 0, 130, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
12, 0, 0, 0, 0, 0, 0, 0,
|
||||
9, 1, 0, 0, 194, 0, 0, 0,
|
||||
21, 1, 0, 0, 194, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
13, 0, 0, 0, 0, 0, 0, 0,
|
||||
9, 1, 0, 0, 226, 0, 0, 0,
|
||||
21, 1, 0, 0, 226, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
14, 0, 0, 0, 0, 0, 0, 0,
|
||||
13, 1, 0, 0, 202, 0, 0, 0,
|
||||
25, 1, 0, 0, 202, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
15, 0, 0, 0, 0, 0, 0, 0,
|
||||
17, 1, 0, 0, 178, 0, 0, 0,
|
||||
29, 1, 0, 0, 178, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
16, 0, 0, 0, 0, 0, 0, 0,
|
||||
17, 1, 0, 0, 178, 0, 0, 0,
|
||||
29, 1, 0, 0, 178, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
17, 0, 0, 0, 0, 0, 0, 0,
|
||||
17, 1, 0, 0, 106, 0, 0, 0,
|
||||
29, 1, 0, 0, 106, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
18, 0, 0, 0, 0, 0, 0, 0,
|
||||
13, 1, 0, 0, 114, 0, 0, 0,
|
||||
25, 1, 0, 0, 114, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
19, 0, 0, 0, 0, 0, 0, 0,
|
||||
9, 1, 0, 0, 162, 0, 0, 0,
|
||||
21, 1, 0, 0, 162, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
20, 0, 0, 0, 0, 0, 0, 0,
|
||||
9, 1, 0, 0, 138, 0, 0, 0,
|
||||
21, 1, 0, 0, 138, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 0, 0, 0, 0, 0, 0, 0,
|
||||
9, 1, 0, 0, 146, 0, 0, 0,
|
||||
21, 1, 0, 0, 146, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
22, 0, 0, 0, 0, 0, 0, 0,
|
||||
9, 1, 0, 0, 146, 0, 0, 0,
|
||||
21, 1, 0, 0, 146, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
23, 0, 0, 0, 0, 0, 0, 0,
|
||||
9, 1, 0, 0, 74, 0, 0, 0,
|
||||
21, 1, 0, 0, 74, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
24, 0, 0, 0, 0, 0, 0, 0,
|
||||
17, 1, 0, 0, 154, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
108, 107, 97, 115, 69, 110, 97, 98,
|
||||
108, 101, 0, 0, 0, 0, 0, 0,
|
||||
@@ -3554,14 +4007,17 @@ static const ::capnp::_::AlignedData<158> b_b8007ed8a646b5e6 = {
|
||||
105, 116, 80, 101, 110, 100, 105, 110,
|
||||
103, 0, 0, 0, 0, 0, 0, 0,
|
||||
101, 50, 101, 67, 104, 105, 109, 101,
|
||||
0, 0, 0, 0, 0, 0, 0, 0, }
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
108, 97, 110, 101, 67, 104, 97, 110,
|
||||
103, 101, 82, 111, 97, 100, 69, 100,
|
||||
103, 101, 0, 0, 0, 0, 0, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_b8007ed8a646b5e6 = b_b8007ed8a646b5e6.words;
|
||||
#if !CAPNP_LITE
|
||||
static const uint16_t m_b8007ed8a646b5e6[] = {12, 23, 14, 13, 17, 18, 1, 0, 3, 2, 16, 6, 9, 5, 4, 11, 8, 10, 7, 20, 21, 22, 19, 15};
|
||||
static const uint16_t m_b8007ed8a646b5e6[] = {12, 23, 14, 13, 24, 17, 18, 1, 0, 3, 2, 16, 6, 9, 5, 4, 11, 8, 10, 7, 20, 21, 22, 19, 15};
|
||||
const ::capnp::_::RawSchema s_b8007ed8a646b5e6 = {
|
||||
0xb8007ed8a646b5e6, b_b8007ed8a646b5e6.words, 158, nullptr, m_b8007ed8a646b5e6,
|
||||
0, 24, nullptr, nullptr, nullptr, { &s_b8007ed8a646b5e6, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
0xb8007ed8a646b5e6, b_b8007ed8a646b5e6.words, 164, nullptr, m_b8007ed8a646b5e6,
|
||||
0, 25, nullptr, nullptr, nullptr, { &s_b8007ed8a646b5e6, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
CAPNP_DEFINE_ENUM(EventName_b8007ed8a646b5e6, b8007ed8a646b5e6);
|
||||
@@ -4846,7 +5302,7 @@ const ::capnp::_::RawSchema s_f416ec09499d9d19 = {
|
||||
0, 6, i_f416ec09499d9d19, nullptr, nullptr, { &s_f416ec09499d9d19, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<39> b_a1680744031fdb2d = {
|
||||
static const ::capnp::_::AlignedData<74> b_a1680744031fdb2d = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
45, 219, 31, 3, 68, 7, 104, 161,
|
||||
13, 0, 0, 0, 1, 0, 1, 0,
|
||||
@@ -4856,7 +5312,7 @@ static const ::capnp::_::AlignedData<39> b_a1680744031fdb2d = {
|
||||
21, 0, 0, 0, 218, 0, 0, 0,
|
||||
33, 0, 0, 0, 23, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
45, 0, 0, 0, 63, 0, 0, 0,
|
||||
45, 0, 0, 0, 175, 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, 46, 99,
|
||||
@@ -4868,14 +5324,28 @@ static const ::capnp::_::AlignedData<39> b_a1680744031fdb2d = {
|
||||
1, 0, 0, 0, 114, 0, 0, 0,
|
||||
84, 117, 114, 110, 68, 105, 114, 101,
|
||||
99, 116, 105, 111, 110, 0, 0, 0,
|
||||
4, 0, 0, 0, 3, 0, 4, 0,
|
||||
12, 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,
|
||||
13, 0, 0, 0, 146, 0, 0, 0,
|
||||
69, 0, 0, 0, 146, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
16, 0, 0, 0, 3, 0, 1, 0,
|
||||
28, 0, 0, 0, 2, 0, 1, 0,
|
||||
72, 0, 0, 0, 3, 0, 1, 0,
|
||||
84, 0, 0, 0, 2, 0, 1, 0,
|
||||
1, 0, 0, 0, 16, 0, 0, 0,
|
||||
0, 0, 1, 0, 1, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
81, 0, 0, 0, 194, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
84, 0, 0, 0, 3, 0, 1, 0,
|
||||
96, 0, 0, 0, 2, 0, 1, 0,
|
||||
2, 0, 0, 0, 17, 0, 0, 0,
|
||||
0, 0, 1, 0, 2, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
93, 0, 0, 0, 202, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
100, 0, 0, 0, 3, 0, 1, 0,
|
||||
112, 0, 0, 0, 2, 0, 1, 0,
|
||||
108, 97, 110, 101, 84, 117, 114, 110,
|
||||
68, 105, 114, 101, 99, 116, 105, 111,
|
||||
110, 0, 0, 0, 0, 0, 0, 0,
|
||||
@@ -4884,6 +5354,27 @@ static const ::capnp::_::AlignedData<39> b_a1680744031fdb2d = {
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
15, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
108, 101, 102, 116, 76, 97, 110, 101,
|
||||
67, 104, 97, 110, 103, 101, 69, 100,
|
||||
103, 101, 66, 108, 111, 99, 107, 0,
|
||||
1, 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,
|
||||
1, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
114, 105, 103, 104, 116, 76, 97, 110,
|
||||
101, 67, 104, 97, 110, 103, 101, 69,
|
||||
100, 103, 101, 66, 108, 111, 99, 107,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
1, 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,
|
||||
1, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0, }
|
||||
};
|
||||
@@ -4892,11 +5383,11 @@ static const ::capnp::_::AlignedData<39> b_a1680744031fdb2d = {
|
||||
static const ::capnp::_::RawSchema* const d_a1680744031fdb2d[] = {
|
||||
&s_b73df234a23b0cc2,
|
||||
};
|
||||
static const uint16_t m_a1680744031fdb2d[] = {0};
|
||||
static const uint16_t i_a1680744031fdb2d[] = {0};
|
||||
static const uint16_t m_a1680744031fdb2d[] = {0, 1, 2};
|
||||
static const uint16_t i_a1680744031fdb2d[] = {0, 1, 2};
|
||||
const ::capnp::_::RawSchema s_a1680744031fdb2d = {
|
||||
0xa1680744031fdb2d, b_a1680744031fdb2d.words, 39, d_a1680744031fdb2d, m_a1680744031fdb2d,
|
||||
1, 1, i_a1680744031fdb2d, nullptr, nullptr, { &s_a1680744031fdb2d, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
0xa1680744031fdb2d, b_a1680744031fdb2d.words, 74, d_a1680744031fdb2d, m_a1680744031fdb2d,
|
||||
1, 3, i_a1680744031fdb2d, nullptr, nullptr, { &s_a1680744031fdb2d, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<34> b_b73df234a23b0cc2 = {
|
||||
@@ -5451,6 +5942,18 @@ constexpr ::capnp::_::RawSchema const* LongitudinalPlanSP::E2eAlerts::_capnpPriv
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
// LongitudinalPlanSP::AccelController
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr uint16_t LongitudinalPlanSP::AccelController::_capnpPrivate::dataWordSize;
|
||||
constexpr uint16_t LongitudinalPlanSP::AccelController::_capnpPrivate::pointerCount;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#if !CAPNP_LITE
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr ::capnp::Kind LongitudinalPlanSP::AccelController::_capnpPrivate::kind;
|
||||
constexpr ::capnp::_::RawSchema const* LongitudinalPlanSP::AccelController::_capnpPrivate::schema;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
// OnroadEventSP
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr uint16_t OnroadEventSP::_capnpPrivate::dataWordSize;
|
||||
|
||||
@@ -175,6 +175,31 @@ enum class LongitudinalPlanSource_ad47440556d96ec4: uint16_t {
|
||||
};
|
||||
CAPNP_DECLARE_ENUM(LongitudinalPlanSource, ad47440556d96ec4);
|
||||
CAPNP_DECLARE_SCHEMA(a567bce822ae28fe);
|
||||
CAPNP_DECLARE_SCHEMA(88dcd6d006f3c4a1);
|
||||
CAPNP_DECLARE_SCHEMA(8c9f9544b04650a6);
|
||||
enum class Profile_8c9f9544b04650a6: uint16_t {
|
||||
ECO,
|
||||
NORMAL,
|
||||
SPORT,
|
||||
};
|
||||
CAPNP_DECLARE_ENUM(Profile, 8c9f9544b04650a6);
|
||||
CAPNP_DECLARE_SCHEMA(f3ef31c99115f2a3);
|
||||
enum class State_f3ef31c99115f2a3: uint16_t {
|
||||
INACTIVE,
|
||||
FREE,
|
||||
RESTRICT,
|
||||
HOLD,
|
||||
RELEASE,
|
||||
STOP_HOLD,
|
||||
};
|
||||
CAPNP_DECLARE_ENUM(State, f3ef31c99115f2a3);
|
||||
CAPNP_DECLARE_SCHEMA(d02d61eb7efff99e);
|
||||
enum class AccelerationPersonality_d02d61eb7efff99e: uint16_t {
|
||||
ECO,
|
||||
NORMAL,
|
||||
SPORT,
|
||||
};
|
||||
CAPNP_DECLARE_ENUM(AccelerationPersonality, d02d61eb7efff99e);
|
||||
CAPNP_DECLARE_SCHEMA(da96579883444c35);
|
||||
CAPNP_DECLARE_SCHEMA(f6e831752fcdf793);
|
||||
CAPNP_DECLARE_SCHEMA(b8007ed8a646b5e6);
|
||||
@@ -203,6 +228,7 @@ enum class EventName_b8007ed8a646b5e6: uint16_t {
|
||||
SPEED_LIMIT_CHANGED,
|
||||
SPEED_LIMIT_PENDING,
|
||||
E2E_CHIME,
|
||||
LANE_CHANGE_ROAD_EDGE,
|
||||
};
|
||||
CAPNP_DECLARE_ENUM(EventName, b8007ed8a646b5e6);
|
||||
CAPNP_DECLARE_SCHEMA(80ae746ee2596b11);
|
||||
@@ -456,9 +482,12 @@ struct LongitudinalPlanSP {
|
||||
typedef ::capnp::schemas::LongitudinalPlanSource_ad47440556d96ec4 LongitudinalPlanSource;
|
||||
|
||||
struct E2eAlerts;
|
||||
struct AccelController;
|
||||
typedef ::capnp::schemas::AccelerationPersonality_d02d61eb7efff99e AccelerationPersonality;
|
||||
|
||||
|
||||
struct _capnpPrivate {
|
||||
CAPNP_DECLARE_STRUCT_HEADER(f35cc4560bbf6ec2, 2, 5)
|
||||
CAPNP_DECLARE_STRUCT_HEADER(f35cc4560bbf6ec2, 2, 6)
|
||||
#if !CAPNP_LITE
|
||||
static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; }
|
||||
#endif // !CAPNP_LITE
|
||||
@@ -599,6 +628,25 @@ struct LongitudinalPlanSP::E2eAlerts {
|
||||
};
|
||||
};
|
||||
|
||||
struct LongitudinalPlanSP::AccelController {
|
||||
AccelController() = delete;
|
||||
|
||||
class Reader;
|
||||
class Builder;
|
||||
class Pipeline;
|
||||
typedef ::capnp::schemas::Profile_8c9f9544b04650a6 Profile;
|
||||
|
||||
typedef ::capnp::schemas::State_f3ef31c99115f2a3 State;
|
||||
|
||||
|
||||
struct _capnpPrivate {
|
||||
CAPNP_DECLARE_STRUCT_HEADER(88dcd6d006f3c4a1, 6, 0)
|
||||
#if !CAPNP_LITE
|
||||
static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; }
|
||||
#endif // !CAPNP_LITE
|
||||
};
|
||||
};
|
||||
|
||||
struct OnroadEventSP {
|
||||
OnroadEventSP() = delete;
|
||||
|
||||
@@ -2168,6 +2216,9 @@ public:
|
||||
inline bool hasE2eAlerts() const;
|
||||
inline ::cereal::LongitudinalPlanSP::E2eAlerts::Reader getE2eAlerts() const;
|
||||
|
||||
inline bool hasAccelController() const;
|
||||
inline ::cereal::LongitudinalPlanSP::AccelController::Reader getAccelController() const;
|
||||
|
||||
private:
|
||||
::capnp::_::StructReader _reader;
|
||||
template <typename, ::capnp::Kind>
|
||||
@@ -2240,6 +2291,13 @@ public:
|
||||
inline void adoptE2eAlerts(::capnp::Orphan< ::cereal::LongitudinalPlanSP::E2eAlerts>&& value);
|
||||
inline ::capnp::Orphan< ::cereal::LongitudinalPlanSP::E2eAlerts> disownE2eAlerts();
|
||||
|
||||
inline bool hasAccelController();
|
||||
inline ::cereal::LongitudinalPlanSP::AccelController::Builder getAccelController();
|
||||
inline void setAccelController( ::cereal::LongitudinalPlanSP::AccelController::Reader value);
|
||||
inline ::cereal::LongitudinalPlanSP::AccelController::Builder initAccelController();
|
||||
inline void adoptAccelController(::capnp::Orphan< ::cereal::LongitudinalPlanSP::AccelController>&& value);
|
||||
inline ::capnp::Orphan< ::cereal::LongitudinalPlanSP::AccelController> disownAccelController();
|
||||
|
||||
private:
|
||||
::capnp::_::StructBuilder _builder;
|
||||
template <typename, ::capnp::Kind>
|
||||
@@ -2262,6 +2320,7 @@ public:
|
||||
inline ::cereal::LongitudinalPlanSP::SmartCruiseControl::Pipeline getSmartCruiseControl();
|
||||
inline ::cereal::LongitudinalPlanSP::SpeedLimit::Pipeline getSpeedLimit();
|
||||
inline ::cereal::LongitudinalPlanSP::E2eAlerts::Pipeline getE2eAlerts();
|
||||
inline ::cereal::LongitudinalPlanSP::AccelController::Pipeline getAccelController();
|
||||
private:
|
||||
::capnp::AnyPointer::Pipeline _typeless;
|
||||
friend class ::capnp::PipelineHook;
|
||||
@@ -3037,6 +3096,152 @@ private:
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
class LongitudinalPlanSP::AccelController::Reader {
|
||||
public:
|
||||
typedef AccelController Reads;
|
||||
|
||||
Reader() = default;
|
||||
inline explicit Reader(::capnp::_::StructReader base): _reader(base) {}
|
||||
|
||||
inline ::capnp::MessageSize totalSize() const {
|
||||
return _reader.totalSize().asPublic();
|
||||
}
|
||||
|
||||
#if !CAPNP_LITE
|
||||
inline ::kj::StringTree toString() const {
|
||||
return ::capnp::_::structString(_reader, *_capnpPrivate::brand());
|
||||
}
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
inline bool getEnabled() const;
|
||||
|
||||
inline bool getActive() const;
|
||||
|
||||
inline bool getShadowOnly() const;
|
||||
|
||||
inline ::cereal::LongitudinalPlanSP::AccelController::Profile getProfile() const;
|
||||
|
||||
inline ::cereal::LongitudinalPlanSP::AccelController::State getState() const;
|
||||
|
||||
inline float getVTargetBase() const;
|
||||
|
||||
inline float getVTargetRaw() const;
|
||||
|
||||
inline float getVTargetFiltered() const;
|
||||
|
||||
inline float getVTargetShadow() const;
|
||||
|
||||
inline ::int8_t getLeadIndex() const;
|
||||
|
||||
inline float getUsableGap() const;
|
||||
|
||||
inline float getClosingSpeed() const;
|
||||
|
||||
inline float getRequiredDecel() const;
|
||||
|
||||
inline float getAMaxProfile() const;
|
||||
|
||||
inline float getAMaxEffective() const;
|
||||
|
||||
private:
|
||||
::capnp::_::StructReader _reader;
|
||||
template <typename, ::capnp::Kind>
|
||||
friend struct ::capnp::ToDynamic_;
|
||||
template <typename, ::capnp::Kind>
|
||||
friend struct ::capnp::_::PointerHelpers;
|
||||
template <typename, ::capnp::Kind>
|
||||
friend struct ::capnp::List;
|
||||
friend class ::capnp::MessageBuilder;
|
||||
friend class ::capnp::Orphanage;
|
||||
};
|
||||
|
||||
class LongitudinalPlanSP::AccelController::Builder {
|
||||
public:
|
||||
typedef AccelController Builds;
|
||||
|
||||
Builder() = delete; // Deleted to discourage incorrect usage.
|
||||
// You can explicitly initialize to nullptr instead.
|
||||
inline Builder(decltype(nullptr)) {}
|
||||
inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {}
|
||||
inline operator Reader() const { return Reader(_builder.asReader()); }
|
||||
inline Reader asReader() const { return *this; }
|
||||
|
||||
inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); }
|
||||
#if !CAPNP_LITE
|
||||
inline ::kj::StringTree toString() const { return asReader().toString(); }
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
inline bool getEnabled();
|
||||
inline void setEnabled(bool value);
|
||||
|
||||
inline bool getActive();
|
||||
inline void setActive(bool value);
|
||||
|
||||
inline bool getShadowOnly();
|
||||
inline void setShadowOnly(bool value);
|
||||
|
||||
inline ::cereal::LongitudinalPlanSP::AccelController::Profile getProfile();
|
||||
inline void setProfile( ::cereal::LongitudinalPlanSP::AccelController::Profile value);
|
||||
|
||||
inline ::cereal::LongitudinalPlanSP::AccelController::State getState();
|
||||
inline void setState( ::cereal::LongitudinalPlanSP::AccelController::State value);
|
||||
|
||||
inline float getVTargetBase();
|
||||
inline void setVTargetBase(float value);
|
||||
|
||||
inline float getVTargetRaw();
|
||||
inline void setVTargetRaw(float value);
|
||||
|
||||
inline float getVTargetFiltered();
|
||||
inline void setVTargetFiltered(float value);
|
||||
|
||||
inline float getVTargetShadow();
|
||||
inline void setVTargetShadow(float value);
|
||||
|
||||
inline ::int8_t getLeadIndex();
|
||||
inline void setLeadIndex( ::int8_t value);
|
||||
|
||||
inline float getUsableGap();
|
||||
inline void setUsableGap(float value);
|
||||
|
||||
inline float getClosingSpeed();
|
||||
inline void setClosingSpeed(float value);
|
||||
|
||||
inline float getRequiredDecel();
|
||||
inline void setRequiredDecel(float value);
|
||||
|
||||
inline float getAMaxProfile();
|
||||
inline void setAMaxProfile(float value);
|
||||
|
||||
inline float getAMaxEffective();
|
||||
inline void setAMaxEffective(float value);
|
||||
|
||||
private:
|
||||
::capnp::_::StructBuilder _builder;
|
||||
template <typename, ::capnp::Kind>
|
||||
friend struct ::capnp::ToDynamic_;
|
||||
friend class ::capnp::Orphanage;
|
||||
template <typename, ::capnp::Kind>
|
||||
friend struct ::capnp::_::PointerHelpers;
|
||||
};
|
||||
|
||||
#if !CAPNP_LITE
|
||||
class LongitudinalPlanSP::AccelController::Pipeline {
|
||||
public:
|
||||
typedef AccelController Pipelines;
|
||||
|
||||
inline Pipeline(decltype(nullptr)): _typeless(nullptr) {}
|
||||
inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless)
|
||||
: _typeless(kj::mv(typeless)) {}
|
||||
|
||||
private:
|
||||
::capnp::AnyPointer::Pipeline _typeless;
|
||||
friend class ::capnp::PipelineHook;
|
||||
template <typename, ::capnp::Kind>
|
||||
friend struct ::capnp::ToDynamic_;
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
class OnroadEventSP::Reader {
|
||||
public:
|
||||
typedef OnroadEventSP Reads;
|
||||
@@ -4428,6 +4633,10 @@ public:
|
||||
|
||||
inline ::cereal::ModelDataV2SP::TurnDirection getLaneTurnDirection() const;
|
||||
|
||||
inline bool getLeftLaneChangeEdgeBlock() const;
|
||||
|
||||
inline bool getRightLaneChangeEdgeBlock() const;
|
||||
|
||||
private:
|
||||
::capnp::_::StructReader _reader;
|
||||
template <typename, ::capnp::Kind>
|
||||
@@ -4459,6 +4668,12 @@ public:
|
||||
inline ::cereal::ModelDataV2SP::TurnDirection getLaneTurnDirection();
|
||||
inline void setLaneTurnDirection( ::cereal::ModelDataV2SP::TurnDirection value);
|
||||
|
||||
inline bool getLeftLaneChangeEdgeBlock();
|
||||
inline void setLeftLaneChangeEdgeBlock(bool value);
|
||||
|
||||
inline bool getRightLaneChangeEdgeBlock();
|
||||
inline void setRightLaneChangeEdgeBlock(bool value);
|
||||
|
||||
private:
|
||||
::capnp::_::StructBuilder _builder;
|
||||
template <typename, ::capnp::Kind>
|
||||
@@ -6611,6 +6826,45 @@ inline ::capnp::Orphan< ::cereal::LongitudinalPlanSP::E2eAlerts> LongitudinalPla
|
||||
::capnp::bounded<4>() * ::capnp::POINTERS));
|
||||
}
|
||||
|
||||
inline bool LongitudinalPlanSP::Reader::hasAccelController() const {
|
||||
return !_reader.getPointerField(
|
||||
::capnp::bounded<5>() * ::capnp::POINTERS).isNull();
|
||||
}
|
||||
inline bool LongitudinalPlanSP::Builder::hasAccelController() {
|
||||
return !_builder.getPointerField(
|
||||
::capnp::bounded<5>() * ::capnp::POINTERS).isNull();
|
||||
}
|
||||
inline ::cereal::LongitudinalPlanSP::AccelController::Reader LongitudinalPlanSP::Reader::getAccelController() const {
|
||||
return ::capnp::_::PointerHelpers< ::cereal::LongitudinalPlanSP::AccelController>::get(_reader.getPointerField(
|
||||
::capnp::bounded<5>() * ::capnp::POINTERS));
|
||||
}
|
||||
inline ::cereal::LongitudinalPlanSP::AccelController::Builder LongitudinalPlanSP::Builder::getAccelController() {
|
||||
return ::capnp::_::PointerHelpers< ::cereal::LongitudinalPlanSP::AccelController>::get(_builder.getPointerField(
|
||||
::capnp::bounded<5>() * ::capnp::POINTERS));
|
||||
}
|
||||
#if !CAPNP_LITE
|
||||
inline ::cereal::LongitudinalPlanSP::AccelController::Pipeline LongitudinalPlanSP::Pipeline::getAccelController() {
|
||||
return ::cereal::LongitudinalPlanSP::AccelController::Pipeline(_typeless.getPointerField(5));
|
||||
}
|
||||
#endif // !CAPNP_LITE
|
||||
inline void LongitudinalPlanSP::Builder::setAccelController( ::cereal::LongitudinalPlanSP::AccelController::Reader value) {
|
||||
::capnp::_::PointerHelpers< ::cereal::LongitudinalPlanSP::AccelController>::set(_builder.getPointerField(
|
||||
::capnp::bounded<5>() * ::capnp::POINTERS), value);
|
||||
}
|
||||
inline ::cereal::LongitudinalPlanSP::AccelController::Builder LongitudinalPlanSP::Builder::initAccelController() {
|
||||
return ::capnp::_::PointerHelpers< ::cereal::LongitudinalPlanSP::AccelController>::init(_builder.getPointerField(
|
||||
::capnp::bounded<5>() * ::capnp::POINTERS));
|
||||
}
|
||||
inline void LongitudinalPlanSP::Builder::adoptAccelController(
|
||||
::capnp::Orphan< ::cereal::LongitudinalPlanSP::AccelController>&& value) {
|
||||
::capnp::_::PointerHelpers< ::cereal::LongitudinalPlanSP::AccelController>::adopt(_builder.getPointerField(
|
||||
::capnp::bounded<5>() * ::capnp::POINTERS), kj::mv(value));
|
||||
}
|
||||
inline ::capnp::Orphan< ::cereal::LongitudinalPlanSP::AccelController> LongitudinalPlanSP::Builder::disownAccelController() {
|
||||
return ::capnp::_::PointerHelpers< ::cereal::LongitudinalPlanSP::AccelController>::disown(_builder.getPointerField(
|
||||
::capnp::bounded<5>() * ::capnp::POINTERS));
|
||||
}
|
||||
|
||||
inline ::cereal::LongitudinalPlanSP::DynamicExperimentalControl::DynamicExperimentalControlState LongitudinalPlanSP::DynamicExperimentalControl::Reader::getState() const {
|
||||
return _reader.getDataField< ::cereal::LongitudinalPlanSP::DynamicExperimentalControl::DynamicExperimentalControlState>(
|
||||
::capnp::bounded<0>() * ::capnp::ELEMENTS);
|
||||
@@ -7201,6 +7455,216 @@ inline void LongitudinalPlanSP::E2eAlerts::Builder::setLeadDepartAlert(bool valu
|
||||
::capnp::bounded<1>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline bool LongitudinalPlanSP::AccelController::Reader::getEnabled() const {
|
||||
return _reader.getDataField<bool>(
|
||||
::capnp::bounded<0>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline bool LongitudinalPlanSP::AccelController::Builder::getEnabled() {
|
||||
return _builder.getDataField<bool>(
|
||||
::capnp::bounded<0>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void LongitudinalPlanSP::AccelController::Builder::setEnabled(bool value) {
|
||||
_builder.setDataField<bool>(
|
||||
::capnp::bounded<0>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline bool LongitudinalPlanSP::AccelController::Reader::getActive() const {
|
||||
return _reader.getDataField<bool>(
|
||||
::capnp::bounded<1>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline bool LongitudinalPlanSP::AccelController::Builder::getActive() {
|
||||
return _builder.getDataField<bool>(
|
||||
::capnp::bounded<1>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void LongitudinalPlanSP::AccelController::Builder::setActive(bool value) {
|
||||
_builder.setDataField<bool>(
|
||||
::capnp::bounded<1>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline bool LongitudinalPlanSP::AccelController::Reader::getShadowOnly() const {
|
||||
return _reader.getDataField<bool>(
|
||||
::capnp::bounded<2>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline bool LongitudinalPlanSP::AccelController::Builder::getShadowOnly() {
|
||||
return _builder.getDataField<bool>(
|
||||
::capnp::bounded<2>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void LongitudinalPlanSP::AccelController::Builder::setShadowOnly(bool value) {
|
||||
_builder.setDataField<bool>(
|
||||
::capnp::bounded<2>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline ::cereal::LongitudinalPlanSP::AccelController::Profile LongitudinalPlanSP::AccelController::Reader::getProfile() const {
|
||||
return _reader.getDataField< ::cereal::LongitudinalPlanSP::AccelController::Profile>(
|
||||
::capnp::bounded<1>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline ::cereal::LongitudinalPlanSP::AccelController::Profile LongitudinalPlanSP::AccelController::Builder::getProfile() {
|
||||
return _builder.getDataField< ::cereal::LongitudinalPlanSP::AccelController::Profile>(
|
||||
::capnp::bounded<1>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void LongitudinalPlanSP::AccelController::Builder::setProfile( ::cereal::LongitudinalPlanSP::AccelController::Profile value) {
|
||||
_builder.setDataField< ::cereal::LongitudinalPlanSP::AccelController::Profile>(
|
||||
::capnp::bounded<1>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline ::cereal::LongitudinalPlanSP::AccelController::State LongitudinalPlanSP::AccelController::Reader::getState() const {
|
||||
return _reader.getDataField< ::cereal::LongitudinalPlanSP::AccelController::State>(
|
||||
::capnp::bounded<2>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline ::cereal::LongitudinalPlanSP::AccelController::State LongitudinalPlanSP::AccelController::Builder::getState() {
|
||||
return _builder.getDataField< ::cereal::LongitudinalPlanSP::AccelController::State>(
|
||||
::capnp::bounded<2>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void LongitudinalPlanSP::AccelController::Builder::setState( ::cereal::LongitudinalPlanSP::AccelController::State value) {
|
||||
_builder.setDataField< ::cereal::LongitudinalPlanSP::AccelController::State>(
|
||||
::capnp::bounded<2>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline float LongitudinalPlanSP::AccelController::Reader::getVTargetBase() const {
|
||||
return _reader.getDataField<float>(
|
||||
::capnp::bounded<2>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline float LongitudinalPlanSP::AccelController::Builder::getVTargetBase() {
|
||||
return _builder.getDataField<float>(
|
||||
::capnp::bounded<2>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void LongitudinalPlanSP::AccelController::Builder::setVTargetBase(float value) {
|
||||
_builder.setDataField<float>(
|
||||
::capnp::bounded<2>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline float LongitudinalPlanSP::AccelController::Reader::getVTargetRaw() const {
|
||||
return _reader.getDataField<float>(
|
||||
::capnp::bounded<3>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline float LongitudinalPlanSP::AccelController::Builder::getVTargetRaw() {
|
||||
return _builder.getDataField<float>(
|
||||
::capnp::bounded<3>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void LongitudinalPlanSP::AccelController::Builder::setVTargetRaw(float value) {
|
||||
_builder.setDataField<float>(
|
||||
::capnp::bounded<3>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline float LongitudinalPlanSP::AccelController::Reader::getVTargetFiltered() const {
|
||||
return _reader.getDataField<float>(
|
||||
::capnp::bounded<4>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline float LongitudinalPlanSP::AccelController::Builder::getVTargetFiltered() {
|
||||
return _builder.getDataField<float>(
|
||||
::capnp::bounded<4>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void LongitudinalPlanSP::AccelController::Builder::setVTargetFiltered(float value) {
|
||||
_builder.setDataField<float>(
|
||||
::capnp::bounded<4>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline float LongitudinalPlanSP::AccelController::Reader::getVTargetShadow() const {
|
||||
return _reader.getDataField<float>(
|
||||
::capnp::bounded<5>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline float LongitudinalPlanSP::AccelController::Builder::getVTargetShadow() {
|
||||
return _builder.getDataField<float>(
|
||||
::capnp::bounded<5>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void LongitudinalPlanSP::AccelController::Builder::setVTargetShadow(float value) {
|
||||
_builder.setDataField<float>(
|
||||
::capnp::bounded<5>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline ::int8_t LongitudinalPlanSP::AccelController::Reader::getLeadIndex() const {
|
||||
return _reader.getDataField< ::int8_t>(
|
||||
::capnp::bounded<1>() * ::capnp::ELEMENTS, -1);
|
||||
}
|
||||
|
||||
inline ::int8_t LongitudinalPlanSP::AccelController::Builder::getLeadIndex() {
|
||||
return _builder.getDataField< ::int8_t>(
|
||||
::capnp::bounded<1>() * ::capnp::ELEMENTS, -1);
|
||||
}
|
||||
inline void LongitudinalPlanSP::AccelController::Builder::setLeadIndex( ::int8_t value) {
|
||||
_builder.setDataField< ::int8_t>(
|
||||
::capnp::bounded<1>() * ::capnp::ELEMENTS, value, -1);
|
||||
}
|
||||
|
||||
inline float LongitudinalPlanSP::AccelController::Reader::getUsableGap() const {
|
||||
return _reader.getDataField<float>(
|
||||
::capnp::bounded<6>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline float LongitudinalPlanSP::AccelController::Builder::getUsableGap() {
|
||||
return _builder.getDataField<float>(
|
||||
::capnp::bounded<6>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void LongitudinalPlanSP::AccelController::Builder::setUsableGap(float value) {
|
||||
_builder.setDataField<float>(
|
||||
::capnp::bounded<6>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline float LongitudinalPlanSP::AccelController::Reader::getClosingSpeed() const {
|
||||
return _reader.getDataField<float>(
|
||||
::capnp::bounded<7>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline float LongitudinalPlanSP::AccelController::Builder::getClosingSpeed() {
|
||||
return _builder.getDataField<float>(
|
||||
::capnp::bounded<7>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void LongitudinalPlanSP::AccelController::Builder::setClosingSpeed(float value) {
|
||||
_builder.setDataField<float>(
|
||||
::capnp::bounded<7>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline float LongitudinalPlanSP::AccelController::Reader::getRequiredDecel() const {
|
||||
return _reader.getDataField<float>(
|
||||
::capnp::bounded<8>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline float LongitudinalPlanSP::AccelController::Builder::getRequiredDecel() {
|
||||
return _builder.getDataField<float>(
|
||||
::capnp::bounded<8>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void LongitudinalPlanSP::AccelController::Builder::setRequiredDecel(float value) {
|
||||
_builder.setDataField<float>(
|
||||
::capnp::bounded<8>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline float LongitudinalPlanSP::AccelController::Reader::getAMaxProfile() const {
|
||||
return _reader.getDataField<float>(
|
||||
::capnp::bounded<9>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline float LongitudinalPlanSP::AccelController::Builder::getAMaxProfile() {
|
||||
return _builder.getDataField<float>(
|
||||
::capnp::bounded<9>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void LongitudinalPlanSP::AccelController::Builder::setAMaxProfile(float value) {
|
||||
_builder.setDataField<float>(
|
||||
::capnp::bounded<9>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline float LongitudinalPlanSP::AccelController::Reader::getAMaxEffective() const {
|
||||
return _reader.getDataField<float>(
|
||||
::capnp::bounded<10>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline float LongitudinalPlanSP::AccelController::Builder::getAMaxEffective() {
|
||||
return _builder.getDataField<float>(
|
||||
::capnp::bounded<10>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void LongitudinalPlanSP::AccelController::Builder::setAMaxEffective(float value) {
|
||||
_builder.setDataField<float>(
|
||||
::capnp::bounded<10>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline bool OnroadEventSP::Reader::hasEvents() const {
|
||||
return !_reader.getPointerField(
|
||||
::capnp::bounded<0>() * ::capnp::POINTERS).isNull();
|
||||
@@ -8653,6 +9117,34 @@ inline void ModelDataV2SP::Builder::setLaneTurnDirection( ::cereal::ModelDataV2S
|
||||
::capnp::bounded<0>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline bool ModelDataV2SP::Reader::getLeftLaneChangeEdgeBlock() const {
|
||||
return _reader.getDataField<bool>(
|
||||
::capnp::bounded<16>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline bool ModelDataV2SP::Builder::getLeftLaneChangeEdgeBlock() {
|
||||
return _builder.getDataField<bool>(
|
||||
::capnp::bounded<16>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void ModelDataV2SP::Builder::setLeftLaneChangeEdgeBlock(bool value) {
|
||||
_builder.setDataField<bool>(
|
||||
::capnp::bounded<16>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline bool ModelDataV2SP::Reader::getRightLaneChangeEdgeBlock() const {
|
||||
return _reader.getDataField<bool>(
|
||||
::capnp::bounded<17>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline bool ModelDataV2SP::Builder::getRightLaneChangeEdgeBlock() {
|
||||
return _builder.getDataField<bool>(
|
||||
::capnp::bounded<17>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void ModelDataV2SP::Builder::setRightLaneChangeEdgeBlock(bool value) {
|
||||
_builder.setDataField<bool>(
|
||||
::capnp::bounded<17>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
} // namespace
|
||||
|
||||
CAPNP_END_HEADER
|
||||
|
||||
@@ -80,6 +80,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"LiveDelay", {PERSISTENT | BACKUP, BYTES}},
|
||||
{"LiveParameters", {PERSISTENT, JSON}},
|
||||
{"LiveParametersV2", {PERSISTENT, BYTES}},
|
||||
{"LivestreamEncoderBitrate", {CLEAR_ON_MANAGER_START | DONT_LOG, INT}},
|
||||
{"LiveTorqueParameters", {PERSISTENT | DONT_LOG, BYTES}},
|
||||
{"LocationFilterInitialState", {PERSISTENT, BYTES}},
|
||||
{"LateralManeuverMode", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
|
||||
@@ -178,12 +179,19 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"QuickBootToggle", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"QuietMode", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"RainbowMode", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"RoadEdgeLaneChangeEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"RocketFuel", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"ShowAdvancedControls", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"ShowTurnSignals", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"StandstillTimer", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"TrueVEgoUI", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
|
||||
// toyota specific params
|
||||
{"ToyotaAutoHold", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"ToyotaEnhancedBsm", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"ToyotaTSS2Long", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"ToyotaDriveMode", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
|
||||
// MADS params
|
||||
{"Mads", {PERSISTENT | BACKUP, BOOL, "1"}},
|
||||
{"MadsMainCruiseAllowed", {PERSISTENT | BACKUP, BOOL, "1"}},
|
||||
@@ -227,6 +235,10 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"DynamicExperimentalControl", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"BlindSpot", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
|
||||
// Accel Controller profiles (Eco / Normal / Sport)
|
||||
{"AccelPersonalityEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"AccelPersonality", {PERSISTENT | BACKUP, INT, "1"}},
|
||||
|
||||
// sunnypilot model params
|
||||
{"CameraOffset", {PERSISTENT | BACKUP, FLOAT, "0.0"}},
|
||||
{"LagdToggle", {PERSISTENT | BACKUP, BOOL, "1"}},
|
||||
|
||||
Binary file not shown.
@@ -112,12 +112,16 @@ class TestParams:
|
||||
def test_params_default_value(self):
|
||||
self.params.remove("LanguageSetting")
|
||||
self.params.remove("LongitudinalPersonality")
|
||||
self.params.remove("AccelPersonalityEnabled")
|
||||
self.params.remove("AccelPersonality")
|
||||
self.params.remove("LiveParameters")
|
||||
|
||||
assert self.params.get("LanguageSetting") is None
|
||||
assert self.params.get("LanguageSetting", return_default=False) is None
|
||||
assert isinstance(self.params.get("LanguageSetting", return_default=True), str)
|
||||
assert isinstance(self.params.get("LongitudinalPersonality", return_default=True), int)
|
||||
assert self.params.get("AccelPersonalityEnabled", return_default=True) is False
|
||||
assert self.params.get("AccelPersonality", return_default=True) == 1
|
||||
assert self.params.get("LiveParameters") is None
|
||||
assert self.params.get("LiveParameters", return_default=True) is None
|
||||
|
||||
|
||||
+117
-119
@@ -4,24 +4,24 @@
|
||||
|
||||
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.
|
||||
|
||||
# 341 Supported Cars
|
||||
# 340 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|
|
||||
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
|
||||
|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 2022-24|All|openpilot available[<sup>1,5</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=Acura MDX 2022-24">Buy Here</a></sub></details>|||
|
||||
|Acura|MDX 2022-24|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=Acura MDX 2022-24">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|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>1,5</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 2021-22|All|openpilot available[<sup>1,5</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 2021-22">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 2021-22|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 2021-22">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[<sup>12</sup>](#footnotes)|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>12</sup>](#footnotes)|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>12</sup>](#footnotes)|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>12</sup>](#footnotes)|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</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[<sup>12</sup>](#footnotes)|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>12</sup>](#footnotes)|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>11</sup>](#footnotes)|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>11</sup>](#footnotes)|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>11</sup>](#footnotes)|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>11</sup>](#footnotes)|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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[<sup>11</sup>](#footnotes)|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>11</sup>](#footnotes)|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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>|||
|
||||
|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" /></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|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>|||
|
||||
@@ -33,7 +33,7 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 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" /></a>||
|
||||
|CUPRA[<sup>12</sup>](#footnotes)|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>11</sup>](#footnotes)|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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>|||
|
||||
|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>|||
|
||||
@@ -47,8 +47,8 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|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" /></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" /></a>|
|
||||
|Ford|Focus 2018-22[<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 2018-22">Buy Here</a></sub></details>|||
|
||||
|Ford|Focus Hybrid 2018-22[<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 2018-22">Buy Here</a></sub></details>|||
|
||||
|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" /></a>|
|
||||
@@ -75,35 +75,35 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Genesis|GV70 Electrified (with HDA II) 2023-24|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=Genesis GV70 Electrified (with HDA II) 2023-24">Buy Here</a></sub></details>|||
|
||||
|Genesis|GV80 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M 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 GV80 2023">Buy Here</a></sub></details>|||
|
||||
|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 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=GMC Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Accord 2018-22|All|openpilot available[<sup>1,5</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 Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 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 Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Accord 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 Accord 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1,5</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 Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
|
||||
|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 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 Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
|
||||
|Honda|Accord 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 Accord Hybrid 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|City (Brazil only) 2023|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|14 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 City (Brazil only) 2023">Buy Here</a></sub></details>|||
|
||||
|Honda|City (Brazil only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|14 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 City (Brazil only) 2023">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 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 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Civic 2019-21|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[](##)|[](##)|<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 Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Civic 2022-24|All|openpilot available[<sup>1,5</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 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1,5</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 Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hatchback 2019-21|All|openpilot available[<sup>1,5</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 Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1,5</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 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Civic Hatchback Hybrid 2025-26|All|openpilot available[<sup>1,5</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>1,5</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>1,5</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|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 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 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Civic 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 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 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Civic Hatchback 2017-18|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 Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hatchback 2019-21|All|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 Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 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 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|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|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>1,5</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 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>1,5</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 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|e 2020|All|openpilot available[<sup>1,5</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|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>|||
|
||||
|Honda|HR-V 2019-22|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 HR-V 2019-22">Buy Here</a></sub></details>|||
|
||||
|Honda|HR-V 2023-25|All|openpilot available[<sup>1,5</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 HR-V 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|Insight 2019-22|All|openpilot available[<sup>1,5</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 Insight 2019-22">Buy Here</a></sub></details>|||
|
||||
|Honda|Inspire 2018|All|openpilot available[<sup>1,5</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 Inspire 2018">Buy Here</a></sub></details>|||
|
||||
|Honda|N-Box 2018|All|openpilot available[<sup>1,5</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|HR-V 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 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 HR-V 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 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 Insight 2019-22">Buy Here</a></sub></details>|||
|
||||
|Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 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 Inspire 2018">Buy Here</a></sub></details>|||
|
||||
|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>1,5</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 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 (Singapore) 2021|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 (Singapore) 2021">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>|||
|
||||
@@ -126,7 +126,6 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Hyundai|Ioniq 5 (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 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 (with HDA II) 2022-24">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq 5 (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 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 Ioniq 5 (without HDA II) 2022-24">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq 6 (with HDA II) 2023-24|Highway Driving Assist II|Stock|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=Hyundai Ioniq 6 (with HDA II) 2023-24">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq 6 (without HDA II) 2023-24|Highway Driving Assist|Stock|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=Hyundai Ioniq 6 (without HDA II) 2023-24">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 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 Electric 2019">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq Electric 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 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 Electric 2020">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 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 Hybrid 2017-19">Buy Here</a></sub></details>|||
|
||||
@@ -224,14 +223,14 @@ 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[<sup>12</sup>](#footnotes)|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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" /></a>||
|
||||
|MAN[<sup>12</sup>](#footnotes)|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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" /></a>||
|
||||
|MAN[<sup>11</sup>](#footnotes)|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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" /></a>||
|
||||
|MAN[<sup>11</sup>](#footnotes)|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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" /></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" /></a>||
|
||||
|Nissan[<sup>6</sup>](#footnotes)|Altima 2019-24|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 2019-24">Buy Here</a></sub></details>|||
|
||||
|Nissan[<sup>6</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" /></a>||
|
||||
|Nissan[<sup>6</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>6</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 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" /></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>|||
|
||||
|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>|||
|
||||
@@ -239,35 +238,35 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Rivian|R1S 2025|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B 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 2025">Buy Here</a></sub></details>|||
|
||||
|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" /></a>|
|
||||
|Rivian|R1T 2025|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B 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 2025">Buy Here</a></sub></details>|||
|
||||
|SEAT[<sup>12</sup>](#footnotes)|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>12</sup>](#footnotes)|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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>|||
|
||||
|Subaru|Ascent 2019-21|All[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</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>7</sup>](#footnotes)|openpilot available[<sup>1,8</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" /></a>||
|
||||
|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</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>|||
|
||||
|Subaru|Forester 2017-18|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|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 Forester 2017-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Forester 2019-21|All[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</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 Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</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 Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</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 Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Legacy 2015-18|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|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 Legacy 2015-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Legacy 2020-22|All[<sup>7</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 Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Outback 2015-17|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|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 Outback 2015-17">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Outback 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|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 Outback 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>|||
|
||||
|Subaru|Outback 2020-22|All[<sup>7</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>7</sup>](#footnotes)|openpilot available[<sup>1,8</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" /></a>||
|
||||
|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</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>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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>17</sup>](#footnotes)|||
|
||||
|Škoda|Kamiq 2021-23[<sup>13,15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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>17</sup>](#footnotes)|||
|
||||
|Škoda[<sup>12</sup>](#footnotes)|Karoq 2019-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>12</sup>](#footnotes)|Kodiaq 2017-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>12</sup>](#footnotes)|Octavia 2015-19[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>12</sup>](#footnotes)|Octavia RS 2016[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>12</sup>](#footnotes)|Octavia Scout 2017-19[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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>17</sup>](#footnotes)|||
|
||||
|Škoda[<sup>12</sup>](#footnotes)|Superb 2015-22[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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>10</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>9</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>10</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>9</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>10</sup>](#footnotes)|Model Y (with HW3) 2020-23[<sup>9</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>10</sup>](#footnotes)|Model Y (with HW4) 2024-25[<sup>9</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>|||
|
||||
|SEAT[<sup>11</sup>](#footnotes)|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>11</sup>](#footnotes)|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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>|||
|
||||
|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" /></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>|||
|
||||
|Subaru|Forester 2017-18|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|Stock|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 Forester 2017-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Forester 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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 Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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 Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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 Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Legacy 2015-18|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|Stock|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 Legacy 2015-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Legacy 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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 Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Outback 2015-17|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|Stock|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 Outback 2015-17">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Outback 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|Stock|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 Outback 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>|||
|
||||
|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" /></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>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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>16</sup>](#footnotes)|||
|
||||
|Škoda|Kamiq 2021-23[<sup>12,14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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>16</sup>](#footnotes)|||
|
||||
|Škoda[<sup>11</sup>](#footnotes)|Karoq 2019-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>11</sup>](#footnotes)|Kodiaq 2017-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>11</sup>](#footnotes)|Octavia 2015-19[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>11</sup>](#footnotes)|Octavia RS 2016[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>11</sup>](#footnotes)|Octavia Scout 2017-19[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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>16</sup>](#footnotes)|||
|
||||
|Škoda[<sup>11</sup>](#footnotes)|Superb 2015-22[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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>|||
|
||||
|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>|||
|
||||
@@ -280,8 +279,8 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Toyota|C-HR 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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 C-HR 2021">Buy Here</a></sub></details>|||
|
||||
|Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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 C-HR Hybrid 2017-20">Buy Here</a></sub></details>|||
|
||||
|Toyota|C-HR Hybrid 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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 C-HR Hybrid 2021-22">Buy Here</a></sub></details>|||
|
||||
|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>11</sup>](#footnotes)|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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 Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>11</sup>](#footnotes)|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 Camry 2021-24">Buy Here</a></sub></details>|||
|
||||
|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>10</sup>](#footnotes)|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 Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>10</sup>](#footnotes)|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 Camry 2021-24">Buy Here</a></sub></details>|||
|
||||
|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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 Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Toyota|Camry Hybrid 2021-24|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=Toyota Camry Hybrid 2021-24">Buy Here</a></sub></details>|||
|
||||
|Toyota|Corolla 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=Toyota Corolla 2017-19">Buy Here</a></sub></details>|||
|
||||
@@ -313,61 +312,60 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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" /></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" /></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" /></a>||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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" /></a>||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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" /></a>||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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" /></a>||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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" /></a>||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>12</sup>](#footnotes)|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>12</sup>](#footnotes)|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>12</sup>](#footnotes)|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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" /></a>||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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" /></a>||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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" /></a>||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>12</sup>](#footnotes)|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>12</sup>](#footnotes)|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>12</sup>](#footnotes)|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>12</sup>](#footnotes)|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>12</sup>](#footnotes)|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>12</sup>](#footnotes)|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>12</sup>](#footnotes)|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>12</sup>](#footnotes)|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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" /></a>||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Jetta 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>12</sup>](#footnotes)|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>12</sup>](#footnotes)|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>12</sup>](#footnotes)|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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>1,16</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>17</sup>](#footnotes)|||
|
||||
|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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>17</sup>](#footnotes)|||
|
||||
|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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>17</sup>](#footnotes)|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>12</sup>](#footnotes)|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</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[<sup>12</sup>](#footnotes)|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>12</sup>](#footnotes)|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>12</sup>](#footnotes)|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>12</sup>](#footnotes)|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</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[<sup>12</sup>](#footnotes)|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>12</sup>](#footnotes)|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>11</sup>](#footnotes)|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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" /></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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" /></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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" /></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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" /></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>11</sup>](#footnotes)|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>11</sup>](#footnotes)|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>11</sup>](#footnotes)|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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" /></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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" /></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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" /></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>11</sup>](#footnotes)|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>11</sup>](#footnotes)|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>11</sup>](#footnotes)|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>11</sup>](#footnotes)|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>11</sup>](#footnotes)|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>11</sup>](#footnotes)|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>11</sup>](#footnotes)|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>11</sup>](#footnotes)|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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" /></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Jetta 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>11</sup>](#footnotes)|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>11</sup>](#footnotes)|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>11</sup>](#footnotes)|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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>1,15</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>16</sup>](#footnotes)|||
|
||||
|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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>16</sup>](#footnotes)|||
|
||||
|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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>16</sup>](#footnotes)|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>11</sup>](#footnotes)|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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[<sup>11</sup>](#footnotes)|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>11</sup>](#footnotes)|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>11</sup>](#footnotes)|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>11</sup>](#footnotes)|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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[<sup>11</sup>](#footnotes)|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>11</sup>](#footnotes)|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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>|||
|
||||
|
||||
### Footnotes
|
||||
<sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `nightly-dev`. <br />
|
||||
<sup>2</sup>Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in North and South America/Southeast Asia. <br />
|
||||
<sup>3</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/gm" target="_blank">GM</a>. <br />
|
||||
<sup>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
|
||||
<sup>5</sup>Enabling longitudinal control (alpha) will disable all CMBS functionality, including AEB and FCW. <br />
|
||||
<sup>6</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/nissan" target="_blank">Nissan</a>. <br />
|
||||
<sup>7</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
|
||||
<sup>8</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
|
||||
<sup>9</sup>Some 2023 model years have HW4. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
|
||||
<sup>10</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/tesla" target="_blank">Tesla</a>. <br />
|
||||
<sup>11</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
|
||||
<sup>12</sup>The J533 harness plugs in at the CAN gateway under the dashboard, just above the steering column. More information can be found at <a href="https://docs.howtocomma.com/docs/j533-harness-install" target="_blank">this guide</a>. <br />
|
||||
<sup>13</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
|
||||
<sup>14</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
|
||||
<sup>15</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma four functionality. <br />
|
||||
<sup>16</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
|
||||
<sup>17</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
|
||||
<sup>5</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/nissan" target="_blank">Nissan</a>. <br />
|
||||
<sup>6</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
|
||||
<sup>7</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
|
||||
<sup>8</sup>Some 2023 model years have HW4. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
|
||||
<sup>9</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/tesla" target="_blank">Tesla</a>. <br />
|
||||
<sup>10</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
|
||||
<sup>11</sup>The J533 harness plugs in at the CAN gateway under the dashboard, just above the steering column. More information can be found at <a href="https://docs.howtocomma.com/docs/j533-harness-install" target="_blank">this guide</a>. <br />
|
||||
<sup>12</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
|
||||
<sup>13</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
|
||||
<sup>14</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma four functionality. <br />
|
||||
<sup>15</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
|
||||
<sup>16</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
|
||||
|
||||
## Community Maintained Cars
|
||||
Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
|
||||
|
||||
-24
@@ -1,24 +0,0 @@
|
||||
name: tests
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- master
|
||||
pull_request:
|
||||
|
||||
concurrency:
|
||||
group: ${{ github.workflow }}-${{ github.ref != 'refs/heads/master' && github.ref || github.run_id }}-${{ github.event_name }}
|
||||
cancel-in-progress: true
|
||||
|
||||
jobs:
|
||||
test:
|
||||
name: ./test.sh
|
||||
runs-on: ${{ matrix.os }}
|
||||
strategy:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
os: ['macos-latest', 'ubuntu-latest']
|
||||
timeout-minutes: 10
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
- run: ./test.sh
|
||||
@@ -1,36 +0,0 @@
|
||||
Import('env', 'envCython', 'common')
|
||||
|
||||
|
||||
visionipc_dir = Dir('msgq/visionipc')
|
||||
|
||||
# Build msgq
|
||||
msgq_objects = env.SharedObject([
|
||||
'msgq/ipc.cc',
|
||||
'msgq/event.cc',
|
||||
'msgq/impl_msgq.cc',
|
||||
'msgq/impl_fake.cc',
|
||||
'msgq/msgq.cc',
|
||||
])
|
||||
msgq = env.Library('msgq', msgq_objects)
|
||||
msgq_python = envCython.Program('msgq/ipc_pyx.so', 'msgq/ipc_pyx.pyx', LIBS=envCython["LIBS"]+[msgq]+common)
|
||||
|
||||
# Build Vision IPC
|
||||
vipc_files = ['visionipc.cc', 'visionipc_server.cc', 'visionipc_client.cc']
|
||||
if File('/dev/ion').exists():
|
||||
vipc_files += ['visionbuf_ion.cc']
|
||||
else:
|
||||
vipc_files += ['visionbuf.cc']
|
||||
vipc_sources = [f'{visionipc_dir.abspath}/{f}' for f in vipc_files]
|
||||
|
||||
vipc_objects = env.SharedObject(vipc_sources)
|
||||
visionipc = env.Library('visionipc', vipc_objects)
|
||||
|
||||
|
||||
vipc_libs = envCython["LIBS"] + [visionipc, msgq] + common
|
||||
envCython.Program(f'{visionipc_dir.abspath}/visionipc_pyx.so', f'{visionipc_dir.abspath}/visionipc_pyx.pyx',
|
||||
LIBS=vipc_libs)
|
||||
|
||||
if GetOption('extras'):
|
||||
env.Program('msgq/test_runner', ['msgq/test_runner.cc', 'msgq/msgq_tests.cc'], LIBS=[msgq]+common)
|
||||
|
||||
Export('visionipc', 'msgq', 'msgq_python')
|
||||
@@ -1,83 +0,0 @@
|
||||
import os
|
||||
import platform
|
||||
import subprocess
|
||||
import sysconfig
|
||||
import catch2
|
||||
|
||||
arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
|
||||
if platform.system() == "Darwin":
|
||||
arch = "Darwin"
|
||||
|
||||
common = []
|
||||
|
||||
cpppath = [
|
||||
catch2.INCLUDE_DIR,
|
||||
"#/",
|
||||
'#msgq/',
|
||||
'/usr/lib/include',
|
||||
sysconfig.get_paths()['include'],
|
||||
]
|
||||
|
||||
AddOption('--minimal',
|
||||
action='store_false',
|
||||
dest='extras',
|
||||
default=True,
|
||||
help='the minimum build. no tests, tools, etc.')
|
||||
|
||||
AddOption('--asan',
|
||||
action='store_true',
|
||||
help='turn on ASAN')
|
||||
|
||||
AddOption('--ubsan',
|
||||
action='store_true',
|
||||
help='turn on UBSan')
|
||||
|
||||
ccflags = []
|
||||
ldflags = []
|
||||
if GetOption('ubsan'):
|
||||
flags = [
|
||||
"-fsanitize=undefined",
|
||||
"-fno-sanitize-recover=undefined",
|
||||
]
|
||||
ccflags += flags
|
||||
ldflags += flags
|
||||
elif GetOption('asan'):
|
||||
ccflags += ["-fsanitize=address", "-fno-omit-frame-pointer"]
|
||||
ldflags += ["-fsanitize=address"]
|
||||
|
||||
env = Environment(
|
||||
ENV=os.environ,
|
||||
CCFLAGS=[
|
||||
"-g",
|
||||
"-fPIC",
|
||||
"-O2",
|
||||
"-Wunused",
|
||||
"-Werror",
|
||||
"-Wshadow" if arch == "Darwin" else "-Wshadow=local",
|
||||
"-Wno-vla-cxx-extension",
|
||||
"-Wno-unknown-warning-option",
|
||||
] + ccflags,
|
||||
LDFLAGS=ldflags,
|
||||
LINKFLAGS=ldflags,
|
||||
|
||||
CFLAGS="-std=gnu11",
|
||||
CXXFLAGS="-std=c++1z",
|
||||
CPPPATH=cpppath,
|
||||
CYTHONCFILESUFFIX=".cpp",
|
||||
tools=["default", "cython"]
|
||||
)
|
||||
|
||||
Export('env', 'arch', 'common')
|
||||
|
||||
envCython = env.Clone(LIBS=[])
|
||||
envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-cpp", "-Wno-shadow", "-Wno-deprecated-declarations"]
|
||||
envCython["CCFLAGS"].remove('-Werror')
|
||||
if arch == "Darwin":
|
||||
envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"]
|
||||
else:
|
||||
envCython["LINKFLAGS"] = ["-pthread", "-shared"]
|
||||
|
||||
Export('envCython')
|
||||
|
||||
|
||||
SConscript(['SConscript'])
|
||||
@@ -0,0 +1,78 @@
|
||||
Metadata-Version: 2.4
|
||||
Name: msgq
|
||||
Version: 0.0.1
|
||||
Summary: Lock-free IPC pub/sub message queue
|
||||
Author: comma.ai
|
||||
License: MIT
|
||||
Classifier: Natural Language :: English
|
||||
Classifier: Programming Language :: Python :: 3
|
||||
Classifier: Topic :: System :: Hardware
|
||||
Requires-Python: >=3.11
|
||||
Description-Content-Type: text/markdown
|
||||
Provides-Extra: dev
|
||||
Requires-Dist: setuptools; extra == "dev"
|
||||
Requires-Dist: Cython; extra == "dev"
|
||||
Requires-Dist: scons; extra == "dev"
|
||||
Requires-Dist: catch2 @ git+https://github.com/commaai/dependencies.git@release-catch2#subdirectory=catch2 ; extra == "dev"
|
||||
Requires-Dist: ruff; extra == "dev"
|
||||
Requires-Dist: parameterized; extra == "dev"
|
||||
Requires-Dist: cppcheck; extra == "dev"
|
||||
Requires-Dist: cpplint; extra == "dev"
|
||||
Requires-Dist: codespell; extra == "dev"
|
||||
Requires-Dist: ty; extra == "dev"
|
||||
Requires-Dist: lefthook; extra == "dev"
|
||||
|
||||
# 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).
|
||||
|
||||
## Storage
|
||||
The storage for the queue consists of an area of metadata, and the actual buffer. The metadata contains:
|
||||
|
||||
1. A counter to the number of readers that are active
|
||||
2. A pointer to the head of the queue for writing. From now on referred to as *write pointer*
|
||||
3. A cycle counter for the writer. This counter is incremented when the writer wraps around
|
||||
4. N pointers, pointing to the current read position for all the readers. From now on referred to as *read pointer*
|
||||
5. N counters, counting the number of cycles for all the readers
|
||||
6. N booleans, indicating validity for all the readers. From now on referred to as *validity flag*
|
||||
|
||||
The counter and the pointer are both 32 bit values, packed into 64 bit so they can be read and written atomically.
|
||||
|
||||
The data buffer is a ring buffer. All messages are prefixed by an 8 byte size field, followed by the data. A size of -1 indicates a wrap-around, and means the next message is stored at the beginning of the buffer.
|
||||
|
||||
|
||||
## Writing
|
||||
Writing involves the following steps:
|
||||
|
||||
1. Check if the area that is to be written overlaps with any of the read pointers, mark those readers as invalid by clearing the validity flag.
|
||||
2. Write the message
|
||||
3. Increase the write pointer by the size of the message
|
||||
|
||||
In case there is not enough space at the end of the buffer, a special empty message with a prefix of -1 is written. The cycle counter is incremented by one. In this case step 1 will check there are no read pointers pointing to the remainder of the buffer. Then another write cycle will start with the actual message.
|
||||
|
||||
There always needs to be 8 bytes of empty space at the end of the buffer. By doing this there is always space to write the -1.
|
||||
|
||||
## Reset reader
|
||||
When the reader is lagging too much behind the read pointer becomes invalid and no longer points to the beginning of a valid message. To reset a reader to the current write pointer, the following steps are performed:
|
||||
|
||||
1. Set valid flag
|
||||
2. Set read cycle counter to that of the writer
|
||||
3. Set read pointer to write pointer
|
||||
|
||||
## Reading
|
||||
Reading involves the following steps:
|
||||
|
||||
1. Read the size field at the current read pointer
|
||||
2. Read the validity flag
|
||||
3. Copy the data out of the buffer
|
||||
4. Increase the read pointer by the size of the message
|
||||
5. Check the validity flag again
|
||||
|
||||
Before starting the copy, the valid flag is checked. This is to prevent a race condition where the size prefix was invalid, and the read could read outside of the buffer. Make sure that step 1 and 2 are not reordered by your compiler or CPU.
|
||||
|
||||
If a writer overwrites the data while it's being copied out, the data will be invalid. Therefore the validity flag is also checked after reading it. The order of step 4 and 5 does not matter.
|
||||
|
||||
If at steps 2 or 5 the validity flag is not set, the reader is reset. Any data that was already read is discarded. After the reader is reset, the reading starts from the beginning.
|
||||
|
||||
If a message with size -1 is encountered, step 3 and 4 are replaced by increasing the cycle counter and setting the read pointer to the beginning of the buffer. After that another read is performed.
|
||||
@@ -0,0 +1,15 @@
|
||||
README.md
|
||||
pyproject.toml
|
||||
msgq/__init__.py
|
||||
msgq.egg-info/PKG-INFO
|
||||
msgq.egg-info/SOURCES.txt
|
||||
msgq.egg-info/dependency_links.txt
|
||||
msgq.egg-info/requires.txt
|
||||
msgq.egg-info/top_level.txt
|
||||
msgq/tests/__init__.py
|
||||
msgq/tests/test_fake.py
|
||||
msgq/tests/test_messaging.py
|
||||
msgq/tests/test_poller.py
|
||||
msgq/visionipc/__init__.py
|
||||
msgq/visionipc/tests/__init__.py
|
||||
msgq/visionipc/tests/test_visionipc.py
|
||||
@@ -0,0 +1 @@
|
||||
|
||||
@@ -0,0 +1,13 @@
|
||||
|
||||
[dev]
|
||||
setuptools
|
||||
Cython
|
||||
scons
|
||||
catch2 @ git+https://github.com/commaai/dependencies.git@release-catch2#subdirectory=catch2
|
||||
ruff
|
||||
parameterized
|
||||
cppcheck
|
||||
cpplint
|
||||
codespell
|
||||
ty
|
||||
lefthook
|
||||
@@ -0,0 +1 @@
|
||||
msgq
|
||||
Binary file not shown.
@@ -1,49 +0,0 @@
|
||||
name: Car bug report
|
||||
description: For issues with a particular car make or model
|
||||
labels: ["car", "bug"]
|
||||
body:
|
||||
|
||||
- type: markdown
|
||||
attributes:
|
||||
value: >
|
||||
Before creating a **car bug report**, please check the following:
|
||||
* If the issue likely isn't specific to your car model or make, go back and open an **openpilot bug report** instead.
|
||||
* If the issue is related to the driving or driver monitoring models, you should open a [discussion](https://github.com/commaai/openpilot/discussions/categories/model-feedback) instead.
|
||||
* If you are fingerprinting your car, refer to the [fingerprinting guide](https://github.com/commaai/openpilot/wiki/Fingerprinting) or visit the [community Discord server](https://discord.comma.ai) to request help.
|
||||
* If you are inquiring about future car support, check the [community Discord server](https://discord.comma.ai) for progress on your vehicle and help contribute. Issues simply requesting support for new vehicles will be closed.
|
||||
* Ensure you're running the latest openpilot release.
|
||||
* Ensure you're using officially supported hardware.
|
||||
* Ensure there isn't an existing issue for your bug. If there is, leave a comment on the existing issue.
|
||||
* Ensure you're running stock openpilot. We cannot look into bug reports from forks.
|
||||
|
||||
If you're unsure whether you've hit a bug, check out the #installation-help channel in the [community Discord server](https://discord.comma.ai).
|
||||
|
||||
- type: textarea
|
||||
attributes:
|
||||
label: Describe the car bug
|
||||
description: Also include a description of how to reproduce the bug
|
||||
validations:
|
||||
required: true
|
||||
|
||||
- type: input
|
||||
id: route
|
||||
attributes:
|
||||
label: Provide a route where the issue occurs
|
||||
description: Ensure the route is fully uploaded at https://useradmin.comma.ai. We cannot look into issues without routes, or at least a Dongle ID.
|
||||
placeholder: 77611a1fac303767|2020-05-11--16-37-07
|
||||
validations:
|
||||
required: true
|
||||
|
||||
- type: input
|
||||
id: version
|
||||
attributes:
|
||||
label: openpilot version
|
||||
description: If you're not on release, provide the commit hash
|
||||
placeholder: 0.8.10
|
||||
validations:
|
||||
required: true
|
||||
|
||||
- type: textarea
|
||||
attributes:
|
||||
label: Additional info
|
||||
|
||||
-14
@@ -1,14 +0,0 @@
|
||||
blank_issues_enabled: false
|
||||
contact_links:
|
||||
- name: openpilot bug report
|
||||
url: https://github.com/commaai/openpilot/issues/new
|
||||
about: For issues not limited to a particular car make or model, e.g. driving model performance or issues with your comma device.
|
||||
- name: Join the Discord
|
||||
url: https://discord.comma.ai
|
||||
about: The community Discord is for both car port development and experience discussion
|
||||
- name: Report driving behavior feedback
|
||||
url: https://discord.com/channels/469524606043160576/1254834193066623017
|
||||
about: Feedback for the driving and driver monitoring models goes in the #driving-feedback in Discord
|
||||
- name: Community Wiki
|
||||
url: https://github.com/commaai/openpilot/wiki
|
||||
about: Check out our community wiki
|
||||
-36
@@ -1,36 +0,0 @@
|
||||
name: Miscellaneous
|
||||
description: For tools or test bugs, or enhancements
|
||||
labels: ["bug"]
|
||||
body:
|
||||
|
||||
- type: markdown
|
||||
attributes:
|
||||
value: >
|
||||
* If the issue likely only affects your car model or make, go back and open a **car bug report** instead.
|
||||
Before creating a **miscellaneous bug report**, please check the following:
|
||||
* Ensure there isn't an existing issue for your bug. If there is, leave a comment on the existing issue.
|
||||
|
||||
- type: textarea
|
||||
attributes:
|
||||
label: Describe the bug or enhancement
|
||||
description: Also include a description of how to reproduce the bug or how the enhancement would work
|
||||
validations:
|
||||
required: true
|
||||
|
||||
- type: input
|
||||
id: route
|
||||
attributes:
|
||||
label: Provide a route where the issue occurs if applicable
|
||||
description: Ensure the route is fully uploaded at https://useradmin.comma.ai
|
||||
placeholder: 77611a1fac303767|2020-05-11--16-37-07
|
||||
|
||||
- type: input
|
||||
id: version
|
||||
attributes:
|
||||
label: openpilot version if applicable
|
||||
description: If you're not on release, provide the commit hash
|
||||
placeholder: 0.8.10
|
||||
|
||||
- type: textarea
|
||||
attributes:
|
||||
label: Additional info
|
||||
Vendored
-76
@@ -1,76 +0,0 @@
|
||||
CI / testing:
|
||||
- changed-files:
|
||||
- any-glob-to-any-file: '.github/**'
|
||||
|
||||
car:
|
||||
- changed-files:
|
||||
- any-glob-to-any-file: 'opendbc/car/**'
|
||||
|
||||
car safety:
|
||||
- changed-files:
|
||||
- any-glob-to-any-file: 'opendbc/safety/**'
|
||||
|
||||
can:
|
||||
- changed-files:
|
||||
- any-glob-to-any-file: 'opendbc/can/**'
|
||||
|
||||
DBC signals:
|
||||
- changed-files:
|
||||
- any-glob-to-any-file: 'opendbc/dbc/**'
|
||||
|
||||
|
||||
body:
|
||||
- changed-files:
|
||||
- any-glob-to-any-file: 'opendbc/car/body/**'
|
||||
|
||||
chrysler:
|
||||
- changed-files:
|
||||
- any-glob-to-any-file: 'opendbc/car/chrysler/**'
|
||||
|
||||
ford:
|
||||
- changed-files:
|
||||
- any-glob-to-any-file: 'opendbc/car/ford/**'
|
||||
|
||||
gm:
|
||||
- changed-files:
|
||||
- any-glob-to-any-file: 'opendbc/car/gm/**'
|
||||
|
||||
honda:
|
||||
- changed-files:
|
||||
- any-glob-to-any-file: 'opendbc/car/honda/**'
|
||||
|
||||
hyundai:
|
||||
- changed-files:
|
||||
- any-glob-to-any-file: 'opendbc/car/hyundai/**'
|
||||
|
||||
mazda:
|
||||
- changed-files:
|
||||
- any-glob-to-any-file: 'opendbc/car/mazda/**'
|
||||
|
||||
nissan:
|
||||
- changed-files:
|
||||
- any-glob-to-any-file: 'opendbc/car/nissan/**'
|
||||
|
||||
rivian:
|
||||
- changed-files:
|
||||
- any-glob-to-any-file: 'opendbc/car/rivian/**'
|
||||
|
||||
subaru:
|
||||
- changed-files:
|
||||
- any-glob-to-any-file: 'opendbc/car/subaru/**'
|
||||
|
||||
tesla:
|
||||
- changed-files:
|
||||
- any-glob-to-any-file: 'opendbc/car/tesla/**'
|
||||
|
||||
toyota:
|
||||
- changed-files:
|
||||
- any-glob-to-any-file: 'opendbc/car/toyota/**'
|
||||
|
||||
volkswagen:
|
||||
- changed-files:
|
||||
- any-glob-to-any-file: 'opendbc/car/volkswagen/**'
|
||||
|
||||
fingerprint:
|
||||
- changed-files:
|
||||
- any-glob-to-all-files: 'opendbc/car/*/fingerprints.py'
|
||||
-11
@@ -1,11 +0,0 @@
|
||||
<!--
|
||||
We need these details to verify your pull request.
|
||||
|
||||
Find your device's dongle ID and a route at https://connect.comma.ai.
|
||||
Ideally, the route is recorded with the exact branch of your pull request.
|
||||
|
||||
If you are porting a car with a new harness variant, please add it to https://github.com/commaai/opendbc/blob/master/opendbc/car/docs_definitions.py. Let us know and we can add it to the shop at the time of merge.
|
||||
-->
|
||||
Validation
|
||||
* Dongle ID:
|
||||
* Route:
|
||||
@@ -1,50 +0,0 @@
|
||||
name: "PR review"
|
||||
on:
|
||||
pull_request_target:
|
||||
types: [opened, reopened, synchronize, edited, edited]
|
||||
|
||||
jobs:
|
||||
labeler:
|
||||
name: review
|
||||
permissions:
|
||||
contents: read
|
||||
pull-requests: write
|
||||
runs-on: ubuntu-latest
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
|
||||
# Label PRs
|
||||
- uses: actions/labeler@v5.0.0
|
||||
with:
|
||||
dot: true
|
||||
sync-labels: true
|
||||
configuration-path: .github/labeler.yaml
|
||||
|
||||
# Check PR target branch
|
||||
- name: check branch
|
||||
uses: Vankka/pr-target-branch-action@def32ec9d93514138d6ac0132ee62e120a72aed5
|
||||
if: github.repository == 'sunnypilot/opendbc'
|
||||
env:
|
||||
GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
|
||||
with:
|
||||
target: /^(?!master$|master$).*/
|
||||
exclude: /sunnypilot:.*/
|
||||
change-to: ${{ github.base_ref }}
|
||||
already-exists-action: close_this
|
||||
already-exists-comment: "Your PR should be made against the `master` branch"
|
||||
|
||||
# Welcome comment
|
||||
- name: "First timers PR"
|
||||
uses: actions/first-interaction@v1
|
||||
if: github.event.pull_request.head.repo.full_name != 'sunnypilot/opendbc'
|
||||
with:
|
||||
repo-token: ${{ secrets.GITHUB_TOKEN }}
|
||||
pr-message: |
|
||||
<!-- _(run_id **${{ github.run_id }}**)_ -->
|
||||
Thanks for contributing to opendbc! In order for us to review your PR as quickly as possible, check the following:
|
||||
* Convert your PR to a draft unless it's ready to review
|
||||
* Read the [contributing docs](https://github.com/sunnypilot/sunnypilot/blob/master/docs/CONTRIBUTING.md)
|
||||
* Before marking as "ready for review", ensure:
|
||||
* the goal is clearly stated in the description
|
||||
* all the tests are passing
|
||||
* include a route or your device' dongle ID if relevant
|
||||
-45
@@ -1,45 +0,0 @@
|
||||
name: car diff
|
||||
|
||||
on:
|
||||
pull_request_target:
|
||||
types: [opened, synchronize, reopened]
|
||||
|
||||
jobs:
|
||||
comment:
|
||||
name: comment
|
||||
runs-on: ubuntu-latest
|
||||
timeout-minutes: 10
|
||||
permissions:
|
||||
contents: read
|
||||
pull-requests: write
|
||||
actions: read
|
||||
steps:
|
||||
- name: Wait for car diff
|
||||
id: wait
|
||||
continue-on-error: true
|
||||
uses: lewagon/wait-on-check-action@v1.3.4
|
||||
with:
|
||||
ref: ${{ github.event.pull_request.head.sha }}
|
||||
check-name: car diff
|
||||
repo-token: ${{ secrets.GITHUB_TOKEN }}
|
||||
allowed-conclusions: success
|
||||
wait-interval: 20
|
||||
- name: Download car diff
|
||||
if: steps.wait.outcome == 'success'
|
||||
uses: dawidd6/action-download-artifact@v6
|
||||
with:
|
||||
github_token: ${{ secrets.GITHUB_TOKEN }}
|
||||
workflow: tests.yml
|
||||
workflow_conclusion: ''
|
||||
commit: ${{ github.event.pull_request.head.sha }}
|
||||
name: car_diff_${{ github.event.number }}
|
||||
path: .
|
||||
allow_forks: true
|
||||
- name: Comment car diff on PR
|
||||
if: steps.wait.outcome == 'success'
|
||||
uses: thollander/actions-comment-pull-request@v2
|
||||
with:
|
||||
filePath: diff.txt
|
||||
comment_tag: car_diff
|
||||
pr_number: ${{ github.event.number }}
|
||||
GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
|
||||
-18
@@ -1,18 +0,0 @@
|
||||
name: Re-draft on review
|
||||
on:
|
||||
pull_request_review:
|
||||
types: [submitted]
|
||||
|
||||
jobs:
|
||||
redraft:
|
||||
# TODO: doesn't work due to perms issue. https://github.com/commaai/opendbc/actions/runs/16079182504/job/45380739128?pr=2385
|
||||
if: false
|
||||
#if: github.event.review.state == 'changes_requested'
|
||||
permissions:
|
||||
pull-requests: write
|
||||
runs-on: ubuntu-latest
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
- run: gh pr ready --undo "${{ github.event.pull_request.number }}"
|
||||
env:
|
||||
GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
|
||||
-34
@@ -1,34 +0,0 @@
|
||||
name: Publish to PyPI
|
||||
on:
|
||||
release:
|
||||
types: [published]
|
||||
workflow_dispatch:
|
||||
|
||||
jobs:
|
||||
pypi-publish:
|
||||
name: Upload release to PyPI
|
||||
runs-on: ubuntu-latest
|
||||
environment:
|
||||
name: pypi
|
||||
url: https://pypi.org/p/opendbc
|
||||
permissions:
|
||||
id-token: write # trusted publishing
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
|
||||
- name: Build distribution
|
||||
run: |
|
||||
./test.sh
|
||||
source .venv/bin/activate
|
||||
uv pip install build
|
||||
python -m build
|
||||
|
||||
- name: Publish to Test PyPI
|
||||
if: github.event_name == 'workflow_dispatch'
|
||||
uses: pypa/gh-action-pypi-publish@v1.12.4
|
||||
with:
|
||||
repository-url: https://test.pypi.org/legacy/
|
||||
|
||||
- name: Publish to Production PyPI
|
||||
if: github.event_name == 'release'
|
||||
uses: pypa/gh-action-pypi-publish@v1.12.4
|
||||
-30
@@ -1,30 +0,0 @@
|
||||
name: stale
|
||||
on:
|
||||
schedule:
|
||||
- cron: '30 1 * * *'
|
||||
workflow_dispatch:
|
||||
|
||||
env:
|
||||
DAYS_BEFORE_PR_CLOSE: 7
|
||||
DAYS_BEFORE_PR_STALE: 60
|
||||
|
||||
jobs:
|
||||
stale:
|
||||
runs-on: ubuntu-latest
|
||||
steps:
|
||||
- uses: actions/stale@v9
|
||||
with:
|
||||
exempt-all-milestones: true
|
||||
|
||||
# pull request config
|
||||
stale-pr-message: 'This PR has had no activity for ${{ env.DAYS_BEFORE_PR_STALE }} days. It will be automatically closed in ${{ env.DAYS_BEFORE_PR_CLOSE }} days if there is no activity.'
|
||||
close-pr-message: 'This PR has been automatically closed due to inactivity. Feel free to re-open once activity resumes.'
|
||||
stale-pr-label: stale
|
||||
delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'sunnypilot/opendbc' }} # only delete branches on the main repo
|
||||
exempt-draft-pr: true
|
||||
exempt-pr-labels: "ignore stale" # if wip, don't mark as stale
|
||||
days-before-pr-stale: ${{ env.DAYS_BEFORE_PR_STALE }}
|
||||
days-before-pr-close: ${{ env.DAYS_BEFORE_PR_CLOSE }}
|
||||
|
||||
# issue config
|
||||
days-before-issue-stale: -1 # ignore issues for now
|
||||
-131
@@ -1,131 +0,0 @@
|
||||
name: tests
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- master
|
||||
pull_request:
|
||||
|
||||
jobs:
|
||||
tests:
|
||||
name: ./test.sh
|
||||
runs-on: ${{ matrix.os }}
|
||||
strategy:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
include:
|
||||
- os: ${{ github.repository == 'commaai/opendbc' && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
|
||||
- os: ${{ github.repository == 'commaai/opendbc' && 'namespace-profile-macos-8x14' || 'macos-latest' }}
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
- uses: commaai/timeout@v1
|
||||
with:
|
||||
timeout: ${{ github.repository == 'commaai/opendbc' && '90' || '999' }}
|
||||
- run: ./test.sh
|
||||
|
||||
safety_tests:
|
||||
name: safety
|
||||
runs-on: ${{ github.repository == 'commaai/opendbc' && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
|
||||
steps:
|
||||
- uses: commaai/timeout@v1
|
||||
with:
|
||||
timeout: ${{ github.repository == 'commaai/opendbc' && '60' || '999' }}
|
||||
- uses: actions/checkout@v4
|
||||
- name: Run safety tests
|
||||
run: ./opendbc/safety/tests/test.sh
|
||||
|
||||
mutation:
|
||||
name: Safety mutation tests
|
||||
runs-on: ${{ matrix.os }}
|
||||
timeout-minutes: ${{ github.repository == 'commaai/opendbc' && 45 || 999 }}
|
||||
strategy:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
include:
|
||||
- os: ${{ github.repository == 'commaai/opendbc' && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
|
||||
- os: ${{ github.repository == 'commaai/opendbc' && 'namespace-profile-macos-8x14' || 'macos-latest' }}
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
- name: Run mutation tests
|
||||
run: |
|
||||
source setup.sh
|
||||
python opendbc/safety/tests/mutation.py
|
||||
|
||||
car_diff:
|
||||
name: car diff
|
||||
if: false
|
||||
runs-on: ${{ github.repository == 'commaai/opendbc' && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
|
||||
env:
|
||||
GIT_REF: ${{ github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch) && github.event.before || format('origin/{0}', github.event.repository.default_branch) }}
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
fetch-depth: 0
|
||||
- name: Test car diff
|
||||
if: github.event_name == 'pull_request'
|
||||
run: source setup.sh && python opendbc/car/tests/car_diff.py | tee diff.txt
|
||||
- name: Upload diff
|
||||
if: always() && github.event_name == 'pull_request' && github.repository == 'commaai/opendbc'
|
||||
uses: actions/upload-artifact@v4
|
||||
with:
|
||||
name: car_diff_${{ github.event.number }}
|
||||
path: diff.txt
|
||||
- name: Update refs
|
||||
if: github.repository == 'commaai/opendbc' && github.ref == 'refs/heads/master'
|
||||
run: source setup.sh && python opendbc/car/tests/car_diff.py --update-refs
|
||||
- name: Checkout ci-artifacts
|
||||
if: github.repository == 'commaai/opendbc' && github.ref == 'refs/heads/master'
|
||||
uses: actions/checkout@v4
|
||||
with:
|
||||
repository: commaai/ci-artifacts
|
||||
ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
|
||||
path: ${{ github.workspace }}/ci-artifacts
|
||||
- name: Push refs
|
||||
if: github.repository == 'commaai/opendbc' && github.ref == 'refs/heads/master'
|
||||
working-directory: ${{ github.workspace }}/ci-artifacts
|
||||
run: |
|
||||
ls ${{ github.workspace }}/car_diff/*.zst 2>/dev/null || exit 0
|
||||
git config user.name "GitHub Actions Bot"
|
||||
git config user.email "<>"
|
||||
git fetch origin car_diff || true
|
||||
git checkout car_diff 2>/dev/null || git checkout --orphan car_diff
|
||||
cp ${{ github.workspace }}/car_diff/*.zst .
|
||||
git add *.zst
|
||||
git commit -m "car_diff refs for ${{ github.sha }}" || echo "No changes to commit"
|
||||
git push origin car_diff
|
||||
|
||||
# TODO: this needs to move to opendbc
|
||||
test_models:
|
||||
name: test models
|
||||
runs-on: ${{ github.repository == 'commaai/opendbc' && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
|
||||
strategy:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
job: [0, 1, 2, 3]
|
||||
env:
|
||||
CI: 1
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
repository: 'sunnypilot/sunnypilot'
|
||||
ref: 'master'
|
||||
submodules: true
|
||||
- run: ./tools/op.sh setup
|
||||
- run: rm -rf opendbc_repo/
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
path: opendbc_repo
|
||||
- name: Cache test routes
|
||||
id: routes-cache
|
||||
uses: actions/cache@v4
|
||||
with:
|
||||
path: /tmp/comma_download_cache
|
||||
key: car_models-${{ hashFiles('selfdrive/car/tests/test_models.py', 'opendbc/car/tests/routes.py') }}-${{ matrix.job }}
|
||||
- name: Build openpilot
|
||||
run: scons -j$(nproc) common/ cereal/ selfdrive/pandad/ sunnypilot/ msgq_repo/ opendbc_repo
|
||||
- name: Test car models
|
||||
timeout-minutes: ${{ contains(runner.name, 'nsc') && (steps.routes-cache.outputs.cache-hit == 'true') && 2 || 6 }}
|
||||
run: MAX_EXAMPLES=1 pytest --continue-on-collection-errors --durations=0 --durations-min=5 -n logical selfdrive/car/tests/test_models.py
|
||||
env:
|
||||
NUM_JOBS: 4
|
||||
JOB_ID: ${{ matrix.job }}
|
||||
@@ -1,24 +0,0 @@
|
||||
name: Update CARS.md
|
||||
|
||||
on:
|
||||
schedule:
|
||||
- cron: '0 8 * * *' # 12am PST (8am UTC)
|
||||
workflow_dispatch:
|
||||
|
||||
jobs:
|
||||
update-cars:
|
||||
runs-on: ubuntu-24.04
|
||||
permissions:
|
||||
contents: write
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
- name: Generate Car Docs
|
||||
run: |
|
||||
pip install -e .
|
||||
python -m pip install jinja2==3.1.4
|
||||
python opendbc/car/docs.py
|
||||
- uses: stefanzweifel/git-auto-commit-action@8621497c8c39c72f3e2a999a26b4ca1b5058a842
|
||||
with:
|
||||
commit_message: 'docs: Scheduled auto-update CARS.md'
|
||||
file_pattern: 'docs/CARS.md'
|
||||
|
||||
@@ -1,30 +0,0 @@
|
||||
name: Update uv.lock
|
||||
|
||||
on:
|
||||
schedule:
|
||||
- cron: "0 14 * * 1" # every Monday at 2am UTC (6am PST)
|
||||
workflow_dispatch:
|
||||
|
||||
jobs:
|
||||
update-uv-lock:
|
||||
runs-on: ubuntu-latest
|
||||
permissions:
|
||||
contents: write
|
||||
pull-requests: write
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
- uses: astral-sh/setup-uv@v5
|
||||
- name: Update uv.lock
|
||||
run: uv lock --upgrade
|
||||
- name: Create Pull Request
|
||||
uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
|
||||
with:
|
||||
author: Vehicle Researcher <user@comma.ai>
|
||||
token: ${{ secrets.ACTIONS_CREATE_PR_PAT }}
|
||||
commit-message: "[bot] Update uv.lock"
|
||||
title: "[bot] Update uv.lock"
|
||||
body: "Weekly update of uv.lock dependencies"
|
||||
branch: "update-uv-lock"
|
||||
base: "master"
|
||||
delete-branch: true
|
||||
labels: bot
|
||||
@@ -0,0 +1,243 @@
|
||||
Metadata-Version: 2.4
|
||||
Name: opendbc
|
||||
Version: 0.3.1
|
||||
Summary: a Python API for your car
|
||||
Author-email: Vehicle Researcher <user@comma.ai>
|
||||
License-Expression: MIT
|
||||
Project-URL: homepage, https://github.com/commaai/opendbc
|
||||
Requires-Python: <3.13,>=3.11
|
||||
Description-Content-Type: text/markdown
|
||||
License-File: LICENSE
|
||||
License-File: LICENSE.md
|
||||
Requires-Dist: numpy
|
||||
Requires-Dist: tqdm
|
||||
Requires-Dist: pycapnp
|
||||
Requires-Dist: pycryptodome
|
||||
Provides-Extra: testing
|
||||
Requires-Dist: cffi; extra == "testing"
|
||||
Requires-Dist: tree-sitter; extra == "testing"
|
||||
Requires-Dist: tree-sitter-c; extra == "testing"
|
||||
Requires-Dist: gcovr; extra == "testing"
|
||||
Requires-Dist: unittest-parallel; extra == "testing"
|
||||
Requires-Dist: hypothesis==6.47.*; extra == "testing"
|
||||
Requires-Dist: zstandard; extra == "testing"
|
||||
Requires-Dist: ruff; extra == "testing"
|
||||
Requires-Dist: ty; extra == "testing"
|
||||
Requires-Dist: lefthook; extra == "testing"
|
||||
Requires-Dist: cpplint; extra == "testing"
|
||||
Requires-Dist: codespell; extra == "testing"
|
||||
Provides-Extra: docs
|
||||
Requires-Dist: Jinja2; extra == "docs"
|
||||
Provides-Extra: examples
|
||||
Requires-Dist: inputs; extra == "examples"
|
||||
Dynamic: license-file
|
||||
|
||||
<div align="center" style="text-align: center;">
|
||||
|
||||
<h1>opendbc</h1>
|
||||
<p>
|
||||
<b>opendbc is a Python API for your car.</b>
|
||||
<br>
|
||||
Control the gas, brake, steering, and more. Read the speed, steering angle, and more.
|
||||
</p>
|
||||
|
||||
<h3>
|
||||
<a href="https://docs.comma.ai">Docs</a>
|
||||
<span> · </span>
|
||||
<a href="https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md">Contribute</a>
|
||||
<span> · </span>
|
||||
<a href="https://discord.comma.ai">Discord</a>
|
||||
</h3>
|
||||
|
||||
[](LICENSE)
|
||||
[](https://x.com/comma_ai)
|
||||
[](https://discord.comma.ai)
|
||||
|
||||
<br>
|
||||
<h3><i>How to Port a Car — Jason Young, COMMA_CON 2023</i></h3>
|
||||
<a href="https://www.youtube.com/watch?v=XxPS5TpTUnI&t=142s">
|
||||
<img src="https://github.com/user-attachments/assets/ae89198e-561b-4210-a0d4-ccecd917577d" alt="▶ How to Port a Car - Jason Young, COMMA_CON 2023" width="800">
|
||||
</a>
|
||||
<br>
|
||||
|
||||
<h3><i>How Do We Control The Car? — Robbe Derks, COMMA_CON 2021</i></h3>
|
||||
<a href="https://www.youtube.com/watch?v=nNU6ipme878">
|
||||
<img src="https://github.com/user-attachments/assets/28c40bc0-7884-47e9-b392-f47f03190497" alt="▶ How Do We Control The Car? - Robbe Derks, COMMA_CON 2021" width="800">
|
||||
</a>
|
||||
<br>
|
||||
|
||||
</div>
|
||||
|
||||
---
|
||||
|
||||
Most cars since 2016 have electronically-actuatable steering, gas, and brakes thanks to [LKAS](https://en.wikipedia.org/wiki/Lane_departure_warning_system#Lane_keeping_and_next_technologies) and [ACC](https://en.wikipedia.org/wiki/Adaptive_cruise_control).
|
||||
The goal of this project is to support controlling the steering, gas, and brakes on every single one of those cars.
|
||||
|
||||
While the primary focus is on supporting ADAS interfaces for [openpilot](https://github.com/commaai/openpilot), we're also interested in reading and writing as many things as we can (EV charge status, lock/unlocking doors, etc) such that we can build the best vehicle management app ever.
|
||||
|
||||
---
|
||||
|
||||
This README and the [supported cars list](docs/CARS.md) are all the docs for the opendbc project.
|
||||
Everything you need to know to use, contribute, and extend opendbc are in these docs.
|
||||
|
||||
## Quick start
|
||||
|
||||
```bash
|
||||
git clone https://github.com/commaai/opendbc.git
|
||||
cd opendbc
|
||||
|
||||
# you probably just want to use this. it's an all-in-one for dependency
|
||||
# installation, compiling, linting, and tests. it's also what runs in CI
|
||||
./test.sh
|
||||
|
||||
# here are the individual commands it runs
|
||||
pip3 install -e .[testing,docs] # install dependencies
|
||||
scons -j8 # build with 8 cores
|
||||
unittest-parallel # run the tests
|
||||
lefthook run lint # run the linter
|
||||
```
|
||||
|
||||
[`examples/`](examples/) contains small example programs that can read state from the car and control the steering, gas, and brakes.
|
||||
[`examples/joystick.py`](examples/joystick.py) allows you to control a car with a joystick.
|
||||
|
||||
### Project Structure
|
||||
* [`opendbc/dbc/`](opendbc/dbc/) is a repository of [DBC](https://en.wikipedia.org/wiki/CAN_bus#DBC_(CAN_Database_Files)) files
|
||||
* [`opendbc/can/`](opendbc/can/) is a library for parsing and building CAN messages from DBC files
|
||||
* [`opendbc/car/`](opendbc/car/) is a high-level library for interfacing with cars using Python
|
||||
* [`opendbc/safety/`](opendbc/safety/) is the functional safety for all the cars supported by `opendbc/car/`
|
||||
|
||||
## How to Port a Car
|
||||
|
||||
This guide covers everything from adding support to a new car all the way to improving existing cars (e.g. adding longitudinal control or radar parsing). If similar cars to yours are already compatible, most of this work is likely already done for you.
|
||||
|
||||
At its most basic, a car port will control the steering on a car. A "complete" car port will have all of: lateral control, longitudinal control, good tuning for both lateral and longitudinal, radar parsing (if equipped), fuzzy fingerprinting, and more. The new car support docs will clearly communicate each car's support level.
|
||||
|
||||
### Connect to the Car
|
||||
|
||||
The first step is to get connected to the car with a comma four and a car harness.
|
||||
The car harness gets you connected to two different CAN buses and splits one of those buses to send our own actuation messages.
|
||||
|
||||
If you're lucky, a harness compatible with your car will already be designed and sold on comma.ai/shop.
|
||||
If you're not so lucky, start with a "developer harness" from comma.ai/shop and crimp on whatever connector you need.
|
||||
|
||||
### Structure of a port
|
||||
|
||||
Depending on the brand, most of this basic structure will already be in place.
|
||||
|
||||
The entirety of a car port lives in `opendbc/car/<brand>/`:
|
||||
* `carstate.py`: parses out the relevant information from the CAN stream using the car's DBC file
|
||||
* `carcontroller.py`: outputs CAN messages to control the car
|
||||
* `<brand>can.py`: thin Python helpers around the DBC file to build CAN messages
|
||||
* `fingerprints.py`: database of ECU firmware versions for identifying car models
|
||||
* `interface.py`: high level class for interfacing with the car
|
||||
* `radar_interface.py`: parses out the radar
|
||||
* `values.py`: enumerates the brand's supported cars
|
||||
|
||||
### Reverse Engineer CAN messages
|
||||
|
||||
Start off by recording a route with lots of interesting events: enable LKAS and ACC, turn the steering wheel both extremes, etc. Then, load up that route in [cabana](https://github.com/commaai/openpilot/tree/master/tools/cabana).
|
||||
|
||||
### Tuning
|
||||
|
||||
#### Longitudinal
|
||||
|
||||
Use the [longitudinal maneuvers](https://github.com/commaai/openpilot/tree/master/tools/longitudinal_maneuvers) report to evaluate your car's longitudinal control and tune it.
|
||||
|
||||
## Contributing
|
||||
|
||||
All opendbc development is coordinated on GitHub and [Discord](https://discord.comma.ai). Check out the `#dev-opendbc-cars` channel and `Vehicle Specific` section.
|
||||
|
||||
### Roadmap
|
||||
|
||||
Short term
|
||||
- [ ] `pip install opendbc`
|
||||
- [ ] 100% type coverage
|
||||
- [ ] 100% line coverage
|
||||
- [ ] Make car ports easier: refactors, tools, tests, and docs
|
||||
- [ ] Expose the state of all supported cars better: https://github.com/commaai/opendbc/issues/1144
|
||||
|
||||
Longer term
|
||||
- [ ] Extend support to every car with LKAS + ACC interfaces
|
||||
- [ ] Automatic lateral and longitudinal control/tuning evaluation
|
||||
- [ ] Auto-tuning for [lateral](https://blog.comma.ai/090release/#torqued-an-auto-tuner-for-lateral-control) and longitudinal control
|
||||
- [ ] [Automatic Emergency Braking](https://en.wikipedia.org/wiki/Automated_emergency_braking_system)
|
||||
|
||||
Contributions towards anything here are welcome.
|
||||
|
||||
## Safety Model
|
||||
|
||||
When a [panda](https://comma.ai/shop/panda) powers up with [opendbc safety firmware](opendbc/safety), by default it's in `SAFETY_SILENT` mode. While in `SAFETY_SILENT` mode, the CAN buses are forced to be silent. In order to send messages, you have to select a safety mode. Some of safety modes (for example `SAFETY_ALLOUTPUT`) are disabled in release firmwares. In order to use them, compile and flash your own build.
|
||||
|
||||
Safety modes optionally support `controls_allowed`, which allows or blocks a subset of messages based on a customizable state in the board.
|
||||
|
||||
## Code Rigor
|
||||
|
||||
The opendbc safety firmware is written for its use in conjunction with [openpilot](https://github.com/commaai/openpilot) and [panda](https://github.com/commaai/panda). The safety firmware, through its safety model, provides and enforces the
|
||||
[openpilot safety](https://github.com/commaai/openpilot/blob/master/docs/SAFETY.md). Due to its critical function, it's important that the application code rigor within the `safety` folder is held to high standards.
|
||||
|
||||
These are the [CI regression tests](https://github.com/commaai/opendbc/actions) we have in place:
|
||||
* A generic static code analysis is performed by [cppcheck](https://github.com/danmar/cppcheck/).
|
||||
* In addition, [cppcheck](https://github.com/danmar/cppcheck/) has a specific addon to check for [MISRA C:2012](https://misra.org.uk/) violations. See [current coverage](opendbc/safety/tests/misra/coverage_table).
|
||||
* Compiler options are relatively strict: the flags `-Wall -Wextra -Wstrict-prototypes -Werror` are enforced.
|
||||
* The [safety logic](opendbc/safety) is tested and verified by [unit tests](opendbc/safety/tests) for each supported car variant.
|
||||
|
||||
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.
|
||||
|
||||
### Bounties
|
||||
|
||||
Every car port is eligible for a bounty:
|
||||
* $2000 - [Any car brand / platform port](https://github.com/orgs/commaai/projects/26/views/1?pane=issue&itemId=47913774)
|
||||
* $250 - [Any car model port](https://github.com/orgs/commaai/projects/26/views/1?pane=issue&itemId=47913790)
|
||||
* $300 - [Reverse Engineering a new Actuation Message](https://github.com/orgs/commaai/projects/26/views/1?pane=issue&itemId=73445563)
|
||||
|
||||
In addition to the standard bounties, we also offer higher value bounties for more popular cars. See those at [comma.ai/bounties](https://comma.ai/bounties).
|
||||
|
||||
## FAQ
|
||||
|
||||
***How do I use this?*** A [comma four](https://comma.ai/shop/comma-four) is custom-designed to be the best way to run and develop opendbc and openpilot.
|
||||
|
||||
***Which cars are supported?*** See the [supported cars list](docs/CARS.md).
|
||||
|
||||
***Can I add support for my car?*** Yes, most car support comes from the community. Read the guide [here](https://github.com/commaai/opendbc/blob/master/README.md#how-to-port-a-car).
|
||||
|
||||
***Which cars can be supported?*** Any car with LKAS and ACC. More info [here](https://github.com/commaai/openpilot/blob/master/docs/CARS.md#dont-see-your-car-here).
|
||||
|
||||
***How does this work?*** In short, we designed hardware to replace your car's built-in lane keep and adaptive cruise features. See [this talk](https://www.youtube.com/watch?v=FL8CxUSfipM) for an in-depth explanation.
|
||||
|
||||
***Is there a timeline or roadmap for adding car support?*** No, most car support comes from the community, with comma doing final safety and quality validation. The more complete the community car port is and the more popular the car is, the more likely we are to pick it up as the next one to validate.
|
||||
|
||||
### Terms
|
||||
|
||||
* **port**: refers to the integration and support of a specific car
|
||||
* **lateral control**: aka steering control
|
||||
* **longitudinal control**: aka gas/brakes control
|
||||
* **fingerprinting**: automatic process for identifying the car
|
||||
* **[LKAS](https://en.wikipedia.org/wiki/Lane_departure_warning_system)**: lane keeping assist
|
||||
* **[ACC](https://en.wikipedia.org/wiki/Adaptive_cruise_control)**: adaptive cruise control
|
||||
* **[harness](https://comma.ai/shop/car-harness)**: car-specific hardware to attach to the car and intercept the ADAS messages
|
||||
* **[panda](https://github.com/commaai/panda)**: hardware used to get on a car's CAN bus
|
||||
* **[ECU](https://en.wikipedia.org/wiki/Electronic_control_unit)**: computers or control modules inside the car
|
||||
* **[CAN bus](https://en.wikipedia.org/wiki/CAN_bus)**: a bus that connects the ECUs in a car
|
||||
* **[cabana](https://github.com/commaai/openpilot/tree/master/tools/cabana#readme)**: our tool for reverse engineering CAN messages
|
||||
* **[DBC file](https://en.wikipedia.org/wiki/CAN_bus#DBC)**: contains definitions for messages on a CAN bus
|
||||
* **[openpilot](https://github.com/commaai/openpilot)**: an ADAS system for cars supported by opendbc
|
||||
* **[comma](https://github.com/commaai)**: the company behind opendbc
|
||||
* **[comma four](https://comma.ai/shop/comma-four)**: the hardware used to run openpilot
|
||||
|
||||
### More resources
|
||||
|
||||
* [*How Do We Control The Car?*](https://www.youtube.com/watch?v=nNU6ipme878&pp=ygUoY29tbWEgY29uIDIwMjEgaG93IGRvIHdlIGNvbnRyb2wgdGhlIGNhcg%3D%3D) by [@robbederks](https://github.com/robbederks) from COMMA_CON 2021
|
||||
* [*How to Port a Car*](https://www.youtube.com/watch?v=XxPS5TpTUnI&t=142s&pp=ygUPamFzb24gY29tbWEgY29u) by [@jyoung8607](https://github.com/jyoung8607) from COMMA_CON 2023
|
||||
* [commaCarSegments](https://huggingface.co/datasets/commaai/commaCarSegments): a massive dataset of CAN data from 300 different car models
|
||||
* [cabana](https://github.com/commaai/openpilot/tree/master/tools/cabana#readme): our tool for reverse engineering CAN messages
|
||||
* [can_print_changes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/debug/can_print_changes.py): diff the whole CAN bus across two drives, such as one without any LKAS and one with LKAS
|
||||
* [longitudinal maneuvers](https://github.com/commaai/openpilot/tree/master/tools/longitudinal_maneuvers): a tool for evaluating and tuning longitudinal control
|
||||
* [opendbc data](https://commaai.github.io/opendbc-data/): a repository of longitudinal maneuver evaluations
|
||||
|
||||
## Come work with us -- [comma.ai/jobs](https://comma.ai/jobs)
|
||||
|
||||
comma is hiring engineers to work on opendbc and [openpilot](https://github.com/commaai/openpilot). We love hiring contributors.
|
||||
@@ -0,0 +1,487 @@
|
||||
LICENSE
|
||||
LICENSE.md
|
||||
MANIFEST.in
|
||||
README.md
|
||||
pyproject.toml
|
||||
opendbc/__init__.py
|
||||
opendbc/testing.py
|
||||
opendbc.egg-info/PKG-INFO
|
||||
opendbc.egg-info/SOURCES.txt
|
||||
opendbc.egg-info/dependency_links.txt
|
||||
opendbc.egg-info/requires.txt
|
||||
opendbc.egg-info/top_level.txt
|
||||
opendbc/can/__init__.py
|
||||
opendbc/can/dbc.py
|
||||
opendbc/can/packer.py
|
||||
opendbc/can/parser.py
|
||||
opendbc/can/tests/__init__.py
|
||||
opendbc/can/tests/benchmark.py
|
||||
opendbc/can/tests/test_checksums.py
|
||||
opendbc/can/tests/test_dbc_exceptions.py
|
||||
opendbc/can/tests/test_dbc_parser.py
|
||||
opendbc/can/tests/test_define.py
|
||||
opendbc/can/tests/test_packer_parser.py
|
||||
opendbc/car/__init__.py
|
||||
opendbc/car/can_definitions.py
|
||||
opendbc/car/car.capnp
|
||||
opendbc/car/car_helpers.py
|
||||
opendbc/car/carlog.py
|
||||
opendbc/car/ccp.py
|
||||
opendbc/car/crc.py
|
||||
opendbc/car/disable_ecu.py
|
||||
opendbc/car/docs.py
|
||||
opendbc/car/docs_definitions.py
|
||||
opendbc/car/ecu_addrs.py
|
||||
opendbc/car/extra_cars.py
|
||||
opendbc/car/fingerprints.py
|
||||
opendbc/car/fw_query_definitions.py
|
||||
opendbc/car/fw_versions.py
|
||||
opendbc/car/interfaces.py
|
||||
opendbc/car/isotp.py
|
||||
opendbc/car/isotp_parallel_query.py
|
||||
opendbc/car/lateral.py
|
||||
opendbc/car/logreader.py
|
||||
opendbc/car/panda_runner.py
|
||||
opendbc/car/rlog.capnp
|
||||
opendbc/car/secoc.py
|
||||
opendbc/car/structs.py
|
||||
opendbc/car/uds.py
|
||||
opendbc/car/values.py
|
||||
opendbc/car/vehicle_model.py
|
||||
opendbc/car/vin.py
|
||||
opendbc/car/xcp.py
|
||||
opendbc/car/body/__init__.py
|
||||
opendbc/car/body/bodycan.py
|
||||
opendbc/car/body/carcontroller.py
|
||||
opendbc/car/body/carstate.py
|
||||
opendbc/car/body/fingerprints.py
|
||||
opendbc/car/body/interface.py
|
||||
opendbc/car/body/values.py
|
||||
opendbc/car/chrysler/__init__.py
|
||||
opendbc/car/chrysler/carcontroller.py
|
||||
opendbc/car/chrysler/carstate.py
|
||||
opendbc/car/chrysler/chryslercan.py
|
||||
opendbc/car/chrysler/fingerprints.py
|
||||
opendbc/car/chrysler/interface.py
|
||||
opendbc/car/chrysler/radar_interface.py
|
||||
opendbc/car/chrysler/values.py
|
||||
opendbc/car/common/__init__.py
|
||||
opendbc/car/common/basedir.py
|
||||
opendbc/car/common/conversions.py
|
||||
opendbc/car/common/filter_simple.py
|
||||
opendbc/car/common/pid.py
|
||||
opendbc/car/common/simple_kalman.py
|
||||
opendbc/car/debug/format_fingerprints.py
|
||||
opendbc/car/ford/__init__.py
|
||||
opendbc/car/ford/carcontroller.py
|
||||
opendbc/car/ford/carstate.py
|
||||
opendbc/car/ford/fingerprints.py
|
||||
opendbc/car/ford/fordcan.py
|
||||
opendbc/car/ford/interface.py
|
||||
opendbc/car/ford/radar_interface.py
|
||||
opendbc/car/ford/values.py
|
||||
opendbc/car/ford/tests/__init__.py
|
||||
opendbc/car/ford/tests/print_platform_codes.py
|
||||
opendbc/car/ford/tests/test_ford.py
|
||||
opendbc/car/gm/__init__.py
|
||||
opendbc/car/gm/carcontroller.py
|
||||
opendbc/car/gm/carstate.py
|
||||
opendbc/car/gm/fingerprints.py
|
||||
opendbc/car/gm/gmcan.py
|
||||
opendbc/car/gm/interface.py
|
||||
opendbc/car/gm/radar_interface.py
|
||||
opendbc/car/gm/values.py
|
||||
opendbc/car/gm/tests/__init__.py
|
||||
opendbc/car/gm/tests/test_gm.py
|
||||
opendbc/car/honda/__init__.py
|
||||
opendbc/car/honda/carcontroller.py
|
||||
opendbc/car/honda/carstate.py
|
||||
opendbc/car/honda/fingerprints.py
|
||||
opendbc/car/honda/hondacan.py
|
||||
opendbc/car/honda/interface.py
|
||||
opendbc/car/honda/radar_interface.py
|
||||
opendbc/car/honda/values.py
|
||||
opendbc/car/honda/tests/__init__.py
|
||||
opendbc/car/honda/tests/test_honda.py
|
||||
opendbc/car/hyundai/__init__.py
|
||||
opendbc/car/hyundai/carcontroller.py
|
||||
opendbc/car/hyundai/carstate.py
|
||||
opendbc/car/hyundai/fingerprints.py
|
||||
opendbc/car/hyundai/hyundaican.py
|
||||
opendbc/car/hyundai/hyundaicanfd.py
|
||||
opendbc/car/hyundai/interface.py
|
||||
opendbc/car/hyundai/radar_interface.py
|
||||
opendbc/car/hyundai/values.py
|
||||
opendbc/car/hyundai/tests/__init__.py
|
||||
opendbc/car/hyundai/tests/print_platform_codes.py
|
||||
opendbc/car/hyundai/tests/test_hyundai.py
|
||||
opendbc/car/include/c++.capnp
|
||||
opendbc/car/mazda/__init__.py
|
||||
opendbc/car/mazda/carcontroller.py
|
||||
opendbc/car/mazda/carstate.py
|
||||
opendbc/car/mazda/fingerprints.py
|
||||
opendbc/car/mazda/interface.py
|
||||
opendbc/car/mazda/mazdacan.py
|
||||
opendbc/car/mazda/values.py
|
||||
opendbc/car/mock/__init__.py
|
||||
opendbc/car/mock/carcontroller.py
|
||||
opendbc/car/mock/carstate.py
|
||||
opendbc/car/mock/interface.py
|
||||
opendbc/car/mock/values.py
|
||||
opendbc/car/nissan/__init__.py
|
||||
opendbc/car/nissan/carcontroller.py
|
||||
opendbc/car/nissan/carstate.py
|
||||
opendbc/car/nissan/fingerprints.py
|
||||
opendbc/car/nissan/interface.py
|
||||
opendbc/car/nissan/nissancan.py
|
||||
opendbc/car/nissan/values.py
|
||||
opendbc/car/psa/__init__.py
|
||||
opendbc/car/psa/carcontroller.py
|
||||
opendbc/car/psa/carstate.py
|
||||
opendbc/car/psa/fingerprints.py
|
||||
opendbc/car/psa/interface.py
|
||||
opendbc/car/psa/psacan.py
|
||||
opendbc/car/psa/values.py
|
||||
opendbc/car/rivian/__init__.py
|
||||
opendbc/car/rivian/carcontroller.py
|
||||
opendbc/car/rivian/carstate.py
|
||||
opendbc/car/rivian/fingerprints.py
|
||||
opendbc/car/rivian/interface.py
|
||||
opendbc/car/rivian/radar_interface.py
|
||||
opendbc/car/rivian/riviancan.py
|
||||
opendbc/car/rivian/values.py
|
||||
opendbc/car/rivian/tests/__init__.py
|
||||
opendbc/car/rivian/tests/test_rivian.py
|
||||
opendbc/car/subaru/__init__.py
|
||||
opendbc/car/subaru/carcontroller.py
|
||||
opendbc/car/subaru/carstate.py
|
||||
opendbc/car/subaru/fingerprints.py
|
||||
opendbc/car/subaru/interface.py
|
||||
opendbc/car/subaru/subarucan.py
|
||||
opendbc/car/subaru/values.py
|
||||
opendbc/car/subaru/tests/__init__.py
|
||||
opendbc/car/subaru/tests/test_subaru.py
|
||||
opendbc/car/tesla/__init__.py
|
||||
opendbc/car/tesla/carcontroller.py
|
||||
opendbc/car/tesla/carstate.py
|
||||
opendbc/car/tesla/fingerprints.py
|
||||
opendbc/car/tesla/interface.py
|
||||
opendbc/car/tesla/radar_interface.py
|
||||
opendbc/car/tesla/teslacan.py
|
||||
opendbc/car/tesla/values.py
|
||||
opendbc/car/tesla/tests/__init__.py
|
||||
opendbc/car/tesla/tests/test_tesla.py
|
||||
opendbc/car/tests/__init__.py
|
||||
opendbc/car/tests/car_diff.py
|
||||
opendbc/car/tests/routes.py
|
||||
opendbc/car/tests/test_can_fingerprint.py
|
||||
opendbc/car/tests/test_car_interfaces.py
|
||||
opendbc/car/tests/test_docs.py
|
||||
opendbc/car/tests/test_fw_fingerprint.py
|
||||
opendbc/car/tests/test_lateral_limits.py
|
||||
opendbc/car/tests/test_platform_configs.py
|
||||
opendbc/car/tests/test_routes.py
|
||||
opendbc/car/tests/test_vehicle_model.py
|
||||
opendbc/car/torque_data/override.toml
|
||||
opendbc/car/torque_data/params.toml
|
||||
opendbc/car/torque_data/substitute.toml
|
||||
opendbc/car/toyota/__init__.py
|
||||
opendbc/car/toyota/carcontroller.py
|
||||
opendbc/car/toyota/carstate.py
|
||||
opendbc/car/toyota/fingerprints.py
|
||||
opendbc/car/toyota/interface.py
|
||||
opendbc/car/toyota/radar_interface.py
|
||||
opendbc/car/toyota/toyotacan.py
|
||||
opendbc/car/toyota/values.py
|
||||
opendbc/car/toyota/tests/__init__.py
|
||||
opendbc/car/toyota/tests/print_platform_codes.py
|
||||
opendbc/car/toyota/tests/test_toyota.py
|
||||
opendbc/car/volkswagen/__init__.py
|
||||
opendbc/car/volkswagen/carcontroller.py
|
||||
opendbc/car/volkswagen/carstate.py
|
||||
opendbc/car/volkswagen/fingerprints.py
|
||||
opendbc/car/volkswagen/interface.py
|
||||
opendbc/car/volkswagen/mebcan.py
|
||||
opendbc/car/volkswagen/mlbcan.py
|
||||
opendbc/car/volkswagen/mqbcan.py
|
||||
opendbc/car/volkswagen/pqcan.py
|
||||
opendbc/car/volkswagen/radar_interface.py
|
||||
opendbc/car/volkswagen/values.py
|
||||
opendbc/car/volkswagen/tests/__init__.py
|
||||
opendbc/car/volkswagen/tests/test_volkswagen.py
|
||||
opendbc/dbc/ESR.dbc
|
||||
opendbc/dbc/FORD_CADS.dbc
|
||||
opendbc/dbc/FORD_CADS_64.dbc
|
||||
opendbc/dbc/__init__.py
|
||||
opendbc/dbc/acura_ilx_2016_nidec.dbc
|
||||
opendbc/dbc/bmw_e9x_e8x.dbc
|
||||
opendbc/dbc/cadillac_ct6_chassis.dbc
|
||||
opendbc/dbc/cadillac_ct6_object.dbc
|
||||
opendbc/dbc/cadillac_ct6_powertrain.dbc
|
||||
opendbc/dbc/chrysler_cusw.dbc
|
||||
opendbc/dbc/chrysler_pacifica_2017_hybrid_private_fusion.dbc
|
||||
opendbc/dbc/comma_body.dbc
|
||||
opendbc/dbc/fca_giorgio.dbc
|
||||
opendbc/dbc/ford_cgea1_2_bodycan_2011.dbc
|
||||
opendbc/dbc/ford_cgea1_2_ptcan_2011.dbc
|
||||
opendbc/dbc/ford_fusion_2018_adas.dbc
|
||||
opendbc/dbc/ford_fusion_2018_pt.dbc
|
||||
opendbc/dbc/ford_lincoln_base_pt.dbc
|
||||
opendbc/dbc/gm_global_a_chassis.dbc
|
||||
opendbc/dbc/gm_global_a_high_voltage_management.dbc
|
||||
opendbc/dbc/gm_global_a_lowspeed.dbc
|
||||
opendbc/dbc/gm_global_a_lowspeed_1818125.dbc
|
||||
opendbc/dbc/gm_global_a_object.dbc
|
||||
opendbc/dbc/gm_global_a_powertrain_expansion.dbc
|
||||
opendbc/dbc/gwm_haval_h6_phev_2024.dbc
|
||||
opendbc/dbc/hongqi_hs5.dbc
|
||||
opendbc/dbc/hyundai_2015_ccan.dbc
|
||||
opendbc/dbc/hyundai_2015_mcan.dbc
|
||||
opendbc/dbc/hyundai_i30_2014.dbc
|
||||
opendbc/dbc/hyundai_santafe_2007.dbc
|
||||
opendbc/dbc/luxgen_s5_2015.dbc
|
||||
opendbc/dbc/mazda_2017.dbc
|
||||
opendbc/dbc/mazda_3_2019.dbc
|
||||
opendbc/dbc/mazda_radar.dbc
|
||||
opendbc/dbc/mazda_rx8.dbc
|
||||
opendbc/dbc/mercedes_benz_e350_2010.dbc
|
||||
opendbc/dbc/nissan_xterra_2011.dbc
|
||||
opendbc/dbc/opel_omega_2001.dbc
|
||||
opendbc/dbc/psa_aee2010_r3.dbc
|
||||
opendbc/dbc/rivian_park_assist_can.dbc
|
||||
opendbc/dbc/rivian_primary_actuator.dbc
|
||||
opendbc/dbc/tesla_can.dbc
|
||||
opendbc/dbc/tesla_model3_party.dbc
|
||||
opendbc/dbc/tesla_model3_vehicle.dbc
|
||||
opendbc/dbc/tesla_powertrain.dbc
|
||||
opendbc/dbc/toyota_2017_ref_pt.dbc
|
||||
opendbc/dbc/toyota_adas.dbc
|
||||
opendbc/dbc/toyota_iQ_2009_can.dbc
|
||||
opendbc/dbc/toyota_prius_2010_pt.dbc
|
||||
opendbc/dbc/toyota_radar_dsu_tssp.dbc
|
||||
opendbc/dbc/toyota_tss2_adas.dbc
|
||||
opendbc/dbc/volvo_v40_2017_pt.dbc
|
||||
opendbc/dbc/volvo_v60_2015_pt.dbc
|
||||
opendbc/dbc/vw_mlb.dbc
|
||||
opendbc/dbc/vw_mqb.dbc
|
||||
opendbc/dbc/vw_mqbevo.dbc
|
||||
opendbc/dbc/vw_pq.dbc
|
||||
opendbc/dbc/generator/generator.py
|
||||
opendbc/dbc/generator/chrysler/_stellantis_common.dbc
|
||||
opendbc/dbc/generator/chrysler/_stellantis_common_ram.py
|
||||
opendbc/dbc/generator/chrysler/chrysler_pacifica_2017_hybrid.dbc
|
||||
opendbc/dbc/generator/chrysler/chrysler_ram_dt.dbc
|
||||
opendbc/dbc/generator/chrysler/chrysler_ram_hd.dbc
|
||||
opendbc/dbc/generator/gm/_community.dbc
|
||||
opendbc/dbc/generator/gm/gm_global_a_powertrain.dbc
|
||||
opendbc/dbc/generator/honda/_bosch_2018.dbc
|
||||
opendbc/dbc/generator/honda/_bosch_radar_acc.dbc
|
||||
opendbc/dbc/generator/honda/_bosch_standstill.dbc
|
||||
opendbc/dbc/generator/honda/_community.dbc
|
||||
opendbc/dbc/generator/honda/_gearbox_common.dbc
|
||||
opendbc/dbc/generator/honda/_honda_common.dbc
|
||||
opendbc/dbc/generator/honda/_lkas_hud_5byte.dbc
|
||||
opendbc/dbc/generator/honda/_lkas_hud_8byte.dbc
|
||||
opendbc/dbc/generator/honda/_nidec_common.dbc
|
||||
opendbc/dbc/generator/honda/_nidec_scm_group_a.dbc
|
||||
opendbc/dbc/generator/honda/_nidec_scm_group_b.dbc
|
||||
opendbc/dbc/generator/honda/_steering_control_a.dbc
|
||||
opendbc/dbc/generator/honda/_steering_control_b.dbc
|
||||
opendbc/dbc/generator/honda/_steering_control_c.dbc
|
||||
opendbc/dbc/generator/honda/_steering_control_d_ext.dbc
|
||||
opendbc/dbc/generator/honda/_steering_sensors_a.dbc
|
||||
opendbc/dbc/generator/honda/_steering_sensors_b.dbc
|
||||
opendbc/dbc/generator/honda/_steering_sensors_c.dbc
|
||||
opendbc/dbc/generator/honda/acura_ilx_2016_can.dbc
|
||||
opendbc/dbc/generator/honda/acura_rdx_2018_can.dbc
|
||||
opendbc/dbc/generator/honda/acura_rdx_2020_can.dbc
|
||||
opendbc/dbc/generator/honda/honda_accord_2017_can_ext.dbc
|
||||
opendbc/dbc/generator/honda/honda_bosch_radarless.dbc
|
||||
opendbc/dbc/generator/honda/honda_civic_hatchback_ex_2017_can.dbc
|
||||
opendbc/dbc/generator/honda/honda_civic_touring_2016_can.dbc
|
||||
opendbc/dbc/generator/honda/honda_clarity_hybrid_2018_can.dbc
|
||||
opendbc/dbc/generator/honda/honda_common_canfd.dbc
|
||||
opendbc/dbc/generator/honda/honda_crv_ex_2017_body.dbc
|
||||
opendbc/dbc/generator/honda/honda_crv_touring_2016_can.dbc
|
||||
opendbc/dbc/generator/honda/honda_e_advance_2020_can.dbc
|
||||
opendbc/dbc/generator/honda/honda_insight_ex_2019_can.dbc
|
||||
opendbc/dbc/generator/honda/honda_odyssey_exl_2018.dbc
|
||||
opendbc/dbc/generator/honda/honda_odyssey_twn_2018.dbc
|
||||
opendbc/dbc/generator/hyundai/_hyundai_canfd_common.dbc
|
||||
opendbc/dbc/generator/hyundai/hyundai_can.dbc
|
||||
opendbc/dbc/generator/hyundai/hyundai_canfd.dbc
|
||||
opendbc/dbc/generator/hyundai/hyundai_kia_mando_corner_radar.py
|
||||
opendbc/dbc/generator/hyundai/hyundai_kia_mando_front_radar.py
|
||||
opendbc/dbc/generator/hyundai/hyundai_palisade_2023.dbc
|
||||
opendbc/dbc/generator/nissan/_nissan_common.dbc
|
||||
opendbc/dbc/generator/nissan/nissan_leaf_2018.dbc
|
||||
opendbc/dbc/generator/nissan/nissan_x_trail_2017.dbc
|
||||
opendbc/dbc/generator/rivian/rivian_mando_front_radar.py
|
||||
opendbc/dbc/generator/subaru/_subaru_global.dbc
|
||||
opendbc/dbc/generator/subaru/_subaru_preglobal_2015.dbc
|
||||
opendbc/dbc/generator/subaru/subaru_forester_2017.dbc
|
||||
opendbc/dbc/generator/subaru/subaru_global_2017.dbc
|
||||
opendbc/dbc/generator/subaru/subaru_global_2020_hybrid.dbc
|
||||
opendbc/dbc/generator/subaru/subaru_outback_2015.dbc
|
||||
opendbc/dbc/generator/subaru/subaru_outback_2019.dbc
|
||||
opendbc/dbc/generator/tesla/_radar_common.py
|
||||
opendbc/dbc/generator/tesla/tesla_radar_bosch.py
|
||||
opendbc/dbc/generator/tesla/tesla_radar_continental.py
|
||||
opendbc/dbc/generator/toyota/_community.dbc
|
||||
opendbc/dbc/generator/toyota/_toyota_2017.dbc
|
||||
opendbc/dbc/generator/toyota/_toyota_adas_standard.dbc
|
||||
opendbc/dbc/generator/toyota/toyota_new_mc_pt.dbc
|
||||
opendbc/dbc/generator/toyota/toyota_nodsu_pt.dbc
|
||||
opendbc/dbc/generator/toyota/toyota_secoc_pt.dbc
|
||||
opendbc/dbc/generator/toyota/toyota_tnga_k_pt.dbc
|
||||
opendbc/dbc/generator/volkswagen/_vw_meb_common.dbc
|
||||
opendbc/dbc/generator/volkswagen/vw_meb.dbc
|
||||
opendbc/dbc/generator/volkswagen/vw_meb_2024.dbc
|
||||
opendbc/safety/__init__.py
|
||||
opendbc/safety/can.h
|
||||
opendbc/safety/declarations.h
|
||||
opendbc/safety/helpers.h
|
||||
opendbc/safety/ignition.h
|
||||
opendbc/safety/lateral.h
|
||||
opendbc/safety/longitudinal.h
|
||||
opendbc/safety/safety.h
|
||||
opendbc/safety/modes/body.h
|
||||
opendbc/safety/modes/chrysler.h
|
||||
opendbc/safety/modes/chrysler_common.h
|
||||
opendbc/safety/modes/chrysler_cusw.h
|
||||
opendbc/safety/modes/defaults.h
|
||||
opendbc/safety/modes/elm327.h
|
||||
opendbc/safety/modes/ford.h
|
||||
opendbc/safety/modes/gm.h
|
||||
opendbc/safety/modes/honda.h
|
||||
opendbc/safety/modes/hyundai.h
|
||||
opendbc/safety/modes/hyundai_canfd.h
|
||||
opendbc/safety/modes/hyundai_common.h
|
||||
opendbc/safety/modes/mazda.h
|
||||
opendbc/safety/modes/nissan.h
|
||||
opendbc/safety/modes/psa.h
|
||||
opendbc/safety/modes/rivian.h
|
||||
opendbc/safety/modes/subaru.h
|
||||
opendbc/safety/modes/subaru_common.h
|
||||
opendbc/safety/modes/subaru_preglobal.h
|
||||
opendbc/safety/modes/tesla.h
|
||||
opendbc/safety/modes/toyota.h
|
||||
opendbc/safety/modes/volkswagen_common.h
|
||||
opendbc/safety/modes/volkswagen_meb.h
|
||||
opendbc/safety/modes/volkswagen_mlb.h
|
||||
opendbc/safety/modes/volkswagen_mqb.h
|
||||
opendbc/safety/modes/volkswagen_pq.h
|
||||
opendbc/safety/sunnypilot/mads.h
|
||||
opendbc/safety/sunnypilot/mads_declarations.h
|
||||
opendbc/safety/tests/__init__.py
|
||||
opendbc/safety/tests/common.py
|
||||
opendbc/safety/tests/gas_interceptor_common.py
|
||||
opendbc/safety/tests/hyundai_common.py
|
||||
opendbc/safety/tests/mads_common.py
|
||||
opendbc/safety/tests/mutation.py
|
||||
opendbc/safety/tests/test_body.py
|
||||
opendbc/safety/tests/test_chrysler.py
|
||||
opendbc/safety/tests/test_chrysler_cusw.py
|
||||
opendbc/safety/tests/test_defaults.py
|
||||
opendbc/safety/tests/test_elm327.py
|
||||
opendbc/safety/tests/test_ford.py
|
||||
opendbc/safety/tests/test_gm.py
|
||||
opendbc/safety/tests/test_honda.py
|
||||
opendbc/safety/tests/test_hyundai.py
|
||||
opendbc/safety/tests/test_hyundai_canfd.py
|
||||
opendbc/safety/tests/test_mazda.py
|
||||
opendbc/safety/tests/test_nissan.py
|
||||
opendbc/safety/tests/test_psa.py
|
||||
opendbc/safety/tests/test_release_build.py
|
||||
opendbc/safety/tests/test_rivian.py
|
||||
opendbc/safety/tests/test_subaru.py
|
||||
opendbc/safety/tests/test_subaru_preglobal.py
|
||||
opendbc/safety/tests/test_tesla.py
|
||||
opendbc/safety/tests/test_toyota.py
|
||||
opendbc/safety/tests/test_volkswagen_meb.py
|
||||
opendbc/safety/tests/test_volkswagen_mlb.py
|
||||
opendbc/safety/tests/test_volkswagen_mqb.py
|
||||
opendbc/safety/tests/test_volkswagen_pq.py
|
||||
opendbc/safety/tests/libsafety/__init__.py
|
||||
opendbc/safety/tests/libsafety/fake_stm.h
|
||||
opendbc/safety/tests/libsafety/libsafety_py.py
|
||||
opendbc/safety/tests/misra/test_mutation.py
|
||||
opendbc/safety/tests/safety_replay/__init__.py
|
||||
opendbc/safety/tests/safety_replay/helpers.py
|
||||
opendbc/safety/tests/safety_replay/replay_drive.py
|
||||
opendbc/sunnypilot/__init__.py
|
||||
opendbc/sunnypilot/mads_base.py
|
||||
opendbc/sunnypilot/car/__init__.py
|
||||
opendbc/sunnypilot/car/fingerprints_ext.py
|
||||
opendbc/sunnypilot/car/intelligent_cruise_button_management_interface_base.py
|
||||
opendbc/sunnypilot/car/interfaces.py
|
||||
opendbc/sunnypilot/car/lateral_ext.py
|
||||
opendbc/sunnypilot/car/platform_list.py
|
||||
opendbc/sunnypilot/car/chrysler/__init__.py
|
||||
opendbc/sunnypilot/car/chrysler/carcontroller_ext.py
|
||||
opendbc/sunnypilot/car/chrysler/carstate_ext.py
|
||||
opendbc/sunnypilot/car/chrysler/fingerprints_ext.py
|
||||
opendbc/sunnypilot/car/chrysler/icbm.py
|
||||
opendbc/sunnypilot/car/chrysler/mads.py
|
||||
opendbc/sunnypilot/car/chrysler/values_ext.py
|
||||
opendbc/sunnypilot/car/ford/__init__.py
|
||||
opendbc/sunnypilot/car/ford/mads.py
|
||||
opendbc/sunnypilot/car/gm/__init__.py
|
||||
opendbc/sunnypilot/car/gm/carstate_ext.py
|
||||
opendbc/sunnypilot/car/gm/fingerprints_ext.py
|
||||
opendbc/sunnypilot/car/gm/interface_ext.py
|
||||
opendbc/sunnypilot/car/gm/values_ext.py
|
||||
opendbc/sunnypilot/car/honda/__init__.py
|
||||
opendbc/sunnypilot/car/honda/carstate_ext.py
|
||||
opendbc/sunnypilot/car/honda/fingerprints_ext.py
|
||||
opendbc/sunnypilot/car/honda/gas_interceptor.py
|
||||
opendbc/sunnypilot/car/honda/icbm.py
|
||||
opendbc/sunnypilot/car/honda/mads.py
|
||||
opendbc/sunnypilot/car/honda/test_honda.py
|
||||
opendbc/sunnypilot/car/honda/values_ext.py
|
||||
opendbc/sunnypilot/car/hyundai/__init__.py
|
||||
opendbc/sunnypilot/car/hyundai/carstate_ext.py
|
||||
opendbc/sunnypilot/car/hyundai/enable_radar_tracks.py
|
||||
opendbc/sunnypilot/car/hyundai/escc.py
|
||||
opendbc/sunnypilot/car/hyundai/fingerprints_ext.py
|
||||
opendbc/sunnypilot/car/hyundai/icbm.py
|
||||
opendbc/sunnypilot/car/hyundai/lead_data_ext.py
|
||||
opendbc/sunnypilot/car/hyundai/mads.py
|
||||
opendbc/sunnypilot/car/hyundai/radar_interface_ext.py
|
||||
opendbc/sunnypilot/car/hyundai/values.py
|
||||
opendbc/sunnypilot/car/hyundai/longitudinal/__init__.py
|
||||
opendbc/sunnypilot/car/hyundai/longitudinal/config.py
|
||||
opendbc/sunnypilot/car/hyundai/longitudinal/controller.py
|
||||
opendbc/sunnypilot/car/hyundai/longitudinal/helpers.py
|
||||
opendbc/sunnypilot/car/hyundai/tests/__init__.py
|
||||
opendbc/sunnypilot/car/hyundai/tests/test_escc_base.py
|
||||
opendbc/sunnypilot/car/hyundai/tests/test_lead_data_car_controller.py
|
||||
opendbc/sunnypilot/car/hyundai/tests/test_radar_interface_ext.py
|
||||
opendbc/sunnypilot/car/hyundai/tests/test_tuning_controller.py
|
||||
opendbc/sunnypilot/car/mazda/__init__.py
|
||||
opendbc/sunnypilot/car/mazda/icbm.py
|
||||
opendbc/sunnypilot/car/nissan/__init__.py
|
||||
opendbc/sunnypilot/car/nissan/carstate_ext.py
|
||||
opendbc/sunnypilot/car/nissan/nissancan_ext.py
|
||||
opendbc/sunnypilot/car/nissan/values.py
|
||||
opendbc/sunnypilot/car/rivian/__init__.py
|
||||
opendbc/sunnypilot/car/rivian/carstate_ext.py
|
||||
opendbc/sunnypilot/car/rivian/mads.py
|
||||
opendbc/sunnypilot/car/rivian/values.py
|
||||
opendbc/sunnypilot/car/subaru/__init__.py
|
||||
opendbc/sunnypilot/car/subaru/mads.py
|
||||
opendbc/sunnypilot/car/subaru/stop_and_go.py
|
||||
opendbc/sunnypilot/car/subaru/subarucan_ext.py
|
||||
opendbc/sunnypilot/car/subaru/values_ext.py
|
||||
opendbc/sunnypilot/car/tesla/__init__.py
|
||||
opendbc/sunnypilot/car/tesla/carstate_ext.py
|
||||
opendbc/sunnypilot/car/tesla/coop_steering.py
|
||||
opendbc/sunnypilot/car/tesla/fingerprints_ext.py
|
||||
opendbc/sunnypilot/car/tesla/values.py
|
||||
opendbc/sunnypilot/car/tests/__init__.py
|
||||
opendbc/sunnypilot/car/tests/test_car_list.py
|
||||
opendbc/sunnypilot/car/toyota/__init__.py
|
||||
opendbc/sunnypilot/car/toyota/carstate_ext.py
|
||||
opendbc/sunnypilot/car/toyota/fingerprints_ext.py
|
||||
opendbc/sunnypilot/car/toyota/gas_interceptor.py
|
||||
opendbc/sunnypilot/car/toyota/values.py
|
||||
@@ -0,0 +1 @@
|
||||
|
||||
@@ -0,0 +1,24 @@
|
||||
numpy
|
||||
tqdm
|
||||
pycapnp
|
||||
pycryptodome
|
||||
|
||||
[docs]
|
||||
Jinja2
|
||||
|
||||
[examples]
|
||||
inputs
|
||||
|
||||
[testing]
|
||||
cffi
|
||||
tree-sitter
|
||||
tree-sitter-c
|
||||
gcovr
|
||||
unittest-parallel
|
||||
hypothesis==6.47.*
|
||||
zstandard
|
||||
ruff
|
||||
ty
|
||||
lefthook
|
||||
cpplint
|
||||
codespell
|
||||
@@ -0,0 +1 @@
|
||||
opendbc
|
||||
@@ -198,7 +198,6 @@ class CarState(CarStateBase, CarStateExt):
|
||||
self.brake_switch_prev = brake_switch
|
||||
ret.brakePressed = (cp.vl["POWERTRAIN_DATA"]["BRAKE_PRESSED"] != 0) or self.brake_switch_active
|
||||
|
||||
ret.brakeDEPRECATED = cp.vl["VSA_STATUS"]["USER_BRAKE"]
|
||||
ret.cruiseState.enabled = cp.vl["POWERTRAIN_DATA"]["ACC_STATUS"] != 0
|
||||
ret.cruiseState.available = bool(cp.vl[self.car_state_scm_msg]["MAIN_ON"])
|
||||
|
||||
|
||||
@@ -1,5 +1,6 @@
|
||||
import math
|
||||
import numpy as np
|
||||
from openpilot.common.params import Params
|
||||
from opendbc.car import Bus, make_tester_present_msg, rate_limit, structs, ACCELERATION_DUE_TO_GRAVITY, DT_CTRL
|
||||
from opendbc.car.lateral import apply_meas_steer_torque_limits, apply_std_steer_angle_limits, common_fault_avoidance
|
||||
from opendbc.car.carlog import carlog
|
||||
@@ -12,7 +13,8 @@ from opendbc.car.toyota.values import CAR, NO_STOP_TIMER_CAR, TSS2_CAR, \
|
||||
CarControllerParams, ToyotaFlags, \
|
||||
UNSUPPORTED_DSU_CAR
|
||||
from opendbc.can import CANPacker
|
||||
|
||||
from opendbc.sunnypilot.car.toyota.auto_brake_hold import AutoBrakeHoldCarController
|
||||
from opendbc.sunnypilot.car.toyota.enhanced_bsm import EnhancedBsmCarController
|
||||
from opendbc.sunnypilot.car.toyota.gas_interceptor import GasInterceptorCarController
|
||||
from opendbc.sunnypilot.car.toyota.values import ToyotaFlagsSP
|
||||
|
||||
@@ -20,6 +22,7 @@ Ecu = structs.CarParams.Ecu
|
||||
LongCtrlState = structs.CarControl.Actuators.LongControlState
|
||||
SteerControlType = structs.CarParams.SteerControlType
|
||||
VisualAlert = structs.CarControl.HUDControl.VisualAlert
|
||||
GearShifter = structs.CarState.GearShifter
|
||||
|
||||
# The up limit allows the brakes/gas to unwind quickly leaving a stop,
|
||||
# the down limit roughly matches the rate of ACCEL_NET, reducing PCM compensation windup
|
||||
@@ -37,11 +40,18 @@ MAX_STEER_RATE_FRAMES = 17 # tx control frames needed before torque can be cut
|
||||
# EPS allows user torque above threshold for 50 frames before permanently faulting
|
||||
MAX_USER_TORQUE = 500
|
||||
|
||||
|
||||
def get_long_tune(CP, params):
|
||||
if CP.carFingerprint in TSS2_CAR:
|
||||
kiBP = [2., 5.]
|
||||
kiV = [0.5, 0.25]
|
||||
if Params().get_bool("ToyotaTSS2Long"):
|
||||
#kiBP = [0., 2.0, 9.0, 14., 20., 27.]
|
||||
#kiV = [0.25, 0.25, 0.15, 0.12, 0.12, 0.12]
|
||||
#kiBP= [0., 1.0, 2.0, 3.0, 4.0, 5.0, 7., 20., 27., 36.]
|
||||
#kiV = [0.31, 0.32, 0.301, 0.280, 0.259, 0.226, 0.15, 0.15, 0.101, 0.10]
|
||||
kiBP= [0.3, 0.9, 1.0, 2.0, 5.0, 27., 36.]
|
||||
kiV = [0.46, 0.46, 0.50, 0.50, 0.244, 0.10, 0.09]
|
||||
else:
|
||||
kiBP = [2., 5.]
|
||||
kiV = [0.5, 0.25]
|
||||
else:
|
||||
kiBP = [0., 5., 35.]
|
||||
kiV = [3.6, 2.4, 1.5]
|
||||
@@ -82,6 +92,14 @@ class CarController(CarControllerBase, GasInterceptorCarController):
|
||||
self.secoc_acc_message_counter = 0
|
||||
self.secoc_prev_reset_counter = 0
|
||||
|
||||
self.enhanced_bsm = EnhancedBsmCarController(CP, CP_SP)
|
||||
self.auto_brake_hold = AutoBrakeHoldCarController(CP, CP_SP)
|
||||
|
||||
self._auto_lock_speed = 0.0
|
||||
|
||||
self._auto_lock_once = False
|
||||
self._gear_prev = GearShifter.park
|
||||
|
||||
def update(self, CC, CC_SP, CS, now_nanos):
|
||||
actuators = CC.actuators
|
||||
stopping = actuators.longControlState == LongCtrlState.stopping
|
||||
@@ -197,6 +215,9 @@ class CarController(CarControllerBase, GasInterceptorCarController):
|
||||
|
||||
self.last_standstill = CS.out.standstill
|
||||
|
||||
if self.auto_brake_hold.enabled:
|
||||
can_sends.extend(self.auto_brake_hold.update(CS, self.frame, self.packer))
|
||||
|
||||
# handle UI messages
|
||||
fcw_alert = hud_control.visualAlert == VisualAlert.fcw
|
||||
steer_alert = hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw)
|
||||
@@ -320,6 +341,9 @@ class CarController(CarControllerBase, GasInterceptorCarController):
|
||||
if self.frame % 20 == 0 and self.CP.flags & ToyotaFlags.DISABLE_RADAR.value:
|
||||
can_sends.append(make_tester_present_msg(0x750, 0, 0xF))
|
||||
|
||||
if self.enhanced_bsm.enabled:
|
||||
can_sends.extend(self.enhanced_bsm.update(CS, self.frame))
|
||||
|
||||
new_actuators = actuators.as_builder()
|
||||
new_actuators.torque = apply_torque / self.params.STEER_MAX
|
||||
new_actuators.torqueOutputCan = apply_torque
|
||||
|
||||
@@ -1,5 +1,7 @@
|
||||
import copy
|
||||
|
||||
from cereal import custom
|
||||
from openpilot.common.params import Params
|
||||
from opendbc.can import CANDefine, CANParser
|
||||
from opendbc.car import Bus, DT_CTRL, create_button_events, structs
|
||||
from opendbc.car.common.conversions import Conversions as CV
|
||||
@@ -9,10 +11,12 @@ from opendbc.car.toyota.values import ToyotaFlags, CAR, DBC, STEER_THRESHOLD, NO
|
||||
TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR, \
|
||||
SECOC_CAR
|
||||
from opendbc.sunnypilot.car.toyota.carstate_ext import CarStateExt
|
||||
from opendbc.sunnypilot.car.toyota.enhanced_bsm import EnhancedBsmCarState
|
||||
from opendbc.sunnypilot.car.toyota.values import ToyotaFlagsSP
|
||||
|
||||
ButtonType = structs.CarState.ButtonEvent.Type
|
||||
SteerControlType = structs.CarParams.SteerControlType
|
||||
AccelPersonality = custom.LongitudinalPlanSP.AccelerationPersonality
|
||||
|
||||
# These steering fault definitions seem to be common across LKA (torque) and LTA (angle):
|
||||
# - high steer rate fault: goes to 21 or 25 for 1 frame, then 9 for 2 seconds
|
||||
@@ -56,6 +60,20 @@ class CarState(CarStateBase, CarStateExt):
|
||||
self.gvc = 0.0
|
||||
self.secoc_synchronization = None
|
||||
|
||||
self.enhanced_bsm = EnhancedBsmCarState(CP, CP_SP)
|
||||
|
||||
if CP_SP.flags & ToyotaFlagsSP.SP_AUTO_BRAKE_HOLD:
|
||||
self.pre_collision_2 = {}
|
||||
|
||||
self.toyota_drive_mode = Params().get_bool('ToyotaDriveMode')
|
||||
self._drive_mode_signals_checked = False
|
||||
self._sport_signal_available = False
|
||||
self._eco_signal_available = False
|
||||
self._prev_accel_profile = None
|
||||
self._accel_profile_init = False
|
||||
|
||||
self.frame = 0
|
||||
|
||||
def update(self, can_parsers) -> tuple[structs.CarState, structs.CarStateSP]:
|
||||
cp = can_parsers[Bus.pt]
|
||||
cp_cam = can_parsers[Bus.cam]
|
||||
@@ -73,18 +91,52 @@ class CarState(CarStateBase, CarStateExt):
|
||||
ret.parkingBrake = cp.vl["BODY_CONTROL_STATE"]["PARKING_BRAKE"] == 1
|
||||
|
||||
ret.brakePressed = cp.vl["BRAKE_MODULE"]["BRAKE_PRESSED"] != 0
|
||||
ret.brakeHoldActive = cp.vl["ESP_CONTROL"]["BRAKE_HOLD_ACTIVE"] == 1
|
||||
#ret.brakeHoldActive = cp.vl["ESP_CONTROL"]["BRAKE_HOLD_ACTIVE"] == 1
|
||||
|
||||
if self.CP.flags & ToyotaFlags.SECOC.value:
|
||||
self.secoc_synchronization = copy.copy(cp.vl["SECOC_SYNCHRONIZATION"])
|
||||
ret.gasPressed = cp.vl["GAS_PEDAL"]["GAS_PEDAL_USER"] > 0
|
||||
can_gear = int(cp.vl["GEAR_PACKET_HYBRID"]["GEAR"])
|
||||
else:
|
||||
ret.gasPressed = cp.vl["PCM_CRUISE"]["GAS_RELEASED"] == 0
|
||||
ret.gasPressed = cp.vl["PCM_CRUISE"]["GAS_RELEASED"] == 0 # TODO: these also have GAS_PEDAL, come back and unify
|
||||
can_gear = int(cp.vl["GEAR_PACKET"]["GEAR"])
|
||||
if not self.CP.flags & ToyotaFlags.DISABLE_RADAR.value:
|
||||
ret.stockAeb = bool(cp_acc.vl["PRE_COLLISION"]["PRECOLLISION_ACTIVE"] and cp_acc.vl["PRE_COLLISION"]["FORCE"] < -1e-5)
|
||||
|
||||
if self.toyota_drive_mode: # and not self.CP.flags & ToyotaFlags.SECOC.value:
|
||||
sport_signal = 'SPORT_ON_2' if self.CP.carFingerprint in (CAR.TOYOTA_RAV4_TSS2, CAR.LEXUS_ES_TSS2,
|
||||
CAR.TOYOTA_HIGHLANDER_TSS2) else 'SPORT_ON'
|
||||
|
||||
if not self._drive_mode_signals_checked:
|
||||
self._drive_mode_signals_checked = True
|
||||
try:
|
||||
sport_mode = cp.vl["GEAR_PACKET"][sport_signal]
|
||||
self._sport_signal_available = True
|
||||
except KeyError:
|
||||
sport_mode = 0
|
||||
self._sport_signal_available = False
|
||||
try:
|
||||
eco_mode = cp.vl["GEAR_PACKET"]['ECON_ON']
|
||||
self._eco_signal_available = True
|
||||
except KeyError:
|
||||
eco_mode = 0
|
||||
self._eco_signal_available = False
|
||||
else:
|
||||
sport_mode = cp.vl["GEAR_PACKET"][sport_signal] if self._sport_signal_available else 0
|
||||
eco_mode = cp.vl["GEAR_PACKET"]['ECON_ON'] if self._eco_signal_available else 0
|
||||
|
||||
if sport_mode == 1:
|
||||
accel_profile = AccelPersonality.sport
|
||||
elif eco_mode == 1:
|
||||
accel_profile = AccelPersonality.eco
|
||||
else:
|
||||
accel_profile = AccelPersonality.normal
|
||||
|
||||
if not self._accel_profile_init or accel_profile != self._prev_accel_profile:
|
||||
Params().put('AccelPersonality', int(accel_profile))
|
||||
self._accel_profile_init = True
|
||||
self._prev_accel_profile = accel_profile
|
||||
|
||||
self.parse_wheel_speeds(ret,
|
||||
cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FL"],
|
||||
cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FR"],
|
||||
@@ -213,6 +265,14 @@ class CarState(CarStateBase, CarStateExt):
|
||||
|
||||
ret.buttonEvents = buttonEvents
|
||||
|
||||
if self.enhanced_bsm.enabled and self.frame > 199:
|
||||
ret.leftBlindspot, ret.rightBlindspot = self.enhanced_bsm.update(cp, self.frame)
|
||||
|
||||
if self.CP_SP.flags & ToyotaFlagsSP.SP_AUTO_BRAKE_HOLD:
|
||||
self.pre_collision_2 = copy.copy(cp_cam.vl["PRE_COLLISION_2"])
|
||||
|
||||
self.frame += 1
|
||||
|
||||
CarStateExt.update(self, ret, ret_sp, can_parsers)
|
||||
|
||||
return ret, ret_sp
|
||||
@@ -231,4 +291,4 @@ class CarState(CarStateBase, CarStateExt):
|
||||
return {
|
||||
Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], pt_messages, 0),
|
||||
Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], [] + cam_messages, 2),
|
||||
}
|
||||
}
|
||||
@@ -1,10 +1,11 @@
|
||||
from openpilot.common.params import Params
|
||||
from opendbc.car import Bus, structs, get_safety_config, uds
|
||||
from opendbc.car.toyota.carstate import CarState
|
||||
from opendbc.car.toyota.carcontroller import CarController
|
||||
from opendbc.car.toyota.radar_interface import RadarInterface
|
||||
from opendbc.car.toyota.values import Ecu, CAR, DBC, ToyotaFlags, CarControllerParams, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, \
|
||||
MIN_ACC_SPEED, EPS_SCALE, NO_STOP_TIMER_CAR, ANGLE_CONTROL_CAR, \
|
||||
ToyotaSafetyFlags, UNSUPPORTED_DSU_CAR
|
||||
ToyotaSafetyFlags, UNSUPPORTED_DSU_CAR, SECOC_CAR
|
||||
from opendbc.car.disable_ecu import disable_ecu
|
||||
from opendbc.car.interfaces import CarInterfaceBase
|
||||
from opendbc.sunnypilot.car.toyota.values import ToyotaFlagsSP, ToyotaSafetyFlagsSP
|
||||
@@ -115,13 +116,17 @@ class CarInterface(CarInterfaceBase):
|
||||
# min speed to enable ACC. if car can do stop and go, then set enabling speed
|
||||
# to a negative value, so it won't matter.
|
||||
ret.minEnableSpeed = -1. if stop_and_go else MIN_ACC_SPEED
|
||||
sp_tss2_long_tune = Params().get_bool("ToyotaTSS2Long")
|
||||
|
||||
if candidate in TSS2_CAR:
|
||||
ret.flags |= ToyotaFlags.RAISED_ACCEL_LIMIT.value
|
||||
|
||||
ret.vEgoStopping = 0.25
|
||||
ret.vEgoStarting = 0.25
|
||||
ret.stoppingDecelRate = 0.3 # reach stopping target smoothly
|
||||
ret.vEgoStopping = 0.25 if sp_tss2_long_tune else 0.25
|
||||
ret.vEgoStarting = 0.01 if sp_tss2_long_tune else 0.25
|
||||
if candidate == CAR.TOYOTA_RAV4_TSS2:
|
||||
ret.stoppingDecelRate = 0.03 if sp_tss2_long_tune else 0.3 # reach stopping target smoothly
|
||||
else:
|
||||
ret.stoppingDecelRate = 0.03 if sp_tss2_long_tune else 0.3 # reach stopping target smoothly
|
||||
|
||||
# Hybrids have much quicker longitudinal actuator response
|
||||
if ret.flags & ToyotaFlags.HYBRID.value:
|
||||
@@ -135,6 +140,13 @@ class CarInterface(CarInterfaceBase):
|
||||
if candidate in UNSUPPORTED_DSU_CAR:
|
||||
ret.safetyParam |= ToyotaSafetyFlagsSP.UNSUPPORTED_DSU
|
||||
|
||||
if candidate == CAR.TOYOTA_PRIUS_TSS2:
|
||||
ret.flags |= ToyotaFlagsSP.SP_NEED_DEBUG_BSM.value
|
||||
|
||||
sp_toyota_auto_brake_hold = Params().get_bool("ToyotaAutoHold")
|
||||
if sp_toyota_auto_brake_hold and candidate in (TSS2_CAR - RADAR_ACC_CAR - SECOC_CAR):
|
||||
ret.flags |= ToyotaFlagsSP.SP_AUTO_BRAKE_HOLD.value
|
||||
|
||||
# Detect smartDSU, which intercepts ACC_CMD from the DSU (or radar) allowing openpilot to send it
|
||||
# 0x2AA is sent by a similar device which intercepts the radar instead of DSU on NO_DSU_CARs
|
||||
if 0x2FF in fingerprint[0] or (0x2AA in fingerprint[0] and candidate in NO_DSU_CAR):
|
||||
|
||||
@@ -1,4 +1,5 @@
|
||||
from opendbc.car.structs import CarParams
|
||||
from opendbc.car.can_definitions import CanData
|
||||
|
||||
SteerControlType = CarParams.SteerControlType
|
||||
|
||||
@@ -164,3 +165,47 @@ def toyota_checksum(address: int, sig, d: bytearray) -> int:
|
||||
for i in range(len(d) - 1):
|
||||
s += d[i]
|
||||
return s & 0xFF
|
||||
|
||||
def create_set_bsm_debug_mode(lr_blindspot, enabled):
|
||||
dat = b"\x02\x10\x60\x00\x00\x00\x00" if enabled else b"\x02\x10\x01\x00\x00\x00\x00"
|
||||
dat = lr_blindspot + dat
|
||||
|
||||
return CanData(0x750, dat, 0)
|
||||
|
||||
|
||||
def create_bsm_polling_status(lr_blindspot):
|
||||
return CanData(0x750, lr_blindspot + b"\x02\x21\x69\x00\x00\x00\x00", 0)
|
||||
|
||||
|
||||
# auto brake hold
|
||||
def create_brake_hold_command(packer, frame, pre_collision_2, brake_hold_active):
|
||||
# forward PRE_COLLISION_2 when auto brake hold is not active
|
||||
values = {s: pre_collision_2[s] for s in [
|
||||
"DSS1GDRV",
|
||||
"DS1STAT2",
|
||||
"DS1STBK2",
|
||||
"PCSWAR",
|
||||
"PCSALM",
|
||||
"PCSOPR",
|
||||
"PCSABK",
|
||||
"PBATRGR",
|
||||
"PPTRGR",
|
||||
"IBTRGR",
|
||||
"CLEXTRGR",
|
||||
"IRLT_REQ",
|
||||
"BRKHLD",
|
||||
"AVSTRGR",
|
||||
"VGRSTRGR",
|
||||
"PREFILL",
|
||||
"PBRTRGR",
|
||||
"PCSDIS",
|
||||
"PBPREPMP",
|
||||
]}
|
||||
|
||||
if brake_hold_active:
|
||||
values = {
|
||||
"DSS1GDRV": 0x3FF,
|
||||
"PBRTRGR": frame % 730 < 727, # cut actuation for 3 frames
|
||||
}
|
||||
|
||||
return packer.make_can_msg("PRE_COLLISION_2", 0, values)
|
||||
|
||||
@@ -1,421 +0,0 @@
|
||||
VERSION ""
|
||||
|
||||
|
||||
NS_ :
|
||||
NS_DESC_
|
||||
CM_
|
||||
BA_DEF_
|
||||
BA_
|
||||
VAL_
|
||||
CAT_DEF_
|
||||
CAT_
|
||||
FILTER
|
||||
BA_DEF_DEF_
|
||||
EV_DATA_
|
||||
ENVVAR_DATA_
|
||||
SGTYPE_
|
||||
SGTYPE_VAL_
|
||||
BA_DEF_SGTYPE_
|
||||
BA_SGTYPE_
|
||||
SIG_TYPE_REF_
|
||||
VAL_TABLE_
|
||||
SIG_GROUP_
|
||||
SIG_VALTYPE_
|
||||
SIGTYPE_VALTYPE_
|
||||
BO_TX_BU_
|
||||
BA_DEF_REL_
|
||||
BA_REL_
|
||||
BA_DEF_DEF_REL_
|
||||
BU_SG_REL_
|
||||
BU_EV_REL_
|
||||
BU_BO_REL_
|
||||
SG_MUL_VAL_
|
||||
|
||||
BS_:
|
||||
|
||||
BU_: XXX
|
||||
|
||||
|
||||
BO_ 933 RADAR_POINT_3a5: 24 RADAR
|
||||
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
|
||||
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ STATE : 24|6@1+ (1,0) [0|63] "" XXX
|
||||
SG_ SUB_COUNTER : 30|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ OBJ_TYPE : 32|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ TRACK_AGE : 40|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ LONG_DIST : 64|12@1+ (0.05,0) [0|204.75] "m" XXX
|
||||
SG_ LAT_DIST : 78|10@1+ (0.05,-25.6) [-25.6|25.55] "m" XXX
|
||||
SG_ REL_SPEED : 91|12@1+ (0.05,-100) [-100|104.75] "m/s" XXX
|
||||
|
||||
|
||||
BO_ 934 RADAR_POINT_3a6: 24 RADAR
|
||||
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
|
||||
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ STATE : 24|6@1+ (1,0) [0|63] "" XXX
|
||||
SG_ SUB_COUNTER : 30|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ OBJ_TYPE : 32|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ TRACK_AGE : 40|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ LONG_DIST : 64|12@1+ (0.05,0) [0|204.75] "m" XXX
|
||||
SG_ LAT_DIST : 78|10@1+ (0.05,-25.6) [-25.6|25.55] "m" XXX
|
||||
SG_ REL_SPEED : 91|12@1+ (0.05,-100) [-100|104.75] "m/s" XXX
|
||||
|
||||
|
||||
BO_ 935 RADAR_POINT_3a7: 24 RADAR
|
||||
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
|
||||
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ STATE : 24|6@1+ (1,0) [0|63] "" XXX
|
||||
SG_ SUB_COUNTER : 30|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ OBJ_TYPE : 32|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ TRACK_AGE : 40|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ LONG_DIST : 64|12@1+ (0.05,0) [0|204.75] "m" XXX
|
||||
SG_ LAT_DIST : 78|10@1+ (0.05,-25.6) [-25.6|25.55] "m" XXX
|
||||
SG_ REL_SPEED : 91|12@1+ (0.05,-100) [-100|104.75] "m/s" XXX
|
||||
|
||||
|
||||
BO_ 936 RADAR_POINT_3a8: 24 RADAR
|
||||
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
|
||||
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ STATE : 24|6@1+ (1,0) [0|63] "" XXX
|
||||
SG_ SUB_COUNTER : 30|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ OBJ_TYPE : 32|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ TRACK_AGE : 40|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ LONG_DIST : 64|12@1+ (0.05,0) [0|204.75] "m" XXX
|
||||
SG_ LAT_DIST : 78|10@1+ (0.05,-25.6) [-25.6|25.55] "m" XXX
|
||||
SG_ REL_SPEED : 91|12@1+ (0.05,-100) [-100|104.75] "m/s" XXX
|
||||
|
||||
|
||||
BO_ 937 RADAR_POINT_3a9: 24 RADAR
|
||||
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
|
||||
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ STATE : 24|6@1+ (1,0) [0|63] "" XXX
|
||||
SG_ SUB_COUNTER : 30|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ OBJ_TYPE : 32|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ TRACK_AGE : 40|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ LONG_DIST : 64|12@1+ (0.05,0) [0|204.75] "m" XXX
|
||||
SG_ LAT_DIST : 78|10@1+ (0.05,-25.6) [-25.6|25.55] "m" XXX
|
||||
SG_ REL_SPEED : 91|12@1+ (0.05,-100) [-100|104.75] "m/s" XXX
|
||||
|
||||
|
||||
BO_ 938 RADAR_POINT_3aa: 24 RADAR
|
||||
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
|
||||
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ STATE : 24|6@1+ (1,0) [0|63] "" XXX
|
||||
SG_ SUB_COUNTER : 30|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ OBJ_TYPE : 32|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ TRACK_AGE : 40|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ LONG_DIST : 64|12@1+ (0.05,0) [0|204.75] "m" XXX
|
||||
SG_ LAT_DIST : 78|10@1+ (0.05,-25.6) [-25.6|25.55] "m" XXX
|
||||
SG_ REL_SPEED : 91|12@1+ (0.05,-100) [-100|104.75] "m/s" XXX
|
||||
|
||||
|
||||
BO_ 939 RADAR_POINT_3ab: 24 RADAR
|
||||
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
|
||||
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ STATE : 24|6@1+ (1,0) [0|63] "" XXX
|
||||
SG_ SUB_COUNTER : 30|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ OBJ_TYPE : 32|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ TRACK_AGE : 40|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ LONG_DIST : 64|12@1+ (0.05,0) [0|204.75] "m" XXX
|
||||
SG_ LAT_DIST : 78|10@1+ (0.05,-25.6) [-25.6|25.55] "m" XXX
|
||||
SG_ REL_SPEED : 91|12@1+ (0.05,-100) [-100|104.75] "m/s" XXX
|
||||
|
||||
|
||||
BO_ 940 RADAR_POINT_3ac: 24 RADAR
|
||||
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
|
||||
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ STATE : 24|6@1+ (1,0) [0|63] "" XXX
|
||||
SG_ SUB_COUNTER : 30|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ OBJ_TYPE : 32|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ TRACK_AGE : 40|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ LONG_DIST : 64|12@1+ (0.05,0) [0|204.75] "m" XXX
|
||||
SG_ LAT_DIST : 78|10@1+ (0.05,-25.6) [-25.6|25.55] "m" XXX
|
||||
SG_ REL_SPEED : 91|12@1+ (0.05,-100) [-100|104.75] "m/s" XXX
|
||||
|
||||
|
||||
BO_ 941 RADAR_POINT_3ad: 24 RADAR
|
||||
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
|
||||
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ STATE : 24|6@1+ (1,0) [0|63] "" XXX
|
||||
SG_ SUB_COUNTER : 30|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ OBJ_TYPE : 32|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ TRACK_AGE : 40|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ LONG_DIST : 64|12@1+ (0.05,0) [0|204.75] "m" XXX
|
||||
SG_ LAT_DIST : 78|10@1+ (0.05,-25.6) [-25.6|25.55] "m" XXX
|
||||
SG_ REL_SPEED : 91|12@1+ (0.05,-100) [-100|104.75] "m/s" XXX
|
||||
|
||||
|
||||
BO_ 942 RADAR_POINT_3ae: 24 RADAR
|
||||
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
|
||||
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ STATE : 24|6@1+ (1,0) [0|63] "" XXX
|
||||
SG_ SUB_COUNTER : 30|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ OBJ_TYPE : 32|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ TRACK_AGE : 40|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ LONG_DIST : 64|12@1+ (0.05,0) [0|204.75] "m" XXX
|
||||
SG_ LAT_DIST : 78|10@1+ (0.05,-25.6) [-25.6|25.55] "m" XXX
|
||||
SG_ REL_SPEED : 91|12@1+ (0.05,-100) [-100|104.75] "m/s" XXX
|
||||
|
||||
|
||||
BO_ 943 RADAR_POINT_3af: 24 RADAR
|
||||
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
|
||||
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ STATE : 24|6@1+ (1,0) [0|63] "" XXX
|
||||
SG_ SUB_COUNTER : 30|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ OBJ_TYPE : 32|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ TRACK_AGE : 40|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ LONG_DIST : 64|12@1+ (0.05,0) [0|204.75] "m" XXX
|
||||
SG_ LAT_DIST : 78|10@1+ (0.05,-25.6) [-25.6|25.55] "m" XXX
|
||||
SG_ REL_SPEED : 91|12@1+ (0.05,-100) [-100|104.75] "m/s" XXX
|
||||
|
||||
|
||||
BO_ 944 RADAR_POINT_3b0: 24 RADAR
|
||||
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
|
||||
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ STATE : 24|6@1+ (1,0) [0|63] "" XXX
|
||||
SG_ SUB_COUNTER : 30|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ OBJ_TYPE : 32|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ TRACK_AGE : 40|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ LONG_DIST : 64|12@1+ (0.05,0) [0|204.75] "m" XXX
|
||||
SG_ LAT_DIST : 78|10@1+ (0.05,-25.6) [-25.6|25.55] "m" XXX
|
||||
SG_ REL_SPEED : 91|12@1+ (0.05,-100) [-100|104.75] "m/s" XXX
|
||||
|
||||
|
||||
BO_ 945 RADAR_POINT_3b1: 24 RADAR
|
||||
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
|
||||
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ STATE : 24|6@1+ (1,0) [0|63] "" XXX
|
||||
SG_ SUB_COUNTER : 30|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ OBJ_TYPE : 32|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ TRACK_AGE : 40|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ LONG_DIST : 64|12@1+ (0.05,0) [0|204.75] "m" XXX
|
||||
SG_ LAT_DIST : 78|10@1+ (0.05,-25.6) [-25.6|25.55] "m" XXX
|
||||
SG_ REL_SPEED : 91|12@1+ (0.05,-100) [-100|104.75] "m/s" XXX
|
||||
|
||||
|
||||
BO_ 946 RADAR_POINT_3b2: 24 RADAR
|
||||
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
|
||||
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ STATE : 24|6@1+ (1,0) [0|63] "" XXX
|
||||
SG_ SUB_COUNTER : 30|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ OBJ_TYPE : 32|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ TRACK_AGE : 40|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ LONG_DIST : 64|12@1+ (0.05,0) [0|204.75] "m" XXX
|
||||
SG_ LAT_DIST : 78|10@1+ (0.05,-25.6) [-25.6|25.55] "m" XXX
|
||||
SG_ REL_SPEED : 91|12@1+ (0.05,-100) [-100|104.75] "m/s" XXX
|
||||
|
||||
|
||||
BO_ 947 RADAR_POINT_3b3: 24 RADAR
|
||||
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
|
||||
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ STATE : 24|6@1+ (1,0) [0|63] "" XXX
|
||||
SG_ SUB_COUNTER : 30|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ OBJ_TYPE : 32|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ TRACK_AGE : 40|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ LONG_DIST : 64|12@1+ (0.05,0) [0|204.75] "m" XXX
|
||||
SG_ LAT_DIST : 78|10@1+ (0.05,-25.6) [-25.6|25.55] "m" XXX
|
||||
SG_ REL_SPEED : 91|12@1+ (0.05,-100) [-100|104.75] "m/s" XXX
|
||||
|
||||
|
||||
BO_ 948 RADAR_POINT_3b4: 24 RADAR
|
||||
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
|
||||
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ STATE : 24|6@1+ (1,0) [0|63] "" XXX
|
||||
SG_ SUB_COUNTER : 30|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ OBJ_TYPE : 32|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ TRACK_AGE : 40|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ LONG_DIST : 64|12@1+ (0.05,0) [0|204.75] "m" XXX
|
||||
SG_ LAT_DIST : 78|10@1+ (0.05,-25.6) [-25.6|25.55] "m" XXX
|
||||
SG_ REL_SPEED : 91|12@1+ (0.05,-100) [-100|104.75] "m/s" XXX
|
||||
|
||||
|
||||
BO_ 949 RADAR_POINT_3b5: 24 RADAR
|
||||
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
|
||||
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ STATE : 24|6@1+ (1,0) [0|63] "" XXX
|
||||
SG_ SUB_COUNTER : 30|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ OBJ_TYPE : 32|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ TRACK_AGE : 40|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ LONG_DIST : 64|12@1+ (0.05,0) [0|204.75] "m" XXX
|
||||
SG_ LAT_DIST : 78|10@1+ (0.05,-25.6) [-25.6|25.55] "m" XXX
|
||||
SG_ REL_SPEED : 91|12@1+ (0.05,-100) [-100|104.75] "m/s" XXX
|
||||
|
||||
|
||||
BO_ 950 RADAR_POINT_3b6: 24 RADAR
|
||||
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
|
||||
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ STATE : 24|6@1+ (1,0) [0|63] "" XXX
|
||||
SG_ SUB_COUNTER : 30|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ OBJ_TYPE : 32|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ TRACK_AGE : 40|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ LONG_DIST : 64|12@1+ (0.05,0) [0|204.75] "m" XXX
|
||||
SG_ LAT_DIST : 78|10@1+ (0.05,-25.6) [-25.6|25.55] "m" XXX
|
||||
SG_ REL_SPEED : 91|12@1+ (0.05,-100) [-100|104.75] "m/s" XXX
|
||||
|
||||
|
||||
BO_ 951 RADAR_POINT_3b7: 24 RADAR
|
||||
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
|
||||
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ STATE : 24|6@1+ (1,0) [0|63] "" XXX
|
||||
SG_ SUB_COUNTER : 30|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ OBJ_TYPE : 32|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ TRACK_AGE : 40|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ LONG_DIST : 64|12@1+ (0.05,0) [0|204.75] "m" XXX
|
||||
SG_ LAT_DIST : 78|10@1+ (0.05,-25.6) [-25.6|25.55] "m" XXX
|
||||
SG_ REL_SPEED : 91|12@1+ (0.05,-100) [-100|104.75] "m/s" XXX
|
||||
|
||||
|
||||
BO_ 952 RADAR_POINT_3b8: 24 RADAR
|
||||
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
|
||||
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ STATE : 24|6@1+ (1,0) [0|63] "" XXX
|
||||
SG_ SUB_COUNTER : 30|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ OBJ_TYPE : 32|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ TRACK_AGE : 40|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ LONG_DIST : 64|12@1+ (0.05,0) [0|204.75] "m" XXX
|
||||
SG_ LAT_DIST : 78|10@1+ (0.05,-25.6) [-25.6|25.55] "m" XXX
|
||||
SG_ REL_SPEED : 91|12@1+ (0.05,-100) [-100|104.75] "m/s" XXX
|
||||
|
||||
|
||||
BO_ 953 RADAR_POINT_3b9: 24 RADAR
|
||||
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
|
||||
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ STATE : 24|6@1+ (1,0) [0|63] "" XXX
|
||||
SG_ SUB_COUNTER : 30|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ OBJ_TYPE : 32|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ TRACK_AGE : 40|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ LONG_DIST : 64|12@1+ (0.05,0) [0|204.75] "m" XXX
|
||||
SG_ LAT_DIST : 78|10@1+ (0.05,-25.6) [-25.6|25.55] "m" XXX
|
||||
SG_ REL_SPEED : 91|12@1+ (0.05,-100) [-100|104.75] "m/s" XXX
|
||||
|
||||
|
||||
BO_ 954 RADAR_POINT_3ba: 24 RADAR
|
||||
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
|
||||
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ STATE : 24|6@1+ (1,0) [0|63] "" XXX
|
||||
SG_ SUB_COUNTER : 30|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ OBJ_TYPE : 32|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ TRACK_AGE : 40|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ LONG_DIST : 64|12@1+ (0.05,0) [0|204.75] "m" XXX
|
||||
SG_ LAT_DIST : 78|10@1+ (0.05,-25.6) [-25.6|25.55] "m" XXX
|
||||
SG_ REL_SPEED : 91|12@1+ (0.05,-100) [-100|104.75] "m/s" XXX
|
||||
|
||||
|
||||
BO_ 955 RADAR_POINT_3bb: 24 RADAR
|
||||
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
|
||||
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ STATE : 24|6@1+ (1,0) [0|63] "" XXX
|
||||
SG_ SUB_COUNTER : 30|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ OBJ_TYPE : 32|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ TRACK_AGE : 40|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ LONG_DIST : 64|12@1+ (0.05,0) [0|204.75] "m" XXX
|
||||
SG_ LAT_DIST : 78|10@1+ (0.05,-25.6) [-25.6|25.55] "m" XXX
|
||||
SG_ REL_SPEED : 91|12@1+ (0.05,-100) [-100|104.75] "m/s" XXX
|
||||
|
||||
|
||||
BO_ 956 RADAR_POINT_3bc: 24 RADAR
|
||||
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
|
||||
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ STATE : 24|6@1+ (1,0) [0|63] "" XXX
|
||||
SG_ SUB_COUNTER : 30|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ OBJ_TYPE : 32|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ TRACK_AGE : 40|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ LONG_DIST : 64|12@1+ (0.05,0) [0|204.75] "m" XXX
|
||||
SG_ LAT_DIST : 78|10@1+ (0.05,-25.6) [-25.6|25.55] "m" XXX
|
||||
SG_ REL_SPEED : 91|12@1+ (0.05,-100) [-100|104.75] "m/s" XXX
|
||||
|
||||
|
||||
BO_ 957 RADAR_POINT_3bd: 24 RADAR
|
||||
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
|
||||
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ STATE : 24|6@1+ (1,0) [0|63] "" XXX
|
||||
SG_ SUB_COUNTER : 30|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ OBJ_TYPE : 32|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ TRACK_AGE : 40|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ LONG_DIST : 64|12@1+ (0.05,0) [0|204.75] "m" XXX
|
||||
SG_ LAT_DIST : 78|10@1+ (0.05,-25.6) [-25.6|25.55] "m" XXX
|
||||
SG_ REL_SPEED : 91|12@1+ (0.05,-100) [-100|104.75] "m/s" XXX
|
||||
|
||||
|
||||
BO_ 958 RADAR_POINT_3be: 24 RADAR
|
||||
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
|
||||
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ STATE : 24|6@1+ (1,0) [0|63] "" XXX
|
||||
SG_ SUB_COUNTER : 30|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ OBJ_TYPE : 32|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ TRACK_AGE : 40|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ LONG_DIST : 64|12@1+ (0.05,0) [0|204.75] "m" XXX
|
||||
SG_ LAT_DIST : 78|10@1+ (0.05,-25.6) [-25.6|25.55] "m" XXX
|
||||
SG_ REL_SPEED : 91|12@1+ (0.05,-100) [-100|104.75] "m/s" XXX
|
||||
|
||||
|
||||
BO_ 959 RADAR_POINT_3bf: 24 RADAR
|
||||
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
|
||||
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ STATE : 24|6@1+ (1,0) [0|63] "" XXX
|
||||
SG_ SUB_COUNTER : 30|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ OBJ_TYPE : 32|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ TRACK_AGE : 40|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ LONG_DIST : 64|12@1+ (0.05,0) [0|204.75] "m" XXX
|
||||
SG_ LAT_DIST : 78|10@1+ (0.05,-25.6) [-25.6|25.55] "m" XXX
|
||||
SG_ REL_SPEED : 91|12@1+ (0.05,-100) [-100|104.75] "m/s" XXX
|
||||
|
||||
|
||||
BO_ 960 RADAR_POINT_3c0: 24 RADAR
|
||||
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
|
||||
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ STATE : 24|6@1+ (1,0) [0|63] "" XXX
|
||||
SG_ SUB_COUNTER : 30|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ OBJ_TYPE : 32|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ TRACK_AGE : 40|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ LONG_DIST : 64|12@1+ (0.05,0) [0|204.75] "m" XXX
|
||||
SG_ LAT_DIST : 78|10@1+ (0.05,-25.6) [-25.6|25.55] "m" XXX
|
||||
SG_ REL_SPEED : 91|12@1+ (0.05,-100) [-100|104.75] "m/s" XXX
|
||||
|
||||
|
||||
BO_ 961 RADAR_POINT_3c1: 24 RADAR
|
||||
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
|
||||
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ STATE : 24|6@1+ (1,0) [0|63] "" XXX
|
||||
SG_ SUB_COUNTER : 30|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ OBJ_TYPE : 32|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ TRACK_AGE : 40|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ LONG_DIST : 64|12@1+ (0.05,0) [0|204.75] "m" XXX
|
||||
SG_ LAT_DIST : 78|10@1+ (0.05,-25.6) [-25.6|25.55] "m" XXX
|
||||
SG_ REL_SPEED : 91|12@1+ (0.05,-100) [-100|104.75] "m/s" XXX
|
||||
|
||||
|
||||
BO_ 962 RADAR_POINT_3c2: 24 RADAR
|
||||
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
|
||||
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ STATE : 24|6@1+ (1,0) [0|63] "" XXX
|
||||
SG_ SUB_COUNTER : 30|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ OBJ_TYPE : 32|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ TRACK_AGE : 40|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ LONG_DIST : 64|12@1+ (0.05,0) [0|204.75] "m" XXX
|
||||
SG_ LAT_DIST : 78|10@1+ (0.05,-25.6) [-25.6|25.55] "m" XXX
|
||||
SG_ REL_SPEED : 91|12@1+ (0.05,-100) [-100|104.75] "m/s" XXX
|
||||
|
||||
|
||||
BO_ 963 RADAR_POINT_3c3: 24 RADAR
|
||||
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
|
||||
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ STATE : 24|6@1+ (1,0) [0|63] "" XXX
|
||||
SG_ SUB_COUNTER : 30|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ OBJ_TYPE : 32|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ TRACK_AGE : 40|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ LONG_DIST : 64|12@1+ (0.05,0) [0|204.75] "m" XXX
|
||||
SG_ LAT_DIST : 78|10@1+ (0.05,-25.6) [-25.6|25.55] "m" XXX
|
||||
SG_ REL_SPEED : 91|12@1+ (0.05,-100) [-100|104.75] "m/s" XXX
|
||||
|
||||
|
||||
BO_ 964 RADAR_POINT_3c4: 24 RADAR
|
||||
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
|
||||
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ STATE : 24|6@1+ (1,0) [0|63] "" XXX
|
||||
SG_ SUB_COUNTER : 30|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ OBJ_TYPE : 32|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ TRACK_AGE : 40|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ LONG_DIST : 64|12@1+ (0.05,0) [0|204.75] "m" XXX
|
||||
SG_ LAT_DIST : 78|10@1+ (0.05,-25.6) [-25.6|25.55] "m" XXX
|
||||
SG_ REL_SPEED : 91|12@1+ (0.05,-100) [-100|104.75] "m/s" XXX
|
||||
|
||||
@@ -0,0 +1,79 @@
|
||||
BO_ 1880 DEBUG: 8 XXX
|
||||
SG_ BLINDSPOTSIDE : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ BLINDSPOT : 38|1@0+ (1,0) [0|15] "" XXX
|
||||
SG_ BLINDSPOTD1 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ BLINDSPOTD2 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ DSS1GDRV : 7|10@0- (0.1,0) [0|0] "m/s^2" Vector__XXX
|
||||
SG_ DS1STAT2 : 13|3@0+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ DS1STBK2 : 10|3@0+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ PCSWAR : 18|1@0+ (1,0) [0|0] "" FCM
|
||||
SG_ PCSALM : 17|1@0+ (1,0) [0|0] "" FCM
|
||||
SG_ PCSOPR : 16|1@0+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ PCSABK : 31|1@0+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ PBATRGR : 30|2@0+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ PPTRGR : 28|1@0+ (1,0) [0|0] "" FCM
|
||||
SG_ IBTRGR : 27|1@0+ (1,0) [0|0] "" FCM
|
||||
SG_ CLEXTRGR : 26|1@0+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ IRLT_REQ : 25|2@0+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ BRKHLD : 37|1@0+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ AVSTRGR : 36|1@0+ (1,0) [0|0] "" SCS
|
||||
SG_ VGRSTRGR : 35|2@0+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ PREFILL : 33|1@0+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ PBRTRGR : 32|1@0+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ PCSDIS : 43|1@0+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ PBPREPMP : 40|1@0+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 713 HYBRID_POWERTRAIN: 8 XXX
|
||||
SG_ COAST_FUEL_CUT : 5|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ HYBRID_DRIVE_STATE : 11|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 814 BRAKE_HYDRAULIC: 8 XXX
|
||||
SG_ BRAKE_PRESSURE : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ BRAKE_PRESSURE_COPY1 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ BRAKE_PRESSURE_COPY2 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 971 MOTOR_SPEED_CLUSTER: 7 XXX
|
||||
SG_ CLUSTER_SPEED : 55|8@0+ (1,-21) [0|255] "km/h" XXX
|
||||
|
||||
BO_ 896 HYBRID_BATTERY: 8 XXX
|
||||
SG_ HV_SOC_PCT : 55|8@0+ (1,0) [0|100] "%" XXX
|
||||
|
||||
BO_ 1654 HV_POWER_INTEGRATOR: 8 XXX
|
||||
SG_ HV_POWER_ACCUM : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 975 HV_INVERTER: 5 XXX
|
||||
SG_ HV_VOLTAGE_LO : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ HV_CURRENT_LO : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 955 BRAKE_REDUNDANT: 8 XXX
|
||||
SG_ BRAKE_PRESSED_REDUNDANT : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 918 VEHICLE_DRIVE_MODE: 8 XXX
|
||||
SG_ DRIVE_MODE_STATE : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM_ "Sunnypilot Prius TSS2 reverse-engineered signals — route 550a71ee4c7a7fbe/0000038f--6b48497966, 2026-05-19. Confidence: high unless noted.";
|
||||
CM_ BO_ 713 "Hybrid powertrain status. 100Hz on bus 0.";
|
||||
CM_ SG_ 713 COAST_FUEL_CUT "byte0 bit5. 1 when accelerator lifted at speed -> ICE fuel cut / decel-fuel-cut active. P(=1|coast)=0.95, P(=1|accel)=0.008, P(=1|brake)=0.0. Use: lift detection for accel feedforward, EV-only mode hint.";
|
||||
CM_ SG_ 713 HYBRID_DRIVE_STATE "byte1 lower-nibble (bits 8-11). Enum (validated): 4=brake/regen-active, 5-8=coast/cruise levels, 10/12=ICE running active, 11=idle-stop. Not a scalar magnitude. Use: distinguish ICE-on vs EV for accel command shaping.";
|
||||
CM_ BO_ 814 "Brake hydraulic. 5Hz on bus 0. Bytes 0,2,4,6 are status/flag bytes (not yet decoded). Saturates 255 under hard brake.";
|
||||
CM_ SG_ 814 BRAKE_PRESSURE "byte1. Master cylinder pressure proxy. 0 during coast, 33-45 mean during brake, 254-255 max. NOT same as BRAKE_MODULE.BRAKE_PRESSURE.";
|
||||
CM_ SG_ 814 BRAKE_PRESSURE_COPY1 "byte3. Identical to BRAKE_PRESSURE 90% of brake samples. Redundant copy (CRC/safety).";
|
||||
CM_ SG_ 814 BRAKE_PRESSURE_COPY2 "byte5. Identical to BRAKE_PRESSURE 90% of brake samples. Redundant copy.";
|
||||
CM_ BO_ 971 "Cluster speedometer feed. 10Hz on bus 0.";
|
||||
CM_ SG_ 971 CLUSTER_SPEED "byte6. Encoded as raw_byte = v_kph + 21. After (1,-21) factor/offset: km/h matching dashboard speedometer. Corr 0.998 w/ WHEEL_SPEEDS. ~5km/h higher than wheel mean = cluster display bias.";
|
||||
CM_ BO_ 896 "HV battery status. 5Hz on bus 0.";
|
||||
CM_ SG_ 896 HV_SOC_PCT "byte6. HV battery state-of-charge percent. Validated range 53-62% on route 0000038f (Prius hybrid SoC normal band 40-80%). Use: energy-aware planner — reduce regen demand at high SoC (>70%), lift accel demand at low SoC (<50%).";
|
||||
CM_ BO_ 1654 "HV power integrator. 1Hz on bus 0. Slow drift signal, semantic not fully confirmed.";
|
||||
CM_ SG_ 1654 HV_POWER_ACCUM "byte4. Slow-drifting integer 0-59, independent of HV_SOC_PCT. Hypothesis: HV power flow accumulator or charging-cycle counter. Needs more routes.";
|
||||
CM_ BO_ 975 "HV inverter telemetry. 10Hz on bus 0. 5-byte message.";
|
||||
CM_ SG_ 975 HV_VOLTAGE_LO "byte2. Sequential integer 40-53 range. Hypothesis: HV bus voltage low-byte scaled. Moderate corr w/ brake (regen-loaded voltage).";
|
||||
CM_ SG_ 975 HV_CURRENT_LO "byte4. Sequential integer 17-36 range. JUMPS -16 at brake-release (regen current cutoff signature). Use: real-time regen current readback for brake-blend tuning.";
|
||||
CM_ BO_ 955 "Brake redundant signal. 10Hz on bus 0.";
|
||||
CM_ SG_ 955 BRAKE_PRESSED_REDUNDANT "byte0 bit0. 99.9% agreement with BRAKE_MODULE.BRAKE_PRESSED. Safety-redundant copy. Use: cross-check brake state for fault detection.";
|
||||
CM_ BO_ 918 "Vehicle drive mode state. 5Hz on bus 0.";
|
||||
CM_ SG_ 918 DRIVE_MODE_STATE "byte0. 3 states observed: 185=parked-with-brake, 189=ready-to-drive, 191=ready-no-brake. Transitions on GEAR shifts + brake. Use: more reliable drive-state machine than gear+brake combo.";
|
||||
VAL_ 713 HYBRID_DRIVE_STATE 4 "brake_regen_active" 5 "coast_5" 6 "coast_6" 7 "coast_7" 8 "coast_cruise" 10 "ice_active_10" 11 "idle_stop" 12 "ice_active_12";
|
||||
VAL_ 918 DRIVE_MODE_STATE 185 "parked_brake" 189 "ready" 191 "ready_no_brake";
|
||||
@@ -234,6 +234,7 @@ BO_ 956 GEAR_PACKET: 8 XXX
|
||||
SG_ SPORT_GEAR_ON : 33|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SPORT_GEAR : 38|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ ECON_ON : 40|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SPORT_ON_2 : 55|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ B_GEAR_ENGAGED : 41|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DRIVE_ENGAGED : 47|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
@@ -545,6 +546,7 @@ VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
|
||||
VAL_ 956 SPORT_GEAR_ON 0 "off" 1 "on";
|
||||
VAL_ 956 SPORT_GEAR 1 "S1" 2 "S2" 3 "S3" 4 "S4" 5 "S5" 6 "S6";
|
||||
VAL_ 956 ECON_ON 0 "off" 1 "on";
|
||||
VAL_ 956 SPORT_ON_2 0 "off" 1 "on";
|
||||
VAL_ 956 B_GEAR_ENGAGED 0 "off" 1 "on";
|
||||
VAL_ 956 DRIVE_ENGAGED 0 "off" 1 "on";
|
||||
VAL_ 1005 REVERSE_CAMERA_GUIDELINES 3 "No guidelines" 2 "Static guidelines" 1 "Active guidelines";
|
||||
|
||||
@@ -35,14 +35,6 @@ BO_ 740 STEERING_LKA: 5 XXX
|
||||
SG_ STEER_TORQUE_CMD : 15|16@0- (1,0) [0|65535] "" XXX
|
||||
SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ DSS1GDRV : 7|10@0- (0.1,0) [0|0] "m/s^2" Vector__XXX
|
||||
SG_ PCSALM : 17|1@0+ (1,0) [0|0] "" FCM
|
||||
SG_ IBTRGR : 27|1@0+ (1,0) [0|0] "" FCM
|
||||
SG_ PBATRGR : 30|2@0+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ PREFILL : 33|1@0+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ AVSTRGR : 36|1@0+ (1,0) [0|0] "" SCS
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
CM_ SG_ 466 NEUTRAL_FORCE "force in newtons the engine/electric motors are applying without any acceleration commands or user input";
|
||||
CM_ SG_ 466 ACC_BRAKING "whether brakes are being actuated from ACC command";
|
||||
|
||||
@@ -1,6 +1,7 @@
|
||||
CM_ "IMPORT _community.dbc";
|
||||
CM_ "IMPORT _toyota_2017.dbc";
|
||||
CM_ "IMPORT _toyota_adas_standard.dbc";
|
||||
CM_ "IMPORT _sp_debug_toyota.dbc";
|
||||
|
||||
BO_ 548 BRAKE_MODULE: 8 XXX
|
||||
SG_ BRAKE_PRESSURE : 43|12@0+ (1,0) [0|4047] "" XXX
|
||||
|
||||
@@ -1,6 +1,7 @@
|
||||
CM_ "IMPORT _community.dbc";
|
||||
CM_ "IMPORT _toyota_2017.dbc";
|
||||
CM_ "IMPORT _toyota_adas_standard.dbc";
|
||||
CM_ "IMPORT _sp_debug_toyota.dbc";
|
||||
|
||||
BO_ 401 STEERING_LTA: 8 XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
@@ -1,6 +1,7 @@
|
||||
CM_ "IMPORT _community.dbc";
|
||||
CM_ "IMPORT _toyota_2017.dbc";
|
||||
CM_ "IMPORT _toyota_adas_standard.dbc";
|
||||
CM_ "IMPORT _sp_debug_toyota.dbc";
|
||||
|
||||
BO_ 550 BRAKE_MODULE: 8 XXX
|
||||
SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
|
||||
|
||||
@@ -175,7 +175,6 @@ typedef struct {
|
||||
const bool ignore_counter; // counter check is not performed when set to true
|
||||
const uint8_t max_counter; // maximum value of the counter. 0 means that the counter check is skipped
|
||||
const bool ignore_quality_flag; // true if quality flag check is skipped
|
||||
const bool ignore_frequency_check; // true if minimum frequency enforcement is skipped
|
||||
} CanMsgCheck;
|
||||
|
||||
typedef struct {
|
||||
|
||||
@@ -173,7 +173,7 @@ static safety_config chrysler_init(uint16_t param) {
|
||||
{.msg = {{CHRYSLER_RAM_DT_ESP_8, 0, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
|
||||
{.msg = {{CHRYSLER_RAM_DT_ECM_5, 0, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
|
||||
{.msg = {{CHRYSLER_RAM_DT_DAS_3, 2, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
|
||||
{.msg = {{CHRYSLER_RAM_DT_Center_Stack_2, 0, 8, 1U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true, .ignore_frequency_check = true}, { 0 }, { 0 }}},
|
||||
{.msg = {{CHRYSLER_RAM_DT_Center_Stack_2, 0, 8, 1U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
|
||||
};
|
||||
|
||||
static RxCheck chrysler_rx_checks[] = {
|
||||
@@ -182,7 +182,7 @@ static safety_config chrysler_init(uint16_t param) {
|
||||
{.msg = {{514, 0, 8, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
|
||||
{.msg = {{CHRYSLER_ECM_5, 0, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
|
||||
{.msg = {{CHRYSLER_DAS_3, 0, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
|
||||
{.msg = {{CHRYSLER_TRACTION_BUTTON, 0, 8, 1U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true, .ignore_frequency_check = true}, { 0 }, { 0 }}},
|
||||
{.msg = {{CHRYSLER_TRACTION_BUTTON, 0, 8, 1U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
|
||||
};
|
||||
|
||||
static const CanMsg CHRYSLER_TX_MSGS[] = {
|
||||
@@ -205,7 +205,7 @@ static safety_config chrysler_init(uint16_t param) {
|
||||
{.msg = {{CHRYSLER_RAM_HD_ESP_8, 0, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
|
||||
{.msg = {{CHRYSLER_RAM_HD_ECM_5, 0, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
|
||||
{.msg = {{CHRYSLER_RAM_HD_DAS_3, 2, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
|
||||
{.msg = {{CHRYSLER_RAM_HD_Center_Stack_2, 0, 8, 1U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true, .ignore_frequency_check = true}, { 0 }, { 0 }}},
|
||||
{.msg = {{CHRYSLER_RAM_HD_Center_Stack_2, 0, 8, 1U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
|
||||
};
|
||||
|
||||
static const CanMsg CHRYSLER_RAM_HD_TX_MSGS[] = {
|
||||
|
||||
@@ -14,7 +14,7 @@
|
||||
{.msg = {{0x311, 0, 7, 10U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}}, /* UI_warning (blinkers, buckle switch & doors) */ \
|
||||
|
||||
#define TESLA_VEHICLE_BUS_ADDR_CHECK \
|
||||
{.msg = {{0x3DF, 1, 8, 2U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true, .ignore_frequency_check = true}, { 0 }, { 0 }}}, /* UI_status2 */ \
|
||||
{.msg = {{0x3DF, 1, 8, 2U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, /* UI_status2 */ \
|
||||
|
||||
static bool tesla_longitudinal = false;
|
||||
static bool tesla_fsd_14 = false;
|
||||
|
||||
@@ -4,7 +4,7 @@
|
||||
|
||||
// Stock longitudinal
|
||||
#define TOYOTA_BASE_TX_MSGS \
|
||||
{0x191, 0, 8, .check_relay = true}, {0x412, 0, 8, .check_relay = true}, {0x1D2, 0, 8, .check_relay = false}, /* LKAS + LTA + PCM cancel cmd */ \
|
||||
{0x191, 0, 8, .check_relay = true}, {0x412, 0, 8, .check_relay = true}, {0x1D2, 0, 8, .check_relay = false}, {0x750, 0, 8, .check_relay = false}, /* LKAS + LTA + PCM cancel cmd */ \
|
||||
|
||||
#define TOYOTA_COMMON_TX_MSGS \
|
||||
TOYOTA_BASE_TX_MSGS \
|
||||
@@ -60,7 +60,7 @@
|
||||
{.msg = {{0x1D3, 0, 8, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true, .frequency = 33U}, { 0 }, { 0 }}}, \
|
||||
|
||||
#define TOYOTA_DSU_CRUISE_ADDR_CHECK \
|
||||
{.msg = {{0x365, 0, 7, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true, .frequency = 5U, .ignore_frequency_check = true}, { 0 }, { 0 }}}, \
|
||||
{.msg = {{0x365, 0, 7, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true, .frequency = 5U}, { 0 }, { 0 }}}, \
|
||||
|
||||
#define TOYOTA_GAS_INTERCEPTOR_ADDR_CHECK \
|
||||
{.msg = {{0x201, 0, 6, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
|
||||
@@ -69,6 +69,7 @@ static bool toyota_secoc = false;
|
||||
static bool toyota_alt_brake = false;
|
||||
static bool toyota_stock_longitudinal = false;
|
||||
static bool toyota_lta = false;
|
||||
static bool toyota_cruise_engaged = false; // SP: PCM_CRUISE.CRUISE_ACTIVE, narrows the auto brake hold AEB window below
|
||||
static int toyota_dbc_eps_torque_factor = 100; // conversion factor for STEER_TORQUE_EPS in %: see dbc file
|
||||
|
||||
static uint32_t toyota_compute_checksum(const CANPacket_t *msg) {
|
||||
@@ -151,6 +152,7 @@ static void toyota_rx_hook(const CANPacket_t *msg) {
|
||||
if (msg->addr == 0x176U) {
|
||||
bool cruise_engaged = GET_BIT(msg, 5U); // PCM_CRUISE.CRUISE_ACTIVE
|
||||
pcm_cruise_check(cruise_engaged);
|
||||
toyota_cruise_engaged = cruise_engaged;
|
||||
}
|
||||
if (msg->addr == 0x116U) {
|
||||
gas_pressed = msg->data[1] != 0U; // GAS_PEDAL.GAS_PEDAL_USER
|
||||
@@ -162,6 +164,7 @@ static void toyota_rx_hook(const CANPacket_t *msg) {
|
||||
if (msg->addr == 0x1D2U) {
|
||||
bool cruise_engaged = GET_BIT(msg, 5U); // PCM_CRUISE.CRUISE_ACTIVE
|
||||
pcm_cruise_check(cruise_engaged);
|
||||
toyota_cruise_engaged = cruise_engaged;
|
||||
|
||||
if (!enable_gas_interceptor) {
|
||||
gas_pressed = !GET_BIT(msg, 4U); // PCM_CRUISE.GAS_RELEASED
|
||||
@@ -386,14 +389,35 @@ static bool toyota_tx_hook(const CANPacket_t *msg) {
|
||||
tx = false;
|
||||
}
|
||||
}
|
||||
|
||||
// SP: auto brake hold https://github.com/AlexandreSato
|
||||
if ((msg->addr == 0x344U) && (alternative_experience & ALT_EXP_ALLOW_AEB)) {
|
||||
if (vehicle_moving || gas_pressed || !acc_main_on || toyota_cruise_engaged) {
|
||||
tx = false;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// UDS: Only tester present ("\x0F\x02\x3E\x00\x00\x00\x00\x00") allowed on diagnostics address
|
||||
if (msg->addr == 0x750U) {
|
||||
// this address is sub-addressed. only allow tester present to radar (0xF)
|
||||
bool invalid_uds_msg = (GET_BYTES(msg, 0, 4) != 0x003E020FU) || (GET_BYTES(msg, 4, 4) != 0x0U);
|
||||
if (invalid_uds_msg) {
|
||||
tx = 0;
|
||||
// SP: Secret sauce from dp. (ask @rav4kumar prior to modifing)
|
||||
// Enhanced BSM
|
||||
bool sp_valid_uds_msgs = ((GET_BYTES(msg, 0, 4) == 0x01100241U) || // disable left BSM debug
|
||||
(GET_BYTES(msg, 0, 4) == 0x60100241U) || // enable left BSM debug
|
||||
(GET_BYTES(msg, 0, 4) == 0x69210241U) || // poll left BSM status
|
||||
(GET_BYTES(msg, 0, 4) == 0x01100242U) || // disable right BSM debug
|
||||
(GET_BYTES(msg, 0, 4) == 0x60100242U) || // enable right BSM debug
|
||||
(GET_BYTES(msg, 0, 4) == 0x69210242U)) // poll right BSM status
|
||||
&& (GET_BYTES(msg, 4, 4) == 0x0U);
|
||||
|
||||
sp_valid_uds_msgs |= (GET_BYTES(msg, 0, 4) == 0x11300540U) && // automatic door locking and unlocking
|
||||
((GET_BYTES(msg, 4, 4) == 0x00004000U) || // unlock
|
||||
(GET_BYTES(msg, 4, 4) == 0x00008000U)); // lock
|
||||
|
||||
if (invalid_uds_msg && !sp_valid_uds_msgs) {
|
||||
tx = false;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -566,10 +590,27 @@ static safety_config toyota_init(uint16_t param) {
|
||||
return ret;
|
||||
}
|
||||
|
||||
static bool toyota_fwd_hook(int bus_num, int addr) {
|
||||
bool block_msg = false;
|
||||
if (bus_num == 2) {
|
||||
// SP: block AEB when auto brake hold is active, unblock AEB when auto brake hold is not active.
|
||||
// Narrowed to match auto brake hold's own precondition (cruise must be off) - previously this
|
||||
// blocked native AEB forwarding, forcing a slower software relay, any time the car was simply
|
||||
// stopped with the gas released and ACC main on, even while cruise was actively engaged and
|
||||
// auto brake hold couldn't be active at all.
|
||||
bool is_aeb_msg = (addr == 0x344);
|
||||
block_msg = (is_aeb_msg && (alternative_experience & ALT_EXP_ALLOW_AEB) && !vehicle_moving && !gas_pressed && acc_main_on &&
|
||||
!toyota_cruise_engaged);
|
||||
}
|
||||
|
||||
return block_msg;
|
||||
}
|
||||
|
||||
const safety_hooks toyota_hooks = {
|
||||
.init = toyota_init,
|
||||
.rx = toyota_rx_hook,
|
||||
.tx = toyota_tx_hook,
|
||||
.fwd = toyota_fwd_hook,
|
||||
.get_checksum = toyota_get_checksum,
|
||||
.compute_checksum = toyota_compute_checksum,
|
||||
.get_quality_flag_valid = toyota_get_quality_flag_valid,
|
||||
|
||||
@@ -332,7 +332,7 @@ void safety_tick(const safety_config *cfg) {
|
||||
}
|
||||
|
||||
// enforce minimum frequency for safety-relevant messages
|
||||
bool frequency_invalid = !cfg->rx_checks[i].msg[cfg->rx_checks[i].status.index].ignore_frequency_check && (frequency < 10U);
|
||||
bool frequency_invalid = frequency < 10U;
|
||||
if (lagging || frequency_invalid || !is_msg_valid(cfg->rx_checks, i)) {
|
||||
rx_checks_invalid = true;
|
||||
controls_allowed = false;
|
||||
|
||||
@@ -101,6 +101,29 @@ class TestToyotaSafetyBase(common.CarSafetyTest, common.LongitudinalAccelSafetyT
|
||||
tester_present = libsafety_py.make_CANPacket(0x750, 0, msg)
|
||||
self.assertEqual(should_tx and ecu_disabled and not stock_longitudinal, self._tx(tester_present))
|
||||
|
||||
def test_enhanced_bsm(self):
|
||||
# SP: enable/disable/poll left+right blind spot debug mode, sent to the radar diagnostic address
|
||||
valid_msgs = [
|
||||
b"\x41\x02\x10\x60\x00\x00\x00\x00", # enable left
|
||||
b"\x41\x02\x10\x01\x00\x00\x00\x00", # disable left
|
||||
b"\x41\x02\x21\x69\x00\x00\x00\x00", # poll left
|
||||
b"\x42\x02\x10\x60\x00\x00\x00\x00", # enable right
|
||||
b"\x42\x02\x10\x01\x00\x00\x00\x00", # disable right
|
||||
b"\x42\x02\x21\x69\x00\x00\x00\x00", # poll right
|
||||
]
|
||||
for msg in valid_msgs:
|
||||
pkt = libsafety_py.make_CANPacket(0x750, 0, msg)
|
||||
self.assertTrue(self._tx(pkt), msg.hex())
|
||||
|
||||
invalid_msgs = [
|
||||
b"\x41\x02\x10\x61\x00\x00\x00\x00", # wrong subfunction
|
||||
b"\x43\x02\x10\x60\x00\x00\x00\x00", # wrong sub-address (not left/right)
|
||||
b"\x41\x02\x10\x60\x01\x00\x00\x00", # non-zero trailing bytes
|
||||
]
|
||||
for msg in invalid_msgs:
|
||||
pkt = libsafety_py.make_CANPacket(0x750, 0, msg)
|
||||
self.assertFalse(self._tx(pkt), msg.hex())
|
||||
|
||||
def test_block_aeb(self, stock_longitudinal: bool = False):
|
||||
for controls_allowed in (True, False):
|
||||
for bad in (True, False):
|
||||
|
||||
@@ -13,7 +13,7 @@ from opendbc.car import structs
|
||||
from opendbc.car.can_definitions import CanRecvCallable, CanSendCallable
|
||||
from opendbc.car.hyundai.values import HyundaiFlags
|
||||
from opendbc.car.subaru.values import SubaruFlags
|
||||
from opendbc.car.toyota.values import ToyotaSafetyFlags
|
||||
from opendbc.car.toyota.values import SECOC_CAR, TSS2_CAR, ToyotaSafetyFlags
|
||||
from opendbc.sunnypilot.car.hyundai.enable_radar_tracks import enable_radar_tracks as hyundai_enable_radar_tracks
|
||||
from opendbc.sunnypilot.car.hyundai.longitudinal.helpers import LongitudinalTuningType
|
||||
from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP
|
||||
@@ -137,6 +137,7 @@ def _initialize_toyota(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params
|
||||
if CP.brand == 'toyota':
|
||||
toyota_stock_long = int(params_dict.get("ToyotaEnforceStockLongitudinal", 0)) == 1
|
||||
toyota_stop_and_go_hack = int(params_dict.get("ToyotaStopAndGoHack", 0)) == 1
|
||||
toyota_enhanced_bsm = int(params_dict.get("ToyotaEnhancedBsm", 0)) == 1
|
||||
|
||||
if toyota_stock_long:
|
||||
CP_SP.flags |= ToyotaFlagsSP.STOCK_LONGITUDINAL.value
|
||||
@@ -146,3 +147,6 @@ def _initialize_toyota(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params
|
||||
|
||||
if toyota_stop_and_go_hack and CP.openpilotLongitudinalControl:
|
||||
CP_SP.flags |= ToyotaFlagsSP.STOP_AND_GO_HACK.value
|
||||
|
||||
if toyota_enhanced_bsm and CP.carFingerprint in (TSS2_CAR - SECOC_CAR):
|
||||
CP_SP.flags |= ToyotaFlagsSP.SP_ENHANCED_BSM.value
|
||||
|
||||
@@ -0,0 +1,79 @@
|
||||
"""
|
||||
Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
|
||||
|
||||
This file is part of sunnypilot and is licensed under the MIT License.
|
||||
See the LICENSE.md file in the root directory for more details.
|
||||
"""
|
||||
|
||||
from opendbc.car import structs
|
||||
from opendbc.car.toyota import toyotacan
|
||||
from opendbc.sunnypilot.car.toyota.values import ToyotaFlagsSP
|
||||
|
||||
GearShifter = structs.CarState.GearShifter
|
||||
|
||||
# frames of confirmed hold-eligible standstill required before engaging
|
||||
BRAKE_HOLD_ALLOWED_TIMER = 100
|
||||
|
||||
DISALLOWED_GEARS = (GearShifter.park, GearShifter.reverse)
|
||||
|
||||
# PRE_COLLISION_2 fields that go high when the camera's own PCS/AEB is genuinely intervening this
|
||||
# frame (PCSALM mirrors PRECOLLISION_ACTIVE; IBTRGR/PBATRGR/PREFILL/AVSTRGR/PBRTRGR/PPTRGR are its
|
||||
# actuation triggers - see create_pcs_commands for the same field set on the stock-DSU PCS path).
|
||||
# Deliberately over-inclusive: a false positive here just means we pass a quiescent frame through
|
||||
# instead of holding it, never the other way around, so err toward checking more fields, not fewer.
|
||||
PCS_TRIGGER_FIELDS = ("PCSALM", "IBTRGR", "PBATRGR", "PREFILL", "AVSTRGR", "PBRTRGR", "PPTRGR")
|
||||
|
||||
|
||||
def pcs_is_active(pre_collision_2: dict) -> bool:
|
||||
return any(pre_collision_2.get(field, 0) for field in PCS_TRIGGER_FIELDS) or pre_collision_2.get("DSS1GDRV", 0) != 0
|
||||
|
||||
|
||||
class AutoBrakeHold:
|
||||
def __init__(self, CP: structs.CarParams, CP_SP: structs.CarParamsSP):
|
||||
self.CP = CP
|
||||
self.CP_SP = CP_SP
|
||||
|
||||
@property
|
||||
def enabled(self):
|
||||
return bool(self.CP_SP.flags & ToyotaFlagsSP.SP_AUTO_BRAKE_HOLD)
|
||||
|
||||
|
||||
# Auto Brake Hold (@AlexandreSato, @rav4kumar): holds the car at a stop with cruise off by
|
||||
# overriding PRE_COLLISION_2 - the only channel on this platform that can command the brake
|
||||
# independent of ACC engagement, since PCS/AEB is an always-on active safety system by design.
|
||||
# Yields to any genuine PCS activation this frame - the real message is only ever overridden while
|
||||
# it's quiescent - and releases for the rest of the current standstill episode on a brake press,
|
||||
# rather than for a single frame.
|
||||
class AutoBrakeHoldCarController(AutoBrakeHold):
|
||||
def __init__(self, CP: structs.CarParams, CP_SP: structs.CarParamsSP):
|
||||
super().__init__(CP, CP_SP)
|
||||
|
||||
self.active = False
|
||||
self._counter = 0
|
||||
self._released = False
|
||||
self._prev_brake_pressed = False
|
||||
|
||||
def update(self, CS: structs.CarState, frame: int, packer) -> list:
|
||||
hold_allowed = (CS.out.standstill and CS.out.cruiseState.available and not CS.out.cruiseState.enabled and
|
||||
not CS.out.gasPressed and CS.out.gearShifter not in DISALLOWED_GEARS)
|
||||
|
||||
if hold_allowed:
|
||||
# only a fresh press releases hold - the press that caused the stop is already reflected in
|
||||
# _prev_brake_pressed by the time standstill is reached, so it doesn't count as a release
|
||||
if CS.out.brakePressed and not self._prev_brake_pressed:
|
||||
self._released = True
|
||||
self._counter += 1
|
||||
self.active = self._counter > BRAKE_HOLD_ALLOWED_TIMER and not self._released
|
||||
else:
|
||||
self._counter = 0
|
||||
self.active = False
|
||||
self._released = False
|
||||
|
||||
self._prev_brake_pressed = CS.out.brakePressed
|
||||
|
||||
can_sends = []
|
||||
if frame % 2 == 0:
|
||||
override = self.active and not pcs_is_active(CS.pre_collision_2)
|
||||
can_sends.append(toyotacan.create_brake_hold_command(packer, frame, CS.pre_collision_2, override))
|
||||
|
||||
return can_sends
|
||||
@@ -0,0 +1,126 @@
|
||||
"""
|
||||
Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
|
||||
|
||||
This file is part of sunnypilot and is licensed under the MIT License.
|
||||
See the LICENSE.md file in the root directory for more details.
|
||||
"""
|
||||
|
||||
from opendbc.car import structs
|
||||
from opendbc.car.can_definitions import CanData
|
||||
from opendbc.car.toyota import toyotacan
|
||||
from opendbc.sunnypilot.car.toyota.values import ToyotaFlagsSP
|
||||
|
||||
LEFT_BLINDSPOT = b"\x41"
|
||||
RIGHT_BLINDSPOT = b"\x42"
|
||||
LEFT_SIDE = LEFT_BLINDSPOT[0]
|
||||
RIGHT_SIDE = RIGHT_BLINDSPOT[0]
|
||||
|
||||
# BLINDSPOTD1/D2 aren't real distances despite the DBC name: verified against 3 real routes, values
|
||||
# fall into 3 clean bands - idle (0), a small transitional-noise band (seen 1-31, rare: single-digit
|
||||
# occurrence counts, present during side/state transitions), and two real zone codes (~46-47 and
|
||||
# ~50-53, consistent across routes and cars - likely mirroring stock BSM's own ADJACENT/APPROACHING
|
||||
# split). A plain nonzero check lets the noise band through as false "occupied" hits; gate on the
|
||||
# real-zone floor instead - comfortably above every noise value seen, comfortably below neither zone code.
|
||||
BLINDSPOT_NOISE_FLOOR = 35
|
||||
|
||||
# DEBUG also carries a 1-bit BLINDSPOT flag (byte 4) that isn't read here. Checked against the same
|
||||
# route: stayed 0 across all frames, including every confirmed real detection - not a usable signal.
|
||||
|
||||
|
||||
class EnhancedBsm:
|
||||
def __init__(self, CP: structs.CarParams, CP_SP: structs.CarParamsSP):
|
||||
self.CP = CP
|
||||
self.CP_SP = CP_SP
|
||||
|
||||
@property
|
||||
def enabled(self):
|
||||
return bool(self.CP_SP.flags & ToyotaFlagsSP.SP_ENHANCED_BSM)
|
||||
|
||||
|
||||
class _BsmSideState:
|
||||
def __init__(self):
|
||||
self.blindspot = False
|
||||
self.counter = 0
|
||||
|
||||
def update(self, distance_1, distance_2):
|
||||
# every fresh matching-side reading directly reflects the current occupancy check - this is not
|
||||
# a latch. A drop to an idle/noise reading on this exact side clears it immediately, same as the
|
||||
# original. The counter is purely a silence timeout for when this side stops responding entirely,
|
||||
# not a "hold the last detection for a while" mechanism.
|
||||
self.blindspot = distance_1 > BLINDSPOT_NOISE_FLOOR or distance_2 > BLINDSPOT_NOISE_FLOOR
|
||||
self.counter = 100
|
||||
|
||||
def decay(self):
|
||||
self.counter = max(0, self.counter - 1)
|
||||
if self.counter == 0:
|
||||
self.blindspot = False
|
||||
|
||||
|
||||
# Enhanced BSM (@arne182, @rav4kumar)
|
||||
class EnhancedBsmCarState(EnhancedBsm):
|
||||
def __init__(self, CP: structs.CarParams, CP_SP: structs.CarParamsSP):
|
||||
super().__init__(CP, CP_SP)
|
||||
|
||||
self._sides = {LEFT_SIDE: _BsmSideState(), RIGHT_SIDE: _BsmSideState()}
|
||||
|
||||
def update(self, cp, frame: int) -> tuple[bool, bool]:
|
||||
# Let's keep all the commented out code for easy debug purposes in the future.
|
||||
distance_1 = cp.vl["DEBUG"].get('BLINDSPOTD1')
|
||||
distance_2 = cp.vl["DEBUG"].get('BLINDSPOTD2')
|
||||
side = cp.vl["DEBUG"].get('BLINDSPOTSIDE')
|
||||
|
||||
if all(val is not None for val in [distance_1, distance_2, side]) and side in self._sides:
|
||||
self._sides[side].update(distance_1, distance_2)
|
||||
|
||||
for side_state in self._sides.values():
|
||||
side_state.decay()
|
||||
|
||||
return self._sides[LEFT_SIDE].blindspot, self._sides[RIGHT_SIDE].blindspot
|
||||
|
||||
|
||||
class _BsmSideController:
|
||||
def __init__(self, addr_byte: bytes):
|
||||
self.addr_byte = addr_byte
|
||||
self.debug_enabled = False
|
||||
self.last_poll_frame = 0
|
||||
|
||||
def update(self, frame: int, poll_phase: int, e_bsm_rate: int, always_on: bool, vego_ok: bool) -> list[CanData]:
|
||||
can_sends = []
|
||||
|
||||
if not self.debug_enabled:
|
||||
if always_on or vego_ok: # eagle eye camera will stop working if bsm is switched on under 6m/s
|
||||
can_sends.append(toyotacan.create_set_bsm_debug_mode(self.addr_byte, True))
|
||||
self.debug_enabled = True
|
||||
self.last_poll_frame = frame # give the poll loop a fresh baseline so the stale-poll disable check below can't fire before the first real poll
|
||||
else:
|
||||
# no periodic re-assert: re-sending DiagnosticSessionControl(extendedSession) while already in that
|
||||
# session appears to make the ECU intermittently drop its own detection state (confirmed against a
|
||||
# real route - two reasserts landed inside an 8s window where the ECU went silent on that side).
|
||||
# send it once and leave it alone, matching the original, proven-stable behavior.
|
||||
if not always_on and frame - self.last_poll_frame > 50:
|
||||
can_sends.append(toyotacan.create_set_bsm_debug_mode(self.addr_byte, False))
|
||||
self.debug_enabled = False
|
||||
|
||||
if frame % e_bsm_rate == poll_phase:
|
||||
can_sends.append(toyotacan.create_bsm_polling_status(self.addr_byte))
|
||||
self.last_poll_frame = frame
|
||||
|
||||
return can_sends
|
||||
|
||||
|
||||
# Enhanced BSM (@arne182, @rav4kumar)
|
||||
class EnhancedBsmCarController(EnhancedBsm):
|
||||
def __init__(self, CP: structs.CarParams, CP_SP: structs.CarParamsSP):
|
||||
super().__init__(CP, CP_SP)
|
||||
|
||||
self._left = _BsmSideController(LEFT_BLINDSPOT)
|
||||
self._right = _BsmSideController(RIGHT_BLINDSPOT)
|
||||
|
||||
def update(self, CS: structs.CarState, frame: int, e_bsm_rate: int = 20, always_on: bool = True) -> list[CanData]:
|
||||
if frame <= 200:
|
||||
return []
|
||||
|
||||
vego_ok = CS.out.vEgo > 6
|
||||
can_sends = self._left.update(frame, 0, e_bsm_rate, always_on, vego_ok)
|
||||
can_sends += self._right.update(frame, e_bsm_rate // 2, e_bsm_rate, always_on, vego_ok)
|
||||
return can_sends
|
||||
@@ -14,6 +14,9 @@ class ToyotaFlagsSP(IntFlag):
|
||||
ZSS = 4
|
||||
STOCK_LONGITUDINAL = 8
|
||||
STOP_AND_GO_HACK = 16
|
||||
SP_ENHANCED_BSM = 32
|
||||
SP_NEED_DEBUG_BSM = 64
|
||||
SP_AUTO_BRAKE_HOLD = 128
|
||||
|
||||
|
||||
class ToyotaSafetyFlagsSP:
|
||||
|
||||
-45
@@ -1,45 +0,0 @@
|
||||
name: jenkins scan
|
||||
|
||||
on:
|
||||
issue_comment:
|
||||
types: [created, edited]
|
||||
|
||||
jobs:
|
||||
# TODO: gc old branches in a separate job in this workflow
|
||||
scan-comments:
|
||||
runs-on: ubuntu-latest
|
||||
if: ${{ github.event.issue.pull_request }}
|
||||
steps:
|
||||
- name: Check for trigger phrase
|
||||
id: check_comment
|
||||
uses: actions/github-script@v7
|
||||
with:
|
||||
script: |
|
||||
const triggerPhrase = "trigger-jenkins";
|
||||
const comment = context.payload.comment.body;
|
||||
const commenter = context.payload.comment.user.login;
|
||||
|
||||
const { data: permissions } = await github.rest.repos.getCollaboratorPermissionLevel({
|
||||
owner: context.repo.owner,
|
||||
repo: context.repo.repo,
|
||||
username: commenter
|
||||
});
|
||||
|
||||
const hasWriteAccess = permissions.permission === 'write' || permissions.permission === 'admin';
|
||||
|
||||
return (hasWriteAccess && comment.includes(triggerPhrase));
|
||||
result-encoding: json
|
||||
|
||||
- name: Checkout repository
|
||||
if: steps.check_comment.outputs.result == 'true'
|
||||
uses: actions/checkout@v4
|
||||
with:
|
||||
ref: refs/pull/${{ github.event.issue.number }}/head
|
||||
|
||||
- name: Push to tmp-jenkins branch
|
||||
if: steps.check_comment.outputs.result == 'true'
|
||||
run: |
|
||||
git config --global user.name "github-actions[bot]"
|
||||
git config --global user.email "github-actions[bot]@users.noreply.github.com"
|
||||
git checkout -b tmp-jenkins-${{ github.event.issue.number }}
|
||||
GIT_LFS_SKIP_PUSH=1 git push -f origin tmp-jenkins-${{ github.event.issue.number }}
|
||||
Vendored
-56
@@ -1,56 +0,0 @@
|
||||
name: tests
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- master
|
||||
pull_request:
|
||||
|
||||
concurrency:
|
||||
group: ${{ github.workflow }}-${{ github.ref != 'refs/heads/master' && github.ref || github.run_id }}-${{ github.event_name }}
|
||||
cancel-in-progress: true
|
||||
|
||||
env:
|
||||
RUN: source .venv/bin/activate && /bin/bash -c
|
||||
|
||||
jobs:
|
||||
build:
|
||||
name: build
|
||||
runs-on: ubuntu-latest
|
||||
timeout-minutes: 10
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
- run: ./setup.sh
|
||||
- name: Test python package installer
|
||||
run: ${{ env.RUN }} "pip install --break-system-packages .[dev]"
|
||||
- name: Build debug FW
|
||||
run: ${{ env.RUN }} "scons"
|
||||
- name: Build release FW
|
||||
run: ${{ env.RUN }} "CERT=board/certs/debug RELEASE=1 scons"
|
||||
|
||||
test:
|
||||
name: ./test.sh
|
||||
runs-on: ${{ matrix.os }}
|
||||
strategy:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
os: ['macos-latest', 'ubuntu-latest']
|
||||
timeout-minutes: 10
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
- run: ./test.sh
|
||||
|
||||
windows:
|
||||
name: windows pip package test
|
||||
runs-on: windows-latest
|
||||
timeout-minutes: 10
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
- uses: actions/setup-python@v5
|
||||
with:
|
||||
python-version: "3.12"
|
||||
- uses: astral-sh/setup-uv@v5
|
||||
- name: Install package with uv
|
||||
run: uv pip install --system .
|
||||
- name: Verify importing panda
|
||||
run: python -c "from panda import Panda"
|
||||
Vendored
-139
@@ -1,139 +0,0 @@
|
||||
def docker_run(String step_label, int timeout_mins, String cmd) {
|
||||
timeout(time: timeout_mins, unit: 'MINUTES') {
|
||||
sh script: "docker run --rm --privileged \
|
||||
--env PYTHONWARNINGS=error \
|
||||
--volume /dev/bus/usb:/dev/bus/usb \
|
||||
--volume /var/run/dbus:/var/run/dbus \
|
||||
--net host \
|
||||
${env.DOCKER_IMAGE_TAG} \
|
||||
bash -c 'scons && ${cmd}'", \
|
||||
label: step_label
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
def phone(String ip, String step_label, String cmd) {
|
||||
withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) {
|
||||
def ssh_cmd = """
|
||||
ssh -tt -o StrictHostKeyChecking=no -o ConnectTimeout=30 -o ConnectionAttempts=3 -o ServerAliveInterval=10 -o ServerAliveCountMax=3 -i ${key_file} 'comma@${ip}' /usr/bin/bash <<'END'
|
||||
|
||||
set -e
|
||||
|
||||
|
||||
source ~/.bash_profile
|
||||
if [ -f /etc/profile ]; then
|
||||
source /etc/profile
|
||||
fi
|
||||
|
||||
export CI=1
|
||||
export TEST_DIR=${env.TEST_DIR}
|
||||
export SOURCE_DIR=${env.SOURCE_DIR}
|
||||
export GIT_BRANCH=${env.GIT_BRANCH}
|
||||
export GIT_COMMIT=${env.GIT_COMMIT}
|
||||
export PYTHONPATH=${env.TEST_DIR}/../
|
||||
export PYTHONWARNINGS=error
|
||||
export LOGLEVEL=debug
|
||||
ln -sf /data/openpilot/opendbc_repo/opendbc /data/opendbc
|
||||
|
||||
# TODO: this is an agnos issue
|
||||
export PYTEST_ADDOPTS="-p no:asyncio"
|
||||
|
||||
cd ${env.TEST_DIR} || true
|
||||
${cmd}
|
||||
exit 0
|
||||
|
||||
END"""
|
||||
|
||||
sh script: ssh_cmd, label: step_label
|
||||
}
|
||||
}
|
||||
|
||||
def phone_steps(String device_type, steps) {
|
||||
lock(resource: "", label: device_type, inversePrecedence: true, variable: 'device_ip', quantity: 1) {
|
||||
timeout(time: 20, unit: 'MINUTES') {
|
||||
retry (3) {
|
||||
def date = sh(script: 'date', returnStdout: true).trim()
|
||||
phone(device_ip, "set time", "date -s '${date}'")
|
||||
phone(device_ip, "git checkout", readFile("tests/setup_device_ci.sh"))
|
||||
}
|
||||
steps.each { item ->
|
||||
phone(device_ip, item[0], item[1])
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
pipeline {
|
||||
agent any
|
||||
environment {
|
||||
CI = "1"
|
||||
PYTHONWARNINGS= "error"
|
||||
DOCKER_IMAGE_TAG = "panda:build-${env.GIT_COMMIT}"
|
||||
|
||||
TEST_DIR = "/data/panda"
|
||||
SOURCE_DIR = "/data/panda_source/"
|
||||
}
|
||||
options {
|
||||
timeout(time: 3, unit: 'HOURS')
|
||||
disableConcurrentBuilds(abortPrevious: env.BRANCH_NAME != 'master')
|
||||
}
|
||||
|
||||
stages {
|
||||
stage ('Acquire resource locks') {
|
||||
options {
|
||||
lock(resource: "pandas")
|
||||
}
|
||||
stages {
|
||||
stage('Build Docker Image') {
|
||||
steps {
|
||||
timeout(time: 20, unit: 'MINUTES') {
|
||||
script {
|
||||
dockerImage = docker.build("${env.DOCKER_IMAGE_TAG}", "--build-arg CACHEBUST=${env.GIT_COMMIT} .")
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
stage('jungle tests') {
|
||||
steps {
|
||||
script {
|
||||
retry (3) {
|
||||
docker_run("reset hardware", 3, "python3 ./tests/hitl/reset_jungles.py")
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
stage('parallel tests') {
|
||||
parallel {
|
||||
stage('test cuatro') {
|
||||
agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
|
||||
steps {
|
||||
phone_steps("panda-cuatro", [
|
||||
["build", "scons"],
|
||||
["flash", "cd scripts/ && ./reflash_internal_panda.py"],
|
||||
["flash jungle", "cd board/jungle && ./flash.py --all"],
|
||||
["test", "cd tests/hitl && pytest -o 'addopts=' --durations=0 2*.py [5-9]*.py"],
|
||||
])
|
||||
}
|
||||
}
|
||||
|
||||
stage('test tres') {
|
||||
agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
|
||||
steps {
|
||||
phone_steps("panda-tres", [
|
||||
["build", "scons"],
|
||||
["flash", "cd scripts/ && ./reflash_internal_panda.py"],
|
||||
["flash jungle", "cd board/jungle && ./flash.py --all"],
|
||||
["test", "cd tests/hitl && pytest -o 'addopts=' --durations=0 2*.py [5-9]*.py"],
|
||||
])
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -1,176 +0,0 @@
|
||||
import os
|
||||
import hashlib
|
||||
import opendbc
|
||||
import subprocess
|
||||
|
||||
PREFIX = "arm-none-eabi-"
|
||||
BUILDER = "DEV"
|
||||
|
||||
common_flags = []
|
||||
|
||||
if os.getenv("RELEASE"):
|
||||
BUILD_TYPE = "RELEASE"
|
||||
cert_fn = os.getenv("CERT")
|
||||
assert cert_fn is not None, 'No certificate file specified. Please set CERT env variable'
|
||||
assert os.path.exists(cert_fn), 'Certificate file not found. Please specify absolute path'
|
||||
else:
|
||||
BUILD_TYPE = "DEBUG"
|
||||
cert_fn = File("./board/certs/debug").srcnode().relpath
|
||||
common_flags += ["-DALLOW_DEBUG"]
|
||||
|
||||
if os.getenv("DEBUG"):
|
||||
common_flags += ["-DDEBUG"]
|
||||
|
||||
def objcopy(source, target, env, for_signature):
|
||||
return '$OBJCOPY -O binary %s %s' % (source[0], target[0])
|
||||
|
||||
def get_version(builder, build_type):
|
||||
try:
|
||||
git = subprocess.check_output(["git", "rev-parse", "--short=8", "HEAD"], encoding='utf8').strip()
|
||||
except subprocess.CalledProcessError:
|
||||
git = "unknown"
|
||||
return f"{builder}-{git}-{build_type}"
|
||||
|
||||
def get_key_header(name):
|
||||
from Crypto.PublicKey import RSA
|
||||
|
||||
public_fn = File(f'./board/certs/{name}.pub').srcnode().get_path()
|
||||
with open(public_fn) as f:
|
||||
rsa = RSA.importKey(f.read())
|
||||
assert(rsa.size_in_bits() == 1024)
|
||||
|
||||
rr = pow(2**1024, 2, rsa.n)
|
||||
n0inv = 2**32 - pow(rsa.n, -1, 2**32)
|
||||
|
||||
r = [
|
||||
f"RSAPublicKey {name}_rsa_key = {{",
|
||||
f" .len = 0x20,",
|
||||
f" .n0inv = {n0inv}U,",
|
||||
f" .n = {to_c_uint32(rsa.n)},",
|
||||
f" .rr = {to_c_uint32(rr)},",
|
||||
f" .exponent = {rsa.e},",
|
||||
f"}};",
|
||||
]
|
||||
return r
|
||||
|
||||
def to_c_uint32(x):
|
||||
nums = []
|
||||
for _ in range(0x20):
|
||||
nums.append(x % (2**32))
|
||||
x //= (2**32)
|
||||
return "{" + 'U,'.join(map(str, nums)) + "U}"
|
||||
|
||||
|
||||
def build_project(project_name, project, main, extra_flags):
|
||||
project_dir = Dir(f'./board/obj/{project_name}/')
|
||||
|
||||
flags = project["FLAGS"] + extra_flags + common_flags + [
|
||||
"-Wall",
|
||||
"-Wextra",
|
||||
"-Wstrict-prototypes",
|
||||
"-Werror",
|
||||
"-mlittle-endian",
|
||||
"-mthumb",
|
||||
"-nostdlib",
|
||||
"-fno-builtin",
|
||||
"-std=gnu11",
|
||||
"-fmax-errors=1",
|
||||
f"-T{File(project['LINKER_SCRIPT']).srcnode().relpath}",
|
||||
"-fsingle-precision-constant",
|
||||
"-Os",
|
||||
"-g",
|
||||
]
|
||||
|
||||
env = Environment(
|
||||
ENV=os.environ,
|
||||
CC=PREFIX + 'gcc',
|
||||
AS=PREFIX + 'gcc',
|
||||
OBJCOPY=PREFIX + 'objcopy',
|
||||
OBJDUMP=PREFIX + 'objdump',
|
||||
OBJPREFIX=project_dir,
|
||||
CFLAGS=flags,
|
||||
ASFLAGS=flags,
|
||||
LINKFLAGS=flags,
|
||||
CPPPATH=[Dir("./"), "./board/stm32h7/inc", opendbc.INCLUDE_PATH],
|
||||
ASCOM="$AS $ASFLAGS -o $TARGET -c $SOURCES",
|
||||
BUILDERS={
|
||||
'Objcopy': Builder(generator=objcopy, suffix='.bin', src_suffix='.elf')
|
||||
},
|
||||
tools=["default", "compilation_db"],
|
||||
)
|
||||
|
||||
startup = env.Object(project["STARTUP_FILE"])
|
||||
|
||||
# Build bootstub
|
||||
bs_env = env.Clone()
|
||||
bs_env.Append(CFLAGS="-DBOOTSTUB", ASFLAGS="-DBOOTSTUB", LINKFLAGS="-DBOOTSTUB")
|
||||
bs_elf = bs_env.Program(f"{project_dir}/bootstub.elf", [
|
||||
startup,
|
||||
"./board/crypto/rsa.c",
|
||||
"./board/crypto/sha.c",
|
||||
"./board/bootstub.c",
|
||||
])
|
||||
bs_env.Objcopy(f"./board/obj/bootstub.{project_name}.bin", bs_elf)
|
||||
|
||||
# Build + sign main (aka app)
|
||||
main_elf = env.Program(f"{project_dir}/main.elf", [
|
||||
startup,
|
||||
main
|
||||
], LINKFLAGS=[f"-Wl,--section-start,.isr_vector={project['APP_START_ADDRESS']}"] + flags)
|
||||
main_bin = env.Objcopy(f"{project_dir}/main.bin", main_elf)
|
||||
sign_py = File(f"./board/crypto/sign.py").srcnode().relpath
|
||||
env.Command(f"./board/obj/{project_name}.bin.signed", main_bin, f"SETLEN=1 {sign_py} $SOURCE $TARGET {cert_fn}")
|
||||
|
||||
|
||||
|
||||
base_project_h7 = {
|
||||
"STARTUP_FILE": "./board/stm32h7/startup_stm32h7x5xx.s",
|
||||
"LINKER_SCRIPT": "./board/stm32h7/stm32h7x5_flash.ld",
|
||||
"APP_START_ADDRESS": "0x8020000",
|
||||
"FLAGS": [
|
||||
"-mcpu=cortex-m7",
|
||||
"-mhard-float",
|
||||
"-DSTM32H7",
|
||||
"-DSTM32H725xx",
|
||||
"-Iboard/stm32h7/inc",
|
||||
"-mfpu=fpv5-d16",
|
||||
],
|
||||
}
|
||||
|
||||
# Common autogenerated includes
|
||||
with open("board/obj/gitversion.h", "w") as f:
|
||||
version = get_version(BUILDER, BUILD_TYPE)
|
||||
f.write(f'extern const uint8_t gitversion[{len(version)+1}];\n')
|
||||
f.write(f'const uint8_t gitversion[{len(version)+1}] = "{version}";\n')
|
||||
|
||||
with open("board/obj/version", "w") as f:
|
||||
f.write(f'{get_version(BUILDER, BUILD_TYPE)}')
|
||||
|
||||
certs = [get_key_header(n) for n in ["debug", "release"]]
|
||||
with open("board/obj/cert.h", "w") as f:
|
||||
for cert in certs:
|
||||
f.write("\n".join(cert) + "\n")
|
||||
|
||||
# Packet version defines: SHA hash of the struct header files
|
||||
def version_hash(path):
|
||||
with open(path, "rb") as f:
|
||||
# Normalize line endings on Windows
|
||||
return int.from_bytes(hashlib.sha256(f.read().replace(b'\r', b'')).digest()[:4], 'little')
|
||||
hh, ch, jh = version_hash("board/health.h"), version_hash(os.path.join(opendbc.INCLUDE_PATH, "opendbc/safety/can.h")), version_hash("board/jungle/jungle_health.h")
|
||||
common_flags += [f"-DHEALTH_PACKET_VERSION=0x{hh:08X}U", f"-DCAN_PACKET_VERSION_HASH=0x{ch:08X}U",
|
||||
f"-DJUNGLE_HEALTH_PACKET_VERSION=0x{jh:08X}U"]
|
||||
|
||||
# panda fw
|
||||
build_project("panda_h7", base_project_h7, "./board/main.c", [])
|
||||
|
||||
# panda jungle fw
|
||||
flags = [
|
||||
"-DPANDA_JUNGLE",
|
||||
]
|
||||
build_project("panda_jungle_h7", base_project_h7, "./board/jungle/main.c", flags)
|
||||
|
||||
# body fw
|
||||
build_project("body_h7", base_project_h7, "./board/body/main.c", ["-DPANDA_BODY"])
|
||||
|
||||
# test files
|
||||
SConscript('tests/libpanda/SConscript')
|
||||
@@ -1,13 +0,0 @@
|
||||
import os
|
||||
|
||||
env = Environment(
|
||||
COMPILATIONDB_USE_ABSPATH=True,
|
||||
tools=["default", "compilation_db"],
|
||||
)
|
||||
|
||||
SetOption('num_jobs', max(1, int((os.cpu_count() or 1)-1)))
|
||||
|
||||
env.CompilationDatabase("compile_commands.json")
|
||||
|
||||
# panda fw & test files
|
||||
SConscript('SConscript')
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
@@ -0,0 +1,115 @@
|
||||
Metadata-Version: 2.4
|
||||
Name: pandacan
|
||||
Version: 0.0.10
|
||||
Summary: Code powering the comma.ai panda
|
||||
Author: comma.ai
|
||||
License: MIT
|
||||
Classifier: Natural Language :: English
|
||||
Classifier: Programming Language :: Python :: 3
|
||||
Classifier: Topic :: System :: Hardware
|
||||
Requires-Python: <3.13,>=3.11
|
||||
Description-Content-Type: text/markdown
|
||||
License-File: LICENSE
|
||||
License-File: LICENSE.md
|
||||
Requires-Dist: libusb1
|
||||
Requires-Dist: libusb-package
|
||||
Requires-Dist: opendbc @ git+https://github.com/sunnypilot/opendbc.git@master#egg=opendbc
|
||||
Requires-Dist: spidev; platform_system == "Linux"
|
||||
Provides-Extra: dev
|
||||
Requires-Dist: scons; extra == "dev"
|
||||
Requires-Dist: pycryptodome>=3.9.8; extra == "dev"
|
||||
Requires-Dist: cffi; extra == "dev"
|
||||
Requires-Dist: flaky; extra == "dev"
|
||||
Requires-Dist: pytest; extra == "dev"
|
||||
Requires-Dist: pytest-xdist; extra == "dev"
|
||||
Requires-Dist: pytest-mock; extra == "dev"
|
||||
Requires-Dist: pytest-timeout; extra == "dev"
|
||||
Requires-Dist: ruff; extra == "dev"
|
||||
Requires-Dist: setuptools; extra == "dev"
|
||||
Requires-Dist: gcc-arm-none-eabi @ git+https://github.com/commaai/dependencies.git@release-gcc-arm-none-eabi#subdirectory=gcc-arm-none-eabi ; extra == "dev"
|
||||
Requires-Dist: cppcheck @ git+https://github.com/commaai/dependencies.git@release-cppcheck#subdirectory=cppcheck ; extra == "dev"
|
||||
Dynamic: license-file
|
||||
|
||||
# Welcome to panda
|
||||
|
||||
panda speaks CAN and CAN FD, and it runs on the [STM32H725](https://www.st.com/resource/en/reference_manual/rm0468-stm32h723733-stm32h725735-and-stm32h730-value-line-advanced-armbased-32bit-mcus-stmicroelectronics.pdf).
|
||||
|
||||
## Directory structure
|
||||
|
||||
```
|
||||
.
|
||||
├── board # Code that runs on the STM32
|
||||
├── python # Python userspace library for interfacing with the panda
|
||||
├── tests # Tests for panda
|
||||
├── scripts # Miscellaneous used for panda development and debugging
|
||||
├── examples # Example scripts for using a panda in a car
|
||||
```
|
||||
|
||||
## Safety Model
|
||||
|
||||
panda is compiled with vehicle-specific safety logic provided by [opendbc](https://github.com/commaai/opendbc). See details about the car safety models, safety testing, and code rigor in that repository.
|
||||
|
||||
## Code Rigor
|
||||
|
||||
The panda firmware is written for its use in conjunction with [openpilot](https://github.com/commaai/openpilot). The panda firmware, through its safety model, provides and enforces the
|
||||
[openpilot safety](https://github.com/commaai/openpilot/blob/master/docs/SAFETY.md). Due to its critical function, it's important that the application code rigor within the `board` folder is held to high standards.
|
||||
|
||||
These are the [CI regression tests](https://github.com/commaai/panda/actions) we have in place:
|
||||
* A generic static code analysis is performed by [cppcheck](https://github.com/danmar/cppcheck/).
|
||||
* In addition, [cppcheck](https://github.com/danmar/cppcheck/) has a specific addon to check for [MISRA C:2012](https://misra.org.uk/) violations. See [current coverage](https://github.com/commaai/panda/blob/master/tests/misra/coverage_table).
|
||||
* Compiler options are strict: the flags `-Wall -Wextra -Wstrict-prototypes -Werror` are enforced.
|
||||
* The [safety logic](https://github.com/commaai/panda/tree/master/opendbc/safety) is tested and verified by [unit tests](https://github.com/commaai/panda/tree/master/opendbc/safety/tests) for each supported car variant to ensure that the behavior remains unchanged.
|
||||
* A hardware-in-the-loop test verifies panda's functionalities on all active panda variants, including:
|
||||
* additional safety model checks
|
||||
* compiling and flashing the bootstub and app code
|
||||
* receiving, sending, and forwarding CAN messages on all buses
|
||||
* CAN loopback and latency tests through SPI
|
||||
|
||||
The above tests are themselves tested by:
|
||||
* a [mutation test](tests/misra/test_mutation.py) on the MISRA coverage
|
||||
* a [mutation test]([tests/misra/test_mutation.py](https://github.com/commaai/opendbc/blob/master/opendbc/safety/tests/mutation.sh)) on the vehicle-specific safety logic
|
||||
|
||||
## Usage
|
||||
|
||||
```bash
|
||||
git clone https://github.com/commaai/panda.git
|
||||
cd panda
|
||||
|
||||
# setup your environment
|
||||
./setup.sh
|
||||
|
||||
# build fw + run the tests
|
||||
./test.sh
|
||||
```
|
||||
|
||||
See [the Panda class](https://github.com/commaai/panda/blob/master/python/__init__.py) for how to interact with the panda.
|
||||
|
||||
For example, to receive CAN messages:
|
||||
``` python
|
||||
>>> from panda import Panda
|
||||
>>> panda = Panda()
|
||||
>>> panda.can_recv()
|
||||
```
|
||||
And to send one on bus 0:
|
||||
``` python
|
||||
>>> from opendbc.car.structs import CarParams
|
||||
>>> panda.set_safety_mode(CarParams.SafetyModel.allOutput)
|
||||
>>> panda.can_send(0x1aa, b'message', 0)
|
||||
```
|
||||
Note that you may have to setup [udev rules](https://github.com/commaai/panda/tree/master/drivers/linux) for Linux, such as
|
||||
``` bash
|
||||
sudo tee /etc/udev/rules.d/11-panda.rules <<EOF
|
||||
SUBSYSTEM=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="df11", MODE="0666"
|
||||
SUBSYSTEM=="usb", ATTRS{idVendor}=="3801", ATTRS{idProduct}=="ddcc", MODE="0666"
|
||||
SUBSYSTEM=="usb", ATTRS{idVendor}=="3801", ATTRS{idProduct}=="ddee", MODE="0666"
|
||||
SUBSYSTEM=="usb", ATTRS{idVendor}=="bbaa", ATTRS{idProduct}=="ddcc", MODE="0666"
|
||||
SUBSYSTEM=="usb", ATTRS{idVendor}=="bbaa", ATTRS{idProduct}=="ddee", MODE="0666"
|
||||
EOF
|
||||
sudo udevadm control --reload-rules && sudo udevadm trigger
|
||||
```
|
||||
|
||||
The panda jungle uses different udev rules. See [the repo](https://github.com/commaai/panda_jungle#udev-rules) for instructions.
|
||||
|
||||
## Licensing
|
||||
|
||||
panda software is released under the MIT license unless otherwise specified.
|
||||
@@ -0,0 +1,49 @@
|
||||
LICENSE
|
||||
LICENSE.md
|
||||
README.md
|
||||
__init__.py
|
||||
pyproject.toml
|
||||
./__init__.py
|
||||
./board/__init__.py
|
||||
./board/flash.py
|
||||
./board/health.h
|
||||
./board/recover.py
|
||||
./board/body/__init__.py
|
||||
./board/body/flash.py
|
||||
./board/jungle/__init__.py
|
||||
./board/jungle/flash.py
|
||||
./board/jungle/jungle_health.h
|
||||
./board/jungle/recover.py
|
||||
./python/__init__.py
|
||||
./python/base.py
|
||||
./python/constants.py
|
||||
./python/dfu.py
|
||||
./python/serial.py
|
||||
./python/socketpanda.py
|
||||
./python/spi.py
|
||||
./python/usb.py
|
||||
./python/utils.py
|
||||
board/__init__.py
|
||||
board/flash.py
|
||||
board/health.h
|
||||
board/recover.py
|
||||
board/body/__init__.py
|
||||
board/body/flash.py
|
||||
board/jungle/__init__.py
|
||||
board/jungle/flash.py
|
||||
board/jungle/jungle_health.h
|
||||
board/jungle/recover.py
|
||||
pandacan.egg-info/PKG-INFO
|
||||
pandacan.egg-info/SOURCES.txt
|
||||
pandacan.egg-info/dependency_links.txt
|
||||
pandacan.egg-info/requires.txt
|
||||
pandacan.egg-info/top_level.txt
|
||||
python/__init__.py
|
||||
python/base.py
|
||||
python/constants.py
|
||||
python/dfu.py
|
||||
python/serial.py
|
||||
python/socketpanda.py
|
||||
python/spi.py
|
||||
python/usb.py
|
||||
python/utils.py
|
||||
@@ -0,0 +1 @@
|
||||
|
||||
@@ -0,0 +1,20 @@
|
||||
libusb1
|
||||
libusb-package
|
||||
opendbc @ git+https://github.com/sunnypilot/opendbc.git@master#egg=opendbc
|
||||
|
||||
[:platform_system == "Linux"]
|
||||
spidev
|
||||
|
||||
[dev]
|
||||
scons
|
||||
pycryptodome>=3.9.8
|
||||
cffi
|
||||
flaky
|
||||
pytest
|
||||
pytest-xdist
|
||||
pytest-mock
|
||||
pytest-timeout
|
||||
ruff
|
||||
setuptools
|
||||
gcc-arm-none-eabi @ git+https://github.com/commaai/dependencies.git@release-gcc-arm-none-eabi#subdirectory=gcc-arm-none-eabi
|
||||
cppcheck @ git+https://github.com/commaai/dependencies.git@release-cppcheck#subdirectory=cppcheck
|
||||
@@ -0,0 +1 @@
|
||||
panda
|
||||
@@ -1,15 +0,0 @@
|
||||
import opendbc
|
||||
|
||||
env = Environment(
|
||||
CFLAGS=[
|
||||
'-nostdlib',
|
||||
'-fno-builtin',
|
||||
'-std=gnu11',
|
||||
'-Wfatal-errors',
|
||||
'-Wno-pointer-to-int-cast',
|
||||
],
|
||||
CPPPATH=[".", "../../", "../../board/", opendbc.INCLUDE_PATH],
|
||||
)
|
||||
|
||||
panda = env.SharedObject("panda.os", "panda.c")
|
||||
libpanda = env.SharedLibrary("libpanda.so", [panda])
|
||||
Binary file not shown.
-34
@@ -1,34 +0,0 @@
|
||||
name: tests
|
||||
|
||||
on: [push, pull_request]
|
||||
|
||||
env:
|
||||
REGISTRY: ghcr.io/commaai
|
||||
BUILD: docker buildx build --pull --load --cache-to type=inline --cache-from $REGISTRY/rednose:latest -t rednose -f Dockerfile .
|
||||
RUN: docker run rednose bash -c
|
||||
|
||||
jobs:
|
||||
test:
|
||||
runs-on: ubuntu-latest
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
- name: Build docker image
|
||||
run: eval ${{ env.BUILD }}
|
||||
- name: Static analysis
|
||||
run: ${{ env.RUN }} "git init && git add -A && pre-commit run --all"
|
||||
- name: Unit Tests
|
||||
run: ${{ env.RUN }} "pytest"
|
||||
|
||||
docker_push:
|
||||
name: docker push
|
||||
runs-on: ubuntu-latest
|
||||
if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/rednose'
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
- name: Build Docker image
|
||||
run: eval ${{ env.BUILD }}
|
||||
- name: Push to dockerhub
|
||||
run: |
|
||||
docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
|
||||
docker tag rednose ${{ env.REGISTRY }}/rednose:latest
|
||||
docker push ${{ env.REGISTRY }}/rednose:latest
|
||||
@@ -1,57 +0,0 @@
|
||||
import os
|
||||
import subprocess
|
||||
import sysconfig
|
||||
import numpy as np
|
||||
|
||||
arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
|
||||
|
||||
common = ''
|
||||
|
||||
python_path = sysconfig.get_paths()['include']
|
||||
cpppath = [
|
||||
'#',
|
||||
'#rednose',
|
||||
'#rednose/examples/generated',
|
||||
'/usr/lib/include',
|
||||
python_path,
|
||||
np.get_include(),
|
||||
]
|
||||
|
||||
env = Environment(
|
||||
ENV=os.environ,
|
||||
CCFLAGS=[
|
||||
"-g",
|
||||
"-fPIC",
|
||||
"-O2",
|
||||
"-Werror=implicit-function-declaration",
|
||||
"-Werror=incompatible-pointer-types",
|
||||
"-Werror=int-conversion",
|
||||
"-Werror=return-type",
|
||||
"-Werror=format-extra-args",
|
||||
"-Wshadow",
|
||||
],
|
||||
LIBPATH=["#rednose/examples/generated"],
|
||||
CFLAGS="-std=gnu11",
|
||||
CXXFLAGS="-std=c++1z",
|
||||
CPPPATH=cpppath,
|
||||
REDNOSE_ROOT=Dir("#").abspath,
|
||||
tools=["default", "cython", "rednose_filter"],
|
||||
)
|
||||
|
||||
# Cython build enviroment
|
||||
envCython = env.Clone()
|
||||
envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-cpp", "-Wno-shadow", "-Wno-deprecated-declarations"]
|
||||
|
||||
envCython["LIBS"] = []
|
||||
if arch == "Darwin":
|
||||
envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"]
|
||||
elif arch == "aarch64":
|
||||
envCython["LINKFLAGS"] = ["-shared"]
|
||||
envCython["LIBS"] = [os.path.basename(python_path)]
|
||||
else:
|
||||
envCython["LINKFLAGS"] = ["-pthread", "-shared"]
|
||||
|
||||
Export('env', 'envCython', 'common')
|
||||
|
||||
SConscript(['#rednose/SConscript'])
|
||||
SConscript(['#examples/SConscript'])
|
||||
@@ -1,19 +0,0 @@
|
||||
Import('env')
|
||||
|
||||
gen_dir = Dir('generated/').abspath
|
||||
|
||||
env.RednoseCompileFilter(
|
||||
target="live",
|
||||
filter_gen_script="live_kf.py",
|
||||
output_dir=gen_dir,
|
||||
)
|
||||
env.RednoseCompileFilter(
|
||||
target="kinematic",
|
||||
filter_gen_script="kinematic_kf.py",
|
||||
output_dir=gen_dir,
|
||||
)
|
||||
env.RednoseCompileFilter(
|
||||
target="compare",
|
||||
filter_gen_script="test_compare.py",
|
||||
output_dir=gen_dir,
|
||||
)
|
||||
@@ -0,0 +1,73 @@
|
||||
Metadata-Version: 2.4
|
||||
Name: rednose
|
||||
Version: 0.0.1
|
||||
Summary: Kalman filter library
|
||||
Author: comma.ai
|
||||
License: MIT
|
||||
Requires-Python: >=3.12
|
||||
Description-Content-Type: text/markdown
|
||||
License-File: LICENSE
|
||||
Requires-Dist: numpy
|
||||
Requires-Dist: cffi
|
||||
Requires-Dist: sympy
|
||||
Requires-Dist: comma-deps-eigen
|
||||
Requires-Dist: Cython
|
||||
Requires-Dist: scons
|
||||
Requires-Dist: setuptools
|
||||
Provides-Extra: dev
|
||||
Requires-Dist: scipy; extra == "dev"
|
||||
Requires-Dist: ruff; extra == "dev"
|
||||
Requires-Dist: ty; extra == "dev"
|
||||
Dynamic: license-file
|
||||
|
||||
## Introduction
|
||||
The kalman filter framework described here is an incredibly powerful tool for any optimization problem,
|
||||
but particularly for visual odometry, sensor fusion localization or SLAM. It is designed to provide very
|
||||
accurate results, work online or offline, be fairly computationally efficient, be easy to design filters with in
|
||||
python.
|
||||
|
||||
|
||||
|
||||
|
||||
## Feature walkthrough
|
||||
|
||||
### Extended Kalman Filter with symbolic Jacobian computation
|
||||
Most dynamic systems can be described as a Hidden Markov Process. To estimate the state of such a system with noisy
|
||||
measurements one can use a Recursive Bayesian estimator. For a linear Markov Process a regular linear Kalman filter is optimal.
|
||||
Unfortunately, a lot of systems are non-linear. Extended Kalman Filters can model systems by linearizing the non-linear
|
||||
system at every step, this provides a close to optimal estimator when the linearization is good enough. If the linearization
|
||||
introduces too much noise, one can use an Iterated Extended Kalman Filter, Unscented Kalman Filter or a Particle Filter. For
|
||||
most applications those estimators are overkill. They add a lot of complexity and require a lot of additional compute.
|
||||
|
||||
Conventionally Extended Kalman Filters are implemented by writing the system's dynamic equations and then manually symbolically
|
||||
calculating the Jacobians for the linearization. For complex systems this is time consuming and very prone to calculation errors.
|
||||
This library symbolically computes the Jacobians using sympy to simplify the system's definition and remove the possibility of introducing calculation errors.
|
||||
|
||||
### Error State Kalman Filter
|
||||
3D localization algorithms usually also require estimating orientation of an object in 3D. Orientation is generally represented
|
||||
with euler angles or quaternions.
|
||||
|
||||
Euler angles have several problems, there are multiple ways to represent the same orientation,
|
||||
gimbal lock can cause the loss of a degree of freedom and lastly their behaviour is very non-linear when errors are large.
|
||||
Quaternions with one strictly positive dimension don't suffer from these issues, but have another set of problems.
|
||||
Quaternions need to be normalized otherwise they will grow unbounded, but this cannot be cleanly enforced in a kalman filter.
|
||||
Most importantly though a quaternion has 4 dimensions, but only represents 3 degrees of freedom, so there is one redundant dimension.
|
||||
|
||||
Kalman filters are designed to minimize the error of the system's state. It is possible to have a kalman filter where state and the error of the state are represented in a different space. As long as there is an error function that can compute the error based on the true state and estimated state. It is problematic to have redundant dimensions in the error of the kalman filter, but not in the state. A good compromise then, is to use the quaternion to represent the system's attitude state and use euler angles to describe the error in attitude. This library supports and defining an arbitrary error that is in a different space than the state. [Joan Solà](https://arxiv.org/abs/1711.02508) has written a comprehensive description of using ESKFs for robust 3D orientation estimation.
|
||||
|
||||
### Multi-State Constraint Kalman Filter
|
||||
How do you integrate feature-based visual odometry with a Kalman filter? The problem is that one cannot write an observation equation for 2D feature observations in image space for a localization kalman filter. One needs to give the feature observation a depth so it has a 3D position, then one can write an obvervation equation in the kalman filter. This is possible by tracking the feature across frames and then estimating the depth. However, the solution is not that simple, the depth estimated by tracking the feature across frames depends on the location of the camera at those frames, and thus the state of the kalman filter. This creates a positive feedback loop where the kalman filter wrongly gains confidence in it's position because the feature position updates reinforce it.
|
||||
|
||||
The solution is to use an [MSCKF](http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.437.1085&rep=rep1&type=pdf), which this library fully supports.
|
||||
|
||||
### Rauch–Tung–Striebel smoothing
|
||||
When doing offline estimation with a kalman filter there can be an initialization period where states are badly estimated.
|
||||
Global estimators don't suffer from this, to make our kalman filter competitive with global optimizers we can run the filter
|
||||
backwards using an RTS smoother. Those combined with potentially multiple forward and backwards passes of the data should make
|
||||
performance very close to global optimization.
|
||||
|
||||
### Mahalanobis distance outlier rejector
|
||||
A lot of measurements do not come from a Gaussian distribution and as such have outliers that do not fit the statistical model
|
||||
of the Kalman filter. This can cause a lot of performance issues if not dealt with. This library allows the use of a mahalanobis
|
||||
distance statistical test on the incoming measurements to deal with this. Note that good initialization is critical to prevent
|
||||
good measurements from being rejected.
|
||||
@@ -0,0 +1,18 @@
|
||||
LICENSE
|
||||
README.md
|
||||
pyproject.toml
|
||||
rednose/__init__.py
|
||||
rednose.egg-info/PKG-INFO
|
||||
rednose.egg-info/SOURCES.txt
|
||||
rednose.egg-info/dependency_links.txt
|
||||
rednose.egg-info/requires.txt
|
||||
rednose.egg-info/top_level.txt
|
||||
rednose/helpers/__init__.py
|
||||
rednose/helpers/chi2_lookup.py
|
||||
rednose/helpers/chi2_lookup_table.npy
|
||||
rednose/helpers/ekf_sym.py
|
||||
rednose/helpers/kalmanfilter.py
|
||||
rednose/helpers/sympy_helpers.py
|
||||
rednose/templates/compute_pos.c
|
||||
rednose/templates/ekf_c.c
|
||||
rednose/templates/feature_handler.c
|
||||
@@ -0,0 +1 @@
|
||||
|
||||
@@ -0,0 +1,12 @@
|
||||
numpy
|
||||
cffi
|
||||
sympy
|
||||
comma-deps-eigen
|
||||
Cython
|
||||
scons
|
||||
setuptools
|
||||
|
||||
[dev]
|
||||
scipy
|
||||
ruff
|
||||
ty
|
||||
@@ -0,0 +1 @@
|
||||
rednose
|
||||
@@ -1,17 +0,0 @@
|
||||
Import('env', 'envCython', 'common')
|
||||
|
||||
cc_sources = [
|
||||
"helpers/ekf_load.cc",
|
||||
"helpers/ekf_sym.cc",
|
||||
]
|
||||
libs = ["dl"]
|
||||
if common != "":
|
||||
# for SWAGLOG support
|
||||
libs += [common, 'zmq']
|
||||
|
||||
ekf_objects = env.SharedObject(cc_sources)
|
||||
rednose = env.Library("helpers/ekf_sym", ekf_objects, LIBS=libs)
|
||||
rednose_python = envCython.Program("helpers/ekf_sym_pyx.so", ["helpers/ekf_sym_pyx.pyx", ekf_objects],
|
||||
LIBS=libs + envCython["LIBS"])
|
||||
|
||||
Export('rednose', 'rednose_python')
|
||||
@@ -10,7 +10,7 @@ from cereal import car, log, custom
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper
|
||||
from openpilot.common.swaglog import cloudlog, ForwardingHandler
|
||||
|
||||
from opendbc.safety import ALTERNATIVE_EXPERIENCE
|
||||
from opendbc.car import DT_CTRL, structs
|
||||
from opendbc.car.can_definitions import CanData, CanRecvCallable, CanSendCallable
|
||||
from opendbc.car.carlog import carlog
|
||||
@@ -121,7 +121,13 @@ class Car:
|
||||
self.CI, self.CP, self.CP_SP = CI, CI.CP, CI.CP_SP
|
||||
self.RI = RI
|
||||
|
||||
# set alternative experiences from parameters
|
||||
sp_toyota_auto_brake_hold = self.params.get_bool("ToyotaAutoHold")
|
||||
self.CP.alternativeExperience = 0
|
||||
if sp_toyota_auto_brake_hold:
|
||||
self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ALLOW_AEB
|
||||
|
||||
|
||||
# mads
|
||||
set_alternative_experience(self.CP, self.CP_SP, self.params)
|
||||
set_car_specific_params(self.CP, self.CP_SP, self.params)
|
||||
|
||||
@@ -13,7 +13,7 @@ from opendbc.car import DT_CTRL, gen_empty_fingerprint, structs
|
||||
from opendbc.car.can_definitions import CanData
|
||||
from opendbc.car.car_helpers import FRAME_FINGERPRINT, interfaces
|
||||
from opendbc.car.fingerprints import MIGRATION
|
||||
from opendbc.car.honda.values import CAR as HONDA, HondaFlags
|
||||
from opendbc.car.honda.values import HondaFlags
|
||||
from opendbc.car.structs import car
|
||||
from opendbc.car.tests.routes import non_tested_cars, routes, CarTestRoute
|
||||
from opendbc.car.values import Platform, PLATFORMS
|
||||
@@ -358,13 +358,7 @@ class TestCarModelBase(unittest.TestCase):
|
||||
self.assertEqual(CS.gasPressed, self.safety.get_gas_pressed_prev())
|
||||
|
||||
if self.safety.get_brake_pressed_prev() != prev_panda_brake:
|
||||
# TODO: remove this exception once this mismatch is resolved
|
||||
brake_pressed = CS.brakePressed
|
||||
if CS.brakePressed and not self.safety.get_brake_pressed_prev():
|
||||
if self.CP.carFingerprint in (HONDA.HONDA_PILOT, HONDA.HONDA_RIDGELINE) and CS.brake > 0.05:
|
||||
brake_pressed = False
|
||||
|
||||
self.assertEqual(brake_pressed, self.safety.get_brake_pressed_prev())
|
||||
self.assertEqual(CS.brakePressed, self.safety.get_brake_pressed_prev())
|
||||
|
||||
if self.safety.get_regen_braking_prev() != prev_panda_regen_braking:
|
||||
self.assertEqual(CS.regenBraking, self.safety.get_regen_braking_prev())
|
||||
@@ -448,12 +442,7 @@ class TestCarModelBase(unittest.TestCase):
|
||||
checks['steeringAngleDeg'] += (angle_can > (self.safety.get_angle_meas_max() + 1) or
|
||||
angle_can < (self.safety.get_angle_meas_min() - 1))
|
||||
|
||||
# TODO: remove this exception once this mismatch is resolved
|
||||
brake_pressed = CS.brakePressed
|
||||
if CS.brakePressed and not self.safety.get_brake_pressed_prev():
|
||||
if self.CP.carFingerprint in (HONDA.HONDA_PILOT, HONDA.HONDA_RIDGELINE) and CS.brakeDEPRECATED > 0.05:
|
||||
brake_pressed = False
|
||||
checks['brakePressed'] += brake_pressed != self.safety.get_brake_pressed_prev()
|
||||
checks['brakePressed'] += CS.brakePressed != self.safety.get_brake_pressed_prev()
|
||||
checks['regenBraking'] += CS.regenBraking != self.safety.get_regen_braking_prev()
|
||||
checks['steeringDisengage'] += CS.steeringDisengage != self.safety.get_steering_disengage_prev()
|
||||
|
||||
|
||||
@@ -56,7 +56,7 @@ class DesireHelper:
|
||||
def get_lane_change_direction(CS):
|
||||
return LaneChangeDirection.left if CS.leftBlinker else LaneChangeDirection.right
|
||||
|
||||
def update(self, carstate, lateral_active, lane_change_prob):
|
||||
def update(self, carstate, lateral_active, lane_change_prob, left_edge_detected=False, right_edge_detected=False):
|
||||
self.alc.update_params()
|
||||
self.lane_turn_controller.update_params()
|
||||
v_ego = carstate.vEgo
|
||||
@@ -88,8 +88,8 @@ class DesireHelper:
|
||||
((carstate.steeringTorque > 0 and self.lane_change_direction == LaneChangeDirection.left) or
|
||||
(carstate.steeringTorque < 0 and self.lane_change_direction == LaneChangeDirection.right))
|
||||
|
||||
blindspot_detected = ((carstate.leftBlindspot and self.lane_change_direction == LaneChangeDirection.left) or
|
||||
(carstate.rightBlindspot and self.lane_change_direction == LaneChangeDirection.right))
|
||||
blindspot_detected = (((carstate.leftBlindspot or left_edge_detected) and self.lane_change_direction == LaneChangeDirection.left) or
|
||||
((carstate.rightBlindspot or right_edge_detected) and self.lane_change_direction == LaneChangeDirection.right))
|
||||
|
||||
self.alc.update_lane_change(blindspot_detected, carstate.brakePressed)
|
||||
|
||||
|
||||
@@ -217,6 +217,7 @@ class LongitudinalMpc:
|
||||
def __init__(self, dt=DT_MDL):
|
||||
self.dt = dt
|
||||
self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N)
|
||||
self.last_solution_status = 0
|
||||
self.reset()
|
||||
self.source = LongitudinalPlanSource.cruise
|
||||
|
||||
@@ -267,10 +268,11 @@ class LongitudinalMpc:
|
||||
for i in range(N):
|
||||
self.solver.cost_set(i, 'Zl', Zl)
|
||||
|
||||
def set_weights(self, prev_accel_constraint=True, personality=log.LongitudinalPersonality.standard):
|
||||
def set_weights(self, prev_accel_constraint=True, personality=log.LongitudinalPersonality.standard, *, jerk_cost_multiplier=1.0):
|
||||
jerk_factor = get_jerk_factor(personality)
|
||||
a_change_cost = A_CHANGE_COST if prev_accel_constraint else 0
|
||||
cost_weights = [X_EGO_OBSTACLE_COST, X_EGO_COST, V_EGO_COST, A_EGO_COST, jerk_factor * a_change_cost, jerk_factor * J_EGO_COST]
|
||||
cost_weights = [X_EGO_OBSTACLE_COST, X_EGO_COST, V_EGO_COST, A_EGO_COST, jerk_factor * a_change_cost,
|
||||
jerk_factor * J_EGO_COST * jerk_cost_multiplier]
|
||||
constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, DANGER_ZONE_COST]
|
||||
self.set_cost_weights(cost_weights, constraint_cost_weights)
|
||||
|
||||
@@ -313,7 +315,7 @@ class LongitudinalMpc:
|
||||
lead_xv = self.extrapolate_lead(x_lead, v_lead, a_lead, a_lead_tau)
|
||||
return lead_xv
|
||||
|
||||
def update(self, radarstate, v_cruise, personality=log.LongitudinalPersonality.standard):
|
||||
def update(self, radarstate, v_cruise, personality=log.LongitudinalPersonality.standard, accel_max=None):
|
||||
t_follow = get_T_FOLLOW(personality)
|
||||
v_ego = self.x0[1]
|
||||
self.status = radarstate.leadOne.status or radarstate.leadTwo.status
|
||||
@@ -345,6 +347,14 @@ class LongitudinalMpc:
|
||||
|
||||
self.params[:,0] = ACCEL_MIN
|
||||
self.params[:,1] = ACCEL_MAX
|
||||
if accel_max is not None:
|
||||
try:
|
||||
accel_max_trajectory = np.asarray(accel_max, dtype=float)
|
||||
except (OverflowError, TypeError, ValueError):
|
||||
accel_max_trajectory = np.empty(0)
|
||||
if accel_max_trajectory.shape == (N + 1,) and np.all(np.isfinite(accel_max_trajectory)):
|
||||
self.params[:,1] = np.clip(accel_max_trajectory, 0.0, ACCEL_MAX)
|
||||
self.params[0,1] = max(self.params[0,1], float(np.clip(self.x0[2], ACCEL_MIN, ACCEL_MAX)))
|
||||
self.params[:,2] = np.min(x_obstacles, axis=1)
|
||||
self.params[:,3] = np.copy(self.a_prev)
|
||||
self.params[:,4] = t_follow
|
||||
@@ -364,6 +374,7 @@ class LongitudinalMpc:
|
||||
self.solver.constraints_set(0, "ubx", self.x0)
|
||||
|
||||
self.solution_status = self.solver.solve()
|
||||
self.last_solution_status = self.solution_status
|
||||
self.solve_time = float(self.solver.get_stats('time_tot')[0])
|
||||
self.time_qp_solution = float(self.solver.get_stats('time_qp')[0])
|
||||
self.time_linearization = float(self.solver.get_stats('time_lin')[0])
|
||||
|
||||
@@ -51,7 +51,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
|
||||
def __init__(self, CP, CP_SP, init_v=0.0, init_a=0.0, dt=DT_MDL):
|
||||
self.CP = CP
|
||||
self.mpc = LongitudinalMpc(dt=dt)
|
||||
LongitudinalPlannerSP.__init__(self, self.CP, CP_SP, self.mpc)
|
||||
LongitudinalPlannerSP.__init__(self, self.CP, CP_SP, self.mpc, dt=dt)
|
||||
self.fcw = False
|
||||
self.dt = dt
|
||||
self.allow_throttle = True
|
||||
@@ -129,16 +129,18 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
|
||||
clipped_accel_coast = max(accel_coast, accel_clip[0])
|
||||
clipped_accel_coast_interp = np.interp(v_ego, [MIN_ALLOW_THROTTLE_SPEED, MIN_ALLOW_THROTTLE_SPEED*2], [accel_clip[1], clipped_accel_coast])
|
||||
accel_clip[1] = min(accel_clip[1], clipped_accel_coast_interp)
|
||||
|
||||
# Get new v_cruise and a_desired from Smart Cruise Control and Speed Limit Assist
|
||||
v_cruise, self.a_desired = LongitudinalPlannerSP.update_targets(self, sm, self.v_desired_filter.x, self.a_desired, v_cruise)
|
||||
base_v_cruise = v_cruise
|
||||
|
||||
if force_slow_decel:
|
||||
v_cruise = 0.0
|
||||
|
||||
self.mpc.set_weights(prev_accel_constraint, personality=sm['selfdriveState'].personality)
|
||||
self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired)
|
||||
self.mpc.update(sm['radarState'], v_cruise, personality=sm['selfdriveState'].personality)
|
||||
is_e2e = LongitudinalPlannerSP.update_accel_controller_mpc(
|
||||
self, sm, base_v_cruise, v_cruise, prev_accel_constraint, reset_state=reset_state,
|
||||
cruise_initialized=v_cruise_initialized, available_accel_max=accel_clip[1] if self.allow_throttle else 0.0,
|
||||
previous_should_stop=self.output_should_stop, force_decel=force_slow_decel,
|
||||
)
|
||||
|
||||
self.v_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.v_solution)
|
||||
self.a_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.a_solution)
|
||||
@@ -154,13 +156,14 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
|
||||
self.a_desired = float(np.interp(self.dt, CONTROL_N_T_IDX, self.a_desired_trajectory))
|
||||
self.v_desired_filter.x = self.v_desired_filter.x + self.dt * (self.a_desired + a_prev) / 2.0
|
||||
|
||||
action_t = self.CP.longitudinalActuatorDelay + DT_MDL
|
||||
output_a_target_mpc, output_should_stop_mpc = get_accel_from_plan(self.v_desired_trajectory, self.a_desired_trajectory, CONTROL_N_T_IDX,
|
||||
action_t=action_t, vEgoStopping=self.CP.vEgoStopping)
|
||||
action_t = self.CP.longitudinalActuatorDelay + DT_MDL
|
||||
output_a_target_mpc, output_should_stop_mpc = get_accel_from_plan(
|
||||
self.v_desired_trajectory, self.a_desired_trajectory, CONTROL_N_T_IDX, action_t=action_t, vEgoStopping=self.CP.vEgoStopping,
|
||||
)
|
||||
output_a_target_e2e = sm['modelV2'].action.desiredAcceleration
|
||||
output_should_stop_e2e = sm['modelV2'].action.shouldStop
|
||||
|
||||
if self.is_e2e(sm):
|
||||
if is_e2e:
|
||||
output_a_target = min(output_a_target_e2e, output_a_target_mpc)
|
||||
self.output_should_stop = output_should_stop_e2e or output_should_stop_mpc
|
||||
if output_a_target < output_a_target_mpc:
|
||||
@@ -168,6 +171,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
|
||||
else:
|
||||
output_a_target = output_a_target_mpc
|
||||
self.output_should_stop = output_should_stop_mpc
|
||||
self.output_should_stop = self.accel_controller_should_stop(self.output_should_stop, is_e2e)
|
||||
|
||||
for idx in range(2):
|
||||
accel_clip[idx] = np.clip(accel_clip[idx], self.prev_accel_clip[idx] - 0.05, self.prev_accel_clip[idx] + 0.05)
|
||||
|
||||
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@@ -321,9 +321,16 @@ class SelfdriveD(CruiseHelper):
|
||||
# Handle lane change
|
||||
if self.sm['modelV2'].meta.laneChangeState == LaneChangeState.preLaneChange:
|
||||
direction = self.sm['modelV2'].meta.laneChangeDirection
|
||||
mdv2sp = self.sm['modelDataV2SP']
|
||||
|
||||
if (CS.leftBlindspot and direction == LaneChangeDirection.left) or \
|
||||
(CS.rightBlindspot and direction == LaneChangeDirection.right):
|
||||
(CS.rightBlindspot and direction == LaneChangeDirection.right):
|
||||
self.events.add(EventName.laneChangeBlocked)
|
||||
|
||||
elif (mdv2sp.leftLaneChangeEdgeBlock and direction == LaneChangeDirection.left) or \
|
||||
(mdv2sp.rightLaneChangeEdgeBlock and direction == LaneChangeDirection.right):
|
||||
self.events_sp.add(custom.OnroadEventSP.EventName.laneChangeRoadEdge)
|
||||
|
||||
else:
|
||||
if direction == LaneChangeDirection.left:
|
||||
self.events.add(EventName.preLaneChangeLeft)
|
||||
|
||||
@@ -1,5 +1,11 @@
|
||||
#!/usr/bin/env python3
|
||||
from collections import deque
|
||||
from collections.abc import Callable
|
||||
from dataclasses import dataclass
|
||||
import math
|
||||
import time
|
||||
from typing import Any
|
||||
|
||||
import numpy as np
|
||||
|
||||
from cereal import log
|
||||
@@ -11,12 +17,105 @@ from openpilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPl
|
||||
from openpilot.selfdrive.controls.radard import _LEAD_ACCEL_TAU
|
||||
|
||||
|
||||
LeadObservation = dict[str, Any]
|
||||
LeadObservationFn = Callable[[float, str, LeadObservation], LeadObservation | None]
|
||||
ModelActionFn = Callable[[float, float, float], tuple[float, bool]]
|
||||
EgoObservationFn = Callable[[float, float, float], tuple[float, float]]
|
||||
|
||||
|
||||
@dataclass(frozen=True)
|
||||
class ActuatorModel:
|
||||
planner_delay: float
|
||||
transport_delay: float
|
||||
actuator_lag: float
|
||||
command_rate_limit: float
|
||||
stopping_acceleration: float
|
||||
standstill_breakaway_acceleration: float
|
||||
standstill_breakaway_time: float
|
||||
|
||||
def __post_init__(self):
|
||||
nonnegative_fields = {
|
||||
"planner_delay": self.planner_delay,
|
||||
"transport_delay": self.transport_delay,
|
||||
"actuator_lag": self.actuator_lag,
|
||||
"standstill_breakaway_acceleration": self.standstill_breakaway_acceleration,
|
||||
"standstill_breakaway_time": self.standstill_breakaway_time,
|
||||
}
|
||||
if any(not math.isfinite(value) or value < 0.0 for value in nonnegative_fields.values()):
|
||||
raise ValueError(f"ActuatorModel fields must be finite and non-negative: {nonnegative_fields}")
|
||||
if not math.isfinite(self.command_rate_limit) or self.command_rate_limit <= 0.0:
|
||||
raise ValueError("command_rate_limit must be finite and positive")
|
||||
if not math.isfinite(self.stopping_acceleration) or self.stopping_acceleration > 0.0:
|
||||
raise ValueError("stopping_acceleration must be finite and non-positive")
|
||||
|
||||
|
||||
# Route-derived conservative Prius TSS2 stress model for the acceleration-controller
|
||||
# regression suite. The 1.0 m/s² gate represents prompt takeoffs, not a universal
|
||||
# physical threshold: the supplied routes also contain low-command creep departures.
|
||||
# This models vehicle response only and does not emulate Toyota's CAN controller.
|
||||
PRIUS_TSS2_ROUTE_MODEL = ActuatorModel(
|
||||
planner_delay=0.05,
|
||||
transport_delay=0.0,
|
||||
actuator_lag=0.20,
|
||||
command_rate_limit=4.0,
|
||||
stopping_acceleration=-2.0,
|
||||
standstill_breakaway_acceleration=1.0,
|
||||
standstill_breakaway_time=0.05,
|
||||
)
|
||||
|
||||
|
||||
class Plant:
|
||||
messaging_initialized = False
|
||||
|
||||
def __init__(self, lead_relevancy=False, speed=0.0, distance_lead=2.0,
|
||||
enabled=True, only_lead2=False, only_radar=False, e2e=False, personality=0, force_decel=False):
|
||||
self.rate = 1. / DT_MDL
|
||||
def __init__(
|
||||
self,
|
||||
lead_relevancy=False,
|
||||
speed=0.0,
|
||||
distance_lead=2.0,
|
||||
enabled=True,
|
||||
only_lead2=False,
|
||||
only_radar=False,
|
||||
e2e=False,
|
||||
personality=0,
|
||||
force_decel=False,
|
||||
lead_observation_fn: LeadObservationFn | None = None,
|
||||
model_action_fn: ModelActionFn | None = None,
|
||||
ego_observation_fn: EgoObservationFn | None = None,
|
||||
actuator_delay: float | None = None,
|
||||
actuator_lag: float = 0.0,
|
||||
actuator_model: ActuatorModel | None = None,
|
||||
):
|
||||
"""Closed-loop longitudinal planner plant.
|
||||
|
||||
``lead_observation_fn(time, lead_name, truth)`` may return a complete or partial
|
||||
observed LeadData mapping, or ``None`` for an absent lead. It is called separately
|
||||
for ``leadOne`` and ``leadTwo``. The supplied truth mapping is a copy, and observed
|
||||
values never affect the physical lead trajectory.
|
||||
|
||||
``model_action_fn(time, v_ego, a_ego)`` returns
|
||||
``(desired_acceleration, should_stop)``.
|
||||
|
||||
``ego_observation_fn(time, true_v_ego, true_a_ego)`` returns the observed
|
||||
``(v_ego, a_ego)`` published in ``carState``. It can inject measurement noise
|
||||
without changing the physical plant state.
|
||||
|
||||
Passing ``actuator_delay`` both overrides ``CP.longitudinalActuatorDelay`` and
|
||||
adds the corresponding command transport delay to the plant. ``None`` keeps the
|
||||
historical Honda planner delay with instantaneous plant response. ``actuator_lag``
|
||||
is an optional first-order acceleration-response time constant. Both defaults keep
|
||||
historical plant dynamics unchanged.
|
||||
|
||||
``actuator_model`` opts into a staged vehicle-response model. Its planner delay
|
||||
is used by MPC, while its independent transport delay is used by the command
|
||||
queue before rate limiting, standstill breakaway confirmation, and first-order
|
||||
lag. Leaving it unset preserves the historical actuator path.
|
||||
"""
|
||||
if actuator_delay is not None and (not math.isfinite(actuator_delay) or actuator_delay < 0.0):
|
||||
raise ValueError("actuator_delay must be finite and non-negative")
|
||||
if not math.isfinite(actuator_lag) or actuator_lag < 0.0:
|
||||
raise ValueError("actuator_lag must be finite and non-negative")
|
||||
|
||||
self.rate = 1.0 / DT_MDL
|
||||
|
||||
if not Plant.messaging_initialized:
|
||||
Plant.radar = messaging.pub_sock('radarState')
|
||||
@@ -28,10 +127,15 @@ class Plant:
|
||||
|
||||
self.v_lead_prev = 0.0
|
||||
|
||||
self.distance = 0.
|
||||
self.distance = 0.0
|
||||
self.speed = speed
|
||||
self.should_stop = False
|
||||
self.acceleration = 0.0
|
||||
self.a_target = 0.0
|
||||
self.actuator_command = 0.0
|
||||
self.applied_actuator_command = 0.0
|
||||
self.breakaway_confirmed = False
|
||||
self._breakaway_timer = 0.0
|
||||
|
||||
# lead car
|
||||
self.lead_relevancy = lead_relevancy
|
||||
@@ -42,9 +146,18 @@ class Plant:
|
||||
self.e2e = e2e
|
||||
self.personality = personality
|
||||
self.force_decel = force_decel
|
||||
self.lead_observation_fn = lead_observation_fn
|
||||
self.model_action_fn = model_action_fn
|
||||
self.ego_observation_fn = ego_observation_fn
|
||||
self.actuator_model = actuator_model
|
||||
self.actuator_delay = actuator_model.planner_delay if actuator_model is not None else actuator_delay
|
||||
self.transport_delay = actuator_model.transport_delay if actuator_model is not None else actuator_delay
|
||||
self.actuator_lag = actuator_model.actuator_lag if actuator_model is not None else actuator_lag
|
||||
self.publish_realized_a_ego = any((lead_observation_fn is not None, model_action_fn is not None, ego_observation_fn is not None,
|
||||
actuator_delay is not None, actuator_lag > 0.0, actuator_model is not None))
|
||||
|
||||
self.rk = Ratekeeper(self.rate, print_delay_threshold=100.0)
|
||||
self.ts = 1. / self.rate
|
||||
self.ts = 1.0 / self.rate
|
||||
time.sleep(0.1)
|
||||
self.sm = messaging.SubMaster(['longitudinalPlan'])
|
||||
|
||||
@@ -52,14 +165,86 @@ class Plant:
|
||||
from opendbc.car.honda.interface import CarInterface
|
||||
|
||||
CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
|
||||
if self.actuator_delay is not None:
|
||||
CP.longitudinalActuatorDelay = self.actuator_delay
|
||||
CP_SP = CarInterface.get_non_essential_params_sp(CP, CAR.HONDA_CIVIC)
|
||||
self.planner = LongitudinalPlanner(CP, CP_SP, init_v=self.speed)
|
||||
|
||||
if self.actuator_model is not None and self.speed >= 0.01:
|
||||
self.breakaway_confirmed = True
|
||||
delay_steps = 0 if self.transport_delay is None else round(self.transport_delay / self.ts)
|
||||
self._actuator_delay_queue = deque([self.acceleration] * delay_steps)
|
||||
|
||||
@property
|
||||
def current_time(self):
|
||||
return float(self.rk.frame) / self.rate
|
||||
|
||||
def step(self, v_lead=0.0, prob_lead=1.0, v_cruise=50., pitch=0.0, prob_throttle=1.0):
|
||||
@staticmethod
|
||||
def _lead_message(observation: LeadObservation):
|
||||
lead = log.RadarState.LeadData.new_message()
|
||||
for field, value in observation.items():
|
||||
setattr(lead, field, value)
|
||||
return lead
|
||||
|
||||
def _observe_lead(self, lead_name: str, truth: LeadObservation, present_by_default: bool) -> LeadObservation | None:
|
||||
if self.lead_observation_fn is None:
|
||||
return dict(truth) if present_by_default else None
|
||||
|
||||
observed = self.lead_observation_fn(self.current_time, lead_name, dict(truth))
|
||||
if observed is None:
|
||||
return None
|
||||
|
||||
# Partial overrides are convenient for individual sensor glitches, while copying
|
||||
# from truth ensures every field written to cereal is deterministic.
|
||||
complete_observation = dict(truth)
|
||||
complete_observation.update(observed)
|
||||
return complete_observation
|
||||
|
||||
def _update_actuator(self, command: float) -> tuple[float, float]:
|
||||
if self._actuator_delay_queue:
|
||||
self._actuator_delay_queue.append(command)
|
||||
delayed_command = self._actuator_delay_queue.popleft()
|
||||
else:
|
||||
delayed_command = command
|
||||
|
||||
if self.actuator_model is not None:
|
||||
max_command_delta = self.actuator_model.command_rate_limit * self.ts
|
||||
self.applied_actuator_command = float(np.clip(delayed_command,
|
||||
self.applied_actuator_command - max_command_delta,
|
||||
self.applied_actuator_command + max_command_delta))
|
||||
|
||||
if self.speed < 0.01:
|
||||
if self.applied_actuator_command <= 0.0:
|
||||
self.breakaway_confirmed = False
|
||||
self._breakaway_timer = 0.0
|
||||
elif not self.breakaway_confirmed:
|
||||
breakaway_ready = self.applied_actuator_command + 1e-9 >= self.actuator_model.standstill_breakaway_acceleration
|
||||
if breakaway_ready:
|
||||
self._breakaway_timer += self.ts
|
||||
else:
|
||||
self._breakaway_timer = 0.0
|
||||
|
||||
self.breakaway_confirmed = breakaway_ready and self._breakaway_timer + 1e-9 >= self.actuator_model.standstill_breakaway_time
|
||||
if not self.breakaway_confirmed:
|
||||
self.acceleration = 0.0
|
||||
return delayed_command, self.acceleration
|
||||
else:
|
||||
self.breakaway_confirmed = True
|
||||
|
||||
response_command = self.applied_actuator_command
|
||||
else:
|
||||
# Preserve the historical response path exactly when no staged model is used.
|
||||
self.applied_actuator_command = delayed_command
|
||||
response_command = delayed_command
|
||||
|
||||
if self.actuator_lag > 0.0:
|
||||
alpha = 1.0 - math.exp(-self.ts / self.actuator_lag)
|
||||
self.acceleration += alpha * (response_command - self.acceleration)
|
||||
else:
|
||||
self.acceleration = response_command
|
||||
return delayed_command, self.acceleration
|
||||
|
||||
def step(self, v_lead=0.0, prob_lead=1.0, v_cruise=50.0, pitch=0.0, prob_throttle=1.0):
|
||||
# ******** publish a fake model going straight and fake calibration ********
|
||||
# note that this is worst case for MPC, since model will delay long mpc by one time step
|
||||
radar = messaging.new_message('radarState')
|
||||
@@ -72,39 +257,48 @@ class Plant:
|
||||
car_state_sp = messaging.new_message('carStateSP')
|
||||
live_map_data_sp = messaging.new_message('liveMapDataSP')
|
||||
gps_data = messaging.new_message('gpsLocation')
|
||||
a_lead = (v_lead - self.v_lead_prev)/self.ts
|
||||
a_lead = (v_lead - self.v_lead_prev) / self.ts
|
||||
self.v_lead_prev = v_lead
|
||||
|
||||
if self.lead_relevancy:
|
||||
d_rel = np.maximum(0., self.distance_lead - self.distance)
|
||||
d_rel = np.maximum(0.0, self.distance_lead - self.distance)
|
||||
v_rel = v_lead - self.speed
|
||||
if self.only_radar:
|
||||
status = True
|
||||
elif prob_lead > .5:
|
||||
elif prob_lead > 0.5:
|
||||
status = True
|
||||
else:
|
||||
status = False
|
||||
else:
|
||||
d_rel = 200.
|
||||
v_rel = 0.
|
||||
d_rel = 200.0
|
||||
v_rel = 0.0
|
||||
prob_lead = 0.0
|
||||
status = False
|
||||
|
||||
lead = log.RadarState.LeadData.new_message()
|
||||
lead.dRel = float(d_rel)
|
||||
lead.yRel = 0.0
|
||||
lead.vRel = float(v_rel)
|
||||
lead.aRel = float(a_lead - self.acceleration)
|
||||
lead.vLead = float(v_lead)
|
||||
lead.vLeadK = float(v_lead)
|
||||
lead.aLeadK = float(a_lead)
|
||||
# TODO use real radard logic for this
|
||||
lead.aLeadTau = float(_LEAD_ACCEL_TAU)
|
||||
lead.status = status
|
||||
lead.modelProb = float(prob_lead)
|
||||
if not self.only_lead2:
|
||||
radar.radarState.leadOne = lead
|
||||
radar.radarState.leadTwo = lead
|
||||
truth_lead: LeadObservation = {
|
||||
"dRel": float(d_rel),
|
||||
"yRel": 0.0,
|
||||
"vRel": float(v_rel),
|
||||
"aRel": float(a_lead - self.acceleration),
|
||||
"vLead": float(v_lead),
|
||||
"dPath": 0.0,
|
||||
"vLat": 0.0,
|
||||
"vLeadK": float(v_lead),
|
||||
"aLeadK": float(a_lead),
|
||||
"fcw": False,
|
||||
"status": bool(status),
|
||||
# TODO use real radard logic for this
|
||||
"aLeadTau": float(_LEAD_ACCEL_TAU),
|
||||
"modelProb": float(prob_lead),
|
||||
"radar": bool(self.only_radar),
|
||||
"radarTrackId": -1,
|
||||
}
|
||||
lead_one_observation = self._observe_lead("leadOne", truth_lead, not self.only_lead2)
|
||||
lead_two_observation = self._observe_lead("leadTwo", truth_lead, True)
|
||||
if lead_one_observation is not None:
|
||||
radar.radarState.leadOne = self._lead_message(lead_one_observation)
|
||||
if lead_two_observation is not None:
|
||||
radar.radarState.leadTwo = self._lead_message(lead_two_observation)
|
||||
|
||||
# Simulate model predicting slightly faster speed
|
||||
# this is to ensure lead policy is effective when model
|
||||
@@ -112,10 +306,15 @@ class Plant:
|
||||
position = log.XYZTData.new_message()
|
||||
position.x = [float(x) for x in (self.speed + 0.5) * np.array(ModelConstants.T_IDXS)]
|
||||
model.modelV2.position = position
|
||||
model.modelV2.action.desiredAcceleration = float(self.acceleration + 0.1)
|
||||
if self.model_action_fn is None:
|
||||
model_acceleration, model_should_stop = self.acceleration + 0.1, False
|
||||
else:
|
||||
model_acceleration, model_should_stop = self.model_action_fn(self.current_time, self.speed, self.acceleration)
|
||||
model.modelV2.action.desiredAcceleration = float(model_acceleration)
|
||||
model.modelV2.action.shouldStop = bool(model_should_stop)
|
||||
velocity = log.XYZTData.new_message()
|
||||
velocity.x = [float(x) for x in (self.speed + 0.5) * np.ones_like(ModelConstants.T_IDXS)]
|
||||
velocity.x[0] = float(self.speed) # always start at current speed
|
||||
velocity.x[0] = float(self.speed) # always start at current speed
|
||||
model.modelV2.velocity = velocity
|
||||
acceleration = log.XYZTData.new_message()
|
||||
acceleration.x = [float(x) for x in np.zeros_like(ModelConstants.T_IDXS)]
|
||||
@@ -126,33 +325,45 @@ class Plant:
|
||||
ss.selfdriveState.experimentalMode = self.e2e
|
||||
ss.selfdriveState.personality = self.personality
|
||||
control.controlsState.forceDecel = self.force_decel
|
||||
car_state.carState.vEgo = float(self.speed)
|
||||
true_v_ego = self.speed
|
||||
true_a_ego = self.acceleration
|
||||
published_v_ego = true_v_ego
|
||||
published_a_ego = true_a_ego if self.publish_realized_a_ego else 0.0
|
||||
if self.ego_observation_fn is not None:
|
||||
published_v_ego, published_a_ego = self.ego_observation_fn(self.current_time, true_v_ego, true_a_ego)
|
||||
car_state.carState.vEgo = float(published_v_ego)
|
||||
car_state.carState.aEgo = float(published_a_ego)
|
||||
car_state.carState.standstill = bool(self.speed < 0.01)
|
||||
car_state.carState.vCruise = float(v_cruise * 3.6)
|
||||
car_control.carControl.orientationNED = [0., float(pitch), 0.]
|
||||
car_control.carControl.orientationNED = [0.0, float(pitch), 0.0]
|
||||
|
||||
# ******** get controlsState messages for plotting ***
|
||||
sm = {'radarState': radar.radarState,
|
||||
'carState': car_state.carState,
|
||||
'carControl': car_control.carControl,
|
||||
'controlsState': control.controlsState,
|
||||
'selfdriveState': ss.selfdriveState,
|
||||
'liveParameters': lp.liveParameters,
|
||||
'modelV2': model.modelV2,
|
||||
'carStateSP': car_state_sp.carStateSP,
|
||||
'liveMapDataSP': live_map_data_sp.liveMapDataSP,
|
||||
'gpsLocation': gps_data.gpsLocation}
|
||||
sm = {
|
||||
'radarState': radar.radarState,
|
||||
'carState': car_state.carState,
|
||||
'carControl': car_control.carControl,
|
||||
'controlsState': control.controlsState,
|
||||
'selfdriveState': ss.selfdriveState,
|
||||
'liveParameters': lp.liveParameters,
|
||||
'modelV2': model.modelV2,
|
||||
'carStateSP': car_state_sp.carStateSP,
|
||||
'liveMapDataSP': live_map_data_sp.liveMapDataSP,
|
||||
'gpsLocation': gps_data.gpsLocation,
|
||||
}
|
||||
self.planner.update(sm)
|
||||
self.acceleration = self.planner.output_a_target
|
||||
self.a_target = self.planner.output_a_target
|
||||
self.actuator_command = self.a_target
|
||||
if self.planner.output_should_stop:
|
||||
self.acceleration = min(-0.5, self.acceleration)
|
||||
stopping_acceleration = -0.5 if self.actuator_model is None else self.actuator_model.stopping_acceleration
|
||||
self.actuator_command = min(stopping_acceleration, self.actuator_command)
|
||||
delayed_actuator_command, _ = self._update_actuator(self.actuator_command)
|
||||
self.speed = self.speed + self.acceleration * self.ts
|
||||
self.should_stop = self.planner.output_should_stop
|
||||
fcw = self.planner.fcw
|
||||
self.distance_lead = self.distance_lead + v_lead * self.ts
|
||||
|
||||
# ******** run the car ********
|
||||
#print(self.distance, speed)
|
||||
# print(self.distance, speed)
|
||||
if self.speed <= 0:
|
||||
self.speed = 0
|
||||
self.acceleration = 0
|
||||
@@ -160,30 +371,64 @@ class Plant:
|
||||
|
||||
# *** radar model ***
|
||||
if self.lead_relevancy:
|
||||
d_rel = np.maximum(0., self.distance_lead - self.distance)
|
||||
d_rel = np.maximum(0.0, self.distance_lead - self.distance)
|
||||
v_rel = v_lead - self.speed
|
||||
else:
|
||||
d_rel = 200.
|
||||
v_rel = 0.
|
||||
d_rel = 200.0
|
||||
v_rel = 0.0
|
||||
|
||||
# print at 5hz
|
||||
# if (self.rk.frame % (self.rate // 5)) == 0:
|
||||
# print("%2.2f sec %6.2f m %6.2f m/s %6.2f m/s2 lead_rel: %6.2f m %6.2f m/s"
|
||||
# % (self.current_time, self.distance, self.speed, self.acceleration, d_rel, v_rel))
|
||||
|
||||
|
||||
# ******** update prevs ********
|
||||
self.rk.monitor_time()
|
||||
|
||||
accel_controller_result = getattr(self.planner, "accel_controller_result", None)
|
||||
return {
|
||||
"distance": self.distance,
|
||||
"speed": self.speed,
|
||||
"acceleration": self.acceleration,
|
||||
"realized_acceleration": self.acceleration,
|
||||
"a_target": self.a_target,
|
||||
"planner_acceleration": self.a_target,
|
||||
"actuator_command": self.actuator_command,
|
||||
"stop_clamped_actuator_command": self.actuator_command,
|
||||
"delayed_actuator_command": delayed_actuator_command,
|
||||
"applied_actuator_command": self.applied_actuator_command,
|
||||
"vehicle_actuator_command": self.applied_actuator_command,
|
||||
"true_v_ego": true_v_ego,
|
||||
"true_a_ego": true_a_ego,
|
||||
"published_a_ego": published_a_ego,
|
||||
"published_v_ego": published_v_ego,
|
||||
"observed_a_ego": published_a_ego,
|
||||
"observed_v_ego": published_v_ego,
|
||||
"planner_delay": self.actuator_delay,
|
||||
"transport_delay": self.transport_delay,
|
||||
"breakaway_confirmed": self.breakaway_confirmed,
|
||||
"breakaway_time": self._breakaway_timer,
|
||||
"should_stop": self.should_stop,
|
||||
"distance_lead": self.distance_lead,
|
||||
"fcw": fcw,
|
||||
"mpc_source": self.planner.mpc.source,
|
||||
"dec_mode": self.planner.dec.mode(),
|
||||
"pace_cap": getattr(accel_controller_result, "target_speed", None),
|
||||
"base_target": getattr(accel_controller_result, "base_speed", None),
|
||||
"raw_energy_cap": getattr(accel_controller_result, "raw_energy_cap", None),
|
||||
"live_filtered_cap": getattr(accel_controller_result, "live_filtered_cap", None),
|
||||
"shadow_filtered_cap": getattr(accel_controller_result, "shadow_filtered_cap", None),
|
||||
"accel_controller_selected_lead": getattr(accel_controller_result, "selected_lead", None),
|
||||
"model_action": {
|
||||
"desiredAcceleration": float(model_acceleration),
|
||||
"shouldStop": bool(model_should_stop),
|
||||
},
|
||||
"truth_lead": dict(truth_lead),
|
||||
"lead_one_observation": None if lead_one_observation is None else dict(lead_one_observation),
|
||||
"lead_two_observation": None if lead_two_observation is None else dict(lead_two_observation),
|
||||
}
|
||||
|
||||
|
||||
# simple engage in standalone mode
|
||||
def plant_thread():
|
||||
plant = Plant()
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user