mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-06-14 09:44:29 +08:00
Compare commits
3 Commits
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...
fix-sim
| Author | SHA1 | Date | |
|---|---|---|---|
|
13c07838e4 | ||
|
|
23ac14d802 | ||
|
|
bb0f0c9c69 |
45
.github/workflows/diff_report.yaml
vendored
45
.github/workflows/diff_report.yaml
vendored
@@ -1,45 +0,0 @@
|
||||
name: diff report
|
||||
|
||||
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 process replay
|
||||
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: process replay
|
||||
repo-token: ${{ secrets.GITHUB_TOKEN }}
|
||||
allowed-conclusions: success,failure
|
||||
wait-interval: 20
|
||||
- name: Download diff
|
||||
if: steps.wait.outcome == 'success'
|
||||
uses: dawidd6/action-download-artifact@v6
|
||||
with:
|
||||
github_token: ${{ secrets.GITHUB_TOKEN }}
|
||||
workflow: tests.yaml
|
||||
workflow_conclusion: ''
|
||||
pr: ${{ github.event.number }}
|
||||
name: diff_report_${{ github.event.number }}
|
||||
path: .
|
||||
allow_forks: true
|
||||
- name: Comment on PR
|
||||
if: steps.wait.outcome == 'success'
|
||||
uses: thollander/actions-comment-pull-request@v2
|
||||
with:
|
||||
filePath: diff_report.txt
|
||||
comment_tag: diff_report
|
||||
pr_number: ${{ github.event.number }}
|
||||
GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
|
||||
22
.github/workflows/repo-maintenance.yaml
vendored
22
.github/workflows/repo-maintenance.yaml
vendored
@@ -9,6 +9,28 @@ env:
|
||||
PYTHONPATH: ${{ github.workspace }}
|
||||
|
||||
jobs:
|
||||
update_translations:
|
||||
runs-on: ubuntu-latest
|
||||
if: github.repository == 'sunnypilot/sunnypilot'
|
||||
steps:
|
||||
- uses: actions/checkout@v6
|
||||
with:
|
||||
submodules: true
|
||||
- run: ./tools/op.sh setup
|
||||
- name: Update translations
|
||||
run: python3 selfdrive/ui/update_translations.py --vanish
|
||||
- name: Create Pull Request
|
||||
uses: peter-evans/create-pull-request@c0f553fe549906ede9cf27b5156039d195d2ece0
|
||||
with:
|
||||
author: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
|
||||
commit-message: "Update translations"
|
||||
title: "[bot] Update translations"
|
||||
body: "Automatic PR from repo-maintenance -> update_translations"
|
||||
branch: "update-translations"
|
||||
base: "master"
|
||||
delete-branch: true
|
||||
labels: bot
|
||||
|
||||
package_updates:
|
||||
name: package_updates
|
||||
runs-on: ubuntu-latest
|
||||
|
||||
@@ -185,7 +185,7 @@ jobs:
|
||||
echo "Building sunnypilot's locationd..."
|
||||
scons -j2 cache_dir=${{env.SCONS_CACHE_DIR}} --minimal sunnypilot/selfdrive/locationd
|
||||
echo "Building openpilot's locationd..."
|
||||
scons -j1 cache_dir=${{env.SCONS_CACHE_DIR}} --minimal selfdrive/locationd
|
||||
scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal selfdrive/locationd
|
||||
echo "Building rest of sunnypilot"
|
||||
scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal
|
||||
touch ${BUILD_DIR}/prebuilt
|
||||
|
||||
10
.github/workflows/tests.yaml
vendored
10
.github/workflows/tests.yaml
vendored
@@ -156,22 +156,12 @@ jobs:
|
||||
id: print-diff
|
||||
if: always()
|
||||
run: cat selfdrive/test/process_replay/diff.txt
|
||||
- name: Print diff report
|
||||
if: always()
|
||||
run: cat selfdrive/test/process_replay/diff_report.txt
|
||||
- uses: actions/upload-artifact@v6
|
||||
if: always()
|
||||
continue-on-error: true
|
||||
with:
|
||||
name: process_replay_diff.txt
|
||||
path: selfdrive/test/process_replay/diff.txt
|
||||
- name: Upload diff report
|
||||
uses: actions/upload-artifact@v6
|
||||
if: always() && github.event_name == 'pull_request'
|
||||
continue-on-error: true
|
||||
with:
|
||||
name: diff_report_${{ github.event.number }}
|
||||
path: selfdrive/test/process_replay/diff_report.txt
|
||||
- name: Checkout ci-artifacts
|
||||
if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
|
||||
uses: actions/checkout@v4
|
||||
|
||||
3
.vscode/launch.json
vendored
3
.vscode/launch.json
vendored
@@ -52,9 +52,6 @@
|
||||
"type": "lldb",
|
||||
"request": "attach",
|
||||
"pid": "${command:pickMyProcess}",
|
||||
"sourceMap": {
|
||||
".": "${workspaceFolder}/opendbc/safety"
|
||||
},
|
||||
"initCommands": [
|
||||
"script import time; time.sleep(3)"
|
||||
]
|
||||
|
||||
@@ -1,8 +1,7 @@
|
||||
Version 0.11.1 (2026-04-22)
|
||||
Version 0.11.1 (2026-04-08)
|
||||
========================
|
||||
* New driver monitoring model
|
||||
* Improved image processing pipeline for driver camera
|
||||
* Rivian R1S and R1T 2025 support thanks to lukasloetkolben!
|
||||
|
||||
Version 0.11.0 (2026-03-17)
|
||||
========================
|
||||
|
||||
12
SConstruct
12
SConstruct
@@ -47,8 +47,7 @@ pkgs = [importlib.import_module(name) for name in pkg_names]
|
||||
# be distributed with all Linux distros and macOS, or
|
||||
# vendored in commaai/dependencies.
|
||||
allowed_system_libs = {
|
||||
"EGL", "GLESv2", "GL",
|
||||
"Qt5Charts", "Qt5Core", "Qt5Gui", "Qt5Widgets",
|
||||
"EGL", "GLESv2", "GL", "Qt5Charts", "Qt5Core", "Qt5Gui", "Qt5Widgets",
|
||||
"dl", "drm", "gbm", "m", "pthread",
|
||||
}
|
||||
|
||||
@@ -257,13 +256,8 @@ SConscript([
|
||||
|
||||
SConscript(['sunnypilot/SConscript'])
|
||||
|
||||
# Build tools
|
||||
if arch != "larch64":
|
||||
SConscript([
|
||||
'tools/replay/SConscript',
|
||||
'tools/cabana/SConscript',
|
||||
'tools/jotpluggler/SConscript',
|
||||
])
|
||||
if Dir('#tools/cabana/').exists() and arch != "larch64":
|
||||
SConscript(['tools/cabana/SConscript'])
|
||||
|
||||
|
||||
env.CompilationDatabase('compile_commands.json')
|
||||
|
||||
@@ -4,7 +4,7 @@ cereal_dir = Dir('.')
|
||||
gen_dir = Dir('gen')
|
||||
|
||||
# Build cereal
|
||||
schema_files = ['log.capnp', 'car.capnp', 'deprecated.capnp', 'custom.capnp']
|
||||
schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp', 'custom.capnp']
|
||||
env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files],
|
||||
schema_files,
|
||||
f"capnpc --src-prefix={cereal_dir.path} $SOURCES -o c++:{gen_dir.path}/cpp/")
|
||||
|
||||
@@ -154,7 +154,6 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
|
||||
vision @2;
|
||||
policy @3;
|
||||
offPolicy @4;
|
||||
onPolicy @5;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@@ -3,7 +3,7 @@ $Cxx.namespace("cereal");
|
||||
|
||||
@0x80ef1ec4889c2a63;
|
||||
|
||||
# deprecated.capnp: a home for deprecated structs
|
||||
# legacy.capnp: a home for deprecated structs
|
||||
|
||||
struct LogRotate @0x9811e1f38f62f2d1 {
|
||||
segmentNum @0 :Int32;
|
||||
@@ -571,219 +571,4 @@ struct LidarPts @0xe3d6685d4e9d8f7a {
|
||||
pkt @4 :Data;
|
||||
}
|
||||
|
||||
struct LiveTracksDEPRECATED @0xb16f60103159415a {
|
||||
trackId @0 :Int32;
|
||||
dRel @1 :Float32;
|
||||
yRel @2 :Float32;
|
||||
vRel @3 :Float32;
|
||||
aRel @4 :Float32;
|
||||
timeStamp @5 :Float32;
|
||||
status @6 :Float32;
|
||||
currentTime @7 :Float32;
|
||||
stationary @8 :Bool;
|
||||
oncoming @9 :Bool;
|
||||
}
|
||||
|
||||
struct LiveMpcData @0x92a5e332a85f32a0 {
|
||||
x @0 :List(Float32);
|
||||
y @1 :List(Float32);
|
||||
psi @2 :List(Float32);
|
||||
curvature @3 :List(Float32);
|
||||
qpIterations @4 :UInt32;
|
||||
calculationTime @5 :UInt64;
|
||||
cost @6 :Float64;
|
||||
}
|
||||
|
||||
struct LiveLongitudinalMpcData @0xe7e17c434f865ae2 {
|
||||
xEgo @0 :List(Float32);
|
||||
vEgo @1 :List(Float32);
|
||||
aEgo @2 :List(Float32);
|
||||
xLead @3 :List(Float32);
|
||||
vLead @4 :List(Float32);
|
||||
aLead @5 :List(Float32);
|
||||
aLeadTau @6 :Float32; # lead accel time constant
|
||||
qpIterations @7 :UInt32;
|
||||
mpcId @8 :UInt32;
|
||||
calculationTime @9 :UInt64;
|
||||
cost @10 :Float64;
|
||||
}
|
||||
|
||||
struct DriverStateDEPRECATED @0xb83c6cc593ed0a00 {
|
||||
frameId @0 :UInt32;
|
||||
modelExecutionTime @14 :Float32;
|
||||
dspExecutionTime @16 :Float32;
|
||||
rawPredictions @15 :Data;
|
||||
|
||||
faceOrientation @3 :List(Float32);
|
||||
facePosition @4 :List(Float32);
|
||||
faceProb @5 :Float32;
|
||||
leftEyeProb @6 :Float32;
|
||||
rightEyeProb @7 :Float32;
|
||||
leftBlinkProb @8 :Float32;
|
||||
rightBlinkProb @9 :Float32;
|
||||
faceOrientationStd @11 :List(Float32);
|
||||
facePositionStd @12 :List(Float32);
|
||||
sunglassesProb @13 :Float32;
|
||||
poorVision @17 :Float32;
|
||||
partialFace @18 :Float32;
|
||||
distractedPose @19 :Float32;
|
||||
distractedEyes @20 :Float32;
|
||||
eyesOnRoad @21 :Float32;
|
||||
phoneUse @22 :Float32;
|
||||
occludedProb @23 :Float32;
|
||||
|
||||
readyProb @24 :List(Float32);
|
||||
notReadyProb @25 :List(Float32);
|
||||
|
||||
irPwrDEPRECATED @10 :Float32;
|
||||
descriptorDEPRECATED @1 :List(Float32);
|
||||
stdDEPRECATED @2 :Float32;
|
||||
}
|
||||
|
||||
struct NavModelData @0xac3de5c437be057a {
|
||||
frameId @0 :UInt32;
|
||||
locationMonoTime @6 :UInt64;
|
||||
modelExecutionTime @1 :Float32;
|
||||
dspExecutionTime @2 :Float32;
|
||||
features @3 :List(Float32);
|
||||
# predicted future position
|
||||
position @4 :XYData;
|
||||
desirePrediction @5 :List(Float32);
|
||||
|
||||
# All SI units and in device frame
|
||||
struct XYData @0xbe09e615b2507e26 {
|
||||
x @0 :List(Float32);
|
||||
y @1 :List(Float32);
|
||||
xStd @2 :List(Float32);
|
||||
yStd @3 :List(Float32);
|
||||
}
|
||||
}
|
||||
|
||||
struct AndroidBuildInfo @0xfe2919d5c21f426c {
|
||||
board @0 :Text;
|
||||
bootloader @1 :Text;
|
||||
brand @2 :Text;
|
||||
device @3 :Text;
|
||||
display @4 :Text;
|
||||
fingerprint @5 :Text;
|
||||
hardware @6 :Text;
|
||||
host @7 :Text;
|
||||
id @8 :Text;
|
||||
manufacturer @9 :Text;
|
||||
model @10 :Text;
|
||||
product @11 :Text;
|
||||
radioVersion @12 :Text;
|
||||
serial @13 :Text;
|
||||
supportedAbis @14 :List(Text);
|
||||
tags @15 :Text;
|
||||
time @16 :Int64;
|
||||
type @17 :Text;
|
||||
user @18 :Text;
|
||||
|
||||
versionCodename @19 :Text;
|
||||
versionRelease @20 :Text;
|
||||
versionSdk @21 :Int32;
|
||||
versionSecurityPatch @22 :Text;
|
||||
}
|
||||
|
||||
struct AndroidSensor @0x9b513b93a887dbcd {
|
||||
id @0 :Int32;
|
||||
name @1 :Text;
|
||||
vendor @2 :Text;
|
||||
version @3 :Int32;
|
||||
handle @4 :Int32;
|
||||
type @5 :Int32;
|
||||
maxRange @6 :Float32;
|
||||
resolution @7 :Float32;
|
||||
power @8 :Float32;
|
||||
minDelay @9 :Int32;
|
||||
fifoReservedEventCount @10 :UInt32;
|
||||
fifoMaxEventCount @11 :UInt32;
|
||||
stringType @12 :Text;
|
||||
maxDelay @13 :Int32;
|
||||
}
|
||||
|
||||
struct IosBuildInfo @0xd97e3b28239f5580 {
|
||||
appVersion @0 :Text;
|
||||
appBuild @1 :UInt32;
|
||||
osVersion @2 :Text;
|
||||
deviceModel @3 :Text;
|
||||
}
|
||||
|
||||
enum FrameTypeDEPRECATED @0xa37f0d8558e193fd {
|
||||
unknown @0;
|
||||
neo @1;
|
||||
chffrAndroid @2;
|
||||
front @3;
|
||||
}
|
||||
|
||||
struct AndroidCaptureResult @0xbcc3efbac41d2048 {
|
||||
sensitivity @0 :Int32;
|
||||
frameDuration @1 :Int64;
|
||||
exposureTime @2 :Int64;
|
||||
rollingShutterSkew @3 :UInt64;
|
||||
colorCorrectionTransform @4 :List(Int32);
|
||||
colorCorrectionGains @5 :List(Float32);
|
||||
displayRotation @6 :Int8;
|
||||
}
|
||||
|
||||
enum UsbPowerModeDEPRECATED @0xa8883583b32c9877 {
|
||||
none @0;
|
||||
client @1;
|
||||
cdp @2;
|
||||
dcp @3;
|
||||
}
|
||||
|
||||
struct LateralINDIState @0x939463348632375e {
|
||||
active @0 :Bool;
|
||||
steeringAngleDeg @1 :Float32;
|
||||
steeringRateDeg @2 :Float32;
|
||||
steeringAccelDeg @3 :Float32;
|
||||
rateSetPoint @4 :Float32;
|
||||
accelSetPoint @5 :Float32;
|
||||
accelError @6 :Float32;
|
||||
delayedOutput @7 :Float32;
|
||||
delta @8 :Float32;
|
||||
output @9 :Float32;
|
||||
saturated @10 :Bool;
|
||||
steeringAngleDesiredDeg @11 :Float32;
|
||||
steeringRateDesiredDeg @12 :Float32;
|
||||
}
|
||||
|
||||
struct LateralLQRState @0x9024e2d790c82ade {
|
||||
active @0 :Bool;
|
||||
steeringAngleDeg @1 :Float32;
|
||||
i @2 :Float32;
|
||||
output @3 :Float32;
|
||||
lqrOutput @4 :Float32;
|
||||
saturated @5 :Bool;
|
||||
steeringAngleDesiredDeg @6 :Float32;
|
||||
}
|
||||
|
||||
struct LateralCurvatureState @0xad9d8095c06f7c61 {
|
||||
active @0 :Bool;
|
||||
actualCurvature @1 :Float32;
|
||||
desiredCurvature @2 :Float32;
|
||||
error @3 :Float32;
|
||||
p @4 :Float32;
|
||||
i @5 :Float32;
|
||||
f @6 :Float32;
|
||||
output @7 :Float32;
|
||||
saturated @8 :Bool;
|
||||
}
|
||||
|
||||
struct LateralPlannerSolution @0x84caeca5a6b4acfe {
|
||||
x @0 :List(Float32);
|
||||
y @1 :List(Float32);
|
||||
yaw @2 :List(Float32);
|
||||
yawRate @3 :List(Float32);
|
||||
xStd @4 :List(Float32);
|
||||
yStd @5 :List(Float32);
|
||||
yawStd @6 :List(Float32);
|
||||
yawRateStd @7 :List(Float32);
|
||||
}
|
||||
|
||||
struct GpsTrajectory @0x8cfeb072f5301000 {
|
||||
x @0 :List(Float32);
|
||||
y @1 :List(Float32);
|
||||
}
|
||||
770
cereal/log.capnp
770
cereal/log.capnp
File diff suppressed because it is too large
Load Diff
@@ -39,8 +39,8 @@ _services: dict[str, tuple] = {
|
||||
"roadEncodeIdx": (False, 20., 1),
|
||||
"liveTracks": (True, 20.),
|
||||
"sendcan": (True, 100., 139, QueueSize.MEDIUM),
|
||||
"logMessage": (True, 0., None, QueueSize.BIG),
|
||||
"errorLogMessage": (True, 0., 1, QueueSize.BIG),
|
||||
"logMessage": (True, 0.),
|
||||
"errorLogMessage": (True, 0., 1),
|
||||
"liveCalibration": (True, 4., 4),
|
||||
"liveTorqueParameters": (True, 4., 1),
|
||||
"liveDelay": (True, 4., 1),
|
||||
@@ -49,7 +49,6 @@ _services: dict[str, tuple] = {
|
||||
"carControl": (True, 100., 10),
|
||||
"carOutput": (True, 100., 10),
|
||||
"longitudinalPlan": (True, 20., 10),
|
||||
"lateralManeuverPlan": (True, 20.),
|
||||
"driverAssistance": (True, 20., 20),
|
||||
"procLog": (True, 0.5, 15, QueueSize.BIG),
|
||||
"gpsLocationExternal": (True, 10., 10),
|
||||
|
||||
@@ -1 +1 @@
|
||||
#define DEFAULT_MODEL "OP Model 7 (Default)"
|
||||
#define DEFAULT_MODEL "CD210 (Default)"
|
||||
|
||||
@@ -82,7 +82,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"LiveParametersV2", {PERSISTENT, BYTES}},
|
||||
{"LiveTorqueParameters", {PERSISTENT | DONT_LOG, BYTES}},
|
||||
{"LocationFilterInitialState", {PERSISTENT, BYTES}},
|
||||
{"LateralManeuverMode", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
|
||||
{"LongitudinalManeuverMode", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
|
||||
{"LongitudinalPersonality", {PERSISTENT | BACKUP, INT, std::to_string(static_cast<int>(cereal::LongitudinalPersonality::STANDARD))}},
|
||||
{"NetworkMetered", {PERSISTENT | BACKUP, BOOL}},
|
||||
@@ -179,8 +178,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"QuietMode", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"RainbowMode", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"RocketFuel", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"ScreenSaverEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"ScreenSaverTimeout", {PERSISTENT | BACKUP, INT, "300"}},
|
||||
{"ShowAdvancedControls", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"ShowTurnSignals", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"StandstillTimer", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
|
||||
@@ -65,7 +65,10 @@ DEVICE_CAMERAS = {
|
||||
("unknown", "ox03c10"): _ar_ox_config,
|
||||
|
||||
# simulator (emulates a tici)
|
||||
("pc", "unknown"): _ar_ox_config,
|
||||
("pc", "unknown"): _os_config,
|
||||
# ("pc", "ar0231"): _ar_ox_config,
|
||||
# ("pc", "ox03c10"): _ar_ox_config,
|
||||
# ("pc", "os04c10"): _os_config,
|
||||
}
|
||||
prods = itertools.product(('tici', 'tizi', 'mici'), (('ar0231', _ar_ox_config), ('ox03c10', _ar_ox_config), ('os04c10', _os_config)))
|
||||
DEVICE_CAMERAS.update({(d, c[0]): c[1] for d, c in prods})
|
||||
|
||||
@@ -131,11 +131,11 @@ def get_upload_stream(filepath: str, should_compress: bool) -> tuple[io.Buffered
|
||||
return compressed_stream, compressed_size
|
||||
|
||||
|
||||
# remove all keys that end in DEPRECATED, plus any "deprecated" group
|
||||
# remove all keys that end in DEPRECATED
|
||||
def strip_deprecated_keys(d):
|
||||
for k in list(d.keys()):
|
||||
if isinstance(k, str):
|
||||
if k.endswith('DEPRECATED') or k == 'deprecated':
|
||||
if k.endswith('DEPRECATED'):
|
||||
d.pop(k)
|
||||
elif isinstance(d[k], dict):
|
||||
strip_deprecated_keys(d[k])
|
||||
|
||||
135
docs/CARS.md
135
docs/CARS.md
@@ -4,24 +4,23 @@
|
||||
|
||||
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.
|
||||
|
||||
# 340 Supported Cars
|
||||
# 336 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</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</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 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2021">Buy Here</a></sub></details>|||
|
||||
|Acura|TLX 2025|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2025">Buy Here</a></sub></details>|||
|
||||
|Audi[<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>|||
|
||||
|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
|
||||
|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
|
||||
|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
|
||||
|Audi|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
|
||||
|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
|
||||
|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim, without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV 2022-23">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|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 +32,7 @@ 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"></img></a>||
|
||||
|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>|||
|
||||
|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
|
||||
|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>|||
|
||||
@@ -104,7 +103,6 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Honda|N-Box 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|11 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda N-Box 2018">Buy Here</a></sub></details>|||
|
||||
|Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2018-20">Buy Here</a></sub></details>|||
|
||||
|Honda|Odyssey 2021-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|43 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2021-26">Buy Here</a></sub></details>|||
|
||||
|Honda|Odyssey (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>|||
|
||||
|Honda|Passport 2026|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2026">Buy Here</a></sub></details>|||
|
||||
@@ -174,12 +172,12 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2020">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2021">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2022">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Kia|Niro EV (with HDA II) 2024-25|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV (with HDA II) 2024-25">Buy Here</a></sub></details>|||
|
||||
|Kia|Niro EV (with HDA II) 2025|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV (with HDA II) 2025">Buy Here</a></sub></details>|||
|
||||
|Kia|Niro EV (without HDA II) 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV (without HDA II) 2023-25">Buy Here</a></sub></details>|||
|
||||
|Kia|Niro Hybrid 2018|Smart Cruise Control (SCC)|Stock|10 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=Kia Niro Hybrid 2018">Buy Here</a></sub></details>|||
|
||||
|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Hybrid 2021">Buy Here</a></sub></details>|||
|
||||
|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Hybrid 2022">Buy Here</a></sub></details>|||
|
||||
|Kia|Niro Hybrid 2023-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Hybrid 2023-24">Buy Here</a></sub></details>|||
|
||||
|Kia|Niro Hybrid 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Hybrid 2023">Buy Here</a></sub></details>|||
|
||||
|Kia|Niro Plug-in Hybrid 2018-19|All|Stock|10 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Plug-in Hybrid 2018-19">Buy Here</a></sub></details>|||
|
||||
|Kia|Niro Plug-in Hybrid 2020|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Plug-in Hybrid 2020">Buy Here</a></sub></details>|||
|
||||
|Kia|Niro Plug-in Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Plug-in Hybrid 2021">Buy Here</a></sub></details>|||
|
||||
@@ -223,8 +221,8 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Lexus|UX Hybrid 2019-24|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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>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"></img></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"></img></a>||
|
||||
|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-5 2022-25">Buy Here</a></sub></details>|||
|
||||
|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Nissan[<sup>5</sup>](#footnotes)|Altima 2019-20, 2024|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-20, 2024">Buy Here</a></sub></details>|||
|
||||
@@ -235,11 +233,9 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Ram|2500 2020-24|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 2500 2020-24">Buy Here</a></sub></details>|||
|
||||
|Ram|3500 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 3500 2019-22">Buy Here</a></sub></details>|||
|
||||
|Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Rivian|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"></img></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>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>|||
|
||||
|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
|
||||
|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
|
||||
|Subaru|Ascent 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
@@ -254,15 +250,15 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Subaru|Outback 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Škoda|Fabia 2022-23[<sup>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>|||
|
||||
|Škoda|Fabia 2022-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Fabia 2022-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
|
||||
|Škoda|Kamiq 2021-23[<sup>11,13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
|
||||
|Škoda|Karoq 2019-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||
|
||||
|Škoda|Kodiaq 2017-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kodiaq 2017-23">Buy Here</a></sub></details>|||
|
||||
|Škoda|Octavia 2015-19[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia 2015-19">Buy Here</a></sub></details>|||
|
||||
|Škoda|Octavia RS 2016[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia RS 2016">Buy Here</a></sub></details>|||
|
||||
|Škoda|Octavia Scout 2017-19[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia Scout 2017-19">Buy Here</a></sub></details>|||
|
||||
|Škoda|Scala 2020-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Scala 2020-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
|
||||
|Škoda|Superb 2015-22[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Superb 2015-22">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>9</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>9</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>9</sup>](#footnotes)|Model Y (with HW3) 2020-23[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW3) 2020-23">Buy Here</a></sub></details>|||
|
||||
@@ -312,42 +308,42 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|RAV4 Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|Sienna 2018-20|All|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen[<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"></img></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"></img></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"></img></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"></img></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"></img></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"></img></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"></img></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"></img></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>|||
|
||||
|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas 2018-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen California 2021-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Caravelle 2020">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Golf 2014-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf 2015-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTD 2015-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTE 2015-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTI 2015-21">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen|Jetta 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2019-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Passat 2015-22[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat Alltrack 2015-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat GTE 2015-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo 2018-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
|
||||
|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
|
||||
|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Cross 2021">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
|
||||
|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Roc 2018-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Taos 2022-24">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont 2018-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont X 2021-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan 2018-24">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Touran 2016-23">Buy Here</a></sub></details>|||
|
||||
|
||||
### 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 />
|
||||
@@ -360,12 +356,11 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
<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 />
|
||||
<sup>11</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
|
||||
<sup>12</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
|
||||
<sup>13</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma four functionality. <br />
|
||||
<sup>14</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>15</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/).
|
||||
|
||||
@@ -39,7 +39,7 @@ All of these are examples of good PRs:
|
||||
### First contribution
|
||||
|
||||
[Projects / openpilot bounties](https://github.com/orgs/commaai/projects/26/views/1?pane=info) is the best place to get started and goes in-depth on what's expected when working on a bounty.
|
||||
There are a lot of bounties that don't require a comma four or a car.
|
||||
There are a lot of bounties that don't require a comma 3X or a car.
|
||||
|
||||
## Pull Requests
|
||||
|
||||
|
||||
@@ -6,4 +6,4 @@
|
||||
* **segment**: routes are split into one minute chunks called segments.
|
||||
* **comma connect**: the web viewer for all your routes; check it out at [connect.comma.ai](https://connect.comma.ai).
|
||||
* **panda**: this is the secondary processor on the device that implements the functional safety and directly talks to the car over CAN. See the [panda repo](https://github.com/commaai/panda).
|
||||
* **comma four**: the latest hardware by comma.ai for running openpilot. more info at [comma.ai/shop/comma-four](https://www.comma.ai/shop/comma-four).
|
||||
* **comma 3X**: the latest hardware by comma.ai for running openpilot. more info at [comma.ai/shop](https://comma.ai/shop).
|
||||
|
||||
@@ -5,7 +5,7 @@
|
||||
|
||||
## How do I use it?
|
||||
|
||||
openpilot is designed to be used on the comma four.
|
||||
openpilot is designed to be used on the comma 3X.
|
||||
|
||||
## How does it work?
|
||||
|
||||
|
||||
@@ -1,15 +1,15 @@
|
||||
# connect to a comma four
|
||||
# connect to a comma 3X
|
||||
|
||||
A comma four is a normal [Linux](https://github.com/commaai/agnos-builder) computer that exposes [SSH](https://wiki.archlinux.org/title/Secure_Shell) and a [serial console](https://wiki.archlinux.org/title/Working_with_the_serial_console).
|
||||
A comma 3X is a normal [Linux](https://github.com/commaai/agnos-builder) computer that exposes [SSH](https://wiki.archlinux.org/title/Secure_Shell) and a [serial console](https://wiki.archlinux.org/title/Working_with_the_serial_console).
|
||||
|
||||
## Serial Console
|
||||
|
||||
On both the comma three and comma four, the serial console is accessible from the main OBD-C port.
|
||||
Connect the comma four to your computer with a normal USB C cable, or use a [comma serial](https://comma.ai/shop/comma-serial) for steady 12V power.
|
||||
On both the comma three and 3X, the serial console is accessible from the main OBD-C port.
|
||||
Connect the comma 3X to your computer with a normal USB C cable, or use a [comma serial](https://comma.ai/shop/comma-serial) for steady 12V power.
|
||||
|
||||
On the comma three, the serial console is exposed through a UART-to-USB chip, and `tools/scripts/serial.sh` can be used to connect.
|
||||
|
||||
On the comma four, the serial console is accessible through the [panda](https://github.com/commaai/panda) using the `panda/tests/som_debug.sh` script.
|
||||
On the comma 3X, the serial console is accessible through the [panda](https://github.com/commaai/panda) using the `panda/tests/som_debug.sh` script.
|
||||
|
||||
* Username: `comma`
|
||||
* Password: `comma`
|
||||
@@ -45,7 +45,7 @@ In order to use ADB on your device, you'll need to perform the following steps u
|
||||
* Here's an example command for connecting to your device using its tethered connection: `adb connect 192.168.43.1:5555`
|
||||
|
||||
> [!NOTE]
|
||||
> The default port for ADB is 5555 on the comma four.
|
||||
> The default port for ADB is 5555 on the comma 3X.
|
||||
|
||||
For more info on ADB, see the [Android Debug Bridge (ADB) documentation](https://developer.android.com/tools/adb).
|
||||
|
||||
|
||||
@@ -8,7 +8,7 @@ Replaying is a critical tool for openpilot development and debugging.
|
||||
Just run `tools/replay/replay --demo`.
|
||||
|
||||
## Replaying CAN data
|
||||
*Hardware required: jungle and comma four*
|
||||
*Hardware required: jungle and comma 3X*
|
||||
|
||||
1. Connect your PC to a jungle.
|
||||
2.
|
||||
|
||||
@@ -3,7 +3,7 @@
|
||||
|
||||
In 30 minutes, we'll get an openpilot development environment set up on your computer and make some changes to openpilot's UI.
|
||||
|
||||
And if you have a comma four, we'll deploy the change to your device for testing.
|
||||
And if you have a comma 3X, we'll deploy the change to your device for testing.
|
||||
|
||||
## 1. Set up your development environment
|
||||
|
||||
|
||||
@@ -7,7 +7,6 @@ source "$DIR/launch_env.sh"
|
||||
function agnos_init {
|
||||
# TODO: move this to agnos
|
||||
sudo rm -f /data/etc/NetworkManager/system-connections/*.nmmeta
|
||||
rm -f /data/scons_cache/config.lock
|
||||
|
||||
# set success flag for current boot slot
|
||||
sudo abctl --set_success
|
||||
|
||||
Submodule msgq_repo updated: b7688b9bd7...ed2777747d
Submodule opendbc_repo updated: 427032a89a...b178bc5d4e
2
panda
2
panda
Submodule panda updated: 6cd1972ecf...6ddc631bdd
@@ -107,7 +107,6 @@ dev = [
|
||||
]
|
||||
|
||||
tools = [
|
||||
"imgui @ git+https://github.com/commaai/dependencies.git@release-imgui#subdirectory=imgui",
|
||||
"metadrive-simulator @ git+https://github.com/commaai/metadrive.git@minimal ; (platform_machine != 'aarch64')",
|
||||
]
|
||||
|
||||
|
||||
Submodule rednose_repo updated: 7ffefa3d88...6ccb8d0556
@@ -104,7 +104,7 @@ def generate_metadata(model_path: Path, output_dir: Path, short_name: str):
|
||||
metadata_file = metadata_file.rename(output_path / f"{base}_{short_name.lower()}_metadata.pkl")
|
||||
|
||||
# Build the metadata structure
|
||||
model_type = "offPolicy" if "off_policy" in base else "onPolicy" if "on_policy" in base else base.split("_")[-1]
|
||||
model_type = "offPolicy" if "off_policy" in base else base.split("_")[-1]
|
||||
|
||||
model_metadata = {
|
||||
"type": model_type,
|
||||
|
||||
@@ -38,11 +38,6 @@ if __name__ == "__main__":
|
||||
continue
|
||||
|
||||
fn = os.path.basename(f)
|
||||
master_path = MASTER_PATH + MODEL_PATH + fn
|
||||
if os.path.exists(master_path):
|
||||
master = get_checkpoint(master_path)
|
||||
master_col = f"[{master}](https://reporter.comma.life/experiment/{master})"
|
||||
else:
|
||||
master_col = "N/A (new model)"
|
||||
master = get_checkpoint(MASTER_PATH + MODEL_PATH + fn)
|
||||
pr = get_checkpoint(BASEDIR + MODEL_PATH + fn)
|
||||
print("|", fn, "|", master_col, "|", f"[{pr}](https://reporter.comma.life/experiment/{pr})", "|")
|
||||
print("|", fn, "|", f"[{master}](https://reporter.comma.life/experiment/{master})", "|", f"[{pr}](https://reporter.comma.life/experiment/{pr})", "|")
|
||||
|
||||
BIN
selfdrive/assets/icons_mici/onroad/glasses.png
LFS
Normal file
BIN
selfdrive/assets/icons_mici/onroad/glasses.png
LFS
Normal file
Binary file not shown.
@@ -98,6 +98,7 @@ class Car:
|
||||
break
|
||||
|
||||
alpha_long_allowed = self.params.get_bool("AlphaLongitudinalEnabled")
|
||||
num_pandas = len(messaging.recv_one_retry(self.sm.sock['pandaStates']).pandaStates)
|
||||
|
||||
cached_params = None
|
||||
cached_params_raw = self.params.get("CarParamsCache")
|
||||
@@ -108,7 +109,7 @@ class Car:
|
||||
fixed_fingerprint = (self.params.get("CarPlatformBundle") or {}).get("platform", None)
|
||||
init_params_list_sp = sunnypilot_interfaces.initialize_params(self.params)
|
||||
|
||||
self.CI = get_car(*self.can_callbacks, obd_callback(self.params), alpha_long_allowed, is_release, cached_params,
|
||||
self.CI = get_car(*self.can_callbacks, obd_callback(self.params), alpha_long_allowed, is_release, num_pandas, cached_params,
|
||||
fixed_fingerprint, init_params_list_sp, is_release_sp)
|
||||
sunnypilot_interfaces.setup_interfaces(self.CI, self.params)
|
||||
self.RI = interfaces[self.CI.CP.carFingerprint].RadarInterface(self.CI.CP, self.CI.CP_SP)
|
||||
|
||||
@@ -42,7 +42,7 @@ class Controls(ControlsExt):
|
||||
self.CI = interfaces[self.CP.carFingerprint](self.CP, self.CP_SP)
|
||||
|
||||
self.sm = messaging.SubMaster(['liveDelay', 'liveParameters', 'liveTorqueParameters', 'modelV2', 'selfdriveState',
|
||||
'liveCalibration', 'livePose', 'longitudinalPlan', 'lateralManeuverPlan', 'carState', 'carOutput',
|
||||
'liveCalibration', 'livePose', 'longitudinalPlan', 'carState', 'carOutput',
|
||||
'driverMonitoringState', 'onroadEvents', 'driverAssistance', 'liveDelay'] + self.sm_services_ext,
|
||||
poll='selfdriveState')
|
||||
self.pm = messaging.PubMaster(['carControl', 'controlsState'] + self.pm_services_ext)
|
||||
@@ -135,10 +135,7 @@ class Controls(ControlsExt):
|
||||
|
||||
# Steering PID loop and lateral MPC
|
||||
# Reset desired curvature to current to avoid violating the limits on engage
|
||||
if self.sm.valid['lateralManeuverPlan']:
|
||||
new_desired_curvature = self.sm['lateralManeuverPlan'].desiredCurvature if CC.latActive else self.curvature
|
||||
else:
|
||||
new_desired_curvature = model_v2.action.desiredCurvature if CC.latActive else self.curvature
|
||||
new_desired_curvature = model_v2.action.desiredCurvature if CC.latActive else self.curvature
|
||||
self.desired_curvature, curvature_limited = clip_curvature(CS.vEgo, self.desired_curvature, new_desired_curvature, lp.roll)
|
||||
lat_delay = self.sm["liveDelay"].lateralDelay + LAT_SMOOTH_SECONDS
|
||||
|
||||
|
||||
@@ -39,17 +39,19 @@ def clip_curvature(v_ego, prev_curvature, new_curvature, roll) -> tuple[float, b
|
||||
return float(new_curvature), limited_accel or limited_max_curv
|
||||
|
||||
|
||||
def get_accel_from_plan(speeds, accels, t_idxs, action_t=DT_MDL, vEgoStopping=0.3):
|
||||
def get_accel_from_plan(speeds, accels, t_idxs, action_t=DT_MDL, vEgoStopping=0.05):
|
||||
if len(speeds) == len(t_idxs):
|
||||
v_now = speeds[0]
|
||||
a_now = accels[0]
|
||||
v_target = np.interp(action_t, t_idxs, speeds)
|
||||
a_target = 2 * (v_target - v_now) / (action_t) - a_now
|
||||
v_target_1sec = np.interp(action_t + 1.0, t_idxs, speeds)
|
||||
else:
|
||||
v_now = 0.0
|
||||
v_target = 0.0
|
||||
v_target_1sec = 0.0
|
||||
a_target = 0.0
|
||||
should_stop = (v_now < vEgoStopping and a_target < 0.1)
|
||||
should_stop = (v_target < vEgoStopping and
|
||||
v_target_1sec < vEgoStopping)
|
||||
return a_target, should_stop
|
||||
|
||||
def curv_from_psis(psi_target, psi_rate, vego, action_t):
|
||||
|
||||
@@ -11,7 +11,7 @@ class LatControlAngle(LatControl):
|
||||
def __init__(self, CP, CP_SP, CI, dt):
|
||||
super().__init__(CP, CP_SP, CI, dt)
|
||||
self.sat_check_min_speed = 5.
|
||||
self.use_steer_limited_by_safety = CP.brand in ("tesla", "hyundai")
|
||||
self.use_steer_limited_by_safety = CP.brand == "tesla"
|
||||
|
||||
def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, calibrated_pose, curvature_limited, lat_delay):
|
||||
angle_log = log.ControlsState.LateralAngleState.new_message()
|
||||
|
||||
@@ -50,10 +50,8 @@ def simulate_straight_road_msgs(est):
|
||||
lat_accels = TORQUE_TUNE.latAccelFactor * steer_torques
|
||||
for t, steer_torque, lat_accel in zip(ts, steer_torques, lat_accels, strict=True):
|
||||
carOutput.actuatorsOutput.torque = float(-steer_torque)
|
||||
livePose.orientationNED = {'x': float(np.deg2rad(ROLL_BIAS_DEG)), 'valid': True}
|
||||
livePose.angularVelocityDevice = {'z': float(lat_accel / V_EGO), 'valid': True}
|
||||
livePose.inputsOK, livePose.sensorsOK, livePose.posenetOK = True, True, True
|
||||
livePose.timestamp = int(t * 1e9)
|
||||
livePose.orientationNED.x = float(np.deg2rad(ROLL_BIAS_DEG))
|
||||
livePose.angularVelocityDevice.z = float(lat_accel / V_EGO)
|
||||
for which, msg in (('carControl', carControl), ('carOutput', carOutput), ('carState', carState), ('livePose', livePose)):
|
||||
est.handle_log(t, which, msg)
|
||||
|
||||
|
||||
@@ -45,6 +45,8 @@ if __name__ == "__main__":
|
||||
extra[(Ecu.unknown, 0x750, i)] = []
|
||||
extra = {"any": {"debug": extra}}
|
||||
|
||||
num_pandas = len(messaging.recv_one_retry(pandaStates_sock).pandaStates)
|
||||
|
||||
t = time.monotonic()
|
||||
print("Getting vin...")
|
||||
set_obd_multiplexing(True)
|
||||
@@ -54,7 +56,7 @@ if __name__ == "__main__":
|
||||
print()
|
||||
|
||||
t = time.monotonic()
|
||||
fw_vers = get_fw_versions(*can_callbacks, set_obd_multiplexing, query_brand=args.brand, extra=extra, progress=True)
|
||||
fw_vers = get_fw_versions(*can_callbacks, set_obd_multiplexing, query_brand=args.brand, extra=extra, num_pandas=num_pandas, progress=True)
|
||||
_, candidates = match_fw_to_car(fw_vers, vin)
|
||||
|
||||
print()
|
||||
|
||||
@@ -30,9 +30,9 @@ def cycle_alerts(duration=200, is_metric=False):
|
||||
(EventName.accFaulted, ET.IMMEDIATE_DISABLE),
|
||||
|
||||
# DM sequence
|
||||
(EventName.driverDistracted1, ET.WARNING),
|
||||
(EventName.driverDistracted2, ET.WARNING),
|
||||
(EventName.driverDistracted3, ET.WARNING),
|
||||
(EventName.preDriverDistracted, ET.WARNING),
|
||||
(EventName.promptDriverDistracted, ET.WARNING),
|
||||
(EventName.driverDistracted, ET.WARNING),
|
||||
]
|
||||
|
||||
# debug alerts
|
||||
|
||||
@@ -44,7 +44,7 @@ if __name__ == "__main__":
|
||||
parser = argparse.ArgumentParser(description='View back and forth ISO-TP communication between various ECUs given an address')
|
||||
parser.add_argument('route', nargs='?', help='Route name, live if not specified')
|
||||
parser.add_argument('--addrs', nargs='*', default=[], help='List of tx address to view (0x7e0 for engine)')
|
||||
parser.add_argument('--rxoffset', default='0x8')
|
||||
parser.add_argument('--rxoffset', default='')
|
||||
args = parser.parse_args()
|
||||
|
||||
addrs = [int(addr, base=16) if addr.startswith('0x') else int(addr) for addr in args.addrs]
|
||||
|
||||
@@ -28,9 +28,6 @@ INPUT_INVALID_LIMIT = 2.0 # 1 (camodo) / 9 (sensor) bad input[s] ignored
|
||||
INPUT_INVALID_RECOVERY = 10.0 # ~10 secs to resume after exceeding allowed bad inputs by one
|
||||
POSENET_STD_INITIAL_VALUE = 10.0
|
||||
POSENET_STD_HIST_HALF = 20
|
||||
CAM_ODO_POSE_DELAY = 0.1 # dependent on the vision model context frames and temporal frequency (current model is 5 fps with 2 context frames)
|
||||
CAM_ODO_ROT_STD_MULT = 10
|
||||
CAM_ODO_TRANS_STD_MULT = 4
|
||||
|
||||
|
||||
def calculate_invalid_input_decay(invalid_limit, recovery_time, frequency):
|
||||
@@ -158,8 +155,6 @@ class LocationEstimator:
|
||||
self.device_from_calib = rot_from_euler(calib)
|
||||
|
||||
elif which == "cameraOdometry":
|
||||
# camera odometry is delayed depending on the model context frames and temporal frequency
|
||||
t = msg.timestampEof * 1e-9 - CAM_ODO_POSE_DELAY
|
||||
if not self._validate_timestamp(t):
|
||||
return HandleLogResult.TIMING_INVALID
|
||||
|
||||
@@ -182,8 +177,8 @@ class LocationEstimator:
|
||||
self.posenet_stds[-1] = trans_calib_std[0]
|
||||
|
||||
# Multiply by N to avoid to high certainty in kalman filter because of temporally correlated noise
|
||||
rot_calib_std *= CAM_ODO_ROT_STD_MULT
|
||||
trans_calib_std *= CAM_ODO_TRANS_STD_MULT
|
||||
rot_calib_std *= 10
|
||||
trans_calib_std *= 2
|
||||
|
||||
rot_device_std = rotate_std(self.device_from_calib, rot_calib_std)
|
||||
trans_device_std = rotate_std(self.device_from_calib, trans_calib_std)
|
||||
@@ -239,7 +234,6 @@ class LocationEstimator:
|
||||
livePose.inputsOK = inputs_valid
|
||||
livePose.posenetOK = not std_spike or self.car_speed <= 5.0
|
||||
livePose.sensorsOK = sensors_valid
|
||||
livePose.timestamp = int(np.nan_to_num(self.kf.t) * 1e9)
|
||||
|
||||
return msg
|
||||
|
||||
|
||||
@@ -47,13 +47,13 @@ class PoseKalman(KalmanFilter):
|
||||
# process noise
|
||||
Q = np.diag([0.001**2, 0.001**2, 0.001**2,
|
||||
0.01**2, 0.01**2, 0.01**2,
|
||||
0.085**2, 0.085**2, 0.085**2,
|
||||
0.1**2, 0.1**2, 0.1**2,
|
||||
(0.005 / 100)**2, (0.005 / 100)**2, (0.005 / 100)**2,
|
||||
3**2, 3**2, 3**2,
|
||||
0.005**2, 0.005**2, 0.005**2])
|
||||
|
||||
obs_noise = {ObservationKind.PHONE_GYRO: np.diag([0.025**2, 0.025**2, 0.025**2]),
|
||||
ObservationKind.PHONE_ACCEL: np.diag([0.75**2, 0.75**2, 0.75**2]),
|
||||
ObservationKind.PHONE_ACCEL: np.diag([.5**2, .5**2, .5**2]),
|
||||
ObservationKind.CAMERA_ODO_TRANSLATION: np.diag([0.5**2, 0.5**2, 0.5**2]),
|
||||
ObservationKind.CAMERA_ODO_ROTATION: np.diag([0.05**2, 0.05**2, 0.05**2])}
|
||||
|
||||
|
||||
@@ -65,7 +65,6 @@ class VehicleParamsLearner:
|
||||
|
||||
def handle_log(self, t: float, which: str, msg: capnp._DynamicStructReader):
|
||||
if which == 'livePose':
|
||||
t = msg.timestamp * 1e-9
|
||||
device_pose = Pose.from_live_pose(msg)
|
||||
calibrated_pose = self.calibrator.build_calibrated_pose(device_pose)
|
||||
|
||||
|
||||
@@ -3,7 +3,6 @@ from collections import defaultdict
|
||||
from enum import Enum
|
||||
|
||||
from openpilot.tools.lib.logreader import LogReader
|
||||
from openpilot.selfdrive.locationd.lagd import masked_symmetric_moving_average
|
||||
from openpilot.selfdrive.test.process_replay.migration import migrate_all
|
||||
from openpilot.selfdrive.test.process_replay.process_replay import replay_process_with_name
|
||||
|
||||
@@ -16,7 +15,6 @@ SELECT_COMPARE_FIELDS = {
|
||||
'inputs_flag': ['inputsOK'],
|
||||
'sensors_flag': ['sensorsOK'],
|
||||
}
|
||||
SMOOTH_FIELDS = ['yaw_rate', 'roll']
|
||||
JUNK_IDX = 100
|
||||
CONSISTENT_SPIKES_COUNT = 10
|
||||
|
||||
@@ -34,8 +32,6 @@ class Scenario(Enum):
|
||||
|
||||
|
||||
def get_select_fields_data(logs):
|
||||
def sig_smooth(signal):
|
||||
return masked_symmetric_moving_average(signal, np.ones_like(signal), 5, 1.0)
|
||||
def get_nested_keys(msg, keys):
|
||||
val = None
|
||||
for key in keys:
|
||||
@@ -48,8 +44,6 @@ def get_select_fields_data(logs):
|
||||
data[key].append(get_nested_keys(msg, fields))
|
||||
for key in data:
|
||||
data[key] = np.array(data[key][JUNK_IDX:], dtype=float)
|
||||
if key in SMOOTH_FIELDS:
|
||||
data[key] = sig_smooth(data[key])
|
||||
return data
|
||||
|
||||
|
||||
@@ -116,7 +110,7 @@ class TestLocationdScenarios:
|
||||
"""
|
||||
orig_data, replayed_data = run_scenarios(Scenario.BASE, self.logs)
|
||||
assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.35))
|
||||
assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.35))
|
||||
assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.55))
|
||||
|
||||
def test_gyro_off(self):
|
||||
"""
|
||||
@@ -141,7 +135,7 @@ class TestLocationdScenarios:
|
||||
"""
|
||||
orig_data, replayed_data = run_scenarios(Scenario.GYRO_SPIKE_MIDWAY, self.logs)
|
||||
assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.35))
|
||||
assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.35))
|
||||
assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.55))
|
||||
assert np.all(replayed_data['inputs_flag'] == orig_data['inputs_flag'])
|
||||
assert np.all(replayed_data['sensors_flag'] == orig_data['sensors_flag'])
|
||||
|
||||
@@ -175,7 +169,7 @@ class TestLocationdScenarios:
|
||||
"""
|
||||
orig_data, replayed_data = run_scenarios(Scenario.ACCEL_SPIKE_MIDWAY, self.logs)
|
||||
assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.35))
|
||||
assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.35))
|
||||
assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.55))
|
||||
|
||||
def test_single_timing_spike(self):
|
||||
"""
|
||||
|
||||
@@ -188,9 +188,7 @@ class TorqueEstimator(ParameterEstimator, TorqueEstimatorExt):
|
||||
self.lag = get_lat_delay(self.params, msg.lateralDelay)
|
||||
# calculate lateral accel from past steering torque
|
||||
elif which == "livePose":
|
||||
is_valid = msg.angularVelocityDevice.valid and msg.orientationNED.valid and msg.inputsOK and msg.sensorsOK and msg.posenetOK
|
||||
if len(self.raw_points['steer_torque']) == self.hist_len and is_valid:
|
||||
t = msg.timestamp * 1e-9
|
||||
if len(self.raw_points['steer_torque']) == self.hist_len:
|
||||
device_pose = Pose.from_live_pose(msg)
|
||||
calibrated_pose = self.calibrator.build_calibrated_pose(device_pose)
|
||||
angular_velocity_calibrated = calibrated_pose.angular_velocity
|
||||
|
||||
@@ -17,11 +17,11 @@ def estimate_pickle_max_size(onnx_size):
|
||||
# THREADS=0 is need to prevent bug: https://github.com/tinygrad/tinygrad/issues/14689
|
||||
tg_flags = {
|
||||
'larch64': 'DEV=QCOM FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0',
|
||||
'Darwin': f'DEV=CPU THREADS=0 HOME={os.path.expanduser("~")}', # tinygrad calls brew which needs a $HOME in the env
|
||||
}.get(arch, 'DEV=CPU CPU_LLVM=1 THREADS=0')
|
||||
'Darwin': f'DEV=CPU THREADS=0 HOME={os.path.expanduser("~")} IMAGE=0', # tinygrad calls brew which needs a $HOME in the env
|
||||
}.get(arch, 'DEV=CPU CPU_LLVM=1 THREADS=0 IMAGE=0')
|
||||
|
||||
# Get model metadata
|
||||
for model_name in ['driving_vision', 'driving_off_policy', 'driving_on_policy', 'dmonitoring_model']:
|
||||
for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
|
||||
fn = File(f"models/{model_name}").abspath
|
||||
script_files = [File(Dir("#selfdrive/modeld").File("get_model_metadata.py").abspath)]
|
||||
cmd = f'{tg_flags} python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
|
||||
@@ -59,5 +59,19 @@ def tg_compile(flags, model_name):
|
||||
)
|
||||
|
||||
# Compile small models
|
||||
for model_name in ['driving_vision', 'driving_off_policy', 'driving_on_policy', 'dmonitoring_model']:
|
||||
for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
|
||||
tg_compile(tg_flags, model_name)
|
||||
|
||||
# Compile BIG model if USB GPU is available
|
||||
if "USBGPU" in os.environ:
|
||||
import subprocess
|
||||
# because tg doesn't support multi-process
|
||||
devs = subprocess.check_output('python3 -c "from tinygrad import Device; print(list(Device.get_available_devices()))"', shell=True, cwd=env.Dir('#').abspath)
|
||||
if b"AMD" in devs:
|
||||
print("USB GPU detected... building")
|
||||
flags = "DEV=AMD AMD_IFACE=USB AMD_LLVM=1 NOLOCALS=0 IMAGE=0"
|
||||
bp = tg_compile(flags, "big_driving_policy")
|
||||
bv = tg_compile(flags, "big_driving_vision")
|
||||
lenv.SideEffect('lock', [bp, bv]) # tg doesn't support multi-process so build serially
|
||||
else:
|
||||
print("USB GPU not detected... skipping")
|
||||
|
||||
@@ -80,7 +80,7 @@ def parse_model_output(model_output):
|
||||
face_descs = model_output[f'face_descs_{ds_suffix}']
|
||||
parsed[f'face_descs_{ds_suffix}'] = face_descs[:, :-6]
|
||||
parsed[f'face_descs_{ds_suffix}_std'] = safe_exp(face_descs[:, -6:])
|
||||
for key in ['face_prob', 'eyes_visible_prob', 'eyes_closed_prob', 'using_phone_prob']:
|
||||
for key in ['face_prob', 'left_eye_prob', 'right_eye_prob','left_blink_prob', 'right_blink_prob', 'sunglasses_prob', 'using_phone_prob']:
|
||||
parsed[f'{key}_{ds_suffix}'] = sigmoid(model_output[f'{key}_{ds_suffix}'])
|
||||
return parsed
|
||||
|
||||
@@ -90,8 +90,11 @@ def fill_driver_data(msg, model_output, ds_suffix):
|
||||
msg.facePosition = model_output[f'face_descs_{ds_suffix}'][0, 3:5].tolist()
|
||||
msg.facePositionStd = model_output[f'face_descs_{ds_suffix}_std'][0, 3:5].tolist()
|
||||
msg.faceProb = model_output[f'face_prob_{ds_suffix}'][0, 0].item()
|
||||
msg.eyesVisibleProb = model_output[f'eyes_visible_prob_{ds_suffix}'][0, 0].item()
|
||||
msg.eyesClosedProb = model_output[f'eyes_closed_prob_{ds_suffix}'][0, 0].item()
|
||||
msg.leftEyeProb = model_output[f'left_eye_prob_{ds_suffix}'][0, 0].item()
|
||||
msg.rightEyeProb = model_output[f'right_eye_prob_{ds_suffix}'][0, 0].item()
|
||||
msg.leftBlinkProb = model_output[f'left_blink_prob_{ds_suffix}'][0, 0].item()
|
||||
msg.rightBlinkProb = model_output[f'right_blink_prob_{ds_suffix}'][0, 0].item()
|
||||
msg.sunglassesProb = model_output[f'sunglasses_prob_{ds_suffix}'][0, 0].item()
|
||||
msg.phoneProb = model_output[f'using_phone_prob_{ds_suffix}'][0, 0].item()
|
||||
|
||||
def get_driverstate_packet(model_output, frame_id: int, location_ts: int, exec_time: float, gpu_exec_time: float):
|
||||
|
||||
@@ -37,13 +37,11 @@ from openpilot.sunnypilot.modeld_v2.modeld_base import ModelStateBase
|
||||
PROCESS_NAME = "selfdrive.modeld.modeld"
|
||||
SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
|
||||
|
||||
VISION_PKL_PATH = Path(__file__).parent / 'models/driving_vision_tinygrad.pkl'
|
||||
POLICY_PKL_PATH = Path(__file__).parent / 'models/driving_policy_tinygrad.pkl'
|
||||
VISION_METADATA_PATH = Path(__file__).parent / 'models/driving_vision_metadata.pkl'
|
||||
POLICY_METADATA_PATH = Path(__file__).parent / 'models/driving_policy_metadata.pkl'
|
||||
MODELS_DIR = Path(__file__).parent / 'models'
|
||||
VISION_PKL_PATH = MODELS_DIR / 'driving_vision_tinygrad.pkl'
|
||||
VISION_METADATA_PATH = MODELS_DIR / 'driving_vision_metadata.pkl'
|
||||
ON_POLICY_PKL_PATH = MODELS_DIR / 'driving_on_policy_tinygrad.pkl'
|
||||
ON_POLICY_METADATA_PATH = MODELS_DIR / 'driving_on_policy_metadata.pkl'
|
||||
OFF_POLICY_PKL_PATH = MODELS_DIR / 'driving_off_policy_tinygrad.pkl'
|
||||
OFF_POLICY_METADATA_PATH = MODELS_DIR / 'driving_off_policy_metadata.pkl'
|
||||
|
||||
LAT_SMOOTH_SECONDS = 0.0
|
||||
LONG_SMOOTH_SECONDS = 0.3
|
||||
@@ -158,13 +156,7 @@ class ModelState(ModelStateBase):
|
||||
self.vision_output_slices = vision_metadata['output_slices']
|
||||
vision_output_size = vision_metadata['output_shapes']['outputs'][1]
|
||||
|
||||
with open(OFF_POLICY_METADATA_PATH, 'rb') as f:
|
||||
off_policy_metadata = pickle.load(f)
|
||||
self.off_policy_input_shapes = off_policy_metadata['input_shapes']
|
||||
self.off_policy_output_slices = off_policy_metadata['output_slices']
|
||||
off_policy_output_size = off_policy_metadata['output_shapes']['outputs'][1]
|
||||
|
||||
with open(ON_POLICY_METADATA_PATH, 'rb') as f:
|
||||
with open(POLICY_METADATA_PATH, 'rb') as f:
|
||||
policy_metadata = pickle.load(f)
|
||||
self.policy_input_shapes = policy_metadata['input_shapes']
|
||||
self.policy_output_slices = policy_metadata['output_slices']
|
||||
@@ -188,13 +180,11 @@ class ModelState(ModelStateBase):
|
||||
self.vision_output = np.zeros(vision_output_size, dtype=np.float32)
|
||||
self.policy_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()}
|
||||
self.policy_output = np.zeros(policy_output_size, dtype=np.float32)
|
||||
self.off_policy_output = np.zeros(off_policy_output_size, dtype=np.float32)
|
||||
self.parser = Parser()
|
||||
self.frame_buf_params : dict[str, tuple[int, int, int, int]] = {}
|
||||
self.update_imgs = None
|
||||
self.vision_run = pickle.loads(read_file_chunked(str(VISION_PKL_PATH)))
|
||||
self.policy_run = pickle.loads(read_file_chunked(str(ON_POLICY_PKL_PATH)))
|
||||
self.off_policy_run = pickle.loads(read_file_chunked(str(OFF_POLICY_PKL_PATH)))
|
||||
self.policy_run = pickle.loads(read_file_chunked(str(POLICY_PKL_PATH)))
|
||||
|
||||
def slice_outputs(self, model_outputs: np.ndarray, output_slices: dict[str, slice]) -> dict[str, np.ndarray]:
|
||||
parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in output_slices.items()}
|
||||
@@ -243,17 +233,9 @@ class ModelState(ModelStateBase):
|
||||
|
||||
self.policy_output = self.policy_run(**self.policy_inputs).contiguous().realize().uop.base.buffer.numpy().flatten()
|
||||
policy_outputs_dict = self.parser.parse_policy_outputs(self.slice_outputs(self.policy_output, self.policy_output_slices))
|
||||
|
||||
self.off_policy_output = self.off_policy_run(**self.policy_inputs).contiguous().realize().uop.base.buffer.numpy()
|
||||
off_policy_outputs_dict = self.parser.parse_off_policy_outputs(self.slice_outputs(self.off_policy_output, self.off_policy_output_slices))
|
||||
off_policy_outputs_dict.pop('plan')
|
||||
|
||||
|
||||
combined_outputs_dict = {**vision_outputs_dict, **off_policy_outputs_dict, **policy_outputs_dict}
|
||||
if 'planplus' in combined_outputs_dict and 'plan' in combined_outputs_dict:
|
||||
combined_outputs_dict['plan'] = combined_outputs_dict['plan'] + combined_outputs_dict['planplus']
|
||||
combined_outputs_dict = {**vision_outputs_dict, **policy_outputs_dict}
|
||||
if SEND_RAW_PRED:
|
||||
combined_outputs_dict['raw_pred'] = np.concatenate([self.vision_output.copy(), self.policy_output.copy(), self.off_policy_output.copy()])
|
||||
combined_outputs_dict['raw_pred'] = np.concatenate([self.vision_output.copy(), self.policy_output.copy()])
|
||||
|
||||
return combined_outputs_dict
|
||||
|
||||
@@ -414,9 +396,7 @@ def main(demo=False):
|
||||
posenet_send = messaging.new_message('cameraOdometry')
|
||||
mdv2sp_send = messaging.new_message('modelDataV2SP')
|
||||
|
||||
frame_delay = DT_MDL # compensate for time passed since the frame was captured: current_time - timestamp_eof is 50ms on average
|
||||
action_delay = DT_MDL / 2 # middle of the interval between model output (current state) and next frame (expected state)
|
||||
action = get_action_from_model(model_output, prev_action, lat_delay + frame_delay + action_delay, long_delay + frame_delay + action_delay, v_ego)
|
||||
action = get_action_from_model(model_output, prev_action, lat_delay + DT_MDL, long_delay + DT_MDL, v_ego)
|
||||
prev_action = action
|
||||
fill_model_msg(drivingdata_send, modelv2_send, model_output, action,
|
||||
publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
|
||||
|
||||
1
selfdrive/modeld/models/big_driving_policy.onnx
Symbolic link
1
selfdrive/modeld/models/big_driving_policy.onnx
Symbolic link
@@ -0,0 +1 @@
|
||||
driving_policy.onnx
|
||||
1
selfdrive/modeld/models/big_driving_vision.onnx
Symbolic link
1
selfdrive/modeld/models/big_driving_vision.onnx
Symbolic link
@@ -0,0 +1 @@
|
||||
driving_vision.onnx
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
BIN
selfdrive/modeld/models/driving_policy.onnx
LFS
Normal file
BIN
selfdrive/modeld/models/driving_policy.onnx
LFS
Normal file
Binary file not shown.
Binary file not shown.
@@ -96,17 +96,11 @@ class Parser:
|
||||
self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
|
||||
self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,))
|
||||
self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
|
||||
self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH))
|
||||
self.parse_binary_crossentropy('meta', outs)
|
||||
return outs
|
||||
|
||||
def parse_off_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
|
||||
plan_mhp = self.is_mhp(outs, 'plan', ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH)
|
||||
plan_in_N, plan_out_N = (ModelConstants.PLAN_MHP_N, ModelConstants.PLAN_MHP_SELECTION) if plan_mhp else (0, 0)
|
||||
self.parse_mdn('plan', outs, in_N=plan_in_N, out_N=plan_out_N, out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH))
|
||||
self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
|
||||
self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
|
||||
self.parse_binary_crossentropy('lane_lines_prob', outs)
|
||||
self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH))
|
||||
self.parse_binary_crossentropy('meta', outs)
|
||||
self.parse_binary_crossentropy('lead_prob', outs)
|
||||
lead_mhp = self.is_mhp(outs, 'lead', ModelConstants.LEAD_MHP_SELECTION * ModelConstants.LEAD_TRAJ_LEN * ModelConstants.LEAD_WIDTH)
|
||||
lead_in_N, lead_out_N = (ModelConstants.LEAD_MHP_N, ModelConstants.LEAD_MHP_SELECTION) if lead_mhp else (0, 0)
|
||||
@@ -126,6 +120,5 @@ class Parser:
|
||||
|
||||
def parse_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
|
||||
outs = self.parse_vision_outputs(outs)
|
||||
outs = self.parse_off_policy_outputs(outs)
|
||||
outs = self.parse_policy_outputs(outs)
|
||||
return outs
|
||||
|
||||
@@ -1,4 +1,4 @@
|
||||
from math import atan2, radians
|
||||
from math import atan2
|
||||
import numpy as np
|
||||
|
||||
from cereal import car, log
|
||||
@@ -32,8 +32,9 @@ class DRIVER_MONITOR_SETTINGS:
|
||||
self._DISTRACTED_PROMPT_TIME_TILL_TERMINAL = 6.
|
||||
|
||||
self._FACE_THRESHOLD = 0.7
|
||||
self._EYE_THRESHOLD = 0.5
|
||||
self._BLINK_THRESHOLD = 0.5
|
||||
self._EYE_THRESHOLD = 0.65
|
||||
self._SG_THRESHOLD = 0.9
|
||||
self._BLINK_THRESHOLD = 0.865
|
||||
self._PHONE_THRESH = 0.5
|
||||
|
||||
self._POSE_PITCH_THRESHOLD = 0.3133
|
||||
@@ -42,9 +43,6 @@ class DRIVER_MONITOR_SETTINGS:
|
||||
self._POSE_YAW_THRESHOLD = 0.4020
|
||||
self._POSE_YAW_THRESHOLD_SLACK = 0.5042
|
||||
self._POSE_YAW_THRESHOLD_STRICT = self._POSE_YAW_THRESHOLD
|
||||
self._POSE_YAW_MIN_STEER_DEG = 30
|
||||
self._POSE_YAW_STEER_FACTOR = 0.15
|
||||
self._POSE_YAW_STEER_MAX_OFFSET = 0.3927
|
||||
self._PITCH_NATURAL_OFFSET = 0.011 # initial value before offset is learned
|
||||
self._PITCH_NATURAL_THRESHOLD = 0.449
|
||||
self._YAW_NATURAL_OFFSET = 0.075 # initial value before offset is learned
|
||||
@@ -61,6 +59,7 @@ class DRIVER_MONITOR_SETTINGS:
|
||||
self._POSESTD_THRESHOLD = 0.3
|
||||
self._HI_STD_FALLBACK_TIME = int(10 / self._DT_DMON) # fall back to wheel touch if model is uncertain for 10s
|
||||
self._DISTRACTED_FILTER_TS = 0.25 # 0.6Hz
|
||||
self._ALWAYS_ON_ALERT_MIN_SPEED = 11
|
||||
|
||||
self._POSE_CALIB_MIN_SPEED = 13 # 30 mph
|
||||
self._POSE_OFFSET_MIN_COUNT = int(60 / self._DT_DMON) # valid data counts before calibration completes, 1min cumulative
|
||||
@@ -102,7 +101,6 @@ class DriverPose:
|
||||
self.low_std = True
|
||||
self.cfactor_pitch = 1.
|
||||
self.cfactor_yaw = 1.
|
||||
self.steer_yaw_offset = 0.
|
||||
|
||||
class DriverProb:
|
||||
def __init__(self, raw_priors, max_trackable):
|
||||
@@ -110,6 +108,11 @@ class DriverProb:
|
||||
self.prob_offseter = RunningStatFilter(raw_priors=raw_priors, max_trackable=max_trackable)
|
||||
self.prob_calibrated = False
|
||||
|
||||
class DriverBlink:
|
||||
def __init__(self):
|
||||
self.left = 0.
|
||||
self.right = 0.
|
||||
|
||||
|
||||
# model output refers to center of undistorted+leveled image
|
||||
EFL = 598.0 # focal length in K
|
||||
@@ -144,7 +147,7 @@ class DriverMonitoring:
|
||||
wheelpos_filter_raw_priors = (self.settings._WHEELPOS_DATA_AVG, self.settings._WHEELPOS_DATA_VAR, 2)
|
||||
self.wheelpos = DriverProb(raw_priors=wheelpos_filter_raw_priors, max_trackable=self.settings._WHEELPOS_MAX_COUNT)
|
||||
self.pose = DriverPose(settings=self.settings)
|
||||
self.blink_prob = 0.
|
||||
self.blink = DriverBlink()
|
||||
self.phone_prob = 0.
|
||||
|
||||
self.always_on = always_on
|
||||
@@ -235,11 +238,7 @@ class DriverMonitoring:
|
||||
yaw_error = self.pose.yaw - min(max(self.pose.yaw_offseter.filtered_stat.mean(),
|
||||
self.settings._YAW_MIN_OFFSET), self.settings._YAW_MAX_OFFSET)
|
||||
pitch_error = 0 if pitch_error > 0 else abs(pitch_error) # no positive pitch limit
|
||||
|
||||
if yaw_error * self.pose.steer_yaw_offset > 0: # unidirectional
|
||||
yaw_error = max(abs(yaw_error) - min(abs(self.pose.steer_yaw_offset), self.settings._POSE_YAW_STEER_MAX_OFFSET), 0.)
|
||||
else:
|
||||
yaw_error = abs(yaw_error)
|
||||
yaw_error = abs(yaw_error)
|
||||
|
||||
pitch_threshold = self.settings._POSE_PITCH_THRESHOLD * self.pose.cfactor_pitch if self.pose.calibrated else self.settings._PITCH_NATURAL_THRESHOLD
|
||||
yaw_threshold = self.settings._POSE_YAW_THRESHOLD * self.pose.cfactor_yaw
|
||||
@@ -247,7 +246,7 @@ class DriverMonitoring:
|
||||
if pitch_error > pitch_threshold or yaw_error > yaw_threshold:
|
||||
distracted_types.append(DistractedType.DISTRACTED_POSE)
|
||||
|
||||
if self.blink_prob > self.settings._BLINK_THRESHOLD:
|
||||
if (self.blink.left + self.blink.right)*0.5 > self.settings._BLINK_THRESHOLD:
|
||||
distracted_types.append(DistractedType.DISTRACTED_BLINK)
|
||||
|
||||
if self.phone_prob > self.settings._PHONE_THRESH:
|
||||
@@ -255,7 +254,7 @@ class DriverMonitoring:
|
||||
|
||||
return distracted_types
|
||||
|
||||
def _update_states(self, driver_state, cal_rpy, car_speed, op_engaged, standstill, demo_mode=False, steering_angle_deg=0.):
|
||||
def _update_states(self, driver_state, cal_rpy, car_speed, op_engaged, standstill, demo_mode=False):
|
||||
rhd_pred = driver_state.wheelOnRightProb
|
||||
# calibrates only when there's movement and either face detected
|
||||
if car_speed > self.settings._WHEELPOS_CALIB_MIN_SPEED and (driver_state.leftDriverData.faceProb > self.settings._FACE_THRESHOLD or
|
||||
@@ -278,17 +277,17 @@ class DriverMonitoring:
|
||||
|
||||
self.face_detected = driver_data.faceProb > self.settings._FACE_THRESHOLD
|
||||
self.pose.roll, self.pose.pitch, self.pose.yaw = face_orientation_from_net(driver_data.faceOrientation, driver_data.facePosition, cal_rpy)
|
||||
steer_d = max(abs(steering_angle_deg) - self.settings._POSE_YAW_MIN_STEER_DEG, 0.)
|
||||
self.pose.steer_yaw_offset = radians(steer_d) * -np.sign(steering_angle_deg) * self.settings._POSE_YAW_STEER_FACTOR
|
||||
if self.wheel_on_right:
|
||||
self.pose.yaw *= -1
|
||||
self.pose.steer_yaw_offset *= -1
|
||||
self.wheel_on_right_last = self.wheel_on_right
|
||||
self.pose.pitch_std = driver_data.faceOrientationStd[0]
|
||||
self.pose.yaw_std = driver_data.faceOrientationStd[1]
|
||||
model_std_max = max(self.pose.pitch_std, self.pose.yaw_std)
|
||||
self.pose.low_std = model_std_max < self.settings._POSESTD_THRESHOLD
|
||||
self.blink_prob = driver_data.eyesClosedProb * (driver_data.eyesVisibleProb > self.settings._EYE_THRESHOLD)
|
||||
self.blink.left = driver_data.leftBlinkProb * (driver_data.leftEyeProb > self.settings._EYE_THRESHOLD) \
|
||||
* (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
|
||||
self.blink.right = driver_data.rightBlinkProb * (driver_data.rightEyeProb > self.settings._EYE_THRESHOLD) \
|
||||
* (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
|
||||
self.phone_prob = driver_data.phoneProb
|
||||
|
||||
self.distracted_types = self._get_distracted_types()
|
||||
@@ -345,14 +344,10 @@ class DriverMonitoring:
|
||||
self._reset_awareness()
|
||||
return
|
||||
|
||||
driver_attentive = self.driver_distraction_filter.x < 0.37
|
||||
awareness_prev = self.awareness
|
||||
_reaching_pre = self.awareness - self.step_change <= self.threshold_pre
|
||||
_reaching_terminal = self.awareness - self.step_change <= 0
|
||||
standstill_orange_exemption = standstill and _reaching_pre
|
||||
always_on_red_exemption = always_on_valid and not op_engaged and _reaching_terminal
|
||||
|
||||
if self.awareness > 0 and \
|
||||
((self.driver_distraction_filter.x < 0.37 and self.face_detected and self.pose.low_std) or standstill_orange_exemption):
|
||||
if (driver_attentive and self.face_detected and self.pose.low_std and self.awareness > 0):
|
||||
if driver_engaged:
|
||||
self._reset_awareness()
|
||||
return
|
||||
@@ -365,28 +360,34 @@ class DriverMonitoring:
|
||||
if self.awareness > self.threshold_prompt:
|
||||
return
|
||||
|
||||
_reaching_audible = self.awareness - self.step_change <= self.threshold_prompt
|
||||
_reaching_terminal = self.awareness - self.step_change <= 0
|
||||
standstill_orange_exemption = standstill and _reaching_audible
|
||||
always_on_red_exemption = always_on_valid and not op_engaged and _reaching_terminal
|
||||
always_on_lowspeed_exemption = always_on_valid and not op_engaged and car_speed < self.settings._ALWAYS_ON_ALERT_MIN_SPEED
|
||||
|
||||
certainly_distracted = self.driver_distraction_filter.x > 0.63 and self.driver_distracted and self.face_detected
|
||||
maybe_distracted = self.hi_stds > self.settings._HI_STD_FALLBACK_TIME or not self.face_detected
|
||||
|
||||
if certainly_distracted or maybe_distracted:
|
||||
# should always be counting if distracted unless at standstill and reaching green
|
||||
# should always be counting if distracted unless at standstill (lowspeed for always-on) and reaching orange
|
||||
# also will not be reaching 0 if DM is active when not engaged
|
||||
if not (standstill_orange_exemption or always_on_red_exemption):
|
||||
if not (standstill_orange_exemption or always_on_red_exemption or (always_on_lowspeed_exemption and _reaching_audible)):
|
||||
self.awareness = max(self.awareness - self.step_change, -0.1)
|
||||
|
||||
alert = None
|
||||
if self.awareness <= 0.:
|
||||
# terminal red alert: disengagement required
|
||||
alert = EventName.driverDistracted3 if self.active_monitoring_mode else EventName.driverUnresponsive3
|
||||
alert = EventName.driverDistracted if self.active_monitoring_mode else EventName.driverUnresponsive
|
||||
self.terminal_time += 1
|
||||
if awareness_prev > 0.:
|
||||
self.terminal_alert_cnt += 1
|
||||
elif self.awareness <= self.threshold_prompt:
|
||||
# prompt orange alert
|
||||
alert = EventName.driverDistracted2 if self.active_monitoring_mode else EventName.driverUnresponsive2
|
||||
elif self.awareness <= self.threshold_pre:
|
||||
alert = EventName.promptDriverDistracted if self.active_monitoring_mode else EventName.promptDriverUnresponsive
|
||||
elif self.awareness <= self.threshold_pre and not always_on_lowspeed_exemption:
|
||||
# pre green alert
|
||||
alert = EventName.driverDistracted1 if self.active_monitoring_mode else EventName.driverUnresponsive1
|
||||
alert = EventName.preDriverDistracted if self.active_monitoring_mode else EventName.preDriverUnresponsive
|
||||
|
||||
if alert is not None:
|
||||
self.current_events.add(alert)
|
||||
@@ -450,7 +451,6 @@ class DriverMonitoring:
|
||||
op_engaged=enabled,
|
||||
standstill=standstill,
|
||||
demo_mode=demo,
|
||||
steering_angle_deg=sm['carState'].steeringAngleDeg,
|
||||
)
|
||||
|
||||
# Update distraction events
|
||||
|
||||
@@ -20,8 +20,10 @@ def make_msg(face_detected, distracted=False, model_uncertain=False):
|
||||
ds.leftDriverData.faceOrientation = [0., 0., 0.]
|
||||
ds.leftDriverData.facePosition = [0., 0.]
|
||||
ds.leftDriverData.faceProb = 1. * face_detected
|
||||
ds.leftDriverData.eyesVisibleProb = 1.
|
||||
ds.leftDriverData.eyesClosedProb = 1. * distracted
|
||||
ds.leftDriverData.leftEyeProb = 1.
|
||||
ds.leftDriverData.rightEyeProb = 1.
|
||||
ds.leftDriverData.leftBlinkProb = 1. * distracted
|
||||
ds.leftDriverData.rightBlinkProb = 1. * distracted
|
||||
ds.leftDriverData.faceOrientationStd = [1.*model_uncertain, 1.*model_uncertain, 1.*model_uncertain]
|
||||
ds.leftDriverData.facePositionStd = [1.*model_uncertain, 1.*model_uncertain]
|
||||
# TODO: test both separately when e2e is used
|
||||
@@ -76,11 +78,11 @@ class TestMonitoring:
|
||||
assert len(events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL)/2/DT_DMON)]) == 0
|
||||
assert events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL + \
|
||||
((d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL-d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == \
|
||||
EventName.driverDistracted1
|
||||
EventName.preDriverDistracted
|
||||
assert events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL + \
|
||||
((d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == EventName.driverDistracted2
|
||||
((d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == EventName.promptDriverDistracted
|
||||
assert events[int((d_status.settings._DISTRACTED_TIME + \
|
||||
((TEST_TIMESPAN-10-d_status.settings._DISTRACTED_TIME)/2))/DT_DMON)].names[0] == EventName.driverDistracted3
|
||||
((TEST_TIMESPAN-10-d_status.settings._DISTRACTED_TIME)/2))/DT_DMON)].names[0] == EventName.driverDistracted
|
||||
assert isinstance(d_status.awareness, float)
|
||||
|
||||
# engaged, no face detected the whole time, no action
|
||||
@@ -89,11 +91,11 @@ class TestMonitoring:
|
||||
assert len(events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL)/2/DT_DMON)]) == 0
|
||||
assert events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL + \
|
||||
((d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL-d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == \
|
||||
EventName.driverUnresponsive1
|
||||
EventName.preDriverUnresponsive
|
||||
assert events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL + \
|
||||
((d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == EventName.driverUnresponsive2
|
||||
((d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == EventName.promptDriverUnresponsive
|
||||
assert events[int((d_status.settings._AWARENESS_TIME + \
|
||||
((TEST_TIMESPAN-10-d_status.settings._AWARENESS_TIME)/2))/DT_DMON)].names[0] == EventName.driverUnresponsive3
|
||||
((TEST_TIMESPAN-10-d_status.settings._AWARENESS_TIME)/2))/DT_DMON)].names[0] == EventName.driverUnresponsive
|
||||
|
||||
# engaged, down to orange, driver pays attention, back to normal; then down to orange, driver touches wheel
|
||||
# - should have short orange recovery time and no green afterwards; wheel touch only recovers when paying attention
|
||||
@@ -106,10 +108,10 @@ class TestMonitoring:
|
||||
[car_interaction_DETECTED] * (int(TEST_TIMESPAN/DT_DMON)-int(DISTRACTED_SECONDS_TO_ORANGE*3/DT_DMON))
|
||||
events, _ = self._run_seq(ds_vector, interaction_vector, always_true, always_false)
|
||||
assert len(events[int(DISTRACTED_SECONDS_TO_ORANGE*0.5/DT_DMON)]) == 0
|
||||
assert events[int((DISTRACTED_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0] == EventName.driverDistracted2
|
||||
assert events[int((DISTRACTED_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0] == EventName.promptDriverDistracted
|
||||
assert len(events[int(DISTRACTED_SECONDS_TO_ORANGE*1.5/DT_DMON)]) == 0
|
||||
assert events[int((DISTRACTED_SECONDS_TO_ORANGE*3-0.1)/DT_DMON)].names[0] == EventName.driverDistracted2
|
||||
assert events[int((DISTRACTED_SECONDS_TO_ORANGE*3+0.1)/DT_DMON)].names[0] == EventName.driverDistracted2
|
||||
assert events[int((DISTRACTED_SECONDS_TO_ORANGE*3-0.1)/DT_DMON)].names[0] == EventName.promptDriverDistracted
|
||||
assert events[int((DISTRACTED_SECONDS_TO_ORANGE*3+0.1)/DT_DMON)].names[0] == EventName.promptDriverDistracted
|
||||
assert len(events[int((DISTRACTED_SECONDS_TO_ORANGE*3+2.5)/DT_DMON)]) == 0
|
||||
|
||||
# engaged, down to orange, driver dodges camera, then comes back still distracted, down to red, \
|
||||
@@ -129,9 +131,9 @@ class TestMonitoring:
|
||||
op_vector[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+2.5)/DT_DMON):int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+3)/DT_DMON)] \
|
||||
= [False] * int(0.5/DT_DMON)
|
||||
events, _ = self._run_seq(ds_vector, interaction_vector, op_vector, always_false)
|
||||
assert events[int((DISTRACTED_SECONDS_TO_ORANGE+0.5*_invisible_time)/DT_DMON)].names[0] == EventName.driverDistracted2
|
||||
assert events[int((DISTRACTED_SECONDS_TO_RED+1.5*_invisible_time)/DT_DMON)].names[0] == EventName.driverDistracted3
|
||||
assert events[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+1.5)/DT_DMON)].names[0] == EventName.driverDistracted3
|
||||
assert events[int((DISTRACTED_SECONDS_TO_ORANGE+0.5*_invisible_time)/DT_DMON)].names[0] == EventName.promptDriverDistracted
|
||||
assert events[int((DISTRACTED_SECONDS_TO_RED+1.5*_invisible_time)/DT_DMON)].names[0] == EventName.driverDistracted
|
||||
assert events[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+1.5)/DT_DMON)].names[0] == EventName.driverDistracted
|
||||
assert len(events[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+3.5)/DT_DMON)]) == 0
|
||||
|
||||
# engaged, invisible driver, down to orange, driver touches wheel; then down to orange again, driver appears
|
||||
@@ -145,13 +147,13 @@ class TestMonitoring:
|
||||
interaction_vector[int((INVISIBLE_SECONDS_TO_ORANGE)/DT_DMON):int((INVISIBLE_SECONDS_TO_ORANGE+1)/DT_DMON)] = [True] * int(1/DT_DMON)
|
||||
events, _ = self._run_seq(ds_vector, interaction_vector, 2*always_true, 2*always_false)
|
||||
assert len(events[int(INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)]) == 0
|
||||
assert events[int((INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0] == EventName.driverUnresponsive2
|
||||
assert events[int((INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0] == EventName.promptDriverUnresponsive
|
||||
assert len(events[int((INVISIBLE_SECONDS_TO_ORANGE+0.1)/DT_DMON)]) == 0
|
||||
if _visible_time == 0.5:
|
||||
assert events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)].names[0] == EventName.driverUnresponsive2
|
||||
assert events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)].names[0] == EventName.driverUnresponsive1
|
||||
assert events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)].names[0] == EventName.promptDriverUnresponsive
|
||||
assert events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)].names[0] == EventName.preDriverUnresponsive
|
||||
elif _visible_time == 10:
|
||||
assert events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)].names[0] == EventName.driverUnresponsive2
|
||||
assert events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)].names[0] == EventName.promptDriverUnresponsive
|
||||
assert len(events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)]) == 0
|
||||
|
||||
# engaged, invisible driver, down to red, driver appears and then touches wheel, then disengages/reengages
|
||||
@@ -166,10 +168,10 @@ class TestMonitoring:
|
||||
op_vector[int((INVISIBLE_SECONDS_TO_RED+_visible_time+1)/DT_DMON):int((INVISIBLE_SECONDS_TO_RED+_visible_time+0.5)/DT_DMON)] = [False] * int(0.5/DT_DMON)
|
||||
events, _ = self._run_seq(ds_vector, interaction_vector, op_vector, always_false)
|
||||
assert len(events[int(INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)]) == 0
|
||||
assert events[int((INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0] == EventName.driverUnresponsive2
|
||||
assert events[int((INVISIBLE_SECONDS_TO_RED-0.1)/DT_DMON)].names[0] == EventName.driverUnresponsive3
|
||||
assert events[int((INVISIBLE_SECONDS_TO_RED+0.5*_visible_time)/DT_DMON)].names[0] == EventName.driverUnresponsive3
|
||||
assert events[int((INVISIBLE_SECONDS_TO_RED+_visible_time+0.5)/DT_DMON)].names[0] == EventName.driverUnresponsive3
|
||||
assert events[int((INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0] == EventName.promptDriverUnresponsive
|
||||
assert events[int((INVISIBLE_SECONDS_TO_RED-0.1)/DT_DMON)].names[0] == EventName.driverUnresponsive
|
||||
assert events[int((INVISIBLE_SECONDS_TO_RED+0.5*_visible_time)/DT_DMON)].names[0] == EventName.driverUnresponsive
|
||||
assert events[int((INVISIBLE_SECONDS_TO_RED+_visible_time+0.5)/DT_DMON)].names[0] == EventName.driverUnresponsive
|
||||
assert len(events[int((INVISIBLE_SECONDS_TO_RED+_visible_time+1+0.1)/DT_DMON)]) == 0
|
||||
|
||||
# disengaged, always distracted driver
|
||||
@@ -185,21 +187,10 @@ class TestMonitoring:
|
||||
standstill_vector = always_true[:]
|
||||
standstill_vector[int(_redlight_time/DT_DMON):] = [False] * int((TEST_TIMESPAN-_redlight_time)/DT_DMON)
|
||||
events, d_status = self._run_seq(always_distracted, always_false, always_true, standstill_vector)
|
||||
assert len(events[int((_redlight_time-0.1)/DT_DMON)]) == 0
|
||||
_pre_to_prompt = d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL - d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL
|
||||
assert events[int((_redlight_time+0.5)/DT_DMON)].names[0] == EventName.driverDistracted1
|
||||
assert events[int((_redlight_time+_pre_to_prompt+0.5)/DT_DMON)].names[0] == EventName.driverDistracted2
|
||||
|
||||
# engaged, distracted while moving, then car stops after reaching orange
|
||||
# - should reset timer to pre green at standstill
|
||||
def test_distracted_then_stops(self):
|
||||
_stop_time = DISTRACTED_SECONDS_TO_ORANGE + 1 # stop 1 second after reaching orange
|
||||
standstill_vector = always_false[:]
|
||||
standstill_vector[int(_stop_time/DT_DMON):] = [True] * int((TEST_TIMESPAN-_stop_time)/DT_DMON)
|
||||
events, _ = self._run_seq(always_distracted, always_false, always_true, standstill_vector)
|
||||
# just before and briefly after stopping: orange alert; goes away quickly after stopped
|
||||
assert events[int((_stop_time+0.1)/DT_DMON)].names[0] == EventName.driverDistracted2
|
||||
assert len(events[int((_stop_time+0.5)/DT_DMON)]) == 0
|
||||
assert events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL+1)/DT_DMON)].names[0] == \
|
||||
EventName.preDriverDistracted
|
||||
assert events[int((_redlight_time-0.1)/DT_DMON)].names[0] == EventName.preDriverDistracted
|
||||
assert events[int((_redlight_time+0.5)/DT_DMON)].names[0] == EventName.promptDriverDistracted
|
||||
|
||||
# engaged, model is somehow uncertain and driver is distracted
|
||||
# - should fall back to wheel touch after uncertain alert
|
||||
@@ -207,11 +198,11 @@ class TestMonitoring:
|
||||
ds_vector = [msg_DISTRACTED_BUT_SOMEHOW_UNCERTAIN] * int(TEST_TIMESPAN/DT_DMON)
|
||||
interaction_vector = always_false[:]
|
||||
events, d_status = self._run_seq(ds_vector, interaction_vector, always_true, always_false)
|
||||
assert EventName.driverUnresponsive1 in \
|
||||
assert EventName.preDriverUnresponsive in \
|
||||
events[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME-0.1)/DT_DMON)].names
|
||||
assert EventName.driverUnresponsive2 in \
|
||||
assert EventName.promptDriverUnresponsive in \
|
||||
events[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names
|
||||
assert EventName.driverUnresponsive3 in \
|
||||
assert EventName.driverUnresponsive in \
|
||||
events[int((INVISIBLE_SECONDS_TO_RED-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names
|
||||
|
||||
|
||||
@@ -276,3 +267,4 @@ def test_enabled_states(enabled_state, lat_active_state, expected):
|
||||
actual_enabled = captured_args[0]
|
||||
|
||||
assert actual_enabled == expected, f"Expected op_engaged={expected}, but got {actual_enabled}"
|
||||
|
||||
|
||||
@@ -78,6 +78,22 @@ class TestPandad:
|
||||
|
||||
assert any(Panda(s).is_internal() for s in Panda.list())
|
||||
|
||||
def test_best_case_startup_time(self):
|
||||
# run once so we're up to date
|
||||
self._run_test(60)
|
||||
|
||||
ts = []
|
||||
for _ in range(10):
|
||||
# should be nearly instant this time
|
||||
dt = self._run_test(5)
|
||||
ts.append(dt)
|
||||
|
||||
# 5s for USB (due to enumeration)
|
||||
# - 0.2s pandad -> pandad
|
||||
# - plus some buffer
|
||||
print("startup times", ts, sum(ts) / len(ts))
|
||||
assert 0.1 < (sum(ts)/len(ts)) < 0.7
|
||||
|
||||
def test_old_spi_protocol(self):
|
||||
# flash firmware with old SPI protocol
|
||||
self._flash_bootstub(os.path.join(HERE, "bootstub.panda_h7_spiv0.bin"))
|
||||
|
||||
@@ -235,11 +235,6 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
|
||||
"Ensure road ahead is clear"),
|
||||
},
|
||||
|
||||
EventName.lateralManeuver: {
|
||||
ET.WARNING: longitudinal_maneuver_alert,
|
||||
ET.PERMANENT: NormalPermanentAlert("Lateral Maneuver Mode"),
|
||||
},
|
||||
|
||||
EventName.selfdriveInitializing: {
|
||||
ET.NO_ENTRY: NoEntryAlert("System Initializing"),
|
||||
},
|
||||
@@ -338,7 +333,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
|
||||
Priority.LOW, VisualAlert.steerRequired, AudibleAlert.prompt, 1.8),
|
||||
},
|
||||
|
||||
EventName.driverDistracted1: {
|
||||
EventName.preDriverDistracted: {
|
||||
ET.PERMANENT: Alert(
|
||||
"Pay Attention",
|
||||
"",
|
||||
@@ -346,7 +341,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
|
||||
Priority.LOW, VisualAlert.none, AudibleAlert.none, .1),
|
||||
},
|
||||
|
||||
EventName.driverDistracted2: {
|
||||
EventName.promptDriverDistracted: {
|
||||
ET.PERMANENT: Alert(
|
||||
"Pay Attention",
|
||||
"Driver Distracted",
|
||||
@@ -354,7 +349,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
|
||||
Priority.MID, VisualAlert.steerRequired, AudibleAlert.promptDistracted, .1),
|
||||
},
|
||||
|
||||
EventName.driverDistracted3: {
|
||||
EventName.driverDistracted: {
|
||||
ET.PERMANENT: Alert(
|
||||
"DISENGAGE IMMEDIATELY",
|
||||
"Driver Distracted",
|
||||
@@ -362,7 +357,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
|
||||
Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.warningImmediate, .1),
|
||||
},
|
||||
|
||||
EventName.driverUnresponsive1: {
|
||||
EventName.preDriverUnresponsive: {
|
||||
ET.PERMANENT: Alert(
|
||||
"Touch Steering Wheel: No Face Detected",
|
||||
"",
|
||||
@@ -370,7 +365,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
|
||||
Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .1),
|
||||
},
|
||||
|
||||
EventName.driverUnresponsive2: {
|
||||
EventName.promptDriverUnresponsive: {
|
||||
ET.PERMANENT: Alert(
|
||||
"Touch Steering Wheel",
|
||||
"Driver Unresponsive",
|
||||
@@ -378,7 +373,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
|
||||
Priority.MID, VisualAlert.steerRequired, AudibleAlert.promptDistracted, .1),
|
||||
},
|
||||
|
||||
EventName.driverUnresponsive3: {
|
||||
EventName.driverUnresponsive: {
|
||||
ET.PERMANENT: Alert(
|
||||
"DISENGAGE IMMEDIATELY",
|
||||
"Driver Unresponsive",
|
||||
@@ -858,14 +853,14 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
|
||||
|
||||
if HARDWARE.get_device_type() == 'mici':
|
||||
EVENTS.update({
|
||||
EventName.driverDistracted1: {
|
||||
EventName.preDriverDistracted: {
|
||||
ET.PERMANENT: Alert(
|
||||
"Pay Attention",
|
||||
"",
|
||||
AlertStatus.normal, AlertSize.small,
|
||||
Priority.LOW, VisualAlert.none, AudibleAlert.none, 2),
|
||||
},
|
||||
EventName.driverDistracted2: {
|
||||
EventName.promptDriverDistracted: {
|
||||
ET.PERMANENT: Alert(
|
||||
"Pay Attention",
|
||||
"Driver Distracted",
|
||||
|
||||
@@ -89,7 +89,7 @@ class SelfdriveD(CruiseHelper):
|
||||
# TODO: de-couple selfdrived with card/conflate on carState without introducing controls mismatches
|
||||
self.car_state_sock = messaging.sub_sock('carState', timeout=20)
|
||||
|
||||
ignore = self.sensor_packets + self.gps_packets + ['alertDebug', 'lateralManeuverPlan'] + ['modelDataV2SP']
|
||||
ignore = self.sensor_packets + self.gps_packets + ['alertDebug'] + ['modelDataV2SP']
|
||||
if SIMULATION:
|
||||
ignore += ['driverCameraState', 'managerState']
|
||||
if REPLAY:
|
||||
@@ -99,7 +99,7 @@ class SelfdriveD(CruiseHelper):
|
||||
'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'livePose', 'liveDelay',
|
||||
'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
|
||||
'controlsState', 'carControl', 'driverAssistance', 'alertDebug', 'userBookmark', 'audioFeedback',
|
||||
'lateralManeuverPlan', 'modelDataV2SP', 'longitudinalPlanSP'] + \
|
||||
'modelDataV2SP', 'longitudinalPlanSP'] + \
|
||||
self.camera_packets + self.sensor_packets + self.gps_packets,
|
||||
ignore_alive=ignore, ignore_avg_freq=ignore,
|
||||
ignore_valid=ignore, frequency=int(1/DT_CTRL))
|
||||
@@ -183,10 +183,7 @@ class SelfdriveD(CruiseHelper):
|
||||
self.events.add(EventName.joystickDebug)
|
||||
self.startup_event = None
|
||||
|
||||
if self.sm.recv_frame['lateralManeuverPlan'] > 0:
|
||||
self.events.add(EventName.lateralManeuver)
|
||||
self.startup_event = None
|
||||
elif self.sm.recv_frame['alertDebug'] > 0:
|
||||
if self.sm.recv_frame['alertDebug'] > 0:
|
||||
self.events.add(EventName.longitudinalManeuver)
|
||||
self.startup_event = None
|
||||
|
||||
|
||||
@@ -46,8 +46,8 @@ class FuzzyGenerator:
|
||||
|
||||
def generate_struct(self, schema: capnp.lib.capnp._StructSchema, event: str | None = None) -> st.SearchStrategy[dict[str, Any]]:
|
||||
single_fill: tuple[str, ...] = (event,) if event else (self.draw(st.sampled_from(schema.union_fields)),) if schema.union_fields else ()
|
||||
fields_to_generate = [f for f in schema.non_union_fields + single_fill if not f.endswith('DEPRECATED') and f != 'deprecated']
|
||||
return st.fixed_dictionaries({field: self.generate_field(schema.fields[field]) for field in fields_to_generate})
|
||||
fields_to_generate = schema.non_union_fields + single_fill
|
||||
return st.fixed_dictionaries({field: self.generate_field(schema.fields[field]) for field in fields_to_generate if not field.endswith('DEPRECATED')})
|
||||
|
||||
@staticmethod
|
||||
@cache
|
||||
|
||||
@@ -1,92 +0,0 @@
|
||||
import os
|
||||
from collections import defaultdict
|
||||
|
||||
from opendbc.car.tests.car_diff import format_diff, format_numeric_diffs
|
||||
from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs
|
||||
from openpilot.selfdrive.test.process_replay.process_replay import PROC_REPLAY_DIR
|
||||
|
||||
|
||||
class MsgWrap:
|
||||
"""Adapter so to_dict() includes defaults"""
|
||||
def __init__(self, msg):
|
||||
self._msg = msg
|
||||
def to_dict(self) -> dict:
|
||||
return self._msg.to_dict(verbose=True)
|
||||
|
||||
|
||||
def diff_process(cfg, ref_msgs, new_msgs) -> tuple | None:
|
||||
ref = defaultdict(list)
|
||||
new = defaultdict(list)
|
||||
for m in ref_msgs:
|
||||
if m.which() in cfg.subs:
|
||||
ref[m.which()].append(m)
|
||||
for m in new_msgs:
|
||||
if m.which() in cfg.subs:
|
||||
new[m.which()].append(m)
|
||||
|
||||
diffs = []
|
||||
for sub in cfg.subs:
|
||||
if len(ref[sub]) != len(new[sub]):
|
||||
diffs.append((f"{sub} (message count)", 0, (len(ref[sub]), len(new[sub])), 0))
|
||||
for i, (r, n) in enumerate(zip(ref[sub], new[sub], strict=False)):
|
||||
for d in compare_logs([r], [n], cfg.ignore, tolerance=cfg.tolerance):
|
||||
if d[0] == "change":
|
||||
a, b = d[2]
|
||||
if a != a and b != b:
|
||||
continue
|
||||
diffs.append((d[1], i, d[2], r.logMonoTime))
|
||||
elif d[0] in ("add", "remove"):
|
||||
for item in d[2]:
|
||||
if item[1] != item[1]:
|
||||
continue
|
||||
diffs.append((f"{d[1]}.{item[0]}", i, (d[0], item[1]), r.logMonoTime))
|
||||
return (diffs, ref, new) if diffs else None
|
||||
|
||||
|
||||
def diff_format(diffs, ref, new, field) -> list[str]:
|
||||
if any(part.isdigit() for part in field.split(".")):
|
||||
return format_numeric_diffs(diffs)
|
||||
msg_type = field.split(".")[0]
|
||||
ref_ts = [(m.logMonoTime, MsgWrap(m)) for m in ref.get(msg_type, [])]
|
||||
new_wrapped = [MsgWrap(m) for m in new.get(msg_type, [])]
|
||||
return format_diff(diffs, ref_ts, new_wrapped, field)
|
||||
|
||||
|
||||
def diff_report(replay_diffs, segments) -> None:
|
||||
seg_to_plat = {seg: plat for plat, seg in segments}
|
||||
|
||||
with_diffs, errors, n_passed = [], [], 0
|
||||
for seg, proc, data in replay_diffs:
|
||||
plat = seg_to_plat.get(seg, "UNKNOWN")
|
||||
if data is None:
|
||||
n_passed += 1
|
||||
elif isinstance(data, str):
|
||||
errors.append((plat, seg, proc, data))
|
||||
else:
|
||||
with_diffs.append((plat, seg, proc, data))
|
||||
|
||||
icon = "⚠️" if with_diffs else "✅"
|
||||
lines = [
|
||||
"## Process replay diff report",
|
||||
"Replays driving segments through this PR and compares the behavior to master.",
|
||||
"Please review any changes carefully to ensure they are expected.\n",
|
||||
f"{icon} {len(with_diffs)} changed, {n_passed} passed, {len(errors)} errors",
|
||||
]
|
||||
|
||||
for plat, seg, proc, err in errors:
|
||||
lines.append(f"\nERROR {plat} - {seg} [{proc}]: {err}")
|
||||
|
||||
if with_diffs:
|
||||
lines.append("<details><summary><b>Show changes</b></summary>\n\n```")
|
||||
for plat, seg, proc, (diffs, ref, new) in with_diffs:
|
||||
lines.append(f"\n{plat} - {seg} [{proc}]")
|
||||
by_field = defaultdict(list)
|
||||
for d in diffs:
|
||||
by_field[d[0]].append(d)
|
||||
for field, fd in sorted(by_field.items()):
|
||||
lines.append(f"\n {field} ({len(fd)} diffs)")
|
||||
lines.extend(diff_format(fd, ref, new, field))
|
||||
lines.append("```\n</details>")
|
||||
|
||||
with open(os.path.join(PROC_REPLAY_DIR, "diff_report.txt"), "w") as f:
|
||||
f.write("\n".join(lines))
|
||||
@@ -39,7 +39,6 @@ def migrate_all(lr: LogIterable, manager_states: bool = False, panda_states: boo
|
||||
migrate_carOutput,
|
||||
migrate_controlsState,
|
||||
migrate_carState,
|
||||
migrate_livePose,
|
||||
migrate_liveTracks,
|
||||
migrate_driverAssistance,
|
||||
migrate_drivingModelData,
|
||||
@@ -100,17 +99,6 @@ def migration(inputs: list[str], product: str|None=None):
|
||||
return decorator
|
||||
|
||||
|
||||
def migrate_onroad_event(event: capnp.lib.capnp._DynamicStructReader):
|
||||
event_dict = event.to_dict()
|
||||
try:
|
||||
return log.OnroadEvent(**event_dict)
|
||||
except capnp.lib.capnp.KjException as e:
|
||||
# Ignore legacy events the current schema no longer defines.
|
||||
if "enum has no such enumerant" in str(e):
|
||||
return None
|
||||
raise
|
||||
|
||||
|
||||
@migration(inputs=["longitudinalPlan", "carParams"])
|
||||
def migrate_longitudinalPlan(msgs):
|
||||
ops = []
|
||||
@@ -189,7 +177,6 @@ def migrate_liveLocationKalman(msgs):
|
||||
m = messaging.new_message('livePose')
|
||||
m.valid = msg.valid
|
||||
m.logMonoTime = msg.logMonoTime
|
||||
m.livePose.timestamp = msg.logMonoTime
|
||||
for field in ["orientationNED", "velocityDevice", "accelerationDevice", "angularVelocityDevice"]:
|
||||
lp_field, llk_field = getattr(m.livePose, field), getattr(msg.liveLocationKalmanDEPRECATED, field)
|
||||
lp_field.x, lp_field.y, lp_field.z = llk_field.value or nans
|
||||
@@ -201,21 +188,6 @@ def migrate_liveLocationKalman(msgs):
|
||||
return ops, [], []
|
||||
|
||||
|
||||
@migration(inputs=["livePose"])
|
||||
def migrate_livePose(msgs):
|
||||
ops = []
|
||||
needs_migration = all(msg.livePose.timestamp == 0 for _, msg in msgs if msg.which() == 'livePose')
|
||||
if not needs_migration:
|
||||
return [], [], []
|
||||
|
||||
for index, msg in msgs:
|
||||
if msg.which() == "livePose":
|
||||
new_msg = msg.as_builder()
|
||||
new_msg.livePose.timestamp = msg.logMonoTime
|
||||
ops.append((index, new_msg.as_reader()))
|
||||
return ops, [], []
|
||||
|
||||
|
||||
@migration(inputs=["controlsState"], product="selfdriveState")
|
||||
def migrate_controlsState(msgs):
|
||||
add_ops = []
|
||||
@@ -227,7 +199,7 @@ def migrate_controlsState(msgs):
|
||||
for field in ("enabled", "active", "state", "engageable", "alertText1", "alertText2",
|
||||
"alertStatus", "alertSize", "alertType", "experimentalMode",
|
||||
"personality"):
|
||||
setattr(ss, field, getattr(msg.controlsState.deprecated, field))
|
||||
setattr(ss, field, getattr(msg.controlsState, field+"DEPRECATED"))
|
||||
add_ops.append(m.as_reader())
|
||||
return [], add_ops, []
|
||||
|
||||
@@ -240,10 +212,10 @@ def migrate_carState(msgs):
|
||||
if msg.which() == 'controlsState':
|
||||
last_cs = msg
|
||||
elif msg.which() == 'carState' and last_cs is not None:
|
||||
if last_cs.controlsState.deprecated.vCruise - msg.carState.vCruise > 0.1:
|
||||
if last_cs.controlsState.vCruiseDEPRECATED - msg.carState.vCruise > 0.1:
|
||||
msg = msg.as_builder()
|
||||
msg.carState.vCruise = last_cs.controlsState.deprecated.vCruise
|
||||
msg.carState.vCruiseCluster = last_cs.controlsState.deprecated.vCruiseCluster
|
||||
msg.carState.vCruise = last_cs.controlsState.vCruiseDEPRECATED
|
||||
msg.carState.vCruiseCluster = last_cs.controlsState.vCruiseClusterDEPRECATED
|
||||
ops.append((index, msg.as_reader()))
|
||||
return ops, [], []
|
||||
|
||||
@@ -305,7 +277,7 @@ def migrate_pandaStates(msgs):
|
||||
safety_param_migration = {
|
||||
"TOYOTA_PRIUS": EPS_SCALE["TOYOTA_PRIUS"] | ToyotaSafetyFlags.STOCK_LONGITUDINAL,
|
||||
"TOYOTA_RAV4": EPS_SCALE["TOYOTA_RAV4"] | ToyotaSafetyFlags.ALT_BRAKE,
|
||||
"KIA_EV6": HyundaiSafetyFlags.EV_GAS | HyundaiSafetyFlags.CANFD_LKA_STEER_MSG,
|
||||
"KIA_EV6": HyundaiSafetyFlags.EV_GAS | HyundaiSafetyFlags.CANFD_LKA_STEERING,
|
||||
"CHEVROLET_VOLT": GMSafetyFlags.EV,
|
||||
"CHEVROLET_BOLT_EUV": GMSafetyFlags.EV | GMSafetyFlags.HW_CAM,
|
||||
}
|
||||
@@ -469,13 +441,12 @@ def migrate_onroadEvents(msgs):
|
||||
for event in msg.onroadEventsDEPRECATED:
|
||||
try:
|
||||
if not str(event.name).endswith('DEPRECATED'):
|
||||
migrated_event = migrate_onroad_event(event)
|
||||
if migrated_event is not None:
|
||||
onroadEvents.append(migrated_event)
|
||||
# dict converts name enum into string representation
|
||||
onroadEvents.append(log.OnroadEvent(**event.to_dict()))
|
||||
except RuntimeError: # Member was null
|
||||
traceback.print_exc()
|
||||
|
||||
new_msg = messaging.new_message('onroadEvents', len(onroadEvents))
|
||||
new_msg = messaging.new_message('onroadEvents', len(msg.onroadEventsDEPRECATED))
|
||||
new_msg.valid = msg.valid
|
||||
new_msg.logMonoTime = msg.logMonoTime
|
||||
new_msg.onroadEvents = onroadEvents
|
||||
@@ -490,12 +461,11 @@ def migrate_driverMonitoringState(msgs):
|
||||
for index, msg in msgs:
|
||||
msg = msg.as_builder()
|
||||
events = []
|
||||
for event in msg.driverMonitoringState.deprecated.events:
|
||||
for event in msg.driverMonitoringState.eventsDEPRECATED:
|
||||
try:
|
||||
if not str(event.name).endswith('DEPRECATED'):
|
||||
migrated_event = migrate_onroad_event(event)
|
||||
if migrated_event is not None:
|
||||
events.append(migrated_event)
|
||||
# dict converts name enum into string representation
|
||||
events.append(log.OnroadEvent(**event.to_dict()))
|
||||
except RuntimeError: # Member was null
|
||||
traceback.print_exc()
|
||||
|
||||
|
||||
@@ -76,7 +76,7 @@ def generate_report(proposed, master, tmp, commit):
|
||||
(lambda x: get_idx_if_non_empty(x.wheelOnRightProb), "wheelOnRightProb"),
|
||||
(lambda x: get_idx_if_non_empty(x.leftDriverData.faceProb), "leftDriverData.faceProb"),
|
||||
(lambda x: get_idx_if_non_empty(x.leftDriverData.faceOrientation, 0), "leftDriverData.faceOrientation0"),
|
||||
(lambda x: get_idx_if_non_empty(x.leftDriverData.eyesClosedProb), "leftDriverData.eyesClosedProb"),
|
||||
(lambda x: get_idx_if_non_empty(x.leftDriverData.leftBlinkProb), "leftDriverData.leftBlinkProb"),
|
||||
(lambda x: get_idx_if_non_empty(x.leftDriverData.phoneProb), "leftDriverData.phoneProb"),
|
||||
(lambda x: get_idx_if_non_empty(x.rightDriverData.faceProb), "rightDriverData.faceProb"),
|
||||
], "driverStateV2")
|
||||
|
||||
@@ -146,7 +146,6 @@ class ProcessContainer:
|
||||
self.cfg = copy.deepcopy(cfg)
|
||||
self.process = copy.deepcopy(managed_processes[cfg.proc_name])
|
||||
self.msg_queue: list[capnp._DynamicStructReader] = []
|
||||
self.last_input_log_mono_time: int = -1
|
||||
self.cnt = 0
|
||||
self.pm: messaging.PubMaster | None = None
|
||||
self.sockets: list[messaging.SubSocket] | None = None
|
||||
@@ -269,7 +268,6 @@ class ProcessContainer:
|
||||
ms = messaging.drain_sock(socket)
|
||||
for m in ms:
|
||||
m = m.as_builder()
|
||||
assert start_time > 0, "start_time must be positive"
|
||||
m.logMonoTime = start_time + int(self.cfg.processing_time * 1e9)
|
||||
output_msgs.append(m.as_reader())
|
||||
return output_msgs
|
||||
@@ -296,11 +294,10 @@ class ProcessContainer:
|
||||
trigger_empty_recv = any(m.which() == self.cfg.main_pub for m in self.msg_queue)
|
||||
|
||||
# get output msgs from previous inputs
|
||||
output_msgs = self.get_output_msgs(self.last_input_log_mono_time)
|
||||
output_msgs = self.get_output_msgs(msg.logMonoTime)
|
||||
|
||||
for m in self.msg_queue:
|
||||
self.pm.send(m.which(), m.as_builder())
|
||||
self.last_input_log_mono_time = max(self.last_input_log_mono_time, m.logMonoTime)
|
||||
# send frames if needed
|
||||
if self.vipc_server is not None and m.which() in self.cfg.vision_pubs:
|
||||
camera_state = getattr(m, m.which())
|
||||
@@ -516,7 +513,6 @@ CONFIGS = [
|
||||
ignore=["logMonoTime"],
|
||||
should_recv_callback=MessageBasedRcvCallback("cameraOdometry"),
|
||||
tolerance=NUMPY_TOLERANCE,
|
||||
processing_time=0.01,
|
||||
),
|
||||
ProcessConfig(
|
||||
proc_name="paramsd",
|
||||
@@ -720,7 +716,7 @@ def _replay_multi_process(
|
||||
|
||||
# flush last set of messages from each process
|
||||
for container in containers:
|
||||
last_time = container.last_input_log_mono_time if container.last_input_log_mono_time > 0 else int(time.monotonic() * 1e9)
|
||||
last_time = log_msgs[-1].logMonoTime if len(log_msgs) > 0 else int(time.monotonic() * 1e9)
|
||||
log_msgs.extend(container.get_output_msgs(last_time))
|
||||
finally:
|
||||
for container in containers:
|
||||
|
||||
@@ -3,7 +3,6 @@ import argparse
|
||||
import concurrent.futures
|
||||
import os
|
||||
import sys
|
||||
import traceback
|
||||
from collections import defaultdict
|
||||
from tqdm import tqdm
|
||||
from typing import Any
|
||||
@@ -12,7 +11,6 @@ from opendbc.car.car_helpers import interface_names
|
||||
from openpilot.common.git import get_commit
|
||||
from openpilot.tools.lib.openpilotci import get_url
|
||||
from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_diff
|
||||
from openpilot.selfdrive.test.process_replay.diff_report import diff_process, diff_report
|
||||
from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, PROC_REPLAY_DIR, FAKEDATA, replay_process, \
|
||||
check_most_messages_valid
|
||||
from openpilot.tools.lib.filereader import FileReader
|
||||
@@ -74,16 +72,11 @@ EXCLUDED_PROCS = {"modeld", "dmonitoringmodeld"}
|
||||
|
||||
def run_test_process(data):
|
||||
segment, cfg, args, cur_log_fn, ref_log_path, lr_dat = data
|
||||
ref_log_msgs = list(LogReader(ref_log_path))
|
||||
lr = LogReader.from_bytes(lr_dat)
|
||||
res, log_msgs = test_process(cfg, lr, segment, ref_log_msgs, cur_log_fn, args.ignore_fields, args.ignore_msgs)
|
||||
res, log_msgs = test_process(cfg, lr, segment, ref_log_path, cur_log_fn, args.ignore_fields, args.ignore_msgs)
|
||||
# save logs so we can update refs
|
||||
save_log(cur_log_fn, log_msgs)
|
||||
try:
|
||||
diff_data = diff_process(cfg, ref_log_msgs, log_msgs)
|
||||
except Exception:
|
||||
diff_data = traceback.format_exc()
|
||||
return (segment, cfg.proc_name, res, diff_data)
|
||||
return (segment, cfg.proc_name, res)
|
||||
|
||||
|
||||
def get_log_data(segment):
|
||||
@@ -92,12 +85,14 @@ def get_log_data(segment):
|
||||
return (segment, f.read())
|
||||
|
||||
|
||||
def test_process(cfg, lr, segment, ref_log_msgs, new_log_path, ignore_fields=None, ignore_msgs=None):
|
||||
def test_process(cfg, lr, segment, ref_log_path, new_log_path, ignore_fields=None, ignore_msgs=None):
|
||||
if ignore_fields is None:
|
||||
ignore_fields = []
|
||||
if ignore_msgs is None:
|
||||
ignore_msgs = []
|
||||
|
||||
ref_log_msgs = list(LogReader(ref_log_path))
|
||||
|
||||
try:
|
||||
log_msgs = replay_process(cfg, lr, disable_progress=True)
|
||||
except Exception as e:
|
||||
@@ -206,11 +201,9 @@ if __name__ == "__main__":
|
||||
log_paths[segment][cfg.proc_name]['new'] = cur_log_fn
|
||||
|
||||
results: Any = defaultdict(dict)
|
||||
diffs: list = []
|
||||
p2 = pool.map(run_test_process, pool_args)
|
||||
for (segment, proc, result, diff_data) in tqdm(p2, desc="Running Tests", total=len(pool_args)):
|
||||
for (segment, proc, result) in tqdm(p2, desc="Running Tests", total=len(pool_args)):
|
||||
results[segment][proc] = result
|
||||
diffs.append((segment, proc, diff_data))
|
||||
|
||||
diff_short, diff_long, failed = format_diff(results, log_paths, ref_commit)
|
||||
if not args.update_refs:
|
||||
@@ -218,11 +211,6 @@ if __name__ == "__main__":
|
||||
f.write(diff_long)
|
||||
print(diff_short)
|
||||
|
||||
try:
|
||||
diff_report(diffs, segments)
|
||||
except Exception:
|
||||
print(f"failed to generate diff report:\n{traceback.format_exc()}")
|
||||
|
||||
if failed:
|
||||
print("TEST FAILED")
|
||||
else:
|
||||
|
||||
@@ -48,7 +48,7 @@ Font font_display;
|
||||
const bool tici_device = Hardware::get_device_type() == cereal::InitData::DeviceType::TICI ||
|
||||
Hardware::get_device_type() == cereal::InitData::DeviceType::TIZI;
|
||||
|
||||
std::vector<std::string> tici_prebuilt_branches = {"release3", "release-tici", "release3-staging", "nightly", "nightly-dev"};
|
||||
std::vector<std::string> tici_prebuilt_branches = {"release3", "release-tizi", "release3-staging", "nightly", "nightly-dev"};
|
||||
std::string migrated_branch;
|
||||
|
||||
void branchMigration() {
|
||||
@@ -144,7 +144,6 @@ int cachedFetch(const std::string &cache) {
|
||||
LOGD("Fetching with cache: %s", cache.c_str());
|
||||
|
||||
run(util::string_format("cp -rp %s %s", cache.c_str(), TMP_INSTALL_PATH).c_str());
|
||||
run(util::string_format("cd %s && git remote set-url origin %s", TMP_INSTALL_PATH, GIT_URL.c_str()).c_str());
|
||||
run(util::string_format("cd %s && git remote set-branches --add origin %s", TMP_INSTALL_PATH, migrated_branch.c_str()).c_str());
|
||||
|
||||
renderProgress(10);
|
||||
|
||||
@@ -71,13 +71,6 @@ class DeveloperLayout(Widget):
|
||||
callback=self._on_long_maneuver_mode,
|
||||
)
|
||||
|
||||
self._lat_maneuver_toggle = toggle_item(
|
||||
lambda: tr("Lateral Maneuver Mode"),
|
||||
description="",
|
||||
initial_state=self._params.get_bool("LateralManeuverMode"),
|
||||
callback=self._on_lat_maneuver_mode,
|
||||
)
|
||||
|
||||
self._alpha_long_toggle = toggle_item(
|
||||
lambda: tr("sunnypilot Longitudinal Control (Alpha)"),
|
||||
description=lambda: tr(DESCRIPTIONS["alpha_longitudinal"]),
|
||||
@@ -100,7 +93,6 @@ class DeveloperLayout(Widget):
|
||||
self._ssh_keys,
|
||||
self._joystick_toggle,
|
||||
self._long_maneuver_toggle,
|
||||
self._lat_maneuver_toggle,
|
||||
self._alpha_long_toggle,
|
||||
self._ui_debug_toggle,
|
||||
], line_separator=True, spacing=0)
|
||||
@@ -121,7 +113,7 @@ class DeveloperLayout(Widget):
|
||||
|
||||
# Hide non-release toggles on release builds
|
||||
# TODO: we can do an onroad cycle, but alpha long toggle requires a deinit function to re-enable radar and not fault
|
||||
for item in (self._joystick_toggle, self._long_maneuver_toggle, self._lat_maneuver_toggle, self._alpha_long_toggle):
|
||||
for item in (self._joystick_toggle, self._long_maneuver_toggle, self._alpha_long_toggle):
|
||||
item.set_visible(not self._is_release)
|
||||
|
||||
# CP gating
|
||||
@@ -138,12 +130,8 @@ class DeveloperLayout(Widget):
|
||||
if not long_man_enabled:
|
||||
self._long_maneuver_toggle.action_item.set_state(False)
|
||||
self._params.put_bool("LongitudinalManeuverMode", False)
|
||||
|
||||
lat_man_enabled = ui_state.is_offroad()
|
||||
self._lat_maneuver_toggle.action_item.set_enabled(lat_man_enabled)
|
||||
else:
|
||||
self._long_maneuver_toggle.action_item.set_enabled(False)
|
||||
self._lat_maneuver_toggle.action_item.set_enabled(False)
|
||||
self._alpha_long_toggle.set_visible(False)
|
||||
|
||||
# TODO: make a param control list item so we don't need to manage internal state as much here
|
||||
@@ -153,7 +141,6 @@ class DeveloperLayout(Widget):
|
||||
("SshEnabled", self._ssh_toggle),
|
||||
("JoystickDebugMode", self._joystick_toggle),
|
||||
("LongitudinalManeuverMode", self._long_maneuver_toggle),
|
||||
("LateralManeuverMode", self._lat_maneuver_toggle),
|
||||
("AlphaLongitudinalEnabled", self._alpha_long_toggle),
|
||||
("ShowDebugInfo", self._ui_debug_toggle),
|
||||
):
|
||||
@@ -175,23 +162,11 @@ class DeveloperLayout(Widget):
|
||||
self._params.put_bool("JoystickDebugMode", state)
|
||||
self._params.put_bool("LongitudinalManeuverMode", False)
|
||||
self._long_maneuver_toggle.action_item.set_state(False)
|
||||
self._params.put_bool("LateralManeuverMode", False)
|
||||
self._lat_maneuver_toggle.action_item.set_state(False)
|
||||
|
||||
def _on_long_maneuver_mode(self, state: bool):
|
||||
self._params.put_bool("LongitudinalManeuverMode", state)
|
||||
self._params.put_bool("JoystickDebugMode", False)
|
||||
self._joystick_toggle.action_item.set_state(False)
|
||||
self._params.put_bool("LateralManeuverMode", False)
|
||||
self._lat_maneuver_toggle.action_item.set_state(False)
|
||||
|
||||
def _on_lat_maneuver_mode(self, state: bool):
|
||||
self._params.put_bool("LateralManeuverMode", state)
|
||||
self._params.put_bool("ExperimentalMode", False)
|
||||
self._params.put_bool("JoystickDebugMode", False)
|
||||
self._joystick_toggle.action_item.set_state(False)
|
||||
self._params.put_bool("LongitudinalManeuverMode", False)
|
||||
self._long_maneuver_toggle.action_item.set_state(False)
|
||||
|
||||
def _on_alpha_long_enabled(self, state: bool):
|
||||
if state:
|
||||
|
||||
@@ -55,9 +55,6 @@ class DeveloperLayoutMici(NavScroller):
|
||||
self._long_maneuver_toggle = BigToggle("longitudinal maneuver mode",
|
||||
initial_state=ui_state.params.get_bool("LongitudinalManeuverMode"),
|
||||
toggle_callback=self._on_long_maneuver_mode)
|
||||
self._lat_maneuver_toggle = BigToggle("lateral maneuver mode",
|
||||
initial_state=ui_state.params.get_bool("LateralManeuverMode"),
|
||||
toggle_callback=self._on_lat_maneuver_mode)
|
||||
self._alpha_long_toggle = BigToggle("alpha longitudinal",
|
||||
initial_state=ui_state.params.get_bool("AlphaLongitudinalEnabled"),
|
||||
toggle_callback=self._on_alpha_long_enabled)
|
||||
@@ -71,7 +68,6 @@ class DeveloperLayoutMici(NavScroller):
|
||||
self._ssh_keys_btn,
|
||||
self._joystick_toggle,
|
||||
self._long_maneuver_toggle,
|
||||
self._lat_maneuver_toggle,
|
||||
self._alpha_long_toggle,
|
||||
self._debug_mode_toggle,
|
||||
])
|
||||
@@ -82,13 +78,12 @@ class DeveloperLayoutMici(NavScroller):
|
||||
("SshEnabled", self._ssh_toggle),
|
||||
("JoystickDebugMode", self._joystick_toggle),
|
||||
("LongitudinalManeuverMode", self._long_maneuver_toggle),
|
||||
("LateralManeuverMode", self._lat_maneuver_toggle),
|
||||
("AlphaLongitudinalEnabled", self._alpha_long_toggle),
|
||||
("ShowDebugInfo", self._debug_mode_toggle),
|
||||
)
|
||||
onroad_blocked_toggles = (self._adb_toggle, self._joystick_toggle)
|
||||
release_blocked_toggles = (self._joystick_toggle, self._long_maneuver_toggle, self._lat_maneuver_toggle, self._alpha_long_toggle)
|
||||
engaged_blocked_toggles = (self._long_maneuver_toggle, self._lat_maneuver_toggle, self._alpha_long_toggle)
|
||||
release_blocked_toggles = (self._joystick_toggle, self._long_maneuver_toggle, self._alpha_long_toggle)
|
||||
engaged_blocked_toggles = (self._long_maneuver_toggle, self._alpha_long_toggle)
|
||||
|
||||
# Hide non-release toggles on release builds
|
||||
for item in release_blocked_toggles:
|
||||
@@ -134,12 +129,8 @@ class DeveloperLayoutMici(NavScroller):
|
||||
if not long_man_enabled:
|
||||
self._long_maneuver_toggle.set_checked(False)
|
||||
ui_state.params.put_bool("LongitudinalManeuverMode", False)
|
||||
|
||||
lat_man_enabled = ui_state.is_offroad()
|
||||
self._lat_maneuver_toggle.set_enabled(lat_man_enabled)
|
||||
else:
|
||||
self._long_maneuver_toggle.set_enabled(False)
|
||||
self._lat_maneuver_toggle.set_enabled(False)
|
||||
self._alpha_long_toggle.set_visible(False)
|
||||
|
||||
# Refresh toggles from params to mirror external changes
|
||||
@@ -150,24 +141,11 @@ class DeveloperLayoutMici(NavScroller):
|
||||
ui_state.params.put_bool("JoystickDebugMode", state)
|
||||
ui_state.params.put_bool("LongitudinalManeuverMode", False)
|
||||
self._long_maneuver_toggle.set_checked(False)
|
||||
ui_state.params.put_bool("LateralManeuverMode", False)
|
||||
self._lat_maneuver_toggle.set_checked(False)
|
||||
|
||||
def _on_long_maneuver_mode(self, state: bool):
|
||||
ui_state.params.put_bool("LongitudinalManeuverMode", state)
|
||||
ui_state.params.put_bool("JoystickDebugMode", False)
|
||||
self._joystick_toggle.set_checked(False)
|
||||
ui_state.params.put_bool("LateralManeuverMode", False)
|
||||
self._lat_maneuver_toggle.set_checked(False)
|
||||
restart_needed_callback(state)
|
||||
|
||||
def _on_lat_maneuver_mode(self, state: bool):
|
||||
ui_state.params.put_bool("LateralManeuverMode", state)
|
||||
ui_state.params.put_bool("ExperimentalMode", False)
|
||||
ui_state.params.put_bool("JoystickDebugMode", False)
|
||||
self._joystick_toggle.set_checked(False)
|
||||
ui_state.params.put_bool("LongitudinalManeuverMode", False)
|
||||
self._long_maneuver_toggle.set_checked(False)
|
||||
restart_needed_callback(state)
|
||||
|
||||
def _on_alpha_long_enabled(self, state: bool):
|
||||
|
||||
@@ -39,6 +39,8 @@ class BaseDriverCameraDialog(Widget):
|
||||
self._eye_fill_texture = None
|
||||
self._eye_orange_texture = None
|
||||
self._eye_size = 74
|
||||
self._glasses_texture = None
|
||||
self._glasses_size = 171
|
||||
|
||||
self._load_eye_textures()
|
||||
|
||||
@@ -152,6 +154,8 @@ class BaseDriverCameraDialog(Widget):
|
||||
self._eye_fill_texture = gui_app.texture("icons_mici/onroad/eye_fill.png", self._eye_size, self._eye_size)
|
||||
if self._eye_orange_texture is None:
|
||||
self._eye_orange_texture = gui_app.texture("icons_mici/onroad/eye_orange.png", self._eye_size, self._eye_size)
|
||||
if self._glasses_texture is None:
|
||||
self._glasses_texture = gui_app.texture("icons_mici/onroad/glasses.png", self._glasses_size, self._glasses_size)
|
||||
|
||||
def _draw_face_detection(self, rect: rl.Rectangle):
|
||||
dm_state = ui_state.sm["driverMonitoringState"]
|
||||
@@ -198,21 +202,31 @@ class BaseDriverCameraDialog(Widget):
|
||||
eye_offset_x = 10
|
||||
eye_offset_y = 10
|
||||
eye_spacing = self._eye_size + 15
|
||||
eyes_prob = driver_data.eyesVisibleProb
|
||||
|
||||
left_eye_x = rect.x + eye_offset_x
|
||||
left_eye_y = rect.y + eye_offset_y
|
||||
left_eye_prob = driver_data.leftEyeProb
|
||||
|
||||
right_eye_x = rect.x + eye_offset_x + eye_spacing
|
||||
right_eye_y = rect.y + eye_offset_y
|
||||
right_eye_prob = driver_data.rightEyeProb
|
||||
|
||||
# Draw eyes with opacity based on probability
|
||||
fill_opacity = eyes_prob
|
||||
orange_opacity = 1.0 - eyes_prob
|
||||
for eye_x, eye_y in [(left_eye_x, left_eye_y), (right_eye_x, right_eye_y)]:
|
||||
for eye_x, eye_y, eye_prob in [(left_eye_x, left_eye_y, left_eye_prob), (right_eye_x, right_eye_y, right_eye_prob)]:
|
||||
fill_opacity = eye_prob
|
||||
orange_opacity = 1.0 - eye_prob
|
||||
|
||||
rl.draw_texture_v(self._eye_orange_texture, (eye_x, eye_y), rl.Color(255, 255, 255, int(255 * orange_opacity)))
|
||||
rl.draw_texture_v(self._eye_fill_texture, (eye_x, eye_y), rl.Color(255, 255, 255, int(255 * fill_opacity)))
|
||||
|
||||
# Draw sunglasses indicator based on sunglasses probability
|
||||
# Position glasses centered between the two eyes at top left
|
||||
glasses_x = rect.x + eye_offset_x - 4
|
||||
glasses_y = rect.y
|
||||
glasses_pos = rl.Vector2(glasses_x, glasses_y)
|
||||
glasses_prob = driver_data.sunglassesProb
|
||||
rl.draw_texture_v(self._glasses_texture, glasses_pos, rl.Color(70, 80, 161, int(255 * glasses_prob)))
|
||||
|
||||
|
||||
class DriverCameraDialog(NavWidget, BaseDriverCameraDialog):
|
||||
def __init__(self):
|
||||
|
||||
@@ -120,7 +120,7 @@ class HudRenderer(Widget):
|
||||
|
||||
self._txt_wheel: rl.Texture = gui_app.texture('icons_mici/wheel.png', 50, 50)
|
||||
self._txt_wheel_critical: rl.Texture = gui_app.texture('icons_mici/wheel_critical.png', 50, 50)
|
||||
self._txt_exclamation_point: rl.Texture = gui_app.texture('icons_mici/exclamation_point.png', 9, 44)
|
||||
self._txt_exclamation_point: rl.Texture = gui_app.texture('icons_mici/exclamation_point.png', 44, 44)
|
||||
|
||||
self._wheel_alpha_filter = FirstOrderFilter(0, 0.05, 1 / gui_app.target_fps)
|
||||
self._wheel_y_filter = FirstOrderFilter(0, 0.1, 1 / gui_app.target_fps)
|
||||
@@ -153,7 +153,7 @@ class HudRenderer(Widget):
|
||||
|
||||
v_cruise_cluster = car_state.vCruiseCluster
|
||||
set_speed = (
|
||||
controls_state.deprecated.vCruise if v_cruise_cluster == 0.0 else v_cruise_cluster
|
||||
controls_state.vCruiseDEPRECATED if v_cruise_cluster == 0.0 else v_cruise_cluster
|
||||
)
|
||||
engaged = sm['selfdriveState'].enabled
|
||||
if (set_speed != self.set_speed and engaged) or (engaged and not self._engaged):
|
||||
|
||||
@@ -86,7 +86,7 @@ class HudRenderer(Widget):
|
||||
|
||||
v_cruise_cluster = car_state.vCruiseCluster
|
||||
self.set_speed = (
|
||||
controls_state.deprecated.vCruise if v_cruise_cluster == 0.0 else v_cruise_cluster
|
||||
controls_state.vCruiseDEPRECATED if v_cruise_cluster == 0.0 else v_cruise_cluster
|
||||
)
|
||||
self.is_cruise_set = 0 < self.set_speed < SET_SPEED_NA
|
||||
self.is_cruise_available = self.set_speed != -1
|
||||
|
||||
@@ -20,7 +20,6 @@ SAMPLE_RATE = 48000
|
||||
SAMPLE_BUFFER = 4096 # (approx 100ms)
|
||||
MAX_VOLUME = 1.0
|
||||
MIN_VOLUME = 0.1
|
||||
ALERT_RAMP_TIME = 4 # seconds to ramp to max volume for warningImmediate
|
||||
SELFDRIVE_STATE_TIMEOUT = 5 # 5 seconds
|
||||
FILTER_DT = 1. / (micd.SAMPLE_RATE / micd.FFT_SAMPLES)
|
||||
|
||||
@@ -83,9 +82,6 @@ class Soundd(QuietMode):
|
||||
self.current_volume = MIN_VOLUME
|
||||
self.current_sound_frame = 0
|
||||
|
||||
self.ramp_start_volume = MIN_VOLUME
|
||||
self.ramp_start_time = 0.
|
||||
|
||||
self.selfdrive_timeout_alert = False
|
||||
|
||||
self.spl_filter_weighted = FirstOrderFilter(0, 2.5, FILTER_DT, initialized=False)
|
||||
@@ -134,9 +130,6 @@ class Soundd(QuietMode):
|
||||
def update_alert(self, new_alert):
|
||||
current_alert_played_once = self.current_alert == AudibleAlert.none or self.current_sound_frame > len(self.loaded_sounds[self.current_alert])
|
||||
if self.current_alert != new_alert and (new_alert != AudibleAlert.none or current_alert_played_once):
|
||||
if new_alert == AudibleAlert.warningImmediate:
|
||||
self.ramp_start_volume = self.current_volume
|
||||
self.ramp_start_time = time.monotonic()
|
||||
self.current_alert = new_alert
|
||||
self.current_sound_frame = 0
|
||||
|
||||
@@ -177,19 +170,12 @@ class Soundd(QuietMode):
|
||||
|
||||
self.load_param()
|
||||
|
||||
# Always update volume, even when alert is playing
|
||||
if sm.updated['soundPressure']:
|
||||
if sm.updated['soundPressure'] and self.current_alert == AudibleAlert.none: # only update volume filter when not playing alert
|
||||
self.spl_filter_weighted.update(sm["soundPressure"].soundPressureWeightedDb)
|
||||
self.current_volume = self.calculate_volume(float(self.spl_filter_weighted.x))
|
||||
|
||||
self.get_audible_alert(sm)
|
||||
|
||||
# Ramp up immediate warning sound over 4s
|
||||
if self.current_alert == AudibleAlert.warningImmediate:
|
||||
elapsed = time.monotonic() - self.ramp_start_time
|
||||
ramp_vol = float(np.interp(elapsed, [0, ALERT_RAMP_TIME], [self.ramp_start_volume, MAX_VOLUME]))
|
||||
self.current_volume = max(self.current_volume, ramp_vol)
|
||||
|
||||
rk.keep_time()
|
||||
|
||||
assert stream.active
|
||||
|
||||
@@ -11,7 +11,7 @@ from openpilot.system.ui.sunnypilot.widgets.option_control import OptionControlS
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
from openpilot.system.ui.lib.multilang import tr
|
||||
from openpilot.system.ui.widgets.scroller_tici import Scroller
|
||||
from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp, option_item_sp, ToggleActionSP
|
||||
from openpilot.system.ui.sunnypilot.widgets.list_view import option_item_sp, ToggleActionSP
|
||||
from openpilot.sunnypilot.system.params_migration import ONROAD_BRIGHTNESS_TIMER_VALUES
|
||||
|
||||
|
||||
@@ -64,27 +64,10 @@ class DisplayLayout(Widget):
|
||||
f"{value} s" if value < 60 else f"{int(value/60)} m"),
|
||||
inline=True
|
||||
)
|
||||
self._screensaver_toggle = toggle_item_sp(
|
||||
param="ScreenSaverEnabled",
|
||||
title=lambda: tr("Enable sunnypilot Screen Saver"),
|
||||
description=lambda: tr("Enable screen saver when the device is offroad & idle. " +
|
||||
"The screen saver will kick off after the interactivity timeout expires, and will stay on for the duration configured below."),
|
||||
)
|
||||
self._screensaver_timeout = option_item_sp(
|
||||
param="ScreenSaverTimeout",
|
||||
title=lambda: tr("Screen Saver Timeout"),
|
||||
description=lambda: tr("Configure how long the screen saver should stay on after the interactivity timeout expires."),
|
||||
min_value=60,
|
||||
max_value=600,
|
||||
value_change_step=60,
|
||||
label_callback=lambda value: f"{int(value/60)} m"
|
||||
)
|
||||
items = [
|
||||
self._onroad_brightness,
|
||||
self._onroad_brightness_timer,
|
||||
self._interactivity_timeout,
|
||||
self._screensaver_toggle,
|
||||
self._screensaver_timeout,
|
||||
]
|
||||
return items
|
||||
|
||||
@@ -117,8 +100,6 @@ class DisplayLayout(Widget):
|
||||
brightness_val = self._params.get("OnroadScreenOffBrightness", return_default=True)
|
||||
self._onroad_brightness_timer.action_item.set_enabled(brightness_val not in (OnroadBrightness.AUTO, OnroadBrightness.AUTO_DARK))
|
||||
|
||||
self._screensaver_timeout.set_visible(self._screensaver_toggle.action_item.get_state())
|
||||
|
||||
def _render(self, rect):
|
||||
self._scroller.render(rect)
|
||||
|
||||
|
||||
@@ -58,8 +58,6 @@ class ModelsLayout(Widget):
|
||||
self.supercombo_label = progress_item(tr("Driving Model"))
|
||||
self.vision_label = progress_item(tr("Vision Model"))
|
||||
self.policy_label = progress_item(tr("Policy Model"))
|
||||
self.off_policy_label = progress_item(tr("Off-Policy Model"))
|
||||
self.on_policy_label = progress_item(tr("On-Policy Model"))
|
||||
|
||||
self.refresh_item = button_item(tr("Refresh Model List"), tr("REFRESH"), "",
|
||||
lambda: (ui_state.params.put("ModelManager_LastSyncTime", 0),
|
||||
@@ -93,7 +91,7 @@ class ModelsLayout(Widget):
|
||||
self.lagd_toggle = toggle_item_sp(tr("Live Learning Steer Delay"), "", param="LagdToggle")
|
||||
|
||||
self.items = [self.current_model_item, self.cancel_download_item, self.supercombo_label, self.vision_label,
|
||||
self.policy_label, self.off_policy_label, self.on_policy_label, self.refresh_item, self.clear_cache_item, self.lane_turn_desire_toggle,
|
||||
self.policy_label, self.refresh_item, self.clear_cache_item, self.lane_turn_desire_toggle,
|
||||
self.lane_turn_value_control, self.lagd_toggle, self.delay_control]
|
||||
|
||||
def _update_lagd_description(self, lagd_toggle: bool):
|
||||
@@ -131,9 +129,7 @@ class ModelsLayout(Widget):
|
||||
def _handle_bundle_download_progress(self):
|
||||
labels = {custom.ModelManagerSP.Model.Type.supercombo: self.supercombo_label,
|
||||
custom.ModelManagerSP.Model.Type.vision: self.vision_label,
|
||||
custom.ModelManagerSP.Model.Type.policy: self.policy_label,
|
||||
custom.ModelManagerSP.Model.Type.offPolicy: self.off_policy_label,
|
||||
custom.ModelManagerSP.Model.Type.onPolicy: self.on_policy_label}
|
||||
custom.ModelManagerSP.Model.Type.policy: self.policy_label}
|
||||
for label in labels.values():
|
||||
label.set_visible(False)
|
||||
self.cancel_download_item.set_visible(False)
|
||||
|
||||
@@ -8,7 +8,7 @@ from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.base impo
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state
|
||||
from openpilot.system.ui.lib.multilang import tr
|
||||
from openpilot.system.ui.sunnypilot.widgets.list_view import multiple_button_item_sp
|
||||
from opendbc.car.hyundai.values import CAR, UNSUPPORTED_LONGITUDINAL_CAR
|
||||
from opendbc.car.hyundai.values import CAR, CANFD_UNSUPPORTED_LONGITUDINAL_CAR, UNSUPPORTED_LONGITUDINAL_CAR
|
||||
|
||||
|
||||
class HyundaiSettings(BrandSettings):
|
||||
@@ -31,7 +31,7 @@ class HyundaiSettings(BrandSettings):
|
||||
bundle = ui_state.params.get("CarPlatformBundle")
|
||||
if bundle:
|
||||
platform = bundle.get("platform")
|
||||
self.alpha_long_available = CAR[platform] not in set().union(*UNSUPPORTED_LONGITUDINAL_CAR.values())
|
||||
self.alpha_long_available = CAR[platform] not in (UNSUPPORTED_LONGITUDINAL_CAR | CANFD_UNSUPPORTED_LONGITUDINAL_CAR)
|
||||
elif ui_state.CP is not None:
|
||||
self.alpha_long_available = ui_state.CP.alphaLongitudinalAvailable
|
||||
|
||||
|
||||
@@ -11,7 +11,6 @@ from openpilot.common.params import Params
|
||||
from openpilot.selfdrive.ui.sunnypilot.layouts.settings.display import OnroadBrightness
|
||||
from openpilot.sunnypilot.sunnylink.sunnylink_state import SunnylinkState
|
||||
from openpilot.system.ui.lib.application import gui_app
|
||||
from openpilot.system.ui.sunnypilot.widgets.screen_saver import ScreenSaverSP
|
||||
|
||||
OpenpilotState = log.SelfdriveState.OpenpilotState
|
||||
MADSState = custom.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
|
||||
@@ -35,8 +34,6 @@ class UIStateSP:
|
||||
]
|
||||
|
||||
self.sunnylink_state = SunnylinkState()
|
||||
self.screensaver = ScreenSaverSP()
|
||||
|
||||
self.update_params()
|
||||
|
||||
self.onroad_brightness_timer: int = 0
|
||||
@@ -149,27 +146,14 @@ class UIStateSP:
|
||||
self.true_v_ego_ui = self.params.get_bool("TrueVEgoUI")
|
||||
self.turn_signals = self.params.get_bool("ShowTurnSignals")
|
||||
self.boot_offroad_mode = self.params.get("DeviceBootMode", return_default=True)
|
||||
self.screensaver_enabled = self.params.get_bool("ScreenSaverEnabled")
|
||||
|
||||
|
||||
class DeviceSP:
|
||||
@staticmethod
|
||||
def _set_awake(_device, on: bool, _ui_state):
|
||||
def _set_awake(on: bool, _ui_state):
|
||||
if _ui_state.boot_offroad_mode == 1 and not on:
|
||||
_ui_state.params.put_bool("OffroadMode", True)
|
||||
|
||||
if not on and _ui_state.screensaver_enabled:
|
||||
if _ui_state.screensaver.was_dismissed:
|
||||
_ui_state.screensaver.deinit()
|
||||
gui_app.pop_widget()
|
||||
return True
|
||||
else:
|
||||
_ui_state.screensaver.initialize(dismiss_callback=lambda: _device._set_awake(False))
|
||||
gui_app.push_widget(_ui_state.screensaver)
|
||||
return False
|
||||
|
||||
return True
|
||||
|
||||
@staticmethod
|
||||
def set_onroad_brightness(_ui_state, awake: bool, cur_brightness: float) -> float:
|
||||
if not awake or not _ui_state.started:
|
||||
|
||||
@@ -1,106 +1,124 @@
|
||||
import json
|
||||
import re
|
||||
import string
|
||||
from pathlib import Path
|
||||
|
||||
import pytest
|
||||
import json
|
||||
import os
|
||||
import re
|
||||
import xml.etree.ElementTree as ET
|
||||
import string
|
||||
import requests
|
||||
from openpilot.common.parameterized import parameterized_class
|
||||
from openpilot.system.ui.lib.multilang import TRANSLATIONS_DIR, LANGUAGES_FILE
|
||||
|
||||
from openpilot.selfdrive.ui.translations.potools import parse_po
|
||||
from openpilot.system.ui.lib.multilang import LANGUAGES_FILE, TRANSLATIONS_DIR
|
||||
with open(str(LANGUAGES_FILE)) as f:
|
||||
translation_files = json.load(f)
|
||||
|
||||
PERCENT_PLACEHOLDER_RE = re.compile(r"%(?:n|\d+)")
|
||||
BAD_ENTITY_RE = re.compile(r'@(\w+);')
|
||||
LINE_NUMBER_REF_RE = re.compile(r'^#:\s+.+:\d+(?:\s|$)')
|
||||
FORMATTER = string.Formatter()
|
||||
PO_DIR = Path(str(TRANSLATIONS_DIR))
|
||||
|
||||
with LANGUAGES_FILE.open(encoding='utf-8') as f:
|
||||
TRANSLATION_LANGUAGES = json.load(f)
|
||||
UNFINISHED_TRANSLATION_TAG = "<translation type=\"unfinished\"" # non-empty translations can be marked unfinished
|
||||
LOCATION_TAG = "<location "
|
||||
FORMAT_ARG = re.compile("%[0-9]+")
|
||||
|
||||
|
||||
def extract_placeholders(text: str) -> list[str]:
|
||||
placeholders = PERCENT_PLACEHOLDER_RE.findall(text)
|
||||
@pytest.mark.skip("TODO: update for raylib")
|
||||
@parameterized_class(("name", "file"), translation_files.items())
|
||||
class TestTranslations:
|
||||
name: str
|
||||
file: str
|
||||
|
||||
try:
|
||||
parsed = list(FORMATTER.parse(text))
|
||||
except ValueError as e:
|
||||
raise AssertionError(f"invalid brace formatting in {text!r}: {e}") from e
|
||||
@staticmethod
|
||||
def _read_translation_file(path, file):
|
||||
tr_file = os.path.join(path, f"{file}.ts")
|
||||
with open(tr_file) as f:
|
||||
return f.read()
|
||||
|
||||
for _, field_name, format_spec, conversion in parsed:
|
||||
if field_name is None:
|
||||
continue
|
||||
def test_missing_translation_files(self):
|
||||
assert os.path.exists(os.path.join(str(TRANSLATIONS_DIR), f"{self.file}.ts")), \
|
||||
f"{self.name} has no XML translation file, run selfdrive/ui/update_translations.py"
|
||||
|
||||
token = "{"
|
||||
token += field_name
|
||||
if conversion:
|
||||
token += f"!{conversion}"
|
||||
if format_spec:
|
||||
token += f":{format_spec}"
|
||||
token += "}"
|
||||
placeholders.append(token)
|
||||
@pytest.mark.skip("Only test unfinished translations before going to release")
|
||||
def test_unfinished_translations(self):
|
||||
cur_translations = self._read_translation_file(TRANSLATIONS_DIR, self.file)
|
||||
assert UNFINISHED_TRANSLATION_TAG not in cur_translations, \
|
||||
f"{self.file} ({self.name}) translation file has unfinished translations. Finish translations or mark them as completed in Qt Linguist"
|
||||
|
||||
return sorted(placeholders)
|
||||
def test_vanished_translations(self):
|
||||
cur_translations = self._read_translation_file(TRANSLATIONS_DIR, self.file)
|
||||
assert "<translation type=\"vanished\">" not in cur_translations, \
|
||||
f"{self.file} ({self.name}) translation file has obsolete translations. Run selfdrive/ui/update_translations.py --vanish to remove them"
|
||||
|
||||
def test_finished_translations(self):
|
||||
"""
|
||||
Tests ran on each translation marked "finished"
|
||||
Plural:
|
||||
- that any numerus (plural) translations have all plural forms non-empty
|
||||
- that the correct format specifier is used (%n)
|
||||
Non-plural:
|
||||
- that translation is not empty
|
||||
- that translation format arguments are consistent
|
||||
"""
|
||||
tr_xml = ET.parse(os.path.join(TRANSLATIONS_DIR, f"{self.file}.ts"))
|
||||
|
||||
def load_po_text(po_path: Path) -> str:
|
||||
return po_path.read_text(encoding='utf-8')
|
||||
for context in tr_xml.getroot():
|
||||
for message in context.iterfind("message"):
|
||||
translation = message.find("translation")
|
||||
source_text = message.find("source").text
|
||||
|
||||
|
||||
@pytest.mark.parametrize("language_code", sorted(TRANSLATION_LANGUAGES.values()))
|
||||
def test_translation_file_exists(language_code: str):
|
||||
po_path = PO_DIR / f"app_{language_code}.po"
|
||||
assert po_path.exists(), f"missing translation file: {po_path}"
|
||||
|
||||
|
||||
@pytest.mark.parametrize("po_path", sorted(PO_DIR.glob("app_*.po")), ids=lambda p: p.name)
|
||||
def test_translation_placeholders_are_preserved(po_path: Path):
|
||||
_, entries = parse_po(po_path)
|
||||
language = po_path.stem.removeprefix("app_")
|
||||
|
||||
for entry in entries:
|
||||
source_placeholders = extract_placeholders(entry.msgid)
|
||||
|
||||
if entry.is_plural:
|
||||
plural_placeholders = extract_placeholders(entry.msgid_plural)
|
||||
message = (
|
||||
f"{language}: source plural placeholders do not match singular for "
|
||||
+ f"{entry.msgid!r}: {source_placeholders} vs {plural_placeholders}"
|
||||
)
|
||||
assert plural_placeholders == source_placeholders, message
|
||||
|
||||
for idx, msgstr in sorted(entry.msgstr_plural.items()):
|
||||
if not msgstr:
|
||||
# Do not test unfinished translations
|
||||
if translation.get("type") == "unfinished":
|
||||
continue
|
||||
|
||||
translated_placeholders = extract_placeholders(msgstr)
|
||||
message = (
|
||||
f"{language}: plural form {idx} changes placeholders for {entry.msgid!r}: "
|
||||
+ f"expected {source_placeholders}, got {translated_placeholders}"
|
||||
)
|
||||
assert translated_placeholders == source_placeholders, message
|
||||
else:
|
||||
if not entry.msgstr:
|
||||
continue
|
||||
if message.get("numerus") == "yes":
|
||||
numerusform = [t.text for t in translation.findall("numerusform")]
|
||||
|
||||
translated_placeholders = extract_placeholders(entry.msgstr)
|
||||
message = (
|
||||
f"{language}: translation changes placeholders for {entry.msgid!r}: "
|
||||
+ f"expected {source_placeholders}, got {translated_placeholders}"
|
||||
for nf in numerusform:
|
||||
assert nf is not None, f"Ensure all plural translation forms are completed: {source_text}"
|
||||
assert "%n" in nf, "Ensure numerus argument (%n) exists in translation."
|
||||
assert FORMAT_ARG.search(nf) is None, f"Plural translations must use %n, not %1, %2, etc.: {numerusform}"
|
||||
|
||||
else:
|
||||
assert translation.text is not None, f"Ensure translation is completed: {source_text}"
|
||||
|
||||
source_args = FORMAT_ARG.findall(source_text)
|
||||
translation_args = FORMAT_ARG.findall(translation.text)
|
||||
assert sorted(source_args) == sorted(translation_args), \
|
||||
f"Ensure format arguments are consistent: `{source_text}` vs. `{translation.text}`"
|
||||
|
||||
def test_no_locations(self):
|
||||
for line in self._read_translation_file(TRANSLATIONS_DIR, self.file).splitlines():
|
||||
assert not line.strip().startswith(LOCATION_TAG), \
|
||||
f"Line contains location tag: {line.strip()}, remove all line numbers."
|
||||
|
||||
def test_entities_error(self):
|
||||
cur_translations = self._read_translation_file(TRANSLATIONS_DIR, self.file)
|
||||
matches = re.findall(r'@(\w+);', cur_translations)
|
||||
assert len(matches) == 0, f"The string(s) {matches} were found with '@' instead of '&'"
|
||||
|
||||
def test_bad_language(self):
|
||||
IGNORED_WORDS = {'pédale'}
|
||||
|
||||
match = re.search(r'([a-zA-Z]{2,3})', self.file)
|
||||
assert match, f"{self.name} - could not parse language"
|
||||
|
||||
try:
|
||||
response = requests.get(
|
||||
f"https://raw.githubusercontent.com/LDNOOBW/List-of-Dirty-Naughty-Obscene-and-Otherwise-Bad-Words/master/{match.group(1)}"
|
||||
)
|
||||
assert translated_placeholders == source_placeholders, message
|
||||
response.raise_for_status()
|
||||
except requests.exceptions.HTTPError as e:
|
||||
if e.response is not None and e.response.status_code == 429:
|
||||
pytest.skip("word list rate limited")
|
||||
raise
|
||||
|
||||
banned_words = {line.strip() for line in response.text.splitlines()}
|
||||
|
||||
@pytest.mark.parametrize("po_path", sorted(PO_DIR.glob("app_*.po")), ids=lambda p: p.name)
|
||||
def test_translation_refs_do_not_include_line_numbers(po_path: Path):
|
||||
for line in load_po_text(po_path).splitlines():
|
||||
assert not LINE_NUMBER_REF_RE.match(line), (
|
||||
f"{po_path.name}: line-number source reference found: {line}"
|
||||
)
|
||||
for context in ET.parse(os.path.join(TRANSLATIONS_DIR, f"{self.file}.ts")).getroot():
|
||||
for message in context.iterfind("message"):
|
||||
translation = message.find("translation")
|
||||
if translation.get("type") == "unfinished":
|
||||
continue
|
||||
|
||||
translation_text = " ".join([t.text for t in translation.findall("numerusform")]) if message.get("numerus") == "yes" else translation.text
|
||||
|
||||
@pytest.mark.parametrize("po_path", sorted(PO_DIR.glob("app_*.po")), ids=lambda p: p.name)
|
||||
def test_translation_entities_are_valid(po_path: Path):
|
||||
matches = BAD_ENTITY_RE.findall(load_po_text(po_path))
|
||||
assert not matches, (
|
||||
f"{po_path.name}: found '@...;' entity typo(s): {', '.join(sorted(set(matches)))}"
|
||||
)
|
||||
if not translation_text:
|
||||
continue
|
||||
|
||||
words = set(translation_text.translate(str.maketrans('', '', string.punctuation + '%n')).lower().split())
|
||||
bad_words_found = words & (banned_words - IGNORED_WORDS)
|
||||
assert not bad_words_found, f"Bad language found in {self.name}: '{translation_text}'. Bad word(s): {', '.join(bad_words_found)}"
|
||||
|
||||
3
selfdrive/ui/translations/README.md
Normal file
3
selfdrive/ui/translations/README.md
Normal file
@@ -0,0 +1,3 @@
|
||||
# Multilanguage
|
||||
|
||||
[](#)
|
||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
138
selfdrive/ui/translations/auto_translate.py
Executable file
138
selfdrive/ui/translations/auto_translate.py
Executable file
@@ -0,0 +1,138 @@
|
||||
#!/usr/bin/env python3
|
||||
|
||||
import argparse
|
||||
import json
|
||||
import os
|
||||
import pathlib
|
||||
import xml.etree.ElementTree as ET
|
||||
from typing import cast
|
||||
|
||||
import requests
|
||||
|
||||
TRANSLATIONS_DIR = pathlib.Path(__file__).resolve().parent
|
||||
TRANSLATIONS_LANGUAGES = TRANSLATIONS_DIR / "languages.json"
|
||||
|
||||
OPENAI_MODEL = "gpt-4"
|
||||
OPENAI_API_KEY = os.environ.get("OPENAI_API_KEY")
|
||||
OPENAI_PROMPT = "You are a professional translator from English to {language} (ISO 639 language code). " + \
|
||||
"The following sentence or word is in the GUI of a software called openpilot, translate it accordingly."
|
||||
|
||||
|
||||
def get_language_files(languages: list[str] | None = None) -> dict[str, pathlib.Path]:
|
||||
files = {}
|
||||
|
||||
with open(TRANSLATIONS_LANGUAGES) as fp:
|
||||
language_dict = json.load(fp)
|
||||
|
||||
for filename in language_dict.values():
|
||||
path = TRANSLATIONS_DIR / f"{filename}.ts"
|
||||
language = path.stem
|
||||
|
||||
if languages is None or language in languages:
|
||||
files[language] = path
|
||||
|
||||
return files
|
||||
|
||||
|
||||
def translate_phrase(text: str, language: str) -> str:
|
||||
response = requests.post(
|
||||
"https://api.openai.com/v1/chat/completions",
|
||||
json={
|
||||
"model": OPENAI_MODEL,
|
||||
"messages": [
|
||||
{
|
||||
"role": "system",
|
||||
"content": OPENAI_PROMPT.format(language=language),
|
||||
},
|
||||
{
|
||||
"role": "user",
|
||||
"content": text,
|
||||
},
|
||||
],
|
||||
"temperature": 0.8,
|
||||
"max_tokens": 1024,
|
||||
"top_p": 1,
|
||||
},
|
||||
headers={
|
||||
"Authorization": f"Bearer {OPENAI_API_KEY}",
|
||||
"Content-Type": "application/json",
|
||||
},
|
||||
)
|
||||
|
||||
if 400 <= response.status_code < 600:
|
||||
raise requests.HTTPError(f'Error {response.status_code}: {response.json()}', response=response)
|
||||
|
||||
data = response.json()
|
||||
|
||||
return cast(str, data["choices"][0]["message"]["content"])
|
||||
|
||||
|
||||
def translate_file(path: pathlib.Path, language: str, all_: bool) -> None:
|
||||
tree = ET.parse(path)
|
||||
|
||||
root = tree.getroot()
|
||||
|
||||
for context in root.findall("./context"):
|
||||
name = context.find("name")
|
||||
if name is None:
|
||||
raise ValueError("name not found")
|
||||
|
||||
print(f"Context: {name.text}")
|
||||
|
||||
for message in context.findall("./message"):
|
||||
source = message.find("source")
|
||||
translation = message.find("translation")
|
||||
|
||||
if source is None or translation is None:
|
||||
raise ValueError("source or translation not found")
|
||||
|
||||
if not all_ and translation.attrib.get("type") != "unfinished":
|
||||
continue
|
||||
|
||||
llm_translation = translate_phrase(cast(str, source.text), language)
|
||||
|
||||
print(f"Source: {source.text}\n" +
|
||||
f"Current translation: {translation.text}\n" +
|
||||
f"LLM translation: {llm_translation}")
|
||||
|
||||
translation.text = llm_translation
|
||||
|
||||
with path.open("w", encoding="utf-8") as fp:
|
||||
fp.write('<?xml version="1.0" encoding="utf-8"?>\n' +
|
||||
'<!DOCTYPE TS>\n' +
|
||||
ET.tostring(root, encoding="utf-8").decode())
|
||||
|
||||
|
||||
def main():
|
||||
arg_parser = argparse.ArgumentParser("Auto translate")
|
||||
|
||||
group = arg_parser.add_mutually_exclusive_group(required=True)
|
||||
group.add_argument("-a", "--all-files", action="store_true", help="Translate all files")
|
||||
group.add_argument("-f", "--file", nargs="+", help="Translate the selected files. (Example: -f fr de)")
|
||||
|
||||
arg_parser.add_argument("-t", "--all-translations", action="store_true", default=False, help="Translate all sections. (Default: only unfinished)")
|
||||
|
||||
args = arg_parser.parse_args()
|
||||
|
||||
if OPENAI_API_KEY is None:
|
||||
print("OpenAI API key is missing. (Hint: use `export OPENAI_API_KEY=YOUR-KEY` before you run the script).\n" +
|
||||
"If you don't have one go to: https://beta.openai.com/account/api-keys.")
|
||||
exit(1)
|
||||
|
||||
files = get_language_files(None if args.all_files else args.file)
|
||||
|
||||
if args.file:
|
||||
missing_files = set(args.file) - set(files)
|
||||
if len(missing_files):
|
||||
print(f"No language files found: {missing_files}")
|
||||
exit(1)
|
||||
|
||||
print(f"Translation mode: {'all' if args.all_translations else 'only unfinished'}. Files: {list(files)}")
|
||||
|
||||
for lang, path in files.items():
|
||||
print(f"Translate {lang} ({path})")
|
||||
translate_file(path, lang, args.all_translations)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
@@ -1,26 +0,0 @@
|
||||
#!/usr/bin/env bash
|
||||
set -euo pipefail
|
||||
|
||||
DIR="$(cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd)"
|
||||
ROOT="$DIR/../../../"
|
||||
|
||||
cd $DIR
|
||||
./update_translations.py
|
||||
|
||||
command -v codex >/dev/null || {
|
||||
echo "Install codex CLI to continue:"
|
||||
echo "-> https://developers.openai.com/codex/cli"
|
||||
echo
|
||||
exit 1
|
||||
}
|
||||
|
||||
codex exec --cd "$ROOT" -c 'model_reasoning_effort="low"' --dangerously-bypass-approvals-and-sandbox "$(cat <<EOF
|
||||
Update openpilot UI translations in selfdrive/ui/translations.
|
||||
- Translate English UI text naturally.
|
||||
- Preserve placeholders (%n, %1, {}, {:.1f}), HTML/tags, and plural forms.
|
||||
- Edit .po files in place.
|
||||
- Print a short summary of changes.
|
||||
- All strings should be translated. Don't stop until it's 100%.
|
||||
- Be mindful of the layout/style of the UI and length of the original English string.
|
||||
EOF
|
||||
)"
|
||||
108
selfdrive/ui/translations/create_badges.py
Executable file
108
selfdrive/ui/translations/create_badges.py
Executable file
@@ -0,0 +1,108 @@
|
||||
#!/usr/bin/env python3
|
||||
import json
|
||||
import os
|
||||
import requests
|
||||
import xml.etree.ElementTree as ET
|
||||
|
||||
from openpilot.common.basedir import BASEDIR
|
||||
from openpilot.selfdrive.ui.update_translations import LANGUAGES_FILE, TRANSLATIONS_DIR
|
||||
|
||||
BADGE_HEIGHT = 20 + 8
|
||||
SHIELDS_URL = "https://img.shields.io/badge"
|
||||
|
||||
def parse_po_file(file_path):
|
||||
"""
|
||||
Parse a .po file and count total and unfinished translations.
|
||||
Returns: (total_translations, unfinished_translations)
|
||||
"""
|
||||
with open(file_path) as f:
|
||||
content = f.read()
|
||||
|
||||
total_translations = 0
|
||||
unfinished_translations = 0
|
||||
|
||||
# Split into entries (separated by blank lines)
|
||||
entries = content.split('\n\n')
|
||||
|
||||
for entry in entries:
|
||||
# Skip header entry (contains Project-Id-Version)
|
||||
if 'Project-Id-Version' in entry:
|
||||
continue
|
||||
|
||||
# Check if this entry has a msgid (translation entry)
|
||||
# After skipping header, any entry with msgid " is a translation
|
||||
# (both msgid "content" and msgid "" for multiline contain msgid ")
|
||||
if 'msgid "' not in entry:
|
||||
continue
|
||||
|
||||
total_translations += 1
|
||||
|
||||
# Check if msgstr is empty (unfinished translation)
|
||||
if 'msgstr ""' in entry:
|
||||
# Check if there are continuation lines with content after msgstr ""
|
||||
lines = entry.split('\n')
|
||||
msgstr_idx = None
|
||||
for i, line in enumerate(lines):
|
||||
if line.strip().startswith('msgstr ""'):
|
||||
msgstr_idx = i
|
||||
break
|
||||
|
||||
if msgstr_idx is not None:
|
||||
# Check if any continuation lines have content
|
||||
has_content = False
|
||||
for line in lines[msgstr_idx + 1:]:
|
||||
stripped = line.strip()
|
||||
# Continuation line with content
|
||||
if stripped.startswith('"') and len(stripped) > 2:
|
||||
has_content = True
|
||||
break
|
||||
# End of entry
|
||||
if stripped.startswith(('msgid', '#')) or not stripped:
|
||||
break
|
||||
|
||||
if not has_content:
|
||||
unfinished_translations += 1
|
||||
|
||||
return (total_translations, unfinished_translations)
|
||||
|
||||
if __name__ == "__main__":
|
||||
with open(LANGUAGES_FILE) as f:
|
||||
translation_files = json.load(f)
|
||||
|
||||
badge_svg = []
|
||||
max_badge_width = 0 # keep track of max width to set parent element
|
||||
for idx, (name, file) in enumerate(translation_files.items()):
|
||||
po_file_path = os.path.join(str(TRANSLATIONS_DIR), f"app_{file}.po")
|
||||
|
||||
total_translations, unfinished_translations = parse_po_file(po_file_path)
|
||||
|
||||
percent_finished = int(100 - (unfinished_translations / total_translations * 100.)) if total_translations > 0 else 0
|
||||
color = f"rgb{(94, 188, 0) if percent_finished == 100 else (248, 255, 50) if percent_finished > 90 else (204, 55, 27)}"
|
||||
|
||||
# Download badge
|
||||
badge_label = f"LANGUAGE {name}"
|
||||
badge_message = f"{percent_finished}% complete"
|
||||
if unfinished_translations != 0:
|
||||
badge_message += f" ({unfinished_translations} unfinished)"
|
||||
|
||||
r = requests.get(f"{SHIELDS_URL}/{badge_label}-{badge_message}-{color}", timeout=10)
|
||||
assert r.status_code == 200, "Error downloading badge"
|
||||
content_svg = r.content.decode("utf-8")
|
||||
|
||||
xml = ET.fromstring(content_svg)
|
||||
assert "width" in xml.attrib
|
||||
max_badge_width = max(max_badge_width, int(xml.attrib["width"]))
|
||||
|
||||
# Make tag ids in each badge unique to combine them into one svg
|
||||
for tag in ("r", "s"):
|
||||
content_svg = content_svg.replace(f'id="{tag}"', f'id="{tag}{idx}"')
|
||||
content_svg = content_svg.replace(f'"url(#{tag})"', f'"url(#{tag}{idx})"')
|
||||
|
||||
badge_svg.extend([f'<g transform="translate(0, {idx * BADGE_HEIGHT})">', content_svg, "</g>"])
|
||||
|
||||
badge_svg.insert(0, '<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" ' +
|
||||
f'height="{len(translation_files) * BADGE_HEIGHT}" width="{max_badge_width}">')
|
||||
badge_svg.append("</svg>")
|
||||
|
||||
with open(os.path.join(BASEDIR, "translation_badge.svg"), "w") as badge_f:
|
||||
badge_f.write("\n".join(badge_svg))
|
||||
@@ -8,6 +8,7 @@ import ast
|
||||
import os
|
||||
import re
|
||||
from dataclasses import dataclass, field
|
||||
from datetime import UTC, datetime
|
||||
from pathlib import Path
|
||||
|
||||
|
||||
@@ -164,18 +165,18 @@ def write_po(path: str | Path, header: POEntry | None, entries: list[POEntry]) -
|
||||
if header:
|
||||
for c in header.comments:
|
||||
f.write(c + '\n')
|
||||
if header.flags:
|
||||
f.write('#, ' + ', '.join(header.flags) + '\n')
|
||||
f.write(f'msgid {_quote("")}\n')
|
||||
f.write(f'msgstr {_quote(header.msgstr)}\n\n')
|
||||
|
||||
for entry in entries:
|
||||
for c in entry.comments:
|
||||
f.write(c + '\n')
|
||||
# Keep file-level context for translators, but drop line numbers to
|
||||
# avoid churning PO diffs on unrelated code edits.
|
||||
source_files = sorted({ref.rsplit(':', 1)[0] for ref in entry.source_refs})
|
||||
for ref in source_files:
|
||||
for ref in entry.source_refs:
|
||||
f.write(f'#: {ref}\n')
|
||||
# Runtime loading ignores gettext flags; omit them to reduce noise.
|
||||
if entry.flags:
|
||||
f.write('#, ' + ', '.join(entry.flags) + '\n')
|
||||
f.write(f'msgid {_quote(entry.msgid)}\n')
|
||||
if entry.is_plural:
|
||||
f.write(f'msgid_plural {_quote(entry.msgid_plural)}\n')
|
||||
@@ -255,24 +256,31 @@ def extract_strings(files: list[str], basedir: str) -> list[POEntry]:
|
||||
|
||||
# ──── POT generation ────
|
||||
|
||||
def _build_pot_header() -> POEntry:
|
||||
return POEntry(
|
||||
msgstr='Content-Type: text/plain; charset=UTF-8\n',
|
||||
)
|
||||
|
||||
|
||||
def _build_po_header(language: str) -> POEntry:
|
||||
plural_forms = PLURAL_FORMS.get(language, 'nplurals=2; plural=(n != 1);')
|
||||
return POEntry(
|
||||
msgstr='Content-Type: text/plain; charset=UTF-8\n' +
|
||||
f'Language: {language}\n' +
|
||||
f'Plural-Forms: {plural_forms}\n',
|
||||
)
|
||||
|
||||
|
||||
def generate_pot(entries: list[POEntry], pot_path: str | Path) -> None:
|
||||
"""Generate a .pot template file from extracted entries."""
|
||||
write_po(pot_path, _build_pot_header(), entries)
|
||||
now = datetime.now(UTC).strftime('%Y-%m-%d %H:%M%z')
|
||||
header = POEntry(
|
||||
comments=[
|
||||
'# SOME DESCRIPTIVE TITLE.',
|
||||
"# Copyright (C) YEAR THE PACKAGE'S COPYRIGHT HOLDER",
|
||||
'# This file is distributed under the same license as the PACKAGE package.',
|
||||
'# FIRST AUTHOR <EMAIL@ADDRESS>, YEAR.',
|
||||
'#',
|
||||
],
|
||||
flags=['fuzzy'],
|
||||
msgstr='Project-Id-Version: PACKAGE VERSION\n' +
|
||||
'Report-Msgid-Bugs-To: \n' +
|
||||
f'POT-Creation-Date: {now}\n' +
|
||||
'PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n' +
|
||||
'Last-Translator: FULL NAME <EMAIL@ADDRESS>\n' +
|
||||
'Language-Team: LANGUAGE <LL@li.org>\n' +
|
||||
'Language: \n' +
|
||||
'MIME-Version: 1.0\n' +
|
||||
'Content-Type: text/plain; charset=UTF-8\n' +
|
||||
'Content-Transfer-Encoding: 8bit\n' +
|
||||
'Plural-Forms: nplurals=INTEGER; plural=EXPRESSION;\n',
|
||||
)
|
||||
write_po(pot_path, header, entries)
|
||||
|
||||
|
||||
# ──── PO init (replaces msginit) ────
|
||||
@@ -297,22 +305,43 @@ def init_po(pot_path: str | Path, po_path: str | Path, language: str) -> None:
|
||||
"""Create a new .po file from a .pot template (replaces msginit)."""
|
||||
_, entries = parse_po(pot_path)
|
||||
plural_forms = PLURAL_FORMS.get(language, 'nplurals=2; plural=(n != 1);')
|
||||
now = datetime.now(UTC).strftime('%Y-%m-%d %H:%M%z')
|
||||
|
||||
header = POEntry(
|
||||
comments=[
|
||||
f'# {language} translations for PACKAGE package.',
|
||||
"# Copyright (C) YEAR THE PACKAGE'S COPYRIGHT HOLDER",
|
||||
'# This file is distributed under the same license as the PACKAGE package.',
|
||||
'# Automatically generated.',
|
||||
'#',
|
||||
],
|
||||
msgstr='Project-Id-Version: PACKAGE VERSION\n' +
|
||||
'Report-Msgid-Bugs-To: \n' +
|
||||
f'POT-Creation-Date: {now}\n' +
|
||||
f'PO-Revision-Date: {now}\n' +
|
||||
'Last-Translator: Automatically generated\n' +
|
||||
'Language-Team: none\n' +
|
||||
f'Language: {language}\n' +
|
||||
'MIME-Version: 1.0\n' +
|
||||
'Content-Type: text/plain; charset=UTF-8\n' +
|
||||
'Content-Transfer-Encoding: 8bit\n' +
|
||||
f'Plural-Forms: {plural_forms}\n',
|
||||
)
|
||||
|
||||
nplurals = int(re.search(r'nplurals=(\d+)', plural_forms).group(1))
|
||||
for e in entries:
|
||||
if e.is_plural:
|
||||
e.msgstr_plural = dict.fromkeys(range(nplurals), '')
|
||||
|
||||
write_po(po_path, _build_po_header(language), entries)
|
||||
write_po(po_path, header, entries)
|
||||
|
||||
|
||||
# ──── PO merge (replaces msgmerge) ────
|
||||
|
||||
def merge_po(po_path: str | Path, pot_path: str | Path) -> None:
|
||||
"""Update a .po file with entries from a .pot template (replaces msgmerge --update)."""
|
||||
_, po_entries = parse_po(po_path)
|
||||
po_header, po_entries = parse_po(po_path)
|
||||
_, pot_entries = parse_po(pot_path)
|
||||
language = Path(po_path).stem.removeprefix("app_")
|
||||
|
||||
existing = {e.msgid: e for e in po_entries}
|
||||
merged = []
|
||||
@@ -330,4 +359,4 @@ def merge_po(po_path: str | Path, pot_path: str | Path) -> None:
|
||||
merged.append(pot_e)
|
||||
|
||||
merged.sort(key=lambda e: e.msgid)
|
||||
write_po(po_path, _build_po_header(language), merged)
|
||||
write_po(po_path, po_header, merged)
|
||||
|
||||
@@ -299,11 +299,11 @@ class Device(DeviceSP):
|
||||
|
||||
def _set_awake(self, on: bool):
|
||||
if on != self._awake:
|
||||
if DeviceSP._set_awake(self, on, ui_state):
|
||||
self._awake = on
|
||||
cloudlog.debug(f"setting display power {int(on)}")
|
||||
HARDWARE.set_display_power(on)
|
||||
gui_app.set_should_render(on)
|
||||
DeviceSP._set_awake(on, ui_state)
|
||||
self._awake = on
|
||||
cloudlog.debug(f"setting display power {int(on)}")
|
||||
HARDWARE.set_display_power(on)
|
||||
gui_app.set_should_render(on)
|
||||
|
||||
|
||||
# Global instance
|
||||
|
||||
@@ -100,7 +100,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
|
||||
fill_xyzt(modelV2.orientationRate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T)
|
||||
|
||||
# temporal pose
|
||||
temporal_pose = modelV2.deprecated.temporalPose
|
||||
temporal_pose = modelV2.temporalPoseDEPRECATED
|
||||
if 'sim_pose' in net_output_data:
|
||||
temporal_pose.trans = net_output_data['sim_pose'][0,:ModelConstants.POSE_WIDTH//2].tolist()
|
||||
temporal_pose.transStd = net_output_data['sim_pose_stds'][0,:ModelConstants.POSE_WIDTH//2].tolist()
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user