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10
.github/workflows/cereal_validation.yaml
vendored
10
.github/workflows/cereal_validation.yaml
vendored
@@ -33,15 +33,15 @@ jobs:
|
||||
- run: ./tools/op.sh setup
|
||||
- name: Build openpilot
|
||||
run: scons -j$(nproc) cereal
|
||||
- name: Generate the log file
|
||||
- name: Dump sunnypilot schema
|
||||
run: |
|
||||
export PYTHONPATH=${{ github.workspace }}
|
||||
python3 cereal/messaging/tests/validate_sp_cereal_upstream.py -g -f schema_instances.bin
|
||||
python3 cereal/messaging/tests/validate_sp_cereal_upstream.py -g -f schema.json
|
||||
- name: 'Prepare artifact'
|
||||
run: |
|
||||
mkdir -p "cereal/messaging/tests/cereal_validations"
|
||||
cp cereal/messaging/tests/validate_sp_cereal_upstream.py "cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py"
|
||||
cp schema_instances.bin "cereal/messaging/tests/cereal_validations/schema_instances.bin"
|
||||
cp schema.json "cereal/messaging/tests/cereal_validations/schema.json"
|
||||
- name: 'Upload Artifact'
|
||||
uses: actions/upload-artifact@v4
|
||||
with:
|
||||
@@ -71,8 +71,8 @@ jobs:
|
||||
with:
|
||||
name: cereal_validations
|
||||
path: openpilot/cereal/messaging/tests/cereal_validations
|
||||
- name: 'Run the validation'
|
||||
- name: 'Validate sunnypilot schema against upstream'
|
||||
run: |
|
||||
export PYTHONPATH=${{ github.workspace }}/openpilot
|
||||
chmod +x openpilot/cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py
|
||||
python3 openpilot/cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py -r -f openpilot/cereal/messaging/tests/cereal_validations/schema_instances.bin
|
||||
python3 openpilot/cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py -r -f openpilot/cereal/messaging/tests/cereal_validations/schema.json
|
||||
|
||||
6
.github/workflows/docs.yaml
vendored
6
.github/workflows/docs.yaml
vendored
@@ -29,9 +29,9 @@ jobs:
|
||||
# Build
|
||||
- name: Build docs
|
||||
run: |
|
||||
# TODO: can we install just the "docs" dependency group without the normal deps?
|
||||
pip install mkdocs
|
||||
mkdocs build
|
||||
git lfs pull
|
||||
pip install zensical
|
||||
python scripts/docs.py build
|
||||
|
||||
# Push to docs.comma.ai
|
||||
- uses: actions/checkout@v6
|
||||
|
||||
@@ -172,8 +172,8 @@ jobs:
|
||||
output_file="${{ env.MODELS_DIR }}/${base_name}_tinygrad.pkl"
|
||||
|
||||
echo "Compiling: $onnx_file -> $output_file"
|
||||
QCOM=1 python3 "${{ env.TINYGRAD_PATH }}/examples/openpilot/compile3.py" "$onnx_file" "$output_file"
|
||||
DEV=QCOM FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 python3 "${{ env.MODELS_DIR }}/../get_model_metadata.py" "$onnx_file" || true
|
||||
DEV=QCOM FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1 IMAGE=2 python3 "${{ env.TINYGRAD_PATH }}/examples/openpilot/compile3.py" "$onnx_file" "$output_file"
|
||||
DEV=QCOM FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1 python3 "${{ env.MODELS_DIR }}/../get_model_metadata.py" "$onnx_file" || true
|
||||
done
|
||||
|
||||
- name: Validate Model Outputs
|
||||
|
||||
2
.gitignore
vendored
2
.gitignore
vendored
@@ -44,8 +44,10 @@ bin/
|
||||
config.json
|
||||
compile_commands.json
|
||||
compare_runtime*.html
|
||||
selfdrive/modeld/models/tg_compiled_flags.json
|
||||
|
||||
# build artifacts
|
||||
docs_site/
|
||||
selfdrive/pandad/pandad
|
||||
cereal/services.h
|
||||
cereal/gen
|
||||
|
||||
@@ -558,8 +558,8 @@ struct PandaState @0xa7649e2575e4591e {
|
||||
|
||||
# these fields are not used by openpilot, but they're
|
||||
# reserved for forks building alternate experiences.
|
||||
controlsAllowedRESERVED1 @38 :Bool;
|
||||
controlsAllowedRESERVED2 @39 :Bool;
|
||||
controlsAllowedLateral @38 :Bool;
|
||||
controlsAllowedLongitudinal @39 :Bool;
|
||||
|
||||
enum FaultStatus {
|
||||
none @0;
|
||||
|
||||
@@ -1,222 +1,251 @@
|
||||
#!/usr/bin/env python3
|
||||
"""Schema-level cereal compat check between sunnypilot and upstream openpilot.
|
||||
|
||||
Rules (per struct matched across sides by typeId):
|
||||
R1 shared ordinal must reference the same type.
|
||||
R2 sunnypilot-only ordinal in a union -> FAIL (unknown discriminant upstream).
|
||||
R3 sunnypilot-only ordinal on a regular field -> OK (additive struct evolution).
|
||||
R4 upstream-only ordinal -> OK.
|
||||
R5 sunnypilot-only struct referenced via an upstream-shared field -> FAIL.
|
||||
"""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
import argparse
|
||||
import json
|
||||
import sys
|
||||
from typing import Any, List, Tuple
|
||||
from typing import Any
|
||||
|
||||
DEBUG = False
|
||||
NO_DISCRIMINANT = 0xFFFF
|
||||
|
||||
|
||||
def print_debug(string: str) -> None:
|
||||
if DEBUG:
|
||||
print(string)
|
||||
def hex_id(value: int) -> str:
|
||||
return f"0x{value:016x}"
|
||||
|
||||
|
||||
def create_schema_instance(struct: Any, prop: Tuple[str, Any]) -> Any:
|
||||
"""
|
||||
Create a new instance of a schema type, handling different field types.
|
||||
|
||||
Args:
|
||||
struct: The Cap'n Proto schema structure
|
||||
prop: A tuple containing the field name and field metadata
|
||||
|
||||
Returns:
|
||||
A new initialized schema instance
|
||||
"""
|
||||
struct_instance = struct.new_message()
|
||||
field_name, field_metadata = prop
|
||||
|
||||
try:
|
||||
field_type = field_metadata.proto.slot.type.which()
|
||||
|
||||
# Initialize different types of fields
|
||||
if field_type in ('list', 'text', 'data'):
|
||||
struct_instance.init(field_name, 1)
|
||||
print_debug(f"Initialized list/text/data field: {field_name}")
|
||||
elif field_type in ('struct', 'object'):
|
||||
struct_instance.init(field_name)
|
||||
print_debug(f"Initialized struct/object field: {field_name}")
|
||||
|
||||
return struct_instance
|
||||
|
||||
except Exception as e:
|
||||
print(f"Error creating instance for {field_name}: {e}")
|
||||
return None
|
||||
def encode_type(type_node: Any) -> dict:
|
||||
which = type_node.which()
|
||||
if which == "struct":
|
||||
return {"kind": "struct", "typeId": hex_id(type_node.struct.typeId)}
|
||||
if which == "enum":
|
||||
return {"kind": "enum", "typeId": hex_id(type_node.enum.typeId)}
|
||||
if which == "interface":
|
||||
return {"kind": "interface", "typeId": hex_id(type_node.interface.typeId)}
|
||||
if which == "list":
|
||||
return {"kind": "list", "element": encode_type(type_node.list.elementType)}
|
||||
if which == "anyPointer":
|
||||
return {"kind": "anyPointer"}
|
||||
return {"kind": which}
|
||||
|
||||
|
||||
def get_schema_fields(schema_struct: Any) -> List[Tuple[str, Any]]:
|
||||
"""
|
||||
Retrieve all fields from a given schema structure.
|
||||
def encode_field(name: str, field: Any) -> dict:
|
||||
proto = field.proto
|
||||
ordinal = proto.ordinal.explicit if proto.ordinal.which() == "explicit" else None
|
||||
discriminant = proto.discriminantValue if proto.discriminantValue != NO_DISCRIMINANT else None
|
||||
|
||||
Args:
|
||||
schema_struct: The Cap'n Proto schema structure
|
||||
if proto.which() == "group":
|
||||
type_desc = {"kind": "group", "typeId": hex_id(proto.group.typeId)}
|
||||
else:
|
||||
type_desc = encode_type(proto.slot.type)
|
||||
|
||||
Returns:
|
||||
A list of field names and their metadata
|
||||
"""
|
||||
try:
|
||||
# Get all fields from the schema
|
||||
schema_fields = list(schema_struct.schema.fields.items())
|
||||
|
||||
print_debug("Discovered schema fields:")
|
||||
for field_name, field_metadata in schema_fields:
|
||||
print_debug(f"- {field_name}")
|
||||
|
||||
return schema_fields
|
||||
|
||||
except Exception as e:
|
||||
print(f"Error retrieving schema fields: {e}")
|
||||
return []
|
||||
return {
|
||||
"name": name,
|
||||
"ordinal": ordinal,
|
||||
"discriminant": discriminant,
|
||||
"type": type_desc,
|
||||
}
|
||||
|
||||
|
||||
def generate_schema_instances(schema_struct: Any) -> List[Any]:
|
||||
"""
|
||||
Generate instances for all fields in a given schema.
|
||||
|
||||
Args:
|
||||
schema_struct: The Cap'n Proto schema structure
|
||||
|
||||
Returns:
|
||||
A list of schema instances
|
||||
"""
|
||||
schema_fields = get_schema_fields(schema_struct)
|
||||
instances = []
|
||||
|
||||
for field_prop in schema_fields:
|
||||
try:
|
||||
instance = create_schema_instance(schema_struct, field_prop)
|
||||
if instance is not None:
|
||||
instances.append(instance)
|
||||
except Exception as e:
|
||||
print(f"Skipping field due to error: {e}")
|
||||
|
||||
print(f"Generated {len(instances)} schema instances")
|
||||
return instances
|
||||
def encode_struct(schema: Any) -> dict:
|
||||
node = schema.node
|
||||
return {
|
||||
"typeId": hex_id(node.id),
|
||||
"displayName": node.displayName,
|
||||
"hasUnion": node.struct.discriminantCount > 0,
|
||||
"fields": [encode_field(name, field) for name, field in schema.fields.items()],
|
||||
}
|
||||
|
||||
|
||||
def persist_instances(instances: List[Any], filename: str) -> None:
|
||||
"""
|
||||
Write schema instances to a binary file.
|
||||
|
||||
Args:
|
||||
instances: List of schema instances
|
||||
filename: Output file path
|
||||
"""
|
||||
try:
|
||||
with open(filename, 'wb') as f:
|
||||
for instance in instances:
|
||||
f.write(instance.to_bytes())
|
||||
|
||||
print(f"Successfully wrote {len(instances)} instances to {filename}")
|
||||
|
||||
except Exception as e:
|
||||
print(f"Error persisting instances: {e}")
|
||||
sys.exit(1)
|
||||
def _child_struct_schema(field: Any) -> Any:
|
||||
proto = field.proto
|
||||
if proto.which() == "group":
|
||||
return field.schema
|
||||
type_node = proto.slot.type
|
||||
which = type_node.which()
|
||||
if which == "struct":
|
||||
return field.schema
|
||||
if which == "list":
|
||||
container = field.schema
|
||||
element_type = type_node.list.elementType
|
||||
while element_type.which() == "list":
|
||||
container = container.elementType
|
||||
element_type = element_type.list.elementType
|
||||
if element_type.which() == "struct":
|
||||
return container.elementType
|
||||
return None
|
||||
|
||||
|
||||
def read_instances(filename: str, schema_type: Any) -> List[Any]:
|
||||
"""
|
||||
Read schema instances from a binary file.
|
||||
|
||||
Args:
|
||||
filename: Input file path
|
||||
schema_type: The schema type to use for reading
|
||||
|
||||
Returns:
|
||||
A list of read schema instances
|
||||
"""
|
||||
try:
|
||||
with open(filename, 'rb') as f:
|
||||
data = f.read()
|
||||
|
||||
instances = list(schema_type.read_multiple_bytes(data))
|
||||
|
||||
print(f"Read {len(instances)} instances from {filename}")
|
||||
return instances
|
||||
|
||||
except Exception as e:
|
||||
print(f"Error reading instances: {e}")
|
||||
sys.exit(1)
|
||||
def collect_schema(root: Any) -> dict[str, dict]:
|
||||
structs: dict[str, dict] = {}
|
||||
stack = [root]
|
||||
while stack:
|
||||
schema = stack.pop()
|
||||
type_id = hex_id(schema.node.id)
|
||||
if type_id in structs:
|
||||
continue
|
||||
structs[type_id] = encode_struct(schema)
|
||||
for _name, field in schema.fields.items():
|
||||
try:
|
||||
child = _child_struct_schema(field)
|
||||
except Exception:
|
||||
child = None
|
||||
if child is not None:
|
||||
stack.append(child)
|
||||
return structs
|
||||
|
||||
|
||||
def compare_schemas(original_instances: List[Any], read_instances: List[Any]) -> bool:
|
||||
"""
|
||||
Compare original and read-back instances to detect potential breaking changes.
|
||||
def dump_schema(path: str) -> None:
|
||||
from cereal import log
|
||||
payload = {
|
||||
"root": hex_id(log.Event.schema.node.id),
|
||||
"structs": collect_schema(log.Event.schema),
|
||||
}
|
||||
with open(path, "w", encoding="utf-8") as handle:
|
||||
json.dump(payload, handle, indent=2, sort_keys=True)
|
||||
print(f"wrote schema dump with {len(payload['structs'])} structs to {path}")
|
||||
|
||||
Args:
|
||||
original_instances: List of originally generated instances
|
||||
read_instances: List of instances read back from file
|
||||
|
||||
Returns:
|
||||
Boolean indicating whether schemas appear compatible
|
||||
"""
|
||||
if len(original_instances) != len(read_instances):
|
||||
print("❌ Schema Compatibility Warning: Instance count mismatch")
|
||||
def types_equal(a: dict, b: dict) -> bool:
|
||||
if a.get("kind") != b.get("kind"):
|
||||
return False
|
||||
|
||||
compatible = True
|
||||
for struct in read_instances:
|
||||
try:
|
||||
getattr(struct, struct.which()) # Attempting to access the field to validate readability
|
||||
except Exception as e:
|
||||
print(f"❌ Structural change detected: {struct.which()} is not readable.\nFull error: {e}")
|
||||
compatible = False
|
||||
|
||||
return compatible
|
||||
kind = a["kind"]
|
||||
if kind in ("struct", "enum", "interface", "group"):
|
||||
return a.get("typeId") == b.get("typeId")
|
||||
if kind == "list":
|
||||
return types_equal(a["element"], b["element"])
|
||||
return True
|
||||
|
||||
|
||||
def main():
|
||||
"""
|
||||
CLI entry point for schema compatibility testing.
|
||||
"""
|
||||
# Setup argument parser
|
||||
def type_repr(t: dict) -> str:
|
||||
kind = t.get("kind", "?")
|
||||
if kind in ("struct", "enum", "interface", "group"):
|
||||
return f"{kind}({t.get('typeId')})"
|
||||
if kind == "list":
|
||||
return f"list<{type_repr(t['element'])}>"
|
||||
return kind
|
||||
|
||||
|
||||
def field_is_union_variant(field: dict) -> bool:
|
||||
return field.get("discriminant") is not None
|
||||
|
||||
|
||||
def index_fields_by_ordinal(struct: dict) -> dict[int, dict]:
|
||||
indexed: dict[int, dict] = {}
|
||||
for field in struct["fields"]:
|
||||
ordinal = field.get("ordinal")
|
||||
if ordinal is None:
|
||||
continue
|
||||
indexed[ordinal] = field
|
||||
return indexed
|
||||
|
||||
|
||||
def compare(sunnypilot_dump: dict, upstream_dump: dict) -> list[str]:
|
||||
violations: list[str] = []
|
||||
sunnypilot_structs: dict[str, dict] = sunnypilot_dump["structs"]
|
||||
upstream_structs: dict[str, dict] = upstream_dump["structs"]
|
||||
|
||||
sunnypilot_struct_referenced_from_shared: set[str] = set()
|
||||
|
||||
for type_id, sunnypilot_struct in sunnypilot_structs.items():
|
||||
upstream_struct = upstream_structs.get(type_id)
|
||||
if upstream_struct is None:
|
||||
continue
|
||||
|
||||
sunnypilot_fields = index_fields_by_ordinal(sunnypilot_struct)
|
||||
upstream_fields = index_fields_by_ordinal(upstream_struct)
|
||||
display = sunnypilot_struct["displayName"]
|
||||
|
||||
for ordinal, sunnypilot_field in sunnypilot_fields.items():
|
||||
upstream_field = upstream_fields.get(ordinal)
|
||||
if upstream_field is None:
|
||||
if field_is_union_variant(sunnypilot_field):
|
||||
violations.append(
|
||||
f"[R2] {display} @{ordinal} ('{sunnypilot_field['name']}', {type_repr(sunnypilot_field['type'])}): "
|
||||
f"union variant not present upstream. upstream cannot parse this discriminant."
|
||||
)
|
||||
continue
|
||||
|
||||
if not types_equal(sunnypilot_field["type"], upstream_field["type"]):
|
||||
violations.append(
|
||||
f"[R1] {display} @{ordinal}: type mismatch. "
|
||||
f"sunnypilot='{sunnypilot_field['name']}' {type_repr(sunnypilot_field['type'])} vs "
|
||||
f"upstream='{upstream_field['name']}' {type_repr(upstream_field['type'])}."
|
||||
)
|
||||
continue
|
||||
|
||||
cursor = sunnypilot_field["type"]
|
||||
while cursor.get("kind") == "list":
|
||||
cursor = cursor["element"]
|
||||
if cursor.get("kind") in ("struct", "group", "interface") and cursor.get("typeId"):
|
||||
sunnypilot_struct_referenced_from_shared.add(cursor["typeId"])
|
||||
|
||||
for type_id, sunnypilot_struct in sunnypilot_structs.items():
|
||||
if type_id in upstream_structs:
|
||||
continue
|
||||
if type_id in sunnypilot_struct_referenced_from_shared:
|
||||
violations.append(
|
||||
f"[R5] struct {sunnypilot_struct['displayName']} ({type_id}) exists only on sunnypilot "
|
||||
f"but is referenced from an upstream-shared field. upstream cannot resolve this type."
|
||||
)
|
||||
|
||||
return violations
|
||||
|
||||
|
||||
def load_peer(path: str) -> dict:
|
||||
with open(path, "r", encoding="utf-8") as handle:
|
||||
return json.load(handle)
|
||||
|
||||
|
||||
def run_read(peer_path: str) -> int:
|
||||
from cereal import log
|
||||
peer_dump = load_peer(peer_path)
|
||||
local_dump = {
|
||||
"root": hex_id(log.Event.schema.node.id),
|
||||
"structs": collect_schema(log.Event.schema),
|
||||
}
|
||||
violations = compare(sunnypilot_dump=peer_dump, upstream_dump=local_dump)
|
||||
|
||||
if not violations:
|
||||
print("cereal compat OK: upstream openpilot can parse sunnypilot routes "
|
||||
"(no leaked structs, no ordinal collisions).")
|
||||
return 0
|
||||
|
||||
print(f"cereal compat FAIL: upstream openpilot would misparse sunnypilot routes "
|
||||
f"({len(violations)} violation(s)):")
|
||||
for v in violations:
|
||||
print(f" {v}")
|
||||
return 1
|
||||
|
||||
|
||||
def main() -> int:
|
||||
parser = argparse.ArgumentParser(
|
||||
description='Cap\'n Proto Schema Compatibility Testing Tool',
|
||||
epilog='Test schema compatibility by generating and reading back instances.'
|
||||
description="sunnypilot <-> upstream cereal compatibility validator (schema-level)."
|
||||
)
|
||||
|
||||
# Add mutually exclusive group for generation or reading mode
|
||||
mode_group = parser.add_mutually_exclusive_group(required=True)
|
||||
mode_group.add_argument('-g', '--generate', action='store_true',
|
||||
help='Generate schema instances')
|
||||
mode_group.add_argument('-r', '--read', action='store_true',
|
||||
help='Read and validate schema instances')
|
||||
|
||||
# Common arguments
|
||||
parser.add_argument('-f', '--file',
|
||||
default='schema_instances.bin',
|
||||
help='Output/input binary file (default: schema_instances.bin)')
|
||||
|
||||
# Parse arguments
|
||||
mode = parser.add_mutually_exclusive_group(required=True)
|
||||
mode.add_argument("-g", "--generate", action="store_true", help="dump local schema to JSON")
|
||||
mode.add_argument("-r", "--read", action="store_true", help="load peer JSON and diff against local")
|
||||
parser.add_argument("-f", "--file", default="schema.json", help="JSON file path (default: schema.json)")
|
||||
args = parser.parse_args()
|
||||
|
||||
# Import the schema dynamically
|
||||
try:
|
||||
from cereal import log
|
||||
schema_type = log.Event
|
||||
except ImportError:
|
||||
print("Error: Unable to import schema. Ensure 'cereal' is installed.")
|
||||
sys.exit(1)
|
||||
|
||||
# Execute based on mode
|
||||
if args.generate:
|
||||
print("🔧 Generating Schema Instances")
|
||||
instances = generate_schema_instances(schema_type)
|
||||
persist_instances(instances, args.file)
|
||||
print("✅ Instance generation complete")
|
||||
|
||||
elif args.read:
|
||||
print("🔍 Reading and Validating Schema Instances")
|
||||
generated_instances = generate_schema_instances(schema_type)
|
||||
read_back_instances = read_instances(args.file, schema_type)
|
||||
|
||||
# Compare schemas
|
||||
if compare_schemas(generated_instances, read_back_instances):
|
||||
print("✅ Schema Compatibility: No breaking changes detected")
|
||||
sys.exit(0)
|
||||
else:
|
||||
print("❌ Potential Schema Breaking Changes Detected")
|
||||
sys.exit(1)
|
||||
if args.generate:
|
||||
dump_schema(args.file)
|
||||
return 0
|
||||
return run_read(args.file)
|
||||
except ImportError as exc:
|
||||
print(f"error: cannot import cereal ({exc}). did scons build cereal?")
|
||||
return 2
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
sys.exit(main())
|
||||
|
||||
@@ -1 +1 @@
|
||||
#define DEFAULT_MODEL "OP Model 7 (Default)"
|
||||
#define DEFAULT_MODEL "POP model (Default)"
|
||||
|
||||
@@ -179,8 +179,6 @@ 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"}},
|
||||
|
||||
134
docs/CARS.md
134
docs/CARS.md
@@ -22,7 +22,7 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Audi[<sup>11</sup>](#footnotes)|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
|
||||
|Audi[<sup>11</sup>](#footnotes)|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
|
||||
|Audi[<sup>11</sup>](#footnotes)|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim, without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim, without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV 2022-23">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Equinox 2019-22">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Silverado 1500 2020-21">Buy Here</a></sub></details>|||
|
||||
@@ -32,34 +32,34 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Chrysler|Pacifica 2021-23|All|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 2021-23">Buy Here</a></sub></details>|||
|
||||
|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 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>||
|
||||
|comma|body|All|openpilot|0 mph|0 mph|[](##)|[](##)|None|<a href="https://youtu.be/VT-i3yRsX2s?t=2736" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|CUPRA[<sup>11</sup>](#footnotes)|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
|
||||
|Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Dodge Durango 2020-21">Buy Here</a></sub></details>|||
|
||||
|Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Bronco Sport 2021-24">Buy Here</a></sub></details>|||
|
||||
|Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2020-22">Buy Here</a></sub></details>|||
|
||||
|Ford|Escape 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Escape 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
|
||||
|Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Hybrid 2020-22">Buy Here</a></sub></details>|||
|
||||
|Ford|Escape Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Hybrid 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Escape Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Hybrid 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
|
||||
|Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Plug-in Hybrid 2020-22">Buy Here</a></sub></details>|||
|
||||
|Ford|Escape Plug-in Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Plug-in Hybrid 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Expedition 2022-24|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Expedition 2022-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Escape Plug-in Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Plug-in Hybrid 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
|
||||
|Ford|Expedition 2022-24|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Expedition 2022-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
|
||||
|Ford|Explorer 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Explorer 2020-24">Buy Here</a></sub></details>|||
|
||||
|Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Explorer Hybrid 2020-24">Buy Here</a></sub></details>|||
|
||||
|Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 Hybrid 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
|
||||
|Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 Hybrid 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
|
||||
|Ford|Focus 2018[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus 2018">Buy Here</a></sub></details>|||
|
||||
|Ford|Focus Hybrid 2018[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus Hybrid 2018">Buy Here</a></sub></details>|||
|
||||
|Ford|Kuga 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga 2020-23">Buy Here</a></sub></details>|||
|
||||
|Ford|Kuga Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2020-23">Buy Here</a></sub></details>|||
|
||||
|Ford|Kuga Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Kuga Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
|
||||
|Ford|Kuga Plug-in Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Plug-in Hybrid 2020-23">Buy Here</a></sub></details>|||
|
||||
|Ford|Kuga Plug-in Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Plug-in Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Kuga Plug-in Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Plug-in Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
|
||||
|Ford|Maverick 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick 2022">Buy Here</a></sub></details>|||
|
||||
|Ford|Maverick 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick 2023-24">Buy Here</a></sub></details>|||
|
||||
|Ford|Maverick Hybrid 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick Hybrid 2022">Buy Here</a></sub></details>|||
|
||||
|Ford|Maverick Hybrid 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick Hybrid 2023-24">Buy Here</a></sub></details>|||
|
||||
|Ford|Mustang Mach-E 2021-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Mustang Mach-E 2021-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Ranger 2024|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Ranger 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Mustang Mach-E 2021-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Mustang Mach-E 2021-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
|
||||
|Ford|Ranger 2024|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Ranger 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
|
||||
|Genesis|G70 2018|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G70 2018">Buy Here</a></sub></details>|||
|
||||
|Genesis|G70 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G70 2019-21">Buy Here</a></sub></details>|||
|
||||
|Genesis|G70 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G70 2022-23">Buy Here</a></sub></details>|||
|
||||
@@ -74,18 +74,18 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Genesis|GV70 Electrified (Australia Only) 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV70 Electrified (Australia Only) 2022">Buy Here</a></sub></details>|||
|
||||
|Genesis|GV70 Electrified (with HDA II) 2023-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV70 Electrified (with HDA II) 2023-24">Buy Here</a></sub></details>|||
|
||||
|Genesis|GV80 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV80 2023">Buy Here</a></sub></details>|||
|
||||
|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=GMC Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=GMC Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Accord 2023-25|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
|
||||
|Honda|Accord Hybrid 2023-25|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|City (Brazil only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|14 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Honda|Civic 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Civic 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hatchback 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Civic Hatchback Hybrid 2025-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025-26">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hybrid 2025-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hybrid 2025-26">Buy Here</a></sub></details>|||
|
||||
@@ -117,9 +117,9 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Hyundai|Custin 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Custin 2023">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Elantra 2017-18|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra 2017-18">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Elantra 2019|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra 2019">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Hyundai|Elantra GT 2017-20|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra GT 2017-20">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Genesis 2015-16">Buy Here</a></sub></details>|||
|
||||
|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai i30 2017-19">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq 5 (Southeast Asia and Europe only) 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (Southeast Asia and Europe only) 2022-24">Buy Here</a></sub></details>|||
|
||||
@@ -136,17 +136,17 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Hyundai|Kona 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona 2022-23">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric 2018-21">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric 2022-23">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Kona Electric (with HDA II, Korea only) 2023|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Hyundai|Kona Electric (with HDA II, Korea only) 2023|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Hybrid 2020">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Nexo 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Nexo 2021">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Hyundai|Santa Cruz 2022-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Cruz 2022-24">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe 2019-20">Buy Here</a></sub></details>|<a href="https://youtu.be/bjDR0YjM__s" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Hyundai|Santa Fe 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Hyundai|Santa Fe 2019-20|All|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=Hyundai Santa Fe 2019-20">Buy Here</a></sub></details>|<a href="https://youtu.be/bjDR0YjM__s" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Hyundai|Santa Fe 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Hyundai|Santa Fe Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe Hybrid 2022-23">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Santa Fe Plug-in Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe Plug-in Hybrid 2022-23">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Sonata 2018-19">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Sonata 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Sonata 2020-23">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Hyundai|Sonata 2020-23|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=Hyundai Sonata 2020-23">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Hyundai|Sonata Hybrid 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Sonata Hybrid 2020-23">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Staria 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Staria 2023">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson 2021">Buy Here</a></sub></details>|||
|
||||
@@ -156,8 +156,8 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Hyundai|Tucson Hybrid 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson Hybrid 2022-24">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Tucson Plug-in Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson Plug-in Hybrid 2024">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Veloster 2019-20">Buy Here</a></sub></details>|||
|
||||
|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 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=Jeep Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 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=Jeep Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Jeep|Grand Cherokee 2016-18|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=Jeep Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 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=Jeep Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Kia|Carnival 2022-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival 2022-24">Buy Here</a></sub></details>|||
|
||||
|Kia|Carnival (China only) 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival (China only) 2023">Buy Here</a></sub></details>|||
|
||||
|Kia|Ceed 2019-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Ceed 2019-21">Buy Here</a></sub></details>|||
|
||||
@@ -170,10 +170,10 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K5 Hybrid 2020-22">Buy Here</a></sub></details>|||
|
||||
|Kia|K7 2017|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 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 K7 2017">Buy Here</a></sub></details>|||
|
||||
|Kia|K8 Hybrid (with HDA II) 2023|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K8 Hybrid (with HDA II) 2023">Buy Here</a></sub></details>|||
|
||||
|Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 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 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 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 2019|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 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 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" /></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" /></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" /></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 (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>|||
|
||||
@@ -188,21 +188,21 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Optima 2019-20">Buy Here</a></sub></details>|||
|
||||
|Kia|Optima Hybrid 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 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 Optima Hybrid 2019">Buy Here</a></sub></details>|||
|
||||
|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 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 Seltos 2021">Buy Here</a></sub></details>|||
|
||||
|Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 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 Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 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 Sorento 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Kia|Sorento 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2021-23">Buy Here</a></sub></details>|||
|
||||
|Kia|Sorento Hybrid 2021-23|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 Sorento Hybrid 2021-23">Buy Here</a></sub></details>|||
|
||||
|Kia|Sorento Plug-in Hybrid 2022-23|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 Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>|||
|
||||
|Kia|Sportage 2023-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sportage 2023-24">Buy Here</a></sub></details>|||
|
||||
|Kia|Sportage Hybrid 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sportage Hybrid 2023">Buy Here</a></sub></details>|||
|
||||
|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 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 Stinger 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 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 Stinger 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Kia|Stinger 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 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 Stinger 2022-23">Buy Here</a></sub></details>|||
|
||||
|Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 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 Telluride 2020-22">Buy Here</a></sub></details>|||
|
||||
|Lexus|CT Hybrid 2017-18|Lexus Safety System+|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus CT Hybrid 2017-18">Buy Here</a></sub></details>|||
|
||||
|Lexus|ES 2017-18|All|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES 2017-18">Buy Here</a></sub></details>|||
|
||||
|Lexus|ES 2019-25|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES 2019-25">Buy Here</a></sub></details>|||
|
||||
|Lexus|ES Hybrid 2017-18|All|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES Hybrid 2017-18">Buy Here</a></sub></details>|||
|
||||
|Lexus|ES Hybrid 2019-25|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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 ES Hybrid 2019-25">Buy Here</a></sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Lexus|ES Hybrid 2019-25|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES Hybrid 2019-25">Buy Here</a></sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Lexus|GS F 2016|All|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus GS F 2016">Buy Here</a></sub></details>|||
|
||||
|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus IS 2017-19">Buy Here</a></sub></details>|||
|
||||
|Lexus|IS 2022-24|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus IS 2022-24">Buy Here</a></sub></details>|||
|
||||
@@ -223,25 +223,25 @@ 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[<sup>11</sup>](#footnotes)|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|MAN[<sup>11</sup>](#footnotes)|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-5 2022-25">Buy Here</a></sub></details>|||
|
||||
|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Nissan[<sup>5</sup>](#footnotes)|Altima 2019-20, 2024|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-20, 2024">Buy Here</a></sub></details>|||
|
||||
|Nissan[<sup>5</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Nissan[<sup>5</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Nissan[<sup>5</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Rogue 2018-20">Buy Here</a></sub></details>|||
|
||||
|Nissan[<sup>5</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
|
||||
|Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|32 mph|1 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 1500 2019-24">Buy Here</a></sub></details>|||
|
||||
|Ram|2500 2020-24|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 2500 2020-24">Buy Here</a></sub></details>|||
|
||||
|Ram|3500 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 3500 2019-22">Buy Here</a></sub></details>|||
|
||||
|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 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" /></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 2022-24|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
|
||||
|Rivian|R1T 2025|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2025">Buy Here</a></sub></details>|||
|
||||
|SEAT[<sup>11</sup>](#footnotes)|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
|
||||
|SEAT[<sup>11</sup>](#footnotes)|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
|
||||
|Subaru|Ascent 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Forester 2017-18|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2017-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Forester 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
@@ -252,7 +252,7 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Subaru|Outback 2015-17|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2015-17">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Outback 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Outback 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Škoda|Fabia 2022-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Fabia 2022-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
|
||||
|Škoda|Kamiq 2021-23[<sup>12,14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
|
||||
@@ -279,50 +279,50 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Toyota|C-HR 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR 2021">Buy Here</a></sub></details>|||
|
||||
|Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR Hybrid 2017-20">Buy Here</a></sub></details>|||
|
||||
|Toyota|C-HR Hybrid 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR Hybrid 2021-22">Buy Here</a></sub></details>|||
|
||||
|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>10</sup>](#footnotes)|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>10</sup>](#footnotes)|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>10</sup>](#footnotes)|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2021-24">Buy Here</a></sub></details>|||
|
||||
|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Toyota|Camry Hybrid 2021-24|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry Hybrid 2021-24">Buy Here</a></sub></details>|||
|
||||
|Toyota|Corolla 2017-19|All|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla 2017-19">Buy Here</a></sub></details>|||
|
||||
|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla 2020-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla 2020-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Cross (Non-US only) 2020-23">Buy Here</a></sub></details>|||
|
||||
|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Cross Hybrid (Non-US only) 2020-22">Buy Here</a></sub></details>|||
|
||||
|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Hatchback 2019-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Hatchback 2019-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Hybrid 2020-22">Buy Here</a></sub></details>|||
|
||||
|Toyota|Corolla Hybrid (South America only) 2020-23|All|openpilot|17 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Hybrid (South America only) 2020-23">Buy Here</a></sub></details>|||
|
||||
|Toyota|Highlander 2017-19|All|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander 2017-19">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|Highlander 2017-19|All|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander 2017-19">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander 2020-23">Buy Here</a></sub></details>|||
|
||||
|Toyota|Highlander Hybrid 2017-19|All|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander Hybrid 2017-19">Buy Here</a></sub></details>|||
|
||||
|Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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 Highlander Hybrid 2020-23">Buy Here</a></sub></details>|||
|
||||
|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Mirai 2021">Buy Here</a></sub></details>|||
|
||||
|Toyota|Prius 2016|Toyota Safety Sense P|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 2016">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|Prius 2017-20|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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 Prius 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|Prius Prime 2017-20|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius Prime 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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 Prius Prime 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|Prius 2016|Toyota Safety Sense P|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 2016">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Toyota|Prius 2017-20|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Toyota|Prius Prime 2017-20|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius Prime 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius Prime 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Toyota|Prius v 2017|Toyota Safety Sense P|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius v 2017">Buy Here</a></sub></details>|||
|
||||
|Toyota|RAV4 2016|Toyota Safety Sense P|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2016">Buy Here</a></sub></details>|||
|
||||
|Toyota|RAV4 2017-18|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 RAV4 2017-18">Buy Here</a></sub></details>|||
|
||||
|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=wJxjDd42gGA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=wJxjDd42gGA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Toyota|RAV4 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 2022">Buy Here</a></sub></details>|||
|
||||
|Toyota|RAV4 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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 2023-25">Buy Here</a></sub></details>|||
|
||||
|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2016">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|RAV4 Hybrid 2017-18|All|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 RAV4 Hybrid 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2016">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Toyota|RAV4 Hybrid 2017-18|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 RAV4 Hybrid 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2019-21">Buy Here</a></sub></details>|||
|
||||
|Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 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>||
|
||||
|Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Toyota|RAV4 Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Toyota|Sienna 2018-20|All|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas 2018-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen California 2021-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Caravelle 2020">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></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)|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Golf 2014-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf 2015-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
|
||||
@@ -331,7 +331,7 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|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)|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Jetta 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2019-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Passat 2015-22[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
|
||||
|
||||
24
docs/DEVELOPMENT.md
Normal file
24
docs/DEVELOPMENT.md
Normal file
@@ -0,0 +1,24 @@
|
||||
# Docs development
|
||||
|
||||
The `docs/` tree is the source for [docs.comma.ai](https://docs.comma.ai).
|
||||
The site is updated on pushes to master by this [workflow](../.github/workflows/docs.yaml).
|
||||
|
||||
Those commands must be run in the root directory of openpilot, **not /docs**
|
||||
|
||||
**1. Install the docs dependencies**
|
||||
``` bash
|
||||
uv pip install .[docs]
|
||||
```
|
||||
|
||||
**2. Build the new site**
|
||||
``` bash
|
||||
docs build
|
||||
```
|
||||
|
||||
**3. Run the new site locally**
|
||||
``` bash
|
||||
docs serve
|
||||
```
|
||||
|
||||
References:
|
||||
* https://zensical.org/docs/
|
||||
@@ -1,26 +0,0 @@
|
||||
# openpilot docs
|
||||
|
||||
This is the source for [docs.comma.ai](https://docs.comma.ai).
|
||||
The site is updated on pushes to master by this [workflow](../.github/workflows/docs.yaml).
|
||||
|
||||
## Development
|
||||
NOTE: Those commands must be run in the root directory of openpilot, **not /docs**
|
||||
|
||||
**1. Install the docs dependencies**
|
||||
``` bash
|
||||
uv pip install .[docs]
|
||||
```
|
||||
|
||||
**2. Build the new site**
|
||||
``` bash
|
||||
mkdocs build
|
||||
```
|
||||
|
||||
**3. Run the new site locally**
|
||||
``` bash
|
||||
mkdocs serve
|
||||
```
|
||||
|
||||
References:
|
||||
* https://www.mkdocs.org/getting-started/
|
||||
* https://github.com/ntno/mkdocs-terminal
|
||||
1
docs/assets/comma-logo.png
Symbolic link
1
docs/assets/comma-logo.png
Symbolic link
@@ -0,0 +1 @@
|
||||
../../selfdrive/assets/icons_mici/settings/comma_icon.png
|
||||
@@ -1,5 +0,0 @@
|
||||
# Developing a car brand port
|
||||
|
||||
A brand port is a port of openpilot to a substantially new car brand or platform within a brand.
|
||||
|
||||
Here's an example of one: https://github.com/commaai/openpilot/pull/23331.
|
||||
@@ -1,65 +0,0 @@
|
||||
# CarState signals
|
||||
|
||||
## Required for basic lateral control
|
||||
|
||||
* `brakePressed`
|
||||
* `cruiseState`
|
||||
* `doorOpen`
|
||||
* `espDisabled`
|
||||
* `gasPressed`
|
||||
* `gearShifter`
|
||||
* `leftBlinker` / `rightBlinker`
|
||||
* `seatbeltUnlatched`
|
||||
* `standstill`
|
||||
* `steeringAngleDeg`
|
||||
* `steeringPressed`
|
||||
* `steeringTorque`
|
||||
* `steerFaultPermanent`
|
||||
* `steerFaultTemporary`
|
||||
* `vCruise`
|
||||
* `wheelSpeeds.[fl|fr|rl|rr]`: Speed of each of the car's four wheels, in m/s. The car's CAN bus often broadcasts the
|
||||
speed in kph, so the helper function `parse_wheel_speeds` performs this conversion by default.
|
||||
|
||||
## Recommended / Required for openpilot longitudinal control
|
||||
|
||||
* `accFaulted`
|
||||
* `espActive`
|
||||
* `parkingBrake`
|
||||
|
||||
## Application Dependent
|
||||
|
||||
* `blockPcmEnable`
|
||||
* `buttonEnable`
|
||||
* `brakeHoldActive`
|
||||
* `carFaultedNonCritical`
|
||||
* `invalidLkasSetting`
|
||||
* `lowSpeedAlert`
|
||||
* `regenBraking`
|
||||
* `steeringAngleOffsetDeg`
|
||||
* `steeringDisengage`
|
||||
* `steeringTorqueEps`
|
||||
* `stockLkas`
|
||||
* `vCruiseCluster`
|
||||
* `vEgoCluster`
|
||||
* `vehicleSensorsInvalid`
|
||||
|
||||
## Automatically populated
|
||||
|
||||
* `buttonEvents`
|
||||
|
||||
These values are populated automatically by `parse_wheel_speeds`:
|
||||
|
||||
* `aEgo`: Acceleration of the ego vehicle, Kalman filtered derivative of `vEgo`.
|
||||
* `vEgo`: Speed of the ego vehicle, Kalman filtered from `vEgoRaw`.
|
||||
* `vEgoRaw`: Speed of the ego vehicle, based on the average of all four wheel speeds, unfiltered.
|
||||
|
||||
## Optional
|
||||
|
||||
* `brake`
|
||||
* `charging`
|
||||
* `fuelGauge`
|
||||
* `leftBlindspot` / `rightBlindspot`
|
||||
* `steeringRateDeg`
|
||||
* `stockAeb`
|
||||
* `stockFcw`
|
||||
* `yawRate`
|
||||
@@ -1,5 +0,0 @@
|
||||
# Developing a car model port
|
||||
|
||||
A model port is a port of openpilot to a new car model within an already supported brand. Model ports are easier than brand ports because the car's existing APIs are already known.
|
||||
|
||||
Here's an example of one: https://github.com/commaai/openpilot/pull/30672/.
|
||||
@@ -1,85 +0,0 @@
|
||||
# Stimulus-Response Tests
|
||||
|
||||
These are example test drives that can help identify the CAN bus messaging necessary for ADAS control. Each scripted
|
||||
test should be done in a separate route (ignition cycle). These tests are a guide, not necessarily exhaustive.
|
||||
|
||||
While testing, constant power to the comma device is highly recommended, using [comma power](https://comma.ai/shop/comma-power) if
|
||||
necessary to make sure all test activity is fully captured and for ease of uploading. If constant power isn't
|
||||
available, keep the ignition on for at least one minute after your test to make sure power loss doesn't result
|
||||
in loss of the last minute of testing data.
|
||||
|
||||
## Stationary ignition-only tests, part 1
|
||||
|
||||
1. Ignition on, but don't start engine, remain in Park
|
||||
2. Open and close each door in a defined order: driver, passenger, rear left, rear right
|
||||
3. Re-enter the vehicle, close the driver's door, and fasten the driver's seatbelt
|
||||
4. Slowly press and release the accelerator pedal 3 times
|
||||
5. Slowly press and release the brake pedal 3 times
|
||||
6. Hold the brake and move the gearshift to reverse, then neutral, then drive, then sport/eco/etc if applicable
|
||||
7. Return to Park, ignition off
|
||||
|
||||
Brake-pressed information may show up in several messages and signals, both as on/off states and as a percentage or
|
||||
pressure. It may reflect a switch on the driver's brake pedal, or a pressure-threshold state, or signals to turn on
|
||||
the rear brake lights. Start by identifying all the potential signals, and confirm while driving with ACC later.
|
||||
|
||||
Locate signals for all four door states if possible, but some cars only expose the driver's door state on the ADAS bus.
|
||||
Driver/passenger door signals may or may not change positions for LHD vs RHD cars. For cars where only the driver's
|
||||
door signal is available, the same signal may follow the driver.
|
||||
|
||||
## Stationary ignition-only tests, part 2
|
||||
|
||||
1. Ignition on, but don't start engine, remain in Park
|
||||
2. Press each ACC button in a defined order: main switch on/off, set, resume, cancel, accel, decel, gap adjust
|
||||
3. Set the left turn signal for about five seconds
|
||||
4. Operate the left turn signal one time in its touch-to-pass mode
|
||||
5. Set the right turn signal for about five seconds
|
||||
6. Operate the right turn signal one time in its touch-to-pass mode
|
||||
7. Set the hazard / emergency indicator switch for about five seconds
|
||||
8. Ignition off
|
||||
|
||||
Your vehicle may have a momentary-press main ACC switch or a physical toggle that remains set. Actual ACC engagement
|
||||
isn't necessary for purposes of detecting the ACC button presses.
|
||||
|
||||
## Steering angle and steering torque tests
|
||||
|
||||
Power steering should be available. On ICE cars, engine RPM may be present.
|
||||
|
||||
1. Ignition on, start engine if applicable, remain in Park
|
||||
2. Rotate the steering wheel as follows, with a few seconds pause between each step
|
||||
* Start as close to exact center as possible
|
||||
* Turn to 45 degrees right and hold
|
||||
* Turn to 90 degrees right and hold
|
||||
* Turn to 180 degrees right and hold
|
||||
* Turn to full lock right and hold, with firm pressure against lock
|
||||
* Release the wheel and allow it to bounce back slightly from lock
|
||||
* Turn to 180 degrees left and hold
|
||||
* Return to center and release
|
||||
3. Ignition off
|
||||
|
||||
Performing the full test to the right, followed by an abbreviated test to the left, helps give additional confirmation
|
||||
of signal scale, and sign/direction for both the steering wheel angle and driver input torque signals.
|
||||
|
||||
## Low speed / parking lot driving tests
|
||||
|
||||
Before this test, drive to a place like an empty parking lot where you are free to drive in a series of curves.
|
||||
|
||||
1. Ignition on, start engine if applicable, prepare to drive
|
||||
2. Slowly (10-20mph at most) drive a figure-8 if possible, or at least one sharp left and one sharp right.
|
||||
3. Come to a complete stop
|
||||
4. When and where safe, drive in reverse for a short distance (10-15 feet)
|
||||
5. Park the car in a safe place, ignition off
|
||||
|
||||
## High speed / highway driving tests
|
||||
|
||||
Select a place and time where you can safely set cruise control at normal travel speeds with little interference from
|
||||
traffic ahead, and safely test the response of your factory lane guidance system.
|
||||
|
||||
1. Ignition on, start engine if applicable, prepare to drive
|
||||
2. When safely able, engage adaptive cruise control below 50 mph
|
||||
3. When safely able, use the ACC buttons to accelerate to 50mph, then 55mph, then 60mph
|
||||
4. Disengage adaptive cruise
|
||||
5. When safely able, allow your factory lane guidance to prevent lane departures, 2-3 times on both the left and right
|
||||
|
||||
The series of setpoints can be adjusted to local traffic regulations, and of course metric units. The specific cruise
|
||||
setpoints are useful for locating the ACC HUD signals later, and confirming their precise scaling. When the car reaches
|
||||
and holds the setpoint, that can also provide additional confirmation of wheel speed scaling.
|
||||
@@ -1,9 +1,3 @@
|
||||
# openpilot glossary
|
||||
|
||||
* **onroad**: openpilot's system state while ignition is on
|
||||
* **offroad**: openpilot's system state while ignition is off
|
||||
* **route**: a route is a recording of an onroad session
|
||||
* **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).
|
||||
{{GLOSSARY_DEFINITIONS}}
|
||||
|
||||
@@ -6,9 +6,9 @@ Check out our [Python library](https://github.com/commaai/openpilot/blob/master/
|
||||
|
||||
For each segment, openpilot records the following log types:
|
||||
|
||||
## rlog.bz2
|
||||
## rlog.zst
|
||||
|
||||
rlogs contain all the messages passed amongst openpilot's processes. See [cereal/services.py](https://github.com/commaai/cereal/blob/master/services.py) for a list of all the logged services. They're a bzip2 archive of the serialized capnproto messages.
|
||||
rlogs contain all the messages passed amongst openpilot's processes. See [cereal/services.py](https://github.com/commaai/openpilot/blob/master/cereal/services.py) for a list of all the logged services. They're a zstd archive of the serialized [Cap’n Proto](https://capnproto.org/) messages.
|
||||
|
||||
## {f,e,d}camera.hevc
|
||||
|
||||
@@ -18,12 +18,10 @@ Each camera stream is H.265 encoded and written to its respective file.
|
||||
* `ecamera.hevc` is the wide road camera
|
||||
* `dcamera.hevc` is the driver camera
|
||||
|
||||
## qlog.bz2 & qcamera.ts
|
||||
## qlog.zst & qcamera.ts
|
||||
|
||||
qlogs are a decimated subset of the rlogs. Check out [cereal/services.py](https://github.com/commaai/cereal/blob/master/services.py) for the decimation.
|
||||
|
||||
|
||||
qcameras are H.264 encoded, lower res versions of the fcamera.hevc. The video shown in [comma connect](https://connect.comma.ai/) is from the qcameras.
|
||||
|
||||
|
||||
qlogs and qcameras are designed to be small enough to upload instantly on slow internet and store forever, yet useful enough for most analysis and debugging.
|
||||
qlogs and qcameras are designed to be small enough to upload instantly on slow internet, yet useful enough for most analysis and debugging.
|
||||
|
||||
36
docs/contributing/feedback.md
Normal file
36
docs/contributing/feedback.md
Normal file
@@ -0,0 +1,36 @@
|
||||
# How to Give Feedback
|
||||
|
||||
Feedback is one of the highest leverage ways to contribute to openpilot as a user.
|
||||
|
||||
## Driving
|
||||
|
||||
Got feedback about how your car drives?
|
||||
Join the community Discord, then use the form in `#submit-feedback`.
|
||||
|
||||
Before posting feedback, please ensure:
|
||||
|
||||
- **openpilot is up to date** you should be on the latest openpilot release or nightly
|
||||
- **both road-facing cameras have a clear view** your windshield is clean, lenses are clean, etc.
|
||||
- **your device is mounted properly** your device must be mounted horizontally center and relatively high on the windshield
|
||||
|
||||
## Driver Monitoring
|
||||
|
||||
If you find DM annoying while being perfectly attentive, these are likely false positives and we want to fix them!
|
||||
In general, driver monitoring feedback is very actionable, and we can fix your complaint within a release cycle.
|
||||
|
||||
To post your feedback:
|
||||
|
||||
1. Join the [community Discord](https://discord.comma.ai).
|
||||
2. If driver camera recording is toggled off, temporarily enable driver camera recording in the settings until you reproduce the issue.
|
||||
3. Using comma connect, identify the relevant segment and upload the segment's logs and driver camera.
|
||||
4. Post the segment in the `#openpilot-experience` channel on Discord with a good description.
|
||||
|
||||
Before posting feedback, please ensure:
|
||||
|
||||
- **openpilot is up to date** you should be on the latest openpilot release or nightly
|
||||
- **the driver camera has a clear view of the driver** ensure nothing blocks view of the driver (e.g. a cable), the lens is clean, etc.
|
||||
- **your device is mounted properly** your device must be mounted horizontally center and relatively high on the windshield
|
||||
|
||||
## Other bugs
|
||||
|
||||
Got an issue with something else? Open an issue on our [GitHub issue tracker](https://github.com/commaai/openpilot/issues/new/choose).
|
||||
@@ -7,25 +7,11 @@ This is the roadmap for the next major openpilot releases. Also check out
|
||||
* [Bounties](https://comma.ai/bounties) for paid individual issues
|
||||
* [#current-projects](https://discord.com/channels/469524606043160576/1249579909739708446) in Discord for discussion on work-in-progress projects
|
||||
|
||||
## openpilot 0.10
|
||||
|
||||
openpilot 0.10 will be the first release with a driving policy trained in
|
||||
a [learned simulator](https://youtu.be/EqQNZXqzFSI).
|
||||
|
||||
* Driving model trained in a learned simulator
|
||||
* Always-on driver monitoring (behind a toggle)
|
||||
* GPS removed from the driving stack
|
||||
* 100KB qlogs
|
||||
* `nightly` pushed after 1000 hours of hardware-in-the-loop testing
|
||||
* Car interface code moved into [opendbc](https://github.com/commaai/opendbc)
|
||||
* openpilot on PC for Linux x86, Linux arm64, and Mac (Apple Silicon)
|
||||
|
||||
## openpilot 1.0
|
||||
|
||||
openpilot 1.0 will feature a fully end-to-end driving policy.
|
||||
|
||||
* End-to-end longitudinal control in Chill mode
|
||||
* Automatic Emergency Braking (AEB)
|
||||
* Driver monitoring with sleep detection
|
||||
* Rolling updates/releases pushed out by CI
|
||||
* [panda safety 1.0](https://github.com/orgs/commaai/projects/27)
|
||||
|
||||
@@ -1,44 +0,0 @@
|
||||
[data-tooltip] {
|
||||
position: relative;
|
||||
display: inline-block;
|
||||
border-bottom: 1px dotted black;
|
||||
}
|
||||
|
||||
[data-tooltip] .tooltip-content {
|
||||
width: max-content;
|
||||
max-width: 25em;
|
||||
position: absolute;
|
||||
top: 100%;
|
||||
left: 50%;
|
||||
transform: translateX(-50%);
|
||||
background-color: white;
|
||||
color: #404040;
|
||||
box-shadow: 0 4px 14px 0 rgba(0,0,0,.2), 0 0 0 1px rgba(0,0,0,.05);
|
||||
padding: 10px;
|
||||
font: 14px/1.5 Lato, proxima-nova, Helvetica Neue, Arial, sans-serif;
|
||||
text-decoration: none;
|
||||
opacity: 0;
|
||||
visibility: hidden;
|
||||
transition: opacity 0.1s, visibility 0s;
|
||||
z-index: 1000;
|
||||
pointer-events: none; /* Prevent accidental interaction */
|
||||
}
|
||||
|
||||
[data-tooltip]:hover .tooltip-content {
|
||||
opacity: 1;
|
||||
visibility: visible;
|
||||
pointer-events: auto; /* Allow interaction when visible */
|
||||
}
|
||||
|
||||
.tooltip-content .tooltip-glossary-link {
|
||||
display: inline-block;
|
||||
margin-top: 8px;
|
||||
font-size: 12px;
|
||||
color: #007bff;
|
||||
text-decoration: none;
|
||||
}
|
||||
|
||||
.tooltip-content .tooltip-glossary-link:hover {
|
||||
color: #0056b3;
|
||||
text-decoration: underline;
|
||||
}
|
||||
216
docs/ext/glossary.py
Normal file
216
docs/ext/glossary.py
Normal file
@@ -0,0 +1,216 @@
|
||||
import posixpath
|
||||
import re
|
||||
import tomllib
|
||||
import xml.etree.ElementTree as ET
|
||||
from pathlib import Path
|
||||
|
||||
from markdown.extensions import Extension
|
||||
from markdown.preprocessors import Preprocessor
|
||||
from markdown.treeprocessors import Treeprocessor
|
||||
|
||||
from zensical.extensions.links import LinksProcessor
|
||||
|
||||
GlossaryTerm = tuple[str, re.Pattern[str], str]
|
||||
|
||||
GLOSSARY_FILE = Path(__file__).with_name("glossary.toml")
|
||||
GLOSSARY_PAGE = "concepts/glossary.md"
|
||||
GLOSSARY_PLACEHOLDER = "{{GLOSSARY_DEFINITIONS}}"
|
||||
|
||||
SKIP_TAGS = {
|
||||
"a",
|
||||
"code",
|
||||
"h1",
|
||||
"h2",
|
||||
"h3",
|
||||
"h4",
|
||||
"h5",
|
||||
"h6",
|
||||
"kbd",
|
||||
"pre",
|
||||
"script",
|
||||
"style",
|
||||
}
|
||||
|
||||
def clean_tooltip(description: str) -> str:
|
||||
text = re.sub(r"\[([^\]]+)]\([^)]+\)", r"\1", description)
|
||||
text = re.sub(r"`([^`]+)`", r"\1", text)
|
||||
text = re.sub(r"[*_~]", "", text)
|
||||
return re.sub(r"\s+", " ", text).strip()
|
||||
|
||||
|
||||
def load_glossary() -> tuple[list[GlossaryTerm], str]:
|
||||
with GLOSSARY_FILE.open("rb") as f:
|
||||
glossary_data = tomllib.load(f).get("glossary", {})
|
||||
|
||||
glossary: list[GlossaryTerm] = []
|
||||
rendered = []
|
||||
for key, value in glossary_data.items():
|
||||
label = str(key).strip().replace("_", " ")
|
||||
description = str(value).strip()
|
||||
if not description:
|
||||
continue
|
||||
|
||||
slug = label.replace(" ", "-").replace("_", "-").lower()
|
||||
glossary.append((slug, re.compile(rf"(?<!\w){re.escape(label)}(?!\w)", re.IGNORECASE), clean_tooltip(description)))
|
||||
rendered.append(f'* <span id="{slug}"></span>**{label}**: {description}')
|
||||
|
||||
return glossary, "\n".join(rendered)
|
||||
|
||||
|
||||
class GlossaryPreprocessor(Preprocessor):
|
||||
def __init__(self, md, glossary: str):
|
||||
super().__init__(md)
|
||||
self.glossary = glossary
|
||||
|
||||
def run(self, lines: list[str]) -> list[str]:
|
||||
markdown = "\n".join(lines)
|
||||
if GLOSSARY_PLACEHOLDER not in markdown:
|
||||
return lines
|
||||
return markdown.replace(GLOSSARY_PLACEHOLDER, self.glossary).splitlines()
|
||||
|
||||
|
||||
class GlossaryTreeprocessor(Treeprocessor):
|
||||
def __init__(self, md, glossary: list[GlossaryTerm]):
|
||||
super().__init__(md)
|
||||
self.glossary = glossary
|
||||
self.seen: set[str] = set()
|
||||
|
||||
def run(self, root: ET.Element) -> None:
|
||||
at = self.md.treeprocessors.get_index_for_name("zrelpath")
|
||||
processor = self.md.treeprocessors[at]
|
||||
if not isinstance(processor, LinksProcessor):
|
||||
raise TypeError("Links processor not registered")
|
||||
if processor.path == GLOSSARY_PAGE:
|
||||
return
|
||||
|
||||
self.seen.clear()
|
||||
glossary_href = f"{posixpath.relpath(GLOSSARY_PAGE, posixpath.dirname(processor.path) or '.')}#"
|
||||
self._walk(root, glossary_href)
|
||||
|
||||
def _walk(self, element: ET.Element, glossary_href: str) -> None:
|
||||
if element.tag in SKIP_TAGS or element.attrib.get("data-glossary-skip") is not None:
|
||||
return
|
||||
|
||||
self._replace(element, glossary_href)
|
||||
|
||||
idx = 0
|
||||
while idx < len(element):
|
||||
child = element[idx]
|
||||
self._walk(child, glossary_href)
|
||||
idx = self._replace(element, glossary_href, idx) + 1
|
||||
|
||||
def _replace(self, parent: ET.Element, glossary_href: str, index: int | None = None) -> int:
|
||||
child = None if index is None else parent[index]
|
||||
text = parent.text if child is None else child.tail
|
||||
pieces = self._pieces(text or "", glossary_href)
|
||||
if not pieces:
|
||||
return -1 if index is None else index
|
||||
|
||||
if child is None:
|
||||
parent.text = pieces[0] if isinstance(pieces[0], str) else ""
|
||||
# Insert replacements for parent.text before the first existing child.
|
||||
insert_at = -1
|
||||
else:
|
||||
assert index is not None
|
||||
child.tail = pieces[0] if isinstance(pieces[0], str) else ""
|
||||
insert_at = index
|
||||
|
||||
start = 1 if isinstance(pieces[0], str) else 0
|
||||
previous = child
|
||||
|
||||
for piece in pieces[start:]:
|
||||
if isinstance(piece, str):
|
||||
previous.tail = (previous.tail or "") + piece
|
||||
continue
|
||||
|
||||
insert_at += 1
|
||||
parent.insert(insert_at, piece)
|
||||
previous = piece
|
||||
|
||||
return insert_at
|
||||
|
||||
def _pieces(self, text: str, glossary_href: str) -> list[str | ET.Element]:
|
||||
if not text.strip():
|
||||
return []
|
||||
|
||||
pieces: list[str | ET.Element] = []
|
||||
cursor = 0
|
||||
|
||||
while True:
|
||||
best = None
|
||||
for slug, pattern, tooltip in self.glossary:
|
||||
if slug in self.seen:
|
||||
continue
|
||||
|
||||
found = pattern.search(text, cursor)
|
||||
if found is None:
|
||||
continue
|
||||
|
||||
candidate = (slug, tooltip, found.start(), found.end())
|
||||
if best is None:
|
||||
best = candidate
|
||||
continue
|
||||
|
||||
_, _, best_start, best_end = best
|
||||
_, _, current_start, current_end = candidate
|
||||
if current_start < best_start:
|
||||
best = candidate
|
||||
continue
|
||||
|
||||
if current_start == best_start and current_end - current_start > best_end - best_start:
|
||||
best = candidate
|
||||
|
||||
if best is None:
|
||||
break
|
||||
|
||||
slug, tooltip, start, end = best
|
||||
if start > cursor:
|
||||
pieces.append(text[cursor:start])
|
||||
|
||||
link = ET.Element(
|
||||
"a",
|
||||
{
|
||||
"class": "glossary-term",
|
||||
"data-glossary-term": "",
|
||||
"href": f"{glossary_href}{slug}",
|
||||
},
|
||||
)
|
||||
ET.SubElement(link, "span", {"class": "glossary-term__label"}).text = text[start:end]
|
||||
ET.SubElement(
|
||||
link,
|
||||
"span",
|
||||
{
|
||||
"class": "glossary-term__tooltip",
|
||||
"data-search-exclude": "",
|
||||
},
|
||||
).text = tooltip
|
||||
pieces.append(link)
|
||||
self.seen.add(slug)
|
||||
cursor = end
|
||||
|
||||
if not pieces:
|
||||
return []
|
||||
if cursor < len(text):
|
||||
pieces.append(text[cursor:])
|
||||
return pieces
|
||||
|
||||
|
||||
class GlossaryExtension(Extension):
|
||||
def extendMarkdown(self, md) -> None:
|
||||
md.registerExtension(self)
|
||||
glossary, rendered = load_glossary()
|
||||
|
||||
md.preprocessors.register(
|
||||
GlossaryPreprocessor(md, rendered),
|
||||
"docs-ext-glossary-preprocessor",
|
||||
27,
|
||||
)
|
||||
md.treeprocessors.register(
|
||||
GlossaryTreeprocessor(md, glossary),
|
||||
"docs-ext-glossary-treeprocessor",
|
||||
0,
|
||||
)
|
||||
|
||||
|
||||
def makeExtension(**kwargs) -> GlossaryExtension:
|
||||
return GlossaryExtension(**kwargs)
|
||||
8
docs/ext/glossary.toml
Normal file
8
docs/ext/glossary.toml
Normal file
@@ -0,0 +1,8 @@
|
||||
[glossary]
|
||||
onroad = "openpilot's system state while ignition is on."
|
||||
offroad = "openpilot's system state while ignition is off."
|
||||
route = "A route is a recording of an onroad session."
|
||||
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 = "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)."
|
||||
@@ -1,12 +0,0 @@
|
||||
# What is openpilot?
|
||||
|
||||
[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW), and Lane Departure Warning (LDW) for a growing variety of [supported car makes, models, and model years](https://github.com/commaai/openpilot/blob/master/docs/CARS.md). In addition, while openpilot is engaged, a camera-based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration](https://github.com/commaai/openpilot/blob/master/docs/INTEGRATION.md) and [limitations](https://github.com/commaai/openpilot/blob/master/docs/LIMITATIONS.md).
|
||||
|
||||
|
||||
## How do I use it?
|
||||
|
||||
openpilot is designed to be used on the comma four.
|
||||
|
||||
## How does it work?
|
||||
|
||||
In short, openpilot uses the car's existing APIs for the built-in [ADAS](https://en.wikipedia.org/wiki/Advanced_driver-assistance_system) system and simply provides better acceleration, braking, and steering inputs than the stock system.
|
||||
@@ -1,68 +0,0 @@
|
||||
import re
|
||||
import tomllib
|
||||
|
||||
def load_glossary(file_path="docs/glossary.toml"):
|
||||
with open(file_path, "rb") as f:
|
||||
glossary_data = tomllib.load(f)
|
||||
return glossary_data.get("glossary", {})
|
||||
|
||||
def generate_anchor_id(name):
|
||||
return name.replace(" ", "-").replace("_", "-").lower()
|
||||
|
||||
def format_markdown_term(name, definition):
|
||||
anchor_id = generate_anchor_id(name)
|
||||
markdown = f"* [**{name.replace('_', ' ').title()}**](#{anchor_id})"
|
||||
if definition.get("abbreviation"):
|
||||
markdown += f" *({definition['abbreviation']})*"
|
||||
if definition.get("description"):
|
||||
markdown += f": {definition['description']}\n"
|
||||
return markdown
|
||||
|
||||
def glossary_markdown(vocabulary):
|
||||
markdown = ""
|
||||
for category, terms in vocabulary.items():
|
||||
markdown += f"## {category.replace('_', ' ').title()}\n\n"
|
||||
for name, definition in terms.items():
|
||||
markdown += format_markdown_term(name, definition)
|
||||
return markdown
|
||||
|
||||
def format_tooltip_html(term_key, definition, html):
|
||||
display_term = term_key.replace("_", " ").title()
|
||||
clean_description = re.sub(r"\[(.+)]\(.+\)", r"\1", definition["description"])
|
||||
glossary_link = (
|
||||
f"<a href='/concepts/glossary#{term_key}' class='tooltip-glossary-link' title='View in glossary'>Glossary🔗</a>"
|
||||
)
|
||||
return re.sub(
|
||||
re.escape(display_term),
|
||||
lambda
|
||||
match: f"<span data-tooltip>{match.group(0)}<span class='tooltip-content'>{clean_description} {glossary_link}</span></span>",
|
||||
html,
|
||||
flags=re.IGNORECASE,
|
||||
)
|
||||
|
||||
def apply_tooltip(_term_key, _definition, pattern, html):
|
||||
return re.sub(
|
||||
pattern,
|
||||
lambda match: format_tooltip_html(_term_key, _definition, match.group(0)),
|
||||
html,
|
||||
flags=re.IGNORECASE,
|
||||
)
|
||||
|
||||
def tooltip_html(vocabulary, html):
|
||||
for _category, terms in vocabulary.items():
|
||||
for term_key, definition in terms.items():
|
||||
if definition.get("description"):
|
||||
pattern = rf"(?<!\w){re.escape(term_key.replace('_', ' ').title())}(?![^<]*<\/a>)(?!\([^)]*\))"
|
||||
html = apply_tooltip(term_key, definition, pattern, html)
|
||||
return html
|
||||
|
||||
# Page Hooks
|
||||
def on_page_markdown(markdown, **kwargs):
|
||||
glossary = load_glossary()
|
||||
return markdown.replace("{{GLOSSARY_DEFINITIONS}}", glossary_markdown(glossary))
|
||||
|
||||
def on_page_content(html, **kwargs):
|
||||
if kwargs.get("page").title == "Glossary":
|
||||
return html
|
||||
glossary = load_glossary()
|
||||
return tooltip_html(glossary, html)
|
||||
@@ -8,7 +8,7 @@ A car port enables openpilot support on a particular car. Each car model openpil
|
||||
|
||||
# Structure of a car port
|
||||
|
||||
Virtually all car-specific code is contained in two other repositories: [opendbc](https://github.com/commaai/opendbc) and [panda](https://github.com/commaai/panda).
|
||||
All car-specific code is contained in the [opendbc](https://github.com/commaai/opendbc) project.
|
||||
|
||||
## opendbc
|
||||
|
||||
@@ -23,8 +23,8 @@ Each car brand is supported by a standard interface structure in `opendbc/car/[b
|
||||
|
||||
## safety
|
||||
|
||||
* `opendbc_repo/opendbc/safety/modes/[brand].h`: Brand-specific safety logic
|
||||
* `opendbc_repo/opendbc/safety/tests/test_[brand].py`: Brand-specific safety CI tests
|
||||
* `opendbc/safety/modes/[brand].h`: Brand-specific safety logic
|
||||
* `opendbc/safety/tests/test_[brand].py`: Brand-specific safety CI tests
|
||||
|
||||
## openpilot
|
||||
|
||||
@@ -32,8 +32,20 @@ For historical reasons, openpilot still contains a small amount of car-specific
|
||||
|
||||
* `selfdrive/car/car_specific.py`: Brand-specific event logic
|
||||
|
||||
# Overview
|
||||
# How do I port car?
|
||||
|
||||
[Jason Young](https://github.com/jyoung8607) gave a talk at COMMA_CON with an overview of the car porting process. The talk is available on YouTube:
|
||||
|
||||
https://www.youtube.com/watch?v=XxPS5TpTUnI
|
||||
|
||||
## Brand Port
|
||||
|
||||
A brand port is a port of openpilot to a substantially new car brand or platform within a brand.
|
||||
|
||||
Here's an example of one: https://github.com/commaai/openpilot/pull/23331.
|
||||
|
||||
## Model Port
|
||||
|
||||
A model port is a port of openpilot to a new car model within an already supported brand. Model ports are easier than brand ports because the car's existing APIs are already known.
|
||||
|
||||
Here's an example of one: https://github.com/commaai/openpilot/pull/30672/.
|
||||
@@ -1,15 +1,15 @@
|
||||
# connect to a comma four
|
||||
# connect to a comma 3X or comma four
|
||||
|
||||
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 device 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 the comma 3X, the serial console is accessible from the main OBD-C port, forwarded through the panda.
|
||||
Access it using `panda/scripts/som_debug.sh`.
|
||||
|
||||
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.
|
||||
comma four also exposes a serial console, albeit through an internal debug connector. Dedicated debug hardware coming soon to the comma shop.
|
||||
|
||||
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.
|
||||
Login to the default user with:
|
||||
|
||||
* Username: `comma`
|
||||
* Password: `comma`
|
||||
@@ -25,7 +25,7 @@ In order to SSH into your device, you'll need a GitHub account with SSH keys. Se
|
||||
* Port: `22`
|
||||
|
||||
Here's an example command for connecting to your device using its tethered connection:<br />
|
||||
`ssh comma@192.168.43.1`
|
||||
`ssh comma@192.168.43.1 -i ~/.ssh/my_github_key`
|
||||
|
||||
For doing development work on device, it's recommended to use [SSH agent forwarding](https://docs.github.com/en/developers/overview/using-ssh-agent-forwarding).
|
||||
|
||||
@@ -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.
|
||||
|
||||
For more info on ADB, see the [Android Debug Bridge (ADB) documentation](https://developer.android.com/tools/adb).
|
||||
|
||||
@@ -55,7 +55,7 @@ The public keys are only fetched from your GitHub account once. In order to upda
|
||||
|
||||
The `id_rsa` key in this directory only works while your device is in the setup state with no software installed. After installation, that default key will be removed.
|
||||
|
||||
#### ssh.comma.ai proxy
|
||||
## ssh.comma.ai proxy
|
||||
|
||||
With a [comma prime subscription](https://comma.ai/connect), you can SSH into your comma device from anywhere.
|
||||
|
||||
@@ -79,6 +79,7 @@ Host ssh.comma.ai
|
||||
```
|
||||
ssh -i ~/.ssh/my_github_key -o ProxyCommand="ssh -i ~/.ssh/my_github_key -W %h:%p -p %p %h@ssh.comma.ai" comma@ffffffffffffffff
|
||||
```
|
||||
|
||||
(Replace `ffffffffffffffff` with your dongle_id)
|
||||
|
||||
### ssh.comma.ai host key fingerprint
|
||||
|
||||
@@ -1 +0,0 @@
|
||||
getting-started/what-is-openpilot.md
|
||||
12
docs/index.md
Normal file
12
docs/index.md
Normal file
@@ -0,0 +1,12 @@
|
||||
# What is openpilot?
|
||||
|
||||
[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW), and Lane Departure Warning (LDW) for a growing variety of [supported car makes, models, and model years](https://github.com/commaai/openpilot/blob/master/docs/CARS.md). In addition, while openpilot is engaged, a camera-based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration](https://github.com/commaai/openpilot/blob/master/docs/INTEGRATION.md) and [limitations](https://github.com/commaai/openpilot/blob/master/docs/LIMITATIONS.md).
|
||||
|
||||
|
||||
## How do I use it?
|
||||
|
||||
openpilot is designed to be used on the comma four.
|
||||
|
||||
## How does it work?
|
||||
|
||||
In short, openpilot uses the car's existing APIs for the built-in [ADAS](https://en.wikipedia.org/wiki/Advanced_driver-assistance_system) system and simply provides better acceleration, braking, and steering inputs than the stock system.
|
||||
42
docs/stylesheets/extra.css
Normal file
42
docs/stylesheets/extra.css
Normal file
@@ -0,0 +1,42 @@
|
||||
.md-logo img {
|
||||
filter: invert(1);
|
||||
}
|
||||
|
||||
.glossary-term {
|
||||
position: relative;
|
||||
color: inherit;
|
||||
text-decoration: none;
|
||||
}
|
||||
|
||||
.glossary-term__label {
|
||||
border-bottom: 1px dotted currentColor;
|
||||
}
|
||||
|
||||
.glossary-term__tooltip {
|
||||
position: absolute;
|
||||
top: calc(100% + 0.4rem);
|
||||
left: 50%;
|
||||
width: max-content;
|
||||
max-width: min(30rem, 80vw);
|
||||
padding: 0.65rem 0.8rem;
|
||||
border-radius: 0.6rem;
|
||||
background: rgb(26 26 26 / 96%);
|
||||
color: white;
|
||||
box-shadow: 0 0.6rem 1.8rem rgb(0 0 0 / 22%);
|
||||
font-size: 0.85rem;
|
||||
line-height: 1.45;
|
||||
opacity: 0;
|
||||
pointer-events: none;
|
||||
transform: translateX(-50%) translateY(-0.15rem);
|
||||
transition: opacity 120ms ease, transform 120ms ease;
|
||||
visibility: hidden;
|
||||
z-index: 20;
|
||||
}
|
||||
|
||||
.glossary-term:hover .glossary-term__tooltip,
|
||||
.glossary-term:focus-visible .glossary-term__tooltip,
|
||||
.glossary-term:focus-within .glossary-term__tooltip {
|
||||
opacity: 1;
|
||||
transform: translateX(-50%) translateY(0);
|
||||
visibility: visible;
|
||||
}
|
||||
44
mkdocs.yml
44
mkdocs.yml
@@ -1,44 +0,0 @@
|
||||
site_name: openpilot docs
|
||||
repo_url: https://github.com/commaai/openpilot/
|
||||
site_url: https://docs.comma.ai
|
||||
|
||||
exclude_docs: README.md
|
||||
|
||||
strict: true
|
||||
docs_dir: docs
|
||||
site_dir: docs_site/
|
||||
|
||||
hooks:
|
||||
- docs/hooks/glossary.py
|
||||
extra_css:
|
||||
- css/tooltip.css
|
||||
theme:
|
||||
name: readthedocs
|
||||
navigation_depth: 3
|
||||
|
||||
nav:
|
||||
- Getting Started:
|
||||
- What is openpilot?: getting-started/what-is-openpilot.md
|
||||
- How-to:
|
||||
- Turn the speed blue: how-to/turn-the-speed-blue.md
|
||||
- Connect to a comma 3X: how-to/connect-to-comma.md
|
||||
# - Make your first pull request: how-to/make-first-pr.md
|
||||
#- Replay a drive: how-to/replay-a-drive.md
|
||||
- Concepts:
|
||||
- Logs: concepts/logs.md
|
||||
- Safety: concepts/safety.md
|
||||
- Glossary: concepts/glossary.md
|
||||
- Car Porting:
|
||||
- What is a car port?: car-porting/what-is-a-car-port.md
|
||||
- Porting a car brand: car-porting/brand-port.md
|
||||
- Porting a car model: car-porting/model-port.md
|
||||
- Contributing:
|
||||
- Roadmap: contributing/roadmap.md
|
||||
#- Architecture: contributing/architecture.md
|
||||
- Contributing Guide →: https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md
|
||||
- Links:
|
||||
- Blog →: https://blog.comma.ai
|
||||
- Bounties →: https://comma.ai/bounties
|
||||
- GitHub →: https://github.com/commaai
|
||||
- Discord →: https://discord.comma.ai
|
||||
- X →: https://x.com/comma_ai
|
||||
Submodule opendbc_repo updated: 427032a89a...df807f8be3
2
panda
2
panda
Submodule panda updated: 6cd1972ecf...5a90799dac
@@ -82,7 +82,7 @@ dependencies = [
|
||||
[project.optional-dependencies]
|
||||
docs = [
|
||||
"Jinja2",
|
||||
"mkdocs",
|
||||
"zensical",
|
||||
]
|
||||
|
||||
testing = [
|
||||
@@ -150,7 +150,7 @@ quiet-level = 3
|
||||
# if you've got a short variable name that's getting flagged, add it here
|
||||
ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn,ws,uint,grey,deque,stdio,amin,BA,LITE,atEnd,UIs,errorString,arange,FocusIn,od,tim,relA,hist,copyable,jupyter,thead,TGE,abl,lite,ser"
|
||||
builtin = "clear,rare,informal,code,names,en-GB_to_en-US"
|
||||
skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, *.po, uv.lock, *.onnx, ./cereal/gen/*, */c_generated_code/*, docs/assets/*, tools/plotjuggler/layouts/*, selfdrive/assets/offroad/mici_fcc.html"
|
||||
skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, *.po, uv.lock, *.onnx, *.pem, ./cereal/gen/*, */c_generated_code/*, docs/assets/*, tools/plotjuggler/layouts/*, selfdrive/assets/offroad/mici_fcc.html"
|
||||
|
||||
# https://docs.astral.sh/ruff/configuration/#using-pyprojecttoml
|
||||
[tool.ruff]
|
||||
|
||||
63
scripts/docs.py
Normal file
63
scripts/docs.py
Normal file
@@ -0,0 +1,63 @@
|
||||
"""
|
||||
wrapper that materializes symlinks in docs/ before build
|
||||
|
||||
we can delete this once zensical supports symlinks:
|
||||
https://github.com/zensical/backlog/issues/55
|
||||
"""
|
||||
import os
|
||||
import shutil
|
||||
import signal
|
||||
import sys
|
||||
from pathlib import Path
|
||||
|
||||
REPO_ROOT = Path(__file__).resolve().parent.parent
|
||||
DOCS_DIR = REPO_ROOT / "docs"
|
||||
SITE_DIR = REPO_ROOT / "docs_site"
|
||||
sys.path.insert(0, str(REPO_ROOT))
|
||||
# Local docs build helpers live under docs/ so they stay near the content
|
||||
# source. The wrapper prunes them from docs_site/ after build.
|
||||
sys.path.insert(0, str(DOCS_DIR))
|
||||
|
||||
|
||||
def _materialize(docs: Path) -> dict[Path, str]:
|
||||
originals: dict[Path, str] = {}
|
||||
for link in docs.rglob("*"):
|
||||
if not link.is_symlink():
|
||||
continue
|
||||
target = link.resolve()
|
||||
if not target.is_file():
|
||||
continue
|
||||
originals[link] = os.readlink(link)
|
||||
link.unlink()
|
||||
shutil.copy2(target, link)
|
||||
return originals
|
||||
|
||||
|
||||
def _restore(originals: dict[Path, str]) -> None:
|
||||
for link, target in originals.items():
|
||||
link.unlink(missing_ok=True)
|
||||
os.symlink(target, link)
|
||||
|
||||
|
||||
def _raise_interrupt(*_):
|
||||
raise KeyboardInterrupt
|
||||
|
||||
|
||||
def _prune_site_output() -> None:
|
||||
shutil.rmtree(SITE_DIR / "ext", ignore_errors=True)
|
||||
|
||||
|
||||
def main() -> None:
|
||||
signal.signal(signal.SIGTERM, _raise_interrupt)
|
||||
originals = _materialize(DOCS_DIR)
|
||||
try:
|
||||
from zensical.main import cli
|
||||
cli(standalone_mode=False)
|
||||
if len(sys.argv) > 1 and sys.argv[1] == "build":
|
||||
_prune_site_output()
|
||||
finally:
|
||||
_restore(originals)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
@@ -33,16 +33,7 @@ if __name__ == "__main__":
|
||||
print("|-| ----- | --------- |")
|
||||
|
||||
for f in glob.glob(BASEDIR + MODEL_PATH + "/*.onnx"):
|
||||
# TODO: add checkpoint to DM
|
||||
if "dmonitoring" in f:
|
||||
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://reporterv2.comma.life/{master})", "|", f"[{pr}](https://reporterv2.comma.life/{pr})", "|")
|
||||
|
||||
BIN
selfdrive/assets/icons_mici/alerts_bell.png
LFS
Normal file
BIN
selfdrive/assets/icons_mici/alerts_bell.png
LFS
Normal file
Binary file not shown.
BIN
selfdrive/assets/icons_mici/alerts_pill.png
LFS
Normal file
BIN
selfdrive/assets/icons_mici/alerts_pill.png
LFS
Normal file
Binary file not shown.
Binary file not shown.
@@ -1,6 +1,6 @@
|
||||
{% set footnote_tag = '[<sup>{}</sup>](#footnotes)' %}
|
||||
{% set star_icon = '[](##)' %}
|
||||
{% set video_icon = '<a href="{}" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>' %}
|
||||
{% set video_icon = '<a href="{}" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>' %}
|
||||
{# Force hardware column wider by using a blank image with max width. #}
|
||||
{% set width_tag = '<a href="##"><img width=2000></a>%s<br> ' %}
|
||||
{% set hardware_col_name = 'Hardware Needed' %}
|
||||
|
||||
@@ -22,15 +22,19 @@ from openpilot.sunnypilot.selfdrive.controls.lib.latcontrol_torque_ext import La
|
||||
# Additionally, there is friction in the steering wheel that needs
|
||||
# to be overcome to move it at all, this is compensated for too.
|
||||
|
||||
KP = 0.8
|
||||
KI = 0.15
|
||||
|
||||
INTERP_SPEEDS = [1, 1.5, 2.0, 3.0, 5, 7.5, 10, 15, 30]
|
||||
KP_INTERP = [250, 120, 65, 30, 11.5, 5.5, 3.5, 2.0, KP]
|
||||
KP_INTERP = [150.0, 100.0, 30.0, 6.0, 2.0, 1.5, 1.2, 0.8, 0.5]
|
||||
KI_INTERP = [0.06, 0.06, 0.06, 0.08, 0.08, 0.10, 0.12, 0.14, 0.16]
|
||||
JERK_INTERP = [0.25, 0.25, 0.25, 0.23, 0.20, 0.18, 0.16, 0.15, 0.15]
|
||||
MEAS_FILTER_TAU_INTERP = [0.07, 0.07, 0.07, 0.07, 0.07, 0.06, 0.06, 0.05, 0.01]
|
||||
INTEGRATOR_DECAY_INTERP = [0.990, 0.990, 0.990, 0.992, 0.993, 0.995, 0.996, 0.998, 0.999]
|
||||
INTEGRATOR_DECAY_FRAMES = 20
|
||||
STRAIGHT_DAMP_THRESHOLD_INTERP = [0.03, 0.03, 0.03, 0.03, 0.03, 0.05, 0.05, 0.2, 0.2]
|
||||
STRAIGHT_DAMP_MIN_INTERP = [0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5]
|
||||
STRAIGHT_DAMP_TAU = 0.5
|
||||
|
||||
LP_FILTER_CUTOFF_HZ = 1.2
|
||||
JERK_LOOKAHEAD_SECONDS = 0.19
|
||||
JERK_GAIN = 0.3
|
||||
JERK_LOOKAHEAD_SECONDS = 0.30
|
||||
LAT_ACCEL_REQUEST_BUFFER_SECONDS = 1.0
|
||||
VERSION = 1
|
||||
|
||||
@@ -40,13 +44,16 @@ class LatControlTorque(LatControl):
|
||||
self.torque_params = CP.lateralTuning.torque.as_builder()
|
||||
self.torque_from_lateral_accel = CI.torque_from_lateral_accel()
|
||||
self.lateral_accel_from_torque = CI.lateral_accel_from_torque()
|
||||
self.pid = PIDController([INTERP_SPEEDS, KP_INTERP], KI, rate=1/self.dt)
|
||||
self.pid = PIDController([INTERP_SPEEDS, KP_INTERP], [INTERP_SPEEDS, KI_INTERP], rate=1/self.dt)
|
||||
self.update_limits()
|
||||
self.steering_angle_deadzone_deg = self.torque_params.steeringAngleDeadzoneDeg
|
||||
self.lat_accel_request_buffer_len = int(LAT_ACCEL_REQUEST_BUFFER_SECONDS / self.dt)
|
||||
self.lat_accel_request_buffer = deque([0.] * self.lat_accel_request_buffer_len , maxlen=self.lat_accel_request_buffer_len)
|
||||
self.lookahead_frames = int(JERK_LOOKAHEAD_SECONDS / self.dt)
|
||||
self.jerk_filter = FirstOrderFilter(0.0, 1 / (2 * np.pi * LP_FILTER_CUTOFF_HZ), self.dt)
|
||||
self.measurement_filter = FirstOrderFilter(0.0, 0.04, self.dt)
|
||||
self.integrator_decay_counter = 0
|
||||
self.straight_damp_filter = FirstOrderFilter(1.0, STRAIGHT_DAMP_TAU, self.dt)
|
||||
|
||||
self.extension = LatControlTorqueExt(self, CP, CP_SP, CI)
|
||||
|
||||
@@ -68,7 +75,9 @@ class LatControlTorque(LatControl):
|
||||
pid_log = log.ControlsState.LateralTorqueState.new_message()
|
||||
pid_log.version = VERSION
|
||||
measured_curvature = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll)
|
||||
measurement = measured_curvature * CS.vEgo ** 2
|
||||
meas_tau = float(np.interp(CS.vEgo, INTERP_SPEEDS, MEAS_FILTER_TAU_INTERP))
|
||||
self.measurement_filter.update_alpha(meas_tau)
|
||||
measurement = self.measurement_filter.update(measured_curvature * CS.vEgo ** 2)
|
||||
future_desired_lateral_accel = desired_curvature * CS.vEgo ** 2
|
||||
self.lat_accel_request_buffer.append(future_desired_lateral_accel)
|
||||
|
||||
@@ -79,7 +88,12 @@ class LatControlTorque(LatControl):
|
||||
delay_frames = int(np.clip(lat_delay / self.dt + 1, 1, self.lat_accel_request_buffer_len))
|
||||
expected_lateral_accel = self.lat_accel_request_buffer[-delay_frames]
|
||||
setpoint = expected_lateral_accel
|
||||
error = setpoint - measurement
|
||||
raw_error = setpoint - measurement
|
||||
damp_min = float(np.interp(CS.vEgo, INTERP_SPEEDS, STRAIGHT_DAMP_MIN_INTERP))
|
||||
damp_threshold = float(np.interp(CS.vEgo, INTERP_SPEEDS, STRAIGHT_DAMP_THRESHOLD_INTERP))
|
||||
damp_target = max(damp_min, min(1.0, abs(setpoint) / damp_threshold))
|
||||
damp_factor = self.straight_damp_filter.update(damp_target)
|
||||
error = raw_error * damp_factor
|
||||
|
||||
lookahead_idx = int(np.clip(-delay_frames + self.lookahead_frames, -self.lat_accel_request_buffer_len+1, -2))
|
||||
raw_lateral_jerk = (self.lat_accel_request_buffer[lookahead_idx+1] - self.lat_accel_request_buffer[lookahead_idx-1]) / (2 * self.dt)
|
||||
@@ -88,7 +102,8 @@ class LatControlTorque(LatControl):
|
||||
ff = gravity_adjusted_future_lateral_accel
|
||||
# latAccelOffset corrects roll compensation bias from device roll misalignment relative to car roll
|
||||
ff -= self.torque_params.latAccelOffset
|
||||
ff += get_friction(error + JERK_GAIN * desired_lateral_jerk, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
|
||||
jerk_gain = float(np.interp(CS.vEgo, INTERP_SPEEDS, JERK_INTERP))
|
||||
ff += get_friction(error + jerk_gain * desired_lateral_jerk, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
|
||||
|
||||
if not active:
|
||||
output_torque = 0.0
|
||||
@@ -99,6 +114,15 @@ class LatControlTorque(LatControl):
|
||||
|
||||
freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
|
||||
output_lataccel = self.pid.update(pid_log.error, speed=CS.vEgo, feedforward=ff, freeze_integrator=freeze_integrator)
|
||||
|
||||
error_opposes_integrator = (self.pid.i > 0 and pid_log.error < 0) or (self.pid.i < 0 and pid_log.error > 0)
|
||||
if error_opposes_integrator:
|
||||
self.integrator_decay_counter = min(self.integrator_decay_counter + 1, INTEGRATOR_DECAY_FRAMES + 10)
|
||||
else:
|
||||
self.integrator_decay_counter = 0
|
||||
if self.integrator_decay_counter >= INTEGRATOR_DECAY_FRAMES:
|
||||
self.pid.i *= float(np.interp(CS.vEgo, INTERP_SPEEDS, INTEGRATOR_DECAY_INTERP))
|
||||
|
||||
output_torque = self.torque_from_lateral_accel(output_lataccel, self.torque_params)
|
||||
|
||||
# Lateral acceleration torque controller extension updates
|
||||
|
||||
@@ -32,12 +32,12 @@ COST_E_DIM = 5
|
||||
COST_DIM = COST_E_DIM + 1
|
||||
CONSTR_DIM = 4
|
||||
|
||||
X_EGO_OBSTACLE_COST = 3.
|
||||
X_EGO_OBSTACLE_COST = 2.
|
||||
X_EGO_COST = 0.
|
||||
V_EGO_COST = 0.
|
||||
A_EGO_COST = 0.
|
||||
J_EGO_COST = 5.
|
||||
A_CHANGE_COST = 200.
|
||||
A_CHANGE_COST = 350.
|
||||
DANGER_ZONE_COST = 100.
|
||||
CRASH_DISTANCE = .25
|
||||
LEAD_DANGER_FACTOR = 0.75
|
||||
@@ -53,7 +53,7 @@ T_IDXS_LST = [index_function(idx, max_val=MAX_T, max_idx=N) for idx in range(N+1
|
||||
T_IDXS = np.array(T_IDXS_LST)
|
||||
FCW_IDXS = T_IDXS < 5.0
|
||||
T_DIFFS = np.diff(T_IDXS, prepend=[0.])
|
||||
COMFORT_BRAKE = 2.5
|
||||
COMFORT_BRAKE = 2.
|
||||
STOP_DISTANCE = 6.0
|
||||
CRUISE_MIN_ACCEL = -1.2
|
||||
CRUISE_MAX_ACCEL = 1.6
|
||||
|
||||
@@ -11,7 +11,7 @@ FOOTNOTE_TAG = "<sup>{}</sup>"
|
||||
STAR_ICON = '<a href="##"><img valign="top" ' + \
|
||||
'src="https://media.githubusercontent.com/media/commaai/openpilot/master/docs/assets/icon-star-{}.svg" width="22" /></a>'
|
||||
VIDEO_ICON = '<a href="{}" target="_blank">' + \
|
||||
'<img height="18px" src="https://media.githubusercontent.com/media/commaai/openpilot/master/docs/assets/icon-youtube.svg"></img></a>'
|
||||
'<img height="18px" src="https://media.githubusercontent.com/media/commaai/openpilot/master/docs/assets/icon-youtube.svg" /></a>'
|
||||
COLUMNS = "|" + "|".join([column.value for column in Column]) + "|"
|
||||
COLUMN_HEADER = "|---|---|---|{}|".format("|".join([":---:"] * (len(Column) - 3)))
|
||||
ARROW_SYMBOL = "➡️"
|
||||
|
||||
@@ -1,6 +1,22 @@
|
||||
import os
|
||||
import glob
|
||||
import json
|
||||
import os
|
||||
from itertools import product
|
||||
from SCons.Script import Value
|
||||
from openpilot.common.file_chunker import chunk_file, get_chunk_paths
|
||||
from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
|
||||
from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE, DM_INPUT_SIZE
|
||||
from openpilot.selfdrive.modeld.constants import ModelConstants
|
||||
from openpilot.selfdrive.modeld.helpers import CompileConfig
|
||||
from tinygrad import Device
|
||||
|
||||
CAMERA_CONFIGS = [
|
||||
(_ar_ox_fisheye.width, _ar_ox_fisheye.height), # tici: 1928x1208
|
||||
(_os_fisheye.width, _os_fisheye.height), # mici: 1344x760
|
||||
]
|
||||
MODELD_CONFIGS = [CompileConfig(cam_w, cam_h, prepare_only, 'driving_')
|
||||
for (cam_w, cam_h), prepare_only in product(CAMERA_CONFIGS, [True, False])]
|
||||
DM_WARP_CONFIGS = [CompileConfig(cam_w, cam_h, True, 'dm_') for cam_w, cam_h in CAMERA_CONFIGS]
|
||||
|
||||
Import('env', 'arch')
|
||||
chunker_file = File("#common/file_chunker.py")
|
||||
@@ -13,31 +29,72 @@ tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "
|
||||
def estimate_pickle_max_size(onnx_size):
|
||||
return 1.2 * onnx_size + 10 * 1024 * 1024 # 20% + 10MB is plenty
|
||||
|
||||
# compile warp
|
||||
# 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')
|
||||
# get fastest TG config
|
||||
available = set(Device.get_available_devices())
|
||||
if 'CUDA' in available:
|
||||
tg_backend = 'CUDA'
|
||||
tg_flags = f'DEV={tg_backend}'
|
||||
elif 'QCOM' in available:
|
||||
tg_backend = 'QCOM'
|
||||
tg_flags = f'DEV={tg_backend} FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1'
|
||||
else:
|
||||
tg_backend = 'CPU' if arch == 'Darwin' else 'CPU:LLVM'
|
||||
# THREADS=0 is need to prevent bug: https://github.com/tinygrad/tinygrad/issues/14689
|
||||
tg_flags = f'DEV={tg_backend} THREADS=0'
|
||||
|
||||
def write_tg_compiled_flags(target, source, env):
|
||||
with open(str(target[0]), "w") as f:
|
||||
json.dump({"DEV": tg_backend}, f)
|
||||
f.write("\n")
|
||||
|
||||
compiled_flags_node = lenv.Command(
|
||||
File("models/tg_compiled_flags.json").abspath,
|
||||
tinygrad_files + [Value(tg_backend)],
|
||||
write_tg_compiled_flags,
|
||||
)
|
||||
|
||||
# tinygrad calls brew which needs a $HOME in the env
|
||||
mac_brew_string = f'HOME={os.path.expanduser("~")}' if arch == 'Darwin' else ''
|
||||
|
||||
# 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'
|
||||
lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files + script_files, cmd)
|
||||
cmd = f'{tg_flags} {mac_brew_string} python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
|
||||
lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files + script_files + [compiled_flags_node], cmd)
|
||||
|
||||
image_flag = {
|
||||
'larch64': 'IMAGE=2',
|
||||
}.get(arch, 'IMAGE=0')
|
||||
script_files = [File(Dir("#selfdrive/modeld").File("compile_warp.py").abspath)]
|
||||
compile_warp_cmd = f'{tg_flags} python3 {Dir("#selfdrive/modeld").abspath}/compile_warp.py '
|
||||
from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
|
||||
warp_targets = []
|
||||
for cam in [_ar_ox_fisheye, _os_fisheye]:
|
||||
w, h = cam.width, cam.height
|
||||
warp_targets += [File(f"models/warp_{w}x{h}_tinygrad.pkl").abspath, File(f"models/dm_warp_{w}x{h}_tinygrad.pkl").abspath]
|
||||
lenv.Command(warp_targets, tinygrad_files + script_files, compile_warp_cmd)
|
||||
modeld_dir = Dir("#selfdrive/modeld").abspath
|
||||
compile_modeld_script = [File(f"{modeld_dir}/compile_modeld.py")]
|
||||
compile_dm_warp_script = [File(f"{modeld_dir}/compile_dm_warp.py")]
|
||||
driving_onnx_deps = [File(f"models/{m}.onnx").abspath for m in ['driving_vision', 'driving_policy']]
|
||||
driving_metadata_deps = [File(f"models/{m}_metadata.pkl").abspath for m in ['driving_vision', 'driving_policy']]
|
||||
|
||||
model_w, model_h = MEDMODEL_INPUT_SIZE
|
||||
frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ
|
||||
for cfg in MODELD_CONFIGS:
|
||||
cmd = (f'{tg_flags} {mac_brew_string} {image_flag} python3 {modeld_dir}/compile_modeld.py '
|
||||
f'--model-size {model_w}x{model_h} '
|
||||
f'--nv12 {",".join(str(x) for x in cfg.nv12)} '
|
||||
f'--vision-onnx {File("models/driving_vision.onnx").abspath} '
|
||||
f'--policy-onnx {File("models/driving_policy.onnx").abspath} '
|
||||
f'--output {cfg.pkl_path} --frame-skip {frame_skip}'
|
||||
+ (' --prepare-only' if cfg.prepare_only else ''))
|
||||
node = lenv.Command(cfg.pkl_path, tinygrad_files + compile_modeld_script + driving_onnx_deps + driving_metadata_deps + [chunker_file, compiled_flags_node], cmd)
|
||||
onnx_sizes_sum = sum(os.path.getsize(f) for f in driving_onnx_deps)
|
||||
chunk_targets = get_chunk_paths(cfg.pkl_path, estimate_pickle_max_size(onnx_sizes_sum))
|
||||
def do_chunk(target, source, env, pkl=cfg.pkl_path, chunks=chunk_targets):
|
||||
chunk_file(pkl, chunks)
|
||||
lenv.Command(chunk_targets, node, do_chunk)
|
||||
|
||||
dm_w, dm_h = DM_INPUT_SIZE
|
||||
for cfg in DM_WARP_CONFIGS:
|
||||
cmd = (f'{tg_flags} {mac_brew_string} {image_flag} python3 {modeld_dir}/compile_dm_warp.py '
|
||||
f'--nv12 {",".join(str(x) for x in cfg.nv12)} --warp-to {dm_w}x{dm_h} '
|
||||
f'--output {cfg.pkl_path}')
|
||||
lenv.Command(cfg.pkl_path, tinygrad_files + compile_dm_warp_script + compile_modeld_script + [compiled_flags_node], cmd)
|
||||
|
||||
def tg_compile(flags, model_name):
|
||||
pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"'
|
||||
@@ -47,7 +104,7 @@ def tg_compile(flags, model_name):
|
||||
chunk_targets = get_chunk_paths(pkl, estimate_pickle_max_size(os.path.getsize(onnx_path)))
|
||||
compile_node = lenv.Command(
|
||||
pkl,
|
||||
[onnx_path] + tinygrad_files + [chunker_file],
|
||||
[onnx_path] + tinygrad_files + [chunker_file, compiled_flags_node],
|
||||
f'{pythonpath_string} {flags} {image_flag} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {pkl}',
|
||||
)
|
||||
def do_chunk(target, source, env):
|
||||
@@ -58,6 +115,4 @@ def tg_compile(flags, model_name):
|
||||
do_chunk,
|
||||
)
|
||||
|
||||
# Compile small models
|
||||
for model_name in ['driving_vision', 'driving_off_policy', 'driving_on_policy', 'dmonitoring_model']:
|
||||
tg_compile(tg_flags, model_name)
|
||||
tg_compile(tg_flags, 'dmonitoring_model')
|
||||
|
||||
54
selfdrive/modeld/compile_dm_warp.py
Executable file
54
selfdrive/modeld/compile_dm_warp.py
Executable file
@@ -0,0 +1,54 @@
|
||||
#!/usr/bin/env python3
|
||||
import argparse
|
||||
import pickle
|
||||
import time
|
||||
|
||||
from tinygrad.tensor import Tensor
|
||||
from tinygrad.device import Device
|
||||
from tinygrad.engine.jit import TinyJit
|
||||
|
||||
from openpilot.selfdrive.modeld.compile_modeld import NV12Frame, warp_perspective_tinygrad, _parse_size, _parse_nv12
|
||||
|
||||
|
||||
def make_warp_dm(nv12: NV12Frame, dm_w, dm_h):
|
||||
cam_w, cam_h, stride, _, _, _ = nv12
|
||||
stride_pad = stride - cam_w
|
||||
|
||||
def warp_dm(input_frame, M_inv):
|
||||
M_inv = M_inv.to(Device.DEFAULT).realize()
|
||||
return warp_perspective_tinygrad(input_frame[:cam_h*stride], M_inv,
|
||||
(dm_w, dm_h), (cam_h, cam_w), stride_pad).reshape(-1, dm_h * dm_w)
|
||||
return warp_dm
|
||||
|
||||
|
||||
def compile_dm_warp(nv12: NV12Frame, dm_w, dm_h, pkl_path):
|
||||
print(f"Compiling DM warp for {nv12.width}x{nv12.height} -> {dm_w}x{dm_h}...")
|
||||
|
||||
warp_dm_jit = TinyJit(make_warp_dm(nv12, dm_w, dm_h), prune=True)
|
||||
|
||||
for i in range(10):
|
||||
frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8').realize()
|
||||
M_inv = Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')
|
||||
Device.default.synchronize()
|
||||
st = time.perf_counter()
|
||||
warp_dm_jit(frame, M_inv).realize()
|
||||
mt = time.perf_counter()
|
||||
Device.default.synchronize()
|
||||
et = time.perf_counter()
|
||||
print(f" [{i+1}/10] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms")
|
||||
|
||||
with open(pkl_path, "wb") as f:
|
||||
pickle.dump(warp_dm_jit, f)
|
||||
print(f" Saved to {pkl_path}")
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
p = argparse.ArgumentParser()
|
||||
p.add_argument('--nv12', type=_parse_nv12, required=True,
|
||||
help=f'NV12 frame layout: {",".join(NV12Frame._fields)}')
|
||||
p.add_argument('--warp-to', type=_parse_size, required=True, help='DM input WxH')
|
||||
p.add_argument('--output', required=True)
|
||||
args = p.parse_args()
|
||||
|
||||
dm_w, dm_h = args.warp_to
|
||||
compile_dm_warp(args.nv12, dm_w, dm_h, args.output)
|
||||
253
selfdrive/modeld/compile_modeld.py
Executable file
253
selfdrive/modeld/compile_modeld.py
Executable file
@@ -0,0 +1,253 @@
|
||||
#!/usr/bin/env python3
|
||||
import argparse
|
||||
import pickle
|
||||
import time
|
||||
from functools import partial
|
||||
from collections import namedtuple
|
||||
|
||||
import numpy as np
|
||||
from tinygrad.tensor import Tensor
|
||||
from tinygrad.helpers import Context
|
||||
from tinygrad.device import Device
|
||||
from tinygrad.engine.jit import TinyJit
|
||||
from tinygrad.nn.onnx import OnnxRunner
|
||||
|
||||
# https://github.com/tinygrad/tinygrad/issues/15682
|
||||
from tinygrad.uop.ops import UOp, Ops
|
||||
_orig = UOp.__reduce__
|
||||
UOp.__reduce__ = lambda self: (UOp.unique, ()) if self.op is Ops.UNIQUE else _orig(self)
|
||||
|
||||
|
||||
NV12Frame = namedtuple("NV12Frame", ['width', 'height', 'stride', 'y_height', 'uv_height', 'size'])
|
||||
|
||||
UV_SCALE_MATRIX = np.array([[0.5, 0, 0], [0, 0.5, 0], [0, 0, 1]], dtype=np.float32)
|
||||
UV_SCALE_MATRIX_INV = np.linalg.inv(UV_SCALE_MATRIX)
|
||||
|
||||
|
||||
def warp_perspective_tinygrad(src_flat, M_inv, dst_shape, src_shape, stride_pad):
|
||||
w_dst, h_dst = dst_shape
|
||||
h_src, w_src = src_shape
|
||||
|
||||
x = Tensor.arange(w_dst).reshape(1, w_dst).expand(h_dst, w_dst).reshape(-1)
|
||||
y = Tensor.arange(h_dst).reshape(h_dst, 1).expand(h_dst, w_dst).reshape(-1)
|
||||
|
||||
# inline 3x3 matmul as elementwise to avoid reduce op (enables fusion with gather)
|
||||
src_x = M_inv[0, 0] * x + M_inv[0, 1] * y + M_inv[0, 2]
|
||||
src_y = M_inv[1, 0] * x + M_inv[1, 1] * y + M_inv[1, 2]
|
||||
src_w = M_inv[2, 0] * x + M_inv[2, 1] * y + M_inv[2, 2]
|
||||
|
||||
src_x = src_x / src_w
|
||||
src_y = src_y / src_w
|
||||
|
||||
x_nn_clipped = Tensor.round(src_x).clip(0, w_src - 1).cast('int')
|
||||
y_nn_clipped = Tensor.round(src_y).clip(0, h_src - 1).cast('int')
|
||||
idx = y_nn_clipped * (w_src + stride_pad) + x_nn_clipped
|
||||
|
||||
return src_flat[idx]
|
||||
|
||||
|
||||
def frames_to_tensor(frames):
|
||||
H = (frames.shape[0] * 2) // 3
|
||||
W = frames.shape[1]
|
||||
in_img1 = Tensor.cat(frames[0:H:2, 0::2],
|
||||
frames[1:H:2, 0::2],
|
||||
frames[0:H:2, 1::2],
|
||||
frames[1:H:2, 1::2],
|
||||
frames[H:H+H//4].reshape((H//2, W//2)),
|
||||
frames[H+H//4:H+H//2].reshape((H//2, W//2)), dim=0).reshape((6, H//2, W//2))
|
||||
return in_img1
|
||||
|
||||
|
||||
def make_frame_prepare(nv12: NV12Frame, model_w, model_h):
|
||||
cam_w, cam_h, stride, y_height, uv_height, _ = nv12
|
||||
uv_offset = stride * y_height
|
||||
stride_pad = stride - cam_w
|
||||
|
||||
def frame_prepare_tinygrad(input_frame, M_inv):
|
||||
# UV_SCALE @ M_inv @ UV_SCALE_INV simplifies to elementwise scaling
|
||||
M_inv_uv = M_inv * Tensor([[1.0, 1.0, 0.5], [1.0, 1.0, 0.5], [2.0, 2.0, 1.0]])
|
||||
# deinterleave NV12 UV plane (UVUV... -> separate U, V)
|
||||
uv = input_frame[uv_offset:uv_offset + uv_height * stride].reshape(uv_height, stride)
|
||||
with Context(SPLIT_REDUCEOP=0):
|
||||
y = warp_perspective_tinygrad(input_frame[:cam_h*stride],
|
||||
M_inv, (model_w, model_h),
|
||||
(cam_h, cam_w), stride_pad).realize()
|
||||
u = warp_perspective_tinygrad(uv[:cam_h//2, :cam_w:2].flatten(),
|
||||
M_inv_uv, (model_w//2, model_h//2),
|
||||
(cam_h//2, cam_w//2), 0).realize()
|
||||
v = warp_perspective_tinygrad(uv[:cam_h//2, 1:cam_w:2].flatten(),
|
||||
M_inv_uv, (model_w//2, model_h//2),
|
||||
(cam_h//2, cam_w//2), 0).realize()
|
||||
yuv = y.cat(u).cat(v).reshape((model_h * 3 // 2, model_w))
|
||||
tensor = frames_to_tensor(yuv)
|
||||
return tensor
|
||||
return frame_prepare_tinygrad
|
||||
|
||||
|
||||
def make_input_queues(vision_input_shapes, policy_input_shapes, frame_skip):
|
||||
img = vision_input_shapes['img'] # (1, 12, 128, 256)
|
||||
n_frames = img[1] // 6
|
||||
img_buf_shape = (frame_skip * (n_frames - 1) + 1, 6, img[2], img[3])
|
||||
|
||||
fb = policy_input_shapes['features_buffer'] # (1, 25, 512)
|
||||
dp = policy_input_shapes['desire_pulse'] # (1, 25, 8)
|
||||
tc = policy_input_shapes['traffic_convention'] # (1, 2)
|
||||
|
||||
npy = {
|
||||
'desire': np.zeros(dp[2], dtype=np.float32),
|
||||
'traffic_convention': np.zeros(tc, dtype=np.float32),
|
||||
'tfm': np.zeros((3, 3), dtype=np.float32),
|
||||
'big_tfm': np.zeros((3, 3), dtype=np.float32),
|
||||
}
|
||||
input_queues = {
|
||||
'img_q': Tensor.zeros(img_buf_shape, dtype='uint8').contiguous().realize(),
|
||||
'big_img_q': Tensor.zeros(img_buf_shape, dtype='uint8').contiguous().realize(),
|
||||
'feat_q': Tensor.zeros(frame_skip * (fb[1] - 1) + 1, fb[0], fb[2]).contiguous().realize(),
|
||||
'desire_q': Tensor.zeros(frame_skip * dp[1], dp[0], dp[2]).contiguous().realize(),
|
||||
**{k: Tensor(v, device='NPY').realize() for k, v in npy.items()},
|
||||
}
|
||||
return input_queues, npy
|
||||
|
||||
|
||||
def shift_and_sample(buf, new_val, sample_fn):
|
||||
buf.assign(buf[1:].cat(new_val, dim=0).contiguous())
|
||||
return sample_fn(buf)
|
||||
|
||||
|
||||
def sample_skip(buf, frame_skip):
|
||||
return buf[::frame_skip].contiguous().flatten(0, 1).unsqueeze(0)
|
||||
|
||||
|
||||
def sample_desire(buf, frame_skip):
|
||||
return buf.reshape(-1, frame_skip, *buf.shape[1:]).max(1).flatten(0, 1).unsqueeze(0)
|
||||
|
||||
|
||||
def make_run_policy(vision_runner, policy_runner, nv12: NV12Frame, model_w, model_h,
|
||||
vision_features_slice, frame_skip, prepare_only=False):
|
||||
frame_prepare = make_frame_prepare(nv12, model_w, model_h)
|
||||
sample_skip_fn = partial(sample_skip, frame_skip=frame_skip)
|
||||
sample_desire_fn = partial(sample_desire, frame_skip=frame_skip)
|
||||
|
||||
def run_policy(img_q, big_img_q, feat_q, desire_q, desire, traffic_convention, tfm, big_tfm, frame, big_frame):
|
||||
tfm = tfm.to(Device.DEFAULT)
|
||||
big_tfm = big_tfm.to(Device.DEFAULT)
|
||||
desire = desire.to(Device.DEFAULT)
|
||||
traffic_convention = traffic_convention.to(Device.DEFAULT)
|
||||
Tensor.realize(tfm, big_tfm, desire, traffic_convention)
|
||||
|
||||
img = shift_and_sample(img_q, frame_prepare(frame, tfm).unsqueeze(0), sample_skip_fn)
|
||||
big_img = shift_and_sample(big_img_q, frame_prepare(big_frame, big_tfm).unsqueeze(0), sample_skip_fn)
|
||||
|
||||
if prepare_only:
|
||||
return img, big_img
|
||||
|
||||
vision_out = next(iter(vision_runner({'img': img, 'big_img': big_img}).values())).cast('float32')
|
||||
|
||||
new_feat = vision_out[:, vision_features_slice].reshape(1, -1).unsqueeze(0)
|
||||
feat_buf = shift_and_sample(feat_q, new_feat, sample_skip_fn)
|
||||
desire_buf = shift_and_sample(desire_q, desire.reshape(1, 1, -1), sample_desire_fn)
|
||||
|
||||
inputs = {'features_buffer': feat_buf, 'desire_pulse': desire_buf, 'traffic_convention': traffic_convention}
|
||||
policy_out = next(iter(policy_runner(inputs).values())).cast('float32')
|
||||
|
||||
return vision_out, policy_out
|
||||
return run_policy
|
||||
|
||||
|
||||
def compile_modeld(nv12: NV12Frame, model_w, model_h, prepare_only, frame_skip,
|
||||
vision_onnx, policy_onnx, pkl_path):
|
||||
from get_model_metadata import metadata_path_for
|
||||
|
||||
print(f"Compiling combined policy JIT for {nv12.width}x{nv12.height} (prepare_only={prepare_only})...")
|
||||
|
||||
vision_runner = OnnxRunner(vision_onnx)
|
||||
policy_runner = OnnxRunner(policy_onnx)
|
||||
|
||||
with open(metadata_path_for(vision_onnx), 'rb') as f:
|
||||
vision_metadata = pickle.load(f)
|
||||
vision_features_slice = vision_metadata['output_slices']['hidden_state']
|
||||
vision_input_shapes = vision_metadata['input_shapes']
|
||||
with open(metadata_path_for(policy_onnx), 'rb') as f:
|
||||
policy_input_shapes = pickle.load(f)['input_shapes']
|
||||
|
||||
_run = make_run_policy(vision_runner, policy_runner, nv12, model_w, model_h,
|
||||
vision_features_slice, frame_skip, prepare_only)
|
||||
run_policy_jit = TinyJit(_run, prune=True)
|
||||
|
||||
N_RUNS = 3
|
||||
SEED = 42
|
||||
|
||||
def random_inputs_run_fn(fn, seed, test_val=None, test_buffers=None, expect_match=True):
|
||||
input_queues, npy = make_input_queues(vision_input_shapes, policy_input_shapes, frame_skip)
|
||||
np.random.seed(seed)
|
||||
Tensor.manual_seed(seed)
|
||||
|
||||
for i in range(N_RUNS):
|
||||
frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8').realize()
|
||||
big_frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8').realize()
|
||||
for v in npy.values():
|
||||
v[:] = np.random.randn(*v.shape).astype(v.dtype)
|
||||
Device.default.synchronize()
|
||||
st = time.perf_counter()
|
||||
outs = fn(**input_queues, frame=frame, big_frame=big_frame)
|
||||
mt = time.perf_counter()
|
||||
for o in outs:
|
||||
# .realize() not needed once jitted, but needed for unjitted fn
|
||||
o.realize()
|
||||
Device.default.synchronize()
|
||||
et = time.perf_counter()
|
||||
print(f" [{i+1}/{N_RUNS}] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms")
|
||||
|
||||
val = [np.copy(v.numpy()) for v in outs]
|
||||
buffers = [np.copy(v.numpy().copy()) for v in input_queues.values()]
|
||||
|
||||
if test_val is not None:
|
||||
match = all(np.array_equal(a, b) for a, b in zip(val, test_val, strict=True))
|
||||
assert match == expect_match, f"outputs {'differ from' if expect_match else 'match'} baseline (seed={seed})"
|
||||
if test_buffers is not None:
|
||||
match = all(np.array_equal(a, b) for a, b in zip(buffers, test_buffers, strict=True))
|
||||
assert match == expect_match, f"buffers {'differ from' if expect_match else 'match'} baseline (seed={seed})"
|
||||
return fn, val, buffers
|
||||
|
||||
print('run unjitted')
|
||||
_, test_val, test_buffers = random_inputs_run_fn(_run, seed=SEED)
|
||||
print('capture + replay')
|
||||
run_policy_jit, _, _ = random_inputs_run_fn(run_policy_jit, SEED, test_val, test_buffers)
|
||||
|
||||
print('pickle round trip')
|
||||
with open(pkl_path, "wb") as f:
|
||||
pickle.dump(run_policy_jit, f)
|
||||
print(f" Saved to {pkl_path}")
|
||||
with open(pkl_path, "rb") as f:
|
||||
run_policy_jit = pickle.load(f)
|
||||
random_inputs_run_fn(run_policy_jit, SEED, test_val, test_buffers, expect_match=True)
|
||||
random_inputs_run_fn(run_policy_jit, SEED+1, test_val, test_buffers, expect_match=False)
|
||||
|
||||
|
||||
def _parse_size(s):
|
||||
w, h = s.lower().split('x')
|
||||
return int(w), int(h)
|
||||
|
||||
|
||||
def _parse_nv12(s):
|
||||
parts = s.split(',')
|
||||
assert len(parts) == len(NV12Frame._fields), \
|
||||
f"--nv12 expects {','.join(NV12Frame._fields)} (got {s!r})"
|
||||
return NV12Frame(*(int(x) for x in parts))
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
p = argparse.ArgumentParser()
|
||||
p.add_argument('--model-size', type=_parse_size, required=True, help='model input WxH')
|
||||
p.add_argument('--nv12', type=_parse_nv12, required=True,
|
||||
help=f'NV12 frame layout: {",".join(NV12Frame._fields)}')
|
||||
p.add_argument('--vision-onnx', required=True)
|
||||
p.add_argument('--policy-onnx', required=True)
|
||||
p.add_argument('--output', required=True)
|
||||
p.add_argument('--prepare-only', action='store_true')
|
||||
p.add_argument('--frame-skip', type=int, required=True)
|
||||
args = p.parse_args()
|
||||
|
||||
model_w, model_h = args.model_size
|
||||
compile_modeld(args.nv12, model_w, model_h, args.prepare_only, args.frame_skip,
|
||||
args.vision_onnx, args.policy_onnx, args.output)
|
||||
@@ -1,209 +0,0 @@
|
||||
#!/usr/bin/env python3
|
||||
import time
|
||||
import pickle
|
||||
import numpy as np
|
||||
from pathlib import Path
|
||||
from tinygrad.tensor import Tensor
|
||||
from tinygrad.helpers import Context
|
||||
from tinygrad.device import Device
|
||||
from tinygrad.engine.jit import TinyJit
|
||||
|
||||
from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
|
||||
from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE, DM_INPUT_SIZE
|
||||
from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
|
||||
|
||||
MODELS_DIR = Path(__file__).parent / 'models'
|
||||
|
||||
CAMERA_CONFIGS = [
|
||||
(_ar_ox_fisheye.width, _ar_ox_fisheye.height), # tici: 1928x1208
|
||||
(_os_fisheye.width, _os_fisheye.height), # mici: 1344x760
|
||||
]
|
||||
|
||||
UV_SCALE_MATRIX = np.array([[0.5, 0, 0], [0, 0.5, 0], [0, 0, 1]], dtype=np.float32)
|
||||
UV_SCALE_MATRIX_INV = np.linalg.inv(UV_SCALE_MATRIX)
|
||||
|
||||
IMG_BUFFER_SHAPE = (30, MEDMODEL_INPUT_SIZE[1] // 2, MEDMODEL_INPUT_SIZE[0] // 2)
|
||||
|
||||
|
||||
def warp_pkl_path(w, h):
|
||||
return MODELS_DIR / f'warp_{w}x{h}_tinygrad.pkl'
|
||||
|
||||
|
||||
def dm_warp_pkl_path(w, h):
|
||||
return MODELS_DIR / f'dm_warp_{w}x{h}_tinygrad.pkl'
|
||||
|
||||
|
||||
def warp_perspective_tinygrad(src_flat, M_inv, dst_shape, src_shape, stride_pad):
|
||||
w_dst, h_dst = dst_shape
|
||||
h_src, w_src = src_shape
|
||||
|
||||
x = Tensor.arange(w_dst).reshape(1, w_dst).expand(h_dst, w_dst).reshape(-1)
|
||||
y = Tensor.arange(h_dst).reshape(h_dst, 1).expand(h_dst, w_dst).reshape(-1)
|
||||
|
||||
# inline 3x3 matmul as elementwise to avoid reduce op (enables fusion with gather)
|
||||
src_x = M_inv[0, 0] * x + M_inv[0, 1] * y + M_inv[0, 2]
|
||||
src_y = M_inv[1, 0] * x + M_inv[1, 1] * y + M_inv[1, 2]
|
||||
src_w = M_inv[2, 0] * x + M_inv[2, 1] * y + M_inv[2, 2]
|
||||
|
||||
src_x = src_x / src_w
|
||||
src_y = src_y / src_w
|
||||
|
||||
x_nn_clipped = Tensor.round(src_x).clip(0, w_src - 1).cast('int')
|
||||
y_nn_clipped = Tensor.round(src_y).clip(0, h_src - 1).cast('int')
|
||||
idx = y_nn_clipped * (w_src + stride_pad) + x_nn_clipped
|
||||
|
||||
return src_flat[idx]
|
||||
|
||||
|
||||
def frames_to_tensor(frames, model_w, model_h):
|
||||
H = (frames.shape[0] * 2) // 3
|
||||
W = frames.shape[1]
|
||||
in_img1 = Tensor.cat(frames[0:H:2, 0::2],
|
||||
frames[1:H:2, 0::2],
|
||||
frames[0:H:2, 1::2],
|
||||
frames[1:H:2, 1::2],
|
||||
frames[H:H+H//4].reshape((H//2, W//2)),
|
||||
frames[H+H//4:H+H//2].reshape((H//2, W//2)), dim=0).reshape((6, H//2, W//2))
|
||||
return in_img1
|
||||
|
||||
|
||||
def make_frame_prepare(cam_w, cam_h, model_w, model_h):
|
||||
stride, y_height, uv_height, _ = get_nv12_info(cam_w, cam_h)
|
||||
uv_offset = stride * y_height
|
||||
stride_pad = stride - cam_w
|
||||
|
||||
def frame_prepare_tinygrad(input_frame, M_inv):
|
||||
# UV_SCALE @ M_inv @ UV_SCALE_INV simplifies to elementwise scaling
|
||||
M_inv_uv = M_inv * Tensor([[1.0, 1.0, 0.5], [1.0, 1.0, 0.5], [2.0, 2.0, 1.0]])
|
||||
# deinterleave NV12 UV plane (UVUV... -> separate U, V)
|
||||
uv = input_frame[uv_offset:uv_offset + uv_height * stride].reshape(uv_height, stride)
|
||||
with Context(SPLIT_REDUCEOP=0):
|
||||
y = warp_perspective_tinygrad(input_frame[:cam_h*stride],
|
||||
M_inv, (model_w, model_h),
|
||||
(cam_h, cam_w), stride_pad).realize()
|
||||
u = warp_perspective_tinygrad(uv[:cam_h//2, :cam_w:2].flatten(),
|
||||
M_inv_uv, (model_w//2, model_h//2),
|
||||
(cam_h//2, cam_w//2), 0).realize()
|
||||
v = warp_perspective_tinygrad(uv[:cam_h//2, 1:cam_w:2].flatten(),
|
||||
M_inv_uv, (model_w//2, model_h//2),
|
||||
(cam_h//2, cam_w//2), 0).realize()
|
||||
yuv = y.cat(u).cat(v).reshape((model_h * 3 // 2, model_w))
|
||||
tensor = frames_to_tensor(yuv, model_w, model_h)
|
||||
return tensor
|
||||
return frame_prepare_tinygrad
|
||||
|
||||
|
||||
def make_update_img_input(frame_prepare, model_w, model_h):
|
||||
def update_img_input_tinygrad(tensor, frame, M_inv):
|
||||
M_inv = M_inv.to(Device.DEFAULT)
|
||||
new_img = frame_prepare(frame, M_inv)
|
||||
full_buffer = tensor[6:].cat(new_img, dim=0).contiguous()
|
||||
return full_buffer, Tensor.cat(full_buffer[:6], full_buffer[-6:], dim=0).contiguous().reshape(1, 12, model_h//2, model_w//2)
|
||||
return update_img_input_tinygrad
|
||||
|
||||
|
||||
def make_update_both_imgs(frame_prepare, model_w, model_h):
|
||||
update_img = make_update_img_input(frame_prepare, model_w, model_h)
|
||||
|
||||
def update_both_imgs_tinygrad(calib_img_buffer, new_img, M_inv,
|
||||
calib_big_img_buffer, new_big_img, M_inv_big):
|
||||
calib_img_buffer, calib_img_pair = update_img(calib_img_buffer, new_img, M_inv)
|
||||
calib_big_img_buffer, calib_big_img_pair = update_img(calib_big_img_buffer, new_big_img, M_inv_big)
|
||||
return calib_img_buffer, calib_img_pair, calib_big_img_buffer, calib_big_img_pair
|
||||
return update_both_imgs_tinygrad
|
||||
|
||||
|
||||
def make_warp_dm(cam_w, cam_h, dm_w, dm_h):
|
||||
stride, y_height, _, _ = get_nv12_info(cam_w, cam_h)
|
||||
stride_pad = stride - cam_w
|
||||
|
||||
def warp_dm(input_frame, M_inv):
|
||||
M_inv = M_inv.to(Device.DEFAULT)
|
||||
result = warp_perspective_tinygrad(input_frame[:cam_h*stride], M_inv, (dm_w, dm_h), (cam_h, cam_w), stride_pad).reshape(-1, dm_h * dm_w)
|
||||
return result
|
||||
return warp_dm
|
||||
|
||||
|
||||
def compile_modeld_warp(cam_w, cam_h):
|
||||
model_w, model_h = MEDMODEL_INPUT_SIZE
|
||||
_, _, _, yuv_size = get_nv12_info(cam_w, cam_h)
|
||||
|
||||
print(f"Compiling modeld warp for {cam_w}x{cam_h}...")
|
||||
|
||||
frame_prepare = make_frame_prepare(cam_w, cam_h, model_w, model_h)
|
||||
update_both_imgs = make_update_both_imgs(frame_prepare, model_w, model_h)
|
||||
update_img_jit = TinyJit(update_both_imgs, prune=True)
|
||||
|
||||
full_buffer = Tensor.zeros(IMG_BUFFER_SHAPE, dtype='uint8').contiguous().realize()
|
||||
big_full_buffer = Tensor.zeros(IMG_BUFFER_SHAPE, dtype='uint8').contiguous().realize()
|
||||
full_buffer_np = np.zeros(IMG_BUFFER_SHAPE, dtype=np.uint8)
|
||||
big_full_buffer_np = np.zeros(IMG_BUFFER_SHAPE, dtype=np.uint8)
|
||||
|
||||
for i in range(10):
|
||||
new_frame_np = (32 * np.random.randn(yuv_size).astype(np.float32) + 128).clip(0, 255).astype(np.uint8)
|
||||
img_inputs = [full_buffer,
|
||||
Tensor.from_blob(new_frame_np.ctypes.data, (yuv_size,), dtype='uint8').realize(),
|
||||
Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')]
|
||||
new_big_frame_np = (32 * np.random.randn(yuv_size).astype(np.float32) + 128).clip(0, 255).astype(np.uint8)
|
||||
big_img_inputs = [big_full_buffer,
|
||||
Tensor.from_blob(new_big_frame_np.ctypes.data, (yuv_size,), dtype='uint8').realize(),
|
||||
Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')]
|
||||
inputs = img_inputs + big_img_inputs
|
||||
Device.default.synchronize()
|
||||
|
||||
inputs_np = [x.numpy() for x in inputs]
|
||||
inputs_np[0] = full_buffer_np
|
||||
inputs_np[3] = big_full_buffer_np
|
||||
|
||||
st = time.perf_counter()
|
||||
out = update_img_jit(*inputs)
|
||||
full_buffer = out[0].contiguous().realize().clone()
|
||||
big_full_buffer = out[2].contiguous().realize().clone()
|
||||
mt = time.perf_counter()
|
||||
Device.default.synchronize()
|
||||
et = time.perf_counter()
|
||||
print(f" [{i+1}/10] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms")
|
||||
|
||||
pkl_path = warp_pkl_path(cam_w, cam_h)
|
||||
with open(pkl_path, "wb") as f:
|
||||
pickle.dump(update_img_jit, f)
|
||||
print(f" Saved to {pkl_path}")
|
||||
|
||||
jit = pickle.load(open(pkl_path, "rb"))
|
||||
jit(*inputs)
|
||||
|
||||
|
||||
def compile_dm_warp(cam_w, cam_h):
|
||||
dm_w, dm_h = DM_INPUT_SIZE
|
||||
_, _, _, yuv_size = get_nv12_info(cam_w, cam_h)
|
||||
|
||||
print(f"Compiling DM warp for {cam_w}x{cam_h}...")
|
||||
|
||||
warp_dm = make_warp_dm(cam_w, cam_h, dm_w, dm_h)
|
||||
warp_dm_jit = TinyJit(warp_dm, prune=True)
|
||||
|
||||
for i in range(10):
|
||||
inputs = [Tensor.from_blob((32 * Tensor.randn(yuv_size,) + 128).cast(dtype='uint8').realize().numpy().ctypes.data, (yuv_size,), dtype='uint8'),
|
||||
Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')]
|
||||
Device.default.synchronize()
|
||||
st = time.perf_counter()
|
||||
warp_dm_jit(*inputs)
|
||||
mt = time.perf_counter()
|
||||
Device.default.synchronize()
|
||||
et = time.perf_counter()
|
||||
print(f" [{i+1}/10] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms")
|
||||
|
||||
pkl_path = dm_warp_pkl_path(cam_w, cam_h)
|
||||
with open(pkl_path, "wb") as f:
|
||||
pickle.dump(warp_dm_jit, f)
|
||||
print(f" Saved to {pkl_path}")
|
||||
|
||||
|
||||
def run_and_save_pickle():
|
||||
for cam_w, cam_h in CAMERA_CONFIGS:
|
||||
compile_modeld_warp(cam_w, cam_h)
|
||||
compile_dm_warp(cam_w, cam_h)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
run_and_save_pickle()
|
||||
@@ -1,12 +1,16 @@
|
||||
#!/usr/bin/env python3
|
||||
import os
|
||||
from openpilot.selfdrive.modeld.tinygrad_helpers import MODELS_DIR, set_tinygrad_backend_from_compiled_flags
|
||||
set_tinygrad_backend_from_compiled_flags()
|
||||
|
||||
# FIXME-SP: remove once we bump tg
|
||||
from openpilot.system.hardware import TICI
|
||||
os.environ['DEV'] = 'QCOM' if TICI else 'CPU'
|
||||
|
||||
from tinygrad.tensor import Tensor
|
||||
import time
|
||||
import pickle
|
||||
import numpy as np
|
||||
from pathlib import Path
|
||||
|
||||
from cereal import messaging
|
||||
from cereal.messaging import PubMaster, SubMaster
|
||||
@@ -21,9 +25,8 @@ from openpilot.selfdrive.modeld.parse_model_outputs import sigmoid, safe_exp
|
||||
|
||||
PROCESS_NAME = "selfdrive.modeld.dmonitoringmodeld"
|
||||
SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
|
||||
MODEL_PKL_PATH = Path(__file__).parent / 'models/dmonitoring_model_tinygrad.pkl'
|
||||
METADATA_PATH = Path(__file__).parent / 'models/dmonitoring_model_metadata.pkl'
|
||||
MODELS_DIR = Path(__file__).parent / 'models'
|
||||
MODEL_PKL_PATH = MODELS_DIR / 'dmonitoring_model_tinygrad.pkl'
|
||||
METADATA_PATH = MODELS_DIR / 'dmonitoring_model_metadata.pkl'
|
||||
|
||||
class ModelState:
|
||||
inputs: dict[str, np.ndarray]
|
||||
|
||||
@@ -7,6 +7,10 @@ from typing import Any
|
||||
|
||||
from tinygrad.nn.onnx import OnnxPBParser
|
||||
|
||||
def metadata_path_for(onnx_path) -> pathlib.Path:
|
||||
p = pathlib.Path(onnx_path)
|
||||
return p.parent / (p.stem + '_metadata.pkl')
|
||||
|
||||
|
||||
class MetadataOnnxPBParser(OnnxPBParser):
|
||||
def _parse_ModelProto(self) -> dict:
|
||||
@@ -48,7 +52,7 @@ if __name__ == "__main__":
|
||||
'output_shapes': dict(get_name_and_shape(x) for x in model["graph"]["output"]),
|
||||
}
|
||||
|
||||
metadata_path = model_path.parent / (model_path.stem + '_metadata.pkl')
|
||||
metadata_path = metadata_path_for(model_path)
|
||||
with open(metadata_path, 'wb') as f:
|
||||
pickle.dump(metadata, f)
|
||||
|
||||
|
||||
31
selfdrive/modeld/helpers.py
Normal file
31
selfdrive/modeld/helpers.py
Normal file
@@ -0,0 +1,31 @@
|
||||
import json
|
||||
import os
|
||||
from dataclasses import dataclass
|
||||
from pathlib import Path
|
||||
|
||||
from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
|
||||
|
||||
MODELS_DIR = Path(__file__).resolve().parent / 'models'
|
||||
COMPILED_FLAGS_PATH = MODELS_DIR / 'tg_compiled_flags.json'
|
||||
|
||||
|
||||
def set_tinygrad_backend_from_compiled_flags() -> None:
|
||||
if os.path.isfile(COMPILED_FLAGS_PATH):
|
||||
with open(COMPILED_FLAGS_PATH) as f:
|
||||
os.environ['DEV'] = str(json.load(f)['DEV'])
|
||||
|
||||
|
||||
@dataclass
|
||||
class CompileConfig:
|
||||
cam_w: int
|
||||
cam_h: int
|
||||
prepare_only: bool
|
||||
prefix: str
|
||||
|
||||
@property
|
||||
def pkl_path(self):
|
||||
return str(MODELS_DIR / f'{self.prefix}{"warp_" if self.prepare_only else ""}{self.cam_w}x{self.cam_h}_tinygrad.pkl')
|
||||
|
||||
@property
|
||||
def nv12(self):
|
||||
return (self.cam_w, self.cam_h, *get_nv12_info(self.cam_w, self.cam_h))
|
||||
@@ -1,7 +1,8 @@
|
||||
#!/usr/bin/env python3
|
||||
import os
|
||||
from openpilot.system.hardware import TICI
|
||||
os.environ['DEV'] = 'QCOM' if TICI else 'CPU'
|
||||
from openpilot.selfdrive.modeld.helpers import MODELS_DIR, CompileConfig, set_tinygrad_backend_from_compiled_flags
|
||||
set_tinygrad_backend_from_compiled_flags()
|
||||
|
||||
USBGPU = "USBGPU" in os.environ
|
||||
if USBGPU:
|
||||
os.environ['DEV'] = 'AMD'
|
||||
@@ -12,7 +13,6 @@ import pickle
|
||||
import numpy as np
|
||||
import cereal.messaging as messaging
|
||||
from cereal import car, log
|
||||
from pathlib import Path
|
||||
from cereal.messaging import PubMaster, SubMaster
|
||||
from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
|
||||
from opendbc.car.car_helpers import get_demo_car_params
|
||||
@@ -26,6 +26,7 @@ from openpilot.common.transformations.model import get_warp_matrix
|
||||
from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
|
||||
from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value, get_curvature_from_plan
|
||||
from openpilot.selfdrive.modeld.parse_model_outputs import Parser
|
||||
from openpilot.selfdrive.modeld.compile_modeld import make_input_queues
|
||||
from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
|
||||
from openpilot.common.file_chunker import read_file_chunked
|
||||
from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
|
||||
@@ -37,20 +38,13 @@ from openpilot.sunnypilot.modeld_v2.modeld_base import ModelStateBase
|
||||
PROCESS_NAME = "selfdrive.modeld.modeld"
|
||||
SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
|
||||
|
||||
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'
|
||||
POLICY_METADATA_PATH = MODELS_DIR / 'driving_policy_metadata.pkl'
|
||||
|
||||
LAT_SMOOTH_SECONDS = 0.0
|
||||
LONG_SMOOTH_SECONDS = 0.3
|
||||
MIN_LAT_CONTROL_SPEED = 0.3
|
||||
|
||||
IMG_QUEUE_SHAPE = (6*(ModelConstants.MODEL_RUN_FREQ//ModelConstants.MODEL_CONTEXT_FREQ + 1), 128, 256)
|
||||
assert IMG_QUEUE_SHAPE[0] == 30
|
||||
|
||||
|
||||
def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
|
||||
@@ -85,116 +79,39 @@ class FrameMeta:
|
||||
if vipc is not None:
|
||||
self.frame_id, self.timestamp_sof, self.timestamp_eof = vipc.frame_id, vipc.timestamp_sof, vipc.timestamp_eof
|
||||
|
||||
class InputQueues:
|
||||
def __init__ (self, model_fps, env_fps, n_frames_input):
|
||||
assert env_fps % model_fps == 0
|
||||
assert env_fps >= model_fps
|
||||
self.model_fps = model_fps
|
||||
self.env_fps = env_fps
|
||||
self.n_frames_input = n_frames_input
|
||||
|
||||
self.dtypes = {}
|
||||
self.shapes = {}
|
||||
self.q = {}
|
||||
|
||||
def update_dtypes_and_shapes(self, input_dtypes, input_shapes) -> None:
|
||||
self.dtypes.update(input_dtypes)
|
||||
if self.env_fps == self.model_fps:
|
||||
self.shapes.update(input_shapes)
|
||||
else:
|
||||
for k in input_shapes:
|
||||
shape = list(input_shapes[k])
|
||||
if 'img' in k:
|
||||
n_channels = shape[1] // self.n_frames_input
|
||||
shape[1] = (self.env_fps // self.model_fps + (self.n_frames_input - 1)) * n_channels
|
||||
else:
|
||||
shape[1] = (self.env_fps // self.model_fps) * shape[1]
|
||||
self.shapes[k] = tuple(shape)
|
||||
|
||||
def reset(self) -> None:
|
||||
self.q = {k: np.zeros(self.shapes[k], dtype=self.dtypes[k]) for k in self.dtypes.keys()}
|
||||
|
||||
def enqueue(self, inputs:dict[str, np.ndarray]) -> None:
|
||||
for k in inputs.keys():
|
||||
if inputs[k].dtype != self.dtypes[k]:
|
||||
raise ValueError(f'supplied input <{k}({inputs[k].dtype})> has wrong dtype, expected {self.dtypes[k]}')
|
||||
input_shape = list(self.shapes[k])
|
||||
input_shape[1] = -1
|
||||
single_input = inputs[k].reshape(tuple(input_shape))
|
||||
sz = single_input.shape[1]
|
||||
self.q[k][:,:-sz] = self.q[k][:,sz:]
|
||||
self.q[k][:,-sz:] = single_input
|
||||
|
||||
def get(self, *names) -> dict[str, np.ndarray]:
|
||||
if self.env_fps == self.model_fps:
|
||||
return {k: self.q[k] for k in names}
|
||||
else:
|
||||
out = {}
|
||||
for k in names:
|
||||
shape = self.shapes[k]
|
||||
if 'img' in k:
|
||||
n_channels = shape[1] // (self.env_fps // self.model_fps + (self.n_frames_input - 1))
|
||||
out[k] = np.concatenate([self.q[k][:, s:s+n_channels] for s in np.linspace(0, shape[1] - n_channels, self.n_frames_input, dtype=int)], axis=1)
|
||||
elif 'pulse' in k:
|
||||
# any pulse within interval counts
|
||||
out[k] = self.q[k].reshape((shape[0], shape[1] * self.model_fps // self.env_fps, self.env_fps // self.model_fps, -1)).max(axis=2)
|
||||
else:
|
||||
idxs = np.arange(-1, -shape[1], -self.env_fps // self.model_fps)[::-1]
|
||||
out[k] = self.q[k][:, idxs]
|
||||
return out
|
||||
|
||||
class ModelState(ModelStateBase):
|
||||
inputs: dict[str, np.ndarray]
|
||||
output: np.ndarray
|
||||
prev_desire: np.ndarray # for tracking the rising edge of the pulse
|
||||
|
||||
def __init__(self):
|
||||
def __init__(self, cam_w: int, cam_h: int):
|
||||
ModelStateBase.__init__(self)
|
||||
self.LAT_SMOOTH_SECONDS = LAT_SMOOTH_SECONDS
|
||||
|
||||
with open(VISION_METADATA_PATH, 'rb') as f:
|
||||
vision_metadata = pickle.load(f)
|
||||
self.vision_input_shapes = vision_metadata['input_shapes']
|
||||
self.vision_input_names = list(self.vision_input_shapes.keys())
|
||||
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']
|
||||
policy_output_size = policy_metadata['output_shapes']['outputs'][1]
|
||||
|
||||
self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
|
||||
|
||||
# policy inputs
|
||||
self.numpy_inputs = {k: np.zeros(self.policy_input_shapes[k], dtype=np.float32) for k in self.policy_input_shapes}
|
||||
self.full_input_queues = InputQueues(ModelConstants.MODEL_CONTEXT_FREQ, ModelConstants.MODEL_RUN_FREQ, ModelConstants.N_FRAMES)
|
||||
for k in ['desire_pulse', 'features_buffer']:
|
||||
self.full_input_queues.update_dtypes_and_shapes({k: self.numpy_inputs[k].dtype}, {k: self.numpy_inputs[k].shape})
|
||||
self.full_input_queues.reset()
|
||||
|
||||
self.img_queues = {'img': Tensor.zeros(IMG_QUEUE_SHAPE, dtype='uint8').contiguous().realize(),
|
||||
'big_img': Tensor.zeros(IMG_QUEUE_SHAPE, dtype='uint8').contiguous().realize()}
|
||||
self.frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ
|
||||
self.input_queues, self.npy = make_input_queues(self.vision_input_shapes, self.policy_input_shapes, self.frame_skip)
|
||||
self.full_frames : dict[str, Tensor] = {}
|
||||
self._blob_cache : dict[int, Tensor] = {}
|
||||
self.transforms_np = {k: np.zeros((3,3), dtype=np.float32) for k in self.img_queues}
|
||||
self.transforms = {k: Tensor(v, device='NPY').realize() for k, v in self.transforms_np.items()}
|
||||
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.frame_buf_params = {k: get_nv12_info(cam_w, cam_h) for k in ('img', 'big_img')}
|
||||
self.run_policy = pickle.loads(read_file_chunked(CompileConfig(cam_w, cam_h, prefix='driving_', prepare_only=False).pkl_path))
|
||||
self.warp_enqueue = pickle.loads(read_file_chunked(CompileConfig(cam_w, cam_h, prefix='driving_', prepare_only=True).pkl_path))
|
||||
self.warp_enqueue(
|
||||
**self.input_queues,
|
||||
frame=Tensor.zeros(self.frame_buf_params['img'][3], dtype='uint8').contiguous().realize(),
|
||||
big_frame=Tensor.zeros(self.frame_buf_params['big_img'][3], dtype='uint8').contiguous().realize())
|
||||
|
||||
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()}
|
||||
@@ -202,18 +119,6 @@ class ModelState(ModelStateBase):
|
||||
|
||||
def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
|
||||
inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
|
||||
# Model decides when action is completed, so desire input is just a pulse triggered on rising edge
|
||||
inputs['desire_pulse'][0] = 0
|
||||
new_desire = np.where(inputs['desire_pulse'] - self.prev_desire > .99, inputs['desire_pulse'], 0)
|
||||
self.prev_desire[:] = inputs['desire_pulse']
|
||||
if self.update_imgs is None:
|
||||
for key in bufs.keys():
|
||||
w, h = bufs[key].width, bufs[key].height
|
||||
self.frame_buf_params[key] = get_nv12_info(w, h)
|
||||
warp_path = MODELS_DIR / f'warp_{w}x{h}_tinygrad.pkl'
|
||||
with open(warp_path, "rb") as f:
|
||||
self.update_imgs = pickle.load(f)
|
||||
|
||||
for key in bufs.keys():
|
||||
ptr = bufs[key].data.ctypes.data
|
||||
yuv_size = self.frame_buf_params[key][3]
|
||||
@@ -222,39 +127,31 @@ class ModelState(ModelStateBase):
|
||||
if cache_key not in self._blob_cache:
|
||||
self._blob_cache[cache_key] = Tensor.from_blob(ptr, (yuv_size,), dtype='uint8')
|
||||
self.full_frames[key] = self._blob_cache[cache_key]
|
||||
for key in bufs.keys():
|
||||
self.transforms_np[key][:,:] = transforms[key][:,:]
|
||||
|
||||
out = self.update_imgs(self.img_queues['img'], self.full_frames['img'], self.transforms['img'],
|
||||
self.img_queues['big_img'], self.full_frames['big_img'], self.transforms['big_img'])
|
||||
self.img_queues['img'], self.img_queues['big_img'] = out[0].realize(), out[2].realize()
|
||||
vision_inputs = {'img': out[1], 'big_img': out[3]}
|
||||
# Model decides when action is completed, so desire input is just a pulse triggered on rising edge
|
||||
inputs['desire_pulse'][0] = 0
|
||||
self.npy['desire'][:] = np.where(inputs['desire_pulse'] - self.prev_desire > .99, inputs['desire_pulse'], 0)
|
||||
self.prev_desire[:] = inputs['desire_pulse']
|
||||
self.npy['traffic_convention'][:] = inputs['traffic_convention']
|
||||
self.npy['tfm'][:,:] = transforms['img'][:,:]
|
||||
self.npy['big_tfm'][:,:] = transforms['big_img'][:,:]
|
||||
|
||||
if prepare_only:
|
||||
self.warp_enqueue(**self.input_queues, frame=self.full_frames['img'], big_frame=self.full_frames['big_img'])
|
||||
return None
|
||||
|
||||
self.vision_output = self.vision_run(**vision_inputs).contiguous().realize().uop.base.buffer.numpy().flatten()
|
||||
vision_outputs_dict = self.parser.parse_vision_outputs(self.slice_outputs(self.vision_output, self.vision_output_slices))
|
||||
vision_output, policy_output = self.run_policy(
|
||||
**self.input_queues, frame=self.full_frames['img'], big_frame=self.full_frames['big_img']
|
||||
)
|
||||
|
||||
self.full_input_queues.enqueue({'features_buffer': vision_outputs_dict['hidden_state'], 'desire_pulse': new_desire})
|
||||
for k in ['desire_pulse', 'features_buffer']:
|
||||
self.numpy_inputs[k][:] = self.full_input_queues.get(k)[k]
|
||||
self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention']
|
||||
vision_output = vision_output.numpy().flatten()
|
||||
policy_output = policy_output.numpy().flatten()
|
||||
vision_outputs_dict = self.parser.parse_vision_outputs(self.slice_outputs(vision_output, self.vision_output_slices))
|
||||
policy_outputs_dict = self.parser.parse_policy_outputs(self.slice_outputs(policy_output, self.policy_output_slices))
|
||||
combined_outputs_dict = {**vision_outputs_dict, **policy_outputs_dict}
|
||||
|
||||
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']
|
||||
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([vision_output.copy(), policy_output.copy()])
|
||||
return combined_outputs_dict
|
||||
|
||||
|
||||
@@ -266,11 +163,6 @@ def main(demo=False):
|
||||
# also need to move the aux USB interrupts for good timings
|
||||
config_realtime_process(7, 54)
|
||||
|
||||
st = time.monotonic()
|
||||
cloudlog.warning("loading model")
|
||||
model = ModelState()
|
||||
cloudlog.warning(f"models loaded in {time.monotonic() - st:.1f}s, modeld starting")
|
||||
|
||||
# visionipc clients
|
||||
while True:
|
||||
available_streams = VisionIpcClient.available_streams("camerad", block=False)
|
||||
@@ -294,6 +186,11 @@ def main(demo=False):
|
||||
if use_extra_client:
|
||||
cloudlog.warning(f"connected extra cam with buffer size: {vipc_client_extra.buffer_len} ({vipc_client_extra.width} x {vipc_client_extra.height})")
|
||||
|
||||
st = time.monotonic()
|
||||
cloudlog.warning("loading model")
|
||||
model = ModelState(vipc_client_main.width, vipc_client_main.height)
|
||||
cloudlog.warning(f"models loaded in {time.monotonic() - st:.1f}s, modeld starting")
|
||||
|
||||
# messaging
|
||||
pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry", "modelDataV2SP"])
|
||||
sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl", "liveDelay"])
|
||||
|
||||
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.
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)
|
||||
@@ -116,7 +110,7 @@ class Parser:
|
||||
return outs
|
||||
|
||||
def parse_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_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))
|
||||
if 'planplus' in outs:
|
||||
@@ -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
|
||||
|
||||
@@ -21,8 +21,6 @@
|
||||
#define CUTOFF_IL 400
|
||||
#define SATURATE_IL 1000
|
||||
|
||||
#define ALT_EXP_MADS_DISENGAGE_LATERAL_ON_BRAKE 2048
|
||||
|
||||
ExitHandler do_exit;
|
||||
|
||||
bool check_connected(Panda *panda) {
|
||||
@@ -34,15 +32,8 @@ bool check_connected(Panda *panda) {
|
||||
}
|
||||
|
||||
bool process_mads_heartbeat(SubMaster *sm) {
|
||||
const int &alt_exp = (*sm)["carParams"].getCarParams().getAlternativeExperience();
|
||||
const bool disengage_lateral_on_brake = (alt_exp & ALT_EXP_MADS_DISENGAGE_LATERAL_ON_BRAKE) != 0;
|
||||
|
||||
const auto &mads = (*sm)["selfdriveStateSP"].getSelfdriveStateSP().getMads();
|
||||
const bool heartbeat_type = disengage_lateral_on_brake ? mads.getActive() : mads.getEnabled();
|
||||
|
||||
const bool engaged = sm->allAliveAndValid({"selfdriveStateSP"}) && heartbeat_type;
|
||||
|
||||
return engaged;
|
||||
return sm->allAliveAndValid({"selfdriveStateSP"}) && mads.getEnabled();
|
||||
}
|
||||
|
||||
Panda *connect(std::string serial) {
|
||||
@@ -152,6 +143,8 @@ void fill_panda_state(cereal::PandaState::Builder &ps, cereal::PandaState::Panda
|
||||
ps.setSbu1Voltage(health.sbu1_voltage_mV / 1000.0f);
|
||||
ps.setSbu2Voltage(health.sbu2_voltage_mV / 1000.0f);
|
||||
ps.setSoundOutputLevel(health.sound_output_level_pkt);
|
||||
ps.setControlsAllowedLateral(health.controls_allowed_lateral_pkt);
|
||||
ps.setControlsAllowedLongitudinal(health.controls_allowed_longitudinal_pkt);
|
||||
}
|
||||
|
||||
void fill_panda_can_state(cereal::PandaState::PandaCanState::Builder &cs, const can_health_t &can_health) {
|
||||
@@ -306,7 +299,7 @@ void process_panda_state(Panda *panda, PubMaster *pm, bool engaged, bool engaged
|
||||
panda->send_heartbeat(engaged, engaged_mads);
|
||||
}
|
||||
|
||||
void process_peripheral_state(Panda *panda, PubMaster *pm, bool no_fan_control) {
|
||||
void process_peripheral_state(Panda *panda, PubMaster *pm, bool no_fan_control, bool is_onroad) {
|
||||
static Params params;
|
||||
static SubMaster sm({"deviceState", "driverCameraState"});
|
||||
|
||||
@@ -316,6 +309,8 @@ void process_peripheral_state(Panda *panda, PubMaster *pm, bool no_fan_control)
|
||||
static int prev_ir_pwr = 999;
|
||||
static uint32_t prev_frame_id = UINT32_MAX;
|
||||
static bool driver_view = false;
|
||||
static bool not_car = false;
|
||||
static bool not_car_checked = false;
|
||||
|
||||
// TODO: can we merge these?
|
||||
static FirstOrderFilter integ_lines_filter(0, 30.0, 0.05);
|
||||
@@ -361,6 +356,21 @@ void process_peripheral_state(Panda *panda, PubMaster *pm, bool no_fan_control)
|
||||
ir_pwr = 0;
|
||||
}
|
||||
|
||||
// turn off IR leds if body
|
||||
if (!not_car_checked && is_onroad) {
|
||||
std::string cp_bytes = params.get("CarParams");
|
||||
if (cp_bytes.size() > 0) {
|
||||
AlignedBuffer aligned_buf;
|
||||
capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
|
||||
cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
|
||||
not_car = CP.getNotCar();
|
||||
not_car_checked = true;
|
||||
}
|
||||
}
|
||||
if (not_car) {
|
||||
ir_pwr = 0;
|
||||
}
|
||||
|
||||
if (ir_pwr != prev_ir_pwr || sm.frame % 100 == 0) {
|
||||
int16_t ir_panda = util::map_val(ir_pwr, 0, 100, 0, MAX_IR_PANDA_VAL);
|
||||
panda->set_ir_pwr(ir_panda);
|
||||
@@ -380,7 +390,7 @@ void pandad_run(Panda *panda) {
|
||||
|
||||
Params params;
|
||||
RateKeeper rk("pandad", 100);
|
||||
SubMaster sm({"selfdriveState", "selfdriveStateSP", "carParams"});
|
||||
SubMaster sm({"selfdriveState", "selfdriveStateSP"});
|
||||
PubMaster pm({"can", "pandaStates", "peripheralState"});
|
||||
PandaSafety panda_safety(panda);
|
||||
bool engaged = false;
|
||||
@@ -394,7 +404,7 @@ void pandad_run(Panda *panda) {
|
||||
|
||||
// Process peripheral state at 20 Hz
|
||||
if (rk.frame() % 5 == 0) {
|
||||
process_peripheral_state(panda, &pm, no_fan_control);
|
||||
process_peripheral_state(panda, &pm, no_fan_control, is_onroad);
|
||||
}
|
||||
|
||||
// Process panda state at 10 Hz
|
||||
|
||||
@@ -230,7 +230,7 @@ class SelfdriveD(CruiseHelper):
|
||||
|
||||
if self.CP.notCar:
|
||||
# wait for everything to init first
|
||||
if self.sm.frame > int(5. / DT_CTRL) and self.initialized:
|
||||
if self.sm.frame > int(2. / DT_CTRL) and self.initialized:
|
||||
# body always wants to enable
|
||||
self.events.add(EventName.pcmEnable)
|
||||
|
||||
|
||||
@@ -76,7 +76,7 @@ def _diff_capnp_values(v1, v2, path, tolerance):
|
||||
for i in range(n):
|
||||
yield from _diff_capnp_values(v1[i], v2[i], path + (str(i),), tolerance)
|
||||
if n2 > n:
|
||||
yield 'add', dot, list(enumerate(v2[n:], n))
|
||||
yield 'add', dot, [(i, v2[i]) for i in range(n, n2)]
|
||||
if n1 > n:
|
||||
yield 'remove', dot, list(reversed([(i, v1[i]) for i in range(n, n1)]))
|
||||
|
||||
|
||||
@@ -49,6 +49,8 @@ def diff_format(diffs, ref, new, field) -> list[str]:
|
||||
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, [])]
|
||||
if not ref_ts or not new_wrapped:
|
||||
return format_numeric_diffs(diffs)
|
||||
return format_diff(diffs, ref_ts, new_wrapped, field)
|
||||
|
||||
|
||||
|
||||
@@ -7,13 +7,15 @@ from collections.abc import Callable
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
from openpilot.system.ui.widgets.layouts import HBoxLayout
|
||||
from openpilot.system.ui.widgets.icon_widget import IconWidget
|
||||
from openpilot.system.ui.widgets.label import UnifiedLabel
|
||||
from openpilot.system.ui.widgets.label import UnifiedLabel, gui_label
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state
|
||||
from openpilot.system.version import RELEASE_BRANCHES
|
||||
|
||||
HEAD_BUTTON_FONT_SIZE = 40
|
||||
HOME_PADDING = 8
|
||||
SETTINGS_ZONE_WIDTH = 280
|
||||
ALERTS_ZONE_WIDTH = 180
|
||||
|
||||
NetworkType = log.DeviceState.NetworkType
|
||||
|
||||
@@ -28,6 +30,37 @@ NETWORK_TYPES = {
|
||||
}
|
||||
|
||||
|
||||
class AlertsPill(Widget):
|
||||
ICON_OFFSET = 12
|
||||
COUNT_OFFSET = 40
|
||||
|
||||
def __init__(self):
|
||||
super().__init__()
|
||||
self.set_rect(rl.Rectangle(0, 0, 104, 52))
|
||||
|
||||
self._pill_bg_txt = gui_app.texture("icons_mici/alerts_pill.png", 104, 52)
|
||||
self._warning_txt = gui_app.texture("icons_mici/offroad_alerts/red_warning.png", 36, 36)
|
||||
self._alert_count_callback: Callable[[], int] | None = None
|
||||
|
||||
def set_alert_count_callback(self, callback: Callable[[], int] | None):
|
||||
self._alert_count_callback = callback
|
||||
|
||||
def _render(self, _):
|
||||
alert_count = self._alert_count_callback() if self._alert_count_callback else 0
|
||||
if alert_count > 0:
|
||||
pill_w, pill_h = self._pill_bg_txt.width, self._pill_bg_txt.height
|
||||
rl.draw_texture_ex(self._pill_bg_txt, rl.Vector2(self.rect.x, self.rect.y), 0.0, 1.0, rl.WHITE)
|
||||
|
||||
warn_x = self.rect.x + self.ICON_OFFSET
|
||||
warn_y = self.rect.y + (pill_h - self._warning_txt.height) / 2
|
||||
rl.draw_texture_ex(self._warning_txt, rl.Vector2(warn_x, warn_y), 0.0, 1.0, rl.WHITE)
|
||||
|
||||
count_rect = rl.Rectangle(self.rect.x + self.COUNT_OFFSET, self.rect.y, pill_w - self.COUNT_OFFSET, pill_h)
|
||||
gui_label(count_rect, str(alert_count), font_size=36,
|
||||
alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
|
||||
alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
|
||||
|
||||
|
||||
class NetworkIcon(Widget):
|
||||
def __init__(self):
|
||||
super().__init__()
|
||||
@@ -84,6 +117,8 @@ class MiciHomeLayout(Widget):
|
||||
def __init__(self):
|
||||
super().__init__()
|
||||
self._on_settings_click: Callable | None = None
|
||||
self._on_alerts_click: Callable | None = None
|
||||
self._alert_count_callback: Callable[[], int] | None = None
|
||||
|
||||
self._last_refresh = 0
|
||||
self._mouse_down_t: None | float = None
|
||||
@@ -96,6 +131,8 @@ class MiciHomeLayout(Widget):
|
||||
self._experimental_icon = IconWidget("icons_mici/experimental_mode.png", (48, 48))
|
||||
self._mic_icon = IconWidget("icons_mici/microphone.png", (32, 46))
|
||||
|
||||
self._alerts_pill = AlertsPill()
|
||||
|
||||
self._status_bar_layout = HBoxLayout([
|
||||
IconWidget("icons_mici/settings.png", (48, 48), opacity=0.9),
|
||||
NetworkIcon(),
|
||||
@@ -141,13 +178,23 @@ class MiciHomeLayout(Widget):
|
||||
self._last_refresh = rl.get_time()
|
||||
self._update_params()
|
||||
|
||||
def set_callbacks(self, on_settings: Callable | None = None):
|
||||
def set_callbacks(self, on_settings: Callable | None = None, on_alerts: Callable | None = None,
|
||||
alert_count_callback: Callable[[], int] | None = None):
|
||||
self._on_settings_click = on_settings
|
||||
self._on_alerts_click = on_alerts
|
||||
self._alert_count_callback = alert_count_callback
|
||||
self._alerts_pill.set_alert_count_callback(alert_count_callback)
|
||||
|
||||
def _handle_mouse_release(self, mouse_pos: MousePos):
|
||||
if not self._did_long_press:
|
||||
if self._on_settings_click:
|
||||
self._on_settings_click()
|
||||
relative_x = mouse_pos.x - self.rect.x
|
||||
has_alerts = self._alert_count_callback and self._alert_count_callback() > 0
|
||||
if relative_x < SETTINGS_ZONE_WIDTH:
|
||||
if self._on_settings_click:
|
||||
self._on_settings_click()
|
||||
elif has_alerts and relative_x > self.rect.width - ALERTS_ZONE_WIDTH:
|
||||
if self._on_alerts_click:
|
||||
self._on_alerts_click()
|
||||
self._did_long_press = False
|
||||
|
||||
def _get_version_text(self) -> tuple[str, str, str, str] | None:
|
||||
@@ -203,3 +250,8 @@ class MiciHomeLayout(Widget):
|
||||
|
||||
footer_rect = rl.Rectangle(self.rect.x + HOME_PADDING, self.rect.y + self.rect.height - 48, self.rect.width - HOME_PADDING, 48)
|
||||
self._status_bar_layout.render(footer_rect)
|
||||
|
||||
# TODO: add alignment to hboxlayout and add to there
|
||||
self._alerts_pill.set_position(self.rect.x + self.rect.width - self._alerts_pill.rect.width - HOME_PADDING,
|
||||
self.rect.y + self.rect.height - self._alerts_pill.rect.height)
|
||||
self._alerts_pill.render()
|
||||
|
||||
@@ -13,7 +13,6 @@ from openpilot.system.ui.lib.application import gui_app
|
||||
if gui_app.sunnypilot_ui():
|
||||
from openpilot.selfdrive.ui.sunnypilot.mici.layouts.settings import SettingsLayoutSP as SettingsLayout
|
||||
|
||||
|
||||
ONROAD_DELAY = 2.5 # seconds
|
||||
|
||||
|
||||
@@ -61,7 +60,11 @@ class MiciMainLayout(Scroller):
|
||||
gui_app.push_widget(self._onboarding_window)
|
||||
|
||||
def _setup_callbacks(self):
|
||||
self._home_layout.set_callbacks(on_settings=lambda: gui_app.push_widget(self._settings_layout))
|
||||
self._home_layout.set_callbacks(
|
||||
on_settings=lambda: gui_app.push_widget(self._settings_layout),
|
||||
on_alerts=lambda: self._scroll_to(self._alerts_layout),
|
||||
alert_count_callback=self._alerts_layout.active_alerts,
|
||||
)
|
||||
self._onroad_layout.set_click_callback(lambda: self._scroll_to(self._home_layout))
|
||||
device.add_interactive_timeout_callback(self._on_interactive_timeout)
|
||||
|
||||
@@ -69,6 +72,11 @@ class MiciMainLayout(Scroller):
|
||||
layout_x = int(layout.rect.x)
|
||||
self._scroller.scroll_to(layout_x, smooth=True)
|
||||
|
||||
def _update_state(self):
|
||||
super()._update_state()
|
||||
# TODO: Hack to run alert updates while not in view. Add a nav stack tick?
|
||||
self._alerts_layout._update_state()
|
||||
|
||||
def _render(self, _):
|
||||
if not self._setup:
|
||||
if self._alerts_layout.active_alerts() > 0:
|
||||
|
||||
@@ -178,6 +178,8 @@ class AugmentedRoadView(CameraView):
|
||||
# update offroad label
|
||||
if ui_state.panda_type == log.PandaState.PandaType.unknown:
|
||||
self._offroad_label.set_text("system booting")
|
||||
elif ui_state.ignition and not ui_state.started:
|
||||
self._offroad_label.set_text("openpilot can't start\ncheck alerts")
|
||||
else:
|
||||
self._offroad_label.set_text("start the car to\nuse sunnypilot")
|
||||
|
||||
|
||||
@@ -6,11 +6,13 @@ from openpilot.common.filter_simple import FirstOrderFilter
|
||||
from openpilot.system.ui.lib.application import gui_app
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state
|
||||
from openpilot.selfdrive.monitoring.helpers import face_orientation_from_net
|
||||
|
||||
AlertSize = log.SelfdriveState.AlertSize
|
||||
|
||||
DEBUG = False
|
||||
|
||||
# TODO: Only left for DM preview, remove
|
||||
LOOKING_CENTER_THRESHOLD_UPPER = math.radians(6)
|
||||
LOOKING_CENTER_THRESHOLD_LOWER = math.radians(3)
|
||||
|
||||
@@ -59,8 +61,6 @@ class DriverStateRenderer(Widget):
|
||||
|
||||
self._dm_person = gui_app.texture("icons_mici/onroad/driver_monitoring/dm_person.png", cone_and_person_size, cone_and_person_size)
|
||||
self._dm_cone = gui_app.texture("icons_mici/onroad/driver_monitoring/dm_cone.png", cone_and_person_size, cone_and_person_size)
|
||||
center_size = round(36 / self.BASE_SIZE * self._rect.width)
|
||||
self._dm_center = gui_app.texture("icons_mici/onroad/driver_monitoring/dm_center.png", center_size, center_size)
|
||||
self._dm_background = gui_app.texture("icons_mici/onroad/driver_monitoring/dm_background.png", int(self._rect.width), int(self._rect.height))
|
||||
|
||||
def set_should_draw(self, should_draw: bool):
|
||||
@@ -113,16 +113,7 @@ class DriverStateRenderer(Widget):
|
||||
dest_rect,
|
||||
rl.Vector2(dest_rect.width / 2, dest_rect.height / 2),
|
||||
self._rotation_filter.x - 90,
|
||||
rl.Color(255, 255, 255, int(255 * self._fade_filter.x * (1 - self._looking_center_filter.x))),
|
||||
)
|
||||
|
||||
rl.draw_texture_ex(
|
||||
self._dm_center,
|
||||
(int(self._rect.x + (self._rect.width - self._dm_center.width) / 2),
|
||||
int(self._rect.y + (self._rect.height - self._dm_center.height) / 2)),
|
||||
0,
|
||||
1.0,
|
||||
rl.Color(255, 255, 255, int(255 * self._fade_filter.x * self._looking_center_filter.x)),
|
||||
rl.Color(255, 255, 255, int(255 * self._fade_filter.x)),
|
||||
)
|
||||
|
||||
else:
|
||||
@@ -174,11 +165,22 @@ class DriverStateRenderer(Widget):
|
||||
# Get monitoring state
|
||||
driver_data = self.get_driver_data()
|
||||
driver_orient = driver_data.faceOrientation
|
||||
driver_position = driver_data.facePosition
|
||||
|
||||
if len(driver_orient) != 3:
|
||||
return
|
||||
|
||||
pitch, yaw, roll = driver_orient
|
||||
# Calibrate orientation so looking straight ahead at road (instead of at device) is (0, 0, 0)
|
||||
sm = ui_state.sm
|
||||
if sm.valid['liveCalibration'] and len(sm['liveCalibration'].rpyCalib) == 3:
|
||||
cal_rpy = sm['liveCalibration'].rpyCalib
|
||||
else:
|
||||
cal_rpy = [0.0, 0.0, 0.0]
|
||||
|
||||
_, pitch, yaw = face_orientation_from_net(driver_orient, driver_position, cal_rpy)
|
||||
pitch += math.radians(6) # calib or DM pose is not accurate, add a fake upward pitch to bias forward
|
||||
yaw = -yaw # undo sign flip in face_orientation_from_net to match UI convention
|
||||
|
||||
pitch = self._pitch_filter.update(pitch)
|
||||
yaw = self._yaw_filter.update(yaw)
|
||||
|
||||
@@ -192,7 +194,6 @@ class DriverStateRenderer(Widget):
|
||||
if DEBUG:
|
||||
pitchd = math.degrees(pitch)
|
||||
yawd = math.degrees(yaw)
|
||||
rolld = math.degrees(roll)
|
||||
|
||||
rl.draw_line_ex((0, 100), (200, 100), 3, rl.RED)
|
||||
rl.draw_line_ex((0, 120), (200, 120), 3, rl.RED)
|
||||
@@ -200,13 +201,11 @@ class DriverStateRenderer(Widget):
|
||||
|
||||
pitch_x = 100 + pitchd
|
||||
yaw_x = 100 + yawd
|
||||
roll_x = 100 + rolld
|
||||
rl.draw_circle(int(pitch_x), 100, 5, rl.GREEN)
|
||||
rl.draw_circle(int(yaw_x), 120, 5, rl.GREEN)
|
||||
rl.draw_circle(int(roll_x), 140, 5, rl.GREEN)
|
||||
|
||||
# filter head rotation, handling wrap-around
|
||||
rotation = math.degrees(math.atan2(pitch, yaw))
|
||||
rotation = math.degrees(math.atan2(pitch * 2, yaw)) # reduce yaw sensitivity
|
||||
angle_diff = rotation - self._rotation_filter.x
|
||||
angle_diff = ((angle_diff + 180) % 360) - 180
|
||||
self._rotation_filter.update(self._rotation_filter.x + angle_diff)
|
||||
|
||||
@@ -6,12 +6,10 @@ See the LICENSE.md file in the root directory for more details.
|
||||
"""
|
||||
from enum import IntEnum
|
||||
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.system.ui.sunnypilot.widgets.option_control import OptionControlSP
|
||||
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
|
||||
from openpilot.sunnypilot.system.params_migration import ONROAD_BRIGHTNESS_TIMER_VALUES
|
||||
|
||||
|
||||
@@ -25,7 +23,6 @@ class DisplayLayout(Widget):
|
||||
def __init__(self):
|
||||
super().__init__()
|
||||
|
||||
self._params = Params()
|
||||
items = self._initialize_items()
|
||||
self._scroller = Scroller(items, line_separator=True, spacing=0)
|
||||
|
||||
@@ -64,27 +61,10 @@ 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
|
||||
|
||||
@@ -104,21 +84,9 @@ class DisplayLayout(Widget):
|
||||
def _update_state(self):
|
||||
super()._update_state()
|
||||
|
||||
for _item in self._scroller._items:
|
||||
if isinstance(_item.action_item, ToggleActionSP) and _item.action_item.toggle.param_key is not None:
|
||||
_item.action_item.set_state(self._params.get_bool(_item.action_item.toggle.param_key))
|
||||
elif isinstance(_item.action_item, OptionControlSP) and _item.action_item.param_key is not None:
|
||||
raw_value = self._params.get(_item.action_item.param_key, return_default=True)
|
||||
if _item.action_item.value_map:
|
||||
reverse_map = {v: k for k, v in _item.action_item.value_map.items()}
|
||||
raw_value = reverse_map.get(raw_value, _item.action_item.current_value)
|
||||
_item.action_item.set_value(raw_value)
|
||||
|
||||
brightness_val = self._params.get("OnroadScreenOffBrightness", return_default=True)
|
||||
brightness_val = self._onroad_brightness.action_item.current_value
|
||||
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)
|
||||
|
||||
|
||||
@@ -41,7 +41,7 @@ class ModelsLayout(Widget):
|
||||
|
||||
self._initialize_items()
|
||||
|
||||
self.clear_cache_item.action_item.set_value(f"{self._calculate_cache_size():.2f} MB")
|
||||
self.clear_cache_item.action_item.set_value(f"{self.calculate_cache_size():.2f} MB")
|
||||
for ctrl, key in [(self.lane_turn_value_control, "LaneTurnValue"), (self.delay_control, "LagdToggleDelay")]:
|
||||
ctrl.action_item.set_value(int(float(ui_state.params.get(key, return_default=True)) * 100))
|
||||
|
||||
@@ -112,7 +112,7 @@ class ModelsLayout(Widget):
|
||||
self.model_manager.selectedBundle.status == custom.ModelManagerSP.DownloadStatus.downloading)
|
||||
|
||||
@staticmethod
|
||||
def _calculate_cache_size():
|
||||
def calculate_cache_size():
|
||||
cache_size = 0.0
|
||||
if os.path.exists(CUSTOM_MODEL_PATH):
|
||||
cache_size = sum(os.path.getsize(os.path.join(CUSTOM_MODEL_PATH, file)) for file in os.listdir(CUSTOM_MODEL_PATH)) / (1024**2)
|
||||
@@ -122,7 +122,7 @@ class ModelsLayout(Widget):
|
||||
def _callback(response):
|
||||
if response == DialogResult.CONFIRM:
|
||||
ui_state.params.put_bool("ModelManager_ClearCache", True)
|
||||
self.clear_cache_item.action_item.set_value(f"{self._calculate_cache_size():.2f} MB")
|
||||
self.clear_cache_item.action_item.set_value(f"{self.calculate_cache_size():.2f} MB")
|
||||
|
||||
dialog = ConfirmDialog(tr("This will delete ALL downloaded models from the cache except the currently active model. Are you sure?"),
|
||||
tr("Clear Cache"), callback=_callback)
|
||||
@@ -155,7 +155,7 @@ class ModelsLayout(Widget):
|
||||
|
||||
if (current_time := time.monotonic()) - self.last_cache_calc_time > 0.5:
|
||||
self.last_cache_calc_time = current_time
|
||||
self.clear_cache_item.action_item.set_value(f"{self._calculate_cache_size():.2f} MB")
|
||||
self.clear_cache_item.action_item.set_value(f"{self.calculate_cache_size():.2f} MB")
|
||||
|
||||
if self.download_status == custom.ModelManagerSP.DownloadStatus.downloading:
|
||||
device._reset_interactive_timeout()
|
||||
|
||||
@@ -5,13 +5,45 @@ This file is part of sunnypilot and is licensed under the MIT License.
|
||||
See the LICENSE.md file in the root directory for more details.
|
||||
"""
|
||||
from collections.abc import Callable
|
||||
import pyray as rl
|
||||
|
||||
from cereal import custom
|
||||
from openpilot.selfdrive.ui.mici.widgets.button import BigButton
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state
|
||||
from openpilot.selfdrive.ui.sunnypilot.layouts.settings.models import ModelsLayout
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state, device
|
||||
from openpilot.system.ui.lib.application import FontWeight, gui_app
|
||||
from openpilot.system.ui.lib.multilang import tr
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
from openpilot.system.ui.widgets.label import UnifiedLabel
|
||||
from openpilot.system.ui.widgets.scroller import NavScroller
|
||||
|
||||
class CurrentModelInfo(Widget):
|
||||
def __init__(self):
|
||||
super().__init__()
|
||||
|
||||
self.set_rect(rl.Rectangle(0, 0, 360, 180))
|
||||
|
||||
header_color = rl.Color(255, 255, 255, int(255 * 0.9))
|
||||
subheader_color = rl.Color(255, 255, 255, int(255 * 0.9 * 0.65))
|
||||
max_width = int(self._rect.width - 20)
|
||||
self.current_model_header = UnifiedLabel(tr("active model"), 48, max_width=max_width, text_color=header_color, font_weight=FontWeight.DISPLAY)
|
||||
self.current_model_text = UnifiedLabel(tr("default model"), 32, max_width=max_width, text_color=subheader_color, font_weight=FontWeight.ROMAN, scroll=True)
|
||||
|
||||
self.info_header = UnifiedLabel("cache size", 48, max_width=max_width, text_color=header_color, font_weight=FontWeight.DISPLAY)
|
||||
self.info_text = UnifiedLabel("0 mb", 32, max_width=max_width, text_color=subheader_color, font_weight=FontWeight.ROMAN)
|
||||
|
||||
def _render(self, _):
|
||||
self.current_model_header.set_position(self._rect.x + 20, self._rect.y - 10)
|
||||
self.current_model_header.render()
|
||||
|
||||
self.current_model_text.set_position(self._rect.x + 20, self._rect.y + 68 - 25)
|
||||
self.current_model_text.render()
|
||||
|
||||
self.info_header.set_position(self._rect.x + 20, self._rect.y + 114 - 30)
|
||||
self.info_header.render()
|
||||
|
||||
self.info_text.set_position(self._rect.x + 20, self._rect.y + 161 - 25)
|
||||
self.info_text.render()
|
||||
|
||||
class ModelsLayoutMici(NavScroller):
|
||||
def __init__(self, back_callback: Callable):
|
||||
@@ -20,25 +52,35 @@ class ModelsLayoutMici(NavScroller):
|
||||
self.original_back_callback = back_callback
|
||||
self.focused_widget = None
|
||||
|
||||
self.current_model_btn = BigButton(tr("current model"))
|
||||
self.current_model_btn.set_click_callback(self._show_folders)
|
||||
self.current_model_info = CurrentModelInfo()
|
||||
self._download_progress = "."
|
||||
self._download_frame = 0
|
||||
self._was_downloading = False
|
||||
|
||||
self.select_model_btn = BigButton(tr("select model"))
|
||||
self.select_model_btn.set_click_callback(self._show_folders)
|
||||
|
||||
self.cancel_download_btn = BigButton(tr("cancel download"))
|
||||
self.cancel_download_btn.set_click_callback(lambda: ui_state.params.remove("ModelManager_DownloadIndex"))
|
||||
|
||||
self.main_items = [self.current_model_btn, self.cancel_download_btn]
|
||||
self.main_items = [self.current_model_info, self.select_model_btn, self.cancel_download_btn]
|
||||
self._scroller.add_widgets(self.main_items)
|
||||
|
||||
@property
|
||||
def model_manager(self):
|
||||
return ui_state.sm["modelManagerSP"]
|
||||
|
||||
def _get_grouped_bundles(self):
|
||||
def _get_grouped_bundles(self, favorites = None):
|
||||
bundles = self.model_manager.availableBundles
|
||||
folders = {}
|
||||
for bundle in bundles:
|
||||
folder = next((override.value for override in bundle.overrides if override.key == "folder"), "")
|
||||
folders.setdefault(folder, []).append(bundle)
|
||||
|
||||
if favorites:
|
||||
for fav_bundle in [bundle for bundle in bundles if bundle.ref in favorites]:
|
||||
folders.setdefault("favorites", []).append(fav_bundle)
|
||||
|
||||
return folders
|
||||
|
||||
def _show_selection_view(self, items, back_callback: Callable):
|
||||
@@ -49,18 +91,25 @@ class ModelsLayoutMici(NavScroller):
|
||||
self.set_back_callback(back_callback)
|
||||
|
||||
def _show_folders(self):
|
||||
self.focused_widget = self.current_model_btn
|
||||
folders = self._get_grouped_bundles()
|
||||
self.focused_widget = self.select_model_btn
|
||||
|
||||
favs = ui_state.params.get("ModelManager_Favs")
|
||||
favorites = set(favs.split(';')) if favs else set()
|
||||
|
||||
folders = self._get_grouped_bundles(favorites)
|
||||
folder_buttons = []
|
||||
default_btn = BigButton(tr("default model"))
|
||||
default_btn.set_click_callback(self._select_default)
|
||||
folder_buttons.append(default_btn)
|
||||
|
||||
for folder in sorted(folders.keys(), key=lambda f: max((bundle.index for bundle in folders[f]), default=-1), reverse=True):
|
||||
if folder.lower() in ["release models", "master models"]:
|
||||
if folder.lower() in ["release models", "master models", "favorites"]:
|
||||
btn = BigButton(folder.lower())
|
||||
btn.set_click_callback(lambda f=folder: self._select_folder(f))
|
||||
folder_buttons.append(btn)
|
||||
if folder.lower() == "favorites":
|
||||
folder_buttons.insert(0, btn)
|
||||
else:
|
||||
folder_buttons.append(btn)
|
||||
self._show_selection_view(folder_buttons, self._reset_main_view)
|
||||
|
||||
def _select_model(self, bundle):
|
||||
@@ -72,7 +121,10 @@ class ModelsLayoutMici(NavScroller):
|
||||
self._reset_main_view()
|
||||
|
||||
def _select_folder(self, folder_name):
|
||||
folders = self._get_grouped_bundles()
|
||||
favs = ui_state.params.get("ModelManager_Favs")
|
||||
favorites = set(favs.split(';')) if favs else set()
|
||||
|
||||
folders = self._get_grouped_bundles(favorites)
|
||||
bundles = sorted(folders.get(folder_name, []), key=lambda b: b.index, reverse=True)
|
||||
|
||||
btns = []
|
||||
@@ -86,29 +138,62 @@ class ModelsLayoutMici(NavScroller):
|
||||
def _reset_main_view(self):
|
||||
self._scroller._items = self.main_items
|
||||
self.set_back_callback(self.original_back_callback)
|
||||
if self.focused_widget and self.focused_widget in self.main_items:
|
||||
x = self._scroller._pad
|
||||
for item in self.main_items:
|
||||
if not item.is_visible:
|
||||
continue
|
||||
if item == self.focused_widget:
|
||||
break
|
||||
x += item.rect.width + self._scroller._spacing
|
||||
self._scroller.scroll_panel.set_offset(0)
|
||||
self._scroller.scroll_to(x)
|
||||
self.focused_widget = None
|
||||
else:
|
||||
self._scroller.scroll_panel.set_offset(0)
|
||||
self._scroller.scroll_panel.set_offset(0)
|
||||
self._scroller.scroll_to(0)
|
||||
|
||||
def hide_event(self):
|
||||
super().hide_event()
|
||||
if self._was_downloading:
|
||||
device.set_override_interactive_timeout(None)
|
||||
self._was_downloading = False
|
||||
|
||||
def _update_state(self):
|
||||
super()._update_state()
|
||||
|
||||
self.select_model_btn.set_enabled(ui_state.is_offroad())
|
||||
self.cancel_download_btn.set_visible(False)
|
||||
self.current_model_info.current_model_header._shimmer = False
|
||||
self.current_model_info.info_header._shimmer = False
|
||||
|
||||
manager = self.model_manager
|
||||
if manager.selectedBundle and manager.selectedBundle.status == custom.ModelManagerSP.DownloadStatus.downloading:
|
||||
self.current_model_btn.set_value("downloading...")
|
||||
self._download_frame += 1
|
||||
should_update = self._download_frame % (gui_app.target_fps / 2) == 0
|
||||
if should_update:
|
||||
self._download_progress = self._download_progress + "." if len(self._download_progress) < 3 else ""
|
||||
|
||||
is_downloading = (manager.selectedBundle
|
||||
and manager.selectedBundle.status == custom.ModelManagerSP.DownloadStatus.downloading)
|
||||
if self._was_downloading and not is_downloading:
|
||||
device.set_override_interactive_timeout(None)
|
||||
self._was_downloading = is_downloading
|
||||
|
||||
self.current_model_info.current_model_header.set_text(tr("active model"))
|
||||
self.current_model_info.current_model_text.set_text(manager.activeBundle.displayName.lower() if manager.activeBundle.index > 0 else tr("default model"))
|
||||
self.current_model_info.info_header.set_text(tr("cache size"))
|
||||
self.current_model_info.info_text.set_text(f"{ModelsLayout.calculate_cache_size():.2f} MB")
|
||||
|
||||
if manager.selectedBundle and manager.selectedBundle.status == custom.ModelManagerSP.DownloadStatus.failed:
|
||||
self.current_model_info.info_header.set_text(tr("error") + self._download_progress)
|
||||
self.current_model_info.info_text.set_text(tr("download failed"))
|
||||
|
||||
elif manager.selectedBundle and manager.selectedBundle.status == custom.ModelManagerSP.DownloadStatus.downloading:
|
||||
self.cancel_download_btn.set_visible(True)
|
||||
else:
|
||||
self.current_model_btn.set_value(manager.activeBundle.internalName.lower() if manager.activeBundle else tr("default model"))
|
||||
self.cancel_download_btn.set_visible(False)
|
||||
self.current_model_btn.set_enabled(ui_state.is_offroad())
|
||||
self.current_model_btn.set_text(tr("current model"))
|
||||
device.set_override_interactive_timeout(5)
|
||||
progress = 0.0
|
||||
count = 0
|
||||
for model in manager.selectedBundle.models:
|
||||
count += 1
|
||||
p = model.artifact.downloadProgress
|
||||
if p.status == custom.ModelManagerSP.DownloadStatus.downloading:
|
||||
progress += p.progress
|
||||
elif p.status in (custom.ModelManagerSP.DownloadStatus.downloaded,
|
||||
custom.ModelManagerSP.DownloadStatus.cached):
|
||||
progress += 100.0
|
||||
|
||||
self.current_model_info.current_model_header.set_text(tr("downloading"))
|
||||
self.current_model_info.current_model_header._shimmer = True
|
||||
self.current_model_info.current_model_text.set_text(f"{manager.selectedBundle.internalName.lower()}")
|
||||
self.current_model_info.info_header.set_text(tr("progress") + self._download_progress)
|
||||
self.current_model_info.info_header._shimmer = True
|
||||
self.current_model_info.info_text.set_text(f"{progress/count:.2f}%")
|
||||
|
||||
|
||||
@@ -5,18 +5,32 @@ This file is part of sunnypilot and is licensed under the MIT License.
|
||||
See the LICENSE.md file in the root directory for more details.
|
||||
"""
|
||||
from openpilot.selfdrive.ui.mici.layouts.settings import settings as OP
|
||||
from openpilot.selfdrive.ui.mici.widgets.button import BigButton
|
||||
from openpilot.selfdrive.ui.mici.layouts.settings.device import DeviceLayoutMici
|
||||
from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigCircleButton
|
||||
from openpilot.selfdrive.ui.mici.widgets.dialog import BigConfirmationDialog, BigDialog
|
||||
from openpilot.selfdrive.ui.sunnypilot.mici.layouts.sunnylink import SunnylinkLayoutMici
|
||||
from openpilot.selfdrive.ui.sunnypilot.mici.layouts.models import ModelsLayoutMici
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state
|
||||
from openpilot.system.ui.lib.application import gui_app
|
||||
from openpilot.system.ui.lib.multilang import tr
|
||||
|
||||
ICON_SIZE = 70
|
||||
BIG_ICON_SIZE = 110
|
||||
|
||||
|
||||
class SettingsLayoutSP(OP.SettingsLayout):
|
||||
def __init__(self):
|
||||
OP.SettingsLayout.__init__(self)
|
||||
|
||||
device_panel = DeviceLayoutMici()
|
||||
self._scroller._items[2].set_click_callback(lambda: gui_app.push_widget(device_panel))
|
||||
|
||||
self.icon_offroad_enable = gui_app.texture("../../sunnypilot/selfdrive/assets/icons_mici/always_offroad.png", BIG_ICON_SIZE,
|
||||
BIG_ICON_SIZE)
|
||||
self.icon_offroad_disable = gui_app.texture("../../sunnypilot/selfdrive/assets/icons_mici/disable_offroad.png", BIG_ICON_SIZE,
|
||||
BIG_ICON_SIZE)
|
||||
self.icon_offroad_slider = gui_app.texture("icons_mici/settings/device/lkas.png", BIG_ICON_SIZE, BIG_ICON_SIZE)
|
||||
|
||||
sunnylink_panel = SunnylinkLayoutMici(back_callback=gui_app.pop_widget)
|
||||
sunnylink_btn = BigButton("sunnylink", "", gui_app.texture("icons_mici/settings/developer/ssh.png", ICON_SIZE, ICON_SIZE))
|
||||
sunnylink_btn.set_click_callback(lambda: gui_app.push_widget(sunnylink_panel))
|
||||
@@ -25,10 +39,53 @@ class SettingsLayoutSP(OP.SettingsLayout):
|
||||
models_btn = BigButton("models", "", gui_app.texture("../../sunnypilot/selfdrive/assets/offroad/icon_models.png", ICON_SIZE, ICON_SIZE))
|
||||
models_btn.set_click_callback(lambda: gui_app.push_widget(models_panel))
|
||||
|
||||
# onroad: enable button sits at the front (left of toggles)
|
||||
self._enable_offroad_btn_onroad = BigCircleButton(self.icon_offroad_enable, red=True)
|
||||
self._enable_offroad_btn_onroad.set_click_callback(lambda: self._handle_always_offroad(True))
|
||||
self._enable_offroad_btn_onroad.set_visible(lambda: ui_state.started and not ui_state.always_offroad)
|
||||
|
||||
# offroad: enable button sits at the end (right of developer)
|
||||
self._enable_offroad_btn_offroad = BigCircleButton(self.icon_offroad_enable, red=True)
|
||||
self._enable_offroad_btn_offroad.set_click_callback(lambda: self._handle_always_offroad(True))
|
||||
self._enable_offroad_btn_offroad.set_visible(lambda: not ui_state.started and not ui_state.always_offroad)
|
||||
|
||||
self._disable_offroad_btn = BigCircleButton(self.icon_offroad_disable, red=False)
|
||||
self._disable_offroad_btn.set_click_callback(lambda: self._handle_always_offroad(False))
|
||||
self._disable_offroad_btn.set_visible(lambda: ui_state.always_offroad)
|
||||
|
||||
items = self._scroller._items.copy()
|
||||
|
||||
items.insert(1, sunnylink_btn)
|
||||
items.insert(2, models_btn)
|
||||
|
||||
# front slots (only one ever visible at a time): exit-always-offroad, then enable-onroad
|
||||
items.insert(0, self._enable_offroad_btn_onroad)
|
||||
items.insert(0, self._disable_offroad_btn)
|
||||
# end slot: enable-offroad (right of developer)
|
||||
items.append(self._enable_offroad_btn_offroad)
|
||||
|
||||
self._scroller._items.clear()
|
||||
for item in items:
|
||||
self._scroller.add_widget(item)
|
||||
|
||||
def _update_state(self):
|
||||
super()._update_state()
|
||||
|
||||
def _handle_always_offroad(self, enable: bool):
|
||||
|
||||
def _set_offroad_status(status: bool):
|
||||
if not ui_state.engaged:
|
||||
ui_state.params.put_bool("OffroadMode", status)
|
||||
ui_state.always_offroad = status
|
||||
|
||||
if not enable:
|
||||
dlg = BigConfirmationDialog(tr("slide to exit always offroad"), self.icon_offroad_slider, red=False,
|
||||
confirm_callback=lambda: _set_offroad_status(False))
|
||||
else:
|
||||
if ui_state.engaged:
|
||||
gui_app.push_widget(BigDialog(tr("disengage to enable always offroad"), "", ))
|
||||
return
|
||||
|
||||
dlg = BigConfirmationDialog(tr("slide to force offroad"), self.icon_offroad_slider, red=True,
|
||||
confirm_callback=lambda: _set_offroad_status(True))
|
||||
gui_app.push_widget(dlg)
|
||||
|
||||
@@ -4,6 +4,8 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
|
||||
This file is part of sunnypilot and is licensed under the MIT License.
|
||||
See the LICENSE.md file in the root directory for more details.
|
||||
"""
|
||||
import pyray as rl
|
||||
|
||||
from collections.abc import Callable
|
||||
|
||||
from cereal import custom
|
||||
@@ -13,11 +15,43 @@ from openpilot.selfdrive.ui.sunnypilot.mici.layouts.onboarding import SunnylinkC
|
||||
from openpilot.selfdrive.ui.sunnypilot.mici.widgets.sunnylink_pairing_dialog import SunnylinkPairingDialog
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state
|
||||
from openpilot.sunnypilot.sunnylink.api import UNREGISTERED_SUNNYLINK_DONGLE_ID
|
||||
from openpilot.system.ui.lib.application import gui_app, MousePos
|
||||
from openpilot.system.ui.lib.application import gui_app, MousePos, FontWeight
|
||||
from openpilot.system.ui.lib.multilang import tr
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
from openpilot.system.ui.widgets.label import UnifiedLabel
|
||||
from openpilot.system.ui.widgets.scroller import NavScroller
|
||||
from openpilot.system.version import sunnylink_consent_version, sunnylink_consent_declined
|
||||
|
||||
class SunnylinkInfo(Widget):
|
||||
def __init__(self):
|
||||
super().__init__()
|
||||
|
||||
self.set_rect(rl.Rectangle(0, 0, 360, 180))
|
||||
|
||||
header_color = rl.Color(255, 255, 255, int(255 * 0.9))
|
||||
subheader_color = rl.Color(255, 255, 255, int(255 * 0.9 * 0.65))
|
||||
max_width = int(self._rect.width - 20)
|
||||
self.device_id_header = UnifiedLabel(tr("device id"), 48, max_width=max_width, text_color=header_color,
|
||||
font_weight=FontWeight.DISPLAY, shimmer=True)
|
||||
self.device_id_text = UnifiedLabel(UNREGISTERED_SUNNYLINK_DONGLE_ID, 32, max_width=max_width, text_color=subheader_color,
|
||||
font_weight=FontWeight.ROMAN, scroll=True)
|
||||
|
||||
self.sponsor_header = UnifiedLabel(tr("sponsor tier"), 48, max_width=max_width, text_color=header_color,
|
||||
font_weight=FontWeight.DISPLAY, shimmer=True)
|
||||
self.sponsor_text = UnifiedLabel("N/A", 32, max_width=max_width, text_color=subheader_color, font_weight=FontWeight.ROMAN)
|
||||
|
||||
def _render(self, _):
|
||||
self.device_id_header.set_position(self._rect.x + 20, self._rect.y - 10)
|
||||
self.device_id_header.render()
|
||||
|
||||
self.device_id_text.set_position(self._rect.x + 20, self._rect.y + 68 - 25)
|
||||
self.device_id_text.render()
|
||||
|
||||
self.sponsor_header.set_position(self._rect.x + 20, self._rect.y + 114 - 30)
|
||||
self.sponsor_header.render()
|
||||
|
||||
self.sponsor_text.set_position(self._rect.x + 20, self._rect.y + 161 - 25)
|
||||
self.sponsor_text.render()
|
||||
|
||||
class SunnylinkLayoutMici(NavScroller):
|
||||
def __init__(self, back_callback: Callable):
|
||||
@@ -27,6 +61,8 @@ class SunnylinkLayoutMici(NavScroller):
|
||||
self._backup_in_progress = False
|
||||
self._sunnylink_enabled = ui_state.params.get("SunnylinkEnabled")
|
||||
|
||||
self._sunnylink_info = SunnylinkInfo()
|
||||
|
||||
self._sunnylink_toggle = BigToggle(text=tr("enable sunnylink"),
|
||||
initial_state=self._sunnylink_enabled,
|
||||
toggle_callback=self._sunnylink_toggle_callback)
|
||||
@@ -40,6 +76,7 @@ class SunnylinkLayoutMici(NavScroller):
|
||||
toggle_callback=self._sunnylink_uploader_callback)
|
||||
|
||||
self._scroller.add_widgets([
|
||||
self._sunnylink_info,
|
||||
self._sunnylink_toggle,
|
||||
self._sunnylink_sponsor_button,
|
||||
self._sunnylink_pair_button,
|
||||
@@ -59,6 +96,10 @@ class SunnylinkLayoutMici(NavScroller):
|
||||
self._sunnylink_uploader_toggle.set_visible(self._sunnylink_enabled)
|
||||
self.handle_backup_restore_progress()
|
||||
|
||||
self._sunnylink_info.device_id_text.set_text(ui_state.params.get("SunnylinkDongleId") or UNREGISTERED_SUNNYLINK_DONGLE_ID)
|
||||
self._sunnylink_info.sponsor_text.set_text(ui_state.sunnylink_state.get_sponsor_tier().name.lower() or "N/A")
|
||||
self._sunnylink_info.set_visible(self._sunnylink_enabled)
|
||||
|
||||
if ui_state.sunnylink_state.is_sponsor():
|
||||
self._sunnylink_sponsor_button.set_text(tr("thanks"))
|
||||
self._sunnylink_sponsor_button.set_value(ui_state.sunnylink_state.get_sponsor_tier().name.lower())
|
||||
@@ -75,6 +116,11 @@ class SunnylinkLayoutMici(NavScroller):
|
||||
def show_event(self):
|
||||
super().show_event()
|
||||
ui_state.update_params()
|
||||
ui_state.sunnylink_state.set_settings_open(True)
|
||||
|
||||
def hide_event(self):
|
||||
super().hide_event()
|
||||
ui_state.sunnylink_state.set_settings_open(False)
|
||||
|
||||
@staticmethod
|
||||
def _sunnylink_toggle_callback(state: bool):
|
||||
@@ -194,9 +240,14 @@ class SunnylinkPairBigButton(BigButton):
|
||||
def _handle_mouse_release(self, mouse_pos: MousePos):
|
||||
super()._handle_mouse_release(mouse_pos)
|
||||
|
||||
network_type = ui_state.sm["deviceState"].networkType
|
||||
|
||||
dlg: BigDialog | SunnylinkPairingDialog | None = None
|
||||
if UNREGISTERED_SUNNYLINK_DONGLE_ID == (ui_state.params.get("SunnylinkDongleId") or UNREGISTERED_SUNNYLINK_DONGLE_ID):
|
||||
dlg = BigDialog(tr("sunnylink Dongle ID not found. Please reboot & try again."), "")
|
||||
|
||||
if network_type == 0:
|
||||
dlg = BigDialog(tr("no internet"), tr("please connect to WiFi & try again"))
|
||||
elif UNREGISTERED_SUNNYLINK_DONGLE_ID == (ui_state.params.get("SunnylinkDongleId") or UNREGISTERED_SUNNYLINK_DONGLE_ID):
|
||||
dlg = BigDialog(tr("sunnylink dongle id not found"), tr("please reboot & try again"))
|
||||
elif self.sponsor_pairing:
|
||||
dlg = SunnylinkPairingDialog(sponsor_pairing=True)
|
||||
elif not self.sponsor_pairing:
|
||||
|
||||
@@ -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 +146,15 @@ 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")
|
||||
self.always_offroad = self.params.get_bool("OffroadMode")
|
||||
|
||||
|
||||
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:
|
||||
|
||||
@@ -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
|
||||
|
||||
@@ -33,6 +33,7 @@ class ModularAssistiveDrivingSystem:
|
||||
self.enabled = False
|
||||
self.active = False
|
||||
self.available = False
|
||||
self.lateral_mismatch_counter = 0
|
||||
self.allow_always = False
|
||||
self.no_main_cruise = False
|
||||
self.selfdrive = selfdrive
|
||||
@@ -104,6 +105,17 @@ class ModularAssistiveDrivingSystem:
|
||||
self.events.remove(old_event)
|
||||
self.events_sp.add(new_event)
|
||||
|
||||
def data_sample(self):
|
||||
# When the safety and selfdrived do not agree on controls_allowed_lateral
|
||||
# we want to disengage sunnypilot. However the status from the panda goes through
|
||||
# another socket other than the CAN messages and one can arrive earlier than the other.
|
||||
# Therefore we allow a mismatch for two samples, then we trigger the disengagement.
|
||||
if not self.active or self.selfdrive.enabled:
|
||||
self.lateral_mismatch_counter = 0
|
||||
elif any(not ps.controlsAllowedLateral for ps in self.selfdrive.sm['pandaStates']
|
||||
if ps.safetyModel not in IGNORED_SAFETY_MODES):
|
||||
self.lateral_mismatch_counter += 1
|
||||
|
||||
def update_events(self, CS: structs.CarState):
|
||||
if not self.selfdrive.enabled and self.enabled:
|
||||
if CS.standstill:
|
||||
@@ -186,6 +198,9 @@ class ModularAssistiveDrivingSystem:
|
||||
if self.state_machine.state == State.paused:
|
||||
self.events_sp.add(EventNameSP.silentLkasEnable)
|
||||
|
||||
if self.lateral_mismatch_counter >= 200:
|
||||
self.events_sp.add(EventNameSP.controlsMismatchLateral)
|
||||
|
||||
self.events.remove(EventName.pcmDisable)
|
||||
self.events.remove(EventName.buttonCancel)
|
||||
self.events.remove(EventName.pedalPressed)
|
||||
@@ -195,6 +210,8 @@ class ModularAssistiveDrivingSystem:
|
||||
if not self.enabled_toggle:
|
||||
return
|
||||
|
||||
self.data_sample()
|
||||
|
||||
self.update_events(CS)
|
||||
|
||||
if not self.CP.passive and self.selfdrive.initialized:
|
||||
|
||||
@@ -1,5 +1,6 @@
|
||||
import os
|
||||
import glob
|
||||
from tinygrad import Device
|
||||
|
||||
Import('env', 'arch')
|
||||
lenv = env.Clone()
|
||||
@@ -13,7 +14,7 @@ if PC:
|
||||
model_dir = Dir("models").abspath
|
||||
cmd = f'python3 {Dir("#sunnypilot/modeld_v2").abspath}/install_models_pc.py {model_dir}'
|
||||
|
||||
for model_name in ['supercombo', 'driving_vision', 'driving_off_policy', 'driving_policy']:
|
||||
for model_name in ['supercombo', 'driving_vision', 'driving_off_policy', 'driving_on_policy', 'driving_policy']:
|
||||
if File(f"models/{model_name}.onnx").exists():
|
||||
inputs.append(File(f"models/{model_name}.onnx"))
|
||||
inputs.append(File(f"models/{model_name}_tinygrad.pkl"))
|
||||
@@ -21,10 +22,19 @@ if PC:
|
||||
if outputs:
|
||||
lenv.Command(outputs, inputs, cmd)
|
||||
|
||||
tg_flags = {
|
||||
'larch64': 'DEV=QCOM FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0',
|
||||
'Darwin': f'DEV=CPU THREADS=0 HOME={os.path.expanduser("~")}',
|
||||
}.get(arch, 'DEV=CPU CPU_LLVM=1 THREADS=0')
|
||||
available = set(Device.get_available_devices())
|
||||
if 'CUDA' in available:
|
||||
tg_backend = 'CUDA'
|
||||
tg_flags = f'DEV={tg_backend}'
|
||||
elif 'QCOM' in available:
|
||||
tg_backend = 'QCOM'
|
||||
tg_flags = f'DEV={tg_backend} FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1'
|
||||
else:
|
||||
tg_backend = 'CPU' if arch == 'Darwin' else 'CPU:LLVM'
|
||||
# THREADS=0 is need to prevent bug: https://github.com/tinygrad/tinygrad/issues/14689
|
||||
tg_flags = f'DEV={tg_backend} THREADS=0'
|
||||
|
||||
mac_brew_string = f'HOME={os.path.expanduser("~")}' if arch == 'Darwin' else ''
|
||||
|
||||
image_flag = {
|
||||
'larch64': 'IMAGE=2',
|
||||
@@ -38,17 +48,17 @@ def tg_compile(flags, model_name):
|
||||
return lenv.Command(
|
||||
out,
|
||||
[fn + ".onnx"] + tinygrad_files,
|
||||
f'{pythonpath_string} {flags} {image_flag} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {out}'
|
||||
f'{pythonpath_string} {tg_flags} {mac_brew_string} {image_flag} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {out}'
|
||||
)
|
||||
|
||||
# Compile models
|
||||
for model_name in ['supercombo', 'driving_vision', 'driving_off_policy', 'driving_policy']:
|
||||
for model_name in ['supercombo', 'driving_vision', 'driving_off_policy', 'driving_on_policy', 'driving_policy']:
|
||||
if File(f"models/{model_name}.onnx").exists():
|
||||
tg_compile(tg_flags, model_name)
|
||||
|
||||
script_files = [File("warp.py"), File(Dir("#selfdrive/modeld").File("compile_warp.py").abspath)]
|
||||
script_files = [File("warp.py"), File(Dir("#selfdrive/modeld").File("compile_modeld.py").abspath)]
|
||||
pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + ':' + env.Dir("#").abspath + '"'
|
||||
compile_warp_cmd = f'{pythonpath_string} {tg_flags} python3 -m sunnypilot.modeld_v2.warp'
|
||||
compile_warp_cmd = f'{pythonpath_string} {tg_flags} {mac_brew_string} {image_flag} python3 -m sunnypilot.modeld_v2.warp'
|
||||
|
||||
from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
|
||||
warp_targets = []
|
||||
|
||||
@@ -2,8 +2,11 @@ import os
|
||||
os.environ['DEV'] = 'CPU'
|
||||
import pytest
|
||||
import numpy as np
|
||||
from openpilot.selfdrive.modeld.compile_warp import get_nv12_info, CAMERA_CONFIGS
|
||||
from openpilot.sunnypilot.modeld_v2.warp import Warp, MODEL_W, MODEL_H
|
||||
from openpilot.sunnypilot.modeld_v2.warp import CAMERA_CONFIGS
|
||||
from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
|
||||
from openpilot.sunnypilot.modeld_v2.warp import Warp
|
||||
from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE
|
||||
MODEL_W, MODEL_H = MEDMODEL_INPUT_SIZE
|
||||
|
||||
VISION_NAME_PAIRS = [ # needed to account for supercombos input_imgs
|
||||
('img', 'big_img'),
|
||||
|
||||
@@ -6,56 +6,79 @@ from tinygrad.tensor import Tensor
|
||||
from tinygrad.engine.jit import TinyJit
|
||||
from tinygrad.device import Device
|
||||
|
||||
# https://github.com/tinygrad/tinygrad/issues/15682
|
||||
from tinygrad.uop.ops import UOp, Ops
|
||||
_orig = UOp.__reduce__
|
||||
UOp.__reduce__ = lambda self: (UOp.unique, ()) if self.op is Ops.UNIQUE else _orig(self)
|
||||
from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
|
||||
from openpilot.selfdrive.modeld.compile_warp import (
|
||||
CAMERA_CONFIGS, MEDMODEL_INPUT_SIZE, make_frame_prepare, make_update_both_imgs,
|
||||
warp_pkl_path,
|
||||
from openpilot.selfdrive.modeld.compile_modeld import (
|
||||
NV12Frame, make_frame_prepare,
|
||||
)
|
||||
from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
|
||||
|
||||
CAMERA_CONFIGS = [
|
||||
(_ar_ox_fisheye.width, _ar_ox_fisheye.height), # tici: 1928x1208
|
||||
(_os_fisheye.width, _os_fisheye.height), # mici: 1344x760
|
||||
]
|
||||
from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE
|
||||
|
||||
MODELS_DIR = Path(__file__).parent / 'models'
|
||||
MODEL_W, MODEL_H = MEDMODEL_INPUT_SIZE
|
||||
|
||||
UPSTREAM_BUFFER_LENGTH = 5
|
||||
|
||||
def warp_pkl_path(cam_w, cam_h):
|
||||
return MODELS_DIR / f'warp_{cam_w}x{cam_h}_tinygrad.pkl'
|
||||
|
||||
def make_update_img_input(frame_prepare, model_w, model_h):
|
||||
def update_img_input_tinygrad(tensor, frame, M_inv):
|
||||
M_inv = M_inv.to(Device.DEFAULT)
|
||||
new_img = frame_prepare(frame, M_inv)
|
||||
tensor.assign(tensor[6:].cat(new_img, dim=0).contiguous())
|
||||
return Tensor.cat(tensor[:6], tensor[-6:], dim=0).contiguous().reshape(1, 12, model_h//2, model_w//2)
|
||||
return update_img_input_tinygrad
|
||||
|
||||
def make_update_both_imgs(frame_prepare, model_w, model_h):
|
||||
update_img = make_update_img_input(frame_prepare, model_w, model_h)
|
||||
|
||||
def update_both_imgs_tinygrad(calib_img_buffer, new_img, M_inv,
|
||||
calib_big_img_buffer, new_big_img, M_inv_big):
|
||||
calib_img_pair = update_img(calib_img_buffer, new_img, M_inv)
|
||||
calib_big_img_pair = update_img(calib_big_img_buffer, new_big_img, M_inv_big)
|
||||
return calib_img_pair, calib_big_img_pair
|
||||
return update_both_imgs_tinygrad
|
||||
|
||||
|
||||
def v2_warp_pkl_path(cam_w, cam_h, buffer_length):
|
||||
return MODELS_DIR / f'warp_{cam_w}x{cam_h}_b{buffer_length}_tinygrad.pkl'
|
||||
|
||||
|
||||
def compile_v2_warp(cam_w, cam_h, buffer_length):
|
||||
def compile_v2_warp(cam_w, cam_h, buffer_length, model_w=MEDMODEL_INPUT_SIZE[0], model_h=MEDMODEL_INPUT_SIZE[1]):
|
||||
_, _, _, yuv_size = get_nv12_info(cam_w, cam_h)
|
||||
img_buffer_shape = (buffer_length * 6, MODEL_H // 2, MODEL_W // 2)
|
||||
img_buffer_shape = (buffer_length * 6, model_h // 2, model_w // 2)
|
||||
|
||||
print(f"Compiling v2 warp for {cam_w}x{cam_h} buffer_length={buffer_length}...")
|
||||
|
||||
frame_prepare = make_frame_prepare(cam_w, cam_h, MODEL_W, MODEL_H)
|
||||
update_both_imgs = make_update_both_imgs(frame_prepare, MODEL_W, MODEL_H)
|
||||
nv12 = NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h))
|
||||
frame_prepare = make_frame_prepare(nv12, model_w, model_h)
|
||||
update_both_imgs = make_update_both_imgs(frame_prepare, model_w, model_h)
|
||||
update_img_jit = TinyJit(update_both_imgs, prune=True)
|
||||
|
||||
full_buffer = Tensor.zeros(img_buffer_shape, dtype='uint8').contiguous().realize()
|
||||
big_full_buffer = Tensor.zeros(img_buffer_shape, dtype='uint8').contiguous().realize()
|
||||
full_buffer_np = np.zeros(img_buffer_shape, dtype=np.uint8)
|
||||
big_full_buffer_np = np.zeros(img_buffer_shape, dtype=np.uint8)
|
||||
|
||||
new_frame_np = np.random.randint(0, 256, yuv_size, dtype=np.uint8)
|
||||
new_big_frame_np = np.random.randint(0, 256, yuv_size, dtype=np.uint8)
|
||||
for i in range(10):
|
||||
new_frame_np = (32 * np.random.randn(yuv_size).astype(np.float32) + 128).clip(0, 255).astype(np.uint8)
|
||||
img_inputs = [full_buffer,
|
||||
Tensor.from_blob(new_frame_np.ctypes.data, (yuv_size,), dtype='uint8').realize(),
|
||||
Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')]
|
||||
new_big_frame_np = (32 * np.random.randn(yuv_size).astype(np.float32) + 128).clip(0, 255).astype(np.uint8)
|
||||
big_img_inputs = [big_full_buffer,
|
||||
Tensor.from_blob(new_big_frame_np.ctypes.data, (yuv_size,), dtype='uint8').realize(),
|
||||
Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')]
|
||||
inputs = img_inputs + big_img_inputs
|
||||
Device.default.synchronize()
|
||||
|
||||
inputs_np = [x.numpy() for x in inputs]
|
||||
inputs_np[0] = full_buffer_np
|
||||
inputs_np[3] = big_full_buffer_np
|
||||
|
||||
st = time.perf_counter()
|
||||
out = update_img_jit(*inputs)
|
||||
full_buffer = out[0].contiguous().realize().clone()
|
||||
big_full_buffer = out[2].contiguous().realize().clone()
|
||||
_ = update_img_jit(*inputs)
|
||||
mt = time.perf_counter()
|
||||
Device.default.synchronize()
|
||||
et = time.perf_counter()
|
||||
@@ -71,9 +94,11 @@ def compile_v2_warp(cam_w, cam_h, buffer_length):
|
||||
|
||||
|
||||
class Warp:
|
||||
def __init__(self, buffer_length=2):
|
||||
def __init__(self, buffer_length=2, model_w=MEDMODEL_INPUT_SIZE[0], model_h=MEDMODEL_INPUT_SIZE[1]):
|
||||
self.buffer_length = buffer_length
|
||||
self.img_buffer_shape = (buffer_length * 6, MODEL_H // 2, MODEL_W // 2)
|
||||
self.model_w = model_w
|
||||
self.model_h = model_h
|
||||
self.img_buffer_shape = (buffer_length * 6, model_h // 2, model_w // 2)
|
||||
|
||||
self.jit_cache = {}
|
||||
self.full_buffers = {k: Tensor.zeros(self.img_buffer_shape, dtype='uint8').contiguous().realize() for k in ['img', 'big_img']}
|
||||
@@ -101,8 +126,9 @@ class Warp:
|
||||
with open(upstream_pkl, 'rb') as f:
|
||||
self.jit_cache[key] = pickle.load(f)
|
||||
if key not in self.jit_cache:
|
||||
frame_prepare = make_frame_prepare(cam_w, cam_h, MODEL_W, MODEL_H)
|
||||
update_both_imgs = make_update_both_imgs(frame_prepare, MODEL_W, MODEL_H)
|
||||
nv12 = NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h))
|
||||
frame_prepare = make_frame_prepare(nv12, self.model_w, self.model_h)
|
||||
update_both_imgs = make_update_both_imgs(frame_prepare, self.model_w, self.model_h)
|
||||
self.jit_cache[key] = TinyJit(update_both_imgs, prune=True)
|
||||
|
||||
if key not in self._nv12_cache:
|
||||
@@ -125,8 +151,8 @@ class Warp:
|
||||
self.full_buffers['img'], road_blob, self.transforms['img'],
|
||||
self.full_buffers['big_img'], wide_blob, self.transforms['big_img'],
|
||||
)
|
||||
self.full_buffers['img'], out_road = res[0].realize(), res[1].realize()
|
||||
self.full_buffers['big_img'], out_wide = res[2].realize(), res[3].realize()
|
||||
out_road = res[0].realize()
|
||||
out_wide = res[1].realize()
|
||||
|
||||
return {road: out_road, wide: out_wide}
|
||||
|
||||
|
||||
@@ -8,16 +8,14 @@ from openpilot.sunnypilot import get_file_hash
|
||||
DEFAULT_MODEL_NAME_PATH = os.path.join(BASEDIR, "common", "model.h")
|
||||
MODEL_HASH_PATH = os.path.join(BASEDIR, "sunnypilot", "models", "tests", "model_hash")
|
||||
VISION_ONNX_PATH = os.path.join(BASEDIR, "selfdrive", "modeld", "models", "driving_vision.onnx")
|
||||
OFF_POLICY_ONNX_PATH = os.path.join(BASEDIR, "selfdrive", "modeld", "models", "driving_off_policy.onnx")
|
||||
ON_POLICY_ONNX_PATH = os.path.join(BASEDIR, "selfdrive", "modeld", "models", "driving_on_policy.onnx")
|
||||
POLICY_ONNX_PATH = os.path.join(BASEDIR, "selfdrive", "modeld", "models", "driving_policy.onnx")
|
||||
|
||||
|
||||
def update_model_hash():
|
||||
vision_hash = get_file_hash(VISION_ONNX_PATH)
|
||||
off_policy_hash = get_file_hash(OFF_POLICY_ONNX_PATH)
|
||||
on_policy_hash = get_file_hash(ON_POLICY_ONNX_PATH)
|
||||
policy_hash = get_file_hash(POLICY_ONNX_PATH)
|
||||
|
||||
combined_hash = hashlib.sha256((vision_hash + off_policy_hash + on_policy_hash).encode()).hexdigest()
|
||||
combined_hash = hashlib.sha256((vision_hash + policy_hash).encode()).hexdigest()
|
||||
|
||||
with open(MODEL_HASH_PATH, "w") as f:
|
||||
f.write(combined_hash)
|
||||
|
||||
@@ -116,7 +116,7 @@ class ModelCache:
|
||||
|
||||
class ModelFetcher:
|
||||
"""Handles fetching and caching of model data from remote source"""
|
||||
MODEL_URL = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-models/refs/heads/gh-pages/docs/driving_models_v16.json"
|
||||
MODEL_URL = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-models/refs/heads/gh-pages/docs/driving_models_v17.json"
|
||||
|
||||
def __init__(self, params: Params):
|
||||
self.params = params
|
||||
|
||||
@@ -1 +1 @@
|
||||
793b5d480edb5a30eed3d0d3bdb43259522978670f6bc3dea7a4d661261d3c48
|
||||
5d4d21f1899de21137f69d74a4602c44cc5a6b04cf4e4aa9d0ec9206f8c30350
|
||||
@@ -6,17 +6,16 @@ See the LICENSE.md file in the root directory for more details.
|
||||
"""
|
||||
|
||||
from openpilot.sunnypilot import get_file_hash
|
||||
from openpilot.sunnypilot.models.default_model import MODEL_HASH_PATH, VISION_ONNX_PATH, OFF_POLICY_ONNX_PATH, ON_POLICY_ONNX_PATH
|
||||
from openpilot.sunnypilot.models.default_model import MODEL_HASH_PATH, VISION_ONNX_PATH, POLICY_ONNX_PATH
|
||||
import hashlib
|
||||
|
||||
|
||||
class TestDefaultModel:
|
||||
def test_compare_onnx_hashes(self):
|
||||
vision_hash = get_file_hash(VISION_ONNX_PATH)
|
||||
off_policy_hash = get_file_hash(OFF_POLICY_ONNX_PATH)
|
||||
on_policy_hash = get_file_hash(ON_POLICY_ONNX_PATH)
|
||||
policy_hash = get_file_hash(POLICY_ONNX_PATH)
|
||||
|
||||
combined_hash = hashlib.sha256((vision_hash + off_policy_hash + on_policy_hash).encode()).hexdigest()
|
||||
combined_hash = hashlib.sha256((vision_hash + policy_hash).encode()).hexdigest()
|
||||
|
||||
with open(MODEL_HASH_PATH) as f:
|
||||
current_hash = f.read().strip()
|
||||
|
||||
BIN
sunnypilot/selfdrive/assets/icons_mici/always_offroad.png
LFS
Normal file
BIN
sunnypilot/selfdrive/assets/icons_mici/always_offroad.png
LFS
Normal file
Binary file not shown.
BIN
sunnypilot/selfdrive/assets/icons_mici/disable_offroad.png
LFS
Normal file
BIN
sunnypilot/selfdrive/assets/icons_mici/disable_offroad.png
LFS
Normal file
Binary file not shown.
@@ -38,6 +38,8 @@ class ControlsExt(ModelStateBase):
|
||||
enforce_torque_control = self.params.get_bool("EnforceTorqueControl")
|
||||
torque_versions = self.params.get("TorqueControlTune")
|
||||
if not enforce_torque_control:
|
||||
if self.CP.lateralTuning.which() == 'torque':
|
||||
return LatControlTorqueV0(self.CP, self.CP_SP, CI, dt) # FIXME-SP: revert when upstream fixes tuning issues with v1
|
||||
return lac
|
||||
|
||||
if torque_versions == 0.0: # v0
|
||||
|
||||
@@ -14,11 +14,8 @@ from openpilot.selfdrive.modeld.constants import ModelConstants
|
||||
LAT_PLAN_MIN_IDX = 5
|
||||
LATERAL_LAG_MOD = 0.0 # seconds, modifies how far in the future we look ahead for the lateral plan
|
||||
|
||||
# from selfdrive/controls/lib/latcontrol_torque.py
|
||||
KP = 0.8
|
||||
KI = 0.15
|
||||
INTERP_SPEEDS = [1, 1.5, 2.0, 3.0, 5, 7.5, 10, 15, 30]
|
||||
KP_INTERP = [250, 120, 65, 30, 11.5, 5.5, 3.5, 2.0, KP]
|
||||
KP = 1.0
|
||||
KI = 0.3
|
||||
|
||||
|
||||
def get_predicted_lateral_jerk(lat_accels, t_diffs):
|
||||
@@ -61,9 +58,10 @@ class LatControlTorqueExtBase:
|
||||
self.lookahead_lateral_jerk: float = 0.0
|
||||
|
||||
self.torque_from_lateral_accel_in_torque_space = CI.torque_from_lateral_accel_in_torque_space()
|
||||
self.torque_params = lac_torque.torque_params
|
||||
|
||||
self._ff = 0.0
|
||||
self._pid = PIDController([INTERP_SPEEDS, KP_INTERP], KI)
|
||||
self._pid = PIDController(KP, KI)
|
||||
self._pid_log = None
|
||||
self._setpoint = 0.0
|
||||
self._measurement = 0.0
|
||||
|
||||
@@ -75,14 +75,14 @@ class NeuralNetworkLateralControl(LatControlTorqueExtBase):
|
||||
|
||||
def update_feedforward_torque_space(self, CS):
|
||||
torque_from_setpoint = self.torque_from_lateral_accel_in_torque_space(LatControlInputs(self._setpoint, self._roll_compensation, CS.vEgo, CS.aEgo),
|
||||
self.lac_torque.torque_params, gravity_adjusted=False)
|
||||
self.torque_params, gravity_adjusted=False)
|
||||
torque_from_measurement = self.torque_from_lateral_accel_in_torque_space(LatControlInputs(self._measurement, self._roll_compensation, CS.vEgo, CS.aEgo),
|
||||
self.lac_torque.torque_params, gravity_adjusted=False)
|
||||
self.torque_params, gravity_adjusted=False)
|
||||
self._pid_log.error = float(torque_from_setpoint - torque_from_measurement)
|
||||
self._ff = self.torque_from_lateral_accel_in_torque_space(LatControlInputs(self._gravity_adjusted_lateral_accel, self._roll_compensation,
|
||||
CS.vEgo, CS.aEgo), self.lac_torque.torque_params, gravity_adjusted=True)
|
||||
CS.vEgo, CS.aEgo), self.torque_params, gravity_adjusted=True)
|
||||
self._ff += get_friction_in_torque_space(self._desired_lateral_accel - self._actual_lateral_accel, self._lateral_accel_deadzone,
|
||||
FRICTION_THRESHOLD, self.lac_torque.torque_params)
|
||||
FRICTION_THRESHOLD, self.torque_params)
|
||||
|
||||
def update_output_torque(self, CS):
|
||||
freeze_integrator = self._steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
|
||||
@@ -159,6 +159,6 @@ class NeuralNetworkLateralControl(LatControlTorqueExtBase):
|
||||
|
||||
# apply friction override for cars with low NN friction response
|
||||
if self.model.friction_override:
|
||||
self._pid_log.error += get_friction(friction_input, self._lateral_accel_deadzone, FRICTION_THRESHOLD, self.lac_torque.torque_params)
|
||||
self._pid_log.error += get_friction(friction_input, self._lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
|
||||
|
||||
self.update_output_torque(CS)
|
||||
|
||||
@@ -30,10 +30,6 @@ class SunnylinkApi(BaseApi):
|
||||
|
||||
return super().api_get(endpoint, method, timeout, access_token, session, json, **kwargs)
|
||||
|
||||
def resume_queued(self, timeout=10, **kwargs):
|
||||
sunnylinkId, commaId = self._resolve_dongle_ids()
|
||||
return self.api_get(f"ws/{sunnylinkId}/resume_queued", "POST", timeout, access_token=self.get_token(), **kwargs)
|
||||
|
||||
def get_token(self, payload_extra=None, expiry_hours=1):
|
||||
# Add your additional data here
|
||||
additional_data = {}
|
||||
|
||||
@@ -64,7 +64,6 @@ def handle_long_poll(ws: WebSocket, exit_event: threading.Event | None) -> None:
|
||||
threading.Thread(target=ws_recv, args=(ws, end_event), name='ws_recv'),
|
||||
threading.Thread(target=ws_send, args=(ws, end_event), name='ws_send'),
|
||||
threading.Thread(target=ws_ping, args=(ws, end_event), name='ws_ping'),
|
||||
threading.Thread(target=ws_queue, args=(end_event,), name='ws_queue'),
|
||||
threading.Thread(target=upload_handler, args=(end_event,), name='upload_handler'),
|
||||
threading.Thread(target=sunny_log_handler, args=(end_event, comma_prime_cellular_end_event), name='log_handler'),
|
||||
threading.Thread(target=stat_handler, args=(end_event, Paths.stats_sp_root(), True), name='stat_handler'),
|
||||
@@ -147,37 +146,6 @@ def ws_ping(ws: WebSocket, end_event: threading.Event) -> None:
|
||||
cloudlog.debug("sunnylinkd.ws_ping.end_event is set, exiting ws_ping thread")
|
||||
|
||||
|
||||
def ws_queue(end_event: threading.Event) -> None:
|
||||
sunnylink_dongle_id = params.get("SunnylinkDongleId")
|
||||
sunnylink_api = SunnylinkApi(sunnylink_dongle_id)
|
||||
resume_requested = False
|
||||
tries = 0
|
||||
|
||||
while not end_event.is_set() and not resume_requested:
|
||||
try:
|
||||
if not resume_requested:
|
||||
cloudlog.debug("sunnylinkd.ws_queue.resume_queued")
|
||||
sunnylink_api.resume_queued(timeout=29)
|
||||
resume_requested = True
|
||||
tries = 0
|
||||
except Exception as e:
|
||||
if isinstance(e, (ConnectionError, TimeoutError)):
|
||||
cloudlog.warning(f"sunnylinkd.ws_queue.resume_queued.{type(e).__name__}")
|
||||
else:
|
||||
cloudlog.exception("sunnylinkd.ws_queue.resume_queued.exception")
|
||||
|
||||
resume_requested = False
|
||||
tries += 1
|
||||
time.sleep(backoff(tries))
|
||||
|
||||
if end_event.is_set():
|
||||
cloudlog.debug("end_event is set, exiting ws_queue thread")
|
||||
elif resume_requested:
|
||||
cloudlog.debug(f"Resume requested to server after {tries} tries")
|
||||
else:
|
||||
cloudlog.error(f"Reached end of ws_queue while end_event is not set and resume_requested is {resume_requested}")
|
||||
|
||||
|
||||
def sunny_log_handler(end_event: threading.Event, comma_prime_cellular_end_event: threading.Event) -> None:
|
||||
while not end_event.wait(0.1):
|
||||
if not comma_prime_cellular_end_event.is_set():
|
||||
|
||||
@@ -1126,14 +1126,6 @@
|
||||
"title": "Route Count",
|
||||
"description": ""
|
||||
},
|
||||
"ScreenSaverEnabled": {
|
||||
"title": "Enable Screen Saver",
|
||||
"description": ""
|
||||
},
|
||||
"ScreenSaverTimeout": {
|
||||
"title": "Screen Saver Timeout",
|
||||
"description": ""
|
||||
},
|
||||
"SecOCKey": {
|
||||
"title": "Sec Oc Key",
|
||||
"description": ""
|
||||
|
||||
73
sunnypilot/system/updated/tests/test_sp_branch_migrations.py
Normal file
73
sunnypilot/system/updated/tests/test_sp_branch_migrations.py
Normal file
@@ -0,0 +1,73 @@
|
||||
"""
|
||||
Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
|
||||
|
||||
This file is part of sunnypilot and is licensed under the MIT License.
|
||||
See the LICENSE.md file in the root directory for more details.
|
||||
"""
|
||||
import pytest
|
||||
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.system.updated.updated import Updater
|
||||
|
||||
|
||||
@pytest.mark.parametrize(("device_type", "branch", "expected"), [
|
||||
("tici", "staging-c3-new", "staging-tici"),
|
||||
("tici", "dev-c3-new", "staging-tici"),
|
||||
("tici", "master", "master-tici"),
|
||||
("tici", "master-dev-c3-new", "master-tici"),
|
||||
("tizi", "staging-c3-new", "staging"),
|
||||
("tizi", "dev-c3-new", "dev"),
|
||||
("tizi", "master-dev-c3-new", "master-dev"),
|
||||
("tizi", "release3", "release-tizi"),
|
||||
("tizi", "release3-staging", "release-tizi-staging"),
|
||||
("mici", "release3", "release-mici"),
|
||||
("mici", "release3-staging", "release-mici-staging"),
|
||||
])
|
||||
def test_sp_branch_migrations_from_current_branch(mocker, device_type, branch, expected):
|
||||
params = Params()
|
||||
params.remove("UpdaterTargetBranch")
|
||||
|
||||
mocker.patch("openpilot.system.updated.updated.HARDWARE.get_device_type", return_value=device_type)
|
||||
mocker.patch.object(Updater, "get_branch", return_value=branch)
|
||||
|
||||
assert Updater().target_branch == expected
|
||||
|
||||
|
||||
@pytest.mark.parametrize(("device_type", "branch", "expected"), [
|
||||
("tici", "staging-c3-new", "staging-tici"),
|
||||
("tici", "dev-c3-new", "staging-tici"),
|
||||
("tici", "master", "master-tici"),
|
||||
("tici", "master-dev-c3-new", "master-tici"),
|
||||
("tizi", "staging-c3-new", "staging"),
|
||||
("tizi", "dev-c3-new", "dev"),
|
||||
("tizi", "master-dev-c3-new", "master-dev"),
|
||||
("tizi", "release3", "release-tizi"),
|
||||
("tizi", "release3-staging", "release-tizi-staging"),
|
||||
("mici", "release3", "release-mici"),
|
||||
("mici", "release3-staging", "release-mici-staging"),
|
||||
])
|
||||
def test_sp_branch_migrations_from_param(mocker, device_type, branch, expected):
|
||||
params = Params()
|
||||
params.put("UpdaterTargetBranch", branch)
|
||||
|
||||
mocker.patch("openpilot.system.updated.updated.HARDWARE.get_device_type", return_value=device_type)
|
||||
|
||||
try:
|
||||
assert Updater().target_branch == expected
|
||||
finally:
|
||||
params.remove("UpdaterTargetBranch")
|
||||
|
||||
|
||||
@pytest.mark.parametrize(("device_type", "branch"), [
|
||||
("tici", "unknown"),
|
||||
("tizi", "unknown"),
|
||||
("mici", "unknown"),
|
||||
])
|
||||
def test_sp_branch_migrations_passthrough(mocker, device_type, branch):
|
||||
params = Params()
|
||||
params.remove("UpdaterTargetBranch")
|
||||
|
||||
mocker.patch("openpilot.system.updated.updated.HARDWARE.get_device_type", return_value=device_type)
|
||||
mocker.patch.object(Updater, "get_branch", return_value=branch)
|
||||
|
||||
assert Updater().target_branch == branch
|
||||
0
sunnypilot/tools/memory_profiler/__init__.py
Normal file
0
sunnypilot/tools/memory_profiler/__init__.py
Normal file
164
sunnypilot/tools/memory_profiler/mem_usage.py
Normal file
164
sunnypilot/tools/memory_profiler/mem_usage.py
Normal file
@@ -0,0 +1,164 @@
|
||||
"""
|
||||
Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
|
||||
|
||||
This file is part of sunnypilot and is licensed under the MIT License.
|
||||
See the LICENSE.md file in the root directory for more details.
|
||||
"""
|
||||
import matplotlib.pyplot as plt
|
||||
import os
|
||||
import sys
|
||||
import argparse
|
||||
import numpy as np
|
||||
import base64
|
||||
import io
|
||||
|
||||
from openpilot.tools.lib.logreader import LogReader, ReadMode
|
||||
|
||||
|
||||
def extract_mem_cpu_data(lr):
|
||||
times, mems, cpus = [], [], []
|
||||
start_time = None
|
||||
|
||||
for msg in lr:
|
||||
if msg.which() == 'procLog':
|
||||
if start_time is None:
|
||||
start_time = msg.logMonoTime
|
||||
mem = msg.procLog.mem
|
||||
mem_usage = (mem.total - mem.available) / mem.total * 100
|
||||
cpu_usages = [(total - cpu.idle) / total * 100 for cpu in msg.procLog.cpuTimes
|
||||
if (total := cpu.idle + cpu.user + cpu.system + cpu.nice + cpu.iowait + cpu.irq + cpu.softirq) > 0]
|
||||
avg_cpu = sum(cpu_usages) / len(cpu_usages) if cpu_usages else 0
|
||||
times.append((msg.logMonoTime - start_time) / 1e9)
|
||||
mems.append(mem_usage)
|
||||
cpus.append(avg_cpu)
|
||||
return times, mems, cpus
|
||||
|
||||
|
||||
def process_segment(lr):
|
||||
return [extract_mem_cpu_data(lr)]
|
||||
|
||||
|
||||
def calculate_r_squared(y_true, y_pred):
|
||||
ss_res = np.sum((y_true - y_pred) ** 2)
|
||||
ss_tot = np.sum((y_true - np.mean(y_true)) ** 2)
|
||||
return 1 - (ss_res / ss_tot) if ss_tot != 0 else 0
|
||||
|
||||
|
||||
def plot_results(segments, segment_data, route_name):
|
||||
valid_data = [d for d in segment_data if d and d[0]]
|
||||
if not valid_data:
|
||||
print("No valid data to plot")
|
||||
return
|
||||
|
||||
avg_mems = [np.mean(d[1]) for d in valid_data]
|
||||
avg_cpus = [np.mean(d[2]) for d in valid_data]
|
||||
valid_segments = [segments[i] for i, d in enumerate(segment_data) if d and d[0]]
|
||||
|
||||
height = max(10, 5 + len(valid_segments) * 0.4)
|
||||
fig1, ax1 = plt.subplots(1, 1, figsize=(12, height), dpi=150)
|
||||
|
||||
y_pos = range(len(valid_segments))
|
||||
ax1.barh([y - 0.2 for y in y_pos], avg_mems, height=0.4, color="dodgerblue", alpha=0.8, label="Avg Mem %")
|
||||
ax1.barh([y + 0.2 for y in y_pos], avg_cpus, height=0.4, color="green", alpha=0.8, label="Avg CPU %")
|
||||
|
||||
for i, (mem, cpu) in enumerate(zip(avg_mems, avg_cpus, strict=True)):
|
||||
ax1.text(mem, i - 0.2, f"{mem:.1f}%", va="center", fontsize=8, color="#005a9e", fontweight="bold")
|
||||
ax1.text(cpu, i + 0.2, f"{cpu:.1f}%", va="center", fontsize=8, color="#005a9e", fontweight="bold")
|
||||
|
||||
ax1.set_yticks(y_pos)
|
||||
ax1.set_yticklabels([f"Seg {s}" for s in valid_segments])
|
||||
ax1.set_xlabel("Usage (%)")
|
||||
ax1.set_title("Average Memory and CPU Usage by Segment")
|
||||
ax1.legend()
|
||||
ax1.grid(axis="x", linestyle="--", alpha=0.5)
|
||||
ax1.invert_yaxis()
|
||||
|
||||
fig2, ax2 = plt.subplots(1, 1, figsize=(12, 8), dpi=150)
|
||||
combined_times, combined_mems, combined_cpus = [], [], []
|
||||
time_offset = 0.0
|
||||
for times, mems, cpus in valid_data:
|
||||
if times:
|
||||
combined_times.extend([t + time_offset for t in times])
|
||||
combined_mems.extend(mems)
|
||||
combined_cpus.extend(cpus)
|
||||
time_offset += max(times)
|
||||
|
||||
ax2.plot(combined_times, combined_mems, color="red", label="Memory Usage", alpha=0.6)
|
||||
ax2.plot(combined_times, combined_cpus, color="blue", label="CPU Usage", alpha=0.6)
|
||||
|
||||
warmup_sec = 60
|
||||
if len(combined_times) > 1 and combined_times[-1] > warmup_sec:
|
||||
mask = np.array(combined_times) > warmup_sec
|
||||
x_reg = np.array(combined_times)[mask]
|
||||
|
||||
y_mem_reg = np.array(combined_mems)[mask]
|
||||
slope_mem, intercept_mem = np.polyfit(x_reg, y_mem_reg, 1)
|
||||
trend_mem = slope_mem * x_reg + intercept_mem
|
||||
r2_mem = calculate_r_squared(y_mem_reg, trend_mem)
|
||||
ax2.plot(x_reg, trend_mem, color="darkred", linestyle="--", linewidth=2.5,
|
||||
label=f"Mem Trend (Slope: {slope_mem:.4f} %/s, R²: {r2_mem:.2f})")
|
||||
|
||||
y_cpu_reg = np.array(combined_cpus)[mask]
|
||||
slope_cpu, intercept_cpu = np.polyfit(x_reg, y_cpu_reg, 1)
|
||||
trend_cpu = slope_cpu * x_reg + intercept_cpu
|
||||
r2_cpu = calculate_r_squared(y_cpu_reg, trend_cpu)
|
||||
ax2.plot(x_reg, trend_cpu, color="navy", linestyle="--", linewidth=2.5,
|
||||
label=f"CPU Trend (Slope: {slope_cpu:.4f} %/s, R²: {r2_cpu:.2f})")
|
||||
|
||||
ax2.set_xlabel("Time (s)")
|
||||
ax2.set_ylabel("Usage (%)")
|
||||
ax2.set_title("Memory and CPU Usage Over Time")
|
||||
ax2.legend(loc='lower left', fontsize='small', framealpha=0.9)
|
||||
ax2.grid(True, linestyle="--", alpha=0.5)
|
||||
|
||||
buffer1 = io.BytesIO()
|
||||
fig1.savefig(buffer1, format='webp', bbox_inches='tight', pad_inches=1.0)
|
||||
buffer1.seek(0)
|
||||
img1 = base64.b64encode(buffer1.getvalue()).decode()
|
||||
|
||||
buffer2 = io.BytesIO()
|
||||
fig2.savefig(buffer2, format='webp', bbox_inches='tight', pad_inches=1.0)
|
||||
buffer2.seek(0)
|
||||
img2 = base64.b64encode(buffer2.getvalue()).decode()
|
||||
|
||||
filename = f"memory_usage_{route_name}.html"
|
||||
save_path = os.path.join(os.path.dirname(__file__), "plots", filename)
|
||||
os.makedirs(os.path.dirname(save_path), exist_ok=True)
|
||||
|
||||
html_template = (
|
||||
"<style>body{font-family:Arial,sans-serif;margin:20px}" +
|
||||
"h1,h2,h3{text-align:center;margin:5px 0}h2{margin-bottom:10px}" +
|
||||
"img{width:100%;max-width:800px;height:auto;display:block;margin:0 auto}</style>" +
|
||||
f"<h1>Memory Profile Report</h1><h3>Route: {route_name.replace('_', '/')}</h3>" +
|
||||
f"<img src='data:image/webp;base64,{img1}'>" +
|
||||
f"<img src='data:image/webp;base64,{img2}'>"
|
||||
)
|
||||
|
||||
plt.close(fig1)
|
||||
plt.close(fig2)
|
||||
|
||||
with open(save_path, "w") as f:
|
||||
f.write(html_template)
|
||||
|
||||
print(f"Report saved to {save_path}")
|
||||
|
||||
|
||||
def main():
|
||||
parser = argparse.ArgumentParser(description='Extract memory usage from route logs.')
|
||||
parser.add_argument('route_or_segment_name', help='Route or segment name from comma connect')
|
||||
args = parser.parse_args()
|
||||
|
||||
try:
|
||||
print(f"Fetching logs for {args.route_or_segment_name}")
|
||||
lr = LogReader(args.route_or_segment_name, default_mode=ReadMode.QLOG)
|
||||
segment_data = lr.run_across_segments(24, process_segment)
|
||||
segments = list(range(len(segment_data)))
|
||||
route_name = args.route_or_segment_name.replace('/', '_')
|
||||
plot_results(segments, segment_data, route_name)
|
||||
except Exception as e:
|
||||
print(f"Error: {e}")
|
||||
sys.exit(1)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
136
sunnypilot/tools/pull_footage.py
Executable file
136
sunnypilot/tools/pull_footage.py
Executable file
@@ -0,0 +1,136 @@
|
||||
#!/usr/bin/env python3
|
||||
"""
|
||||
Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
|
||||
|
||||
This file is part of sunnypilot and is licensed under the MIT License.
|
||||
See the LICENSE.md file in the root directory for more details.
|
||||
"""
|
||||
import argparse
|
||||
import os
|
||||
import shutil
|
||||
import subprocess
|
||||
import sys
|
||||
import requests
|
||||
from openpilot.tools.lib.route import Route
|
||||
|
||||
|
||||
def get_segments(source, route_id, camera, seg_range):
|
||||
if "@" in source or "comma-" in source or "sunny-" in source: # SSH
|
||||
if not route_id:
|
||||
raise ValueError("route_id required for SSH")
|
||||
cmd = ["ssh", source, f"ls -d /data/media/0/realdata/{route_id.split('--')[0]}--*"]
|
||||
output = subprocess.check_output(cmd, stderr=subprocess.DEVNULL).decode("utf-8").strip()
|
||||
return [{
|
||||
"type": "ssh",
|
||||
"host": source,
|
||||
"src": os.path.join(path, camera),
|
||||
"num": int(path.split("--")[-1])
|
||||
} for path in sorted(output.split("\n"), key=lambda x: int(x.split("--")[-1])) if path]
|
||||
else: # URL
|
||||
route = Route(route_id)
|
||||
cameras = [camera]
|
||||
if camera == "fcamera.hevc":
|
||||
cameras.extend([c for c in ["ecamera.hevc", "qcamera.ts"] if c != camera])
|
||||
|
||||
for cam in cameras:
|
||||
attr_name = "camera_paths" if cam == "fcamera.hevc" else f"{cam.split('.')[0]}_paths"
|
||||
paths = getattr(route, attr_name)()
|
||||
if any(paths):
|
||||
return [{"type": "url", "src": url, "num": idx, "cam": cam} for idx, url in enumerate(paths) if url]
|
||||
|
||||
raise ValueError(f"No footage found for {route_id}")
|
||||
|
||||
|
||||
def download(job, out_dir):
|
||||
destination = os.path.join(out_dir, f"{job['num']}_{os.path.basename(job.get('cam', job.get('src')))}")
|
||||
if os.path.exists(destination) and os.path.getsize(destination) > 0:
|
||||
return destination
|
||||
|
||||
print(f"Downloading segment {job['num']}")
|
||||
if job["type"] == "ssh":
|
||||
subprocess.check_call(["scp", f"{job['host']}:{job['src']}", destination])
|
||||
else:
|
||||
with requests.get(job["src"], stream=True) as r:
|
||||
r.raise_for_status()
|
||||
with open(destination, 'wb') as f:
|
||||
shutil.copyfileobj(r.raw, f)
|
||||
return destination
|
||||
|
||||
|
||||
def mux(files, output_file, codec):
|
||||
list_filename = f"{output_file}.list.txt"
|
||||
with open(list_filename, 'w') as f:
|
||||
f.write('\n'.join([f"file '{os.path.abspath(name)}'" for name in files]))
|
||||
|
||||
try:
|
||||
cmd = [
|
||||
"ffmpeg", "-y", "-probesize", "100M", "-analyzeduration", "100M", "-f", "concat",
|
||||
"-safe", "0", "-r", "20", "-i", list_filename, "-c", "copy", "-tag:v", codec, output_file
|
||||
]
|
||||
subprocess.check_call(cmd)
|
||||
print(f"Saved: {output_file} ({os.path.getsize(output_file) / 1048576:.2f} MB)")
|
||||
if sys.platform == "darwin":
|
||||
subprocess.run(["open", "-R", output_file])
|
||||
finally:
|
||||
if os.path.exists(list_filename):
|
||||
os.remove(list_filename)
|
||||
|
||||
|
||||
def main():
|
||||
parser = argparse.ArgumentParser()
|
||||
parser.add_argument("source")
|
||||
parser.add_argument("route_id", nargs='?')
|
||||
parser.add_argument("--output", "-o", default="output.mp4")
|
||||
parser.add_argument("--camera", "-c", default="fcamera.hevc")
|
||||
parser.add_argument("--keep-segments", action="store_true")
|
||||
args = parser.parse_args()
|
||||
|
||||
try:
|
||||
route_id_str = args.route_id or args.source
|
||||
segment_range = None
|
||||
if "/" in route_id_str:
|
||||
route_id_str, range_str = route_id_str.rsplit("/", 1)
|
||||
if ":" in range_str or range_str.isdigit():
|
||||
segment_range = range_str
|
||||
|
||||
is_ssh = "@" in args.source or "comma-" in args.source or "sunny-" in args.source
|
||||
if not is_ssh and len(route_id_str.split("--")) > 2:
|
||||
route_id_str = "--".join(route_id_str.split("--")[:2])
|
||||
|
||||
segments = get_segments(args.source, route_id_str, args.camera, segment_range)
|
||||
if segment_range:
|
||||
if ":" in segment_range:
|
||||
parts = segment_range.split(":")
|
||||
start_idx = int(parts[0]) if parts[0] else None
|
||||
end_idx = int(parts[1]) if parts[1] else None
|
||||
else:
|
||||
start_idx = int(segment_range)
|
||||
end_idx = start_idx + 1
|
||||
|
||||
segments = [
|
||||
segment for segment in segments
|
||||
if (start_idx is None or segment['num'] >= start_idx) and (end_idx is None or segment['num'] < end_idx)
|
||||
]
|
||||
|
||||
download_dir = f"{route_id_str}_segments"
|
||||
os.makedirs(download_dir, exist_ok=True)
|
||||
|
||||
downloaded_files = sorted(
|
||||
[download(segment, download_dir) for segment in segments],
|
||||
key=lambda x: int(os.path.basename(x).split("_")[0])
|
||||
)
|
||||
|
||||
camera_name = segments[0].get('cam', args.camera)
|
||||
codec = "hvc1" if camera_name.endswith("hevc") else "avc1"
|
||||
mux(downloaded_files, f"{route_id_str}--{args.output}", codec)
|
||||
|
||||
if not args.keep_segments:
|
||||
shutil.rmtree(download_dir)
|
||||
|
||||
except Exception as e:
|
||||
print(f"Error: {e}")
|
||||
sys.exit(1)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
@@ -91,6 +91,9 @@ class LPABase(ABC):
|
||||
def switch_profile(self, iccid: str) -> None:
|
||||
pass
|
||||
|
||||
def process_notifications(self) -> None:
|
||||
pass
|
||||
|
||||
def is_comma_profile(self, iccid: str) -> bool:
|
||||
return any(iccid.startswith(prefix) for prefix in ('8985235',))
|
||||
|
||||
|
||||
@@ -338,6 +338,9 @@ def hardware_thread(end_event, hw_queue) -> None:
|
||||
show_alert = (not onroad_conditions["device_temp_good"] or not startup_conditions["device_temp_engageable"]) and onroad_conditions["ignition"]
|
||||
set_offroad_alert_if_changed("Offroad_TemperatureTooHigh", show_alert, extra_text=extra_text)
|
||||
|
||||
if show_alert:
|
||||
msg.deviceState.fanSpeedPercentDesired = 100
|
||||
|
||||
# Handle offroad/onroad transition
|
||||
should_start = all(onroad_conditions.values())
|
||||
if started_ts is None:
|
||||
@@ -435,9 +438,10 @@ def hardware_thread(end_event, hw_queue) -> None:
|
||||
statlog.gauge("fan_speed_percent_desired", msg.deviceState.fanSpeedPercentDesired)
|
||||
statlog.gauge("screen_brightness_percent", msg.deviceState.screenBrightnessPercent)
|
||||
|
||||
# report to server once every 10 minutes
|
||||
# report to server once every 10 minutes, or every 1s when thermally blocked
|
||||
rising_edge_started = should_start and not should_start_prev
|
||||
if rising_edge_started or (count % int(600. / DT_HW)) == 0:
|
||||
status_packet_interval = 1. if show_alert else 600.
|
||||
if rising_edge_started or (count % int(status_packet_interval / DT_HW)) == 0:
|
||||
dat = {
|
||||
'count': count,
|
||||
'pandaStates': [strip_deprecated_keys(p.to_dict()) for p in pandaStates],
|
||||
|
||||
133
system/hardware/tici/gsma_ci_bundle.pem
Normal file
133
system/hardware/tici/gsma_ci_bundle.pem
Normal file
@@ -0,0 +1,133 @@
|
||||
# GSMA Certificate Issuer (CI) bundle for eSIM RSP
|
||||
# Source: https://euicc-manual.osmocom.org/docs/pki/ci/bundle.pem
|
||||
|
||||
issuer=
|
||||
countryName = CH
|
||||
organizationName = OISTE Foundation
|
||||
commonName = OISTE GSMA CI G1
|
||||
notBefore=2024-01-16 23:17:39Z
|
||||
notAfter=2059-01-07 23:17:38Z
|
||||
-----BEGIN CERTIFICATE-----
|
||||
MIIB9zCCAZ2gAwIBAgIUSpBSCCDYPOEG/IFHUCKpZ2pIAQMwCgYIKoZIzj0EAwIw
|
||||
QzELMAkGA1UEBhMCQ0gxGTAXBgNVBAoMEE9JU1RFIEZvdW5kYXRpb24xGTAXBgNV
|
||||
BAMMEE9JU1RFIEdTTUEgQ0kgRzEwIBcNMjQwMTE2MjMxNzM5WhgPMjA1OTAxMDcy
|
||||
MzE3MzhaMEMxCzAJBgNVBAYTAkNIMRkwFwYDVQQKDBBPSVNURSBGb3VuZGF0aW9u
|
||||
MRkwFwYDVQQDDBBPSVNURSBHU01BIENJIEcxMFkwEwYHKoZIzj0CAQYIKoZIzj0D
|
||||
AQcDQgAEvZ3s3PFC4NgrCcCMmHJ6DJ66uzAHuLcvjJnOn+TtBNThS7YHLDyHCa2v
|
||||
7D+zTP+XTtgqgcLoB56Gha9EQQQ4xKNtMGswDwYDVR0TAQH/BAUwAwEB/zAQBgNV
|
||||
HREECTAHiAVghXQFDjAXBgNVHSABAf8EDTALMAkGB2eBEgECAQAwHQYDVR0OBBYE
|
||||
FEwnlnrSDBSzkelgHkHmBK1XwCIvMA4GA1UdDwEB/wQEAwIBBjAKBggqhkjOPQQD
|
||||
AgNIADBFAiBVcywTj017jKpAQ+gwy4MqK2hQvzve6lkvQkgSP6ykHwIhAI0KFwCD
|
||||
jnPbmcJsG41hUrWNlf+IcrMvFuYii0DasBNi
|
||||
-----END CERTIFICATE-----
|
||||
issuer=
|
||||
organizationName = GSM Association
|
||||
commonName = GSM Association - RSP2 Root CI1
|
||||
notBefore=2017-02-22 00:00:00Z
|
||||
notAfter=2052-02-21 23:59:59Z
|
||||
-----BEGIN CERTIFICATE-----
|
||||
MIICSTCCAe+gAwIBAgIQbmhWeneg7nyF7hg5Y9+qejAKBggqhkjOPQQDAjBEMRgw
|
||||
FgYDVQQKEw9HU00gQXNzb2NpYXRpb24xKDAmBgNVBAMTH0dTTSBBc3NvY2lhdGlv
|
||||
biAtIFJTUDIgUm9vdCBDSTEwIBcNMTcwMjIyMDAwMDAwWhgPMjA1MjAyMjEyMzU5
|
||||
NTlaMEQxGDAWBgNVBAoTD0dTTSBBc3NvY2lhdGlvbjEoMCYGA1UEAxMfR1NNIEFz
|
||||
c29jaWF0aW9uIC0gUlNQMiBSb290IENJMTBZMBMGByqGSM49AgEGCCqGSM49AwEH
|
||||
A0IABJ1qutL0HCMX52GJ6/jeibsAqZfULWj/X10p/Min6seZN+hf5llovbCNuB2n
|
||||
unLz+O8UD0SUCBUVo8e6n9X1TuajgcAwgb0wDgYDVR0PAQH/BAQDAgEGMA8GA1Ud
|
||||
EwEB/wQFMAMBAf8wEwYDVR0RBAwwCogIKwYBBAGC6WAwFwYDVR0gAQH/BA0wCzAJ
|
||||
BgdngRIBAgEAME0GA1UdHwRGMEQwQqBAoD6GPGh0dHA6Ly9nc21hLWNybC5zeW1h
|
||||
dXRoLmNvbS9vZmZsaW5lY2EvZ3NtYS1yc3AyLXJvb3QtY2kxLmNybDAdBgNVHQ4E
|
||||
FgQUgTcPUSXQsdQI1MOyMubSXnlb6/swCgYIKoZIzj0EAwIDSAAwRQIgIJdYsOMF
|
||||
WziPK7l8nh5mu0qiRiVf25oa9ullG/OIASwCIQDqCmDrYf+GziHXBOiwJwnBaeBO
|
||||
aFsiLzIEOaUuZwdNUw==
|
||||
-----END CERTIFICATE-----
|
||||
issuer=
|
||||
countryName = US
|
||||
organizationName = Entrust, Inc.
|
||||
organizationalUnitName = See www.entrust.net/legal-terms
|
||||
organizationalUnitName = (c) 2016 Entrust, Inc. - for authorized use only
|
||||
commonName = Entrust eSIM Certification Authority
|
||||
notBefore=2016-11-16 16:04:02Z
|
||||
notAfter=2051-10-16 16:34:02Z
|
||||
-----BEGIN CERTIFICATE-----
|
||||
MIIC6DCCAo2gAwIBAgIRAIy4GT7M5nHsAAAAAFgsinowCgYIKoZIzj0EAwIwgbkx
|
||||
CzAJBgNVBAYTAlVTMRYwFAYDVQQKEw1FbnRydXN0LCBJbmMuMSgwJgYDVQQLEx9T
|
||||
ZWUgd3d3LmVudHJ1c3QubmV0L2xlZ2FsLXRlcm1zMTkwNwYDVQQLEzAoYykgMjAx
|
||||
NiBFbnRydXN0LCBJbmMuIC0gZm9yIGF1dGhvcml6ZWQgdXNlIG9ubHkxLTArBgNV
|
||||
BAMTJEVudHJ1c3QgZVNJTSBDZXJ0aWZpY2F0aW9uIEF1dGhvcml0eTAgFw0xNjEx
|
||||
MTYxNjA0MDJaGA8yMDUxMTAxNjE2MzQwMlowgbkxCzAJBgNVBAYTAlVTMRYwFAYD
|
||||
VQQKEw1FbnRydXN0LCBJbmMuMSgwJgYDVQQLEx9TZWUgd3d3LmVudHJ1c3QubmV0
|
||||
L2xlZ2FsLXRlcm1zMTkwNwYDVQQLEzAoYykgMjAxNiBFbnRydXN0LCBJbmMuIC0g
|
||||
Zm9yIGF1dGhvcml6ZWQgdXNlIG9ubHkxLTArBgNVBAMTJEVudHJ1c3QgZVNJTSBD
|
||||
ZXJ0aWZpY2F0aW9uIEF1dGhvcml0eTBZMBMGByqGSM49AgEGCCqGSM49AwEHA0IA
|
||||
BAdzwGHeQ1Wb2f4DmHTByR5/IWL3JugQ1U3908a++bHdlt+TTA7K4c5cYZ+51Yz/
|
||||
hg/bacxguPDh9uQUK6Wg3a6jcjBwMA8GA1UdEwEB/wQFMAMBAf8wDgYDVR0PAQH/
|
||||
BAQDAgEGMBcGA1UdIAEB/wQNMAswCQYHZ4ESAQIBADAVBgNVHREEDjAMiApghkgB
|
||||
hvpsFAoAMB0GA1UdDgQWBBQWcEt/NR42B/GMS3AAXDoAPf1BSjAKBggqhkjOPQQD
|
||||
AgNJADBGAiEAspjXMvaBZyAg86Z0AAtT0yBRAi1EyaAfNz9kDJeAE04CIQC3efj8
|
||||
ATL7/tDBOhANy3cK8PS/1NIlu9vqMLCZsZvJ0Q==
|
||||
-----END CERTIFICATE-----
|
||||
issuer=
|
||||
countryName = FR
|
||||
organizationName = OBERTHUR TECHNOLOGIES
|
||||
organizationalUnitName = TELECOM
|
||||
commonName = MC4 OT ROOT CI v1
|
||||
notBefore=2016-11-15 00:00:01Z
|
||||
notAfter=2046-11-08 23:59:59Z
|
||||
-----BEGIN CERTIFICATE-----
|
||||
MIICOjCCAeGgAwIBAgIBATAKBggqhkjOPQQDAjBbMQswCQYDVQQGEwJGUjEeMBwG
|
||||
A1UEChMVT0JFUlRIVVIgVEVDSE5PTE9HSUVTMRAwDgYDVQQLEwdURUxFQ09NMRow
|
||||
GAYDVQQDExFNQzQgT1QgUk9PVCBDSSB2MTAeFw0xNjExMTUwMDAwMDFaFw00NjEx
|
||||
MDgyMzU5NTlaMFsxCzAJBgNVBAYTAkZSMR4wHAYDVQQKExVPQkVSVEhVUiBURUNI
|
||||
Tk9MT0dJRVMxEDAOBgNVBAsTB1RFTEVDT00xGjAYBgNVBAMTEU1DNCBPVCBST09U
|
||||
IENJIHYxMFkwEwYHKoZIzj0CAQYIKoZIzj0DAQcDQgAEHb/Gajt3OZxuaDSklBQE
|
||||
D4lOd6PGPLSvtfkM952ubdyy45tJwAeA0eEii0CLrFT6tcfXkW+H/5mQyMRXaAUk
|
||||
T6OBlTCBkjAfBgNVHSMEGDAWgBTNbmC3LXoGPLyEYluR6A/jBAbhPjAdBgNVHQ4E
|
||||
FgQUzW5gty16Bjy8hGJbkegP4wQG4T4wDgYDVR0PAQH/BAQDAgAGMBcGA1UdIAEB
|
||||
/wQNMAswCQYHZ4ESAQIBADAWBgNVHREEDzANiAsrBgEEAYHvb7OITTAPBgNVHRMB
|
||||
Af8EBTADAQH/MAoGCCqGSM49BAMCA0cAMEQCIEw4Nc7f2fDtoH+6ON/bknfDQxmT
|
||||
ikThXjhpLtSrSKN2AiAxHxgC87L0FDnH8dJNlkdGX9c0JIx6oLheIplfS6k+jg==
|
||||
-----END CERTIFICATE-----
|
||||
issuer=
|
||||
commonName = SubMan V4.2 CI Google Pixel
|
||||
organizationName = Giesecke and Devrient GmbH
|
||||
organizationalUnitName = Mobile Security
|
||||
countryName = DE
|
||||
notBefore=2017-05-10 00:00:00Z
|
||||
notAfter=2027-05-10 00:00:00Z
|
||||
-----BEGIN CERTIFICATE-----
|
||||
MIICaTCCAg6gAwIBAgICASwwCgYIKoZIzj0EAwIwczElMCMGA1UEAxMcIFN1Yk1h
|
||||
biBWNC4yIENJIEdvb2dsZSBQaXhlbDEjMCEGA1UEChMaR2llc2Vja2UgYW5kIERl
|
||||
dnJpZW50IEdtYkgxGDAWBgNVBAsTD01vYmlsZSBTZWN1cml0eTELMAkGA1UEBhMC
|
||||
REUwHhcNMTcwNTEwMDAwMDAwWhcNMjcwNTEwMDAwMDAwWjBzMSUwIwYDVQQDExwg
|
||||
U3ViTWFuIFY0LjIgQ0kgR29vZ2xlIFBpeGVsMSMwIQYDVQQKExpHaWVzZWNrZSBh
|
||||
bmQgRGV2cmllbnQgR21iSDEYMBYGA1UECxMPTW9iaWxlIFNlY3VyaXR5MQswCQYD
|
||||
VQQGEwJERTBZMBMGByqGSM49AgEGCCqGSM49AwEHA0IABHNorfaJsGzqWNawyAhl
|
||||
IAv9QL2/+b9RsUoso06t/dKX1MRr5CUJ51acvv5TAFhQKIml+dwLbFnV5aO+8W6Z
|
||||
wxajgZEwgY4wHwYDVR0jBBgwFoAUtg8LiX/WMLiM/tYWH46oCMU4KsMwHQYDVR0O
|
||||
BBYEFLYPC4l/1jC4jP7WFh+OqAjFOCrDMA4GA1UdDwEB/wQEAwIBBjAXBgNVHSAB
|
||||
Af8EDTALMAkGB2eBEgECAQAwDwYDVR0TAQH/BAUwAwEB/zASBgNVHREECzAJiAcr
|
||||
BgEEAdwPMAoGCCqGSM49BAMCA0kAMEYCIQDpoZcuAQrjATW8U+AWqMUJ0dY6nWW1
|
||||
R1QmFzVZ1yMXSwIhALCvRqkCtgiavdeFeSgsSNbY5Fhd+QoCltuSh1U4TE7A
|
||||
-----END CERTIFICATE-----
|
||||
issuer=
|
||||
countryName = DE
|
||||
commonName = SubMan V4.2 CI
|
||||
organizationName = Giesecke and Devrient
|
||||
organizationalUnitName = Mobile Security
|
||||
notBefore=2016-08-12 13:51:48Z
|
||||
notAfter=2026-08-12 13:51:48Z
|
||||
-----BEGIN CERTIFICATE-----
|
||||
MIICUjCCAfigAwIBAgIDQgAAMAoGCCqGSM49BAMCMGAxCzAJBgNVBAYTAkRFMRcw
|
||||
FQYDVQQDEw5TdWJNYW4gVjQuMiBDSTEeMBwGA1UEChMVR2llc2Vja2UgYW5kIERl
|
||||
dnJpZW50MRgwFgYDVQQLEw9Nb2JpbGUgU2VjdXJpdHkwHhcNMTYwODEyMTM1MTQ4
|
||||
WhcNMjYwODEyMTM1MTQ4WjBgMQswCQYDVQQGEwJERTEXMBUGA1UEAxMOU3ViTWFu
|
||||
IFY0LjIgQ0kxHjAcBgNVBAoTFUdpZXNlY2tlIGFuZCBEZXZyaWVudDEYMBYGA1UE
|
||||
CxMPTW9iaWxlIFNlY3VyaXR5MFkwEwYHKoZIzj0CAQYIKoZIzj0DAQcDQgAEYIgl
|
||||
VQr9wbXOlwPp8qMg5Df08Cli9Mc+lpr3Lwa9PlVA3QWlLeX4GfD4H3phLBqVIa17
|
||||
yHttmtheTxi0KoEqhKOBoDCBnTAdBgNVHQ4EFgQU6lOt7zMpuVCa/XVf1Ei4LcG8
|
||||
7P8wDgYDVR0PAQH/BAQDAgEGMBcGA1UdIAEB/wQNMAswCQYHZ4ESAQIBADAPBgNV
|
||||
HRMBAf8EBTADAQH/MBIGA1UdEQQLMAmIBysGAQQB3A8wLgYDVR0fBCcwJTAjoCGg
|
||||
H4YdaHR0cDovL2dpLWRlLmNvbS90ZXN0LmNybC5wZW0wCgYIKoZIzj0EAwIDSAAw
|
||||
RQIhAMMx2L/VHDiOW+Fl/OuFmhCdizYM17Yn9zAVieKO2T0iAiANWtCMmY+DzkqK
|
||||
yHxBFX0U2tBd682zP4DpgRt8j3Ylew==
|
||||
-----END CERTIFICATE-----
|
||||
@@ -3,8 +3,10 @@
|
||||
import atexit
|
||||
import base64
|
||||
import fcntl
|
||||
import hashlib
|
||||
import math
|
||||
import os
|
||||
import requests
|
||||
import serial
|
||||
import subprocess
|
||||
import sys
|
||||
@@ -15,8 +17,12 @@ from collections.abc import Callable, Generator
|
||||
from contextlib import contextmanager
|
||||
from typing import Any
|
||||
|
||||
from pathlib import Path
|
||||
|
||||
from openpilot.common.time_helpers import system_time_valid
|
||||
from openpilot.system.hardware.base import LPABase, LPAError, Profile
|
||||
|
||||
GSMA_CI_BUNDLE = str(Path(__file__).parent / "gsma_ci_bundle.pem")
|
||||
|
||||
DEFAULT_DEVICE = "/dev/modem_at0"
|
||||
DEFAULT_BAUD = 9600
|
||||
@@ -26,6 +32,7 @@ ISDR_AID = "A0000005591010FFFFFFFF8900000100"
|
||||
MM = "org.freedesktop.ModemManager1"
|
||||
MM_MODEM = MM + ".Modem"
|
||||
ES10X_MSS = 120
|
||||
HTTP_TIMEOUT = 30
|
||||
OPEN_ISDR_RETRIES = 10
|
||||
OPEN_ISDR_RETRY_DELAY_S = 0.25
|
||||
OPEN_ISDR_RESET_ATTEMPT = 5
|
||||
@@ -37,10 +44,24 @@ DEBUG = os.environ.get("DEBUG") == "1"
|
||||
# TLV Tags
|
||||
TAG_ICCID = 0x5A
|
||||
TAG_STATUS = 0x80
|
||||
TAG_PROFILE_INFO_LIST = 0xBF2D
|
||||
TAG_EUICC_INFO = 0xBF20
|
||||
TAG_PREPARE_DOWNLOAD = 0xBF21
|
||||
TAG_BPP_COMMAND = 0xBF23
|
||||
TAG_PROFILE_METADATA = 0xBF25
|
||||
TAG_INSTALL_RESULT_DATA = 0xBF27
|
||||
TAG_LIST_NOTIFICATION = 0xBF28
|
||||
TAG_SET_NICKNAME = 0xBF29
|
||||
TAG_RETRIEVE_NOTIFICATION = 0xBF2B
|
||||
TAG_PROFILE_INFO_LIST = 0xBF2D
|
||||
TAG_EUICC_CHALLENGE = 0xBF2E
|
||||
TAG_NOTIFICATION_METADATA = 0xBF2F
|
||||
TAG_NOTIFICATION_SENT = 0xBF30
|
||||
TAG_ENABLE_PROFILE = 0xBF31
|
||||
TAG_DELETE_PROFILE = 0xBF33
|
||||
TAG_BPP = 0xBF36
|
||||
TAG_PROFILE_INSTALL_RESULT = 0xBF37
|
||||
TAG_AUTH_SERVER = 0xBF38
|
||||
TAG_CANCEL_SESSION = 0xBF41
|
||||
TAG_OK = 0xA0
|
||||
|
||||
PROFILE_OK = 0x00
|
||||
@@ -52,6 +73,42 @@ PROFILE_ERROR_CODES = {
|
||||
0x03: "disallowedByPolicy", 0x04: "wrongProfileReenabling",
|
||||
PROFILE_CAT_BUSY: "catBusy", 0x06: "undefinedError",
|
||||
}
|
||||
AUTH_SERVER_ERROR_CODES = {
|
||||
0x01: "eUICCVerificationFailed", 0x02: "eUICCCertificateExpired",
|
||||
0x03: "eUICCCertificateRevoked", 0x05: "invalidServerSignature",
|
||||
0x06: "euiccCiPKUnknown", 0x0A: "matchingIdRefused",
|
||||
0x10: "insufficientMemory",
|
||||
}
|
||||
BPP_COMMAND_NAMES = {
|
||||
0: "initialiseSecureChannel", 1: "configureISDP", 2: "storeMetadata",
|
||||
3: "storeMetadata2", 4: "replaceSessionKeys", 5: "loadProfileElements",
|
||||
}
|
||||
BPP_ERROR_REASONS = {
|
||||
1: "incorrectInputValues", 2: "invalidSignature", 3: "invalidTransactionId",
|
||||
4: "unsupportedCrtValues", 5: "unsupportedRemoteOperationType",
|
||||
6: "unsupportedProfileClass", 7: "scp03tStructureError", 8: "scp03tSecurityError",
|
||||
9: "iccidAlreadyExistsOnEuicc", 10: "insufficientMemoryForProfile",
|
||||
11: "installInterrupted", 12: "peProcessingError", 13: "dataMismatch",
|
||||
14: "invalidNAA",
|
||||
}
|
||||
BPP_ERROR_MESSAGES = {
|
||||
9: "This eSIM profile is already installed on this device.",
|
||||
10: "Not enough memory on the eUICC to install this profile.",
|
||||
12: "Profile installation failed. The QR code may have already been used.",
|
||||
}
|
||||
|
||||
# SGP.22 §5.2.6 — SM-DP+ reason/subject codes mapped to user-friendly messages
|
||||
ES9P_ERROR_MESSAGES: dict[tuple[str, str], str] = {
|
||||
('3.8', '8.2.6'): "This eSIM profile is already installed on another device. Please use a new QR code.",
|
||||
('3.8', '8.2.1'): "This eSIM profile has expired. Please request a new QR code.",
|
||||
('3.8', '8.1'): "The SM-DP+ server refused this request.",
|
||||
('3.1', '8.2.6'): "This eSIM profile has been revoked by the carrier.",
|
||||
('3.9', '8.2.6'): "This eSIM profile download has already been completed.",
|
||||
('2.1', '8.8'): "The device is not compatible with this eSIM profile.",
|
||||
('1.2', '8.1'): "The SM-DP+ server is temporarily unavailable. Try again later.",
|
||||
}
|
||||
|
||||
NOTIFICATION_OPERATIONS = {0x80: "install", 0x40: "enable", 0x20: "disable", 0x10: "delete"}
|
||||
|
||||
STATE_LABELS = {0: "disabled", 1: "enabled", 255: "unknown"}
|
||||
ICON_LABELS = {0: "jpeg", 1: "png", 255: "unknown"}
|
||||
@@ -345,6 +402,15 @@ def es10x_command(client: AtClient, data: bytes) -> bytes:
|
||||
|
||||
# --- Profile operations ---
|
||||
|
||||
NOTIFICATION: FieldMap = {
|
||||
TAG_STATUS: ("seqNumber", lambda v: int.from_bytes(v, "big")),
|
||||
0x81: ("profileManagementOperation",
|
||||
lambda v: NOTIFICATION_OPERATIONS.get(next((m for m in NOTIFICATION_OPERATIONS if len(v) >= 2 and v[1] & m), 0), "unknown")),
|
||||
0x0C: ("notificationAddress", lambda v: v.decode("utf-8", errors="ignore")),
|
||||
TAG_ICCID: ("iccid", tbcd_to_string),
|
||||
}
|
||||
|
||||
|
||||
def decode_profiles(blob: bytes) -> list[dict]:
|
||||
root = require_tag(blob, TAG_PROFILE_INFO_LIST, "ProfileInfoList")
|
||||
list_ok = find_tag(root, TAG_OK)
|
||||
@@ -370,6 +436,278 @@ def set_profile_nickname(client: AtClient, iccid: str, nickname: str) -> None:
|
||||
raise RuntimeError(f"SetNickname failed with status 0x{code:02X}")
|
||||
|
||||
|
||||
# --- ES9P HTTP ---
|
||||
|
||||
def es9p_request(smdp_address: str, endpoint: str, payload: dict, error_prefix: str = "Request", session: requests.Session | None = None) -> dict:
|
||||
url = f"https://{smdp_address}/gsma/rsp2/es9plus/{endpoint}"
|
||||
headers = {"User-Agent": "gsma-rsp-lpad", "X-Admin-Protocol": "gsma/rsp/v2.3.0", "Content-Type": "application/json"}
|
||||
http = session or requests
|
||||
resp = http.post(url, json=payload, headers=headers, timeout=HTTP_TIMEOUT, verify=GSMA_CI_BUNDLE)
|
||||
resp.raise_for_status()
|
||||
if not resp.content:
|
||||
return {}
|
||||
data = resp.json()
|
||||
if "header" in data and "functionExecutionStatus" in data["header"]:
|
||||
status = data["header"]["functionExecutionStatus"]
|
||||
if status.get("status") == "Failed":
|
||||
sd = status.get("statusCodeData", {})
|
||||
reason = sd.get("reasonCode", "unknown")
|
||||
subject = sd.get("subjectCode", "unknown")
|
||||
msg = ES9P_ERROR_MESSAGES.get((reason, subject),
|
||||
f"{error_prefix} failed: {reason}/{subject} - {sd.get('message', 'unknown')}")
|
||||
raise RuntimeError(msg)
|
||||
return data
|
||||
|
||||
|
||||
# --- Notifications ---
|
||||
|
||||
def list_notifications(client: AtClient) -> list[dict]:
|
||||
response = es10x_command(client, encode_tlv(TAG_LIST_NOTIFICATION, b""))
|
||||
root = require_tag(response, TAG_LIST_NOTIFICATION, "ListNotificationResponse")
|
||||
metadata_list = find_tag(root, TAG_OK)
|
||||
if metadata_list is None:
|
||||
return []
|
||||
return [decode_struct(value, NOTIFICATION) for tag, value in iter_tlv(metadata_list) if tag == TAG_NOTIFICATION_METADATA]
|
||||
|
||||
|
||||
def process_notifications(client: AtClient) -> None:
|
||||
for notification in list_notifications(client):
|
||||
seq_number, smdp_address = notification["seqNumber"], notification["notificationAddress"]
|
||||
try:
|
||||
request = encode_tlv(TAG_RETRIEVE_NOTIFICATION, encode_tlv(TAG_OK, encode_tlv(TAG_STATUS, int_bytes(seq_number))))
|
||||
response = es10x_command(client, request)
|
||||
content = require_tag(require_tag(response, TAG_RETRIEVE_NOTIFICATION, "RetrieveNotificationsListResponse"),
|
||||
TAG_OK, "RetrieveNotificationsListResponse")
|
||||
pending_notif = next((v for t, v in iter_tlv(content) if t in (TAG_PROFILE_INSTALL_RESULT, 0x30)), None)
|
||||
if pending_notif is None:
|
||||
raise RuntimeError("Missing PendingNotification")
|
||||
|
||||
es9p_request(smdp_address, "handleNotification", {"pendingNotification": b64e(pending_notif)}, "HandleNotification")
|
||||
|
||||
response = es10x_command(client, encode_tlv(TAG_NOTIFICATION_SENT, encode_tlv(TAG_STATUS, int_bytes(seq_number))))
|
||||
root = require_tag(response, TAG_NOTIFICATION_SENT, "NotificationSentResponse")
|
||||
if int.from_bytes(require_tag(root, TAG_STATUS, "RemoveNotificationFromList status"), "big") != 0:
|
||||
raise RuntimeError("RemoveNotificationFromList failed")
|
||||
except Exception as e:
|
||||
print(f"notification {seq_number} failed: {e}", file=sys.stderr)
|
||||
|
||||
|
||||
# --- Authentication & Download ---
|
||||
|
||||
def get_challenge_and_info(client: AtClient) -> tuple[bytes, bytes]:
|
||||
challenge_resp = es10x_command(client, encode_tlv(TAG_EUICC_CHALLENGE, b""))
|
||||
challenge = require_tag(require_tag(challenge_resp, TAG_EUICC_CHALLENGE, "GetEuiccDataResponse"),
|
||||
TAG_STATUS, "challenge in response")
|
||||
info_resp = es10x_command(client, encode_tlv(TAG_EUICC_INFO, b""))
|
||||
require_tag(info_resp, TAG_EUICC_INFO, "GetEuiccInfo1Response")
|
||||
return challenge, info_resp
|
||||
|
||||
|
||||
def authenticate_server(client: AtClient, b64_signed1: str, b64_sig1: str, b64_pk_id: str, b64_cert: str, matching_id: str) -> str:
|
||||
tac = bytes([0x35, 0x29, 0x06, 0x11])
|
||||
device_info = encode_tlv(TAG_STATUS, tac) + encode_tlv(0xA1, b"")
|
||||
ctx_inner = encode_tlv(TAG_STATUS, matching_id.encode("utf-8")) + encode_tlv(0xA1, device_info)
|
||||
content = b64d(b64_signed1) + b64d(b64_sig1) + b64d(b64_pk_id) + b64d(b64_cert) + encode_tlv(0xA0, ctx_inner)
|
||||
response = es10x_command(client, encode_tlv(TAG_AUTH_SERVER, content))
|
||||
root = require_tag(response, TAG_AUTH_SERVER, "AuthenticateServerResponse")
|
||||
error_tag = find_tag(root, 0xA1)
|
||||
if error_tag is not None:
|
||||
code = int.from_bytes(error_tag, "big") if error_tag else 0
|
||||
raise RuntimeError(f"AuthenticateServer rejected by eUICC: {AUTH_SERVER_ERROR_CODES.get(code, 'unknown')} (0x{code:02X})")
|
||||
return b64e(response)
|
||||
|
||||
|
||||
def prepare_download(client: AtClient, b64_signed2: str, b64_sig2: str, b64_cert: str, cc: str | None = None) -> str:
|
||||
smdp_signed2 = b64d(b64_signed2)
|
||||
smdp_signature2 = b64d(b64_sig2)
|
||||
smdp_certificate = b64d(b64_cert)
|
||||
smdp_signed2_root = find_tag(smdp_signed2, 0x30)
|
||||
if smdp_signed2_root is None:
|
||||
raise RuntimeError("Invalid smdpSigned2")
|
||||
transaction_id = find_tag(smdp_signed2_root, TAG_STATUS)
|
||||
cc_required_flag = find_tag(smdp_signed2_root, 0x01)
|
||||
if transaction_id is None or cc_required_flag is None:
|
||||
raise RuntimeError("Invalid smdpSigned2")
|
||||
content = smdp_signed2 + smdp_signature2
|
||||
if int.from_bytes(cc_required_flag, "big") != 0:
|
||||
if not cc:
|
||||
raise RuntimeError("Confirmation code required but not provided")
|
||||
content += encode_tlv(0x04, hashlib.sha256(hashlib.sha256(cc.encode("utf-8")).digest() + transaction_id).digest())
|
||||
content += smdp_certificate
|
||||
response = es10x_command(client, encode_tlv(TAG_PREPARE_DOWNLOAD, content))
|
||||
require_tag(response, TAG_PREPARE_DOWNLOAD, "PrepareDownloadResponse")
|
||||
return b64e(response)
|
||||
|
||||
|
||||
def _parse_tlv_header_len(data: bytes) -> int:
|
||||
tag_len = 2 if data[0] & 0x1F == 0x1F else 1
|
||||
length_byte = data[tag_len]
|
||||
return tag_len + (1 + (length_byte & 0x7F) if length_byte & 0x80 else 1)
|
||||
|
||||
|
||||
def _split_bpp(bpp: bytes) -> list[bytes]:
|
||||
"""Split a BoundProfilePackage into APDU chunks per SGP.22 §5.7.6."""
|
||||
root_value = None
|
||||
for tag, value, start, end in iter_tlv(bpp, with_positions=True):
|
||||
if tag == TAG_BPP:
|
||||
root_value = value
|
||||
val_start = start + _parse_tlv_header_len(bpp[start:end])
|
||||
break
|
||||
if root_value is None:
|
||||
raise RuntimeError("Invalid BoundProfilePackage")
|
||||
|
||||
chunks: list[bytes] = []
|
||||
for tag, value, start, end in iter_tlv(root_value, with_positions=True):
|
||||
if tag == TAG_BPP_COMMAND:
|
||||
chunks.append(bpp[0 : val_start + end])
|
||||
elif tag in (0xA0, 0xA2):
|
||||
chunks.append(bpp[val_start + start : val_start + end])
|
||||
elif tag in (0xA1, 0xA3):
|
||||
hdr_len = _parse_tlv_header_len(root_value[start:end])
|
||||
chunks.append(bpp[val_start + start : val_start + start + hdr_len])
|
||||
for _, _, cs, ce in iter_tlv(value, with_positions=True):
|
||||
chunks.append(value[cs:ce])
|
||||
return chunks
|
||||
|
||||
|
||||
def _parse_install_result(response: bytes) -> dict[str, Any] | None:
|
||||
"""Parse a ProfileInstallResult from an APDU response, or None if not present."""
|
||||
root = find_tag(response, TAG_PROFILE_INSTALL_RESULT)
|
||||
if not root:
|
||||
return None
|
||||
result_data = find_tag(root, TAG_INSTALL_RESULT_DATA)
|
||||
if not result_data:
|
||||
return None
|
||||
result: dict[str, Any] = {"seqNumber": 0, "success": False, "bppCommandId": None, "errorReason": None}
|
||||
notif_meta = find_tag(result_data, TAG_NOTIFICATION_METADATA)
|
||||
if notif_meta:
|
||||
seq_num = find_tag(notif_meta, TAG_STATUS)
|
||||
if seq_num:
|
||||
result["seqNumber"] = int.from_bytes(seq_num, "big")
|
||||
final_result = find_tag(result_data, 0xA2)
|
||||
if final_result:
|
||||
for tag, value in iter_tlv(final_result):
|
||||
if tag == 0xA0:
|
||||
result["success"] = True
|
||||
elif tag == 0xA1:
|
||||
bpp_cmd = find_tag(value, TAG_STATUS)
|
||||
if bpp_cmd:
|
||||
result["bppCommandId"] = int.from_bytes(bpp_cmd, "big")
|
||||
err = find_tag(value, 0x81)
|
||||
if err:
|
||||
result["errorReason"] = int.from_bytes(err, "big")
|
||||
return result
|
||||
|
||||
|
||||
def load_bpp(client: AtClient, b64_bpp: str) -> dict:
|
||||
bpp = b64d(b64_bpp)
|
||||
result = None
|
||||
for chunk in _split_bpp(bpp):
|
||||
response = es10x_command(client, chunk)
|
||||
if response:
|
||||
result = _parse_install_result(response) or result
|
||||
|
||||
if result is None:
|
||||
raise RuntimeError("Profile installation failed: no result from eUICC")
|
||||
if not result["success"] and result["errorReason"] is not None:
|
||||
msg = BPP_ERROR_MESSAGES.get(result["errorReason"])
|
||||
if not msg:
|
||||
cmd_name = BPP_COMMAND_NAMES.get(result["bppCommandId"], f"unknown({result['bppCommandId']})")
|
||||
err_name = BPP_ERROR_REASONS.get(result["errorReason"], f"unknown({result['errorReason']})")
|
||||
msg = f"Profile installation failed at {cmd_name}: {err_name}"
|
||||
raise RuntimeError(msg)
|
||||
if not result["success"]:
|
||||
raise RuntimeError("Profile installation failed: no result from eUICC")
|
||||
return result
|
||||
|
||||
|
||||
def parse_metadata(b64_metadata: str) -> dict:
|
||||
root = find_tag(b64d(b64_metadata), TAG_PROFILE_METADATA)
|
||||
if root is None:
|
||||
raise RuntimeError("Invalid profileMetadata")
|
||||
return decode_struct(root, PROFILE)
|
||||
|
||||
|
||||
def cancel_session(client: AtClient, transaction_id: bytes, reason: int = 127) -> str:
|
||||
content = encode_tlv(0x80, transaction_id) + encode_tlv(0x81, bytes([reason]))
|
||||
response = es10x_command(client, encode_tlv(TAG_CANCEL_SESSION, content))
|
||||
return b64e(response)
|
||||
|
||||
|
||||
def parse_lpa_activation_code(activation_code: str) -> tuple[str, str]:
|
||||
"""Parse 'LPA:1$smdp.example.com$MATCHING-ID' into (smdp_address, matching_id)."""
|
||||
if not activation_code.startswith("LPA:"):
|
||||
raise ValueError("Invalid activation code format")
|
||||
parts = activation_code[4:].split("$")
|
||||
if len(parts) != 3:
|
||||
raise ValueError("Invalid activation code format")
|
||||
return parts[1], parts[2]
|
||||
|
||||
|
||||
def _b64_field(data: dict, key: str) -> str:
|
||||
return base64_trim(data[key])
|
||||
|
||||
|
||||
def _cancel_session_safe(client: AtClient, smdp: str, tx_id: str, session: requests.Session) -> None:
|
||||
b64_cancel = ""
|
||||
try:
|
||||
b64_cancel = cancel_session(client, b64d(tx_id))
|
||||
except Exception:
|
||||
pass
|
||||
try:
|
||||
es9p_request(smdp, "cancelSession", {"transactionId": tx_id, "cancelSessionResponse": b64_cancel}, "CancelSession", session=session)
|
||||
except Exception:
|
||||
pass
|
||||
|
||||
|
||||
def download_profile(client: AtClient, activation_code: str) -> str:
|
||||
"""Download and install an eSIM profile. Returns the ICCID of the installed profile."""
|
||||
if not system_time_valid():
|
||||
raise RuntimeError("System time is not set; TLS certificate validation requires a valid clock")
|
||||
smdp, matching_id = parse_lpa_activation_code(activation_code)
|
||||
challenge, euicc_info = get_challenge_and_info(client)
|
||||
session = requests.Session()
|
||||
tx_id = None
|
||||
|
||||
try:
|
||||
# step 1: initiate authentication
|
||||
auth = es9p_request(smdp, "initiateAuthentication", {
|
||||
"smdpAddress": smdp, "euiccChallenge": b64e(challenge),
|
||||
"euiccInfo1": b64e(euicc_info), "matchingId": matching_id,
|
||||
}, "Authentication", session=session)
|
||||
tx_id = _b64_field(auth, "transactionId")
|
||||
|
||||
# step 2: authenticate server
|
||||
b64_auth = authenticate_server(client,
|
||||
_b64_field(auth, "serverSigned1"), _b64_field(auth, "serverSignature1"),
|
||||
_b64_field(auth, "euiccCiPKIdToBeUsed"), _b64_field(auth, "serverCertificate"),
|
||||
matching_id)
|
||||
|
||||
# step 3: authenticate client + get metadata
|
||||
cli = es9p_request(smdp, "authenticateClient", {
|
||||
"transactionId": tx_id, "authenticateServerResponse": b64_auth,
|
||||
}, "Authentication", session=session)
|
||||
iccid = parse_metadata(_b64_field(cli, "profileMetadata"))["iccid"]
|
||||
|
||||
# step 4: prepare download
|
||||
b64_prep = prepare_download(client,
|
||||
_b64_field(cli, "smdpSigned2"), _b64_field(cli, "smdpSignature2"),
|
||||
_b64_field(cli, "smdpCertificate"))
|
||||
|
||||
# step 5: get and install bound profile package
|
||||
bpp = es9p_request(smdp, "getBoundProfilePackage", {
|
||||
"transactionId": tx_id, "prepareDownloadResponse": b64_prep,
|
||||
}, "GetBoundProfilePackage", session=session)
|
||||
load_bpp(client, _b64_field(bpp, "boundProfilePackage"))
|
||||
return iccid
|
||||
except Exception:
|
||||
if tx_id:
|
||||
_cancel_session_safe(client, smdp, tx_id, session)
|
||||
raise
|
||||
finally:
|
||||
session.close()
|
||||
|
||||
|
||||
class TiciLPA(LPABase):
|
||||
def __init__(self):
|
||||
if hasattr(self, '_client'):
|
||||
@@ -409,6 +747,12 @@ class TiciLPA(LPABase):
|
||||
def get_active_profile(self) -> Profile | None:
|
||||
return None
|
||||
|
||||
def process_notifications(self) -> None:
|
||||
if not system_time_valid():
|
||||
raise RuntimeError("System time is not set; TLS certificate validation requires a valid clock")
|
||||
with self._acquire_channel():
|
||||
process_notifications(self._client)
|
||||
|
||||
def delete_profile(self, iccid: str) -> None:
|
||||
if self.is_comma_profile(iccid):
|
||||
raise LPAError("refusing to delete a comma profile")
|
||||
@@ -420,7 +764,10 @@ class TiciLPA(LPABase):
|
||||
raise LPAError(f"DeleteProfile failed: {PROFILE_ERROR_CODES.get(code, 'unknown')} (0x{code:02X})")
|
||||
|
||||
def download_profile(self, qr: str, nickname: str | None = None) -> None:
|
||||
return None
|
||||
with self._acquire_channel():
|
||||
iccid = download_profile(self._client, qr)
|
||||
if nickname and iccid:
|
||||
set_profile_nickname(self._client, iccid, nickname)
|
||||
|
||||
def nickname_profile(self, iccid: str, nickname: str) -> None:
|
||||
with self._acquire_channel():
|
||||
|
||||
@@ -60,17 +60,19 @@ class OptionControlSP(ItemAction):
|
||||
|
||||
def set_value(self, value: int):
|
||||
"""Set the control to a specific value"""
|
||||
if self.min_value <= value <= self.max_value:
|
||||
self.current_value = value
|
||||
if self.value_map:
|
||||
self.params.put(self.param_key, self.value_map[value])
|
||||
else:
|
||||
if self.use_float_scaling:
|
||||
self.params.put(self.param_key, value / 100.0)
|
||||
else:
|
||||
self.params.put(self.param_key, value)
|
||||
if self.on_value_changed:
|
||||
self.on_value_changed(value)
|
||||
if not (self.min_value <= value <= self.max_value):
|
||||
return
|
||||
if value == self.current_value:
|
||||
return
|
||||
self.current_value = value
|
||||
if self.value_map:
|
||||
self.params.put(self.param_key, self.value_map[value])
|
||||
elif self.use_float_scaling:
|
||||
self.params.put(self.param_key, value / 100.0)
|
||||
else:
|
||||
self.params.put(self.param_key, value)
|
||||
if self.on_value_changed:
|
||||
self.on_value_changed(value)
|
||||
|
||||
def get_displayed_value(self) -> str:
|
||||
"""Get the displayed value, handling value mapping if present"""
|
||||
@@ -157,10 +159,10 @@ class OptionControlSP(ItemAction):
|
||||
|
||||
def _handle_mouse_release(self, mouse_pos: MousePos):
|
||||
if self._minus_enabled and rl.check_collision_point_rec(mouse_pos, self.minus_btn_rect):
|
||||
self.current_value -= self.value_change_step
|
||||
self.current_value = max(self.min_value, self.current_value)
|
||||
new_value = self.current_value - self.value_change_step
|
||||
new_value = max(self.min_value, new_value)
|
||||
self.set_value(new_value)
|
||||
elif self._plus_enabled and rl.check_collision_point_rec(mouse_pos, self.plus_btn_rect):
|
||||
self.current_value += self.value_change_step
|
||||
self.current_value = min(self.max_value, self.current_value)
|
||||
|
||||
self.set_value(self.current_value)
|
||||
new_value = self.current_value + self.value_change_step
|
||||
new_value = min(self.max_value, new_value)
|
||||
self.set_value(new_value)
|
||||
|
||||
@@ -1,108 +0,0 @@
|
||||
import os
|
||||
import time
|
||||
from collections.abc import Callable
|
||||
|
||||
import pyray as rl
|
||||
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.system.hardware import HARDWARE
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight
|
||||
from openpilot.system.ui.lib.text_measure import measure_text_cached
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
|
||||
class ScreenSaverSP(Widget):
|
||||
def __init__(self):
|
||||
super().__init__()
|
||||
self.set_rect(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
|
||||
self.screensaver_timeout = Params().get("ScreenSaverTimeout", return_default=True)
|
||||
self._is_mici = HARDWARE.get_device_type() == 'mici' or (HARDWARE.get_device_type() == "pc" and os.getenv("BIG") != "1")
|
||||
|
||||
self.x = 0.0
|
||||
self.y = 100.0
|
||||
self.vx = 120.0 if self._is_mici else 300.0
|
||||
self.vy = 70.0 if self._is_mici else 200.0
|
||||
self._hue = 150
|
||||
self.color = rl.color_from_hsv(self._hue, 1, 1)
|
||||
|
||||
self.text = "sunnypilot"
|
||||
self.font_size = 50 if self._is_mici else 200
|
||||
self._start_time = None
|
||||
self._dismiss = False
|
||||
self.dismiss_callback = None
|
||||
|
||||
@property
|
||||
def was_dismissed(self) -> bool:
|
||||
return self._dismiss
|
||||
|
||||
def initialize(self, dismiss_callback: Callable):
|
||||
if self._start_time is None:
|
||||
self._start_time = time.monotonic()
|
||||
self.dismiss_callback = dismiss_callback
|
||||
self._dismiss = False
|
||||
|
||||
def deinit(self):
|
||||
self._dismiss = False
|
||||
self._start_time = None
|
||||
|
||||
def _handle_mouse_press(self, mouse_pos):
|
||||
self._reset()
|
||||
return super()._handle_mouse_press(mouse_pos)
|
||||
|
||||
def _reset(self):
|
||||
self._dismiss = True
|
||||
self._start_time = None
|
||||
|
||||
def _update_state(self):
|
||||
super()._update_state()
|
||||
|
||||
self.font = gui_app.font(FontWeight.AUDIOWIDE)
|
||||
text_size = measure_text_cached(self.font, self.text, self.font_size, 0)
|
||||
self.logo_width = text_size.x
|
||||
self.logo_height = text_size.y
|
||||
|
||||
if self._start_time and time.monotonic() - self._start_time > self.screensaver_timeout:
|
||||
self._reset()
|
||||
|
||||
dt = rl.get_frame_time()
|
||||
|
||||
self.x += self.vx * dt
|
||||
self.y += self.vy * dt
|
||||
|
||||
hit_x = hit_y = False
|
||||
if self.x + self.logo_width > self.rect.width:
|
||||
self.vx *= -1
|
||||
self.x = self.rect.width - self.logo_width
|
||||
hit_x = True
|
||||
elif self.x < 0:
|
||||
self.vx *= -1
|
||||
self.x = 0
|
||||
hit_x = True
|
||||
|
||||
if self.y + self.logo_height > self.rect.height:
|
||||
self.vy *= -1
|
||||
self.y = self.rect.height - self.logo_height
|
||||
hit_y = True
|
||||
elif self.y < 0:
|
||||
self.vy *= -1
|
||||
self.y = 0
|
||||
hit_y = True
|
||||
|
||||
def hue_dist(a, b):
|
||||
d = abs(a - b)
|
||||
return min(d, 360 - d)
|
||||
|
||||
if hit_x or hit_y:
|
||||
while hue_dist((new_hue := rl.get_random_value(0, 360)), self._hue) < 90:
|
||||
pass
|
||||
self._hue = new_hue
|
||||
self.color = rl.color_from_hsv(self._hue, 1, 1)
|
||||
|
||||
def _render(self, rect: rl.Rectangle):
|
||||
if self._dismiss:
|
||||
self.dismiss_callback()
|
||||
return 0
|
||||
|
||||
self.set_rect(rect)
|
||||
rl.clear_background(rl.BLACK)
|
||||
rl.draw_text_ex(self.font, self.text, rl.Vector2(int(self.x), int(self.y)), self.font_size, 0, self.color)
|
||||
return -1
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user