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sla-3.0
...
v2026.001.005
| Author | SHA1 | Date | |
|---|---|---|---|
 Jason Wen
|
c7e57a1bc1 | ||
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Jason Wen
|
353ed2a9e1 | ||
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Jason Wen
|
1db8b82f16 | ||
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Jason Wen
|
e8964ce7ae | ||
|
Jason Wen
|
ad799442a8 | ||
|
Jason Wen
|
592f062326 | ||
|
Nayan
|
70fd56f69c | ||
|
DevTekVE
|
29cd05d6ed | ||
|
Jason Wen
|
b1232629c3 | ||
|
Jason Wen
|
8539ad0373 | ||
|
Jason Wen
|
f468467606 | ||
|
Jason Wen
|
4cf822a6cc | ||
|
Jason Wen
|
ac8af9aa94 | ||
|
Jason Wen
|
1ac64f7360 | ||
|
Jason Wen
|
505881cbc5 | ||
|
Jason Wen
|
a68ed2fd01 | ||
|
Jason Wen
|
2aa179bcac | ||
|
Jason Wen
|
090b404fee | ||
|
Jason Wen
|
4c36db0091 | ||
|
Jason Wen
|
c25b581ae5 | ||
|
Jason Wen
|
2316b1142c | ||
|
Jason Wen
|
6b1b6aca05 | ||
|
Jason Wen
|
41a8bc3fc4 | ||
|
Jason Wen
|
540f4f5933 | ||
|
DevTekVE
|
53e5ae0578 | ||
|
Amy Jeanes
|
2182be05ea | ||
|
Nayan
|
3e44c90c68 | ||
|
Jason Wen
|
2d35bd895f | ||
|
Jason Wen
|
855d5022ad | ||
|
github-actions[bot]
|
6a363365ab | ||
|
Jason Wen
|
ddb9039493 | ||
|
Jason Wen
|
0b7df7df10 | ||
|
github-actions[bot]
|
dd3feac854 | ||
|
Jason Wen
|
10a33a4bf1 | ||
|
DevTekVE
|
8714203d2c | ||
|
Nayan
|
18406e77ee | ||
|
Jason Wen
|
fdd43f49e0 | ||
|
Jason Wen
|
f93481d0d4 | ||
|
Jason Wen
|
5f6e05410d | ||
|
Jason Wen
|
d1d6fae613 | ||
|
github-actions[bot]
|
35aeeee657 | ||
|
Jason Wen
|
a6fdef77df | ||
|
Jason Wen
|
df66604a45 | ||
|
Trey Moen
|
c001f3c9b4 | ||
|
Adeeb Shihadeh
|
752fe03118 | ||
|
Adeeb Shihadeh
|
84c276bb6c | ||
|
Adeeb Shihadeh
|
9042cfa1ad | ||
|
Adeeb Shihadeh
|
83e6e7da93 | ||
|
Adeeb Shihadeh
|
31403f4a5c | ||
|
Ethan Reish
|
117d5cee4f | ||
|
Adeeb Shihadeh
|
fa18e6395c | ||
|
Adeeb Shihadeh
|
75e352e5d0 | ||
|
Shane Smiskol
|
63ab2fb1b3 | ||
|
commaci-public
|
97f1bac71d | ||
|
Trey Moen
|
00b7c8e8ad | ||
|
Daniel Koepping
|
1276452cfc | ||
|
Daniel Koepping
|
8b2eac4d1f | ||
|
Daniel Koepping
|
e78e6261ca | ||
|
Daniel Koepping
|
d5f1d8c33a | ||
|
stef
|
e16d422cf4 | ||
|
Adeeb Shihadeh
|
f70a156c7e | ||
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Adeeb Shihadeh
|
d204d626bd | ||
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Daniel Koepping
|
4a15bdcdae |
@@ -23,56 +23,43 @@ env:
|
||||
CI: 1
|
||||
|
||||
jobs:
|
||||
generate_cereal_artifact:
|
||||
name: Generate cereal validation artifacts
|
||||
runs-on: ubuntu-24.04
|
||||
steps:
|
||||
- uses: actions/checkout@v6
|
||||
with:
|
||||
submodules: true
|
||||
- run: ./tools/op.sh setup
|
||||
- name: Build openpilot
|
||||
run: scons -j$(nproc) cereal
|
||||
- name: Generate the log file
|
||||
run: |
|
||||
export PYTHONPATH=${{ github.workspace }}
|
||||
python3 cereal/messaging/tests/validate_sp_cereal_upstream.py -g -f schema_instances.bin
|
||||
- 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"
|
||||
- name: 'Upload Artifact'
|
||||
uses: actions/upload-artifact@v4
|
||||
with:
|
||||
name: cereal_validations
|
||||
path: cereal/messaging/tests/cereal_validations
|
||||
|
||||
validate_cereal_with_upstream:
|
||||
name: Validate cereal with Upstream
|
||||
runs-on: ubuntu-24.04
|
||||
needs: generate_cereal_artifact
|
||||
steps:
|
||||
- name: Checkout sunnypilot
|
||||
- name: Checkout sunnypilot cereal
|
||||
uses: actions/checkout@v6
|
||||
- name: Checkout upstream openpilot
|
||||
with:
|
||||
sparse-checkout: cereal
|
||||
|
||||
- name: Init sunnypilot opendbc submodule
|
||||
run: git submodule update --init --depth 1 opendbc_repo
|
||||
|
||||
- name: Checkout upstream openpilot cereal
|
||||
uses: actions/checkout@v6
|
||||
with:
|
||||
repository: 'commaai/openpilot'
|
||||
path: openpilot
|
||||
submodules: true
|
||||
path: upstream_openpilot
|
||||
sparse-checkout: cereal
|
||||
ref: "refs/heads/master"
|
||||
- run: ./tools/op.sh setup
|
||||
- name: Build openpilot
|
||||
working-directory: openpilot
|
||||
run: scons -j$(nproc) cereal
|
||||
- name: Download build artifacts
|
||||
uses: actions/download-artifact@v4
|
||||
with:
|
||||
name: cereal_validations
|
||||
path: openpilot/cereal/messaging/tests/cereal_validations
|
||||
- name: 'Run the validation'
|
||||
|
||||
- name: Init upstream opendbc submodule
|
||||
working-directory: upstream_openpilot
|
||||
run: git submodule update --init --depth 1 opendbc_repo
|
||||
|
||||
- name: Install uv
|
||||
run: pip install uv
|
||||
|
||||
- name: Generate sunnypilot schema
|
||||
run: |
|
||||
export PYTHONPATH=${{ 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
|
||||
PYCAPNP_VER=$(python3 -c "import re; m=re.search(r'name = \"pycapnp\"\nversion = \"([^\"]+)\"', open('uv.lock').read()); print(m.group(1))")
|
||||
uv run --isolated --with "pycapnp==${PYCAPNP_VER}" \
|
||||
python3 cereal/messaging/tests/validate_sp_cereal_upstream.py \
|
||||
-g -f /tmp/sp_schema.json --cereal-dir cereal
|
||||
|
||||
- name: Validate against upstream
|
||||
run: |
|
||||
PYCAPNP_VER=$(python3 -c "import re; m=re.search(r'name = \"pycapnp\"\nversion = \"([^\"]+)\"', open('uv.lock').read()); print(m.group(1))")
|
||||
uv run --isolated --with "pycapnp==${PYCAPNP_VER}" \
|
||||
python3 cereal/messaging/tests/validate_sp_cereal_upstream.py \
|
||||
-r -f /tmp/sp_schema.json --cereal-dir upstream_openpilot/cereal
|
||||
|
||||
@@ -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
|
||||
|
||||
@@ -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
|
||||
|
||||
+112
-1
@@ -1,4 +1,30 @@
|
||||
sunnypilot Version 2026.001.000 (2026-03-xx)
|
||||
sunnypilot Version 2026.001.005 (2026-05-13)
|
||||
========================
|
||||
* What's Changed (sunnypilot/sunnypilot)
|
||||
* sunnylink: add CarParams fallback for brand-specific capabilities by @sunnyhaibin
|
||||
|
||||
sunnypilot Version 2026.001.004 (2026-05-10)
|
||||
========================
|
||||
* What's Changed (sunnypilot/sunnypilot)
|
||||
* sunnylink: switch athena domain by @DevTekVE
|
||||
* sunnylink: fix max time offroad values by @nayan8teen
|
||||
|
||||
sunnypilot Version 2026.001.003 (2026-05-08)
|
||||
========================
|
||||
* What's Changed (sunnypilot/sunnypilot)
|
||||
* manager: disable DEVELOPMENT_ONLY reset by @sunnyhaibin
|
||||
|
||||
sunnypilot Version 2026.001.002 (2026-05-07)
|
||||
========================
|
||||
* What's Changed (sunnypilot/sunnypilot)
|
||||
* release: ignore upstream IsReleaseBranch by @sunnyhaibin
|
||||
|
||||
sunnypilot Version 2026.001.001 (2026-05-06)
|
||||
========================
|
||||
* What's Changed (sunnypilot/sunnypilot)
|
||||
* ui: update gates for certain toggles by @sunnyhaibin
|
||||
|
||||
sunnypilot Version 2026.001.000 (2026-05-06)
|
||||
========================
|
||||
* What's Changed (sunnypilot/sunnypilot)
|
||||
* Complete rewrite of the user interface from Qt C++ to Raylib Python
|
||||
@@ -66,6 +92,64 @@ sunnypilot Version 2026.001.000 (2026-03-xx)
|
||||
* Pause Lateral Control with Blinker: Post-Blinker Delay by @CHaucke89
|
||||
* SCC-V: Use p97 for predicted lateral accel by @yasu-oh
|
||||
* Controls: Support for Torque Lateral Control v0 Tune by @sunnyhaibin
|
||||
* [TIZI/TICI] ui: ensure null checks for `CarParams` and `CarParamsSP` by @sunnyhaibin
|
||||
* [TIZI/TICI] ui: use `vCruiseCluster` and `vEgoCluster` for SLA `preActive` by @sunnyhaibin
|
||||
* Fix display of values when using use_float_scaling by @CHaucke89
|
||||
* models: fix default & index "0" by @nayan8teen
|
||||
* [TIZI/TICI] visuals: Improved speed limit by @angaz
|
||||
* ICBM: ensure button timers update on disable to clear stale presses by @jamesmikesell
|
||||
* [TIZI/TICI] ui: simplify Smart Cruise Control text rendering by @sunnyhaibin
|
||||
* controlsd: fix steer_limited_by_safety not updating under MADS by @zephleggett
|
||||
* soundd: trigger timeout warning during MADS lateral-only by @zephleggett
|
||||
* pandad: flasher for Rivian long upgrade module by @lukasloetkolben
|
||||
* modeld_v2: tinygrad transformation warp by @Discountchubbs
|
||||
* tools: block `manage_sunnylinkd` in sim startup script by @sunnyhaibin
|
||||
* [MICI] ui: need superclass `_render` in `HudRendererSP` by @sunnyhaibin
|
||||
* [TIZI/TICI] ui: Speed Limit Assist active status by @sunnyhaibin
|
||||
* ui: reimplement "Screen Off" option to Onroad Brightness by @sunnyhaibin
|
||||
* ui: don't hide steering wheel when blindspot disabled by @royjr
|
||||
* ui: Speed Limit Assist `preActive` improvements by @sunnyhaibin
|
||||
* ui: consolidate Speed Limit Assist `preActive` status rendering by @sunnyhaibin
|
||||
* [MICI] ui: Speed Limit Assist `preActive` status by @sunnyhaibin
|
||||
* sunnypilot modeld: remove thneed modeld by @Discountchubbs
|
||||
* modeld_v2: decouple planplus scaling from accel by @Discountchubbs
|
||||
* sunnylink: Handle exceptions in `getParamsAllKeysV1` to log crashes by @devtekve
|
||||
* [TIZI/TICI] ui: Developer UI cleanup by @sunnyhaibin
|
||||
* [TIZI/TICI] ui: dynamic alert size by @nayan8teen
|
||||
* i18n(fr): Add French translations by @didlawowo
|
||||
* Toyota: Stop and Go Hack (Alpha) by @sunnyhaibin
|
||||
* ui: `AlertFadeAnimator` for longitudinal-related statuses by @sunnyhaibin
|
||||
* pandad: gate unsupported pandas before flashing by @sunnyhaibin
|
||||
* Rivian: Flash xnor's Longitudinal Upgrade Kit prior supported panda check by @lukasloetkolben
|
||||
* [TIZI/TICI] ui: add back gate steering arc behind toggle by @sunnyhaibin
|
||||
* ui: gate Onroad Brightness Delay on readiness by @sunnyhaibin
|
||||
* ui: add new timer options for Onroad Brightness Delay by @sunnyhaibin
|
||||
* [TIZI/TICI] ui: branch switcher is always available by @sunnyhaibin
|
||||
* pandad: always prioritize internal panda by @sunnyhaibin
|
||||
* sunnylinkd: fetch compressed params schema by @sunnyhaibin
|
||||
* sunnypilot locationd: remove unused car_ekf filter by @sunnyhaibin
|
||||
* modeld_v2: update deprecated temporalPose ref by @sunnyhaibin
|
||||
* NNLC: restore pre-v1 PID gains in torque extension by @mmmorks
|
||||
* MADS safety: enable heartbeat and lateral controls mismatch checks by @sunnyhaibin
|
||||
* [MICI] ui: models panel enhancements by @nayan8teen
|
||||
* [TIZI/TICI] ui: fix unintended selection while scrolling in TreeOptionDialog by @TheSecurityDev
|
||||
* tools: script for video concatenation by @Discountchubbs
|
||||
* tools: profile memory usage by @Discountchubbs
|
||||
* [TIZI/TICI] ui: remove per-frame param sync by @sunnyhaibin
|
||||
* [MICI] ui: always offroad by @nayan8teen
|
||||
* controls: always default Torque Lateral Control to v0 Tune by @sunnyhaibin
|
||||
* Revert "controls: always default Torque Lateral Control to v0 Tune" by @sunnyhaibin
|
||||
* Reapply "controls: always default Torque Lateral Control to v0 Tune" (#1806) by @sunnyhaibin
|
||||
* [MICI] ui: add sunnylink info & connectivity check by @nayan8teen
|
||||
* sunnylink: Remove unused API endpoint by @devtekve
|
||||
* DM: wheel touch enforcement in MADS by @sunnyhaibin
|
||||
* torque: show static override values in Dev UI & gate `useParams` on custom torque tune by @sunnyhaibin
|
||||
* MADS: suppress espActive event when long is not engaged by @sunnyhaibin
|
||||
* sunnylink: SDUI by @sunnyhaibin
|
||||
* [MICI] ui: align upstream changes with sunnypilot settings buttons by @nayan8teen
|
||||
* ui: fix cellular toggles by @AmyJeanes
|
||||
* sunnylink: switch athena domain by @devtekve
|
||||
* Platform List: dynamically migrate CarPlatformBundle by @sunnyhaibin
|
||||
* What's Changed (sunnypilot/opendbc)
|
||||
* Honda: DBC for Accord 9th Generation by @mvl-boston
|
||||
* FCA: update tire stiffness values for `RAM_HD` by @dparring
|
||||
@@ -84,12 +168,25 @@ sunnypilot Version 2026.001.000 (2026-03-xx)
|
||||
* Honda: add missing `GasInterceptor` messages to Taiwan Odyssey DBC by @mvl-boston
|
||||
* GM: remove `CHEVROLET_EQUINOX_NON_ACC_3RD_GEN` from `dashcamOnly` by @sunnyhaibin
|
||||
* GM: remove `CHEVROLET_BOLT_NON_ACC_2ND_GEN` from `dashcamOnly` by @sunnyhaibin
|
||||
* Hyundai Longitudinal: deprecate ramp update for dynamic tune by @Discountchubbs
|
||||
* Rivian: long upgrade messages on bus 1 by @lukasloetkolben
|
||||
* Toyota: Stop and Go Hack (Alpha) by @sunnyhaibin
|
||||
* Toyota: gate Smart DSU behind Alpha Longitudinal by @sunnyhaibin
|
||||
* Toyota: Gas Interceptor always set `standstill_req` by @sunnyhaibin
|
||||
* MADS safety: dedicated `controls_allowed_lateral` by @sunnyhaibin
|
||||
* Platform List: include community supported platforms by @sunnyhaibin
|
||||
* New Contributors (sunnypilot/sunnypilot)
|
||||
* @TheSecurityDev made their first contribution in "ui: fix sidebar scroll in UI screenshots"
|
||||
* @zikeji made their first contribution in "sunnylink: block remote modification of SSH key parameters"
|
||||
* @Candy0707 made their first contribution in "[TIZI/TICI] ui: Fix misaligned turn signals and blindspot indicators with sidebar"
|
||||
* @CHaucke89 made their first contribution in "Pause Lateral Control with Blinker: Post-Blinker Delay"
|
||||
* @yasu-oh made their first contribution in "SCC-V: Use p97 for predicted lateral accel"
|
||||
* @angaz made their first contribution in "[TIZI/TICI] visuals: Improved speed limit"
|
||||
* @jamesmikesell made their first contribution in "ICBM: ensure button timers update on disable to clear stale presses"
|
||||
* @zephleggett made their first contribution in "controlsd: fix steer_limited_by_safety not updating under MADS"
|
||||
* @lukasloetkolben made their first contribution in "pandad: flasher for Rivian long upgrade module"
|
||||
* @didlawowo made their first contribution in "i18n(fr): Add French translations"
|
||||
* @mmmorks made their first contribution in "NNLC: restore pre-v1 PID gains in torque extension"
|
||||
* New Contributors (sunnypilot/opendbc)
|
||||
* @AmyJeanes made their first contribution in "Tesla: Fix stock LKAS being blocked when MADS is enabled"
|
||||
* @mvl-boston made their first contribution in "Honda: Update Clarity brake to renamed DBC message name"
|
||||
@@ -99,6 +196,20 @@ sunnypilot Version 2026.001.000 (2026-03-xx)
|
||||
* @royjr made their first contribution in "HKG: add KIA_FORTE_2019_NON_SCC fingerprint"
|
||||
* @ssysm made their first contribution in "Tesla: remove `TESLA_MODEL_X` from `dashcamOnly`"
|
||||
* Full Changelog: https://github.com/sunnypilot/sunnypilot/compare/v2025.002.000...v2026.001.000
|
||||
************************
|
||||
* Synced with commaai's openpilot (v0.11.1)
|
||||
* master commit c001f3c9b490a80e69539f0af6022f6e07ceb721 (April 16, 2026)
|
||||
* New driver monitoring model
|
||||
* Improved image processing pipeline for driver camera
|
||||
* Rivian R1S and R1T 2025 support thanks to lukasloetkolben!
|
||||
* New driving model #36798
|
||||
* Fully trained using a learned simulator
|
||||
* Improved longitudinal performance in Experimental mode
|
||||
* Reduce comma four standby power usage by 77% to 52 mW
|
||||
* Kia K7 2017 support thanks to royjr!
|
||||
* Lexus LS 2018 support thanks to Hacheoy!
|
||||
* Improved inter-process communication memory efficiency
|
||||
* comma four support
|
||||
|
||||
sunnypilot Version 2025.002.000 (2025-11-06)
|
||||
========================
|
||||
|
||||
@@ -1,222 +1,256 @@
|
||||
#!/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 os
|
||||
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 load_log(cereal_dir: str) -> Any:
|
||||
import capnp
|
||||
cereal_dir = os.path.abspath(cereal_dir)
|
||||
capnp.remove_import_hook()
|
||||
return capnp.load(os.path.join(cereal_dir, "log.capnp"), imports=[cereal_dir])
|
||||
|
||||
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 dump_schema(cereal_dir: str, path: str) -> None:
|
||||
log = load_log(cereal_dir)
|
||||
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}")
|
||||
|
||||
|
||||
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(cereal_dir: str, peer_path: str) -> int:
|
||||
log = load_log(cereal_dir)
|
||||
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)")
|
||||
parser.add_argument("--cereal-dir", required=True, help="path to cereal directory containing log.capnp")
|
||||
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)
|
||||
dump_schema(args.cereal_dir, args.file)
|
||||
return 0
|
||||
return run_read(args.cereal_dir, args.file)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
sys.exit(main())
|
||||
|
||||
+1
-1
@@ -1 +1 @@
|
||||
#define DEFAULT_MODEL "POP model (Default)"
|
||||
#define DEFAULT_MODEL "CD210 (Default)"
|
||||
|
||||
@@ -204,6 +204,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
// sunnylink params
|
||||
{"EnableSunnylinkUploader", {PERSISTENT | BACKUP, BOOL}},
|
||||
{"LastSunnylinkPingTime", {CLEAR_ON_MANAGER_START, INT}},
|
||||
{"ParamsVersion", {PERSISTENT, INT}},
|
||||
{"SunnylinkCache_Roles", {PERSISTENT, STRING}},
|
||||
{"SunnylinkCache_Users", {PERSISTENT, STRING}},
|
||||
{"SunnylinkDongleId", {PERSISTENT, STRING}},
|
||||
|
||||
+67
-67
@@ -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
|
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|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>|||
|
||||
|
||||
@@ -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
|
||||
Symlink
+1
@@ -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.
|
||||
|
||||
@@ -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;
|
||||
}
|
||||
@@ -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)
|
||||
@@ -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
|
||||
@@ -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.
|
||||
@@ -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
@@ -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
|
||||
+1
-1
Submodule opendbc_repo updated: ded068839b...57b531acd3
+1
-1
Submodule panda updated: c0cc96fbad...0a9ef7ab54
+2
-2
@@ -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]
|
||||
|
||||
@@ -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()
|
||||
@@ -0,0 +1,3 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:4ce1d357acadd798939b398cce1761ceb05564b44f2a5bc6865c7842e60e79f2
|
||||
size 1474
|
||||
@@ -0,0 +1,3 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:b3fe73cd1a24c05346a9b4a02e4f900a314c83a422beb38b0f88f91389582cd4
|
||||
size 3960
|
||||
@@ -1,3 +0,0 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:b5aee9f6cec03f1967014cd2ea2a23982b262e7d86dadca602ecfa8875b38101
|
||||
size 5875
|
||||
@@ -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' %}
|
||||
|
||||
@@ -86,7 +86,7 @@ class Car:
|
||||
|
||||
self.can_callbacks = can_comm_callbacks(self.can_sock, self.pm.sock['sendcan'])
|
||||
|
||||
is_release = self.params.get_bool("IsReleaseBranch")
|
||||
is_release = False # self.params.get_bool("IsReleaseBranch")
|
||||
is_release_sp = self.params.get_bool("IsReleaseSpBranch")
|
||||
|
||||
if CI is None:
|
||||
|
||||
@@ -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 = "➡️"
|
||||
|
||||
+35
-11
@@ -1,6 +1,9 @@
|
||||
import os
|
||||
import glob
|
||||
import json
|
||||
import os
|
||||
from SCons.Script import Value
|
||||
from openpilot.common.file_chunker import chunk_file, get_chunk_paths
|
||||
from tinygrad import Device
|
||||
|
||||
Import('env', 'arch')
|
||||
chunker_file = File("#common/file_chunker.py")
|
||||
@@ -13,31 +16,52 @@ 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())
|
||||
# FIXME-SP: reset when we bump tg
|
||||
if False: # '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'
|
||||
else:
|
||||
tg_backend = 'CPU' if arch == 'Darwin' else 'CPU CPU_LLVM=1' # FIXME-SP: reset when we bump tg
|
||||
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 $HOME in the env
|
||||
mac_brew_string = f'HOME={os.path.expanduser("~")}' if arch == 'Darwin' else ''
|
||||
|
||||
# Get model metadata
|
||||
for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
|
||||
fn = File(f"models/{model_name}").abspath
|
||||
script_files = [File(Dir("#selfdrive/modeld").File("get_model_metadata.py").abspath)]
|
||||
cmd = f'{tg_flags} python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
|
||||
lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files + script_files, cmd)
|
||||
cmd = f'{tg_flags} {mac_brew_string} python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
|
||||
lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files + script_files + [compiled_flags_node], cmd)
|
||||
|
||||
image_flag = {
|
||||
'larch64': 'IMAGE=2',
|
||||
}.get(arch, 'IMAGE=0')
|
||||
script_files = [File(Dir("#selfdrive/modeld").File("compile_warp.py").abspath)]
|
||||
compile_warp_cmd = f'{tg_flags} python3 {Dir("#selfdrive/modeld").abspath}/compile_warp.py '
|
||||
compile_warp_cmd = f'{tg_flags} {mac_brew_string} python3 {Dir("#selfdrive/modeld").abspath}/compile_warp.py '
|
||||
from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
|
||||
warp_targets = []
|
||||
for cam in [_ar_ox_fisheye, _os_fisheye]:
|
||||
w, h = cam.width, cam.height
|
||||
warp_targets += [File(f"models/warp_{w}x{h}_tinygrad.pkl").abspath, File(f"models/dm_warp_{w}x{h}_tinygrad.pkl").abspath]
|
||||
lenv.Command(warp_targets, tinygrad_files + script_files, compile_warp_cmd)
|
||||
lenv.Command(warp_targets, tinygrad_files + script_files + [compiled_flags_node], compile_warp_cmd)
|
||||
|
||||
def tg_compile(flags, model_name):
|
||||
pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"'
|
||||
@@ -47,7 +71,7 @@ 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):
|
||||
|
||||
@@ -97,8 +97,8 @@ 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)
|
||||
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
|
||||
|
||||
|
||||
@@ -107,9 +107,9 @@ def make_update_both_imgs(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
|
||||
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
|
||||
|
||||
|
||||
@@ -136,29 +136,20 @@ def compile_modeld_warp(cam_w, cam_h):
|
||||
|
||||
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()
|
||||
@@ -182,8 +173,9 @@ def compile_dm_warp(cam_w, cam_h):
|
||||
warp_dm = make_warp_dm(cam_w, cam_h, dm_w, dm_h)
|
||||
warp_dm_jit = TinyJit(warp_dm, prune=True)
|
||||
|
||||
new_frame_np = np.random.randint(0, 256, yuv_size, dtype=np.uint8)
|
||||
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'),
|
||||
inputs = [Tensor.from_blob(new_frame_np.ctypes.data, (yuv_size,), dtype='uint8').realize(),
|
||||
Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')]
|
||||
Device.default.synchronize()
|
||||
st = time.perf_counter()
|
||||
|
||||
@@ -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]
|
||||
|
||||
@@ -1,7 +1,12 @@
|
||||
#!/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'
|
||||
|
||||
USBGPU = "USBGPU" in os.environ
|
||||
if USBGPU:
|
||||
os.environ['DEV'] = 'AMD'
|
||||
@@ -12,7 +17,6 @@ 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
|
||||
@@ -37,7 +41,6 @@ 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'
|
||||
POLICY_PKL_PATH = MODELS_DIR / 'driving_policy_tinygrad.pkl'
|
||||
@@ -217,8 +220,7 @@ class ModelState(ModelStateBase):
|
||||
|
||||
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]}
|
||||
vision_inputs = {'img': out[0], 'big_img': out[1]}
|
||||
|
||||
if prepare_only:
|
||||
return None
|
||||
|
||||
@@ -1,3 +1,3 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:853c6634746ff439a848349d00e4d5581cd941f13f7c1862c31b72a31cc24858
|
||||
size 14061595
|
||||
oid sha256:78477124cbf3ffe30fa951ebada8410b43c4242c6054584d656f1d329b067e15
|
||||
size 14060847
|
||||
|
||||
@@ -1,3 +1,3 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:940e9006a25f27f0b6e85da798e6a8fd1f6dd492dd7d0b9ff1a9436460f46129
|
||||
size 46887794
|
||||
oid sha256:ee29ee5bce84d1ce23e9ff381280de9b4e4d96d2934cd751740354884e112c66
|
||||
size 46877473
|
||||
|
||||
@@ -0,0 +1,12 @@
|
||||
import json
|
||||
import os
|
||||
from pathlib import Path
|
||||
|
||||
MODELS_DIR = Path(__file__).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'])
|
||||
@@ -434,7 +434,7 @@ class DriverMonitoring:
|
||||
enabled = sm['selfdriveState'].enabled or sm['carControl'].latActive
|
||||
wrong_gear = sm['carState'].gearShifter not in (car.CarState.GearShifter.drive, car.CarState.GearShifter.low)
|
||||
standstill = sm['carState'].standstill
|
||||
driver_engaged = sm['carState'].steeringPressed or sm['carState'].gasPressed
|
||||
driver_engaged = sm['carState'].steeringPressed or (sm['selfdriveState'].enabled and sm['carState'].gasPressed)
|
||||
brake_disengage_prob = sm['modelV2'].meta.disengagePredictions.brakeDisengageProbs[0] # brake disengage prob in next 2s
|
||||
rpyCalib = sm['liveCalibration'].rpyCalib
|
||||
self._set_policy(
|
||||
|
||||
@@ -215,64 +215,48 @@ class TestMonitoring:
|
||||
events[int((INVISIBLE_SECONDS_TO_RED-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names
|
||||
|
||||
|
||||
@pytest.mark.parametrize("enabled_state, lat_active_state, expected", [
|
||||
(False, False, False), # Both Disabled
|
||||
(True, False, True), # OP Enabled, Lat Inactive
|
||||
(False, True, True), # OP Disabled, Lat Active (e.g. MADS)
|
||||
(True, True, True) # Both Active
|
||||
])
|
||||
def test_enabled_states(enabled_state, lat_active_state, expected):
|
||||
"""
|
||||
Test DriverMonitoring.run_step with all 4 combinations of:
|
||||
- selfdriveState.enabled (True/False)
|
||||
- carControl.latActive (True/False)
|
||||
"""
|
||||
def _build_sm(selfdrive_enabled, lat_active, steering_pressed, gas_pressed):
|
||||
cs = car.CarState.new_message()
|
||||
cs.vEgo = 30.0
|
||||
cs.gearShifter = car.CarState.GearShifter.drive
|
||||
cs.standstill = False
|
||||
cs.steeringPressed = False
|
||||
cs.gasPressed = False
|
||||
|
||||
cs.steeringPressed = steering_pressed
|
||||
cs.gasPressed = gas_pressed
|
||||
ss = log.SelfdriveState.new_message()
|
||||
ss.enabled = enabled_state
|
||||
|
||||
ss.enabled = selfdrive_enabled
|
||||
cc = car.CarControl.new_message()
|
||||
cc.latActive = lat_active_state
|
||||
|
||||
cc.latActive = lat_active
|
||||
mv2 = log.ModelDataV2.new_message()
|
||||
mv2.meta.disengagePredictions.brakeDisengageProbs = [0.0]
|
||||
|
||||
lc = log.LiveCalibrationData.new_message()
|
||||
lc.rpyCalib = [0.0, 0.0, 0.0]
|
||||
|
||||
ds = make_msg(False)
|
||||
|
||||
sm = {
|
||||
'carState': cs,
|
||||
'selfdriveState': ss,
|
||||
'carControl': cc,
|
||||
'modelV2': mv2,
|
||||
'liveCalibration': lc,
|
||||
'driverStateV2': ds
|
||||
return {
|
||||
'carState': cs, 'selfdriveState': ss, 'carControl': cc,
|
||||
'modelV2': mv2, 'liveCalibration': lc, 'driverStateV2': make_msg(False),
|
||||
}
|
||||
|
||||
driver_monitoring = DriverMonitoring()
|
||||
|
||||
# run_test doesn't assign enabled to a variable, so we need to spy on _update_events to see its value
|
||||
captured_args = []
|
||||
original_update_events = driver_monitoring._update_events
|
||||
@pytest.mark.parametrize("selfdrive_enabled, lat_active, steering, gas, expected_op_engaged, expected_driver_engaged", [
|
||||
(False, False, False, False, False, False), # disabled
|
||||
(True, False, False, False, True, False), # OP enabled
|
||||
(False, True, False, False, True, False), # MADS lat-only
|
||||
(True, True, False, False, True, False), # both active
|
||||
(False, True, False, True, True, False), # MADS lat-only + gas
|
||||
(True, True, False, True, True, True), # full op + gas: override
|
||||
(False, True, True, False, True, True), # MADS lat-only + wheel touch: override
|
||||
])
|
||||
def test_run_step_engagement(selfdrive_enabled, lat_active, steering, gas,
|
||||
expected_op_engaged, expected_driver_engaged):
|
||||
sm = _build_sm(selfdrive_enabled, lat_active, steering, gas)
|
||||
dm = DriverMonitoring()
|
||||
captured = {}
|
||||
orig = dm._update_events
|
||||
|
||||
def spy_update_events(driver_engaged, op_engaged, standstill, wrong_gear, car_speed):
|
||||
captured_args.append(op_engaged)
|
||||
return original_update_events(driver_engaged, op_engaged, standstill, wrong_gear, car_speed)
|
||||
def spy(driver_engaged, op_engaged, standstill, wrong_gear, car_speed):
|
||||
captured['driver_engaged'] = driver_engaged
|
||||
captured['op_engaged'] = op_engaged
|
||||
return orig(driver_engaged, op_engaged, standstill, wrong_gear, car_speed)
|
||||
|
||||
driver_monitoring._update_events = spy_update_events
|
||||
|
||||
driver_monitoring.run_step(sm, demo=False)
|
||||
|
||||
# Assertion
|
||||
assert len(captured_args) == 1, "Expected _update_events to be called exactly once"
|
||||
actual_enabled = captured_args[0]
|
||||
|
||||
assert actual_enabled == expected, f"Expected op_engaged={expected}, but got {actual_enabled}"
|
||||
dm._update_events = spy
|
||||
dm.run_step(sm, demo=False)
|
||||
assert captured['op_engaged'] == expected_op_engaged
|
||||
assert captured['driver_engaged'] == expected_driver_engaged
|
||||
|
||||
@@ -299,7 +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"});
|
||||
|
||||
@@ -309,6 +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);
|
||||
@@ -354,6 +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);
|
||||
@@ -387,7 +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)
|
||||
|
||||
|
||||
|
||||
@@ -36,7 +36,7 @@ class DeveloperLayout(Widget):
|
||||
def __init__(self):
|
||||
super().__init__()
|
||||
self._params = Params()
|
||||
self._is_release = self._params.get_bool("IsReleaseBranch")
|
||||
self._is_release = False # self._params.get_bool("IsReleaseBranch")
|
||||
|
||||
# Build items and keep references for callbacks/state updates
|
||||
self._adb_toggle = toggle_item(
|
||||
|
||||
@@ -42,7 +42,7 @@ class TogglesLayout(Widget):
|
||||
def __init__(self):
|
||||
super().__init__()
|
||||
self._params = Params()
|
||||
self._is_release = self._params.get_bool("IsReleaseBranch")
|
||||
self._is_release = False # self._params.get_bool("IsReleaseBranch")
|
||||
|
||||
# param, title, desc, icon, needs_restart
|
||||
self._toggle_defs = {
|
||||
|
||||
@@ -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()
|
||||
|
||||
@@ -60,7 +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)
|
||||
|
||||
@@ -68,6 +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)
|
||||
|
||||
@@ -120,20 +120,12 @@ class SteeringLayout(Widget):
|
||||
def _update_state(self):
|
||||
super()._update_state()
|
||||
|
||||
torque_allowed = True
|
||||
torque_allowed = ui_state.CP is not None and ui_state.CP.steerControlType != car.CarParams.SteerControlType.angle
|
||||
if ui_state.CP is not None:
|
||||
mads_main_desc = self._mads_limited_desc if self._mads_settings_layout._mads_limited_settings() else self._mads_full_desc
|
||||
self._mads_toggle.set_description(f"<b>{mads_main_desc}</b><br><br>{self._mads_base_desc}")
|
||||
|
||||
if ui_state.CP.steerControlType == car.CarParams.SteerControlType.angle:
|
||||
ui_state.params.remove("EnforceTorqueControl")
|
||||
ui_state.params.remove("NeuralNetworkLateralControl")
|
||||
torque_allowed = False
|
||||
else:
|
||||
self._mads_toggle.set_description(f"<b>{self._mads_check_compat_desc}</b><br><br>{self._mads_base_desc}")
|
||||
ui_state.params.remove("EnforceTorqueControl")
|
||||
ui_state.params.remove("NeuralNetworkLateralControl")
|
||||
torque_allowed = False
|
||||
|
||||
self._mads_toggle.action_item.set_enabled(ui_state.is_offroad())
|
||||
self._mads_settings_button.action_item.set_enabled(ui_state.is_offroad() and self._mads_toggle.action_item.get_state())
|
||||
|
||||
@@ -5,8 +5,9 @@ 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.layouts.settings.settings import SettingsBigButton
|
||||
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.button import 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
|
||||
@@ -32,11 +33,11 @@ class SettingsLayoutSP(OP.SettingsLayout):
|
||||
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 = SettingsBigButton(tr("sunnylink"), "", gui_app.texture("icons_mici/settings/developer/ssh.png", 55, 55))
|
||||
sunnylink_btn.set_click_callback(lambda: gui_app.push_widget(sunnylink_panel))
|
||||
|
||||
models_panel = ModelsLayoutMici(back_callback=gui_app.pop_widget)
|
||||
models_btn = BigButton("models", "", gui_app.texture("../../sunnypilot/selfdrive/assets/offroad/icon_models.png", ICON_SIZE, ICON_SIZE))
|
||||
models_btn = SettingsBigButton(tr("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)
|
||||
|
||||
@@ -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:
|
||||
|
||||
@@ -141,7 +141,8 @@ class DeveloperUiRenderer(Widget):
|
||||
|
||||
# Add torque-specific elements if using torque control
|
||||
if sm['controlsState'].lateralControlState.which() == 'torqueState':
|
||||
if sm.valid['liveTorqueParameters']:
|
||||
override_active = ui_state.enforce_torque_control and ui_state.custom_torque_params and ui_state.torque_override_enabled
|
||||
if sm.valid['liveTorqueParameters'] or override_active:
|
||||
elements.extend([
|
||||
self.friction_elem.update(sm, ui_state.is_metric),
|
||||
self.lat_accel_factor_elem.update(sm, ui_state.is_metric),
|
||||
|
||||
@@ -8,8 +8,7 @@ import pyray as rl
|
||||
from dataclasses import dataclass
|
||||
|
||||
from openpilot.common.constants import CV
|
||||
|
||||
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state
|
||||
from openpilot.system.ui.lib.text_measure import measure_text_cached
|
||||
|
||||
|
||||
@@ -248,12 +247,12 @@ class FrictionCoefficientElement:
|
||||
self.unit = ""
|
||||
|
||||
def update(self, sm, is_metric: bool) -> UiElement:
|
||||
ltp = sm['liveTorqueParameters']
|
||||
friction_coef = ltp.frictionCoefficientFiltered
|
||||
live_valid = ltp.liveValid
|
||||
if ui_state.enforce_torque_control and ui_state.custom_torque_params and ui_state.torque_override_enabled:
|
||||
return UiElement(f"{ui_state.torque_override_friction:.3f}", "FRIC.", self.unit, rl.WHITE)
|
||||
|
||||
value = f"{friction_coef:.3f}"
|
||||
color = rl.Color(0, 255, 0, 255) if live_valid else rl.WHITE
|
||||
ltp = sm['liveTorqueParameters']
|
||||
value = f"{ltp.frictionCoefficientFiltered:.3f}"
|
||||
color = rl.Color(0, 255, 0, 255) if ltp.liveValid else rl.WHITE
|
||||
return UiElement(value, "FRIC.", self.unit, color)
|
||||
|
||||
|
||||
@@ -262,12 +261,12 @@ class LatAccelFactorElement:
|
||||
self.unit = ""
|
||||
|
||||
def update(self, sm, is_metric: bool) -> UiElement:
|
||||
ltp = sm['liveTorqueParameters']
|
||||
lat_accel_factor = ltp.latAccelFactorFiltered
|
||||
live_valid = ltp.liveValid
|
||||
if ui_state.enforce_torque_control and ui_state.custom_torque_params and ui_state.torque_override_enabled:
|
||||
return UiElement(f"{ui_state.torque_override_lat_accel_factor:.3f}", "L.A.F.", self.unit, rl.WHITE)
|
||||
|
||||
value = f"{lat_accel_factor:.3f}"
|
||||
color = rl.Color(0, 255, 0, 255) if live_valid else rl.WHITE
|
||||
ltp = sm['liveTorqueParameters']
|
||||
value = f"{ltp.latAccelFactorFiltered:.3f}"
|
||||
color = rl.Color(0, 255, 0, 255) if ltp.liveValid else rl.WHITE
|
||||
return UiElement(value, "L.A.F.", self.unit, color)
|
||||
|
||||
|
||||
|
||||
@@ -6,7 +6,7 @@ See the LICENSE.md file in the root directory for more details.
|
||||
"""
|
||||
from enum import Enum
|
||||
|
||||
from cereal import messaging, log, custom
|
||||
from cereal import messaging, log, car, custom
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.selfdrive.ui.sunnypilot.layouts.settings.display import OnroadBrightness
|
||||
from openpilot.sunnypilot.sunnylink.sunnylink_state import SunnylinkState
|
||||
@@ -26,22 +26,20 @@ class OnroadTimerStatus(Enum):
|
||||
|
||||
class UIStateSP:
|
||||
def __init__(self):
|
||||
self.CP_SP: custom.CarParamsSP | None = None
|
||||
self.params = Params()
|
||||
self.CP_SP: custom.CarParamsSP | None = None
|
||||
self.has_icbm: bool = False
|
||||
self.is_sp_release: bool = self.params.get_bool("IsReleaseSpBranch")
|
||||
self.sm_services_ext = [
|
||||
"modelManagerSP", "selfdriveStateSP", "longitudinalPlanSP", "backupManagerSP",
|
||||
"gpsLocation", "liveTorqueParameters", "carStateSP", "liveMapDataSP", "carParamsSP", "liveDelay"
|
||||
]
|
||||
|
||||
self.sunnylink_state = SunnylinkState()
|
||||
self.update_params()
|
||||
|
||||
self.onroad_brightness_timer: int = 0
|
||||
self.custom_interactive_timeout: int = self.params.get("InteractivityTimeout", return_default=True)
|
||||
self.reset_onroad_sleep_timer()
|
||||
self.CP_SP: custom.CarParamsSP | None = None
|
||||
self.has_icbm: bool = False
|
||||
self.is_sp_release: bool = self.params.get_bool("IsReleaseSpBranch")
|
||||
self.custom_interactive_timeout: int = 0
|
||||
self._sp_initialized: bool = False
|
||||
|
||||
def update(self) -> None:
|
||||
if self.sunnylink_enabled:
|
||||
@@ -128,6 +126,8 @@ class UIStateSP:
|
||||
if CP_SP_bytes is not None:
|
||||
self.CP_SP = messaging.log_from_bytes(CP_SP_bytes, custom.CarParamsSP)
|
||||
self.has_icbm = self.CP_SP.intelligentCruiseButtonManagementAvailable and self.params.get_bool("IntelligentCruiseButtonManagement")
|
||||
|
||||
self._enforce_constraints()
|
||||
self.active_bundle = self.params.get("ModelManager_ActiveBundle")
|
||||
self.blindspot = self.params.get_bool("BlindSpot")
|
||||
self.chevron_metrics = self.params.get("ChevronInfo")
|
||||
@@ -143,11 +143,63 @@ class UIStateSP:
|
||||
self.standstill_timer = self.params.get_bool("StandstillTimer")
|
||||
self.sunnylink_enabled = self.params.get_bool("SunnylinkEnabled")
|
||||
self.torque_bar = self.params.get_bool("TorqueBar")
|
||||
self.enforce_torque_control = self.params.get_bool("EnforceTorqueControl")
|
||||
self.custom_torque_params = self.params.get_bool("CustomTorqueParams")
|
||||
self.torque_override_enabled = self.params.get_bool("TorqueParamsOverrideEnabled")
|
||||
self.torque_override_lat_accel_factor = float(self.params.get("TorqueParamsOverrideLatAccelFactor", return_default=True))
|
||||
self.torque_override_friction = float(self.params.get("TorqueParamsOverrideFriction", return_default=True))
|
||||
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.always_offroad = self.params.get_bool("OffroadMode")
|
||||
|
||||
if not self._sp_initialized:
|
||||
self._sp_initialized = True
|
||||
self.reset_onroad_sleep_timer()
|
||||
|
||||
def _enforce_constraints(self) -> None:
|
||||
has_long = self.has_longitudinal_control
|
||||
CP = self.CP
|
||||
|
||||
if CP is not None:
|
||||
# Angle steering: no torque-based lateral controls
|
||||
if CP.steerControlType == car.CarParams.SteerControlType.angle:
|
||||
self.params.remove("EnforceTorqueControl")
|
||||
self.params.remove("NeuralNetworkLateralControl")
|
||||
|
||||
# Alpha longitudinal: clear if not available
|
||||
if not CP.alphaLongitudinalAvailable:
|
||||
self.params.remove("AlphaLongitudinalEnabled")
|
||||
|
||||
# BSM not available: clear BSM-dependent settings
|
||||
if not CP.enableBsm:
|
||||
self.params.remove("AutoLaneChangeBsmDelay")
|
||||
else:
|
||||
# No CarParams: clear all car-dependent params as safety default
|
||||
self.params.remove("EnforceTorqueControl")
|
||||
self.params.remove("NeuralNetworkLateralControl")
|
||||
self.params.remove("AlphaLongitudinalEnabled")
|
||||
|
||||
# No longitudinal control: no experimental mode or DEC
|
||||
if not has_long:
|
||||
self.params.remove("ExperimentalMode")
|
||||
self.params.remove("DynamicExperimentalControl")
|
||||
|
||||
# ICBM: clear if not available or if full longitudinal control is active
|
||||
if self.CP_SP is not None:
|
||||
if not self.CP_SP.intelligentCruiseButtonManagementAvailable or has_long:
|
||||
self.params.remove("IntelligentCruiseButtonManagement")
|
||||
self.has_icbm = False
|
||||
else:
|
||||
self.params.remove("IntelligentCruiseButtonManagement")
|
||||
self.has_icbm = False
|
||||
|
||||
# Cruise features requiring longitudinal or ICBM
|
||||
if not (has_long or self.has_icbm):
|
||||
self.params.remove("CustomAccIncrementsEnabled")
|
||||
self.params.remove("SmartCruiseControlVision")
|
||||
self.params.remove("SmartCruiseControlMap")
|
||||
|
||||
|
||||
class DeviceSP:
|
||||
@staticmethod
|
||||
@@ -163,7 +215,6 @@ class DeviceSP:
|
||||
if _ui_state.onroad_brightness_timer != 0:
|
||||
if _ui_state.onroad_brightness == OnroadBrightness.AUTO_DARK:
|
||||
return max(30.0, cur_brightness)
|
||||
# For AUTO (Default) and Manual modes (while timer running), use standard brightness
|
||||
return cur_brightness
|
||||
|
||||
# 0: Auto (Default), 1: Auto (Dark), 2: Screen Off
|
||||
|
||||
@@ -74,7 +74,7 @@ class UIState(UIStateSP):
|
||||
|
||||
# Core state variables
|
||||
self.is_metric: bool = self.params.get_bool("IsMetric")
|
||||
self.is_release = self.params.get_bool("IsReleaseBranch")
|
||||
self.is_release = False # self.params.get_bool("IsReleaseBranch")
|
||||
self.always_on_dm: bool = self.params.get_bool("AlwaysOnDM")
|
||||
self.started: bool = False
|
||||
self.ignition: bool = False
|
||||
|
||||
@@ -1 +1 @@
|
||||
#define SUNNYPILOT_VERSION "2026.001.000"
|
||||
#define SUNNYPILOT_VERSION "2026.001.005"
|
||||
|
||||
@@ -147,6 +147,7 @@ class ModularAssistiveDrivingSystem:
|
||||
self.events.remove(EventName.speedTooLow)
|
||||
self.events.remove(EventName.cruiseDisabled)
|
||||
self.events.remove(EventName.manualRestart)
|
||||
self.events.remove(EventName.espActive)
|
||||
|
||||
selfdrive_enable_events = self.events.has(EventName.pcmEnable) or self.events.has(EventName.buttonEnable)
|
||||
set_speed_btns_enable = any(be.type in SET_SPEED_BUTTONS for be in CS.buttonEvents)
|
||||
|
||||
@@ -33,29 +33,20 @@ def compile_v2_warp(cam_w, cam_h, buffer_length):
|
||||
|
||||
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()
|
||||
@@ -125,8 +116,8 @@ 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}
|
||||
|
||||
|
||||
@@ -1 +1 @@
|
||||
5d4d21f1899de21137f69d74a4602c44cc5a6b04cf4e4aa9d0ec9206f8c30350
|
||||
32f57bdc91f910df1f48ddae7c59aaf6e751f9df6756da481a210577dbce8bcf
|
||||
@@ -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
|
||||
|
||||
@@ -4,7 +4,6 @@ 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 numpy as np
|
||||
|
||||
from cereal import car
|
||||
@@ -18,7 +17,6 @@ RELAXED_MIN_BUCKET_POINTS = np.array([1, 200, 300, 500, 500, 300, 200, 1])
|
||||
ALLOWED_CARS = ['toyota', 'hyundai', 'rivian', 'honda']
|
||||
|
||||
|
||||
|
||||
class TorqueEstimatorExt:
|
||||
def __init__(self, CP: car.CarParams):
|
||||
self.CP = CP
|
||||
@@ -28,6 +26,7 @@ class TorqueEstimatorExt:
|
||||
self.enforce_torque_control_toggle = self._params.get_bool("EnforceTorqueControl") # only during init
|
||||
self.use_params = self.CP.brand in ALLOWED_CARS and self.CP.lateralTuning.which() == 'torque'
|
||||
self.use_live_torque_params = self._params.get_bool("LiveTorqueParamsToggle")
|
||||
self.custom_torque_params = self._params.get_bool("CustomTorqueParams")
|
||||
self.torque_override_enabled = self._params.get_bool("TorqueParamsOverrideEnabled")
|
||||
self.min_bucket_points = RELAXED_MIN_BUCKET_POINTS
|
||||
self.factor_sanity = 0.0
|
||||
@@ -51,13 +50,14 @@ class TorqueEstimatorExt:
|
||||
def _update_params(self):
|
||||
if self.frame % int(PARAMS_UPDATE_PERIOD / DT_MDL) == 0:
|
||||
self.use_live_torque_params = self._params.get_bool("LiveTorqueParamsToggle")
|
||||
self.custom_torque_params = self._params.get_bool("CustomTorqueParams")
|
||||
self.torque_override_enabled = self._params.get_bool("TorqueParamsOverrideEnabled")
|
||||
|
||||
def update_use_params(self):
|
||||
self._update_params()
|
||||
|
||||
if self.enforce_torque_control_toggle:
|
||||
if self.torque_override_enabled:
|
||||
if self.custom_torque_params and self.torque_override_enabled:
|
||||
self.use_params = False
|
||||
else:
|
||||
self.use_params = self.use_live_torque_params
|
||||
|
||||
@@ -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 = {}
|
||||
|
||||
@@ -18,7 +18,7 @@ import time
|
||||
|
||||
from jsonrpc import dispatcher
|
||||
from functools import partial
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.params import Params, ParamKeyType
|
||||
from openpilot.common.realtime import set_core_affinity
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
from openpilot.system.hardware.hw import Paths
|
||||
@@ -31,8 +31,10 @@ import cereal.messaging as messaging
|
||||
from openpilot.sunnypilot.selfdrive.car.sync_car_list_param import update_car_list_param
|
||||
from openpilot.sunnypilot.sunnylink.api import SunnylinkApi
|
||||
from openpilot.sunnypilot.sunnylink.utils import sunnylink_need_register, sunnylink_ready, get_param_as_byte, save_param_from_base64_encoded_string
|
||||
from openpilot.sunnypilot.sunnylink.capabilities import generate_capabilities, CAPABILITY_LABELS
|
||||
from openpilot.sunnypilot.sunnylink.tools.generate_settings_schema import generate_schema
|
||||
|
||||
SUNNYLINK_ATHENA_HOST = os.getenv('SUNNYLINK_ATHENA_HOST', 'wss://ws.stg.api.sunnypilot.ai')
|
||||
SUNNYLINK_ATHENA_HOST = os.getenv('SUNNYLINK_ATHENA_HOST', 'wss://athena.sunnylink.ai')
|
||||
HANDLER_THREADS = int(os.getenv('HANDLER_THREADS', "4"))
|
||||
LOCAL_PORT_WHITELIST = {8022}
|
||||
SUNNYLINK_LOG_ATTR_NAME = "user.sunny.upload"
|
||||
@@ -44,12 +46,15 @@ params = Params()
|
||||
|
||||
# Parameters that should never be remotely modified
|
||||
BLOCKED_PARAMS = {
|
||||
"AdbEnabled",
|
||||
"CompletedSunnylinkConsentVersion",
|
||||
"CompletedTrainingVersion",
|
||||
"GithubUsername", # Could grant SSH access
|
||||
"GithubSshKeys", # Direct SSH key injection
|
||||
"HasAcceptedTerms",
|
||||
"HasAcceptedTermsSP",
|
||||
"OnroadCycleRequested", # Prevent remote cycle trigger
|
||||
"ParamsVersion", # Device-managed version counter
|
||||
}
|
||||
|
||||
|
||||
@@ -64,7 +69,6 @@ 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 +151,6 @@ 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():
|
||||
@@ -231,34 +204,18 @@ def getParamsAllKeysV1() -> dict[str, str]:
|
||||
|
||||
@dispatcher.add_method
|
||||
def getParamsMetadata() -> str:
|
||||
"""Compressed equivalent of getParamsAllKeysV1 — same struct, gzipped + base64."""
|
||||
"""Return settings_ui.json + live capabilities as gzip-compressed, base64-encoded string.
|
||||
|
||||
Reads settings_ui.json, injects live capabilities from CarParams, compresses,
|
||||
and returns. Single RPC for the frontend to get the complete settings UI and
|
||||
runtime capabilities.
|
||||
"""
|
||||
try:
|
||||
with open(METADATA_PATH) as f:
|
||||
metadata = json.load(f)
|
||||
except Exception:
|
||||
cloudlog.exception("sunnylinkd.getParamsMetadata.exception")
|
||||
metadata = {}
|
||||
|
||||
try:
|
||||
available_keys: list[str] = [k.decode('utf-8') for k in Params().all_keys()]
|
||||
|
||||
params_list: list[dict] = []
|
||||
for key in available_keys:
|
||||
value = get_param_as_byte(key, get_default=True)
|
||||
|
||||
param_entry: dict = {
|
||||
"key": key,
|
||||
"type": int(params.get_type(key).value),
|
||||
"default_value": base64.b64encode(value).decode('utf-8') if value else None,
|
||||
}
|
||||
|
||||
if key in metadata:
|
||||
param_entry["_extra"] = metadata[key]
|
||||
|
||||
params_list.append(param_entry)
|
||||
|
||||
raw = json.dumps(params_list, separators=(',', ':')).encode('utf-8')
|
||||
return base64.b64encode(gzip.compress(raw)).decode('utf-8')
|
||||
schema = generate_schema()
|
||||
schema["capabilities"] = generate_capabilities()
|
||||
schema["capability_labels"] = CAPABILITY_LABELS
|
||||
raw = json.dumps(schema, separators=(",", ":")).encode("utf-8")
|
||||
return base64.b64encode(gzip.compress(raw)).decode("utf-8")
|
||||
except Exception:
|
||||
cloudlog.exception("sunnylinkd.getParamsMetadata.exception")
|
||||
raise
|
||||
@@ -270,12 +227,25 @@ def getParams(params_keys: list[str], compression: bool = False) -> str | dict[s
|
||||
available_keys: list[str] = [k.decode('utf-8') for k in Params().all_keys()]
|
||||
|
||||
try:
|
||||
zero_values: dict[int, bytes] = {
|
||||
ParamKeyType.STRING.value: b"",
|
||||
ParamKeyType.BOOL.value: b"0",
|
||||
ParamKeyType.INT.value: b"0",
|
||||
ParamKeyType.FLOAT.value: b"0.0",
|
||||
ParamKeyType.TIME.value: b"",
|
||||
ParamKeyType.JSON.value: b"{}",
|
||||
ParamKeyType.BYTES.value: b"",
|
||||
}
|
||||
|
||||
param_keys_validated = [key for key in params_keys if key in available_keys]
|
||||
params_dict: dict[str, list[dict[str, str | bool | int]]] = {"params": []}
|
||||
for key in param_keys_validated:
|
||||
value = get_param_as_byte(key)
|
||||
if value is None:
|
||||
continue
|
||||
value = get_param_as_byte(key, get_default=True)
|
||||
if value is None:
|
||||
param_type = params.get_type(key)
|
||||
value = zero_values.get(param_type.value, b"")
|
||||
|
||||
params_dict["params"].append({
|
||||
"key": key,
|
||||
@@ -306,6 +276,13 @@ def saveParams(params_to_update: dict[str, str], compression: bool = False) -> N
|
||||
except Exception as e:
|
||||
cloudlog.error(f"sunnylinkd.saveParams.exception {e}")
|
||||
|
||||
# Increment version counter for frontend change detection
|
||||
try:
|
||||
current = int(params.get("ParamsVersion") or "0")
|
||||
params.put("ParamsVersion", str(current + 1))
|
||||
except Exception:
|
||||
pass
|
||||
|
||||
|
||||
def startLocalProxy(global_end_event: threading.Event, remote_ws_uri: str, local_port: int) -> dict[str, int]:
|
||||
sunnylink_dongle_id = params.get("SunnylinkDongleId")
|
||||
|
||||
@@ -0,0 +1,186 @@
|
||||
"""
|
||||
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 json
|
||||
|
||||
from cereal import car, custom, messaging
|
||||
from opendbc.car.hyundai.values import CAR as HYUNDAI_CAR, UNSUPPORTED_LONGITUDINAL_CAR
|
||||
from opendbc.car.subaru.values import CAR as SUBARU_CAR, SubaruFlags
|
||||
from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
from openpilot.system.hardware import HARDWARE
|
||||
|
||||
|
||||
# Wire-protocol version for the capabilities payload. Bump on breaking changes
|
||||
# only; additive fields are backward-compatible and do not require a bump.
|
||||
PROTOCOL_VERSION = 1
|
||||
|
||||
# All capability fields that rules may reference.
|
||||
# Non-boolean fields must have defaults in CAPABILITY_DEFAULTS.
|
||||
CAPABILITY_FIELDS = (
|
||||
"protocol_version",
|
||||
"has_longitudinal_control",
|
||||
"has_icbm",
|
||||
"icbm_available",
|
||||
"torque_allowed",
|
||||
"brand",
|
||||
"pcm_cruise",
|
||||
"alpha_long_available",
|
||||
"steer_control_type",
|
||||
"enable_bsm",
|
||||
"is_release",
|
||||
"is_sp_release",
|
||||
"is_development",
|
||||
"tesla_has_vehicle_bus",
|
||||
"has_stop_and_go",
|
||||
"stock_longitudinal",
|
||||
"device_type",
|
||||
"subaru_has_sng",
|
||||
"hyundai_alpha_long_available",
|
||||
)
|
||||
|
||||
CAPABILITY_LABELS: dict[str, str] = {
|
||||
"protocol_version": "Capabilities protocol version",
|
||||
"has_longitudinal_control": "sunnypilot longitudinal control",
|
||||
"has_icbm": "ICBM enabled",
|
||||
"icbm_available": "ICBM available",
|
||||
"torque_allowed": "torque steering (not available for angle steering vehicles)",
|
||||
"brand": "Vehicle brand",
|
||||
"pcm_cruise": "PCM cruise",
|
||||
"alpha_long_available": "Alpha Longitudinal available",
|
||||
"steer_control_type": "Steer control type",
|
||||
"enable_bsm": "BSM available",
|
||||
"is_release": "Release branch",
|
||||
"is_sp_release": "SP release branch",
|
||||
"is_development": "Development branch",
|
||||
"tesla_has_vehicle_bus": "Tesla vehicle bus",
|
||||
"has_stop_and_go": "Stop and Go",
|
||||
"stock_longitudinal": "stock longitudinal",
|
||||
"device_type": "Device type",
|
||||
"subaru_has_sng": "Subaru Stop-and-Go available",
|
||||
"hyundai_alpha_long_available": "Hyundai Alpha Longitudinal available",
|
||||
}
|
||||
|
||||
# Explicit defaults for non-boolean capability fields
|
||||
CAPABILITY_DEFAULTS: dict[str, bool | str | int] = {
|
||||
"brand": "",
|
||||
"steer_control_type": "",
|
||||
"device_type": "",
|
||||
"protocol_version": PROTOCOL_VERSION,
|
||||
}
|
||||
|
||||
|
||||
def _bundle_field(bundle: dict | None, key: str) -> str:
|
||||
return bundle.get(key, "") if isinstance(bundle, dict) else ""
|
||||
|
||||
|
||||
def _resolve_brand_capabilities(caps: dict, bundle_platform: str, CP) -> None:
|
||||
"""Set brand-specific capabilities from bundle platform or CarParams fallback.
|
||||
|
||||
Bundle (manual car selection) is a pre-fingerprint approximation.
|
||||
CarParams (auto-fingerprint) is the authoritative post-fingerprint source.
|
||||
Mirrors the per-brand update_settings() logic in device UI layouts.
|
||||
"""
|
||||
brand = caps["brand"]
|
||||
|
||||
if brand == "hyundai":
|
||||
if bundle_platform:
|
||||
try:
|
||||
unsupported = set().union(*UNSUPPORTED_LONGITUDINAL_CAR.values())
|
||||
caps["hyundai_alpha_long_available"] = HYUNDAI_CAR[bundle_platform] not in unsupported
|
||||
except KeyError:
|
||||
cloudlog.exception(f"capabilities: unknown hyundai platform {bundle_platform!r}")
|
||||
elif CP is not None:
|
||||
caps["hyundai_alpha_long_available"] = bool(CP.alphaLongitudinalAvailable)
|
||||
|
||||
elif brand == "subaru":
|
||||
if bundle_platform:
|
||||
try:
|
||||
flags = SUBARU_CAR[bundle_platform].config.flags
|
||||
caps["subaru_has_sng"] = not bool(flags & (SubaruFlags.GLOBAL_GEN2 | SubaruFlags.HYBRID))
|
||||
caps["has_stop_and_go"] = caps["subaru_has_sng"]
|
||||
except KeyError:
|
||||
cloudlog.exception(f"capabilities: unknown subaru platform {bundle_platform!r}")
|
||||
elif CP is not None:
|
||||
caps["subaru_has_sng"] = not bool(CP.flags & (SubaruFlags.GLOBAL_GEN2 | SubaruFlags.HYBRID))
|
||||
caps["has_stop_and_go"] = caps["subaru_has_sng"]
|
||||
|
||||
|
||||
def generate_capabilities(params: Params | None = None) -> dict:
|
||||
"""Generate a SettingsCapabilities dict from CarParams + boolean params.
|
||||
|
||||
When CarPlatformBundle is present, brand and platform come from the bundle
|
||||
(mirrors Raylib). CarParams* deserialization is the fallback before the bundle
|
||||
is written (early after first pairing).
|
||||
"""
|
||||
params = params or Params()
|
||||
|
||||
caps: dict = {field: CAPABILITY_DEFAULTS.get(field, False) for field in CAPABILITY_FIELDS}
|
||||
|
||||
# Wire-protocol version is always set explicitly.
|
||||
caps["protocol_version"] = PROTOCOL_VERSION
|
||||
|
||||
# Hardware + boolean params (no CarParams dependency)
|
||||
caps["device_type"] = HARDWARE.get_device_type()
|
||||
caps["is_release"] = False # params.get_bool("IsReleaseBranch")
|
||||
caps["is_sp_release"] = params.get_bool("IsReleaseSpBranch")
|
||||
caps["is_development"] = params.get_bool("IsDevelopmentBranch")
|
||||
caps["stock_longitudinal"] = params.get_bool("ToyotaEnforceStockLongitudinal")
|
||||
|
||||
bundle = params.get("CarPlatformBundle")
|
||||
bundle_brand = _bundle_field(bundle, "brand")
|
||||
bundle_platform = _bundle_field(bundle, "platform")
|
||||
|
||||
# Bundle-first brand resolution; CP is fallback only.
|
||||
if bundle_brand:
|
||||
caps["brand"] = bundle_brand
|
||||
|
||||
# CarParams-derived capabilities
|
||||
CP = None
|
||||
CP_bytes = params.get("CarParamsPersistent")
|
||||
if CP_bytes is not None:
|
||||
try:
|
||||
CP = messaging.log_from_bytes(CP_bytes, car.CarParams)
|
||||
caps["alpha_long_available"] = bool(CP.alphaLongitudinalAvailable)
|
||||
if CP.alphaLongitudinalAvailable:
|
||||
caps["has_longitudinal_control"] = params.get_bool("AlphaLongitudinalEnabled")
|
||||
else:
|
||||
caps["has_longitudinal_control"] = bool(CP.openpilotLongitudinalControl)
|
||||
# CP.steerControlType is the physical control mode (angle / torque).
|
||||
# CP.lateralTuning.which() returns the tuning class (pid / torque / indi)
|
||||
# which is a separate concept and is not interchangeable.
|
||||
caps["steer_control_type"] = str(CP.steerControlType)
|
||||
caps["torque_allowed"] = CP.steerControlType != car.CarParams.SteerControlType.angle
|
||||
if not caps["brand"] and CP.brand:
|
||||
caps["brand"] = str(CP.brand)
|
||||
caps["pcm_cruise"] = bool(CP.pcmCruise)
|
||||
caps["enable_bsm"] = bool(CP.enableBsm)
|
||||
# Generic SnG fallback. Brand-specific opaque flags below override.
|
||||
caps["has_stop_and_go"] = bool(CP.openpilotLongitudinalControl)
|
||||
except Exception:
|
||||
CP = None
|
||||
cloudlog.exception("capabilities: failed to deserialize CarParamsPersistent")
|
||||
|
||||
# CarParamsSP-derived capabilities
|
||||
CP_SP_bytes = params.get("CarParamsSPPersistent")
|
||||
if CP_SP_bytes is not None:
|
||||
try:
|
||||
CP_SP = messaging.log_from_bytes(CP_SP_bytes, custom.CarParamsSP)
|
||||
caps["icbm_available"] = bool(CP_SP.intelligentCruiseButtonManagementAvailable)
|
||||
caps["has_icbm"] = bool(CP_SP.intelligentCruiseButtonManagementAvailable) and params.get_bool("IntelligentCruiseButtonManagement")
|
||||
caps["tesla_has_vehicle_bus"] = bool(CP_SP.flags & TeslaFlagsSP.HAS_VEHICLE_BUS)
|
||||
except Exception:
|
||||
cloudlog.exception("capabilities: failed to deserialize CarParamsSPPersistent")
|
||||
|
||||
_resolve_brand_capabilities(caps, bundle_platform, CP)
|
||||
|
||||
return caps
|
||||
|
||||
|
||||
def generate_capabilities_json(params: Params | None = None) -> str:
|
||||
"""Generate SettingsCapabilities as a JSON string."""
|
||||
return json.dumps(generate_capabilities(params), separators=(",", ":"))
|
||||
@@ -0,0 +1,588 @@
|
||||
# sunnylink Settings UI Guide
|
||||
|
||||
> One YAML file per page. Edit, run the compiler, commit. The sunnylink frontend updates automatically.
|
||||
|
||||
For detailed architecture, capability fields, parity analysis, and dialog mappings, see [REFERENCE.md](REFERENCE.md).
|
||||
|
||||
## What you edit (and what's generated)
|
||||
|
||||
| File | What | When to edit |
|
||||
|------|------|-------------|
|
||||
| `settings_ui_src/pages/<page>.yaml` | One YAML per page (panel). Contains panel metadata + sections + items + sub_panels inline. | Adding/changing/removing a setting. |
|
||||
| `settings_ui_src/pages/vehicle.yaml` | Per-brand settings page (`kind: vehicle`). Each brand is a section. | Adding/changing a vehicle-specific setting. |
|
||||
| `settings_ui_src/_macros.yaml` | Named rule fragments referenced via `{$ref: "#/macros/<name>"}`. | Adding a reusable rule (e.g. a new platform gate). |
|
||||
| **`settings_ui.json`** | **Generated from src tree by `compile_settings_ui.py`. Do not edit by hand.** | Never. Compiler emits it; frontend reads it. |
|
||||
|
||||
Pages today: `steering, cruise, display, visuals, toggles, device, software, developer, models, vehicle` (10).
|
||||
|
||||
Run `python sunnypilot/sunnylink/tools/compile_settings_ui.py` after edits. Add `--check` in CI to fail on out-of-sync `settings_ui.json`.
|
||||
|
||||
Display metadata (titles, descriptions, options, min/max/step/unit) is inline on each item. There is no separate metadata file.
|
||||
|
||||
## Page file shape
|
||||
|
||||
A page YAML contains the whole panel: metadata at the top, then `sections`. Each section has its own `items` and (optionally) `sub_panels`. Sub-panels are nested inside the section they belong to. Items appear in the order written in the file.
|
||||
|
||||
```yaml
|
||||
# yaml-language-server: $schema=../_schemas/page.schema.json
|
||||
id: steering
|
||||
label: Steering
|
||||
icon: steering_wheel
|
||||
order: 1
|
||||
remote_configurable: true
|
||||
description: Lateral control, lane changes, and steering behavior
|
||||
|
||||
sections:
|
||||
- id: mads
|
||||
title: Modular Assistive Driving System (MADS)
|
||||
items:
|
||||
- key: Mads
|
||||
widget: toggle
|
||||
title: Enable Modular Assistive Driving System (MADS)
|
||||
description: |
|
||||
Enable the beloved MADS feature. Disable toggle to revert back
|
||||
to stock sunnypilot engagement/disengagement.
|
||||
enablement:
|
||||
- {$ref: "#/macros/offroad"}
|
||||
|
||||
sub_panels:
|
||||
- id: mads_settings
|
||||
label: MADS Settings
|
||||
trigger_key: Mads
|
||||
trigger_condition: {type: param, key: Mads, equals: true}
|
||||
items:
|
||||
- key: MadsMainCruiseAllowed
|
||||
widget: toggle
|
||||
title: Toggle with Main Cruise
|
||||
description: |
|
||||
Note: For vehicles without LFA/LKAS button, disabling this will
|
||||
prevent lateral control engagement.
|
||||
enablement:
|
||||
- {$ref: "#/macros/offroad"}
|
||||
- {$ref: "#/macros/mads_full_platforms"}
|
||||
```
|
||||
|
||||
The vehicle page has the same shape but declares `kind: vehicle`; each section's `id` becomes a brand key under `vehicle_settings` in the compiled JSON.
|
||||
|
||||
## Macros (named rule fragments)
|
||||
|
||||
`_macros.yaml` declares reusable rule lists. Reference them from any rules array via `{$ref: "#/macros/<name>"}`.
|
||||
|
||||
```yaml
|
||||
macros:
|
||||
offroad: [{type: offroad_only}]
|
||||
longitudinal: [{type: capability, field: has_longitudinal_control, equals: true}]
|
||||
mads_full_platforms:
|
||||
- type: not
|
||||
condition:
|
||||
type: any
|
||||
conditions:
|
||||
- {type: capability, field: brand, equals: rivian}
|
||||
- type: all
|
||||
conditions:
|
||||
- {type: capability, field: brand, equals: tesla}
|
||||
- type: not
|
||||
condition: {type: capability, field: tesla_has_vehicle_bus, equals: true}
|
||||
```
|
||||
|
||||
In an item:
|
||||
|
||||
```yaml
|
||||
enablement:
|
||||
- {$ref: "#/macros/offroad"}
|
||||
- {$ref: "#/macros/mads_full_platforms"}
|
||||
```
|
||||
|
||||
The compiler splices a list-context `$ref` into its parent list. Macros may reference other macros up to depth 3; cycles are an error.
|
||||
|
||||
## Compiler workflow
|
||||
|
||||
```
|
||||
1. common/params_keys.h — add/remove the C++ param key
|
||||
2. params_metadata.json — automated via update_params_metadata.py
|
||||
3. settings_ui_src/pages/<page>.yaml — add/edit/remove the item in the right section
|
||||
4. python sunnypilot/sunnylink/tools/compile_settings_ui.py
|
||||
5. python sunnypilot/sunnylink/tools/validate_settings_ui.py (or: --check on the compiler)
|
||||
6. uv run python -m pytest sunnypilot/sunnylink/tests/ # run regression + compiler tests
|
||||
7. commit
|
||||
```
|
||||
|
||||
CI runs `compile_settings_ui.py --check` to fail on hand-edited `settings_ui.json`.
|
||||
|
||||
## Compiled output reference (schema contract)
|
||||
|
||||
The tables below describe the **compiled** `settings_ui.json` schema — what the frontend consumes at runtime. JSON snippets show the wire shape; in the src tree you author YAML that compiles to the same shape. Use these as a contract reference for valid fields, their meanings, and rule types.
|
||||
|
||||
## Quick reference: widget types
|
||||
|
||||
| Widget | Use for | Fields needed |
|
||||
|--------|---------|---------------|
|
||||
| `toggle` | On/off boolean | `title` |
|
||||
| `multiple_button` | 2-4 discrete options | `title` + `options` array |
|
||||
| `option` | Numeric range or dropdown | `title` + `min/max/step` or `options` |
|
||||
| `info` | Read-only display | `title` |
|
||||
|
||||
## Quick reference: item fields
|
||||
|
||||
| Field | Required | Description |
|
||||
|-------|----------|-------------|
|
||||
| `key` | Yes | Param key name (must exist in `params_keys.h`) |
|
||||
| `widget` | Yes | `toggle`, `option`, `multiple_button`, `button`, `info` |
|
||||
| `title` | Yes | Display name shown to the user |
|
||||
| `description` | No | Inline explanatory text below the title. May be empty when only `details` is used. |
|
||||
| `details` | No | Extended help text shown in a modal when the user taps an "i" button on the row. Independent of `description`: either, both, or neither may be present. |
|
||||
| `options` | For selectors | Array of `{"value": 0, "label": "Off"}` objects (see per-option enablement below) |
|
||||
| `min`, `max`, `step` | For sliders | Numeric range constraints |
|
||||
| `unit` | No | Unit label. Static: `"seconds"`. Dynamic: `{"metric": "km/h", "imperial": "mph"}` (resolved by IsMetric) |
|
||||
| `visibility` | No | Rules for show/hide. Settings are never hidden, always dimmed with UNAVAILABLE badge when rules fail |
|
||||
| `enablement` | No | Rules for enabled/disabled (all must pass). Dimmed with badge when rules fail |
|
||||
| `blocked` | No | `true` for device-only settings that cannot be modified remotely. Frontend shows as read-only |
|
||||
| `title_param_suffix` | No | Dynamic title suffix. Example: `{"param": "IsMetric", "values": {"0": "mph", "1": "km/h"}}` |
|
||||
| `sub_items` | No | Nested child items |
|
||||
| `needs_onroad_cycle` | No | `true` if changing this param triggers a system restart. Frontend shows a "Restart" badge. See [REFERENCE.md - Remote Onroad Cycle](REFERENCE.md#remote-onroad-cycle) |
|
||||
|
||||
## Quick reference: rule types
|
||||
|
||||
| Rule | Example | Use for |
|
||||
|------|---------|---------|
|
||||
| `offroad_only` | `{"type": "offroad_only"}` | Grey out while driving |
|
||||
| `not_engaged` | `{"type": "not_engaged"}` | Grey out only while engaged (started + selfdrive/MADS active) |
|
||||
| `capability` | `{"type": "capability", "field": "has_longitudinal_control", "equals": true}` | Car-dependent visibility |
|
||||
| `param` | `{"type": "param", "key": "Mads", "equals": true}` | Show/enable based on another setting |
|
||||
| `param_compare` | `{"type": "param_compare", "key": "SpeedLimitMode", "op": ">", "value": 0}` | Numeric comparison |
|
||||
| `not` | `{"type": "not", "condition": {...}}` | Negate a rule |
|
||||
| `any` | `{"type": "any", "conditions": [...]}` | OR logic |
|
||||
| `all` | `{"type": "all", "conditions": [...]}` | AND logic (for nesting inside `any`/`not`) |
|
||||
| `$ref` | `{"$ref": "#/macros/offroad"}` | Reference a named rule fragment in `_macros.yaml` |
|
||||
|
||||
**Visibility design**: Settings are always visible. When visibility rules fail, the setting is dimmed with an UNAVAILABLE badge, so users know it exists but is not applicable.
|
||||
|
||||
**Enablement rules**: Grayed out (disabled) when rules fail. Frontend shows a contextual badge explaining why.
|
||||
|
||||
**Capability fields** (referenced in rules): `has_longitudinal_control`, `has_icbm`, `icbm_available`, `torque_allowed`, `brand`, `pcm_cruise`, `alpha_long_available`, `steer_control_type`, `enable_bsm`, `is_release`, `is_sp_release`, `is_development`, `tesla_has_vehicle_bus`, `has_stop_and_go`, `stock_longitudinal`
|
||||
|
||||
---
|
||||
|
||||
## How to
|
||||
|
||||
### Pick a writability rule (offroad / not_engaged / param-based)
|
||||
|
||||
| Use this | When | Why |
|
||||
|---|---|---|
|
||||
| `offroad_only` | Param can only be safely changed when the car is parked. Most user-facing toggles. | Strictest. Frontend shows "device is driving" badge and disables the row. |
|
||||
| `not_engaged` | Param can be changed while the car is started but only when sunnypilot/MADS is **not** actively driving. | Less strict than offroad. Matches Raylib `engaged = started AND (selfdriveState.enabled OR mads.enabled)`. Use for items the device must apply mid-drive (e.g. test maneuvers, longitudinal stock-vs-OP toggle). |
|
||||
| `param`-based | Behavior depends on another setting's value (parent toggle, mode selector, etc.). | Composes with `not`/`any`/`all` for arbitrary logic. |
|
||||
| `capability`-based | Behavior depends on the connected car or device (brand, longitudinal, hardware). | Resolved on the device from `CarParams` / hardware. See [`capabilities.py`](../capabilities.py) for the full field list. |
|
||||
| (no rule) | Param is always writable, no gating. | Rare. Prefer at least `offroad_only` unless the param is genuinely safe to flip mid-drive. |
|
||||
|
||||
Default for new toggles: `enablement: [{$ref: "#/macros/offroad"}]`. Drop down to `not_engaged` only if you've confirmed mid-drive write is safe in the controls/UI code path.
|
||||
|
||||
### Use `details` for safety notes / extended help
|
||||
|
||||
Inline `description` shows under the title. For longer caveats, safety notes, or "learn more" content, use `details` — the frontend renders an info button that opens a modal. Either field may be present alone or both together.
|
||||
|
||||
```yaml
|
||||
- key: AutoLaneChangeTimer
|
||||
widget: option
|
||||
title: Auto Lane Change by Blinker
|
||||
description: |-
|
||||
Set a timer to delay the auto lane change operation when the blinker is used.
|
||||
No nudge on the steering wheel is required to auto lane change if a timer is set.
|
||||
Default is Nudge.
|
||||
details: |-
|
||||
Please use caution when using this feature. Only use the blinker when traffic
|
||||
and road conditions permit.
|
||||
options: [...]
|
||||
```
|
||||
|
||||
For an item that is intentionally minimal inline (no inline body, only the modal):
|
||||
|
||||
```yaml
|
||||
- key: SomeAdvancedToggle
|
||||
widget: toggle
|
||||
title: Some Advanced Feature
|
||||
details: |-
|
||||
Long-form rationale, caveats, links, etc. — kept entirely behind the info button.
|
||||
```
|
||||
|
||||
### Add a toggle
|
||||
|
||||
1. Register in `common/params_keys.h`:
|
||||
```cpp
|
||||
{"MyToggle", {PERSISTENT | BACKUP, BOOL}},
|
||||
```
|
||||
|
||||
2. Open `settings_ui_src/pages/<page>.yaml`. Add the item to the right section:
|
||||
```yaml
|
||||
- key: MyToggle
|
||||
widget: toggle
|
||||
title: My Feature
|
||||
description: What this feature does.
|
||||
enablement:
|
||||
- {$ref: "#/macros/offroad"}
|
||||
```
|
||||
|
||||
If changing the param requires an onroad cycle to take effect, add `needs_onroad_cycle: true`.
|
||||
|
||||
3. Compile + validate + test:
|
||||
```
|
||||
python sunnypilot/sunnylink/tools/compile_settings_ui.py
|
||||
python sunnypilot/sunnylink/tools/validate_settings_ui.py
|
||||
uv run python -m pytest sunnypilot/sunnylink/tests/
|
||||
```
|
||||
|
||||
### Add a multi-button option
|
||||
|
||||
```yaml
|
||||
- key: MySelector
|
||||
widget: multiple_button
|
||||
title: Mode
|
||||
options:
|
||||
- {value: 0, label: Off}
|
||||
- {value: 1, label: On}
|
||||
- {value: 2, label: Auto}
|
||||
```
|
||||
|
||||
### Add a slider or range
|
||||
|
||||
```yaml
|
||||
- key: MyRange
|
||||
widget: option
|
||||
title: Follow Distance
|
||||
description: Time gap to lead vehicle.
|
||||
min: 0.5
|
||||
max: 3.0
|
||||
step: 0.1
|
||||
unit: seconds
|
||||
```
|
||||
|
||||
### Add a slider with metric/imperial units
|
||||
|
||||
```yaml
|
||||
- key: MinSpeed
|
||||
widget: option
|
||||
title: Minimum Speed
|
||||
min: 0
|
||||
max: 100
|
||||
step: 5
|
||||
unit: {metric: km/h, imperial: mph}
|
||||
```
|
||||
|
||||
Frontend resolves the unit string based on the device's `IsMetric` param. Static units (e.g. `seconds`, `m/s²`) stay plain strings.
|
||||
|
||||
### Add a dynamic title suffix
|
||||
|
||||
```yaml
|
||||
- key: FollowDistance
|
||||
widget: option
|
||||
title: Follow Distance
|
||||
title_param_suffix:
|
||||
param: IsMetric
|
||||
values: {'0': mph, '1': km/h}
|
||||
min: 0.5
|
||||
max: 3.0
|
||||
step: 0.1
|
||||
```
|
||||
|
||||
Renders as "Follow Distance: mph" / "Follow Distance: km/h".
|
||||
|
||||
### Add a device-only read-only setting
|
||||
|
||||
```yaml
|
||||
- key: OnroadCyclePendingRemote
|
||||
widget: info
|
||||
title: Pending Remote Cycle
|
||||
blocked: true
|
||||
```
|
||||
|
||||
Frontend treats `blocked: true` items as read-only.
|
||||
|
||||
### Add a dropdown option
|
||||
|
||||
```yaml
|
||||
- key: MyDropdown
|
||||
widget: option
|
||||
title: Recording Quality
|
||||
options:
|
||||
- {value: 0, label: Low (720p)}
|
||||
- {value: 1, label: Medium (1080p)}
|
||||
- {value: 2, label: High (4K)}
|
||||
```
|
||||
|
||||
### Per-option enablement rules
|
||||
|
||||
```yaml
|
||||
- key: MadsSteeringMode
|
||||
widget: multiple_button
|
||||
title: Steering Mode on Brake Pedal
|
||||
options:
|
||||
- value: 0
|
||||
label: Remain Active
|
||||
enablement:
|
||||
- {$ref: "#/macros/mads_full_platforms"}
|
||||
- value: 1
|
||||
label: Pause
|
||||
enablement:
|
||||
- {$ref: "#/macros/mads_full_platforms"}
|
||||
- value: 2
|
||||
label: Disengage
|
||||
enablement:
|
||||
- {$ref: "#/macros/offroad"}
|
||||
```
|
||||
|
||||
When an option's enablement fails, that option is grayed out but still visible.
|
||||
|
||||
### Show only when another setting is on
|
||||
|
||||
```yaml
|
||||
- key: ChildSetting
|
||||
widget: toggle
|
||||
title: Child Feature
|
||||
visibility:
|
||||
- {type: param, key: ParentToggle, equals: true}
|
||||
```
|
||||
|
||||
(With the "dim instead of hide" design, this setting is dimmed, not hidden, when the rule fails.)
|
||||
|
||||
### Show only for specific brands
|
||||
|
||||
```yaml
|
||||
- key: LongFeature
|
||||
widget: toggle
|
||||
title: Longitudinal Feature
|
||||
visibility:
|
||||
- {$ref: "#/macros/longitudinal"}
|
||||
```
|
||||
|
||||
### Combine multiple conditions
|
||||
|
||||
The `enablement` array is implicit-AND: every entry must pass. Use `any` for OR, `all` for nested AND, `not` for negation. Wrap repeated combinations in a macro so future you doesn't re-derive the logic.
|
||||
|
||||
**AND across two params** (writable only when both Mads is on AND ICBM is enabled):
|
||||
```yaml
|
||||
enablement:
|
||||
- {type: param, key: Mads, equals: true}
|
||||
- {type: param, key: IntelligentCruiseButtonManagement, equals: true}
|
||||
```
|
||||
|
||||
**OR across two params** (writable when either is on):
|
||||
```yaml
|
||||
enablement:
|
||||
- type: any
|
||||
conditions:
|
||||
- {type: param, key: ExperimentalMode, equals: true}
|
||||
- {type: param, key: DynamicExperimentalControl, equals: true}
|
||||
```
|
||||
|
||||
**Mixed: capability AND param** (only on longitudinal cars when ShowAdvancedControls is on):
|
||||
```yaml
|
||||
enablement:
|
||||
- {$ref: "#/macros/longitudinal"}
|
||||
- {$ref: "#/macros/advanced_only"}
|
||||
```
|
||||
|
||||
**Three-way: offroad AND torque-allowed AND not-NNLC** (real example: `EnforceTorqueControl`):
|
||||
```yaml
|
||||
enablement:
|
||||
- {$ref: "#/macros/offroad"}
|
||||
- {type: capability, field: torque_allowed, equals: true}
|
||||
- {type: param, key: NeuralNetworkLateralControl, equals: false}
|
||||
```
|
||||
|
||||
**Negation across multiple platforms** (everything except Rivian + Tesla-no-bus):
|
||||
```yaml
|
||||
enablement:
|
||||
- {$ref: "#/macros/offroad"}
|
||||
- {$ref: "#/macros/mads_full_platforms"} # macro encapsulates the not(any(rivian, all(tesla, not(bus)))) logic
|
||||
```
|
||||
|
||||
If the same multi-condition block appears in 2+ items, **promote it to a macro** in `_macros.yaml`. Re-run `python sunnypilot/sunnylink/tools/apply_macros.py` to substitute existing inlined matches automatically.
|
||||
|
||||
### Mutual exclusion
|
||||
|
||||
```yaml
|
||||
- key: FeatureAlpha
|
||||
widget: toggle
|
||||
title: Feature Alpha
|
||||
enablement:
|
||||
- {type: param, key: FeatureBeta, equals: false}
|
||||
|
||||
- key: FeatureBeta
|
||||
widget: toggle
|
||||
title: Feature Beta
|
||||
enablement:
|
||||
- {type: param, key: FeatureAlpha, equals: false}
|
||||
```
|
||||
|
||||
### Add a section
|
||||
|
||||
In the page YAML, add an entry to the `sections` list:
|
||||
```yaml
|
||||
sections:
|
||||
- id: my_section
|
||||
title: My Section
|
||||
description: Optional subtitle
|
||||
enablement:
|
||||
- {$ref: "#/macros/longitudinal"}
|
||||
items:
|
||||
- {key: ..., widget: toggle, title: ...}
|
||||
```
|
||||
|
||||
Sections support `visibility`, `enablement`, and `attestation_required`. When section-level rules fail, all items within are dimmed.
|
||||
|
||||
### Add a sub-panel
|
||||
|
||||
Sub-panels nest inside the section they belong to:
|
||||
```yaml
|
||||
sections:
|
||||
- id: parent_section
|
||||
title: Parent
|
||||
items: [...]
|
||||
sub_panels:
|
||||
- id: my_sub
|
||||
label: Advanced Settings
|
||||
trigger_key: ParentParam
|
||||
trigger_condition: {type: param, key: ParentParam, equals: true}
|
||||
items:
|
||||
- {key: ..., widget: toggle, title: ...}
|
||||
```
|
||||
|
||||
### Add vehicle-brand settings
|
||||
|
||||
Edit `pages/vehicle.yaml`. Each section is a brand:
|
||||
```yaml
|
||||
id: vehicle
|
||||
kind: vehicle
|
||||
sections:
|
||||
- id: rivian
|
||||
title: Rivian Settings
|
||||
description: ''
|
||||
items:
|
||||
- key: RivianFeature
|
||||
widget: toggle
|
||||
title: Rivian One Pedal
|
||||
enablement:
|
||||
- {$ref: "#/macros/offroad"}
|
||||
```
|
||||
|
||||
`kind: vehicle` tells the compiler to emit this page as `vehicle_settings.<brand>` in the wire JSON.
|
||||
|
||||
### Add a feature with toggles, sub-panel, and macro
|
||||
|
||||
Example: "Smart Wipers" with a master toggle, intensity selector, and sub-panel for advanced tuning, gated to torque-steering Hyundais on offroad.
|
||||
|
||||
1. **Param keys** — register all 4 in `common/params_keys.h`.
|
||||
|
||||
2. **Decide on a macro** — if "torque Hyundai" gating is reused, add to `_macros.yaml`:
|
||||
```yaml
|
||||
torque_hyundai:
|
||||
- {$ref: "#/macros/offroad"}
|
||||
- {type: capability, field: brand, equals: hyundai}
|
||||
- {type: capability, field: torque_allowed, equals: true}
|
||||
```
|
||||
|
||||
3. **Edit the relevant page** — `pages/visuals.yaml` (or wherever the feature lives). Add a new section + sub_panel:
|
||||
```yaml
|
||||
sections:
|
||||
- id: smart_wipers
|
||||
title: Smart Wipers
|
||||
description: Camera-driven wiper control (Hyundai/Kia, torque only)
|
||||
items:
|
||||
- key: SmartWipersEnabled
|
||||
widget: toggle
|
||||
title: Enable Smart Wipers
|
||||
enablement:
|
||||
- {$ref: "#/macros/torque_hyundai"}
|
||||
- key: SmartWipersIntensity
|
||||
widget: multiple_button
|
||||
title: Sensitivity
|
||||
options:
|
||||
- {value: 0, label: Low}
|
||||
- {value: 1, label: Medium}
|
||||
- {value: 2, label: High}
|
||||
visibility:
|
||||
- {type: param, key: SmartWipersEnabled, equals: true}
|
||||
enablement:
|
||||
- {$ref: "#/macros/torque_hyundai"}
|
||||
sub_panels:
|
||||
- id: smart_wipers_tuning
|
||||
label: Smart Wipers Tuning
|
||||
trigger_key: SmartWipersEnabled
|
||||
trigger_condition: {type: param, key: SmartWipersEnabled, equals: true}
|
||||
items:
|
||||
- key: SmartWipersHysteresis
|
||||
widget: option
|
||||
title: Hysteresis (frames)
|
||||
min: 1
|
||||
max: 30
|
||||
step: 1
|
||||
enablement:
|
||||
- {$ref: "#/macros/offroad"}
|
||||
- {$ref: "#/macros/advanced_only"}
|
||||
```
|
||||
|
||||
4. **Compile / validate / test**:
|
||||
```
|
||||
python sunnypilot/sunnylink/tools/compile_settings_ui.py
|
||||
python sunnypilot/sunnylink/tools/validate_settings_ui.py
|
||||
uv run python -m pytest sunnypilot/sunnylink/tests/
|
||||
```
|
||||
|
||||
`apply_macros.py` is automatic for newly-added items only if you wrote the rule list inline; for greenfield items, you'd write `$ref` directly.
|
||||
|
||||
### Change a toggle's behavior
|
||||
|
||||
1. Find the item in `pages/<page>.yaml`.
|
||||
2. Edit `visibility`/`enablement`/`options[].enablement` directly. Use macros where possible.
|
||||
3. **Add a regression test** in `sunnypilot/sunnylink/tests/test_settings_changes.py` that asserts the new gate exists. Use existing tests (e.g. `TestMadsBrandGates`, `TestNotEngagedReplacement`) as templates: lookup item by key, assert `_references_capability_field(rules, "...")` or `_flatten_rule_types(rules)` contains/excludes a type. This freezes the new behavior so a future edit won't silently revert it.
|
||||
4. Compile + run the full suite. Per-bug test should pass; structural tests should remain green.
|
||||
|
||||
### Change a widget type or options
|
||||
|
||||
Editing `widget:` from `toggle` to `multiple_button` is a frontend behavior change. Whenever you change widget shape:
|
||||
- The param's underlying type (bool / int / string) must match what the new widget writes. `toggle` writes bool; `multiple_button`/`option` write int/string. Update `params_keys.h` if the type changes.
|
||||
- Add an `options:` list when switching to `multiple_button` or `option`.
|
||||
- Old values stored on devices may not be valid for the new widget. Consider a migration in `sunnypilot/system/updated/` if users have stale values.
|
||||
|
||||
### Deprecate or remove a setting
|
||||
|
||||
1. Remove the item from `pages/<page>.yaml`.
|
||||
2. Remove the param key from `common/params_keys.h` **only after** confirming nothing in `selfdrive/`, `sunnypilot/`, or any controls code reads it.
|
||||
3. If the param has been on user devices, drop it via a migration (see `sunnypilot/system/updated/`) so stale values don't linger.
|
||||
4. Compile + validate + test. The validator's "no duplicate keys" + structural checks will fail if anything still references the removed key.
|
||||
|
||||
### Move a setting to another page
|
||||
|
||||
Cut the item block from one page YAML, paste into the target page's section. Compile + validate. The "no duplicate keys" check catches forgotten copies.
|
||||
|
||||
### Change display text
|
||||
|
||||
Edit `title:` or `description:` in the page YAML and recompile to regenerate `settings_ui.json`.
|
||||
|
||||
### Reorder sections, sub-panels, and items
|
||||
|
||||
Reorder them within their parent list in the YAML. The compiler preserves authored order — no `order:` field required at the section/sub_panel/item level (panel-level `order:` controls which page comes first in the side nav).
|
||||
|
||||
---
|
||||
|
||||
### Capability labels and tooltips
|
||||
|
||||
The schema response includes `capability_labels`, which map capability field names to descriptions. The frontend uses these to show contextual tooltips when a capability rule prevents a setting from being used.
|
||||
|
||||
The device defines these labels in `capabilities.py:CAPABILITY_LABELS`. Examples:
|
||||
|
||||
- `has_longitudinal_control` → "sunnypilot longitudinal control"
|
||||
- `torque_allowed` → "torque steering (not available for angle steering vehicles)"
|
||||
- `brand` → "Vehicle brand"
|
||||
|
||||
### Centralized param enforcement
|
||||
|
||||
The device-side UI enforces capability constraints in `selfdrive/ui/sunnypilot/ui_state.py:_enforce_constraints()`, which removes incompatible params based on car capabilities. This is the single source of truth for such constraints.
|
||||
|
||||
Settings layouts should not duplicate these params.remove() calls. Instead, rely on schema rules and centralized enforcement to prevent duplicate logic and ensure consistency.
|
||||
|
||||
Example constraints in `_enforce_constraints()`:
|
||||
- Angle steering cars: remove `EnforceTorqueControl` and `NeuralNetworkLateralControl`
|
||||
- No CarParams: remove all car-dependent params
|
||||
- No longitudinal: remove `ExperimentalMode`
|
||||
- No ICBM: remove `IntelligentCruiseButtonManagement`
|
||||
@@ -1071,6 +1071,10 @@
|
||||
"title": "Panda Som Reset Triggered",
|
||||
"description": ""
|
||||
},
|
||||
"ParamsVersion": {
|
||||
"title": "Params Version",
|
||||
"description": ""
|
||||
},
|
||||
"PlanplusControl": {
|
||||
"title": "Plan Plus Controls",
|
||||
"description": "Adjust planplus model recentering strength. The higher this number the more aggressively the model will recover to lanecenter, too high and it will ping-pong",
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,516 @@
|
||||
{
|
||||
"$schema": "https://json-schema.org/draft/2020-12/schema",
|
||||
"$id": "https://sunnypilot.com/schemas/settings_ui.schema.json",
|
||||
"title": "sunnypilot Settings UI Schema",
|
||||
"description": "Defines the structure of the sunnypilot settings UI panels, items, rules, and vehicle-specific settings.",
|
||||
"type": "object",
|
||||
"required": ["schema_version", "panels", "vehicle_settings"],
|
||||
"additionalProperties": false,
|
||||
"properties": {
|
||||
"$schema": {
|
||||
"type": "string",
|
||||
"description": "JSON Schema reference for editor support."
|
||||
},
|
||||
"schema_version": {
|
||||
"type": "string",
|
||||
"description": "Version of the settings UI schema format.",
|
||||
"examples": ["1.0"]
|
||||
},
|
||||
"panels": {
|
||||
"type": "array",
|
||||
"description": "Top-level settings panels displayed in the UI.",
|
||||
"items": {
|
||||
"$ref": "#/$defs/Panel"
|
||||
}
|
||||
},
|
||||
"vehicle_settings": {
|
||||
"type": "object",
|
||||
"description": "Brand-keyed vehicle-specific settings. Each key is a car brand (e.g. 'hyundai', 'toyota').",
|
||||
"additionalProperties": {
|
||||
"$ref": "#/$defs/VehicleBrandSettings"
|
||||
}
|
||||
}
|
||||
},
|
||||
"$defs": {
|
||||
"Panel": {
|
||||
"type": "object",
|
||||
"description": "A top-level settings panel (tab) in the UI.",
|
||||
"required": ["id", "label", "icon", "order"],
|
||||
"additionalProperties": false,
|
||||
"properties": {
|
||||
"id": {
|
||||
"type": "string",
|
||||
"description": "Unique identifier for this panel."
|
||||
},
|
||||
"label": {
|
||||
"type": "string",
|
||||
"description": "Display label shown in the UI."
|
||||
},
|
||||
"icon": {
|
||||
"type": "string",
|
||||
"description": "Icon identifier for this panel."
|
||||
},
|
||||
"order": {
|
||||
"type": "integer",
|
||||
"description": "Sort order for panel display.",
|
||||
"minimum": 0
|
||||
},
|
||||
"description": {
|
||||
"type": "string",
|
||||
"description": "Optional description shown below the panel label."
|
||||
},
|
||||
"remote_configurable": {
|
||||
"type": "boolean",
|
||||
"description": "Whether this panel's settings can be changed remotely via sunnylink.",
|
||||
"default": false
|
||||
},
|
||||
"sections": {
|
||||
"type": "array",
|
||||
"description": "Grouped sections within this panel.",
|
||||
"items": {
|
||||
"$ref": "#/$defs/PanelSection"
|
||||
}
|
||||
},
|
||||
"items": {
|
||||
"type": "array",
|
||||
"description": "Settings items directly in this panel (no section grouping).",
|
||||
"items": {
|
||||
"$ref": "#/$defs/SchemaItem"
|
||||
}
|
||||
},
|
||||
"sub_panels": {
|
||||
"type": "array",
|
||||
"description": "Nested sub-panels triggered by a setting.",
|
||||
"items": {
|
||||
"$ref": "#/$defs/SubPanel"
|
||||
}
|
||||
}
|
||||
}
|
||||
},
|
||||
"PanelSection": {
|
||||
"type": "object",
|
||||
"description": "A grouped section within a panel.",
|
||||
"required": ["id", "title"],
|
||||
"additionalProperties": false,
|
||||
"properties": {
|
||||
"id": {
|
||||
"type": "string",
|
||||
"description": "Unique identifier for this section."
|
||||
},
|
||||
"title": {
|
||||
"type": "string",
|
||||
"description": "Display title for this section."
|
||||
},
|
||||
"description": {
|
||||
"type": "string",
|
||||
"description": "Optional description shown below the section title."
|
||||
},
|
||||
"order": {
|
||||
"type": "integer",
|
||||
"description": "Sort order within the parent panel.",
|
||||
"minimum": 0
|
||||
},
|
||||
"visibility": {
|
||||
"type": "array",
|
||||
"description": "Rules that determine whether this section is visible. All rules must pass.",
|
||||
"items": {
|
||||
"$ref": "#/$defs/Rule"
|
||||
}
|
||||
},
|
||||
"enablement": {
|
||||
"type": "array",
|
||||
"description": "Rules that determine whether items in this section are enabled. All rules must pass.",
|
||||
"items": {
|
||||
"$ref": "#/$defs/Rule"
|
||||
}
|
||||
},
|
||||
"attestation_required": {
|
||||
"type": "boolean",
|
||||
"description": "When true, the UI must show an attestation modal before any write to items in this section.",
|
||||
"default": false
|
||||
},
|
||||
"items": {
|
||||
"type": "array",
|
||||
"description": "Settings items within this section.",
|
||||
"items": {
|
||||
"$ref": "#/$defs/SchemaItem"
|
||||
}
|
||||
},
|
||||
"sub_panels": {
|
||||
"type": "array",
|
||||
"description": "Nested sub-panels within this section.",
|
||||
"items": {
|
||||
"$ref": "#/$defs/SubPanel"
|
||||
}
|
||||
}
|
||||
}
|
||||
},
|
||||
"VehicleBrandSettings": {
|
||||
"type": "object",
|
||||
"description": "Brand-specific settings group inside vehicle_settings.",
|
||||
"required": ["items"],
|
||||
"additionalProperties": false,
|
||||
"properties": {
|
||||
"title": {
|
||||
"type": "string",
|
||||
"description": "Display title for this brand's settings group."
|
||||
},
|
||||
"description": {
|
||||
"type": "string",
|
||||
"description": "Optional description shown below the brand title."
|
||||
},
|
||||
"items": {
|
||||
"type": "array",
|
||||
"description": "Settings items for this brand.",
|
||||
"items": {
|
||||
"$ref": "#/$defs/SchemaItem"
|
||||
}
|
||||
}
|
||||
}
|
||||
},
|
||||
"SchemaItem": {
|
||||
"type": "object",
|
||||
"description": "A single settings item (toggle, option selector, button group, etc.).",
|
||||
"required": ["key", "widget"],
|
||||
"additionalProperties": false,
|
||||
"properties": {
|
||||
"key": {
|
||||
"type": "string",
|
||||
"description": "The param key this item reads/writes."
|
||||
},
|
||||
"widget": {
|
||||
"type": "string",
|
||||
"description": "The UI widget type to render.",
|
||||
"enum": ["toggle", "option", "multiple_button", "button", "info"]
|
||||
},
|
||||
"title": {
|
||||
"type": "string",
|
||||
"description": "Override display title (defaults to metadata lookup by key)."
|
||||
},
|
||||
"description": {
|
||||
"type": "string",
|
||||
"description": "Override description text. Rendered inline below the title. May be empty when only `details` is used."
|
||||
},
|
||||
"details": {
|
||||
"type": "string",
|
||||
"description": "Extended help text shown in a popover/modal when the user taps an info ('i') button on the row. Independent of `description`: either, both, or neither may be present."
|
||||
},
|
||||
"options": {
|
||||
"type": "array",
|
||||
"description": "Available options for 'option' or 'multiple_button' widgets.",
|
||||
"items": {
|
||||
"$ref": "#/$defs/SchemaOption"
|
||||
}
|
||||
},
|
||||
"min": {
|
||||
"type": "number",
|
||||
"description": "Minimum value for numeric option widgets."
|
||||
},
|
||||
"max": {
|
||||
"type": "number",
|
||||
"description": "Maximum value for numeric option widgets."
|
||||
},
|
||||
"step": {
|
||||
"type": "number",
|
||||
"description": "Step increment for numeric option widgets."
|
||||
},
|
||||
"unit": {
|
||||
"oneOf": [
|
||||
{
|
||||
"type": "string",
|
||||
"description": "Static unit label (e.g. 'seconds', 'm/s²')."
|
||||
},
|
||||
{
|
||||
"type": "object",
|
||||
"description": "Dynamic unit that changes based on IsMetric param.",
|
||||
"required": ["metric", "imperial"],
|
||||
"additionalProperties": false,
|
||||
"properties": {
|
||||
"metric": {
|
||||
"type": "string",
|
||||
"description": "Unit label when IsMetric is true (e.g. 'km/h')."
|
||||
},
|
||||
"imperial": {
|
||||
"type": "string",
|
||||
"description": "Unit label when IsMetric is false (e.g. 'mph')."
|
||||
}
|
||||
}
|
||||
}
|
||||
],
|
||||
"description": "Unit label for numeric values. Use a string for static units or an object with metric/imperial variants for units that depend on the IsMetric param."
|
||||
},
|
||||
"value_map": {
|
||||
"type": "object",
|
||||
"description": "Maps stored values to display labels.",
|
||||
"additionalProperties": {
|
||||
"type": "string"
|
||||
}
|
||||
},
|
||||
"visibility": {
|
||||
"type": "array",
|
||||
"description": "Rules that determine whether this item is visible. All rules must pass.",
|
||||
"items": {
|
||||
"$ref": "#/$defs/Rule"
|
||||
}
|
||||
},
|
||||
"enablement": {
|
||||
"type": "array",
|
||||
"description": "Rules that determine whether this item is enabled/interactive. All rules must pass.",
|
||||
"items": {
|
||||
"$ref": "#/$defs/Rule"
|
||||
}
|
||||
},
|
||||
"sub_items": {
|
||||
"type": "array",
|
||||
"description": "Child items nested under this item (e.g. options revealed by a toggle).",
|
||||
"items": {
|
||||
"$ref": "#/$defs/SchemaItem"
|
||||
}
|
||||
},
|
||||
"action": {
|
||||
"type": "string",
|
||||
"description": "Action identifier for button widgets."
|
||||
},
|
||||
"title_param_suffix": {
|
||||
"type": "object",
|
||||
"description": "Renders an extra suffix in the item title chosen by the value of another param.",
|
||||
"required": ["param", "values"],
|
||||
"additionalProperties": false,
|
||||
"properties": {
|
||||
"param": {
|
||||
"type": "string",
|
||||
"description": "Param key whose value selects the suffix label."
|
||||
},
|
||||
"values": {
|
||||
"type": "object",
|
||||
"description": "Map from stringified param value to suffix label.",
|
||||
"additionalProperties": {
|
||||
"type": "string"
|
||||
}
|
||||
}
|
||||
}
|
||||
},
|
||||
"needs_onroad_cycle": {
|
||||
"type": "boolean",
|
||||
"description": "When true, the device must cycle onroad/offroad for the new value to take effect.",
|
||||
"default": false
|
||||
},
|
||||
"blocked": {
|
||||
"type": "boolean",
|
||||
"description": "When true, this item is treated as DEVICE_ONLY and the dashboard must not write it remotely.",
|
||||
"default": false
|
||||
},
|
||||
"requires_attestation": {
|
||||
"type": "boolean",
|
||||
"description": "When true, writes to this item require an explicit per-write confirmation modal.",
|
||||
"default": false
|
||||
}
|
||||
}
|
||||
},
|
||||
"SubPanel": {
|
||||
"type": "object",
|
||||
"description": "A nested panel that opens when triggered by a parent item.",
|
||||
"required": ["id", "label", "trigger_key"],
|
||||
"additionalProperties": false,
|
||||
"properties": {
|
||||
"id": {
|
||||
"type": "string",
|
||||
"description": "Unique identifier for this sub-panel."
|
||||
},
|
||||
"label": {
|
||||
"type": "string",
|
||||
"description": "Display label for the sub-panel header."
|
||||
},
|
||||
"trigger_key": {
|
||||
"type": "string",
|
||||
"description": "The param key that triggers opening this sub-panel."
|
||||
},
|
||||
"trigger_condition": {
|
||||
"$ref": "#/$defs/Rule",
|
||||
"description": "Optional rule that must evaluate to true for the sub-panel trigger to be active."
|
||||
},
|
||||
"items": {
|
||||
"type": "array",
|
||||
"description": "Settings items within this sub-panel.",
|
||||
"items": {
|
||||
"$ref": "#/$defs/SchemaItem"
|
||||
}
|
||||
}
|
||||
}
|
||||
},
|
||||
"SchemaOption": {
|
||||
"type": "object",
|
||||
"description": "A selectable option for option/multiple_button widgets.",
|
||||
"required": ["value", "label"],
|
||||
"additionalProperties": false,
|
||||
"properties": {
|
||||
"value": {
|
||||
"oneOf": [
|
||||
{ "type": "number" },
|
||||
{ "type": "string" }
|
||||
],
|
||||
"description": "The stored value when this option is selected."
|
||||
},
|
||||
"label": {
|
||||
"type": "string",
|
||||
"description": "The display label for this option."
|
||||
},
|
||||
"enablement": {
|
||||
"type": "array",
|
||||
"description": "Rules that determine whether this option is selectable. All rules must pass.",
|
||||
"items": {
|
||||
"$ref": "#/$defs/Rule"
|
||||
}
|
||||
}
|
||||
}
|
||||
},
|
||||
"Rule": {
|
||||
"description": "A visibility or enablement rule. Discriminated union on the 'type' field.",
|
||||
"oneOf": [
|
||||
{ "$ref": "#/$defs/RuleOffroadOnly" },
|
||||
{ "$ref": "#/$defs/RuleNotEngaged" },
|
||||
{ "$ref": "#/$defs/RuleCapability" },
|
||||
{ "$ref": "#/$defs/RuleParam" },
|
||||
{ "$ref": "#/$defs/RuleParamCompare" },
|
||||
{ "$ref": "#/$defs/RuleNot" },
|
||||
{ "$ref": "#/$defs/RuleAny" },
|
||||
{ "$ref": "#/$defs/RuleAll" }
|
||||
]
|
||||
},
|
||||
"RuleOffroadOnly": {
|
||||
"type": "object",
|
||||
"description": "Rule that passes only when the device is offroad.",
|
||||
"required": ["type"],
|
||||
"additionalProperties": false,
|
||||
"properties": {
|
||||
"type": {
|
||||
"const": "offroad_only"
|
||||
}
|
||||
}
|
||||
},
|
||||
"RuleNotEngaged": {
|
||||
"type": "object",
|
||||
"description": "Rule that passes when the vehicle is not engaged (matches Raylib `engaged = started AND (selfdriveState.enabled OR selfdriveStateSP.mads.enabled)`).",
|
||||
"required": ["type"],
|
||||
"additionalProperties": false,
|
||||
"properties": {
|
||||
"type": {
|
||||
"const": "not_engaged"
|
||||
}
|
||||
}
|
||||
},
|
||||
"RuleCapability": {
|
||||
"type": "object",
|
||||
"description": "Rule that checks a vehicle capability field against an expected value.",
|
||||
"required": ["type", "field", "equals"],
|
||||
"additionalProperties": false,
|
||||
"properties": {
|
||||
"type": {
|
||||
"const": "capability"
|
||||
},
|
||||
"field": {
|
||||
"type": "string",
|
||||
"description": "The capability field name to check."
|
||||
},
|
||||
"equals": {
|
||||
"description": "The expected value to match against."
|
||||
}
|
||||
}
|
||||
},
|
||||
"RuleParam": {
|
||||
"type": "object",
|
||||
"description": "Rule that checks a param value against an expected value.",
|
||||
"required": ["type", "key", "equals"],
|
||||
"additionalProperties": false,
|
||||
"properties": {
|
||||
"type": {
|
||||
"const": "param"
|
||||
},
|
||||
"key": {
|
||||
"type": "string",
|
||||
"description": "The param key to read."
|
||||
},
|
||||
"equals": {
|
||||
"description": "The expected value to match against."
|
||||
}
|
||||
}
|
||||
},
|
||||
"RuleParamCompare": {
|
||||
"type": "object",
|
||||
"description": "Rule that compares a numeric param value using a comparison operator.",
|
||||
"required": ["type", "key", "op", "value"],
|
||||
"additionalProperties": false,
|
||||
"properties": {
|
||||
"type": {
|
||||
"const": "param_compare"
|
||||
},
|
||||
"key": {
|
||||
"type": "string",
|
||||
"description": "The param key to read."
|
||||
},
|
||||
"op": {
|
||||
"type": "string",
|
||||
"description": "Comparison operator.",
|
||||
"enum": [">", "<", ">=", "<="]
|
||||
},
|
||||
"value": {
|
||||
"type": "number",
|
||||
"description": "The numeric value to compare against."
|
||||
}
|
||||
}
|
||||
},
|
||||
"RuleNot": {
|
||||
"type": "object",
|
||||
"description": "Rule that negates a single child condition.",
|
||||
"required": ["type", "condition"],
|
||||
"additionalProperties": false,
|
||||
"properties": {
|
||||
"type": {
|
||||
"const": "not"
|
||||
},
|
||||
"condition": {
|
||||
"$ref": "#/$defs/Rule",
|
||||
"description": "The rule to negate."
|
||||
}
|
||||
}
|
||||
},
|
||||
"RuleAny": {
|
||||
"type": "object",
|
||||
"description": "Rule that passes if ANY of the child conditions pass (logical OR).",
|
||||
"required": ["type", "conditions"],
|
||||
"additionalProperties": false,
|
||||
"properties": {
|
||||
"type": {
|
||||
"const": "any"
|
||||
},
|
||||
"conditions": {
|
||||
"type": "array",
|
||||
"description": "Child rules; at least one must pass.",
|
||||
"items": {
|
||||
"$ref": "#/$defs/Rule"
|
||||
},
|
||||
"minItems": 1
|
||||
}
|
||||
}
|
||||
},
|
||||
"RuleAll": {
|
||||
"type": "object",
|
||||
"description": "Rule that passes only if ALL child conditions pass (logical AND).",
|
||||
"required": ["type", "conditions"],
|
||||
"additionalProperties": false,
|
||||
"properties": {
|
||||
"type": {
|
||||
"const": "all"
|
||||
},
|
||||
"conditions": {
|
||||
"type": "array",
|
||||
"description": "Child rules; all must pass.",
|
||||
"items": {
|
||||
"$ref": "#/$defs/Rule"
|
||||
},
|
||||
"minItems": 1
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,65 @@
|
||||
# Named rule fragments. Reference from items/sections via {$ref: "#/macros/<name>"}.
|
||||
# Macros may $ref other macros (max depth 3 — see compile_settings_ui.py). No template logic.
|
||||
#
|
||||
# Adding a macro: define here once, then reference everywhere. The compiler
|
||||
# resolves $refs into the canonical settings_ui.json output the frontend reads.
|
||||
|
||||
macros:
|
||||
# Most-used: only writable when the device is offroad.
|
||||
offroad:
|
||||
- {type: offroad_only}
|
||||
|
||||
# Writable while not engaged (started, but selfdrive/MADS not active).
|
||||
not_engaged:
|
||||
- {type: not_engaged}
|
||||
|
||||
# sunnypilot longitudinal control is active.
|
||||
longitudinal:
|
||||
- {type: capability, field: has_longitudinal_control, equals: true}
|
||||
|
||||
# Longitudinal + ICBM both available.
|
||||
longitudinal_and_icbm:
|
||||
- {type: capability, field: has_longitudinal_control, equals: true}
|
||||
- {type: capability, field: has_icbm, equals: true}
|
||||
|
||||
# Item only meaningful when "Show Advanced Controls" is enabled by the user.
|
||||
advanced_only:
|
||||
- {type: param, key: ShowAdvancedControls, equals: true}
|
||||
|
||||
# Hide on MICI hardware (no analog HUD support yet).
|
||||
hide_on_mici:
|
||||
- type: not
|
||||
condition: {type: capability, field: device_type, equals: mici}
|
||||
|
||||
# Mirrors selfdrive/ui/sunnypilot/layouts/.../mads_settings.py:_mads_limited_settings()
|
||||
# Rivian + Tesla-without-vehicle-bus get the limited MADS UI (3-toggle subset).
|
||||
# On those platforms these toggles are disabled — full MADS settings are
|
||||
# only writable on platforms NOT in the limited-set.
|
||||
mads_full_platforms:
|
||||
- type: not
|
||||
condition:
|
||||
type: any
|
||||
conditions:
|
||||
- {type: capability, field: brand, equals: rivian}
|
||||
- type: all
|
||||
conditions:
|
||||
- {type: capability, field: brand, equals: tesla}
|
||||
- type: not
|
||||
condition: {type: capability, field: tesla_has_vehicle_bus, equals: true}
|
||||
|
||||
# Inverse of mads_full_platforms: present only on the limited platforms.
|
||||
# Useful for "show this only on rivian/tesla-no-bus" toggles.
|
||||
mads_limited_platforms:
|
||||
- type: any
|
||||
conditions:
|
||||
- {type: capability, field: brand, equals: rivian}
|
||||
- type: all
|
||||
conditions:
|
||||
- {type: capability, field: brand, equals: tesla}
|
||||
- type: not
|
||||
condition: {type: capability, field: tesla_has_vehicle_bus, equals: true}
|
||||
|
||||
# Hide on sunnypilot release branches (is_release is hardcoded False everywhere; is_sp_release is the active gate).
|
||||
release_branches_hide:
|
||||
- type: not
|
||||
condition: {type: capability, field: is_sp_release, equals: true}
|
||||
@@ -0,0 +1,23 @@
|
||||
{
|
||||
"$schema": "https://json-schema.org/draft/2020-12/schema",
|
||||
"$id": "https://sunnypilot.com/schemas/sdui/macros.schema.json",
|
||||
"title": "Settings UI macros (named rule fragments)",
|
||||
"type": "object",
|
||||
"additionalProperties": false,
|
||||
"required": ["macros"],
|
||||
"properties": {
|
||||
"macros": {
|
||||
"type": "object",
|
||||
"description": "Named rule fragments. Each value is either a list of rules (typical) or a single rule object. Reference from items/layout via {$ref: '#/macros/<name>'}.",
|
||||
"patternProperties": {
|
||||
"^[A-Za-z_][A-Za-z0-9_]*$": {
|
||||
"oneOf": [
|
||||
{"type": "array", "items": {"$ref": "rule.schema.json"}},
|
||||
{"$ref": "rule.schema.json"}
|
||||
]
|
||||
}
|
||||
},
|
||||
"additionalProperties": false
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,113 @@
|
||||
{
|
||||
"$schema": "https://json-schema.org/draft/2020-12/schema",
|
||||
"$id": "https://sunnypilot.com/schemas/sdui/page.schema.json",
|
||||
"title": "Settings UI page (panel) YAML",
|
||||
"description": "Validates pages/<id>.yaml. Each page describes one settings panel (or the vehicle namespace via kind: vehicle).",
|
||||
"type": "object",
|
||||
"required": ["id"],
|
||||
"additionalProperties": false,
|
||||
"properties": {
|
||||
"id": {"type": "string"},
|
||||
"label": {"type": "string"},
|
||||
"icon": {"type": "string"},
|
||||
"order": {"type": "integer"},
|
||||
"remote_configurable": {"type": "boolean"},
|
||||
"description": {"type": "string"},
|
||||
"kind": {
|
||||
"type": "string",
|
||||
"enum": ["panel", "vehicle"],
|
||||
"description": "panel (default) or vehicle (compiles to settings_ui.json#vehicle_settings)."
|
||||
},
|
||||
"sections": {
|
||||
"type": "array",
|
||||
"items": {"$ref": "#/$defs/Section"}
|
||||
},
|
||||
"items": {
|
||||
"type": "array",
|
||||
"items": {"$ref": "#/$defs/Item"}
|
||||
},
|
||||
"sub_panels": {
|
||||
"type": "array",
|
||||
"items": {"$ref": "#/$defs/SubPanel"}
|
||||
}
|
||||
},
|
||||
"$defs": {
|
||||
"Section": {
|
||||
"type": "object",
|
||||
"required": ["id", "title"],
|
||||
"additionalProperties": false,
|
||||
"properties": {
|
||||
"id": {"type": "string"},
|
||||
"title": {"type": "string"},
|
||||
"description": {"type": "string"},
|
||||
"order": {"type": "integer"},
|
||||
"attestation_required": {"type": "boolean"},
|
||||
"visibility": {"type": "array", "items": {"$ref": "rule.schema.json"}},
|
||||
"enablement": {"type": "array", "items": {"$ref": "rule.schema.json"}},
|
||||
"items": {"type": "array", "items": {"$ref": "#/$defs/Item"}},
|
||||
"sub_panels": {"type": "array", "items": {"$ref": "#/$defs/SubPanel"}}
|
||||
}
|
||||
},
|
||||
"SubPanel": {
|
||||
"type": "object",
|
||||
"required": ["id", "label"],
|
||||
"additionalProperties": false,
|
||||
"properties": {
|
||||
"id": {"type": "string"},
|
||||
"label": {"type": "string"},
|
||||
"trigger_key": {"type": ["string", "null"]},
|
||||
"trigger_condition": {"$ref": "rule.schema.json"},
|
||||
"items": {"type": "array", "items": {"$ref": "#/$defs/Item"}}
|
||||
}
|
||||
},
|
||||
"Item": {
|
||||
"type": "object",
|
||||
"required": ["key", "widget"],
|
||||
"additionalProperties": false,
|
||||
"properties": {
|
||||
"key": {"type": "string", "pattern": "^[A-Za-z][A-Za-z0-9_]*$"},
|
||||
"widget": {"type": "string", "enum": ["toggle", "option", "multiple_button", "button", "info"]},
|
||||
"title": {"type": "string"},
|
||||
"description": {"type": "string", "description": "Inline body text under the title. May be omitted when only details is used."},
|
||||
"details": {"type": "string", "description": "Extended help shown in a modal when the user taps the info (i) button. Independent of description; either, both, or neither may be present."},
|
||||
"title_param_suffix": {"type": "object"},
|
||||
"min": {"type": "number"},
|
||||
"max": {"type": "number"},
|
||||
"step": {"type": "number"},
|
||||
"unit": {
|
||||
"oneOf": [
|
||||
{"type": "string"},
|
||||
{
|
||||
"type": "object",
|
||||
"additionalProperties": false,
|
||||
"required": ["metric", "imperial"],
|
||||
"properties": {
|
||||
"metric": {"type": "string"},
|
||||
"imperial": {"type": "string"}
|
||||
}
|
||||
}
|
||||
]
|
||||
},
|
||||
"needs_onroad_cycle": {"type": "boolean"},
|
||||
"requires_attestation": {"type": "boolean"},
|
||||
"blocked": {"type": "boolean"},
|
||||
"options": {
|
||||
"type": "array",
|
||||
"items": {
|
||||
"type": "object",
|
||||
"required": ["value", "label"],
|
||||
"additionalProperties": false,
|
||||
"properties": {
|
||||
"value": {},
|
||||
"label": {"type": "string"},
|
||||
"enablement": {"type": "array", "items": {"$ref": "rule.schema.json"}}
|
||||
}
|
||||
}
|
||||
},
|
||||
"visibility": {"type": "array", "items": {"$ref": "rule.schema.json"}},
|
||||
"enablement": {"type": "array", "items": {"$ref": "rule.schema.json"}},
|
||||
"sub_items": {"type": "array", "items": {"$ref": "#/$defs/Item"}}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,101 @@
|
||||
{
|
||||
"$schema": "https://json-schema.org/draft/2020-12/schema",
|
||||
"$id": "https://sunnypilot.com/schemas/sdui/rule.schema.json",
|
||||
"title": "Rule",
|
||||
"description": "Visibility/enablement rule. Discriminated union on 'type'. Macro reference is also accepted via {$ref: '#/macros/<name>'}.",
|
||||
"oneOf": [
|
||||
{"$ref": "#/$defs/MacroRef"},
|
||||
{"$ref": "#/$defs/RuleOffroadOnly"},
|
||||
{"$ref": "#/$defs/RuleNotEngaged"},
|
||||
{"$ref": "#/$defs/RuleCapability"},
|
||||
{"$ref": "#/$defs/RuleParam"},
|
||||
{"$ref": "#/$defs/RuleParamCompare"},
|
||||
{"$ref": "#/$defs/RuleNot"},
|
||||
{"$ref": "#/$defs/RuleAny"},
|
||||
{"$ref": "#/$defs/RuleAll"}
|
||||
],
|
||||
"$defs": {
|
||||
"MacroRef": {
|
||||
"type": "object",
|
||||
"required": ["$ref"],
|
||||
"additionalProperties": false,
|
||||
"properties": {
|
||||
"$ref": {
|
||||
"type": "string",
|
||||
"pattern": "^#/macros/[A-Za-z_][A-Za-z0-9_]*$",
|
||||
"description": "Reference to a macro defined in _macros.yaml under #/macros/<name>."
|
||||
}
|
||||
}
|
||||
},
|
||||
"RuleOffroadOnly": {
|
||||
"type": "object",
|
||||
"required": ["type"],
|
||||
"additionalProperties": false,
|
||||
"properties": {"type": {"const": "offroad_only"}}
|
||||
},
|
||||
"RuleNotEngaged": {
|
||||
"type": "object",
|
||||
"required": ["type"],
|
||||
"additionalProperties": false,
|
||||
"properties": {"type": {"const": "not_engaged"}}
|
||||
},
|
||||
"RuleCapability": {
|
||||
"type": "object",
|
||||
"required": ["type", "field", "equals"],
|
||||
"additionalProperties": false,
|
||||
"properties": {
|
||||
"type": {"const": "capability"},
|
||||
"field": {"type": "string"},
|
||||
"equals": {}
|
||||
}
|
||||
},
|
||||
"RuleParam": {
|
||||
"type": "object",
|
||||
"required": ["type", "key", "equals"],
|
||||
"additionalProperties": false,
|
||||
"properties": {
|
||||
"type": {"const": "param"},
|
||||
"key": {"type": "string"},
|
||||
"equals": {}
|
||||
}
|
||||
},
|
||||
"RuleParamCompare": {
|
||||
"type": "object",
|
||||
"required": ["type", "key", "op", "value"],
|
||||
"additionalProperties": false,
|
||||
"properties": {
|
||||
"type": {"const": "param_compare"},
|
||||
"key": {"type": "string"},
|
||||
"op": {"type": "string", "enum": [">", "<", ">=", "<="]},
|
||||
"value": {"type": "number"}
|
||||
}
|
||||
},
|
||||
"RuleNot": {
|
||||
"type": "object",
|
||||
"required": ["type", "condition"],
|
||||
"additionalProperties": false,
|
||||
"properties": {
|
||||
"type": {"const": "not"},
|
||||
"condition": {"$ref": "#"}
|
||||
}
|
||||
},
|
||||
"RuleAny": {
|
||||
"type": "object",
|
||||
"required": ["type", "conditions"],
|
||||
"additionalProperties": false,
|
||||
"properties": {
|
||||
"type": {"const": "any"},
|
||||
"conditions": {"type": "array", "items": {"$ref": "#"}, "minItems": 1}
|
||||
}
|
||||
},
|
||||
"RuleAll": {
|
||||
"type": "object",
|
||||
"required": ["type", "conditions"],
|
||||
"additionalProperties": false,
|
||||
"properties": {
|
||||
"type": {"const": "all"},
|
||||
"conditions": {"type": "array", "items": {"$ref": "#"}, "minItems": 1}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,269 @@
|
||||
# Page: cruise
|
||||
# Edit this file. Run compile_settings_ui.py to emit settings_ui.json.
|
||||
id: cruise
|
||||
label: Cruise
|
||||
icon: cruise_control
|
||||
order: 2
|
||||
remote_configurable: true
|
||||
description: Longitudinal control, speed limits, and cruise behavior
|
||||
sections:
|
||||
- id: core_cruise_features
|
||||
title: ''
|
||||
description: ''
|
||||
items:
|
||||
- key: ExperimentalMode
|
||||
widget: toggle
|
||||
title: Experimental Mode
|
||||
enablement:
|
||||
- $ref: '#/macros/longitudinal'
|
||||
- key: DynamicExperimentalControl
|
||||
widget: toggle
|
||||
title: Dynamic Experimental Control
|
||||
description: Let the model decide when to use sunnypilot ACC or sunnypilot End to End Longitudinal.
|
||||
visibility:
|
||||
- $ref: '#/macros/longitudinal'
|
||||
enablement:
|
||||
- $ref: '#/macros/longitudinal'
|
||||
- key: DisengageOnAccelerator
|
||||
widget: toggle
|
||||
title: Disengage Cruise on Accelerator Pedal
|
||||
description: When enabled, pressing the accelerator pedal will disengage longitudinal control.
|
||||
- key: LongitudinalPersonality
|
||||
widget: multiple_button
|
||||
title: Driving Personality
|
||||
description: Standard is recommended. In aggressive mode, sunnypilot will follow lead cars closer and be more aggressive
|
||||
with the gas and brake. In relaxed mode sunnypilot will stay further away from lead cars. On supported cars, you can
|
||||
cycle through these personalities with your steering wheel distance button.
|
||||
options:
|
||||
- value: 0
|
||||
label: Aggressive
|
||||
- value: 1
|
||||
label: Standard
|
||||
- value: 2
|
||||
label: Relaxed
|
||||
enablement:
|
||||
- $ref: '#/macros/longitudinal'
|
||||
- key: IntelligentCruiseButtonManagement
|
||||
widget: toggle
|
||||
title: Intelligent Cruise Button Management (ICBM) (Alpha)
|
||||
visibility:
|
||||
- type: capability
|
||||
field: icbm_available
|
||||
equals: true
|
||||
enablement:
|
||||
- $ref: '#/macros/offroad'
|
||||
- type: not
|
||||
condition:
|
||||
type: capability
|
||||
field: has_longitudinal_control
|
||||
equals: true
|
||||
- id: custom_acc_increments
|
||||
title: Custom ACC Speed Intervals
|
||||
description: ''
|
||||
enablement:
|
||||
- $ref: '#/macros/offroad'
|
||||
- type: any
|
||||
conditions:
|
||||
- type: all
|
||||
conditions:
|
||||
- type: capability
|
||||
field: has_longitudinal_control
|
||||
equals: true
|
||||
- type: not
|
||||
condition:
|
||||
type: capability
|
||||
field: pcm_cruise
|
||||
equals: true
|
||||
- type: capability
|
||||
field: has_icbm
|
||||
equals: true
|
||||
items:
|
||||
- key: CustomAccIncrementsEnabled
|
||||
widget: toggle
|
||||
title: Enable Custom ACC Speed Intervals
|
||||
enablement:
|
||||
- $ref: '#/macros/offroad'
|
||||
- type: any
|
||||
conditions:
|
||||
- type: all
|
||||
conditions:
|
||||
- type: capability
|
||||
field: has_longitudinal_control
|
||||
equals: true
|
||||
- type: not
|
||||
condition:
|
||||
type: capability
|
||||
field: pcm_cruise
|
||||
equals: true
|
||||
- type: capability
|
||||
field: has_icbm
|
||||
equals: true
|
||||
sub_panels:
|
||||
- id: custom_acc_intervals
|
||||
label: Custom ACC Speed Intervals Settings
|
||||
trigger_key: CustomAccIncrementsEnabled
|
||||
trigger_condition:
|
||||
type: param
|
||||
key: CustomAccIncrementsEnabled
|
||||
equals: true
|
||||
items:
|
||||
- key: CustomAccShortPressIncrement
|
||||
widget: option
|
||||
title: Short Press Increment
|
||||
min: 1
|
||||
max: 10
|
||||
step: 1
|
||||
enablement:
|
||||
- type: param
|
||||
key: CustomAccIncrementsEnabled
|
||||
equals: true
|
||||
- key: CustomAccLongPressIncrement
|
||||
widget: option
|
||||
title: Long Press Increment
|
||||
min: 1
|
||||
max: 10
|
||||
step: 1
|
||||
enablement:
|
||||
- type: param
|
||||
key: CustomAccIncrementsEnabled
|
||||
equals: true
|
||||
- id: speed_limits
|
||||
title: Speed Limits
|
||||
description: Speed limit detection and offset behavior
|
||||
items: []
|
||||
sub_panels:
|
||||
- id: speed_limit_settings
|
||||
label: Speed Limit Settings
|
||||
trigger_key: SpeedLimitMode
|
||||
items:
|
||||
- key: SpeedLimitMode
|
||||
widget: multiple_button
|
||||
title: Speed Limit Assist Mode
|
||||
options:
|
||||
- value: 0
|
||||
label: 'Off'
|
||||
- value: 1
|
||||
label: Information
|
||||
- value: 2
|
||||
label: Warning
|
||||
- value: 3
|
||||
label: Assist
|
||||
enablement:
|
||||
- type: any
|
||||
conditions:
|
||||
- type: capability
|
||||
field: has_longitudinal_control
|
||||
equals: true
|
||||
- type: capability
|
||||
field: has_icbm
|
||||
equals: true
|
||||
- type: not
|
||||
condition:
|
||||
type: capability
|
||||
field: brand
|
||||
equals: rivian
|
||||
- type: not
|
||||
condition:
|
||||
type: all
|
||||
conditions:
|
||||
- type: capability
|
||||
field: brand
|
||||
equals: tesla
|
||||
- type: capability
|
||||
field: is_sp_release
|
||||
equals: true
|
||||
- key: SpeedLimitPolicy
|
||||
widget: multiple_button
|
||||
title: Speed Limit Source
|
||||
options:
|
||||
- value: 0
|
||||
label: Car State Only
|
||||
- value: 1
|
||||
label: Map Data Only
|
||||
- value: 2
|
||||
label: Car State Priority
|
||||
- value: 3
|
||||
label: Map Data Priority
|
||||
- value: 4
|
||||
label: Combined
|
||||
- key: SpeedLimitOffsetType
|
||||
widget: multiple_button
|
||||
title: Speed Limit Offset Type
|
||||
options:
|
||||
- value: 0
|
||||
label: 'Off'
|
||||
- value: 1
|
||||
label: Fixed
|
||||
- value: 2
|
||||
label: Percentage
|
||||
- key: SpeedLimitValueOffset
|
||||
widget: option
|
||||
title: Speed Limit Offset Value
|
||||
min: -30
|
||||
max: 30
|
||||
step: 1
|
||||
unit:
|
||||
metric: km/h
|
||||
imperial: mph
|
||||
visibility:
|
||||
- type: param_compare
|
||||
key: SpeedLimitOffsetType
|
||||
op: '>'
|
||||
value: 0
|
||||
- id: smart_cruise
|
||||
title: Smart Cruise Control
|
||||
description: ''
|
||||
enablement:
|
||||
- type: any
|
||||
conditions:
|
||||
- type: capability
|
||||
field: has_longitudinal_control
|
||||
equals: true
|
||||
- type: capability
|
||||
field: has_icbm
|
||||
equals: true
|
||||
items:
|
||||
- key: SmartCruiseControlVision
|
||||
widget: toggle
|
||||
title: Vision
|
||||
description: Use vision path predictions to estimate the appropriate speed to drive through turns ahead.
|
||||
visibility:
|
||||
- type: any
|
||||
conditions:
|
||||
- type: capability
|
||||
field: has_longitudinal_control
|
||||
equals: true
|
||||
- type: capability
|
||||
field: has_icbm
|
||||
equals: true
|
||||
enablement:
|
||||
- type: any
|
||||
conditions:
|
||||
- type: capability
|
||||
field: has_longitudinal_control
|
||||
equals: true
|
||||
- type: capability
|
||||
field: has_icbm
|
||||
equals: true
|
||||
- key: SmartCruiseControlMap
|
||||
widget: toggle
|
||||
title: Map
|
||||
description: Use map data to estimate the appropriate speed to drive through turns ahead.
|
||||
visibility:
|
||||
- type: any
|
||||
conditions:
|
||||
- type: capability
|
||||
field: has_longitudinal_control
|
||||
equals: true
|
||||
- type: capability
|
||||
field: has_icbm
|
||||
equals: true
|
||||
enablement:
|
||||
- type: any
|
||||
conditions:
|
||||
- type: capability
|
||||
field: has_longitudinal_control
|
||||
equals: true
|
||||
- type: capability
|
||||
field: has_icbm
|
||||
equals: true
|
||||
@@ -0,0 +1,137 @@
|
||||
# Page: developer
|
||||
# Edit this file. Run compile_settings_ui.py to emit settings_ui.json.
|
||||
id: developer
|
||||
label: Developer
|
||||
icon: developer
|
||||
order: 9
|
||||
remote_configurable: true
|
||||
description: Debug tools, remote access, and advanced services
|
||||
sections:
|
||||
- id: connectivity
|
||||
title: Connectivity
|
||||
description: Remote access and debugging interfaces
|
||||
items:
|
||||
- key: AdbEnabled
|
||||
widget: toggle
|
||||
blocked: true
|
||||
title: Enable ADB
|
||||
description: ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma
|
||||
for more info.
|
||||
enablement:
|
||||
- $ref: '#/macros/offroad'
|
||||
- key: SshEnabled
|
||||
widget: toggle
|
||||
blocked: true
|
||||
title: Enable SSH
|
||||
- key: JoystickDebugMode
|
||||
widget: toggle
|
||||
title: Joystick Debug Mode
|
||||
enablement:
|
||||
- $ref: '#/macros/offroad'
|
||||
- key: AlphaLongitudinalEnabled
|
||||
widget: toggle
|
||||
needs_onroad_cycle: true
|
||||
title: sunnypilot Longitudinal Control (Alpha)
|
||||
description: 'WARNING: sunnypilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking
|
||||
(AEB). On this car, sunnypilot defaults to the car''s built-in ACC instead of sunnypilot''s longitudinal control. Enable
|
||||
this to switch to sunnypilot longitudinal control. Enabling Experimental mode is recommended when enabling sunnypilot
|
||||
longitudinal control alpha. Changing this setting will restart sunnypilot if the car is powered on.'
|
||||
visibility:
|
||||
- type: all
|
||||
conditions:
|
||||
- type: capability
|
||||
field: alpha_long_available
|
||||
equals: true
|
||||
- type: not
|
||||
condition:
|
||||
type: capability
|
||||
field: has_icbm
|
||||
equals: true
|
||||
enablement:
|
||||
- $ref: '#/macros/not_engaged'
|
||||
- key: ShowDebugInfo
|
||||
widget: toggle
|
||||
title: UI Debug Mode
|
||||
- id: test_maneuvers
|
||||
title: Test Maneuvers
|
||||
description: 'DANGER: enabling these maneuvers replaces normal driving behavior with deterministic test sequences. Each
|
||||
toggle requires explicit confirmation per write. Use only in a closed environment.'
|
||||
visibility:
|
||||
- type: any
|
||||
conditions:
|
||||
- type: capability
|
||||
field: is_development
|
||||
equals: true
|
||||
- type: capability
|
||||
field: is_sp_release
|
||||
equals: true
|
||||
enablement:
|
||||
- type: any
|
||||
conditions:
|
||||
- type: capability
|
||||
field: is_development
|
||||
equals: true
|
||||
- type: param
|
||||
key: ShowAdvancedControls
|
||||
equals: true
|
||||
attestation_required: true
|
||||
items:
|
||||
- key: LateralManeuverMode
|
||||
widget: toggle
|
||||
title: '[TEST] Lateral Maneuver Mode'
|
||||
description: Replaces normal lateral control with a deterministic test sequence. NOT for road use.
|
||||
enablement:
|
||||
- $ref: '#/macros/not_engaged'
|
||||
- type: capability
|
||||
field: torque_allowed
|
||||
equals: true
|
||||
- key: LongitudinalManeuverMode
|
||||
widget: toggle
|
||||
title: '[TEST] Longitudinal Maneuver Mode'
|
||||
description: Replaces normal longitudinal control with a deterministic test sequence. NOT for road use.
|
||||
enablement:
|
||||
- $ref: '#/macros/not_engaged'
|
||||
- $ref: '#/macros/longitudinal'
|
||||
- id: advanced_services
|
||||
title: Advanced Settings
|
||||
description: ''
|
||||
items:
|
||||
- key: ShowAdvancedControls
|
||||
widget: toggle
|
||||
title: Show Advanced Controls
|
||||
description: Toggle visibility of advanced sunnypilot controls. This only changes the visibility of the toggles; it does
|
||||
not change the actual enabled/disabled state.
|
||||
- key: EnableGithubRunner
|
||||
widget: toggle
|
||||
title: GitHub Runner Service
|
||||
description: Enables or disables the GitHub runner service.
|
||||
visibility:
|
||||
- $ref: '#/macros/release_branches_hide'
|
||||
enablement:
|
||||
- $ref: '#/macros/advanced_only'
|
||||
- key: EnableCopyparty
|
||||
widget: toggle
|
||||
title: copyparty Service
|
||||
description: copyparty is a very capable file server, you can use it to download your routes, view your logs and even
|
||||
make some edits on some files from your browser. Requires you to connect to your comma locally via its IP address.
|
||||
enablement:
|
||||
- $ref: '#/macros/advanced_only'
|
||||
- key: QuickBootToggle
|
||||
widget: toggle
|
||||
title: Quickboot Mode
|
||||
visibility:
|
||||
- type: not
|
||||
condition:
|
||||
type: any
|
||||
conditions:
|
||||
- type: capability
|
||||
field: is_sp_release
|
||||
equals: true
|
||||
- type: capability
|
||||
field: is_development
|
||||
equals: true
|
||||
enablement:
|
||||
- type: param
|
||||
key: DisableUpdates
|
||||
equals: true
|
||||
- $ref: '#/macros/advanced_only'
|
||||
@@ -0,0 +1,67 @@
|
||||
# Page: device
|
||||
# Edit this file. Run compile_settings_ui.py to emit settings_ui.json.
|
||||
id: device
|
||||
label: Device
|
||||
icon: device
|
||||
order: 6
|
||||
remote_configurable: true
|
||||
description: Device behavior, units, and recording settings
|
||||
sections:
|
||||
- id: general
|
||||
title: General
|
||||
description: Power, boot, and unit preferences
|
||||
items:
|
||||
- key: OffroadMode
|
||||
widget: toggle
|
||||
title: Force Offroad Mode
|
||||
- key: DeviceBootMode
|
||||
widget: option
|
||||
title: Wake Up Behavior
|
||||
description: 'Controls state of the device after boot/sleep. Default: Device will boot/wake-up normally and will be ready
|
||||
to engage. Offroad: Device will be in Always Offroad mode after boot/wake-up.'
|
||||
options:
|
||||
- value: 0
|
||||
label: Standard
|
||||
- value: 1
|
||||
label: Always Offroad
|
||||
- key: QuietMode
|
||||
widget: toggle
|
||||
title: Quiet Mode
|
||||
- key: OnroadUploads
|
||||
widget: toggle
|
||||
title: Onroad Uploads
|
||||
- key: MaxTimeOffroad
|
||||
widget: option
|
||||
title: Max Time Offroad
|
||||
description: Device will automatically shutdown after set time once the engine is turned off. 30h is the default.
|
||||
options:
|
||||
- value: 0
|
||||
label: Always On
|
||||
- value: 5
|
||||
label: 5m
|
||||
- value: 10
|
||||
label: 10m
|
||||
- value: 15
|
||||
label: 15m
|
||||
- value: 30
|
||||
label: 30m
|
||||
- value: 60
|
||||
label: 1h
|
||||
- value: 120
|
||||
label: 2h
|
||||
- value: 180
|
||||
label: 3h
|
||||
- value: 300
|
||||
label: 5h
|
||||
- value: 600
|
||||
label: 10h
|
||||
- value: 1440
|
||||
label: 24h
|
||||
- value: 1800
|
||||
label: 30h (Default)
|
||||
- id: language
|
||||
title: Language
|
||||
items:
|
||||
- key: LanguageSetting
|
||||
widget: info
|
||||
title: Language
|
||||
@@ -0,0 +1,130 @@
|
||||
# Page: display
|
||||
# Edit this file. Run compile_settings_ui.py to emit settings_ui.json.
|
||||
id: display
|
||||
label: Display
|
||||
icon: display
|
||||
order: 3
|
||||
remote_configurable: true
|
||||
description: Screen brightness, timeout, and interactivity settings
|
||||
sections:
|
||||
- id: brightness_timeout
|
||||
title: Brightness & Timeout
|
||||
description: Screen dimming and sleep behavior while driving
|
||||
items:
|
||||
- key: OnroadScreenOffBrightness
|
||||
widget: multiple_button
|
||||
title: Onroad Brightness
|
||||
options:
|
||||
- value: 0
|
||||
label: Auto (Default)
|
||||
- value: 1
|
||||
label: Auto (Dark)
|
||||
- value: 2
|
||||
label: Screen Off
|
||||
- value: 3
|
||||
label: 5 %
|
||||
- value: 4
|
||||
label: 10 %
|
||||
- value: 5
|
||||
label: 15 %
|
||||
- value: 6
|
||||
label: 20 %
|
||||
- value: 7
|
||||
label: 25 %
|
||||
- value: 8
|
||||
label: 30 %
|
||||
- value: 9
|
||||
label: 35 %
|
||||
- value: 10
|
||||
label: 40 %
|
||||
- value: 11
|
||||
label: 45 %
|
||||
- value: 12
|
||||
label: 50 %
|
||||
- value: 13
|
||||
label: 55 %
|
||||
- value: 14
|
||||
label: 60 %
|
||||
- value: 15
|
||||
label: 65 %
|
||||
- value: 16
|
||||
label: 70 %
|
||||
- value: 17
|
||||
label: 75 %
|
||||
- value: 18
|
||||
label: 80 %
|
||||
- value: 19
|
||||
label: 85 %
|
||||
- value: 20
|
||||
label: 90 %
|
||||
- value: 21
|
||||
label: 95 %
|
||||
- value: 22
|
||||
label: 100 %
|
||||
- key: OnroadScreenOffTimer
|
||||
widget: multiple_button
|
||||
title: Onroad Brightness Delay
|
||||
options:
|
||||
- value: 0
|
||||
label: Always On
|
||||
- value: 3
|
||||
label: 3s
|
||||
- value: 5
|
||||
label: 5s
|
||||
- value: 10
|
||||
label: 10s
|
||||
- value: 15
|
||||
label: 15s
|
||||
- value: 30
|
||||
label: 30s
|
||||
- value: 60
|
||||
label: 1m
|
||||
- value: 180
|
||||
label: 3m
|
||||
- value: 300
|
||||
label: 5m
|
||||
- value: 600
|
||||
label: 10m
|
||||
enablement:
|
||||
- type: not
|
||||
condition:
|
||||
type: any
|
||||
conditions:
|
||||
- type: param
|
||||
key: OnroadScreenOffBrightness
|
||||
equals: 0
|
||||
- type: param
|
||||
key: OnroadScreenOffBrightness
|
||||
equals: 1
|
||||
- key: InteractivityTimeout
|
||||
widget: multiple_button
|
||||
title: Interactivity Timeout
|
||||
description: Apply a custom timeout for settings UI. This is the time after which settings UI closes automatically if
|
||||
user is not interacting with the screen.
|
||||
options:
|
||||
- value: 0
|
||||
label: Default
|
||||
- value: 10
|
||||
label: 10 s
|
||||
- value: 20
|
||||
label: 20 s
|
||||
- value: 30
|
||||
label: 30 s
|
||||
- value: 40
|
||||
label: 40 s
|
||||
- value: 50
|
||||
label: 50 s
|
||||
- value: 60
|
||||
label: 1 m
|
||||
- value: 70
|
||||
label: 1 m
|
||||
- value: 80
|
||||
label: 1 m
|
||||
- value: 90
|
||||
label: 1 m
|
||||
- value: 100
|
||||
label: 1 m
|
||||
- value: 110
|
||||
label: 1 m
|
||||
- value: 120
|
||||
label: 2 m
|
||||
@@ -0,0 +1,89 @@
|
||||
# Page: models
|
||||
# Edit this file. Run compile_settings_ui.py to emit settings_ui.json.
|
||||
id: models
|
||||
label: Models
|
||||
icon: models
|
||||
order: 10
|
||||
remote_configurable: false
|
||||
description: Driving model behavior and camera calibration
|
||||
sections:
|
||||
- id: model_behavior
|
||||
title: Model Behavior
|
||||
description: Lane desire and lead-vehicle awareness tuning
|
||||
items:
|
||||
- key: LaneTurnDesire
|
||||
widget: toggle
|
||||
title: Use Lane Turn Desires
|
||||
description: If you are driving at 20 mph (32 km/h) or below and have your blinker on, the car will plan a turn in that
|
||||
direction at the nearest drivable path. This prevents situations (like at red lights) where the car might plan the wrong
|
||||
turn direction.
|
||||
- key: LaneTurnValue
|
||||
widget: option
|
||||
title: Adjust Lane Turn Speed
|
||||
description: Set the maximum speed for lane turn desires.
|
||||
min: 0
|
||||
max: 20
|
||||
step: 1
|
||||
unit:
|
||||
metric: km/h
|
||||
imperial: mph
|
||||
enablement:
|
||||
- type: param
|
||||
key: LaneTurnDesire
|
||||
equals: true
|
||||
- $ref: '#/macros/advanced_only'
|
||||
- key: LagdToggle
|
||||
widget: toggle
|
||||
title: Live Learning Steer Delay
|
||||
description: Allow device to learn and adapt car's steering response time
|
||||
- key: LagdToggleDelay
|
||||
widget: option
|
||||
title: Adjust Software Delay
|
||||
description: Adjust the software delay when Live Learning Steer Delay is toggled off. The default software delay value
|
||||
is 0.2
|
||||
min: 0.05
|
||||
max: 0.5
|
||||
step: 0.01
|
||||
enablement:
|
||||
- type: not
|
||||
condition:
|
||||
type: param
|
||||
key: LagdToggle
|
||||
equals: true
|
||||
- $ref: '#/macros/advanced_only'
|
||||
- id: lateral_control
|
||||
title: Lateral Control
|
||||
description: Neural network lateral control for supported models
|
||||
items:
|
||||
- key: NeuralNetworkLateralControl
|
||||
widget: toggle
|
||||
title: Neural Network Lateral Control (NNLC)
|
||||
description: Use a neural network for lateral control instead of the default torque controller.
|
||||
visibility:
|
||||
- type: not
|
||||
condition:
|
||||
type: capability
|
||||
field: steer_control_type
|
||||
equals: angle
|
||||
enablement:
|
||||
- $ref: '#/macros/offroad'
|
||||
- type: capability
|
||||
field: torque_allowed
|
||||
equals: true
|
||||
- type: param
|
||||
key: EnforceTorqueControl
|
||||
equals: false
|
||||
- id: camera
|
||||
title: Camera
|
||||
description: Camera position and calibration
|
||||
items:
|
||||
- key: CameraOffset
|
||||
widget: option
|
||||
title: Adjust Camera Offset
|
||||
description: Virtually shift camera's perspective to move model's center to Left(+ values) or Right (- values)
|
||||
min: -0.35
|
||||
max: 0.35
|
||||
step: 0.01
|
||||
unit: meters
|
||||
enablement:
|
||||
- $ref: '#/macros/advanced_only'
|
||||
@@ -0,0 +1,20 @@
|
||||
# Page: software
|
||||
# Edit this file. Run compile_settings_ui.py to emit settings_ui.json.
|
||||
id: software
|
||||
label: Software
|
||||
icon: software
|
||||
order: 7
|
||||
remote_configurable: true
|
||||
description: Software update preferences
|
||||
sections:
|
||||
- id: updates
|
||||
title: Updates
|
||||
description: Control automatic software updates
|
||||
items:
|
||||
- key: DisableUpdates
|
||||
widget: toggle
|
||||
title: Disable Updates
|
||||
description: When enabled, automatic software updates will be off. This requires a reboot to take effect.
|
||||
enablement:
|
||||
- $ref: '#/macros/offroad'
|
||||
- $ref: '#/macros/advanced_only'
|
||||
@@ -0,0 +1,257 @@
|
||||
# Page: steering
|
||||
# Edit this file. Run compile_settings_ui.py to emit settings_ui.json.
|
||||
id: steering
|
||||
label: Steering
|
||||
icon: steering_wheel
|
||||
order: 1
|
||||
remote_configurable: true
|
||||
description: Lateral control, lane changes, and steering behavior
|
||||
sections:
|
||||
- id: mads
|
||||
title: Modular Assistive Driving System (MADS)
|
||||
description: ''
|
||||
items:
|
||||
- key: Mads
|
||||
widget: toggle
|
||||
title: Enable Modular Assistive Driving System (MADS)
|
||||
description: Enable MADS. Disable toggle to revert back to stock sunnypilot engagement/disengagement.
|
||||
enablement:
|
||||
- $ref: '#/macros/offroad'
|
||||
sub_panels:
|
||||
- id: mads_settings
|
||||
label: MADS Settings
|
||||
trigger_key: Mads
|
||||
trigger_condition:
|
||||
type: param
|
||||
key: Mads
|
||||
equals: true
|
||||
items:
|
||||
- key: MadsMainCruiseAllowed
|
||||
widget: toggle
|
||||
title: Toggle with Main Cruise
|
||||
description: 'Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement.'
|
||||
enablement:
|
||||
- $ref: '#/macros/offroad'
|
||||
- $ref: '#/macros/mads_full_platforms'
|
||||
- key: MadsUnifiedEngagementMode
|
||||
widget: toggle
|
||||
title: Unified Engagement Mode (UEM)
|
||||
description: 'Engage lateral and longitudinal control with cruise control engagement. Note: Once lateral control is
|
||||
engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off.'
|
||||
enablement:
|
||||
- $ref: '#/macros/offroad'
|
||||
- $ref: '#/macros/mads_full_platforms'
|
||||
- key: MadsSteeringMode
|
||||
widget: multiple_button
|
||||
title: Steering Mode on Brake Pedal
|
||||
description: Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.
|
||||
options:
|
||||
- value: 0
|
||||
label: Remain Active
|
||||
enablement:
|
||||
- $ref: '#/macros/mads_full_platforms'
|
||||
- value: 1
|
||||
label: Pause
|
||||
enablement:
|
||||
- $ref: '#/macros/mads_full_platforms'
|
||||
- value: 2
|
||||
label: Disengage
|
||||
enablement:
|
||||
- $ref: '#/macros/offroad'
|
||||
- id: blinker
|
||||
title: Blinker Control
|
||||
description: Lateral pause behavior during turn signals
|
||||
items:
|
||||
- key: BlinkerPauseLateralControl
|
||||
widget: toggle
|
||||
title: Pause Lateral Control with Blinker
|
||||
description: Pause lateral control with blinker when traveling below the desired speed selected.
|
||||
sub_items:
|
||||
- key: BlinkerMinLateralControlSpeed
|
||||
widget: option
|
||||
title: Minimum Speed to Pause Lateral Control
|
||||
min: 0
|
||||
max: 255
|
||||
step: 5
|
||||
unit:
|
||||
metric: km/h
|
||||
imperial: mph
|
||||
enablement:
|
||||
- type: param
|
||||
key: BlinkerPauseLateralControl
|
||||
equals: true
|
||||
- key: BlinkerLateralReengageDelay
|
||||
widget: option
|
||||
title: Post-Blinker Delay
|
||||
description: Delay before lateral control resumes after the turn signal ends.
|
||||
min: 0
|
||||
max: 10
|
||||
step: 1
|
||||
unit: second
|
||||
enablement:
|
||||
- type: param
|
||||
key: BlinkerPauseLateralControl
|
||||
equals: true
|
||||
- id: torque
|
||||
title: Torque Control
|
||||
description: Steering torque tuning and lateral control method
|
||||
enablement:
|
||||
- type: capability
|
||||
field: torque_allowed
|
||||
equals: true
|
||||
items:
|
||||
- key: EnforceTorqueControl
|
||||
widget: toggle
|
||||
title: Enforce Torque Lateral Control
|
||||
description: Enable this to enforce sunnypilot to steer with Torque lateral control.
|
||||
visibility:
|
||||
- type: not
|
||||
condition:
|
||||
type: capability
|
||||
field: steer_control_type
|
||||
equals: angle
|
||||
enablement:
|
||||
- $ref: '#/macros/offroad'
|
||||
- type: capability
|
||||
field: torque_allowed
|
||||
equals: true
|
||||
- type: param
|
||||
key: NeuralNetworkLateralControl
|
||||
equals: false
|
||||
sub_panels:
|
||||
- id: torque_settings
|
||||
label: Torque Settings
|
||||
trigger_key: EnforceTorqueControl
|
||||
trigger_condition:
|
||||
type: param
|
||||
key: EnforceTorqueControl
|
||||
equals: true
|
||||
items:
|
||||
- key: LiveTorqueParamsToggle
|
||||
widget: toggle
|
||||
title: Self-Tune
|
||||
description: Enables self-tune for Torque lateral control for platforms that do not use Torque lateral control by default.
|
||||
enablement:
|
||||
- $ref: '#/macros/offroad'
|
||||
- key: LiveTorqueParamsRelaxedToggle
|
||||
widget: toggle
|
||||
title: Less Restrict Settings for Self-Tune (Beta)
|
||||
description: Less strict settings when using Self-Tune. This allows torqued to be more forgiving when learning values.
|
||||
enablement:
|
||||
- $ref: '#/macros/offroad'
|
||||
- type: param
|
||||
key: LiveTorqueParamsToggle
|
||||
equals: true
|
||||
- key: CustomTorqueParams
|
||||
widget: toggle
|
||||
title: Enable Custom Tuning
|
||||
description: Enables custom tuning for Torque lateral control. Modifying Lateral Acceleration Factor and Friction below
|
||||
will override the offline values indicated in the YAML files within "opendbc/car/torque_data". The values will also
|
||||
be used live when "Manual Real-Time Tuning" toggle is enabled.
|
||||
enablement:
|
||||
- $ref: '#/macros/offroad'
|
||||
- key: TorqueParamsOverrideEnabled
|
||||
widget: toggle
|
||||
title: Manual Real-Time Tuning
|
||||
description: Enforces the torque lateral controller to use the fixed values instead of the learned values from Self-Tune.
|
||||
Enabling this toggle overrides Self-Tune values.
|
||||
enablement:
|
||||
- $ref: '#/macros/offroad'
|
||||
- type: param
|
||||
key: CustomTorqueParams
|
||||
equals: true
|
||||
- key: TorqueParamsOverrideLatAccelFactor
|
||||
widget: option
|
||||
title: Lateral Acceleration Factor
|
||||
title_param_suffix:
|
||||
param: TorqueParamsOverrideEnabled
|
||||
values:
|
||||
'true': (Real-Time & Offline)
|
||||
'false': (Offline Only)
|
||||
min: 0.1
|
||||
max: 5.0
|
||||
step: 0.1
|
||||
unit: m/s²
|
||||
enablement:
|
||||
- type: param
|
||||
key: CustomTorqueParams
|
||||
equals: true
|
||||
- type: any
|
||||
conditions:
|
||||
- type: param
|
||||
key: TorqueParamsOverrideEnabled
|
||||
equals: true
|
||||
- type: offroad_only
|
||||
- key: TorqueParamsOverrideFriction
|
||||
widget: option
|
||||
title: Friction
|
||||
title_param_suffix:
|
||||
param: TorqueParamsOverrideEnabled
|
||||
values:
|
||||
'true': (Real-Time & Offline)
|
||||
'false': (Offline Only)
|
||||
min: 0.0
|
||||
max: 1.0
|
||||
step: 0.01
|
||||
enablement:
|
||||
- type: param
|
||||
key: CustomTorqueParams
|
||||
equals: true
|
||||
- type: any
|
||||
conditions:
|
||||
- type: param
|
||||
key: TorqueParamsOverrideEnabled
|
||||
equals: true
|
||||
- type: offroad_only
|
||||
- key: TorqueControlTune
|
||||
widget: multiple_button
|
||||
title: Torque Control Tune Version
|
||||
description: Select the version of Torque Control Tune to use.
|
||||
options:
|
||||
- value: ''
|
||||
label: Default
|
||||
- value: 1.0
|
||||
label: v1.0
|
||||
- value: 0.0
|
||||
label: v0.0
|
||||
enablement:
|
||||
- $ref: '#/macros/offroad'
|
||||
- id: lane_change
|
||||
title: Lane Change
|
||||
description: Automatic lane change timing and behavior
|
||||
items:
|
||||
- key: AutoLaneChangeTimer
|
||||
widget: option
|
||||
title: Auto Lane Change by Blinker
|
||||
description: |-
|
||||
Set a timer to delay the auto lane change operation when the blinker is used. No nudge on the steering wheel is required to auto lane change if a timer is set. Default is Nudge.
|
||||
details: |-
|
||||
Please use caution when using this feature. Only use the blinker when traffic and road conditions permit.
|
||||
options:
|
||||
- value: -1
|
||||
label: 'Off'
|
||||
- value: 0
|
||||
label: Nudge
|
||||
- value: 1
|
||||
label: Nudgeless
|
||||
- value: 2
|
||||
label: 0.5 second
|
||||
- value: 3
|
||||
label: 1 second
|
||||
- value: 4
|
||||
label: 2 seconds
|
||||
- value: 5
|
||||
label: 3 seconds
|
||||
- key: AutoLaneChangeBsmDelay
|
||||
widget: toggle
|
||||
title: 'Auto Lane Change: Delay with Blind Spot'
|
||||
description: Toggle to enable a delay timer for lane changes when blind spot monitoring (BSM) detects a vehicle in your blind
|
||||
spot.
|
||||
enablement:
|
||||
- type: capability
|
||||
field: enable_bsm
|
||||
equals: true
|
||||
- type: param_compare
|
||||
key: AutoLaneChangeTimer
|
||||
op: '>'
|
||||
value: 0
|
||||
@@ -0,0 +1,49 @@
|
||||
# Page: toggles
|
||||
# Edit this file. Run compile_settings_ui.py to emit settings_ui.json.
|
||||
id: toggles
|
||||
label: Toggles
|
||||
icon: toggles
|
||||
order: 5
|
||||
remote_configurable: true
|
||||
description: Core openpilot feature toggles
|
||||
sections:
|
||||
- id: core_toggles
|
||||
title: ''
|
||||
description: ''
|
||||
items:
|
||||
- key: OpenpilotEnabledToggle
|
||||
widget: toggle
|
||||
needs_onroad_cycle: true
|
||||
title: Enable sunnypilot
|
||||
description: Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is
|
||||
required at all times to use this feature.
|
||||
enablement:
|
||||
- $ref: '#/macros/offroad'
|
||||
- key: IsLdwEnabled
|
||||
widget: toggle
|
||||
title: Enable Lane Departure Warnings
|
||||
description: Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn
|
||||
signal activated while driving over 31 mph (50 km/h).
|
||||
- key: AlwaysOnDM
|
||||
widget: toggle
|
||||
title: Always-On Driver Monitoring
|
||||
description: Enable driver monitoring even when sunnypilot is not engaged.
|
||||
- key: IsMetric
|
||||
widget: toggle
|
||||
title: Use Metric System
|
||||
description: Display speed in km/h instead of mph.
|
||||
- id: recording
|
||||
title: Recording
|
||||
description: Camera and audio recording during drives
|
||||
items:
|
||||
- key: RecordFront
|
||||
widget: toggle
|
||||
needs_onroad_cycle: true
|
||||
title: Record and Upload Driver Camera
|
||||
description: Upload data from the driver facing camera and help improve the driver monitoring algorithm.
|
||||
- key: RecordAudio
|
||||
widget: toggle
|
||||
needs_onroad_cycle: true
|
||||
title: Record and Upload Microphone Audio
|
||||
description: Record and store microphone audio while driving. The audio will be included in the dashcam video in comma
|
||||
connect.
|
||||
@@ -0,0 +1,81 @@
|
||||
# Page: vehicle (per-brand settings)
|
||||
# Compiles to settings_ui.json#vehicle_settings (brand = section id).
|
||||
id: vehicle
|
||||
label: Vehicle
|
||||
icon: vehicle
|
||||
order: 99
|
||||
kind: vehicle
|
||||
sections:
|
||||
- id: hyundai
|
||||
title: Hyundai / Kia / Genesis Settings
|
||||
description: ''
|
||||
items:
|
||||
- key: HyundaiLongitudinalTuning
|
||||
widget: multiple_button
|
||||
title: Custom Longitudinal Tuning
|
||||
options:
|
||||
- value: 0
|
||||
label: 'Off'
|
||||
- value: 1
|
||||
label: Dynamic
|
||||
- value: 2
|
||||
label: Predictive
|
||||
visibility:
|
||||
- type: capability
|
||||
field: hyundai_alpha_long_available
|
||||
equals: true
|
||||
enablement:
|
||||
- $ref: '#/macros/offroad'
|
||||
- $ref: '#/macros/longitudinal'
|
||||
- id: subaru
|
||||
title: Subaru Settings
|
||||
description: ''
|
||||
items:
|
||||
- key: SubaruStopAndGo
|
||||
widget: toggle
|
||||
title: Stop and Go (Beta)
|
||||
enablement:
|
||||
- $ref: '#/macros/offroad'
|
||||
- type: capability
|
||||
field: has_stop_and_go
|
||||
equals: true
|
||||
- key: SubaruStopAndGoManualParkingBrake
|
||||
widget: toggle
|
||||
title: Stop and Go for Manual Parking Brake (Beta)
|
||||
enablement:
|
||||
- $ref: '#/macros/offroad'
|
||||
- type: capability
|
||||
field: has_stop_and_go
|
||||
equals: true
|
||||
- id: tesla
|
||||
title: Tesla Settings
|
||||
description: ''
|
||||
items:
|
||||
- key: TeslaCoopSteering
|
||||
widget: toggle
|
||||
title: Cooperative Steering (Beta)
|
||||
enablement:
|
||||
- $ref: '#/macros/offroad'
|
||||
- id: toyota
|
||||
title: Toyota / Lexus Settings
|
||||
description: ''
|
||||
items:
|
||||
- key: ToyotaEnforceStockLongitudinal
|
||||
widget: toggle
|
||||
needs_onroad_cycle: true
|
||||
title: Enforce Factory Longitudinal Control
|
||||
description: sunnypilot will not take over control of gas and brakes. Factory Toyota longitudinal control will be used.
|
||||
enablement:
|
||||
- $ref: '#/macros/not_engaged'
|
||||
- key: ToyotaStopAndGoHack
|
||||
widget: toggle
|
||||
needs_onroad_cycle: true
|
||||
title: Stop and Go Hack (Alpha)
|
||||
description: sunnypilot will allow some Toyota/Lexus cars to auto resume during stop and go traffic. This feature is only
|
||||
applicable to certain models that are able to use longitudinal control. This is an alpha feature. Use at your own risk.
|
||||
enablement:
|
||||
- $ref: '#/macros/not_engaged'
|
||||
- $ref: '#/macros/longitudinal'
|
||||
- type: param
|
||||
key: ToyotaEnforceStockLongitudinal
|
||||
equals: false
|
||||
@@ -0,0 +1,111 @@
|
||||
# Page: visuals
|
||||
# Edit this file. Run compile_settings_ui.py to emit settings_ui.json.
|
||||
id: visuals
|
||||
label: Visuals
|
||||
icon: visuals
|
||||
order: 4
|
||||
remote_configurable: true
|
||||
description: HUD overlays, alerts, and on-screen display elements
|
||||
sections:
|
||||
- id: hud_elements
|
||||
title: HUD Elements
|
||||
description: Overlays shown on the driving screen
|
||||
items:
|
||||
- key: BlindSpot
|
||||
widget: toggle
|
||||
title: Show Blind Spot Warnings
|
||||
description: Enabling this will display warnings when a vehicle is detected in your blind spot as long as your car has
|
||||
BSM supported.
|
||||
- key: TorqueBar
|
||||
widget: toggle
|
||||
title: Steering Arc
|
||||
description: Display steering arc on the driving screen when lateral control is enabled.
|
||||
- key: ShowTurnSignals
|
||||
widget: toggle
|
||||
title: Display Turn Signals
|
||||
description: When enabled, visual turn indicators are drawn on the HUD.
|
||||
- key: RoadNameToggle
|
||||
widget: toggle
|
||||
title: Display Road Name
|
||||
description: Displays the name of the road the car is traveling on. The OpenStreetMap database of the location must be
|
||||
downloaded to fetch the road name.
|
||||
visibility:
|
||||
- $ref: '#/macros/hide_on_mici'
|
||||
- key: StandstillTimer
|
||||
widget: toggle
|
||||
title: Standstill Timer
|
||||
description: Show a timer on the HUD when the car is at a standstill.
|
||||
visibility:
|
||||
- $ref: '#/macros/hide_on_mici'
|
||||
- key: RocketFuel
|
||||
widget: toggle
|
||||
title: Real-time Acceleration Bar
|
||||
description: Show an indicator on the left side of the screen to display real-time vehicle acceleration and deceleration.
|
||||
This displays what the car is currently doing, not what the planner is requesting.
|
||||
visibility:
|
||||
- $ref: '#/macros/hide_on_mici'
|
||||
- key: ChevronInfo
|
||||
widget: option
|
||||
title: Display Metrics Below Chevron
|
||||
options:
|
||||
- value: 0
|
||||
label: 'Off'
|
||||
- value: 1
|
||||
label: Distance
|
||||
- value: 2
|
||||
label: Speed
|
||||
- value: 3
|
||||
label: Time
|
||||
- value: 4
|
||||
label: All
|
||||
visibility:
|
||||
- $ref: '#/macros/hide_on_mici'
|
||||
enablement:
|
||||
- $ref: '#/macros/longitudinal'
|
||||
- id: developer_ui
|
||||
title: Developer UI Info
|
||||
description: Speedometer and debug display options
|
||||
visibility:
|
||||
- $ref: '#/macros/hide_on_mici'
|
||||
items:
|
||||
- key: DevUIInfo
|
||||
widget: option
|
||||
title: Developer UI
|
||||
description: Display real-time parameters and metrics from various sources.
|
||||
options:
|
||||
- value: 0
|
||||
label: 'Off'
|
||||
- value: 1
|
||||
label: Bottom
|
||||
- value: 2
|
||||
label: Right
|
||||
- value: 3
|
||||
label: Right & Bottom
|
||||
- key: TrueVEgoUI
|
||||
widget: toggle
|
||||
title: 'Speedometer: Always Display True Speed'
|
||||
description: For applicable vehicles, always display the true vehicle current speed from wheel speed sensors.
|
||||
- key: HideVEgoUI
|
||||
widget: toggle
|
||||
title: 'Speedometer: Hide from Onroad Screen'
|
||||
description: When enabled, the speedometer on the onroad screen is not displayed.
|
||||
- id: alerts_extras
|
||||
title: Alerts & Extras
|
||||
description: Traffic light alerts and visual flair
|
||||
items:
|
||||
- key: GreenLightAlert
|
||||
widget: toggle
|
||||
title: Green Traffic Light Alert (Beta)
|
||||
description: 'A chime and on-screen alert will play when the traffic light you are waiting for turns green and you have
|
||||
no vehicle in front of you. On-screen visual alert is only available on comma 3X. Note: This chime is only designed
|
||||
as a notification. It is the driver''s responsibility to observe their environment and make decisions accordingly.'
|
||||
- key: LeadDepartAlert
|
||||
widget: toggle
|
||||
title: Lead Departure Alert (Beta)
|
||||
description: 'A chime and on-screen alert will play when you are stopped, and the vehicle in front of you start moving.
|
||||
On-screen visual alert is only available on comma 3X. Note: This chime is only designed as a notification. It is the
|
||||
driver''s responsibility to observe their environment and make decisions accordingly.'
|
||||
- key: RainbowMode
|
||||
widget: toggle
|
||||
title: Tesla Rainbow Mode
|
||||
description: Display a rainbow effect on the path the model wants to take. It does not affect driving in any way.
|
||||
@@ -0,0 +1,92 @@
|
||||
"""
|
||||
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.
|
||||
|
||||
Sentinel tests for the capabilities payload contract. PROTOCOL_VERSION is the
|
||||
wire-protocol version observable by the dashboard; bumping it is a breaking
|
||||
change and must be intentional. KNOWN_PROTOCOL_VERSIONS pins the set we
|
||||
explicitly support — when the constant is bumped, this list must be edited in
|
||||
the same commit so the bump shows up in code review.
|
||||
"""
|
||||
from __future__ import annotations
|
||||
|
||||
import pytest
|
||||
|
||||
from openpilot.sunnypilot.sunnylink.capabilities import (
|
||||
CAPABILITY_DEFAULTS,
|
||||
CAPABILITY_FIELDS,
|
||||
CAPABILITY_LABELS,
|
||||
PROTOCOL_VERSION,
|
||||
generate_capabilities,
|
||||
)
|
||||
|
||||
|
||||
KNOWN_PROTOCOL_VERSIONS = (1,)
|
||||
LATEST_KNOWN = max(KNOWN_PROTOCOL_VERSIONS)
|
||||
|
||||
|
||||
@pytest.fixture(scope="module")
|
||||
def caps():
|
||||
return generate_capabilities()
|
||||
|
||||
|
||||
class TestProtocolVersion:
|
||||
def test_protocol_version_in_capability_fields(self):
|
||||
assert "protocol_version" in CAPABILITY_FIELDS
|
||||
|
||||
def test_protocol_version_has_label(self):
|
||||
assert "protocol_version" in CAPABILITY_LABELS
|
||||
|
||||
def test_protocol_version_default_is_set(self):
|
||||
assert CAPABILITY_DEFAULTS.get("protocol_version") == PROTOCOL_VERSION
|
||||
|
||||
def test_protocol_version_emitted(self, caps):
|
||||
assert "protocol_version" in caps
|
||||
assert isinstance(caps["protocol_version"], int)
|
||||
assert caps["protocol_version"] >= 1
|
||||
|
||||
def test_protocol_version_matches_constant(self, caps):
|
||||
assert caps["protocol_version"] == PROTOCOL_VERSION
|
||||
|
||||
def test_protocol_version_is_known(self):
|
||||
"""Sentinel against accidental bumps. Edit KNOWN_PROTOCOL_VERSIONS if intentional."""
|
||||
assert PROTOCOL_VERSION in KNOWN_PROTOCOL_VERSIONS, (
|
||||
f"PROTOCOL_VERSION={PROTOCOL_VERSION} is not in KNOWN_PROTOCOL_VERSIONS={KNOWN_PROTOCOL_VERSIONS}. " +
|
||||
"If this bump is intentional, add it to KNOWN_PROTOCOL_VERSIONS."
|
||||
)
|
||||
|
||||
def test_protocol_version_matches_latest_known(self):
|
||||
assert PROTOCOL_VERSION == LATEST_KNOWN, (
|
||||
"Test invariant: PROTOCOL_VERSION must equal max(KNOWN_PROTOCOL_VERSIONS)."
|
||||
)
|
||||
|
||||
|
||||
class TestOpaquePerBrandFlags:
|
||||
def test_subaru_has_sng_field_present(self):
|
||||
assert "subaru_has_sng" in CAPABILITY_FIELDS
|
||||
|
||||
def test_hyundai_alpha_long_available_field_present(self):
|
||||
assert "hyundai_alpha_long_available" in CAPABILITY_FIELDS
|
||||
|
||||
def test_subaru_has_sng_default_false(self, caps):
|
||||
assert caps["subaru_has_sng"] is False
|
||||
|
||||
def test_hyundai_alpha_long_available_default_false(self, caps):
|
||||
assert caps["hyundai_alpha_long_available"] is False
|
||||
|
||||
|
||||
class TestCapabilitiesShape:
|
||||
def test_all_fields_present(self, caps):
|
||||
for field in CAPABILITY_FIELDS:
|
||||
assert field in caps, f"capabilities missing {field}"
|
||||
|
||||
def test_all_fields_have_labels(self):
|
||||
for field in CAPABILITY_FIELDS:
|
||||
assert field in CAPABILITY_LABELS, f"CAPABILITY_LABELS missing {field}"
|
||||
|
||||
def test_string_defaults_are_strings(self, caps):
|
||||
assert isinstance(caps["brand"], str)
|
||||
assert isinstance(caps["steer_control_type"], str)
|
||||
assert isinstance(caps["device_type"], str)
|
||||
@@ -0,0 +1,194 @@
|
||||
"""
|
||||
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.
|
||||
|
||||
Tests for the settings_ui_src/ -> settings_ui.json compiler. Covers:
|
||||
- Roundtrip: compiled output matches the checked-in settings_ui.json
|
||||
- $ref macro resolution semantics (list-splice, scalar-substitute, depth, cycles)
|
||||
- Per-page tree integrity (every page has id; vehicle page emits to vehicle_settings)
|
||||
|
||||
Does not cover device-side generator (test_settings_schema.py) or per-bug
|
||||
regression (test_settings_changes.py); those continue to validate the
|
||||
compiled output once the compiler has produced it.
|
||||
"""
|
||||
from __future__ import annotations
|
||||
|
||||
import difflib
|
||||
import json
|
||||
import os
|
||||
|
||||
import pytest
|
||||
import yaml
|
||||
|
||||
from openpilot.sunnypilot.sunnylink.tools.compile_settings_ui import (
|
||||
CompileError,
|
||||
DEFAULT_OUT,
|
||||
DEFAULT_SRC,
|
||||
_resolve_refs,
|
||||
compile_schema,
|
||||
)
|
||||
|
||||
|
||||
@pytest.fixture(scope="module")
|
||||
def compiled() -> dict:
|
||||
return compile_schema(DEFAULT_SRC)
|
||||
|
||||
|
||||
@pytest.fixture(scope="module")
|
||||
def committed() -> dict:
|
||||
with open(DEFAULT_OUT) as f:
|
||||
return json.load(f)
|
||||
|
||||
|
||||
class TestRoundtrip:
|
||||
def test_compiled_matches_committed(self, compiled, committed):
|
||||
"""Compiled output must match the checked-in JSON."""
|
||||
if compiled == committed:
|
||||
return
|
||||
diff = "\n".join(difflib.unified_diff(
|
||||
json.dumps(committed, indent=2).splitlines(),
|
||||
json.dumps(compiled, indent=2).splitlines(),
|
||||
fromfile="settings_ui.json (committed)",
|
||||
tofile="settings_ui.json (freshly compiled)",
|
||||
lineterm="",
|
||||
))
|
||||
pytest.fail(f"settings_ui.json schema mismatch — run compile_settings_ui.py\n\n{diff}")
|
||||
|
||||
def test_committed_file_is_canonical(self):
|
||||
"""Compiled output must byte-match the checked-in file (including trailing newline).
|
||||
Drift means someone edited settings_ui.json by hand instead of editing settings_ui_src/."""
|
||||
schema = compile_schema(DEFAULT_SRC)
|
||||
rendered = json.dumps(schema, indent=2) + "\n"
|
||||
with open(DEFAULT_OUT) as f:
|
||||
current = f.read()
|
||||
if current == rendered:
|
||||
return
|
||||
diff = "\n".join(difflib.unified_diff(
|
||||
current.splitlines(),
|
||||
rendered.splitlines(),
|
||||
fromfile="settings_ui.json (on disk)",
|
||||
tofile="settings_ui.json (freshly compiled)",
|
||||
lineterm="",
|
||||
))
|
||||
pytest.fail(f"settings_ui.json out of sync — run compile_settings_ui.py\n\n{diff}")
|
||||
|
||||
|
||||
class TestRefResolution:
|
||||
def test_list_context_splices(self):
|
||||
macros = {"a": [{"type": "offroad_only"}], "b": [{"type": "not_engaged"}]}
|
||||
out = _resolve_refs([{"$ref": "#/macros/a"}, {"$ref": "#/macros/b"}], macros)
|
||||
assert out == [{"type": "offroad_only"}, {"type": "not_engaged"}]
|
||||
|
||||
def test_scalar_context_substitutes(self):
|
||||
macros = {"x": {"type": "capability", "field": "brand", "equals": "tesla"}}
|
||||
out = _resolve_refs({"condition": {"$ref": "#/macros/x"}}, macros)
|
||||
assert out == {"condition": {"type": "capability", "field": "brand", "equals": "tesla"}}
|
||||
|
||||
def test_chained_ref_resolves(self):
|
||||
macros = {
|
||||
"leaf": [{"type": "offroad_only"}],
|
||||
"middle": [{"$ref": "#/macros/leaf"}],
|
||||
}
|
||||
out = _resolve_refs([{"$ref": "#/macros/middle"}], macros)
|
||||
assert out == [{"type": "offroad_only"}]
|
||||
|
||||
def test_unknown_macro_raises(self):
|
||||
with pytest.raises(CompileError, match="unknown macro"):
|
||||
_resolve_refs([{"$ref": "#/macros/missing"}], {})
|
||||
|
||||
def test_cycle_raises(self):
|
||||
macros = {"a": [{"$ref": "#/macros/b"}], "b": [{"$ref": "#/macros/a"}]}
|
||||
with pytest.raises(CompileError, match="cycle"):
|
||||
_resolve_refs([{"$ref": "#/macros/a"}], macros)
|
||||
|
||||
def test_depth_limit(self):
|
||||
# Depth 4 chain should fail (limit is 3).
|
||||
macros = {
|
||||
"l1": [{"$ref": "#/macros/l2"}],
|
||||
"l2": [{"$ref": "#/macros/l3"}],
|
||||
"l3": [{"$ref": "#/macros/l4"}],
|
||||
"l4": [{"type": "offroad_only"}],
|
||||
}
|
||||
with pytest.raises(CompileError, match="depth"):
|
||||
_resolve_refs([{"$ref": "#/macros/l1"}], macros)
|
||||
|
||||
def test_invalid_ref_scheme(self):
|
||||
with pytest.raises(CompileError, match="unsupported"):
|
||||
_resolve_refs([{"$ref": "https://example.com/x"}], {})
|
||||
|
||||
def test_scalar_macro_in_list_context_raises(self):
|
||||
macros = {"x": {"type": "offroad_only"}} # macro is a single rule (dict), not a list
|
||||
with pytest.raises(CompileError, match="must resolve to a list"):
|
||||
_resolve_refs([{"$ref": "#/macros/x"}], macros)
|
||||
|
||||
|
||||
class TestCompiledShape:
|
||||
def test_panels_present(self, compiled):
|
||||
assert isinstance(compiled["panels"], list)
|
||||
assert len(compiled["panels"]) == 9
|
||||
panel_ids = {p["id"] for p in compiled["panels"]}
|
||||
assert {"steering", "cruise", "display", "visuals", "toggles",
|
||||
"device", "software", "developer", "models"} <= panel_ids
|
||||
|
||||
def test_vehicle_settings_consistent_shape(self, compiled):
|
||||
"""Each brand in vehicle_settings must have {title, description, items}."""
|
||||
for brand, data in compiled["vehicle_settings"].items():
|
||||
assert isinstance(data, dict), f"{brand}: expected object, got {type(data).__name__}"
|
||||
assert "title" in data, f"{brand}: missing title"
|
||||
assert "description" in data, f"{brand}: missing description"
|
||||
assert "items" in data, f"{brand}: missing items"
|
||||
|
||||
def test_no_dangling_refs_after_compile(self, compiled):
|
||||
"""All $ref objects must be resolved during compilation."""
|
||||
def walk(node):
|
||||
if isinstance(node, dict):
|
||||
if "$ref" in node:
|
||||
pytest.fail(f"unresolved $ref: {node}")
|
||||
for v in node.values():
|
||||
walk(v)
|
||||
elif isinstance(node, list):
|
||||
for x in node:
|
||||
walk(x)
|
||||
walk(compiled)
|
||||
|
||||
|
||||
class TestSourceTreeIntegrity:
|
||||
def test_macros_yaml_well_formed(self):
|
||||
with open(os.path.join(DEFAULT_SRC, "_macros.yaml")) as f:
|
||||
doc = yaml.safe_load(f)
|
||||
assert "macros" in doc
|
||||
for name, body in doc["macros"].items():
|
||||
assert name.replace("_", "").isalnum(), f"macro name '{name}' must be alphanumeric_"
|
||||
assert body, f"macro '{name}' empty"
|
||||
|
||||
def test_pages_dir_well_formed(self):
|
||||
pages_dir = os.path.join(DEFAULT_SRC, "pages")
|
||||
assert os.path.isdir(pages_dir), "pages/ directory missing"
|
||||
page_files = sorted(fn for fn in os.listdir(pages_dir) if fn.endswith(".yaml"))
|
||||
# 9 panels + 1 vehicle = 10
|
||||
assert len(page_files) == 10, f"expected 10 pages, found {len(page_files)}: {page_files}"
|
||||
|
||||
def test_every_page_has_id(self):
|
||||
pages_dir = os.path.join(DEFAULT_SRC, "pages")
|
||||
for fn in sorted(os.listdir(pages_dir)):
|
||||
if not fn.endswith(".yaml"):
|
||||
continue
|
||||
path = os.path.join(pages_dir, fn)
|
||||
with open(path) as f:
|
||||
doc = yaml.safe_load(f)
|
||||
assert isinstance(doc, dict), f"{path}: top-level must be a mapping"
|
||||
assert "id" in doc, f"{path}: page missing 'id'"
|
||||
# File basename should match page id (modulo .yaml extension).
|
||||
expected_id = os.path.splitext(fn)[0]
|
||||
assert doc["id"] == expected_id, (
|
||||
f"{path}: page id '{doc['id']}' must match filename '{expected_id}'"
|
||||
)
|
||||
|
||||
def test_vehicle_page_kind(self):
|
||||
"""vehicle.yaml must declare kind: vehicle so it routes to vehicle_settings."""
|
||||
path = os.path.join(DEFAULT_SRC, "pages", "vehicle.yaml")
|
||||
with open(path) as f:
|
||||
doc = yaml.safe_load(f)
|
||||
assert doc.get("kind") == "vehicle", "vehicle.yaml must declare kind: vehicle"
|
||||
@@ -0,0 +1,219 @@
|
||||
"""
|
||||
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.
|
||||
|
||||
Per-bug regression tests for the Raylib-vs-schema parity audit. Each test
|
||||
isolates one of the gating bugs that the design-overhaul branch fixes so a
|
||||
future regression is loud and obvious. These tests are intentionally narrow
|
||||
and additive — they do not replace the broader test_settings_schema.py.
|
||||
"""
|
||||
from __future__ import annotations
|
||||
|
||||
import json
|
||||
import os
|
||||
from typing import Any
|
||||
|
||||
import pytest
|
||||
|
||||
from openpilot.sunnypilot.sunnylink.tools.generate_settings_schema import (
|
||||
DEFINITION_PATH,
|
||||
TORQUE_VERSIONS_PATH,
|
||||
_build_torque_options,
|
||||
_load_torque_versions,
|
||||
generate_schema,
|
||||
)
|
||||
|
||||
|
||||
SCHEMA_VALIDATOR_PATH = os.path.join(os.path.dirname(DEFINITION_PATH), "settings_ui.schema.json")
|
||||
|
||||
|
||||
def _walk_items(schema: dict[str, Any]):
|
||||
"""Yield every item dict from the schema."""
|
||||
def _yield(item: dict[str, Any]):
|
||||
yield item
|
||||
for sub in item.get("sub_items", []):
|
||||
yield from _yield(sub)
|
||||
|
||||
for panel in schema.get("panels", []):
|
||||
for section in panel.get("sections", []):
|
||||
for item in section.get("items", []):
|
||||
yield from _yield(item)
|
||||
for sp in section.get("sub_panels", []):
|
||||
for item in sp.get("items", []):
|
||||
yield from _yield(item)
|
||||
for item in panel.get("items", []):
|
||||
yield from _yield(item)
|
||||
for sp in panel.get("sub_panels", []):
|
||||
for item in sp.get("items", []):
|
||||
yield from _yield(item)
|
||||
for brand in schema.get("vehicle_settings", {}).values():
|
||||
items = brand.get("items", []) if isinstance(brand, dict) else brand
|
||||
for item in items:
|
||||
yield from _yield(item)
|
||||
|
||||
|
||||
def _find_item(schema: dict[str, Any], key: str) -> dict[str, Any] | None:
|
||||
for item in _walk_items(schema):
|
||||
if item.get("key") == key:
|
||||
return item
|
||||
return None
|
||||
|
||||
|
||||
def _find_section(schema: dict[str, Any], panel_id: str, section_id: str) -> dict[str, Any] | None:
|
||||
for panel in schema.get("panels", []):
|
||||
if panel.get("id") != panel_id:
|
||||
continue
|
||||
for section in panel.get("sections", []):
|
||||
if section.get("id") == section_id:
|
||||
return section
|
||||
return None
|
||||
|
||||
|
||||
def _flatten_rule_types(rules: list[dict[str, Any]] | None) -> set[str]:
|
||||
out: set[str] = set()
|
||||
|
||||
def _walk(rule: dict[str, Any]) -> None:
|
||||
out.add(rule.get("type", ""))
|
||||
if rule.get("type") == "not" and "condition" in rule:
|
||||
_walk(rule["condition"])
|
||||
elif rule.get("type") in ("any", "all"):
|
||||
for c in rule.get("conditions", []):
|
||||
_walk(c)
|
||||
|
||||
for rule in rules or []:
|
||||
_walk(rule)
|
||||
return out
|
||||
|
||||
|
||||
def _references_capability_field(rules: list[dict[str, Any]] | None, field: str) -> bool:
|
||||
found = False
|
||||
|
||||
def _walk(rule: dict[str, Any]) -> None:
|
||||
nonlocal found
|
||||
if rule.get("type") == "capability" and rule.get("field") == field:
|
||||
found = True
|
||||
elif rule.get("type") == "not" and "condition" in rule:
|
||||
_walk(rule["condition"])
|
||||
elif rule.get("type") in ("any", "all"):
|
||||
for c in rule.get("conditions", []):
|
||||
_walk(c)
|
||||
|
||||
for rule in rules or []:
|
||||
_walk(rule)
|
||||
return found
|
||||
|
||||
|
||||
@pytest.fixture(scope="module")
|
||||
def schema():
|
||||
return generate_schema()
|
||||
|
||||
|
||||
class TestMadsBrandGates:
|
||||
def test_mads_main_cruise_has_brand_gate(self, schema):
|
||||
"""MadsMainCruiseAllowed must gate on brand and tesla_has_vehicle_bus."""
|
||||
item = _find_item(schema, "MadsMainCruiseAllowed")
|
||||
assert item is not None
|
||||
assert _references_capability_field(item.get("enablement"), "brand")
|
||||
assert _references_capability_field(item.get("enablement"), "tesla_has_vehicle_bus")
|
||||
|
||||
def test_mads_unified_engagement_has_brand_gate(self, schema):
|
||||
"""MadsUnifiedEngagementMode must mirror MadsMainCruiseAllowed brand-gate."""
|
||||
item = _find_item(schema, "MadsUnifiedEngagementMode")
|
||||
assert item is not None
|
||||
assert _references_capability_field(item.get("enablement"), "brand")
|
||||
assert _references_capability_field(item.get("enablement"), "tesla_has_vehicle_bus")
|
||||
|
||||
|
||||
class TestTestManeuversSection:
|
||||
def test_lateral_maneuver_mode_in_test_maneuvers(self, schema):
|
||||
section = _find_section(schema, "developer", "test_maneuvers")
|
||||
assert section is not None, "developer.test_maneuvers section missing"
|
||||
keys = {item["key"] for item in section.get("items", [])}
|
||||
assert "LateralManeuverMode" in keys
|
||||
assert "LongitudinalManeuverMode" in keys
|
||||
|
||||
def test_test_maneuvers_section_requires_attestation(self, schema):
|
||||
section = _find_section(schema, "developer", "test_maneuvers")
|
||||
assert section is not None
|
||||
assert section.get("attestation_required") is True
|
||||
|
||||
def test_test_maneuvers_section_visibility_gate(self, schema):
|
||||
section = _find_section(schema, "developer", "test_maneuvers")
|
||||
assert section is not None
|
||||
visibility = section.get("visibility")
|
||||
assert visibility, "test_maneuvers must have visibility gate"
|
||||
vis_refs = json.dumps(visibility)
|
||||
assert "is_development" in vis_refs
|
||||
assert "is_sp_release" in vis_refs
|
||||
enablement = section.get("enablement") or []
|
||||
enable_refs = json.dumps(enablement)
|
||||
assert "ShowAdvancedControls" in enable_refs, \
|
||||
"test_maneuvers must gate ShowAdvancedControls via enablement"
|
||||
|
||||
|
||||
class TestValidator:
|
||||
def test_validator_accepts_real_json(self):
|
||||
"""settings_ui.json validates against settings_ui.schema.json."""
|
||||
jsonschema = pytest.importorskip("jsonschema")
|
||||
with open(DEFINITION_PATH) as f:
|
||||
data = json.load(f)
|
||||
with open(SCHEMA_VALIDATOR_PATH) as f:
|
||||
validator = json.load(f)
|
||||
jsonschema.validate(instance=data, schema=validator)
|
||||
|
||||
|
||||
class TestTorqueOptionGeneration:
|
||||
def test_torque_versions_match_generated_options(self, schema):
|
||||
versions = _load_torque_versions()
|
||||
assert versions, "latcontrol_torque_versions.json must have at least one version"
|
||||
expected = _build_torque_options(versions)
|
||||
item = _find_item(schema, "TorqueControlTune")
|
||||
assert item is not None, "TorqueControlTune item must be present"
|
||||
assert item.get("options") == expected
|
||||
|
||||
def test_torque_versions_path_resolves(self):
|
||||
assert os.path.exists(TORQUE_VERSIONS_PATH), (
|
||||
f"latcontrol_torque_versions.json not found at {TORQUE_VERSIONS_PATH}"
|
||||
)
|
||||
|
||||
|
||||
class TestReleaseBranchGates:
|
||||
@pytest.mark.parametrize("key", [
|
||||
"EnableGithubRunner",
|
||||
"QuickBootToggle",
|
||||
])
|
||||
def test_sp_dev_items_gate_on_is_sp_release(self, schema, key):
|
||||
"""sunnypilot dev items must hide on sunnypilot release branches (is_sp_release gate)."""
|
||||
item = _find_item(schema, key)
|
||||
assert item is not None, f"{key} not found in schema"
|
||||
rules = (item.get("visibility") or []) + (item.get("enablement") or [])
|
||||
assert _references_capability_field(rules, "is_sp_release"), f"{key} missing is_sp_release gate"
|
||||
|
||||
|
||||
class TestSpuriousOffroadGatesDropped:
|
||||
def test_disengage_on_accelerator_has_no_offroad_only(self, schema):
|
||||
item = _find_item(schema, "DisengageOnAccelerator")
|
||||
assert item is not None
|
||||
assert "offroad_only" not in _flatten_rule_types(item.get("enablement"))
|
||||
|
||||
def test_dynamic_experimental_has_no_offroad_only(self, schema):
|
||||
item = _find_item(schema, "DynamicExperimentalControl")
|
||||
assert item is not None
|
||||
assert "offroad_only" not in _flatten_rule_types(item.get("enablement"))
|
||||
|
||||
|
||||
class TestNotEngagedReplacement:
|
||||
@pytest.mark.parametrize("key", [
|
||||
"AlphaLongitudinalEnabled",
|
||||
"ToyotaEnforceStockLongitudinal",
|
||||
"ToyotaStopAndGoHack",
|
||||
])
|
||||
def test_offroad_only_replaced_with_not_engaged(self, schema, key):
|
||||
"""These items should use not_engaged, not offroad_only."""
|
||||
item = _find_item(schema, key)
|
||||
assert item is not None, f"{key} not found"
|
||||
rule_types = _flatten_rule_types(item.get("enablement"))
|
||||
assert "offroad_only" not in rule_types, f"{key} still uses offroad_only"
|
||||
assert "not_engaged" in rule_types, f"{key} missing not_engaged"
|
||||
@@ -0,0 +1,353 @@
|
||||
"""
|
||||
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 json
|
||||
import pytest
|
||||
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.sunnypilot.sunnylink.tools.generate_settings_schema import (
|
||||
SCHEMA_VERSION,
|
||||
generate_schema,
|
||||
generate_schema_json,
|
||||
collect_all_keys,
|
||||
collect_capability_refs,
|
||||
)
|
||||
from openpilot.sunnypilot.sunnylink.capabilities import CAPABILITY_FIELDS
|
||||
|
||||
|
||||
VALID_WIDGET_TYPES = {"toggle", "option", "multiple_button", "button", "info"}
|
||||
VALID_RULE_TYPES = {"offroad_only", "not_engaged", "capability", "param", "param_compare", "not", "any", "all"}
|
||||
VALID_COMPARE_OPS = {">", "<", ">=", "<="}
|
||||
MAX_ALLOWED_MISSING_TITLES = 0 # All items must have titles (metadata is inline in settings_ui.json)
|
||||
|
||||
|
||||
def _iter_panel_items(panel: dict):
|
||||
"""Yield top-level items from a panel (non-recursive)."""
|
||||
for item in panel.get("items", []):
|
||||
yield item
|
||||
for sp in panel.get("sub_panels", []):
|
||||
for item in sp.get("items", []):
|
||||
yield item
|
||||
for section in panel.get("sections", []):
|
||||
for item in section.get("items", []):
|
||||
yield item
|
||||
for sp in section.get("sub_panels", []):
|
||||
for item in sp.get("items", []):
|
||||
yield item
|
||||
|
||||
|
||||
def _iter_all_sub_panels(panel: dict):
|
||||
"""Yield all sub_panels from a panel and its sections."""
|
||||
yield from panel.get("sub_panels", [])
|
||||
for section in panel.get("sections", []):
|
||||
yield from section.get("sub_panels", [])
|
||||
|
||||
|
||||
def _brand_items(brand_data) -> list[dict]:
|
||||
"""Extract items from vehicle_settings[brand] (handles dict or list)."""
|
||||
if isinstance(brand_data, dict):
|
||||
return brand_data.get("items", [])
|
||||
if isinstance(brand_data, list):
|
||||
return brand_data
|
||||
return []
|
||||
|
||||
|
||||
@pytest.fixture(scope="module")
|
||||
def schema():
|
||||
return generate_schema()
|
||||
|
||||
|
||||
@pytest.fixture(scope="module")
|
||||
def all_param_keys():
|
||||
"""All keys registered in the device param store."""
|
||||
return {k.decode("utf-8") for k in Params().all_keys()}
|
||||
|
||||
|
||||
class TestSchemaStructure:
|
||||
def test_schema_is_valid_json(self):
|
||||
"""Schema serializes to valid JSON."""
|
||||
raw = generate_schema_json()
|
||||
parsed = json.loads(raw)
|
||||
assert isinstance(parsed, dict)
|
||||
|
||||
def test_has_required_top_level_fields(self, schema):
|
||||
assert "schema_version" in schema
|
||||
assert schema["schema_version"] == SCHEMA_VERSION
|
||||
assert "generated_at" in schema
|
||||
assert "panels" in schema
|
||||
assert "vehicle_settings" in schema
|
||||
assert "capability_fields" in schema
|
||||
|
||||
def test_panels_are_list(self, schema):
|
||||
assert isinstance(schema["panels"], list)
|
||||
assert len(schema["panels"]) > 0
|
||||
|
||||
def test_all_panels_have_required_fields(self, schema):
|
||||
for panel in schema["panels"]:
|
||||
assert "id" in panel, f"Panel missing 'id': {panel}"
|
||||
assert "label" in panel, f"Panel {panel.get('id')} missing 'label'"
|
||||
assert "order" in panel, f"Panel {panel.get('id')} missing 'order'"
|
||||
has_sections = "sections" in panel
|
||||
has_items = "items" in panel
|
||||
assert has_sections or has_items, \
|
||||
f"Panel {panel['id']} must have 'sections' or 'items'"
|
||||
if has_sections:
|
||||
assert isinstance(panel["sections"], list)
|
||||
for sec in panel["sections"]:
|
||||
assert "id" in sec, f"Section in panel {panel['id']} missing 'id'"
|
||||
assert "items" in sec, f"Section {panel['id']}.{sec.get('id')} missing 'items'"
|
||||
assert isinstance(sec["items"], list)
|
||||
if has_items:
|
||||
assert isinstance(panel["items"], list)
|
||||
|
||||
def test_all_items_have_key_and_widget(self, schema):
|
||||
for panel in schema["panels"]:
|
||||
for item in _iter_panel_items(panel):
|
||||
assert "key" in item, f"Item in panel {panel['id']} missing 'key'"
|
||||
assert "widget" in item, f"Item {item.get('key')} missing 'widget'"
|
||||
assert item["widget"] in VALID_WIDGET_TYPES, \
|
||||
f"Item {item['key']} has invalid widget type: {item['widget']}"
|
||||
|
||||
def test_sub_panel_items_have_key_and_widget(self, schema):
|
||||
for panel in schema["panels"]:
|
||||
for sp in _iter_all_sub_panels(panel):
|
||||
assert "id" in sp
|
||||
assert "items" in sp
|
||||
for item in sp["items"]:
|
||||
assert "key" in item
|
||||
assert "widget" in item
|
||||
assert item["widget"] in VALID_WIDGET_TYPES
|
||||
|
||||
def test_vehicle_settings_structure(self, schema):
|
||||
vs = schema["vehicle_settings"]
|
||||
assert isinstance(vs, dict)
|
||||
for brand, data in vs.items():
|
||||
assert isinstance(brand, str)
|
||||
assert isinstance(data, dict), \
|
||||
f"vehicle_settings[{brand}] must be a dict {{title, items, ...}}"
|
||||
assert "items" in data, f"vehicle_settings[{brand}] missing 'items'"
|
||||
assert isinstance(data["items"], list)
|
||||
for item in data["items"]:
|
||||
assert "key" in item, f"Vehicle item for {brand} missing 'key'"
|
||||
assert "widget" in item, f"Vehicle item {item.get('key')} missing 'widget'"
|
||||
|
||||
def test_no_duplicate_keys_across_panels(self, schema):
|
||||
"""Param keys should appear in at most one panel."""
|
||||
seen: dict[str, str] = {} # key -> panel_id
|
||||
for panel in schema["panels"]:
|
||||
for item in _iter_panel_items(panel):
|
||||
key = item["key"]
|
||||
if key in seen:
|
||||
pytest.fail(f"Key '{key}' appears in both panel '{seen[key]}' and '{panel['id']}'")
|
||||
seen[key] = panel["id"]
|
||||
for sub in item.get("sub_items", []):
|
||||
sub_key = sub["key"]
|
||||
if sub_key in seen:
|
||||
pytest.fail(f"Sub-item key '{sub_key}' appears in both '{seen[sub_key]}' and '{panel['id']}'")
|
||||
seen[sub_key] = panel["id"]
|
||||
|
||||
|
||||
class TestSchemaCoverage:
|
||||
def test_all_schema_keys_exist_in_params(self, schema, all_param_keys):
|
||||
"""Schema keys must exist in Params().all_keys()."""
|
||||
schema_keys = collect_all_keys(schema)
|
||||
missing = schema_keys - all_param_keys
|
||||
assert not missing, f"Schema references keys not in Params: {missing}"
|
||||
|
||||
def test_all_capability_fields_are_declared(self, schema):
|
||||
"""Capability fields used in rules must be declared."""
|
||||
declared = set(schema["capability_fields"])
|
||||
referenced = collect_capability_refs(schema)
|
||||
undeclared = referenced - declared
|
||||
assert not undeclared, f"Rules reference undeclared capability fields: {undeclared}"
|
||||
|
||||
def test_capability_fields_match_constant(self, schema):
|
||||
"""Schema capability_fields must match CAPABILITY_FIELDS constant."""
|
||||
assert set(schema["capability_fields"]) == set(CAPABILITY_FIELDS)
|
||||
|
||||
|
||||
class TestRuleWellFormedness:
|
||||
def _validate_rule(self, rule: dict, context: str = ""):
|
||||
"""Recursively validate a single rule dict."""
|
||||
assert "type" in rule, f"Rule missing 'type' in {context}"
|
||||
rtype = rule["type"]
|
||||
assert rtype in VALID_RULE_TYPES, f"Invalid rule type '{rtype}' in {context}"
|
||||
|
||||
if rtype == "capability":
|
||||
assert "field" in rule, f"Capability rule missing 'field' in {context}"
|
||||
assert "equals" in rule, f"Capability rule missing 'equals' in {context}"
|
||||
elif rtype == "param":
|
||||
assert "key" in rule, f"Param rule missing 'key' in {context}"
|
||||
assert "equals" in rule, f"Param rule missing 'equals' in {context}"
|
||||
elif rtype == "param_compare":
|
||||
assert "key" in rule, f"Param compare rule missing 'key' in {context}"
|
||||
assert "op" in rule, f"Param compare rule missing 'op' in {context}"
|
||||
assert rule["op"] in VALID_COMPARE_OPS, f"Invalid op '{rule['op']}' in {context}"
|
||||
assert "value" in rule, f"Param compare rule missing 'value' in {context}"
|
||||
elif rtype == "not":
|
||||
assert "condition" in rule, f"Not rule missing 'condition' in {context}"
|
||||
self._validate_rule(rule["condition"], context=f"{context} > not")
|
||||
elif rtype in ("any", "all"):
|
||||
assert "conditions" in rule, f"{rtype} rule missing 'conditions' in {context}"
|
||||
assert isinstance(rule["conditions"], list)
|
||||
for c in rule["conditions"]:
|
||||
self._validate_rule(c, context=f"{context} > {rtype}")
|
||||
|
||||
def _validate_items(self, items: list[dict], context: str):
|
||||
for item in items:
|
||||
key = item.get("key", "unknown")
|
||||
for rules_field in ("visibility", "enablement"):
|
||||
rules = item.get(rules_field)
|
||||
if rules:
|
||||
assert isinstance(rules, list), f"{key}.{rules_field} must be a list"
|
||||
for rule in rules:
|
||||
self._validate_rule(rule, context=f"{context}.{key}.{rules_field}")
|
||||
for sub in item.get("sub_items", []):
|
||||
self._validate_items([sub], context=f"{context}.{key}")
|
||||
|
||||
def _validate_section_rules(self, section: dict, context: str):
|
||||
for rules_field in ("visibility", "enablement"):
|
||||
rules = section.get(rules_field) or []
|
||||
for rule in rules:
|
||||
self._validate_rule(rule, context=f"{context}.{rules_field}")
|
||||
|
||||
def test_all_panel_rules_well_formed(self, schema):
|
||||
for panel in schema["panels"]:
|
||||
self._validate_items(list(_iter_panel_items(panel)), context=f"panel:{panel['id']}")
|
||||
for sp in _iter_all_sub_panels(panel):
|
||||
self._validate_items(sp["items"], context=f"subpanel:{sp['id']}")
|
||||
for section in panel.get("sections", []):
|
||||
self._validate_section_rules(section, context=f"section:{panel['id']}.{section['id']}")
|
||||
|
||||
def test_all_vehicle_rules_well_formed(self, schema):
|
||||
for brand, data in schema["vehicle_settings"].items():
|
||||
self._validate_items(_brand_items(data), context=f"vehicle:{brand}")
|
||||
|
||||
def test_no_self_referencing_visibility(self, schema):
|
||||
"""An item's visibility/enablement rules should not depend on its own key."""
|
||||
def _check_self_ref(item: dict, rules_field: str):
|
||||
key = item.get("key")
|
||||
for rule in item.get(rules_field, []):
|
||||
if rule.get("type") == "param" and rule.get("key") == key:
|
||||
pytest.fail(f"Item {key} has self-referencing {rules_field} rule")
|
||||
|
||||
for panel in schema["panels"]:
|
||||
for item in _iter_panel_items(panel):
|
||||
_check_self_ref(item, "visibility")
|
||||
_check_self_ref(item, "enablement")
|
||||
|
||||
for brand_data in schema.get("vehicle_settings", {}).values():
|
||||
for item in _brand_items(brand_data):
|
||||
_check_self_ref(item, "visibility")
|
||||
_check_self_ref(item, "enablement")
|
||||
|
||||
|
||||
class TestKnownPanels:
|
||||
def test_expected_panels_exist(self, schema):
|
||||
panel_ids = {p["id"] for p in schema["panels"]}
|
||||
expected = {"steering", "cruise", "display", "visuals", "device", "software", "developer"}
|
||||
assert expected.issubset(panel_ids), f"Missing panels: {expected - panel_ids}"
|
||||
|
||||
def test_mads_sub_panel_exists(self, schema):
|
||||
steering = next(p for p in schema["panels"] if p["id"] == "steering")
|
||||
sub_ids = {sp["id"] for sp in _iter_all_sub_panels(steering)}
|
||||
assert "mads_settings" in sub_ids
|
||||
|
||||
def test_mutual_exclusion_torque_nnlc(self, schema):
|
||||
"""EnforceTorqueControl and NNLC must reference each other in enablement."""
|
||||
torque = nnlc = None
|
||||
for panel in schema["panels"]:
|
||||
for item in _iter_panel_items(panel):
|
||||
if item["key"] == "EnforceTorqueControl":
|
||||
torque = item
|
||||
elif item["key"] == "NeuralNetworkLateralControl":
|
||||
nnlc = item
|
||||
assert torque is not None, "EnforceTorqueControl item missing"
|
||||
assert nnlc is not None, "NeuralNetworkLateralControl item missing"
|
||||
torque_enable_keys = {r.get("key") for r in torque.get("enablement", []) if r.get("type") == "param"}
|
||||
assert "NeuralNetworkLateralControl" in torque_enable_keys
|
||||
nnlc_enable_keys = {r.get("key") for r in nnlc.get("enablement", []) if r.get("type") == "param"}
|
||||
assert "EnforceTorqueControl" in nnlc_enable_keys
|
||||
|
||||
|
||||
class TestKnownVehicleSettings:
|
||||
def test_hyundai_has_longitudinal_tuning(self, schema):
|
||||
keys = {i["key"] for i in _brand_items(schema["vehicle_settings"].get("hyundai"))}
|
||||
assert "HyundaiLongitudinalTuning" in keys
|
||||
|
||||
def test_toyota_has_enforce_stock_and_stop_go(self, schema):
|
||||
keys = {i["key"] for i in _brand_items(schema["vehicle_settings"].get("toyota"))}
|
||||
assert "ToyotaEnforceStockLongitudinal" in keys
|
||||
assert "ToyotaStopAndGoHack" in keys
|
||||
|
||||
def test_tesla_has_coop_steering(self, schema):
|
||||
keys = {i["key"] for i in _brand_items(schema["vehicle_settings"].get("tesla"))}
|
||||
assert "TeslaCoopSteering" in keys
|
||||
|
||||
def test_subaru_has_stop_and_go(self, schema):
|
||||
keys = {i["key"] for i in _brand_items(schema["vehicle_settings"].get("subaru"))}
|
||||
assert "SubaruStopAndGo" in keys
|
||||
assert "SubaruStopAndGoManualParkingBrake" in keys
|
||||
|
||||
|
||||
class TestItemCompleteness:
|
||||
def _collect_all_items(self, schema):
|
||||
"""Collect all items and sub_items from panels and vehicle_settings."""
|
||||
items = []
|
||||
for panel in schema["panels"]:
|
||||
for item in _iter_panel_items(panel):
|
||||
items.append(item)
|
||||
for sub in item.get("sub_items", []):
|
||||
items.append(sub)
|
||||
for brand_data in schema.get("vehicle_settings", {}).values():
|
||||
for item in _brand_items(brand_data):
|
||||
items.append(item)
|
||||
for sub in item.get("sub_items", []):
|
||||
items.append(sub)
|
||||
return items
|
||||
|
||||
def test_all_items_have_titles(self, schema):
|
||||
"""All items must have titles."""
|
||||
missing = [i["key"] for i in self._collect_all_items(schema) if "title" not in i]
|
||||
if len(missing) > MAX_ALLOWED_MISSING_TITLES:
|
||||
pytest.fail(f"Items without titles ({len(missing)}): {missing[:10]}")
|
||||
|
||||
def test_no_default_titles(self, schema):
|
||||
"""Item titles must differ from keys."""
|
||||
defaults = [i["key"] for i in self._collect_all_items(schema) if i.get("title") == i["key"]]
|
||||
assert not defaults, f"Items with default titles (title == key): {defaults}"
|
||||
|
||||
def test_options_structure(self, schema):
|
||||
"""Options must be a list of {value, label} dicts."""
|
||||
for item in self._collect_all_items(schema):
|
||||
opts = item.get("options")
|
||||
if opts is None:
|
||||
continue
|
||||
assert isinstance(opts, list), f"{item['key']}: options must be a list"
|
||||
for opt in opts:
|
||||
assert isinstance(opt, dict), f"{item['key']}: each option must be a dict"
|
||||
assert "value" in opt, f"{item['key']}: option missing 'value': {opt}"
|
||||
assert "label" in opt, f"{item['key']}: option missing 'label': {opt}"
|
||||
|
||||
def test_numeric_constraints(self, schema):
|
||||
"""If any of min/max/step is present, all three must be, and min < max."""
|
||||
for item in self._collect_all_items(schema):
|
||||
has_min = "min" in item
|
||||
has_max = "max" in item
|
||||
has_step = "step" in item
|
||||
if has_min or has_max or has_step:
|
||||
assert has_min and has_max and has_step, \
|
||||
f"{item['key']}: must have all of min/max/step or none"
|
||||
assert item["min"] < item["max"], \
|
||||
f"{item['key']}: min ({item['min']}) must be < max ({item['max']})"
|
||||
|
||||
def test_known_param_has_options(self, schema):
|
||||
"""LongitudinalPersonality should have 3 options."""
|
||||
cruise = next(p for p in schema["panels"] if p["id"] == "cruise")
|
||||
lp = next((i for i in _iter_panel_items(cruise) if i["key"] == "LongitudinalPersonality"), None)
|
||||
assert lp is not None
|
||||
assert "options" in lp
|
||||
assert len(lp["options"]) == 3
|
||||
Executable
+211
@@ -0,0 +1,211 @@
|
||||
#!/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.
|
||||
|
||||
Scans all per-page YAML files in settings_ui_src/pages/ and replaces inlined
|
||||
rule blocks that exactly match a macro definition in _macros.yaml with $ref
|
||||
references.
|
||||
|
||||
Match policy:
|
||||
- Whole-list match (exact): replace the entire list with [{$ref}].
|
||||
- Single-rule match: any individual rule whose canonical form equals macro[0]
|
||||
(when macro is exactly one rule) is replaced with {$ref}.
|
||||
|
||||
Re-run is idempotent (already-substituted $refs are skipped).
|
||||
|
||||
Usage:
|
||||
python apply_macros.py [--src DIR] [--dry-run]
|
||||
"""
|
||||
from __future__ import annotations
|
||||
|
||||
import argparse
|
||||
import json
|
||||
import os
|
||||
import sys
|
||||
|
||||
import yaml
|
||||
|
||||
DIR = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
|
||||
DEFAULT_SRC = os.path.join(DIR, "settings_ui_src")
|
||||
|
||||
|
||||
class _BlockDumper(yaml.SafeDumper):
|
||||
pass
|
||||
|
||||
|
||||
def _represent_dict(dumper, data):
|
||||
return dumper.represent_mapping("tag:yaml.org,2002:map", data.items(), flow_style=False)
|
||||
|
||||
|
||||
def _represent_list(dumper, data):
|
||||
flow = all(not isinstance(x, (dict, list)) for x in data) and len(data) <= 8
|
||||
return dumper.represent_sequence("tag:yaml.org,2002:seq", data, flow_style=flow)
|
||||
|
||||
|
||||
_BlockDumper.add_representer(dict, _represent_dict)
|
||||
_BlockDumper.add_representer(list, _represent_list)
|
||||
|
||||
|
||||
def _dump_yaml(data) -> str:
|
||||
return yaml.dump(data, Dumper=_BlockDumper, sort_keys=False, allow_unicode=True, width=120)
|
||||
|
||||
|
||||
def _canon(node) -> str:
|
||||
return json.dumps(node, sort_keys=True, separators=(",", ":"))
|
||||
|
||||
|
||||
def _is_ref(node) -> bool:
|
||||
return isinstance(node, dict) and len(node) == 1 and "$ref" in node
|
||||
|
||||
|
||||
def _make_ref(name: str) -> dict:
|
||||
return {"$ref": f"#/macros/{name}"}
|
||||
|
||||
|
||||
def _substitute_rules(rules: list, whole_list: dict, single_rule: dict) -> list:
|
||||
if not isinstance(rules, list) or not rules:
|
||||
return rules
|
||||
full_canon = _canon(rules)
|
||||
if full_canon in whole_list:
|
||||
return [_make_ref(whole_list[full_canon])]
|
||||
out = []
|
||||
for r in rules:
|
||||
if _is_ref(r):
|
||||
out.append(r)
|
||||
continue
|
||||
rc = _canon(r)
|
||||
if rc in single_rule:
|
||||
out.append(_make_ref(single_rule[rc]))
|
||||
else:
|
||||
out.append(r)
|
||||
return out
|
||||
|
||||
|
||||
def _walk_item(item: dict, whole_list: dict, single_rule: dict) -> bool:
|
||||
changed = False
|
||||
for ctx in ("visibility", "enablement"):
|
||||
if ctx in item:
|
||||
new = _substitute_rules(item[ctx], whole_list, single_rule)
|
||||
if new != item[ctx]:
|
||||
item[ctx] = new
|
||||
changed = True
|
||||
if "options" in item:
|
||||
for opt in item["options"]:
|
||||
if not isinstance(opt, dict):
|
||||
continue
|
||||
for ctx in ("visibility", "enablement"):
|
||||
if ctx in opt:
|
||||
new = _substitute_rules(opt[ctx], whole_list, single_rule)
|
||||
if new != opt[ctx]:
|
||||
opt[ctx] = new
|
||||
changed = True
|
||||
if "sub_items" in item:
|
||||
for sub in item["sub_items"]:
|
||||
if _walk_item(sub, whole_list, single_rule):
|
||||
changed = True
|
||||
return changed
|
||||
|
||||
|
||||
def _walk_page(page: dict, whole_list: dict, single_rule: dict) -> bool:
|
||||
changed = False
|
||||
for sec in page.get("sections", []) or []:
|
||||
for ctx in ("visibility", "enablement"):
|
||||
if ctx in sec:
|
||||
new = _substitute_rules(sec[ctx], whole_list, single_rule)
|
||||
if new != sec[ctx]:
|
||||
sec[ctx] = new
|
||||
changed = True
|
||||
for it in sec.get("items", []) or []:
|
||||
if _walk_item(it, whole_list, single_rule):
|
||||
changed = True
|
||||
for sp in sec.get("sub_panels", []) or []:
|
||||
for it in sp.get("items", []) or []:
|
||||
if _walk_item(it, whole_list, single_rule):
|
||||
changed = True
|
||||
for it in page.get("items", []) or []:
|
||||
if _walk_item(it, whole_list, single_rule):
|
||||
changed = True
|
||||
for sp in page.get("sub_panels", []) or []:
|
||||
for it in sp.get("items", []) or []:
|
||||
if _walk_item(it, whole_list, single_rule):
|
||||
changed = True
|
||||
return changed
|
||||
|
||||
|
||||
def _build_macro_indices(macros: dict) -> tuple[dict, dict]:
|
||||
whole_list = {}
|
||||
single_rule = {}
|
||||
for name, body in macros.items():
|
||||
if isinstance(body, list):
|
||||
whole_list[_canon(body)] = name
|
||||
if len(body) == 1 and isinstance(body[0], dict):
|
||||
single_rule[_canon(body[0])] = name
|
||||
elif isinstance(body, dict):
|
||||
single_rule[_canon(body)] = name
|
||||
return whole_list, single_rule
|
||||
|
||||
|
||||
def _read_yaml_with_header(path: str) -> tuple[list[str], dict]:
|
||||
with open(path) as f:
|
||||
text = f.read()
|
||||
header_lines = []
|
||||
for line in text.splitlines(keepends=True):
|
||||
if line.startswith("#"):
|
||||
header_lines.append(line)
|
||||
elif line.strip() == "":
|
||||
header_lines.append(line)
|
||||
else:
|
||||
break
|
||||
doc = yaml.safe_load(text) or {}
|
||||
return header_lines, doc
|
||||
|
||||
|
||||
def _write_yaml_with_header(path: str, header: list[str], doc: dict) -> None:
|
||||
with open(path, "w") as f:
|
||||
if header:
|
||||
# Keep at most one trailing blank line in header
|
||||
while len(header) > 1 and header[-1].strip() == "" and header[-2].strip() == "":
|
||||
header.pop()
|
||||
for line in header:
|
||||
f.write(line)
|
||||
f.write(_dump_yaml(doc))
|
||||
|
||||
|
||||
def apply(src_dir: str, dry_run: bool) -> int:
|
||||
with open(os.path.join(src_dir, "_macros.yaml")) as f:
|
||||
macros_doc = yaml.safe_load(f) or {}
|
||||
macros = (macros_doc.get("macros") or {}) if isinstance(macros_doc, dict) else {}
|
||||
whole_list, single_rule = _build_macro_indices(macros)
|
||||
|
||||
changed_files = 0
|
||||
pages_dir = os.path.join(src_dir, "pages")
|
||||
if os.path.isdir(pages_dir):
|
||||
for fn in sorted(os.listdir(pages_dir)):
|
||||
if not fn.endswith((".yaml", ".yml")) or fn.startswith("_"):
|
||||
continue
|
||||
path = os.path.join(pages_dir, fn)
|
||||
header, doc = _read_yaml_with_header(path)
|
||||
if _walk_page(doc, whole_list, single_rule):
|
||||
changed_files += 1
|
||||
if not dry_run:
|
||||
_write_yaml_with_header(path, header, doc)
|
||||
else:
|
||||
print(f"would-rewrite: {path}")
|
||||
|
||||
print(f"{'Would rewrite' if dry_run else 'Rewrote'} {changed_files} files")
|
||||
return 0
|
||||
|
||||
|
||||
def _main() -> int:
|
||||
parser = argparse.ArgumentParser(description="Substitute inlined rule blocks with $ref macros across pages/.")
|
||||
parser.add_argument("--src", default=DEFAULT_SRC)
|
||||
parser.add_argument("--dry-run", action="store_true")
|
||||
args = parser.parse_args()
|
||||
return apply(args.src, args.dry_run)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
sys.exit(_main())
|
||||
+300
@@ -0,0 +1,300 @@
|
||||
#!/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.
|
||||
|
||||
Reads settings_ui_src/ (the dev-friendly authoring tree) and emits the
|
||||
canonical settings_ui.json that the device generator + frontend consume.
|
||||
|
||||
Source layout:
|
||||
_macros.yaml # named rule fragments
|
||||
pages/<page_id>.yaml # one file per panel/page
|
||||
pages/vehicle.yaml # special: emits vehicle_settings
|
||||
|
||||
Each page.yaml contains the full panel: metadata + sections + items + sub_panels
|
||||
inline. Sub-panels are nested inside the section they belong to. Items appear
|
||||
in the order written in the file.
|
||||
|
||||
Macro references use JSON-Schema-style $ref pointers:
|
||||
enablement:
|
||||
- {$ref: "#/macros/offroad"}
|
||||
- {$ref: "#/macros/mads_full_platforms"}
|
||||
|
||||
Macros may reference other macros (max depth 3). Cycles raise an error.
|
||||
|
||||
Usage:
|
||||
python compile_settings_ui.py [--src DIR] [--out PATH] [--check]
|
||||
"""
|
||||
from __future__ import annotations
|
||||
|
||||
import argparse
|
||||
import copy
|
||||
import json
|
||||
import os
|
||||
import sys
|
||||
|
||||
import yaml
|
||||
|
||||
DIR = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
|
||||
DEFAULT_SRC = os.path.join(DIR, "settings_ui_src")
|
||||
DEFAULT_OUT = os.path.join(DIR, "settings_ui.json")
|
||||
|
||||
SCHEMA_VERSION = "1.0"
|
||||
MAX_MACRO_DEPTH = 3
|
||||
|
||||
|
||||
class CompileError(Exception):
|
||||
pass
|
||||
|
||||
|
||||
def _load_yaml(path: str):
|
||||
with open(path) as f:
|
||||
return yaml.safe_load(f) or {}
|
||||
|
||||
|
||||
def _is_ref(node) -> bool:
|
||||
return isinstance(node, dict) and len(node) == 1 and "$ref" in node
|
||||
|
||||
|
||||
def _ref_name(node: dict) -> str:
|
||||
ref = node["$ref"]
|
||||
if not isinstance(ref, str) or not ref.startswith("#/macros/"):
|
||||
raise CompileError(f"unsupported $ref: {ref!r} (must start with '#/macros/')")
|
||||
return ref[len("#/macros/"):]
|
||||
|
||||
|
||||
def _resolve_refs(node, macros: dict, visiting: tuple[str, ...] = ()):
|
||||
"""Resolve $ref nodes against macros. Recursive; depth-limited; cycle-safe.
|
||||
|
||||
- $ref in list-context: macro's list spliced into parent list.
|
||||
- $ref in scalar-context (object value): macro's value substitutes.
|
||||
- Non-list macro values may not be referenced from list contexts.
|
||||
"""
|
||||
if _is_ref(node):
|
||||
name = _ref_name(node)
|
||||
if name in visiting:
|
||||
raise CompileError(f"$ref cycle: {' -> '.join(visiting + (name,))}")
|
||||
if len(visiting) >= MAX_MACRO_DEPTH:
|
||||
raise CompileError(f"$ref nesting exceeds depth {MAX_MACRO_DEPTH}: {' -> '.join(visiting + (name,))}")
|
||||
if name not in macros:
|
||||
raise CompileError(f"unknown macro: {name}")
|
||||
return _resolve_refs(copy.deepcopy(macros[name]), macros, visiting + (name,))
|
||||
|
||||
if isinstance(node, dict):
|
||||
return {k: _resolve_refs(v, macros, visiting) for k, v in node.items()}
|
||||
|
||||
if isinstance(node, list):
|
||||
out = []
|
||||
for item in node:
|
||||
if _is_ref(item):
|
||||
resolved = _resolve_refs(item, macros, visiting)
|
||||
if not isinstance(resolved, list):
|
||||
raise CompileError(
|
||||
f"macro '{_ref_name(item)}' must resolve to a list when used in a list context"
|
||||
)
|
||||
out.extend(resolved)
|
||||
else:
|
||||
out.append(_resolve_refs(item, macros, visiting))
|
||||
return out
|
||||
|
||||
return node
|
||||
|
||||
|
||||
# Output JSON key order. Mirrors the conventions in the original hand-written
|
||||
# settings_ui.json so structural diffs after extraction are minimal.
|
||||
_ITEM_KEY_ORDER = [
|
||||
"key",
|
||||
"widget",
|
||||
"needs_onroad_cycle",
|
||||
"requires_attestation",
|
||||
"blocked",
|
||||
"title",
|
||||
"description",
|
||||
"details",
|
||||
"title_param_suffix",
|
||||
"min",
|
||||
"max",
|
||||
"step",
|
||||
"unit",
|
||||
"options",
|
||||
"visibility",
|
||||
"enablement",
|
||||
"sub_items",
|
||||
]
|
||||
|
||||
|
||||
def _canon_item(item: dict, macros: dict) -> dict:
|
||||
resolved = dict(item)
|
||||
for ctx in ("visibility", "enablement"):
|
||||
if ctx in resolved:
|
||||
resolved[ctx] = _resolve_refs(resolved[ctx], macros)
|
||||
if "options" in resolved:
|
||||
new_opts = []
|
||||
for opt in resolved["options"]:
|
||||
if isinstance(opt, dict):
|
||||
opt = dict(opt)
|
||||
for ctx in ("visibility", "enablement"):
|
||||
if ctx in opt:
|
||||
opt[ctx] = _resolve_refs(opt[ctx], macros)
|
||||
new_opts.append(opt)
|
||||
resolved["options"] = new_opts
|
||||
if "sub_items" in resolved:
|
||||
resolved["sub_items"] = [_canon_item(s, macros) for s in resolved["sub_items"]]
|
||||
|
||||
out: dict = {}
|
||||
for k in _ITEM_KEY_ORDER:
|
||||
if k in resolved:
|
||||
out[k] = resolved[k]
|
||||
for k, v in resolved.items():
|
||||
if k not in out:
|
||||
out[k] = v
|
||||
return out
|
||||
|
||||
|
||||
def _canon_section(section: dict, macros: dict) -> dict:
|
||||
out: dict = {"id": section["id"], "title": section["title"]}
|
||||
if "description" in section:
|
||||
out["description"] = section["description"]
|
||||
for k in ("visibility", "enablement"):
|
||||
if k in section:
|
||||
out[k] = _resolve_refs(section[k], macros)
|
||||
if "attestation_required" in section:
|
||||
out["attestation_required"] = section["attestation_required"]
|
||||
out["items"] = [_canon_item(i, macros) for i in section.get("items", [])]
|
||||
if "sub_panels" in section and section["sub_panels"]:
|
||||
out["sub_panels"] = [_canon_sub_panel(sp, macros) for sp in section["sub_panels"]]
|
||||
for k, v in section.items():
|
||||
if k not in out and k != "order":
|
||||
out[k] = v
|
||||
return out
|
||||
|
||||
|
||||
def _canon_sub_panel(sp: dict, macros: dict) -> dict:
|
||||
out: dict = {"id": sp["id"], "label": sp["label"], "trigger_key": sp["trigger_key"]}
|
||||
if "trigger_condition" in sp:
|
||||
out["trigger_condition"] = _resolve_refs(sp["trigger_condition"], macros)
|
||||
out["items"] = [_canon_item(i, macros) for i in sp.get("items", [])]
|
||||
for k, v in sp.items():
|
||||
if k not in out:
|
||||
out[k] = v
|
||||
return out
|
||||
|
||||
|
||||
def _canon_panel(page: dict, macros: dict) -> dict:
|
||||
out: dict = {
|
||||
"id": page["id"],
|
||||
"label": page["label"],
|
||||
"icon": page["icon"],
|
||||
"order": page["order"],
|
||||
}
|
||||
if "remote_configurable" in page:
|
||||
out["remote_configurable"] = page["remote_configurable"]
|
||||
if "description" in page:
|
||||
out["description"] = page["description"]
|
||||
if "sections" in page and page["sections"]:
|
||||
out["sections"] = [_canon_section(s, macros) for s in page["sections"]]
|
||||
if "items" in page and page["items"]:
|
||||
out["items"] = [_canon_item(i, macros) for i in page["items"]]
|
||||
if "sub_panels" in page and page["sub_panels"]:
|
||||
out["sub_panels"] = [_canon_sub_panel(sp, macros) for sp in page["sub_panels"]]
|
||||
return out
|
||||
|
||||
|
||||
def _canon_vehicle(page: dict, macros: dict) -> dict:
|
||||
"""Convert page-shape vehicle.yaml to wire-format vehicle_settings dict."""
|
||||
out: dict = {}
|
||||
for sec in page.get("sections", []):
|
||||
brand = sec["id"]
|
||||
brand_out: dict = {"title": sec.get("title", "")}
|
||||
if "description" in sec:
|
||||
brand_out["description"] = sec["description"]
|
||||
brand_out["items"] = [_canon_item(i, macros) for i in sec.get("items", [])]
|
||||
out[brand] = brand_out
|
||||
return out
|
||||
|
||||
|
||||
def _load_pages(src: str) -> list[dict]:
|
||||
pages_dir = os.path.join(src, "pages")
|
||||
if not os.path.isdir(pages_dir):
|
||||
return []
|
||||
pages = []
|
||||
for fn in sorted(os.listdir(pages_dir)):
|
||||
if not fn.endswith((".yaml", ".yml")):
|
||||
continue
|
||||
if fn.startswith("_"):
|
||||
continue
|
||||
path = os.path.join(pages_dir, fn)
|
||||
page = _load_yaml(path)
|
||||
if not isinstance(page, dict):
|
||||
raise CompileError(f"{path}: page YAML must be an object")
|
||||
if "id" not in page:
|
||||
raise CompileError(f"{path}: page missing 'id'")
|
||||
page["__source"] = path
|
||||
pages.append(page)
|
||||
return pages
|
||||
|
||||
|
||||
def compile_schema(src: str) -> dict:
|
||||
macros_doc = _load_yaml(os.path.join(src, "_macros.yaml"))
|
||||
macros = (macros_doc.get("macros") or {}) if isinstance(macros_doc, dict) else {}
|
||||
|
||||
pages = _load_pages(src)
|
||||
|
||||
panels_out = []
|
||||
vehicle_out: dict = {}
|
||||
|
||||
# Order panels by `order` field (falling back to file position).
|
||||
panel_pages = [p for p in pages if p.get("kind") != "vehicle"]
|
||||
panel_pages.sort(key=lambda p: (p.get("order", 999), p["id"]))
|
||||
|
||||
for page in panel_pages:
|
||||
panels_out.append(_canon_panel(page, macros))
|
||||
|
||||
for page in pages:
|
||||
if page.get("kind") == "vehicle":
|
||||
vehicle_out = _canon_vehicle(page, macros)
|
||||
|
||||
return {
|
||||
"$schema": "./settings_ui.schema.json",
|
||||
"schema_version": SCHEMA_VERSION,
|
||||
"panels": panels_out,
|
||||
"vehicle_settings": vehicle_out,
|
||||
}
|
||||
|
||||
|
||||
def _main() -> int:
|
||||
parser = argparse.ArgumentParser(description="Compile settings_ui_src/ -> settings_ui.json")
|
||||
parser.add_argument("--src", default=DEFAULT_SRC)
|
||||
parser.add_argument("--out", default=DEFAULT_OUT)
|
||||
parser.add_argument("--check", action="store_true",
|
||||
help="Compile and diff against existing settings_ui.json; exit non-zero on diff.")
|
||||
args = parser.parse_args()
|
||||
|
||||
schema = compile_schema(args.src)
|
||||
rendered = json.dumps(schema, indent=2) + "\n"
|
||||
|
||||
if args.check:
|
||||
if not os.path.exists(args.out):
|
||||
print(f"--check: {args.out} does not exist", file=sys.stderr)
|
||||
return 1
|
||||
with open(args.out) as f:
|
||||
current = f.read()
|
||||
if current.strip() == rendered.strip():
|
||||
print(f"--check: {args.out} matches compiled output")
|
||||
return 0
|
||||
print(f"--check: {args.out} differs from compiled output", file=sys.stderr)
|
||||
cur_obj = json.loads(current)
|
||||
if cur_obj == schema:
|
||||
print("(structurally equal; only formatting differs)", file=sys.stderr)
|
||||
return 1
|
||||
|
||||
with open(args.out, "w") as f:
|
||||
f.write(rendered)
|
||||
print(f"Wrote {args.out}")
|
||||
return 0
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
sys.exit(_main())
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user