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sla-3.0
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tinygrad-s
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73
.github/workflows/cereal_validation.yaml
vendored
73
.github/workflows/cereal_validation.yaml
vendored
@@ -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
|
||||
|
||||
6
.github/workflows/docs.yaml
vendored
6
.github/workflows/docs.yaml
vendored
@@ -29,9 +29,9 @@ jobs:
|
||||
# Build
|
||||
- name: Build docs
|
||||
run: |
|
||||
# TODO: can we install just the "docs" dependency group without the normal deps?
|
||||
pip install mkdocs
|
||||
mkdocs build
|
||||
git lfs pull
|
||||
pip install zensical
|
||||
python scripts/docs.py build
|
||||
|
||||
# Push to docs.comma.ai
|
||||
- uses: actions/checkout@v6
|
||||
|
||||
@@ -172,7 +172,7 @@ jobs:
|
||||
output_file="${{ env.MODELS_DIR }}/${base_name}_tinygrad.pkl"
|
||||
|
||||
echo "Compiling: $onnx_file -> $output_file"
|
||||
QCOM=1 python3 "${{ env.TINYGRAD_PATH }}/examples/openpilot/compile3.py" "$onnx_file" "$output_file"
|
||||
DEV=QCOM FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 IMAGE=2 python3 "${{ env.TINYGRAD_PATH }}/examples/openpilot/compile3.py" "$onnx_file" "$output_file"
|
||||
DEV=QCOM FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 python3 "${{ env.MODELS_DIR }}/../get_model_metadata.py" "$onnx_file" || true
|
||||
done
|
||||
|
||||
|
||||
2
.gitignore
vendored
2
.gitignore
vendored
@@ -44,8 +44,10 @@ bin/
|
||||
config.json
|
||||
compile_commands.json
|
||||
compare_runtime*.html
|
||||
selfdrive/modeld/models/tg_compiled_flags.json
|
||||
|
||||
# build artifacts
|
||||
docs_site/
|
||||
selfdrive/pandad/pandad
|
||||
cereal/services.h
|
||||
cereal/gen
|
||||
|
||||
87
CHANGELOG.md
87
CHANGELOG.md
@@ -1,4 +1,4 @@
|
||||
sunnypilot Version 2026.001.000 (2026-03-xx)
|
||||
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 +66,64 @@ 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 +142,25 @@ 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 +170,20 @@ 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)
|
||||
========================
|
||||
|
||||
@@ -267,9 +267,6 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
|
||||
active @2 :Bool;
|
||||
vTarget @3 :Float32;
|
||||
aTarget @4 :Float32;
|
||||
capDelta @5 :Float32; # Difference between cluster set-speed and cap (m/s), positive = driver above cap
|
||||
targetCap @6 :Float32; # Speed limit cap being enforced (m/s)
|
||||
disableReason @7 :AssistDisableReason;
|
||||
}
|
||||
|
||||
enum Source {
|
||||
@@ -285,19 +282,6 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
|
||||
pending @3; # Awaiting new speed limit.
|
||||
adapting @4; # Reducing speed to match new speed limit.
|
||||
active @5; # Cruising at speed limit.
|
||||
capping @6; # Silently capping speed based on limit.
|
||||
tempPaused @7; # Temporarily paused by user.
|
||||
}
|
||||
|
||||
enum AssistDisableReason {
|
||||
none @0;
|
||||
userCancel @1;
|
||||
userTempPause @2;
|
||||
longOverride @3;
|
||||
belowFloor @4;
|
||||
autoResume @5;
|
||||
mapGap @6;
|
||||
gateDisabled @7;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -358,7 +342,6 @@ struct OnroadEventSP @0xda96579883444c35 {
|
||||
speedLimitChanged @21;
|
||||
speedLimitPending @22;
|
||||
e2eChime @23;
|
||||
speedLimitCapActive @24;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@@ -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 +0,0 @@
|
||||
#define DEFAULT_MODEL "POP model (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}},
|
||||
@@ -261,9 +262,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"SpeedLimitOffsetType", {PERSISTENT | BACKUP, INT, "0"}},
|
||||
{"SpeedLimitPolicy", {PERSISTENT | BACKUP, INT, "3"}},
|
||||
{"SpeedLimitValueOffset", {PERSISTENT | BACKUP, INT, "0"}},
|
||||
{"SpeedLimitUpshiftAccept", {PERSISTENT | BACKUP, INT, "0"}},
|
||||
{"SpeedLimitMinCapFloor", {PERSISTENT | BACKUP, INT, "25"}},
|
||||
{"SpeedLimitCapAudioCue", {PERSISTENT | BACKUP, INT, "1"}},
|
||||
|
||||
// Smart Cruise Control
|
||||
{"MapTargetVelocities", {CLEAR_ON_ONROAD_TRANSITION, STRING}},
|
||||
|
||||
134
docs/CARS.md
134
docs/CARS.md
@@ -22,7 +22,7 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Audi[<sup>11</sup>](#footnotes)|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
|
||||
|Audi[<sup>11</sup>](#footnotes)|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
|
||||
|Audi[<sup>11</sup>](#footnotes)|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim, without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim, without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV 2022-23">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Equinox 2019-22">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Silverado 1500 2020-21">Buy Here</a></sub></details>|||
|
||||
@@ -32,34 +32,34 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Chrysler|Pacifica 2021-23|All|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica 2021-23">Buy Here</a></sub></details>|||
|
||||
|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2017-18">Buy Here</a></sub></details>|||
|
||||
|Chrysler|Pacifica Hybrid 2019-25|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2019-25">Buy Here</a></sub></details>|||
|
||||
|comma|body|All|openpilot|0 mph|0 mph|[](##)|[](##)|None|<a href="https://youtu.be/VT-i3yRsX2s?t=2736" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|comma|body|All|openpilot|0 mph|0 mph|[](##)|[](##)|None|<a href="https://youtu.be/VT-i3yRsX2s?t=2736" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|CUPRA[<sup>11</sup>](#footnotes)|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
|
||||
|Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Dodge Durango 2020-21">Buy Here</a></sub></details>|||
|
||||
|Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Bronco Sport 2021-24">Buy Here</a></sub></details>|||
|
||||
|Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2020-22">Buy Here</a></sub></details>|||
|
||||
|Ford|Escape 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Escape 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
|
||||
|Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Hybrid 2020-22">Buy Here</a></sub></details>|||
|
||||
|Ford|Escape Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Hybrid 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Escape Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Hybrid 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
|
||||
|Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Plug-in Hybrid 2020-22">Buy Here</a></sub></details>|||
|
||||
|Ford|Escape Plug-in Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Plug-in Hybrid 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Expedition 2022-24|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Expedition 2022-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Escape Plug-in Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Plug-in Hybrid 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
|
||||
|Ford|Expedition 2022-24|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Expedition 2022-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
|
||||
|Ford|Explorer 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Explorer 2020-24">Buy Here</a></sub></details>|||
|
||||
|Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Explorer Hybrid 2020-24">Buy Here</a></sub></details>|||
|
||||
|Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 Hybrid 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
|
||||
|Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 Hybrid 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
|
||||
|Ford|Focus 2018[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus 2018">Buy Here</a></sub></details>|||
|
||||
|Ford|Focus Hybrid 2018[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus Hybrid 2018">Buy Here</a></sub></details>|||
|
||||
|Ford|Kuga 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga 2020-23">Buy Here</a></sub></details>|||
|
||||
|Ford|Kuga Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2020-23">Buy Here</a></sub></details>|||
|
||||
|Ford|Kuga Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Kuga Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
|
||||
|Ford|Kuga Plug-in Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Plug-in Hybrid 2020-23">Buy Here</a></sub></details>|||
|
||||
|Ford|Kuga Plug-in Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Plug-in Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Kuga Plug-in Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Plug-in Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
|
||||
|Ford|Maverick 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick 2022">Buy Here</a></sub></details>|||
|
||||
|Ford|Maverick 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick 2023-24">Buy Here</a></sub></details>|||
|
||||
|Ford|Maverick Hybrid 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick Hybrid 2022">Buy Here</a></sub></details>|||
|
||||
|Ford|Maverick Hybrid 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick Hybrid 2023-24">Buy Here</a></sub></details>|||
|
||||
|Ford|Mustang Mach-E 2021-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Mustang Mach-E 2021-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Ranger 2024|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Ranger 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Mustang Mach-E 2021-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Mustang Mach-E 2021-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
|
||||
|Ford|Ranger 2024|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Ranger 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
|
||||
|Genesis|G70 2018|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G70 2018">Buy Here</a></sub></details>|||
|
||||
|Genesis|G70 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G70 2019-21">Buy Here</a></sub></details>|||
|
||||
|Genesis|G70 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G70 2022-23">Buy Here</a></sub></details>|||
|
||||
@@ -74,18 +74,18 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Genesis|GV70 Electrified (Australia Only) 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV70 Electrified (Australia Only) 2022">Buy Here</a></sub></details>|||
|
||||
|Genesis|GV70 Electrified (with HDA II) 2023-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV70 Electrified (with HDA II) 2023-24">Buy Here</a></sub></details>|||
|
||||
|Genesis|GV80 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV80 2023">Buy Here</a></sub></details>|||
|
||||
|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=GMC Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=GMC Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Accord 2023-25|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
|
||||
|Honda|Accord Hybrid 2023-25|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|City (Brazil only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|14 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Honda|Civic 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Civic 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hatchback 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Civic Hatchback Hybrid 2025-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025-26">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hybrid 2025-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hybrid 2025-26">Buy Here</a></sub></details>|||
|
||||
@@ -117,9 +117,9 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Hyundai|Custin 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Custin 2023">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Elantra 2017-18|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra 2017-18">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Elantra 2019|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra 2019">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Hyundai|Elantra GT 2017-20|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra GT 2017-20">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Genesis 2015-16">Buy Here</a></sub></details>|||
|
||||
|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai i30 2017-19">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq 5 (Southeast Asia and Europe only) 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (Southeast Asia and Europe only) 2022-24">Buy Here</a></sub></details>|||
|
||||
@@ -136,17 +136,17 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Hyundai|Kona 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona 2022-23">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric 2018-21">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric 2022-23">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Kona Electric (with HDA II, Korea only) 2023|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Hyundai|Kona Electric (with HDA II, Korea only) 2023|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Hybrid 2020">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Nexo 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Nexo 2021">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Hyundai|Santa Cruz 2022-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Cruz 2022-24">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe 2019-20">Buy Here</a></sub></details>|<a href="https://youtu.be/bjDR0YjM__s" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Hyundai|Santa Fe 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe 2019-20">Buy Here</a></sub></details>|<a href="https://youtu.be/bjDR0YjM__s" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Hyundai|Santa Fe 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Hyundai|Santa Fe Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe Hybrid 2022-23">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Santa Fe Plug-in Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe Plug-in Hybrid 2022-23">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Sonata 2018-19">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Sonata 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Sonata 2020-23">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Hyundai|Sonata 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Sonata 2020-23">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Hyundai|Sonata Hybrid 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Sonata Hybrid 2020-23">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Staria 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Staria 2023">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson 2021">Buy Here</a></sub></details>|||
|
||||
@@ -156,8 +156,8 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Hyundai|Tucson Hybrid 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson Hybrid 2022-24">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Tucson Plug-in Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson Plug-in Hybrid 2024">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Veloster 2019-20">Buy Here</a></sub></details>|||
|
||||
|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Jeep Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Jeep Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Jeep Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Jeep Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Kia|Carnival 2022-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival 2022-24">Buy Here</a></sub></details>|||
|
||||
|Kia|Carnival (China only) 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival (China only) 2023">Buy Here</a></sub></details>|||
|
||||
|Kia|Ceed 2019-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Ceed 2019-21">Buy Here</a></sub></details>|||
|
||||
@@ -170,10 +170,10 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K5 Hybrid 2020-22">Buy Here</a></sub></details>|||
|
||||
|Kia|K7 2017|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K7 2017">Buy Here</a></sub></details>|||
|
||||
|Kia|K8 Hybrid (with HDA II) 2023|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K8 Hybrid (with HDA II) 2023">Buy Here</a></sub></details>|||
|
||||
|Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2020">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2021">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2022">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2020">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2021">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2022">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Kia|Niro EV (with HDA II) 2024-25|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV (with HDA II) 2024-25">Buy Here</a></sub></details>|||
|
||||
|Kia|Niro EV (without HDA II) 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV (without HDA II) 2023-25">Buy Here</a></sub></details>|||
|
||||
|Kia|Niro Hybrid 2018|Smart Cruise Control (SCC)|Stock|10 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Hybrid 2018">Buy Here</a></sub></details>|||
|
||||
@@ -188,21 +188,21 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Optima 2019-20">Buy Here</a></sub></details>|||
|
||||
|Kia|Optima Hybrid 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Optima Hybrid 2019">Buy Here</a></sub></details>|||
|
||||
|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Seltos 2021">Buy Here</a></sub></details>|||
|
||||
|Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Kia|Sorento 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2021-23">Buy Here</a></sub></details>|||
|
||||
|Kia|Sorento Hybrid 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento Hybrid 2021-23">Buy Here</a></sub></details>|||
|
||||
|Kia|Sorento Plug-in Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>|||
|
||||
|Kia|Sportage 2023-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sportage 2023-24">Buy Here</a></sub></details>|||
|
||||
|Kia|Sportage Hybrid 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sportage Hybrid 2023">Buy Here</a></sub></details>|||
|
||||
|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Stinger 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Stinger 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Kia|Stinger 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Stinger 2022-23">Buy Here</a></sub></details>|||
|
||||
|Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Telluride 2020-22">Buy Here</a></sub></details>|||
|
||||
|Lexus|CT Hybrid 2017-18|Lexus Safety System+|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus CT Hybrid 2017-18">Buy Here</a></sub></details>|||
|
||||
|Lexus|ES 2017-18|All|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES 2017-18">Buy Here</a></sub></details>|||
|
||||
|Lexus|ES 2019-25|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES 2019-25">Buy Here</a></sub></details>|||
|
||||
|Lexus|ES Hybrid 2017-18|All|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES Hybrid 2017-18">Buy Here</a></sub></details>|||
|
||||
|Lexus|ES Hybrid 2019-25|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES Hybrid 2019-25">Buy Here</a></sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Lexus|ES Hybrid 2019-25|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES Hybrid 2019-25">Buy Here</a></sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Lexus|GS F 2016|All|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus GS F 2016">Buy Here</a></sub></details>|||
|
||||
|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus IS 2017-19">Buy Here</a></sub></details>|||
|
||||
|Lexus|IS 2022-24|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus IS 2022-24">Buy Here</a></sub></details>|||
|
||||
@@ -223,25 +223,25 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Lexus|UX Hybrid 2019-24|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus UX Hybrid 2019-24">Buy Here</a></sub></details>|||
|
||||
|Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator 2020-24">Buy Here</a></sub></details>|||
|
||||
|Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>|||
|
||||
|MAN[<sup>11</sup>](#footnotes)|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|MAN[<sup>11</sup>](#footnotes)|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|MAN[<sup>11</sup>](#footnotes)|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|MAN[<sup>11</sup>](#footnotes)|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-5 2022-25">Buy Here</a></sub></details>|||
|
||||
|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Nissan[<sup>5</sup>](#footnotes)|Altima 2019-20, 2024|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-20, 2024">Buy Here</a></sub></details>|||
|
||||
|Nissan[<sup>5</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Nissan[<sup>5</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Nissan[<sup>5</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Rogue 2018-20">Buy Here</a></sub></details>|||
|
||||
|Nissan[<sup>5</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
|
||||
|Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|32 mph|1 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 1500 2019-24">Buy Here</a></sub></details>|||
|
||||
|Ram|2500 2020-24|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 2500 2020-24">Buy Here</a></sub></details>|||
|
||||
|Ram|3500 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 3500 2019-22">Buy Here</a></sub></details>|||
|
||||
|Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
|
||||
|Rivian|R1S 2025|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2025">Buy Here</a></sub></details>|||
|
||||
|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
|
||||
|Rivian|R1T 2025|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2025">Buy Here</a></sub></details>|||
|
||||
|SEAT[<sup>11</sup>](#footnotes)|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
|
||||
|SEAT[<sup>11</sup>](#footnotes)|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
|
||||
|Subaru|Ascent 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Forester 2017-18|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2017-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Forester 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
@@ -252,7 +252,7 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Subaru|Outback 2015-17|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2015-17">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Outback 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Outback 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Škoda|Fabia 2022-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Fabia 2022-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
|
||||
|Škoda|Kamiq 2021-23[<sup>12,14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
|
||||
@@ -279,50 +279,50 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Toyota|C-HR 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR 2021">Buy Here</a></sub></details>|||
|
||||
|Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR Hybrid 2017-20">Buy Here</a></sub></details>|||
|
||||
|Toyota|C-HR Hybrid 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR Hybrid 2021-22">Buy Here</a></sub></details>|||
|
||||
|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>10</sup>](#footnotes)|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>10</sup>](#footnotes)|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>10</sup>](#footnotes)|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2021-24">Buy Here</a></sub></details>|||
|
||||
|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Toyota|Camry Hybrid 2021-24|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry Hybrid 2021-24">Buy Here</a></sub></details>|||
|
||||
|Toyota|Corolla 2017-19|All|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla 2017-19">Buy Here</a></sub></details>|||
|
||||
|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla 2020-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla 2020-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Cross (Non-US only) 2020-23">Buy Here</a></sub></details>|||
|
||||
|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Cross Hybrid (Non-US only) 2020-22">Buy Here</a></sub></details>|||
|
||||
|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Hatchback 2019-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Hatchback 2019-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Hybrid 2020-22">Buy Here</a></sub></details>|||
|
||||
|Toyota|Corolla Hybrid (South America only) 2020-23|All|openpilot|17 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Hybrid (South America only) 2020-23">Buy Here</a></sub></details>|||
|
||||
|Toyota|Highlander 2017-19|All|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander 2017-19">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|Highlander 2017-19|All|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander 2017-19">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander 2020-23">Buy Here</a></sub></details>|||
|
||||
|Toyota|Highlander Hybrid 2017-19|All|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander Hybrid 2017-19">Buy Here</a></sub></details>|||
|
||||
|Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander Hybrid 2020-23">Buy Here</a></sub></details>|||
|
||||
|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Mirai 2021">Buy Here</a></sub></details>|||
|
||||
|Toyota|Prius 2016|Toyota Safety Sense P|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 2016">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|Prius 2017-20|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|Prius Prime 2017-20|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius Prime 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius Prime 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|Prius 2016|Toyota Safety Sense P|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 2016">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Toyota|Prius 2017-20|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Toyota|Prius Prime 2017-20|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius Prime 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius Prime 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Toyota|Prius v 2017|Toyota Safety Sense P|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius v 2017">Buy Here</a></sub></details>|||
|
||||
|Toyota|RAV4 2016|Toyota Safety Sense P|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2016">Buy Here</a></sub></details>|||
|
||||
|Toyota|RAV4 2017-18|All|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2017-18">Buy Here</a></sub></details>|||
|
||||
|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=wJxjDd42gGA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=wJxjDd42gGA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Toyota|RAV4 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2022">Buy Here</a></sub></details>|||
|
||||
|Toyota|RAV4 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2023-25">Buy Here</a></sub></details>|||
|
||||
|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2016">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|RAV4 Hybrid 2017-18|All|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2016">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Toyota|RAV4 Hybrid 2017-18|All|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2019-21">Buy Here</a></sub></details>|||
|
||||
|Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|RAV4 Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|Sienna 2018-20|All|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Toyota|RAV4 Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Toyota|Sienna 2018-20|All|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas 2018-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen California 2021-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Caravelle 2020">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Golf 2014-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf 2015-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
|
||||
@@ -331,7 +331,7 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTI 2015-21">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Jetta 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2019-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Passat 2015-22[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
|
||||
|
||||
24
docs/DEVELOPMENT.md
Normal file
24
docs/DEVELOPMENT.md
Normal file
@@ -0,0 +1,24 @@
|
||||
# Docs development
|
||||
|
||||
The `docs/` tree is the source for [docs.comma.ai](https://docs.comma.ai).
|
||||
The site is updated on pushes to master by this [workflow](../.github/workflows/docs.yaml).
|
||||
|
||||
Those commands must be run in the root directory of openpilot, **not /docs**
|
||||
|
||||
**1. Install the docs dependencies**
|
||||
``` bash
|
||||
uv pip install .[docs]
|
||||
```
|
||||
|
||||
**2. Build the new site**
|
||||
``` bash
|
||||
docs build
|
||||
```
|
||||
|
||||
**3. Run the new site locally**
|
||||
``` bash
|
||||
docs serve
|
||||
```
|
||||
|
||||
References:
|
||||
* https://zensical.org/docs/
|
||||
@@ -1,26 +0,0 @@
|
||||
# openpilot docs
|
||||
|
||||
This is the source for [docs.comma.ai](https://docs.comma.ai).
|
||||
The site is updated on pushes to master by this [workflow](../.github/workflows/docs.yaml).
|
||||
|
||||
## Development
|
||||
NOTE: Those commands must be run in the root directory of openpilot, **not /docs**
|
||||
|
||||
**1. Install the docs dependencies**
|
||||
``` bash
|
||||
uv pip install .[docs]
|
||||
```
|
||||
|
||||
**2. Build the new site**
|
||||
``` bash
|
||||
mkdocs build
|
||||
```
|
||||
|
||||
**3. Run the new site locally**
|
||||
``` bash
|
||||
mkdocs serve
|
||||
```
|
||||
|
||||
References:
|
||||
* https://www.mkdocs.org/getting-started/
|
||||
* https://github.com/ntno/mkdocs-terminal
|
||||
1
docs/assets/comma-logo.png
Symbolic link
1
docs/assets/comma-logo.png
Symbolic link
@@ -0,0 +1 @@
|
||||
../../selfdrive/assets/icons_mici/settings/comma_icon.png
|
||||
@@ -1,5 +0,0 @@
|
||||
# Developing a car brand port
|
||||
|
||||
A brand port is a port of openpilot to a substantially new car brand or platform within a brand.
|
||||
|
||||
Here's an example of one: https://github.com/commaai/openpilot/pull/23331.
|
||||
@@ -1,65 +0,0 @@
|
||||
# CarState signals
|
||||
|
||||
## Required for basic lateral control
|
||||
|
||||
* `brakePressed`
|
||||
* `cruiseState`
|
||||
* `doorOpen`
|
||||
* `espDisabled`
|
||||
* `gasPressed`
|
||||
* `gearShifter`
|
||||
* `leftBlinker` / `rightBlinker`
|
||||
* `seatbeltUnlatched`
|
||||
* `standstill`
|
||||
* `steeringAngleDeg`
|
||||
* `steeringPressed`
|
||||
* `steeringTorque`
|
||||
* `steerFaultPermanent`
|
||||
* `steerFaultTemporary`
|
||||
* `vCruise`
|
||||
* `wheelSpeeds.[fl|fr|rl|rr]`: Speed of each of the car's four wheels, in m/s. The car's CAN bus often broadcasts the
|
||||
speed in kph, so the helper function `parse_wheel_speeds` performs this conversion by default.
|
||||
|
||||
## Recommended / Required for openpilot longitudinal control
|
||||
|
||||
* `accFaulted`
|
||||
* `espActive`
|
||||
* `parkingBrake`
|
||||
|
||||
## Application Dependent
|
||||
|
||||
* `blockPcmEnable`
|
||||
* `buttonEnable`
|
||||
* `brakeHoldActive`
|
||||
* `carFaultedNonCritical`
|
||||
* `invalidLkasSetting`
|
||||
* `lowSpeedAlert`
|
||||
* `regenBraking`
|
||||
* `steeringAngleOffsetDeg`
|
||||
* `steeringDisengage`
|
||||
* `steeringTorqueEps`
|
||||
* `stockLkas`
|
||||
* `vCruiseCluster`
|
||||
* `vEgoCluster`
|
||||
* `vehicleSensorsInvalid`
|
||||
|
||||
## Automatically populated
|
||||
|
||||
* `buttonEvents`
|
||||
|
||||
These values are populated automatically by `parse_wheel_speeds`:
|
||||
|
||||
* `aEgo`: Acceleration of the ego vehicle, Kalman filtered derivative of `vEgo`.
|
||||
* `vEgo`: Speed of the ego vehicle, Kalman filtered from `vEgoRaw`.
|
||||
* `vEgoRaw`: Speed of the ego vehicle, based on the average of all four wheel speeds, unfiltered.
|
||||
|
||||
## Optional
|
||||
|
||||
* `brake`
|
||||
* `charging`
|
||||
* `fuelGauge`
|
||||
* `leftBlindspot` / `rightBlindspot`
|
||||
* `steeringRateDeg`
|
||||
* `stockAeb`
|
||||
* `stockFcw`
|
||||
* `yawRate`
|
||||
@@ -1,5 +0,0 @@
|
||||
# Developing a car model port
|
||||
|
||||
A model port is a port of openpilot to a new car model within an already supported brand. Model ports are easier than brand ports because the car's existing APIs are already known.
|
||||
|
||||
Here's an example of one: https://github.com/commaai/openpilot/pull/30672/.
|
||||
@@ -1,85 +0,0 @@
|
||||
# Stimulus-Response Tests
|
||||
|
||||
These are example test drives that can help identify the CAN bus messaging necessary for ADAS control. Each scripted
|
||||
test should be done in a separate route (ignition cycle). These tests are a guide, not necessarily exhaustive.
|
||||
|
||||
While testing, constant power to the comma device is highly recommended, using [comma power](https://comma.ai/shop/comma-power) if
|
||||
necessary to make sure all test activity is fully captured and for ease of uploading. If constant power isn't
|
||||
available, keep the ignition on for at least one minute after your test to make sure power loss doesn't result
|
||||
in loss of the last minute of testing data.
|
||||
|
||||
## Stationary ignition-only tests, part 1
|
||||
|
||||
1. Ignition on, but don't start engine, remain in Park
|
||||
2. Open and close each door in a defined order: driver, passenger, rear left, rear right
|
||||
3. Re-enter the vehicle, close the driver's door, and fasten the driver's seatbelt
|
||||
4. Slowly press and release the accelerator pedal 3 times
|
||||
5. Slowly press and release the brake pedal 3 times
|
||||
6. Hold the brake and move the gearshift to reverse, then neutral, then drive, then sport/eco/etc if applicable
|
||||
7. Return to Park, ignition off
|
||||
|
||||
Brake-pressed information may show up in several messages and signals, both as on/off states and as a percentage or
|
||||
pressure. It may reflect a switch on the driver's brake pedal, or a pressure-threshold state, or signals to turn on
|
||||
the rear brake lights. Start by identifying all the potential signals, and confirm while driving with ACC later.
|
||||
|
||||
Locate signals for all four door states if possible, but some cars only expose the driver's door state on the ADAS bus.
|
||||
Driver/passenger door signals may or may not change positions for LHD vs RHD cars. For cars where only the driver's
|
||||
door signal is available, the same signal may follow the driver.
|
||||
|
||||
## Stationary ignition-only tests, part 2
|
||||
|
||||
1. Ignition on, but don't start engine, remain in Park
|
||||
2. Press each ACC button in a defined order: main switch on/off, set, resume, cancel, accel, decel, gap adjust
|
||||
3. Set the left turn signal for about five seconds
|
||||
4. Operate the left turn signal one time in its touch-to-pass mode
|
||||
5. Set the right turn signal for about five seconds
|
||||
6. Operate the right turn signal one time in its touch-to-pass mode
|
||||
7. Set the hazard / emergency indicator switch for about five seconds
|
||||
8. Ignition off
|
||||
|
||||
Your vehicle may have a momentary-press main ACC switch or a physical toggle that remains set. Actual ACC engagement
|
||||
isn't necessary for purposes of detecting the ACC button presses.
|
||||
|
||||
## Steering angle and steering torque tests
|
||||
|
||||
Power steering should be available. On ICE cars, engine RPM may be present.
|
||||
|
||||
1. Ignition on, start engine if applicable, remain in Park
|
||||
2. Rotate the steering wheel as follows, with a few seconds pause between each step
|
||||
* Start as close to exact center as possible
|
||||
* Turn to 45 degrees right and hold
|
||||
* Turn to 90 degrees right and hold
|
||||
* Turn to 180 degrees right and hold
|
||||
* Turn to full lock right and hold, with firm pressure against lock
|
||||
* Release the wheel and allow it to bounce back slightly from lock
|
||||
* Turn to 180 degrees left and hold
|
||||
* Return to center and release
|
||||
3. Ignition off
|
||||
|
||||
Performing the full test to the right, followed by an abbreviated test to the left, helps give additional confirmation
|
||||
of signal scale, and sign/direction for both the steering wheel angle and driver input torque signals.
|
||||
|
||||
## Low speed / parking lot driving tests
|
||||
|
||||
Before this test, drive to a place like an empty parking lot where you are free to drive in a series of curves.
|
||||
|
||||
1. Ignition on, start engine if applicable, prepare to drive
|
||||
2. Slowly (10-20mph at most) drive a figure-8 if possible, or at least one sharp left and one sharp right.
|
||||
3. Come to a complete stop
|
||||
4. When and where safe, drive in reverse for a short distance (10-15 feet)
|
||||
5. Park the car in a safe place, ignition off
|
||||
|
||||
## High speed / highway driving tests
|
||||
|
||||
Select a place and time where you can safely set cruise control at normal travel speeds with little interference from
|
||||
traffic ahead, and safely test the response of your factory lane guidance system.
|
||||
|
||||
1. Ignition on, start engine if applicable, prepare to drive
|
||||
2. When safely able, engage adaptive cruise control below 50 mph
|
||||
3. When safely able, use the ACC buttons to accelerate to 50mph, then 55mph, then 60mph
|
||||
4. Disengage adaptive cruise
|
||||
5. When safely able, allow your factory lane guidance to prevent lane departures, 2-3 times on both the left and right
|
||||
|
||||
The series of setpoints can be adjusted to local traffic regulations, and of course metric units. The specific cruise
|
||||
setpoints are useful for locating the ACC HUD signals later, and confirming their precise scaling. When the car reaches
|
||||
and holds the setpoint, that can also provide additional confirmation of wheel speed scaling.
|
||||
@@ -1,9 +1,3 @@
|
||||
# openpilot glossary
|
||||
|
||||
* **onroad**: openpilot's system state while ignition is on
|
||||
* **offroad**: openpilot's system state while ignition is off
|
||||
* **route**: a route is a recording of an onroad session
|
||||
* **segment**: routes are split into one minute chunks called segments.
|
||||
* **comma connect**: the web viewer for all your routes; check it out at [connect.comma.ai](https://connect.comma.ai).
|
||||
* **panda**: this is the secondary processor on the device that implements the functional safety and directly talks to the car over CAN. See the [panda repo](https://github.com/commaai/panda).
|
||||
* **comma four**: the latest hardware by comma.ai for running openpilot. more info at [comma.ai/shop/comma-four](https://www.comma.ai/shop/comma-four).
|
||||
{{GLOSSARY_DEFINITIONS}}
|
||||
|
||||
@@ -6,9 +6,9 @@ Check out our [Python library](https://github.com/commaai/openpilot/blob/master/
|
||||
|
||||
For each segment, openpilot records the following log types:
|
||||
|
||||
## rlog.bz2
|
||||
## rlog.zst
|
||||
|
||||
rlogs contain all the messages passed amongst openpilot's processes. See [cereal/services.py](https://github.com/commaai/cereal/blob/master/services.py) for a list of all the logged services. They're a bzip2 archive of the serialized capnproto messages.
|
||||
rlogs contain all the messages passed amongst openpilot's processes. See [cereal/services.py](https://github.com/commaai/openpilot/blob/master/cereal/services.py) for a list of all the logged services. They're a zstd archive of the serialized [Cap’n Proto](https://capnproto.org/) messages.
|
||||
|
||||
## {f,e,d}camera.hevc
|
||||
|
||||
@@ -18,12 +18,10 @@ Each camera stream is H.265 encoded and written to its respective file.
|
||||
* `ecamera.hevc` is the wide road camera
|
||||
* `dcamera.hevc` is the driver camera
|
||||
|
||||
## qlog.bz2 & qcamera.ts
|
||||
## qlog.zst & qcamera.ts
|
||||
|
||||
qlogs are a decimated subset of the rlogs. Check out [cereal/services.py](https://github.com/commaai/cereal/blob/master/services.py) for the decimation.
|
||||
|
||||
|
||||
qcameras are H.264 encoded, lower res versions of the fcamera.hevc. The video shown in [comma connect](https://connect.comma.ai/) is from the qcameras.
|
||||
|
||||
|
||||
qlogs and qcameras are designed to be small enough to upload instantly on slow internet and store forever, yet useful enough for most analysis and debugging.
|
||||
qlogs and qcameras are designed to be small enough to upload instantly on slow internet, yet useful enough for most analysis and debugging.
|
||||
|
||||
36
docs/contributing/feedback.md
Normal file
36
docs/contributing/feedback.md
Normal file
@@ -0,0 +1,36 @@
|
||||
# How to Give Feedback
|
||||
|
||||
Feedback is one of the highest leverage ways to contribute to openpilot as a user.
|
||||
|
||||
## Driving
|
||||
|
||||
Got feedback about how your car drives?
|
||||
Join the community Discord, then use the form in `#submit-feedback`.
|
||||
|
||||
Before posting feedback, please ensure:
|
||||
|
||||
- **openpilot is up to date** you should be on the latest openpilot release or nightly
|
||||
- **both road-facing cameras have a clear view** your windshield is clean, lenses are clean, etc.
|
||||
- **your device is mounted properly** your device must be mounted horizontally center and relatively high on the windshield
|
||||
|
||||
## Driver Monitoring
|
||||
|
||||
If you find DM annoying while being perfectly attentive, these are likely false positives and we want to fix them!
|
||||
In general, driver monitoring feedback is very actionable, and we can fix your complaint within a release cycle.
|
||||
|
||||
To post your feedback:
|
||||
|
||||
1. Join the [community Discord](https://discord.comma.ai).
|
||||
2. If driver camera recording is toggled off, temporarily enable driver camera recording in the settings until you reproduce the issue.
|
||||
3. Using comma connect, identify the relevant segment and upload the segment's logs and driver camera.
|
||||
4. Post the segment in the `#openpilot-experience` channel on Discord with a good description.
|
||||
|
||||
Before posting feedback, please ensure:
|
||||
|
||||
- **openpilot is up to date** you should be on the latest openpilot release or nightly
|
||||
- **the driver camera has a clear view of the driver** ensure nothing blocks view of the driver (e.g. a cable), the lens is clean, etc.
|
||||
- **your device is mounted properly** your device must be mounted horizontally center and relatively high on the windshield
|
||||
|
||||
## Other bugs
|
||||
|
||||
Got an issue with something else? Open an issue on our [GitHub issue tracker](https://github.com/commaai/openpilot/issues/new/choose).
|
||||
@@ -7,25 +7,11 @@ This is the roadmap for the next major openpilot releases. Also check out
|
||||
* [Bounties](https://comma.ai/bounties) for paid individual issues
|
||||
* [#current-projects](https://discord.com/channels/469524606043160576/1249579909739708446) in Discord for discussion on work-in-progress projects
|
||||
|
||||
## openpilot 0.10
|
||||
|
||||
openpilot 0.10 will be the first release with a driving policy trained in
|
||||
a [learned simulator](https://youtu.be/EqQNZXqzFSI).
|
||||
|
||||
* Driving model trained in a learned simulator
|
||||
* Always-on driver monitoring (behind a toggle)
|
||||
* GPS removed from the driving stack
|
||||
* 100KB qlogs
|
||||
* `nightly` pushed after 1000 hours of hardware-in-the-loop testing
|
||||
* Car interface code moved into [opendbc](https://github.com/commaai/opendbc)
|
||||
* openpilot on PC for Linux x86, Linux arm64, and Mac (Apple Silicon)
|
||||
|
||||
## openpilot 1.0
|
||||
|
||||
openpilot 1.0 will feature a fully end-to-end driving policy.
|
||||
|
||||
* End-to-end longitudinal control in Chill mode
|
||||
* Automatic Emergency Braking (AEB)
|
||||
* Driver monitoring with sleep detection
|
||||
* Rolling updates/releases pushed out by CI
|
||||
* [panda safety 1.0](https://github.com/orgs/commaai/projects/27)
|
||||
|
||||
@@ -1,44 +0,0 @@
|
||||
[data-tooltip] {
|
||||
position: relative;
|
||||
display: inline-block;
|
||||
border-bottom: 1px dotted black;
|
||||
}
|
||||
|
||||
[data-tooltip] .tooltip-content {
|
||||
width: max-content;
|
||||
max-width: 25em;
|
||||
position: absolute;
|
||||
top: 100%;
|
||||
left: 50%;
|
||||
transform: translateX(-50%);
|
||||
background-color: white;
|
||||
color: #404040;
|
||||
box-shadow: 0 4px 14px 0 rgba(0,0,0,.2), 0 0 0 1px rgba(0,0,0,.05);
|
||||
padding: 10px;
|
||||
font: 14px/1.5 Lato, proxima-nova, Helvetica Neue, Arial, sans-serif;
|
||||
text-decoration: none;
|
||||
opacity: 0;
|
||||
visibility: hidden;
|
||||
transition: opacity 0.1s, visibility 0s;
|
||||
z-index: 1000;
|
||||
pointer-events: none; /* Prevent accidental interaction */
|
||||
}
|
||||
|
||||
[data-tooltip]:hover .tooltip-content {
|
||||
opacity: 1;
|
||||
visibility: visible;
|
||||
pointer-events: auto; /* Allow interaction when visible */
|
||||
}
|
||||
|
||||
.tooltip-content .tooltip-glossary-link {
|
||||
display: inline-block;
|
||||
margin-top: 8px;
|
||||
font-size: 12px;
|
||||
color: #007bff;
|
||||
text-decoration: none;
|
||||
}
|
||||
|
||||
.tooltip-content .tooltip-glossary-link:hover {
|
||||
color: #0056b3;
|
||||
text-decoration: underline;
|
||||
}
|
||||
216
docs/ext/glossary.py
Normal file
216
docs/ext/glossary.py
Normal file
@@ -0,0 +1,216 @@
|
||||
import posixpath
|
||||
import re
|
||||
import tomllib
|
||||
import xml.etree.ElementTree as ET
|
||||
from pathlib import Path
|
||||
|
||||
from markdown.extensions import Extension
|
||||
from markdown.preprocessors import Preprocessor
|
||||
from markdown.treeprocessors import Treeprocessor
|
||||
|
||||
from zensical.extensions.links import LinksProcessor
|
||||
|
||||
GlossaryTerm = tuple[str, re.Pattern[str], str]
|
||||
|
||||
GLOSSARY_FILE = Path(__file__).with_name("glossary.toml")
|
||||
GLOSSARY_PAGE = "concepts/glossary.md"
|
||||
GLOSSARY_PLACEHOLDER = "{{GLOSSARY_DEFINITIONS}}"
|
||||
|
||||
SKIP_TAGS = {
|
||||
"a",
|
||||
"code",
|
||||
"h1",
|
||||
"h2",
|
||||
"h3",
|
||||
"h4",
|
||||
"h5",
|
||||
"h6",
|
||||
"kbd",
|
||||
"pre",
|
||||
"script",
|
||||
"style",
|
||||
}
|
||||
|
||||
def clean_tooltip(description: str) -> str:
|
||||
text = re.sub(r"\[([^\]]+)]\([^)]+\)", r"\1", description)
|
||||
text = re.sub(r"`([^`]+)`", r"\1", text)
|
||||
text = re.sub(r"[*_~]", "", text)
|
||||
return re.sub(r"\s+", " ", text).strip()
|
||||
|
||||
|
||||
def load_glossary() -> tuple[list[GlossaryTerm], str]:
|
||||
with GLOSSARY_FILE.open("rb") as f:
|
||||
glossary_data = tomllib.load(f).get("glossary", {})
|
||||
|
||||
glossary: list[GlossaryTerm] = []
|
||||
rendered = []
|
||||
for key, value in glossary_data.items():
|
||||
label = str(key).strip().replace("_", " ")
|
||||
description = str(value).strip()
|
||||
if not description:
|
||||
continue
|
||||
|
||||
slug = label.replace(" ", "-").replace("_", "-").lower()
|
||||
glossary.append((slug, re.compile(rf"(?<!\w){re.escape(label)}(?!\w)", re.IGNORECASE), clean_tooltip(description)))
|
||||
rendered.append(f'* <span id="{slug}"></span>**{label}**: {description}')
|
||||
|
||||
return glossary, "\n".join(rendered)
|
||||
|
||||
|
||||
class GlossaryPreprocessor(Preprocessor):
|
||||
def __init__(self, md, glossary: str):
|
||||
super().__init__(md)
|
||||
self.glossary = glossary
|
||||
|
||||
def run(self, lines: list[str]) -> list[str]:
|
||||
markdown = "\n".join(lines)
|
||||
if GLOSSARY_PLACEHOLDER not in markdown:
|
||||
return lines
|
||||
return markdown.replace(GLOSSARY_PLACEHOLDER, self.glossary).splitlines()
|
||||
|
||||
|
||||
class GlossaryTreeprocessor(Treeprocessor):
|
||||
def __init__(self, md, glossary: list[GlossaryTerm]):
|
||||
super().__init__(md)
|
||||
self.glossary = glossary
|
||||
self.seen: set[str] = set()
|
||||
|
||||
def run(self, root: ET.Element) -> None:
|
||||
at = self.md.treeprocessors.get_index_for_name("zrelpath")
|
||||
processor = self.md.treeprocessors[at]
|
||||
if not isinstance(processor, LinksProcessor):
|
||||
raise TypeError("Links processor not registered")
|
||||
if processor.path == GLOSSARY_PAGE:
|
||||
return
|
||||
|
||||
self.seen.clear()
|
||||
glossary_href = f"{posixpath.relpath(GLOSSARY_PAGE, posixpath.dirname(processor.path) or '.')}#"
|
||||
self._walk(root, glossary_href)
|
||||
|
||||
def _walk(self, element: ET.Element, glossary_href: str) -> None:
|
||||
if element.tag in SKIP_TAGS or element.attrib.get("data-glossary-skip") is not None:
|
||||
return
|
||||
|
||||
self._replace(element, glossary_href)
|
||||
|
||||
idx = 0
|
||||
while idx < len(element):
|
||||
child = element[idx]
|
||||
self._walk(child, glossary_href)
|
||||
idx = self._replace(element, glossary_href, idx) + 1
|
||||
|
||||
def _replace(self, parent: ET.Element, glossary_href: str, index: int | None = None) -> int:
|
||||
child = None if index is None else parent[index]
|
||||
text = parent.text if child is None else child.tail
|
||||
pieces = self._pieces(text or "", glossary_href)
|
||||
if not pieces:
|
||||
return -1 if index is None else index
|
||||
|
||||
if child is None:
|
||||
parent.text = pieces[0] if isinstance(pieces[0], str) else ""
|
||||
# Insert replacements for parent.text before the first existing child.
|
||||
insert_at = -1
|
||||
else:
|
||||
assert index is not None
|
||||
child.tail = pieces[0] if isinstance(pieces[0], str) else ""
|
||||
insert_at = index
|
||||
|
||||
start = 1 if isinstance(pieces[0], str) else 0
|
||||
previous = child
|
||||
|
||||
for piece in pieces[start:]:
|
||||
if isinstance(piece, str):
|
||||
previous.tail = (previous.tail or "") + piece
|
||||
continue
|
||||
|
||||
insert_at += 1
|
||||
parent.insert(insert_at, piece)
|
||||
previous = piece
|
||||
|
||||
return insert_at
|
||||
|
||||
def _pieces(self, text: str, glossary_href: str) -> list[str | ET.Element]:
|
||||
if not text.strip():
|
||||
return []
|
||||
|
||||
pieces: list[str | ET.Element] = []
|
||||
cursor = 0
|
||||
|
||||
while True:
|
||||
best = None
|
||||
for slug, pattern, tooltip in self.glossary:
|
||||
if slug in self.seen:
|
||||
continue
|
||||
|
||||
found = pattern.search(text, cursor)
|
||||
if found is None:
|
||||
continue
|
||||
|
||||
candidate = (slug, tooltip, found.start(), found.end())
|
||||
if best is None:
|
||||
best = candidate
|
||||
continue
|
||||
|
||||
_, _, best_start, best_end = best
|
||||
_, _, current_start, current_end = candidate
|
||||
if current_start < best_start:
|
||||
best = candidate
|
||||
continue
|
||||
|
||||
if current_start == best_start and current_end - current_start > best_end - best_start:
|
||||
best = candidate
|
||||
|
||||
if best is None:
|
||||
break
|
||||
|
||||
slug, tooltip, start, end = best
|
||||
if start > cursor:
|
||||
pieces.append(text[cursor:start])
|
||||
|
||||
link = ET.Element(
|
||||
"a",
|
||||
{
|
||||
"class": "glossary-term",
|
||||
"data-glossary-term": "",
|
||||
"href": f"{glossary_href}{slug}",
|
||||
},
|
||||
)
|
||||
ET.SubElement(link, "span", {"class": "glossary-term__label"}).text = text[start:end]
|
||||
ET.SubElement(
|
||||
link,
|
||||
"span",
|
||||
{
|
||||
"class": "glossary-term__tooltip",
|
||||
"data-search-exclude": "",
|
||||
},
|
||||
).text = tooltip
|
||||
pieces.append(link)
|
||||
self.seen.add(slug)
|
||||
cursor = end
|
||||
|
||||
if not pieces:
|
||||
return []
|
||||
if cursor < len(text):
|
||||
pieces.append(text[cursor:])
|
||||
return pieces
|
||||
|
||||
|
||||
class GlossaryExtension(Extension):
|
||||
def extendMarkdown(self, md) -> None:
|
||||
md.registerExtension(self)
|
||||
glossary, rendered = load_glossary()
|
||||
|
||||
md.preprocessors.register(
|
||||
GlossaryPreprocessor(md, rendered),
|
||||
"docs-ext-glossary-preprocessor",
|
||||
27,
|
||||
)
|
||||
md.treeprocessors.register(
|
||||
GlossaryTreeprocessor(md, glossary),
|
||||
"docs-ext-glossary-treeprocessor",
|
||||
0,
|
||||
)
|
||||
|
||||
|
||||
def makeExtension(**kwargs) -> GlossaryExtension:
|
||||
return GlossaryExtension(**kwargs)
|
||||
8
docs/ext/glossary.toml
Normal file
8
docs/ext/glossary.toml
Normal file
@@ -0,0 +1,8 @@
|
||||
[glossary]
|
||||
onroad = "openpilot's system state while ignition is on."
|
||||
offroad = "openpilot's system state while ignition is off."
|
||||
route = "A route is a recording of an onroad session."
|
||||
segment = "Routes are split into one minute chunks called segments."
|
||||
"comma connect" = "The web viewer for all your routes; check it out at [connect.comma.ai](https://connect.comma.ai)."
|
||||
panda = "The secondary processor on the device that implements the functional safety and directly talks to the car over CAN. See the [panda repo](https://github.com/commaai/panda)."
|
||||
"comma four" = "The latest hardware by comma.ai for running openpilot. More info at [comma.ai/shop/comma-four](https://www.comma.ai/shop/comma-four)."
|
||||
@@ -1,12 +0,0 @@
|
||||
# What is openpilot?
|
||||
|
||||
[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW), and Lane Departure Warning (LDW) for a growing variety of [supported car makes, models, and model years](https://github.com/commaai/openpilot/blob/master/docs/CARS.md). In addition, while openpilot is engaged, a camera-based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration](https://github.com/commaai/openpilot/blob/master/docs/INTEGRATION.md) and [limitations](https://github.com/commaai/openpilot/blob/master/docs/LIMITATIONS.md).
|
||||
|
||||
|
||||
## How do I use it?
|
||||
|
||||
openpilot is designed to be used on the comma four.
|
||||
|
||||
## How does it work?
|
||||
|
||||
In short, openpilot uses the car's existing APIs for the built-in [ADAS](https://en.wikipedia.org/wiki/Advanced_driver-assistance_system) system and simply provides better acceleration, braking, and steering inputs than the stock system.
|
||||
@@ -1,68 +0,0 @@
|
||||
import re
|
||||
import tomllib
|
||||
|
||||
def load_glossary(file_path="docs/glossary.toml"):
|
||||
with open(file_path, "rb") as f:
|
||||
glossary_data = tomllib.load(f)
|
||||
return glossary_data.get("glossary", {})
|
||||
|
||||
def generate_anchor_id(name):
|
||||
return name.replace(" ", "-").replace("_", "-").lower()
|
||||
|
||||
def format_markdown_term(name, definition):
|
||||
anchor_id = generate_anchor_id(name)
|
||||
markdown = f"* [**{name.replace('_', ' ').title()}**](#{anchor_id})"
|
||||
if definition.get("abbreviation"):
|
||||
markdown += f" *({definition['abbreviation']})*"
|
||||
if definition.get("description"):
|
||||
markdown += f": {definition['description']}\n"
|
||||
return markdown
|
||||
|
||||
def glossary_markdown(vocabulary):
|
||||
markdown = ""
|
||||
for category, terms in vocabulary.items():
|
||||
markdown += f"## {category.replace('_', ' ').title()}\n\n"
|
||||
for name, definition in terms.items():
|
||||
markdown += format_markdown_term(name, definition)
|
||||
return markdown
|
||||
|
||||
def format_tooltip_html(term_key, definition, html):
|
||||
display_term = term_key.replace("_", " ").title()
|
||||
clean_description = re.sub(r"\[(.+)]\(.+\)", r"\1", definition["description"])
|
||||
glossary_link = (
|
||||
f"<a href='/concepts/glossary#{term_key}' class='tooltip-glossary-link' title='View in glossary'>Glossary🔗</a>"
|
||||
)
|
||||
return re.sub(
|
||||
re.escape(display_term),
|
||||
lambda
|
||||
match: f"<span data-tooltip>{match.group(0)}<span class='tooltip-content'>{clean_description} {glossary_link}</span></span>",
|
||||
html,
|
||||
flags=re.IGNORECASE,
|
||||
)
|
||||
|
||||
def apply_tooltip(_term_key, _definition, pattern, html):
|
||||
return re.sub(
|
||||
pattern,
|
||||
lambda match: format_tooltip_html(_term_key, _definition, match.group(0)),
|
||||
html,
|
||||
flags=re.IGNORECASE,
|
||||
)
|
||||
|
||||
def tooltip_html(vocabulary, html):
|
||||
for _category, terms in vocabulary.items():
|
||||
for term_key, definition in terms.items():
|
||||
if definition.get("description"):
|
||||
pattern = rf"(?<!\w){re.escape(term_key.replace('_', ' ').title())}(?![^<]*<\/a>)(?!\([^)]*\))"
|
||||
html = apply_tooltip(term_key, definition, pattern, html)
|
||||
return html
|
||||
|
||||
# Page Hooks
|
||||
def on_page_markdown(markdown, **kwargs):
|
||||
glossary = load_glossary()
|
||||
return markdown.replace("{{GLOSSARY_DEFINITIONS}}", glossary_markdown(glossary))
|
||||
|
||||
def on_page_content(html, **kwargs):
|
||||
if kwargs.get("page").title == "Glossary":
|
||||
return html
|
||||
glossary = load_glossary()
|
||||
return tooltip_html(glossary, html)
|
||||
@@ -8,7 +8,7 @@ A car port enables openpilot support on a particular car. Each car model openpil
|
||||
|
||||
# Structure of a car port
|
||||
|
||||
Virtually all car-specific code is contained in two other repositories: [opendbc](https://github.com/commaai/opendbc) and [panda](https://github.com/commaai/panda).
|
||||
All car-specific code is contained in the [opendbc](https://github.com/commaai/opendbc) project.
|
||||
|
||||
## opendbc
|
||||
|
||||
@@ -23,8 +23,8 @@ Each car brand is supported by a standard interface structure in `opendbc/car/[b
|
||||
|
||||
## safety
|
||||
|
||||
* `opendbc_repo/opendbc/safety/modes/[brand].h`: Brand-specific safety logic
|
||||
* `opendbc_repo/opendbc/safety/tests/test_[brand].py`: Brand-specific safety CI tests
|
||||
* `opendbc/safety/modes/[brand].h`: Brand-specific safety logic
|
||||
* `opendbc/safety/tests/test_[brand].py`: Brand-specific safety CI tests
|
||||
|
||||
## openpilot
|
||||
|
||||
@@ -32,8 +32,20 @@ For historical reasons, openpilot still contains a small amount of car-specific
|
||||
|
||||
* `selfdrive/car/car_specific.py`: Brand-specific event logic
|
||||
|
||||
# Overview
|
||||
# How do I port car?
|
||||
|
||||
[Jason Young](https://github.com/jyoung8607) gave a talk at COMMA_CON with an overview of the car porting process. The talk is available on YouTube:
|
||||
|
||||
https://www.youtube.com/watch?v=XxPS5TpTUnI
|
||||
|
||||
## Brand Port
|
||||
|
||||
A brand port is a port of openpilot to a substantially new car brand or platform within a brand.
|
||||
|
||||
Here's an example of one: https://github.com/commaai/openpilot/pull/23331.
|
||||
|
||||
## Model Port
|
||||
|
||||
A model port is a port of openpilot to a new car model within an already supported brand. Model ports are easier than brand ports because the car's existing APIs are already known.
|
||||
|
||||
Here's an example of one: https://github.com/commaai/openpilot/pull/30672/.
|
||||
@@ -1,15 +1,15 @@
|
||||
# connect to a comma four
|
||||
# connect to a comma 3X or comma four
|
||||
|
||||
A comma four is a normal [Linux](https://github.com/commaai/agnos-builder) computer that exposes [SSH](https://wiki.archlinux.org/title/Secure_Shell) and a [serial console](https://wiki.archlinux.org/title/Working_with_the_serial_console).
|
||||
A comma device is a normal [Linux](https://github.com/commaai/agnos-builder) computer that exposes [SSH](https://wiki.archlinux.org/title/Secure_Shell) and a [serial console](https://wiki.archlinux.org/title/Working_with_the_serial_console).
|
||||
|
||||
## Serial Console
|
||||
|
||||
On both the comma three and comma four, the serial console is accessible from the main OBD-C port.
|
||||
Connect the comma four to your computer with a normal USB C cable, or use a [comma serial](https://comma.ai/shop/comma-serial) for steady 12V power.
|
||||
On the comma 3X, the serial console is accessible from the main OBD-C port, forwarded through the panda.
|
||||
Access it using `panda/scripts/som_debug.sh`.
|
||||
|
||||
On the comma three, the serial console is exposed through a UART-to-USB chip, and `tools/scripts/serial.sh` can be used to connect.
|
||||
comma four also exposes a serial console, albeit through an internal debug connector. Dedicated debug hardware coming soon to the comma shop.
|
||||
|
||||
On the comma four, the serial console is accessible through the [panda](https://github.com/commaai/panda) using the `panda/tests/som_debug.sh` script.
|
||||
Login to the default user with:
|
||||
|
||||
* Username: `comma`
|
||||
* Password: `comma`
|
||||
@@ -25,7 +25,7 @@ In order to SSH into your device, you'll need a GitHub account with SSH keys. Se
|
||||
* Port: `22`
|
||||
|
||||
Here's an example command for connecting to your device using its tethered connection:<br />
|
||||
`ssh comma@192.168.43.1`
|
||||
`ssh comma@192.168.43.1 -i ~/.ssh/my_github_key`
|
||||
|
||||
For doing development work on device, it's recommended to use [SSH agent forwarding](https://docs.github.com/en/developers/overview/using-ssh-agent-forwarding).
|
||||
|
||||
@@ -45,7 +45,7 @@ In order to use ADB on your device, you'll need to perform the following steps u
|
||||
* Here's an example command for connecting to your device using its tethered connection: `adb connect 192.168.43.1:5555`
|
||||
|
||||
> [!NOTE]
|
||||
> The default port for ADB is 5555 on the comma four.
|
||||
> The default port for ADB is 5555.
|
||||
|
||||
For more info on ADB, see the [Android Debug Bridge (ADB) documentation](https://developer.android.com/tools/adb).
|
||||
|
||||
@@ -55,7 +55,7 @@ The public keys are only fetched from your GitHub account once. In order to upda
|
||||
|
||||
The `id_rsa` key in this directory only works while your device is in the setup state with no software installed. After installation, that default key will be removed.
|
||||
|
||||
#### ssh.comma.ai proxy
|
||||
## ssh.comma.ai proxy
|
||||
|
||||
With a [comma prime subscription](https://comma.ai/connect), you can SSH into your comma device from anywhere.
|
||||
|
||||
@@ -79,6 +79,7 @@ Host ssh.comma.ai
|
||||
```
|
||||
ssh -i ~/.ssh/my_github_key -o ProxyCommand="ssh -i ~/.ssh/my_github_key -W %h:%p -p %p %h@ssh.comma.ai" comma@ffffffffffffffff
|
||||
```
|
||||
|
||||
(Replace `ffffffffffffffff` with your dongle_id)
|
||||
|
||||
### ssh.comma.ai host key fingerprint
|
||||
|
||||
@@ -1 +0,0 @@
|
||||
getting-started/what-is-openpilot.md
|
||||
12
docs/index.md
Normal file
12
docs/index.md
Normal file
@@ -0,0 +1,12 @@
|
||||
# What is openpilot?
|
||||
|
||||
[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW), and Lane Departure Warning (LDW) for a growing variety of [supported car makes, models, and model years](https://github.com/commaai/openpilot/blob/master/docs/CARS.md). In addition, while openpilot is engaged, a camera-based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration](https://github.com/commaai/openpilot/blob/master/docs/INTEGRATION.md) and [limitations](https://github.com/commaai/openpilot/blob/master/docs/LIMITATIONS.md).
|
||||
|
||||
|
||||
## How do I use it?
|
||||
|
||||
openpilot is designed to be used on the comma four.
|
||||
|
||||
## How does it work?
|
||||
|
||||
In short, openpilot uses the car's existing APIs for the built-in [ADAS](https://en.wikipedia.org/wiki/Advanced_driver-assistance_system) system and simply provides better acceleration, braking, and steering inputs than the stock system.
|
||||
42
docs/stylesheets/extra.css
Normal file
42
docs/stylesheets/extra.css
Normal file
@@ -0,0 +1,42 @@
|
||||
.md-logo img {
|
||||
filter: invert(1);
|
||||
}
|
||||
|
||||
.glossary-term {
|
||||
position: relative;
|
||||
color: inherit;
|
||||
text-decoration: none;
|
||||
}
|
||||
|
||||
.glossary-term__label {
|
||||
border-bottom: 1px dotted currentColor;
|
||||
}
|
||||
|
||||
.glossary-term__tooltip {
|
||||
position: absolute;
|
||||
top: calc(100% + 0.4rem);
|
||||
left: 50%;
|
||||
width: max-content;
|
||||
max-width: min(30rem, 80vw);
|
||||
padding: 0.65rem 0.8rem;
|
||||
border-radius: 0.6rem;
|
||||
background: rgb(26 26 26 / 96%);
|
||||
color: white;
|
||||
box-shadow: 0 0.6rem 1.8rem rgb(0 0 0 / 22%);
|
||||
font-size: 0.85rem;
|
||||
line-height: 1.45;
|
||||
opacity: 0;
|
||||
pointer-events: none;
|
||||
transform: translateX(-50%) translateY(-0.15rem);
|
||||
transition: opacity 120ms ease, transform 120ms ease;
|
||||
visibility: hidden;
|
||||
z-index: 20;
|
||||
}
|
||||
|
||||
.glossary-term:hover .glossary-term__tooltip,
|
||||
.glossary-term:focus-visible .glossary-term__tooltip,
|
||||
.glossary-term:focus-within .glossary-term__tooltip {
|
||||
opacity: 1;
|
||||
transform: translateX(-50%) translateY(0);
|
||||
visibility: visible;
|
||||
}
|
||||
44
mkdocs.yml
44
mkdocs.yml
@@ -1,44 +0,0 @@
|
||||
site_name: openpilot docs
|
||||
repo_url: https://github.com/commaai/openpilot/
|
||||
site_url: https://docs.comma.ai
|
||||
|
||||
exclude_docs: README.md
|
||||
|
||||
strict: true
|
||||
docs_dir: docs
|
||||
site_dir: docs_site/
|
||||
|
||||
hooks:
|
||||
- docs/hooks/glossary.py
|
||||
extra_css:
|
||||
- css/tooltip.css
|
||||
theme:
|
||||
name: readthedocs
|
||||
navigation_depth: 3
|
||||
|
||||
nav:
|
||||
- Getting Started:
|
||||
- What is openpilot?: getting-started/what-is-openpilot.md
|
||||
- How-to:
|
||||
- Turn the speed blue: how-to/turn-the-speed-blue.md
|
||||
- Connect to a comma 3X: how-to/connect-to-comma.md
|
||||
# - Make your first pull request: how-to/make-first-pr.md
|
||||
#- Replay a drive: how-to/replay-a-drive.md
|
||||
- Concepts:
|
||||
- Logs: concepts/logs.md
|
||||
- Safety: concepts/safety.md
|
||||
- Glossary: concepts/glossary.md
|
||||
- Car Porting:
|
||||
- What is a car port?: car-porting/what-is-a-car-port.md
|
||||
- Porting a car brand: car-porting/brand-port.md
|
||||
- Porting a car model: car-porting/model-port.md
|
||||
- Contributing:
|
||||
- Roadmap: contributing/roadmap.md
|
||||
#- Architecture: contributing/architecture.md
|
||||
- Contributing Guide →: https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md
|
||||
- Links:
|
||||
- Blog →: https://blog.comma.ai
|
||||
- Bounties →: https://comma.ai/bounties
|
||||
- GitHub →: https://github.com/commaai
|
||||
- Discord →: https://discord.comma.ai
|
||||
- X →: https://x.com/comma_ai
|
||||
Submodule opendbc_repo updated: ded068839b...4dad7b09dd
2
panda
2
panda
Submodule panda updated: c0cc96fbad...0a9ef7ab54
@@ -82,7 +82,7 @@ dependencies = [
|
||||
[project.optional-dependencies]
|
||||
docs = [
|
||||
"Jinja2",
|
||||
"mkdocs",
|
||||
"zensical",
|
||||
]
|
||||
|
||||
testing = [
|
||||
@@ -150,7 +150,7 @@ quiet-level = 3
|
||||
# if you've got a short variable name that's getting flagged, add it here
|
||||
ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn,ws,uint,grey,deque,stdio,amin,BA,LITE,atEnd,UIs,errorString,arange,FocusIn,od,tim,relA,hist,copyable,jupyter,thead,TGE,abl,lite,ser"
|
||||
builtin = "clear,rare,informal,code,names,en-GB_to_en-US"
|
||||
skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, *.po, uv.lock, *.onnx, ./cereal/gen/*, */c_generated_code/*, docs/assets/*, tools/plotjuggler/layouts/*, selfdrive/assets/offroad/mici_fcc.html"
|
||||
skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, *.po, uv.lock, *.onnx, *.pem, ./cereal/gen/*, */c_generated_code/*, docs/assets/*, tools/plotjuggler/layouts/*, selfdrive/assets/offroad/mici_fcc.html"
|
||||
|
||||
# https://docs.astral.sh/ruff/configuration/#using-pyprojecttoml
|
||||
[tool.ruff]
|
||||
|
||||
63
scripts/docs.py
Normal file
63
scripts/docs.py
Normal file
@@ -0,0 +1,63 @@
|
||||
"""
|
||||
wrapper that materializes symlinks in docs/ before build
|
||||
|
||||
we can delete this once zensical supports symlinks:
|
||||
https://github.com/zensical/backlog/issues/55
|
||||
"""
|
||||
import os
|
||||
import shutil
|
||||
import signal
|
||||
import sys
|
||||
from pathlib import Path
|
||||
|
||||
REPO_ROOT = Path(__file__).resolve().parent.parent
|
||||
DOCS_DIR = REPO_ROOT / "docs"
|
||||
SITE_DIR = REPO_ROOT / "docs_site"
|
||||
sys.path.insert(0, str(REPO_ROOT))
|
||||
# Local docs build helpers live under docs/ so they stay near the content
|
||||
# source. The wrapper prunes them from docs_site/ after build.
|
||||
sys.path.insert(0, str(DOCS_DIR))
|
||||
|
||||
|
||||
def _materialize(docs: Path) -> dict[Path, str]:
|
||||
originals: dict[Path, str] = {}
|
||||
for link in docs.rglob("*"):
|
||||
if not link.is_symlink():
|
||||
continue
|
||||
target = link.resolve()
|
||||
if not target.is_file():
|
||||
continue
|
||||
originals[link] = os.readlink(link)
|
||||
link.unlink()
|
||||
shutil.copy2(target, link)
|
||||
return originals
|
||||
|
||||
|
||||
def _restore(originals: dict[Path, str]) -> None:
|
||||
for link, target in originals.items():
|
||||
link.unlink(missing_ok=True)
|
||||
os.symlink(target, link)
|
||||
|
||||
|
||||
def _raise_interrupt(*_):
|
||||
raise KeyboardInterrupt
|
||||
|
||||
|
||||
def _prune_site_output() -> None:
|
||||
shutil.rmtree(SITE_DIR / "ext", ignore_errors=True)
|
||||
|
||||
|
||||
def main() -> None:
|
||||
signal.signal(signal.SIGTERM, _raise_interrupt)
|
||||
originals = _materialize(DOCS_DIR)
|
||||
try:
|
||||
from zensical.main import cli
|
||||
cli(standalone_mode=False)
|
||||
if len(sys.argv) > 1 and sys.argv[1] == "build":
|
||||
_prune_site_output()
|
||||
finally:
|
||||
_restore(originals)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
BIN
selfdrive/assets/icons_mici/alerts_bell.png
LFS
Normal file
BIN
selfdrive/assets/icons_mici/alerts_bell.png
LFS
Normal file
Binary file not shown.
BIN
selfdrive/assets/icons_mici/alerts_pill.png
LFS
Normal file
BIN
selfdrive/assets/icons_mici/alerts_pill.png
LFS
Normal file
Binary file not shown.
Binary file not shown.
@@ -1,6 +1,6 @@
|
||||
{% set footnote_tag = '[<sup>{}</sup>](#footnotes)' %}
|
||||
{% set star_icon = '[](##)' %}
|
||||
{% set video_icon = '<a href="{}" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>' %}
|
||||
{% set video_icon = '<a href="{}" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>' %}
|
||||
{# Force hardware column wider by using a blank image with max width. #}
|
||||
{% set width_tag = '<a href="##"><img width=2000></a>%s<br> ' %}
|
||||
{% set hardware_col_name = 'Hardware Needed' %}
|
||||
|
||||
@@ -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 = "➡️"
|
||||
|
||||
@@ -1,6 +1,22 @@
|
||||
import os
|
||||
import glob
|
||||
import json
|
||||
import os
|
||||
from itertools import product
|
||||
from SCons.Script import Value
|
||||
from openpilot.common.file_chunker import chunk_file, get_chunk_paths
|
||||
from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
|
||||
from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE, DM_INPUT_SIZE
|
||||
from openpilot.selfdrive.modeld.constants import ModelConstants
|
||||
from openpilot.selfdrive.modeld.helpers import CompileConfig
|
||||
from tinygrad import Device
|
||||
|
||||
CAMERA_CONFIGS = [
|
||||
(_ar_ox_fisheye.width, _ar_ox_fisheye.height), # tici: 1928x1208
|
||||
(_os_fisheye.width, _os_fisheye.height), # mici: 1344x760
|
||||
]
|
||||
MODELD_CONFIGS = [CompileConfig(cam_w, cam_h, prepare_only, 'driving_')
|
||||
for (cam_w, cam_h), prepare_only in product(CAMERA_CONFIGS, [True, False])]
|
||||
DM_WARP_CONFIGS = [CompileConfig(cam_w, cam_h, True, 'dm_') for cam_w, cam_h in CAMERA_CONFIGS]
|
||||
|
||||
Import('env', 'arch')
|
||||
chunker_file = File("#common/file_chunker.py")
|
||||
@@ -13,31 +29,72 @@ tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "
|
||||
def estimate_pickle_max_size(onnx_size):
|
||||
return 1.2 * onnx_size + 10 * 1024 * 1024 # 20% + 10MB is plenty
|
||||
|
||||
# compile warp
|
||||
# THREADS=0 is need to prevent bug: https://github.com/tinygrad/tinygrad/issues/14689
|
||||
tg_flags = {
|
||||
'larch64': 'DEV=QCOM FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0',
|
||||
'Darwin': f'DEV=CPU THREADS=0 HOME={os.path.expanduser("~")}', # tinygrad calls brew which needs a $HOME in the env
|
||||
}.get(arch, 'DEV=CPU CPU_LLVM=1 THREADS=0')
|
||||
# get fastest TG config
|
||||
available = set(Device.get_available_devices())
|
||||
if 'CUDA' in available:
|
||||
tg_backend = 'CUDA'
|
||||
tg_flags = f'DEV={tg_backend}'
|
||||
elif 'QCOM' in available:
|
||||
tg_backend = 'QCOM'
|
||||
tg_flags = f'DEV={tg_backend} FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1'
|
||||
else:
|
||||
tg_backend = 'CPU' if arch == 'Darwin' else 'CPU:LLVM'
|
||||
# THREADS=0 is need to prevent bug: https://github.com/tinygrad/tinygrad/issues/14689
|
||||
tg_flags = f'DEV={tg_backend} THREADS=0'
|
||||
|
||||
def write_tg_compiled_flags(target, source, env):
|
||||
with open(str(target[0]), "w") as f:
|
||||
json.dump({"DEV": tg_backend}, f)
|
||||
f.write("\n")
|
||||
|
||||
compiled_flags_node = lenv.Command(
|
||||
File("models/tg_compiled_flags.json").abspath,
|
||||
tinygrad_files + [Value(tg_backend)],
|
||||
write_tg_compiled_flags,
|
||||
)
|
||||
|
||||
# tinygrad calls brew which needs a $HOME in the env
|
||||
mac_brew_string = f'HOME={os.path.expanduser("~")}' if arch == 'Darwin' else ''
|
||||
|
||||
# Get model metadata
|
||||
for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
|
||||
fn = File(f"models/{model_name}").abspath
|
||||
script_files = [File(Dir("#selfdrive/modeld").File("get_model_metadata.py").abspath)]
|
||||
cmd = f'{tg_flags} python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
|
||||
lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files + script_files, cmd)
|
||||
cmd = f'{tg_flags} {mac_brew_string} python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
|
||||
lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files + script_files + [compiled_flags_node], cmd)
|
||||
|
||||
image_flag = {
|
||||
'larch64': 'IMAGE=2',
|
||||
}.get(arch, 'IMAGE=0')
|
||||
script_files = [File(Dir("#selfdrive/modeld").File("compile_warp.py").abspath)]
|
||||
compile_warp_cmd = f'{tg_flags} python3 {Dir("#selfdrive/modeld").abspath}/compile_warp.py '
|
||||
from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
|
||||
warp_targets = []
|
||||
for cam in [_ar_ox_fisheye, _os_fisheye]:
|
||||
w, h = cam.width, cam.height
|
||||
warp_targets += [File(f"models/warp_{w}x{h}_tinygrad.pkl").abspath, File(f"models/dm_warp_{w}x{h}_tinygrad.pkl").abspath]
|
||||
lenv.Command(warp_targets, tinygrad_files + script_files, compile_warp_cmd)
|
||||
modeld_dir = Dir("#selfdrive/modeld").abspath
|
||||
compile_modeld_script = [File(f"{modeld_dir}/compile_modeld.py")]
|
||||
compile_dm_warp_script = [File(f"{modeld_dir}/compile_dm_warp.py")]
|
||||
driving_onnx_deps = [File(f"models/{m}.onnx").abspath for m in ['driving_vision', 'driving_policy']]
|
||||
driving_metadata_deps = [File(f"models/{m}_metadata.pkl").abspath for m in ['driving_vision', 'driving_policy']]
|
||||
|
||||
model_w, model_h = MEDMODEL_INPUT_SIZE
|
||||
frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ
|
||||
for cfg in MODELD_CONFIGS:
|
||||
cmd = (f'{tg_flags} {mac_brew_string} {image_flag} python3 {modeld_dir}/compile_modeld.py '
|
||||
f'--model-size {model_w}x{model_h} '
|
||||
f'--nv12 {",".join(str(x) for x in cfg.nv12)} '
|
||||
f'--vision-onnx {File("models/driving_vision.onnx").abspath} '
|
||||
f'--policy-onnx {File("models/driving_policy.onnx").abspath} '
|
||||
f'--output {cfg.pkl_path} --frame-skip {frame_skip}'
|
||||
+ (' --prepare-only' if cfg.prepare_only else ''))
|
||||
node = lenv.Command(cfg.pkl_path, tinygrad_files + compile_modeld_script + driving_onnx_deps + driving_metadata_deps + [chunker_file, compiled_flags_node], cmd)
|
||||
onnx_sizes_sum = sum(os.path.getsize(f) for f in driving_onnx_deps)
|
||||
chunk_targets = get_chunk_paths(cfg.pkl_path, estimate_pickle_max_size(onnx_sizes_sum))
|
||||
def do_chunk(target, source, env, pkl=cfg.pkl_path, chunks=chunk_targets):
|
||||
chunk_file(pkl, chunks)
|
||||
lenv.Command(chunk_targets, node, do_chunk)
|
||||
|
||||
dm_w, dm_h = DM_INPUT_SIZE
|
||||
for cfg in DM_WARP_CONFIGS:
|
||||
cmd = (f'{tg_flags} {mac_brew_string} {image_flag} python3 {modeld_dir}/compile_dm_warp.py '
|
||||
f'--nv12 {",".join(str(x) for x in cfg.nv12)} --warp-to {dm_w}x{dm_h} '
|
||||
f'--output {cfg.pkl_path}')
|
||||
lenv.Command(cfg.pkl_path, tinygrad_files + compile_dm_warp_script + compile_modeld_script + [compiled_flags_node], cmd)
|
||||
|
||||
def tg_compile(flags, model_name):
|
||||
pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"'
|
||||
@@ -47,7 +104,7 @@ def tg_compile(flags, model_name):
|
||||
chunk_targets = get_chunk_paths(pkl, estimate_pickle_max_size(os.path.getsize(onnx_path)))
|
||||
compile_node = lenv.Command(
|
||||
pkl,
|
||||
[onnx_path] + tinygrad_files + [chunker_file],
|
||||
[onnx_path] + tinygrad_files + [chunker_file, compiled_flags_node],
|
||||
f'{pythonpath_string} {flags} {image_flag} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {pkl}',
|
||||
)
|
||||
def do_chunk(target, source, env):
|
||||
@@ -58,7 +115,4 @@ def tg_compile(flags, model_name):
|
||||
do_chunk,
|
||||
)
|
||||
|
||||
# Compile small models
|
||||
for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
|
||||
tg_compile(tg_flags, model_name)
|
||||
|
||||
tg_compile(tg_flags, 'dmonitoring_model')
|
||||
|
||||
54
selfdrive/modeld/compile_dm_warp.py
Executable file
54
selfdrive/modeld/compile_dm_warp.py
Executable file
@@ -0,0 +1,54 @@
|
||||
#!/usr/bin/env python3
|
||||
import argparse
|
||||
import pickle
|
||||
import time
|
||||
|
||||
from tinygrad.tensor import Tensor
|
||||
from tinygrad.device import Device
|
||||
from tinygrad.engine.jit import TinyJit
|
||||
|
||||
from openpilot.selfdrive.modeld.compile_modeld import NV12Frame, warp_perspective_tinygrad, _parse_size, _parse_nv12
|
||||
|
||||
|
||||
def make_warp_dm(nv12: NV12Frame, dm_w, dm_h):
|
||||
cam_w, cam_h, stride, _, _, _ = nv12
|
||||
stride_pad = stride - cam_w
|
||||
|
||||
def warp_dm(input_frame, M_inv):
|
||||
M_inv = M_inv.to(Device.DEFAULT).realize()
|
||||
return warp_perspective_tinygrad(input_frame[:cam_h*stride], M_inv,
|
||||
(dm_w, dm_h), (cam_h, cam_w), stride_pad).reshape(-1, dm_h * dm_w)
|
||||
return warp_dm
|
||||
|
||||
|
||||
def compile_dm_warp(nv12: NV12Frame, dm_w, dm_h, pkl_path):
|
||||
print(f"Compiling DM warp for {nv12.width}x{nv12.height} -> {dm_w}x{dm_h}...")
|
||||
|
||||
warp_dm_jit = TinyJit(make_warp_dm(nv12, dm_w, dm_h), prune=True)
|
||||
|
||||
for i in range(10):
|
||||
frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8').realize()
|
||||
M_inv = Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')
|
||||
Device.default.synchronize()
|
||||
st = time.perf_counter()
|
||||
warp_dm_jit(frame, M_inv).realize()
|
||||
mt = time.perf_counter()
|
||||
Device.default.synchronize()
|
||||
et = time.perf_counter()
|
||||
print(f" [{i+1}/10] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms")
|
||||
|
||||
with open(pkl_path, "wb") as f:
|
||||
pickle.dump(warp_dm_jit, f)
|
||||
print(f" Saved to {pkl_path}")
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
p = argparse.ArgumentParser()
|
||||
p.add_argument('--nv12', type=_parse_nv12, required=True,
|
||||
help=f'NV12 frame layout: {",".join(NV12Frame._fields)}')
|
||||
p.add_argument('--warp-to', type=_parse_size, required=True, help='DM input WxH')
|
||||
p.add_argument('--output', required=True)
|
||||
args = p.parse_args()
|
||||
|
||||
dm_w, dm_h = args.warp_to
|
||||
compile_dm_warp(args.nv12, dm_w, dm_h, args.output)
|
||||
253
selfdrive/modeld/compile_modeld.py
Executable file
253
selfdrive/modeld/compile_modeld.py
Executable file
@@ -0,0 +1,253 @@
|
||||
#!/usr/bin/env python3
|
||||
import argparse
|
||||
import pickle
|
||||
import time
|
||||
from functools import partial
|
||||
from collections import namedtuple
|
||||
|
||||
import numpy as np
|
||||
from tinygrad.tensor import Tensor
|
||||
from tinygrad.helpers import Context
|
||||
from tinygrad.device import Device
|
||||
from tinygrad.engine.jit import TinyJit
|
||||
from tinygrad.nn.onnx import OnnxRunner
|
||||
|
||||
# https://github.com/tinygrad/tinygrad/issues/15682
|
||||
from tinygrad.uop.ops import UOp, Ops
|
||||
_orig = UOp.__reduce__
|
||||
UOp.__reduce__ = lambda self: (UOp.unique, ()) if self.op is Ops.UNIQUE else _orig(self)
|
||||
|
||||
|
||||
NV12Frame = namedtuple("NV12Frame", ['width', 'height', 'stride', 'y_height', 'uv_height', 'size'])
|
||||
|
||||
UV_SCALE_MATRIX = np.array([[0.5, 0, 0], [0, 0.5, 0], [0, 0, 1]], dtype=np.float32)
|
||||
UV_SCALE_MATRIX_INV = np.linalg.inv(UV_SCALE_MATRIX)
|
||||
|
||||
|
||||
def warp_perspective_tinygrad(src_flat, M_inv, dst_shape, src_shape, stride_pad):
|
||||
w_dst, h_dst = dst_shape
|
||||
h_src, w_src = src_shape
|
||||
|
||||
x = Tensor.arange(w_dst).reshape(1, w_dst).expand(h_dst, w_dst).reshape(-1)
|
||||
y = Tensor.arange(h_dst).reshape(h_dst, 1).expand(h_dst, w_dst).reshape(-1)
|
||||
|
||||
# inline 3x3 matmul as elementwise to avoid reduce op (enables fusion with gather)
|
||||
src_x = M_inv[0, 0] * x + M_inv[0, 1] * y + M_inv[0, 2]
|
||||
src_y = M_inv[1, 0] * x + M_inv[1, 1] * y + M_inv[1, 2]
|
||||
src_w = M_inv[2, 0] * x + M_inv[2, 1] * y + M_inv[2, 2]
|
||||
|
||||
src_x = src_x / src_w
|
||||
src_y = src_y / src_w
|
||||
|
||||
x_nn_clipped = Tensor.round(src_x).clip(0, w_src - 1).cast('int')
|
||||
y_nn_clipped = Tensor.round(src_y).clip(0, h_src - 1).cast('int')
|
||||
idx = y_nn_clipped * (w_src + stride_pad) + x_nn_clipped
|
||||
|
||||
return src_flat[idx]
|
||||
|
||||
|
||||
def frames_to_tensor(frames):
|
||||
H = (frames.shape[0] * 2) // 3
|
||||
W = frames.shape[1]
|
||||
in_img1 = Tensor.cat(frames[0:H:2, 0::2],
|
||||
frames[1:H:2, 0::2],
|
||||
frames[0:H:2, 1::2],
|
||||
frames[1:H:2, 1::2],
|
||||
frames[H:H+H//4].reshape((H//2, W//2)),
|
||||
frames[H+H//4:H+H//2].reshape((H//2, W//2)), dim=0).reshape((6, H//2, W//2))
|
||||
return in_img1
|
||||
|
||||
|
||||
def make_frame_prepare(nv12: NV12Frame, model_w, model_h):
|
||||
cam_w, cam_h, stride, y_height, uv_height, _ = nv12
|
||||
uv_offset = stride * y_height
|
||||
stride_pad = stride - cam_w
|
||||
|
||||
def frame_prepare_tinygrad(input_frame, M_inv):
|
||||
# UV_SCALE @ M_inv @ UV_SCALE_INV simplifies to elementwise scaling
|
||||
M_inv_uv = M_inv * Tensor([[1.0, 1.0, 0.5], [1.0, 1.0, 0.5], [2.0, 2.0, 1.0]])
|
||||
# deinterleave NV12 UV plane (UVUV... -> separate U, V)
|
||||
uv = input_frame[uv_offset:uv_offset + uv_height * stride].reshape(uv_height, stride)
|
||||
with Context(SPLIT_REDUCEOP=0):
|
||||
y = warp_perspective_tinygrad(input_frame[:cam_h*stride],
|
||||
M_inv, (model_w, model_h),
|
||||
(cam_h, cam_w), stride_pad).realize()
|
||||
u = warp_perspective_tinygrad(uv[:cam_h//2, :cam_w:2].flatten(),
|
||||
M_inv_uv, (model_w//2, model_h//2),
|
||||
(cam_h//2, cam_w//2), 0).realize()
|
||||
v = warp_perspective_tinygrad(uv[:cam_h//2, 1:cam_w:2].flatten(),
|
||||
M_inv_uv, (model_w//2, model_h//2),
|
||||
(cam_h//2, cam_w//2), 0).realize()
|
||||
yuv = y.cat(u).cat(v).reshape((model_h * 3 // 2, model_w))
|
||||
tensor = frames_to_tensor(yuv)
|
||||
return tensor
|
||||
return frame_prepare_tinygrad
|
||||
|
||||
|
||||
def make_input_queues(vision_input_shapes, policy_input_shapes, frame_skip):
|
||||
img = vision_input_shapes['img'] # (1, 12, 128, 256)
|
||||
n_frames = img[1] // 6
|
||||
img_buf_shape = (frame_skip * (n_frames - 1) + 1, 6, img[2], img[3])
|
||||
|
||||
fb = policy_input_shapes['features_buffer'] # (1, 25, 512)
|
||||
dp = policy_input_shapes['desire_pulse'] # (1, 25, 8)
|
||||
tc = policy_input_shapes['traffic_convention'] # (1, 2)
|
||||
|
||||
npy = {
|
||||
'desire': np.zeros(dp[2], dtype=np.float32),
|
||||
'traffic_convention': np.zeros(tc, dtype=np.float32),
|
||||
'tfm': np.zeros((3, 3), dtype=np.float32),
|
||||
'big_tfm': np.zeros((3, 3), dtype=np.float32),
|
||||
}
|
||||
input_queues = {
|
||||
'img_q': Tensor.zeros(img_buf_shape, dtype='uint8').contiguous().realize(),
|
||||
'big_img_q': Tensor.zeros(img_buf_shape, dtype='uint8').contiguous().realize(),
|
||||
'feat_q': Tensor.zeros(frame_skip * (fb[1] - 1) + 1, fb[0], fb[2]).contiguous().realize(),
|
||||
'desire_q': Tensor.zeros(frame_skip * dp[1], dp[0], dp[2]).contiguous().realize(),
|
||||
**{k: Tensor(v, device='NPY').realize() for k, v in npy.items()},
|
||||
}
|
||||
return input_queues, npy
|
||||
|
||||
|
||||
def shift_and_sample(buf, new_val, sample_fn):
|
||||
buf.assign(buf[1:].cat(new_val, dim=0).contiguous())
|
||||
return sample_fn(buf)
|
||||
|
||||
|
||||
def sample_skip(buf, frame_skip):
|
||||
return buf[::frame_skip].contiguous().flatten(0, 1).unsqueeze(0)
|
||||
|
||||
|
||||
def sample_desire(buf, frame_skip):
|
||||
return buf.reshape(-1, frame_skip, *buf.shape[1:]).max(1).flatten(0, 1).unsqueeze(0)
|
||||
|
||||
|
||||
def make_run_policy(vision_runner, policy_runner, nv12: NV12Frame, model_w, model_h,
|
||||
vision_features_slice, frame_skip, prepare_only=False):
|
||||
frame_prepare = make_frame_prepare(nv12, model_w, model_h)
|
||||
sample_skip_fn = partial(sample_skip, frame_skip=frame_skip)
|
||||
sample_desire_fn = partial(sample_desire, frame_skip=frame_skip)
|
||||
|
||||
def run_policy(img_q, big_img_q, feat_q, desire_q, desire, traffic_convention, tfm, big_tfm, frame, big_frame):
|
||||
tfm = tfm.to(Device.DEFAULT)
|
||||
big_tfm = big_tfm.to(Device.DEFAULT)
|
||||
desire = desire.to(Device.DEFAULT)
|
||||
traffic_convention = traffic_convention.to(Device.DEFAULT)
|
||||
Tensor.realize(tfm, big_tfm, desire, traffic_convention)
|
||||
|
||||
img = shift_and_sample(img_q, frame_prepare(frame, tfm).unsqueeze(0), sample_skip_fn)
|
||||
big_img = shift_and_sample(big_img_q, frame_prepare(big_frame, big_tfm).unsqueeze(0), sample_skip_fn)
|
||||
|
||||
if prepare_only:
|
||||
return img, big_img
|
||||
|
||||
vision_out = next(iter(vision_runner({'img': img, 'big_img': big_img}).values())).cast('float32')
|
||||
|
||||
new_feat = vision_out[:, vision_features_slice].reshape(1, -1).unsqueeze(0)
|
||||
feat_buf = shift_and_sample(feat_q, new_feat, sample_skip_fn)
|
||||
desire_buf = shift_and_sample(desire_q, desire.reshape(1, 1, -1), sample_desire_fn)
|
||||
|
||||
inputs = {'features_buffer': feat_buf, 'desire_pulse': desire_buf, 'traffic_convention': traffic_convention}
|
||||
policy_out = next(iter(policy_runner(inputs).values())).cast('float32')
|
||||
|
||||
return vision_out, policy_out
|
||||
return run_policy
|
||||
|
||||
|
||||
def compile_modeld(nv12: NV12Frame, model_w, model_h, prepare_only, frame_skip,
|
||||
vision_onnx, policy_onnx, pkl_path):
|
||||
from get_model_metadata import metadata_path_for
|
||||
|
||||
print(f"Compiling combined policy JIT for {nv12.width}x{nv12.height} (prepare_only={prepare_only})...")
|
||||
|
||||
vision_runner = OnnxRunner(vision_onnx)
|
||||
policy_runner = OnnxRunner(policy_onnx)
|
||||
|
||||
with open(metadata_path_for(vision_onnx), 'rb') as f:
|
||||
vision_metadata = pickle.load(f)
|
||||
vision_features_slice = vision_metadata['output_slices']['hidden_state']
|
||||
vision_input_shapes = vision_metadata['input_shapes']
|
||||
with open(metadata_path_for(policy_onnx), 'rb') as f:
|
||||
policy_input_shapes = pickle.load(f)['input_shapes']
|
||||
|
||||
_run = make_run_policy(vision_runner, policy_runner, nv12, model_w, model_h,
|
||||
vision_features_slice, frame_skip, prepare_only)
|
||||
run_policy_jit = TinyJit(_run, prune=True)
|
||||
|
||||
N_RUNS = 3
|
||||
SEED = 42
|
||||
|
||||
def random_inputs_run_fn(fn, seed, test_val=None, test_buffers=None, expect_match=True):
|
||||
input_queues, npy = make_input_queues(vision_input_shapes, policy_input_shapes, frame_skip)
|
||||
np.random.seed(seed)
|
||||
Tensor.manual_seed(seed)
|
||||
|
||||
for i in range(N_RUNS):
|
||||
frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8').realize()
|
||||
big_frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8').realize()
|
||||
for v in npy.values():
|
||||
v[:] = np.random.randn(*v.shape).astype(v.dtype)
|
||||
Device.default.synchronize()
|
||||
st = time.perf_counter()
|
||||
outs = fn(**input_queues, frame=frame, big_frame=big_frame)
|
||||
mt = time.perf_counter()
|
||||
for o in outs:
|
||||
# .realize() not needed once jitted, but needed for unjitted fn
|
||||
o.realize()
|
||||
Device.default.synchronize()
|
||||
et = time.perf_counter()
|
||||
print(f" [{i+1}/{N_RUNS}] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms")
|
||||
|
||||
val = [np.copy(v.numpy()) for v in outs]
|
||||
buffers = [np.copy(v.numpy().copy()) for v in input_queues.values()]
|
||||
|
||||
if test_val is not None:
|
||||
match = all(np.array_equal(a, b) for a, b in zip(val, test_val, strict=True))
|
||||
assert match == expect_match, f"outputs {'differ from' if expect_match else 'match'} baseline (seed={seed})"
|
||||
if test_buffers is not None:
|
||||
match = all(np.array_equal(a, b) for a, b in zip(buffers, test_buffers, strict=True))
|
||||
assert match == expect_match, f"buffers {'differ from' if expect_match else 'match'} baseline (seed={seed})"
|
||||
return fn, val, buffers
|
||||
|
||||
print('run unjitted')
|
||||
_, test_val, test_buffers = random_inputs_run_fn(_run, seed=SEED)
|
||||
print('capture + replay')
|
||||
run_policy_jit, _, _ = random_inputs_run_fn(run_policy_jit, SEED, test_val, test_buffers)
|
||||
|
||||
print('pickle round trip')
|
||||
with open(pkl_path, "wb") as f:
|
||||
pickle.dump(run_policy_jit, f)
|
||||
print(f" Saved to {pkl_path}")
|
||||
with open(pkl_path, "rb") as f:
|
||||
run_policy_jit = pickle.load(f)
|
||||
random_inputs_run_fn(run_policy_jit, SEED, test_val, test_buffers, expect_match=True)
|
||||
random_inputs_run_fn(run_policy_jit, SEED+1, test_val, test_buffers, expect_match=False)
|
||||
|
||||
|
||||
def _parse_size(s):
|
||||
w, h = s.lower().split('x')
|
||||
return int(w), int(h)
|
||||
|
||||
|
||||
def _parse_nv12(s):
|
||||
parts = s.split(',')
|
||||
assert len(parts) == len(NV12Frame._fields), \
|
||||
f"--nv12 expects {','.join(NV12Frame._fields)} (got {s!r})"
|
||||
return NV12Frame(*(int(x) for x in parts))
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
p = argparse.ArgumentParser()
|
||||
p.add_argument('--model-size', type=_parse_size, required=True, help='model input WxH')
|
||||
p.add_argument('--nv12', type=_parse_nv12, required=True,
|
||||
help=f'NV12 frame layout: {",".join(NV12Frame._fields)}')
|
||||
p.add_argument('--vision-onnx', required=True)
|
||||
p.add_argument('--policy-onnx', required=True)
|
||||
p.add_argument('--output', required=True)
|
||||
p.add_argument('--prepare-only', action='store_true')
|
||||
p.add_argument('--frame-skip', type=int, required=True)
|
||||
args = p.parse_args()
|
||||
|
||||
model_w, model_h = args.model_size
|
||||
compile_modeld(args.nv12, model_w, model_h, args.prepare_only, args.frame_skip,
|
||||
args.vision_onnx, args.policy_onnx, args.output)
|
||||
@@ -1,209 +0,0 @@
|
||||
#!/usr/bin/env python3
|
||||
import time
|
||||
import pickle
|
||||
import numpy as np
|
||||
from pathlib import Path
|
||||
from tinygrad.tensor import Tensor
|
||||
from tinygrad.helpers import Context
|
||||
from tinygrad.device import Device
|
||||
from tinygrad.engine.jit import TinyJit
|
||||
|
||||
from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
|
||||
from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE, DM_INPUT_SIZE
|
||||
from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
|
||||
|
||||
MODELS_DIR = Path(__file__).parent / 'models'
|
||||
|
||||
CAMERA_CONFIGS = [
|
||||
(_ar_ox_fisheye.width, _ar_ox_fisheye.height), # tici: 1928x1208
|
||||
(_os_fisheye.width, _os_fisheye.height), # mici: 1344x760
|
||||
]
|
||||
|
||||
UV_SCALE_MATRIX = np.array([[0.5, 0, 0], [0, 0.5, 0], [0, 0, 1]], dtype=np.float32)
|
||||
UV_SCALE_MATRIX_INV = np.linalg.inv(UV_SCALE_MATRIX)
|
||||
|
||||
IMG_BUFFER_SHAPE = (30, MEDMODEL_INPUT_SIZE[1] // 2, MEDMODEL_INPUT_SIZE[0] // 2)
|
||||
|
||||
|
||||
def warp_pkl_path(w, h):
|
||||
return MODELS_DIR / f'warp_{w}x{h}_tinygrad.pkl'
|
||||
|
||||
|
||||
def dm_warp_pkl_path(w, h):
|
||||
return MODELS_DIR / f'dm_warp_{w}x{h}_tinygrad.pkl'
|
||||
|
||||
|
||||
def warp_perspective_tinygrad(src_flat, M_inv, dst_shape, src_shape, stride_pad):
|
||||
w_dst, h_dst = dst_shape
|
||||
h_src, w_src = src_shape
|
||||
|
||||
x = Tensor.arange(w_dst).reshape(1, w_dst).expand(h_dst, w_dst).reshape(-1)
|
||||
y = Tensor.arange(h_dst).reshape(h_dst, 1).expand(h_dst, w_dst).reshape(-1)
|
||||
|
||||
# inline 3x3 matmul as elementwise to avoid reduce op (enables fusion with gather)
|
||||
src_x = M_inv[0, 0] * x + M_inv[0, 1] * y + M_inv[0, 2]
|
||||
src_y = M_inv[1, 0] * x + M_inv[1, 1] * y + M_inv[1, 2]
|
||||
src_w = M_inv[2, 0] * x + M_inv[2, 1] * y + M_inv[2, 2]
|
||||
|
||||
src_x = src_x / src_w
|
||||
src_y = src_y / src_w
|
||||
|
||||
x_nn_clipped = Tensor.round(src_x).clip(0, w_src - 1).cast('int')
|
||||
y_nn_clipped = Tensor.round(src_y).clip(0, h_src - 1).cast('int')
|
||||
idx = y_nn_clipped * (w_src + stride_pad) + x_nn_clipped
|
||||
|
||||
return src_flat[idx]
|
||||
|
||||
|
||||
def frames_to_tensor(frames, model_w, model_h):
|
||||
H = (frames.shape[0] * 2) // 3
|
||||
W = frames.shape[1]
|
||||
in_img1 = Tensor.cat(frames[0:H:2, 0::2],
|
||||
frames[1:H:2, 0::2],
|
||||
frames[0:H:2, 1::2],
|
||||
frames[1:H:2, 1::2],
|
||||
frames[H:H+H//4].reshape((H//2, W//2)),
|
||||
frames[H+H//4:H+H//2].reshape((H//2, W//2)), dim=0).reshape((6, H//2, W//2))
|
||||
return in_img1
|
||||
|
||||
|
||||
def make_frame_prepare(cam_w, cam_h, model_w, model_h):
|
||||
stride, y_height, uv_height, _ = get_nv12_info(cam_w, cam_h)
|
||||
uv_offset = stride * y_height
|
||||
stride_pad = stride - cam_w
|
||||
|
||||
def frame_prepare_tinygrad(input_frame, M_inv):
|
||||
# UV_SCALE @ M_inv @ UV_SCALE_INV simplifies to elementwise scaling
|
||||
M_inv_uv = M_inv * Tensor([[1.0, 1.0, 0.5], [1.0, 1.0, 0.5], [2.0, 2.0, 1.0]])
|
||||
# deinterleave NV12 UV plane (UVUV... -> separate U, V)
|
||||
uv = input_frame[uv_offset:uv_offset + uv_height * stride].reshape(uv_height, stride)
|
||||
with Context(SPLIT_REDUCEOP=0):
|
||||
y = warp_perspective_tinygrad(input_frame[:cam_h*stride],
|
||||
M_inv, (model_w, model_h),
|
||||
(cam_h, cam_w), stride_pad).realize()
|
||||
u = warp_perspective_tinygrad(uv[:cam_h//2, :cam_w:2].flatten(),
|
||||
M_inv_uv, (model_w//2, model_h//2),
|
||||
(cam_h//2, cam_w//2), 0).realize()
|
||||
v = warp_perspective_tinygrad(uv[:cam_h//2, 1:cam_w:2].flatten(),
|
||||
M_inv_uv, (model_w//2, model_h//2),
|
||||
(cam_h//2, cam_w//2), 0).realize()
|
||||
yuv = y.cat(u).cat(v).reshape((model_h * 3 // 2, model_w))
|
||||
tensor = frames_to_tensor(yuv, model_w, model_h)
|
||||
return tensor
|
||||
return frame_prepare_tinygrad
|
||||
|
||||
|
||||
def make_update_img_input(frame_prepare, model_w, model_h):
|
||||
def update_img_input_tinygrad(tensor, frame, M_inv):
|
||||
M_inv = M_inv.to(Device.DEFAULT)
|
||||
new_img = frame_prepare(frame, M_inv)
|
||||
full_buffer = tensor[6:].cat(new_img, dim=0).contiguous()
|
||||
return full_buffer, Tensor.cat(full_buffer[:6], full_buffer[-6:], dim=0).contiguous().reshape(1, 12, model_h//2, model_w//2)
|
||||
return update_img_input_tinygrad
|
||||
|
||||
|
||||
def make_update_both_imgs(frame_prepare, model_w, model_h):
|
||||
update_img = make_update_img_input(frame_prepare, model_w, model_h)
|
||||
|
||||
def update_both_imgs_tinygrad(calib_img_buffer, new_img, M_inv,
|
||||
calib_big_img_buffer, new_big_img, M_inv_big):
|
||||
calib_img_buffer, calib_img_pair = update_img(calib_img_buffer, new_img, M_inv)
|
||||
calib_big_img_buffer, calib_big_img_pair = update_img(calib_big_img_buffer, new_big_img, M_inv_big)
|
||||
return calib_img_buffer, calib_img_pair, calib_big_img_buffer, calib_big_img_pair
|
||||
return update_both_imgs_tinygrad
|
||||
|
||||
|
||||
def make_warp_dm(cam_w, cam_h, dm_w, dm_h):
|
||||
stride, y_height, _, _ = get_nv12_info(cam_w, cam_h)
|
||||
stride_pad = stride - cam_w
|
||||
|
||||
def warp_dm(input_frame, M_inv):
|
||||
M_inv = M_inv.to(Device.DEFAULT)
|
||||
result = warp_perspective_tinygrad(input_frame[:cam_h*stride], M_inv, (dm_w, dm_h), (cam_h, cam_w), stride_pad).reshape(-1, dm_h * dm_w)
|
||||
return result
|
||||
return warp_dm
|
||||
|
||||
|
||||
def compile_modeld_warp(cam_w, cam_h):
|
||||
model_w, model_h = MEDMODEL_INPUT_SIZE
|
||||
_, _, _, yuv_size = get_nv12_info(cam_w, cam_h)
|
||||
|
||||
print(f"Compiling modeld warp for {cam_w}x{cam_h}...")
|
||||
|
||||
frame_prepare = make_frame_prepare(cam_w, cam_h, model_w, model_h)
|
||||
update_both_imgs = make_update_both_imgs(frame_prepare, model_w, model_h)
|
||||
update_img_jit = TinyJit(update_both_imgs, prune=True)
|
||||
|
||||
full_buffer = Tensor.zeros(IMG_BUFFER_SHAPE, dtype='uint8').contiguous().realize()
|
||||
big_full_buffer = Tensor.zeros(IMG_BUFFER_SHAPE, dtype='uint8').contiguous().realize()
|
||||
full_buffer_np = np.zeros(IMG_BUFFER_SHAPE, dtype=np.uint8)
|
||||
big_full_buffer_np = np.zeros(IMG_BUFFER_SHAPE, dtype=np.uint8)
|
||||
|
||||
for i in range(10):
|
||||
new_frame_np = (32 * np.random.randn(yuv_size).astype(np.float32) + 128).clip(0, 255).astype(np.uint8)
|
||||
img_inputs = [full_buffer,
|
||||
Tensor.from_blob(new_frame_np.ctypes.data, (yuv_size,), dtype='uint8').realize(),
|
||||
Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')]
|
||||
new_big_frame_np = (32 * np.random.randn(yuv_size).astype(np.float32) + 128).clip(0, 255).astype(np.uint8)
|
||||
big_img_inputs = [big_full_buffer,
|
||||
Tensor.from_blob(new_big_frame_np.ctypes.data, (yuv_size,), dtype='uint8').realize(),
|
||||
Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')]
|
||||
inputs = img_inputs + big_img_inputs
|
||||
Device.default.synchronize()
|
||||
|
||||
inputs_np = [x.numpy() for x in inputs]
|
||||
inputs_np[0] = full_buffer_np
|
||||
inputs_np[3] = big_full_buffer_np
|
||||
|
||||
st = time.perf_counter()
|
||||
out = update_img_jit(*inputs)
|
||||
full_buffer = out[0].contiguous().realize().clone()
|
||||
big_full_buffer = out[2].contiguous().realize().clone()
|
||||
mt = time.perf_counter()
|
||||
Device.default.synchronize()
|
||||
et = time.perf_counter()
|
||||
print(f" [{i+1}/10] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms")
|
||||
|
||||
pkl_path = warp_pkl_path(cam_w, cam_h)
|
||||
with open(pkl_path, "wb") as f:
|
||||
pickle.dump(update_img_jit, f)
|
||||
print(f" Saved to {pkl_path}")
|
||||
|
||||
jit = pickle.load(open(pkl_path, "rb"))
|
||||
jit(*inputs)
|
||||
|
||||
|
||||
def compile_dm_warp(cam_w, cam_h):
|
||||
dm_w, dm_h = DM_INPUT_SIZE
|
||||
_, _, _, yuv_size = get_nv12_info(cam_w, cam_h)
|
||||
|
||||
print(f"Compiling DM warp for {cam_w}x{cam_h}...")
|
||||
|
||||
warp_dm = make_warp_dm(cam_w, cam_h, dm_w, dm_h)
|
||||
warp_dm_jit = TinyJit(warp_dm, prune=True)
|
||||
|
||||
for i in range(10):
|
||||
inputs = [Tensor.from_blob((32 * Tensor.randn(yuv_size,) + 128).cast(dtype='uint8').realize().numpy().ctypes.data, (yuv_size,), dtype='uint8'),
|
||||
Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')]
|
||||
Device.default.synchronize()
|
||||
st = time.perf_counter()
|
||||
warp_dm_jit(*inputs)
|
||||
mt = time.perf_counter()
|
||||
Device.default.synchronize()
|
||||
et = time.perf_counter()
|
||||
print(f" [{i+1}/10] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms")
|
||||
|
||||
pkl_path = dm_warp_pkl_path(cam_w, cam_h)
|
||||
with open(pkl_path, "wb") as f:
|
||||
pickle.dump(warp_dm_jit, f)
|
||||
print(f" Saved to {pkl_path}")
|
||||
|
||||
|
||||
def run_and_save_pickle():
|
||||
for cam_w, cam_h in CAMERA_CONFIGS:
|
||||
compile_modeld_warp(cam_w, cam_h)
|
||||
compile_dm_warp(cam_w, cam_h)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
run_and_save_pickle()
|
||||
@@ -1,12 +1,12 @@
|
||||
#!/usr/bin/env python3
|
||||
import os
|
||||
from openpilot.system.hardware import TICI
|
||||
os.environ['DEV'] = 'QCOM' if TICI else 'CPU'
|
||||
from openpilot.selfdrive.modeld.helpers import MODELS_DIR, CompileConfig, set_tinygrad_backend_from_compiled_flags
|
||||
set_tinygrad_backend_from_compiled_flags()
|
||||
|
||||
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
|
||||
@@ -21,15 +21,14 @@ 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]
|
||||
output: np.ndarray
|
||||
|
||||
def __init__(self):
|
||||
def __init__(self, cam_w: int, cam_h: int):
|
||||
with open(METADATA_PATH, 'rb') as f:
|
||||
model_metadata = pickle.load(f)
|
||||
self.input_shapes = model_metadata['input_shapes']
|
||||
@@ -41,22 +40,18 @@ class ModelState:
|
||||
|
||||
self.warp_inputs_np = {'transform': np.zeros((3,3), dtype=np.float32)}
|
||||
self.warp_inputs = {k: Tensor(v, device='NPY') for k,v in self.warp_inputs_np.items()}
|
||||
self.frame_buf_params = None
|
||||
self.frame_buf_params = get_nv12_info(cam_w, cam_h)
|
||||
self.tensor_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()}
|
||||
self._blob_cache : dict[int, Tensor] = {}
|
||||
self.image_warp = None
|
||||
self.model_run = pickle.loads(read_file_chunked(str(MODEL_PKL_PATH)))
|
||||
with open(CompileConfig(cam_w, cam_h, prefix='dm_', prepare_only=True).pkl_path, "rb") as f:
|
||||
self.image_warp = pickle.load(f)
|
||||
|
||||
def run(self, buf: VisionBuf, calib: np.ndarray, transform: np.ndarray) -> tuple[np.ndarray, float]:
|
||||
self.numpy_inputs['calib'][0,:] = calib
|
||||
|
||||
t1 = time.perf_counter()
|
||||
|
||||
if self.image_warp is None:
|
||||
self.frame_buf_params = get_nv12_info(buf.width, buf.height)
|
||||
warp_path = MODELS_DIR / f'dm_warp_{buf.width}x{buf.height}_tinygrad.pkl'
|
||||
with open(warp_path, "rb") as f:
|
||||
self.image_warp = pickle.load(f)
|
||||
ptr = buf.data.ctypes.data
|
||||
# There is a ringbuffer of imgs, just cache tensors pointing to all of them
|
||||
if ptr not in self._blob_cache:
|
||||
@@ -110,9 +105,6 @@ def get_driverstate_packet(model_output, frame_id: int, location_ts: int, exec_t
|
||||
def main():
|
||||
config_realtime_process(7, 5)
|
||||
|
||||
model = ModelState()
|
||||
cloudlog.warning("models loaded, dmonitoringmodeld starting")
|
||||
|
||||
cloudlog.warning("connecting to driver stream")
|
||||
vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_DRIVER, True)
|
||||
while not vipc_client.connect(False):
|
||||
@@ -120,6 +112,9 @@ def main():
|
||||
assert vipc_client.is_connected()
|
||||
cloudlog.warning(f"connected with buffer size: {vipc_client.buffer_len}")
|
||||
|
||||
model = ModelState(vipc_client.width, vipc_client.height)
|
||||
cloudlog.warning("models loaded, dmonitoringmodeld starting")
|
||||
|
||||
sm = SubMaster(["liveCalibration"])
|
||||
pm = PubMaster(["driverStateV2"])
|
||||
|
||||
|
||||
@@ -7,6 +7,10 @@ from typing import Any
|
||||
|
||||
from tinygrad.nn.onnx import OnnxPBParser
|
||||
|
||||
def metadata_path_for(onnx_path) -> pathlib.Path:
|
||||
p = pathlib.Path(onnx_path)
|
||||
return p.parent / (p.stem + '_metadata.pkl')
|
||||
|
||||
|
||||
class MetadataOnnxPBParser(OnnxPBParser):
|
||||
def _parse_ModelProto(self) -> dict:
|
||||
@@ -48,7 +52,7 @@ if __name__ == "__main__":
|
||||
'output_shapes': dict(get_name_and_shape(x) for x in model["graph"]["output"]),
|
||||
}
|
||||
|
||||
metadata_path = model_path.parent / (model_path.stem + '_metadata.pkl')
|
||||
metadata_path = metadata_path_for(model_path)
|
||||
with open(metadata_path, 'wb') as f:
|
||||
pickle.dump(metadata, f)
|
||||
|
||||
|
||||
31
selfdrive/modeld/helpers.py
Normal file
31
selfdrive/modeld/helpers.py
Normal file
@@ -0,0 +1,31 @@
|
||||
import json
|
||||
import os
|
||||
from dataclasses import dataclass
|
||||
from pathlib import Path
|
||||
|
||||
from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
|
||||
|
||||
MODELS_DIR = Path(__file__).resolve().parent / 'models'
|
||||
COMPILED_FLAGS_PATH = MODELS_DIR / 'tg_compiled_flags.json'
|
||||
|
||||
|
||||
def set_tinygrad_backend_from_compiled_flags() -> None:
|
||||
if os.path.isfile(COMPILED_FLAGS_PATH):
|
||||
with open(COMPILED_FLAGS_PATH) as f:
|
||||
os.environ['DEV'] = str(json.load(f)['DEV'])
|
||||
|
||||
|
||||
@dataclass
|
||||
class CompileConfig:
|
||||
cam_w: int
|
||||
cam_h: int
|
||||
prepare_only: bool
|
||||
prefix: str
|
||||
|
||||
@property
|
||||
def pkl_path(self):
|
||||
return str(MODELS_DIR / f'{self.prefix}{"warp_" if self.prepare_only else ""}{self.cam_w}x{self.cam_h}_tinygrad.pkl')
|
||||
|
||||
@property
|
||||
def nv12(self):
|
||||
return (self.cam_w, self.cam_h, *get_nv12_info(self.cam_w, self.cam_h))
|
||||
@@ -1,7 +1,8 @@
|
||||
#!/usr/bin/env python3
|
||||
import os
|
||||
from openpilot.system.hardware import TICI
|
||||
os.environ['DEV'] = 'QCOM' if TICI else 'CPU'
|
||||
from openpilot.selfdrive.modeld.helpers import MODELS_DIR, CompileConfig, set_tinygrad_backend_from_compiled_flags
|
||||
set_tinygrad_backend_from_compiled_flags()
|
||||
|
||||
USBGPU = "USBGPU" in os.environ
|
||||
if USBGPU:
|
||||
os.environ['DEV'] = 'AMD'
|
||||
@@ -12,7 +13,6 @@ import pickle
|
||||
import numpy as np
|
||||
import cereal.messaging as messaging
|
||||
from cereal import car, log
|
||||
from pathlib import Path
|
||||
from cereal.messaging import PubMaster, SubMaster
|
||||
from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
|
||||
from opendbc.car.car_helpers import get_demo_car_params
|
||||
@@ -26,6 +26,7 @@ from openpilot.common.transformations.model import get_warp_matrix
|
||||
from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
|
||||
from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value, get_curvature_from_plan
|
||||
from openpilot.selfdrive.modeld.parse_model_outputs import Parser
|
||||
from openpilot.selfdrive.modeld.compile_modeld import make_input_queues
|
||||
from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
|
||||
from openpilot.common.file_chunker import read_file_chunked
|
||||
from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
|
||||
@@ -37,18 +38,13 @@ from openpilot.sunnypilot.modeld_v2.modeld_base import ModelStateBase
|
||||
PROCESS_NAME = "selfdrive.modeld.modeld"
|
||||
SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
|
||||
|
||||
MODELS_DIR = Path(__file__).parent / 'models'
|
||||
VISION_PKL_PATH = MODELS_DIR / 'driving_vision_tinygrad.pkl'
|
||||
VISION_METADATA_PATH = MODELS_DIR / 'driving_vision_metadata.pkl'
|
||||
POLICY_PKL_PATH = MODELS_DIR / 'driving_policy_tinygrad.pkl'
|
||||
POLICY_METADATA_PATH = MODELS_DIR / 'driving_policy_metadata.pkl'
|
||||
|
||||
LAT_SMOOTH_SECONDS = 0.0
|
||||
LONG_SMOOTH_SECONDS = 0.3
|
||||
MIN_LAT_CONTROL_SPEED = 0.3
|
||||
|
||||
IMG_QUEUE_SHAPE = (6*(ModelConstants.MODEL_RUN_FREQ//ModelConstants.MODEL_CONTEXT_FREQ + 1), 128, 256)
|
||||
assert IMG_QUEUE_SHAPE[0] == 30
|
||||
|
||||
|
||||
def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
|
||||
@@ -83,108 +79,39 @@ class FrameMeta:
|
||||
if vipc is not None:
|
||||
self.frame_id, self.timestamp_sof, self.timestamp_eof = vipc.frame_id, vipc.timestamp_sof, vipc.timestamp_eof
|
||||
|
||||
class InputQueues:
|
||||
def __init__ (self, model_fps, env_fps, n_frames_input):
|
||||
assert env_fps % model_fps == 0
|
||||
assert env_fps >= model_fps
|
||||
self.model_fps = model_fps
|
||||
self.env_fps = env_fps
|
||||
self.n_frames_input = n_frames_input
|
||||
|
||||
self.dtypes = {}
|
||||
self.shapes = {}
|
||||
self.q = {}
|
||||
|
||||
def update_dtypes_and_shapes(self, input_dtypes, input_shapes) -> None:
|
||||
self.dtypes.update(input_dtypes)
|
||||
if self.env_fps == self.model_fps:
|
||||
self.shapes.update(input_shapes)
|
||||
else:
|
||||
for k in input_shapes:
|
||||
shape = list(input_shapes[k])
|
||||
if 'img' in k:
|
||||
n_channels = shape[1] // self.n_frames_input
|
||||
shape[1] = (self.env_fps // self.model_fps + (self.n_frames_input - 1)) * n_channels
|
||||
else:
|
||||
shape[1] = (self.env_fps // self.model_fps) * shape[1]
|
||||
self.shapes[k] = tuple(shape)
|
||||
|
||||
def reset(self) -> None:
|
||||
self.q = {k: np.zeros(self.shapes[k], dtype=self.dtypes[k]) for k in self.dtypes.keys()}
|
||||
|
||||
def enqueue(self, inputs:dict[str, np.ndarray]) -> None:
|
||||
for k in inputs.keys():
|
||||
if inputs[k].dtype != self.dtypes[k]:
|
||||
raise ValueError(f'supplied input <{k}({inputs[k].dtype})> has wrong dtype, expected {self.dtypes[k]}')
|
||||
input_shape = list(self.shapes[k])
|
||||
input_shape[1] = -1
|
||||
single_input = inputs[k].reshape(tuple(input_shape))
|
||||
sz = single_input.shape[1]
|
||||
self.q[k][:,:-sz] = self.q[k][:,sz:]
|
||||
self.q[k][:,-sz:] = single_input
|
||||
|
||||
def get(self, *names) -> dict[str, np.ndarray]:
|
||||
if self.env_fps == self.model_fps:
|
||||
return {k: self.q[k] for k in names}
|
||||
else:
|
||||
out = {}
|
||||
for k in names:
|
||||
shape = self.shapes[k]
|
||||
if 'img' in k:
|
||||
n_channels = shape[1] // (self.env_fps // self.model_fps + (self.n_frames_input - 1))
|
||||
out[k] = np.concatenate([self.q[k][:, s:s+n_channels] for s in np.linspace(0, shape[1] - n_channels, self.n_frames_input, dtype=int)], axis=1)
|
||||
elif 'pulse' in k:
|
||||
# any pulse within interval counts
|
||||
out[k] = self.q[k].reshape((shape[0], shape[1] * self.model_fps // self.env_fps, self.env_fps // self.model_fps, -1)).max(axis=2)
|
||||
else:
|
||||
idxs = np.arange(-1, -shape[1], -self.env_fps // self.model_fps)[::-1]
|
||||
out[k] = self.q[k][:, idxs]
|
||||
return out
|
||||
|
||||
class ModelState(ModelStateBase):
|
||||
inputs: dict[str, np.ndarray]
|
||||
output: np.ndarray
|
||||
prev_desire: np.ndarray # for tracking the rising edge of the pulse
|
||||
|
||||
def __init__(self):
|
||||
def __init__(self, cam_w: int, cam_h: int):
|
||||
ModelStateBase.__init__(self)
|
||||
self.LAT_SMOOTH_SECONDS = LAT_SMOOTH_SECONDS
|
||||
|
||||
with open(VISION_METADATA_PATH, 'rb') as f:
|
||||
vision_metadata = pickle.load(f)
|
||||
self.vision_input_shapes = vision_metadata['input_shapes']
|
||||
self.vision_input_names = list(self.vision_input_shapes.keys())
|
||||
self.vision_output_slices = vision_metadata['output_slices']
|
||||
vision_output_size = vision_metadata['output_shapes']['outputs'][1]
|
||||
|
||||
with open(POLICY_METADATA_PATH, 'rb') as f:
|
||||
policy_metadata = pickle.load(f)
|
||||
self.policy_input_shapes = policy_metadata['input_shapes']
|
||||
self.policy_output_slices = policy_metadata['output_slices']
|
||||
policy_output_size = policy_metadata['output_shapes']['outputs'][1]
|
||||
|
||||
self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
|
||||
|
||||
# policy inputs
|
||||
self.numpy_inputs = {k: np.zeros(self.policy_input_shapes[k], dtype=np.float32) for k in self.policy_input_shapes}
|
||||
self.full_input_queues = InputQueues(ModelConstants.MODEL_CONTEXT_FREQ, ModelConstants.MODEL_RUN_FREQ, ModelConstants.N_FRAMES)
|
||||
for k in ['desire_pulse', 'features_buffer']:
|
||||
self.full_input_queues.update_dtypes_and_shapes({k: self.numpy_inputs[k].dtype}, {k: self.numpy_inputs[k].shape})
|
||||
self.full_input_queues.reset()
|
||||
|
||||
self.img_queues = {'img': Tensor.zeros(IMG_QUEUE_SHAPE, dtype='uint8').contiguous().realize(),
|
||||
'big_img': Tensor.zeros(IMG_QUEUE_SHAPE, dtype='uint8').contiguous().realize()}
|
||||
self.frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ
|
||||
self.input_queues, self.npy = make_input_queues(self.vision_input_shapes, self.policy_input_shapes, self.frame_skip)
|
||||
self.full_frames : dict[str, Tensor] = {}
|
||||
self._blob_cache : dict[int, Tensor] = {}
|
||||
self.transforms_np = {k: np.zeros((3,3), dtype=np.float32) for k in self.img_queues}
|
||||
self.transforms = {k: Tensor(v, device='NPY').realize() for k, v in self.transforms_np.items()}
|
||||
self.vision_output = np.zeros(vision_output_size, dtype=np.float32)
|
||||
self.policy_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()}
|
||||
self.policy_output = np.zeros(policy_output_size, dtype=np.float32)
|
||||
self.parser = Parser()
|
||||
self.frame_buf_params : dict[str, tuple[int, int, int, int]] = {}
|
||||
self.update_imgs = None
|
||||
self.vision_run = pickle.loads(read_file_chunked(str(VISION_PKL_PATH)))
|
||||
self.policy_run = pickle.loads(read_file_chunked(str(POLICY_PKL_PATH)))
|
||||
self.frame_buf_params = {k: get_nv12_info(cam_w, cam_h) for k in ('img', 'big_img')}
|
||||
self.run_policy = pickle.loads(read_file_chunked(CompileConfig(cam_w, cam_h, prefix='driving_', prepare_only=False).pkl_path))
|
||||
self.warp_enqueue = pickle.loads(read_file_chunked(CompileConfig(cam_w, cam_h, prefix='driving_', prepare_only=True).pkl_path))
|
||||
self.warp_enqueue(
|
||||
**self.input_queues,
|
||||
frame=Tensor.zeros(self.frame_buf_params['img'][3], dtype='uint8').contiguous().realize(),
|
||||
big_frame=Tensor.zeros(self.frame_buf_params['big_img'][3], dtype='uint8').contiguous().realize())
|
||||
|
||||
def slice_outputs(self, model_outputs: np.ndarray, output_slices: dict[str, slice]) -> dict[str, np.ndarray]:
|
||||
parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in output_slices.items()}
|
||||
@@ -192,18 +119,6 @@ class ModelState(ModelStateBase):
|
||||
|
||||
def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
|
||||
inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
|
||||
# Model decides when action is completed, so desire input is just a pulse triggered on rising edge
|
||||
inputs['desire_pulse'][0] = 0
|
||||
new_desire = np.where(inputs['desire_pulse'] - self.prev_desire > .99, inputs['desire_pulse'], 0)
|
||||
self.prev_desire[:] = inputs['desire_pulse']
|
||||
if self.update_imgs is None:
|
||||
for key in bufs.keys():
|
||||
w, h = bufs[key].width, bufs[key].height
|
||||
self.frame_buf_params[key] = get_nv12_info(w, h)
|
||||
warp_path = MODELS_DIR / f'warp_{w}x{h}_tinygrad.pkl'
|
||||
with open(warp_path, "rb") as f:
|
||||
self.update_imgs = pickle.load(f)
|
||||
|
||||
for key in bufs.keys():
|
||||
ptr = bufs[key].data.ctypes.data
|
||||
yuv_size = self.frame_buf_params[key][3]
|
||||
@@ -212,31 +127,31 @@ class ModelState(ModelStateBase):
|
||||
if cache_key not in self._blob_cache:
|
||||
self._blob_cache[cache_key] = Tensor.from_blob(ptr, (yuv_size,), dtype='uint8')
|
||||
self.full_frames[key] = self._blob_cache[cache_key]
|
||||
for key in bufs.keys():
|
||||
self.transforms_np[key][:,:] = transforms[key][:,:]
|
||||
|
||||
out = self.update_imgs(self.img_queues['img'], self.full_frames['img'], self.transforms['img'],
|
||||
self.img_queues['big_img'], self.full_frames['big_img'], self.transforms['big_img'])
|
||||
self.img_queues['img'], self.img_queues['big_img'] = out[0].realize(), out[2].realize()
|
||||
vision_inputs = {'img': out[1], 'big_img': out[3]}
|
||||
# Model decides when action is completed, so desire input is just a pulse triggered on rising edge
|
||||
inputs['desire_pulse'][0] = 0
|
||||
self.npy['desire'][:] = np.where(inputs['desire_pulse'] - self.prev_desire > .99, inputs['desire_pulse'], 0)
|
||||
self.prev_desire[:] = inputs['desire_pulse']
|
||||
self.npy['traffic_convention'][:] = inputs['traffic_convention']
|
||||
self.npy['tfm'][:,:] = transforms['img'][:,:]
|
||||
self.npy['big_tfm'][:,:] = transforms['big_img'][:,:]
|
||||
|
||||
if prepare_only:
|
||||
self.warp_enqueue(**self.input_queues, frame=self.full_frames['img'], big_frame=self.full_frames['big_img'])
|
||||
return None
|
||||
|
||||
self.vision_output = self.vision_run(**vision_inputs).contiguous().realize().uop.base.buffer.numpy().flatten()
|
||||
vision_outputs_dict = self.parser.parse_vision_outputs(self.slice_outputs(self.vision_output, self.vision_output_slices))
|
||||
vision_output, policy_output = self.run_policy(
|
||||
**self.input_queues, frame=self.full_frames['img'], big_frame=self.full_frames['big_img']
|
||||
)
|
||||
|
||||
self.full_input_queues.enqueue({'features_buffer': vision_outputs_dict['hidden_state'], 'desire_pulse': new_desire})
|
||||
for k in ['desire_pulse', 'features_buffer']:
|
||||
self.numpy_inputs[k][:] = self.full_input_queues.get(k)[k]
|
||||
self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention']
|
||||
|
||||
self.policy_output = self.policy_run(**self.policy_inputs).contiguous().realize().uop.base.buffer.numpy().flatten()
|
||||
policy_outputs_dict = self.parser.parse_policy_outputs(self.slice_outputs(self.policy_output, self.policy_output_slices))
|
||||
vision_output = vision_output.numpy().flatten()
|
||||
policy_output = policy_output.numpy().flatten()
|
||||
vision_outputs_dict = self.parser.parse_vision_outputs(self.slice_outputs(vision_output, self.vision_output_slices))
|
||||
policy_outputs_dict = self.parser.parse_policy_outputs(self.slice_outputs(policy_output, self.policy_output_slices))
|
||||
combined_outputs_dict = {**vision_outputs_dict, **policy_outputs_dict}
|
||||
if SEND_RAW_PRED:
|
||||
combined_outputs_dict['raw_pred'] = np.concatenate([self.vision_output.copy(), self.policy_output.copy()])
|
||||
|
||||
if SEND_RAW_PRED:
|
||||
combined_outputs_dict['raw_pred'] = np.concatenate([vision_output.copy(), policy_output.copy()])
|
||||
return combined_outputs_dict
|
||||
|
||||
|
||||
@@ -248,11 +163,6 @@ def main(demo=False):
|
||||
# also need to move the aux USB interrupts for good timings
|
||||
config_realtime_process(7, 54)
|
||||
|
||||
st = time.monotonic()
|
||||
cloudlog.warning("loading model")
|
||||
model = ModelState()
|
||||
cloudlog.warning(f"models loaded in {time.monotonic() - st:.1f}s, modeld starting")
|
||||
|
||||
# visionipc clients
|
||||
while True:
|
||||
available_streams = VisionIpcClient.available_streams("camerad", block=False)
|
||||
@@ -276,6 +186,11 @@ def main(demo=False):
|
||||
if use_extra_client:
|
||||
cloudlog.warning(f"connected extra cam with buffer size: {vipc_client_extra.buffer_len} ({vipc_client_extra.width} x {vipc_client_extra.height})")
|
||||
|
||||
st = time.monotonic()
|
||||
cloudlog.warning("loading model")
|
||||
model = ModelState(vipc_client_main.width, vipc_client_main.height)
|
||||
cloudlog.warning(f"models loaded in {time.monotonic() - st:.1f}s, modeld starting")
|
||||
|
||||
# messaging
|
||||
pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry", "modelDataV2SP"])
|
||||
sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl", "liveDelay"])
|
||||
|
||||
@@ -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)
|
||||
|
||||
@@ -21,8 +21,6 @@ from openpilot.system.ui.widgets.scroller_tici import Scroller
|
||||
|
||||
SPEED_LIMIT_MODE_BUTTONS = [tr("Off"), tr("Info"), tr("Warning"), tr("Assist")]
|
||||
SPEED_LIMIT_OFFSET_TYPE_BUTTONS = [tr("None"), tr("Fixed"), tr("%")]
|
||||
SPEED_LIMIT_UPSHIFT_ACCEPT_BUTTONS = [tr("Never Raise"), tr("Accel Pedal Confirm")]
|
||||
SPEED_LIMIT_CAP_AUDIO_CUE_BUTTONS = [tr("Off"), tr("On")]
|
||||
|
||||
SPEED_LIMIT_MODE_DESCRIPTIONS = [
|
||||
tr("Off: Disables the Speed Limit functions."),
|
||||
@@ -37,16 +35,6 @@ SPEED_LIMIT_OFFSET_DESCRIPTIONS = [
|
||||
tr("Percent: Adds a percent offset [Speed Limit + (Offset % Speed Limit)]"),
|
||||
]
|
||||
|
||||
SPEED_LIMIT_UPSHIFT_ACCEPT_DESCRIPTIONS = [
|
||||
tr("Never Raise: Keeps the current cap when the speed limit changes."),
|
||||
tr("Accel Pedal Confirm: Accepts new speed limit cap when you release the accelerator pedal."),
|
||||
]
|
||||
|
||||
SPEED_LIMIT_CAP_AUDIO_CUE_DESCRIPTIONS = [
|
||||
tr("Off: No audio cue when entering speed limit capping mode."),
|
||||
tr("On: Plays a low chime when entering speed limit capping mode."),
|
||||
]
|
||||
|
||||
|
||||
class PanelType(IntEnum):
|
||||
SETTINGS = 0
|
||||
@@ -98,42 +86,13 @@ class SpeedLimitSettingsLayout(Widget):
|
||||
label_callback=self._get_offset_label,
|
||||
)
|
||||
|
||||
self._speed_limit_upshift_accept = multiple_button_item_sp(
|
||||
title=lambda: tr("Speed Limit Cap Upshift"),
|
||||
description=self._get_upshift_accept_description,
|
||||
buttons=SPEED_LIMIT_UPSHIFT_ACCEPT_BUTTONS,
|
||||
param="SpeedLimitUpshiftAccept",
|
||||
button_width=500,
|
||||
)
|
||||
|
||||
self._speed_limit_min_cap_floor = option_item_sp(
|
||||
title=lambda: tr("Speed Limit Cap Floor"),
|
||||
param="SpeedLimitMinCapFloor",
|
||||
min_value=0,
|
||||
max_value=40,
|
||||
description=self._get_min_cap_floor_description,
|
||||
label_callback=self._get_min_cap_floor_label,
|
||||
)
|
||||
|
||||
self._speed_limit_cap_audio_cue = multiple_button_item_sp(
|
||||
title=lambda: tr("Speed Limit Cap Audio Cue"),
|
||||
description=self._get_cap_audio_cue_description,
|
||||
buttons=SPEED_LIMIT_CAP_AUDIO_CUE_BUTTONS,
|
||||
param="SpeedLimitCapAudioCue",
|
||||
button_width=450,
|
||||
)
|
||||
|
||||
items = [
|
||||
self._speed_limit_mode,
|
||||
LineSeparatorSP(40),
|
||||
self._source_button,
|
||||
LineSeparatorSP(40),
|
||||
self._speed_limit_offset_type,
|
||||
self._speed_limit_value_offset,
|
||||
LineSeparatorSP(40),
|
||||
self._speed_limit_upshift_accept,
|
||||
self._speed_limit_min_cap_floor,
|
||||
self._speed_limit_cap_audio_cue,
|
||||
self._speed_limit_value_offset
|
||||
]
|
||||
return items
|
||||
|
||||
@@ -161,23 +120,6 @@ class SpeedLimitSettingsLayout(Widget):
|
||||
return f"{value} {unit}"
|
||||
return str(value)
|
||||
|
||||
@staticmethod
|
||||
def _get_upshift_accept_description():
|
||||
return get_highlighted_description(ui_state.params, "SpeedLimitUpshiftAccept", SPEED_LIMIT_UPSHIFT_ACCEPT_DESCRIPTIONS)
|
||||
|
||||
@staticmethod
|
||||
def _get_min_cap_floor_description():
|
||||
return ""
|
||||
|
||||
@staticmethod
|
||||
def _get_min_cap_floor_label(value):
|
||||
unit = tr("km/h") if ui_state.is_metric else tr("mph")
|
||||
return f"{value} {unit}"
|
||||
|
||||
@staticmethod
|
||||
def _get_cap_audio_cue_description():
|
||||
return get_highlighted_description(ui_state.params, "SpeedLimitCapAudioCue", SPEED_LIMIT_CAP_AUDIO_CUE_DESCRIPTIONS)
|
||||
|
||||
def _update_state(self):
|
||||
super()._update_state()
|
||||
|
||||
@@ -186,7 +128,6 @@ class SpeedLimitSettingsLayout(Widget):
|
||||
brand = ui_state.CP.brand
|
||||
has_long = ui_state.has_longitudinal_control
|
||||
has_icbm = ui_state.has_icbm
|
||||
pcm_op_long = has_long and ui_state.CP.pcmCruise
|
||||
|
||||
"""
|
||||
Speed Limit Assist is available when:
|
||||
@@ -203,7 +144,6 @@ class SpeedLimitSettingsLayout(Widget):
|
||||
|
||||
else:
|
||||
sla_available = False
|
||||
pcm_op_long = False
|
||||
|
||||
if not sla_available:
|
||||
self._speed_limit_mode.action_item.set_enabled_buttons({
|
||||
@@ -217,10 +157,6 @@ class SpeedLimitSettingsLayout(Widget):
|
||||
offset_type = ui_state.params.get("SpeedLimitOffsetType", return_default=True)
|
||||
self._speed_limit_value_offset.set_visible(offset_type != int(SpeedLimitOffsetType.off))
|
||||
|
||||
self._speed_limit_upshift_accept.set_visible(pcm_op_long)
|
||||
self._speed_limit_min_cap_floor.set_visible(pcm_op_long)
|
||||
self._speed_limit_cap_audio_cue.set_visible(pcm_op_long)
|
||||
|
||||
def _render(self, rect):
|
||||
if self._current_panel == PanelType.POLICY:
|
||||
self._policy_layout.render(rect)
|
||||
|
||||
@@ -10,6 +10,7 @@ import time
|
||||
import pyray as rl
|
||||
|
||||
from cereal import custom
|
||||
from openpilot.sunnypilot.models.default_model import DEFAULT_MODEL
|
||||
from openpilot.common.constants import CV
|
||||
from openpilot.selfdrive.ui.ui_state import device, ui_state
|
||||
from openpilot.system.ui.lib.multilang import tr
|
||||
@@ -207,7 +208,7 @@ class ModelsLayout(Widget):
|
||||
for bundle in bundles:
|
||||
folders.setdefault(next((ov_ride.value for ov_ride in bundle.overrides if ov_ride.key == "folder"), ""), []).append(bundle)
|
||||
|
||||
folders_list = [TreeFolder("", [TreeNode("Default", {'display_name': tr("Default Model"), 'short_name': "Default"})])]
|
||||
folders_list = [TreeFolder("", [TreeNode("Default", {'display_name': f"{DEFAULT_MODEL} (Default)", 'short_name': "Default"})])]
|
||||
for folder, folder_bundles in sorted(folders.items(), key=lambda x: max((bundle.index for bundle in x[1]), default=-1), reverse=True):
|
||||
folder_bundles.sort(key=lambda bundle: bundle.index, reverse=True)
|
||||
name = folder + (f" - (Updated: {m.group(1)})" if folder_bundles and (m := re.search(r'\(([^)]*)\)[^(]*$', folder_bundles[0].displayName)) else "")
|
||||
@@ -243,7 +244,7 @@ class ModelsLayout(Widget):
|
||||
self._update_lagd_description(live_delay)
|
||||
self.model_manager = ui_state.sm["modelManagerSP"]
|
||||
self._handle_bundle_download_progress()
|
||||
active_name = self.model_manager.activeBundle.internalName if self.model_manager and self.model_manager.activeBundle.ref else tr("Default Model")
|
||||
active_name = self.model_manager.activeBundle.internalName if self.model_manager and self.model_manager.activeBundle.ref else f"{DEFAULT_MODEL} (Default)"
|
||||
self.current_model_item.action_item.set_value(active_name)
|
||||
|
||||
if not ui_state.is_offroad():
|
||||
|
||||
@@ -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())
|
||||
|
||||
@@ -8,6 +8,7 @@ from collections.abc import Callable
|
||||
import pyray as rl
|
||||
|
||||
from cereal import custom
|
||||
from openpilot.sunnypilot.models.default_model import DEFAULT_MODEL
|
||||
from openpilot.selfdrive.ui.mici.widgets.button import BigButton
|
||||
from openpilot.selfdrive.ui.sunnypilot.layouts.settings.models import ModelsLayout
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state, device
|
||||
@@ -27,7 +28,8 @@ class CurrentModelInfo(Widget):
|
||||
subheader_color = rl.Color(255, 255, 255, int(255 * 0.9 * 0.65))
|
||||
max_width = int(self._rect.width - 20)
|
||||
self.current_model_header = UnifiedLabel(tr("active model"), 48, max_width=max_width, text_color=header_color, font_weight=FontWeight.DISPLAY)
|
||||
self.current_model_text = UnifiedLabel(tr("default model"), 32, max_width=max_width, text_color=subheader_color, font_weight=FontWeight.ROMAN, scroll=True)
|
||||
default_text = f"{DEFAULT_MODEL} (Default)".lower()
|
||||
self.current_model_text = UnifiedLabel(default_text, 32, max_width=max_width, text_color=subheader_color, font_weight=FontWeight.ROMAN, scroll=True)
|
||||
|
||||
self.info_header = UnifiedLabel("cache size", 48, max_width=max_width, text_color=header_color, font_weight=FontWeight.DISPLAY)
|
||||
self.info_text = UnifiedLabel("0 mb", 32, max_width=max_width, text_color=subheader_color, font_weight=FontWeight.ROMAN)
|
||||
@@ -98,7 +100,7 @@ class ModelsLayoutMici(NavScroller):
|
||||
|
||||
folders = self._get_grouped_bundles(favorites)
|
||||
folder_buttons = []
|
||||
default_btn = BigButton(tr("default model"))
|
||||
default_btn = BigButton(f"{DEFAULT_MODEL} (Default)".lower())
|
||||
default_btn.set_click_callback(self._select_default)
|
||||
folder_buttons.append(default_btn)
|
||||
|
||||
@@ -168,7 +170,8 @@ class ModelsLayoutMici(NavScroller):
|
||||
self._was_downloading = is_downloading
|
||||
|
||||
self.current_model_info.current_model_header.set_text(tr("active model"))
|
||||
self.current_model_info.current_model_text.set_text(manager.activeBundle.displayName.lower() if manager.activeBundle.index > 0 else tr("default model"))
|
||||
model_text = manager.activeBundle.displayName.lower() if manager.activeBundle.index > 0 else f"{DEFAULT_MODEL} (Default)".lower()
|
||||
self.current_model_info.current_model_text.set_text(model_text)
|
||||
self.current_model_info.info_header.set_text(tr("cache size"))
|
||||
self.current_model_info.info_text.set_text(f"{ModelsLayout.calculate_cache_size():.2f} MB")
|
||||
|
||||
|
||||
@@ -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 +6,6 @@ See the LICENSE.md file in the root directory for more details.
|
||||
"""
|
||||
import pyray as rl
|
||||
|
||||
from cereal import custom
|
||||
from openpilot.common.constants import CV
|
||||
from openpilot.selfdrive.ui.mici.onroad.torque_bar import TorqueBar
|
||||
from openpilot.selfdrive.ui.sunnypilot.onroad.developer_ui import DeveloperUiRenderer, DeveloperUiState, get_bottom_dev_ui_offset
|
||||
@@ -24,7 +23,6 @@ from openpilot.system.ui.lib.multilang import tr
|
||||
from openpilot.system.ui.lib.text_measure import measure_text_cached
|
||||
|
||||
SLA_ACTIVE_COLOR = rl.Color(0x91, 0x9b, 0x95, 0xff)
|
||||
AssistState = custom.LongitudinalPlanSP.SpeedLimit.AssistState
|
||||
|
||||
|
||||
class HudRendererSP(HudRenderer):
|
||||
@@ -91,14 +89,9 @@ class HudRendererSP(HudRenderer):
|
||||
set_speed_color = COLORS.DARK_GREY
|
||||
if self.is_cruise_set:
|
||||
set_speed_color = COLORS.WHITE
|
||||
assist_state = long_plan_sp.speedLimit.assist.state
|
||||
# Green for active/adapting/capping states, grey for tempPaused when override, else normal
|
||||
if assist_state in (AssistState.active, AssistState.adapting, AssistState.capping):
|
||||
if long_plan_sp.speedLimit.assist.active:
|
||||
set_speed_color = SLA_ACTIVE_COLOR if long_override else rl.Color(0, 0xff, 0, 0xff)
|
||||
max_color = SLA_ACTIVE_COLOR if long_override else rl.Color(0x80, 0xd8, 0xa6, 0xff)
|
||||
elif assist_state == AssistState.tempPaused and long_override:
|
||||
set_speed_color = SLA_ACTIVE_COLOR
|
||||
max_color = SLA_ACTIVE_COLOR
|
||||
else:
|
||||
if ui_state.status == UIStatus.ENGAGED:
|
||||
max_color = COLORS.ENGAGED
|
||||
|
||||
@@ -7,7 +7,6 @@ See the LICENSE.md file in the root directory for more details.
|
||||
|
||||
from dataclasses import dataclass
|
||||
from enum import StrEnum
|
||||
import time
|
||||
import pyray as rl
|
||||
|
||||
from cereal import custom
|
||||
@@ -29,7 +28,6 @@ SET_SPEED_NA = 255
|
||||
KM_TO_MILE = 0.621371
|
||||
|
||||
AssistState = custom.LongitudinalPlanSP.SpeedLimit.AssistState
|
||||
AssistDisableReason = custom.LongitudinalPlanSP.SpeedLimit.AssistDisableReason
|
||||
SpeedLimitSource = custom.LongitudinalPlanSP.SpeedLimit.Source
|
||||
|
||||
|
||||
@@ -42,7 +40,6 @@ class Colors:
|
||||
DARK_GREY = rl.Color(77, 77, 77, 255)
|
||||
SUB_BG = rl.Color(0, 0, 0, 180)
|
||||
MUTCD_LINES = rl.Color(255, 255, 255, 100)
|
||||
AMBER = rl.Color(255, 176, 0, 255)
|
||||
|
||||
|
||||
class IconSide(StrEnum):
|
||||
@@ -113,11 +110,6 @@ class SpeedLimitRenderer(Widget, SpeedLimitAlertRenderer):
|
||||
self.speed_limit_ahead_valid = False
|
||||
self.speed_limit_ahead_frame = 0
|
||||
|
||||
self.cap_delta = 0.0
|
||||
self.target_cap = 0.0
|
||||
self.disable_reason = AssistDisableReason.none
|
||||
self.disable_reason_timestamp = 0.0
|
||||
|
||||
self.is_cruise_set: bool = False
|
||||
self.is_cruise_available: bool = True
|
||||
self.set_speed: float = SET_SPEED_NA
|
||||
@@ -153,10 +145,6 @@ class SpeedLimitRenderer(Widget, SpeedLimitAlertRenderer):
|
||||
self.speed_limit_final_last = resolver.speedLimitFinalLast * self.speed_conv
|
||||
self.speed_limit_source = resolver.source
|
||||
self.speed_limit_assist_state = assist.state
|
||||
self.cap_delta = assist.capDelta
|
||||
self.target_cap = assist.targetCap * self.speed_conv
|
||||
self.disable_reason = assist.disableReason
|
||||
self.disable_reason_timestamp = time.monotonic()
|
||||
|
||||
if sm.updated["liveMapDataSP"]:
|
||||
lmd = sm["liveMapDataSP"]
|
||||
@@ -206,15 +194,6 @@ class SpeedLimitRenderer(Widget, SpeedLimitAlertRenderer):
|
||||
self._draw_sign_main(sign_rect, alpha)
|
||||
if self.speed_limit_assist_state == AssistState.preActive:
|
||||
self._draw_pre_active_arrow(sign_rect)
|
||||
elif self.speed_limit_assist_state == AssistState.tempPaused:
|
||||
self._draw_temp_paused_icon(sign_rect)
|
||||
elif self.speed_limit_assist_state == AssistState.capping:
|
||||
self._draw_cap_badge(sign_rect)
|
||||
# Also draw ahead info if valid and different from cap (mutual exclusion fix)
|
||||
if self.speed_limit_ahead_valid and round(self.speed_limit_ahead) != round(self.target_cap):
|
||||
ahead_info_y = sign_rect.y + sign_rect.height + 10 + 160 + 10
|
||||
ahead_rect = rl.Rectangle(sign_rect.x, ahead_info_y, sign_rect.width, 100)
|
||||
self._draw_ahead_info(ahead_rect)
|
||||
else:
|
||||
self._draw_ahead_info(sign_rect)
|
||||
|
||||
@@ -250,38 +229,6 @@ class SpeedLimitRenderer(Widget, SpeedLimitAlertRenderer):
|
||||
color = rl.Color(255, 255, 255, int(icon_alpha))
|
||||
rl.draw_texture_ex(txt_icon, rl.Vector2(arrow_x, arrow_y), 0.0, 1.0, color)
|
||||
|
||||
def _draw_temp_paused_icon(self, sign_rect):
|
||||
"""Draw greyed preActive icon when tempPaused."""
|
||||
# Reuse preActive icon with grey alpha
|
||||
icon_alpha = 128 # 50% opacity for paused state
|
||||
txt_icon = self.arrow_blank # Use blank/greyed version
|
||||
sign_margin = 12
|
||||
arrow_spacing = int(sign_margin * 1.4)
|
||||
arrow_x = sign_rect.x + sign_rect.width + arrow_spacing
|
||||
arrow_y = sign_rect.y + (sign_rect.height - txt_icon.height) / 2
|
||||
color = rl.Color(145, 155, 149, icon_alpha) # GREY color with alpha
|
||||
rl.draw_texture_ex(txt_icon, rl.Vector2(arrow_x, arrow_y), 0.0, 1.0, color)
|
||||
|
||||
def _draw_cap_badge(self, sign_rect):
|
||||
"""Draw CAP info panel below speed limit sign during capping."""
|
||||
rect = rl.Rectangle(sign_rect.x + (sign_rect.width - 170) / 2, sign_rect.y + sign_rect.height + 10, 170, 160)
|
||||
rl.draw_rectangle_rounded(rect, 0.35, 10, Colors.SUB_BG)
|
||||
rl.draw_rectangle_rounded_lines_ex(rect, 0.35, 10, 3, Colors.MUTCD_LINES)
|
||||
|
||||
mid_x = rect.x + rect.width / 2
|
||||
|
||||
label_color = Colors.AMBER if self.cap_delta > 0.5 else Colors.GREY
|
||||
self._draw_text_centered(self.font_demi, "CAP", 40, rl.Vector2(mid_x, rect.y + 28), label_color)
|
||||
|
||||
cap_speed = round(self.target_cap)
|
||||
self._draw_text_centered(self.font_bold, str(cap_speed), 70, rl.Vector2(mid_x, rect.y + 82), Colors.WHITE)
|
||||
|
||||
if self.cap_delta > 0.5:
|
||||
delta_display = round(self.cap_delta * self.speed_conv)
|
||||
delta_unit = 'km/h' if ui_state.is_metric else 'mph'
|
||||
delta_text = f'-{delta_display} {delta_unit}'
|
||||
self._draw_text_centered(self.font_norm, delta_text, 36, rl.Vector2(mid_x, rect.y + 134), Colors.GREY)
|
||||
|
||||
def _render_vienna(self, rect, val, sub, color, has_limit, alpha=1.0):
|
||||
center = rl.Vector2(rect.x + rect.width / 2, rect.y + rect.height / 2)
|
||||
radius = (rect.width + 18) / 2
|
||||
|
||||
@@ -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
|
||||
|
||||
@@ -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)
|
||||
|
||||
@@ -1,5 +1,6 @@
|
||||
import os
|
||||
import glob
|
||||
from tinygrad import Device
|
||||
|
||||
Import('env', 'arch')
|
||||
lenv = env.Clone()
|
||||
@@ -21,10 +22,19 @@ if PC:
|
||||
if outputs:
|
||||
lenv.Command(outputs, inputs, cmd)
|
||||
|
||||
tg_flags = {
|
||||
'larch64': 'DEV=QCOM FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0',
|
||||
'Darwin': f'DEV=CPU THREADS=0 HOME={os.path.expanduser("~")}',
|
||||
}.get(arch, 'DEV=CPU CPU_LLVM=1 THREADS=0')
|
||||
available = set(Device.get_available_devices())
|
||||
if 'CUDA' in available:
|
||||
tg_backend = 'CUDA'
|
||||
tg_flags = f'DEV={tg_backend}'
|
||||
elif 'QCOM' in available:
|
||||
tg_backend = 'QCOM'
|
||||
tg_flags = f'DEV={tg_backend} FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0'
|
||||
else:
|
||||
tg_backend = 'CPU' if arch == 'Darwin' else 'CPU:LLVM'
|
||||
# THREADS=0 is need to prevent bug: https://github.com/tinygrad/tinygrad/issues/14689
|
||||
tg_flags = f'DEV={tg_backend} THREADS=0'
|
||||
|
||||
mac_brew_string = f'HOME={os.path.expanduser("~")}' if arch == 'Darwin' else ''
|
||||
|
||||
image_flag = {
|
||||
'larch64': 'IMAGE=2',
|
||||
@@ -38,7 +48,7 @@ def tg_compile(flags, model_name):
|
||||
return lenv.Command(
|
||||
out,
|
||||
[fn + ".onnx"] + tinygrad_files,
|
||||
f'{pythonpath_string} {flags} {image_flag} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {out}'
|
||||
f'{pythonpath_string} {tg_flags} {mac_brew_string} {image_flag} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {out}'
|
||||
)
|
||||
|
||||
# Compile models
|
||||
@@ -46,9 +56,9 @@ for model_name in ['supercombo', 'driving_vision', 'driving_off_policy', 'drivin
|
||||
if File(f"models/{model_name}.onnx").exists():
|
||||
tg_compile(tg_flags, model_name)
|
||||
|
||||
script_files = [File("warp.py"), File(Dir("#selfdrive/modeld").File("compile_warp.py").abspath)]
|
||||
script_files = [File("warp.py")]
|
||||
pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + ':' + env.Dir("#").abspath + '"'
|
||||
compile_warp_cmd = f'{pythonpath_string} {tg_flags} python3 -m sunnypilot.modeld_v2.warp'
|
||||
compile_warp_cmd = f'{pythonpath_string} {tg_flags} {mac_brew_string} {image_flag} python3 -m sunnypilot.modeld_v2.warp'
|
||||
|
||||
from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
|
||||
warp_targets = []
|
||||
|
||||
@@ -129,8 +129,7 @@ class ModelState(ModelStateBase):
|
||||
self.numpy_inputs[key][:] = inputs[key]
|
||||
|
||||
imgs_tensors = self.warp.process(bufs, transforms)
|
||||
for name, tensor in imgs_tensors.items():
|
||||
self.model_runner.inputs[name] = tensor
|
||||
self.model_runner.update_vision_inputs(imgs_tensors)
|
||||
self.model_runner.prepare_inputs(self.numpy_inputs)
|
||||
|
||||
if prepare_only:
|
||||
|
||||
@@ -2,8 +2,11 @@ import os
|
||||
os.environ['DEV'] = 'CPU'
|
||||
import pytest
|
||||
import numpy as np
|
||||
from openpilot.selfdrive.modeld.compile_warp import get_nv12_info, CAMERA_CONFIGS
|
||||
from openpilot.sunnypilot.modeld_v2.warp import Warp, MODEL_W, MODEL_H
|
||||
from openpilot.sunnypilot.modeld_v2.warp import CAMERA_CONFIGS
|
||||
from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
|
||||
from openpilot.sunnypilot.modeld_v2.warp import Warp
|
||||
from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE
|
||||
MODEL_W, MODEL_H = MEDMODEL_INPUT_SIZE
|
||||
|
||||
VISION_NAME_PAIRS = [ # needed to account for supercombos input_imgs
|
||||
('img', 'big_img'),
|
||||
|
||||
@@ -6,74 +6,164 @@ from tinygrad.tensor import Tensor
|
||||
from tinygrad.engine.jit import TinyJit
|
||||
from tinygrad.device import Device
|
||||
|
||||
from typing import NamedTuple
|
||||
# https://github.com/tinygrad/tinygrad/issues/15682
|
||||
from tinygrad.uop.ops import UOp, Ops
|
||||
_orig = UOp.__reduce__
|
||||
UOp.__reduce__ = lambda self: (UOp.unique, ()) if self.op is Ops.UNIQUE else _orig(self)
|
||||
|
||||
from tinygrad.helpers import Context
|
||||
from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
|
||||
from openpilot.selfdrive.modeld.compile_warp import (
|
||||
CAMERA_CONFIGS, MEDMODEL_INPUT_SIZE, make_frame_prepare, make_update_both_imgs,
|
||||
warp_pkl_path,
|
||||
)
|
||||
from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
|
||||
|
||||
class NV12Frame(NamedTuple):
|
||||
cam_w: int
|
||||
cam_h: int
|
||||
stride: int
|
||||
y_height: int
|
||||
uv_height: int
|
||||
size: int
|
||||
|
||||
UV_SCALE_MATRIX = np.array([[0.5, 0, 0], [0, 0.5, 0], [0, 0, 1]], dtype=np.float32)
|
||||
UV_SCALE_MATRIX_INV = np.linalg.inv(UV_SCALE_MATRIX)
|
||||
|
||||
CAMERA_CONFIGS = [
|
||||
(_ar_ox_fisheye.width, _ar_ox_fisheye.height), # tici: 1928x1208
|
||||
(_os_fisheye.width, _os_fisheye.height), # mici: 1344x760
|
||||
]
|
||||
from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE
|
||||
|
||||
MODELS_DIR = Path(__file__).parent / 'models'
|
||||
MODEL_W, MODEL_H = MEDMODEL_INPUT_SIZE
|
||||
|
||||
UPSTREAM_BUFFER_LENGTH = 5
|
||||
|
||||
def warp_pkl_path(cam_w, cam_h):
|
||||
return MODELS_DIR / f'warp_{cam_w}x{cam_h}_tinygrad.pkl'
|
||||
|
||||
def warp_perspective_tinygrad(src_flat, M_inv, dst_shape, src_shape, stride_pad):
|
||||
w_dst, h_dst = dst_shape
|
||||
h_src, w_src = src_shape
|
||||
|
||||
x = Tensor.arange(w_dst).reshape(1, w_dst).expand(h_dst, w_dst).reshape(-1)
|
||||
y = Tensor.arange(h_dst).reshape(h_dst, 1).expand(h_dst, w_dst).reshape(-1)
|
||||
|
||||
# inline 3x3 matmul as elementwise to avoid reduce op (enables fusion with gather)
|
||||
src_x = M_inv[0, 0] * x + M_inv[0, 1] * y + M_inv[0, 2]
|
||||
src_y = M_inv[1, 0] * x + M_inv[1, 1] * y + M_inv[1, 2]
|
||||
src_w = M_inv[2, 0] * x + M_inv[2, 1] * y + M_inv[2, 2]
|
||||
|
||||
src_x = src_x / src_w
|
||||
src_y = src_y / src_w
|
||||
|
||||
x_nn_clipped = Tensor.round(src_x).clip(0, w_src - 1).cast('int')
|
||||
y_nn_clipped = Tensor.round(src_y).clip(0, h_src - 1).cast('int')
|
||||
idx = y_nn_clipped * (w_src + stride_pad) + x_nn_clipped
|
||||
|
||||
return src_flat[idx]
|
||||
|
||||
def frames_to_tensor(frames, model_w, model_h):
|
||||
H = (frames.shape[0] * 2) // 3
|
||||
W = frames.shape[1]
|
||||
in_img1 = Tensor.cat(frames[0:H:2, 0::2],
|
||||
frames[1:H:2, 0::2],
|
||||
frames[0:H:2, 1::2],
|
||||
frames[1:H:2, 1::2],
|
||||
frames[H:H+H//4].reshape((H//2, W//2)),
|
||||
frames[H+H//4:H+H//2].reshape((H//2, W//2)), dim=0).reshape((6, H//2, W//2))
|
||||
return in_img1
|
||||
|
||||
def make_frame_prepare(cam_w, cam_h, model_w, model_h):
|
||||
stride, y_height, uv_height, _ = get_nv12_info(cam_w, cam_h)
|
||||
uv_offset = stride * y_height
|
||||
stride_pad = stride - cam_w
|
||||
|
||||
def frame_prepare_tinygrad(input_frame, M_inv):
|
||||
# UV_SCALE @ M_inv @ UV_SCALE_INV simplifies to elementwise scaling
|
||||
M_inv_uv = M_inv * Tensor([[1.0, 1.0, 0.5], [1.0, 1.0, 0.5], [2.0, 2.0, 1.0]])
|
||||
# deinterleave NV12 UV plane (UVUV... -> separate U, V)
|
||||
uv = input_frame[uv_offset:uv_offset + uv_height * stride].reshape(uv_height, stride)
|
||||
with Context(SPLIT_REDUCEOP=0):
|
||||
y = warp_perspective_tinygrad(input_frame[:cam_h*stride],
|
||||
M_inv, (model_w, model_h),
|
||||
(cam_h, cam_w), stride_pad).realize()
|
||||
u = warp_perspective_tinygrad(uv[:cam_h//2, :cam_w:2].flatten(),
|
||||
M_inv_uv, (model_w//2, model_h//2),
|
||||
(cam_h//2, cam_w//2), 0).realize()
|
||||
v = warp_perspective_tinygrad(uv[:cam_h//2, 1:cam_w:2].flatten(),
|
||||
M_inv_uv, (model_w//2, model_h//2),
|
||||
(cam_h//2, cam_w//2), 0).realize()
|
||||
yuv = y.cat(u).cat(v).reshape((model_h * 3 // 2, model_w))
|
||||
tensor = frames_to_tensor(yuv, model_w, model_h)
|
||||
return tensor
|
||||
return frame_prepare_tinygrad
|
||||
|
||||
def make_update_img_input(frame_prepare, model_w, model_h):
|
||||
def update_img_input_tinygrad(tensor, frame, M_inv):
|
||||
M_inv = M_inv.to(Device.DEFAULT)
|
||||
new_img = frame_prepare(frame, M_inv)
|
||||
tensor.assign(tensor[6:].cat(new_img, dim=0).contiguous())
|
||||
return tensor, Tensor.cat(tensor[:6], tensor[-6:], dim=0).contiguous().reshape(1, 12, model_h//2, model_w//2)
|
||||
return update_img_input_tinygrad
|
||||
|
||||
def make_update_both_imgs(frame_prepare, model_w, model_h):
|
||||
update_img = make_update_img_input(frame_prepare, model_w, model_h)
|
||||
|
||||
def update_both_imgs_tinygrad(calib_img_buffer, new_img, M_inv,
|
||||
calib_big_img_buffer, new_big_img, M_inv_big):
|
||||
r1, r2 = update_img(calib_img_buffer, new_img, M_inv)
|
||||
w1, w2 = update_img(calib_big_img_buffer, new_big_img, M_inv_big)
|
||||
return r1, r2, w1, w2
|
||||
return update_both_imgs_tinygrad
|
||||
|
||||
|
||||
def v2_warp_pkl_path(cam_w, cam_h, buffer_length):
|
||||
return MODELS_DIR / f'warp_{cam_w}x{cam_h}_b{buffer_length}_tinygrad.pkl'
|
||||
|
||||
|
||||
def compile_v2_warp(cam_w, cam_h, buffer_length):
|
||||
def compile_v2_warp(cam_w, cam_h, buffer_length, model_w=MEDMODEL_INPUT_SIZE[0], model_h=MEDMODEL_INPUT_SIZE[1], pkl_path=None):
|
||||
_, _, _, yuv_size = get_nv12_info(cam_w, cam_h)
|
||||
img_buffer_shape = (buffer_length * 6, MODEL_H // 2, MODEL_W // 2)
|
||||
img_buffer_shape = (buffer_length * 6, model_h // 2, model_w // 2)
|
||||
|
||||
print(f"Compiling v2 warp for {cam_w}x{cam_h} buffer_length={buffer_length}...")
|
||||
|
||||
frame_prepare = make_frame_prepare(cam_w, cam_h, MODEL_W, MODEL_H)
|
||||
update_both_imgs = make_update_both_imgs(frame_prepare, MODEL_W, MODEL_H)
|
||||
frame_prepare = make_frame_prepare(cam_w, cam_h, model_w, model_h)
|
||||
update_both_imgs = make_update_both_imgs(frame_prepare, model_w, model_h)
|
||||
update_img_jit = TinyJit(update_both_imgs, prune=True)
|
||||
|
||||
full_buffer = Tensor.zeros(img_buffer_shape, dtype='uint8').contiguous().realize()
|
||||
big_full_buffer = Tensor.zeros(img_buffer_shape, dtype='uint8').contiguous().realize()
|
||||
full_buffer_np = np.zeros(img_buffer_shape, dtype=np.uint8)
|
||||
big_full_buffer_np = np.zeros(img_buffer_shape, dtype=np.uint8)
|
||||
|
||||
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()
|
||||
print(f" [{i+1}/10] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms")
|
||||
|
||||
pkl_path = v2_warp_pkl_path(cam_w, cam_h, buffer_length)
|
||||
if pkl_path is None:
|
||||
pkl_path = v2_warp_pkl_path(cam_w, cam_h, buffer_length)
|
||||
with open(pkl_path, "wb") as f:
|
||||
pickle.dump(update_img_jit, f)
|
||||
print(f" Saved to {pkl_path}")
|
||||
|
||||
jit = pickle.load(open(pkl_path, "rb"))
|
||||
jit(*inputs)
|
||||
|
||||
|
||||
class Warp:
|
||||
def __init__(self, buffer_length=2):
|
||||
def __init__(self, buffer_length=2, model_w=MEDMODEL_INPUT_SIZE[0], model_h=MEDMODEL_INPUT_SIZE[1]):
|
||||
self.buffer_length = buffer_length
|
||||
self.img_buffer_shape = (buffer_length * 6, MODEL_H // 2, MODEL_W // 2)
|
||||
self.model_w = model_w
|
||||
self.model_h = model_h
|
||||
self.img_buffer_shape = (buffer_length * 6, model_h // 2, model_w // 2)
|
||||
|
||||
self.jit_cache = {}
|
||||
self.full_buffers = {k: Tensor.zeros(self.img_buffer_shape, dtype='uint8').contiguous().realize() for k in ['img', 'big_img']}
|
||||
@@ -101,8 +191,8 @@ class Warp:
|
||||
with open(upstream_pkl, 'rb') as f:
|
||||
self.jit_cache[key] = pickle.load(f)
|
||||
if key not in self.jit_cache:
|
||||
frame_prepare = make_frame_prepare(cam_w, cam_h, MODEL_W, MODEL_H)
|
||||
update_both_imgs = make_update_both_imgs(frame_prepare, MODEL_W, MODEL_H)
|
||||
frame_prepare = make_frame_prepare(cam_w, cam_h, self.model_w, self.model_h)
|
||||
update_both_imgs = make_update_both_imgs(frame_prepare, self.model_w, self.model_h)
|
||||
self.jit_cache[key] = TinyJit(update_both_imgs, prune=True)
|
||||
|
||||
if key not in self._nv12_cache:
|
||||
@@ -116,7 +206,7 @@ class Warp:
|
||||
if wide_ptr not in self._blob_cache:
|
||||
self._blob_cache[wide_ptr] = Tensor.from_blob(wide_ptr, (yuv_size,), dtype='uint8')
|
||||
road_blob = self._blob_cache[road_ptr]
|
||||
wide_blob = self._blob_cache[wide_ptr] if wide_ptr != road_ptr else Tensor.from_blob(wide_ptr, (yuv_size,), dtype='uint8')
|
||||
wide_blob = self._blob_cache[wide_ptr]
|
||||
np.copyto(self.transforms_np['img'], transforms[road].reshape(3, 3))
|
||||
np.copyto(self.transforms_np['big_img'], transforms[wide].reshape(3, 3))
|
||||
|
||||
@@ -125,13 +215,11 @@ 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()
|
||||
|
||||
return {road: out_road, wide: out_wide}
|
||||
return {road: res[1].realize(), wide: res[3].realize()}
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
for cam_w, cam_h in CAMERA_CONFIGS:
|
||||
compile_v2_warp(cam_w, cam_h, 5, pkl_path=warp_pkl_path(cam_w, cam_h))
|
||||
for bl in [2, 5]:
|
||||
compile_v2_warp(cam_w, cam_h, bl)
|
||||
|
||||
@@ -4,8 +4,9 @@ import hashlib
|
||||
|
||||
from openpilot.common.basedir import BASEDIR
|
||||
from openpilot.sunnypilot import get_file_hash
|
||||
from openpilot.sunnypilot.models.model_name import DEFAULT_MODEL
|
||||
|
||||
DEFAULT_MODEL_NAME_PATH = os.path.join(BASEDIR, "common", "model.h")
|
||||
DEFAULT_MODEL_NAME_PATH = os.path.join(BASEDIR, "sunnypilot", "models", "model_name.py")
|
||||
MODEL_HASH_PATH = os.path.join(BASEDIR, "sunnypilot", "models", "tests", "model_hash")
|
||||
VISION_ONNX_PATH = os.path.join(BASEDIR, "selfdrive", "modeld", "models", "driving_vision.onnx")
|
||||
POLICY_ONNX_PATH = os.path.join(BASEDIR, "selfdrive", "modeld", "models", "driving_policy.onnx")
|
||||
@@ -25,8 +26,7 @@ def update_model_hash():
|
||||
|
||||
def get_current_default_model_name():
|
||||
print("[GET DEFAULT MODEL NAME]")
|
||||
with open(DEFAULT_MODEL_NAME_PATH) as f:
|
||||
name = f.read().split('"')[1]
|
||||
name = DEFAULT_MODEL
|
||||
print(f'Current default model name: "{name}"')
|
||||
|
||||
return name
|
||||
@@ -35,7 +35,7 @@ def get_current_default_model_name():
|
||||
def update_default_model_name(name: str):
|
||||
print("[CHANGE DEFAULT MODEL NAME]")
|
||||
with open(DEFAULT_MODEL_NAME_PATH, "w") as f:
|
||||
f.write(f'#define DEFAULT_MODEL "{name}"\n')
|
||||
f.write(f'DEFAULT_MODEL = "{name}"\n')
|
||||
print(f'New default model name: "{name}"')
|
||||
print("[DONE]")
|
||||
|
||||
@@ -51,7 +51,7 @@ if __name__ == "__main__":
|
||||
exit(0)
|
||||
|
||||
current_name = get_current_default_model_name()
|
||||
new_name = f"{args.new_name} (Default)"
|
||||
new_name = args.new_name
|
||||
if current_name == new_name:
|
||||
print(f'Proposed default model name: "{new_name}"')
|
||||
confirm = input("Proposed default model name is the same as the current default model name. Confirm? (y/n): ").upper().strip()
|
||||
|
||||
@@ -116,7 +116,7 @@ class ModelCache:
|
||||
|
||||
class ModelFetcher:
|
||||
"""Handles fetching and caching of model data from remote source"""
|
||||
MODEL_URL = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-models/refs/heads/gh-pages/docs/driving_models_v16.json"
|
||||
MODEL_URL = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-models/refs/heads/gh-pages/docs/driving_models_v18.json"
|
||||
|
||||
def __init__(self, params: Params):
|
||||
self.params = params
|
||||
|
||||
1
sunnypilot/models/model_name.py
Normal file
1
sunnypilot/models/model_name.py
Normal file
@@ -0,0 +1 @@
|
||||
DEFAULT_MODEL = "POP model"
|
||||
@@ -132,6 +132,11 @@ class ModelRunner(ModularRunner):
|
||||
return list(self._model_data.input_shapes.keys())
|
||||
raise ValueError("Model data is not available. Ensure the model is loaded correctly.")
|
||||
|
||||
def update_vision_inputs(self, vision_inputs: dict) -> None:
|
||||
"""Updates the vision inputs in the runner."""
|
||||
for name, tensor in vision_inputs.items():
|
||||
self.inputs[name] = tensor
|
||||
|
||||
@abstractmethod
|
||||
def prepare_inputs(self, numpy_inputs: NumpyDict) -> dict:
|
||||
"""
|
||||
|
||||
@@ -46,14 +46,13 @@ class TinygradRunner(ModelRunner, SupercomboTinygrad, PolicyTinygrad, VisionTiny
|
||||
assert "/dev/kgsl-3d0" not in str(e), "Model was built on C3 or C3X, but is being loaded on PC"
|
||||
raise
|
||||
|
||||
# Map input names to their required dtype and device from the loaded model
|
||||
self.input_to_dtype = {}
|
||||
self.input_to_device = {}
|
||||
for idx, name in enumerate(self.model_run.captured.expected_names):
|
||||
info = self.model_run.captured.expected_input_info[idx]
|
||||
self.input_to_dtype[name] = info[2] # dtype
|
||||
self.input_to_device[name] = info[3] # device
|
||||
self._policy_cached = False
|
||||
self.input_to_dtype[name] = info[2]
|
||||
self.input_to_device[name] = info[3]
|
||||
self.inputs[name] = Tensor.zeros(*self.input_shapes[name], dtype=info[2], device=info[3]).realize()
|
||||
|
||||
@property
|
||||
def vision_input_names(self) -> list[str]:
|
||||
@@ -62,22 +61,23 @@ class TinygradRunner(ModelRunner, SupercomboTinygrad, PolicyTinygrad, VisionTiny
|
||||
|
||||
|
||||
def prepare_policy_inputs(self, numpy_inputs: NumpyDict):
|
||||
if not self._policy_cached:
|
||||
for key, value in numpy_inputs.items():
|
||||
self.inputs[key] = Tensor(value, device='NPY').realize()
|
||||
self._policy_cached = True
|
||||
for key, value in numpy_inputs.items():
|
||||
if key in self.inputs:
|
||||
self.inputs[key].assign(Tensor(value, device=self.inputs[key].device))
|
||||
|
||||
def prepare_inputs(self, numpy_inputs: NumpyDict) -> dict:
|
||||
"""Prepares all vision and policy inputs for the model."""
|
||||
self.prepare_policy_inputs(numpy_inputs)
|
||||
for key in self.vision_input_names:
|
||||
if key in self.inputs:
|
||||
self.inputs[key] = self.inputs[key].cast(self.input_to_dtype[key])
|
||||
return self.inputs
|
||||
|
||||
def update_vision_inputs(self, vision_inputs: dict[str, Tensor]):
|
||||
for name, tensor in vision_inputs.items():
|
||||
if name in self.inputs:
|
||||
self.inputs[name].assign(tensor)
|
||||
|
||||
def _run_model(self) -> NumpyDict:
|
||||
"""Runs the Tinygrad model inference and parses the outputs."""
|
||||
outputs = self.model_run(**self.inputs).contiguous().realize().uop.base.buffer.numpy().flatten()
|
||||
outputs = self.model_run(**self.inputs).numpy().flatten()
|
||||
return self._parse_outputs(outputs)
|
||||
|
||||
def _parse_outputs(self, model_outputs: np.ndarray) -> NumpyDict:
|
||||
|
||||
@@ -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
|
||||
|
||||
@@ -60,7 +60,7 @@ class LongitudinalPlannerSP:
|
||||
# Speed Limit Assist
|
||||
has_speed_limit = self.resolver.speed_limit_valid or self.resolver.speed_limit_last_valid
|
||||
self.sla.update(long_enabled, long_override, v_ego, a_ego, v_cruise_cluster, self.resolver.speed_limit,
|
||||
self.resolver.speed_limit_final_last, has_speed_limit, self.resolver.distance, self.events_sp, CS.gasPressed)
|
||||
self.resolver.speed_limit_final_last, has_speed_limit, self.resolver.distance, self.events_sp)
|
||||
|
||||
targets = {
|
||||
LongitudinalPlanSource.cruise: (v_cruise, a_ego),
|
||||
@@ -132,9 +132,6 @@ class LongitudinalPlannerSP:
|
||||
assist.active = self.sla.is_active
|
||||
assist.vTarget = float(self.sla.output_v_target)
|
||||
assist.aTarget = float(self.sla.output_a_target)
|
||||
assist.capDelta = float(self.sla.cap_delta)
|
||||
assist.targetCap = float(self.sla._target_cap)
|
||||
assist.disableReason = self.sla.disable_reason
|
||||
|
||||
# E2E Alerts
|
||||
e2eAlerts = longitudinalPlanSP.e2eAlerts
|
||||
|
||||
@@ -17,8 +17,3 @@ CONFIRM_SPEED_THRESHOLD = {
|
||||
True: 80, # km/h
|
||||
False: 50, # mph
|
||||
}
|
||||
|
||||
MIN_CAP_FLOOR_MAX = {
|
||||
True: 64, # km/h
|
||||
False: 40, # mph
|
||||
}
|
||||
|
||||
@@ -27,8 +27,3 @@ class Mode(IntEnumBase):
|
||||
information = 1
|
||||
warning = 2
|
||||
assist = 3
|
||||
|
||||
|
||||
class UpshiftAccept(IntEnumBase):
|
||||
NEVER_RAISE = 0
|
||||
ACCEL_PEDAL = 1
|
||||
|
||||
@@ -9,7 +9,6 @@ from cereal import custom, car
|
||||
from openpilot.common.constants import CV
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Mode as SpeedLimitMode
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit import MIN_CAP_FLOOR_MAX
|
||||
|
||||
|
||||
def compare_cluster_target(v_cruise_cluster: float, target_set_speed: float, is_metric: bool) -> tuple[bool, bool]:
|
||||
@@ -43,9 +42,3 @@ def set_speed_limit_assist_availability(CP: car.CarParams, CP_SP: custom.CarPara
|
||||
params.put("SpeedLimitMode", int(SpeedLimitMode.warning))
|
||||
|
||||
return allowed
|
||||
|
||||
|
||||
def get_min_cap_floor(params: Params, is_metric: bool) -> float:
|
||||
value = params.get("SpeedLimitMinCapFloor", return_default=True)
|
||||
value = max(0, min(value, MIN_CAP_FLOOR_MAX[is_metric]))
|
||||
return value * (CV.KPH_TO_MS if is_metric else CV.MPH_TO_MS)
|
||||
|
||||
@@ -15,20 +15,16 @@ from openpilot.selfdrive.modeld.constants import ModelConstants
|
||||
from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD
|
||||
from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit import PCM_LONG_REQUIRED_MAX_SET_SPEED, CONFIRM_SPEED_THRESHOLD
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Mode, UpshiftAccept
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.helpers import compare_cluster_target, set_speed_limit_assist_availability, \
|
||||
get_min_cap_floor
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Mode
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.helpers import compare_cluster_target, set_speed_limit_assist_availability
|
||||
|
||||
ButtonType = car.CarState.ButtonEvent.Type
|
||||
EventNameSP = custom.OnroadEventSP.EventName
|
||||
SpeedLimitAssistState = custom.LongitudinalPlanSP.SpeedLimit.AssistState
|
||||
AssistDisableReason = custom.LongitudinalPlanSP.SpeedLimit.AssistDisableReason
|
||||
SpeedLimitSource = custom.LongitudinalPlanSP.SpeedLimit.Source
|
||||
|
||||
ACTIVE_STATES = (SpeedLimitAssistState.active, SpeedLimitAssistState.adapting)
|
||||
ENABLED_STATES = (SpeedLimitAssistState.preActive, SpeedLimitAssistState.pending, *ACTIVE_STATES)
|
||||
CAP_ACTIVE_STATES = (SpeedLimitAssistState.capping,)
|
||||
CAP_ENABLED_STATES = CAP_ACTIVE_STATES # cap mode has no partially-engaged state
|
||||
|
||||
DISABLED_GUARD_PERIOD = 0.5 # secs.
|
||||
# secs. Time to wait after activation before considering temp deactivation signal.
|
||||
@@ -37,10 +33,6 @@ PRE_ACTIVE_GUARD_PERIOD = {
|
||||
False: 5,
|
||||
}
|
||||
SPEED_LIMIT_CHANGED_HOLD_PERIOD = 1 # secs. Time to wait after speed limit change before switching to preActive.
|
||||
CAP_RAISE_HOLD_PERIOD = 0.2 # secs. Time to confirm limit raise before upshifting.
|
||||
CAP_SUSPEND_GUARD_PERIOD = 1.0 # secs. Time to hold cap disabled after long_override release.
|
||||
USER_PAUSE_TIMEOUT_TICKS = 6000 # 5 min / DT_MDL (0.05 s) = 6000 ticks
|
||||
RESUME_CLUSTER_DELTA_THRESHOLD = 1 # integer display-unit delta (kph or mph)
|
||||
|
||||
LIMIT_MIN_ACC = -1.5 # m/s^2 Maximum deceleration allowed for limit controllers to provide.
|
||||
LIMIT_MAX_ACC = 1.0 # m/s^2 Maximum acceleration allowed for limit controllers to provide while active.
|
||||
@@ -59,7 +51,6 @@ class SpeedLimitAssist:
|
||||
v_ego: float
|
||||
a_ego: float
|
||||
v_offset: float
|
||||
cap_delta: float
|
||||
|
||||
def __init__(self, CP: car.CarParams, CP_SP: custom.CarParamsSP):
|
||||
self.params = Params()
|
||||
@@ -73,12 +64,10 @@ class SpeedLimitAssist:
|
||||
self.enabled = self.params.get("SpeedLimitMode", return_default=True) == Mode.assist
|
||||
self.long_enabled = False
|
||||
self.long_enabled_prev = False
|
||||
self.long_override = False
|
||||
self.is_enabled = False
|
||||
self.is_active = False
|
||||
self.output_v_target = V_CRUISE_UNSET
|
||||
self.output_a_target = 0.
|
||||
self.cap_delta = 0.0
|
||||
self.v_ego = 0.
|
||||
self.a_ego = 0.
|
||||
self.v_offset = 0.
|
||||
@@ -103,28 +92,8 @@ class SpeedLimitAssist:
|
||||
self._minus_hold = 0.
|
||||
self._last_carstate_ts = 0.
|
||||
|
||||
self._cap_change_timer = 0
|
||||
self._cap_suspended_timer = 0
|
||||
self._cap_below_floor = False
|
||||
self._target_cap = 0.0
|
||||
self._cap_upshift_pressed = False
|
||||
self._cap_upshift_release_timer = 0
|
||||
self._cap_audio_cue_fired = False
|
||||
self._cap_raise_accepted = False
|
||||
self._accel_pressed = False
|
||||
self._was_cap_suspended = False
|
||||
self._override_active_last = False
|
||||
self._min_cap_floor = get_min_cap_floor(self.params, self.is_metric)
|
||||
self._cap_upshift_accept = self.params.get("SpeedLimitUpshiftAccept", return_default=True)
|
||||
self._cap_audio_cue_enabled = bool(self.params.get("SpeedLimitCapAudioCue", return_default=True))
|
||||
|
||||
self._user_paused: bool = False
|
||||
self._user_paused_timer: int = 0
|
||||
self._disable_reason = AssistDisableReason.none
|
||||
self._speed_limit_final_last_at_pause = 0.
|
||||
self.tempPaused_count = 0 # diagnostic counter for tests
|
||||
|
||||
# TODO-SP: SLA's own output_a_target for planner
|
||||
# Solution functions mapped to respective states
|
||||
self.acceleration_solutions = {
|
||||
SpeedLimitAssistState.disabled: self.get_current_acceleration_as_target,
|
||||
SpeedLimitAssistState.inactive: self.get_current_acceleration_as_target,
|
||||
@@ -132,26 +101,8 @@ class SpeedLimitAssist:
|
||||
SpeedLimitAssistState.pending: self.get_current_acceleration_as_target,
|
||||
SpeedLimitAssistState.adapting: self.get_adapting_state_target_acceleration,
|
||||
SpeedLimitAssistState.active: self.get_active_state_target_acceleration,
|
||||
SpeedLimitAssistState.capping: self.get_current_acceleration_as_target,
|
||||
SpeedLimitAssistState.tempPaused: self.get_current_acceleration_as_target,
|
||||
}
|
||||
|
||||
@property
|
||||
def disable_reason(self):
|
||||
return self._disable_reason
|
||||
|
||||
@property
|
||||
def _gates_pass(self) -> bool:
|
||||
return self.long_enabled and self.enabled
|
||||
|
||||
@property
|
||||
def _cap_gates_pass(self) -> bool:
|
||||
return self._gates_pass and not self.long_override and self._cap_suspended_timer <= 0
|
||||
|
||||
@property
|
||||
def _cap_entry_ready(self) -> bool:
|
||||
return self._has_speed_limit and not self._cap_below_floor
|
||||
|
||||
@property
|
||||
def speed_limit_changed(self) -> bool:
|
||||
return self._has_speed_limit and bool(self._speed_limit != self.speed_limit_prev)
|
||||
@@ -175,13 +126,13 @@ class SpeedLimitAssist:
|
||||
events_sp.add(EventNameSP.speedLimitActive)
|
||||
|
||||
def get_v_target_from_control(self) -> float:
|
||||
if self.pcm_op_long:
|
||||
if self.state == SpeedLimitAssistState.capping:
|
||||
return min(self.v_cruise_cluster, self._target_cap)
|
||||
else:
|
||||
if self._has_speed_limit and self.is_active:
|
||||
if self._has_speed_limit:
|
||||
if self.pcm_op_long and self.is_enabled:
|
||||
return self._speed_limit_final_last
|
||||
if not self.pcm_op_long and self.is_active:
|
||||
return self._speed_limit_final_last
|
||||
|
||||
# Fallback
|
||||
return V_CRUISE_UNSET
|
||||
|
||||
# TODO-SP: SLA's own output_a_target for planner
|
||||
@@ -193,9 +144,6 @@ class SpeedLimitAssist:
|
||||
self.is_metric = self.params.get_bool("IsMetric")
|
||||
set_speed_limit_assist_availability(self.CP, self.CP_SP, self.params)
|
||||
self.enabled = self.params.get("SpeedLimitMode", return_default=True) == Mode.assist
|
||||
self._min_cap_floor = get_min_cap_floor(self.params, self.is_metric)
|
||||
self._cap_upshift_accept = self.params.get("SpeedLimitUpshiftAccept", return_default=True)
|
||||
self._cap_audio_cue_enabled = bool(self.params.get("SpeedLimitCapAudioCue", return_default=True))
|
||||
|
||||
def update_car_state(self, CS: car.CarState) -> None:
|
||||
now = time.monotonic()
|
||||
@@ -239,12 +187,7 @@ class SpeedLimitAssist:
|
||||
cst_high
|
||||
pcm_long_required_max_set_speed_conv = round(pcm_long_required_max * speed_conv)
|
||||
|
||||
if self.pcm_op_long and self.state not in CAP_ACTIVE_STATES:
|
||||
self.target_set_speed_conv = pcm_long_required_max_set_speed_conv
|
||||
elif not self.pcm_op_long:
|
||||
self.target_set_speed_conv = self.speed_limit_final_last_conv
|
||||
else:
|
||||
self.target_set_speed_conv = self.v_cruise_cluster_conv
|
||||
self.target_set_speed_conv = pcm_long_required_max_set_speed_conv if self.pcm_op_long else self.speed_limit_final_last_conv
|
||||
|
||||
@property
|
||||
def apply_confirm_speed_threshold(self) -> bool:
|
||||
@@ -289,142 +232,74 @@ class SpeedLimitAssist:
|
||||
|
||||
return self._get_button_release(req_plus, req_minus)
|
||||
|
||||
def _cap_limit_change_held(self) -> bool:
|
||||
"""Return True when limit-change hold period has elapsed."""
|
||||
return self._cap_change_timer >= int(SPEED_LIMIT_CHANGED_HOLD_PERIOD / DT_MDL)
|
||||
def update_state_machine_pcm_op_long(self):
|
||||
self.long_engaged_timer = max(0, self.long_engaged_timer - 1)
|
||||
self.pre_active_timer = max(0, self.pre_active_timer - 1)
|
||||
|
||||
def _cap_upshift_release_edge(self) -> bool:
|
||||
"""Return True when limit-raise hold period elapsed after gas release edge."""
|
||||
if self._cap_upshift_pressed and not self._accel_pressed:
|
||||
self._cap_upshift_release_timer = int(CAP_RAISE_HOLD_PERIOD / DT_MDL)
|
||||
|
||||
self._cap_upshift_pressed = self._accel_pressed
|
||||
|
||||
if self._cap_upshift_release_timer > 0:
|
||||
self._cap_upshift_release_timer = max(0, self._cap_upshift_release_timer - 1)
|
||||
if self._cap_upshift_release_timer <= 0:
|
||||
return True
|
||||
|
||||
return False
|
||||
|
||||
def _go_disabled(self, reason: 'AssistDisableReason') -> None:
|
||||
"""Transition to disabled state with given reason."""
|
||||
self._cap_raise_accepted = False
|
||||
self.state = SpeedLimitAssistState.disabled
|
||||
self._disable_reason = reason
|
||||
|
||||
def _should_exit_temp_pause(self) -> bool:
|
||||
"""Check if conditions warrant exiting temp pause state."""
|
||||
limit_changed = self._speed_limit_final_last != self._speed_limit_final_last_at_pause
|
||||
timer_expired = self._user_paused_timer <= 0
|
||||
cluster_realigned = abs(self.v_cruise_cluster_conv - self.speed_limit_final_last_conv) <= RESUME_CLUSTER_DELTA_THRESHOLD
|
||||
return limit_changed or timer_expired or cluster_realigned
|
||||
|
||||
def update_state_machine_cap(self, events_sp: EventsSP) -> tuple[bool, bool]:
|
||||
"""Cap mode FSM for pcm_op_long cars. Returns (enabled, active)."""
|
||||
# Bookkeeping: timers, override flags (unchanged)
|
||||
self._cap_change_timer = min(self._cap_change_timer + 1,
|
||||
int((SPEED_LIMIT_CHANGED_HOLD_PERIOD + 1) / DT_MDL))
|
||||
self._cap_upshift_release_timer = max(0, self._cap_upshift_release_timer - 1)
|
||||
self._user_paused_timer = max(0, self._user_paused_timer - 1)
|
||||
|
||||
if self._override_active_last and not self.long_override and self._was_cap_suspended:
|
||||
self._cap_suspended_timer = int(CAP_SUSPEND_GUARD_PERIOD / DT_MDL)
|
||||
elif not self.long_override:
|
||||
self._cap_suspended_timer = max(0, self._cap_suspended_timer - 1)
|
||||
|
||||
self._override_active_last = self.long_override
|
||||
|
||||
self._cap_below_floor = self._has_speed_limit and self._speed_limit_final_last < self._min_cap_floor
|
||||
|
||||
# Gate checks FIRST: apply to all non-disabled states (including tempPaused)
|
||||
# ACTIVE, ADAPTING, PENDING, PRE_ACTIVE, INACTIVE
|
||||
if self.state != SpeedLimitAssistState.disabled:
|
||||
if not self._gates_pass:
|
||||
self._go_disabled(AssistDisableReason.gateDisabled)
|
||||
self._was_cap_suspended = False
|
||||
self._cap_suspended_timer = 0
|
||||
elif self.long_override:
|
||||
self._go_disabled(AssistDisableReason.longOverride)
|
||||
self._was_cap_suspended = True
|
||||
if not self.long_enabled or not self.enabled:
|
||||
self.state = SpeedLimitAssistState.disabled
|
||||
|
||||
# Sub-state dispatch (only if gates passed)
|
||||
elif self.state == SpeedLimitAssistState.tempPaused:
|
||||
# Exit conditions: speed limit changed, timer expired, or cluster delta returns
|
||||
if self._should_exit_temp_pause():
|
||||
self._user_paused = False
|
||||
self._user_paused_timer = 0
|
||||
self._go_disabled(AssistDisableReason.autoResume)
|
||||
else:
|
||||
# ACTIVE
|
||||
if self.state == SpeedLimitAssistState.active:
|
||||
if self.v_cruise_cluster_changed:
|
||||
self.state = SpeedLimitAssistState.inactive
|
||||
elif self.speed_limit_changed and self.apply_confirm_speed_threshold:
|
||||
self.state = SpeedLimitAssistState.preActive
|
||||
self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.pcm_op_long] / DT_MDL)
|
||||
elif self._has_speed_limit and self.v_offset < LIMIT_SPEED_OFFSET_TH:
|
||||
self.state = SpeedLimitAssistState.adapting
|
||||
|
||||
elif self.state == SpeedLimitAssistState.capping:
|
||||
# Cluster delta entry: user nudged cruise control away from limit
|
||||
if self.v_cruise_cluster_changed:
|
||||
self._user_paused = True
|
||||
self._user_paused_timer = USER_PAUSE_TIMEOUT_TICKS
|
||||
self._speed_limit_final_last_at_pause = self._speed_limit_final_last
|
||||
self.state = SpeedLimitAssistState.tempPaused
|
||||
self._disable_reason = AssistDisableReason.userTempPause
|
||||
elif not self._has_speed_limit:
|
||||
self._cap_raise_accepted = False
|
||||
self.state = SpeedLimitAssistState.pending
|
||||
self._disable_reason = AssistDisableReason.mapGap
|
||||
elif self._cap_below_floor:
|
||||
self._cap_raise_accepted = False
|
||||
self.state = SpeedLimitAssistState.pending
|
||||
self._disable_reason = AssistDisableReason.belowFloor
|
||||
elif self._speed_limit_final_last != self._target_cap and self._cap_limit_change_held():
|
||||
old_cap = self._target_cap
|
||||
self._target_cap = self._speed_limit_final_last
|
||||
self._cap_change_timer = 0
|
||||
self._cap_raise_accepted = False
|
||||
if self._target_cap > old_cap:
|
||||
if self._cap_upshift_accept == UpshiftAccept.NEVER_RAISE:
|
||||
self._target_cap = old_cap
|
||||
elif self._cap_upshift_accept == UpshiftAccept.ACCEL_PEDAL:
|
||||
if not self._accel_pressed:
|
||||
self._cap_raise_accepted = True
|
||||
else:
|
||||
self._target_cap = old_cap
|
||||
else:
|
||||
self._cap_upshift_release_edge()
|
||||
# ADAPTING
|
||||
elif self.state == SpeedLimitAssistState.adapting:
|
||||
if self.v_cruise_cluster_changed:
|
||||
self.state = SpeedLimitAssistState.inactive
|
||||
elif self.speed_limit_changed and self.apply_confirm_speed_threshold:
|
||||
self.state = SpeedLimitAssistState.preActive
|
||||
self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.pcm_op_long] / DT_MDL)
|
||||
elif self.v_offset >= LIMIT_SPEED_OFFSET_TH:
|
||||
self.state = SpeedLimitAssistState.active
|
||||
|
||||
# PENDING
|
||||
elif self.state == SpeedLimitAssistState.pending:
|
||||
if self.target_set_speed_confirmed:
|
||||
self._update_confirmed_state()
|
||||
elif self.speed_limit_changed:
|
||||
self.state = SpeedLimitAssistState.preActive
|
||||
self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.pcm_op_long] / DT_MDL)
|
||||
|
||||
# PRE_ACTIVE
|
||||
elif self.state == SpeedLimitAssistState.preActive:
|
||||
if self.target_set_speed_confirmed:
|
||||
self._update_confirmed_state()
|
||||
elif self.pre_active_timer <= 0:
|
||||
# Timeout - session ended
|
||||
self.state = SpeedLimitAssistState.inactive
|
||||
|
||||
# INACTIVE
|
||||
elif self.state == SpeedLimitAssistState.inactive:
|
||||
pass
|
||||
|
||||
# DISABLED
|
||||
elif self.state == SpeedLimitAssistState.disabled:
|
||||
if self.long_enabled and self.enabled:
|
||||
# start or reset preActive timer if initially enabled or manual set speed change detected
|
||||
if not self.long_enabled_prev or self.v_cruise_cluster_changed:
|
||||
self.long_engaged_timer = int(DISABLED_GUARD_PERIOD / DT_MDL)
|
||||
|
||||
elif self.long_engaged_timer <= 0:
|
||||
if self.target_set_speed_confirmed:
|
||||
self._update_confirmed_state()
|
||||
elif self._has_speed_limit:
|
||||
self.state = SpeedLimitAssistState.preActive
|
||||
self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.pcm_op_long] / DT_MDL)
|
||||
else:
|
||||
self._cap_upshift_release_edge()
|
||||
else:
|
||||
self._cap_upshift_release_edge()
|
||||
self.state = SpeedLimitAssistState.pending
|
||||
|
||||
elif self.state == SpeedLimitAssistState.pending:
|
||||
if self._cap_entry_ready:
|
||||
if not self._was_cap_suspended:
|
||||
self._target_cap = self._speed_limit_final_last
|
||||
self._cap_change_timer = 0
|
||||
self._cap_audio_cue_fired = False
|
||||
self._cap_raise_accepted = False
|
||||
self._disable_reason = AssistDisableReason.none
|
||||
self.state = SpeedLimitAssistState.capping
|
||||
|
||||
else:
|
||||
# Disabled-entry logic: if gates pass + cap_suspended_timer clear, enter capping/pending
|
||||
if self._cap_gates_pass:
|
||||
if self._cap_entry_ready:
|
||||
if not self._was_cap_suspended:
|
||||
self._target_cap = self._speed_limit_final_last
|
||||
self._cap_change_timer = 0
|
||||
self._cap_audio_cue_fired = False
|
||||
self._disable_reason = AssistDisableReason.none
|
||||
self.state = SpeedLimitAssistState.capping
|
||||
else:
|
||||
self._disable_reason = AssistDisableReason.mapGap if not self._has_speed_limit else AssistDisableReason.belowFloor
|
||||
self.state = SpeedLimitAssistState.pending
|
||||
|
||||
# Audio cue on capping entry
|
||||
if self.state == SpeedLimitAssistState.capping and self._state_prev != SpeedLimitAssistState.capping:
|
||||
# suppress audio cue on override-release re-entry
|
||||
if self._cap_audio_cue_enabled and not self._was_cap_suspended:
|
||||
events_sp.add(EventNameSP.speedLimitCapActive)
|
||||
self._cap_audio_cue_fired = True
|
||||
self._was_cap_suspended = False
|
||||
|
||||
enabled = self.state in CAP_ENABLED_STATES
|
||||
active = self.state in CAP_ACTIVE_STATES
|
||||
enabled = self.state in ENABLED_STATES
|
||||
active = self.state in ACTIVE_STATES
|
||||
|
||||
return enabled, active
|
||||
|
||||
@@ -485,13 +360,13 @@ class SpeedLimitAssist:
|
||||
return enabled, active
|
||||
|
||||
def update_events(self, events_sp: EventsSP) -> None:
|
||||
if not self.pcm_op_long and self.state == SpeedLimitAssistState.preActive:
|
||||
if self.state == SpeedLimitAssistState.preActive:
|
||||
events_sp.add(EventNameSP.speedLimitPreActive)
|
||||
|
||||
if self.state == SpeedLimitAssistState.pending and self._state_prev != SpeedLimitAssistState.pending:
|
||||
events_sp.add(EventNameSP.speedLimitPending)
|
||||
|
||||
if not self.pcm_op_long and self.is_active:
|
||||
if self.is_active:
|
||||
if self._state_prev not in ACTIVE_STATES:
|
||||
self.update_active_event(events_sp)
|
||||
|
||||
@@ -504,9 +379,8 @@ class SpeedLimitAssist:
|
||||
self.update_active_event(events_sp)
|
||||
|
||||
def update(self, long_enabled: bool, long_override: bool, v_ego: float, a_ego: float, v_cruise_cluster: float, speed_limit: float,
|
||||
speed_limit_final_last: float, has_speed_limit: bool, distance: float, events_sp: EventsSP, accel_pressed: bool = False) -> None:
|
||||
speed_limit_final_last: float, has_speed_limit: bool, distance: float, events_sp: EventsSP) -> None:
|
||||
self.long_enabled = long_enabled
|
||||
self.long_override = long_override
|
||||
self.v_ego = v_ego
|
||||
self.a_ego = a_ego
|
||||
|
||||
@@ -514,14 +388,13 @@ class SpeedLimitAssist:
|
||||
self._speed_limit = speed_limit
|
||||
self._speed_limit_final_last = speed_limit_final_last
|
||||
self._distance = distance
|
||||
self._accel_pressed = accel_pressed
|
||||
|
||||
self.update_params()
|
||||
self.update_calculations(v_cruise_cluster)
|
||||
|
||||
self._state_prev = self.state
|
||||
if self.pcm_op_long:
|
||||
self.is_enabled, self.is_active = self.update_state_machine_cap(events_sp)
|
||||
self.is_enabled, self.is_active = self.update_state_machine_pcm_op_long()
|
||||
else:
|
||||
self.is_enabled, self.is_active = self.update_state_machine_non_pcm_long()
|
||||
|
||||
@@ -538,9 +411,4 @@ class SpeedLimitAssist:
|
||||
self.output_v_target = self.get_v_target_from_control()
|
||||
self.output_a_target = self.get_a_target_from_control()
|
||||
|
||||
if self.pcm_op_long and self.state == SpeedLimitAssistState.capping:
|
||||
self.cap_delta = max(0.0, self.v_cruise_cluster - self._target_cap)
|
||||
else:
|
||||
self.cap_delta = 0.0
|
||||
|
||||
self.frame += 1
|
||||
|
||||
@@ -1,136 +0,0 @@
|
||||
"""
|
||||
Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
|
||||
|
||||
This file is part of sunnypilot and is licensed under the MIT License.
|
||||
See the LICENSE.md file in the root directory for more details.
|
||||
"""
|
||||
|
||||
import pytest
|
||||
|
||||
from cereal import custom, car
|
||||
from opendbc.car.car_helpers import interfaces
|
||||
from opendbc.car.toyota.values import CAR as TOYOTA
|
||||
from openpilot.common.constants import CV
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfaces
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.speed_limit_assist import SpeedLimitAssist
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Mode
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.helpers import get_min_cap_floor
|
||||
from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
|
||||
|
||||
SpeedLimitAssistState = custom.LongitudinalPlanSP.SpeedLimit.AssistState
|
||||
|
||||
|
||||
class CarParamsFactory:
|
||||
@staticmethod
|
||||
def create_car_interface(car_name: str = TOYOTA.TOYOTA_RAV4_TSS2) -> tuple[car.CarParams, custom.CarParamsSP, object]:
|
||||
params = Params()
|
||||
CarInterface = interfaces[car_name]
|
||||
CP = CarInterface.get_non_essential_params(car_name)
|
||||
CP_SP = CarInterface.get_non_essential_params_sp(CP, car_name)
|
||||
CI = CarInterface(CP, CP_SP)
|
||||
CI.CP.openpilotLongitudinalControl = True
|
||||
sunnypilot_interfaces.setup_interfaces(CI, params)
|
||||
return CI.CP, CI.CP_SP, CI
|
||||
|
||||
|
||||
class SpeedLimitAssistScenario:
|
||||
def __init__(self, CP: car.CarParams, CP_SP: custom.CarParamsSP, params: Params = None):
|
||||
if params is None:
|
||||
params = Params()
|
||||
self.params = params
|
||||
self.CP = CP
|
||||
self.CP_SP = CP_SP
|
||||
self.params.put("SpeedLimitMode", int(Mode.assist))
|
||||
self.sla = SpeedLimitAssist(CP, CP_SP)
|
||||
self.sla.update_params()
|
||||
self.events_sp = EventsSP()
|
||||
self.speed_conv = CV.MS_TO_KPH if self.sla.is_metric else CV.MS_TO_MPH
|
||||
|
||||
def set_state(self, state: int) -> "SpeedLimitAssistScenario":
|
||||
self.sla.state = state
|
||||
return self
|
||||
|
||||
def set_speed_limits(self, speed_limit: float, distance: float = 0, speed_limit_final_last: float = 0,
|
||||
speed_limit_prev: float = 0) -> "SpeedLimitAssistScenario":
|
||||
self.sla._speed_limit = speed_limit
|
||||
self.sla._distance = distance
|
||||
self.sla.speed_limit_prev = speed_limit_prev
|
||||
return self
|
||||
|
||||
def set_cruise_speeds(self, v_cruise_cluster: float, v_cruise_cluster_prev: float = None) -> "SpeedLimitAssistScenario":
|
||||
self.sla.v_cruise_cluster = v_cruise_cluster
|
||||
if v_cruise_cluster_prev is None:
|
||||
v_cruise_cluster_prev = v_cruise_cluster
|
||||
self.sla.v_cruise_cluster_prev = v_cruise_cluster_prev
|
||||
self.sla.prev_v_cruise_cluster_conv = round(v_cruise_cluster_prev * self.speed_conv)
|
||||
return self
|
||||
|
||||
def set_engaged(self, op_engaged: bool) -> "SpeedLimitAssistScenario":
|
||||
self.sla.op_engaged = op_engaged
|
||||
return self
|
||||
|
||||
def set_param(self, key: str, value) -> "SpeedLimitAssistScenario":
|
||||
# IntEnum instances carry a .value the Params API does not accept directly
|
||||
if hasattr(value, 'value'):
|
||||
value = value.value
|
||||
|
||||
if isinstance(value, bool):
|
||||
self.params.put_bool(key, value)
|
||||
elif isinstance(value, int):
|
||||
self.params.put(key, value)
|
||||
else:
|
||||
self.params.put(key, str(value) if not isinstance(value, str) else value)
|
||||
|
||||
# Runtime caches these behind PARAMS_UPDATE_PERIOD; force-sync for tests
|
||||
if key == "SpeedLimitMinCapFloor":
|
||||
self.sla._min_cap_floor = get_min_cap_floor(self.sla.params, self.sla.is_metric)
|
||||
elif key == "SpeedLimitUpshiftAccept":
|
||||
self.sla._cap_upshift_accept = self.sla.params.get("SpeedLimitUpshiftAccept", return_default=True)
|
||||
elif key == "SpeedLimitCapAudioCue":
|
||||
self.sla._cap_audio_cue_enabled = bool(self.sla.params.get("SpeedLimitCapAudioCue", return_default=True))
|
||||
elif key == "SpeedLimitMode":
|
||||
self.sla.enabled = self.sla.params.get("SpeedLimitMode", return_default=True) == Mode.assist
|
||||
elif key == "IsMetric":
|
||||
self.sla.is_metric = self.sla.params.get_bool("IsMetric")
|
||||
return self
|
||||
|
||||
def clear_events(self) -> "SpeedLimitAssistScenario":
|
||||
self.events_sp.clear()
|
||||
return self
|
||||
|
||||
def reset_state(self) -> "SpeedLimitAssistScenario":
|
||||
self.sla.state = SpeedLimitAssistState.disabled
|
||||
self.sla.frame = -1
|
||||
self.sla.long_enabled = False
|
||||
self.sla.long_enabled_prev = False
|
||||
self.sla._speed_limit = 0.0
|
||||
self.sla.speed_limit_prev = 0.0
|
||||
self.sla._speed_limit_final_last = 0.0
|
||||
self.sla._distance = 0.0
|
||||
self.sla.long_engaged_timer = 0
|
||||
self.sla.pre_active_timer = 0
|
||||
self.events_sp.clear()
|
||||
return self
|
||||
|
||||
def build(self) -> "SpeedLimitAssistScenario":
|
||||
return self
|
||||
|
||||
|
||||
@pytest.fixture
|
||||
def params():
|
||||
p = Params()
|
||||
yield p
|
||||
|
||||
|
||||
@pytest.fixture
|
||||
def car_params_factory():
|
||||
return CarParamsFactory()
|
||||
|
||||
|
||||
@pytest.fixture
|
||||
def scenario_builder(params):
|
||||
def builder(car_name: str = TOYOTA.TOYOTA_RAV4_TSS2) -> SpeedLimitAssistScenario:
|
||||
CP, CP_SP, _ = CarParamsFactory.create_car_interface(car_name)
|
||||
return SpeedLimitAssistScenario(CP, CP_SP, params)
|
||||
return builder
|
||||
@@ -1,362 +0,0 @@
|
||||
"""
|
||||
Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
|
||||
|
||||
This file is part of sunnypilot and is licensed under the MIT License.
|
||||
See the LICENSE.md file in the root directory for more details.
|
||||
"""
|
||||
|
||||
import pytest
|
||||
from cereal import car, custom
|
||||
from openpilot.common.realtime import DT_MDL
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.speed_limit_assist import SpeedLimitAssist, \
|
||||
SpeedLimitAssistState
|
||||
from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
|
||||
|
||||
|
||||
def make_mock_car_params(mocker, pcm_op_long: bool = True) -> car.CarParams:
|
||||
"""Create a minimal CarParams mock with pcm_op_long setting."""
|
||||
cp = mocker.MagicMock(spec=car.CarParams)
|
||||
cp.openpilotLongitudinalControl = pcm_op_long
|
||||
cp.pcmCruise = pcm_op_long
|
||||
cp.brand = "generic"
|
||||
return cp
|
||||
|
||||
|
||||
def make_mock_car_params_sp(mocker) -> custom.CarParamsSP:
|
||||
"""Create a minimal CarParamsSP mock."""
|
||||
cp_sp = mocker.MagicMock(spec=custom.CarParamsSP)
|
||||
return cp_sp
|
||||
|
||||
|
||||
def get_event_name_sp():
|
||||
"""Get EventNameSP enum."""
|
||||
return custom.OnroadEventSP.EventName
|
||||
|
||||
|
||||
def make_sla_factory(mocker, pcm_op_long: bool = True) -> SpeedLimitAssist:
|
||||
"""Factory: create a SpeedLimitAssist instance with mocked params."""
|
||||
cp = make_mock_car_params(mocker, pcm_op_long)
|
||||
cp_sp = make_mock_car_params_sp(mocker)
|
||||
|
||||
mock_params = mocker.MagicMock()
|
||||
mock_params.get_bool.return_value = True
|
||||
mock_params.get.return_value = True
|
||||
|
||||
mocker.patch("openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.speed_limit_assist.Params",
|
||||
return_value=mock_params)
|
||||
mocker.patch("openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.helpers.set_speed_limit_assist_availability")
|
||||
mocker.patch("openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.helpers.get_min_cap_floor", return_value=5.0)
|
||||
sla = SpeedLimitAssist(cp, cp_sp)
|
||||
return sla
|
||||
|
||||
|
||||
class TestBug1OverrideNoOscillation:
|
||||
"""Override falling edge arms suspend timer, preventing oscillation."""
|
||||
|
||||
def test_sustained_override_stays_disabled(self, mocker):
|
||||
"""5s sustained override: state never enters capping."""
|
||||
sla = make_sla_factory(mocker, pcm_op_long=True)
|
||||
|
||||
sla.long_enabled = True
|
||||
sla.enabled = True
|
||||
sla._has_speed_limit = True
|
||||
sla._speed_limit_final_last = 25.0
|
||||
sla._min_cap_floor = 5.0
|
||||
sla.state = SpeedLimitAssistState.capping
|
||||
sla._state_prev = SpeedLimitAssistState.capping
|
||||
sla._target_cap = 25.0
|
||||
events_sp = EventsSP()
|
||||
|
||||
num_ticks = int(5.0 / DT_MDL)
|
||||
for _ in range(num_ticks):
|
||||
sla.long_override = True
|
||||
sla.update_state_machine_cap(events_sp)
|
||||
|
||||
assert (sla.state != SpeedLimitAssistState.capping), "State entered capping during sustained override"
|
||||
|
||||
assert sla.state == SpeedLimitAssistState.disabled
|
||||
|
||||
def test_override_release_enters_capping_after_guard(self, mocker):
|
||||
"""Release override: state enters capping after guard period."""
|
||||
sla = make_sla_factory(mocker, pcm_op_long=True)
|
||||
|
||||
sla.long_enabled = True
|
||||
sla.enabled = True
|
||||
sla._has_speed_limit = True
|
||||
sla._speed_limit_final_last = 25.0
|
||||
sla._min_cap_floor = 5.0
|
||||
sla.state = SpeedLimitAssistState.disabled
|
||||
sla._state_prev = SpeedLimitAssistState.disabled
|
||||
sla._target_cap = 25.0
|
||||
sla._was_cap_suspended = True
|
||||
sla._override_active_last = True
|
||||
sla.long_override = True
|
||||
events_sp = EventsSP()
|
||||
|
||||
sla.update_state_machine_cap(events_sp)
|
||||
sla.long_override = False
|
||||
|
||||
guard_ticks = int(1.0 / DT_MDL)
|
||||
for i in range(guard_ticks + 1):
|
||||
sla.update_state_machine_cap(events_sp)
|
||||
if i < guard_ticks:
|
||||
assert sla.state == SpeedLimitAssistState.disabled
|
||||
|
||||
assert sla.state == SpeedLimitAssistState.capping
|
||||
|
||||
|
||||
class TestBug2TargetCapPreserved:
|
||||
"""Target cap preserved across override-release cycles."""
|
||||
|
||||
def test_target_cap_preserved_on_override_suspension(self, mocker):
|
||||
"""Override pulse: _target_cap preserved, not reset to new limit."""
|
||||
sla = make_sla_factory(mocker, pcm_op_long=True)
|
||||
|
||||
sla.long_enabled = True
|
||||
sla.enabled = True
|
||||
sla._has_speed_limit = True
|
||||
sla._speed_limit_final_last = 25.0
|
||||
sla._min_cap_floor = 5.0
|
||||
sla.state = SpeedLimitAssistState.capping
|
||||
sla._state_prev = SpeedLimitAssistState.capping
|
||||
sla._target_cap = 25.0
|
||||
sla._cap_change_timer = 0
|
||||
events_sp = EventsSP()
|
||||
|
||||
sla._speed_limit_final_last = 30.0
|
||||
|
||||
sla.long_override = True
|
||||
sla.update_state_machine_cap(events_sp)
|
||||
assert sla.state == SpeedLimitAssistState.disabled
|
||||
assert sla._was_cap_suspended is True
|
||||
|
||||
sla.long_override = False
|
||||
guard_ticks = int(1.0 / DT_MDL)
|
||||
for _ in range(guard_ticks + 1):
|
||||
sla.update_state_machine_cap(events_sp)
|
||||
|
||||
assert sla.state == SpeedLimitAssistState.capping
|
||||
assert sla._target_cap == 25.0, f"Expected 25.0, got {sla._target_cap}"
|
||||
|
||||
|
||||
class TestBug3AccelPressedWired:
|
||||
"""Accel_pressed parameter wired to sla.update()."""
|
||||
|
||||
def test_accel_pressed_parameter_received(self, mocker):
|
||||
"""sla.update() receives accel_pressed=True."""
|
||||
sla = make_sla_factory(mocker, pcm_op_long=True)
|
||||
|
||||
sla.long_enabled = True
|
||||
sla.enabled = True
|
||||
sla.v_ego = 20.0
|
||||
sla.a_ego = 0.0
|
||||
sla.v_cruise_cluster = 30.0
|
||||
events_sp = EventsSP()
|
||||
|
||||
sla.update(
|
||||
long_enabled=True,
|
||||
long_override=False,
|
||||
v_ego=20.0,
|
||||
a_ego=0.0,
|
||||
v_cruise_cluster=30.0,
|
||||
speed_limit=30.0,
|
||||
speed_limit_final_last=30.0,
|
||||
has_speed_limit=True,
|
||||
distance=100.0,
|
||||
events_sp=events_sp,
|
||||
accel_pressed=True,
|
||||
)
|
||||
|
||||
assert sla._accel_pressed is True
|
||||
|
||||
def test_accel_pressed_false_by_default(self, mocker):
|
||||
"""sla.update() with accel_pressed=False (default)."""
|
||||
sla = make_sla_factory(mocker, pcm_op_long=True)
|
||||
|
||||
events_sp = EventsSP()
|
||||
|
||||
sla.update(
|
||||
long_enabled=True,
|
||||
long_override=False,
|
||||
v_ego=20.0,
|
||||
a_ego=0.0,
|
||||
v_cruise_cluster=30.0,
|
||||
speed_limit=30.0,
|
||||
speed_limit_final_last=30.0,
|
||||
has_speed_limit=True,
|
||||
distance=100.0,
|
||||
events_sp=events_sp,
|
||||
)
|
||||
|
||||
assert sla._accel_pressed is False
|
||||
|
||||
|
||||
class TestBug4NoAudioCueOnOverrideReentry:
|
||||
"""Audio cue suppressed on override-release re-entry."""
|
||||
|
||||
def test_cue_fires_on_cold_entry(self, mocker):
|
||||
"""Fresh engagement: audio cue fires exactly once."""
|
||||
sla = make_sla_factory(mocker, pcm_op_long=True)
|
||||
|
||||
sla.long_enabled = True
|
||||
sla.enabled = True
|
||||
sla._has_speed_limit = True
|
||||
sla._speed_limit_final_last = 25.0
|
||||
sla._min_cap_floor = 5.0
|
||||
sla.state = SpeedLimitAssistState.disabled
|
||||
sla._state_prev = SpeedLimitAssistState.disabled
|
||||
sla._was_cap_suspended = False
|
||||
sla._cap_audio_cue_enabled = True
|
||||
events_sp = EventsSP()
|
||||
|
||||
sla.update_state_machine_cap(events_sp)
|
||||
|
||||
assert sla.state == SpeedLimitAssistState.capping
|
||||
assert sla._cap_audio_cue_fired is True
|
||||
event_name_sp = get_event_name_sp()
|
||||
assert event_name_sp.speedLimitCapActive in events_sp.events, "Audio cue event not fired"
|
||||
|
||||
def test_no_cue_on_override_reentry(self, mocker):
|
||||
"""Override-release re-entry: audio cue NOT fired."""
|
||||
sla = make_sla_factory(mocker, pcm_op_long=True)
|
||||
|
||||
sla.long_enabled = True
|
||||
sla.enabled = True
|
||||
sla._has_speed_limit = True
|
||||
sla._speed_limit_final_last = 25.0
|
||||
sla._min_cap_floor = 5.0
|
||||
sla.state = SpeedLimitAssistState.disabled
|
||||
sla._state_prev = SpeedLimitAssistState.capping
|
||||
sla._target_cap = 25.0
|
||||
sla._was_cap_suspended = True
|
||||
sla._override_active_last = False
|
||||
sla._cap_audio_cue_enabled = True
|
||||
sla._cap_audio_cue_fired = True
|
||||
events_sp = EventsSP()
|
||||
|
||||
sla._cap_suspended_timer = int(1.0 / DT_MDL)
|
||||
guard_ticks = int(1.0 / DT_MDL) + 1
|
||||
for _ in range(guard_ticks):
|
||||
sla.update_state_machine_cap(events_sp)
|
||||
sla._state_prev = sla.state
|
||||
|
||||
assert sla.state == SpeedLimitAssistState.capping
|
||||
event_name_sp = get_event_name_sp()
|
||||
assert (event_name_sp.speedLimitCapActive not in events_sp.events), "Audio cue should not fire on override re-entry"
|
||||
|
||||
|
||||
class TestEdgeACases:
|
||||
"""Edge A: No spurious timer on non-capping override."""
|
||||
|
||||
def test_edge_a_no_spurious_timer_on_disabled_override(self, mocker):
|
||||
"""Override during disabled state should not arm timer."""
|
||||
sla = make_sla_factory(mocker, pcm_op_long=True)
|
||||
|
||||
sla.long_enabled = True
|
||||
sla.enabled = True
|
||||
sla._has_speed_limit = False
|
||||
sla._was_cap_suspended = False
|
||||
sla.state = SpeedLimitAssistState.disabled
|
||||
sla._state_prev = SpeedLimitAssistState.disabled
|
||||
events_sp = EventsSP()
|
||||
|
||||
sla.long_override = True
|
||||
sla.update_state_machine_cap(events_sp)
|
||||
|
||||
sla.long_override = False
|
||||
sla.update_state_machine_cap(events_sp)
|
||||
|
||||
assert sla._cap_suspended_timer == 0
|
||||
|
||||
sla._has_speed_limit = True
|
||||
sla._speed_limit_final_last = 25.0
|
||||
sla._min_cap_floor = 5.0
|
||||
sla.update_state_machine_cap(events_sp)
|
||||
|
||||
assert sla.state == SpeedLimitAssistState.capping
|
||||
|
||||
|
||||
class TestEdgeBCases:
|
||||
"""Edge B: _target_cap preserved via pending."""
|
||||
|
||||
def test_edge_b_target_cap_preserved_via_pending(self, mocker):
|
||||
"""Target cap preserved when transiting pending->capping after suspension."""
|
||||
sla = make_sla_factory(mocker, pcm_op_long=True)
|
||||
|
||||
sla.long_enabled = True
|
||||
sla.enabled = True
|
||||
sla._has_speed_limit = True
|
||||
sla._speed_limit_final_last = 25.0
|
||||
sla._min_cap_floor = 5.0
|
||||
sla.state = SpeedLimitAssistState.capping
|
||||
sla._state_prev = SpeedLimitAssistState.capping
|
||||
sla._target_cap = 25.0
|
||||
sla._was_cap_suspended = True
|
||||
events_sp = EventsSP()
|
||||
|
||||
sla._has_speed_limit = False
|
||||
sla.update_state_machine_cap(events_sp)
|
||||
assert sla.state == SpeedLimitAssistState.pending
|
||||
|
||||
sla._has_speed_limit = True
|
||||
sla._speed_limit_final_last = 30.0
|
||||
sla.update_state_machine_cap(events_sp)
|
||||
|
||||
assert sla.state == SpeedLimitAssistState.capping
|
||||
assert sla._target_cap == 25.0
|
||||
|
||||
|
||||
class TestEdgeCCases:
|
||||
"""Edge C: Timer cleared on disengage."""
|
||||
|
||||
def test_edge_c_timer_cleared_on_disengage(self, mocker):
|
||||
"""Timer cleared when long_enabled=False."""
|
||||
sla = make_sla_factory(mocker, pcm_op_long=True)
|
||||
|
||||
sla.long_enabled = True
|
||||
sla.enabled = True
|
||||
sla._has_speed_limit = True
|
||||
sla._speed_limit_final_last = 25.0
|
||||
sla._min_cap_floor = 5.0
|
||||
sla._cap_suspended_timer = 50
|
||||
sla.state = SpeedLimitAssistState.capping
|
||||
sla._state_prev = SpeedLimitAssistState.capping
|
||||
events_sp = EventsSP()
|
||||
|
||||
sla.long_enabled = False
|
||||
sla.update_state_machine_cap(events_sp)
|
||||
|
||||
assert sla._cap_suspended_timer == 0
|
||||
assert sla.state == SpeedLimitAssistState.disabled
|
||||
|
||||
|
||||
class TestTargetCapPublished:
|
||||
"""Target cap published in cereal message."""
|
||||
|
||||
def test_target_cap_written_to_assist(self, mocker):
|
||||
"""_write_assist_fields writes sla._target_cap to assist.targetCap."""
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlannerSP
|
||||
|
||||
sla = make_sla_factory(mocker, pcm_op_long=True)
|
||||
sla._target_cap = 22.35
|
||||
sla.output_v_target = 10.0
|
||||
sla.output_a_target = 0.0
|
||||
sla.cap_delta = 0.0
|
||||
sla.is_enabled = True
|
||||
sla.is_active = False
|
||||
sla.state = SpeedLimitAssistState.disabled
|
||||
|
||||
planner = mocker.MagicMock()
|
||||
planner.sla = sla
|
||||
|
||||
msg = custom.LongitudinalPlanSP.new_message()
|
||||
assist = msg.speedLimit.assist
|
||||
|
||||
LongitudinalPlannerSP._write_assist_fields(planner, assist)
|
||||
|
||||
assert assist.targetCap == pytest.approx(22.35)
|
||||
assert assist.enabled is True
|
||||
assert assist.active is False
|
||||
assert assist.vTarget == pytest.approx(10.0)
|
||||
assert assist.aTarget == pytest.approx(0.0)
|
||||
assert assist.capDelta == pytest.approx(0.0)
|
||||
@@ -7,7 +7,7 @@ See the LICENSE.md file in the root directory for more details.
|
||||
|
||||
import pytest
|
||||
|
||||
from cereal import custom, car
|
||||
from cereal import custom
|
||||
from opendbc.car.car_helpers import interfaces
|
||||
from opendbc.car.rivian.values import CAR as RIVIAN
|
||||
from opendbc.car.tesla.values import CAR as TESLA
|
||||
@@ -25,7 +25,6 @@ from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.speed_limit_assist
|
||||
from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
|
||||
|
||||
SpeedLimitAssistState = custom.LongitudinalPlanSP.SpeedLimit.AssistState
|
||||
ButtonType = car.CarState.ButtonEvent.Type
|
||||
|
||||
ALL_STATES = tuple(SpeedLimitAssistState.schema.enumerants.values())
|
||||
|
||||
@@ -72,7 +71,6 @@ class TestSpeedLimitAssist:
|
||||
CP_SP = CarInterface.get_non_essential_params_sp(CP, car_name)
|
||||
CI = CarInterface(CP, CP_SP)
|
||||
CI.CP.openpilotLongitudinalControl = True # always assume it's openpilot longitudinal
|
||||
CI.CP.pcmCruise = False # test non-PCM FSM path (preActive, pending, adapting, active)
|
||||
sunnypilot_interfaces.setup_interfaces(CI, self.params)
|
||||
return CI
|
||||
|
||||
@@ -85,17 +83,13 @@ class TestSpeedLimitAssist:
|
||||
|
||||
def reset_state(self):
|
||||
self.sla.state = SpeedLimitAssistState.disabled
|
||||
self.sla._state_prev = SpeedLimitAssistState.disabled
|
||||
self.sla.frame = -1
|
||||
self.sla.long_enabled = False
|
||||
self.sla.long_enabled_prev = False
|
||||
self.sla.long_engaged_timer = 0
|
||||
self.sla.pre_active_timer = 0
|
||||
self.sla.last_op_engaged_frame = 0
|
||||
self.sla.op_engaged = False
|
||||
self.sla.op_engaged_prev = False
|
||||
self.sla._speed_limit = 0.
|
||||
self.sla._speed_limit_final_last = 0.
|
||||
self.sla.speed_limit_prev = 0.
|
||||
self.sla.v_cruise_cluster = 0.
|
||||
self.sla.v_cruise_cluster_prev = 0.
|
||||
self.sla.last_valid_speed_limit_offsetted = 0.
|
||||
self.sla._distance = 0.
|
||||
self.events_sp.clear()
|
||||
|
||||
@@ -139,6 +133,20 @@ class TestSpeedLimitAssist:
|
||||
assert self.sla.state == SpeedLimitAssistState.preActive
|
||||
assert self.sla.is_enabled and not self.sla.is_active
|
||||
|
||||
def test_transition_disabled_to_pending_no_speed_limit_not_max_initial_set_speed(self):
|
||||
for _ in range(int(3. / DT_MDL)):
|
||||
self.sla.update(True, False, SPEED_LIMITS['highway'], 0, SPEED_LIMITS['city'], 0, 0, False, 0, self.events_sp)
|
||||
assert self.sla.state == SpeedLimitAssistState.pending
|
||||
assert self.sla.is_enabled and not self.sla.is_active
|
||||
|
||||
def test_preactive_to_active_with_max_speed_confirmation(self):
|
||||
self.sla.state = SpeedLimitAssistState.preActive
|
||||
self.sla.update(True, False, SPEED_LIMITS['city'], 0, self.pcm_long_max_set_speed, SPEED_LIMITS['highway'],
|
||||
SPEED_LIMITS['highway'], True, 0, self.events_sp)
|
||||
assert self.sla.state == SpeedLimitAssistState.active
|
||||
assert self.sla.is_enabled and self.sla.is_active
|
||||
assert self.sla.output_v_target == SPEED_LIMITS['highway']
|
||||
|
||||
def test_preactive_timeout_to_inactive(self):
|
||||
self.sla.state = SpeedLimitAssistState.preActive
|
||||
self.sla.update(True, False, SPEED_LIMITS['city'], 0, SPEED_LIMITS['highway'], SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp)
|
||||
@@ -147,6 +155,47 @@ class TestSpeedLimitAssist:
|
||||
self.sla.update(True, False, SPEED_LIMITS['city'], 0, SPEED_LIMITS['highway'], SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp)
|
||||
assert self.sla.state == SpeedLimitAssistState.inactive
|
||||
|
||||
def test_preactive_to_pending_no_speed_limit(self):
|
||||
self.sla.state = SpeedLimitAssistState.preActive
|
||||
self.sla.update(True, False, SPEED_LIMITS['highway'], 0, self.pcm_long_max_set_speed, 0, 0, False, 0, self.events_sp)
|
||||
assert self.sla.state == SpeedLimitAssistState.pending
|
||||
assert self.sla.is_enabled and not self.sla.is_active
|
||||
|
||||
def test_pending_to_active_when_speed_limit_available(self):
|
||||
self.sla.state = SpeedLimitAssistState.pending
|
||||
self.sla.v_cruise_cluster_prev = self.pcm_long_max_set_speed
|
||||
self.sla.prev_v_cruise_cluster_conv = round(self.pcm_long_max_set_speed * self.speed_conv)
|
||||
|
||||
self.sla.update(True, False, SPEED_LIMITS['highway'], 0, self.pcm_long_max_set_speed,
|
||||
SPEED_LIMITS['highway'], SPEED_LIMITS['highway'], True, 0, self.events_sp)
|
||||
assert self.sla.state == SpeedLimitAssistState.active
|
||||
|
||||
def test_pending_to_adapting_when_below_speed_limit(self):
|
||||
self.sla.state = SpeedLimitAssistState.pending
|
||||
self.sla.v_cruise_cluster_prev = self.pcm_long_max_set_speed
|
||||
self.sla.prev_v_cruise_cluster_conv = round(self.pcm_long_max_set_speed * self.speed_conv)
|
||||
|
||||
self.sla.update(True, False, SPEED_LIMITS['highway'] + 5, 0, self.pcm_long_max_set_speed,
|
||||
SPEED_LIMITS['highway'], SPEED_LIMITS['highway'], True, 0, self.events_sp)
|
||||
assert self.sla.state == SpeedLimitAssistState.adapting
|
||||
assert self.sla.is_enabled and self.sla.is_active
|
||||
|
||||
def test_active_to_adapting_transition(self):
|
||||
self.initialize_active_state(self.pcm_long_max_set_speed)
|
||||
|
||||
self.sla.update(True, False, SPEED_LIMITS['highway'] + 2, 0, self.pcm_long_max_set_speed, SPEED_LIMITS['highway'],
|
||||
SPEED_LIMITS['highway'], True, 0, self.events_sp)
|
||||
assert self.sla.state == SpeedLimitAssistState.adapting
|
||||
|
||||
def test_adapting_to_active_transition(self):
|
||||
self.sla.state = SpeedLimitAssistState.adapting
|
||||
self.sla.v_cruise_cluster_prev = self.pcm_long_max_set_speed
|
||||
self.sla.prev_v_cruise_cluster_conv = round(self.pcm_long_max_set_speed * self.speed_conv)
|
||||
|
||||
self.sla.update(True, False, SPEED_LIMITS['city'], 0, self.pcm_long_max_set_speed, SPEED_LIMITS['highway'],
|
||||
SPEED_LIMITS['highway'], True, 0, self.events_sp)
|
||||
assert self.sla.state == SpeedLimitAssistState.active
|
||||
|
||||
def test_manual_cruise_change_detection(self):
|
||||
self.sla.state = SpeedLimitAssistState.active
|
||||
expected_cruise = SPEED_LIMITS['highway']
|
||||
@@ -154,7 +203,6 @@ class TestSpeedLimitAssist:
|
||||
|
||||
different_cruise = SPEED_LIMITS['highway'] + 5
|
||||
self.sla.update(True, False, SPEED_LIMITS['city'], 0, different_cruise, SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp)
|
||||
# In non-pcm mode, manual cruise change transitions to inactive (not tempPaused)
|
||||
assert self.sla.state == SpeedLimitAssistState.inactive
|
||||
|
||||
# TODO-SP: test lower CST cases
|
||||
@@ -228,236 +276,3 @@ class TestSpeedLimitAssist:
|
||||
assert self.sla.state in [SpeedLimitAssistState.preActive, SpeedLimitAssistState.active]
|
||||
elif initial_state in ACTIVE_STATES:
|
||||
assert self.sla.state in ACTIVE_STATES
|
||||
|
||||
def test_non_pcm_regression_method_exists(self):
|
||||
"""Regression: update_state_machine_non_pcm_long() method exists unchanged."""
|
||||
assert hasattr(self.sla, "update_state_machine_non_pcm_long")
|
||||
# Verify it is callable
|
||||
assert callable(self.sla.update_state_machine_non_pcm_long)
|
||||
# Verify method is not affected by cap mode refactor (signature check)
|
||||
import inspect
|
||||
inspect.signature(self.sla.update_state_machine_non_pcm_long)
|
||||
# Non-PCM method should have expected parameters (varies by impl, just verify it's present)
|
||||
|
||||
|
||||
class TestSpeedLimitAssistTempPaused:
|
||||
"""Tests for tempPaused state functionality (cap mode)."""
|
||||
|
||||
def setup_method(self, method):
|
||||
self.params = Params()
|
||||
self.reset_custom_params()
|
||||
self.events_sp = EventsSP()
|
||||
CI = self._setup_platform(DEFAULT_CAR)
|
||||
self.sla = SpeedLimitAssist(CI.CP, CI.CP_SP)
|
||||
self.sla.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.sla.pcm_op_long] / DT_MDL)
|
||||
self.pcm_long_max_set_speed = PCM_LONG_REQUIRED_MAX_SET_SPEED[self.sla.is_metric][1] # use 80 MPH for now
|
||||
self.speed_conv = CV.MS_TO_KPH if self.sla.is_metric else CV.MS_TO_MPH
|
||||
# For temp paused tests, use pcm_op_long = True
|
||||
self.sla.pcm_op_long = True
|
||||
self.sla.enabled = True
|
||||
|
||||
def teardown_method(self, method):
|
||||
self.reset_state()
|
||||
|
||||
def _setup_platform(self, car_name):
|
||||
CarInterface = interfaces[car_name]
|
||||
CP = CarInterface.get_non_essential_params(car_name)
|
||||
CP_SP = CarInterface.get_non_essential_params_sp(CP, car_name)
|
||||
CI = CarInterface(CP, CP_SP)
|
||||
CI.CP.openpilotLongitudinalControl = True # always assume it's openpilot longitudinal
|
||||
CI.CP.pcmCruise = False # test non-PCM FSM path (preActive, pending, adapting, active)
|
||||
sunnypilot_interfaces.setup_interfaces(CI, self.params)
|
||||
return CI
|
||||
|
||||
def reset_custom_params(self):
|
||||
self.params.put("IsReleaseSpBranch", True)
|
||||
self.params.put("SpeedLimitMode", int(Mode.assist))
|
||||
self.params.put_bool("IsMetric", False)
|
||||
self.params.put("SpeedLimitOffsetType", 0)
|
||||
self.params.put("SpeedLimitValueOffset", 0)
|
||||
|
||||
def reset_state(self):
|
||||
self.sla.state = SpeedLimitAssistState.disabled
|
||||
self.sla._state_prev = SpeedLimitAssistState.disabled
|
||||
self.sla.frame = -1
|
||||
self.sla.long_enabled = False
|
||||
self.sla.long_enabled_prev = False
|
||||
self.sla.long_engaged_timer = 0
|
||||
self.sla.pre_active_timer = 0
|
||||
self.sla._speed_limit = 0.
|
||||
self.sla._speed_limit_final_last = 0.
|
||||
self.sla.speed_limit_prev = 0.
|
||||
self.sla.v_cruise_cluster = 0.
|
||||
self.sla.v_cruise_cluster_prev = 0.
|
||||
self.sla._distance = 0.
|
||||
self.events_sp.clear()
|
||||
|
||||
def test_temp_paused_entry_capping_state(self):
|
||||
"""Test that tempPaused entry occurs during state machine when user paused."""
|
||||
self.sla.state = SpeedLimitAssistState.capping
|
||||
self.sla._has_speed_limit = True
|
||||
self.sla._speed_limit_final_last = SPEED_LIMITS['city']
|
||||
self.sla._user_paused = True
|
||||
self.sla._user_paused_timer = 1000
|
||||
|
||||
self.sla.update(True, False, SPEED_LIMITS['city'], 0, self.pcm_long_max_set_speed,
|
||||
SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp)
|
||||
assert self.sla.state == SpeedLimitAssistState.tempPaused
|
||||
assert self.sla._disable_reason == custom.LongitudinalPlanSP.SpeedLimit.AssistDisableReason.userTempPause
|
||||
|
||||
def test_temp_paused_exit_on_speed_limit_change(self):
|
||||
"""Test exiting tempPaused when speed limit changes."""
|
||||
self.sla.state = SpeedLimitAssistState.tempPaused
|
||||
self.sla._user_paused = True
|
||||
self.sla._user_paused_timer = 1000
|
||||
self.sla._speed_limit_final_last_at_pause = SPEED_LIMITS['city']
|
||||
self.sla._speed_limit_final_last = SPEED_LIMITS['city']
|
||||
self.sla.long_enabled = True
|
||||
self.sla.enabled = True
|
||||
|
||||
# Change speed limit
|
||||
new_limit = SPEED_LIMITS['highway']
|
||||
self.sla.update(True, False, new_limit, 0, self.pcm_long_max_set_speed,
|
||||
new_limit, new_limit, True, 0, self.events_sp)
|
||||
assert self.sla.state == SpeedLimitAssistState.disabled
|
||||
assert self.sla._user_paused == False
|
||||
|
||||
def test_temp_paused_exit_on_timer_expiry(self):
|
||||
"""Test exiting tempPaused when 5-minute timer expires."""
|
||||
self.sla.state = SpeedLimitAssistState.tempPaused
|
||||
self.sla._user_paused = True
|
||||
self.sla._user_paused_timer = 1
|
||||
self.sla._speed_limit_final_last_at_pause = SPEED_LIMITS['city']
|
||||
|
||||
# Trigger update with timer expiry
|
||||
self.sla.update(True, False, SPEED_LIMITS['city'], 0, self.pcm_long_max_set_speed,
|
||||
SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp)
|
||||
assert self.sla.state == SpeedLimitAssistState.disabled
|
||||
assert self.sla._user_paused_timer <= 0
|
||||
|
||||
def test_disable_reason_user_cancel(self):
|
||||
"""Test disable_reason set to userCancel on pause."""
|
||||
self.sla.state = SpeedLimitAssistState.capping
|
||||
self.sla._user_paused = True
|
||||
self.sla._user_paused_timer = 1000
|
||||
|
||||
self.sla.update(True, False, SPEED_LIMITS['city'], 0, self.pcm_long_max_set_speed,
|
||||
SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp)
|
||||
assert self.sla.state == SpeedLimitAssistState.tempPaused
|
||||
assert self.sla._disable_reason == custom.LongitudinalPlanSP.SpeedLimit.AssistDisableReason.userTempPause
|
||||
|
||||
def test_disable_reason_long_override(self):
|
||||
"""Test disable_reason set to longOverride."""
|
||||
self.sla.state = SpeedLimitAssistState.capping
|
||||
self.sla._has_speed_limit = True
|
||||
self.sla._target_cap = SPEED_LIMITS['city']
|
||||
|
||||
self.sla.update(True, True, SPEED_LIMITS['city'], 0, self.pcm_long_max_set_speed,
|
||||
SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp)
|
||||
assert self.sla.state == SpeedLimitAssistState.disabled
|
||||
assert self.sla._disable_reason == custom.LongitudinalPlanSP.SpeedLimit.AssistDisableReason.longOverride
|
||||
|
||||
def test_disable_reason_below_floor(self):
|
||||
"""Test disable_reason set to belowFloor."""
|
||||
min_floor = self.sla._min_cap_floor
|
||||
self.sla.state = SpeedLimitAssistState.capping
|
||||
self.sla._has_speed_limit = True
|
||||
self.sla._speed_limit_final_last = min_floor - 1
|
||||
self.sla.long_enabled = True
|
||||
self.sla.enabled = True
|
||||
self.sla.v_cruise_cluster = self.pcm_long_max_set_speed
|
||||
self.sla.v_cruise_cluster_prev = self.pcm_long_max_set_speed
|
||||
self.sla.prev_v_cruise_cluster_conv = round(self.pcm_long_max_set_speed * self.speed_conv)
|
||||
|
||||
self.sla.update(True, False, min_floor - 1, 0, self.pcm_long_max_set_speed,
|
||||
min_floor - 1, min_floor - 1, True, 0, self.events_sp)
|
||||
assert self.sla.state == SpeedLimitAssistState.pending
|
||||
assert self.sla._disable_reason == custom.LongitudinalPlanSP.SpeedLimit.AssistDisableReason.belowFloor
|
||||
|
||||
def test_temp_paused_entry_cap_cluster_nudge_plus(self):
|
||||
"""Test tempPaused entry in capping state when cluster nudged above limit."""
|
||||
self.sla.state = SpeedLimitAssistState.capping
|
||||
self.sla._has_speed_limit = True
|
||||
self.sla._speed_limit_final_last = SPEED_LIMITS['city']
|
||||
self.sla._target_cap = SPEED_LIMITS['city']
|
||||
self.sla.long_enabled = True
|
||||
self.sla.enabled = True
|
||||
self.sla.v_cruise_cluster = SPEED_LIMITS['city']
|
||||
self.sla.v_cruise_cluster_prev = SPEED_LIMITS['city']
|
||||
self.sla.prev_v_cruise_cluster_conv = round(SPEED_LIMITS['city'] * self.speed_conv)
|
||||
|
||||
# Nudge cluster up (simulate user pressing accel)
|
||||
nudged_cruise = SPEED_LIMITS['city'] + 1.0
|
||||
self.sla.update(True, False, SPEED_LIMITS['city'], 0, nudged_cruise,
|
||||
SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp)
|
||||
assert self.sla.state == SpeedLimitAssistState.tempPaused
|
||||
assert self.sla._user_paused == True
|
||||
assert self.sla._user_paused_timer > 0
|
||||
assert self.sla._disable_reason == custom.LongitudinalPlanSP.SpeedLimit.AssistDisableReason.userTempPause
|
||||
|
||||
def test_temp_paused_entry_cap_cluster_nudge_minus(self):
|
||||
"""Test tempPaused entry in capping state when cluster nudged below limit."""
|
||||
self.sla.state = SpeedLimitAssistState.capping
|
||||
self.sla._has_speed_limit = True
|
||||
self.sla._speed_limit_final_last = SPEED_LIMITS['city']
|
||||
self.sla._target_cap = SPEED_LIMITS['city']
|
||||
self.sla.long_enabled = True
|
||||
self.sla.enabled = True
|
||||
self.sla.v_cruise_cluster = SPEED_LIMITS['city']
|
||||
self.sla.v_cruise_cluster_prev = SPEED_LIMITS['city']
|
||||
self.sla.prev_v_cruise_cluster_conv = round(SPEED_LIMITS['city'] * self.speed_conv)
|
||||
|
||||
# Nudge cluster down (simulate user pressing brake/decel)
|
||||
nudged_cruise = SPEED_LIMITS['city'] - 1.0
|
||||
self.sla.update(True, False, SPEED_LIMITS['city'], 0, nudged_cruise,
|
||||
SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp)
|
||||
assert self.sla.state == SpeedLimitAssistState.tempPaused
|
||||
assert self.sla._user_paused == True
|
||||
assert self.sla._user_paused_timer > 0
|
||||
|
||||
def test_temp_paused_exit_cluster_returns_to_limit(self):
|
||||
"""Test exiting tempPaused when cluster returns within ±1 of limit."""
|
||||
self.sla.state = SpeedLimitAssistState.tempPaused
|
||||
self.sla._user_paused = True
|
||||
self.sla._user_paused_timer = 1000
|
||||
self.sla._speed_limit_final_last_at_pause = SPEED_LIMITS['city']
|
||||
self.sla._speed_limit_final_last = SPEED_LIMITS['city']
|
||||
self.sla.long_enabled = True
|
||||
self.sla.enabled = True
|
||||
self.sla.v_cruise_cluster_prev = SPEED_LIMITS['city'] + 5
|
||||
self.sla.prev_v_cruise_cluster_conv = round((SPEED_LIMITS['city'] + 5) * self.speed_conv)
|
||||
|
||||
# Return cluster to within ±1 of limit
|
||||
returned_cruise = SPEED_LIMITS['city'] + 0.5
|
||||
self.sla.update(True, False, SPEED_LIMITS['city'], 0, returned_cruise,
|
||||
SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp)
|
||||
assert self.sla.state == SpeedLimitAssistState.disabled
|
||||
assert self.sla._user_paused == False
|
||||
|
||||
def test_temp_paused_sticky_double_nudge(self):
|
||||
"""Test that multiple nudges keep state in tempPaused."""
|
||||
self.sla.state = SpeedLimitAssistState.capping
|
||||
self.sla._has_speed_limit = True
|
||||
self.sla._speed_limit_final_last = SPEED_LIMITS['city']
|
||||
self.sla._target_cap = SPEED_LIMITS['city']
|
||||
self.sla.long_enabled = True
|
||||
self.sla.enabled = True
|
||||
self.sla.v_cruise_cluster = SPEED_LIMITS['city']
|
||||
self.sla.v_cruise_cluster_prev = SPEED_LIMITS['city']
|
||||
self.sla.prev_v_cruise_cluster_conv = round(SPEED_LIMITS['city'] * self.speed_conv)
|
||||
|
||||
# First nudge
|
||||
nudged_cruise_1 = SPEED_LIMITS['city'] + 2.0
|
||||
self.sla.update(True, False, SPEED_LIMITS['city'], 0, nudged_cruise_1,
|
||||
SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp)
|
||||
assert self.sla.state == SpeedLimitAssistState.tempPaused
|
||||
assert self.sla._user_paused_timer > 0
|
||||
saved_timer_1 = self.sla._user_paused_timer
|
||||
|
||||
# Second nudge while in tempPaused (shouldn't trigger another entry)
|
||||
nudged_cruise_2 = SPEED_LIMITS['city'] + 3.0
|
||||
self.sla.update(True, False, SPEED_LIMITS['city'], 0, nudged_cruise_2,
|
||||
SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp)
|
||||
assert self.sla.state == SpeedLimitAssistState.tempPaused
|
||||
# Timer should have been decremented by one update call
|
||||
assert self.sla._user_paused_timer == saved_timer_1 - 1
|
||||
|
||||
@@ -1,585 +0,0 @@
|
||||
"""
|
||||
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.
|
||||
|
||||
Test suite for Speed Limit Assist cap mode (pcm_op_long only).
|
||||
Covers 20 edge cases for FSM, debounce, upshift, pedal release, and audio cue.
|
||||
"""
|
||||
|
||||
import pytest
|
||||
|
||||
from cereal import custom
|
||||
from opendbc.car.toyota.values import CAR as TOYOTA
|
||||
from openpilot.common.constants import CV
|
||||
from openpilot.common.realtime import DT_MDL
|
||||
from openpilot.selfdrive.car.cruise import V_CRUISE_UNSET
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import UpshiftAccept
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.speed_limit_assist import SpeedLimitAssist, \
|
||||
CAP_ACTIVE_STATES
|
||||
|
||||
SpeedLimitAssistState = custom.LongitudinalPlanSP.SpeedLimit.AssistState
|
||||
|
||||
|
||||
class TestSpeedLimitCapMode:
|
||||
|
||||
def test_cap_mode_applies_to_pcm_op_long(self, scenario_builder):
|
||||
"""Cap mode applies to pcm_op_long cars (pcmCruise=True + openpilotLongitudinalControl=True)."""
|
||||
scenario = scenario_builder(TOYOTA.TOYOTA_RAV4_TSS2)
|
||||
scenario.set_state(SpeedLimitAssistState.disabled)
|
||||
assert scenario.sla.pcm_op_long is True
|
||||
assert scenario.sla.state == SpeedLimitAssistState.disabled
|
||||
|
||||
def test_disabled_to_capping_transition(self, scenario_builder):
|
||||
"""FSM: disabled -> capping when speed limit available and engaged."""
|
||||
scenario = scenario_builder()
|
||||
scenario.set_state(SpeedLimitAssistState.disabled)
|
||||
scenario.set_engaged(True)
|
||||
scenario.set_speed_limits(25 * CV.MPH_TO_MS, 0)
|
||||
scenario.set_cruise_speeds(20 * CV.MPH_TO_MS)
|
||||
|
||||
# Update to enter capping
|
||||
scenario.sla.update(
|
||||
True, False, 25 * CV.MPH_TO_MS, 0,
|
||||
20 * CV.MPH_TO_MS, 25 * CV.MPH_TO_MS, 25 * CV.MPH_TO_MS,
|
||||
True, 0, scenario.events_sp
|
||||
)
|
||||
assert scenario.sla.is_active
|
||||
|
||||
def test_capping_to_disabled_on_disengagement(self, scenario_builder):
|
||||
"""FSM: capping -> disabled when user disengages (manual override)."""
|
||||
scenario = scenario_builder()
|
||||
scenario.set_state(SpeedLimitAssistState.capping)
|
||||
scenario.set_engaged(True)
|
||||
scenario.set_speed_limits(25 * CV.MPH_TO_MS, 0)
|
||||
scenario.set_cruise_speeds(20 * CV.MPH_TO_MS)
|
||||
|
||||
scenario.sla._target_cap = 25 * CV.MPH_TO_MS
|
||||
|
||||
# Simulate manual override (long_override=True)
|
||||
scenario.sla.update(
|
||||
True, True, 25 * CV.MPH_TO_MS, 0,
|
||||
20 * CV.MPH_TO_MS, 25 * CV.MPH_TO_MS, 25 * CV.MPH_TO_MS,
|
||||
True, 0, scenario.events_sp
|
||||
)
|
||||
|
||||
assert scenario.sla.state == SpeedLimitAssistState.disabled
|
||||
assert scenario.sla.output_v_target == V_CRUISE_UNSET
|
||||
|
||||
def test_below_floor_pause_transition(self, scenario_builder):
|
||||
"""FSM: capping exits to pending (no cap emitted) when posted limit is below min cap floor."""
|
||||
scenario = scenario_builder()
|
||||
scenario.set_param("SpeedLimitMinCapFloor", 25) # 25 mph floor
|
||||
scenario.set_state(SpeedLimitAssistState.capping)
|
||||
scenario.set_engaged(True)
|
||||
|
||||
# Posted limit 20 mph (below 25 mph floor) -> cap must pause
|
||||
low_limit_ms = 20 * CV.MPH_TO_MS
|
||||
scenario.set_speed_limits(low_limit_ms, 0)
|
||||
scenario.set_cruise_speeds(30 * CV.MPH_TO_MS)
|
||||
|
||||
for _ in range(int(0.5 / DT_MDL)):
|
||||
scenario.sla.update(
|
||||
True, False, 30 * CV.MPH_TO_MS, 0,
|
||||
30 * CV.MPH_TO_MS, low_limit_ms, low_limit_ms,
|
||||
True, 0, scenario.events_sp
|
||||
)
|
||||
|
||||
# Below-floor condition pauses cap: state is not capping, v_target is unset (no cap)
|
||||
assert scenario.sla.state != SpeedLimitAssistState.capping
|
||||
assert scenario.sla.output_v_target == V_CRUISE_UNSET
|
||||
|
||||
def test_resume_from_pause_above_floor(self, scenario_builder):
|
||||
"""FSM: pending (below-floor pause) -> capping when vehicle speed rises above min cap floor."""
|
||||
scenario = scenario_builder()
|
||||
scenario.set_param("SpeedLimitMinCapFloor", 25) # 25 mph
|
||||
scenario.set_state(SpeedLimitAssistState.pending)
|
||||
scenario.set_engaged(True)
|
||||
scenario.set_speed_limits(25 * CV.MPH_TO_MS, 0)
|
||||
scenario.set_cruise_speeds(20 * CV.MPH_TO_MS)
|
||||
|
||||
# Update with speed above floor
|
||||
scenario.sla.update(
|
||||
True, False, 30 * CV.MPH_TO_MS, 0,
|
||||
20 * CV.MPH_TO_MS, 25 * CV.MPH_TO_MS, 25 * CV.MPH_TO_MS,
|
||||
True, 0, scenario.events_sp
|
||||
)
|
||||
# Should resume capping if conditions allow
|
||||
assert scenario.sla.state in CAP_ACTIVE_STATES or scenario.sla.state == SpeedLimitAssistState.pending
|
||||
|
||||
def test_change_debounce_hold_new_limit(self, scenario_builder):
|
||||
"""FSM: New speed limit held for 1s before accepting (debounce)."""
|
||||
scenario = scenario_builder()
|
||||
scenario.set_param("SpeedLimitUpshiftAccept", UpshiftAccept.ACCEL_PEDAL)
|
||||
scenario.set_state(SpeedLimitAssistState.capping)
|
||||
scenario.set_engaged(True)
|
||||
scenario.set_speed_limits(25 * CV.MPH_TO_MS, 0)
|
||||
scenario.set_cruise_speeds(20 * CV.MPH_TO_MS)
|
||||
|
||||
# Start in capping with initial cap at 25 mph
|
||||
scenario.sla._target_cap = 25 * CV.MPH_TO_MS
|
||||
scenario.sla._has_speed_limit = True
|
||||
|
||||
# First: establish baseline with 25 mph and pressed pedal (to establish state for edge detection)
|
||||
scenario.sla.update(
|
||||
True, False, 25 * CV.MPH_TO_MS, 0,
|
||||
20 * CV.MPH_TO_MS, 25 * CV.MPH_TO_MS, 25 * CV.MPH_TO_MS,
|
||||
True, 0, scenario.events_sp, accel_pressed=True
|
||||
)
|
||||
|
||||
# Then: change limit to 35 mph, press pedal briefly, then release and wait for debounce to expire
|
||||
# Press pedal for first 0.5s (speed_limit=25 but speed_limit_final_last=35 simulates detection)
|
||||
for _ in range(int(0.5 / DT_MDL)):
|
||||
scenario.sla.update(
|
||||
True, False, 35 * CV.MPH_TO_MS, 0,
|
||||
20 * CV.MPH_TO_MS, 25 * CV.MPH_TO_MS, 35 * CV.MPH_TO_MS,
|
||||
True, 0, scenario.events_sp, accel_pressed=True
|
||||
)
|
||||
|
||||
# Release pedal and wait for cap debounce + accel debounce to complete (0.7s more = 1.2s total)
|
||||
for _ in range(int(0.7 / DT_MDL)):
|
||||
scenario.sla.update(
|
||||
True, False, 35 * CV.MPH_TO_MS, 0,
|
||||
20 * CV.MPH_TO_MS, 25 * CV.MPH_TO_MS, 35 * CV.MPH_TO_MS,
|
||||
True, 0, scenario.events_sp, accel_pressed=False
|
||||
)
|
||||
|
||||
# Cap should now be 35 mph after debounce and pedal release edge
|
||||
assert abs(scenario.sla._target_cap - 35 * CV.MPH_TO_MS) < 0.1
|
||||
assert scenario.sla.state == SpeedLimitAssistState.capping
|
||||
|
||||
def test_upshift_never_raise_keeps_old_cap(self, scenario_builder):
|
||||
"""FSM: NEVER_RAISE mode keeps cap unchanged when limit increases."""
|
||||
scenario = scenario_builder()
|
||||
scenario.set_param("SpeedLimitUpshiftAccept", UpshiftAccept.NEVER_RAISE)
|
||||
scenario.set_state(SpeedLimitAssistState.capping)
|
||||
scenario.set_engaged(True)
|
||||
scenario.set_speed_limits(25 * CV.MPH_TO_MS, 0)
|
||||
scenario.set_cruise_speeds(20 * CV.MPH_TO_MS)
|
||||
|
||||
# Start with cap at 25 mph
|
||||
scenario.sla._target_cap = 25 * CV.MPH_TO_MS
|
||||
|
||||
# Increase limit to 35 mph, wait for debounce to expire
|
||||
for _ in range(int(1.2 / DT_MDL)):
|
||||
scenario.sla.update(
|
||||
True, False, 35 * CV.MPH_TO_MS, 0,
|
||||
20 * CV.MPH_TO_MS, 25 * CV.MPH_TO_MS, 35 * CV.MPH_TO_MS,
|
||||
True, 0, scenario.events_sp
|
||||
)
|
||||
|
||||
# In NEVER_RAISE mode, cap stays at 25 mph (old value)
|
||||
assert abs(scenario.sla._target_cap - 25 * CV.MPH_TO_MS) < 0.1
|
||||
assert scenario.sla.state == SpeedLimitAssistState.capping
|
||||
|
||||
def test_upshift_accel_pedal_requires_release(self, scenario_builder):
|
||||
"""FSM: ACCEL_PEDAL mode accepts new cap only on pedal release."""
|
||||
scenario = scenario_builder()
|
||||
scenario.set_param("SpeedLimitUpshiftAccept", UpshiftAccept.ACCEL_PEDAL)
|
||||
scenario.set_state(SpeedLimitAssistState.capping)
|
||||
scenario.set_engaged(True)
|
||||
scenario.set_speed_limits(25 * CV.MPH_TO_MS, 0)
|
||||
scenario.set_cruise_speeds(20 * CV.MPH_TO_MS)
|
||||
|
||||
# Start with cap at 25 mph
|
||||
scenario.sla._target_cap = 25 * CV.MPH_TO_MS
|
||||
|
||||
# Pedal pressed with new limit 35 mph, wait 1.1s (exceeds cap debounce) but pedal still pressed
|
||||
for _ in range(int(1.1 / DT_MDL)):
|
||||
scenario.sla.update(
|
||||
True, False, 35 * CV.MPH_TO_MS, 0,
|
||||
20 * CV.MPH_TO_MS, 25 * CV.MPH_TO_MS, 35 * CV.MPH_TO_MS,
|
||||
True, 0, scenario.events_sp, accel_pressed=True
|
||||
)
|
||||
|
||||
# Cap should still be 25 mph (pedal pressed, upshift rejected despite debounce)
|
||||
assert abs(scenario.sla._target_cap - 25 * CV.MPH_TO_MS) < 0.1
|
||||
assert scenario.sla.state == SpeedLimitAssistState.capping
|
||||
|
||||
def test_pedal_release_debounce_200ms(self, scenario_builder):
|
||||
"""FSM: Accel pedal release edge requires 200ms debounce."""
|
||||
scenario = scenario_builder()
|
||||
scenario.set_param("SpeedLimitUpshiftAccept", UpshiftAccept.ACCEL_PEDAL)
|
||||
scenario.set_state(SpeedLimitAssistState.capping)
|
||||
scenario.set_engaged(True)
|
||||
scenario.set_speed_limits(25 * CV.MPH_TO_MS, 0)
|
||||
scenario.set_cruise_speeds(20 * CV.MPH_TO_MS)
|
||||
|
||||
scenario.sla._target_cap = 25 * CV.MPH_TO_MS
|
||||
|
||||
# First establish the limit change and wait for cap change debounce to start
|
||||
scenario.sla.update(
|
||||
True, False, 35 * CV.MPH_TO_MS, 0,
|
||||
20 * CV.MPH_TO_MS, 25 * CV.MPH_TO_MS, 35 * CV.MPH_TO_MS,
|
||||
True, 0, scenario.events_sp, accel_pressed=True
|
||||
)
|
||||
|
||||
# Pedal pressed, wait 0.6s, then release and wait 0.5s (total 1.1s > 1.0s cap debounce + 0.2s accel debounce)
|
||||
for _ in range(int(0.6 / DT_MDL)):
|
||||
scenario.sla.update(
|
||||
True, False, 35 * CV.MPH_TO_MS, 0,
|
||||
20 * CV.MPH_TO_MS, 25 * CV.MPH_TO_MS, 35 * CV.MPH_TO_MS,
|
||||
True, 0, scenario.events_sp, accel_pressed=True
|
||||
)
|
||||
|
||||
# Release and wait for both debounces to complete
|
||||
for _ in range(int(0.5 / DT_MDL)):
|
||||
scenario.sla.update(
|
||||
True, False, 35 * CV.MPH_TO_MS, 0,
|
||||
20 * CV.MPH_TO_MS, 25 * CV.MPH_TO_MS, 35 * CV.MPH_TO_MS,
|
||||
True, 0, scenario.events_sp, accel_pressed=False
|
||||
)
|
||||
|
||||
# Now cap should be updated to 35 mph (cap debounce complete + accel release edge detected and debounced)
|
||||
assert abs(scenario.sla._target_cap - 35 * CV.MPH_TO_MS) < 0.1
|
||||
assert scenario.sla.state == SpeedLimitAssistState.capping
|
||||
|
||||
def test_suspended_timer_after_long_override(self, scenario_builder):
|
||||
"""FSM: 1s suspension window after manual override release."""
|
||||
scenario = scenario_builder()
|
||||
scenario.set_state(SpeedLimitAssistState.capping)
|
||||
scenario.set_engaged(True)
|
||||
scenario.set_speed_limits(25 * CV.MPH_TO_MS, 0)
|
||||
scenario.set_cruise_speeds(20 * CV.MPH_TO_MS)
|
||||
|
||||
scenario.sla._target_cap = 25 * CV.MPH_TO_MS
|
||||
|
||||
scenario.sla.update(
|
||||
True, True, 25 * CV.MPH_TO_MS, 0,
|
||||
20 * CV.MPH_TO_MS, 25 * CV.MPH_TO_MS, 25 * CV.MPH_TO_MS,
|
||||
True, 0, scenario.events_sp
|
||||
)
|
||||
|
||||
scenario.sla.update(
|
||||
True, False, 25 * CV.MPH_TO_MS, 0,
|
||||
20 * CV.MPH_TO_MS, 25 * CV.MPH_TO_MS, 25 * CV.MPH_TO_MS,
|
||||
True, 0, scenario.events_sp
|
||||
)
|
||||
|
||||
assert scenario.sla.state == SpeedLimitAssistState.disabled
|
||||
assert scenario.sla._cap_suspended_timer > 0 # frame counter
|
||||
|
||||
# Attempt to re-engage within suspension window (0.5s)
|
||||
for _ in range(int(0.5 / DT_MDL)):
|
||||
scenario.sla.update(
|
||||
True, False, 25 * CV.MPH_TO_MS, 0,
|
||||
20 * CV.MPH_TO_MS, 25 * CV.MPH_TO_MS, 25 * CV.MPH_TO_MS,
|
||||
True, 0, scenario.events_sp
|
||||
)
|
||||
|
||||
# Should still be disabled (suspension active)
|
||||
assert scenario.sla.state == SpeedLimitAssistState.disabled
|
||||
|
||||
# Wait for suspension to expire (1.1s total)
|
||||
for _ in range(int(0.7 / DT_MDL)):
|
||||
scenario.sla.update(
|
||||
True, False, 25 * CV.MPH_TO_MS, 0,
|
||||
20 * CV.MPH_TO_MS, 25 * CV.MPH_TO_MS, 25 * CV.MPH_TO_MS,
|
||||
True, 0, scenario.events_sp
|
||||
)
|
||||
|
||||
# Now cap can re-engage and transition to capping
|
||||
assert scenario.sla.state == SpeedLimitAssistState.capping
|
||||
|
||||
def test_audio_cue_fires_once_on_capping_entry(self, scenario_builder):
|
||||
"""Event: speedLimitCapActive fires once on entry to capping state."""
|
||||
scenario = scenario_builder()
|
||||
scenario.set_param("SpeedLimitCapAudioCue", True)
|
||||
scenario.set_state(SpeedLimitAssistState.disabled)
|
||||
scenario.set_engaged(True)
|
||||
scenario.set_speed_limits(25 * CV.MPH_TO_MS, 0)
|
||||
scenario.set_cruise_speeds(20 * CV.MPH_TO_MS)
|
||||
|
||||
# Enter capping state
|
||||
scenario.sla.update(
|
||||
True, False, 25 * CV.MPH_TO_MS, 0,
|
||||
20 * CV.MPH_TO_MS, 25 * CV.MPH_TO_MS, 25 * CV.MPH_TO_MS,
|
||||
True, 0, scenario.events_sp
|
||||
)
|
||||
|
||||
# Verify we transitioned to capping
|
||||
assert scenario.sla.state == SpeedLimitAssistState.capping
|
||||
# Audio cue flag should be set
|
||||
assert scenario.sla._cap_audio_cue_fired is True
|
||||
|
||||
def test_audio_cue_disabled_no_fire(self, scenario_builder):
|
||||
"""Event: speedLimitCapActive suppressed when audio cue disabled."""
|
||||
scenario = scenario_builder()
|
||||
scenario.set_param("SpeedLimitCapAudioCue", False)
|
||||
scenario.set_state(SpeedLimitAssistState.disabled)
|
||||
scenario.set_engaged(True)
|
||||
scenario.set_speed_limits(25 * CV.MPH_TO_MS, 0)
|
||||
scenario.set_cruise_speeds(20 * CV.MPH_TO_MS)
|
||||
|
||||
# Enter capping state
|
||||
scenario.sla.update(
|
||||
True, False, 25 * CV.MPH_TO_MS, 0,
|
||||
20 * CV.MPH_TO_MS, 25 * CV.MPH_TO_MS, 25 * CV.MPH_TO_MS,
|
||||
True, 0, scenario.events_sp
|
||||
)
|
||||
|
||||
# Verify we transitioned to capping
|
||||
assert scenario.sla.state == SpeedLimitAssistState.capping
|
||||
# Audio cue flag should NOT be set (disabled)
|
||||
assert scenario.sla._cap_audio_cue_fired is False
|
||||
|
||||
def test_cap_delta_ui_feedback(self, scenario_builder):
|
||||
"""UI: target_cap tracks posted limit, delta = v_cruise_cluster - target_cap (positive when cap below driver intent)."""
|
||||
scenario = scenario_builder()
|
||||
scenario.set_state(SpeedLimitAssistState.capping)
|
||||
scenario.set_engaged(True)
|
||||
limit_ms = 25 * CV.MPH_TO_MS
|
||||
cruise_ms = 35 * CV.MPH_TO_MS
|
||||
scenario.set_speed_limits(limit_ms, 0)
|
||||
scenario.set_cruise_speeds(cruise_ms)
|
||||
|
||||
scenario.sla._target_cap = limit_ms
|
||||
scenario.sla.update(
|
||||
True, False, 25 * CV.MPH_TO_MS, 0,
|
||||
cruise_ms, limit_ms, limit_ms,
|
||||
True, 0, scenario.events_sp
|
||||
)
|
||||
|
||||
assert abs(scenario.sla.output_v_target - limit_ms) < 0.1
|
||||
assert abs(scenario.sla._target_cap - limit_ms) < 0.1
|
||||
cap_delta = max(0., cruise_ms - scenario.sla._target_cap)
|
||||
assert cap_delta > 0
|
||||
assert abs(cap_delta - 10 * CV.MPH_TO_MS) < 0.1
|
||||
assert abs(scenario.sla.cap_delta - cap_delta) < 0.1
|
||||
assert scenario.sla.state == SpeedLimitAssistState.capping
|
||||
|
||||
def test_min_cap_floor_zero_disables_pause(self, scenario_builder):
|
||||
"""FSM: min cap floor 0 disables pause-on-low-speed behavior."""
|
||||
scenario = scenario_builder()
|
||||
scenario.set_param("SpeedLimitMinCapFloor", 0)
|
||||
scenario.set_state(SpeedLimitAssistState.capping)
|
||||
scenario.set_engaged(True)
|
||||
scenario.set_speed_limits(25 * CV.MPH_TO_MS, 0)
|
||||
scenario.set_cruise_speeds(5 * CV.MPH_TO_MS)
|
||||
|
||||
scenario.sla._target_cap = 25 * CV.MPH_TO_MS
|
||||
|
||||
# Very low speed (5 mph), but floor is 0
|
||||
scenario.sla.update(
|
||||
True, False, 25 * CV.MPH_TO_MS, 0,
|
||||
5 * CV.MPH_TO_MS, 25 * CV.MPH_TO_MS, 25 * CV.MPH_TO_MS,
|
||||
True, 0, scenario.events_sp
|
||||
)
|
||||
|
||||
# Should continue capping (floor 0 means no pause even at low speed)
|
||||
assert scenario.sla.state == SpeedLimitAssistState.capping
|
||||
assert scenario.sla._cap_below_floor is False
|
||||
|
||||
def test_min_cap_floor_max_value_40_mph(self, scenario_builder):
|
||||
"""FSM: min cap floor clamped to 40 mph (reasonable max)."""
|
||||
scenario = scenario_builder()
|
||||
scenario.set_param("IsMetric", False)
|
||||
scenario.set_param("SpeedLimitMinCapFloor", 40)
|
||||
scenario.sla.is_metric = False
|
||||
scenario.set_state(SpeedLimitAssistState.capping)
|
||||
scenario.set_engaged(True)
|
||||
scenario.set_speed_limits(25 * CV.MPH_TO_MS, 0)
|
||||
scenario.set_cruise_speeds(30 * CV.MPH_TO_MS)
|
||||
|
||||
scenario.sla._target_cap = 25 * CV.MPH_TO_MS
|
||||
|
||||
# Speed 25 mph (limit) is below floor 40 mph, should pause
|
||||
for _ in range(int(0.5 / DT_MDL)):
|
||||
scenario.sla.update(
|
||||
True, False, 25 * CV.MPH_TO_MS, 0,
|
||||
30 * CV.MPH_TO_MS, 25 * CV.MPH_TO_MS, 25 * CV.MPH_TO_MS,
|
||||
True, 0, scenario.events_sp
|
||||
)
|
||||
|
||||
# Should transition to pending (below floor)
|
||||
assert scenario.sla.state == SpeedLimitAssistState.pending
|
||||
assert scenario.sla._cap_below_floor is True
|
||||
|
||||
def test_v_target_clamped_to_cruise_when_capping(self, scenario_builder):
|
||||
"""Output: v_target = min(v_cruise, cap) when actively capping."""
|
||||
scenario = scenario_builder()
|
||||
scenario.set_state(SpeedLimitAssistState.capping)
|
||||
scenario.set_engaged(True)
|
||||
scenario.set_speed_limits(25 * CV.MPH_TO_MS, 0)
|
||||
scenario.set_cruise_speeds(20 * CV.MPH_TO_MS)
|
||||
|
||||
scenario.sla._target_cap = 25 * CV.MPH_TO_MS
|
||||
|
||||
scenario.sla.update(
|
||||
True, False, 25 * CV.MPH_TO_MS, 0,
|
||||
20 * CV.MPH_TO_MS, 25 * CV.MPH_TO_MS, 25 * CV.MPH_TO_MS,
|
||||
True, 0, scenario.events_sp
|
||||
)
|
||||
|
||||
# v_target should be min(20, 25) = 20 m/s (driver cruise is limiting factor)
|
||||
assert abs(scenario.sla.output_v_target - 20 * CV.MPH_TO_MS) < 0.1
|
||||
assert scenario.sla.state == SpeedLimitAssistState.capping
|
||||
|
||||
# Missing edge cases from matrix (Issues #1, #2, #5, #7, #16, #18, #19)
|
||||
|
||||
def test_school_zone_false_positive_25_mph_floor(self, scenario_builder):
|
||||
"""Edge case #1: OSM school zone 25 mph at inactive hours blocked by floor."""
|
||||
scenario = scenario_builder()
|
||||
scenario.set_param("SpeedLimitMinCapFloor", 25)
|
||||
scenario.set_state(SpeedLimitAssistState.capping)
|
||||
scenario.set_engaged(True)
|
||||
scenario.set_speed_limits(11.18, 0) # 25 mph -> m/s
|
||||
scenario.set_cruise_speeds(20 * CV.MPH_TO_MS)
|
||||
|
||||
scenario.sla._target_cap = 11.18
|
||||
|
||||
# Speed limit 25 mph = 11.18 m/s is at floor (not strictly above)
|
||||
scenario.sla.update(
|
||||
True, False, 11.18, 0,
|
||||
20 * CV.MPH_TO_MS, 11.18, 11.18,
|
||||
True, 0, scenario.events_sp
|
||||
)
|
||||
|
||||
# Should not pause at exactly floor (must be strictly above)
|
||||
assert scenario.sla.state == SpeedLimitAssistState.capping
|
||||
|
||||
def test_construction_stale_25_mph_pauses(self, scenario_builder):
|
||||
"""Edge case #2: Construction temp speed limit 25 mph pauses on stale data."""
|
||||
scenario = scenario_builder()
|
||||
scenario.set_param("SpeedLimitMinCapFloor", 25)
|
||||
scenario.set_state(SpeedLimitAssistState.capping)
|
||||
scenario.set_engaged(True)
|
||||
# Stale construction limit (25 mph, below floor by resolver check)
|
||||
scenario.set_speed_limits(11.18, 0)
|
||||
scenario.set_cruise_speeds(20 * CV.MPH_TO_MS)
|
||||
|
||||
scenario.sla._target_cap = 11.18
|
||||
|
||||
# Simulate old data with has_speed_limit=False (resolver cleared it)
|
||||
scenario.sla.update(
|
||||
True, False, 11.18, 0,
|
||||
20 * CV.MPH_TO_MS, 11.18, 11.18,
|
||||
False, 0, scenario.events_sp
|
||||
)
|
||||
|
||||
# Should transition to pending (lost limit)
|
||||
assert scenario.sla.state == SpeedLimitAssistState.pending
|
||||
|
||||
@pytest.mark.parametrize("is_metric", [True, False])
|
||||
def test_kmh_mph_unit_conversion_border(self, scenario_builder, is_metric):
|
||||
"""Edge case #5: km/h ↔ mph border crossing unit conversion."""
|
||||
scenario = scenario_builder()
|
||||
scenario.params.put_bool("IsMetric", is_metric)
|
||||
# Reload SLA to pick up metric setting
|
||||
from opendbc.car.toyota.values import CAR as TOYOTA
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.tests.conftest import CarParamsFactory
|
||||
CP, CP_SP, _ = CarParamsFactory.create_car_interface(TOYOTA.TOYOTA_RAV4_TSS2)
|
||||
scenario.sla = SpeedLimitAssist(CP, CP_SP)
|
||||
scenario.sla.params.put_bool("IsMetric", is_metric)
|
||||
|
||||
scenario.set_state(SpeedLimitAssistState.capping)
|
||||
scenario.set_engaged(True)
|
||||
|
||||
if is_metric:
|
||||
# 65 km/h ≈ 40.4 mph
|
||||
scenario.set_speed_limits(65 * CV.KPH_TO_MS, 0)
|
||||
scenario.set_cruise_speeds(60 * CV.KPH_TO_MS)
|
||||
scenario.sla._target_cap = 65 * CV.KPH_TO_MS
|
||||
else:
|
||||
# 40 mph ≈ 64.4 km/h
|
||||
scenario.set_speed_limits(40 * CV.MPH_TO_MS, 0)
|
||||
scenario.set_cruise_speeds(35 * CV.MPH_TO_MS)
|
||||
scenario.sla._target_cap = 40 * CV.MPH_TO_MS
|
||||
|
||||
scenario.sla.update(
|
||||
True, False, scenario.sla._target_cap, 0,
|
||||
scenario.sla.v_cruise_cluster, scenario.sla._speed_limit,
|
||||
scenario.sla._speed_limit, True, 0, scenario.events_sp
|
||||
)
|
||||
|
||||
# Should remain in capping with correct unit-aware cap
|
||||
assert scenario.sla.state == SpeedLimitAssistState.capping
|
||||
assert scenario.sla._has_speed_limit is True
|
||||
|
||||
def test_gps_tunnel_fade_10s_age_limit(self, scenario_builder):
|
||||
"""Edge case #7: GPS tunnel fade stale limit via LIMIT_MAX_MAP_DATA_AGE."""
|
||||
scenario = scenario_builder()
|
||||
scenario.set_state(SpeedLimitAssistState.capping)
|
||||
scenario.set_engaged(True)
|
||||
scenario.set_speed_limits(25 * CV.MPH_TO_MS, 0)
|
||||
scenario.set_cruise_speeds(20 * CV.MPH_TO_MS)
|
||||
|
||||
scenario.sla._target_cap = 25 * CV.MPH_TO_MS
|
||||
|
||||
# Simulate has_speed_limit=False (resolver expired data after 10s)
|
||||
scenario.sla.update(
|
||||
True, False, 25 * CV.MPH_TO_MS, 0,
|
||||
20 * CV.MPH_TO_MS, 25 * CV.MPH_TO_MS, 25 * CV.MPH_TO_MS,
|
||||
False, 0, scenario.events_sp
|
||||
)
|
||||
|
||||
# Should transition to pending (lost limit)
|
||||
assert scenario.sla.state == SpeedLimitAssistState.pending
|
||||
assert scenario.sla.output_v_target == V_CRUISE_UNSET
|
||||
|
||||
def test_lost_speed_limit_mid_cap_to_pending(self, scenario_builder):
|
||||
"""Edge case #16: Lost speed limit mid-cap transitions to pending."""
|
||||
scenario = scenario_builder()
|
||||
scenario.set_state(SpeedLimitAssistState.capping)
|
||||
scenario.set_engaged(True)
|
||||
scenario.set_speed_limits(25 * CV.MPH_TO_MS, 0)
|
||||
scenario.set_cruise_speeds(20 * CV.MPH_TO_MS)
|
||||
|
||||
scenario.sla._target_cap = 25 * CV.MPH_TO_MS
|
||||
|
||||
# Simulate limit suddenly unavailable
|
||||
scenario.sla.update(
|
||||
True, False, 25 * CV.MPH_TO_MS, 0,
|
||||
20 * CV.MPH_TO_MS, 25 * CV.MPH_TO_MS, 25 * CV.MPH_TO_MS,
|
||||
False, 0, scenario.events_sp
|
||||
)
|
||||
|
||||
# Should transition to pending, emit V_CRUISE_UNSET
|
||||
assert scenario.sla.state == SpeedLimitAssistState.pending
|
||||
assert scenario.sla.output_v_target == V_CRUISE_UNSET
|
||||
|
||||
def test_mode_param_off_disables_sla_on_pcm_op_long(self, scenario_builder):
|
||||
"""Edge case #18: SpeedLimitMode controls engagement on pcm_op_long cars."""
|
||||
scenario = scenario_builder()
|
||||
scenario.set_state(SpeedLimitAssistState.disabled)
|
||||
scenario.set_engaged(True)
|
||||
scenario.set_speed_limits(25 * CV.MPH_TO_MS, 0)
|
||||
scenario.set_cruise_speeds(20 * CV.MPH_TO_MS)
|
||||
|
||||
scenario.set_param("SpeedLimitMode", 0)
|
||||
|
||||
scenario.sla.update(
|
||||
True, False, 25 * CV.MPH_TO_MS, 0,
|
||||
20 * CV.MPH_TO_MS, 25 * CV.MPH_TO_MS, 25 * CV.MPH_TO_MS,
|
||||
True, 0, scenario.events_sp
|
||||
)
|
||||
|
||||
assert scenario.sla.state == SpeedLimitAssistState.disabled
|
||||
|
||||
def test_speed_limit_final_zero_with_has_limit_edge(self, scenario_builder):
|
||||
"""Edge case #19: has_speed_limit=true but speed_limit_final=0 -> pending."""
|
||||
scenario = scenario_builder()
|
||||
scenario.set_state(SpeedLimitAssistState.capping)
|
||||
scenario.set_engaged(True)
|
||||
scenario.set_speed_limits(0, 0) # Zero speed limit (bad data)
|
||||
scenario.set_cruise_speeds(20 * CV.MPH_TO_MS)
|
||||
|
||||
scenario.sla._target_cap = 25 * CV.MPH_TO_MS
|
||||
|
||||
# has_speed_limit=True but speed_limit_final_last=0
|
||||
scenario.sla.update(
|
||||
True, False, 0, 0,
|
||||
20 * CV.MPH_TO_MS, 0, 0,
|
||||
True, 0, scenario.events_sp
|
||||
)
|
||||
|
||||
# Should transition to pending (bad/zero limit treated as no limit)
|
||||
assert scenario.sla.state == SpeedLimitAssistState.pending
|
||||
|
||||
def test_non_pcm_path_unchanged(self, scenario_builder):
|
||||
"""Regression: Non-PCM update_state_machine_non_pcm_long() unchanged."""
|
||||
scenario = scenario_builder()
|
||||
# Verify method exists and has correct signature
|
||||
assert hasattr(scenario.sla, "update_state_machine_non_pcm_long")
|
||||
# Method signature check (internal implementation detail)
|
||||
@@ -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
|
||||
|
||||
@@ -216,14 +216,6 @@ EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = {
|
||||
Priority.LOW, VisualAlert.none, AudibleAlertSP.promptSingleHigh, 5.),
|
||||
},
|
||||
|
||||
EventNameSP.speedLimitCapActive: {
|
||||
ET.WARNING: Alert(
|
||||
"Speed Limit Capping",
|
||||
"",
|
||||
AlertStatus.normal, AlertSize.small,
|
||||
Priority.LOW, VisualAlert.none, AudibleAlertSP.promptSingleHigh, 5.),
|
||||
},
|
||||
|
||||
EventNameSP.speedLimitChanged: {
|
||||
ET.WARNING: Alert(
|
||||
"Set speed changed",
|
||||
|
||||
@@ -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
|
||||
@@ -28,11 +28,14 @@ from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutExce
|
||||
create_connection, WebSocketConnectionClosedException)
|
||||
|
||||
import cereal.messaging as messaging
|
||||
from openpilot.sunnypilot.selfdrive.car.sync_car_list_param import update_car_list_param
|
||||
from openpilot.sunnypilot.models.default_model import DEFAULT_MODEL
|
||||
from openpilot.sunnypilot.selfdrive.car.sync_sunnylink_params 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 +47,15 @@ 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 +70,6 @@ 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 +152,6 @@ 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 +205,19 @@ 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
|
||||
schema["default_model"] = DEFAULT_MODEL
|
||||
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 +229,25 @@ 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 +278,13 @@ 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")
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user