mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-06-12 02:54:55 +08:00
Compare commits
5 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
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7e698e8aba | ||
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e6f6e32ccf | ||
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6b9a9b9075 | ||
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e0a7c57fab |
8
.github/ISSUE_TEMPLATE/enhancement.md
vendored
Normal file
8
.github/ISSUE_TEMPLATE/enhancement.md
vendored
Normal file
@@ -0,0 +1,8 @@
|
||||
---
|
||||
name: Enhancement
|
||||
about: For openpilot enhancement suggestions
|
||||
title: ''
|
||||
labels: 'enhancement'
|
||||
assignees: ''
|
||||
---
|
||||
|
||||
10
.github/workflows/cereal_validation.yaml
vendored
10
.github/workflows/cereal_validation.yaml
vendored
@@ -33,15 +33,15 @@ jobs:
|
||||
- run: ./tools/op.sh setup
|
||||
- name: Build openpilot
|
||||
run: scons -j$(nproc) cereal
|
||||
- name: Dump sunnypilot schema
|
||||
- name: Generate the log file
|
||||
run: |
|
||||
export PYTHONPATH=${{ github.workspace }}
|
||||
python3 cereal/messaging/tests/validate_sp_cereal_upstream.py -g -f schema.json
|
||||
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.json "cereal/messaging/tests/cereal_validations/schema.json"
|
||||
cp schema_instances.bin "cereal/messaging/tests/cereal_validations/schema_instances.bin"
|
||||
- name: 'Upload Artifact'
|
||||
uses: actions/upload-artifact@v4
|
||||
with:
|
||||
@@ -71,8 +71,8 @@ jobs:
|
||||
with:
|
||||
name: cereal_validations
|
||||
path: openpilot/cereal/messaging/tests/cereal_validations
|
||||
- name: 'Validate sunnypilot schema against upstream'
|
||||
- name: 'Run the validation'
|
||||
run: |
|
||||
export PYTHONPATH=${{ github.workspace }}/openpilot
|
||||
chmod +x openpilot/cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py
|
||||
python3 openpilot/cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py -r -f openpilot/cereal/messaging/tests/cereal_validations/schema.json
|
||||
python3 openpilot/cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py -r -f openpilot/cereal/messaging/tests/cereal_validations/schema_instances.bin
|
||||
|
||||
6
.github/workflows/docs.yaml
vendored
6
.github/workflows/docs.yaml
vendored
@@ -29,9 +29,9 @@ jobs:
|
||||
# Build
|
||||
- name: Build docs
|
||||
run: |
|
||||
git lfs pull
|
||||
pip install zensical
|
||||
python scripts/docs.py build
|
||||
# TODO: can we install just the "docs" dependency group without the normal deps?
|
||||
pip install mkdocs
|
||||
mkdocs build
|
||||
|
||||
# Push to docs.comma.ai
|
||||
- uses: actions/checkout@v6
|
||||
|
||||
@@ -172,8 +172,8 @@ jobs:
|
||||
output_file="${{ env.MODELS_DIR }}/${base_name}_tinygrad.pkl"
|
||||
|
||||
echo "Compiling: $onnx_file -> $output_file"
|
||||
DEV=QCOM FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1 IMAGE=2 python3 "${{ env.TINYGRAD_PATH }}/examples/openpilot/compile3.py" "$onnx_file" "$output_file"
|
||||
DEV=QCOM FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1 python3 "${{ env.MODELS_DIR }}/../get_model_metadata.py" "$onnx_file" || true
|
||||
QCOM=1 python3 "${{ env.TINYGRAD_PATH }}/examples/openpilot/compile3.py" "$onnx_file" "$output_file"
|
||||
DEV=QCOM FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 python3 "${{ env.MODELS_DIR }}/../get_model_metadata.py" "$onnx_file" || true
|
||||
done
|
||||
|
||||
- name: Validate Model Outputs
|
||||
|
||||
2
.gitignore
vendored
2
.gitignore
vendored
@@ -44,10 +44,8 @@ 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
|
||||
|
||||
@@ -267,6 +267,9 @@ 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 {
|
||||
@@ -282,6 +285,19 @@ 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;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -342,6 +358,7 @@ struct OnroadEventSP @0xda96579883444c35 {
|
||||
speedLimitChanged @21;
|
||||
speedLimitPending @22;
|
||||
e2eChime @23;
|
||||
speedLimitCapActive @24;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
111
cereal/log.capnp
111
cereal/log.capnp
@@ -273,7 +273,11 @@ struct GPSNMEAData {
|
||||
nmea @2 :Text;
|
||||
}
|
||||
|
||||
# android sensor_event_t
|
||||
struct SensorEventData {
|
||||
version @0 :Int32;
|
||||
sensor @1 :Int32;
|
||||
type @2 :Int32;
|
||||
timestamp @3 :Int64;
|
||||
|
||||
union {
|
||||
@@ -292,10 +296,7 @@ struct SensorEventData {
|
||||
|
||||
struct SensorVec {
|
||||
v @0 :List(Float32);
|
||||
|
||||
deprecated :group {
|
||||
status @1 :Int8;
|
||||
}
|
||||
status @1 :Int8;
|
||||
}
|
||||
|
||||
enum SensorSource {
|
||||
@@ -313,11 +314,7 @@ struct SensorEventData {
|
||||
mmc5603nj @11;
|
||||
}
|
||||
|
||||
# formerly based on android sensor_event_t
|
||||
deprecated :group {
|
||||
version @0 :Int32;
|
||||
sensor @1 :Int32;
|
||||
type @2 :Int32;
|
||||
uncalibrated @10 :Bool;
|
||||
}
|
||||
}
|
||||
@@ -460,10 +457,10 @@ struct DeviceState @0xa4d8b5af2aa492eb {
|
||||
}
|
||||
|
||||
enum ThermalStatus {
|
||||
ok @0;
|
||||
warmDEPRECATED @1;
|
||||
overheated @2;
|
||||
critical @3;
|
||||
green @0;
|
||||
yellow @1;
|
||||
red @2;
|
||||
danger @3;
|
||||
}
|
||||
|
||||
enum NetworkType {
|
||||
@@ -2079,7 +2076,7 @@ struct DriverStateV2 {
|
||||
}
|
||||
}
|
||||
|
||||
struct DriverMonitoringStateDEPRECATED @0xb83cda094a1da284 {
|
||||
struct DriverMonitoringState @0xb83cda094a1da284 {
|
||||
events @18 :List(OnroadEvent);
|
||||
faceDetected @1 :Bool;
|
||||
isDistracted @2 :Bool;
|
||||
@@ -2107,75 +2104,6 @@ struct DriverMonitoringStateDEPRECATED @0xb83cda094a1da284 {
|
||||
}
|
||||
}
|
||||
|
||||
struct DriverMonitoringState {
|
||||
lockout @0 :Bool;
|
||||
alertCountLockoutPercent @1 :Int8;
|
||||
alertTimeLockoutPercent @2 :Int8;
|
||||
|
||||
alwaysOn @3 :Bool;
|
||||
alwaysOnLockout @4 :Bool;
|
||||
|
||||
alertLevel @5 :AlertLevel;
|
||||
activePolicy @6 :MonitoringPolicy;
|
||||
isRHD @7 :Bool;
|
||||
rhdCalibration @8 :CalibrationState;
|
||||
|
||||
visionPolicyState @9 :VisionPolicyState;
|
||||
wheeltouchPolicyState @10 :WheeltouchPolicyState;
|
||||
|
||||
enum AlertLevel {
|
||||
# ordinal must match the name to prevent bugs
|
||||
# comparing against the raw ordinal value
|
||||
none @0;
|
||||
one @1;
|
||||
two @2;
|
||||
three @3;
|
||||
}
|
||||
|
||||
enum MonitoringPolicy {
|
||||
wheeltouch @0;
|
||||
vision @1;
|
||||
}
|
||||
|
||||
struct VisionPolicyState {
|
||||
awarenessPercent @0 :Int8;
|
||||
awarenessStep @1 :Float32;
|
||||
isDistracted @2 :Bool;
|
||||
distractedTypes @3 :DistractedTypes;
|
||||
|
||||
faceDetected @4 :Bool;
|
||||
pose @5 :Pose;
|
||||
wheeltouchFallbackPercent @6 :Int8;
|
||||
uncertainOffroadAlertPercent @7 :Int8;
|
||||
|
||||
struct DistractedTypes {
|
||||
pose @0: Bool;
|
||||
eye @1: Bool;
|
||||
phone @2: Bool;
|
||||
}
|
||||
|
||||
struct Pose {
|
||||
pitch @0 :Float32;
|
||||
yaw @1 :Float32;
|
||||
pitchCalib @2 :CalibrationState;
|
||||
yawCalib @3 :CalibrationState;
|
||||
calibrated @4 :Bool;
|
||||
uncertainty @5 :Float32;
|
||||
}
|
||||
}
|
||||
|
||||
struct WheeltouchPolicyState {
|
||||
awarenessPercent @0 :Int8;
|
||||
awarenessStep @1 :Float32;
|
||||
driverInteracting @2 :Bool;
|
||||
}
|
||||
|
||||
struct CalibrationState {
|
||||
calibratedPercent @0 :Int8;
|
||||
offset @1 :Float32;
|
||||
}
|
||||
}
|
||||
|
||||
struct Boot {
|
||||
wallTimeNanos @0 :UInt64;
|
||||
pstore @4 :Map(Text, Data);
|
||||
@@ -2449,6 +2377,7 @@ struct Event {
|
||||
boot @60 :Boot;
|
||||
|
||||
# ********** openpilot daemon msgs **********
|
||||
gpsNMEA @3 :GPSNMEAData;
|
||||
can @5 :List(CanData);
|
||||
controlsState @7 :ControlsState;
|
||||
selfdriveState @130 :SelfdriveState;
|
||||
@@ -2473,6 +2402,7 @@ struct Event {
|
||||
qcomGnss @31 :QcomGnss;
|
||||
gpsLocationExternal @48 :GpsLocationData;
|
||||
gpsLocation @21 :GpsLocationData;
|
||||
gnssMeasurements @91 :GnssMeasurements;
|
||||
liveParameters @61 :LiveParametersData;
|
||||
liveTorqueParameters @94 :LiveTorqueParametersData;
|
||||
liveDelay @146 : LiveDelayData;
|
||||
@@ -2480,7 +2410,7 @@ struct Event {
|
||||
thumbnail @66: Thumbnail;
|
||||
onroadEvents @134: List(OnroadEvent);
|
||||
carParams @69: Car.CarParams;
|
||||
driverMonitoringState @151 :DriverMonitoringState;
|
||||
driverMonitoringState @71: DriverMonitoringState;
|
||||
livePose @129 :LivePose;
|
||||
modelV2 @75 :ModelDataV2;
|
||||
drivingModelData @128 :DrivingModelData;
|
||||
@@ -2506,6 +2436,7 @@ struct Event {
|
||||
# systems stuff
|
||||
androidLog @20 :AndroidLogEntry;
|
||||
managerState @78 :ManagerState;
|
||||
uploaderState @79 :UploaderState;
|
||||
procLog @33 :ProcLog;
|
||||
clocks @35 :Clocks;
|
||||
deviceState @6 :DeviceState;
|
||||
@@ -2515,6 +2446,12 @@ struct Event {
|
||||
# touch frame
|
||||
touch @135 :List(Touch);
|
||||
|
||||
# navigation
|
||||
navInstruction @82 :NavInstruction;
|
||||
navRoute @83 :NavRoute;
|
||||
navThumbnail @84: Thumbnail;
|
||||
mapRenderState @105: MapRenderState;
|
||||
|
||||
# UI services
|
||||
uiDebug @102 :UIDebug;
|
||||
|
||||
@@ -2616,13 +2553,5 @@ struct Event {
|
||||
gyroscope2DEPRECATED @100 :SensorEventData;
|
||||
accelerometer2DEPRECATED @101 :SensorEventData;
|
||||
temperatureSensor2DEPRECATED @123 :SensorEventData;
|
||||
driverMonitoringStateDEPRECATED @71 :DriverMonitoringStateDEPRECATED;
|
||||
gpsNMEADEPRECATED @3 :GPSNMEAData;
|
||||
uploaderStateDEPRECATED @79 :UploaderState;
|
||||
navInstructionDEPRECATED @82 :NavInstruction;
|
||||
navRouteDEPRECATED @83 :NavRoute;
|
||||
navThumbnailDEPRECATED @84 :Thumbnail;
|
||||
gnssMeasurementsDEPRECATED @91 :GnssMeasurements;
|
||||
mapRenderStateDEPRECATED @105: MapRenderState;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1,251 +1,222 @@
|
||||
#!/usr/bin/env python3
|
||||
"""Schema-level cereal compat check between sunnypilot and upstream openpilot.
|
||||
|
||||
Rules (per struct matched across sides by typeId):
|
||||
R1 shared ordinal must reference the same type.
|
||||
R2 sunnypilot-only ordinal in a union -> FAIL (unknown discriminant upstream).
|
||||
R3 sunnypilot-only ordinal on a regular field -> OK (additive struct evolution).
|
||||
R4 upstream-only ordinal -> OK.
|
||||
R5 sunnypilot-only struct referenced via an upstream-shared field -> FAIL.
|
||||
"""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
import argparse
|
||||
import json
|
||||
import sys
|
||||
from typing import Any
|
||||
from typing import Any, List, Tuple
|
||||
|
||||
NO_DISCRIMINANT = 0xFFFF
|
||||
DEBUG = False
|
||||
|
||||
|
||||
def hex_id(value: int) -> str:
|
||||
return f"0x{value:016x}"
|
||||
def print_debug(string: str) -> None:
|
||||
if DEBUG:
|
||||
print(string)
|
||||
|
||||
|
||||
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 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
|
||||
|
||||
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
|
||||
|
||||
if proto.which() == "group":
|
||||
type_desc = {"kind": "group", "typeId": hex_id(proto.group.typeId)}
|
||||
else:
|
||||
type_desc = encode_type(proto.slot.type)
|
||||
|
||||
return {
|
||||
"name": name,
|
||||
"ordinal": ordinal,
|
||||
"discriminant": discriminant,
|
||||
"type": type_desc,
|
||||
}
|
||||
|
||||
|
||||
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 _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 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 dump_schema(path: str) -> None:
|
||||
from cereal import log
|
||||
payload = {
|
||||
"root": hex_id(log.Event.schema.node.id),
|
||||
"structs": collect_schema(log.Event.schema),
|
||||
}
|
||||
with open(path, "w", encoding="utf-8") as handle:
|
||||
json.dump(payload, handle, indent=2, sort_keys=True)
|
||||
print(f"wrote schema dump with {len(payload['structs'])} structs to {path}")
|
||||
|
||||
|
||||
def types_equal(a: dict, b: dict) -> bool:
|
||||
if a.get("kind") != b.get("kind"):
|
||||
return False
|
||||
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 type_repr(t: dict) -> str:
|
||||
kind = t.get("kind", "?")
|
||||
if kind in ("struct", "enum", "interface", "group"):
|
||||
return f"{kind}({t.get('typeId')})"
|
||||
if kind == "list":
|
||||
return f"list<{type_repr(t['element'])}>"
|
||||
return kind
|
||||
|
||||
|
||||
def field_is_union_variant(field: dict) -> bool:
|
||||
return field.get("discriminant") is not None
|
||||
|
||||
|
||||
def index_fields_by_ordinal(struct: dict) -> dict[int, dict]:
|
||||
indexed: dict[int, dict] = {}
|
||||
for field in struct["fields"]:
|
||||
ordinal = field.get("ordinal")
|
||||
if ordinal is None:
|
||||
continue
|
||||
indexed[ordinal] = field
|
||||
return indexed
|
||||
|
||||
|
||||
def compare(sunnypilot_dump: dict, upstream_dump: dict) -> list[str]:
|
||||
violations: list[str] = []
|
||||
sunnypilot_structs: dict[str, dict] = sunnypilot_dump["structs"]
|
||||
upstream_structs: dict[str, dict] = upstream_dump["structs"]
|
||||
|
||||
sunnypilot_struct_referenced_from_shared: set[str] = set()
|
||||
|
||||
for type_id, sunnypilot_struct in sunnypilot_structs.items():
|
||||
upstream_struct = upstream_structs.get(type_id)
|
||||
if upstream_struct is None:
|
||||
continue
|
||||
|
||||
sunnypilot_fields = index_fields_by_ordinal(sunnypilot_struct)
|
||||
upstream_fields = index_fields_by_ordinal(upstream_struct)
|
||||
display = sunnypilot_struct["displayName"]
|
||||
|
||||
for ordinal, sunnypilot_field in sunnypilot_fields.items():
|
||||
upstream_field = upstream_fields.get(ordinal)
|
||||
if upstream_field is None:
|
||||
if field_is_union_variant(sunnypilot_field):
|
||||
violations.append(
|
||||
f"[R2] {display} @{ordinal} ('{sunnypilot_field['name']}', {type_repr(sunnypilot_field['type'])}): "
|
||||
f"union variant not present upstream. upstream cannot parse this discriminant."
|
||||
)
|
||||
continue
|
||||
|
||||
if not types_equal(sunnypilot_field["type"], upstream_field["type"]):
|
||||
violations.append(
|
||||
f"[R1] {display} @{ordinal}: type mismatch. "
|
||||
f"sunnypilot='{sunnypilot_field['name']}' {type_repr(sunnypilot_field['type'])} vs "
|
||||
f"upstream='{upstream_field['name']}' {type_repr(upstream_field['type'])}."
|
||||
)
|
||||
continue
|
||||
|
||||
cursor = sunnypilot_field["type"]
|
||||
while cursor.get("kind") == "list":
|
||||
cursor = cursor["element"]
|
||||
if cursor.get("kind") in ("struct", "group", "interface") and cursor.get("typeId"):
|
||||
sunnypilot_struct_referenced_from_shared.add(cursor["typeId"])
|
||||
|
||||
for type_id, sunnypilot_struct in sunnypilot_structs.items():
|
||||
if type_id in upstream_structs:
|
||||
continue
|
||||
if type_id in sunnypilot_struct_referenced_from_shared:
|
||||
violations.append(
|
||||
f"[R5] struct {sunnypilot_struct['displayName']} ({type_id}) exists only on sunnypilot "
|
||||
f"but is referenced from an upstream-shared field. upstream cannot resolve this type."
|
||||
)
|
||||
|
||||
return violations
|
||||
|
||||
|
||||
def load_peer(path: str) -> dict:
|
||||
with open(path, "r", encoding="utf-8") as handle:
|
||||
return json.load(handle)
|
||||
|
||||
|
||||
def run_read(peer_path: str) -> int:
|
||||
from cereal import log
|
||||
peer_dump = load_peer(peer_path)
|
||||
local_dump = {
|
||||
"root": hex_id(log.Event.schema.node.id),
|
||||
"structs": collect_schema(log.Event.schema),
|
||||
}
|
||||
violations = compare(sunnypilot_dump=peer_dump, upstream_dump=local_dump)
|
||||
|
||||
if not violations:
|
||||
print("cereal compat OK: upstream openpilot can parse sunnypilot routes "
|
||||
"(no leaked structs, no ordinal collisions).")
|
||||
return 0
|
||||
|
||||
print(f"cereal compat FAIL: upstream openpilot would misparse sunnypilot routes "
|
||||
f"({len(violations)} violation(s)):")
|
||||
for v in violations:
|
||||
print(f" {v}")
|
||||
return 1
|
||||
|
||||
|
||||
def main() -> int:
|
||||
parser = argparse.ArgumentParser(
|
||||
description="sunnypilot <-> upstream cereal compatibility validator (schema-level)."
|
||||
)
|
||||
mode = parser.add_mutually_exclusive_group(required=True)
|
||||
mode.add_argument("-g", "--generate", action="store_true", help="dump local schema to JSON")
|
||||
mode.add_argument("-r", "--read", action="store_true", help="load peer JSON and diff against local")
|
||||
parser.add_argument("-f", "--file", default="schema.json", help="JSON file path (default: schema.json)")
|
||||
args = parser.parse_args()
|
||||
Returns:
|
||||
A new initialized schema instance
|
||||
"""
|
||||
struct_instance = struct.new_message()
|
||||
field_name, field_metadata = prop
|
||||
|
||||
try:
|
||||
if args.generate:
|
||||
dump_schema(args.file)
|
||||
return 0
|
||||
return run_read(args.file)
|
||||
except ImportError as exc:
|
||||
print(f"error: cannot import cereal ({exc}). did scons build cereal?")
|
||||
return 2
|
||||
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 get_schema_fields(schema_struct: Any) -> List[Tuple[str, Any]]:
|
||||
"""
|
||||
Retrieve all fields from a given schema structure.
|
||||
|
||||
Args:
|
||||
schema_struct: The Cap'n Proto schema structure
|
||||
|
||||
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 []
|
||||
|
||||
|
||||
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 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 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 compare_schemas(original_instances: List[Any], read_instances: List[Any]) -> bool:
|
||||
"""
|
||||
Compare original and read-back instances to detect potential breaking changes.
|
||||
|
||||
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")
|
||||
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
|
||||
|
||||
|
||||
def main():
|
||||
"""
|
||||
CLI entry point for schema compatibility testing.
|
||||
"""
|
||||
# Setup argument parser
|
||||
parser = argparse.ArgumentParser(
|
||||
description='Cap\'n Proto Schema Compatibility Testing Tool',
|
||||
epilog='Test schema compatibility by generating and reading back instances.'
|
||||
)
|
||||
|
||||
# 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
|
||||
args = parser.parse_args()
|
||||
|
||||
# Import the schema dynamically
|
||||
try:
|
||||
from cereal import log
|
||||
schema_type = log.Event
|
||||
except ImportError:
|
||||
print("Error: Unable to import schema. Ensure 'cereal' is installed.")
|
||||
sys.exit(1)
|
||||
|
||||
# Execute based on mode
|
||||
if args.generate:
|
||||
print("🔧 Generating Schema Instances")
|
||||
instances = generate_schema_instances(schema_type)
|
||||
persist_instances(instances, args.file)
|
||||
print("✅ Instance generation complete")
|
||||
|
||||
elif args.read:
|
||||
print("🔍 Reading and Validating Schema Instances")
|
||||
generated_instances = generate_schema_instances(schema_type)
|
||||
read_back_instances = read_instances(args.file, schema_type)
|
||||
|
||||
# Compare schemas
|
||||
if compare_schemas(generated_instances, read_back_instances):
|
||||
print("✅ Schema Compatibility: No breaking changes detected")
|
||||
sys.exit(0)
|
||||
else:
|
||||
print("❌ Potential Schema Breaking Changes Detected")
|
||||
sys.exit(1)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
sys.exit(main())
|
||||
main()
|
||||
|
||||
@@ -24,7 +24,10 @@ _services: dict[str, tuple] = {
|
||||
# note: the "EncodeIdx" packets will still be in the log
|
||||
"gyroscope": (True, 104., 104),
|
||||
"accelerometer": (True, 104., 104),
|
||||
"magnetometer": (True, 25.),
|
||||
"lightSensor": (True, 100., 100),
|
||||
"temperatureSensor": (True, 2., 200),
|
||||
"gpsNMEA": (True, 9.),
|
||||
"deviceState": (True, 2., 1),
|
||||
"touch": (True, 20., 1),
|
||||
"can": (True, 100., 2053, QueueSize.BIG), # decimation gives ~3 msgs in a full segment
|
||||
@@ -53,6 +56,7 @@ _services: dict[str, tuple] = {
|
||||
"gpsLocation": (True, 1., 1),
|
||||
"ubloxGnss": (True, 10.),
|
||||
"qcomGnss": (True, 2.),
|
||||
"gnssMeasurements": (True, 10., 10),
|
||||
"clocks": (True, 0.1, 1),
|
||||
"ubloxRaw": (True, 20.),
|
||||
"livePose": (True, 20., 4),
|
||||
@@ -71,6 +75,10 @@ _services: dict[str, tuple] = {
|
||||
"drivingModelData": (True, 20., 10),
|
||||
"modelV2": (True, 20., None, QueueSize.BIG),
|
||||
"managerState": (True, 2., 1),
|
||||
"uploaderState": (True, 0., 1),
|
||||
"navInstruction": (True, 1., 10),
|
||||
"navRoute": (True, 0.),
|
||||
"navThumbnail": (True, 0.),
|
||||
"qRoadEncodeIdx": (False, 20.),
|
||||
"userBookmark": (True, 0., 1),
|
||||
"soundPressure": (True, 10., 10),
|
||||
@@ -106,6 +114,8 @@ _services: dict[str, tuple] = {
|
||||
"livestreamRoadEncodeData": (False, 20., None, QueueSize.MEDIUM),
|
||||
"livestreamDriverEncodeData": (False, 20., None, QueueSize.MEDIUM),
|
||||
"customReservedRawData0": (True, 0.),
|
||||
"customReservedRawData1": (True, 0.),
|
||||
"customReservedRawData2": (True, 0.),
|
||||
}
|
||||
SERVICE_LIST = {name: Service(*vals) for
|
||||
idx, (name, vals) in enumerate(_services.items())}
|
||||
|
||||
@@ -1 +1 @@
|
||||
#define DEFAULT_MODEL "CD210 (Default)"
|
||||
#define DEFAULT_MODEL "POP model (Default)"
|
||||
|
||||
@@ -261,6 +261,9 @@ 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" /></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"></img></a>||
|
||||
|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV 2022-23">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Equinox 2019-22">Buy Here</a></sub></details>|||
|
||||
|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" /></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"></img></a>||
|
||||
|CUPRA[<sup>11</sup>](#footnotes)|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
|
||||
|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" /></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"></img></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" /></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"></img></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" /></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|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|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" /></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|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|Focus 2018[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus 2018">Buy Here</a></sub></details>|||
|
||||
|Ford|Focus Hybrid 2018[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus Hybrid 2018">Buy Here</a></sub></details>|||
|
||||
|Ford|Kuga 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga 2020-23">Buy Here</a></sub></details>|||
|
||||
|Ford|Kuga Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2020-23">Buy Here</a></sub></details>|||
|
||||
|Ford|Kuga Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
|
||||
|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 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" /></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"></img></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" /></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>|
|
||||
|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>|
|
||||
|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" /></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>||
|
||||
|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>||
|
||||
|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" /></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 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 Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hatchback 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Civic Hatchback 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 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" /></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"></img></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" /></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"></img></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" /></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"></img></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" /></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"></img></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" /></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 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 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" /></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"></img></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" /></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>||
|
||||
|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>||
|
||||
|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" /></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 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 (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" /></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 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 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" /></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"></img></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" /></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"></img></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" /></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>||
|
||||
|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>||
|
||||
|Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-5 2022-25">Buy Here</a></sub></details>|||
|
||||
|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Nissan[<sup>5</sup>](#footnotes)|Altima 2019-20, 2024|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-20, 2024">Buy Here</a></sub></details>|||
|
||||
|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)|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)|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" /></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"></img></a>|
|
||||
|Rivian|R1S 2025|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2025">Buy Here</a></sub></details>|||
|
||||
|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></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"></img></a>|
|
||||
|Rivian|R1T 2025|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2025">Buy Here</a></sub></details>|||
|
||||
|SEAT[<sup>11</sup>](#footnotes)|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
|
||||
|SEAT[<sup>11</sup>](#footnotes)|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
|
||||
|Subaru|Ascent 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|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" /></a>||
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||||
|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
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||||
|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)|||
|
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|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)|||
|
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@@ -279,50 +279,50 @@ A supported vehicle is one that just works when you install a comma device. All
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|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>|||
|
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|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" /></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"></img></a>||
|
||||
|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>10</sup>](#footnotes)|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2021-24">Buy Here</a></sub></details>|||
|
||||
|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
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|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 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" /></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"></img></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" /></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"></img></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" /></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"></img></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" /></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 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 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" /></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"></img></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" /></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 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 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" /></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>||
|
||||
|Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|RAV4 Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|Sienna 2018-20|All|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas 2018-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen California 2021-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Caravelle 2020">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></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)|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Golf 2014-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf 2015-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
|
||||
@@ -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" /></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"></img></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Jetta 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2019-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Passat 2015-22[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
|
||||
|
||||
@@ -1,24 +0,0 @@
|
||||
# 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/
|
||||
26
docs/README.md
Normal file
26
docs/README.md
Normal file
@@ -0,0 +1,26 @@
|
||||
# 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 +0,0 @@
|
||||
../../selfdrive/assets/icons_mici/settings/comma_icon.png
|
||||
5
docs/car-porting/brand-port.md
Normal file
5
docs/car-porting/brand-port.md
Normal file
@@ -0,0 +1,5 @@
|
||||
# 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.
|
||||
65
docs/car-porting/car-state-signals.md
Normal file
65
docs/car-porting/car-state-signals.md
Normal file
@@ -0,0 +1,65 @@
|
||||
# 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`
|
||||
5
docs/car-porting/model-port.md
Normal file
5
docs/car-porting/model-port.md
Normal file
@@ -0,0 +1,5 @@
|
||||
# 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/.
|
||||
85
docs/car-porting/reverse-engineering.md
Normal file
85
docs/car-porting/reverse-engineering.md
Normal file
@@ -0,0 +1,85 @@
|
||||
# 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.
|
||||
@@ -8,7 +8,7 @@ A car port enables openpilot support on a particular car. Each car model openpil
|
||||
|
||||
# Structure of a car port
|
||||
|
||||
All car-specific code is contained in the [opendbc](https://github.com/commaai/opendbc) project.
|
||||
Virtually all car-specific code is contained in two other repositories: [opendbc](https://github.com/commaai/opendbc) and [panda](https://github.com/commaai/panda).
|
||||
|
||||
## opendbc
|
||||
|
||||
@@ -23,8 +23,8 @@ Each car brand is supported by a standard interface structure in `opendbc/car/[b
|
||||
|
||||
## safety
|
||||
|
||||
* `opendbc/safety/modes/[brand].h`: Brand-specific safety logic
|
||||
* `opendbc/safety/tests/test_[brand].py`: Brand-specific safety CI tests
|
||||
* `opendbc_repo/opendbc/safety/modes/[brand].h`: Brand-specific safety logic
|
||||
* `opendbc_repo/opendbc/safety/tests/test_[brand].py`: Brand-specific safety CI tests
|
||||
|
||||
## openpilot
|
||||
|
||||
@@ -32,20 +32,8 @@ For historical reasons, openpilot still contains a small amount of car-specific
|
||||
|
||||
* `selfdrive/car/car_specific.py`: Brand-specific event logic
|
||||
|
||||
# How do I port car?
|
||||
# Overview
|
||||
|
||||
[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/.
|
||||
@@ -1,3 +1,9 @@
|
||||
# openpilot glossary
|
||||
|
||||
{{GLOSSARY_DEFINITIONS}}
|
||||
* **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).
|
||||
|
||||
@@ -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.zst
|
||||
## rlog.bz2
|
||||
|
||||
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.
|
||||
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.
|
||||
|
||||
## {f,e,d}camera.hevc
|
||||
|
||||
@@ -18,10 +18,12 @@ 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.zst & qcamera.ts
|
||||
## qlog.bz2 & 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, yet useful enough for most analysis and debugging.
|
||||
|
||||
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.
|
||||
|
||||
@@ -1,36 +0,0 @@
|
||||
# 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).
|
||||
@@ -7,11 +7,25 @@ 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)
|
||||
|
||||
44
docs/css/tooltip.css
Normal file
44
docs/css/tooltip.css
Normal file
@@ -0,0 +1,44 @@
|
||||
[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;
|
||||
}
|
||||
@@ -1,216 +0,0 @@
|
||||
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 LinksTreeprocessor
|
||||
|
||||
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, LinksTreeprocessor):
|
||||
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)
|
||||
@@ -1,8 +0,0 @@
|
||||
[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)."
|
||||
12
docs/getting-started/what-is-openpilot.md
Normal file
12
docs/getting-started/what-is-openpilot.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.
|
||||
68
docs/hooks/glossary.py
Normal file
68
docs/hooks/glossary.py
Normal file
@@ -0,0 +1,68 @@
|
||||
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)
|
||||
@@ -1,15 +1,15 @@
|
||||
# connect to a comma 3X or comma four
|
||||
# connect to a comma four
|
||||
|
||||
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).
|
||||
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).
|
||||
|
||||
## Serial Console
|
||||
|
||||
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 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.
|
||||
|
||||
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 three, the serial console is exposed through a UART-to-USB chip, and `tools/scripts/serial.sh` can be used to connect.
|
||||
|
||||
Login to the default user with:
|
||||
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.
|
||||
|
||||
* 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 -i ~/.ssh/my_github_key`
|
||||
`ssh comma@192.168.43.1`
|
||||
|
||||
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.
|
||||
> The default port for ADB is 5555 on the comma four.
|
||||
|
||||
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.
|
||||
|
||||
@@ -79,7 +79,6 @@ 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
|
||||
|
||||
@@ -1,12 +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
docs/index.md
Symbolic link
1
docs/index.md
Symbolic link
@@ -0,0 +1 @@
|
||||
getting-started/what-is-openpilot.md
|
||||
@@ -1,42 +0,0 @@
|
||||
.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;
|
||||
}
|
||||
@@ -16,7 +16,7 @@ export VECLIB_MAXIMUM_THREADS=1
|
||||
export QCOM_PRIORITY=12
|
||||
|
||||
if [ -z "$AGNOS_VERSION" ]; then
|
||||
export AGNOS_VERSION="18.1"
|
||||
export AGNOS_VERSION="17.2"
|
||||
fi
|
||||
|
||||
export STAGING_ROOT="/data/safe_staging"
|
||||
|
||||
44
mkdocs.yml
Normal file
44
mkdocs.yml
Normal file
@@ -0,0 +1,44 @@
|
||||
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: 81b7b3a2d2...ded068839b
2
panda
2
panda
Submodule panda updated: 0a9ef7ab54...c0cc96fbad
@@ -82,7 +82,7 @@ dependencies = [
|
||||
[project.optional-dependencies]
|
||||
docs = [
|
||||
"Jinja2",
|
||||
"zensical",
|
||||
"mkdocs",
|
||||
]
|
||||
|
||||
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, *.pem, ./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, ./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]
|
||||
|
||||
@@ -1,63 +0,0 @@
|
||||
"""
|
||||
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()
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
BIN
selfdrive/assets/icons_mici/onroad/driver_monitoring/dm_center.png
LFS
Normal file
BIN
selfdrive/assets/icons_mici/onroad/driver_monitoring/dm_center.png
LFS
Normal file
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" /></a>' %}
|
||||
{% set video_icon = '<a href="{}" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></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' %}
|
||||
|
||||
@@ -94,7 +94,7 @@ class TestVCruiseHelper:
|
||||
self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False, False)
|
||||
|
||||
# Expected diff on enabling. Speed should not change on falling edge of pressed
|
||||
assert (not pressed) == (self.v_cruise_helper.v_cruise_kph == self.v_cruise_helper.v_cruise_kph_last)
|
||||
assert not pressed == self.v_cruise_helper.v_cruise_kph == self.v_cruise_helper.v_cruise_kph_last
|
||||
|
||||
def test_resume_in_standstill(self):
|
||||
"""
|
||||
|
||||
@@ -212,7 +212,7 @@ class Controls(ControlsExt):
|
||||
cs.upAccelCmd = float(self.LoC.pid.p)
|
||||
cs.uiAccelCmd = float(self.LoC.pid.i)
|
||||
cs.ufAccelCmd = float(self.LoC.pid.f)
|
||||
cs.forceDecel = bool((self.sm['driverMonitoringState'].alertLevel == log.DriverMonitoringState.AlertLevel.three) or
|
||||
cs.forceDecel = bool((self.sm['driverMonitoringState'].awarenessStatus < 0.) or
|
||||
(self.sm['selfdriveState'].state == State.softDisabling))
|
||||
|
||||
lat_tuning = self.CP.lateralTuning.which()
|
||||
|
||||
@@ -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" /></a>'
|
||||
'<img height="18px" src="https://media.githubusercontent.com/media/commaai/openpilot/master/docs/assets/icon-youtube.svg"></img></a>'
|
||||
COLUMNS = "|" + "|".join([column.value for column in Column]) + "|"
|
||||
COLUMN_HEADER = "|---|---|---|{}|".format("|".join([":---:"] * (len(Column) - 3)))
|
||||
ARROW_SYMBOL = "➡️"
|
||||
|
||||
@@ -1,22 +1,6 @@
|
||||
import glob
|
||||
import json
|
||||
import os
|
||||
from itertools import product
|
||||
from SCons.Script import Value
|
||||
import glob
|
||||
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")
|
||||
@@ -29,72 +13,31 @@ 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
|
||||
|
||||
# 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 ''
|
||||
# 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 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} {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)
|
||||
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)
|
||||
|
||||
image_flag = {
|
||||
'larch64': 'IMAGE=2',
|
||||
}.get(arch, 'IMAGE=0')
|
||||
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)
|
||||
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)
|
||||
|
||||
def tg_compile(flags, model_name):
|
||||
pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"'
|
||||
@@ -104,7 +47,7 @@ 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, compiled_flags_node],
|
||||
[onnx_path] + tinygrad_files + [chunker_file],
|
||||
f'{pythonpath_string} {flags} {image_flag} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {pkl}',
|
||||
)
|
||||
def do_chunk(target, source, env):
|
||||
@@ -115,4 +58,7 @@ def tg_compile(flags, model_name):
|
||||
do_chunk,
|
||||
)
|
||||
|
||||
tg_compile(tg_flags, 'dmonitoring_model')
|
||||
# Compile small models
|
||||
for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
|
||||
tg_compile(tg_flags, model_name)
|
||||
|
||||
|
||||
@@ -1,54 +0,0 @@
|
||||
#!/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)
|
||||
@@ -1,253 +0,0 @@
|
||||
#!/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)
|
||||
209
selfdrive/modeld/compile_warp.py
Executable file
209
selfdrive/modeld/compile_warp.py
Executable file
@@ -0,0 +1,209 @@
|
||||
#!/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.selfdrive.modeld.helpers import MODELS_DIR, CompileConfig, set_tinygrad_backend_from_compiled_flags
|
||||
set_tinygrad_backend_from_compiled_flags()
|
||||
|
||||
from openpilot.system.hardware import TICI
|
||||
os.environ['DEV'] = 'QCOM' if TICI else 'CPU'
|
||||
from tinygrad.tensor import Tensor
|
||||
import time
|
||||
import pickle
|
||||
import numpy as np
|
||||
from pathlib import Path
|
||||
|
||||
from cereal import messaging
|
||||
from cereal.messaging import PubMaster, SubMaster
|
||||
@@ -21,14 +21,15 @@ 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 = MODELS_DIR / 'dmonitoring_model_tinygrad.pkl'
|
||||
METADATA_PATH = MODELS_DIR / 'dmonitoring_model_metadata.pkl'
|
||||
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'
|
||||
|
||||
class ModelState:
|
||||
inputs: dict[str, np.ndarray]
|
||||
output: np.ndarray
|
||||
|
||||
def __init__(self, cam_w: int, cam_h: int):
|
||||
def __init__(self):
|
||||
with open(METADATA_PATH, 'rb') as f:
|
||||
model_metadata = pickle.load(f)
|
||||
self.input_shapes = model_metadata['input_shapes']
|
||||
@@ -40,18 +41,22 @@ 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 = get_nv12_info(cam_w, cam_h)
|
||||
self.frame_buf_params = None
|
||||
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:
|
||||
@@ -105,6 +110,9 @@ 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):
|
||||
@@ -112,9 +120,6 @@ 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"])
|
||||
|
||||
|
||||
@@ -7,10 +7,6 @@ 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:
|
||||
@@ -52,7 +48,7 @@ if __name__ == "__main__":
|
||||
'output_shapes': dict(get_name_and_shape(x) for x in model["graph"]["output"]),
|
||||
}
|
||||
|
||||
metadata_path = metadata_path_for(model_path)
|
||||
metadata_path = model_path.parent / (model_path.stem + '_metadata.pkl')
|
||||
with open(metadata_path, 'wb') as f:
|
||||
pickle.dump(metadata, f)
|
||||
|
||||
|
||||
@@ -1,31 +0,0 @@
|
||||
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))
|
||||
@@ -1,8 +1,7 @@
|
||||
#!/usr/bin/env python3
|
||||
import os
|
||||
from openpilot.selfdrive.modeld.helpers import MODELS_DIR, CompileConfig, set_tinygrad_backend_from_compiled_flags
|
||||
set_tinygrad_backend_from_compiled_flags()
|
||||
|
||||
from openpilot.system.hardware import TICI
|
||||
os.environ['DEV'] = 'QCOM' if TICI else 'CPU'
|
||||
USBGPU = "USBGPU" in os.environ
|
||||
if USBGPU:
|
||||
os.environ['DEV'] = 'AMD'
|
||||
@@ -13,6 +12,7 @@ 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
|
||||
@@ -26,7 +26,6 @@ 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
|
||||
@@ -38,13 +37,18 @@ 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,
|
||||
@@ -79,39 +83,108 @@ 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, cam_w: int, cam_h: int):
|
||||
def __init__(self):
|
||||
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)
|
||||
|
||||
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)
|
||||
# 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.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 = {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())
|
||||
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)))
|
||||
|
||||
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()}
|
||||
@@ -119,6 +192,18 @@ 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]
|
||||
@@ -127,31 +212,31 @@ 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][:,:]
|
||||
|
||||
# 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'][:,:]
|
||||
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]}
|
||||
|
||||
if prepare_only:
|
||||
self.warp_enqueue(**self.input_queues, frame=self.full_frames['img'], big_frame=self.full_frames['big_img'])
|
||||
return None
|
||||
|
||||
vision_output, policy_output = self.run_policy(
|
||||
**self.input_queues, frame=self.full_frames['img'], big_frame=self.full_frames['big_img']
|
||||
)
|
||||
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 = 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))
|
||||
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))
|
||||
combined_outputs_dict = {**vision_outputs_dict, **policy_outputs_dict}
|
||||
|
||||
if SEND_RAW_PRED:
|
||||
combined_outputs_dict['raw_pred'] = np.concatenate([vision_output.copy(), policy_output.copy()])
|
||||
combined_outputs_dict['raw_pred'] = np.concatenate([self.vision_output.copy(), self.policy_output.copy()])
|
||||
|
||||
return combined_outputs_dict
|
||||
|
||||
|
||||
@@ -163,6 +248,11 @@ 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)
|
||||
@@ -186,11 +276,6 @@ 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"])
|
||||
|
||||
Binary file not shown.
Binary file not shown.
15
selfdrive/monitoring/README.md
Normal file
15
selfdrive/monitoring/README.md
Normal file
@@ -0,0 +1,15 @@
|
||||
# driver monitoring (DM)
|
||||
|
||||
Uploading driver-facing camera footage is opt-in, but it is encouraged to opt-in to improve the DM model. You can always change your preference using the "Record and Upload Driver Camera" toggle.
|
||||
|
||||
## Troubleshooting
|
||||
|
||||
Before creating a bug report, go through these troubleshooting steps.
|
||||
|
||||
* Ensure the driver-facing camera has a good view of the driver in normal driving positions.
|
||||
* This can be checked in Settings -> Device -> Preview Driver Camera (when car is off).
|
||||
* If the camera can't see the driver, the device should be re-mounted.
|
||||
|
||||
## Bug report
|
||||
|
||||
In order for us to look into DM bug reports, we'll need the driver-facing camera footage. If you don't normally have this enabled, simply enable the toggle for a single drive. Also ensure the "Upload Raw Logs" toggle is enabled before going for a drive.
|
||||
@@ -2,7 +2,7 @@
|
||||
import cereal.messaging as messaging
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.realtime import config_realtime_process
|
||||
from openpilot.selfdrive.monitoring.policy import DriverMonitoring
|
||||
from openpilot.selfdrive.monitoring.helpers import DriverMonitoring
|
||||
|
||||
|
||||
def dmonitoringd_thread():
|
||||
@@ -25,7 +25,7 @@ def dmonitoringd_thread():
|
||||
|
||||
valid = sm.all_checks()
|
||||
if demo_mode and sm.valid['driverStateV2']:
|
||||
DM.run_step(sm, demo=True)
|
||||
DM.run_step(sm, demo=demo_mode)
|
||||
elif valid:
|
||||
DM.run_step(sm, demo=demo_mode)
|
||||
|
||||
@@ -40,8 +40,8 @@ def dmonitoringd_thread():
|
||||
|
||||
# save rhd virtual toggle every 5 mins
|
||||
if (sm['driverStateV2'].frameId % 6000 == 0 and not demo_mode and
|
||||
DM.wheelpos_offsetter.filtered_stat.n > DM.settings._WHEELPOS_FILTER_MIN_COUNT and
|
||||
DM.wheel_on_right == (DM.wheelpos_offsetter.filtered_stat.M > DM.settings._WHEELPOS_THRESHOLD)):
|
||||
DM.wheelpos.prob_offseter.filtered_stat.n > DM.settings._WHEELPOS_FILTER_MIN_COUNT and
|
||||
DM.wheel_on_right == (DM.wheelpos.prob_offseter.filtered_stat.M > DM.settings._WHEELPOS_THRESHOLD)):
|
||||
params.put_bool_nonblocking("IsRhdDetected", DM.wheel_on_right)
|
||||
|
||||
def main():
|
||||
|
||||
463
selfdrive/monitoring/helpers.py
Normal file
463
selfdrive/monitoring/helpers.py
Normal file
@@ -0,0 +1,463 @@
|
||||
from math import atan2, radians
|
||||
import numpy as np
|
||||
|
||||
from cereal import car, log
|
||||
import cereal.messaging as messaging
|
||||
from openpilot.selfdrive.selfdrived.events import Events
|
||||
from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
|
||||
from openpilot.common.realtime import DT_DMON
|
||||
from openpilot.common.filter_simple import FirstOrderFilter
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.stat_live import RunningStatFilter
|
||||
from openpilot.common.transformations.camera import DEVICE_CAMERAS
|
||||
from openpilot.system.hardware import HARDWARE
|
||||
|
||||
EventName = log.OnroadEvent.EventName
|
||||
|
||||
# ******************************************************************************************
|
||||
# NOTE: To fork maintainers.
|
||||
# Disabling or nerfing safety features will get you and your users banned from our servers.
|
||||
# We recommend that you do not change these numbers from the defaults.
|
||||
# ******************************************************************************************
|
||||
|
||||
class DRIVER_MONITOR_SETTINGS:
|
||||
def __init__(self, device_type):
|
||||
self._DT_DMON = DT_DMON
|
||||
# ref (page15-16): https://eur-lex.europa.eu/legal-content/EN/TXT/PDF/?uri=CELEX:42018X1947&rid=2
|
||||
self._AWARENESS_TIME = 30. # passive wheeltouch total timeout
|
||||
self._AWARENESS_PRE_TIME_TILL_TERMINAL = 15.
|
||||
self._AWARENESS_PROMPT_TIME_TILL_TERMINAL = 6.
|
||||
self._DISTRACTED_TIME = 11. # active monitoring total timeout
|
||||
self._DISTRACTED_PRE_TIME_TILL_TERMINAL = 8.
|
||||
self._DISTRACTED_PROMPT_TIME_TILL_TERMINAL = 6.
|
||||
|
||||
self._FACE_THRESHOLD = 0.7
|
||||
self._EYE_THRESHOLD = 0.5
|
||||
self._BLINK_THRESHOLD = 0.5
|
||||
self._PHONE_THRESH = 0.5
|
||||
|
||||
self._POSE_PITCH_THRESHOLD = 0.3133
|
||||
self._POSE_PITCH_THRESHOLD_SLACK = 0.3237
|
||||
self._POSE_PITCH_THRESHOLD_STRICT = self._POSE_PITCH_THRESHOLD
|
||||
self._POSE_YAW_THRESHOLD = 0.4020
|
||||
self._POSE_YAW_THRESHOLD_SLACK = 0.5042
|
||||
self._POSE_YAW_THRESHOLD_STRICT = self._POSE_YAW_THRESHOLD
|
||||
self._POSE_YAW_MIN_STEER_DEG = 30
|
||||
self._POSE_YAW_STEER_FACTOR = 0.15
|
||||
self._POSE_YAW_STEER_MAX_OFFSET = 0.3927
|
||||
self._PITCH_NATURAL_OFFSET = 0.011 # initial value before offset is learned
|
||||
self._PITCH_NATURAL_THRESHOLD = 0.449
|
||||
self._YAW_NATURAL_OFFSET = 0.075 # initial value before offset is learned
|
||||
self._PITCH_NATURAL_VAR = 3*0.01
|
||||
self._YAW_NATURAL_VAR = 3*0.05
|
||||
self._PITCH_MAX_OFFSET = 0.124
|
||||
self._PITCH_MIN_OFFSET = -0.0881
|
||||
self._YAW_MAX_OFFSET = 0.289
|
||||
self._YAW_MIN_OFFSET = -0.0246
|
||||
|
||||
self._DCAM_UNCERTAIN_ALERT_THRESHOLD = 0.1
|
||||
self._DCAM_UNCERTAIN_ALERT_COUNT = int(60 / self._DT_DMON)
|
||||
self._DCAM_UNCERTAIN_RESET_COUNT = int(20 / self._DT_DMON)
|
||||
self._POSESTD_THRESHOLD = 0.3
|
||||
self._HI_STD_FALLBACK_TIME = int(10 / self._DT_DMON) # fall back to wheel touch if model is uncertain for 10s
|
||||
self._DISTRACTED_FILTER_TS = 0.25 # 0.6Hz
|
||||
|
||||
self._POSE_CALIB_MIN_SPEED = 13 # 30 mph
|
||||
self._POSE_OFFSET_MIN_COUNT = int(60 / self._DT_DMON) # valid data counts before calibration completes, 1min cumulative
|
||||
self._POSE_OFFSET_MAX_COUNT = int(360 / self._DT_DMON) # stop deweighting new data after 6 min, aka "short term memory"
|
||||
|
||||
self._WHEELPOS_CALIB_MIN_SPEED = 11
|
||||
self._WHEELPOS_THRESHOLD = 0.5
|
||||
self._WHEELPOS_FILTER_MIN_COUNT = int(15 / self._DT_DMON) # allow 15 seconds to converge wheel side
|
||||
self._WHEELPOS_DATA_AVG = 0.03
|
||||
self._WHEELPOS_DATA_VAR = 3*5.5e-5
|
||||
self._WHEELPOS_MAX_COUNT = -1
|
||||
|
||||
self._RECOVERY_FACTOR_MAX = 5. # relative to minus step change
|
||||
self._RECOVERY_FACTOR_MIN = 1.25 # relative to minus step change
|
||||
|
||||
self._MAX_TERMINAL_ALERTS = 3 # not allowed to engage after 3 terminal alerts
|
||||
self._MAX_TERMINAL_DURATION = int(30 / self._DT_DMON) # not allowed to engage after 30s of terminal alerts
|
||||
|
||||
class DistractedType:
|
||||
|
||||
NOT_DISTRACTED = 0
|
||||
DISTRACTED_POSE = 1 << 0
|
||||
DISTRACTED_BLINK = 1 << 1
|
||||
DISTRACTED_PHONE = 1 << 2
|
||||
|
||||
class DriverPose:
|
||||
def __init__(self, settings):
|
||||
pitch_filter_raw_priors = (settings._PITCH_NATURAL_OFFSET, settings._PITCH_NATURAL_VAR, 2)
|
||||
yaw_filter_raw_priors = (settings._YAW_NATURAL_OFFSET, settings._YAW_NATURAL_VAR, 2)
|
||||
self.yaw = 0.
|
||||
self.pitch = 0.
|
||||
self.roll = 0.
|
||||
self.yaw_std = 0.
|
||||
self.pitch_std = 0.
|
||||
self.roll_std = 0.
|
||||
self.pitch_offseter = RunningStatFilter(raw_priors=pitch_filter_raw_priors, max_trackable=settings._POSE_OFFSET_MAX_COUNT)
|
||||
self.yaw_offseter = RunningStatFilter(raw_priors=yaw_filter_raw_priors, max_trackable=settings._POSE_OFFSET_MAX_COUNT)
|
||||
self.calibrated = False
|
||||
self.low_std = True
|
||||
self.cfactor_pitch = 1.
|
||||
self.cfactor_yaw = 1.
|
||||
self.steer_yaw_offset = 0.
|
||||
|
||||
class DriverProb:
|
||||
def __init__(self, raw_priors, max_trackable):
|
||||
self.prob = 0.
|
||||
self.prob_offseter = RunningStatFilter(raw_priors=raw_priors, max_trackable=max_trackable)
|
||||
self.prob_calibrated = False
|
||||
|
||||
|
||||
# model output refers to center of undistorted+leveled image
|
||||
EFL = 598.0 # focal length in K
|
||||
cam = DEVICE_CAMERAS[("tici", "ar0231")] # corrected image has same size as raw
|
||||
W, H = (cam.dcam.width, cam.dcam.height) # corrected image has same size as raw
|
||||
|
||||
def face_orientation_from_net(angles_desc, pos_desc, rpy_calib):
|
||||
# the output of these angles are in device frame
|
||||
# so from driver's perspective, pitch is up and yaw is right
|
||||
|
||||
pitch_net, yaw_net, roll_net = angles_desc
|
||||
|
||||
face_pixel_position = ((pos_desc[0]+0.5)*W, (pos_desc[1]+0.5)*H)
|
||||
yaw_focal_angle = atan2(face_pixel_position[0] - W//2, EFL)
|
||||
pitch_focal_angle = atan2(face_pixel_position[1] - H//2, EFL)
|
||||
|
||||
pitch = pitch_net + pitch_focal_angle
|
||||
yaw = -yaw_net + yaw_focal_angle
|
||||
|
||||
# no calib for roll
|
||||
pitch -= rpy_calib[1]
|
||||
yaw -= rpy_calib[2]
|
||||
return roll_net, pitch, yaw
|
||||
|
||||
|
||||
class DriverMonitoring:
|
||||
def __init__(self, rhd_saved=False, settings=None, always_on=False):
|
||||
# init policy settings
|
||||
self.settings = settings if settings is not None else DRIVER_MONITOR_SETTINGS(device_type=HARDWARE.get_device_type())
|
||||
|
||||
# init driver status
|
||||
wheelpos_filter_raw_priors = (self.settings._WHEELPOS_DATA_AVG, self.settings._WHEELPOS_DATA_VAR, 2)
|
||||
self.wheelpos = DriverProb(raw_priors=wheelpos_filter_raw_priors, max_trackable=self.settings._WHEELPOS_MAX_COUNT)
|
||||
self.pose = DriverPose(settings=self.settings)
|
||||
self.blink_prob = 0.
|
||||
self.phone_prob = 0.
|
||||
|
||||
self.always_on = always_on
|
||||
self.distracted_types = []
|
||||
self.driver_distracted = False
|
||||
self.driver_distraction_filter = FirstOrderFilter(0., self.settings._DISTRACTED_FILTER_TS, self.settings._DT_DMON)
|
||||
self.wheel_on_right = False
|
||||
self.wheel_on_right_last = None
|
||||
self.wheel_on_right_default = rhd_saved
|
||||
self.face_detected = False
|
||||
self.terminal_alert_cnt = 0
|
||||
self.terminal_time = 0
|
||||
self.step_change = 0.
|
||||
self.active_monitoring_mode = True
|
||||
self.is_model_uncertain = False
|
||||
self.hi_stds = 0
|
||||
self.threshold_pre = self.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL / self.settings._DISTRACTED_TIME
|
||||
self.threshold_prompt = self.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL / self.settings._DISTRACTED_TIME
|
||||
self.dcam_uncertain_cnt = 0
|
||||
self.dcam_uncertain_alerted = False # once per drive
|
||||
self.dcam_reset_cnt = 0
|
||||
|
||||
self.params = Params()
|
||||
self.too_distracted = self.params.get_bool("DriverTooDistracted")
|
||||
|
||||
self._reset_awareness()
|
||||
self._set_timers(active_monitoring=True)
|
||||
self._reset_events()
|
||||
|
||||
def _reset_awareness(self):
|
||||
self.awareness = 1.
|
||||
self.awareness_active = 1.
|
||||
self.awareness_passive = 1.
|
||||
|
||||
def _reset_events(self):
|
||||
self.current_events = Events()
|
||||
|
||||
def _set_timers(self, active_monitoring):
|
||||
if self.active_monitoring_mode and self.awareness <= self.threshold_prompt:
|
||||
if active_monitoring:
|
||||
self.step_change = self.settings._DT_DMON / self.settings._DISTRACTED_TIME
|
||||
else:
|
||||
self.step_change = 0.
|
||||
return # no exploit after orange alert
|
||||
elif self.awareness <= 0.:
|
||||
return
|
||||
|
||||
if active_monitoring:
|
||||
# when falling back from passive mode to active mode, reset awareness to avoid false alert
|
||||
if not self.active_monitoring_mode:
|
||||
self.awareness_passive = self.awareness
|
||||
self.awareness = self.awareness_active
|
||||
|
||||
self.threshold_pre = self.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL / self.settings._DISTRACTED_TIME
|
||||
self.threshold_prompt = self.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL / self.settings._DISTRACTED_TIME
|
||||
self.step_change = self.settings._DT_DMON / self.settings._DISTRACTED_TIME
|
||||
self.active_monitoring_mode = True
|
||||
else:
|
||||
if self.active_monitoring_mode:
|
||||
self.awareness_active = self.awareness
|
||||
self.awareness = self.awareness_passive
|
||||
|
||||
self.threshold_pre = self.settings._AWARENESS_PRE_TIME_TILL_TERMINAL / self.settings._AWARENESS_TIME
|
||||
self.threshold_prompt = self.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL / self.settings._AWARENESS_TIME
|
||||
self.step_change = self.settings._DT_DMON / self.settings._AWARENESS_TIME
|
||||
self.active_monitoring_mode = False
|
||||
|
||||
def _set_policy(self, brake_disengage_prob, car_speed):
|
||||
bp = brake_disengage_prob
|
||||
k1 = max(-0.00156*((car_speed-16)**2)+0.6, 0.2)
|
||||
bp_normal = max(min(bp / k1, 0.5),0)
|
||||
self.pose.cfactor_pitch = np.interp(bp_normal, [0, 0.5],
|
||||
[self.settings._POSE_PITCH_THRESHOLD_SLACK,
|
||||
self.settings._POSE_PITCH_THRESHOLD_STRICT]) / self.settings._POSE_PITCH_THRESHOLD
|
||||
self.pose.cfactor_yaw = np.interp(bp_normal, [0, 0.5],
|
||||
[self.settings._POSE_YAW_THRESHOLD_SLACK,
|
||||
self.settings._POSE_YAW_THRESHOLD_STRICT]) / self.settings._POSE_YAW_THRESHOLD
|
||||
|
||||
def _get_distracted_types(self):
|
||||
distracted_types = []
|
||||
|
||||
if not self.pose.calibrated:
|
||||
pitch_error = self.pose.pitch - self.settings._PITCH_NATURAL_OFFSET
|
||||
yaw_error = self.pose.yaw - self.settings._YAW_NATURAL_OFFSET
|
||||
else:
|
||||
pitch_error = self.pose.pitch - min(max(self.pose.pitch_offseter.filtered_stat.mean(),
|
||||
self.settings._PITCH_MIN_OFFSET), self.settings._PITCH_MAX_OFFSET)
|
||||
yaw_error = self.pose.yaw - min(max(self.pose.yaw_offseter.filtered_stat.mean(),
|
||||
self.settings._YAW_MIN_OFFSET), self.settings._YAW_MAX_OFFSET)
|
||||
pitch_error = 0 if pitch_error > 0 else abs(pitch_error) # no positive pitch limit
|
||||
|
||||
if yaw_error * self.pose.steer_yaw_offset > 0: # unidirectional
|
||||
yaw_error = max(abs(yaw_error) - min(abs(self.pose.steer_yaw_offset), self.settings._POSE_YAW_STEER_MAX_OFFSET), 0.)
|
||||
else:
|
||||
yaw_error = abs(yaw_error)
|
||||
|
||||
pitch_threshold = self.settings._POSE_PITCH_THRESHOLD * self.pose.cfactor_pitch if self.pose.calibrated else self.settings._PITCH_NATURAL_THRESHOLD
|
||||
yaw_threshold = self.settings._POSE_YAW_THRESHOLD * self.pose.cfactor_yaw
|
||||
|
||||
if pitch_error > pitch_threshold or yaw_error > yaw_threshold:
|
||||
distracted_types.append(DistractedType.DISTRACTED_POSE)
|
||||
|
||||
if self.blink_prob > self.settings._BLINK_THRESHOLD:
|
||||
distracted_types.append(DistractedType.DISTRACTED_BLINK)
|
||||
|
||||
if self.phone_prob > self.settings._PHONE_THRESH:
|
||||
distracted_types.append(DistractedType.DISTRACTED_PHONE)
|
||||
|
||||
return distracted_types
|
||||
|
||||
def _update_states(self, driver_state, cal_rpy, car_speed, op_engaged, standstill, demo_mode=False, steering_angle_deg=0.):
|
||||
rhd_pred = driver_state.wheelOnRightProb
|
||||
# calibrates only when there's movement and either face detected
|
||||
if car_speed > self.settings._WHEELPOS_CALIB_MIN_SPEED and (driver_state.leftDriverData.faceProb > self.settings._FACE_THRESHOLD or
|
||||
driver_state.rightDriverData.faceProb > self.settings._FACE_THRESHOLD):
|
||||
self.wheelpos.prob_offseter.push_and_update(rhd_pred)
|
||||
|
||||
self.wheelpos.prob_calibrated = self.wheelpos.prob_offseter.filtered_stat.n > self.settings._WHEELPOS_FILTER_MIN_COUNT
|
||||
|
||||
if self.wheelpos.prob_calibrated or demo_mode:
|
||||
self.wheel_on_right = self.wheelpos.prob_offseter.filtered_stat.M > self.settings._WHEELPOS_THRESHOLD
|
||||
else:
|
||||
self.wheel_on_right = self.wheel_on_right_default # use default/saved if calibration is unfinished
|
||||
# make sure no switching when engaged
|
||||
if op_engaged and self.wheel_on_right_last is not None and self.wheel_on_right_last != self.wheel_on_right and not demo_mode:
|
||||
self.wheel_on_right = self.wheel_on_right_last
|
||||
driver_data = driver_state.rightDriverData if self.wheel_on_right else driver_state.leftDriverData
|
||||
if not all(len(x) > 0 for x in (driver_data.faceOrientation, driver_data.facePosition,
|
||||
driver_data.faceOrientationStd, driver_data.facePositionStd)):
|
||||
return
|
||||
|
||||
self.face_detected = driver_data.faceProb > self.settings._FACE_THRESHOLD
|
||||
self.pose.roll, self.pose.pitch, self.pose.yaw = face_orientation_from_net(driver_data.faceOrientation, driver_data.facePosition, cal_rpy)
|
||||
steer_d = max(abs(steering_angle_deg) - self.settings._POSE_YAW_MIN_STEER_DEG, 0.)
|
||||
self.pose.steer_yaw_offset = radians(steer_d) * -np.sign(steering_angle_deg) * self.settings._POSE_YAW_STEER_FACTOR
|
||||
if self.wheel_on_right:
|
||||
self.pose.yaw *= -1
|
||||
self.pose.steer_yaw_offset *= -1
|
||||
self.wheel_on_right_last = self.wheel_on_right
|
||||
self.pose.pitch_std = driver_data.faceOrientationStd[0]
|
||||
self.pose.yaw_std = driver_data.faceOrientationStd[1]
|
||||
model_std_max = max(self.pose.pitch_std, self.pose.yaw_std)
|
||||
self.pose.low_std = model_std_max < self.settings._POSESTD_THRESHOLD
|
||||
self.blink_prob = driver_data.eyesClosedProb * (driver_data.eyesVisibleProb > self.settings._EYE_THRESHOLD)
|
||||
self.phone_prob = driver_data.phoneProb
|
||||
|
||||
self.distracted_types = self._get_distracted_types()
|
||||
self.driver_distracted = (DistractedType.DISTRACTED_PHONE in self.distracted_types
|
||||
or DistractedType.DISTRACTED_POSE in self.distracted_types
|
||||
or DistractedType.DISTRACTED_BLINK in self.distracted_types) \
|
||||
and driver_data.faceProb > self.settings._FACE_THRESHOLD and self.pose.low_std
|
||||
self.driver_distraction_filter.update(self.driver_distracted)
|
||||
|
||||
# update offseter
|
||||
# only update when driver is actively driving the car above a certain speed
|
||||
if self.face_detected and car_speed > self.settings._POSE_CALIB_MIN_SPEED and self.pose.low_std and (not op_engaged or not self.driver_distracted):
|
||||
self.pose.pitch_offseter.push_and_update(self.pose.pitch)
|
||||
self.pose.yaw_offseter.push_and_update(self.pose.yaw)
|
||||
|
||||
self.pose.calibrated = self.pose.pitch_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT and \
|
||||
self.pose.yaw_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT
|
||||
|
||||
if self.face_detected and not self.driver_distracted:
|
||||
if model_std_max > self.settings._DCAM_UNCERTAIN_ALERT_THRESHOLD:
|
||||
if not standstill:
|
||||
self.dcam_uncertain_cnt += 1
|
||||
self.dcam_reset_cnt = 0
|
||||
else:
|
||||
self.dcam_reset_cnt += 1
|
||||
if self.dcam_reset_cnt > self.settings._DCAM_UNCERTAIN_RESET_COUNT:
|
||||
self.dcam_uncertain_cnt = 0
|
||||
|
||||
self.is_model_uncertain = self.hi_stds > self.settings._HI_STD_FALLBACK_TIME
|
||||
self._set_timers(self.face_detected and not self.is_model_uncertain)
|
||||
if self.face_detected and not self.pose.low_std and not self.driver_distracted:
|
||||
self.hi_stds += 1
|
||||
elif self.face_detected and self.pose.low_std:
|
||||
self.hi_stds = 0
|
||||
|
||||
def _update_events(self, driver_engaged, op_engaged, standstill, wrong_gear, car_speed):
|
||||
self._reset_events()
|
||||
# Block engaging until ignition cycle after max number or time of distractions
|
||||
if self.terminal_alert_cnt >= self.settings._MAX_TERMINAL_ALERTS or \
|
||||
self.terminal_time >= self.settings._MAX_TERMINAL_DURATION:
|
||||
if not self.too_distracted:
|
||||
self.params.put_bool_nonblocking("DriverTooDistracted", True)
|
||||
self.too_distracted = True
|
||||
|
||||
# Always-on distraction lockout is temporary
|
||||
if self.too_distracted or (self.always_on and self.awareness <= self.threshold_prompt):
|
||||
self.current_events.add(EventName.tooDistracted)
|
||||
|
||||
always_on_valid = self.always_on and not wrong_gear
|
||||
if (driver_engaged and self.awareness > 0 and not self.active_monitoring_mode) or \
|
||||
(not always_on_valid and not op_engaged) or \
|
||||
(always_on_valid and not op_engaged and self.awareness <= 0):
|
||||
# always reset on disengage with normal mode; disengage resets only on red if always on
|
||||
self._reset_awareness()
|
||||
return
|
||||
|
||||
awareness_prev = self.awareness
|
||||
_reaching_pre = self.awareness - self.step_change <= self.threshold_pre
|
||||
_reaching_terminal = self.awareness - self.step_change <= 0
|
||||
standstill_orange_exemption = standstill and _reaching_pre
|
||||
always_on_red_exemption = always_on_valid and not op_engaged and _reaching_terminal
|
||||
|
||||
if self.awareness > 0 and \
|
||||
((self.driver_distraction_filter.x < 0.37 and self.face_detected and self.pose.low_std) or standstill_orange_exemption):
|
||||
if driver_engaged:
|
||||
self._reset_awareness()
|
||||
return
|
||||
# only restore awareness when paying attention and alert is not red
|
||||
self.awareness = min(self.awareness + ((self.settings._RECOVERY_FACTOR_MAX-self.settings._RECOVERY_FACTOR_MIN)*
|
||||
(1.-self.awareness)+self.settings._RECOVERY_FACTOR_MIN)*self.step_change, 1.)
|
||||
if self.awareness == 1.:
|
||||
self.awareness_passive = min(self.awareness_passive + self.step_change, 1.)
|
||||
# don't display alert banner when awareness is recovering and has cleared orange
|
||||
if self.awareness > self.threshold_prompt:
|
||||
return
|
||||
|
||||
certainly_distracted = self.driver_distraction_filter.x > 0.63 and self.driver_distracted and self.face_detected
|
||||
maybe_distracted = self.hi_stds > self.settings._HI_STD_FALLBACK_TIME or not self.face_detected
|
||||
|
||||
if certainly_distracted or maybe_distracted:
|
||||
# should always be counting if distracted unless at standstill and reaching green
|
||||
# also will not be reaching 0 if DM is active when not engaged
|
||||
if not (standstill_orange_exemption or always_on_red_exemption):
|
||||
self.awareness = max(self.awareness - self.step_change, -0.1)
|
||||
|
||||
alert = None
|
||||
if self.awareness <= 0.:
|
||||
# terminal red alert: disengagement required
|
||||
alert = EventName.driverDistracted3 if self.active_monitoring_mode else EventName.driverUnresponsive3
|
||||
self.terminal_time += 1
|
||||
if awareness_prev > 0.:
|
||||
self.terminal_alert_cnt += 1
|
||||
elif self.awareness <= self.threshold_prompt:
|
||||
# prompt orange alert
|
||||
alert = EventName.driverDistracted2 if self.active_monitoring_mode else EventName.driverUnresponsive2
|
||||
elif self.awareness <= self.threshold_pre:
|
||||
# pre green alert
|
||||
alert = EventName.driverDistracted1 if self.active_monitoring_mode else EventName.driverUnresponsive1
|
||||
|
||||
if alert is not None:
|
||||
self.current_events.add(alert)
|
||||
|
||||
if self.dcam_uncertain_cnt > self.settings._DCAM_UNCERTAIN_ALERT_COUNT and not self.dcam_uncertain_alerted:
|
||||
set_offroad_alert("Offroad_DriverMonitoringUncertain", True)
|
||||
self.dcam_uncertain_alerted = True
|
||||
|
||||
|
||||
def get_state_packet(self, valid=True):
|
||||
# build driverMonitoringState packet
|
||||
dat = messaging.new_message('driverMonitoringState', valid=valid)
|
||||
dat.driverMonitoringState = {
|
||||
"events": self.current_events.to_msg(),
|
||||
"faceDetected": self.face_detected,
|
||||
"isDistracted": self.driver_distracted,
|
||||
"distractedType": sum(self.distracted_types),
|
||||
"awarenessStatus": self.awareness,
|
||||
"posePitchOffset": self.pose.pitch_offseter.filtered_stat.mean(),
|
||||
"posePitchValidCount": self.pose.pitch_offseter.filtered_stat.n,
|
||||
"poseYawOffset": self.pose.yaw_offseter.filtered_stat.mean(),
|
||||
"poseYawValidCount": self.pose.yaw_offseter.filtered_stat.n,
|
||||
"stepChange": self.step_change,
|
||||
"awarenessActive": self.awareness_active,
|
||||
"awarenessPassive": self.awareness_passive,
|
||||
"isLowStd": self.pose.low_std,
|
||||
"hiStdCount": self.hi_stds,
|
||||
"isActiveMode": self.active_monitoring_mode,
|
||||
"isRHD": self.wheel_on_right,
|
||||
"uncertainCount": self.dcam_uncertain_cnt,
|
||||
}
|
||||
return dat
|
||||
|
||||
def run_step(self, sm, demo=False):
|
||||
if demo:
|
||||
highway_speed = 30
|
||||
enabled = True
|
||||
wrong_gear = False
|
||||
standstill = False
|
||||
driver_engaged = False
|
||||
brake_disengage_prob = 1.0
|
||||
rpyCalib = [0., 0., 0.]
|
||||
else:
|
||||
highway_speed = sm['carState'].vEgo
|
||||
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
|
||||
brake_disengage_prob = sm['modelV2'].meta.disengagePredictions.brakeDisengageProbs[0] # brake disengage prob in next 2s
|
||||
rpyCalib = sm['liveCalibration'].rpyCalib
|
||||
self._set_policy(
|
||||
brake_disengage_prob=brake_disengage_prob,
|
||||
car_speed=highway_speed,
|
||||
)
|
||||
|
||||
# Parse data from dmonitoringmodeld
|
||||
self._update_states(
|
||||
driver_state=sm['driverStateV2'],
|
||||
cal_rpy=rpyCalib,
|
||||
car_speed=highway_speed,
|
||||
op_engaged=enabled,
|
||||
standstill=standstill,
|
||||
demo_mode=demo,
|
||||
steering_angle_deg=sm['carState'].steeringAngleDeg,
|
||||
)
|
||||
|
||||
# Update distraction events
|
||||
self._update_events(
|
||||
driver_engaged=driver_engaged,
|
||||
op_engaged=enabled,
|
||||
standstill=standstill,
|
||||
wrong_gear=wrong_gear,
|
||||
car_speed=highway_speed
|
||||
)
|
||||
@@ -1,426 +0,0 @@
|
||||
from collections import defaultdict
|
||||
from math import atan2, radians
|
||||
import numpy as np
|
||||
|
||||
from cereal import car, log
|
||||
import cereal.messaging as messaging
|
||||
from openpilot.common.realtime import DT_DMON
|
||||
from openpilot.common.filter_simple import FirstOrderFilter
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.stat_live import RunningStatFilter
|
||||
from openpilot.common.transformations.camera import DEVICE_CAMERAS
|
||||
|
||||
AlertLevel = log.DriverMonitoringState.AlertLevel
|
||||
MonitoringPolicy = log.DriverMonitoringState.MonitoringPolicy
|
||||
|
||||
def to_percent(v):
|
||||
return int(min(max(v * 100., 0.), 100.))
|
||||
|
||||
# ******************************************************************************************
|
||||
# NOTE: To fork maintainers.
|
||||
# Disabling or nerfing safety features will get you and your users banned from our servers.
|
||||
# We recommend that you do not change these numbers from the defaults.
|
||||
# ******************************************************************************************
|
||||
|
||||
class DRIVER_MONITOR_SETTINGS:
|
||||
def __init__(self):
|
||||
# https://eur-lex.europa.eu/legal-content/EN/TXT/PDF/?uri=CELEX:42018X1947&rid=2
|
||||
self._WHEELTOUCH_POLICY_ALERT_1_TIMEOUT = 15.
|
||||
self._WHEELTOUCH_POLICY_ALERT_2_TIMEOUT = 24.
|
||||
self._WHEELTOUCH_POLICY_ALERT_3_TIMEOUT = 30.
|
||||
# https://cdn.euroncap.com/cars/assets/euro_ncap_protocol_safe_driving_driver_engagement_v11_a30e874152.pdf
|
||||
self._VISION_POLICY_ALERT_1_TIMEOUT = 3.
|
||||
self._VISION_POLICY_ALERT_2_TIMEOUT = 5.
|
||||
self._VISION_POLICY_ALERT_3_TIMEOUT = 11.
|
||||
|
||||
self._TIMEOUT_RECOVERY_FACTOR_MAX = 5.
|
||||
self._TIMEOUT_RECOVERY_FACTOR_MIN = 1.25
|
||||
|
||||
self._MAX_TERMINAL_ALERTS = 3 # not allowed to engage after 3 terminal alerts
|
||||
self._MAX_TERMINAL_DURATION = int(30 / DT_DMON) # not allowed to engage after 30s of terminal alerts
|
||||
|
||||
self._FACE_THRESHOLD = 0.7
|
||||
self._EYE_THRESHOLD = 0.5
|
||||
self._BLINK_THRESHOLD = 0.5
|
||||
self._PHONE_THRESH = 0.5
|
||||
self._POSE_PITCH_THRESHOLD = 0.3133
|
||||
self._POSE_PITCH_THRESHOLD_SLACK = 0.3237
|
||||
self._POSE_PITCH_THRESHOLD_STRICT = self._POSE_PITCH_THRESHOLD
|
||||
self._POSE_YAW_THRESHOLD = 0.4020
|
||||
self._POSE_YAW_THRESHOLD_SLACK = 0.5042
|
||||
self._POSE_YAW_THRESHOLD_STRICT = self._POSE_YAW_THRESHOLD
|
||||
self._POSE_YAW_MIN_STEER_DEG = 30
|
||||
self._POSE_YAW_STEER_FACTOR = 0.15
|
||||
self._POSE_YAW_STEER_MAX_OFFSET = 0.3927
|
||||
self._PITCH_NATURAL_OFFSET = 0.011 # initial value before offset is learned
|
||||
self._PITCH_NATURAL_THRESHOLD = 0.449
|
||||
self._YAW_NATURAL_OFFSET = 0.075 # initial value before offset is learned
|
||||
self._PITCH_NATURAL_VAR = 3*0.01
|
||||
self._YAW_NATURAL_VAR = 3*0.05
|
||||
self._PITCH_MAX_OFFSET = 0.124
|
||||
self._PITCH_MIN_OFFSET = -0.0881
|
||||
self._YAW_MAX_OFFSET = 0.289
|
||||
self._YAW_MIN_OFFSET = -0.0246
|
||||
|
||||
self._DCAM_UNCERTAIN_ALERT_THRESHOLD = 0.1
|
||||
self._DCAM_UNCERTAIN_ALERT_COUNT = int(60 / DT_DMON)
|
||||
self._DCAM_UNCERTAIN_RESET_COUNT = int(20 / DT_DMON)
|
||||
self._HI_STD_THRESHOLD = 0.3
|
||||
self._HI_STD_FALLBACK_TIME = int(10 / DT_DMON) # fall back to wheel touch if model is uncertain for 10s
|
||||
self._DISTRACTED_FILTER_TS = 0.25 # 0.6Hz
|
||||
|
||||
self._POSE_CALIB_MIN_SPEED = 13 # 30 mph
|
||||
self._POSE_OFFSET_MIN_COUNT = int(60 / DT_DMON) # valid data counts before calibration completes, 1min cumulative
|
||||
self._POSE_OFFSET_MAX_COUNT = int(360 / DT_DMON) # stop deweighting new data after 6 min, aka "short term memory"
|
||||
self._WHEELPOS_CALIB_MIN_SPEED = 11
|
||||
self._WHEELPOS_THRESHOLD = 0.5
|
||||
self._WHEELPOS_FILTER_MIN_COUNT = int(15 / DT_DMON) # allow 15 seconds to converge wheel side
|
||||
self._WHEELPOS_DATA_AVG = 0.03
|
||||
self._WHEELPOS_DATA_VAR = 3*5.5e-5
|
||||
self._WHEELPOS_MAX_COUNT = -1
|
||||
|
||||
class DriverPose:
|
||||
def __init__(self, settings):
|
||||
pitch_filter_raw_priors = (settings._PITCH_NATURAL_OFFSET, settings._PITCH_NATURAL_VAR, 2)
|
||||
yaw_filter_raw_priors = (settings._YAW_NATURAL_OFFSET, settings._YAW_NATURAL_VAR, 2)
|
||||
self.yaw = 0.
|
||||
self.pitch = 0.
|
||||
self.pitch_offsetter = RunningStatFilter(raw_priors=pitch_filter_raw_priors, max_trackable=settings._POSE_OFFSET_MAX_COUNT)
|
||||
self.yaw_offsetter = RunningStatFilter(raw_priors=yaw_filter_raw_priors, max_trackable=settings._POSE_OFFSET_MAX_COUNT)
|
||||
self.calibrated = False
|
||||
self.low_std = True
|
||||
self.cfactor_pitch = 1.
|
||||
self.cfactor_yaw = 1.
|
||||
self.steer_yaw_offset = 0.
|
||||
|
||||
# model output refers to center of undistorted+leveled image
|
||||
ref_undistorted_cam = DEVICE_CAMERAS[("tici", "ar0231")].dcam
|
||||
dcam_undistorted_FL = 598.0
|
||||
dcam_undistorted_W, dcam_undistorted_H = (ref_undistorted_cam.width, ref_undistorted_cam.height)
|
||||
|
||||
def face_orientation_from_model(orient_model, pos_model, rpy_calib):
|
||||
pitch_model = orient_model[0]
|
||||
yaw_model = orient_model[1]
|
||||
|
||||
face_pixel_position = ((pos_model[0]+0.5)*dcam_undistorted_W, (pos_model[1]+0.5)*dcam_undistorted_H)
|
||||
yaw_focal_angle = atan2(face_pixel_position[0] - dcam_undistorted_W//2, dcam_undistorted_FL)
|
||||
pitch_focal_angle = atan2(face_pixel_position[1] - dcam_undistorted_H//2, dcam_undistorted_FL)
|
||||
|
||||
pitch = pitch_model + pitch_focal_angle
|
||||
yaw = -yaw_model + yaw_focal_angle
|
||||
|
||||
pitch -= rpy_calib[1]
|
||||
yaw -= rpy_calib[2]
|
||||
return pitch, yaw
|
||||
|
||||
|
||||
class DriverMonitoring:
|
||||
def __init__(self, rhd_saved=False, settings=None, always_on=False):
|
||||
# init policy settings
|
||||
self.settings = settings if settings is not None else DRIVER_MONITOR_SETTINGS()
|
||||
|
||||
# init driver status
|
||||
wheelpos_filter_raw_priors = (self.settings._WHEELPOS_DATA_AVG, self.settings._WHEELPOS_DATA_VAR, 2)
|
||||
self.wheelpos_offsetter = RunningStatFilter(raw_priors=wheelpos_filter_raw_priors, max_trackable=self.settings._WHEELPOS_MAX_COUNT)
|
||||
self.pose = DriverPose(settings=self.settings)
|
||||
self.blink_prob = 0.
|
||||
self.phone_prob = 0.
|
||||
|
||||
self.alert_level = AlertLevel.none
|
||||
self.always_on = always_on
|
||||
self.distracted_types = defaultdict(bool)
|
||||
self.driver_distracted = False
|
||||
self.driver_distraction_filter = FirstOrderFilter(0., self.settings._DISTRACTED_FILTER_TS, DT_DMON)
|
||||
self.wheel_on_right = False
|
||||
self.wheel_on_right_last = None
|
||||
self.wheel_on_right_default = rhd_saved
|
||||
self.face_detected = False
|
||||
self.terminal_alert_cnt = 0
|
||||
self.terminal_time = 0
|
||||
self.step_change = 0.
|
||||
self.active_policy = MonitoringPolicy.vision
|
||||
self.driver_interacting = False
|
||||
self.is_model_uncertain = False
|
||||
self.hi_stds = 0
|
||||
self.model_std_max = 0.
|
||||
self.threshold_alert_1 = 0.
|
||||
self.threshold_alert_2 = 0.
|
||||
self.dcam_uncertain_cnt = 0
|
||||
self.dcam_reset_cnt = 0
|
||||
self.too_distracted = Params().get_bool("DriverTooDistracted")
|
||||
|
||||
self._reset_awareness()
|
||||
self._set_policy(MonitoringPolicy.vision)
|
||||
|
||||
def _reset_awareness(self):
|
||||
self.awareness = 1.
|
||||
self.last_vision_awareness = 1.
|
||||
self.last_wheeltouch_awareness = 1.
|
||||
|
||||
def _set_policy(self, target_policy):
|
||||
if self.active_policy == MonitoringPolicy.vision and self.awareness <= self.threshold_alert_2:
|
||||
if target_policy == MonitoringPolicy.vision:
|
||||
self.step_change = DT_DMON / self.settings._VISION_POLICY_ALERT_3_TIMEOUT
|
||||
else:
|
||||
self.step_change = 0.
|
||||
return # no exploit after orange alert
|
||||
elif self.awareness <= 0.:
|
||||
return
|
||||
|
||||
if target_policy == MonitoringPolicy.vision:
|
||||
# when falling back from passive mode to active mode, reset awareness to avoid false alert
|
||||
if self.active_policy != MonitoringPolicy.vision:
|
||||
self.last_wheeltouch_awareness = self.awareness
|
||||
self.awareness = self.last_vision_awareness
|
||||
|
||||
self.threshold_alert_1 = 1. - self.settings._VISION_POLICY_ALERT_1_TIMEOUT / self.settings._VISION_POLICY_ALERT_3_TIMEOUT
|
||||
self.threshold_alert_2 = 1. - self.settings._VISION_POLICY_ALERT_2_TIMEOUT / self.settings._VISION_POLICY_ALERT_3_TIMEOUT
|
||||
self.step_change = DT_DMON / self.settings._VISION_POLICY_ALERT_3_TIMEOUT
|
||||
self.active_policy = MonitoringPolicy.vision
|
||||
else:
|
||||
if self.active_policy == MonitoringPolicy.vision:
|
||||
self.last_vision_awareness = self.awareness
|
||||
self.awareness = self.last_wheeltouch_awareness
|
||||
|
||||
self.threshold_alert_1 = 1. - self.settings._WHEELTOUCH_POLICY_ALERT_1_TIMEOUT / self.settings._WHEELTOUCH_POLICY_ALERT_3_TIMEOUT
|
||||
self.threshold_alert_2 = 1. - self.settings._WHEELTOUCH_POLICY_ALERT_2_TIMEOUT / self.settings._WHEELTOUCH_POLICY_ALERT_3_TIMEOUT
|
||||
self.step_change = DT_DMON / self.settings._WHEELTOUCH_POLICY_ALERT_3_TIMEOUT
|
||||
self.active_policy = MonitoringPolicy.wheeltouch
|
||||
|
||||
def _set_pose_strictness(self, brake_disengage_prob, car_speed):
|
||||
bp = brake_disengage_prob
|
||||
k1 = max(-0.00156*((car_speed-16)**2)+0.6, 0.2)
|
||||
bp_normal = max(min(bp / k1, 0.5),0)
|
||||
self.pose.cfactor_pitch = np.interp(bp_normal, [0, 0.5],
|
||||
[self.settings._POSE_PITCH_THRESHOLD_SLACK,
|
||||
self.settings._POSE_PITCH_THRESHOLD_STRICT]) / self.settings._POSE_PITCH_THRESHOLD
|
||||
self.pose.cfactor_yaw = np.interp(bp_normal, [0, 0.5],
|
||||
[self.settings._POSE_YAW_THRESHOLD_SLACK,
|
||||
self.settings._POSE_YAW_THRESHOLD_STRICT]) / self.settings._POSE_YAW_THRESHOLD
|
||||
|
||||
def _get_distracted_types(self):
|
||||
self.distracted_types = defaultdict(bool)
|
||||
|
||||
if not self.pose.calibrated:
|
||||
pitch_error = self.pose.pitch - self.settings._PITCH_NATURAL_OFFSET
|
||||
yaw_error = self.pose.yaw - self.settings._YAW_NATURAL_OFFSET
|
||||
else:
|
||||
pitch_error = self.pose.pitch - min(max(self.pose.pitch_offsetter.filtered_stat.mean(),
|
||||
self.settings._PITCH_MIN_OFFSET), self.settings._PITCH_MAX_OFFSET)
|
||||
yaw_error = self.pose.yaw - min(max(self.pose.yaw_offsetter.filtered_stat.mean(),
|
||||
self.settings._YAW_MIN_OFFSET), self.settings._YAW_MAX_OFFSET)
|
||||
pitch_error = 0 if pitch_error > 0 else abs(pitch_error) # no positive pitch limit
|
||||
|
||||
if yaw_error * self.pose.steer_yaw_offset > 0: # unidirectional
|
||||
yaw_error = max(abs(yaw_error) - min(abs(self.pose.steer_yaw_offset), self.settings._POSE_YAW_STEER_MAX_OFFSET), 0.)
|
||||
else:
|
||||
yaw_error = abs(yaw_error)
|
||||
|
||||
pitch_threshold = self.settings._POSE_PITCH_THRESHOLD * self.pose.cfactor_pitch if self.pose.calibrated else self.settings._PITCH_NATURAL_THRESHOLD
|
||||
yaw_threshold = self.settings._POSE_YAW_THRESHOLD * self.pose.cfactor_yaw
|
||||
|
||||
self.distracted_types['pose'] = bool((pitch_error > pitch_threshold) or (yaw_error > yaw_threshold))
|
||||
self.distracted_types['eye'] = bool(self.blink_prob > self.settings._BLINK_THRESHOLD)
|
||||
self.distracted_types['phone'] = bool(self.phone_prob > self.settings._PHONE_THRESH)
|
||||
|
||||
def _update_states(self, driver_state, cal_rpy, car_speed, op_engaged, standstill, demo_mode=False, steering_angle_deg=0.):
|
||||
rhd_pred = driver_state.wheelOnRightProb
|
||||
# calibrates only when there's movement and either face detected
|
||||
if car_speed > self.settings._WHEELPOS_CALIB_MIN_SPEED and (driver_state.leftDriverData.faceProb > self.settings._FACE_THRESHOLD or
|
||||
driver_state.rightDriverData.faceProb > self.settings._FACE_THRESHOLD):
|
||||
self.wheelpos_offsetter.push_and_update(rhd_pred)
|
||||
|
||||
wheelpos_calibrated = self.wheelpos_offsetter.filtered_stat.n >= self.settings._WHEELPOS_FILTER_MIN_COUNT
|
||||
|
||||
if wheelpos_calibrated or demo_mode:
|
||||
self.wheel_on_right = self.wheelpos_offsetter.filtered_stat.M > self.settings._WHEELPOS_THRESHOLD
|
||||
else:
|
||||
self.wheel_on_right = self.wheel_on_right_default # use default/saved if calibration is unfinished
|
||||
# make sure no switching when engaged
|
||||
if op_engaged and self.wheel_on_right_last is not None and self.wheel_on_right_last != self.wheel_on_right and not demo_mode:
|
||||
self.wheel_on_right = self.wheel_on_right_last
|
||||
driver_data = driver_state.rightDriverData if self.wheel_on_right else driver_state.leftDriverData
|
||||
if not all(len(x) > 0 for x in (driver_data.faceOrientation, driver_data.facePosition,
|
||||
driver_data.faceOrientationStd, driver_data.facePositionStd)):
|
||||
return
|
||||
|
||||
self.face_detected = driver_data.faceProb > self.settings._FACE_THRESHOLD
|
||||
self.pose.pitch, self.pose.yaw = face_orientation_from_model(driver_data.faceOrientation, driver_data.facePosition, cal_rpy)
|
||||
steer_d = max(abs(steering_angle_deg) - self.settings._POSE_YAW_MIN_STEER_DEG, 0.)
|
||||
self.pose.steer_yaw_offset = radians(steer_d) * -np.sign(steering_angle_deg) * self.settings._POSE_YAW_STEER_FACTOR
|
||||
if self.wheel_on_right:
|
||||
self.pose.yaw *= -1
|
||||
self.pose.steer_yaw_offset *= -1
|
||||
self.wheel_on_right_last = self.wheel_on_right
|
||||
self.model_std_max = max(driver_data.faceOrientationStd[0], driver_data.faceOrientationStd[1])
|
||||
self.pose.low_std = self.model_std_max < self.settings._HI_STD_THRESHOLD
|
||||
self.blink_prob = driver_data.eyesClosedProb * (driver_data.eyesVisibleProb > self.settings._EYE_THRESHOLD)
|
||||
self.phone_prob = driver_data.phoneProb
|
||||
|
||||
self._get_distracted_types()
|
||||
self.driver_distracted = any(self.distracted_types.values()) and driver_data.faceProb > self.settings._FACE_THRESHOLD and self.pose.low_std
|
||||
self.driver_distraction_filter.update(self.driver_distracted)
|
||||
|
||||
# only update offsetter when driver is actively driving the car above a certain speed
|
||||
if self.face_detected and car_speed > self.settings._POSE_CALIB_MIN_SPEED and self.pose.low_std and (not op_engaged or not self.driver_distracted):
|
||||
self.pose.pitch_offsetter.push_and_update(self.pose.pitch)
|
||||
self.pose.yaw_offsetter.push_and_update(self.pose.yaw)
|
||||
|
||||
self.pose.calibrated = self.pose.pitch_offsetter.filtered_stat.n >= self.settings._POSE_OFFSET_MIN_COUNT and \
|
||||
self.pose.yaw_offsetter.filtered_stat.n >= self.settings._POSE_OFFSET_MIN_COUNT
|
||||
|
||||
if self.face_detected and not self.driver_distracted:
|
||||
dcam_uncertain = self.model_std_max > self.settings._DCAM_UNCERTAIN_ALERT_THRESHOLD
|
||||
if dcam_uncertain and not standstill:
|
||||
self.dcam_uncertain_cnt += 1
|
||||
self.dcam_reset_cnt = 0
|
||||
else:
|
||||
self.dcam_reset_cnt += 1
|
||||
if self.dcam_reset_cnt > self.settings._DCAM_UNCERTAIN_RESET_COUNT:
|
||||
self.dcam_uncertain_cnt = 0
|
||||
|
||||
self.is_model_uncertain = self.hi_stds >= self.settings._HI_STD_FALLBACK_TIME
|
||||
self._set_policy(MonitoringPolicy.vision if self.face_detected and not self.is_model_uncertain else MonitoringPolicy.wheeltouch)
|
||||
if self.face_detected and not self.pose.low_std and not self.driver_distracted:
|
||||
self.hi_stds += 1
|
||||
elif self.face_detected and self.pose.low_std:
|
||||
self.hi_stds = 0
|
||||
|
||||
def _update_events(self, driver_engaged, op_engaged, standstill, wrong_gear):
|
||||
self.alert_level = AlertLevel.none
|
||||
self.driver_interacting = driver_engaged
|
||||
|
||||
if self.terminal_alert_cnt >= self.settings._MAX_TERMINAL_ALERTS or \
|
||||
self.terminal_time >= self.settings._MAX_TERMINAL_DURATION:
|
||||
self.too_distracted = True
|
||||
|
||||
always_on_valid = self.always_on and not wrong_gear
|
||||
if (self.driver_interacting and self.awareness > 0 and self.active_policy == MonitoringPolicy.wheeltouch) or \
|
||||
(not always_on_valid and not op_engaged) or \
|
||||
(always_on_valid and not op_engaged and self.awareness <= 0):
|
||||
# always reset on disengage with normal mode; disengage resets only on red if always on
|
||||
self._reset_awareness()
|
||||
return
|
||||
|
||||
awareness_prev = self.awareness
|
||||
_reaching_alert_1 = self.awareness - self.step_change <= self.threshold_alert_1
|
||||
_reaching_alert_3 = self.awareness - self.step_change <= 0
|
||||
standstill_exemption = standstill and _reaching_alert_1
|
||||
always_on_exemption = always_on_valid and not op_engaged and _reaching_alert_3
|
||||
|
||||
if self.awareness > 0 and \
|
||||
((self.driver_distraction_filter.x < 0.37 and self.face_detected and self.pose.low_std) or standstill_exemption):
|
||||
if self.driver_interacting:
|
||||
self._reset_awareness()
|
||||
return
|
||||
# only restore awareness when paying attention and alert is not red
|
||||
self.awareness = min(self.awareness + ((self.settings._TIMEOUT_RECOVERY_FACTOR_MAX-self.settings._TIMEOUT_RECOVERY_FACTOR_MIN)*
|
||||
(1.-self.awareness)+self.settings._TIMEOUT_RECOVERY_FACTOR_MIN)*self.step_change, 1.)
|
||||
if self.awareness == 1.:
|
||||
self.last_wheeltouch_awareness = min(self.last_wheeltouch_awareness + self.step_change, 1.)
|
||||
# don't display alert banner when awareness is recovering and has cleared orange
|
||||
if self.awareness > self.threshold_alert_2:
|
||||
return
|
||||
|
||||
certainly_distracted = self.driver_distraction_filter.x > 0.63 and self.driver_distracted and self.face_detected
|
||||
maybe_distracted = self.is_model_uncertain or not self.face_detected
|
||||
|
||||
if certainly_distracted or maybe_distracted:
|
||||
# should always be counting if distracted unless at standstill and reaching green
|
||||
# also will not be reaching 0 if DM is active when not engaged
|
||||
if not (standstill_exemption or always_on_exemption):
|
||||
self.awareness = max(self.awareness - self.step_change, -0.1)
|
||||
|
||||
if self.awareness <= 0.:
|
||||
# terminal alert: disengagement required
|
||||
self.alert_level = AlertLevel.three
|
||||
self.terminal_time += 1
|
||||
if awareness_prev > 0.:
|
||||
self.terminal_alert_cnt += 1
|
||||
elif self.awareness <= self.threshold_alert_2:
|
||||
self.alert_level = AlertLevel.two
|
||||
elif self.awareness <= self.threshold_alert_1:
|
||||
self.alert_level = AlertLevel.one
|
||||
|
||||
def get_state_packet(self, valid=True):
|
||||
# build driverMonitoringState packet
|
||||
dat = messaging.new_message('driverMonitoringState', valid=valid)
|
||||
dm = dat.driverMonitoringState
|
||||
|
||||
dm.lockout = self.too_distracted
|
||||
dm.alertCountLockoutPercent = to_percent(self.terminal_alert_cnt / self.settings._MAX_TERMINAL_ALERTS)
|
||||
dm.alertTimeLockoutPercent = to_percent(self.terminal_time / self.settings._MAX_TERMINAL_DURATION)
|
||||
dm.alwaysOn = self.always_on
|
||||
dm.alwaysOnLockout = self.always_on and self.awareness <= self.threshold_alert_2
|
||||
dm.alertLevel = self.alert_level
|
||||
dm.activePolicy = self.active_policy
|
||||
dm.isRHD = self.wheel_on_right
|
||||
dm.rhdCalibration.calibratedPercent = to_percent(self.wheelpos_offsetter.filtered_stat.n / self.settings._WHEELPOS_FILTER_MIN_COUNT)
|
||||
dm.rhdCalibration.offset = self.wheelpos_offsetter.filtered_stat.M
|
||||
|
||||
dm.visionPolicyState.awarenessPercent = to_percent(self.last_vision_awareness if self.active_policy != MonitoringPolicy.vision else self.awareness)
|
||||
dm.visionPolicyState.awarenessStep = self.step_change if self.active_policy == MonitoringPolicy.vision else 0.
|
||||
dm.visionPolicyState.isDistracted = self.driver_distracted
|
||||
dm.visionPolicyState.distractedTypes.pose = self.distracted_types['pose']
|
||||
dm.visionPolicyState.distractedTypes.eye = self.distracted_types['eye']
|
||||
dm.visionPolicyState.distractedTypes.phone = self.distracted_types['phone']
|
||||
dm.visionPolicyState.faceDetected = self.face_detected
|
||||
dm.visionPolicyState.pose.pitch = self.pose.pitch
|
||||
dm.visionPolicyState.pose.yaw = self.pose.yaw
|
||||
dm.visionPolicyState.pose.calibrated = self.pose.calibrated
|
||||
dm.visionPolicyState.pose.pitchCalib.calibratedPercent = to_percent(self.pose.pitch_offsetter.filtered_stat.n / self.settings._POSE_OFFSET_MIN_COUNT)
|
||||
dm.visionPolicyState.pose.pitchCalib.offset = self.pose.pitch_offsetter.filtered_stat.M
|
||||
dm.visionPolicyState.pose.yawCalib.calibratedPercent = to_percent(self.pose.yaw_offsetter.filtered_stat.n / self.settings._POSE_OFFSET_MIN_COUNT)
|
||||
dm.visionPolicyState.pose.yawCalib.offset = self.pose.yaw_offsetter.filtered_stat.M
|
||||
dm.visionPolicyState.pose.uncertainty = self.model_std_max
|
||||
dm.visionPolicyState.wheeltouchFallbackPercent = to_percent(self.hi_stds / self.settings._HI_STD_FALLBACK_TIME)
|
||||
dm.visionPolicyState.uncertainOffroadAlertPercent = to_percent(self.dcam_uncertain_cnt / self.settings._DCAM_UNCERTAIN_ALERT_COUNT)
|
||||
|
||||
dm.wheeltouchPolicyState.awarenessPercent = to_percent(self.last_wheeltouch_awareness if self.active_policy == MonitoringPolicy.vision else self.awareness)
|
||||
dm.wheeltouchPolicyState.awarenessStep = 0. if self.active_policy == MonitoringPolicy.vision else self.step_change
|
||||
dm.wheeltouchPolicyState.driverInteracting = self.driver_interacting
|
||||
return dat
|
||||
|
||||
def run_step(self, sm, demo=False):
|
||||
if demo:
|
||||
car_speed = 30
|
||||
enabled = True
|
||||
wrong_gear = False
|
||||
standstill = False
|
||||
driver_engaged = False
|
||||
brake_disengage_prob = 1.0
|
||||
steering_angle_deg = 0.0
|
||||
rpyCalib = [0., 0., 0.]
|
||||
else:
|
||||
car_speed = sm['carState'].vEgo
|
||||
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
|
||||
brake_disengage_prob = sm['modelV2'].meta.disengagePredictions.brakeDisengageProbs[0] # brake disengage prob in next 2s
|
||||
steering_angle_deg = sm['carState'].steeringAngleDeg
|
||||
rpyCalib = sm['liveCalibration'].rpyCalib
|
||||
|
||||
self._set_pose_strictness(
|
||||
brake_disengage_prob=brake_disengage_prob,
|
||||
car_speed=car_speed,
|
||||
)
|
||||
|
||||
# Parse data from dmonitoringmodeld
|
||||
self._update_states(
|
||||
driver_state=sm['driverStateV2'],
|
||||
cal_rpy=rpyCalib,
|
||||
car_speed=car_speed,
|
||||
op_engaged=enabled,
|
||||
standstill=standstill,
|
||||
demo_mode=demo,
|
||||
steering_angle_deg=steering_angle_deg,
|
||||
)
|
||||
|
||||
# Update distraction events
|
||||
self._update_events(
|
||||
driver_engaged=driver_engaged,
|
||||
op_engaged=enabled,
|
||||
standstill=standstill,
|
||||
wrong_gear=wrong_gear,
|
||||
)
|
||||
@@ -3,16 +3,17 @@ import pytest
|
||||
|
||||
from cereal import log, car
|
||||
from openpilot.common.realtime import DT_DMON
|
||||
from openpilot.selfdrive.monitoring.policy import DriverMonitoring, DRIVER_MONITOR_SETTINGS
|
||||
from openpilot.selfdrive.monitoring.helpers import DriverMonitoring, DRIVER_MONITOR_SETTINGS
|
||||
from openpilot.system.hardware import HARDWARE
|
||||
|
||||
EventName = log.OnroadEvent.EventName
|
||||
dm_settings = DRIVER_MONITOR_SETTINGS()
|
||||
dm_settings = DRIVER_MONITOR_SETTINGS(device_type=HARDWARE.get_device_type())
|
||||
|
||||
TEST_TIMESPAN = 120 # seconds
|
||||
DISTRACTED_SECONDS_TO_ORANGE = dm_settings._VISION_POLICY_ALERT_2_TIMEOUT + 1
|
||||
DISTRACTED_SECONDS_TO_RED = dm_settings._VISION_POLICY_ALERT_3_TIMEOUT + 1
|
||||
INVISIBLE_SECONDS_TO_ORANGE = dm_settings._WHEELTOUCH_POLICY_ALERT_2_TIMEOUT + 1
|
||||
INVISIBLE_SECONDS_TO_RED = dm_settings._WHEELTOUCH_POLICY_ALERT_3_TIMEOUT + 1
|
||||
DISTRACTED_SECONDS_TO_ORANGE = dm_settings._DISTRACTED_TIME - dm_settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL + 1
|
||||
DISTRACTED_SECONDS_TO_RED = dm_settings._DISTRACTED_TIME + 1
|
||||
INVISIBLE_SECONDS_TO_ORANGE = dm_settings._AWARENESS_TIME - dm_settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL + 1
|
||||
INVISIBLE_SECONDS_TO_RED = dm_settings._AWARENESS_TIME + 1
|
||||
|
||||
def make_msg(face_detected, distracted=False, model_uncertain=False):
|
||||
ds = log.DriverStateV2.new_message()
|
||||
@@ -34,7 +35,7 @@ msg_ATTENTIVE = make_msg(True)
|
||||
msg_DISTRACTED = make_msg(True, distracted=True)
|
||||
msg_ATTENTIVE_UNCERTAIN = make_msg(True, model_uncertain=True)
|
||||
msg_DISTRACTED_UNCERTAIN = make_msg(True, distracted=True, model_uncertain=True)
|
||||
msg_DISTRACTED_BUT_SOMEHOW_UNCERTAIN = make_msg(True, distracted=True, model_uncertain=dm_settings._HI_STD_THRESHOLD*1.5)
|
||||
msg_DISTRACTED_BUT_SOMEHOW_UNCERTAIN = make_msg(True, distracted=True, model_uncertain=dm_settings._POSESTD_THRESHOLD*1.5)
|
||||
|
||||
# driver interaction with car
|
||||
car_interaction_DETECTED = True
|
||||
@@ -50,49 +51,49 @@ always_false = [False] * int(TEST_TIMESPAN / DT_DMON)
|
||||
class TestMonitoring:
|
||||
def _run_seq(self, msgs, interaction, engaged, standstill):
|
||||
DM = DriverMonitoring()
|
||||
alert_lvls = []
|
||||
events = []
|
||||
for idx in range(len(msgs)):
|
||||
DM._update_states(msgs[idx], [0, 0, 0], 0, engaged[idx], standstill[idx])
|
||||
# cal_rpy and car_speed don't matter here
|
||||
|
||||
# evaluate events at 10Hz for tests
|
||||
DM._update_events(interaction[idx], engaged[idx], standstill[idx], 0)
|
||||
alert_lvls.append(DM.alert_level)
|
||||
assert len(alert_lvls) == len(msgs), f"got {len(alert_lvls)} for {len(msgs)} driverState input msgs"
|
||||
return alert_lvls, DM
|
||||
DM._update_events(interaction[idx], engaged[idx], standstill[idx], 0, 0)
|
||||
events.append(DM.current_events)
|
||||
assert len(events) == len(msgs), f"got {len(events)} for {len(msgs)} driverState input msgs"
|
||||
return events, DM
|
||||
|
||||
def _assert_no_events(self, events):
|
||||
assert all(not len(e) for e in events)
|
||||
|
||||
# engaged, driver is attentive all the time
|
||||
def test_fully_aware_driver(self):
|
||||
alert_lvls, d_status = self._run_seq(always_attentive, always_false, always_true, always_false)
|
||||
assert all(a == 0 for a in alert_lvls)
|
||||
assert d_status.active_policy == log.DriverMonitoringState.MonitoringPolicy.vision
|
||||
events, _ = self._run_seq(always_attentive, always_false, always_true, always_false)
|
||||
self._assert_no_events(events)
|
||||
|
||||
# engaged, driver is distracted and does nothing
|
||||
def test_fully_distracted_driver(self):
|
||||
alert_lvls, d_status = self._run_seq(always_distracted, always_false, always_true, always_false)
|
||||
s = d_status.settings
|
||||
assert alert_lvls[int(s._VISION_POLICY_ALERT_1_TIMEOUT / 2 / DT_DMON)] == 0
|
||||
assert alert_lvls[int((s._VISION_POLICY_ALERT_1_TIMEOUT + \
|
||||
(s._VISION_POLICY_ALERT_2_TIMEOUT - s._VISION_POLICY_ALERT_1_TIMEOUT) / 2) / DT_DMON)] == 1
|
||||
assert alert_lvls[int((s._VISION_POLICY_ALERT_2_TIMEOUT + \
|
||||
(s._VISION_POLICY_ALERT_3_TIMEOUT - s._VISION_POLICY_ALERT_2_TIMEOUT) / 2) / DT_DMON)] == 2
|
||||
assert alert_lvls[int((s._VISION_POLICY_ALERT_3_TIMEOUT + \
|
||||
(TEST_TIMESPAN - 10 - s._VISION_POLICY_ALERT_3_TIMEOUT) / 2) / DT_DMON)] == 3
|
||||
events, d_status = self._run_seq(always_distracted, always_false, always_true, always_false)
|
||||
assert len(events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL)/2/DT_DMON)]) == 0
|
||||
assert events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL + \
|
||||
((d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL-d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == \
|
||||
EventName.driverDistracted1
|
||||
assert events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL + \
|
||||
((d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == EventName.driverDistracted2
|
||||
assert events[int((d_status.settings._DISTRACTED_TIME + \
|
||||
((TEST_TIMESPAN-10-d_status.settings._DISTRACTED_TIME)/2))/DT_DMON)].names[0] == EventName.driverDistracted3
|
||||
assert isinstance(d_status.awareness, float)
|
||||
|
||||
# engaged, no face detected the whole time, no action
|
||||
def test_fully_invisible_driver(self):
|
||||
alert_lvls, d_status = self._run_seq(always_no_face, always_false, always_true, always_false)
|
||||
s = d_status.settings
|
||||
assert alert_lvls[int(s._WHEELTOUCH_POLICY_ALERT_1_TIMEOUT / 2 / DT_DMON)] == 0
|
||||
assert alert_lvls[int((s._WHEELTOUCH_POLICY_ALERT_1_TIMEOUT + \
|
||||
(s._WHEELTOUCH_POLICY_ALERT_2_TIMEOUT - s._WHEELTOUCH_POLICY_ALERT_1_TIMEOUT) / 2) / DT_DMON)] == 1
|
||||
assert alert_lvls[int((s._WHEELTOUCH_POLICY_ALERT_2_TIMEOUT + \
|
||||
(s._WHEELTOUCH_POLICY_ALERT_3_TIMEOUT - s._WHEELTOUCH_POLICY_ALERT_2_TIMEOUT) / 2) / DT_DMON)] == 2
|
||||
assert alert_lvls[int((s._WHEELTOUCH_POLICY_ALERT_3_TIMEOUT + \
|
||||
(TEST_TIMESPAN - 10 - s._WHEELTOUCH_POLICY_ALERT_3_TIMEOUT) / 2) / DT_DMON)] == 3
|
||||
assert d_status.active_policy == log.DriverMonitoringState.MonitoringPolicy.wheeltouch
|
||||
events, d_status = self._run_seq(always_no_face, always_false, always_true, always_false)
|
||||
assert len(events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL)/2/DT_DMON)]) == 0
|
||||
assert events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL + \
|
||||
((d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL-d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == \
|
||||
EventName.driverUnresponsive1
|
||||
assert events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL + \
|
||||
((d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == EventName.driverUnresponsive2
|
||||
assert events[int((d_status.settings._AWARENESS_TIME + \
|
||||
((TEST_TIMESPAN-10-d_status.settings._AWARENESS_TIME)/2))/DT_DMON)].names[0] == EventName.driverUnresponsive3
|
||||
|
||||
# engaged, down to orange, driver pays attention, back to normal; then down to orange, driver touches wheel
|
||||
# - should have short orange recovery time and no green afterwards; wheel touch only recovers when paying attention
|
||||
@@ -103,13 +104,13 @@ class TestMonitoring:
|
||||
[msg_ATTENTIVE] * (int(TEST_TIMESPAN/DT_DMON)-int((DISTRACTED_SECONDS_TO_ORANGE*3+2)/DT_DMON))
|
||||
interaction_vector = [car_interaction_NOT_DETECTED] * int(DISTRACTED_SECONDS_TO_ORANGE*3/DT_DMON) + \
|
||||
[car_interaction_DETECTED] * (int(TEST_TIMESPAN/DT_DMON)-int(DISTRACTED_SECONDS_TO_ORANGE*3/DT_DMON))
|
||||
alert_lvls, _ = self._run_seq(ds_vector, interaction_vector, always_true, always_false)
|
||||
assert alert_lvls[int(DISTRACTED_SECONDS_TO_ORANGE*0.5/DT_DMON)] == 0
|
||||
assert alert_lvls[int((DISTRACTED_SECONDS_TO_ORANGE-0.1)/DT_DMON)] == 2
|
||||
assert alert_lvls[int(DISTRACTED_SECONDS_TO_ORANGE*1.5/DT_DMON)] == 0
|
||||
assert alert_lvls[int((DISTRACTED_SECONDS_TO_ORANGE*3-0.1)/DT_DMON)] == 2
|
||||
assert alert_lvls[int((DISTRACTED_SECONDS_TO_ORANGE*3+0.1)/DT_DMON)] == 2
|
||||
assert alert_lvls[int((DISTRACTED_SECONDS_TO_ORANGE*3+2.5)/DT_DMON)] == 0
|
||||
events, _ = self._run_seq(ds_vector, interaction_vector, always_true, always_false)
|
||||
assert len(events[int(DISTRACTED_SECONDS_TO_ORANGE*0.5/DT_DMON)]) == 0
|
||||
assert events[int((DISTRACTED_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0] == EventName.driverDistracted2
|
||||
assert len(events[int(DISTRACTED_SECONDS_TO_ORANGE*1.5/DT_DMON)]) == 0
|
||||
assert events[int((DISTRACTED_SECONDS_TO_ORANGE*3-0.1)/DT_DMON)].names[0] == EventName.driverDistracted2
|
||||
assert events[int((DISTRACTED_SECONDS_TO_ORANGE*3+0.1)/DT_DMON)].names[0] == EventName.driverDistracted2
|
||||
assert len(events[int((DISTRACTED_SECONDS_TO_ORANGE*3+2.5)/DT_DMON)]) == 0
|
||||
|
||||
# engaged, down to orange, driver dodges camera, then comes back still distracted, down to red, \
|
||||
# driver dodges, and then touches wheel to no avail, disengages and reengages
|
||||
@@ -127,11 +128,11 @@ class TestMonitoring:
|
||||
= [True] * int(1/DT_DMON)
|
||||
op_vector[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+2.5)/DT_DMON):int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+3)/DT_DMON)] \
|
||||
= [False] * int(0.5/DT_DMON)
|
||||
alert_lvls, _ = self._run_seq(ds_vector, interaction_vector, op_vector, always_false)
|
||||
assert alert_lvls[int((DISTRACTED_SECONDS_TO_ORANGE+0.5*_invisible_time)/DT_DMON)] == 2
|
||||
assert alert_lvls[int((DISTRACTED_SECONDS_TO_RED+1.5*_invisible_time)/DT_DMON)] == 3
|
||||
assert alert_lvls[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+1.5)/DT_DMON)] == 3
|
||||
assert alert_lvls[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+3.5)/DT_DMON)] == 0
|
||||
events, _ = self._run_seq(ds_vector, interaction_vector, op_vector, always_false)
|
||||
assert events[int((DISTRACTED_SECONDS_TO_ORANGE+0.5*_invisible_time)/DT_DMON)].names[0] == EventName.driverDistracted2
|
||||
assert events[int((DISTRACTED_SECONDS_TO_RED+1.5*_invisible_time)/DT_DMON)].names[0] == EventName.driverDistracted3
|
||||
assert events[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+1.5)/DT_DMON)].names[0] == EventName.driverDistracted3
|
||||
assert len(events[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+3.5)/DT_DMON)]) == 0
|
||||
|
||||
# engaged, invisible driver, down to orange, driver touches wheel; then down to orange again, driver appears
|
||||
# - both actions should clear the alert, but momentary appearance should not
|
||||
@@ -142,16 +143,16 @@ class TestMonitoring:
|
||||
ds_vector[int((2*INVISIBLE_SECONDS_TO_ORANGE+1)/DT_DMON):int((2*INVISIBLE_SECONDS_TO_ORANGE+1+_visible_time)/DT_DMON)] = \
|
||||
[msg_ATTENTIVE] * int(_visible_time/DT_DMON)
|
||||
interaction_vector[int((INVISIBLE_SECONDS_TO_ORANGE)/DT_DMON):int((INVISIBLE_SECONDS_TO_ORANGE+1)/DT_DMON)] = [True] * int(1/DT_DMON)
|
||||
alert_lvls, _ = self._run_seq(ds_vector, interaction_vector, 2*always_true, 2*always_false)
|
||||
assert alert_lvls[int(INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)] == 0
|
||||
assert alert_lvls[int((INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)] == 2
|
||||
assert alert_lvls[int((INVISIBLE_SECONDS_TO_ORANGE+0.1)/DT_DMON)] == 0
|
||||
events, _ = self._run_seq(ds_vector, interaction_vector, 2*always_true, 2*always_false)
|
||||
assert len(events[int(INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)]) == 0
|
||||
assert events[int((INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0] == EventName.driverUnresponsive2
|
||||
assert len(events[int((INVISIBLE_SECONDS_TO_ORANGE+0.1)/DT_DMON)]) == 0
|
||||
if _visible_time == 0.5:
|
||||
assert alert_lvls[int((INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)] == 2
|
||||
assert alert_lvls[int((INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)] == 1
|
||||
assert events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)].names[0] == EventName.driverUnresponsive2
|
||||
assert events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)].names[0] == EventName.driverUnresponsive1
|
||||
elif _visible_time == 10:
|
||||
assert alert_lvls[int((INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)] == 2
|
||||
assert alert_lvls[int((INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)] == 0
|
||||
assert events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)].names[0] == EventName.driverUnresponsive2
|
||||
assert len(events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)]) == 0
|
||||
|
||||
# engaged, invisible driver, down to red, driver appears and then touches wheel, then disengages/reengages
|
||||
# - only disengage will clear the alert
|
||||
@@ -163,19 +164,19 @@ class TestMonitoring:
|
||||
ds_vector[int(INVISIBLE_SECONDS_TO_RED/DT_DMON):int((INVISIBLE_SECONDS_TO_RED+_visible_time)/DT_DMON)] = [msg_ATTENTIVE] * int(_visible_time/DT_DMON)
|
||||
interaction_vector[int((INVISIBLE_SECONDS_TO_RED+_visible_time)/DT_DMON):int((INVISIBLE_SECONDS_TO_RED+_visible_time+1)/DT_DMON)] = [True] * int(1/DT_DMON)
|
||||
op_vector[int((INVISIBLE_SECONDS_TO_RED+_visible_time+1)/DT_DMON):int((INVISIBLE_SECONDS_TO_RED+_visible_time+0.5)/DT_DMON)] = [False] * int(0.5/DT_DMON)
|
||||
alert_lvls, _ = self._run_seq(ds_vector, interaction_vector, op_vector, always_false)
|
||||
assert alert_lvls[int(INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)] == 0
|
||||
assert alert_lvls[int((INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)] == 2
|
||||
assert alert_lvls[int((INVISIBLE_SECONDS_TO_RED-0.1)/DT_DMON)] == 3
|
||||
assert alert_lvls[int((INVISIBLE_SECONDS_TO_RED+0.5*_visible_time)/DT_DMON)] == 3
|
||||
assert alert_lvls[int((INVISIBLE_SECONDS_TO_RED+_visible_time+0.5)/DT_DMON)] == 3
|
||||
assert alert_lvls[int((INVISIBLE_SECONDS_TO_RED+_visible_time+1+0.1)/DT_DMON)] == 0
|
||||
events, _ = self._run_seq(ds_vector, interaction_vector, op_vector, always_false)
|
||||
assert len(events[int(INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)]) == 0
|
||||
assert events[int((INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0] == EventName.driverUnresponsive2
|
||||
assert events[int((INVISIBLE_SECONDS_TO_RED-0.1)/DT_DMON)].names[0] == EventName.driverUnresponsive3
|
||||
assert events[int((INVISIBLE_SECONDS_TO_RED+0.5*_visible_time)/DT_DMON)].names[0] == EventName.driverUnresponsive3
|
||||
assert events[int((INVISIBLE_SECONDS_TO_RED+_visible_time+0.5)/DT_DMON)].names[0] == EventName.driverUnresponsive3
|
||||
assert len(events[int((INVISIBLE_SECONDS_TO_RED+_visible_time+1+0.1)/DT_DMON)]) == 0
|
||||
|
||||
# disengaged, always distracted driver
|
||||
# - dm should stay quiet when not engaged
|
||||
def test_pure_dashcam_user(self):
|
||||
alert_lvls, _ = self._run_seq(always_distracted, always_false, always_false, always_false)
|
||||
assert all(a == 0 for a in alert_lvls)
|
||||
events, _ = self._run_seq(always_distracted, always_false, always_false, always_false)
|
||||
assert sum(len(event) for event in events) == 0
|
||||
|
||||
# engaged, car stops at traffic light, down to orange, no action, then car starts moving
|
||||
# - should only reach green when stopped, but continues counting down on launch
|
||||
@@ -183,12 +184,11 @@ class TestMonitoring:
|
||||
_redlight_time = 60 # seconds
|
||||
standstill_vector = always_true[:]
|
||||
standstill_vector[int(_redlight_time/DT_DMON):] = [False] * int((TEST_TIMESPAN-_redlight_time)/DT_DMON)
|
||||
alert_lvls, d_status = self._run_seq(always_distracted, always_false, always_true, standstill_vector)
|
||||
s = d_status.settings
|
||||
assert alert_lvls[int((_redlight_time-0.1)/DT_DMON)] == 0
|
||||
_alert_1_to_2 = s._VISION_POLICY_ALERT_2_TIMEOUT - s._VISION_POLICY_ALERT_1_TIMEOUT
|
||||
assert alert_lvls[int((_redlight_time+0.5)/DT_DMON)] == 1
|
||||
assert alert_lvls[int((_redlight_time+_alert_1_to_2+0.5)/DT_DMON)] == 2
|
||||
events, d_status = self._run_seq(always_distracted, always_false, always_true, standstill_vector)
|
||||
assert len(events[int((_redlight_time-0.1)/DT_DMON)]) == 0
|
||||
_pre_to_prompt = d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL - d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL
|
||||
assert events[int((_redlight_time+0.5)/DT_DMON)].names[0] == EventName.driverDistracted1
|
||||
assert events[int((_redlight_time+_pre_to_prompt+0.5)/DT_DMON)].names[0] == EventName.driverDistracted2
|
||||
|
||||
# engaged, distracted while moving, then car stops after reaching orange
|
||||
# - should reset timer to pre green at standstill
|
||||
@@ -196,21 +196,23 @@ class TestMonitoring:
|
||||
_stop_time = DISTRACTED_SECONDS_TO_ORANGE + 1 # stop 1 second after reaching orange
|
||||
standstill_vector = always_false[:]
|
||||
standstill_vector[int(_stop_time/DT_DMON):] = [True] * int((TEST_TIMESPAN-_stop_time)/DT_DMON)
|
||||
alert_lvls, _ = self._run_seq(always_distracted, always_false, always_true, standstill_vector)
|
||||
events, _ = self._run_seq(always_distracted, always_false, always_true, standstill_vector)
|
||||
# just before and briefly after stopping: orange alert; goes away quickly after stopped
|
||||
assert alert_lvls[int((_stop_time+0.1)/DT_DMON)] == 2
|
||||
assert alert_lvls[int((_stop_time+0.5)/DT_DMON)] == 0
|
||||
assert events[int((_stop_time+0.1)/DT_DMON)].names[0] == EventName.driverDistracted2
|
||||
assert len(events[int((_stop_time+0.5)/DT_DMON)]) == 0
|
||||
|
||||
# engaged, model is somehow uncertain and driver is distracted
|
||||
# - should fall back to wheel touch after uncertain alert
|
||||
def test_somehow_indecisive_model(self):
|
||||
ds_vector = [msg_DISTRACTED_BUT_SOMEHOW_UNCERTAIN] * int(TEST_TIMESPAN/DT_DMON)
|
||||
interaction_vector = always_false[:]
|
||||
alert_lvls, d_status = self._run_seq(ds_vector, interaction_vector, always_true, always_false)
|
||||
s = d_status.settings
|
||||
assert alert_lvls[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*s._HI_STD_FALLBACK_TIME-0.1)/DT_DMON)] == 1
|
||||
assert alert_lvls[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*s._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)] == 2
|
||||
assert alert_lvls[int((INVISIBLE_SECONDS_TO_RED-1+DT_DMON*s._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)] == 3
|
||||
events, d_status = self._run_seq(ds_vector, interaction_vector, always_true, always_false)
|
||||
assert EventName.driverUnresponsive1 in \
|
||||
events[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME-0.1)/DT_DMON)].names
|
||||
assert EventName.driverUnresponsive2 in \
|
||||
events[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names
|
||||
assert EventName.driverUnresponsive3 in \
|
||||
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", [
|
||||
@@ -247,12 +249,12 @@ def test_enabled_states(enabled_state, lat_active_state, expected):
|
||||
ds = make_msg(False)
|
||||
|
||||
sm = {
|
||||
'carState': cs,
|
||||
'selfdriveState': ss,
|
||||
'carControl': cc,
|
||||
'modelV2': mv2,
|
||||
'liveCalibration': lc,
|
||||
'driverStateV2': ds
|
||||
'carState': cs,
|
||||
'selfdriveState': ss,
|
||||
'carControl': cc,
|
||||
'modelV2': mv2,
|
||||
'liveCalibration': lc,
|
||||
'driverStateV2': ds
|
||||
}
|
||||
|
||||
driver_monitoring = DriverMonitoring()
|
||||
@@ -261,9 +263,9 @@ def test_enabled_states(enabled_state, lat_active_state, expected):
|
||||
captured_args = []
|
||||
original_update_events = driver_monitoring._update_events
|
||||
|
||||
def spy_update_events(driver_engaged, op_engaged, standstill, wrong_gear):
|
||||
captured_args.append(op_engaged)
|
||||
return original_update_events(driver_engaged, op_engaged, standstill, wrong_gear)
|
||||
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)
|
||||
|
||||
driver_monitoring._update_events = spy_update_events
|
||||
|
||||
|
||||
@@ -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, bool is_onroad) {
|
||||
void process_peripheral_state(Panda *panda, PubMaster *pm, bool no_fan_control) {
|
||||
static Params params;
|
||||
static SubMaster sm({"deviceState", "driverCameraState"});
|
||||
|
||||
@@ -309,8 +309,6 @@ 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);
|
||||
@@ -356,21 +354,6 @@ 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);
|
||||
@@ -404,7 +387,7 @@ void pandad_run(Panda *panda) {
|
||||
|
||||
// Process peripheral state at 20 Hz
|
||||
if (rk.frame() % 5 == 0) {
|
||||
process_peripheral_state(panda, &pm, no_fan_control, is_onroad);
|
||||
process_peripheral_state(panda, &pm, no_fan_control);
|
||||
}
|
||||
|
||||
// Process panda state at 10 Hz
|
||||
|
||||
@@ -45,8 +45,6 @@ LaneChangeDirection = log.LaneChangeDirection
|
||||
EventName = log.OnroadEvent.EventName
|
||||
ButtonType = car.CarState.ButtonEvent.Type
|
||||
SafetyModel = car.CarParams.SafetyModel
|
||||
AlertLevel = log.DriverMonitoringState.AlertLevel
|
||||
MonitoringPolicy = log.DriverMonitoringState.MonitoringPolicy
|
||||
TurnDirection = custom.ModelDataV2SP.TurnDirection
|
||||
|
||||
IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput)
|
||||
@@ -142,8 +140,6 @@ class SelfdriveD(CruiseHelper):
|
||||
self.params
|
||||
)
|
||||
self.recalibrating_seen = False
|
||||
self.dm_lockout_set = False
|
||||
self.dm_uncertain_alerted = False
|
||||
self.state_machine = StateMachine()
|
||||
self.rk = Ratekeeper(100, print_delay_threshold=None)
|
||||
|
||||
@@ -220,27 +216,8 @@ class SelfdriveD(CruiseHelper):
|
||||
if not self.CP.pcmCruise and CS.vCruise > 250 and resume_pressed:
|
||||
self.events.add(EventName.resumeBlocked)
|
||||
|
||||
# Handle DM
|
||||
if not self.CP.notCar:
|
||||
# Block engaging until ignition cycle after max number or time of distractions
|
||||
if self.sm['driverMonitoringState'].lockout and not self.dm_lockout_set:
|
||||
self.params.put_bool_nonblocking("DriverTooDistracted", True)
|
||||
self.dm_lockout_set = True
|
||||
# No entry conditions
|
||||
if self.sm['driverMonitoringState'].lockout or self.sm['driverMonitoringState'].alwaysOnLockout:
|
||||
self.events.add(EventName.tooDistracted)
|
||||
# Alerts
|
||||
vision_dm = self.sm['driverMonitoringState'].activePolicy == MonitoringPolicy.vision
|
||||
if self.sm['driverMonitoringState'].alertLevel == AlertLevel.one:
|
||||
self.events.add(EventName.driverDistracted1 if vision_dm else EventName.driverUnresponsive1)
|
||||
elif self.sm['driverMonitoringState'].alertLevel == AlertLevel.two:
|
||||
self.events.add(EventName.driverDistracted2 if vision_dm else EventName.driverUnresponsive2)
|
||||
elif self.sm['driverMonitoringState'].alertLevel == AlertLevel.three:
|
||||
self.events.add(EventName.driverDistracted3 if vision_dm else EventName.driverUnresponsive3)
|
||||
# Warn consistent DM uncertainty
|
||||
if self.sm['driverMonitoringState'].visionPolicyState.uncertainOffroadAlertPercent >= 100 and not self.dm_uncertain_alerted:
|
||||
set_offroad_alert("Offroad_DriverMonitoringUncertain", True)
|
||||
self.dm_uncertain_alerted = True
|
||||
self.events.add_from_msg(self.sm['driverMonitoringState'].events)
|
||||
self.events_sp.add_from_msg(self.sm['longitudinalPlanSP'].events)
|
||||
|
||||
# Add car events, ignore if CAN isn't valid
|
||||
@@ -253,7 +230,7 @@ class SelfdriveD(CruiseHelper):
|
||||
|
||||
if self.CP.notCar:
|
||||
# wait for everything to init first
|
||||
if self.sm.frame > int(2. / DT_CTRL) and self.initialized:
|
||||
if self.sm.frame > int(5. / DT_CTRL) and self.initialized:
|
||||
# body always wants to enable
|
||||
self.events.add(EventName.pcmEnable)
|
||||
|
||||
@@ -264,7 +241,7 @@ class SelfdriveD(CruiseHelper):
|
||||
self.events.add(EventName.pedalPressed)
|
||||
|
||||
# Create events for temperature, disk space, and memory
|
||||
if self.sm['deviceState'].thermalStatus >= ThermalStatus.overheated:
|
||||
if self.sm['deviceState'].thermalStatus >= ThermalStatus.red:
|
||||
self.events.add(EventName.overheat)
|
||||
if self.sm['deviceState'].freeSpacePercent < 7 and not SIMULATION:
|
||||
self.events.add(EventName.outOfSpace)
|
||||
|
||||
@@ -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, [(i, v2[i]) for i in range(n, n2)]
|
||||
yield 'add', dot, list(enumerate(v2[n:], n))
|
||||
if n1 > n:
|
||||
yield 'remove', dot, list(reversed([(i, v1[i]) for i in range(n, n1)]))
|
||||
|
||||
|
||||
@@ -49,8 +49,6 @@ 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)
|
||||
|
||||
|
||||
|
||||
@@ -449,6 +449,9 @@ def migrate_sensorEvents(msgs):
|
||||
m.logMonoTime = msg.logMonoTime
|
||||
|
||||
m_dat = getattr(m, sensor_service)
|
||||
m_dat.version = evt.version
|
||||
m_dat.sensor = evt.sensor
|
||||
m_dat.type = evt.type
|
||||
m_dat.source = evt.source
|
||||
m_dat.timestamp = evt.timestamp
|
||||
setattr(m_dat, evt.which(), getattr(evt, evt.which()))
|
||||
@@ -481,41 +484,22 @@ def migrate_onroadEvents(msgs):
|
||||
return ops, [], []
|
||||
|
||||
|
||||
@migration(inputs=["driverMonitoringStateDEPRECATED"])
|
||||
@migration(inputs=["driverMonitoringState"])
|
||||
def migrate_driverMonitoringState(msgs):
|
||||
ops = []
|
||||
for index, msg in msgs:
|
||||
old = msg.driverMonitoringStateDEPRECATED
|
||||
new_msg = messaging.new_message('driverMonitoringState', valid=msg.valid, logMonoTime=msg.logMonoTime)
|
||||
dm = new_msg.driverMonitoringState
|
||||
dm.isRHD = old.isRHD
|
||||
dm.activePolicy = log.DriverMonitoringState.MonitoringPolicy.vision if old.isActiveMode else \
|
||||
log.DriverMonitoringState.MonitoringPolicy.wheeltouch
|
||||
msg = msg.as_builder()
|
||||
events = []
|
||||
for event in msg.driverMonitoringState.deprecated.events:
|
||||
try:
|
||||
if not str(event.name).endswith('DEPRECATED'):
|
||||
migrated_event = migrate_onroad_event(event)
|
||||
if migrated_event is not None:
|
||||
events.append(migrated_event)
|
||||
except RuntimeError: # Member was null
|
||||
traceback.print_exc()
|
||||
|
||||
AlertLevel = log.DriverMonitoringState.AlertLevel
|
||||
event_to_alert_level = {
|
||||
'driverDistracted1': AlertLevel.one, 'driverUnresponsive1': AlertLevel.one,
|
||||
'driverDistracted2': AlertLevel.two, 'driverUnresponsive2': AlertLevel.two,
|
||||
'driverDistracted3': AlertLevel.three, 'driverUnresponsive3': AlertLevel.three,
|
||||
'tooDistracted': AlertLevel.three,
|
||||
}
|
||||
for event in old.events:
|
||||
level = event_to_alert_level.get(str(event.name))
|
||||
if level is not None:
|
||||
dm.alertLevel = level
|
||||
break
|
||||
|
||||
dm.visionPolicyState.awarenessPercent = int(max(0, min(100, (old.awarenessStatus if old.isActiveMode else old.awarenessActive) * 100)))
|
||||
dm.visionPolicyState.awarenessStep = old.stepChange if old.isActiveMode else 0.
|
||||
dm.visionPolicyState.isDistracted = old.isDistracted
|
||||
dm.visionPolicyState.faceDetected = old.faceDetected
|
||||
dm.visionPolicyState.pose.pitchCalib.offset = old.posePitchOffset
|
||||
dm.visionPolicyState.pose.pitchCalib.calibratedPercent = int(min(100, old.posePitchValidCount / 600 * 100))
|
||||
dm.visionPolicyState.pose.yawCalib.offset = old.poseYawOffset
|
||||
dm.visionPolicyState.pose.yawCalib.calibratedPercent = int(min(100, old.poseYawValidCount / 600 * 100))
|
||||
dm.visionPolicyState.pose.calibrated = old.posePitchValidCount >= 600 and old.poseYawValidCount >= 600
|
||||
dm.wheeltouchPolicyState.awarenessPercent = int(max(0, min(100, (old.awarenessPassive if old.isActiveMode else old.awarenessStatus) * 100)))
|
||||
dm.wheeltouchPolicyState.awarenessStep = 0. if old.isActiveMode else old.stepChange
|
||||
ops.append((index, new_msg.as_reader()))
|
||||
msg.driverMonitoringState.events = events
|
||||
ops.append((index, msg.as_reader()))
|
||||
|
||||
return ops, [], []
|
||||
|
||||
@@ -35,7 +35,7 @@ GITHUB = GithubUtils(API_TOKEN, DATA_TOKEN)
|
||||
EXEC_TIMINGS = [
|
||||
# model, instant max, average max
|
||||
("modelV2", 0.05, 0.028),
|
||||
("driverStateV2", 0.05, 0.018),
|
||||
("driverStateV2", 0.05, 0.016),
|
||||
]
|
||||
|
||||
def get_log_fn(test_route, ref="master"):
|
||||
|
||||
@@ -1,278 +0,0 @@
|
||||
from dataclasses import dataclass
|
||||
from enum import Enum
|
||||
import time
|
||||
|
||||
|
||||
class AnimationMode(Enum):
|
||||
ONCE_FORWARD = 1
|
||||
ONCE_FORWARD_BACKWARD = 2
|
||||
REPEAT_FORWARD = 3
|
||||
REPEAT_FORWARD_BACKWARD = 4
|
||||
|
||||
|
||||
@dataclass
|
||||
class Animation:
|
||||
frames: list[list[tuple[int, int]]]
|
||||
starting_frames: list[list[tuple[int, int]]] | None = None # played once before the main loop
|
||||
frame_duration: float = 0.15 # seconds each frame is shown
|
||||
mode: AnimationMode = AnimationMode.REPEAT_FORWARD_BACKWARD
|
||||
repeat_interval: float = 5.0 # seconds between animation restarts (only for REPEAT modes)
|
||||
hold_end: float = 0.0 # seconds to hold the last frame before playing backward (only for *_BACKWARD modes)
|
||||
left_turn_remove: list[tuple[int, int]] | None = None # dots to remove from frame when turning left
|
||||
right_turn_remove: list[tuple[int, int]] | None = None # dots to remove from frame when turning right
|
||||
|
||||
|
||||
# --- Animation Helper Functions ---
|
||||
|
||||
def _mirror(dots: list[tuple[int, int]]) -> list[tuple[int, int]]:
|
||||
"""Mirror a component from the left side of the face to the right"""
|
||||
return [(r, 15 - c) for r, c in dots]
|
||||
|
||||
|
||||
def _mirror_no_flip(dots: list[tuple[int, int]]) -> list[tuple[int, int]]:
|
||||
"""Move a component to the mirrored position on the right half without flipping its shape."""
|
||||
min_c = min(c for _, c in dots)
|
||||
max_c = max(c for _, c in dots)
|
||||
return [(r, 15 - max_c - min_c + c) for r, c in dots]
|
||||
|
||||
|
||||
def _shift(dots: list[tuple[int, int]], rc: tuple[int, int]) -> list[tuple[int, int]]:
|
||||
dr, dc = rc
|
||||
return [(r + dr, c + dc) for r, c in dots]
|
||||
|
||||
|
||||
def _make_frame(left_eye: list[tuple[int, int]], right_eye: list[tuple[int, int]],
|
||||
left_brow: list[tuple[int, int]], right_brow: list[tuple[int, int]],
|
||||
mouth: list[tuple[int, int]]) -> list[tuple[int, int]]:
|
||||
return left_eye + left_brow + right_eye + right_brow + mouth
|
||||
|
||||
|
||||
# --- Animation Helper Components ---
|
||||
|
||||
# Eyes (left side)
|
||||
EYE_OPEN = [
|
||||
(2, 2), (2, 3),
|
||||
(3, 1), (3, 2), (3, 3), (3, 4),
|
||||
(4, 1), (4, 2), (4, 3), (4, 4),
|
||||
(5, 2), (5, 3)
|
||||
]
|
||||
EYE_HALF = [
|
||||
(4, 1), (4, 2), (4, 3), (4, 4),
|
||||
(5, 2), (5, 3)
|
||||
]
|
||||
EYE_CLOSED = [
|
||||
(4, 1), (4, 4),
|
||||
(5, 2), (5, 3),
|
||||
]
|
||||
EYE_LEFT_LOOK = [
|
||||
(2, 2), (2, 3),
|
||||
(3, 1), (3, 2),
|
||||
(4, 1), (4, 2),
|
||||
(5, 2), (5, 3),
|
||||
]
|
||||
EYE_RIGHT_LOOK = [
|
||||
(2, 2), (2, 3),
|
||||
(3, 3), (3, 4),
|
||||
(4, 3), (4, 4),
|
||||
(5, 2), (5, 3),
|
||||
]
|
||||
|
||||
# Eyebrows (left side)
|
||||
BROW_HIGH = [
|
||||
(0, 1), (0, 2),
|
||||
(1, 0),
|
||||
]
|
||||
BROW_LOWERED = [
|
||||
(1, 1), (1, 2),
|
||||
(2, 0)
|
||||
]
|
||||
BROW_STRAIGHT = [(1, 0), (1, 1), (1, 2)]
|
||||
BROW_DOWN = [
|
||||
(0, 1), (0, 2),
|
||||
(1, 3)
|
||||
]
|
||||
|
||||
# Mouths (centered, not mirrored)
|
||||
MOUTH_SMILE = [
|
||||
(6, 6), (6, 9),
|
||||
(7, 7), (7, 8),
|
||||
]
|
||||
MOUTH_NORMAL = [(7, 7), (7, 8)]
|
||||
MOUTH_SAD = [
|
||||
(6, 7), (6, 8),
|
||||
(7, 6), (7, 9)
|
||||
]
|
||||
|
||||
# --- Animations ---
|
||||
|
||||
NORMAL = Animation(
|
||||
frames=[
|
||||
_make_frame(EYE_OPEN, _mirror(EYE_OPEN), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
|
||||
_make_frame(EYE_HALF, _mirror(EYE_HALF), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
|
||||
_make_frame(EYE_CLOSED, _mirror(EYE_CLOSED), BROW_LOWERED, _mirror(BROW_LOWERED), MOUTH_SMILE),
|
||||
],
|
||||
left_turn_remove=[
|
||||
(3, 3), (3, 4),
|
||||
(4, 3), (4, 4),
|
||||
] + _mirror_no_flip([
|
||||
(3, 1), (3, 2),
|
||||
(4, 1), (4, 2),
|
||||
]),
|
||||
right_turn_remove=[
|
||||
(3, 1), (3, 2),
|
||||
(4, 1), (4, 2),
|
||||
] + _mirror_no_flip([
|
||||
(3, 3), (3, 4),
|
||||
(4, 3), (4, 4),
|
||||
])
|
||||
)
|
||||
|
||||
ASLEEP = Animation(
|
||||
frames=[
|
||||
_make_frame(EYE_CLOSED, _mirror(EYE_CLOSED), [], [], MOUTH_NORMAL),
|
||||
],
|
||||
)
|
||||
|
||||
SLEEPY = Animation(
|
||||
frames=[
|
||||
_make_frame(EYE_CLOSED, _mirror(EYE_CLOSED), _shift(BROW_STRAIGHT, (1, 0)), [], MOUTH_NORMAL),
|
||||
_make_frame(EYE_HALF, _mirror(EYE_CLOSED), BROW_LOWERED, [], MOUTH_NORMAL),
|
||||
_make_frame(EYE_OPEN, _mirror(EYE_CLOSED), BROW_HIGH, [], MOUTH_NORMAL)
|
||||
],
|
||||
frame_duration=0.25,
|
||||
mode=AnimationMode.ONCE_FORWARD_BACKWARD,
|
||||
repeat_interval=10,
|
||||
hold_end=1.5,
|
||||
)
|
||||
|
||||
INQUISITIVE = Animation(
|
||||
frames=[
|
||||
_make_frame(EYE_OPEN, _mirror(EYE_OPEN), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
|
||||
|
||||
_make_frame(EYE_LEFT_LOOK, _mirror(EYE_RIGHT_LOOK), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
|
||||
_make_frame(_shift(EYE_LEFT_LOOK, (0, -1)), _shift(_mirror(EYE_RIGHT_LOOK), (0, -1)), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
|
||||
_make_frame(_shift(EYE_LEFT_LOOK, (0, -1)), _shift(_mirror(EYE_RIGHT_LOOK), (0, -1)), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
|
||||
_make_frame(_shift(EYE_LEFT_LOOK, (0, -1)), _shift(_mirror(EYE_RIGHT_LOOK), (0, -1)), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
|
||||
_make_frame(EYE_LEFT_LOOK, _mirror(EYE_RIGHT_LOOK), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
|
||||
|
||||
_make_frame(EYE_RIGHT_LOOK, _mirror(EYE_LEFT_LOOK), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
|
||||
_make_frame(_shift(EYE_RIGHT_LOOK, (0, 1)), _shift(_mirror(EYE_LEFT_LOOK), (0, 1)), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
|
||||
_make_frame(_shift(EYE_RIGHT_LOOK, (0, 1)), _shift(_mirror(EYE_LEFT_LOOK), (0, 1)), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
|
||||
_make_frame(_shift(EYE_RIGHT_LOOK, (0, 1)), _shift(_mirror(EYE_LEFT_LOOK), (0, 1)), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
|
||||
_make_frame(EYE_RIGHT_LOOK, _mirror(EYE_LEFT_LOOK), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
|
||||
|
||||
_make_frame(EYE_OPEN, _mirror(EYE_OPEN), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
|
||||
],
|
||||
mode=AnimationMode.REPEAT_FORWARD,
|
||||
frame_duration=0.15,
|
||||
repeat_interval=10
|
||||
)
|
||||
|
||||
WINK = Animation(
|
||||
frames=[
|
||||
_make_frame(EYE_OPEN, _mirror(EYE_OPEN), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
|
||||
_make_frame(EYE_OPEN, _mirror(EYE_CLOSED), BROW_HIGH, _mirror(_shift(BROW_DOWN, (0, 2))), MOUTH_SMILE),
|
||||
],
|
||||
mode=AnimationMode.ONCE_FORWARD_BACKWARD,
|
||||
frame_duration=0.75,
|
||||
)
|
||||
|
||||
|
||||
# --- Face Animator Class ---
|
||||
|
||||
class FaceAnimator:
|
||||
def __init__(self, animation: Animation):
|
||||
self._animation = animation
|
||||
self._next: Animation | None = None
|
||||
self._start_time = time.monotonic()
|
||||
self._rewinding = False
|
||||
self._rewind_start: float = 0.0
|
||||
self._rewind_from: int = 0
|
||||
self._seen_nonzero = False
|
||||
|
||||
def set_animation(self, animation: Animation):
|
||||
if animation is not self._animation:
|
||||
self._next = animation
|
||||
|
||||
def get_dots(self) -> list[tuple[int, int]]:
|
||||
now = time.monotonic()
|
||||
elapsed = now - self._start_time
|
||||
|
||||
# Handle rewind for forward-only animations
|
||||
if self._rewinding:
|
||||
rewind_elapsed = now - self._rewind_start
|
||||
frames_back = round(rewind_elapsed / self._animation.frame_duration)
|
||||
frame_index = self._rewind_from - frames_back
|
||||
if frame_index <= 0:
|
||||
return self._switch_to_next(now)
|
||||
return self._animation.frames[frame_index]
|
||||
|
||||
# Play starting frames first (once)
|
||||
starting = self._animation.starting_frames or []
|
||||
starting_duration = len(starting) * self._animation.frame_duration
|
||||
if starting and elapsed < starting_duration:
|
||||
frame_index = min(int(elapsed / self._animation.frame_duration), len(starting) - 1)
|
||||
return starting[frame_index]
|
||||
|
||||
# Main loop
|
||||
loop_elapsed = elapsed - starting_duration if starting else elapsed
|
||||
frame_index = _get_frame_index(self._animation, loop_elapsed, gap_first=bool(starting))
|
||||
|
||||
if frame_index != 0:
|
||||
self._seen_nonzero = True
|
||||
|
||||
if self._next is not None:
|
||||
if frame_index == 0 and (len(self._animation.frames) == 1 or self._seen_nonzero):
|
||||
return self._switch_to_next(now)
|
||||
# No natural return to frame 0 — start rewinding
|
||||
if self._animation.mode in (AnimationMode.ONCE_FORWARD, AnimationMode.REPEAT_FORWARD):
|
||||
self._rewinding = True
|
||||
self._rewind_start = now
|
||||
self._rewind_from = frame_index
|
||||
|
||||
return self._animation.frames[frame_index]
|
||||
|
||||
def _switch_to_next(self, now: float) -> list[tuple[int, int]]:
|
||||
self._animation = self._next
|
||||
self._next = None
|
||||
self._rewinding = False
|
||||
self._seen_nonzero = False
|
||||
self._start_time = now
|
||||
return self._animation.frames[0]
|
||||
|
||||
|
||||
def _get_frame_index(animation: Animation, elapsed: float, gap_first: bool = False) -> int:
|
||||
"""Get the current frame index given elapsed time and animation mode."""
|
||||
num_frames = len(animation.frames)
|
||||
if num_frames == 1:
|
||||
return 0
|
||||
|
||||
fd = animation.frame_duration
|
||||
has_backward = animation.mode in (AnimationMode.ONCE_FORWARD_BACKWARD, AnimationMode.REPEAT_FORWARD_BACKWARD)
|
||||
repeats = animation.mode in (AnimationMode.REPEAT_FORWARD, AnimationMode.REPEAT_FORWARD_BACKWARD)
|
||||
|
||||
forward_duration = num_frames * fd
|
||||
backward_frames = max(num_frames - 2, 0) if has_backward else 0
|
||||
hold = animation.hold_end if has_backward else 0.0
|
||||
cycle_duration = forward_duration + hold + backward_frames * fd
|
||||
|
||||
if not repeats:
|
||||
t = min(elapsed, cycle_duration)
|
||||
else:
|
||||
t = (elapsed + cycle_duration if gap_first else elapsed) % animation.repeat_interval
|
||||
|
||||
# Forward phase
|
||||
if t < forward_duration:
|
||||
return min(int(t / fd), num_frames - 1)
|
||||
t -= forward_duration
|
||||
|
||||
# Hold at last frame
|
||||
if t < hold:
|
||||
return num_frames - 1
|
||||
t -= hold
|
||||
|
||||
# Backward phase
|
||||
if backward_frames and t < backward_frames * fd:
|
||||
return num_frames - 2 - min(int(t / fd), backward_frames - 1)
|
||||
|
||||
return 0 if has_backward else num_frames - 1
|
||||
@@ -1,93 +0,0 @@
|
||||
import time
|
||||
import pyray as rl
|
||||
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
from openpilot.system.ui.widgets.label import UnifiedLabel
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state
|
||||
from openpilot.selfdrive.ui.body.animations import FaceAnimator, ASLEEP, INQUISITIVE, NORMAL, SLEEPY
|
||||
|
||||
GRID_COLS = 16
|
||||
GRID_ROWS = 8
|
||||
DOT_RADIUS = 50 if gui_app.big_ui() else 10
|
||||
|
||||
IDLE_TIMEOUT = 30.0 # seconds of no joystick input before playing INQUISITIVE
|
||||
IDLE_STEER_THRESH = 0.5 # degrees — below this counts as no input
|
||||
IDLE_SPEED_THRESH = 0.01 # m/s — below this counts as no input
|
||||
|
||||
|
||||
# This class is used both in BIG (tizi) and small (mici) UIs
|
||||
class BodyLayout(Widget):
|
||||
def __init__(self):
|
||||
super().__init__()
|
||||
self._animator = FaceAnimator(ASLEEP)
|
||||
self._turning_left = False
|
||||
self._turning_right = False
|
||||
self._last_input_time = time.monotonic()
|
||||
self._was_active = False
|
||||
self._offroad_label = UnifiedLabel("turn on ignition to use", 95 if gui_app.big_ui() else 45, FontWeight.DISPLAY,
|
||||
alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
|
||||
alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
|
||||
|
||||
def draw_dot_grid(self, rect: rl.Rectangle, dots: list[tuple[int, int]], color: rl.Color):
|
||||
spacing = min(rect.height / GRID_ROWS, rect.width / GRID_COLS)
|
||||
|
||||
grid_w = (GRID_COLS - 1) * spacing
|
||||
grid_h = (GRID_ROWS - 1) * spacing
|
||||
|
||||
offset_x = rect.x + (rect.width - grid_w) / 2
|
||||
offset_y = rect.y + (rect.height - grid_h) / 2
|
||||
|
||||
for row, col in dots:
|
||||
x = int(offset_x + col * spacing)
|
||||
y = int(offset_y + row * spacing)
|
||||
rl.draw_circle(x, y, DOT_RADIUS, color)
|
||||
|
||||
def _update_state(self):
|
||||
super()._update_state()
|
||||
|
||||
sm = ui_state.sm
|
||||
|
||||
if ui_state.is_onroad():
|
||||
if not self._was_active:
|
||||
self._last_input_time = time.monotonic()
|
||||
self._was_active = True
|
||||
|
||||
cs = sm['carState']
|
||||
has_input = abs(cs.steeringAngleDeg) > IDLE_STEER_THRESH or abs(cs.vEgo) > IDLE_SPEED_THRESH
|
||||
if has_input:
|
||||
self._last_input_time = time.monotonic()
|
||||
|
||||
if time.monotonic() - self._last_input_time > IDLE_TIMEOUT:
|
||||
self._animator.set_animation(INQUISITIVE)
|
||||
else:
|
||||
self._animator.set_animation(NORMAL)
|
||||
else:
|
||||
self._was_active = False
|
||||
self._animator.set_animation(ASLEEP)
|
||||
|
||||
steer = sm['testJoystick'].axes[1] if len(sm['testJoystick'].axes) > 1 else 0
|
||||
self._turning_left = steer <= -0.05
|
||||
self._turning_right = steer >= 0.05
|
||||
|
||||
# play animation on screen tap
|
||||
def _handle_mouse_release(self, mouse_pos):
|
||||
super()._handle_mouse_release(mouse_pos)
|
||||
if not self._was_active:
|
||||
self._animator.set_animation(SLEEPY)
|
||||
|
||||
def _render(self, rect: rl.Rectangle):
|
||||
dots = self._animator.get_dots()
|
||||
animation = self._animator._animation
|
||||
if self._turning_left and animation.left_turn_remove:
|
||||
remove_set = set(animation.left_turn_remove)
|
||||
dots = [d for d in dots if d not in remove_set]
|
||||
elif self._turning_right and animation.right_turn_remove:
|
||||
remove_set = set(animation.right_turn_remove)
|
||||
dots = [d for d in dots if d not in remove_set]
|
||||
self.draw_dot_grid(rect, dots, rl.WHITE)
|
||||
|
||||
if ui_state.is_offroad():
|
||||
rl.draw_rectangle(int(self.rect.x), int(self.rect.y), int(self.rect.width), int(self.rect.height), rl.Color(0, 0, 0, 175))
|
||||
upper_half = rl.Rectangle(rect.x, rect.y, rect.width, rect.height / 2)
|
||||
self._offroad_label.render(upper_half)
|
||||
@@ -2,14 +2,13 @@ import pyray as rl
|
||||
from enum import IntEnum
|
||||
import cereal.messaging as messaging
|
||||
from openpilot.system.ui.lib.application import gui_app
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
from openpilot.selfdrive.ui.layouts.sidebar import Sidebar, SIDEBAR_WIDTH
|
||||
from openpilot.selfdrive.ui.layouts.home import HomeLayout
|
||||
from openpilot.selfdrive.ui.layouts.settings.settings import SettingsLayout, PanelType
|
||||
from openpilot.selfdrive.ui.onroad.augmented_road_view import AugmentedRoadView
|
||||
from openpilot.selfdrive.ui.ui_state import device, ui_state
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
from openpilot.selfdrive.ui.layouts.onboarding import OnboardingWindow
|
||||
from openpilot.selfdrive.ui.body.layouts.onroad import BodyLayout
|
||||
|
||||
if gui_app.sunnypilot_ui():
|
||||
from openpilot.selfdrive.ui.sunnypilot.layouts.settings.settings import SettingsLayoutSP as SettingsLayout
|
||||
@@ -32,9 +31,7 @@ class MainLayout(Widget):
|
||||
self._prev_onroad = False
|
||||
|
||||
# Initialize layouts
|
||||
self._home_layout = HomeLayout()
|
||||
self._home_body_layout = BodyLayout()
|
||||
self._layouts = {MainState.HOME: self._home_layout, MainState.SETTINGS: SettingsLayout(), MainState.ONROAD: AugmentedRoadView()}
|
||||
self._layouts = {MainState.HOME: HomeLayout(), MainState.SETTINGS: SettingsLayout(), MainState.ONROAD: AugmentedRoadView()}
|
||||
|
||||
self._sidebar_rect = rl.Rectangle(0, 0, 0, 0)
|
||||
self._content_rect = rl.Rectangle(0, 0, 0, 0)
|
||||
@@ -60,18 +57,14 @@ class MainLayout(Widget):
|
||||
self._layouts[MainState.HOME]._setup_widget.set_open_settings_callback(lambda: self.open_settings(PanelType.FIREHOSE))
|
||||
self._layouts[MainState.HOME].set_settings_callback(lambda: self.open_settings(PanelType.TOGGLES))
|
||||
self._layouts[MainState.SETTINGS].set_callbacks(on_close=self._set_mode_for_state)
|
||||
|
||||
for layout in (self._layouts[MainState.ONROAD], self._home_body_layout):
|
||||
layout.set_click_callback(self._on_onroad_clicked)
|
||||
|
||||
self._layouts[MainState.ONROAD].set_click_callback(self._on_onroad_clicked)
|
||||
device.add_interactive_timeout_callback(self._set_mode_for_state)
|
||||
ui_state.add_on_body_changed_callbacks(self._on_body_changed)
|
||||
|
||||
def _update_layout_rects(self):
|
||||
self._sidebar_rect = rl.Rectangle(self._rect.x, self._rect.y, SIDEBAR_WIDTH, self._rect.height)
|
||||
|
||||
x_offset = SIDEBAR_WIDTH if self._sidebar.is_visible else 0
|
||||
self._content_rect = rl.Rectangle(self._rect.x + x_offset, self._rect.y, self._rect.width - x_offset, self._rect.height)
|
||||
self._content_rect = rl.Rectangle(self._rect.y + x_offset, self._rect.y, self._rect.width - x_offset, self._rect.height)
|
||||
|
||||
def _handle_onroad_transition(self):
|
||||
if ui_state.started != self._prev_onroad:
|
||||
@@ -80,12 +73,6 @@ class MainLayout(Widget):
|
||||
self._set_mode_for_state()
|
||||
|
||||
def _set_mode_for_state(self):
|
||||
# Don't go onroad if body, home is onroad
|
||||
if ui_state.is_body:
|
||||
self._set_current_layout(MainState.HOME)
|
||||
self._sidebar.set_visible(not ui_state.ignition)
|
||||
return
|
||||
|
||||
if ui_state.started:
|
||||
# Don't hide sidebar from interactive timeout
|
||||
if self._current_mode != MainState.ONROAD:
|
||||
@@ -117,10 +104,6 @@ class MainLayout(Widget):
|
||||
def _on_onroad_clicked(self):
|
||||
self._sidebar.set_visible(not self._sidebar.is_visible)
|
||||
|
||||
def _on_body_changed(self):
|
||||
self._layouts[MainState.HOME] = self._home_body_layout if ui_state.is_body else self._home_layout
|
||||
self._set_mode_for_state()
|
||||
|
||||
def _render_main_content(self):
|
||||
# Render sidebar
|
||||
if self._sidebar.is_visible:
|
||||
|
||||
@@ -135,6 +135,12 @@ class DeveloperLayout(Widget):
|
||||
|
||||
long_man_enabled = ui_state.has_longitudinal_control and ui_state.is_offroad()
|
||||
self._long_maneuver_toggle.action_item.set_enabled(long_man_enabled)
|
||||
if not long_man_enabled:
|
||||
self._long_maneuver_toggle.action_item.set_state(False)
|
||||
self._params.put_bool("LongitudinalManeuverMode", False)
|
||||
|
||||
lat_man_enabled = ui_state.is_offroad()
|
||||
self._lat_maneuver_toggle.action_item.set_enabled(lat_man_enabled)
|
||||
else:
|
||||
self._long_maneuver_toggle.action_item.set_enabled(False)
|
||||
self._lat_maneuver_toggle.action_item.set_enabled(False)
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
import pyray as rl
|
||||
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight, FONT_SCALE
|
||||
from openpilot.system.ui.lib.multilang import tr, tr_noop
|
||||
from openpilot.system.ui.lib.multilang import tr, trn, tr_noop
|
||||
from openpilot.system.ui.lib.text_measure import measure_text_cached
|
||||
from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
|
||||
from openpilot.system.ui.lib.wrap_text import wrap_text
|
||||
@@ -65,13 +65,12 @@ class FirehoseLayout(FirehoseLayoutBase):
|
||||
y = self._draw_wrapped_text(x, y, w, status_text, gui_app.font(FontWeight.BOLD), 60, status_color)
|
||||
y += 20 + 20
|
||||
|
||||
# TODO: add back once reliable
|
||||
# Contribution count (if available)
|
||||
#if self._segment_count > 0:
|
||||
# contrib_text = trn("{} segment of your driving is in the training dataset so far.",
|
||||
# "{} segments of your driving is in the training dataset so far.", self._segment_count).format(self._segment_count)
|
||||
# y = self._draw_wrapped_text(x, y, w, contrib_text, gui_app.font(FontWeight.BOLD), 52, rl.WHITE)
|
||||
# y += 20 + 20
|
||||
if self._segment_count > 0:
|
||||
contrib_text = trn("{} segment of your driving is in the training dataset so far.",
|
||||
"{} segments of your driving is in the training dataset so far.", self._segment_count).format(self._segment_count)
|
||||
y = self._draw_wrapped_text(x, y, w, contrib_text, gui_app.font(FontWeight.BOLD), 52, rl.WHITE)
|
||||
y += 20 + 20
|
||||
|
||||
# Separator
|
||||
rl.draw_rectangle(x, y, w, 2, self.GRAY)
|
||||
|
||||
@@ -125,8 +125,10 @@ class Sidebar(Widget, SidebarSP):
|
||||
def _update_temperature_status(self, device_state):
|
||||
thermal_status = device_state.thermalStatus
|
||||
|
||||
if thermal_status == ThermalStatus.ok:
|
||||
if thermal_status == ThermalStatus.green:
|
||||
self._temp_status.update(tr_noop("TEMP"), tr_noop("GOOD"), Colors.GOOD)
|
||||
elif thermal_status == ThermalStatus.yellow:
|
||||
self._temp_status.update(tr_noop("TEMP"), tr_noop("OK"), Colors.WARNING)
|
||||
else:
|
||||
self._temp_status.update(tr_noop("TEMP"), tr_noop("HIGH"), Colors.DANGER)
|
||||
|
||||
|
||||
@@ -7,15 +7,13 @@ 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, gui_label
|
||||
from openpilot.system.ui.widgets.label import UnifiedLabel
|
||||
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
|
||||
|
||||
@@ -30,37 +28,6 @@ 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__()
|
||||
@@ -117,8 +84,6 @@ 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
|
||||
@@ -130,15 +95,11 @@ 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._body_icon = IconWidget("icons_mici/body.png", (54, 37))
|
||||
|
||||
self._alerts_pill = AlertsPill()
|
||||
|
||||
self._status_bar_layout = HBoxLayout([
|
||||
IconWidget("icons_mici/settings.png", (48, 48), opacity=0.9),
|
||||
NetworkIcon(),
|
||||
self._experimental_icon,
|
||||
self._body_icon,
|
||||
self._mic_icon,
|
||||
], spacing=18)
|
||||
|
||||
@@ -180,23 +141,13 @@ class MiciHomeLayout(Widget):
|
||||
self._last_refresh = rl.get_time()
|
||||
self._update_params()
|
||||
|
||||
def set_callbacks(self, on_settings: Callable | None = None, on_alerts: Callable | None = None,
|
||||
alert_count_callback: Callable[[], int] | None = None):
|
||||
def set_callbacks(self, on_settings: Callable | 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:
|
||||
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()
|
||||
if self._on_settings_click:
|
||||
self._on_settings_click()
|
||||
self._did_long_press = False
|
||||
|
||||
def _get_version_text(self) -> tuple[str, str, str, str] | None:
|
||||
@@ -249,12 +200,6 @@ class MiciHomeLayout(Widget):
|
||||
# ***** Center-aligned bottom section icons *****
|
||||
self._experimental_icon.set_visible(self._experimental_mode)
|
||||
self._mic_icon.set_visible(ui_state.recording_audio)
|
||||
self._body_icon.set_visible(ui_state.is_body)
|
||||
|
||||
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()
|
||||
|
||||
@@ -6,7 +6,6 @@ from openpilot.selfdrive.ui.mici.layouts.offroad_alerts import MiciOffroadAlerts
|
||||
from openpilot.selfdrive.ui.mici.onroad.augmented_road_view import AugmentedRoadView
|
||||
from openpilot.selfdrive.ui.ui_state import device, ui_state
|
||||
from openpilot.selfdrive.ui.mici.layouts.onboarding import OnboardingWindow
|
||||
from openpilot.selfdrive.ui.body.layouts.onroad import BodyLayout
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
from openpilot.system.ui.widgets.scroller import Scroller
|
||||
from openpilot.system.ui.lib.application import gui_app
|
||||
@@ -32,25 +31,22 @@ class MiciMainLayout(Scroller):
|
||||
self._home_layout = MiciHomeLayout()
|
||||
self._alerts_layout = MiciOffroadAlerts()
|
||||
self._settings_layout = SettingsLayout()
|
||||
self._car_onroad_layout = AugmentedRoadView(bookmark_callback=self._on_bookmark_clicked)
|
||||
self._body_onroad_layout = BodyLayout()
|
||||
self._onroad_layout = AugmentedRoadView(bookmark_callback=self._on_bookmark_clicked)
|
||||
|
||||
# Initialize widget rects
|
||||
for widget in (self._home_layout, self._alerts_layout, self._settings_layout,
|
||||
self._car_onroad_layout, self._body_onroad_layout):
|
||||
for widget in (self._home_layout, self._settings_layout, self._alerts_layout, self._onroad_layout):
|
||||
# TODO: set parent rect and use it if never passed rect from render (like in Scroller)
|
||||
widget.set_rect(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
|
||||
|
||||
self._scroller.add_widgets([
|
||||
self._alerts_layout,
|
||||
self._home_layout,
|
||||
self._car_onroad_layout,
|
||||
self._body_onroad_layout,
|
||||
self._onroad_layout,
|
||||
])
|
||||
self._scroller.set_reset_scroll_at_show(False)
|
||||
|
||||
# Disable scrolling when onroad is interacting with bookmark
|
||||
self._scroller.set_scrolling_enabled(lambda: not self._car_onroad_layout.is_swiping_left())
|
||||
self._scroller.set_scrolling_enabled(lambda: not self._onroad_layout.is_swiping_left())
|
||||
|
||||
# Set callbacks
|
||||
self._setup_callbacks()
|
||||
@@ -63,32 +59,15 @@ class MiciMainLayout(Scroller):
|
||||
if not self._onboarding_window.completed:
|
||||
gui_app.push_widget(self._onboarding_window)
|
||||
|
||||
@property
|
||||
def _onroad_layout(self) -> Widget:
|
||||
# For scroll_to
|
||||
return self._body_onroad_layout if ui_state.is_body else self._car_onroad_layout
|
||||
|
||||
def _setup_callbacks(self):
|
||||
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,
|
||||
)
|
||||
for layout in (self._car_onroad_layout, self._body_onroad_layout):
|
||||
layout.set_click_callback(lambda: self._scroll_to(self._home_layout))
|
||||
|
||||
self._home_layout.set_callbacks(on_settings=lambda: gui_app.push_widget(self._settings_layout))
|
||||
self._onroad_layout.set_click_callback(lambda: self._scroll_to(self._home_layout))
|
||||
device.add_interactive_timeout_callback(self._on_interactive_timeout)
|
||||
ui_state.add_on_body_changed_callbacks(self._on_body_changed)
|
||||
|
||||
def _scroll_to(self, layout: Widget):
|
||||
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:
|
||||
@@ -144,7 +123,3 @@ class MiciMainLayout(Scroller):
|
||||
user_bookmark = messaging.new_message('bookmarkButton')
|
||||
user_bookmark.valid = True
|
||||
self._pm.send('bookmarkButton', user_bookmark)
|
||||
|
||||
def _on_body_changed(self):
|
||||
self._car_onroad_layout.set_visible(not ui_state.is_body)
|
||||
self._body_onroad_layout.set_visible(ui_state.is_body)
|
||||
|
||||
@@ -140,7 +140,7 @@ class TrainingGuideDMTutorial(NavWidget):
|
||||
|
||||
# stay at 100% once reached
|
||||
in_bad_face = gui_app.get_active_widget() == self._bad_face_page
|
||||
if ((dm_state.visionPolicyState.faceDetected and looking_center) or self._progress.x > 0.99) and not in_bad_face:
|
||||
if ((dm_state.faceDetected and looking_center) or self._progress.x > 0.99) and not in_bad_face:
|
||||
slow = self._progress.x < 0.25
|
||||
duration = self.PROGRESS_DURATION * 2 if slow else self.PROGRESS_DURATION
|
||||
self._progress.x += 1.0 / (duration * gui_app.target_fps)
|
||||
|
||||
@@ -131,6 +131,12 @@ class DeveloperLayoutMici(NavScroller):
|
||||
|
||||
long_man_enabled = ui_state.has_longitudinal_control and ui_state.is_offroad()
|
||||
self._long_maneuver_toggle.set_enabled(long_man_enabled)
|
||||
if not long_man_enabled:
|
||||
self._long_maneuver_toggle.set_checked(False)
|
||||
ui_state.params.put_bool("LongitudinalManeuverMode", False)
|
||||
|
||||
lat_man_enabled = ui_state.is_offroad()
|
||||
self._lat_maneuver_toggle.set_enabled(lat_man_enabled)
|
||||
else:
|
||||
self._long_maneuver_toggle.set_enabled(False)
|
||||
self._lat_maneuver_toggle.set_enabled(False)
|
||||
|
||||
@@ -178,8 +178,6 @@ 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")
|
||||
|
||||
|
||||
@@ -1,15 +1,20 @@
|
||||
import pyray as rl
|
||||
from cereal import car, log, messaging
|
||||
from cereal import log, messaging
|
||||
from msgq.visionipc import VisionStreamType
|
||||
from openpilot.selfdrive.ui.mici.onroad.cameraview import CameraView
|
||||
from openpilot.selfdrive.ui.mici.onroad.driver_state import DriverStateRenderer
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state, device
|
||||
from openpilot.selfdrive.selfdrived.events import EVENTS, ET
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight
|
||||
from openpilot.system.ui.lib.multilang import tr
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
from openpilot.system.ui.widgets.nav_widget import NavWidget
|
||||
from openpilot.system.ui.widgets.label import gui_label
|
||||
|
||||
EventName = log.OnroadEvent.EventName
|
||||
|
||||
EVENT_TO_INT = EventName.schema.enumerants
|
||||
|
||||
|
||||
class DriverCameraView(CameraView):
|
||||
def _calc_frame_matrix(self, rect: rl.Rectangle):
|
||||
@@ -102,14 +107,11 @@ class BaseDriverCameraDialog(Widget):
|
||||
if self._pm is None:
|
||||
return
|
||||
|
||||
AudibleAlert = car.CarControl.HUDControl.AudibleAlert
|
||||
ALERT_SOUNDS = {
|
||||
'two': AudibleAlert.promptDistracted,
|
||||
'three': AudibleAlert.warningImmediate,
|
||||
}
|
||||
msg = messaging.new_message('selfdriveState')
|
||||
if dm_state is not None:
|
||||
msg.selfdriveState.alertSound = ALERT_SOUNDS.get(str(dm_state.alertLevel), AudibleAlert.none)
|
||||
if dm_state is not None and len(dm_state.events):
|
||||
event_name = EVENT_TO_INT[dm_state.events[0].name]
|
||||
if event_name is not None and event_name in EVENTS and ET.PERMANENT in EVENTS[event_name]:
|
||||
msg.selfdriveState.alertSound = EVENTS[event_name][ET.PERMANENT].audible_alert
|
||||
self._pm.send('selfdriveState', msg)
|
||||
|
||||
def _render_dm_alerts(self, rect: rl.Rectangle):
|
||||
@@ -117,31 +119,29 @@ class BaseDriverCameraDialog(Widget):
|
||||
dm_state = ui_state.sm["driverMonitoringState"]
|
||||
self._publish_alert_sound(dm_state)
|
||||
|
||||
is_vision = dm_state.activePolicy == log.DriverMonitoringState.MonitoringPolicy.vision
|
||||
awareness_pct = dm_state.visionPolicyState.awarenessPercent if is_vision else dm_state.wheeltouchPolicyState.awarenessPercent
|
||||
gui_label(rl.Rectangle(rect.x + 2, rect.y + 2, rect.width, rect.height),
|
||||
f"Awareness: {awareness_pct:.0f}%", font_size=44, font_weight=FontWeight.MEDIUM,
|
||||
f"Awareness: {dm_state.awarenessStatus * 100:.0f}%", font_size=44, font_weight=FontWeight.MEDIUM,
|
||||
alignment=rl.GuiTextAlignment.TEXT_ALIGN_RIGHT,
|
||||
alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
|
||||
color=rl.Color(0, 0, 0, 180))
|
||||
gui_label(rect, f"Awareness: {awareness_pct:.0f}%", font_size=44, font_weight=FontWeight.MEDIUM,
|
||||
gui_label(rect, f"Awareness: {dm_state.awarenessStatus * 100:.0f}%", font_size=44, font_weight=FontWeight.MEDIUM,
|
||||
alignment=rl.GuiTextAlignment.TEXT_ALIGN_RIGHT,
|
||||
alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
|
||||
color=rl.Color(255, 255, 255, int(255 * 0.9)))
|
||||
|
||||
if dm_state.alertLevel == log.DriverMonitoringState.AlertLevel.none:
|
||||
if not dm_state.events:
|
||||
return
|
||||
|
||||
# Show alert level
|
||||
alert_level_str = f"{'Pay Attention' if is_vision else 'Touch Wheel'} - level {dm_state.alertLevel}"
|
||||
# Show first event (only one should be active at a time)
|
||||
event_name_str = str(dm_state.events[0].name).split('.')[-1]
|
||||
alignment = rl.GuiTextAlignment.TEXT_ALIGN_RIGHT if self.driver_state_renderer.is_rhd else rl.GuiTextAlignment.TEXT_ALIGN_LEFT
|
||||
|
||||
shadow_rect = rl.Rectangle(rect.x + 2, rect.y + 2, rect.width, rect.height)
|
||||
gui_label(shadow_rect, alert_level_str, font_size=40, font_weight=FontWeight.BOLD,
|
||||
gui_label(shadow_rect, event_name_str, font_size=40, font_weight=FontWeight.BOLD,
|
||||
alignment=alignment,
|
||||
alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM,
|
||||
color=rl.Color(0, 0, 0, 180))
|
||||
gui_label(rect, alert_level_str, font_size=40, font_weight=FontWeight.BOLD,
|
||||
gui_label(rect, event_name_str, font_size=40, font_weight=FontWeight.BOLD,
|
||||
alignment=alignment,
|
||||
alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM,
|
||||
color=rl.Color(255, 255, 255, int(255 * 0.9)))
|
||||
@@ -156,7 +156,7 @@ class BaseDriverCameraDialog(Widget):
|
||||
def _draw_face_detection(self, rect: rl.Rectangle):
|
||||
dm_state = ui_state.sm["driverMonitoringState"]
|
||||
driver_data = self.driver_state_renderer.get_driver_data()
|
||||
if not dm_state.visionPolicyState.faceDetected:
|
||||
if not dm_state.faceDetected:
|
||||
return
|
||||
|
||||
# Get face position and orientation
|
||||
|
||||
@@ -7,12 +7,10 @@ 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
|
||||
|
||||
|
||||
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)
|
||||
|
||||
@@ -35,8 +33,6 @@ class DriverStateRenderer(Widget):
|
||||
self._is_active = False
|
||||
self._is_rhd = False
|
||||
self._face_detected = False
|
||||
self._face_pitch = 0.
|
||||
self._face_yaw = 0.
|
||||
self._should_draw = False
|
||||
self._force_active = False
|
||||
self._looking_center = False
|
||||
@@ -63,6 +59,8 @@ 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):
|
||||
@@ -115,7 +113,16 @@ 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)),
|
||||
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)),
|
||||
)
|
||||
|
||||
else:
|
||||
@@ -155,11 +162,9 @@ class DriverStateRenderer(Widget):
|
||||
sm = ui_state.sm
|
||||
|
||||
dm_state = sm["driverMonitoringState"]
|
||||
self._is_active = dm_state.activePolicy == log.DriverMonitoringState.MonitoringPolicy.vision
|
||||
self._is_active = dm_state.isActiveMode
|
||||
self._is_rhd = dm_state.isRHD
|
||||
self._face_detected = dm_state.visionPolicyState.faceDetected
|
||||
self._face_pitch = dm_state.visionPolicyState.pose.pitch + math.radians(6) # calib or DM pose is not accurate, add a fake upward pitch to bias forward
|
||||
self._face_yaw = -dm_state.visionPolicyState.pose.yaw # undo sign flip in face_orientation_from_model to match UI convention
|
||||
self._face_detected = dm_state.faceDetected
|
||||
|
||||
driverstate = sm["driverStateV2"]
|
||||
driver_data = driverstate.rightDriverData if self._is_rhd else driverstate.leftDriverData
|
||||
@@ -167,9 +172,15 @@ class DriverStateRenderer(Widget):
|
||||
|
||||
def _update_state(self):
|
||||
# Get monitoring state
|
||||
_ = self.get_driver_data()
|
||||
pitch = self._pitch_filter.update(self._face_pitch)
|
||||
yaw = self._yaw_filter.update(self._face_yaw)
|
||||
driver_data = self.get_driver_data()
|
||||
driver_orient = driver_data.faceOrientation
|
||||
|
||||
if len(driver_orient) != 3:
|
||||
return
|
||||
|
||||
pitch, yaw, roll = driver_orient
|
||||
pitch = self._pitch_filter.update(pitch)
|
||||
yaw = self._yaw_filter.update(yaw)
|
||||
|
||||
# hysteresis on looking center
|
||||
if abs(pitch) < LOOKING_CENTER_THRESHOLD_LOWER and abs(yaw) < LOOKING_CENTER_THRESHOLD_LOWER:
|
||||
@@ -181,6 +192,7 @@ 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)
|
||||
@@ -188,11 +200,13 @@ 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 * 2, yaw)) # reduce yaw sensitivity
|
||||
rotation = math.degrees(math.atan2(pitch, yaw))
|
||||
angle_diff = rotation - self._rotation_filter.x
|
||||
angle_diff = ((angle_diff + 180) % 360) - 180
|
||||
self._rotation_filter.update(self._rotation_filter.x + angle_diff)
|
||||
|
||||
@@ -114,7 +114,7 @@ class DriverStateRenderer(Widget):
|
||||
|
||||
# Get monitoring state
|
||||
dm_state = sm["driverMonitoringState"]
|
||||
self.is_active = dm_state.activePolicy == log.DriverMonitoringState.MonitoringPolicy.vision
|
||||
self.is_active = dm_state.isActiveMode
|
||||
self.is_rhd = dm_state.isRHD
|
||||
|
||||
# Update fade state (smoother transition between active/inactive)
|
||||
|
||||
@@ -21,6 +21,8 @@ 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."),
|
||||
@@ -35,6 +37,16 @@ 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
|
||||
@@ -86,13 +98,42 @@ 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
|
||||
self._speed_limit_value_offset,
|
||||
LineSeparatorSP(40),
|
||||
self._speed_limit_upshift_accept,
|
||||
self._speed_limit_min_cap_floor,
|
||||
self._speed_limit_cap_audio_cue,
|
||||
]
|
||||
return items
|
||||
|
||||
@@ -120,6 +161,23 @@ 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()
|
||||
|
||||
@@ -128,6 +186,7 @@ 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:
|
||||
@@ -144,6 +203,7 @@ class SpeedLimitSettingsLayout(Widget):
|
||||
|
||||
else:
|
||||
sla_available = False
|
||||
pcm_op_long = False
|
||||
|
||||
if not sla_available:
|
||||
self._speed_limit_mode.action_item.set_enabled_buttons({
|
||||
@@ -157,6 +217,10 @@ 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)
|
||||
|
||||
@@ -4,8 +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 pyray as rl
|
||||
|
||||
from collections.abc import Callable
|
||||
|
||||
from cereal import custom
|
||||
@@ -15,43 +13,11 @@ 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, FontWeight
|
||||
from openpilot.system.ui.lib.application import gui_app, MousePos
|
||||
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):
|
||||
@@ -61,8 +27,6 @@ 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)
|
||||
@@ -76,7 +40,6 @@ 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,
|
||||
@@ -96,10 +59,6 @@ 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())
|
||||
@@ -116,11 +75,6 @@ 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):
|
||||
@@ -240,14 +194,9 @@ 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 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"))
|
||||
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."), "")
|
||||
elif self.sponsor_pairing:
|
||||
dlg = SunnylinkPairingDialog(sponsor_pairing=True)
|
||||
elif not self.sponsor_pairing:
|
||||
|
||||
@@ -6,6 +6,7 @@ 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
|
||||
@@ -23,6 +24,7 @@ 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):
|
||||
@@ -89,9 +91,14 @@ class HudRendererSP(HudRenderer):
|
||||
set_speed_color = COLORS.DARK_GREY
|
||||
if self.is_cruise_set:
|
||||
set_speed_color = COLORS.WHITE
|
||||
if long_plan_sp.speedLimit.assist.active:
|
||||
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):
|
||||
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
|
||||
|
||||
@@ -7,6 +7,7 @@ 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
|
||||
@@ -28,6 +29,7 @@ SET_SPEED_NA = 255
|
||||
KM_TO_MILE = 0.621371
|
||||
|
||||
AssistState = custom.LongitudinalPlanSP.SpeedLimit.AssistState
|
||||
AssistDisableReason = custom.LongitudinalPlanSP.SpeedLimit.AssistDisableReason
|
||||
SpeedLimitSource = custom.LongitudinalPlanSP.SpeedLimit.Source
|
||||
|
||||
|
||||
@@ -40,6 +42,7 @@ 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):
|
||||
@@ -110,6 +113,11 @@ 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
|
||||
@@ -145,6 +153,10 @@ 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"]
|
||||
@@ -194,6 +206,15 @@ 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)
|
||||
|
||||
@@ -229,6 +250,38 @@ 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
|
||||
|
||||
@@ -34,7 +34,7 @@ class UIStateSP:
|
||||
]
|
||||
|
||||
self.sunnylink_state = SunnylinkState()
|
||||
self.update_params_()
|
||||
self.update_params()
|
||||
|
||||
self.onroad_brightness_timer: int = 0
|
||||
self.custom_interactive_timeout: int = self.params.get("InteractivityTimeout", return_default=True)
|
||||
@@ -123,7 +123,7 @@ class UIStateSP:
|
||||
|
||||
return "disengaged"
|
||||
|
||||
def update_params_(self) -> None:
|
||||
def update_params(self) -> None:
|
||||
CP_SP_bytes = self.params.get("CarParamsSPPersistent")
|
||||
if CP_SP_bytes is not None:
|
||||
self.CP_SP = messaging.log_from_bytes(CP_SP_bytes, custom.CarParamsSP)
|
||||
|
||||
@@ -15,7 +15,6 @@ from openpilot.system.hardware import HARDWARE, PC
|
||||
from openpilot.selfdrive.ui.sunnypilot.ui_state import UIStateSP, DeviceSP
|
||||
|
||||
BACKLIGHT_OFFROAD = 65 if HARDWARE.get_device_type() == "mici" else 50
|
||||
PARAM_UPDATE_TIME = 5.0
|
||||
|
||||
|
||||
class UIStatus(Enum):
|
||||
@@ -60,7 +59,6 @@ class UIState(UIStateSP):
|
||||
"carOutput",
|
||||
"carControl",
|
||||
"liveParameters",
|
||||
"testJoystick",
|
||||
"rawAudioData",
|
||||
] + self.sm_services_ext
|
||||
)
|
||||
@@ -84,15 +82,15 @@ class UIState(UIStateSP):
|
||||
self.panda_type: log.PandaState.PandaType = log.PandaState.PandaType.unknown
|
||||
self.personality: log.LongitudinalPersonality = log.LongitudinalPersonality.standard
|
||||
self.has_longitudinal_control: bool = False
|
||||
self.is_body: bool | None = None
|
||||
self.CP: car.CarParams | None = None
|
||||
self.light_sensor: float = -1.0
|
||||
self._param_update_time: float = -PARAM_UPDATE_TIME
|
||||
self._param_update_time: float = 0.0
|
||||
|
||||
# Callbacks
|
||||
self._offroad_transition_callbacks: list[Callable[[], None]] = []
|
||||
self._engaged_transition_callbacks: list[Callable[[], None]] = []
|
||||
self._on_body_changed_callbacks: list[Callable[[], None]] = []
|
||||
|
||||
self.update_params()
|
||||
|
||||
def add_offroad_transition_callback(self, callback: Callable[[], None]):
|
||||
self._offroad_transition_callbacks.append(callback)
|
||||
@@ -100,9 +98,6 @@ class UIState(UIStateSP):
|
||||
def add_engaged_transition_callback(self, callback: Callable[[], None]):
|
||||
self._engaged_transition_callbacks.append(callback)
|
||||
|
||||
def add_on_body_changed_callbacks(self, callback: Callable[[], None]):
|
||||
self._on_body_changed_callbacks.append(callback)
|
||||
|
||||
@property
|
||||
def engaged(self) -> bool:
|
||||
return self.started and (self.sm["selfdriveState"].enabled or self.sm["selfdriveStateSP"].mads.enabled)
|
||||
@@ -118,7 +113,7 @@ class UIState(UIStateSP):
|
||||
self.sm.update(0)
|
||||
self._update_state()
|
||||
self._update_status()
|
||||
if time.monotonic() - self._param_update_time >= PARAM_UPDATE_TIME:
|
||||
if time.monotonic() - self._param_update_time > 5.0:
|
||||
self.update_params()
|
||||
device.update()
|
||||
UIStateSP.update(self)
|
||||
@@ -193,13 +188,7 @@ class UIState(UIStateSP):
|
||||
self.has_longitudinal_control = self.params.get_bool("AlphaLongitudinalEnabled")
|
||||
else:
|
||||
self.has_longitudinal_control = self.CP.openpilotLongitudinalControl
|
||||
|
||||
if self.is_body != self.CP.notCar:
|
||||
self.is_body = self.CP.notCar
|
||||
for callback in self._on_body_changed_callbacks:
|
||||
callback()
|
||||
|
||||
UIStateSP.update_params_(self)
|
||||
UIStateSP.update_params(self)
|
||||
self._param_update_time = time.monotonic()
|
||||
|
||||
|
||||
|
||||
@@ -1,6 +1,5 @@
|
||||
import os
|
||||
import glob
|
||||
from tinygrad import Device
|
||||
|
||||
Import('env', 'arch')
|
||||
lenv = env.Clone()
|
||||
@@ -22,19 +21,10 @@ if PC:
|
||||
if outputs:
|
||||
lenv.Command(outputs, inputs, cmd)
|
||||
|
||||
available = set(Device.get_available_devices())
|
||||
if 'CUDA' in available:
|
||||
tg_backend = 'CUDA'
|
||||
tg_flags = f'DEV={tg_backend}'
|
||||
elif 'QCOM' in available:
|
||||
tg_backend = 'QCOM'
|
||||
tg_flags = f'DEV={tg_backend} FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1'
|
||||
else:
|
||||
tg_backend = 'CPU' if arch == 'Darwin' else 'CPU:LLVM'
|
||||
# THREADS=0 is need to prevent bug: https://github.com/tinygrad/tinygrad/issues/14689
|
||||
tg_flags = f'DEV={tg_backend} THREADS=0'
|
||||
|
||||
mac_brew_string = f'HOME={os.path.expanduser("~")}' if arch == 'Darwin' else ''
|
||||
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')
|
||||
|
||||
image_flag = {
|
||||
'larch64': 'IMAGE=2',
|
||||
@@ -48,7 +38,7 @@ def tg_compile(flags, model_name):
|
||||
return lenv.Command(
|
||||
out,
|
||||
[fn + ".onnx"] + tinygrad_files,
|
||||
f'{pythonpath_string} {tg_flags} {mac_brew_string} {image_flag} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {out}'
|
||||
f'{pythonpath_string} {flags} {image_flag} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {out}'
|
||||
)
|
||||
|
||||
# Compile models
|
||||
@@ -56,9 +46,9 @@ 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_modeld.py").abspath)]
|
||||
script_files = [File("warp.py"), File(Dir("#selfdrive/modeld").File("compile_warp.py").abspath)]
|
||||
pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + ':' + env.Dir("#").abspath + '"'
|
||||
compile_warp_cmd = f'{pythonpath_string} {tg_flags} {mac_brew_string} {image_flag} python3 -m sunnypilot.modeld_v2.warp'
|
||||
compile_warp_cmd = f'{pythonpath_string} {tg_flags} python3 -m sunnypilot.modeld_v2.warp'
|
||||
|
||||
from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
|
||||
warp_targets = []
|
||||
|
||||
@@ -2,11 +2,8 @@ import os
|
||||
os.environ['DEV'] = 'CPU'
|
||||
import pytest
|
||||
import numpy as np
|
||||
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
|
||||
from openpilot.selfdrive.modeld.compile_warp import get_nv12_info, CAMERA_CONFIGS
|
||||
from openpilot.sunnypilot.modeld_v2.warp import Warp, MODEL_W, MODEL_H
|
||||
|
||||
VISION_NAME_PAIRS = [ # needed to account for supercombos input_imgs
|
||||
('img', 'big_img'),
|
||||
|
||||
@@ -6,79 +6,56 @@ from tinygrad.tensor import Tensor
|
||||
from tinygrad.engine.jit import TinyJit
|
||||
from tinygrad.device import Device
|
||||
|
||||
# https://github.com/tinygrad/tinygrad/issues/15682
|
||||
from tinygrad.uop.ops import UOp, Ops
|
||||
_orig = UOp.__reduce__
|
||||
UOp.__reduce__ = lambda self: (UOp.unique, ()) if self.op is Ops.UNIQUE else _orig(self)
|
||||
from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
|
||||
from openpilot.selfdrive.modeld.compile_modeld import (
|
||||
NV12Frame, make_frame_prepare,
|
||||
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
|
||||
|
||||
CAMERA_CONFIGS = [
|
||||
(_ar_ox_fisheye.width, _ar_ox_fisheye.height), # tici: 1928x1208
|
||||
(_os_fisheye.width, _os_fisheye.height), # mici: 1344x760
|
||||
]
|
||||
from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE
|
||||
|
||||
MODELS_DIR = Path(__file__).parent / 'models'
|
||||
|
||||
MODEL_W, MODEL_H = MEDMODEL_INPUT_SIZE
|
||||
UPSTREAM_BUFFER_LENGTH = 5
|
||||
|
||||
def warp_pkl_path(cam_w, cam_h):
|
||||
return MODELS_DIR / f'warp_{cam_w}x{cam_h}_tinygrad.pkl'
|
||||
|
||||
def make_update_img_input(frame_prepare, model_w, model_h):
|
||||
def update_img_input_tinygrad(tensor, frame, M_inv):
|
||||
M_inv = M_inv.to(Device.DEFAULT)
|
||||
new_img = frame_prepare(frame, M_inv)
|
||||
tensor.assign(tensor[6:].cat(new_img, dim=0).contiguous())
|
||||
return Tensor.cat(tensor[:6], tensor[-6:], dim=0).contiguous().reshape(1, 12, model_h//2, model_w//2)
|
||||
return update_img_input_tinygrad
|
||||
|
||||
def make_update_both_imgs(frame_prepare, model_w, model_h):
|
||||
update_img = make_update_img_input(frame_prepare, model_w, model_h)
|
||||
|
||||
def update_both_imgs_tinygrad(calib_img_buffer, new_img, M_inv,
|
||||
calib_big_img_buffer, new_big_img, M_inv_big):
|
||||
calib_img_pair = update_img(calib_img_buffer, new_img, M_inv)
|
||||
calib_big_img_pair = update_img(calib_big_img_buffer, new_big_img, M_inv_big)
|
||||
return calib_img_pair, calib_big_img_pair
|
||||
return update_both_imgs_tinygrad
|
||||
|
||||
|
||||
def v2_warp_pkl_path(cam_w, cam_h, buffer_length):
|
||||
return MODELS_DIR / f'warp_{cam_w}x{cam_h}_b{buffer_length}_tinygrad.pkl'
|
||||
|
||||
|
||||
def compile_v2_warp(cam_w, cam_h, buffer_length, model_w=MEDMODEL_INPUT_SIZE[0], model_h=MEDMODEL_INPUT_SIZE[1]):
|
||||
def compile_v2_warp(cam_w, cam_h, buffer_length):
|
||||
_, _, _, 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}...")
|
||||
|
||||
nv12 = NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h))
|
||||
frame_prepare = make_frame_prepare(nv12, model_w, model_h)
|
||||
update_both_imgs = make_update_both_imgs(frame_prepare, model_w, model_h)
|
||||
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()
|
||||
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)
|
||||
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()
|
||||
_ = update_img_jit(*inputs)
|
||||
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()
|
||||
@@ -94,11 +71,9 @@ def compile_v2_warp(cam_w, cam_h, buffer_length, model_w=MEDMODEL_INPUT_SIZE[0],
|
||||
|
||||
|
||||
class Warp:
|
||||
def __init__(self, buffer_length=2, model_w=MEDMODEL_INPUT_SIZE[0], model_h=MEDMODEL_INPUT_SIZE[1]):
|
||||
def __init__(self, buffer_length=2):
|
||||
self.buffer_length = buffer_length
|
||||
self.model_w = model_w
|
||||
self.model_h = model_h
|
||||
self.img_buffer_shape = (buffer_length * 6, model_h // 2, model_w // 2)
|
||||
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']}
|
||||
@@ -126,9 +101,8 @@ class Warp:
|
||||
with open(upstream_pkl, 'rb') as f:
|
||||
self.jit_cache[key] = pickle.load(f)
|
||||
if key not in self.jit_cache:
|
||||
nv12 = NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h))
|
||||
frame_prepare = make_frame_prepare(nv12, self.model_w, self.model_h)
|
||||
update_both_imgs = make_update_both_imgs(frame_prepare, self.model_w, self.model_h)
|
||||
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)
|
||||
self.jit_cache[key] = TinyJit(update_both_imgs, prune=True)
|
||||
|
||||
if key not in self._nv12_cache:
|
||||
@@ -151,8 +125,8 @@ class Warp:
|
||||
self.full_buffers['img'], road_blob, self.transforms['img'],
|
||||
self.full_buffers['big_img'], wide_blob, self.transforms['big_img'],
|
||||
)
|
||||
out_road = res[0].realize()
|
||||
out_wide = res[1].realize()
|
||||
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}
|
||||
|
||||
|
||||
@@ -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_v17.json"
|
||||
MODEL_URL = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-models/refs/heads/gh-pages/docs/driving_models_v16.json"
|
||||
|
||||
def __init__(self, params: Params):
|
||||
self.params = params
|
||||
|
||||
@@ -1 +1 @@
|
||||
32f57bdc91f910df1f48ddae7c59aaf6e751f9df6756da481a210577dbce8bcf
|
||||
5d4d21f1899de21137f69d74a4602c44cc5a6b04cf4e4aa9d0ec9206f8c30350
|
||||
@@ -38,8 +38,6 @@ 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)
|
||||
self.resolver.speed_limit_final_last, has_speed_limit, self.resolver.distance, self.events_sp, CS.gasPressed)
|
||||
|
||||
targets = {
|
||||
LongitudinalPlanSource.cruise: (v_cruise, a_ego),
|
||||
@@ -132,6 +132,9 @@ 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
|
||||
|
||||
@@ -17,3 +17,8 @@ CONFIRM_SPEED_THRESHOLD = {
|
||||
True: 80, # km/h
|
||||
False: 50, # mph
|
||||
}
|
||||
|
||||
MIN_CAP_FLOOR_MAX = {
|
||||
True: 64, # km/h
|
||||
False: 40, # mph
|
||||
}
|
||||
|
||||
@@ -27,3 +27,8 @@ class Mode(IntEnumBase):
|
||||
information = 1
|
||||
warning = 2
|
||||
assist = 3
|
||||
|
||||
|
||||
class UpshiftAccept(IntEnumBase):
|
||||
NEVER_RAISE = 0
|
||||
ACCEL_PEDAL = 1
|
||||
|
||||
@@ -9,6 +9,7 @@ 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]:
|
||||
@@ -42,3 +43,9 @@ 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)
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user